diff --git a/.gitattributes b/.gitattributes
index 471299e23eb6f30332025b93777c5d81df6acb0c..103c94b0193a26fe26acb7c2733f610407541aea 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -510,3 +510,72 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 2024-11-04-16-05-00/splats/d445cf5a/mesh.ply filter=lfs diff=lfs merge=lfs -text
 2024-11-04-16-05-00/splats/d445cf5a/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
 2024-11-04-16-05-00/splats/d445cf5a/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/0076f2b9/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/0076f2b9/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/0076f2b9/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/01b4988e/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/01b4988e/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/01b4988e/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/47d68869_0/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/47d68869_0/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/47d68869_0/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/47d68869_1/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/47d68869_1/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/47d68869_1/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/5fda1816/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/5fda1816/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/5fda1816/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/6065f895/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/6065f895/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/6065f895/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/619b7051/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/619b7051/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/619b7051/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/622346cc/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/622346cc/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/622346cc/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/6515898b/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/6515898b/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/6515898b/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/65d07966/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/65d07966/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/65d07966/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/730ff440/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/730ff440/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/730ff440/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/79d2d304/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/79d2d304/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/79d2d304/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/9486cbb3/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/9486cbb3/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/9486cbb3/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/a97f9569/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/a97f9569/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/a97f9569/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/acd14982/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/acd14982/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/acd14982/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/ae495a2e/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/ae495a2e/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/ae495a2e/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/ae8caac3/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/ae8caac3/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/ae8caac3/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/b34c6a96/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/b34c6a96/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/b34c6a96/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/b664e18f/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/b664e18f/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/b664e18f/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e381fb25/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e381fb25/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e381fb25/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e549bca6/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e549bca6/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e549bca6/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e70f02ff/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e70f02ff/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/e70f02ff/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/fe84cb9d/mesh.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/fe84cb9d/mesh_filled_decimated.ply filter=lfs diff=lfs merge=lfs -text
+2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/splat.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/2024-11-11-12-07-40/splats/0076f2b9/mesh.ply b/2024-11-11-12-07-40/splats/0076f2b9/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..df3795b8597f458b70e736070bbd5da127685108
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/0076f2b9/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6faaa76600b581282b57036fd36f2cf3c24e613907193e8e3ab35bc55ca3d18
+size 133203428
diff --git a/2024-11-11-12-07-40/splats/0076f2b9/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/0076f2b9/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..56e7705e6775db9959a7094913b9aa22190a93e5
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/0076f2b9/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:551bfded9a7af49e5e2931a9b2e54562247908e5f34538252cfa6482124642ea
+size 1566882
diff --git a/2024-11-11-12-07-40/splats/0076f2b9/splatfacto/config.yml b/2024-11-11-12-07-40/splats/0076f2b9/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..8de262d83071f95465404222cc8f29c4b6db6880
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/0076f2b9/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_0076f2b9
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_0076f2b9
+      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/2024-11-11-12-07-40/splats/0076f2b9/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/0076f2b9/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..5612dbb9e71d89c5acd7f707d6c32fa240b1bd0d
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/0076f2b9/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            0.2131878137588501,
+            -0.9729838967323303,
+            0.08861756324768066,
+            4.735732555389404
+        ],
+        [
+            -0.9729838967323303,
+            -0.20320677757263184,
+            0.10958582907915115,
+            -18.177181243896484
+        ],
+        [
+            -0.08861756324768066,
+            -0.10958582907915115,
+            -0.9900188446044922,
+            -5.726573467254639
+        ]
+    ],
+    "scale": 0.1890772993315786
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/0076f2b9/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/0076f2b9/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b28c94b8d5aede54645afcb0b70b1e9ef84afe6e
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/0076f2b9/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6bb44e46b5f80fb63adeadf12f8232c0e7d150567947bbaa9bac8d32a15694
+size 138783633
diff --git a/2024-11-11-12-07-40/splats/0076f2b9/transforms.json b/2024-11-11-12-07-40/splats/0076f2b9/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6194fc97d9a9e1dadcdf0d12405ebb9c97c1161
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/0076f2b9/transforms.json
@@ -0,0 +1,41586 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_00560.png",
+      "transform_matrix": [
+        [
+          -0.9953826069831848,
+          0.005556232761591673,
+          0.09582628309726715,
+          -22.211727142333984
+        ],
+        [
+          -0.09586700797080994,
+          -0.007595730014145374,
+          -0.9953651428222656,
+          -4.704713344573975
+        ],
+        [
+          -0.0048026093281805515,
+          -0.9999557733535767,
+          0.008093316107988358,
+          -3.6722400188446045
+        ],
+        [
+          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": "1731323320_483081817",
+      "mask_path": "../../mask/hdr_front_00560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00561.png",
+      "transform_matrix": [
+        [
+          -0.9962671995162964,
+          0.003386770375072956,
+          0.08625593036413193,
+          -22.221370697021484
+        ],
+        [
+          -0.08626370131969452,
+          -0.0022235994692891836,
+          -0.9962698817253113,
+          -4.6254048347473145
+        ],
+        [
+          -0.0031823376193642616,
+          -0.9999918341636658,
+          0.002507454250007868,
+          -3.6736888885498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 561,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_583082914",
+      "mask_path": "../../mask/hdr_front_00561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00562.png",
+      "transform_matrix": [
+        [
+          -0.9963723421096802,
+          0.005468091927468777,
+          0.08492492884397507,
+          -22.236774444580078
+        ],
+        [
+          -0.08493340760469437,
+          -0.0013384924968704581,
+          -0.9963856935501099,
+          -4.52031946182251
+        ],
+        [
+          -0.005334656219929457,
+          -0.9999842047691345,
+          0.0017980607226490974,
+          -3.672452926635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 562,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_683082103",
+      "mask_path": "../../mask/hdr_front_00562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00563.png",
+      "transform_matrix": [
+        [
+          -0.9958096146583557,
+          0.011189930140972137,
+          0.09076390415430069,
+          -22.254636764526367
+        ],
+        [
+          -0.09079276770353317,
+          -0.0020984432194381952,
+          -0.9958676695823669,
+          -4.4393792152404785
+        ],
+        [
+          -0.010953224264085293,
+          -0.9999352097511292,
+          0.003105614800006151,
+          -3.6768250465393066
+        ],
+        [
+          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": "1731323320_783081769",
+      "mask_path": "../../mask/hdr_front_00563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00564.png",
+      "transform_matrix": [
+        [
+          -0.9954107403755188,
+          0.01294317003339529,
+          0.09481561183929443,
+          -22.267505645751953
+        ],
+        [
+          -0.09484104067087173,
+          -0.0013641961850225925,
+          -0.9954915046691895,
+          -4.376195430755615
+        ],
+        [
+          -0.012755466625094414,
+          -0.999915361404419,
+          0.0025854790583252907,
+          -3.681307077407837
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 564,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_883082866",
+      "mask_path": "../../mask/hdr_front_00564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00565.png",
+      "transform_matrix": [
+        [
+          -0.9955054521560669,
+          0.010689015500247478,
+          0.09409989416599274,
+          -22.277376174926758
+        ],
+        [
+          -0.09417198598384857,
+          -0.006453646346926689,
+          -0.9955350756645203,
+          -4.298036575317383
+        ],
+        [
+          -0.010034000501036644,
+          -0.9999220371246338,
+          0.007431245408952236,
+          -3.6815884113311768
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 565,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_983081102",
+      "mask_path": "../../mask/hdr_front_00565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00566.png",
+      "transform_matrix": [
+        [
+          -0.9961027503013611,
+          0.010013950988650322,
+          0.08763034641742706,
+          -22.283117294311523
+        ],
+        [
+          -0.08772247284650803,
+          -0.009163050912320614,
+          -0.9961027503013611,
+          -4.220590591430664
+        ],
+        [
+          -0.009171961806714535,
+          -0.9999078512191772,
+          0.010005787946283817,
+          -3.671922206878662
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 566,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_83082199",
+      "mask_path": "../../mask/hdr_front_00566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00567.png",
+      "transform_matrix": [
+        [
+          -0.9968226552009583,
+          0.009462632238864899,
+          0.0790896788239479,
+          -22.283924102783203
+        ],
+        [
+          -0.07915448397397995,
+          -0.006681777536869049,
+          -0.9968399405479431,
+          -4.151264190673828
+        ],
+        [
+          -0.008904268965125084,
+          -0.9999329447746277,
+          0.007409557234495878,
+          -3.6662139892578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 567,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_183081865",
+      "mask_path": "../../mask/hdr_front_00567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00568.png",
+      "transform_matrix": [
+        [
+          -0.9975631237030029,
+          0.00607887702062726,
+          0.06950520724058151,
+          -22.282800674438477
+        ],
+        [
+          -0.06952356547117233,
+          -0.002863743342459202,
+          -0.9975762367248535,
+          -4.0809526443481445
+        ],
+        [
+          -0.005865096114575863,
+          -0.9999774098396301,
+          0.003279389813542366,
+          -3.669445037841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 568,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_283080816",
+      "mask_path": "../../mask/hdr_front_00568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00569.png",
+      "transform_matrix": [
+        [
+          -0.9979363083839417,
+          0.004955473355948925,
+          0.06401956081390381,
+          -22.290035247802734
+        ],
+        [
+          -0.06402884423732758,
+          -0.001736380741931498,
+          -0.997946560382843,
+          -3.9918577671051025
+        ],
+        [
+          -0.004834133666008711,
+          -0.9999862313270569,
+          0.002050090581178665,
+          -3.6662538051605225
+        ],
+        [
+          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": "1731323321_383082389",
+      "mask_path": "../../mask/hdr_front_00569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00570.png",
+      "transform_matrix": [
+        [
+          -0.9979445934295654,
+          0.009035773575305939,
+          0.06344318389892578,
+          -22.300031661987305
+        ],
+        [
+          -0.06348104774951935,
+          -0.003966945223510265,
+          -0.9979751110076904,
+          -3.911017894744873
+        ],
+        [
+          -0.00876580085605383,
+          -0.9999513626098633,
+          0.004532391671091318,
+          -3.667133331298828
+        ],
+        [
+          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": "1731323321_483082532",
+      "mask_path": "../../mask/hdr_front_00570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00571.png",
+      "transform_matrix": [
+        [
+          -0.9981021285057068,
+          0.011026626452803612,
+          0.06058480590581894,
+          -22.304494857788086
+        ],
+        [
+          -0.06065569445490837,
+          -0.006212332751601934,
+          -0.998139500617981,
+          -3.852896213531494
+        ],
+        [
+          -0.010629735887050629,
+          -0.9999198913574219,
+          0.0068693701177835464,
+          -3.6722869873046875
+        ],
+        [
+          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": "1731323321_583082199",
+      "mask_path": "../../mask/hdr_front_00571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00572.png",
+      "transform_matrix": [
+        [
+          -0.9985346794128418,
+          0.007399582304060459,
+          0.05360785871744156,
+          -22.311094284057617
+        ],
+        [
+          -0.053670745342969894,
+          -0.008580232039093971,
+          -0.9985218644142151,
+          -3.7879130840301514
+        ],
+        [
+          -0.006928676273673773,
+          -0.9999358057975769,
+          0.008964800275862217,
+          -3.676323413848877
+        ],
+        [
+          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": "1731323321_683081388",
+      "mask_path": "../../mask/hdr_front_00572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00573.png",
+      "transform_matrix": [
+        [
+          -0.9992499947547913,
+          0.0072630466893315315,
+          0.0380336195230484,
+          -22.306886672973633
+        ],
+        [
+          -0.03812280669808388,
+          -0.01256328634917736,
+          -0.9991940855979919,
+          -3.706942081451416
+        ],
+        [
+          -0.006779365241527557,
+          -0.9998947978019714,
+          0.01283075287938118,
+          -3.670900344848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 573,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_783081293",
+      "mask_path": "../../mask/hdr_front_00573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00574.png",
+      "transform_matrix": [
+        [
+          -0.9998466968536377,
+          0.008872687816619873,
+          0.015089962631464005,
+          -22.298355102539062
+        ],
+        [
+          -0.015208141878247261,
+          -0.013406519778072834,
+          -0.9997945427894592,
+          -3.636112689971924
+        ],
+        [
+          -0.008668557740747929,
+          -0.9998708367347717,
+          0.01353940274566412,
+          -3.661897659301758
+        ],
+        [
+          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": "1731323321_883081674",
+      "mask_path": "../../mask/hdr_front_00574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00575.png",
+      "transform_matrix": [
+        [
+          -0.9998712539672852,
+          0.009236840531229973,
+          -0.013115818612277508,
+          -22.285938262939453
+        ],
+        [
+          0.013019473291933537,
+          -0.01041444018483162,
+          -0.9998610019683838,
+          -3.5743319988250732
+        ],
+        [
+          -0.009372147731482983,
+          -0.99990314245224,
+          0.010292841121554375,
+          -3.661977767944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 575,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_983081340",
+      "mask_path": "../../mask/hdr_front_00575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00576.png",
+      "transform_matrix": [
+        [
+          -0.9989994168281555,
+          0.010785394348204136,
+          -0.04340052232146263,
+          -22.276639938354492
+        ],
+        [
+          0.043323617428541183,
+          -0.007264737971127033,
+          -0.9990346431732178,
+          -3.4925968647003174
+        ],
+        [
+          -0.011090273037552834,
+          -0.9999154210090637,
+          0.0067902072332799435,
+          -3.658942461013794
+        ],
+        [
+          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": "1731323322_83081007",
+      "mask_path": "../../mask/hdr_front_00576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00577.png",
+      "transform_matrix": [
+        [
+          -0.9975180625915527,
+          0.015373339876532555,
+          -0.0687113106250763,
+          -22.26967430114746
+        ],
+        [
+          0.06858121603727341,
+          -0.00883488543331623,
+          -0.9976064562797546,
+          -3.4071874618530273
+        ],
+        [
+          -0.01594359613955021,
+          -0.9998428821563721,
+          0.007758636958897114,
+          -3.6611366271972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 577,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_183080911",
+      "mask_path": "../../mask/hdr_front_00577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00578.png",
+      "transform_matrix": [
+        [
+          -0.9955959320068359,
+          0.021680785343050957,
+          -0.09120801836252213,
+          -22.25811195373535
+        ],
+        [
+          0.09097632020711899,
+          -0.011444742791354656,
+          -0.9957873225212097,
+          -3.3432059288024902
+        ],
+        [
+          -0.022633301094174385,
+          -0.9996994733810425,
+          0.009421898983418941,
+          -3.669912815093994
+        ],
+        [
+          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": "1731323322_283081054",
+      "mask_path": "../../mask/hdr_front_00578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00579.png",
+      "transform_matrix": [
+        [
+          -0.9930680394172668,
+          0.024327941238880157,
+          -0.1149953082203865,
+          -22.24806785583496
+        ],
+        [
+          0.11476819962263107,
+          -0.01053810678422451,
+          -0.9933364391326904,
+          -3.2813241481781006
+        ],
+        [
+          -0.025377660989761353,
+          -0.9996485710144043,
+          0.0076729836873710155,
+          -3.6754262447357178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 579,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_383080720",
+      "mask_path": "../../mask/hdr_front_00579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00580.png",
+      "transform_matrix": [
+        [
+          -0.9895864725112915,
+          0.023452408611774445,
+          -0.14201591908931732,
+          -22.228179931640625
+        ],
+        [
+          0.1417042315006256,
+          -0.014464819803833961,
+          -0.9898033142089844,
+          -3.2015581130981445
+        ],
+        [
+          -0.025267504155635834,
+          -0.9996203184127808,
+          0.010990885086357594,
+          -3.6718008518218994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 580,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_483080625",
+      "mask_path": "../../mask/hdr_front_00580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00581.png",
+      "transform_matrix": [
+        [
+          -0.9846707582473755,
+          0.020722143352031708,
+          -0.17318786680698395,
+          -22.204296112060547
+        ],
+        [
+          0.17285317182540894,
+          -0.016992509365081787,
+          -0.9848010540008545,
+          -3.1298162937164307
+        ],
+        [
+          -0.023350082337856293,
+          -0.999640941619873,
+          0.013150140643119812,
+          -3.665475606918335
+        ],
+        [
+          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": "1731323322_583079576",
+      "mask_path": "../../mask/hdr_front_00581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00582.png",
+      "transform_matrix": [
+        [
+          -0.9782225489616394,
+          0.019362492486834526,
+          -0.20665356516838074,
+          -22.183805465698242
+        ],
+        [
+          0.20640534162521362,
+          -0.014065099880099297,
+          -0.9783654808998108,
+          -3.071657419204712
+        ],
+        [
+          -0.02185019478201866,
+          -0.9997135400772095,
+          0.009762274101376534,
+          -3.66347599029541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 582,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_683079957",
+      "mask_path": "../../mask/hdr_front_00582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00583.png",
+      "transform_matrix": [
+        [
+          -0.9705311059951782,
+          0.01895894668996334,
+          -0.2402288168668747,
+          -22.163175582885742
+        ],
+        [
+          0.24004246294498444,
+          -0.011592398397624493,
+          -0.9706932306289673,
+          -2.9963157176971436
+        ],
+        [
+          -0.021188147366046906,
+          -0.9997530579566956,
+          0.006699829827994108,
+          -3.6617817878723145
+        ],
+        [
+          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": "1731323322_783080816",
+      "mask_path": "../../mask/hdr_front_00583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00584.png",
+      "transform_matrix": [
+        [
+          -0.9642370343208313,
+          0.019236359745264053,
+          -0.2643423080444336,
+          -22.145095825195312
+        ],
+        [
+          0.26412254571914673,
+          -0.01323437038809061,
+          -0.9643983244895935,
+          -2.914353132247925
+        ],
+        [
+          -0.02204991690814495,
+          -0.9997274279594421,
+          0.007680314593017101,
+          -3.662234306335449
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 584,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_883079290",
+      "mask_path": "../../mask/hdr_front_00584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00585.png",
+      "transform_matrix": [
+        [
+          -0.9593712687492371,
+          0.021863631904125214,
+          -0.28129833936691284,
+          -22.127397537231445
+        ],
+        [
+          0.28098922967910767,
+          -0.016178283840417862,
+          -0.9595746397972107,
+          -2.8529975414276123
+        ],
+        [
+          -0.025530705228447914,
+          -0.9996300339698792,
+          0.009377533569931984,
+          -3.668813705444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 585,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_983079433",
+      "mask_path": "../../mask/hdr_front_00585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00586.png",
+      "transform_matrix": [
+        [
+          -0.9546566605567932,
+          0.021830245852470398,
+          -0.2969074845314026,
+          -22.107450485229492
+        ],
+        [
+          0.29659464955329895,
+          -0.01646592654287815,
+          -0.954861581325531,
+          -2.7952651977539062
+        ],
+        [
+          -0.025733718648552895,
+          -0.9996261596679688,
+          0.00924457423388958,
+          -3.6759397983551025
+        ],
+        [
+          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": "1731323323_83079576",
+      "mask_path": "../../mask/hdr_front_00586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00587.png",
+      "transform_matrix": [
+        [
+          -0.9494476318359375,
+          0.016850939020514488,
+          -0.313472718000412,
+          -22.08222770690918
+        ],
+        [
+          0.31313037872314453,
+          -0.020182641223073006,
+          -0.9494956731796265,
+          -2.7205686569213867
+        ],
+        [
+          -0.022326599806547165,
+          -0.9996543526649475,
+          0.013885822147130966,
+          -3.674652099609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 587,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_183079481",
+      "mask_path": "../../mask/hdr_front_00587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00588.png",
+      "transform_matrix": [
+        [
+          -0.942647397518158,
+          0.012183216400444508,
+          -0.33356788754463196,
+          -22.052579879760742
+        ],
+        [
+          0.3332616984844208,
+          -0.021867595613002777,
+          -0.9425808191299438,
+          -2.6499903202056885
+        ],
+        [
+          -0.018777994439005852,
+          -0.9996866583824158,
+          0.016553232446312904,
+          -3.666203022003174
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 588,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_283079624",
+      "mask_path": "../../mask/hdr_front_00588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00589.png",
+      "transform_matrix": [
+        [
+          -0.9344477653503418,
+          0.011513680219650269,
+          -0.35591384768486023,
+          -22.022632598876953
+        ],
+        [
+          0.35568106174468994,
+          -0.01828821934759617,
+          -0.9344285130500793,
+          -2.5951125621795654
+        ],
+        [
+          -0.01726774126291275,
+          -0.99976646900177,
+          0.012994189746677876,
+          -3.66336727142334
+        ],
+        [
+          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": "1731323323_383080959",
+      "mask_path": "../../mask/hdr_front_00589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00590.png",
+      "transform_matrix": [
+        [
+          -0.9250378012657166,
+          0.010513871908187866,
+          -0.3797294795513153,
+          -21.991811752319336
+        ],
+        [
+          0.3795756697654724,
+          -0.014089370146393776,
+          -0.9250534176826477,
+          -2.5258679389953613
+        ],
+        [
+          -0.015076041221618652,
+          -0.9998455047607422,
+          0.009042390622198582,
+          -3.6628332138061523
+        ],
+        [
+          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": "1731323323_483081817",
+      "mask_path": "../../mask/hdr_front_00590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00591.png",
+      "transform_matrix": [
+        [
+          -0.91846764087677,
+          0.011256993748247623,
+          -0.395335853099823,
+          -21.957521438598633
+        ],
+        [
+          0.3951452374458313,
+          -0.015977632254362106,
+          -0.9184797406196594,
+          -2.4436769485473633
+        ],
+        [
+          -0.016655849292874336,
+          -0.9998089671134949,
+          0.010226791724562645,
+          -3.662818670272827
+        ],
+        [
+          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": "1731323323_583081245",
+      "mask_path": "../../mask/hdr_front_00591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00592.png",
+      "transform_matrix": [
+        [
+          -0.915538489818573,
+          0.013533820398151875,
+          -0.4020024836063385,
+          -21.928855895996094
+        ],
+        [
+          0.40171098709106445,
+          -0.01999739371240139,
+          -0.9155482053756714,
+          -2.3792507648468018
+        ],
+        [
+          -0.020429864525794983,
+          -0.9997084736824036,
+          0.012871700339019299,
+          -3.6693689823150635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 592,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_683081865",
+      "mask_path": "../../mask/hdr_front_00592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00593.png",
+      "transform_matrix": [
+        [
+          -0.9148747324943542,
+          0.011386393569409847,
+          -0.40357714891433716,
+          -21.905818939208984
+        ],
+        [
+          0.4033227264881134,
+          -0.019537318497896194,
+          -0.9148492813110352,
+          -2.314980983734131
+        ],
+        [
+          -0.018301643431186676,
+          -0.9997442960739136,
+          0.013281808234751225,
+          -3.673652172088623
+        ],
+        [
+          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": "1731323323_783081531",
+      "mask_path": "../../mask/hdr_front_00593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00594.png",
+      "transform_matrix": [
+        [
+          -0.9133723974227905,
+          0.007333274930715561,
+          -0.40705907344818115,
+          -21.87141227722168
+        ],
+        [
+          0.40681377053260803,
+          -0.02265370450913906,
+          -0.9132302403450012,
+          -2.233532667160034
+        ],
+        [
+          -0.015918361023068428,
+          -0.9997165203094482,
+          0.01770799234509468,
+          -3.6758358478546143
+        ],
+        [
+          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": "1731323323_883082389",
+      "mask_path": "../../mask/hdr_front_00594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00595.png",
+      "transform_matrix": [
+        [
+          -0.9089856147766113,
+          0.003588777733966708,
+          -0.41681212186813354,
+          -21.831737518310547
+        ],
+        [
+          0.41661688685417175,
+          -0.023966161534190178,
+          -0.9087662100791931,
+          -2.1609182357788086
+        ],
+        [
+          -0.013250745832920074,
+          -0.9997063279151917,
+          0.020289747044444084,
+          -3.6725857257843018
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 595,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_983082532",
+      "mask_path": "../../mask/hdr_front_00595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00596.png",
+      "transform_matrix": [
+        [
+          -0.9033626914024353,
+          0.0015689571155235171,
+          -0.42887458205223083,
+          -21.7973575592041
+        ],
+        [
+          0.4287624955177307,
+          -0.019841348752379417,
+          -0.903199315071106,
+          -2.1024179458618164
+        ],
+        [
+          -0.00992653053253889,
+          -0.9998019337654114,
+          0.01725122518837452,
+          -3.6710920333862305
+        ],
+        [
+          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": "1731323324_83082437",
+      "mask_path": "../../mask/hdr_front_00596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00597.png",
+      "transform_matrix": [
+        [
+          -0.8971202373504639,
+          0.0019928955007344484,
+          -0.44178205728530884,
+          -21.762378692626953
+        ],
+        [
+          0.44170355796813965,
+          -0.015324284322559834,
+          -0.8970301747322083,
+          -2.0286495685577393
+        ],
+        [
+          -0.008557678200304508,
+          -0.9998805522918701,
+          0.01286745723336935,
+          -3.6717231273651123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 597,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_183080911",
+      "mask_path": "../../mask/hdr_front_00597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00598.png",
+      "transform_matrix": [
+        [
+          -0.8953611254692078,
+          0.005100141279399395,
+          -0.44531163573265076,
+          -21.72907066345215
+        ],
+        [
+          0.44520822167396545,
+          -0.01414582785218954,
+          -0.8953153491020203,
+          -1.9370969533920288
+        ],
+        [
+          -0.010865534655749798,
+          -0.9998869895935059,
+          0.010394997894763947,
+          -3.668419599533081
+        ],
+        [
+          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": "1731323324_283082723",
+      "mask_path": "../../mask/hdr_front_00598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00599.png",
+      "transform_matrix": [
+        [
+          -0.896967351436615,
+          0.008791455067694187,
+          -0.44200947880744934,
+          -21.703887939453125
+        ],
+        [
+          0.4418639540672302,
+          -0.014627820812165737,
+          -0.8969628810882568,
+          -1.8630744218826294
+        ],
+        [
+          -0.014351245015859604,
+          -0.9998543858528137,
+          0.00923604890704155,
+          -3.6715638637542725
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 599,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_383080959",
+      "mask_path": "../../mask/hdr_front_00599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00600.png",
+      "transform_matrix": [
+        [
+          -0.898076593875885,
+          0.00763434125110507,
+          -0.4397728741168976,
+          -21.679471969604492
+        ],
+        [
+          0.4396638870239258,
+          -0.012639183551073074,
+          -0.8980734944343567,
+          -1.7967345714569092
+        ],
+        [
+          -0.012414568103849888,
+          -0.9998910427093506,
+          0.007994410581886768,
+          -3.6781699657440186
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 600,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_483081340",
+      "mask_path": "../../mask/hdr_front_00600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00601.png",
+      "transform_matrix": [
+        [
+          -0.8969731330871582,
+          0.00431862473487854,
+          -0.4420640468597412,
+          -21.643840789794922
+        ],
+        [
+          0.44195181131362915,
+          -0.01579415239393711,
+          -0.8968997001647949,
+          -1.72232985496521
+        ],
+        [
+          -0.010855400003492832,
+          -0.9998659491539001,
+          0.012258308008313179,
+          -3.6778228282928467
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 601,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_583081007",
+      "mask_path": "../../mask/hdr_front_00601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00602.png",
+      "transform_matrix": [
+        [
+          -0.8930939435958862,
+          0.003672846360132098,
+          -0.44985538721084595,
+          -21.6075382232666
+        ],
+        [
+          0.44974806904792786,
+          -0.016025252640247345,
+          -0.8930116891860962,
+          -1.6585885286331177
+        ],
+        [
+          -0.01048893854022026,
+          -0.9998648762702942,
+          0.012660197913646698,
+          -3.665705680847168
+        ],
+        [
+          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": "1731323324_683081626",
+      "mask_path": "../../mask/hdr_front_00602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00603.png",
+      "transform_matrix": [
+        [
+          -0.8885420560836792,
+          0.002919217338785529,
+          -0.4587859809398651,
+          -21.57750129699707
+        ],
+        [
+          0.45873963832855225,
+          -0.009919912554323673,
+          -0.8885154128074646,
+          -1.6075249910354614
+        ],
+        [
+          -0.007144886534661055,
+          -0.9999465942382812,
+          0.007475097663700581,
+          -3.658449172973633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 603,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_783081293",
+      "mask_path": "../../mask/hdr_front_00603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00604.png",
+      "transform_matrix": [
+        [
+          -0.8838882446289062,
+          0.0008083187858574092,
+          -0.46769750118255615,
+          -21.547760009765625
+        ],
+        [
+          0.4676925241947174,
+          -0.0033791966270655394,
+          -0.8838847875595093,
+          -1.5491702556610107
+        ],
+        [
+          -0.0022949015256017447,
+          -0.9999940395355225,
+          0.0026087877340614796,
+          -3.6576411724090576
+        ],
+        [
+          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": "1731323324_883083105",
+      "mask_path": "../../mask/hdr_front_00604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00605.png",
+      "transform_matrix": [
+        [
+          -0.8823540210723877,
+          0.0017042267136275768,
+          -0.47058308124542236,
+          -21.514484405517578
+        ],
+        [
+          0.47057056427001953,
+          -0.004948048386722803,
+          -0.8823484778404236,
+          -1.4690444469451904
+        ],
+        [
+          -0.0038321889005601406,
+          -0.9999863505363464,
+          0.003563971957191825,
+          -3.6570467948913574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 605,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_983082294",
+      "mask_path": "../../mask/hdr_front_00605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00606.png",
+      "transform_matrix": [
+        [
+          -0.883579671382904,
+          0.006592385470867157,
+          -0.4682345390319824,
+          -21.486204147338867
+        ],
+        [
+          0.4681578576564789,
+          -0.010485266335308552,
+          -0.8835826516151428,
+          -1.3986483812332153
+        ],
+        [
+          -0.010734478943049908,
+          -0.9999232888221741,
+          0.006178291980177164,
+          -3.662306547164917
+        ],
+        [
+          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": "1731323325_83083868",
+      "mask_path": "../../mask/hdr_front_00606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00607.png",
+      "transform_matrix": [
+        [
+          -0.8845871090888977,
+          0.007337693590670824,
+          -0.4663173258304596,
+          -21.460206985473633
+        ],
+        [
+          0.46623027324676514,
+          -0.010999348945915699,
+          -0.8845950961112976,
+          -1.3437093496322632
+        ],
+        [
+          -0.011620071716606617,
+          -0.9999125599861145,
+          0.006308827083557844,
+          -3.670673131942749
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 607,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_183082103",
+      "mask_path": "../../mask/hdr_front_00607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00608.png",
+      "transform_matrix": [
+        [
+          -0.8833362460136414,
+          0.006145640276372433,
+          -0.46869972348213196,
+          -21.427797317504883
+        ],
+        [
+          0.4685586094856262,
+          -0.016240226104855537,
+          -0.8832831382751465,
+          -1.28553307056427
+        ],
+        [
+          -0.013040130026638508,
+          -0.999849259853363,
+          0.01146598719060421,
+          -3.668731927871704
+        ],
+        [
+          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": "1731323325_283082246",
+      "mask_path": "../../mask/hdr_front_00608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00609.png",
+      "transform_matrix": [
+        [
+          -0.8792430758476257,
+          0.0077949585393071175,
+          -0.47630950808525085,
+          -21.394115447998047
+        ],
+        [
+          0.4761224389076233,
+          -0.0180654376745224,
+          -0.8791934251785278,
+          -1.235622525215149
+        ],
+        [
+          -0.015458013862371445,
+          -0.9998064637184143,
+          0.012172557413578033,
+          -3.6545209884643555
+        ],
+        [
+          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": "1731323325_383082151",
+      "mask_path": "../../mask/hdr_front_00609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00610.png",
+      "transform_matrix": [
+        [
+          -0.8743792176246643,
+          0.008046294562518597,
+          -0.48517656326293945,
+          -21.362812042236328
+        ],
+        [
+          0.4850720167160034,
+          -0.012065994553267956,
+          -0.8743910193443298,
+          -1.192752480506897
+        ],
+        [
+          -0.012889743782579899,
+          -0.9998948574066162,
+          0.006647222209721804,
+          -3.648221969604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 610,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_483081579",
+      "mask_path": "../../mask/hdr_front_00610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00611.png",
+      "transform_matrix": [
+        [
+          -0.8698652386665344,
+          0.00443063722923398,
+          -0.4932694435119629,
+          -21.33262825012207
+        ],
+        [
+          0.49325311183929443,
+          -0.004304823465645313,
+          -0.8698751926422119,
+          -1.1434407234191895
+        ],
+        [
+          -0.005977539345622063,
+          -0.9999809265136719,
+          0.0015591909177601337,
+          -3.6449623107910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 611,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_583081722",
+      "mask_path": "../../mask/hdr_front_00611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00612.png",
+      "transform_matrix": [
+        [
+          -0.8690264821052551,
+          0.004240070935338736,
+          -0.4947475492954254,
+          -21.305482864379883
+        ],
+        [
+          0.49472734332084656,
+          -0.004988571163266897,
+          -0.869033932685852,
+          -1.0839924812316895
+        ],
+        [
+          -0.006152848247438669,
+          -0.9999786019325256,
+          0.0022375211119651794,
+          -3.640848159790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 612,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_683080911",
+      "mask_path": "../../mask/hdr_front_00612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00614.png",
+      "transform_matrix": [
+        [
+          -0.867799699306488,
+          0.006468736566603184,
+          -0.4968720078468323,
+          -21.262088775634766
+        ],
+        [
+          0.4968019127845764,
+          -0.009944222867488861,
+          -0.8678069710731506,
+          -1.0073696374893188
+        ],
+        [
+          -0.010554620064795017,
+          -0.999929666519165,
+          0.00541591364890337,
+          -3.6546077728271484
+        ],
+        [
+          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": "1731323325_883082389",
+      "mask_path": "../../mask/hdr_front_00614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00616.png",
+      "transform_matrix": [
+        [
+          -0.8508297204971313,
+          0.0016720840940251946,
+          -0.5254389047622681,
+          -21.207157135009766
+        ],
+        [
+          0.5253218412399292,
+          -0.018651438876986504,
+          -0.850699245929718,
+          -0.9457252025604248
+        ],
+        [
+          -0.011222634464502335,
+          -0.9998246431350708,
+          0.014990814961493015,
+          -3.6469430923461914
+        ],
+        [
+          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": "1731323326_83082199",
+      "mask_path": "../../mask/hdr_front_00616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00618.png",
+      "transform_matrix": [
+        [
+          -0.8227409720420837,
+          0.0050610145553946495,
+          -0.568393886089325,
+          -21.14535140991211
+        ],
+        [
+          0.5683079361915588,
+          -0.012203939259052277,
+          -0.8227254152297974,
+          -0.8916710615158081
+        ],
+        [
+          -0.01110046822577715,
+          -0.999912679195404,
+          0.007164467126131058,
+          -3.638644218444824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 618,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323326_283082723",
+      "mask_path": "../../mask/hdr_front_00618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00673.png",
+      "transform_matrix": [
+        [
+          -0.7623543739318848,
+          -0.000815531297121197,
+          -0.647159218788147,
+          -21.021162033081055
+        ],
+        [
+          0.6468501091003418,
+          0.02996712364256382,
+          -0.7620282173156738,
+          -0.7862507700920105
+        ],
+        [
+          0.02001495659351349,
+          -0.9995505809783936,
+          -0.02231804095208645,
+          -3.6490209102630615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 673,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323331_783083438",
+      "mask_path": "../../mask/hdr_front_00673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00675.png",
+      "transform_matrix": [
+        [
+          -0.7679451704025269,
+          -0.005796860903501511,
+          -0.640489399433136,
+          -20.975494384765625
+        ],
+        [
+          0.6401772499084473,
+          0.025551076978445053,
+          -0.7678022384643555,
+          -0.7286264300346375
+        ],
+        [
+          0.020816035568714142,
+          -0.9996567368507385,
+          -0.015910807996988297,
+          -3.651587724685669
+        ],
+        [
+          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": "1731323331_983079433",
+      "mask_path": "../../mask/hdr_front_00675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00677.png",
+      "transform_matrix": [
+        [
+          -0.7598743438720703,
+          -0.009625411592423916,
+          -0.6499987840652466,
+          -20.92745018005371
+        ],
+        [
+          0.6493867635726929,
+          0.034589216113090515,
+          -0.7596712708473206,
+          -0.6656873226165771
+        ],
+        [
+          0.0297950878739357,
+          -0.9993553161621094,
+          -0.020032839849591255,
+          -3.63630747795105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 677,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323332_183082818",
+      "mask_path": "../../mask/hdr_front_00677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00678.png",
+      "transform_matrix": [
+        [
+          -0.7491750717163086,
+          -0.0072134449146687984,
+          -0.6623327732086182,
+          -20.88911247253418
+        ],
+        [
+          0.6617874503135681,
+          0.03385065123438835,
+          -0.7489269375801086,
+          -0.6232373714447021
+        ],
+        [
+          0.027822738513350487,
+          -0.9994009137153625,
+          -0.020586296916007996,
+          -3.6393086910247803
+        ],
+        [
+          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": "1731323332_283082246",
+      "mask_path": "../../mask/hdr_front_00678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00679.png",
+      "transform_matrix": [
+        [
+          -0.7385050654411316,
+          -0.0043597230687737465,
+          -0.6742338538169861,
+          -20.84700584411621
+        ],
+        [
+          0.6739495396614075,
+          0.02497587352991104,
+          -0.7383552193641663,
+          -0.5749550461769104
+        ],
+        [
+          0.02005860023200512,
+          -0.9996786117553711,
+          -0.015506577678024769,
+          -3.6422715187072754
+        ],
+        [
+          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": "1731323332_383081912",
+      "mask_path": "../../mask/hdr_front_00679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00681.png",
+      "transform_matrix": [
+        [
+          -0.7142682075500488,
+          0.001466688234359026,
+          -0.6998705267906189,
+          -20.79181671142578
+        ],
+        [
+          0.6998099088668823,
+          0.014815659262239933,
+          -0.7141754031181335,
+          -0.5154283046722412
+        ],
+        [
+          0.009321569465100765,
+          -0.9998891353607178,
+          -0.011608758009970188,
+          -3.6533203125
+        ],
+        [
+          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": "1731323332_583082199",
+      "mask_path": "../../mask/hdr_front_00681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00683.png",
+      "transform_matrix": [
+        [
+          -0.6735694408416748,
+          -0.009426417760550976,
+          -0.7390637993812561,
+          -20.72871208190918
+        ],
+        [
+          0.7390573024749756,
+          0.004846160765737295,
+          -0.6736252307891846,
+          -0.45742642879486084
+        ],
+        [
+          0.009931493550539017,
+          -0.9999438524246216,
+          0.0037024368066340685,
+          -3.6556167602539062
+        ],
+        [
+          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": "1731323332_783082008",
+      "mask_path": "../../mask/hdr_front_00683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00685.png",
+      "transform_matrix": [
+        [
+          -0.6080116033554077,
+          -0.009558106772601604,
+          -0.7938705682754517,
+          -20.6453857421875
+        ],
+        [
+          0.7939062118530273,
+          0.00011620788427535444,
+          -0.6080402135848999,
+          -0.4324522018432617
+        ],
+        [
+          0.005903967656195164,
+          -0.9999544024467468,
+          0.007517584599554539,
+          -3.648160457611084
+        ],
+        [
+          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": "1731323332_983082294",
+      "mask_path": "../../mask/hdr_front_00685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00686.png",
+      "transform_matrix": [
+        [
+          -0.5720115900039673,
+          -0.00637567276135087,
+          -0.8202207088470459,
+          -20.59628677368164
+        ],
+        [
+          0.8202379941940308,
+          -0.00016738632984925061,
+          -0.5720223188400269,
+          -0.40955644845962524
+        ],
+        [
+          0.003509733360260725,
+          -0.9999796748161316,
+          0.005325316451489925,
+          -3.644538640975952
+        ],
+        [
+          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": "1731323333_83080530",
+      "mask_path": "../../mask/hdr_front_00686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00687.png",
+      "transform_matrix": [
+        [
+          -0.543610692024231,
+          -0.0018654391169548035,
+          -0.8393353819847107,
+          -20.55089569091797
+        ],
+        [
+          0.839331865310669,
+          -0.0048923613503575325,
+          -0.5435975193977356,
+          -0.37927523255348206
+        ],
+        [
+          -0.0030922836158424616,
+          -0.9999862909317017,
+          0.0042252615094184875,
+          -3.640167713165283
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 687,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323333_183080196",
+      "mask_path": "../../mask/hdr_front_00687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00689.png",
+      "transform_matrix": [
+        [
+          -0.49532774090766907,
+          0.0019494451116770506,
+          -0.868704080581665,
+          -20.469396591186523
+        ],
+        [
+          0.8685621023178101,
+          -0.01710296981036663,
+          -0.49528518319129944,
+          -0.36048179864883423
+        ],
+        [
+          -0.01582295075058937,
+          -0.9998518824577332,
+          0.006778361741453409,
+          -3.652125120162964
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 689,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323333_383080720",
+      "mask_path": "../../mask/hdr_front_00689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00695.png",
+      "transform_matrix": [
+        [
+          -0.42947885394096375,
+          -0.013274524360895157,
+          -0.9029793739318848,
+          -20.231395721435547
+        ],
+        [
+          0.9030742645263672,
+          -0.008733248338103294,
+          -0.4293956458568573,
+          -0.2709510028362274
+        ],
+        [
+          -0.0021859200205653906,
+          -0.9998738765716553,
+          0.015738625079393387,
+          -3.639693260192871
+        ],
+        [
+          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": "1731323333_983082771",
+      "mask_path": "../../mask/hdr_front_00695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00697.png",
+      "transform_matrix": [
+        [
+          -0.43442654609680176,
+          -0.01579773798584938,
+          -0.9005687832832336,
+          -20.167776107788086
+        ],
+        [
+          0.9006807804107666,
+          -0.015297162346541882,
+          -0.43421226739883423,
+          -0.2343970239162445
+        ],
+        [
+          -0.006916573736816645,
+          -0.9997581839561462,
+          0.02087421342730522,
+          -3.65399169921875
+        ],
+        [
+          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": "1731323334_183081388",
+      "mask_path": "../../mask/hdr_front_00697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00699.png",
+      "transform_matrix": [
+        [
+          -0.42656081914901733,
+          -0.02033262886106968,
+          -0.9042303562164307,
+          -20.105255126953125
+        ],
+        [
+          0.9044135808944702,
+          -0.019589034840464592,
+          -0.4262068271636963,
+          -0.20922806859016418
+        ],
+        [
+          -0.00904709193855524,
+          -0.9996013641357422,
+          0.0267450250685215,
+          -3.650322437286377
+        ],
+        [
+          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": "1731323334_383080720",
+      "mask_path": "../../mask/hdr_front_00699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00702.png",
+      "transform_matrix": [
+        [
+          -0.41731664538383484,
+          -0.01967480219900608,
+          -0.9085481762886047,
+          -20.05474853515625
+        ],
+        [
+          0.9087598323822021,
+          -0.007346011232584715,
+          -0.41725483536720276,
+          -0.18318861722946167
+        ],
+        [
+          0.0015352017944678664,
+          -0.9997795224189758,
+          0.020945284515619278,
+          -3.6440939903259277
+        ],
+        [
+          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": "1731323334_683080196",
+      "mask_path": "../../mask/hdr_front_00702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00707.png",
+      "transform_matrix": [
+        [
+          -0.5152952075004578,
+          -0.02095400169491768,
+          -0.8567565679550171,
+          -20.06391716003418
+        ],
+        [
+          0.8570035099983215,
+          -0.007962232455611229,
+          -0.5152490735054016,
+          -0.09581650793552399
+        ],
+        [
+          0.003974835854023695,
+          -0.9997487664222717,
+          0.02206055447459221,
+          -3.6448004245758057
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 707,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323335_183080673",
+      "mask_path": "../../mask/hdr_front_00707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00710.png",
+      "transform_matrix": [
+        [
+          -0.5472145676612854,
+          -0.022208845242857933,
+          -0.8366976976394653,
+          -20.02253532409668
+        ],
+        [
+          0.836881697177887,
+          0.0017323850188404322,
+          -0.5473809838294983,
+          -0.057156190276145935
+        ],
+        [
+          0.013606181368231773,
+          -0.9997518658638,
+          0.0176381915807724,
+          -3.637373447418213
+        ],
+        [
+          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": "1731323335_483082771",
+      "mask_path": "../../mask/hdr_front_00710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00712.png",
+      "transform_matrix": [
+        [
+          -0.5481660962104797,
+          -0.02278263308107853,
+          -0.8360590934753418,
+          -19.970848083496094
+        ],
+        [
+          0.8362929224967957,
+          -0.0014044661074876785,
+          -0.5482811331748962,
+          -0.03926187753677368
+        ],
+        [
+          0.011317072436213493,
+          -0.9997395277023315,
+          0.01982283405959606,
+          -3.634467124938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 712,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323335_683081626",
+      "mask_path": "../../mask/hdr_front_00712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00714.png",
+      "transform_matrix": [
+        [
+          -0.5541742444038391,
+          -0.018530171364545822,
+          -0.832194447517395,
+          -19.912817001342773
+        ],
+        [
+          0.832395613193512,
+          -0.008836847729980946,
+          -0.5541114211082458,
+          0.010714605450630188
+        ],
+        [
+          0.0029138054233044386,
+          -0.9997892379760742,
+          0.020321588963270187,
+          -3.6469151973724365
+        ],
+        [
+          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": "1731323335_883082151",
+      "mask_path": "../../mask/hdr_front_00714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00715.png",
+      "transform_matrix": [
+        [
+          -0.5556330680847168,
+          -0.0206783264875412,
+          -0.8311704397201538,
+          -19.87387466430664
+        ],
+        [
+          0.8314245343208313,
+          -0.011104959063231945,
+          -0.5555267333984375,
+          0.04311138391494751
+        ],
+        [
+          0.0022572495508939028,
+          -0.9997245073318481,
+          0.02336275205016136,
+          -3.6523547172546387
+        ],
+        [
+          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": "1731323335_983081579",
+      "mask_path": "../../mask/hdr_front_00715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00716.png",
+      "transform_matrix": [
+        [
+          -0.553371250629425,
+          -0.022616485133767128,
+          -0.8326276540756226,
+          -19.827205657958984
+        ],
+        [
+          0.8329320549964905,
+          -0.012533687055110931,
+          -0.55323326587677,
+          0.07348502427339554
+        ],
+        [
+          0.0020762975327670574,
+          -0.9996656775474548,
+          0.025773780420422554,
+          -3.65187406539917
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 716,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323336_83082914",
+      "mask_path": "../../mask/hdr_front_00716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00718.png",
+      "transform_matrix": [
+        [
+          -0.5412542819976807,
+          -0.016907399520277977,
+          -0.8406890034675598,
+          -19.74053955078125
+        ],
+        [
+          0.8408396244049072,
+          -0.004107470624148846,
+          -0.5412687063217163,
+          0.12398354709148407
+        ],
+        [
+          0.005698342341929674,
+          -0.9998486638069153,
+          0.01643959991633892,
+          -3.6468591690063477
+        ],
+        [
+          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": "1731323336_283081531",
+      "mask_path": "../../mask/hdr_front_00718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00719.png",
+      "transform_matrix": [
+        [
+          -0.5388685464859009,
+          -0.011198459193110466,
+          -0.8423154354095459,
+          -19.694299697875977
+        ],
+        [
+          0.8423872590065002,
+          -0.004676846321672201,
+          -0.538852334022522,
+          0.16386663913726807
+        ],
+        [
+          0.002094936789944768,
+          -0.9999263882637024,
+          0.011953645385801792,
+          -3.6424577236175537
+        ],
+        [
+          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": "1731323336_383081674",
+      "mask_path": "../../mask/hdr_front_00719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00723.png",
+      "transform_matrix": [
+        [
+          -0.5414808392524719,
+          -0.020029855892062187,
+          -0.8404744863510132,
+          -19.552711486816406
+        ],
+        [
+          0.84071284532547,
+          -0.012055574916303158,
+          -0.541347086429596,
+          0.28423506021499634
+        ],
+        [
+          0.0007107000565156341,
+          -0.9997267127037048,
+          0.02336721681058407,
+          -3.660871982574463
+        ],
+        [
+          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": "1731323336_783081531",
+      "mask_path": "../../mask/hdr_front_00723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01341.png",
+      "transform_matrix": [
+        [
+          -0.4438987672328949,
+          0.0036520338617265224,
+          -0.8960695266723633,
+          -19.416934967041016
+        ],
+        [
+          0.895708441734314,
+          0.03048546053469181,
+          -0.44359561800956726,
+          0.3701399266719818
+        ],
+        [
+          0.02569706365466118,
+          -0.9995285868644714,
+          -0.016803614795207977,
+          -3.6506423950195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1341,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323398_583080530",
+      "mask_path": "../../mask/hdr_front_01341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01344.png",
+      "transform_matrix": [
+        [
+          -0.44790172576904297,
+          -0.016584232449531555,
+          -0.8939289450645447,
+          -19.376455307006836
+        ],
+        [
+          0.8935291767120361,
+          0.02687661349773407,
+          -0.4482000470161438,
+          0.4185965359210968
+        ],
+        [
+          0.03145884349942207,
+          -0.9995011687278748,
+          0.0027804120909422636,
+          -3.6492626667022705
+        ],
+        [
+          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": "1731323398_883080482",
+      "mask_path": "../../mask/hdr_front_01344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01346.png",
+      "transform_matrix": [
+        [
+          -0.43547672033309937,
+          -0.014475120231509209,
+          -0.9000836610794067,
+          -19.316043853759766
+        ],
+        [
+          0.8995264768600464,
+          0.031674113124608994,
+          -0.43571653962135315,
+          0.4478116035461426
+        ],
+        [
+          0.034816399216651917,
+          -0.9993935227394104,
+          -0.0007725827163085341,
+          -3.644011974334717
+        ],
+        [
+          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": "1731323399_83080530",
+      "mask_path": "../../mask/hdr_front_01346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01347.png",
+      "transform_matrix": [
+        [
+          -0.4300243854522705,
+          -0.01539374515414238,
+          -0.9026861190795898,
+          -19.264463424682617
+        ],
+        [
+          0.9021985530853271,
+          0.029681723564863205,
+          -0.430298388004303,
+          0.4734222888946533
+        ],
+        [
+          0.03341718018054962,
+          -0.9994409084320068,
+          0.001124350936152041,
+          -3.6502881050109863
+        ],
+        [
+          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": "1731323399_183082580",
+      "mask_path": "../../mask/hdr_front_01347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01351.png",
+      "transform_matrix": [
+        [
+          -0.44337233901023865,
+          -0.023669008165597916,
+          -0.8960250020027161,
+          -19.11145782470703
+        ],
+        [
+          0.8961122632026672,
+          0.01070888340473175,
+          -0.4436984062194824,
+          0.5695593953132629
+        ],
+        [
+          0.02009732834994793,
+          -0.9996625781059265,
+          0.016462065279483795,
+          -3.662611246109009
+        ],
+        [
+          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": "1731323399_583081722",
+      "mask_path": "../../mask/hdr_front_01351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01353.png",
+      "transform_matrix": [
+        [
+          -0.4328681230545044,
+          -0.01900835707783699,
+          -0.9012569189071655,
+          -19.032081604003906
+        ],
+        [
+          0.9013487100601196,
+          0.0063920337706804276,
+          -0.43304702639579773,
+          0.601283848285675
+        ],
+        [
+          0.013992377556860447,
+          -0.9997988939285278,
+          0.014366250485181808,
+          -3.6539950370788574
+        ],
+        [
+          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": "1731323399_783082246",
+      "mask_path": "../../mask/hdr_front_01353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01355.png",
+      "transform_matrix": [
+        [
+          -0.42390677332878113,
+          -0.014062635600566864,
+          -0.9055966138839722,
+          -18.94064712524414
+        ],
+        [
+          0.9056341052055359,
+          0.005993852391839027,
+          -0.42401739954948425,
+          0.64545738697052
+        ],
+        [
+          0.011390815488994122,
+          -0.9998831152915955,
+          0.010194770060479641,
+          -3.657111167907715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1355,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323399_983083486",
+      "mask_path": "../../mask/hdr_front_01355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01357.png",
+      "transform_matrix": [
+        [
+          -0.4299556314945221,
+          -0.014901627786457539,
+          -0.9027271270751953,
+          -18.887592315673828
+        ],
+        [
+          0.9028351306915283,
+          -0.0013421749463304877,
+          -0.4299848675727844,
+          0.6879160404205322
+        ],
+        [
+          0.005195857025682926,
+          -0.9998881816864014,
+          0.014030787162482738,
+          -3.6634297370910645
+        ],
+        [
+          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": "1731323400_183082580",
+      "mask_path": "../../mask/hdr_front_01357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01359.png",
+      "transform_matrix": [
+        [
+          -0.43159374594688416,
+          -0.02364245057106018,
+          -0.9017583131790161,
+          -18.833656311035156
+        ],
+        [
+          0.9020425081253052,
+          -0.0037787032779306173,
+          -0.4316306710243225,
+          0.7226842045783997
+        ],
+        [
+          0.006797331385314465,
+          -0.9997134208679199,
+          0.02295735664665699,
+          -3.671947956085205
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1359,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323400_383082628",
+      "mask_path": "../../mask/hdr_front_01359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01361.png",
+      "transform_matrix": [
+        [
+          -0.4201975464820862,
+          -0.022822048515081406,
+          -0.907145619392395,
+          -18.766971588134766
+        ],
+        [
+          0.9074038863182068,
+          -0.0026040510274469852,
+          -0.4202516973018646,
+          0.746289849281311
+        ],
+        [
+          0.0072287507355213165,
+          -0.9997361898422241,
+          0.021803030744194984,
+          -3.664318084716797
+        ],
+        [
+          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": "1731323400_583081483",
+      "mask_path": "../../mask/hdr_front_01361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01363.png",
+      "transform_matrix": [
+        [
+          -0.4096797704696655,
+          -0.017666799947619438,
+          -0.912058413028717,
+          -18.68792152404785
+        ],
+        [
+          0.9122148752212524,
+          -0.002281156601384282,
+          -0.4097058176994324,
+          0.772160530090332
+        ],
+        [
+          0.0051576425321400166,
+          -0.9998413324356079,
+          0.01705045811831951,
+          -3.6658432483673096
+        ],
+        [
+          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": "1731323400_783081531",
+      "mask_path": "../../mask/hdr_front_01363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01365.png",
+      "transform_matrix": [
+        [
+          -0.44847753643989563,
+          -0.01854855753481388,
+          -0.893601655960083,
+          -18.630483627319336
+        ],
+        [
+          0.8937877416610718,
+          -0.013113881461322308,
+          -0.44829872250556946,
+          0.822495698928833
+        ],
+        [
+          -0.003403289709240198,
+          -0.9997419714927673,
+          0.02245975099503994,
+          -3.6701056957244873
+        ],
+        [
+          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": "1731323400_983081817",
+      "mask_path": "../../mask/hdr_front_01365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01367.png",
+      "transform_matrix": [
+        [
+          -0.5105315446853638,
+          -0.02237333543598652,
+          -0.8595679402351379,
+          -18.56833267211914
+        ],
+        [
+          0.8598563075065613,
+          -0.010773507878184319,
+          -0.51042240858078,
+          0.8854668736457825
+        ],
+        [
+          0.002159291412681341,
+          -0.9996917247772217,
+          0.024738069623708725,
+          -3.6704232692718506
+        ],
+        [
+          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": "1731323401_183080673",
+      "mask_path": "../../mask/hdr_front_01367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01369.png",
+      "transform_matrix": [
+        [
+          -0.5509628653526306,
+          -0.018609987571835518,
+          -0.8343223333358765,
+          -18.524545669555664
+        ],
+        [
+          0.8344559669494629,
+          0.0010042511858046055,
+          -0.5510736107826233,
+          0.9376212954521179
+        ],
+        [
+          0.01109334360808134,
+          -0.9998263716697693,
+          0.01497591007500887,
+          -3.6668639183044434
+        ],
+        [
+          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": "1731323401_383081912",
+      "mask_path": "../../mask/hdr_front_01369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01370.png",
+      "transform_matrix": [
+        [
+          -0.5533219575881958,
+          -0.017437467351555824,
+          -0.83278489112854,
+          -18.480911254882812
+        ],
+        [
+          0.8328392505645752,
+          0.005963544826954603,
+          -0.5534830093383789,
+          0.9636161923408508
+        ],
+        [
+          0.014617690816521645,
+          -0.9998302459716797,
+          0.011222844943404198,
+          -3.6700172424316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1370,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323401_483079671",
+      "mask_path": "../../mask/hdr_front_01370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01371.png",
+      "transform_matrix": [
+        [
+          -0.5617847442626953,
+          -0.017878595739603043,
+          -0.8270902037620544,
+          -18.432086944580078
+        ],
+        [
+          0.8272256255149841,
+          -0.00031788184423930943,
+          -0.5618698000907898,
+          0.996031641960144
+        ],
+        [
+          0.009782527573406696,
+          -0.9998401403427124,
+          0.014968212693929672,
+          -3.669682502746582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1371,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323401_583081483",
+      "mask_path": "../../mask/hdr_front_01371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01373.png",
+      "transform_matrix": [
+        [
+          -0.596141517162323,
+          -0.015611240640282631,
+          -0.8027275800704956,
+          -18.383474349975586
+        ],
+        [
+          0.8028490543365479,
+          -0.0029062849935144186,
+          -0.5961751937866211,
+          1.0627074241638184
+        ],
+        [
+          0.006974080111831427,
+          -0.9998739361763,
+          0.014266026206314564,
+          -3.6825098991394043
+        ],
+        [
+          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": "1731323401_783082008",
+      "mask_path": "../../mask/hdr_front_01373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01375.png",
+      "transform_matrix": [
+        [
+          -0.6511547565460205,
+          -0.03200598806142807,
+          -0.7582697868347168,
+          -18.363765716552734
+        ],
+        [
+          0.7586454153060913,
+          0.0006185561651363969,
+          -0.6515033841133118,
+          1.1476373672485352
+        ],
+        [
+          0.021321045234799385,
+          -0.9994875192642212,
+          0.023878425359725952,
+          -3.6821022033691406
+        ],
+        [
+          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": "1731323401_983081817",
+      "mask_path": "../../mask/hdr_front_01375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01377.png",
+      "transform_matrix": [
+        [
+          -0.6898279786109924,
+          -0.03354131057858467,
+          -0.7231959104537964,
+          -18.32701301574707
+        ],
+        [
+          0.7236132025718689,
+          -0.000442852993728593,
+          -0.6902056336402893,
+          1.2098503112792969
+        ],
+        [
+          0.02283012494444847,
+          -0.9994373321533203,
+          0.024576425552368164,
+          -3.686417579650879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1377,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_183082103",
+      "mask_path": "../../mask/hdr_front_01377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01379.png",
+      "transform_matrix": [
+        [
+          -0.6940580010414124,
+          -0.047012295573949814,
+          -0.7183824777603149,
+          -18.26365852355957
+        ],
+        [
+          0.7198280096054077,
+          -0.029443910345435143,
+          -0.6935276985168457,
+          1.266816258430481
+        ],
+        [
+          0.011452343314886093,
+          -0.9984603524208069,
+          0.05427654832601547,
+          -3.7224156856536865
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1379,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_383082389",
+      "mask_path": "../../mask/hdr_front_01379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01381.png",
+      "transform_matrix": [
+        [
+          -0.6977354884147644,
+          -0.06168276444077492,
+          -0.7136949300765991,
+          -18.220230102539062
+        ],
+        [
+          0.7162924408912659,
+          -0.04686550050973892,
+          -0.696224570274353,
+          1.3259074687957764
+        ],
+        [
+          0.009497393853962421,
+          -0.9969949126243591,
+          0.07688263058662415,
+          -3.760056495666504
+        ],
+        [
+          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": "1731323402_583081245",
+      "mask_path": "../../mask/hdr_front_01381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01382.png",
+      "transform_matrix": [
+        [
+          -0.7002624273300171,
+          -0.06471056491136551,
+          -0.7109466791152954,
+          -18.171842575073242
+        ],
+        [
+          0.7138586640357971,
+          -0.05483425036072731,
+          -0.6981396675109863,
+          1.3566949367523193
+        ],
+        [
+          0.006192782428115606,
+          -0.9963963627815247,
+          0.0845925584435463,
+          -3.776416063308716
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1382,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_683081150",
+      "mask_path": "../../mask/hdr_front_01382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01383.png",
+      "transform_matrix": [
+        [
+          -0.7004122734069824,
+          -0.08134471625089645,
+          -0.7090879678726196,
+          -18.130401611328125
+        ],
+        [
+          0.7136761546134949,
+          -0.0666927844285965,
+          -0.6972936391830444,
+          1.3920859098434448
+        ],
+        [
+          0.009430104866623878,
+          -0.9944521188735962,
+          0.10476622730493546,
+          -3.7886359691619873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1383,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_783082485",
+      "mask_path": "../../mask/hdr_front_01383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01385.png",
+      "transform_matrix": [
+        [
+          -0.6911238431930542,
+          -0.108968585729599,
+          -0.7144744396209717,
+          -18.07050323486328
+        ],
+        [
+          0.7225286364555359,
+          -0.08046925067901611,
+          -0.6866419315338135,
+          1.4458684921264648
+        ],
+        [
+          0.017329178750514984,
+          -0.9907827973365784,
+          0.1343471258878708,
+          -3.8141720294952393
+        ],
+        [
+          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": "1731323402_983082532",
+      "mask_path": "../../mask/hdr_front_01385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01386.png",
+      "transform_matrix": [
+        [
+          -0.6871327757835388,
+          -0.11255120486021042,
+          -0.7177609205245972,
+          -18.029455184936523
+        ],
+        [
+          0.7265053987503052,
+          -0.09800929576158524,
+          -0.6801354289054871,
+          1.4887593984603882
+        ],
+        [
+          0.00620281370356679,
+          -0.9888005256652832,
+          0.1491144448518753,
+          -3.8392722606658936
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1386,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_83080053",
+      "mask_path": "../../mask/hdr_front_01386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01387.png",
+      "transform_matrix": [
+        [
+          -0.6882551312446594,
+          -0.11242912709712982,
+          -0.7167038917541504,
+          -17.986040115356445
+        ],
+        [
+          0.725293755531311,
+          -0.12833194434642792,
+          -0.6763726472854614,
+          1.5333058834075928
+        ],
+        [
+          -0.01593201979994774,
+          -0.9853378534317017,
+          0.16986925899982452,
+          -3.867218494415283
+        ],
+        [
+          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": "1731323403_183083057",
+      "mask_path": "../../mask/hdr_front_01387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01390.png",
+      "transform_matrix": [
+        [
+          -0.6967560052871704,
+          -0.13259877264499664,
+          -0.7049458622932434,
+          -17.87861442565918
+        ],
+        [
+          0.7166880965232849,
+          -0.16954457759857178,
+          -0.6764708757400513,
+          1.6281497478485107
+        ],
+        [
+          -0.02982053905725479,
+          -0.976561427116394,
+          0.21316316723823547,
+          -3.942403554916382
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1390,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_483081579",
+      "mask_path": "../../mask/hdr_front_01390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01391.png",
+      "transform_matrix": [
+        [
+          -0.6963891983032227,
+          -0.17631477117538452,
+          -0.6956689357757568,
+          -17.839221954345703
+        ],
+        [
+          0.7176229953765869,
+          -0.18148618936538696,
+          -0.6723690629005432,
+          1.6628490686416626
+        ],
+        [
+          -0.007705696392804384,
+          -0.9674584865570068,
+          0.2529125511646271,
+          -3.9776902198791504
+        ],
+        [
+          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": "1731323403_583082199",
+      "mask_path": "../../mask/hdr_front_01391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01393.png",
+      "transform_matrix": [
+        [
+          -0.6922122240066528,
+          -0.21967767179012299,
+          -0.6874473690986633,
+          -17.813100814819336
+        ],
+        [
+          0.7216853499412537,
+          -0.20603054761886597,
+          -0.6608493328094482,
+          1.7084476947784424
+        ],
+        [
+          0.003538695629686117,
+          -0.953568696975708,
+          0.3011550009250641,
+          -4.003889083862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1393,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_783081531",
+      "mask_path": "../../mask/hdr_front_01393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01394.png",
+      "transform_matrix": [
+        [
+          -0.6931251287460327,
+          -0.2230314463376999,
+          -0.6854448318481445,
+          -17.78127670288086
+        ],
+        [
+          0.7207992672920227,
+          -0.2211948186159134,
+          -0.6569028496742249,
+          1.7410231828689575
+        ],
+        [
+          -0.00510686868801713,
+          -0.9493839740753174,
+          0.3140765428543091,
+          -4.038012504577637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1394,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_883081436",
+      "mask_path": "../../mask/hdr_front_01394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01395.png",
+      "transform_matrix": [
+        [
+          -0.6928495764732361,
+          -0.22818692028522491,
+          -0.68402498960495,
+          -17.7451114654541
+        ],
+        [
+          0.7208369374275208,
+          -0.24390774965286255,
+          -0.6487703919410706,
+          1.7782968282699585
+        ],
+        [
+          -0.018798066303133965,
+          -0.9425709247589111,
+          0.3334769606590271,
+          -4.075677394866943
+        ],
+        [
+          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": "1731323403_983081817",
+      "mask_path": "../../mask/hdr_front_01395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01396.png",
+      "transform_matrix": [
+        [
+          -0.6912820339202881,
+          -0.23837897181510925,
+          -0.6821324229240417,
+          -17.717111587524414
+        ],
+        [
+          0.7221875786781311,
+          -0.25923243165016174,
+          -0.6412827372550964,
+          1.806226372718811
+        ],
+        [
+          -0.02396249771118164,
+          -0.935934841632843,
+          0.351357102394104,
+          -4.110999584197998
+        ],
+        [
+          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": "1731323404_83082199",
+      "mask_path": "../../mask/hdr_front_01396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01397.png",
+      "transform_matrix": [
+        [
+          -0.6909449100494385,
+          -0.24514390528202057,
+          -0.6800732612609863,
+          -17.68736457824707
+        ],
+        [
+          0.7225882411003113,
+          -0.2621542513370514,
+          -0.6396416425704956,
+          1.8381006717681885
+        ],
+        [
+          -0.02147984504699707,
+          -0.933370053768158,
+          0.3582722842693329,
+          -4.142082214355469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1397,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323404_183082103",
+      "mask_path": "../../mask/hdr_front_01397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01398.png",
+      "transform_matrix": [
+        [
+          -0.6925066113471985,
+          -0.24332942068576813,
+          -0.679135799407959,
+          -17.6378231048584
+        ],
+        [
+          0.7211441993713379,
+          -0.25912076234817505,
+          -0.6425009965896606,
+          1.8736637830734253
+        ],
+        [
+          -0.019638780504465103,
+          -0.9346910715103149,
+          0.3549184799194336,
+          -4.172606945037842
+        ],
+        [
+          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": "1731323404_283081531",
+      "mask_path": "../../mask/hdr_front_01398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01399.png",
+      "transform_matrix": [
+        [
+          -0.6899805665016174,
+          -0.26183947920799255,
+          -0.6748088002204895,
+          -17.582721710205078
+        ],
+        [
+          0.7237938642501831,
+          -0.2586282193660736,
+          -0.6397139430046082,
+          1.91788649559021
+        ],
+        [
+          -0.007022249978035688,
+          -0.9298126697540283,
+          0.3679662048816681,
+          -4.189202308654785
+        ],
+        [
+          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": "1731323404_383081912",
+      "mask_path": "../../mask/hdr_front_01399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01401.png",
+      "transform_matrix": [
+        [
+          -0.6931560039520264,
+          -0.24278560280799866,
+          -0.6786677837371826,
+          -17.52116584777832
+        ],
+        [
+          0.7203871011734009,
+          -0.2647325098514557,
+          -0.641061007976532,
+          1.9680171012878418
+        ],
+        [
+          -0.024025021120905876,
+          -0.9332587122917175,
+          0.3584005534648895,
+          -4.202378273010254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1401,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323404_583081722",
+      "mask_path": "../../mask/hdr_front_01401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01402.png",
+      "transform_matrix": [
+        [
+          -0.6940751075744629,
+          -0.23321451246738434,
+          -0.6810805797576904,
+          -17.47762107849121
+        ],
+        [
+          0.719557523727417,
+          -0.2540314495563507,
+          -0.6463009715080261,
+          2.022578477859497
+        ],
+        [
+          -0.022289125248789787,
+          -0.9386581182479858,
+          0.3441281020641327,
+          -4.225211143493652
+        ],
+        [
+          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": "1731323404_683083295",
+      "mask_path": "../../mask/hdr_front_01402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01407.png",
+      "transform_matrix": [
+        [
+          -0.6847918033599854,
+          -0.2609005570411682,
+          -0.6804344654083252,
+          -17.367597579956055
+        ],
+        [
+          0.7280295491218567,
+          -0.20374129712581635,
+          -0.654570460319519,
+          2.2186636924743652
+        ],
+        [
+          0.03214521333575249,
+          -0.9436209201812744,
+          0.3294636607170105,
+          -4.293992042541504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1407,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_183079719",
+      "mask_path": "../../mask/hdr_front_01407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01409.png",
+      "transform_matrix": [
+        [
+          -0.6968083381652832,
+          -0.22102634608745575,
+          -0.6823528409004211,
+          -17.320968627929688
+        ],
+        [
+          0.7172534465789795,
+          -0.211593896150589,
+          -0.6639092564582825,
+          2.2610862255096436
+        ],
+        [
+          0.0023597360122948885,
+          -0.9520374536514282,
+          0.3059723377227783,
+          -4.273655891418457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1409,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_383080959",
+      "mask_path": "../../mask/hdr_front_01409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01410.png",
+      "transform_matrix": [
+        [
+          -0.6965972185134888,
+          -0.2062298208475113,
+          -0.6871839165687561,
+          -17.283166885375977
+        ],
+        [
+          0.7174275517463684,
+          -0.2096756100654602,
+          -0.6643297076225281,
+          2.289206027984619
+        ],
+        [
+          -0.007081108633428812,
+          -0.9557748436927795,
+          0.2940143644809723,
+          -4.297640323638916
+        ],
+        [
+          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": "1731323405_483081579",
+      "mask_path": "../../mask/hdr_front_01410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01411.png",
+      "transform_matrix": [
+        [
+          -0.6937999129295349,
+          -0.2052655965089798,
+          -0.6902953386306763,
+          -17.24109649658203
+        ],
+        [
+          0.7200533151626587,
+          -0.2148057520389557,
+          -0.659834623336792,
+          2.323930263519287
+        ],
+        [
+          -0.012838059104979038,
+          -0.9548426866531372,
+          0.29683437943458557,
+          -4.324439525604248
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1411,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_583081483",
+      "mask_path": "../../mask/hdr_front_01411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01413.png",
+      "transform_matrix": [
+        [
+          -0.688349723815918,
+          -0.21876440942287445,
+          -0.6916044354438782,
+          -17.196311950683594
+        ],
+        [
+          0.7253770232200623,
+          -0.20977184176445007,
+          -0.6556095480918884,
+          2.385246992111206
+        ],
+        [
+          -0.0016551201697438955,
+          -0.9529627561569214,
+          0.30308306217193604,
+          -4.369870662689209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1413,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_783082008",
+      "mask_path": "../../mask/hdr_front_01413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01415.png",
+      "transform_matrix": [
+        [
+          -0.6881344318389893,
+          -0.22841857373714447,
+          -0.6886915564537048,
+          -17.12789535522461
+        ],
+        [
+          0.7255405783653259,
+          -0.20633183419704437,
+          -0.6565196514129639,
+          2.4597532749176025
+        ],
+        [
+          0.007862295024096966,
+          -0.9514474868774414,
+          0.30771103501319885,
+          -4.410362720489502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1415,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_983080387",
+      "mask_path": "../../mask/hdr_front_01415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01417.png",
+      "transform_matrix": [
+        [
+          -0.6958667039871216,
+          -0.1893390715122223,
+          -0.6927627325057983,
+          -17.07497215270996
+        ],
+        [
+          0.7179592847824097,
+          -0.20682156085968018,
+          -0.6646497845649719,
+          2.5051076412200928
+        ],
+        [
+          -0.017434079200029373,
+          -0.9598831534385681,
+          0.27985796332359314,
+          -4.402075290679932
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1417,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_183082342",
+      "mask_path": "../../mask/hdr_front_01417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01419.png",
+      "transform_matrix": [
+        [
+          -0.6921716332435608,
+          -0.17550969123840332,
+          -0.7000678181648254,
+          -17.002883911132812
+        ],
+        [
+          0.7211847305297852,
+          -0.2059960514307022,
+          -0.6614062786102295,
+          2.5739846229553223
+        ],
+        [
+          -0.02812797948718071,
+          -0.9626848101615906,
+          0.2691595256328583,
+          -4.448938369750977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1419,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_383082389",
+      "mask_path": "../../mask/hdr_front_01419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01421.png",
+      "transform_matrix": [
+        [
+          -0.6863846778869629,
+          -0.19520112872123718,
+          -0.7005516886711121,
+          -16.959043502807617
+        ],
+        [
+          0.7271405458450317,
+          -0.20004171133041382,
+          -0.6566963195800781,
+          2.6321706771850586
+        ],
+        [
+          -0.011951692402362823,
+          -0.9601457118988037,
+          0.27924421429634094,
+          -4.490646839141846
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1421,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_583082199",
+      "mask_path": "../../mask/hdr_front_01421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01423.png",
+      "transform_matrix": [
+        [
+          -0.6858119964599609,
+          -0.20379126071929932,
+          -0.6986638307571411,
+          -16.904258728027344
+        ],
+        [
+          0.7277761697769165,
+          -0.19461782276630402,
+          -0.6576213240623474,
+          2.7007980346679688
+        ],
+        [
+          -0.0019549753051251173,
+          -0.9594755172729492,
+          0.28178566694259644,
+          -4.528608798980713
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1423,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_783082008",
+      "mask_path": "../../mask/hdr_front_01423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01425.png",
+      "transform_matrix": [
+        [
+          -0.6798176169395447,
+          -0.20317496359348297,
+          -0.7046758532524109,
+          -16.84055519104004
+        ],
+        [
+          0.7333047986030579,
+          -0.20218436419963837,
+          -0.6491421461105347,
+          2.7498056888580322
+        ],
+        [
+          -0.01058498490601778,
+          -0.9580404162406921,
+          0.2864376902580261,
+          -4.538930892944336
+        ],
+        [
+          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": "1731323406_983081340",
+      "mask_path": "../../mask/hdr_front_01425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01427.png",
+      "transform_matrix": [
+        [
+          -0.6695905327796936,
+          -0.19010154902935028,
+          -0.7179902195930481,
+          -16.774551391601562
+        ],
+        [
+          0.7424725294113159,
+          -0.1967984288930893,
+          -0.6403163075447083,
+          2.804511785507202
+        ],
+        [
+          -0.019574221223592758,
+          -0.9618377089500427,
+          0.27291950583457947,
+          -4.572023868560791
+        ],
+        [
+          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": "1731323407_183081150",
+      "mask_path": "../../mask/hdr_front_01427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01428.png",
+      "transform_matrix": [
+        [
+          -0.6733223795890808,
+          -0.188766747713089,
+          -0.7148454785346985,
+          -16.726964950561523
+        ],
+        [
+          0.7382176518440247,
+          -0.22511309385299683,
+          -0.6358921527862549,
+          2.8502068519592285
+        ],
+        [
+          -0.04088577628135681,
+          -0.9558720588684082,
+          0.29092466831207275,
+          -4.59876823425293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1428,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_283082246",
+      "mask_path": "../../mask/hdr_front_01428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01430.png",
+      "transform_matrix": [
+        [
+          -0.68939208984375,
+          -0.1947004646062851,
+          -0.6977322697639465,
+          -16.69126319885254
+        ],
+        [
+          0.721253514289856,
+          -0.27400341629981995,
+          -0.6361724734306335,
+          2.8950562477111816
+        ],
+        [
+          -0.06731794774532318,
+          -0.941814124584198,
+          0.32932427525520325,
+          -4.624398231506348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1430,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_483082294",
+      "mask_path": "../../mask/hdr_front_01430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01432.png",
+      "transform_matrix": [
+        [
+          -0.722707211971283,
+          -0.1947055608034134,
+          -0.6631622314453125,
+          -16.662776947021484
+        ],
+        [
+          0.6894894242286682,
+          -0.269663006067276,
+          -0.6722248196601868,
+          2.981571674346924
+        ],
+        [
+          -0.047944411635398865,
+          -0.9430650472640991,
+          0.32913482189178467,
+          -4.6734161376953125
+        ],
+        [
+          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": "1731323407_683082818",
+      "mask_path": "../../mask/hdr_front_01432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01434.png",
+      "transform_matrix": [
+        [
+          -0.7493953704833984,
+          -0.1894051879644394,
+          -0.6344543695449829,
+          -16.626516342163086
+        ],
+        [
+          0.6612785458564758,
+          -0.26247140765190125,
+          -0.7027229070663452,
+          3.059889554977417
+        ],
+        [
+          -0.033426761627197266,
+          -0.9461683630943298,
+          0.3219444453716278,
+          -4.6985626220703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1434,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_883082866",
+      "mask_path": "../../mask/hdr_front_01434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01436.png",
+      "transform_matrix": [
+        [
+          -0.7715635895729065,
+          -0.17562589049339294,
+          -0.6114287376403809,
+          -16.575531005859375
+        ],
+        [
+          0.6347218751907349,
+          -0.27694404125213623,
+          -0.7214083671569824,
+          3.154370069503784
+        ],
+        [
+          -0.04263358190655708,
+          -0.944699764251709,
+          0.32515355944633484,
+          -4.7603044509887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1436,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_83081722",
+      "mask_path": "../../mask/hdr_front_01436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01439.png",
+      "transform_matrix": [
+        [
+          -0.7823565006256104,
+          -0.19419187307357788,
+          -0.5917834639549255,
+          -16.52459716796875
+        ],
+        [
+          0.6207315921783447,
+          -0.3210505247116089,
+          -0.7152752876281738,
+          3.2444050312042236
+        ],
+        [
+          -0.0510917529463768,
+          -0.9269391298294067,
+          0.37171706557273865,
+          -4.814162254333496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1439,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_383080720",
+      "mask_path": "../../mask/hdr_front_01439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01440.png",
+      "transform_matrix": [
+        [
+          -0.7845978140830994,
+          -0.20173703134059906,
+          -0.5862664580345154,
+          -16.491863250732422
+        ],
+        [
+          0.6184817552566528,
+          -0.32090604305267334,
+          -0.7172862887382507,
+          3.2999277114868164
+        ],
+        [
+          -0.04343325272202492,
+          -0.9253764152526855,
+          0.37655290961265564,
+          -4.853581428527832
+        ],
+        [
+          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": "1731323408_483083248",
+      "mask_path": "../../mask/hdr_front_01440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01441.png",
+      "transform_matrix": [
+        [
+          -0.7855757474899292,
+          -0.21001890301704407,
+          -0.5820334553718567,
+          -16.454668045043945
+        ],
+        [
+          0.617375373840332,
+          -0.32905471324920654,
+          -0.7145422101020813,
+          3.3509714603424072
+        ],
+        [
+          -0.04145343601703644,
+          -0.9206601977348328,
+          0.3881578743457794,
+          -4.891823768615723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1441,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_583082675",
+      "mask_path": "../../mask/hdr_front_01441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01442.png",
+      "transform_matrix": [
+        [
+          -0.7845063209533691,
+          -0.21193772554397583,
+          -0.5827797651290894,
+          -16.41990089416504
+        ],
+        [
+          0.6186578869819641,
+          -0.3320028483867645,
+          -0.7120650410652161,
+          3.3872249126434326
+        ],
+        [
+          -0.042571090161800385,
+          -0.919160783290863,
+          0.39157524704933167,
+          -4.920884609222412
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1442,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_683081388",
+      "mask_path": "../../mask/hdr_front_01442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01443.png",
+      "transform_matrix": [
+        [
+          -0.7834091782569885,
+          -0.20427843928337097,
+          -0.5869757533073425,
+          -16.378538131713867
+        ],
+        [
+          0.6196808218955994,
+          -0.32907187938690186,
+          -0.7125359177589417,
+          3.443387508392334
+        ],
+        [
+          -0.04760148748755455,
+          -0.9219446778297424,
+          0.3843853175640106,
+          -4.954479217529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1443,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_783081769",
+      "mask_path": "../../mask/hdr_front_01443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01444.png",
+      "transform_matrix": [
+        [
+          -0.7826712131500244,
+          -0.20066070556640625,
+          -0.5892037749290466,
+          -16.319997787475586
+        ],
+        [
+          0.6200178861618042,
+          -0.33468684554100037,
+          -0.7096214294433594,
+          3.517674207687378
+        ],
+        [
+          -0.054805606603622437,
+          -0.9207171201705933,
+          0.3863629698753357,
+          -4.997727394104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1444,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_883082628",
+      "mask_path": "../../mask/hdr_front_01444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01445.png",
+      "transform_matrix": [
+        [
+          -0.7825616598129272,
+          -0.2022424191236496,
+          -0.5888083577156067,
+          -16.283714294433594
+        ],
+        [
+          0.619944155216217,
+          -0.3399638831615448,
+          -0.7071731686592102,
+          3.5643508434295654
+        ],
+        [
+          -0.05715315788984299,
+          -0.9184348583221436,
+          0.39142167568206787,
+          -5.034997940063477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1445,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_983082532",
+      "mask_path": "../../mask/hdr_front_01445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01446.png",
+      "transform_matrix": [
+        [
+          -0.7839779257774353,
+          -0.2032686024904251,
+          -0.5865667462348938,
+          -16.264604568481445
+        ],
+        [
+          0.6184600591659546,
+          -0.3375045657157898,
+          -0.7096463441848755,
+          3.5999865531921387
+        ],
+        [
+          -0.053720127791166306,
+          -0.9191151261329651,
+          0.390309602022171,
+          -5.066103935241699
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1446,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_83082914",
+      "mask_path": "../../mask/hdr_front_01446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01447.png",
+      "transform_matrix": [
+        [
+          -0.7855063080787659,
+          -0.19987696409225464,
+          -0.5856867432594299,
+          -16.22582244873047
+        ],
+        [
+          0.6166110634803772,
+          -0.3332795798778534,
+          -0.7132430076599121,
+          3.6439642906188965
+        ],
+        [
+          -0.05263661965727806,
+          -0.921397864818573,
+          0.3850395679473877,
+          -5.089258670806885
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1447,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_183081388",
+      "mask_path": "../../mask/hdr_front_01447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01448.png",
+      "transform_matrix": [
+        [
+          -0.7887963652610779,
+          -0.19075731933116913,
+          -0.5843046307563782,
+          -16.166128158569336
+        ],
+        [
+          0.6120793223381042,
+          -0.330704927444458,
+          -0.7183266878128052,
+          3.6978602409362793
+        ],
+        [
+          -0.056206341832876205,
+          -0.924254298210144,
+          0.3776174485683441,
+          -5.1167802810668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1448,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_283081531",
+      "mask_path": "../../mask/hdr_front_01448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01449.png",
+      "transform_matrix": [
+        [
+          -0.7909682989120483,
+          -0.18106421828269958,
+          -0.5844526886940002,
+          -16.11867332458496
+        ],
+        [
+          0.6085507273674011,
+          -0.3319726586341858,
+          -0.7207359075546265,
+          3.739396810531616
+        ],
+        [
+          -0.0635228231549263,
+          -0.925748348236084,
+          0.3727666437625885,
+          -5.138096332550049
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1449,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_383079767",
+      "mask_path": "../../mask/hdr_front_01449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01451.png",
+      "transform_matrix": [
+        [
+          -0.7890843749046326,
+          -0.16115480661392212,
+          -0.5927689671516418,
+          -16.049314498901367
+        ],
+        [
+          0.6090618371963501,
+          -0.33081933856010437,
+          -0.7208343148231506,
+          3.800400733947754
+        ],
+        [
+          -0.07993350178003311,
+          -0.9298320412635803,
+          0.3591976463794708,
+          -5.168981552124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1451,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_583080530",
+      "mask_path": "../../mask/hdr_front_01451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01452.png",
+      "transform_matrix": [
+        [
+          -0.7901206016540527,
+          -0.14939117431640625,
+          -0.5944676399230957,
+          -16.009178161621094
+        ],
+        [
+          0.6062490344047546,
+          -0.3334961235523224,
+          -0.7219712138175964,
+          3.8541808128356934
+        ],
+        [
+          -0.0903964713215828,
+          -0.9308397173881531,
+          0.35407042503356934,
+          -5.209507465362549
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1452,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_683080673",
+      "mask_path": "../../mask/hdr_front_01452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01453.png",
+      "transform_matrix": [
+        [
+          -0.7940046787261963,
+          -0.1422165334224701,
+          -0.5910423994064331,
+          -15.965852737426758
+        ],
+        [
+          0.5992083549499512,
+          -0.3470202088356018,
+          -0.7214750647544861,
+          3.9064908027648926
+        ],
+        [
+          -0.10249792784452438,
+          -0.9270121455192566,
+          0.36075302958488464,
+          -5.236791610717773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1453,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_783079862",
+      "mask_path": "../../mask/hdr_front_01453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01456.png",
+      "transform_matrix": [
+        [
+          -0.8000765442848206,
+          -0.1592034548521042,
+          -0.5783872604370117,
+          -15.89848804473877
+        ],
+        [
+          0.5943514704704285,
+          -0.3411676287651062,
+          -0.7282519340515137,
+          4.012636184692383
+        ],
+        [
+          -0.0813867524266243,
+          -0.926422655582428,
+          0.3675830364227295,
+          -5.278365612030029
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1456,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_83081722",
+      "mask_path": "../../mask/hdr_front_01456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01457.png",
+      "transform_matrix": [
+        [
+          -0.802241861820221,
+          -0.17455047369003296,
+          -0.5709117650985718,
+          -15.874417304992676
+        ],
+        [
+          0.593007504940033,
+          -0.34339281916618347,
+          -0.7283018231391907,
+          4.056587219238281
+        ],
+        [
+          -0.06892156600952148,
+          -0.9228290319442749,
+          0.37899380922317505,
+          -5.30810546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1457,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_183081626",
+      "mask_path": "../../mask/hdr_front_01457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01459.png",
+      "transform_matrix": [
+        [
+          -0.7994020581245422,
+          -0.18853424489498138,
+          -0.5704482793807983,
+          -15.828900337219238
+        ],
+        [
+          0.5976508259773254,
+          -0.3465796411037445,
+          -0.7229772806167603,
+          4.122256278991699
+        ],
+        [
+          -0.06139979511499405,
+          -0.9188783764839172,
+          0.3897341191768646,
+          -5.355662822723389
+        ],
+        [
+          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": "1731323410_383080959",
+      "mask_path": "../../mask/hdr_front_01459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01460.png",
+      "transform_matrix": [
+        [
+          -0.7962576150894165,
+          -0.18756818771362305,
+          -0.5751451849937439,
+          -15.80072021484375
+        ],
+        [
+          0.6026719212532043,
+          -0.3285139799118042,
+          -0.7272311449050903,
+          4.1807403564453125
+        ],
+        [
+          -0.052537787705659866,
+          -0.9256871938705444,
+          0.3746238648891449,
+          -5.390885829925537
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1460,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_483081579",
+      "mask_path": "../../mask/hdr_front_01460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01461.png",
+      "transform_matrix": [
+        [
+          -0.7957713603973389,
+          -0.18637800216674805,
+          -0.5762041807174683,
+          -15.76269245147705
+        ],
+        [
+          0.6040817499160767,
+          -0.31156307458877563,
+          -0.7334941625595093,
+          4.268928527832031
+        ],
+        [
+          -0.04281676933169365,
+          -0.9317680597305298,
+          0.36052048206329346,
+          -5.410832405090332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1461,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_583082914",
+      "mask_path": "../../mask/hdr_front_01461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01465.png",
+      "transform_matrix": [
+        [
+          -0.775195300579071,
+          -0.1931004822254181,
+          -0.6014852523803711,
+          -15.683555603027344
+        ],
+        [
+          0.631095826625824,
+          -0.2790941894054413,
+          -0.7237572073936462,
+          4.415232181549072
+        ],
+        [
+          -0.02811316028237343,
+          -0.9406479597091675,
+          0.3382174074649811,
+          -5.492825031280518
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1465,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_983082056",
+      "mask_path": "../../mask/hdr_front_01465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01469.png",
+      "transform_matrix": [
+        [
+          -0.6498938798904419,
+          -0.21336312592029572,
+          -0.7294616103172302,
+          -15.590344429016113
+        ],
+        [
+          0.7562691569328308,
+          -0.2768436372280121,
+          -0.5928022265434265,
+          4.471015930175781
+        ],
+        [
+          -0.0754646435379982,
+          -0.9369279146194458,
+          0.34127891063690186,
+          -5.520142078399658
+        ],
+        [
+          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": "1731323411_383080959",
+      "mask_path": "../../mask/hdr_front_01469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01470.png",
+      "transform_matrix": [
+        [
+          -0.6411883234977722,
+          -0.19044773280620575,
+          -0.7433755397796631,
+          -15.55280590057373
+        ],
+        [
+          0.7639177441596985,
+          -0.25037339329719543,
+          -0.5947628617286682,
+          4.530695915222168
+        ],
+        [
+          -0.07285024225711823,
+          -0.949232816696167,
+          0.30602291226387024,
+          -5.522359371185303
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1470,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_483081817",
+      "mask_path": "../../mask/hdr_front_01470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01472.png",
+      "transform_matrix": [
+        [
+          -0.6452454328536987,
+          -0.1717015653848648,
+          -0.7444306015968323,
+          -15.535491943359375
+        ],
+        [
+          0.7594860792160034,
+          -0.2496449053287506,
+          -0.6007148623466492,
+          4.576611518859863
+        ],
+        [
+          -0.08269964158535004,
+          -0.9529931545257568,
+          0.2914871573448181,
+          -5.568753719329834
+        ],
+        [
+          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": "1731323411_683081388",
+      "mask_path": "../../mask/hdr_front_01472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01473.png",
+      "transform_matrix": [
+        [
+          -0.6432907581329346,
+          -0.1736999750137329,
+          -0.7456576824188232,
+          -15.503028869628906
+        ],
+        [
+          0.7614637613296509,
+          -0.2465193271636963,
+          -0.5995007157325745,
+          4.606448173522949
+        ],
+        [
+          -0.07968578487634659,
+          -0.9534446001052856,
+          0.29084986448287964,
+          -5.603384017944336
+        ],
+        [
+          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": "1731323411_783080577",
+      "mask_path": "../../mask/hdr_front_01473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01475.png",
+      "transform_matrix": [
+        [
+          -0.6364529132843018,
+          -0.1971210092306137,
+          -0.7457016110420227,
+          -15.47310733795166
+        ],
+        [
+          0.7657274007797241,
+          -0.2776421308517456,
+          -0.5801520943641663,
+          4.649476528167725
+        ],
+        [
+          -0.0926780104637146,
+          -0.9402437210083008,
+          0.3276471197605133,
+          -5.628761291503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1475,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_983081579",
+      "mask_path": "../../mask/hdr_front_01475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01477.png",
+      "transform_matrix": [
+        [
+          -0.6418931484222412,
+          -0.1732046902179718,
+          -0.7469761371612549,
+          -15.413604736328125
+        ],
+        [
+          0.7571057081222534,
+          -0.29752659797668457,
+          -0.5816088914871216,
+          4.703243255615234
+        ],
+        [
+          -0.12150788307189941,
+          -0.9388706684112549,
+          0.3221145272254944,
+          -5.682131290435791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1477,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_183081865",
+      "mask_path": "../../mask/hdr_front_01477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01478.png",
+      "transform_matrix": [
+        [
+          -0.6391037106513977,
+          -0.1583917886018753,
+          -0.7526344656944275,
+          -15.3646821975708
+        ],
+        [
+          0.7588011622428894,
+          -0.2896120846271515,
+          -0.5833914875984192,
+          4.748022556304932
+        ],
+        [
+          -0.12556760013103485,
+          -0.9439475536346436,
+          0.30528002977371216,
+          -5.701416015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1478,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_283081531",
+      "mask_path": "../../mask/hdr_front_01478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01480.png",
+      "transform_matrix": [
+        [
+          -0.6358422040939331,
+          -0.15669362246990204,
+          -0.7557458877563477,
+          -15.301689147949219
+        ],
+        [
+          0.7622430920600891,
+          -0.2812511622905731,
+          -0.5829951167106628,
+          4.784244537353516
+        ],
+        [
+          -0.121202751994133,
+          -0.9467549920082092,
+          0.29826998710632324,
+          -5.725576400756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1480,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_483082056",
+      "mask_path": "../../mask/hdr_front_01480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01481.png",
+      "transform_matrix": [
+        [
+          -0.6331907510757446,
+          -0.1554936021566391,
+          -0.7582158446311951,
+          -15.231512069702148
+        ],
+        [
+          0.7662299275398254,
+          -0.26435038447380066,
+          -0.5856708884239197,
+          4.821754455566406
+        ],
+        [
+          -0.10936654359102249,
+          -0.9518091678619385,
+          0.2865281105041504,
+          -5.749855041503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1481,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_583081483",
+      "mask_path": "../../mask/hdr_front_01481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01482.png",
+      "transform_matrix": [
+        [
+          -0.6300597786903381,
+          -0.19161690771579742,
+          -0.7525342106819153,
+          -15.180256843566895
+        ],
+        [
+          0.7713543772697449,
+          -0.26630765199661255,
+          -0.5780074000358582,
+          4.846224308013916
+        ],
+        [
+          -0.08964957296848297,
+          -0.944649875164032,
+          0.31559428572654724,
+          -5.771166801452637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1482,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_683082342",
+      "mask_path": "../../mask/hdr_front_01482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01485.png",
+      "transform_matrix": [
+        [
+          -0.6307579278945923,
+          -0.20637060701847076,
+          -0.7480345368385315,
+          -15.113543510437012
+        ],
+        [
+          0.7672688364982605,
+          -0.3099014461040497,
+          -0.5614798665046692,
+          4.902935981750488
+        ],
+        [
+          -0.1159440353512764,
+          -0.9281014800071716,
+          0.3538145124912262,
+          -5.835946083068848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1485,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_983081817",
+      "mask_path": "../../mask/hdr_front_01485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01486.png",
+      "transform_matrix": [
+        [
+          -0.6361481547355652,
+          -0.20201200246810913,
+          -0.7446521520614624,
+          -15.075695991516113
+        ],
+        [
+          0.7613396048545837,
+          -0.3209685981273651,
+          -0.5633304715156555,
+          4.936179161071777
+        ],
+        [
+          -0.12521041929721832,
+          -0.9252947568893433,
+          0.357983261346817,
+          -5.814951419830322
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1486,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_83082437",
+      "mask_path": "../../mask/hdr_front_01486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01488.png",
+      "transform_matrix": [
+        [
+          -0.6387390494346619,
+          -0.21032573282718658,
+          -0.740118682384491,
+          -15.004748344421387
+        ],
+        [
+          0.7614158391952515,
+          -0.31120193004608154,
+          -0.5686821341514587,
+          5.006662845611572
+        ],
+        [
+          -0.11071784049272537,
+          -0.9267774820327759,
+          0.35892215371131897,
+          -5.872624397277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1488,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_283081054",
+      "mask_path": "../../mask/hdr_front_01488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01489.png",
+      "transform_matrix": [
+        [
+          -0.6400623917579651,
+          -0.2298017144203186,
+          -0.7331516742706299,
+          -14.967534065246582
+        ],
+        [
+          0.7615017294883728,
+          -0.3166103959083557,
+          -0.5655732154846191,
+          5.051878452301025
+        ],
+        [
+          -0.1021537259221077,
+          -0.9202983379364014,
+          0.37764477729797363,
+          -5.915494918823242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1489,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_383082151",
+      "mask_path": "../../mask/hdr_front_01489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08042.png",
+      "transform_matrix": [
+        [
+          0.783295750617981,
+          -0.16320641338825226,
+          0.5998427867889404,
+          -15.277314186096191
+        ],
+        [
+          -0.621612548828125,
+          -0.21610017120838165,
+          0.7529266476631165,
+          4.7406134605407715
+        ],
+        [
+          0.006743662990629673,
+          -0.9626342058181763,
+          -0.2707214951515198,
+          -5.86253547668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8042,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_683078289",
+      "mask_path": "../../mask/hdr_front_08042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08043.png",
+      "transform_matrix": [
+        [
+          0.7814160585403442,
+          -0.1677955985069275,
+          0.6010270714759827,
+          -15.331817626953125
+        ],
+        [
+          -0.6238802671432495,
+          -0.2297385334968567,
+          0.7469896674156189,
+          4.683850288391113
+        ],
+        [
+          0.012737510725855827,
+          -0.9586787223815918,
+          -0.28420576453208923,
+          -5.815747261047363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8043,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_783077239",
+      "mask_path": "../../mask/hdr_front_08043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08044.png",
+      "transform_matrix": [
+        [
+          0.7808935642242432,
+          -0.17024493217468262,
+          0.6010174751281738,
+          -15.384132385253906
+        ],
+        [
+          -0.6242783665657043,
+          -0.24650150537490845,
+          0.7412917613983154,
+          4.6326003074646
+        ],
+        [
+          0.02195052243769169,
+          -0.9540721774101257,
+          -0.2987716495990753,
+          -5.775730133056641
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8044,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_883081197",
+      "mask_path": "../../mask/hdr_front_08044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08046.png",
+      "transform_matrix": [
+        [
+          0.7811164259910583,
+          -0.15073737502098083,
+          0.6059168577194214,
+          -15.444534301757812
+        ],
+        [
+          -0.621589720249176,
+          -0.27945682406425476,
+          0.7317991852760315,
+          4.543947696685791
+        ],
+        [
+          0.05901811271905899,
+          -0.9482522010803223,
+          -0.3119851350784302,
+          -5.715176582336426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8046,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_83078622",
+      "mask_path": "../../mask/hdr_front_08046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08047.png",
+      "transform_matrix": [
+        [
+          0.7835074663162231,
+          -0.15757595002651215,
+          0.6010707020759583,
+          -15.479941368103027
+        ],
+        [
+          -0.6183450818061829,
+          -0.2932431399822235,
+          0.7291486859321594,
+          4.49379825592041
+        ],
+        [
+          0.06136355549097061,
+          -0.9429625272750854,
+          -0.3271945118904114,
+          -5.653141021728516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8047,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_183080196",
+      "mask_path": "../../mask/hdr_front_08047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08048.png",
+      "transform_matrix": [
+        [
+          0.7840505838394165,
+          -0.1571873426437378,
+          0.6004638671875,
+          -15.513677597045898
+        ],
+        [
+          -0.6178447008132935,
+          -0.290279746055603,
+          0.7307568788528442,
+          4.452744960784912
+        ],
+        [
+          0.05943679437041283,
+          -0.9439437985420227,
+          -0.3247113525867462,
+          -5.642668724060059
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8048,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_283082008",
+      "mask_path": "../../mask/hdr_front_08048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08049.png",
+      "transform_matrix": [
+        [
+          0.7814845442771912,
+          -0.16183240711688995,
+          0.6025713682174683,
+          -15.553236961364746
+        ],
+        [
+          -0.6216673254966736,
+          -0.2840428650379181,
+          0.7299652099609375,
+          4.410591125488281
+        ],
+        [
+          0.053024064749479294,
+          -0.9450554847717285,
+          -0.32258105278015137,
+          -5.64436674118042
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8049,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_383079290",
+      "mask_path": "../../mask/hdr_front_08049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08050.png",
+      "transform_matrix": [
+        [
+          0.7776838541030884,
+          -0.15535622835159302,
+          0.6091570258140564,
+          -15.603750228881836
+        ],
+        [
+          -0.625922679901123,
+          -0.28160360455513,
+          0.7272689938545227,
+          4.369484901428223
+        ],
+        [
+          0.058555059134960175,
+          -0.9468705654144287,
+          -0.31623953580856323,
+          -5.616724491119385
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8050,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_483081579",
+      "mask_path": "../../mask/hdr_front_08050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08051.png",
+      "transform_matrix": [
+        [
+          0.7742218971252441,
+          -0.14325906336307526,
+          0.6164879202842712,
+          -15.645011901855469
+        ],
+        [
+          -0.6284964680671692,
+          -0.28890669345855713,
+          0.722166895866394,
+          4.3335280418396
+        ],
+        [
+          0.07465052604675293,
+          -0.9465779662132263,
+          -0.31371572613716125,
+          -5.587496280670166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8051,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_583083152",
+      "mask_path": "../../mask/hdr_front_08051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08052.png",
+      "transform_matrix": [
+        [
+          0.771574079990387,
+          -0.13557235896587372,
+          0.6215251684188843,
+          -15.679831504821777
+        ],
+        [
+          -0.6297857761383057,
+          -0.30053696036338806,
+          0.716273307800293,
+          4.2976975440979
+        ],
+        [
+          0.08968442678451538,
+          -0.9440857172012329,
+          -0.31726810336112976,
+          -5.567349910736084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8052,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_683082342",
+      "mask_path": "../../mask/hdr_front_08052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08053.png",
+      "transform_matrix": [
+        [
+          0.7702322602272034,
+          -0.12584258615970612,
+          0.6252247095108032,
+          -15.71670150756836
+        ],
+        [
+          -0.6286335587501526,
+          -0.31509071588516235,
+          0.7110117673873901,
+          4.247983932495117
+        ],
+        [
+          0.10752694308757782,
+          -0.940681517124176,
+          -0.32180190086364746,
+          -5.533613204956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8053,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_783081293",
+      "mask_path": "../../mask/hdr_front_08053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08054.png",
+      "transform_matrix": [
+        [
+          0.7699612379074097,
+          -0.12212516367435455,
+          0.626294732093811,
+          -15.756589889526367
+        ],
+        [
+          -0.6315345168113708,
+          -0.2861874997615814,
+          0.7205976247787476,
+          4.197407245635986
+        ],
+        [
+          0.09123462438583374,
+          -0.9503589868545532,
+          -0.2974795401096344,
+          -5.50345516204834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8054,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_883082151",
+      "mask_path": "../../mask/hdr_front_08054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08057.png",
+      "transform_matrix": [
+        [
+          0.7684310078620911,
+          -0.13914355635643005,
+          0.6246222257614136,
+          -15.841748237609863
+        ],
+        [
+          -0.6375667452812195,
+          -0.25032031536102295,
+          0.7285933494567871,
+          4.082387447357178
+        ],
+        [
+          0.05497654527425766,
+          -0.9581122398376465,
+          -0.2810671925544739,
+          -5.473204135894775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8057,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_183081388",
+      "mask_path": "../../mask/hdr_front_08057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08058.png",
+      "transform_matrix": [
+        [
+          0.7658470273017883,
+          -0.16482755541801453,
+          0.621538519859314,
+          -15.888071060180664
+        ],
+        [
+          -0.6414792537689209,
+          -0.2627715766429901,
+          0.7207326292991638,
+          4.039987564086914
+        ],
+        [
+          0.044526051729917526,
+          -0.9506750106811523,
+          -0.3069762587547302,
+          -5.401356220245361
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8058,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_283080816",
+      "mask_path": "../../mask/hdr_front_08058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08059.png",
+      "transform_matrix": [
+        [
+          0.7643099427223206,
+          -0.17424413561820984,
+          0.620861828327179,
+          -15.932598114013672
+        ],
+        [
+          -0.6431410312652588,
+          -0.2760104835033417,
+          0.7142744064331055,
+          4.002376079559326
+        ],
+        [
+          0.04690626263618469,
+          -0.9452286958694458,
+          -0.3230211138725281,
+          -5.3488054275512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8059,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_383080959",
+      "mask_path": "../../mask/hdr_front_08059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08061.png",
+      "transform_matrix": [
+        [
+          0.7652745842933655,
+          -0.161139115691185,
+          0.6232087016105652,
+          -15.98938274383545
+        ],
+        [
+          -0.6405255198478699,
+          -0.28671976923942566,
+          0.7124035954475403,
+          3.929202079772949
+        ],
+        [
+          0.06389017403125763,
+          -0.944365382194519,
+          -0.32263311743736267,
+          -5.3159708976745605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8061,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_583083152",
+      "mask_path": "../../mask/hdr_front_08061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08063.png",
+      "transform_matrix": [
+        [
+          0.7656102776527405,
+          -0.15041860938072205,
+          0.6254720091819763,
+          -16.048709869384766
+        ],
+        [
+          -0.6422699093818665,
+          -0.2338554412126541,
+          0.7299322485923767,
+          3.875128984451294
+        ],
+        [
+          0.03647463023662567,
+          -0.960565447807312,
+          -0.2756514549255371,
+          -5.303764343261719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8063,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_783082008",
+      "mask_path": "../../mask/hdr_front_08063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08065.png",
+      "transform_matrix": [
+        [
+          0.7646266222000122,
+          -0.1672554314136505,
+          0.622391939163208,
+          -16.11304473876953
+        ],
+        [
+          -0.643831193447113,
+          -0.24134564399719238,
+          0.7261085510253906,
+          3.7903990745544434
+        ],
+        [
+          0.028765985742211342,
+          -0.9559173583984375,
+          -0.2922235429286957,
+          -5.2703938484191895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8065,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_983082294",
+      "mask_path": "../../mask/hdr_front_08065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08066.png",
+      "transform_matrix": [
+        [
+          0.7621594071388245,
+          -0.17899787425994873,
+          0.622151792049408,
+          -16.152477264404297
+        ],
+        [
+          -0.6466204524040222,
+          -0.2573064863681793,
+          0.7181054353713989,
+          3.7472710609436035
+        ],
+        [
+          0.031544361263513565,
+          -0.9496068954467773,
+          -0.31185224652290344,
+          -5.207012176513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8066,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_83082199",
+      "mask_path": "../../mask/hdr_front_08066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08072.png",
+      "transform_matrix": [
+        [
+          0.7619425058364868,
+          -0.18576893210411072,
+          0.6204301714897156,
+          -16.326974868774414
+        ],
+        [
+          -0.6474410891532898,
+          -0.24250257015228271,
+          0.7225044369697571,
+          3.553020477294922
+        ],
+        [
+          0.01623702049255371,
+          -0.9521988034248352,
+          -0.3050474524497986,
+          -5.120763301849365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8072,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_683081388",
+      "mask_path": "../../mask/hdr_front_08072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08073.png",
+      "transform_matrix": [
+        [
+          0.7609673738479614,
+          -0.1975027471780777,
+          0.6179978251457214,
+          -16.36288070678711
+        ],
+        [
+          -0.648543119430542,
+          -0.2578432559967041,
+          0.716176450252533,
+          3.5185036659240723
+        ],
+        [
+          0.01789974234998226,
+          -0.9457851648330688,
+          -0.3242993652820587,
+          -5.056772232055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8073,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_783082246",
+      "mask_path": "../../mask/hdr_front_08073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08079.png",
+      "transform_matrix": [
+        [
+          0.7689002156257629,
+          -0.19167177379131317,
+          0.6099625825881958,
+          -16.53460693359375
+        ],
+        [
+          -0.6392742395401001,
+          -0.24686536192893982,
+          0.7282758951187134,
+          3.3346564769744873
+        ],
+        [
+          0.0109886908903718,
+          -0.9499049782752991,
+          -0.3123456537723541,
+          -4.9748148918151855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8079,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324072_383081436",
+      "mask_path": "../../mask/hdr_front_08079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08080.png",
+      "transform_matrix": [
+        [
+          0.7674999237060547,
+          -0.19959595799446106,
+          0.6091841459274292,
+          -16.573143005371094
+        ],
+        [
+          -0.6409277319908142,
+          -0.25740399956703186,
+          0.7231561541557312,
+          3.296264171600342
+        ],
+        [
+          0.012467360123991966,
+          -0.9454653263092041,
+          -0.32548412680625916,
+          -4.91983699798584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8080,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324072_483082056",
+      "mask_path": "../../mask/hdr_front_08080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08086.png",
+      "transform_matrix": [
+        [
+          0.7649797797203064,
+          -0.21498340368270874,
+          0.6071146130561829,
+          -16.75768280029297
+        ],
+        [
+          -0.6439661979675293,
+          -0.23971262574195862,
+          0.7265297770500183,
+          3.1129419803619385
+        ],
+        [
+          -0.010658806189894676,
+          -0.9467418193817139,
+          -0.3218173086643219,
+          -4.821896076202393
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8086,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_83083629",
+      "mask_path": "../../mask/hdr_front_08086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08087.png",
+      "transform_matrix": [
+        [
+          0.7603633999824524,
+          -0.22655341029167175,
+          0.6087043881416321,
+          -16.798500061035156
+        ],
+        [
+          -0.6493300795555115,
+          -0.24385903775691986,
+          0.7203493714332581,
+          3.08394718170166
+        ],
+        [
+          -0.014759544283151627,
+          -0.9429773688316345,
+          -0.3325294554233551,
+          -4.765923500061035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8087,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_183080911",
+      "mask_path": "../../mask/hdr_front_08087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08089.png",
+      "transform_matrix": [
+        [
+          0.7609215378761292,
+          -0.22189217805862427,
+          0.6097230911254883,
+          -16.85429573059082
+        ],
+        [
+          -0.6488171219825745,
+          -0.2687440812587738,
+          0.7119079232215881,
+          3.0379104614257812
+        ],
+        [
+          0.005892693065106869,
+          -0.9373049139976501,
+          -0.3484606146812439,
+          -4.718644142150879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8089,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_383080482",
+      "mask_path": "../../mask/hdr_front_08089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08091.png",
+      "transform_matrix": [
+        [
+          0.7623332142829895,
+          -0.2133907675743103,
+          0.610992968082428,
+          -16.90932846069336
+        ],
+        [
+          -0.6470645666122437,
+          -0.2331317961215973,
+          0.7259179353713989,
+          2.9929332733154297
+        ],
+        [
+          -0.012462313286960125,
+          -0.9487434029579163,
+          -0.3158017694950104,
+          -4.710384368896484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8091,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_583080768",
+      "mask_path": "../../mask/hdr_front_08091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08093.png",
+      "transform_matrix": [
+        [
+          0.7595903277397156,
+          -0.2112317830324173,
+          0.6151452660560608,
+          -16.960702896118164
+        ],
+        [
+          -0.650224506855011,
+          -0.2245417982339859,
+          0.7258024215698242,
+          2.933231830596924
+        ],
+        [
+          -0.015186702832579613,
+          -0.9512950778007507,
+          -0.3079078495502472,
+          -4.69770622253418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8093,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_783082485",
+      "mask_path": "../../mask/hdr_front_08093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08094.png",
+      "transform_matrix": [
+        [
+          0.7563216686248779,
+          -0.23150664567947388,
+          0.6118679046630859,
+          -16.9918212890625
+        ],
+        [
+          -0.6535442471504211,
+          -0.22550977766513824,
+          0.7225131988525391,
+          2.9025120735168457
+        ],
+        [
+          -0.029284413903951645,
+          -0.9463350772857666,
+          -0.3218577802181244,
+          -4.655783653259277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8094,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_883080959",
+      "mask_path": "../../mask/hdr_front_08094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08095.png",
+      "transform_matrix": [
+        [
+          0.7530950903892517,
+          -0.24100229144096375,
+          0.6121812462806702,
+          -17.023117065429688
+        ],
+        [
+          -0.6573205590248108,
+          -0.23618227243423462,
+          0.715644896030426,
+          2.871183395385742
+        ],
+        [
+          -0.02788569964468479,
+          -0.9413479566574097,
+          -0.336283415555954,
+          -4.607266426086426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8095,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_983081817",
+      "mask_path": "../../mask/hdr_front_08095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08097.png",
+      "transform_matrix": [
+        [
+          0.7552799582481384,
+          -0.22654299437999725,
+          0.6150044202804565,
+          -17.079580307006836
+        ],
+        [
+          -0.6553889513015747,
+          -0.25506827235221863,
+          0.7109187245368958,
+          2.8155179023742676
+        ],
+        [
+          -0.00418552802875638,
+          -0.9400098323822021,
+          -0.34112173318862915,
+          -4.570715427398682
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8097,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_183082342",
+      "mask_path": "../../mask/hdr_front_08097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08099.png",
+      "transform_matrix": [
+        [
+          0.7546014189720154,
+          -0.2217223197221756,
+          0.6175887584686279,
+          -17.13402557373047
+        ],
+        [
+          -0.6561833620071411,
+          -0.25539928674697876,
+          0.7100666761398315,
+          2.7515640258789062
+        ],
+        [
+          0.0002941089041996747,
+          -0.9410688281059265,
+          -0.3382152020931244,
+          -4.553416728973389
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8099,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_383081912",
+      "mask_path": "../../mask/hdr_front_08099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08101.png",
+      "transform_matrix": [
+        [
+          0.7545748353004456,
+          -0.2343822717666626,
+          0.6129288673400879,
+          -17.19517707824707
+        ],
+        [
+          -0.6561381816864014,
+          -0.25528398156166077,
+          0.7101498246192932,
+          2.673029661178589
+        ],
+        [
+          -0.009975604712963104,
+          -0.9380272626876831,
+          -0.34641802310943604,
+          -4.516624450683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8101,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_583081722",
+      "mask_path": "../../mask/hdr_front_08101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08102.png",
+      "transform_matrix": [
+        [
+          0.7522246241569519,
+          -0.24497757852077484,
+          0.6116732954978943,
+          -17.231908798217773
+        ],
+        [
+          -0.658835232257843,
+          -0.26595398783683777,
+          0.703707754611969,
+          2.627735137939453
+        ],
+        [
+          -0.009715692140161991,
+          -0.9323382377624512,
+          -0.361456960439682,
+          -4.447289943695068
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8102,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_683080196",
+      "mask_path": "../../mask/hdr_front_08102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08103.png",
+      "transform_matrix": [
+        [
+          0.7519103288650513,
+          -0.23668396472930908,
+          0.6153143048286438,
+          -17.269245147705078
+        ],
+        [
+          -0.6592150926589966,
+          -0.2814572751522064,
+          0.6972928047180176,
+          2.586303234100342
+        ],
+        [
+          0.008146646432578564,
+          -0.9299260973930359,
+          -0.36765626072883606,
+          -4.405301570892334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8103,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_783081531",
+      "mask_path": "../../mask/hdr_front_08103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08104.png",
+      "transform_matrix": [
+        [
+          0.7529336810112,
+          -0.23039758205413818,
+          0.6164478063583374,
+          -17.30813217163086
+        ],
+        [
+          -0.6579958200454712,
+          -0.27993711829185486,
+          0.6990540623664856,
+          2.544113874435425
+        ],
+        [
+          0.011506256647408009,
+          -0.9319614768028259,
+          -0.36237475275993347,
+          -4.395515441894531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8104,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_883080959",
+      "mask_path": "../../mask/hdr_front_08104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08105.png",
+      "transform_matrix": [
+        [
+          0.7515506148338318,
+          -0.23146311938762665,
+          0.617734968662262,
+          -17.34765625
+        ],
+        [
+          -0.6596512794494629,
+          -0.2717074751853943,
+          0.7007392048835754,
+          2.5014474391937256
+        ],
+        [
+          0.0056479196064174175,
+          -0.9341305494308472,
+          -0.3568868339061737,
+          -4.384979248046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8105,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_983082532",
+      "mask_path": "../../mask/hdr_front_08105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08106.png",
+      "transform_matrix": [
+        [
+          0.7505236864089966,
+          -0.2295207530260086,
+          0.619705080986023,
+          -17.387008666992188
+        ],
+        [
+          -0.6608200669288635,
+          -0.26855069398880005,
+          0.7008547782897949,
+          2.457895040512085
+        ],
+        [
+          0.005561513360589743,
+          -0.93552166223526,
+          -0.35322558879852295,
+          -4.377447128295898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8106,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_83082199",
+      "mask_path": "../../mask/hdr_front_08106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08107.png",
+      "transform_matrix": [
+        [
+          0.7502837181091309,
+          -0.23119859397411346,
+          0.6193719506263733,
+          -17.43273162841797
+        ],
+        [
+          -0.6611159443855286,
+          -0.26209136843681335,
+          0.7030176520347595,
+          2.4103169441223145
+        ],
+        [
+          -0.00020465937268454581,
+          -0.9369394183158875,
+          -0.34949198365211487,
+          -4.355140209197998
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8107,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_183082818",
+      "mask_path": "../../mask/hdr_front_08107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08108.png",
+      "transform_matrix": [
+        [
+          0.7476106882095337,
+          -0.23080936074256897,
+          0.6227401494979858,
+          -17.480518341064453
+        ],
+        [
+          -0.6641362309455872,
+          -0.2614116370677948,
+          0.7004192471504211,
+          2.3632240295410156
+        ],
+        [
+          0.001128187868744135,
+          -0.9372251629829407,
+          -0.34872299432754517,
+          -4.31296443939209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8108,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_283082008",
+      "mask_path": "../../mask/hdr_front_08108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08109.png",
+      "transform_matrix": [
+        [
+          0.7482360601425171,
+          -0.22055944800376892,
+          0.6256965398788452,
+          -17.515960693359375
+        ],
+        [
+          -0.6632890701293945,
+          -0.26830393075942993,
+          0.6986132860183716,
+          2.3186819553375244
+        ],
+        [
+          0.013791106641292572,
+          -0.9377454519271851,
+          -0.347049355506897,
+          -4.284731388092041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8109,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_383081197",
+      "mask_path": "../../mask/hdr_front_08109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08110.png",
+      "transform_matrix": [
+        [
+          0.7494832873344421,
+          -0.20940245687961578,
+          0.628032922744751,
+          -17.556072235107422
+        ],
+        [
+          -0.66193687915802,
+          -0.2523604929447174,
+          0.7058000564575195,
+          2.271315097808838
+        ],
+        [
+          0.010694428347051144,
+          -0.9447036385536194,
+          -0.3277512192726135,
+          -4.275587558746338
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8110,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_483082294",
+      "mask_path": "../../mask/hdr_front_08110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08111.png",
+      "transform_matrix": [
+        [
+          0.7500081062316895,
+          -0.20312631130218506,
+          0.62946617603302,
+          -17.600570678710938
+        ],
+        [
+          -0.6614270210266113,
+          -0.23241595923900604,
+          0.7130897045135498,
+          2.225620746612549
+        ],
+        [
+          0.0014506707666441798,
+          -0.9511690139770508,
+          -0.3086671233177185,
+          -4.268159866333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8111,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_583081960",
+      "mask_path": "../../mask/hdr_front_08111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08112.png",
+      "transform_matrix": [
+        [
+          0.7508541345596313,
+          -0.19821876287460327,
+          0.6300218105316162,
+          -17.638473510742188
+        ],
+        [
+          -0.660467803478241,
+          -0.22447152435779572,
+          0.7165157794952393,
+          2.1830642223358154
+        ],
+        [
+          -0.0006049126386642456,
+          -0.9541078805923462,
+          -0.2994624972343445,
+          -4.259164333343506
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8112,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_683082342",
+      "mask_path": "../../mask/hdr_front_08112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08113.png",
+      "transform_matrix": [
+        [
+          0.749459445476532,
+          -0.18868832290172577,
+          0.6345920562744141,
+          -17.686262130737305
+        ],
+        [
+          -0.6620482206344604,
+          -0.2159224897623062,
+          0.7176834940910339,
+          2.135347366333008
+        ],
+        [
+          0.0016042025526985526,
+          -0.9580053091049194,
+          -0.28674596548080444,
+          -4.248078346252441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8113,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_783081769",
+      "mask_path": "../../mask/hdr_front_08113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08114.png",
+      "transform_matrix": [
+        [
+          0.7467841506004333,
+          -0.18421216309070587,
+          0.6390456557273865,
+          -17.734708786010742
+        ],
+        [
+          -0.6650480031967163,
+          -0.2140091508626938,
+          0.7154796719551086,
+          2.0849075317382812
+        ],
+        [
+          0.00496155209839344,
+          -0.959304928779602,
+          -0.2823285758495331,
+          -4.226964950561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8114,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_883081674",
+      "mask_path": "../../mask/hdr_front_08114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08115.png",
+      "transform_matrix": [
+        [
+          0.745894193649292,
+          -0.17938262224197388,
+          0.6414543986320496,
+          -17.773574829101562
+        ],
+        [
+          -0.6659489274024963,
+          -0.21878693997859955,
+          0.7131930589675903,
+          2.034224033355713
+        ],
+        [
+          0.0124073950573802,
+          -0.9591424465179443,
+          -0.28265154361724854,
+          -4.2035088539123535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8115,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_983081817",
+      "mask_path": "../../mask/hdr_front_08115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08116.png",
+      "transform_matrix": [
+        [
+          0.744813859462738,
+          -0.1757289618253708,
+          0.6437171101570129,
+          -17.81420135498047
+        ],
+        [
+          -0.6671020984649658,
+          -0.21788862347602844,
+          0.7123899459838867,
+          1.973658561706543
+        ],
+        [
+          0.015071114525198936,
+          -0.9600228667259216,
+          -0.2795156240463257,
+          -4.1754374504089355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8116,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_83081245",
+      "mask_path": "../../mask/hdr_front_08116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08117.png",
+      "transform_matrix": [
+        [
+          0.7460604310035706,
+          -0.17534297704696655,
+          0.6423772573471069,
+          -17.851470947265625
+        ],
+        [
+          -0.6658217906951904,
+          -0.20899081230163574,
+          0.7162431478500366,
+          1.9154331684112549
+        ],
+        [
+          0.00866274256259203,
+          -0.9620694518089294,
+          -0.2726669907569885,
+          -4.157747745513916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8117,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_183080911",
+      "mask_path": "../../mask/hdr_front_08117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08118.png",
+      "transform_matrix": [
+        [
+          0.748166561126709,
+          -0.17584380507469177,
+          0.6397857069969177,
+          -17.884483337402344
+        ],
+        [
+          -0.6635087132453918,
+          -0.20077596604824066,
+          0.7207254767417908,
+          1.8660787343978882
+        ],
+        [
+          0.0017184818862006068,
+          -0.9637261033058167,
+          -0.26688775420188904,
+          -4.145560264587402
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8118,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_283081531",
+      "mask_path": "../../mask/hdr_front_08118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08119.png",
+      "transform_matrix": [
+        [
+          0.7488882541656494,
+          -0.17745088040828705,
+          0.6384963393211365,
+          -17.925268173217773
+        ],
+        [
+          -0.6626801490783691,
+          -0.19381389021873474,
+          0.723388671875,
+          1.8163667917251587
+        ],
+        [
+          -0.004616488236933947,
+          -0.9648561477661133,
+          -0.2627381384372711,
+          -4.1268439292907715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8119,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_383080720",
+      "mask_path": "../../mask/hdr_front_08119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08120.png",
+      "transform_matrix": [
+        [
+          0.7462514042854309,
+          -0.16548801958560944,
+          0.6447655558586121,
+          -17.972774505615234
+        ],
+        [
+          -0.6656638383865356,
+          -0.18662357330322266,
+          0.722539484500885,
+          1.7656748294830322
+        ],
+        [
+          0.0007568513974547386,
+          -0.9683932065963745,
+          -0.24942746758460999,
+          -4.103336334228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8120,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_483081102",
+      "mask_path": "../../mask/hdr_front_08120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08121.png",
+      "transform_matrix": [
+        [
+          0.7421770095825195,
+          -0.15294723212718964,
+          0.6525185704231262,
+          -18.01139259338379
+        ],
+        [
+          -0.6700810194015503,
+          -0.18797922134399414,
+          0.7180914282798767,
+          1.7208104133605957
+        ],
+        [
+          0.012829841114580631,
+          -0.970191240310669,
+          -0.24200092256069183,
+          -4.080455780029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8121,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_583081483",
+      "mask_path": "../../mask/hdr_front_08121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08122.png",
+      "transform_matrix": [
+        [
+          0.7398673295974731,
+          -0.14708304405212402,
+          0.656477689743042,
+          -18.049236297607422
+        ],
+        [
+          -0.6722959876060486,
+          -0.1976006031036377,
+          0.7134227752685547,
+          1.6754006147384644
+        ],
+        [
+          0.024787969887256622,
+          -0.9691856503486633,
+          -0.2450815588235855,
+          -4.061627388000488
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8122,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_683081150",
+      "mask_path": "../../mask/hdr_front_08122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08123.png",
+      "transform_matrix": [
+        [
+          0.7375824451446533,
+          -0.14478079974651337,
+          0.6595533490180969,
+          -18.09576988220215
+        ],
+        [
+          -0.6744765043258667,
+          -0.20491337776184082,
+          0.7092898488044739,
+          1.6167241334915161
+        ],
+        [
+          0.032459769397974014,
+          -0.9680129289627075,
+          -0.24879175424575806,
+          -4.029333114624023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8123,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_783080101",
+      "mask_path": "../../mask/hdr_front_08123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08124.png",
+      "transform_matrix": [
+        [
+          0.7378673553466797,
+          -0.14901578426361084,
+          0.6582902669906616,
+          -18.135427474975586
+        ],
+        [
+          -0.6743369698524475,
+          -0.20417776703834534,
+          0.7096346020698547,
+          1.5577292442321777
+        ],
+        [
+          0.028661495074629784,
+          -0.9675256013870239,
+          -0.2511429190635681,
+          -4.003000259399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8124,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_883081674",
+      "mask_path": "../../mask/hdr_front_08124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08125.png",
+      "transform_matrix": [
+        [
+          0.738669753074646,
+          -0.1567208617925644,
+          0.6555954813957214,
+          -18.16783905029297
+        ],
+        [
+          -0.6738224625587463,
+          -0.19789503514766693,
+          0.71189945936203,
+          1.5144388675689697
+        ],
+        [
+          0.0181695818901062,
+          -0.9676136374473572,
+          -0.2517811357975006,
+          -3.993332862854004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8125,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_983080625",
+      "mask_path": "../../mask/hdr_front_08125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08126.png",
+      "transform_matrix": [
+        [
+          0.7376202344894409,
+          -0.1705799102783203,
+          0.6533136963844299,
+          -18.20502281188965
+        ],
+        [
+          -0.6752107739448547,
+          -0.190043106675148,
+          0.7127229571342468,
+          1.475203514099121
+        ],
+        [
+          0.002581547014415264,
+          -0.9668433666229248,
+          -0.255357027053833,
+          -3.9877243041992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8126,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_83081007",
+      "mask_path": "../../mask/hdr_front_08126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08127.png",
+      "transform_matrix": [
+        [
+          0.734234631061554,
+          -0.197793111205101,
+          0.6494439840316772,
+          -18.2409610748291
+        ],
+        [
+          -0.6787922382354736,
+          -0.19717861711978912,
+          0.7073624730110168,
+          1.42979896068573
+        ],
+        [
+          -0.01185495313256979,
+          -0.9602075219154358,
+          -0.2790357768535614,
+          -3.9235920906066895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8127,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_183080911",
+      "mask_path": "../../mask/hdr_front_08127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08128.png",
+      "transform_matrix": [
+        [
+          0.731126606464386,
+          -0.21302185952663422,
+          0.6481325030326843,
+          -18.277565002441406
+        ],
+        [
+          -0.6821792125701904,
+          -0.2153877317905426,
+          0.6987414956092834,
+          1.3916715383529663
+        ],
+        [
+          -0.009247432462871075,
+          -0.9530109167098999,
+          -0.30279475450515747,
+          -3.8614909648895264
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8128,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_283080816",
+      "mask_path": "../../mask/hdr_front_08128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08129.png",
+      "transform_matrix": [
+        [
+          0.7308937311172485,
+          -0.21158891916275024,
+          0.6488639712333679,
+          -18.31071662902832
+        ],
+        [
+          -0.6824907064437866,
+          -0.22789546847343445,
+          0.6944567561149597,
+          1.3555996417999268
+        ],
+        [
+          0.0009338058298453689,
+          -0.950417697429657,
+          -0.3109748661518097,
+          -3.8389298915863037
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8129,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_383080959",
+      "mask_path": "../../mask/hdr_front_08129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08130.png",
+      "transform_matrix": [
+        [
+          0.7284676432609558,
+          -0.21307748556137085,
+          0.6511012315750122,
+          -18.341182708740234
+        ],
+        [
+          -0.6850781440734863,
+          -0.2242724448442459,
+          0.6930871605873108,
+          1.3155521154403687
+        ],
+        [
+          -0.001657184329815209,
+          -0.9509468674659729,
+          -0.309349924325943,
+          -3.828364849090576
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8130,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_483080387",
+      "mask_path": "../../mask/hdr_front_08130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08132.png",
+      "transform_matrix": [
+        [
+          0.719783365726471,
+          -0.21589602530002594,
+          0.6597732305526733,
+          -18.40420150756836
+        ],
+        [
+          -0.694180428981781,
+          -0.2169528752565384,
+          0.6863270998001099,
+          1.2462811470031738
+        ],
+        [
+          -0.005035585258156061,
+          -0.9520086646080017,
+          -0.3060298562049866,
+          -3.8227598667144775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8132,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_683084726",
+      "mask_path": "../../mask/hdr_front_08132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08133.png",
+      "transform_matrix": [
+        [
+          0.714414656162262,
+          -0.2435080111026764,
+          0.6559844613075256,
+          -18.449251174926758
+        ],
+        [
+          -0.6990105509757996,
+          -0.2060842216014862,
+          0.6847726702690125,
+          1.2110577821731567
+        ],
+        [
+          -0.03155959025025368,
+          -0.9477516412734985,
+          -0.3174442648887634,
+          -3.812739610671997
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8133,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_783082246",
+      "mask_path": "../../mask/hdr_front_08133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08134.png",
+      "transform_matrix": [
+        [
+          0.7071361541748047,
+          -0.27152901887893677,
+          0.6528633236885071,
+          -18.473922729492188
+        ],
+        [
+          -0.7054471373558044,
+          -0.208261176943779,
+          0.6774744391441345,
+          1.1762126684188843
+        ],
+        [
+          -0.04798789322376251,
+          -0.9396272301673889,
+          -0.33881840109825134,
+          -3.7187397480010986
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8134,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_883083820",
+      "mask_path": "../../mask/hdr_front_08134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08137.png",
+      "transform_matrix": [
+        [
+          0.7013776898384094,
+          -0.24760505557060242,
+          0.6684017777442932,
+          -18.58173179626465
+        ],
+        [
+          -0.7125532627105713,
+          -0.21940866112709045,
+          0.6664290428161621,
+          1.0865825414657593
+        ],
+        [
+          -0.018358051776885986,
+          -0.9436904788017273,
+          -0.3303201198577881,
+          -3.679701328277588
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8137,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_183082103",
+      "mask_path": "../../mask/hdr_front_08137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08139.png",
+      "transform_matrix": [
+        [
+          0.6953427195549011,
+          -0.24086260795593262,
+          0.6771143078804016,
+          -18.649005889892578
+        ],
+        [
+          -0.7184059619903564,
+          -0.20701643824577332,
+          0.6641063094139099,
+          1.021523356437683
+        ],
+        [
+          -0.019784562289714813,
+          -0.9482243657112122,
+          -0.31698447465896606,
+          -3.664952278137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8139,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_383081912",
+      "mask_path": "../../mask/hdr_front_08139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08140.png",
+      "transform_matrix": [
+        [
+          0.6936410665512085,
+          -0.23127363622188568,
+          0.6821838021278381,
+          -18.690155029296875
+        ],
+        [
+          -0.720093846321106,
+          -0.19886822998523712,
+          0.6647678017616272,
+          0.9847800135612488
+        ],
+        [
+          -0.018078597262501717,
+          -0.9523465633392334,
+          -0.3044818639755249,
+          -3.659010171890259
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8140,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_483084917",
+      "mask_path": "../../mask/hdr_front_08140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08141.png",
+      "transform_matrix": [
+        [
+          0.692473828792572,
+          -0.21871867775917053,
+          0.6874897480010986,
+          -18.722064971923828
+        ],
+        [
+          -0.7213660478591919,
+          -0.19599704444408417,
+          0.6642410159111023,
+          0.9499907493591309
+        ],
+        [
+          -0.010535962879657745,
+          -0.9559013247489929,
+          -0.29349908232688904,
+          -3.6419923305511475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8141,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_583082675",
+      "mask_path": "../../mask/hdr_front_08141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08142.png",
+      "transform_matrix": [
+        [
+          0.691790759563446,
+          -0.20624372363090515,
+          0.6920180916786194,
+          -18.75241470336914
+        ],
+        [
+          -0.7220978736877441,
+          -0.19715717434883118,
+          0.6631016135215759,
+          0.9125829935073853
+        ],
+        [
+          -0.000324182998156175,
+          -0.9584323763847351,
+          -0.2853196859359741,
+          -3.6170458793640137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8142,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_683082580",
+      "mask_path": "../../mask/hdr_front_08142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08143.png",
+      "transform_matrix": [
+        [
+          0.6934824585914612,
+          -0.1991545408964157,
+          0.6924014091491699,
+          -18.7937068939209
+        ],
+        [
+          -0.7204720973968506,
+          -0.19355757534503937,
+          0.6659243702888489,
+          0.8702272772789001
+        ],
+        [
+          0.0013976414920762181,
+          -0.960662841796875,
+          -0.2777140736579895,
+          -3.6138601303100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8143,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_783082008",
+      "mask_path": "../../mask/hdr_front_08143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08144.png",
+      "transform_matrix": [
+        [
+          0.695393443107605,
+          -0.194350466132164,
+          0.6918496489524841,
+          -18.8350830078125
+        ],
+        [
+          -0.7186129093170166,
+          -0.18158358335494995,
+          0.6712844371795654,
+          0.8306926488876343
+        ],
+        [
+          -0.00483591016381979,
+          -0.9639788866043091,
+          -0.2659348249435425,
+          -3.618382692337036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8144,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_883082866",
+      "mask_path": "../../mask/hdr_front_08144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08145.png",
+      "transform_matrix": [
+        [
+          0.7020550966262817,
+          -0.18609070777893066,
+          0.6873782277107239,
+          -18.87177848815918
+        ],
+        [
+          -0.7120423316955566,
+          -0.16895808279514313,
+          0.6815047860145569,
+          0.7914894819259644
+        ],
+        [
+          -0.010683608241379261,
+          -0.9678964018821716,
+          -0.251122385263443,
+          -3.617953062057495
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8145,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_983082056",
+      "mask_path": "../../mask/hdr_front_08145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08146.png",
+      "transform_matrix": [
+        [
+          0.7126770615577698,
+          -0.17260411381721497,
+          0.679925799369812,
+          -18.91156005859375
+        ],
+        [
+          -0.7013678550720215,
+          -0.1570737510919571,
+          0.6952775716781616,
+          0.7490519285202026
+        ],
+        [
+          -0.01320925448089838,
+          -0.9723865389823914,
+          -0.23300181329250336,
+          -3.6164391040802
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8146,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_83081960",
+      "mask_path": "../../mask/hdr_front_08146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08147.png",
+      "transform_matrix": [
+        [
+          0.7219668626785278,
+          -0.15961989760398865,
+          0.6732646822929382,
+          -18.946075439453125
+        ],
+        [
+          -0.6918296217918396,
+          -0.15015918016433716,
+          0.7062746286392212,
+          0.7079393863677979
+        ],
+        [
+          -0.011638603173196316,
+          -0.9756914377212524,
+          -0.21883973479270935,
+          -3.608506441116333
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8147,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_183082103",
+      "mask_path": "../../mask/hdr_front_08147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08148.png",
+      "transform_matrix": [
+        [
+          0.7307614684104919,
+          -0.1452903002500534,
+          0.6669919490814209,
+          -18.977703094482422
+        ],
+        [
+          -0.68263179063797,
+          -0.1537325531244278,
+          0.7144089937210083,
+          0.6643935441970825
+        ],
+        [
+          -0.0012583123752847314,
+          -0.9773725271224976,
+          -0.21152158081531525,
+          -3.5944128036499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8148,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_283082962",
+      "mask_path": "../../mask/hdr_front_08148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08149.png",
+      "transform_matrix": [
+        [
+          0.7380627393722534,
+          -0.1317201405763626,
+          0.6617501378059387,
+          -19.021432876586914
+        ],
+        [
+          -0.674562394618988,
+          -0.12205131351947784,
+          0.7280584573745728,
+          0.6182214617729187
+        ],
+        [
+          -0.015132486820220947,
+          -0.9837445616722107,
+          -0.1789349764585495,
+          -3.5978777408599854
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8149,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_383081674",
+      "mask_path": "../../mask/hdr_front_08149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08150.png",
+      "transform_matrix": [
+        [
+          0.7466936707496643,
+          -0.12107618153095245,
+          0.6540558934211731,
+          -19.06135368347168
+        ],
+        [
+          -0.6643251776695251,
+          -0.08626005798578262,
+          0.7424494624137878,
+          0.5799633264541626
+        ],
+        [
+          -0.03347404673695564,
+          -0.988888144493103,
+          -0.14484380185604095,
+          -3.6101865768432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8150,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_483080625",
+      "mask_path": "../../mask/hdr_front_08150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08151.png",
+      "transform_matrix": [
+        [
+          0.7563068866729736,
+          -0.11212054640054703,
+          0.6445376873016357,
+          -19.09287452697754
+        ],
+        [
+          -0.6530884504318237,
+          -0.07155138999223709,
+          0.7538937330245972,
+          0.5414000749588013
+        ],
+        [
+          -0.038409408181905746,
+          -0.9911152720451355,
+          -0.1273394376039505,
+          -3.618772506713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8151,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_583080768",
+      "mask_path": "../../mask/hdr_front_08151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08152.png",
+      "transform_matrix": [
+        [
+          0.7651227712631226,
+          -0.10279478132724762,
+          0.6356260180473328,
+          -19.130401611328125
+        ],
+        [
+          -0.6427391171455383,
+          -0.06308138370513916,
+          0.7634835839271545,
+          0.49692875146865845
+        ],
+        [
+          -0.03838596120476723,
+          -0.9927003979682922,
+          -0.11433523148298264,
+          -3.619091749191284
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8152,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_683082818",
+      "mask_path": "../../mask/hdr_front_08152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08153.png",
+      "transform_matrix": [
+        [
+          0.7687520384788513,
+          -0.08276492357254028,
+          0.6341690421104431,
+          -19.174053192138672
+        ],
+        [
+          -0.6389557123184204,
+          -0.05676308274269104,
+          0.7671464681625366,
+          0.45435020327568054
+        ],
+        [
+          -0.027495425194501877,
+          -0.9949512481689453,
+          -0.0965198427438736,
+          -3.6167657375335693
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8153,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_783081531",
+      "mask_path": "../../mask/hdr_front_08153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08155.png",
+      "transform_matrix": [
+        [
+          0.7620956897735596,
+          -0.056747980415821075,
+          0.6449726223945618,
+          -19.245872497558594
+        ],
+        [
+          -0.6473924517631531,
+          -0.05195038765668869,
+          0.7603842616081238,
+          0.37925320863723755
+        ],
+        [
+          -0.009643692523241043,
+          -0.9970360398292542,
+          -0.07632938772439957,
+          -3.6123321056365967
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8155,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_983081102",
+      "mask_path": "../../mask/hdr_front_08155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08156.png",
+      "transform_matrix": [
+        [
+          0.7604015469551086,
+          -0.04847969487309456,
+          0.6476414203643799,
+          -19.29010581970215
+        ],
+        [
+          -0.6494039297103882,
+          -0.04446295648813248,
+          0.7591426372528076,
+          0.32277989387512207
+        ],
+        [
+          -0.008006956428289413,
+          -0.9978341460227966,
+          -0.0652926042675972,
+          -3.61458420753479
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8156,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_83081245",
+      "mask_path": "../../mask/hdr_front_08156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08157.png",
+      "transform_matrix": [
+        [
+          0.7624527812004089,
+          -0.04691524803638458,
+          0.6453409194946289,
+          -19.330270767211914
+        ],
+        [
+          -0.6468141078948975,
+          -0.028687607496976852,
+          0.7621079087257385,
+          0.2697298526763916
+        ],
+        [
+          -0.01724119484424591,
+          -0.9984868764877319,
+          -0.05221839249134064,
+          -3.625669240951538
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8157,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_183081150",
+      "mask_path": "../../mask/hdr_front_08157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08158.png",
+      "transform_matrix": [
+        [
+          0.7648099064826965,
+          -0.04431953281164169,
+          0.6427296996116638,
+          -19.36398696899414
+        ],
+        [
+          -0.6438423991203308,
+          -0.01683894917368889,
+          0.7649728655815125,
+          0.22608916461467743
+        ],
+        [
+          -0.02308034338057041,
+          -0.9988754987716675,
+          -0.04141338914632797,
+          -3.632006883621216
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8158,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_283080816",
+      "mask_path": "../../mask/hdr_front_08158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08159.png",
+      "transform_matrix": [
+        [
+          0.7652614116668701,
+          -0.029928352683782578,
+          0.6430234909057617,
+          -19.406129837036133
+        ],
+        [
+          -0.643539547920227,
+          -0.011938704177737236,
+          0.7653197646141052,
+          0.17870989441871643
+        ],
+        [
+          -0.015227892436087132,
+          -0.9994807243347168,
+          -0.028396308422088623,
+          -3.6371142864227295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8159,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_383080720",
+      "mask_path": "../../mask/hdr_front_08159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08160.png",
+      "transform_matrix": [
+        [
+          0.7617598176002502,
+          -0.016919350251555443,
+          0.6476385593414307,
+          -19.45368003845215
+        ],
+        [
+          -0.6478362083435059,
+          -0.011428279802203178,
+          0.7616940140724182,
+          0.12860934436321259
+        ],
+        [
+          -0.005485972389578819,
+          -0.9997915625572205,
+          -0.019666573032736778,
+          -3.6418850421905518
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8160,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_483081579",
+      "mask_path": "../../mask/hdr_front_08160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08161.png",
+      "transform_matrix": [
+        [
+          0.7556568384170532,
+          -0.01062043011188507,
+          0.6548815965652466,
+          -19.494047164916992
+        ],
+        [
+          -0.6549673676490784,
+          -0.013354544527828693,
+          0.7555392384529114,
+          0.08300541341304779
+        ],
+        [
+          0.0007214949582703412,
+          -0.9998544454574585,
+          -0.017047489061951637,
+          -3.6405553817749023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8161,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_583082199",
+      "mask_path": "../../mask/hdr_front_08161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08162.png",
+      "transform_matrix": [
+        [
+          0.7472730278968811,
+          -0.009848321788012981,
+          0.6644441485404968,
+          -19.5415096282959
+        ],
+        [
+          -0.6645140647888184,
+          -0.014140754006803036,
+          0.7471420764923096,
+          0.027765288949012756
+        ],
+        [
+          0.002037645550444722,
+          -0.9998515844345093,
+          -0.01711135171353817,
+          -3.6408870220184326
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8162,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_683081388",
+      "mask_path": "../../mask/hdr_front_08162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08163.png",
+      "transform_matrix": [
+        [
+          0.7445417642593384,
+          -0.01034568715840578,
+          0.6674957871437073,
+          -19.60194206237793
+        ],
+        [
+          -0.6675586104393005,
+          -0.004341551102697849,
+          0.7445445656776428,
+          -0.047939807176589966
+        ],
+        [
+          -0.004804857075214386,
+          -0.9999370574951172,
+          -0.010138818994164467,
+          -3.6491165161132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8163,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_783082485",
+      "mask_path": "../../mask/hdr_front_08163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08164.png",
+      "transform_matrix": [
+        [
+          0.7466028928756714,
+          -0.011056045070290565,
+          0.6651781797409058,
+          -19.654598236083984
+        ],
+        [
+          -0.6651483178138733,
+          0.006720855366438627,
+          0.7466810345649719,
+          -0.11607225239276886
+        ],
+        [
+          -0.012725903652608395,
+          -0.9999163746833801,
+          -0.002336099511012435,
+          -3.659665107727051
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8164,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_883082151",
+      "mask_path": "../../mask/hdr_front_08164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08165.png",
+      "transform_matrix": [
+        [
+          0.7473628520965576,
+          -0.010774930939078331,
+          0.6643286943435669,
+          -19.699172973632812
+        ],
+        [
+          -0.6642615795135498,
+          0.009445271454751492,
+          0.7474404573440552,
+          -0.17715513706207275
+        ],
+        [
+          -0.014328384771943092,
+          -0.9998973608016968,
+          -9.832849900703877e-05,
+          -3.6659631729125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8165,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_983081340",
+      "mask_path": "../../mask/hdr_front_08165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08166.png",
+      "transform_matrix": [
+        [
+          0.7447064518928528,
+          -0.002808993449434638,
+          0.6673862338066101,
+          -19.757225036621094
+        ],
+        [
+          -0.6673047542572021,
+          0.013047203421592712,
+          0.7446705102920532,
+          -0.24493415653705597
+        ],
+        [
+          -0.010799296200275421,
+          -0.9999109506607056,
+          0.007841883227229118,
+          -3.6672840118408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8166,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_83080530",
+      "mask_path": "../../mask/hdr_front_08166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08167.png",
+      "transform_matrix": [
+        [
+          0.7386788129806519,
+          0.003262446727603674,
+          0.6740497350692749,
+          -19.817899703979492
+        ],
+        [
+          -0.67403244972229,
+          0.01221180148422718,
+          0.7386008501052856,
+          -0.3059460520744324
+        ],
+        [
+          -0.005821715574711561,
+          -0.9999201893806458,
+          0.011219593696296215,
+          -3.6618173122406006
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8167,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_183078289",
+      "mask_path": "../../mask/hdr_front_08167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08168.png",
+      "transform_matrix": [
+        [
+          0.7319456934928894,
+          0.0044473507441580296,
+          0.6813485026359558,
+          -19.870302200317383
+        ],
+        [
+          -0.6813611388206482,
+          0.007096508517861366,
+          0.7319130301475525,
+          -0.3578181564807892
+        ],
+        [
+          -0.001580120180733502,
+          -0.9999649524688721,
+          0.00822451151907444,
+          -3.660259246826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8168,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_283081054",
+      "mask_path": "../../mask/hdr_front_08168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08169.png",
+      "transform_matrix": [
+        [
+          0.7248988151550293,
+          0.0021403846330940723,
+          0.6888521313667297,
+          -19.92766571044922
+        ],
+        [
+          -0.6888547539710999,
+          0.0036511453799903393,
+          0.7248902320861816,
+          -0.4237150549888611
+        ],
+        [
+          -0.0009635546593926847,
+          -0.9999909996986389,
+          0.004121125675737858,
+          -3.660071611404419
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8169,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_383078098",
+      "mask_path": "../../mask/hdr_front_08169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08170.png",
+      "transform_matrix": [
+        [
+          0.7227168083190918,
+          7.52583728171885e-05,
+          0.6911443471908569,
+          -19.99704360961914
+        ],
+        [
+          -0.6911347508430481,
+          0.005338154733181,
+          0.7227060794830322,
+          -0.5003551244735718
+        ],
+        [
+          -0.003635045140981674,
+          -0.9999858140945435,
+          0.003909988794475794,
+          -3.665374755859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8170,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_483080625",
+      "mask_path": "../../mask/hdr_front_08170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08171.png",
+      "transform_matrix": [
+        [
+          0.7248459458351135,
+          -0.0019302208675071597,
+          0.6889083385467529,
+          -20.047985076904297
+        ],
+        [
+          -0.6888619661331177,
+          0.009901401586830616,
+          0.7248249053955078,
+          -0.5592021942138672
+        ],
+        [
+          -0.008220230229198933,
+          -0.9999492168426514,
+          0.005847334861755371,
+          -3.671882390975952
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8171,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_583077669",
+      "mask_path": "../../mask/hdr_front_08171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08172.png",
+      "transform_matrix": [
+        [
+          0.7264572381973267,
+          -0.0017748874379321933,
+          0.6872093677520752,
+          -20.08489227294922
+        ],
+        [
+          -0.6871482729911804,
+          0.011691986583173275,
+          0.7264230251312256,
+          -0.6113300323486328
+        ],
+        [
+          -0.00932416133582592,
+          -0.9999300241470337,
+          0.007274116855114698,
+          -3.674692153930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8172,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_683080434",
+      "mask_path": "../../mask/hdr_front_08172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08173.png",
+      "transform_matrix": [
+        [
+          0.7238613367080688,
+          0.0037811892107129097,
+          0.6899350881576538,
+          -20.142696380615234
+        ],
+        [
+          -0.6899033784866333,
+          0.01500207930803299,
+          0.7237460613250732,
+          -0.6718778610229492
+        ],
+        [
+          -0.00761383818462491,
+          -0.999880313873291,
+          0.013468080200254917,
+          -3.6772496700286865
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8173,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_783080577",
+      "mask_path": "../../mask/hdr_front_08173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08174.png",
+      "transform_matrix": [
+        [
+          0.7157584428787231,
+          0.005559136625379324,
+          0.6983258724212646,
+          -20.206104278564453
+        ],
+        [
+          -0.6983229517936707,
+          0.014170128852128983,
+          0.7156426310539246,
+          -0.7267327308654785
+        ],
+        [
+          -0.005917012691497803,
+          -0.9998842477798462,
+          0.014024460688233376,
+          -3.6686534881591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8174,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_883080959",
+      "mask_path": "../../mask/hdr_front_08174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08175.png",
+      "transform_matrix": [
+        [
+          0.7062805891036987,
+          0.004562938120216131,
+          0.7079172134399414,
+          -20.254518508911133
+        ],
+        [
+          -0.707918643951416,
+          0.01067044585943222,
+          0.7062133550643921,
+          -0.7677828073501587
+        ],
+        [
+          -0.0043313829228281975,
+          -0.9999326467514038,
+          0.010766519233584404,
+          -3.665889024734497
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8175,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_983078479",
+      "mask_path": "../../mask/hdr_front_08175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08176.png",
+      "transform_matrix": [
+        [
+          0.6954781413078308,
+          0.00265732710249722,
+          0.7185423374176025,
+          -20.304763793945312
+        ],
+        [
+          -0.7185332179069519,
+          0.00882828887552023,
+          0.6954366564750671,
+          -0.8078177571296692
+        ],
+        [
+          -0.004495494998991489,
+          -0.9999575614929199,
+          0.008049258030951023,
+          -3.6714694499969482
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8176,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_83080053",
+      "mask_path": "../../mask/hdr_front_08176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08177.png",
+      "transform_matrix": [
+        [
+          0.6905843615531921,
+          -0.0007197640952654183,
+          0.7232515215873718,
+          -20.367029190063477
+        ],
+        [
+          -0.72319096326828,
+          0.012284237891435623,
+          0.6905388236045837,
+          -0.8723573684692383
+        ],
+        [
+          -0.009381616488099098,
+          -0.9999242424964905,
+          0.00796277541667223,
+          -3.6705076694488525
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8177,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_183078050",
+      "mask_path": "../../mask/hdr_front_08177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08178.png",
+      "transform_matrix": [
+        [
+          0.691961944103241,
+          -0.0042716702446341515,
+          0.7219213247299194,
+          -20.42093849182129
+        ],
+        [
+          -0.7217868566513062,
+          0.016086215153336525,
+          0.6919283866882324,
+          -0.932734489440918
+        ],
+        [
+          -0.014568671584129333,
+          -0.999861478805542,
+          0.008047813549637794,
+          -3.670372247695923
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8178,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_283079385",
+      "mask_path": "../../mask/hdr_front_08178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08179.png",
+      "transform_matrix": [
+        [
+          0.6937397718429565,
+          -0.005591561086475849,
+          0.7202040553092957,
+          -20.46300506591797
+        ],
+        [
+          -0.7200559377670288,
+          0.016328278928995132,
+          0.6937239170074463,
+          -0.9782369136810303
+        ],
+        [
+          -0.0156386885792017,
+          -0.9998511672019958,
+          0.0073013403452932835,
+          -3.6736111640930176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8179,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_383081197",
+      "mask_path": "../../mask/hdr_front_08179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08180.png",
+      "transform_matrix": [
+        [
+          0.6924602389335632,
+          -0.006756444461643696,
+          0.7214244604110718,
+          -20.51826286315918
+        ],
+        [
+          -0.7212156653404236,
+          0.0193291287869215,
+          0.692440927028656,
+          -1.0242589712142944
+        ],
+        [
+          -0.01862294226884842,
+          -0.9997904896736145,
+          0.0085117993876338,
+          -3.674654722213745
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8180,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_483082294",
+      "mask_path": "../../mask/hdr_front_08180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08181.png",
+      "transform_matrix": [
+        [
+          0.686764657497406,
+          -0.008062086999416351,
+          0.7268351316452026,
+          -20.57520866394043
+        ],
+        [
+          -0.7266624569892883,
+          0.016834838315844536,
+          0.6867883801460266,
+          -1.0662609338760376
+        ],
+        [
+          -0.0177730955183506,
+          -0.9998257756233215,
+          0.005703156813979149,
+          -3.659651517868042
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8181,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_583080768",
+      "mask_path": "../../mask/hdr_front_08181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08182.png",
+      "transform_matrix": [
+        [
+          0.67976313829422,
+          -0.007313951384276152,
+          0.7333952784538269,
+          -20.616348266601562
+        ],
+        [
+          -0.7333134412765503,
+          0.011181552894413471,
+          0.6797988414764404,
+          -1.1007643938064575
+        ],
+        [
+          -0.01317251194268465,
+          -0.9999107718467712,
+          0.0022373883984982967,
+          -3.652193307876587
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8182,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_683082818",
+      "mask_path": "../../mask/hdr_front_08182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08183.png",
+      "transform_matrix": [
+        [
+          0.6729748249053955,
+          -0.0060057383961975574,
+          0.739641010761261,
+          -20.663461685180664
+        ],
+        [
+          -0.7396203875541687,
+          0.005569481756538153,
+          0.6730011701583862,
+          -1.1390180587768555
+        ],
+        [
+          -0.008161285892128944,
+          -0.9999665021896362,
+          -0.000693845038767904,
+          -3.651737928390503
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8183,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_783082246",
+      "mask_path": "../../mask/hdr_front_08183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08184.png",
+      "transform_matrix": [
+        [
+          0.6717187762260437,
+          -0.00577127980068326,
+          0.7407838106155396,
+          -20.720380783081055
+        ],
+        [
+          -0.7407160997390747,
+          0.010369135066866875,
+          0.6717382073402405,
+          -1.1900683641433716
+        ],
+        [
+          -0.011558077298104763,
+          -0.9999296069145203,
+          0.002690262394025922,
+          -3.6497066020965576
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8184,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_883082628",
+      "mask_path": "../../mask/hdr_front_08184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08187.png",
+      "transform_matrix": [
+        [
+          0.6918206810951233,
+          -0.01147090457379818,
+          0.7219782471656799,
+          -20.82883071899414
+        ],
+        [
+          -0.7216029167175293,
+          0.024949438869953156,
+          0.6918574571609497,
+          -1.3133796453475952
+        ],
+        [
+          -0.025949181988835335,
+          -0.9996229410171509,
+          0.008983098901808262,
+          -3.663968086242676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8187,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_183078765",
+      "mask_path": "../../mask/hdr_front_08187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08188.png",
+      "transform_matrix": [
+        [
+          0.6995571255683899,
+          -0.0067745959386229515,
+          0.7145445346832275,
+          -20.871389389038086
+        ],
+        [
+          -0.7142451405525208,
+          0.02382527105510235,
+          0.6994900107383728,
+          -1.3640865087509155
+        ],
+        [
+          -0.02176297828555107,
+          -0.9996932148933411,
+          0.011828416027128696,
+          -3.663055896759033
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8188,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_283079862",
+      "mask_path": "../../mask/hdr_front_08188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08191.png",
+      "transform_matrix": [
+        [
+          0.712580680847168,
+          0.003532201051712036,
+          0.7015812993049622,
+          -20.974197387695312
+        ],
+        [
+          -0.701582133769989,
+          0.008364441804587841,
+          0.712539553642273,
+          -1.4839680194854736
+        ],
+        [
+          -0.003351501189172268,
+          -0.9999587535858154,
+          0.008438467979431152,
+          -3.6592373847961426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8191,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_583081007",
+      "mask_path": "../../mask/hdr_front_08191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08192.png",
+      "transform_matrix": [
+        [
+          0.7263994812965393,
+          0.0031468109227716923,
+          0.6872655153274536,
+          -21.0049991607666
+        ],
+        [
+          -0.6872439980506897,
+          0.012460293248295784,
+          0.7263197302818298,
+          -1.5384204387664795
+        ],
+        [
+          -0.006277937907725573,
+          -0.9999174475669861,
+          0.011213778518140316,
+          -3.6557135581970215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8192,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_683082342",
+      "mask_path": "../../mask/hdr_front_08192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08193.png",
+      "transform_matrix": [
+        [
+          0.7428265810012817,
+          -0.0007962873787619174,
+          0.6694834232330322,
+          -21.02987289428711
+        ],
+        [
+          -0.6693834066390991,
+          0.016441596671938896,
+          0.7427351474761963,
+          -1.5888124704360962
+        ],
+        [
+          -0.011598804965615273,
+          -0.9998645782470703,
+          0.011680234223604202,
+          -3.6583518981933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8193,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_783082485",
+      "mask_path": "../../mask/hdr_front_08193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08194.png",
+      "transform_matrix": [
+        [
+          0.7588080763816833,
+          -0.0003934064297936857,
+          0.6513141989707947,
+          -21.05077362060547
+        ],
+        [
+          -0.6512312293052673,
+          0.015511144883930683,
+          0.7587208151817322,
+          -1.6389955282211304
+        ],
+        [
+          -0.010401112958788872,
+          -0.9998797178268433,
+          0.011513782665133476,
+          -3.6638288497924805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8194,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_883081912",
+      "mask_path": "../../mask/hdr_front_08194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08195.png",
+      "transform_matrix": [
+        [
+          0.7773036956787109,
+          0.0016827024519443512,
+          0.6291234493255615,
+          -21.07025718688965
+        ],
+        [
+          -0.629061222076416,
+          0.016402041539549828,
+          0.7771827578544617,
+          -1.6944550275802612
+        ],
+        [
+          -0.009011141024529934,
+          -0.9998641014099121,
+          0.013807886280119419,
+          -3.6629059314727783
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8195,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_983082532",
+      "mask_path": "../../mask/hdr_front_08195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08196.png",
+      "transform_matrix": [
+        [
+          0.7937313914299011,
+          0.0036763346288353205,
+          0.6082574129104614,
+          -21.08783721923828
+        ],
+        [
+          -0.6082501411437988,
+          0.01256241649389267,
+          0.793645977973938,
+          -1.7457654476165771
+        ],
+        [
+          -0.004723472520709038,
+          -0.9999143481254578,
+          0.012207314372062683,
+          -3.6531128883361816
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8196,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_83081483",
+      "mask_path": "../../mask/hdr_front_08196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08198.png",
+      "transform_matrix": [
+        [
+          0.8201849460601807,
+          0.009647958911955357,
+          0.5720170736312866,
+          -21.12167739868164
+        ],
+        [
+          -0.5720316767692566,
+          -0.0014452609466388822,
+          0.8202301859855652,
+          -1.826737642288208
+        ],
+        [
+          0.008740263059735298,
+          -0.9999524354934692,
+          0.00433355662971735,
+          -3.6579155921936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8198,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_283081769",
+      "mask_path": "../../mask/hdr_front_08198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08199.png",
+      "transform_matrix": [
+        [
+          0.8364691138267517,
+          0.00895349495112896,
+          0.5479409098625183,
+          -21.137069702148438
+        ],
+        [
+          -0.5479534268379211,
+          -0.001198147307150066,
+          0.83650803565979,
+          -1.8912338018417358
+        ],
+        [
+          0.008146184496581554,
+          -0.9999592900276184,
+          0.0039038851391524076,
+          -3.656515598297119
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8199,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_383082628",
+      "mask_path": "../../mask/hdr_front_08199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08202.png",
+      "transform_matrix": [
+        [
+          0.8547980785369873,
+          0.0028020301833748817,
+          0.5189533233642578,
+          -21.18859100341797
+        ],
+        [
+          -0.5189605355262756,
+          0.005561251658946276,
+          0.8547800779342651,
+          -2.034242630004883
+        ],
+        [
+          -0.0004909098497591913,
+          -0.9999806880950928,
+          0.006207890342921019,
+          -3.668257474899292
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8202,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_683081865",
+      "mask_path": "../../mask/hdr_front_08202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08203.png",
+      "transform_matrix": [
+        [
+          0.8546354174613953,
+          0.007944690063595772,
+          0.5191676616668701,
+          -21.217330932617188
+        ],
+        [
+          -0.5192208886146545,
+          0.007706596981734037,
+          0.8546052575111389,
+          -2.1009209156036377
+        ],
+        [
+          0.002788558602333069,
+          -0.9999387860298157,
+          0.01071138121187687,
+          -3.6726508140563965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8203,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_783081293",
+      "mask_path": "../../mask/hdr_front_08203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08204.png",
+      "transform_matrix": [
+        [
+          0.8515517115592957,
+          0.01045314222574234,
+          0.524166464805603,
+          -21.253936767578125
+        ],
+        [
+          -0.524251401424408,
+          0.008405061438679695,
+          0.8515220880508423,
+          -2.1731655597686768
+        ],
+        [
+          0.004495430272072554,
+          -0.9999101161956787,
+          0.012637418694794178,
+          -3.6676650047302246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8204,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_883082151",
+      "mask_path": "../../mask/hdr_front_08204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08205.png",
+      "transform_matrix": [
+        [
+          0.8459939360618591,
+          0.012499143369495869,
+          0.5330460667610168,
+          -21.290424346923828
+        ],
+        [
+          -0.533107578754425,
+          0.001973351463675499,
+          0.846045196056366,
+          -2.2324795722961426
+        ],
+        [
+          0.009522953070700169,
+          -0.9999199509620667,
+          0.008332830853760242,
+          -3.665788412094116
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8205,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_983081102",
+      "mask_path": "../../mask/hdr_front_08205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08206.png",
+      "transform_matrix": [
+        [
+          0.8401840329170227,
+          0.008760238066315651,
+          0.5422305464744568,
+          -21.337284088134766
+        ],
+        [
+          -0.5422714352607727,
+          0.003066489240154624,
+          0.8401978015899658,
+          -2.314143180847168
+        ],
+        [
+          0.00569758890196681,
+          -0.9999569654464722,
+          0.007326841354370117,
+          -3.672037363052368
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8206,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_83081722",
+      "mask_path": "../../mask/hdr_front_08206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08207.png",
+      "transform_matrix": [
+        [
+          0.839328944683075,
+          -0.00019979306671302766,
+          0.5436238646507263,
+          -21.38801383972168
+        ],
+        [
+          -0.5435905456542969,
+          0.010771243833005428,
+          0.839281439781189,
+          -2.4068856239318848
+        ],
+        [
+          -0.006023186258971691,
+          -0.9999420046806335,
+          0.008932010270655155,
+          -3.6780881881713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8207,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_183081388",
+      "mask_path": "../../mask/hdr_front_08207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08208.png",
+      "transform_matrix": [
+        [
+          0.8415524959564209,
+          -0.005895385984331369,
+          0.5401431322097778,
+          -21.42487144470215
+        ],
+        [
+          -0.5400349497795105,
+          0.013601884245872498,
+          0.8415325880050659,
+          -2.4758381843566895
+        ],
+        [
+          -0.012308121658861637,
+          -0.9998900890350342,
+          0.00826298538595438,
+          -3.684506416320801
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8208,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_283081769",
+      "mask_path": "../../mask/hdr_front_08208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08209.png",
+      "transform_matrix": [
+        [
+          0.8433146476745605,
+          -0.00591203011572361,
+          0.5373876094818115,
+          -21.464014053344727
+        ],
+        [
+          -0.537315845489502,
+          0.01042468473315239,
+          0.8433167338371277,
+          -2.5430171489715576
+        ],
+        [
+          -0.010587809607386589,
+          -0.9999281764030457,
+          0.0056146616116166115,
+          -3.696244478225708
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8209,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_383082151",
+      "mask_path": "../../mask/hdr_front_08209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08210.png",
+      "transform_matrix": [
+        [
+          0.8405659794807434,
+          -0.0019979525823146105,
+          0.5417054295539856,
+          -21.52010154724121
+        ],
+        [
+          -0.5416415929794312,
+          0.012691216543316841,
+          0.8405137062072754,
+          -2.6251888275146484
+        ],
+        [
+          -0.008554206229746342,
+          -0.9999175071716309,
+          0.009585630148649216,
+          -3.6918675899505615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8210,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_483081817",
+      "mask_path": "../../mask/hdr_front_08210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08211.png",
+      "transform_matrix": [
+        [
+          0.8342921137809753,
+          0.0034646065905690193,
+          0.5513118505477905,
+          -21.571882247924805
+        ],
+        [
+          -0.5513136982917786,
+          0.01099124364554882,
+          0.8342257142066956,
+          -2.6973555088043213
+        ],
+        [
+          -0.0031693382188677788,
+          -0.999933660030365,
+          0.011079991236329079,
+          -3.6773221492767334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8211,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_583081960",
+      "mask_path": "../../mask/hdr_front_08211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08212.png",
+      "transform_matrix": [
+        [
+          0.8285066485404968,
+          0.006555450148880482,
+          0.5599408745765686,
+          -21.61306381225586
+        ],
+        [
+          -0.5599685311317444,
+          0.003479385282844305,
+          0.8285066485404968,
+          -2.7480268478393555
+        ],
+        [
+          0.0034829843789339066,
+          -0.9999725222587585,
+          0.006553539074957371,
+          -3.6780388355255127
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8212,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_683080673",
+      "mask_path": "../../mask/hdr_front_08212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08213.png",
+      "transform_matrix": [
+        [
+          0.8245157599449158,
+          0.004401476588100195,
+          0.5658219456672668,
+          -21.66565704345703
+        ],
+        [
+          -0.5658260583877563,
+          -0.00035201889113523066,
+          0.8245245218276978,
+          -2.826310157775879
+        ],
+        [
+          0.0038283057510852814,
+          -0.9999902844429016,
+          0.002200224669650197,
+          -3.678215742111206
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8213,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_783082485",
+      "mask_path": "../../mask/hdr_front_08213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08214.png",
+      "transform_matrix": [
+        [
+          0.8242502808570862,
+          -0.002740522613748908,
+          0.5662190318107605,
+          -21.717050552368164
+        ],
+        [
+          -0.5662018656730652,
+          0.005153187084943056,
+          0.8242504596710205,
+          -2.9096970558166504
+        ],
+        [
+          -0.005176708567887545,
+          -0.9999829530715942,
+          0.0026958268135786057,
+          -3.679126501083374
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8214,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_883082151",
+      "mask_path": "../../mask/hdr_front_08214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08215.png",
+      "transform_matrix": [
+        [
+          0.8302039504051208,
+          -0.009619909338653088,
+          0.5573766827583313,
+          -21.750167846679688
+        ],
+        [
+          -0.557280957698822,
+          0.011001906357705593,
+          0.830251157283783,
+          -2.975480318069458
+        ],
+        [
+          -0.014119146391749382,
+          -0.9998932480812073,
+          0.003772834548726678,
+          -3.681375026702881
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8215,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_983083009",
+      "mask_path": "../../mask/hdr_front_08215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08216.png",
+      "transform_matrix": [
+        [
+          0.8405645489692688,
+          -0.012894404120743275,
+          0.5415579080581665,
+          -21.785276412963867
+        ],
+        [
+          -0.5414714217185974,
+          0.009752449579536915,
+          0.8406625390052795,
+          -3.0459084510803223
+        ],
+        [
+          -0.016121357679367065,
+          -0.9998693466186523,
+          0.0012156120501458645,
+          -3.6863367557525635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8216,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_83082437",
+      "mask_path": "../../mask/hdr_front_08216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08217.png",
+      "transform_matrix": [
+        [
+          0.8492405414581299,
+          -0.014654885977506638,
+          0.5278026461601257,
+          -21.828805923461914
+        ],
+        [
+          -0.527759850025177,
+          0.006962256506085396,
+          0.8493651151657104,
+          -3.11952805519104
+        ],
+        [
+          -0.01612204499542713,
+          -0.9998683333396912,
+          -0.0018216298194602132,
+          -3.674834966659546
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8217,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_183083295",
+      "mask_path": "../../mask/hdr_front_08217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08218.png",
+      "transform_matrix": [
+        [
+          0.8560501337051392,
+          -0.01543949730694294,
+          0.5166621804237366,
+          -21.857894897460938
+        ],
+        [
+          -0.5166608691215515,
+          0.004392766859382391,
+          0.856178879737854,
+          -3.1735146045684814
+        ],
+        [
+          -0.015488545410335064,
+          -0.9998711943626404,
+          -0.0042165545746684074,
+          -3.6638569831848145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8218,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_283081769",
+      "mask_path": "../../mask/hdr_front_08218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08220.png",
+      "transform_matrix": [
+        [
+          0.8763173222541809,
+          -0.008600563742220402,
+          0.48165762424468994,
+          -21.902572631835938
+        ],
+        [
+          -0.48170149326324463,
+          -0.00395837239921093,
+          0.8763263821601868,
+          -3.2839903831481934
+        ],
+        [
+          -0.005630319472402334,
+          -0.9999551773071289,
+          -0.007611694745719433,
+          -3.667659044265747
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8220,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_483080863",
+      "mask_path": "../../mask/hdr_front_08220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08221.png",
+      "transform_matrix": [
+        [
+          0.8876221179962158,
+          -0.010248729027807713,
+          0.4604584574699402,
+          -21.93506622314453
+        ],
+        [
+          -0.46047112345695496,
+          0.0012278265785425901,
+          0.8876737952232361,
+          -3.3619561195373535
+        ],
+        [
+          -0.009662891738116741,
+          -0.9999467730522156,
+          -0.0036293973680585623,
+          -3.6681551933288574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8221,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_583082437",
+      "mask_path": "../../mask/hdr_front_08221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08222.png",
+      "transform_matrix": [
+        [
+          0.897968590259552,
+          -0.01729872263967991,
+          0.43971946835517883,
+          -21.95933723449707
+        ],
+        [
+          -0.43969303369522095,
+          0.005504636559635401,
+          0.8981313109397888,
+          -3.4302592277526855
+        ],
+        [
+          -0.017957018688321114,
+          -0.9998353123664856,
+          -0.0026631378568708897,
+          -3.669447660446167
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8222,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_683082580",
+      "mask_path": "../../mask/hdr_front_08222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08223.png",
+      "transform_matrix": [
+        [
+          0.9072952270507812,
+          -0.017210260033607483,
+          0.42014190554618835,
+          -21.9753475189209
+        ],
+        [
+          -0.4201338291168213,
+          0.004255636595189571,
+          0.9074522256851196,
+          -3.497340679168701
+        ],
+        [
+          -0.01740545779466629,
+          -0.9998428225517273,
+          -0.0033694931771606207,
+          -3.6743323802948
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8223,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_783083438",
+      "mask_path": "../../mask/hdr_front_08223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08224.png",
+      "transform_matrix": [
+        [
+          0.9128860831260681,
+          -0.013711043633520603,
+          0.40798377990722656,
+          -22.000213623046875
+        ],
+        [
+          -0.40791019797325134,
+          0.007917296141386032,
+          0.9129877686500549,
+          -3.5762510299682617
+        ],
+        [
+          -0.01574813760817051,
+          -0.9998747110366821,
+          0.0016347148921340704,
+          -3.675264835357666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8224,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_883081674",
+      "mask_path": "../../mask/hdr_front_08224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08225.png",
+      "transform_matrix": [
+        [
+          0.9123493432998657,
+          -0.010756914503872395,
+          0.4092712700366974,
+          -22.040130615234375
+        ],
+        [
+          -0.40922561287879944,
+          0.0062482720240950584,
+          0.9124118089675903,
+          -3.6560471057891846
+        ],
+        [
+          -0.012371974065899849,
+          -0.9999226331710815,
+          0.0012986016226932406,
+          -3.6632628440856934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8225,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_983082532",
+      "mask_path": "../../mask/hdr_front_08225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08226.png",
+      "transform_matrix": [
+        [
+          0.9083707332611084,
+          -0.007559176068753004,
+          0.41809749603271484,
+          -22.07819366455078
+        ],
+        [
+          -0.4181227684020996,
+          -0.0020752788987010717,
+          0.9083881378173828,
+          -3.7248919010162354
+        ],
+        [
+          -0.005998996086418629,
+          -0.9999693036079407,
+          -0.005045786499977112,
+          -3.6555957794189453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8226,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_83082199",
+      "mask_path": "../../mask/hdr_front_08226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08227.png",
+      "transform_matrix": [
+        [
+          0.9051004648208618,
+          -0.008259294554591179,
+          0.4251175820827484,
+          -22.12050437927246
+        ],
+        [
+          -0.42517223954200745,
+          -0.006632957607507706,
+          0.9050881266593933,
+          -3.824838399887085
+        ],
+        [
+          -0.00465560145676136,
+          -0.9999439716339111,
+          -0.009515116922557354,
+          -3.6588242053985596
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8227,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_183081626",
+      "mask_path": "../../mask/hdr_front_08227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08228.png",
+      "transform_matrix": [
+        [
+          0.9051887392997742,
+          -0.01708259806036949,
+          0.42466652393341064,
+          -22.163480758666992
+        ],
+        [
+          -0.4247495234012604,
+          -0.001385722542181611,
+          0.9053099155426025,
+          -3.9339966773986816
+        ],
+        [
+          -0.014876573346555233,
+          -0.9998531341552734,
+          -0.008510165847837925,
+          -3.66585636138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8228,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_283081293",
+      "mask_path": "../../mask/hdr_front_08228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08229.png",
+      "transform_matrix": [
+        [
+          0.9066492915153503,
+          -0.025952311232686043,
+          0.4210861623287201,
+          -22.19037437438965
+        ],
+        [
+          -0.4211788475513458,
+          0.002052776515483856,
+          0.9069753885269165,
+          -4.002566337585449
+        ],
+        [
+          -0.024402502924203873,
+          -0.9996610879898071,
+          -0.009069415740668774,
+          -3.6712965965270996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8229,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_383082389",
+      "mask_path": "../../mask/hdr_front_08229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08230.png",
+      "transform_matrix": [
+        [
+          0.906103253364563,
+          -0.021842418238520622,
+          0.42249250411987305,
+          -22.233020782470703
+        ],
+        [
+          -0.42248526215553284,
+          0.005171663593500853,
+          0.906355082988739,
+          -4.0922322273254395
+        ],
+        [
+          -0.021981975063681602,
+          -0.9997480511665344,
+          -0.0045420387759804726,
+          -3.6737799644470215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8230,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_483082771",
+      "mask_path": "../../mask/hdr_front_08230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08231.png",
+      "transform_matrix": [
+        [
+          0.9018217921257019,
+          -0.018215522170066833,
+          0.43172410130500793,
+          -22.292741775512695
+        ],
+        [
+          -0.4316493570804596,
+          0.0080539770424366,
+          0.9020054936408997,
+          -4.194736480712891
+        ],
+        [
+          -0.019907593727111816,
+          -0.9998016357421875,
+          -0.000599465798586607,
+          -3.6694395542144775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8231,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_583081722",
+      "mask_path": "../../mask/hdr_front_08231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08232.png",
+      "transform_matrix": [
+        [
+          0.8975489139556885,
+          -0.019536757841706276,
+          0.44048190116882324,
+          -22.338573455810547
+        ],
+        [
+          -0.4404752254486084,
+          0.00487233093008399,
+          0.89775151014328,
+          -4.2652764320373535
+        ],
+        [
+          -0.019685326144099236,
+          -0.9997972846031189,
+          -0.004232302308082581,
+          -3.666703701019287
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8232,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_683082342",
+      "mask_path": "../../mask/hdr_front_08232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08233.png",
+      "transform_matrix": [
+        [
+          0.9003283977508545,
+          -0.02477913908660412,
+          0.43450525403022766,
+          -22.373977661132812
+        ],
+        [
+          -0.4344346523284912,
+          0.00844588689506054,
+          0.9006637930870056,
+          -4.349570274353027
+        ],
+        [
+          -0.025987453758716583,
+          -0.9996572732925415,
+          -0.0031608445569872856,
+          -3.6701037883758545
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8233,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_783082962",
+      "mask_path": "../../mask/hdr_front_08233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08234.png",
+      "transform_matrix": [
+        [
+          0.9114548563957214,
+          -0.029083896428346634,
+          0.4103708565235138,
+          -22.396038055419922
+        ],
+        [
+          -0.4099300503730774,
+          0.020045841112732887,
+          0.9118965864181519,
+          -4.446927547454834
+        ],
+        [
+          -0.03474773094058037,
+          -0.9993759989738464,
+          0.00634851586073637,
+          -3.67958402633667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8234,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_883082389",
+      "mask_path": "../../mask/hdr_front_08234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08235.png",
+      "transform_matrix": [
+        [
+          0.9242523908615112,
+          -0.03440556302666664,
+          0.38022860884666443,
+          -22.409116744995117
+        ],
+        [
+          -0.37952831387519836,
+          0.025254257023334503,
+          0.9248354434967041,
+          -4.524877071380615
+        ],
+        [
+          -0.04142187163233757,
+          -0.9990888833999634,
+          0.010283420793712139,
+          -3.689697265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8235,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_983082294",
+      "mask_path": "../../mask/hdr_front_08235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08236.png",
+      "transform_matrix": [
+        [
+          0.9357608556747437,
+          -0.03869843855500221,
+          0.3505054712295532,
+          -22.421520233154297
+        ],
+        [
+          -0.34996774792671204,
+          0.020111553370952606,
+          0.9365458488464355,
+          -4.604586601257324
+        ],
+        [
+          -0.04329207167029381,
+          -0.9990485310554504,
+          0.0052763973362743855,
+          -3.69649600982666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8236,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_83081722",
+      "mask_path": "../../mask/hdr_front_08236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08237.png",
+      "transform_matrix": [
+        [
+          0.9438543319702148,
+          -0.033561188727617264,
+          0.32865282893180847,
+          -22.449363708496094
+        ],
+        [
+          -0.32803964614868164,
+          0.022539641708135605,
+          0.9443950653076172,
+          -4.70853853225708
+        ],
+        [
+          -0.03910273686051369,
+          -0.9991824626922607,
+          0.010264737531542778,
+          -3.6861443519592285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8237,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_183082103",
+      "mask_path": "../../mask/hdr_front_08237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08238.png",
+      "transform_matrix": [
+        [
+          0.9461420774459839,
+          -0.029980141669511795,
+          0.3223605155944824,
+          -22.48581886291504
+        ],
+        [
+          -0.3218134939670563,
+          0.021697957068681717,
+          0.9465544819831848,
+          -4.78780460357666
+        ],
+        [
+          -0.03537239879369736,
+          -0.9993149638175964,
+          0.010881341062486172,
+          -3.668351411819458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8238,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_283082008",
+      "mask_path": "../../mask/hdr_front_08238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08240.png",
+      "transform_matrix": [
+        [
+          0.9445488452911377,
+          -0.015610935166478157,
+          0.3279998302459717,
+          -22.527402877807617
+        ],
+        [
+          -0.327986478805542,
+          0.003479159902781248,
+          0.9446760416030884,
+          -4.906091690063477
+        ],
+        [
+          -0.015888437628746033,
+          -0.9998721480369568,
+          -0.0018339394591748714,
+          -3.6636009216308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8240,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_483082294",
+      "mask_path": "../../mask/hdr_front_08240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08241.png",
+      "transform_matrix": [
+        [
+          0.9432970285415649,
+          -0.0182846337556839,
+          0.3314460217952728,
+          -22.55519676208496
+        ],
+        [
+          -0.3315153419971466,
+          -0.0008098744438029826,
+          0.9434494972229004,
+          -5.009633541107178
+        ],
+        [
+          -0.016982199624180794,
+          -0.9998325109481812,
+          -0.006825589574873447,
+          -3.6538491249084473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8241,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_583081960",
+      "mask_path": "../../mask/hdr_front_08241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08242.png",
+      "transform_matrix": [
+        [
+          0.9438186287879944,
+          -0.026310687884688377,
+          0.32941505312919617,
+          -22.57358741760254
+        ],
+        [
+          -0.32955753803253174,
+          -0.0011517070233821869,
+          0.9441348910331726,
+          -5.0849690437316895
+        ],
+        [
+          -0.024461446329951286,
+          -0.9996532201766968,
+          -0.00975788850337267,
+          -3.6528420448303223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8242,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_683080911",
+      "mask_path": "../../mask/hdr_front_08242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08243.png",
+      "transform_matrix": [
+        [
+          0.9446454048156738,
+          -0.030004216358065605,
+          0.3267180323600769,
+          -22.58817481994629
+        ],
+        [
+          -0.32690346240997314,
+          -0.001359492656774819,
+          0.9450567960739136,
+          -5.149285316467285
+        ],
+        [
+          -0.02791152149438858,
+          -0.9995489120483398,
+          -0.011092722415924072,
+          -3.6554503440856934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8243,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_783081293",
+      "mask_path": "../../mask/hdr_front_08243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08244.png",
+      "transform_matrix": [
+        [
+          0.9482664465904236,
+          -0.025719070807099342,
+          0.31643205881118774,
+          -22.603357315063477
+        ],
+        [
+          -0.3166833519935608,
+          -0.006263961549848318,
+          0.9485106468200684,
+          -5.2377166748046875
+        ],
+        [
+          -0.02241269312798977,
+          -0.9996496438980103,
+          -0.01408470794558525,
+          -3.6524431705474854
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8244,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_883081197",
+      "mask_path": "../../mask/hdr_front_08244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00581.png",
+      "transform_matrix": [
+        [
+          0.08598528057336807,
+          -0.007445817347615957,
+          -0.9962685704231262,
+          -22.10202407836914
+        ],
+        [
+          0.9962376356124878,
+          -0.010212722234427929,
+          0.08605892956256866,
+          -4.773545265197754
+        ],
+        [
+          -0.010815393179655075,
+          -0.9999201893806458,
+          0.006539661902934313,
+          -3.6722350120544434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 581,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_483081817",
+      "mask_path": "../../mask/hdr_left_00581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00582.png",
+      "transform_matrix": [
+        [
+          0.09554949402809143,
+          -0.009639768861234188,
+          -0.9953779578208923,
+          -22.112335205078125
+        ],
+        [
+          0.995408833026886,
+          -0.004715599585324526,
+          0.09559813886880875,
+          -4.695287704467773
+        ],
+        [
+          -0.00561534846201539,
+          -0.9999424815177917,
+          0.009144940413534641,
+          -3.6742913722991943
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 582,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_583082914",
+      "mask_path": "../../mask/hdr_left_00582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00583.png",
+      "transform_matrix": [
+        [
+          0.09688528627157211,
+          -0.007561825681477785,
+          -0.9952667951583862,
+          -22.127832412719727
+        ],
+        [
+          0.9952852129936218,
+          -0.003813177812844515,
+          0.09691605716943741,
+          -4.590346813201904
+        ],
+        [
+          -0.004527992103248835,
+          -0.99996417760849,
+          0.007156734820455313,
+          -3.6728906631469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 583,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_683082103",
+      "mask_path": "../../mask/hdr_left_00583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00584.png",
+      "transform_matrix": [
+        [
+          0.0910622701048851,
+          -0.0018251310102641582,
+          -0.9958435893058777,
+          -22.145282745361328
+        ],
+        [
+          0.9958336353302002,
+          -0.0046496582217514515,
+          0.09106988459825516,
+          -4.508765697479248
+        ],
+        [
+          -0.004796546883881092,
+          -0.9999875426292419,
+          0.0013941198121756315,
+          -3.6765828132629395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 584,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_783081769",
+      "mask_path": "../../mask/hdr_left_00584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00585.png",
+      "transform_matrix": [
+        [
+          0.08701187372207642,
+          -6.127577944425866e-05,
+          -0.9962072968482971,
+          -22.15787124633789
+        ],
+        [
+          0.996199369430542,
+          -0.003968372475355864,
+          0.08701140433549881,
+          -4.445135593414307
+        ],
+        [
+          -0.003958654124289751,
+          -0.9999922513961792,
+          -0.00028424905030988157,
+          -3.6809213161468506
+        ],
+        [
+          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": "1731323320_883082866",
+      "mask_path": "../../mask/hdr_left_00585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00586.png",
+      "transform_matrix": [
+        [
+          0.08772449940443039,
+          -0.002317454433068633,
+          -0.9961420893669128,
+          -22.16779136657715
+        ],
+        [
+          0.9961020946502686,
+          -0.00904860720038414,
+          0.08774202316999435,
+          -4.3670549392700195
+        ],
+        [
+          -0.009217035956680775,
+          -0.9999563694000244,
+          0.001514637959189713,
+          -3.6810989379882812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 586,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_983081102",
+      "mask_path": "../../mask/hdr_left_00586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00587.png",
+      "transform_matrix": [
+        [
+          0.09419272094964981,
+          -0.0030091332737356424,
+          -0.9955494403839111,
+          -22.17398452758789
+        ],
+        [
+          0.9954828023910522,
+          -0.011673458851873875,
+          0.09422168880701065,
+          -4.290318489074707
+        ],
+        [
+          -0.01190502941608429,
+          -0.9999273419380188,
+          0.0018959871958941221,
+          -3.6713175773620605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 587,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_83082199",
+      "mask_path": "../../mask/hdr_left_00587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00588.png",
+      "transform_matrix": [
+        [
+          0.1027204617857933,
+          -0.0035815092269331217,
+          -0.9947038888931274,
+          -22.175392150878906
+        ],
+        [
+          0.994665801525116,
+          -0.009080370888113976,
+          0.10274922847747803,
+          -4.221926689147949
+        ],
+        [
+          -0.009400277398526669,
+          -0.9999523758888245,
+          0.0026296665892004967,
+          -3.665842056274414
+        ],
+        [
+          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": "1731323321_183081865",
+      "mask_path": "../../mask/hdr_left_00588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00589.png",
+      "transform_matrix": [
+        [
+          0.11226795613765717,
+          -0.006987763103097677,
+          -0.9936534762382507,
+          -22.17495346069336
+        ],
+        [
+          0.9936604499816895,
+          -0.005136614665389061,
+          0.11230485886335373,
+          -4.1526570320129395
+        ],
+        [
+          -0.005888774525374174,
+          -0.9999623894691467,
+          0.006366788875311613,
+          -3.6697113513946533
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 589,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_283080816",
+      "mask_path": "../../mask/hdr_left_00589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00590.png",
+      "transform_matrix": [
+        [
+          0.11772628873586655,
+          -0.008123446255922318,
+          -0.9930128455162048,
+          -22.182584762573242
+        ],
+        [
+          0.9930341243743896,
+          -0.003937364090234041,
+          0.11776100844144821,
+          -4.064153671264648
+        ],
+        [
+          -0.004866478964686394,
+          -0.9999592900276184,
+          0.007603331468999386,
+          -3.6667230129241943
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 590,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_383082389",
+      "mask_path": "../../mask/hdr_left_00590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00591.png",
+      "transform_matrix": [
+        [
+          0.11830984055995941,
+          -0.004044399596750736,
+          -0.9929685592651367,
+          -22.1926212310791
+        ],
+        [
+          0.9929547309875488,
+          -0.0061605446971952915,
+          0.11833328008651733,
+          -3.983374834060669
+        ],
+        [
+          -0.006595814134925604,
+          -0.999972939491272,
+          0.003287053434178233,
+          -3.6670029163360596
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 591,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_483082532",
+      "mask_path": "../../mask/hdr_left_00591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00592.png",
+      "transform_matrix": [
+        [
+          0.12115689367055893,
+          -0.002059685066342354,
+          -0.992631196975708,
+          -22.19729232788086
+        ],
+        [
+          0.992596447467804,
+          -0.008368683978915215,
+          0.1211700290441513,
+          -3.925558567047119
+        ],
+        [
+          -0.008556588552892208,
+          -0.9999628663063049,
+          0.0010305139003321528,
+          -3.671780824661255
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 592,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_583082199",
+      "mask_path": "../../mask/hdr_left_00592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00593.png",
+      "transform_matrix": [
+        [
+          0.12808328866958618,
+          -0.005701598711311817,
+          -0.9917470216751099,
+          -22.204402923583984
+        ],
+        [
+          0.9916990995407104,
+          -0.010644744150340557,
+          0.12813831865787506,
+          -3.8613250255584717
+        ],
+        [
+          -0.011287486180663109,
+          -0.9999271035194397,
+          0.004290858283638954,
+          -3.6760313510894775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 593,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_683081388",
+      "mask_path": "../../mask/hdr_left_00593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00594.png",
+      "transform_matrix": [
+        [
+          0.14352905750274658,
+          -0.005868729669600725,
+          -0.9896286129951477,
+          -22.201353073120117
+        ],
+        [
+          0.9895306825637817,
+          -0.014423242770135403,
+          0.14360037446022034,
+          -3.7820067405700684
+        ],
+        [
+          -0.015116406604647636,
+          -0.9998788237571716,
+          0.0037371357902884483,
+          -3.6703178882598877
+        ],
+        [
+          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": "1731323321_783081293",
+      "mask_path": "../../mask/hdr_left_00594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00595.png",
+      "transform_matrix": [
+        [
+          0.1662074476480484,
+          -0.0042982860468328,
+          -0.9860814213752747,
+          -22.194570541381836
+        ],
+        [
+          0.9859694838523865,
+          -0.014964910224080086,
+          0.16625380516052246,
+          -3.7135767936706543
+        ],
+        [
+          -0.015471227467060089,
+          -0.9998788237571716,
+          0.0017507037846371531,
+          -3.6610655784606934
+        ],
+        [
+          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": "1731323321_883081674",
+      "mask_path": "../../mask/hdr_left_00595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00596.png",
+      "transform_matrix": [
+        [
+          0.19395272433757782,
+          -0.003972827456891537,
+          -0.9810028076171875,
+          -22.18438148498535
+        ],
+        [
+          0.9809355735778809,
+          -0.01160078588873148,
+          0.1939864307641983,
+          -3.654694080352783
+        ],
+        [
+          -0.012151078321039677,
+          -0.999924898147583,
+          0.0016470884438604116,
+          -3.661329746246338
+        ],
+        [
+          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": "1731323321_983081340",
+      "mask_path": "../../mask/hdr_left_00596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00597.png",
+      "transform_matrix": [
+        [
+          0.22358471155166626,
+          -0.002454071305692196,
+          -0.9746812582015991,
+          -22.177562713623047
+        ],
+        [
+          0.9746482372283936,
+          -0.008050442673265934,
+          0.22359739243984222,
+          -3.5759992599487305
+        ],
+        [
+          -0.008395341224968433,
+          -0.9999645948410034,
+          0.0005919060204178095,
+          -3.6583950519561768
+        ],
+        [
+          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": "1731323322_83081007",
+      "mask_path": "../../mask/hdr_left_00597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00598.png",
+      "transform_matrix": [
+        [
+          0.24822595715522766,
+          0.0021186117082834244,
+          -0.9686997532844543,
+          -22.17274284362793
+        ],
+        [
+          0.9686651229858398,
+          -0.009285294450819492,
+          0.24819675087928772,
+          -3.493070125579834
+        ],
+        [
+          -0.00846883188933134,
+          -0.9999547600746155,
+          -0.004357071127742529,
+          -3.6600146293640137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 598,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_183080911",
+      "mask_path": "../../mask/hdr_left_00598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00599.png",
+      "transform_matrix": [
+        [
+          0.2700262665748596,
+          0.008420281112194061,
+          -0.9628162384033203,
+          -22.163150787353516
+        ],
+        [
+          0.9628118872642517,
+          -0.01159699633717537,
+          0.2699236273765564,
+          -3.4312453269958496
+        ],
+        [
+          -0.00889294221997261,
+          -0.9998973608016968,
+          -0.011238640174269676,
+          -3.667973041534424
+        ],
+        [
+          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": "1731323322_283081054",
+      "mask_path": "../../mask/hdr_left_00599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00600.png",
+      "transform_matrix": [
+        [
+          0.29297253489494324,
+          0.011068223044276237,
+          -0.9560567736625671,
+          -22.155241012573242
+        ],
+        [
+          0.9560974836349487,
+          -0.010373230092227459,
+          0.2928648889064789,
+          -3.371609926223755
+        ],
+        [
+          -0.006675902754068375,
+          -0.9998850226402283,
+          -0.013621367514133453,
+          -3.6733431816101074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 600,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_383080720",
+      "mask_path": "../../mask/hdr_left_00600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00601.png",
+      "transform_matrix": [
+        [
+          0.3189128339290619,
+          0.010201972909271717,
+          -0.9477291107177734,
+          -22.137847900390625
+        ],
+        [
+          0.9477316737174988,
+          -0.01393943466246128,
+          0.3187636435031891,
+          -3.294332504272461
+        ],
+        [
+          -0.009958792477846146,
+          -0.999850869178772,
+          -0.014114192686975002,
+          -3.669466972351074
+        ],
+        [
+          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": "1731323322_483080625",
+      "mask_path": "../../mask/hdr_left_00601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00602.png",
+      "transform_matrix": [
+        [
+          0.3486693501472473,
+          0.007494429126381874,
+          -0.9372158050537109,
+          -22.11693572998047
+        ],
+        [
+          0.9371633529663086,
+          -0.016049165278673172,
+          0.34852150082588196,
+          -3.2253942489624023
+        ],
+        [
+          -0.012429562397301197,
+          -0.999843180179596,
+          -0.012619352899491787,
+          -3.6631674766540527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 602,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_583079576",
+      "mask_path": "../../mask/hdr_left_00602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00603.png",
+      "transform_matrix": [
+        [
+          0.3804093301296234,
+          0.006174481939524412,
+          -0.9247975945472717,
+          -22.09975242614746
+        ],
+        [
+          0.9247707724571228,
+          -0.012670619413256645,
+          0.3803136944770813,
+          -3.170165777206421
+        ],
+        [
+          -0.009369517676532269,
+          -0.9999006390571594,
+          -0.010529999621212482,
+          -3.6615896224975586
+        ],
+        [
+          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": "1731323322_683079957",
+      "mask_path": "../../mask/hdr_left_00603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00604.png",
+      "transform_matrix": [
+        [
+          0.4120355248451233,
+          0.005826807580888271,
+          -0.9111490845680237,
+          -22.082565307617188
+        ],
+        [
+          0.9111446738243103,
+          -0.009743941947817802,
+          0.41197121143341064,
+          -3.097666025161743
+        ],
+        [
+          -0.006477707531303167,
+          -0.9999355673789978,
+          -0.009323911741375923,
+          -3.660205364227295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 604,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_783080816",
+      "mask_path": "../../mask/hdr_left_00604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00605.png",
+      "transform_matrix": [
+        [
+          0.4346119165420532,
+          0.006154456175863743,
+          -0.9005967974662781,
+          -22.067035675048828
+        ],
+        [
+          0.90058833360672,
+          -0.011059531942009926,
+          0.4345323145389557,
+          -3.0176782608032227
+        ],
+        [
+          -0.007285870146006346,
+          -0.9999199509620667,
+          -0.010349231772124767,
+          -3.660491943359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 605,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_883079290",
+      "mask_path": "../../mask/hdr_left_00605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00606.png",
+      "transform_matrix": [
+        [
+          0.4504164755344391,
+          0.00882264319807291,
+          -0.8927749395370483,
+          -22.05117416381836
+        ],
+        [
+          0.8927797675132751,
+          -0.013774112798273563,
+          0.4502828121185303,
+          -2.9576754570007324
+        ],
+        [
+          -0.008324497379362583,
+          -0.9998661875724792,
+          -0.014080758206546307,
+          -3.6665802001953125
+        ],
+        [
+          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": "1731323322_983079433",
+      "mask_path": "../../mask/hdr_left_00606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00607.png",
+      "transform_matrix": [
+        [
+          0.464913934469223,
+          0.008830239996314049,
+          -0.8853117823600769,
+          -22.032943725585938
+        ],
+        [
+          0.8853183388710022,
+          -0.01384944561868906,
+          0.46477919816970825,
+          -2.901171922683716
+        ],
+        [
+          -0.008156968280673027,
+          -0.9998651742935181,
+          -0.014256373979151249,
+          -3.6736958026885986
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 607,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_83079576",
+      "mask_path": "../../mask/hdr_left_00607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00608.png",
+      "transform_matrix": [
+        [
+          0.4802437126636505,
+          0.003897578688338399,
+          -0.8771263957023621,
+          -22.009571075439453
+        ],
+        [
+          0.8770335912704468,
+          -0.017340390011668205,
+          0.4801158905029297,
+          -2.827752113342285
+        ],
+        [
+          -0.013338425196707249,
+          -0.9998421669006348,
+          -0.011745916679501534,
+          -3.672390937805176
+        ],
+        [
+          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": "1731323323_183079481",
+      "mask_path": "../../mask/hdr_left_00608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00609.png",
+      "transform_matrix": [
+        [
+          0.4987581670284271,
+          -0.0007073335582390428,
+          -0.866740882396698,
+          -21.982213973999023
+        ],
+        [
+          0.8665820360183716,
+          -0.018750209361314774,
+          0.4986821115016937,
+          -2.758694648742676
+        ],
+        [
+          -0.016604306176304817,
+          -0.9998239278793335,
+          -0.008738858625292778,
+          -3.664095163345337
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 609,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_283079624",
+      "mask_path": "../../mask/hdr_left_00609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00610.png",
+      "transform_matrix": [
+        [
+          0.5192477107048035,
+          -0.001299009076319635,
+          -0.8546227216720581,
+          -21.95487403869629
+        ],
+        [
+          0.8545190691947937,
+          -0.014864295721054077,
+          0.5192072987556458,
+          -2.7054686546325684
+        ],
+        [
+          -0.013377819210290909,
+          -0.9998887181282043,
+          -0.006608221679925919,
+          -3.661695718765259
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 610,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_383080959",
+      "mask_path": "../../mask/hdr_left_00610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00611.png",
+      "transform_matrix": [
+        [
+          0.540962278842926,
+          -0.0022069569677114487,
+          -0.8410438895225525,
+          -21.92690086364746
+        ],
+        [
+          0.8409886956214905,
+          -0.010337837040424347,
+          0.5409538149833679,
+          -2.637930154800415
+        ],
+        [
+          -0.009888437576591969,
+          -0.9999441504478455,
+          -0.0037363518495112658,
+          -3.661698818206787
+        ],
+        [
+          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": "1731323323_483081817",
+      "mask_path": "../../mask/hdr_left_00611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00612.png",
+      "transform_matrix": [
+        [
+          0.5551239252090454,
+          -0.0013984343968331814,
+          -0.8317664265632629,
+          -21.89451789855957
+        ],
+        [
+          0.8316978812217712,
+          -0.012011593207716942,
+          0.5550984740257263,
+          -2.556819200515747
+        ],
+        [
+          -0.01076710969209671,
+          -0.9999269247055054,
+          -0.0055048465728759766,
+          -3.661428689956665
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 612,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_583081245",
+      "mask_path": "../../mask/hdr_left_00612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00613.png",
+      "transform_matrix": [
+        [
+          0.5611585378646851,
+          0.0009077746071852744,
+          -0.8277077674865723,
+          -21.86667823791504
+        ],
+        [
+          0.8276110887527466,
+          -0.01594039611518383,
+          0.5610755085945129,
+          -2.4928393363952637
+        ],
+        [
+          -0.012684660963714123,
+          -0.9998725652694702,
+          -0.009696371853351593,
+          -3.6673827171325684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 613,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_683081865",
+      "mask_path": "../../mask/hdr_left_00613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00614.png",
+      "transform_matrix": [
+        [
+          0.5625790357589722,
+          -0.001232848153449595,
+          -0.8267425894737244,
+          -21.843835830688477
+        ],
+        [
+          0.8266337513923645,
+          -0.01545814797282219,
+          0.5625280141830444,
+          -2.4286794662475586
+        ],
+        [
+          -0.013473420403897762,
+          -0.999879777431488,
+          -0.007677311543375254,
+          -3.671851873397827
+        ],
+        [
+          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": "1731323323_783081531",
+      "mask_path": "../../mask/hdr_left_00614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00615.png",
+      "transform_matrix": [
+        [
+          0.5657162666320801,
+          -0.005270520690828562,
+          -0.8245830535888672,
+          -21.80986213684082
+        ],
+        [
+          0.8243978023529053,
+          -0.018526002764701843,
+          0.5657075643539429,
+          -2.3474647998809814
+        ],
+        [
+          -0.018257804214954376,
+          -0.999814510345459,
+          -0.006135450676083565,
+          -3.6739301681518555
+        ],
+        [
+          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": "1731323323_883082389",
+      "mask_path": "../../mask/hdr_left_00615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00616.png",
+      "transform_matrix": [
+        [
+          0.5745000243186951,
+          -0.008970072492957115,
+          -0.8184555172920227,
+          -21.771413803100586
+        ],
+        [
+          0.8182278871536255,
+          -0.01970294676721096,
+          0.5745562314987183,
+          -2.2755048274993896
+        ],
+        [
+          -0.021279793232679367,
+          -0.9997656345367432,
+          -0.0039797755889594555,
+          -3.6707496643066406
+        ],
+        [
+          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": "1731323323_983082532",
+      "mask_path": "../../mask/hdr_left_00616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00617.png",
+      "transform_matrix": [
+        [
+          0.5853374600410461,
+          -0.010931928642094135,
+          -0.8107160329818726,
+          -21.73856544494629
+        ],
+        [
+          0.8105695247650146,
+          -0.015410698018968105,
+          0.5854394435882568,
+          -2.217805862426758
+        ],
+        [
+          -0.018893685191869736,
+          -0.9998215436935425,
+          -0.0001593676133779809,
+          -3.669837236404419
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 617,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_83082437",
+      "mask_path": "../../mask/hdr_left_00617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00618.png",
+      "transform_matrix": [
+        [
+          0.5969029664993286,
+          -0.010443216189742088,
+          -0.8022454380989075,
+          -21.705245971679688
+        ],
+        [
+          0.802176296710968,
+          -0.01071491651237011,
+          0.5969910025596619,
+          -2.1448726654052734
+        ],
+        [
+          -0.01483049988746643,
+          -0.9998880624771118,
+          0.0019815384875983,
+          -3.6709554195404053
+        ],
+        [
+          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": "1731323324_183080911",
+      "mask_path": "../../mask/hdr_left_00618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00619.png",
+      "transform_matrix": [
+        [
+          0.6000673174858093,
+          -0.007317834999412298,
+          -0.7999159693717957,
+          -21.672395706176758
+        ],
+        [
+          0.7998597621917725,
+          -0.009487996809184551,
+          0.6001119017601013,
+          -2.0535428524017334
+        ],
+        [
+          -0.011981119401752949,
+          -0.9999282956123352,
+          0.0001598068920429796,
+          -3.6676104068756104
+        ],
+        [
+          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": "1731323324_283082723",
+      "mask_path": "../../mask/hdr_left_00619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00620.png",
+      "transform_matrix": [
+        [
+          0.5971243381500244,
+          -0.0036435481160879135,
+          -0.802140474319458,
+          -21.64678192138672
+        ],
+        [
+          0.8020836710929871,
+          -0.010016307234764099,
+          0.5971276760101318,
+          -1.9793078899383545
+        ],
+        [
+          -0.010210146196186543,
+          -0.9999432563781738,
+          -0.0030585506465286016,
+          -3.6704885959625244
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 620,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_383080959",
+      "mask_path": "../../mask/hdr_left_00620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00621.png",
+      "transform_matrix": [
+        [
+          0.5951212048530579,
+          -0.004812153987586498,
+          -0.8036215901374817,
+          -21.6220760345459
+        ],
+        [
+          0.803581714630127,
+          -0.008058378472924232,
+          0.5951399803161621,
+          -1.9128278493881226
+        ],
+        [
+          -0.009339790791273117,
+          -0.9999560117721558,
+          -0.000928752007894218,
+          -3.677391529083252
+        ],
+        [
+          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": "1731323324_483081340",
+      "mask_path": "../../mask/hdr_left_00621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00622.png",
+      "transform_matrix": [
+        [
+          0.5971623659133911,
+          -0.00811613630503416,
+          -0.8020793795585632,
+          -21.58674430847168
+        ],
+        [
+          0.8020013570785522,
+          -0.011181292124092579,
+          0.5972174406051636,
+          -1.8385686874389648
+        ],
+        [
+          -0.013815382495522499,
+          -0.9999045729637146,
+          -0.000167893769685179,
+          -3.6768674850463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 622,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_583081007",
+      "mask_path": "../../mask/hdr_left_00622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00623.png",
+      "transform_matrix": [
+        [
+          0.6041201949119568,
+          -0.008721270598471165,
+          -0.7968454957008362,
+          -21.551456451416016
+        ],
+        [
+          0.7967652678489685,
+          -0.01130423229187727,
+          0.6041830778121948,
+          -1.7753201723098755
+        ],
+        [
+          -0.014276968315243721,
+          -0.9998981356620789,
+          0.00011969225306529552,
+          -3.6647562980651855
+        ],
+        [
+          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": "1731323324_683081626",
+      "mask_path": "../../mask/hdr_left_00623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00624.png",
+      "transform_matrix": [
+        [
+          0.6120762825012207,
+          -0.009426918812096119,
+          -0.7907425761222839,
+          -21.522592544555664
+        ],
+        [
+          0.7907382249832153,
+          -0.005074694752693176,
+          0.6121334433555603,
+          -1.7248170375823975
+        ],
+        [
+          -0.009783308021724224,
+          -0.9999427199363708,
+          0.0043481262400746346,
+          -3.658252716064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 624,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_783081293",
+      "mask_path": "../../mask/hdr_left_00624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00625.png",
+      "transform_matrix": [
+        [
+          0.6199900507926941,
+          -0.011488348245620728,
+          -0.7845255732536316,
+          -21.494035720825195
+        ],
+        [
+          0.7845876812934875,
+          0.0015898533165454865,
+          0.6200158596038818,
+          -1.667007565498352
+        ],
+        [
+          -0.005875678732991219,
+          -0.9999328255653381,
+          0.009999312460422516,
+          -3.6583268642425537
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 625,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_883083105",
+      "mask_path": "../../mask/hdr_left_00625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00626.png",
+      "transform_matrix": [
+        [
+          0.6225535273551941,
+          -0.010576201602816582,
+          -0.7825056910514832,
+          -21.461143493652344
+        ],
+        [
+          0.7825497984886169,
+          6.119677709648386e-05,
+          0.6225878596305847,
+          -1.5870572328567505
+        ],
+        [
+          -0.006536728236824274,
+          -0.9999441504478455,
+          0.008314506150782108,
+          -3.657499074935913
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 626,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_983082294",
+      "mask_path": "../../mask/hdr_left_00626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00627.png",
+      "transform_matrix": [
+        [
+          0.620483934879303,
+          -0.005701448768377304,
+          -0.784198522567749,
+          -21.432546615600586
+        ],
+        [
+          0.7841798067092896,
+          -0.005509042181074619,
+          0.620509147644043,
+          -1.5165174007415771
+        ],
+        [
+          -0.007857984863221645,
+          -0.9999685883522034,
+          0.0010526913683861494,
+          -3.661844253540039
+        ],
+        [
+          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": "1731323325_83083868",
+      "mask_path": "../../mask/hdr_left_00627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00628.png",
+      "transform_matrix": [
+        [
+          0.6187835931777954,
+          -0.004966891836374998,
+          -0.7855458855628967,
+          -21.406291961669922
+        ],
+        [
+          0.7855225205421448,
+          -0.006049885880202055,
+          0.6188035011291504,
+          -1.4614613056182861
+        ],
+        [
+          -0.007825992070138454,
+          -0.9999693632125854,
+          0.00015803819405846298,
+          -3.670109510421753
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 628,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_183082103",
+      "mask_path": "../../mask/hdr_left_00628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00629.png",
+      "transform_matrix": [
+        [
+          0.6208956837654114,
+          -0.006145575549453497,
+          -0.7838691473007202,
+          -21.37420082092285
+        ],
+        [
+          0.7837912440299988,
+          -0.01125780213624239,
+          0.6209222674369812,
+          -1.403426170349121
+        ],
+        [
+          -0.012640568427741528,
+          -0.99991774559021,
+          -0.002173069631680846,
+          -3.6676149368286133
+        ],
+        [
+          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": "1731323325_283082246",
+      "mask_path": "../../mask/hdr_left_00629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00630.png",
+      "transform_matrix": [
+        [
+          0.6276447772979736,
+          -0.004452746361494064,
+          -0.7784870862960815,
+          -21.34153938293457
+        ],
+        [
+          0.7783929109573364,
+          -0.012977506965398788,
+          0.6276431083679199,
+          -1.3539705276489258
+        ],
+        [
+          -0.012897556647658348,
+          -0.9999058842658997,
+          -0.004679275210946798,
+          -3.6531002521514893
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 630,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_383082151",
+      "mask_path": "../../mask/hdr_left_00630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00631.png",
+      "transform_matrix": [
+        [
+          0.6354855895042419,
+          -0.004149315878748894,
+          -0.7721015810966492,
+          -21.31143569946289
+        ],
+        [
+          0.7720719575881958,
+          -0.006853993982076645,
+          0.6354981064796448,
+          -1.3116322755813599
+        ],
+        [
+          -0.007928862236440182,
+          -0.9999679327011108,
+          -0.0011520406696945429,
+          -3.6475014686584473
+        ],
+        [
+          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": "1731323325_483081579",
+      "mask_path": "../../mask/hdr_left_00631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00632.png",
+      "transform_matrix": [
+        [
+          0.64261394739151,
+          -0.007716105319559574,
+          -0.7661512494087219,
+          -21.282358169555664
+        ],
+        [
+          0.7661786675453186,
+          0.0010205641156062484,
+          0.6426267623901367,
+          -1.2627942562103271
+        ],
+        [
+          -0.004176670219749212,
+          -0.9999697804450989,
+          0.006567745469510555,
+          -3.645353078842163
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 632,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_583081722",
+      "mask_path": "../../mask/hdr_left_00632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00633.png",
+      "transform_matrix": [
+        [
+          0.643915057182312,
+          -0.00789759773761034,
+          -0.7650562524795532,
+          -21.255416870117188
+        ],
+        [
+          0.7650818824768066,
+          0.0003574683505576104,
+          0.6439328789710999,
+          -1.2034316062927246
+        ],
+        [
+          -0.004812038969248533,
+          -0.9999687671661377,
+          0.006272489670664072,
+          -3.641167402267456
+        ],
+        [
+          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": "1731323325_683080911",
+      "mask_path": "../../mask/hdr_left_00633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00635.png",
+      "transform_matrix": [
+        [
+          0.6457906365394592,
+          -0.005655831191688776,
+          -0.7634935975074768,
+          -21.212312698364258
+        ],
+        [
+          0.7634811401367188,
+          -0.004568710923194885,
+          0.6458139419555664,
+          -1.1269302368164062
+        ],
+        [
+          -0.007140796165913343,
+          -0.9999735951423645,
+          0.0013676927192136645,
+          -3.654224157333374
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 635,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_883082389",
+      "mask_path": "../../mask/hdr_left_00635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00637.png",
+      "transform_matrix": [
+        [
+          0.670795202255249,
+          -0.010267010889947414,
+          -0.7415716648101807,
+          -21.161386489868164
+        ],
+        [
+          0.741460382938385,
+          -0.012875651940703392,
+          0.6708730459213257,
+          -1.0668697357177734
+        ],
+        [
+          -0.016436077654361725,
+          -0.999864399433136,
+          -0.0010243449360132217,
+          -3.6457340717315674
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 637,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323326_83082199",
+      "mask_path": "../../mask/hdr_left_00637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00639.png",
+      "transform_matrix": [
+        [
+          0.7079672813415527,
+          -0.006566195748746395,
+          -0.7062146067619324,
+          -21.105852127075195
+        ],
+        [
+          0.706190824508667,
+          -0.005823593586683273,
+          0.7079975008964539,
+          -1.0150079727172852
+        ],
+        [
+          -0.008761557750403881,
+          -0.9999614953994751,
+          0.0005140758585184813,
+          -3.638066291809082
+        ],
+        [
+          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": "1731323326_283082723",
+      "mask_path": "../../mask/hdr_left_00639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00694.png",
+      "transform_matrix": [
+        [
+          0.7744760513305664,
+          -0.011752619408071041,
+          -0.6324939131736755,
+          -20.994091033935547
+        ],
+        [
+          0.632434606552124,
+          0.037462446838617325,
+          0.7737072706222534,
+          -0.9128016233444214
+        ],
+        [
+          0.014601681381464005,
+          -0.9992289543151855,
+          0.03644653409719467,
+          -3.6539647579193115
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 694,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323331_783083438",
+      "mask_path": "../../mask/hdr_left_00694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00696.png",
+      "transform_matrix": [
+        [
+          0.7689100503921509,
+          -0.01679820381104946,
+          -0.6391361355781555,
+          -20.947328567504883
+        ],
+        [
+          0.6393049359321594,
+          0.032950907945632935,
+          0.7682470679283142,
+          -0.8549540042877197
+        ],
+        [
+          0.008154945448040962,
+          -0.9993158578872681,
+          0.03607546165585518,
+          -3.6561076641082764
+        ],
+        [
+          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": "1731323331_983079433",
+      "mask_path": "../../mask/hdr_left_00696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00698.png",
+      "transform_matrix": [
+        [
+          0.7767868041992188,
+          -0.020532865077257156,
+          -0.6294287443161011,
+          -20.90086555480957
+        ],
+        [
+          0.6296746134757996,
+          0.0421208031475544,
+          0.7757161855697632,
+          -0.7923070192337036
+        ],
+        [
+          0.010584363713860512,
+          -0.9989015460014343,
+          0.04564790427684784,
+          -3.6420741081237793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 698,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323332_183082818",
+      "mask_path": "../../mask/hdr_left_00698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00699.png",
+      "transform_matrix": [
+        [
+          0.7869889140129089,
+          -0.01799672283232212,
+          -0.6167045831680298,
+          -20.864599227905273
+        ],
+        [
+          0.6168601512908936,
+          0.04156050458550453,
+          0.7859747409820557,
+          -0.7502810955047607
+        ],
+        [
+          0.011485581286251545,
+          -0.9989739060401917,
+          0.04380911961197853,
+          -3.6449167728424072
+        ],
+        [
+          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": "1731323332_283082246",
+      "mask_path": "../../mask/hdr_left_00699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00700.png",
+      "transform_matrix": [
+        [
+          0.7967721819877625,
+          -0.015018661506474018,
+          -0.604093074798584,
+          -20.82452392578125
+        ],
+        [
+          0.6042282581329346,
+          0.03286132961511612,
+          0.7961333990097046,
+          -0.7024211287498474
+        ],
+        [
+          0.007894444279372692,
+          -0.9993471503257751,
+          0.03525768965482712,
+          -3.646681785583496
+        ],
+        [
+          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": "1731323332_383081912",
+      "mask_path": "../../mask/hdr_left_00700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00702.png",
+      "transform_matrix": [
+        [
+          0.8176188468933105,
+          -0.008907859213650227,
+          -0.5756909251213074,
+          -20.773839950561523
+        ],
+        [
+          0.5757284760475159,
+          0.023076040670275688,
+          0.8173151612281799,
+          -0.6436482071876526
+        ],
+        [
+          0.006004139315336943,
+          -0.9996940493583679,
+          0.023995915427803993,
+          -3.6563212871551514
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 702,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323332_583082199",
+      "mask_path": "../../mask/hdr_left_00702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00704.png",
+      "transform_matrix": [
+        [
+          0.848755419254303,
+          -0.019316351041197777,
+          -0.5284326672554016,
+          -20.718021392822266
+        ],
+        [
+          0.5287061333656311,
+          0.01368031557649374,
+          0.8486947417259216,
+          -0.586479663848877
+        ],
+        [
+          -0.009164558723568916,
+          -0.9997198581695557,
+          0.021823914721608162,
+          -3.657470464706421
+        ],
+        [
+          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": "1731323332_783082008",
+      "mask_path": "../../mask/hdr_left_00704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00706.png",
+      "transform_matrix": [
+        [
+          0.89078688621521,
+          -0.018657635897397995,
+          -0.4540380835533142,
+          -20.645753860473633
+        ],
+        [
+          0.4542577266693115,
+          0.009763529524207115,
+          0.8908167481422424,
+          -0.5619552135467529
+        ],
+        [
+          -0.01218752097338438,
+          -0.9997783303260803,
+          0.01717260293662548,
+          -3.649299144744873
+        ],
+        [
+          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": "1731323332_983082294",
+      "mask_path": "../../mask/hdr_left_00706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00707.png",
+      "transform_matrix": [
+        [
+          0.9101957082748413,
+          -0.015036358498036861,
+          -0.4139052629470825,
+          -20.602426528930664
+        ],
+        [
+          0.4140670895576477,
+          0.009876305237412453,
+          0.9101927876472473,
+          -0.5389150977134705
+        ],
+        [
+          -0.009598130360245705,
+          -0.9998381733894348,
+          0.015215432271361351,
+          -3.6456050872802734
+        ],
+        [
+          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": "1731323333_83080530",
+      "mask_path": "../../mask/hdr_left_00707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00708.png",
+      "transform_matrix": [
+        [
+          0.9238694310188293,
+          -0.01017781812697649,
+          -0.3825724124908447,
+          -20.561452865600586
+        ],
+        [
+          0.38263776898384094,
+          0.005442279856652021,
+          0.9238824248313904,
+          -0.5083518028259277
+        ],
+        [
+          -0.00732103968039155,
+          -0.9999334216117859,
+          0.008922373875975609,
+          -3.640643835067749
+        ],
+        [
+          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": "1731323333_183080196",
+      "mask_path": "../../mask/hdr_left_00708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00710.png",
+      "transform_matrix": [
+        [
+          0.944025456905365,
+          -0.005766202695667744,
+          -0.32982221245765686,
+          -20.487224578857422
+        ],
+        [
+          0.3297866880893707,
+          -0.006315961945801973,
+          0.9440343379974365,
+          -0.48875316977500916
+        ],
+        [
+          -0.007526637986302376,
+          -0.9999634623527527,
+          -0.00406081136316061,
+          -3.6510932445526123
+        ],
+        [
+          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": "1731323333_383080720",
+      "mask_path": "../../mask/hdr_left_00710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00716.png",
+      "transform_matrix": [
+        [
+          0.9657559394836426,
+          -0.02016669511795044,
+          -0.25866708159446716,
+          -20.25870704650879
+        ],
+        [
+          0.2587694525718689,
+          0.0025978917255997658,
+          0.9659355878829956,
+          -0.3975468575954437
+        ],
+        [
+          -0.01880773901939392,
+          -0.9997934103012085,
+          0.007727456744760275,
+          -3.639352321624756
+        ],
+        [
+          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": "1731323333_983082771",
+      "mask_path": "../../mask/hdr_left_00716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00718.png",
+      "transform_matrix": [
+        [
+          0.9642715454101562,
+          -0.022751683369278908,
+          -0.26393699645996094,
+          -20.19439125061035
+        ],
+        [
+          0.2639153301715851,
+          -0.004003568552434444,
+          0.9645375609397888,
+          -0.3611353039741516
+        ],
+        [
+          -0.023001544177532196,
+          -0.9997331500053406,
+          0.0021439914125949144,
+          -3.652759313583374
+        ],
+        [
+          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": "1731323334_183081388",
+      "mask_path": "../../mask/hdr_left_00718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00720.png",
+      "transform_matrix": [
+        [
+          0.9664316773414612,
+          -0.02718738280236721,
+          -0.25548118352890015,
+          -20.132970809936523
+        ],
+        [
+          0.2553504705429077,
+          -0.008234936743974686,
+          0.9668135046958923,
+          -0.33572155237197876
+        ],
+        [
+          -0.02838900126516819,
+          -0.9995964765548706,
+          -0.0010161894606426358,
+          -3.648407459259033
+        ],
+        [
+          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": "1731323334_383080720",
+      "mask_path": "../../mask/hdr_left_00720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00723.png",
+      "transform_matrix": [
+        [
+          0.9690070152282715,
+          -0.026413526386022568,
+          -0.24561707675457,
+          -20.083755493164062
+        ],
+        [
+          0.24580517411231995,
+          0.004076516721397638,
+          0.9693107008934021,
+          -0.3094067871570587
+        ],
+        [
+          -0.0246016513556242,
+          -0.9996428489685059,
+          0.010442757979035378,
+          -3.643723249435425
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 723,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323334_683080196",
+      "mask_path": "../../mask/hdr_left_00723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00728.png",
+      "transform_matrix": [
+        [
+          0.935805082321167,
+          -0.02891482226550579,
+          -0.3513297736644745,
+          -20.078779220581055
+        ],
+        [
+          0.35154715180397034,
+          0.0026443474926054478,
+          0.9361664056777954,
+          -0.2244693636894226
+        ],
+        [
+          -0.02614004723727703,
+          -0.9995784163475037,
+          0.01263952162116766,
+          -3.644591808319092
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 728,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323335_183080673",
+      "mask_path": "../../mask/hdr_left_00728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00731.png",
+      "transform_matrix": [
+        [
+          0.9218519330024719,
+          -0.030563395470380783,
+          -0.3863351047039032,
+          -20.03253936767578
+        ],
+        [
+          0.3868269622325897,
+          0.012028977274894714,
+          0.9220738410949707,
+          -0.18627294898033142
+        ],
+        [
+          -0.023534487932920456,
+          -0.9994604587554932,
+          0.022911682724952698,
+          -3.638502597808838
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 731,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323335_483082771",
+      "mask_path": "../../mask/hdr_left_00731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00733.png",
+      "transform_matrix": [
+        [
+          0.9213940501213074,
+          -0.031148817390203476,
+          -0.38737913966178894,
+          -19.980703353881836
+        ],
+        [
+          0.3878071904182434,
+          0.008883410133421421,
+          0.9216976761817932,
+          -0.16839289665222168
+        ],
+        [
+          -0.025268545374274254,
+          -0.999475359916687,
+          0.02026486024260521,
+          -3.635188579559326
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 733,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323335_683081626",
+      "mask_path": "../../mask/hdr_left_00733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00735.png",
+      "transform_matrix": [
+        [
+          0.9186968207359314,
+          -0.026970740407705307,
+          -0.3940414786338806,
+          -19.92174530029297
+        ],
+        [
+          0.39421889185905457,
+          0.0013923413353040814,
+          0.9190154671669006,
+          -0.11848568916320801
+        ],
+        [
+          -0.02423788793385029,
+          -0.9996352791786194,
+          0.01191151887178421,
+          -3.646735191345215
+        ],
+        [
+          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": "1731323335_883082151",
+      "mask_path": "../../mask/hdr_left_00735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00736.png",
+      "transform_matrix": [
+        [
+          0.9179458618164062,
+          -0.02913656085729599,
+          -0.39563411474227905,
+          -19.8825740814209
+        ],
+        [
+          0.3957781195640564,
+          -0.0008903048001229763,
+          0.9183456897735596,
+          -0.0861036479473114
+        ],
+        [
+          -0.027109669521450996,
+          -0.9995750188827515,
+          0.010714365169405937,
+          -3.651866912841797
+        ],
+        [
+          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": "1731323335_983081579",
+      "mask_path": "../../mask/hdr_left_00736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00737.png",
+      "transform_matrix": [
+        [
+          0.918962299823761,
+          -0.031046690419316292,
+          -0.39312130212783813,
+          -19.83625602722168
+        ],
+        [
+          0.3932443857192993,
+          -0.002295901533216238,
+          0.9194310307502747,
+          -0.05570506677031517
+        ],
+        [
+          -0.02944786101579666,
+          -0.9995153546333313,
+          0.01009909063577652,
+          -3.651177167892456
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 737,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323336_83082914",
+      "mask_path": "../../mask/hdr_left_00737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00739.png",
+      "transform_matrix": [
+        [
+          0.9247179627418518,
+          -0.02518920786678791,
+          -0.3798186182975769,
+          -19.751462936401367
+        ],
+        [
+          0.38007742166519165,
+          0.006250158883631229,
+          0.9249335527420044,
+          -0.005062835291028023
+        ],
+        [
+          -0.020924417302012444,
+          -0.999663233757019,
+          0.015353485941886902,
+          -3.6472716331481934
+        ],
+        [
+          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": "1731323336_283081531",
+      "mask_path": "../../mask/hdr_left_00739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00740.png",
+      "transform_matrix": [
+        [
+          0.9259068369865417,
+          -0.019451506435871124,
+          -0.37725070118904114,
+          -19.705591201782227
+        ],
+        [
+          0.37741872668266296,
+          0.0057045347057282925,
+          0.9260251522064209,
+          0.03485177829861641
+        ],
+        [
+          -0.0158605445176363,
+          -0.999794602394104,
+          0.01262323185801506,
+          -3.642855167388916
+        ],
+        [
+          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": "1731323336_383081674",
+      "mask_path": "../../mask/hdr_left_00740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00744.png",
+      "transform_matrix": [
+        [
+          0.924536406993866,
+          -0.02831408567726612,
+          -0.3800404965877533,
+          -19.5635986328125
+        ],
+        [
+          0.3801478147506714,
+          -0.0016990258591249585,
+          0.9249241948127747,
+          0.15518653392791748
+        ],
+        [
+          -0.02683407999575138,
+          -0.9995976686477661,
+          0.00919272843748331,
+          -3.6602253913879395
+        ],
+        [
+          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": "1731323336_783081531",
+      "mask_path": "../../mask/hdr_left_00744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01362.png",
+      "transform_matrix": [
+        [
+          0.9616340398788452,
+          -0.0034224707633256912,
+          -0.2743140757083893,
+          -19.44219970703125
+        ],
+        [
+          0.27421435713768005,
+          0.04169667512178421,
+          0.9607642292976379,
+          0.24322184920310974
+        ],
+        [
+          0.008149795234203339,
+          -0.9991244673728943,
+          0.04103543236851692,
+          -3.655733346939087
+        ],
+        [
+          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": "1731323398_583080530",
+      "mask_path": "../../mask/hdr_left_01362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01365.png",
+      "transform_matrix": [
+        [
+          0.9601780772209167,
+          -0.023706858977675438,
+          -0.2783806025981903,
+          -19.40116310119629
+        ],
+        [
+          0.2791237235069275,
+          0.03805313631892204,
+          0.9595008492469788,
+          0.2915341258049011
+        ],
+        [
+          -0.012153496034443378,
+          -0.9989944696426392,
+          0.04315494745969772,
+          -3.6533970832824707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1365,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323398_883080482",
+      "mask_path": "../../mask/hdr_left_01365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01367.png",
+      "transform_matrix": [
+        [
+          0.9639894962310791,
+          -0.02144237793982029,
+          -0.26507437229156494,
+          -19.342512130737305
+        ],
+        [
+          0.26577866077423096,
+          0.04294630140066147,
+          0.9630770683288574,
+          0.3211258053779602
+        ],
+        [
+          -0.009266698732972145,
+          -0.9988473653793335,
+          0.04709871485829353,
+          -3.6487717628479004
+        ],
+        [
+          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": "1731323399_83080530",
+      "mask_path": "../../mask/hdr_left_01367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01368.png",
+      "transform_matrix": [
+        [
+          0.9655583500862122,
+          -0.022292528301477432,
+          -0.2592296898365021,
+          -19.291696548461914
+        ],
+        [
+          0.2599588930606842,
+          0.04099670797586441,
+          0.9647489786148071,
+          0.3468882441520691
+        ],
+        [
+          -0.01087913103401661,
+          -0.998910665512085,
+          0.04537985473871231,
+          -3.654754400253296
+        ],
+        [
+          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": "1731323399_183082580",
+      "mask_path": "../../mask/hdr_left_01368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01372.png",
+      "transform_matrix": [
+        [
+          0.9613931179046631,
+          -0.03073410503566265,
+          -0.27345672249794006,
+          -19.136804580688477
+        ],
+        [
+          0.27416861057281494,
+          0.02192702516913414,
+          0.961431622505188,
+          0.44256946444511414
+        ],
+        [
+          -0.023552648723125458,
+          -0.9992871284484863,
+          0.029506821185350418,
+          -3.664499044418335
+        ],
+        [
+          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": "1731323399_583081722",
+      "mask_path": "../../mask/hdr_left_01372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01374.png",
+      "transform_matrix": [
+        [
+          0.964654266834259,
+          -0.025942396372556686,
+          -0.2622389793395996,
+          -19.058914184570312
+        ],
+        [
+          0.2627292275428772,
+          0.01769411563873291,
+          0.9647073149681091,
+          0.47459352016448975
+        ],
+        [
+          -0.02038673311471939,
+          -0.9995068311691284,
+          0.023884529247879982,
+          -3.6554222106933594
+        ],
+        [
+          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": "1731323399_783082246",
+      "mask_path": "../../mask/hdr_left_01374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01376.png",
+      "transform_matrix": [
+        [
+          0.9673182964324951,
+          -0.020884783938527107,
+          -0.25270360708236694,
+          -18.96873664855957
+        ],
+        [
+          0.25307154655456543,
+          0.017364777624607086,
+          0.9672915935516357,
+          0.519040584564209
+        ],
+        [
+          -0.015813535079360008,
+          -0.9996311068534851,
+          0.0220826156437397,
+          -3.6586012840270996
+        ],
+        [
+          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": "1731323399_983083486",
+      "mask_path": "../../mask/hdr_left_01376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01378.png",
+      "transform_matrix": [
+        [
+          0.9655880928039551,
+          -0.0217996034771204,
+          -0.2591609060764313,
+          -18.914836883544922
+        ],
+        [
+          0.2594197690486908,
+          0.009984360076487064,
+          0.9657130837440491,
+          0.5613065361976624
+        ],
+        [
+          -0.018464602530002594,
+          -0.9997126460075378,
+          0.015296028926968575,
+          -3.6639811992645264
+        ],
+        [
+          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": "1731323400_183082580",
+      "mask_path": "../../mask/hdr_left_01378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01380.png",
+      "transform_matrix": [
+        [
+          0.9648993015289307,
+          -0.030559949576854706,
+          -0.2608359754085541,
+          -18.86066436767578
+        ],
+        [
+          0.2611727714538574,
+          0.007535351440310478,
+          0.9652625918388367,
+          0.5960231423377991
+        ],
+        [
+          -0.02753288485109806,
+          -0.9995046257972717,
+          0.01525228749960661,
+          -3.6719579696655273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1380,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323400_383082628",
+      "mask_path": "../../mask/hdr_left_01380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01382.png",
+      "transform_matrix": [
+        [
+          0.9681374430656433,
+          -0.029596596956253052,
+          -0.24866406619548798,
+          -18.795574188232422
+        ],
+        [
+          0.24901562929153442,
+          0.008796097710728645,
+          0.9684595465660095,
+          0.6199793815612793
+        ],
+        [
+          -0.026475831866264343,
+          -0.9995232224464417,
+          0.0158858485519886,
+          -3.664463520050049
+        ],
+        [
+          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": "1731323400_583081483",
+      "mask_path": "../../mask/hdr_left_01382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01384.png",
+      "transform_matrix": [
+        [
+          0.9710840582847595,
+          -0.02430972084403038,
+          -0.237497016787529,
+          -18.717985153198242
+        ],
+        [
+          0.23777435719966888,
+          0.009196767583489418,
+          0.9712768793106079,
+          0.6461901664733887
+        ],
+        [
+          -0.02142726071178913,
+          -0.9996621608734131,
+          0.014711064286530018,
+          -3.666152000427246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1384,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323400_783081531",
+      "mask_path": "../../mask/hdr_left_01384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01386.png",
+      "transform_matrix": [
+        [
+          0.9599531888961792,
+          -0.025678163394331932,
+          -0.2789810597896576,
+          -18.655109405517578
+        ],
+        [
+          0.27902495861053467,
+          -0.0019305641762912273,
+          0.9602819681167603,
+          0.6953538656234741
+        ],
+        [
+          -0.0251968652009964,
+          -0.9996684193611145,
+          0.005311598535627127,
+          -3.6691086292266846
+        ],
+        [
+          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": "1731323400_983081817",
+      "mask_path": "../../mask/hdr_left_01386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01388.png",
+      "transform_matrix": [
+        [
+          0.9377022385597229,
+          -0.030275005847215652,
+          -0.34611818194389343,
+          -18.583906173706055
+        ],
+        [
+          0.34627339243888855,
+          -0.00012248319399077445,
+          0.9381335973739624,
+          0.7568995952606201
+        ],
+        [
+          -0.02844439446926117,
+          -0.999541699886322,
+          0.01036857906728983,
+          -3.6698169708251953
+        ],
+        [
+          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": "1731323401_183080673",
+      "mask_path": "../../mask/hdr_left_01388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01390.png",
+      "transform_matrix": [
+        [
+          0.9202078580856323,
+          -0.027011074125766754,
+          -0.390497088432312,
+          -18.533973693847656
+        ],
+        [
+          0.39089494943618774,
+          0.011263887397944927,
+          0.9203663468360901,
+          0.8084607720375061
+        ],
+        [
+          -0.020461566746234894,
+          -0.9995717406272888,
+          0.020923612639307976,
+          -3.667945623397827
+        ],
+        [
+          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": "1731323401_383081912",
+      "mask_path": "../../mask/hdr_left_01390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01391.png",
+      "transform_matrix": [
+        [
+          0.919127345085144,
+          -0.02586768940091133,
+          -0.39311033487319946,
+          -18.489973068237305
+        ],
+        [
+          0.3935757577419281,
+          0.016198139637708664,
+          0.9191495776176453,
+          0.8344367146492004
+        ],
+        [
+          -0.017408618703484535,
+          -0.9995341897010803,
+          0.02506904862821102,
+          -3.671757221221924
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1391,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323401_483079671",
+      "mask_path": "../../mask/hdr_left_01391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01392.png",
+      "transform_matrix": [
+        [
+          0.9150572419166565,
+          -0.026412686333060265,
+          -0.4024580121040344,
+          -18.43983268737793
+        ],
+        [
+          0.4028167426586151,
+          0.009831806644797325,
+          0.9152277708053589,
+          0.8667582869529724
+        ],
+        [
+          -0.02021673507988453,
+          -0.9996028542518616,
+          0.019636142998933792,
+          -3.67063045501709
+        ],
+        [
+          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": "1731323401_583081483",
+      "mask_path": "../../mask/hdr_left_01392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01394.png",
+      "transform_matrix": [
+        [
+          0.897325873374939,
+          -0.0245656780898571,
+          -0.44068437814712524,
+          -18.385765075683594
+        ],
+        [
+          0.44095858931541443,
+          0.006875409744679928,
+          0.8975010514259338,
+          0.9332210421562195
+        ],
+        [
+          -0.019017834216356277,
+          -0.9996746182441711,
+          0.017001932486891747,
+          -3.683225154876709
+        ],
+        [
+          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": "1731323401_783082008",
+      "mask_path": "../../mask/hdr_left_01394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01396.png",
+      "transform_matrix": [
+        [
+          0.8635016679763794,
+          -0.04162432998418808,
+          -0.5026252269744873,
+          -18.356918334960938
+        ],
+        [
+          0.503387987613678,
+          0.00974157266318798,
+          0.8640055656433105,
+          1.0183178186416626
+        ],
+        [
+          -0.031067294999957085,
+          -0.9990859031677246,
+          0.02936505526304245,
+          -3.6835293769836426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1396,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323401_983081817",
+      "mask_path": "../../mask/hdr_left_01396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01398.png",
+      "transform_matrix": [
+        [
+          0.8360034823417664,
+          -0.04362205043435097,
+          -0.5469874739646912,
+          -18.31342887878418
+        ],
+        [
+          0.5477887392044067,
+          0.008165481500327587,
+          0.8365768790245056,
+          1.08106529712677
+        ],
+        [
+          -0.032026778906583786,
+          -0.9990147948265076,
+          0.030722036957740784,
+          -3.687944173812866
+        ],
+        [
+          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": "1731323402_183082103",
+      "mask_path": "../../mask/hdr_left_01398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01400.png",
+      "transform_matrix": [
+        [
+          0.8319851756095886,
+          -0.05714111402630806,
+          -0.5518472790718079,
+          -18.2492733001709
+        ],
+        [
+          0.5516331791877747,
+          -0.020887479186058044,
+          0.8338252305984497,
+          1.1381243467330933
+        ],
+        [
+          -0.05917239934206009,
+          -0.99814772605896,
+          0.014142866246402264,
+          -3.7204270362854004
+        ],
+        [
+          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": "1731323402_383082389",
+      "mask_path": "../../mask/hdr_left_01400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01402.png",
+      "transform_matrix": [
+        [
+          0.8279862403869629,
+          -0.0718524381518364,
+          -0.556125819683075,
+          -18.205114364624023
+        ],
+        [
+          0.5548606514930725,
+          -0.038357846438884735,
+          0.8310585021972656,
+          1.1973456144332886
+        ],
+        [
+          -0.08104537427425385,
+          -0.9966774582862854,
+          0.00810832530260086,
+          -3.7560789585113525
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1402,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_583081245",
+      "mask_path": "../../mask/hdr_left_01402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01403.png",
+      "transform_matrix": [
+        [
+          0.8257296681404114,
+          -0.07490956783294678,
+          -0.559069812297821,
+          -18.156253814697266
+        ],
+        [
+          0.5571550130844116,
+          -0.04636060446500778,
+          0.8291134238243103,
+          1.228222370147705
+        ],
+        [
+          -0.08802733570337296,
+          -0.9961121082305908,
+          0.003454913618043065,
+          -3.7714896202087402
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1403,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_683081150",
+      "mask_path": "../../mask/hdr_left_01403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01404.png",
+      "transform_matrix": [
+        [
+          0.8238667845726013,
+          -0.09154171496629715,
+          -0.5593419671058655,
+          -18.114669799804688
+        ],
+        [
+          0.5563117861747742,
+          -0.05821935459971428,
+          0.8289316892623901,
+          1.2636855840682983
+        ],
+        [
+          -0.10844635218381882,
+          -0.994097888469696,
+          0.002960741985589266,
+          -3.782445192337036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1404,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_783082485",
+      "mask_path": "../../mask/hdr_left_01404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01406.png",
+      "transform_matrix": [
+        [
+          0.8273798227310181,
+          -0.11904793977737427,
+          -0.548880934715271,
+          -18.056180953979492
+        ],
+        [
+          0.5441821813583374,
+          -0.07186334580183029,
+          0.835883617401123,
+          1.317386269569397
+        ],
+        [
+          -0.13895460963249207,
+          -0.9902844429016113,
+          0.005325496196746826,
+          -3.8064498901367188
+        ],
+        [
+          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": "1731323402_983082532",
+      "mask_path": "../../mask/hdr_left_01406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01407.png",
+      "transform_matrix": [
+        [
+          0.8298760056495667,
+          -0.12258204817771912,
+          -0.5443155169487,
+          -18.015804290771484
+        ],
+        [
+          0.53699791431427,
+          -0.08934053778648376,
+          0.8388394117355347,
+          1.360363483428955
+        ],
+        [
+          -0.1514560878276825,
+          -0.988429069519043,
+          -0.008315262384712696,
+          -3.8292393684387207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1407,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_83080053",
+      "mask_path": "../../mask/hdr_left_01407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01408.png",
+      "transform_matrix": [
+        [
+          0.8290401101112366,
+          -0.1224733516573906,
+          -0.5456121563911438,
+          -17.972192764282227
+        ],
+        [
+          0.5334036946296692,
+          -0.11967139691114426,
+          0.837352454662323,
+          1.4052973985671997
+        ],
+        [
+          -0.16784752905368805,
+          -0.9852305054664612,
+          -0.03388463333249092,
+          -3.8532707691192627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1408,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_183083057",
+      "mask_path": "../../mask/hdr_left_01408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01411.png",
+      "transform_matrix": [
+        [
+          0.8189403414726257,
+          -0.14273740351200104,
+          -0.5558441877365112,
+          -17.862987518310547
+        ],
+        [
+          0.5349048376083374,
+          -0.16099406778812408,
+          0.8294321894645691,
+          1.5009700059890747
+        ],
+        [
+          -0.20787860453128815,
+          -0.9765792489051819,
+          -0.055493611842393875,
+          -3.9235997200012207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1411,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_483081579",
+      "mask_path": "../../mask/hdr_left_01411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01412.png",
+      "transform_matrix": [
+        [
+          0.8095874786376953,
+          -0.1864320933818817,
+          -0.5566068291664124,
+          -17.82295036315918
+        ],
+        [
+          0.5306570529937744,
+          -0.1729167103767395,
+          0.8297607898712158,
+          1.535884141921997
+        ],
+        [
+          -0.2509406507015228,
+          -0.9671313166618347,
+          -0.04105968773365021,
+          -3.958003520965576
+        ],
+        [
+          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": "1731323403_583082199",
+      "mask_path": "../../mask/hdr_left_01412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01414.png",
+      "transform_matrix": [
+        [
+          0.8005841970443726,
+          -0.2297249138355255,
+          -0.5534360408782959,
+          -17.796655654907227
+        ],
+        [
+          0.518500804901123,
+          -0.1973896622657776,
+          0.8319820761680603,
+          1.5819486379623413
+        ],
+        [
+          -0.300369530916214,
+          -0.9530287981033325,
+          -0.03891444578766823,
+          -3.9815280437469482
+        ],
+        [
+          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": "1731323403_783081531",
+      "mask_path": "../../mask/hdr_left_01414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01415.png",
+      "transform_matrix": [
+        [
+          0.7987674474716187,
+          -0.2330877184867859,
+          -0.5546537041664124,
+          -17.764583587646484
+        ],
+        [
+          0.514723539352417,
+          -0.21255894005298615,
+          0.8305891752243042,
+          1.6149098873138428
+        ],
+        [
+          -0.31149667501449585,
+          -0.9489409327507019,
+          -0.049809426069259644,
+          -4.013738632202148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1415,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_883081436",
+      "mask_path": "../../mask/hdr_left_01415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01416.png",
+      "transform_matrix": [
+        [
+          0.7973020076751709,
+          -0.2382371723651886,
+          -0.554574191570282,
+          -17.72834014892578
+        ],
+        [
+          0.5066340565681458,
+          -0.2352583110332489,
+          0.8294427990913391,
+          1.652796745300293
+        ],
+        [
+          -0.32807227969169617,
+          -0.9422827959060669,
+          -0.06687283515930176,
+          -4.048458099365234
+        ],
+        [
+          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": "1731323403_983081817",
+      "mask_path": "../../mask/hdr_left_01416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01417.png",
+      "transform_matrix": [
+        [
+          0.7951189279556274,
+          -0.2484050691127777,
+          -0.5532456636428833,
+          -17.700361251831055
+        ],
+        [
+          0.4989686906337738,
+          -0.2505536377429962,
+          0.8296102285385132,
+          1.6811621189117432
+        ],
+        [
+          -0.34469708800315857,
+          -0.9356910586357117,
+          -0.07527358829975128,
+          -4.081830024719238
+        ],
+        [
+          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": "1731323404_83082199",
+      "mask_path": "../../mask/hdr_left_01417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01418.png",
+      "transform_matrix": [
+        [
+          0.7930076122283936,
+          -0.25516214966773987,
+          -0.5532008409500122,
+          -17.670495986938477
+        ],
+        [
+          0.49727120995521545,
+          -0.2534676790237427,
+          0.8297442197799683,
+          1.7131216526031494
+        ],
+        [
+          -0.35193783044815063,
+          -0.9330844283103943,
+          -0.07411699742078781,
+          -4.1126179695129395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1418,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323404_183082103",
+      "mask_path": "../../mask/hdr_left_01418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01419.png",
+      "transform_matrix": [
+        [
+          0.7923750877380371,
+          -0.253367155790329,
+          -0.5549294948577881,
+          -17.620718002319336
+        ],
+        [
+          0.5003560781478882,
+          -0.25045740604400635,
+          0.8288032412528992,
+          1.7486103773117065
+        ],
+        [
+          -0.3489777445793152,
+          -0.9343855381011963,
+          -0.0716824159026146,
+          -4.1435980796813965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1419,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323404_283081531",
+      "mask_path": "../../mask/hdr_left_01419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01420.png",
+      "transform_matrix": [
+        [
+          0.7875933051109314,
+          -0.27183637022972107,
+          -0.5529932975769043,
+          -17.565553665161133
+        ],
+        [
+          0.4971372187137604,
+          -0.24992616474628448,
+          0.8308980464935303,
+          1.7927820682525635
+        ],
+        [
+          -0.36407575011253357,
+          -0.9293233752250671,
+          -0.061700209975242615,
+          -4.160451412200928
+        ],
+        [
+          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": "1731323404_383081912",
+      "mask_path": "../../mask/hdr_left_01420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01422.png",
+      "transform_matrix": [
+        [
+          0.7920344471931458,
+          -0.2528313398361206,
+          -0.5556597709655762,
+          -17.503955841064453
+        ],
+        [
+          0.4990560710430145,
+          -0.2560766935348511,
+          0.8278694748878479,
+          1.8431488275527954
+        ],
+        [
+          -0.35160285234451294,
+          -0.9330064654350281,
+          -0.07664453983306885,
+          -4.172642707824707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1422,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323404_583081722",
+      "mask_path": "../../mask/hdr_left_01422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01423.png",
+      "transform_matrix": [
+        [
+          0.7946094870567322,
+          -0.2432764768600464,
+          -0.5562484860420227,
+          -17.46049690246582
+        ],
+        [
+          0.5043994784355164,
+          -0.24539463222026825,
+          0.8278663158416748,
+          1.8973933458328247
+        ],
+        [
+          -0.3379007577896118,
+          -0.9384018778800964,
+          -0.07228436321020126,
+          -4.1967878341674805
+        ],
+        [
+          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": "1731323404_683083295",
+      "mask_path": "../../mask/hdr_left_01423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01428.png",
+      "transform_matrix": [
+        [
+          0.7921901941299438,
+          -0.270836740732193,
+          -0.5468840599060059,
+          -17.35140609741211
+        ],
+        [
+          0.5111858248710632,
+          -0.19500838220119476,
+          0.8370548486709595,
+          2.092012405395508
+        ],
+        [
+          -0.33335214853286743,
+          -0.9426660537719727,
+          -0.016035806387662888,
+          -4.272317409515381
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1428,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_183079719",
+      "mask_path": "../../mask/hdr_left_01428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01430.png",
+      "transform_matrix": [
+        [
+          0.7964009642601013,
+          -0.23112717270851135,
+          -0.5588611364364624,
+          -17.303651809692383
+        ],
+        [
+          0.5222918391227722,
+          -0.20301516354084015,
+          0.8282487988471985,
+          2.134793758392334
+        ],
+        [
+          -0.3048880696296692,
+          -0.9515067338943481,
+          -0.04096560925245285,
+          -4.250791549682617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1430,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_383080959",
+      "mask_path": "../../mask/hdr_left_01430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01431.png",
+      "transform_matrix": [
+        [
+          0.8011689186096191,
+          -0.216335728764534,
+          -0.5579670667648315,
+          -17.2662353515625
+        ],
+        [
+          0.5226809978485107,
+          -0.20109529793262482,
+          0.8284716606140137,
+          2.1628646850585938
+        ],
+        [
+          -0.29143255949020386,
+          -0.9553845524787903,
+          -0.04803674668073654,
+          -4.27475643157959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1431,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_483081579",
+      "mask_path": "../../mask/hdr_left_01431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01432.png",
+      "transform_matrix": [
+        [
+          0.8037261366844177,
+          -0.21533891558647156,
+          -0.5546651482582092,
+          -17.22469711303711
+        ],
+        [
+          0.5177657008171082,
+          -0.2061842530965805,
+          0.8303051590919495,
+          2.19766902923584
+        ],
+        [
+          -0.29316020011901855,
+          -0.9545246362686157,
+          -0.05422055721282959,
+          -4.300741195678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1432,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_583081483",
+      "mask_path": "../../mask/hdr_left_01432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01434.png",
+      "transform_matrix": [
+        [
+          0.8039765954017639,
+          -0.22876641154289246,
+          -0.5488965511322021,
+          -17.18058967590332
+        ],
+        [
+          0.5126654505729675,
+          -0.20107480883598328,
+          0.8347113132476807,
+          2.2587790489196777
+        ],
+        [
+          -0.30132314562797546,
+          -0.9524887800216675,
+          -0.04437880963087082,
+          -4.346823692321777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1434,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_783082008",
+      "mask_path": "../../mask/hdr_left_01434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01436.png",
+      "transform_matrix": [
+        [
+          0.8010368347167969,
+          -0.23841293156147003,
+          -0.5490894317626953,
+          -17.111976623535156
+        ],
+        [
+          0.5135436654090881,
+          -0.19763419032096863,
+          0.8349931240081787,
+          2.333200693130493
+        ],
+        [
+          -0.3075920045375824,
+          -0.9508419036865234,
+          -0.0358768105506897,
+          -4.387924671173096
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1436,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_983080387",
+      "mask_path": "../../mask/hdr_left_01436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01438.png",
+      "transform_matrix": [
+        [
+          0.8065862059593201,
+          -0.19944441318511963,
+          -0.55645352602005,
+          -17.05853843688965
+        ],
+        [
+          0.5229101777076721,
+          -0.1982349455356598,
+          0.8290161490440369,
+          2.378689765930176
+        ],
+        [
+          -0.27565112709999084,
+          -0.9596483707427979,
+          -0.05560203641653061,
+          -4.379252910614014
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1438,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_183082342",
+      "mask_path": "../../mask/hdr_left_01438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01440.png",
+      "transform_matrix": [
+        [
+          0.813153088092804,
+          -0.1855774223804474,
+          -0.5516729950904846,
+          -16.987390518188477
+        ],
+        [
+          0.5191394686698914,
+          -0.19736254215240479,
+          0.8315902352333069,
+          2.447492837905884
+        ],
+        [
+          -0.2632039189338684,
+          -0.9626054167747498,
+          -0.06414538621902466,
+          -4.425867080688477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1440,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_383082389",
+      "mask_path": "../../mask/hdr_left_01440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01442.png",
+      "transform_matrix": [
+        [
+          0.8125079870223999,
+          -0.2051914483308792,
+          -0.5456439256668091,
+          -16.944202423095703
+        ],
+        [
+          0.5134512186050415,
+          -0.19132374227046967,
+          0.8365184664726257,
+          2.5054469108581543
+        ],
+        [
+          -0.27604106068611145,
+          -0.959839403629303,
+          -0.05009625107049942,
+          -4.468435764312744
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1442,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_583082199",
+      "mask_path": "../../mask/hdr_left_01442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01444.png",
+      "transform_matrix": [
+        [
+          0.8105155825614929,
+          -0.21377070248126984,
+          -0.54531329870224,
+          -16.88933753967285
+        ],
+        [
+          0.5142660737037659,
+          -0.1858932077884674,
+          0.8372420072555542,
+          2.573942184448242
+        ],
+        [
+          -0.2803478240966797,
+          -0.9590339064598083,
+          -0.040734343230724335,
+          -4.507221221923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1444,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_783082008",
+      "mask_path": "../../mask/hdr_left_01444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01446.png",
+      "transform_matrix": [
+        [
+          0.8153452277183533,
+          -0.21308355033397675,
+          -0.538337767124176,
+          -16.826723098754883
+        ],
+        [
+          0.504897952079773,
+          -0.1933746039867401,
+          0.8412397503852844,
+          2.623044013977051
+        ],
+        [
+          -0.283355176448822,
+          -0.9577065110206604,
+          -0.05008161813020706,
+          -4.516289234161377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1446,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_983081340",
+      "mask_path": "../../mask/hdr_left_01446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01448.png",
+      "transform_matrix": [
+        [
+          0.8266367316246033,
+          -0.19989445805549622,
+          -0.5260359644889832,
+          -16.762807846069336
+        ],
+        [
+          0.4945783317089081,
+          -0.18785621225833893,
+          0.8485884070396423,
+          2.6775131225585938
+        ],
+        [
+          -0.2684471905231476,
+          -0.9616404175758362,
+          -0.056425366550683975,
+          -4.549532413482666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1448,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_183081150",
+      "mask_path": "../../mask/hdr_left_01448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01449.png",
+      "transform_matrix": [
+        [
+          0.824224591255188,
+          -0.1986047327518463,
+          -0.530292272567749,
+          -16.714588165283203
+        ],
+        [
+          0.49089211225509644,
+          -0.2162185162305832,
+          0.8439635634422302,
+          2.7239625453948975
+        ],
+        [
+          -0.28227418661117554,
+          -0.9559319615364075,
+          -0.08071909844875336,
+          -4.572660446166992
+        ],
+        [
+          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": "1731323407_283082246",
+      "mask_path": "../../mask/hdr_left_01449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01451.png",
+      "transform_matrix": [
+        [
+          0.8102813959121704,
+          -0.2047266662120819,
+          -0.5491183400154114,
+          -16.675891876220703
+        ],
+        [
+          0.49405694007873535,
+          -0.26532870531082153,
+          0.8279542922973633,
+          2.770474910736084
+        ],
+        [
+          -0.3152012228965759,
+          -0.9421718120574951,
+          -0.11384432017803192,
+          -4.592528343200684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1451,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_483082294",
+      "mask_path": "../../mask/hdr_left_01451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01453.png",
+      "transform_matrix": [
+        [
+          0.7823143601417542,
+          -0.20512428879737854,
+          -0.5881397724151611,
+          -16.64125633239746
+        ],
+        [
+          0.5352801084518433,
+          -0.26145675778388977,
+          0.8031908869743347,
+          2.857405185699463
+        ],
+        [
+          -0.3185270130634308,
+          -0.9431672692298889,
+          -0.09474241733551025,
+          -4.643550395965576
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1453,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_683082818",
+      "mask_path": "../../mask/hdr_left_01453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01455.png",
+      "transform_matrix": [
+        [
+          0.7589325904846191,
+          -0.20013746619224548,
+          -0.6196502447128296,
+          -16.5999813079834
+        ],
+        [
+          0.5704081654548645,
+          -0.254679411649704,
+          0.7808796167373657,
+          2.936215400695801
+        ],
+        [
+          -0.3140954077243805,
+          -0.9460885524749756,
+          -0.07912444323301315,
+          -4.67075777053833
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1455,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_883082866",
+      "mask_path": "../../mask/hdr_left_01455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01457.png",
+      "transform_matrix": [
+        [
+          0.7403522729873657,
+          -0.1866205334663391,
+          -0.6457949876785278,
+          -16.54488754272461
+        ],
+        [
+          0.5935387015342712,
+          -0.26952651143074036,
+          0.7583318948745728,
+          3.0319273471832275
+        ],
+        [
+          -0.3155791759490967,
+          -0.9447371959686279,
+          -0.08877810090780258,
+          -4.731299877166748
+        ],
+        [
+          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": "1731323408_83081722",
+      "mask_path": "../../mask/hdr_left_01457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01460.png",
+      "transform_matrix": [
+        [
+          0.7229166030883789,
+          -0.20530056953430176,
+          -0.659729540348053,
+          -16.491313934326172
+        ],
+        [
+          0.5898755192756653,
+          -0.31380534172058105,
+          0.7440248727798462,
+          3.1238327026367188
+        ],
+        [
+          -0.3597754240036011,
+          -0.9270263910293579,
+          -0.1057533398270607,
+          -4.780590057373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1460,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_383080720",
+      "mask_path": "../../mask/hdr_left_01460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01461.png",
+      "transform_matrix": [
+        [
+          0.7178685069084167,
+          -0.2128671407699585,
+          -0.6628365516662598,
+          -16.457921981811523
+        ],
+        [
+          0.5922611355781555,
+          -0.3136932849884033,
+          0.7421746253967285,
+          3.1794276237487793
+        ],
+        [
+          -0.36591199040412903,
+          -0.9253562688827515,
+          -0.09911761432886124,
+          -4.820411205291748
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1461,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_483083248",
+      "mask_path": "../../mask/hdr_left_01461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01462.png",
+      "transform_matrix": [
+        [
+          0.7138515710830688,
+          -0.22115543484687805,
+          -0.6644593477249146,
+          -16.42030143737793
+        ],
+        [
+          0.5897323489189148,
+          -0.3218521177768707,
+          0.7406934499740601,
+          3.23079252243042
+        ],
+        [
+          -0.37766602635383606,
+          -0.9205985069274902,
+          -0.09933210909366608,
+          -4.85793399810791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1462,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_583082675",
+      "mask_path": "../../mask/hdr_left_01462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01463.png",
+      "transform_matrix": [
+        [
+          0.7143848538398743,
+          -0.2230609953403473,
+          -0.6632481217384338,
+          -16.385705947875977
+        ],
+        [
+          0.5870528817176819,
+          -0.3247796893119812,
+          0.7415436506271362,
+          3.267106771469116
+        ],
+        [
+          -0.3808189332485199,
+          -0.9191093444824219,
+          -0.10106907784938812,
+          -4.886608600616455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1463,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_683081388",
+      "mask_path": "../../mask/hdr_left_01463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01464.png",
+      "transform_matrix": [
+        [
+          0.7183413505554199,
+          -0.21539360284805298,
+          -0.6615069508552551,
+          -16.34477996826172
+        ],
+        [
+          0.5873417258262634,
+          -0.3218361437320709,
+          0.7425975799560547,
+          3.3231306076049805
+        ],
+        [
+          -0.3728475272655487,
+          -0.9219691753387451,
+          -0.10467854887247086,
+          -4.920258522033691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1464,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_783081769",
+      "mask_path": "../../mask/hdr_left_01464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01465.png",
+      "transform_matrix": [
+        [
+          0.7204124927520752,
+          -0.2117694765329361,
+          -0.6604238152503967,
+          -16.28648567199707
+        ],
+        [
+          0.5843934416770935,
+          -0.3274422287940979,
+          0.742472767829895,
+          3.397606611251831
+        ],
+        [
+          -0.37348365783691406,
+          -0.9208340644836426,
+          -0.11213672161102295,
+          -4.962609767913818
+        ],
+        [
+          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": "1731323408_883082628",
+      "mask_path": "../../mask/hdr_left_01465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01466.png",
+      "transform_matrix": [
+        [
+          0.719997763633728,
+          -0.21334907412528992,
+          -0.6603675484657288,
+          -16.250185012817383
+        ],
+        [
+          0.5819793939590454,
+          -0.3327164351940155,
+          0.7420240640640259,
+          3.4444782733917236
+        ],
+        [
+          -0.37802526354789734,
+          -0.9185761213302612,
+          -0.11539033055305481,
+          -4.999237060546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1466,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_983082532",
+      "mask_path": "../../mask/hdr_left_01466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01467.png",
+      "transform_matrix": [
+        [
+          0.7180458903312683,
+          -0.2143907994031906,
+          -0.6621530652046204,
+          -16.23075294494629
+        ],
+        [
+          0.5846896171569824,
+          -0.33028027415275574,
+          0.7409811615943909,
+          3.4800736904144287
+        ],
+        [
+          -0.37755563855171204,
+          -0.9192125201225281,
+          -0.1118043065071106,
+          -5.0307841300964355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1467,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_83082914",
+      "mask_path": "../../mask/hdr_left_01467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01468.png",
+      "transform_matrix": [
+        [
+          0.7174698114395142,
+          -0.2110184282064438,
+          -0.6638585925102234,
+          -16.191741943359375
+        ],
+        [
+          0.5885772705078125,
+          -0.3260849416255951,
+          0.7397603988647461,
+          3.5239615440368652
+        ],
+        [
+          -0.37257739901542664,
+          -0.9214879274368286,
+          -0.10975546389818192,
+          -5.054469108581543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1468,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_183081388",
+      "mask_path": "../../mask/hdr_left_01468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01469.png",
+      "transform_matrix": [
+        [
+          0.716740071773529,
+          -0.20194111764431,
+          -0.6674604415893555,
+          -16.131589889526367
+        ],
+        [
+          0.5944068431854248,
+          -0.3235771954059601,
+          0.7361916899681091,
+          3.5779237747192383
+        ],
+        [
+          -0.36464232206344604,
+          -0.9244012236595154,
+          -0.11188554763793945,
+          -5.08221435546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1469,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_283081531",
+      "mask_path": "../../mask/hdr_left_01469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01470.png",
+      "transform_matrix": [
+        [
+          0.7173149585723877,
+          -0.192277729511261,
+          -0.6696928143501282,
+          -16.083911895751953
+        ],
+        [
+          0.5974103808403015,
+          -0.32489466667175293,
+          0.7331741452217102,
+          3.6196305751800537
+        ],
+        [
+          -0.35855263471603394,
+          -0.9259982705116272,
+          -0.11818309873342514,
+          -5.103164196014404
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1470,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_383079767",
+      "mask_path": "../../mask/hdr_left_01470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01472.png",
+      "transform_matrix": [
+        [
+          0.7252269387245178,
+          -0.172356516122818,
+          -0.6665877103805542,
+          -16.015382766723633
+        ],
+        [
+          0.5974189043045044,
+          -0.323734849691391,
+          0.7336798906326294,
+          3.6805756092071533
+        ],
+        [
+          -0.3422521948814392,
+          -0.9303166270256042,
+          -0.13181215524673462,
+          -5.1334428787231445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1472,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_583080530",
+      "mask_path": "../../mask/hdr_left_01472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01473.png",
+      "transform_matrix": [
+        [
+          0.7271289229393005,
+          -0.1606098860502243,
+          -0.667448878288269,
+          -15.975259780883789
+        ],
+        [
+          0.5990363955497742,
+          -0.32645002007484436,
+          0.7311537265777588,
+          3.734551429748535
+        ],
+        [
+          -0.3353192210197449,
+          -0.931469202041626,
+          -0.1411600559949875,
+          -5.173301696777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1473,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_683080673",
+      "mask_path": "../../mask/hdr_left_01473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01474.png",
+      "transform_matrix": [
+        [
+          0.7244901657104492,
+          -0.15348245203495026,
+          -0.6719800233840942,
+          -15.931258201599121
+        ],
+        [
+          0.5997726917266846,
+          -0.3400651216506958,
+          0.7243123650550842,
+          3.787607431411743
+        ],
+        [
+          -0.33968618512153625,
+          -0.927792489528656,
+          -0.15431924164295197,
+          -5.198812007904053
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1474,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_783079862",
+      "mask_path": "../../mask/hdr_left_01474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01477.png",
+      "transform_matrix": [
+        [
+          0.7130802869796753,
+          -0.1705307960510254,
+          -0.6800262331962585,
+          -15.862289428710938
+        ],
+        [
+          0.6073386669158936,
+          -0.3342863619327545,
+          0.7206887602806091,
+          3.8937222957611084
+        ],
+        [
+          -0.3502231240272522,
+          -0.9269152879714966,
+          -0.13480304181575775,
+          -5.242011547088623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1477,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_83081722",
+      "mask_path": "../../mask/hdr_left_01477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01478.png",
+      "transform_matrix": [
+        [
+          0.7060631513595581,
+          -0.18589487671852112,
+          -0.6833139061927795,
+          -15.837423324584961
+        ],
+        [
+          0.6076226830482483,
+          -0.3365291655063629,
+          0.7194044589996338,
+          3.937804698944092
+        ],
+        [
+          -0.3636886179447174,
+          -0.9231420159339905,
+          -0.12465690076351166,
+          -5.272124290466309
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1478,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_183081626",
+      "mask_path": "../../mask/hdr_left_01478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01480.png",
+      "transform_matrix": [
+        [
+          0.705041229724884,
+          -0.19983932375907898,
+          -0.6804271340370178,
+          -15.792176246643066
+        ],
+        [
+          0.6015336513519287,
+          -0.33964720368385315,
+          0.7230470776557922,
+          4.003414630889893
+        ],
+        [
+          -0.3755984306335449,
+          -0.9190778732299805,
+          -0.1192551925778389,
+          -5.3196001052856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1480,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_383080959",
+      "mask_path": "../../mask/hdr_left_01480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01481.png",
+      "transform_matrix": [
+        [
+          0.7090946435928345,
+          -0.1988382339477539,
+          -0.6764968037605286,
+          -15.764688491821289
+        ],
+        [
+          0.6048754453659058,
+          -0.32152268290519714,
+          0.7285251021385193,
+          4.061068058013916
+        ],
+        [
+          -0.36236771941185,
+          -0.9257897138595581,
+          -0.10771764069795609,
+          -5.356934547424316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1481,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_483081579",
+      "mask_path": "../../mask/hdr_left_01481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01482.png",
+      "transform_matrix": [
+        [
+          0.7100526690483093,
+          -0.1976431906223297,
+          -0.6758419871330261,
+          -15.72679328918457
+        ],
+        [
+          0.6108428239822388,
+          -0.3045631945133209,
+          0.7308297753334045,
+          4.148635387420654
+        ],
+        [
+          -0.3502800762653351,
+          -0.9317609667778015,
+          -0.09552693367004395,
+          -5.378999710083008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1482,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_583082914",
+      "mask_path": "../../mask/hdr_left_01482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01486.png",
+      "transform_matrix": [
+        [
+          0.7311655282974243,
+          -0.2041279822587967,
+          -0.6509444117546082,
+          -15.651773452758789
+        ],
+        [
+          0.5964971780776978,
+          -0.2717275321483612,
+          0.7552187442779541,
+          4.292973518371582
+        ],
+        [
+          -0.33104079961776733,
+          -0.9404764175415039,
+          -0.07691603153944016,
+          -5.464273452758789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1486,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_983082056",
+      "mask_path": "../../mask/hdr_left_01486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01490.png",
+      "transform_matrix": [
+        [
+          0.8342657685279846,
+          -0.22290971875190735,
+          -0.5042933225631714,
+          -15.58155345916748
+        ],
+        [
+          0.44505372643470764,
+          -0.26764777302742004,
+          0.8545710444450378,
+          4.346266269683838
+        ],
+        [
+          -0.3254651725292206,
+          -0.9373772144317627,
+          -0.12408256530761719,
+          -5.486485958099365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1490,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_383080959",
+      "mask_path": "../../mask/hdr_left_01490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01491.png",
+      "transform_matrix": [
+        [
+          0.8464590907096863,
+          -0.19990040361881256,
+          -0.4935046434402466,
+          -15.545982360839844
+        ],
+        [
+          0.4456958472728729,
+          -0.2410816252231598,
+          0.8621107339859009,
+          4.405036449432373
+        ],
+        [
+          -0.2913111746311188,
+          -0.9496944546699524,
+          -0.11497096717357635,
+          -5.491771221160889
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1491,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_483081817",
+      "mask_path": "../../mask/hdr_left_01491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01493.png",
+      "transform_matrix": [
+        [
+          0.8483010530471802,
+          -0.18121084570884705,
+          -0.4975419044494629,
+          -15.528314590454102
+        ],
+        [
+          0.4523545205593109,
+          -0.24041976034641266,
+          0.8588210940361023,
+          4.450937271118164
+        ],
+        [
+          -0.27524662017822266,
+          -0.9536042213439941,
+          -0.12197680026292801,
+          -5.538308620452881
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1493,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_683081388",
+      "mask_path": "../../mask/hdr_left_01493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01494.png",
+      "transform_matrix": [
+        [
+          0.8491464853286743,
+          -0.18318496644496918,
+          -0.49537205696105957,
+          -15.496150970458984
+        ],
+        [
+          0.45081403851509094,
+          -0.23726671934127808,
+          0.8605062961578369,
+          4.48067045211792
+        ],
+        [
+          -0.2751671075820923,
+          -0.9540167450904846,
+          -0.11889185756444931,
+          -5.573298931121826
+        ],
+        [
+          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": "1731323411_783080577",
+      "mask_path": "../../mask/hdr_left_01494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01496.png",
+      "transform_matrix": [
+        [
+          0.8478645086288452,
+          -0.20651379227638245,
+          -0.4883417785167694,
+          -15.466960906982422
+        ],
+        [
+          0.43089741468429565,
+          -0.2683042287826538,
+          0.8615916967391968,
+          4.524755001068115
+        ],
+        [
+          -0.30895471572875977,
+          -0.9409383535385132,
+          -0.13849936425685883,
+          -5.594419956207275
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1496,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_983081579",
+      "mask_path": "../../mask/hdr_left_01496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01498.png",
+      "transform_matrix": [
+        [
+          0.8501919507980347,
+          -0.18267306685447693,
+          -0.493765264749527,
+          -15.406973838806152
+        ],
+        [
+          0.43381693959236145,
+          -0.2883026599884033,
+          0.8536301851272583,
+          4.579268932342529
+        ],
+        [
+          -0.29828906059265137,
+          -0.9399532675743103,
+          -0.1658659428358078,
+          -5.645268440246582
+        ],
+        [
+          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": "1731323412_183081865",
+      "mask_path": "../../mask/hdr_left_01498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01499.png",
+      "transform_matrix": [
+        [
+          0.8553069233894348,
+          -0.1678323745727539,
+          -0.49018609523773193,
+          -15.358768463134766
+        ],
+        [
+          0.43529266119003296,
+          -0.2803688943386078,
+          0.8555194735527039,
+          4.623742580413818
+        ],
+        [
+          -0.2810167968273163,
+          -0.9451061487197876,
+          -0.16674526035785675,
+          -5.665472507476807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1499,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_283081531",
+      "mask_path": "../../mask/hdr_left_01499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01501.png",
+      "transform_matrix": [
+        [
+          0.8577828407287598,
+          -0.1660955548286438,
+          -0.48643699288368225,
+          -15.296353340148926
+        ],
+        [
+          0.43431079387664795,
+          -0.2719627618789673,
+          0.8587260246276855,
+          4.659651756286621
+        ],
+        [
+          -0.27492332458496094,
+          -0.9478653073310852,
+          -0.1611478626728058,
+          -5.690637588500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1501,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_483082056",
+      "mask_path": "../../mask/hdr_left_01501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01502.png",
+      "transform_matrix": [
+        [
+          0.8597363233566284,
+          -0.16486401855945587,
+          -0.48339763283729553,
+          -15.226642608642578
+        ],
+        [
+          0.43628355860710144,
+          -0.2550145089626312,
+          0.862916111946106,
+          4.696560382843018
+        ],
+        [
+          -0.26553723216056824,
+          -0.9527788758277893,
+          -0.1473177820444107,
+          -5.717063903808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1502,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_583081483",
+      "mask_path": "../../mask/hdr_left_01502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01503.png",
+      "transform_matrix": [
+        [
+          0.8534472584724426,
+          -0.20093511044979095,
+          -0.4808877110481262,
+          -15.175300598144531
+        ],
+        [
+          0.42781177163124084,
+          -0.2568935751914978,
+          0.8665925860404968,
+          4.7211079597473145
+        ],
+        [
+          -0.2976658344268799,
+          -0.9453206062316895,
+          -0.13328267633914948,
+          -5.738093852996826
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1503,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_683082342",
+      "mask_path": "../../mask/hdr_left_01503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01506.png",
+      "transform_matrix": [
+        [
+          0.8490933775901794,
+          -0.21569061279296875,
+          -0.4822011888027191,
+          -15.108176231384277
+        ],
+        [
+          0.4121346175670624,
+          -0.30051499605178833,
+          0.8601370453834534,
+          4.779495716094971
+        ],
+        [
+          -0.33043214678764343,
+          -0.9290685653686523,
+          -0.16627170145511627,
+          -5.797136306762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1506,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_983081817",
+      "mask_path": "../../mask/hdr_left_01506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01507.png",
+      "transform_matrix": [
+        [
+          0.8467589616775513,
+          -0.2113988995552063,
+          -0.4881698489189148,
+          -15.069502830505371
+        ],
+        [
+          0.41498684883117676,
+          -0.3116619288921356,
+          0.8547822833061218,
+          4.813188552856445
+        ],
+        [
+          -0.3328438997268677,
+          -0.9263786673545837,
+          -0.17617473006248474,
+          -5.774858474731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1507,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_83082437",
+      "mask_path": "../../mask/hdr_left_01507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01509.png",
+      "transform_matrix": [
+        [
+          0.8427385687828064,
+          -0.21973992884159088,
+          -0.49143269658088684,
+          -14.997941017150879
+        ],
+        [
+          0.4202726483345032,
+          -0.3019023537635803,
+          0.8557019829750061,
+          4.8832526206970215
+        ],
+        [
+          -0.33639654517173767,
+          -0.9276688098907471,
+          -0.1620740443468094,
+          -5.8339457511901855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1509,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_283081054",
+      "mask_path": "../../mask/hdr_left_01509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01510.png",
+      "transform_matrix": [
+        [
+          0.8360537886619568,
+          -0.2392221838235855,
+          -0.493747740983963,
+          -14.960062026977539
+        ],
+        [
+          0.4171794354915619,
+          -0.3073050081729889,
+          0.8552923202514648,
+          4.928699016571045
+        ],
+        [
+          -0.35633599758148193,
+          -0.9210518002510071,
+          -0.15712490677833557,
+          -5.8762078285217285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1510,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_383082151",
+      "mask_path": "../../mask/hdr_left_01510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08063.png",
+      "transform_matrix": [
+        [
+          -0.7323442101478577,
+          -0.1520429402589798,
+          0.6637430191040039,
+          -15.31045913696289
+        ],
+        [
+          -0.6287460923194885,
+          -0.22325855493545532,
+          -0.7448716759681702,
+          4.863646030426025
+        ],
+        [
+          0.26143878698349,
+          -0.962828516960144,
+          0.06790569424629211,
+          -5.885706424713135
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8063,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_683078289",
+      "mask_path": "../../mask/hdr_left_08063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08064.png",
+      "transform_matrix": [
+        [
+          -0.7331857085227966,
+          -0.15665492415428162,
+          0.6617385149002075,
+          -15.364681243896484
+        ],
+        [
+          -0.622547447681427,
+          -0.23693369328975677,
+          -0.7458531856536865,
+          4.806631088256836
+        ],
+        [
+          0.27362972497940063,
+          -0.9588126540184021,
+          0.07619129866361618,
+          -5.840594291687012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8064,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_783077239",
+      "mask_path": "../../mask/hdr_left_08064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08065.png",
+      "transform_matrix": [
+        [
+          -0.7330908179283142,
+          -0.15911094844341278,
+          0.6612576246261597,
+          -15.416945457458496
+        ],
+        [
+          -0.6169341206550598,
+          -0.2537081837654114,
+          -0.7449995279312134,
+          4.754952430725098
+        ],
+        [
+          0.2863039970397949,
+          -0.9541047811508179,
+          0.08783014118671417,
+          -5.802668571472168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8065,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_883081197",
+      "mask_path": "../../mask/hdr_left_08065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08067.png",
+      "transform_matrix": [
+        [
+          -0.7378768920898438,
+          -0.13959549367427826,
+          0.6603413224220276,
+          -15.476962089538574
+        ],
+        [
+          -0.6082080602645874,
+          -0.2866380512714386,
+          -0.7402172088623047,
+          4.665236473083496
+        ],
+        [
+          0.29260990023612976,
+          -0.9478142261505127,
+          0.1266004890203476,
+          -5.746955394744873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8067,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_83078622",
+      "mask_path": "../../mask/hdr_left_08067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08068.png",
+      "transform_matrix": [
+        [
+          -0.7335692048072815,
+          -0.14640849828720093,
+          0.6636572480201721,
+          -15.513004302978516
+        ],
+        [
+          -0.6062402129173279,
+          -0.30038395524024963,
+          -0.7363710999488831,
+          4.614529609680176
+        ],
+        [
+          0.30716294050216675,
+          -0.9425147771835327,
+          0.13159367442131042,
+          -5.686356067657471
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8068,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_183080196",
+      "mask_path": "../../mask/hdr_left_08068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08069.png",
+      "transform_matrix": [
+        [
+          -0.7330693602561951,
+          -0.14601358771324158,
+          0.6642962098121643,
+          -15.546844482421875
+        ],
+        [
+          -0.6079013347625732,
+          -0.2974120080471039,
+          -0.7362078428268433,
+          4.573554992675781
+        ],
+        [
+          0.30506598949432373,
+          -0.9435179829597473,
+          0.129261776804924,
+          -5.6754913330078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8069,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_283082008",
+      "mask_path": "../../mask/hdr_left_08069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08070.png",
+      "transform_matrix": [
+        [
+          -0.7346946597099304,
+          -0.1506892442703247,
+          0.6614503264427185,
+          -15.585979461669922
+        ],
+        [
+          -0.6064074039459229,
+          -0.29122719168663025,
+          -0.7399030327796936,
+          4.531737804412842
+        ],
+        [
+          0.3041277229785919,
+          -0.9447113275527954,
+          0.12258398532867432,
+          -5.676364421844482
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8070,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_383079290",
+      "mask_path": "../../mask/hdr_left_08070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08071.png",
+      "transform_matrix": [
+        [
+          -0.7404592037200928,
+          -0.14425481855869293,
+          0.6564378142356873,
+          -15.635574340820312
+        ],
+        [
+          -0.6029763221740723,
+          -0.288847953081131,
+          -0.7436305284500122,
+          4.49085807800293
+        ],
+        [
+          0.2968829870223999,
+          -0.9464446306228638,
+          0.1268979012966156,
+          -5.64879035949707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8071,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_483081579",
+      "mask_path": "../../mask/hdr_left_08071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08072.png",
+      "transform_matrix": [
+        [
+          -0.7469971776008606,
+          -0.1321944296360016,
+          0.6515519618988037,
+          -15.675888061523438
+        ],
+        [
+          -0.5975198149681091,
+          -0.2961912751197815,
+          -0.7451447248458862,
+          4.454753875732422
+        ],
+        [
+          0.2914879620075226,
+          -0.9459363222122192,
+          0.14226524531841278,
+          -5.62101411819458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8072,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_583083152",
+      "mask_path": "../../mask/hdr_left_08072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08073.png",
+      "transform_matrix": [
+        [
+          -0.751443088054657,
+          -0.12453649193048477,
+          0.6479381918907166,
+          -15.710028648376465
+        ],
+        [
+          -0.5915336012840271,
+          -0.3078455328941345,
+          -0.7451974153518677,
+          4.418576717376709
+        ],
+        [
+          0.29226914048194885,
+          -0.9432507753372192,
+          0.15766091644763947,
+          -5.602687835693359
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8073,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_683082342",
+      "mask_path": "../../mask/hdr_left_08073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08074.png",
+      "transform_matrix": [
+        [
+          -0.7548023462295532,
+          -0.11482024937868118,
+          0.6458249092102051,
+          -15.746458053588867
+        ],
+        [
+          -0.5866218209266663,
+          -0.32238999009132385,
+          -0.7429263591766357,
+          4.368312835693359
+        ],
+        [
+          0.29351043701171875,
+          -0.9396175742149353,
+          0.17598463594913483,
+          -5.571136474609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8074,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_783081293",
+      "mask_path": "../../mask/hdr_left_08074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08075.png",
+      "transform_matrix": [
+        [
+          -0.7557917237281799,
+          -0.11110527068376541,
+          0.6453173756599426,
+          -15.786230087280273
+        ],
+        [
+          -0.5954163074493408,
+          -0.29351454973220825,
+          -0.7478827834129333,
+          4.31882381439209
+        ],
+        [
+          0.27250370383262634,
+          -0.9494761228561401,
+          0.15568198263645172,
+          -5.537395477294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8075,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_883082151",
+      "mask_path": "../../mask/hdr_left_08075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08078.png",
+      "transform_matrix": [
+        [
+          -0.7539331912994385,
+          -0.12814463675022125,
+          0.6443319320678711,
+          -15.871382713317871
+        ],
+        [
+          -0.602054238319397,
+          -0.2577192485332489,
+          -0.7557191848754883,
+          4.205095291137695
+        ],
+        [
+          0.2628980875015259,
+          -0.9576846957206726,
+          0.11715307086706161,
+          -5.50213623046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8078,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_183081388",
+      "mask_path": "../../mask/hdr_left_08078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08079.png",
+      "transform_matrix": [
+        [
+          -0.7505283951759338,
+          -0.15386465191841125,
+          0.6426762342453003,
+          -15.917713165283203
+        ],
+        [
+          -0.5936614274978638,
+          -0.270231693983078,
+          -0.7579848170280457,
+          4.162461280822754
+        ],
+        [
+          0.2902985215187073,
+          -0.9504212737083435,
+          0.11147303879261017,
+          -5.431254863739014
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8079,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_283080816",
+      "mask_path": "../../mask/hdr_left_08079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08080.png",
+      "transform_matrix": [
+        [
+          -0.7496196627616882,
+          -0.16330160200595856,
+          0.6414070129394531,
+          -15.962146759033203
+        ],
+        [
+          -0.5870584845542908,
+          -0.28350013494491577,
+          -0.7582809925079346,
+          4.124495506286621
+        ],
+        [
+          0.3056674599647522,
+          -0.9449657797813416,
+          0.11664970964193344,
+          -5.380209922790527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8080,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_383080959",
+      "mask_path": "../../mask/hdr_left_08080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08082.png",
+      "transform_matrix": [
+        [
+          -0.7520535588264465,
+          -0.1501818150281906,
+          0.6417639255523682,
+          -16.018829345703125
+        ],
+        [
+          -0.5857319831848145,
+          -0.29417651891708374,
+          -0.755233883857727,
+          4.050893306732178
+        ],
+        [
+          0.30221426486968994,
+          -0.9438779950141907,
+          0.13327021896839142,
+          -5.349086284637451
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8082,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_583083152",
+      "mask_path": "../../mask/hdr_left_08082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08084.png",
+      "transform_matrix": [
+        [
+          -0.7543002963066101,
+          -0.13945473730564117,
+          0.6415477395057678,
+          -16.078001022338867
+        ],
+        [
+          -0.6024580597877502,
+          -0.2413160353899002,
+          -0.7607961297035217,
+          3.998443603515625
+        ],
+        [
+          0.26091238856315613,
+          -0.9603744149208069,
+          0.09800910204648972,
+          -5.3303728103637695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8084,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_783082008",
+      "mask_path": "../../mask/hdr_left_08084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08086.png",
+      "transform_matrix": [
+        [
+          -0.7511557936668396,
+          -0.15630725026130676,
+          0.6413524746894836,
+          -16.14249610900879
+        ],
+        [
+          -0.5984428524971008,
+          -0.2488313764333725,
+          -0.761543869972229,
+          3.9135632514953613
+        ],
+        [
+          0.27862340211868286,
+          -0.9558509588241577,
+          0.09337016195058823,
+          -5.297515869140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8086,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_983082294",
+      "mask_path": "../../mask/hdr_left_08086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08087.png",
+      "transform_matrix": [
+        [
+          -0.7505166530609131,
+          -0.16808153688907623,
+          0.6391191482543945,
+          -16.18170738220215
+        ],
+        [
+          -0.5901265740394592,
+          -0.26483848690986633,
+          -0.7626343965530396,
+          3.8700711727142334
+        ],
+        [
+          0.2974480986595154,
+          -0.949531078338623,
+          0.09957633912563324,
+          -5.235962867736816
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8087,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_83082199",
+      "mask_path": "../../mask/hdr_left_08087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08093.png",
+      "transform_matrix": [
+        [
+          -0.7488093376159668,
+          -0.17485719919204712,
+          0.6393038034439087,
+          -16.356327056884766
+        ],
+        [
+          -0.5942490696907043,
+          -0.2500407099723816,
+          -0.7644263505935669,
+          3.676269054412842
+        ],
+        [
+          0.29351744055747986,
+          -0.9523154497146606,
+          0.08332411199808121,
+          -5.147609233856201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8093,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_683081388",
+      "mask_path": "../../mask/hdr_left_08093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08094.png",
+      "transform_matrix": [
+        [
+          -0.746284544467926,
+          -0.18660615384578705,
+          0.6389347314834595,
+          -16.3923397064209
+        ],
+        [
+          -0.5878834128379822,
+          -0.2654031813144684,
+          -0.7641689777374268,
+          3.641347885131836
+        ],
+        [
+          0.3121739327907562,
+          -0.9459066390991211,
+          0.08836362510919571,
+          -5.085302829742432
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8094,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_783082246",
+      "mask_path": "../../mask/hdr_left_08094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08100.png",
+      "transform_matrix": [
+        [
+          -0.7397965788841248,
+          -0.1806819587945938,
+          0.6481164693832397,
+          -16.565507888793945
+        ],
+        [
+          -0.6014200448989868,
+          -0.2542875409126282,
+          -0.7573847770690918,
+          3.4575183391571045
+        ],
+        [
+          0.3016537129878998,
+          -0.9501010179519653,
+          0.07945530861616135,
+          -5.001696586608887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8100,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324072_383081436",
+      "mask_path": "../../mask/hdr_left_08100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08101.png",
+      "transform_matrix": [
+        [
+          -0.7388069033622742,
+          -0.18862497806549072,
+          0.6469812989234924,
+          -16.60396957397461
+        ],
+        [
+          -0.5961247086524963,
+          -0.2648540437221527,
+          -0.7579495906829834,
+          3.418879270553589
+        ],
+        [
+          0.3143238127231598,
+          -0.9456601142883301,
+          0.08323196321725845,
+          -4.947903633117676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8101,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324072_483082056",
+      "mask_path": "../../mask/hdr_left_08101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08107.png",
+      "transform_matrix": [
+        [
+          -0.736372709274292,
+          -0.20404712855815887,
+          0.6450735926628113,
+          -16.78843116760254
+        ],
+        [
+          -0.5988265872001648,
+          -0.24719969928264618,
+          -0.7617735862731934,
+          3.2361550331115723
+        ],
+        [
+          0.3148996829986572,
+          -0.9472365975379944,
+          0.059842273592948914,
+          -4.847301483154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8107,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_83083629",
+      "mask_path": "../../mask/hdr_left_08107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08108.png",
+      "transform_matrix": [
+        [
+          -0.7371436357498169,
+          -0.21567486226558685,
+          0.6403933763504028,
+          -16.828662872314453
+        ],
+        [
+          -0.5917927026748657,
+          -0.2514249086380005,
+          -0.7658765316009521,
+          3.2072176933288574
+        ],
+        [
+          0.32619115710258484,
+          -0.9435411691665649,
+          0.05770144984126091,
+          -4.791750431060791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8108,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_183080911",
+      "mask_path": "../../mask/hdr_left_08108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08110.png",
+      "transform_matrix": [
+        [
+          -0.7382291555404663,
+          -0.2110052853822708,
+          0.6406983733177185,
+          -16.884429931640625
+        ],
+        [
+          -0.5836764574050903,
+          -0.2763124704360962,
+          -0.7635267972946167,
+          3.160433292388916
+        ],
+        [
+          0.33814114332199097,
+          -0.9376184344291687,
+          0.0808231309056282,
+          -4.747842788696289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8110,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_383080482",
+      "mask_path": "../../mask/hdr_left_08110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08112.png",
+      "transform_matrix": [
+        [
+          -0.7397018074989319,
+          -0.20248427987098694,
+          0.6417484283447266,
+          -16.939498901367188
+        ],
+        [
+          -0.5976394414901733,
+          -0.24066117405891418,
+          -0.7647935748100281,
+          3.1164236068725586
+        ],
+        [
+          0.30930259823799133,
+          -0.9492536187171936,
+          0.05700492858886719,
+          -4.735131740570068
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8112,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_583080768",
+      "mask_path": "../../mask/hdr_left_08112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08114.png",
+      "transform_matrix": [
+        [
+          -0.7432809472084045,
+          -0.20035603642463684,
+          0.6382718086242676,
+          -16.99026107788086
+        ],
+        [
+          -0.5969216823577881,
+          -0.2321137636899948,
+          -0.7679893374443054,
+          3.05704665184021
+        ],
+        [
+          0.3020229637622833,
+          -0.951830267906189,
+          0.05292889103293419,
+          -4.721552848815918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8114,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_783082485",
+      "mask_path": "../../mask/hdr_left_08114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08115.png",
+      "transform_matrix": [
+        [
+          -0.7395415306091309,
+          -0.22067669034004211,
+          0.6359089016914368,
+          -17.021324157714844
+        ],
+        [
+          -0.5930894613265991,
+          -0.23312991857528687,
+          -0.7706459760665894,
+          3.0264065265655518
+        ],
+        [
+          0.31831300258636475,
+          -0.9470757246017456,
+          0.04152823984622955,
+          -4.679280757904053
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8115,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_883080959",
+      "mask_path": "../../mask/hdr_left_08115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08116.png",
+      "transform_matrix": [
+        [
+          -0.7393009066581726,
+          -0.23021364212036133,
+          0.6328000426292419,
+          -17.052274703979492
+        ],
+        [
+          -0.5856908559799194,
+          -0.2438606470823288,
+          -0.7729800939559937,
+          2.994910717010498
+        ],
+        [
+          0.33226555585861206,
+          -0.9420900940895081,
+          0.04545237869024277,
+          -4.6320414543151855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8116,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_983081817",
+      "mask_path": "../../mask/hdr_left_08116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08118.png",
+      "transform_matrix": [
+        [
+          -0.7424190640449524,
+          -0.2157229483127594,
+          0.6342533826828003,
+          -17.10872459411621
+        ],
+        [
+          -0.5814629197120667,
+          -0.26272591948509216,
+          -0.7699843645095825,
+          2.938652276992798
+        ],
+        [
+          0.33273810148239136,
+          -0.9404460787773132,
+          0.06961788237094879,
+          -4.598302841186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8118,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_183082342",
+      "mask_path": "../../mask/hdr_left_08118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08120.png",
+      "transform_matrix": [
+        [
+          -0.7448199391365051,
+          -0.21090814471244812,
+          0.6330568194389343,
+          -17.162891387939453
+        ],
+        [
+          -0.5804823040962219,
+          -0.2630685567855835,
+          -0.770607054233551,
+          2.8747119903564453
+        ],
+        [
+          0.32906463742256165,
+          -0.9414418935775757,
+          0.07351027429103851,
+          -4.581235408782959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8120,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_383081912",
+      "mask_path": "../../mask/hdr_left_08120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08122.png",
+      "transform_matrix": [
+        [
+          -0.7402794361114502,
+          -0.22357365489006042,
+          0.6340356469154358,
+          -17.22442054748535
+        ],
+        [
+          -0.5805717706680298,
+          -0.2629525363445282,
+          -0.7705791592597961,
+          2.79617977142334
+        ],
+        [
+          0.33900246024131775,
+          -0.9385471940040588,
+          0.06485779583454132,
+          -4.544034481048584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8122,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_583081722",
+      "mask_path": "../../mask/hdr_left_08122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08123.png",
+      "transform_matrix": [
+        [
+          -0.7386585474014282,
+          -0.23420074582099915,
+          0.6320866346359253,
+          -17.261022567749023
+        ],
+        [
+          -0.5737877488136292,
+          -0.2736659348011017,
+          -0.7719290852546692,
+          2.750640869140625
+        ],
+        [
+          0.35376691818237305,
+          -0.9328757524490356,
+          0.06776416301727295,
+          -4.4759087562561035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8123,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_683080196",
+      "mask_path": "../../mask/hdr_left_08123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08124.png",
+      "transform_matrix": [
+        [
+          -0.7421515583992004,
+          -0.22590705752372742,
+          0.6310127377510071,
+          -17.298030853271484
+        ],
+        [
+          -0.5674678087234497,
+          -0.2891816198825836,
+          -0.7709437608718872,
+          2.708723545074463
+        ],
+        [
+          0.35663890838623047,
+          -0.9302365779876709,
+          0.08642158657312393,
+          -4.436240196228027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8124,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_783081531",
+      "mask_path": "../../mask/hdr_left_08124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08125.png",
+      "transform_matrix": [
+        [
+          -0.7434282898902893,
+          -0.2196061909198761,
+          0.631733775138855,
+          -17.336925506591797
+        ],
+        [
+          -0.5694150328636169,
+          -0.28764310479164124,
+          -0.7700830101966858,
+          2.6665499210357666
+        ],
+        [
+          0.3508288860321045,
+          -0.9322202801704407,
+          0.08879493921995163,
+          -4.4263834953308105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8125,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_883080959",
+      "mask_path": "../../mask/hdr_left_08125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08126.png",
+      "transform_matrix": [
+        [
+          -0.7444477081298828,
+          -0.220688134431839,
+          0.6301542520523071,
+          -17.37620735168457
+        ],
+        [
+          -0.5707418918609619,
+          -0.2794337272644043,
+          -0.7721208333969116,
+          2.6241958141326904
+        ],
+        [
+          0.3464841842651367,
+          -0.9344589710235596,
+          0.08206780254840851,
+          -4.4148149490356445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8126,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_983082532",
+      "mask_path": "../../mask/hdr_left_08126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08127.png",
+      "transform_matrix": [
+        [
+          -0.7461920976638794,
+          -0.2187567949295044,
+          0.62876296043396,
+          -17.41529655456543
+        ],
+        [
+          -0.57063227891922,
+          -0.27629247307777405,
+          -0.773331344127655,
+          2.5807759761810303
+        ],
+        [
+          0.34289395809173584,
+          -0.9358460903167725,
+          0.0813375785946846,
+          -4.406986236572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8127,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_83082199",
+      "mask_path": "../../mask/hdr_left_08127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08128.png",
+      "transform_matrix": [
+        [
+          -0.7458272576332092,
+          -0.22043810784816742,
+          0.6286085247993469,
+          -17.461023330688477
+        ],
+        [
+          -0.5726816654205322,
+          -0.2698346972465515,
+          -0.7740961313247681,
+          2.5334064960479736
+        ],
+        [
+          0.34026068449020386,
+          -0.9373347759246826,
+          0.07500917464494705,
+          -4.38379430770874
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8128,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_183082818",
+      "mask_path": "../../mask/hdr_left_08128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08129.png",
+      "transform_matrix": [
+        [
+          -0.7486543655395508,
+          -0.22007961571216583,
+          0.625365138053894,
+          -17.508270263671875
+        ],
+        [
+          -0.5695769190788269,
+          -0.26919838786125183,
+          -0.7766043543815613,
+          2.4864187240600586
+        ],
+        [
+          0.33926206827163696,
+          -0.9376018643379211,
+          0.07618428021669388,
+          -4.3416948318481445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8129,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_283082008",
+      "mask_path": "../../mask/hdr_left_08129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08130.png",
+      "transform_matrix": [
+        [
+          -0.7516370415687561,
+          -0.20981833338737488,
+          0.6253142952919006,
+          -17.543529510498047
+        ],
+        [
+          -0.5679798722267151,
+          -0.2760813534259796,
+          -0.7753565907478333,
+          2.4416391849517822
+        ],
+        [
+          0.3353216350078583,
+          -0.9379527568817139,
+          0.0883403941988945,
+          -4.314629554748535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8130,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_383081197",
+      "mask_path": "../../mask/hdr_left_08130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08131.png",
+      "transform_matrix": [
+        [
+          -0.7541190385818481,
+          -0.19864268600940704,
+          0.6259757876396179,
+          -17.583572387695312
+        ],
+        [
+          -0.5752332210540771,
+          -0.2601117193698883,
+          -0.7755311131477356,
+          2.3947198390960693
+        ],
+        [
+          0.31687721610069275,
+          -0.9449249505996704,
+          0.08188930153846741,
+          -4.303650379180908
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8131,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_483082294",
+      "mask_path": "../../mask/hdr_left_08131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08132.png",
+      "transform_matrix": [
+        [
+          -0.755600094795227,
+          -0.19235822558403015,
+          0.6261524558067322,
+          -17.62800407409668
+        ],
+        [
+          -0.5824204683303833,
+          -0.2401522994041443,
+          -0.7766035795211792,
+          2.349571704864502
+        ],
+        [
+          0.29975801706314087,
+          -0.9514857530593872,
+          0.06942573189735413,
+          -4.293773651123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8132,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_583081960",
+      "mask_path": "../../mask/hdr_left_08132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08133.png",
+      "transform_matrix": [
+        [
+          -0.7562814950942993,
+          -0.1874391883611679,
+          0.6268213391304016,
+          -17.665945053100586
+        ],
+        [
+          -0.5859339237213135,
+          -0.232191264629364,
+          -0.7763818502426147,
+          2.3071963787078857
+        ],
+        [
+          0.2910667657852173,
+          -0.9544389843940735,
+          0.06577496975660324,
+          -4.283843040466309
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8133,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_683082342",
+      "mask_path": "../../mask/hdr_left_08133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08134.png",
+      "transform_matrix": [
+        [
+          -0.7604882121086121,
+          -0.17792177200317383,
+          0.6245009303092957,
+          -17.71321678161621
+        ],
+        [
+          -0.5867642760276794,
+          -0.22366224229335785,
+          -0.7782562375068665,
+          2.2597436904907227
+        ],
+        [
+          0.27814599871635437,
+          -0.958289623260498,
+          0.06569433957338333,
+          -4.2719831466674805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8134,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_783081769",
+      "mask_path": "../../mask/hdr_left_08134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08135.png",
+      "transform_matrix": [
+        [
+          -0.7643671035766602,
+          -0.1734752506017685,
+          0.6210066676139832,
+          -17.76103401184082
+        ],
+        [
+          -0.5840467214584351,
+          -0.22179163992404938,
+          -0.7808313965797424,
+          2.209439277648926
+        ],
+        [
+          0.2731890082359314,
+          -0.9595388770103455,
+          0.06821257621049881,
+          -4.250866889953613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8135,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_883081674",
+      "mask_path": "../../mask/hdr_left_08135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08136.png",
+      "transform_matrix": [
+        [
+          -0.7665569186210632,
+          -0.16865459084510803,
+          0.6196338534355164,
+          -17.799612045288086
+        ],
+        [
+          -0.5816526412963867,
+          -0.22658400237560272,
+          -0.7812425494194031,
+          2.1586623191833496
+        ],
+        [
+          0.272159218788147,
+          -0.9592785835266113,
+          0.07559113204479218,
+          -4.2281999588012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8136,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_983081817",
+      "mask_path": "../../mask/hdr_left_08136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08137.png",
+      "transform_matrix": [
+        [
+          -0.768572986125946,
+          -0.1650124341249466,
+          0.618115246295929,
+          -17.83994483947754
+        ],
+        [
+          -0.5806505680084229,
+          -0.22570207715034485,
+          -0.7822425961494446,
+          2.0981526374816895
+        ],
+        [
+          0.26858964562416077,
+          -0.9601195454597473,
+          0.07765396684408188,
+          -4.200154781341553
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8137,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_83081245",
+      "mask_path": "../../mask/hdr_left_08137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08138.png",
+      "transform_matrix": [
+        [
+          -0.7674795985221863,
+          -0.16461186110973358,
+          0.6195788383483887,
+          -17.8774471282959
+        ],
+        [
+          -0.584638774394989,
+          -0.21678291261196136,
+          -0.781794548034668,
+          2.0401105880737305
+        ],
+        [
+          0.2630067467689514,
+          -0.9622412323951721,
+          0.07013797760009766,
+          -4.181268692016602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8138,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_183080911",
+      "mask_path": "../../mask/hdr_left_08138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08139.png",
+      "transform_matrix": [
+        [
+          -0.765313982963562,
+          -0.16508837044239044,
+          0.6221255660057068,
+          -17.91088104248047
+        ],
+        [
+          -0.5894351601600647,
+          -0.2085321843624115,
+          -0.780436098575592,
+          1.9908822774887085
+        ],
+        [
+          0.25857406854629517,
+          -0.9639813899993896,
+          0.06228369474411011,
+          -4.167913913726807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8139,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_283081531",
+      "mask_path": "../../mask/hdr_left_08139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08140.png",
+      "transform_matrix": [
+        [
+          -0.7641825675964355,
+          -0.16668754816055298,
+          0.6230891942977905,
+          -17.95184326171875
+        ],
+        [
+          -0.5921784043312073,
+          -0.20155616104602814,
+          -0.7801921963691711,
+          1.9413034915924072
+        ],
+        [
+          0.2556357979774475,
+          -0.9651893377304077,
+          0.05531696230173111,
+          -4.148221015930176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8140,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_383080720",
+      "mask_path": "../../mask/hdr_left_08140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08141.png",
+      "transform_matrix": [
+        [
+          -0.7698262333869934,
+          -0.1547520011663437,
+          0.6192086338996887,
+          -17.998571395874023
+        ],
+        [
+          -0.5907763242721558,
+          -0.19440700113773346,
+          -0.7830640077590942,
+          1.890858769416809
+        ],
+        [
+          0.2415591925382614,
+          -0.9686371088027954,
+          0.058235812932252884,
+          -4.124216556549072
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8141,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_483081102",
+      "mask_path": "../../mask/hdr_left_08141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08142.png",
+      "transform_matrix": [
+        [
+          -0.7766666412353516,
+          -0.1422555297613144,
+          0.6136385202407837,
+          -18.036144256591797
+        ],
+        [
+          -0.5856070518493652,
+          -0.19582684338092804,
+          -0.7865850925445557,
+          1.8460944890975952
+        ],
+        [
+          0.23206296563148499,
+          -0.9702655673027039,
+          0.06878634542226791,
+          -4.101990222930908
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8142,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_583081483",
+      "mask_path": "../../mask/hdr_left_08142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08143.png",
+      "transform_matrix": [
+        [
+          -0.7801203727722168,
+          -0.136416956782341,
+          0.6105756163597107,
+          -18.07343292236328
+        ],
+        [
+          -0.5806505084037781,
+          -0.20548294484615326,
+          -0.7877954244613647,
+          1.8005321025848389
+        ],
+        [
+          0.23293150961399078,
+          -0.9691065549850464,
+          0.08109084516763687,
+          -4.084630966186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8143,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_683081150",
+      "mask_path": "../../mask/hdr_left_08143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08144.png",
+      "transform_matrix": [
+        [
+          -0.7827229499816895,
+          -0.13414087891578674,
+          0.607742428779602,
+          -18.11948585510254
+        ],
+        [
+          -0.57621830701828,
+          -0.21282947063446045,
+          -0.7890982627868652,
+          1.7417445182800293
+        ],
+        [
+          0.2351958006620407,
+          -0.9678377509117126,
+          0.08929209411144257,
+          -4.053415775299072
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8144,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_783080101",
+      "mask_path": "../../mask/hdr_left_08144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08145.png",
+      "transform_matrix": [
+        [
+          -0.7815481424331665,
+          -0.13837343454360962,
+          0.6083052754402161,
+          -18.159276962280273
+        ],
+        [
+          -0.5765799283981323,
+          -0.2120916098356247,
+          -0.7890328168869019,
+          1.6827634572982788
+        ],
+        [
+          0.23819756507873535,
+          -0.967403769493103,
+          0.08597645163536072,
+          -4.026878356933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8145,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_883081674",
+      "mask_path": "../../mask/hdr_left_08145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08146.png",
+      "transform_matrix": [
+        [
+          -0.7790719270706177,
+          -0.1460709273815155,
+          0.6096804141998291,
+          -18.191991806030273
+        ],
+        [
+          -0.5788770914077759,
+          -0.20579956471920013,
+          -0.7890169620513916,
+          1.639606237411499
+        ],
+        [
+          0.24072442948818207,
+          -0.9676310420036316,
+          0.07577553391456604,
+          -4.0161848068237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8146,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_983080625",
+      "mask_path": "../../mask/hdr_left_08146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08147.png",
+      "transform_matrix": [
+        [
+          -0.7766894698143005,
+          -0.15994569659233093,
+          0.6092379093170166,
+          -18.229265213012695
+        ],
+        [
+          -0.5794063806533813,
+          -0.19796553254127502,
+          -0.7906312942504883,
+          1.6005873680114746
+        ],
+        [
+          0.24706612527370453,
+          -0.9670714139938354,
+          0.061084166169166565,
+          -4.00925874710083
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8147,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_83081007",
+      "mask_path": "../../mask/hdr_left_08147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08148.png",
+      "transform_matrix": [
+        [
+          -0.7723720669746399,
+          -0.1872064173221588,
+          0.6069556474685669,
+          -18.26519203186035
+        ],
+        [
+          -0.5735126733779907,
+          -0.20515494048595428,
+          -0.7930917143821716,
+          1.555118441581726
+        ],
+        [
+          0.272991806268692,
+          -0.9606587290763855,
+          0.05109069123864174,
+          -3.945509195327759
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8148,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_183080911",
+      "mask_path": "../../mask/hdr_left_08148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08149.png",
+      "transform_matrix": [
+        [
+          -0.7705762982368469,
+          -0.2024766206741333,
+          0.6043305397033691,
+          -18.301597595214844
+        ],
+        [
+          -0.56448894739151,
+          -0.22341886162757874,
+          -0.7946296334266663,
+          1.516636848449707
+        ],
+        [
+          0.2959127128124237,
+          -0.953460693359375,
+          0.05786546319723129,
+          -3.885545015335083
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8149,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_283080816",
+      "mask_path": "../../mask/hdr_left_08149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08150.png",
+      "transform_matrix": [
+        [
+          -0.7712482810020447,
+          -0.2010459005832672,
+          0.6039508581161499,
+          -18.334667205810547
+        ],
+        [
+          -0.5602652430534363,
+          -0.23593543469905853,
+          -0.7940009236335754,
+          1.4802440404891968
+        ],
+        [
+          0.3021239936351776,
+          -0.9507444500923157,
+          0.0693257674574852,
+          -3.8646721839904785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8150,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_383080959",
+      "mask_path": "../../mask/hdr_left_08150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08151.png",
+      "transform_matrix": [
+        [
+          -0.7730149030685425,
+          -0.2025633007287979,
+          0.6011788845062256,
+          -18.364707946777344
+        ],
+        [
+          -0.5584362745285034,
+          -0.2323487102985382,
+          -0.7963434457778931,
+          1.4403579235076904
+        ],
+        [
+          0.30099308490753174,
+          -0.9513055682182312,
+          0.06649032980203629,
+          -3.8537135124206543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8151,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_483080387",
+      "mask_path": "../../mask/hdr_left_08151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08153.png",
+      "transform_matrix": [
+        [
+          -0.779981791973114,
+          -0.20548436045646667,
+          0.5911044478416443,
+          -18.42615509033203
+        ],
+        [
+          -0.5501129031181335,
+          -0.22515906393527985,
+          -0.8041636347770691,
+          1.3714948892593384
+        ],
+        [
+          0.29833555221557617,
+          -0.9524073004722595,
+          0.06258037686347961,
+          -3.8475005626678467
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8153,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_683084726",
+      "mask_path": "../../mask/hdr_left_08153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08154.png",
+      "transform_matrix": [
+        [
+          -0.7753865122795105,
+          -0.23316989839076996,
+          0.5868624448776245,
+          -18.470983505249023
+        ],
+        [
+          -0.5476691722869873,
+          -0.2143571972846985,
+          -0.8087703585624695,
+          1.3366564512252808
+        ],
+        [
+          0.31437909603118896,
+          -0.9485161304473877,
+          0.03850971534848213,
+          -3.83565616607666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8154,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_783082246",
+      "mask_path": "../../mask/hdr_left_08154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08155.png",
+      "transform_matrix": [
+        [
+          -0.7711036801338196,
+          -0.26128870248794556,
+          0.5806267261505127,
+          -18.49518585205078
+        ],
+        [
+          -0.5393344163894653,
+          -0.2166288048028946,
+          -0.8137508034706116,
+          1.3018925189971924
+        ],
+        [
+          0.3384043574333191,
+          -0.9406382441520691,
+          0.026121262460947037,
+          -3.7416508197784424
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8155,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_883083820",
+      "mask_path": "../../mask/hdr_left_08155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08158.png",
+      "transform_matrix": [
+        [
+          -0.7852535247802734,
+          -0.2374216914176941,
+          0.5718457698822021,
+          -18.60114860534668
+        ],
+        [
+          -0.5272266864776611,
+          -0.22788406908512115,
+          -0.8185969591140747,
+          1.2121059894561768
+        ],
+        [
+          0.32466718554496765,
+          -0.9442986845970154,
+          0.053771745413541794,
+          -3.7049853801727295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8158,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_183082103",
+      "mask_path": "../../mask/hdr_left_08158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08160.png",
+      "transform_matrix": [
+        [
+          -0.7927044034004211,
+          -0.23074762523174286,
+          0.5642476081848145,
+          -18.6671085357666
+        ],
+        [
+          -0.5238364934921265,
+          -0.21557331085205078,
+          -0.8240894675254822,
+          1.1474777460098267
+        ],
+        [
+          0.31179338693618774,
+          -0.9488328695297241,
+          0.05001188442111015,
+          -3.6890413761138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8160,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_383081912",
+      "mask_path": "../../mask/hdr_left_08160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08161.png",
+      "transform_matrix": [
+        [
+          -0.7973461747169495,
+          -0.22117504477500916,
+          0.5615341663360596,
+          -18.707672119140625
+        ],
+        [
+          -0.5241511464118958,
+          -0.20744718611240387,
+          -0.825972855091095,
+          1.110969066619873
+        ],
+        [
+          0.2991732358932495,
+          -0.9529151916503906,
+          0.04947805404663086,
+          -3.68229079246521
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8161,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_483084917",
+      "mask_path": "../../mask/hdr_left_08161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08162.png",
+      "transform_matrix": [
+        [
+          -0.8023064136505127,
+          -0.20862938463687897,
+          0.5592657327651978,
+          -18.73902702331543
+        ],
+        [
+          -0.5233920216560364,
+          -0.2045937478542328,
+          -0.8271650671958923,
+          1.076271891593933
+        ],
+        [
+          0.28699320554733276,
+          -0.9563552141189575,
+          0.05495190620422363,
+          -3.6651828289031982
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8162,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_583082675",
+      "mask_path": "../../mask/hdr_left_08162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08163.png",
+      "transform_matrix": [
+        [
+          -0.8065897226333618,
+          -0.19615837931632996,
+          0.5576152205467224,
+          -18.76893424987793
+        ],
+        [
+          -0.5221432447433472,
+          -0.2057649791240692,
+          -0.8276636600494385,
+          1.038847804069519
+        ],
+        [
+          0.2770908772945404,
+          -0.9587401747703552,
+          0.06354516744613647,
+          -3.6406407356262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8163,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_683082580",
+      "mask_path": "../../mask/hdr_left_08163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08164.png",
+      "transform_matrix": [
+        [
+          -0.8072465062141418,
+          -0.1890469789505005,
+          0.5591192245483398,
+          -18.81036376953125
+        ],
+        [
+          -0.525200366973877,
+          -0.20214040577411652,
+          -0.8266218900680542,
+          0.9965524673461914
+        ],
+        [
+          0.269290953874588,
+          -0.9609374403953552,
+          0.06388958543539047,
+          -3.637032985687256
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8164,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_783082008",
+      "mask_path": "../../mask/hdr_left_08164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08165.png",
+      "transform_matrix": [
+        [
+          -0.8070319890975952,
+          -0.1842188686132431,
+          0.5610371828079224,
+          -18.851974487304688
+        ],
+        [
+          -0.5307636857032776,
+          -0.190135657787323,
+          -0.825916588306427,
+          0.9572641849517822
+        ],
+        [
+          0.25882259011268616,
+          -0.9643193483352661,
+          0.05566885322332382,
+          -3.639988899230957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8165,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_883082866",
+      "mask_path": "../../mask/hdr_left_08165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08166.png",
+      "transform_matrix": [
+        [
+          -0.8038097620010376,
+          -0.17587803304195404,
+          0.5682927966117859,
+          -18.88969612121582
+        ],
+        [
+          -0.541957676410675,
+          -0.17741069197654724,
+          -0.8214665055274963,
+          0.9182087779045105
+        ],
+        [
+          0.24529913067817688,
+          -0.9682935476303101,
+          0.04728600010275841,
+          -3.6377930641174316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8166,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_983082056",
+      "mask_path": "../../mask/hdr_left_08166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08167.png",
+      "transform_matrix": [
+        [
+          -0.798353374004364,
+          -0.16226260364055634,
+          0.5799160599708557,
+          -18.931140899658203
+        ],
+        [
+          -0.5573910474777222,
+          -0.16536785662174225,
+          -0.8136144876480103,
+          0.8757779002189636
+        ],
+        [
+          0.22791865468025208,
+          -0.9727920293807983,
+          0.0415782704949379,
+          -3.6345930099487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8167,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_83081960",
+      "mask_path": "../../mask/hdr_left_08167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08168.png",
+      "transform_matrix": [
+        [
+          -0.7934358716011047,
+          -0.1491660326719284,
+          0.5900923609733582,
+          -18.967121124267578
+        ],
+        [
+          -0.5699073672294617,
+          -0.15831312537193298,
+          -0.8063141107559204,
+          0.8345636129379272
+        ],
+        [
+          0.2136940360069275,
+          -0.9760566353797913,
+          0.04060048609972,
+          -3.625706195831299
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8168,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_183082103",
+      "mask_path": "../../mask/hdr_left_08168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08169.png",
+      "transform_matrix": [
+        [
+          -0.7888056635856628,
+          -0.13473020493984222,
+          0.5996943116188049,
+          -19.00012969970703
+        ],
+        [
+          -0.5795857906341553,
+          -0.16175377368927002,
+          -0.7986964583396912,
+          0.790712833404541
+        ],
+        [
+          0.20461131632328033,
+          -0.9775906801223755,
+          0.04950457811355591,
+          -3.6121010780334473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8169,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_283082962",
+      "mask_path": "../../mask/hdr_left_08169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08170.png",
+      "transform_matrix": [
+        [
+          -0.7849217057228088,
+          -0.12107203900814056,
+          0.6076507568359375,
+          -19.04500961303711
+        ],
+        [
+          -0.5943524241447449,
+          -0.12995031476020813,
+          -0.7936360239982605,
+          0.7448272705078125
+        ],
+        [
+          0.1750515103340149,
+          -0.984100878238678,
+          0.03004135750234127,
+          -3.611574411392212
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8170,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_383081674",
+      "mask_path": "../../mask/hdr_left_08170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08171.png",
+      "transform_matrix": [
+        [
+          -0.7788776159286499,
+          -0.11032560467720032,
+          0.6173960566520691,
+          -19.086410522460938
+        ],
+        [
+          -0.6102255582809448,
+          -0.09400758892297745,
+          -0.7866302728652954,
+          0.7066964507102966
+        ],
+        [
+          0.14482539892196655,
+          -0.9894396662712097,
+          0.005896899849176407,
+          -3.6193132400512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8171,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_483080625",
+      "mask_path": "../../mask/hdr_left_08171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08172.png",
+      "transform_matrix": [
+        [
+          -0.771223783493042,
+          -0.10125686973333359,
+          0.6284590363502502,
+          -19.119661331176758
+        ],
+        [
+          -0.6234602332115173,
+          -0.07913640886545181,
+          -0.777839720249176,
+          0.6679012775421143
+        ],
+        [
+          0.12849560379981995,
+          -0.9917079210281372,
+          -0.002097742399200797,
+          -3.626012086868286
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8172,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_583080768",
+      "mask_path": "../../mask/hdr_left_08172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08173.png",
+      "transform_matrix": [
+        [
+          -0.7640206813812256,
+          -0.09182773530483246,
+          0.6386235356330872,
+          -19.15878677368164
+        ],
+        [
+          -0.6347335577011108,
+          -0.07051757723093033,
+          -0.7695066928863525,
+          0.623135507106781
+        ],
+        [
+          0.11569622904062271,
+          -0.9932749271392822,
+          -0.004409256391227245,
+          -3.62530779838562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8173,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_683082818",
+      "mask_path": "../../mask/hdr_left_08173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08174.png",
+      "transform_matrix": [
+        [
+          -0.7631702423095703,
+          -0.07175374031066895,
+          0.6422013640403748,
+          -19.20290184020996
+        ],
+        [
+          -0.6389973163604736,
+          -0.06414493918418884,
+          -0.7665297985076904,
+          0.5804653763771057
+        ],
+        [
+          0.09619532525539398,
+          -0.9953576922416687,
+          0.003103064838796854,
+          -3.6226937770843506
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8174,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_783081531",
+      "mask_path": "../../mask/hdr_left_08174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08176.png",
+      "transform_matrix": [
+        [
+          -0.772493302822113,
+          -0.0458122119307518,
+          0.633368194103241,
+          -19.273157119750977
+        ],
+        [
+          -0.6308015584945679,
+          -0.05945316702127457,
+          -0.7736631035804749,
+          0.5057049989700317
+        ],
+        [
+          0.07309895753860474,
+          -0.9971793293952942,
+          0.017028752714395523,
+          -3.6184985637664795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8176,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_983081102",
+      "mask_path": "../../mask/hdr_left_08176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08177.png",
+      "transform_matrix": [
+        [
+          -0.7747803330421448,
+          -0.03756337985396385,
+          0.6311136484146118,
+          -19.31699562072754
+        ],
+        [
+          -0.6291884183883667,
+          -0.05199461802840233,
+          -0.7755116820335388,
+          0.44934841990470886
+        ],
+        [
+          0.0619453489780426,
+          -0.9979407787322998,
+          0.016649961471557617,
+          -3.6200473308563232
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8177,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_83081245",
+      "mask_path": "../../mask/hdr_left_08177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08178.png",
+      "transform_matrix": [
+        [
+          -0.772883415222168,
+          -0.0359751358628273,
+          0.6335274577140808,
+          -19.3575496673584
+        ],
+        [
+          -0.6325147747993469,
+          -0.0361824594438076,
+          -0.7737026214599609,
+          0.3962847888469696
+        ],
+        [
+          0.05075663700699806,
+          -0.9986975193023682,
+          0.005210020579397678,
+          -3.629152536392212
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8178,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_183081150",
+      "mask_path": "../../mask/hdr_left_08178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08179.png",
+      "transform_matrix": [
+        [
+          -0.7707325220108032,
+          -0.03335209935903549,
+          0.6362851858139038,
+          -19.391712188720703
+        ],
+        [
+          -0.6358262300491333,
+          -0.0242917463183403,
+          -0.7714499235153198,
+          0.3525789678096771
+        ],
+        [
+          0.04118594899773598,
+          -0.999148428440094,
+          -0.0024836999364197254,
+          -3.634037733078003
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8179,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_283080816",
+      "mask_path": "../../mask/hdr_left_08179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08180.png",
+      "transform_matrix": [
+        [
+          -0.7710495591163635,
+          -0.018955832347273827,
+          0.6364928483963013,
+          -19.433862686157227
+        ],
+        [
+          -0.6362040042877197,
+          -0.019387463107705116,
+          -0.7712771892547607,
+          0.30520156025886536
+        ],
+        [
+          0.026960181072354317,
+          -0.9996323585510254,
+          0.002888920484110713,
+          -3.6389224529266357
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8180,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_383080720",
+      "mask_path": "../../mask/hdr_left_08180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08181.png",
+      "transform_matrix": [
+        [
+          -0.7749059200286865,
+          -0.005987894721329212,
+          0.6320482492446899,
+          -19.480674743652344
+        ],
+        [
+          -0.6318584084510803,
+          -0.01893869787454605,
+          -0.774852454662323,
+          0.25525587797164917
+        ],
+        [
+          0.016609905287623405,
+          -0.9998027682304382,
+          0.01089220866560936,
+          -3.644003391265869
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8181,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_483081579",
+      "mask_path": "../../mask/hdr_left_08181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08182.png",
+      "transform_matrix": [
+        [
+          -0.7809008955955505,
+          0.0002398005162831396,
+          0.6246548891067505,
+          -19.519834518432617
+        ],
+        [
+          -0.6245214939117432,
+          -0.020967237651348114,
+          -0.7807261943817139,
+          0.2098950445652008
+        ],
+        [
+          0.012910068035125732,
+          -0.9997801780700684,
+          0.016523096710443497,
+          -3.643103837966919
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8182,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_583082199",
+      "mask_path": "../../mask/hdr_left_08182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08183.png",
+      "transform_matrix": [
+        [
+          -0.7887846231460571,
+          0.0009142339113168418,
+          0.6146690249443054,
+          -19.5656795501709
+        ],
+        [
+          -0.6145377159118652,
+          -0.021890738978981972,
+          -0.7885837554931641,
+          0.15496987104415894
+        ],
+        [
+          0.012734607793390751,
+          -0.9997600317001343,
+          0.017828909680247307,
+          -3.643575429916382
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8183,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_683081388",
+      "mask_path": "../../mask/hdr_left_08183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08184.png",
+      "transform_matrix": [
+        [
+          -0.7912931442260742,
+          0.0003850272041745484,
+          0.6114367842674255,
+          -19.625593185424805
+        ],
+        [
+          -0.6113954782485962,
+          -0.012136094272136688,
+          -0.7912320494651794,
+          0.07938294857740402
+        ],
+        [
+          0.0071158078499138355,
+          -0.9999263286590576,
+          0.00983861368149519,
+          -3.6505520343780518
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8184,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_783082485",
+      "mask_path": "../../mask/hdr_left_08184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08185.png",
+      "transform_matrix": [
+        [
+          -0.7893896698951721,
+          -0.0003012266242876649,
+          0.6138923764228821,
+          -19.67864227294922
+        ],
+        [
+          -0.6138918399810791,
+          -0.0010399570455774665,
+          -0.7893894910812378,
+          0.01118449866771698
+        ],
+        [
+          0.0008762059733271599,
+          -0.9999995231628418,
+          0.0006360142724588513,
+          -3.6596713066101074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8185,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_883082151",
+      "mask_path": "../../mask/hdr_left_08185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08186.png",
+      "transform_matrix": [
+        [
+          -0.7886907458305359,
+          -1.1265810826444067e-05,
+          0.6147900223731995,
+          -19.72336196899414
+        ],
+        [
+          -0.6147890686988831,
+          0.0016969492426142097,
+          -0.7886896729469299,
+          -0.0499262660741806
+        ],
+        [
+          -0.0010343820322304964,
+          -0.9999985694885254,
+          -0.0013452941784635186,
+          -3.665627956390381
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8186,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_983081340",
+      "mask_path": "../../mask/hdr_left_08186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08187.png",
+      "transform_matrix": [
+        [
+          -0.7911872267723083,
+          0.007923082448542118,
+          0.6115227341651917,
+          -19.78089141845703
+        ],
+        [
+          -0.6115005016326904,
+          0.005254652816802263,
+          -0.7912265658378601,
+          -0.11760792136192322
+        ],
+        [
+          -0.009482293389737606,
+          -0.9999548196792603,
+          0.0006875580875203013,
+          -3.6666834354400635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8187,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_83080530",
+      "mask_path": "../../mask/hdr_left_08187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08188.png",
+      "transform_matrix": [
+        [
+          -0.796626627445221,
+          0.01392352394759655,
+          0.6043112874031067,
+          -19.840415954589844
+        ],
+        [
+          -0.604316234588623,
+          0.004322316963225603,
+          -0.7967328429222107,
+          -0.17841015756130219
+        ],
+        [
+          -0.013705353252589703,
+          -0.9998937845230103,
+          0.004970940761268139,
+          -3.6614603996276855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8188,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_183078289",
+      "mask_path": "../../mask/hdr_left_08188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08189.png",
+      "transform_matrix": [
+        [
+          -0.8025813102722168,
+          0.015029416419565678,
+          0.5963533520698547,
+          -19.891550064086914
+        ],
+        [
+          -0.5964312553405762,
+          -0.0008983016014099121,
+          -0.8026636838912964,
+          -0.23006464540958405
+        ],
+        [
+          -0.011527860537171364,
+          -0.999886691570282,
+          0.009684977121651173,
+          -3.660574436187744
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8189,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_283081054",
+      "mask_path": "../../mask/hdr_left_08189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08190.png",
+      "transform_matrix": [
+        [
+          -0.8086936473846436,
+          0.01263988483697176,
+          0.588094174861908,
+          -19.947599411010742
+        ],
+        [
+          -0.5881807804107666,
+          -0.004451768472790718,
+          -0.8087171912193298,
+          -0.2957516014575958
+        ],
+        [
+          -0.007604033686220646,
+          -0.9999101758003235,
+          0.011034654453396797,
+          -3.6607742309570312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8190,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_383078098",
+      "mask_path": "../../mask/hdr_left_08190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08191.png",
+      "transform_matrix": [
+        [
+          -0.8105607032775879,
+          0.010549268685281277,
+          0.585559606552124,
+          -20.01657485961914
+        ],
+        [
+          -0.5856137275695801,
+          -0.0027979554142802954,
+          -0.8105853199958801,
+          -0.3723284602165222
+        ],
+        [
+          -0.006912714336067438,
+          -0.9999405145645142,
+          0.008445711806416512,
+          -3.6658201217651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8191,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_483080625",
+      "mask_path": "../../mask/hdr_left_08191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08192.png",
+      "transform_matrix": [
+        [
+          -0.8087546229362488,
+          0.008569016121327877,
+          0.5880837440490723,
+          -20.067913055419922
+        ],
+        [
+          -0.5880919694900513,
+          0.0017977545503526926,
+          -0.8087920546531677,
+          -0.43123605847358704
+        ],
+        [
+          -0.00798778235912323,
+          -0.999961793422699,
+          0.0035854289308190346,
+          -3.6717042922973633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8192,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_583077669",
+      "mask_path": "../../mask/hdr_left_08192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08193.png",
+      "transform_matrix": [
+        [
+          -0.8073748350143433,
+          0.00874328427016735,
+          0.5899739861488342,
+          -20.105119705200195
+        ],
+        [
+          -0.5899671316146851,
+          0.003612961620092392,
+          -0.8074190020561218,
+          -0.48341143131256104
+        ],
+        [
+          -0.009191046468913555,
+          -0.9999552369117737,
+          0.00224123802036047,
+          -3.674288034439087
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8193,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_683080434",
+      "mask_path": "../../mask/hdr_left_08193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08194.png",
+      "transform_matrix": [
+        [
+          -0.8095648288726807,
+          0.014268329367041588,
+          0.5868569612503052,
+          -20.16243553161621
+        ],
+        [
+          -0.5868232846260071,
+          0.0068827783688902855,
+          -0.8096857070922852,
+          -0.5438843965530396
+        ],
+        [
+          -0.015592068433761597,
+          -0.9998745322227478,
+          0.0028009372763335705,
+          -3.6765313148498535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8194,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_783080577",
+      "mask_path": "../../mask/hdr_left_08194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08195.png",
+      "transform_matrix": [
+        [
+          -0.816343367099762,
+          0.015950625762343407,
+          0.5773466229438782,
+          -20.224346160888672
+        ],
+        [
+          -0.5773326754570007,
+          0.005928808823227882,
+          -0.8164874911308289,
+          -0.5985168218612671
+        ],
+        [
+          -0.016446463763713837,
+          -0.9998552799224854,
+          0.004368875175714493,
+          -3.668065309524536
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8195,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_883080959",
+      "mask_path": "../../mask/hdr_left_08195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08196.png",
+      "transform_matrix": [
+        [
+          -0.8240638971328735,
+          0.01484251394867897,
+          0.5663021802902222,
+          -20.27103042602539
+        ],
+        [
+          -0.566335141658783,
+          0.0022900248877704144,
+          -0.824171781539917,
+          -0.6393314599990845
+        ],
+        [
+          -0.013529629446566105,
+          -0.999887228012085,
+          0.006518713664263487,
+          -3.6657209396362305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8196,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_983078479",
+      "mask_path": "../../mask/hdr_left_08196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08197.png",
+      "transform_matrix": [
+        [
+          -0.8325648307800293,
+          0.012808998115360737,
+          0.5537794232368469,
+          -20.319332122802734
+        ],
+        [
+          -0.5538217425346375,
+          0.0002933467912953347,
+          -0.8326351642608643,
+          -0.6791311502456665
+        ],
+        [
+          -0.010827670805156231,
+          -0.9999179840087891,
+          0.006849674973636866,
+          -3.671499490737915
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8197,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_83080053",
+      "mask_path": "../../mask/hdr_left_08197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08198.png",
+      "transform_matrix": [
+        [
+          -0.8363227248191833,
+          0.00937404204159975,
+          0.548157274723053,
+          -20.380727767944336
+        ],
+        [
+          -0.5481488108634949,
+          0.0036808864679187536,
+          -0.8363726139068604,
+          -0.7435760498046875
+        ],
+        [
+          -0.009857897646725178,
+          -0.9999492764472961,
+          0.0020599644631147385,
+          -3.6700429916381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8198,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_183078050",
+      "mask_path": "../../mask/hdr_left_08198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08199.png",
+      "transform_matrix": [
+        [
+          -0.8352771401405334,
+          0.005838814657181501,
+          0.5497981309890747,
+          -20.434886932373047
+        ],
+        [
+          -0.549755334854126,
+          0.007502940949052572,
+          -0.8352919220924377,
+          -0.8039830923080444
+        ],
+        [
+          -0.009002217091619968,
+          -0.9999548196792603,
+          -0.0030571126844733953,
+          -3.6693687438964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8199,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_283079385",
+      "mask_path": "../../mask/hdr_left_08199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08200.png",
+      "transform_matrix": [
+        [
+          -0.8339149951934814,
+          0.004540159832686186,
+          0.5518741011619568,
+          -20.477272033691406
+        ],
+        [
+          -0.5518336892127991,
+          0.007770259864628315,
+          -0.8339179754257202,
+          -0.8495209217071533
+        ],
+        [
+          -0.008074327372014523,
+          -0.9999596476554871,
+          -0.003974318504333496,
+          -3.6725566387176514
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8200,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_383081197",
+      "mask_path": "../../mask/hdr_left_08200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08201.png",
+      "transform_matrix": [
+        [
+          -0.8348879814147949,
+          0.0033601566683501005,
+          0.5504096746444702,
+          -20.532302856445312
+        ],
+        [
+          -0.5503507256507874,
+          0.01075380202382803,
+          -0.8348642587661743,
+          -0.8955219984054565
+        ],
+        [
+          -0.00872427225112915,
+          -0.9999366402626038,
+          -0.007128952536731958,
+          -3.6731984615325928
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8201,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_483082294",
+      "mask_path": "../../mask/hdr_left_08201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08202.png",
+      "transform_matrix": [
+        [
+          -0.8391829133033752,
+          0.0019868442323058844,
+          0.5438456535339355,
+          -20.588237762451172
+        ],
+        [
+          -0.5438148379325867,
+          0.00818018987774849,
+          -0.8391653299331665,
+          -0.9374146461486816
+        ],
+        [
+          -0.006116051692515612,
+          -0.9999645948410034,
+          -0.005784196779131889,
+          -3.6585044860839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8202,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_583080768",
+      "mask_path": "../../mask/hdr_left_08202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08203.png",
+      "transform_matrix": [
+        [
+          -0.8443641662597656,
+          0.002651460934430361,
+          0.5357629656791687,
+          -20.628141403198242
+        ],
+        [
+          -0.5357578992843628,
+          0.002430157270282507,
+          -0.8443682193756104,
+          -0.9717945456504822
+        ],
+        [
+          -0.0035407976247370243,
+          -0.9999935626983643,
+          -0.0006313933990895748,
+          -3.651792287826538
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8203,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_683082818",
+      "mask_path": "../../mask/hdr_left_08203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08204.png",
+      "transform_matrix": [
+        [
+          -0.8492729067802429,
+          0.003878492396324873,
+          0.5279398560523987,
+          -20.674062728881836
+        ],
+        [
+          -0.5279516577720642,
+          -0.0032738663721829653,
+          -0.8492680788040161,
+          -1.0099445581436157
+        ],
+        [
+          -0.0015654760645702481,
+          -0.9999871850013733,
+          0.004828065168112516,
+          -3.652082681655884
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8204,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_783082246",
+      "mask_path": "../../mask/hdr_left_08204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08205.png",
+      "transform_matrix": [
+        [
+          -0.8501684665679932,
+          0.004097912460565567,
+          0.5264947414398193,
+          -20.730762481689453
+        ],
+        [
+          -0.5264933109283447,
+          0.0015091935638338327,
+          -0.8501779437065125,
+          -1.0609768629074097
+        ],
+        [
+          -0.004278536420315504,
+          -0.9999905228614807,
+          0.000874454970471561,
+          -3.64943528175354
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8205,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_883082628",
+      "mask_path": "../../mask/hdr_left_08205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08208.png",
+      "transform_matrix": [
+        [
+          -0.8353344202041626,
+          -0.0013615728821605444,
+          0.5497404932975769,
+          -20.8427677154541
+        ],
+        [
+          -0.5496858954429626,
+          0.01636771485209465,
+          -0.8352110385894775,
+          -1.1846427917480469
+        ],
+        [
+          -0.00786079466342926,
+          -0.9998651742935181,
+          -0.014420951716601849,
+          -3.6617228984832764
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8208,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_183078765",
+      "mask_path": "../../mask/hdr_left_08208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08209.png",
+      "transform_matrix": [
+        [
+          -0.82940673828125,
+          0.003426283597946167,
+          0.5586346983909607,
+          -20.886701583862305
+        ],
+        [
+          -0.5585286021232605,
+          0.01535109058022499,
+          -0.8293432593345642,
+          -1.2355026006698608
+        ],
+        [
+          -0.011417216621339321,
+          -0.9998763799667358,
+          -0.010818617418408394,
+          -3.661015272140503
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8209,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_283079862",
+      "mask_path": "../../mask/hdr_left_08209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08212.png",
+      "transform_matrix": [
+        [
+          -0.8189771771430969,
+          0.013886370696127415,
+          0.5736580491065979,
+          -20.991859436035156
+        ],
+        [
+          -0.5737124681472778,
+          7.641787669854239e-05,
+          -0.8190566897392273,
+          -1.3556694984436035
+        ],
+        [
+          -0.011417563073337078,
+          -0.9999035596847534,
+          0.007904202677309513,
+          -3.659353733062744
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8212,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_583081007",
+      "mask_path": "../../mask/hdr_left_08212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08213.png",
+      "transform_matrix": [
+        [
+          -0.8074012398719788,
+          0.013663863763213158,
+          0.5898444056510925,
+          -21.025211334228516
+        ],
+        [
+          -0.5898454189300537,
+          0.004379797726869583,
+          -0.8075042366981506,
+          -1.4104993343353271
+        ],
+        [
+          -0.013617027550935745,
+          -0.9998971223831177,
+          0.00452331593260169,
+          -3.65531063079834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8213,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_683082342",
+      "mask_path": "../../mask/hdr_left_08213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08214.png",
+      "transform_matrix": [
+        [
+          -0.792901873588562,
+          0.009913661517202854,
+          0.6092686653137207,
+          -21.053178787231445
+        ],
+        [
+          -0.6092082262039185,
+          0.008618692867457867,
+          -0.7929635047912598,
+          -1.461422085762024
+        ],
+        [
+          -0.013112271204590797,
+          -0.99991375207901,
+          -0.0007942912052385509,
+          -3.6573660373687744
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8214,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_783082485",
+      "mask_path": "../../mask/hdr_left_08214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08215.png",
+      "transform_matrix": [
+        [
+          -0.7779247760772705,
+          0.010502650402486324,
+          0.6282695531845093,
+          -21.0771541595459
+        ],
+        [
+          -0.6282193660736084,
+          0.007949527353048325,
+          -0.7779955863952637,
+          -1.5122052431106567
+        ],
+        [
+          -0.013165461830794811,
+          -0.9999133944511414,
+          0.00041383711504749954,
+          -3.6629788875579834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8215,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_883081912",
+      "mask_path": "../../mask/hdr_left_08215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08216.png",
+      "transform_matrix": [
+        [
+          -0.7594417333602905,
+          0.012792421504855156,
+          0.6504496335983276,
+          -21.10028648376465
+        ],
+        [
+          -0.6503865122795105,
+          0.009157923050224781,
+          -0.7595482468605042,
+          -1.568479299545288
+        ],
+        [
+          -0.01567322574555874,
+          -0.9998762607574463,
+          0.0013651110930368304,
+          -3.662017345428467
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8216,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_983082532",
+      "mask_path": "../../mask/hdr_left_08216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08217.png",
+      "transform_matrix": [
+        [
+          -0.7418873310089111,
+          0.014974243938922882,
+          0.6703574061393738,
+          -21.121200561523438
+        ],
+        [
+          -0.6703595519065857,
+          0.005615567322820425,
+          -0.7420151829719543,
+          -1.6206282377243042
+        ],
+        [
+          -0.01487555168569088,
+          -0.9998721480369568,
+          0.005872011184692383,
+          -3.6527907848358154
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8217,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_83081483",
+      "mask_path": "../../mask/hdr_left_08217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08219.png",
+      "transform_matrix": [
+        [
+          -0.7110130786895752,
+          0.02124507911503315,
+          0.7028577327728271,
+          -21.16061019897461
+        ],
+        [
+          -0.7031135559082031,
+          -0.007876924239099026,
+          -0.711033821105957,
+          -1.7032313346862793
+        ],
+        [
+          -0.009569614194333553,
+          -0.9997433423995972,
+          0.02053830400109291,
+          -3.659597158432007
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8219,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_283081769",
+      "mask_path": "../../mask/hdr_left_08219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08220.png",
+      "transform_matrix": [
+        [
+          -0.6902856230735779,
+          0.020732784643769264,
+          0.7232398390769958,
+          -21.179576873779297
+        ],
+        [
+          -0.7234805226325989,
+          -0.007290049456059933,
+          -0.6903063058853149,
+          -1.7689112424850464
+        ],
+        [
+          -0.009039517492055893,
+          -0.9997585415840149,
+          0.020031984895467758,
+          -3.658169984817505
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8220,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_383082628",
+      "mask_path": "../../mask/hdr_left_08220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08223.png",
+      "transform_matrix": [
+        [
+          -0.6651185750961304,
+          0.014784269966185093,
+          0.7465915679931641,
+          -21.23527717590332
+        ],
+        [
+          -0.7466742396354675,
+          -0.0001239142584381625,
+          -0.665189802646637,
+          -1.9134429693222046
+        ],
+        [
+          -0.00974183063954115,
+          -0.9998907446861267,
+          0.011121452786028385,
+          -3.6688437461853027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8223,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_683081865",
+      "mask_path": "../../mask/hdr_left_08223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08224.png",
+      "transform_matrix": [
+        [
+          -0.6652806401252747,
+          0.019924623891711235,
+          0.7463273406028748,
+          -21.26397705078125
+        ],
+        [
+          -0.7464472651481628,
+          0.0020175697281956673,
+          -0.6654414534568787,
+          -1.980105996131897
+        ],
+        [
+          -0.014764439314603806,
+          -0.9997994899749756,
+          0.013530432246625423,
+          -3.673217535018921
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8224,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_783081293",
+      "mask_path": "../../mask/hdr_left_08224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08225.png",
+      "transform_matrix": [
+        [
+          -0.6696292161941528,
+          0.022398965433239937,
+          0.7423577308654785,
+          -21.299869537353516
+        ],
+        [
+          -0.7425016164779663,
+          0.002645415486767888,
+          -0.6698389649391174,
+          -2.052077293395996
+        ],
+        [
+          -0.016967544332146645,
+          -0.9997457265853882,
+          0.014859823510050774,
+          -3.6682546138763428
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8225,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_883082151",
+      "mask_path": "../../mask/hdr_left_08225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08226.png",
+      "transform_matrix": [
+        [
+          -0.677348256111145,
+          0.024383533746004105,
+          0.7352584004402161,
+          -21.3350830078125
+        ],
+        [
+          -0.7355359196662903,
+          -0.003910009749233723,
+          -0.6774743795394897,
+          -2.1109228134155273
+        ],
+        [
+          -0.013644352555274963,
+          -0.9996950626373291,
+          0.02058340422809124,
+          -3.667234182357788
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8226,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_983081102",
+      "mask_path": "../../mask/hdr_left_08226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08227.png",
+      "transform_matrix": [
+        [
+          -0.6853429675102234,
+          0.020580792799592018,
+          0.7279294729232788,
+          -21.380624771118164
+        ],
+        [
+          -0.7281221151351929,
+          -0.0029458110220730305,
+          -0.6854410767555237,
+          -2.1921069622039795
+        ],
+        [
+          -0.011962576769292355,
+          -0.9997839331626892,
+          0.0170042235404253,
+          -3.6731700897216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8227,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_83081722",
+      "mask_path": "../../mask/hdr_left_08227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08228.png",
+      "transform_matrix": [
+        [
+          -0.6865918040275574,
+          0.011612161993980408,
+          0.7269503474235535,
+          -21.431167602539062
+        ],
+        [
+          -0.726953387260437,
+          0.004739616997539997,
+          -0.6866704225540161,
+          -2.284777879714966
+        ],
+        [
+          -0.01141919381916523,
+          -0.999921441078186,
+          0.005187321454286575,
+          -3.677891731262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8228,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_183081388",
+      "mask_path": "../../mask/hdr_left_08228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08229.png",
+      "transform_matrix": [
+        [
+          -0.6835923790931702,
+          0.005941674578934908,
+          0.7298396825790405,
+          -21.46853256225586
+        ],
+        [
+          -0.7298004627227783,
+          0.007619975600391626,
+          -0.6836176514625549,
+          -2.353914260864258
+        ],
+        [
+          -0.009623194113373756,
+          -0.9999533295631409,
+          -0.0008727189269848168,
+          -3.683717727661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8229,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_283081769",
+      "mask_path": "../../mask/hdr_left_08229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08230.png",
+      "transform_matrix": [
+        [
+          -0.6812015771865845,
+          0.005944534204900265,
+          0.7320718169212341,
+          -21.508075714111328
+        ],
+        [
+          -0.7320591807365417,
+          0.004481352865695953,
+          -0.6812262535095215,
+          -2.421234607696533
+        ],
+        [
+          -0.0073302448727190495,
+          -0.9999722838401794,
+          0.0012990474933758378,
+          -3.6958415508270264
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8230,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_383082151",
+      "mask_path": "../../mask/hdr_left_08230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08231.png",
+      "transform_matrix": [
+        [
+          -0.6849358081817627,
+          0.009827873669564724,
+          0.7285371422767639,
+          -21.563535690307617
+        ],
+        [
+          -0.7285110354423523,
+          0.006686808075755835,
+          -0.6850014328956604,
+          -2.5031816959381104
+        ],
+        [
+          -0.011603694409132004,
+          -0.9999294281005859,
+          0.0025796822737902403,
+          -3.691359519958496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8231,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_483081817",
+      "mask_path": "../../mask/hdr_left_08231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08232.png",
+      "transform_matrix": [
+        [
+          -0.6932271122932434,
+          0.015220239758491516,
+          0.7205584645271301,
+          -21.613906860351562
+        ],
+        [
+          -0.7205821871757507,
+          0.004850836470723152,
+          -0.6933525800704956,
+          -2.574854612350464
+        ],
+        [
+          -0.014048303477466106,
+          -0.9998724460601807,
+          0.007604702841490507,
+          -3.677248477935791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8232,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_583081960",
+      "mask_path": "../../mask/hdr_left_08232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08233.png",
+      "transform_matrix": [
+        [
+          -0.7006546854972839,
+          0.01824621483683586,
+          0.7132672071456909,
+          -21.65380859375
+        ],
+        [
+          -0.7134187817573547,
+          -0.0027823159471154213,
+          -0.7007324695587158,
+          -2.625098466873169
+        ],
+        [
+          -0.010801179334521294,
+          -0.9998297095298767,
+          0.014966635033488274,
+          -3.6790053844451904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8233,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_683080673",
+      "mask_path": "../../mask/hdr_left_08233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08234.png",
+      "transform_matrix": [
+        [
+          -0.7057239413261414,
+          0.016047773882746696,
+          0.7083051800727844,
+          -21.705530166625977
+        ],
+        [
+          -0.7084562182426453,
+          -0.006696073338389397,
+          -0.7057228088378906,
+          -2.7030999660491943
+        ],
+        [
+          -0.0065824175253510475,
+          -0.9998488426208496,
+          0.01609472557902336,
+          -3.6795618534088135
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8234,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_783082485",
+      "mask_path": "../../mask/hdr_left_08234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08235.png",
+      "transform_matrix": [
+        [
+          -0.7060930728912354,
+          0.008903439156711102,
+          0.7080631256103516,
+          -21.756874084472656
+        ],
+        [
+          -0.7080981135368347,
+          -0.0011966812890022993,
+          -0.7061128616333008,
+          -2.786463737487793
+        ],
+        [
+          -0.005439507309347391,
+          -0.9999596476554871,
+          0.007149479817599058,
+          -3.6795096397399902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8235,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_883082151",
+      "mask_path": "../../mask/hdr_left_08235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08236.png",
+      "transform_matrix": [
+        [
+          -0.6985004544258118,
+          0.0020911835599690676,
+          0.7156065702438354,
+          -21.79130744934082
+        ],
+        [
+          -0.7155929803848267,
+          0.004777371417731047,
+          -0.6985011696815491,
+          -2.8526813983917236
+        ],
+        [
+          -0.0048794131726026535,
+          -0.999986469745636,
+          -0.0018405572045594454,
+          -3.680755376815796
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8236,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_983083009",
+      "mask_path": "../../mask/hdr_left_08236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08237.png",
+      "transform_matrix": [
+        [
+          -0.6848310232162476,
+          -0.001067838165909052,
+          0.7287011742591858,
+          -21.828733444213867
+        ],
+        [
+          -0.7286991477012634,
+          0.00375074683688581,
+          -0.6848236918449402,
+          -2.923910140991211
+        ],
+        [
+          -0.0020018916111439466,
+          -0.9999924302101135,
+          -0.0033467598259449005,
+          -3.68571400642395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8237,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_83082437",
+      "mask_path": "../../mask/hdr_left_08237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08238.png",
+      "transform_matrix": [
+        [
+          -0.6728804707527161,
+          -0.0027324024122208357,
+          0.73974609375,
+          -21.874242782592773
+        ],
+        [
+          -0.7397505044937134,
+          0.0011535201920196414,
+          -0.6728801727294922,
+          -2.9982521533966064
+        ],
+        [
+          0.0009852665243670344,
+          -0.9999955892562866,
+          -0.00279747461900115,
+          -3.6744518280029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8238,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_183083295",
+      "mask_path": "../../mask/hdr_left_08238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08239.png",
+      "transform_matrix": [
+        [
+          -0.6631599068641663,
+          -0.0034422511234879494,
+          0.7484698295593262,
+          -21.904911041259766
+        ],
+        [
+          -0.748470664024353,
+          -0.0012600558111444116,
+          -0.6631666421890259,
+          -3.0528416633605957
+        ],
+        [
+          0.0032258981373161077,
+          -0.9999933242797852,
+          -0.001740801497362554,
+          -3.6637282371520996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8239,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_283081769",
+      "mask_path": "../../mask/hdr_left_08239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08241.png",
+      "transform_matrix": [
+        [
+          -0.6323777437210083,
+          0.003615882946178317,
+          0.7746517658233643,
+          -21.954425811767578
+        ],
+        [
+          -0.7746453285217285,
+          -0.009121866896748543,
+          -0.6323300004005432,
+          -3.1653215885162354
+        ],
+        [
+          0.004779838491231203,
+          -0.9999518990516663,
+          0.00856949295848608,
+          -3.6688101291656494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8241,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_483080863",
+      "mask_path": "../../mask/hdr_left_08241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08242.png",
+      "transform_matrix": [
+        [
+          -0.6135818362236023,
+          0.002088188659399748,
+          0.7896283268928528,
+          -21.989757537841797
+        ],
+        [
+          -0.7896294593811035,
+          -0.003640613751485944,
+          -0.6135731339454651,
+          -3.244562864303589
+        ],
+        [
+          0.0015934744151309133,
+          -0.999991238117218,
+          0.003882711287587881,
+          -3.6685779094696045
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8242,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_583082437",
+      "mask_path": "../../mask/hdr_left_08242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08243.png",
+      "transform_matrix": [
+        [
+          -0.5950851440429688,
+          -0.004852874670177698,
+          0.803648054599762,
+          -22.01673698425293
+        ],
+        [
+          -0.8036598563194275,
+          0.0009241535444743931,
+          -0.5950883030891418,
+          -3.31416654586792
+        ],
+        [
+          0.0021451949141919613,
+          -0.9999879002571106,
+          -0.004450008273124695,
+          -3.668942928314209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8243,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_683082580",
+      "mask_path": "../../mask/hdr_left_08243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08244.png",
+      "transform_matrix": [
+        [
+          -0.577519416809082,
+          -0.004667987581342459,
+          0.8163636326789856,
+          -22.03525161743164
+        ],
+        [
+          -0.8163723349571228,
+          -5.402806345955469e-05,
+          -0.5775259137153625,
+          -3.382519245147705
+        ],
+        [
+          0.0027399880345910788,
+          -0.9999890923500061,
+          -0.0037796099204570055,
+          -3.6739399433135986
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8244,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_783083438",
+      "mask_path": "../../mask/hdr_left_08244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08245.png",
+      "transform_matrix": [
+        [
+          -0.5665614604949951,
+          -0.001111843972466886,
+          0.8240185976028442,
+          -22.061647415161133
+        ],
+        [
+          -0.824015736579895,
+          0.0037760958075523376,
+          -0.5665542483329773,
+          -3.462242364883423
+        ],
+        [
+          -0.00248165475204587,
+          -0.999992311000824,
+          -0.003055561799556017,
+          -3.674647092819214
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8245,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_883081674",
+      "mask_path": "../../mask/hdr_left_08245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08246.png",
+      "transform_matrix": [
+        [
+          -0.5677194595336914,
+          0.0018366933800280094,
+          0.8232200741767883,
+          -22.101404190063477
+        ],
+        [
+          -0.8232173919677734,
+          0.0020890822634100914,
+          -0.5677223205566406,
+          -3.5419507026672363
+        ],
+        [
+          -0.0027625062502920628,
+          -0.9999961853027344,
+          0.0003259878430981189,
+          -3.663018226623535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8246,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_983082532",
+      "mask_path": "../../mask/hdr_left_08246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08247.png",
+      "transform_matrix": [
+        [
+          -0.5756675601005554,
+          0.004993658512830734,
+          0.8176685571670532,
+          -22.13835906982422
+        ],
+        [
+          -0.8176804780960083,
+          -0.006356583442538977,
+          -0.57563716173172,
+          -3.6102099418640137
+        ],
+        [
+          0.002323042368516326,
+          -0.9999673366546631,
+          0.007742498070001602,
+          -3.656506299972534
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8247,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_83082199",
+      "mask_path": "../../mask/hdr_left_08247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08248.png",
+      "transform_matrix": [
+        [
+          -0.5819821357727051,
+          0.004260000307112932,
+          0.8131904006004333,
+          -22.179779052734375
+        ],
+        [
+          -0.8131757378578186,
+          -0.011011348105967045,
+          -0.581913948059082,
+          -3.7096993923187256
+        ],
+        [
+          0.006475368980318308,
+          -0.9999303817749023,
+          0.009872539900243282,
+          -3.6602256298065186
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8248,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_183081626",
+      "mask_path": "../../mask/hdr_left_08248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08249.png",
+      "transform_matrix": [
+        [
+          -0.5815873742103577,
+          -0.004561976995319128,
+          0.8134711384773254,
+          -22.222810745239258
+        ],
+        [
+          -0.8134508728981018,
+          -0.00575869670137763,
+          -0.5816051959991455,
+          -3.818877696990967
+        ],
+        [
+          0.007337802089750767,
+          -0.9999730587005615,
+          -0.0003617559850681573,
+          -3.6661295890808105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8249,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_283081293",
+      "mask_path": "../../mask/hdr_left_08249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08250.png",
+      "transform_matrix": [
+        [
+          -0.5783636569976807,
+          -0.01341650728136301,
+          0.8156687617301941,
+          -22.250144958496094
+        ],
+        [
+          -0.8157224059104919,
+          -0.0022711290512233973,
+          -0.5784391760826111,
+          -3.8876779079437256
+        ],
+        [
+          0.009613120928406715,
+          -0.9999074339866638,
+          -0.00963060837239027,
+          -3.6706366539001465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8250,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_383082389",
+      "mask_path": "../../mask/hdr_left_08250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08251.png",
+      "transform_matrix": [
+        [
+          -0.579632580280304,
+          -0.00931226834654808,
+          0.8148247599601746,
+          -22.292619705200195
+        ],
+        [
+          -0.8148642182350159,
+          0.0008294052095152438,
+          -0.5796512365341187,
+          -3.9772555828094482
+        ],
+        [
+          0.004722047597169876,
+          -0.9999563097953796,
+          -0.008068983443081379,
+          -3.6730105876922607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8251,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_483082771",
+      "mask_path": "../../mask/hdr_left_08251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08252.png",
+      "transform_matrix": [
+        [
+          -0.5879229307174683,
+          -0.005729627329856157,
+          0.8088966012001038,
+          -22.35116958618164
+        ],
+        [
+          -0.8089166879653931,
+          0.0035846540704369545,
+          -0.5879121422767639,
+          -4.079159736633301
+        ],
+        [
+          0.00046890153316780925,
+          -0.999977171421051,
+          -0.006742287892848253,
+          -3.668571710586548
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8252,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_583081722",
+      "mask_path": "../../mask/hdr_left_08252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08253.png",
+      "transform_matrix": [
+        [
+          -0.5957672595977783,
+          -0.007095213979482651,
+          0.8031256794929504,
+          -22.395872116088867
+        ],
+        [
+          -0.8031470775604248,
+          0.00028106849640607834,
+          -0.595780611038208,
+          -4.149134159088135
+        ],
+        [
+          0.004001457244157791,
+          -0.9999748468399048,
+          -0.005865949671715498,
+          -3.6661455631256104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8253,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_683082342",
+      "mask_path": "../../mask/hdr_left_08253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08254.png",
+      "transform_matrix": [
+        [
+          -0.5904121994972229,
+          -0.012308589182794094,
+          0.807007908821106,
+          -22.43204116821289
+        ],
+        [
+          -0.807091474533081,
+          0.003937959671020508,
+          -0.5904132127761841,
+          -4.233813762664795
+        ],
+        [
+          0.004089187830686569,
+          -0.9999164938926697,
+          -0.012259174138307571,
+          -3.6688144207000732
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8254,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_783082962",
+      "mask_path": "../../mask/hdr_left_08254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08255.png",
+      "transform_matrix": [
+        [
+          -0.5687071084976196,
+          -0.016498982906341553,
+          0.8223745226860046,
+          -22.4571533203125
+        ],
+        [
+          -0.8225317597389221,
+          0.015875443816184998,
+          -0.5684974193572998,
+          -4.332784175872803
+        ],
+        [
+          -0.003675933461636305,
+          -0.9997379183769226,
+          -0.022599412128329277,
+          -3.6766438484191895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8255,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_883082389",
+      "mask_path": "../../mask/hdr_left_08255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08256.png",
+      "transform_matrix": [
+        [
+          -0.5413999557495117,
+          -0.021692318841814995,
+          0.8404852747917175,
+          -22.473934173583984
+        ],
+        [
+          -0.8407412767410278,
+          0.021502070128917694,
+          -0.5410099625587463,
+          -4.412824630737305
+        ],
+        [
+          -0.006336413323879242,
+          -0.999533474445343,
+          -0.02987884357571602,
+          -3.6857612133026123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8256,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_983082294",
+      "mask_path": "../../mask/hdr_left_08256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08257.png",
+      "transform_matrix": [
+        [
+          -0.5142677426338196,
+          -0.025873389095067978,
+          0.857239305973053,
+          -22.489871978759766
+        ],
+        [
+          -0.8576290011405945,
+          0.016765721142292023,
+          -0.5139954686164856,
+          -4.494647026062012
+        ],
+        [
+          -0.0010734291281551123,
+          -0.9995246529579163,
+          -0.030811836943030357,
+          -3.6927638053894043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8257,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_83081722",
+      "mask_path": "../../mask/hdr_left_08257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08258.png",
+      "transform_matrix": [
+        [
+          -0.4942224621772766,
+          -0.020659515634179115,
+          0.8690899610519409,
+          -22.520265579223633
+        ],
+        [
+          -0.8693092465400696,
+          0.019493555650115013,
+          -0.49388387799263,
+          -4.600225925445557
+        ],
+        [
+          -0.0067382496781647205,
+          -0.9995965361595154,
+          -0.027593662962317467,
+          -3.682447671890259
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8258,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_183082103",
+      "mask_path": "../../mask/hdr_left_08258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08259.png",
+      "transform_matrix": [
+        [
+          -0.4884350299835205,
+          -0.017057154327630997,
+          0.8724334836006165,
+          -22.557449340820312
+        ],
+        [
+          -0.872563362121582,
+          0.01873701997101307,
+          -0.4881414473056793,
+          -4.67996072769165
+        ],
+        [
+          -0.00802050344645977,
+          -0.9996789693832397,
+          -0.024035263806581497,
+          -3.6649887561798096
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8259,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_283082008",
+      "mask_path": "../../mask/hdr_left_08259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08261.png",
+      "transform_matrix": [
+        [
+          -0.49363917112350464,
+          -0.0027025658637285233,
+          0.8696626424789429,
+          -22.598407745361328
+        ],
+        [
+          -0.8696662783622742,
+          0.0004358330916147679,
+          -0.49363988637924194,
+          -4.797783851623535
+        ],
+        [
+          0.0009550662362016737,
+          -0.9999963045120239,
+          -0.0025654735509306192,
+          -3.663242816925049
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8261,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_483082294",
+      "mask_path": "../../mask/hdr_left_08261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08262.png",
+      "transform_matrix": [
+        [
+          -0.49681174755096436,
+          -0.0053878603503108025,
+          0.8678416609764099,
+          -22.625804901123047
+        ],
+        [
+          -0.8678371906280518,
+          -0.0039010467007756233,
+          -0.4968334138393402,
+          -4.901065349578857
+        ],
+        [
+          0.00606235908344388,
+          -0.9999778866767883,
+          -0.0027376997750252485,
+          -3.653773069381714
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8262,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_583081960",
+      "mask_path": "../../mask/hdr_left_08262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08263.png",
+      "transform_matrix": [
+        [
+          -0.49493861198425293,
+          -0.013409088365733624,
+          0.8688244819641113,
+          -22.644418716430664
+        ],
+        [
+          -0.8688668608665466,
+          -0.004216087982058525,
+          -0.4950278699398041,
+          -4.976548194885254
+        ],
+        [
+          0.010300912894308567,
+          -0.999901294708252,
+          -0.009564007632434368,
+          -3.6522305011749268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8263,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_683080911",
+      "mask_path": "../../mask/hdr_left_08263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08264.png",
+      "transform_matrix": [
+        [
+          -0.49244964122772217,
+          -0.0170950498431921,
+          0.8701729774475098,
+          -22.6593074798584
+        ],
+        [
+          -0.8702548742294312,
+          -0.004387588240206242,
+          -0.49258220195770264,
+          -5.0410637855529785
+        ],
+        [
+          0.012238677591085434,
+          -0.9998443126678467,
+          -0.012716385535895824,
+          -3.654590129852295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8264,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_783081293",
+      "mask_path": "../../mask/hdr_left_08264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08265.png",
+      "transform_matrix": [
+        [
+          -0.4829733073711395,
+          -0.012776489369571209,
+          0.8755418658256531,
+          -22.675670623779297
+        ],
+        [
+          -0.8755201697349548,
+          -0.009152100421488285,
+          -0.48309487104415894,
+          -5.130276203155518
+        ],
+        [
+          0.014185303822159767,
+          -0.9998765587806702,
+          -0.006765850819647312,
+          -3.65238356590271
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8265,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_883081197",
+      "mask_path": "../../mask/hdr_left_08265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00570.png",
+      "transform_matrix": [
+        [
+          0.25905877351760864,
+          0.0016624192940071225,
+          0.9658601880073547,
+          -22.30843162536621
+        ],
+        [
+          -0.9658494591712952,
+          -0.004543171729892492,
+          0.2590637505054474,
+          -4.790827751159668
+        ],
+        [
+          0.004818739369511604,
+          -0.999988317489624,
+          0.00042869793833233416,
+          -3.6715593338012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 570,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_483081817",
+      "mask_path": "../../mask/hdr_right_00570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00571.png",
+      "transform_matrix": [
+        [
+          0.2497577965259552,
+          -0.0004775341076310724,
+          0.9683082103729248,
+          -22.318897247314453
+        ],
+        [
+          -0.9683078527450562,
+          0.0008663919870741665,
+          0.24975810945034027,
+          -4.710587501525879
+        ],
+        [
+          -0.0009582028724253178,
+          -0.9999995231628418,
+          -0.00024601403856649995,
+          -3.6732656955718994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 571,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_583082914",
+      "mask_path": "../../mask/hdr_right_00571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00572.png",
+      "transform_matrix": [
+        [
+          0.2484707236289978,
+          0.0016079264460131526,
+          0.9686380624771118,
+          -22.33441734313965
+        ],
+        [
+          -0.9686384797096252,
+          0.001756650279276073,
+          0.24846790730953217,
+          -4.605372905731201
+        ],
+        [
+          -0.0013020402984693646,
+          -0.9999971389770508,
+          0.001993974205106497,
+          -3.672308921813965
+        ],
+        [
+          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": "1731323320_683082103",
+      "mask_path": "../../mask/hdr_right_00572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00573.png",
+      "transform_matrix": [
+        [
+          0.25415897369384766,
+          0.0073117888532578945,
+          0.9671348929405212,
+          -22.351776123046875
+        ],
+        [
+          -0.967162013053894,
+          0.0009739449596963823,
+          0.25415873527526855,
+          -4.525004863739014
+        ],
+        [
+          0.0009164189104922116,
+          -0.9999727606773376,
+          0.007319220807403326,
+          -3.677168369293213
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 573,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_783081769",
+      "mask_path": "../../mask/hdr_right_00573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00574.png",
+      "transform_matrix": [
+        [
+          0.258095920085907,
+          0.009052611887454987,
+          0.9660769701004028,
+          -22.364294052124023
+        ],
+        [
+          -0.9661189913749695,
+          0.0016923935618251562,
+          0.2580913007259369,
+          -4.462215900421143
+        ],
+        [
+          0.000701417971868068,
+          -0.9999576210975647,
+          0.009182698093354702,
+          -3.6818785667419434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 574,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_883082866",
+      "mask_path": "../../mask/hdr_right_00574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00575.png",
+      "transform_matrix": [
+        [
+          0.25739678740501404,
+          0.0068005891516804695,
+          0.9662819504737854,
+          -22.374229431152344
+        ],
+        [
+          -0.9662927389144897,
+          -0.0033944479655474424,
+          0.2574235498905182,
+          -4.383987903594971
+        ],
+        [
+          0.0050306254997849464,
+          -0.9999710917472839,
+          0.005697638727724552,
+          -3.681504964828491
+        ],
+        [
+          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": "1731323320_983081102",
+      "mask_path": "../../mask/hdr_right_00575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00576.png",
+      "transform_matrix": [
+        [
+          0.25111234188079834,
+          0.006145464722067118,
+          0.9679384827613831,
+          -22.38052749633789
+        ],
+        [
+          -0.9679294228553772,
+          -0.006078771781176329,
+          0.2511485815048218,
+          -4.305909156799316
+        ],
+        [
+          0.007427301723510027,
+          -0.9999626278877258,
+          0.004421921446919441,
+          -3.6715517044067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 576,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_83082199",
+      "mask_path": "../../mask/hdr_right_00576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00577.png",
+      "transform_matrix": [
+        [
+          0.24280603229999542,
+          0.005620711948722601,
+          0.9700586199760437,
+          -22.382061004638672
+        ],
+        [
+          -0.9700629115104675,
+          -0.0035643118899315596,
+          0.24282772839069366,
+          -4.235745429992676
+        ],
+        [
+          0.004822456743568182,
+          -0.9999778270721436,
+          0.004587006755173206,
+          -3.6660141944885254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 577,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_183081865",
+      "mask_path": "../../mask/hdr_right_00577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00578.png",
+      "transform_matrix": [
+        [
+          0.23346248269081116,
+          0.0022670456673949957,
+          0.972363293170929,
+          -22.381746292114258
+        ],
+        [
+          -0.9723657965660095,
+          0.0002906986337620765,
+          0.233462393283844,
+          -4.164485454559326
+        ],
+        [
+          0.00024660525377839804,
+          -0.9999973177909851,
+          0.002272263867780566,
+          -3.669243097305298
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 578,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_283080816",
+      "mask_path": "../../mask/hdr_right_00578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00579.png",
+      "transform_matrix": [
+        [
+          0.22810958325862885,
+          0.0011610345682129264,
+          0.9736348390579224,
+          -22.38943862915039
+        ],
+        [
+          -0.9736348390579224,
+          0.001439000479876995,
+          0.22810785472393036,
+          -4.074845314025879
+        ],
+        [
+          -0.001136220176704228,
+          -0.9999982714653015,
+          0.001458671991713345,
+          -3.6660382747650146
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 579,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_383082389",
+      "mask_path": "../../mask/hdr_right_00579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00580.png",
+      "transform_matrix": [
+        [
+          0.22755864262580872,
+          0.005243221763521433,
+          0.9737503528594971,
+          -22.39948272705078
+        ],
+        [
+          -0.9737623929977417,
+          -0.000789476151112467,
+          0.2275656908750534,
+          -3.9939491748809814
+        ],
+        [
+          0.0019619299564510584,
+          -0.9999859929084778,
+          0.004925999324768782,
+          -3.6671390533447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 580,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_483082532",
+      "mask_path": "../../mask/hdr_right_00580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00581.png",
+      "transform_matrix": [
+        [
+          0.22477352619171143,
+          0.007243237923830748,
+          0.9743841886520386,
+          -22.40418243408203
+        ],
+        [
+          -0.9744003415107727,
+          -0.003024151548743248,
+          0.2247997224330902,
+          -3.9355435371398926
+        ],
+        [
+          0.004574962425976992,
+          -0.9999691843986511,
+          0.0063780625350773335,
+          -3.6723086833953857
+        ],
+        [
+          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": "1731323321_583082199",
+      "mask_path": "../../mask/hdr_right_00581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00582.png",
+      "transform_matrix": [
+        [
+          0.2179497331380844,
+          0.0036384924314916134,
+          0.975953221321106,
+          -22.411357879638672
+        ],
+        [
+          -0.9759413599967957,
+          -0.0053656878881156445,
+          0.21796707808971405,
+          -3.869858503341675
+        ],
+        [
+          0.006029732059687376,
+          -0.9999789595603943,
+          0.0023815040476620197,
+          -3.675798177719116
+        ],
+        [
+          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": "1731323321_683081388",
+      "mask_path": "../../mask/hdr_right_00582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00583.png",
+      "transform_matrix": [
+        [
+          0.20270757377147675,
+          0.00355253042653203,
+          0.979232907295227,
+          -22.408414840698242
+        ],
+        [
+          -0.9791901111602783,
+          -0.009290685877203941,
+          0.2027323991060257,
+          -3.787311553955078
+        ],
+        [
+          0.009817958809435368,
+          -0.9999505877494812,
+          0.0015953098190948367,
+          -3.6700639724731445
+        ],
+        [
+          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": "1731323321_783081293",
+      "mask_path": "../../mask/hdr_right_00583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00584.png",
+      "transform_matrix": [
+        [
+          0.18018469214439392,
+          0.005238293204456568,
+          0.9836188554763794,
+          -22.401700973510742
+        ],
+        [
+          -0.9835732579231262,
+          -0.010049748234450817,
+          0.18022984266281128,
+          -3.714132785797119
+        ],
+        [
+          0.010829218663275242,
+          -0.9999358057975769,
+          0.0033414314966648817,
+          -3.6612045764923096
+        ],
+        [
+          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": "1731323321_883081674",
+      "mask_path": "../../mask/hdr_right_00584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00585.png",
+      "transform_matrix": [
+        [
+          0.15237261354923248,
+          0.005698585882782936,
+          0.9883067011833191,
+          -22.391443252563477
+        ],
+        [
+          -0.9882927536964417,
+          -0.00695633003488183,
+          0.1524105668067932,
+          -3.6494088172912598
+        ],
+        [
+          0.007743511348962784,
+          -0.9999595880508423,
+          0.00457191513851285,
+          -3.6616063117980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 585,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323321_983081340",
+      "mask_path": "../../mask/hdr_right_00585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00586.png",
+      "transform_matrix": [
+        [
+          0.12236674129962921,
+          0.007353570312261581,
+          0.9924576282501221,
+          -22.384370803833008
+        ],
+        [
+          -0.992474377155304,
+          -0.0037008952349424362,
+          0.12239622324705124,
+          -3.5644452571868896
+        ],
+        [
+          0.004573030862957239,
+          -0.9999660849571228,
+          0.006845362018793821,
+          -3.6590185165405273
+        ],
+        [
+          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": "1731323322_83081007",
+      "mask_path": "../../mask/hdr_right_00586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00587.png",
+      "transform_matrix": [
+        [
+          0.09717761725187302,
+          0.012033123522996902,
+          0.9951943159103394,
+          -22.379186630249023
+        ],
+        [
+          -0.995246946811676,
+          -0.0051853894256055355,
+          0.0972454622387886,
+          -3.4762861728668213
+        ],
+        [
+          0.0063306367956101894,
+          -0.9999142289161682,
+          0.011472023092210293,
+          -3.6616456508636475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 587,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_183080911",
+      "mask_path": "../../mask/hdr_right_00587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00588.png",
+      "transform_matrix": [
+        [
+          0.07469779253005981,
+          0.018424132838845253,
+          0.9970361590385437,
+          -22.36914825439453
+        ],
+        [
+          -0.9971649050712585,
+          -0.007721170783042908,
+          0.07485009729862213,
+          -3.409823417663574
+        ],
+        [
+          0.009077333845198154,
+          -0.999800443649292,
+          0.017795143648982048,
+          -3.6709940433502197
+        ],
+        [
+          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": "1731323322_283081054",
+      "mask_path": "../../mask/hdr_right_00588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00589.png",
+      "transform_matrix": [
+        [
+          0.050830528140068054,
+          0.02116147242486477,
+          0.9984830617904663,
+          -22.360658645629883
+        ],
+        [
+          -0.9986767768859863,
+          -0.006737654563039541,
+          0.05098317936062813,
+          -3.3452682495117188
+        ],
+        [
+          0.007806312758475542,
+          -0.9997534155845642,
+          0.02079099230468273,
+          -3.6769280433654785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 589,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_383080720",
+      "mask_path": "../../mask/hdr_right_00589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00590.png",
+      "transform_matrix": [
+        [
+          0.023602869361639023,
+          0.020390614867210388,
+          0.9995134472846985,
+          -22.34247398376465
+        ],
+        [
+          -0.9996601939201355,
+          -0.0105798514559865,
+          0.023822152987122536,
+          -3.2624146938323975
+        ],
+        [
+          0.01106045302003622,
+          -0.9997361302375793,
+          0.0201339703053236,
+          -3.673037528991699
+        ],
+        [
+          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": "1731323322_483080625",
+      "mask_path": "../../mask/hdr_right_00590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00591.png",
+      "transform_matrix": [
+        [
+          -0.007963394746184349,
+          0.017784351482987404,
+          0.9998101592063904,
+          -22.320457458496094
+        ],
+        [
+          -0.9998853802680969,
+          -0.01301296055316925,
+          -0.00773253571242094,
+          -3.1870336532592773
+        ],
+        [
+          0.012872971594333649,
+          -0.9997571706771851,
+          0.01788594014942646,
+          -3.666346788406372
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 591,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_583079576",
+      "mask_path": "../../mask/hdr_right_00591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00592.png",
+      "transform_matrix": [
+        [
+          -0.04203971475362778,
+          0.016562001779675484,
+          0.9989786744117737,
+          -22.301851272583008
+        ],
+        [
+          -0.999072790145874,
+          -0.00998731330037117,
+          -0.0418781079351902,
+          -3.1248779296875
+        ],
+        [
+          0.009283527731895447,
+          -0.99981290102005,
+          0.016966508701443672,
+          -3.6644492149353027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 592,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_683079957",
+      "mask_path": "../../mask/hdr_right_00592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00593.png",
+      "transform_matrix": [
+        [
+          -0.07642577588558197,
+          0.01630057580769062,
+          0.9969420433044434,
+          -22.282983779907227
+        ],
+        [
+          -0.997056245803833,
+          -0.007420284673571587,
+          -0.07631324231624603,
+          -3.0454354286193848
+        ],
+        [
+          0.006153643596917391,
+          -0.9998395442962646,
+          0.01681969128549099,
+          -3.6629199981689453
+        ],
+        [
+          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": "1731323322_783080816",
+      "mask_path": "../../mask/hdr_right_00593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00594.png",
+      "transform_matrix": [
+        [
+          -0.1012466549873352,
+          0.016682807356119156,
+          0.9947214722633362,
+          -22.266088485717773
+        ],
+        [
+          -0.994834840297699,
+          -0.008997427299618721,
+          -0.10110737383365631,
+          -2.9604740142822266
+        ],
+        [
+          0.007263178937137127,
+          -0.999820351600647,
+          0.01750759780406952,
+          -3.6633875370025635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 594,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323322_883079290",
+      "mask_path": "../../mask/hdr_right_00594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00595.png",
+      "transform_matrix": [
+        [
+          -0.11876317858695984,
+          0.019385335966944695,
+          0.9927334189414978,
+          -22.249181747436523
+        ],
+        [
+          -0.9928770661354065,
+          -0.011897322721779346,
+          -0.11854807287454605,
+          -2.8969852924346924
+        ],
+        [
+          0.009512773714959621,
+          -0.99974125623703,
+          0.020660215988755226,
+          -3.670201301574707
+        ],
+        [
+          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": "1731323322_983079433",
+      "mask_path": "../../mask/hdr_right_00595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00596.png",
+      "transform_matrix": [
+        [
+          -0.13493691384792328,
+          0.019422097131609917,
+          0.9906638264656067,
+          -22.229934692382812
+        ],
+        [
+          -0.9908095002174377,
+          -0.012145121581852436,
+          -0.134718656539917,
+          -2.837261438369751
+        ],
+        [
+          0.0094152158126235,
+          -0.9997376203536987,
+          0.02088242396712303,
+          -3.677358627319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 596,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_83079576",
+      "mask_path": "../../mask/hdr_right_00596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00597.png",
+      "transform_matrix": [
+        [
+          -0.15215489268302917,
+          0.01451803557574749,
+          0.9882500171661377,
+          -22.205432891845703
+        ],
+        [
+          -0.9882654547691345,
+          -0.01582084596157074,
+          -0.15192487835884094,
+          -2.7604243755340576
+        ],
+        [
+          0.013429300859570503,
+          -0.9997695088386536,
+          0.016754891723394394,
+          -3.6753599643707275
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 597,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_183079481",
+      "mask_path": "../../mask/hdr_right_00597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00598.png",
+      "transform_matrix": [
+        [
+          -0.1731160283088684,
+          0.009943298995494843,
+          0.9848513007164001,
+          -22.176605224609375
+        ],
+        [
+          -0.9847798347473145,
+          -0.017457233741879463,
+          -0.17292724549770355,
+          -2.6872127056121826
+        ],
+        [
+          0.015473311766982079,
+          -0.9997981190681458,
+          0.01281408965587616,
+          -3.6663360595703125
+        ],
+        [
+          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": "1731323323_283079624",
+      "mask_path": "../../mask/hdr_right_00598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00599.png",
+      "transform_matrix": [
+        [
+          -0.1965123564004898,
+          0.009379392489790916,
+          0.980456531047821,
+          -22.14750862121582
+        ],
+        [
+          -0.9804314374923706,
+          -0.013825379312038422,
+          -0.1963750571012497,
+          -2.6293704509735107
+        ],
+        [
+          0.011713302694261074,
+          -0.999860405921936,
+          0.011912709102034569,
+          -3.663614511489868
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 599,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_383080959",
+      "mask_path": "../../mask/hdr_right_00599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00600.png",
+      "transform_matrix": [
+        [
+          -0.2215595245361328,
+          0.008494570851325989,
+          0.975109875202179,
+          -22.117525100708008
+        ],
+        [
+          -0.9751183986663818,
+          -0.009572943672537804,
+          -0.22147810459136963,
+          -2.5569143295288086
+        ],
+        [
+          0.007453312631696463,
+          -0.9999181032180786,
+          0.010404187254607677,
+          -3.663153648376465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 600,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_483081817",
+      "mask_path": "../../mask/hdr_right_00600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00601.png",
+      "transform_matrix": [
+        [
+          -0.2380342036485672,
+          0.00931447185575962,
+          0.9712120890617371,
+          -22.083742141723633
+        ],
+        [
+          -0.9712162017822266,
+          -0.011427819728851318,
+          -0.23792564868927002,
+          -2.472592353820801
+        ],
+        [
+          0.008882686495780945,
+          -0.9998912811279297,
+          0.011766578070819378,
+          -3.6632137298583984
+        ],
+        [
+          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": "1731323323_583081245",
+      "mask_path": "../../mask/hdr_right_00601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00602.png",
+      "transform_matrix": [
+        [
+          -0.2450842261314392,
+          0.011624513193964958,
+          0.9694320559501648,
+          -22.055282592773438
+        ],
+        [
+          -0.9694260954856873,
+          -0.015434007160365582,
+          -0.24489755928516388,
+          -2.4072535037994385
+        ],
+        [
+          0.012115406803786755,
+          -0.9998133182525635,
+          0.015051736496388912,
+          -3.6699562072753906
+        ],
+        [
+          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": "1731323323_683081865",
+      "mask_path": "../../mask/hdr_right_00602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00603.png",
+      "transform_matrix": [
+        [
+          -0.2467554360628128,
+          0.00948486290872097,
+          0.9690313935279846,
+          -22.03229522705078
+        ],
+        [
+          -0.9690014719963074,
+          -0.014970545656979084,
+          -0.24660131335258484,
+          -2.3427624702453613
+        ],
+        [
+          0.012167949229478836,
+          -0.9998428821563721,
+          0.012884906493127346,
+          -3.673985719680786
+        ],
+        [
+          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": "1731323323_783081531",
+      "mask_path": "../../mask/hdr_right_00603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00604.png",
+      "transform_matrix": [
+        [
+          -0.2504538297653198,
+          0.005449057091027498,
+          0.9681132435798645,
+          -21.997995376586914
+        ],
+        [
+          -0.9679940342903137,
+          -0.018079908564686775,
+          -0.2503212094306946,
+          -2.2608234882354736
+        ],
+        [
+          0.016139382496476173,
+          -0.999821662902832,
+          0.009802834130823612,
+          -3.675581693649292
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 604,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323323_883082389",
+      "mask_path": "../../mask/hdr_right_00604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00605.png",
+      "transform_matrix": [
+        [
+          -0.26081255078315735,
+          0.0017536005470901728,
+          0.9653879404067993,
+          -21.95860481262207
+        ],
+        [
+          -0.9652170538902283,
+          -0.019372450187802315,
+          -0.2607312798500061,
+          -2.186842679977417
+        ],
+        [
+          0.018244709819555283,
+          -0.9998107552528381,
+          0.006745183374732733,
+          -3.6718554496765137
+        ],
+        [
+          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": "1731323323_983082532",
+      "mask_path": "../../mask/hdr_right_00605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00606.png",
+      "transform_matrix": [
+        [
+          -0.27364638447761536,
+          -0.0002048917522188276,
+          0.9618303775787354,
+          -21.924560546875
+        ],
+        [
+          -0.9617180824279785,
+          -0.015223161317408085,
+          -0.2736176550388336,
+          -2.1266496181488037
+        ],
+        [
+          0.01469816081225872,
+          -0.9998840689659119,
+          0.003968714736402035,
+          -3.6702466011047363
+        ],
+        [
+          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": "1731323324_83082437",
+      "mask_path": "../../mask/hdr_right_00606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00607.png",
+      "transform_matrix": [
+        [
+          -0.28740638494491577,
+          0.0002854479243978858,
+          0.9578086733818054,
+          -21.88991355895996
+        ],
+        [
+          -0.9577549695968628,
+          -0.010680826380848885,
+          -0.28738704323768616,
+          -2.0510594844818115
+        ],
+        [
+          0.010148155502974987,
+          -0.9999428987503052,
+          0.0033431246411055326,
+          -3.671069860458374
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 607,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_183080911",
+      "mask_path": "../../mask/hdr_right_00607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00608.png",
+      "transform_matrix": [
+        [
+          -0.29116585850715637,
+          0.003411001292988658,
+          0.9566665291786194,
+          -21.8566951751709
+        ],
+        [
+          -0.9566383957862854,
+          -0.00949567649513483,
+          -0.2911233901977539,
+          -1.959010362625122
+        ],
+        [
+          0.008091172203421593,
+          -0.9999490976333618,
+          0.00602791178971529,
+          -3.668196439743042
+        ],
+        [
+          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": "1731323324_283082723",
+      "mask_path": "../../mask/hdr_right_00608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00609.png",
+      "transform_matrix": [
+        [
+          -0.28762903809547424,
+          0.007085248362272978,
+          0.9577157497406006,
+          -21.83142852783203
+        ],
+        [
+          -0.9577123522758484,
+          -0.009984025731682777,
+          -0.2875542640686035,
+          -1.885462999343872
+        ],
+        [
+          0.007524465210735798,
+          -0.9999250769615173,
+          0.009657328017055988,
+          -3.6717936992645264
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 609,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_383080959",
+      "mask_path": "../../mask/hdr_right_00609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00610.png",
+      "transform_matrix": [
+        [
+          -0.2852444052696228,
+          0.005916542839258909,
+          0.9584366083145142,
+          -21.806957244873047
+        ],
+        [
+          -0.958436131477356,
+          -0.007999507710337639,
+          -0.2851949632167816,
+          -1.819439172744751
+        ],
+        [
+          0.005979651585221291,
+          -0.9999505281448364,
+          0.00795244425535202,
+          -3.6782922744750977
+        ],
+        [
+          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": "1731323324_483081340",
+      "mask_path": "../../mask/hdr_right_00610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00611.png",
+      "transform_matrix": [
+        [
+          -0.2876995801925659,
+          0.0026126375887542963,
+          0.9577171802520752,
+          -21.771385192871094
+        ],
+        [
+          -0.957669198513031,
+          -0.011150244623422623,
+          -0.2876548171043396,
+          -1.744703769683838
+        ],
+        [
+          0.009927244856953621,
+          -0.9999343752861023,
+          0.005709963850677013,
+          -3.6774561405181885
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 611,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_583081007",
+      "mask_path": "../../mask/hdr_right_00611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00612.png",
+      "transform_matrix": [
+        [
+          -0.29602745175361633,
+          0.0020073505584150553,
+          0.9551774263381958,
+          -21.735271453857422
+        ],
+        [
+          -0.9551242589950562,
+          -0.01136667001992464,
+          -0.29598718881607056,
+          -1.6798502206802368
+        ],
+        [
+          0.010263034142553806,
+          -0.9999334216117859,
+          0.0052821156568825245,
+          -3.6652700901031494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 612,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_683081626",
+      "mask_path": "../../mask/hdr_right_00612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00613.png",
+      "transform_matrix": [
+        [
+          -0.30559054017066956,
+          0.0013005114160478115,
+          0.9521622657775879,
+          -21.705442428588867
+        ],
+        [
+          -0.9521520137786865,
+          -0.0052445256151258945,
+          -0.30558010935783386,
+          -1.6275067329406738
+        ],
+        [
+          0.004596227779984474,
+          -0.99998539686203,
+          0.00284096272662282,
+          -3.6580605506896973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 613,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_783081293",
+      "mask_path": "../../mask/hdr_right_00613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00614.png",
+      "transform_matrix": [
+        [
+          -0.3151569664478302,
+          -0.000763281132094562,
+          0.9490392804145813,
+          -21.675893783569336
+        ],
+        [
+          -0.949039101600647,
+          0.0013123926473781466,
+          -0.31515583395957947,
+          -1.5678659677505493
+        ],
+        [
+          -0.0010049599222838879,
+          -0.9999988675117493,
+          -0.0011379942297935486,
+          -3.6571176052093506
+        ],
+        [
+          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": "1731323324_883083105",
+      "mask_path": "../../mask/hdr_right_00614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00615.png",
+      "transform_matrix": [
+        [
+          -0.31825292110443115,
+          0.00014795918832533062,
+          0.9480058550834656,
+          -21.64267921447754
+        ],
+        [
+          -0.9480058550834656,
+          -0.0002513680374249816,
+          -0.31825289130210876,
+          -1.4873210191726685
+        ],
+        [
+          0.00019121039076708257,
+          -1.0,
+          0.0002202636533183977,
+          -3.6566107273101807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 615,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323324_983082294",
+      "mask_path": "../../mask/hdr_right_00615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00616.png",
+      "transform_matrix": [
+        [
+          -0.3157147467136383,
+          0.005023653153330088,
+          0.9488409757614136,
+          -21.614349365234375
+        ],
+        [
+          -0.9488460421562195,
+          -0.005792953539639711,
+          -0.31568583846092224,
+          -1.4172682762145996
+        ],
+        [
+          0.003910695668309927,
+          -0.999970555305481,
+          0.00659559341147542,
+          -3.6623921394348145
+        ],
+        [
+          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": "1731323325_83083868",
+      "mask_path": "../../mask/hdr_right_00616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00617.png",
+      "transform_matrix": [
+        [
+          -0.31365445256233215,
+          0.0057588005438447,
+          0.9495197534561157,
+          -21.58831024169922
+        ],
+        [
+          -0.9495279788970947,
+          -0.0063104829750955105,
+          -0.313618928194046,
+          -1.3626079559326172
+        ],
+        [
+          0.004185857716947794,
+          -0.9999634623527527,
+          0.007447452284395695,
+          -3.6708412170410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 617,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_183082103",
+      "mask_path": "../../mask/hdr_right_00617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00618.png",
+      "transform_matrix": [
+        [
+          -0.31621554493904114,
+          0.004579372704029083,
+          0.9486764073371887,
+          -21.555952072143555
+        ],
+        [
+          -0.9486397504806519,
+          -0.01154742855578661,
+          -0.31614765524864197,
+          -1.3040850162506104
+        ],
+        [
+          0.009507015347480774,
+          -0.9999228119850159,
+          0.00799565203487873,
+          -3.668654203414917
+        ],
+        [
+          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": "1731323325_283082246",
+      "mask_path": "../../mask/hdr_right_00618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00619.png",
+      "transform_matrix": [
+        [
+          -0.3243906497955322,
+          0.006269300822168589,
+          0.9459024667739868,
+          -21.52242660522461
+        ],
+        [
+          -0.9458637237548828,
+          -0.01335946749895811,
+          -0.32428890466690063,
+          -1.25307035446167
+        ],
+        [
+          0.010603687725961208,
+          -0.9998911023139954,
+          0.010263591073453426,
+          -3.654642105102539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 619,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_383082151",
+      "mask_path": "../../mask/hdr_right_00619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00620.png",
+      "transform_matrix": [
+        [
+          -0.3339385986328125,
+          0.00656831543892622,
+          0.9425719976425171,
+          -21.49129295349121
+        ],
+        [
+          -0.9425830245018005,
+          -0.007344413083046675,
+          -0.333891361951828,
+          -1.208901047706604
+        ],
+        [
+          0.004729533568024635,
+          -0.9999514818191528,
+          0.008643765933811665,
+          -3.6484971046447754
+        ],
+        [
+          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": "1731323325_483081579",
+      "mask_path": "../../mask/hdr_right_00620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00621.png",
+      "transform_matrix": [
+        [
+          -0.34268051385879517,
+          0.0029964889399707317,
+          0.9394472241401672,
+          -21.461254119873047
+        ],
+        [
+          -0.9394509196281433,
+          0.0004305717011447996,
+          -0.3426832854747772,
+          -1.158393383026123
+        ],
+        [
+          -0.0014313459396362305,
+          -0.9999954104423523,
+          0.002667505294084549,
+          -3.6449038982391357
+        ],
+        [
+          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": "1731323325_583081722",
+      "mask_path": "../../mask/hdr_right_00621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00622.png",
+      "transform_matrix": [
+        [
+          -0.34427767992019653,
+          0.0028139736969023943,
+          0.9388637542724609,
+          -21.434133529663086
+        ],
+        [
+          -0.9388675689697266,
+          -0.0002507550816517323,
+          -0.3442783057689667,
+          -1.0987263917922974
+        ],
+        [
+          -0.0007333652465604246,
+          -0.9999960064888,
+          0.002728278050199151,
+          -3.640756130218506
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 622,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_683080911",
+      "mask_path": "../../mask/hdr_right_00622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00624.png",
+      "transform_matrix": [
+        [
+          -0.3465668857097626,
+          0.005054255947470665,
+          0.9380117058753967,
+          -21.390775680541992
+        ],
+        [
+          -0.9380200505256653,
+          -0.005203098990023136,
+          -0.3465418815612793,
+          -1.0217901468276978
+        ],
+        [
+          0.0031290557235479355,
+          -0.9999736547470093,
+          0.006544215139001608,
+          -3.6547327041625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 624,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323325_883082389",
+      "mask_path": "../../mask/hdr_right_00624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00626.png",
+      "transform_matrix": [
+        [
+          -0.3775646388530731,
+          0.0004159365489613265,
+          0.925983190536499,
+          -21.336252212524414
+        ],
+        [
+          -0.925896406173706,
+          -0.013866379857063293,
+          -0.37752315402030945,
+          -0.9558522701263428
+        ],
+        [
+          0.012683008797466755,
+          -0.9999037384986877,
+          0.005620570387691259,
+          -3.6464059352874756
+        ],
+        [
+          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": "1731323326_83082199",
+      "mask_path": "../../mask/hdr_right_00626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00628.png",
+      "transform_matrix": [
+        [
+          -0.42455780506134033,
+          0.004052031319588423,
+          0.9053918123245239,
+          -21.274795532226562
+        ],
+        [
+          -0.9053873419761658,
+          -0.007360365241765976,
+          -0.42452272772789,
+          -0.8951704502105713
+        ],
+        [
+          0.00494383554905653,
+          -0.9999646544456482,
+          0.006793557200580835,
+          -3.638692617416382
+        ],
+        [
+          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": "1731323326_283082723",
+      "mask_path": "../../mask/hdr_right_00628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00683.png",
+      "transform_matrix": [
+        [
+          -0.5122438073158264,
+          -0.0013393242843449116,
+          0.8588389754295349,
+          -21.150314331054688
+        ],
+        [
+          -0.8583410382270813,
+          0.03488453850150108,
+          -0.5118923187255859,
+          -0.7769249677658081
+        ],
+        [
+          -0.02927461266517639,
+          -0.9993904232978821,
+          -0.019018985331058502,
+          -3.648071765899658
+        ],
+        [
+          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": "1731323331_783083438",
+      "mask_path": "../../mask/hdr_right_00683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00685.png",
+      "transform_matrix": [
+        [
+          -0.5047613382339478,
+          -0.006363382562994957,
+          0.8632354736328125,
+          -21.104719161987305
+        ],
+        [
+          -0.8629502058029175,
+          0.030464334413409233,
+          -0.5043699145317078,
+          -0.7204369306564331
+        ],
+        [
+          -0.023088395595550537,
+          -0.9995155930519104,
+          -0.02086850255727768,
+          -3.6500649452209473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 685,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323331_983079433",
+      "mask_path": "../../mask/hdr_right_00685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00687.png",
+      "transform_matrix": [
+        [
+          -0.5154890418052673,
+          -0.010130521841347218,
+          0.8568363189697266,
+          -21.056554794311523
+        ],
+        [
+          -0.8564175367355347,
+          0.03950762003660202,
+          -0.514769971370697,
+          -0.6559187769889832
+        ],
+        [
+          -0.028636671602725983,
+          -0.9991679191589355,
+          -0.029041698202490807,
+          -3.6341617107391357
+        ],
+        [
+          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": "1731323332_183082818",
+      "mask_path": "../../mask/hdr_right_00687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00688.png",
+      "transform_matrix": [
+        [
+          -0.5294122695922852,
+          -0.007638163864612579,
+          0.8483303189277649,
+          -21.018043518066406
+        ],
+        [
+          -0.8478738069534302,
+          0.03877684473991394,
+          -0.5287782549858093,
+          -0.6113510131835938
+        ],
+        [
+          -0.028856677934527397,
+          -0.9992187023162842,
+          -0.027005136013031006,
+          -3.63741135597229
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 688,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323332_283082246",
+      "mask_path": "../../mask/hdr_right_00688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00689.png",
+      "transform_matrix": [
+        [
+          -0.5429019331932068,
+          -0.004705638624727726,
+          0.8397828936576843,
+          -20.97573471069336
+        ],
+        [
+          -0.8394930362701416,
+          0.029909687116742134,
+          -0.5425468683242798,
+          -0.5609843730926514
+        ],
+        [
+          -0.022564616054296494,
+          -0.9995415210723877,
+          -0.020188378170132637,
+          -3.6407968997955322
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 689,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323332_383081912",
+      "mask_path": "../../mask/hdr_right_00689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00691.png",
+      "transform_matrix": [
+        [
+          -0.5721688270568848,
+          0.001295017427764833,
+          0.8201348781585693,
+          -20.919973373413086
+        ],
+        [
+          -0.8199607133865356,
+          0.0197597686201334,
+          -0.5720786452293396,
+          -0.4969005286693573
+        ],
+        [
+          -0.016946526244282722,
+          -0.999803900718689,
+          -0.010244060307741165,
+          -3.652669906616211
+        ],
+        [
+          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": "1731323332_583082199",
+      "mask_path": "../../mask/hdr_right_00691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00693.png",
+      "transform_matrix": [
+        [
+          -0.6175930500030518,
+          -0.00931839644908905,
+          0.7864426374435425,
+          -20.855606079101562
+        ],
+        [
+          -0.7864954471588135,
+          0.00979267992079258,
+          -0.6175186038017273,
+          -0.4316909611225128
+        ],
+        [
+          -0.001947097247466445,
+          -0.9999086260795593,
+          -0.013376766815781593,
+          -3.6537318229675293
+        ],
+        [
+          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": "1731323332_783082008",
+      "mask_path": "../../mask/hdr_right_00693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00695.png",
+      "transform_matrix": [
+        [
+          -0.6824823021888733,
+          -0.009028177708387375,
+          0.7308464050292969,
+          -20.76961898803711
+        ],
+        [
+          -0.7308979630470276,
+          0.00503556476905942,
+          -0.6824682950973511,
+          -0.3959675431251526
+        ],
+        [
+          0.0024812191259115934,
+          -0.9999465942382812,
+          -0.010035361163318157,
+          -3.64640474319458
+        ],
+        [
+          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": "1731323332_983082294",
+      "mask_path": "../../mask/hdr_right_00695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00696.png",
+      "transform_matrix": [
+        [
+          -0.7144076228141785,
+          -0.0056268805637955666,
+          0.6997070908546448,
+          -20.718774795532227
+        ],
+        [
+          -0.6997293829917908,
+          0.004723444581031799,
+          -0.7143924236297607,
+          -0.36756598949432373
+        ],
+        [
+          0.0007147738942876458,
+          -0.9999729990959167,
+          -0.0073117585852742195,
+          -3.643200635910034
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 696,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323333_83080530",
+      "mask_path": "../../mask/hdr_right_00696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00697.png",
+      "transform_matrix": [
+        [
+          -0.7379358410835266,
+          -0.0009497161954641342,
+          0.6748701930046082,
+          -20.671878814697266
+        ],
+        [
+          -0.674870491027832,
+          -3.0032790164113976e-05,
+          -0.73793625831604,
+          -0.3331133723258972
+        ],
+        [
+          0.0007210980402305722,
+          -0.9999995231628418,
+          -0.0006187733961269259,
+          -3.639603853225708
+        ],
+        [
+          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": "1731323333_183080196",
+      "mask_path": "../../mask/hdr_right_00697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00699.png",
+      "transform_matrix": [
+        [
+          -0.7748660445213318,
+          0.0031383358873426914,
+          0.6321178078651428,
+          -20.587581634521484
+        ],
+        [
+          -0.6321029663085938,
+          -0.01230058167129755,
+          -0.7747867703437805,
+          -0.30756449699401855
+        ],
+        [
+          0.00534387631341815,
+          -0.9999194145202637,
+          0.011515054851770401,
+          -3.6526966094970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 699,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323333_383080720",
+      "mask_path": "../../mask/hdr_right_00699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00705.png",
+      "transform_matrix": [
+        [
+          -0.8196141719818115,
+          -0.011732546612620354,
+          0.5727957487106323,
+          -20.34531021118164
+        ],
+        [
+          -0.5727918148040771,
+          -0.004032095894217491,
+          -0.819691002368927,
+          -0.20939402282238007
+        ],
+        [
+          0.011926629580557346,
+          -0.9999231100082397,
+          -0.003415544517338276,
+          -3.6381545066833496
+        ],
+        [
+          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": "1731323333_983082771",
+      "mask_path": "../../mask/hdr_right_00705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00707.png",
+      "transform_matrix": [
+        [
+          -0.8164288401603699,
+          -0.014281683601439,
+          0.5772693753242493,
+          -20.28202247619629
+        ],
+        [
+          -0.5771724581718445,
+          -0.010588073171675205,
+          -0.8165537714958191,
+          -0.17345471680164337
+        ],
+        [
+          0.017773931846022606,
+          -0.9998419284820557,
+          0.00040141382487490773,
+          -3.652554750442505
+        ],
+        [
+          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": "1731323334_183081388",
+      "mask_path": "../../mask/hdr_right_00707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00709.png",
+      "transform_matrix": [
+        [
+          -0.8213580846786499,
+          -0.01877584122121334,
+          0.5701037049293518,
+          -20.218955993652344
+        ],
+        [
+          -0.5699112415313721,
+          -0.014893829822540283,
+          -0.8215713500976562,
+          -0.14728116989135742
+        ],
+        [
+          0.02391672320663929,
+          -0.9997127652168274,
+          0.0015326039865612984,
+          -3.6486592292785645
+        ],
+        [
+          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": "1731323334_383080720",
+      "mask_path": "../../mask/hdr_right_00709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00712.png",
+      "transform_matrix": [
+        [
+          -0.8271420001983643,
+          -0.018070165067911148,
+          0.56170254945755,
+          -20.167814254760742
+        ],
+        [
+          -0.5617523789405823,
+          -0.002665923908352852,
+          -0.8273012042045593,
+          -0.12011000514030457
+        ],
+        [
+          0.016446925699710846,
+          -0.9998332262039185,
+          -0.007945860736072063,
+          -3.641768217086792
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 712,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323334_683080196",
+      "mask_path": "../../mask/hdr_right_00712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00717.png",
+      "transform_matrix": [
+        [
+          -0.75987309217453,
+          -0.01987714320421219,
+          0.6497674584388733,
+          -20.18326187133789
+        ],
+        [
+          -0.6498453617095947,
+          -0.00313326227478683,
+          -0.7600600719451904,
+          -0.04563868045806885
+        ],
+        [
+          0.017143715173006058,
+          -0.999797523021698,
+          -0.010536189191043377,
+          -3.642134666442871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 717,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323335_183080673",
+      "mask_path": "../../mask/hdr_right_00717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00720.png",
+      "transform_matrix": [
+        [
+          -0.734819233417511,
+          -0.02131478674709797,
+          0.6779279708862305,
+          -20.1436824798584
+        ],
+        [
+          -0.6781706809997559,
+          0.0065987603738904,
+          -0.7348747849464417,
+          -0.011543408036231995
+        ],
+        [
+          0.01119021326303482,
+          -0.9997509717941284,
+          -0.019303960725665092,
+          -3.6340391635894775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 720,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323335_483082771",
+      "mask_path": "../../mask/hdr_right_00720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00722.png",
+      "transform_matrix": [
+        [
+          -0.7340344190597534,
+          -0.02189415507018566,
+          0.6787592172622681,
+          -20.092044830322266
+        ],
+        [
+          -0.6789736151695251,
+          0.0034629094880074263,
+          -0.7341545820236206,
+          0.006222322583198547
+        ],
+        [
+          0.013723211362957954,
+          -0.9997543096542358,
+          -0.017407450824975967,
+          -3.631204843521118
+        ],
+        [
+          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": "1731323335_683081626",
+      "mask_path": "../../mask/hdr_right_00722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00724.png",
+      "transform_matrix": [
+        [
+          -0.7292129993438721,
+          -0.0176764614880085,
+          0.684058427810669,
+          -20.03434944152832
+        ],
+        [
+          -0.6841088533401489,
+          -0.003963455557823181,
+          -0.7293692231178284,
+          0.055349916219711304
+        ],
+        [
+          0.015603901818394661,
+          -0.9998359084129333,
+          -0.009202421642839909,
+          -3.6444931030273438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 724,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323335_883082151",
+      "mask_path": "../../mask/hdr_right_00724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00725.png",
+      "transform_matrix": [
+        [
+          -0.7279704809188843,
+          -0.019833311438560486,
+          0.6853215098381042,
+          -19.9954776763916
+        ],
+        [
+          -0.6853530406951904,
+          -0.006230189464986324,
+          -0.7281842827796936,
+          0.08753831684589386
+        ],
+        [
+          0.018711989745497704,
+          -0.9997838139533997,
+          -0.009057427756488323,
+          -3.649768829345703
+        ],
+        [
+          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": "1731323335_983081579",
+      "mask_path": "../../mask/hdr_right_00725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00726.png",
+      "transform_matrix": [
+        [
+          -0.7297891974449158,
+          -0.021758370101451874,
+          0.6833259463310242,
+          -19.948684692382812
+        ],
+        [
+          -0.6833460330963135,
+          -0.007661322131752968,
+          -0.7300544381141663,
+          0.11824563890695572
+        ],
+        [
+          0.0211199764162302,
+          -0.9997339248657227,
+          -0.00927734561264515,
+          -3.649122714996338
+        ],
+        [
+          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": "1731323336_83082914",
+      "mask_path": "../../mask/hdr_right_00726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00728.png",
+      "transform_matrix": [
+        [
+          -0.7397198677062988,
+          -0.015978429466485977,
+          0.6727253198623657,
+          -19.861370086669922
+        ],
+        [
+          -0.6728199124336243,
+          0.0007523057865910232,
+          -0.7398059368133545,
+          0.17048056423664093
+        ],
+        [
+          0.011314842849969864,
+          -0.9998720288276672,
+          -0.01130710355937481,
+          -3.6444427967071533
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 728,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323336_283081531",
+      "mask_path": "../../mask/hdr_right_00728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00729.png",
+      "transform_matrix": [
+        [
+          -0.7416956424713135,
+          -0.010255461558699608,
+          0.6706582307815552,
+          -19.81501007080078
+        ],
+        [
+          -0.6706949472427368,
+          0.00018023850861936808,
+          -0.7417334318161011,
+          0.21071046590805054
+        ],
+        [
+          0.007485940586775541,
+          -0.9999474287033081,
+          -0.007011968642473221,
+          -3.640760898590088
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 729,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323336_383081674",
+      "mask_path": "../../mask/hdr_right_00729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00733.png",
+      "transform_matrix": [
+        [
+          -0.7394831776618958,
+          -0.019102392718195915,
+          0.6729040145874023,
+          -19.67354965209961
+        ],
+        [
+          -0.6729075908660889,
+          -0.007195888552814722,
+          -0.7396916151046753,
+          0.3307173252105713
+        ],
+        [
+          0.018972018733620644,
+          -0.9997916221618652,
+          -0.007532906718552113,
+          -3.658447504043579
+        ],
+        [
+          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": "1731323336_783081531",
+      "mask_path": "../../mask/hdr_right_00733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01351.png",
+      "transform_matrix": [
+        [
+          -0.8103489279747009,
+          0.005118557717651129,
+          0.585925281047821,
+          -19.531837463378906
+        ],
+        [
+          -0.5854235887527466,
+          0.03520818427205086,
+          -0.8099627494812012,
+          0.42981934547424316
+        ],
+        [
+          -0.024775205180048943,
+          -0.9993668794631958,
+          -0.025534389540553093,
+          -3.6486775875091553
+        ],
+        [
+          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": "1731323398_583080530",
+      "mask_path": "../../mask/hdr_right_01351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01354.png",
+      "transform_matrix": [
+        [
+          -0.8076562285423279,
+          -0.015139107592403889,
+          0.589459240436554,
+          -19.491600036621094
+        ],
+        [
+          -0.5896187424659729,
+          0.031607285141944885,
+          -0.8070630431175232,
+          0.4776982069015503
+        ],
+        [
+          -0.006412993185222149,
+          -0.9993856549263,
+          -0.03445412963628769,
+          -3.6451985836029053
+        ],
+        [
+          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": "1731323398_883080482",
+      "mask_path": "../../mask/hdr_right_01354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01356.png",
+      "transform_matrix": [
+        [
+          -0.8157716393470764,
+          -0.012964499182999134,
+          0.5782288312911987,
+          -19.430362701416016
+        ],
+        [
+          -0.5782793760299683,
+          0.03638362139463425,
+          -0.8150272369384766,
+          0.5084917545318604
+        ],
+        [
+          -0.010471640154719353,
+          -0.9992538094520569,
+          -0.037177834659814835,
+          -3.63986873626709
+        ],
+        [
+          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": "1731323399_83080530",
+      "mask_path": "../../mask/hdr_right_01356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01357.png",
+      "transform_matrix": [
+        [
+          -0.8192431330680847,
+          -0.013854696415364742,
+          0.5732790231704712,
+          -19.37841033935547
+        ],
+        [
+          -0.5733852982521057,
+          0.03438234701752663,
+          -0.8185641169548035,
+          0.5347970724105835
+        ],
+        [
+          -0.008369721472263336,
+          -0.9993127584457397,
+          -0.036111582070589066,
+          -3.646146059036255
+        ],
+        [
+          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": "1731323399_183082580",
+      "mask_path": "../../mask/hdr_right_01357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01361.png",
+      "transform_matrix": [
+        [
+          -0.8105000853538513,
+          -0.022200414910912514,
+          0.5853175520896912,
+          -19.226285934448242
+        ],
+        [
+          -0.585669994354248,
+          0.01543364766985178,
+          -0.8104028105735779,
+          0.6292843222618103
+        ],
+        [
+          0.008957690559327602,
+          -0.9996344447135925,
+          -0.025511091575026512,
+          -3.6586883068084717
+        ],
+        [
+          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": "1731323399_583081722",
+      "mask_path": "../../mask/hdr_right_01361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01363.png",
+      "transform_matrix": [
+        [
+          -0.8173778653144836,
+          -0.017484331503510475,
+          0.5758366584777832,
+          -19.14621353149414
+        ],
+        [
+          -0.5760478377342224,
+          0.011099275201559067,
+          -0.8173407316207886,
+          0.6623727679252625
+        ],
+        [
+          0.007899284362792969,
+          -0.9997854828834534,
+          -0.01914411410689354,
+          -3.6508703231811523
+        ],
+        [
+          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": "1731323399_783082246",
+      "mask_path": "../../mask/hdr_right_01363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01365.png",
+      "transform_matrix": [
+        [
+          -0.823119580745697,
+          -0.012491751462221146,
+          0.567730724811554,
+          -19.05417823791504
+        ],
+        [
+          -0.5678524374961853,
+          0.010685647837817669,
+          -0.8230609893798828,
+          0.7076848149299622
+        ],
+        [
+          0.004214904736727476,
+          -0.9998648166656494,
+          -0.015889039263129234,
+          -3.6545772552490234
+        ],
+        [
+          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": "1731323399_983083486",
+      "mask_path": "../../mask/hdr_right_01365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01367.png",
+      "transform_matrix": [
+        [
+          -0.8192930221557617,
+          -0.013362199068069458,
+          0.5732194781303406,
+          -19.001537322998047
+        ],
+        [
+          -0.5733041167259216,
+          0.00336004002019763,
+          -0.8193358778953552,
+          0.7493988275527954
+        ],
+        [
+          0.009022085927426815,
+          -0.9999051690101624,
+          -0.010413462296128273,
+          -3.661250114440918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1367,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323400_183082580",
+      "mask_path": "../../mask/hdr_right_01367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01369.png",
+      "transform_matrix": [
+        [
+          -0.8181013464927673,
+          -0.022112088277935982,
+          0.574648916721344,
+          -18.94769287109375
+        ],
+        [
+          -0.5748059749603271,
+          0.0009263170650228858,
+          -0.8182892799377441,
+          0.783959686756134
+        ],
+        [
+          0.01756177842617035,
+          -0.9997551441192627,
+          -0.013467983342707157,
+          -3.6689186096191406
+        ],
+        [
+          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": "1731323400_383082628",
+      "mask_path": "../../mask/hdr_right_01369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01371.png",
+      "transform_matrix": [
+        [
+          -0.8252949714660645,
+          -0.0212324820458889,
+          0.5643025636672974,
+          -18.880229949951172
+        ],
+        [
+          -0.5644651055335999,
+          0.002081343438476324,
+          -0.8254544138908386,
+          0.8089950084686279
+        ],
+        [
+          0.016351936385035515,
+          -0.9997723698616028,
+          -0.013702716678380966,
+          -3.6613316535949707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1371,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323400_583081483",
+      "mask_path": "../../mask/hdr_right_01371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01373.png",
+      "transform_matrix": [
+        [
+          -0.8318582773208618,
+          -0.01602284424006939,
+          0.5547568798065186,
+          -18.800457000732422
+        ],
+        [
+          -0.5548583269119263,
+          0.002385492669418454,
+          -0.8319414854049683,
+          0.836174488067627
+        ],
+        [
+          0.012006697244942188,
+          -0.9998687505722046,
+          -0.010874801315367222,
+          -3.6634366512298584
+        ],
+        [
+          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": "1731323400_783081531",
+      "mask_path": "../../mask/hdr_right_01373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01375.png",
+      "transform_matrix": [
+        [
+          -0.8072459697723389,
+          -0.017106588929891586,
+          0.5899671316146851,
+          -18.745662689208984
+        ],
+        [
+          -0.589917004108429,
+          -0.008381458930671215,
+          -0.8074204921722412,
+          0.8816393613815308
+        ],
+        [
+          0.018756993114948273,
+          -0.9998185634613037,
+          -0.003325569676235318,
+          -3.668180227279663
+        ],
+        [
+          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": "1731323400_983081817",
+      "mask_path": "../../mask/hdr_right_01375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01377.png",
+      "transform_matrix": [
+        [
+          -0.7634387612342834,
+          -0.021269796416163445,
+          0.6455298662185669,
+          -18.687393188476562
+        ],
+        [
+          -0.6455678343772888,
+          -0.005950747057795525,
+          -0.7636798024177551,
+          0.9363134503364563
+        ],
+        [
+          0.020084699615836143,
+          -0.9997560977935791,
+          -0.00918806716799736,
+          -3.6677424907684326
+        ],
+        [
+          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": "1731323401_183080673",
+      "mask_path": "../../mask/hdr_right_01377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01379.png",
+      "transform_matrix": [
+        [
+          -0.7318427562713623,
+          -0.017737507820129395,
+          0.6812427043914795,
+          -18.645904541015625
+        ],
+        [
+          -0.6814144849777222,
+          0.0058745420537889,
+          -0.7318742275238037,
+          0.9826986789703369
+        ],
+        [
+          0.008979634381830692,
+          -0.9998254179954529,
+          -0.016385838389396667,
+          -3.6639957427978516
+        ],
+        [
+          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": "1731323401_383081912",
+      "mask_path": "../../mask/hdr_right_01379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01380.png",
+      "transform_matrix": [
+        [
+          -0.7299319505691528,
+          -0.01657870039343834,
+          0.6833187937736511,
+          -18.602399826049805
+        ],
+        [
+          -0.6835038661956787,
+          0.010836202651262283,
+          -0.729866623878479,
+          1.0083376169204712
+        ],
+        [
+          0.004695659037679434,
+          -0.999803900718689,
+          -0.019241295754909515,
+          -3.667067766189575
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1380,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323401_483079671",
+      "mask_path": "../../mask/hdr_right_01380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01381.png",
+      "transform_matrix": [
+        [
+          -0.7229185104370117,
+          -0.017069578170776367,
+          0.6907223463058472,
+          -18.554025650024414
+        ],
+        [
+          -0.6908721327781677,
+          0.004563350696116686,
+          -0.7229626178741455,
+          1.039528727531433
+        ],
+        [
+          0.009188656695187092,
+          -0.9998438954353333,
+          -0.015091829933226109,
+          -3.666951894760132
+        ],
+        [
+          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": "1731323401_583081483",
+      "mask_path": "../../mask/hdr_right_01381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01383.png",
+      "transform_matrix": [
+        [
+          -0.693203330039978,
+          -0.01500848401337862,
+          0.720585823059082,
+          -18.50714111328125
+        ],
+        [
+          -0.7206864356994629,
+          0.0020046732388436794,
+          -0.6932582855224609,
+          1.101035475730896
+        ],
+        [
+          0.008960217237472534,
+          -0.9998853206634521,
+          -0.012206058017909527,
+          -3.680126428604126
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1383,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323401_783082008",
+      "mask_path": "../../mask/hdr_right_01383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01385.png",
+      "transform_matrix": [
+        [
+          -0.6403290033340454,
+          -0.0317518450319767,
+          0.7674441337585449,
+          -18.489774703979492
+        ],
+        [
+          -0.7679325938224792,
+          0.00555984303355217,
+          -0.6405066251754761,
+          1.177113652229309
+        ],
+        [
+          0.016070397570729256,
+          -0.9994803667068481,
+          -0.027943408116698265,
+          -3.6774845123291016
+        ],
+        [
+          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": "1731323401_983081817",
+      "mask_path": "../../mask/hdr_right_01385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01387.png",
+      "transform_matrix": [
+        [
+          -0.5993515253067017,
+          -0.03354538977146149,
+          0.7997827529907227,
+          -18.45438003540039
+        ],
+        [
+          -0.8003157377243042,
+          0.004504958167672157,
+          -0.5995619893074036,
+          1.2327070236206055
+        ],
+        [
+          0.01650955155491829,
+          -0.999427080154419,
+          -0.029546955600380898,
+          -3.681588888168335
+        ],
+        [
+          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": "1731323402_183082103",
+      "mask_path": "../../mask/hdr_right_01387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01389.png",
+      "transform_matrix": [
+        [
+          -0.5939584970474243,
+          -0.04704779386520386,
+          0.803118884563446,
+          -18.39109230041504
+        ],
+        [
+          -0.803081214427948,
+          -0.024497972801327705,
+          -0.5953658223152161,
+          1.2890397310256958
+        ],
+        [
+          0.047685425728559494,
+          -0.9985922574996948,
+          -0.02323242463171482,
+          -3.716506004333496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1389,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_383082389",
+      "mask_path": "../../mask/hdr_right_01389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01391.png",
+      "transform_matrix": [
+        [
+          -0.5887855291366577,
+          -0.06174725294113159,
+          0.8059273362159729,
+          -18.347681045532227
+        ],
+        [
+          -0.8052255511283875,
+          -0.04192281514406204,
+          -0.5914848446846008,
+          1.3475650548934937
+        ],
+        [
+          0.07030930370092392,
+          -0.9972109794616699,
+          -0.025036919862031937,
+          -3.7526235580444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1391,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_583081245",
+      "mask_path": "../../mask/hdr_right_01391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01392.png",
+      "transform_matrix": [
+        [
+          -0.5856695175170898,
+          -0.06479344516992569,
+          0.8079561591148376,
+          -18.299345016479492
+        ],
+        [
+          -0.8067435026168823,
+          -0.04989365488290787,
+          -0.5887917280197144,
+          1.3779562711715698
+        ],
+        [
+          0.07846172153949738,
+          -0.9966505765914917,
+          -0.023050496354699135,
+          -3.7687394618988037
+        ],
+        [
+          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": "1731323402_683081150",
+      "mask_path": "../../mask/hdr_right_01392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01393.png",
+      "transform_matrix": [
+        [
+          -0.5838773846626282,
+          -0.08143427222967148,
+          0.8077472448348999,
+          -18.257770538330078
+        ],
+        [
+          -0.8059259057044983,
+          -0.06175558269023895,
+          -0.588786780834198,
+          1.413399577140808
+        ],
+        [
+          0.09783032536506653,
+          -0.9947636127471924,
+          -0.029572295024991035,
+          -3.7790796756744385
+        ],
+        [
+          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": "1731323402_783082485",
+      "mask_path": "../../mask/hdr_right_01393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01395.png",
+      "transform_matrix": [
+        [
+          -0.590834379196167,
+          -0.10900614410638809,
+          0.7993950247764587,
+          -18.197296142578125
+        ],
+        [
+          -0.7969384789466858,
+          -0.07553650438785553,
+          -0.5993190407752991,
+          1.468929409980774
+        ],
+        [
+          0.12571296095848083,
+          -0.9911669492721558,
+          -0.04224162921309471,
+          -3.8015308380126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1395,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323402_983082532",
+      "mask_path": "../../mask/hdr_right_01395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01396.png",
+      "transform_matrix": [
+        [
+          -0.5947495102882385,
+          -0.11256320029497147,
+          0.7959915399551392,
+          -18.15608024597168
+        ],
+        [
+          -0.7912483215332031,
+          -0.09308428317308426,
+          -0.6043687462806702,
+          1.5127432346343994
+        ],
+        [
+          0.1421239674091339,
+          -0.9892749190330505,
+          -0.03370360657572746,
+          -3.8266658782958984
+        ],
+        [
+          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": "1731323403_83080053",
+      "mask_path": "../../mask/hdr_right_01396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01397.png",
+      "transform_matrix": [
+        [
+          -0.5935210585594177,
+          -0.11244875192642212,
+          0.7969241142272949,
+          -18.112703323364258
+        ],
+        [
+          -0.7874569892883301,
+          -0.1234237402677536,
+          -0.6038858890533447,
+          1.5574679374694824
+        ],
+        [
+          0.1662655472755432,
+          -0.9859623908996582,
+          -0.015293972566723824,
+          -3.8553407192230225
+        ],
+        [
+          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": "1731323403_183083057",
+      "mask_path": "../../mask/hdr_right_01397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01400.png",
+      "transform_matrix": [
+        [
+          -0.5805995464324951,
+          -0.1326887309551239,
+          0.8033044338226318,
+          -18.0052547454834
+        ],
+        [
+          -0.7862945795059204,
+          -0.16466636955738068,
+          -0.5955047607421875,
+          1.6514281034469604
+        ],
+        [
+          0.21129398047924042,
+          -0.9773836135864258,
+          -0.008727211505174637,
+          -3.9286723136901855
+        ],
+        [
+          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": "1731323403_483081579",
+      "mask_path": "../../mask/hdr_right_01400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01401.png",
+      "transform_matrix": [
+        [
+          -0.5716838240623474,
+          -0.17643453180789948,
+          0.8012793064117432,
+          -17.965089797973633
+        ],
+        [
+          -0.7824509739875793,
+          -0.17661847174167633,
+          -0.5971403121948242,
+          1.686545491218567
+        ],
+        [
+          0.24687689542770386,
+          -0.9683371186256409,
+          -0.037081435322761536,
+          -3.958613634109497
+        ],
+        [
+          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": "1731323403_583082199",
+      "mask_path": "../../mask/hdr_right_01401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01403.png",
+      "transform_matrix": [
+        [
+          -0.5644375085830688,
+          -0.21980997920036316,
+          0.7956719398498535,
+          -17.93787956237793
+        ],
+        [
+          -0.7718583345413208,
+          -0.20118728280067444,
+          -0.6031239628791809,
+          1.7334632873535156
+        ],
+        [
+          0.2926517128944397,
+          -0.9545717835426331,
+          -0.05610453709959984,
+          -3.979957103729248
+        ],
+        [
+          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": "1731323403_783081531",
+      "mask_path": "../../mask/hdr_right_01403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01404.png",
+      "transform_matrix": [
+        [
+          -0.5623248815536499,
+          -0.2231738269329071,
+          0.7962313294410706,
+          -17.905994415283203
+        ],
+        [
+          -0.7678797841072083,
+          -0.21636800467967987,
+          -0.602947473526001,
+          1.7662564516067505
+        ],
+        [
+          0.30684101581573486,
+          -0.9504621624946594,
+          -0.0497015155851841,
+          -4.013998508453369
+        ],
+        [
+          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": "1731323403_883081436",
+      "mask_path": "../../mask/hdr_right_01404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01405.png",
+      "transform_matrix": [
+        [
+          -0.560990571975708,
+          -0.22833308577537537,
+          0.795709490776062,
+          -17.86968994140625
+        ],
+        [
+          -0.7599553465843201,
+          -0.23910826444625854,
+          -0.6043965220451355,
+          1.8041685819625854
+        ],
+        [
+          0.328264445066452,
+          -0.9437645077705383,
+          -0.03938548266887665,
+          -4.051614761352539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1405,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323403_983081817",
+      "mask_path": "../../mask/hdr_right_01405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01406.png",
+      "transform_matrix": [
+        [
+          -0.5594233870506287,
+          -0.238525852560997,
+          0.7938204407691956,
+          -17.84137535095215
+        ],
+        [
+          -0.7528547048568726,
+          -0.2544534504413605,
+          -0.6070117354393005,
+          1.8328204154968262
+        ],
+        [
+          0.34677839279174805,
+          -0.9372079372406006,
+          -0.03722808137536049,
+          -4.086113452911377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1406,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323404_83082199",
+      "mask_path": "../../mask/hdr_right_01406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01407.png",
+      "transform_matrix": [
+        [
+          -0.5574750900268555,
+          -0.24529650807380676,
+          0.7931274175643921,
+          -17.811431884765625
+        ],
+        [
+          -0.7513139247894287,
+          -0.257379412651062,
+          -0.6076868772506714,
+          1.864863634109497
+        ],
+        [
+          0.3531981110572815,
+          -0.9346579313278198,
+          -0.040812063962221146,
+          -4.1164093017578125
+        ],
+        [
+          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": "1731323404_183082103",
+      "mask_path": "../../mask/hdr_right_01407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01408.png",
+      "transform_matrix": [
+        [
+          -0.5562852025032043,
+          -0.24349085986614227,
+          0.7945181131362915,
+          -17.761981964111328
+        ],
+        [
+          -0.7538831830024719,
+          -0.25434136390686035,
+          -0.6057809591293335,
+          1.9000555276870728
+        ],
+        [
+          0.3495809733867645,
+          -0.9359608888626099,
+          -0.04207731783390045,
+          -4.146997451782227
+        ],
+        [
+          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": "1731323404_283081531",
+      "mask_path": "../../mask/hdr_right_01408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01409.png",
+      "transform_matrix": [
+        [
+          -0.5525085926055908,
+          -0.26200640201568604,
+          0.7912565469741821,
+          -17.706275939941406
+        ],
+        [
+          -0.7515705227851868,
+          -0.2538488507270813,
+          -0.6088534593582153,
+          1.944767951965332
+        ],
+        [
+          0.3603830635547638,
+          -0.9310818314552307,
+          -0.05666258931159973,
+          -4.161279201507568
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1409,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323404_383081912",
+      "mask_path": "../../mask/hdr_right_01409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01411.png",
+      "transform_matrix": [
+        [
+          -0.5557141900062561,
+          -0.24295096099376678,
+          0.7950827479362488,
+          -17.64535903930664
+        ],
+        [
+          -0.7523601055145264,
+          -0.25996071100234985,
+          -0.6052890419960022,
+          1.9944429397583008
+        ],
+        [
+          0.35374584794044495,
+          -0.9345561265945435,
+          -0.03832279518246651,
+          -4.176961421966553
+        ],
+        [
+          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": "1731323404_583081722",
+      "mask_path": "../../mask/hdr_right_01411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01412.png",
+      "transform_matrix": [
+        [
+          -0.557904064655304,
+          -0.23337505757808685,
+          0.7964165210723877,
+          -17.60209846496582
+        ],
+        [
+          -0.7573485374450684,
+          -0.24924485385417938,
+          -0.6035729050636292,
+          2.048511028289795
+        ],
+        [
+          0.3393615186214447,
+          -0.9399005770683289,
+          -0.03769153356552124,
+          -4.2007012367248535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1412,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323404_683083295",
+      "mask_path": "../../mask/hdr_right_01412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01417.png",
+      "transform_matrix": [
+        [
+          -0.5589108467102051,
+          -0.2610296905040741,
+          0.787071943283081,
+          -17.491039276123047
+        ],
+        [
+          -0.7667055726051331,
+          -0.19889673590660095,
+          -0.6104119420051575,
+          2.244821071624756
+        ],
+        [
+          0.3158816397190094,
+          -0.9446182250976562,
+          -0.08896739035844803,
+          -4.26491117477417
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1417,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_183079719",
+      "mask_path": "../../mask/hdr_right_01417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01419.png",
+      "transform_matrix": [
+        [
+          -0.55865877866745,
+          -0.22119249403476715,
+          0.7993586659431458,
+          -17.445837020874023
+        ],
+        [
+          -0.774165689945221,
+          -0.20675601065158844,
+          -0.5982638001441956,
+          2.285407781600952
+        ],
+        [
+          0.29760363698005676,
+          -0.9530612826347351,
+          -0.055733583867549896,
+          -4.2494797706604
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1419,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_383080959",
+      "mask_path": "../../mask/hdr_right_01419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01420.png",
+      "transform_matrix": [
+        [
+          -0.563399612903595,
+          -0.20637890696525574,
+          0.7999929785728455,
+          -17.408390045166016
+        ],
+        [
+          -0.7746015191078186,
+          -0.2048356682062149,
+          -0.5983603000640869,
+          2.3135125637054443
+        ],
+        [
+          0.2873559892177582,
+          -0.9567915797233582,
+          -0.04445705562829971,
+          -4.275362491607666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1420,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_483081579",
+      "mask_path": "../../mask/hdr_right_01420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01421.png",
+      "transform_matrix": [
+        [
+          -0.5669267773628235,
+          -0.20539405941963196,
+          0.7977513670921326,
+          -17.36626625061035
+        ],
+        [
+          -0.7706226110458374,
+          -0.20997168123722076,
+          -0.601708173751831,
+          2.348857879638672
+        ],
+        [
+          0.29109248518943787,
+          -0.9558897614479065,
+          -0.03924272581934929,
+          -4.302548408508301
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1421,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_583081483",
+      "mask_path": "../../mask/hdr_right_01421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01423.png",
+      "transform_matrix": [
+        [
+          -0.569172203540802,
+          -0.2188687026500702,
+          0.7925525307655334,
+          -17.321002960205078
+        ],
+        [
+          -0.7673157453536987,
+          -0.20493318140506744,
+          -0.6076421141624451,
+          2.411051034927368
+        ],
+        [
+          0.29541411995887756,
+          -0.9539909958839417,
+          -0.051299117505550385,
+          -4.346334457397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1423,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_783082008",
+      "mask_path": "../../mask/hdr_right_01423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01425.png",
+      "transform_matrix": [
+        [
+          -0.5663731098175049,
+          -0.22853191196918488,
+          0.7918299436569214,
+          -17.252336502075195
+        ],
+        [
+          -0.7682267427444458,
+          -0.20148952305316925,
+          -0.6076427698135376,
+          2.4855029582977295
+        ],
+        [
+          0.29841122031211853,
+          -0.9524574875831604,
+          -0.06144608184695244,
+          -4.385478496551514
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1425,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323405_983080387",
+      "mask_path": "../../mask/hdr_right_01425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01427.png",
+      "transform_matrix": [
+        [
+          -0.5689555406570435,
+          -0.1894667148590088,
+          0.800244927406311,
+          -17.2005558013916
+        ],
+        [
+          -0.7749938368797302,
+          -0.2019786685705185,
+          -0.5988232493400574,
+          2.5294437408447266
+        ],
+        [
+          0.27508947253227234,
+          -0.960888683795929,
+          -0.031918641179800034,
+          -4.381959915161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1427,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_183082342",
+      "mask_path": "../../mask/hdr_right_01427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01429.png",
+      "transform_matrix": [
+        [
+          -0.5767161250114441,
+          -0.1755993366241455,
+          0.7978492379188538,
+          -17.128646850585938
+        ],
+        [
+          -0.7723248600959778,
+          -0.20115268230438232,
+          -0.6025380492210388,
+          2.598905086517334
+        ],
+        [
+          0.26629477739334106,
+          -0.9636921286582947,
+          -0.019611721858382225,
+          -4.430756568908691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1429,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_383082389",
+      "mask_path": "../../mask/hdr_right_01429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01431.png",
+      "transform_matrix": [
+        [
+          -0.5782278776168823,
+          -0.19526813924312592,
+          0.7921634316444397,
+          -17.084226608276367
+        ],
+        [
+          -0.7686405777931213,
+          -0.19519314169883728,
+          -0.6091727614402771,
+          2.6580705642700195
+        ],
+        [
+          0.27357691526412964,
+          -0.9611294865608215,
+          -0.0372248999774456,
+          -4.470005035400391
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1431,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_583082199",
+      "mask_path": "../../mask/hdr_right_01431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01433.png",
+      "transform_matrix": [
+        [
+          -0.576494574546814,
+          -0.20386256277561188,
+          0.7912611365318298,
+          -17.029233932495117
+        ],
+        [
+          -0.7696364521980286,
+          -0.1897638738155365,
+          -0.6096307039260864,
+          2.7266905307769775
+        ],
+        [
+          0.2744336724281311,
+          -0.9604321122169495,
+          -0.047502171248197556,
+          -4.506728172302246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1433,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_783082008",
+      "mask_path": "../../mask/hdr_right_01433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01435.png",
+      "transform_matrix": [
+        [
+          -0.5834121704101562,
+          -0.20320427417755127,
+          0.7863448858261108,
+          -16.965364456176758
+        ],
+        [
+          -0.7622177600860596,
+          -0.19733944535255432,
+          -0.6165074110031128,
+          2.776928424835205
+        ],
+        [
+          0.28045377135276794,
+          -0.9590438604354858,
+          -0.03975566476583481,
+          -4.517597675323486
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1435,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323406_983081340",
+      "mask_path": "../../mask/hdr_right_01435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01437.png",
+      "transform_matrix": [
+        [
+          -0.5981821417808533,
+          -0.190048947930336,
+          0.7784982919692993,
+          -16.899316787719727
+        ],
+        [
+          -0.7550073862075806,
+          -0.19195084273815155,
+          -0.6269918084144592,
+          2.8332643508911133
+        ],
+        [
+          0.26859250664711,
+          -0.962827205657959,
+          -0.028666796162724495,
+          -4.552661418914795
+        ],
+        [
+          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": "1731323407_183081150",
+      "mask_path": "../../mask/hdr_right_01437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01438.png",
+      "transform_matrix": [
+        [
+          -0.5944585800170898,
+          -0.18873827159404755,
+          0.7816629409790039,
+          -16.85188102722168
+        ],
+        [
+          -0.7500528693199158,
+          -0.2202955037355423,
+          -0.6236109137535095,
+          2.87886905670166
+        ],
+        [
+          0.28989607095718384,
+          -0.9569993615150452,
+          -0.010607145726680756,
+          -4.580259799957275
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1438,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_283082246",
+      "mask_path": "../../mask/hdr_right_01438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01440.png",
+      "transform_matrix": [
+        [
+          -0.5749480724334717,
+          -0.1947878897190094,
+          0.7946649789810181,
+          -16.816547393798828
+        ],
+        [
+          -0.7477187514305115,
+          -0.26924505829811096,
+          -0.6069791913032532,
+          2.9219515323638916
+        ],
+        [
+          0.3321918249130249,
+          -0.9431673884391785,
+          0.009155387058854103,
+          -4.605724334716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1440,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_483082294",
+      "mask_path": "../../mask/hdr_right_01440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01442.png",
+      "transform_matrix": [
+        [
+          -0.5353471636772156,
+          -0.1950303018093109,
+          0.8218069672584534,
+          -16.788898468017578
+        ],
+        [
+          -0.778007447719574,
+          -0.2648955285549164,
+          -0.5696796774864197,
+          3.0023887157440186
+        ],
+        [
+          0.32879775762557983,
+          -0.9443482160568237,
+          -0.009923932142555714,
+          -4.652731418609619
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1442,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323407_683082818",
+      "mask_path": "../../mask/hdr_right_01442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01444.png",
+      "transform_matrix": [
+        [
+          -0.5026021003723145,
+          -0.18992358446121216,
+          0.8433979749679565,
+          -16.75323486328125
+        ],
+        [
+          -0.8033941984176636,
+          -0.25770103931427,
+          -0.5367942452430725,
+          3.075422525405884
+        ],
+        [
+          0.31929442286491394,
+          -0.9473749399185181,
+          -0.023062411695718765,
+          -4.676908493041992
+        ],
+        [
+          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": "1731323407_883082866",
+      "mask_path": "../../mask/hdr_right_01444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01446.png",
+      "transform_matrix": [
+        [
+          -0.47617462277412415,
+          -0.17630243301391602,
+          0.861495852470398,
+          -16.702816009521484
+        ],
+        [
+          -0.8174901604652405,
+          -0.2722049057483673,
+          -0.507557213306427,
+          3.1657068729400635
+        ],
+        [
+          0.3239870071411133,
+          -0.9459503293037415,
+          -0.014508412219583988,
+          -4.739367961883545
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1446,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_83081722",
+      "mask_path": "../../mask/hdr_right_01446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01449.png",
+      "transform_matrix": [
+        [
+          -0.4550892412662506,
+          -0.194973886013031,
+          0.8688376545906067,
+          -16.65149688720703
+        ],
+        [
+          -0.8093035221099854,
+          -0.31638190150260925,
+          -0.4949042797088623,
+          3.2547736167907715
+        ],
+        [
+          0.37137800455093384,
+          -0.9283790588378906,
+          -0.013811065815389156,
+          -4.790559768676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1449,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_383080720",
+      "mask_path": "../../mask/hdr_right_01449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01450.png",
+      "transform_matrix": [
+        [
+          -0.44930753111839294,
+          -0.20254582166671753,
+          0.8701137900352478,
+          -16.61857032775879
+        ],
+        [
+          -0.8109144568443298,
+          -0.3162386119365692,
+          -0.49235254526138306,
+          3.3099074363708496
+        ],
+        [
+          0.3748875558376312,
+          -0.9268054366111755,
+          -0.02215891145169735,
+          -4.828810214996338
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1450,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_483083248",
+      "mask_path": "../../mask/hdr_right_01450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01451.png",
+      "transform_matrix": [
+        [
+          -0.44500383734703064,
+          -0.21084554493427277,
+          0.8703538179397583,
+          -16.58115005493164
+        ],
+        [
+          -0.808057427406311,
+          -0.32440051436424255,
+          -0.4917391836643219,
+          3.3610498905181885
+        ],
+        [
+          0.38602423667907715,
+          -0.9221217632293701,
+          -0.026015838608145714,
+          -4.865960597991943
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1451,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_583082675",
+      "mask_path": "../../mask/hdr_right_01451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01452.png",
+      "transform_matrix": [
+        [
+          -0.445924311876297,
+          -0.21275795996189117,
+          0.8694168329238892,
+          -16.546327590942383
+        ],
+        [
+          -0.8058379888534546,
+          -0.32735246419906616,
+          -0.4934222400188446,
+          3.3976283073425293
+        ],
+        [
+          0.3895852267742157,
+          -0.9206380248069763,
+          -0.025474006310105324,
+          -4.894877910614014
+        ],
+        [
+          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": "1731323408_683081388",
+      "mask_path": "../../mask/hdr_right_01452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01453.png",
+      "transform_matrix": [
+        [
+          -0.45021358132362366,
+          -0.2050805240869522,
+          0.8690511584281921,
+          -16.50517463684082
+        ],
+        [
+          -0.806459903717041,
+          -0.32441627979278564,
+          -0.49434465169906616,
+          3.453860282897949
+        ],
+        [
+          0.38331472873687744,
+          -0.9234154224395752,
+          -0.019332589581608772,
+          -4.929546356201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1453,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_783081769",
+      "mask_path": "../../mask/hdr_right_01453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01454.png",
+      "transform_matrix": [
+        [
+          -0.45251864194869995,
+          -0.2014525830745697,
+          0.8687024116516113,
+          -16.44672966003418
+        ],
+        [
+          -0.8036633729934692,
+          -0.330039918422699,
+          -0.4951755404472351,
+          3.5284080505371094
+        ],
+        [
+          0.3864608108997345,
+          -0.9222204089164734,
+          -0.012550878338515759,
+          -4.9733967781066895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1454,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_883082628",
+      "mask_path": "../../mask/hdr_right_01454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01455.png",
+      "transform_matrix": [
+        [
+          -0.45215293765068054,
+          -0.20303523540496826,
+          0.8685242533683777,
+          -16.410402297973633
+        ],
+        [
+          -0.8012575507164001,
+          -0.3353255093097687,
+          -0.4955231547355652,
+          3.5752673149108887
+        ],
+        [
+          0.3918469548225403,
+          -0.9199638366699219,
+          -0.011065084487199783,
+          -5.010527610778809
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1455,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323408_983082532",
+      "mask_path": "../../mask/hdr_right_01455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01456.png",
+      "transform_matrix": [
+        [
+          -0.44971221685409546,
+          -0.20407411456108093,
+          0.8695474863052368,
+          -16.39126968383789
+        ],
+        [
+          -0.8034416437149048,
+          -0.33286309242248535,
+          -0.49364331364631653,
+          3.6105573177337646
+        ],
+        [
+          0.3901800513267517,
+          -0.920628011226654,
+          -0.014269054867327213,
+          -5.0413594245910645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1456,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_83082914",
+      "mask_path": "../../mask/hdr_right_01456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01457.png",
+      "transform_matrix": [
+        [
+          -0.44857826828956604,
+          -0.20069099962711334,
+          0.870919406414032,
+          -16.352581024169922
+        ],
+        [
+          -0.8066664934158325,
+          -0.32863250374794006,
+          -0.49121272563934326,
+          3.654064416885376
+        ],
+        [
+          0.3847944438457489,
+          -0.9228888750076294,
+          -0.01447327621281147,
+          -5.064802169799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1457,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_183081388",
+      "mask_path": "../../mask/hdr_right_01457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01458.png",
+      "transform_matrix": [
+        [
+          -0.4466351866722107,
+          -0.19158798456192017,
+          0.8739628195762634,
+          -16.29313087463379
+        ],
+        [
+          -0.8109209537506104,
+          -0.3260567784309387,
+          -0.4858953356742859,
+          3.707096815109253
+        ],
+        [
+          0.3780531883239746,
+          -0.9257326722145081,
+          -0.009734248742461205,
+          -5.093263149261475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1458,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_283081531",
+      "mask_path": "../../mask/hdr_right_01458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01459.png",
+      "transform_matrix": [
+        [
+          -0.44638389348983765,
+          -0.18190227448940277,
+          0.8761581182479858,
+          -16.24591827392578
+        ],
+        [
+          -0.8127187490463257,
+          -0.32732895016670227,
+          -0.4820207953453064,
+          3.7480809688568115
+        ],
+        [
+          0.37447258830070496,
+          -0.9272363781929016,
+          -0.0017210207879543304,
+          -5.115713596343994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1459,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_383079767",
+      "mask_path": "../../mask/hdr_right_01459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01461.png",
+      "transform_matrix": [
+        [
+          -0.45481833815574646,
+          -0.1619579792022705,
+          0.8757339715957642,
+          -16.177011489868164
+        ],
+        [
+          -0.8128957748413086,
+          -0.32617345452308655,
+          -0.4825052320957184,
+          3.8091304302215576
+        ],
+        [
+          0.3637867569923401,
+          -0.9313325881958008,
+          0.0166946891695261,
+          -5.149348735809326
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1461,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_583080530",
+      "mask_path": "../../mask/hdr_right_01461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01462.png",
+      "transform_matrix": [
+        [
+          -0.4562758207321167,
+          -0.15019240975379944,
+          0.8770716786384583,
+          -16.13711929321289
+        ],
+        [
+          -0.8135626912117004,
+          -0.3288564085960388,
+          -0.4795511066913605,
+          3.8625309467315674
+        ],
+        [
+          0.36045557260513306,
+          -0.9323602318763733,
+          0.027858244255185127,
+          -5.191359996795654
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1462,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_683080673",
+      "mask_path": "../../mask/hdr_right_01462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01463.png",
+      "transform_matrix": [
+        [
+          -0.45222726464271545,
+          -0.14304345846176147,
+          0.8803574442863464,
+          -16.093942642211914
+        ],
+        [
+          -0.8119631409645081,
+          -0.3424072265625,
+          -0.47272953391075134,
+          3.9141504764556885
+        ],
+        [
+          0.36906158924102783,
+          -0.9285988807678223,
+          0.038699857890605927,
+          -5.219399929046631
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1463,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323409_783079862",
+      "mask_path": "../../mask/hdr_right_01463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01466.png",
+      "transform_matrix": [
+        [
+          -0.438809871673584,
+          -0.16009511053562164,
+          0.884203314781189,
+          -16.026235580444336
+        ],
+        [
+          -0.8178207874298096,
+          -0.3365490138530731,
+          -0.46680179238319397,
+          4.0192670822143555
+        ],
+        [
+          0.37231042981147766,
+          -0.9279570579528809,
+          0.016751933842897415,
+          -5.258245944976807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1466,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_83081722",
+      "mask_path": "../../mask/hdr_right_01466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01467.png",
+      "transform_matrix": [
+        [
+          -0.43114009499549866,
+          -0.17547520995140076,
+          0.8850575089454651,
+          -16.00181007385254
+        ],
+        [
+          -0.8176566362380981,
+          -0.3387788236141205,
+          -0.4654747247695923,
+          4.063075065612793
+        ],
+        [
+          0.3815179765224457,
+          -0.9243577718734741,
+          0.0025827030185610056,
+          -5.2858123779296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1467,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_183081626",
+      "mask_path": "../../mask/hdr_right_01467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01469.png",
+      "transform_matrix": [
+        [
+          -0.4312078058719635,
+          -0.189450204372406,
+          0.8821386098861694,
+          -15.955952644348145
+        ],
+        [
+          -0.8131853938102722,
+          -0.3419671356678009,
+          -0.470943808555603,
+          4.129638195037842
+        ],
+        [
+          0.39088281989097595,
+          -0.9204168319702148,
+          -0.006599247921258211,
+          -5.3317646980285645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1469,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_383080959",
+      "mask_path": "../../mask/hdr_right_01469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01470.png",
+      "transform_matrix": [
+        [
+          -0.4363558888435364,
+          -0.18845686316490173,
+          0.8798167109489441,
+          -15.927803993225098
+        ],
+        [
+          -0.8181391358375549,
+          -0.3238691985607147,
+          -0.47513896226882935,
+          4.188311576843262
+        ],
+        [
+          0.3744887411594391,
+          -0.9271422624588013,
+          -0.01286171842366457,
+          -5.367213249206543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1470,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_483081579",
+      "mask_path": "../../mask/hdr_right_01470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01471.png",
+      "transform_matrix": [
+        [
+          -0.4374760687351227,
+          -0.18726135790348053,
+          0.8795157670974731,
+          -15.889806747436523
+        ],
+        [
+          -0.8244820237159729,
+          -0.3068920969963074,
+          -0.4754437208175659,
+          4.276158809661865
+        ],
+        [
+          0.35894861817359924,
+          -0.9331400990486145,
+          -0.02013566344976425,
+          -5.387218475341797
+        ],
+        [
+          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": "1731323410_583082914",
+      "mask_path": "../../mask/hdr_right_01471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01475.png",
+      "transform_matrix": [
+        [
+          -0.465836763381958,
+          -0.19382375478744507,
+          0.8633820414543152,
+          -15.810449600219727
+        ],
+        [
+          -0.8192158341407776,
+          -0.2743600308895111,
+          -0.5035991668701172,
+          4.42601203918457
+        ],
+        [
+          0.3344869911670685,
+          -0.9418911337852478,
+          -0.030976492911577225,
+          -5.469374656677246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1475,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323410_983082056",
+      "mask_path": "../../mask/hdr_right_01475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01479.png",
+      "transform_matrix": [
+        [
+          -0.6128433346748352,
+          -0.21320052444934845,
+          0.7608998417854309,
+          -15.71391487121582
+        ],
+        [
+          -0.7107445001602173,
+          -0.27210772037506104,
+          -0.6486907005310059,
+          4.50488805770874
+        ],
+        [
+          0.34534791111946106,
+          -0.9383512139320374,
+          0.015228311531245708,
+          -5.501408100128174
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1479,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_383080959",
+      "mask_path": "../../mask/hdr_right_01479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01480.png",
+      "transform_matrix": [
+        [
+          -0.6279140710830688,
+          -0.19020673632621765,
+          0.7546822428703308,
+          -15.676544189453125
+        ],
+        [
+          -0.7138376832008362,
+          -0.24560372531414032,
+          -0.6558313369750977,
+          4.5652031898498535
+        ],
+        [
+          0.3100963234901428,
+          -0.9505262970924377,
+          0.018441325053572655,
+          -5.506040573120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1480,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_483081817",
+      "mask_path": "../../mask/hdr_right_01480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01482.png",
+      "transform_matrix": [
+        [
+          -0.6282098889350891,
+          -0.1714717447757721,
+          0.7589135766029358,
+          -15.659745216369629
+        ],
+        [
+          -0.7189723253250122,
+          -0.24487081170082092,
+          -0.6504745483398438,
+          4.610199928283691
+        ],
+        [
+          0.29737383127212524,
+          -0.9542722702026367,
+          0.030546847730875015,
+          -5.554574012756348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1482,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_683081388",
+      "mask_path": "../../mask/hdr_right_01482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01483.png",
+      "transform_matrix": [
+        [
+          -0.6297510266304016,
+          -0.17345893383026123,
+          0.7571827173233032,
+          -15.62717056274414
+        ],
+        [
+          -0.7180894613265991,
+          -0.2417423278093338,
+          -0.6526164412498474,
+          4.640334129333496
+        ],
+        [
+          0.2962452471256256,
+          -0.9547107815742493,
+          0.02767847292125225,
+          -5.588937759399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1483,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323411_783080577",
+      "mask_path": "../../mask/hdr_right_01483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01485.png",
+      "transform_matrix": [
+        [
+          -0.63101726770401,
+          -0.19685503840446472,
+          0.7503767609596252,
+          -15.596524238586426
+        ],
+        [
+          -0.6998350620269775,
+          -0.27291548252105713,
+          -0.660112202167511,
+          4.685304641723633
+        ],
+        [
+          0.3347358703613281,
+          -0.9416821599006653,
+          0.034448347985744476,
+          -5.6128668785095215
+        ],
+        [
+          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": "1731323411_983081579",
+      "mask_path": "../../mask/hdr_right_01485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01487.png",
+      "transform_matrix": [
+        [
+          -0.6312804222106934,
+          -0.17295415699481964,
+          0.7560237646102905,
+          -15.537700653076172
+        ],
+        [
+          -0.6999253034591675,
+          -0.2928256392478943,
+          -0.6514274477958679,
+          4.738070487976074
+        ],
+        [
+          0.3340502083301544,
+          -0.9403935074806213,
+          0.06380010396242142,
+          -5.669673919677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1487,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_183081865",
+      "mask_path": "../../mask/hdr_right_01487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01488.png",
+      "transform_matrix": [
+        [
+          -0.637263298034668,
+          -0.15811213850975037,
+          0.7542520761489868,
+          -15.488927841186523
+        ],
+        [
+          -0.7019323706626892,
+          -0.2848990559577942,
+          -0.6527814269065857,
+          4.782886028289795
+        ],
+        [
+          0.31809836626052856,
+          -0.9454274773597717,
+          0.07057168334722519,
+          -5.690667152404785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1488,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_283081531",
+      "mask_path": "../../mask/hdr_right_01488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01490.png",
+      "transform_matrix": [
+        [
+          -0.6408643126487732,
+          -0.1563916802406311,
+          0.7515547871589661,
+          -15.425832748413086
+        ],
+        [
+          -0.7020772695541382,
+          -0.2765272557735443,
+          -0.6562166213989258,
+          4.819493293762207
+        ],
+        [
+          0.3104522228240967,
+          -0.9481953382492065,
+          0.06741737574338913,
+          -5.714905738830566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1490,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_483082056",
+      "mask_path": "../../mask/hdr_right_01490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01491.png",
+      "transform_matrix": [
+        [
+          -0.64373379945755,
+          -0.15517376363277435,
+          0.7493517398834229,
+          -15.355568885803223
+        ],
+        [
+          -0.7053083777427673,
+          -0.25960326194763184,
+          -0.6596561074256897,
+          4.857205867767334
+        ],
+        [
+          0.29689550399780273,
+          -0.9531669616699219,
+          0.05767003446817398,
+          -5.738842010498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1491,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_583081483",
+      "mask_path": "../../mask/hdr_right_01491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01492.png",
+      "transform_matrix": [
+        [
+          -0.6387907862663269,
+          -0.1913047730922699,
+          0.7452173829078674,
+          -15.303531646728516
+        ],
+        [
+          -0.6986051797866821,
+          -0.2615682780742645,
+          -0.6659826040267944,
+          4.882798194885254
+        ],
+        [
+          0.32233089208602905,
+          -0.9460362792015076,
+          0.03344089165329933,
+          -5.755875110626221
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1492,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_683082342",
+      "mask_path": "../../mask/hdr_right_01492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01495.png",
+      "transform_matrix": [
+        [
+          -0.6342960596084595,
+          -0.20607616007328033,
+          0.7451182007789612,
+          -15.236538887023926
+        ],
+        [
+          -0.6818021535873413,
+          -0.30523258447647095,
+          -0.6648148894309998,
+          4.940371513366699
+        ],
+        [
+          0.3644368648529053,
+          -0.92971271276474,
+          0.05310465022921562,
+          -5.820489883422852
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1495,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323412_983081817",
+      "mask_path": "../../mask/hdr_right_01495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01496.png",
+      "transform_matrix": [
+        [
+          -0.6300520300865173,
+          -0.20174846053123474,
+          0.7498881220817566,
+          -15.198997497558594
+        ],
+        [
+          -0.6826911568641663,
+          -0.31631454825401306,
+          -0.6586942076683044,
+          4.9728593826293945
+        ],
+        [
+          0.3700909912586212,
+          -0.9269534349441528,
+          0.061562731862068176,
+          -5.800146102905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1496,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_83082437",
+      "mask_path": "../../mask/hdr_right_01496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01498.png",
+      "transform_matrix": [
+        [
+          -0.6251855492591858,
+          -0.21008683741092682,
+          0.7516692280769348,
+          -15.127970695495605
+        ],
+        [
+          -0.6879430413246155,
+          -0.3065294623374939,
+          -0.6578556895256042,
+          5.0429368019104
+        ],
+        [
+          0.3686155676841736,
+          -0.9283874034881592,
+          0.04711000248789787,
+          -5.856232166290283
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1498,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_283081054",
+      "mask_path": "../../mask/hdr_right_01498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01499.png",
+      "transform_matrix": [
+        [
+          -0.618172824382782,
+          -0.22959110140800476,
+          0.7517648339271545,
+          -15.090350151062012
+        ],
+        [
+          -0.6849125623703003,
+          -0.31194818019866943,
+          -0.6584703922271729,
+          5.088402271270752
+        ],
+        [
+          0.3856905698776245,
+          -0.9219415187835693,
+          0.03558804467320442,
+          -5.896779537200928
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1499,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_383082151",
+      "mask_path": "../../mask/hdr_right_01499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08052.png",
+      "transform_matrix": [
+        [
+          0.46146807074546814,
+          -0.1624441295862198,
+          -0.8721577525138855,
+          -15.14949893951416
+        ],
+        [
+          0.8444566130638123,
+          -0.22089381515979767,
+          0.48795372247695923,
+          4.733334064483643
+        ],
+        [
+          -0.27191948890686035,
+          -0.9616745710372925,
+          0.03524159640073776,
+          -5.881985187530518
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8052,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_683078289",
+      "mask_path": "../../mask/hdr_right_08052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08053.png",
+      "transform_matrix": [
+        [
+          0.4629285931587219,
+          -0.1670440435409546,
+          -0.870513379573822,
+          -15.204105377197266
+        ],
+        [
+          0.8389223217964172,
+          -0.23451988399028778,
+          0.4911312162876129,
+          4.6758880615234375
+        ],
+        [
+          -0.28619325160980225,
+          -0.957651674747467,
+          0.03157099708914757,
+          -5.835604190826416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8053,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_783077239",
+      "mask_path": "../../mask/hdr_right_08053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08054.png",
+      "transform_matrix": [
+        [
+          0.4629957973957062,
+          -0.16949519515037537,
+          -0.8700037002563477,
+          -15.256473541259766
+        ],
+        [
+          0.8333021998405457,
+          -0.25126463174819946,
+          0.4924159348011017,
+          4.624170303344727
+        ],
+        [
+          -0.3020632565021515,
+          -0.9529624581336975,
+          0.02490626461803913,
+          -5.795740604400635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8054,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_883081197",
+      "mask_path": "../../mask/hdr_right_08054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08056.png",
+      "transform_matrix": [
+        [
+          0.4678680896759033,
+          -0.15000377595424652,
+          -0.8709754943847656,
+          -15.316489219665527
+        ],
+        [
+          0.8233654499053955,
+          -0.2841775119304657,
+          0.4912355840206146,
+          4.535091400146484
+        ],
+        [
+          -0.32119885087013245,
+          -0.9469646215438843,
+          -0.009449665434658527,
+          -5.732326507568359
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8056,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_83078622",
+      "mask_path": "../../mask/hdr_right_08056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08057.png",
+      "transform_matrix": [
+        [
+          0.4626663625240326,
+          -0.15681716799736023,
+          -0.8725528120994568,
+          -15.352012634277344
+        ],
+        [
+          0.8201606273651123,
+          -0.29794299602508545,
+          0.48843279480934143,
+          4.485086441040039
+        ],
+        [
+          -0.33656561374664307,
+          -0.9416147470474243,
+          -0.009232942014932632,
+          -5.671211242675781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8057,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_183080196",
+      "mask_path": "../../mask/hdr_right_08057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08058.png",
+      "transform_matrix": [
+        [
+          0.4619796574115753,
+          -0.15642453730106354,
+          -0.8729869723320007,
+          -15.38573932647705
+        ],
+        [
+          0.821675717830658,
+          -0.2949833273887634,
+          0.4876822233200073,
+          4.444206237792969
+        ],
+        [
+          -0.3338020145893097,
+          -0.9426113367080688,
+          -0.007746095769107342,
+          -5.660749912261963
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8058,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_283082008",
+      "mask_path": "../../mask/hdr_right_08058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08059.png",
+      "transform_matrix": [
+        [
+          0.46446385979652405,
+          -0.16108594834804535,
+          -0.8708183765411377,
+          -15.425403594970703
+        ],
+        [
+          0.8215514421463013,
+          -0.2887575328350067,
+          0.4916016459465027,
+          4.4015889167785645
+        ],
+        [
+          -0.33064550161361694,
+          -0.9437533020973206,
+          -0.0017770618433132768,
+          -5.662954807281494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8059,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_383079290",
+      "mask_path": "../../mask/hdr_right_08059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08060.png",
+      "transform_matrix": [
+        [
+          0.471612811088562,
+          -0.1546459197998047,
+          -0.8681394457817078,
+          -15.475813865661621
+        ],
+        [
+          0.8196053504943848,
+          -0.2863243520259857,
+          0.49625134468078613,
+          4.359830856323242
+        ],
+        [
+          -0.32531267404556274,
+          -0.945570170879364,
+          -0.008285606279969215,
+          -5.63424825668335
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8060,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_483081579",
+      "mask_path": "../../mask/hdr_right_08060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08061.png",
+      "transform_matrix": [
+        [
+          0.4794629216194153,
+          -0.1425863355398178,
+          -0.8659010529518127,
+          -15.516883850097656
+        ],
+        [
+          0.8149700164794922,
+          -0.29361915588378906,
+          0.49961140751838684,
+          4.323218822479248
+        ],
+        [
+          -0.32548287510871887,
+          -0.9452285170555115,
+          -0.024575907737016678,
+          -5.603145599365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8061,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_583083152",
+      "mask_path": "../../mask/hdr_right_08061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08062.png",
+      "transform_matrix": [
+        [
+          0.4848989248275757,
+          -0.13492639362812042,
+          -0.8640995025634766,
+          -15.55159854888916
+        ],
+        [
+          0.8093246817588806,
+          -0.30523377656936646,
+          0.5018227100372314,
+          4.28680944442749
+        ],
+        [
+          -0.33146151900291443,
+          -0.9426703453063965,
+          -0.03880828619003296,
+          -5.581700801849365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8062,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_683082342",
+      "mask_path": "../../mask/hdr_right_08062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08063.png",
+      "transform_matrix": [
+        [
+          0.4888077974319458,
+          -0.12521417438983917,
+          -0.863358736038208,
+          -15.588332176208496
+        ],
+        [
+          0.8038874864578247,
+          -0.3197652995586395,
+          0.501512885093689,
+          4.236822128295898
+        ],
+        [
+          -0.3388687074184418,
+          -0.939186692237854,
+          -0.05564568191766739,
+          -5.546448230743408
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8063,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_783081293",
+      "mask_path": "../../mask/hdr_right_08063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08064.png",
+      "transform_matrix": [
+        [
+          0.4899226427078247,
+          -0.12150141596794128,
+          -0.8632574081420898,
+          -15.628169059753418
+        ],
+        [
+          0.8139352202415466,
+          -0.29090553522109985,
+          0.5028751492500305,
+          4.18665885925293
+        ],
+        [
+          -0.31222638487815857,
+          -0.9490054845809937,
+          -0.043626923114061356,
+          -5.516127586364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8064,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324069_883082151",
+      "mask_path": "../../mask/hdr_right_08064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08067.png",
+      "transform_matrix": [
+        [
+          0.4884587526321411,
+          -0.13851937651634216,
+          -0.8615222573280334,
+          -15.713604927062988
+        ],
+        [
+          0.8229600191116333,
+          -0.2550877034664154,
+          0.5076091885566711,
+          4.07159948348999
+        ],
+        [
+          -0.29007741808891296,
+          -0.9569445252418518,
+          -0.010603885166347027,
+          -5.488406658172607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8067,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_183081388",
+      "mask_path": "../../mask/hdr_right_08067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08068.png",
+      "transform_matrix": [
+        [
+          0.4857429563999176,
+          -0.16420181095600128,
+          -0.8585403561592102,
+          -15.760419845581055
+        ],
+        [
+          0.8158048391342163,
+          -0.2675260007381439,
+          0.5127303004264832,
+          4.028196811676025
+        ],
+        [
+          -0.3138731122016907,
+          -0.9494564533233643,
+          0.0040077692829072475,
+          -5.419636249542236
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8068,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_283080816",
+      "mask_path": "../../mask/hdr_right_08068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08069.png",
+      "transform_matrix": [
+        [
+          0.48529237508773804,
+          -0.17362146079540253,
+          -0.8569404482841492,
+          -15.805153846740723
+        ],
+        [
+          0.809657871723175,
+          -0.2807486653327942,
+          0.5153973698616028,
+          3.9899258613586426
+        ],
+        [
+          -0.330068975687027,
+          -0.943946897983551,
+          0.0043287742882966995,
+          -5.368066310882568
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8069,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_383080959",
+      "mask_path": "../../mask/hdr_right_08069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08071.png",
+      "transform_matrix": [
+        [
+          0.48749932646751404,
+          -0.16052114963531494,
+          -0.8582409620285034,
+          -15.861665725708008
+        ],
+        [
+          0.8073380589485168,
+          -0.29144206643104553,
+          0.5130953788757324,
+          3.9168882369995117
+        ],
+        [
+          -0.3324901759624481,
+          -0.9430240988731384,
+          -0.012482979334890842,
+          -5.333427429199219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8071,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_583083152",
+      "mask_path": "../../mask/hdr_right_08071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08073.png",
+      "transform_matrix": [
+        [
+          0.4897184371948242,
+          -0.14980730414390564,
+          -0.858914315700531,
+          -15.920791625976562
+        ],
+        [
+          0.8251230120658875,
+          -0.23864443600177765,
+          0.5120751857757568,
+          3.863942861557007
+        ],
+        [
+          -0.2816877067089081,
+          -0.9594824910163879,
+          0.006740872282534838,
+          -5.320485591888428
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8073,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_783082008",
+      "mask_path": "../../mask/hdr_right_08073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08075.png",
+      "transform_matrix": [
+        [
+          0.486776739358902,
+          -0.16663692891597748,
+          -0.8574849963188171,
+          -15.985453605651855
+        ],
+        [
+          0.8215803503990173,
+          -0.24612709879875183,
+          0.5142248868942261,
+          3.778761625289917
+        ],
+        [
+          -0.2967391312122345,
+          -0.9548054933547974,
+          0.017096681520342827,
+          -5.289190292358398
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8075,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324070_983082294",
+      "mask_path": "../../mask/hdr_right_08075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08076.png",
+      "transform_matrix": [
+        [
+          0.4869012236595154,
+          -0.17838725447654724,
+          -0.8550469279289246,
+          -16.025156021118164
+        ],
+        [
+          0.8140852451324463,
+          -0.2620704174041748,
+          0.5182511806488037,
+          3.7347395420074463
+        ],
+        [
+          -0.3165319263935089,
+          -0.9484182000160217,
+          0.01762000471353531,
+          -5.227022171020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8076,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_83082199",
+      "mask_path": "../../mask/hdr_right_08076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08082.png",
+      "transform_matrix": [
+        [
+          0.4852122962474823,
+          -0.18515314161777496,
+          -0.8545685410499573,
+          -16.199804306030273
+        ],
+        [
+          0.8186178803443909,
+          -0.2472846508026123,
+          0.5183773636817932,
+          3.5407309532165527
+        ],
+        [
+          -0.3073008954524994,
+          -0.9510881304740906,
+          0.03158411756157875,
+          -5.141851425170898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8082,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_683081388",
+      "mask_path": "../../mask/hdr_right_08082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08083.png",
+      "transform_matrix": [
+        [
+          0.48292824625968933,
+          -0.1968819946050644,
+          -0.8532396554946899,
+          -16.235992431640625
+        ],
+        [
+          0.8124985694885254,
+          -0.26260748505592346,
+          0.5204647183418274,
+          3.5056238174438477
+        ],
+        [
+          -0.32653725147247314,
+          -0.9446029663085938,
+          0.033145759254693985,
+          -5.079162120819092
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8083,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324071_783082246",
+      "mask_path": "../../mask/hdr_right_08083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08089.png",
+      "transform_matrix": [
+        [
+          0.4737153947353363,
+          -0.1909952610731125,
+          -0.8597176671028137,
+          -16.407506942749023
+        ],
+        [
+          0.822942852973938,
+          -0.2516378164291382,
+          0.5093559622764587,
+          3.3236641883850098
+        ],
+        [
+          -0.31362202763557434,
+          -0.9487882852554321,
+          0.037973467260599136,
+          -4.997011184692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8089,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324072_383081436",
+      "mask_path": "../../mask/hdr_right_08089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08090.png",
+      "transform_matrix": [
+        [
+          0.4731476902961731,
+          -0.19892169535160065,
+          -0.8582314848899841,
+          -16.446243286132812
+        ],
+        [
+          0.8181250691413879,
+          -0.26216477155685425,
+          0.5118016600608826,
+          3.2847137451171875
+        ],
+        [
+          -0.32680651545524597,
+          -0.9442985653877258,
+          0.03870018199086189,
+          -4.942885398864746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8090,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324072_483082056",
+      "mask_path": "../../mask/hdr_right_08090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08096.png",
+      "transform_matrix": [
+        [
+          0.4714623689651489,
+          -0.2143109291791916,
+          -0.8554496765136719,
+          -16.631196975708008
+        ],
+        [
+          0.8220245242118835,
+          -0.24449601769447327,
+          0.5142931342124939,
+          3.1013216972351074
+        ],
+        [
+          -0.31937262415885925,
+          -0.9456704258918762,
+          0.060898151248693466,
+          -4.847080230712891
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8096,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_83083629",
+      "mask_path": "../../mask/hdr_right_08096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08097.png",
+      "transform_matrix": [
+        [
+          0.4737475514411926,
+          -0.2259027659893036,
+          -0.8511940240859985,
+          -16.672367095947266
+        ],
+        [
+          0.8167993426322937,
+          -0.2486405074596405,
+          0.5205926299095154,
+          3.071296215057373
+        ],
+        [
+          -0.32924461364746094,
+          -0.9418841600418091,
+          0.06672441214323044,
+          -4.792357444763184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8097,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_183080911",
+      "mask_path": "../../mask/hdr_right_08097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08099.png",
+      "transform_matrix": [
+        [
+          0.47467851638793945,
+          -0.22124305367469788,
+          -0.8518989682197571,
+          -16.728029251098633
+        ],
+        [
+          0.8082908987998962,
+          -0.2734946012496948,
+          0.521408200263977,
+          3.024681806564331
+        ],
+        [
+          -0.3483477234840393,
+          -0.9360834360122681,
+          0.04900673031806946,
+          -4.744141101837158
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8099,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_383080482",
+      "mask_path": "../../mask/hdr_right_08099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08101.png",
+      "transform_matrix": [
+        [
+          0.4757310748100281,
+          -0.21274101734161377,
+          -0.8534758687019348,
+          -16.78282356262207
+        ],
+        [
+          0.8219593167304993,
+          -0.23792429268360138,
+          0.5174696445465088,
+          2.9809389114379883
+        ],
+        [
+          -0.31314969062805176,
+          -0.9476989507675171,
+          0.061676498502492905,
+          -4.735296249389648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8101,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_583080768",
+      "mask_path": "../../mask/hdr_right_08101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08103.png",
+      "transform_matrix": [
+        [
+          0.48028820753097534,
+          -0.21060606837272644,
+          -0.8514507412910461,
+          -16.83416748046875
+        ],
+        [
+          0.8224016427993774,
+          -0.22934532165527344,
+          0.5206305980682373,
+          2.920893430709839
+        ],
+        [
+          -0.30492424964904785,
+          -0.9502872824668884,
+          0.06305091828107834,
+          -4.722297668457031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8103,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_783082485",
+      "mask_path": "../../mask/hdr_right_08103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08104.png",
+      "transform_matrix": [
+        [
+          0.4775159955024719,
+          -0.2308812141418457,
+          -0.8477455377578735,
+          -16.865867614746094
+        ],
+        [
+          0.8197026252746582,
+          -0.2303139567375183,
+          0.5244455337524414,
+          2.889575719833374
+        ],
+        [
+          -0.31633228063583374,
+          -0.9453303217887878,
+          0.07927533239126205,
+          -4.682917594909668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8104,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_883080959",
+      "mask_path": "../../mask/hdr_right_08104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08105.png",
+      "transform_matrix": [
+        [
+          0.47832080721855164,
+          -0.2403893768787384,
+          -0.8446432948112488,
+          -16.897470474243164
+        ],
+        [
+          0.8135108351707458,
+          -0.24097642302513123,
+          0.5292735695838928,
+          2.8573334217071533
+        ],
+        [
+          -0.3307708203792572,
+          -0.9402889609336853,
+          0.08029531687498093,
+          -4.635359764099121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8105,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324073_983081817",
+      "mask_path": "../../mask/hdr_right_08105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08107.png",
+      "transform_matrix": [
+        [
+          0.48080119490623474,
+          -0.2259320467710495,
+          -0.8472219109535217,
+          -16.95349884033203
+        ],
+        [
+          0.8084557056427002,
+          -0.25983914732933044,
+          0.528093695640564,
+          2.8015191555023193
+        ],
+        [
+          -0.339454710483551,
+          -0.9388495087623596,
+          0.05772506818175316,
+          -4.596703052520752
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8107,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_183082342",
+      "mask_path": "../../mask/hdr_right_08107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08109.png",
+      "transform_matrix": [
+        [
+          0.48348116874694824,
+          -0.22112269699573517,
+          -0.8469656109809875,
+          -17.00782012939453
+        ],
+        [
+          0.8077453970909119,
+          -0.2601701021194458,
+          0.5290170311927795,
+          2.737417221069336
+        ],
+        [
+          -0.3373328149318695,
+          -0.9399023056030273,
+          0.052823469042778015,
+          -4.5787129402160645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8109,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_383081912",
+      "mask_path": "../../mask/hdr_right_08109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08111.png",
+      "transform_matrix": [
+        [
+          0.4788396656513214,
+          -0.23376667499542236,
+          -0.8462067246437073,
+          -17.06932258605957
+        ],
+        [
+          0.8078203797340393,
+          -0.26005491614341736,
+          0.5289590954780579,
+          2.6588940620422363
+        ],
+        [
+          -0.3437132239341736,
+          -0.9368695616722107,
+          0.06431685388088226,
+          -4.543622970581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8111,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_583081722",
+      "mask_path": "../../mask/hdr_right_08111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08112.png",
+      "transform_matrix": [
+        [
+          0.4779479503631592,
+          -0.24436599016189575,
+          -0.8437126278877258,
+          -17.10638999938965
+        ],
+        [
+          0.8018705248832703,
+          -0.2707124650478363,
+          0.5326522588729858,
+          2.6128311157226562
+        ],
+        [
+          -0.35856562852859497,
+          -0.9311283826828003,
+          0.0665634274482727,
+          -4.475414276123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8112,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_683080196",
+      "mask_path": "../../mask/hdr_right_08112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08113.png",
+      "transform_matrix": [
+        [
+          0.4816235899925232,
+          -0.23608604073524475,
+          -0.8439799547195435,
+          -17.14348602294922
+        ],
+        [
+          0.7955453395843506,
+          -0.2861950695514679,
+          0.5340412855148315,
+          2.57087779045105
+        ],
+        [
+          -0.3676225543022156,
+          -0.9286311268806458,
+          0.04997884854674339,
+          -4.432034492492676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8113,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_783081531",
+      "mask_path": "../../mask/hdr_right_08113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08114.png",
+      "transform_matrix": [
+        [
+          0.48259735107421875,
+          -0.22979994118213654,
+          -0.8451579213142395,
+          -17.18218231201172
+        ],
+        [
+          0.7970868945121765,
+          -0.28467655181884766,
+          0.5325521230697632,
+          2.528949737548828
+        ],
+        [
+          -0.36297711730003357,
+          -0.9306724667549133,
+          0.04578636586666107,
+          -4.421492099761963
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8114,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_883080959",
+      "mask_path": "../../mask/hdr_right_08114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08115.png",
+      "transform_matrix": [
+        [
+          0.4840910732746124,
+          -0.23087479174137115,
+          -0.8440098762512207,
+          -17.221752166748047
+        ],
+        [
+          0.7990548610687256,
+          -0.2764586806297302,
+          0.5339307188987732,
+          2.486234426498413
+        ],
+        [
+          -0.3566049635410309,
+          -0.932881236076355,
+          0.0506504587829113,
+          -4.411147594451904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8115,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324074_983082532",
+      "mask_path": "../../mask/hdr_right_08115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08116.png",
+      "transform_matrix": [
+        [
+          0.48621153831481934,
+          -0.2289428561925888,
+          -0.8433169722557068,
+          -17.261062622070312
+        ],
+        [
+          0.7993746399879456,
+          -0.2733065187931061,
+          0.5350736975669861,
+          2.4425666332244873
+        ],
+        [
+          -0.35298535227775574,
+          -0.9342851042747498,
+          0.050126321613788605,
+          -4.40334415435791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8116,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_83082199",
+      "mask_path": "../../mask/hdr_right_08116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08117.png",
+      "transform_matrix": [
+        [
+          0.48591601848602295,
+          -0.2306203991174698,
+          -0.8430302143096924,
+          -17.306835174560547
+        ],
+        [
+          0.8015821576118469,
+          -0.26685571670532227,
+          0.5350271463394165,
+          2.3951194286346436
+        ],
+        [
+          -0.34835559129714966,
+          -0.9357362389564514,
+          0.05519173666834831,
+          -4.381353378295898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8117,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_183082818",
+      "mask_path": "../../mask/hdr_right_08117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08118.png",
+      "transform_matrix": [
+        [
+          0.489681214094162,
+          -0.2302522510290146,
+          -0.8409495949745178,
+          -17.354644775390625
+        ],
+        [
+          0.7995214462280273,
+          -0.2661779522895813,
+          0.5384373664855957,
+          2.3475117683410645
+        ],
+        [
+          -0.34781864285469055,
+          -0.9360198974609375,
+          0.05374927818775177,
+          -4.338979244232178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8118,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_283082008",
+      "mask_path": "../../mask/hdr_right_08118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08119.png",
+      "transform_matrix": [
+        [
+          0.4925341308116913,
+          -0.22001031041145325,
+          -0.8420246839523315,
+          -17.389801025390625
+        ],
+        [
+          0.7975731492042542,
+          -0.27306094765663147,
+          0.537880003452301,
+          2.302924156188965
+        ],
+        [
+          -0.3482632040977478,
+          -0.9365004301071167,
+          0.04098241776227951,
+          -4.309294700622559
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8119,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_383081197",
+      "mask_path": "../../mask/hdr_right_08119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08120.png",
+      "transform_matrix": [
+        [
+          0.4946763813495636,
+          -0.2088569551706314,
+          -0.8436078429222107,
+          -17.429609298706055
+        ],
+        [
+          0.8045004606246948,
+          -0.25713738799095154,
+          0.535405695438385,
+          2.256239175796509
+        ],
+        [
+          -0.32874634861946106,
+          -0.9435355067253113,
+          0.0408257395029068,
+          -4.298995018005371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8120,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_483082294",
+      "mask_path": "../../mask/hdr_right_08120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08121.png",
+      "transform_matrix": [
+        [
+          0.49602794647216797,
+          -0.2025838941335678,
+          -0.8443436622619629,
+          -17.47394561767578
+        ],
+        [
+          0.8116845488548279,
+          -0.23721614480018616,
+          0.5337570905685425,
+          2.211144208908081
+        ],
+        [
+          -0.3084225654602051,
+          -0.950098991394043,
+          0.04676838591694832,
+          -4.291070938110352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8121,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_583081960",
+      "mask_path": "../../mask/hdr_right_08121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08122.png",
+      "transform_matrix": [
+        [
+          0.4964555501937866,
+          -0.19767527282238007,
+          -0.8452553153038025,
+          -17.511722564697266
+        ],
+        [
+          0.8149362802505493,
+          -0.22928006947040558,
+          0.5322683453559875,
+          2.1689453125
+        ],
+        [
+          -0.29901647567749023,
+          -0.9530766010284424,
+          0.04726538062095642,
+          -4.281584739685059
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8122,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_683082342",
+      "mask_path": "../../mask/hdr_right_08122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08123.png",
+      "transform_matrix": [
+        [
+          0.5012311339378357,
+          -0.18816553056240082,
+          -0.8446069955825806,
+          -17.559310913085938
+        ],
+        [
+          0.8163829445838928,
+          -0.22074078023433685,
+          0.5336593985557556,
+          2.121147632598877
+        ],
+        [
+          -0.2868555188179016,
+          -0.957009494304657,
+          0.04297298565506935,
+          -4.269293308258057
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8123,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_783081769",
+      "mask_path": "../../mask/hdr_right_08123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08124.png",
+      "transform_matrix": [
+        [
+          0.5060833096504211,
+          -0.18371421098709106,
+          -0.8426914215087891,
+          -17.60770034790039
+        ],
+        [
+          0.8147128820419312,
+          -0.21883070468902588,
+          0.5369877815246582,
+          2.0702247619628906
+        ],
+        [
+          -0.2830590605735779,
+          -0.9583121538162231,
+          0.038927771151065826,
+          -4.247490882873535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8124,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_883081674",
+      "mask_path": "../../mask/hdr_right_08124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08125.png",
+      "transform_matrix": [
+        [
+          0.5086251497268677,
+          -0.17889614403247833,
+          -0.8421975374221802,
+          -17.6464786529541
+        ],
+        [
+          0.8125877976417542,
+          -0.22360385954380035,
+          0.5382401943206787,
+          2.019275188446045
+        ],
+        [
+          -0.2846076786518097,
+          -0.9581218361854553,
+          0.03163826838135719,
+          -4.223281383514404
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8125,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324075_983081817",
+      "mask_path": "../../mask/hdr_right_08125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08126.png",
+      "transform_matrix": [
+        [
+          0.511049747467041,
+          -0.17525410652160645,
+          -0.8414952158927917,
+          -17.68704605102539
+        ],
+        [
+          0.8119898438453674,
+          -0.22270694375038147,
+          0.5395129323005676,
+          1.9585270881652832
+        ],
+        [
+          -0.281958669424057,
+          -0.9590033888816833,
+          0.028490208089351654,
+          -4.194691181182861
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8126,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_83081245",
+      "mask_path": "../../mask/hdr_right_08126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08127.png",
+      "transform_matrix": [
+        [
+          0.5095238089561462,
+          -0.17485909163951874,
+          -0.8425021171569824,
+          -17.724288940429688
+        ],
+        [
+          0.8156136274337769,
+          -0.2138177901506424,
+          0.5376396775245667,
+          1.9007251262664795
+        ],
+        [
+          -0.27415311336517334,
+          -0.9610963463783264,
+          0.03367219865322113,
+          -4.1771464347839355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8127,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_183080911",
+      "mask_path": "../../mask/hdr_right_08127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08128.png",
+      "transform_matrix": [
+        [
+          0.5066177845001221,
+          -0.17534352838993073,
+          -0.8441522717475891,
+          -17.757278442382812
+        ],
+        [
+          0.8196845054626465,
+          -0.20561005175113678,
+          0.5346418619155884,
+          1.8519505262374878
+        ],
+        [
+          -0.2673121392726898,
+          -0.9627975225448608,
+          0.03956063464283943,
+          -4.165241718292236
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8128,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_283081531",
+      "mask_path": "../../mask/hdr_right_08128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08129.png",
+      "transform_matrix": [
+        [
+          0.5052204728126526,
+          -0.1769436001777649,
+          -0.8446556925773621,
+          -17.798084259033203
+        ],
+        [
+          0.8222016096115112,
+          -0.1986541897058487,
+          0.5334052443504333,
+          1.8025248050689697
+        ],
+        [
+          -0.262177050113678,
+          -0.9639644622802734,
+          0.04511912167072296,
+          -4.146869659423828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8129,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_383080720",
+      "mask_path": "../../mask/hdr_right_08129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08130.png",
+      "transform_matrix": [
+        [
+          0.5118866562843323,
+          -0.1650117188692093,
+          -0.8430559039115906,
+          -17.845396041870117
+        ],
+        [
+          0.8218857049942017,
+          -0.19147175550460815,
+          0.5365095138549805,
+          1.751452088356018
+        ],
+        [
+          -0.24995173513889313,
+          -0.9675276279449463,
+          0.037608906626701355,
+          -4.1217803955078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8130,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_483081102",
+      "mask_path": "../../mask/hdr_right_08130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08131.png",
+      "transform_matrix": [
+        [
+          0.5202560424804688,
+          -0.15251214802265167,
+          -0.8402819633483887,
+          -17.883853912353516
+        ],
+        [
+          0.8182236552238464,
+          -0.19282804429531097,
+          0.5415971875190735,
+          1.7057867050170898
+        ],
+        [
+          -0.24463008344173431,
+          -0.9693076610565186,
+          0.024469075724482536,
+          -4.09706974029541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8131,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_583081483",
+      "mask_path": "../../mask/hdr_right_08131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08132.png",
+      "transform_matrix": [
+        [
+          0.5245656371116638,
+          -0.14666981995105743,
+          -0.8386411070823669,
+          -17.92163848876953
+        ],
+        [
+          0.813947319984436,
+          -0.20244130492210388,
+          0.5445248484611511,
+          1.6597938537597656
+        ],
+        [
+          -0.24964094161987305,
+          -0.9682487845420837,
+          0.013187747448682785,
+          -4.077227592468262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8132,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_683081150",
+      "mask_path": "../../mask/hdr_right_08132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08133.png",
+      "transform_matrix": [
+        [
+          0.5279858112335205,
+          -0.14438627660274506,
+          -0.8368892669677734,
+          -17.968177795410156
+        ],
+        [
+          0.8102027177810669,
+          -0.20974771678447723,
+          0.547336757183075,
+          1.600577712059021
+        ],
+        [
+          -0.25456351041793823,
+          -0.9670359492301941,
+          0.006238323170691729,
+          -4.0444159507751465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8133,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_783080101",
+      "mask_path": "../../mask/hdr_right_08133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08134.png",
+      "transform_matrix": [
+        [
+          0.5266762375831604,
+          -0.14861586689949036,
+          -0.836974024772644,
+          -18.00790023803711
+        ],
+        [
+          0.8105225563049316,
+          -0.20901277661323547,
+          0.5471444725990295,
+          1.5416233539581299
+        ],
+        [
+          -0.25625255703926086,
+          -0.9665541648864746,
+          0.010374431498348713,
+          -4.018660068511963
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8134,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_883081674",
+      "mask_path": "../../mask/hdr_right_08134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08135.png",
+      "transform_matrix": [
+        [
+          0.523855447769165,
+          -0.15630879998207092,
+          -0.8373427987098694,
+          -18.040428161621094
+        ],
+        [
+          0.812696099281311,
+          -0.2027360051870346,
+          0.5462812781333923,
+          1.4985562562942505
+        ],
+        [
+          -0.25514814257621765,
+          -0.9666776061058044,
+          0.020827198401093483,
+          -4.010138034820557
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8135,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324076_983080625",
+      "mask_path": "../../mask/hdr_right_08135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08136.png",
+      "transform_matrix": [
+        [
+          0.521723747253418,
+          -0.17016364634037018,
+          -0.8359717130661011,
+          -18.07788848876953
+        ],
+        [
+          0.8137688040733337,
+          -0.19489197432994843,
+          0.5475376844406128,
+          1.459234356880188
+        ],
+        [
+          -0.25609514117240906,
+          -0.9659510254859924,
+          0.03679410368204117,
+          -4.006432056427002
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8136,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_83081007",
+      "mask_path": "../../mask/hdr_right_08136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08137.png",
+      "transform_matrix": [
+        [
+          0.5183591246604919,
+          -0.19737543165683746,
+          -0.8320738077163696,
+          -18.11446189880371
+        ],
+        [
+          0.8090458512306213,
+          -0.20202192664146423,
+          0.5519347786903381,
+          1.4130496978759766
+        ],
+        [
+          -0.27703550457954407,
+          -0.9592862129211426,
+          0.05496585741639137,
+          -3.9456229209899902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8137,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_183080911",
+      "mask_path": "../../mask/hdr_right_08137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08138.png",
+      "transform_matrix": [
+        [
+          0.5175191164016724,
+          -0.21261066198349,
+          -0.8288370370864868,
+          -18.15148162841797
+        ],
+        [
+          0.8010313510894775,
+          -0.22021354734897614,
+          0.5566461086273193,
+          1.3739194869995117
+        ],
+        [
+          -0.30087000131607056,
+          -0.951999306678772,
+          0.056343063712120056,
+          -3.8850698471069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8138,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_283080816",
+      "mask_path": "../../mask/hdr_right_08138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08139.png",
+      "transform_matrix": [
+        [
+          0.518284797668457,
+          -0.21118107438087463,
+          -0.8287239670753479,
+          -18.184602737426758
+        ],
+        [
+          0.7968075275421143,
+          -0.23270761966705322,
+          0.5576244592666626,
+          1.3374943733215332
+        ],
+        [
+          -0.3106101453304291,
+          -0.9493417143821716,
+          0.04766185209155083,
+          -3.8620717525482178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8139,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_383080959",
+      "mask_path": "../../mask/hdr_right_08139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08140.png",
+      "transform_matrix": [
+        [
+          0.5208864212036133,
+          -0.2126859575510025,
+          -0.8267055153846741,
+          -18.21514892578125
+        ],
+        [
+          0.7958987951278687,
+          -0.22908924520015717,
+          0.5604134798049927,
+          1.297069787979126
+        ],
+        [
+          -0.3085814118385315,
+          -0.9498857259750366,
+          0.04994700476527214,
+          -3.8516528606414795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8140,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_483080387",
+      "mask_path": "../../mask/hdr_right_08140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08142.png",
+      "transform_matrix": [
+        [
+          0.5308632850646973,
+          -0.21556515991687775,
+          -0.8195826411247253,
+          -18.278413772583008
+        ],
+        [
+          0.7907653450965881,
+          -0.22177931666374207,
+          0.5705296397209167,
+          1.226326584815979
+        ],
+        [
+          -0.30475279688835144,
+          -0.9509708881378174,
+          0.05272693559527397,
+          -3.846146583557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8142,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_683084726",
+      "mask_path": "../../mask/hdr_right_08142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08143.png",
+      "transform_matrix": [
+        [
+          0.5279048085212708,
+          -0.24318312108516693,
+          -0.813743531703949,
+          -18.324296951293945
+        ],
+        [
+          0.7900736331939697,
+          -0.21092280745506287,
+          0.5755825638771057,
+          1.1904734373092651
+        ],
+        [
+          -0.31160902976989746,
+          -0.9467700719833374,
+          0.08078541606664658,
+          -3.839773178100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8143,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_783082246",
+      "mask_path": "../../mask/hdr_right_08143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08144.png",
+      "transform_matrix": [
+        [
+          0.5259188413619995,
+          -0.2712191939353943,
+          -0.8061324954032898,
+          -18.349952697753906
+        ],
+        [
+          0.7839311361312866,
+          -0.21309790015220642,
+          0.5831305384635925,
+          1.1543989181518555
+        ],
+        [
+          -0.3299413323402405,
+          -0.9386316537857056,
+          0.1005450114607811,
+          -3.749129056930542
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8144,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324077_883083820",
+      "mask_path": "../../mask/hdr_right_08144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08147.png",
+      "transform_matrix": [
+        [
+          0.5422899127006531,
+          -0.247369185090065,
+          -0.8029508590698242,
+          -18.45718765258789
+        ],
+        [
+          0.7741682529449463,
+          -0.224233016371727,
+          0.5919316411018372,
+          1.063187837600708
+        ],
+        [
+          -0.3264737129211426,
+          -0.9426177144050598,
+          0.0699060708284378,
+          -3.7063419818878174
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8147,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_183082103",
+      "mask_path": "../../mask/hdr_right_08147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08149.png",
+      "transform_matrix": [
+        [
+          0.5519067645072937,
+          -0.24067817628383636,
+          -0.7984191179275513,
+          -18.524431228637695
+        ],
+        [
+          0.7728939652442932,
+          -0.2118539959192276,
+          0.5981245040893555,
+          0.9973324537277222
+        ],
+        [
+          -0.3131037950515747,
+          -0.9472021460533142,
+          0.06909503042697906,
+          -3.6907200813293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8149,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_383081912",
+      "mask_path": "../../mask/hdr_right_08149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08150.png",
+      "transform_matrix": [
+        [
+          0.5572255849838257,
+          -0.23111270368099213,
+          -0.79755038022995,
+          -18.56537628173828
+        ],
+        [
+          0.7738576531410217,
+          -0.20371419191360474,
+          0.5997040271759033,
+          0.9604586958885193
+        ],
+        [
+          -0.30107155442237854,
+          -0.951360821723938,
+          0.06533356010913849,
+          -3.6836414337158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8150,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_483084917",
+      "mask_path": "../../mask/hdr_right_08150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08151.png",
+      "transform_matrix": [
+        [
+          0.5627012252807617,
+          -0.2185802012681961,
+          -0.7972390055656433,
+          -18.597007751464844
+        ],
+        [
+          0.7735597491264343,
+          -0.20084579288959503,
+          0.601054310798645,
+          0.9254945516586304
+        ],
+        [
+          -0.29150068759918213,
+          -0.9549260139465332,
+          0.056068651378154755,
+          -3.6649935245513916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8151,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_583082675",
+      "mask_path": "../../mask/hdr_right_08151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08152.png",
+      "transform_matrix": [
+        [
+          0.5673295259475708,
+          -0.20612329244613647,
+          -0.7972767949104309,
+          -18.627090454101562
+        ],
+        [
+          0.7725522518157959,
+          -0.20200465619564056,
+          0.6019610166549683,
+          0.8879238963127136
+        ],
+        [
+          -0.2851318418979645,
+          -0.9574483036994934,
+          0.04463780298829079,
+          -3.638353109359741
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8152,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_683082580",
+      "mask_path": "../../mask/hdr_right_08152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08153.png",
+      "transform_matrix": [
+        [
+          0.5674558877944946,
+          -0.19902944564819336,
+          -0.7989875674247742,
+          -18.668180465698242
+        ],
+        [
+          0.7750818729400635,
+          -0.19840890169143677,
+          0.5999016761779785,
+          0.8459519147872925
+        ],
+        [
+          -0.2779243588447571,
+          -0.9596985578536987,
+          0.04167580604553223,
+          -3.6344046592712402
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8153,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_783082008",
+      "mask_path": "../../mask/hdr_right_08153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08154.png",
+      "transform_matrix": [
+        [
+          0.5666150450706482,
+          -0.19421668350696564,
+          -0.8007667660713196,
+          -18.70940399169922
+        ],
+        [
+          0.7801081538200378,
+          -0.1864466816186905,
+          0.5972176194190979,
+          0.8070145845413208
+        ],
+        [
+          -0.26528996229171753,
+          -0.9630770683288574,
+          0.045866552740335464,
+          -3.638676166534424
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8154,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_883082866",
+      "mask_path": "../../mask/hdr_right_08154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08155.png",
+      "transform_matrix": [
+        [
+          0.5611366629600525,
+          -0.1859179139137268,
+          -0.8065731525421143,
+          -18.74574851989746
+        ],
+        [
+          0.7891517877578735,
+          -0.17383265495300293,
+          0.5890855193138123,
+          0.7692723870277405
+        ],
+        [
+          -0.24973031878471375,
+          -0.9670659899711609,
+          0.04917357489466667,
+          -3.637722969055176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8155,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324078_983082056",
+      "mask_path": "../../mask/hdr_right_08155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08156.png",
+      "transform_matrix": [
+        [
+          0.5520844459533691,
+          -0.17236799001693726,
+          -0.8157769441604614,
+          -18.784996032714844
+        ],
+        [
+          0.8010175824165344,
+          -0.16195721924304962,
+          0.5763164758682251,
+          0.728996753692627
+        ],
+        [
+          -0.23145945370197296,
+          -0.9716269969940186,
+          0.04865570738911629,
+          -3.635085105895996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8156,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_83081960",
+      "mask_path": "../../mask/hdr_right_08156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08157.png",
+      "transform_matrix": [
+        [
+          0.5440309047698975,
+          -0.1593279242515564,
+          -0.823799192905426,
+          -18.81905746459961
+        ],
+        [
+          0.8103141188621521,
+          -0.15504607558250427,
+          0.5651122331619263,
+          0.6897178888320923
+        ],
+        [
+          -0.21776500344276428,
+          -0.9749745726585388,
+          0.04475580155849457,
+          -3.625903844833374
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8157,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_183082103",
+      "mask_path": "../../mask/hdr_right_08157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08158.png",
+      "transform_matrix": [
+        [
+          0.5364474654197693,
+          -0.14494559168815613,
+          -0.831393301486969,
+          -18.85025405883789
+        ],
+        [
+          0.8168019652366638,
+          -0.15861418843269348,
+          0.5546855926513672,
+          0.6477572321891785
+        ],
+        [
+          -0.21226999163627625,
+          -0.9766433835029602,
+          0.0333036445081234,
+          -3.6101648807525635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8158,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_283082962",
+      "mask_path": "../../mask/hdr_right_08158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08159.png",
+      "transform_matrix": [
+        [
+          0.5301246643066406,
+          -0.13133154809474945,
+          -0.8376873135566711,
+          -18.893630981445312
+        ],
+        [
+          0.8290550708770752,
+          -0.12695099413394928,
+          0.5445651412010193,
+          0.6034541726112366
+        ],
+        [
+          -0.17786377668380737,
+          -0.9831762313842773,
+          0.04158123582601547,
+          -3.6125845909118652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8159,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_383081674",
+      "mask_path": "../../mask/hdr_right_08159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08160.png",
+      "transform_matrix": [
+        [
+          0.5211517810821533,
+          -0.12063053995370865,
+          -0.8448959589004517,
+          -18.93324089050293
+        ],
+        [
+          0.8416975736618042,
+          -0.09117260575294495,
+          0.5321961641311646,
+          0.5673460364341736
+        ],
+        [
+          -0.1412304788827896,
+          -0.988501787185669,
+          0.05401967093348503,
+          -3.6242010593414307
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8160,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_483080625",
+      "mask_path": "../../mask/hdr_right_08160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08161.png",
+      "transform_matrix": [
+        [
+          0.5102111101150513,
+          -0.1116080954670906,
+          -0.852776825428009,
+          -18.964492797851562
+        ],
+        [
+          0.8511852025985718,
+          -0.07646289467811584,
+          0.5192659497261047,
+          0.530823826789856
+        ],
+        [
+          -0.12316006422042847,
+          -0.9908062815666199,
+          0.05598694086074829,
+          -3.6319632530212402
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8161,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_583080768",
+      "mask_path": "../../mask/hdr_right_08161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08162.png",
+      "transform_matrix": [
+        [
+          0.5000016689300537,
+          -0.10222044587135315,
+          -0.8599705696105957,
+          -19.001785278320312
+        ],
+        [
+          0.8589658737182617,
+          -0.06798862665891647,
+          0.5074989795684814,
+          0.48816248774528503
+        ],
+        [
+          -0.11034498363733292,
+          -0.9924356937408447,
+          0.053809452801942825,
+          -3.6312849521636963
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8162,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_683082818",
+      "mask_path": "../../mask/hdr_right_08162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08163.png",
+      "transform_matrix": [
+        [
+          0.49804410338401794,
+          -0.08217285573482513,
+          -0.8632495403289795,
+          -19.04517936706543
+        ],
+        [
+          0.8619779944419861,
+          -0.06166933849453926,
+          0.5031809210777283,
+          0.4462558329105377
+        ],
+        [
+          -0.09458382427692413,
+          -0.994708240032196,
+          0.040117137134075165,
+          -3.626457452774048
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8163,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_783081531",
+      "mask_path": "../../mask/hdr_right_08163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08165.png",
+      "transform_matrix": [
+        [
+          0.5099023580551147,
+          -0.05621694400906563,
+          -0.8583934903144836,
+          -19.116884231567383
+        ],
+        [
+          0.8567224144935608,
+          -0.05686386302113533,
+          0.5126336812973022,
+          0.36975741386413574
+        ],
+        [
+          -0.07763026654720306,
+          -0.9967979192733765,
+          0.019167305901646614,
+          -3.6186134815216064
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8165,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324079_983081102",
+      "mask_path": "../../mask/hdr_right_08165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08166.png",
+      "transform_matrix": [
+        [
+          0.5128470063209534,
+          -0.0479639396071434,
+          -0.8571391105651855,
+          -19.16109275817871
+        ],
+        [
+          0.8558600544929504,
+          -0.04937949776649475,
+          0.5148449540138245,
+          0.3129747211933136
+        ],
+        [
+          -0.06701909005641937,
+          -0.997627854347229,
+          0.01572629064321518,
+          -3.6198501586914062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8166,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_83081245",
+      "mask_path": "../../mask/hdr_right_08166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08167.png",
+      "transform_matrix": [
+        [
+          0.5102453231811523,
+          -0.046384312212467194,
+          -0.8587772250175476,
+          -19.201221466064453
+        ],
+        [
+          0.8584188222885132,
+          -0.0336051806807518,
+          0.5118474364280701,
+          0.26041314005851746
+        ],
+        [
+          -0.052601054310798645,
+          -0.9983582496643066,
+          0.022670282050967216,
+          -3.6309003829956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8167,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_183081150",
+      "mask_path": "../../mask/hdr_right_08167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08168.png",
+      "transform_matrix": [
+        [
+          0.5072907209396362,
+          -0.043771274387836456,
+          -0.860662579536438,
+          -19.234891891479492
+        ],
+        [
+          0.8607999682426453,
+          -0.021755792200565338,
+          0.5084782242774963,
+          0.21729537844657898
+        ],
+        [
+          -0.04098113253712654,
+          -0.9988046884536743,
+          0.02664179727435112,
+          -3.637022018432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8168,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_283080816",
+      "mask_path": "../../mask/hdr_right_08168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08169.png",
+      "transform_matrix": [
+        [
+          0.5075628161430359,
+          -0.029379654675722122,
+          -0.8611136674880981,
+          -19.276973724365234
+        ],
+        [
+          0.8611115217208862,
+          -0.01685570552945137,
+          0.5081367492675781,
+          0.1699715256690979
+        ],
+        [
+          -0.029443560168147087,
+          -0.9994261860847473,
+          0.01674382947385311,
+          -3.640312910079956
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8169,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_383080720",
+      "mask_path": "../../mask/hdr_right_08169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08170.png",
+      "transform_matrix": [
+        [
+          0.5127445459365845,
+          -0.01639910601079464,
+          -0.8583846092224121,
+          -19.32454490661621
+        ],
+        [
+          0.8582478165626526,
+          -0.01634831354022026,
+          0.5129751563072205,
+          0.11914440989494324
+        ],
+        [
+          -0.022445473819971085,
+          -0.9997318387031555,
+          0.005691986996680498,
+          -3.6433980464935303
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8170,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_483081579",
+      "mask_path": "../../mask/hdr_right_08170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08171.png",
+      "transform_matrix": [
+        [
+          0.5209217071533203,
+          -0.010146844200789928,
+          -0.8535441160202026,
+          -19.364999771118164
+        ],
+        [
+          0.853348970413208,
+          -0.01827911101281643,
+          0.5210198760032654,
+          0.07232579588890076
+        ],
+        [
+          -0.020888734608888626,
+          -0.9997814297676086,
+          -0.0008631885866634548,
+          -3.6412196159362793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8171,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_583082199",
+      "mask_path": "../../mask/hdr_right_08171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08172.png",
+      "transform_matrix": [
+        [
+          0.5317414402961731,
+          -0.009437412954866886,
+          -0.8468542098999023,
+          -19.41260528564453
+        ],
+        [
+          0.8466421961784363,
+          -0.01907086931169033,
+          0.5318208932876587,
+          0.015446305274963379
+        ],
+        [
+          -0.021169258281588554,
+          -0.9997736215591431,
+          -0.002150660613551736,
+          -3.641418218612671
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8172,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_683081388",
+      "mask_path": "../../mask/hdr_right_08172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08173.png",
+      "transform_matrix": [
+        [
+          0.5352005958557129,
+          -0.009954970329999924,
+          -0.8446663618087769,
+          -19.47309112548828
+        ],
+        [
+          0.8446224331855774,
+          -0.009273834526538849,
+          0.5352820754051208,
+          -0.06078103184700012
+        ],
+        [
+          -0.01316201314330101,
+          -0.9999074339866638,
+          0.003444828325882554,
+          -3.649829864501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8173,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_783082485",
+      "mask_path": "../../mask/hdr_right_08173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08174.png",
+      "transform_matrix": [
+        [
+          0.5325713157653809,
+          -0.010650026611983776,
+          -0.8463181257247925,
+          -19.525707244873047
+        ],
+        [
+          0.8463749289512634,
+          0.0017897841753438115,
+          0.532584547996521,
+          -0.12850448489189148
+        ],
+        [
+          -0.004157313145697117,
+          -0.9999417066574097,
+          0.00996710080653429,
+          -3.660609722137451
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8174,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_883082151",
+      "mask_path": "../../mask/hdr_right_08174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08175.png",
+      "transform_matrix": [
+        [
+          0.531609058380127,
+          -0.010363294743001461,
+          -0.8469264507293701,
+          -19.570268630981445
+        ],
+        [
+          0.8469881415367126,
+          0.004514752887189388,
+          0.531592607498169,
+          -0.18943816423416138
+        ],
+        [
+          -0.0016853881534188986,
+          -0.9999361038208008,
+          0.011177672073245049,
+          -3.6669042110443115
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8175,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324080_983081340",
+      "mask_path": "../../mask/hdr_right_08175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08176.png",
+      "transform_matrix": [
+        [
+          0.5350950956344604,
+          -0.002417405368760228,
+          -0.8447883725166321,
+          -19.628368377685547
+        ],
+        [
+          0.844773530960083,
+          0.008115187287330627,
+          0.5350624918937683,
+          -0.2577490508556366
+        ],
+        [
+          0.005562152247875929,
+          -0.9999641180038452,
+          0.006384554784744978,
+          -3.6672492027282715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8176,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_83080530",
+      "mask_path": "../../mask/hdr_right_08176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08177.png",
+      "transform_matrix": [
+        [
+          0.5426872372627258,
+          0.0036096267867833376,
+          -0.8399271368980408,
+          -19.68916893005371
+        ],
+        [
+          0.8398960828781128,
+          0.00727639626711607,
+          0.5426985025405884,
+          -0.3199276328086853
+        ],
+        [
+          0.008070581592619419,
+          -0.9999670386314392,
+          0.000917095982003957,
+          -3.661004066467285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8177,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_183078289",
+      "mask_path": "../../mask/hdr_right_08177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08178.png",
+      "transform_matrix": [
+        [
+          0.5510031580924988,
+          0.0047454871237277985,
+          -0.8344897031784058,
+          -19.741716384887695
+        ],
+        [
+          0.8344914317131042,
+          0.0021577219013124704,
+          0.5510166883468628,
+          -0.37307411432266235
+        ],
+        [
+          0.00441543897613883,
+          -0.9999864101409912,
+          -0.0027711582370102406,
+          -3.659231662750244
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8178,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_283081054",
+      "mask_path": "../../mask/hdr_right_08178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08179.png",
+      "transform_matrix": [
+        [
+          0.559559166431427,
+          0.0023876968771219254,
+          -0.8287869691848755,
+          -19.79924201965332
+        ],
+        [
+          0.8287903666496277,
+          -0.0012904906179755926,
+          0.5595577955245972,
+          -0.44028913974761963
+        ],
+        [
+          0.0002665133506525308,
+          -0.9999962449073792,
+          -0.0027010070625692606,
+          -3.6592931747436523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8179,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_383078098",
+      "mask_path": "../../mask/hdr_right_08179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08180.png",
+      "transform_matrix": [
+        [
+          0.5621724128723145,
+          0.0003069562080781907,
+          -0.8270200490951538,
+          -19.868671417236328
+        ],
+        [
+          0.8270198702812195,
+          0.000395779381506145,
+          0.5621724724769592,
+          -0.5173354744911194
+        ],
+        [
+          0.0004998804070055485,
+          -0.9999998807907104,
+          -3.136427403660491e-05,
+          -3.6648917198181152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8180,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_483080625",
+      "mask_path": "../../mask/hdr_right_08180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08181.png",
+      "transform_matrix": [
+        [
+          0.5596073269844055,
+          -0.0016832399414852262,
+          -0.8287562131881714,
+          -19.919559478759766
+        ],
+        [
+          0.8287519216537476,
+          0.0049598850309848785,
+          0.5595942735671997,
+          -0.5757855176925659
+        ],
+        [
+          0.0031686052680015564,
+          -0.9999863505363464,
+          0.004170575644820929,
+          -3.6717305183410645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8181,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_583077669",
+      "mask_path": "../../mask/hdr_right_08181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08182.png",
+      "transform_matrix": [
+        [
+          0.557666003704071,
+          -0.0015163380885496736,
+          -0.830064058303833,
+          -19.956430435180664
+        ],
+        [
+          0.8300517797470093,
+          0.0067511373199522495,
+          0.557645320892334,
+          -0.6276130676269531
+        ],
+        [
+          0.004758297000080347,
+          -0.9999759793281555,
+          0.005023518111556768,
+          -3.674546718597412
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8182,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_683080434",
+      "mask_path": "../../mask/hdr_right_08182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08183.png",
+      "transform_matrix": [
+        [
+          0.5608052015304565,
+          0.004021069034934044,
+          -0.8279379606246948,
+          -20.014299392700195
+        ],
+        [
+          0.8278801441192627,
+          0.010060450062155724,
+          0.5608148574829102,
+          -0.6886553764343262
+        ],
+        [
+          0.010584503412246704,
+          -0.9999412894248962,
+          0.002312988741323352,
+          -3.6764516830444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8183,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_783080577",
+      "mask_path": "../../mask/hdr_right_08183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08184.png",
+      "transform_matrix": [
+        [
+          0.5704269409179688,
+          0.005741330794990063,
+          -0.821328341960907,
+          -20.077913284301758
+        ],
+        [
+          0.8212767243385315,
+          0.009225986897945404,
+          0.5704556703567505,
+          -0.7450093030929565
+        ],
+        [
+          0.010852738283574581,
+          -0.9999409914016724,
+          0.0005475308280438185,
+          -3.667635679244995
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8184,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_883080959",
+      "mask_path": "../../mask/hdr_right_08184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08185.png",
+      "transform_matrix": [
+        [
+          0.5814489722251892,
+          0.004678458906710148,
+          -0.8135693669319153,
+          -20.126583099365234
+        ],
+        [
+          0.8135494589805603,
+          0.005724133457988501,
+          0.5814675688743591,
+          -0.7877811193466187
+        ],
+        [
+          0.007377351634204388,
+          -0.9999726414680481,
+          -0.00047786752111278474,
+          -3.664954662322998
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8185,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324081_983078479",
+      "mask_path": "../../mask/hdr_right_08185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08186.png",
+      "transform_matrix": [
+        [
+          0.5937058925628662,
+          0.002697910647839308,
+          -0.8046776056289673,
+          -20.17714500427246
+        ],
+        [
+          0.8046682476997375,
+          0.003880730364471674,
+          0.5937120318412781,
+          -0.8297483325004578
+        ],
+        [
+          0.004724517930299044,
+          -0.999988853931427,
+          0.000133087596623227,
+          -3.670759916305542
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8186,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_83080053",
+      "mask_path": "../../mask/hdr_right_08186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08187.png",
+      "transform_matrix": [
+        [
+          0.599145770072937,
+          -0.0007127413409762084,
+          -0.8006396889686584,
+          -20.239561080932617
+        ],
+        [
+          0.8006214499473572,
+          0.007336657494306564,
+          0.5991255640983582,
+          -0.8951511383056641
+        ],
+        [
+          0.0054469965398311615,
+          -0.9999727606773376,
+          0.004966361448168755,
+          -3.6703152656555176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8187,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_183078050",
+      "mask_path": "../../mask/hdr_right_08187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08188.png",
+      "transform_matrix": [
+        [
+          0.5975920557975769,
+          -0.004255129490047693,
+          -0.8017889857292175,
+          -20.293424606323242
+        ],
+        [
+          0.801774799823761,
+          0.01113887783139944,
+          0.5975223779678345,
+          -0.9552773833274841
+        ],
+        [
+          0.006388494279235601,
+          -0.999928891658783,
+          0.010068160481750965,
+          -3.670715808868408
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8188,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_283079385",
+      "mask_path": "../../mask/hdr_right_08188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08189.png",
+      "transform_matrix": [
+        [
+          0.5955994129180908,
+          -0.005562774371355772,
+          -0.8032623529434204,
+          -20.33543586730957
+        ],
+        [
+          0.8032604455947876,
+          0.011381017044186592,
+          0.5955192446708679,
+          -1.0004618167877197
+        ],
+        [
+          0.005829202476888895,
+          -0.9999198317527771,
+          0.011246881447732449,
+          -3.6741232872009277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8189,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_383081197",
+      "mask_path": "../../mask/hdr_right_08189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08190.png",
+      "transform_matrix": [
+        [
+          0.5970098376274109,
+          -0.006736392620950937,
+          -0.8022056221961975,
+          -20.39073371887207
+        ],
+        [
+          0.8021987080574036,
+          0.014382051303982735,
+          0.59688401222229,
+          -1.0467047691345215
+        ],
+        [
+          0.007516517769545317,
+          -0.9998739957809448,
+          0.013990150764584541,
+          -3.675386428833008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8190,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_483082294",
+      "mask_path": "../../mask/hdr_right_08190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08191.png",
+      "transform_matrix": [
+        [
+          0.6032823920249939,
+          -0.008080887608230114,
+          -0.7974867224693298,
+          -20.447858810424805
+        ],
+        [
+          0.7975143790245056,
+          0.011887558735907078,
+          0.6031827926635742,
+          -1.0897067785263062
+        ],
+        [
+          0.004605918191373348,
+          -0.9998966455459595,
+          0.013616177253425121,
+          -3.6605091094970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8191,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_583080768",
+      "mask_path": "../../mask/hdr_right_08191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08192.png",
+      "transform_matrix": [
+        [
+          0.6109124422073364,
+          -0.007380232680588961,
+          -0.7916637659072876,
+          -20.48923110961914
+        ],
+        [
+          0.7916980385780334,
+          0.006234356202185154,
+          0.6108808517456055,
+          -1.1254366636276245
+        ],
+        [
+          0.00042707085958682,
+          -0.9999533295631409,
+          0.009651560336351395,
+          -3.6528351306915283
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8192,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_683082818",
+      "mask_path": "../../mask/hdr_right_08192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08193.png",
+      "transform_matrix": [
+        [
+          0.6181995272636414,
+          -0.006117669399827719,
+          -0.7859974503517151,
+          -20.536577224731445
+        ],
+        [
+          0.7860142588615417,
+          0.000622945895884186,
+          0.6182080507278442,
+          -1.1648659706115723
+        ],
+        [
+          -0.003292358247563243,
+          -0.9999811053276062,
+          0.005193679127842188,
+          -3.6520798206329346
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8193,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_783082246",
+      "mask_path": "../../mask/hdr_right_08193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08194.png",
+      "transform_matrix": [
+        [
+          0.6195350885391235,
+          -0.005891614127904177,
+          -0.7849469184875488,
+          -20.59354019165039
+        ],
+        [
+          0.7849687337875366,
+          0.005422923713922501,
+          0.6195117235183716,
+          -1.216130018234253
+        ],
+        [
+          0.0006067829090170562,
+          -0.9999679327011108,
+          0.007984424941241741,
+          -3.6501448154449463
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8194,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324082_883082628",
+      "mask_path": "../../mask/hdr_right_08194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08197.png",
+      "transform_matrix": [
+        [
+          0.5976431965827942,
+          -0.011454975232481956,
+          -0.8016804456710815,
+          -20.701322555541992
+        ],
+        [
+          0.8017095327377319,
+          0.02000289410352707,
+          0.5973790287971497,
+          -1.3359137773513794
+        ],
+        [
+          0.009192966856062412,
+          -0.9997342824935913,
+          0.021138155832886696,
+          -3.6654295921325684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8197,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_183078765",
+      "mask_path": "../../mask/hdr_right_08197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08198.png",
+      "transform_matrix": [
+        [
+          0.5890515446662903,
+          -0.006705639883875847,
+          -0.8080676794052124,
+          -20.74364471435547
+        ],
+        [
+          0.8080164194107056,
+          0.018879065290093422,
+          0.5888575315475464,
+          -1.3852674961090088
+        ],
+        [
+          0.011306894943118095,
+          -0.9997993111610413,
+          0.016539009287953377,
+          -3.6638622283935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8198,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_283079862",
+      "mask_path": "../../mask/hdr_right_08198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08201.png",
+      "transform_matrix": [
+        [
+          0.574154794216156,
+          0.003691926598548889,
+          -0.8187384605407715,
+          -20.846088409423828
+        ],
+        [
+          0.818731963634491,
+          0.0034192793536931276,
+          0.5741656422615051,
+          -1.5028191804885864
+        ],
+        [
+          0.004919271916151047,
+          -0.9999873042106628,
+          -0.0010595048079267144,
+          -3.6583783626556396
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8201,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_583081007",
+      "mask_path": "../../mask/hdr_right_08201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08202.png",
+      "transform_matrix": [
+        [
+          0.5577503442764282,
+          0.003404901595786214,
+          -0.8300017714500427,
+          -20.876541137695312
+        ],
+        [
+          0.8299687504768372,
+          0.0075194439850747585,
+          0.5577591061592102,
+          -1.5547218322753906
+        ],
+        [
+          0.008140266872942448,
+          -0.9999659061431885,
+          0.0013680086703971028,
+          -3.6549484729766846
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8202,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_683082342",
+      "mask_path": "../../mask/hdr_right_08202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08203.png",
+      "transform_matrix": [
+        [
+          0.5374821424484253,
+          -0.0004186152364127338,
+          -0.8432750105857849,
+          -20.901052474975586
+        ],
+        [
+          0.8432217836380005,
+          0.011508693918585777,
+          0.5374425649642944,
+          -1.601994514465332
+        ],
+        [
+          0.009480012580752373,
+          -0.9999337196350098,
+          0.006538701243698597,
+          -3.658107280731201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8203,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_783082485",
+      "mask_path": "../../mask/hdr_right_08203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08204.png",
+      "transform_matrix": [
+        [
+          0.5169229507446289,
+          0.00010351770470151678,
+          -0.8560319542884827,
+          -20.921674728393555
+        ],
+        [
+          0.8559833765029907,
+          0.010588757693767548,
+          0.5168949365615845,
+          -1.6490577459335327
+        ],
+        [
+          0.009117822162806988,
+          -0.9999440312385559,
+          0.0053849611431360245,
+          -3.6634716987609863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8204,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_883081912",
+      "mask_path": "../../mask/hdr_right_08204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08205.png",
+      "transform_matrix": [
+        [
+          0.4919886887073517,
+          0.0023215878754854202,
+          -0.8705986738204956,
+          -20.940921783447266
+        ],
+        [
+          0.8705301880836487,
+          0.011496097780764103,
+          0.49198079109191895,
+          -1.700789213180542
+        ],
+        [
+          0.011150659993290901,
+          -0.9999312162399292,
+          0.003634938271716237,
+          -3.6622281074523926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8205,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324083_983082532",
+      "mask_path": "../../mask/hdr_right_08205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08206.png",
+      "transform_matrix": [
+        [
+          0.4687023162841797,
+          0.004445252474397421,
+          -0.8833450675010681,
+          -20.95838165283203
+        ],
+        [
+          0.8833117485046387,
+          0.007674924097955227,
+          0.46872326731681824,
+          -1.7486637830734253
+        ],
+        [
+          0.008863198570907116,
+          -0.9999606609344482,
+          -0.00032929040025919676,
+          -3.652109146118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8206,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_83081483",
+      "mask_path": "../../mask/hdr_right_08206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08208.png",
+      "transform_matrix": [
+        [
+          0.4286118149757385,
+          0.01063524093478918,
+          -0.9034261107444763,
+          -20.992231369018555
+        ],
+        [
+          0.9034879803657532,
+          -0.006293497513979673,
+          0.42856720089912415,
+          -1.8238104581832886
+        ],
+        [
+          -0.0011277964804321527,
+          -0.9999236464500427,
+          -0.012306283228099346,
+          -3.656106948852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8208,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_283081769",
+      "mask_path": "../../mask/hdr_right_08208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08209.png",
+      "transform_matrix": [
+        [
+          0.40217262506484985,
+          0.010081280022859573,
+          -0.9155083894729614,
+          -21.007762908935547
+        ],
+        [
+          0.9155628085136414,
+          -0.006015643011778593,
+          0.40213024616241455,
+          -1.8845458030700684
+        ],
+        [
+          -0.0014533846406266093,
+          -0.9999311566352844,
+          -0.011649373918771744,
+          -3.654801607131958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8209,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_383082628",
+      "mask_path": "../../mask/hdr_right_08209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08212.png",
+      "transform_matrix": [
+        [
+          0.37053003907203674,
+          0.0040944707579910755,
+          -0.9288116097450256,
+          -21.059581756591797
+        ],
+        [
+          0.9288177490234375,
+          0.0007852237322367728,
+          0.3705359399318695,
+          -2.0231313705444336
+        ],
+        [
+          0.002246473217383027,
+          -0.9999913573265076,
+          -0.0035120686516165733,
+          -3.6672701835632324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8212,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_683081865",
+      "mask_path": "../../mask/hdr_right_08212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08213.png",
+      "transform_matrix": [
+        [
+          0.3707886338233948,
+          0.009235752746462822,
+          -0.9286713004112244,
+          -21.08832359313965
+        ],
+        [
+          0.9286969900131226,
+          0.002930206246674061,
+          0.3708280026912689,
+          -2.0898513793945312
+        ],
+        [
+          0.006146075204014778,
+          -0.999953031539917,
+          -0.007490729447454214,
+          -3.670976400375366
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8213,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_783081293",
+      "mask_path": "../../mask/hdr_right_08213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08214.png",
+      "transform_matrix": [
+        [
+          0.37623828649520874,
+          0.011716069653630257,
+          -0.9264488816261292,
+          -21.1248722076416
+        ],
+        [
+          0.9264904260635376,
+          0.0036211549304425716,
+          0.37630102038383484,
+          -2.162858009338379
+        ],
+        [
+          0.007763583213090897,
+          -0.9999248385429382,
+          -0.00949240941554308,
+          -3.6656649112701416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8214,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_883082151",
+      "mask_path": "../../mask/hdr_right_08214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08215.png",
+      "transform_matrix": [
+        [
+          0.38592246174812317,
+          0.013711834326386452,
+          -0.9224293828010559,
+          -21.16126251220703
+        ],
+        [
+          0.9225273132324219,
+          -0.0028235241770744324,
+          0.38592153787612915,
+          -2.223512649536133
+        ],
+        [
+          0.002687189495190978,
+          -0.9999020099639893,
+          -0.013739204034209251,
+          -3.6635921001434326
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8215,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324084_983081102",
+      "mask_path": "../../mask/hdr_right_08215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08216.png",
+      "transform_matrix": [
+        [
+          0.3959260880947113,
+          0.009920819662511349,
+          -0.9182287454605103,
+          -21.208024978637695
+        ],
+        [
+          0.9182794690132141,
+          -0.0017432869644835591,
+          0.39592909812927246,
+          -2.306581497192383
+        ],
+        [
+          0.002327203983440995,
+          -0.9999492764472961,
+          -0.009800300002098083,
+          -3.6703178882598877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8216,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_83081722",
+      "mask_path": "../../mask/hdr_right_08216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08217.png",
+      "transform_matrix": [
+        [
+          0.39740610122680664,
+          0.0009530811221338809,
+          -0.9176424145698547,
+          -21.25873374938965
+        ],
+        [
+          0.917624294757843,
+          0.005959772504866123,
+          0.39740443229675293,
+          -2.399536371231079
+        ],
+        [
+          0.0058476985432207584,
+          -0.9999818205833435,
+          0.0014938778476789594,
+          -3.6774709224700928
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8217,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_183081388",
+      "mask_path": "../../mask/hdr_right_08217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08218.png",
+      "transform_matrix": [
+        [
+          0.39358314871788025,
+          -0.004722598008811474,
+          -0.9192768931388855,
+          -21.29561996459961
+        ],
+        [
+          0.9192679524421692,
+          0.008795438334345818,
+          0.3935341238975525,
+          -2.467946767807007
+        ],
+        [
+          0.006226940080523491,
+          -0.999950110912323,
+          0.007803068496286869,
+          -3.6845970153808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8218,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_283081769",
+      "mask_path": "../../mask/hdr_right_08218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08219.png",
+      "transform_matrix": [
+        [
+          0.39057427644729614,
+          -0.004723526071757078,
+          -0.9205593466758728,
+          -21.334789276123047
+        ],
+        [
+          0.9205653667449951,
+          0.005621934309601784,
+          0.39054805040359497,
+          -2.534703254699707
+        ],
+        [
+          0.0033305613324046135,
+          -0.9999729990959167,
+          0.006544097326695919,
+          -3.6963577270507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8219,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_383082151",
+      "mask_path": "../../mask/hdr_right_08219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08220.png",
+      "transform_matrix": [
+        [
+          0.39530250430107117,
+          -0.0008340779459103942,
+          -0.9185506105422974,
+          -21.390836715698242
+        ],
+        [
+          0.9185250401496887,
+          0.007882501929998398,
+          0.3952843248844147,
+          -2.6175429821014404
+        ],
+        [
+          0.006910777185112238,
+          -0.9999685883522034,
+          0.003882092423737049,
+          -3.691464900970459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8220,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_483081817",
+      "mask_path": "../../mask/hdr_right_08220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08221.png",
+      "transform_matrix": [
+        [
+          0.4058353006839752,
+          0.0045731570571660995,
+          -0.9139348268508911,
+          -21.442543029785156
+        ],
+        [
+          0.9139155745506287,
+          0.006169344298541546,
+          0.405857652425766,
+          -2.691200017929077
+        ],
+        [
+          0.007494428660720587,
+          -0.9999704957008362,
+          -0.001675742445513606,
+          -3.6762423515319824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8221,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_583081960",
+      "mask_path": "../../mask/hdr_right_08221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08222.png",
+      "transform_matrix": [
+        [
+          0.4153141379356384,
+          0.00761379161849618,
+          -0.9096462726593018,
+          -21.48366928100586
+        ],
+        [
+          0.9096760749816895,
+          -0.0013539231149479747,
+          0.41531652212142944,
+          -2.743208885192871
+        ],
+        [
+          0.0019305417081341147,
+          -0.9999700784683228,
+          -0.007488388102501631,
+          -3.676609754562378
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8222,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_683080673",
+      "mask_path": "../../mask/hdr_right_08222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08223.png",
+      "transform_matrix": [
+        [
+          0.42176538705825806,
+          0.0054254778660833836,
+          -0.9066888689994812,
+          -21.536230087280273
+        ],
+        [
+          0.9067017436027527,
+          -0.005192683544009924,
+          0.42174032330513,
+          -2.822406768798828
+        ],
+        [
+          -0.0024200056213885546,
+          -0.9999718070030212,
+          -0.0071093859151005745,
+          -3.6770834922790527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8223,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_783082485",
+      "mask_path": "../../mask/hdr_right_08223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08224.png",
+      "transform_matrix": [
+        [
+          0.42217254638671875,
+          -0.0017187392804771662,
+          -0.9065138697624207,
+          -21.587615966796875
+        ],
+        [
+          0.9065153002738953,
+          0.000312043383019045,
+          0.4221726655960083,
+          -2.9058570861816406
+        ],
+        [
+          -0.00044273369712755084,
+          -0.9999984502792358,
+          0.0016897981986403465,
+          -3.6788973808288574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8224,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_883082151",
+      "mask_path": "../../mask/hdr_right_08224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08225.png",
+      "transform_matrix": [
+        [
+          0.412440687417984,
+          -0.008546539582312107,
+          -0.9109443426132202,
+          -21.62078285217285
+        ],
+        [
+          0.910982072353363,
+          0.006172184832394123,
+          0.41239988803863525,
+          -2.970252513885498
+        ],
+        [
+          0.002097925404086709,
+          -0.9999444484710693,
+          0.010331403464078903,
+          -3.6819982528686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8225,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324085_983083009",
+      "mask_path": "../../mask/hdr_right_08225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08226.png",
+      "transform_matrix": [
+        [
+          0.39511412382125854,
+          -0.011729896999895573,
+          -0.9185572266578674,
+          -21.656017303466797
+        ],
+        [
+          0.9186320304870605,
+          0.004943872336298227,
+          0.3950831890106201,
+          -3.038231611251831
+        ],
+        [
+          -9.305577259510756e-05,
+          -0.9999189972877502,
+          0.012728852219879627,
+          -3.6873648166656494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8226,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_83082437",
+      "mask_path": "../../mask/hdr_right_08226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08227.png",
+      "transform_matrix": [
+        [
+          0.38010716438293457,
+          -0.013412338681519032,
+          -0.9248451590538025,
+          -21.699689865112305
+        ],
+        [
+          0.9249373078346252,
+          0.002173155080527067,
+          0.3801134526729584,
+          -3.1097512245178223
+        ],
+        [
+          -0.0030883776489645243,
+          -0.9999076724052429,
+          0.013231602497398853,
+          -3.6760952472686768
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8227,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_183083295",
+      "mask_path": "../../mask/hdr_right_08227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08228.png",
+      "transform_matrix": [
+        [
+          0.3679913282394409,
+          -0.01413452997803688,
+          -0.9297218322753906,
+          -21.728918075561523
+        ],
+        [
+          0.9298126101493835,
+          -0.00037977888132445514,
+          0.36803320050239563,
+          -3.162055253982544
+        ],
+        [
+          -0.0055550639517605305,
+          -0.9998999834060669,
+          0.013002706691622734,
+          -3.665234088897705
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8228,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_283081769",
+      "mask_path": "../../mask/hdr_right_08228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08230.png",
+      "transform_matrix": [
+        [
+          0.33014553785324097,
+          -0.007103626616299152,
+          -0.943903386592865,
+          -21.77415657043457
+        ],
+        [
+          0.943871259689331,
+          -0.008674283511936665,
+          0.330199658870697,
+          -3.2673325538635254
+        ],
+        [
+          -0.01053330022841692,
+          -0.999937117099762,
+          0.003841133089736104,
+          -3.6682653427124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8230,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_483080863",
+      "mask_path": "../../mask/hdr_right_08230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08231.png",
+      "transform_matrix": [
+        [
+          0.30736303329467773,
+          -0.008638936094939709,
+          -0.9515531659126282,
+          -21.807090759277344
+        ],
+        [
+          0.9515738487243652,
+          -0.003450786927714944,
+          0.30740106105804443,
+          -3.342214822769165
+        ],
+        [
+          -0.005939224734902382,
+          -0.9999567270278931,
+          0.007159940432757139,
+          -3.6688785552978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8231,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_583082437",
+      "mask_path": "../../mask/hdr_right_08231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08232.png",
+      "transform_matrix": [
+        [
+          0.28517138957977295,
+          -0.015581009909510612,
+          -0.958349883556366,
+          -21.83186149597168
+        ],
+        [
+          0.9584697484970093,
+          0.0008647470967844129,
+          0.28519299626350403,
+          -3.4075493812561035
+        ],
+        [
+          -0.0036148647777736187,
+          -0.9998782873153687,
+          0.015180528163909912,
+          -3.670964241027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8232,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_683082580",
+      "mask_path": "../../mask/hdr_right_08232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08233.png",
+      "transform_matrix": [
+        [
+          0.2643219828605652,
+          -0.015392335131764412,
+          -0.9643116593360901,
+          -21.8483943939209
+        ],
+        [
+          0.9644244313240051,
+          -0.0003459508006926626,
+          0.2643584609031677,
+          -3.4718730449676514
+        ],
+        [
+          -0.004402697551995516,
+          -0.9998814463615417,
+          0.014753298833966255,
+          -3.675845146179199
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8233,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_783083438",
+      "mask_path": "../../mask/hdr_right_08233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08234.png",
+      "transform_matrix": [
+        [
+          0.2514209449291229,
+          -0.011831644922494888,
+          -0.9678055047988892,
+          -21.873607635498047
+        ],
+        [
+          0.9678778648376465,
+          0.003340578405186534,
+          0.25139883160591125,
+          -3.5490851402282715
+        ],
+        [
+          0.00025856748106889427,
+          -0.9999244213104248,
+          0.012291474267840385,
+          -3.6762218475341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8234,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_883081674",
+      "mask_path": "../../mask/hdr_right_08234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08235.png",
+      "transform_matrix": [
+        [
+          0.2527911067008972,
+          -0.008883868344128132,
+          -0.9674801826477051,
+          -21.913482666015625
+        ],
+        [
+          0.9675206542015076,
+          0.0016688262112438679,
+          0.25278639793395996,
+          -3.629061698913574
+        ],
+        [
+          -0.000631165225058794,
+          -0.9999591708183289,
+          0.009017190895974636,
+          -3.6638927459716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8235,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324086_983082532",
+      "mask_path": "../../mask/hdr_right_08235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08236.png",
+      "transform_matrix": [
+        [
+          0.2621661424636841,
+          -0.005730539094656706,
+          -0.9650057554244995,
+          -21.951290130615234
+        ],
+        [
+          0.9649900197982788,
+          -0.0066727763041853905,
+          0.26220154762268066,
+          -3.69913911819458
+        ],
+        [
+          -0.007941823452711105,
+          -0.9999613165855408,
+          0.0037805354222655296,
+          -3.6560444831848145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8236,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_83082199",
+      "mask_path": "../../mask/hdr_right_08236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08237.png",
+      "transform_matrix": [
+        [
+          0.2696273624897003,
+          -0.006466317921876907,
+          -0.9629430770874023,
+          -21.993404388427734
+        ],
+        [
+          0.9628826975822449,
+          -0.011244400404393673,
+          0.2696859538555145,
+          -3.800072193145752
+        ],
+        [
+          -0.012571592815220356,
+          -0.9999158978462219,
+          0.003194506047293544,
+          -3.6594743728637695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8237,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_183081626",
+      "mask_path": "../../mask/hdr_right_08237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08238.png",
+      "transform_matrix": [
+        [
+          0.2691330313682556,
+          -0.015287659130990505,
+          -0.9629817605018616,
+          -22.036401748657227
+        ],
+        [
+          0.9630522727966309,
+          -0.0059964717365801334,
+          0.26924797892570496,
+          -3.909172296524048
+        ],
+        [
+          -0.009890664368867874,
+          -0.9998651742935181,
+          0.013108964078128338,
+          -3.6674978733062744
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8238,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_283081293",
+      "mask_path": "../../mask/hdr_right_08238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08239.png",
+      "transform_matrix": [
+        [
+          0.2653254270553589,
+          -0.02413981407880783,
+          -0.9638566970825195,
+          -22.06340980529785
+        ],
+        [
+          0.9641181230545044,
+          -0.002550901845097542,
+          0.26546135544776917,
+          -3.977243423461914
+        ],
+        [
+          -0.008866890333592892,
+          -0.9997053146362305,
+          0.0225968174636364,
+          -3.6739766597747803
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8239,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_383082389",
+      "mask_path": "../../mask/hdr_right_08239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08240.png",
+      "transform_matrix": [
+        [
+          0.26681894063949585,
+          -0.0200367271900177,
+          -0.963538408279419,
+          -22.106008529663086
+        ],
+        [
+          0.9637347459793091,
+          0.0005653815460391343,
+          0.26686158776283264,
+          -4.067094802856445
+        ],
+        [
+          -0.004802264738827944,
+          -0.9997990727424622,
+          0.019460944458842278,
+          -3.675860643386841
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8240,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_483082771",
+      "mask_path": "../../mask/hdr_right_08240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08241.png",
+      "transform_matrix": [
+        [
+          0.2766455411911011,
+          -0.016456712037324905,
+          -0.9608311653137207,
+          -22.16547393798828
+        ],
+        [
+          0.9609711766242981,
+          0.003429661737754941,
+          0.2766271233558655,
+          -4.170890808105469
+        ],
+        [
+          -0.0012570471735671163,
+          -0.9998586773872375,
+          0.016763225197792053,
+          -3.671002149581909
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8241,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_583081722",
+      "mask_path": "../../mask/hdr_right_08241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08242.png",
+      "transform_matrix": [
+        [
+          0.2859838306903839,
+          -0.017823122441768646,
+          -0.9580686688423157,
+          -22.211082458496094
+        ],
+        [
+          0.9582220911979675,
+          0.00023094222706276923,
+          0.2860252857208252,
+          -4.242676734924316
+        ],
+        [
+          -0.004876605700701475,
+          -0.9998411536216736,
+          0.01714455336332321,
+          -3.66852068901062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8242,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_683082342",
+      "mask_path": "../../mask/hdr_right_08242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08243.png",
+      "transform_matrix": [
+        [
+          0.2796092927455902,
+          -0.023035090416669846,
+          -0.9598374962806702,
+          -22.24665069580078
+        ],
+        [
+          0.9601098895072937,
+          0.0038161631673574448,
+          0.27959707379341125,
+          -4.3261189460754395
+        ],
+        [
+          -0.0027776453644037247,
+          -0.9997273683547974,
+          0.023183250799775124,
+          -3.6724977493286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8243,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_783082962",
+      "mask_path": "../../mask/hdr_right_08243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08244.png",
+      "transform_matrix": [
+        [
+          0.2539508640766144,
+          -0.027217581868171692,
+          -0.9668341279029846,
+          -22.269390106201172
+        ],
+        [
+          0.9671835899353027,
+          0.015465459786355495,
+          0.25360730290412903,
+          -4.42006254196167
+        ],
+        [
+          0.00804995559155941,
+          -0.9995099306106567,
+          0.030251862481236458,
+          -3.682166576385498
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8244,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_883082389",
+      "mask_path": "../../mask/hdr_right_08244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08245.png",
+      "transform_matrix": [
+        [
+          0.222087100148201,
+          -0.03239048644900322,
+          -0.9744887351989746,
+          -22.28343391418457
+        ],
+        [
+          0.9749397039413452,
+          0.02073860540986061,
+          0.22150059044361115,
+          -4.49384880065918
+        ],
+        [
+          0.01303502544760704,
+          -0.9992601275444031,
+          0.03618454933166504,
+          -3.6926767826080322
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8245,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324087_983082294",
+      "mask_path": "../../mask/hdr_right_08245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08246.png",
+      "transform_matrix": [
+        [
+          0.1908537894487381,
+          -0.03654066100716591,
+          -0.9809381365776062,
+          -22.296903610229492
+        ],
+        [
+          0.9815824627876282,
+          0.0156619381159544,
+          0.1903957575559616,
+          -4.569570541381836
+        ],
+        [
+          0.008406206034123898,
+          -0.9992094039916992,
+          0.03885681554675102,
+          -3.7000536918640137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8246,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_83081722",
+      "mask_path": "../../mask/hdr_right_08246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08247.png",
+      "transform_matrix": [
+        [
+          0.1679844707250595,
+          -0.03129991516470909,
+          -0.9852926731109619,
+          -22.32557487487793
+        ],
+        [
+          0.9857086539268494,
+          0.018141794949769974,
+          0.16747912764549255,
+          -4.670632362365723
+        ],
+        [
+          0.012632893398404121,
+          -0.9993453621864319,
+          0.03390013799071312,
+          -3.688882827758789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8247,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_183082103",
+      "mask_path": "../../mask/hdr_right_08247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08248.png",
+      "transform_matrix": [
+        [
+          0.16141477227210999,
+          -0.027689244598150253,
+          -0.9864981174468994,
+          -22.362274169921875
+        ],
+        [
+          0.9868059754371643,
+          0.017315061762928963,
+          0.16097919642925262,
+          -4.749081611633301
+        ],
+        [
+          0.012623888440430164,
+          -0.999466598033905,
+          0.030118819326162338,
+          -3.6706526279449463
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8248,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_283082008",
+      "mask_path": "../../mask/hdr_right_08248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08250.png",
+      "transform_matrix": [
+        [
+          0.16729669272899628,
+          -0.013345165178179741,
+          -0.9858163595199585,
+          -22.403600692749023
+        ],
+        [
+          0.9859016537666321,
+          -0.0009192226571030915,
+          0.16732364892959595,
+          -4.868147850036621
+        ],
+        [
+          -0.003139146137982607,
+          -0.9999105334281921,
+          0.013003235682845116,
+          -3.6648378372192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8250,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_483082294",
+      "mask_path": "../../mask/hdr_right_08250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08251.png",
+      "transform_matrix": [
+        [
+          0.17089182138442993,
+          -0.01603507436811924,
+          -0.9851593971252441,
+          -22.43126106262207
+        ],
+        [
+          0.9852582812309265,
+          -0.005216664634644985,
+          0.17099395394325256,
+          -4.97214937210083
+        ],
+        [
+          -0.007881145924329758,
+          -0.9998577833175659,
+          0.014907204546034336,
+          -3.6555817127227783
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8251,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_583081960",
+      "mask_path": "../../mask/hdr_right_08251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08252.png",
+      "transform_matrix": [
+        [
+          0.16877079010009766,
+          -0.02405223250389099,
+          -0.9853618741035461,
+          -22.449748992919922
+        ],
+        [
+          0.985609233379364,
+          -0.005553815513849258,
+          0.16894876956939697,
+          -5.04722785949707
+        ],
+        [
+          -0.00953611172735691,
+          -0.9996953010559082,
+          0.0227687805891037,
+          -3.655580759048462
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8252,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_683080911",
+      "mask_path": "../../mask/hdr_right_08252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08253.png",
+      "transform_matrix": [
+        [
+          0.16595962643623352,
+          -0.02773354947566986,
+          -0.985742449760437,
+          -22.464452743530273
+        ],
+        [
+          0.9860790371894836,
+          -0.00575523404404521,
+          0.16617821156978607,
+          -5.111196041107178
+        ],
+        [
+          -0.010281890630722046,
+          -0.9995988011360168,
+          0.026392336934804916,
+          -3.658651828765869
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8253,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_783081293",
+      "mask_path": "../../mask/hdr_right_08253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08254.png",
+      "transform_matrix": [
+        [
+          0.15523363649845123,
+          -0.023400386795401573,
+          -0.987600564956665,
+          -22.48004722595215
+        ],
+        [
+          0.9877765774726868,
+          -0.010634804144501686,
+          0.15551325678825378,
+          -5.1982927322387695
+        ],
+        [
+          -0.014142011292278767,
+          -0.99966961145401,
+          0.02146347425878048,
+          -3.6552987098693848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8254,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_883081197",
+      "mask_path": "../../mask/hdr_right_08254.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/01b4988e/mesh.ply b/2024-11-11-12-07-40/splats/01b4988e/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..362a1538f3e78dca0fa52aa6221c946138d1afb5
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/01b4988e/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78ebe9cf6a02d0350d36085170db830f04b13aee9a5e7d818f162c4c5b25d90f
+size 72872944
diff --git a/2024-11-11-12-07-40/splats/01b4988e/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/01b4988e/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b55e8ff9611e3f89a6e9ee80d1fe2389ee4d9a0b
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/01b4988e/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1febeb7bbcb2806f76dcc44a92730ee9b01b25313737eb48d97d1d49287ac8cf
+size 1572709
diff --git a/2024-11-11-12-07-40/splats/01b4988e/splatfacto/config.yml b/2024-11-11-12-07-40/splats/01b4988e/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..c0b82f4b54416520928af1b9474ab78cc88067a5
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/01b4988e/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_01b4988e
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_01b4988e
+      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/2024-11-11-12-07-40/splats/01b4988e/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/01b4988e/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfd29918be41f51f106e29348a4a3d9f9820a78b
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/01b4988e/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.5702767372131348,
+            -0.8194381594657898,
+            -0.05749278888106346,
+            -16.596275329589844
+        ],
+        [
+            -0.8194381594657898,
+            0.572381854057312,
+            -0.03000221587717533,
+            -12.049217224121094
+        ],
+        [
+            0.05749278888106346,
+            0.03000221587717533,
+            -0.9978950023651123,
+            -2.2141528129577637
+        ]
+    ],
+    "scale": 0.2084515666032511
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/01b4988e/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/01b4988e/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ea0d52e54622df23085631dc7afcb30067d06ddd
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/01b4988e/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13498e3059fe07db187b781c9d1c4408dc18d465c76973a9a4b4d30601255752
+size 107628881
diff --git a/2024-11-11-12-07-40/splats/01b4988e/transforms.json b/2024-11-11-12-07-40/splats/01b4988e/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..0790ccd6323ee6d52c944a4273ff662ba12446ca
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/01b4988e/transforms.json
@@ -0,0 +1,33900 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_00372.png",
+      "transform_matrix": [
+        [
+          0.6271551847457886,
+          0.12733231484889984,
+          0.7684158086776733,
+          -15.206460952758789
+        ],
+        [
+          -0.7788897156715393,
+          0.10592112690210342,
+          0.6181517243385315,
+          -3.735161066055298
+        ],
+        [
+          -0.0026807808317244053,
+          -0.9861882925033569,
+          0.16560682654380798,
+          -2.9691834449768066
+        ],
+        [
+          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": "1731323301_683082342",
+      "mask_path": "../../mask/hdr_front_00372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00373.png",
+      "transform_matrix": [
+        [
+          0.6204466819763184,
+          0.12859080731868744,
+          0.7736344933509827,
+          -15.265844345092773
+        ],
+        [
+          -0.7841958403587341,
+          0.11316370964050293,
+          0.6101071238517761,
+          -3.782444953918457
+        ],
+        [
+          -0.009093178436160088,
+          -0.9852199554443359,
+          0.17105242609977722,
+          -2.9758365154266357
+        ],
+        [
+          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": "1731323301_783082246",
+      "mask_path": "../../mask/hdr_front_00373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00374.png",
+      "transform_matrix": [
+        [
+          0.6092771291732788,
+          0.13203169405460358,
+          0.7818880677223206,
+          -15.30682373046875
+        ],
+        [
+          -0.7929512858390808,
+          0.09758934378623962,
+          0.6014188528060913,
+          -3.822932481765747
+        ],
+        [
+          0.003102422459051013,
+          -0.9864299297332764,
+          0.16415369510650635,
+          -2.988612174987793
+        ],
+        [
+          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": "1731323301_883082151",
+      "mask_path": "../../mask/hdr_front_00374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00375.png",
+      "transform_matrix": [
+        [
+          0.6056193113327026,
+          0.1365610957145691,
+          0.7839491963386536,
+          -15.377849578857422
+        ],
+        [
+          -0.7957205176353455,
+          0.09481857717037201,
+          0.5981959104537964,
+          -3.8756353855133057
+        ],
+        [
+          0.007357316557317972,
+          -0.986083447933197,
+          0.16608841717243195,
+          -3.019413948059082
+        ],
+        [
+          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": "1731323301_983082771",
+      "mask_path": "../../mask/hdr_front_00375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00376.png",
+      "transform_matrix": [
+        [
+          0.6038339734077454,
+          0.13701428472995758,
+          0.7852461934089661,
+          -15.442756652832031
+        ],
+        [
+          -0.7969845533370972,
+          0.08629036694765091,
+          0.5978040099143982,
+          -3.9290363788604736
+        ],
+        [
+          0.014148492366075516,
+          -0.9868035316467285,
+          0.1613033264875412,
+          -3.041708469390869
+        ],
+        [
+          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": "1731323302_83081960",
+      "mask_path": "../../mask/hdr_front_00376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00377.png",
+      "transform_matrix": [
+        [
+          0.6013416051864624,
+          0.13171172142028809,
+          0.7880610823631287,
+          -15.498144149780273
+        ],
+        [
+          -0.7987924218177795,
+          0.07705961912870407,
+          0.5966511368751526,
+          -3.9958810806274414
+        ],
+        [
+          0.017858263105154037,
+          -0.9882883429527283,
+          0.15154948830604553,
+          -3.041945695877075
+        ],
+        [
+          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": "1731323302_183082580",
+      "mask_path": "../../mask/hdr_front_00377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00378.png",
+      "transform_matrix": [
+        [
+          0.5975900292396545,
+          0.12684550881385803,
+          0.7917047739028931,
+          -15.589334487915039
+        ],
+        [
+          -0.801742434501648,
+          0.08251126110553741,
+          0.5919467806816101,
+          -4.0832600593566895
+        ],
+        [
+          0.009761232882738113,
+          -0.9884847402572632,
+          0.1510053277015686,
+          -3.0625576972961426
+        ],
+        [
+          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": "1731323302_283082008",
+      "mask_path": "../../mask/hdr_front_00378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00379.png",
+      "transform_matrix": [
+        [
+          0.5946334600448608,
+          0.12988826632499695,
+          0.7934356331825256,
+          -15.660324096679688
+        ],
+        [
+          -0.8039571046829224,
+          0.08624186366796494,
+          0.588400661945343,
+          -4.148533344268799
+        ],
+        [
+          0.007998982444405556,
+          -0.9877709746360779,
+          0.15570688247680664,
+          -3.0940334796905518
+        ],
+        [
+          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": "1731323302_383082628",
+      "mask_path": "../../mask/hdr_front_00379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00380.png",
+      "transform_matrix": [
+        [
+          0.5964163541793823,
+          0.13381880521774292,
+          0.7914416790008545,
+          -15.704035758972168
+        ],
+        [
+          -0.8025741577148438,
+          0.08377308398485184,
+          0.5906409621238708,
+          -4.195549964904785
+        ],
+        [
+          0.012737342156469822,
+          -0.9874586462974548,
+          0.157363161444664,
+          -3.1122775077819824
+        ],
+        [
+          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": "1731323302_483082056",
+      "mask_path": "../../mask/hdr_front_00380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00381.png",
+      "transform_matrix": [
+        [
+          0.6058995723724365,
+          0.13230687379837036,
+          0.7844620943069458,
+          -15.773722648620605
+        ],
+        [
+          -0.795447051525116,
+          0.08558986335992813,
+          0.5999486446380615,
+          -4.255856513977051
+        ],
+        [
+          0.012235337868332863,
+          -0.987506628036499,
+          0.15710198879241943,
+          -3.12465500831604
+        ],
+        [
+          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": "1731323302_583082914",
+      "mask_path": "../../mask/hdr_front_00381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00382.png",
+      "transform_matrix": [
+        [
+          0.6189316511154175,
+          0.12967342138290405,
+          0.7746667265892029,
+          -15.851356506347656
+        ],
+        [
+          -0.7853733897209167,
+          0.08886408805847168,
+          0.6126106977462769,
+          -4.320333003997803
+        ],
+        [
+          0.010599285364151001,
+          -0.9875667095184326,
+          0.15684285759925842,
+          -3.124812364578247
+        ],
+        [
+          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": "1731323302_683082818",
+      "mask_path": "../../mask/hdr_front_00382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00383.png",
+      "transform_matrix": [
+        [
+          0.6301984190940857,
+          0.1293182522058487,
+          0.7655892372131348,
+          -15.907876014709473
+        ],
+        [
+          -0.7763219475746155,
+          0.08818401396274567,
+          0.6241376399993896,
+          -4.371309280395508
+        ],
+        [
+          0.01319964975118637,
+          -0.9876742362976074,
+          0.15596599876880646,
+          -3.1272099018096924
+        ],
+        [
+          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": "1731323302_783082723",
+      "mask_path": "../../mask/hdr_front_00383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00384.png",
+      "transform_matrix": [
+        [
+          0.6391943097114563,
+          0.1282505989074707,
+          0.7582759261131287,
+          -15.963618278503418
+        ],
+        [
+          -0.7688474059104919,
+          0.08420639485120773,
+          0.6338635683059692,
+          -4.4187469482421875
+        ],
+        [
+          0.017441673204302788,
+          -0.9881604909896851,
+          0.15242937207221985,
+          -3.1367876529693604
+        ],
+        [
+          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": "1731323302_883080959",
+      "mask_path": "../../mask/hdr_front_00384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00385.png",
+      "transform_matrix": [
+        [
+          0.6524006724357605,
+          0.12847203016281128,
+          0.7469058632850647,
+          -16.031160354614258
+        ],
+        [
+          -0.7573856115341187,
+          0.07514096051454544,
+          0.6486298441886902,
+          -4.485719680786133
+        ],
+        [
+          0.02720758132636547,
+          -0.9888623952865601,
+          0.14632491767406464,
+          -3.1482200622558594
+        ],
+        [
+          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": "1731323302_983085632",
+      "mask_path": "../../mask/hdr_front_00385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00386.png",
+      "transform_matrix": [
+        [
+          0.6726199984550476,
+          0.12925711274147034,
+          0.7286117076873779,
+          -16.096343994140625
+        ],
+        [
+          -0.7390894889831543,
+          0.06883769482374191,
+          0.6700807213783264,
+          -4.5622992515563965
+        ],
+        [
+          0.03645673394203186,
+          -0.9892188906669617,
+          0.14183418452739716,
+          -3.1651368141174316
+        ],
+        [
+          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": "1731323303_83081483",
+      "mask_path": "../../mask/hdr_front_00386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00387.png",
+      "transform_matrix": [
+        [
+          0.6875545978546143,
+          0.13151828944683075,
+          0.7141229510307312,
+          -16.142833709716797
+        ],
+        [
+          -0.7246497273445129,
+          0.06145549193024635,
+          0.6863716244697571,
+          -4.628017425537109
+        ],
+        [
+          0.04638363793492317,
+          -0.9894070029258728,
+          0.1375586986541748,
+          -3.185335874557495
+        ],
+        [
+          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": "1731323303_183081626",
+      "mask_path": "../../mask/hdr_front_00387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00388.png",
+      "transform_matrix": [
+        [
+          0.6920025944709778,
+          0.1392761468887329,
+          0.7083322405815125,
+          -16.185043334960938
+        ],
+        [
+          -0.7189948558807373,
+          0.04510825499892235,
+          0.6935499906539917,
+          -4.691255569458008
+        ],
+        [
+          0.06464333832263947,
+          -0.9892256855964661,
+          0.13135387003421783,
+          -3.2031569480895996
+        ],
+        [
+          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": "1731323303_283080339",
+      "mask_path": "../../mask/hdr_front_00388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00389.png",
+      "transform_matrix": [
+        [
+          0.6894911527633667,
+          0.14877766370773315,
+          0.7088491916656494,
+          -16.24746322631836
+        ],
+        [
+          -0.720363199710846,
+          0.03903577849268913,
+          0.6924977898597717,
+          -4.75109338760376
+        ],
+        [
+          0.07535770535469055,
+          -0.9880999326705933,
+          0.13408878445625305,
+          -3.219939947128296
+        ],
+        [
+          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": "1731323303_383081912",
+      "mask_path": "../../mask/hdr_front_00389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00390.png",
+      "transform_matrix": [
+        [
+          0.6864677667617798,
+          0.15504689514636993,
+          0.7104382514953613,
+          -16.31303596496582
+        ],
+        [
+          -0.7227675318717957,
+          0.0382586270570755,
+          0.6900315284729004,
+          -4.808813571929932
+        ],
+        [
+          0.07980683445930481,
+          -0.9871661067008972,
+          0.13832616806030273,
+          -3.233659505844116
+        ],
+        [
+          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": "1731323303_483081817",
+      "mask_path": "../../mask/hdr_front_00390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00391.png",
+      "transform_matrix": [
+        [
+          0.6846296787261963,
+          0.15635429322719574,
+          0.7119238376617432,
+          -16.364200592041016
+        ],
+        [
+          -0.7239386439323425,
+          0.03219667822122574,
+          0.689112663269043,
+          -4.868368148803711
+        ],
+        [
+          0.08482413738965988,
+          -0.9871761202812195,
+          0.13523371517658234,
+          -3.2399611473083496
+        ],
+        [
+          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": "1731323303_583082199",
+      "mask_path": "../../mask/hdr_front_00391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00392.png",
+      "transform_matrix": [
+        [
+          0.6801026463508606,
+          0.1488143354654312,
+          0.7178542017936707,
+          -16.443004608154297
+        ],
+        [
+          -0.7289927005767822,
+          0.03356098383665085,
+          0.6836981177330017,
+          -4.950194835662842
+        ],
+        [
+          0.07765218615531921,
+          -0.9882955551147461,
+          0.13130950927734375,
+          -3.250375270843506
+        ],
+        [
+          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": "1731323303_683082580",
+      "mask_path": "../../mask/hdr_front_00392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00393.png",
+      "transform_matrix": [
+        [
+          0.6761297583580017,
+          0.14298339188098907,
+          0.7227754592895508,
+          -16.529563903808594
+        ],
+        [
+          -0.7336134314537048,
+          0.039760079234838486,
+          0.678402841091156,
+          -5.036371231079102
+        ],
+        [
+          0.0682627260684967,
+          -0.988926112651825,
+          0.13177752494812012,
+          -3.269939422607422
+        ],
+        [
+          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": "1731323303_783082246",
+      "mask_path": "../../mask/hdr_front_00393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00394.png",
+      "transform_matrix": [
+        [
+          0.6765062808990479,
+          0.14312337338924408,
+          0.7223951816558838,
+          -16.583316802978516
+        ],
+        [
+          -0.7334656715393066,
+          0.04291902855038643,
+          0.6783702373504639,
+          -5.096129894256592
+        ],
+        [
+          0.06608614325523376,
+          -0.9887738227844238,
+          0.13401105999946594,
+          -3.2858495712280273
+        ],
+        [
+          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": "1731323303_883082151",
+      "mask_path": "../../mask/hdr_front_00394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00395.png",
+      "transform_matrix": [
+        [
+          0.6766088604927063,
+          0.14686769247055054,
+          0.7215471863746643,
+          -16.644887924194336
+        ],
+        [
+          -0.733161985874176,
+          0.04339079558849335,
+          0.6786683797836304,
+          -5.161111831665039
+        ],
+        [
+          0.06836593896150589,
+          -0.9882040023803711,
+          0.13703641295433044,
+          -3.3069188594818115
+        ],
+        [
+          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": "1731323303_983083724",
+      "mask_path": "../../mask/hdr_front_00395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00396.png",
+      "transform_matrix": [
+        [
+          0.6732969284057617,
+          0.14832262694835663,
+          0.7243422865867615,
+          -16.73177146911621
+        ],
+        [
+          -0.7367432117462158,
+          0.05204515531659126,
+          0.674166738986969,
+          -5.23089075088501
+        ],
+        [
+          0.06229567155241966,
+          -0.9875686168670654,
+          0.14431749284267426,
+          -3.3189845085144043
+        ],
+        [
+          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": "1731323304_83082199",
+      "mask_path": "../../mask/hdr_front_00396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00397.png",
+      "transform_matrix": [
+        [
+          0.6697226166725159,
+          0.14623428881168365,
+          0.728070855140686,
+          -16.801034927368164
+        ],
+        [
+          -0.7407813668251038,
+          0.06276843696832657,
+          0.6688072681427002,
+          -5.283692836761475
+        ],
+        [
+          0.05210267752408981,
+          -0.9872567057609558,
+          0.15036506950855255,
+          -3.326744794845581
+        ],
+        [
+          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": "1731323304_183082580",
+      "mask_path": "../../mask/hdr_front_00397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00398.png",
+      "transform_matrix": [
+        [
+          0.6646221280097961,
+          0.1458088904619217,
+          0.7328145503997803,
+          -16.863155364990234
+        ],
+        [
+          -0.745515763759613,
+          0.06399375200271606,
+          0.6634085774421692,
+          -5.334964752197266
+        ],
+        [
+          0.049835316836833954,
+          -0.9872409105300903,
+          0.1512344926595688,
+          -3.333324909210205
+        ],
+        [
+          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": "1731323304_283081531",
+      "mask_path": "../../mask/hdr_front_00398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00399.png",
+      "transform_matrix": [
+        [
+          0.6600143909454346,
+          0.14440222084522247,
+          0.737244188785553,
+          -16.95054817199707
+        ],
+        [
+          -0.7496448755264282,
+          0.06241760775446892,
+          0.6588904857635498,
+          -5.411189079284668
+        ],
+        [
+          0.04912823066115379,
+          -0.9875485301017761,
+          0.14944690465927124,
+          -3.3466620445251465
+        ],
+        [
+          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": "1731323304_383081912",
+      "mask_path": "../../mask/hdr_front_00399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00400.png",
+      "transform_matrix": [
+        [
+          0.6631765365600586,
+          0.1432407796382904,
+          0.7346283793449402,
+          -17.03478240966797
+        ],
+        [
+          -0.7470165491104126,
+          0.06568241864442825,
+          0.6615527272224426,
+          -5.492156982421875
+        ],
+        [
+          0.046509165316820145,
+          -0.9875058531761169,
+          0.15056228637695312,
+          -3.3731400966644287
+        ],
+        [
+          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": "1731323304_483083724",
+      "mask_path": "../../mask/hdr_front_00400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00401.png",
+      "transform_matrix": [
+        [
+          0.6660097241401672,
+          0.1448693424463272,
+          0.731740415096283,
+          -17.0850830078125
+        ],
+        [
+          -0.7439346313476562,
+          0.05706052482128143,
+          0.6658118963241577,
+          -5.559642791748047
+        ],
+        [
+          0.054702240973711014,
+          -0.9878041744232178,
+          0.1457761973142624,
+          -3.396760940551758
+        ],
+        [
+          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": "1731323304_583081960",
+      "mask_path": "../../mask/hdr_front_00401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00402.png",
+      "transform_matrix": [
+        [
+          0.6665976643562317,
+          0.14509573578834534,
+          0.7311599254608154,
+          -17.13642692565918
+        ],
+        [
+          -0.742828905582428,
+          0.04762722924351692,
+          0.6677849292755127,
+          -5.626619338989258
+        ],
+        [
+          0.062069620937108994,
+          -0.9882706999778748,
+          0.1395295262336731,
+          -3.415884017944336
+        ],
+        [
+          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": "1731323304_683082580",
+      "mask_path": "../../mask/hdr_front_00402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00403.png",
+      "transform_matrix": [
+        [
+          0.6640231013298035,
+          0.14543183147907257,
+          0.7334322929382324,
+          -17.21241569519043
+        ],
+        [
+          -0.7454057335853577,
+          0.05177164077758789,
+          0.6645976901054382,
+          -5.689494609832764
+        ],
+        [
+          0.05868266895413399,
+          -0.9880128502845764,
+          0.1427832841873169,
+          -3.432504892349243
+        ],
+        [
+          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": "1731323304_783082246",
+      "mask_path": "../../mask/hdr_front_00403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00404.png",
+      "transform_matrix": [
+        [
+          0.6596159934997559,
+          0.14603160321712494,
+          0.7372797131538391,
+          -17.278400421142578
+        ],
+        [
+          -0.7492524981498718,
+          0.05024261400103569,
+          0.6603760719299316,
+          -5.745568752288818
+        ],
+        [
+          0.05939289554953575,
+          -0.9880033135414124,
+          0.1425553560256958,
+          -3.4398436546325684
+        ],
+        [
+          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": "1731323304_883081674",
+      "mask_path": "../../mask/hdr_front_00404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00405.png",
+      "transform_matrix": [
+        [
+          0.6537150144577026,
+          0.14087453484535217,
+          0.7435125708580017,
+          -17.334800720214844
+        ],
+        [
+          -0.7541002631187439,
+          0.03926428034901619,
+          0.6555846333503723,
+          -5.80806827545166
+        ],
+        [
+          0.06316167861223221,
+          -0.9892485737800598,
+          0.13190115988254547,
+          -3.4365413188934326
+        ],
+        [
+          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": "1731323304_983081340",
+      "mask_path": "../../mask/hdr_front_00405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00406.png",
+      "transform_matrix": [
+        [
+          0.6488704085350037,
+          0.12997761368751526,
+          0.7497153878211975,
+          -17.429157257080078
+        ],
+        [
+          -0.7586889266967773,
+          0.03547552600502968,
+          0.6504865288734436,
+          -5.890715599060059
+        ],
+        [
+          0.05795213207602501,
+          -0.9908820986747742,
+          0.12163158506155014,
+          -3.4448912143707275
+        ],
+        [
+          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": "1731323305_83081007",
+      "mask_path": "../../mask/hdr_front_00406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00407.png",
+      "transform_matrix": [
+        [
+          0.6483092904090881,
+          0.12415013462305069,
+          0.7511868476867676,
+          -17.50240135192871
+        ],
+        [
+          -0.7594726085662842,
+          0.03571119159460068,
+          0.6495583653450012,
+          -5.958810329437256
+        ],
+        [
+          0.053816989064216614,
+          -0.9916206002235413,
+          0.11744054406881332,
+          -3.4610183238983154
+        ],
+        [
+          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": "1731323305_183082342",
+      "mask_path": "../../mask/hdr_front_00407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00408.png",
+      "transform_matrix": [
+        [
+          0.6500654816627502,
+          0.12281093001365662,
+          0.7498883008956909,
+          -17.545156478881836
+        ],
+        [
+          -0.7577288150787354,
+          0.030591996386647224,
+          0.6518521308898926,
+          -6.015940189361572
+        ],
+        [
+          0.05711399018764496,
+          -0.991958498954773,
+          0.11294418573379517,
+          -3.4644274711608887
+        ],
+        [
+          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": "1731323305_283080816",
+      "mask_path": "../../mask/hdr_front_00408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00409.png",
+      "transform_matrix": [
+        [
+          0.6472214460372925,
+          0.13772143423557281,
+          0.7497581243515015,
+          -17.61578369140625
+        ],
+        [
+          -0.7594260573387146,
+          0.03113393299281597,
+          0.6498483419418335,
+          -6.082650661468506
+        ],
+        [
+          0.06615512073040009,
+          -0.9899815917015076,
+          0.12473979592323303,
+          -3.474581718444824
+        ],
+        [
+          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": "1731323305_383081912",
+      "mask_path": "../../mask/hdr_front_00409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00410.png",
+      "transform_matrix": [
+        [
+          0.6410139799118042,
+          0.1484675109386444,
+          0.753032922744751,
+          -17.68943977355957
+        ],
+        [
+          -0.7647945284843445,
+          0.040804874151945114,
+          0.6429808735847473,
+          -6.141061305999756
+        ],
+        [
+          0.06473435461521149,
+          -0.9880750775337219,
+          0.13970361649990082,
+          -3.4888150691986084
+        ],
+        [
+          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": "1731323305_483081817",
+      "mask_path": "../../mask/hdr_front_00410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00411.png",
+      "transform_matrix": [
+        [
+          0.6372233629226685,
+          0.14574268460273743,
+          0.7567729949951172,
+          -17.753522872924805
+        ],
+        [
+          -0.7685264348983765,
+          0.046825308352708817,
+          0.6381023526191711,
+          -6.186079978942871
+        ],
+        [
+          0.05756262689828873,
+          -0.988213837146759,
+          0.14184531569480896,
+          -3.4955332279205322
+        ],
+        [
+          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": "1731323305_583081960",
+      "mask_path": "../../mask/hdr_front_00411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00412.png",
+      "transform_matrix": [
+        [
+          0.6321308016777039,
+          0.1424437314271927,
+          0.7616565823554993,
+          -17.821422576904297
+        ],
+        [
+          -0.7729452252388,
+          0.04682528227567673,
+          0.6327424645423889,
+          -6.236293792724609
+        ],
+        [
+          0.05446542054414749,
+          -0.9886947274208069,
+          0.13970088958740234,
+          -3.503685712814331
+        ],
+        [
+          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": "1731323305_683081865",
+      "mask_path": "../../mask/hdr_front_00412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00413.png",
+      "transform_matrix": [
+        [
+          0.6316666007041931,
+          0.13529883325099945,
+          0.7633424401283264,
+          -17.911413192749023
+        ],
+        [
+          -0.773932695388794,
+          0.05289085581898689,
+          0.6310553550720215,
+          -6.301959037780762
+        ],
+        [
+          0.04500720649957657,
+          -0.989392101764679,
+          0.13812156021595,
+          -3.525585651397705
+        ],
+        [
+          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": "1731323305_783081531",
+      "mask_path": "../../mask/hdr_front_00413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00414.png",
+      "transform_matrix": [
+        [
+          0.6332431435585022,
+          0.13028216361999512,
+          0.7629086971282959,
+          -17.983577728271484
+        ],
+        [
+          -0.7727455496788025,
+          0.05139421299099922,
+          0.6326315999031067,
+          -6.363866329193115
+        ],
+        [
+          0.043211519718170166,
+          -0.9901440739631653,
+          0.13322000205516815,
+          -3.5487122535705566
+        ],
+        [
+          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": "1731323305_883082389",
+      "mask_path": "../../mask/hdr_front_00414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00415.png",
+      "transform_matrix": [
+        [
+          0.6344321370124817,
+          0.12558509409427643,
+          0.7627085447311401,
+          -18.028770446777344
+        ],
+        [
+          -0.7713883519172668,
+          0.03960387036204338,
+          0.6351311802864075,
+          -6.423412799835205
+        ],
+        [
+          0.04955678805708885,
+          -0.9912920594215393,
+          0.12200083583593369,
+          -3.5609891414642334
+        ],
+        [
+          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": "1731323305_983082294",
+      "mask_path": "../../mask/hdr_front_00415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00416.png",
+      "transform_matrix": [
+        [
+          0.6313470005989075,
+          0.13409864902496338,
+          0.7638184428215027,
+          -18.095909118652344
+        ],
+        [
+          -0.7738379240036011,
+          0.04447879269719124,
+          0.6318200826644897,
+          -6.4842143058776855
+        ],
+        [
+          0.050752487033605576,
+          -0.9899693727493286,
+          0.1318521797657013,
+          -3.577643871307373
+        ],
+        [
+          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": "1731323306_83081483",
+      "mask_path": "../../mask/hdr_front_00416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00417.png",
+      "transform_matrix": [
+        [
+          0.6225875616073608,
+          0.13263550400733948,
+          0.771228015422821,
+          -18.17537498474121
+        ],
+        [
+          -0.7811881303787231,
+          0.04722001776099205,
+          0.6225073337554932,
+          -6.535987854003906
+        ],
+        [
+          0.04614917188882828,
+          -0.9900394678115845,
+          0.13301187753677368,
+          -3.5711846351623535
+        ],
+        [
+          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": "1731323306_183081388",
+      "mask_path": "../../mask/hdr_front_00417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00418.png",
+      "transform_matrix": [
+        [
+          0.6160504817962646,
+          0.12485109269618988,
+          0.7777491807937622,
+          -18.238502502441406
+        ],
+        [
+          -0.7864353656768799,
+          0.04141496866941452,
+          0.6162824630737305,
+          -6.571897029876709
+        ],
+        [
+          0.04473308473825455,
+          -0.9913107752799988,
+          0.12370103597640991,
+          -3.5578291416168213
+        ],
+        [
+          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": "1731323306_283082723",
+      "mask_path": "../../mask/hdr_front_00418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00419.png",
+      "transform_matrix": [
+        [
+          0.6129770874977112,
+          0.12262378633022308,
+          0.7805270552635193,
+          -18.297826766967773
+        ],
+        [
+          -0.789249062538147,
+          0.04917488247156143,
+          0.612101137638092,
+          -6.61256742477417
+        ],
+        [
+          0.0366758294403553,
+          -0.9912342429161072,
+          0.12692376971244812,
+          -3.5698070526123047
+        ],
+        [
+          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": "1731323306_383081674",
+      "mask_path": "../../mask/hdr_front_00419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00420.png",
+      "transform_matrix": [
+        [
+          0.6170178055763245,
+          0.12328402698040009,
+          0.7772323489189148,
+          -18.373619079589844
+        ],
+        [
+          -0.7866555452346802,
+          0.06965208798646927,
+          0.6134505867958069,
+          -6.665771007537842
+        ],
+        [
+          0.02149280160665512,
+          -0.9899240732192993,
+          0.13995864987373352,
+          -3.607348918914795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 420,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323306_483081817",
+      "mask_path": "../../mask/hdr_front_00420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00421.png",
+      "transform_matrix": [
+        [
+          0.6217874884605408,
+          0.12836551666259766,
+          0.772594690322876,
+          -18.434850692749023
+        ],
+        [
+          -0.7830255031585693,
+          0.08192048221826553,
+          0.6165712475776672,
+          -6.711860179901123
+        ],
+        [
+          0.015855154022574425,
+          -0.9883377552032471,
+          0.15145060420036316,
+          -3.646054267883301
+        ],
+        [
+          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": "1731323306_583081007",
+      "mask_path": "../../mask/hdr_front_00421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00422.png",
+      "transform_matrix": [
+        [
+          0.6232491135597229,
+          0.13317450881004333,
+          0.7706004977226257,
+          -18.485713958740234
+        ],
+        [
+          -0.7816551327705383,
+          0.07585173845291138,
+          0.6190813779830933,
+          -6.759477138519287
+        ],
+        [
+          0.023994475603103638,
+          -0.9881858229637146,
+          0.1513710767030716,
+          -3.666229248046875
+        ],
+        [
+          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": "1731323306_683082580",
+      "mask_path": "../../mask/hdr_front_00422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00423.png",
+      "transform_matrix": [
+        [
+          0.6239182949066162,
+          0.13044573366641998,
+          0.7705256938934326,
+          -18.5737247467041
+        ],
+        [
+          -0.7811095118522644,
+          0.07334630936384201,
+          0.620071291923523,
+          -6.812069416046143
+        ],
+        [
+          0.024370437487959862,
+          -0.9887387156486511,
+          0.14765451848506927,
+          -3.6843950748443604
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 423,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323306_783081769",
+      "mask_path": "../../mask/hdr_front_00423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00424.png",
+      "transform_matrix": [
+        [
+          0.6219853162765503,
+          0.12404527515172958,
+          0.7731410264968872,
+          -18.662288665771484
+        ],
+        [
+          -0.7827697396278381,
+          0.07310321927070618,
+          0.6180027723312378,
+          -6.858414649963379
+        ],
+        [
+          0.020141229033470154,
+          -0.9895800948143005,
+          0.14256803691387177,
+          -3.6969122886657715
+        ],
+        [
+          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": "1731323306_883082389",
+      "mask_path": "../../mask/hdr_front_00424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00425.png",
+      "transform_matrix": [
+        [
+          0.6188529133796692,
+          0.1206357404589653,
+          0.7761881947517395,
+          -18.71794891357422
+        ],
+        [
+          -0.7851249575614929,
+          0.06418445706367493,
+          0.61600261926651,
+          -6.907512187957764
+        ],
+        [
+          0.024492697790265083,
+          -0.9906197190284729,
+          0.13443487882614136,
+          -3.704072952270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 425,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323306_983081817",
+      "mask_path": "../../mask/hdr_front_00425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00426.png",
+      "transform_matrix": [
+        [
+          0.6188839673995972,
+          0.1155678927898407,
+          0.7769342064857483,
+          -18.79357147216797
+        ],
+        [
+          -0.7852023839950562,
+          0.06460577249526978,
+          0.6158599257469177,
+          -6.976207733154297
+        ],
+        [
+          0.020979195833206177,
+          -0.99119633436203,
+          0.13072766363620758,
+          -3.70957088470459
+        ],
+        [
+          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": "1731323307_83080291",
+      "mask_path": "../../mask/hdr_front_00426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00427.png",
+      "transform_matrix": [
+        [
+          0.6255337595939636,
+          0.1129874512553215,
+          0.7719724178314209,
+          -18.864551544189453
+        ],
+        [
+          -0.7799879312515259,
+          0.06765350699424744,
+          0.6221268177032471,
+          -7.045660972595215
+        ],
+        [
+          0.01806589588522911,
+          -0.9912905693054199,
+          0.1304483860731125,
+          -3.7219669818878174
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 427,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_183082342",
+      "mask_path": "../../mask/hdr_front_00427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00428.png",
+      "transform_matrix": [
+        [
+          0.6358482241630554,
+          0.11109380424022675,
+          0.763776957988739,
+          -18.9085636138916
+        ],
+        [
+          -0.7714994549751282,
+          0.06323020905256271,
+          0.6330803036689758,
+          -7.101232051849365
+        ],
+        [
+          0.022037530317902565,
+          -0.9917964339256287,
+          0.12591363489627838,
+          -3.7324740886688232
+        ],
+        [
+          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": "1731323307_283080339",
+      "mask_path": "../../mask/hdr_front_00428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00429.png",
+      "transform_matrix": [
+        [
+          0.6423717141151428,
+          0.11052419990301132,
+          0.7583817839622498,
+          -18.955829620361328
+        ],
+        [
+          -0.76584792137146,
+          0.05525057017803192,
+          0.6406437158584595,
+          -7.1572418212890625
+        ],
+        [
+          0.0289055984467268,
+          -0.9923365116119385,
+          0.12013613432645798,
+          -3.737842321395874
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 429,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_383081436",
+      "mask_path": "../../mask/hdr_front_00429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00430.png",
+      "transform_matrix": [
+        [
+          0.6447281241416931,
+          0.1024768128991127,
+          0.7575119137763977,
+          -19.03328514099121
+        ],
+        [
+          -0.7639530301094055,
+          0.052046019583940506,
+          0.6431694626808167,
+          -7.220475196838379
+        ],
+        [
+          0.026484474539756775,
+          -0.993372917175293,
+          0.11184300482273102,
+          -3.744582414627075
+        ],
+        [
+          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": "1731323307_483082532",
+      "mask_path": "../../mask/hdr_front_00430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00431.png",
+      "transform_matrix": [
+        [
+          0.6426128149032593,
+          0.09026405960321426,
+          0.7608555555343628,
+          -19.10442543029785
+        ],
+        [
+          -0.7658401727676392,
+          0.04562059044837952,
+          0.6414107084274292,
+          -7.274383068084717
+        ],
+        [
+          0.023185648024082184,
+          -0.9948724508285522,
+          0.09844422340393066,
+          -3.7396063804626465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 431,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_583083152",
+      "mask_path": "../../mask/hdr_front_00431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00432.png",
+      "transform_matrix": [
+        [
+          0.6366777420043945,
+          0.08079637587070465,
+          0.7668854594230652,
+          -19.150842666625977
+        ],
+        [
+          -0.7707199454307556,
+          0.0342458039522171,
+          0.6362531781196594,
+          -7.321895122528076
+        ],
+        [
+          0.025144334882497787,
+          -0.9961422085762024,
+          0.08407492190599442,
+          -3.7345199584960938
+        ],
+        [
+          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": "1731323307_683082103",
+      "mask_path": "../../mask/hdr_front_00432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00433.png",
+      "transform_matrix": [
+        [
+          0.6316133141517639,
+          0.07449598610401154,
+          0.771696150302887,
+          -19.224836349487305
+        ],
+        [
+          -0.7749617099761963,
+          0.031991541385650635,
+          0.6311979293823242,
+          -7.384359836578369
+        ],
+        [
+          0.022333966568112373,
+          -0.9967080354690552,
+          0.07793783396482468,
+          -3.73738956451416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 433,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_783082485",
+      "mask_path": "../../mask/hdr_front_00433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00434.png",
+      "transform_matrix": [
+        [
+          0.6319679617881775,
+          0.06847793608903885,
+          0.7719632387161255,
+          -19.295265197753906
+        ],
+        [
+          -0.7747703790664673,
+          0.031873125582933426,
+          0.6314387321472168,
+          -7.451821327209473
+        ],
+        [
+          0.0186347346752882,
+          -0.9971433877944946,
+          0.07319746911525726,
+          -3.743229627609253
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 434,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_883081197",
+      "mask_path": "../../mask/hdr_front_00434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00435.png",
+      "transform_matrix": [
+        [
+          0.6359224915504456,
+          0.05855633690953255,
+          0.7695282101631165,
+          -19.3419246673584
+        ],
+        [
+          -0.7716054916381836,
+          0.028753595426678658,
+          0.6354511976242065,
+          -7.504432201385498
+        ],
+        [
+          0.015082992613315582,
+          -0.9978699684143066,
+          0.06346745043992996,
+          -3.738877296447754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 435,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_983082294",
+      "mask_path": "../../mask/hdr_front_00435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00436.png",
+      "transform_matrix": [
+        [
+          0.6380749344825745,
+          0.050050124526023865,
+          0.7683458924293518,
+          -19.402969360351562
+        ],
+        [
+          -0.7698578238487244,
+          0.02410905808210373,
+          0.6377599835395813,
+          -7.563740253448486
+        ],
+        [
+          0.013395875692367554,
+          -0.9984557032585144,
+          0.053914863616228104,
+          -3.7360496520996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 436,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_83082675",
+      "mask_path": "../../mask/hdr_front_00436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00437.png",
+      "transform_matrix": [
+        [
+          0.6342300772666931,
+          0.04310237988829613,
+          0.7719420194625854,
+          -19.485441207885742
+        ],
+        [
+          -0.7730507850646973,
+          0.019816527143120766,
+          0.6340345740318298,
+          -7.632251262664795
+        ],
+        [
+          0.012031187303364277,
+          -0.9988741278648376,
+          0.045888565480709076,
+          -3.732908248901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 437,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_183082342",
+      "mask_path": "../../mask/hdr_front_00437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00438.png",
+      "transform_matrix": [
+        [
+          0.6272281408309937,
+          0.03439071774482727,
+          0.7780759334564209,
+          -19.549575805664062
+        ],
+        [
+          -0.7787846922874451,
+          0.01628178358078003,
+          0.6270799040794373,
+          -7.6827545166015625
+        ],
+        [
+          0.008897264488041401,
+          -0.9992758631706238,
+          0.036995358765125275,
+          -3.7225747108459473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 438,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_283081054",
+      "mask_path": "../../mask/hdr_front_00438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00439.png",
+      "transform_matrix": [
+        [
+          0.6187297701835632,
+          0.02433301880955696,
+          0.7852270603179932,
+          -19.609352111816406
+        ],
+        [
+          -0.7855846285820007,
+          0.012137261219322681,
+          0.6186352372169495,
+          -7.733125686645508
+        ],
+        [
+          0.005522759631276131,
+          -0.9996302127838135,
+          0.02662532776594162,
+          -3.7213988304138184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 439,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_383081674",
+      "mask_path": "../../mask/hdr_front_00439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00440.png",
+      "transform_matrix": [
+        [
+          0.6102679967880249,
+          0.01782267726957798,
+          0.7919945120811462,
+          -19.702411651611328
+        ],
+        [
+          -0.7921950817108154,
+          0.013570609502494335,
+          0.6101171970367432,
+          -7.798984527587891
+        ],
+        [
+          0.00012607438839040697,
+          -0.9997491240501404,
+          0.022400744259357452,
+          -3.7206428050994873
+        ],
+        [
+          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": "1731323308_483081579",
+      "mask_path": "../../mask/hdr_front_00440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00441.png",
+      "transform_matrix": [
+        [
+          0.6011120676994324,
+          0.012209362350404263,
+          0.7990714311599731,
+          -19.782264709472656
+        ],
+        [
+          -0.7991393804550171,
+          0.017154274508357048,
+          0.6009010672569275,
+          -7.853920936584473
+        ],
+        [
+          -0.006370869930833578,
+          -0.9997783303260803,
+          0.020068621262907982,
+          -3.7216014862060547
+        ],
+        [
+          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": "1731323308_583081722",
+      "mask_path": "../../mask/hdr_front_00441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00442.png",
+      "transform_matrix": [
+        [
+          0.5894764065742493,
+          0.007368237245827913,
+          0.8077520728111267,
+          -19.839580535888672
+        ],
+        [
+          -0.8077452778816223,
+          0.015368281863629818,
+          0.5893312692642212,
+          -7.895717144012451
+        ],
+        [
+          -0.008071428164839745,
+          -0.9998547434806824,
+          0.015010898001492023,
+          -3.7243990898132324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 442,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_683082580",
+      "mask_path": "../../mask/hdr_front_00442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00443.png",
+      "transform_matrix": [
+        [
+          0.5724426507949829,
+          0.0038431466091424227,
+          0.8199357390403748,
+          -19.9296817779541
+        ],
+        [
+          -0.8198927044868469,
+          0.013941690325737,
+          0.5723472833633423,
+          -7.946483135223389
+        ],
+        [
+          -0.009231675416231155,
+          -0.999895453453064,
+          0.011131786741316319,
+          -3.7164556980133057
+        ],
+        [
+          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": "1731323308_783081769",
+      "mask_path": "../../mask/hdr_front_00443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00444.png",
+      "transform_matrix": [
+        [
+          0.5489916801452637,
+          0.0033710235729813576,
+          0.8358210325241089,
+          -20.02350616455078
+        ],
+        [
+          -0.835801899433136,
+          0.010083536617457867,
+          0.548938512802124,
+          -7.994389533996582
+        ],
+        [
+          -0.006577547173947096,
+          -0.9999434947967529,
+          0.008353286422789097,
+          -3.7081077098846436
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 444,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_883082151",
+      "mask_path": "../../mask/hdr_front_00444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00445.png",
+      "transform_matrix": [
+        [
+          0.5220010280609131,
+          0.002804359421133995,
+          0.8529402017593384,
+          -20.089120864868164
+        ],
+        [
+          -0.8529407382011414,
+          0.004783350508660078,
+          0.5219857692718506,
+          -8.024077415466309
+        ],
+        [
+          -0.0026160753332078457,
+          -0.9999846816062927,
+          0.004888867028057575,
+          -3.7055864334106445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 445,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_983081579",
+      "mask_path": "../../mask/hdr_front_00445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00446.png",
+      "transform_matrix": [
+        [
+          0.49335694313049316,
+          -0.00027653705910779536,
+          0.8698269724845886,
+          -20.172094345092773
+        ],
+        [
+          -0.8697958588600159,
+          0.008292561396956444,
+          0.49334201216697693,
+          -8.06552791595459
+        ],
+        [
+          -0.007349519059062004,
+          -0.9999656081199646,
+          0.0038506612181663513,
+          -3.697990655899048
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 446,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_83081960",
+      "mask_path": "../../mask/hdr_front_00446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00447.png",
+      "transform_matrix": [
+        [
+          0.465496301651001,
+          -0.0008327133255079389,
+          0.8850494027137756,
+          -20.269214630126953
+        ],
+        [
+          -0.8849019408226013,
+          0.017837507650256157,
+          0.46543559432029724,
+          -8.116602897644043
+        ],
+        [
+          -0.016174649819731712,
+          -0.9998405575752258,
+          0.007566424086689949,
+          -3.6977860927581787
+        ],
+        [
+          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": "1731323309_183081626",
+      "mask_path": "../../mask/hdr_front_00447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00448.png",
+      "transform_matrix": [
+        [
+          0.4357450306415558,
+          -0.0029095939826220274,
+          0.9000654220581055,
+          -20.347444534301758
+        ],
+        [
+          -0.8997526168823242,
+          0.025150828063488007,
+          0.4356749355792999,
+          -8.148111343383789
+        ],
+        [
+          -0.02390502579510212,
+          -0.9996795058250427,
+          0.008341432549059391,
+          -3.703904867172241
+        ],
+        [
+          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": "1731323309_283079862",
+      "mask_path": "../../mask/hdr_front_00448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00449.png",
+      "transform_matrix": [
+        [
+          0.3996473550796509,
+          -0.006465264596045017,
+          0.9166462421417236,
+          -20.429101943969727
+        ],
+        [
+          -0.9162445664405823,
+          0.02760651521384716,
+          0.39966705441474915,
+          -8.174871444702148
+        ],
+        [
+          -0.027889356017112732,
+          -0.99959796667099,
+          0.005109107121825218,
+          -3.7052547931671143
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 449,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_383078098",
+      "mask_path": "../../mask/hdr_front_00449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00450.png",
+      "transform_matrix": [
+        [
+          0.3558167517185211,
+          -0.0038745312485843897,
+          0.9345477819442749,
+          -20.5274600982666
+        ],
+        [
+          -0.9341011643409729,
+          0.029709184542298317,
+          0.35576993227005005,
+          -8.205439567565918
+        ],
+        [
+          -0.029143089428544044,
+          -0.9995511174201965,
+          0.006951820570975542,
+          -3.6943562030792236
+        ],
+        [
+          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": "1731323309_483083248",
+      "mask_path": "../../mask/hdr_front_00450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00451.png",
+      "transform_matrix": [
+        [
+          0.3080809414386749,
+          -0.0002554050297476351,
+          0.9513601064682007,
+          -20.61343002319336
+        ],
+        [
+          -0.9509984850883484,
+          0.027487682178616524,
+          0.3079712390899658,
+          -8.22200870513916
+        ],
+        [
+          -0.026229340583086014,
+          -0.999622106552124,
+          0.008225541561841965,
+          -3.688416004180908
+        ],
+        [
+          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": "1731323309_583082437",
+      "mask_path": "../../mask/hdr_front_00451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00452.png",
+      "transform_matrix": [
+        [
+          0.2576736807823181,
+          -0.003420785302296281,
+          0.9662259817123413,
+          -20.691997528076172
+        ],
+        [
+          -0.9658806920051575,
+          0.02605077438056469,
+          0.25767385959625244,
+          -8.234241485595703
+        ],
+        [
+          -0.026052379980683327,
+          -0.9996547698974609,
+          0.00340852839872241,
+          -3.683354139328003
+        ],
+        [
+          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": "1731323309_683081626",
+      "mask_path": "../../mask/hdr_front_00452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00453.png",
+      "transform_matrix": [
+        [
+          0.2080511897802353,
+          -0.0033463770523667336,
+          0.9781122207641602,
+          -20.790809631347656
+        ],
+        [
+          -0.9776678681373596,
+          0.029622098430991173,
+          0.20805799961090088,
+          -8.254376411437988
+        ],
+        [
+          -0.029669973999261856,
+          -0.9995555877685547,
+          0.0028912671841681004,
+          -3.6778533458709717
+        ],
+        [
+          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": "1731323309_783081293",
+      "mask_path": "../../mask/hdr_front_00453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00454.png",
+      "transform_matrix": [
+        [
+          0.15798147022724152,
+          -0.0006132979760877788,
+          0.987441897392273,
+          -20.881898880004883
+        ],
+        [
+          -0.9867748022079468,
+          0.03665843605995178,
+          0.15789751708507538,
+          -8.268295288085938
+        ],
+        [
+          -0.03629491105675697,
+          -0.9993276596069336,
+          0.005186166614294052,
+          -3.6851069927215576
+        ],
+        [
+          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": "1731323309_883079290",
+      "mask_path": "../../mask/hdr_front_00454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00455.png",
+      "transform_matrix": [
+        [
+          0.10243116319179535,
+          -0.002781685208901763,
+          0.9947362542152405,
+          -20.953065872192383
+        ],
+        [
+          -0.9938409328460693,
+          0.042223550379276276,
+          0.10245704650878906,
+          -8.264317512512207
+        ],
+        [
+          -0.04228629916906357,
+          -0.9991043210029602,
+          0.0015604550717398524,
+          -3.687612533569336
+        ],
+        [
+          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": "1731323309_983080387",
+      "mask_path": "../../mask/hdr_front_00455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00456.png",
+      "transform_matrix": [
+        [
+          0.03935012221336365,
+          -0.0006906227790750563,
+          0.9992252588272095,
+          -21.035856246948242
+        ],
+        [
+          -0.9983670115470886,
+          0.04141680896282196,
+          0.03934495523571968,
+          -8.25698184967041
+        ],
+        [
+          -0.04141188785433769,
+          -0.9991416931152344,
+          0.0009402617579326034,
+          -3.687892198562622
+        ],
+        [
+          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": "1731323310_83080530",
+      "mask_path": "../../mask/hdr_front_00456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00457.png",
+      "transform_matrix": [
+        [
+          -0.02981247566640377,
+          0.0008413185132667422,
+          0.9995551109313965,
+          -21.12315559387207
+        ],
+        [
+          -0.9988217353820801,
+          0.038284119218587875,
+          -0.029822824522852898,
+          -8.240029335021973
+        ],
+        [
+          -0.03829217329621315,
+          -0.9992665648460388,
+          -0.00030101690208539367,
+          -3.681201457977295
+        ],
+        [
+          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": "1731323310_183081865",
+      "mask_path": "../../mask/hdr_front_00457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00458.png",
+      "transform_matrix": [
+        [
+          -0.10340303927659988,
+          -0.0011698619928210974,
+          0.9946389198303223,
+          -21.19853973388672
+        ],
+        [
+          -0.9939759373664856,
+          0.03664574772119522,
+          -0.10329100489616394,
+          -8.208733558654785
+        ],
+        [
+          -0.03632844612002373,
+          -0.9993276596069336,
+          -0.004952095914632082,
+          -3.6727969646453857
+        ],
+        [
+          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": "1731323310_283082485",
+      "mask_path": "../../mask/hdr_front_00458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00459.png",
+      "transform_matrix": [
+        [
+          -0.1820138543844223,
+          -0.0007634679204784334,
+          0.983295738697052,
+          -21.28145980834961
+        ],
+        [
+          -0.9825261831283569,
+          0.03970376029610634,
+          -0.18184059858322144,
+          -8.172723770141602
+        ],
+        [
+          -0.03890170529484749,
+          -0.999211311340332,
+          -0.007976762019097805,
+          -3.6707839965820312
+        ],
+        [
+          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": "1731323310_383081674",
+      "mask_path": "../../mask/hdr_front_00459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00460.png",
+      "transform_matrix": [
+        [
+          -0.25144514441490173,
+          0.0036861959379166365,
+          0.9678645133972168,
+          -21.37286376953125
+        ],
+        [
+          -0.9670108556747437,
+          0.04120622202754021,
+          -0.2513803541660309,
+          -8.139404296875
+        ],
+        [
+          -0.040808673948049545,
+          -0.9991438388824463,
+          -0.0067965141497552395,
+          -3.6714582443237305
+        ],
+        [
+          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": "1731323310_483082771",
+      "mask_path": "../../mask/hdr_front_00460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00461.png",
+      "transform_matrix": [
+        [
+          -0.31418439745903015,
+          0.00574654433876276,
+          0.9493445754051208,
+          -21.444414138793945
+        ],
+        [
+          -0.9484059810638428,
+          0.04296420142054558,
+          -0.314133882522583,
+          -8.106905937194824
+        ],
+        [
+          -0.04259301722049713,
+          -0.9990601539611816,
+          -0.008048624731600285,
+          -3.6798994541168213
+        ],
+        [
+          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": "1731323310_583080768",
+      "mask_path": "../../mask/hdr_front_00461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00462.png",
+      "transform_matrix": [
+        [
+          -0.38589632511138916,
+          0.004283792804926634,
+          0.9225322008132935,
+          -21.504152297973633
+        ],
+        [
+          -0.9214216470718384,
+          0.04748224467039108,
+          -0.38565224409103394,
+          -8.064757347106934
+        ],
+        [
+          -0.04545595124363899,
+          -0.9988629221916199,
+          -0.014376044273376465,
+          -3.6860504150390625
+        ],
+        [
+          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": "1731323310_683082580",
+      "mask_path": "../../mask/hdr_front_00462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00463.png",
+      "transform_matrix": [
+        [
+          -0.4684171676635742,
+          0.009533279575407505,
+          0.8834559917449951,
+          -21.571866989135742
+        ],
+        [
+          -0.8824148774147034,
+          0.04466670751571655,
+          -0.46834710240364075,
+          -8.002924919128418
+        ],
+        [
+          -0.043925948441028595,
+          -0.9989564418792725,
+          -0.012510349974036217,
+          -3.6832034587860107
+        ],
+        [
+          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": "1731323310_783082008",
+      "mask_path": "../../mask/hdr_front_00463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00464.png",
+      "transform_matrix": [
+        [
+          -0.5515437126159668,
+          0.01229516975581646,
+          0.8340553641319275,
+          -21.62993049621582
+        ],
+        [
+          -0.833188533782959,
+          0.03977208957076073,
+          -0.5515568852424622,
+          -7.933525085449219
+        ],
+        [
+          -0.03995360806584358,
+          -0.9991331696510315,
+          -0.01169185433536768,
+          -3.6722054481506348
+        ],
+        [
+          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": "1731323310_883082151",
+      "mask_path": "../../mask/hdr_front_00464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00465.png",
+      "transform_matrix": [
+        [
+          -0.6311169862747192,
+          0.008455364964902401,
+          0.7756415605545044,
+          -21.670480728149414
+        ],
+        [
+          -0.7747746109962463,
+          0.04162820801138878,
+          -0.6308655738830566,
+          -7.865495681762695
+        ],
+        [
+          -0.03762276470661163,
+          -0.9990974068641663,
+          -0.019721265882253647,
+          -3.6670427322387695
+        ],
+        [
+          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": "1731323310_983081102",
+      "mask_path": "../../mask/hdr_front_00465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00466.png",
+      "transform_matrix": [
+        [
+          -0.7017138600349426,
+          0.011847171932458878,
+          0.7123605012893677,
+          -21.726757049560547
+        ],
+        [
+          -0.7115771770477295,
+          0.03807510808110237,
+          -0.701575517654419,
+          -7.77910041809082
+        ],
+        [
+          -0.03543488681316376,
+          -0.9992046356201172,
+          -0.018287653103470802,
+          -3.6622331142425537
+        ],
+        [
+          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": "1731323311_83081483",
+      "mask_path": "../../mask/hdr_front_00466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00467.png",
+      "transform_matrix": [
+        [
+          -0.7594422101974487,
+          0.019850488752126694,
+          0.6502718329429626,
+          -21.77423095703125
+        ],
+        [
+          -0.6495770812034607,
+          0.03219577670097351,
+          -0.7596137523651123,
+          -7.699244499206543
+        ],
+        [
+          -0.036014705896377563,
+          -0.9992844462394714,
+          -0.011556411162018776,
+          -3.6669132709503174
+        ],
+        [
+          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": "1731323311_183081388",
+      "mask_path": "../../mask/hdr_front_00467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00468.png",
+      "transform_matrix": [
+        [
+          -0.8088440299034119,
+          0.02511870674788952,
+          0.5874863862991333,
+          -21.79535675048828
+        ],
+        [
+          -0.5866237282752991,
+          0.03441549092531204,
+          -0.8091281056404114,
+          -7.63493013381958
+        ],
+        [
+          -0.040542878210544586,
+          -0.9990919828414917,
+          -0.013101539574563503,
+          -3.673180103302002
+        ],
+        [
+          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": "1731323311_283080816",
+      "mask_path": "../../mask/hdr_front_00468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00469.png",
+      "transform_matrix": [
+        [
+          -0.8511496186256409,
+          0.02807730995118618,
+          0.524171769618988,
+          -21.820297241210938
+        ],
+        [
+          -0.5233764052391052,
+          0.031208883970975876,
+          -0.8515298962593079,
+          -7.558967590332031
+        ],
+        [
+          -0.04026747867465019,
+          -0.999118447303772,
+          -0.011868426576256752,
+          -3.672677755355835
+        ],
+        [
+          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": "1731323311_383080244",
+      "mask_path": "../../mask/hdr_front_00469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00470.png",
+      "transform_matrix": [
+        [
+          -0.8841606974601746,
+          0.028116703033447266,
+          0.4663359820842743,
+          -21.850780487060547
+        ],
+        [
+          -0.465687096118927,
+          0.02676788717508316,
+          -0.8845446109771729,
+          -7.471083641052246
+        ],
+        [
+          -0.03735329955816269,
+          -0.9992462992668152,
+          -0.010573526844382286,
+          -3.6690683364868164
+        ],
+        [
+          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": "1731323311_483081579",
+      "mask_path": "../../mask/hdr_front_00470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00471.png",
+      "transform_matrix": [
+        [
+          -0.910753071308136,
+          0.025507770478725433,
+          0.4121628403663635,
+          -21.86800765991211
+        ],
+        [
+          -0.4115467369556427,
+          0.026187241077423096,
+          -0.9110124111175537,
+          -7.39126443862915
+        ],
+        [
+          -0.03403129801154137,
+          -0.9993315935134888,
+          -0.013352472335100174,
+          -3.663510322570801
+        ],
+        [
+          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": "1731323311_583081960",
+      "mask_path": "../../mask/hdr_front_00471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00472.png",
+      "transform_matrix": [
+        [
+          -0.9342195987701416,
+          0.023434076458215714,
+          0.35592806339263916,
+          -21.876537322998047
+        ],
+        [
+          -0.355383962392807,
+          0.0244431272149086,
+          -0.934400737285614,
+          -7.3090081214904785
+        ],
+        [
+          -0.030596815049648285,
+          -0.9994266033172607,
+          -0.014507151208817959,
+          -3.658761978149414
+        ],
+        [
+          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": "1731323311_683081626",
+      "mask_path": "../../mask/hdr_front_00472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00473.png",
+      "transform_matrix": [
+        [
+          -0.9502834677696228,
+          0.029264483600854874,
+          0.3100082576274872,
+          -21.900659561157227
+        ],
+        [
+          -0.3096008002758026,
+          0.017670558765530586,
+          -0.950702428817749,
+          -7.206861972808838
+        ],
+        [
+          -0.03329982981085777,
+          -0.9994155168533325,
+          -0.007731732912361622,
+          -3.6605193614959717
+        ],
+        [
+          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": "1731323311_783082246",
+      "mask_path": "../../mask/hdr_front_00473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00474.png",
+      "transform_matrix": [
+        [
+          -0.9610822796821594,
+          0.037584852427244186,
+          0.27369391918182373,
+          -21.921064376831055
+        ],
+        [
+          -0.273451030254364,
+          0.01155700720846653,
+          -0.9618164896965027,
+          -7.122796058654785
+        ],
+        [
+          -0.03931281343102455,
+          -0.9992266297340393,
+          -0.0008296159212477505,
+          -3.670618772506714
+        ],
+        [
+          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": "1731323311_883082151",
+      "mask_path": "../../mask/hdr_front_00474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00475.png",
+      "transform_matrix": [
+        [
+          -0.9704247117042542,
+          0.04110615700483322,
+          0.23787859082221985,
+          -21.924907684326172
+        ],
+        [
+          -0.23766569793224335,
+          0.010061736218631268,
+          -0.9712948799133301,
+          -7.050914764404297
+        ],
+        [
+          -0.04231967404484749,
+          -0.9991042017936707,
+          5.366649020288605e-06,
+          -3.676187515258789
+        ],
+        [
+          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": "1731323311_983082056",
+      "mask_path": "../../mask/hdr_front_00475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00476.png",
+      "transform_matrix": [
+        [
+          -0.9773961305618286,
+          0.0421145036816597,
+          0.20717883110046387,
+          -21.928653717041016
+        ],
+        [
+          -0.20715560019016266,
+          0.004963053856045008,
+          -0.9782955050468445,
+          -6.95418119430542
+        ],
+        [
+          -0.042228661477565765,
+          -0.9991005063056946,
+          0.0038733852561563253,
+          -3.6755166053771973
+        ],
+        [
+          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": "1731323312_83081960",
+      "mask_path": "../../mask/hdr_front_00476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00477.png",
+      "transform_matrix": [
+        [
+          -0.9815056920051575,
+          0.03880421444773674,
+          0.18745847046375275,
+          -21.934711456298828
+        ],
+        [
+          -0.18757720291614532,
+          0.0005908884922973812,
+          -0.9822496771812439,
+          -6.859972953796387
+        ],
+        [
+          -0.03822619095444679,
+          -0.9992467164993286,
+          0.006698825862258673,
+          -3.670417308807373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 477,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_183080673",
+      "mask_path": "../../mask/hdr_front_00477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00478.png",
+      "transform_matrix": [
+        [
+          -0.9838563799858093,
+          0.032293643802404404,
+          0.17602188885211945,
+          -21.943449020385742
+        ],
+        [
+          -0.17609131336212158,
+          0.0007036177557893097,
+          -0.9843735694885254,
+          -6.791304588317871
+        ],
+        [
+          -0.03191286697983742,
+          -0.9994782209396362,
+          0.00499437190592289,
+          -3.6680173873901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 478,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_283081293",
+      "mask_path": "../../mask/hdr_front_00478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00479.png",
+      "transform_matrix": [
+        [
+          -0.9857838749885559,
+          0.02387823723256588,
+          0.1663130670785904,
+          -21.95673179626465
+        ],
+        [
+          -0.16635416448116302,
+          0.00026837718905881047,
+          -0.9860661029815674,
+          -6.716916561126709
+        ],
+        [
+          -0.023590149357914925,
+          -0.9997149109840393,
+          0.0037076822482049465,
+          -3.670980215072632
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 479,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_383081912",
+      "mask_path": "../../mask/hdr_front_00479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00480.png",
+      "transform_matrix": [
+        [
+          -0.9859983921051025,
+          0.02460550330579281,
+          0.1649293750524521,
+          -21.974502563476562
+        ],
+        [
+          -0.16506412625312805,
+          -0.003535416442900896,
+          -0.9862765669822693,
+          -6.615893363952637
+        ],
+        [
+          -0.023684734478592873,
+          -0.9996909499168396,
+          0.007547400426119566,
+          -3.6716482639312744
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 480,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_483082532",
+      "mask_path": "../../mask/hdr_front_00480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00481.png",
+      "transform_matrix": [
+        [
+          -0.9848921298980713,
+          0.029439961537718773,
+          0.17064796388149261,
+          -21.99488639831543
+        ],
+        [
+          -0.1708729863166809,
+          -0.005285786930471659,
+          -0.985278844833374,
+          -6.5317535400390625
+        ],
+        [
+          -0.028104564175009727,
+          -0.9995526075363159,
+          0.010236422531306744,
+          -3.67441987991333
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 481,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_583081245",
+      "mask_path": "../../mask/hdr_front_00481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00482.png",
+      "transform_matrix": [
+        [
+          -0.984140932559967,
+          0.025256507098674774,
+          0.17558090388774872,
+          -22.013765335083008
+        ],
+        [
+          -0.17576222121715546,
+          -0.005131211597472429,
+          -0.9844192862510681,
+          -6.459038734436035
+        ],
+        [
+          -0.023962046951055527,
+          -0.9996678829193115,
+          0.009488975629210472,
+          -3.677255392074585
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 482,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_683082103",
+      "mask_path": "../../mask/hdr_front_00482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00483.png",
+      "transform_matrix": [
+        [
+          -0.9844407439231873,
+          0.021228907629847527,
+          0.17443005740642548,
+          -22.025972366333008
+        ],
+        [
+          -0.1746671050786972,
+          -0.009864001534879208,
+          -0.9845781922340393,
+          -6.365113258361816
+        ],
+        [
+          -0.019180940464138985,
+          -0.9997259974479675,
+          0.013418516144156456,
+          -3.6784331798553467
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 483,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_783082008",
+      "mask_path": "../../mask/hdr_front_00483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00484.png",
+      "transform_matrix": [
+        [
+          -0.9861026406288147,
+          0.016870789229869843,
+          0.16527847945690155,
+          -22.032245635986328
+        ],
+        [
+          -0.165500670671463,
+          -0.012745140120387077,
+          -0.9861273765563965,
+          -6.276645183563232
+        ],
+        [
+          -0.014530245214700699,
+          -0.9997764825820923,
+          0.015360142104327679,
+          -3.671612501144409
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 484,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_883082866",
+      "mask_path": "../../mask/hdr_front_00484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00485.png",
+      "transform_matrix": [
+        [
+          -0.9880373477935791,
+          0.007771995384246111,
+          0.1540190577507019,
+          -22.03668212890625
+        ],
+        [
+          -0.15409275889396667,
+          -0.009997816756367683,
+          -0.9880058169364929,
+          -6.21153450012207
+        ],
+        [
+          -0.006138921249657869,
+          -0.9999198317527771,
+          0.011075825430452824,
+          -3.669485330581665
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 485,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_983081817",
+      "mask_path": "../../mask/hdr_front_00485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00486.png",
+      "transform_matrix": [
+        [
+          -0.9892128109931946,
+          0.0052233850583434105,
+          0.14639230072498322,
+          -22.053680419921875
+        ],
+        [
+          -0.1464269459247589,
+          -0.007013292983174324,
+          -0.9891966581344604,
+          -6.131156921386719
+        ],
+        [
+          -0.0041402606293559074,
+          -0.999961793422699,
+          0.007702483329921961,
+          -3.6658830642700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 486,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_83082199",
+      "mask_path": "../../mask/hdr_front_00486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00487.png",
+      "transform_matrix": [
+        [
+          -0.9890164136886597,
+          0.010672234930098057,
+          0.14742037653923035,
+          -22.076114654541016
+        ],
+        [
+          -0.14747315645217896,
+          -0.004334380384534597,
+          -0.9890565872192383,
+          -6.054555892944336
+        ],
+        [
+          -0.009916466660797596,
+          -0.999933660030365,
+          0.0058606406673789024,
+          -3.66414475440979
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 487,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_183081626",
+      "mask_path": "../../mask/hdr_front_00487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00489.png",
+      "transform_matrix": [
+        [
+          -0.9884001612663269,
+          0.015512052923440933,
+          0.15107734501361847,
+          -22.091148376464844
+        ],
+        [
+          -0.15118207037448883,
+          -0.005809396505355835,
+          -0.9884889721870422,
+          -5.974823474884033
+        ],
+        [
+          -0.014455821365118027,
+          -0.9998628497123718,
+          0.008087152615189552,
+          -3.672646999359131
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 489,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_383082151",
+      "mask_path": "../../mask/hdr_front_00489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00543.png",
+      "transform_matrix": [
+        [
+          -0.9939709305763245,
+          0.0077059026807546616,
+          0.10937266796827316,
+          -22.07843589782715
+        ],
+        [
+          -0.10931558161973953,
+          0.007476705592125654,
+          -0.9939789175987244,
+          -5.798067092895508
+        ],
+        [
+          -0.00847725197672844,
+          -0.9999423623085022,
+          -0.0065892525017261505,
+          -3.670314073562622
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 543,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323318_783081054",
+      "mask_path": "../../mask/hdr_front_00543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00544.png",
+      "transform_matrix": [
+        [
+          -0.9936277270317078,
+          0.006488434039056301,
+          0.11252458393573761,
+          -22.080488204956055
+        ],
+        [
+          -0.11249784380197525,
+          0.004347413312643766,
+          -0.9936424493789673,
+          -5.746203422546387
+        ],
+        [
+          -0.0069363731890916824,
+          -0.999969482421875,
+          -0.0035897751804441214,
+          -3.6667773723602295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 544,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323318_883080959",
+      "mask_path": "../../mask/hdr_front_00544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00546.png",
+      "transform_matrix": [
+        [
+          -0.9944480657577515,
+          0.0039071133360266685,
+          0.1051558405160904,
+          -22.08754539489746
+        ],
+        [
+          -0.105134017765522,
+          0.005422109737992287,
+          -0.9944432973861694,
+          -5.658840656280518
+        ],
+        [
+          -0.004455567803233862,
+          -0.999977707862854,
+          -0.004981235601007938,
+          -3.6622390747070312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 546,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_83081245",
+      "mask_path": "../../mask/hdr_front_00546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00547.png",
+      "transform_matrix": [
+        [
+          -0.9947669506072998,
+          0.0013928370317444205,
+          0.10216038674116135,
+          -22.094823837280273
+        ],
+        [
+          -0.10214534401893616,
+          0.00835216324776411,
+          -0.9947344064712524,
+          -5.6011223793029785
+        ],
+        [
+          -0.0022387623321264982,
+          -0.99996417760849,
+          -0.008166183717548847,
+          -3.664419651031494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 547,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_183081865",
+      "mask_path": "../../mask/hdr_front_00547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00548.png",
+      "transform_matrix": [
+        [
+          -0.9941401481628418,
+          0.004357204772531986,
+          0.1080109253525734,
+          -22.107967376708984
+        ],
+        [
+          -0.10798409581184387,
+          0.005985502619296312,
+          -0.9941346049308777,
+          -5.52968692779541
+        ],
+        [
+          -0.004978146404027939,
+          -0.9999726414680481,
+          -0.005479920189827681,
+          -3.663580894470215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 548,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_283082485",
+      "mask_path": "../../mask/hdr_front_00548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00551.png",
+      "transform_matrix": [
+        [
+          -0.991809070110321,
+          0.004476860165596008,
+          0.12765096127986908,
+          -22.14802360534668
+        ],
+        [
+          -0.12768438458442688,
+          -0.008207066915929317,
+          -0.9917808771133423,
+          -5.382328987121582
+        ],
+        [
+          -0.0033924232702702284,
+          -0.9999563097953796,
+          0.008711467497050762,
+          -3.6772422790527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 551,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_583082675",
+      "mask_path": "../../mask/hdr_front_00551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00552.png",
+      "transform_matrix": [
+        [
+          -0.9923815131187439,
+          0.0025387031491845846,
+          0.12317632138729095,
+          -22.151582717895508
+        ],
+        [
+          -0.12319919466972351,
+          -0.013143959455192089,
+          -0.9922949075698853,
+          -5.323267936706543
+        ],
+        [
+          -0.0009001167491078377,
+          -0.9999103546142578,
+          0.0133565878495574,
+          -3.6701624393463135
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 552,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_683082103",
+      "mask_path": "../../mask/hdr_front_00552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00553.png",
+      "transform_matrix": [
+        [
+          -0.993171751499176,
+          0.000495445157866925,
+          0.1166604533791542,
+          -22.154796600341797
+        ],
+        [
+          -0.11665887385606766,
+          -0.010934019461274147,
+          -0.9931119084358215,
+          -5.268725872039795
+        ],
+        [
+          0.0007835351279936731,
+          -0.9999400973320007,
+          0.010917156003415585,
+          -3.6657280921936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 553,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_783080577",
+      "mask_path": "../../mask/hdr_front_00553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00554.png",
+      "transform_matrix": [
+        [
+          -0.9940373301506042,
+          -0.0021470875944942236,
+          0.10901981592178345,
+          -22.154722213745117
+        ],
+        [
+          -0.1090012714266777,
+          -0.007401245180517435,
+          -0.9940139651298523,
+          -5.2061543464660645
+        ],
+        [
+          0.0029411171562969685,
+          -0.9999704360961914,
+          0.007123078219592571,
+          -3.670926332473755
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 554,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_883079051",
+      "mask_path": "../../mask/hdr_front_00554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00555.png",
+      "transform_matrix": [
+        [
+          -0.9943844079971313,
+          0.0019632726907730103,
+          0.10581009089946747,
+          -22.164958953857422
+        ],
+        [
+          -0.10581981390714645,
+          -0.005793278571218252,
+          -0.9943684935569763,
+          -5.118476867675781
+        ],
+        [
+          -0.0013392283581197262,
+          -0.9999813437461853,
+          0.00596849899739027,
+          -3.6709389686584473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 555,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_983083248",
+      "mask_path": "../../mask/hdr_front_00555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00556.png",
+      "transform_matrix": [
+        [
+          -0.9940655827522278,
+          0.010514108464121819,
+          0.10827342420816422,
+          -22.182109832763672
+        ],
+        [
+          -0.10834809392690659,
+          -0.006812645588070154,
+          -0.9940896034240723,
+          -5.030465126037598
+        ],
+        [
+          -0.009714337065815926,
+          -0.9999216198921204,
+          0.007911398075520992,
+          -3.67159366607666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 556,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_83083629",
+      "mask_path": "../../mask/hdr_front_00556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00557.png",
+      "transform_matrix": [
+        [
+          -0.993561863899231,
+          0.013704045675694942,
+          0.11245884746313095,
+          -22.1959285736084
+        ],
+        [
+          -0.11255796998739243,
+          -0.006688110996037722,
+          -0.9936226606369019,
+          -4.957686424255371
+        ],
+        [
+          -0.012864512391388416,
+          -0.999883770942688,
+          0.008187551982700825,
+          -3.6773526668548584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 557,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_183082818",
+      "mask_path": "../../mask/hdr_front_00557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00558.png",
+      "transform_matrix": [
+        [
+          -0.9935269355773926,
+          0.010057301260530949,
+          0.11315047740936279,
+          -22.20650863647461
+        ],
+        [
+          -0.11325258016586304,
+          -0.010238928720355034,
+          -0.9935135245323181,
+          -4.87196159362793
+        ],
+        [
+          -0.008833524771034718,
+          -0.9998970031738281,
+          0.011311667039990425,
+          -3.682157278060913
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 558,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_283082723",
+      "mask_path": "../../mask/hdr_front_00558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00559.png",
+      "transform_matrix": [
+        [
+          -0.9943581223487854,
+          0.006515084765851498,
+          0.10587436705827713,
+          -22.209184646606445
+        ],
+        [
+          -0.10594455152750015,
+          -0.011580292135477066,
+          -0.9943046569824219,
+          -4.779196739196777
+        ],
+        [
+          -0.005251921247690916,
+          -0.9999117255210876,
+          0.012205197475850582,
+          -3.6763226985931396
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 559,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_383082628",
+      "mask_path": "../../mask/hdr_front_00559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08245.png",
+      "transform_matrix": [
+        [
+          0.9527206420898438,
+          -0.014311340637505054,
+          0.3035100996494293,
+          -22.618898391723633
+        ],
+        [
+          -0.3037416636943817,
+          -0.018517039716243744,
+          0.9525745511054993,
+          -5.335890293121338
+        ],
+        [
+          -0.008012508973479271,
+          -0.9997261166572571,
+          -0.02198851853609085,
+          -3.6433520317077637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8245,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_983083009",
+      "mask_path": "../../mask/hdr_front_08245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08246.png",
+      "transform_matrix": [
+        [
+          0.9568914771080017,
+          -0.0032781753689050674,
+          0.2904271185398102,
+          -22.631240844726562
+        ],
+        [
+          -0.2903847098350525,
+          -0.03127916529774666,
+          0.956398606300354,
+          -5.410757541656494
+        ],
+        [
+          0.005949076730757952,
+          -0.999505341053009,
+          -0.03088269755244255,
+          -3.633389949798584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8246,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_83082437",
+      "mask_path": "../../mask/hdr_front_08246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08247.png",
+      "transform_matrix": [
+        [
+          0.9612852334976196,
+          0.005251398775726557,
+          0.27550485730171204,
+          -22.640024185180664
+        ],
+        [
+          -0.27502524852752686,
+          -0.04367848485708237,
+          0.9604443907737732,
+          -5.476589202880859
+        ],
+        [
+          0.017077311873435974,
+          -0.9990318417549133,
+          -0.04054322466254234,
+          -3.6192078590393066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8247,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_183082342",
+      "mask_path": "../../mask/hdr_front_08247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08248.png",
+      "transform_matrix": [
+        [
+          0.966728150844574,
+          -0.001027508988045156,
+          0.25580379366874695,
+          -22.65375518798828
+        ],
+        [
+          -0.2556507885456085,
+          -0.03869488090276718,
+          0.9659945368766785,
+          -5.567359924316406
+        ],
+        [
+          0.008905727416276932,
+          -0.999250590801239,
+          -0.03767011687159538,
+          -3.6222381591796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8248,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_283082485",
+      "mask_path": "../../mask/hdr_front_08248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08249.png",
+      "transform_matrix": [
+        [
+          0.9736186265945435,
+          -0.01189097948372364,
+          0.2278713583946228,
+          -22.661590576171875
+        ],
+        [
+          -0.2280605137348175,
+          -0.018210269510746002,
+          0.9734765887260437,
+          -5.652437686920166
+        ],
+        [
+          -0.007425990886986256,
+          -0.9997634887695312,
+          -0.020441722124814987,
+          -3.6436636447906494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8249,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_383080959",
+      "mask_path": "../../mask/hdr_front_08249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08250.png",
+      "transform_matrix": [
+        [
+          0.9803157448768616,
+          -0.01374667976051569,
+          0.1969570815563202,
+          -22.657958984375
+        ],
+        [
+          -0.19707036018371582,
+          -0.007428168319165707,
+          0.9803612232208252,
+          -5.723404407501221
+        ],
+        [
+          -0.01201367937028408,
+          -0.9998779296875,
+          -0.009991014376282692,
+          -3.6578633785247803
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8250,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_483081579",
+      "mask_path": "../../mask/hdr_front_08250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08251.png",
+      "transform_matrix": [
+        [
+          0.9860724210739136,
+          -0.010338648222386837,
+          0.1659950315952301,
+          -22.661041259765625
+        ],
+        [
+          -0.16607344150543213,
+          -0.00724726403132081,
+          0.9860867857933044,
+          -5.80656623840332
+        ],
+        [
+          -0.008991794660687447,
+          -0.9999203085899353,
+          -0.008863301016390324,
+          -3.662339687347412
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8251,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_583081245",
+      "mask_path": "../../mask/hdr_front_08251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08252.png",
+      "transform_matrix": [
+        [
+          0.9910115599632263,
+          -0.0031273583881556988,
+          0.13374055922031403,
+          -22.67555809020996
+        ],
+        [
+          -0.13374027609825134,
+          0.0003094749990850687,
+          0.9910163283348083,
+          -5.911157131195068
+        ],
+        [
+          -0.0031406504567712545,
+          -0.9999950528144836,
+          -0.00011156043183291331,
+          -3.653447151184082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8252,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_683081150",
+      "mask_path": "../../mask/hdr_front_08252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08253.png",
+      "transform_matrix": [
+        [
+          0.9947251677513123,
+          0.0023755524307489395,
+          0.10254781693220139,
+          -22.677715301513672
+        ],
+        [
+          -0.1025620549917221,
+          0.0069539956748485565,
+          0.9947022795677185,
+          -5.993258953094482
+        ],
+        [
+          0.0016498498152941465,
+          -0.9999729990959167,
+          0.007160956971347332,
+          -3.651398181915283
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8253,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_783080816",
+      "mask_path": "../../mask/hdr_front_08253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08254.png",
+      "transform_matrix": [
+        [
+          0.9973171949386597,
+          0.005757441278547049,
+          0.07297360897064209,
+          -22.666536331176758
+        ],
+        [
+          -0.07302285730838776,
+          0.008869699202477932,
+          0.9972907900810242,
+          -6.050890922546387
+        ],
+        [
+          0.005094589665532112,
+          -0.9999440908432007,
+          0.009266328066587448,
+          -3.659806489944458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8254,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_883079528",
+      "mask_path": "../../mask/hdr_front_08254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08255.png",
+      "transform_matrix": [
+        [
+          0.9991490840911865,
+          0.0034335781820118427,
+          0.041099220514297485,
+          -22.655099868774414
+        ],
+        [
+          -0.0411350280046463,
+          0.011107657104730606,
+          0.9990919232368469,
+          -6.134781360626221
+        ],
+        [
+          0.002973944414407015,
+          -0.9999325275421143,
+          0.011239444836974144,
+          -3.675156593322754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8255,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_983081102",
+      "mask_path": "../../mask/hdr_front_08255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08256.png",
+      "transform_matrix": [
+        [
+          0.9999759197235107,
+          -0.0068941786885261536,
+          -0.0008143818704411387,
+          -22.642623901367188
+        ],
+        [
+          0.0009146244847215712,
+          0.014549490995705128,
+          0.9998937845230103,
+          -6.2425737380981445
+        ],
+        [
+          -0.006881596054881811,
+          -0.9998704195022583,
+          0.014555445872247219,
+          -3.676807165145874
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8256,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_83081007",
+      "mask_path": "../../mask/hdr_front_08256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08257.png",
+      "transform_matrix": [
+        [
+          0.9987640380859375,
+          -0.01406486239284277,
+          -0.04767121747136116,
+          -22.619619369506836
+        ],
+        [
+          0.047874920070171356,
+          0.014520169235765934,
+          0.9987478256225586,
+          -6.326022148132324
+        ],
+        [
+          -0.013355055823922157,
+          -0.9997957348823547,
+          0.015175577253103256,
+          -3.676907777786255
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8257,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_183080673",
+      "mask_path": "../../mask/hdr_front_08257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08258.png",
+      "transform_matrix": [
+        [
+          0.9955708980560303,
+          -0.010990696959197521,
+          -0.0933680385351181,
+          -22.59172821044922
+        ],
+        [
+          0.09347674250602722,
+          0.00983145646750927,
+          0.9955729842185974,
+          -6.405656814575195
+        ],
+        [
+          -0.01002409402281046,
+          -0.9998912811279297,
+          0.010815287940204144,
+          -3.6820409297943115
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8258,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_283080339",
+      "mask_path": "../../mask/hdr_front_08258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08259.png",
+      "transform_matrix": [
+        [
+          0.9913613200187683,
+          -0.008397185243666172,
+          -0.13089028000831604,
+          -22.566509246826172
+        ],
+        [
+          0.13100609183311462,
+          0.01516682654619217,
+          0.991265594959259,
+          -6.500400066375732
+        ],
+        [
+          -0.006338649429380894,
+          -0.9998497366905212,
+          0.016135886311531067,
+          -3.682331085205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8259,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_383080720",
+      "mask_path": "../../mask/hdr_front_08259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08260.png",
+      "transform_matrix": [
+        [
+          0.9870452880859375,
+          -0.008629762567579746,
+          -0.16020973026752472,
+          -22.54703140258789
+        ],
+        [
+          0.16035479307174683,
+          0.02015012502670288,
+          0.9868537783622742,
+          -6.578354835510254
+        ],
+        [
+          -0.005288066808134317,
+          -0.9997597336769104,
+          0.02127290889620781,
+          -3.678926706314087
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8260,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_483082532",
+      "mask_path": "../../mask/hdr_front_08260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08261.png",
+      "transform_matrix": [
+        [
+          0.981992781162262,
+          -0.00527854124084115,
+          -0.18884477019309998,
+          -22.5253849029541
+        ],
+        [
+          0.18890775740146637,
+          0.016750268638134003,
+          0.9818519353866577,
+          -6.639345169067383
+        ],
+        [
+          -0.0020195452962070704,
+          -0.9998458027839661,
+          0.017445800825953484,
+          -3.677037000656128
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8261,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_583081960",
+      "mask_path": "../../mask/hdr_front_08261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08262.png",
+      "transform_matrix": [
+        [
+          0.9752597808837891,
+          -0.0031782055739313364,
+          -0.22103925049304962,
+          -22.493602752685547
+        ],
+        [
+          0.22106121480464935,
+          0.011204496957361698,
+          0.975195586681366,
+          -6.718227386474609
+        ],
+        [
+          -0.0006227373378351331,
+          -0.9999321699142456,
+          0.01162987295538187,
+          -3.681654453277588
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8262,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_683082103",
+      "mask_path": "../../mask/hdr_front_08262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08263.png",
+      "transform_matrix": [
+        [
+          0.9651574492454529,
+          -0.01168083306401968,
+          -0.2614090144634247,
+          -22.44805145263672
+        ],
+        [
+          0.26150742173194885,
+          0.007864479906857014,
+          0.9651694893836975,
+          -6.811238765716553
+        ],
+        [
+          -0.009218134917318821,
+          -0.9999008774757385,
+          0.010645085945725441,
+          -3.6800456047058105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8263,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_783081054",
+      "mask_path": "../../mask/hdr_front_08263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08264.png",
+      "transform_matrix": [
+        [
+          0.9518316388130188,
+          -0.023426689207553864,
+          -0.30572497844696045,
+          -22.403451919555664
+        ],
+        [
+          0.3058456480503082,
+          0.0016667440067976713,
+          0.952079713344574,
+          -6.880331039428711
+        ],
+        [
+          -0.021794507279992104,
+          -0.9997241497039795,
+          0.00875141192227602,
+          -3.6795341968536377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8264,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_883082389",
+      "mask_path": "../../mask/hdr_front_08264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08265.png",
+      "transform_matrix": [
+        [
+          0.9366406202316284,
+          -0.02417922019958496,
+          -0.34945616126060486,
+          -22.35631561279297
+        ],
+        [
+          0.34946438670158386,
+          -0.004023017827421427,
+          0.9369410276412964,
+          -6.938486576080322
+        ],
+        [
+          -0.024060368537902832,
+          -0.999699592590332,
+          0.004681655205786228,
+          -3.677865505218506
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8265,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_983081340",
+      "mask_path": "../../mask/hdr_front_08265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08266.png",
+      "transform_matrix": [
+        [
+          0.9209412932395935,
+          -0.016150668263435364,
+          -0.38936647772789,
+          -22.30156135559082
+        ],
+        [
+          0.38948026299476624,
+          0.0045004915446043015,
+          0.9210238456726074,
+          -7.017206192016602
+        ],
+        [
+          -0.013122806325554848,
+          -0.9998595118522644,
+          0.010435055941343307,
+          -3.6796185970306396
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8266,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_83081960",
+      "mask_path": "../../mask/hdr_front_08266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08267.png",
+      "transform_matrix": [
+        [
+          0.9064236283302307,
+          -0.009977016597986221,
+          -0.4222519099712372,
+          -22.249374389648438
+        ],
+        [
+          0.4223281443119049,
+          0.007377219386398792,
+          0.9064130187034607,
+          -7.095455169677734
+        ],
+        [
+          -0.005928250961005688,
+          -0.999923050403595,
+          0.010900461114943027,
+          -3.6742560863494873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8267,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_183080196",
+      "mask_path": "../../mask/hdr_front_08267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08268.png",
+      "transform_matrix": [
+        [
+          0.8917375206947327,
+          -0.004016941413283348,
+          -0.45253509283065796,
+          -22.20375633239746
+        ],
+        [
+          0.4525524377822876,
+          0.006485950201749802,
+          0.8917142748832703,
+          -7.151762008666992
+        ],
+        [
+          -0.0006468427018262446,
+          -0.9999709129333496,
+          0.007601642515510321,
+          -3.6687631607055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8268,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_283080816",
+      "mask_path": "../../mask/hdr_front_08268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08269.png",
+      "transform_matrix": [
+        [
+          0.8782513737678528,
+          -0.002444074023514986,
+          -0.47819292545318604,
+          -22.14581298828125
+        ],
+        [
+          0.4781991243362427,
+          0.004639388062059879,
+          0.8782392144203186,
+          -7.210875511169434
+        ],
+        [
+          7.20419266144745e-05,
+          -0.9999862909317017,
+          0.005243303254246712,
+          -3.6794273853302
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8269,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_383081197",
+      "mask_path": "../../mask/hdr_front_08269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08270.png",
+      "transform_matrix": [
+        [
+          0.8667941689491272,
+          -0.011326830834150314,
+          -0.4985373914241791,
+          -22.078027725219727
+        ],
+        [
+          0.4985678493976593,
+          -0.00015356537187471986,
+          0.8668506145477295,
+          -7.299755573272705
+        ],
+        [
+          -0.00989522784948349,
+          -0.9999358654022217,
+          0.005514084827154875,
+          -3.6829142570495605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8270,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_483081340",
+      "mask_path": "../../mask/hdr_front_08270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08271.png",
+      "transform_matrix": [
+        [
+          0.8548451066017151,
+          -0.01988952048122883,
+          -0.5185017585754395,
+          -22.02170753479004
+        ],
+        [
+          0.518514096736908,
+          -0.0049269418232142925,
+          0.8550548553466797,
+          -7.371519088745117
+        ],
+        [
+          -0.01956125535070896,
+          -0.9997900724411011,
+          0.006101225968450308,
+          -3.6833345890045166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8271,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_583080530",
+      "mask_path": "../../mask/hdr_front_08271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08272.png",
+      "transform_matrix": [
+        [
+          0.8429576754570007,
+          -0.01934928447008133,
+          -0.5376319885253906,
+          -21.969573974609375
+        ],
+        [
+          0.5375672578811646,
+          -0.00884593278169632,
+          0.8431745171546936,
+          -7.427899360656738
+        ],
+        [
+          -0.021070677787065506,
+          -0.9997736811637878,
+          0.002944797044619918,
+          -3.687526226043701
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8272,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_683083295",
+      "mask_path": "../../mask/hdr_front_08272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08273.png",
+      "transform_matrix": [
+        [
+          0.832551121711731,
+          -0.016160467639565468,
+          -0.5537124276161194,
+          -21.910606384277344
+        ],
+        [
+          0.5537462830543518,
+          -0.002702755155041814,
+          0.8326810002326965,
+          -7.5027031898498535
+        ],
+        [
+          -0.014953061006963253,
+          -0.9998658895492554,
+          0.0066986181773245335,
+          -3.687534809112549
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8273,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_783082246",
+      "mask_path": "../../mask/hdr_front_08273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08274.png",
+      "transform_matrix": [
+        [
+          0.8262938261032104,
+          -0.011592265218496323,
+          -0.5631200075149536,
+          -21.854778289794922
+        ],
+        [
+          0.5631925463676453,
+          0.004120725207030773,
+          0.8263154029846191,
+          -7.572937965393066
+        ],
+        [
+          -0.007258403580635786,
+          -0.9999243021011353,
+          0.009933607652783394,
+          -3.6765096187591553
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8274,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_883082389",
+      "mask_path": "../../mask/hdr_front_08274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08275.png",
+      "transform_matrix": [
+        [
+          0.8243851661682129,
+          -0.004549199715256691,
+          -0.5660110116004944,
+          -21.81239128112793
+        ],
+        [
+          0.5660289525985718,
+          0.007746800780296326,
+          0.8243489861488342,
+          -7.625683784484863
+        ],
+        [
+          0.000634647614788264,
+          -0.9999597072601318,
+          0.008961326442658901,
+          -3.674070119857788
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8275,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_983082056",
+      "mask_path": "../../mask/hdr_front_08275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08276.png",
+      "transform_matrix": [
+        [
+          0.8241885900497437,
+          0.00215019634924829,
+          -0.5663114786148071,
+          -21.765037536621094
+        ],
+        [
+          0.566286563873291,
+          0.006974769756197929,
+          0.8241789937019348,
+          -7.682498931884766
+        ],
+        [
+          0.005722037050873041,
+          -0.9999733567237854,
+          0.004530897829681635,
+          -3.674970865249634
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8276,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_83082199",
+      "mask_path": "../../mask/hdr_front_08276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08277.png",
+      "transform_matrix": [
+        [
+          0.8172586560249329,
+          -0.0018138909945264459,
+          -0.5762681365013123,
+          -21.69342613220215
+        ],
+        [
+          0.576270580291748,
+          0.0038780998438596725,
+          0.8172498941421509,
+          -7.7533087730407715
+        ],
+        [
+          0.0007524231332354248,
+          -0.9999908804893494,
+          0.0042147026397287846,
+          -3.6761374473571777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8277,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_183082580",
+      "mask_path": "../../mask/hdr_front_08277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08278.png",
+      "transform_matrix": [
+        [
+          0.7962662577629089,
+          -0.010607465170323849,
+          -0.6048534512519836,
+          -21.626026153564453
+        ],
+        [
+          0.6048784852027893,
+          -0.0010227777529507875,
+          0.7963171005249023,
+          -7.806805610656738
+        ],
+        [
+          -0.009065534919500351,
+          -0.9999432563781738,
+          0.005601824261248112,
+          -3.6797571182250977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8278,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_283082485",
+      "mask_path": "../../mask/hdr_front_08278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08279.png",
+      "transform_matrix": [
+        [
+          0.7673244476318359,
+          -0.010303015820682049,
+          -0.6411762237548828,
+          -21.563060760498047
+        ],
+        [
+          0.6411975026130676,
+          -0.0015258650528267026,
+          0.7673744559288025,
+          -7.843894958496094
+        ],
+        [
+          -0.008884618990123272,
+          -0.9999458193778992,
+          0.005435434635728598,
+          -3.6851203441619873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8279,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_383082628",
+      "mask_path": "../../mask/hdr_front_08279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08280.png",
+      "transform_matrix": [
+        [
+          0.7402056455612183,
+          -0.010304998606443405,
+          -0.6723015904426575,
+          -21.491483688354492
+        ],
+        [
+          0.6723641753196716,
+          0.004369739908725023,
+          0.7402075529098511,
+          -7.8889265060424805
+        ],
+        [
+          -0.0046900538727641106,
+          -0.9999373555183411,
+          0.010163217782974243,
+          -3.683865547180176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8280,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_483082771",
+      "mask_path": "../../mask/hdr_front_08280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08281.png",
+      "transform_matrix": [
+        [
+          0.7167279720306396,
+          -0.008404438383877277,
+          -0.6973021030426025,
+          -21.43105697631836
+        ],
+        [
+          0.6973527073860168,
+          0.00820273905992508,
+          0.716681182384491,
+          -7.9367146492004395
+        ],
+        [
+          -0.00030351459281519055,
+          -0.9999310374259949,
+          0.011739992536604404,
+          -3.6742122173309326
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8281,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_583081960",
+      "mask_path": "../../mask/hdr_front_08281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08282.png",
+      "transform_matrix": [
+        [
+          0.6932750344276428,
+          -0.00048586042248643935,
+          -0.7206728458404541,
+          -21.37738037109375
+        ],
+        [
+          0.7206193208694458,
+          0.012679577805101871,
+          0.693215012550354,
+          -7.972797870635986
+        ],
+        [
+          0.008801022544503212,
+          -0.9999194741249084,
+          0.009140556678175926,
+          -3.673482894897461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8282,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_683082580",
+      "mask_path": "../../mask/hdr_front_08282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08283.png",
+      "transform_matrix": [
+        [
+          0.6717675924301147,
+          0.0053327190689742565,
+          -0.7407428026199341,
+          -21.31130027770996
+        ],
+        [
+          0.7405867576599121,
+          0.016914838925004005,
+          0.6717478036880493,
+          -8.01613998413086
+        ],
+        [
+          0.016111785545945168,
+          -0.9998427629470825,
+          0.007413499057292938,
+          -3.6766886711120605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8283,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_783082485",
+      "mask_path": "../../mask/hdr_front_08283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08284.png",
+      "transform_matrix": [
+        [
+          0.6467423439025879,
+          -0.0003057651629205793,
+          -0.7627085447311401,
+          -21.22837257385254
+        ],
+        [
+          0.762609601020813,
+          0.016366951167583466,
+          0.6466519236564636,
+          -8.07303237915039
+        ],
+        [
+          0.012285488657653332,
+          -0.9998660087585449,
+          0.010818378068506718,
+          -3.6817212104797363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8284,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_883082866",
+      "mask_path": "../../mask/hdr_front_08284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08285.png",
+      "transform_matrix": [
+        [
+          0.6169766187667847,
+          -0.007025259081274271,
+          -0.7869501113891602,
+          -21.15489387512207
+        ],
+        [
+          0.7869699597358704,
+          0.010921286419034004,
+          0.6168946027755737,
+          -8.115975379943848
+        ],
+        [
+          0.004260663408786058,
+          -0.9999156594276428,
+          0.012266845442354679,
+          -3.6867268085479736
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8285,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_983082056",
+      "mask_path": "../../mask/hdr_front_08285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08286.png",
+      "transform_matrix": [
+        [
+          0.5839224457740784,
+          -0.005326703656464815,
+          -0.8117920160293579,
+          -21.08595848083496
+        ],
+        [
+          0.811791181564331,
+          0.010552318766713142,
+          0.5838525891304016,
+          -8.150851249694824
+        ],
+        [
+          0.0054562767036259174,
+          -0.9999301433563232,
+          0.010485905222594738,
+          -3.6907947063446045
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8286,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_83083868",
+      "mask_path": "../../mask/hdr_front_08286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08287.png",
+      "transform_matrix": [
+        [
+          0.5487852096557617,
+          -0.00436143483966589,
+          -0.8359519243240356,
+          -21.002532958984375
+        ],
+        [
+          0.8358697295188904,
+          0.017826737836003304,
+          0.5486382842063904,
+          -8.183571815490723
+        ],
+        [
+          0.012509447522461414,
+          -0.9998316168785095,
+          0.013428641483187675,
+          -3.6882288455963135
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8287,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_183081388",
+      "mask_path": "../../mask/hdr_front_08287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08288.png",
+      "transform_matrix": [
+        [
+          0.5160998106002808,
+          0.00040463500772602856,
+          -0.8565284013748169,
+          -20.926660537719727
+        ],
+        [
+          0.8563186526298523,
+          0.021891305223107338,
+          0.5159837007522583,
+          -8.211002349853516
+        ],
+        [
+          0.018959306180477142,
+          -0.9997602701187134,
+          0.010951602831482887,
+          -3.6768569946289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8288,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_283082485",
+      "mask_path": "../../mask/hdr_front_08288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08289.png",
+      "transform_matrix": [
+        [
+          0.48357918858528137,
+          0.009139781817793846,
+          -0.875252902507782,
+          -20.86419677734375
+        ],
+        [
+          0.8748914003372192,
+          0.02552507445216179,
+          0.483646035194397,
+          -8.229756355285645
+        ],
+        [
+          0.026761310175061226,
+          -0.9996324777603149,
+          0.0043470775708556175,
+          -3.673417806625366
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8289,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_383081912",
+      "mask_path": "../../mask/hdr_front_08289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08290.png",
+      "transform_matrix": [
+        [
+          0.4484758973121643,
+          0.015680300071835518,
+          -0.8936574459075928,
+          -20.792560577392578
+        ],
+        [
+          0.8932231664657593,
+          0.027896003797650337,
+          0.448747456073761,
+          -8.246550559997559
+        ],
+        [
+          0.03196597099304199,
+          -0.9994878768920898,
+          -0.0014953220961615443,
+          -3.674412488937378
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8290,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_483081579",
+      "mask_path": "../../mask/hdr_front_08290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08291.png",
+      "transform_matrix": [
+        [
+          0.40354710817337036,
+          0.010004082694649696,
+          -0.9149041771888733,
+          -20.703519821166992
+        ],
+        [
+          0.9145615696907043,
+          0.025050988420844078,
+          0.40366995334625244,
+          -8.260368347167969
+        ],
+        [
+          0.026957597583532333,
+          -0.999636173248291,
+          0.000959903874900192,
+          -3.675619602203369
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8291,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_583081007",
+      "mask_path": "../../mask/hdr_front_08291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08292.png",
+      "transform_matrix": [
+        [
+          0.35026681423187256,
+          0.0025217102374881506,
+          -0.936646580696106,
+          -20.628602981567383
+        ],
+        [
+          0.9364883303642273,
+          0.017631517723202705,
+          0.3502551317214966,
+          -8.266304969787598
+        ],
+        [
+          0.017397742718458176,
+          -0.9998413920402527,
+          0.0038141829427331686,
+          -3.681739568710327
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8292,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_683082580",
+      "mask_path": "../../mask/hdr_front_08292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08293.png",
+      "transform_matrix": [
+        [
+          0.29980266094207764,
+          0.00022039357281755656,
+          -0.9540011882781982,
+          -20.567913055419922
+        ],
+        [
+          0.9538937211036682,
+          0.014942964538931847,
+          0.29977232217788696,
+          -8.265976905822754
+        ],
+        [
+          0.014321674592792988,
+          -0.9998883605003357,
+          0.004269708413630724,
+          -3.687350034713745
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8293,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_783082723",
+      "mask_path": "../../mask/hdr_front_08293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08294.png",
+      "transform_matrix": [
+        [
+          0.256449431180954,
+          -0.0033497828990221024,
+          -0.9665519595146179,
+          -20.493934631347656
+        ],
+        [
+          0.9664120674133301,
+          0.018239622935652733,
+          0.25634920597076416,
+          -8.270892143249512
+        ],
+        [
+          0.016770826652646065,
+          -0.9998279809951782,
+          0.007914812304079533,
+          -3.685119152069092
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8294,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_883082389",
+      "mask_path": "../../mask/hdr_front_08294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08295.png",
+      "transform_matrix": [
+        [
+          0.2206365168094635,
+          -0.001681931084021926,
+          -0.9753547310829163,
+          -20.418434143066406
+        ],
+        [
+          0.9751760959625244,
+          0.019588259980082512,
+          0.22056236863136292,
+          -8.27579402923584
+        ],
+        [
+          0.018734529614448547,
+          -0.9998067617416382,
+          0.005962064024060965,
+          -3.674659013748169
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8295,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_983082771",
+      "mask_path": "../../mask/hdr_front_08295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08296.png",
+      "transform_matrix": [
+        [
+          0.18835613131523132,
+          0.004550817888230085,
+          -0.9820902943611145,
+          -20.35578155517578
+        ],
+        [
+          0.9817730188369751,
+          0.024962270632386208,
+          0.1884109377861023,
+          -8.27451229095459
+        ],
+        [
+          0.025372624397277832,
+          -0.9996780157089233,
+          0.00023392547154799104,
+          -3.6715493202209473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8296,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_83081007",
+      "mask_path": "../../mask/hdr_front_08296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08297.png",
+      "transform_matrix": [
+        [
+          0.1555628776550293,
+          0.011038202792406082,
+          -0.9877644181251526,
+          -20.2858943939209
+        ],
+        [
+          0.9873167276382446,
+          0.030366891995072365,
+          0.1558317393064499,
+          -8.267538070678711
+        ],
+        [
+          0.031715430319309235,
+          -0.9994778633117676,
+          -0.006174240726977587,
+          -3.6711418628692627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8297,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_183081388",
+      "mask_path": "../../mask/hdr_front_08297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08298.png",
+      "transform_matrix": [
+        [
+          0.1158747747540474,
+          0.007151033729314804,
+          -0.993238091468811,
+          -20.194053649902344
+        ],
+        [
+          0.9929126501083374,
+          0.025754498317837715,
+          0.11602223664522171,
+          -8.25881290435791
+        ],
+        [
+          0.026410028338432312,
+          -0.9996427297592163,
+          -0.0041160546243190765,
+          -3.6736347675323486
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8298,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_283082962",
+      "mask_path": "../../mask/hdr_front_08298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08299.png",
+      "transform_matrix": [
+        [
+          0.06733828783035278,
+          0.0012759437086060643,
+          -0.9977294206619263,
+          -20.1176815032959
+        ],
+        [
+          0.9976150989532471,
+          0.015100626274943352,
+          0.0673498883843422,
+          -8.24678897857666
+        ],
+        [
+          0.015152271836996078,
+          -0.9998851418495178,
+          -0.0002560505527071655,
+          -3.6829278469085693
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8299,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_383082389",
+      "mask_path": "../../mask/hdr_front_08299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08300.png",
+      "transform_matrix": [
+        [
+          0.018392041325569153,
+          -0.0006199472700245678,
+          -0.9998306035995483,
+          -20.060579299926758
+        ],
+        [
+          0.9997602105140686,
+          0.01190683338791132,
+          0.018383357673883438,
+          -8.227385520935059
+        ],
+        [
+          0.011893422342836857,
+          -0.9999289512634277,
+          0.0008387895650230348,
+          -3.685636281967163
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8300,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_483080148",
+      "mask_path": "../../mask/hdr_front_08300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08301.png",
+      "transform_matrix": [
+        [
+          -0.02600429207086563,
+          -0.007611468899995089,
+          -0.9996328949928284,
+          -19.988136291503906
+        ],
+        [
+          0.99947190284729,
+          0.01929738000035286,
+          -0.026147041469812393,
+          -8.205968856811523
+        ],
+        [
+          0.019489310681819916,
+          -0.9997848272323608,
+          0.007105634082108736,
+          -3.6887784004211426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8301,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_583081007",
+      "mask_path": "../../mask/hdr_front_08301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08302.png",
+      "transform_matrix": [
+        [
+          -0.06209306791424751,
+          -0.010378621518611908,
+          -0.9980164766311646,
+          -19.906763076782227
+        ],
+        [
+          0.9977615475654602,
+          0.024228384718298912,
+          -0.06232917308807373,
+          -8.18439769744873
+        ],
+        [
+          0.02482721023261547,
+          -0.999652624130249,
+          0.008850974030792713,
+          -3.6854798793792725
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8302,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_683079719",
+      "mask_path": "../../mask/hdr_front_08302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08303.png",
+      "transform_matrix": [
+        [
+          -0.08786112070083618,
+          -0.007760001812130213,
+          -0.9961024522781372,
+          -19.837663650512695
+        ],
+        [
+          0.9956815838813782,
+          0.02940814197063446,
+          -0.08805309981107712,
+          -8.163960456848145
+        ],
+        [
+          0.02997681312263012,
+          -0.9995373487472534,
+          0.005142658948898315,
+          -3.677372932434082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8303,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_783080577",
+      "mask_path": "../../mask/hdr_front_08303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08304.png",
+      "transform_matrix": [
+        [
+          -0.10219676047563553,
+          -0.004267230164259672,
+          -0.9947550892829895,
+          -19.75438117980957
+        ],
+        [
+          0.9942861199378967,
+          0.030559109523892403,
+          -0.10227968543767929,
+          -8.142006874084473
+        ],
+        [
+          0.03083527646958828,
+          -0.9995238780975342,
+          0.0011198066640645266,
+          -3.6779625415802
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8304,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_883082151",
+      "mask_path": "../../mask/hdr_front_08304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08305.png",
+      "transform_matrix": [
+        [
+          -0.11986220628023148,
+          -0.0051515307277441025,
+          -0.9927772283554077,
+          -19.64531707763672
+        ],
+        [
+          0.9925768971443176,
+          0.020123986527323723,
+          -0.11994245648384094,
+          -8.114518165588379
+        ],
+        [
+          0.020596519112586975,
+          -0.9997842311859131,
+          0.0027011847123503685,
+          -3.68819522857666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8305,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_983082532",
+      "mask_path": "../../mask/hdr_front_08305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08306.png",
+      "transform_matrix": [
+        [
+          -0.14079882204532623,
+          -0.005474663805216551,
+          -0.9900230765342712,
+          -19.560083389282227
+        ],
+        [
+          0.9900017380714417,
+          0.007806357461959124,
+          -0.14083895087242126,
+          -8.089826583862305
+        ],
+        [
+          0.00849952083081007,
+          -0.9999545216560364,
+          0.004320800770074129,
+          -3.697091579437256
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8306,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_83082199",
+      "mask_path": "../../mask/hdr_front_08306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08307.png",
+      "transform_matrix": [
+        [
+          -0.15941458940505981,
+          -0.00255337986163795,
+          -0.9872084259986877,
+          -19.48990821838379
+        ],
+        [
+          0.9871902465820312,
+          0.006183171179145575,
+          -0.15942765772342682,
+          -8.072346687316895
+        ],
+        [
+          0.006511158309876919,
+          -0.9999775886535645,
+          0.00153498409781605,
+          -3.702064275741577
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8307,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_183081865",
+      "mask_path": "../../mask/hdr_front_08307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08308.png",
+      "transform_matrix": [
+        [
+          -0.17445755004882812,
+          -0.001702575827948749,
+          -0.984663188457489,
+          -19.398582458496094
+        ],
+        [
+          0.9846398234367371,
+          0.006800234783440828,
+          -0.17446517944335938,
+          -8.045732498168945
+        ],
+        [
+          0.006992983631789684,
+          -0.9999754428863525,
+          0.0004900717176496983,
+          -3.701596736907959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8308,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_283081531",
+      "mask_path": "../../mask/hdr_front_08308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08309.png",
+      "transform_matrix": [
+        [
+          -0.18491700291633606,
+          -0.0001764896878739819,
+          -0.9827541708946228,
+          -19.31245994567871
+        ],
+        [
+          0.9827201962471008,
+          0.008276688866317272,
+          -0.18491213023662567,
+          -8.020398139953613
+        ],
+        [
+          0.008166585117578506,
+          -0.9999657869338989,
+          -0.0013570606242865324,
+          -3.6912105083465576
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8309,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_383082628",
+      "mask_path": "../../mask/hdr_front_08309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08310.png",
+      "transform_matrix": [
+        [
+          -0.19818846881389618,
+          0.003232920542359352,
+          -0.9801585674285889,
+          -19.248233795166016
+        ],
+        [
+          0.9800817370414734,
+          0.013603868894279003,
+          -0.19812807440757751,
+          -8.00121021270752
+        ],
+        [
+          0.012693417258560658,
+          -0.9999022483825684,
+          -0.005864656530320644,
+          -3.684242010116577
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8310,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_483082056",
+      "mask_path": "../../mask/hdr_front_08310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08311.png",
+      "transform_matrix": [
+        [
+          -0.2197890728712082,
+          0.0028663957491517067,
+          -0.975543200969696,
+          -19.167734146118164
+        ],
+        [
+          0.9754303097724915,
+          0.016138849779963493,
+          -0.21971623599529266,
+          -7.969832420349121
+        ],
+        [
+          0.01511435303837061,
+          -0.999865710735321,
+          -0.006343112327158451,
+          -3.692345142364502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8311,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_583081007",
+      "mask_path": "../../mask/hdr_front_08311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08312.png",
+      "transform_matrix": [
+        [
+          -0.25341007113456726,
+          0.0011408802820369601,
+          -0.9673582911491394,
+          -19.07925796508789
+        ],
+        [
+          0.9673232436180115,
+          0.008884602226316929,
+          -0.25339043140411377,
+          -7.926835060119629
+        ],
+        [
+          0.008305505849421024,
+          -0.9999598860740662,
+          -0.003355048131197691,
+          -3.701256513595581
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8312,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_683082580",
+      "mask_path": "../../mask/hdr_front_08312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08313.png",
+      "transform_matrix": [
+        [
+          -0.29080140590667725,
+          0.0015308634610846639,
+          -0.9567822217941284,
+          -19.01862907409668
+        ],
+        [
+          0.9567834138870239,
+          0.00038959653466008604,
+          -0.29080113768577576,
+          -7.891086101531982
+        ],
+        [
+          -7.241700222948566e-05,
+          -0.9999988675117493,
+          -0.0015780002577230334,
+          -3.7061045169830322
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8313,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_783082723",
+      "mask_path": "../../mask/hdr_front_08313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08314.png",
+      "transform_matrix": [
+        [
+          -0.3244668245315552,
+          -0.0007084420649334788,
+          -0.9458968639373779,
+          -18.96087074279785
+        ],
+        [
+          0.9458959698677063,
+          0.0013244858710095286,
+          -0.3244675099849701,
+          -7.8578267097473145
+        ],
+        [
+          0.0014826945262029767,
+          -0.9999988675117493,
+          0.00024036067770794034,
+          -3.7083098888397217
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8314,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_883081436",
+      "mask_path": "../../mask/hdr_front_08314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08315.png",
+      "transform_matrix": [
+        [
+          -0.35080423951148987,
+          -0.00897095538675785,
+          -0.9364058375358582,
+          -18.887950897216797
+        ],
+        [
+          0.9364153742790222,
+          0.005093071609735489,
+          -0.35085660219192505,
+          -7.820992469787598
+        ],
+        [
+          0.007916701957583427,
+          -0.9999468326568604,
+          0.0066138687543570995,
+          -3.701064109802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8315,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_983082294",
+      "mask_path": "../../mask/hdr_front_08315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08316.png",
+      "transform_matrix": [
+        [
+          -0.36760929226875305,
+          -0.01268276758491993,
+          -0.9298938512802124,
+          -18.82848358154297
+        ],
+        [
+          0.9298704266548157,
+          0.010359364561736584,
+          -0.3677413761615753,
+          -7.7923102378845215
+        ],
+        [
+          0.014297089539468288,
+          -0.9998658895492554,
+          0.007985129952430725,
+          -3.695590019226074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8316,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_83081007",
+      "mask_path": "../../mask/hdr_front_08316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08317.png",
+      "transform_matrix": [
+        [
+          -0.3802752196788788,
+          -0.012483707629144192,
+          -0.9247890710830688,
+          -18.77965545654297
+        ],
+        [
+          0.9245463013648987,
+          0.021458759903907776,
+          -0.380465030670166,
+          -7.765690326690674
+        ],
+        [
+          0.024594441056251526,
+          -0.9996918439865112,
+          0.0033815314527601004,
+          -3.6950933933258057
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8317,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_183084964",
+      "mask_path": "../../mask/hdr_front_08317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08318.png",
+      "transform_matrix": [
+        [
+          -0.392021119594574,
+          -0.012319276109337807,
+          -0.9198737144470215,
+          -18.70758819580078
+        ],
+        [
+          0.9194462895393372,
+          0.02804061956703663,
+          -0.3922145366668701,
+          -7.725680828094482
+        ],
+        [
+          0.030625632032752037,
+          -0.9995309114456177,
+          0.0003343969874549657,
+          -3.6968836784362793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8318,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_283082008",
+      "mask_path": "../../mask/hdr_front_08318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08319.png",
+      "transform_matrix": [
+        [
+          -0.4069739878177643,
+          -0.010060908272862434,
+          -0.9133843779563904,
+          -18.629167556762695
+        ],
+        [
+          0.9131118655204773,
+          0.022305572405457497,
+          -0.40709826350212097,
+          -7.678715229034424
+        ],
+        [
+          0.02446933649480343,
+          -0.9997006058692932,
+          0.00010894748265855014,
+          -3.6989903450012207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8319,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_383081674",
+      "mask_path": "../../mask/hdr_front_08319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08320.png",
+      "transform_matrix": [
+        [
+          -0.4222905933856964,
+          -0.0065866922959685326,
+          -0.906436562538147,
+          -18.573455810546875
+        ],
+        [
+          0.9062973260879517,
+          0.01590995490550995,
+          -0.42234134674072266,
+          -7.641059875488281
+        ],
+        [
+          0.01720319502055645,
+          -0.9998517632484436,
+          -0.0007491233991459012,
+          -3.699367046356201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8320,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_483080863",
+      "mask_path": "../../mask/hdr_front_08320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08321.png",
+      "transform_matrix": [
+        [
+          -0.43343329429626465,
+          -0.0034629085566848516,
+          -0.9011790156364441,
+          -18.519798278808594
+        ],
+        [
+          0.9010460376739502,
+          0.015940995886921883,
+          -0.43343061208724976,
+          -7.604968070983887
+        ],
+        [
+          0.01586662232875824,
+          -0.9998669624328613,
+          -0.0037891187239438295,
+          -3.7001290321350098
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8321,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_583077907",
+      "mask_path": "../../mask/hdr_front_08321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08322.png",
+      "transform_matrix": [
+        [
+          -0.4394644796848297,
+          -0.002678652759641409,
+          -0.8982560634613037,
+          -18.44731330871582
+        ],
+        [
+          0.8980729579925537,
+          0.019090276211500168,
+          -0.43943193554878235,
+          -7.563725471496582
+        ],
+        [
+          0.018325040116906166,
+          -0.9998142123222351,
+          -0.0059838732704520226,
+          -3.69388484954834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8322,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_683081150",
+      "mask_path": "../../mask/hdr_front_08322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08323.png",
+      "transform_matrix": [
+        [
+          -0.44221216440200806,
+          0.0014382487861439586,
+          -0.8969093561172485,
+          -18.386554718017578
+        ],
+        [
+          0.8966415524482727,
+          0.025194162502884865,
+          -0.44203981757164,
+          -7.527915954589844
+        ],
+        [
+          0.021961117163300514,
+          -0.9996815919876099,
+          -0.012430758215487003,
+          -3.6801071166992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8323,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_783080816",
+      "mask_path": "../../mask/hdr_front_08323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08324.png",
+      "transform_matrix": [
+        [
+          -0.4433012902736664,
+          0.006128445267677307,
+          -0.8963516354560852,
+          -18.338905334472656
+        ],
+        [
+          0.8959331512451172,
+          0.034338630735874176,
+          -0.4428595304489136,
+          -7.497616767883301
+        ],
+        [
+          0.028065450489521027,
+          -0.9993915557861328,
+          -0.020713036879897118,
+          -3.6715941429138184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8324,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_883080482",
+      "mask_path": "../../mask/hdr_front_08324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08325.png",
+      "transform_matrix": [
+        [
+          -0.4439292550086975,
+          0.014000420458614826,
+          -0.8959524631500244,
+          -18.26984405517578
+        ],
+        [
+          0.8951514959335327,
+          0.05198923870921135,
+          -0.4427199959754944,
+          -7.456977844238281
+        ],
+        [
+          0.040381621569395065,
+          -0.9985495209693909,
+          -0.035612042993307114,
+          -3.662990093231201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8325,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_983079433",
+      "mask_path": "../../mask/hdr_front_08325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08326.png",
+      "transform_matrix": [
+        [
+          -0.45114025473594666,
+          0.025295322760939598,
+          -0.8920945525169373,
+          -18.185144424438477
+        ],
+        [
+          0.8917351961135864,
+          0.05286295711994171,
+          -0.44945958256721497,
+          -7.402404308319092
+        ],
+        [
+          0.03578953072428703,
+          -0.9982814192771912,
+          -0.046405330300331116,
+          -3.6455962657928467
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8326,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_83080530",
+      "mask_path": "../../mask/hdr_front_08326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08327.png",
+      "transform_matrix": [
+        [
+          -0.46205660700798035,
+          0.036107152700424194,
+          -0.8861150741577148,
+          -18.13257598876953
+        ],
+        [
+          0.8865989446640015,
+          0.042598970234394073,
+          -0.46057307720184326,
+          -7.362973690032959
+        ],
+        [
+          0.02111761085689068,
+          -0.9984397292137146,
+          -0.051695700734853745,
+          -3.6352944374084473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8327,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_183080434",
+      "mask_path": "../../mask/hdr_front_08327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08328.png",
+      "transform_matrix": [
+        [
+          -0.47391366958618164,
+          0.043762702494859695,
+          -0.8794832825660706,
+          -18.088565826416016
+        ],
+        [
+          0.880458652973175,
+          0.03952443227171898,
+          -0.472472608089447,
+          -7.333587169647217
+        ],
+        [
+          0.01408439502120018,
+          -0.9982597827911377,
+          -0.05726241692900658,
+          -3.633258819580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8328,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_283081293",
+      "mask_path": "../../mask/hdr_front_08328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08329.png",
+      "transform_matrix": [
+        [
+          -0.48005709052085876,
+          0.04987861216068268,
+          -0.8758180737495422,
+          -18.00937271118164
+        ],
+        [
+          0.8771666288375854,
+          0.039965514093637466,
+          -0.4785202145576477,
+          -7.289338111877441
+        ],
+        [
+          0.011134596541523933,
+          -0.9979553818702698,
+          -0.06293758004903793,
+          -3.618499755859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8329,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_383080482",
+      "mask_path": "../../mask/hdr_front_08329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08330.png",
+      "transform_matrix": [
+        [
+          -0.4804478883743286,
+          0.0574650876224041,
+          -0.8751387000083923,
+          -17.93157386779785
+        ],
+        [
+          0.8769298195838928,
+          0.046044766902923584,
+          -0.4784078001976013,
+          -7.248226642608643
+        ],
+        [
+          0.012803809717297554,
+          -0.9972852468490601,
+          -0.07251495867967606,
+          -3.596680164337158
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8330,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_483078718",
+      "mask_path": "../../mask/hdr_front_08330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08331.png",
+      "transform_matrix": [
+        [
+          -0.47969868779182434,
+          0.06445580720901489,
+          -0.8750626444816589,
+          -17.876136779785156
+        ],
+        [
+          0.8772808909416199,
+          0.05382547155022621,
+          -0.4769499599933624,
+          -7.216137886047363
+        ],
+        [
+          0.01635846681892872,
+          -0.9964678883552551,
+          -0.08236584812402725,
+          -3.584075689315796
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8331,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_583079338",
+      "mask_path": "../../mask/hdr_front_08331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08332.png",
+      "transform_matrix": [
+        [
+          -0.4808587431907654,
+          0.07275433838367462,
+          -0.8737744092941284,
+          -17.799497604370117
+        ],
+        [
+          0.876646876335144,
+          0.05840284004807472,
+          -0.4775766432285309,
+          -7.168636798858643
+        ],
+        [
+          0.016285140067338943,
+          -0.9956384897232056,
+          -0.09186337143182755,
+          -3.5686960220336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8332,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_683081150",
+      "mask_path": "../../mask/hdr_front_08332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08333.png",
+      "transform_matrix": [
+        [
+          -0.48828890919685364,
+          0.08277939260005951,
+          -0.8687471151351929,
+          -17.716581344604492
+        ],
+        [
+          0.8726316690444946,
+          0.05701513588428497,
+          -0.4850395619869232,
+          -7.115020751953125
+        ],
+        [
+          0.009380456060171127,
+          -0.9949355721473694,
+          -0.10007575899362564,
+          -3.5525214672088623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8333,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_783079862",
+      "mask_path": "../../mask/hdr_front_08333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08334.png",
+      "transform_matrix": [
+        [
+          -0.49636411666870117,
+          0.08949126303195953,
+          -0.8634894490242004,
+          -17.662839889526367
+        ],
+        [
+          0.8681130409240723,
+          0.05289000645279884,
+          -0.49354055523872375,
+          -7.074181079864502
+        ],
+        [
+          0.001502396073192358,
+          -0.9945822954177856,
+          -0.10394123941659927,
+          -3.5474202632904053
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8334,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_883080244",
+      "mask_path": "../../mask/hdr_front_08334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08335.png",
+      "transform_matrix": [
+        [
+          -0.503600537776947,
+          0.10530878603458405,
+          -0.8574944138526917,
+          -17.60248374938965
+        ],
+        [
+          0.8638268709182739,
+          0.04554910957813263,
+          -0.5017256140708923,
+          -7.029197692871094
+        ],
+        [
+          -0.013778001070022583,
+          -0.9933958649635315,
+          -0.1139070987701416,
+          -3.545013427734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8335,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_983080387",
+      "mask_path": "../../mask/hdr_front_08335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08336.png",
+      "transform_matrix": [
+        [
+          -0.5074523091316223,
+          0.1446157991886139,
+          -0.8494577407836914,
+          -17.501001358032227
+        ],
+        [
+          0.8611212968826294,
+          0.04962322115898132,
+          -0.5059719681739807,
+          -6.976845741271973
+        ],
+        [
+          -0.031018713489174843,
+          -0.9882429242134094,
+          -0.1497131884098053,
+          -3.486119270324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8336,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_83080530",
+      "mask_path": "../../mask/hdr_front_08336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08337.png",
+      "transform_matrix": [
+        [
+          -0.5133782625198364,
+          0.1710961014032364,
+          -0.8409334421157837,
+          -17.42552947998047
+        ],
+        [
+          0.8575190901756287,
+          0.0643410012125969,
+          -0.5104128122329712,
+          -6.93486213684082
+        ],
+        [
+          -0.03322315588593483,
+          -0.9831512570381165,
+          -0.17974945902824402,
+          -3.4213476181030273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8337,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_183079481",
+      "mask_path": "../../mask/hdr_front_08337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08338.png",
+      "transform_matrix": [
+        [
+          -0.5272083878517151,
+          0.17084048688411713,
+          -0.8323850631713867,
+          -17.382633209228516
+        ],
+        [
+          0.8492832183837891,
+          0.07396247982978821,
+          -0.5227310061454773,
+          -6.88893985748291
+        ],
+        [
+          -0.027738364413380623,
+          -0.9825187921524048,
+          -0.18408559262752533,
+          -3.4136061668395996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8338,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_283080577",
+      "mask_path": "../../mask/hdr_front_08338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08339.png",
+      "transform_matrix": [
+        [
+          -0.5488869547843933,
+          0.16904036700725555,
+          -0.8186261057853699,
+          -17.32642364501953
+        ],
+        [
+          0.8351799249649048,
+          0.07035835087299347,
+          -0.5454578399658203,
+          -6.8310546875
+        ],
+        [
+          -0.034607209265232086,
+          -0.9830946922302246,
+          -0.17979790270328522,
+          -3.4081671237945557
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8339,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_383080959",
+      "mask_path": "../../mask/hdr_front_08339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08340.png",
+      "transform_matrix": [
+        [
+          -0.5730836391448975,
+          0.16826003789901733,
+          -0.802037239074707,
+          -17.27884292602539
+        ],
+        [
+          0.8181986808776855,
+          0.062414754182100296,
+          -0.5715376138687134,
+          -6.779012203216553
+        ],
+        [
+          -0.046107977628707886,
+          -0.9837648272514343,
+          -0.17343901097774506,
+          -3.3976480960845947
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8340,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_483080863",
+      "mask_path": "../../mask/hdr_front_08340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08341.png",
+      "transform_matrix": [
+        [
+          -0.599551796913147,
+          0.1617296189069748,
+          -0.7838248014450073,
+          -17.233966827392578
+        ],
+        [
+          0.7988343238830566,
+          0.060963019728660583,
+          -0.598453938961029,
+          -6.729012489318848
+        ],
+        [
+          -0.049003396183252335,
+          -0.9849503636360168,
+          -0.16574566066265106,
+          -3.3936855792999268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8341,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_583080768",
+      "mask_path": "../../mask/hdr_front_08341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08342.png",
+      "transform_matrix": [
+        [
+          -0.6229265928268433,
+          0.1565445065498352,
+          -0.7664570212364197,
+          -17.17237663269043
+        ],
+        [
+          0.7806458473205566,
+          0.06109163537621498,
+          -0.6219806671142578,
+          -6.675005912780762
+        ],
+        [
+          -0.050543539226055145,
+          -0.9857797622680664,
+          -0.1602613925933838,
+          -3.380613088607788
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8342,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_683079957",
+      "mask_path": "../../mask/hdr_front_08342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08344.png",
+      "transform_matrix": [
+        [
+          -0.635331928730011,
+          0.14573873579502106,
+          -0.7583624124526978,
+          -17.099031448364258
+        ],
+        [
+          0.7712252736091614,
+          0.06943753361701965,
+          -0.6327638626098633,
+          -6.602270603179932
+        ],
+        [
+          -0.03955938667058945,
+          -0.9868833422660828,
+          -0.1565132588148117,
+          -3.3618738651275635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8344,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_883078575",
+      "mask_path": "../../mask/hdr_front_08344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08345.png",
+      "transform_matrix": [
+        [
+          -0.6291505098342896,
+          0.13791263103485107,
+          -0.7649507522583008,
+          -17.030744552612305
+        ],
+        [
+          0.7767958045005798,
+          0.07670372724533081,
+          -0.6250638961791992,
+          -6.546862602233887
+        ],
+        [
+          -0.027529625222086906,
+          -0.9874697923660278,
+          -0.15538816154003143,
+          -3.3525853157043457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8345,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_983081817",
+      "mask_path": "../../mask/hdr_front_08345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08346.png",
+      "transform_matrix": [
+        [
+          -0.629494845867157,
+          0.14136728644371033,
+          -0.7640364170074463,
+          -16.966182708740234
+        ],
+        [
+          0.776299774646759,
+          0.07254976034164429,
+          -0.626175045967102,
+          -6.490053653717041
+        ],
+        [
+          -0.0330900177359581,
+          -0.9872952699661255,
+          -0.15541310608386993,
+          -3.331209182739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8346,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_83080768",
+      "mask_path": "../../mask/hdr_front_08346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08347.png",
+      "transform_matrix": [
+        [
+          -0.632316529750824,
+          0.14360471069812775,
+          -0.7612841129302979,
+          -16.92146873474121
+        ],
+        [
+          0.7735651135444641,
+          0.06362836062908173,
+          -0.6305145025253296,
+          -6.440363883972168
+        ],
+        [
+          -0.04210558533668518,
+          -0.987587571144104,
+          -0.15132085978984833,
+          -3.3218564987182617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8347,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_183081388",
+      "mask_path": "../../mask/hdr_front_08347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08348.png",
+      "transform_matrix": [
+        [
+          -0.630010187625885,
+          0.13903775811195374,
+          -0.7640390396118164,
+          -16.870914459228516
+        ],
+        [
+          0.7755088806152344,
+          0.060816723853349686,
+          -0.6284006237983704,
+          -6.387361526489258
+        ],
+        [
+          -0.040905073285102844,
+          -0.9884178638458252,
+          -0.1461401879787445,
+          -3.3179259300231934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8348,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_283081769",
+      "mask_path": "../../mask/hdr_front_08348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08349.png",
+      "transform_matrix": [
+        [
+          -0.6240800619125366,
+          0.13720440864562988,
+          -0.769219696521759,
+          -16.810300827026367
+        ],
+        [
+          0.7804527282714844,
+          0.0620240643620491,
+          -0.6221305727958679,
+          -6.337696552276611
+        ],
+        [
+          -0.037648916244506836,
+          -0.9885990619659424,
+          -0.14578956365585327,
+          -3.3038785457611084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8349,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_383082389",
+      "mask_path": "../../mask/hdr_front_08349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08350.png",
+      "transform_matrix": [
+        [
+          -0.6170645952224731,
+          0.13776656985282898,
+          -0.77475905418396,
+          -16.75663948059082
+        ],
+        [
+          0.7862145900726318,
+          0.06647978723049164,
+          -0.6143671870231628,
+          -6.296248435974121
+        ],
+        [
+          -0.033133432269096375,
+          -0.9882311224937439,
+          -0.14933642745018005,
+          -3.2902133464813232
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8350,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_483081340",
+      "mask_path": "../../mask/hdr_front_08350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08351.png",
+      "transform_matrix": [
+        [
+          -0.6126829385757446,
+          0.133022278547287,
+          -0.7790537476539612,
+          -16.694326400756836
+        ],
+        [
+          0.7893459796905518,
+          0.05385085567831993,
+          -0.6115824580192566,
+          -6.242124080657959
+        ],
+        [
+          -0.039401374757289886,
+          -0.9896489977836609,
+          -0.13799409568309784,
+          -3.2878506183624268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8351,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_583081483",
+      "mask_path": "../../mask/hdr_front_08351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08352.png",
+      "transform_matrix": [
+        [
+          -0.6120824217796326,
+          0.12861087918281555,
+          -0.7802655696868896,
+          -16.6396541595459
+        ],
+        [
+          0.789184033870697,
+          0.03641502931714058,
+          -0.6130762696266174,
+          -6.186954021453857
+        ],
+        [
+          -0.05043487623333931,
+          -0.9910264015197754,
+          -0.12378665059804916,
+          -3.2909979820251465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8352,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_683081150",
+      "mask_path": "../../mask/hdr_front_08352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08353.png",
+      "transform_matrix": [
+        [
+          -0.6110023260116577,
+          0.12702082097530365,
+          -0.7813717722892761,
+          -16.596664428710938
+        ],
+        [
+          0.7895289063453674,
+          0.025933202356100082,
+          -0.6131651997566223,
+          -6.146401405334473
+        ],
+        [
+          -0.05762127786874771,
+          -0.9915609955787659,
+          -0.11613186448812485,
+          -3.289067268371582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8353,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_783082962",
+      "mask_path": "../../mask/hdr_front_08353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08354.png",
+      "transform_matrix": [
+        [
+          -0.6068788170814514,
+          0.12595394253730774,
+          -0.7847506999969482,
+          -16.534900665283203
+        ],
+        [
+          0.7923370599746704,
+          0.01829579845070839,
+          -0.6098091006278992,
+          -6.107706069946289
+        ],
+        [
+          -0.06245021894574165,
+          -0.9918673634529114,
+          -0.11090131103992462,
+          -3.2854321002960205
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8354,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_883081674",
+      "mask_path": "../../mask/hdr_front_08354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08355.png",
+      "transform_matrix": [
+        [
+          -0.5997998714447021,
+          0.12311890721321106,
+          -0.790621280670166,
+          -16.448863983154297
+        ],
+        [
+          0.7976915240287781,
+          0.01460841204971075,
+          -0.6028886437416077,
+          -6.0646257400512695
+        ],
+        [
+          -0.06267727166414261,
+          -0.9922844767570496,
+          -0.10697302967309952,
+          -3.2664787769317627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8355,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_983082294",
+      "mask_path": "../../mask/hdr_front_08355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08356.png",
+      "transform_matrix": [
+        [
+          -0.5915919542312622,
+          0.11936128884553909,
+          -0.7973530292510986,
+          -16.38718032836914
+        ],
+        [
+          0.8042327761650085,
+          0.0176647137850523,
+          -0.5940518975257874,
+          -6.032891273498535
+        ],
+        [
+          -0.0568217895925045,
+          -0.9926937818527222,
+          -0.10644455999135971,
+          -3.250842809677124
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8356,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_83082675",
+      "mask_path": "../../mask/hdr_front_08356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08358.png",
+      "transform_matrix": [
+        [
+          -0.5763803124427795,
+          0.10837249457836151,
+          -0.8099636435508728,
+          -16.305604934692383
+        ],
+        [
+          0.8164541721343994,
+          0.0345584973692894,
+          -0.5763750672340393,
+          -5.972644805908203
+        ],
+        [
+          -0.03447208181023598,
+          -0.9935095310211182,
+          -0.10840001702308655,
+          -3.241393566131592
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8358,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_283082008",
+      "mask_path": "../../mask/hdr_front_08358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08359.png",
+      "transform_matrix": [
+        [
+          -0.5721586346626282,
+          0.10642708837985992,
+          -0.8132084012031555,
+          -16.243022918701172
+        ],
+        [
+          0.8192551136016846,
+          0.028041208162903786,
+          -0.5727431178092957,
+          -5.931539535522461
+        ],
+        [
+          -0.03815203905105591,
+          -0.9939250946044922,
+          -0.10323495417833328,
+          -3.2346107959747314
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8359,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_383081912",
+      "mask_path": "../../mask/hdr_front_08359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08360.png",
+      "transform_matrix": [
+        [
+          -0.5693367123603821,
+          0.10600954294204712,
+          -0.8152409195899963,
+          -16.19818878173828
+        ],
+        [
+          0.8207663893699646,
+          0.016740337014198303,
+          -0.5710186958312988,
+          -5.898354530334473
+        ],
+        [
+          -0.04688602685928345,
+          -0.9942241907119751,
+          -0.0965399444103241,
+          -3.233034133911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8360,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_483082056",
+      "mask_path": "../../mask/hdr_front_08360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08361.png",
+      "transform_matrix": [
+        [
+          -0.5651789307594299,
+          0.10590953379869461,
+          -0.818141758441925,
+          -16.150745391845703
+        ],
+        [
+          0.8233816623687744,
+          0.010938780382275581,
+          -0.5673826336860657,
+          -5.867696762084961
+        ],
+        [
+          -0.051141757518053055,
+          -0.9943156242370605,
+          -0.09338632971048355,
+          -3.2312188148498535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8361,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_583081722",
+      "mask_path": "../../mask/hdr_front_08361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08362.png",
+      "transform_matrix": [
+        [
+          -0.5587629079818726,
+          0.11246716231107712,
+          -0.8216661214828491,
+          -16.083494186401367
+        ],
+        [
+          0.8272827863693237,
+          0.006059470120817423,
+          -0.5617530345916748,
+          -5.83139705657959
+        ],
+        [
+          -0.058199889957904816,
+          -0.993636965751648,
+          -0.09642793983221054,
+          -3.2117919921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8362,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_683082103",
+      "mask_path": "../../mask/hdr_front_08362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08363.png",
+      "transform_matrix": [
+        [
+          -0.5504574775695801,
+          0.11725783348083496,
+          -0.8265876770019531,
+          -16.021047592163086
+        ],
+        [
+          0.8329600095748901,
+          0.010321017354726791,
+          -0.5532369613647461,
+          -5.799671173095703
+        ],
+        [
+          -0.056340139359235764,
+          -0.993047833442688,
+          -0.1033523678779602,
+          -3.187220573425293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8363,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_783081293",
+      "mask_path": "../../mask/hdr_front_08363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08365.png",
+      "transform_matrix": [
+        [
+          -0.536001443862915,
+          0.11100086569786072,
+          -0.8368879556655884,
+          -15.944609642028809
+        ],
+        [
+          0.8435861468315125,
+          0.03210402652621269,
+          -0.5360332727432251,
+          -5.74344539642334
+        ],
+        [
+          -0.03263269364833832,
+          -0.9933016300201416,
+          -0.11084660142660141,
+          -3.170085906982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8365,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_983083248",
+      "mask_path": "../../mask/hdr_front_08365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08366.png",
+      "transform_matrix": [
+        [
+          -0.5337540507316589,
+          0.10815941542387009,
+          -0.8386942744255066,
+          -15.887421607971191
+        ],
+        [
+          0.8451306223869324,
+          0.033818379044532776,
+          -0.5334889888763428,
+          -5.699761390686035
+        ],
+        [
+          -0.029338577762246132,
+          -0.9935582280158997,
+          -0.1094595417380333,
+          -3.151437759399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8366,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_83081722",
+      "mask_path": "../../mask/hdr_front_08366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08369.png",
+      "transform_matrix": [
+        [
+          -0.5339428186416626,
+          0.10305976122617722,
+          -0.8392162322998047,
+          -15.782668113708496
+        ],
+        [
+          0.844533383846283,
+          0.017057029530405998,
+          -0.5352312326431274,
+          -5.610000133514404
+        ],
+        [
+          -0.04084625840187073,
+          -0.9945288896560669,
+          -0.09614488482475281,
+          -3.1371684074401855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8369,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_383080720",
+      "mask_path": "../../mask/hdr_front_08369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08370.png",
+      "transform_matrix": [
+        [
+          -0.5287894010543823,
+          0.0981287807226181,
+          -0.8430613279342651,
+          -15.732688903808594
+        ],
+        [
+          0.8479801416397095,
+          0.018696391955018044,
+          -0.5296984314918518,
+          -5.575000762939453
+        ],
+        [
+          -0.03621644899249077,
+          -0.9949980974197388,
+          -0.09309770166873932,
+          -3.1267051696777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8370,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_483081579",
+      "mask_path": "../../mask/hdr_front_08370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08373.png",
+      "transform_matrix": [
+        [
+          -0.50385981798172,
+          0.09564708173274994,
+          -0.8584735989570618,
+          -15.604199409484863
+        ],
+        [
+          0.8635592460632324,
+          0.03303337097167969,
+          -0.5031643509864807,
+          -5.491055488586426
+        ],
+        [
+          -0.019767923280596733,
+          -0.9948670268058777,
+          -0.09924110025167465,
+          -3.1097521781921387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8373,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_783081531",
+      "mask_path": "../../mask/hdr_front_08373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08374.png",
+      "transform_matrix": [
+        [
+          -0.4993772804737091,
+          0.10141021013259888,
+          -0.8604291081428528,
+          -15.548843383789062
+        ],
+        [
+          0.8660156726837158,
+          0.029446400701999664,
+          -0.49914905428886414,
+          -5.4552321434021
+        ],
+        [
+          -0.02528226748108864,
+          -0.9944088459014893,
+          -0.10252770036458969,
+          -3.100411891937256
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8374,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_883082151",
+      "mask_path": "../../mask/hdr_front_08374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08375.png",
+      "transform_matrix": [
+        [
+          -0.4958082139492035,
+          0.10583360493183136,
+          -0.8619590401649475,
+          -15.50640869140625
+        ],
+        [
+          0.8677971959114075,
+          0.022432731464505196,
+          -0.4964120090007782,
+          -5.429409503936768
+        ],
+        [
+          -0.03320096433162689,
+          -0.9941307902336121,
+          -0.10296443849802017,
+          -3.092378616333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8375,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_983081817",
+      "mask_path": "../../mask/hdr_front_08375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08376.png",
+      "transform_matrix": [
+        [
+          -0.49340590834617615,
+          0.10948534309864044,
+          -0.8628809452056885,
+          -15.450509071350098
+        ],
+        [
+          0.869149386882782,
+          0.023723140358924866,
+          -0.4939802289009094,
+          -5.402632713317871
+        ],
+        [
+          -0.03361334651708603,
+          -0.9937053322792053,
+          -0.10686425864696503,
+          -3.0843775272369385
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8376,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_83082199",
+      "mask_path": "../../mask/hdr_front_08376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08377.png",
+      "transform_matrix": [
+        [
+          -0.48843762278556824,
+          0.11475030332803726,
+          -0.8650208711624146,
+          -15.39343547821045
+        ],
+        [
+          0.8720810413360596,
+          0.030047660693526268,
+          -0.4884381592273712,
+          -5.378952503204346
+        ],
+        [
+          -0.030056577175855637,
+          -0.9929398894309998,
+          -0.11474797874689102,
+          -3.0808327198028564
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8377,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_183081388",
+      "mask_path": "../../mask/hdr_front_08377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08379.png",
+      "transform_matrix": [
+        [
+          -0.47739070653915405,
+          0.12378580868244171,
+          -0.869928240776062,
+          -15.326062202453613
+        ],
+        [
+          0.8784350156784058,
+          0.043331146240234375,
+          -0.4758932292461395,
+          -5.346977233886719
+        ],
+        [
+          -0.02121383138000965,
+          -0.9913625121116638,
+          -0.12942367792129517,
+          -3.0742380619049072
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8379,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_383082151",
+      "mask_path": "../../mask/hdr_front_08379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08380.png",
+      "transform_matrix": [
+        [
+          -0.4743196964263916,
+          0.1318407505750656,
+          -0.8704245090484619,
+          -15.26892375946045
+        ],
+        [
+          0.8801048398017883,
+          0.04755362495779991,
+          -0.4723920226097107,
+          -5.313251972198486
+        ],
+        [
+          -0.02088867500424385,
+          -0.9901297092437744,
+          -0.1385892927646637,
+          -3.0386624336242676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8380,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_483081817",
+      "mask_path": "../../mask/hdr_front_08380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08381.png",
+      "transform_matrix": [
+        [
+          -0.47700056433677673,
+          0.14257106184959412,
+          -0.8672623634338379,
+          -15.224860191345215
+        ],
+        [
+          0.8784757852554321,
+          0.046576082706451416,
+          -0.47551125288009644,
+          -5.279819965362549
+        ],
+        [
+          -0.027400460094213486,
+          -0.9886881113052368,
+          -0.14746204018592834,
+          -3.005859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8381,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_583081483",
+      "mask_path": "../../mask/hdr_front_08381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08383.png",
+      "transform_matrix": [
+        [
+          -0.48198336362838745,
+          0.13344967365264893,
+          -0.8659579753875732,
+          -15.159101486206055
+        ],
+        [
+          0.8758689761161804,
+          0.047033440321683884,
+          -0.4802514910697937,
+          -5.211193561553955
+        ],
+        [
+          -0.023360421881079674,
+          -0.9899389743804932,
+          -0.1395537555217743,
+          -2.995649576187134
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8383,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_783082246",
+      "mask_path": "../../mask/hdr_front_08383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08384.png",
+      "transform_matrix": [
+        [
+          -0.47798264026641846,
+          0.12095903605222702,
+          -0.8700008988380432,
+          -15.11379623413086
+        ],
+        [
+          0.8782524466514587,
+          0.0496564619243145,
+          -0.47561216354370117,
+          -5.170680522918701
+        ],
+        [
+          -0.014328427612781525,
+          -0.9914147257804871,
+          -0.12996749579906464,
+          -2.9892475605010986
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8384,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_883081912",
+      "mask_path": "../../mask/hdr_front_08384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08385.png",
+      "transform_matrix": [
+        [
+          -0.4722827970981598,
+          0.11824794858694077,
+          -0.8734794855117798,
+          -15.064976692199707
+        ],
+        [
+          0.8813701868057251,
+          0.05026406794786453,
+          -0.4697447121143341,
+          -5.137845039367676
+        ],
+        [
+          -0.01164171937853098,
+          -0.9917111396789551,
+          -0.12795905768871307,
+          -2.975604772567749
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8385,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_983082056",
+      "mask_path": "../../mask/hdr_front_08385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08386.png",
+      "transform_matrix": [
+        [
+          -0.46526700258255005,
+          0.11715348064899445,
+          -0.8773834705352783,
+          -15.007397651672363
+        ],
+        [
+          0.8851556777954102,
+          0.05585338547825813,
+          -0.46193066239356995,
+          -5.1046671867370605
+        ],
+        [
+          -0.005111958831548691,
+          -0.9915419816970825,
+          -0.12968580424785614,
+          -2.9615588188171387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8386,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_83082437",
+      "mask_path": "../../mask/hdr_front_08386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08387.png",
+      "transform_matrix": [
+        [
+          -0.45983627438545227,
+          0.11323419213294983,
+          -0.8807546496391296,
+          -14.930472373962402
+        ],
+        [
+          0.8879895210266113,
+          0.053035639226436615,
+          -0.4567950665950775,
+          -5.058133602142334
+        ],
+        [
+          -0.005013439804315567,
+          -0.9921518564224243,
+          -0.1249384954571724,
+          -2.9482688903808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8387,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_183081626",
+      "mask_path": "../../mask/hdr_front_08387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08388.png",
+      "transform_matrix": [
+        [
+          -0.4576057195663452,
+          0.11303713172674179,
+          -0.8819408416748047,
+          -14.865400314331055
+        ],
+        [
+          0.8890153765678406,
+          0.04058011993765831,
+          -0.45607540011405945,
+          -5.017623424530029
+        ],
+        [
+          -0.01576419360935688,
+          -0.9927617311477661,
+          -0.11906146258115768,
+          -2.9431257247924805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8388,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_283082485",
+      "mask_path": "../../mask/hdr_front_08388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08389.png",
+      "transform_matrix": [
+        [
+          -0.4549495577812195,
+          0.11288172751665115,
+          -0.8833338618278503,
+          -14.820388793945312
+        ],
+        [
+          0.8902695775032043,
+          0.03426150232553482,
+          -0.4541434049606323,
+          -4.989282608032227
+        ],
+        [
+          -0.021000148728489876,
+          -0.9930175542831421,
+          -0.11608242243528366,
+          -2.947636604309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8389,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_383081436",
+      "mask_path": "../../mask/hdr_front_08389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08390.png",
+      "transform_matrix": [
+        [
+          -0.4503501355648041,
+          0.11208613961935043,
+          -0.8857885599136353,
+          -14.75849437713623
+        ],
+        [
+          0.8924909830093384,
+          0.028306711465120316,
+          -0.4501759707927704,
+          -4.956592559814453
+        ],
+        [
+          -0.02538471855223179,
+          -0.9932952523231506,
+          -0.11278380453586578,
+          -2.9414966106414795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8390,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_483081102",
+      "mask_path": "../../mask/hdr_front_08390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08391.png",
+      "transform_matrix": [
+        [
+          -0.4437524974346161,
+          0.11447762697935104,
+          -0.8888073563575745,
+          -14.689117431640625
+        ],
+        [
+          0.895769476890564,
+          0.027789415791630745,
+          -0.4436492621898651,
+          -4.927017688751221
+        ],
+        [
+          -0.026088472455739975,
+          -0.9930371046066284,
+          -0.11487719416618347,
+          -2.9184632301330566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8391,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_583081722",
+      "mask_path": "../../mask/hdr_front_08391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00393.png",
+      "transform_matrix": [
+        [
+          -0.8687798976898193,
+          0.13663944602012634,
+          0.47597381472587585,
+          -15.20993709564209
+        ],
+        [
+          -0.4665256440639496,
+          0.09647633135318756,
+          -0.8792303204536438,
+          -3.6062800884246826
+        ],
+        [
+          -0.1660577654838562,
+          -0.9859118461608887,
+          -0.020070891827344894,
+          -2.956932783126831
+        ],
+        [
+          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": "1731323301_683082342",
+      "mask_path": "../../mask/hdr_left_00393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00394.png",
+      "transform_matrix": [
+        [
+          -0.8726931214332581,
+          0.1378164142370224,
+          0.468415766954422,
+          -15.268218040466309
+        ],
+        [
+          -0.45762646198272705,
+          0.10363733768463135,
+          -0.8830839395523071,
+          -3.6536471843719482
+        ],
+        [
+          -0.1702488213777542,
+          -0.9850208163261414,
+          -0.027375150471925735,
+          -2.962496519088745
+        ],
+        [
+          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": "1731323301_783082246",
+      "mask_path": "../../mask/hdr_left_00394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00395.png",
+      "transform_matrix": [
+        [
+          -0.8787752389907837,
+          0.14112086594104767,
+          0.4558934271335602,
+          -15.307395935058594
+        ],
+        [
+          -0.4475547671318054,
+          0.08793702721595764,
+          -0.8899224400520325,
+          -3.6939406394958496
+        ],
+        [
+          -0.165676549077034,
+          -0.9860791563987732,
+          -0.014117562212049961,
+          -2.9770700931549072
+        ],
+        [
+          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": "1731323301_883082151",
+      "mask_path": "../../mask/hdr_left_00395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00396.png",
+      "transform_matrix": [
+        [
+          -0.8801232576370239,
+          0.14560440182685852,
+          0.4518655240535736,
+          -15.377878189086914
+        ],
+        [
+          -0.44389402866363525,
+          0.08512559533119202,
+          -0.8920267224311829,
+          -3.746617078781128
+        ],
+        [
+          -0.16834832727909088,
+          -0.9856739044189453,
+          -0.010288100689649582,
+          -3.008155107498169
+        ],
+        [
+          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": "1731323301_983082771",
+      "mask_path": "../../mask/hdr_left_00396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00397.png",
+      "transform_matrix": [
+        [
+          -0.8810738921165466,
+          0.14603576064109802,
+          0.44986921548843384,
+          -15.442499160766602
+        ],
+        [
+          -0.44331151247024536,
+          0.07658092677593231,
+          -0.8930903077125549,
+          -3.799929141998291
+        ],
+        [
+          -0.16487450897693634,
+          -0.9863108396530151,
+          -0.0027341169770807028,
+          -3.0315253734588623
+        ],
+        [
+          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": "1731323302_83081960",
+      "mask_path": "../../mask/hdr_left_00397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00398.png",
+      "transform_matrix": [
+        [
+          -0.8834106922149658,
+          0.14070461690425873,
+          0.44697603583335876,
+          -15.497414588928223
+        ],
+        [
+          -0.4418848156929016,
+          0.06732556223869324,
+          -0.89454185962677,
+          -3.866689682006836
+        ],
+        [
+          -0.15595906972885132,
+          -0.9877598285675049,
+          0.0026991069316864014,
+          -3.0329155921936035
+        ],
+        [
+          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": "1731323302_183082580",
+      "mask_path": "../../mask/hdr_left_00398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00399.png",
+      "transform_matrix": [
+        [
+          -0.8863331079483032,
+          0.13579429686069489,
+          0.442688912153244,
+          -15.587937355041504
+        ],
+        [
+          -0.43670380115509033,
+          0.07273142039775848,
+          -0.8966603875160217,
+          -3.954131603240967
+        ],
+        [
+          -0.1539587527513504,
+          -0.9880638122558594,
+          -0.005162371788173914,
+          -3.0527403354644775
+        ],
+        [
+          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": "1731323302_283082008",
+      "mask_path": "../../mask/hdr_left_00399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00400.png",
+      "transform_matrix": [
+        [
+          -0.8874887228012085,
+          0.13880012929439545,
+          0.4394293427467346,
+          -15.658483505249023
+        ],
+        [
+          -0.4328014850616455,
+          0.0764276534318924,
+          -0.8982436060905457,
+          -4.019453525543213
+        ],
+        [
+          -0.15826086699962616,
+          -0.9873669147491455,
+          -0.007755768019706011,
+          -3.083662986755371
+        ],
+        [
+          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": "1731323302_383082628",
+      "mask_path": "../../mask/hdr_left_00400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00401.png",
+      "transform_matrix": [
+        [
+          -0.8858359456062317,
+          0.14275114238262177,
+          0.4414936900138855,
+          -15.702530860900879
+        ],
+        [
+          -0.43526437878608704,
+          0.07398038357496262,
+          -0.897257924079895,
+          -4.0664381980896
+        ],
+        [
+          -0.16074644029140472,
+          -0.9869899153709412,
+          -0.003400013316422701,
+          -3.102261781692505
+        ],
+        [
+          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": "1731323302_483082056",
+      "mask_path": "../../mask/hdr_left_00401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00402.png",
+      "transform_matrix": [
+        [
+          -0.8806942105293274,
+          0.14135496318340302,
+          0.4521024227142334,
+          -15.773744583129883
+        ],
+        [
+          -0.4457017183303833,
+          0.07590367645025253,
+          -0.8919577598571777,
+          -4.12673807144165
+        ],
+        [
+          -0.16039888560771942,
+          -0.9870448112487793,
+          -0.003845776664093137,
+          -3.1146085262298584
+        ],
+        [
+          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": "1731323302_583082914",
+      "mask_path": "../../mask/hdr_left_00402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00403.png",
+      "transform_matrix": [
+        [
+          -0.8734299540519714,
+          0.13888035714626312,
+          0.4667252004146576,
+          -15.853492736816406
+        ],
+        [
+          -0.4599660038948059,
+          0.07932772487401962,
+          -0.884385883808136,
+          -4.191244125366211
+        ],
+        [
+          -0.15984807908535004,
+          -0.987126886844635,
+          -0.005406961776316166,
+          -3.1146185398101807
+        ],
+        [
+          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": "1731323302_683082818",
+      "mask_path": "../../mask/hdr_left_00403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00404.png",
+      "transform_matrix": [
+        [
+          -0.8665435910224915,
+          0.13866150379180908,
+          0.4794529676437378,
+          -15.911885261535645
+        ],
+        [
+          -0.47294357419013977,
+          0.07878278940916061,
+          -0.8775634169578552,
+          -4.242238521575928
+        ],
+        [
+          -0.15945687890052795,
+          -0.9872012734413147,
+          -0.002689652843400836,
+          -3.117352247238159
+        ],
+        [
+          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": "1731323302_783082723",
+      "mask_path": "../../mask/hdr_left_00404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00405.png",
+      "transform_matrix": [
+        [
+          -0.8609838485717773,
+          0.13770268857479095,
+          0.4896373450756073,
+          -15.96912956237793
+        ],
+        [
+          -0.48387670516967773,
+          0.07491735368967056,
+          -0.8719236254692078,
+          -4.289679050445557
+        ],
+        [
+          -0.15674851834774017,
+          -0.9876363277435303,
+          0.002128483261913061,
+          -3.1276450157165527
+        ],
+        [
+          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": "1731323302_883080959",
+      "mask_path": "../../mask/hdr_left_00405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00406.png",
+      "transform_matrix": [
+        [
+          -0.8521918058395386,
+          0.13808287680149078,
+          0.504680335521698,
+          -16.038925170898438
+        ],
+        [
+          -0.5005077719688416,
+          0.06602399796247482,
+          -0.8632106781005859,
+          -4.356671333312988
+        ],
+        [
+          -0.15251564979553223,
+          -0.9882175922393799,
+          0.012846454977989197,
+          -3.1405627727508545
+        ],
+        [
+          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": "1731323302_983085632",
+      "mask_path": "../../mask/hdr_left_00406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00407.png",
+      "transform_matrix": [
+        [
+          -0.8378577828407288,
+          0.1391097754240036,
+          0.5278663635253906,
+          -16.107627868652344
+        ],
+        [
+          -0.5249398350715637,
+          0.05999181792140007,
+          -0.8490224480628967,
+          -4.4334397315979
+        ],
+        [
+          -0.14977498352527618,
+          -0.9884581565856934,
+          0.02275964803993702,
+          -3.1587839126586914
+        ],
+        [
+          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": "1731323303_83081483",
+      "mask_path": "../../mask/hdr_left_00407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00408.png",
+      "transform_matrix": [
+        [
+          -0.8263038992881775,
+          0.14154808223247528,
+          0.5451475977897644,
+          -16.15679168701172
+        ],
+        [
+          -0.5436031818389893,
+          0.05282290652394295,
+          -0.8376785516738892,
+          -4.49936056137085
+        ],
+        [
+          -0.14736807346343994,
+          -0.9885210394859314,
+          0.03329821303486824,
+          -3.1803393363952637
+        ],
+        [
+          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": "1731323303_183081626",
+      "mask_path": "../../mask/hdr_left_00408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00409.png",
+      "transform_matrix": [
+        [
+          -0.8213852643966675,
+          0.14935606718063354,
+          0.5504714846611023,
+          -16.199907302856445
+        ],
+        [
+          -0.5517475008964539,
+          0.03656146675348282,
+          -0.8332093954086304,
+          -4.562629699707031
+        ],
+        [
+          -0.14457091689109802,
+          -0.9881073236465454,
+          0.05237580090761185,
+          -3.200523853302002
+        ],
+        [
+          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": "1731323303_283080339",
+      "mask_path": "../../mask/hdr_left_00409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00410.png",
+      "transform_matrix": [
+        [
+          -0.8214035630226135,
+          0.15882432460784912,
+          0.5477872490882874,
+          -16.26201820373535
+        ],
+        [
+          -0.5504875779151917,
+          0.030470041558146477,
+          -0.8342871069908142,
+          -4.622417449951172
+        ],
+        [
+          -0.14919619262218475,
+          -0.9868366122245789,
+          0.06240261346101761,
+          -3.218188762664795
+        ],
+        [
+          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": "1731323303_383081912",
+      "mask_path": "../../mask/hdr_left_00410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00411.png",
+      "transform_matrix": [
+        [
+          -0.8223957419395447,
+          0.1650552749633789,
+          0.5444465279579163,
+          -16.3271484375
+        ],
+        [
+          -0.547629714012146,
+          0.029657887294888496,
+          -0.8361951112747192,
+          -4.680086612701416
+        ],
+        [
+          -0.15416552126407623,
+          -0.9858384132385254,
+          0.06599865108728409,
+          -3.2320287227630615
+        ],
+        [
+          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": "1731323303_483081817",
+      "mask_path": "../../mask/hdr_left_00411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00412.png",
+      "transform_matrix": [
+        [
+          -0.8235191106796265,
+          0.16634033620357513,
+          0.5423533320426941,
+          -16.378005981445312
+        ],
+        [
+          -0.5465366840362549,
+          0.023579774424433708,
+          -0.8371031284332275,
+          -4.73960018157959
+        ],
+        [
+          -0.15203255414962769,
+          -0.9857864379882812,
+          0.07149269431829453,
+          -3.2390897274017334
+        ],
+        [
+          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": "1731323303_583082199",
+      "mask_path": "../../mask/hdr_left_00412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00413.png",
+      "transform_matrix": [
+        [
+          -0.8285598754882812,
+          0.15874938666820526,
+          0.5369236469268799,
+          -16.45588493347168
+        ],
+        [
+          -0.5402915477752686,
+          0.024869924411177635,
+          -0.8411101698875427,
+          -4.8213348388671875
+        ],
+        [
+          -0.14687897264957428,
+          -0.9870057106018066,
+          0.0651647225022316,
+          -3.249079465866089
+        ],
+        [
+          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": "1731323303_683082580",
+      "mask_path": "../../mask/hdr_left_00413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00414.png",
+      "transform_matrix": [
+        [
+          -0.8327022194862366,
+          0.1528732180595398,
+          0.5321999788284302,
+          -16.54165267944336
+        ],
+        [
+          -0.5342241525650024,
+          0.03100031428039074,
+          -0.8447741866111755,
+          -4.907448768615723
+        ],
+        [
+          -0.1456417292356491,
+          -0.9877594709396362,
+          0.05585453286767006,
+          -3.267643928527832
+        ],
+        [
+          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": "1731323303_783082246",
+      "mask_path": "../../mask/hdr_left_00414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00415.png",
+      "transform_matrix": [
+        [
+          -0.8323958516120911,
+          0.15301764011383057,
+          0.5326372981071472,
+          -16.595476150512695
+        ],
+        [
+          -0.5342071056365967,
+          0.03416089341044426,
+          -0.844663143157959,
+          -4.967221260070801
+        ],
+        [
+          -0.1474437266588211,
+          -0.9876328706741333,
+          0.053307726979255676,
+          -3.283154010772705
+        ],
+        [
+          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": "1731323303_883082151",
+      "mask_path": "../../mask/hdr_left_00415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00416.png",
+      "transform_matrix": [
+        [
+          -0.831566572189331,
+          0.15676182508468628,
+          0.5328439474105835,
+          -16.657119750976562
+        ],
+        [
+          -0.5345534682273865,
+          0.034637030214071274,
+          -0.8444245457649231,
+          -5.032210350036621
+        ],
+        [
+          -0.15082967281341553,
+          -0.9870288968086243,
+          0.054994579404592514,
+          -3.304217576980591
+        ],
+        [
+          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": "1731323303_983083724",
+      "mask_path": "../../mask/hdr_left_00416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00417.png",
+      "transform_matrix": [
+        [
+          -0.8337104320526123,
+          0.1581767499446869,
+          0.5290624499320984,
+          -16.743440628051758
+        ],
+        [
+          -0.5294456481933594,
+          0.04323726147413254,
+          -0.8472412824630737,
+          -5.101967811584473
+        ],
+        [
+          -0.15688903629779816,
+          -0.9864637851715088,
+          0.04769864305853844,
+          -3.315084457397461
+        ],
+        [
+          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": "1731323304_83082199",
+      "mask_path": "../../mask/hdr_left_00417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00418.png",
+      "transform_matrix": [
+        [
+          -0.8367380499839783,
+          0.15604649484157562,
+          0.524898886680603,
+          -16.812044143676758
+        ],
+        [
+          -0.5234038233757019,
+          0.053899042308330536,
+          -0.8503783345222473,
+          -5.154767036437988
+        ],
+        [
+          -0.16099010407924652,
+          -0.9862781167030334,
+          0.03657594695687294,
+          -3.3213205337524414
+        ],
+        [
+          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": "1731323304_183082580",
+      "mask_path": "../../mask/hdr_left_00418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00419.png",
+      "transform_matrix": [
+        [
+          -0.8404814004898071,
+          0.15556029975414276,
+          0.5190296769142151,
+          -16.873268127441406
+        ],
+        [
+          -0.5172327160835266,
+          0.055054452270269394,
+          -0.8540722131729126,
+          -5.2059783935546875
+        ],
+        [
+          -0.1614345908164978,
+          -0.9862910509109497,
+          0.03418862819671631,
+          -3.327599287033081
+        ],
+        [
+          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": "1731323304_283081531",
+      "mask_path": "../../mask/hdr_left_00419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00420.png",
+      "transform_matrix": [
+        [
+          -0.8440089821815491,
+          0.1540989875793457,
+          0.5137141942977905,
+          -16.9598388671875
+        ],
+        [
+          -0.512047529220581,
+          0.05341783165931702,
+          -0.8572944402694702,
+          -5.282138347625732
+        ],
+        [
+          -0.15954969823360443,
+          -0.9866104125976562,
+          0.03382088989019394,
+          -3.341005325317383
+        ],
+        [
+          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": "1731323304_383081912",
+      "mask_path": "../../mask/hdr_left_00420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00421.png",
+      "transform_matrix": [
+        [
+          -0.8420132398605347,
+          0.15297579765319824,
+          0.5173122882843018,
+          -17.044607162475586
+        ],
+        [
+          -0.5151295065879822,
+          0.05672064796090126,
+          -0.8552334904670715,
+          -5.363161563873291
+        ],
+        [
+          -0.16017232835292816,
+          -0.9866008162498474,
+          0.03104281984269619,
+          -3.367126703262329
+        ],
+        [
+          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": "1731323304_483083724",
+      "mask_path": "../../mask/hdr_left_00421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00422.png",
+      "transform_matrix": [
+        [
+          -0.8396798372268677,
+          0.1546376794576645,
+          0.5206006765365601,
+          -17.095422744750977
+        ],
+        [
+          -0.5199083685874939,
+          0.04814596101641655,
+          -0.8528642058372498,
+          -5.430636882781982
+        ],
+        [
+          -0.15694975852966309,
+          -0.9867974519729614,
+          0.03997022286057472,
+          -3.3919665813446045
+        ],
+        [
+          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": "1731323304_583081960",
+      "mask_path": "../../mask/hdr_left_00422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00423.png",
+      "transform_matrix": [
+        [
+          -0.8392145037651062,
+          0.15487101674079895,
+          0.5212810039520264,
+          -17.146873474121094
+        ],
+        [
+          -0.5220839977264404,
+          0.038730766624212265,
+          -0.8520140647888184,
+          -5.497581481933594
+        ],
+        [
+          -0.15214191377162933,
+          -0.9871752262115479,
+          0.04835227131843567,
+          -3.412339925765991
+        ],
+        [
+          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": "1731323304_683082580",
+      "mask_path": "../../mask/hdr_left_00423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00424.png",
+      "transform_matrix": [
+        [
+          -0.8409820199012756,
+          0.15517620742321014,
+          0.5183335542678833,
+          -17.2224178314209
+        ],
+        [
+          -0.5184675455093384,
+          0.04283648356795311,
+          -0.8540236949920654,
+          -5.560439586639404
+        ],
+        [
+          -0.1547277420759201,
+          -0.9869576692581177,
+          0.044429127126932144,
+          -3.4283556938171387
+        ],
+        [
+          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": "1731323304_783082246",
+      "mask_path": "../../mask/hdr_left_00424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00425.png",
+      "transform_matrix": [
+        [
+          -0.8439657092094421,
+          0.15572302043437958,
+          0.5132952928543091,
+          -17.287647247314453
+        ],
+        [
+          -0.5136249661445618,
+          0.041251104325056076,
+          -0.8570226430892944,
+          -5.616454601287842
+        ],
+        [
+          -0.15463213622570038,
+          -0.9869390726089478,
+          0.04516870528459549,
+          -3.4357852935791016
+        ],
+        [
+          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": "1731323304_883081674",
+      "mask_path": "../../mask/hdr_left_00425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00426.png",
+      "transform_matrix": [
+        [
+          -0.8490464091300964,
+          0.15049701929092407,
+          0.5064294338226318,
+          -17.342954635620117
+        ],
+        [
+          -0.508076012134552,
+          0.03020326793193817,
+          -0.8607825636863708,
+          -5.678847312927246
+        ],
+        [
+          -0.1448410004377365,
+          -0.9881490468978882,
+          0.050819944590330124,
+          -3.43371319770813
+        ],
+        [
+          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": "1731323304_983081340",
+      "mask_path": "../../mask/hdr_left_00426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00427.png",
+      "transform_matrix": [
+        [
+          -0.8543100953102112,
+          0.13954557478427887,
+          0.5006807446479797,
+          -17.436336517333984
+        ],
+        [
+          -0.5022455453872681,
+          0.026347381994128227,
+          -0.864323616027832,
+          -5.761431694030762
+        ],
+        [
+          -0.13380415737628937,
+          -0.9898650646209717,
+          0.04757731035351753,
+          -3.4423418045043945
+        ],
+        [
+          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": "1731323305_83081007",
+      "mask_path": "../../mask/hdr_left_00427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00428.png",
+      "transform_matrix": [
+        [
+          -0.8556774258613586,
+          0.13371320068836212,
+          0.4999367892742157,
+          -17.50941276550293
+        ],
+        [
+          -0.5011900067329407,
+          0.026571426540613174,
+          -0.86492919921875,
+          -5.829518795013428
+        ],
+        [
+          -0.1289364993572235,
+          -0.9906638264656067,
+          0.04427916184067726,
+          -3.458376884460449
+        ],
+        [
+          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": "1731323305_183082342",
+      "mask_path": "../../mask/hdr_left_00428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00429.png",
+      "transform_matrix": [
+        [
+          -0.8547232747077942,
+          0.13239552080631256,
+          0.5019159317016602,
+          -17.552452087402344
+        ],
+        [
+          -0.5037806034088135,
+          0.0214788019657135,
+          -0.8635645508766174,
+          -5.886651992797852
+        ],
+        [
+          -0.1251126229763031,
+          -0.9909642338752747,
+          0.04833987355232239,
+          -3.462480068206787
+        ],
+        [
+          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": "1731323305_283080816",
+      "mask_path": "../../mask/hdr_left_00429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00430.png",
+      "transform_matrix": [
+        [
+          -0.8540247678756714,
+          0.14726701378822327,
+          0.4989529252052307,
+          -17.62278175354004
+        ],
+        [
+          -0.5015006065368652,
+          0.021995576098561287,
+          -0.8648776412010193,
+          -5.953346252441406
+        ],
+        [
+          -0.1383426934480667,
+          -0.9888522028923035,
+          0.055069733411073685,
+          -3.4726274013519287
+        ],
+        [
+          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": "1731323305_383081912",
+      "mask_path": "../../mask/hdr_left_00430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00431.png",
+      "transform_matrix": [
+        [
+          -0.8560816645622253,
+          0.15793471038341522,
+          0.49211880564689636,
+          -17.69552993774414
+        ],
+        [
+          -0.4937387704849243,
+          0.03158550709486008,
+          -0.8690364360809326,
+          -6.011737823486328
+        ],
+        [
+          -0.15279482305049896,
+          -0.986944317817688,
+          0.05093871429562569,
+          -3.485530138015747
+        ],
+        [
+          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": "1731323305_483081817",
+      "mask_path": "../../mask/hdr_left_00431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00432.png",
+      "transform_matrix": [
+        [
+          -0.8590836524963379,
+          0.15516521036624908,
+          0.4877486526966095,
+          -17.75893211364746
+        ],
+        [
+          -0.48824283480644226,
+          0.03754954785108566,
+          -0.8718996644020081,
+          -6.0567522048950195
+        ],
+        [
+          -0.15360324084758759,
+          -0.9871746897697449,
+          0.04350009560585022,
+          -3.4913434982299805
+        ],
+        [
+          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": "1731323305_583081960",
+      "mask_path": "../../mask/hdr_left_00432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00433.png",
+      "transform_matrix": [
+        [
+          -0.8629768490791321,
+          0.15180599689483643,
+          0.48189833760261536,
+          -17.825927734375
+        ],
+        [
+          -0.4821716248989105,
+          0.03748394176363945,
+          -0.8752744197845459,
+          -6.106936454772949
+        ],
+        [
+          -0.1509353518486023,
+          -0.9876993298530579,
+          0.040848761796951294,
+          -3.4993484020233154
+        ],
+        [
+          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": "1731323305_683081865",
+      "mask_path": "../../mask/hdr_left_00433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00434.png",
+      "transform_matrix": [
+        [
+          -0.8645774722099304,
+          0.14465788006782532,
+          0.48122748732566833,
+          -17.91574478149414
+        ],
+        [
+          -0.48031091690063477,
+          0.04353366047143936,
+          -0.8760172724723816,
+          -6.172626972198486
+        ],
+        [
+          -0.1476723700761795,
+          -0.9885236024856567,
+          0.031842537224292755,
+          -3.5204033851623535
+        ],
+        [
+          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": "1731323305_783081531",
+      "mask_path": "../../mask/hdr_left_00434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00435.png",
+      "transform_matrix": [
+        [
+          -0.864454984664917,
+          0.13966186344623566,
+          0.4829203188419342,
+          -17.98811149597168
+        ],
+        [
+          -0.48208171129226685,
+          0.042054951190948486,
+          -0.875116229057312,
+          -6.234532833099365
+        ],
+        [
+          -0.14252954721450806,
+          -0.9893057942390442,
+          0.03097381442785263,
+          -3.543734073638916
+        ],
+        [
+          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": "1731323305_883082389",
+      "mask_path": "../../mask/hdr_left_00435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00436.png",
+      "transform_matrix": [
+        [
+          -0.8644909858703613,
+          0.13498061895370483,
+          0.4841856062412262,
+          -18.033445358276367
+        ],
+        [
+          -0.48482951521873474,
+          0.03028694912791252,
+          -0.8740841150283813,
+          -6.294034004211426
+        ],
+        [
+          -0.13264890015125275,
+          -0.9903852939605713,
+          0.03925979882478714,
+          -3.5575497150421143
+        ],
+        [
+          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": "1731323305_983082294",
+      "mask_path": "../../mask/hdr_left_00436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00437.png",
+      "transform_matrix": [
+        [
+          -0.8649922013282776,
+          0.14345423877239227,
+          0.4808422923088074,
+          -18.10017204284668
+        ],
+        [
+          -0.48111146688461304,
+          0.03512462601065636,
+          -0.8759554624557495,
+          -6.3548407554626465
+        ],
+        [
+          -0.14254893362522125,
+          -0.9890335202217102,
+          0.03863495588302612,
+          -3.57354736328125
+        ],
+        [
+          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": "1731323306_83081483",
+      "mask_path": "../../mask/hdr_left_00437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00438.png",
+      "transform_matrix": [
+        [
+          -0.8706989288330078,
+          0.14188574254512787,
+          0.4709053635597229,
+          -18.17815399169922
+        ],
+        [
+          -0.4706118106842041,
+          0.03775598108768463,
+          -0.8815321326255798,
+          -6.406593322753906
+        ],
+        [
+          -0.14285631477832794,
+          -0.989162802696228,
+          0.03389901667833328,
+          -3.566524028778076
+        ],
+        [
+          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": "1731323306_183081388",
+      "mask_path": "../../mask/hdr_left_00438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00439.png",
+      "transform_matrix": [
+        [
+          -0.8759578466415405,
+          0.13402462005615234,
+          0.4633951485157013,
+          -18.24010467529297
+        ],
+        [
+          -0.4635615050792694,
+          0.031873758882284164,
+          -0.885491132736206,
+          -6.442461967468262
+        ],
+        [
+          -0.1334477663040161,
+          -0.9904653429985046,
+          0.03420860320329666,
+          -3.553760528564453
+        ],
+        [
+          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": "1731323306_283082723",
+      "mask_path": "../../mask/hdr_left_00439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00440.png",
+      "transform_matrix": [
+        [
+          -0.8781417012214661,
+          0.13176074624061584,
+          0.4598981738090515,
+          -18.29889678955078
+        ],
+        [
+          -0.45891106128692627,
+          0.03959018737077713,
+          -0.887599766254425,
+          -6.483165740966797
+        ],
+        [
+          -0.1351582407951355,
+          -0.990490734577179,
+          0.02570066973567009,
+          -3.564656972885132
+        ],
+        [
+          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": "1731323306_383081674",
+      "mask_path": "../../mask/hdr_left_00440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00441.png",
+      "transform_matrix": [
+        [
+          -0.8756304979324341,
+          0.1324697583913803,
+          0.4644598662853241,
+          -18.375362396240234
+        ],
+        [
+          -0.460631400346756,
+          0.060101643204689026,
+          -0.885554313659668,
+          -6.536505699157715
+        ],
+        [
+          -0.1452239751815796,
+          -0.9893631935119629,
+          0.00839290115982294,
+          -3.599609613418579
+        ],
+        [
+          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": "1731323306_483081817",
+      "mask_path": "../../mask/hdr_left_00441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00442.png",
+      "transform_matrix": [
+        [
+          -0.8719140887260437,
+          0.1376074105501175,
+          0.4699254035949707,
+          -18.43744468688965
+        ],
+        [
+          -0.46431201696395874,
+          0.07242108136415482,
+          -0.882705807685852,
+          -6.582706928253174
+        ],
+        [
+          -0.15549936890602112,
+          -0.9878358244895935,
+          0.0007478086627088487,
+          -3.636826753616333
+        ],
+        [
+          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": "1731323306_583081007",
+      "mask_path": "../../mask/hdr_left_00442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00443.png",
+      "transform_matrix": [
+        [
+          -0.8701995015144348,
+          0.1424325704574585,
+          0.4716626703739166,
+          -18.488611221313477
+        ],
+        [
+          -0.46705126762390137,
+          0.06637436896562576,
+          -0.8817355036735535,
+          -6.63027286529541
+        ],
+        [
+          -0.15689417719841003,
+          -0.9875766038894653,
+          0.008764375001192093,
+          -3.6578426361083984
+        ],
+        [
+          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": "1731323306_683082580",
+      "mask_path": "../../mask/hdr_left_00443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00444.png",
+      "transform_matrix": [
+        [
+          -0.8702573180198669,
+          0.13971275091171265,
+          0.472368985414505,
+          -18.576698303222656
+        ],
+        [
+          -0.4681329131126404,
+          0.06387770175933838,
+          -0.8813462257385254,
+          -6.682845592498779
+        ],
+        [
+          -0.1533091515302658,
+          -0.9881295561790466,
+          0.009814112447202206,
+          -3.6763415336608887
+        ],
+        [
+          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": "1731323306_783081769",
+      "mask_path": "../../mask/hdr_left_00444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00445.png",
+      "transform_matrix": [
+        [
+          -0.8725032210350037,
+          0.13329091668128967,
+          0.4700760543346405,
+          -18.66486358642578
+        ],
+        [
+          -0.4657989740371704,
+          0.06360992044210434,
+          -0.8826012015342712,
+          -6.729184150695801
+        ],
+        [
+          -0.1475442349910736,
+          -0.989033579826355,
+          0.006586913485080004,
+          -3.6888277530670166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 445,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323306_883082389",
+      "mask_path": "../../mask/hdr_left_00445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00446.png",
+      "transform_matrix": [
+        [
+          -0.8749457001686096,
+          0.12984450161457062,
+          0.4664872884750366,
+          -18.719966888427734
+        ],
+        [
+          -0.4634387195110321,
+          0.05465815216302872,
+          -0.8844416737556458,
+          -6.778208255767822
+        ],
+        [
+          -0.14033719897270203,
+          -0.9900267720222473,
+          0.012352040968835354,
+          -3.6970787048339844
+        ],
+        [
+          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": "1731323306_983081817",
+      "mask_path": "../../mask/hdr_left_00446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00447.png",
+      "transform_matrix": [
+        [
+          -0.8757039308547974,
+          0.12477851659059525,
+          0.46644720435142517,
+          -18.7955379486084
+        ],
+        [
+          -0.46328282356262207,
+          0.05507821589708328,
+          -0.8844972848892212,
+          -6.846907138824463
+        ],
+        [
+          -0.13605733215808868,
+          -0.990654706954956,
+          0.009575538337230682,
+          -3.702509880065918
+        ],
+        [
+          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": "1731323307_83080291",
+      "mask_path": "../../mask/hdr_left_00447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00448.png",
+      "transform_matrix": [
+        [
+          -0.8720375299453735,
+          0.12227928638458252,
+          0.4739178717136383,
+          -18.867597579956055
+        ],
+        [
+          -0.4703787863254547,
+          0.058202993124723434,
+          -0.8805431127548218,
+          -6.916396141052246
+        ],
+        [
+          -0.1352556198835373,
+          -0.9907877445220947,
+          0.006762399338185787,
+          -3.7146291732788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 448,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_183082342",
+      "mask_path": "../../mask/hdr_left_00448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00449.png",
+      "transform_matrix": [
+        [
+          -0.8658520579338074,
+          0.12051074206829071,
+          0.48556914925575256,
+          -18.91331672668457
+        ],
+        [
+          -0.4827044606208801,
+          0.05390695482492447,
+          -0.874122679233551,
+          -6.971977710723877
+        ],
+        [
+          -0.1315167397260666,
+          -0.9912473559379578,
+          0.011495629325509071,
+          -3.725902795791626
+        ],
+        [
+          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": "1731323307_283080339",
+      "mask_path": "../../mask/hdr_left_00449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00450.png",
+      "transform_matrix": [
+        [
+          -0.8617293238639832,
+          0.12001991271972656,
+          0.4929683804512024,
+          -18.961679458618164
+        ],
+        [
+          -0.4911957383155823,
+          0.04601285979151726,
+          -0.8698330521583557,
+          -7.027978897094727
+        ],
+        [
+          -0.12708017230033875,
+          -0.9917046427726746,
+          0.01930263638496399,
+          -3.7324328422546387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 450,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_383081436",
+      "mask_path": "../../mask/hdr_left_00450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00451.png",
+      "transform_matrix": [
+        [
+          -0.8613302707672119,
+          0.1120031401515007,
+          0.4955456256866455,
+          -19.039453506469727
+        ],
+        [
+          -0.49403467774391174,
+          0.04283702373504639,
+          -0.8683862090110779,
+          -7.09121036529541
+        ],
+        [
+          -0.11848966777324677,
+          -0.9927841424942017,
+          0.01843661442399025,
+          -3.7395808696746826
+        ],
+        [
+          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": "1731323307_483082532",
+      "mask_path": "../../mask/hdr_left_00451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00452.png",
+      "transform_matrix": [
+        [
+          -0.8642812371253967,
+          0.09976810216903687,
+          0.49301543831825256,
+          -19.110126495361328
+        ],
+        [
+          -0.49198728799819946,
+          0.03638487309217453,
+          -0.8698417544364929,
+          -7.145070552825928
+        ],
+        [
+          -0.10472076386213303,
+          -0.9943452477455139,
+          0.01763787306845188,
+          -3.7353270053863525
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 452,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_583083152",
+      "mask_path": "../../mask/hdr_left_00452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00453.png",
+      "transform_matrix": [
+        [
+          -0.8691722750663757,
+          0.09023115038871765,
+          0.4862075746059418,
+          -19.155467987060547
+        ],
+        [
+          -0.48607394099235535,
+          0.024939699098467827,
+          -0.8735617399215698,
+          -7.192502498626709
+        ],
+        [
+          -0.09094835072755814,
+          -0.9956086277961731,
+          0.022182118147611618,
+          -3.7315785884857178
+        ],
+        [
+          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": "1731323307_683082103",
+      "mask_path": "../../mask/hdr_left_00453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00454.png",
+      "transform_matrix": [
+        [
+          -0.8730100393295288,
+          0.0838710367679596,
+          0.48043641448020935,
+          -19.22857093811035
+        ],
+        [
+          -0.4803428053855896,
+          0.02262280136346817,
+          -0.8767890334129333,
+          -7.254934310913086
+        ],
+        [
+          -0.08440601825714111,
+          -0.9962198138237,
+          0.020536918193101883,
+          -3.734645366668701
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 454,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_783082485",
+      "mask_path": "../../mask/hdr_left_00454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00455.png",
+      "transform_matrix": [
+        [
+          -0.8733592629432678,
+          0.07785855233669281,
+          0.4808133840560913,
+          -19.299020767211914
+        ],
+        [
+          -0.48061469197273254,
+          0.02250724844634533,
+          -0.8766429424285889,
+          -7.322396278381348
+        ],
+        [
+          -0.07907593995332718,
+          -0.9967103600502014,
+          0.01776304841041565,
+          -3.740480899810791
+        ],
+        [
+          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": "1731323307_883081197",
+      "mask_path": "../../mask/hdr_left_00455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00456.png",
+      "transform_matrix": [
+        [
+          -0.8717174530029297,
+          0.06798668950796127,
+          0.4852694869041443,
+          -19.346290588378906
+        ],
+        [
+          -0.4851453900337219,
+          0.019435198977589607,
+          -0.8742175102233887,
+          -7.375018119812012
+        ],
+        [
+          -0.06886646151542664,
+          -0.9974969625473022,
+          0.016041431576013565,
+          -3.7365341186523438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 456,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_983082294",
+      "mask_path": "../../mask/hdr_left_00456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00457.png",
+      "transform_matrix": [
+        [
+          -0.8709759712219238,
+          0.05950801819562912,
+          0.4877084791660309,
+          -19.40765953063965
+        ],
+        [
+          -0.48774972558021545,
+          0.014817265793681145,
+          -0.8728577494621277,
+          -7.434328556060791
+        ],
+        [
+          -0.059168536216020584,
+          -0.9981179237365723,
+          0.016119543462991714,
+          -3.7342889308929443
+        ],
+        [
+          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": "1731323308_83082675",
+      "mask_path": "../../mask/hdr_left_00457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00458.png",
+      "transform_matrix": [
+        [
+          -0.8738424777984619,
+          0.052515044808387756,
+          0.4833647906780243,
+          -19.489458084106445
+        ],
+        [
+          -0.48352375626564026,
+          0.010477923788130283,
+          -0.8752685189247131,
+          -7.502810955047607
+        ],
+        [
+          -0.051029421389102936,
+          -0.9985651969909668,
+          0.01623621955513954,
+          -3.731642246246338
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 458,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_183082342",
+      "mask_path": "../../mask/hdr_left_00458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00459.png",
+      "transform_matrix": [
+        [
+          -0.8786398768424988,
+          0.04372011497616768,
+          0.4754793345928192,
+          -19.552400588989258
+        ],
+        [
+          -0.47565919160842896,
+          0.006858392618596554,
+          -0.87960284948349,
+          -7.553279876708984
+        ],
+        [
+          -0.04171735793352127,
+          -0.9990203380584717,
+          0.014769821427762508,
+          -3.7216904163360596
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 459,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_283081054",
+      "mask_path": "../../mask/hdr_left_00459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00460.png",
+      "transform_matrix": [
+        [
+          -0.8841716051101685,
+          0.03356090188026428,
+          0.46595528721809387,
+          -19.610750198364258
+        ],
+        [
+          -0.4661385715007782,
+          0.0026130471378564835,
+          -0.8847079277038574,
+          -7.603625297546387
+        ],
+        [
+          -0.030909154564142227,
+          -0.9994332790374756,
+          0.013333650305867195,
+          -3.7209882736206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 460,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_383081674",
+      "mask_path": "../../mask/hdr_left_00460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00461.png",
+      "transform_matrix": [
+        [
+          -0.8893194198608398,
+          0.02694869600236416,
+          0.45649152994155884,
+          -19.702415466308594
+        ],
+        [
+          -0.4565591514110565,
+          0.0039474815130233765,
+          -0.8896843791007996,
+          -7.669477462768555
+        ],
+        [
+          -0.025777822360396385,
+          -0.9996290802955627,
+          0.008793105371296406,
+          -3.7200124263763428
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 461,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_483081579",
+      "mask_path": "../../mask/hdr_left_00461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00462.png",
+      "transform_matrix": [
+        [
+          -0.8946427702903748,
+          0.021224703639745712,
+          0.4462777376174927,
+          -19.78077507019043
+        ],
+        [
+          -0.4462248682975769,
+          0.0074266898445785046,
+          -0.8948900699615479,
+          -7.724425792694092
+        ],
+        [
+          -0.022308140993118286,
+          -0.9997471570968628,
+          0.002826758660376072,
+          -3.7204887866973877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 462,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_583081722",
+      "mask_path": "../../mask/hdr_left_00462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00463.png",
+      "transform_matrix": [
+        [
+          -0.9010913372039795,
+          0.016242297366261482,
+          0.4333251118659973,
+          -19.836217880249023
+        ],
+        [
+          -0.4332949221134186,
+          0.005511593539267778,
+          -0.9012353420257568,
+          -7.7662553787231445
+        ],
+        [
+          -0.017026441171765327,
+          -0.9998528957366943,
+          0.002071256749331951,
+          -3.7235116958618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 463,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_683082580",
+      "mask_path": "../../mask/hdr_left_00463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00464.png",
+      "transform_matrix": [
+        [
+          -0.9100028872489929,
+          0.012509355321526527,
+          0.41441306471824646,
+          -19.923612594604492
+        ],
+        [
+          -0.4143978953361511,
+          0.003901786170899868,
+          -0.9100873470306396,
+          -7.8171186447143555
+        ],
+        [
+          -0.013001557439565659,
+          -0.9999142289161682,
+          0.0016332166269421577,
+          -3.7157559394836426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 464,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_783081769",
+      "mask_path": "../../mask/hdr_left_00464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00465.png",
+      "transform_matrix": [
+        [
+          -0.9213817119598389,
+          0.011749481782317162,
+          0.3884811997413635,
+          -20.013776779174805
+        ],
+        [
+          -0.38851016759872437,
+          -0.00019773213716689497,
+          -0.9214444160461426,
+          -7.8652472496032715
+        ],
+        [
+          -0.010749680921435356,
+          -0.9999309778213501,
+          0.004746981896460056,
+          -3.707900047302246
+        ],
+        [
+          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": "1731323308_883082151",
+      "mask_path": "../../mask/hdr_left_00465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00466.png",
+      "transform_matrix": [
+        [
+          -0.9333335161209106,
+          0.010850057005882263,
+          0.3588463366031647,
+          -20.075267791748047
+        ],
+        [
+          -0.35891982913017273,
+          -0.005760194733738899,
+          -0.9333505630493164,
+          -7.895312309265137
+        ],
+        [
+          -0.008059882558882236,
+          -0.9999246001243591,
+          0.009270488284528255,
+          -3.706058979034424
+        ],
+        [
+          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": "1731323308_983081579",
+      "mask_path": "../../mask/hdr_left_00466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00467.png",
+      "transform_matrix": [
+        [
+          -0.9447667598724365,
+          0.007414489984512329,
+          0.327659547328949,
+          -20.153972625732422
+        ],
+        [
+          -0.32768508791923523,
+          -0.0025125902611762285,
+          -0.944783627986908,
+          -7.93729305267334
+        ],
+        [
+          -0.006181814707815647,
+          -0.9999693632125854,
+          0.004803433082997799,
+          -3.698059558868408
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 467,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_83081960",
+      "mask_path": "../../mask/hdr_left_00467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00468.png",
+      "transform_matrix": [
+        [
+          -0.9546956419944763,
+          0.006511495914310217,
+          0.297512412071228,
+          -20.247032165527344
+        ],
+        [
+          -0.2974696159362793,
+          0.006794294808059931,
+          -0.9547070264816284,
+          -7.989013671875
+        ],
+        [
+          -0.008237957954406738,
+          -0.9999557733535767,
+          -0.004549508914351463,
+          -3.696655750274658
+        ],
+        [
+          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": "1731323309_183081626",
+      "mask_path": "../../mask/hdr_left_00468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00469.png",
+      "transform_matrix": [
+        [
+          -0.9640849828720093,
+          0.00406270707026124,
+          0.2655628025531769,
+          -20.321025848388672
+        ],
+        [
+          -0.26548513770103455,
+          0.013870599679648876,
+          -0.9640151262283325,
+          -8.021341323852539
+        ],
+        [
+          -0.007600026670843363,
+          -0.9998956322669983,
+          -0.012293846346437931,
+          -3.7019200325012207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 469,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_283079862",
+      "mask_path": "../../mask/hdr_left_00469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00470.png",
+      "transform_matrix": [
+        [
+          -0.9738695621490479,
+          5.365945980884135e-05,
+          0.22710773348808289,
+          -20.397672653198242
+        ],
+        [
+          -0.2270776331424713,
+          0.01605955697596073,
+          -0.9737442135810852,
+          -8.0492525100708
+        ],
+        [
+          -0.0036994991824030876,
+          -0.9998710751533508,
+          -0.015627726912498474,
+          -3.7031164169311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 470,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_383078098",
+      "mask_path": "../../mask/hdr_left_00470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00471.png",
+      "transform_matrix": [
+        [
+          -0.9835304021835327,
+          0.0020902513060718775,
+          0.18073076009750366,
+          -20.4901180267334
+        ],
+        [
+          -0.18066558241844177,
+          0.017866799607872963,
+          -0.9833822250366211,
+          -8.08145523071289
+        ],
+        [
+          -0.005284596234560013,
+          -0.9998382329940796,
+          -0.017194895073771477,
+          -3.691943407058716
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 471,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_483083248",
+      "mask_path": "../../mask/hdr_left_00471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00472.png",
+      "transform_matrix": [
+        [
+          -0.9914091229438782,
+          0.0051021454855799675,
+          0.13069762289524078,
+          -20.569856643676758
+        ],
+        [
+          -0.13060623407363892,
+          0.015357600525021553,
+          -0.9913153648376465,
+          -8.100069999694824
+        ],
+        [
+          -0.007065036334097385,
+          -0.9998690485954285,
+          -0.014559291303157806,
+          -3.686201572418213
+        ],
+        [
+          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": "1731323309_583082437",
+      "mask_path": "../../mask/hdr_left_00472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00473.png",
+      "transform_matrix": [
+        [
+          -0.9969151020050049,
+          0.0012922403402626514,
+          0.07847624272108078,
+          -20.64208221435547
+        ],
+        [
+          -0.07845139503479004,
+          0.013656117022037506,
+          -0.9968243837356567,
+          -8.114752769470215
+        ],
+        [
+          -0.0023598172701895237,
+          -0.9999059438705444,
+          -0.013512608595192432,
+          -3.6815388202667236
+        ],
+        [
+          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": "1731323309_683081626",
+      "mask_path": "../../mask/hdr_left_00473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00474.png",
+      "transform_matrix": [
+        [
+          -0.999620795249939,
+          0.0007281417492777109,
+          0.02752486616373062,
+          -20.73486328125
+        ],
+        [
+          -0.027508508414030075,
+          0.017004182562232018,
+          -0.999476969242096,
+          -8.137596130371094
+        ],
+        [
+          -0.0011957992101088166,
+          -0.9998551607131958,
+          -0.0169777013361454,
+          -3.6757075786590576
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 474,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_783081293",
+      "mask_path": "../../mask/hdr_left_00474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00475.png",
+      "transform_matrix": [
+        [
+          -0.9997212886810303,
+          0.0028131057042628527,
+          -0.02343718707561493,
+          -20.82007598876953
+        ],
+        [
+          0.02349771000444889,
+          0.023851579055190086,
+          -0.9994392991065979,
+          -8.154536247253418
+        ],
+        [
+          -0.002252514474093914,
+          -0.9997115731239319,
+          -0.02391102910041809,
+          -3.6820998191833496
+        ],
+        [
+          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": "1731323309_883079290",
+      "mask_path": "../../mask/hdr_left_00475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00476.png",
+      "transform_matrix": [
+        [
+          -0.9968461990356445,
+          -7.803629705449566e-05,
+          -0.07935786247253418,
+          -20.884967803955078
+        ],
+        [
+          0.07932163774967194,
+          0.029247628524899483,
+          -0.9964199066162109,
+          -8.154207229614258
+        ],
+        [
+          0.002398786135017872,
+          -0.999572217464447,
+          -0.029149193316698074,
+          -3.684277057647705
+        ],
+        [
+          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": "1731323309_983080387",
+      "mask_path": "../../mask/hdr_left_00476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00477.png",
+      "transform_matrix": [
+        [
+          -0.9898328185081482,
+          0.0011867326684296131,
+          -0.14223037660121918,
+          -20.96092987060547
+        ],
+        [
+          0.14220678806304932,
+          0.02829546108841896,
+          -0.9894324541091919,
+          -8.151396751403809
+        ],
+        [
+          0.0028502820059657097,
+          -0.9995989203453064,
+          -0.02817653678357601,
+          -3.6846954822540283
+        ],
+        [
+          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": "1731323310_83080530",
+      "mask_path": "../../mask/hdr_left_00477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00478.png",
+      "transform_matrix": [
+        [
+          -0.9776301383972168,
+          0.0018065443728119135,
+          -0.21032319962978363,
+          -21.041105270385742
+        ],
+        [
+          0.2103017419576645,
+          0.025063036009669304,
+          -0.9773151874542236,
+          -8.139866828918457
+        ],
+        [
+          0.0035057729110121727,
+          -0.9996842741966248,
+          -0.024882294237613678,
+          -3.6784231662750244
+        ],
+        [
+          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": "1731323310_183081865",
+      "mask_path": "../../mask/hdr_left_00478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00479.png",
+      "transform_matrix": [
+        [
+          -0.9594796895980835,
+          -0.0011820016661658883,
+          -0.2817753851413727,
+          -21.109331130981445
+        ],
+        [
+          0.2816719710826874,
+          0.023388877511024475,
+          -0.9592257142066956,
+          -8.114875793457031
+        ],
+        [
+          0.007724214810878038,
+          -0.9997258186340332,
+          -0.022108210250735283,
+          -3.6705875396728516
+        ],
+        [
+          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": "1731323310_283082485",
+      "mask_path": "../../mask/hdr_left_00479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00480.png",
+      "transform_matrix": [
+        [
+          -0.9340905547142029,
+          -0.001828152104280889,
+          -0.3570314049720764,
+          -21.185081481933594
+        ],
+        [
+          0.35686150193214417,
+          0.02649090811610222,
+          -0.9337816834449768,
+          -8.086244583129883
+        ],
+        [
+          0.011165181174874306,
+          -0.9996474981307983,
+          -0.02409251034259796,
+          -3.6685495376586914
+        ],
+        [
+          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": "1731323310_383081674",
+      "mask_path": "../../mask/hdr_left_00480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00481.png",
+      "transform_matrix": [
+        [
+          -0.9063279032707214,
+          0.0016841583419591188,
+          -0.4225716292858124,
+          -21.27057647705078
+        ],
+        [
+          0.4224483072757721,
+          0.028103409335017204,
+          -0.9059512615203857,
+          -8.06001091003418
+        ],
+        [
+          0.0103499386459589,
+          -0.9996035695075989,
+          -0.026182368397712708,
+          -3.6689348220825195
+        ],
+        [
+          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": "1731323310_483082771",
+      "mask_path": "../../mask/hdr_left_00481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00482.png",
+      "transform_matrix": [
+        [
+          -0.8767479658126831,
+          0.0028914508875459433,
+          -0.4809413254261017,
+          -21.33715057373047
+        ],
+        [
+          0.48080262541770935,
+          0.030021388083696365,
+          -0.8763147592544556,
+          -8.034379005432129
+        ],
+        [
+          0.011904704384505749,
+          -0.999545156955719,
+          -0.027711406350135803,
+          -3.6772916316986084
+        ],
+        [
+          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": "1731323310_583080768",
+      "mask_path": "../../mask/hdr_left_00482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00483.png",
+      "transform_matrix": [
+        [
+          -0.8374013304710388,
+          0.0004463082004804164,
+          -0.5465881824493408,
+          -21.391651153564453
+        ],
+        [
+          0.5462702512741089,
+          0.03479781746864319,
+          -0.836885929107666,
+          -8.00064468383789
+        ],
+        [
+          0.018646568059921265,
+          -0.9993943572044373,
+          -0.029383547604084015,
+          -3.6836488246917725
+        ],
+        [
+          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": "1731323310_683082580",
+      "mask_path": "../../mask/hdr_left_00483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00484.png",
+      "transform_matrix": [
+        [
+          -0.7840117812156677,
+          0.004553546197712421,
+          -0.6207291483879089,
+          -21.453983306884766
+        ],
+        [
+          0.620525598526001,
+          0.03238473832607269,
+          -0.7835172414779663,
+          -7.949353218078613
+        ],
+        [
+          0.01653437316417694,
+          -0.9994651079177856,
+          -0.02821560762822628,
+          -3.6808114051818848
+        ],
+        [
+          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": "1731323310_783082008",
+      "mask_path": "../../mask/hdr_left_00484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00485.png",
+      "transform_matrix": [
+        [
+          -0.7203680872917175,
+          0.00615138141438365,
+          -0.6935645341873169,
+          -21.507417678833008
+        ],
+        [
+          0.6934294104576111,
+          0.028026878833770752,
+          -0.7199792265892029,
+          -7.891584873199463
+        ],
+        [
+          0.015009584836661816,
+          -0.9995883107185364,
+          -0.02445521578192711,
+          -3.670156478881836
+        ],
+        [
+          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": "1731323310_883082151",
+      "mask_path": "../../mask/hdr_left_00485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00486.png",
+      "transform_matrix": [
+        [
+          -0.6485281586647034,
+          0.0011827287962660193,
+          -0.7611896991729736,
+          -21.54442596435547
+        ],
+        [
+          0.7608585357666016,
+          0.03054567612707615,
+          -0.6481984257698059,
+          -7.835813999176025
+        ],
+        [
+          0.02248440869152546,
+          -0.9995326995849609,
+          -0.020709620788693428,
+          -3.665867567062378
+        ],
+        [
+          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": "1731323310_983081102",
+      "mask_path": "../../mask/hdr_left_00486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00487.png",
+      "transform_matrix": [
+        [
+          -0.5734995007514954,
+          0.00355685967952013,
+          -0.8191981911659241,
+          -21.59845542907715
+        ],
+        [
+          0.8189448714256287,
+          0.02773052640259266,
+          -0.5732018351554871,
+          -7.761494159698486
+        ],
+        [
+          0.020677996799349785,
+          -0.999609112739563,
+          -0.01881631836295128,
+          -3.6611690521240234
+        ],
+        [
+          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": "1731323311_83081483",
+      "mask_path": "../../mask/hdr_left_00487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00488.png",
+      "transform_matrix": [
+        [
+          -0.5019562840461731,
+          0.010713486932218075,
+          -0.8648266196250916,
+          -21.6449031829834
+        ],
+        [
+          0.8647770285606384,
+          0.022590775042772293,
+          -0.5016475915908813,
+          -7.692592144012451
+        ],
+        [
+          0.014162709005177021,
+          -0.9996874332427979,
+          -0.02060435153543949,
+          -3.6652579307556152
+        ],
+        [
+          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": "1731323311_183081388",
+      "mask_path": "../../mask/hdr_left_00488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00489.png",
+      "transform_matrix": [
+        [
+          -0.43124526739120483,
+          0.01524415798485279,
+          -0.9021058082580566,
+          -21.665916442871094
+        ],
+        [
+          0.9020838141441345,
+          0.025573521852493286,
+          -0.430802583694458,
+          -7.638647556304932
+        ],
+        [
+          0.016502803191542625,
+          -0.9995567798614502,
+          -0.024779966101050377,
+          -3.671182155609131
+        ],
+        [
+          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": "1731323311_283080816",
+      "mask_path": "../../mask/hdr_left_00489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00490.png",
+      "transform_matrix": [
+        [
+          -0.3613072335720062,
+          0.017558317631483078,
+          -0.932281494140625,
+          -21.691516876220703
+        ],
+        [
+          0.9323222637176514,
+          0.023143967613577843,
+          -0.36088719964027405,
+          -7.572527885437012
+        ],
+        [
+          0.015240119770169258,
+          -0.9995779991149902,
+          -0.024732088670134544,
+          -3.6706106662750244
+        ],
+        [
+          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": "1731323311_383080244",
+      "mask_path": "../../mask/hdr_left_00490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00491.png",
+      "transform_matrix": [
+        [
+          -0.2984510064125061,
+          0.017083588987588882,
+          -0.9542720317840576,
+          -21.72318458557129
+        ],
+        [
+          0.954330325126648,
+          0.019419565796852112,
+          -0.2981215715408325,
+          -7.49317741394043
+        ],
+        [
+          0.013438559137284756,
+          -0.9996655583381653,
+          -0.022099172696471214,
+          -3.6671979427337646
+        ],
+        [
+          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": "1731323311_483081579",
+      "mask_path": "../../mask/hdr_left_00491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00492.png",
+      "transform_matrix": [
+        [
+          -0.24036884307861328,
+          0.01405042689293623,
+          -0.9705799221992493,
+          -21.741968154907227
+        ],
+        [
+          0.9705567359924316,
+          0.019517255946993828,
+          -0.2400805652141571,
+          -7.421004772186279
+        ],
+        [
+          0.015569820068776608,
+          -0.9997107982635498,
+          -0.018328074365854263,
+          -3.662200450897217
+        ],
+        [
+          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": "1731323311_583081960",
+      "mask_path": "../../mask/hdr_left_00492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00493.png",
+      "transform_matrix": [
+        [
+          -0.18082299828529358,
+          0.011590894311666489,
+          -0.9834473729133606,
+          -21.752534866333008
+        ],
+        [
+          0.9833840131759644,
+          0.018482444807887077,
+          -0.1805935800075531,
+          -7.34636116027832
+        ],
+        [
+          0.01608326844871044,
+          -0.9997620582580566,
+          -0.014740352518856525,
+          -3.657895803451538
+        ],
+        [
+          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": "1731323311_683081626",
+      "mask_path": "../../mask/hdr_left_00493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00494.png",
+      "transform_matrix": [
+        [
+          -0.13273242115974426,
+          0.01714644767343998,
+          -0.9910036325454712,
+          -21.77863121032715
+        ],
+        [
+          0.9911023378372192,
+          0.012292320840060711,
+          -0.1325329691171646,
+          -7.250207901000977
+        ],
+        [
+          0.009909262880682945,
+          -0.9997774958610535,
+          -0.018625469878315926,
+          -3.6588404178619385
+        ],
+        [
+          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": "1731323311_783082246",
+      "mask_path": "../../mask/hdr_left_00494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00495.png",
+      "transform_matrix": [
+        [
+          -0.09503234177827835,
+          0.025274261832237244,
+          -0.9951533079147339,
+          -21.80078887939453
+        ],
+        [
+          0.9954652786254883,
+          0.006641112733632326,
+          -0.09489348530769348,
+          -7.170736312866211
+        ],
+        [
+          0.004210561513900757,
+          -0.9996585249900818,
+          -0.02579076774418354,
+          -3.6677772998809814
+        ],
+        [
+          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": "1731323311_883082151",
+      "mask_path": "../../mask/hdr_left_00495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00496.png",
+      "transform_matrix": [
+        [
+          -0.05810461565852165,
+          0.028623322024941444,
+          -0.997900128364563,
+          -21.806501388549805
+        ],
+        [
+          0.998302698135376,
+          0.005605197045952082,
+          -0.05796732008457184,
+          -7.103277206420898
+        ],
+        [
+          0.003934208769351244,
+          -0.999574601650238,
+          -0.028900429606437683,
+          -3.672971487045288
+        ],
+        [
+          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": "1731323311_983082056",
+      "mask_path": "../../mask/hdr_left_00496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00497.png",
+      "transform_matrix": [
+        [
+          -0.026646513491868973,
+          0.02949788048863411,
+          -0.9992095232009888,
+          -21.81195640563965
+        ],
+        [
+          0.999644935131073,
+          0.0008999588899314404,
+          -0.026631567627191544,
+          -7.010232448577881
+        ],
+        [
+          0.00011367211845936254,
+          -0.9995644688606262,
+          -0.029511380940675735,
+          -3.672004222869873
+        ],
+        [
+          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": "1731323312_83081960",
+      "mask_path": "../../mask/hdr_left_00497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00498.png",
+      "transform_matrix": [
+        [
+          -0.0065205032005906105,
+          0.026106862351298332,
+          -0.9996378421783447,
+          -21.819154739379883
+        ],
+        [
+          0.9999729990959167,
+          -0.003218904137611389,
+          -0.0066067553125321865,
+          -6.9183502197265625
+        ],
+        [
+          -0.0033902209252119064,
+          -0.9996539950370789,
+          -0.02608516253530979,
+          -3.6670923233032227
+        ],
+        [
+          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": "1731323312_183080673",
+      "mask_path": "../../mask/hdr_left_00498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00499.png",
+      "transform_matrix": [
+        [
+          0.0051283459179103374,
+          0.019550306722521782,
+          -0.99979567527771,
+          -21.828561782836914
+        ],
+        [
+          0.9999827146530151,
+          -0.002957541262730956,
+          0.005071484949439764,
+          -6.851027965545654
+        ],
+        [
+          -0.002857788698747754,
+          -0.9998045563697815,
+          -0.019565138965845108,
+          -3.6654751300811768
+        ],
+        [
+          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": "1731323312_283081293",
+      "mask_path": "../../mask/hdr_left_00499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00500.png",
+      "transform_matrix": [
+        [
+          0.014994272962212563,
+          0.01109701581299305,
+          -0.9998260140419006,
+          -21.842422485351562
+        ],
+        [
+          0.9998827576637268,
+          -0.003266584826633334,
+          0.014958838932216167,
+          -6.777773380279541
+        ],
+        [
+          -0.0031000180169939995,
+          -0.9999331831932068,
+          -0.011144690215587616,
+          -3.66939377784729
+        ],
+        [
+          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": "1731323312_383081912",
+      "mask_path": "../../mask/hdr_left_00500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00501.png",
+      "transform_matrix": [
+        [
+          0.01639663428068161,
+          0.011819506995379925,
+          -0.9997956156730652,
+          -21.860280990600586
+        ],
+        [
+          0.9998420476913452,
+          -0.0070533109828829765,
+          0.016313988715410233,
+          -6.676903247833252
+        ],
+        [
+          -0.0068590459413826466,
+          -0.9999052882194519,
+          -0.011933287605643272,
+          -3.6697487831115723
+        ],
+        [
+          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": "1731323312_483082532",
+      "mask_path": "../../mask/hdr_left_00501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00502.png",
+      "transform_matrix": [
+        [
+          0.010590305551886559,
+          0.016675908118486404,
+          -0.9998048543930054,
+          -21.880319595336914
+        ],
+        [
+          0.9999059438705444,
+          -0.008878806605935097,
+          0.010443257167935371,
+          -6.592090606689453
+        ],
+        [
+          -0.00870292168110609,
+          -0.9998215436935425,
+          -0.01676836609840393,
+          -3.671854257583618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 502,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_583081245",
+      "mask_path": "../../mask/hdr_left_00502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00503.png",
+      "transform_matrix": [
+        [
+          0.005587336607277393,
+          0.01250943448394537,
+          -0.9999061226844788,
+          -21.89889144897461
+        ],
+        [
+          0.9999462962150574,
+          -0.008787577971816063,
+          0.005477634724229574,
+          -6.518805980682373
+        ],
+        [
+          -0.008718231692910194,
+          -0.9998831748962402,
+          -0.012557858601212502,
+          -3.675173759460449
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 503,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_683082103",
+      "mask_path": "../../mask/hdr_left_00503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00504.png",
+      "transform_matrix": [
+        [
+          0.006758438423275948,
+          0.008476669900119305,
+          -0.9999412894248962,
+          -21.911163330078125
+        ],
+        [
+          0.9998867511749268,
+          -0.013505720533430576,
+          0.006643586792051792,
+          -6.425011157989502
+        ],
+        [
+          -0.01344861090183258,
+          -0.9998728632926941,
+          -0.008566987700760365,
+          -3.6765317916870117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 504,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_783082008",
+      "mask_path": "../../mask/hdr_left_00504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00505.png",
+      "transform_matrix": [
+        [
+          0.01604335568845272,
+          0.004084569867700338,
+          -0.9998629689216614,
+          -21.917993545532227
+        ],
+        [
+          0.9997400045394897,
+          -0.01626778021454811,
+          0.01597490906715393,
+          -6.337608814239502
+        ],
+        [
+          -0.016200300306081772,
+          -0.9998593926429749,
+          -0.004344494082033634,
+          -3.670034885406494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 505,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_883082866",
+      "mask_path": "../../mask/hdr_left_00505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00506.png",
+      "transform_matrix": [
+        [
+          0.027433017268776894,
+          -0.00505424989387393,
+          -0.9996109008789062,
+          -21.923133850097656
+        ],
+        [
+          0.9995324015617371,
+          -0.013372750952839851,
+          0.02749847061932087,
+          -6.273813724517822
+        ],
+        [
+          -0.013506531715393066,
+          -0.999897837638855,
+          0.0046850345097482204,
+          -3.669107437133789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 506,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_983081817",
+      "mask_path": "../../mask/hdr_left_00506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00507.png",
+      "transform_matrix": [
+        [
+          0.035136982798576355,
+          -0.007628509774804115,
+          -0.9993533492088318,
+          -21.940614700317383
+        ],
+        [
+          0.999326765537262,
+          -0.010288975201547146,
+          0.03521459177136421,
+          -6.1943135261535645
+        ],
+        [
+          -0.010550957173109055,
+          -0.9999179840087891,
+          0.007261854596436024,
+          -3.6659767627716064
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 507,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_83082199",
+      "mask_path": "../../mask/hdr_left_00507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00508.png",
+      "transform_matrix": [
+        [
+          0.034110646694898605,
+          -0.0021761502139270306,
+          -0.9994157552719116,
+          -21.962982177734375
+        ],
+        [
+          0.9993884563446045,
+          -0.0076239099726080894,
+          0.03412628173828125,
+          -6.11759090423584
+        ],
+        [
+          -0.007693719584494829,
+          -0.9999685883522034,
+          0.0019147656857967377,
+          -3.6637914180755615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 508,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_183081626",
+      "mask_path": "../../mask/hdr_left_00508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00510.png",
+      "transform_matrix": [
+        [
+          0.03042059764266014,
+          0.0026763409841805696,
+          -0.9995335340499878,
+          -21.977785110473633
+        ],
+        [
+          0.9994961023330688,
+          -0.00914695579558611,
+          0.030394960194826126,
+          -6.037435054779053
+        ],
+        [
+          -0.009061342105269432,
+          -0.9999546408653259,
+          -0.0029532446060329676,
+          -3.671651840209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 510,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_383082151",
+      "mask_path": "../../mask/hdr_left_00510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00564.png",
+      "transform_matrix": [
+        [
+          0.0724152997136116,
+          -0.005259301979094744,
+          -0.9973607063293457,
+          -21.967805862426758
+        ],
+        [
+          0.9973652958869934,
+          0.004682848695665598,
+          0.07239092886447906,
+          -5.865392684936523
+        ],
+        [
+          0.004289762582629919,
+          -0.9999752044677734,
+          0.0055845556780695915,
+          -3.6710922718048096
+        ],
+        [
+          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": "1731323318_783081054",
+      "mask_path": "../../mask/hdr_left_00564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00565.png",
+      "transform_matrix": [
+        [
+          0.06924882531166077,
+          -0.006467850878834724,
+          -0.9975784420967102,
+          -21.969646453857422
+        ],
+        [
+          0.9975988268852234,
+          0.0015123061602935195,
+          0.06924042850732803,
+          -5.8131794929504395
+        ],
+        [
+          0.001060806680470705,
+          -0.9999779462814331,
+          0.006557047832757235,
+          -3.6674766540527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 565,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323318_883080959",
+      "mask_path": "../../mask/hdr_left_00565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00567.png",
+      "transform_matrix": [
+        [
+          0.07663464546203613,
+          -0.009069782681763172,
+          -0.9970179796218872,
+          -21.977203369140625
+        ],
+        [
+          0.9970571994781494,
+          0.0026829689741134644,
+          0.07661325484514236,
+          -5.726634502410889
+        ],
+        [
+          0.001980100991204381,
+          -0.9999552965164185,
+          0.009248703718185425,
+          -3.6633028984069824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 567,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_83081245",
+      "mask_path": "../../mask/hdr_left_00567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00568.png",
+      "transform_matrix": [
+        [
+          0.07962894439697266,
+          -0.011592117138206959,
+          -0.9967571496963501,
+          -21.984689712524414
+        ],
+        [
+          0.9968133568763733,
+          0.005651798099279404,
+          0.07956768572330475,
+          -5.6692423820495605
+        ],
+        [
+          0.0047111110761761665,
+          -0.9999168515205383,
+          0.012005225755274296,
+          -3.6659624576568604
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 568,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_183081865",
+      "mask_path": "../../mask/hdr_left_00568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00569.png",
+      "transform_matrix": [
+        [
+          0.07377269119024277,
+          -0.008611788041889668,
+          -0.9972379207611084,
+          -21.9974308013916
+        ],
+        [
+          0.997271716594696,
+          0.0032091320026665926,
+          0.07374745607376099,
+          -5.597163200378418
+        ],
+        [
+          0.0025651692412793636,
+          -0.9999578595161438,
+          0.00882504228502512,
+          -3.66463041305542
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 569,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_283082485",
+      "mask_path": "../../mask/hdr_left_00569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00572.png",
+      "transform_matrix": [
+        [
+          0.05403574928641319,
+          -0.008434695191681385,
+          -0.9985033869743347,
+          -22.036174774169922
+        ],
+        [
+          0.9984706044197083,
+          -0.011238891631364822,
+          0.05412890017032623,
+          -5.4476141929626465
+        ],
+        [
+          -0.011678630486130714,
+          -0.999901294708252,
+          0.007814495824277401,
+          -3.677333116531372
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 572,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_583082675",
+      "mask_path": "../../mask/hdr_left_00572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00573.png",
+      "transform_matrix": [
+        [
+          0.058532826602458954,
+          -0.010386315174400806,
+          -0.9982314109802246,
+          -22.04003143310547
+        ],
+        [
+          0.9981457591056824,
+          -0.016116876155138016,
+          0.05869549512863159,
+          -5.389059543609619
+        ],
+        [
+          -0.016698002815246582,
+          -0.9998161792755127,
+          0.009423693642020226,
+          -3.6701416969299316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 573,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_683082103",
+      "mask_path": "../../mask/hdr_left_00573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00574.png",
+      "transform_matrix": [
+        [
+          0.06507643312215805,
+          -0.01244867593050003,
+          -0.9978026151657104,
+          -22.043682098388672
+        ],
+        [
+          0.9977734088897705,
+          -0.01382195670157671,
+          0.06524696201086044,
+          -5.3352508544921875
+        ],
+        [
+          -0.014603821560740471,
+          -0.9998270273208618,
+          0.011521474458277225,
+          -3.6660728454589844
+        ],
+        [
+          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": "1731323319_783080577",
+      "mask_path": "../../mask/hdr_left_00574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00575.png",
+      "transform_matrix": [
+        [
+          0.07273761928081512,
+          -0.015112780965864658,
+          -0.9972366690635681,
+          -22.044124603271484
+        ],
+        [
+          0.9972874522209167,
+          -0.010189694352447987,
+          0.07289572805166245,
+          -5.273531913757324
+        ],
+        [
+          -0.011263193562626839,
+          -0.9998340010643005,
+          0.014330613426864147,
+          -3.6717922687530518
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 575,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_883079051",
+      "mask_path": "../../mask/hdr_left_00575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00576.png",
+      "transform_matrix": [
+        [
+          0.07597243785858154,
+          -0.011011723428964615,
+          -0.9970490336418152,
+          -22.054574966430664
+        ],
+        [
+          0.9970660209655762,
+          -0.008540378883481026,
+          0.07606806606054306,
+          -5.186207294464111
+        ],
+        [
+          -0.009352817200124264,
+          -0.9999029636383057,
+          0.010330583900213242,
+          -3.671457052230835
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 576,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_983083248",
+      "mask_path": "../../mask/hdr_left_00576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00577.png",
+      "transform_matrix": [
+        [
+          0.07352397590875626,
+          -0.0024540862068533897,
+          -0.9972904920578003,
+          -22.07155418395996
+        ],
+        [
+          0.9972457885742188,
+          -0.009592631831765175,
+          0.07354426383972168,
+          -5.097915172576904
+        ],
+        [
+          -0.009747123345732689,
+          -0.9999510645866394,
+          0.00174204062204808,
+          -3.6710989475250244
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 577,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_83083629",
+      "mask_path": "../../mask/hdr_left_00577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00578.png",
+      "transform_matrix": [
+        [
+          0.0693284124135971,
+          0.0007479050545953214,
+          -0.9975935816764832,
+          -22.08509063720703
+        ],
+        [
+          0.9975490570068359,
+          -0.009523013606667519,
+          0.06931816786527634,
+          -5.024667739868164
+        ],
+        [
+          -0.009448254480957985,
+          -0.9999544024467468,
+          -0.0014062857953831553,
+          -3.6765129566192627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 578,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_183082818",
+      "mask_path": "../../mask/hdr_left_00578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00579.png",
+      "transform_matrix": [
+        [
+          0.06862831860780716,
+          -0.002897116122767329,
+          -0.9976381063461304,
+          -22.095623016357422
+        ],
+        [
+          0.9975542426109314,
+          -0.0130825350061059,
+          0.06866052746772766,
+          -4.93886661529541
+        ],
+        [
+          -0.01325055118650198,
+          -0.9999102354049683,
+          0.0019921998027712107,
+          -3.6814842224121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 579,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_283082723",
+      "mask_path": "../../mask/hdr_left_00579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00580.png",
+      "transform_matrix": [
+        [
+          0.07592140883207321,
+          -0.006459876894950867,
+          -0.9970927834510803,
+          -22.098791122436523
+        ],
+        [
+          0.9970043301582336,
+          -0.014328442513942719,
+          0.07600749284029007,
+          -4.8469157218933105
+        ],
+        [
+          -0.01477778796106577,
+          -0.9998764991760254,
+          0.00535269221290946,
+          -3.6759467124938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 580,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_383082628",
+      "mask_path": "../../mask/hdr_left_00580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08266.png",
+      "transform_matrix": [
+        [
+          -0.4710288941860199,
+          -0.0013285643653944135,
+          0.8821166753768921,
+          -22.69267463684082
+        ],
+        [
+          -0.8819054961204529,
+          -0.021227842196822166,
+          -0.47094807028770447,
+          -5.229470729827881
+        ],
+        [
+          0.019351119175553322,
+          -0.9997738003730774,
+          0.008827261626720428,
+          -3.6453945636749268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8266,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_983083009",
+      "mask_path": "../../mask/hdr_left_08266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08267.png",
+      "transform_matrix": [
+        [
+          -0.45887619256973267,
+          0.009740873239934444,
+          0.8884468078613281,
+          -22.70646858215332
+        ],
+        [
+          -0.8881321549415588,
+          -0.033807430416345596,
+          -0.4583430290222168,
+          -5.305420398712158
+        ],
+        [
+          0.025571439415216446,
+          -0.9993809461593628,
+          0.024164609611034393,
+          -3.6375675201416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8267,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_83082437",
+      "mask_path": "../../mask/hdr_left_08267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08268.png",
+      "transform_matrix": [
+        [
+          -0.44496428966522217,
+          0.018307380378246307,
+          0.895361065864563,
+          -22.71687126159668
+        ],
+        [
+          -0.8949378728866577,
+          -0.04599753022193909,
+          -0.4438135027885437,
+          -5.372522354125977
+        ],
+        [
+          0.03305933251976967,
+          -0.9987737536430359,
+          0.03685122728347778,
+          -3.6252899169921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8268,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_183082342",
+      "mask_path": "../../mask/hdr_left_08268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08269.png",
+      "transform_matrix": [
+        [
+          -0.4265977144241333,
+          0.012074053287506104,
+          0.9043608903884888,
+          -22.732725143432617
+        ],
+        [
+          -0.9038853049278259,
+          -0.04075121507048607,
+          -0.42582935094833374,
+          -5.464836120605469
+        ],
+        [
+          0.03171231970191002,
+          -0.9990963935852051,
+          0.02829793654382229,
+          -3.6272552013397217
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8269,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_283082485",
+      "mask_path": "../../mask/hdr_left_08269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08270.png",
+      "transform_matrix": [
+        [
+          -0.40041500329971313,
+          0.001264475635252893,
+          0.9163329601287842,
+          -22.743488311767578
+        ],
+        [
+          -0.9161624312400818,
+          -0.019894246011972427,
+          -0.40031298995018005,
+          -5.552130222320557
+        ],
+        [
+          0.01772356778383255,
+          -0.9998012781143188,
+          0.009124422445893288,
+          -3.645644187927246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8270,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_383080959",
+      "mask_path": "../../mask/hdr_left_08270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08271.png",
+      "transform_matrix": [
+        [
+          -0.37123116850852966,
+          -0.0005447270232252777,
+          0.9285402894020081,
+          -22.74298858642578
+        ],
+        [
+          -0.9285035729408264,
+          -0.008694890886545181,
+          -0.3712215721607208,
+          -5.625720500946045
+        ],
+        [
+          0.008275770582258701,
+          -0.9999620914459229,
+          0.0027220372576266527,
+          -3.6585474014282227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8271,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_483081579",
+      "mask_path": "../../mask/hdr_left_08271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08272.png",
+      "transform_matrix": [
+        [
+          -0.3418104648590088,
+          0.0028968662954866886,
+          0.9397644400596619,
+          -22.749103546142578
+        ],
+        [
+          -0.9397455453872681,
+          -0.008097287267446518,
+          -0.3417786955833435,
+          -5.711609363555908
+        ],
+        [
+          0.006619454361498356,
+          -0.9999630451202393,
+          0.005490056239068508,
+          -3.6632449626922607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8272,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_583081245",
+      "mask_path": "../../mask/hdr_left_08272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08273.png",
+      "transform_matrix": [
+        [
+          -0.31095656752586365,
+          0.010128841735422611,
+          0.950370192527771,
+          -22.76666831970215
+        ],
+        [
+          -0.9504191875457764,
+          -0.00010794929403346032,
+          -0.3109714984893799,
+          -5.819119453430176
+        ],
+        [
+          -0.003047189675271511,
+          -0.9999486804008484,
+          0.009660216048359871,
+          -3.6542608737945557
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8273,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_683081150",
+      "mask_path": "../../mask/hdr_left_08273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08274.png",
+      "transform_matrix": [
+        [
+          -0.28093135356903076,
+          0.015637865290045738,
+          0.9596003890037537,
+          -22.771665573120117
+        ],
+        [
+          -0.959663987159729,
+          0.00695232255384326,
+          -0.2810632586479187,
+          -5.904121398925781
+        ],
+        [
+          -0.011066681705415249,
+          -0.9998535513877869,
+          0.013053972274065018,
+          -3.6521289348602295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8274,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_783080816",
+      "mask_path": "../../mask/hdr_left_08274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08275.png",
+      "transform_matrix": [
+        [
+          -0.2523026764392853,
+          0.019013455137610435,
+          0.9674614667892456,
+          -22.763084411621094
+        ],
+        [
+          -0.9675504565238953,
+          0.009261079132556915,
+          -0.25250789523124695,
+          -5.964577674865723
+        ],
+        [
+          -0.013760784640908241,
+          -0.9997763633728027,
+          0.016059884801506996,
+          -3.66072416305542
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8275,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_883079528",
+      "mask_path": "../../mask/hdr_left_08275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08276.png",
+      "transform_matrix": [
+        [
+          -0.221295565366745,
+          0.01667064055800438,
+          0.9750641584396362,
+          -22.754358291625977
+        ],
+        [
+          -0.975086510181427,
+          0.011921975761651993,
+          -0.22150443494319916,
+          -6.0515947341918945
+        ],
+        [
+          -0.015317311510443687,
+          -0.9997900724411011,
+          0.01361703872680664,
+          -3.6757006645202637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8276,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_983081102",
+      "mask_path": "../../mask/hdr_left_08276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08277.png",
+      "transform_matrix": [
+        [
+          -0.18026305735111237,
+          0.006297729909420013,
+          0.9835982918739319,
+          -22.745290756225586
+        ],
+        [
+          -0.9834750294685364,
+          0.01591934636235237,
+          -0.18034237623214722,
+          -6.163633823394775
+        ],
+        [
+          -0.016793986782431602,
+          -0.9998534917831421,
+          0.003323992481455207,
+          -3.6760778427124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8277,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_83081007",
+      "mask_path": "../../mask/hdr_left_08277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08278.png",
+      "transform_matrix": [
+        [
+          -0.1339881420135498,
+          -0.0009520005551166832,
+          0.9909824132919312,
+          -22.725872039794922
+        ],
+        [
+          -0.990850031375885,
+          0.016508003696799278,
+          -0.13395439088344574,
+          -6.251990795135498
+        ],
+        [
+          -0.016231616958975792,
+          -0.9998633861541748,
+          -0.003155163023620844,
+          -3.6754653453826904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8278,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_183080673",
+      "mask_path": "../../mask/hdr_left_08278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08279.png",
+      "transform_matrix": [
+        [
+          -0.08845723420381546,
+          0.002017657272517681,
+          0.996077835559845,
+          -22.701261520385742
+        ],
+        [
+          -0.9960008859634399,
+          0.012416999787092209,
+          -0.0884755551815033,
+          -6.336560249328613
+        ],
+        [
+          -0.012546814046800137,
+          -0.9999209046363831,
+          0.0009112189873121679,
+          -3.6812849044799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8279,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_283080339",
+      "mask_path": "../../mask/hdr_left_08279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08280.png",
+      "transform_matrix": [
+        [
+          -0.05078353360295296,
+          0.004504403565078974,
+          0.9986995458602905,
+          -22.678573608398438
+        ],
+        [
+          -0.9985392689704895,
+          0.018241161480545998,
+          -0.050857651978731155,
+          -6.435488224029541
+        ],
+        [
+          -0.01844652183353901,
+          -0.9998235106468201,
+          0.003571476321667433,
+          -3.681532621383667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8280,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_383080720",
+      "mask_path": "../../mask/hdr_left_08280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08281.png",
+      "transform_matrix": [
+        [
+          -0.02116827294230461,
+          0.004175055306404829,
+          0.9997671842575073,
+          -22.660968780517578
+        ],
+        [
+          -0.9994952082633972,
+          0.023605214431881905,
+          -0.021261075511574745,
+          -6.5167975425720215
+        ],
+        [
+          -0.023688483983278275,
+          -0.9997126460075378,
+          0.0036732691805809736,
+          -3.6778299808502197
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8281,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_483082532",
+      "mask_path": "../../mask/hdr_left_08281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08282.png",
+      "transform_matrix": [
+        [
+          0.00792059488594532,
+          0.007420404814183712,
+          0.9999411106109619,
+          -22.64106559753418
+        ],
+        [
+          -0.9997580647468567,
+          0.020575549453496933,
+          0.007766487542539835,
+          -6.581116199493408
+        ],
+        [
+          -0.020516706630587578,
+          -0.9997608065605164,
+          0.007581582758575678,
+          -3.6765782833099365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8282,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_583081960",
+      "mask_path": "../../mask/hdr_left_08282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08283.png",
+      "transform_matrix": [
+        [
+          0.040809620171785355,
+          0.009387969970703125,
+          0.9991228580474854,
+          -22.611133575439453
+        ],
+        [
+          -0.9990535974502563,
+          0.015445410273969173,
+          0.040661681443452835,
+          -6.663829803466797
+        ],
+        [
+          -0.0150501299649477,
+          -0.9998366236686707,
+          0.010009408928453922,
+          -3.6817984580993652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8283,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_683082103",
+      "mask_path": "../../mask/hdr_left_08283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08284.png",
+      "transform_matrix": [
+        [
+          0.08230923861265182,
+          0.0006979423342272639,
+          0.9966065883636475,
+          -22.567745208740234
+        ],
+        [
+          -0.996528148651123,
+          0.012625654228031635,
+          0.08229395747184753,
+          -6.761786460876465
+        ],
+        [
+          -0.012525373138487339,
+          -0.999920129776001,
+          0.0017347314860671759,
+          -3.6793859004974365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8284,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_783081054",
+      "mask_path": "../../mask/hdr_left_08284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08285.png",
+      "transform_matrix": [
+        [
+          0.12826137244701385,
+          -0.01128291990607977,
+          0.9916762113571167,
+          -22.52529525756836
+        ],
+        [
+          -0.9917049407958984,
+          0.006995614152401686,
+          0.12834469974040985,
+          -6.836469650268555
+        ],
+        [
+          -0.008385487832129002,
+          -0.999911904335022,
+          -0.010292058810591698,
+          -3.6777334213256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8285,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_883082389",
+      "mask_path": "../../mask/hdr_left_08285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08286.png",
+      "transform_matrix": [
+        [
+          0.1740170270204544,
+          -0.012295236811041832,
+          0.9846658706665039,
+          -22.480056762695312
+        ],
+        [
+          -0.9847345948219299,
+          0.001861225813627243,
+          0.17405246198177338,
+          -6.900302886962891
+        ],
+        [
+          -0.003972702659666538,
+          -0.9999226927757263,
+          -0.011783655732870102,
+          -3.6761538982391357
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8286,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_983081340",
+      "mask_path": "../../mask/hdr_left_08286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08287.png",
+      "transform_matrix": [
+        [
+          0.2161397486925125,
+          -0.00452875392511487,
+          0.9763519167900085,
+          -22.426834106445312
+        ],
+        [
+          -0.9762933850288391,
+          0.01089026965200901,
+          0.21617728471755981,
+          -6.984375953674316
+        ],
+        [
+          -0.011611749418079853,
+          -0.9999305009841919,
+          -0.002067567314952612,
+          -3.678574562072754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8287,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_83081960",
+      "mask_path": "../../mask/hdr_left_08287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08288.png",
+      "transform_matrix": [
+        [
+          0.2511327862739563,
+          0.0014081295812502503,
+          0.9679515957832336,
+          -22.375749588012695
+        ],
+        [
+          -0.967860221862793,
+          0.014180238358676434,
+          0.2510885000228882,
+          -7.0671467781066895
+        ],
+        [
+          -0.013372219167649746,
+          -0.9998984932899475,
+          0.004923998843878508,
+          -3.6739134788513184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8288,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_183080196",
+      "mask_path": "../../mask/hdr_left_08288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08289.png",
+      "transform_matrix": [
+        [
+          0.28359636664390564,
+          0.007132770959287882,
+          0.9589172005653381,
+          -22.331012725830078
+        ],
+        [
+          -0.9588796496391296,
+          0.013667809776961803,
+          0.2834835946559906,
+          -7.127717018127441
+        ],
+        [
+          -0.01108427345752716,
+          -0.9998812079429626,
+          0.010715612210333347,
+          -3.6692233085632324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8289,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_283080816",
+      "mask_path": "../../mask/hdr_left_08289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08290.png",
+      "transform_matrix": [
+        [
+          0.31127744913101196,
+          0.008492705412209034,
+          0.9502810835838318,
+          -22.273712158203125
+        ],
+        [
+          -0.9502773880958557,
+          0.012141444720327854,
+          0.31116771697998047,
+          -7.190528392791748
+        ],
+        [
+          -0.008895128965377808,
+          -0.9998902678489685,
+          0.011849787086248398,
+          -3.680147647857666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8290,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_383081197",
+      "mask_path": "../../mask/hdr_left_08290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08291.png",
+      "transform_matrix": [
+        [
+          0.3333267569541931,
+          -0.000568073708564043,
+          0.9428111910820007,
+          -22.206369400024414
+        ],
+        [
+          -0.9427826404571533,
+          0.007602151948958635,
+          0.3333212435245514,
+          -7.282403945922852
+        ],
+        [
+          -0.007356745190918446,
+          -0.9999709725379944,
+          0.001998432446271181,
+          -3.6825904846191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8291,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_483081340",
+      "mask_path": "../../mask/hdr_left_08291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08292.png",
+      "transform_matrix": [
+        [
+          0.35509243607521057,
+          -0.009314787574112415,
+          0.9347847104072571,
+          -22.150409698486328
+        ],
+        [
+          -0.9348107576370239,
+          0.003076308174058795,
+          0.3551328480243683,
+          -7.357151508331299
+        ],
+        [
+          -0.006183673162013292,
+          -0.9999518990516663,
+          -0.007615184877067804,
+          -3.6819725036621094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8292,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_583080530",
+      "mask_path": "../../mask/hdr_left_08292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08293.png",
+      "transform_matrix": [
+        [
+          0.3760605752468109,
+          -0.00895742978900671,
+          0.9265518188476562,
+          -22.098567962646484
+        ],
+        [
+          -0.9265907406806946,
+          -0.0006071244133636355,
+          0.3760705590248108,
+          -7.41642951965332
+        ],
+        [
+          -0.002806095639243722,
+          -0.9999597072601318,
+          -0.008528186939656734,
+          -3.6862587928771973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8293,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_683083295",
+      "mask_path": "../../mask/hdr_left_08293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08294.png",
+      "transform_matrix": [
+        [
+          0.39377114176750183,
+          -0.005928040016442537,
+          0.9191893935203552,
+          -22.039798736572266
+        ],
+        [
+          -0.9191769957542419,
+          0.005734696518629789,
+          0.3938027322292328,
+          -7.493715763092041
+        ],
+        [
+          -0.0076057519763708115,
+          -0.9999660849571228,
+          -0.0031907560769468546,
+          -3.686598300933838
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8294,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_783082246",
+      "mask_path": "../../mask/hdr_left_08294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08295.png",
+      "transform_matrix": [
+        [
+          0.40417298674583435,
+          -0.0014555772067978978,
+          0.9146814346313477,
+          -21.984067916870117
+        ],
+        [
+          -0.9146013855934143,
+          0.012673546560108662,
+          0.4041578471660614,
+          -7.565415382385254
+        ],
+        [
+          -0.012180539779365063,
+          -0.9999186396598816,
+          0.0037910344544798136,
+          -3.6761069297790527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8295,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_883082389",
+      "mask_path": "../../mask/hdr_left_08295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08296.png",
+      "transform_matrix": [
+        [
+          0.40738794207572937,
+          0.005557759664952755,
+          0.9132382869720459,
+          -21.94170379638672
+        ],
+        [
+          -0.9131674766540527,
+          0.01633404940366745,
+          0.4072570502758026,
+          -7.618603229522705
+        ],
+        [
+          -0.012653442099690437,
+          -0.9998512268066406,
+          0.011729463934898376,
+          -3.6745541095733643
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8296,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_983082056",
+      "mask_path": "../../mask/hdr_left_08296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08297.png",
+      "transform_matrix": [
+        [
+          0.40774405002593994,
+          0.012253564782440662,
+          0.9130141139030457,
+          -21.894346237182617
+        ],
+        [
+          -0.9130497574806213,
+          0.015565254725515842,
+          0.4075510501861572,
+          -7.675458908081055
+        ],
+        [
+          -0.009217343293130398,
+          -0.9998037815093994,
+          0.017534753307700157,
+          -3.6763269901275635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8297,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_83082199",
+      "mask_path": "../../mask/hdr_left_08297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08298.png",
+      "transform_matrix": [
+        [
+          0.4187759459018707,
+          0.008184867911040783,
+          0.9080526828765869,
+          -21.82281494140625
+        ],
+        [
+          -0.9080542922019958,
+          0.012591155245900154,
+          0.41866323351860046,
+          -7.747844219207764
+        ],
+        [
+          -0.008006729185581207,
+          -0.9998872876167297,
+          0.012705178000032902,
+          -3.677008628845215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8298,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_183082580",
+      "mask_path": "../../mask/hdr_left_08298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08299.png",
+      "transform_matrix": [
+        [
+          0.45065638422966003,
+          -0.0009237343911081553,
+          0.8926970362663269,
+          -21.755531311035156
+        ],
+        [
+          -0.8926650881767273,
+          0.008039671927690506,
+          0.45064863562583923,
+          -7.805935859680176
+        ],
+        [
+          -0.0075932713225483894,
+          -0.9999672770500183,
+          0.002798548201099038,
+          -3.679511547088623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8299,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_283082485",
+      "mask_path": "../../mask/hdr_left_08299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08300.png",
+      "transform_matrix": [
+        [
+          0.49161961674690247,
+          -0.0010505031095817685,
+          0.8708093762397766,
+          -21.692466735839844
+        ],
+        [
+          -0.8707780838012695,
+          0.007976436987519264,
+          0.4916115701198578,
+          -7.849039554595947
+        ],
+        [
+          -0.007462395820766687,
+          -0.9999676942825317,
+          0.003006619168445468,
+          -3.684906482696533
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8300,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_383082628",
+      "mask_path": "../../mask/hdr_left_08300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08301.png",
+      "transform_matrix": [
+        [
+          0.5271400213241577,
+          -0.0014525620499625802,
+          0.8497772216796875,
+          -21.620567321777344
+        ],
+        [
+          -0.8496808409690857,
+          0.014245772734284401,
+          0.5271047353744507,
+          -7.89940881729126
+        ],
+        [
+          -0.012871382758021355,
+          -0.9998975396156311,
+          0.006275305058807135,
+          -3.683708429336548
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8301,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_483082771",
+      "mask_path": "../../mask/hdr_left_08301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08302.png",
+      "transform_matrix": [
+        [
+          0.5559847950935364,
+          0.00010411590483272448,
+          0.8311923742294312,
+          -21.55970573425293
+        ],
+        [
+          -0.8310531377792358,
+          0.018376123160123825,
+          0.555889368057251,
+          -7.951615810394287
+        ],
+        [
+          -0.015216217376291752,
+          -0.9998311400413513,
+          0.010303373448550701,
+          -3.6743805408477783
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8302,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_583081960",
+      "mask_path": "../../mask/hdr_left_08302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08303.png",
+      "transform_matrix": [
+        [
+          0.5832446813583374,
+          0.007680823095142841,
+          0.8122601509094238,
+          -21.505460739135742
+        ],
+        [
+          -0.8121704459190369,
+          0.02312762290239334,
+          0.5829616189002991,
+          -7.9919352531433105
+        ],
+        [
+          -0.0143080223351717,
+          -0.999703049659729,
+          0.019727202132344246,
+          -3.674790620803833
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8303,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_683082580",
+      "mask_path": "../../mask/hdr_left_08303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08304.png",
+      "transform_matrix": [
+        [
+          0.6068981885910034,
+          0.01318786945194006,
+          0.7946701049804688,
+          -21.438753128051758
+        ],
+        [
+          -0.7946573495864868,
+          0.02759675867855549,
+          0.6064305901527405,
+          -8.039017677307129
+        ],
+        [
+          -0.013932790607213974,
+          -0.999532163143158,
+          0.027228262275457382,
+          -3.6788830757141113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8304,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_783082485",
+      "mask_path": "../../mask/hdr_left_08304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08305.png",
+      "transform_matrix": [
+        [
+          0.6330105066299438,
+          0.007189873605966568,
+          0.7741098403930664,
+          -21.354999542236328
+        ],
+        [
+          -0.7739654779434204,
+          0.027305349707603455,
+          0.6326388120651245,
+          -8.100153923034668
+        ],
+        [
+          -0.016588745638728142,
+          -0.9996013045310974,
+          0.02284928597509861,
+          -3.683253765106201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8305,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_883082866",
+      "mask_path": "../../mask/hdr_left_08305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08306.png",
+      "transform_matrix": [
+        [
+          0.6622151136398315,
+          4.5330551074584946e-05,
+          0.7493137121200562,
+          -21.2803897857666
+        ],
+        [
+          -0.7491306066513062,
+          0.022141095250844955,
+          0.6620520949363708,
+          -8.147953033447266
+        ],
+        [
+          -0.016560615971684456,
+          -0.9997548460960388,
+          0.014696129597723484,
+          -3.687321662902832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8306,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_983082056",
+      "mask_path": "../../mask/hdr_left_08306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08307.png",
+      "transform_matrix": [
+        [
+          0.6926369071006775,
+          0.0012738972436636686,
+          0.7212854027748108,
+          -21.210025787353516
+        ],
+        [
+          -0.7211298942565918,
+          0.022054709494113922,
+          0.6924487352371216,
+          -8.187987327575684
+        ],
+        [
+          -0.015025627799332142,
+          -0.9997559785842896,
+          0.016194548457860947,
+          -3.69165301322937
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8307,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_83083868",
+      "mask_path": "../../mask/hdr_left_08307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08308.png",
+      "transform_matrix": [
+        [
+          0.722762405872345,
+          0.0017426857957616448,
+          0.6910943984985352,
+          -21.124902725219727
+        ],
+        [
+          -0.690829873085022,
+          0.029598288238048553,
+          0.7224111557006836,
+          -8.225953102111816
+        ],
+        [
+          -0.019196273759007454,
+          -0.9995604157447815,
+          0.022596431896090508,
+          -3.689578056335449
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8308,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_183081388",
+      "mask_path": "../../mask/hdr_left_08308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08309.png",
+      "transform_matrix": [
+        [
+          0.7489339113235474,
+          0.006049158982932568,
+          0.6626172065734863,
+          -21.047298431396484
+        ],
+        [
+          -0.6624022126197815,
+          0.03388788923621178,
+          0.7483815550804138,
+          -8.258057594299316
+        ],
+        [
+          -0.017927618697285652,
+          -0.9994073510169983,
+          0.02938676066696644,
+          -3.6790637969970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8309,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_283082485",
+      "mask_path": "../../mask/hdr_left_08309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08310.png",
+      "transform_matrix": [
+        [
+          0.77326899766922,
+          0.014329051598906517,
+          0.6339161992073059,
+          -20.982967376708984
+        ],
+        [
+          -0.633948028087616,
+          0.03772240877151489,
+          0.772455096244812,
+          -8.281268119812012
+        ],
+        [
+          -0.012844297103583813,
+          -0.9991856217384338,
+          0.03825344145298004,
+          -3.6769466400146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8310,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_383081912",
+      "mask_path": "../../mask/hdr_left_08310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08311.png",
+      "transform_matrix": [
+        [
+          0.7977487444877625,
+          0.02038087137043476,
+          0.6026453971862793,
+          -20.909177780151367
+        ],
+        [
+          -0.602936327457428,
+          0.04028754308819771,
+          0.7967714071273804,
+          -8.302698135375977
+        ],
+        [
+          -0.008040210232138634,
+          -0.9989803433418274,
+          0.04442771151661873,
+          -3.6789369583129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8311,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_483081579",
+      "mask_path": "../../mask/hdr_left_08311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08312.png",
+      "transform_matrix": [
+        [
+          0.8267571330070496,
+          0.014083540067076683,
+          0.5623825788497925,
+          -20.817211151123047
+        ],
+        [
+          -0.5624778866767883,
+          0.03766302019357681,
+          0.8259539604187012,
+          -8.322271347045898
+        ],
+        [
+          -0.0095486706122756,
+          -0.9991912841796875,
+          0.039059851318597794,
+          -3.679436445236206
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8312,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_583081007",
+      "mask_path": "../../mask/hdr_left_08312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08313.png",
+      "transform_matrix": [
+        [
+          0.8577582836151123,
+          0.0058693611063063145,
+          0.5140197277069092,
+          -20.738555908203125
+        ],
+        [
+          -0.5139433741569519,
+          0.03046087548136711,
+          0.8572830557823181,
+          -8.334687232971191
+        ],
+        [
+          -0.01062578521668911,
+          -0.9995187520980835,
+          0.029144585132598877,
+          -3.6843502521514893
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8313,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_683082580",
+      "mask_path": "../../mask/hdr_left_08313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08314.png",
+      "transform_matrix": [
+        [
+          0.8839535713195801,
+          0.0028788987547159195,
+          0.46756577491760254,
+          -20.674060821533203
+        ],
+        [
+          -0.46745631098747253,
+          0.02793356589972973,
+          0.8835747838020325,
+          -8.340136528015137
+        ],
+        [
+          -0.010517056100070477,
+          -0.999605655670166,
+          0.026037734001874924,
+          -3.6896092891693115
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8314,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_783082723",
+      "mask_path": "../../mask/hdr_left_08314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08315.png",
+      "transform_matrix": [
+        [
+          0.9041322469711304,
+          -0.0012799702817574143,
+          0.42725083231925964,
+          -20.59663200378418
+        ],
+        [
+          -0.4270050823688507,
+          0.03133606165647507,
+          0.9037060141563416,
+          -8.349763870239258
+        ],
+        [
+          -0.014545074664056301,
+          -0.9995080828666687,
+          0.027785390615463257,
+          -3.6873412132263184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8315,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_883082389",
+      "mask_path": "../../mask/hdr_left_08315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08316.png",
+      "transform_matrix": [
+        [
+          0.9192793965339661,
+          -9.669989958638325e-05,
+          0.39360561966896057,
+          -20.518150329589844
+        ],
+        [
+          -0.39339154958724976,
+          0.03275156021118164,
+          0.91878741979599,
+          -8.358391761779785
+        ],
+        [
+          -0.012980044819414616,
+          -0.9994635581970215,
+          0.03006979450583458,
+          -3.677237033843994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8316,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_983082771",
+      "mask_path": "../../mask/hdr_left_08316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08317.png",
+      "transform_matrix": [
+        [
+          0.9317709803581238,
+          0.005700479261577129,
+          0.3630017936229706,
+          -20.452713012695312
+        ],
+        [
+          -0.36294591426849365,
+          0.03816843032836914,
+          0.9310281872749329,
+          -8.360321998596191
+        ],
+        [
+          -0.008547901175916195,
+          -0.9992550611495972,
+          0.03763319551944733,
+          -3.6752607822418213
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8317,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_83081007",
+      "mask_path": "../../mask/hdr_left_08317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08318.png",
+      "transform_matrix": [
+        [
+          0.943312406539917,
+          0.011746949516236782,
+          0.3316982388496399,
+          -20.379901885986328
+        ],
+        [
+          -0.3318888545036316,
+          0.04360143095254898,
+          0.9423103332519531,
+          -8.356485366821289
+        ],
+        [
+          -0.0033932470250874758,
+          -0.998979926109314,
+          0.0450284481048584,
+          -3.6760103702545166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8318,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_183081388",
+      "mask_path": "../../mask/hdr_left_08318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08319.png",
+      "transform_matrix": [
+        [
+          0.9558663964271545,
+          0.00732908770442009,
+          0.2937101423740387,
+          -20.284423828125
+        ],
+        [
+          -0.2937677502632141,
+          0.039009157568216324,
+          0.955080509185791,
+          -8.351485252380371
+        ],
+        [
+          -0.004457517527043819,
+          -0.9992120265960693,
+          0.039440594613552094,
+          -3.6777966022491455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8319,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_283082962",
+      "mask_path": "../../mask/hdr_left_08319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08320.png",
+      "transform_matrix": [
+        [
+          0.9690487384796143,
+          0.0008080808911472559,
+          0.2468680441379547,
+          -20.203433990478516
+        ],
+        [
+          -0.2467910796403885,
+          0.028352104127407074,
+          0.9686538577079773,
+          -8.343802452087402
+        ],
+        [
+          -0.006216477602720261,
+          -0.9995976686477661,
+          0.027673998847603798,
+          -3.6856298446655273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8320,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_383082389",
+      "mask_path": "../../mask/hdr_left_08320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08321.png",
+      "transform_matrix": [
+        [
+          0.9799695014953613,
+          -0.0017362338257953525,
+          0.1991395652294159,
+          -20.1414794921875
+        ],
+        [
+          -0.19903430342674255,
+          0.025120336562395096,
+          0.9796706438064575,
+          -8.328492164611816
+        ],
+        [
+          -0.0067033907398581505,
+          -0.9996829628944397,
+          0.02427159808576107,
+          -3.6879172325134277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8321,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_483080148",
+      "mask_path": "../../mask/hdr_left_08321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08322.png",
+      "transform_matrix": [
+        [
+          0.9877866506576538,
+          -0.009312580339610577,
+          0.15553398430347443,
+          -20.064472198486328
+        ],
+        [
+          -0.1551603376865387,
+          0.03244590014219284,
+          0.9873563647270203,
+          -8.310556411743164
+        ],
+        [
+          -0.014241275377571583,
+          -0.9994301795959473,
+          0.030604684725403786,
+          -3.6913435459136963
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8322,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_583081007",
+      "mask_path": "../../mask/hdr_left_08322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08323.png",
+      "transform_matrix": [
+        [
+          0.9927202463150024,
+          -0.012553402222692966,
+          0.11978728324174881,
+          -19.979272842407227
+        ],
+        [
+          -0.11924835294485092,
+          0.03730472922325134,
+          0.992163360118866,
+          -8.29166316986084
+        ],
+        [
+          -0.016923658549785614,
+          -0.9992251992225647,
+          0.035536181181669235,
+          -3.6884546279907227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8323,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_683079719",
+      "mask_path": "../../mask/hdr_left_08323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08324.png",
+      "transform_matrix": [
+        [
+          0.9955127239227295,
+          -0.010272362269461155,
+          0.09406741708517075,
+          -19.90737533569336
+        ],
+        [
+          -0.09355384111404419,
+          0.042421627789735794,
+          0.9947100281715393,
+          -8.273039817810059
+        ],
+        [
+          -0.014208515174686909,
+          -0.9990469813346863,
+          0.04127025231719017,
+          -3.681168794631958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8324,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_783080577",
+      "mask_path": "../../mask/hdr_left_08324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08325.png",
+      "transform_matrix": [
+        [
+          0.9967959523200989,
+          -0.0069671920500695705,
+          0.07968149334192276,
+          -19.822511672973633
+        ],
+        [
+          -0.07930552214384079,
+          0.04353474825620651,
+          0.9958992600440979,
+          -8.252065658569336
+        ],
+        [
+          -0.010407536290585995,
+          -0.9990276098251343,
+          0.04284272342920303,
+          -3.682164192199707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8325,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_883082151",
+      "mask_path": "../../mask/hdr_left_08325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08326.png",
+      "transform_matrix": [
+        [
+          0.9980456829071045,
+          -0.008081781677901745,
+          0.061962638050317764,
+          -19.71147918701172
+        ],
+        [
+          -0.06166417896747589,
+          0.033053986728191376,
+          0.9975495338439941,
+          -8.225810050964355
+        ],
+        [
+          -0.010110089555382729,
+          -0.9994209408760071,
+          0.03249103203415871,
+          -3.6912219524383545
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8326,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_983082532",
+      "mask_path": "../../mask/hdr_left_08326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08327.png",
+      "transform_matrix": [
+        [
+          0.9991263151168823,
+          -0.008677354082465172,
+          0.0408792570233345,
+          -19.62388038635254
+        ],
+        [
+          -0.04069282114505768,
+          0.020675063133239746,
+          0.9989578127861023,
+          -8.202518463134766
+        ],
+        [
+          -0.00951349176466465,
+          -0.9997485876083374,
+          0.020303897559642792,
+          -3.698749303817749
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8327,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_83082199",
+      "mask_path": "../../mask/hdr_left_08327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08328.png",
+      "transform_matrix": [
+        [
+          0.9997393488883972,
+          -0.005998094566166401,
+          0.022025905549526215,
+          -19.551570892333984
+        ],
+        [
+          -0.02190847508609295,
+          0.01898966357111931,
+          0.9995796084403992,
+          -8.1862211227417
+        ],
+        [
+          -0.006413837894797325,
+          -0.9998016953468323,
+          0.018853304907679558,
+          -3.703738212585449
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8328,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_183081865",
+      "mask_path": "../../mask/hdr_left_08328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08329.png",
+      "transform_matrix": [
+        [
+          0.9999628067016602,
+          -0.005342363379895687,
+          0.00676116393879056,
+          -19.458499908447266
+        ],
+        [
+          -0.006655530072748661,
+          0.01955258473753929,
+          0.9997866749763489,
+          -8.16053295135498
+        ],
+        [
+          -0.005473422817885876,
+          -0.999794602394104,
+          0.01951630786061287,
+          -3.7034027576446533
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8329,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_283081531",
+      "mask_path": "../../mask/hdr_left_08329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08330.png",
+      "transform_matrix": [
+        [
+          0.999984622001648,
+          -0.003951805178076029,
+          -0.0038896475452929735,
+          -19.371150970458984
+        ],
+        [
+          0.003971762955188751,
+          0.02098938450217247,
+          0.9997718334197998,
+          -8.135826110839844
+        ],
+        [
+          -0.0038692625239491463,
+          -0.9997719526290894,
+          0.021004758775234222,
+          -3.6932828426361084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8330,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_383082628",
+      "mask_path": "../../mask/hdr_left_08330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08331.png",
+      "transform_matrix": [
+        [
+          0.9998472929000854,
+          -0.0007142536342144012,
+          -0.01745401695370674,
+          -19.30535316467285
+        ],
+        [
+          0.017466729506850243,
+          0.026263324543833733,
+          0.9995024800300598,
+          -8.117405891418457
+        ],
+        [
+          -0.00025549845304340124,
+          -0.9996548295021057,
+          0.026271793991327286,
+          -3.6871349811553955
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8331,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_483082056",
+      "mask_path": "../../mask/hdr_left_08331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08332.png",
+      "transform_matrix": [
+        [
+          0.9992175698280334,
+          -0.0013594438787549734,
+          -0.03952682018280029,
+          -19.222272872924805
+        ],
+        [
+          0.039549581706523895,
+          0.02870737574994564,
+          0.9988051652908325,
+          -8.08725357055664
+        ],
+        [
+          -0.00022310914937406778,
+          -0.9995869994163513,
+          0.028738681226968765,
+          -3.695524215698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8332,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_583081007",
+      "mask_path": "../../mask/hdr_left_08332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08333.png",
+      "transform_matrix": [
+        [
+          0.9972482919692993,
+          -0.0035172351635992527,
+          -0.07404942065477371,
+          -19.129703521728516
+        ],
+        [
+          0.07410777360200882,
+          0.021301042288541794,
+          0.9970226883888245,
+          -8.046093940734863
+        ],
+        [
+          -0.0019294342491775751,
+          -0.9997669458389282,
+          0.021503085270524025,
+          -3.703500986099243
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8333,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_683082580",
+      "mask_path": "../../mask/hdr_left_08333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08334.png",
+      "transform_matrix": [
+        [
+          0.9936180114746094,
+          -0.0036062044091522694,
+          -0.11273954808712006,
+          -19.064403533935547
+        ],
+        [
+          0.1127764955163002,
+          0.012616884894669056,
+          0.9935402274131775,
+          -8.012229919433594
+        ],
+        [
+          -0.002160488162189722,
+          -0.9999139904975891,
+          0.012943061999976635,
+          -3.7073490619659424
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8334,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_783082723",
+      "mask_path": "../../mask/hdr_left_08334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08335.png",
+      "transform_matrix": [
+        [
+          0.9889991283416748,
+          -0.006274656858295202,
+          -0.14778828620910645,
+          -19.00233268737793
+        ],
+        [
+          0.14786088466644287,
+          0.013362295925617218,
+          0.9889179468154907,
+          -7.980512619018555
+        ],
+        [
+          -0.004230329766869545,
+          -0.9998910427093506,
+          0.014143076725304127,
+          -3.7095701694488525
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8335,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_883081436",
+      "mask_path": "../../mask/hdr_left_08335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08336.png",
+      "transform_matrix": [
+        [
+          0.9844024181365967,
+          -0.014871004968881607,
+          -0.17530153691768646,
+          -18.925968170166016
+        ],
+        [
+          0.1755441576242447,
+          0.016969606280326843,
+          0.9843252897262573,
+          -7.944786548614502
+        ],
+        [
+          -0.011663108132779598,
+          -0.9997454881668091,
+          0.0193154439330101,
+          -3.7024807929992676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8336,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_983082294",
+      "mask_path": "../../mask/hdr_left_08336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08337.png",
+      "transform_matrix": [
+        [
+          0.9810267090797424,
+          -0.018795344978570938,
+          -0.19295936822891235,
+          -18.864267349243164
+        ],
+        [
+          0.19335432350635529,
+          0.02212614193558693,
+          0.9808794856071472,
+          -7.91676139831543
+        ],
+        [
+          -0.014166519977152348,
+          -0.9995785355567932,
+          0.025340499356389046,
+          -3.6975531578063965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8337,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_83081007",
+      "mask_path": "../../mask/hdr_left_08337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08338.png",
+      "transform_matrix": [
+        [
+          0.978300154209137,
+          -0.018756460398435593,
+          -0.2063417285680771,
+          -18.813735961914062
+        ],
+        [
+          0.20687289535999298,
+          0.03313702717423439,
+          0.9778064489364624,
+          -7.890588283538818
+        ],
+        [
+          -0.011502638459205627,
+          -0.9992748498916626,
+          0.03629815950989723,
+          -3.698476552963257
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8338,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_183084964",
+      "mask_path": "../../mask/hdr_left_08338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08339.png",
+      "transform_matrix": [
+        [
+          0.9755931496620178,
+          -0.018740324303507805,
+          -0.21878467500209808,
+          -18.740074157714844
+        ],
+        [
+          0.21937599778175354,
+          0.039635054767131805,
+          0.9748349785804749,
+          -7.850976467132568
+        ],
+        [
+          -0.009597182273864746,
+          -0.9990385174751282,
+          0.042778871953487396,
+          -3.7011260986328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8339,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_283082008",
+      "mask_path": "../../mask/hdr_left_08339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08340.png",
+      "transform_matrix": [
+        [
+          0.9719265699386597,
+          -0.016670603305101395,
+          -0.23469291627407074,
+          -18.659605026245117
+        ],
+        [
+          0.23513910174369812,
+          0.03379671275615692,
+          0.9713739156723022,
+          -7.804543495178223
+        ],
+        [
+          -0.008261539973318577,
+          -0.9992897510528564,
+          0.03676783666014671,
+          -3.7026193141937256
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8340,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_383081674",
+      "mask_path": "../../mask/hdr_left_08340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08341.png",
+      "transform_matrix": [
+        [
+          0.9678795337677002,
+          -0.013389317318797112,
+          -0.25105735659599304,
+          -18.601768493652344
+        ],
+        [
+          0.25134003162384033,
+          0.027291035279631615,
+          0.9675140976905823,
+          -7.767401218414307
+        ],
+        [
+          -0.006102736573666334,
+          -0.9995378851890564,
+          0.0297797080129385,
+          -3.7023184299468994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8341,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_483080863",
+      "mask_path": "../../mask/hdr_left_08341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08342.png",
+      "transform_matrix": [
+        [
+          0.9647378921508789,
+          -0.010405664332211018,
+          -0.2630067467689514,
+          -18.546550750732422
+        ],
+        [
+          0.26319679617881775,
+          0.027237724512815475,
+          0.9643576741218567,
+          -7.73164701461792
+        ],
+        [
+          -0.002871077973395586,
+          -0.9995748400688171,
+          0.029016001150012016,
+          -3.70318341255188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8342,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_583077907",
+      "mask_path": "../../mask/hdr_left_08342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08343.png",
+      "transform_matrix": [
+        [
+          0.962958037853241,
+          -0.009697073139250278,
+          -0.269476979970932,
+          -18.47321319580078
+        ],
+        [
+          0.269648939371109,
+          0.030339347198605537,
+          0.9624805450439453,
+          -7.690569877624512
+        ],
+        [
+          -0.0011574889067560434,
+          -0.9994926452636719,
+          0.0318303257226944,
+          -3.6973648071289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8343,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_683081150",
+      "mask_path": "../../mask/hdr_left_08343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08344.png",
+      "transform_matrix": [
+        [
+          0.9621463418006897,
+          -0.0056149521842598915,
+          -0.2724752724170685,
+          -18.41206169128418
+        ],
+        [
+          0.2724955976009369,
+          0.03642026707530022,
+          0.961467444896698,
+          -7.654812335968018
+        ],
+        [
+          0.004525026772171259,
+          -0.9993208646774292,
+          0.0365716814994812,
+          -3.68446946144104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8344,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_783080816",
+      "mask_path": "../../mask/hdr_left_08344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08345.png",
+      "transform_matrix": [
+        [
+          0.9618125557899475,
+          -0.0009387792670167983,
+          -0.27370697259902954,
+          -18.3642520904541
+        ],
+        [
+          0.27346405386924744,
+          0.04555347561836243,
+          0.9608029127120972,
+          -7.624495506286621
+        ],
+        [
+          0.01156632136553526,
+          -0.9989615678787231,
+          0.04407063126564026,
+          -3.677237033843994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8345,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_883080482",
+      "mask_path": "../../mask/hdr_left_08345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08346.png",
+      "transform_matrix": [
+        [
+          0.9615629315376282,
+          0.006924762390553951,
+          -0.27449700236320496,
+          -18.29508399963379
+        ],
+        [
+          0.2735340893268585,
+          0.06319240480661392,
+          0.9597842693328857,
+          -7.583745002746582
+        ],
+        [
+          0.023992406204342842,
+          -0.9979773759841919,
+          0.05886932462453842,
+          -3.6710729598999023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8346,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_983079433",
+      "mask_path": "../../mask/hdr_left_08346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08347.png",
+      "transform_matrix": [
+        [
+          0.9591164588928223,
+          0.018128782510757446,
+          -0.282430499792099,
+          -18.209327697753906
+        ],
+        [
+          0.2807840406894684,
+          0.0640118196606636,
+          0.957633912563324,
+          -7.52935266494751
+        ],
+        [
+          0.0354396216571331,
+          -0.9977844953536987,
+          0.056304510682821274,
+          -3.6540606021881104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8347,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_83080530",
+      "mask_path": "../../mask/hdr_left_08347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08348.png",
+      "transform_matrix": [
+        [
+          0.955252468585968,
+          0.02880377322435379,
+          -0.2943859100341797,
+          -18.155155181884766
+        ],
+        [
+          0.2926054298877716,
+          0.05366586521267891,
+          0.9547260999679565,
+          -7.490285396575928
+        ],
+        [
+          0.043298184871673584,
+          -0.9981435537338257,
+          0.04283631592988968,
+          -3.642671823501587
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8348,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_183080434",
+      "mask_path": "../../mask/hdr_left_08348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08349.png",
+      "transform_matrix": [
+        [
+          0.9509053230285645,
+          0.03631123900413513,
+          -0.3073442876338959,
+          -18.10939598083496
+        ],
+        [
+          0.30540844798088074,
+          0.05049441382288933,
+          0.9508816599845886,
+          -7.461212635040283
+        ],
+        [
+          0.050046853721141815,
+          -0.9980640411376953,
+          0.036925651133060455,
+          -3.6403543949127197
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8349,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_283081293",
+      "mask_path": "../../mask/hdr_left_08349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08350.png",
+      "transform_matrix": [
+        [
+          0.9484357833862305,
+          0.042350541800260544,
+          -0.3141271770000458,
+          -18.02927589416504
+        ],
+        [
+          0.31195369362831116,
+          0.050883807241916656,
+          0.9487337470054626,
+          -7.417103290557861
+        ],
+        [
+          0.05616336688399315,
+          -0.9978062510490417,
+          0.03504861891269684,
+          -3.6257407665252686
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8350,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_383080482",
+      "mask_path": "../../mask/hdr_left_08350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08351.png",
+      "transform_matrix": [
+        [
+          0.9478666186332703,
+          0.04993211850523949,
+          -0.31473106145858765,
+          -17.95137596130371
+        ],
+        [
+          0.31190866231918335,
+          0.05695955455303192,
+          0.9484031796455383,
+          -7.375951766967773
+        ],
+        [
+          0.06528270989656448,
+          -0.9971271753311157,
+          0.038415804505348206,
+          -3.6048483848571777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8351,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_483078718",
+      "mask_path": "../../mask/hdr_left_08351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08352.png",
+      "transform_matrix": [
+        [
+          0.94768226146698,
+          0.05693220719695091,
+          -0.3140970766544342,
+          -17.895999908447266
+        ],
+        [
+          0.31044039130210876,
+          0.0647461861371994,
+          0.9483853578567505,
+          -7.343774795532227
+        ],
+        [
+          0.07433024793863297,
+          -0.9962764382362366,
+          0.04368475824594498,
+          -3.59338641166687
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8352,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_583079338",
+      "mask_path": "../../mask/hdr_left_08352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08353.png",
+      "transform_matrix": [
+        [
+          0.9466562867164612,
+          0.06521645933389664,
+          -0.3155767321586609,
+          -17.81913185119629
+        ],
+        [
+          0.31118854880332947,
+          0.06931394338607788,
+          0.9478171467781067,
+          -7.296253204345703
+        ],
+        [
+          0.08368713408708572,
+          -0.9954609274864197,
+          0.04532186686992645,
+          -3.5787487030029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8353,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_683081150",
+      "mask_path": "../../mask/hdr_left_08353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08354.png",
+      "transform_matrix": [
+        [
+          0.9430946111679077,
+          0.07514943927526474,
+          -0.3239213824272156,
+          -17.735044479370117
+        ],
+        [
+          0.31924980878829956,
+          0.06786324083805084,
+          0.9452376365661621,
+          -7.24281644821167
+        ],
+        [
+          0.09301642328500748,
+          -0.9948603510856628,
+          0.040010012686252594,
+          -3.562513828277588
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8354,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_783079862",
+      "mask_path": "../../mask/hdr_left_08354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08355.png",
+      "transform_matrix": [
+        [
+          0.9394108057022095,
+          0.08176133036613464,
+          -0.33289989829063416,
+          -17.680049896240234
+        ],
+        [
+          0.3284129500389099,
+          0.06366730481386185,
+          0.9423859715461731,
+          -7.2021894454956055
+        ],
+        [
+          0.09824557602405548,
+          -0.9946163296699524,
+          0.03295827656984329,
+          -3.5569095611572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8355,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_883080244",
+      "mask_path": "../../mask/hdr_left_08355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08356.png",
+      "transform_matrix": [
+        [
+          0.9348838925361633,
+          0.09749014675617218,
+          -0.3413029611110687,
+          -17.618459701538086
+        ],
+        [
+          0.33721134066581726,
+          0.056259382516145706,
+          0.9397464990615845,
+          -7.157421588897705
+        ],
+        [
+          0.11081748455762863,
+          -0.9936451315879822,
+          0.01972121186554432,
+          -3.5537211894989014
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8356,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_983080387",
+      "mask_path": "../../mask/hdr_left_08356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08357.png",
+      "transform_matrix": [
+        [
+          0.9278238415718079,
+          0.13675381243228912,
+          -0.3470463752746582,
+          -17.51590347290039
+        ],
+        [
+          0.3418925404548645,
+          0.06029167026281357,
+          0.9378029704093933,
+          -7.105123043060303
+        ],
+        [
+          0.14917214214801788,
+          -0.9887686967849731,
+          0.009184951893985271,
+          -3.495882034301758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8357,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_83080530",
+      "mask_path": "../../mask/hdr_left_08357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08358.png",
+      "transform_matrix": [
+        [
+          0.9206119179725647,
+          0.16316519677639008,
+          -0.3547544479370117,
+          -17.43912124633789
+        ],
+        [
+          0.346966952085495,
+          0.07495459914207458,
+          0.934877336025238,
+          -7.063104152679443
+        ],
+        [
+          0.1791299283504486,
+          -0.9837474226951599,
+          0.012391166761517525,
+          -3.4332520961761475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8358,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_183079481",
+      "mask_path": "../../mask/hdr_left_08358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08359.png",
+      "transform_matrix": [
+        [
+          0.9147077798843384,
+          0.16273877024650574,
+          -0.3698994517326355,
+          -17.39413070678711
+        ],
+        [
+          0.36060836911201477,
+          0.08444983512163162,
+          0.928886353969574,
+          -7.017299652099609
+        ],
+        [
+          0.18240374326705933,
+          -0.9830485582351685,
+          0.01856195740401745,
+          -3.42641544342041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8359,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_283080577",
+      "mask_path": "../../mask/hdr_left_08359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08360.png",
+      "transform_matrix": [
+        [
+          0.90509432554245,
+          0.16067150235176086,
+          -0.3936863839626312,
+          -17.334611892700195
+        ],
+        [
+          0.38549935817718506,
+          0.08062907308340073,
+          0.9191785454750061,
+          -6.9597673416137695
+        ],
+        [
+          0.1794283390045166,
+          -0.9837092161178589,
+          0.01103815995156765,
+          -3.419933319091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8360,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_383080959",
+      "mask_path": "../../mask/hdr_left_08360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08361.png",
+      "transform_matrix": [
+        [
+          0.8931574821472168,
+          0.1595945656299591,
+          -0.4204750061035156,
+          -17.28323745727539
+        ],
+        [
+          0.41419270634651184,
+          0.0724266916513443,
+          0.907302975654602,
+          -6.908052444458008
+        ],
+        [
+          0.175254225730896,
+          -0.9845223426818848,
+          -0.001414456986822188,
+          -3.4077327251434326
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8361,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_483080863",
+      "mask_path": "../../mask/hdr_left_08361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08362.png",
+      "transform_matrix": [
+        [
+          0.880013644695282,
+          0.15274028480052948,
+          -0.4497181177139282,
+          -17.234214782714844
+        ],
+        [
+          0.4441644549369812,
+          0.07068303972482681,
+          0.8931527137756348,
+          -6.858194828033447
+        ],
+        [
+          0.16820783913135529,
+          -0.9857355356216431,
+          -0.005639759358018637,
+          -3.4028663635253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8362,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_583080768",
+      "mask_path": "../../mask/hdr_left_08362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08363.png",
+      "transform_matrix": [
+        [
+          0.8671455383300781,
+          0.14727085828781128,
+          -0.47578349709510803,
+          -17.168859481811523
+        ],
+        [
+          0.4705955982208252,
+          0.07053970545530319,
+          0.8795248866081238,
+          -6.804181098937988
+        ],
+        [
+          0.16308996081352234,
+          -0.9865776896476746,
+          -0.008136829361319542,
+          -3.3892033100128174
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8363,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_683079957",
+      "mask_path": "../../mask/hdr_left_08363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08365.png",
+      "transform_matrix": [
+        [
+          0.8613904714584351,
+          0.13631339371204376,
+          -0.48931095004081726,
+          -17.09361457824707
+        ],
+        [
+          0.48293718695640564,
+          0.07874593138694763,
+          0.8721070885658264,
+          -6.731322288513184
+        ],
+        [
+          0.15741108357906342,
+          -0.9875311851501465,
+          0.002000190783292055,
+          -3.3712961673736572
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8365,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_883078575",
+      "mask_path": "../../mask/hdr_left_08365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08366.png",
+      "transform_matrix": [
+        [
+          0.8667215704917908,
+          0.12856055796146393,
+          -0.4819396436214447,
+          -17.026491165161133
+        ],
+        [
+          0.47438299655914307,
+          0.08609544485807419,
+          0.8760983943939209,
+          -6.675869464874268
+        ],
+        [
+          0.15412448346614838,
+          -0.9879573583602905,
+          0.01363383699208498,
+          -3.3631534576416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8366,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_983081817",
+      "mask_path": "../../mask/hdr_left_08366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08367.png",
+      "transform_matrix": [
+        [
+          0.8658974766731262,
+          0.13201162219047546,
+          -0.4824877381324768,
+          -16.961816787719727
+        ],
+        [
+          0.4755501449108124,
+          0.08193378895521164,
+          0.8758646249771118,
+          -6.619101524353027
+        ],
+        [
+          0.15515634417533875,
+          -0.9878562688827515,
+          0.008168109692633152,
+          -3.3412089347839355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8367,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_83080768",
+      "mask_path": "../../mask/hdr_left_08367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08368.png",
+      "transform_matrix": [
+        [
+          0.8637099266052246,
+          0.1342153549194336,
+          -0.48578941822052,
+          -16.916593551635742
+        ],
+        [
+          0.48027968406677246,
+          0.07297119498252869,
+          0.8740747570991516,
+          -6.569484710693359
+        ],
+        [
+          0.15276288986206055,
+          -0.988261878490448,
+          -0.0014349616831168532,
+          -3.3306081295013428
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8368,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_183081388",
+      "mask_path": "../../mask/hdr_left_08368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08369.png",
+      "transform_matrix": [
+        [
+          0.8659847378730774,
+          0.12967549264431,
+          -0.4829643964767456,
+          -16.866498947143555
+        ],
+        [
+          0.477838397026062,
+          0.07018832117319107,
+          0.8756392598152161,
+          -6.516517639160156
+        ],
+        [
+          0.14744742214679718,
+          -0.9890692234039307,
+          -0.0011819195933640003,
+          -3.32639217376709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8369,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_283081769",
+      "mask_path": "../../mask/hdr_left_08369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08370.png",
+      "transform_matrix": [
+        [
+          0.869999349117279,
+          0.12791350483894348,
+          -0.4761713743209839,
+          -16.80690574645996
+        ],
+        [
+          0.4707814157009125,
+          0.07146929949522018,
+          0.8793502449989319,
+          -6.46686315536499
+        ],
+        [
+          0.14651238918304443,
+          -0.9892069697380066,
+          0.001958955079317093,
+          -3.3126513957977295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8370,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_383082389",
+      "mask_path": "../../mask/hdr_left_08370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08371.png",
+      "transform_matrix": [
+        [
+          0.8741790652275085,
+          0.1285606175661087,
+          -0.4682765603065491,
+          -16.7544002532959
+        ],
+        [
+          0.4621199071407318,
+          0.07601120322942734,
+          0.8835538625717163,
+          -6.425387859344482
+        ],
+        [
+          0.14918449521064758,
+          -0.9887843132019043,
+          0.007036994211375713,
+          -3.299729347229004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8371,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_483081340",
+      "mask_path": "../../mask/hdr_left_08371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08372.png",
+      "transform_matrix": [
+        [
+          0.8775918483734131,
+          0.12386872619390488,
+          -0.4631296694278717,
+          -16.692882537841797
+        ],
+        [
+          0.4587671756744385,
+          0.06342847645282745,
+          0.8862897753715515,
+          -6.3713788986206055
+        ],
+        [
+          0.1391591727733612,
+          -0.9902693629264832,
+          -0.001162591390311718,
+          -3.2958288192749023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8372,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_583081483",
+      "mask_path": "../../mask/hdr_left_08372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08373.png",
+      "transform_matrix": [
+        [
+          0.8786585330963135,
+          0.11946398764848709,
+          -0.4622634947299957,
+          -16.63837242126465
+        ],
+        [
+          0.460200697183609,
+          0.04599001258611679,
+          0.886622965335846,
+          -6.316329479217529
+        ],
+        [
+          0.12717901170253754,
+          -0.9917728900909424,
+          -0.014567887410521507,
+          -3.296722888946533
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8373,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_683081150",
+      "mask_path": "../../mask/hdr_left_08373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08374.png",
+      "transform_matrix": [
+        [
+          0.8795449137687683,
+          0.11788681149482727,
+          -0.4609808623790741,
+          -16.595582962036133
+        ],
+        [
+          0.4601866900920868,
+          0.035513538867235184,
+          0.8871116042137146,
+          -6.27583122253418
+        ],
+        [
+          0.12094981223344803,
+          -0.99239182472229,
+          -0.023014187812805176,
+          -3.2934505939483643
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8374,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_783082962",
+      "mask_path": "../../mask/hdr_left_08374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08375.png",
+      "transform_matrix": [
+        [
+          0.8821175694465637,
+          0.11686983704566956,
+          -0.45630040764808655,
+          -16.534509658813477
+        ],
+        [
+          0.4563492238521576,
+          0.027918417006731033,
+          0.889362633228302,
+          -6.2371673583984375
+        ],
+        [
+          0.11667883396148682,
+          -0.9927548170089722,
+          -0.028706135228276253,
+          -3.2889068126678467
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8375,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_883081674",
+      "mask_path": "../../mask/hdr_left_08375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08376.png",
+      "transform_matrix": [
+        [
+          0.8865988254547119,
+          0.11412046104669571,
+          -0.44823992252349854,
+          -16.44966697692871
+        ],
+        [
+          0.44856005907058716,
+          0.024311399087309837,
+          0.8934219479560852,
+          -6.194093704223633
+        ],
+        [
+          0.11285505443811417,
+          -0.9931694865226746,
+          -0.029635420069098473,
+          -3.269620418548584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8376,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_983082294",
+      "mask_path": "../../mask/hdr_left_08376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08377.png",
+      "transform_matrix": [
+        [
+          0.891719400882721,
+          0.11046230792999268,
+          -0.4389016032218933,
+          -16.389362335205078
+        ],
+        [
+          0.4386965334415436,
+          0.027465740218758583,
+          0.8982154130935669,
+          -6.162328720092773
+        ],
+        [
+          0.11127369850873947,
+          -0.9935007691383362,
+          -0.023967701941728592,
+          -3.2545440196990967
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8377,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_83082675",
+      "mask_path": "../../mask/hdr_left_08377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08379.png",
+      "transform_matrix": [
+        [
+          0.901326596736908,
+          0.09965801984071732,
+          -0.42151933908462524,
+          -16.31035614013672
+        ],
+        [
+          0.4191623032093048,
+          0.044543296098709106,
+          0.9068179130554199,
+          -6.101919651031494
+        ],
+        [
+          0.10914754867553711,
+          -0.9940242767333984,
+          -0.0016248294850811362,
+          -3.2475433349609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8379,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_283082008",
+      "mask_path": "../../mask/hdr_left_08379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08380.png",
+      "transform_matrix": [
+        [
+          0.9037461280822754,
+          0.09776407480239868,
+          -0.41675546765327454,
+          -16.24846649169922
+        ],
+        [
+          0.415058970451355,
+          0.03806846961379051,
+          0.908997654914856,
+          -6.060822486877441
+        ],
+        [
+          0.10473254323005676,
+          -0.9944813251495361,
+          -0.006173624191433191,
+          -3.2399752140045166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8380,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_383081912",
+      "mask_path": "../../mask/hdr_left_08380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08381.png",
+      "transform_matrix": [
+        [
+          0.9052326679229736,
+          0.09738103300333023,
+          -0.41360706090927124,
+          -16.204082489013672
+        ],
+        [
+          0.41304734349250793,
+          0.02679087594151497,
+          0.9103153944015503,
+          -6.0276689529418945
+        ],
+        [
+          0.09972833842039108,
+          -0.9948865175247192,
+          -0.01597100868821144,
+          -3.236973524093628
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8381,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_483082056",
+      "mask_path": "../../mask/hdr_left_08381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08382.png",
+      "transform_matrix": [
+        [
+          0.9073324203491211,
+          0.0973319411277771,
+          -0.40899184346199036,
+          -16.15729522705078
+        ],
+        [
+          0.40897634625434875,
+          0.02102927304804325,
+          0.9123026728630066,
+          -5.996998310089111
+        ],
+        [
+          0.09739697724580765,
+          -0.9950298070907593,
+          -0.020725920796394348,
+          -3.2344727516174316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8382,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_583081722",
+      "mask_path": "../../mask/hdr_left_08382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08383.png",
+      "transform_matrix": [
+        [
+          0.9096612930297852,
+          0.10396884381771088,
+          -0.4021277129650116,
+          -16.090972900390625
+        ],
+        [
+          0.4027153551578522,
+          0.01620951108634472,
+          0.9151816964149475,
+          -5.960659503936768
+        ],
+        [
+          0.10166866332292557,
+          -0.9944484829902649,
+          -0.027124673128128052,
+          -3.2145612239837646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8383,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_683082103",
+      "mask_path": "../../mask/hdr_left_08383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08384.png",
+      "transform_matrix": [
+        [
+          0.9130157232284546,
+          0.10886198282241821,
+          -0.39313003420829773,
+          -16.029762268066406
+        ],
+        [
+          0.39332810044288635,
+          0.020557157695293427,
+          0.9191682934761047,
+          -5.928838729858398
+        ],
+        [
+          0.108144111931324,
+          -0.9938442707061768,
+          -0.024049466475844383,
+          -3.1907269954681396
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8384,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_783081293",
+      "mask_path": "../../mask/hdr_left_08384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08386.png",
+      "transform_matrix": [
+        [
+          0.9205052852630615,
+          0.10278227180242538,
+          -0.3769693970680237,
+          -15.95562744140625
+        ],
+        [
+          0.3745662569999695,
+          0.042501822113990784,
+          0.926225483417511,
+          -5.872318744659424
+        ],
+        [
+          0.11122144758701324,
+          -0.9937954545021057,
+          0.0006243771058507264,
+          -3.17661714553833
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8386,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_983083248",
+      "mask_path": "../../mask/hdr_left_08386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08387.png",
+      "transform_matrix": [
+        [
+          0.9218642711639404,
+          0.09996826946735382,
+          -0.37439611554145813,
+          -15.898816108703613
+        ],
+        [
+          0.3717907965183258,
+          0.04423986002802849,
+          0.9272618293762207,
+          -5.828590393066406
+        ],
+        [
+          0.10925999283790588,
+          -0.9940066337585449,
+          0.0036158678121864796,
+          -3.1581976413726807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8387,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_83081722",
+      "mask_path": "../../mask/hdr_left_08387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08390.png",
+      "transform_matrix": [
+        [
+          0.922392725944519,
+          0.09486585855484009,
+          -0.3744223415851593,
+          -15.79409122467041
+        ],
+        [
+          0.3735498785972595,
+          0.027469735592603683,
+          0.9272032976150513,
+          -5.738924503326416
+        ],
+        [
+          0.09824521094560623,
+          -0.9951109886169434,
+          -0.010099239647388458,
+          -3.1416966915130615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8390,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_383080720",
+      "mask_path": "../../mask/hdr_left_08390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08391.png",
+      "transform_matrix": [
+        [
+          0.9252229332923889,
+          0.08999807387590408,
+          -0.36859554052352905,
+          -15.744949340820312
+        ],
+        [
+          0.36749061942100525,
+          0.02916194498538971,
+          0.9295700192451477,
+          -5.7038397789001465
+        ],
+        [
+          0.09440845996141434,
+          -0.995514988899231,
+          -0.006092146039009094,
+          -3.1314680576324463
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8391,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_483081579",
+      "mask_path": "../../mask/hdr_left_08391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08394.png",
+      "transform_matrix": [
+        [
+          0.935857892036438,
+          0.08782453835010529,
+          -0.3412576913833618,
+          -15.620238304138184
+        ],
+        [
+          0.3386281430721283,
+          0.043739259243011475,
+          0.9399031400680542,
+          -5.619379997253418
+        ],
+        [
+          0.0974729135632515,
+          -0.9951752424240112,
+          0.011193869635462761,
+          -3.1166880130767822
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8394,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_783081531",
+      "mask_path": "../../mask/hdr_left_08394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08395.png",
+      "transform_matrix": [
+        [
+          0.9369910359382629,
+          0.09364363551139832,
+          -0.3365688920021057,
+          -15.565489768981934
+        ],
+        [
+          0.33422115445137024,
+          0.04019046947360039,
+          0.941637396812439,
+          -5.583495140075684
+        ],
+        [
+          0.10170520842075348,
+          -0.9947943091392517,
+          0.006360430270433426,
+          -3.107041120529175
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8395,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_883082151",
+      "mask_path": "../../mask/hdr_left_08395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08396.png",
+      "transform_matrix": [
+        [
+          0.9378660321235657,
+          0.09811164438724518,
+          -0.3328383266925812,
+          -15.523537635803223
+        ],
+        [
+          0.3311806619167328,
+          0.033204641193151474,
+          0.9429829120635986,
+          -5.557646751403809
+        ],
+        [
+          0.10356937348842621,
+          -0.9946213364601135,
+          -0.0013511708239093423,
+          -3.0982296466827393
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8396,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_983081817",
+      "mask_path": "../../mask/hdr_left_08396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08397.png",
+      "transform_matrix": [
+        [
+          0.9383513927459717,
+          0.10179350525140762,
+          -0.33035552501678467,
+          -15.467952728271484
+        ],
+        [
+          0.3285491168498993,
+          0.03451608121395111,
+          0.9438559412956238,
+          -5.530815124511719
+        ],
+        [
+          0.1074809804558754,
+          -0.9942066669464111,
+          -0.0010559483198449016,
+          -3.09049391746521
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8397,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_83082199",
+      "mask_path": "../../mask/hdr_left_08397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08398.png",
+      "transform_matrix": [
+        [
+          0.9395760297775269,
+          0.10712064057588577,
+          -0.3251493275165558,
+          -15.411552429199219
+        ],
+        [
+          0.3225914537906647,
+          0.040886253118515015,
+          0.9456548094749451,
+          -5.506990432739258
+        ],
+        [
+          0.11459328979253769,
+          -0.9934050440788269,
+          0.0038595350924879313,
+          -3.0879364013671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8398,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_183081388",
+      "mask_path": "../../mask/hdr_left_08398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08400.png",
+      "transform_matrix": [
+        [
+          0.9424359798431396,
+          0.11629442125558853,
+          -0.31351232528686523,
+          -15.345690727233887
+        ],
+        [
+          0.30915307998657227,
+          0.054269447922706604,
+          0.9494625926017761,
+          -5.474660873413086
+        ],
+        [
+          0.12743133306503296,
+          -0.9917311072349548,
+          0.015192709863185883,
+          -3.083406925201416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8400,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_383082151",
+      "mask_path": "../../mask/hdr_left_08400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08401.png",
+      "transform_matrix": [
+        [
+          0.942397952079773,
+          0.12438850104808807,
+          -0.3105050325393677,
+          -15.288897514343262
+        ],
+        [
+          0.30542317032814026,
+          0.058518342673778534,
+          0.9504168629646301,
+          -5.440825939178467
+        ],
+        [
+          0.13639113306999207,
+          -0.9905065894126892,
+          0.017156444489955902,
+          -3.0485875606536865
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8401,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_483081817",
+      "mask_path": "../../mask/hdr_left_08401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08402.png",
+      "transform_matrix": [
+        [
+          0.939813494682312,
+          0.135086789727211,
+          -0.3138504922389984,
+          -15.24429702758789
+        ],
+        [
+          0.3087821304798126,
+          0.05751515552401543,
+          0.9493922591209412,
+          -5.407474040985107
+        ],
+        [
+          0.1463014930486679,
+          -0.9891630411148071,
+          0.012341134250164032,
+          -3.0158159732818604
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8402,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_583081483",
+      "mask_path": "../../mask/hdr_left_08402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08404.png",
+      "transform_matrix": [
+        [
+          0.9393988251686096,
+          0.12590225040912628,
+          -0.3188706040382385,
+          -15.177934646606445
+        ],
+        [
+          0.3139176368713379,
+          0.05793163925409317,
+          0.9476812481880188,
+          -5.338954448699951
+        ],
+        [
+          0.137787863612175,
+          -0.9903497695922852,
+          0.014897972345352173,
+          -3.005397319793701
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8404,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_783082246",
+      "mask_path": "../../mask/hdr_left_08404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08405.png",
+      "transform_matrix": [
+        [
+          0.9426040053367615,
+          0.1134599894285202,
+          -0.3140452802181244,
+          -15.13337230682373
+        ],
+        [
+          0.308933287858963,
+          0.060592181980609894,
+          0.9491516351699829,
+          -5.298316478729248
+        ],
+        [
+          0.1267194151878357,
+          -0.9916931986808777,
+          0.022062862291932106,
+          -2.9991657733917236
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8405,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_883081912",
+      "mask_path": "../../mask/hdr_left_08405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08406.png",
+      "transform_matrix": [
+        [
+          0.9449830651283264,
+          0.11081960797309875,
+          -0.30777570605278015,
+          -15.085415840148926
+        ],
+        [
+          0.3026006519794464,
+          0.061248838901519775,
+          0.9511473774909973,
+          -5.265336513519287
+        ],
+        [
+          0.1242566779255867,
+          -0.9919514060020447,
+          0.02434503100812435,
+          -2.985640287399292
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8406,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_983082056",
+      "mask_path": "../../mask/hdr_left_08406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08407.png",
+      "transform_matrix": [
+        [
+          0.9475482702255249,
+          0.10981248319149017,
+          -0.3001556396484375,
+          -15.0288667678833
+        ],
+        [
+          0.29425129294395447,
+          0.06689822673797607,
+          0.9533839225769043,
+          -5.231922626495361
+        ],
+        [
+          0.12477333843708038,
+          -0.9916985034942627,
+          0.031076829880475998,
+          -2.972400665283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8407,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_83082437",
+      "mask_path": "../../mask/hdr_left_08407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08408.png",
+      "transform_matrix": [
+        [
+          0.949865996837616,
+          0.10596060752868652,
+          -0.2941548228263855,
+          -14.952768325805664
+        ],
+        [
+          0.28867703676223755,
+          0.06412509828805923,
+          0.955276608467102,
+          -5.185277462005615
+        ],
+        [
+          0.12008439749479294,
+          -0.9923005700111389,
+          0.030321849510073662,
+          -2.9587461948394775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8408,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_183081626",
+      "mask_path": "../../mask/hdr_left_08408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08409.png",
+      "transform_matrix": [
+        [
+          0.9506279230117798,
+          0.10579138249158859,
+          -0.29174402356147766,
+          -14.888019561767578
+        ],
+        [
+          0.287737101316452,
+          0.051685184240341187,
+          0.9563137292861938,
+          -5.144829750061035
+        ],
+        [
+          0.11624859273433685,
+          -0.9930442571640015,
+          0.01869327574968338,
+          -2.9520363807678223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8409,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_283082485",
+      "mask_path": "../../mask/hdr_left_08409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08410.png",
+      "transform_matrix": [
+        [
+          0.9515165090560913,
+          0.10566914081573486,
+          -0.2888777554035187,
+          -14.843390464782715
+        ],
+        [
+          0.28558647632598877,
+          0.04538629576563835,
+          0.9572775363922119,
+          -5.116471767425537
+        ],
+        [
+          0.11426577717065811,
+          -0.9933650493621826,
+          0.013008132576942444,
+          -2.9557747840881348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8410,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_383081436",
+      "mask_path": "../../mask/hdr_left_08410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08411.png",
+      "transform_matrix": [
+        [
+          0.953095018863678,
+          0.10493095964193344,
+          -0.2839001417160034,
+          -14.7821626663208
+        ],
+        [
+          0.28126028180122375,
+          0.039466727524995804,
+          0.958819568157196,
+          -5.08370304107666
+        ],
+        [
+          0.1118144541978836,
+          -0.9936960935592651,
+          0.008102638646960258,
+          -2.9489247798919678
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8411,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_483081102",
+      "mask_path": "../../mask/hdr_left_08411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08412.png",
+      "transform_matrix": [
+        [
+          0.9548783302307129,
+          0.1074051782488823,
+          -0.2768959403038025,
+          -14.713699340820312
+        ],
+        [
+          0.2742459774017334,
+          0.039001598954200745,
+          0.9608682990074158,
+          -5.053949356079102
+        ],
+        [
+          0.11400160938501358,
+          -0.9934501051902771,
+          0.007786354050040245,
+          -2.9259841442108154
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8412,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_583081722",
+      "mask_path": "../../mask/hdr_left_08412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00382.png",
+      "transform_matrix": [
+        [
+          0.654679536819458,
+          0.12695638835430145,
+          -0.745168924331665,
+          -15.082239151000977
+        ],
+        [
+          0.738807737827301,
+          0.10101978480815887,
+          0.6663018465042114,
+          -3.7693631649017334
+        ],
+        [
+          0.15986809134483337,
+          -0.9867508411407471,
+          -0.027660775929689407,
+          -2.9562461376190186
+        ],
+        [
+          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": "1731323301_683082342",
+      "mask_path": "../../mask/hdr_right_00382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00383.png",
+      "transform_matrix": [
+        [
+          0.6609402894973755,
+          0.12817302346229553,
+          -0.7394117712974548,
+          -15.141925811767578
+        ],
+        [
+          0.7317795753479004,
+          0.10827070474624634,
+          0.672886312007904,
+          -3.8178205490112305
+        ],
+        [
+          0.16630248725414276,
+          -0.9858240485191345,
+          -0.022233931347727776,
+          -2.963153600692749
+        ],
+        [
+          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": "1731323301_783082246",
+      "mask_path": "../../mask/hdr_right_00383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00384.png",
+      "transform_matrix": [
+        [
+          0.6709399819374084,
+          0.13154567778110504,
+          -0.7297499775886536,
+          -15.183444023132324
+        ],
+        [
+          0.7245965600013733,
+          0.09269479662179947,
+          0.6829112768173218,
+          -3.8598787784576416
+        ],
+        [
+          0.15747806429862976,
+          -0.9869667887687683,
+          -0.0331248976290226,
+          -2.9751813411712646
+        ],
+        [
+          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": "1731323301_883082151",
+      "mask_path": "../../mask/hdr_right_00384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00385.png",
+      "transform_matrix": [
+        [
+          0.6735954284667969,
+          0.1360548734664917,
+          -0.7264698147773743,
+          -15.2546968460083
+        ],
+        [
+          0.7218647003173828,
+          0.08992514759302139,
+          0.6861668825149536,
+          -3.9131157398223877
+        ],
+        [
+          0.15868425369262695,
+          -0.9866116046905518,
+          -0.037640027701854706,
+          -3.0053906440734863
+        ],
+        [
+          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": "1731323301_983082771",
+      "mask_path": "../../mask/hdr_right_00385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00386.png",
+      "transform_matrix": [
+        [
+          0.6751714944839478,
+          0.13649724423885345,
+          -0.7249220609664917,
+          -15.319690704345703
+        ],
+        [
+          0.7216533422470093,
+          0.08139384537935257,
+          0.6874529123306274,
+          -3.9666740894317627
+        ],
+        [
+          0.15283963084220886,
+          -0.9872910380363464,
+          -0.04354888200759888,
+          -3.027340888977051
+        ],
+        [
+          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": "1731323302_83081960",
+      "mask_path": "../../mask/hdr_right_00386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00387.png",
+      "transform_matrix": [
+        [
+          0.6783385276794434,
+          0.13117621839046478,
+          -0.7229450941085815,
+          -15.3751220703125
+        ],
+        [
+          0.7207786440849304,
+          0.07216066122055054,
+          0.6893991231918335,
+          -4.033790588378906
+        ],
+        [
+          0.14260093867778778,
+          -0.9887292385101318,
+          -0.04559965431690216,
+          -3.02793550491333
+        ],
+        [
+          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": "1731323302_183082580",
+      "mask_path": "../../mask/hdr_right_00387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00388.png",
+      "transform_matrix": [
+        [
+          0.6825329065322876,
+          0.1262841820716858,
+          -0.7198618650436401,
+          -15.466423034667969
+        ],
+        [
+          0.7166482210159302,
+          0.07761771976947784,
+          0.6931023597717285,
+          -4.121840476989746
+        ],
+        [
+          0.1434018909931183,
+          -0.9889528751373291,
+          -0.03752468526363373,
+          -3.0494351387023926
+        ],
+        [
+          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": "1731323302_283082008",
+      "mask_path": "../../mask/hdr_right_00388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00389.png",
+      "transform_matrix": [
+        [
+          0.6847407221794128,
+          0.12931039929389954,
+          -0.7172231078147888,
+          -15.537590026855469
+        ],
+        [
+          0.7135317325592041,
+          0.08135243505239487,
+          0.6958838105201721,
+          -4.187618255615234
+        ],
+        [
+          0.1483328491449356,
+          -0.9882614016532898,
+          -0.0365617573261261,
+          -3.0807361602783203
+        ],
+        [
+          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": "1731323302_383082628",
+      "mask_path": "../../mask/hdr_right_00389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00390.png",
+      "transform_matrix": [
+        [
+          0.6824951171875,
+          0.13325409591197968,
+          -0.7186402082443237,
+          -15.581270217895508
+        ],
+        [
+          0.715502917766571,
+          0.07888100296258926,
+          0.69414222240448,
+          -4.234318256378174
+        ],
+        [
+          0.14918434619903564,
+          -0.9879378080368042,
+          -0.041507769376039505,
+          -3.098358392715454
+        ],
+        [
+          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": "1731323302_483082056",
+      "mask_path": "../../mask/hdr_right_00390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00391.png",
+      "transform_matrix": [
+        [
+          0.6740380525588989,
+          0.13179998099803925,
+          -0.7268435955047607,
+          -15.65049934387207
+        ],
+        [
+          0.7235116362571716,
+          0.08069153875112534,
+          0.6855800151824951,
+          -4.293169021606445
+        ],
+        [
+          0.149009570479393,
+          -0.98798668384552,
+          -0.040969643741846085,
+          -3.1108083724975586
+        ],
+        [
+          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": "1731323302_583082914",
+      "mask_path": "../../mask/hdr_right_00391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00392.png",
+      "transform_matrix": [
+        [
+          0.6622129678726196,
+          0.12924666702747345,
+          -0.7380849123001099,
+          -15.727518081665039
+        ],
+        [
+          0.7343472242355347,
+          0.08395862579345703,
+          0.6735615730285645,
+          -4.355626583099365
+        ],
+        [
+          0.14902418851852417,
+          -0.9880517721176147,
+          -0.03931345045566559,
+          -3.111156463623047
+        ],
+        [
+          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": "1731323302_683082818",
+      "mask_path": "../../mask/hdr_right_00392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00393.png",
+      "transform_matrix": [
+        [
+          0.651396632194519,
+          0.12896284461021423,
+          -0.747697114944458,
+          -15.783553123474121
+        ],
+        [
+          0.7442166805267334,
+          0.08327165991067886,
+          0.6627272963523865,
+          -4.404775142669678
+        ],
+        [
+          0.14772914350032806,
+          -0.988146960735321,
+          -0.04173339903354645,
+          -3.113349199295044
+        ],
+        [
+          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": "1731323302_783082723",
+      "mask_path": "../../mask/hdr_right_00393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00394.png",
+      "transform_matrix": [
+        [
+          0.6426928639411926,
+          0.12795239686965942,
+          -0.7553635239601135,
+          -15.83891487121582
+        ],
+        [
+          0.7525574564933777,
+          0.07928769290447235,
+          0.6537360548973083,
+          -4.450685977935791
+        ],
+        [
+          0.14353810250759125,
+          -0.9886059165000916,
+          -0.0453338660299778,
+          -3.122753620147705
+        ],
+        [
+          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": "1731323302_883080959",
+      "mask_path": "../../mask/hdr_right_00394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00395.png",
+      "transform_matrix": [
+        [
+          0.6292972564697266,
+          0.12825994193553925,
+          -0.7665079236030579,
+          -15.90594482421875
+        ],
+        [
+          0.7651901841163635,
+          0.07021306455135345,
+          0.6399641036987305,
+          -4.515326976776123
+        ],
+        [
+          0.13590064644813538,
+          -0.989251971244812,
+          -0.05395836755633354,
+          -3.133631706237793
+        ],
+        [
+          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": "1731323302_983085632",
+      "mask_path": "../../mask/hdr_right_00395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00396.png",
+      "transform_matrix": [
+        [
+          0.6079159379005432,
+          0.12917988002300262,
+          -0.7834225296974182,
+          -15.970416069030762
+        ],
+        [
+          0.7832965850830078,
+          0.06390225142240524,
+          0.6183551549911499,
+          -4.588350772857666
+        ],
+        [
+          0.12994149327278137,
+          -0.9895600080490112,
+          -0.06233895570039749,
+          -3.1499249935150146
+        ],
+        [
+          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": "1731323303_83081483",
+      "mask_path": "../../mask/hdr_right_00396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00397.png",
+      "transform_matrix": [
+        [
+          0.5911669731140137,
+          0.13154397904872894,
+          -0.795749843120575,
+          -16.01645278930664
+        ],
+        [
+          0.7969472408294678,
+          0.05651629716157913,
+          0.6013991832733154,
+          -4.651309967041016
+        ],
+        [
+          0.12408328056335449,
+          -0.9896979331970215,
+          -0.07142304629087448,
+          -3.1694133281707764
+        ],
+        [
+          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": "1731323303_183081626",
+      "mask_path": "../../mask/hdr_right_00397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00398.png",
+      "transform_matrix": [
+        [
+          0.5847514271736145,
+          0.1393374353647232,
+          -0.7991563081741333,
+          -16.058645248413086
+        ],
+        [
+          0.8030275106430054,
+          0.04016503319144249,
+          0.594586968421936,
+          -4.7133989334106445
+        ],
+        [
+          0.11494635790586472,
+          -0.9894300699234009,
+          -0.08840522170066833,
+          -3.185800552368164
+        ],
+        [
+          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": "1731323303_283080339",
+      "mask_path": "../../mask/hdr_right_00398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00399.png",
+      "transform_matrix": [
+        [
+          0.5857139229774475,
+          0.14882805943489075,
+          -0.7967367172241211,
+          -16.121294021606445
+        ],
+        [
+          0.8021917939186096,
+          0.034091319888830185,
+          0.5960923433303833,
+          -4.773457050323486
+        ],
+        [
+          0.11587709188461304,
+          -0.9882752895355225,
+          -0.09942089766263962,
+          -3.2012553215026855
+        ],
+        [
+          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": "1731323303_383081912",
+      "mask_path": "../../mask/hdr_right_00399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00400.png",
+      "transform_matrix": [
+        [
+          0.5878057479858398,
+          0.15508097410202026,
+          -0.7939990162849426,
+          -16.187063217163086
+        ],
+        [
+          0.800153911113739,
+          0.03331397473812103,
+          0.5988690257072449,
+          -4.831616401672363
+        ],
+        [
+          0.11932443827390671,
+          -0.987339973449707,
+          -0.1045064851641655,
+          -3.214186429977417
+        ],
+        [
+          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": "1731323303_483081817",
+      "mask_path": "../../mask/hdr_right_00400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00401.png",
+      "transform_matrix": [
+        [
+          0.5895798802375793,
+          0.1563767045736313,
+          -0.7924278974533081,
+          -16.23830795288086
+        ],
+        [
+          0.79941725730896,
+          0.027251040562987328,
+          0.6001578569412231,
+          -4.891360282897949
+        ],
+        [
+          0.11544518172740936,
+          -0.9873214960098267,
+          -0.10894356667995453,
+          -3.220200300216675
+        ],
+        [
+          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": "1731323303_583082199",
+      "mask_path": "../../mask/hdr_right_00401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00402.png",
+      "transform_matrix": [
+        [
+          0.5961470007896423,
+          0.14880038797855377,
+          -0.7889658212661743,
+          -16.317127227783203
+        ],
+        [
+          0.7949180603027344,
+          0.028615692630410194,
+          0.6060414910316467,
+          -4.974130153656006
+        ],
+        [
+          0.11275603622198105,
+          -0.9884531497955322,
+          -0.10122495889663696,
+          -3.231663227081299
+        ],
+        [
+          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": "1731323303_683082580",
+      "mask_path": "../../mask/hdr_right_00402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00403.png",
+      "transform_matrix": [
+        [
+          0.6016340851783752,
+          0.14293847978115082,
+          -0.7858785390853882,
+          -16.403722763061523
+        ],
+        [
+          0.7904840111732483,
+          0.03481622040271759,
+          0.6114923357963562,
+          -5.061197280883789
+        ],
+        [
+          0.11476712673902512,
+          -0.9891189932823181,
+          -0.09204395860433578,
+          -3.2521727085113525
+        ],
+        [
+          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": "1731323303_783082246",
+      "mask_path": "../../mask/hdr_right_00403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00404.png",
+      "transform_matrix": [
+        [
+          0.6011974215507507,
+          0.14308109879493713,
+          -0.7861865758895874,
+          -16.45746612548828
+        ],
+        [
+          0.7904398441314697,
+          0.037975773215293884,
+          0.6113613843917847,
+          -5.120944976806641
+        ],
+        [
+          0.11733029782772064,
+          -0.988982081413269,
+          -0.09026608616113663,
+          -3.268139600753784
+        ],
+        [
+          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": "1731323303_883082151",
+      "mask_path": "../../mask/hdr_right_00404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00405.png",
+      "transform_matrix": [
+        [
+          0.6003590226173401,
+          0.14682863652706146,
+          -0.7861364483833313,
+          -16.519092559814453
+        ],
+        [
+          0.7906855940818787,
+          0.038447603583335876,
+          0.6110140681266785,
+          -5.185873031616211
+        ],
+        [
+          0.1199394166469574,
+          -0.988414466381073,
+          -0.09301292151212692,
+          -3.2887394428253174
+        ],
+        [
+          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": "1731323303_983083724",
+      "mask_path": "../../mask/hdr_right_00405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00406.png",
+      "transform_matrix": [
+        [
+          0.603668749332428,
+          0.148262158036232,
+          -0.7833277583122253,
+          -16.606109619140625
+        ],
+        [
+          0.7868720889091492,
+          0.047104381024837494,
+          0.6153157949447632,
+          -5.256374835968018
+        ],
+        [
+          0.12812618911266327,
+          -0.9878256916999817,
+          -0.08822789788246155,
+          -3.3008832931518555
+        ],
+        [
+          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": "1731323304_83082199",
+      "mask_path": "../../mask/hdr_right_00406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00407.png",
+      "transform_matrix": [
+        [
+          0.6079286336898804,
+          0.14614830911159515,
+          -0.7804251909255981,
+          -16.675458908081055
+        ],
+        [
+          0.782296359539032,
+          0.05783134698867798,
+          0.6202161908149719,
+          -5.310014724731445
+        ],
+        [
+          0.1357765793800354,
+          -0.9875708818435669,
+          -0.07917395234107971,
+          -3.30924654006958
+        ],
+        [
+          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": "1731323304_183082580",
+      "mask_path": "../../mask/hdr_right_00407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00408.png",
+      "transform_matrix": [
+        [
+          0.6134483814239502,
+          0.14568845927715302,
+          -0.7761803865432739,
+          -16.737751007080078
+        ],
+        [
+          0.777759313583374,
+          0.05905810371041298,
+          0.6257815361022949,
+          -5.362195014953613
+        ],
+        [
+          0.1370088905096054,
+          -0.9875661730766296,
+          -0.07708146423101425,
+          -3.315997362136841
+        ],
+        [
+          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": "1731323304_283081531",
+      "mask_path": "../../mask/hdr_right_00408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00409.png",
+      "transform_matrix": [
+        [
+          0.6185731887817383,
+          0.14425018429756165,
+          -0.7723724246025085,
+          -16.825284957885742
+        ],
+        [
+          0.773979663848877,
+          0.05748259648680687,
+          0.6305959224700928,
+          -5.43919563293457
+        ],
+        [
+          0.13536153733730316,
+          -0.9878702759742737,
+          -0.0760895162820816,
+          -3.32954478263855
+        ],
+        [
+          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": "1731323304_383081912",
+      "mask_path": "../../mask/hdr_right_00409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00410.png",
+      "transform_matrix": [
+        [
+          0.6154660582542419,
+          0.1431090086698532,
+          -0.7750621438026428,
+          -16.90938949584961
+        ],
+        [
+          0.7761837840080261,
+          0.06074770167469978,
+          0.6275734901428223,
+          -5.519686698913574
+        ],
+        [
+          0.13689467310905457,
+          -0.9878407716751099,
+          -0.0736907497048378,
+          -3.3562114238739014
+        ],
+        [
+          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": "1731323304_483083724",
+      "mask_path": "../../mask/hdr_right_00410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00411.png",
+      "transform_matrix": [
+        [
+          0.6121559143066406,
+          0.14475756883621216,
+          -0.7773740887641907,
+          -16.959613800048828
+        ],
+        [
+          0.7798407673835754,
+          0.05212242528796196,
+          0.6238042116165161,
+          -5.586520195007324
+        ],
+        [
+          0.13081899285316467,
+          -0.988093376159668,
+          -0.08098079264163971,
+          -3.3793416023254395
+        ],
+        [
+          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": "1731323304_583081960",
+      "mask_path": "../../mask/hdr_right_00411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00412.png",
+      "transform_matrix": [
+        [
+          0.6114871501922607,
+          0.1449880301952362,
+          -0.77785724401474,
+          -17.010942459106445
+        ],
+        [
+          0.7815665602684021,
+          0.042686477303504944,
+          0.6223596334457397,
+          -5.653224945068359
+        ],
+        [
+          0.12343868613243103,
+          -0.9885121583938599,
+          -0.08721557259559631,
+          -3.39817214012146
+        ],
+        [
+          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": "1731323304_683082580",
+      "mask_path": "../../mask/hdr_right_00412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00413.png",
+      "transform_matrix": [
+        [
+          0.614155113697052,
+          0.14530715346336365,
+          -0.7756927609443665,
+          -17.087026596069336
+        ],
+        [
+          0.7788655161857605,
+          0.046832479536533356,
+          0.6254401206970215,
+          -5.716615676879883
+        ],
+        [
+          0.12720853090286255,
+          -0.9882775545120239,
+          -0.08441232144832611,
+          -3.414898157119751
+        ],
+        [
+          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": "1731323304_783082246",
+      "mask_path": "../../mask/hdr_right_00413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00414.png",
+      "transform_matrix": [
+        [
+          0.618680477142334,
+          0.14587798714637756,
+          -0.7719805240631104,
+          -17.153179168701172
+        ],
+        [
+          0.7753317952156067,
+          0.04530408978462219,
+          0.6299272775650024,
+          -5.77341365814209
+        ],
+        [
+          0.12686637043952942,
+          -0.9882646799087524,
+          -0.08507507294416428,
+          -3.42218017578125
+        ],
+        [
+          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": "1731323304_883081674",
+      "mask_path": "../../mask/hdr_right_00414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00415.png",
+      "transform_matrix": [
+        [
+          0.6257825493812561,
+          0.14067856967449188,
+          -0.7672064900398254,
+          -17.209714889526367
+        ],
+        [
+          0.771364152431488,
+          0.03432486578822136,
+          0.6354677677154541,
+          -5.836780071258545
+        ],
+        [
+          0.11573093384504318,
+          -0.9894601106643677,
+          -0.08703450113534927,
+          -3.419297933578491
+        ],
+        [
+          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": "1731323304_983081340",
+      "mask_path": "../../mask/hdr_right_00415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00416.png",
+      "transform_matrix": [
+        [
+          0.6326576471328735,
+          0.12974326312541962,
+          -0.7634861469268799,
+          -17.30409812927246
+        ],
+        [
+          0.7670797109603882,
+          0.030537111684679985,
+          0.6408247351646423,
+          -5.920294761657715
+        ],
+        [
+          0.10645735263824463,
+          -0.9910772442817688,
+          -0.08020388334989548,
+          -3.42897629737854
+        ],
+        [
+          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": "1731323305_83081007",
+      "mask_path": "../../mask/hdr_right_00416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00417.png",
+      "transform_matrix": [
+        [
+          0.6341784596443176,
+          0.12390882521867752,
+          -0.7631933689117432,
+          -17.377283096313477
+        ],
+        [
+          0.7662948369979858,
+          0.030773133039474487,
+          0.641751766204834,
+          -5.988542079925537
+        ],
+        [
+          0.1030045673251152,
+          -0.9918162822723389,
+          -0.07543504238128662,
+          -3.4458558559417725
+        ],
+        [
+          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": "1731323305_183082342",
+      "mask_path": "../../mask/hdr_right_00417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00418.png",
+      "transform_matrix": [
+        [
+          0.6326022148132324,
+          0.12258036434650421,
+          -0.7647146582603455,
+          -17.419954299926758
+        ],
+        [
+          0.7682484984397888,
+          0.02565242163836956,
+          0.6396376490592957,
+          -6.04531192779541
+        ],
+        [
+          0.09802379459142685,
+          -0.992127001285553,
+          -0.07794440537691116,
+          -3.4492640495300293
+        ],
+        [
+          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": "1731323305_283080816",
+      "mask_path": "../../mask/hdr_right_00418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00419.png",
+      "transform_matrix": [
+        [
+          0.6330029368400574,
+          0.1374809443950653,
+          -0.7618439793586731,
+          -17.49089813232422
+        ],
+        [
+          0.7665549516677856,
+          0.02619510516524315,
+          0.6416443586349487,
+          -6.112353324890137
+        ],
+        [
+          0.10817044228315353,
+          -0.990157961845398,
+          -0.08880510926246643,
+          -3.4575724601745605
+        ],
+        [
+          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": "1731323305_383081912",
+      "mask_path": "../../mask/hdr_right_00419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00420.png",
+      "transform_matrix": [
+        [
+          0.6373012661933899,
+          0.14819346368312836,
+          -0.756231427192688,
+          -17.564958572387695
+        ],
+        [
+          0.7607076168060303,
+          0.03587011992931366,
+          0.648102879524231,
+          -6.171855449676514
+        ],
+        [
+          0.12317070364952087,
+          -0.9883076548576355,
+          -0.0898718312382698,
+          -3.470811367034912
+        ],
+        [
+          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": "1731323305_483081817",
+      "mask_path": "../../mask/hdr_right_00420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00421.png",
+      "transform_matrix": [
+        [
+          0.6416056156158447,
+          0.14544233679771423,
+          -0.7531192898750305,
+          -17.629150390625
+        ],
+        [
+          0.7565369606018066,
+          0.04189375415444374,
+          0.6526077389717102,
+          -6.217640399932861
+        ],
+        [
+          0.12646779417991638,
+          -0.9884793758392334,
+          -0.08315324038267136,
+          -3.4781153202056885
+        ],
+        [
+          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": "1731323305_583081960",
+      "mask_path": "../../mask/hdr_right_00421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00422.png",
+      "transform_matrix": [
+        [
+          0.6472506523132324,
+          0.1421085149049759,
+          -0.7489138841629028,
+          -17.697208404541016
+        ],
+        [
+          0.751981258392334,
+          0.04189617931842804,
+          0.6578516960144043,
+          -6.268725872039795
+        ],
+        [
+          0.12486295402050018,
+          -0.9889640808105469,
+          -0.07974560558795929,
+          -3.486755132675171
+        ],
+        [
+          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": "1731323305_683081865",
+      "mask_path": "../../mask/hdr_right_00422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00423.png",
+      "transform_matrix": [
+        [
+          0.6489618420600891,
+          0.13495628535747528,
+          -0.7487559914588928,
+          -17.787113189697266
+        ],
+        [
+          0.7505045533180237,
+          0.04796389862895012,
+          0.6591225266456604,
+          -6.3346266746521
+        ],
+        [
+          0.12486596405506134,
+          -0.9896899461746216,
+          -0.07015855610370636,
+          -3.5097639560699463
+        ],
+        [
+          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": "1731323305_783081531",
+      "mask_path": "../../mask/hdr_right_00423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00424.png",
+      "transform_matrix": [
+        [
+          0.6482535600662231,
+          0.12994679808616638,
+          -0.7502540946006775,
+          -17.85914421081543
+        ],
+        [
+          0.7518569827079773,
+          0.046466149389743805,
+          0.6576867699623108,
+          -6.3962883949279785
+        ],
+        [
+          0.12032569199800491,
+          -0.990431547164917,
+          -0.06757955998182297,
+          -3.5334525108337402
+        ],
+        [
+          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": "1731323305_883082389",
+      "mask_path": "../../mask/hdr_right_00424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00425.png",
+      "transform_matrix": [
+        [
+          0.6478410959243774,
+          0.12525473535060883,
+          -0.7514075636863708,
+          -17.904224395751953
+        ],
+        [
+          0.754051148891449,
+          0.03467228636145592,
+          0.6559000015258789,
+          -6.4554948806762695
+        ],
+        [
+          0.1082075834274292,
+          -0.9915185570716858,
+          -0.07198633998632431,
+          -3.5459232330322266
+        ],
+        [
+          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": "1731323305_983082294",
+      "mask_path": "../../mask/hdr_right_00425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00426.png",
+      "transform_matrix": [
+        [
+          0.649479329586029,
+          0.13375334441661835,
+          -0.7485229969024658,
+          -17.97160530090332
+        ],
+        [
+          0.7512097954750061,
+          0.03954966738820076,
+          0.6588777303695679,
+          -6.516808986663818
+        ],
+        [
+          0.11773092299699783,
+          -0.9902251958847046,
+          -0.0747901201248169,
+          -3.5617008209228516
+        ],
+        [
+          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": "1731323306_83081483",
+      "mask_path": "../../mask/hdr_right_00426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00427.png",
+      "transform_matrix": [
+        [
+          0.6582289934158325,
+          0.13223354518413544,
+          -0.7411133646965027,
+          -18.05141830444336
+        ],
+        [
+          0.7432510256767273,
+          0.04229629412293434,
+          0.6676743030548096,
+          -6.570064067840576
+        ],
+        [
+          0.11963527649641037,
+          -0.9903157949447632,
+          -0.0704420730471611,
+          -3.555633783340454
+        ],
+        [
+          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": "1731323306_183081388",
+      "mask_path": "../../mask/hdr_right_00427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00428.png",
+      "transform_matrix": [
+        [
+          0.6657102704048157,
+          0.12440355867147446,
+          -0.7357673645019531,
+          -18.114727020263672
+        ],
+        [
+          0.7379562258720398,
+          0.036493752151727676,
+          0.6738611459732056,
+          -6.606994152069092
+        ],
+        [
+          0.11068163067102432,
+          -0.9915603399276733,
+          -0.06751012057065964,
+          -3.543137550354004
+        ],
+        [
+          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": "1731323306_283082723",
+      "mask_path": "../../mask/hdr_right_00428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00429.png",
+      "transform_matrix": [
+        [
+          0.6689489483833313,
+          0.12215579301118851,
+          -0.7332020998001099,
+          -18.174158096313477
+        ],
+        [
+          0.7343282699584961,
+          0.0442577563226223,
+          0.6773503422737122,
+          -6.648282527923584
+        ],
+        [
+          0.11519211530685425,
+          -0.9915237426757812,
+          -0.06009625643491745,
+          -3.555711030960083
+        ],
+        [
+          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": "1731323306_383081674",
+      "mask_path": "../../mask/hdr_right_00429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00430.png",
+      "transform_matrix": [
+        [
+          0.6650343537330627,
+          0.1228417381644249,
+          -0.736640453338623,
+          -18.249780654907227
+        ],
+        [
+          0.7353114485740662,
+          0.0647393986582756,
+          0.6746302843093872,
+          -6.7011237144470215
+        ],
+        [
+          0.1305624395608902,
+          -0.990312397480011,
+          -0.04727301374077797,
+          -3.593843936920166
+        ],
+        [
+          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": "1731323306_483081817",
+      "mask_path": "../../mask/hdr_right_00430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00431.png",
+      "transform_matrix": [
+        [
+          0.6596922874450684,
+          0.1279560774564743,
+          -0.7405628561973572,
+          -18.310871124267578
+        ],
+        [
+          0.7378377318382263,
+          0.07700999826192856,
+          0.6705707311630249,
+          -6.746601581573486
+        ],
+        [
+          0.1428343504667282,
+          -0.9887855052947998,
+          -0.043607912957668304,
+          -3.632260799407959
+        ],
+        [
+          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": "1731323306_583081007",
+      "mask_path": "../../mask/hdr_right_00431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00432.png",
+      "transform_matrix": [
+        [
+          0.6575029492378235,
+          0.13277706503868103,
+          -0.7416604161262512,
+          -18.361738204956055
+        ],
+        [
+          0.7400627136230469,
+          0.07093768566846848,
+          0.6687862277030945,
+          -6.793879985809326
+        ],
+        [
+          0.14141115546226501,
+          -0.9886041283607483,
+          -0.05162162706255913,
+          -3.6515913009643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 432,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323306_683082580",
+      "mask_path": "../../mask/hdr_right_00432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00433.png",
+      "transform_matrix": [
+        [
+          0.6573078036308289,
+          0.13005097210407257,
+          -0.7423161268234253,
+          -18.449682235717773
+        ],
+        [
+          0.7409389019012451,
+          0.06843085587024689,
+          0.6680770516395569,
+          -6.846338272094727
+        ],
+        [
+          0.13768139481544495,
+          -0.9891430139541626,
+          -0.05137969180941582,
+          -3.670001745223999
+        ],
+        [
+          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": "1731323306_783081769",
+      "mask_path": "../../mask/hdr_right_00433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00434.png",
+      "transform_matrix": [
+        [
+          0.6601812243461609,
+          0.12363474071025848,
+          -0.7408610582351685,
+          -18.538244247436523
+        ],
+        [
+          0.7391722798347473,
+          0.06818887591362,
+          0.670055627822876,
+          -6.893014907836914
+        ],
+        [
+          0.13336065411567688,
+          -0.9899821877479553,
+          -0.04637036472558975,
+          -3.683349132537842
+        ],
+        [
+          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": "1731323306_883082389",
+      "mask_path": "../../mask/hdr_right_00434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00435.png",
+      "transform_matrix": [
+        [
+          0.6636907458305359,
+          0.12020362913608551,
+          -0.7382856011390686,
+          -18.593997955322266
+        ],
+        [
+          0.7375536561012268,
+          0.059268612414598465,
+          0.6726826429367065,
+          -6.942506790161133
+        ],
+        [
+          0.12461606413125992,
+          -0.990978479385376,
+          -0.04932058975100517,
+          -3.690676212310791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 435,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323306_983081817",
+      "mask_path": "../../mask/hdr_right_00435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00436.png",
+      "transform_matrix": [
+        [
+          0.6644013524055481,
+          0.11513340473175049,
+          -0.7384546399116516,
+          -18.6695556640625
+        ],
+        [
+          0.7374274134635925,
+          0.05969013273715973,
+          0.6727837920188904,
+          -7.011221408843994
+        ],
+        [
+          0.12153832614421844,
+          -0.9915550351142883,
+          -0.04524432495236397,
+          -3.696824789047241
+        ],
+        [
+          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": "1731323307_83080291",
+      "mask_path": "../../mask/hdr_right_00436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00437.png",
+      "transform_matrix": [
+        [
+          0.658398449420929,
+          0.11259375512599945,
+          -0.7442003488540649,
+          -18.74022102355957
+        ],
+        [
+          0.7427582144737244,
+          0.06273513287305832,
+          0.6666141748428345,
+          -7.079651832580566
+        ],
+        [
+          0.12174408882856369,
+          -0.9916586875915527,
+          -0.04232523590326309,
+          -3.7095465660095215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 437,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_183082342",
+      "mask_path": "../../mask/hdr_right_00437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00438.png",
+      "transform_matrix": [
+        [
+          0.6486033201217651,
+          0.11076505482196808,
+          -0.7530238032341003,
+          -18.78377914428711
+        ],
+        [
+          0.7521403431892395,
+          0.058304931968450546,
+          0.6564187407493591,
+          -7.133496284484863
+        ],
+        [
+          0.11661326140165329,
+          -0.9921348690986633,
+          -0.04549409821629524,
+          -3.719985008239746
+        ],
+        [
+          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": "1731323307_283080339",
+      "mask_path": "../../mask/hdr_right_00438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00439.png",
+      "transform_matrix": [
+        [
+          0.6422019600868225,
+          0.1102372333407402,
+          -0.7585673332214355,
+          -18.83077621459961
+        ],
+        [
+          0.7586339712142944,
+          0.050319839268922806,
+          0.6495710015296936,
+          -7.188333034515381
+        ],
+        [
+          0.10977790504693985,
+          -0.992630660533905,
+          -0.051314204931259155,
+          -3.725076913833618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 439,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_383081436",
+      "mask_path": "../../mask/hdr_right_00439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00440.png",
+      "transform_matrix": [
+        [
+          0.6409226655960083,
+          0.10220135748386383,
+          -0.7607714533805847,
+          -18.90804672241211
+        ],
+        [
+          0.7607990503311157,
+          0.04711350053548813,
+          0.6472752094268799,
+          -7.251173496246338
+        ],
+        [
+          0.10199499875307083,
+          -0.9936474561691284,
+          -0.04755858704447746,
+          -3.732703447341919
+        ],
+        [
+          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": "1731323307_483082532",
+      "mask_path": "../../mask/hdr_right_00440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00441.png",
+      "transform_matrix": [
+        [
+          0.6445215940475464,
+          0.08996976912021637,
+          -0.7592741847038269,
+          -18.97914695739746
+        ],
+        [
+          0.7593510150909424,
+          0.04068738967180252,
+          0.6494080424308777,
+          -7.305408954620361
+        ],
+        [
+          0.08931996673345566,
+          -0.9951130151748657,
+          -0.042094726115465164,
+          -3.729095697402954
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 441,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_583083152",
+      "mask_path": "../../mask/hdr_right_00441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00442.png",
+      "transform_matrix": [
+        [
+          0.6514121890068054,
+          0.08046036213636398,
+          -0.7544456720352173,
+          -19.02571678161621
+        ],
+        [
+          0.7550259828567505,
+          0.029312854632735252,
+          0.655039370059967,
+          -7.353818893432617
+        ],
+        [
+          0.0748196616768837,
+          -0.996326744556427,
+          -0.04165491461753845,
+          -3.724902391433716
+        ],
+        [
+          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": "1731323307_683082103",
+      "mask_path": "../../mask/hdr_right_00442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00443.png",
+      "transform_matrix": [
+        [
+          0.6569687724113464,
+          0.0741254910826683,
+          -0.7502649426460266,
+          -19.099868774414062
+        ],
+        [
+          0.7507326006889343,
+          0.02706066519021988,
+          0.6600517630577087,
+          -7.417112350463867
+        ],
+        [
+          0.06922933459281921,
+          -0.9968816637992859,
+          -0.037870410829782486,
+          -3.728534460067749
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 443,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_783082485",
+      "mask_path": "../../mask/hdr_right_00443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00444.png",
+      "transform_matrix": [
+        [
+          0.6571497321128845,
+          0.06810786575078964,
+          -0.7506767511367798,
+          -19.170236587524414
+        ],
+        [
+          0.7509379386901855,
+          0.026942117139697075,
+          0.6598228812217712,
+          -7.484535217285156
+        ],
+        [
+          0.06516395509243011,
+          -0.9973140954971313,
+          -0.03343977779150009,
+          -3.7351233959198
+        ],
+        [
+          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": "1731323307_883081197",
+      "mask_path": "../../mask/hdr_right_00444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00445.png",
+      "transform_matrix": [
+        [
+          0.6540552973747253,
+          0.058208875358104706,
+          -0.7542037963867188,
+          -19.216663360595703
+        ],
+        [
+          0.7543597221374512,
+          0.02382027357816696,
+          0.6560289859771729,
+          -7.536506652832031
+        ],
+        [
+          0.05615204945206642,
+          -0.9980202317237854,
+          -0.02833065576851368,
+          -3.7318859100341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 445,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323307_983082294",
+      "mask_path": "../../mask/hdr_right_00445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00446.png",
+      "transform_matrix": [
+        [
+          0.652499794960022,
+          0.04971451312303543,
+          -0.7561563849449158,
+          -19.277568817138672
+        ],
+        [
+          0.7563294768333435,
+          0.019174179062247276,
+          0.6539099216461182,
+          -7.595453262329102
+        ],
+        [
+          0.0470074862241745,
+          -0.9985794425010681,
+          -0.025089407339692116,
+          -3.7299647331237793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 446,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_83082675",
+      "mask_path": "../../mask/hdr_right_00446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00447.png",
+      "transform_matrix": [
+        [
+          0.6566544771194458,
+          0.042740803211927414,
+          -0.752979576587677,
+          -19.36016273498535
+        ],
+        [
+          0.7531661987304688,
+          0.014882970601320267,
+          0.6576620936393738,
+          -7.66457986831665
+        ],
+        [
+          0.03931557759642601,
+          -0.9989752769470215,
+          -0.022417956963181496,
+          -3.727579116821289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 447,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_183082342",
+      "mask_path": "../../mask/hdr_right_00447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00448.png",
+      "transform_matrix": [
+        [
+          0.6638269424438477,
+          0.03398323059082031,
+          -0.747113823890686,
+          -19.4245548248291
+        ],
+        [
+          0.7472409605979919,
+          0.011351451277732849,
+          0.6644561886787415,
+          -7.716212749481201
+        ],
+        [
+          0.031061196699738503,
+          -0.9993579387664795,
+          -0.017858266830444336,
+          -3.7182528972625732
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 448,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_283081054",
+      "mask_path": "../../mask/hdr_right_00448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00449.png",
+      "transform_matrix": [
+        [
+          0.6722444891929626,
+          0.02387080527842045,
+          -0.7399443984031677,
+          -19.48466682434082
+        ],
+        [
+          0.7400201559066772,
+          0.0072114248760044575,
+          0.6725461483001709,
+          -7.767937183380127
+        ],
+        [
+          0.021390270441770554,
+          -0.9996890425682068,
+          -0.012817038223147392,
+          -3.7182223796844482
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 449,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_383081674",
+      "mask_path": "../../mask/hdr_right_00449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00450.png",
+      "transform_matrix": [
+        [
+          0.6802917122840881,
+          0.017307132482528687,
+          -0.7327370643615723,
+          -19.57809066772461
+        ],
+        [
+          0.7327176332473755,
+          0.008650129660964012,
+          0.6804779767990112,
+          -7.835139274597168
+        ],
+        [
+          0.018115391954779625,
+          -0.9998128414154053,
+          -0.006796630099415779,
+          -3.718353271484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 450,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_483081579",
+      "mask_path": "../../mask/hdr_right_00450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00451.png",
+      "transform_matrix": [
+        [
+          0.6887624859809875,
+          0.01163693331182003,
+          -0.7248937487602234,
+          -19.658355712890625
+        ],
+        [
+          0.7247903943061829,
+          0.012240310199558735,
+          0.6888608336448669,
+          -7.891508102416992
+        ],
+        [
+          0.016889147460460663,
+          -0.9998573660850525,
+          -3.6713413464894984e-06,
+          -3.7201690673828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 451,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_583081722",
+      "mask_path": "../../mask/hdr_right_00451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00452.png",
+      "transform_matrix": [
+        [
+          0.6992276906967163,
+          0.006724555976688862,
+          -0.7148674726486206,
+          -19.716222763061523
+        ],
+        [
+          0.7147952318191528,
+          0.010462976060807705,
+          0.6992555856704712,
+          -7.935087203979492
+        ],
+        [
+          0.012181824073195457,
+          -0.9999225735664368,
+          0.002509321551769972,
+          -3.7235310077667236
+        ],
+        [
+          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": "1731323308_683082580",
+      "mask_path": "../../mask/hdr_right_00452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00453.png",
+      "transform_matrix": [
+        [
+          0.7140452861785889,
+          0.003096902510151267,
+          -0.700092613697052,
+          -19.807170867919922
+        ],
+        [
+          0.7000473141670227,
+          0.009050819091498852,
+          0.7140390872955322,
+          -7.988420486450195
+        ],
+        [
+          0.00854772049933672,
+          -0.9999542832374573,
+          0.004294716287404299,
+          -3.716005325317383
+        ],
+        [
+          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": "1731323308_783081769",
+      "mask_path": "../../mask/hdr_right_00453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00454.png",
+      "transform_matrix": [
+        [
+          0.7335863709449768,
+          0.002486554440110922,
+          -0.6795916557312012,
+          -19.902231216430664
+        ],
+        [
+          0.6795750856399536,
+          0.005215571261942387,
+          0.7335875034332275,
+          -8.039776802062988
+        ],
+        [
+          0.005368565209209919,
+          -0.9999833106994629,
+          0.002136270748451352,
+          -3.707592487335205
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 454,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323308_883082151",
+      "mask_path": "../../mask/hdr_right_00454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00455.png",
+      "transform_matrix": [
+        [
+          0.7549290060997009,
+          0.0017647732747718692,
+          -0.6558040380477905,
+          -19.969356536865234
+        ],
+        [
+          0.6558051705360413,
+          -5.400679219746962e-05,
+          0.7549301385879517,
+          -8.07331371307373
+        ],
+        [
+          0.0012968626106157899,
+          -0.9999984502792358,
+          -0.0011981206480413675,
+          -3.7049221992492676
+        ],
+        [
+          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": "1731323308_983081579",
+      "mask_path": "../../mask/hdr_right_00455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00456.png",
+      "transform_matrix": [
+        [
+          0.7763058543205261,
+          -0.0014763413928449154,
+          -0.6303548216819763,
+          -20.054031372070312
+        ],
+        [
+          0.6303555965423584,
+          0.003492490155622363,
+          0.7762986421585083,
+          -8.118717193603516
+        ],
+        [
+          0.0010554252658039331,
+          -0.9999927878379822,
+          0.003641858696937561,
+          -3.6979005336761475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 456,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_83081960",
+      "mask_path": "../../mask/hdr_right_00456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00457.png",
+      "transform_matrix": [
+        [
+          0.7959217429161072,
+          -0.0021842813584953547,
+          -0.6053955554962158,
+          -20.15289878845215
+        ],
+        [
+          0.6053680181503296,
+          0.013078399002552032,
+          0.7958382964134216,
+          -8.173510551452637
+        ],
+        [
+          0.006179270800203085,
+          -0.9999120831489563,
+          0.011731677688658237,
+          -3.698334217071533
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 457,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_183081626",
+      "mask_path": "../../mask/hdr_right_00457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00458.png",
+      "transform_matrix": [
+        [
+          0.8156405687332153,
+          -0.004418977536261082,
+          -0.5785421133041382,
+          -20.233089447021484
+        ],
+        [
+          0.5785005688667297,
+          0.020439952611923218,
+          0.8154258728027344,
+          -8.208850860595703
+        ],
+        [
+          0.008222024887800217,
+          -0.9997813701629639,
+          0.01922803558409214,
+          -3.7052016258239746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 458,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_283079862",
+      "mask_path": "../../mask/hdr_right_00458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00459.png",
+      "transform_matrix": [
+        [
+          0.8379456996917725,
+          -0.008160525001585484,
+          -0.5456926822662354,
+          -20.317249298095703
+        ],
+        [
+          0.5457239747047424,
+          0.02295936644077301,
+          0.8376504182815552,
+          -8.24008846282959
+        ],
+        [
+          0.0056930892169475555,
+          -0.999703049659729,
+          0.023692095652222633,
+          -3.7072150707244873
+        ],
+        [
+          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": "1731323309_383078098",
+      "mask_path": "../../mask/hdr_right_00459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00460.png",
+      "transform_matrix": [
+        [
+          0.8628560304641724,
+          -0.005787961184978485,
+          -0.5054166913032532,
+          -20.418821334838867
+        ],
+        [
+          0.5053909420967102,
+          0.02514779195189476,
+          0.8625239729881287,
+          -8.275879859924316
+        ],
+        [
+          0.007717859465628862,
+          -0.9996669888496399,
+          0.02462410368025303,
+          -3.6963067054748535
+        ],
+        [
+          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": "1731323309_483083248",
+      "mask_path": "../../mask/hdr_right_00460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00461.png",
+      "transform_matrix": [
+        [
+          0.8873416185379028,
+          -0.0023972936905920506,
+          -0.4611062705516815,
+          -20.50849723815918
+        ],
+        [
+          0.4610343277454376,
+          0.023028844967484474,
+          0.8870834708213806,
+          -8.297867774963379
+        ],
+        [
+          0.00849214568734169,
+          -0.9997318983078003,
+          0.02153968997299671,
+          -3.689964532852173
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 461,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323309_583082437",
+      "mask_path": "../../mask/hdr_right_00461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00462.png",
+      "transform_matrix": [
+        [
+          0.9103223085403442,
+          -0.0057939812541007996,
+          -0.4138595163822174,
+          -20.59119415283203
+        ],
+        [
+          0.4138834476470947,
+          0.02171023190021515,
+          0.9100709557533264,
+          -8.31550121307373
+        ],
+        [
+          0.0037120520137250423,
+          -0.9997475147247314,
+          0.022161344066262245,
+          -3.6852524280548096
+        ],
+        [
+          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": "1731323309_683081626",
+      "mask_path": "../../mask/hdr_right_00462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00463.png",
+      "transform_matrix": [
+        [
+          0.9302474856376648,
+          -0.005937942303717136,
+          -0.3668845593929291,
+          -20.694284439086914
+        ],
+        [
+          0.36691293120384216,
+          0.025408554822206497,
+          0.9299082159996033,
+          -8.34066390991211
+        ],
+        [
+          0.0038002650253474712,
+          -0.9996594786643982,
+          0.025814954191446304,
+          -3.6801693439483643
+        ],
+        [
+          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": "1731323309_783081293",
+      "mask_path": "../../mask/hdr_right_00463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00464.png",
+      "transform_matrix": [
+        [
+          0.9477357268333435,
+          -0.003416145220398903,
+          -0.3190380334854126,
+          -20.789894104003906
+        ],
+        [
+          0.3189759850502014,
+          0.03258331120014191,
+          0.9472025632858276,
+          -8.359373092651367
+        ],
+        [
+          0.007159534376114607,
+          -0.9994631409645081,
+          0.031970035284757614,
+          -3.6879401206970215
+        ],
+        [
+          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": "1731323309_883079290",
+      "mask_path": "../../mask/hdr_right_00464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00465.png",
+      "transform_matrix": [
+        [
+          0.9641031622886658,
+          -0.005808448884636164,
+          -0.2654644250869751,
+          -20.866308212280273
+        ],
+        [
+          0.26548856496810913,
+          0.038312189280986786,
+          0.9633525609970093,
+          -8.360374450683594
+        ],
+        [
+          0.004574940074235201,
+          -0.9992489218711853,
+          0.03847898170351982,
+          -3.6913492679595947
+        ],
+        [
+          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": "1731323309_983080387",
+      "mask_path": "../../mask/hdr_right_00465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00466.png",
+      "transform_matrix": [
+        [
+          0.9789655208587646,
+          -0.003958769142627716,
+          -0.20398734509944916,
+          -20.95534896850586
+        ],
+        [
+          0.20399004220962524,
+          0.03770456463098526,
+          0.9782466888427734,
+          -8.35833740234375
+        ],
+        [
+          0.003818601369857788,
+          -0.9992810487747192,
+          0.037719015032052994,
+          -3.691584825515747
+        ],
+        [
+          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": "1731323310_83080530",
+      "mask_path": "../../mask/hdr_right_00466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00467.png",
+      "transform_matrix": [
+        [
+          0.9907289743423462,
+          -0.0026758061721920967,
+          -0.13582654297351837,
+          -21.04985237121582
+        ],
+        [
+          0.13583703339099884,
+          0.0348062701523304,
+          0.9901196360588074,
+          -8.346718788146973
+        ],
+        [
+          0.0020782474894076586,
+          -0.9993904829025269,
+          0.03484705463051796,
+          -3.6846628189086914
+        ],
+        [
+          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": "1731323310_183081865",
+      "mask_path": "../../mask/hdr_right_00467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00468.png",
+      "transform_matrix": [
+        [
+          0.9980364441871643,
+          -0.004933889955282211,
+          -0.06244201213121414,
+          -21.133302688598633
+        ],
+        [
+          0.06257254630327225,
+          0.033435940742492676,
+          0.9974802732467651,
+          -8.32053279876709
+        ],
+        [
+          -0.002833648817613721,
+          -0.9994286894798279,
+          0.03367901220917702,
+          -3.676408529281616
+        ],
+        [
+          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": "1731323310_283082485",
+      "mask_path": "../../mask/hdr_right_00468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00469.png",
+      "transform_matrix": [
+        [
+          0.9998447895050049,
+          -0.0047704903408885,
+          0.01696324534714222,
+          -21.225305557250977
+        ],
+        [
+          -0.016776395961642265,
+          0.03680294007062912,
+          0.9991818070411682,
+          -8.28933334350586
+        ],
+        [
+          -0.005390883889049292,
+          -0.9993112087249756,
+          0.03671719506382942,
+          -3.674896001815796
+        ],
+        [
+          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": "1731323310_383081674",
+      "mask_path": "../../mask/hdr_right_00469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00470.png",
+      "transform_matrix": [
+        [
+          0.996120035648346,
+          -0.0005170290824025869,
+          0.08800307661294937,
+          -21.32514762878418
+        ],
+        [
+          -0.08791767060756683,
+          0.03859823942184448,
+          0.9953797459602356,
+          -8.259710311889648
+        ],
+        [
+          -0.003911405801773071,
+          -0.999254584312439,
+          0.03840302303433418,
+          -3.6756792068481445
+        ],
+        [
+          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": "1731323310_483082771",
+      "mask_path": "../../mask/hdr_right_00470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00471.png",
+      "transform_matrix": [
+        [
+          0.9882335066795349,
+          0.0013816640712320805,
+          0.15294648706912994,
+          -21.40467071533203
+        ],
+        [
+          -0.15287578105926514,
+          0.04063696786761284,
+          0.9874095916748047,
+          -8.230066299438477
+        ],
+        [
+          -0.004851012956351042,
+          -0.999173104763031,
+          0.04037003591656685,
+          -3.6844027042388916
+        ],
+        [
+          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": "1731323310_583080768",
+      "mask_path": "../../mask/hdr_right_00471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00472.png",
+      "transform_matrix": [
+        [
+          0.9736378192901611,
+          -0.0002465602883603424,
+          0.22809940576553345,
+          -21.473953247070312
+        ],
+        [
+          -0.2278522551059723,
+          0.0454956516623497,
+          0.9726324081420898,
+          -8.190567016601562
+        ],
+        [
+          -0.010617343708872795,
+          -0.9989645481109619,
+          0.044240113347768784,
+          -3.6913368701934814
+        ],
+        [
+          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": "1731323310_683082580",
+      "mask_path": "../../mask/hdr_right_00472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00473.png",
+      "transform_matrix": [
+        [
+          0.9487602710723877,
+          0.004840481095016003,
+          0.3159596920013428,
+          -21.55328369140625
+        ],
+        [
+          -0.31586766242980957,
+          0.043102066963911057,
+          0.9478238224983215,
+          -8.130979537963867
+        ],
+        [
+          -0.009030594490468502,
+          -0.9990589022636414,
+          0.04242247715592384,
+          -3.6881871223449707
+        ],
+        [
+          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": "1731323310_783082008",
+      "mask_path": "../../mask/hdr_right_00473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00474.png",
+      "transform_matrix": [
+        [
+          0.9137907028198242,
+          0.007473011035472155,
+          0.4061166048049927,
+          -21.623811721801758
+        ],
+        [
+          -0.40608829259872437,
+          0.03866779804229736,
+          0.9130154252052307,
+          -8.062793731689453
+        ],
+        [
+          -0.008880662731826305,
+          -0.9992241859436035,
+          0.03836897760629654,
+          -3.676711320877075
+        ],
+        [
+          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": "1731323310_883082151",
+      "mask_path": "../../mask/hdr_right_00474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00475.png",
+      "transform_matrix": [
+        [
+          0.8693185448646545,
+          0.003547410946339369,
+          0.49423947930336,
+          -21.677143096923828
+        ],
+        [
+          -0.4939534366130829,
+          0.04100379720330238,
+          0.8685210347175598,
+          -7.994723796844482
+        ],
+        [
+          -0.01718469336628914,
+          -0.999152660369873,
+          0.03739761933684349,
+          -3.671919107437134
+        ],
+        [
+          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": "1731323310_983081102",
+      "mask_path": "../../mask/hdr_right_00475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00476.png",
+      "transform_matrix": [
+        [
+          0.8185909986495972,
+          0.006902105174958706,
+          0.574335515499115,
+          -21.745637893676758
+        ],
+        [
+          -0.5741503238677979,
+          0.03791844844818115,
+          0.8178714513778687,
+          -7.907127857208252
+        ],
+        [
+          -0.01613287627696991,
+          -0.99925696849823,
+          0.03500254452228546,
+          -3.666771173477173
+        ],
+        [
+          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": "1731323311_83081483",
+      "mask_path": "../../mask/hdr_right_00476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00477.png",
+      "transform_matrix": [
+        [
+          0.7669306397438049,
+          0.01491029653698206,
+          0.6415567994117737,
+          -21.803895950317383
+        ],
+        [
+          -0.6416611671447754,
+          0.03245937079191208,
+          0.7663010954856873,
+          -7.825225830078125
+        ],
+        [
+          -0.009398754686117172,
+          -0.9993618130683899,
+          0.03446144238114357,
+          -3.670997142791748
+        ],
+        [
+          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": "1731323311_183081388",
+      "mask_path": "../../mask/hdr_right_00477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00478.png",
+      "transform_matrix": [
+        [
+          0.7131959795951843,
+          0.020215637981891632,
+          0.7006731033325195,
+          -21.83498764038086
+        ],
+        [
+          -0.7008909583091736,
+          0.03507357835769653,
+          0.7124056816101074,
+          -7.758119583129883
+        ],
+        [
+          -0.010173380374908447,
+          -0.999180257320404,
+          0.03918329253792763,
+          -3.6778554916381836
+        ],
+        [
+          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": "1731323311_283080816",
+      "mask_path": "../../mask/hdr_right_00478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00479.png",
+      "transform_matrix": [
+        [
+          0.6577572226524353,
+          0.02323862724006176,
+          0.7528714537620544,
+          -21.869192123413086
+        ],
+        [
+          -0.7531762719154358,
+          0.03223831206560135,
+          0.6570284366607666,
+          -7.678786277770996
+        ],
+        [
+          -0.009002866223454475,
+          -0.999210000038147,
+          0.03870776668190956,
+          -3.6772301197052
+        ],
+        [
+          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": "1731323311_383080244",
+      "mask_path": "../../mask/hdr_right_00479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00480.png",
+      "transform_matrix": [
+        [
+          0.606174111366272,
+          0.023357052356004715,
+          0.7949889302253723,
+          -21.907548904418945
+        ],
+        [
+          -0.7952896356582642,
+          0.028116730973124504,
+          0.605577290058136,
+          -7.587395191192627
+        ],
+        [
+          -0.008207986131310463,
+          -0.9993317723274231,
+          0.035619255155324936,
+          -3.6732168197631836
+        ],
+        [
+          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": "1731323311_483081579",
+      "mask_path": "../../mask/hdr_right_00480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00481.png",
+      "transform_matrix": [
+        [
+          0.557131826877594,
+          0.0208376906812191,
+          0.8301627039909363,
+          -21.93169593811035
+        ],
+        [
+          -0.8303444981575012,
+          0.027820399031043053,
+          0.5565555095672607,
+          -7.503941059112549
+        ],
+        [
+          -0.011498123407363892,
+          -0.9993956685066223,
+          0.03280208632349968,
+          -3.6675240993499756
+        ],
+        [
+          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": "1731323311_583081960",
+      "mask_path": "../../mask/hdr_right_00481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00482.png",
+      "transform_matrix": [
+        [
+          0.5055416226387024,
+          0.018871797248721123,
+          0.8625959157943726,
+          -21.94697380065918
+        ],
+        [
+          -0.8627011179924011,
+          0.02635735459625721,
+          0.5050266981124878,
+          -7.417602062225342
+        ],
+        [
+          -0.013204983435571194,
+          -0.9994744658470154,
+          0.029605461284518242,
+          -3.6625051498413086
+        ],
+        [
+          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": "1731323311_683081626",
+      "mask_path": "../../mask/hdr_right_00482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00483.png",
+      "transform_matrix": [
+        [
+          0.46293216943740845,
+          0.024801237508654594,
+          0.8860467672348022,
+          -21.976289749145508
+        ],
+        [
+          -0.8863728642463684,
+          0.019804544746875763,
+          0.46254822611808777,
+          -7.31191349029541
+        ],
+        [
+          -0.0060759843327105045,
+          -0.9994962215423584,
+          0.03115130215883255,
+          -3.664026975631714
+        ],
+        [
+          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": "1731323311_783082246",
+      "mask_path": "../../mask/hdr_right_00483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00484.png",
+      "transform_matrix": [
+        [
+          0.42893552780151367,
+          0.03320670872926712,
+          0.9027246236801147,
+          -22.0006046295166
+        ],
+        [
+          -0.9033335447311401,
+          0.013858523219823837,
+          0.4287150204181671,
+          -7.224915981292725
+        ],
+        [
+          0.0017257856670767069,
+          -0.9993523955345154,
+          0.035941142588853836,
+          -3.674227237701416
+        ],
+        [
+          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": "1731323311_883082151",
+      "mask_path": "../../mask/hdr_right_00484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00485.png",
+      "transform_matrix": [
+        [
+          0.39517131447792053,
+          0.036816686391830444,
+          0.9178694486618042,
+          -22.00816535949707
+        ],
+        [
+          -0.9186023473739624,
+          0.012523841112852097,
+          0.39498454332351685,
+          -7.150018692016602
+        ],
+        [
+          0.0030467729084193707,
+          -0.9992435574531555,
+          0.038768962025642395,
+          -3.680046558380127
+        ],
+        [
+          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": "1731323311_983082056",
+      "mask_path": "../../mask/hdr_right_00485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00486.png",
+      "transform_matrix": [
+        [
+          0.3660503923892975,
+          0.037904780358076096,
+          0.9298227429389954,
+          -22.01498794555664
+        ],
+        [
+          -0.9305698871612549,
+          0.0075584338046610355,
+          0.36603641510009766,
+          -7.050628662109375
+        ],
+        [
+          0.006846526172012091,
+          -0.9992527365684509,
+          0.038039810955524445,
+          -3.679070234298706
+        ],
+        [
+          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": "1731323312_83081960",
+      "mask_path": "../../mask/hdr_right_00486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00487.png",
+      "transform_matrix": [
+        [
+          0.34726765751838684,
+          0.03464708849787712,
+          0.9371257424354553,
+          -22.022979736328125
+        ],
+        [
+          -0.9377231597900391,
+          0.0032699694857001305,
+          0.34736812114715576,
+          -6.954673767089844
+        ],
+        [
+          0.008970921859145164,
+          -0.9993942379951477,
+          0.03362492844462395,
+          -3.6733365058898926
+        ],
+        [
+          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": "1731323312_183080673",
+      "mask_path": "../../mask/hdr_right_00487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00488.png",
+      "transform_matrix": [
+        [
+          0.3363512456417084,
+          0.02816719189286232,
+          0.9413152933120728,
+          -22.032833099365234
+        ],
+        [
+          -0.9417159557342529,
+          0.0034311015624552965,
+          0.33639171719551086,
+          -6.884967803955078
+        ],
+        [
+          0.0062454636208713055,
+          -0.9995973110198975,
+          0.027679555118083954,
+          -3.6704070568084717
+        ],
+        [
+          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": "1731323312_283081293",
+      "mask_path": "../../mask/hdr_right_00488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00489.png",
+      "transform_matrix": [
+        [
+          0.32706132531166077,
+          0.019778108224272728,
+          0.9447961449623108,
+          -22.047054290771484
+        ],
+        [
+          -0.9449962973594666,
+          0.0030365323182195425,
+          0.3270670771598816,
+          -6.809691429138184
+        ],
+        [
+          0.003599862800911069,
+          -0.9997997879981995,
+          0.019683368504047394,
+          -3.672598361968994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 489,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_383081912",
+      "mask_path": "../../mask/hdr_right_00489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00490.png",
+      "transform_matrix": [
+        [
+          0.32573503255844116,
+          0.02050931751728058,
+          0.9452386498451233,
+          -22.06495475769043
+        ],
+        [
+          -0.945432186126709,
+          -0.0007618738454766572,
+          0.3258182406425476,
+          -6.708547115325928
+        ],
+        [
+          0.0074024624191224575,
+          -0.999789297580719,
+          0.019141998142004013,
+          -3.672982692718506
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 490,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_483082532",
+      "mask_path": "../../mask/hdr_right_00490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00491.png",
+      "transform_matrix": [
+        [
+          0.3312112092971802,
+          0.025328168645501137,
+          0.9432166814804077,
+          -22.084787368774414
+        ],
+        [
+          -0.9434949159622192,
+          -0.0025364416651427746,
+          0.3313770592212677,
+          -6.624937057495117
+        ],
+        [
+          0.01078558899462223,
+          -0.999675989151001,
+          0.02305690385401249,
+          -3.6760106086730957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 491,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_583081245",
+      "mask_path": "../../mask/hdr_right_00491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00492.png",
+      "transform_matrix": [
+        [
+          0.3359355032444,
+          0.021130627021193504,
+          0.9416479468345642,
+          -22.10321044921875
+        ],
+        [
+          -0.9418384432792664,
+          -0.002402320969849825,
+          0.3360573649406433,
+          -6.552667617797852
+        ],
+        [
+          0.009363243356347084,
+          -0.9997738003730774,
+          0.01909461058676243,
+          -3.6784703731536865
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 492,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_683082103",
+      "mask_path": "../../mask/hdr_right_00492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00493.png",
+      "transform_matrix": [
+        [
+          0.33483412861824036,
+          0.01710592955350876,
+          0.9421219229698181,
+          -22.11553192138672
+        ],
+        [
+          -0.942194938659668,
+          -0.007130586542189121,
+          0.3349895179271698,
+          -6.458637237548828
+        ],
+        [
+          0.012448188848793507,
+          -0.9998282194137573,
+          0.013729557394981384,
+          -3.6788482666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 493,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_783082008",
+      "mask_path": "../../mask/hdr_right_00493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00494.png",
+      "transform_matrix": [
+        [
+          0.32606592774391174,
+          0.012773131020367146,
+          0.9452608227729797,
+          -22.122676849365234
+        ],
+        [
+          -0.9452493190765381,
+          -0.0099735576659441,
+          0.3261967599391937,
+          -6.369328022003174
+        ],
+        [
+          0.013594167307019234,
+          -0.9998686909675598,
+          0.008821754716336727,
+          -3.6713929176330566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 494,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_883082866",
+      "mask_path": "../../mask/hdr_right_00494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00495.png",
+      "transform_matrix": [
+        [
+          0.31524527072906494,
+          0.003705932991579175,
+          0.9490030407905579,
+          -22.128171920776367
+        ],
+        [
+          -0.9489766955375671,
+          -0.007178980857133865,
+          0.3152645528316498,
+          -6.303170204162598
+        ],
+        [
+          0.007981224916875362,
+          -0.9999673962593079,
+          0.0012537025613710284,
+          -3.6687161922454834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 495,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323312_983081817",
+      "mask_path": "../../mask/hdr_right_00495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00496.png",
+      "transform_matrix": [
+        [
+          0.30790773034095764,
+          0.0011791629949584603,
+          0.9514155387878418,
+          -22.1458740234375
+        ],
+        [
+          -0.9514064192771912,
+          -0.004162961151450872,
+          0.30790990591049194,
+          -6.222084045410156
+        ],
+        [
+          0.004323781467974186,
+          -0.9999906420707703,
+          -0.00015994749264791608,
+          -3.6651628017425537
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 496,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_83082199",
+      "mask_path": "../../mask/hdr_right_00496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00497.png",
+      "transform_matrix": [
+        [
+          0.3089107573032379,
+          0.00662514241412282,
+          0.9510680437088013,
+          -22.168210983276367
+        ],
+        [
+          -0.9510847926139832,
+          -0.0014883083058521152,
+          0.3089265525341034,
+          -6.145583152770996
+        ],
+        [
+          0.0034621639642864466,
+          -0.9999769330024719,
+          0.005841315723955631,
+          -3.6641693115234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 497,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_183081626",
+      "mask_path": "../../mask/hdr_right_00497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00499.png",
+      "transform_matrix": [
+        [
+          0.31243467330932617,
+          0.011454631574451923,
+          0.9498701691627502,
+          -22.182905197143555
+        ],
+        [
+          -0.949917733669281,
+          -0.0029785337392240763,
+          0.3124862313270569,
+          -6.066194534301758
+        ],
+        [
+          0.006408634129911661,
+          -0.9999299645423889,
+          0.009950358420610428,
+          -3.672975540161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 499,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323313_383082151",
+      "mask_path": "../../mask/hdr_right_00499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00553.png",
+      "transform_matrix": [
+        [
+          0.27219390869140625,
+          0.003770903218537569,
+          0.9622350931167603,
+          -22.173959732055664
+        ],
+        [
+          -0.9621998071670532,
+          0.010476158931851387,
+          0.27214285731315613,
+          -5.885489463806152
+        ],
+        [
+          -0.009054302237927914,
+          -0.9999380111694336,
+          0.006479908246546984,
+          -3.67113995552063
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 553,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323318_783081054",
+      "mask_path": "../../mask/hdr_right_00553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00554.png",
+      "transform_matrix": [
+        [
+          0.2752408981323242,
+          0.002543925540521741,
+          0.9613719582557678,
+          -22.17573356628418
+        ],
+        [
+          -0.9613543748855591,
+          0.007334353867918253,
+          0.2752164304256439,
+          -5.833930969238281
+        ],
+        [
+          -0.006350911688059568,
+          -0.9999698400497437,
+          0.004464327357709408,
+          -3.667212724685669
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 554,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323318_883080959",
+      "mask_path": "../../mask/hdr_right_00554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00556.png",
+      "transform_matrix": [
+        [
+          0.26809895038604736,
+          -1.5162006093305536e-05,
+          0.9633914232254028,
+          -22.18343734741211
+        ],
+        [
+          -0.9633570313453674,
+          0.008438155986368656,
+          0.26808950304985046,
+          -5.745860576629639
+        ],
+        [
+          -0.00813331175595522,
+          -0.9999644160270691,
+          0.002247652504593134,
+          -3.6625216007232666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 556,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_83081245",
+      "mask_path": "../../mask/hdr_right_00556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00557.png",
+      "transform_matrix": [
+        [
+          0.26518747210502625,
+          -0.002520329551771283,
+          0.96419358253479,
+          -22.19097900390625
+        ],
+        [
+          -0.9641265869140625,
+          0.011379877105355263,
+          0.26519879698753357,
+          -5.687853813171387
+        ],
+        [
+          -0.011640792712569237,
+          -0.999932050704956,
+          0.0005878822994418442,
+          -3.6647140979766846
+        ],
+        [
+          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": "1731323319_183081865",
+      "mask_path": "../../mask/hdr_right_00557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00558.png",
+      "transform_matrix": [
+        [
+          0.27086561918258667,
+          0.0004262859874870628,
+          0.9626171588897705,
+          -22.203609466552734
+        ],
+        [
+          -0.9625792503356934,
+          0.008990276604890823,
+          0.2708510160446167,
+          -5.616981029510498
+        ],
+        [
+          -0.008538734167814255,
+          -0.9999595284461975,
+          0.0028454898856580257,
+          -3.6639561653137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 558,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_283082485",
+      "mask_path": "../../mask/hdr_right_00558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00561.png",
+      "transform_matrix": [
+        [
+          0.28985050320625305,
+          0.0004872857825830579,
+          0.9570719003677368,
+          -22.24192237854004
+        ],
+        [
+          -0.9570578336715698,
+          -0.005280742421746254,
+          0.2898489534854889,
+          -5.471494197845459
+        ],
+        [
+          0.005195288453251123,
+          -0.999985933303833,
+          -0.0010642664274200797,
+          -3.6763668060302734
+        ],
+        [
+          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": "1731323319_583082675",
+      "mask_path": "../../mask/hdr_right_00561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00562.png",
+      "transform_matrix": [
+        [
+          0.2855243980884552,
+          -0.0014376328326761723,
+          0.9583703875541687,
+          -22.245882034301758
+        ],
+        [
+          -0.9583256840705872,
+          -0.01019974797964096,
+          0.285495787858963,
+          -5.412001132965088
+        ],
+        [
+          0.009364698082208633,
+          -0.9999468922615051,
+          -0.004289998207241297,
+          -3.6686713695526123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 562,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_683082103",
+      "mask_path": "../../mask/hdr_right_00562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00563.png",
+      "transform_matrix": [
+        [
+          0.2792207598686218,
+          -0.003461466170847416,
+          0.9602206945419312,
+          -22.249675750732422
+        ],
+        [
+          -0.9602037072181702,
+          -0.007963611744344234,
+          0.27918708324432373,
+          -5.356839179992676
+        ],
+        [
+          0.0066804285161197186,
+          -0.9999622702598572,
+          -0.005547318607568741,
+          -3.664247512817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 563,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_783080577",
+      "mask_path": "../../mask/hdr_right_00563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00564.png",
+      "transform_matrix": [
+        [
+          0.2718178927898407,
+          -0.006080999504774809,
+          0.9623295664787292,
+          -22.250272750854492
+        ],
+        [
+          -0.9623451828956604,
+          -0.0044003636576235294,
+          0.27179449796676636,
+          -5.293538570404053
+        ],
+        [
+          0.0025818173307925463,
+          -0.9999719262123108,
+          -0.007048118859529495,
+          -3.6695103645324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 564,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_883079051",
+      "mask_path": "../../mask/hdr_right_00564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00565.png",
+      "transform_matrix": [
+        [
+          0.2687259912490845,
+          -0.0019609828013926744,
+          0.9632146954536438,
+          -22.26079559326172
+        ],
+        [
+          -0.9632143378257751,
+          -0.0027798067312687635,
+          0.26872017979621887,
+          -5.205556392669678
+        ],
+        [
+          0.002150595188140869,
+          -0.9999942183494568,
+          -0.0026358540635555983,
+          -3.670058488845825
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 565,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323319_983083248",
+      "mask_path": "../../mask/hdr_right_00565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00566.png",
+      "transform_matrix": [
+        [
+          0.2711365520954132,
+          0.006582485977560282,
+          0.9625185132026672,
+          -22.277729034423828
+        ],
+        [
+          -0.9625254273414612,
+          -0.0038091724272817373,
+          0.27116456627845764,
+          -5.117786884307861
+        ],
+        [
+          0.005451334174722433,
+          -0.9999711513519287,
+          0.005303004290908575,
+          -3.6714401245117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 566,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_83083629",
+      "mask_path": "../../mask/hdr_right_00566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00567.png",
+      "transform_matrix": [
+        [
+          0.2751937210559845,
+          0.00975990854203701,
+          0.9613392353057861,
+          -22.291175842285156
+        ],
+        [
+          -0.9613685011863708,
+          -0.0037013182882219553,
+          0.27523964643478394,
+          -5.045412540435791
+        ],
+        [
+          0.006244536954909563,
+          -0.9999455213546753,
+          0.008364289067685604,
+          -3.677507162094116
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 567,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_183082818",
+      "mask_path": "../../mask/hdr_right_00567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00568.png",
+      "transform_matrix": [
+        [
+          0.2758556306362152,
+          0.00611097551882267,
+          0.9611797332763672,
+          -22.301698684692383
+        ],
+        [
+          -0.9611601233482361,
+          -0.007254954427480698,
+          0.2758961319923401,
+          -4.959749698638916
+        ],
+        [
+          0.008659309707581997,
+          -0.9999549388885498,
+          0.0038723053876310587,
+          -3.6816518306732178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 568,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_283082723",
+      "mask_path": "../../mask/hdr_right_00568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00569.png",
+      "transform_matrix": [
+        [
+          0.26880303025245667,
+          0.002590648829936981,
+          0.9631916880607605,
+          -22.30501365661621
+        ],
+        [
+          -0.963153600692749,
+          -0.008567414246499538,
+          0.26881545782089233,
+          -4.866281032562256
+        ],
+        [
+          0.008948469534516335,
+          -0.9999599456787109,
+          0.00019224348943680525,
+          -3.6753745079040527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 569,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323320_383082628",
+      "mask_path": "../../mask/hdr_right_00569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08255.png",
+      "transform_matrix": [
+        [
+          0.14179843664169312,
+          -0.011932749301195145,
+          -0.989823579788208,
+          -22.49611473083496
+        ],
+        [
+          0.9895968437194824,
+          -0.02285522222518921,
+          0.14204148948192596,
+          -5.294795989990234
+        ],
+        [
+          -0.024317586794495583,
+          -0.9996675848960876,
+          0.008567776530981064,
+          -3.6453065872192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8255,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324088_983083009",
+      "mask_path": "../../mask/hdr_right_08255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08256.png",
+      "transform_matrix": [
+        [
+          0.12824976444244385,
+          -0.0008401375380344689,
+          -0.9917415380477905,
+          -22.509029388427734
+        ],
+        [
+          0.99111008644104,
+          -0.03558237478137016,
+          0.1281983107328415,
+          -5.3679680824279785
+        ],
+        [
+          -0.03539622575044632,
+          -0.9993664026260376,
+          -0.0037307660095393658,
+          -3.634565591812134
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8256,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_83082437",
+      "mask_path": "../../mask/hdr_right_08256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08257.png",
+      "transform_matrix": [
+        [
+          0.11284037679433823,
+          0.007755988277494907,
+          -0.9935828447341919,
+          -22.518497467041016
+        ],
+        [
+          0.9925122261047363,
+          -0.04794031009078026,
+          0.11234460026025772,
+          -5.431878089904785
+        ],
+        [
+          -0.04676132649183273,
+          -0.9988200664520264,
+          -0.013107518665492535,
+          -3.6199593544006348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8257,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_183082342",
+      "mask_path": "../../mask/hdr_right_08257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08258.png",
+      "transform_matrix": [
+        [
+          0.0924859419465065,
+          0.001563877216540277,
+          -0.9957128167152405,
+          -22.53316307067871
+        ],
+        [
+          0.994803249835968,
+          -0.042906276881694794,
+          0.09233411401510239,
+          -5.520202159881592
+        ],
+        [
+          -0.04257792979478836,
+          -0.9990778565406799,
+          -0.005523978732526302,
+          -3.623623847961426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8258,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_283082485",
+      "mask_path": "../../mask/hdr_right_08258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08259.png",
+      "transform_matrix": [
+        [
+          0.06375602632761002,
+          -0.009179468266665936,
+          -0.9979233145713806,
+          -22.542409896850586
+        ],
+        [
+          0.997702956199646,
+          -0.02234857715666294,
+          0.06394753605127335,
+          -5.60183572769165
+        ],
+        [
+          -0.02288917265832424,
+          -0.9997080564498901,
+          0.007733526173979044,
+          -3.6454386711120605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8259,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_383080959",
+      "mask_path": "../../mask/hdr_right_08259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08260.png",
+      "transform_matrix": [
+        [
+          0.03215290978550911,
+          -0.010905674658715725,
+          -0.9994235634803772,
+          -22.54043960571289
+        ],
+        [
+          0.999413013458252,
+          -0.011479048989713192,
+          0.03227784112095833,
+          -5.66904354095459
+        ],
+        [
+          -0.011824443005025387,
+          -0.9998746514320374,
+          0.010530185885727406,
+          -3.6593189239501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8260,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_483081579",
+      "mask_path": "../../mask/hdr_right_08260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08261.png",
+      "transform_matrix": [
+        [
+          0.0006789470207877457,
+          -0.007371420506387949,
+          -0.9999726414680481,
+          -22.5452880859375
+        ],
+        [
+          0.9999368786811829,
+          -0.011206609196960926,
+          0.0007615871727466583,
+          -5.748528003692627
+        ],
+        [
+          -0.01121191494166851,
+          -0.9999100565910339,
+          0.007363347336649895,
+          -3.663393259048462
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8261,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_583081245",
+      "mask_path": "../../mask/hdr_right_08261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08262.png",
+      "transform_matrix": [
+        [
+          -0.031919434666633606,
+          -3.247460335842334e-05,
+          -0.9994905591011047,
+          -22.56175994873047
+        ],
+        [
+          0.9994841814041138,
+          -0.00355092016980052,
+          -0.031919073313474655,
+          -5.849367141723633
+        ],
+        [
+          -0.003548074746504426,
+          -0.999993622303009,
+          0.00014579940761905164,
+          -3.6532199382781982
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8262,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_683081150",
+      "mask_path": "../../mask/hdr_right_08262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08263.png",
+      "transform_matrix": [
+        [
+          -0.06327494233846664,
+          0.00559009937569499,
+          -0.997980535030365,
+          -22.56591796875
+        ],
+        [
+          0.9979920983314514,
+          0.0031926657538861036,
+          -0.06325779110193253,
+          -5.9279327392578125
+        ],
+        [
+          0.002832600846886635,
+          -0.9999792575836182,
+          -0.005780891049653292,
+          -3.6501142978668213
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8263,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_783080816",
+      "mask_path": "../../mask/hdr_right_08263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08264.png",
+      "transform_matrix": [
+        [
+          -0.09285717457532883,
+          0.009082135744392872,
+          -0.9956380128860474,
+          -22.556730270385742
+        ],
+        [
+          0.995669960975647,
+          0.005205363500863314,
+          -0.0928126648068428,
+          -5.982280731201172
+        ],
+        [
+          0.004339720122516155,
+          -0.9999451637268066,
+          -0.009526167064905167,
+          -3.658001661300659
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8264,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_883079528",
+      "mask_path": "../../mask/hdr_right_08264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08265.png",
+      "transform_matrix": [
+        [
+          -0.12460485100746155,
+          0.006873615086078644,
+          -0.9921826124191284,
+          -22.547536849975586
+        ],
+        [
+          0.9921842813491821,
+          0.007551414426416159,
+          -0.12455273419618607,
+          -6.062702178955078
+        ],
+        [
+          0.006636252626776695,
+          -0.9999479651451111,
+          -0.007760837208479643,
+          -3.6734225749969482
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8265,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324089_983081102",
+      "mask_path": "../../mask/hdr_right_08265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08266.png",
+      "transform_matrix": [
+        [
+          -0.16611911356449127,
+          -0.0033080512657761574,
+          -0.9861001968383789,
+          -22.53817367553711
+        ],
+        [
+          0.9860382080078125,
+          0.011141148395836353,
+          -0.16614603996276855,
+          -6.166040420532227
+        ],
+        [
+          0.01153590902686119,
+          -0.9999324679374695,
+          0.001411105738952756,
+          -3.675849676132202
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8266,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_83081007",
+      "mask_path": "../../mask/hdr_right_08266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08267.png",
+      "transform_matrix": [
+        [
+          -0.21215909719467163,
+          -0.010323124006390572,
+          -0.9771806597709656,
+          -22.518875122070312
+        ],
+        [
+          0.977145791053772,
+          0.011284011416137218,
+          -0.21227073669433594,
+          -6.244668483734131
+        ],
+        [
+          0.013217814266681671,
+          -0.9998831152915955,
+          0.00769319012761116,
+          -3.676579475402832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8267,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_183080673",
+      "mask_path": "../../mask/hdr_right_08267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08268.png",
+      "transform_matrix": [
+        [
+          -0.2566870152950287,
+          -0.0071045286022126675,
+          -0.9664683938026428,
+          -22.49481201171875
+        ],
+        [
+          0.9664583802223206,
+          0.006769596599042416,
+          -0.25673407316207886,
+          -6.319777488708496
+        ],
+        [
+          0.00836657639592886,
+          -0.9999518394470215,
+          0.005128561984747648,
+          -3.6816976070404053
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8268,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_283080339",
+      "mask_path": "../../mask/hdr_right_08268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08269.png",
+      "transform_matrix": [
+        [
+          -0.29298675060272217,
+          -0.004398115444928408,
+          -0.9561064839363098,
+          -22.472902297973633
+        ],
+        [
+          0.9560281038284302,
+          0.012254077941179276,
+          -0.2930191159248352,
+          -6.410930633544922
+        ],
+        [
+          0.013004934415221214,
+          -0.9999152421951294,
+          0.0006144379149191082,
+          -3.6811959743499756
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8269,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_383080720",
+      "mask_path": "../../mask/hdr_right_08269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08270.png",
+      "transform_matrix": [
+        [
+          -0.32119014859199524,
+          -0.004546123091131449,
+          -0.9470039010047913,
+          -22.456117630004883
+        ],
+        [
+          0.9468455910682678,
+          0.017357533797621727,
+          -0.321219801902771,
+          -6.486158847808838
+        ],
+        [
+          0.017897954210639,
+          -0.9998390078544617,
+          -0.0012705931439995766,
+          -3.6772890090942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8270,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_483082532",
+      "mask_path": "../../mask/hdr_right_08270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08271.png",
+      "transform_matrix": [
+        [
+          -0.3485826849937439,
+          -0.0011153502855449915,
+          -0.9372774362564087,
+          -22.437191009521484
+        ],
+        [
+          0.9371796250343323,
+          0.014077099971473217,
+          -0.3485631048679352,
+          -6.5445451736450195
+        ],
+        [
+          0.013582916930317879,
+          -0.9999002814292908,
+          -0.003861749544739723,
+          -3.6753504276275635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8271,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_583081960",
+      "mask_path": "../../mask/hdr_right_08271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08272.png",
+      "transform_matrix": [
+        [
+          -0.3792128562927246,
+          0.0010706736939027905,
+          -0.9253089427947998,
+          -22.4085750579834
+        ],
+        [
+          0.9252781867980957,
+          0.008669323287904263,
+          -0.37919020652770996,
+          -6.620573043823242
+        ],
+        [
+          0.0076158130541443825,
+          -0.999961793422699,
+          -0.004278190899640322,
+          -3.6802663803100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8272,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_683082103",
+      "mask_path": "../../mask/hdr_right_08272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08273.png",
+      "transform_matrix": [
+        [
+          -0.41739076375961304,
+          -0.00733031565323472,
+          -0.9086976051330566,
+          -22.36716079711914
+        ],
+        [
+          0.9086913466453552,
+          0.005508487578481436,
+          -0.41743233799934387,
+          -6.7101216316223145
+        ],
+        [
+          0.008065459318459034,
+          -0.9999579787254333,
+          0.004361799452453852,
+          -3.679631233215332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8273,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_783081054",
+      "mask_path": "../../mask/hdr_right_08273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08274.png",
+      "transform_matrix": [
+        [
+          -0.45894062519073486,
+          -0.01897258311510086,
+          -0.8882643580436707,
+          -22.32733726501465
+        ],
+        [
+          0.8884284496307373,
+          -0.000485633296193555,
+          -0.45901498198509216,
+          -6.775577545166016
+        ],
+        [
+          0.008277329616248608,
+          -0.9998198747634888,
+          0.01707865670323372,
+          -3.6805789470672607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8274,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_883082389",
+      "mask_path": "../../mask/hdr_right_08274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08275.png",
+      "transform_matrix": [
+        [
+          -0.49956193566322327,
+          -0.01963033713400364,
+          -0.8660557270050049,
+          -22.285131454467773
+        ],
+        [
+          0.8662657737731934,
+          -0.005967373959720135,
+          -0.4995478391647339,
+          -6.830328464508057
+        ],
+        [
+          0.004638215526938438,
+          -0.9997894763946533,
+          0.01998615823686123,
+          -3.6794581413269043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8275,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324090_983081340",
+      "mask_path": "../../mask/hdr_right_08275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08276.png",
+      "transform_matrix": [
+        [
+          -0.5362961888313293,
+          -0.01152197364717722,
+          -0.8439512252807617,
+          -22.235071182250977
+        ],
+        [
+          0.8439869284629822,
+          0.0027537280693650246,
+          -0.5363565683364868,
+          -6.906087875366211
+        ],
+        [
+          0.008503898046910763,
+          -0.9999298453330994,
+          0.00824757944792509,
+          -3.679628372192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8276,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_83081960",
+      "mask_path": "../../mask/hdr_right_08276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08277.png",
+      "transform_matrix": [
+        [
+          -0.5663049221038818,
+          -0.005288219545036554,
+          -0.8241788744926453,
+          -22.186920166015625
+        ],
+        [
+          0.8241591453552246,
+          0.005797975696623325,
+          -0.5663285851478577,
+          -6.982022762298584
+        ],
+        [
+          0.007773438934236765,
+          -0.9999692440032959,
+          0.0010749115608632565,
+          -3.673478126525879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8277,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_183080196",
+      "mask_path": "../../mask/hdr_right_08277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08278.png",
+      "transform_matrix": [
+        [
+          -0.5937202572822571,
+          0.000722477154340595,
+          -0.8046712875366211,
+          -22.14515495300293
+        ],
+        [
+          0.8046633005142212,
+          0.005065171048045158,
+          -0.5937098264694214,
+          -7.0362935066223145
+        ],
+        [
+          0.0036468547768890858,
+          -0.9999868869781494,
+          -0.003588646650314331,
+          -3.6676855087280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8278,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_283080816",
+      "mask_path": "../../mask/hdr_right_08278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08279.png",
+      "transform_matrix": [
+        [
+          -0.6167895197868347,
+          0.0023345383815467358,
+          -0.7871246337890625,
+          -22.090585708618164
+        ],
+        [
+          0.7871271967887878,
+          0.003356506582349539,
+          -0.6167815327644348,
+          -7.093755722045898
+        ],
+        [
+          0.001202088431455195,
+          -0.9999915957450867,
+          -0.003907839301973581,
+          -3.678454875946045
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8279,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_383081197",
+      "mask_path": "../../mask/hdr_right_08279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08280.png",
+      "transform_matrix": [
+        [
+          -0.6349953413009644,
+          -0.006519753020256758,
+          -0.7724884748458862,
+          -22.02554702758789
+        ],
+        [
+          0.7725096940994263,
+          -0.0013245443115010858,
+          -0.6350015997886658,
+          -7.181375026702881
+        ],
+        [
+          0.003116858657449484,
+          -0.9999778866767883,
+          0.0058776503428816795,
+          -3.6829628944396973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8280,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_483081340",
+      "mask_path": "../../mask/hdr_right_08280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08281.png",
+      "transform_matrix": [
+        [
+          -0.6527437567710876,
+          -0.015057040378451347,
+          -0.7574291229248047,
+          -21.971996307373047
+        ],
+        [
+          0.7575603127479553,
+          -0.005986141972243786,
+          -0.6527376770973206,
+          -7.251953601837158
+        ],
+        [
+          0.005294218193739653,
+          -0.9998686909675598,
+          0.015314032323658466,
+          -3.6843485832214355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8281,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_583080530",
+      "mask_path": "../../mask/hdr_right_08281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08282.png",
+      "transform_matrix": [
+        [
+          -0.6696435809135437,
+          -0.014494139701128006,
+          -0.7425413131713867,
+          -21.922569274902344
+        ],
+        [
+          0.7426786422729492,
+          -0.009796278551220894,
+          -0.6695763468742371,
+          -7.307248592376709
+        ],
+        [
+          0.0024307945277541876,
+          -0.9998469352722168,
+          0.017324503511190414,
+          -3.688939332962036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8282,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_683083295",
+      "mask_path": "../../mask/hdr_right_08282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08283.png",
+      "transform_matrix": [
+        [
+          -0.6837700605392456,
+          -0.011287788860499859,
+          -0.7296103239059448,
+          -21.86591911315918
+        ],
+        [
+          0.7296796441078186,
+          -0.0035593989305198193,
+          -0.6837798953056335,
+          -7.381167411804199
+        ],
+        [
+          0.0051213884726166725,
+          -0.9999300241470337,
+          0.01067027822136879,
+          -3.688021421432495
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8283,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_783082246",
+      "mask_path": "../../mask/hdr_right_08283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08284.png",
+      "transform_matrix": [
+        [
+          -0.6919957995414734,
+          -0.006709967274218798,
+          -0.721870481967926,
+          -21.81146812438965
+        ],
+        [
+          0.7218672633171082,
+          0.0033195652067661285,
+          -0.6920235753059387,
+          -7.4509053230285645
+        ],
+        [
+          0.007039750926196575,
+          -0.9999719262123108,
+          0.0025465802755206823,
+          -3.6759448051452637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8284,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_883082389",
+      "mask_path": "../../mask/hdr_right_08284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08285.png",
+      "transform_matrix": [
+        [
+          -0.6945036053657532,
+          0.0003360356204211712,
+          -0.7194892168045044,
+          -21.76950454711914
+        ],
+        [
+          0.7194734215736389,
+          0.006962468847632408,
+          -0.6944851279258728,
+          -7.503507137298584
+        ],
+        [
+          0.004776048008352518,
+          -0.9999757409095764,
+          -0.00507722981274128,
+          -3.6727545261383057
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8285,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324091_983082056",
+      "mask_path": "../../mask/hdr_right_08285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08286.png",
+      "transform_matrix": [
+        [
+          -0.6947409510612488,
+          0.007035670801997185,
+          -0.7192258238792419,
+          -21.722198486328125
+        ],
+        [
+          0.719260036945343,
+          0.006191950757056475,
+          -0.6947133541107178,
+          -7.56030797958374
+        ],
+        [
+          -0.0004343634645920247,
+          -0.9999560117721558,
+          -0.009362277574837208,
+          -3.673462390899658
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8286,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_83082199",
+      "mask_path": "../../mask/hdr_right_08286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08287.png",
+      "transform_matrix": [
+        [
+          -0.7034308314323425,
+          0.0030807689763605595,
+          -0.7107571363449097,
+          -21.652070999145508
+        ],
+        [
+          0.7107638120651245,
+          0.003154735779389739,
+          -0.7034237384796143,
+          -7.6306023597717285
+        ],
+        [
+          7.516457844758406e-05,
+          -0.9999902844429016,
+          -0.004408838227391243,
+          -3.6751725673675537
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8287,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_183082580",
+      "mask_path": "../../mask/hdr_right_08287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08288.png",
+      "transform_matrix": [
+        [
+          -0.7281875014305115,
+          -0.005690393038094044,
+          -0.6853544116020203,
+          -21.589046478271484
+        ],
+        [
+          0.6853711605072021,
+          -0.0015721513191238046,
+          -0.7281922698020935,
+          -7.682706832885742
+        ],
+        [
+          0.003066218923777342,
+          -0.9999825954437256,
+          0.005044850520789623,
+          -3.6797122955322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8288,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_283082485",
+      "mask_path": "../../mask/hdr_right_08288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08289.png",
+      "transform_matrix": [
+        [
+          -0.7592253684997559,
+          -0.005365729331970215,
+          -0.6508057117462158,
+          -21.53188133239746
+        ],
+        [
+          0.6508215069770813,
+          -0.001846341765485704,
+          -0.7592285871505737,
+          -7.718213081359863
+        ],
+        [
+          0.0028722055722028017,
+          -0.9999839067459106,
+          0.004893922246992588,
+          -3.6850693225860596
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8289,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_383082628",
+      "mask_path": "../../mask/hdr_right_08289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08290.png",
+      "transform_matrix": [
+        [
+          -0.7854397296905518,
+          -0.0053586941212415695,
+          -0.6189149618148804,
+          -21.465518951416016
+        ],
+        [
+          0.6189002394676208,
+          0.004253560211509466,
+          -0.7854580879211426,
+          -7.762067794799805
+        ],
+        [
+          0.006841620896011591,
+          -0.9999765753746033,
+          -2.441841206746176e-05,
+          -3.6830146312713623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8290,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_483082771",
+      "mask_path": "../../mask/hdr_right_08290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08291.png",
+      "transform_matrix": [
+        [
+          -0.8062080144882202,
+          -0.003456988837569952,
+          -0.5916220545768738,
+          -21.40945816040039
+        ],
+        [
+          0.5915824174880981,
+          0.008256321772933006,
+          -0.8062022924423218,
+          -7.809045314788818
+        ],
+        [
+          0.007671656087040901,
+          -0.9999599456787109,
+          -0.0046112206764519215,
+          -3.6727824211120605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8291,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_583081960",
+      "mask_path": "../../mask/hdr_right_08291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08292.png",
+      "transform_matrix": [
+        [
+          -0.8253491520881653,
+          0.0044571878388524055,
+          -0.5646049976348877,
+          -21.360023498535156
+        ],
+        [
+          0.5646110773086548,
+          0.012896540574729443,
+          -0.82525634765625,
+          -7.844493389129639
+        ],
+        [
+          0.003603130578994751,
+          -0.9999068975448608,
+          -0.01316072791814804,
+          -3.6713004112243652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8292,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_683082580",
+      "mask_path": "../../mask/hdr_right_08292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08293.png",
+      "transform_matrix": [
+        [
+          -0.8415648341178894,
+          0.010267101228237152,
+          -0.5400586128234863,
+          -21.2977294921875
+        ],
+        [
+          0.5401557087898254,
+          0.017276540398597717,
+          -0.8413877487182617,
+          -7.887392044067383
+        ],
+        [
+          0.0006917312857694924,
+          -0.999798059463501,
+          -0.020085163414478302,
+          -3.6738741397857666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8293,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_783082485",
+      "mask_path": "../../mask/hdr_right_08293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08294.png",
+      "transform_matrix": [
+        [
+          -0.8591140508651733,
+          0.0046139550395309925,
+          -0.5117634534835815,
+          -21.219093322753906
+        ],
+        [
+          0.511762797832489,
+          0.01689319871366024,
+          -0.858960747718811,
+          -7.943902015686035
+        ],
+        [
+          0.004682115279138088,
+          -0.9998466372489929,
+          -0.016874434426426888,
+          -3.679046154022217
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8294,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_883082866",
+      "mask_path": "../../mask/hdr_right_08294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08295.png",
+      "transform_matrix": [
+        [
+          -0.8781285881996155,
+          -0.00212940969504416,
+          -0.47842007875442505,
+          -21.15057373046875
+        ],
+        [
+          0.4783669114112854,
+          0.011636418290436268,
+          -0.8780829310417175,
+          -7.986570358276367
+        ],
+        [
+          0.007436893880367279,
+          -0.9999299645423889,
+          -0.009199632331728935,
+          -3.684779644012451
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8295,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324092_983082056",
+      "mask_path": "../../mask/hdr_right_08295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08296.png",
+      "transform_matrix": [
+        [
+          -0.897158145904541,
+          -0.0004645640146918595,
+          -0.44170933961868286,
+          -21.086994171142578
+        ],
+        [
+          0.44167542457580566,
+          0.011469132266938686,
+          -0.897101640701294,
+          -8.021377563476562
+        ],
+        [
+          0.005482782609760761,
+          -0.9999340772628784,
+          -0.01008443720638752,
+          -3.6888587474823
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8296,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_83083868",
+      "mask_path": "../../mask/hdr_right_08296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08297.png",
+      "transform_matrix": [
+        [
+          -0.9151738882064819,
+          0.00045721285277977586,
+          -0.4030590057373047,
+          -21.00908851623535
+        ],
+        [
+          0.4029945731163025,
+          0.01894988864660263,
+          -0.915006160736084,
+          -8.054278373718262
+        ],
+        [
+          0.00721956929191947,
+          -0.999820351600647,
+          -0.017526699230074883,
+          -3.685330867767334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8297,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_183081388",
+      "mask_path": "../../mask/hdr_right_08297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08298.png",
+      "transform_matrix": [
+        [
+          -0.9300456047058105,
+          0.005176303442567587,
+          -0.3674078583717346,
+          -20.938207626342773
+        ],
+        [
+          0.3674255311489105,
+          0.023199092596769333,
+          -0.9297636151313782,
+          -8.082071304321289
+        ],
+        [
+          0.0037107905372977257,
+          -0.9997174739837646,
+          -0.02347811684012413,
+          -3.6734743118286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8298,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_283082485",
+      "mask_path": "../../mask/hdr_right_08298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08299.png",
+      "transform_matrix": [
+        [
+          -0.9431024193763733,
+          0.013858695514500141,
+          -0.3322136104106903,
+          -20.880578994750977
+        ],
+        [
+          0.332477331161499,
+          0.027009697631001472,
+          -0.9427244067192078,
+          -8.101358413696289
+        ],
+        [
+          -0.004091941751539707,
+          -0.9995391368865967,
+          -0.030080610886216164,
+          -3.669724702835083
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8299,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_383081912",
+      "mask_path": "../../mask/hdr_right_08299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08300.png",
+      "transform_matrix": [
+        [
+          -0.9554253816604614,
+          0.02033613808453083,
+          -0.29453158378601074,
+          -20.814022064208984
+        ],
+        [
+          0.2950383424758911,
+          0.029565354809165,
+          -0.9550279378890991,
+          -8.118906021118164
+        ],
+        [
+          -0.010713649913668633,
+          -0.9993559718132019,
+          -0.03424743935465813,
+          -3.6706223487854004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8300,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_483081579",
+      "mask_path": "../../mask/hdr_right_08300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08301.png",
+      "transform_matrix": [
+        [
+          -0.9689757823944092,
+          0.014571484178304672,
+          -0.24672579765319824,
+          -20.731298446655273
+        ],
+        [
+          0.2470429241657257,
+          0.026950635015964508,
+          -0.9686296582221985,
+          -8.133938789367676
+        ],
+        [
+          -0.007464956492185593,
+          -0.999530553817749,
+          -0.029714291915297508,
+          -3.6721651554107666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8301,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_583081007",
+      "mask_path": "../../mask/hdr_right_08301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08302.png",
+      "transform_matrix": [
+        [
+          -0.9816417694091797,
+          0.0069724624045193195,
+          -0.19060683250427246,
+          -20.66360855102539
+        ],
+        [
+          0.19070957601070404,
+          0.019792066887021065,
+          -0.9814469814300537,
+          -8.141663551330566
+        ],
+        [
+          -0.0030705996323376894,
+          -0.9997797608375549,
+          -0.020758433267474174,
+          -3.679065704345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8302,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_683082580",
+      "mask_path": "../../mask/hdr_right_08302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08303.png",
+      "transform_matrix": [
+        [
+          -0.9904252290725708,
+          0.004549554083496332,
+          -0.13797520101070404,
+          -20.60951805114746
+        ],
+        [
+          0.13803395628929138,
+          0.01733815297484398,
+          -0.9902758002281189,
+          -8.1433744430542
+        ],
+        [
+          -0.0021130782552063465,
+          -0.9998393058776855,
+          -0.017800139263272285,
+          -3.6849629878997803
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8303,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_783082723",
+      "mask_path": "../../mask/hdr_right_08303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08304.png",
+      "transform_matrix": [
+        [
+          -0.995651364326477,
+          0.0008668917580507696,
+          -0.09315451979637146,
+          -20.54102897644043
+        ],
+        [
+          0.09315232187509537,
+          0.020827779546380043,
+          -0.9954339861869812,
+          -8.15030288696289
+        ],
+        [
+          0.0010772680398076773,
+          -0.9997826218605042,
+          -0.020817961543798447,
+          -3.682197332382202
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8304,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_883082389",
+      "mask_path": "../../mask/hdr_right_08304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08305.png",
+      "transform_matrix": [
+        [
+          -0.9984067678451538,
+          0.0024364262353628874,
+          -0.05637434124946594,
+          -20.46994400024414
+        ],
+        [
+          0.056414756923913956,
+          0.022329900413751602,
+          -0.9981576800346375,
+          -8.157025337219238
+        ],
+        [
+          -0.0011731053236871958,
+          -0.9997476935386658,
+          -0.02243177779018879,
+          -3.6716814041137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8305,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324093_983082771",
+      "mask_path": "../../mask/hdr_right_08305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08306.png",
+      "transform_matrix": [
+        [
+          -0.9996892809867859,
+          0.008576407097280025,
+          -0.023406239226460457,
+          -20.411184310913086
+        ],
+        [
+          0.02363665960729122,
+          0.027837181463837624,
+          -0.9993330836296082,
+          -8.157515525817871
+        ],
+        [
+          -0.007919123396277428,
+          -0.999575674533844,
+          -0.0280312467366457,
+          -3.668315887451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8306,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_83081007",
+      "mask_path": "../../mask/hdr_right_08306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08307.png",
+      "transform_matrix": [
+        [
+          -0.9998391270637512,
+          0.014965562149882317,
+          0.00989291537553072,
+          -20.34516143798828
+        ],
+        [
+          -0.009389052167534828,
+          0.03337275609374046,
+          -0.999398946762085,
+          -8.152456283569336
+        ],
+        [
+          -0.015286719426512718,
+          -0.9993308782577515,
+          -0.033226870000362396,
+          -3.6677355766296387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8307,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_183081388",
+      "mask_path": "../../mask/hdr_right_08307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08308.png",
+      "transform_matrix": [
+        [
+          -0.9986927509307861,
+          0.010954898782074451,
+          0.049928124994039536,
+          -20.257883071899414
+        ],
+        [
+          -0.049593858420848846,
+          0.028916291892528534,
+          -0.9983508586883545,
+          -8.146187782287598
+        ],
+        [
+          -0.012380569241940975,
+          -0.999521791934967,
+          -0.028335198760032654,
+          -3.670625686645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8308,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_283082962",
+      "mask_path": "../../mask/hdr_right_08308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08309.png",
+      "transform_matrix": [
+        [
+          -0.9951227903366089,
+          0.004921281710267067,
+          0.0985216572880745,
+          -20.18692398071289
+        ],
+        [
+          -0.09841575473546982,
+          0.018445461988449097,
+          -0.9949744343757629,
+          -8.1373872756958
+        ],
+        [
+          -0.006713826674968004,
+          -0.9998177289962769,
+          -0.01787116751074791,
+          -3.680799961090088
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8309,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_383082389",
+      "mask_path": "../../mask/hdr_right_08309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08310.png",
+      "transform_matrix": [
+        [
+          -0.989112138748169,
+          0.0028571912553161383,
+          0.14713600277900696,
+          -20.13509750366211
+        ],
+        [
+          -0.14707553386688232,
+          0.015426458790898323,
+          -0.9890050888061523,
+          -8.121500968933105
+        ],
+        [
+          -0.0050955647602677345,
+          -0.9998769164085388,
+          -0.014838277362287045,
+          -3.683765172958374
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8310,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_483080148",
+      "mask_path": "../../mask/hdr_right_08310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08311.png",
+      "transform_matrix": [
+        [
+          -0.9816064238548279,
+          -0.004294006619602442,
+          0.19086790084838867,
+          -20.06727409362793
+        ],
+        [
+          -0.19091615080833435,
+          0.022967809811234474,
+          -0.9813376665115356,
+          -8.103523254394531
+        ],
+        [
+          -0.00016994707402773201,
+          -0.9997270107269287,
+          -0.023365141823887825,
+          -3.6856346130371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8311,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_583081007",
+      "mask_path": "../../mask/hdr_right_08311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08312.png",
+      "transform_matrix": [
+        [
+          -0.9740579128265381,
+          -0.007195959333330393,
+          0.22618462145328522,
+          -19.98954963684082
+        ],
+        [
+          -0.22629807889461517,
+          0.028016071766614914,
+          -0.9736551642417908,
+          -8.084898948669434
+        ],
+        [
+          0.000669578614179045,
+          -0.9995816349983215,
+          -0.0289177056401968,
+          -3.6816446781158447
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8312,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_683079719",
+      "mask_path": "../../mask/hdr_right_08312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08313.png",
+      "transform_matrix": [
+        [
+          -0.9679006934165955,
+          -0.00467623770236969,
+          0.251289427280426,
+          -19.922996520996094
+        ],
+        [
+          -0.25130364298820496,
+          0.03327607735991478,
+          -0.9673361778259277,
+          -8.066649436950684
+        ],
+        [
+          -0.0038384331855922937,
+          -0.9994352459907532,
+          -0.033383093774318695,
+          -3.673283100128174
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8313,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_783080577",
+      "mask_path": "../../mask/hdr_right_08313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08314.png",
+      "transform_matrix": [
+        [
+          -0.9641883969306946,
+          -0.0012394756777212024,
+          0.2652154266834259,
+          -19.84111213684082
+        ],
+        [
+          -0.2650992274284363,
+          0.0344705693423748,
+          -0.9636048078536987,
+          -8.045929908752441
+        ],
+        [
+          -0.007947761565446854,
+          -0.9994049072265625,
+          -0.03356470540165901,
+          -3.6740903854370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8314,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_883082151",
+      "mask_path": "../../mask/hdr_right_08314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08315.png",
+      "transform_matrix": [
+        [
+          -0.9593212008476257,
+          -0.002193814842030406,
+          0.2823081910610199,
+          -19.733741760253906
+        ],
+        [
+          -0.2822776734828949,
+          0.024089710786938667,
+          -0.9590303301811218,
+          -8.019965171813965
+        ],
+        [
+          -0.004696787800639868,
+          -0.9997074007987976,
+          -0.02372903749346733,
+          -3.685272216796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8315,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324094_983082532",
+      "mask_path": "../../mask/hdr_right_08315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08316.png",
+      "transform_matrix": [
+        [
+          -0.9531456232070923,
+          -0.0026013641618192196,
+          0.3025004267692566,
+          -19.65048599243164
+        ],
+        [
+          -0.3025096654891968,
+          0.011834300123155117,
+          -0.9530729651451111,
+          -7.997132301330566
+        ],
+        [
+          -0.0011005924316123128,
+          -0.9999265670776367,
+          -0.012066751718521118,
+          -3.6953089237213135
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8316,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_83082199",
+      "mask_path": "../../mask/hdr_right_08316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08317.png",
+      "transform_matrix": [
+        [
+          -0.9472811818122864,
+          0.00024357442453037947,
+          0.32040342688560486,
+          -19.582042694091797
+        ],
+        [
+          -0.3203842043876648,
+          0.01026447955518961,
+          -0.9472321271896362,
+          -7.9813666343688965
+        ],
+        [
+          -0.0035194959491491318,
+          -0.9999472498893738,
+          -0.0096453120931983,
+          -3.700702428817749
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8317,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_183081865",
+      "mask_path": "../../mask/hdr_right_08317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08318.png",
+      "transform_matrix": [
+        [
+          -0.9422810673713684,
+          0.0010317800333723426,
+          0.3348211646080017,
+          -19.492095947265625
+        ],
+        [
+          -0.33479076623916626,
+          0.010923702269792557,
+          -0.9422292113304138,
+          -7.956169605255127
+        ],
+        [
+          -0.004629660863429308,
+          -0.9999397993087769,
+          -0.009947771206498146,
+          -3.7002644538879395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8318,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_283081531",
+      "mask_path": "../../mask/hdr_right_08318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08319.png",
+      "transform_matrix": [
+        [
+          -0.9386634230613708,
+          0.0025138542987406254,
+          0.3448256552219391,
+          -19.40692138671875
+        ],
+        [
+          -0.34477075934410095,
+          0.012428902089595795,
+          -0.9386047124862671,
+          -7.931835174560547
+        ],
+        [
+          -0.006645319517701864,
+          -0.999919593334198,
+          -0.010799853131175041,
+          -3.689896821975708
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8319,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_383082628",
+      "mask_path": "../../mask/hdr_right_08319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08320.png",
+      "transform_matrix": [
+        [
+          -0.9338964819908142,
+          0.00586681067943573,
+          0.35749551653862,
+          -19.34388542175293
+        ],
+        [
+          -0.35734760761260986,
+          0.01779165118932724,
+          -0.93380206823349,
+          -7.913936614990234
+        ],
+        [
+          -0.011838876642286777,
+          -0.9998244643211365,
+          -0.014519071206450462,
+          -3.682799816131592
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8320,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_483082056",
+      "mask_path": "../../mask/hdr_right_08320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08321.png",
+      "transform_matrix": [
+        [
+          -0.9257756471633911,
+          0.005407141521573067,
+          0.3780348002910614,
+          -19.265289306640625
+        ],
+        [
+          -0.37785980105400085,
+          0.020383590832352638,
+          -0.9256384372711182,
+          -7.8846964836120605
+        ],
+        [
+          -0.01271076500415802,
+          -0.999777615070343,
+          -0.01682749204337597,
+          -3.6906864643096924
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8321,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_583081007",
+      "mask_path": "../../mask/hdr_right_08321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08322.png",
+      "transform_matrix": [
+        [
+          -0.9121528267860413,
+          0.0035332455299794674,
+          0.40983498096466064,
+          -19.17970085144043
+        ],
+        [
+          -0.40975919365882874,
+          0.013215270824730396,
+          -0.9120980501174927,
+          -7.845117092132568
+        ],
+        [
+          -0.008638747967779636,
+          -0.9999064207077026,
+          -0.010606568306684494,
+          -3.7000811100006104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8322,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_683082580",
+      "mask_path": "../../mask/hdr_right_08322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08323.png",
+      "transform_matrix": [
+        [
+          -0.8955402970314026,
+          0.0037531545385718346,
+          0.44496461749076843,
+          -19.12217140197754
+        ],
+        [
+          -0.44494643807411194,
+          0.0048102387227118015,
+          -0.8955443501472473,
+          -7.813324928283691
+        ],
+        [
+          -0.00550150265917182,
+          -0.9999814629554749,
+          -0.0026378114707767963,
+          -3.7056686878204346
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8323,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_783082723",
+      "mask_path": "../../mask/hdr_right_08323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08324.png",
+      "transform_matrix": [
+        [
+          -0.8792489171028137,
+          0.0013561026426032186,
+          0.4763607084751129,
+          -19.06709861755371
+        ],
+        [
+          -0.47634613513946533,
+          0.005820965860038996,
+          -0.8792386651039124,
+          -7.783777713775635
+        ],
+        [
+          -0.003965217154473066,
+          -0.9999821186065674,
+          -0.004472105763852596,
+          -3.7075724601745605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8324,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_883081436",
+      "mask_path": "../../mask/hdr_right_08324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08325.png",
+      "transform_matrix": [
+        [
+          -0.8655678629875183,
+          -0.00703306682407856,
+          0.5007421970367432,
+          -18.996200561523438
+        ],
+        [
+          -0.500789999961853,
+          0.009645567275583744,
+          -0.8655151128768921,
+          -7.7499542236328125
+        ],
+        [
+          0.0012572819832712412,
+          -0.9999287724494934,
+          -0.01187098491936922,
+          -3.699167013168335
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8325,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324095_983082294",
+      "mask_path": "../../mask/hdr_right_08325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08326.png",
+      "transform_matrix": [
+        [
+          -0.856382429599762,
+          -0.010827270336449146,
+          0.5162285566329956,
+          -18.937990188598633
+        ],
+        [
+          -0.5163397192955017,
+          0.014945951290428638,
+          -0.856253445148468,
+          -7.723249912261963
+        ],
+        [
+          0.0015553587581962347,
+          -0.9998296499252319,
+          -0.018390001729130745,
+          -3.6929216384887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8326,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_83081007",
+      "mask_path": "../../mask/hdr_right_08326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08327.png",
+      "transform_matrix": [
+        [
+          -0.8492535948753357,
+          -0.010691015049815178,
+          0.5278769135475159,
+          -18.890094757080078
+        ],
+        [
+          -0.5279643535614014,
+          0.02606954239308834,
+          -0.84886634349823,
+          -7.698165416717529
+        ],
+        [
+          -0.004686265718191862,
+          -0.9996029734611511,
+          -0.027784127742052078,
+          -3.6917006969451904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8327,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_183084964",
+      "mask_path": "../../mask/hdr_right_08327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08328.png",
+      "transform_matrix": [
+        [
+          -0.8424636721611023,
+          -0.01058544497936964,
+          0.5386491417884827,
+          -18.818880081176758
+        ],
+        [
+          -0.5386830568313599,
+          0.03267313539981842,
+          -0.8418747782707214,
+          -7.659590721130371
+        ],
+        [
+          -0.008687736466526985,
+          -0.9994100332260132,
+          -0.033228132873773575,
+          -3.6930935382843018
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8328,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_283082008",
+      "mask_path": "../../mask/hdr_right_08328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08329.png",
+      "transform_matrix": [
+        [
+          -0.8335830569267273,
+          -0.008402827195823193,
+          0.5523301362991333,
+          -18.741525650024414
+        ],
+        [
+          -0.552337646484375,
+          0.026966238394379616,
+          -0.8331841826438904,
+          -7.614421844482422
+        ],
+        [
+          -0.00789316464215517,
+          -0.9996010661125183,
+          -0.027119800448417664,
+          -3.6958611011505127
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8329,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_383081674",
+      "mask_path": "../../mask/hdr_right_08329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08330.png",
+      "transform_matrix": [
+        [
+          -0.8241854906082153,
+          -0.005007242783904076,
+          0.5662978291511536,
+          -18.686885833740234
+        ],
+        [
+          -0.5662698149681091,
+          0.020598284900188446,
+          -0.8239626884460449,
+          -7.578640937805176
+        ],
+        [
+          -0.007538983598351479,
+          -0.9997752904891968,
+          -0.019812259823083878,
+          -3.6970624923706055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8330,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_483080863",
+      "mask_path": "../../mask/hdr_right_08330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08331.png",
+      "transform_matrix": [
+        [
+          -0.8171460628509521,
+          -0.0019413639092817903,
+          0.5764273405075073,
+          -18.633995056152344
+        ],
+        [
+          -0.5763382911682129,
+          0.020648345351219177,
+          -0.8169504404067993,
+          -7.5439453125
+        ],
+        [
+          -0.010316272266209126,
+          -0.9997848868370056,
+          -0.017991598695516586,
+          -3.6981964111328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8331,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_583077907",
+      "mask_path": "../../mask/hdr_right_08331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08332.png",
+      "transform_matrix": [
+        [
+          -0.8132633566856384,
+          -0.0011887021828442812,
+          0.5818946957588196,
+          -18.561914443969727
+        ],
+        [
+          -0.581753134727478,
+          0.023807408288121223,
+          -0.8130168914794922,
+          -7.503474235534668
+        ],
+        [
+          -0.012886970303952694,
+          -0.9997158646583557,
+          -0.02005322463810444,
+          -3.6918632984161377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8332,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_683081150",
+      "mask_path": "../../mask/hdr_right_08332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08333.png",
+      "transform_matrix": [
+        [
+          -0.811464786529541,
+          0.002913708332926035,
+          0.5843941569328308,
+          -18.5013427734375
+        ],
+        [
+          -0.5840644240379333,
+          0.029914988204836845,
+          -0.8111559748649597,
+          -7.468016624450684
+        ],
+        [
+          -0.019845616072416306,
+          -0.9995482563972473,
+          -0.022573167458176613,
+          -3.6781983375549316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8333,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_783080816",
+      "mask_path": "../../mask/hdr_right_08333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08334.png",
+      "transform_matrix": [
+        [
+          -0.8107161521911621,
+          0.007598042022436857,
+          0.5853900909423828,
+          -18.453767776489258
+        ],
+        [
+          -0.5847195982933044,
+          0.0390596017241478,
+          -0.8102946877479553,
+          -7.437859535217285
+        ],
+        [
+          -0.02902175486087799,
+          -0.9992080330848694,
+          -0.027223531156778336,
+          -3.6696810722351074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8334,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_883080482",
+      "mask_path": "../../mask/hdr_right_08334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08335.png",
+      "transform_matrix": [
+        [
+          -0.8101875185966492,
+          0.01546630822122097,
+          0.5859667658805847,
+          -18.384746551513672
+        ],
+        [
+          -0.5843828916549683,
+          0.05670671537518501,
+          -0.8094943761825562,
+          -7.39730167388916
+        ],
+        [
+          -0.04574814438819885,
+          -0.9982710480690002,
+          -0.03690483048558235,
+          -3.6609294414520264
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8335,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324096_983079433",
+      "mask_path": "../../mask/hdr_right_08335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08336.png",
+      "transform_matrix": [
+        [
+          -0.8051460385322571,
+          0.026722069829702377,
+          0.5924742817878723,
+          -18.30051040649414
+        ],
+        [
+          -0.5904615521430969,
+          0.05759117752313614,
+          -0.8050083518028259,
+          -7.343600749969482
+        ],
+        [
+          -0.05563277751207352,
+          -0.9979825615882874,
+          -0.030590955168008804,
+          -3.644840717315674
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8336,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_83080530",
+      "mask_path": "../../mask/hdr_right_08336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08337.png",
+      "transform_matrix": [
+        [
+          -0.7974017262458801,
+          0.03747424855828285,
+          0.6022841334342957,
+          -18.248634338378906
+        ],
+        [
+          -0.6006137132644653,
+          0.04734683036804199,
+          -0.7981362342834473,
+          -7.305551052093506
+        ],
+        [
+          -0.05842579901218414,
+          -0.9981753826141357,
+          -0.01524689793586731,
+          -3.636476516723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8337,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_183080434",
+      "mask_path": "../../mask/hdr_right_08337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08338.png",
+      "transform_matrix": [
+        [
+          -0.7888709306716919,
+          0.045064590871334076,
+          0.6129044890403748,
+          -18.205360412597656
+        ],
+        [
+          -0.6113467216491699,
+          0.044290922582149506,
+          -0.7901225090026855,
+          -7.277714729309082
+        ],
+        [
+          -0.06275264918804169,
+          -0.9980016946792603,
+          -0.0073897335678339005,
+          -3.635601758956909
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8338,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_283081293",
+      "mask_path": "../../mask/hdr_right_08338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08339.png",
+      "transform_matrix": [
+        [
+          -0.7842165231704712,
+          0.05114590749144554,
+          0.6183756589889526,
+          -18.12653160095215
+        ],
+        [
+          -0.6167651414871216,
+          0.044740837067365646,
+          -0.7858747839927673,
+          -7.234272003173828
+        ],
+        [
+          -0.0678609162569046,
+          -0.9976884722709656,
+          -0.003541494719684124,
+          -3.6215851306915283
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8339,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_383080482",
+      "mask_path": "../../mask/hdr_right_08339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08340.png",
+      "transform_matrix": [
+        [
+          -0.7834519147872925,
+          0.058728571981191635,
+          0.6186712384223938,
+          -18.04872703552246
+        ],
+        [
+          -0.6165910363197327,
+          0.050818782299757004,
+          -0.7856417298316956,
+          -7.193180084228516
+        ],
+        [
+          -0.07757973670959473,
+          -0.9969797134399414,
+          -0.003602558746933937,
+          -3.6003236770629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8340,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_483078718",
+      "mask_path": "../../mask/hdr_right_08340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08341.png",
+      "transform_matrix": [
+        [
+          -0.7834730744361877,
+          0.06572163105010986,
+          0.6179406046867371,
+          -17.993209838867188
+        ],
+        [
+          -0.6151805520057678,
+          0.058595675975084305,
+          -0.7862058281898499,
+          -7.160947322845459
+        ],
+        [
+          -0.08787935972213745,
+          -0.996116042137146,
+          -0.0054774717427790165,
+          -3.588101387023926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8341,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_583079338",
+      "mask_path": "../../mask/hdr_right_08341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08342.png",
+      "transform_matrix": [
+        [
+          -0.7819780707359314,
+          0.07401150465011597,
+          0.6188964247703552,
+          -17.916597366333008
+        ],
+        [
+          -0.6156757473945618,
+          0.0631728544831276,
+          -0.7854633927345276,
+          -7.113563537597656
+        ],
+        [
+          -0.09723076969385147,
+          -0.9952544569969177,
+          -0.003832703921943903,
+          -3.573456048965454
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8342,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_683081150",
+      "mask_path": "../../mask/hdr_right_08342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08343.png",
+      "transform_matrix": [
+        [
+          -0.7757520079612732,
+          0.08399266004562378,
+          0.625423014163971,
+          -17.834077835083008
+        ],
+        [
+          -0.6223777532577515,
+          0.061796240508556366,
+          -0.7802738547325134,
+          -7.060936450958252
+        ],
+        [
+          -0.1041860580444336,
+          -0.9945483207702637,
+          0.004336593672633171,
+          -3.558631181716919
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8343,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_783079862",
+      "mask_path": "../../mask/hdr_right_08343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08344.png",
+      "transform_matrix": [
+        [
+          -0.7692053914070129,
+          0.09065756946802139,
+          0.6325379014015198,
+          -17.78078269958496
+        ],
+        [
+          -0.6300311088562012,
+          0.057683974504470825,
+          -0.7744244337081909,
+          -7.02121639251709
+        ],
+        [
+          -0.10669474303722382,
+          -0.9942101240158081,
+          0.012746267020702362,
+          -3.5546491146087646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8344,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_883080244",
+      "mask_path": "../../mask/hdr_right_08344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08345.png",
+      "transform_matrix": [
+        [
+          -0.7620341777801514,
+          0.10642851889133453,
+          0.6387307047843933,
+          -17.720733642578125
+        ],
+        [
+          -0.637424111366272,
+          0.050355732440948486,
+          -0.7688660621643066,
+          -6.9773030281066895
+        ],
+        [
+          -0.11399301141500473,
+          -0.9930444359779358,
+          0.029467305168509483,
+          -3.5546016693115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8345,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324097_983080387",
+      "mask_path": "../../mask/hdr_right_08345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08346.png",
+      "transform_matrix": [
+        [
+          -0.7533159255981445,
+          0.1456938236951828,
+          0.6413177251815796,
+          -17.619060516357422
+        ],
+        [
+          -0.6411486864089966,
+          0.05443458631634712,
+          -0.7654836773872375,
+          -6.92556095123291
+        ],
+        [
+          -0.14643612504005432,
+          -0.9878311157226562,
+          0.052404969930648804,
+          -3.5002498626708984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8346,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_83080530",
+      "mask_path": "../../mask/hdr_right_08346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08347.png",
+      "transform_matrix": [
+        [
+          -0.7438246011734009,
+          0.1721234917640686,
+          0.6458316445350647,
+          -17.5435733795166
+        ],
+        [
+          -0.6448748111724854,
+          0.06915443390607834,
+          -0.7611531615257263,
+          -6.88430118560791
+        ],
+        [
+          -0.17567448318004608,
+          -0.9826449751853943,
+          0.05955933779478073,
+          -3.4380078315734863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8347,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_183079481",
+      "mask_path": "../../mask/hdr_right_08347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08348.png",
+      "transform_matrix": [
+        [
+          -0.7331088781356812,
+          0.17178915441036224,
+          0.6580576300621033,
+          -17.501466751098633
+        ],
+        [
+          -0.6556240320205688,
+          0.07878831028938293,
+          -0.7509657740592957,
+          -6.840187072753906
+        ],
+        [
+          -0.18085502088069916,
+          -0.9819780588150024,
+          0.05486869066953659,
+          -3.430025100708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8348,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_283080577",
+      "mask_path": "../../mask/hdr_right_08348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08349.png",
+      "transform_matrix": [
+        [
+          -0.7159630656242371,
+          0.16986443102359772,
+          0.6771581172943115,
+          -17.446470260620117
+        ],
+        [
+          -0.6757211089134216,
+          0.07521122694015503,
+          -0.7333105206489563,
+          -6.785511493682861
+        ],
+        [
+          -0.1754932552576065,
+          -0.9825932383537292,
+          0.060932524502277374,
+          -3.424975872039795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8349,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_383080959",
+      "mask_path": "../../mask/hdr_right_08349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08350.png",
+      "transform_matrix": [
+        [
+          -0.6956061124801636,
+          0.16894079744815826,
+          0.6982772350311279,
+          -17.400150299072266
+        ],
+        [
+          -0.6986665725708008,
+          0.0672958567738533,
+          -0.7122753858566284,
+          -6.7372331619262695
+        ],
+        [
+          -0.1673235446214676,
+          -0.9833261966705322,
+          0.07122188061475754,
+          -3.4151721000671387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8350,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_483080863",
+      "mask_path": "../../mask/hdr_right_08350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08351.png",
+      "transform_matrix": [
+        [
+          -0.6732951402664185,
+          0.1622534841299057,
+          0.721351146697998,
+          -17.356643676757812
+        ],
+        [
+          -0.7220174074172974,
+          0.06586658209562302,
+          -0.6887324452400208,
+          -6.691314220428467
+        ],
+        [
+          -0.15926216542720795,
+          -0.9845483899116516,
+          0.07280217111110687,
+          -3.4109232425689697
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8351,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_583080768",
+      "mask_path": "../../mask/hdr_right_08351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08352.png",
+      "transform_matrix": [
+        [
+          -0.6523233652114868,
+          0.15692542493343353,
+          0.7415179014205933,
+          -17.296165466308594
+        ],
+        [
+          -0.7422133684158325,
+          0.06601028889417648,
+          -0.666904866695404,
+          -6.641007423400879
+        ],
+        [
+          -0.15360210835933685,
+          -0.98540198802948,
+          0.07341208308935165,
+          -3.397592067718506
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8352,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_683079957",
+      "mask_path": "../../mask/hdr_right_08352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08354.png",
+      "transform_matrix": [
+        [
+          -0.6423324346542358,
+          0.14604772627353668,
+          0.7523823380470276,
+          -17.223491668701172
+        ],
+        [
+          -0.7512580752372742,
+          0.07435911893844604,
+          -0.6558065414428711,
+          -6.570085525512695
+        ],
+        [
+          -0.15172553062438965,
+          -0.9864789843559265,
+          0.06195623800158501,
+          -3.37741756439209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8354,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_883078575",
+      "mask_path": "../../mask/hdr_right_08354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08355.png",
+      "transform_matrix": [
+        [
+          -0.6498827338218689,
+          0.13826633989810944,
+          0.747351884841919,
+          -17.155059814453125
+        ],
+        [
+          -0.7445560097694397,
+          0.08161891251802444,
+          -0.662551760673523,
+          -6.5135111808776855
+        ],
+        [
+          -0.15260665118694305,
+          -0.9870262145996094,
+          0.049904294312000275,
+          -3.3667855262756348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8355,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324098_983081817",
+      "mask_path": "../../mask/hdr_right_08355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08356.png",
+      "transform_matrix": [
+        [
+          -0.648910403251648,
+          0.1417165994644165,
+          0.7475504875183105,
+          -17.090465545654297
+        ],
+        [
+          -0.7455863356590271,
+          0.07746700942516327,
+          -0.6618911623954773,
+          -6.456836223602295
+        ],
+        [
+          -0.15171146392822266,
+          -0.9868714809417725,
+          0.05539281293749809,
+          -3.3459925651550293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8356,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_83080768",
+      "mask_path": "../../mask/hdr_right_08356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08357.png",
+      "transform_matrix": [
+        [
+          -0.6457207202911377,
+          0.1439344882965088,
+          0.749885082244873,
+          -17.045835494995117
+        ],
+        [
+          -0.7494493126869202,
+          0.0685507282614708,
+          -0.6585033535957336,
+          -6.407759189605713
+        ],
+        [
+          -0.14618651568889618,
+          -0.9872100353240967,
+          0.06360697746276855,
+          -3.3372693061828613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8357,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_183081388",
+      "mask_path": "../../mask/hdr_right_08357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08358.png",
+      "transform_matrix": [
+        [
+          -0.6488370299339294,
+          0.13938526809215546,
+          0.7480522990226746,
+          -16.995248794555664
+        ],
+        [
+          -0.7476969361305237,
+          0.06573887914419174,
+          -0.6607781648635864,
+          -6.354390621185303
+        ],
+        [
+          -0.14127883315086365,
+          -0.9880536794662476,
+          0.0615641288459301,
+          -3.3328163623809814
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8358,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_283081769",
+      "mask_path": "../../mask/hdr_right_08358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08359.png",
+      "transform_matrix": [
+        [
+          -0.6549338698387146,
+          0.13759085536003113,
+          0.7430547475814819,
+          -16.934412002563477
+        ],
+        [
+          -0.7423255443572998,
+          0.06694252789020538,
+          -0.6666868925094604,
+          -6.303730487823486
+        ],
+        [
+          -0.1414719820022583,
+          -0.9882243871688843,
+          0.058294277638196945,
+          -3.31840181350708
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8359,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_383082389",
+      "mask_path": "../../mask/hdr_right_08359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08360.png",
+      "transform_matrix": [
+        [
+          -0.6615543961524963,
+          0.13819703459739685,
+          0.7370531558990479,
+          -16.88043975830078
+        ],
+        [
+          -0.7356038093566895,
+          0.07139235734939575,
+          -0.6736394762992859,
+          -6.261088848114014
+        ],
+        [
+          -0.14571496844291687,
+          -0.987828254699707,
+          0.0544283464550972,
+          -3.3045363426208496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8360,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_483081340",
+      "mask_path": "../../mask/hdr_right_08360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08361.png",
+      "transform_matrix": [
+        [
+          -0.6665329337120056,
+          0.1334831714630127,
+          0.7334276437759399,
+          -16.817995071411133
+        ],
+        [
+          -0.733424961566925,
+          0.05876529961824417,
+          -0.677225649356842,
+          -6.206417083740234
+        ],
+        [
+          -0.13349829614162445,
+          -0.9893072247505188,
+          0.05873087793588638,
+          -3.3019607067108154
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8361,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_583081483",
+      "mask_path": "../../mask/hdr_right_08361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08362.png",
+      "transform_matrix": [
+        [
+          -0.6678448915481567,
+          0.12907810509204865,
+          0.7330225706100464,
+          -16.763349533081055
+        ],
+        [
+          -0.7349404692649841,
+          0.04133420065045357,
+          -0.6768707633018494,
+          -6.151368618011475
+        ],
+        [
+          -0.11766809970140457,
+          -0.9907726049423218,
+          0.06725989282131195,
+          -3.305173873901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8362,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_683081150",
+      "mask_path": "../../mask/hdr_right_08362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08363.png",
+      "transform_matrix": [
+        [
+          -0.6691206693649292,
+          0.12749570608139038,
+          0.7321354746818542,
+          -16.7203311920166
+        ],
+        [
+          -0.7351267337799072,
+          0.030854040756821632,
+          -0.6772273182868958,
+          -6.110780715942383
+        ],
+        [
+          -0.10893291980028152,
+          -0.9913590550422668,
+          0.07308042794466019,
+          -3.3034088611602783
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8363,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_783082962",
+      "mask_path": "../../mask/hdr_right_08363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08364.png",
+      "transform_matrix": [
+        [
+          -0.6731389164924622,
+          0.126455157995224,
+          0.728624165058136,
+          -16.65839385986328
+        ],
+        [
+          -0.7323111891746521,
+          0.023215344175696373,
+          -0.680574357509613,
+          -6.071530818939209
+        ],
+        [
+          -0.10297738015651703,
+          -0.9917005896568298,
+          0.07697736471891403,
+          -3.2998781204223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8364,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_883081674",
+      "mask_path": "../../mask/hdr_right_08364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08365.png",
+      "transform_matrix": [
+        [
+          -0.6801099181175232,
+          0.12366554141044617,
+          0.7226045727729797,
+          -16.572065353393555
+        ],
+        [
+          -0.7263857126235962,
+          0.019523577764630318,
+          -0.6870100498199463,
+          -6.027359485626221
+        ],
+        [
+          -0.09906729310750961,
+          -0.9921318888664246,
+          0.07655069231987,
+          -3.2806479930877686
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8365,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324099_983082294",
+      "mask_path": "../../mask/hdr_right_08365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08366.png",
+      "transform_matrix": [
+        [
+          -0.6881206035614014,
+          0.11996035277843475,
+          0.7156112790107727,
+          -16.51003646850586
+        ],
+        [
+          -0.7187396287918091,
+          0.022573133930563927,
+          -0.6949129104614258,
+          -5.99426794052124
+        ],
+        [
+          -0.09951557219028473,
+          -0.9925220012664795,
+          0.07068721950054169,
+          -3.264359712600708
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8366,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_83082675",
+      "mask_path": "../../mask/hdr_right_08366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08368.png",
+      "transform_matrix": [
+        [
+          -0.7031155824661255,
+          0.10906922817230225,
+          0.7026609182357788,
+          -16.42782974243164
+        ],
+        [
+          -0.7032593488693237,
+          0.03945019096136093,
+          -0.7098379731178284,
+          -5.931402206420898
+        ],
+        [
+          -0.10514159500598907,
+          -0.9932510256767273,
+          0.04896591231226921,
+          -3.2527236938476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8368,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_283082008",
+      "mask_path": "../../mask/hdr_right_08368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08369.png",
+      "transform_matrix": [
+        [
+          -0.707021176815033,
+          0.10715004056692123,
+          0.699027955532074,
+          -16.365053176879883
+        ],
+        [
+          -0.7001661658287048,
+          0.03293062746524811,
+          -0.7132201790809631,
+          -5.88972282409668
+        ],
+        [
+          -0.09944099187850952,
+          -0.9936974048614502,
+          0.05174018070101738,
+          -3.2459304332733154
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8369,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_383081912",
+      "mask_path": "../../mask/hdr_right_08369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08370.png",
+      "transform_matrix": [
+        [
+          -0.7094937562942505,
+          0.10674954950809479,
+          0.69657963514328,
+          -16.320077896118164
+        ],
+        [
+          -0.6987599730491638,
+          0.02162942849099636,
+          -0.7150291800498962,
+          -5.856241703033447
+        ],
+        [
+          -0.09139566123485565,
+          -0.9940506219863892,
+          0.05924636870622635,
+          -3.2447543144226074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8370,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_483082056",
+      "mask_path": "../../mask/hdr_right_08370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08371.png",
+      "transform_matrix": [
+        [
+          -0.7130423188209534,
+          0.10667434334754944,
+          0.6929583549499512,
+          -16.272422790527344
+        ],
+        [
+          -0.6956291794776917,
+          0.01582491025328636,
+          -0.7182267904281616,
+          -5.825028896331787
+        ],
+        [
+          -0.08758236467838287,
+          -0.9941680431365967,
+          0.06292195618152618,
+          -3.24314284324646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8371,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_583081722",
+      "mask_path": "../../mask/hdr_right_08371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08372.png",
+      "transform_matrix": [
+        [
+          -0.717552661895752,
+          0.11326690018177032,
+          0.6872326135635376,
+          -16.204774856567383
+        ],
+        [
+          -0.690741240978241,
+          0.010940431617200375,
+          -0.7230193018913269,
+          -5.787888526916504
+        ],
+        [
+          -0.08941276371479034,
+          -0.9935043454170227,
+          0.07038776576519012,
+          -3.22468638420105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8372,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_683082103",
+      "mask_path": "../../mask/hdr_right_08372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08373.png",
+      "transform_matrix": [
+        [
+          -0.7237604856491089,
+          0.11810407042503357,
+          0.6798693537712097,
+          -16.14183807373047
+        ],
+        [
+          -0.6832638382911682,
+          0.015193214640021324,
+          -0.7300135493278503,
+          -5.754920959472656
+        ],
+        [
+          -0.0965469628572464,
+          -0.9928849339485168,
+          0.06969998776912689,
+          -3.2004501819610596
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8373,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_783081293",
+      "mask_path": "../../mask/hdr_right_08373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08375.png",
+      "transform_matrix": [
+        [
+          -0.7363331317901611,
+          0.1119341179728508,
+          0.6672963500022888,
+          -16.064672470092773
+        ],
+        [
+          -0.6679672002792358,
+          0.0369553379714489,
+          -0.7432725429534912,
+          -5.696281433105469
+        ],
+        [
+          -0.10785772651433945,
+          -0.9930281639099121,
+          0.047556884586811066,
+          -3.181410789489746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8375,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324100_983083248",
+      "mask_path": "../../mask/hdr_right_08375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08376.png",
+      "transform_matrix": [
+        [
+          -0.7384974360466003,
+          0.10910692065954208,
+          0.6653700470924377,
+          -16.007387161254883
+        ],
+        [
+          -0.66570645570755,
+          0.03866652399301529,
+          -0.7452113032341003,
+          -5.652242660522461
+        ],
+        [
+          -0.10703525692224503,
+          -0.9932776689529419,
+          0.04407805949449539,
+          -3.1623120307922363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8376,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_83081722",
+      "mask_path": "../../mask/hdr_right_08376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08379.png",
+      "transform_matrix": [
+        [
+          -0.7390010356903076,
+          0.10400842875242233,
+          0.6656273007392883,
+          -15.902690887451172
+        ],
+        [
+          -0.6673923134803772,
+          0.021909182891249657,
+          -0.7443840503692627,
+          -5.562667369842529
+        ],
+        [
+          -0.09200556576251984,
+          -0.9943350553512573,
+          0.05322350934147835,
+          -3.1482272148132324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8379,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_383080720",
+      "mask_path": "../../mask/hdr_right_08379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08380.png",
+      "transform_matrix": [
+        [
+          -0.7436646223068237,
+          0.09910909086465836,
+          0.6611658334732056,
+          -15.852463722229004
+        ],
+        [
+          -0.6624988913536072,
+          0.023541999980807304,
+          -0.7486931085586548,
+          -5.526885509490967
+        ],
+        [
+          -0.0897674411535263,
+          -0.9947980642318726,
+          0.04815230518579483,
+          -3.1370465755462646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8380,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_483081579",
+      "mask_path": "../../mask/hdr_right_08380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08383.png",
+      "transform_matrix": [
+        [
+          -0.7629953026771545,
+          0.09676934778690338,
+          0.6391196250915527,
+          -15.722545623779297
+        ],
+        [
+          -0.6388483643531799,
+          0.03784409910440445,
+          -0.7684014439582825,
+          -5.439291954040527
+        ],
+        [
+          -0.09854460507631302,
+          -0.9945870637893677,
+          0.03294606879353523,
+          -3.1188442707061768
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8383,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_783081531",
+      "mask_path": "../../mask/hdr_right_08383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08384.png",
+      "transform_matrix": [
+        [
+          -0.765641987323761,
+          0.10255513340234756,
+          0.6350391507148743,
+          -15.666873931884766
+        ],
+        [
+          -0.635308563709259,
+          0.03425227478146553,
+          -0.771498441696167,
+          -5.402902603149414
+        ],
+        [
+          -0.10087267309427261,
+          -0.9941374659538269,
+          0.03892917558550835,
+          -3.1103317737579346
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8384,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_883082151",
+      "mask_path": "../../mask/hdr_right_08384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08385.png",
+      "transform_matrix": [
+        [
+          -0.7677233815193176,
+          0.10699648410081863,
+          0.6317852139472961,
+          -15.624186515808105
+        ],
+        [
+          -0.6329314112663269,
+          0.027235738933086395,
+          -0.7737287282943726,
+          -5.376680850982666
+        ],
+        [
+          -0.09999338537454605,
+          -0.9938862919807434,
+          0.046811915934085846,
+          -3.1031599044799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8385,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324101_983081817",
+      "mask_path": "../../mask/hdr_right_08385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08386.png",
+      "transform_matrix": [
+        [
+          -0.7690151929855347,
+          0.11065993458032608,
+          0.6295791864395142,
+          -15.568107604980469
+        ],
+        [
+          -0.6307514905929565,
+          0.028522679582238197,
+          -0.7754605412483215,
+          -5.349576950073242
+        ],
+        [
+          -0.1037696972489357,
+          -0.9934490323066711,
+          0.04786454141139984,
+          -3.0955002307891846
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8386,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_83082199",
+      "mask_path": "../../mask/hdr_right_08386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08387.png",
+      "transform_matrix": [
+        [
+          -0.7719260454177856,
+          0.11594993621110916,
+          0.6250486969947815,
+          -15.51068115234375
+        ],
+        [
+          -0.6257452368736267,
+          0.0348387211561203,
+          -0.7792491316795349,
+          -5.325170516967773
+        ],
+        [
+          -0.11212978512048721,
+          -0.9926438927650452,
+          0.04566221311688423,
+          -3.09218692779541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8387,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_183081388",
+      "mask_path": "../../mask/hdr_right_08387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08389.png",
+      "transform_matrix": [
+        [
+          -0.7785560488700867,
+          0.125041663646698,
+          0.6149918437004089,
+          -15.442534446716309
+        ],
+        [
+          -0.6143707633018494,
+          0.048102010041475296,
+          -0.7875499725341797,
+          -5.291579723358154
+        ],
+        [
+          -0.12805888056755066,
+          -0.9909847378730774,
+          0.039371807128190994,
+          -3.0857911109924316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8389,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_383082151",
+      "mask_path": "../../mask/hdr_right_08389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08390.png",
+      "transform_matrix": [
+        [
+          -0.7795211672782898,
+          0.1331091970205307,
+          0.6120690703392029,
+          -15.385117530822754
+        ],
+        [
+          -0.6111769676208496,
+          0.052318472415208817,
+          -0.7897630333900452,
+          -5.257414817810059
+        ],
+        [
+          -0.1371472179889679,
+          -0.989719569683075,
+          0.040569908916950226,
+          -3.0508828163146973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8390,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_483081817",
+      "mask_path": "../../mask/hdr_right_08390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08391.png",
+      "transform_matrix": [
+        [
+          -0.7759169936180115,
+          0.14381898939609528,
+          0.6142221689224243,
+          -15.34109878540039
+        ],
+        [
+          -0.613987922668457,
+          0.05134574696421623,
+          -0.7876436710357666,
+          -5.224390506744385
+        ],
+        [
+          -0.14481577277183533,
+          -0.9882710576057434,
+          0.048463061451911926,
+          -3.019439458847046
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8391,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_583081483",
+      "mask_path": "../../mask/hdr_right_08391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08393.png",
+      "transform_matrix": [
+        [
+          -0.7738431096076965,
+          0.13467539846897125,
+          0.6188937425613403,
+          -15.275755882263184
+        ],
+        [
+          -0.6182302236557007,
+          0.05180993303656578,
+          -0.7842878103256226,
+          -5.156399726867676
+        ],
+        [
+          -0.13768908381462097,
+          -0.9895343780517578,
+          0.043167635798454285,
+          -3.008202314376831
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8393,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_783082246",
+      "mask_path": "../../mask/hdr_right_08393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08394.png",
+      "transform_matrix": [
+        [
+          -0.778541088104248,
+          0.12221304327249527,
+          0.6155792474746704,
+          -15.230334281921387
+        ],
+        [
+          -0.614038348197937,
+          0.05442563444375992,
+          -0.787397563457489,
+          -5.115283966064453
+        ],
+        [
+          -0.12973353266716003,
+          -0.9910104870796204,
+          0.03267090022563934,
+          -3.000122547149658
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8394,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_883081912",
+      "mask_path": "../../mask/hdr_right_08394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08395.png",
+      "transform_matrix": [
+        [
+          -0.7829245924949646,
+          0.11953428387641907,
+          0.6105247735977173,
+          -15.181182861328125
+        ],
+        [
+          -0.6087645292282104,
+          0.05502438545227051,
+          -0.7914405465126038,
+          -5.081674575805664
+        ],
+        [
+          -0.1281980276107788,
+          -0.9913040995597839,
+          0.029688285663723946,
+          -2.9860451221466064
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8395,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324102_983082056",
+      "mask_path": "../../mask/hdr_right_08395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08396.png",
+      "transform_matrix": [
+        [
+          -0.7879388928413391,
+          0.11847829073667526,
+          0.6042476892471313,
+          -15.1231689453125
+        ],
+        [
+          -0.6016616225242615,
+          0.060600537806749344,
+          -0.7964489459991455,
+          -5.047506332397461
+        ],
+        [
+          -0.13097965717315674,
+          -0.9911056756973267,
+          0.023534325882792473,
+          -2.9714488983154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8396,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_83082437",
+      "mask_path": "../../mask/hdr_right_08396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08397.png",
+      "transform_matrix": [
+        [
+          -0.7921767830848694,
+          0.11459001153707504,
+          0.5994373559951782,
+          -15.045930862426758
+        ],
+        [
+          -0.5970762372016907,
+          0.05777546018362045,
+          -0.800101101398468,
+          -5.0002827644348145
+        ],
+        [
+          -0.1263163685798645,
+          -0.9917313456535339,
+          0.022650597617030144,
+          -2.957785129547119
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8397,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_183081626",
+      "mask_path": "../../mask/hdr_right_08397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08398.png",
+      "transform_matrix": [
+        [
+          -0.7937161326408386,
+          0.11440499126911163,
+          0.5974329710006714,
+          -14.980716705322266
+        ],
+        [
+          -0.5965853929519653,
+          0.04532131552696228,
+          -0.8012689352035522,
+          -4.959603309631348
+        ],
+        [
+          -0.11874561756849289,
+          -0.9923998117446899,
+          0.0322800874710083,
+          -2.9533162117004395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8398,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_283082485",
+      "mask_path": "../../mask/hdr_right_08398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08399.png",
+      "transform_matrix": [
+        [
+          -0.7955297231674194,
+          0.1142638623714447,
+          0.5950431823730469,
+          -14.93553352355957
+        ],
+        [
+          -0.5949122905731201,
+          0.039000678807497025,
+          -0.8028439283370972,
+          -4.930980205535889
+        ],
+        [
+          -0.11494313180446625,
+          -0.9926846027374268,
+          0.03695077821612358,
+          -2.958146095275879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8399,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_383081436",
+      "mask_path": "../../mask/hdr_right_08399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08400.png",
+      "transform_matrix": [
+        [
+          -0.7987140417098999,
+          0.11349313706159592,
+          0.5909104943275452,
+          -14.873346328735352
+        ],
+        [
+          -0.5913901925086975,
+          0.03304038569331169,
+          -0.8057082891464233,
+          -4.897751331329346
+        ],
+        [
+          -0.1109662801027298,
+          -0.9929892420768738,
+          0.04072890430688858,
+          -2.952212333679199
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8400,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_483081102",
+      "mask_path": "../../mask/hdr_right_08400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08401.png",
+      "transform_matrix": [
+        [
+          -0.8027724027633667,
+          0.11591853946447372,
+          0.5849097371101379,
+          -14.803511619567871
+        ],
+        [
+          -0.585497260093689,
+          0.03251257538795471,
+          -0.8100221753120422,
+          -4.867334842681885
+        ],
+        [
+          -0.11291350424289703,
+          -0.9927265048027039,
+          0.041769787669181824,
+          -2.929412364959717
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8401,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_583081722",
+      "mask_path": "../../mask/hdr_right_08401.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/47d68869_0/mesh.ply b/2024-11-11-12-07-40/splats/47d68869_0/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d93497b017d81611179452c045de00158501f1cd
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_0/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cffb7494158eca9a24c247b5e96d0d2703a446aad3ebd25e55c6b16b948259b
+size 89140872
diff --git a/2024-11-11-12-07-40/splats/47d68869_0/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/47d68869_0/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a56b346efa241066b3ac2f194b89a5e73c106c28
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_0/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:692608e3c2b04cdf97eb24ef86a0b9b45fcc2ed75791e6360fcefe925e97bc59
+size 1570210
diff --git a/2024-11-11-12-07-40/splats/47d68869_0/splatfacto/config.yml b/2024-11-11-12-07-40/splats/47d68869_0/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..efd78846a049d62d2617822fba20becfe1267b5d
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_0/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_47d68869_0
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_47d68869_0
+      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/2024-11-11-12-07-40/splats/47d68869_0/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/47d68869_0/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f7e72e948c477b7324f2c263530886a8cda282
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_0/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.9565238952636719,
+            -0.23136068880558014,
+            -0.17757835984230042,
+            -10.665560722351074
+        ],
+        [
+            -0.23136068880558014,
+            0.9726414084434509,
+            -0.020998798310756683,
+            -0.8029847741127014
+        ],
+        [
+            0.17757835984230042,
+            0.020998798310756683,
+            -0.9838824272155762,
+            -0.01939105987548828
+        ]
+    ],
+    "scale": 0.18646046600001584
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/47d68869_0/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/47d68869_0/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9e052a3b0f8e05247bdf58b081e4f86bb4a50f0c
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_0/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b7ca2e69a61104f9729601d25fa84b8c9097b43a91aba5e16d0dc72b8f2f4f
+size 196463473
diff --git a/2024-11-11-12-07-40/splats/47d68869_0/transforms.json b/2024-11-11-12-07-40/splats/47d68869_0/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..38b94eee1a632e21e8cf84d653736de731f3b455
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_0/transforms.json
@@ -0,0 +1,16260 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_00243.png",
+      "transform_matrix": [
+        [
+          -0.028711343184113503,
+          0.17552772164344788,
+          0.984055757522583,
+          -5.2830915451049805
+        ],
+        [
+          -0.9994245171546936,
+          0.012752658687531948,
+          -0.03143446147441864,
+          -0.8832887411117554
+        ],
+        [
+          -0.018066944554448128,
+          -0.9843919277191162,
+          0.17506054043769836,
+          -0.8326678276062012
+        ],
+        [
+          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": "1731323288_783083915",
+      "mask_path": "../../mask/hdr_front_00243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00244.png",
+      "transform_matrix": [
+        [
+          -0.029639992862939835,
+          0.17008686065673828,
+          0.9849832653999329,
+          -5.392685890197754
+        ],
+        [
+          -0.9993103742599487,
+          0.017002591863274574,
+          -0.03300713747739792,
+          -0.8952947854995728
+        ],
+        [
+          -0.02236134745180607,
+          -0.9852823615074158,
+          0.16946563124656677,
+          -0.849498987197876
+        ],
+        [
+          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": "1731323288_883080720",
+      "mask_path": "../../mask/hdr_front_00244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00245.png",
+      "transform_matrix": [
+        [
+          -0.027804110199213028,
+          0.16735640168190002,
+          0.9855043292045593,
+          -5.477643966674805
+        ],
+        [
+          -0.9993209838867188,
+          0.0191896241158247,
+          -0.031452663242816925,
+          -0.9040276408195496
+        ],
+        [
+          -0.024175262078642845,
+          -0.9857097268104553,
+          0.16670922935009003,
+          -0.8655496835708618
+        ],
+        [
+          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": "1731323288_983082056",
+      "mask_path": "../../mask/hdr_front_00245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00246.png",
+      "transform_matrix": [
+        [
+          -0.02548624388873577,
+          0.16083145141601562,
+          0.9866527915000916,
+          -5.550347328186035
+        ],
+        [
+          -0.999484121799469,
+          0.01519983634352684,
+          -0.028295377269387245,
+          -0.9136543273925781
+        ],
+        [
+          -0.01954774558544159,
+          -0.9868648052215576,
+          0.16036109626293182,
+          -0.8794206380844116
+        ],
+        [
+          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": "1731323289_83079576",
+      "mask_path": "../../mask/hdr_front_00246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00247.png",
+      "transform_matrix": [
+        [
+          -0.02688862755894661,
+          0.16826844215393066,
+          0.985374391078949,
+          -5.641758441925049
+        ],
+        [
+          -0.9996252059936523,
+          0.0005586724728345871,
+          -0.027372894808650017,
+          -0.918512225151062
+        ],
+        [
+          -0.005156495608389378,
+          -0.9857410788536072,
+          0.16819033026695251,
+          -0.8973085284233093
+        ],
+        [
+          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": "1731323289_183080196",
+      "mask_path": "../../mask/hdr_front_00247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00248.png",
+      "transform_matrix": [
+        [
+          -0.03528468683362007,
+          0.18630923330783844,
+          0.981857419013977,
+          -5.720386505126953
+        ],
+        [
+          -0.9993770718574524,
+          -0.007214501965790987,
+          -0.03454532474279404,
+          -0.9187570810317993
+        ],
+        [
+          0.0006474999245256186,
+          -0.9824646711349487,
+          0.18644772469997406,
+          -0.9079663753509521
+        ],
+        [
+          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": "1731323289_283080816",
+      "mask_path": "../../mask/hdr_front_00248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00249.png",
+      "transform_matrix": [
+        [
+          -0.04276461526751518,
+          0.19423383474349976,
+          0.980022668838501,
+          -5.779930591583252
+        ],
+        [
+          -0.9990637302398682,
+          -0.0018760814564302564,
+          -0.04322367161512375,
+          -0.9119733572006226
+        ],
+        [
+          -0.006556898355484009,
+          -0.9809534549713135,
+          0.19413217902183533,
+          -0.9115180969238281
+        ],
+        [
+          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": "1731323289_383078813",
+      "mask_path": "../../mask/hdr_front_00249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00250.png",
+      "transform_matrix": [
+        [
+          -0.04559202864766121,
+          0.18884018063545227,
+          0.9809489250183105,
+          -5.844442367553711
+        ],
+        [
+          -0.9988594055175781,
+          0.005332292057573795,
+          -0.0474509634077549,
+          -0.8987131118774414
+        ],
+        [
+          -0.01419135369360447,
+          -0.9819933772087097,
+          0.18838167190551758,
+          -0.9274077415466309
+        ],
+        [
+          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": "1731323289_483080625",
+      "mask_path": "../../mask/hdr_front_00250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00251.png",
+      "transform_matrix": [
+        [
+          -0.04530793055891991,
+          0.18812909722328186,
+          0.9810987114906311,
+          -5.931330680847168
+        ],
+        [
+          -0.9988465309143066,
+          0.007102041505277157,
+          -0.047489382326602936,
+          -0.8867219090461731
+        ],
+        [
+          -0.01590193621814251,
+          -0.9821187257766724,
+          0.1875903159379959,
+          -0.9588176012039185
+        ],
+        [
+          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": "1731323289_583080291",
+      "mask_path": "../../mask/hdr_front_00251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00252.png",
+      "transform_matrix": [
+        [
+          -0.04465687647461891,
+          0.1864105463027954,
+          0.981456458568573,
+          -6.01392126083374
+        ],
+        [
+          -0.9989404082298279,
+          0.0026102946139872074,
+          -0.04594818130135536,
+          -0.8792517781257629
+        ],
+        [
+          -0.011127113364636898,
+          -0.9824684858322144,
+          0.1860964149236679,
+          -0.992198646068573
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 252,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323289_683080911",
+      "mask_path": "../../mask/hdr_front_00252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00253.png",
+      "transform_matrix": [
+        [
+          -0.04666559025645256,
+          0.18297281861305237,
+          0.9820098280906677,
+          -6.078119277954102
+        ],
+        [
+          -0.9989092946052551,
+          -0.006980847101658583,
+          -0.04616795852780342,
+          -0.8800539374351501
+        ],
+        [
+          -0.0015922219026833773,
+          -0.9830932021141052,
+          0.18309901654720306,
+          -1.0180976390838623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 253,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323289_783080577",
+      "mask_path": "../../mask/hdr_front_00253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00254.png",
+      "transform_matrix": [
+        [
+          -0.04586004093289375,
+          0.18389324843883514,
+          0.9818758368492126,
+          -6.15730619430542
+        ],
+        [
+          -0.9989142417907715,
+          -0.016496915370225906,
+          -0.043566178530454636,
+          -0.8755412101745605
+        ],
+        [
+          0.008186396211385727,
+          -0.9828078150749207,
+          0.1844501495361328,
+          -1.0394548177719116
+        ],
+        [
+          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": "1731323289_883079051",
+      "mask_path": "../../mask/hdr_front_00254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00255.png",
+      "transform_matrix": [
+        [
+          -0.042479634284973145,
+          0.18417049944400787,
+          0.9819759130477905,
+          -6.255243301391602
+        ],
+        [
+          -0.9990473985671997,
+          -0.01765984110534191,
+          -0.03990601375699043,
+          -0.8537194728851318
+        ],
+        [
+          0.009992030449211597,
+          -0.9827356934547424,
+          0.18474523723125458,
+          -1.0486301183700562
+        ],
+        [
+          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": "1731323289_983080863",
+      "mask_path": "../../mask/hdr_front_00255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00256.png",
+      "transform_matrix": [
+        [
+          -0.03278416395187378,
+          0.1806180328130722,
+          0.9830067753791809,
+          -6.334062099456787
+        ],
+        [
+          -0.9994044899940491,
+          -0.016517620533704758,
+          -0.030296094715595245,
+          -0.8466845750808716
+        ],
+        [
+          0.010764913633465767,
+          -0.9834146499633789,
+          0.18105199933052063,
+          -1.0518497228622437
+        ],
+        [
+          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": "1731323290_83079338",
+      "mask_path": "../../mask/hdr_front_00256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00257.png",
+      "transform_matrix": [
+        [
+          -0.018049919977784157,
+          0.1724165976047516,
+          0.9848586916923523,
+          -6.399499893188477
+        ],
+        [
+          -0.9997532367706299,
+          -0.015873484313488007,
+          -0.01554397027939558,
+          -0.8547816872596741
+        ],
+        [
+          0.01295310165733099,
+          -0.9848962426185608,
+          0.17266060411930084,
+          -1.0571117401123047
+        ],
+        [
+          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": "1731323290_183082818",
+      "mask_path": "../../mask/hdr_front_00257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00258.png",
+      "transform_matrix": [
+        [
+          0.003254815237596631,
+          0.16676294803619385,
+          0.9859916567802429,
+          -6.48948860168457
+        ],
+        [
+          -0.9999414086341858,
+          -0.009638894349336624,
+          0.004931110888719559,
+          -0.859290599822998
+        ],
+        [
+          0.010326199233531952,
+          -0.9859499335289001,
+          0.16672180593013763,
+          -1.070528268814087
+        ],
+        [
+          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": "1731323290_283082962",
+      "mask_path": "../../mask/hdr_front_00258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00259.png",
+      "transform_matrix": [
+        [
+          0.04112586751580238,
+          0.1673809140920639,
+          0.985034167766571,
+          -6.5779805183410645
+        ],
+        [
+          -0.9991198182106018,
+          -0.0012536491267383099,
+          0.041926976293325424,
+          -0.8765559792518616
+        ],
+        [
+          0.008252663537859917,
+          -0.985891580581665,
+          0.1671820431947708,
+          -1.0830729007720947
+        ],
+        [
+          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": "1731323290_383083343",
+      "mask_path": "../../mask/hdr_front_00259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00260.png",
+      "transform_matrix": [
+        [
+          0.08777781575918198,
+          0.16817551851272583,
+          0.9818412065505981,
+          -6.6421332359313965
+        ],
+        [
+          -0.9960605502128601,
+          0.0023644857574254274,
+          0.08864405006170273,
+          -0.906929612159729
+        ],
+        [
+          0.012586206197738647,
+          -0.9857542514801025,
+          0.16772052645683289,
+          -1.0982922315597534
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 260,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323290_483082294",
+      "mask_path": "../../mask/hdr_front_00260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00261.png",
+      "transform_matrix": [
+        [
+          0.13549664616584778,
+          0.17000319063663483,
+          0.9760838150978088,
+          -6.705270290374756
+        ],
+        [
+          -0.9905320405960083,
+          0.0013035755837336183,
+          0.13727526366710663,
+          -0.9451075196266174
+        ],
+        [
+          0.022064829245209694,
+          -0.9854426980018616,
+          0.16857023537158966,
+          -1.1119098663330078
+        ],
+        [
+          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": "1731323290_583082199",
+      "mask_path": "../../mask/hdr_front_00261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00262.png",
+      "transform_matrix": [
+        [
+          0.16895541548728943,
+          0.17830683290958405,
+          0.9693610072135925,
+          -6.781161785125732
+        ],
+        [
+          -0.9850626587867737,
+          -0.002630534116178751,
+          0.17217600345611572,
+          -0.9742870926856995
+        ],
+        [
+          0.033250097185373306,
+          -0.9839714765548706,
+          0.1751989722251892,
+          -1.1317933797836304
+        ],
+        [
+          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": "1731323290_683082342",
+      "mask_path": "../../mask/hdr_front_00262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00263.png",
+      "transform_matrix": [
+        [
+          0.1866161823272705,
+          0.18330614268779755,
+          0.965180516242981,
+          -6.852521896362305
+        ],
+        [
+          -0.9816789627075195,
+          -0.003690169658511877,
+          0.1905069500207901,
+          -0.9983651041984558
+        ],
+        [
+          0.038482774049043655,
+          -0.9830490350723267,
+          0.17925910651683807,
+          -1.1598073244094849
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 263,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323290_783081769",
+      "mask_path": "../../mask/hdr_front_00263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00264.png",
+      "transform_matrix": [
+        [
+          0.19129949808120728,
+          0.17512890696525574,
+          0.9657818078994751,
+          -6.932046890258789
+        ],
+        [
+          -0.9809088110923767,
+          -0.0009385711746290326,
+          0.1944660097360611,
+          -1.0285916328430176
+        ],
+        [
+          0.03496307134628296,
+          -0.9845450520515442,
+          0.1716059148311615,
+          -1.179171085357666
+        ],
+        [
+          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": "1731323290_883080244",
+      "mask_path": "../../mask/hdr_front_00264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00265.png",
+      "transform_matrix": [
+        [
+          0.18603941798210144,
+          0.16349482536315918,
+          0.9688441157341003,
+          -7.049738883972168
+        ],
+        [
+          -0.9822058081626892,
+          0.0051430040039122105,
+          0.18773728609085083,
+          -1.0575909614562988
+        ],
+        [
+          0.025711307302117348,
+          -0.9865307807922363,
+          0.16154234111309052,
+          -1.1938360929489136
+        ],
+        [
+          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": "1731323290_983080625",
+      "mask_path": "../../mask/hdr_front_00265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00266.png",
+      "transform_matrix": [
+        [
+          0.18217717111110687,
+          0.16128848493099213,
+          0.9699472188949585,
+          -7.141177654266357
+        ],
+        [
+          -0.9830662608146667,
+          0.010007183998823166,
+          0.18297715485095978,
+          -1.0803908109664917
+        ],
+        [
+          0.019805673509836197,
+          -0.9868565797805786,
+          0.16038036346435547,
+          -1.2119978666305542
+        ],
+        [
+          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": "1731323291_83082437",
+      "mask_path": "../../mask/hdr_front_00266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00267.png",
+      "transform_matrix": [
+        [
+          0.18251371383666992,
+          0.16072624921798706,
+          0.9699772596359253,
+          -7.207460403442383
+        ],
+        [
+          -0.9830499887466431,
+          0.012410033494234085,
+          0.18291719257831573,
+          -1.0998722314834595
+        ],
+        [
+          0.017362141981720924,
+          -0.9869211316108704,
+          0.1602669209241867,
+          -1.2318083047866821
+        ],
+        [
+          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": "1731323291_183082342",
+      "mask_path": "../../mask/hdr_front_00267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00268.png",
+      "transform_matrix": [
+        [
+          0.1808103621006012,
+          0.16439229249954224,
+          0.9696818590164185,
+          -7.289388179779053
+        ],
+        [
+          -0.9833136796951294,
+          0.010122137144207954,
+          0.18163619935512543,
+          -1.1232961416244507
+        ],
+        [
+          0.020044337958097458,
+          -0.9863432049751282,
+          0.16347938776016235,
+          -1.2496849298477173
+        ],
+        [
+          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": "1731323291_283080577",
+      "mask_path": "../../mask/hdr_front_00268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00269.png",
+      "transform_matrix": [
+        [
+          0.17663387954235077,
+          0.17144958674907684,
+          0.9692293405532837,
+          -7.375066757202148
+        ],
+        [
+          -0.984183669090271,
+          0.01723148673772812,
+          0.17631106078624725,
+          -1.1390624046325684
+        ],
+        [
+          0.013527194038033485,
+          -0.9850422739982605,
+          0.1717815399169922,
+          -1.2642712593078613
+        ],
+        [
+          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": "1731323291_383082389",
+      "mask_path": "../../mask/hdr_front_00269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00270.png",
+      "transform_matrix": [
+        [
+          0.1720121055841446,
+          0.1730530858039856,
+          0.9697755575180054,
+          -7.446503162384033
+        ],
+        [
+          -0.9850931763648987,
+          0.02839152328670025,
+          0.16966266930103302,
+          -1.1402508020401
+        ],
+        [
+          0.001827250816859305,
+          -0.9845032095909119,
+          0.17535710334777832,
+          -1.2740453481674194
+        ],
+        [
+          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": "1731323291_483081817",
+      "mask_path": "../../mask/hdr_front_00270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00271.png",
+      "transform_matrix": [
+        [
+          0.16402435302734375,
+          0.17291931807994843,
+          0.9711822271347046,
+          -7.513309955596924
+        ],
+        [
+          -0.9864556789398193,
+          0.02989649586379528,
+          0.1612808257341385,
+          -1.1415435075759888
+        ],
+        [
+          -0.001146374037489295,
+          -0.9844822883605957,
+          0.17548100650310516,
+          -1.284928321838379
+        ],
+        [
+          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": "1731323291_583081960",
+      "mask_path": "../../mask/hdr_front_00271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00272.png",
+      "transform_matrix": [
+        [
+          0.1553797572851181,
+          0.1718115508556366,
+          0.9727990627288818,
+          -7.596478462219238
+        ],
+        [
+          -0.987852156162262,
+          0.029331587255001068,
+          0.15260368585586548,
+          -1.1460634469985962
+        ],
+        [
+          -0.002314663026481867,
+          -0.9846931099891663,
+          0.17428195476531982,
+          -1.3050708770751953
+        ],
+        [
+          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": "1731323291_683081626",
+      "mask_path": "../../mask/hdr_front_00272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00273.png",
+      "transform_matrix": [
+        [
+          0.15436866879463196,
+          0.17637477815151215,
+          0.9721432328224182,
+          -7.690471172332764
+        ],
+        [
+          -0.9879888892173767,
+          0.03447338938713074,
+          0.1506303995847702,
+          -1.1532338857650757
+        ],
+        [
+          -0.0069456640630960464,
+          -0.9837192893028259,
+          0.17957793176174164,
+          -1.3376054763793945
+        ],
+        [
+          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": "1731323291_783081769",
+      "mask_path": "../../mask/hdr_front_00273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00274.png",
+      "transform_matrix": [
+        [
+          0.1550465226173401,
+          0.18563009798526764,
+          0.9703102707862854,
+          -7.76640510559082
+        ],
+        [
+          -0.9879027605056763,
+          0.032100431621074677,
+          0.15171650052070618,
+          -1.1635295152664185
+        ],
+        [
+          -0.002984232734888792,
+          -0.9820953011512756,
+          0.1883615255355835,
+          -1.3775304555892944
+        ],
+        [
+          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": "1731323291_883081912",
+      "mask_path": "../../mask/hdr_front_00274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00275.png",
+      "transform_matrix": [
+        [
+          0.15409062802791595,
+          0.18765518069267273,
+          0.9700730443000793,
+          -7.8381171226501465
+        ],
+        [
+          -0.9880212545394897,
+          0.020938483998179436,
+          0.15289117395877838,
+          -1.1785213947296143
+        ],
+        [
+          0.008378967642784119,
+          -0.9820117950439453,
+          0.1886337250471115,
+          -1.4092013835906982
+        ],
+        [
+          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": "1731323291_983082532",
+      "mask_path": "../../mask/hdr_front_00275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00276.png",
+      "transform_matrix": [
+        [
+          0.153910830616951,
+          0.18700185418128967,
+          0.9702277779579163,
+          -7.946832180023193
+        ],
+        [
+          -0.9880191087722778,
+          0.01781294122338295,
+          0.15329988300800323,
+          -1.1843047142028809
+        ],
+        [
+          0.01138475351035595,
+          -0.9821980595588684,
+          0.18750301003456116,
+          -1.4295072555541992
+        ],
+        [
+          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": "1731323292_83082675",
+      "mask_path": "../../mask/hdr_front_00276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00277.png",
+      "transform_matrix": [
+        [
+          0.1485741138458252,
+          0.1850176602602005,
+          0.9714393019676208,
+          -8.052915573120117
+        ],
+        [
+          -0.9888394474983215,
+          0.016817370429635048,
+          0.14803236722946167,
+          -1.1825851202011108
+        ],
+        [
+          0.011051549576222897,
+          -0.9825913906097412,
+          0.1854514181613922,
+          -1.4344509840011597
+        ],
+        [
+          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": "1731323292_183081626",
+      "mask_path": "../../mask/hdr_front_00277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00278.png",
+      "transform_matrix": [
+        [
+          0.1397595852613449,
+          0.17996428906917572,
+          0.9736940860748291,
+          -8.129411697387695
+        ],
+        [
+          -0.9901124835014343,
+          0.013458588160574436,
+          0.13962867856025696,
+          -1.1902521848678589
+        ],
+        [
+          0.01202363334596157,
+          -0.9835810661315918,
+          0.1800658404827118,
+          -1.443246841430664
+        ],
+        [
+          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": "1731323292_283082723",
+      "mask_path": "../../mask/hdr_front_00278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00279.png",
+      "transform_matrix": [
+        [
+          0.13230107724666595,
+          0.17135223746299744,
+          0.9762862920761108,
+          -8.225790023803711
+        ],
+        [
+          -0.9912020564079285,
+          0.0190325565636158,
+          0.13098189234733582,
+          -1.2090574502944946
+        ],
+        [
+          0.003862820565700531,
+          -0.985025942325592,
+          0.17236274480819702,
+          -1.4622182846069336
+        ],
+        [
+          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": "1731323292_383081197",
+      "mask_path": "../../mask/hdr_front_00279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00280.png",
+      "transform_matrix": [
+        [
+          0.13155239820480347,
+          0.17319288849830627,
+          0.9760625958442688,
+          -8.326358795166016
+        ],
+        [
+          -0.9912797808647156,
+          0.03057427890598774,
+          0.12817823886871338,
+          -1.222570776939392
+        ],
+        [
+          -0.007642847020179033,
+          -0.9844132661819458,
+          0.1757047176361084,
+          -1.4716602563858032
+        ],
+        [
+          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": "1731323292_483081102",
+      "mask_path": "../../mask/hdr_front_00280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00281.png",
+      "transform_matrix": [
+        [
+          0.135991632938385,
+          0.1778954267501831,
+          0.9746073484420776,
+          -8.39875602722168
+        ],
+        [
+          -0.9906569123268127,
+          0.03460276126861572,
+          0.13191504776477814,
+          -1.2390267848968506
+        ],
+        [
+          -0.010257018730044365,
+          -0.9834408760070801,
+          0.1809389889240265,
+          -1.4858183860778809
+        ],
+        [
+          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": "1731323292_583081007",
+      "mask_path": "../../mask/hdr_front_00281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00282.png",
+      "transform_matrix": [
+        [
+          0.14085832238197327,
+          0.17819055914878845,
+          0.9738619923591614,
+          -8.466727256774902
+        ],
+        [
+          -0.9900127649307251,
+          0.031121958047151566,
+          0.1374998688697815,
+          -1.2595734596252441
+        ],
+        [
+          -0.005807311274111271,
+          -0.9835037589073181,
+          0.18079470098018646,
+          -1.5057940483093262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 282,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323292_683081626",
+      "mask_path": "../../mask/hdr_front_00282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00283.png",
+      "transform_matrix": [
+        [
+          0.1416025608778,
+          0.18561773002147675,
+          0.9723655581474304,
+          -8.549907684326172
+        ],
+        [
+          -0.9899216890335083,
+          0.02849400043487549,
+          0.13871990144252777,
+          -1.2719407081604004
+        ],
+        [
+          -0.001957713393494487,
+          -0.9822088479995728,
+          0.18778181076049805,
+          -1.5335023403167725
+        ],
+        [
+          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": "1731323292_783080816",
+      "mask_path": "../../mask/hdr_front_00283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00284.png",
+      "transform_matrix": [
+        [
+          0.1413392275571823,
+          0.17662423849105835,
+          0.974077582359314,
+          -8.638158798217773
+        ],
+        [
+          -0.9899463653564453,
+          0.019826825708150864,
+          0.14004671573638916,
+          -1.2907217741012573
+        ],
+        [
+          0.005422774236649275,
+          -0.9840786457061768,
+          0.1776508390903473,
+          -1.5478185415267944
+        ],
+        [
+          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": "1731323292_883081674",
+      "mask_path": "../../mask/hdr_front_00284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00285.png",
+      "transform_matrix": [
+        [
+          0.14086554944515228,
+          0.16197672486305237,
+          0.9766885638237,
+          -8.716456413269043
+        ],
+        [
+          -0.9899997711181641,
+          0.015494626946747303,
+          0.14021572470664978,
+          -1.3147512674331665
+        ],
+        [
+          0.007578263524919748,
+          -0.9866729378700256,
+          0.16253960132598877,
+          -1.5487308502197266
+        ],
+        [
+          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": "1731323292_983081340",
+      "mask_path": "../../mask/hdr_front_00285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00286.png",
+      "transform_matrix": [
+        [
+          0.1353815793991089,
+          0.15018436312675476,
+          0.9793449640274048,
+          -8.806796073913574
+        ],
+        [
+          -0.990787923336029,
+          0.01717829518020153,
+          0.13432911038398743,
+          -1.3440223932266235
+        ],
+        [
+          0.0033506546169519424,
+          -0.9885087609291077,
+          0.15112648904323578,
+          -1.5663866996765137
+        ],
+        [
+          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": "1731323293_83082675",
+      "mask_path": "../../mask/hdr_front_00286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00287.png",
+      "transform_matrix": [
+        [
+          0.13248524069786072,
+          0.13808460533618927,
+          0.9815194010734558,
+          -8.910720825195312
+        ],
+        [
+          -0.9911813139915466,
+          0.01577424816787243,
+          0.1315702199935913,
+          -1.3799844980239868
+        ],
+        [
+          0.002685092855244875,
+          -0.990294873714447,
+          0.1389567255973816,
+          -1.5752267837524414
+        ],
+        [
+          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": "1731323293_183082342",
+      "mask_path": "../../mask/hdr_front_00287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00288.png",
+      "transform_matrix": [
+        [
+          0.13348522782325745,
+          0.13453048467636108,
+          0.9818773865699768,
+          -8.986510276794434
+        ],
+        [
+          -0.9910500049591064,
+          0.016889484599232674,
+          0.1324181705713272,
+          -1.4043940305709839
+        ],
+        [
+          0.0012308732839301229,
+          -0.9907655119895935,
+          0.135580912232399,
+          -1.5890916585922241
+        ],
+        [
+          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": "1731323293_283082008",
+      "mask_path": "../../mask/hdr_front_00288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00289.png",
+      "transform_matrix": [
+        [
+          0.13610796630382538,
+          0.1358463168144226,
+          0.9813359975814819,
+          -9.053574562072754
+        ],
+        [
+          -0.9906935691833496,
+          0.01771637797355652,
+          0.13495337963104248,
+          -1.42060387134552
+        ],
+        [
+          0.0009471943485550582,
+          -0.9905715584754944,
+          0.136993408203125,
+          -1.6185338497161865
+        ],
+        [
+          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": "1731323293_383081674",
+      "mask_path": "../../mask/hdr_front_00289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00290.png",
+      "transform_matrix": [
+        [
+          0.13738176226615906,
+          0.1463160365819931,
+          0.9796519875526428,
+          -9.140824317932129
+        ],
+        [
+          -0.9905162453651428,
+          0.022232580929994583,
+          0.1355847716331482,
+          -1.433680534362793
+        ],
+        [
+          -0.0019419662421569228,
+          -0.9889881014823914,
+          0.14798274636268616,
+          -1.6340388059616089
+        ],
+        [
+          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": "1731323293_483081817",
+      "mask_path": "../../mask/hdr_front_00290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00291.png",
+      "transform_matrix": [
+        [
+          0.1337156891822815,
+          0.15890809893608093,
+          0.9781964421272278,
+          -9.220592498779297
+        ],
+        [
+          -0.9909835457801819,
+          0.029876112937927246,
+          0.13061027228832245,
+          -1.4323629140853882
+        ],
+        [
+          -0.008469680324196815,
+          -0.9868412613868713,
+          0.1614702194929123,
+          -1.6437699794769287
+        ],
+        [
+          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": "1731323293_583081007",
+      "mask_path": "../../mask/hdr_front_00291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00292.png",
+      "transform_matrix": [
+        [
+          0.1272984743118286,
+          0.16382856667041779,
+          0.978240966796875,
+          -9.28227710723877
+        ],
+        [
+          -0.9917994141578674,
+          0.032315872609615326,
+          0.12365080416202545,
+          -1.4318263530731201
+        ],
+        [
+          -0.011355174705386162,
+          -0.9859594106674194,
+          0.1665988564491272,
+          -1.653725266456604
+        ],
+        [
+          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": "1731323293_683080434",
+      "mask_path": "../../mask/hdr_front_00292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00293.png",
+      "transform_matrix": [
+        [
+          0.11797446012496948,
+          0.16536858677864075,
+          0.9791502952575684,
+          -9.348724365234375
+        ],
+        [
+          -0.992939293384552,
+          0.03194833919405937,
+          0.11424010992050171,
+          -1.4326330423355103
+        ],
+        [
+          -0.012390499003231525,
+          -0.9857142567634583,
+          0.16797006130218506,
+          -1.6697323322296143
+        ],
+        [
+          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": "1731323293_783081293",
+      "mask_path": "../../mask/hdr_front_00293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00294.png",
+      "transform_matrix": [
+        [
+          0.11526111513376236,
+          0.17522509396076202,
+          0.9777582287788391,
+          -9.439030647277832
+        ],
+        [
+          -0.9932258725166321,
+          0.03493427485227585,
+          0.11082389950752258,
+          -1.4306303262710571
+        ],
+        [
+          -0.01473814807832241,
+          -0.9839084148406982,
+          0.17806462943553925,
+          -1.7055609226226807
+        ],
+        [
+          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": "1731323293_883081912",
+      "mask_path": "../../mask/hdr_front_00294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00295.png",
+      "transform_matrix": [
+        [
+          0.1194256842136383,
+          0.1784287691116333,
+          0.9766784310340881,
+          -9.532109260559082
+        ],
+        [
+          -0.9927687644958496,
+          0.033499568700790405,
+          0.11527316272258759,
+          -1.4383734464645386
+        ],
+        [
+          -0.01215025782585144,
+          -0.9833824634552002,
+          0.18113923072814941,
+          -1.7437489032745361
+        ],
+        [
+          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": "1731323293_983082532",
+      "mask_path": "../../mask/hdr_front_00295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00296.png",
+      "transform_matrix": [
+        [
+          0.1187061071395874,
+          0.1792735457420349,
+          0.9766114354133606,
+          -9.607325553894043
+        ],
+        [
+          -0.992927074432373,
+          0.023544590920209885,
+          0.11636725813150406,
+          -1.4513864517211914
+        ],
+        [
+          -0.002132346387952566,
+          -0.9835174679756165,
+          0.1808004379272461,
+          -1.7749302387237549
+        ],
+        [
+          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": "1731323294_83082437",
+      "mask_path": "../../mask/hdr_front_00296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00297.png",
+      "transform_matrix": [
+        [
+          0.11944252997636795,
+          0.18147680163383484,
+          0.9761145710945129,
+          -9.688916206359863
+        ],
+        [
+          -0.9928299784660339,
+          0.017171872779726982,
+          0.11829537153244019,
+          -1.4572577476501465
+        ],
+        [
+          0.004706148523837328,
+          -0.983245313167572,
+          0.18222665786743164,
+          -1.7946101427078247
+        ],
+        [
+          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": "1731323294_183082342",
+      "mask_path": "../../mask/hdr_front_00297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00298.png",
+      "transform_matrix": [
+        [
+          0.12036839872598648,
+          0.18100561201572418,
+          0.976088285446167,
+          -9.787238121032715
+        ],
+        [
+          -0.9927032589912415,
+          0.014822165481746197,
+          0.11966867744922638,
+          -1.4529811143875122
+        ],
+        [
+          0.007192959543317556,
+          -0.9833704233169556,
+          0.18146897852420807,
+          -1.7992805242538452
+        ],
+        [
+          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": "1731323294_283082962",
+      "mask_path": "../../mask/hdr_front_00298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00299.png",
+      "transform_matrix": [
+        [
+          0.1163787990808487,
+          0.1818147897720337,
+          0.9764217734336853,
+          -9.872602462768555
+        ],
+        [
+          -0.9931703209877014,
+          0.013103075325489044,
+          0.11593519896268845,
+          -1.4537519216537476
+        ],
+        [
+          0.008284605108201504,
+          -0.9832455515861511,
+          0.18209797143936157,
+          -1.8100332021713257
+        ],
+        [
+          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": "1731323294_383082389",
+      "mask_path": "../../mask/hdr_front_00299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00300.png",
+      "transform_matrix": [
+        [
+          0.1100911870598793,
+          0.17684437334537506,
+          0.9780623912811279,
+          -9.944095611572266
+        ],
+        [
+          -0.9938989877700806,
+          0.012973668985068798,
+          0.10952799767255783,
+          -1.4596645832061768
+        ],
+        [
+          0.006680354475975037,
+          -0.9841533303260803,
+          0.1771937608718872,
+          -1.8236950635910034
+        ],
+        [
+          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": "1731323294_483082056",
+      "mask_path": "../../mask/hdr_front_00300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00301.png",
+      "transform_matrix": [
+        [
+          0.10520894825458527,
+          0.1749580055475235,
+          0.978938639163971,
+          -10.044707298278809
+        ],
+        [
+          -0.9944493770599365,
+          0.017308035865426064,
+          0.10378260910511017,
+          -1.4667428731918335
+        ],
+        [
+          0.0012140922481194139,
+          -0.9844236969947815,
+          0.17580784857273102,
+          -1.8363728523254395
+        ],
+        [
+          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": "1731323294_583081960",
+      "mask_path": "../../mask/hdr_front_00301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00302.png",
+      "transform_matrix": [
+        [
+          0.10831933468580246,
+          0.17939305305480957,
+          0.9777961373329163,
+          -10.136725425720215
+        ],
+        [
+          -0.9941055178642273,
+          0.02408583089709282,
+          0.10570714622735977,
+          -1.4794178009033203
+        ],
+        [
+          -0.0045879012905061245,
+          -0.9834825992584229,
+          0.18094460666179657,
+          -1.8545165061950684
+        ],
+        [
+          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": "1731323294_683082580",
+      "mask_path": "../../mask/hdr_front_00302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00303.png",
+      "transform_matrix": [
+        [
+          0.11471061408519745,
+          0.18205192685127258,
+          0.9765748977661133,
+          -10.199687004089355
+        ],
+        [
+          -0.9933788180351257,
+          0.027284493669867516,
+          0.11159808188676834,
+          -1.4993715286254883
+        ],
+        [
+          -0.006328705698251724,
+          -0.9829102754592896,
+          0.18397633731365204,
+          -1.8744943141937256
+        ],
+        [
+          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": "1731323294_783081769",
+      "mask_path": "../../mask/hdr_front_00303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00304.png",
+      "transform_matrix": [
+        [
+          0.12005162239074707,
+          0.1861240267753601,
+          0.9751642942428589,
+          -10.269417762756348
+        ],
+        [
+          -0.9927433133125305,
+          0.029385710135102272,
+          0.11660707741975784,
+          -1.519451379776001
+        ],
+        [
+          -0.006952514871954918,
+          -0.9820867776870728,
+          0.1883011907339096,
+          -1.8975274562835693
+        ],
+        [
+          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": "1731323294_883082389",
+      "mask_path": "../../mask/hdr_front_00304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00305.png",
+      "transform_matrix": [
+        [
+          0.12109733372926712,
+          0.19309888780117035,
+          0.9736776947975159,
+          -10.354159355163574
+        ],
+        [
+          -0.9926176071166992,
+          0.030233172699809074,
+          0.11745709925889969,
+          -1.5283114910125732
+        ],
+        [
+          -0.0067565287463366985,
+          -0.9807134866714478,
+          0.1953345388174057,
+          -1.9285144805908203
+        ],
+        [
+          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": "1731323294_983081102",
+      "mask_path": "../../mask/hdr_front_00305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00306.png",
+      "transform_matrix": [
+        [
+          0.12018144875764847,
+          0.19424396753311157,
+          0.9735633134841919,
+          -10.439247131347656
+        ],
+        [
+          -0.9927381277084351,
+          0.028677072376012802,
+          0.11682687699794769,
+          -1.541922688484192
+        ],
+        [
+          -0.005226027686148882,
+          -0.980534017086029,
+          0.1962798535823822,
+          -1.9525197744369507
+        ],
+        [
+          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": "1731323295_83080768",
+      "mask_path": "../../mask/hdr_front_00306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00307.png",
+      "transform_matrix": [
+        [
+          0.11737411469221115,
+          0.18833938241004944,
+          0.9750649929046631,
+          -10.520532608032227
+        ],
+        [
+          -0.9930782318115234,
+          0.026543637737631798,
+          0.11441542953252792,
+          -1.5619046688079834
+        ],
+        [
+          -0.004332836251705885,
+          -0.9817453026771545,
+          0.19015128910541534,
+          -1.975200891494751
+        ],
+        [
+          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": "1731323295_183079719",
+      "mask_path": "../../mask/hdr_front_00307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00308.png",
+      "transform_matrix": [
+        [
+          0.1132807657122612,
+          0.179175466299057,
+          0.9772736430168152,
+          -10.630378723144531
+        ],
+        [
+          -0.9935219287872314,
+          0.029363587498664856,
+          0.10978062450885773,
+          -1.585020899772644
+        ],
+        [
+          -0.00902626197785139,
+          -0.9833788871765137,
+          0.18134109675884247,
+          -1.991336464881897
+        ],
+        [
+          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": "1731323295_283080577",
+      "mask_path": "../../mask/hdr_front_00308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00309.png",
+      "transform_matrix": [
+        [
+          0.11313376575708389,
+          0.17349694669246674,
+          0.9783146977424622,
+          -10.731578826904297
+        ],
+        [
+          -0.9934921860694885,
+          0.03283027186989784,
+          0.10906670987606049,
+          -1.6104100942611694
+        ],
+        [
+          -0.01319559570401907,
+          -0.9842870831489563,
+          0.1760820597410202,
+          -2.005350112915039
+        ],
+        [
+          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": "1731323295_383080482",
+      "mask_path": "../../mask/hdr_front_00309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00310.png",
+      "transform_matrix": [
+        [
+          0.11559230834245682,
+          0.1700754314661026,
+          0.9786279797554016,
+          -10.810545921325684
+        ],
+        [
+          -0.9932451248168945,
+          0.029846934601664543,
+          0.11213173717260361,
+          -1.6309263706207275
+        ],
+        [
+          -0.010138196870684624,
+          -0.984978973865509,
+          0.1723766326904297,
+          -2.0236499309539795
+        ],
+        [
+          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": "1731323295_483080625",
+      "mask_path": "../../mask/hdr_front_00310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00311.png",
+      "transform_matrix": [
+        [
+          0.11914975941181183,
+          0.16868489980697632,
+          0.9784420132637024,
+          -10.898934364318848
+        ],
+        [
+          -0.9928672313690186,
+          0.024462146684527397,
+          0.11668907850980759,
+          -1.6486098766326904
+        ],
+        [
+          -0.0042511033825576305,
+          -0.9853664636611938,
+          0.1703963726758957,
+          -2.043299674987793
+        ],
+        [
+          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": "1731323295_583080768",
+      "mask_path": "../../mask/hdr_front_00311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00312.png",
+      "transform_matrix": [
+        [
+          0.10809352993965149,
+          0.20267432928085327,
+          0.9732620120048523,
+          -10.981812477111816
+        ],
+        [
+          -0.9940176010131836,
+          0.006626260466873646,
+          0.10901884734630585,
+          -1.662237286567688
+        ],
+        [
+          0.015646232292056084,
+          -0.9792237281799316,
+          0.20217809081077576,
+          -2.0575296878814697
+        ],
+        [
+          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": "1731323295_683080434",
+      "mask_path": "../../mask/hdr_front_00312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00313.png",
+      "transform_matrix": [
+        [
+          0.09202752262353897,
+          0.23214328289031982,
+          0.9683183431625366,
+          -11.043914794921875
+        ],
+        [
+          -0.9954172968864441,
+          -0.003934608306735754,
+          0.09554624557495117,
+          -1.6645251512527466
+        ],
+        [
+          0.02599036693572998,
+          -0.9726736545562744,
+          0.23071730136871338,
+          -2.061275005340576
+        ],
+        [
+          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": "1731323295_783080577",
+      "mask_path": "../../mask/hdr_front_00313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00314.png",
+      "transform_matrix": [
+        [
+          0.0912274494767189,
+          0.22457610070705414,
+          0.9701768755912781,
+          -11.10644245147705
+        ],
+        [
+          -0.9957269430160522,
+          0.006551586091518402,
+          0.0921134278178215,
+          -1.6665467023849487
+        ],
+        [
+          0.014330276288092136,
+          -0.974434494972229,
+          0.22421416640281677,
+          -2.072798013687134
+        ],
+        [
+          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": "1731323295_883080720",
+      "mask_path": "../../mask/hdr_front_00314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00315.png",
+      "transform_matrix": [
+        [
+          0.09481231123209,
+          0.22085271775722504,
+          0.9706876873970032,
+          -11.187833786010742
+        ],
+        [
+          -0.9954860806465149,
+          0.016880327835679054,
+          0.09339386224746704,
+          -1.6705394983291626
+        ],
+        [
+          0.004240763373672962,
+          -0.975161075592041,
+          0.22145628929138184,
+          -2.106037139892578
+        ],
+        [
+          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": "1731323295_983079910",
+      "mask_path": "../../mask/hdr_front_00315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00316.png",
+      "transform_matrix": [
+        [
+          0.09618689864873886,
+          0.22673887014389038,
+          0.9691942930221558,
+          -11.269876480102539
+        ],
+        [
+          -0.9953619241714478,
+          0.020306071266531944,
+          0.0940333753824234,
+          -1.6731066703796387
+        ],
+        [
+          0.0016404964262619615,
+          -0.9737439155578613,
+          0.22764043509960175,
+          -2.1469011306762695
+        ],
+        [
+          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": "1731323296_83080530",
+      "mask_path": "../../mask/hdr_front_00316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00317.png",
+      "transform_matrix": [
+        [
+          0.09417024254798889,
+          0.2272394895553589,
+          0.9692751169204712,
+          -11.337093353271484
+        ],
+        [
+          -0.9955029487609863,
+          0.011433904990553856,
+          0.09403782337903976,
+          -1.6861982345581055
+        ],
+        [
+          0.010286507196724415,
+          -0.9737717509269714,
+          0.22729432582855225,
+          -2.1770095825195312
+        ],
+        [
+          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": "1731323296_183080196",
+      "mask_path": "../../mask/hdr_front_00317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00318.png",
+      "transform_matrix": [
+        [
+          0.09242798388004303,
+          0.22467581927776337,
+          0.9700401425361633,
+          -11.409854888916016
+        ],
+        [
+          -0.9954730272293091,
+          -0.0008181690936908126,
+          0.09504079818725586,
+          -1.7056289911270142
+        ],
+        [
+          0.022147025913000107,
+          -0.9744332432746887,
+          0.22358310222625732,
+          -2.1966004371643066
+        ],
+        [
+          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": "1731323296_283080816",
+      "mask_path": "../../mask/hdr_front_00318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00319.png",
+      "transform_matrix": [
+        [
+          0.09295513480901718,
+          0.22137583792209625,
+          0.970748245716095,
+          -11.502603530883789
+        ],
+        [
+          -0.9954295754432678,
+          -0.0007769694784656167,
+          0.09549572318792343,
+          -1.7153602838516235
+        ],
+        [
+          0.02189468778669834,
+          -0.9751882553100586,
+          0.22029182314872742,
+          -2.2099101543426514
+        ],
+        [
+          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": "1731323296_383080005",
+      "mask_path": "../../mask/hdr_front_00319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00320.png",
+      "transform_matrix": [
+        [
+          0.09199361503124237,
+          0.21488097310066223,
+          0.9722979664802551,
+          -11.592575073242188
+        ],
+        [
+          -0.9956088662147522,
+          0.002860659034922719,
+          0.09356695413589478,
+          -1.72075355052948
+        ],
+        [
+          0.01732434332370758,
+          -0.9766361117362976,
+          0.21420058608055115,
+          -2.2142257690429688
+        ],
+        [
+          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": "1731323296_483080625",
+      "mask_path": "../../mask/hdr_front_00320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00321.png",
+      "transform_matrix": [
+        [
+          0.08762083947658539,
+          0.20576468110084534,
+          0.9746710062026978,
+          -11.669272422790527
+        ],
+        [
+          -0.9960818886756897,
+          0.006336234509944916,
+          0.08820797502994537,
+          -1.7252576351165771
+        ],
+        [
+          0.011974344030022621,
+          -0.9785810112953186,
+          0.20551365613937378,
+          -2.2177460193634033
+        ],
+        [
+          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": "1731323296_583081007",
+      "mask_path": "../../mask/hdr_front_00321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00322.png",
+      "transform_matrix": [
+        [
+          0.07912643998861313,
+          0.19336099922657013,
+          0.9779318571090698,
+          -11.762568473815918
+        ],
+        [
+          -0.9968551993370056,
+          0.011096864938735962,
+          0.07846345752477646,
+          -1.7305675745010376
+        ],
+        [
+          0.004319797735661268,
+          -0.9810649752616882,
+          0.19363099336624146,
+          -2.228041648864746
+        ],
+        [
+          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": "1731323296_683081626",
+      "mask_path": "../../mask/hdr_front_00322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00323.png",
+      "transform_matrix": [
+        [
+          0.07898012548685074,
+          0.19452960789203644,
+          0.9777119159698486,
+          -11.86353588104248
+        ],
+        [
+          -0.9968226552009583,
+          0.025578001514077187,
+          0.07543480396270752,
+          -1.735063076019287
+        ],
+        [
+          -0.010333609767258167,
+          -0.9805631041526794,
+          0.19593165814876556,
+          -2.2398483753204346
+        ],
+        [
+          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": "1731323296_783080816",
+      "mask_path": "../../mask/hdr_front_00323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00324.png",
+      "transform_matrix": [
+        [
+          0.08714070916175842,
+          0.2022302746772766,
+          0.9754535555839539,
+          -11.937880516052246
+        ],
+        [
+          -0.9960177540779114,
+          0.03621203824877739,
+          0.08147034049034119,
+          -1.7423062324523926
+        ],
+        [
+          -0.018847385421395302,
+          -0.9786683320999146,
+          0.20458048582077026,
+          -2.261340618133545
+        ],
+        [
+          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": "1731323296_883081436",
+      "mask_path": "../../mask/hdr_front_00324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00325.png",
+      "transform_matrix": [
+        [
+          0.10288172215223312,
+          0.2028852105140686,
+          0.9737827777862549,
+          -12.00123405456543
+        ],
+        [
+          -0.99457848072052,
+          0.03587642312049866,
+          0.09760406613349915,
+          -1.761817455291748
+        ],
+        [
+          -0.015133420005440712,
+          -0.978545069694519,
+          0.2054762989282608,
+          -2.2879154682159424
+        ],
+        [
+          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": "1731323296_983081340",
+      "mask_path": "../../mask/hdr_front_00325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00326.png",
+      "transform_matrix": [
+        [
+          0.12064653635025024,
+          0.20747481286525726,
+          0.9707721471786499,
+          -12.08137035369873
+        ],
+        [
+          -0.9926043748855591,
+          0.03846391662955284,
+          0.11513926833868027,
+          -1.78176748752594
+        ],
+        [
+          -0.013451209291815758,
+          -0.9774839282035828,
+          0.21058091521263123,
+          -2.314606189727783
+        ],
+        [
+          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": "1731323297_83080053",
+      "mask_path": "../../mask/hdr_front_00326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00327.png",
+      "transform_matrix": [
+        [
+          0.1348019540309906,
+          0.2090054303407669,
+          0.9685789942741394,
+          -12.162583351135254
+        ],
+        [
+          -0.9908063411712646,
+          0.03972185030579567,
+          0.1293240785598755,
+          -1.7957003116607666
+        ],
+        [
+          -0.011444312520325184,
+          -0.9771074056625366,
+          0.21243852376937866,
+          -2.3356728553771973
+        ],
+        [
+          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": "1731323297_183080434",
+      "mask_path": "../../mask/hdr_front_00327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00328.png",
+      "transform_matrix": [
+        [
+          0.14246483147144318,
+          0.20307940244674683,
+          0.9687427878379822,
+          -12.235079765319824
+        ],
+        [
+          -0.9897899031639099,
+          0.033632390201091766,
+          0.1385095864534378,
+          -1.8085213899612427
+        ],
+        [
+          -0.004452684428542852,
+          -0.9785845875740051,
+          0.20579735934734344,
+          -2.3526434898376465
+        ],
+        [
+          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": "1731323297_283080816",
+      "mask_path": "../../mask/hdr_front_00328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00329.png",
+      "transform_matrix": [
+        [
+          0.14090318977832794,
+          0.19410255551338196,
+          0.970809280872345,
+          -12.3233642578125
+        ],
+        [
+          -0.9899728298187256,
+          0.03753223642706871,
+          0.13618043065071106,
+          -1.8219707012176514
+        ],
+        [
+          -0.010003671050071716,
+          -0.9802629947662354,
+          0.19744466245174408,
+          -2.3730406761169434
+        ],
+        [
+          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": "1731323297_383080959",
+      "mask_path": "../../mask/hdr_front_00329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00330.png",
+      "transform_matrix": [
+        [
+          0.13904118537902832,
+          0.1885538101196289,
+          0.9721702933311462,
+          -12.413905143737793
+        ],
+        [
+          -0.9900789856910706,
+          0.046569883823394775,
+          0.13257023692131042,
+          -1.833991289138794
+        ],
+        [
+          -0.0202772356569767,
+          -0.9809580445289612,
+          0.19315829873085022,
+          -2.384702444076538
+        ],
+        [
+          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": "1731323297_483080863",
+      "mask_path": "../../mask/hdr_front_00330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00331.png",
+      "transform_matrix": [
+        [
+          0.13973158597946167,
+          0.18363776803016663,
+          0.9730119705200195,
+          -12.483237266540527
+        ],
+        [
+          -0.9899877905845642,
+          0.04573444649577141,
+          0.1335379183292389,
+          -1.8485887050628662
+        ],
+        [
+          -0.01997755840420723,
+          -0.9819294810295105,
+          0.18818970024585724,
+          -2.3909666538238525
+        ],
+        [
+          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": "1731323297_583080530",
+      "mask_path": "../../mask/hdr_front_00331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00332.png",
+      "transform_matrix": [
+        [
+          0.1411837637424469,
+          0.17723022401332855,
+          0.9739900231361389,
+          -12.554756164550781
+        ],
+        [
+          -0.989850640296936,
+          0.04138493910431862,
+          0.13595229387283325,
+          -1.8650203943252563
+        ],
+        [
+          -0.016213664785027504,
+          -0.9832989573478699,
+          0.18127432465553284,
+          -2.4034345149993896
+        ],
+        [
+          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": "1731323297_683081865",
+      "mask_path": "../../mask/hdr_front_00332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00333.png",
+      "transform_matrix": [
+        [
+          0.1378869265317917,
+          0.18278734385967255,
+          0.9734351634979248,
+          -12.63951301574707
+        ],
+        [
+          -0.990446925163269,
+          0.026804933324456215,
+          0.1352633535861969,
+          -1.8752529621124268
+        ],
+        [
+          -0.0013684320729225874,
+          -0.9827869534492493,
+          0.1847372055053711,
+          -2.4171454906463623
+        ],
+        [
+          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": "1731323297_783080339",
+      "mask_path": "../../mask/hdr_front_00333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00334.png",
+      "transform_matrix": [
+        [
+          0.13051076233386993,
+          0.19091789424419403,
+          0.9728913307189941,
+          -12.715614318847656
+        ],
+        [
+          -0.9914466738700867,
+          0.02461490035057068,
+          0.12816956639289856,
+          -1.8823496103286743
+        ],
+        [
+          0.0005222440813668072,
+          -0.9812974333763123,
+          0.19249744713306427,
+          -2.423835039138794
+        ],
+        [
+          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": "1731323297_883081197",
+      "mask_path": "../../mask/hdr_front_00334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00335.png",
+      "transform_matrix": [
+        [
+          0.12378627061843872,
+          0.19241635501384735,
+          0.9734746813774109,
+          -12.780186653137207
+        ],
+        [
+          -0.9922751188278198,
+          0.032101716846227646,
+          0.11983171850442886,
+          -1.882371187210083
+        ],
+        [
+          -0.008192624896764755,
+          -0.9807882308959961,
+          0.19490371644496918,
+          -2.4313859939575195
+        ],
+        [
+          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": "1731323297_983080387",
+      "mask_path": "../../mask/hdr_front_00335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00336.png",
+      "transform_matrix": [
+        [
+          0.11543533951044083,
+          0.19394923746585846,
+          0.9741962552070618,
+          -12.845220565795898
+        ],
+        [
+          -0.9932470917701721,
+          0.034003861248493195,
+          0.11092302203178406,
+          -1.8820669651031494
+        ],
+        [
+          -0.011612999252974987,
+          -0.9804220795631409,
+          0.19656477868556976,
+          -2.451028347015381
+        ],
+        [
+          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": "1731323298_83080053",
+      "mask_path": "../../mask/hdr_front_00336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00337.png",
+      "transform_matrix": [
+        [
+          0.11083249747753143,
+          0.19526852667331696,
+          0.9744672179222107,
+          -12.933262825012207
+        ],
+        [
+          -0.993742823600769,
+          0.03541852533817291,
+          0.10592750459909439,
+          -1.8810443878173828
+        ],
+        [
+          -0.013829882256686687,
+          -0.9801101088523865,
+          0.19797223806381226,
+          -2.4782912731170654
+        ],
+        [
+          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": "1731323298_183080196",
+      "mask_path": "../../mask/hdr_front_00337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00338.png",
+      "transform_matrix": [
+        [
+          0.11267553269863129,
+          0.19791051745414734,
+          0.9737226366996765,
+          -13.023890495300293
+        ],
+        [
+          -0.9935641884803772,
+          0.03387105464935303,
+          0.1080872043967247,
+          -1.8830548524856567
+        ],
+        [
+          -0.011589420028030872,
+          -0.9796347618103027,
+          0.2004532665014267,
+          -2.5123867988586426
+        ],
+        [
+          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": "1731323298_283081293",
+      "mask_path": "../../mask/hdr_front_00338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00339.png",
+      "transform_matrix": [
+        [
+          0.1128566637635231,
+          0.20005258917808533,
+          0.9732638001441956,
+          -13.096854209899902
+        ],
+        [
+          -0.9936084747314453,
+          0.02504228800535202,
+          0.11006838828325272,
+          -1.893985390663147
+        ],
+        [
+          -0.0023532870691269636,
+          -0.9794650673866272,
+          0.20160013437271118,
+          -2.5460317134857178
+        ],
+        [
+          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": "1731323298_383081912",
+      "mask_path": "../../mask/hdr_front_00339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00340.png",
+      "transform_matrix": [
+        [
+          0.12150515615940094,
+          0.1968306452035904,
+          0.9728794097900391,
+          -13.185864448547363
+        ],
+        [
+          -0.9925659894943237,
+          0.01715814508497715,
+          0.12049246579408646,
+          -1.9019603729248047
+        ],
+        [
+          0.00702380808070302,
+          -0.9802873730659485,
+          0.19745220243930817,
+          -2.5686683654785156
+        ],
+        [
+          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": "1731323298_483081817",
+      "mask_path": "../../mask/hdr_front_00340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00341.png",
+      "transform_matrix": [
+        [
+          0.14318569004535675,
+          0.19418317079544067,
+          0.9704591035842896,
+          -13.288376808166504
+        ],
+        [
+          -0.9895691275596619,
+          0.012401311658322811,
+          0.14352387189865112,
+          -1.9090462923049927
+        ],
+        [
+          0.015834953635931015,
+          -0.9808868765830994,
+          0.193933367729187,
+          -2.5773465633392334
+        ],
+        [
+          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": "1731323298_583081007",
+      "mask_path": "../../mask/hdr_front_00341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00342.png",
+      "transform_matrix": [
+        [
+          0.17451831698417664,
+          0.19040252268314362,
+          0.9660694599151611,
+          -13.363062858581543
+        ],
+        [
+          -0.9843544960021973,
+          0.009542902931571007,
+          0.17594069242477417,
+          -1.9298527240753174
+        ],
+        [
+          0.02428044192492962,
+          -0.9816597700119019,
+          0.18908900022506714,
+          -2.580976724624634
+        ],
+        [
+          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": "1731323298_683081626",
+      "mask_path": "../../mask/hdr_front_00342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00343.png",
+      "transform_matrix": [
+        [
+          0.2105351686477661,
+          0.18333154916763306,
+          0.9602419137954712,
+          -13.423646926879883
+        ],
+        [
+          -0.9771345853805542,
+          0.00960806105285883,
+          0.2124045044183731,
+          -1.9564268589019775
+        ],
+        [
+          0.02971438691020012,
+          -0.9830042123794556,
+          0.18116243183612823,
+          -2.5897135734558105
+        ],
+        [
+          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": "1731323298_783082485",
+      "mask_path": "../../mask/hdr_front_00343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00344.png",
+      "transform_matrix": [
+        [
+          0.25748738646507263,
+          0.17684227228164673,
+          0.9499615430831909,
+          -13.506321907043457
+        ],
+        [
+          -0.9659603238105774,
+          0.021751541644334793,
+          0.25777468085289,
+          -1.9896529912948608
+        ],
+        [
+          0.02492232248187065,
+          -0.9839989542961121,
+          0.1764233559370041,
+          -2.604543447494507
+        ],
+        [
+          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": "1731323298_883082389",
+      "mask_path": "../../mask/hdr_front_00344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00345.png",
+      "transform_matrix": [
+        [
+          0.3146791458129883,
+          0.17338630557060242,
+          0.9332278370857239,
+          -13.585342407226562
+        ],
+        [
+          -0.9488745331764221,
+          0.03179343044757843,
+          0.314048171043396,
+          -2.03048038482666
+        ],
+        [
+          0.024781133979558945,
+          -0.9843406081199646,
+          0.17452655732631683,
+          -2.614069700241089
+        ],
+        [
+          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": "1731323298_983081579",
+      "mask_path": "../../mask/hdr_front_00345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00346.png",
+      "transform_matrix": [
+        [
+          0.37294551730155945,
+          0.17215177416801453,
+          0.9117431044578552,
+          -13.636279106140137
+        ],
+        [
+          -0.9272280931472778,
+          0.03308062255382538,
+          0.37303343415260315,
+          -2.0779969692230225
+        ],
+        [
+          0.03405733406543732,
+          -0.9845148921012878,
+          0.1719612181186676,
+          -2.6225996017456055
+        ],
+        [
+          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": "1731323299_83082675",
+      "mask_path": "../../mask/hdr_front_00346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00347.png",
+      "transform_matrix": [
+        [
+          0.43175485730171204,
+          0.17480260133743286,
+          0.8848908543586731,
+          -13.682862281799316
+        ],
+        [
+          -0.9007286429405212,
+          0.03167104348540306,
+          0.4332261085510254,
+          -2.1319615840911865
+        ],
+        [
+          0.04770362749695778,
+          -0.9840940237045288,
+          0.17112384736537933,
+          -2.632408857345581
+        ],
+        [
+          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": "1731323299_183082103",
+      "mask_path": "../../mask/hdr_front_00347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00348.png",
+      "transform_matrix": [
+        [
+          0.47984445095062256,
+          0.1816832721233368,
+          0.8583359122276306,
+          -13.740546226501465
+        ],
+        [
+          -0.8749180436134338,
+          0.026244821026921272,
+          0.48355937004089355,
+          -2.189406156539917
+        ],
+        [
+          0.06532777100801468,
+          -0.9830068349838257,
+          0.1715514212846756,
+          -2.6471035480499268
+        ],
+        [
+          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": "1731323299_283082246",
+      "mask_path": "../../mask/hdr_front_00348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00349.png",
+      "transform_matrix": [
+        [
+          0.5201359987258911,
+          0.18180525302886963,
+          0.834509015083313,
+          -13.786564826965332
+        ],
+        [
+          -0.8505274057388306,
+          0.02118930034339428,
+          0.5255037546157837,
+          -2.245131731033325
+        ],
+        [
+          0.07785666733980179,
+          -0.9831061959266663,
+          0.16565166413784027,
+          -2.6630992889404297
+        ],
+        [
+          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": "1731323299_383082151",
+      "mask_path": "../../mask/hdr_front_00349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00350.png",
+      "transform_matrix": [
+        [
+          0.5570071339607239,
+          0.1743842363357544,
+          0.8119933009147644,
+          -13.828717231750488
+        ],
+        [
+          -0.8260717988014221,
+          0.015415065921843052,
+          0.5633541345596313,
+          -2.3108317852020264
+        ],
+        [
+          0.0857231393456459,
+          -0.9845569729804993,
+          0.1526401787996292,
+          -2.6664273738861084
+        ],
+        [
+          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": "1731323299_483082532",
+      "mask_path": "../../mask/hdr_front_00350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00351.png",
+      "transform_matrix": [
+        [
+          0.589568018913269,
+          0.1639852523803711,
+          0.7908971905708313,
+          -13.902762413024902
+        ],
+        [
+          -0.8038471937179565,
+          0.02336573228240013,
+          0.5943768620491028,
+          -2.3944966793060303
+        ],
+        [
+          0.07898911088705063,
+          -0.9861860275268555,
+          0.1455947756767273,
+          -2.685058355331421
+        ],
+        [
+          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": "1731323299_583081960",
+      "mask_path": "../../mask/hdr_front_00351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00352.png",
+      "transform_matrix": [
+        [
+          0.6216284036636353,
+          0.15918183326721191,
+          0.7669675946235657,
+          -13.96352481842041
+        ],
+        [
+          -0.7800399661064148,
+          0.03639054298400879,
+          0.6246707439422607,
+          -2.4650797843933105
+        ],
+        [
+          0.07152587175369263,
+          -0.9865784049034119,
+          0.1467895805835724,
+          -2.712533950805664
+        ],
+        [
+          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": "1731323299_683082342",
+      "mask_path": "../../mask/hdr_front_00352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00353.png",
+      "transform_matrix": [
+        [
+          0.6519325375556946,
+          0.1610092669725418,
+          0.7409858703613281,
+          -13.997082710266113
+        ],
+        [
+          -0.754382848739624,
+          0.03881026431918144,
+          0.6552863717079163,
+          -2.519714117050171
+        ],
+        [
+          0.07674933224916458,
+          -0.986189603805542,
+          0.14676432311534882,
+          -2.726088285446167
+        ],
+        [
+          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": "1731323299_783082485",
+      "mask_path": "../../mask/hdr_front_00353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00354.png",
+      "transform_matrix": [
+        [
+          0.6769132614135742,
+          0.16602358222007751,
+          0.7170945405960083,
+          -14.042215347290039
+        ],
+        [
+          -0.7310107946395874,
+          0.037686776369810104,
+          0.6813244223594666,
+          -2.5861611366271973
+        ],
+        [
+          0.08609094470739365,
+          -0.9854013919830322,
+          0.14687570929527283,
+          -2.733060359954834
+        ],
+        [
+          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": "1731323299_883081912",
+      "mask_path": "../../mask/hdr_front_00354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00355.png",
+      "transform_matrix": [
+        [
+          0.6879536509513855,
+          0.16624900698661804,
+          0.70645672082901,
+          -14.102782249450684
+        ],
+        [
+          -0.7207238674163818,
+          0.04208361729979515,
+          0.6919437646865845,
+          -2.649040460586548
+        ],
+        [
+          0.08530469983816147,
+          -0.985185444355011,
+          0.14877119660377502,
+          -2.737621545791626
+        ],
+        [
+          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": "1731323299_983081340",
+      "mask_path": "../../mask/hdr_front_00355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00356.png",
+      "transform_matrix": [
+        [
+          0.6894718408584595,
+          0.16495570540428162,
+          0.7052788138389587,
+          -14.155134201049805
+        ],
+        [
+          -0.7195035815238953,
+          0.04396175593137741,
+          0.693095862865448,
+          -2.6971967220306396
+        ],
+        [
+          0.08332481980323792,
+          -0.9853208065032959,
+          0.14899663627147675,
+          -2.7392868995666504
+        ],
+        [
+          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": "1731323300_83081245",
+      "mask_path": "../../mask/hdr_front_00356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00357.png",
+      "transform_matrix": [
+        [
+          0.6855916976928711,
+          0.1607128530740738,
+          0.710024893283844,
+          -14.209096908569336
+        ],
+        [
+          -0.7234161496162415,
+          0.04128776863217354,
+          0.6891766786575317,
+          -2.745666027069092
+        ],
+        [
+          0.08144421130418777,
+          -0.9861372709274292,
+          0.1445688009262085,
+          -2.7445645332336426
+        ],
+        [
+          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": "1731323300_183079957",
+      "mask_path": "../../mask/hdr_front_00357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00358.png",
+      "transform_matrix": [
+        [
+          0.6814083456993103,
+          0.1450042426586151,
+          0.7173956036567688,
+          -14.283403396606445
+        ],
+        [
+          -0.7291250228881836,
+          0.04916193708777428,
+          0.682612419128418,
+          -2.8242287635803223
+        ],
+        [
+          0.06371313333511353,
+          -0.9882090091705322,
+          0.139225572347641,
+          -2.756119728088379
+        ],
+        [
+          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": "1731323300_283082485",
+      "mask_path": "../../mask/hdr_front_00358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00359.png",
+      "transform_matrix": [
+        [
+          0.6784215569496155,
+          0.13471870124340057,
+          0.7222154140472412,
+          -14.359740257263184
+        ],
+        [
+          -0.7341170907020569,
+          0.08607666939496994,
+          0.6735451221466064,
+          -2.8864259719848633
+        ],
+        [
+          0.028573229908943176,
+          -0.9871381521224976,
+          0.1572955697774887,
+          -2.7676117420196533
+        ],
+        [
+          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": "1731323300_383081912",
+      "mask_path": "../../mask/hdr_front_00359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00360.png",
+      "transform_matrix": [
+        [
+          0.670251727104187,
+          0.13303160667419434,
+          0.7301130294799805,
+          -14.405717849731445
+        ],
+        [
+          -0.7420159578323364,
+          0.10260166227817535,
+          0.6624841094017029,
+          -2.9213671684265137
+        ],
+        [
+          0.013220507651567459,
+          -0.9857867956161499,
+          0.16748052835464478,
+          -2.7741124629974365
+        ],
+        [
+          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": "1731323300_483080625",
+      "mask_path": "../../mask/hdr_front_00360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00361.png",
+      "transform_matrix": [
+        [
+          0.6644076704978943,
+          0.13524098694324493,
+          0.7350321412086487,
+          -14.448858261108398
+        ],
+        [
+          -0.7471477389335632,
+          0.09619519859552383,
+          0.6576600074768066,
+          -2.9726176261901855
+        ],
+        [
+          0.018236007541418076,
+          -0.986132025718689,
+          0.16495783627033234,
+          -2.792281150817871
+        ],
+        [
+          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": "1731323300_583081960",
+      "mask_path": "../../mask/hdr_front_00361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00362.png",
+      "transform_matrix": [
+        [
+          0.6608462929725647,
+          0.14083118736743927,
+          0.737189769744873,
+          -14.524124145507812
+        ],
+        [
+          -0.7501275539398193,
+          0.09212630987167358,
+          0.6548445820808411,
+          -3.033583641052246
+        ],
+        [
+          0.024307960644364357,
+          -0.9857379794120789,
+          0.16652268171310425,
+          -2.822957992553711
+        ],
+        [
+          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": "1731323300_683082342",
+      "mask_path": "../../mask/hdr_front_00362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00363.png",
+      "transform_matrix": [
+        [
+          0.6569975018501282,
+          0.14724880456924438,
+          0.7393728494644165,
+          -14.586081504821777
+        ],
+        [
+          -0.7530479431152344,
+          0.08175943046808243,
+          0.6528662443161011,
+          -3.094536542892456
+        ],
+        [
+          0.03568306937813759,
+          -0.9857146143913269,
+          0.1646011471748352,
+          -2.847710609436035
+        ],
+        [
+          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": "1731323300_783082246",
+      "mask_path": "../../mask/hdr_front_00363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00364.png",
+      "transform_matrix": [
+        [
+          0.6532766819000244,
+          0.1455225944519043,
+          0.743002712726593,
+          -14.644131660461426
+        ],
+        [
+          -0.7560005187988281,
+          0.07204732298851013,
+          0.6505938172340393,
+          -3.1677234172821045
+        ],
+        [
+          0.04114474356174469,
+          -0.9867281317710876,
+          0.1570819914340973,
+          -2.861579418182373
+        ],
+        [
+          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": "1731323300_883081674",
+      "mask_path": "../../mask/hdr_front_00364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00365.png",
+      "transform_matrix": [
+        [
+          0.6486392021179199,
+          0.14058047533035278,
+          0.7480001449584961,
+          -14.72722339630127
+        ],
+        [
+          -0.760449230670929,
+          0.07919854670763016,
+          0.6445499062538147,
+          -3.2632246017456055
+        ],
+        [
+          0.03137059882283211,
+          -0.9868964552879333,
+          0.15827560424804688,
+          -2.8820717334747314
+        ],
+        [
+          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": "1731323300_983082294",
+      "mask_path": "../../mask/hdr_front_00365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00366.png",
+      "transform_matrix": [
+        [
+          0.6450757384300232,
+          0.14238964021205902,
+          0.7507345080375671,
+          -14.783103942871094
+        ],
+        [
+          -0.7637006640434265,
+          0.08764729648828506,
+          0.6395931243896484,
+          -3.333587408065796
+        ],
+        [
+          0.025271590799093246,
+          -0.9859225153923035,
+          0.16528218984603882,
+          -2.909036636352539
+        ],
+        [
+          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": "1731323301_83081960",
+      "mask_path": "../../mask/hdr_front_00366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00367.png",
+      "transform_matrix": [
+        [
+          0.6440219879150391,
+          0.14592888951301575,
+          0.7509596347808838,
+          -14.825014114379883
+        ],
+        [
+          -0.7645506262779236,
+          0.08887714892625809,
+          0.6384068131446838,
+          -3.3850865364074707
+        ],
+        [
+          0.026418836787343025,
+          -0.985294759273529,
+          0.16880886256694794,
+          -2.9264304637908936
+        ],
+        [
+          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": "1731323301_183082580",
+      "mask_path": "../../mask/hdr_front_00367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00368.png",
+      "transform_matrix": [
+        [
+          0.6441912651062012,
+          0.1458480805158615,
+          0.7508302330970764,
+          -14.893988609313965
+        ],
+        [
+          -0.7644677758216858,
+          0.0911608338356018,
+          0.6381840109825134,
+          -3.456418752670288
+        ],
+        [
+          0.024631598964333534,
+          -0.9850980043411255,
+          0.17022117972373962,
+          -2.9423274993896484
+        ],
+        [
+          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": "1731323301_283081531",
+      "mask_path": "../../mask/hdr_front_00368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00369.png",
+      "transform_matrix": [
+        [
+          0.641230046749115,
+          0.14326581358909607,
+          0.7538560628890991,
+          -14.970727920532227
+        ],
+        [
+          -0.766956627368927,
+          0.08825831115245819,
+          0.6356005668640137,
+          -3.5300657749176025
+        ],
+        [
+          0.024525772780179977,
+          -0.9857410192489624,
+          0.16647253930568695,
+          -2.9455342292785645
+        ],
+        [
+          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": "1731323301_383082151",
+      "mask_path": "../../mask/hdr_front_00369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00370.png",
+      "transform_matrix": [
+        [
+          0.6359343528747559,
+          0.14065255224704742,
+          0.7588177919387817,
+          -15.033846855163574
+        ],
+        [
+          -0.7712647914886475,
+          0.08121412992477417,
+          0.6313120126724243,
+          -3.5884060859680176
+        ],
+        [
+          0.027168918401002884,
+          -0.986722469329834,
+          0.1601272076368332,
+          -2.9475035667419434
+        ],
+        [
+          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": "1731323301_483081817",
+      "mask_path": "../../mask/hdr_front_00370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00371.png",
+      "transform_matrix": [
+        [
+          0.6284695267677307,
+          0.1323184221982956,
+          0.7664971351623535,
+          -15.110273361206055
+        ],
+        [
+          -0.7774819135665894,
+          0.07720495015382767,
+          0.6241484880447388,
+          -3.6577930450439453
+        ],
+        [
+          0.02340896800160408,
+          -0.9881959557533264,
+          0.15139614045619965,
+          -2.957388401031494
+        ],
+        [
+          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": "1731323301_583082437",
+      "mask_path": "../../mask/hdr_front_00371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00264.png",
+      "transform_matrix": [
+        [
+          -0.9619355797767639,
+          0.1764710396528244,
+          -0.20865730941295624,
+          -5.202182769775391
+        ],
+        [
+          0.2119007557630539,
+          -0.00047632295172661543,
+          -0.9772911071777344,
+          -0.7832204699516296
+        ],
+        [
+          -0.17256294190883636,
+          -0.984305739402771,
+          -0.03693614527583122,
+          -0.8180896043777466
+        ],
+        [
+          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": "1731323288_783083915",
+      "mask_path": "../../mask/hdr_left_00264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00265.png",
+      "transform_matrix": [
+        [
+          -0.9626998901367188,
+          0.17101967334747314,
+          -0.20966923236846924,
+          -5.311614513397217
+        ],
+        [
+          0.2134426087141037,
+          0.0037726028822362423,
+          -0.9769482612609863,
+          -0.7953577041625977
+        ],
+        [
+          -0.1662863790988922,
+          -0.9852603673934937,
+          -0.04013476520776749,
+          -0.834923267364502
+        ],
+        [
+          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": "1731323288_883080720",
+      "mask_path": "../../mask/hdr_left_00265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00266.png",
+      "transform_matrix": [
+        [
+          -0.963554859161377,
+          0.1683143824338913,
+          -0.20792344212532043,
+          -5.396722793579102
+        ],
+        [
+          0.21192388236522675,
+          0.005961415823549032,
+          -0.9772679805755615,
+          -0.8039642572402954
+        ],
+        [
+          -0.16324873268604279,
+          -0.985715389251709,
+          -0.04141399264335632,
+          -0.851006269454956
+        ],
+        [
+          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": "1731323288_983082056",
+      "mask_path": "../../mask/hdr_left_00266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00267.png",
+      "transform_matrix": [
+        [
+          -0.9651283621788025,
+          0.1618221402168274,
+          -0.20576898753643036,
+          -5.469580173492432
+        ],
+        [
+          0.2088334560394287,
+          0.0019741198047995567,
+          -0.9779492616653442,
+          -0.8133291602134705
+        ],
+        [
+          -0.15784761309623718,
+          -0.9868179559707642,
+          -0.03569915518164635,
+          -0.8658548593521118
+        ],
+        [
+          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": "1731323289_83079576",
+      "mask_path": "../../mask/hdr_left_00267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00268.png",
+      "transform_matrix": [
+        [
+          -0.9635893702507019,
+          0.16923823952674866,
+          -0.20701123774051666,
+          -5.560940265655518
+        ],
+        [
+          0.20789723098278046,
+          -0.012666364200413227,
+          -0.9780687093734741,
+          -0.8181161880493164
+        ],
+        [
+          -0.1681486964225769,
+          -0.9854938387870789,
+          -0.022978978231549263,
+          -0.8845993280410767
+        ],
+        [
+          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": "1731323289_183080196",
+      "mask_path": "../../mask/hdr_left_00268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00269.png",
+      "transform_matrix": [
+        [
+          -0.9585433602333069,
+          0.1871618926525116,
+          -0.21486061811447144,
+          -5.638964653015137
+        ],
+        [
+          0.2148772031068802,
+          -0.020445330068469048,
+          -0.9764270782470703,
+          -0.8189620971679688
+        ],
+        [
+          -0.18714281916618347,
+          -0.9821163415908813,
+          -0.020619088783860207,
+          -0.8944061398506165
+        ],
+        [
+          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": "1731323289_283080816",
+      "mask_path": "../../mask/hdr_left_00269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00270.png",
+      "transform_matrix": [
+        [
+          -0.9553552269935608,
+          0.19498462975025177,
+          -0.22198492288589478,
+          -5.697876930236816
+        ],
+        [
+          0.22337524592876434,
+          -0.01511504128575325,
+          -0.9746153950691223,
+          -0.8128902912139893
+        ],
+        [
+          -0.19339029490947723,
+          -0.9806898236274719,
+          -0.029114503413438797,
+          -0.8966097235679626
+        ],
+        [
+          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": "1731323289_383078813",
+      "mask_path": "../../mask/hdr_left_00270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00271.png",
+      "transform_matrix": [
+        [
+          -0.9557743668556213,
+          0.18955540657043457,
+          -0.2248644083738327,
+          -5.7620320320129395
+        ],
+        [
+          0.22752252221107483,
+          -0.007910351268947124,
+          -0.9737406969070435,
+          -0.7999769449234009
+        ],
+        [
+          -0.1863565742969513,
+          -0.9818382263183594,
+          -0.03556760400533676,
+          -0.9121717214584351
+        ],
+        [
+          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": "1731323289_483080625",
+      "mask_path": "../../mask/hdr_left_00271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00272.png",
+      "transform_matrix": [
+        [
+          -0.9559757709503174,
+          0.1888483464717865,
+          -0.2246031016111374,
+          -5.84893798828125
+        ],
+        [
+          0.22756455838680267,
+          -0.006140640936791897,
+          -0.9737436175346375,
+          -0.7879880666732788
+        ],
+        [
+          -0.1852690726518631,
+          -0.9819871783256531,
+          -0.037104878574609756,
+          -0.9434687495231628
+        ],
+        [
+          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": "1731323289_583080291",
+      "mask_path": "../../mask/hdr_left_00272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00273.png",
+      "transform_matrix": [
+        [
+          -0.956451952457428,
+          0.18713901937007904,
+          -0.224005788564682,
+          -5.9315690994262695
+        ],
+        [
+          0.22604909539222717,
+          -0.010631135664880276,
+          -0.9740579128265381,
+          -0.7803915739059448
+        ],
+        [
+          -0.18466562032699585,
+          -0.9822759628295898,
+          -0.03213442489504814,
+          -0.9774581789970398
+        ],
+        [
+          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": "1731323289_683080911",
+      "mask_path": "../../mask/hdr_left_00273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00274.png",
+      "transform_matrix": [
+        [
+          -0.9566451907157898,
+          0.1836758404970169,
+          -0.22603756189346313,
+          -5.995521068572998
+        ],
+        [
+          0.2262238711118698,
+          -0.020221322774887085,
+          -0.9738653898239136,
+          -0.7812250852584839
+        ],
+        [
+          -0.18344634771347046,
+          -0.9827789068222046,
+          -0.02220723032951355,
+          -1.0045729875564575
+        ],
+        [
+          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": "1731323289_783080577",
+      "mask_path": "../../mask/hdr_left_00274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00275.png",
+      "transform_matrix": [
+        [
+          -0.9566558599472046,
+          0.1846066415309906,
+          -0.22523285448551178,
+          -6.074800491333008
+        ],
+        [
+          0.22363056242465973,
+          -0.0297330841422081,
+          -0.9742202758789062,
+          -0.7765170335769653
+        ],
+        [
+          -0.18654438853263855,
+          -0.9823626279830933,
+          -0.01283935271203518,
+          -1.02682626247406
+        ],
+        [
+          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": "1731323289_883079051",
+      "mask_path": "../../mask/hdr_left_00275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00276.png",
+      "transform_matrix": [
+        [
+          -0.9573652744293213,
+          0.18492859601974487,
+          -0.22193025052547455,
+          -6.173076152801514
+        ],
+        [
+          0.22005067765712738,
+          -0.030892688781023026,
+          -0.974999189376831,
+          -0.7543936967849731
+        ],
+        [
+          -0.18716123700141907,
+          -0.9822663068771362,
+          -0.011118068359792233,
+          -1.0361634492874146
+        ],
+        [
+          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": "1731323289_983080863",
+      "mask_path": "../../mask/hdr_left_00276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00277.png",
+      "transform_matrix": [
+        [
+          -0.9601475596427917,
+          0.1815057396888733,
+          -0.21253731846809387,
+          -6.252811908721924
+        ],
+        [
+          0.21066851913928986,
+          -0.029742218554019928,
+          -0.9771049618721008,
+          -0.7465614080429077
+        ],
+        [
+          -0.1836714893579483,
+          -0.9829400777816772,
+          -0.009680625982582569,
+          -1.0397549867630005
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 277,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323290_83079338",
+      "mask_path": "../../mask/hdr_left_00277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00278.png",
+      "transform_matrix": [
+        [
+          -0.964667022228241,
+          0.17350195348262787,
+          -0.1982787847518921,
+          -6.319624423980713
+        ],
+        [
+          0.19622580707073212,
+          -0.029082685708999634,
+          -0.9801273345947266,
+          -0.7534562349319458
+        ],
+        [
+          -0.1758204847574234,
+          -0.9844040870666504,
+          -0.005990451667457819,
+          -1.0459063053131104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 278,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323290_183082818",
+      "mask_path": "../../mask/hdr_left_00278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00279.png",
+      "transform_matrix": [
+        [
+          -0.9696593880653381,
+          0.16813139617443085,
+          -0.17746120691299438,
+          -6.411715507507324
+        ],
+        [
+          0.1761465221643448,
+          -0.02282329834997654,
+          -0.9840993881225586,
+          -0.7563207745552063
+        ],
+        [
+          -0.1695082187652588,
+          -0.9855003952980042,
+          -0.007484929170459509,
+          -1.0595238208770752
+        ],
+        [
+          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": "1731323290_283082962",
+      "mask_path": "../../mask/hdr_left_00279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00280.png",
+      "transform_matrix": [
+        [
+          -0.9755716919898987,
+          0.16924762725830078,
+          -0.14005379378795624,
+          -6.504168510437012
+        ],
+        [
+          0.1396447718143463,
+          -0.014377666637301445,
+          -0.9900972247123718,
+          -0.77073734998703
+        ],
+        [
+          -0.1695852428674698,
+          -0.9854687452316284,
+          -0.009608098305761814,
+          -1.0718193054199219
+        ],
+        [
+          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": "1731323290_383083343",
+      "mask_path": "../../mask/hdr_left_00280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00281.png",
+      "transform_matrix": [
+        [
+          -0.9808744788169861,
+          0.17065328359603882,
+          -0.09360882639884949,
+          -6.57335901260376
+        ],
+        [
+          0.09315964579582214,
+          -0.010655990801751614,
+          -0.9955941438674927,
+          -0.797728955745697
+        ],
+        [
+          -0.17089886963367462,
+          -0.985273540019989,
+          -0.005445805843919516,
+          -1.0874404907226562
+        ],
+        [
+          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": "1731323290_483082294",
+      "mask_path": "../../mask/hdr_left_00281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00282.png",
+      "transform_matrix": [
+        [
+          -0.9838446378707886,
+          0.1731025129556656,
+          -0.0456635020673275,
+          -6.641844749450684
+        ],
+        [
+          0.04432755708694458,
+          -0.011577771045267582,
+          -0.9989499449729919,
+          -0.8326321840286255
+        ],
+        [
+          -0.17344941198825836,
+          -0.9848358631134033,
+          0.003717519575729966,
+          -1.1019630432128906
+        ],
+        [
+          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": "1731323290_583082199",
+      "mask_path": "../../mask/hdr_left_00282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00283.png",
+      "transform_matrix": [
+        [
+          -0.9832594990730286,
+          0.18183770775794983,
+          -0.011648944579064846,
+          -6.721690654754639
+        ],
+        [
+          0.008998924866318703,
+          -0.01539194118231535,
+          -0.9998409748077393,
+          -0.8596192598342896
+        ],
+        [
+          -0.18198807537555695,
+          -0.9832081198692322,
+          0.013497935608029366,
+          -1.1224687099456787
+        ],
+        [
+          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": "1731323290_683082342",
+      "mask_path": "../../mask/hdr_left_00283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00284.png",
+      "transform_matrix": [
+        [
+          -0.982326865196228,
+          0.18706388771533966,
+          0.006411772221326828,
+          -6.795187473297119
+        ],
+        [
+          -0.009645526297390461,
+          -0.016381926834583282,
+          -0.999819278717041,
+          -0.8825969696044922
+        ],
+        [
+          -0.186925008893013,
+          -0.9822112321853638,
+          0.017896743491292,
+          -1.1506977081298828
+        ],
+        [
+          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": "1731323290_783081769",
+      "mask_path": "../../mask/hdr_left_00284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00285.png",
+      "transform_matrix": [
+        [
+          -0.9837965965270996,
+          0.1789499670267105,
+          0.011012494564056396,
+          -6.875154972076416
+        ],
+        [
+          -0.013668311759829521,
+          -0.01361502893269062,
+          -0.9998138546943665,
+          -0.9125865697860718
+        ],
+        [
+          -0.17876669764518738,
+          -0.9837639927864075,
+          0.01584036834537983,
+          -1.17030668258667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 285,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323290_883080244",
+      "mask_path": "../../mask/hdr_left_00285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00286.png",
+      "transform_matrix": [
+        [
+          -0.9858992099761963,
+          0.16725167632102966,
+          0.005433377809822559,
+          -6.992077827453613
+        ],
+        [
+          -0.006793362554162741,
+          -0.00756024569272995,
+          -0.999948263168335,
+          -0.9419776797294617
+        ],
+        [
+          -0.1672019213438034,
+          -0.9858852624893188,
+          0.008589847944676876,
+          -1.1848200559616089
+        ],
+        [
+          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": "1731323290_983080625",
+      "mask_path": "../../mask/hdr_left_00286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00287.png",
+      "transform_matrix": [
+        [
+          -0.9862931370735168,
+          0.16499608755111694,
+          0.0014636246487498283,
+          -7.083035945892334
+        ],
+        [
+          -0.001938029658049345,
+          -0.002714314730837941,
+          -0.9999944567680359,
+          -0.9650599360466003
+        ],
+        [
+          -0.16499119997024536,
+          -0.9862905144691467,
+          0.002996881492435932,
+          -1.2024681568145752
+        ],
+        [
+          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": "1731323291_83082437",
+      "mask_path": "../../mask/hdr_left_00287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00288.png",
+      "transform_matrix": [
+        [
+          -0.9863857626914978,
+          0.1644383817911148,
+          0.0017963061109185219,
+          -7.149351596832275
+        ],
+        [
+          -0.0018730381270870566,
+          -0.00031154369935393333,
+          -0.999998152256012,
+          -0.984545111656189
+        ],
+        [
+          -0.16443751752376556,
+          -0.9863874316215515,
+          0.0006153055583126843,
+          -1.2220369577407837
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 288,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323291_183082342",
+      "mask_path": "../../mask/hdr_left_00288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00289.png",
+      "transform_matrix": [
+        [
+          -0.9857731461524963,
+          0.16808122396469116,
+          0.00012806372251361609,
+          -7.231123924255371
+        ],
+        [
+          -0.0005739995976909995,
+          -0.002604459645226598,
+          -0.9999963641166687,
+          -1.0080456733703613
+        ],
+        [
+          -0.16808027029037476,
+          -0.9857698082923889,
+          0.002663888270035386,
+          -1.2399342060089111
+        ],
+        [
+          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": "1731323291_283080577",
+      "mask_path": "../../mask/hdr_left_00289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00290.png",
+      "transform_matrix": [
+        [
+          -0.9845457077026367,
+          0.17508217692375183,
+          -0.003986913710832596,
+          -7.316401958465576
+        ],
+        [
+          0.0048470767214894295,
+          0.004485549870878458,
+          -0.9999781847000122,
+          -1.0241355895996094
+        ],
+        [
+          -0.1750604659318924,
+          -0.9845436811447144,
+          -0.005264862906187773,
+          -1.2531943321228027
+        ],
+        [
+          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": "1731323291_383082389",
+      "mask_path": "../../mask/hdr_left_00290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00291.png",
+      "transform_matrix": [
+        [
+          -0.9842401742935181,
+          0.1766253113746643,
+          -0.008651228621602058,
+          -7.387319087982178
+        ],
+        [
+          0.011591819114983082,
+          0.015623568557202816,
+          -0.9998108148574829,
+          -1.0257434844970703
+        ],
+        [
+          -0.17645671963691711,
+          -0.984154224395752,
+          -0.017424743622541428,
+          -1.2614848613739014
+        ],
+        [
+          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": "1731323291_483081817",
+      "mask_path": "../../mask/hdr_left_00291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00292.png",
+      "transform_matrix": [
+        [
+          -0.9841780066490173,
+          0.17638806998729706,
+          -0.01675928384065628,
+          -7.453195095062256
+        ],
+        [
+          0.02008737064898014,
+          0.017099041491746902,
+          -0.9996520280838013,
+          -1.027557134628296
+        ],
+        [
+          -0.17604012787342072,
+          -0.9841723442077637,
+          -0.020371664315462112,
+          -1.2720528841018677
+        ],
+        [
+          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": "1731323291_583081960",
+      "mask_path": "../../mask/hdr_left_00292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00293.png",
+      "transform_matrix": [
+        [
+          -0.9842070937156677,
+          0.17516857385635376,
+          -0.025538934394717216,
+          -7.535350322723389
+        ],
+        [
+          0.028871774673461914,
+          0.016503965482115746,
+          -0.9994468688964844,
+          -1.0326200723648071
+        ],
+        [
+          -0.1746501624584198,
+          -0.9844001531600952,
+          -0.021300742402672768,
+          -1.2921706438064575
+        ],
+        [
+          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": "1731323291_683081626",
+      "mask_path": "../../mask/hdr_left_00293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00294.png",
+      "transform_matrix": [
+        [
+          -0.983362078666687,
+          0.17971715331077576,
+          -0.026472553610801697,
+          -7.62928581237793
+        ],
+        [
+          0.030856335535645485,
+          0.021640829741954803,
+          -0.9992895126342773,
+          -1.0399266481399536
+        ],
+        [
+          -0.1790165901184082,
+          -0.9834803342819214,
+          -0.026826180517673492,
+          -1.3238104581832886
+        ],
+        [
+          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": "1731323291_783081769",
+      "mask_path": "../../mask/hdr_left_00294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00295.png",
+      "transform_matrix": [
+        [
+          -0.9816476702690125,
+          0.18897812068462372,
+          -0.02559187263250351,
+          -7.705423831939697
+        ],
+        [
+          0.02976376749575138,
+          0.01927069202065468,
+          -0.9993712902069092,
+          -1.0501478910446167
+        ],
+        [
+          -0.18836610019207,
+          -0.9817922711372375,
+          -0.02454172633588314,
+          -1.3634459972381592
+        ],
+        [
+          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": "1731323291_883081912",
+      "mask_path": "../../mask/hdr_left_00295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00296.png",
+      "transform_matrix": [
+        [
+          -0.9812337756156921,
+          0.19099009037017822,
+          -0.026514697819948196,
+          -7.777054309844971
+        ],
+        [
+          0.028588371351361275,
+          0.008109758608043194,
+          -0.9995584487915039,
+          -1.0650473833084106
+        ],
+        [
+          -0.19069071114063263,
+          -0.9815585017204285,
+          -0.01341765746474266,
+          -1.3962610960006714
+        ],
+        [
+          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": "1731323291_983082532",
+      "mask_path": "../../mask/hdr_left_00296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00297.png",
+      "transform_matrix": [
+        [
+          -0.9813558459281921,
+          0.19033466279506683,
+          -0.026711197569966316,
+          -7.885739326477051
+        ],
+        [
+          0.02817440778017044,
+          0.004985074978321791,
+          -0.9995906352996826,
+          -1.0708022117614746
+        ],
+        [
+          -0.1901235580444336,
+          -0.9817066192626953,
+          -0.010254692286252975,
+          -1.4169648885726929
+        ],
+        [
+          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": "1731323292_83082675",
+      "mask_path": "../../mask/hdr_left_00297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00298.png",
+      "transform_matrix": [
+        [
+          -0.9815885424613953,
+          0.18828187882900238,
+          -0.03215339034795761,
+          -7.991181373596191
+        ],
+        [
+          0.03349962458014488,
+          0.003971611615270376,
+          -0.999430775642395,
+          -1.069415807723999
+        ],
+        [
+          -0.18804703652858734,
+          -0.9821071028709412,
+          -0.010205861181020737,
+          -1.422037124633789
+        ],
+        [
+          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": "1731323292_183081626",
+      "mask_path": "../../mask/hdr_left_00298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00299.png",
+      "transform_matrix": [
+        [
+          -0.9822291135787964,
+          0.18311573565006256,
+          -0.04116545617580414,
+          -8.066600799560547
+        ],
+        [
+          0.04198235273361206,
+          0.0005849070148542523,
+          -0.9991181492805481,
+          -1.0776201486587524
+        ],
+        [
+          -0.18293015658855438,
+          -0.9830911755561829,
+          -0.008262133225798607,
+          -1.4313592910766602
+        ],
+        [
+          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": "1731323292_283082723",
+      "mask_path": "../../mask/hdr_left_00299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00300.png",
+      "transform_matrix": [
+        [
+          -0.9834601283073425,
+          0.17440956830978394,
+          -0.048859793692827225,
+          -8.162018775939941
+        ],
+        [
+          0.05070419982075691,
+          0.0061322590336203575,
+          -0.9986948370933533,
+          -1.096990704536438
+        ],
+        [
+          -0.17388233542442322,
+          -0.9846540689468384,
+          -0.014874128624796867,
+          -1.4501038789749146
+        ],
+        [
+          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": "1731323292_383081197",
+      "mask_path": "../../mask/hdr_left_00300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00301.png",
+      "transform_matrix": [
+        [
+          -0.9830977916717529,
+          0.17623987793922424,
+          -0.049578987061977386,
+          -8.262526512145996
+        ],
+        [
+          0.053518593311309814,
+          0.01766812801361084,
+          -0.9984105229377747,
+          -1.1107045412063599
+        ],
+        [
+          -0.17508375644683838,
+          -0.9841886758804321,
+          -0.02680160105228424,
+          -1.4581005573272705
+        ],
+        [
+          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": "1731323292_483081102",
+      "mask_path": "../../mask/hdr_left_00301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00302.png",
+      "transform_matrix": [
+        [
+          -0.9824528098106384,
+          0.18099857866764069,
+          -0.04500985145568848,
+          -8.335488319396973
+        ],
+        [
+          0.04974580928683281,
+          0.02170955017209053,
+          -0.9985259771347046,
+          -1.1269246339797974
+        ],
+        [
+          -0.1797545999288559,
+          -0.9832437634468079,
+          -0.030332518741488457,
+          -1.4715758562088013
+        ],
+        [
+          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": "1731323292_583081007",
+      "mask_path": "../../mask/hdr_left_00302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00303.png",
+      "transform_matrix": [
+        [
+          -0.9825997352600098,
+          0.18135687708854675,
+          -0.04009278491139412,
+          -8.404017448425293
+        ],
+        [
+          0.04412372410297394,
+          0.018245145678520203,
+          -0.9988594651222229,
+          -1.1470999717712402
+        ],
+        [
+          -0.18041852116584778,
+          -0.9832481741905212,
+          -0.025929808616638184,
+          -1.492019534111023
+        ],
+        [
+          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": "1731323292_683081626",
+      "mask_path": "../../mask/hdr_left_00303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00304.png",
+      "transform_matrix": [
+        [
+          -0.9812350869178772,
+          0.1887911856174469,
+          -0.03918446972966194,
+          -8.487384796142578
+        ],
+        [
+          0.042897582054138184,
+          0.0156202781945467,
+          -0.9989573955535889,
+          -1.1593831777572632
+        ],
+        [
+          -0.1879822462797165,
+          -0.9818930625915527,
+          -0.023425845429301262,
+          -1.5195691585540771
+        ],
+        [
+          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": "1731323292_783080816",
+      "mask_path": "../../mask/hdr_left_00304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00305.png",
+      "transform_matrix": [
+        [
+          -0.9829047322273254,
+          0.17979733645915985,
+          -0.03963897377252579,
+          -8.575483322143555
+        ],
+        [
+          0.04156489297747612,
+          0.006955344695597887,
+          -0.9991115927696228,
+          -1.178066611289978
+        ],
+        [
+          -0.17936189472675323,
+          -0.9836791157722473,
+          -0.014309694990515709,
+          -1.535445213317871
+        ],
+        [
+          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": "1731323292_883081674",
+      "mask_path": "../../mask/hdr_left_00305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00306.png",
+      "transform_matrix": [
+        [
+          -0.985441267490387,
+          0.16514840722084045,
+          -0.04039112851023674,
+          -8.653542518615723
+        ],
+        [
+          0.04139218106865883,
+          0.002623050706461072,
+          -0.9991395473480225,
+          -1.2020821571350098
+        ],
+        [
+          -0.16490034759044647,
+          -0.9862653017044067,
+          -0.009420711547136307,
+          -1.5377757549285889
+        ],
+        [
+          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": "1731323292_983081340",
+      "mask_path": "../../mask/hdr_left_00306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00307.png",
+      "transform_matrix": [
+        [
+          -0.9871048927307129,
+          0.1532883495092392,
+          -0.04611491039395332,
+          -8.743123054504395
+        ],
+        [
+          0.04733046889305115,
+          0.004288172349333763,
+          -0.9988701343536377,
+          -1.2317357063293457
+        ],
+        [
+          -0.15291740000247955,
+          -0.9881722331047058,
+          -0.011488082818686962,
+          -1.5559018850326538
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 307,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323293_83082675",
+      "mask_path": "../../mask/hdr_left_00307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00308.png",
+      "transform_matrix": [
+        [
+          -0.9887641072273254,
+          0.14115440845489502,
+          -0.049202851951122284,
+          -8.84659194946289
+        ],
+        [
+          0.05010971426963806,
+          0.002875307807698846,
+          -0.99873948097229,
+          -1.2678769826889038
+        ],
+        [
+          -0.1408350020647049,
+          -0.9899834990501404,
+          -0.00991620309650898,
+          -1.565637469291687
+        ],
+        [
+          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": "1731323293_183082342",
+      "mask_path": "../../mask/hdr_left_00308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00309.png",
+      "transform_matrix": [
+        [
+          -0.9893105030059814,
+          0.13761426508426666,
+          -0.048239048570394516,
+          -8.922460556030273
+        ],
+        [
+          0.04925618693232536,
+          0.003993331920355558,
+          -0.9987781643867493,
+          -1.292231798171997
+        ],
+        [
+          -0.13725347816944122,
+          -0.9904779195785522,
+          -0.010728996247053146,
+          -1.5796204805374146
+        ],
+        [
+          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": "1731323293_283082008",
+      "mask_path": "../../mask/hdr_left_00309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00310.png",
+      "transform_matrix": [
+        [
+          -0.9892479181289673,
+          0.13896384835243225,
+          -0.045578595250844955,
+          -8.989834785461426
+        ],
+        [
+          0.046701449900865555,
+          0.004828301258385181,
+          -0.9988972544670105,
+          -1.308276891708374
+        ],
+        [
+          -0.13859052956104279,
+          -0.9902857542037964,
+          -0.011266198009252548,
+          -1.6089216470718384
+        ],
+        [
+          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": "1731323293_383081674",
+      "mask_path": "../../mask/hdr_left_00310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00311.png",
+      "transform_matrix": [
+        [
+          -0.9877833127975464,
+          0.14944715797901154,
+          -0.04415430128574371,
+          -9.077337265014648
+        ],
+        [
+          0.046065207570791245,
+          0.009347302839159966,
+          -0.9988946914672852,
+          -1.3213167190551758
+        ],
+        [
+          -0.14886923134326935,
+          -0.9887256026268005,
+          -0.01611742191016674,
+          -1.6232600212097168
+        ],
+        [
+          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": "1731323293_483081817",
+      "mask_path": "../../mask/hdr_left_00311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00312.png",
+      "transform_matrix": [
+        [
+          -0.985641360282898,
+          0.1619877815246582,
+          -0.04765619337558746,
+          -9.156828880310059
+        ],
+        [
+          0.05107054486870766,
+          0.016977237537503242,
+          -0.9985507726669312,
+          -1.3203357458114624
+        ],
+        [
+          -0.16094394028186798,
+          -0.9866467118263245,
+          -0.025006266310811043,
+          -1.6312532424926758
+        ],
+        [
+          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": "1731323293_583081007",
+      "mask_path": "../../mask/hdr_left_00312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00313.png",
+      "transform_matrix": [
+        [
+          -0.9845049381256104,
+          0.16682320833206177,
+          -0.05403749272227287,
+          -9.217846870422363
+        ],
+        [
+          0.058071743696928024,
+          0.01939655840396881,
+          -0.9981238842010498,
+          -1.3202626705169678
+        ],
+        [
+          -0.16546207666397095,
+          -0.9857960939407349,
+          -0.02878371812403202,
+          -1.6405060291290283
+        ],
+        [
+          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": "1731323293_683080434",
+      "mask_path": "../../mask/hdr_left_00313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00314.png",
+      "transform_matrix": [
+        [
+          -0.9837053418159485,
+          0.16824132204055786,
+          -0.06339085102081299,
+          -9.28326416015625
+        ],
+        [
+          0.06753185391426086,
+          0.019001230597496033,
+          -0.9975361227989197,
+          -1.3216965198516846
+        ],
+        [
+          -0.16662229597568512,
+          -0.9855627417564392,
+          -0.030053259804844856,
+          -1.656298279762268
+        ],
+        [
+          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": "1731323293_783081293",
+      "mask_path": "../../mask/hdr_left_00314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00315.png",
+      "transform_matrix": [
+        [
+          -0.9818084239959717,
+          0.17805927991867065,
+          -0.0659325122833252,
+          -9.373391151428223
+        ],
+        [
+          0.07095460593700409,
+          0.021978478878736496,
+          -0.9972373247146606,
+          -1.3199310302734375
+        ],
+        [
+          -0.17611822485923767,
+          -0.9837743043899536,
+          -0.03421277925372124,
+          -1.6910862922668457
+        ],
+        [
+          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": "1731323293_883081912",
+      "mask_path": "../../mask/hdr_left_00315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00316.png",
+      "transform_matrix": [
+        [
+          -0.9814885258674622,
+          0.18131613731384277,
+          -0.06168239191174507,
+          -9.466978073120117
+        ],
+        [
+          0.06649079918861389,
+          0.020555978640913963,
+          -0.9975752830505371,
+          -1.3273711204528809
+        ],
+        [
+          -0.1796085387468338,
+          -0.9832100868225098,
+          -0.03223130851984024,
+          -1.7292962074279785
+        ],
+        [
+          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": "1731323293_983082532",
+      "mask_path": "../../mask/hdr_left_00316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00317.png",
+      "transform_matrix": [
+        [
+          -0.981289267539978,
+          0.18215125799179077,
+          -0.06238862872123718,
+          -9.54212474822998
+        ],
+        [
+          0.06540635228157043,
+          0.01060127280652523,
+          -0.9978023171424866,
+          -1.3402925729751587
+        ],
+        [
+          -0.18108952045440674,
+          -0.9832133650779724,
+          -0.02231675758957863,
+          -1.7615323066711426
+        ],
+        [
+          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": "1731323294_83082437",
+      "mask_path": "../../mask/hdr_left_00317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00318.png",
+      "transform_matrix": [
+        [
+          -0.9809257388114929,
+          0.18436335027217865,
+          -0.06160252168774605,
+          -9.623827934265137
+        ],
+        [
+          0.063468798995018,
+          0.004233015701174736,
+          -0.9979748129844666,
+          -1.3460286855697632
+        ],
+        [
+          -0.18372921645641327,
+          -0.9828490614891052,
+          -0.01585358940064907,
+          -1.7818007469177246
+        ],
+        [
+          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": "1731323294_183082342",
+      "mask_path": "../../mask/hdr_left_00318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00319.png",
+      "transform_matrix": [
+        [
+          -0.9810692667961121,
+          0.18390439450740814,
+          -0.06068127974867821,
+          -9.722248077392578
+        ],
+        [
+          0.06208649277687073,
+          0.0018870552303269506,
+          -0.9980690479278564,
+          -1.3416590690612793
+        ],
+        [
+          -0.18343475461006165,
+          -0.9829424023628235,
+          -0.013269307091832161,
+          -1.7867863178253174
+        ],
+        [
+          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": "1731323294_283082962",
+      "mask_path": "../../mask/hdr_left_00319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00320.png",
+      "transform_matrix": [
+        [
+          -0.9806718230247498,
+          0.18466131389141083,
+          -0.06467527151107788,
+          -9.807175636291504
+        ],
+        [
+          0.06583642214536667,
+          0.00015687850827816874,
+          -0.9978303909301758,
+          -1.3426790237426758
+        ],
+        [
+          -0.18425051867961884,
+          -0.9828022718429565,
+          -0.012311281636357307,
+          -1.7976011037826538
+        ],
+        [
+          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": "1731323294_383082389",
+      "mask_path": "../../mask/hdr_left_00320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00321.png",
+      "transform_matrix": [
+        [
+          -0.9811655879020691,
+          0.17961062490940094,
+          -0.07109224051237106,
+          -9.877899169921875
+        ],
+        [
+          0.07226914167404175,
+          9.161452908301726e-06,
+          -0.9973851442337036,
+          -1.3490233421325684
+        ],
+        [
+          -0.17914032936096191,
+          -0.9837378263473511,
+          -0.012989290058612823,
+          -1.8114869594573975
+        ],
+        [
+          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": "1731323294_483082056",
+      "mask_path": "../../mask/hdr_left_00321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00322.png",
+      "transform_matrix": [
+        [
+          -0.9811505079269409,
+          0.17766119539737701,
+          -0.07602802664041519,
+          -9.97794246673584
+        ],
+        [
+          0.07803533226251602,
+          0.0043280771933496,
+          -0.9969412088394165,
+          -1.356494426727295
+        ],
+        [
+          -0.17678870260715485,
+          -0.9840821623802185,
+          -0.01811034604907036,
+          -1.823713779449463
+        ],
+        [
+          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": "1731323294_583081960",
+      "mask_path": "../../mask/hdr_left_00322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00323.png",
+      "transform_matrix": [
+        [
+          -0.9805734157562256,
+          0.18213534355163574,
+          -0.07281887531280518,
+          -10.070365905761719
+        ],
+        [
+          0.07610560208559036,
+          0.011112429201602936,
+          -0.9970377683639526,
+          -1.3690447807312012
+        ],
+        [
+          -0.1807866245508194,
+          -0.9832107424736023,
+          -0.024758068844676018,
+          -1.8408551216125488
+        ],
+        [
+          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": "1731323294_683082580",
+      "mask_path": "../../mask/hdr_left_00323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00324.png",
+      "transform_matrix": [
+        [
+          -0.9805195927619934,
+          0.18487663567066193,
+          -0.06634650379419327,
+          -10.134077072143555
+        ],
+        [
+          0.07019240409135818,
+          0.014328403398394585,
+          -0.9974305629730225,
+          -1.388603925704956
+        ],
+        [
+          -0.18345095217227936,
+          -0.982657253742218,
+          -0.027026213705539703,
+          -1.8604141473770142
+        ],
+        [
+          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": "1731323294_783081769",
+      "mask_path": "../../mask/hdr_left_00324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00325.png",
+      "transform_matrix": [
+        [
+          -0.9800840616226196,
+          0.1890169233083725,
+          -0.060890618711709976,
+          -10.204462051391602
+        ],
+        [
+          0.06515899300575256,
+          0.016444627195596695,
+          -0.9977393746376038,
+          -1.4083508253097534
+        ],
+        [
+          -0.18758830428123474,
+          -0.981836199760437,
+          -0.028433268889784813,
+          -1.8830405473709106
+        ],
+        [
+          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": "1731323294_883082389",
+      "mask_path": "../../mask/hdr_left_00325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00326.png",
+      "transform_matrix": [
+        [
+          -0.9787853956222534,
+          0.19600294530391693,
+          -0.059681884944438934,
+          -10.289420127868652
+        ],
+        [
+          0.0643034279346466,
+          0.017294831573963165,
+          -0.9977805018424988,
+          -1.4171557426452637
+        ],
+        [
+          -0.19453571736812592,
+          -0.9804508686065674,
+          -0.029531586915254593,
+          -1.9134904146194458
+        ],
+        [
+          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": "1731323294_983081102",
+      "mask_path": "../../mask/hdr_left_00326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00327.png",
+      "transform_matrix": [
+        [
+          -0.9785028696060181,
+          0.19713568687438965,
+          -0.0605764202773571,
+          -10.374422073364258
+        ],
+        [
+          0.06493926048278809,
+          0.015736419707536697,
+          -0.997765064239502,
+          -1.430806040763855
+        ],
+        [
+          -0.19574183225631714,
+          -0.9802499413490295,
+          -0.028199968859553337,
+          -1.9375778436660767
+        ],
+        [
+          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": "1731323295_83080768",
+      "mask_path": "../../mask/hdr_left_00327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00328.png",
+      "transform_matrix": [
+        [
+          -0.9794933795928955,
+          0.19119662046432495,
+          -0.06353386491537094,
+          -10.455307006835938
+        ],
+        [
+          0.06736446171998978,
+          0.01359540969133377,
+          -0.9976357817649841,
+          -1.4509460926055908
+        ],
+        [
+          -0.18988081812858582,
+          -0.9814576506614685,
+          -0.026196464896202087,
+          -1.9608361721038818
+        ],
+        [
+          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": "1731323295_183079719",
+      "mask_path": "../../mask/hdr_left_00328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00329.png",
+      "transform_matrix": [
+        [
+          -0.9809585809707642,
+          0.18198251724243164,
+          -0.06784249097108841,
+          -10.564569473266602
+        ],
+        [
+          0.0720134824514389,
+          0.0164029560983181,
+          -0.9972687363624573,
+          -1.4743798971176147
+        ],
+        [
+          -0.18037265539169312,
+          -0.9831650257110596,
+          -0.029195811599493027,
+          -1.977188229560852
+        ],
+        [
+          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": "1731323295_283080577",
+      "mask_path": "../../mask/hdr_left_00329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00330.png",
+      "transform_matrix": [
+        [
+          -0.9819769859313965,
+          0.17630396783351898,
+          -0.06810329109430313,
+          -10.665678024291992
+        ],
+        [
+          0.07272311300039291,
+          0.0198687594383955,
+          -0.9971542954444885,
+          -1.4998246431350708
+        ],
+        [
+          -0.1744491010904312,
+          -0.9841353297233582,
+          -0.032332032918930054,
+          -1.991190791130066
+        ],
+        [
+          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": "1731323295_383080482",
+      "mask_path": "../../mask/hdr_left_00330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00331.png",
+      "transform_matrix": [
+        [
+          -0.9827430248260498,
+          0.17291560769081116,
+          -0.0656987652182579,
+          -10.744876861572266
+        ],
+        [
+          0.06965291500091553,
+          0.016893109306693077,
+          -0.997428297996521,
+          -1.5201274156570435
+        ],
+        [
+          -0.1713610291481018,
+          -0.9847918152809143,
+          -0.028645658865571022,
+          -2.0100977420806885
+        ],
+        [
+          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": "1731323295_483080625",
+      "mask_path": "../../mask/hdr_left_00331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00332.png",
+      "transform_matrix": [
+        [
+          -0.9832093119621277,
+          0.17157188057899475,
+          -0.0621490441262722,
+          -10.833646774291992
+        ],
+        [
+          0.06508243829011917,
+          0.01151997596025467,
+          -0.9978134036064148,
+          -1.5374956130981445
+        ],
+        [
+          -0.17048075795173645,
+          -0.9851042628288269,
+          -0.02249285764992237,
+          -2.030508518218994
+        ],
+        [
+          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": "1731323295_583080768",
+      "mask_path": "../../mask/hdr_left_00332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00333.png",
+      "transform_matrix": [
+        [
+          -0.975986659526825,
+          0.20540542900562286,
+          -0.07251623272895813,
+          -10.91576099395752
+        ],
+        [
+          0.0727676972746849,
+          -0.006339944899082184,
+          -0.9973288178443909,
+          -1.551631212234497
+        ],
+        [
+          -0.2053164839744568,
+          -0.9786564111709595,
+          -0.00875917449593544,
+          -2.0442614555358887
+        ],
+        [
+          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": "1731323295_683080434",
+      "mask_path": "../../mask/hdr_left_00333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00334.png",
+      "transform_matrix": [
+        [
+          -0.9681062698364258,
+          0.23465311527252197,
+          -0.08779527992010117,
+          -10.97657299041748
+        ],
+        [
+          0.08623161911964417,
+          -0.016936663538217545,
+          -0.996131181716919,
+          -1.5548521280288696
+        ],
+        [
+          -0.2352321892976761,
+          -0.9719316363334656,
+          -0.003838017350062728,
+          -2.0468056201934814
+        ],
+        [
+          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": "1731323295_783080577",
+      "mask_path": "../../mask/hdr_left_00334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00335.png",
+      "transform_matrix": [
+        [
+          -0.9698173999786377,
+          0.22707857191562653,
+          -0.08882227540016174,
+          -11.038880348205566
+        ],
+        [
+          0.08970282226800919,
+          -0.006460141856223345,
+          -0.9959475994110107,
+          -1.5571013689041138
+        ],
+        [
+          -0.22673216462135315,
+          -0.9738550186157227,
+          -0.014104428701102734,
+          -2.057647943496704
+        ],
+        [
+          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": "1731323295_883080720",
+      "mask_path": "../../mask/hdr_left_00335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00336.png",
+      "transform_matrix": [
+        [
+          -0.9709827303886414,
+          0.22340349853038788,
+          -0.08534207195043564,
+          -11.120603561401367
+        ],
+        [
+          0.08843842893838882,
+          0.003872607834637165,
+          -0.9960740804672241,
+          -1.5610060691833496
+        ],
+        [
+          -0.22219593822956085,
+          -0.9747183918952942,
+          -0.02351769059896469,
+          -2.0900707244873047
+        ],
+        [
+          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": "1731323295_983079910",
+      "mask_path": "../../mask/hdr_left_00336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00337.png",
+      "transform_matrix": [
+        [
+          -0.9697409868240356,
+          0.229305237531662,
+          -0.08379480987787247,
+          -11.202898979187012
+        ],
+        [
+          0.08779976516962051,
+          0.007300558499991894,
+          -0.9961113929748535,
+          -1.5635316371917725
+        ],
+        [
+          -0.22780181467533112,
+          -0.9733272194862366,
+          -0.02721259370446205,
+          -2.1301777362823486
+        ],
+        [
+          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": "1731323296_83080530",
+      "mask_path": "../../mask/hdr_left_00337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00338.png",
+      "transform_matrix": [
+        [
+          -0.9694534540176392,
+          0.22977931797504425,
+          -0.08579898625612259,
+          -11.269901275634766
+        ],
+        [
+          0.08778786659240723,
+          -0.001572681125253439,
+          -0.9961379170417786,
+          -1.5766183137893677
+        ],
+        [
+          -0.22902679443359375,
+          -0.9732415080070496,
+          -0.018647190183401108,
+          -2.161200523376465
+        ],
+        [
+          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": "1731323296_183080196",
+      "mask_path": "../../mask/hdr_left_00338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00339.png",
+      "transform_matrix": [
+        [
+          -0.9698998928070068,
+          0.2271939367055893,
+          -0.08761817961931229,
+          -11.342426300048828
+        ],
+        [
+          0.08675042539834976,
+          -0.013821921311318874,
+          -0.9961342215538025,
+          -1.5959866046905518
+        ],
+        [
+          -0.2275266945362091,
+          -0.9737514853477478,
+          -0.0063032833859324455,
+          -2.182302236557007
+        ],
+        [
+          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": "1731323296_283080816",
+      "mask_path": "../../mask/hdr_left_00339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00340.png",
+      "transform_matrix": [
+        [
+          -0.9707040786743164,
+          0.2239021509885788,
+          -0.08718601614236832,
+          -11.435176849365234
+        ],
+        [
+          0.08629529923200607,
+          -0.01377953216433525,
+          -0.9961743354797363,
+          -1.6056864261627197
+        ],
+        [
+          -0.22424693405628204,
+          -0.9745142459869385,
+          -0.00594584783539176,
+          -2.1958470344543457
+        ],
+        [
+          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": "1731323296_383080005",
+      "mask_path": "../../mask/hdr_left_00340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00341.png",
+      "transform_matrix": [
+        [
+          -0.9720783233642578,
+          0.2173972874879837,
+          -0.08832951635122299,
+          -11.524934768676758
+        ],
+        [
+          0.0882381945848465,
+          -0.010147211141884327,
+          -0.9960477352142334,
+          -1.6112096309661865
+        ],
+        [
+          -0.2174343466758728,
+          -0.9760305285453796,
+          -0.009318857453763485,
+          -2.20017671585083
+        ],
+        [
+          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": "1731323296_483080625",
+      "mask_path": "../../mask/hdr_left_00341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00342.png",
+      "transform_matrix": [
+        [
+          -0.9736543893814087,
+          0.20822733640670776,
+          -0.09294329583644867,
+          -11.601006507873535
+        ],
+        [
+          0.09360717236995697,
+          -0.006685466039925814,
+          -0.9955867528915405,
+          -1.6160846948623657
+        ],
+        [
+          -0.20792973041534424,
+          -0.9780576229095459,
+          -0.012982231564819813,
+          -2.203836679458618
+        ],
+        [
+          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": "1731323296_583081007",
+      "mask_path": "../../mask/hdr_left_00342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00343.png",
+      "transform_matrix": [
+        [
+          -0.9753696918487549,
+          0.19571711122989655,
+          -0.1017291471362114,
+          -11.69318675994873
+        ],
+        [
+          0.10334832966327667,
+          -0.0019487009849399328,
+          -0.9946433305740356,
+          -1.6220800876617432
+        ],
+        [
+          -0.19486694037914276,
+          -0.9806585311889648,
+          -0.018326325342059135,
+          -2.2142889499664307
+        ],
+        [
+          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": "1731323296_683081626",
+      "mask_path": "../../mask/hdr_left_00343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00344.png",
+      "transform_matrix": [
+        [
+          -0.9751225113868713,
+          0.19688338041305542,
+          -0.10184808075428009,
+          -11.79415512084961
+        ],
+        [
+          0.10637496411800385,
+          0.012527474202215672,
+          -0.9942471385002136,
+          -1.6268019676208496
+        ],
+        [
+          -0.19447483122348785,
+          -0.9803468585014343,
+          -0.0331592820584774,
+          -2.224410057067871
+        ],
+        [
+          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": "1731323296_783080816",
+      "mask_path": "../../mask/hdr_left_00344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00345.png",
+      "transform_matrix": [
+        [
+          -0.9743502140045166,
+          0.2046879678964615,
+          -0.0935121551156044,
+          -11.8695068359375
+        ],
+        [
+          0.10033310204744339,
+          0.023179398849606514,
+          -0.9946838617324829,
+          -1.6336387395858765
+        ],
+        [
+          -0.2014322578907013,
+          -0.9785528182983398,
+          -0.0431218259036541,
+          -2.2443430423736572
+        ],
+        [
+          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": "1731323296_883081436",
+      "mask_path": "../../mask/hdr_left_00345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00346.png",
+      "transform_matrix": [
+        [
+          -0.9755545258522034,
+          0.2055482268333435,
+          -0.07773846387863159,
+          -11.934606552124023
+        ],
+        [
+          0.0842042788863182,
+          0.022884732112288475,
+          -0.9961856603622437,
+          -1.6520229578018188
+        ],
+        [
+          -0.20298516750335693,
+          -0.9783794283866882,
+          -0.039633337408304214,
+          -2.2712278366088867
+        ],
+        [
+          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": "1731323296_983081340",
+      "mask_path": "../../mask/hdr_left_00346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00347.png",
+      "transform_matrix": [
+        [
+          -0.9757927656173706,
+          0.21036770939826965,
+          -0.05978204309940338,
+          -12.01679801940918
+        ],
+        [
+          0.06661120802164078,
+          0.02552187629044056,
+          -0.9974525570869446,
+          -1.67078697681427
+        ],
+        [
+          -0.20830599963665009,
+          -0.9772891998291016,
+          -0.03891690447926521,
+          -2.2976865768432617
+        ],
+        [
+          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": "1731323297_83080053",
+      "mask_path": "../../mask/hdr_left_00347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00348.png",
+      "transform_matrix": [
+        [
+          -0.9761927723884583,
+          0.21208195388317108,
+          -0.04548414796590805,
+          -12.09963607788086
+        ],
+        [
+          0.052340079098939896,
+          0.02682269923388958,
+          -0.9982689619064331,
+          -1.6837818622589111
+        ],
+        [
+          -0.21049483120441437,
+          -0.9768837094306946,
+          -0.03728450834751129,
+          -2.318812131881714
+        ],
+        [
+          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": "1731323297_183080434",
+      "mask_path": "../../mask/hdr_left_00348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00349.png",
+      "transform_matrix": [
+        [
+          -0.977763295173645,
+          0.20625777542591095,
+          -0.03790280967950821,
+          -12.17291259765625
+        ],
+        [
+          0.043099697679281235,
+          0.020759666338562965,
+          -0.9988551735877991,
+          -1.6959881782531738
+        ],
+        [
+          -0.20523476600646973,
+          -0.9782775044441223,
+          -0.029187677428126335,
+          -2.337026596069336
+        ],
+        [
+          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": "1731323297_283080816",
+      "mask_path": "../../mask/hdr_left_00349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00350.png",
+      "transform_matrix": [
+        [
+          -0.979546308517456,
+          0.1972639113664627,
+          -0.039698418229818344,
+          -12.260883331298828
+        ],
+        [
+          0.04543798789381981,
+          0.024653591215610504,
+          -0.9986628890037537,
+          -1.709598422050476
+        ],
+        [
+          -0.1960214078426361,
+          -0.980040431022644,
+          -0.03311260789632797,
+          -2.357516050338745
+        ],
+        [
+          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": "1731323297_383080959",
+      "mask_path": "../../mask/hdr_left_00350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00351.png",
+      "transform_matrix": [
+        [
+          -0.9805684089660645,
+          0.19169294834136963,
+          -0.041705332696437836,
+          -12.351131439208984
+        ],
+        [
+          0.04904140904545784,
+          0.0336841382086277,
+          -0.9982286095619202,
+          -1.7218831777572632
+        ],
+        [
+          -0.18994857370853424,
+          -0.9808767437934875,
+          -0.04243049398064613,
+          -2.3684632778167725
+        ],
+        [
+          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": "1731323297_483080863",
+      "mask_path": "../../mask/hdr_left_00351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00352.png",
+      "transform_matrix": [
+        [
+          -0.9815394878387451,
+          0.18678759038448334,
+          -0.04111621901392937,
+          -12.420473098754883
+        ],
+        [
+          0.048070088028907776,
+          0.03285129368305206,
+          -0.9983035326004028,
+          -1.7364144325256348
+        ],
+        [
+          -0.18511997163295746,
+          -0.9818509221076965,
+          -0.041223734617233276,
+          -2.375152111053467
+        ],
+        [
+          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": "1731323297_583080530",
+      "mask_path": "../../mask/hdr_left_00352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00353.png",
+      "transform_matrix": [
+        [
+          -0.9827881455421448,
+          0.18040108680725098,
+          -0.039783719927072525,
+          -12.492071151733398
+        ],
+        [
+          0.045654598623514175,
+          0.028507260605692863,
+          -0.9985504150390625,
+          -1.7526743412017822
+        ],
+        [
+          -0.1790054589509964,
+          -0.9831799864768982,
+          -0.03625273331999779,
+          -2.388554096221924
+        ],
+        [
+          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": "1731323297_683081865",
+      "mask_path": "../../mask/hdr_left_00353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00354.png",
+      "transform_matrix": [
+        [
+          -0.981624960899353,
+          0.18591347336769104,
+          -0.04299603030085564,
+          -12.57652759552002
+        ],
+        [
+          0.04638579487800598,
+          0.013919731602072716,
+          -0.9988265633583069,
+          -1.7629165649414062
+        ],
+        [
+          -0.18509680032730103,
+          -0.982467532157898,
+          -0.02228769101202488,
+          -2.4035139083862305
+        ],
+        [
+          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": "1731323297_783080339",
+      "mask_path": "../../mask/hdr_left_00354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00355.png",
+      "transform_matrix": [
+        [
+          -0.9797243475914001,
+          0.1939452588558197,
+          -0.050254687666893005,
+          -12.65190601348877
+        ],
+        [
+          0.05353514477610588,
+          0.011707060039043427,
+          -0.9984972476959229,
+          -1.7704737186431885
+        ],
+        [
+          -0.19306547939777374,
+          -0.9809426069259644,
+          -0.02185257524251938,
+          -2.4097824096679688
+        ],
+        [
+          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": "1731323297_883081197",
+      "mask_path": "../../mask/hdr_left_00355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00356.png",
+      "transform_matrix": [
+        [
+          -0.9790750741958618,
+          0.19535568356513977,
+          -0.05699216574430466,
+          -12.715740203857422
+        ],
+        [
+          0.06191302463412285,
+          0.019170956686139107,
+          -0.9978974461555481,
+          -1.771060824394226
+        ],
+        [
+          -0.19385233521461487,
+          -0.9805451035499573,
+          -0.030864864587783813,
+          -2.4162487983703613
+        ],
+        [
+          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": "1731323297_983080387",
+      "mask_path": "../../mask/hdr_left_00356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00357.png",
+      "transform_matrix": [
+        [
+          -0.9782671332359314,
+          0.19677923619747162,
+          -0.06535454094409943,
+          -12.779858589172363
+        ],
+        [
+          0.07085750997066498,
+          0.02104800008237362,
+          -0.9972643852233887,
+          -1.7713587284088135
+        ],
+        [
+          -0.19486531615257263,
+          -0.9802219271659851,
+          -0.034533847123384476,
+          -2.435408353805542
+        ],
+        [
+          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": "1731323298_83080053",
+      "mask_path": "../../mask/hdr_left_00357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00358.png",
+      "transform_matrix": [
+        [
+          -0.9776954054832458,
+          0.1980380415916443,
+          -0.06994675099849701,
+          -12.867405891418457
+        ],
+        [
+          0.07586545497179031,
+          0.022449210286140442,
+          -0.9968653321266174,
+          -1.7706785202026367
+        ],
+        [
+          -0.19584700465202332,
+          -0.9799372553825378,
+          -0.03697273135185242,
+          -2.462332248687744
+        ],
+        [
+          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": "1731323298_183080196",
+      "mask_path": "../../mask/hdr_left_00358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00359.png",
+      "transform_matrix": [
+        [
+          -0.9772869944572449,
+          0.20070309937000275,
+          -0.06803315132856369,
+          -12.95827865600586
+        ],
+        [
+          0.07370336353778839,
+          0.020907167345285416,
+          -0.997061014175415,
+          -1.7725383043289185
+        ],
+        [
+          -0.19869086146354675,
+          -0.9794290065765381,
+          -0.035224799066782,
+          -2.4964611530303955
+        ],
+        [
+          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": "1731323298_283081293",
+      "mask_path": "../../mask/hdr_left_00359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00360.png",
+      "transform_matrix": [
+        [
+          -0.9768604636192322,
+          0.20284675061702728,
+          -0.06779919564723969,
+          -13.031294822692871
+        ],
+        [
+          0.07173003256320953,
+          0.012081286869943142,
+          -0.9973508715629578,
+          -1.7833175659179688
+        ],
+        [
+          -0.20149028301239014,
+          -0.9791359901428223,
+          -0.026351936161518097,
+          -2.5309627056121826
+        ],
+        [
+          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": "1731323298_383081912",
+      "mask_path": "../../mask/hdr_left_00360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00361.png",
+      "transform_matrix": [
+        [
+          -0.9780601859092712,
+          0.19973866641521454,
+          -0.05918378010392189,
+          -13.12122631072998
+        ],
+        [
+          0.06126017868518829,
+          0.0042257593013346195,
+          -0.9981129169464111,
+          -1.7905848026275635
+        ],
+        [
+          -0.19911162555217743,
+          -0.9798401594161987,
+          -0.016369063407182693,
+          -2.5548901557922363
+        ],
+        [
+          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": "1731323298_483081817",
+      "mask_path": "../../mask/hdr_left_00361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00362.png",
+      "transform_matrix": [
+        [
+          -0.979614794254303,
+          0.197374165058136,
+          -0.037391457706689835,
+          -13.226157188415527
+        ],
+        [
+          0.03804924711585045,
+          -0.0004598142404574901,
+          -0.9992757439613342,
+          -1.7961633205413818
+        ],
+        [
+          -0.19724838435649872,
+          -0.9803281426429749,
+          -0.007059495430439711,
+          -2.564751148223877
+        ],
+        [
+          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": "1731323298_583081007",
+      "mask_path": "../../mask/hdr_left_00362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00363.png",
+      "transform_matrix": [
+        [
+          -0.9809844493865967,
+          0.194001242518425,
+          -0.005736403167247772,
+          -13.30440902709961
+        ],
+        [
+          0.005213634576648474,
+          -0.0032051147427409887,
+          -0.9999812245368958,
+          -1.8149464130401611
+        ],
+        [
+          -0.1940159797668457,
+          -0.9809961318969727,
+          0.0021327221766114235,
+          -2.569631576538086
+        ],
+        [
+          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": "1731323298_683081626",
+      "mask_path": "../../mask/hdr_left_00363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00364.png",
+      "transform_matrix": [
+        [
+          -0.9818001389503479,
+          0.18739813566207886,
+          0.030827313661575317,
+          -13.369156837463379
+        ],
+        [
+          -0.03195423632860184,
+          -0.002995151560753584,
+          -0.9994848370552063,
+          -1.8393795490264893
+        ],
+        [
+          -0.18720924854278564,
+          -0.9822795391082764,
+          0.008928811177611351,
+          -2.5795538425445557
+        ],
+        [
+          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": "1731323298_783082485",
+      "mask_path": "../../mask/hdr_left_00364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00365.png",
+      "transform_matrix": [
+        [
+          -0.9802142977714539,
+          0.18151487410068512,
+          0.0789436623454094,
+          -13.45746898651123
+        ],
+        [
+          -0.07855213433504105,
+          0.009356350637972355,
+          -0.9968661665916443,
+          -1.8701529502868652
+        ],
+        [
+          -0.18168465793132782,
+          -0.9833438396453857,
+          0.0050871544517576694,
+          -2.5942678451538086
+        ],
+        [
+          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": "1731323298_883082389",
+      "mask_path": "../../mask/hdr_left_00365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00366.png",
+      "transform_matrix": [
+        [
+          -0.9741241931915283,
+          0.17879098653793335,
+          0.13825933635234833,
+          -13.543684005737305
+        ],
+        [
+          -0.13695119321346283,
+          0.019699249416589737,
+          -0.9903818964958191,
+          -1.9082750082015991
+        ],
+        [
+          -0.17979493737220764,
+          -0.9836899042129517,
+          0.005296125542372465,
+          -2.6039295196533203
+        ],
+        [
+          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": "1731323298_983081579",
+      "mask_path": "../../mask/hdr_left_00366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00367.png",
+      "transform_matrix": [
+        [
+          -0.963547945022583,
+          0.1782960444688797,
+          0.19946376979351044,
+          -13.602296829223633
+        ],
+        [
+          -0.19887545704841614,
+          0.02135208062827587,
+          -0.9797922968864441,
+          -1.9533494710922241
+        ],
+        [
+          -0.17895203828811646,
+          -0.983745276927948,
+          0.014884957112371922,
+          -2.613614320755005
+        ],
+        [
+          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": "1731323299_83082675",
+      "mask_path": "../../mask/hdr_left_00367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00368.png",
+      "transform_matrix": [
+        [
+          -0.9477767944335938,
+          0.18168599903583527,
+          0.2621246874332428,
+          -13.65703296661377
+        ],
+        [
+          -0.2628757953643799,
+          0.020374037325382233,
+          -0.9646144509315491,
+          -2.0052778720855713
+        ],
+        [
+          -0.18059749901294708,
+          -0.9831455945968628,
+          0.02845081314444542,
+          -2.624889373779297
+        ],
+        [
+          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": "1731323299_183082103",
+      "mask_path": "../../mask/hdr_left_00368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00369.png",
+      "transform_matrix": [
+        [
+          -0.9303414225578308,
+          0.1891644150018692,
+          0.31413617730140686,
+          -13.721741676330566
+        ],
+        [
+          -0.31706997752189636,
+          0.01535721868276596,
+          -0.9482778310775757,
+          -2.061398983001709
+        ],
+        [
+          -0.18420465290546417,
+          -0.9818254113197327,
+          0.04569089785218239,
+          -2.641357183456421
+        ],
+        [
+          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": "1731323299_283082246",
+      "mask_path": "../../mask/hdr_left_00369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00370.png",
+      "transform_matrix": [
+        [
+          -0.9142025113105774,
+          0.18978555500507355,
+          0.35807129740715027,
+          -13.77377700805664
+        ],
+        [
+          -0.36275550723075867,
+          0.010680933482944965,
+          -0.9318230748176575,
+          -2.1163179874420166
+        ],
+        [
+          -0.1806710809469223,
+          -0.981767475605011,
+          0.05908121541142464,
+          -2.659104824066162
+        ],
+        [
+          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": "1731323299_383082151",
+      "mask_path": "../../mask/hdr_left_00370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00371.png",
+      "transform_matrix": [
+        [
+          -0.8987618684768677,
+          0.18282102048397064,
+          0.3985014259815216,
+          -13.82149887084961
+        ],
+        [
+          -0.404429167509079,
+          0.005281288642436266,
+          -0.9145541191101074,
+          -2.18154239654541
+        ],
+        [
+          -0.1693042814731598,
+          -0.983132004737854,
+          0.06919153779745102,
+          -2.6642696857452393
+        ],
+        [
+          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": "1731323299_483082532",
+      "mask_path": "../../mask/hdr_left_00371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00372.png",
+      "transform_matrix": [
+        [
+          -0.8839481472969055,
+          0.17282383143901825,
+          0.4344737231731415,
+          -13.900564193725586
+        ],
+        [
+          -0.43893304467201233,
+          0.013566626235842705,
+          -0.8984173536300659,
+          -2.2650270462036133
+        ],
+        [
+          -0.16116227209568024,
+          -0.9848593473434448,
+          0.06386587768793106,
+          -2.6827683448791504
+        ],
+        [
+          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": "1731323299_583081960",
+      "mask_path": "../../mask/hdr_left_00372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00373.png",
+      "transform_matrix": [
+        [
+          -0.8662363290786743,
+          0.1684112697839737,
+          0.47039565443992615,
+          -13.966511726379395
+        ],
+        [
+          -0.47298768162727356,
+          0.02694554813206196,
+          -0.8806569576263428,
+          -2.335644006729126
+        ],
+        [
+          -0.16098761558532715,
+          -0.9853485226631165,
+          0.056315261870622635,
+          -2.7093844413757324
+        ],
+        [
+          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": "1731323299_683082342",
+      "mask_path": "../../mask/hdr_left_00373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00374.png",
+      "transform_matrix": [
+        [
+          -0.8461636900901794,
+          0.17060303688049316,
+          0.5048778057098389,
+          -14.005230903625488
+        ],
+        [
+          -0.5077332854270935,
+          0.029745157808065414,
+          -0.861000657081604,
+          -2.390488386154175
+        ],
+        [
+          -0.16190697252750397,
+          -0.9848908185958862,
+          0.061451565474271774,
+          -2.7234761714935303
+        ],
+        [
+          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": "1731323299_783082485",
+      "mask_path": "../../mask/hdr_left_00374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00375.png",
+      "transform_matrix": [
+        [
+          -0.8271713256835938,
+          0.175914004445076,
+          0.5337057709693909,
+          -14.054808616638184
+        ],
+        [
+          -0.5375763177871704,
+          0.028965501114726067,
+          -0.8427173495292664,
+          -2.4572770595550537
+        ],
+        [
+          -0.16370484232902527,
+          -0.983979344367981,
+          0.07060778141021729,
+          -2.7313969135284424
+        ],
+        [
+          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": "1731323299_883081912",
+      "mask_path": "../../mask/hdr_left_00375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00376.png",
+      "transform_matrix": [
+        [
+          -0.8187072277069092,
+          0.17627058923244476,
+          0.5464861392974854,
+          -14.117348670959473
+        ],
+        [
+          -0.5498660206794739,
+          0.03351210430264473,
+          -0.8345802426338196,
+          -2.5203676223754883
+        ],
+        [
+          -0.1654258370399475,
+          -0.9837712049484253,
+          0.06948862969875336,
+          -2.735727310180664
+        ],
+        [
+          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": "1731323299_983081340",
+      "mask_path": "../../mask/hdr_left_00376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00377.png",
+      "transform_matrix": [
+        [
+          -0.8178284764289856,
+          0.17499583959579468,
+          0.5482088923454285,
+          -14.169950485229492
+        ],
+        [
+          -0.5512130260467529,
+          0.035407740622758865,
+          -0.8336127996444702,
+          -2.5685558319091797
+        ],
+        [
+          -0.16528961062431335,
+          -0.9839323163032532,
+          0.06750253587961197,
+          -2.7371718883514404
+        ],
+        [
+          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": "1731323300_83081245",
+      "mask_path": "../../mask/hdr_left_00377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00378.png",
+      "transform_matrix": [
+        [
+          -0.8218094706535339,
+          0.17070862650871277,
+          0.5435878038406372,
+          -14.223145484924316
+        ],
+        [
+          -0.5466603636741638,
+          0.03267704322934151,
+          -0.8367166519165039,
+          -2.616936683654785
+        ],
+        [
+          -0.16059757769107819,
+          -0.9847795963287354,
+          0.0664653331041336,
+          -2.742607355117798
+        ],
+        [
+          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": "1731323300_183079957",
+      "mask_path": "../../mask/hdr_left_00378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00379.png",
+      "transform_matrix": [
+        [
+          -0.8283594846725464,
+          0.15495620667934418,
+          0.5383391380310059,
+          -14.29645824432373
+        ],
+        [
+          -0.5391416549682617,
+          0.04046628251671791,
+          -0.8412423133850098,
+          -2.6954233646392822
+        ],
+        [
+          -0.1521402895450592,
+          -0.9870923161506653,
+          0.050022732466459274,
+          -2.7527682781219482
+        ],
+        [
+          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": "1731323300_283082485",
+      "mask_path": "../../mask/hdr_left_00379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00380.png",
+      "transform_matrix": [
+        [
+          -0.8325971364974976,
+          0.14463873207569122,
+          0.5346602201461792,
+          -14.372118949890137
+        ],
+        [
+          -0.529183030128479,
+          0.0772995874285698,
+          -0.8449793457984924,
+          -2.7577834129333496
+        ],
+        [
+          -0.16354574263095856,
+          -0.9864605665206909,
+          0.01218094490468502,
+          -2.759225606918335
+        ],
+        [
+          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": "1731323300_383081912",
+      "mask_path": "../../mask/hdr_left_00380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00381.png",
+      "transform_matrix": [
+        [
+          -0.8388915061950684,
+          0.1428547352552414,
+          0.5252175331115723,
+          -14.416635513305664
+        ],
+        [
+          -0.5168132185935974,
+          0.09370388090610504,
+          -0.850954532623291,
+          -2.79276967048645
+        ],
+        [
+          -0.1707778126001358,
+          -0.9852980375289917,
+          -0.004778169561177492,
+          -2.7633447647094727
+        ],
+        [
+          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": "1731323300_483080625",
+      "mask_path": "../../mask/hdr_left_00381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00382.png",
+      "transform_matrix": [
+        [
+          -0.8426629900932312,
+          0.14499349892139435,
+          0.5185517072677612,
+          -14.458786010742188
+        ],
+        [
+          -0.511163592338562,
+          0.08722372353076935,
+          -0.8550459742546082,
+          -2.8438820838928223
+        ],
+        [
+          -0.16920612752437592,
+          -0.9855805039405823,
+          0.0006151998532004654,
+          -2.7822277545928955
+        ],
+        [
+          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": "1731323300_583081960",
+      "mask_path": "../../mask/hdr_left_00382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00383.png",
+      "transform_matrix": [
+        [
+          -0.8441193103790283,
+          0.15053915977478027,
+          0.5145875811576843,
+          -14.533509254455566
+        ],
+        [
+          -0.5078704357147217,
+          0.08311205357313156,
+          -0.857414722442627,
+          -2.9047696590423584
+        ],
+        [
+          -0.17184291779994965,
+          -0.9851042628288269,
+          0.006297906395047903,
+          -2.813403367996216
+        ],
+        [
+          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": "1731323300_683082342",
+      "mask_path": "../../mask/hdr_left_00383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00384.png",
+      "transform_matrix": [
+        [
+          -0.8455455899238586,
+          0.15690840780735016,
+          0.5103257894515991,
+          -14.594891548156738
+        ],
+        [
+          -0.5054348111152649,
+          0.07270486652851105,
+          -0.8597963452339172,
+          -2.965590715408325
+        ],
+        [
+          -0.17201244831085205,
+          -0.9849334955215454,
+          0.01783168688416481,
+          -2.839475154876709
+        ],
+        [
+          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": "1731323300_783082246",
+      "mask_path": "../../mask/hdr_left_00384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00385.png",
+      "transform_matrix": [
+        [
+          -0.8484481573104858,
+          0.15513819456100464,
+          0.5060315132141113,
+          -14.652275085449219
+        ],
+        [
+          -0.5027015805244446,
+          0.06295157223939896,
+          -0.8621647953987122,
+          -3.038665294647217
+        ],
+        [
+          -0.1656101495027542,
+          -0.9858850240707397,
+          0.0245770625770092,
+          -2.854499578475952
+        ],
+        [
+          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": "1731323300_883081674",
+      "mask_path": "../../mask/hdr_left_00385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00386.png",
+      "transform_matrix": [
+        [
+          -0.8525419235229492,
+          0.1501421183347702,
+          0.5006290674209595,
+          -14.734501838684082
+        ],
+        [
+          -0.4959254860877991,
+          0.07003526389598846,
+          -0.8655362129211426,
+          -3.1341795921325684
+        ],
+        [
+          -0.1650151163339615,
+          -0.9861807227134705,
+          0.014751305803656578,
+          -2.8738949298858643
+        ],
+        [
+          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": "1731323300_983082294",
+      "mask_path": "../../mask/hdr_left_00386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00387.png",
+      "transform_matrix": [
+        [
+          -0.8545793294906616,
+          0.15190783143043518,
+          0.49660661816596985,
+          -14.789798736572266
+        ],
+        [
+          -0.4904305934906006,
+          0.07843364030122757,
+          -0.8679435849189758,
+          -3.2045910358428955
+        ],
+        [
+          -0.17079809308052063,
+          -0.9852777123451233,
+          0.007472496945410967,
+          -2.89967942237854
+        ],
+        [
+          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": "1731323301_83081960",
+      "mask_path": "../../mask/hdr_left_00387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00388.png",
+      "transform_matrix": [
+        [
+          -0.8545966744422913,
+          0.15543317794799805,
+          0.4954845607280731,
+          -14.831579208374023
+        ],
+        [
+          -0.48910537362098694,
+          0.07965055853128433,
+          -0.8685802817344666,
+          -3.2560951709747314
+        ],
+        [
+          -0.17447179555892944,
+          -0.9846301078796387,
+          0.007954101078212261,
+          -2.9169113636016846
+        ],
+        [
+          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": "1731323301_183082580",
+      "mask_path": "../../mask/hdr_left_00388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00389.png",
+      "transform_matrix": [
+        [
+          -0.8545003533363342,
+          0.15535444021224976,
+          0.49567553400993347,
+          -14.900581359863281
+        ],
+        [
+          -0.4888927638530731,
+          0.08193483203649521,
+          -0.868487536907196,
+          -3.32745099067688
+        ],
+        [
+          -0.17553645372390747,
+          -0.9844550490379333,
+          0.005938314367085695,
+          -2.9325132369995117
+        ],
+        [
+          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": "1731323301_283081531",
+      "mask_path": "../../mask/hdr_left_00389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00390.png",
+      "transform_matrix": [
+        [
+          -0.8569496273994446,
+          0.15273743867874146,
+          0.4922484755516052,
+          -14.976780891418457
+        ],
+        [
+          -0.4859122633934021,
+          0.0789962187409401,
+          -0.8704302906990051,
+          -3.401050090789795
+        ],
+        [
+          -0.17183305323123932,
+          -0.985104501247406,
+          0.006521216128021479,
+          -2.9360060691833496
+        ],
+        [
+          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": "1731323301_383082151",
+      "mask_path": "../../mask/hdr_left_00390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00391.png",
+      "transform_matrix": [
+        [
+          -0.860880434513092,
+          0.15006129443645477,
+          0.486175537109375,
+          -15.03896713256836
+        ],
+        [
+          -0.48094090819358826,
+          0.07188998907804489,
+          -0.8738006949424744,
+          -3.4592952728271484
+        ],
+        [
+          -0.16607479751110077,
+          -0.9860596060752869,
+          0.010281930677592754,
+          -2.938749313354492
+        ],
+        [
+          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": "1731323301_483081817",
+      "mask_path": "../../mask/hdr_left_00391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00392.png",
+      "transform_matrix": [
+        [
+          -0.8671124577522278,
+          0.141639843583107,
+          0.477550208568573,
+          -15.114029884338379
+        ],
+        [
+          -0.47278517484664917,
+          0.06778940558433533,
+          -0.8785662651062012,
+          -3.5286149978637695
+        ],
+        [
+          -0.156812846660614,
+          -0.9875944256782532,
+          0.008184188976883888,
+          -2.9489400386810303
+        ],
+        [
+          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": "1731323301_583082437",
+      "mask_path": "../../mask/hdr_left_00392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00253.png",
+      "transform_matrix": [
+        [
+          0.9759522080421448,
+          0.17206527292728424,
+          -0.13383156061172485,
+          -5.21095609664917
+        ],
+        [
+          0.13424615561962128,
+          0.009278461337089539,
+          0.9909046292304993,
+          -0.990149974822998
+        ],
+        [
+          0.1717420071363449,
+          -0.9850418567657471,
+          -0.014043763279914856,
+          -0.8206167817115784
+        ],
+        [
+          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": "1731323288_783083915",
+      "mask_path": "../../mask/hdr_right_00253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00254.png",
+      "transform_matrix": [
+        [
+          0.9769988656044006,
+          0.1666180044412613,
+          -0.13308517634868622,
+          -5.320573806762695
+        ],
+        [
+          0.1326930969953537,
+          0.013534116558730602,
+          0.991064727306366,
+          -1.002266764640808
+        ],
+        [
+          0.1669304072856903,
+          -0.9859285950660706,
+          -0.008886240422725677,
+          -0.8383239507675171
+        ],
+        [
+          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": "1731323288_883080720",
+      "mask_path": "../../mask/hdr_right_00254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00255.png",
+      "transform_matrix": [
+        [
+          0.9771984815597534,
+          0.16389235854148865,
+          -0.13499003648757935,
+          -5.405298233032227
+        ],
+        [
+          0.13423657417297363,
+          0.01571578159928322,
+          0.9908246994018555,
+          -1.010883092880249
+        ],
+        [
+          0.1645101010799408,
+          -0.9863530397415161,
+          -0.006642910186201334,
+          -0.8547747731208801
+        ],
+        [
+          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": "1731323288_983082056",
+      "mask_path": "../../mask/hdr_right_00255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00256.png",
+      "transform_matrix": [
+        [
+          0.977922260761261,
+          0.1573718935251236,
+          -0.13748522102832794,
+          -5.477667808532715
+        ],
+        [
+          0.1373615711927414,
+          0.011714686639606953,
+          0.9904518127441406,
+          -1.0202832221984863
+        ],
+        [
+          0.15747985243797302,
+          -0.9874698519706726,
+          -0.010160795412957668,
+          -0.8686467409133911
+        ],
+        [
+          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": "1731323289_83079576",
+      "mask_path": "../../mask/hdr_right_00256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00257.png",
+      "transform_matrix": [
+        [
+          0.9769226312637329,
+          0.16480812430381775,
+          -0.13586872816085815,
+          -5.5693278312683105
+        ],
+        [
+          0.13823674619197845,
+          -0.0029299508314579725,
+          0.9903949499130249,
+          -1.025076985359192
+        ],
+        [
+          0.1628270447254181,
+          -0.9863213300704956,
+          -0.025644870474934578,
+          -0.8844326734542847
+        ],
+        [
+          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": "1731323289_183080196",
+      "mask_path": "../../mask/hdr_right_00257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00258.png",
+      "transform_matrix": [
+        [
+          0.9749132990837097,
+          0.1828306019306183,
+          -0.12695325911045074,
+          -5.649112224578857
+        ],
+        [
+          0.13109128177165985,
+          -0.010677670128643513,
+          0.9913129210472107,
+          -1.025839924812317
+        ],
+        [
+          0.17988675832748413,
+          -0.9830864071846008,
+          -0.03437729552388191,
+          -0.8930898904800415
+        ],
+        [
+          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": "1731323289_283080816",
+      "mask_path": "../../mask/hdr_right_00258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00259.png",
+      "transform_matrix": [
+        [
+          0.9743715524673462,
+          0.19073456525802612,
+          -0.11924944072961807,
+          -5.709582805633545
+        ],
+        [
+          0.12250169366598129,
+          -0.005308583378791809,
+          0.9924541711807251,
+          -1.019689917564392
+        ],
+        [
+          0.18866224586963654,
+          -0.9816272854804993,
+          -0.028537828475236893,
+          -0.8968079090118408
+        ],
+        [
+          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": "1731323289_383078813",
+      "mask_path": "../../mask/hdr_right_00259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00260.png",
+      "transform_matrix": [
+        [
+          0.9757310152053833,
+          0.1853276938199997,
+          -0.11663006991147995,
+          -5.774316310882568
+        ],
+        [
+          0.11832732707262039,
+          0.0019148566061630845,
+          0.9929728507995605,
+          -1.0067356824874878
+        ],
+        [
+          0.184248685836792,
+          -0.9826748967170715,
+          -0.020060945302248,
+          -0.9139345288276672
+        ],
+        [
+          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": "1731323289_483080625",
+      "mask_path": "../../mask/hdr_right_00260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00261.png",
+      "transform_matrix": [
+        [
+          0.9758289456367493,
+          0.18461711704730988,
+          -0.11693713068962097,
+          -5.8611626625061035
+        ],
+        [
+          0.11829431354999542,
+          0.0036847605369985104,
+          0.9929717779159546,
+          -0.9947469830513
+        ],
+        [
+          0.1837504655122757,
+          -0.9828036427497864,
+          -0.018243458122015,
+          -0.9455835819244385
+        ],
+        [
+          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": "1731323289_583080291",
+      "mask_path": "../../mask/hdr_right_00261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00262.png",
+      "transform_matrix": [
+        [
+          0.9760674834251404,
+          0.18289969861507416,
+          -0.11764348298311234,
+          -5.943657398223877
+        ],
+        [
+          0.11981204897165298,
+          -0.0008125252788886428,
+          0.9927963018417358,
+          -0.9871662855148315
+        ],
+        [
+          0.18148650228977203,
+          -0.9831312298774719,
+          -0.022706659510731697,
+          -0.9785796403884888
+        ],
+        [
+          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": "1731323289_683080911",
+      "mask_path": "../../mask/hdr_right_00262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00263.png",
+      "transform_matrix": [
+        [
+          0.9769315123558044,
+          0.17945294082164764,
+          -0.1157640814781189,
+          -6.008020877838135
+        ],
+        [
+          0.11955218762159348,
+          -0.010402687825262547,
+          0.9927734732627869,
+          -0.987976610660553
+        ],
+        [
+          0.17695185542106628,
+          -0.9837115406990051,
+          -0.0316167026758194,
+          -1.0037109851837158
+        ],
+        [
+          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": "1731323289_783080577",
+      "mask_path": "../../mask/hdr_right_00263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00264.png",
+      "transform_matrix": [
+        [
+          0.97666996717453,
+          0.18037669360637665,
+          -0.11653367429971695,
+          -6.08713436126709
+        ],
+        [
+          0.12208133190870285,
+          -0.019927535206079483,
+          0.9923200011253357,
+          -0.9832600951194763
+        ],
+        [
+          0.1766691654920578,
+          -0.9833956956863403,
+          -0.04148324951529503,
+          -1.0239429473876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 264,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323289_883079051",
+      "mask_path": "../../mask/hdr_right_00264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00265.png",
+      "transform_matrix": [
+        [
+          0.9762109518051147,
+          0.18066571652889252,
+          -0.11988326162099838,
+          -6.18471097946167
+        ],
+        [
+          0.12570852041244507,
+          -0.02110341005027294,
+          0.9918428063392639,
+          -0.9611718058586121
+        ],
+        [
+          0.17666202783584595,
+          -0.9833181500434875,
+          -0.04331260174512863,
+          -1.0329071283340454
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 265,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323289_983080863",
+      "mask_path": "../../mask/hdr_right_00265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00266.png",
+      "transform_matrix": [
+        [
+          0.9756109714508057,
+          0.17714451253414154,
+          -0.12962627410888672,
+          -6.262435436248779
+        ],
+        [
+          0.13524971902370453,
+          -0.019995272159576416,
+          0.9906097650527954,
+          -0.9534401297569275
+        ],
+        [
+          0.17288917303085327,
+          -0.983981728553772,
+          -0.04346635192632675,
+          -1.036327838897705
+        ],
+        [
+          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": "1731323290_83079338",
+      "mask_path": "../../mask/hdr_right_00266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00267.png",
+      "transform_matrix": [
+        [
+          0.9749695658683777,
+          0.1689896583557129,
+          -0.14448823034763336,
+          -6.3261871337890625
+        ],
+        [
+          0.1498589962720871,
+          -0.019402721896767616,
+          0.9885170459747314,
+          -0.9604462385177612
+        ],
+        [
+          0.16424570977687836,
+          -0.9854268431663513,
+          -0.04424168914556503,
+          -1.0420018434524536
+        ],
+        [
+          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": "1731323290_183082818",
+      "mask_path": "../../mask/hdr_right_00267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00268.png",
+      "transform_matrix": [
+        [
+          0.9725430011749268,
+          0.163408562541008,
+          -0.16570386290550232,
+          -6.4138593673706055
+        ],
+        [
+          0.17010805010795593,
+          -0.013238741084933281,
+          0.9853365421295166,
+          -0.9634129405021667
+        ],
+        [
+          0.15881870687007904,
+          -0.9864696860313416,
+          -0.04067235812544823,
+          -1.056146502494812
+        ],
+        [
+          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": "1731323290_283082962",
+      "mask_path": "../../mask/hdr_right_00268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00269.png",
+      "transform_matrix": [
+        [
+          0.965341329574585,
+          0.16416548192501068,
+          -0.20289361476898193,
+          -6.498466968536377
+        ],
+        [
+          0.2064921259880066,
+          -0.004976877477020025,
+          0.9784356355667114,
+          -0.9777686595916748
+        ],
+        [
+          0.15961557626724243,
+          -0.9864202737808228,
+          -0.03870326280593872,
+          -1.0688726902008057
+        ],
+        [
+          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": "1731323290_383083343",
+      "mask_path": "../../mask/hdr_right_00269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00270.png",
+      "transform_matrix": [
+        [
+          0.9544841647148132,
+          0.1651381403207779,
+          -0.2483733594417572,
+          -6.55798864364624
+        ],
+        [
+          0.25207483768463135,
+          -0.0015072140377014875,
+          0.9677066206932068,
+          -1.0042529106140137
+        ],
+        [
+          0.15943089127540588,
+          -0.9862692952156067,
+          -0.04306577518582344,
+          -1.0835978984832764
+        ],
+        [
+          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": "1731323290_483082294",
+      "mask_path": "../../mask/hdr_right_00270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00271.png",
+      "transform_matrix": [
+        [
+          0.9409257769584656,
+          0.1671564280986786,
+          -0.29447832703590393,
+          -6.616580009460449
+        ],
+        [
+          0.29911869764328003,
+          -0.0027142202015966177,
+          0.9542120695114136,
+          -1.0381344556808472
+        ],
+        [
+          0.15870338678359985,
+          -0.9859266877174377,
+          -0.05255348980426788,
+          -1.0961601734161377
+        ],
+        [
+          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": "1731323290_583082199",
+      "mask_path": "../../mask/hdr_right_00271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00272.png",
+      "transform_matrix": [
+        [
+          0.9287977814674377,
+          0.17560280859470367,
+          -0.3263406753540039,
+          -6.689493179321289
+        ],
+        [
+          0.33261945843696594,
+          -0.006747758015990257,
+          0.9430369734764099,
+          -1.064071774482727
+        ],
+        [
+          0.1633978635072708,
+          -0.9844380021095276,
+          -0.06467621773481369,
+          -1.1143687963485718
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 272,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323290_683082342",
+      "mask_path": "../../mask/hdr_right_00272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00273.png",
+      "transform_matrix": [
+        [
+          0.9217754602432251,
+          0.18067960441112518,
+          -0.343052476644516,
+          -6.759329795837402
+        ],
+        [
+          0.35013464093208313,
+          -0.007857795804738998,
+          0.9366664886474609,
+          -1.0863940715789795
+        ],
+        [
+          0.16654086112976074,
+          -0.9835106730461121,
+          -0.0705053061246872,
+          -1.1415259838104248
+        ],
+        [
+          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": "1731323290_783081769",
+      "mask_path": "../../mask/hdr_right_00273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00274.png",
+      "transform_matrix": [
+        [
+          0.9215620160102844,
+          0.17251719534397125,
+          -0.3477950692176819,
+          -6.838315010070801
+        ],
+        [
+          0.3539228141307831,
+          -0.005116979591548443,
+          0.9352607131004333,
+          -1.116239070892334
+        ],
+        [
+          0.1595688760280609,
+          -0.9849931597709656,
+          -0.0657733753323555,
+          -1.1618417501449585
+        ],
+        [
+          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": "1731323290_883080244",
+      "mask_path": "../../mask/hdr_right_00274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00275.png",
+      "transform_matrix": [
+        [
+          0.9254055619239807,
+          0.16085395216941833,
+          -0.3431481420993805,
+          -6.956315517425537
+        ],
+        [
+          0.34752514958381653,
+          0.000982830417342484,
+          0.9376701712608337,
+          -1.145891785621643
+        ],
+        [
+          0.1511652022600174,
+          -0.9869776964187622,
+          -0.05499127507209778,
+          -1.1782419681549072
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 275,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323290_983080625",
+      "mask_path": "../../mask/hdr_right_00275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00276.png",
+      "transform_matrix": [
+        [
+          0.9271231889724731,
+          0.15863004326820374,
+          -0.3395279347896576,
+          -7.048072814941406
+        ],
+        [
+          0.34299200773239136,
+          0.005860107485204935,
+          0.9393200874328613,
+          -1.1691482067108154
+        ],
+        [
+          0.15099406242370605,
+          -0.9873206615447998,
+          -0.04897579923272133,
+          -1.197109580039978
+        ],
+        [
+          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": "1731323291_83082437",
+      "mask_path": "../../mask/hdr_right_00276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00277.png",
+      "transform_matrix": [
+        [
+          0.9270949959754944,
+          0.15806891024112701,
+          -0.3398664891719818,
+          -7.114317893981934
+        ],
+        [
+          0.34293967485427856,
+          0.00826319120824337,
+          0.9393211007118225,
+          -1.188633918762207
+        ],
+        [
+          0.15128584206104279,
+          -0.9873936176300049,
+          -0.046547338366508484,
+          -1.2171841859817505
+        ],
+        [
+          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": "1731323291_183082342",
+      "mask_path": "../../mask/hdr_right_00277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00278.png",
+      "transform_matrix": [
+        [
+          0.9270995855331421,
+          0.1617298275232315,
+          -0.3381268382072449,
+          -7.19644832611084
+        ],
+        [
+          0.3417108356952667,
+          0.005978748667985201,
+          0.9397861361503601,
+          -1.2121819257736206
+        ],
+        [
+          0.1540130227804184,
+          -0.9868170022964478,
+          -0.049721937626600266,
+          -1.2345350980758667
+        ],
+        [
+          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": "1731323291_283080577",
+      "mask_path": "../../mask/hdr_right_00278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00279.png",
+      "transform_matrix": [
+        [
+          0.9273717403411865,
+          0.1687735915184021,
+          -0.33391210436820984,
+          -7.282601833343506
+        ],
+        [
+          0.3366309404373169,
+          0.013103061355650425,
+          0.9415455460548401,
+          -1.2284502983093262
+        ],
+        [
+          0.1632833033800125,
+          -0.9855677485466003,
+          -0.04466300457715988,
+          -1.2491685152053833
+        ],
+        [
+          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": "1731323291_383082389",
+      "mask_path": "../../mask/hdr_right_00279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00280.png",
+      "transform_matrix": [
+        [
+          0.9286806583404541,
+          0.17035865783691406,
+          -0.3294394314289093,
+          -7.354480743408203
+        ],
+        [
+          0.330268532037735,
+          0.024282384663820267,
+          0.9435747265815735,
+          -1.2302484512329102
+        ],
+        [
+          0.16874569654464722,
+          -0.9850828647613525,
+          -0.033713530749082565,
+          -1.2598923444747925
+        ],
+        [
+          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": "1731323291_483081817",
+      "mask_path": "../../mask/hdr_right_00280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00281.png",
+      "transform_matrix": [
+        [
+          0.9313877820968628,
+          0.1701914668083191,
+          -0.3217945396900177,
+          -7.422014236450195
+        ],
+        [
+          0.3222332298755646,
+          0.025811053812503815,
+          0.946308434009552,
+          -1.2323251962661743
+        ],
+        [
+          0.169359490275383,
+          -0.9850730299949646,
+          -0.03080124594271183,
+          -1.2710765600204468
+        ],
+        [
+          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": "1731323291_583081960",
+      "mask_path": "../../mask/hdr_right_00281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00282.png",
+      "transform_matrix": [
+        [
+          0.9344067573547363,
+          0.16904722154140472,
+          -0.31353944540023804,
+          -7.505962371826172
+        ],
+        [
+          0.3139041066169739,
+          0.025270752608776093,
+          0.9491183757781982,
+          -1.2376540899276733
+        ],
+        [
+          0.16836920380592346,
+          -0.9852839112281799,
+          -0.029451454058289528,
+          -1.2914328575134277
+        ],
+        [
+          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": "1731323291_683081626",
+      "mask_path": "../../mask/hdr_right_00282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00283.png",
+      "transform_matrix": [
+        [
+          0.9339451789855957,
+          0.17360900342464447,
+          -0.3124203383922577,
+          -7.6001129150390625
+        ],
+        [
+          0.31200090050697327,
+          0.03041873499751091,
+          0.9495947360992432,
+          -1.2449926137924194
+        ],
+        [
+          0.17436161637306213,
+          -0.9843447804450989,
+          -0.02575674094259739,
+          -1.3240470886230469
+        ],
+        [
+          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": "1731323291_783081769",
+      "mask_path": "../../mask/hdr_right_00283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00284.png",
+      "transform_matrix": [
+        [
+          0.932062029838562,
+          0.18287290632724762,
+          -0.3127583861351013,
+          -7.676121711730957
+        ],
+        [
+          0.31304845213890076,
+          0.02804240770637989,
+          0.9493231773376465,
+          -1.2551947832107544
+        ],
+        [
+          0.182375967502594,
+          -0.9827365875244141,
+          -0.03111080452799797,
+          -1.3628875017166138
+        ],
+        [
+          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": "1731323291_883081912",
+      "mask_path": "../../mask/hdr_right_00284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00285.png",
+      "transform_matrix": [
+        [
+          0.9319940805435181,
+          0.1848953366279602,
+          -0.31177037954330444,
+          -7.747952938079834
+        ],
+        [
+          0.3141824007034302,
+          0.016876164823770523,
+          0.9492127299308777,
+          -1.2701029777526855
+        ],
+        [
+          0.1807664930820465,
+          -0.9826132655143738,
+          -0.04236237332224846,
+          -1.3933501243591309
+        ],
+        [
+          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": "1731323291_983082532",
+      "mask_path": "../../mask/hdr_right_00285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00286.png",
+      "transform_matrix": [
+        [
+          0.9321737885475159,
+          0.18424084782600403,
+          -0.3116205930709839,
+          -7.8566741943359375
+        ],
+        [
+          0.3145727515220642,
+          0.013749274425208569,
+          0.9491338729858398,
+          -1.275853157043457
+        ],
+        [
+          0.17915377020835876,
+          -0.9827849268913269,
+          -0.04514043405652046,
+          -1.4134280681610107
+        ],
+        [
+          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": "1731323292_83082675",
+      "mask_path": "../../mask/hdr_right_00286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00287.png",
+      "transform_matrix": [
+        [
+          0.9342429041862488,
+          0.18223342299461365,
+          -0.30656349658966064,
+          -7.963221549987793
+        ],
+        [
+          0.30950936675071716,
+          0.012768748216331005,
+          0.9508106112480164,
+          -1.2746214866638184
+        ],
+        [
+          0.17718394100666046,
+          -0.9831724166870117,
+          -0.04447384923696518,
+          -1.4185633659362793
+        ],
+        [
+          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": "1731323292_183081626",
+      "mask_path": "../../mask/hdr_right_00287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00288.png",
+      "transform_matrix": [
+        [
+          0.9379037022590637,
+          0.17714084684848785,
+          -0.2982580065727234,
+          -8.040464401245117
+        ],
+        [
+          0.3014184832572937,
+          0.009434117004275322,
+          0.953445315361023,
+          -1.2830621004104614
+        ],
+        [
+          0.1717079132795334,
+          -0.9841402769088745,
+          -0.04454522952437401,
+          -1.4276686906814575
+        ],
+        [
+          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": "1731323292_283082723",
+      "mask_path": "../../mask/hdr_right_00288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00289.png",
+      "transform_matrix": [
+        [
+          0.9416589140892029,
+          0.1684933304786682,
+          -0.2913562059402466,
+          -8.137418746948242
+        ],
+        [
+          0.29309287667274475,
+          0.015033614821732044,
+          0.9559658169746399,
+          -1.3026455640792847
+        ],
+        [
+          0.16545401513576508,
+          -0.9855880737304688,
+          -0.03522765636444092,
+          -1.448081135749817
+        ],
+        [
+          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": "1731323292_383081197",
+      "mask_path": "../../mask/hdr_right_00289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00290.png",
+      "transform_matrix": [
+        [
+          0.9415693879127502,
+          0.17033202946186066,
+          -0.29057541489601135,
+          -8.238083839416504
+        ],
+        [
+          0.2903863191604614,
+          0.026584481820464134,
+          0.9565402269363403,
+          -1.3163877725601196
+        ],
+        [
+          0.17065422236919403,
+          -0.9850280284881592,
+          -0.024430954828858376,
+          -1.4584704637527466
+        ],
+        [
+          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": "1731323292_483081102",
+      "mask_path": "../../mask/hdr_right_00290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00291.png",
+      "transform_matrix": [
+        [
+          0.9394189715385437,
+          0.1750553846359253,
+          -0.2946990132331848,
+          -8.310131072998047
+        ],
+        [
+          0.29398468136787415,
+          0.03060239553451538,
+          0.9553202390670776,
+          -1.3324953317642212
+        ],
+        [
+          0.17625239491462708,
+          -0.9840828776359558,
+          -0.022715121507644653,
+          -1.4725022315979004
+        ],
+        [
+          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": "1731323292_583081007",
+      "mask_path": "../../mask/hdr_right_00291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00292.png",
+      "transform_matrix": [
+        [
+          0.9378806352615356,
+          0.1753704994916916,
+          -0.29937463998794556,
+          -8.377650260925293
+        ],
+        [
+          0.2993723750114441,
+          0.02710488997399807,
+          0.9537513256072998,
+          -1.3525456190109253
+        ],
+        [
+          0.1753743439912796,
+          -0.9841293692588806,
+          -0.027079926803708076,
+          -1.4920238256454468
+        ],
+        [
+          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": "1731323292_683081626",
+      "mask_path": "../../mask/hdr_right_00292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00293.png",
+      "transform_matrix": [
+        [
+          0.9363111853599548,
+          0.18280534446239471,
+          -0.29983919858932495,
+          -8.460871696472168
+        ],
+        [
+          0.3005501925945282,
+          0.024473128840327263,
+          0.9534519910812378,
+          -1.3648086786270142
+        ],
+        [
+          0.1816340982913971,
+          -0.9828444719314575,
+          -0.032027702778577805,
+          -1.5187963247299194
+        ],
+        [
+          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": "1731323292_783080816",
+      "mask_path": "../../mask/hdr_right_00293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00294.png",
+      "transform_matrix": [
+        [
+          0.9380075931549072,
+          0.17380517721176147,
+          -0.2998892366886139,
+          -8.5490140914917
+        ],
+        [
+          0.3018285036087036,
+          0.0158014465123415,
+          0.9532313346862793,
+          -1.383486032485962
+        ],
+        [
+          0.1704152226448059,
+          -0.9846532344818115,
+          -0.03763747587800026,
+          -1.5331146717071533
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 294,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323292_883081674",
+      "mask_path": "../../mask/hdr_right_00294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00295.png",
+      "transform_matrix": [
+        [
+          0.9406028985977173,
+          0.1591472327709198,
+          -0.299897164106369,
+          -8.627154350280762
+        ],
+        [
+          0.3019868731498718,
+          0.011468532495200634,
+          0.9532431364059448,
+          -1.407505750656128
+        ],
+        [
+          0.15514539182186127,
+          -0.9871882200241089,
+          -0.037273045629262924,
+          -1.534955620765686
+        ],
+        [
+          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": "1731323292_983081340",
+      "mask_path": "../../mask/hdr_right_00295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00296.png",
+      "transform_matrix": [
+        [
+          0.9440825581550598,
+          0.1473263055086136,
+          -0.2949627935886383,
+          -8.717857360839844
+        ],
+        [
+          0.2963182032108307,
+          0.013169439509510994,
+          0.9549986124038696,
+          -1.4373102188110352
+        ],
+        [
+          0.1445809155702591,
+          -0.9890002012252808,
+          -0.031222429126501083,
+          -1.5539246797561646
+        ],
+        [
+          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": "1731323293_83082675",
+      "mask_path": "../../mask/hdr_right_00296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00297.png",
+      "transform_matrix": [
+        [
+          0.9466579556465149,
+          0.13520890474319458,
+          -0.2925017178058624,
+          -8.821910858154297
+        ],
+        [
+          0.29365676641464233,
+          0.011773412115871906,
+          0.9558383822441101,
+          -1.473523497581482
+        ],
+        [
+          0.13268159329891205,
+          -0.9907471537590027,
+          -0.028559613972902298,
+          -1.5637638568878174
+        ],
+        [
+          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": "1731323293_183082342",
+      "mask_path": "../../mask/hdr_right_00297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00298.png",
+      "transform_matrix": [
+        [
+          0.9468317031860352,
+          0.1316571831703186,
+          -0.29355770349502563,
+          -8.897566795349121
+        ],
+        [
+          0.2944757640361786,
+          0.012886213138699532,
+          0.9555720686912537,
+          -1.4978551864624023
+        ],
+        [
+          0.12959076464176178,
+          -0.9912115335464478,
+          -0.026568766683340073,
+          -1.5780385732650757
+        ],
+        [
+          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": "1731323293_283082008",
+      "mask_path": "../../mask/hdr_right_00298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00299.png",
+      "transform_matrix": [
+        [
+          0.9458693861961365,
+          0.1329842507839203,
+          -0.29605093598365784,
+          -8.964399337768555
+        ],
+        [
+          0.29692041873931885,
+          0.0137057239189744,
+          0.9548039436340332,
+          -1.5138344764709473
+        ],
+        [
+          0.13103146851062775,
+          -0.9910234212875366,
+          -0.02652190998196602,
+          -1.6074024438858032
+        ],
+        [
+          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": "1731323293_383081674",
+      "mask_path": "../../mask/hdr_right_00299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00300.png",
+      "transform_matrix": [
+        [
+          0.9440394639968872,
+          0.14346414804458618,
+          -0.29699769616127014,
+          -9.051651000976562
+        ],
+        [
+          0.29753169417381287,
+          0.01822035200893879,
+          0.954538106918335,
+          -1.5268467664718628
+        ],
+        [
+          0.14235340058803558,
+          -0.9894878268241882,
+          -0.025484396144747734,
+          -1.6223701238632202
+        ],
+        [
+          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": "1731323293_483081817",
+      "mask_path": "../../mask/hdr_right_00300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00301.png",
+      "transform_matrix": [
+        [
+          0.9432598352432251,
+          0.15604789555072784,
+          -0.2931041121482849,
+          -9.131919860839844
+        ],
+        [
+          0.29273316264152527,
+          0.025879088789224625,
+          0.9558440446853638,
+          -1.5259627103805542
+        ],
+        [
+          0.15674269199371338,
+          -0.9874104261398315,
+          -0.021269680932164192,
+          -1.6317535638809204
+        ],
+        [
+          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": "1731323293_583081007",
+      "mask_path": "../../mask/hdr_right_00301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00302.png",
+      "transform_matrix": [
+        [
+          0.9443838596343994,
+          0.16094514727592468,
+          -0.2867679297924042,
+          -9.19427490234375
+        ],
+        [
+          0.28601399064064026,
+          0.02833963744342327,
+          0.9578062891960144,
+          -1.5260448455810547
+        ],
+        [
+          0.16228118538856506,
+          -0.9865564107894897,
+          -0.01926906406879425,
+          -1.6416187286376953
+        ],
+        [
+          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": "1731323293_683080434",
+      "mask_path": "../../mask/hdr_right_00302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00303.png",
+      "transform_matrix": [
+        [
+          0.9468279480934143,
+          0.16244862973690033,
+          -0.2777179777622223,
+          -9.261628150939941
+        ],
+        [
+          0.27691975235939026,
+          0.028000133112072945,
+          0.9604849815368652,
+          -1.5276899337768555
+        ],
+        [
+          0.16380561888217926,
+          -0.9863196611404419,
+          -0.018473925068974495,
+          -1.6576292514801025
+        ],
+        [
+          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": "1731323293_783081293",
+      "mask_path": "../../mask/hdr_right_00303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00304.png",
+      "transform_matrix": [
+        [
+          0.9459425210952759,
+          0.1723000556230545,
+          -0.27478256821632385,
+          -9.352330207824707
+        ],
+        [
+          0.2736097574234009,
+          0.0309966579079628,
+          0.9613412022590637,
+          -1.5259801149368286
+        ],
+        [
+          0.17415647208690643,
+          -0.9845566749572754,
+          -0.0178219061344862,
+          -1.6929324865341187
+        ],
+        [
+          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": "1731323293_883081912",
+      "mask_path": "../../mask/hdr_right_00304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00305.png",
+      "transform_matrix": [
+        [
+          0.9442018866539001,
+          0.17552228271961212,
+          -0.2787018120288849,
+          -9.44505786895752
+        ],
+        [
+          0.2779165506362915,
+          0.02954843081533909,
+          0.9601506590843201,
+          -1.5333343744277954
+        ],
+        [
+          0.17676305770874023,
+          -0.9840319752693176,
+          -0.020880861207842827,
+          -1.730615258216858
+        ],
+        [
+          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": "1731323293_983082532",
+      "mask_path": "../../mask/hdr_right_00305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00306.png",
+      "transform_matrix": [
+        [
+          0.9442582130432129,
+          0.1763647049665451,
+          -0.2779785692691803,
+          -9.520354270935059
+        ],
+        [
+          0.27898234128952026,
+          0.019589273259043694,
+          0.9600964188575745,
+          -1.5462746620178223
+        ],
+        [
+          0.1747725009918213,
+          -0.9841299057006836,
+          -0.03070530667901039,
+          -1.7607754468917847
+        ],
+        [
+          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": "1731323294_83082437",
+      "mask_path": "../../mask/hdr_right_00306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00307.png",
+      "transform_matrix": [
+        [
+          0.9436550736427307,
+          0.17857226729393005,
+          -0.27861616015434265,
+          -9.601907730102539
+        ],
+        [
+          0.280842661857605,
+          0.013210402801632881,
+          0.959662914276123,
+          -1.5519849061965942
+        ],
+        [
+          0.1750497967004776,
+          -0.9838380813598633,
+          -0.037684641778469086,
+          -1.7796317338943481
+        ],
+        [
+          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": "1731323294_183082342",
+      "mask_path": "../../mask/hdr_right_00307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00308.png",
+      "transform_matrix": [
+        [
+          0.943474292755127,
+          0.1781044900417328,
+          -0.27952635288238525,
+          -9.70013427734375
+        ],
+        [
+          0.28216683864593506,
+          0.010856494307518005,
+          0.9593039751052856,
+          -1.547588586807251
+        ],
+        [
+          0.17389100790023804,
+          -0.98395174741745,
+          -0.04001235589385033,
+          -1.78410005569458
+        ],
+        [
+          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": "1731323294_283082962",
+      "mask_path": "../../mask/hdr_right_00308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00309.png",
+      "transform_matrix": [
+        [
+          0.9444658160209656,
+          0.17889821529388428,
+          -0.2756443917751312,
+          -9.785890579223633
+        ],
+        [
+          0.27855515480041504,
+          0.009148488752543926,
+          0.9603766798973083,
+          -1.5486927032470703
+        ],
+        [
+          0.1743314117193222,
+          -0.9838250875473022,
+          -0.04119258001446724,
+          -1.794690728187561
+        ],
+        [
+          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": "1731323294_383082389",
+      "mask_path": "../../mask/hdr_right_00309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00310.png",
+      "transform_matrix": [
+        [
+          0.9471035003662109,
+          0.17389973998069763,
+          -0.26972928643226624,
+          -9.857912063598633
+        ],
+        [
+          0.2723560631275177,
+          0.009038332849740982,
+          0.9621540904045105,
+          -1.555171251296997
+        ],
+        [
+          0.16975627839565277,
+          -0.9847218990325928,
+          -0.03880241513252258,
+          -1.8088946342468262
+        ],
+        [
+          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": "1731323294_483082056",
+      "mask_path": "../../mask/hdr_right_00310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00311.png",
+      "transform_matrix": [
+        [
+          0.9487672448158264,
+          0.17199291288852692,
+          -0.26506465673446655,
+          -9.958966255187988
+        ],
+        [
+          0.26679784059524536,
+          0.013390276581048965,
+          0.9636595249176025,
+          -1.562748908996582
+        ],
+        [
+          0.1692918986082077,
+          -0.985007107257843,
+          -0.033183082938194275,
+          -1.8222495317459106
+        ],
+        [
+          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": "1731323294_583081960",
+      "mask_path": "../../mask/hdr_right_00311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00312.png",
+      "transform_matrix": [
+        [
+          0.9471438527107239,
+          0.176442950963974,
+          -0.26793020963668823,
+          -10.050749778747559
+        ],
+        [
+          0.2686659097671509,
+          0.020162655040621758,
+          0.9630223512649536,
+          -1.575244426727295
+        ],
+        [
+          0.17532069981098175,
+          -0.984104335308075,
+          -0.028307273983955383,
+          -1.8406072854995728
+        ],
+        [
+          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": "1731323294_683082580",
+      "mask_path": "../../mask/hdr_right_00312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00313.png",
+      "transform_matrix": [
+        [
+          0.9448935389518738,
+          0.17912885546684265,
+          -0.27402377128601074,
+          -10.113138198852539
+        ],
+        [
+          0.2743682861328125,
+          0.023343782871961594,
+          0.961341381072998,
+          -1.594673752784729
+        ],
+        [
+          0.1786007285118103,
+          -0.9835485816001892,
+          -0.027089882642030716,
+          -1.8605356216430664
+        ],
+        [
+          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": "1731323294_783081769",
+      "mask_path": "../../mask/hdr_right_00313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00314.png",
+      "transform_matrix": [
+        [
+          0.9426355957984924,
+          0.1832248568534851,
+          -0.2790459990501404,
+          -10.18242073059082
+        ],
+        [
+          0.2792116105556488,
+          0.025430161505937576,
+          0.9598928689956665,
+          -1.6143053770065308
+        ],
+        [
+          0.18297241628170013,
+          -0.9827421307563782,
+          -0.027187133207917213,
+          -1.8833037614822388
+        ],
+        [
+          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": "1731323294_883082389",
+      "mask_path": "../../mask/hdr_right_00314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00315.png",
+      "transform_matrix": [
+        [
+          0.9410243034362793,
+          0.19020844995975494,
+          -0.2798108458518982,
+          -10.267169952392578
+        ],
+        [
+          0.28003251552581787,
+          0.026275165379047394,
+          0.9596309065818787,
+          -1.6230878829956055
+        ],
+        [
+          0.18988199532032013,
+          -0.9813920855522156,
+          -0.028538987040519714,
+          -1.9137334823608398
+        ],
+        [
+          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": "1731323294_983081102",
+      "mask_path": "../../mask/hdr_right_00315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00316.png",
+      "transform_matrix": [
+        [
+          0.9410673379898071,
+          0.19135062396526337,
+          -0.27888527512550354,
+          -10.352363586425781
+        ],
+        [
+          0.2794246971607208,
+          0.024720801040530205,
+          0.9598492980003357,
+          -1.6367589235305786
+        ],
+        [
+          0.19056203961372375,
+          -0.9812103509902954,
+          -0.030204162001609802,
+          -1.9375065565109253
+        ],
+        [
+          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": "1731323295_83080768",
+      "mask_path": "../../mask/hdr_right_00316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00317.png",
+      "transform_matrix": [
+        [
+          0.9429889917373657,
+          0.18543092906475067,
+          -0.27638235688209534,
+          -10.433823585510254
+        ],
+        [
+          0.2770942449569702,
+          0.022594401612877846,
+          0.9605770111083984,
+          -1.6569596529006958
+        ],
+        [
+          0.1843653917312622,
+          -0.9823975563049316,
+          -0.03007557988166809,
+          -1.9605622291564941
+        ],
+        [
+          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": "1731323295_183079719",
+      "mask_path": "../../mask/hdr_right_00317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00318.png",
+      "transform_matrix": [
+        [
+          0.9458075761795044,
+          0.17624492943286896,
+          -0.27273765206336975,
+          -10.543924331665039
+        ],
+        [
+          0.2726077437400818,
+          0.025428539142012596,
+          0.9617891311645508,
+          -1.6804780960083008
+        ],
+        [
+          0.17644579708576202,
+          -0.9840178489685059,
+          -0.023995228111743927,
+          -1.977860927581787
+        ],
+        [
+          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": "1731323295_283080577",
+      "mask_path": "../../mask/hdr_right_00318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00319.png",
+      "transform_matrix": [
+        [
+          0.9468361735343933,
+          0.17056238651275635,
+          -0.2727816104888916,
+          -10.64505672454834
+        ],
+        [
+          0.27191242575645447,
+          0.028897725045681,
+          0.9618880748748779,
+          -1.705920696258545
+        ],
+        [
+          0.17194469273090363,
+          -0.9849230647087097,
+          -0.019016623497009277,
+          -1.9927117824554443
+        ],
+        [
+          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": "1731323295_383080482",
+      "mask_path": "../../mask/hdr_right_00319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00320.png",
+      "transform_matrix": [
+        [
+          0.9467252492904663,
+          0.1671486645936966,
+          -0.2752682864665985,
+          -10.723740577697754
+        ],
+        [
+          0.27488264441490173,
+          0.025904851034283638,
+          0.9611288905143738,
+          -1.7261751890182495
+        ],
+        [
+          0.16778215765953064,
+          -0.9855913519859314,
+          -0.02142147533595562,
+          -2.010974884033203
+        ],
+        [
+          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": "1731323295_483080625",
+      "mask_path": "../../mask/hdr_right_00320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00321.png",
+      "transform_matrix": [
+        [
+          0.9459482431411743,
+          0.16577152907848358,
+          -0.27875015139579773,
+          -10.811771392822266
+        ],
+        [
+          0.2792934775352478,
+          0.020505934953689575,
+          0.9599868059158325,
+          -1.7434678077697754
+        ],
+        [
+          0.1648545265197754,
+          -0.9859509468078613,
+          -0.026901355013251305,
+          -2.030160665512085
+        ],
+        [
+          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": "1731323295_583080768",
+      "mask_path": "../../mask/hdr_right_00321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00322.png",
+      "transform_matrix": [
+        [
+          0.9428015947341919,
+          0.19973860681056976,
+          -0.2668888568878174,
+          -10.896219253540039
+        ],
+        [
+          0.2718484103679657,
+          0.002692313864827156,
+          0.9623364210128784,
+          -1.7577917575836182
+        ],
+        [
+          0.19293427467346191,
+          -0.9798454642295837,
+          -0.051760293543338776,
+          -2.0398848056793213
+        ],
+        [
+          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": "1731323295_683080434",
+      "mask_path": "../../mask/hdr_right_00322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00323.png",
+      "transform_matrix": [
+        [
+          0.9406982064247131,
+          0.22916647791862488,
+          -0.2501392364501953,
+          -10.960395812988281
+        ],
+        [
+          0.2587507963180542,
+          -0.007827474735677242,
+          0.9659124612808228,
+          -1.7612500190734863
+        ],
+        [
+          0.21939677000045776,
+          -0.973355770111084,
+          -0.06666029244661331,
+          -2.0403709411621094
+        ],
+        [
+          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": "1731323295_783080577",
+      "mask_path": "../../mask/hdr_right_00323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00324.png",
+      "transform_matrix": [
+        [
+          0.9426334500312805,
+          0.22159019112586975,
+          -0.249679833650589,
+          -11.02286148071289
+        ],
+        [
+          0.25545790791511536,
+          0.0026691940147429705,
+          0.9668165445327759,
+          -1.7635722160339355
+        ],
+        [
+          0.21490350365638733,
+          -0.9751361608505249,
+          -0.054090894758701324,
+          -2.0536086559295654
+        ],
+        [
+          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": "1731323295_883080720",
+      "mask_path": "../../mask/hdr_right_00324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00325.png",
+      "transform_matrix": [
+        [
+          0.9425299763679504,
+          0.21787796914577484,
+          -0.253310889005661,
+          -11.103837013244629
+        ],
+        [
+          0.25672176480293274,
+          0.012994302436709404,
+          0.9663980007171631,
+          -1.767447829246521
+        ],
+        [
+          0.21384844183921814,
+          -0.9758895039558411,
+          -0.04368649423122406,
+          -2.0881125926971436
+        ],
+        [
+          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": "1731323295_983079910",
+      "mask_path": "../../mask/hdr_right_00325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00326.png",
+      "transform_matrix": [
+        [
+          0.9408531785011292,
+          0.22377406060695648,
+          -0.254402220249176,
+          -11.185853004455566
+        ],
+        [
+          0.2573455274105072,
+          0.01641826704144478,
+          0.9661800265312195,
+          -1.769955039024353
+        ],
+        [
+          0.22038286924362183,
+          -0.9745027422904968,
+          -0.04214007407426834,
+          -2.1287765502929688
+        ],
+        [
+          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": "1731323296_83080530",
+      "mask_path": "../../mask/hdr_right_00326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00327.png",
+      "transform_matrix": [
+        [
+          0.9412682056427002,
+          0.2242671698331833,
+          -0.2524251639842987,
+          -11.253274917602539
+        ],
+        [
+          0.2573380768299103,
+          0.007545690052211285,
+          0.9662919640541077,
+          -1.7830560207366943
+        ],
+        [
+          0.21861228346824646,
+          -0.974498450756073,
+          -0.05060996860265732,
+          -2.158007860183716
+        ],
+        [
+          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": "1731323296_183080196",
+      "mask_path": "../../mask/hdr_right_00327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00328.png",
+      "transform_matrix": [
+        [
+          0.9423004984855652,
+          0.221694678068161,
+          -0.250840961933136,
+          -11.32615852355957
+        ],
+        [
+          0.2582738697528839,
+          -0.004709548782557249,
+          0.9660603404045105,
+          -1.80239999294281
+        ],
+        [
+          0.21298907697200775,
+          -0.9751047492027283,
+          -0.06169574707746506,
+          -2.176642417907715
+        ],
+        [
+          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": "1731323296_283080816",
+      "mask_path": "../../mask/hdr_right_00328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00329.png",
+      "transform_matrix": [
+        [
+          0.9428986310958862,
+          0.2183942198753357,
+          -0.25148773193359375,
+          -11.418795585632324
+        ],
+        [
+          0.2587154805660248,
+          -0.004669745918363333,
+          0.9659423232078552,
+          -1.8120920658111572
+        ],
+        [
+          0.20978181064128876,
+          -0.975849449634552,
+          -0.06090506166219711,
+          -2.190229892730713
+        ],
+        [
+          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": "1731323296_383080005",
+      "mask_path": "../../mask/hdr_right_00329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00330.png",
+      "transform_matrix": [
+        [
+          0.9445603489875793,
+          0.21189069747924805,
+          -0.25081488490104675,
+          -11.508746147155762
+        ],
+        [
+          0.256857305765152,
+          -0.001026223530061543,
+          0.9664489030838013,
+          -1.8176535367965698
+        ],
+        [
+          0.20452411472797394,
+          -0.9772928357124329,
+          -0.05539499968290329,
+          -2.1954877376556396
+        ],
+        [
+          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": "1731323296_483080625",
+      "mask_path": "../../mask/hdr_right_00330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00331.png",
+      "transform_matrix": [
+        [
+          0.9475873708724976,
+          0.20275075733661652,
+          -0.2469216287136078,
+          -11.585713386535645
+        ],
+        [
+          0.25166401267051697,
+          0.002465897938236594,
+          0.9678115248680115,
+          -1.8226187229156494
+        ],
+        [
+          0.19683340191841125,
+          -0.9792272448539734,
+          -0.048688411712646484,
+          -2.200230121612549
+        ],
+        [
+          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": "1731323296_583081007",
+      "mask_path": "../../mask/hdr_right_00331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00332.png",
+      "transform_matrix": [
+        [
+          0.9521583318710327,
+          0.1903056502342224,
+          -0.2391200065612793,
+          -11.679640769958496
+        ],
+        [
+          0.24220028519630432,
+          0.007256944198161364,
+          0.9701991677284241,
+          -1.8287571668624878
+        ],
+        [
+          0.1863696575164795,
+          -0.9816980957984924,
+          -0.03918232396245003,
+          -2.212233066558838
+        ],
+        [
+          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": "1731323296_683081626",
+      "mask_path": "../../mask/hdr_right_00332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00333.png",
+      "transform_matrix": [
+        [
+          0.9519702196121216,
+          0.19147446751594543,
+          -0.23893587291240692,
+          -11.780641555786133
+        ],
+        [
+          0.23926523327827454,
+          0.02174835279583931,
+          0.9707106947898865,
+          -1.8334890604019165
+        ],
+        [
+          0.1910627782344818,
+          -0.9812565445899963,
+          -0.02510939911007881,
+          -2.225395679473877
+        ],
+        [
+          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": "1731323296_783080816",
+      "mask_path": "../../mask/hdr_right_00333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00334.png",
+      "transform_matrix": [
+        [
+          0.9484245181083679,
+          0.1992119997739792,
+          -0.24658797681331635,
+          -11.854310035705566
+        ],
+        [
+          0.24512672424316406,
+          0.03236455097794533,
+          0.9689507484436035,
+          -1.8401925563812256
+        ],
+        [
+          0.20100732147693634,
+          -0.979421854019165,
+          -0.018136851489543915,
+          -2.247117280960083
+        ],
+        [
+          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": "1731323296_883081436",
+      "mask_path": "../../mask/hdr_right_00334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00335.png",
+      "transform_matrix": [
+        [
+          0.944177508354187,
+          0.19992901384830475,
+          -0.2618342339992523,
+          -11.916146278381348
+        ],
+        [
+          0.2607991695404053,
+          0.03197905421257019,
+          0.9648633003234863,
+          -1.8583197593688965
+        ],
+        [
+          0.20127739012241364,
+          -0.9792883396148682,
+          -0.02194741927087307,
+          -2.273235559463501
+        ],
+        [
+          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": "1731323296_983081340",
+      "mask_path": "../../mask/hdr_right_00335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00336.png",
+      "transform_matrix": [
+        [
+          0.9382901191711426,
+          0.2045924961566925,
+          -0.2788432538509369,
+          -11.994658470153809
+        ],
+        [
+          0.27777695655822754,
+          0.03451376408338547,
+          0.960025429725647,
+          -1.876724362373352
+        ],
+        [
+          0.20603790879249573,
+          -0.978238582611084,
+          -0.02444714866578579,
+          -2.299360752105713
+        ],
+        [
+          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": "1731323297_83080053",
+      "mask_path": "../../mask/hdr_right_00336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00337.png",
+      "transform_matrix": [
+        [
+          0.933793306350708,
+          0.20618130266666412,
+          -0.292436808347702,
+          -12.07456111907959
+        ],
+        [
+          0.291474312543869,
+          0.035729728639125824,
+          0.9559110999107361,
+          -1.889385461807251
+        ],
+        [
+          0.20753970742225647,
+          -0.977861225605011,
+          -0.02673237957060337,
+          -2.3200759887695312
+        ],
+        [
+          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": "1731323297_183080434",
+      "mask_path": "../../mask/hdr_right_00337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00338.png",
+      "transform_matrix": [
+        [
+          0.9326648712158203,
+          0.2002822458744049,
+          -0.3000389039516449,
+          -12.146241188049316
+        ],
+        [
+          0.30034133791923523,
+          0.029612643644213676,
+          0.9533721804618835,
+          -1.9013946056365967
+        ],
+        [
+          0.19982846081256866,
+          -0.9792906641960144,
+          -0.03253436088562012,
+          -2.336822986602783
+        ],
+        [
+          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": "1731323297_283080816",
+      "mask_path": "../../mask/hdr_right_00338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00339.png",
+      "transform_matrix": [
+        [
+          0.934925377368927,
+          0.191292867064476,
+          -0.29886698722839355,
+          -12.234525680541992
+        ],
+        [
+          0.298089861869812,
+          0.03351973369717598,
+          0.9539490938186646,
+          -1.9150432348251343
+        ],
+        [
+          0.19250160455703735,
+          -0.980960488319397,
+          -0.02568400837481022,
+          -2.3584377765655518
+        ],
+        [
+          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": "1731323297_383080959",
+      "mask_path": "../../mask/hdr_right_00339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00340.png",
+      "transform_matrix": [
+        [
+          0.9365535974502563,
+          0.1857328712940216,
+          -0.29727208614349365,
+          -12.325153350830078
+        ],
+        [
+          0.29458266496658325,
+          0.04256920889019966,
+          0.9546774625778198,
+          -1.9273560047149658
+        ],
+        [
+          0.18996962904930115,
+          -0.9816777110099792,
+          -0.014845338650047779,
+          -2.3715004920959473
+        ],
+        [
+          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": "1731323297_483080863",
+      "mask_path": "../../mask/hdr_right_00340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00341.png",
+      "transform_matrix": [
+        [
+          0.9372501373291016,
+          0.18081650137901306,
+          -0.29810672998428345,
+          -12.394346237182617
+        ],
+        [
+          0.2955186665058136,
+          0.04173080623149872,
+          0.954425036907196,
+          -1.9418694972991943
+        ],
+        [
+          0.18501602113246918,
+          -0.9826310873031616,
+          -0.014322444796562195,
+          -2.37811279296875
+        ],
+        [
+          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": "1731323297_583080530",
+      "mask_path": "../../mask/hdr_right_00341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00342.png",
+      "transform_matrix": [
+        [
+          0.9379493594169617,
+          0.1744108945131302,
+          -0.29971960186958313,
+          -12.465635299682617
+        ],
+        [
+          0.29785990715026855,
+          0.037373606115579605,
+          0.9538776874542236,
+          -1.9580998420715332
+        ],
+        [
+          0.17756827175617218,
+          -0.9839634895324707,
+          -0.016895459964871407,
+          -2.3907151222229004
+        ],
+        [
+          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": "1731323297_683081865",
+      "mask_path": "../../mask/hdr_right_00342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00343.png",
+      "transform_matrix": [
+        [
+          0.9379690885543823,
+          0.1799580305814743,
+          -0.29635992646217346,
+          -12.550782203674316
+        ],
+        [
+          0.2972213327884674,
+          0.02279399335384369,
+          0.954536497592926,
+          -1.9684391021728516
+        ],
+        [
+          0.1785317063331604,
+          -0.983410120010376,
+          -0.03210730478167534,
+          -2.4026103019714355
+        ],
+        [
+          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": "1731323297_783080339",
+      "mask_path": "../../mask/hdr_right_00343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00344.png",
+      "transform_matrix": [
+        [
+          0.9386840462684631,
+          0.18806390464305878,
+          -0.2889712154865265,
+          -12.627700805664062
+        ],
+        [
+          0.2903817892074585,
+          0.020624607801437378,
+          0.9566885232925415,
+          -1.9761813879013062
+        ],
+        [
+          0.18587851524353027,
+          -0.9819403290748596,
+          -0.03525034338235855,
+          -2.4085097312927246
+        ],
+        [
+          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": "1731323297_883081197",
+      "mask_path": "../../mask/hdr_right_00344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00345.png",
+      "transform_matrix": [
+        [
+          0.940376877784729,
+          0.18953625857830048,
+          -0.2824312746524811,
+          -12.69293212890625
+        ],
+        [
+          0.28232523798942566,
+          0.028136810287833214,
+          0.9589061141014099,
+          -1.9769312143325806
+        ],
+        [
+          0.18969419598579407,
+          -0.98147052526474,
+          -0.027051661163568497,
+          -2.41678786277771
+        ],
+        [
+          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": "1731323297_983080387",
+      "mask_path": "../../mask/hdr_right_00345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00346.png",
+      "transform_matrix": [
+        [
+          0.9424749612808228,
+          0.19103674590587616,
+          -0.27430999279022217,
+          -12.758784294128418
+        ],
+        [
+          0.2737073302268982,
+          0.03006584383547306,
+          0.9613431096076965,
+          -1.9774107933044434
+        ],
+        [
+          0.19189919531345367,
+          -0.9811223149299622,
+          -0.023951850831508636,
+          -2.4366610050201416
+        ],
+        [
+          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": "1731323298_83080053",
+      "mask_path": "../../mask/hdr_right_00346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00347.png",
+      "transform_matrix": [
+        [
+          0.9435081481933594,
+          0.19233858585357666,
+          -0.26981136202812195,
+          -12.84728717803955
+        ],
+        [
+          0.2688681185245514,
+          0.03149575740098953,
+          0.9626619219779968,
+          -1.9768227338790894
+        ],
+        [
+          0.19365495443344116,
+          -0.9808230400085449,
+          -0.02199721150100231,
+          -2.464048147201538
+        ],
+        [
+          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": "1731323298_183080196",
+      "mask_path": "../../mask/hdr_right_00347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00348.png",
+      "transform_matrix": [
+        [
+          0.94247967004776,
+          0.19498969614505768,
+          -0.27149808406829834,
+          -12.93778133392334
+        ],
+        [
+          0.2709624469280243,
+          0.029941577464342117,
+          0.9621241688728333,
+          -1.9786485433578491
+        ],
+        [
+          0.19573338329792023,
+          -0.9803481698036194,
+          -0.02461555413901806,
+          -2.4977200031280518
+        ],
+        [
+          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": "1731323298_283081293",
+      "mask_path": "../../mask/hdr_right_00348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00349.png",
+      "transform_matrix": [
+        [
+          0.9420056343078613,
+          0.19713394343852997,
+          -0.2715945243835449,
+          -13.010762214660645
+        ],
+        [
+          0.27288874983787537,
+          0.02110600285232067,
+          0.9618140459060669,
+          -1.9894272089004517
+        ],
+        [
+          0.19533848762512207,
+          -0.9801493287086487,
+          -0.033913660794496536,
+          -2.5303120613098145
+        ],
+        [
+          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": "1731323298_383081912",
+      "mask_path": "../../mask/hdr_right_00349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00350.png",
+      "transform_matrix": [
+        [
+          0.9401842355728149,
+          0.19394434988498688,
+          -0.2800700068473816,
+          -13.098896980285645
+        ],
+        [
+          0.28296583890914917,
+          0.013190125115215778,
+          0.9590393304824829,
+          -1.9964919090270996
+        ],
+        [
+          0.18969441950321198,
+          -0.9809238314628601,
+          -0.04247847571969032,
+          -2.5522854328155518
+        ],
+        [
+          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": "1731323298_483081817",
+      "mask_path": "../../mask/hdr_right_00350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00351.png",
+      "transform_matrix": [
+        [
+          0.9342031478881836,
+          0.19138285517692566,
+          -0.3010599613189697,
+          -13.199326515197754
+        ],
+        [
+          0.3051660656929016,
+          0.0083655109629035,
+          0.9522624611854553,
+          -2.0015010833740234
+        ],
+        [
+          0.18476521968841553,
+          -0.9814797639846802,
+          -0.050588466227054596,
+          -2.5603113174438477
+        ],
+        [
+          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": "1731323298_583081007",
+      "mask_path": "../../mask/hdr_right_00351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00352.png",
+      "transform_matrix": [
+        [
+          0.9246800541877747,
+          0.18772950768470764,
+          -0.3312470018863678,
+          -13.271071434020996
+        ],
+        [
+          0.3362634479999542,
+          0.00541522353887558,
+          0.9417524337768555,
+          -2.019282579421997
+        ],
+        [
+          0.17858849465847015,
+          -0.982205867767334,
+          -0.05811922624707222,
+          -2.563429117202759
+        ],
+        [
+          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": "1731323298_683081626",
+      "mask_path": "../../mask/hdr_right_00352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00353.png",
+      "transform_matrix": [
+        [
+          0.9129512906074524,
+          0.18080756068229675,
+          -0.3658258616924286,
+          -13.328332901000977
+        ],
+        [
+          0.3710322976112366,
+          0.0053818440064787865,
+          0.9286044239997864,
+          -2.042314291000366
+        ],
+        [
+          0.16986751556396484,
+          -0.9835037589073181,
+          -0.06217208504676819,
+          -2.5722031593322754
+        ],
+        [
+          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": "1731323298_783082485",
+      "mask_path": "../../mask/hdr_right_00353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00354.png",
+      "transform_matrix": [
+        [
+          0.8950259685516357,
+          0.17452168464660645,
+          -0.41045185923576355,
+          -13.406883239746094
+        ],
+        [
+          0.41397902369499207,
+          0.01741042360663414,
+          0.9101200699806213,
+          -2.070910692214966
+        ],
+        [
+          0.16598181426525116,
+          -0.9844995141029358,
+          -0.05666552856564522,
+          -2.587895631790161
+        ],
+        [
+          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": "1731323298_883082389",
+      "mask_path": "../../mask/hdr_right_00354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00355.png",
+      "transform_matrix": [
+        [
+          0.869055449962616,
+          0.17132778465747833,
+          -0.4641006290912628,
+          -13.48120403289795
+        ],
+        [
+          0.46669358015060425,
+          0.02732141874730587,
+          0.8839969635009766,
+          -2.1056559085845947
+        ],
+        [
+          0.16413311660289764,
+          -0.9848352074623108,
+          -0.05621374770998955,
+          -2.597581386566162
+        ],
+        [
+          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": "1731323298_983081579",
+      "mask_path": "../../mask/hdr_right_00355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00356.png",
+      "transform_matrix": [
+        [
+          0.838230550289154,
+          0.17037536203861237,
+          -0.5180172324180603,
+          -13.527692794799805
+        ],
+        [
+          0.521294116973877,
+          0.02848491631448269,
+          0.8529016971588135,
+          -2.1464009284973145
+        ],
+        [
+          0.16006909310817719,
+          -0.9849674701690674,
+          -0.0649387389421463,
+          -2.6053378582000732
+        ],
+        [
+          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": "1731323299_83082675",
+      "mask_path": "../../mask/hdr_right_00356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00357.png",
+      "transform_matrix": [
+        [
+          0.8020375967025757,
+          0.17332850396633148,
+          -0.571570634841919,
+          -13.570184707641602
+        ],
+        [
+          0.5762725472450256,
+          0.02696494571864605,
+          0.8168125748634338,
+          -2.192993640899658
+        ],
+        [
+          0.15698929131031036,
+          -0.9844948649406433,
+          -0.07825756072998047,
+          -2.6137852668762207
+        ],
+        [
+          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": "1731323299_183082103",
+      "mask_path": "../../mask/hdr_right_00357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00358.png",
+      "transform_matrix": [
+        [
+          0.7679265141487122,
+          0.1804720163345337,
+          -0.6145882606506348,
+          -13.624876976013184
+        ],
+        [
+          0.6216253042221069,
+          0.0214595515280962,
+          0.7830207943916321,
+          -2.243889331817627
+        ],
+        [
+          0.15450213849544525,
+          -0.9833459854125977,
+          -0.09570661932229996,
+          -2.626605987548828
+        ],
+        [
+          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": "1731323299_283082246",
+      "mask_path": "../../mask/hdr_right_00358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00359.png",
+      "transform_matrix": [
+        [
+          0.7377681136131287,
+          0.18081966042518616,
+          -0.6503862738609314,
+          -13.668505668640137
+        ],
+        [
+          0.6589407920837402,
+          0.01634838804602623,
+          0.7520171999931335,
+          -2.293856143951416
+        ],
+        [
+          0.1466122567653656,
+          -0.9833803176879883,
+          -0.1070881336927414,
+          -2.6417434215545654
+        ],
+        [
+          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": "1731323299_383082151",
+      "mask_path": "../../mask/hdr_right_00359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00360.png",
+      "transform_matrix": [
+        [
+          0.7094384431838989,
+          0.1736076921224594,
+          -0.6830500960350037,
+          -13.708521842956543
+        ],
+        [
+          0.6922050714492798,
+          0.01053271722048521,
+          0.7216241359710693,
+          -2.3541030883789062
+        ],
+        [
+          0.13247384130954742,
+          -0.9847584962844849,
+          -0.11269979923963547,
+          -2.6452431678771973
+        ],
+        [
+          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": "1731323299_483082532",
+      "mask_path": "../../mask/hdr_right_00360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00361.png",
+      "transform_matrix": [
+        [
+          0.6832094192504883,
+          0.16339747607707977,
+          -0.7117065787315369,
+          -13.780771255493164
+        ],
+        [
+          0.7191587090492249,
+          0.01845708303153515,
+          0.6946007609367371,
+          -2.4330782890319824
+        ],
+        [
+          0.12663203477859497,
+          -0.9863876104354858,
+          -0.10489864647388458,
+          -2.6651155948638916
+        ],
+        [
+          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": "1731323299_583081960",
+      "mask_path": "../../mask/hdr_right_00361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00362.png",
+      "transform_matrix": [
+        [
+          0.6542908549308777,
+          0.15879064798355103,
+          -0.7393842339515686,
+          -13.840009689331055
+        ],
+        [
+          0.7451519966125488,
+          0.031463686376810074,
+          0.6661521792411804,
+          -2.4988644123077393
+        ],
+        [
+          0.12904246151447296,
+          -0.9868108034133911,
+          -0.09773678332567215,
+          -2.69327974319458
+        ],
+        [
+          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": "1731323299_683082342",
+      "mask_path": "../../mask/hdr_right_00362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00363.png",
+      "transform_matrix": [
+        [
+          0.6236647963523865,
+          0.1608152985572815,
+          -0.7649710178375244,
+          -13.872387886047363
+        ],
+        [
+          0.7711149454116821,
+          0.03387086093425751,
+          0.6357944011688232,
+          -2.5484778881073
+        ],
+        [
+          0.1281556934118271,
+          -0.9864031672477722,
+          -0.10288301855325699,
+          -2.7062902450561523
+        ],
+        [
+          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": "1731323299_783082485",
+      "mask_path": "../../mask/hdr_right_00363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00364.png",
+      "transform_matrix": [
+        [
+          0.595993161201477,
+          0.1660005748271942,
+          -0.7856437563896179,
+          -13.916739463806152
+        ],
+        [
+          0.7929268479347229,
+          0.032742299139499664,
+          0.6084364056587219,
+          -2.6104910373687744
+        ],
+        [
+          0.12672458589076996,
+          -0.9855819344520569,
+          -0.1121121495962143,
+          -2.712277889251709
+        ],
+        [
+          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": "1731323299_883081912",
+      "mask_path": "../../mask/hdr_right_00364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00365.png",
+      "transform_matrix": [
+        [
+          0.5836776494979858,
+          0.16630184650421143,
+          -0.7947729825973511,
+          -13.97696590423584
+        ],
+        [
+          0.8017171025276184,
+          0.03713971748948097,
+          0.5965486764907837,
+          -2.6714859008789062
+        ],
+        [
+          0.12872478365898132,
+          -0.9853752851486206,
+          -0.11164942383766174,
+          -2.7167766094207764
+        ],
+        [
+          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": "1731323299_983081340",
+      "mask_path": "../../mask/hdr_right_00365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00366.png",
+      "transform_matrix": [
+        [
+          0.5822599530220032,
+          0.16501803696155548,
+          -0.7960793972015381,
+          -14.029248237609863
+        ],
+        [
+          0.8026591539382935,
+          0.03901827707886696,
+          0.5951603651046753,
+          -2.7194275856018066
+        ],
+        [
+          0.12927383184432983,
+          -0.9855184555053711,
+          -0.10973445326089859,
+          -2.7186315059661865
+        ],
+        [
+          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": "1731323300_83081245",
+      "mask_path": "../../mask/hdr_right_00366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00367.png",
+      "transform_matrix": [
+        [
+          0.5875653624534607,
+          0.16074512898921967,
+          -0.7930498123168945,
+          -14.083251953125
+        ],
+        [
+          0.7994300723075867,
+          0.03634367138147354,
+          0.5996590256690979,
+          -2.768603801727295
+        ],
+        [
+          0.1252145916223526,
+          -0.9863265752792358,
+          -0.10715021193027496,
+          -2.7244436740875244
+        ],
+        [
+          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": "1731323300_183079957",
+      "mask_path": "../../mask/hdr_right_00367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00368.png",
+      "transform_matrix": [
+        [
+          0.5954638719558716,
+          0.14499656856060028,
+          -0.7901890873908997,
+          -14.15742301940918
+        ],
+        [
+          0.7939308881759644,
+          0.04421968385577202,
+          0.606397807598114,
+          -2.848269462585449
+        ],
+        [
+          0.12286750972270966,
+          -0.9884435534477234,
+          -0.0887860357761383,
+          -2.7382593154907227
+        ],
+        [
+          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": "1731323300_283082485",
+      "mask_path": "../../mask/hdr_right_00368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00369.png",
+      "transform_matrix": [
+        [
+          0.6006702780723572,
+          0.1346840262413025,
+          -0.7880707383155823,
+          -14.233697891235352
+        ],
+        [
+          0.7859596610069275,
+          0.08114701509475708,
+          0.61292964220047,
+          -2.9117026329040527
+        ],
+        [
+          0.14650139212608337,
+          -0.9875603318214417,
+          -0.05711360275745392,
+          -2.7520430088043213
+        ],
+        [
+          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": "1731323300_383081912",
+      "mask_path": "../../mask/hdr_right_00369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00370.png",
+      "transform_matrix": [
+        [
+          0.6098030209541321,
+          0.13294072449207306,
+          -0.7813238501548767,
+          -14.279924392700195
+        ],
+        [
+          0.7764219045639038,
+          0.09768123924732208,
+          0.6225973963737488,
+          -2.948324203491211
+        ],
+        [
+          0.15908922255039215,
+          -0.9862987399101257,
+          -0.0436517708003521,
+          -2.7593703269958496
+        ],
+        [
+          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": "1731323300_483080625",
+      "mask_path": "../../mask/hdr_right_00370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00371.png",
+      "transform_matrix": [
+        [
+          0.6156291365623474,
+          0.13511234521865845,
+          -0.7763667702674866,
+          -14.3233003616333
+        ],
+        [
+          0.7724870443344116,
+          0.09127292037010193,
+          0.6284369230270386,
+          -3.000476121902466
+        ],
+        [
+          0.15577086806297302,
+          -0.986617386341095,
+          -0.04818226397037506,
+          -2.777207374572754
+        ],
+        [
+          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": "1731323300_583081960",
+      "mask_path": "../../mask/hdr_right_00371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00372.png",
+      "transform_matrix": [
+        [
+          0.6183678507804871,
+          0.14068235456943512,
+          -0.7731944918632507,
+          -14.39877700805664
+        ],
+        [
+          0.7701868414878845,
+          0.0872030109167099,
+          0.631829023361206,
+          -3.06196665763855
+        ],
+        [
+          0.15631207823753357,
+          -0.9862069487571716,
+          -0.054428160190582275,
+          -2.8071300983428955
+        ],
+        [
+          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": "1731323300_683082342",
+      "mask_path": "../../mask/hdr_right_00372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00373.png",
+      "transform_matrix": [
+        [
+          0.6211824417114258,
+          0.14707866311073303,
+          -0.7697404623031616,
+          -14.460972785949707
+        ],
+        [
+          0.7686774730682373,
+          0.07683254033327103,
+          0.6350054740905762,
+          -3.1233701705932617
+        ],
+        [
+          0.15253686904907227,
+          -0.986136257648468,
+          -0.06532901525497437,
+          -2.830841064453125
+        ],
+        [
+          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": "1731323300_783082246",
+      "mask_path": "../../mask/hdr_right_00373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00374.png",
+      "transform_matrix": [
+        [
+          0.6253705024719238,
+          0.14532674849033356,
+          -0.7666760087013245,
+          -14.519133567810059
+        ],
+        [
+          0.7668858766555786,
+          0.06711772829294205,
+          0.6382642388343811,
+          -3.1970338821411133
+        ],
+        [
+          0.14421440660953522,
+          -0.9871044754981995,
+          -0.06947558373212814,
+          -2.8447132110595703
+        ],
+        [
+          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": "1731323300_883081674",
+      "mask_path": "../../mask/hdr_right_00374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00375.png",
+      "transform_matrix": [
+        [
+          0.6310461759567261,
+          0.14035101234912872,
+          -0.7629431486129761,
+          -14.602324485778809
+        ],
+        [
+          0.761688768863678,
+          0.07427354156970978,
+          0.6436720490455627,
+          -3.293466091156006
+        ],
+        [
+          0.14700651168823242,
+          -0.9873119592666626,
+          -0.06003376096487045,
+          -2.866135597229004
+        ],
+        [
+          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": "1731323300_983082294",
+      "mask_path": "../../mask/hdr_right_00375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00376.png",
+      "transform_matrix": [
+        [
+          0.6343391537666321,
+          0.1421380639076233,
+          -0.7598754167556763,
+          -14.658370018005371
+        ],
+        [
+          0.757371187210083,
+          0.08272744715213776,
+          0.6477231383323669,
+          -3.3645524978637695
+        ],
+        [
+          0.15492866933345795,
+          -0.9863837361335754,
+          -0.055174022912979126,
+          -2.893203020095825
+        ],
+        [
+          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": "1731323301_83081960",
+      "mask_path": "../../mask/hdr_right_00376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00377.png",
+      "transform_matrix": [
+        [
+          0.6347492933273315,
+          0.1456727236509323,
+          -0.7588628530502319,
+          -14.7003755569458
+        ],
+        [
+          0.7563464641571045,
+          0.08395828306674957,
+          0.6487612128257751,
+          -3.416231632232666
+        ],
+        [
+          0.15821963548660278,
+          -0.9857639074325562,
+          -0.05688658356666565,
+          -2.910207509994507
+        ],
+        [
+          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": "1731323301_183082580",
+      "mask_path": "../../mask/hdr_right_00377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00378.png",
+      "transform_matrix": [
+        [
+          0.6345933675765991,
+          0.14559297263622284,
+          -0.7590086460113525,
+          -14.769341468811035
+        ],
+        [
+          0.7561220526695251,
+          0.08624300360679626,
+          0.6487231850624084,
+          -3.4875736236572266
+        ],
+        [
+          0.1599087119102478,
+          -0.9855784177780151,
+          -0.055356819182634354,
+          -2.9261834621429443
+        ],
+        [
+          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": "1731323301_283081531",
+      "mask_path": "../../mask/hdr_right_00378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00379.png",
+      "transform_matrix": [
+        [
+          0.638056755065918,
+          0.14298979938030243,
+          -0.756596028804779,
+          -14.846158027648926
+        ],
+        [
+          0.7539741396903992,
+          0.08334041386842728,
+          0.651596188545227,
+          -3.561676502227783
+        ],
+        [
+          0.15622663497924805,
+          -0.9862090349197388,
+          -0.054634690284729004,
+          -2.9296875
+        ],
+        [
+          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": "1731323301_383082151",
+      "mask_path": "../../mask/hdr_right_00379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00380.png",
+      "transform_matrix": [
+        [
+          0.643815279006958,
+          0.1403406709432602,
+          -0.7522011399269104,
+          -14.909448623657227
+        ],
+        [
+          0.7504288554191589,
+          0.07629550993442535,
+          0.6565330624580383,
+          -3.620790958404541
+        ],
+        [
+          0.14952784776687622,
+          -0.9871593117713928,
+          -0.056195467710494995,
+          -2.9318652153015137
+        ],
+        [
+          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": "1731323301_483081817",
+      "mask_path": "../../mask/hdr_right_00380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00381.png",
+      "transform_matrix": [
+        [
+          0.6525897979736328,
+          0.13195368647575378,
+          -0.7461332082748413,
+          -14.986063957214355
+        ],
+        [
+          0.7443756461143494,
+          0.07228853553533554,
+          0.6638368368148804,
+          -3.691373109817505
+        ],
+        [
+          0.14153259992599487,
+          -0.9886164665222168,
+          -0.05104834958910942,
+          -2.942809820175171
+        ],
+        [
+          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": "1731323301_583082437",
+      "mask_path": "../../mask/hdr_right_00381.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/47d68869_1/mesh.ply b/2024-11-11-12-07-40/splats/47d68869_1/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2bfbaf0b64791d64dc1fb872dc3732d1ab500caa
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_1/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece9d460787cf759ae116d2285eadb10b7267890f0a6b872f491e3623f8077dd
+size 79348301
diff --git a/2024-11-11-12-07-40/splats/47d68869_1/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/47d68869_1/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a69478534378588329553610c29b32c9a7c6c342
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_1/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c6c568a7dc4738a14e8562c30d53a123adfb0b66c841cde9dd7463d9aa16c40
+size 1573015
diff --git a/2024-11-11-12-07-40/splats/47d68869_1/splatfacto/config.yml b/2024-11-11-12-07-40/splats/47d68869_1/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9bd8a88d948f3f2c6dfd06675fd5fb264f48caae
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_1/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_47d68869_1
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_47d68869_1
+      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/2024-11-11-12-07-40/splats/47d68869_1/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/47d68869_1/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..350dee86e75ae8a24613bc61c872e38e81d37014
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_1/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.8968856334686279,
+            -0.41748714447021484,
+            -0.1459479182958603,
+            -10.592336654663086
+        ],
+        [
+            -0.41748714447021484,
+            0.9081149101257324,
+            -0.032121799886226654,
+            -0.8678249716758728
+        ],
+        [
+            0.1459479182958603,
+            0.032121799886226654,
+            -0.9887707233428955,
+            -0.3007014989852905
+        ]
+    ],
+    "scale": 0.19104747372376646
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/47d68869_1/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/47d68869_1/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..18358c8a1de09f44f7e63fd20f2791a89f003b33
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_1/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f944718bb744e3c0f401c907d3bf252409c8fec463e1baa0cb5c2003d84025ce
+size 176782441
diff --git a/2024-11-11-12-07-40/splats/47d68869_1/transforms.json b/2024-11-11-12-07-40/splats/47d68869_1/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b43f74280d517918ddf1e4d481fc7600aac09e
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/47d68869_1/transforms.json
@@ -0,0 +1,16386 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_08393.png",
+      "transform_matrix": [
+        [
+          -0.43232956528663635,
+          0.11657676100730896,
+          -0.8941482901573181,
+          -14.589010238647461
+        ],
+        [
+          0.9013199806213379,
+          0.02649327926337719,
+          -0.4323430359363556,
+          -4.884116172790527
+        ],
+        [
+          -0.02671222761273384,
+          -0.9928282499313354,
+          -0.11652678996324539,
+          -2.9009690284729004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8393,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_783081769",
+      "mask_path": "../../mask/hdr_front_08393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08394.png",
+      "transform_matrix": [
+        [
+          -0.42426034808158875,
+          0.12145208567380905,
+          -0.8973586559295654,
+          -14.520204544067383
+        ],
+        [
+          0.9054635763168335,
+          0.0440005362033844,
+          -0.422137051820755,
+          -4.851161956787109
+        ],
+        [
+          -0.011785161681473255,
+          -0.9916216135025024,
+          -0.1286381185054779,
+          -2.8759803771972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8394,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_883081674",
+      "mask_path": "../../mask/hdr_front_08394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08395.png",
+      "transform_matrix": [
+        [
+          -0.4202299118041992,
+          0.14128956198692322,
+          -0.8963505029678345,
+          -14.446002006530762
+        ],
+        [
+          0.9071406722068787,
+          0.04100615158677101,
+          -0.4188249409198761,
+          -4.815817356109619
+        ],
+        [
+          -0.022419709712266922,
+          -0.9891186952590942,
+          -0.1454015076160431,
+          -2.8142611980438232
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8395,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_983081817",
+      "mask_path": "../../mask/hdr_front_08395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08397.png",
+      "transform_matrix": [
+        [
+          -0.41745424270629883,
+          0.15084698796272278,
+          -0.8960899710655212,
+          -14.351422309875488
+        ],
+        [
+          0.9077039361000061,
+          0.023110179230570793,
+          -0.4189743995666504,
+          -4.763927936553955
+        ],
+        [
+          -0.042492225766181946,
+          -0.9882870316505432,
+          -0.14657184481620789,
+          -2.8148293495178223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8397,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_183082580",
+      "mask_path": "../../mask/hdr_front_08397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08398.png",
+      "transform_matrix": [
+        [
+          -0.41579002141952515,
+          0.1436018943786621,
+          -0.898051917552948,
+          -14.284228324890137
+        ],
+        [
+          0.9087265133857727,
+          0.02593090571463108,
+          -0.416585773229599,
+          -4.723238945007324
+        ],
+        [
+          -0.03653520718216896,
+          -0.9892957806587219,
+          -0.14127667248249054,
+          -2.8047029972076416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8398,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_283081531",
+      "mask_path": "../../mask/hdr_front_08398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08399.png",
+      "transform_matrix": [
+        [
+          -0.41037869453430176,
+          0.13853108882904053,
+          -0.9013314843177795,
+          -14.218423843383789
+        ],
+        [
+          0.9115150570869446,
+          0.03304082527756691,
+          -0.4099371135234833,
+          -4.68562650680542
+        ],
+        [
+          -0.027008293196558952,
+          -0.9898067712783813,
+          -0.13983243703842163,
+          -2.795905351638794
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8399,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_383081912",
+      "mask_path": "../../mask/hdr_front_08399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08400.png",
+      "transform_matrix": [
+        [
+          -0.4041065275669098,
+          0.13707485795021057,
+          -0.9043828845024109,
+          -14.165827751159668
+        ],
+        [
+          0.9145202040672302,
+          0.04030754789710045,
+          -0.40252694487571716,
+          -4.656600475311279
+        ],
+        [
+          -0.01872286945581436,
+          -0.9897403120994568,
+          -0.14164628088474274,
+          -2.7838549613952637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8400,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_483081817",
+      "mask_path": "../../mask/hdr_front_08400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08401.png",
+      "transform_matrix": [
+        [
+          -0.3991909921169281,
+          0.1314946562051773,
+          -0.9073895812034607,
+          -14.105876922607422
+        ],
+        [
+          0.9167975187301636,
+          0.04498940333724022,
+          -0.3968102037906647,
+          -4.6190948486328125
+        ],
+        [
+          -0.011355506256222725,
+          -0.9902955293655396,
+          -0.13851334154605865,
+          -2.768773078918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8401,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_583082437",
+      "mask_path": "../../mask/hdr_front_08401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08402.png",
+      "transform_matrix": [
+        [
+          -0.3999747037887573,
+          0.1281929463148117,
+          -0.9075168371200562,
+          -14.0447998046875
+        ],
+        [
+          0.9164716005325317,
+          0.04512883350253105,
+          -0.397546648979187,
+          -4.57961893081665
+        ],
+        [
+          -0.01000750157982111,
+          -0.9907219409942627,
+          -0.1355355829000473,
+          -2.760053873062134
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8402,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_683081626",
+      "mask_path": "../../mask/hdr_front_08402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08405.png",
+      "transform_matrix": [
+        [
+          -0.39316436648368835,
+          0.11687278747558594,
+          -0.9120101928710938,
+          -13.98861026763916
+        ],
+        [
+          0.9194366931915283,
+          0.041764888912439346,
+          -0.39101383090019226,
+          -4.541421890258789
+        ],
+        [
+          -0.007608868181705475,
+          -0.9922683835029602,
+          -0.12387759983539581,
+          -2.759382724761963
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8405,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_983079195",
+      "mask_path": "../../mask/hdr_front_08405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08462.png",
+      "transform_matrix": [
+        [
+          -0.3487730920314789,
+          0.09930144995450974,
+          -0.9319316148757935,
+          -13.928762435913086
+        ],
+        [
+          0.9352290630340576,
+          0.10144800692796707,
+          -0.33919742703437805,
+          -4.498902320861816
+        ],
+        [
+          0.06085981801152229,
+          -0.9898725152015686,
+          -0.12825194001197815,
+          -2.7535176277160645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8462,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324110_683081626",
+      "mask_path": "../../mask/hdr_front_08462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08464.png",
+      "transform_matrix": [
+        [
+          -0.3506647050380707,
+          0.10894479602575302,
+          -0.9301425814628601,
+          -13.854876518249512
+        ],
+        [
+          0.9351388216018677,
+          0.0942857638001442,
+          -0.34150487184524536,
+          -4.474218845367432
+        ],
+        [
+          0.05049402639269829,
+          -0.9895662069320679,
+          -0.1349411904811859,
+          -2.7378082275390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8464,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324110_883081912",
+      "mask_path": "../../mask/hdr_front_08464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08466.png",
+      "transform_matrix": [
+        [
+          -0.35702019929885864,
+          0.11220913380384445,
+          -0.9273325800895691,
+          -13.7899751663208
+        ],
+        [
+          0.9335384368896484,
+          0.07717297226190567,
+          -0.3500714898109436,
+          -4.461057186126709
+        ],
+        [
+          0.03228379040956497,
+          -0.990683376789093,
+          -0.132303848862648,
+          -2.7443745136260986
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8466,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_83081483",
+      "mask_path": "../../mask/hdr_front_08466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08467.png",
+      "transform_matrix": [
+        [
+          -0.3546193540096283,
+          0.11621110141277313,
+          -0.9277608394622803,
+          -13.738168716430664
+        ],
+        [
+          0.9345192909240723,
+          0.07621695846319199,
+          -0.3476558327674866,
+          -4.455200672149658
+        ],
+        [
+          0.030309636145830154,
+          -0.9902958869934082,
+          -0.13562951982021332,
+          -2.7308080196380615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8467,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_183081865",
+      "mask_path": "../../mask/hdr_front_08467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08469.png",
+      "transform_matrix": [
+        [
+          -0.348495751619339,
+          0.13209441304206848,
+          -0.9279557466506958,
+          -13.676950454711914
+        ],
+        [
+          0.9369890689849854,
+          0.07501237839460373,
+          -0.3412103056907654,
+          -4.4511284828186035
+        ],
+        [
+          0.024536198005080223,
+          -0.9883947968482971,
+          -0.1499125212430954,
+          -2.7128994464874268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8469,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_383081436",
+      "mask_path": "../../mask/hdr_front_08469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08593.png",
+      "transform_matrix": [
+        [
+          -0.026317279785871506,
+          0.1554325670003891,
+          -0.9874958395957947,
+          -13.639845848083496
+        ],
+        [
+          0.9957379698753357,
+          0.09142384678125381,
+          -0.01214675698429346,
+          -4.5416035652160645
+        ],
+        [
+          0.08839266747236252,
+          -0.9836068749427795,
+          -0.1571761518716812,
+          -2.730818033218384
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8593,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324123_783081769",
+      "mask_path": "../../mask/hdr_front_08593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08596.png",
+      "transform_matrix": [
+        [
+          -0.020212888717651367,
+          0.1771627813577652,
+          -0.9839739799499512,
+          -13.558806419372559
+        ],
+        [
+          0.9956949353218079,
+          0.0926128700375557,
+          -0.003778879763558507,
+          -4.549932479858398
+        ],
+        [
+          0.09045916795730591,
+          -0.979814350605011,
+          -0.17827208340168,
+          -2.693993330001831
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8596,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_83080053",
+      "mask_path": "../../mask/hdr_front_08596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08598.png",
+      "transform_matrix": [
+        [
+          -0.017013277858495712,
+          0.17847909033298492,
+          -0.9837966561317444,
+          -13.478355407714844
+        ],
+        [
+          0.9978402256965637,
+          0.06546775996685028,
+          -0.005379066802561283,
+          -4.551778316497803
+        ],
+        [
+          0.06344690173864365,
+          -0.9817633628845215,
+          -0.1792074292898178,
+          -2.656338930130005
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8598,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_283080577",
+      "mask_path": "../../mask/hdr_front_08598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08600.png",
+      "transform_matrix": [
+        [
+          -0.0340016633272171,
+          0.1710728257894516,
+          -0.9846715331077576,
+          -13.423238754272461
+        ],
+        [
+          0.9993619918823242,
+          0.016588930040597916,
+          -0.03162685036659241,
+          -4.5595269203186035
+        ],
+        [
+          0.01092415302991867,
+          -0.9851186871528625,
+          -0.17152775824069977,
+          -2.6522903442382812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8600,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_483080625",
+      "mask_path": "../../mask/hdr_front_08600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08602.png",
+      "transform_matrix": [
+        [
+          -0.05940445140004158,
+          0.16574843227863312,
+          -0.9843772649765015,
+          -13.322915077209473
+        ],
+        [
+          0.9982320666313171,
+          0.007943613454699516,
+          -0.05890301987528801,
+          -4.5630998611450195
+        ],
+        [
+          -0.0019435698632150888,
+          -0.9861361384391785,
+          -0.16592729091644287,
+          -2.624237060546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8602,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_683080911",
+      "mask_path": "../../mask/hdr_front_08602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08604.png",
+      "transform_matrix": [
+        [
+          -0.09163742512464523,
+          0.16192203760147095,
+          -0.9825394749641418,
+          -13.261284828186035
+        ],
+        [
+          0.9957845211029053,
+          0.01882481761276722,
+          -0.08977042138576508,
+          -4.561209201812744
+        ],
+        [
+          0.003960317932069302,
+          -0.986624002456665,
+          -0.16296453773975372,
+          -2.608530282974243
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8604,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_883081197",
+      "mask_path": "../../mask/hdr_front_08604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08606.png",
+      "transform_matrix": [
+        [
+          -0.12966156005859375,
+          0.15179066359996796,
+          -0.9798711538314819,
+          -13.196146965026855
+        ],
+        [
+          0.9915410876274109,
+          0.025679942220449448,
+          -0.1272277534008026,
+          -4.550673961639404
+        ],
+        [
+          0.0058510503731667995,
+          -0.9880790114402771,
+          -0.15383636951446533,
+          -2.5933144092559814
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8606,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_83081007",
+      "mask_path": "../../mask/hdr_front_08606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08608.png",
+      "transform_matrix": [
+        [
+          -0.19302891194820404,
+          0.14841292798519135,
+          -0.9699038863182068,
+          -13.1376314163208
+        ],
+        [
+          0.9811208248138428,
+          0.01720145344734192,
+          -0.19262917339801788,
+          -4.523703575134277
+        ],
+        [
+          -0.011904905550181866,
+          -0.988775908946991,
+          -0.1489313840866089,
+          -2.579523801803589
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8608,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_283080816",
+      "mask_path": "../../mask/hdr_front_08608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08610.png",
+      "transform_matrix": [
+        [
+          -0.2645612359046936,
+          0.13096363842487335,
+          -0.955435037612915,
+          -13.071266174316406
+        ],
+        [
+          0.9643509984016418,
+          0.02988980896770954,
+          -0.26293304562568665,
+          -4.489224910736084
+        ],
+        [
+          -0.0058768982999026775,
+          -0.9909365177154541,
+          -0.13420259952545166,
+          -2.5720348358154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8610,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_483082532",
+      "mask_path": "../../mask/hdr_front_08610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08613.png",
+      "transform_matrix": [
+        [
+          -0.3145769536495209,
+          0.11932603269815445,
+          -0.9417020678520203,
+          -12.997673988342285
+        ],
+        [
+          0.9492008686065674,
+          0.047577373683452606,
+          -0.3110533058643341,
+          -4.469023704528809
+        ],
+        [
+          0.00768695492297411,
+          -0.9917145371437073,
+          -0.12823110818862915,
+          -2.551746129989624
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8613,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_783082485",
+      "mask_path": "../../mask/hdr_front_08613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08615.png",
+      "transform_matrix": [
+        [
+          -0.31541553139686584,
+          0.11761761456727982,
+          -0.9416365027427673,
+          -12.911060333251953
+        ],
+        [
+          0.9488883018493652,
+          0.02743835374712944,
+          -0.31441742181777954,
+          -4.456208229064941
+        ],
+        [
+          -0.011144067160785198,
+          -0.9926798939704895,
+          -0.12026044726371765,
+          -2.5503311157226562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8615,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_983082771",
+      "mask_path": "../../mask/hdr_front_08615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08616.png",
+      "transform_matrix": [
+        [
+          -0.312821626663208,
+          0.11861590296030045,
+          -0.9423761963844299,
+          -12.86066722869873
+        ],
+        [
+          0.9497354626655579,
+          0.026481783017516136,
+          -0.31193140149116516,
+          -4.441144943237305
+        ],
+        [
+          -0.01204422116279602,
+          -0.9925870299339294,
+          -0.12093780934810638,
+          -2.544865608215332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8616,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_83082675",
+      "mask_path": "../../mask/hdr_front_08616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08617.png",
+      "transform_matrix": [
+        [
+          -0.3095559775829315,
+          0.11889364570379257,
+          -0.9434189796447754,
+          -12.793112754821777
+        ],
+        [
+          0.9508373737335205,
+          0.02918355166912079,
+          -0.3083122968673706,
+          -4.421758651733398
+        ],
+        [
+          -0.009124057367444038,
+          -0.9924780130386353,
+          -0.12208247184753418,
+          -2.5335817337036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8617,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_183082103",
+      "mask_path": "../../mask/hdr_front_08617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08618.png",
+      "transform_matrix": [
+        [
+          -0.3046964406967163,
+          0.12169814854860306,
+          -0.9446427226066589,
+          -12.728092193603516
+        ],
+        [
+          0.952449381351471,
+          0.03955329209566116,
+          -0.30211883783340454,
+          -4.403487205505371
+        ],
+        [
+          0.0005964212468825281,
+          -0.9917787909507751,
+          -0.12796306610107422,
+          -2.523777723312378
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8618,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_283082723",
+      "mask_path": "../../mask/hdr_front_08618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08620.png",
+      "transform_matrix": [
+        [
+          -0.294630229473114,
+          0.13788405060768127,
+          -0.9456114768981934,
+          -12.606938362121582
+        ],
+        [
+          0.955486536026001,
+          0.058491773903369904,
+          -0.28917816281318665,
+          -4.370192527770996
+        ],
+        [
+          0.015437430702149868,
+          -0.9887197017669678,
+          -0.1489798128604889,
+          -2.4834139347076416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8620,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_483081340",
+      "mask_path": "../../mask/hdr_front_08620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08621.png",
+      "transform_matrix": [
+        [
+          -0.29508382081985474,
+          0.1446400284767151,
+          -0.9444600343704224,
+          -12.526028633117676
+        ],
+        [
+          0.9554579257965088,
+          0.049909330904483795,
+          -0.29087650775909424,
+          -4.341189384460449
+        ],
+        [
+          0.0050649819895625114,
+          -0.9882248640060425,
+          -0.15292489528656006,
+          -2.4538912773132324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8621,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_583083391",
+      "mask_path": "../../mask/hdr_front_08621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08623.png",
+      "transform_matrix": [
+        [
+          -0.2984864413738251,
+          0.14463597536087036,
+          -0.9433907866477966,
+          -12.421494483947754
+        ],
+        [
+          0.9542868733406067,
+          0.029102744534611702,
+          -0.2974720299243927,
+          -4.303035736083984
+        ],
+        [
+          -0.015569889917969704,
+          -0.9890568852424622,
+          -0.14671099185943604,
+          -2.4444048404693604
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8623,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_783083200",
+      "mask_path": "../../mask/hdr_front_08623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08624.png",
+      "transform_matrix": [
+        [
+          -0.29471781849861145,
+          0.1369495838880539,
+          -0.9457200169563293,
+          -12.34848403930664
+        ],
+        [
+          0.9555109739303589,
+          0.02996893972158432,
+          -0.2934291958808899,
+          -4.279959678649902
+        ],
+        [
+          -0.011842777021229267,
+          -0.9901245832443237,
+          -0.13968919217586517,
+          -2.4287168979644775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8624,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_883082151",
+      "mask_path": "../../mask/hdr_front_08624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08625.png",
+      "transform_matrix": [
+        [
+          -0.28750815987586975,
+          0.13233597576618195,
+          -0.9485917091369629,
+          -12.28205394744873
+        ],
+        [
+          0.9577733278274536,
+          0.03658313304185867,
+          -0.28518739342689514,
+          -4.262047290802002
+        ],
+        [
+          -0.0030380988027900457,
+          -0.9905295968055725,
+          -0.13726581633090973,
+          -2.414123296737671
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8625,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_983083248",
+      "mask_path": "../../mask/hdr_front_08625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08626.png",
+      "transform_matrix": [
+        [
+          -0.28103145956993103,
+          0.12909044325351715,
+          -0.9509768486022949,
+          -12.227938652038574
+        ],
+        [
+          0.9596869349479675,
+          0.04268598183989525,
+          -0.2778109908103943,
+          -4.249483585357666
+        ],
+        [
+          0.004730637650936842,
+          -0.9907137155532837,
+          -0.13588252663612366,
+          -2.4032678604125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8626,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_83081960",
+      "mask_path": "../../mask/hdr_front_08626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08627.png",
+      "transform_matrix": [
+        [
+          -0.2766711711883545,
+          0.12578865885734558,
+          -0.9526962637901306,
+          -12.146622657775879
+        ],
+        [
+          0.9609310030937195,
+          0.04451662302017212,
+          -0.2731848657131195,
+          -4.227506160736084
+        ],
+        [
+          0.00804726593196392,
+          -0.991057813167572,
+          -0.13319067656993866,
+          -2.3903615474700928
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8627,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_183082580",
+      "mask_path": "../../mask/hdr_front_08627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08628.png",
+      "transform_matrix": [
+        [
+          -0.27330946922302246,
+          0.12482676655054092,
+          -0.9537925720214844,
+          -12.056394577026367
+        ],
+        [
+          0.9619261026382446,
+          0.03566820174455643,
+          -0.2709721624851227,
+          -4.201294898986816
+        ],
+        [
+          0.00019548517593648285,
+          -0.9915372133255005,
+          -0.12982258200645447,
+          -2.379913091659546
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8628,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_283082723",
+      "mask_path": "../../mask/hdr_front_08628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08629.png",
+      "transform_matrix": [
+        [
+          -0.27060583233833313,
+          0.12305106967687607,
+          -0.9547936916351318,
+          -11.9891996383667
+        ],
+        [
+          0.962671160697937,
+          0.028340352699160576,
+          -0.2691860795021057,
+          -4.182211399078369
+        ],
+        [
+          -0.00606444152072072,
+          -0.991995632648468,
+          -0.12612678110599518,
+          -2.382685899734497
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8629,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_383082389",
+      "mask_path": "../../mask/hdr_front_08629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08630.png",
+      "transform_matrix": [
+        [
+          -0.2682284414768219,
+          0.12452498078346252,
+          -0.9552733302116394,
+          -11.906108856201172
+        ],
+        [
+          0.9632730484008789,
+          0.02171149104833603,
+          -0.2676444947719574,
+          -4.162062168121338
+        ],
+        [
+          -0.01258801855146885,
+          -0.9919789433479309,
+          -0.12577518820762634,
+          -2.3860580921173096
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8630,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_483081817",
+      "mask_path": "../../mask/hdr_front_08630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08631.png",
+      "transform_matrix": [
+        [
+          -0.25380319356918335,
+          0.14839603006839752,
+          -0.955804705619812,
+          -11.793096542358398
+        ],
+        [
+          0.9668266773223877,
+          0.00948482658714056,
+          -0.25525736808776855,
+          -4.140345573425293
+        ],
+        [
+          -0.02881353534758091,
+          -0.9888825416564941,
+          -0.14588052034378052,
+          -2.31974458694458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8631,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_583082437",
+      "mask_path": "../../mask/hdr_front_08631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08632.png",
+      "transform_matrix": [
+        [
+          -0.2320040762424469,
+          0.1680644005537033,
+          -0.9580858945846558,
+          -11.710806846618652
+        ],
+        [
+          0.9721475839614868,
+          0.006428760010749102,
+          -0.23428145051002502,
+          -4.132741451263428
+        ],
+        [
+          -0.03321506828069687,
+          -0.9857550859451294,
+          -0.16487489640712738,
+          -2.2620389461517334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8632,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_683081150",
+      "mask_path": "../../mask/hdr_front_08632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08633.png",
+      "transform_matrix": [
+        [
+          -0.217230424284935,
+          0.16947196424007416,
+          -0.9612960815429688,
+          -11.644332885742188
+        ],
+        [
+          0.9757869243621826,
+          0.011965686455368996,
+          -0.21839554607868195,
+          -4.122854232788086
+        ],
+        [
+          -0.02550935372710228,
+          -0.9854624271392822,
+          -0.16796785593032837,
+          -2.2578234672546387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8633,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_783082485",
+      "mask_path": "../../mask/hdr_front_08633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08634.png",
+      "transform_matrix": [
+        [
+          -0.21362419426441193,
+          0.16655372083187103,
+          -0.9626134037971497,
+          -11.552736282348633
+        ],
+        [
+          0.9766926169395447,
+          0.015347245149314404,
+          -0.21409328281879425,
+          -4.097537517547607
+        ],
+        [
+          -0.020884564146399498,
+          -0.9859129190444946,
+          -0.16595034301280975,
+          -2.2414939403533936
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8634,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_883082389",
+      "mask_path": "../../mask/hdr_front_08634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08635.png",
+      "transform_matrix": [
+        [
+          -0.21592339873313904,
+          0.16527295112609863,
+          -0.9623211026191711,
+          -11.476475715637207
+        ],
+        [
+          0.9760485291481018,
+          0.00970948114991188,
+          -0.2173360139131546,
+          -4.0753092765808105
+        ],
+        [
+          -0.026576125994324684,
+          -0.9862000942230225,
+          -0.16341093182563782,
+          -2.2229654788970947
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8635,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_983081817",
+      "mask_path": "../../mask/hdr_front_08635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08636.png",
+      "transform_matrix": [
+        [
+          -0.21781975030899048,
+          0.1633305549621582,
+          -0.9622254371643066,
+          -11.420966148376465
+        ],
+        [
+          0.9753982424736023,
+          0.002131630200892687,
+          -0.2204398810863495,
+          -4.0613508224487305
+        ],
+        [
+          -0.0339534617960453,
+          -0.9865691065788269,
+          -0.15977665781974792,
+          -2.215761661529541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8636,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_83082199",
+      "mask_path": "../../mask/hdr_front_08636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08637.png",
+      "transform_matrix": [
+        [
+          -0.21591274440288544,
+          0.16087165474891663,
+          -0.9630691409111023,
+          -11.341858863830566
+        ],
+        [
+          0.9756900072097778,
+          -0.0023931965697556734,
+          -0.21914201974868774,
+          -4.042727947235107
+        ],
+        [
+          -0.037558551877737045,
+          -0.986972451210022,
+          -0.15644416213035583,
+          -2.205200672149658
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8637,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_183082818",
+      "mask_path": "../../mask/hdr_front_08637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08638.png",
+      "transform_matrix": [
+        [
+          -0.2093481570482254,
+          0.16086608171463013,
+          -0.9645182490348816,
+          -11.260980606079102
+        ],
+        [
+          0.9772294759750366,
+          -0.00046483680489473045,
+          -0.21218466758728027,
+          -4.026087760925293
+        ],
+        [
+          -0.034581657499074936,
+          -0.9869762063026428,
+          -0.15710577368736267,
+          -2.185734748840332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8638,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_283082723",
+      "mask_path": "../../mask/hdr_front_08638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08640.png",
+      "transform_matrix": [
+        [
+          -0.19753581285476685,
+          0.16050177812576294,
+          -0.9670670628547668,
+          -11.15610408782959
+        ],
+        [
+          0.9800265431404114,
+          0.009217356331646442,
+          -0.19865316152572632,
+          -4.009912967681885
+        ],
+        [
+          -0.022970380261540413,
+          -0.986992597579956,
+          -0.15911675989627838,
+          -2.1641461849212646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8640,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_483081817",
+      "mask_path": "../../mask/hdr_front_08640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08641.png",
+      "transform_matrix": [
+        [
+          -0.1924513876438141,
+          0.1605890840291977,
+          -0.9680772423744202,
+          -11.08167552947998
+        ],
+        [
+          0.9809107780456543,
+          0.0034682515542954206,
+          -0.19442731142044067,
+          -3.9939475059509277
+        ],
+        [
+          -0.027865368872880936,
+          -0.9870152473449707,
+          -0.1581910401582718,
+          -2.1580708026885986
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8641,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_583082199",
+      "mask_path": "../../mask/hdr_front_08641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08642.png",
+      "transform_matrix": [
+        [
+          -0.18834194540977478,
+          0.15942992269992828,
+          -0.9690766930580139,
+          -11.01765251159668
+        ],
+        [
+          0.9814764857292175,
+          -0.004699604585766792,
+          -0.19152502715587616,
+          -3.9844882488250732
+        ],
+        [
+          -0.03508909419178963,
+          -0.9871981143951416,
+          -0.15559159219264984,
+          -2.157304525375366
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8642,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_683081388",
+      "mask_path": "../../mask/hdr_front_08642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08643.png",
+      "transform_matrix": [
+        [
+          -0.183585524559021,
+          0.16451309621334076,
+          -0.9691397547721863,
+          -10.940199851989746
+        ],
+        [
+          0.9822545051574707,
+          -0.007782557513564825,
+          -0.1873909831047058,
+          -3.9815053939819336
+        ],
+        [
+          -0.038370657712221146,
+          -0.9863442182540894,
+          -0.1601649820804596,
+          -2.14019775390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8643,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_783081769",
+      "mask_path": "../../mask/hdr_front_08643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08644.png",
+      "transform_matrix": [
+        [
+          -0.17492371797561646,
+          0.156282439827919,
+          -0.9720995426177979,
+          -10.846968650817871
+        ],
+        [
+          0.9840297102928162,
+          -0.005316113121807575,
+          -0.17792515456676483,
+          -3.9761157035827637
+        ],
+        [
+          -0.03297436982393265,
+          -0.9876980781555176,
+          -0.15285664796829224,
+          -2.103653907775879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8644,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_883081912",
+      "mask_path": "../../mask/hdr_front_08644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08645.png",
+      "transform_matrix": [
+        [
+          -0.1625169962644577,
+          0.14960899949073792,
+          -0.9752975702285767,
+          -10.78193187713623
+        ],
+        [
+          0.9865019917488098,
+          0.0045518348924815655,
+          -0.16368579864501953,
+          -3.9784862995147705
+        ],
+        [
+          -0.020049473270773888,
+          -0.9887348413467407,
+          -0.14832933247089386,
+          -2.082540512084961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8645,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_983081817",
+      "mask_path": "../../mask/hdr_front_08645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08647.png",
+      "transform_matrix": [
+        [
+          -0.14423131942749023,
+          0.14805981516838074,
+          -0.9784045815467834,
+          -10.661623001098633
+        ],
+        [
+          0.9895327687263489,
+          0.01686398871243,
+          -0.14331978559494019,
+          -3.977325439453125
+        ],
+        [
+          -0.004720093682408333,
+          -0.9888346195220947,
+          -0.14894235134124756,
+          -2.056976556777954
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8647,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_183081388",
+      "mask_path": "../../mask/hdr_front_08647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08648.png",
+      "transform_matrix": [
+        [
+          -0.14819321036338806,
+          0.14324474334716797,
+          -0.9785293936729431,
+          -10.579850196838379
+        ],
+        [
+          0.9889353513717651,
+          0.014703658409416676,
+          -0.14761672914028168,
+          -3.9620492458343506
+        ],
+        [
+          -0.006757357623428106,
+          -0.9895780682563782,
+          -0.1438387632369995,
+          -2.0432770252227783
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8648,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_283082246",
+      "mask_path": "../../mask/hdr_front_08648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08649.png",
+      "transform_matrix": [
+        [
+          -0.15886718034744263,
+          0.1425120085477829,
+          -0.9769604802131653,
+          -10.513089179992676
+        ],
+        [
+          0.9872497320175171,
+          0.012947360053658485,
+          -0.1586516946554184,
+          -3.943956136703491
+        ],
+        [
+          -0.009960709139704704,
+          -0.989708423614502,
+          -0.14275184273719788,
+          -2.029933214187622
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8649,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_383082151",
+      "mask_path": "../../mask/hdr_front_08649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08650.png",
+      "transform_matrix": [
+        [
+          -0.16607049107551575,
+          0.13522548973560333,
+          -0.9767981767654419,
+          -10.439308166503906
+        ],
+        [
+          0.9860682487487793,
+          0.013236195780336857,
+          -0.1658141314983368,
+          -3.922959566116333
+        ],
+        [
+          -0.00949320662766695,
+          -0.9907264709472656,
+          -0.1355396956205368,
+          -2.0246198177337646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8650,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_483082771",
+      "mask_path": "../../mask/hdr_front_08650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08651.png",
+      "transform_matrix": [
+        [
+          -0.16785185039043427,
+          0.1321171224117279,
+          -0.9769190549850464,
+          -10.356061935424805
+        ],
+        [
+          0.985798716545105,
+          0.01731230318546295,
+          -0.1670362502336502,
+          -3.900265693664551
+        ],
+        [
+          -0.005155629478394985,
+          -0.9910829067230225,
+          -0.13314677774906158,
+          -2.011448621749878
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8651,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_583082437",
+      "mask_path": "../../mask/hdr_front_08651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08652.png",
+      "transform_matrix": [
+        [
+          -0.16785839200019836,
+          0.13482168316841125,
+          -0.9765483736991882,
+          -10.293314933776855
+        ],
+        [
+          0.9858091473579407,
+          0.024917110800743103,
+          -0.16601020097732544,
+          -3.8865256309509277
+        ],
+        [
+          0.0019509904086589813,
+          -0.990556538105011,
+          -0.1370909959077835,
+          -1.9959746599197388
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8652,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_683082103",
+      "mask_path": "../../mask/hdr_front_08652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08653.png",
+      "transform_matrix": [
+        [
+          -0.16868384182453156,
+          0.13769958913326263,
+          -0.976004421710968,
+          -10.235343933105469
+        ],
+        [
+          0.9856186509132385,
+          0.03369412198662758,
+          -0.16559171676635742,
+          -3.874363660812378
+        ],
+        [
+          0.010083700530230999,
+          -0.9899007678031921,
+          -0.14140291512012482,
+          -1.9837144613265991
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8653,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_783079624",
+      "mask_path": "../../mask/hdr_front_08653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08654.png",
+      "transform_matrix": [
+        [
+          -0.17601490020751953,
+          0.14547847211360931,
+          -0.9735783338546753,
+          -10.153409957885742
+        ],
+        [
+          0.983985960483551,
+          0.054249245673418045,
+          -0.16979025304317474,
+          -3.847532033920288
+        ],
+        [
+          0.02811506949365139,
+          -0.9878729581832886,
+          -0.15269744396209717,
+          -1.9525949954986572
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8654,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_883079767",
+      "mask_path": "../../mask/hdr_front_08654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08655.png",
+      "transform_matrix": [
+        [
+          -0.1934252381324768,
+          0.15115121006965637,
+          -0.9694018959999084,
+          -10.074055671691895
+        ],
+        [
+          0.9807752370834351,
+          0.05578695237636566,
+          -0.18699614703655243,
+          -3.8172194957733154
+        ],
+        [
+          0.025815283879637718,
+          -0.9869352579116821,
+          -0.15903599560260773,
+          -1.9078055620193481
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8655,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_983083724",
+      "mask_path": "../../mask/hdr_front_08655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08657.png",
+      "transform_matrix": [
+        [
+          -0.2438458651304245,
+          0.1543048620223999,
+          -0.9574598073959351,
+          -9.977092742919922
+        ],
+        [
+          0.9697535037994385,
+          0.02776779606938362,
+          -0.24250176548957825,
+          -3.76387619972229
+        ],
+        [
+          -0.010832656174898148,
+          -0.9876330494880676,
+          -0.15640874207019806,
+          -1.8954176902770996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8657,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_183083057",
+      "mask_path": "../../mask/hdr_front_08657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08658.png",
+      "transform_matrix": [
+        [
+          -0.26694557070732117,
+          0.14544259011745453,
+          -0.9526733756065369,
+          -9.903703689575195
+        ],
+        [
+          0.9636737704277039,
+          0.0315273143351078,
+          -0.265214741230011,
+          -3.727757453918457
+        ],
+        [
+          -0.008538286201655865,
+          -0.9888642430305481,
+          -0.1485752910375595,
+          -1.87861967086792
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8658,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_283080577",
+      "mask_path": "../../mask/hdr_front_08658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08659.png",
+      "transform_matrix": [
+        [
+          -0.28314027190208435,
+          0.13930633664131165,
+          -0.9489074945449829,
+          -9.8220853805542
+        ],
+        [
+          0.9590707421302795,
+          0.03713453933596611,
+          -0.2807212173938751,
+          -3.6936025619506836
+        ],
+        [
+          -0.003869006410241127,
+          -0.9895528554916382,
+          -0.14411891996860504,
+          -1.8638274669647217
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8659,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_383081197",
+      "mask_path": "../../mask/hdr_front_08659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08660.png",
+      "transform_matrix": [
+        [
+          -0.29638704657554626,
+          0.138533353805542,
+          -0.9449673295021057,
+          -9.754446029663086
+        ],
+        [
+          0.9550639390945435,
+          0.04013581946492195,
+          -0.29366984963417053,
+          -3.666330337524414
+        ],
+        [
+          -0.002756034955382347,
+          -0.989544153213501,
+          -0.14420394599437714,
+          -1.8511686325073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8660,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_483081579",
+      "mask_path": "../../mask/hdr_front_08660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08661.png",
+      "transform_matrix": [
+        [
+          -0.29874494671821594,
+          0.13221196830272675,
+          -0.9451304078102112,
+          -9.69704818725586
+        ],
+        [
+          0.9543068408966064,
+          0.04872554913163185,
+          -0.294829398393631,
+          -3.643815279006958
+        ],
+        [
+          0.007072021719068289,
+          -0.9900232553482056,
+          -0.14072729647159576,
+          -1.842525601387024
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8661,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_583081960",
+      "mask_path": "../../mask/hdr_front_08661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08662.png",
+      "transform_matrix": [
+        [
+          -0.2959398925304413,
+          0.1271357536315918,
+          -0.946708083152771,
+          -9.608470916748047
+        ],
+        [
+          0.9551941752433777,
+          0.04443163052201271,
+          -0.2926258146762848,
+          -3.612377882003784
+        ],
+        [
+          0.00486057810485363,
+          -0.9908897876739502,
+          -0.13458842039108276,
+          -1.826951503753662
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8662,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_683082342",
+      "mask_path": "../../mask/hdr_front_08662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08663.png",
+      "transform_matrix": [
+        [
+          -0.2957906126976013,
+          0.12405522167682648,
+          -0.9471632838249207,
+          -9.530595779418945
+        ],
+        [
+          0.9552504420280457,
+          0.03620041906833649,
+          -0.29357481002807617,
+          -3.5839192867279053
+        ],
+        [
+          -0.002131784800440073,
+          -0.991614818572998,
+          -0.12921154499053955,
+          -1.8208352327346802
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8663,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_783081531",
+      "mask_path": "../../mask/hdr_front_08663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08664.png",
+      "transform_matrix": [
+        [
+          -0.2954794466495514,
+          0.12030800431966782,
+          -0.9477435350418091,
+          -9.476435661315918
+        ],
+        [
+          0.955345869064331,
+          0.03463263809680939,
+          -0.29345330595970154,
+          -3.561192750930786
+        ],
+        [
+          -0.002481921575963497,
+          -0.9921324849128723,
+          -0.12516897916793823,
+          -1.8211047649383545
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8664,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_883081912",
+      "mask_path": "../../mask/hdr_front_08664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08665.png",
+      "transform_matrix": [
+        [
+          -0.293384313583374,
+          0.12081115692853928,
+          -0.9483303427696228,
+          -9.387191772460938
+        ],
+        [
+          0.9559929370880127,
+          0.035245638340711594,
+          -0.2912648320198059,
+          -3.531245708465576
+        ],
+        [
+          -0.0017635342665016651,
+          -0.9920496940612793,
+          -0.125835120677948,
+          -1.8113937377929688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8665,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_983081579",
+      "mask_path": "../../mask/hdr_front_08665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08666.png",
+      "transform_matrix": [
+        [
+          -0.2878657877445221,
+          0.12368939071893692,
+          -0.949649453163147,
+          -9.297551155090332
+        ],
+        [
+          0.9576612710952759,
+          0.04158775880932808,
+          -0.2848777174949646,
+          -3.5057778358459473
+        ],
+        [
+          0.004257447551935911,
+          -0.9914491772651672,
+          -0.13042423129081726,
+          -1.7945539951324463
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8666,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_83081483",
+      "mask_path": "../../mask/hdr_front_08666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08667.png",
+      "transform_matrix": [
+        [
+          -0.2809212803840637,
+          0.12868840992450714,
+          -0.9510639309883118,
+          -9.222721099853516
+        ],
+        [
+          0.9596959352493286,
+          0.046117037534713745,
+          -0.2772309482097626,
+          -3.485666513442993
+        ],
+        [
+          0.00818384438753128,
+          -0.9906122088432312,
+          -0.13645702600479126,
+          -1.7846999168395996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8667,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_183081865",
+      "mask_path": "../../mask/hdr_front_08667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08668.png",
+      "transform_matrix": [
+        [
+          -0.2758816182613373,
+          0.1380329728126526,
+          -0.9512287974357605,
+          -9.114201545715332
+        ],
+        [
+          0.9611204862594604,
+          0.0516604408621788,
+          -0.2712540626525879,
+          -3.4500417709350586
+        ],
+        [
+          0.01169890258461237,
+          -0.989079475402832,
+          -0.14691847562789917,
+          -1.74299955368042
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8668,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_283079147",
+      "mask_path": "../../mask/hdr_front_08668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08669.png",
+      "transform_matrix": [
+        [
+          -0.27920183539390564,
+          0.145534947514534,
+          -0.9491395950317383,
+          -9.021156311035156
+        ],
+        [
+          0.9602252244949341,
+          0.04614259675145149,
+          -0.27538764476776123,
+          -3.415372371673584
+        ],
+        [
+          0.003717237152159214,
+          -0.9882765412330627,
+          -0.15262943506240845,
+          -1.7090976238250732
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8669,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_383081436",
+      "mask_path": "../../mask/hdr_front_08669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08670.png",
+      "transform_matrix": [
+        [
+          -0.2833544611930847,
+          0.1485806107521057,
+          -0.9474355578422546,
+          -8.971404075622559
+        ],
+        [
+          0.9589476585388184,
+          0.032164111733436584,
+          -0.2817533612251282,
+          -3.3947372436523438
+        ],
+        [
+          -0.011389658786356449,
+          -0.9883770942687988,
+          -0.1515948623418808,
+          -1.702775239944458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8670,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_483081817",
+      "mask_path": "../../mask/hdr_front_08670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08671.png",
+      "transform_matrix": [
+        [
+          -0.2811518609523773,
+          0.1416226029396057,
+          -0.9491558074951172,
+          -8.893196105957031
+        ],
+        [
+          0.9596025943756104,
+          0.03036409057676792,
+          -0.27971574664115906,
+          -3.3689486980438232
+        ],
+        [
+          -0.010793816298246384,
+          -0.9894549250602722,
+          -0.14443834125995636,
+          -1.6897927522659302
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8671,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_583081483",
+      "mask_path": "../../mask/hdr_front_08671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08672.png",
+      "transform_matrix": [
+        [
+          -0.273190438747406,
+          0.13580144941806793,
+          -0.9523260593414307,
+          -8.795439720153809
+        ],
+        [
+          0.9619356989860535,
+          0.031541451811790466,
+          -0.27144935727119446,
+          -3.3421006202697754
+        ],
+        [
+          -0.006825460586696863,
+          -0.9902339577674866,
+          -0.1392490714788437,
+          -1.6684274673461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8672,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_683081865",
+      "mask_path": "../../mask/hdr_front_08672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08673.png",
+      "transform_matrix": [
+        [
+          -0.2647296190261841,
+          0.13348335027694702,
+          -0.9550394415855408,
+          -8.720433235168457
+        ],
+        [
+          0.9643198847770691,
+          0.03423724323511124,
+          -0.2625167965888977,
+          -3.324723243713379
+        ],
+        [
+          -0.0023436988703906536,
+          -0.9904595613479614,
+          -0.13778424263000488,
+          -1.6529587507247925
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8673,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_783081531",
+      "mask_path": "../../mask/hdr_front_08673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08674.png",
+      "transform_matrix": [
+        [
+          -0.25666892528533936,
+          0.13091564178466797,
+          -0.9575918912887573,
+          -8.650856018066406
+        ],
+        [
+          0.9664933681488037,
+          0.0382537841796875,
+          -0.2538250684738159,
+          -3.30702805519104
+        ],
+        [
+          0.003401848953217268,
+          -0.990655243396759,
+          -0.1363476663827896,
+          -1.6407939195632935
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8674,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_883081674",
+      "mask_path": "../../mask/hdr_front_08674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08675.png",
+      "transform_matrix": [
+        [
+          -0.25213319063186646,
+          0.12861114740371704,
+          -0.9591078758239746,
+          -8.55683708190918
+        ],
+        [
+          0.9676921367645264,
+          0.03264164179563522,
+          -0.2500127851963043,
+          -3.277745008468628
+        ],
+        [
+          -0.0008475726936012506,
+          -0.9911577701568604,
+          -0.13268601894378662,
+          -1.630486011505127
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8675,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_983082294",
+      "mask_path": "../../mask/hdr_front_08675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08676.png",
+      "transform_matrix": [
+        [
+          -0.2497817873954773,
+          0.12654747068881989,
+          -0.959997296333313,
+          -8.478225708007812
+        ],
+        [
+          0.9682672619819641,
+          0.02421981655061245,
+          -0.24874088168144226,
+          -3.2542643547058105
+        ],
+        [
+          -0.008226570673286915,
+          -0.9916648268699646,
+          -0.12858141958713531,
+          -1.6276140213012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8676,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_83082675",
+      "mask_path": "../../mask/hdr_front_08676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08677.png",
+      "transform_matrix": [
+        [
+          -0.24697767198085785,
+          0.12504111230373383,
+          -0.9609198570251465,
+          -8.409560203552246
+        ],
+        [
+          0.9689474701881409,
+          0.019628822803497314,
+          -0.24648675322532654,
+          -3.2390153408050537
+        ],
+        [
+          -0.011959249153733253,
+          -0.991957426071167,
+          -0.1260061264038086,
+          -1.628089189529419
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8677,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_183081150",
+      "mask_path": "../../mask/hdr_front_08677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08678.png",
+      "transform_matrix": [
+        [
+          -0.2373829036951065,
+          0.13872598111629486,
+          -0.9614595174789429,
+          -8.304426193237305
+        ],
+        [
+          0.9707913398742676,
+          -0.0016147198621183634,
+          -0.23991990089416504,
+          -3.2218966484069824
+        ],
+        [
+          -0.034835606813430786,
+          -0.9903295040130615,
+          -0.1342906802892685,
+          -1.5871692895889282
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8678,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_283082246",
+      "mask_path": "../../mask/hdr_front_08678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08679.png",
+      "transform_matrix": [
+        [
+          -0.21932466328144073,
+          0.15106958150863647,
+          -0.9638852477073669,
+          -8.207770347595215
+        ],
+        [
+          0.9749917984008789,
+          -0.002401091856881976,
+          -0.22222818434238434,
+          -3.20989727973938
+        ],
+        [
+          -0.03588629141449928,
+          -0.9885202646255493,
+          -0.14676497876644135,
+          -1.5239471197128296
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8679,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_383082628",
+      "mask_path": "../../mask/hdr_front_08679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08681.png",
+      "transform_matrix": [
+        [
+          -0.19796884059906006,
+          0.14943023025989532,
+          -0.9687512516975403,
+          -8.083419799804688
+        ],
+        [
+          0.9801687598228455,
+          0.021300137042999268,
+          -0.19701650738716125,
+          -3.1956374645233154
+        ],
+        [
+          -0.008805687539279461,
+          -0.9885428547859192,
+          -0.15068362653255463,
+          -1.50351881980896
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8681,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_583082437",
+      "mask_path": "../../mask/hdr_front_08681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08682.png",
+      "transform_matrix": [
+        [
+          -0.19510424137115479,
+          0.14585737884044647,
+          -0.9698762893676758,
+          -7.9886155128479
+        ],
+        [
+          0.9807433485984802,
+          0.020174020901322365,
+          -0.19425638020038605,
+          -3.1734750270843506
+        ],
+        [
+          -0.00876742135733366,
+          -0.98909991979599,
+          -0.14698468148708344,
+          -1.4832605123519897
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8682,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_683082342",
+      "mask_path": "../../mask/hdr_front_08682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08683.png",
+      "transform_matrix": [
+        [
+          -0.19756969809532166,
+          0.14438901841640472,
+          -0.969596803188324,
+          -7.923701763153076
+        ],
+        [
+          0.98013836145401,
+          0.011763346381485462,
+          -0.19796593487262726,
+          -3.155491352081299
+        ],
+        [
+          -0.017178399488329887,
+          -0.9894511103630066,
+          -0.14384528994560242,
+          -1.4709391593933105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8683,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_783082008",
+      "mask_path": "../../mask/hdr_front_08683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08684.png",
+      "transform_matrix": [
+        [
+          -0.1992807239294052,
+          0.1399369239807129,
+          -0.9698993563652039,
+          -7.864445209503174
+        ],
+        [
+          0.9797266721725464,
+          0.0076835183426737785,
+          -0.20019133388996124,
+          -3.137563705444336
+        ],
+        [
+          -0.020561914891004562,
+          -0.9901306629180908,
+          -0.13863109052181244,
+          -1.4653443098068237
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8684,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_883082151",
+      "mask_path": "../../mask/hdr_front_08684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08685.png",
+      "transform_matrix": [
+        [
+          -0.1961638182401657,
+          0.136643186211586,
+          -0.9710038304328918,
+          -7.774660110473633
+        ],
+        [
+          0.9803487658500671,
+          0.006243403535336256,
+          -0.1971731036901474,
+          -3.1110174655914307
+        ],
+        [
+          -0.020879989489912987,
+          -0.9906006455421448,
+          -0.135182723402977,
+          -1.4521458148956299
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8685,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_983082532",
+      "mask_path": "../../mask/hdr_front_08685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08686.png",
+      "transform_matrix": [
+        [
+          -0.18939578533172607,
+          0.1366795301437378,
+          -0.9723415374755859,
+          -7.697884559631348
+        ],
+        [
+          0.9817892909049988,
+          0.011435393244028091,
+          -0.18962864577770233,
+          -3.091413974761963
+        ],
+        [
+          -0.014799244701862335,
+          -0.9905492663383484,
+          -0.13635630905628204,
+          -1.4370660781860352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8686,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_83083152",
+      "mask_path": "../../mask/hdr_front_08686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08687.png",
+      "transform_matrix": [
+        [
+          -0.18283376097679138,
+          0.1375611126422882,
+          -0.9734725952148438,
+          -7.641635894775391
+        ],
+        [
+          0.9831075668334961,
+          0.017080027610063553,
+          -0.18222978711128235,
+          -3.0788235664367676
+        ],
+        [
+          -0.008440793491899967,
+          -0.9903460741043091,
+          -0.13836020231246948,
+          -1.4231810569763184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8687,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_183081150",
+      "mask_path": "../../mask/hdr_front_08687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08688.png",
+      "transform_matrix": [
+        [
+          -0.1786409169435501,
+          0.1497071236371994,
+          -0.9724584221839905,
+          -7.550317764282227
+        ],
+        [
+          0.9838148355484009,
+          0.04123308137059212,
+          -0.17437942326068878,
+          -3.049605131149292
+        ],
+        [
+          0.013991612009704113,
+          -0.9878702759742737,
+          -0.1546500027179718,
+          -1.3965578079223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8688,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_283081531",
+      "mask_path": "../../mask/hdr_front_08688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08689.png",
+      "transform_matrix": [
+        [
+          -0.18384870886802673,
+          0.1644417941570282,
+          -0.9691019654273987,
+          -7.455397129058838
+        ],
+        [
+          0.9827877283096313,
+          0.04891177639365196,
+          -0.17814548313617706,
+          -3.01682710647583
+        ],
+        [
+          0.01810593530535698,
+          -0.9851733446121216,
+          -0.17060375213623047,
+          -1.3331611156463623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8689,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_383082389",
+      "mask_path": "../../mask/hdr_front_08689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08690.png",
+      "transform_matrix": [
+        [
+          -0.18914878368377686,
+          0.16708366572856903,
+          -0.9676289558410645,
+          -7.40010929107666
+        ],
+        [
+          0.9819389581680298,
+          0.03651951253414154,
+          -0.1856401264667511,
+          -3.0003550052642822
+        ],
+        [
+          0.004319909494370222,
+          -0.9852662086486816,
+          -0.17097356915473938,
+          -1.316329836845398
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8690,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_483083724",
+      "mask_path": "../../mask/hdr_front_08690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08691.png",
+      "transform_matrix": [
+        [
+          -0.19025370478630066,
+          0.16452917456626892,
+          -0.9678500890731812,
+          -7.349818229675293
+        ],
+        [
+          0.9817103147506714,
+          0.02489469200372696,
+          -0.18874630331993103,
+          -2.9920403957366943
+        ],
+        [
+          -0.006959947757422924,
+          -0.9860580563545227,
+          -0.16625629365444183,
+          -1.3238835334777832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8691,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_583081960",
+      "mask_path": "../../mask/hdr_front_08691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08692.png",
+      "transform_matrix": [
+        [
+          -0.18618546426296234,
+          0.16086171567440033,
+          -0.9692566990852356,
+          -7.2618184089660645
+        ],
+        [
+          0.9824596047401428,
+          0.020044049248099327,
+          -0.1853950470685959,
+          -2.9765212535858154
+        ],
+        [
+          -0.010395134799182415,
+          -0.9867734313011169,
+          -0.16177205741405487,
+          -1.3014599084854126
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8692,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_683081865",
+      "mask_path": "../../mask/hdr_front_08692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08693.png",
+      "transform_matrix": [
+        [
+          -0.1784355640411377,
+          0.15926329791545868,
+          -0.9709768891334534,
+          -7.177155017852783
+        ],
+        [
+          0.9839287400245667,
+          0.02215559221804142,
+          -0.17718170583248138,
+          -2.962608814239502
+        ],
+        [
+          -0.006705972831696272,
+          -0.9869874715805054,
+          -0.16065707802772522,
+          -1.2799901962280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8693,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_783079862",
+      "mask_path": "../../mask/hdr_front_08693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08694.png",
+      "transform_matrix": [
+        [
+          -0.17224763333797455,
+          0.15970928966999054,
+          -0.9720204472541809,
+          -7.119139194488525
+        ],
+        [
+          0.9850515723228455,
+          0.025869576260447502,
+          -0.1703062653541565,
+          -2.956273317337036
+        ],
+        [
+          -0.0020537374075502157,
+          -0.986825168132782,
+          -0.16177785396575928,
+          -1.2694646120071411
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8694,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_883083105",
+      "mask_path": "../../mask/hdr_front_08694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08695.png",
+      "transform_matrix": [
+        [
+          -0.17002025246620178,
+          0.1556241363286972,
+          -0.9730746746063232,
+          -7.046542167663574
+        ],
+        [
+          0.9854332208633423,
+          0.030647987499833107,
+          -0.16727809607982635,
+          -2.9422764778137207
+        ],
+        [
+          0.003790277987718582,
+          -0.9873408675193787,
+          -0.15856795012950897,
+          -1.2570762634277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8695,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_983082056",
+      "mask_path": "../../mask/hdr_front_08695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08696.png",
+      "transform_matrix": [
+        [
+          -0.17368294298648834,
+          0.1511778086423874,
+          -0.973128616809845,
+          -6.955550193786621
+        ],
+        [
+          0.9847884178161621,
+          0.02154800295829773,
+          -0.17241643369197845,
+          -2.919188976287842
+        ],
+        [
+          -0.005096557550132275,
+          -0.9882717132568359,
+          -0.15262067317962646,
+          -1.242180585861206
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8696,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_83082675",
+      "mask_path": "../../mask/hdr_front_08696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08697.png",
+      "transform_matrix": [
+        [
+          -0.18083195388317108,
+          0.14721356332302094,
+          -0.9724341034889221,
+          -6.889422416687012
+        ],
+        [
+          0.9834017753601074,
+          0.01213174406439066,
+          -0.18103496730327606,
+          -2.9038777351379395
+        ],
+        [
+          -0.014853475615382195,
+          -0.9890303015708923,
+          -0.14696389436721802,
+          -1.2416025400161743
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8697,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_183082580",
+      "mask_path": "../../mask/hdr_front_08697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08698.png",
+      "transform_matrix": [
+        [
+          -0.18930140137672424,
+          0.14713242650032043,
+          -0.9708331823348999,
+          -6.811837673187256
+        ],
+        [
+          0.9817538261413574,
+          0.010229397565126419,
+          -0.18988053500652313,
+          -2.8904869556427
+        ],
+        [
+          -0.018006542697548866,
+          -0.9890639185905457,
+          -0.14638426899909973,
+          -1.23826003074646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8698,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_283083438",
+      "mask_path": "../../mask/hdr_front_08698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08699.png",
+      "transform_matrix": [
+        [
+          -0.19644372165203094,
+          0.15111011266708374,
+          -0.9688011407852173,
+          -6.722624778747559
+        ],
+        [
+          0.9803499579429626,
+          0.012140525504946709,
+          -0.1968918889760971,
+          -2.874680519104004
+        ],
+        [
+          -0.0179905965924263,
+          -0.9884424209594727,
+          -0.15052573382854462,
+          -1.2187135219573975
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8699,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_383082389",
+      "mask_path": "../../mask/hdr_front_08699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08701.png",
+      "transform_matrix": [
+        [
+          -0.20981085300445557,
+          0.16505588591098785,
+          -0.9637094736099243,
+          -6.621237277984619
+        ],
+        [
+          0.9777166247367859,
+          0.028305308893322945,
+          -0.20801246166229248,
+          -2.8442845344543457
+        ],
+        [
+          -0.007055587600916624,
+          -0.9858779907226562,
+          -0.16731663048267365,
+          -1.1946957111358643
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8701,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_583082675",
+      "mask_path": "../../mask/hdr_front_08701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08702.png",
+      "transform_matrix": [
+        [
+          -0.22251524031162262,
+          0.16629773378372192,
+          -0.9606415629386902,
+          -6.545780181884766
+        ],
+        [
+          0.9747171998023987,
+          0.017400845885276794,
+          -0.22276335954666138,
+          -2.8109025955200195
+        ],
+        [
+          -0.0203290693461895,
+          -0.9859220385551453,
+          -0.1659652441740036,
+          -1.16147780418396
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8702,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_683082818",
+      "mask_path": "../../mask/hdr_front_08702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08703.png",
+      "transform_matrix": [
+        [
+          -0.241244837641716,
+          0.16707827150821686,
+          -0.955973744392395,
+          -6.486046314239502
+        ],
+        [
+          0.9696457982063293,
+          0.0010500550270080566,
+          -0.24451152980327606,
+          -2.779559373855591
+        ],
+        [
+          -0.039848729968070984,
+          -0.985943078994751,
+          -0.162260040640831,
+          -1.135502576828003
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8703,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_783081531",
+      "mask_path": "../../mask/hdr_front_08703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08704.png",
+      "transform_matrix": [
+        [
+          -0.260782390832901,
+          0.1696251779794693,
+          -0.9503788352012634,
+          -6.441474914550781
+        ],
+        [
+          0.9642785787582397,
+          -0.0016185115091502666,
+          -0.2648853361606598,
+          -2.7529571056365967
+        ],
+        [
+          -0.046469416469335556,
+          -0.9855073690414429,
+          -0.1631438136100769,
+          -1.1263816356658936
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8704,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_883082866",
+      "mask_path": "../../mask/hdr_front_08704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08705.png",
+      "transform_matrix": [
+        [
+          -0.2784639894962311,
+          0.16189609467983246,
+          -0.9467035531997681,
+          -6.37994384765625
+        ],
+        [
+          0.959562361240387,
+          0.00460654916241765,
+          -0.2814584970474243,
+          -2.7191457748413086
+        ],
+        [
+          -0.041205994784832,
+          -0.9867970943450928,
+          -0.1566321700811386,
+          -1.1138808727264404
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8705,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_983081817",
+      "mask_path": "../../mask/hdr_front_08705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08706.png",
+      "transform_matrix": [
+        [
+          -0.2904091775417328,
+          0.15227848291397095,
+          -0.9447083473205566,
+          -6.3122968673706055
+        ],
+        [
+          0.9562830924987793,
+          0.01066747959703207,
+          -0.29224783182144165,
+          -2.687899589538574
+        ],
+        [
+          -0.03442539647221565,
+          -0.9882801175117493,
+          -0.14871925115585327,
+          -1.102262020111084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8706,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_83082914",
+      "mask_path": "../../mask/hdr_front_08706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08707.png",
+      "transform_matrix": [
+        [
+          -0.2957121431827545,
+          0.1482076495885849,
+          -0.9437101483345032,
+          -6.250984191894531
+        ],
+        [
+          0.95491623878479,
+          0.018711399286985397,
+          -0.2962850332260132,
+          -2.666046380996704
+        ],
+        [
+          -0.02625356614589691,
+          -0.9887792468070984,
+          -0.14705905318260193,
+          -1.086660623550415
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8707,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_183081388",
+      "mask_path": "../../mask/hdr_front_08707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08708.png",
+      "transform_matrix": [
+        [
+          -0.29216891527175903,
+          0.14342942833900452,
+          -0.9455503225326538,
+          -6.188356399536133
+        ],
+        [
+          0.9562855362892151,
+          0.03092949092388153,
+          -0.29079440236091614,
+          -2.646851062774658
+        ],
+        [
+          -0.012463079765439034,
+          -0.9891771674156189,
+          -0.14619609713554382,
+          -1.0723543167114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8708,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_283082962",
+      "mask_path": "../../mask/hdr_front_08708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08709.png",
+      "transform_matrix": [
+        [
+          -0.28900039196014404,
+          0.13625244796276093,
+          -0.9475832581520081,
+          -6.100642681121826
+        ],
+        [
+          0.9572428464889526,
+          0.027855385094881058,
+          -0.28794118762016296,
+          -2.619507312774658
+        ],
+        [
+          -0.012837388552725315,
+          -0.9902824759483337,
+          -0.1384769082069397,
+          -1.0617878437042236
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8709,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_383081912",
+      "mask_path": "../../mask/hdr_front_08709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08710.png",
+      "transform_matrix": [
+        [
+          -0.28873249888420105,
+          0.13192658126354218,
+          -0.9482768774032593,
+          -6.021297931671143
+        ],
+        [
+          0.9572224020957947,
+          0.02018091082572937,
+          -0.2886486351490021,
+          -2.5936172008514404
+        ],
+        [
+          -0.018943337723612785,
+          -0.991054117679596,
+          -0.13210995495319366,
+          -1.05946946144104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8710,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_483083248",
+      "mask_path": "../../mask/hdr_front_08710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08711.png",
+      "transform_matrix": [
+        [
+          -0.2864857614040375,
+          0.12953588366508484,
+          -0.9492872953414917,
+          -5.9569525718688965
+        ],
+        [
+          0.9579095840454102,
+          0.019792772829532623,
+          -0.28638705611228943,
+          -2.575106143951416
+        ],
+        [
+          -0.01830836944282055,
+          -0.9913771748542786,
+          -0.1297539919614792,
+          -1.0557862520217896
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8711,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_583081960",
+      "mask_path": "../../mask/hdr_front_08711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08712.png",
+      "transform_matrix": [
+        [
+          -0.2827759385108948,
+          0.14849898219108582,
+          -0.9476211071014404,
+          -5.877721786499023
+        ],
+        [
+          0.9585164189338684,
+          0.006842351984232664,
+          -0.2849549651145935,
+          -2.5534584522247314
+        ],
+        [
+          -0.03583156317472458,
+          -0.9888889789581299,
+          -0.1442735642194748,
+          -1.05305016040802
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8712,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_683083057",
+      "mask_path": "../../mask/hdr_front_08712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08713.png",
+      "transform_matrix": [
+        [
+          -0.2707456052303314,
+          0.18590351939201355,
+          -0.9445298910140991,
+          -5.767030715942383
+        ],
+        [
+          0.9617202877998352,
+          0.009101365692913532,
+          -0.27388185262680054,
+          -2.5329179763793945
+        ],
+        [
+          -0.04231908172369003,
+          -0.9825258851051331,
+          -0.18125134706497192,
+          -0.9826796650886536
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8713,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_783081293",
+      "mask_path": "../../mask/hdr_front_08713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08714.png",
+      "transform_matrix": [
+        [
+          -0.2613125741481781,
+          0.20608507096767426,
+          -0.9429976940155029,
+          -5.6960530281066895
+        ],
+        [
+          0.9646099209785461,
+          0.02006528340280056,
+          -0.2629164457321167,
+          -2.5227925777435303
+        ],
+        [
+          -0.03526163101196289,
+          -0.9783283472061157,
+          -0.20403499901294708,
+          -0.9247420430183411
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8714,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_883081436",
+      "mask_path": "../../mask/hdr_front_08714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08715.png",
+      "transform_matrix": [
+        [
+          -0.2559364140033722,
+          0.2054211050271988,
+          -0.9446156620979309,
+          -5.63360595703125
+        ],
+        [
+          0.9660263061523438,
+          0.01804683357477188,
+          -0.2578130066394806,
+          -2.500666856765747
+        ],
+        [
+          -0.0359128974378109,
+          -0.9785073399543762,
+          -0.2030610591173172,
+          -0.9160631895065308
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8715,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_983081340",
+      "mask_path": "../../mask/hdr_front_08715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08716.png",
+      "transform_matrix": [
+        [
+          -0.25440171360969543,
+          0.19868691265583038,
+          -0.9464688897132874,
+          -5.550882816314697
+        ],
+        [
+          0.9659118056297302,
+          0.003731649601832032,
+          -0.25884443521499634,
+          -2.4733517169952393
+        ],
+        [
+          -0.04789711534976959,
+          -0.9800559282302856,
+          -0.19286338984966278,
+          -0.9082704782485962
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8716,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_83082675",
+      "mask_path": "../../mask/hdr_front_08716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08717.png",
+      "transform_matrix": [
+        [
+          -0.2557179033756256,
+          0.19340543448925018,
+          -0.9472079277038574,
+          -5.494919776916504
+        ],
+        [
+          0.9651480913162231,
+          -0.005333698354661465,
+          -0.26165029406547546,
+          -2.456343412399292
+        ],
+        [
+          -0.05565670132637024,
+          -0.9811044931411743,
+          -0.18530094623565674,
+          -0.9025469422340393
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8717,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_183082103",
+      "mask_path": "../../mask/hdr_front_08717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08718.png",
+      "transform_matrix": [
+        [
+          -0.2607806622982025,
+          0.18607789278030396,
+          -0.9472953677177429,
+          -5.430121898651123
+        ],
+        [
+          0.9639608263969421,
+          -0.0033347937278449535,
+          -0.2660236060619354,
+          -2.4344518184661865
+        ],
+        [
+          -0.05266013368964195,
+          -0.98252934217453,
+          -0.1785021275281906,
+          -0.8962453603744507
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8718,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_283081531",
+      "mask_path": "../../mask/hdr_front_08718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08719.png",
+      "transform_matrix": [
+        [
+          -0.26838037371635437,
+          0.1766967922449112,
+          -0.9469690918922424,
+          -5.341489791870117
+        ],
+        [
+          0.9622116684913635,
+          0.0021757755894213915,
+          -0.2722942531108856,
+          -2.4070165157318115
+        ],
+        [
+          -0.046053122729063034,
+          -0.984263002872467,
+          -0.17060363292694092,
+          -0.8798172473907471
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8719,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_383080959",
+      "mask_path": "../../mask/hdr_front_08719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08720.png",
+      "transform_matrix": [
+        [
+          -0.2758694291114807,
+          0.1695316880941391,
+          -0.946126401424408,
+          -5.271477222442627
+        ],
+        [
+          0.9604498147964478,
+          0.009863446466624737,
+          -0.2782784700393677,
+          -2.3852591514587402
+        ],
+        [
+          -0.0378449447453022,
+          -0.9854754209518433,
+          -0.1655476987361908,
+          -0.8653449416160583
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8720,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_483081817",
+      "mask_path": "../../mask/hdr_front_08720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08721.png",
+      "transform_matrix": [
+        [
+          -0.2838703393936157,
+          0.1631220281124115,
+          -0.9448855519294739,
+          -5.2140913009643555
+        ],
+        [
+          0.9584630727767944,
+          0.01982639916241169,
+          -0.28452661633491516,
+          -2.3634564876556396
+        ],
+        [
+          -0.027678880840539932,
+          -0.9864067435264587,
+          -0.16197457909584045,
+          -0.856522262096405
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8721,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_583080768",
+      "mask_path": "../../mask/hdr_front_08721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08722.png",
+      "transform_matrix": [
+        [
+          -0.29763153195381165,
+          0.15625455975532532,
+          -0.9418067932128906,
+          -5.134711742401123
+        ],
+        [
+          0.9543153047561646,
+          0.021398281678557396,
+          -0.29803431034088135,
+          -2.3283727169036865
+        ],
+        [
+          -0.026416175067424774,
+          -0.9874850511550903,
+          -0.1554848849773407,
+          -0.8522061109542847
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8722,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_683079957",
+      "mask_path": "../../mask/hdr_front_08722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08723.png",
+      "transform_matrix": [
+        [
+          -0.3154374361038208,
+          0.1487719565629959,
+          -0.9372119307518005,
+          -5.069375038146973
+        ],
+        [
+          0.9483532309532166,
+          0.014508267864584923,
+          -0.31688421964645386,
+          -2.2964718341827393
+        ],
+        [
+          -0.033546172082424164,
+          -0.9887651205062866,
+          -0.14566482603549957,
+          -0.8535453081130981
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8723,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_783081293",
+      "mask_path": "../../mask/hdr_front_08723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08724.png",
+      "transform_matrix": [
+        [
+          -0.32852432131767273,
+          0.1414705216884613,
+          -0.9338404536247253,
+          -5.012928009033203
+        ],
+        [
+          0.9438654184341431,
+          0.013068641535937786,
+          -0.33007141947746277,
+          -2.2697055339813232
+        ],
+        [
+          -0.034491341561079025,
+          -0.9898562431335449,
+          -0.13782252371311188,
+          -0.8583969473838806
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8724,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_883080244",
+      "mask_path": "../../mask/hdr_front_08724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08725.png",
+      "transform_matrix": [
+        [
+          -0.33459821343421936,
+          0.16621415317058563,
+          -0.9275866746902466,
+          -4.915503978729248
+        ],
+        [
+          0.9403191208839417,
+          -0.005871245171874762,
+          -0.34024322032928467,
+          -2.2436764240264893
+        ],
+        [
+          -0.06199931725859642,
+          -0.9860721826553345,
+          -0.15432985126972198,
+          -0.8293190002441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8725,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_983080863",
+      "mask_path": "../../mask/hdr_front_08725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08726.png",
+      "transform_matrix": [
+        [
+          -0.33090150356292725,
+          0.19796784222126007,
+          -0.9226661920547485,
+          -4.814340591430664
+        ],
+        [
+          0.9404510259628296,
+          -0.011449574492871761,
+          -0.3397364616394043,
+          -2.2257862091064453
+        ],
+        [
+          -0.07782101631164551,
+          -0.9801416993141174,
+          -0.18239037692546844,
+          -0.7597575187683105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8726,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_83083629",
+      "mask_path": "../../mask/hdr_front_08726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08414.png",
+      "transform_matrix": [
+        [
+          0.958070695400238,
+          0.10964756458997726,
+          -0.2647223472595215,
+          -14.61518383026123
+        ],
+        [
+          0.262116938829422,
+          0.03779417276382446,
+          0.9642958045005798,
+          -5.010725498199463
+        ],
+        [
+          0.11573763936758041,
+          -0.9932517409324646,
+          0.007469002157449722,
+          -2.9085562229156494
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8414,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_783081769",
+      "mask_path": "../../mask/hdr_left_08414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08415.png",
+      "transform_matrix": [
+        [
+          0.9597852826118469,
+          0.11462455242872238,
+          -0.2562679350376129,
+          -14.547453880310059
+        ],
+        [
+          0.25139474868774414,
+          0.05536842718720436,
+          0.9662996530532837,
+          -4.977369785308838
+        ],
+        [
+          0.12495081126689911,
+          -0.9918646812438965,
+          0.024325793609023094,
+          -2.886054754257202
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8415,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_883081674",
+      "mask_path": "../../mask/hdr_left_08415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08416.png",
+      "transform_matrix": [
+        [
+          0.9581379890441895,
+          0.13451483845710754,
+          -0.2527395188808441,
+          -14.473563194274902
+        ],
+        [
+          0.2478225976228714,
+          0.05240093171596527,
+          0.9673872590065002,
+          -4.941938877105713
+        ],
+        [
+          0.14337170124053955,
+          -0.9895251393318176,
+          0.016871506348252296,
+          -2.82456636428833
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8416,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_983081817",
+      "mask_path": "../../mask/hdr_left_08416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08418.png",
+      "transform_matrix": [
+        [
+          0.9574148654937744,
+          0.144108384847641,
+          -0.2501787841320038,
+          -14.379237174987793
+        ],
+        [
+          0.24780096113681793,
+          0.03451376035809517,
+          0.9681959748268127,
+          -4.890139102935791
+        ],
+        [
+          0.14815975725650787,
+          -0.9889599084854126,
+          -0.002666204934939742,
+          -2.823166608810425
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8418,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_183082580",
+      "mask_path": "../../mask/hdr_left_08418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08419.png",
+      "transform_matrix": [
+        [
+          0.9590162038803101,
+          0.1368832141160965,
+          -0.24809473752975464,
+          -14.312376976013184
+        ],
+        [
+          0.24527721107006073,
+          0.03735097870230675,
+          0.9687331914901733,
+          -4.849363327026367
+        ],
+        [
+          0.14186988770961761,
+          -0.9898828268051147,
+          0.002245856449007988,
+          -2.813234329223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8419,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_283081531",
+      "mask_path": "../../mask/hdr_left_08419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08420.png",
+      "transform_matrix": [
+        [
+          0.9612429141998291,
+          0.1318797916173935,
+          -0.24211488664150238,
+          -14.247391700744629
+        ],
+        [
+          0.23826010525226593,
+          0.044506095349788666,
+          0.9701809883117676,
+          -4.811503887176514
+        ],
+        [
+          0.13872285187244415,
+          -0.9902660846710205,
+          0.01135948859155178,
+          -2.80530047416687
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8420,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_383081912",
+      "mask_path": "../../mask/hdr_left_08420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08421.png",
+      "transform_matrix": [
+        [
+          0.9631029963493347,
+          0.13050228357315063,
+          -0.23537585139274597,
+          -14.195682525634766
+        ],
+        [
+          0.2304554134607315,
+          0.05182189866900444,
+          0.9717019200325012,
+          -4.782192230224609
+        ],
+        [
+          0.13900694251060486,
+          -0.9900928139686584,
+          0.019834863021969795,
+          -2.794243335723877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8421,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_483081817",
+      "mask_path": "../../mask/hdr_left_08421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08422.png",
+      "transform_matrix": [
+        [
+          0.9651492238044739,
+          0.12498334050178528,
+          -0.22992652654647827,
+          -14.136479377746582
+        ],
+        [
+          0.2244383692741394,
+          0.05654115602374077,
+          0.9728466272354126,
+          -4.744462966918945
+        ],
+        [
+          0.13458991050720215,
+          -0.9905465245246887,
+          0.026519592851400375,
+          -2.779670476913452
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8422,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_583082437",
+      "mask_path": "../../mask/hdr_left_08422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08423.png",
+      "transform_matrix": [
+        [
+          0.9654039144515991,
+          0.1216714084148407,
+          -0.23063215613365173,
+          -14.075335502624512
+        ],
+        [
+          0.2252221405506134,
+          0.056675273925065994,
+          0.9726576209068298,
+          -4.705011367797852
+        ],
+        [
+          0.13141575455665588,
+          -0.9909510612487793,
+          0.027311433106660843,
+          -2.7708544731140137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8423,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_683081626",
+      "mask_path": "../../mask/hdr_left_08423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08426.png",
+      "transform_matrix": [
+        [
+          0.9685478806495667,
+          0.11043598502874374,
+          -0.22297723591327667,
+          -14.02021312713623
+        ],
+        [
+          0.21824799478054047,
+          0.05335962027311325,
+          0.9744333624839783,
+          -4.666606426239014
+        ],
+        [
+          0.11951050162315369,
+          -0.9924498796463013,
+          0.027578921988606453,
+          -2.76951003074646
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8426,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_983079195",
+      "mask_path": "../../mask/hdr_left_08426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08483.png",
+      "transform_matrix": [
+        [
+          0.9800378084182739,
+          0.09342475980520248,
+          -0.17549248039722443,
+          -13.966513633728027
+        ],
+        [
+          0.16465148329734802,
+          0.11331626772880554,
+          0.9798210859298706,
+          -4.62154483795166
+        ],
+        [
+          0.11142569035291672,
+          -0.9891568422317505,
+          0.09567171335220337,
+          -2.771012783050537
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8483,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324110_683081626",
+      "mask_path": "../../mask/hdr_left_08483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08485.png",
+      "transform_matrix": [
+        [
+          0.9786567687988281,
+          0.10304472595453262,
+          -0.17779935896396637,
+          -13.892281532287598
+        ],
+        [
+          0.16691043972969055,
+          0.106150321662426,
+          0.9802412986755371,
+          -4.597042560577393
+        ],
+        [
+          0.11988214403390884,
+          -0.9889964461326599,
+          0.08668550103902817,
+          -2.754767894744873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8485,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324110_883081912",
+      "mask_path": "../../mask/hdr_left_08485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08487.png",
+      "transform_matrix": [
+        [
+          0.9770559072494507,
+          0.10622875392436981,
+          -0.18459965288639069,
+          -13.826502799987793
+        ],
+        [
+          0.17556139826774597,
+          0.08900628238916397,
+          0.9804365634918213,
+          -4.584413051605225
+        ],
+        [
+          0.12058109045028687,
+          -0.9903501272201538,
+          0.06831444799900055,
+          -2.75925874710083
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8487,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_83081483",
+      "mask_path": "../../mask/hdr_left_08487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08488.png",
+      "transform_matrix": [
+        [
+          0.9770573377609253,
+          0.1102614626288414,
+          -0.18221208453178406,
+          -13.774971961975098
+        ],
+        [
+          0.17300453782081604,
+          0.08806657791137695,
+          0.980975866317749,
+          -4.57846736907959
+        ],
+        [
+          0.12421061843633652,
+          -0.9899933338165283,
+          0.06697036325931549,
+          -2.7457520961761475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8488,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_183081865",
+      "mask_path": "../../mask/hdr_left_08488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08490.png",
+      "transform_matrix": [
+        [
+          0.9761996269226074,
+          0.12622389197349548,
+          -0.17635712027549744,
+          -13.71437931060791
+        ],
+        [
+          0.16621394455432892,
+          0.08690344542264938,
+          0.982252836227417,
+          -4.574140548706055
+        ],
+        [
+          0.1393098086118698,
+          -0.9881879091262817,
+          0.06385494768619537,
+          -2.7283778190612793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8490,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_383081436",
+      "mask_path": "../../mask/hdr_left_08490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08614.png",
+      "transform_matrix": [
+        [
+          0.9765143990516663,
+          0.15372948348522186,
+          0.15095315873622894,
+          -13.715007781982422
+        ],
+        [
+          -0.1679844856262207,
+          0.1045357957482338,
+          0.9802312850952148,
+          -4.644619941711426
+        ],
+        [
+          0.1349104642868042,
+          -0.9825679063796997,
+          0.12790487706661224,
+          -2.7534165382385254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8614,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324123_783081769",
+      "mask_path": "../../mask/hdr_left_08614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08617.png",
+      "transform_matrix": [
+        [
+          0.9720264673233032,
+          0.17554311454296112,
+          0.15604181587696075,
+          -13.634292602539062
+        ],
+        [
+          -0.17620180547237396,
+          0.10573552548885345,
+          0.9786586761474609,
+          -4.652282238006592
+        ],
+        [
+          0.15529762208461761,
+          -0.9787771105766296,
+          0.13370873034000397,
+          -2.7184667587280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8617,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_83080053",
+      "mask_path": "../../mask/hdr_left_08617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08619.png",
+      "transform_matrix": [
+        [
+          0.9712777733802795,
+          0.17690175771713257,
+          0.15913939476013184,
+          -13.554153442382812
+        ],
+        [
+          -0.1751175820827484,
+          0.07861892879009247,
+          0.9814035296440125,
+          -4.654504776000977
+        ],
+        [
+          0.1611006259918213,
+          -0.9810835719108582,
+          0.10733940452337265,
+          -2.678117036819458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8619,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_283080577",
+      "mask_path": "../../mask/hdr_left_08619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08621.png",
+      "transform_matrix": [
+        [
+          0.9751861691474915,
+          0.1692708283662796,
+          0.1426859349012375,
+          -13.497371673583984
+        ],
+        [
+          -0.14976133406162262,
+          0.02972879447042942,
+          0.9882750511169434,
+          -4.664538860321045
+        ],
+        [
+          0.1630442589521408,
+          -0.9851210713386536,
+          0.054341334849596024,
+          -2.668076753616333
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8621,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_483080625",
+      "mask_path": "../../mask/hdr_left_08621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08623.png",
+      "transform_matrix": [
+        [
+          0.9794759154319763,
+          0.16361217200756073,
+          0.11771965771913528,
+          -13.394424438476562
+        ],
+        [
+          -0.1227637305855751,
+          0.02103225514292717,
+          0.9922130107879639,
+          -4.670161724090576
+        ],
+        [
+          0.159862220287323,
+          -0.9863005876541138,
+          0.0406862311065197,
+          -2.6382617950439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8623,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_683080911",
+      "mask_path": "../../mask/hdr_left_08623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08625.png",
+      "transform_matrix": [
+        [
+          0.9834898114204407,
+          0.15936337411403656,
+          0.08573811501264572,
+          -13.329346656799316
+        ],
+        [
+          -0.09192297607660294,
+          0.03183825686573982,
+          0.9952569603919983,
+          -4.670446872711182
+        ],
+        [
+          0.1558777540922165,
+          -0.9867064952850342,
+          0.045961759984493256,
+          -2.622927188873291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8625,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_883081197",
+      "mask_path": "../../mask/hdr_left_08625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08627.png",
+      "transform_matrix": [
+        [
+          0.9877118468284607,
+          0.14873488247394562,
+          0.04799146577715874,
+          -13.26010799407959
+        ],
+        [
+          -0.05429110303521156,
+          0.038585882633924484,
+          0.997779369354248,
+          -4.662428379058838
+        ],
+        [
+          0.14655278623104095,
+          -0.9881240725517273,
+          0.04618671163916588,
+          -2.6071856021881104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8627,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_83081007",
+      "mask_path": "../../mask/hdr_left_08627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08629.png",
+      "transform_matrix": [
+        [
+          0.9893689155578613,
+          0.14453500509262085,
+          -0.01608499325811863,
+          -13.194307327270508
+        ],
+        [
+          0.0118840541690588,
+          0.029881775379180908,
+          0.9994827508926392,
+          -4.639566898345947
+        ],
+        [
+          0.14494086802005768,
+          -0.9890484809875488,
+          0.0278464388102293,
+          -2.591186285018921
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8629,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_283080816",
+      "mask_path": "../../mask/hdr_left_08629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08631.png",
+      "transform_matrix": [
+        [
+          0.9880246520042419,
+          0.12616319954395294,
+          -0.08882678300142288,
+          -13.119479179382324
+        ],
+        [
+          0.08410898596048355,
+          0.04225221648812294,
+          0.995560348033905,
+          -4.6089091300964355
+        ],
+        [
+          0.12935620546340942,
+          -0.9911093711853027,
+          0.031134773045778275,
+          -2.5831544399261475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8631,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_483082532",
+      "mask_path": "../../mask/hdr_left_08631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08634.png",
+      "transform_matrix": [
+        [
+          0.9835303425788879,
+          0.11388543248176575,
+          -0.14035016298294067,
+          -13.03968334197998
+        ],
+        [
+          0.13424241542816162,
+          0.05967295169830322,
+          0.9891501665115356,
+          -4.590936660766602
+        ],
+        [
+          0.12102488428354263,
+          -0.9917001724243164,
+          0.043401896953582764,
+          -2.563786268234253
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8634,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_783082485",
+      "mask_path": "../../mask/hdr_left_08634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08636.png",
+      "transform_matrix": [
+        [
+          0.9836113452911377,
+          0.11216619610786438,
+          -0.14116492867469788,
+          -12.952980995178223
+        ],
+        [
+          0.13753244280815125,
+          0.039527006447315216,
+          0.9897083640098572,
+          -4.5783772468566895
+        ],
+        [
+          0.11659162491559982,
+          -0.9929030537605286,
+          0.02345271408557892,
+          -2.5598104000091553
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8636,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_983082771",
+      "mask_path": "../../mask/hdr_left_08636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08637.png",
+      "transform_matrix": [
+        [
+          0.9838729500770569,
+          0.11319761723279953,
+          -0.1384928822517395,
+          -12.902911186218262
+        ],
+        [
+          0.13493061065673828,
+          0.03858507424592972,
+          0.9901034832000732,
+          -4.563205718994141
+        ],
+        [
+          0.11742109805345535,
+          -0.9928230047225952,
+          0.022688984870910645,
+          -2.5543060302734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8637,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_83082675",
+      "mask_path": "../../mask/hdr_left_08637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08638.png",
+      "transform_matrix": [
+        [
+          0.9843083620071411,
+          0.11351700127124786,
+          -0.13509617745876312,
+          -12.835773468017578
+        ],
+        [
+          0.13118191063404083,
+          0.041306063532829285,
+          0.990497350692749,
+          -4.543643474578857
+        ],
+        [
+          0.11801857501268387,
+          -0.9926770925521851,
+          0.025766519829630852,
+          -2.543412208557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8638,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_183082103",
+      "mask_path": "../../mask/hdr_left_08638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08639.png",
+      "transform_matrix": [
+        [
+          0.9846423864364624,
+          0.11638370156288147,
+          -0.13013151288032532,
+          -12.771345138549805
+        ],
+        [
+          0.12483769655227661,
+          0.05170457437634468,
+          0.9908290505409241,
+          -4.525036334991455
+        ],
+        [
+          0.12204473465681076,
+          -0.9918575882911682,
+          0.03638144209980965,
+          -2.535069227218628
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8639,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_283082723",
+      "mask_path": "../../mask/hdr_left_08639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08641.png",
+      "transform_matrix": [
+        [
+          0.9838330745697021,
+          0.13269966840744019,
+          -0.12026314437389374,
+          -12.65128231048584
+        ],
+        [
+          0.1116316094994545,
+          0.0706990510225296,
+          0.9912315011024475,
+          -4.49100923538208
+        ],
+        [
+          0.14003856480121613,
+          -0.9886316061019897,
+          0.05474257841706276,
+          -2.4978854656219482
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8641,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_483081340",
+      "mask_path": "../../mask/hdr_left_08641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08642.png",
+      "transform_matrix": [
+        [
+          0.9828079342842102,
+          0.13945062458515167,
+          -0.1210036650300026,
+          -12.570226669311523
+        ],
+        [
+          0.11327512562274933,
+          0.06211467459797859,
+          0.9916200637817383,
+          -4.462147235870361
+        ],
+        [
+          0.14579814672470093,
+          -0.9882789850234985,
+          0.04525051638484001,
+          -2.4676098823547363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8642,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_583083391",
+      "mask_path": "../../mask/hdr_left_08642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08644.png",
+      "transform_matrix": [
+        [
+          0.9823724031448364,
+          0.13940314948558807,
+          -0.12454330921173096,
+          -12.465259552001953
+        ],
+        [
+          0.11989608407020569,
+          0.04128550365567207,
+          0.9919276833534241,
+          -4.424417972564697
+        ],
+        [
+          0.14341965317726135,
+          -0.9893746972084045,
+          0.023843856528401375,
+          -2.4555163383483887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8644,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_783083200",
+      "mask_path": "../../mask/hdr_left_08644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08645.png",
+      "transform_matrix": [
+        [
+          0.9839521646499634,
+          0.13176396489143372,
+          -0.12031769752502441,
+          -12.392828941345215
+        ],
+        [
+          0.11570169031620026,
+          0.04217326641082764,
+          0.9923882484436035,
+          -4.40114688873291
+        ],
+        [
+          0.1358351856470108,
+          -0.9903836250305176,
+          0.026251159608364105,
+          -2.439656972885132
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8645,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_883082151",
+      "mask_path": "../../mask/hdr_left_08645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08646.png",
+      "transform_matrix": [
+        [
+          0.9854539632797241,
+          0.12724198400974274,
+          -0.11264912784099579,
+          -12.327370643615723
+        ],
+        [
+          0.10721121728420258,
+          0.04882792755961418,
+          0.9930365681648254,
+          -4.382807731628418
+        ],
+        [
+          0.13185635209083557,
+          -0.9906691908836365,
+          0.0344759039580822,
+          -2.4257757663726807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8646,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_983083248",
+      "mask_path": "../../mask/hdr_left_08646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08647.png",
+      "transform_matrix": [
+        [
+          0.986615002155304,
+          0.12407894432544708,
+          -0.10580679774284363,
+          -12.2741117477417
+        ],
+        [
+          0.09963304549455643,
+          0.054965510964393616,
+          0.9935049414634705,
+          -4.3698506355285645
+        ],
+        [
+          0.12908875942230225,
+          -0.9907488822937012,
+          0.041867438703775406,
+          -2.4156081676483154
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8647,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_83081960",
+      "mask_path": "../../mask/hdr_left_08647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08648.png",
+      "transform_matrix": [
+        [
+          0.9875044226646423,
+          0.12083263695240021,
+          -0.10116557776927948,
+          -12.193382263183594
+        ],
+        [
+          0.09486497193574905,
+          0.05681869387626648,
+          0.9938673377037048,
+          -4.347633361816406
+        ],
+        [
+          0.12583968043327332,
+          -0.9910455346107483,
+          0.044645920395851135,
+          -2.402829647064209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8648,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_183082580",
+      "mask_path": "../../mask/hdr_left_08648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08649.png",
+      "transform_matrix": [
+        [
+          0.9879702925682068,
+          0.11991368234157562,
+          -0.0976490005850792,
+          -12.10358715057373
+        ],
+        [
+          0.09247573465108871,
+          0.047987181693315506,
+          0.9945579171180725,
+          -4.321359157562256
+        ],
+        [
+          0.12394699454307556,
+          -0.9916239380836487,
+          0.03632080554962158,
+          -2.391310214996338
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8649,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_283082723",
+      "mask_path": "../../mask/hdr_left_08649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08650.png",
+      "transform_matrix": [
+        [
+          0.9884588122367859,
+          0.11817245185375214,
+          -0.0947863981127739,
+          -12.036750793457031
+        ],
+        [
+          0.09055699408054352,
+          0.04067223519086838,
+          0.995060384273529,
+          -4.302219390869141
+        ],
+        [
+          0.12144390493631363,
+          -0.9921598434448242,
+          0.02950149215757847,
+          -2.3931491374969482
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8650,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_383082389",
+      "mask_path": "../../mask/hdr_left_08650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08651.png",
+      "transform_matrix": [
+        [
+          0.9885056018829346,
+          0.11967694759368896,
+          -0.09238038957118988,
+          -11.953939437866211
+        ],
+        [
+          0.08890721946954727,
+          0.034053996205329895,
+          0.9954575896263123,
+          -4.282017707824707
+        ],
+        [
+          0.12227924913167953,
+          -0.9922287464141846,
+          0.023022418841719627,
+          -2.3958241939544678
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8651,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_483081817",
+      "mask_path": "../../mask/hdr_left_08651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08652.png",
+      "transform_matrix": [
+        [
+          0.9865055084228516,
+          0.14373548328876495,
+          -0.07840241491794586,
+          -11.842423439025879
+        ],
+        [
+          0.07603597640991211,
+          0.02189212292432785,
+          0.9968647956848145,
+          -4.259700298309326
+        ],
+        [
+          0.14500123262405396,
+          -0.989374041557312,
+          0.010667636059224606,
+          -2.3294315338134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8652,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_583082437",
+      "mask_path": "../../mask/hdr_left_08652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08653.png",
+      "transform_matrix": [
+        [
+          0.9848756790161133,
+          0.1636866182088852,
+          -0.05680272728204727,
+          -11.762527465820312
+        ],
+        [
+          0.05443214997649193,
+          0.018935034051537514,
+          0.9983379244804382,
+          -4.250988006591797
+        ],
+        [
+          0.16449008882045746,
+          -0.9863306879997253,
+          0.009738837368786335,
+          -2.2727715969085693
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8653,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_683081150",
+      "mask_path": "../../mask/hdr_left_08653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08654.png",
+      "transform_matrix": [
+        [
+          0.9853634238243103,
+          0.16528460383415222,
+          -0.04171113669872284,
+          -11.697821617126465
+        ],
+        [
+          0.03817059099674225,
+          0.024541078135371208,
+          0.9989698529243469,
+          -4.240212440490723
+        ],
+        [
+          0.1661379635334015,
+          -0.9859405755996704,
+          0.017872871831059456,
+          -2.2695908546447754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8654,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_783082485",
+      "mask_path": "../../mask/hdr_left_08654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08655.png",
+      "transform_matrix": [
+        [
+          0.9859951138496399,
+          0.1624123901128769,
+          -0.037889160215854645,
+          -11.60670280456543
+        ],
+        [
+          0.03378809615969658,
+          0.027940135449171066,
+          0.9990383386611938,
+          -4.214644908905029
+        ],
+        [
+          0.1633148342370987,
+          -0.9863273501396179,
+          0.022061239928007126,
+          -2.2535769939422607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8655,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_883082389",
+      "mask_path": "../../mask/hdr_left_08655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08656.png",
+      "transform_matrix": [
+        [
+          0.9861193299293518,
+          0.1611018031835556,
+          -0.04018678516149521,
+          -11.530183792114258
+        ],
+        [
+          0.03707282245159149,
+          0.02228996343910694,
+          0.9990639686584473,
+          -4.192613124847412
+        ],
+        [
+          0.16184677183628082,
+          -0.986686110496521,
+          0.01600806601345539,
+          -2.2342641353607178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8656,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_983081817",
+      "mask_path": "../../mask/hdr_left_08656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08657.png",
+      "transform_matrix": [
+        [
+          0.9863612055778503,
+          0.15913468599319458,
+          -0.042044252157211304,
+          -11.474474906921387
+        ],
+        [
+          0.04021487385034561,
+          0.014699980616569519,
+          0.9990829229354858,
+          -4.178841590881348
+        ],
+        [
+          0.15960678458213806,
+          -0.9871474504470825,
+          0.008099904283881187,
+          -2.2260167598724365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8657,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_83082199",
+      "mask_path": "../../mask/hdr_left_08657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08658.png",
+      "transform_matrix": [
+        [
+          0.9868364930152893,
+          0.1567000150680542,
+          -0.039984844624996185,
+          -11.39563274383545
+        ],
+        [
+          0.03886878862977028,
+          0.010181165300309658,
+          0.9991924166679382,
+          -4.160151481628418
+        ],
+        [
+          0.15698057413101196,
+          -0.9875937700271606,
+          0.003956404514610767,
+          -2.214823007583618
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8658,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_183082818",
+      "mask_path": "../../mask/hdr_left_08658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08659.png",
+      "transform_matrix": [
+        [
+          0.9870731830596924,
+          0.15677908062934875,
+          -0.033266838639974594,
+          -11.315542221069336
+        ],
+        [
+          0.031754910945892334,
+          0.012139122001826763,
+          0.999422013759613,
+          -4.143117427825928
+        ],
+        [
+          0.15709227323532104,
+          -0.9875591397285461,
+          0.007003697566688061,
+          -2.1957147121429443
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8659,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_283082723",
+      "mask_path": "../../mask/hdr_left_08659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08661.png",
+      "transform_matrix": [
+        [
+          0.9874400496482849,
+          0.15656718611717224,
+          -0.02118455246090889,
+          -11.212080001831055
+        ],
+        [
+          0.01797679252922535,
+          0.021875755861401558,
+          0.9995990991592407,
+          -4.1261491775512695
+        ],
+        [
+          0.15696783363819122,
+          -0.9874250888824463,
+          0.018786422908306122,
+          -2.175476551055908
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8661,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_483081817",
+      "mask_path": "../../mask/hdr_left_08661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08662.png",
+      "transform_matrix": [
+        [
+          0.9875133633613586,
+          0.15672019124031067,
+          -0.016002794727683067,
+          -11.138252258300781
+        ],
+        [
+          0.013639317825436592,
+          0.016144568100571632,
+          0.9997766017913818,
+          -4.1099467277526855
+        ],
+        [
+          0.15694352984428406,
+          -0.9875110983848572,
+          0.013805418275296688,
+          -2.168825626373291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8662,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_583082199",
+      "mask_path": "../../mask/hdr_left_08662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08663.png",
+      "transform_matrix": [
+        [
+          0.9877479076385498,
+          0.155613973736763,
+          -0.011765890754759312,
+          -11.07473087310791
+        ],
+        [
+          0.010652167722582817,
+          0.007988836616277695,
+          0.999911367893219,
+          -4.100325584411621
+        ],
+        [
+          0.15569418668746948,
+          -0.9877856969833374,
+          0.006233334541320801,
+          -2.1671130657196045
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8663,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_683081388",
+      "mask_path": "../../mask/hdr_left_08663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08664.png",
+      "transform_matrix": [
+        [
+          0.9869677424430847,
+          0.16075937449932098,
+          -0.007141789887100458,
+          -10.997766494750977
+        ],
+        [
+          0.006434109061956406,
+          0.004922037944197655,
+          0.9999671578407288,
+          -4.097099304199219
+        ],
+        [
+          0.16078923642635345,
+          -0.9869813919067383,
+          0.00382354692555964,
+          -2.1500298976898193
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8664,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_783081769",
+      "mask_path": "../../mask/hdr_left_08664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08665.png",
+      "transform_matrix": [
+        [
+          0.9882798194885254,
+          0.15263968706130981,
+          0.0020168395712971687,
+          -10.90566635131836
+        ],
+        [
+          -0.0031874184496700764,
+          0.007424551993608475,
+          0.9999673962593079,
+          -4.0911407470703125
+        ],
+        [
+          0.15261971950531006,
+          -0.9882540106773376,
+          0.007824057713150978,
+          -2.113463878631592
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8665,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_883081912",
+      "mask_path": "../../mask/hdr_left_08665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08666.png",
+      "transform_matrix": [
+        [
+          0.989154040813446,
+          0.1461261659860611,
+          0.014881488867104053,
+          -10.842162132263184
+        ],
+        [
+          -0.01760219596326351,
+          0.01734360307455063,
+          0.9996945858001709,
+          -4.092628479003906
+        ],
+        [
+          0.14582344889640808,
+          -0.989113986492157,
+          0.019727636128664017,
+          -2.093319892883301
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8666,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_983081817",
+      "mask_path": "../../mask/hdr_left_08666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08668.png",
+      "transform_matrix": [
+        [
+          0.9888933897018433,
+          0.144814133644104,
+          0.03344569355249405,
+          -10.723977088928223
+        ],
+        [
+          -0.038134362548589706,
+          0.029722338542342186,
+          0.9988304972648621,
+          -4.090155601501465
+        ],
+        [
+          0.14365068078041077,
+          -0.9890123605728149,
+          0.03491462022066116,
+          -2.0693771839141846
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8668,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_183081388",
+      "mask_path": "../../mask/hdr_left_08668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08669.png",
+      "transform_matrix": [
+        [
+          0.9897154569625854,
+          0.1399470418691635,
+          0.02963350899517536,
+          -10.641813278198242
+        ],
+        [
+          -0.033808350563049316,
+          0.027548477053642273,
+          0.99904865026474,
+          -4.075160026550293
+        ],
+        [
+          0.13899752497673035,
+          -0.9897757172584534,
+          0.031996529549360275,
+          -2.0550663471221924
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8669,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_283082246",
+      "mask_path": "../../mask/hdr_left_08669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08670.png",
+      "transform_matrix": [
+        [
+          0.9901021718978882,
+          0.13907568156719208,
+          0.01886209286749363,
+          -10.573833465576172
+        ],
+        [
+          -0.02265716902911663,
+          0.02575509436428547,
+          0.9994114637374878,
+          -4.057767868041992
+        ],
+        [
+          0.13850802183151245,
+          -0.9899467825889587,
+          0.02865123748779297,
+          -2.0413079261779785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8670,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_383082151",
+      "mask_path": "../../mask/hdr_left_08670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08671.png",
+      "transform_matrix": [
+        [
+          0.9912194609642029,
+          0.1316950023174286,
+          0.01184181496500969,
+          -10.499309539794922
+        ],
+        [
+          -0.015398149378597736,
+          0.02601858414709568,
+          0.9995428323745728,
+          -4.037215709686279
+        ],
+        [
+          0.13132667541503906,
+          -0.9909487962722778,
+          0.0278179869055748,
+          -2.035473585128784
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8671,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_483082771",
+      "mask_path": "../../mask/hdr_left_08671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08672.png",
+      "transform_matrix": [
+        [
+          0.9916492700576782,
+          0.12856324017047882,
+          0.010151492431759834,
+          -10.4158935546875
+        ],
+        [
+          -0.014132274314761162,
+          0.030089115723967552,
+          0.9994472861289978,
+          -4.014586448669434
+        ],
+        [
+          0.12818671762943268,
+          -0.9912447929382324,
+          0.03165474161505699,
+          -2.0225589275360107
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8672,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_583082437",
+      "mask_path": "../../mask/hdr_left_08672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08673.png",
+      "transform_matrix": [
+        [
+          0.9912960529327393,
+          0.1312679797410965,
+          0.010043537244200706,
+          -10.353113174438477
+        ],
+        [
+          -0.015114933252334595,
+          0.037694789469242096,
+          0.9991750121116638,
+          -4.000757694244385
+        ],
+        [
+          0.13078108429908752,
+          -0.990630030632019,
+          0.03935080021619797,
+          -2.008125066757202
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8673,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_683082103",
+      "mask_path": "../../mask/hdr_left_08673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08674.png",
+      "transform_matrix": [
+        [
+          0.9909212589263916,
+          0.13413548469543457,
+          0.009096680209040642,
+          -10.295011520385742
+        ],
+        [
+          -0.015459295362234116,
+          0.04646908491849899,
+          0.9988001585006714,
+          -3.9885332584381104
+        ],
+        [
+          0.13355179131031036,
+          -0.9898728728294373,
+          0.048120833933353424,
+          -1.9970393180847168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8674,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_783079624",
+      "mask_path": "../../mask/hdr_left_08674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08675.png",
+      "transform_matrix": [
+        [
+          0.9898914694786072,
+          0.1418202519416809,
+          0.001349082333035767,
+          -10.212125778198242
+        ],
+        [
+          -0.010958005674183369,
+          0.06699515134096146,
+          0.9976932406425476,
+          -3.9618427753448486
+        ],
+        [
+          0.1414027065038681,
+          -0.9876227378845215,
+          0.06787199527025223,
+          -1.9686601161956787
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8675,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_883079767",
+      "mask_path": "../../mask/hdr_left_08675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08676.png",
+      "transform_matrix": [
+        [
+          0.9889572262763977,
+          0.14726848900318146,
+          -0.016600467264652252,
+          -10.130648612976074
+        ],
+        [
+          0.006550460588186979,
+          0.06846697628498077,
+          0.9976317882537842,
+          -3.93255877494812
+        ],
+        [
+          0.14805631339550018,
+          -0.9867240190505981,
+          0.06674624234437943,
+          -1.924134612083435
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8676,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_983083724",
+      "mask_path": "../../mask/hdr_left_08676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08678.png",
+      "transform_matrix": [
+        [
+          0.9863525629043579,
+          0.14977291226387024,
+          -0.0683860331773758,
+          -10.027565002441406
+        ],
+        [
+          0.06302947551012039,
+          0.0402294360101223,
+          0.9972004890441895,
+          -3.882502555847168
+        ],
+        [
+          0.15210476517677307,
+          -0.9879016876220703,
+          0.030240295454859734,
+          -1.9077799320220947
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8678,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_183083057",
+      "mask_path": "../../mask/hdr_left_08678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08679.png",
+      "transform_matrix": [
+        [
+          0.9857943058013916,
+          0.14061318337917328,
+          -0.09185589104890823,
+          -9.951436996459961
+        ],
+        [
+          0.08648166060447693,
+          0.04387754201889038,
+          0.995286762714386,
+          -3.847550868988037
+        ],
+        [
+          0.14398083090782166,
+          -0.9890918731689453,
+          0.031093770638108253,
+          -1.8905996084213257
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8679,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_283080577",
+      "mask_path": "../../mask/hdr_left_08679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08680.png",
+      "transform_matrix": [
+        [
+          0.9849997758865356,
+          0.13426892459392548,
+          -0.10838533937931061,
+          -9.867867469787598
+        ],
+        [
+          0.1025860384106636,
+          0.049402471631765366,
+          0.9934965968132019,
+          -3.8141424655914307
+        ],
+        [
+          0.13875021040439606,
+          -0.9897127747535706,
+          0.03488730266690254,
+          -1.8759350776672363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8680,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_383081197",
+      "mask_path": "../../mask/hdr_left_08680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08681.png",
+      "transform_matrix": [
+        [
+          0.9835201501846313,
+          0.13332661986351013,
+          -0.12211563438177109,
+          -9.79855728149414
+        ],
+        [
+          0.1160571500658989,
+          0.05233302712440491,
+          0.9918628931045532,
+          -3.7874791622161865
+        ],
+        [
+          0.1386323720216751,
+          -0.9896895289421082,
+          0.035997066646814346,
+          -1.8633971214294434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8681,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_483081579",
+      "mask_path": "../../mask/hdr_left_08681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08682.png",
+      "transform_matrix": [
+        [
+          0.9840838313102722,
+          0.1269744485616684,
+          -0.12432437390089035,
+          -9.740938186645508
+        ],
+        [
+          0.11736661195755005,
+          0.060910437256097794,
+          0.9912189841270447,
+          -3.7649683952331543
+        ],
+        [
+          0.13343213498592377,
+          -0.9900341629981995,
+          0.045038409531116486,
+          -1.8554881811141968
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8682,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_583081960",
+      "mask_path": "../../mask/hdr_left_08682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08683.png",
+      "transform_matrix": [
+        [
+          0.9851085543632507,
+          0.12193354219198227,
+          -0.12121564894914627,
+          -9.652779579162598
+        ],
+        [
+          0.11502279341220856,
+          0.05663159862160683,
+          0.991747260093689,
+          -3.733452796936035
+        ],
+        [
+          0.1277918815612793,
+          -0.9909214377403259,
+          0.04176313057541847,
+          -1.839203119277954
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8683,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_683082342",
+      "mask_path": "../../mask/hdr_left_08683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08684.png",
+      "transform_matrix": [
+        [
+          0.9855177998542786,
+          0.11885462701320648,
+          -0.1209472268819809,
+          -9.574958801269531
+        ],
+        [
+          0.11591530591249466,
+          0.04840056225657463,
+          0.9920790791511536,
+          -3.7050843238830566
+        ],
+        [
+          0.12376711517572403,
+          -0.9917313456535339,
+          0.03392254561185837,
+          -1.8319454193115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8684,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_783081531",
+      "mask_path": "../../mask/hdr_left_08684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08685.png",
+      "transform_matrix": [
+        [
+          0.9860181212425232,
+          0.11511106044054031,
+          -0.12048844248056412,
+          -9.520880699157715
+        ],
+        [
+          0.11577264219522476,
+          0.04683434218168259,
+          0.9921708703041077,
+          -3.6823596954345703
+        ],
+        [
+          0.11985282599925995,
+          -0.9922480583190918,
+          0.03285280242562294,
+          -1.831860065460205
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8685,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_883081912",
+      "mask_path": "../../mask/hdr_left_08685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08686.png",
+      "transform_matrix": [
+        [
+          0.9862178564071655,
+          0.11564101278781891,
+          -0.1183282807469368,
+          -9.431897163391113
+        ],
+        [
+          0.1135055273771286,
+          0.04745880141854286,
+          0.9924032092094421,
+          -3.6523053646087646
+        ],
+        [
+          0.12037821859121323,
+          -0.9921567440032959,
+          0.033678822219371796,
+          -1.8222752809524536
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8686,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_983081579",
+      "mask_path": "../../mask/hdr_left_08686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08687.png",
+      "transform_matrix": [
+        [
+          0.9865267872810364,
+          0.11859000474214554,
+          -0.11269921809434891,
+          -9.342924118041992
+        ],
+        [
+          0.10694558173418045,
+          0.053831059485673904,
+          0.9928065538406372,
+          -3.6264967918395996
+        ],
+        [
+          0.12380364537239075,
+          -0.9914830923080444,
+          0.040423110127449036,
+          -1.8064152002334595
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8687,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_83081483",
+      "mask_path": "../../mask/hdr_left_08687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08688.png",
+      "transform_matrix": [
+        [
+          0.9866792559623718,
+          0.1236782819032669,
+          -0.10567757487297058,
+          -9.268912315368652
+        ],
+        [
+          0.09907370805740356,
+          0.05839717388153076,
+          0.9933651089668274,
+          -3.605984926223755
+        ],
+        [
+          0.12902896106243134,
+          -0.9906026124954224,
+          0.045366011559963226,
+          -1.7974398136138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8688,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_183081865",
+      "mask_path": "../../mask/hdr_left_08688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08689.png",
+      "transform_matrix": [
+        [
+          0.9859638214111328,
+          0.13308829069137573,
+          -0.1008107140660286,
+          -9.16091251373291
+        ],
+        [
+          0.09295839071273804,
+          0.06396700441837311,
+          0.9936131834983826,
+          -3.5700275897979736
+        ],
+        [
+          0.13868682086467743,
+          -0.989037811756134,
+          0.050697486847639084,
+          -1.756925106048584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8689,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_283079147",
+      "mask_path": "../../mask/hdr_left_08689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08690.png",
+      "transform_matrix": [
+        [
+          0.9845381379127502,
+          0.14054863154888153,
+          -0.1045496016740799,
+          -9.067353248596191
+        ],
+        [
+          0.09716519713401794,
+          0.05843221768736839,
+          0.99355149269104,
+          -3.53559947013855
+        ],
+        [
+          0.14575135707855225,
+          -0.9883480072021484,
+          0.04387231543660164,
+          -1.7226545810699463
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8690,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_383081436",
+      "mask_path": "../../mask/hdr_left_08690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08691.png",
+      "transform_matrix": [
+        [
+          0.9836254119873047,
+          0.14354155957698822,
+          -0.10898055881261826,
+          -9.017037391662598
+        ],
+        [
+          0.10360483825206757,
+          0.04442945867776871,
+          0.9936257004737854,
+          -3.5153520107269287
+        ],
+        [
+          0.14746852219104767,
+          -0.9886464476585388,
+          0.028830338269472122,
+          -1.714700698852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8691,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_483081817",
+      "mask_path": "../../mask/hdr_left_08691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08692.png",
+      "transform_matrix": [
+        [
+          0.9848925471305847,
+          0.13661088049411774,
+          -0.10641448199748993,
+          -8.93919849395752
+        ],
+        [
+          0.10147568583488464,
+          0.04264100268483162,
+          0.9939237236976624,
+          -3.489471435546875
+        ],
+        [
+          0.14031842350959778,
+          -0.9897066354751587,
+          0.02813412994146347,
+          -1.7012150287628174
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8692,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_583081483",
+      "mask_path": "../../mask/hdr_left_08692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08693.png",
+      "transform_matrix": [
+        [
+          0.9865474700927734,
+          0.13089096546173096,
+          -0.09793714433908463,
+          -8.84251594543457
+        ],
+        [
+          0.09292789548635483,
+          0.04386027529835701,
+          0.9947063326835632,
+          -3.4622082710266113
+        ],
+        [
+          0.13449358940124512,
+          -0.9904261827468872,
+          0.031106824055314064,
+          -1.6798477172851562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8693,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_683081865",
+      "mask_path": "../../mask/hdr_left_08693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08694.png",
+      "transform_matrix": [
+        [
+          0.9876754879951477,
+          0.1286810040473938,
+          -0.08909603953361511,
+          -8.768594741821289
+        ],
+        [
+          0.08372142910957336,
+          0.04659942537546158,
+          0.995398998260498,
+          -3.444366455078125
+        ],
+        [
+          0.13224074244499207,
+          -0.9905906319618225,
+          0.03525175154209137,
+          -1.66472327709198
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8694,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_783081531",
+      "mask_path": "../../mask/hdr_left_08694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08695.png",
+      "transform_matrix": [
+        [
+          0.9887168407440186,
+          0.12621639668941498,
+          -0.0806744173169136,
+          -8.70004940032959
+        ],
+        [
+          0.07479487359523773,
+          0.05065610259771347,
+          0.9959114789962769,
+          -3.4262030124664307
+        ],
+        [
+          0.12978699803352356,
+          -0.990708589553833,
+          0.04064420983195305,
+          -1.6530345678329468
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8695,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_883081674",
+      "mask_path": "../../mask/hdr_left_08695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08696.png",
+      "transform_matrix": [
+        [
+          0.9893780946731567,
+          0.12396988272666931,
+          -0.07591018080711365,
+          -8.60661792755127
+        ],
+        [
+          0.07080768048763275,
+          0.04506544768810272,
+          0.9964714050292969,
+          -3.3967478275299072
+        ],
+        [
+          0.1269533485174179,
+          -0.9912621378898621,
+          0.0358087494969368,
+          -1.6420018672943115
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8696,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_983082294",
+      "mask_path": "../../mask/hdr_left_08696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08697.png",
+      "transform_matrix": [
+        [
+          0.989819347858429,
+          0.12193619459867477,
+          -0.07341054081916809,
+          -8.5283203125
+        ],
+        [
+          0.06942130625247955,
+          0.036653682589530945,
+          0.9969139099121094,
+          -3.3732352256774902
+        ],
+        [
+          0.1242506355047226,
+          -0.9918609261512756,
+          0.027815546840429306,
+          -1.6380491256713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8697,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_83082675",
+      "mask_path": "../../mask/hdr_left_08697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08698.png",
+      "transform_matrix": [
+        [
+          0.9902133345603943,
+          0.1204657033085823,
+          -0.07046680152416229,
+          -8.460017204284668
+        ],
+        [
+          0.06706418842077255,
+          0.032075125724077225,
+          0.9972330331802368,
+          -3.3578832149505615
+        ],
+        [
+          0.12239259481430054,
+          -0.9921992421150208,
+          0.023682281374931335,
+          -1.637938141822815
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8698,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_183081150",
+      "mask_path": "../../mask/hdr_left_08698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08699.png",
+      "transform_matrix": [
+        [
+          0.9890580773353577,
+          0.13427522778511047,
+          -0.06110787391662598,
+          -8.355895042419434
+        ],
+        [
+          0.060192957520484924,
+          0.01086670532822609,
+          0.9981275796890259,
+          -3.340458631515503
+        ],
+        [
+          0.13468784093856812,
+          -0.99088454246521,
+          0.0026653832755982876,
+          -1.595323920249939
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8699,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_283082246",
+      "mask_path": "../../mask/hdr_left_08699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08700.png",
+      "transform_matrix": [
+        [
+          0.9882203340530396,
+          0.14685268700122833,
+          -0.043067511171102524,
+          -8.261269569396973
+        ],
+        [
+          0.04203031584620476,
+          0.010159864090383053,
+          0.9990646839141846,
+          -3.3274929523468018
+        ],
+        [
+          0.1471528857946396,
+          -0.9891062378883362,
+          0.0038679230492562056,
+          -1.532977819442749
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8700,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_383082628",
+      "mask_path": "../../mask/hdr_left_08700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08702.png",
+      "transform_matrix": [
+        [
+          0.9891335368156433,
+          0.14548860490322113,
+          -0.02116450108587742,
+          -8.139496803283691
+        ],
+        [
+          0.01638646423816681,
+          0.03396157547831535,
+          0.9992887377738953,
+          -3.3117451667785645
+        ],
+        [
+          0.14610391855239868,
+          -0.9887768626213074,
+          0.03120848909020424,
+          -1.5156376361846924
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8702,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_583082437",
+      "mask_path": "../../mask/hdr_left_08702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08703.png",
+      "transform_matrix": [
+        [
+          0.9897080063819885,
+          0.14195233583450317,
+          -0.018098317086696625,
+          -8.045079231262207
+        ],
+        [
+          0.013563776388764381,
+          0.03284689038991928,
+          0.9993683695793152,
+          -3.2894248962402344
+        ],
+        [
+          0.14245712757110596,
+          -0.9893284440040588,
+          0.030583422631025314,
+          -1.495091438293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8703,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_683082342",
+      "mask_path": "../../mask/hdr_left_08703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08704.png",
+      "transform_matrix": [
+        [
+          0.989874005317688,
+          0.14045195281505585,
+          -0.020554721355438232,
+          -7.979891777038574
+        ],
+        [
+          0.01729016937315464,
+          0.024423932656645775,
+          0.9995522499084473,
+          -3.271681785583496
+        ],
+        [
+          0.14089106023311615,
+          -0.9897862076759338,
+          0.021748177707195282,
+          -1.4816595315933228
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8704,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_783082008",
+      "mask_path": "../../mask/hdr_left_08704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08705.png",
+      "transform_matrix": [
+        [
+          0.9904647469520569,
+          0.13597725331783295,
+          -0.022125856950879097,
+          -7.9204888343811035
+        ],
+        [
+          0.01953812688589096,
+          0.020336005836725235,
+          0.9996022582054138,
+          -3.253892183303833
+        ],
+        [
+          0.1363731026649475,
+          -0.9905032515525818,
+          0.0174853578209877,
+          -1.4753062725067139
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8705,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_883082151",
+      "mask_path": "../../mask/hdr_left_08705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08706.png",
+      "transform_matrix": [
+        [
+          0.9909744262695312,
+          0.13272343575954437,
+          -0.018818803131580353,
+          -7.831114292144775
+        ],
+        [
+          0.016451789066195488,
+          0.01890832744538784,
+          0.9996858239173889,
+          -3.227173089981079
+        ],
+        [
+          0.13303756713867188,
+          -0.9909726977348328,
+          0.016554130241274834,
+          -1.4618031978607178
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8706,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_983082532",
+      "mask_path": "../../mask/hdr_left_08706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08707.png",
+      "transform_matrix": [
+        [
+          0.9910647869110107,
+          0.13284724950790405,
+          -0.011921483092010021,
+          -7.755138874053955
+        ],
+        [
+          0.00879060197621584,
+          0.024129120633006096,
+          0.9996702075004578,
+          -3.2071151733398438
+        ],
+        [
+          0.1330910623073578,
+          -0.9908427596092224,
+          0.022745711728930473,
+          -1.4474399089813232
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8707,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_83083152",
+      "mask_path": "../../mask/hdr_left_08707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08708.png",
+      "transform_matrix": [
+        [
+          0.9909924268722534,
+          0.1338137835264206,
+          -0.005274876952171326,
+          -7.699651718139648
+        ],
+        [
+          0.0012964415363967419,
+          0.02980070561170578,
+          0.9995549917221069,
+          -3.1940689086914062
+        ],
+        [
+          0.13391143083572388,
+          -0.990558385848999,
+          0.029358796775341034,
+          -1.4343655109405518
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8708,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_183081150",
+      "mask_path": "../../mask/hdr_left_08708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08709.png",
+      "transform_matrix": [
+        [
+          0.9892812371253967,
+          0.14601542055606842,
+          -0.0014899381203576922,
+          -7.608669757843018
+        ],
+        [
+          -0.00646222336217761,
+          0.05397163704037666,
+          0.9985215067863464,
+          -3.164275646209717
+        ],
+        [
+          0.14587995409965515,
+          -0.9878090620040894,
+          0.054336708039045334,
+          -1.4113281965255737
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8709,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_283081531",
+      "mask_path": "../../mask/hdr_left_08709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08710.png",
+      "transform_matrix": [
+        [
+          0.9869780540466309,
+          0.16068464517593384,
+          -0.007406518794596195,
+          -7.512933254241943
+        ],
+        [
+          -0.002543862909078598,
+          0.061630986630916595,
+          0.998095691204071,
+          -3.131681203842163
+        ],
+        [
+          0.1608351171016693,
+          -0.9850797653198242,
+          0.061237186193466187,
+          -1.3496114015579224
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8710,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_383082389",
+      "mask_path": "../../mask/hdr_left_08710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08711.png",
+      "transform_matrix": [
+        [
+          0.9864987134933472,
+          0.163258358836174,
+          -0.012918906286358833,
+          -7.456982135772705
+        ],
+        [
+          0.004934376105666161,
+          0.04921842738986015,
+          0.998775839805603,
+          -3.1157281398773193
+        ],
+        [
+          0.1636943370103836,
+          -0.9853549599647522,
+          0.04774834215641022,
+          -1.3313950300216675
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8711,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_483083724",
+      "mask_path": "../../mask/hdr_left_08711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08712.png",
+      "transform_matrix": [
+        [
+          0.9869067072868347,
+          0.16068923473358154,
+          -0.013932917267084122,
+          -7.406598091125488
+        ],
+        [
+          0.007987302727997303,
+          0.03758739307522774,
+          0.9992614388465881,
+          -3.1076486110687256
+        ],
+        [
+          0.16109423339366913,
+          -0.9862891435623169,
+          0.03581177070736885,
+          -1.3374195098876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8712,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_583081960",
+      "mask_path": "../../mask/hdr_left_08712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08713.png",
+      "transform_matrix": [
+        [
+          0.9875398874282837,
+          0.15707384049892426,
+          -0.00963088870048523,
+          -7.319131374359131
+        ],
+        [
+          0.00453772721812129,
+          0.03275161609053612,
+          0.9994532465934753,
+          -3.091947078704834
+        ],
+        [
+          0.1573033630847931,
+          -0.9870436787605286,
+          0.03163076937198639,
+          -1.314289927482605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8713,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_683081865",
+      "mask_path": "../../mask/hdr_left_08713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08714.png",
+      "transform_matrix": [
+        [
+          0.9878225922584534,
+          0.1555754840373993,
+          -0.0016778836725279689,
+          -7.235400676727295
+        ],
+        [
+          -0.0037979481276124716,
+          0.034893520176410675,
+          0.9993838667869568,
+          -3.077533721923828
+        ],
+        [
+          0.1555381417274475,
+          -0.9872075319290161,
+          0.03505947068333626,
+          -1.293110728263855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8714,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_783079862",
+      "mask_path": "../../mask/hdr_left_08714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08715.png",
+      "transform_matrix": [
+        [
+          0.9877302646636963,
+          0.15610164403915405,
+          0.004590529948472977,
+          -7.178101539611816
+        ],
+        [
+          -0.010749168694019318,
+          0.03863133490085602,
+          0.9991957545280457,
+          -3.070765972137451
+        ],
+        [
+          0.15579873323440552,
+          -0.9869853854179382,
+          0.03983530029654503,
+          -1.2831509113311768
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8715,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_883083105",
+      "mask_path": "../../mask/hdr_left_08715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08716.png",
+      "transform_matrix": [
+        [
+          0.9883486032485962,
+          0.15204480290412903,
+          0.0070237889885902405,
+          -7.105820655822754
+        ],
+        [
+          -0.01377858780324459,
+          0.04341847822070122,
+          0.9989619255065918,
+          -3.0565638542175293
+        ],
+        [
+          0.15158198773860931,
+          -0.9874195456504822,
+          0.045007556676864624,
+          -1.2711091041564941
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8716,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_983082056",
+      "mask_path": "../../mask/hdr_left_08716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08717.png",
+      "transform_matrix": [
+        [
+          0.9890482425689697,
+          0.14755047857761383,
+          0.0034883273765444756,
+          -7.014462471008301
+        ],
+        [
+          -0.008642326109111309,
+          0.034303802996873856,
+          0.9993740320205688,
+          -3.0338263511657715
+        ],
+        [
+          0.14733844995498657,
+          -0.9884594678878784,
+          0.035203300416469574,
+          -1.2548327445983887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8717,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_83082675",
+      "mask_path": "../../mask/hdr_left_08717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08718.png",
+      "transform_matrix": [
+        [
+          0.9896447062492371,
+          0.14349320530891418,
+          -0.003617239184677601,
+          -6.9475507736206055
+        ],
+        [
+          4.965705011272803e-05,
+          0.024858364835381508,
+          0.9996909499168396,
+          -3.019064426422119
+        ],
+        [
+          0.14353875815868378,
+          -0.9893390536308289,
+          0.02459382452070713,
+          -1.252807378768921
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8718,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_183082580",
+      "mask_path": "../../mask/hdr_left_08718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08719.png",
+      "transform_matrix": [
+        [
+          0.9896033406257629,
+          0.14330251514911652,
+          -0.01223480049520731,
+          -6.86897087097168
+        ],
+        [
+          0.009040260687470436,
+          0.022922420874238014,
+          0.9996963143348694,
+          -3.0062060356140137
+        ],
+        [
+          0.1435394287109375,
+          -0.9894134402275085,
+          0.02138861082494259,
+          -1.2490956783294678
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8719,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_283083438",
+      "mask_path": "../../mask/hdr_left_08719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08720.png",
+      "transform_matrix": [
+        [
+          0.9889127016067505,
+          0.14718838036060333,
+          -0.019677065312862396,
+          -6.778860092163086
+        ],
+        [
+          0.016196992248296738,
+          0.024805327877402306,
+          0.9995609521865845,
+          -2.990807294845581
+        ],
+        [
+          0.14761187136173248,
+          -0.9887974262237549,
+          0.022146301344037056,
+          -1.229877233505249
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8720,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_383082389",
+      "mask_path": "../../mask/hdr_left_08720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08722.png",
+      "transform_matrix": [
+        [
+          0.9863771796226501,
+          0.1609635055065155,
+          -0.033921610563993454,
+          -6.67568302154541
+        ],
+        [
+          0.02767069637775421,
+          0.04091883450746536,
+          0.998779296875,
+          -2.9610018730163574
+        ],
+        [
+          0.16215501725673676,
+          -0.9861118197441101,
+          0.03590742498636246,
+          -1.2083054780960083
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8722,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_583082675",
+      "mask_path": "../../mask/hdr_left_08722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08723.png",
+      "transform_matrix": [
+        [
+          0.9856646060943604,
+          0.1620418131351471,
+          -0.04698630049824715,
+          -6.5986785888671875
+        ],
+        [
+          0.04268013313412666,
+          0.029955709353089333,
+          0.9986395239830017,
+          -2.928490161895752
+        ],
+        [
+          0.16322889924049377,
+          -0.9863291382789612,
+          0.022610319778323174,
+          -1.1736189126968384
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8723,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_683082818",
+      "mask_path": "../../mask/hdr_left_08723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08724.png",
+      "transform_matrix": [
+        [
+          0.9844676852226257,
+          0.16258153319358826,
+          -0.06625986844301224,
+          -6.536653518676758
+        ],
+        [
+          0.06492598354816437,
+          0.013509890995919704,
+          0.9977985620498657,
+          -2.8983638286590576
+        ],
+        [
+          0.16311876475811005,
+          -0.9866026639938354,
+          0.002744290977716446,
+          -1.145348310470581
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8724,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_783081531",
+      "mask_path": "../../mask/hdr_left_08724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08725.png",
+      "transform_matrix": [
+        [
+          0.9825119972229004,
+          0.16487807035446167,
+          -0.08651836216449738,
+          -6.489632606506348
+        ],
+        [
+          0.08592470735311508,
+          0.010743060149252415,
+          0.9962437152862549,
+          -2.872823715209961
+        ],
+        [
+          0.16518816351890564,
+          -0.9862554669380188,
+          -0.0036119224969297647,
+          -1.1356174945831299
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8725,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_883082866",
+      "mask_path": "../../mask/hdr_left_08725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08726.png",
+      "transform_matrix": [
+        [
+          0.982069730758667,
+          0.15692138671875,
+          -0.10447332262992859,
+          -6.4260053634643555
+        ],
+        [
+          0.10310093313455582,
+          0.016882825642824173,
+          0.9945275783538818,
+          -2.8398311138153076
+        ],
+        [
+          0.1578264683485031,
+          -0.9874668121337891,
+          0.0004013701109215617,
+          -1.1231435537338257
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8726,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_983081817",
+      "mask_path": "../../mask/hdr_left_08726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08727.png",
+      "transform_matrix": [
+        [
+          0.9822342991828918,
+          0.14714974164962769,
+          -0.1164589673280716,
+          -6.3569865226745605
+        ],
+        [
+          0.11432816088199615,
+          0.022885296493768692,
+          0.993179440498352,
+          -2.8090944290161133
+        ],
+        [
+          0.14881126582622528,
+          -0.9888495206832886,
+          0.005655364599078894,
+          -1.111596703529358
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8727,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_83082914",
+      "mask_path": "../../mask/hdr_left_08727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08728.png",
+      "transform_matrix": [
+        [
+          0.9821975231170654,
+          0.14301066100597382,
+          -0.12180276215076447,
+          -6.295054912567139
+        ],
+        [
+          0.11857602745294571,
+          0.030904989689588547,
+          0.9924638867378235,
+          -2.7874109745025635
+        ],
+        [
+          0.1456972062587738,
+          -0.9892385601997375,
+          0.013397163711488247,
+          -1.0967031717300415
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8728,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_183081388",
+      "mask_path": "../../mask/hdr_left_08728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08729.png",
+      "transform_matrix": [
+        [
+          0.9833479523658752,
+          0.1382770985364914,
+          -0.11792436987161636,
+          -6.232941627502441
+        ],
+        [
+          0.11297378689050674,
+          0.043147534132003784,
+          0.9926607012748718,
+          -2.7679085731506348
+        ],
+        [
+          0.14235036075115204,
+          -0.9894533157348633,
+          0.026807351037859917,
+          -1.0837440490722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8729,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_283082962",
+      "mask_path": "../../mask/hdr_left_08729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08730.png",
+      "transform_matrix": [
+        [
+          0.9847469925880432,
+          0.13113979995250702,
+          -0.11434902250766754,
+          -6.145721912384033
+        ],
+        [
+          0.10998298227787018,
+          0.040090207010507584,
+          0.9931246042251587,
+          -2.740440845489502
+        ],
+        [
+          0.13482242822647095,
+          -0.9905529618263245,
+          0.025055566802620888,
+          -1.0725302696228027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8730,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_383081912",
+      "mask_path": "../../mask/hdr_left_08730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08731.png",
+      "transform_matrix": [
+        [
+          0.9853644371032715,
+          0.12681689858436584,
+          -0.1139049306511879,
+          -6.066464424133301
+        ],
+        [
+          0.11065387725830078,
+          0.03241517394781113,
+          0.9933302402496338,
+          -2.714613199234009
+        ],
+        [
+          0.12966330349445343,
+          -0.991396427154541,
+          0.01790797896683216,
+          -1.0690830945968628
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8731,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_483083248",
+      "mask_path": "../../mask/hdr_left_08731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08732.png",
+      "transform_matrix": [
+        [
+          0.9859426021575928,
+          0.12445467710494995,
+          -0.11148212105035782,
+          -6.002431869506836
+        ],
+        [
+          0.10830385982990265,
+          0.03203921020030975,
+          0.9936014413833618,
+          -2.6959943771362305
+        ],
+        [
+          0.12723012268543243,
+          -0.9917079210281372,
+          0.01810990460216999,
+          -1.0652793645858765
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8732,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_583081960",
+      "mask_path": "../../mask/hdr_left_08732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08733.png",
+      "transform_matrix": [
+        [
+          0.9837029576301575,
+          0.14346732199192047,
+          -0.10837698727846146,
+          -5.923428535461426
+        ],
+        [
+          0.10673728585243225,
+          0.019099880009889603,
+          0.994103729724884,
+          -2.6743102073669434
+        ],
+        [
+          0.1446913778781891,
+          -0.9894707798957825,
+          0.0034753018990159035,
+          -1.0618900060653687
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8733,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_683083057",
+      "mask_path": "../../mask/hdr_left_08733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08734.png",
+      "transform_matrix": [
+        [
+          0.978624165058136,
+          0.1810314804315567,
+          -0.0975823625922203,
+          -5.813685417175293
+        ],
+        [
+          0.09527559578418732,
+          0.021416014060378075,
+          0.9952204823493958,
+          -2.6532208919525146
+        ],
+        [
+          0.1822560429573059,
+          -0.9832441210746765,
+          0.003710347693413496,
+          -0.9937688708305359
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8734,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_783081293",
+      "mask_path": "../../mask/hdr_left_08734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08735.png",
+      "transform_matrix": [
+        [
+          0.9754846692085266,
+          0.2013377845287323,
+          -0.08884038031101227,
+          -5.743531703948975
+        ],
+        [
+          0.08400914818048477,
+          0.03243199363350868,
+          0.9959370493888855,
+          -2.6425132751464844
+        ],
+        [
+          0.20340102910995483,
+          -0.9789848327636719,
+          0.014722698368132114,
+          -0.9383511543273926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8735,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_883081436",
+      "mask_path": "../../mask/hdr_left_08735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08736.png",
+      "transform_matrix": [
+        [
+          0.9761001467704773,
+          0.20074261724948883,
+          -0.08325212448835373,
+          -5.681764602661133
+        ],
+        [
+          0.07872612774372101,
+          0.03043934516608715,
+          0.9964314699172974,
+          -2.6201319694519043
+        ],
+        [
+          0.2025603950023651,
+          -0.979171097278595,
+          0.01390816643834114,
+          -0.9295287132263184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8736,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_983081340",
+      "mask_path": "../../mask/hdr_left_08736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08737.png",
+      "transform_matrix": [
+        [
+          0.9776197075843811,
+          0.19402673840522766,
+          -0.0813216120004654,
+          -5.599353313446045
+        ],
+        [
+          0.07970792800188065,
+          0.01612250693142414,
+          0.9966878294944763,
+          -2.592902421951294
+        ],
+        [
+          0.19469518959522247,
+          -0.9808637499809265,
+          0.0002962058351840824,
+          -0.9197022914886475
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8737,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_83082675",
+      "mask_path": "../../mask/hdr_left_08737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08738.png",
+      "transform_matrix": [
+        [
+          0.9785651564598083,
+          0.18872734904289246,
+          -0.0824149027466774,
+          -5.543319225311279
+        ],
+        [
+          0.08257191628217697,
+          0.007044066209346056,
+          0.9965602159500122,
+          -2.576047897338867
+        ],
+        [
+          0.1886586844921112,
+          -0.9820043444633484,
+          -0.008690493181347847,
+          -0.9125862121582031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8738,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_183082103",
+      "mask_path": "../../mask/hdr_left_08738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08739.png",
+      "transform_matrix": [
+        [
+          0.9795404076576233,
+          0.1813335418701172,
+          -0.08728445321321487,
+          -5.478017330169678
+        ],
+        [
+          0.08709527552127838,
+          0.009021188132464886,
+          0.9961591958999634,
+          -2.554377794265747
+        ],
+        [
+          0.18142446875572205,
+          -0.9833803176879883,
+          -0.006956675089895725,
+          -0.9060564041137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8739,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_283081531",
+      "mask_path": "../../mask/hdr_left_08739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08740.png",
+      "transform_matrix": [
+        [
+          0.9805604815483093,
+          0.1718534529209137,
+          -0.09469756484031677,
+          -5.388590335845947
+        ],
+        [
+          0.09359946101903915,
+          0.014499674551188946,
+          0.9955043792724609,
+          -2.527252435684204
+        ],
+        [
+          0.17245393991470337,
+          -0.985015869140625,
+          -0.001867588609457016,
+          -0.8896839618682861
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8740,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_383080959",
+      "mask_path": "../../mask/hdr_left_08740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08741.png",
+      "transform_matrix": [
+        [
+          0.9810608625411987,
+          0.16459132730960846,
+          -0.10212358087301254,
+          -5.317750930786133
+        ],
+        [
+          0.09983239322900772,
+          0.022155290469527245,
+          0.9947575330734253,
+          -2.5057785511016846
+        ],
+        [
+          0.16599103808403015,
+          -0.9861130714416504,
+          0.005304147955030203,
+          -0.8756555318832397
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8741,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_483081817",
+      "mask_path": "../../mask/hdr_left_08741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08742.png",
+      "transform_matrix": [
+        [
+          0.9812652468681335,
+          0.1580783724784851,
+          -0.11013465374708176,
+          -5.259453296661377
+        ],
+        [
+          0.10637404769659042,
+          0.03208266571164131,
+          0.9938084483146667,
+          -2.4842543601989746
+        ],
+        [
+          0.16063302755355835,
+          -0.9869052767753601,
+          0.01466616801917553,
+          -0.8675945401191711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8742,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_583080768",
+      "mask_path": "../../mask/hdr_left_08742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08743.png",
+      "transform_matrix": [
+        [
+          0.9807031154632568,
+          0.1510341316461563,
+          -0.12413733452558517,
+          -5.178426265716553
+        ],
+        [
+          0.12041522562503815,
+          0.03358132764697075,
+          0.9921554923057556,
+          -2.449810743331909
+        ],
+        [
+          0.15401801466941833,
+          -0.9879580736160278,
+          0.014746500179171562,
+          -0.8628963232040405
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8743,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_683079957",
+      "mask_path": "../../mask/hdr_left_08743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08744.png",
+      "transform_matrix": [
+        [
+          0.9793799519538879,
+          0.14332352578639984,
+          -0.14238421618938446,
+          -5.110908031463623
+        ],
+        [
+          0.14000725746154785,
+          0.02658764272928238,
+          0.9897934198379517,
+          -2.4187958240509033
+        ],
+        [
+          0.1456463485956192,
+          -0.9893186688423157,
+          0.005973069462925196,
+          -0.8627293705940247
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8744,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_783081293",
+      "mask_path": "../../mask/hdr_left_08744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08745.png",
+      "transform_matrix": [
+        [
+          0.9784062504768372,
+          0.13585467636585236,
+          -0.15577122569084167,
+          -5.052860260009766
+        ],
+        [
+          0.15378350019454956,
+          0.02507101371884346,
+          0.9877864122390747,
+          -2.3926126956939697
+        ],
+        [
+          0.138100728392601,
+          -0.9904115200042725,
+          0.003637435147538781,
+          -0.8668655157089233
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8745,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_883080244",
+      "mask_path": "../../mask/hdr_left_08745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08746.png",
+      "transform_matrix": [
+        [
+          0.9734476804733276,
+          0.16052448749542236,
+          -0.16319157183170319,
+          -4.954290866851807
+        ],
+        [
+          0.16435861587524414,
+          0.006072182673960924,
+          0.9863819479942322,
+          -2.3670449256896973
+        ],
+        [
+          0.1593293696641922,
+          -0.9870131611824036,
+          -0.020472630858421326,
+          -0.8362656235694885
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8746,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_983080863",
+      "mask_path": "../../mask/hdr_left_08746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08747.png",
+      "transform_matrix": [
+        [
+          0.9680576920509338,
+          0.19233083724975586,
+          -0.16085141897201538,
+          -4.853082180023193
+        ],
+        [
+          0.16381558775901794,
+          0.0004967718268744648,
+          0.9864908456802368,
+          -2.3491344451904297
+        ],
+        [
+          0.18981251120567322,
+          -0.9813300371170044,
+          -0.031025880947709084,
+          -0.7672916650772095
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8747,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_83083629",
+      "mask_path": "../../mask/hdr_left_08747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08403.png",
+      "transform_matrix": [
+        [
+          -0.809919536113739,
+          0.11807680130004883,
+          0.5745331048965454,
+          -14.702620506286621
+        ],
+        [
+          -0.5752692222595215,
+          0.031197769567370415,
+          -0.8173690438270569,
+          -4.822988033294678
+        ],
+        [
+          -0.11443646252155304,
+          -0.9925142526626587,
+          0.04265826568007469,
+          -2.912109851837158
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8403,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_783081769",
+      "mask_path": "../../mask/hdr_right_08403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08404.png",
+      "transform_matrix": [
+        [
+          -0.8144002556800842,
+          0.12299193441867828,
+          0.5671201348304749,
+          -14.633218765258789
+        ],
+        [
+          -0.5658193826675415,
+          0.04868483915925026,
+          -0.8230907917022705,
+          -4.788830280303955
+        ],
+        [
+          -0.12884366512298584,
+          -0.991212785243988,
+          0.02994227036833763,
+          -2.8864877223968506
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8404,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_883081674",
+      "mask_path": "../../mask/hdr_right_08404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08405.png",
+      "transform_matrix": [
+        [
+          -0.8139935731887817,
+          0.142840176820755,
+          0.5630373954772949,
+          -14.5585298538208
+        ],
+        [
+          -0.5628418922424316,
+          0.04568519815802574,
+          -0.8253011703491211,
+          -4.753055095672607
+        ],
+        [
+          -0.14360861480236053,
+          -0.9886908531188965,
+          0.04320896789431572,
+          -2.827162981033325
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8405,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324103_983081817",
+      "mask_path": "../../mask/hdr_right_08405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08407.png",
+      "transform_matrix": [
+        [
+          -0.8141576647758484,
+          0.15240652859210968,
+          0.5602852702140808,
+          -14.463645935058594
+        ],
+        [
+          -0.5631532669067383,
+          0.02779197506606579,
+          -0.8258851170539856,
+          -4.701108455657959
+        ],
+        [
+          -0.1414417177438736,
+          -0.9879270792007446,
+          0.0632011815905571,
+          -2.82991886138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8407,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_183082580",
+      "mask_path": "../../mask/hdr_right_08407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08408.png",
+      "transform_matrix": [
+        [
+          -0.8163963556289673,
+          0.14517419040203094,
+          0.5589467883110046,
+          -14.39642333984375
+        ],
+        [
+          -0.5609553456306458,
+          0.030608180910348892,
+          -0.8272801041603088,
+          -4.660131454467773
+        ],
+        [
+          -0.13720807433128357,
+          -0.9889325499534607,
+          0.0564478263258934,
+          -2.8187644481658936
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8408,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_283081531",
+      "mask_path": "../../mask/hdr_right_08408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08409.png",
+      "transform_matrix": [
+        [
+          -0.8205453753471375,
+          0.1401340216398239,
+          0.5541369318962097,
+          -14.330301284790039
+        ],
+        [
+          -0.5548310279846191,
+          0.03770532086491585,
+          -0.8311082124710083,
+          -4.621723175048828
+        ],
+        [
+          -0.13736045360565186,
+          -0.9894143342971802,
+          0.04681176692247391,
+          -2.8088605403900146
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8409,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_383081912",
+      "mask_path": "../../mask/hdr_right_08409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08410.png",
+      "transform_matrix": [
+        [
+          -0.8245972990989685,
+          0.13871069252490997,
+          0.5484511852264404,
+          -14.27728271484375
+        ],
+        [
+          -0.5479907989501953,
+          0.044957444071769714,
+          -0.8352753520011902,
+          -4.59182071685791
+        ],
+        [
+          -0.14051859080791473,
+          -0.9893119931221008,
+          0.03894039988517761,
+          -2.7960829734802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8410,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_483081817",
+      "mask_path": "../../mask/hdr_right_08410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08411.png",
+      "transform_matrix": [
+        [
+          -0.8283971548080444,
+          0.13315843045711517,
+          0.5440837144851685,
+          -14.21704387664795
+        ],
+        [
+          -0.5427106022834778,
+          0.04962789639830589,
+          -0.8384523987770081,
+          -4.553642749786377
+        ],
+        [
+          -0.13864871859550476,
+          -0.9898514747619629,
+          0.03115488588809967,
+          -2.7799911499023438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8411,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_583082437",
+      "mask_path": "../../mask/hdr_right_08411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08412.png",
+      "transform_matrix": [
+        [
+          -0.8284061551094055,
+          0.12985439598560333,
+          0.5448678731918335,
+          -14.15605640411377
+        ],
+        [
+          -0.5433825254440308,
+          0.04976866766810417,
+          -0.8380088210105896,
+          -4.514256954193115
+        ],
+        [
+          -0.13593646883964539,
+          -0.9902832508087158,
+          0.029331928119063377,
+          -2.7709031105041504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8412,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_683081626",
+      "mask_path": "../../mask/hdr_right_08412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08415.png",
+      "transform_matrix": [
+        [
+          -0.8340081572532654,
+          0.1185741052031517,
+          0.5388604402542114,
+          -14.099493026733398
+        ],
+        [
+          -0.5374429821968079,
+          0.046393103897571564,
+          -0.8420230150222778,
+          -4.47524881362915
+        ],
+        [
+          -0.12484154105186462,
+          -0.9918608069419861,
+          0.025034593418240547,
+          -2.7690892219543457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8415,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324104_983079195",
+      "mask_path": "../../mask/hdr_right_08415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08472.png",
+      "transform_matrix": [
+        [
+          -0.8610625863075256,
+          0.10123002529144287,
+          0.498320996761322,
+          -14.036519050598145
+        ],
+        [
+          -0.48871397972106934,
+          0.10595529526472092,
+          -0.8659862875938416,
+          -4.427150726318359
+        ],
+        [
+          -0.14046356081962585,
+          -0.9892047047615051,
+          -0.041761614382267,
+          -2.756404399871826
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8472,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324110_683081626",
+      "mask_path": "../../mask/hdr_right_08472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08474.png",
+      "transform_matrix": [
+        [
+          -0.8589473366737366,
+          0.11086036264896393,
+          0.49991947412490845,
+          -13.962699890136719
+        ],
+        [
+          -0.4910030663013458,
+          0.09880068153142929,
+          -0.8655371069908142,
+          -4.40264892578125
+        ],
+        [
+          -0.14534614980220795,
+          -0.9889127016067505,
+          -0.030431807041168213,
+          -2.7422895431518555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8474,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324110_883081912",
+      "mask_path": "../../mask/hdr_right_08474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08476.png",
+      "transform_matrix": [
+        [
+          -0.8551125526428223,
+          0.11409230530261993,
+          0.5057326555252075,
+          -13.898248672485352
+        ],
+        [
+          -0.49925497174263,
+          0.08171159774065018,
+          -0.8625935316085815,
+          -4.390300273895264
+        ],
+        [
+          -0.1397394984960556,
+          -0.9901041388511658,
+          -0.012911459431052208,
+          -2.7505569458007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8476,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_83081483",
+      "mask_path": "../../mask/hdr_right_08476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08477.png",
+      "transform_matrix": [
+        [
+          -0.8559158444404602,
+          0.11810428649187088,
+          0.5034475326538086,
+          -13.846227645874023
+        ],
+        [
+          -0.49703848361968994,
+          0.08075086772441864,
+          -0.8639630675315857,
+          -4.384155750274658
+        ],
+        [
+          -0.14269156754016876,
+          -0.9897124171257019,
+          -0.010413572192192078,
+          -2.7374510765075684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8477,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_183081865",
+      "mask_path": "../../mask/hdr_right_08477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08479.png",
+      "transform_matrix": [
+        [
+          -0.8570573925971985,
+          0.13401000201702118,
+          0.4974876642227173,
+          -13.784392356872559
+        ],
+        [
+          -0.4910946786403656,
+          0.0795331671833992,
+          -0.8674678206443787,
+          -4.379332065582275
+        ],
+        [
+          -0.15581615269184113,
+          -0.9877832531929016,
+          -0.002352896612137556,
+          -2.7212390899658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8479,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324111_383081436",
+      "mask_path": "../../mask/hdr_right_08479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08603.png",
+      "transform_matrix": [
+        [
+          -0.968939483165741,
+          0.15870550274848938,
+          0.18965454399585724,
+          -13.718181610107422
+        ],
+        [
+          -0.17620594799518585,
+          0.09503224492073059,
+          -0.9797552824020386,
+          -4.438518047332764
+        ],
+        [
+          -0.17351584136486053,
+          -0.9827418327331543,
+          -0.06411564350128174,
+          -2.733042001724243
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8603,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324123_783081769",
+      "mask_path": "../../mask/hdr_right_08603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08606.png",
+      "transform_matrix": [
+        [
+          -0.9663890600204468,
+          0.18044529855251312,
+          0.18311651051044464,
+          -13.636247634887695
+        ],
+        [
+          -0.16794143617153168,
+          0.09619255363941193,
+          -0.9810925722122192,
+          -4.4462127685546875
+        ],
+        [
+          -0.19464799761772156,
+          -0.9788699746131897,
+          -0.06265518069267273,
+          -2.6976163387298584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8606,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_83080053",
+      "mask_path": "../../mask/hdr_right_08606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08608.png",
+      "transform_matrix": [
+        [
+          -0.9667378664016724,
+          0.18177245557308197,
+          0.1799355298280716,
+          -13.555449485778809
+        ],
+        [
+          -0.16998159885406494,
+          0.06906092166900635,
+          -0.9830244183540344,
+          -4.447941303253174
+        ],
+        [
+          -0.19111326336860657,
+          -0.9809125661849976,
+          -0.03586583212018013,
+          -2.662855386734009
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8608,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_283080577",
+      "mask_path": "../../mask/hdr_right_08608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08610.png",
+      "transform_matrix": [
+        [
+          -0.9648218750953674,
+          0.1743084043264389,
+          0.1968127340078354,
+          -13.50217056274414
+        ],
+        [
+          -0.19631309807300568,
+          0.02027769573032856,
+          -0.9803315997123718,
+          -4.457509994506836
+        ],
+        [
+          -0.17487092316150665,
+          -0.9844822287559509,
+          0.014654652215540409,
+          -2.6637072563171387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8610,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_483080625",
+      "mask_path": "../../mask/hdr_right_08610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08612.png",
+      "transform_matrix": [
+        [
+          -0.9603539705276489,
+          0.1688920259475708,
+          0.2218014895915985,
+          -13.404476165771484
+        ],
+        [
+          -0.22306129336357117,
+          0.011721497401595116,
+          -0.9747339487075806,
+          -4.463281631469727
+        ],
+        [
+          -0.16722464561462402,
+          -0.9855648875236511,
+          0.026416487991809845,
+          -2.6365697383880615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8612,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_683080911",
+      "mask_path": "../../mask/hdr_right_08612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08614.png",
+      "transform_matrix": [
+        [
+          -0.9532287120819092,
+          0.1649439036846161,
+          0.25327572226524353,
+          -13.346073150634766
+        ],
+        [
+          -0.25305622816085815,
+          0.022699110209941864,
+          -0.9671852588653564,
+          -4.464012622833252
+        ],
+        [
+          -0.16528047621250153,
+          -0.9860417246818542,
+          0.020102640613913536,
+          -2.6200194358825684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8614,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324124_883081197",
+      "mask_path": "../../mask/hdr_right_08614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08616.png",
+      "transform_matrix": [
+        [
+          -0.9443520307540894,
+          0.15466731786727905,
+          0.29030537605285645,
+          -13.284698486328125
+        ],
+        [
+          -0.28926947712898254,
+          0.02966674417257309,
+          -0.9567879438400269,
+          -4.456788539886475
+        ],
+        [
+          -0.15659622848033905,
+          -0.9875211119651794,
+          0.016724679619073868,
+          -2.6039071083068848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8616,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_83081007",
+      "mask_path": "../../mask/hdr_right_08616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08618.png",
+      "transform_matrix": [
+        [
+          -0.924061119556427,
+          0.15102854371070862,
+          0.3511430025100708,
+          -13.232041358947754
+        ],
+        [
+          -0.35208195447921753,
+          0.021374154835939407,
+          -0.9357250928878784,
+          -4.435903072357178
+        ],
+        [
+          -0.14882658421993256,
+          -0.9882983565330505,
+          0.03342339023947716,
+          -2.5915966033935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8618,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_283080816",
+      "mask_path": "../../mask/hdr_right_08618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08620.png",
+      "transform_matrix": [
+        [
+          -0.8980367183685303,
+          0.13327376544475555,
+          0.4192472994327545,
+          -13.172037124633789
+        ],
+        [
+          -0.4185960292816162,
+          0.03424212709069252,
+          -0.9075268507003784,
+          -4.4085588455200195
+        ],
+        [
+          -0.13530543446540833,
+          -0.9904875755310059,
+          0.025037182494997978,
+          -2.582350492477417
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8620,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_483082532",
+      "mask_path": "../../mask/hdr_right_08620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08623.png",
+      "transform_matrix": [
+        [
+          -0.8762716054916382,
+          0.12141022831201553,
+          0.4662700295448303,
+          -13.102614402770996
+        ],
+        [
+          -0.46347978711128235,
+          0.052039362490177155,
+          -0.8845781683921814,
+          -4.393630027770996
+        ],
+        [
+          -0.13166120648384094,
+          -0.9912372827529907,
+          0.01067056879401207,
+          -2.5601871013641357
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8623,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_783082485",
+      "mask_path": "../../mask/hdr_right_08623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08625.png",
+      "transform_matrix": [
+        [
+          -0.8760750889778137,
+          0.11969860643148422,
+          0.46708112955093384,
+          -13.016083717346191
+        ],
+        [
+          -0.46682560443878174,
+          0.03191094845533371,
+          -0.8837735652923584,
+          -4.3810930252075195
+        ],
+        [
+          -0.1206914559006691,
+          -0.992297351360321,
+          0.02792198583483696,
+          -2.5601301193237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8625,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324125_983082771",
+      "mask_path": "../../mask/hdr_right_08625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08626.png",
+      "transform_matrix": [
+        [
+          -0.8772293925285339,
+          0.12070870399475098,
+          0.46464818716049194,
+          -12.965476036071777
+        ],
+        [
+          -0.46451762318611145,
+          0.0309489406645298,
+          -0.8850228786468506,
+          -4.365750789642334
+        ],
+        [
+          -0.12121033668518066,
+          -0.9922053813934326,
+          0.02892199717462063,
+          -2.5548107624053955
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8626,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_83082675",
+      "mask_path": "../../mask/hdr_right_08626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08627.png",
+      "transform_matrix": [
+        [
+          -0.8787965774536133,
+          0.1210017055273056,
+          0.4616006910800934,
+          -12.897660255432129
+        ],
+        [
+          -0.46111980080604553,
+          0.033642277121543884,
+          -0.886699914932251,
+          -4.345973968505859
+        ],
+        [
+          -0.12282149493694305,
+          -0.9920820593833923,
+          0.026231564581394196,
+          -2.543309450149536
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8627,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_183082103",
+      "mask_path": "../../mask/hdr_right_08627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08628.png",
+      "transform_matrix": [
+        [
+          -0.8807955384254456,
+          0.12382775545120239,
+          0.4570186734199524,
+          -12.832226753234863
+        ],
+        [
+          -0.4552370309829712,
+          0.04399653524160385,
+          -0.8892826437950134,
+          -4.327066421508789
+        ],
+        [
+          -0.13022509217262268,
+          -0.9913278818130493,
+          0.017619023099541664,
+          -2.5329391956329346
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8628,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_283082723",
+      "mask_path": "../../mask/hdr_right_08628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08630.png",
+      "transform_matrix": [
+        [
+          -0.8833508491516113,
+          0.14005284011363983,
+          0.44729918241500854,
+          -12.710103988647461
+        ],
+        [
+          -0.44290149211883545,
+          0.06290151923894882,
+          -0.8943610191345215,
+          -4.292475700378418
+        ],
+        [
+          -0.15339359641075134,
+          -0.9881439805030823,
+          0.006465509068220854,
+          -2.492633104324341
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8630,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_483081340",
+      "mask_path": "../../mask/hdr_right_08630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08631.png",
+      "transform_matrix": [
+        [
+          -0.882113516330719,
+          0.14680317044258118,
+          0.44757625460624695,
+          -12.629157066345215
+        ],
+        [
+          -0.4446057379245758,
+          0.05432487279176712,
+          -0.894077479839325,
+          -4.263600826263428
+        ],
+        [
+          -0.1555679589509964,
+          -0.9876728653907776,
+          0.01734882779419422,
+          -2.464496374130249
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8631,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_583083391",
+      "mask_path": "../../mask/hdr_right_08631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08633.png",
+      "transform_matrix": [
+        [
+          -0.880496621131897,
+          0.14678329229354858,
+          0.4507552683353424,
+          -12.524896621704102
+        ],
+        [
+          -0.4509992301464081,
+          0.033536847680807114,
+          -0.8918941020965576,
+          -4.226061820983887
+        ],
+        [
+          -0.14603206515312195,
+          -0.988599956035614,
+          0.03667005896568298,
+          -2.456690788269043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8633,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_783083200",
+      "mask_path": "../../mask/hdr_right_08633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08634.png",
+      "transform_matrix": [
+        [
+          -0.8834470510482788,
+          0.13911843299865723,
+          0.4474007189273834,
+          -12.451666831970215
+        ],
+        [
+          -0.4472109377384186,
+          0.03439362719655037,
+          -0.8937669992446899,
+          -4.202548980712891
+        ],
+        [
+          -0.1397271752357483,
+          -0.9896782636642456,
+          0.031830333173274994,
+          -2.4400758743286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8634,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_883082151",
+      "mask_path": "../../mask/hdr_right_08634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08635.png",
+      "transform_matrix": [
+        [
+          -0.8874892592430115,
+          0.13454051315784454,
+          0.440751314163208,
+          -12.384700775146484
+        ],
+        [
+          -0.4394304156303406,
+          0.04098772257566452,
+          -0.8973410725593567,
+          -4.183773994445801
+        ],
+        [
+          -0.13879412412643433,
+          -0.990060031414032,
+          0.022745024412870407,
+          -2.4243767261505127
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8635,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324126_983083248",
+      "mask_path": "../../mask/hdr_right_08635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08636.png",
+      "transform_matrix": [
+        [
+          -0.8909249305725098,
+          0.13132637739181519,
+          0.4347483515739441,
+          -12.33008861541748
+        ],
+        [
+          -0.4324476420879364,
+          0.047072190791368484,
+          -0.9004294872283936,
+          -4.170449256896973
+        ],
+        [
+          -0.13871470093727112,
+          -0.9902210235595703,
+          0.014853989705443382,
+          -2.4126036167144775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8636,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_83081960",
+      "mask_path": "../../mask/hdr_right_08636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08637.png",
+      "transform_matrix": [
+        [
+          -0.8933544754981995,
+          0.12804612517356873,
+          0.4307224750518799,
+          -12.248445510864258
+        ],
+        [
+          -0.4280835688114166,
+          0.04889148473739624,
+          -0.9024157524108887,
+          -4.147989749908447
+        ],
+        [
+          -0.1366094946861267,
+          -0.990562379360199,
+          0.011137007735669613,
+          -2.399144411087036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8637,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_183082580",
+      "mask_path": "../../mask/hdr_right_08637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08638.png",
+      "transform_matrix": [
+        [
+          -0.8949950933456421,
+          0.12710002064704895,
+          0.4275854527950287,
+          -12.157950401306152
+        ],
+        [
+          -0.42610085010528564,
+          0.04003918543457985,
+          -0.9037891626358032,
+          -4.121500492095947
+        ],
+        [
+          -0.13199180364608765,
+          -0.9910814166069031,
+          0.018322547897696495,
+          -2.389258861541748
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8638,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_283082723",
+      "mask_path": "../../mask/hdr_right_08638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08639.png",
+      "transform_matrix": [
+        [
+          -0.8964363932609558,
+          0.12533745169639587,
+          0.42507922649383545,
+          -12.090548515319824
+        ],
+        [
+          -0.4244914650917053,
+          0.032708004117012024,
+          -0.9048410058021545,
+          -4.102198123931885
+        ],
+        [
+          -0.12731397151947021,
+          -0.9915748834609985,
+          0.023884030058979988,
+          -2.3924031257629395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8639,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_383082389",
+      "mask_path": "../../mask/hdr_right_08639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08640.png",
+      "transform_matrix": [
+        [
+          -0.8972966074943542,
+          0.12682150304317474,
+          0.42281821370124817,
+          -12.007246017456055
+        ],
+        [
+          -0.42309683561325073,
+          0.026076119393110275,
+          -0.9057092070579529,
+          -4.081864356994629
+        ],
+        [
+          -0.1258888691663742,
+          -0.9915827512741089,
+          0.030259763821959496,
+          -2.396430253982544
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8640,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_483081817",
+      "mask_path": "../../mask/hdr_right_08640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08641.png",
+      "transform_matrix": [
+        [
+          -0.9001105427742004,
+          0.15074576437473297,
+          0.4087502360343933,
+          -11.892781257629395
+        ],
+        [
+          -0.4115159809589386,
+          0.013820077292621136,
+          -0.9112978577613831,
+          -4.058822154998779
+        ],
+        [
+          -0.14302325248718262,
+          -0.9884759783744812,
+          0.0495946891605854,
+          -2.3333513736724854
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8641,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_583082437",
+      "mask_path": "../../mask/hdr_right_08641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08642.png",
+      "transform_matrix": [
+        [
+          -0.9058857560157776,
+          0.170499786734581,
+          0.3876866102218628,
+          -11.808398246765137
+        ],
+        [
+          -0.39172035455703735,
+          0.010711549781262875,
+          -0.9200220108032227,
+          -4.0490570068359375
+        ],
+        [
+          -0.16101627051830292,
+          -0.9852994680404663,
+          0.05708479508757591,
+          -2.277559518814087
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8642,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_683081150",
+      "mask_path": "../../mask/hdr_right_08642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08643.png",
+      "transform_matrix": [
+        [
+          -0.9114882349967957,
+          0.17197123169898987,
+          0.3736511170864105,
+          -11.740626335144043
+        ],
+        [
+          -0.3766327202320099,
+          0.016207249835133553,
+          -0.9262208938598633,
+          -4.0375776290893555
+        ],
+        [
+          -0.16533920168876648,
+          -0.9849686622619629,
+          0.049997277557849884,
+          -2.272775411605835
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8643,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_783082485",
+      "mask_path": "../../mask/hdr_right_08643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08644.png",
+      "transform_matrix": [
+        [
+          -0.9133949875831604,
+          0.16907043755054474,
+          0.37030357122421265,
+          -11.648752212524414
+        ],
+        [
+          -0.37252601981163025,
+          0.019577333703637123,
+          -0.9278152585029602,
+          -4.011839389801025
+        ],
+        [
+          -0.16411568224430084,
+          -0.9854094982147217,
+          0.04510129243135452,
+          -2.255808115005493
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8644,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_883082389",
+      "mask_path": "../../mask/hdr_right_08644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08645.png",
+      "transform_matrix": [
+        [
+          -0.9127317667007446,
+          0.16778044402599335,
+          0.37251904606819153,
+          -11.572708129882812
+        ],
+        [
+          -0.37563997507095337,
+          0.013948394916951656,
+          -0.9266607165336609,
+          -3.9899234771728516
+        ],
+        [
+          -0.16067160665988922,
+          -0.9857257008552551,
+          0.05029389634728432,
+          -2.237680196762085
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8645,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324127_983081817",
+      "mask_path": "../../mask/hdr_right_08645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08646.png",
+      "transform_matrix": [
+        [
+          -0.9123316407203674,
+          0.16583095490932465,
+          0.37436771392822266,
+          -11.517389297485352
+        ],
+        [
+          -0.3786236047744751,
+          0.006378895603120327,
+          -0.9255288243293762,
+          -3.9762656688690186
+        ],
+        [
+          -0.15586937963962555,
+          -0.9861335754394531,
+          0.0569678470492363,
+          -2.2309694290161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8646,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_83082199",
+      "mask_path": "../../mask/hdr_right_08646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08647.png",
+      "transform_matrix": [
+        [
+          -0.9134886264801025,
+          0.16338180005550385,
+          0.3726191222667694,
+          -11.438145637512207
+        ],
+        [
+          -0.37740975618362427,
+          0.0018507419154047966,
+          -0.9260445833206177,
+          -3.957510471343994
+        ],
+        [
+          -0.1519884467124939,
+          -0.9865611791610718,
+          0.059971246868371964,
+          -2.2205300331115723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8647,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_183082818",
+      "mask_path": "../../mask/hdr_right_08647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08648.png",
+      "transform_matrix": [
+        [
+          -0.9160029292106628,
+          0.1634046882390976,
+          0.3663843870162964,
+          -11.35669231414795
+        ],
+        [
+          -0.37079498171806335,
+          0.0037608572747558355,
+          -0.9287071824073792,
+          -3.940178871154785
+        ],
+        [
+          -0.15313303470611572,
+          -0.9865520000457764,
+          0.05714467912912369,
+          -2.200803518295288
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8648,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_283082723",
+      "mask_path": "../../mask/hdr_right_08648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08650.png",
+      "transform_matrix": [
+        [
+          -0.9204705953598022,
+          0.16309142112731934,
+          0.3551548421382904,
+          -11.250775337219238
+        ],
+        [
+          -0.35787370800971985,
+          0.013406787067651749,
+          -0.9336738586425781,
+          -3.922682523727417
+        ],
+        [
+          -0.1570356786251068,
+          -0.9865199327468872,
+          0.04602557420730591,
+          -2.1781554222106934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8650,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_483081817",
+      "mask_path": "../../mask/hdr_right_08650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08651.png",
+      "transform_matrix": [
+        [
+          -0.9223069548606873,
+          0.16320039331912994,
+          0.3503076434135437,
+          -11.17589282989502
+        ],
+        [
+          -0.35387492179870605,
+          0.007646504789590836,
+          -0.9352615475654602,
+          -3.9062983989715576
+        ],
+        [
+          -0.1553136706352234,
+          -0.9865633249282837,
+          0.050700102001428604,
+          -2.172520875930786
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8651,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_583082199",
+      "mask_path": "../../mask/hdr_right_08651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08652.png",
+      "transform_matrix": [
+        [
+          -0.9239764213562012,
+          0.16205936670303345,
+          0.34641650319099426,
+          -11.111515998840332
+        ],
+        [
+          -0.3511384427547455,
+          -0.0005291260895319283,
+          -0.9363234639167786,
+          -3.8965535163879395
+        ],
+        [
+          -0.15155671536922455,
+          -0.9867808818817139,
+          0.057394176721572876,
+          -2.1723105907440186
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8652,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_683081388",
+      "mask_path": "../../mask/hdr_right_08652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08653.png",
+      "transform_matrix": [
+        [
+          -0.9248047471046448,
+          0.16715975105762482,
+          0.3417510986328125,
+          -11.033574104309082
+        ],
+        [
+          -0.3472020626068115,
+          -0.003623357741162181,
+          -0.9377833604812622,
+          -3.893171548843384
+        ],
+        [
+          -0.15552134811878204,
+          -0.985923171043396,
+          0.06138911843299866,
+          -2.1558966636657715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8653,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_783081769",
+      "mask_path": "../../mask/hdr_right_08653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08654.png",
+      "transform_matrix": [
+        [
+          -0.9291881322860718,
+          0.15897032618522644,
+          0.33367329835891724,
+          -10.939659118652344
+        ],
+        [
+          -0.3381502330303192,
+          -0.0011828786227852106,
+          -0.9410915374755859,
+          -3.886873960494995
+        ],
+        [
+          -0.14921091496944427,
+          -0.9872826337814331,
+          0.05485496297478676,
+          -2.118229627609253
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8654,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_883081912",
+      "mask_path": "../../mask/hdr_right_08654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08655.png",
+      "transform_matrix": [
+        [
+          -0.9344193339347839,
+          0.15235233306884766,
+          0.3219461441040039,
+          -10.873565673828125
+        ],
+        [
+          -0.3244764506816864,
+          0.008645225316286087,
+          -0.9458542466163635,
+          -3.8879029750823975
+        ],
+        [
+          -0.1468864232301712,
+          -0.9882884621620178,
+          0.04135647416114807,
+          -2.095418691635132
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8655,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324128_983081817",
+      "mask_path": "../../mask/hdr_right_08655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08657.png",
+      "transform_matrix": [
+        [
+          -0.9405121803283691,
+          0.15087929368019104,
+          0.30442115664482117,
+          -10.751583099365234
+        ],
+        [
+          -0.3048429787158966,
+          0.0208986047655344,
+          -0.9521734118461609,
+          -3.884875535964966
+        ],
+        [
+          -0.15002521872520447,
+          -0.9883312582969666,
+          0.0263390950858593,
+          -2.0682992935180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8657,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_183081388",
+      "mask_path": "../../mask/hdr_right_08657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08658.png",
+      "transform_matrix": [
+        [
+          -0.9399994611740112,
+          0.14605051279067993,
+          0.3083348274230957,
+          -10.670231819152832
+        ],
+        [
+          -0.30899056792259216,
+          0.018750818446278572,
+          -0.9508803486824036,
+          -3.8699889183044434
+        ],
+        [
+          -0.14465808868408203,
+          -0.989099383354187,
+          0.02750246971845627,
+          -2.05442214012146
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8658,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_283082246",
+      "mask_path": "../../mask/hdr_right_08658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08659.png",
+      "transform_matrix": [
+        [
+          -0.936690628528595,
+          0.14527417719364166,
+          0.3186003565788269,
+          -10.60446548461914
+        ],
+        [
+          -0.31960195302963257,
+          0.017026150599122047,
+          -0.9473989009857178,
+          -3.852914810180664
+        ],
+        [
+          -0.14305713772773743,
+          -0.9892449378967285,
+          0.030481673777103424,
+          -2.041329860687256
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8659,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_383082151",
+      "mask_path": "../../mask/hdr_right_08659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08660.png",
+      "transform_matrix": [
+        [
+          -0.9353687763214111,
+          0.13796138763427734,
+          0.32565605640411377,
+          -10.531421661376953
+        ],
+        [
+          -0.32646942138671875,
+          0.017335185781121254,
+          -0.9450488686561584,
+          -3.8325893878936768
+        ],
+        [
+          -0.1360255479812622,
+          -0.9902858734130859,
+          0.02882537618279457,
+          -2.0354156494140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8660,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_483082771",
+      "mask_path": "../../mask/hdr_right_08660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08661.png",
+      "transform_matrix": [
+        [
+          -0.9352058172225952,
+          0.13484708964824677,
+          0.32742366194725037,
+          -10.448368072509766
+        ],
+        [
+          -0.32761403918266296,
+          0.02141444757580757,
+          -0.944568932056427,
+          -3.8100194931030273
+        ],
+        [
+          -0.13438396155834198,
+          -0.9906349778175354,
+          0.024150878190994263,
+          -2.0216081142425537
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8661,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_583082437",
+      "mask_path": "../../mask/hdr_right_08661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08662.png",
+      "transform_matrix": [
+        [
+          -0.934828519821167,
+          0.13755032420158386,
+          0.3273768723011017,
+          -10.385595321655273
+        ],
+        [
+          -0.3265737295150757,
+          0.02901569940149784,
+          -0.9447263479232788,
+          -3.796204090118408
+        ],
+        [
+          -0.1394464671611786,
+          -0.9900696873664856,
+          0.017795616760849953,
+          -2.005693197250366
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8662,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_683082103",
+      "mask_path": "../../mask/hdr_right_08662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08663.png",
+      "transform_matrix": [
+        [
+          -0.9341441988945007,
+          0.14042338728904724,
+          0.32810959219932556,
+          -10.327670097351074
+        ],
+        [
+          -0.3260948061943054,
+          0.03779049217700958,
+          -0.9445815086364746,
+          -3.7840349674224854
+        ],
+        [
+          -0.14504073560237885,
+          -0.9893700480461121,
+          0.010489556938409805,
+          -1.9929131269454956
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8663,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_783079624",
+      "mask_path": "../../mask/hdr_right_08663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08664.png",
+      "transform_matrix": [
+        [
+          -0.9305089116096497,
+          0.14816761016845703,
+          0.334961861371994,
+          -10.246321678161621
+        ],
+        [
+          -0.3298843204975128,
+          0.058353837579488754,
+          -0.9422162175178528,
+          -3.757706642150879
+        ],
+        [
+          -0.15915222465991974,
+          -0.9872391223907471,
+          -0.005420603323727846,
+          -1.9607738256454468
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8664,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_883079767",
+      "mask_path": "../../mask/hdr_right_08664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08665.png",
+      "transform_matrix": [
+        [
+          -0.9234897494316101,
+          0.15376365184783936,
+          0.3514590263366699,
+          -10.16847038269043
+        ],
+        [
+          -0.3463166058063507,
+          0.05993872508406639,
+          -0.9362009167671204,
+          -3.729045867919922
+        ],
+        [
+          -0.1650196760892868,
+          -0.9862880110740662,
+          -0.0021018912084400654,
+          -1.9167098999023438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8665,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324129_983083724",
+      "mask_path": "../../mask/hdr_right_08665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08667.png",
+      "transform_matrix": [
+        [
+          -0.9033653736114502,
+          0.15669585764408112,
+          0.3992210328578949,
+          -10.07586669921875
+        ],
+        [
+          -0.39934733510017395,
+          0.03206979110836983,
+          -0.9162387251853943,
+          -3.681082248687744
+        ],
+        [
+          -0.15637372434139252,
+          -0.9871261119842529,
+          0.033605337142944336,
+          -1.9079508781433105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8667,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_183083057",
+      "mask_path": "../../mask/hdr_right_08667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08668.png",
+      "transform_matrix": [
+        [
+          -0.89486163854599,
+          0.14773458242416382,
+          0.42118534445762634,
+          -10.004520416259766
+        ],
+        [
+          -0.4207279086112976,
+          0.03588496893644333,
+          -0.9064769148826599,
+          -3.6473376750946045
+        ],
+        [
+          -0.14903220534324646,
+          -0.9883758425712585,
+          0.03004397451877594,
+          -1.8903135061264038
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8668,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_283080577",
+      "mask_path": "../../mask/hdr_right_08668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08669.png",
+      "transform_matrix": [
+        [
+          -0.8884950280189514,
+          0.14152751863002777,
+          0.4365164041519165,
+          -9.92430305480957
+        ],
+        [
+          -0.43523791432380676,
+          0.04152853414416313,
+          -0.8993571996688843,
+          -3.6148524284362793
+        ],
+        [
+          -0.14541170001029968,
+          -0.9890628457069397,
+          0.02470024861395359,
+          -1.8746922016143799
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8669,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_383081197",
+      "mask_path": "../../mask/hdr_right_08669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08670.png",
+      "transform_matrix": [
+        [
+          -0.8824226260185242,
+          0.14069364964962006,
+          0.44892728328704834,
+          -9.857746124267578
+        ],
+        [
+          -0.4473341703414917,
+          0.044559597969055176,
+          -0.8932561874389648,
+          -3.5889904499053955
+        ],
+        [
+          -0.14567947387695312,
+          -0.9890499114990234,
+          0.023616677150130272,
+          -1.8619234561920166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8670,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_483081579",
+      "mask_path": "../../mask/hdr_right_08670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08671.png",
+      "transform_matrix": [
+        [
+          -0.8822187185287476,
+          0.13436444103717804,
+          0.45126089453697205,
+          -9.800603866577148
+        ],
+        [
+          -0.44831863045692444,
+          0.053150467574596405,
+          -0.892292320728302,
+          -3.566648006439209
+        ],
+        [
+          -0.1438770741224289,
+          -0.9895055890083313,
+          0.013347741216421127,
+          -1.8519872426986694
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8671,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_583081960",
+      "mask_path": "../../mask/hdr_right_08671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08672.png",
+      "transform_matrix": [
+        [
+          -0.8842583894729614,
+          0.1293037235736847,
+          0.448740154504776,
+          -9.711852073669434
+        ],
+        [
+          -0.44630903005599976,
+          0.048852261155843735,
+          -0.8935445547103882,
+          -3.534947156906128
+        ],
+        [
+          -0.1374605894088745,
+          -0.9904009699821472,
+          0.014511393383145332,
+          -1.836174488067627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8672,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_683082342",
+      "mask_path": "../../mask/hdr_right_08672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08673.png",
+      "transform_matrix": [
+        [
+          -0.8847441673278809,
+          0.1262253075838089,
+          0.4486590623855591,
+          -9.633993148803711
+        ],
+        [
+          -0.4472868740558624,
+          0.04062458872795105,
+          -0.8934674859046936,
+          -3.5065507888793945
+        ],
+        [
+          -0.13100481033325195,
+          -0.9911694526672363,
+          0.02051655389368534,
+          -1.8303775787353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8673,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_783081531",
+      "mask_path": "../../mask/hdr_right_08673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08674.png",
+      "transform_matrix": [
+        [
+          -0.8853827118873596,
+          0.12248124182224274,
+          0.448436975479126,
+          -9.579842567443848
+        ],
+        [
+          -0.44718897342681885,
+          0.03905675560235977,
+          -0.8935863971710205,
+          -3.4838037490844727
+        ],
+        [
+          -0.12696205079555511,
+          -0.991702139377594,
+          0.02019207552075386,
+          -1.8303742408752441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8674,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_883081912",
+      "mask_path": "../../mask/hdr_right_08674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08675.png",
+      "transform_matrix": [
+        [
+          -0.8863057494163513,
+          0.12299389392137527,
+          0.44646915793418884,
+          -9.490425109863281
+        ],
+        [
+          -0.4451351761817932,
+          0.03966460004448891,
+          -0.8945844769477844,
+          -3.453622341156006
+        ],
+        [
+          -0.12773744761943817,
+          -0.9916145205497742,
+          0.019593939185142517,
+          -1.8206391334533691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8675,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324130_983081579",
+      "mask_path": "../../mask/hdr_right_08675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08676.png",
+      "transform_matrix": [
+        [
+          -0.8885074853897095,
+          0.1258963644504547,
+          0.4412531852722168,
+          -9.400310516357422
+        ],
+        [
+          -0.4390866458415985,
+          0.04599083214998245,
+          -0.8972668647766113,
+          -3.427495241165161
+        ],
+        [
+          -0.1332562416791916,
+          -0.9909767508506775,
+          0.014416203834116459,
+          -1.8035212755203247
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8676,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_83081483",
+      "mask_path": "../../mask/hdr_right_08676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08677.png",
+      "transform_matrix": [
+        [
+          -0.8910305500030518,
+          0.1309250444173813,
+          0.4346529245376587,
+          -9.324865341186523
+        ],
+        [
+          -0.4318634569644928,
+          0.0505012571811676,
+          -0.9005241394042969,
+          -3.4065892696380615
+        ],
+        [
+          -0.1398516744375229,
+          -0.990105152130127,
+          0.01154357474297285,
+          -1.793718695640564
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8677,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_183081865",
+      "mask_path": "../../mask/hdr_right_08677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08678.png",
+      "transform_matrix": [
+        [
+          -0.8919892311096191,
+          0.1402881145477295,
+          0.42973756790161133,
+          -9.215837478637695
+        ],
+        [
+          -0.4261823892593384,
+          0.0560293048620224,
+          -0.9029006361961365,
+          -3.370361804962158
+        ],
+        [
+          -0.15074411034584045,
+          -0.9885241389274597,
+          0.00981077179312706,
+          -1.7524515390396118
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8678,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_283079147",
+      "mask_path": "../../mask/hdr_right_08678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08679.png",
+      "transform_matrix": [
+        [
+          -0.8893502950668335,
+          0.147770956158638,
+          0.4326890707015991,
+          -9.1229829788208
+        ],
+        [
+          -0.4301329553127289,
+          0.05052242428064346,
+          -0.9013507962226868,
+          -3.3360989093780518
+        ],
+        [
+          -0.15505395829677582,
+          -0.9877303242683411,
+          0.018629027530550957,
+          -1.7198208570480347
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8679,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_383081436",
+      "mask_path": "../../mask/hdr_right_08679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08680.png",
+      "transform_matrix": [
+        [
+          -0.8869712352752686,
+          0.15079589188098907,
+          0.43651190400123596,
+          -9.07353687286377
+        ],
+        [
+          -0.43625515699386597,
+          0.03656125068664551,
+          -0.8990800380706787,
+          -3.3160762786865234
+        ],
+        [
+          -0.1515369713306427,
+          -0.9878885746002197,
+          0.03335670381784439,
+          -1.7149982452392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8680,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_483081817",
+      "mask_path": "../../mask/hdr_right_08680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08681.png",
+      "transform_matrix": [
+        [
+          -0.8890593647956848,
+          0.14385172724723816,
+          0.4346032738685608,
+          -8.99522590637207
+        ],
+        [
+          -0.4343610107898712,
+          0.03475664556026459,
+          -0.9000680446624756,
+          -3.290062189102173
+        ],
+        [
+          -0.14458170533180237,
+          -0.9889886975288391,
+          0.031582850962877274,
+          -1.701405644416809
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8681,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_583081483",
+      "mask_path": "../../mask/hdr_right_08681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08682.png",
+      "transform_matrix": [
+        [
+          -0.8935250639915466,
+          0.1380699872970581,
+          0.4272581934928894,
+          -8.89687728881836
+        ],
+        [
+          -0.42658933997154236,
+          0.03591414913535118,
+          -0.903732180595398,
+          -3.262338876724243
+        ],
+        [
+          -0.1401229053735733,
+          -0.9897711277008057,
+          0.02680899016559124,
+          -1.6792285442352295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8682,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_683081865",
+      "mask_path": "../../mask/hdr_right_08682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08683.png",
+      "transform_matrix": [
+        [
+          -0.8976088166236877,
+          0.13579151034355164,
+          0.41935545206069946,
+          -8.821191787719727
+        ],
+        [
+          -0.41816315054893494,
+          0.03858797624707222,
+          -0.9075520038604736,
+          -3.2440309524536133
+        ],
+        [
+          -0.13941991329193115,
+          -0.9899857044219971,
+          0.022146089002490044,
+          -1.6631792783737183
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8683,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_783081531",
+      "mask_path": "../../mask/hdr_right_08683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08684.png",
+      "transform_matrix": [
+        [
+          -0.9014686346054077,
+          0.13326141238212585,
+          0.41182002425193787,
+          -8.750967025756836
+        ],
+        [
+          -0.4099344313144684,
+          0.04258260130882263,
+          -0.9111204743385315,
+          -3.2254467010498047
+        ],
+        [
+          -0.1389535665512085,
+          -0.9901657104492188,
+          0.01624155417084694,
+          -1.6503039598464966
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8684,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_883081674",
+      "mask_path": "../../mask/hdr_right_08684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08685.png",
+      "transform_matrix": [
+        [
+          -0.9037227034568787,
+          0.13097837567329407,
+          0.40759044885635376,
+          -8.656587600708008
+        ],
+        [
+          -0.40639498829841614,
+          0.036961816251277924,
+          -0.9129495620727539,
+          -3.1957435607910156
+        ],
+        [
+          -0.13464193046092987,
+          -0.9906959533691406,
+          0.01982571929693222,
+          -1.6401599645614624
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8685,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324131_983082294",
+      "mask_path": "../../mask/hdr_right_08685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08686.png",
+      "transform_matrix": [
+        [
+          -0.9049965739250183,
+          0.12892617285251617,
+          0.40541231632232666,
+          -8.577797889709473
+        ],
+        [
+          -0.40526896715164185,
+          0.028537815436720848,
+          -0.913752019405365,
+          -3.172100782394409
+        ],
+        [
+          -0.1293761283159256,
+          -0.9912434816360474,
+          0.026423152536153793,
+          -1.6377451419830322
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8686,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_83082675",
+      "mask_path": "../../mask/hdr_right_08686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08687.png",
+      "transform_matrix": [
+        [
+          -0.9063758254051208,
+          0.12743303179740906,
+          0.40279480814933777,
+          -8.50890827178955
+        ],
+        [
+          -0.4031764566898346,
+          0.02394162490963936,
+          -0.9148091673851013,
+          -3.1566057205200195
+        ],
+        [
+          -0.1262204498052597,
+          -0.9915581941604614,
+          0.02967788279056549,
+          -1.6384133100509644
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8687,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_183081150",
+      "mask_path": "../../mask/hdr_right_08687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08688.png",
+      "transform_matrix": [
+        [
+          -0.9084399938583374,
+          0.1411539614200592,
+          0.3934619426727295,
+          -8.402820587158203
+        ],
+        [
+          -0.3970888555049896,
+          0.0026825452223420143,
+          -0.9177762866020203,
+          -3.138780355453491
+        ],
+        [
+          -0.13060325384140015,
+          -0.9899839758872986,
+          0.053613729774951935,
+          -1.6005184650421143
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8688,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_283082246",
+      "mask_path": "../../mask/hdr_right_08688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08689.png",
+      "transform_matrix": [
+        [
+          -0.9137684106826782,
+          0.15357039868831635,
+          0.37608984112739563,
+          -8.30447006225586
+        ],
+        [
+          -0.38033804297447205,
+          0.001850873464718461,
+          -0.924845814704895,
+          -3.1249887943267822
+        ],
+        [
+          -0.14272502064704895,
+          -0.9881359934806824,
+          0.056717388331890106,
+          -1.538360834121704
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8689,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_383082628",
+      "mask_path": "../../mask/hdr_right_08689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08691.png",
+      "transform_matrix": [
+        [
+          -0.9221038222312927,
+          0.15202419459819794,
+          0.3558274209499359,
+          -8.178258895874023
+        ],
+        [
+          -0.3562352955341339,
+          0.025484345853328705,
+          -0.9340487122535706,
+          -3.108273983001709
+        ],
+        [
+          -0.15106604993343353,
+          -0.9880481362342834,
+          0.030657172203063965,
+          -1.5154019594192505
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8691,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_583082437",
+      "mask_path": "../../mask/hdr_right_08691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08692.png",
+      "transform_matrix": [
+        [
+          -0.9237009882926941,
+          0.14846549928188324,
+          0.35317763686180115,
+          -8.083239555358887
+        ],
+        [
+          -0.35361260175704956,
+          0.024350885301828384,
+          -0.935075044631958,
+          -3.0858397483825684
+        ],
+        [
+          -0.1474265605211258,
+          -0.9886177182197571,
+          0.030006324872374535,
+          -1.4948564767837524
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8692,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_683082342",
+      "mask_path": "../../mask/hdr_right_08692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08693.png",
+      "transform_matrix": [
+        [
+          -0.9230236411094666,
+          0.14698736369609833,
+          0.3555586040019989,
+          -8.018561363220215
+        ],
+        [
+          -0.3572043776512146,
+          0.015950802713632584,
+          -0.9338902235031128,
+          -3.0681982040405273
+        ],
+        [
+          -0.14294148981571198,
+          -0.9890097379684448,
+          0.037781551480293274,
+          -1.4831740856170654
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8693,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_783082008",
+      "mask_path": "../../mask/hdr_right_08693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08694.png",
+      "transform_matrix": [
+        [
+          -0.9230568408966064,
+          0.14253021776676178,
+          0.3572828769683838,
+          -7.959504127502441
+        ],
+        [
+          -0.35934722423553467,
+          0.011877140961587429,
+          -0.9331283569335938,
+          -3.0504813194274902
+        ],
+        [
+          -0.13724246621131897,
+          -0.9897192120552063,
+          0.04025455191731453,
+          -1.4775336980819702
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8694,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_883082151",
+      "mask_path": "../../mask/hdr_right_08694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08695.png",
+      "transform_matrix": [
+        [
+          -0.9246744513511658,
+          0.1392514556646347,
+          0.35438165068626404,
+          -7.869475364685059
+        ],
+        [
+          -0.35647907853126526,
+          0.010428976267576218,
+          -0.9342451095581055,
+          -3.0236387252807617
+        ],
+        [
+          -0.13379083573818207,
+          -0.9902020692825317,
+          0.03999681770801544,
+          -1.4641046524047852
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8695,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324132_983082532",
+      "mask_path": "../../mask/hdr_right_08695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08696.png",
+      "transform_matrix": [
+        [
+          -0.9271122217178345,
+          0.1393166184425354,
+          0.347927987575531,
+          -7.792095184326172
+        ],
+        [
+          -0.3492560088634491,
+          0.015600323677062988,
+          -0.9368974566459656,
+          -3.003310441970825
+        ],
+        [
+          -0.1359531581401825,
+          -0.9901249408721924,
+          0.03419390693306923,
+          -1.4484790563583374
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8696,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_83083152",
+      "mask_path": "../../mask/hdr_right_08696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08697.png",
+      "transform_matrix": [
+        [
+          -0.9293088912963867,
+          0.1402255743741989,
+          0.34164583683013916,
+          -7.735247611999512
+        ],
+        [
+          -0.34215453267097473,
+          0.021224370226264,
+          -0.9394039511680603,
+          -2.9900197982788086
+        ],
+        [
+          -0.1389796882867813,
+          -0.9898921251296997,
+          0.02825482189655304,
+          -1.4340828657150269
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8697,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_183081150",
+      "mask_path": "../../mask/hdr_right_08697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08698.png",
+      "transform_matrix": [
+        [
+          -0.9289536476135254,
+          0.1523829996585846,
+          0.33737912774086,
+          -7.643420219421387
+        ],
+        [
+          -0.33443352580070496,
+          0.04535287618637085,
+          -0.9413274526596069,
+          -2.960141181945801
+        ],
+        [
+          -0.15874339640140533,
+          -0.9872804284095764,
+          0.008831263519823551,
+          -1.4063620567321777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8698,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_283081531",
+      "mask_path": "../../mask/hdr_right_08698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08699.png",
+      "transform_matrix": [
+        [
+          -0.924724280834198,
+          0.1670873612165451,
+          0.3420041799545288,
+          -7.548795700073242
+        ],
+        [
+          -0.3379476070404053,
+          0.05304064601659775,
+          -0.939669132232666,
+          -2.927762508392334
+        ],
+        [
+          -0.17514698207378387,
+          -0.9845143556594849,
+          0.007418801076710224,
+          -1.3437566757202148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8699,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_383082389",
+      "mask_path": "../../mask/hdr_right_08699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08700.png",
+      "transform_matrix": [
+        [
+          -0.9223849773406982,
+          0.16970518231391907,
+          0.34699565172195435,
+          -7.493950843811035
+        ],
+        [
+          -0.3452478349208832,
+          0.04067106544971466,
+          -0.9376299381256104,
+          -2.911945104598999
+        ],
+        [
+          -0.17323334515094757,
+          -0.9846552610397339,
+          0.021075962111353874,
+          -1.3283942937850952
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8700,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_483083724",
+      "mask_path": "../../mask/hdr_right_08700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08701.png",
+      "transform_matrix": [
+        [
+          -0.9224305152893066,
+          0.16714753210544586,
+          0.34811434149742126,
+          -7.443790435791016
+        ],
+        [
+          -0.34831947088241577,
+          0.029056163504719734,
+          -0.9369255304336548,
+          -2.9038853645324707
+        ],
+        [
+          -0.16671963036060333,
+          -0.985503613948822,
+          0.03141845017671585,
+          -1.3367657661437988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8701,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_583081960",
+      "mask_path": "../../mask/hdr_right_08701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08702.png",
+      "transform_matrix": [
+        [
+          -0.924504816532135,
+          0.16349948942661285,
+          0.3443237245082855,
+          -7.355471134185791
+        ],
+        [
+          -0.3451574146747589,
+          0.02419683150947094,
+          -0.9382328391075134,
+          -2.888029098510742
+        ],
+        [
+          -0.16173213720321655,
+          -0.986246645450592,
+          0.03406296670436859,
+          -1.314357876777649
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8702,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_683081865",
+      "mask_path": "../../mask/hdr_right_08702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08703.png",
+      "transform_matrix": [
+        [
+          -0.9274886846542358,
+          0.1619347333908081,
+          0.3369600772857666,
+          -7.2701287269592285
+        ],
+        [
+          -0.3372915983200073,
+          0.02628559246659279,
+          -0.9410332441329956,
+          -2.8733363151550293
+        ],
+        [
+          -0.16124312579631805,
+          -0.986451268196106,
+          0.030239630490541458,
+          -1.292417287826538
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8703,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_783079862",
+      "mask_path": "../../mask/hdr_right_08703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08704.png",
+      "transform_matrix": [
+        [
+          -0.929538905620575,
+          0.16240645945072174,
+          0.3310311436653137,
+          -7.211545944213867
+        ],
+        [
+          -0.3306816816329956,
+          0.029980095103383064,
+          -0.9432660937309265,
+          -2.8663599491119385
+        ],
+        [
+          -0.16311684250831604,
+          -0.9862684607505798,
+          0.025837168097496033,
+          -1.2814912796020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8704,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_883083105",
+      "mask_path": "../../mask/hdr_right_08704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08705.png",
+      "transform_matrix": [
+        [
+          -0.9309629797935486,
+          0.1583329141139984,
+          0.32899656891822815,
+          -7.1387939453125
+        ],
+        [
+          -0.3277393579483032,
+          0.034749485552310944,
+          -0.9441288709640503,
+          -2.8520944118499756
+        ],
+        [
+          -0.16091912984848022,
+          -0.9867741465568542,
+          0.019541436806321144,
+          -1.2682464122772217
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8705,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324133_983082056",
+      "mask_path": "../../mask/hdr_right_08705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08706.png",
+      "transform_matrix": [
+        [
+          -0.9304284453392029,
+          0.15387371182441711,
+          0.3326045870780945,
+          -7.048186779022217
+        ],
+        [
+          -0.33273640275001526,
+          0.025664832442998886,
+          -0.9426705837249756,
+          -2.8294620513916016
+        ],
+        [
+          -0.1535884588956833,
+          -0.98775714635849,
+          0.027320092543959618,
+          -1.2538243532180786
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8706,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_83082675",
+      "mask_path": "../../mask/hdr_right_08706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08707.png",
+      "transform_matrix": [
+        [
+          -0.9285773038864136,
+          0.1498815268278122,
+          0.3395285904407501,
+          -6.982750415802002
+        ],
+        [
+          -0.3410443663597107,
+          0.016273124143481255,
+          -0.9399063587188721,
+          -2.8149492740631104
+        ],
+        [
+          -0.14639978110790253,
+          -0.988569974899292,
+          0.03600539267063141,
+          -1.2538330554962158
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8707,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_183082580",
+      "mask_path": "../../mask/hdr_right_08707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08708.png",
+      "transform_matrix": [
+        [
+          -0.9255989789962769,
+          0.14976458251476288,
+          0.34761661291122437,
+          -6.905928611755371
+        ],
+        [
+          -0.3495033383369446,
+          0.014395075850188732,
+          -0.9368245005607605,
+          -2.802405834197998
+        ],
+        [
+          -0.14530709385871887,
+          -0.9886168241500854,
+          0.0390191525220871,
+          -1.2507758140563965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8708,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_283083438",
+      "mask_path": "../../mask/hdr_right_08708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08709.png",
+      "transform_matrix": [
+        [
+          -0.9223984479904175,
+          0.15370967984199524,
+          0.35433655977249146,
+          -6.817309379577637
+        ],
+        [
+          -0.3561786115169525,
+          0.016325069591403008,
+          -0.9342752695083618,
+          -2.787283182144165
+        ],
+        [
+          -0.14939174056053162,
+          -0.9879812002182007,
+          0.03968987613916397,
+          -1.2315444946289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8709,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_383082389",
+      "mask_path": "../../mask/hdr_right_08709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08711.png",
+      "transform_matrix": [
+        [
+          -0.9151122570037842,
+          0.16759002208709717,
+          0.36671945452690125,
+          -6.71693754196167
+        ],
+        [
+          -0.3666468560695648,
+          0.032518159598112106,
+          -0.9297918677330017,
+          -2.7580220699310303
+        ],
+        [
+          -0.16774886846542358,
+          -0.9853203296661377,
+          0.03168858215212822,
+          -1.2076691389083862
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8711,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_583082675",
+      "mask_path": "../../mask/hdr_right_08711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08712.png",
+      "transform_matrix": [
+        [
+          -0.9099816083908081,
+          0.16877587139606476,
+          0.37874555587768555,
+          -6.642574310302734
+        ],
+        [
+          -0.3807421028614044,
+          0.02165341004729271,
+          -0.9244276881217957,
+          -2.7260751724243164
+        ],
+        [
+          -0.16422224044799805,
+          -0.98541659116745,
+          0.04455587640404701,
+          -1.1757349967956543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8712,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_683082818",
+      "mask_path": "../../mask/hdr_right_08712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08713.png",
+      "transform_matrix": [
+        [
+          -0.9022791385650635,
+          0.16947335004806519,
+          0.3964481055736542,
+          -6.584441184997559
+        ],
+        [
+          -0.4014173746109009,
+          0.005358848720788956,
+          -0.9158796072006226,
+          -2.6969153881073
+        ],
+        [
+          -0.15734165906906128,
+          -0.9855201840400696,
+          0.06319436430931091,
+          -1.1515165567398071
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8713,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_783081531",
+      "mask_path": "../../mask/hdr_right_08713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08714.png",
+      "transform_matrix": [
+        [
+          -0.8935217261314392,
+          0.17193113267421722,
+          0.4147994816303253,
+          -6.541485786437988
+        ],
+        [
+          -0.4206341803073883,
+          0.002740593161433935,
+          -0.9072262644767761,
+          -2.6724300384521484
+        ],
+        [
+          -0.15711718797683716,
+          -0.9851051568984985,
+          0.06987132132053375,
+          -1.1431554555892944
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8714,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_883082866",
+      "mask_path": "../../mask/hdr_right_08714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08715.png",
+      "transform_matrix": [
+        [
+          -0.8870049715042114,
+          0.16412624716758728,
+          0.4316072165966034,
+          -6.4815168380737305
+        ],
+        [
+          -0.43617504835128784,
+          0.009005222469568253,
+          -0.8998168110847473,
+          -2.6403822898864746
+        ],
+        [
+          -0.15157027542591095,
+          -0.9863982200622559,
+          0.063600093126297,
+          -1.1296058893203735
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8715,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324134_983081817",
+      "mask_path": "../../mask/hdr_right_08715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08716.png",
+      "transform_matrix": [
+        [
+          -0.8831008672714233,
+          0.1544591337442398,
+          0.4430296719074249,
+          -6.4149603843688965
+        ],
+        [
+          -0.4462498426437378,
+          0.015091138891875744,
+          -0.894781231880188,
+          -2.610307216644287
+        ],
+        [
+          -0.14489293098449707,
+          -0.9878839254379272,
+          0.0556003674864769,
+          -1.1166726350784302
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8716,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_83082914",
+      "mask_path": "../../mask/hdr_right_08716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08717.png",
+      "transform_matrix": [
+        [
+          -0.8812559843063354,
+          0.1503659337759018,
+          0.4480825662612915,
+          -6.354123115539551
+        ],
+        [
+          -0.4499737322330475,
+          0.023143835365772247,
+          -0.892741858959198,
+          -2.5889101028442383
+        ],
+        [
+          -0.1446083039045334,
+          -0.9883594512939453,
+          0.04726507142186165,
+          -1.1000900268554688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8717,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_183081388",
+      "mask_path": "../../mask/hdr_right_08717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08718.png",
+      "transform_matrix": [
+        [
+          -0.8836754560470581,
+          0.14560675621032715,
+          0.44487813115119934,
+          -6.291263103485107
+        ],
+        [
+          -0.44473665952682495,
+          0.03534794971346855,
+          -0.8949636816978455,
+          -2.5691587924957275
+        ],
+        [
+          -0.1460382491350174,
+          -0.988710880279541,
+          0.03352053463459015,
+          -1.0842763185501099
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8718,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_283082962",
+      "mask_path": "../../mask/hdr_right_08718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08719.png",
+      "transform_matrix": [
+        [
+          -0.8862324953079224,
+          0.13844814896583557,
+          0.4420679211616516,
+          -6.203369617462158
+        ],
+        [
+          -0.4420931041240692,
+          0.032267577946186066,
+          -0.896388590335846,
+          -2.541494846343994
+        ],
+        [
+          -0.13836781680583954,
+          -0.9898439049720764,
+          0.032610394060611725,
+          -1.0731581449508667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8719,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_383081912",
+      "mask_path": "../../mask/hdr_right_08719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08720.png",
+      "transform_matrix": [
+        [
+          -0.8869779109954834,
+          0.13412566483020782,
+          0.44190552830696106,
+          -6.124047756195068
+        ],
+        [
+          -0.4428177773952484,
+          0.024595538154244423,
+          -0.896274209022522,
+          -2.5156567096710205
+        ],
+        [
+          -0.13108228147029877,
+          -0.9906591176986694,
+          0.03757752850651741,
+          -1.0709905624389648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8720,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_483083248",
+      "mask_path": "../../mask/hdr_right_08720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08721.png",
+      "transform_matrix": [
+        [
+          -0.8883553743362427,
+          0.13174650073051453,
+          0.4398496747016907,
+          -6.059543132781982
+        ],
+        [
+          -0.44070252776145935,
+          0.024202151224017143,
+          -0.8973268866539001,
+          -2.496900796890259
+        ],
+        [
+          -0.12886498868465424,
+          -0.9909879565238953,
+          0.036560893058776855,
+          -1.0670608282089233
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8721,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_583081960",
+      "mask_path": "../../mask/hdr_right_08721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08722.png",
+      "transform_matrix": [
+        [
+          -0.8872503042221069,
+          0.15071697533130646,
+          0.43597176671028137,
+          -5.9798078536987305
+        ],
+        [
+          -0.43944162130355835,
+          0.011249179020524025,
+          -0.8982006311416626,
+          -2.4750728607177734
+        ],
+        [
+          -0.1402784287929535,
+          -0.9885129928588867,
+          0.056250475347042084,
+          -1.0672675371170044
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8722,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_683083057",
+      "mask_path": "../../mask/hdr_right_08722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08723.png",
+      "transform_matrix": [
+        [
+          -0.886042058467865,
+          0.18815362453460693,
+          0.42370709776878357,
+          -5.867644309997559
+        ],
+        [
+          -0.4290415644645691,
+          0.013481865637004375,
+          -0.903184175491333,
+          -2.453352212905884
+        ],
+        [
+          -0.1756497174501419,
+          -0.9820470809936523,
+          0.06878021359443665,
+          -1.0004056692123413
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8723,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_783081293",
+      "mask_path": "../../mask/hdr_right_08723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08724.png",
+      "transform_matrix": [
+        [
+          -0.8860102891921997,
+          0.20836348831653595,
+          0.41421055793762207,
+          -5.795575141906738
+        ],
+        [
+          -0.41866132616996765,
+          0.02441859245300293,
+          -0.9078141450881958,
+          -2.4420928955078125
+        ],
+        [
+          -0.19926974177360535,
+          -0.9777466058731079,
+          0.06559859961271286,
+          -0.9434748291969299
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8724,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_883081436",
+      "mask_path": "../../mask/hdr_right_08724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08725.png",
+      "transform_matrix": [
+        [
+          -0.8884971737861633,
+          0.20772431790828705,
+          0.4091738164424896,
+          -5.732689380645752
+        ],
+        [
+          -0.4138702154159546,
+          0.022387830540537834,
+          -0.910060703754425,
+          -2.4194276332855225
+        ],
+        [
+          -0.1982022374868393,
+          -0.9779312610626221,
+          0.06607938557863235,
+          -0.9347894191741943
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8725,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324135_983081340",
+      "mask_path": "../../mask/hdr_right_08725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08726.png",
+      "transform_matrix": [
+        [
+          -0.8906052708625793,
+          0.20100203156471252,
+          0.4079466164112091,
+          -5.649944305419922
+        ],
+        [
+          -0.41492515802383423,
+          0.008075930178165436,
+          -0.9098196625709534,
+          -2.392195224761963
+        ],
+        [
+          -0.18617016077041626,
+          -0.9795575141906738,
+          0.07620834559202194,
+          -0.9274686574935913
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8726,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_83082675",
+      "mask_path": "../../mask/hdr_right_08726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08727.png",
+      "transform_matrix": [
+        [
+          -0.891137421131134,
+          0.1957184225320816,
+          0.4093511402606964,
+          -5.59417200088501
+        ],
+        [
+          -0.4176020920276642,
+          -0.0009824695298448205,
+          -0.9086295366287231,
+          -2.375476360321045
+        ],
+        [
+          -0.17743337154388428,
+          -0.9806596636772156,
+          0.0826079249382019,
+          -0.9219773411750793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8727,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_183082103",
+      "mask_path": "../../mask/hdr_right_08727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08728.png",
+      "transform_matrix": [
+        [
+          -0.8904158473014832,
+          0.1883731186389923,
+          0.4143369495868683,
+          -5.529905796051025
+        ],
+        [
+          -0.4217110276222229,
+          0.0010270775528624654,
+          -0.9067298173904419,
+          -2.354044198989868
+        ],
+        [
+          -0.17122907936573029,
+          -0.9820969700813293,
+          0.07852448523044586,
+          -0.9148420095443726
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8728,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_283081531",
+      "mask_path": "../../mask/hdr_right_08728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08729.png",
+      "transform_matrix": [
+        [
+          -0.8888750672340393,
+          0.1789637953042984,
+          0.4217502772808075,
+          -5.442037582397461
+        ],
+        [
+          -0.4275844395160675,
+          0.006552705075591803,
+          -0.9039517641067505,
+          -2.3272743225097656
+        ],
+        [
+          -0.16453823447227478,
+          -0.9838338494300842,
+          0.0706975981593132,
+          -0.8971185684204102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8729,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_383080959",
+      "mask_path": "../../mask/hdr_right_08729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08730.png",
+      "transform_matrix": [
+        [
+          -0.886834442615509,
+          0.17176906764507294,
+          0.4289756715297699,
+          -5.372739315032959
+        ],
+        [
+          -0.43316465616226196,
+          0.014254385605454445,
+          -0.9012020826339722,
+          -2.3061628341674805
+        ],
+        [
+          -0.16091342270374298,
+          -0.985034167766571,
+          0.06176300719380379,
+          -0.8814011216163635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8730,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_483081817",
+      "mask_path": "../../mask/hdr_right_08730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08731.png",
+      "transform_matrix": [
+        [
+          -0.8843135833740234,
+          0.16532659530639648,
+          0.4366423189640045,
+          -5.316091537475586
+        ],
+        [
+          -0.438959002494812,
+          0.02423141337931156,
+          -0.8981802463531494,
+          -2.285051107406616
+        ],
+        [
+          -0.15907354652881622,
+          -0.9859411716461182,
+          0.051143426448106766,
+          -0.8712422847747803
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8731,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_583080768",
+      "mask_path": "../../mask/hdr_right_08731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08732.png",
+      "transform_matrix": [
+        [
+          -0.8790297508239746,
+          0.15839938819408417,
+          0.4496847987174988,
+          -5.237910747528076
+        ],
+        [
+          -0.4515889883041382,
+          0.025834498926997185,
+          -0.891852080821991,
+          -2.251434326171875
+        ],
+        [
+          -0.15288618206977844,
+          -0.9870371222496033,
+          0.04882211983203888,
+          -0.8662973642349243
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8732,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_683079957",
+      "mask_path": "../../mask/hdr_right_08732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08733.png",
+      "transform_matrix": [
+        [
+          -0.8715844750404358,
+          0.15083739161491394,
+          0.46646392345428467,
+          -5.174079418182373
+        ],
+        [
+          -0.46922123432159424,
+          0.018987517803907394,
+          -0.8828765153884888,
+          -2.2215938568115234
+        ],
+        [
+          -0.14202779531478882,
+          -0.9883762001991272,
+          0.05422688648104668,
+          -0.8676302433013916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8733,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_783081293",
+      "mask_path": "../../mask/hdr_right_08733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08734.png",
+      "transform_matrix": [
+        [
+          -0.8661251068115234,
+          0.1434776484966278,
+          0.47879165410995483,
+          -5.118738174438477
+        ],
+        [
+          -0.4814907908439636,
+          0.01757682114839554,
+          -0.8762748837471008,
+          -2.1963040828704834
+        ],
+        [
+          -0.13414150476455688,
+          -0.9894974231719971,
+          0.05385943874716759,
+          -0.8719804883003235
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8734,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_883080244",
+      "mask_path": "../../mask/hdr_right_08734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08735.png",
+      "transform_matrix": [
+        [
+          -0.8588555455207825,
+          0.16817787289619446,
+          0.48382169008255005,
+          -5.021484375
+        ],
+        [
+          -0.491011381149292,
+          -0.0013408365193754435,
+          -0.8711522221565247,
+          -2.171412706375122
+        ],
+        [
+          -0.14585977792739868,
+          -0.9857556819915771,
+          0.08372882753610611,
+          -0.8470416069030762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8735,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324136_983080863",
+      "mask_path": "../../mask/hdr_right_08735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08736.png",
+      "transform_matrix": [
+        [
+          -0.8544882535934448,
+          0.19992762804031372,
+          0.4794567823410034,
+          -4.919576644897461
+        ],
+        [
+          -0.49055546522140503,
+          -0.006920353975147009,
+          -0.8713825941085815,
+          -2.1534667015075684
+        ],
+        [
+          -0.17089545726776123,
+          -0.979786217212677,
+          0.10398895293474197,
+          -0.7812823057174683
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8736,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_83083629",
+      "mask_path": "../../mask/hdr_right_08736.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/5fda1816/mesh.ply b/2024-11-11-12-07-40/splats/5fda1816/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..16ec54b1d87568a7456ca776e085eda09f263a4f
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/5fda1816/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e24462949137993bba6b8c6d6758a10a4c689da46161257464a5a4e0fae3f875
+size 81049055
diff --git a/2024-11-11-12-07-40/splats/5fda1816/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/5fda1816/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ca313029e00555a7e95e355848b6278de9912825
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/5fda1816/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7412f425420d1b8ecfbcdc25ee1cc204d052a30d017719eebc678f8c51cbc949
+size 1603615
diff --git a/2024-11-11-12-07-40/splats/5fda1816/splatfacto/config.yml b/2024-11-11-12-07-40/splats/5fda1816/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9f3303ee49f8071a2de741b53ecb0e1b1248d43b
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/5fda1816/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_5fda1816
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_5fda1816
+      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/2024-11-11-12-07-40/splats/5fda1816/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/5fda1816/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..7efc0b7f267c0ab64f1049473a9ae3958d7a0036
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/5fda1816/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.982324481010437,
+            -0.15166424214839935,
+            0.10971104353666306,
+            75.32584381103516
+        ],
+        [
+            -0.15166424214839935,
+            0.988396406173706,
+            0.008393802680075169,
+            -11.982221603393555
+        ],
+        [
+            -0.10971104353666306,
+            -0.008393802680075169,
+            -0.993928074836731,
+            -18.44944190979004
+        ]
+    ],
+    "scale": 0.1870146176510455
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/5fda1816/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/5fda1816/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1d4cca2c620a58c42434c7f9357189605aac33e2
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/5fda1816/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce7f00d42c842418a764c70e166d618d0563bc9c372e83720150daec35577b3
+size 242523025
diff --git a/2024-11-11-12-07-40/splats/5fda1816/transforms.json b/2024-11-11-12-07-40/splats/5fda1816/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4f6c93c0954d99de7f39366a26ed72030127cfb
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/5fda1816/transforms.json
@@ -0,0 +1,29616 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_04099.png",
+      "transform_matrix": [
+        [
+          0.031724777072668076,
+          -0.1846960335969925,
+          -0.9822835922241211,
+          65.283203125
+        ],
+        [
+          0.9994954466819763,
+          0.004351955372840166,
+          0.03146238252520561,
+          23.440357208251953
+        ],
+        [
+          -0.0015361221740022302,
+          -0.9827861189842224,
+          0.18474090099334717,
+          -26.01940155029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4099,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_383081436",
+      "mask_path": "../../mask/hdr_front_04099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04100.png",
+      "transform_matrix": [
+        [
+          0.040022093802690506,
+          -0.1702694445848465,
+          -0.9845845103263855,
+          65.37191772460938
+        ],
+        [
+          0.9991962313652039,
+          0.004600517451763153,
+          0.03982045501470566,
+          23.43852424621582
+        ],
+        [
+          -0.0022506066597998142,
+          -0.985386848449707,
+          0.17031671106815338,
+          -26.027751922607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4100,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_483080863",
+      "mask_path": "../../mask/hdr_front_04100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04101.png",
+      "transform_matrix": [
+        [
+          0.051913950592279434,
+          -0.15491418540477753,
+          -0.9865630269050598,
+          65.46572875976562
+        ],
+        [
+          0.9986059665679932,
+          -0.0013862939085811377,
+          0.05276535451412201,
+          23.436500549316406
+        ],
+        [
+          -0.00954176764935255,
+          -0.9879270195960999,
+          0.15462626516819,
+          -26.031030654907227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4101,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_583082675",
+      "mask_path": "../../mask/hdr_front_04101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04102.png",
+      "transform_matrix": [
+        [
+          0.05624881759285927,
+          -0.144743412733078,
+          -0.987869143486023,
+          65.59406280517578
+        ],
+        [
+          0.9982547760009766,
+          -0.00967232696712017,
+          0.058257363736629486,
+          23.433120727539062
+        ],
+        [
+          -0.017987361177802086,
+          -0.9894220232963562,
+          0.14394673705101013,
+          -26.044689178466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4102,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_683082342",
+      "mask_path": "../../mask/hdr_front_04102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04103.png",
+      "transform_matrix": [
+        [
+          0.05220605060458183,
+          -0.13598766922950745,
+          -0.9893341064453125,
+          65.69364166259766
+        ],
+        [
+          0.998410165309906,
+          -0.013976644724607468,
+          0.0546061247587204,
+          23.44046401977539
+        ],
+        [
+          -0.021253330633044243,
+          -0.9906119704246521,
+          0.13504180312156677,
+          -26.065330505371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4103,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_783082008",
+      "mask_path": "../../mask/hdr_front_04103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04104.png",
+      "transform_matrix": [
+        [
+          0.04945167899131775,
+          -0.12466973811388016,
+          -0.9909651875495911,
+          65.75801849365234
+        ],
+        [
+          0.99859619140625,
+          -0.01267678290605545,
+          0.051427312195301056,
+          23.44636344909668
+        ],
+        [
+          -0.01897367835044861,
+          -0.9921173453330994,
+          0.12386784702539444,
+          -26.079679489135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4104,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_883083105",
+      "mask_path": "../../mask/hdr_front_04104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04105.png",
+      "transform_matrix": [
+        [
+          0.054706837981939316,
+          -0.1233014315366745,
+          -0.9908602237701416,
+          65.85774230957031
+        ],
+        [
+          0.9983668327331543,
+          -0.00959863606840372,
+          0.056315742433071136,
+          23.437297821044922
+        ],
+        [
+          -0.01645471528172493,
+          -0.9923228621482849,
+          0.12257494777441025,
+          -26.07672119140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4105,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_983082056",
+      "mask_path": "../../mask/hdr_front_04105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04106.png",
+      "transform_matrix": [
+        [
+          0.06626561284065247,
+          -0.12086275219917297,
+          -0.990454912185669,
+          65.96495819091797
+        ],
+        [
+          0.9977119565010071,
+          -0.005319307092577219,
+          0.0674002394080162,
+          23.42904281616211
+        ],
+        [
+          -0.013414710760116577,
+          -0.9926550388336182,
+          0.12023371458053589,
+          -26.07728385925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4106,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_83081722",
+      "mask_path": "../../mask/hdr_front_04106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04107.png",
+      "transform_matrix": [
+        [
+          0.07870598137378693,
+          -0.11097291857004166,
+          -0.9907020330429077,
+          66.04052734375
+        ],
+        [
+          0.9967983365058899,
+          -0.0052794707007706165,
+          0.07978169620037079,
+          23.42144775390625
+        ],
+        [
+          -0.014083987101912498,
+          -0.9938094615936279,
+          0.11020209640264511,
+          -26.084253311157227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4107,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_183082103",
+      "mask_path": "../../mask/hdr_front_04107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04108.png",
+      "transform_matrix": [
+        [
+          0.08881550282239914,
+          -0.10243763029575348,
+          -0.9907665252685547,
+          66.12998962402344
+        ],
+        [
+          0.9957667589187622,
+          -0.014506018720567226,
+          0.09076354652643204,
+          23.407943725585938
+        ],
+        [
+          -0.02366967871785164,
+          -0.9946337342262268,
+          0.10071564465761185,
+          -26.096933364868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4108,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_283081769",
+      "mask_path": "../../mask/hdr_front_04108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04109.png",
+      "transform_matrix": [
+        [
+          0.08855447918176651,
+          -0.09839684516191483,
+          -0.9911993741989136,
+          66.23617553710938
+        ],
+        [
+          0.9954706430435181,
+          -0.025813525542616844,
+          0.09149859845638275,
+          23.394371032714844
+        ],
+        [
+          -0.03458952531218529,
+          -0.9948124289512634,
+          0.09566526859998703,
+          -26.09715461730957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4109,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_383081912",
+      "mask_path": "../../mask/hdr_front_04109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04110.png",
+      "transform_matrix": [
+        [
+          0.08168540894985199,
+          -0.09350700676441193,
+          -0.9922620058059692,
+          66.32199096679688
+        ],
+        [
+          0.9959250092506409,
+          -0.03052031621336937,
+          0.08486308157444,
+          23.390487670898438
+        ],
+        [
+          -0.03821944072842598,
+          -0.9951507449150085,
+          0.09063291549682617,
+          -26.090299606323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4110,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_483081579",
+      "mask_path": "../../mask/hdr_front_04110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04111.png",
+      "transform_matrix": [
+        [
+          0.07717261463403702,
+          -0.08832365274429321,
+          -0.9930979013442993,
+          66.41270446777344
+        ],
+        [
+          0.9963746666908264,
+          -0.02893424779176712,
+          0.0800006166100502,
+          23.39307403564453
+        ],
+        [
+          -0.03580048680305481,
+          -0.9956715106964111,
+          0.08577051758766174,
+          -26.109649658203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4111,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_583081722",
+      "mask_path": "../../mask/hdr_front_04111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04112.png",
+      "transform_matrix": [
+        [
+          0.08267230540513992,
+          -0.09088768064975739,
+          -0.9924236536026001,
+          66.52945709228516
+        ],
+        [
+          0.9960013628005981,
+          -0.026298440992832184,
+          0.08537880331277847,
+          23.37803840637207
+        ],
+        [
+          -0.033859074115753174,
+          -0.995513916015625,
+          0.08835010975599289,
+          -26.115680694580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4112,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_683082818",
+      "mask_path": "../../mask/hdr_front_04112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04113.png",
+      "transform_matrix": [
+        [
+          0.09606986492872238,
+          -0.09194830805063248,
+          -0.9911187291145325,
+          66.61614990234375
+        ],
+        [
+          0.9948982000350952,
+          -0.02193569205701351,
+          0.09847123920917511,
+          23.364553451538086
+        ],
+        [
+          -0.030795134603977203,
+          -0.995522141456604,
+          0.08937183022499084,
+          -26.11591148376465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4113,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_783081293",
+      "mask_path": "../../mask/hdr_front_04113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04114.png",
+      "transform_matrix": [
+        [
+          0.1104779839515686,
+          -0.08644095808267593,
+          -0.9901124238967896,
+          66.68115234375
+        ],
+        [
+          0.9934772253036499,
+          -0.018701206892728806,
+          0.11248613893985748,
+          23.352067947387695
+        ],
+        [
+          -0.02823970653116703,
+          -0.9960814118385315,
+          0.08381105959415436,
+          -26.12046241760254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4114,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_883081674",
+      "mask_path": "../../mask/hdr_front_04114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04115.png",
+      "transform_matrix": [
+        [
+          0.11960439383983612,
+          -0.08422917872667313,
+          -0.9892423152923584,
+          66.78756713867188
+        ],
+        [
+          0.9922775030136108,
+          -0.022841591387987137,
+          0.12191623449325562,
+          23.340272903442383
+        ],
+        [
+          -0.0328647680580616,
+          -0.9961845874786377,
+          0.08084677159786224,
+          -26.131103515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4115,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_983081102",
+      "mask_path": "../../mask/hdr_front_04115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04116.png",
+      "transform_matrix": [
+        [
+          0.12125333398580551,
+          -0.08676997572183609,
+          -0.9888218641281128,
+          66.8877182006836
+        ],
+        [
+          0.9917544722557068,
+          -0.031038479879498482,
+          0.1243366003036499,
+          23.336700439453125
+        ],
+        [
+          -0.041480209678411484,
+          -0.9957447648048401,
+          0.08229101449251175,
+          -26.14975357055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4116,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_83081245",
+      "mask_path": "../../mask/hdr_front_04116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04117.png",
+      "transform_matrix": [
+        [
+          0.1197177916765213,
+          -0.08762532472610474,
+          -0.9889335036277771,
+          66.95272827148438
+        ],
+        [
+          0.9918030500411987,
+          -0.034249670803546906,
+          0.12309989333152771,
+          23.331867218017578
+        ],
+        [
+          -0.04465731605887413,
+          -0.9955645203590393,
+          0.0828067734837532,
+          -26.151201248168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4117,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_183080911",
+      "mask_path": "../../mask/hdr_front_04117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04118.png",
+      "transform_matrix": [
+        [
+          0.12023956328630447,
+          -0.08870063722133636,
+          -0.988774299621582,
+          67.03836059570312
+        ],
+        [
+          0.9919169545173645,
+          -0.029935752972960472,
+          0.12330719083547592,
+          23.32894515991211
+        ],
+        [
+          -0.04053712636232376,
+          -0.995608389377594,
+          0.08438419550657272,
+          -26.161874771118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4118,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_283081293",
+      "mask_path": "../../mask/hdr_front_04118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04119.png",
+      "transform_matrix": [
+        [
+          0.12687817215919495,
+          -0.09199711680412292,
+          -0.9876428246498108,
+          67.14200592041016
+        ],
+        [
+          0.9910398125648499,
+          -0.030137833207845688,
+          0.1301218718290329,
+          23.315128326416016
+        ],
+        [
+          -0.04173625260591507,
+          -0.9953030943870544,
+          0.08734897524118423,
+          -26.169649124145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4119,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_383080482",
+      "mask_path": "../../mask/hdr_front_04119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04120.png",
+      "transform_matrix": [
+        [
+          0.13713973760604858,
+          -0.09215123951435089,
+          -0.9862560629844666,
+          67.22032928466797
+        ],
+        [
+          0.9896095395088196,
+          -0.03067200817167759,
+          0.1404719054698944,
+          23.299461364746094
+        ],
+        [
+          -0.04319510608911514,
+          -0.9952725172042847,
+          0.08698738366365433,
+          -26.170372009277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4120,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_483080625",
+      "mask_path": "../../mask/hdr_front_04120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04121.png",
+      "transform_matrix": [
+        [
+          0.14922885596752167,
+          -0.08742082118988037,
+          -0.9849306344985962,
+          67.28062438964844
+        ],
+        [
+          0.9879047870635986,
+          -0.029256073758006096,
+          0.15227621793746948,
+          23.291873931884766
+        ],
+        [
+          -0.04212730750441551,
+          -0.9957417845726013,
+          0.08199761062860489,
+          -26.182662963867188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4121,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_583079576",
+      "mask_path": "../../mask/hdr_front_04121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04122.png",
+      "transform_matrix": [
+        [
+          0.15648910403251648,
+          -0.08317507058382034,
+          -0.9841712713241577,
+          67.37911224365234
+        ],
+        [
+          0.986606240272522,
+          -0.03327876701951027,
+          0.1596887707710266,
+          23.285070419311523
+        ],
+        [
+          -0.046034131199121475,
+          -0.9959791302680969,
+          0.07685328274965286,
+          -26.19370460510254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4122,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_683080673",
+      "mask_path": "../../mask/hdr_front_04122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04123.png",
+      "transform_matrix": [
+        [
+          0.15546797215938568,
+          -0.08252058178186417,
+          -0.9843881726264954,
+          67.48137664794922
+        ],
+        [
+          0.9864680767059326,
+          -0.039549194276332855,
+          0.1591118425130844,
+          23.27372932434082
+        ],
+        [
+          -0.05206175893545151,
+          -0.9958043098449707,
+          0.07525528967380524,
+          -26.19794273376465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4123,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_783079862",
+      "mask_path": "../../mask/hdr_front_04123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04124.png",
+      "transform_matrix": [
+        [
+          0.14916619658470154,
+          -0.08103287220001221,
+          -0.9854862093925476,
+          67.55489349365234
+        ],
+        [
+          0.9874157309532166,
+          -0.04074183851480484,
+          0.1528083086013794,
+          23.2630558013916
+        ],
+        [
+          -0.052533019334077835,
+          -0.9958783984184265,
+          0.07393583655357361,
+          -26.195823669433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4124,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_883080720",
+      "mask_path": "../../mask/hdr_front_04124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04125.png",
+      "transform_matrix": [
+        [
+          0.1369992196559906,
+          -0.07567703723907471,
+          -0.987676203250885,
+          67.63369750976562
+        ],
+        [
+          0.9895217418670654,
+          -0.03542771190404892,
+          0.13996972143650055,
+          23.262401580810547
+        ],
+        [
+          -0.04558359831571579,
+          -0.9965028166770935,
+          0.07003049552440643,
+          -26.204450607299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4125,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_983080387",
+      "mask_path": "../../mask/hdr_front_04125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04126.png",
+      "transform_matrix": [
+        [
+          0.12563951313495636,
+          -0.07154509425163269,
+          -0.9894928336143494,
+          67.73497009277344
+        ],
+        [
+          0.9911998510360718,
+          -0.032854024320840836,
+          0.12823177874088287,
+          23.25713348388672
+        ],
+        [
+          -0.04168316721916199,
+          -0.9968962073326111,
+          0.0667877271771431,
+          -26.206947326660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4126,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_83080291",
+      "mask_path": "../../mask/hdr_front_04126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04127.png",
+      "transform_matrix": [
+        [
+          0.12006877362728119,
+          -0.06821571290493011,
+          -0.9904191493988037,
+          67.8176040649414
+        ],
+        [
+          0.9919546842575073,
+          -0.03207051381468773,
+          0.12246381491422653,
+          23.247953414916992
+        ],
+        [
+          -0.040117207914590836,
+          -0.9971550107002258,
+          0.06381622701883316,
+          -26.2034969329834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4127,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_183079719",
+      "mask_path": "../../mask/hdr_front_04127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04128.png",
+      "transform_matrix": [
+        [
+          0.11843052506446838,
+          -0.06274575740098953,
+          -0.9909778237342834,
+          67.87718200683594
+        ],
+        [
+          0.9923146367073059,
+          -0.02856249362230301,
+          0.12039878219366074,
+          23.238988876342773
+        ],
+        [
+          -0.035859305411577225,
+          -0.9976207613945007,
+          0.05888086557388306,
+          -26.208044052124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4128,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_283082008",
+      "mask_path": "../../mask/hdr_front_04128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04129.png",
+      "transform_matrix": [
+        [
+          0.11374813318252563,
+          -0.05716594681143761,
+          -0.9918636083602905,
+          67.96188354492188
+        ],
+        [
+          0.9929274916648865,
+          -0.027629820629954338,
+          0.11546258628368378,
+          23.23436164855957
+        ],
+        [
+          -0.0340055376291275,
+          -0.9979823231697083,
+          0.05361879616975784,
+          -26.214984893798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4129,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_383081912",
+      "mask_path": "../../mask/hdr_front_04129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04130.png",
+      "transform_matrix": [
+        [
+          0.0979079008102417,
+          -0.055830106139183044,
+          -0.993628203868866,
+          68.05319213867188
+        ],
+        [
+          0.9944879412651062,
+          -0.032153356820344925,
+          0.0997992604970932,
+          23.236244201660156
+        ],
+        [
+          -0.037520285695791245,
+          -0.997922420501709,
+          0.052374303340911865,
+          -26.215410232543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4130,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_483082056",
+      "mask_path": "../../mask/hdr_front_04130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04131.png",
+      "transform_matrix": [
+        [
+          0.07617874443531036,
+          -0.05510929599404335,
+          -0.9955700635910034,
+          68.12568664550781
+        ],
+        [
+          0.996435284614563,
+          -0.03208540380001068,
+          0.07802102714776993,
+          23.240907669067383
+        ],
+        [
+          -0.036242950707674026,
+          -0.9979646801948547,
+          0.052468620240688324,
+          -26.217344284057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4131,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_583082199",
+      "mask_path": "../../mask/hdr_front_04131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04132.png",
+      "transform_matrix": [
+        [
+          0.05507846549153328,
+          -0.054064251482486725,
+          -0.9970173239707947,
+          68.19570922851562
+        ],
+        [
+          0.9981805682182312,
+          -0.021552911028265953,
+          0.0563114695250988,
+          23.252504348754883
+        ],
+        [
+          -0.02453305758535862,
+          -0.9983049035072327,
+          0.052778780460357666,
+          -26.23501968383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4132,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_683081388",
+      "mask_path": "../../mask/hdr_front_04132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04133.png",
+      "transform_matrix": [
+        [
+          0.03883466124534607,
+          -0.058650847524404526,
+          -0.9975228905677795,
+          68.27672576904297
+        ],
+        [
+          0.9991164207458496,
+          -0.013769869692623615,
+          0.03970631957054138,
+          23.254093170166016
+        ],
+        [
+          -0.016064567491412163,
+          -0.9981836676597595,
+          0.05806427821516991,
+          -26.239315032958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4133,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_783080816",
+      "mask_path": "../../mask/hdr_front_04133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04134.png",
+      "transform_matrix": [
+        [
+          0.029606685042381287,
+          -0.060920897871255875,
+          -0.9977034330368042,
+          68.34239959716797
+        ],
+        [
+          0.999504804611206,
+          -0.008836742490530014,
+          0.030199721455574036,
+          23.251392364501953
+        ],
+        [
+          -0.01065624225884676,
+          -0.9981034994125366,
+          0.06062910333275795,
+          -26.234434127807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4134,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_883082151",
+      "mask_path": "../../mask/hdr_front_04134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04136.png",
+      "transform_matrix": [
+        [
+          0.0413510836660862,
+          -0.05562043562531471,
+          -0.9975953102111816,
+          68.47650146484375
+        ],
+        [
+          0.9991294145584106,
+          -0.003223029663786292,
+          0.04159437492489815,
+          23.248258590698242
+        ],
+        [
+          -0.005528774578124285,
+          -0.9984468221664429,
+          0.05543873459100723,
+          -26.242263793945312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4136,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_83082675",
+      "mask_path": "../../mask/hdr_front_04136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04137.png",
+      "transform_matrix": [
+        [
+          0.045512787997722626,
+          -0.06020879000425339,
+          -0.9971476197242737,
+          68.57359313964844
+        ],
+        [
+          0.9988076686859131,
+          -0.014904329553246498,
+          0.04648849368095398,
+          23.23868179321289
+        ],
+        [
+          -0.01766083389520645,
+          -0.9980745911598206,
+          0.0594586618244648,
+          -26.252792358398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4137,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_183080673",
+      "mask_path": "../../mask/hdr_front_04137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04138.png",
+      "transform_matrix": [
+        [
+          0.045611243695020676,
+          -0.06285389512777328,
+          -0.9969800114631653,
+          68.65087127685547
+        ],
+        [
+          0.9987168908119202,
+          -0.01911245286464691,
+          0.046895645558834076,
+          23.231670379638672
+        ],
+        [
+          -0.022002307698130608,
+          -0.9978398084640503,
+          0.061901506036520004,
+          -26.257144927978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4138,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_283082962",
+      "mask_path": "../../mask/hdr_front_04138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04139.png",
+      "transform_matrix": [
+        [
+          0.04671967029571533,
+          -0.06437598913908005,
+          -0.9968315958976746,
+          68.74361419677734
+        ],
+        [
+          0.9987531304359436,
+          -0.014565183781087399,
+          0.047750361263751984,
+          23.2341365814209
+        ],
+        [
+          -0.017593007534742355,
+          -0.9978194832801819,
+          0.06361524015665054,
+          -26.27432632446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4139,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_383082389",
+      "mask_path": "../../mask/hdr_front_04139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04140.png",
+      "transform_matrix": [
+        [
+          0.05318937823176384,
+          -0.07141231000423431,
+          -0.9960277080535889,
+          68.83617401123047
+        ],
+        [
+          0.9983991980552673,
+          -0.015410072170197964,
+          0.05442087724804878,
+          23.23068618774414
+        ],
+        [
+          -0.01923518069088459,
+          -0.9973278641700745,
+          0.07047834247350693,
+          -26.283004760742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4140,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_483082294",
+      "mask_path": "../../mask/hdr_front_04140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04141.png",
+      "transform_matrix": [
+        [
+          0.06198287382721901,
+          -0.07579603046178818,
+          -0.9951949715614319,
+          68.90959930419922
+        ],
+        [
+          0.9978315830230713,
+          -0.017412928864359856,
+          0.06347329169511795,
+          23.220422744750977
+        ],
+        [
+          -0.02214028313755989,
+          -0.9969713091850281,
+          0.07455237209796906,
+          -26.281850814819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4141,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_583082437",
+      "mask_path": "../../mask/hdr_front_04141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04142.png",
+      "transform_matrix": [
+        [
+          0.07324793189764023,
+          -0.07139328867197037,
+          -0.9947551488876343,
+          68.977783203125
+        ],
+        [
+          0.9971431493759155,
+          -0.013201401568949223,
+          0.07437124848365784,
+          23.216787338256836
+        ],
+        [
+          -0.018441766500473022,
+          -0.99736088514328,
+          0.07022237032651901,
+          -26.29252052307129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4142,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_683080911",
+      "mask_path": "../../mask/hdr_front_04142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04143.png",
+      "transform_matrix": [
+        [
+          0.08181855082511902,
+          -0.0717657282948494,
+          -0.9940601587295532,
+          69.07967376708984
+        ],
+        [
+          0.9964572191238403,
+          -0.01358350645750761,
+          0.08299650996923447,
+          23.21268653869629
+        ],
+        [
+          -0.019459126517176628,
+          -0.9973289966583252,
+          0.07040010392665863,
+          -26.302518844604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4143,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_783082246",
+      "mask_path": "../../mask/hdr_front_04143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04144.png",
+      "transform_matrix": [
+        [
+          0.08236932754516602,
+          -0.07582830637693405,
+          -0.9937129020690918,
+          69.18106079101562
+        ],
+        [
+          0.996280312538147,
+          -0.019062891602516174,
+          0.08403678983449936,
+          23.209426879882812
+        ],
+        [
+          -0.025315411388874054,
+          -0.9969386458396912,
+          0.0739760473370552,
+          -26.313467025756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4144,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_883081912",
+      "mask_path": "../../mask/hdr_front_04144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04145.png",
+      "transform_matrix": [
+        [
+          0.07610970735549927,
+          -0.07505309581756592,
+          -0.9942708015441895,
+          69.25360870361328
+        ],
+        [
+          0.996707022190094,
+          -0.022245369851589203,
+          0.07797541469335556,
+          23.209741592407227
+        ],
+        [
+          -0.027970213443040848,
+          -0.9969314336776733,
+          0.0731128603219986,
+          -26.316944122314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4145,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_983082056",
+      "mask_path": "../../mask/hdr_front_04145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04146.png",
+      "transform_matrix": [
+        [
+          0.06871601194143295,
+          -0.07289726287126541,
+          -0.9949694275856018,
+          69.32903289794922
+        ],
+        [
+          0.9974002242088318,
+          -0.01667313277721405,
+          0.07010547816753387,
+          23.21025276184082
+        ],
+        [
+          -0.021699754521250725,
+          -0.997200071811676,
+          0.0715620294213295,
+          -26.32150650024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4146,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_83082437",
+      "mask_path": "../../mask/hdr_front_04146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04147.png",
+      "transform_matrix": [
+        [
+          0.06415058672428131,
+          -0.07499302923679352,
+          -0.9951184391975403,
+          69.41889190673828
+        ],
+        [
+          0.9977702498435974,
+          -0.01357982773333788,
+          0.0653449296951294,
+          23.21017837524414
+        ],
+        [
+          -0.018413953483104706,
+          -0.9970915913581848,
+          0.07395467162132263,
+          -26.327632904052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4147,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_183081150",
+      "mask_path": "../../mask/hdr_front_04147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04148.png",
+      "transform_matrix": [
+        [
+          0.05739327147603035,
+          -0.0759979635477066,
+          -0.9954548478126526,
+          69.49598693847656
+        ],
+        [
+          0.9981929063796997,
+          -0.013410092331469059,
+          0.05857492983341217,
+          23.208274841308594
+        ],
+        [
+          -0.017800716683268547,
+          -0.9970178008079529,
+          0.07509098201990128,
+          -26.32694435119629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4148,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_283082008",
+      "mask_path": "../../mask/hdr_front_04148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04149.png",
+      "transform_matrix": [
+        [
+          0.05365598946809769,
+          -0.07256954163312912,
+          -0.9959189891815186,
+          69.55365753173828
+        ],
+        [
+          0.9984785914421082,
+          -0.008798698894679546,
+          0.05443502217531204,
+          23.205686569213867
+        ],
+        [
+          -0.012713116593658924,
+          -0.997324526309967,
+          0.07198702543973923,
+          -26.33060073852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4149,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_383081436",
+      "mask_path": "../../mask/hdr_front_04149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04150.png",
+      "transform_matrix": [
+        [
+          0.05868971720337868,
+          -0.06718770414590836,
+          -0.9960127472877502,
+          69.63048553466797
+        ],
+        [
+          0.9982285499572754,
+          -0.005807726643979549,
+          0.059212058782577515,
+          23.198972702026367
+        ],
+        [
+          -0.009762890636920929,
+          -0.9977235198020935,
+          0.06672783941030502,
+          -26.337509155273438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4150,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_483081340",
+      "mask_path": "../../mask/hdr_front_04150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04151.png",
+      "transform_matrix": [
+        [
+          0.059654600918293,
+          -0.06760205328464508,
+          -0.9959273934364319,
+          69.72803497314453
+        ],
+        [
+          0.9981030821800232,
+          -0.011168768629431725,
+          0.06054305285215378,
+          23.192873001098633
+        ],
+        [
+          -0.01521611399948597,
+          -0.9976499676704407,
+          0.06680753827095032,
+          -26.341856002807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4151,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_583082437",
+      "mask_path": "../../mask/hdr_front_04151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04152.png",
+      "transform_matrix": [
+        [
+          0.052411578595638275,
+          -0.06743496656417847,
+          -0.9963461756706238,
+          69.81031799316406
+        ],
+        [
+          0.998437225818634,
+          -0.01583492010831833,
+          0.05359332635998726,
+          23.194557189941406
+        ],
+        [
+          -0.019391121342778206,
+          -0.9975979924201965,
+          0.06649963557720184,
+          -26.349193572998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4152,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_683081865",
+      "mask_path": "../../mask/hdr_front_04152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04153.png",
+      "transform_matrix": [
+        [
+          0.03771652653813362,
+          -0.06267832219600677,
+          -0.997320830821991,
+          69.89102172851562
+        ],
+        [
+          0.999176561832428,
+          -0.012568633072078228,
+          0.038576602935791016,
+          23.199071884155273
+        ],
+        [
+          -0.014952877536416054,
+          -0.9979546666145325,
+          0.0621526762843132,
+          -26.365970611572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4153,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_783082008",
+      "mask_path": "../../mask/hdr_front_04153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04154.png",
+      "transform_matrix": [
+        [
+          0.020704256370663643,
+          -0.0663040354847908,
+          -0.9975846409797668,
+          69.98331451416016
+        ],
+        [
+          0.9997384548187256,
+          -0.008315600454807281,
+          0.02130165323615074,
+          23.2005558013916
+        ],
+        [
+          -0.009707898832857609,
+          -0.9977648258209229,
+          0.06611452251672745,
+          -26.363603591918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4154,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_883082151",
+      "mask_path": "../../mask/hdr_front_04154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04155.png",
+      "transform_matrix": [
+        [
+          0.0061518424190580845,
+          -0.07194220274686813,
+          -0.9973898530006409,
+          70.06314086914062
+        ],
+        [
+          0.9999610781669617,
+          -0.005869607906788588,
+          0.006591080222278833,
+          23.204179763793945
+        ],
+        [
+          -0.0063284640200436115,
+          -0.9973915815353394,
+          0.071903295814991,
+          -26.356727600097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4155,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_983082294",
+      "mask_path": "../../mask/hdr_front_04155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04156.png",
+      "transform_matrix": [
+        [
+          -1.0267565812682733e-05,
+          -0.07157065719366074,
+          -0.9974355697631836,
+          70.1281509399414
+        ],
+        [
+          0.9999996423721313,
+          0.0008243253105320036,
+          -6.944315828150138e-05,
+          23.204545974731445
+        ],
+        [
+          0.000827182549983263,
+          -0.9974352717399597,
+          0.07157061994075775,
+          -26.36073112487793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4156,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_83083152",
+      "mask_path": "../../mask/hdr_front_04156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04157.png",
+      "transform_matrix": [
+        [
+          0.0049608005210757256,
+          -0.06922966241836548,
+          -0.9975884556770325,
+          70.206787109375
+        ],
+        [
+          0.9999868273735046,
+          -0.0009152923012152314,
+          0.0050362478941679,
+          23.204317092895508
+        ],
+        [
+          -0.0012617420870810747,
+          -0.9976003170013428,
+          0.06922420859336853,
+          -26.374767303466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4157,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_183082103",
+      "mask_path": "../../mask/hdr_front_04157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04158.png",
+      "transform_matrix": [
+        [
+          0.005303048994392157,
+          -0.07423337548971176,
+          -0.9972268342971802,
+          70.30738830566406
+        ],
+        [
+          0.9999023675918579,
+          -0.012498221360147,
+          0.006247643381357193,
+          23.203407287597656
+        ],
+        [
+          -0.012927343137562275,
+          -0.9971626400947571,
+          0.07415985316038132,
+          -26.388219833374023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4158,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_283081054",
+      "mask_path": "../../mask/hdr_front_04158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04159.png",
+      "transform_matrix": [
+        [
+          -0.00037797685945406556,
+          -0.07868964970111847,
+          -0.9968990683555603,
+          70.38470458984375
+        ],
+        [
+          0.9998406171798706,
+          -0.017821937799453735,
+          0.0010276722023263574,
+          23.20880699157715
+        ],
+        [
+          -0.017847539857029915,
+          -0.9967398643493652,
+          0.07868384569883347,
+          -26.405595779418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4159,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_383081436",
+      "mask_path": "../../mask/hdr_front_04159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04160.png",
+      "transform_matrix": [
+        [
+          -0.004078357946127653,
+          -0.07815857231616974,
+          -0.9969326257705688,
+          70.46160888671875
+        ],
+        [
+          0.9999123811721802,
+          -0.012874309904873371,
+          -0.003081214614212513,
+          23.224607467651367
+        ],
+        [
+          -0.012593994848430157,
+          -0.9968578219413757,
+          0.07820422947406769,
+          -26.4361572265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4160,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_483081102",
+      "mask_path": "../../mask/hdr_front_04160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04161.png",
+      "transform_matrix": [
+        [
+          0.0010659211548045278,
+          -0.09027992188930511,
+          -0.9959158897399902,
+          70.5438003540039
+        ],
+        [
+          0.9999779462814331,
+          -0.006425605155527592,
+          0.001652751350775361,
+          23.229604721069336
+        ],
+        [
+          -0.006548571400344372,
+          -0.9958956837654114,
+          0.09027108550071716,
+          -26.448684692382812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4161,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_583082199",
+      "mask_path": "../../mask/hdr_front_04161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04162.png",
+      "transform_matrix": [
+        [
+          0.011127608828246593,
+          -0.10450804978609085,
+          -0.9944618344306946,
+          70.62213897705078
+        ],
+        [
+          0.9999202489852905,
+          -0.004779632203280926,
+          0.011690977029502392,
+          23.214963912963867
+        ],
+        [
+          -0.005974962376058102,
+          -0.9945125579833984,
+          0.10444652289152145,
+          -26.443965911865234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4162,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_683082103",
+      "mask_path": "../../mask/hdr_front_04162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04163.png",
+      "transform_matrix": [
+        [
+          0.023431697860360146,
+          -0.10696114599704742,
+          -0.9939870834350586,
+          70.69657897949219
+        ],
+        [
+          0.9997134804725647,
+          -0.0023603378795087337,
+          0.023820679634809494,
+          23.204771041870117
+        ],
+        [
+          -0.004894033074378967,
+          -0.9942604303359985,
+          0.10687519609928131,
+          -26.448104858398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4163,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_783082008",
+      "mask_path": "../../mask/hdr_front_04163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04164.png",
+      "transform_matrix": [
+        [
+          0.038568075746297836,
+          -0.10793100297451019,
+          -0.9934099912643433,
+          70.79358673095703
+        ],
+        [
+          0.9992189407348633,
+          -0.004393639042973518,
+          0.03927095979452133,
+          23.2023983001709
+        ],
+        [
+          -0.008603237569332123,
+          -0.9941486716270447,
+          0.10767723619937897,
+          -26.466068267822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4164,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_883081674",
+      "mask_path": "../../mask/hdr_front_04164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04165.png",
+      "transform_matrix": [
+        [
+          0.043701790273189545,
+          -0.12129999697208405,
+          -0.9916533827781677,
+          70.90056610107422
+        ],
+        [
+          0.9988832473754883,
+          -0.012537477537989616,
+          0.04555400460958481,
+          23.203081130981445
+        ],
+        [
+          -0.01795853301882744,
+          -0.992536723613739,
+          0.1206166222691536,
+          -26.49406623840332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4165,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_983081817",
+      "mask_path": "../../mask/hdr_front_04165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04166.png",
+      "transform_matrix": [
+        [
+          0.042349934577941895,
+          -0.1324116438627243,
+          -0.9902896881103516,
+          70.97171020507812
+        ],
+        [
+          0.9988086223602295,
+          -0.018442025408148766,
+          0.04518013074994087,
+          23.207923889160156
+        ],
+        [
+          -0.02424532175064087,
+          -0.9910233020782471,
+          0.1314728707075119,
+          -26.52269172668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4166,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_83081722",
+      "mask_path": "../../mask/hdr_front_04166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04167.png",
+      "transform_matrix": [
+        [
+          0.04193389043211937,
+          -0.1323515623807907,
+          -0.9903154373168945,
+          71.03495025634766
+        ],
+        [
+          0.998824417591095,
+          -0.018572179600596428,
+          0.04477629438042641,
+          23.21063995361328
+        ],
+        [
+          -0.024318523705005646,
+          -0.9910288453102112,
+          0.1314171552658081,
+          -26.53666114807129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4167,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_183082103",
+      "mask_path": "../../mask/hdr_front_04167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04168.png",
+      "transform_matrix": [
+        [
+          0.04452785477042198,
+          -0.13851360976696014,
+          -0.9893590807914734,
+          71.12812042236328
+        ],
+        [
+          0.9985930323600769,
+          -0.022373611107468605,
+          0.0480758361518383,
+          23.203784942626953
+        ],
+        [
+          -0.02879468910396099,
+          -0.9901078343391418,
+          0.13732248544692993,
+          -26.551172256469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4168,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_283081769",
+      "mask_path": "../../mask/hdr_front_04168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04169.png",
+      "transform_matrix": [
+        [
+          0.05272943153977394,
+          -0.14326414465904236,
+          -0.9882788062095642,
+          71.22713470458984
+        ],
+        [
+          0.9980612397193909,
+          -0.0252080000936985,
+          0.05690561980009079,
+          23.184093475341797
+        ],
+        [
+          -0.033065065741539,
+          -0.989363431930542,
+          0.14165717363357544,
+          -26.561790466308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4169,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_383081912",
+      "mask_path": "../../mask/hdr_front_04169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04170.png",
+      "transform_matrix": [
+        [
+          0.06473829597234726,
+          -0.13911107182502747,
+          -0.9881584644317627,
+          71.30007934570312
+        ],
+        [
+          0.9974439144134521,
+          -0.020991967990994453,
+          0.06830183416604996,
+          23.170394897460938
+        ],
+        [
+          -0.03024493157863617,
+          -0.9900543093681335,
+          0.13739649951457977,
+          -26.566423416137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4170,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_483082294",
+      "mask_path": "../../mask/hdr_front_04170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04171.png",
+      "transform_matrix": [
+        [
+          0.0768040344119072,
+          -0.1305050104856491,
+          -0.9884682297706604,
+          71.37020874023438
+        ],
+        [
+          0.996604323387146,
+          -0.019465100020170212,
+          0.08000612258911133,
+          23.162687301635742
+        ],
+        [
+          -0.02968183346092701,
+          -0.9912566542625427,
+          0.12856683135032654,
+          -26.57293128967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4171,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_583081483",
+      "mask_path": "../../mask/hdr_front_04171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04172.png",
+      "transform_matrix": [
+        [
+          0.08054933696985245,
+          -0.13604497909545898,
+          -0.9874227046966553,
+          71.4678955078125
+        ],
+        [
+          0.9961148500442505,
+          -0.024388154968619347,
+          0.08461856842041016,
+          23.15306282043457
+        ],
+        [
+          -0.03559334948658943,
+          -0.9904024600982666,
+          0.1335519701242447,
+          -26.59605598449707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4172,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_683082342",
+      "mask_path": "../../mask/hdr_front_04172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04173.png",
+      "transform_matrix": [
+        [
+          0.07941852509975433,
+          -0.14557789266109467,
+          -0.9861540198326111,
+          71.55242156982422
+        ],
+        [
+          0.9960205554962158,
+          -0.02854878641664982,
+          0.08442754298448563,
+          23.145397186279297
+        ],
+        [
+          -0.040444280952215195,
+          -0.9889348149299622,
+          0.14273126423358917,
+          -26.625267028808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4173,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_783082485",
+      "mask_path": "../../mask/hdr_front_04173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04174.png",
+      "transform_matrix": [
+        [
+          0.08038792759180069,
+          -0.14459484815597534,
+          -0.986220121383667,
+          71.62178039550781
+        ],
+        [
+          0.9961132407188416,
+          -0.024082839488983154,
+          0.08472525328397751,
+          23.136045455932617
+        ],
+        [
+          -0.036001820117235184,
+          -0.989197850227356,
+          0.1420968770980835,
+          -26.63224983215332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4174,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_883081912",
+      "mask_path": "../../mask/hdr_front_04174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04175.png",
+      "transform_matrix": [
+        [
+          0.08356086164712906,
+          -0.14516347646713257,
+          -0.9858728051185608,
+          71.71260833740234
+        ],
+        [
+          0.9961187243461609,
+          -0.015293320640921593,
+          0.08668113499879837,
+          23.13359260559082
+        ],
+        [
+          -0.027660200372338295,
+          -0.9892894625663757,
+          0.14332212507724762,
+          -26.654006958007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4175,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_983083724",
+      "mask_path": "../../mask/hdr_front_04175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04176.png",
+      "transform_matrix": [
+        [
+          0.09111325442790985,
+          -0.1501610428094864,
+          -0.9844542145729065,
+          71.80481719970703
+        ],
+        [
+          0.99551922082901,
+          -0.011378033086657524,
+          0.09387286752462387,
+          23.1240177154541
+        ],
+        [
+          -0.025297198444604874,
+          -0.9885960817337036,
+          0.14845149219036102,
+          -26.675241470336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4176,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_83082199",
+      "mask_path": "../../mask/hdr_front_04176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04177.png",
+      "transform_matrix": [
+        [
+          0.10144328325986862,
+          -0.1532737910747528,
+          -0.9829630851745605,
+          71.87944793701172
+        ],
+        [
+          0.9945468306541443,
+          -0.008414236828684807,
+          0.10395079106092453,
+          23.107223510742188
+        ],
+        [
+          -0.024203812703490257,
+          -0.9881479144096375,
+          0.15158440172672272,
+          -26.68254280090332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4177,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_183081150",
+      "mask_path": "../../mask/hdr_front_04177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04178.png",
+      "transform_matrix": [
+        [
+          0.11456688493490219,
+          -0.14870227873325348,
+          -0.9822230339050293,
+          71.95162200927734
+        ],
+        [
+          0.9931308031082153,
+          -0.006523549556732178,
+          0.11682680994272232,
+          23.095321655273438
+        ],
+        [
+          -0.023779992014169693,
+          -0.988860547542572,
+          0.1469334214925766,
+          -26.691579818725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4178,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_283080816",
+      "mask_path": "../../mask/hdr_front_04178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04179.png",
+      "transform_matrix": [
+        [
+          0.12579569220542908,
+          -0.14255057275295258,
+          -0.9817610383033752,
+          72.05998229980469
+        ],
+        [
+          0.991792619228363,
+          -0.004738406743854284,
+          0.12776906788349152,
+          23.08991050720215
+        ],
+        [
+          -0.02286553382873535,
+          -0.9897761940956116,
+          0.14078454673290253,
+          -26.703964233398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4179,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_383081912",
+      "mask_path": "../../mask/hdr_front_04179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04180.png",
+      "transform_matrix": [
+        [
+          0.12731662392616272,
+          -0.13868960738182068,
+          -0.9821179509162903,
+          72.16558837890625
+        ],
+        [
+          0.9915491342544556,
+          -0.007073718123137951,
+          0.1295381486415863,
+          23.087608337402344
+        ],
+        [
+          -0.024912815541028976,
+          -0.9903106689453125,
+          0.13661696016788483,
+          -26.711864471435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4180,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_483082532",
+      "mask_path": "../../mask/hdr_front_04180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04181.png",
+      "transform_matrix": [
+        [
+          0.1255648136138916,
+          -0.13209262490272522,
+          -0.9832523465156555,
+          72.2406005859375
+        ],
+        [
+          0.9917265772819519,
+          -0.00994108710438013,
+          0.12798252701759338,
+          23.08911895751953
+        ],
+        [
+          -0.02668014168739319,
+          -0.991187572479248,
+          0.129751518368721,
+          -26.715518951416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4181,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_583083629",
+      "mask_path": "../../mask/hdr_front_04181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04182.png",
+      "transform_matrix": [
+        [
+          0.12683916091918945,
+          -0.12343880534172058,
+          -0.9842126965522766,
+          72.32252502441406
+        ],
+        [
+          0.9915581345558167,
+          -0.011141530238091946,
+          0.12918315827846527,
+          23.091398239135742
+        ],
+        [
+          -0.02691185101866722,
+          -0.992289662361145,
+          0.12098357081413269,
+          -26.72743034362793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4182,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_683082580",
+      "mask_path": "../../mask/hdr_front_04182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04183.png",
+      "transform_matrix": [
+        [
+          0.13253645598888397,
+          -0.11697833985090256,
+          -0.984251081943512,
+          72.42520904541016
+        ],
+        [
+          0.990800142288208,
+          -0.011783843860030174,
+          0.13481886684894562,
+          23.080652236938477
+        ],
+        [
+          -0.027369145303964615,
+          -0.9930645823478699,
+          0.1143403872847557,
+          -26.73245620727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4183,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_783082246",
+      "mask_path": "../../mask/hdr_front_04183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04184.png",
+      "transform_matrix": [
+        [
+          0.14191006124019623,
+          -0.10954772680997849,
+          -0.9837992787361145,
+          72.50759887695312
+        ],
+        [
+          0.989508330821991,
+          -0.011517209932208061,
+          0.14401604235172272,
+          23.07080841064453
+        ],
+        [
+          -0.027107251808047295,
+          -0.9939148426055908,
+          0.10676397383213043,
+          -26.72881507873535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4184,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_883082389",
+      "mask_path": "../../mask/hdr_front_04184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04185.png",
+      "transform_matrix": [
+        [
+          0.15538550913333893,
+          -0.098221056163311,
+          -0.9829588532447815,
+          72.57543182373047
+        ],
+        [
+          0.987464964389801,
+          -0.012475642375648022,
+          0.15734447538852692,
+          23.05896759033203
+        ],
+        [
+          -0.027717577293515205,
+          -0.9950864911079407,
+          0.09505131095647812,
+          -26.726964950561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4185,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_983082532",
+      "mask_path": "../../mask/hdr_front_04185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04186.png",
+      "transform_matrix": [
+        [
+          0.1645885854959488,
+          -0.09341171383857727,
+          -0.9819291830062866,
+          72.67327117919922
+        ],
+        [
+          0.9858385324478149,
+          -0.016856003552675247,
+          0.16684740781784058,
+          23.045726776123047
+        ],
+        [
+          -0.03213690221309662,
+          -0.9954849481582642,
+          0.08931456506252289,
+          -26.732364654541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4186,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_83082914",
+      "mask_path": "../../mask/hdr_front_04186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04187.png",
+      "transform_matrix": [
+        [
+          0.16281624138355255,
+          -0.09444452077150345,
+          -0.9821257591247559,
+          72.76036834716797
+        ],
+        [
+          0.9857937693595886,
+          -0.026042141020298004,
+          0.16592863202095032,
+          23.04291343688965
+        ],
+        [
+          -0.04124770313501358,
+          -0.9951894283294678,
+          0.08886274695396423,
+          -26.748828887939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4187,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_183081388",
+      "mask_path": "../../mask/hdr_front_04187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04188.png",
+      "transform_matrix": [
+        [
+          0.1574869006872177,
+          -0.09191495925188065,
+          -0.9832342863082886,
+          72.8138427734375
+        ],
+        [
+          0.9864653944969177,
+          -0.031384117901325226,
+          0.1609383076429367,
+          23.042020797729492
+        ],
+        [
+          -0.04565057530999184,
+          -0.9952722787857056,
+          0.08572835475206375,
+          -26.76668930053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4188,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_283081769",
+      "mask_path": "../../mask/hdr_front_04188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04189.png",
+      "transform_matrix": [
+        [
+          0.15567560493946075,
+          -0.09304206818342209,
+          -0.983416736125946,
+          72.8881607055664
+        ],
+        [
+          0.9870143532752991,
+          -0.02525465190410614,
+          0.1586344987154007,
+          23.02524185180664
+        ],
+        [
+          -0.039595525711774826,
+          -0.9953418970108032,
+          0.08790232986211777,
+          -26.785249710083008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4189,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_383083105",
+      "mask_path": "../../mask/hdr_front_04189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04190.png",
+      "transform_matrix": [
+        [
+          0.16234023869037628,
+          -0.11408887803554535,
+          -0.9801170229911804,
+          72.96892547607422
+        ],
+        [
+          0.9859445691108704,
+          -0.020988930016756058,
+          0.1657487154006958,
+          23.012237548828125
+        ],
+        [
+          -0.03948168829083443,
+          -0.9932488799095154,
+          0.10907797515392303,
+          -26.809988021850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4190,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_483081579",
+      "mask_path": "../../mask/hdr_front_04190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04191.png",
+      "transform_matrix": [
+        [
+          0.1729985773563385,
+          -0.1370057910680771,
+          -0.9753466248512268,
+          73.01642608642578
+        ],
+        [
+          0.9839637875556946,
+          -0.019630666822195053,
+          0.17728452384471893,
+          23.00511360168457
+        ],
+        [
+          -0.0434357114136219,
+          -0.990375816822052,
+          0.13141267001628876,
+          -26.835773468017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4191,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_583083391",
+      "mask_path": "../../mask/hdr_front_04191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04192.png",
+      "transform_matrix": [
+        [
+          0.18606294691562653,
+          -0.14427219331264496,
+          -0.9718879461288452,
+          73.0628662109375
+        ],
+        [
+          0.9817913174629211,
+          -0.011251579970121384,
+          0.18962915241718292,
+          22.98556900024414
+        ],
+        [
+          -0.03829348459839821,
+          -0.9894741177558899,
+          0.13955168426036835,
+          -26.84346580505371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4192,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_683081388",
+      "mask_path": "../../mask/hdr_front_04192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04193.png",
+      "transform_matrix": [
+        [
+          0.19970792531967163,
+          -0.1446736454963684,
+          -0.9691162109375,
+          73.12903594970703
+        ],
+        [
+          0.9790802597999573,
+          -0.009874220006167889,
+          0.20323528349399567,
+          22.9699764251709
+        ],
+        [
+          -0.03897205367684364,
+          -0.9894301891326904,
+          0.13967514038085938,
+          -26.854164123535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4193,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_783081769",
+      "mask_path": "../../mask/hdr_front_04193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04194.png",
+      "transform_matrix": [
+        [
+          0.20350520312786102,
+          -0.14874257147312164,
+          -0.9677093625068665,
+          73.21117401123047
+        ],
+        [
+          0.9779277443885803,
+          -0.01692812331020832,
+          0.2082560509443283,
+          22.960046768188477
+        ],
+        [
+          -0.047358039766550064,
+          -0.9887310862541199,
+          0.1420145481824875,
+          -26.86087417602539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4194,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_883080244",
+      "mask_path": "../../mask/hdr_front_04194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04195.png",
+      "transform_matrix": [
+        [
+          0.20077726244926453,
+          -0.15222950279712677,
+          -0.9677369594573975,
+          73.28085327148438
+        ],
+        [
+          0.9779605269432068,
+          -0.026620451360940933,
+          0.20708589255809784,
+          22.94784164428711
+        ],
+        [
+          -0.05728617310523987,
+          -0.9879866242408752,
+          0.14352965354919434,
+          -26.870777130126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4195,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_983080625",
+      "mask_path": "../../mask/hdr_front_04195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04196.png",
+      "transform_matrix": [
+        [
+          0.19842365384101868,
+          -0.1505996435880661,
+          -0.968477189540863,
+          73.33200073242188
+        ],
+        [
+          0.9781094789505005,
+          -0.032774776220321655,
+          0.20549370348453522,
+          22.934921264648438
+        ],
+        [
+          -0.06268889456987381,
+          -0.9880514144897461,
+          0.1407996416091919,
+          -26.87419319152832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4196,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_83081007",
+      "mask_path": "../../mask/hdr_front_04196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04197.png",
+      "transform_matrix": [
+        [
+          0.1994013786315918,
+          -0.1490812599658966,
+          -0.9685112237930298,
+          73.41886138916016
+        ],
+        [
+          0.977899432182312,
+          -0.0331299863755703,
+          0.20643393695354462,
+          22.911710739135742
+        ],
+        [
+          -0.06286218762397766,
+          -0.9882698059082031,
+          0.13918031752109528,
+          -26.892972946166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4197,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_183080673",
+      "mask_path": "../../mask/hdr_front_04197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04198.png",
+      "transform_matrix": [
+        [
+          0.20860455930233002,
+          -0.16362737119197845,
+          -0.9642148017883301,
+          73.5032730102539
+        ],
+        [
+          0.9762988090515137,
+          -0.02328505367040634,
+          0.21517038345336914,
+          22.885042190551758
+        ],
+        [
+          -0.05765955150127411,
+          -0.9862473607063293,
+          0.15489181876182556,
+          -26.906047821044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4198,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_283081054",
+      "mask_path": "../../mask/hdr_front_04198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04200.png",
+      "transform_matrix": [
+        [
+          0.2288457304239273,
+          -0.1808173954486847,
+          -0.9565222263336182,
+          73.59353637695312
+        ],
+        [
+          0.9716224670410156,
+          -0.017961863428354263,
+          0.235853910446167,
+          22.848323822021484
+        ],
+        [
+          -0.05982740968465805,
+          -0.9833527207374573,
+          0.17157573997974396,
+          -26.914283752441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4200,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_483079910",
+      "mask_path": "../../mask/hdr_front_04200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04201.png",
+      "transform_matrix": [
+        [
+          0.23840729892253876,
+          -0.18065626919269562,
+          -0.9542144536972046,
+          73.64302825927734
+        ],
+        [
+          0.9693862795829773,
+          -0.015176895074546337,
+          0.24507129192352295,
+          22.83540153503418
+        ],
+        [
+          -0.05875566601753235,
+          -0.9834292531013489,
+          0.17150741815567017,
+          -26.93770980834961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4201,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_583078861",
+      "mask_path": "../../mask/hdr_front_04201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04202.png",
+      "transform_matrix": [
+        [
+          0.23565469682216644,
+          -0.2153647243976593,
+          -0.9476734399795532,
+          73.69442749023438
+        ],
+        [
+          0.968001127243042,
+          -0.034536074846982956,
+          0.24855804443359375,
+          22.810182571411133
+        ],
+        [
+          -0.08625955134630203,
+          -0.9759228825569153,
+          0.20033471286296844,
+          -26.95218276977539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4202,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_683080196",
+      "mask_path": "../../mask/hdr_front_04202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04205.png",
+      "transform_matrix": [
+        [
+          0.24228832125663757,
+          -0.22460463643074036,
+          -0.9438480734825134,
+          73.81153106689453
+        ],
+        [
+          0.9646683931350708,
+          -0.048005152493715286,
+          0.25905659794807434,
+          22.757789611816406
+        ],
+        [
+          -0.10349489003419876,
+          -0.9732667803764343,
+          0.205037921667099,
+          -26.99135398864746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4205,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_983081102",
+      "mask_path": "../../mask/hdr_front_04205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04206.png",
+      "transform_matrix": [
+        [
+          0.22968226671218872,
+          -0.2237965613603592,
+          -0.9471859335899353,
+          73.87284851074219
+        ],
+        [
+          0.967718780040741,
+          -0.051240649074316025,
+          0.24676819145679474,
+          22.7387752532959
+        ],
+        [
+          -0.10376028716564178,
+          -0.9732879996299744,
+          0.20480309426784515,
+          -27.012401580810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4206,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_83080768",
+      "mask_path": "../../mask/hdr_front_04206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04207.png",
+      "transform_matrix": [
+        [
+          0.21759282052516937,
+          -0.216955304145813,
+          -0.9516217112541199,
+          73.92510223388672
+        ],
+        [
+          0.970954954624176,
+          -0.05127488076686859,
+          0.2337033748626709,
+          22.73009490966797
+        ],
+        [
+          -0.0994974747300148,
+          -0.9748340249061584,
+          0.19949676096439362,
+          -27.025371551513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4207,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_183081150",
+      "mask_path": "../../mask/hdr_front_04207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04209.png",
+      "transform_matrix": [
+        [
+          0.19513274729251862,
+          -0.19427932798862457,
+          -0.9613422155380249,
+          74.05065155029297
+        ],
+        [
+          0.9772747159004211,
+          -0.04424389824271202,
+          0.20730805397033691,
+          22.71031951904297
+        ],
+        [
+          -0.0828091949224472,
+          -0.9799480438232422,
+          0.18123085796833038,
+          -27.041053771972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4209,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_383080005",
+      "mask_path": "../../mask/hdr_front_04209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04210.png",
+      "transform_matrix": [
+        [
+          0.18022070825099945,
+          -0.18671227991580963,
+          -0.965742826461792,
+          74.12401580810547
+        ],
+        [
+          0.980944812297821,
+          -0.038329966366291046,
+          0.1904681921005249,
+          22.713045120239258
+        ],
+        [
+          -0.07257962971925735,
+          -0.9816666841506958,
+          0.1762465536594391,
+          -27.059816360473633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4210,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_483081102",
+      "mask_path": "../../mask/hdr_front_04210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04212.png",
+      "transform_matrix": [
+        [
+          0.1628352552652359,
+          -0.16482901573181152,
+          -0.9727878570556641,
+          74.23731231689453
+        ],
+        [
+          0.9852846264839172,
+          -0.024749377742409706,
+          0.16912060976028442,
+          22.71509552001953
+        ],
+        [
+          -0.05195187032222748,
+          -0.9860116243362427,
+          0.1583734154701233,
+          -27.063037872314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4212,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_683080673",
+      "mask_path": "../../mask/hdr_front_04212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04213.png",
+      "transform_matrix": [
+        [
+          0.1633637398481369,
+          -0.1576187163591385,
+          -0.9738935828208923,
+          74.30686950683594
+        ],
+        [
+          0.9855648279190063,
+          -0.018387243151664734,
+          0.16829738020896912,
+          22.703996658325195
+        ],
+        [
+          -0.04443402960896492,
+          -0.9873289465904236,
+          0.1523396372795105,
+          -27.071849822998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4213,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_783080577",
+      "mask_path": "../../mask/hdr_front_04213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04214.png",
+      "transform_matrix": [
+        [
+          0.16574563086032867,
+          -0.15724511444568634,
+          -0.9735514521598816,
+          74.37028503417969
+        ],
+        [
+          0.985009491443634,
+          -0.02145129069685936,
+          0.17116110026836395,
+          22.696786880493164
+        ],
+        [
+          -0.04779818281531334,
+          -0.9873266220092773,
+          0.15133248269557953,
+          -27.084651947021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4214,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_883082866",
+      "mask_path": "../../mask/hdr_front_04214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04215.png",
+      "transform_matrix": [
+        [
+          0.17010816931724548,
+          -0.15825845301151276,
+          -0.9726343750953674,
+          74.42192077636719
+        ],
+        [
+          0.9839067459106445,
+          -0.0274977944791317,
+          0.176553875207901,
+          22.68844223022461
+        ],
+        [
+          -0.05468644201755524,
+          -0.9870148301124573,
+          0.15103396773338318,
+          -27.09072494506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4215,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_983082294",
+      "mask_path": "../../mask/hdr_front_04215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04216.png",
+      "transform_matrix": [
+        [
+          0.17935273051261902,
+          -0.1546541005373001,
+          -0.9715527296066284,
+          74.47743225097656
+        ],
+        [
+          0.9823855757713318,
+          -0.024498634040355682,
+          0.18525227904319763,
+          22.668987274169922
+        ],
+        [
+          -0.052451737225055695,
+          -0.9876648783683777,
+          0.14753605425357819,
+          -27.093175888061523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4216,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_83082199",
+      "mask_path": "../../mask/hdr_front_04216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04217.png",
+      "transform_matrix": [
+        [
+          0.18787816166877747,
+          -0.15097372233867645,
+          -0.9705199003219604,
+          74.52169799804688
+        ],
+        [
+          0.9807117581367493,
+          -0.025399604812264442,
+          0.19380231201648712,
+          22.64525604248047
+        ],
+        [
+          -0.05390987917780876,
+          -0.988211452960968,
+          0.1432896852493286,
+          -27.06983184814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4217,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_183080911",
+      "mask_path": "../../mask/hdr_front_04217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04218.png",
+      "transform_matrix": [
+        [
+          0.18574582040309906,
+          -0.17459295690059662,
+          -0.9669620990753174,
+          74.61458587646484
+        ],
+        [
+          0.9795283079147339,
+          -0.04482317715883255,
+          0.19625288248062134,
+          22.633071899414062
+        ],
+        [
+          -0.0776066780090332,
+          -0.9836199283599854,
+          0.16269300878047943,
+          -27.113901138305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4218,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_283080577",
+      "mask_path": "../../mask/hdr_front_04218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04219.png",
+      "transform_matrix": [
+        [
+          0.1847275346517563,
+          -0.1982397735118866,
+          -0.9625886678695679,
+          74.69025421142578
+        ],
+        [
+          0.9782857298851013,
+          -0.05657271295785904,
+          0.19939075410366058,
+          22.618959426879883
+        ],
+        [
+          -0.09398341923952103,
+          -0.9785195589065552,
+          0.18348458409309387,
+          -27.158777236938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4219,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_383082628",
+      "mask_path": "../../mask/hdr_front_04219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04221.png",
+      "transform_matrix": [
+        [
+          0.1962132751941681,
+          -0.19138984382152557,
+          -0.9617017507553101,
+          74.7920913696289
+        ],
+        [
+          0.9758457541465759,
+          -0.05795535817742348,
+          0.21063284575939178,
+          22.584274291992188
+        ],
+        [
+          -0.0960487499833107,
+          -0.9798015356063843,
+          0.17539535462856293,
+          -27.185096740722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4221,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_583080768",
+      "mask_path": "../../mask/hdr_front_04221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04222.png",
+      "transform_matrix": [
+        [
+          0.1974838376045227,
+          -0.19299066066741943,
+          -0.9611216187477112,
+          74.87031555175781
+        ],
+        [
+          0.9747114777565002,
+          -0.0659395381808281,
+          0.2135166972875595,
+          22.550321578979492
+        ],
+        [
+          -0.10458263754844666,
+          -0.9789824485778809,
+          0.17508821189403534,
+          -27.196544647216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4222,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_683081388",
+      "mask_path": "../../mask/hdr_front_04222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04223.png",
+      "transform_matrix": [
+        [
+          0.20253147184848785,
+          -0.19460617005825043,
+          -0.9597445726394653,
+          74.9317855834961
+        ],
+        [
+          0.9730598330497742,
+          -0.0702570229768753,
+          0.2195872962474823,
+          22.52158546447754
+        ],
+        [
+          -0.11016181856393814,
+          -0.9783621430397034,
+          0.17513416707515717,
+          -27.199525833129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4223,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_783082962",
+      "mask_path": "../../mask/hdr_front_04223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04224.png",
+      "transform_matrix": [
+        [
+          0.21080805361270905,
+          -0.1909569948911667,
+          -0.9586946368217468,
+          74.98072052001953
+        ],
+        [
+          0.9713504910469055,
+          -0.06915820389986038,
+          0.22736620903015137,
+          22.504592895507812
+        ],
+        [
+          -0.10971874743700027,
+          -0.9791591167449951,
+          0.17090705037117004,
+          -27.212909698486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4224,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_883081674",
+      "mask_path": "../../mask/hdr_front_04224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04225.png",
+      "transform_matrix": [
+        [
+          0.2219477891921997,
+          -0.18017782270908356,
+          -0.9582667350769043,
+          75.0487060546875
+        ],
+        [
+          0.9696672558784485,
+          -0.06241854280233383,
+          0.23632453382015228,
+          22.488256454467773
+        ],
+        [
+          -0.10239405184984207,
+          -0.9816516637802124,
+          0.1608588844537735,
+          -27.22934341430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4225,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_983082294",
+      "mask_path": "../../mask/hdr_front_04225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04226.png",
+      "transform_matrix": [
+        [
+          0.22555266320705414,
+          -0.17016881704330444,
+          -0.9592541456222534,
+          75.14041137695312
+        ],
+        [
+          0.969231128692627,
+          -0.06043170392513275,
+          0.23861902952194214,
+          22.46211051940918
+        ],
+        [
+          -0.09857487678527832,
+          -0.9835602045059204,
+          0.15130238234996796,
+          -27.22549057006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4226,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_83082675",
+      "mask_path": "../../mask/hdr_front_04226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04227.png",
+      "transform_matrix": [
+        [
+          0.22077085077762604,
+          -0.1604057103395462,
+          -0.9620448350906372,
+          75.210205078125
+        ],
+        [
+          0.970555305480957,
+          -0.0613078810274601,
+          0.23294593393802643,
+          22.440776824951172
+        ],
+        [
+          -0.09634676575660706,
+          -0.9851453900337219,
+          0.14214761555194855,
+          -27.22055435180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4227,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_183082580",
+      "mask_path": "../../mask/hdr_front_04227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06166.png",
+      "transform_matrix": [
+        [
+          -0.35762014985084534,
+          -0.11704108119010925,
+          0.9265038371086121,
+          74.68054962158203
+        ],
+        [
+          -0.9334571361541748,
+          0.015406719408929348,
+          -0.3583577871322632,
+          22.612079620361328
+        ],
+        [
+          0.027668196707963943,
+          -0.9930076003074646,
+          -0.11476258188486099,
+          -27.161121368408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6166,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_83078384",
+      "mask_path": "../../mask/hdr_front_06166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06167.png",
+      "transform_matrix": [
+        [
+          -0.3490581512451172,
+          -0.13352760672569275,
+          0.9275391101837158,
+          74.5695571899414
+        ],
+        [
+          -0.9360427856445312,
+          0.002654033014550805,
+          -0.35187625885009766,
+          22.61527442932129
+        ],
+        [
+          0.04452347010374069,
+          -0.9910415410995483,
+          -0.12591396272182465,
+          -27.128576278686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6167,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_183080196",
+      "mask_path": "../../mask/hdr_front_06167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06168.png",
+      "transform_matrix": [
+        [
+          -0.3335225284099579,
+          -0.13587519526481628,
+          0.9328991770744324,
+          74.450927734375
+        ],
+        [
+          -0.942016065120697,
+          0.009202436544001102,
+          -0.33544161915779114,
+          22.62675666809082
+        ],
+        [
+          0.03699324280023575,
+          -0.9906832575798035,
+          -0.13106584548950195,
+          -27.10027503967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6168,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_283080816",
+      "mask_path": "../../mask/hdr_front_06168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06169.png",
+      "transform_matrix": [
+        [
+          -0.31477394700050354,
+          -0.13046081364154816,
+          0.9401582479476929,
+          74.3840103149414
+        ],
+        [
+          -0.9489607214927673,
+          0.022620324045419693,
+          -0.3145822286605835,
+          22.636035919189453
+        ],
+        [
+          0.019773971289396286,
+          -0.9911954998970032,
+          -0.13092248141765594,
+          -27.104320526123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6169,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_383080005",
+      "mask_path": "../../mask/hdr_front_06169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06170.png",
+      "transform_matrix": [
+        [
+          -0.29799291491508484,
+          -0.12779830396175385,
+          0.9459745287895203,
+          74.32470703125
+        ],
+        [
+          -0.9544292092323303,
+          0.022984519600868225,
+          -0.29755109548568726,
+          22.637617111206055
+        ],
+        [
+          0.016283752396702766,
+          -0.9915338158607483,
+          -0.1288236528635025,
+          -27.10543441772461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6170,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_483080148",
+      "mask_path": "../../mask/hdr_front_06170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06171.png",
+      "transform_matrix": [
+        [
+          -0.28546273708343506,
+          -0.12740612030029297,
+          0.9498834609985352,
+          74.2470932006836
+        ],
+        [
+          -0.9581900835037231,
+          0.01770656928420067,
+          -0.28558415174484253,
+          22.648998260498047
+        ],
+        [
+          0.019565986469388008,
+          -0.9916926026344299,
+          -0.1271338313817978,
+          -27.09540367126465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6171,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_583080530",
+      "mask_path": "../../mask/hdr_front_06171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06172.png",
+      "transform_matrix": [
+        [
+          -0.2756003737449646,
+          -0.13164116442203522,
+          0.9522157907485962,
+          74.16073608398438
+        ],
+        [
+          -0.9609693288803101,
+          0.012860549613833427,
+          -0.27635595202445984,
+          22.666393280029297
+        ],
+        [
+          0.024133797734975815,
+          -0.9912140369415283,
+          -0.1300474852323532,
+          -27.073612213134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6172,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_683079957",
+      "mask_path": "../../mask/hdr_front_06172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06173.png",
+      "transform_matrix": [
+        [
+          -0.2660950720310211,
+          -0.13592323660850525,
+          0.9543155431747437,
+          74.08379364013672
+        ],
+        [
+          -0.9634839296340942,
+          0.006827367469668388,
+          -0.2676791548728943,
+          22.680912017822266
+        ],
+        [
+          0.02986835315823555,
+          -0.9906958937644958,
+          -0.13277655839920044,
+          -27.05594825744629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6173,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_783082962",
+      "mask_path": "../../mask/hdr_front_06173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06174.png",
+      "transform_matrix": [
+        [
+          -0.2589956223964691,
+          -0.1347801834344864,
+          0.956428587436676,
+          73.99829864501953
+        ],
+        [
+          -0.9653264284133911,
+          0.002645920030772686,
+          -0.2610322833061218,
+          22.69706916809082
+        ],
+        [
+          0.03265134617686272,
+          -0.9908720254898071,
+          -0.13079215586185455,
+          -27.043201446533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6174,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_883082628",
+      "mask_path": "../../mask/hdr_front_06174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06175.png",
+      "transform_matrix": [
+        [
+          -0.25448140501976013,
+          -0.1291690170764923,
+          0.9584125280380249,
+          73.90886688232422
+        ],
+        [
+          -0.9667379856109619,
+          0.0077093178406357765,
+          -0.2556529641151428,
+          22.719268798828125
+        ],
+        [
+          0.025633729994297028,
+          -0.9915926456451416,
+          -0.126834437251091,
+          -27.040191650390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6175,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_983082532",
+      "mask_path": "../../mask/hdr_front_06175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06176.png",
+      "transform_matrix": [
+        [
+          -0.25242385268211365,
+          -0.12495463341474533,
+          0.9595147371292114,
+          73.8353042602539
+        ],
+        [
+          -0.9673777222633362,
+          0.0105472132563591,
+          -0.2531188726425171,
+          22.737680435180664
+        ],
+        [
+          0.02150816284120083,
+          -0.9921064376831055,
+          -0.12354069203138351,
+          -27.0439510345459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6176,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_83083868",
+      "mask_path": "../../mask/hdr_front_06176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06177.png",
+      "transform_matrix": [
+        [
+          -0.2541252374649048,
+          -0.1260233223438263,
+          0.9589257836341858,
+          73.76595306396484
+        ],
+        [
+          -0.9668874740600586,
+          0.009083831682801247,
+          -0.2550413906574249,
+          22.755449295043945
+        ],
+        [
+          0.023430444300174713,
+          -0.9919857382774353,
+          -0.12415879964828491,
+          -27.040678024291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6177,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_183081865",
+      "mask_path": "../../mask/hdr_front_06177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06178.png",
+      "transform_matrix": [
+        [
+          -0.26029396057128906,
+          -0.12783560156822205,
+          0.9570292830467224,
+          73.67462921142578
+        ],
+        [
+          -0.9652141332626343,
+          0.009123195894062519,
+          -0.2613013684749603,
+          22.785240173339844
+        ],
+        [
+          0.024672461673617363,
+          -0.9917534589767456,
+          -0.12576346099376678,
+          -27.010250091552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6178,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_283084392",
+      "mask_path": "../../mask/hdr_front_06178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06179.png",
+      "transform_matrix": [
+        [
+          -0.2670549750328064,
+          -0.13095811009407043,
+          0.9547416567802429,
+          73.59013366699219
+        ],
+        [
+          -0.9632306694984436,
+          0.005980535876005888,
+          -0.2686091959476471,
+          22.817163467407227
+        ],
+        [
+          0.02946668304502964,
+          -0.991369903087616,
+          -0.12773998081684113,
+          -26.977258682250977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6179,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_383081674",
+      "mask_path": "../../mask/hdr_front_06179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06180.png",
+      "transform_matrix": [
+        [
+          -0.27003300189971924,
+          -0.13623163104057312,
+          0.95316481590271,
+          73.52373504638672
+        ],
+        [
+          -0.9621371030807495,
+          6.3526131270919e-05,
+          -0.2725658416748047,
+          22.840017318725586
+        ],
+        [
+          0.03707154095172882,
+          -0.990676999092102,
+          -0.1310906708240509,
+          -26.96141242980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6180,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_483086109",
+      "mask_path": "../../mask/hdr_front_06180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06181.png",
+      "transform_matrix": [
+        [
+          -0.2705115079879761,
+          -0.1403479427099228,
+          0.9524316191673279,
+          73.44922637939453
+        ],
+        [
+          -0.9615342617034912,
+          -0.009631716646254063,
+          -0.27451616525650024,
+          22.860401153564453
+        ],
+        [
+          0.04770132899284363,
+          -0.9900554418563843,
+          -0.1323438435792923,
+          -26.951587677001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6181,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_583082675",
+      "mask_path": "../../mask/hdr_front_06181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06182.png",
+      "transform_matrix": [
+        [
+          -0.26462846994400024,
+          -0.13403411209583282,
+          0.9549903869628906,
+          73.34121704101562
+        ],
+        [
+          -0.9632545113563538,
+          -0.010458107106387615,
+          -0.2683863043785095,
+          22.887605667114258
+        ],
+        [
+          0.04596031457185745,
+          -0.9909215569496155,
+          -0.12634146213531494,
+          -26.93131446838379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6182,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_683084726",
+      "mask_path": "../../mask/hdr_front_06182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06183.png",
+      "transform_matrix": [
+        [
+          -0.2528812289237976,
+          -0.12673863768577576,
+          0.9591602683067322,
+          73.25277709960938
+        ],
+        [
+          -0.96673184633255,
+          -0.00632777763530612,
+          -0.2557136118412018,
+          22.89821434020996
+        ],
+        [
+          0.038478150963783264,
+          -0.9919160604476929,
+          -0.12092211097478867,
+          -26.92207145690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6183,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_783081531",
+      "mask_path": "../../mask/hdr_front_06183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06184.png",
+      "transform_matrix": [
+        [
+          -0.24032315611839294,
+          -0.12208877503871918,
+          0.9629844427108765,
+          73.18594360351562
+        ],
+        [
+          -0.969962477684021,
+          -0.00827413983643055,
+          -0.24311363697052002,
+          22.898027420043945
+        ],
+        [
+          0.037649307399988174,
+          -0.9924847483634949,
+          -0.11643307656049728,
+          -26.91876792907715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6184,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_883084297",
+      "mask_path": "../../mask/hdr_front_06184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06185.png",
+      "transform_matrix": [
+        [
+          -0.2275984138250351,
+          -0.1267976462841034,
+          0.9654643535614014,
+          73.10279846191406
+        ],
+        [
+          -0.9730930924415588,
+          -0.006937019526958466,
+          -0.23030787706375122,
+          22.905048370361328
+        ],
+        [
+          0.03589993715286255,
+          -0.9919043779373169,
+          -0.1218070536851883,
+          -26.908641815185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6185,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_983082056",
+      "mask_path": "../../mask/hdr_front_06185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06186.png",
+      "transform_matrix": [
+        [
+          -0.2140655517578125,
+          -0.13624796271324158,
+          0.96727055311203,
+          73.0134506225586
+        ],
+        [
+          -0.9760149121284485,
+          -0.010344677604734898,
+          -0.21745789051055908,
+          22.911388397216797
+        ],
+        [
+          0.03963429480791092,
+          -0.9906207919120789,
+          -0.13076558709144592,
+          -26.882829666137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6186,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_83081960",
+      "mask_path": "../../mask/hdr_front_06186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06187.png",
+      "transform_matrix": [
+        [
+          -0.1979178786277771,
+          -0.1424567997455597,
+          0.9698116183280945,
+          72.93915557861328
+        ],
+        [
+          -0.979075014591217,
+          -0.019047701731324196,
+          -0.20260629057884216,
+          22.912324905395508
+        ],
+        [
+          0.04733532667160034,
+          -0.9896177649497986,
+          -0.13570602238178253,
+          -26.8666934967041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6187,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_183081150",
+      "mask_path": "../../mask/hdr_front_06187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06188.png",
+      "transform_matrix": [
+        [
+          -0.18137520551681519,
+          -0.1654617339372635,
+          0.9693944454193115,
+          72.8298568725586
+        ],
+        [
+          -0.9812278747558594,
+          -0.035240791738033295,
+          -0.18960438668727875,
+          22.9051513671875
+        ],
+        [
+          0.06553449481725693,
+          -0.985586404800415,
+          -0.15596385300159454,
+          -26.834516525268555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6188,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_283080101",
+      "mask_path": "../../mask/hdr_front_06188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06189.png",
+      "transform_matrix": [
+        [
+          -0.16057519614696503,
+          -0.17767655849456787,
+          0.9708999395370483,
+          72.72008514404297
+        ],
+        [
+          -0.985019326210022,
+          -0.03380780294537544,
+          -0.16909728944301605,
+          22.903362274169922
+        ],
+        [
+          0.06286861002445221,
+          -0.9835080504417419,
+          -0.1695861518383026,
+          -26.773256301879883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6189,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_383081912",
+      "mask_path": "../../mask/hdr_front_06189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06190.png",
+      "transform_matrix": [
+        [
+          -0.1424068659543991,
+          -0.1738690882921219,
+          0.9744177460670471,
+          72.65579986572266
+        ],
+        [
+          -0.9887627363204956,
+          -0.020246291533112526,
+          -0.14811596274375916,
+          22.908245086669922
+        ],
+        [
+          0.0454811230301857,
+          -0.9845606088638306,
+          -0.1690320521593094,
+          -26.76579475402832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6190,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_483083009",
+      "mask_path": "../../mask/hdr_front_06190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06191.png",
+      "transform_matrix": [
+        [
+          -0.12945705652236938,
+          -0.17355163395404816,
+          0.9762790203094482,
+          72.59104919433594
+        ],
+        [
+          -0.9909378290176392,
+          -0.01292247511446476,
+          -0.13369807600975037,
+          22.91414451599121
+        ],
+        [
+          0.035819459706544876,
+          -0.9847400784492493,
+          -0.1703059822320938,
+          -26.77152442932129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6191,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_583081483",
+      "mask_path": "../../mask/hdr_front_06191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06192.png",
+      "transform_matrix": [
+        [
+          -0.1232658252120018,
+          -0.1705511212348938,
+          0.9776082634925842,
+          72.501220703125
+        ],
+        [
+          -0.9917743802070618,
+          -0.013058359734714031,
+          -0.12733013927936554,
+          22.924684524536133
+        ],
+        [
+          0.03448225557804108,
+          -0.9852622747421265,
+          -0.167538583278656,
+          -26.74056625366211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6192,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_683083295",
+      "mask_path": "../../mask/hdr_front_06192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06193.png",
+      "transform_matrix": [
+        [
+          -0.11773380637168884,
+          -0.16877104341983795,
+          0.9785985946655273,
+          72.42341613769531
+        ],
+        [
+          -0.9921232461929321,
+          -0.022463766857981682,
+          -0.12323508411645889,
+          22.934200286865234
+        ],
+        [
+          0.042781516909599304,
+          -0.9853993058204651,
+          -0.16479691863059998,
+          -26.726890563964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6193,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_783081769",
+      "mask_path": "../../mask/hdr_front_06193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06194.png",
+      "transform_matrix": [
+        [
+          -0.11502344161272049,
+          -0.16985580325126648,
+          0.978733241558075,
+          72.36775207519531
+        ],
+        [
+          -0.9919857978820801,
+          -0.032219331711530685,
+          -0.12217248231172562,
+          22.93950080871582
+        ],
+        [
+          0.05228583514690399,
+          -0.9849421977996826,
+          -0.16478855907917023,
+          -26.720951080322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6194,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_883081912",
+      "mask_path": "../../mask/hdr_front_06194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06195.png",
+      "transform_matrix": [
+        [
+          -0.11764270067214966,
+          -0.1672671139240265,
+          0.9788677096366882,
+          72.28636169433594
+        ],
+        [
+          -0.9915177822113037,
+          -0.03505643084645271,
+          -0.12515342235565186,
+          22.9475040435791
+        ],
+        [
+          0.0552496537566185,
+          -0.9852882623672485,
+          -0.16172416508197784,
+          -26.705533981323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6195,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_983081817",
+      "mask_path": "../../mask/hdr_front_06195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06196.png",
+      "transform_matrix": [
+        [
+          -0.12050069868564606,
+          -0.16005069017410278,
+          0.9797261953353882,
+          72.19882202148438
+        ],
+        [
+          -0.9915033578872681,
+          -0.02930738776922226,
+          -0.12673695385456085,
+          22.954652786254883
+        ],
+        [
+          0.04899754747748375,
+          -0.9866736531257629,
+          -0.15515924990177155,
+          -26.693037033081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6196,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_83082675",
+      "mask_path": "../../mask/hdr_front_06196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06197.png",
+      "transform_matrix": [
+        [
+          -0.12136218696832657,
+          -0.15266719460487366,
+          0.9807976484298706,
+          72.12969970703125
+        ],
+        [
+          -0.9915738701820374,
+          -0.026451770216226578,
+          -0.12681300938129425,
+          22.951353073120117
+        ],
+        [
+          0.04530401900410652,
+          -0.9879235625267029,
+          -0.1481705605983734,
+          -26.687557220458984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6197,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_183081388",
+      "mask_path": "../../mask/hdr_front_06197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06198.png",
+      "transform_matrix": [
+        [
+          -0.12146280705928802,
+          -0.1502595692873001,
+          0.9811569452285767,
+          72.05316925048828
+        ],
+        [
+          -0.991685152053833,
+          -0.023967018350958824,
+          -0.12643659114837646,
+          22.95464324951172
+        ],
+        [
+          0.042513709515333176,
+          -0.9883560538291931,
+          -0.14609907567501068,
+          -26.686107635498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6198,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_283081293",
+      "mask_path": "../../mask/hdr_front_06198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06199.png",
+      "transform_matrix": [
+        [
+          -0.1259613335132599,
+          -0.1488199681043625,
+          0.9808090329170227,
+          71.9637451171875
+        ],
+        [
+          -0.9909793138504028,
+          -0.02672751061618328,
+          -0.13132287561893463,
+          22.966537475585938
+        ],
+        [
+          0.04575804993510246,
+          -0.9885031580924988,
+          -0.14411085844039917,
+          -26.67706871032715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6199,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_383081674",
+      "mask_path": "../../mask/hdr_front_06199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06200.png",
+      "transform_matrix": [
+        [
+          -0.13211648166179657,
+          -0.14641952514648438,
+          0.9803603887557983,
+          71.87110137939453
+        ],
+        [
+          -0.9899477362632751,
+          -0.030882062390446663,
+          -0.1380208283662796,
+          22.97998809814453
+        ],
+        [
+          0.050484489649534225,
+          -0.9887404441833496,
+          -0.14086763560771942,
+          -26.657087326049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6200,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_483082532",
+      "mask_path": "../../mask/hdr_front_06200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06201.png",
+      "transform_matrix": [
+        [
+          -0.13572031259536743,
+          -0.1281319558620453,
+          0.9824267029762268,
+          71.77920532226562
+        ],
+        [
+          -0.9903473854064941,
+          -0.010621077381074429,
+          -0.1381997913122177,
+          22.992238998413086
+        ],
+        [
+          0.028142236173152924,
+          -0.991700291633606,
+          -0.1254536360502243,
+          -26.652679443359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6201,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_583081722",
+      "mask_path": "../../mask/hdr_front_06201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06202.png",
+      "transform_matrix": [
+        [
+          -0.1360584944486618,
+          -0.10733617097139359,
+          0.984869122505188,
+          71.69657135009766
+        ],
+        [
+          -0.9906986951828003,
+          0.016799109056591988,
+          -0.1350330114364624,
+          23.002872467041016
+        ],
+        [
+          -0.0020509958267211914,
+          -0.9940808415412903,
+          -0.10862347483634949,
+          -26.653350830078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6202,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_683082103",
+      "mask_path": "../../mask/hdr_front_06202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06203.png",
+      "transform_matrix": [
+        [
+          -0.13774871826171875,
+          -0.09705472737550735,
+          0.9857006669044495,
+          71.62512969970703
+        ],
+        [
+          -0.9903241395950317,
+          0.03041173703968525,
+          -0.1354004144668579,
+          23.0157413482666
+        ],
+        [
+          -0.016835611313581467,
+          -0.994814395904541,
+          -0.10030482709407806,
+          -26.653764724731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6203,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_783082962",
+      "mask_path": "../../mask/hdr_front_06203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06204.png",
+      "transform_matrix": [
+        [
+          -0.14263348281383514,
+          -0.10220828652381897,
+          0.9844841957092285,
+          71.53469848632812
+        ],
+        [
+          -0.989324152469635,
+          0.0447588786482811,
+          -0.1386878788471222,
+          23.047880172729492
+        ],
+        [
+          -0.02988935448229313,
+          -0.993755578994751,
+          -0.10750124603509903,
+          -26.65097999572754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6204,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_883084058",
+      "mask_path": "../../mask/hdr_front_06204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06205.png",
+      "transform_matrix": [
+        [
+          -0.15514762699604034,
+          -0.11136913299560547,
+          0.981593668460846,
+          71.4157485961914
+        ],
+        [
+          -0.9874449968338013,
+          0.047349847853183746,
+          -0.15070027112960815,
+          23.083799362182617
+        ],
+        [
+          -0.029694953933358192,
+          -0.9926505088806152,
+          -0.1173170879483223,
+          -26.582887649536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6205,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_983082532",
+      "mask_path": "../../mask/hdr_front_06205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06206.png",
+      "transform_matrix": [
+        [
+          -0.16871128976345062,
+          -0.1134389117360115,
+          0.9791160225868225,
+          71.34126281738281
+        ],
+        [
+          -0.9854999780654907,
+          0.03762010857462883,
+          -0.1654527187347412,
+          23.10404396057129
+        ],
+        [
+          -0.01806567795574665,
+          -0.9928325414657593,
+          -0.11814096570014954,
+          -26.56667137145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6206,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_83083152",
+      "mask_path": "../../mask/hdr_front_06206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06207.png",
+      "transform_matrix": [
+        [
+          -0.1782635599374771,
+          -0.11651944369077682,
+          0.9770596027374268,
+          71.27899932861328
+        ],
+        [
+          -0.9839308261871338,
+          0.031318601220846176,
+          -0.17578230798244476,
+          23.119457244873047
+        ],
+        [
+          -0.010118083097040653,
+          -0.9926944971084595,
+          -0.12023001909255981,
+          -26.589008331298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6207,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_183082342",
+      "mask_path": "../../mask/hdr_front_06207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06208.png",
+      "transform_matrix": [
+        [
+          -0.18251852691173553,
+          -0.11545194685459137,
+          0.9764005541801453,
+          71.17005920410156
+        ],
+        [
+          -0.9831649661064148,
+          0.03009847179055214,
+          -0.18022412061691284,
+          23.12882423400879
+        ],
+        [
+          -0.008580932393670082,
+          -0.9928569793701172,
+          -0.1190018430352211,
+          -26.566726684570312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6208,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_283081531",
+      "mask_path": "../../mask/hdr_front_06208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06209.png",
+      "transform_matrix": [
+        [
+          -0.18312384188175201,
+          -0.11402664333581924,
+          0.9764546155929565,
+          71.0832748413086
+        ],
+        [
+          -0.9830330610275269,
+          0.03190867602825165,
+          -0.18063141405582428,
+          23.133289337158203
+        ],
+        [
+          -0.010560581460595131,
+          -0.9929652214050293,
+          -0.11793520301580429,
+          -26.55229377746582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6209,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_383082151",
+      "mask_path": "../../mask/hdr_front_06209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06210.png",
+      "transform_matrix": [
+        [
+          -0.18425452709197998,
+          -0.11438159644603729,
+          0.9762004017829895,
+          71.01880645751953
+        ],
+        [
+          -0.9828153252601624,
+          0.03271062299609184,
+          -0.18167036771774292,
+          23.137725830078125
+        ],
+        [
+          -0.011152371764183044,
+          -0.9928982257843018,
+          -0.11844305694103241,
+          -26.548500061035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6210,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_483082056",
+      "mask_path": "../../mask/hdr_front_06210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06211.png",
+      "transform_matrix": [
+        [
+          -0.19119727611541748,
+          -0.11736907064914703,
+          0.9745092391967773,
+          70.92652893066406
+        ],
+        [
+          -0.9814960956573486,
+          0.03342647850513458,
+          -0.1885422170162201,
+          23.151878356933594
+        ],
+        [
+          -0.01044538151472807,
+          -0.9925256967544556,
+          -0.1215883195400238,
+          -26.536481857299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6211,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_583081007",
+      "mask_path": "../../mask/hdr_front_06211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06212.png",
+      "transform_matrix": [
+        [
+          -0.20149573683738708,
+          -0.12294330447912216,
+          0.9717430472373962,
+          70.8383560180664
+        ],
+        [
+          -0.9794740080833435,
+          0.030849574133753777,
+          -0.1991957724094391,
+          23.172252655029297
+        ],
+        [
+          -0.0054880729876458645,
+          -0.9919341802597046,
+          -0.1266358196735382,
+          -26.518627166748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6212,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_683081626",
+      "mask_path": "../../mask/hdr_front_06212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06213.png",
+      "transform_matrix": [
+        [
+          -0.21025288105010986,
+          -0.13015292584896088,
+          0.9689447283744812,
+          70.77546691894531
+        ],
+        [
+          -0.9776466488838196,
+          0.027150599285960197,
+          -0.2084941565990448,
+          23.184946060180664
+        ],
+        [
+          0.0008286917582154274,
+          -0.9911221861839294,
+          -0.13295207917690277,
+          -26.507875442504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6213,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_783081769",
+      "mask_path": "../../mask/hdr_front_06213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06214.png",
+      "transform_matrix": [
+        [
+          -0.21227091550827026,
+          -0.1312316507101059,
+          0.9683592319488525,
+          70.67919921875
+        ],
+        [
+          -0.9772079586982727,
+          0.030941201373934746,
+          -0.21001750230789185,
+          23.19487953186035
+        ],
+        [
+          -0.002401249250397086,
+          -0.9908687472343445,
+          -0.1348085105419159,
+          -26.494537353515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6214,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_883082151",
+      "mask_path": "../../mask/hdr_front_06214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06215.png",
+      "transform_matrix": [
+        [
+          -0.20926320552825928,
+          -0.12699222564697266,
+          0.9695782661437988,
+          70.58892822265625
+        ],
+        [
+          -0.9777769446372986,
+          0.04004301875829697,
+          -0.20578807592391968,
+          23.206390380859375
+        ],
+        [
+          -0.012691352516412735,
+          -0.9910951852798462,
+          -0.13254961371421814,
+          -26.491174697875977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6215,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_983081340",
+      "mask_path": "../../mask/hdr_front_06215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06216.png",
+      "transform_matrix": [
+        [
+          -0.19997863471508026,
+          -0.1245676651597023,
+          0.9718495011329651,
+          70.51719665527344
+        ],
+        [
+          -0.9795918464660645,
+          0.04587991535663605,
+          -0.1956910938024521,
+          23.215560913085938
+        ],
+        [
+          -0.020211590453982353,
+          -0.99114990234375,
+          -0.13120047748088837,
+          -26.494279861450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6216,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_83082199",
+      "mask_path": "../../mask/hdr_front_06216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06217.png",
+      "transform_matrix": [
+        [
+          -0.18828247487545013,
+          -0.11573737114667892,
+          0.9752715826034546,
+          70.44107055664062
+        ],
+        [
+          -0.9819072484970093,
+          0.042602598667144775,
+          -0.1845078021287918,
+          23.225942611694336
+        ],
+        [
+          -0.020194655284285545,
+          -0.992365837097168,
+          -0.12166468054056168,
+          -26.48992347717285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6217,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_183081626",
+      "mask_path": "../../mask/hdr_front_06217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06218.png",
+      "transform_matrix": [
+        [
+          -0.17734882235527039,
+          -0.11014601588249207,
+          0.9779648780822754,
+          70.36629486083984
+        ],
+        [
+          -0.9839901924133301,
+          0.03764237463474274,
+          -0.17420195043087006,
+          23.237396240234375
+        ],
+        [
+          -0.017625272274017334,
+          -0.9932023882865906,
+          -0.11505841463804245,
+          -26.46372413635254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6218,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_283082008",
+      "mask_path": "../../mask/hdr_front_06218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06219.png",
+      "transform_matrix": [
+        [
+          -0.16001366078853607,
+          -0.11173675209283829,
+          0.9807704091072083,
+          70.3005599975586
+        ],
+        [
+          -0.9869954586029053,
+          0.033557113260030746,
+          -0.1572062373161316,
+          23.242462158203125
+        ],
+        [
+          -0.015346110798418522,
+          -0.9931711554527283,
+          -0.11565326899290085,
+          -26.446880340576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6219,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_383080482",
+      "mask_path": "../../mask/hdr_front_06219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06220.png",
+      "transform_matrix": [
+        [
+          -0.1404120773077011,
+          -0.11435151845216751,
+          0.9834674596786499,
+          70.2352294921875
+        ],
+        [
+          -0.9900556802749634,
+          0.02485899068415165,
+          -0.13846224546432495,
+          23.24736976623535
+        ],
+        [
+          -0.008614638820290565,
+          -0.9931292533874512,
+          -0.11670487374067307,
+          -26.435794830322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6220,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_483082771",
+      "mask_path": "../../mask/hdr_front_06220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06221.png",
+      "transform_matrix": [
+        [
+          -0.12705761194229126,
+          -0.11226648837327957,
+          0.9855214953422546,
+          70.14192199707031
+        ],
+        [
+          -0.9918843507766724,
+          0.019059976562857628,
+          -0.1257067173719406,
+          23.258947372436523
+        ],
+        [
+          -0.004671364091336727,
+          -0.9934954047203064,
+          -0.11377707868814468,
+          -26.424001693725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6221,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_583081483",
+      "mask_path": "../../mask/hdr_front_06221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06222.png",
+      "transform_matrix": [
+        [
+          -0.11488045752048492,
+          -0.1105964258313179,
+          0.9872036576271057,
+          70.04002380371094
+        ],
+        [
+          -0.9933376312255859,
+          0.021888742223381996,
+          -0.11314209550619125,
+          23.266862869262695
+        ],
+        [
+          -0.009095531888306141,
+          -0.9936244487762451,
+          -0.1123741865158081,
+          -26.414520263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6222,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_683082580",
+      "mask_path": "../../mask/hdr_front_06222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06223.png",
+      "transform_matrix": [
+        [
+          -0.10294630378484726,
+          -0.11351493000984192,
+          0.988188624382019,
+          69.95970916748047
+        ],
+        [
+          -0.9945904612541199,
+          0.025581274181604385,
+          -0.10067469626665115,
+          23.262109756469727
+        ],
+        [
+          -0.013851040042936802,
+          -0.9932069182395935,
+          -0.11553436517715454,
+          -26.402711868286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6223,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_783082485",
+      "mask_path": "../../mask/hdr_front_06223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06224.png",
+      "transform_matrix": [
+        [
+          -0.09451448917388916,
+          -0.11398951709270477,
+          0.9889759421348572,
+          69.86530303955078
+        ],
+        [
+          -0.995453417301178,
+          0.022609828040003777,
+          -0.09252750873565674,
+          23.26173973083496
+        ],
+        [
+          -0.011813409626483917,
+          -0.9932246804237366,
+          -0.11560820788145065,
+          -26.400009155273438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6224,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_883081197",
+      "mask_path": "../../mask/hdr_front_06224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06225.png",
+      "transform_matrix": [
+        [
+          -0.09569855034351349,
+          -0.11199159175157547,
+          0.9890903830528259,
+          69.73902130126953
+        ],
+        [
+          -0.9954052567481995,
+          0.0075778961181640625,
+          -0.09545151889324188,
+          23.26420783996582
+        ],
+        [
+          0.003194543533027172,
+          -0.9936802983283997,
+          -0.1122022196650505,
+          -26.36771583557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6225,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_983081817",
+      "mask_path": "../../mask/hdr_front_06225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06226.png",
+      "transform_matrix": [
+        [
+          -0.0990917906165123,
+          -0.11220953613519669,
+          0.9887313842773438,
+          69.63939666748047
+        ],
+        [
+          -0.994931161403656,
+          -0.005910992622375488,
+          -0.10038397461175919,
+          23.269515991210938
+        ],
+        [
+          0.01710842363536358,
+          -0.9936670064926147,
+          -0.11105503886938095,
+          -26.353904724121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6226,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_83081245",
+      "mask_path": "../../mask/hdr_front_06226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06227.png",
+      "transform_matrix": [
+        [
+          -0.10155012458562851,
+          -0.11635840684175491,
+          0.9880021810531616,
+          69.54744720458984
+        ],
+        [
+          -0.9946414232254028,
+          -0.007481541484594345,
+          -0.10311363637447357,
+          23.26302146911621
+        ],
+        [
+          0.019389916211366653,
+          -0.9931790828704834,
+          -0.11497514694929123,
+          -26.34906578063965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6227,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_183081150",
+      "mask_path": "../../mask/hdr_front_06227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06228.png",
+      "transform_matrix": [
+        [
+          -0.09893542528152466,
+          -0.10271644592285156,
+          0.9897782802581787,
+          69.4172592163086
+        ],
+        [
+          -0.9950934648513794,
+          0.009334921836853027,
+          -0.09849795699119568,
+          23.266801834106445
+        ],
+        [
+          0.0008778576739132404,
+          -0.9946668744087219,
+          -0.10313599556684494,
+          -26.333934783935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6228,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_283081769",
+      "mask_path": "../../mask/hdr_front_06228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06229.png",
+      "transform_matrix": [
+        [
+          -0.08918259292840958,
+          -0.08846797049045563,
+          0.9920785427093506,
+          69.30628204345703
+        ],
+        [
+          -0.9958250522613525,
+          0.027388395741581917,
+          -0.0870770514011383,
+          23.271390914916992
+        ],
+        [
+          -0.019467908889055252,
+          -0.9957024455070496,
+          -0.09054118394851685,
+          -26.326513290405273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6229,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_383081912",
+      "mask_path": "../../mask/hdr_front_06229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06230.png",
+      "transform_matrix": [
+        [
+          -0.08002006262540817,
+          -0.08703289180994034,
+          0.9929864406585693,
+          69.24235534667969
+        ],
+        [
+          -0.9963480830192566,
+          0.036752235144376755,
+          -0.0770697221159935,
+          23.26926612854004
+        ],
+        [
+          -0.029786868020892143,
+          -0.9955273866653442,
+          -0.08965596556663513,
+          -26.336999893188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6230,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_483081817",
+      "mask_path": "../../mask/hdr_front_06230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06231.png",
+      "transform_matrix": [
+        [
+          -0.08077225834131241,
+          -0.08011552691459656,
+          0.9935076832771301,
+          69.1198959350586
+        ],
+        [
+          -0.9963349103927612,
+          0.03464363515377045,
+          -0.07820849120616913,
+          23.2795352935791
+        ],
+        [
+          -0.028153004124760628,
+          -0.9961833953857422,
+          -0.08262013643980026,
+          -26.32114601135254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6231,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_583082437",
+      "mask_path": "../../mask/hdr_front_06231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06232.png",
+      "transform_matrix": [
+        [
+          -0.08796857297420502,
+          -0.07648526132106781,
+          0.9931825399398804,
+          68.99797058105469
+        ],
+        [
+          -0.9959476590156555,
+          0.025477467104792595,
+          -0.08625145256519318,
+          23.290639877319336
+        ],
+        [
+          -0.018706807866692543,
+          -0.9967451691627502,
+          -0.07841653376817703,
+          -26.292221069335938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6232,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_683081626",
+      "mask_path": "../../mask/hdr_front_06232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06233.png",
+      "transform_matrix": [
+        [
+          -0.0935225635766983,
+          -0.07888351380825043,
+          0.9924873113632202,
+          68.91893005371094
+        ],
+        [
+          -0.9955868721008301,
+          0.015191947109997272,
+          -0.09260717779397964,
+          23.29522132873535
+        ],
+        [
+          -0.007772634271532297,
+          -0.996768057346344,
+          -0.07995617389678955,
+          -26.282522201538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6233,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_783082723",
+      "mask_path": "../../mask/hdr_front_06233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06234.png",
+      "transform_matrix": [
+        [
+          -0.0940769836306572,
+          -0.07692165672779083,
+          0.9925888776779175,
+          68.80512237548828
+        ],
+        [
+          -0.9955601692199707,
+          0.010346177034080029,
+          -0.09355682134628296,
+          23.293014526367188
+        ],
+        [
+          -0.003072952851653099,
+          -0.9969834685325623,
+          -0.07755348831415176,
+          -26.273195266723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6234,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_883079767",
+      "mask_path": "../../mask/hdr_front_06234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06235.png",
+      "transform_matrix": [
+        [
+          -0.0865866094827652,
+          -0.07105859369039536,
+          0.9937069416046143,
+          68.6895980834961
+        ],
+        [
+          -0.9961848258972168,
+          0.017077535390853882,
+          -0.08558133989572525,
+          23.288982391357422
+        ],
+        [
+          -0.010888773947954178,
+          -0.9973259568214417,
+          -0.07226618379354477,
+          -26.272689819335938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6235,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_983081102",
+      "mask_path": "../../mask/hdr_front_06235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06236.png",
+      "transform_matrix": [
+        [
+          -0.07245658338069916,
+          -0.06728794425725937,
+          0.9950991868972778,
+          68.60335540771484
+        ],
+        [
+          -0.9972006678581238,
+          0.02335253171622753,
+          -0.07103052735328674,
+          23.284387588500977
+        ],
+        [
+          -0.01845858432352543,
+          -0.9974603652954102,
+          -0.06879163533449173,
+          -26.27610206604004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6236,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_83081722",
+      "mask_path": "../../mask/hdr_front_06236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06237.png",
+      "transform_matrix": [
+        [
+          -0.06069907918572426,
+          -0.06398292630910873,
+          0.9961033463478088,
+          68.51039123535156
+        ],
+        [
+          -0.9979509711265564,
+          0.02412266656756401,
+          -0.05926219001412392,
+          23.280330657958984
+        ],
+        [
+          -0.020236896350979805,
+          -0.99765944480896,
+          -0.06531605124473572,
+          -26.27300262451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6237,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_183081865",
+      "mask_path": "../../mask/hdr_front_06237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06238.png",
+      "transform_matrix": [
+        [
+          -0.057650454342365265,
+          -0.06620481610298157,
+          0.9961392879486084,
+          68.39851379394531
+        ],
+        [
+          -0.9982005953788757,
+          0.020307330414652824,
+          -0.05642009526491165,
+          23.283588409423828
+        ],
+        [
+          -0.016493644565343857,
+          -0.9975993633270264,
+          -0.06725640594959259,
+          -26.25126075744629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6238,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_283082246",
+      "mask_path": "../../mask/hdr_front_06238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06239.png",
+      "transform_matrix": [
+        [
+          -0.05674208700656891,
+          -0.07020451128482819,
+          0.995917558670044,
+          68.3132095336914
+        ],
+        [
+          -0.9983472228050232,
+          0.01309965644031763,
+          -0.05595708265900612,
+          23.28972816467285
+        ],
+        [
+          -0.009117735549807549,
+          -0.9974466562271118,
+          -0.0708317756652832,
+          -26.239656448364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6239,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_383082866",
+      "mask_path": "../../mask/hdr_front_06239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06240.png",
+      "transform_matrix": [
+        [
+          -0.05465150997042656,
+          -0.07277097553014755,
+          0.995850145816803,
+          68.2242431640625
+        ],
+        [
+          -0.9984954595565796,
+          0.008458332158625126,
+          -0.054178591817617416,
+          23.28995132446289
+        ],
+        [
+          -0.004480602685362101,
+          -0.9973127841949463,
+          -0.0731237381696701,
+          -26.23836898803711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6240,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_483081340",
+      "mask_path": "../../mask/hdr_front_06240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06241.png",
+      "transform_matrix": [
+        [
+          -0.04528696835041046,
+          -0.07124817371368408,
+          0.9964300990104675,
+          68.1013412475586
+        ],
+        [
+          -0.998945415019989,
+          0.010773589834570885,
+          -0.04463094472885132,
+          23.281734466552734
+        ],
+        [
+          -0.007555255200713873,
+          -0.9974005222320557,
+          -0.07166094332933426,
+          -26.229490280151367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6241,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_583081722",
+      "mask_path": "../../mask/hdr_front_06241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06242.png",
+      "transform_matrix": [
+        [
+          -0.03136111795902252,
+          -0.06904622912406921,
+          0.9971204400062561,
+          68.00717163085938
+        ],
+        [
+          -0.9994387626647949,
+          0.01391906663775444,
+          -0.03047019988298416,
+          23.268827438354492
+        ],
+        [
+          -0.011775132268667221,
+          -0.9975164532661438,
+          -0.06944400817155838,
+          -26.22597885131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6242,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_683081626",
+      "mask_path": "../../mask/hdr_front_06242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06243.png",
+      "transform_matrix": [
+        [
+          -0.022563409060239792,
+          -0.06905392557382584,
+          0.9973577857017517,
+          67.93213653564453
+        ],
+        [
+          -0.9996758103370667,
+          0.013329535722732544,
+          -0.02169295772910118,
+          23.260635375976562
+        ],
+        [
+          -0.011796331033110619,
+          -0.9975239634513855,
+          -0.0693323090672493,
+          -26.226293563842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6243,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_783081054",
+      "mask_path": "../../mask/hdr_front_06243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06244.png",
+      "transform_matrix": [
+        [
+          -0.02663447894155979,
+          -0.0642632246017456,
+          0.9975774884223938,
+          67.83692169189453
+        ],
+        [
+          -0.9996240139007568,
+          0.008219667710363865,
+          -0.026159614324569702,
+          23.264137268066406
+        ],
+        [
+          -0.006518652196973562,
+          -0.9978992342948914,
+          -0.06445799767971039,
+          -26.21263313293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6244,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_883081912",
+      "mask_path": "../../mask/hdr_front_06244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06245.png",
+      "transform_matrix": [
+        [
+          -0.03798321634531021,
+          -0.06341587007045746,
+          0.9972640872001648,
+          67.74871826171875
+        ],
+        [
+          -0.9992771148681641,
+          0.0008887104340828955,
+          -0.038003381341695786,
+          23.271230697631836
+        ],
+        [
+          0.0015237402403727174,
+          -0.9979867935180664,
+          -0.06340378522872925,
+          -26.193294525146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6245,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_983079433",
+      "mask_path": "../../mask/hdr_front_06245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06246.png",
+      "transform_matrix": [
+        [
+          -0.047890301793813705,
+          -0.06772633641958237,
+          0.996553897857666,
+          67.66828918457031
+        ],
+        [
+          -0.9988039135932922,
+          -0.006611200515180826,
+          -0.04844772443175316,
+          23.280452728271484
+        ],
+        [
+          0.009869604371488094,
+          -0.9976820945739746,
+          -0.06732871383428574,
+          -26.187686920166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6246,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_83081722",
+      "mask_path": "../../mask/hdr_front_06246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06247.png",
+      "transform_matrix": [
+        [
+          -0.0536402128636837,
+          -0.06376740336418152,
+          0.9965221881866455,
+          67.56930541992188
+        ],
+        [
+          -0.9985077381134033,
+          -0.006817268207669258,
+          -0.05418333411216736,
+          23.28413200378418
+        ],
+        [
+          0.010248689912259579,
+          -0.9979414939880371,
+          -0.06330656260251999,
+          -26.186172485351562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6247,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_183080673",
+      "mask_path": "../../mask/hdr_front_06247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06248.png",
+      "transform_matrix": [
+        [
+          -0.05420689284801483,
+          -0.05610160157084465,
+          0.9969525337219238,
+          67.47248840332031
+        ],
+        [
+          -0.9985292553901672,
+          0.0021614660508930683,
+          -0.05417099595069885,
+          23.282989501953125
+        ],
+        [
+          0.0008842027746140957,
+          -0.9984227418899536,
+          -0.05613626167178154,
+          -26.188365936279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6248,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_283081769",
+      "mask_path": "../../mask/hdr_front_06248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06249.png",
+      "transform_matrix": [
+        [
+          -0.05302296578884125,
+          -0.0527384877204895,
+          0.9971997141838074,
+          67.40333557128906
+        ],
+        [
+          -0.9985769987106323,
+          0.00851074792444706,
+          -0.05264609679579735,
+          23.27882194519043
+        ],
+        [
+          -0.005710438825190067,
+          -0.9985721707344055,
+          -0.05311470478773117,
+          -26.188215255737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6249,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_383082628",
+      "mask_path": "../../mask/hdr_front_06249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06250.png",
+      "transform_matrix": [
+        [
+          -0.054488129913806915,
+          -0.047965433448553085,
+          0.9973616600036621,
+          67.31488800048828
+        ],
+        [
+          -0.998501718044281,
+          0.007643161341547966,
+          -0.054182831197977066,
+          23.280881881713867
+        ],
+        [
+          -0.0050240918062627316,
+          -0.9988197684288025,
+          -0.04831003025174141,
+          -26.192745208740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6250,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_483082056",
+      "mask_path": "../../mask/hdr_front_06250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06251.png",
+      "transform_matrix": [
+        [
+          -0.06301447004079819,
+          -0.0460093691945076,
+          0.9969515800476074,
+          67.20282745361328
+        ],
+        [
+          -0.9980116486549377,
+          0.004268802236765623,
+          -0.06288447231054306,
+          23.291748046875
+        ],
+        [
+          -0.0013625132851302624,
+          -0.9989319443702698,
+          -0.04618688300251961,
+          -26.18140411376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6251,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_583082675",
+      "mask_path": "../../mask/hdr_front_06251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06252.png",
+      "transform_matrix": [
+        [
+          -0.0738091692328453,
+          -0.0478089302778244,
+          0.9961257576942444,
+          67.11653137207031
+        ],
+        [
+          -0.9972583651542664,
+          -0.0017511205514892936,
+          -0.07397713512182236,
+          23.30154800415039
+        ],
+        [
+          0.005281104240566492,
+          -0.9988549947738647,
+          -0.04754861071705818,
+          -26.165691375732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6252,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_683081626",
+      "mask_path": "../../mask/hdr_front_06252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06253.png",
+      "transform_matrix": [
+        [
+          -0.08333348482847214,
+          -0.051105912774801254,
+          0.9952104091644287,
+          67.03255462646484
+        ],
+        [
+          -0.9964570999145508,
+          -0.007096370216459036,
+          -0.08380229026079178,
+          23.30180549621582
+        ],
+        [
+          0.01134517416357994,
+          -0.9986680746078491,
+          -0.05033348873257637,
+          -26.15622329711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6253,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_783082485",
+      "mask_path": "../../mask/hdr_front_06253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06254.png",
+      "transform_matrix": [
+        [
+          -0.08475281298160553,
+          -0.0496215857565403,
+          0.9951656460762024,
+          66.91561889648438
+        ],
+        [
+          -0.9963624477386475,
+          -0.0046737040393054485,
+          -0.08508779853582382,
+          23.303096771240234
+        ],
+        [
+          0.00887330062687397,
+          -0.9987571835517883,
+          -0.04904497414827347,
+          -26.150033950805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6254,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_883082628",
+      "mask_path": "../../mask/hdr_front_06254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06255.png",
+      "transform_matrix": [
+        [
+          -0.08072737604379654,
+          -0.04646965116262436,
+          0.9956523776054382,
+          66.8316650390625
+        ],
+        [
+          -0.9967362284660339,
+          0.0038503194227814674,
+          -0.08063554763793945,
+          23.30054473876953
+        ],
+        [
+          -8.647423965157941e-05,
+          -0.9989122748374939,
+          -0.04662880674004555,
+          -26.1508731842041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6255,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_983083009",
+      "mask_path": "../../mask/hdr_front_06255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06256.png",
+      "transform_matrix": [
+        [
+          -0.07864648848772049,
+          -0.04698580503463745,
+          0.9957947134971619,
+          66.75862884521484
+        ],
+        [
+          -0.9968932271003723,
+          0.008025032468140125,
+          -0.0783546045422554,
+          23.300561904907227
+        ],
+        [
+          -0.004309730138629675,
+          -0.9988633394241333,
+          -0.047470975667238235,
+          -26.153854370117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6256,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_83082199",
+      "mask_path": "../../mask/hdr_front_06256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06257.png",
+      "transform_matrix": [
+        [
+          -0.08083990216255188,
+          -0.04554515704512596,
+          0.9956860542297363,
+          66.65332794189453
+        ],
+        [
+          -0.9967172145843506,
+          0.008126901462674141,
+          -0.08055189996957779,
+          23.308334350585938
+        ],
+        [
+          -0.004423092119395733,
+          -0.9989292621612549,
+          -0.04605262726545334,
+          -26.144433975219727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6257,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_183082342",
+      "mask_path": "../../mask/hdr_front_06257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06258.png",
+      "transform_matrix": [
+        [
+          -0.08245515823364258,
+          -0.0483863539993763,
+          0.995419442653656,
+          66.55778503417969
+        ],
+        [
+          -0.9965887069702148,
+          0.007482808083295822,
+          -0.08218827843666077,
+          23.3164005279541
+        ],
+        [
+          -0.003471741918474436,
+          -0.9988006949424744,
+          -0.0488382913172245,
+          -26.129413604736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6258,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_283082723",
+      "mask_path": "../../mask/hdr_front_06258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06259.png",
+      "transform_matrix": [
+        [
+          -0.08067594468593597,
+          -0.05439583584666252,
+          0.9952550530433655,
+          66.47923278808594
+        ],
+        [
+          -0.9967403411865234,
+          0.004247170872986317,
+          -0.0805642306804657,
+          23.32428741455078
+        ],
+        [
+          0.0001553405891172588,
+          -0.9985104203224182,
+          -0.05456116795539856,
+          -26.12264060974121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6259,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_383082389",
+      "mask_path": "../../mask/hdr_front_06259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06260.png",
+      "transform_matrix": [
+        [
+          -0.07778368890285492,
+          -0.06157419830560684,
+          0.9950670003890991,
+          66.38068389892578
+        ],
+        [
+          -0.9969626665115356,
+          0.0008879516390152276,
+          -0.07787691801786423,
+          23.326616287231445
+        ],
+        [
+          0.0039116377010941505,
+          -0.9981022477149963,
+          -0.06145624443888664,
+          -26.123146057128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6260,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_483081817",
+      "mask_path": "../../mask/hdr_front_06260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06261.png",
+      "transform_matrix": [
+        [
+          -0.06373283267021179,
+          -0.06566811352968216,
+          0.9958041906356812,
+          66.26250457763672
+        ],
+        [
+          -0.9979661107063293,
+          0.005504176486283541,
+          -0.06350823491811752,
+          23.317670822143555
+        ],
+        [
+          -0.001310613821260631,
+          -0.9978263974189758,
+          -0.06588534265756607,
+          -26.104530334472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6261,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_583084106",
+      "mask_path": "../../mask/hdr_front_06261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06262.png",
+      "transform_matrix": [
+        [
+          -0.04256213828921318,
+          -0.06786804646253586,
+          0.9967861175537109,
+          66.17634582519531
+        ],
+        [
+          -0.9990662932395935,
+          0.010287990793585777,
+          -0.04195903241634369,
+          23.306556701660156
+        ],
+        [
+          -0.007407247554510832,
+          -0.9976413249969482,
+          -0.06824257224798203,
+          -26.094533920288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6262,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_683081865",
+      "mask_path": "../../mask/hdr_front_06262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06263.png",
+      "transform_matrix": [
+        [
+          -0.02436923421919346,
+          -0.07002514600753784,
+          0.997247576713562,
+          66.10352325439453
+        ],
+        [
+          -0.9996898770332336,
+          0.006830412894487381,
+          -0.02394929900765419,
+          23.302791595458984
+        ],
+        [
+          -0.00513455830514431,
+          -0.9975218772888184,
+          -0.07016987353563309,
+          -26.101198196411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6263,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_783083438",
+      "mask_path": "../../mask/hdr_front_06263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06264.png",
+      "transform_matrix": [
+        [
+          -0.015352627262473106,
+          -0.0707080066204071,
+          0.9973788857460022,
+          65.99954223632812
+        ],
+        [
+          -0.9998795390129089,
+          -0.0011555631645023823,
+          -0.015473048202693462,
+          23.304079055786133
+        ],
+        [
+          0.0022466040682047606,
+          -0.9974964261054993,
+          -0.07068174332380295,
+          -26.082454681396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6264,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_883081912",
+      "mask_path": "../../mask/hdr_front_06264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06265.png",
+      "transform_matrix": [
+        [
+          -0.011034802533686161,
+          -0.07362024486064911,
+          0.997225284576416,
+          65.91374969482422
+        ],
+        [
+          -0.9998999834060669,
+          -0.008000076748430729,
+          -0.011655009351670742,
+          23.303417205810547
+        ],
+        [
+          0.008835925720632076,
+          -0.9972542524337769,
+          -0.073524609208107,
+          -26.060226440429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6265,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_983082532",
+      "mask_path": "../../mask/hdr_front_06265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06266.png",
+      "transform_matrix": [
+        [
+          -0.008432155475020409,
+          -0.07882048934698105,
+          0.996853232383728,
+          65.8469467163086
+        ],
+        [
+          -0.9998458027839661,
+          -0.014691347256302834,
+          -0.00961910467594862,
+          23.31023406982422
+        ],
+        [
+          0.01540330145508051,
+          -0.9967806339263916,
+          -0.07868444174528122,
+          -26.065683364868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6266,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_83082199",
+      "mask_path": "../../mask/hdr_front_06266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06267.png",
+      "transform_matrix": [
+        [
+          -0.001309945248067379,
+          -0.07668448239564896,
+          0.9970545172691345,
+          65.74441528320312
+        ],
+        [
+          -0.9998863935470581,
+          -0.014866880141198635,
+          -0.002457092748954892,
+          23.30084991455078
+        ],
+        [
+          0.015011509880423546,
+          -0.9969446659088135,
+          -0.0766562968492508,
+          -26.052669525146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6267,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_183082342",
+      "mask_path": "../../mask/hdr_front_06267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06268.png",
+      "transform_matrix": [
+        [
+          0.007031474262475967,
+          -0.07159172743558884,
+          0.9974092245101929,
+          65.64168548583984
+        ],
+        [
+          -0.9999534487724304,
+          -0.007095893379300833,
+          0.006540083792060614,
+          23.284347534179688
+        ],
+        [
+          0.006609294097870588,
+          -0.9974088072776794,
+          -0.07163829356431961,
+          -26.04212760925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6268,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_283081769",
+      "mask_path": "../../mask/hdr_front_06268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06269.png",
+      "transform_matrix": [
+        [
+          0.009017587639391422,
+          -0.06920192390680313,
+          0.9975619912147522,
+          65.56785583496094
+        ],
+        [
+          -0.9999569058418274,
+          -0.002800964517518878,
+          0.008844931609928608,
+          23.2804012298584
+        ],
+        [
+          0.0021820496767759323,
+          -0.9975987672805786,
+          -0.06922420859336853,
+          -26.04055404663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6269,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_383081912",
+      "mask_path": "../../mask/hdr_front_06269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06270.png",
+      "transform_matrix": [
+        [
+          0.005831680726259947,
+          -0.0633426159620285,
+          0.9979748129844666,
+          65.48644256591797
+        ],
+        [
+          -0.9999638199806213,
+          -0.006553188432008028,
+          0.005427365656942129,
+          23.28310775756836
+        ],
+        [
+          0.00619613379240036,
+          -0.9979703426361084,
+          -0.06337854266166687,
+          -26.04023551940918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6270,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_483080625",
+      "mask_path": "../../mask/hdr_front_06270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06271.png",
+      "transform_matrix": [
+        [
+          -0.0037578698247671127,
+          -0.062138963490724564,
+          0.9980604648590088,
+          65.38746643066406
+        ],
+        [
+          -0.999936580657959,
+          -0.010369451716542244,
+          -0.0044105337001383305,
+          23.289600372314453
+        ],
+        [
+          0.010623406618833542,
+          -0.9980137348175049,
+          -0.06209605559706688,
+          -26.02767562866211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6271,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_583082199",
+      "mask_path": "../../mask/hdr_front_06271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06272.png",
+      "transform_matrix": [
+        [
+          -0.014593856409192085,
+          -0.06439227610826492,
+          0.9978179335594177,
+          65.30376434326172
+        ],
+        [
+          -0.9997866749763489,
+          -0.013649399392306805,
+          -0.015503489412367344,
+          23.2978515625
+        ],
+        [
+          0.014617919921875,
+          -0.9978313446044922,
+          -0.06417933851480484,
+          -26.015310287475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6272,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_683081865",
+      "mask_path": "../../mask/hdr_front_06272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06273.png",
+      "transform_matrix": [
+        [
+          -0.025019487366080284,
+          -0.06858313083648682,
+          0.9973315596580505,
+          65.22499084472656
+        ],
+        [
+          -0.9995092153549194,
+          -0.017095519229769707,
+          -0.026249714195728302,
+          23.305418014526367
+        ],
+        [
+          0.018850190564990044,
+          -0.9974989295005798,
+          -0.06812175363302231,
+          -26.013362884521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6273,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_783081054",
+      "mask_path": "../../mask/hdr_front_06273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06274.png",
+      "transform_matrix": [
+        [
+          -0.02614416368305683,
+          -0.06714732199907303,
+          0.9974004626274109,
+          65.09717559814453
+        ],
+        [
+          -0.9995464086532593,
+          -0.01316358894109726,
+          -0.027086613699793816,
+          23.30013656616211
+        ],
+        [
+          0.014948165975511074,
+          -0.9976562261581421,
+          -0.0667727142572403,
+          -26.001251220703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6274,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_883081912",
+      "mask_path": "../../mask/hdr_front_06274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06275.png",
+      "transform_matrix": [
+        [
+          -0.020455989986658096,
+          -0.06267999857664108,
+          0.9978240728378296,
+          64.99470520019531
+        ],
+        [
+          -0.9997696876525879,
+          -0.005186348222196102,
+          -0.020821670070290565,
+          23.293682098388672
+        ],
+        [
+          0.006480165291577578,
+          -0.9980202317237854,
+          -0.06255947798490524,
+          -25.999513626098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6275,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_983081817",
+      "mask_path": "../../mask/hdr_front_06275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06276.png",
+      "transform_matrix": [
+        [
+          -0.01683236099779606,
+          -0.061782531440258026,
+          0.997947633266449,
+          64.92689514160156
+        ],
+        [
+          -0.9998571872711182,
+          -0.0004922281950712204,
+          -0.01689503714442253,
+          23.29584312438965
+        ],
+        [
+          0.0015350384637713432,
+          -0.9980894923210144,
+          -0.06176542490720749,
+          -26.007387161254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6276,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_83082675",
+      "mask_path": "../../mask/hdr_front_06276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06277.png",
+      "transform_matrix": [
+        [
+          -0.020323429256677628,
+          -0.06054919958114624,
+          0.9979583024978638,
+          64.83186340332031
+        ],
+        [
+          -0.9997931122779846,
+          0.0020064255222678185,
+          -0.020239057019352913,
+          23.2984676361084
+        ],
+        [
+          -0.0007768705254420638,
+          -0.9981632232666016,
+          -0.06057744845747948,
+          -25.990528106689453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6277,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_183080673",
+      "mask_path": "../../mask/hdr_front_06277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06278.png",
+      "transform_matrix": [
+        [
+          -0.029914934188127518,
+          -0.06270958483219147,
+          0.9975833892822266,
+          64.74015808105469
+        ],
+        [
+          -0.9995520114898682,
+          0.0009982951451092958,
+          -0.029911214485764503,
+          23.301801681518555
+        ],
+        [
+          0.0008798377239145339,
+          -0.9980313777923584,
+          -0.06271135807037354,
+          -25.966217041015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6278,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_283080816",
+      "mask_path": "../../mask/hdr_front_06278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04120.png",
+      "transform_matrix": [
+        [
+          0.9596129655838013,
+          -0.18559637665748596,
+          0.21141646802425385,
+          65.20211791992188
+        ],
+        [
+          -0.21187734603881836,
+          0.017580408602952957,
+          0.977138102054596,
+          23.340303421020508
+        ],
+        [
+          -0.18507008254528046,
+          -0.982468843460083,
+          -0.022453274577856064,
+          -26.005752563476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4120,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_383081436",
+      "mask_path": "../../mask/hdr_left_04120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04121.png",
+      "transform_matrix": [
+        [
+          0.9604274034500122,
+          -0.17106473445892334,
+          0.21980895102024078,
+          65.28981018066406
+        ],
+        [
+          -0.2200421392917633,
+          0.01783636026084423,
+          0.9753272533416748,
+          23.339162826538086
+        ],
+        [
+          -0.17076468467712402,
+          -0.9850984215736389,
+          -0.02051091566681862,
+          -26.015172958374023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4121,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_483080863",
+      "mask_path": "../../mask/hdr_left_04121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04122.png",
+      "transform_matrix": [
+        [
+          0.9602775573730469,
+          -0.15555663406848907,
+          0.23166607320308685,
+          65.38226318359375
+        ],
+        [
+          -0.23268847167491913,
+          0.01185988262295723,
+          0.972478985786438,
+          23.338214874267578
+        ],
+        [
+          -0.15402306616306305,
+          -0.9877558350563049,
+          -0.02480744756758213,
+          -26.018945693969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4122,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_583082675",
+      "mask_path": "../../mask/hdr_left_04122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04123.png",
+      "transform_matrix": [
+        [
+          0.9608151316642761,
+          -0.14533132314682007,
+          0.23603595793247223,
+          65.51006317138672
+        ],
+        [
+          -0.2380569726228714,
+          0.003577409777790308,
+          0.9712445735931396,
+          23.335296630859375
+        ],
+        [
+          -0.14199665188789368,
+          -0.9893766045570374,
+          -0.03115989826619625,
+          -26.032583236694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4123,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_683082342",
+      "mask_path": "../../mask/hdr_left_04123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04124.png",
+      "transform_matrix": [
+        [
+          0.963020384311676,
+          -0.13663168251514435,
+          0.23221416771411896,
+          65.60995483398438
+        ],
+        [
+          -0.23451025784015656,
+          -0.0007294418755918741,
+          0.9721134305000305,
+          23.342330932617188
+        ],
+        [
+          -0.13265208899974823,
+          -0.9906216859817505,
+          -0.032743994146585464,
+          -26.05359649658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4124,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_783082008",
+      "mask_path": "../../mask/hdr_left_04124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04125.png",
+      "transform_matrix": [
+        [
+          0.965165376663208,
+          -0.12535330653190613,
+          0.2296568602323532,
+          65.67449188232422
+        ],
+        [
+          -0.2314128428697586,
+          0.0005684395437128842,
+          0.9728553891181946,
+          23.347959518432617
+        ],
+        [
+          -0.12208118289709091,
+          -0.9921120405197144,
+          -0.02845972590148449,
+          -26.069061279296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4125,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_883083105",
+      "mask_path": "../../mask/hdr_left_04125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04126.png",
+      "transform_matrix": [
+        [
+          0.9641157984733582,
+          -0.1239156424999237,
+          0.23478828370571136,
+          65.77368927001953
+        ],
+        [
+          -0.23616744577884674,
+          0.0036499330308288336,
+          0.9717054963111877,
+          23.339309692382812
+        ],
+        [
+          -0.12126646935939789,
+          -0.9922860860824585,
+          -0.025745877996087074,
+          -26.066465377807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4126,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_983082056",
+      "mask_path": "../../mask/hdr_left_04126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04127.png",
+      "transform_matrix": [
+        [
+          0.9616337418556213,
+          -0.12132413685321808,
+          0.2460506111383438,
+          65.87974548339844
+        ],
+        [
+          -0.2469342052936554,
+          0.007935312576591969,
+          0.9689998626708984,
+          23.332002639770508
+        ],
+        [
+          -0.1195155456662178,
+          -0.9925812482833862,
+          -0.02232820726931095,
+          -26.06752586364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4127,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_83081722",
+      "mask_path": "../../mask/hdr_left_04127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04128.png",
+      "transform_matrix": [
+        [
+          0.9596613049507141,
+          -0.11127138882875443,
+          0.2582031488418579,
+          65.95404052734375
+        ],
+        [
+          -0.25894540548324585,
+          0.00797992292791605,
+          0.9658589363098145,
+          23.32547950744629
+        ],
+        [
+          -0.10953289270401001,
+          -0.9937580823898315,
+          -0.021155189722776413,
+          -26.075220108032227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4128,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_183082103",
+      "mask_path": "../../mask/hdr_left_04128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04129.png",
+      "transform_matrix": [
+        [
+          0.957926332950592,
+          -0.10260356962680817,
+          0.2680477797985077,
+          66.04247283935547
+        ],
+        [
+          -0.26959335803985596,
+          -0.00124449678696692,
+          0.962973415851593,
+          23.312936782836914
+        ],
+        [
+          -0.09847092628479004,
+          -0.9947216510772705,
+          -0.02885337360203266,
+          -26.08766746520996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4129,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_283081769",
+      "mask_path": "../../mask/hdr_left_04129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04130.png",
+      "transform_matrix": [
+        [
+          0.9584143161773682,
+          -0.0985671654343605,
+          0.26781803369522095,
+          66.14864349365234
+        ],
+        [
+          -0.27030473947525024,
+          -0.012553917244076729,
+          0.9626930356025696,
+          23.299440383911133
+        ],
+        [
+          -0.09152775257825851,
+          -0.9950512647628784,
+          -0.03867502883076668,
+          -26.08716583251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4130,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_383081912",
+      "mask_path": "../../mask/hdr_left_04130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04131.png",
+      "transform_matrix": [
+        [
+          0.9607211947441101,
+          -0.09376982599496841,
+          0.26119324564933777,
+          66.2350845336914
+        ],
+        [
+          -0.263878732919693,
+          -0.017263319343328476,
+          0.9644013047218323,
+          23.294979095458984
+        ],
+        [
+          -0.08592268079519272,
+          -0.9954442381858826,
+          -0.041329093277454376,
+          -26.080337524414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4131,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_483081579",
+      "mask_path": "../../mask/hdr_left_04131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04132.png",
+      "transform_matrix": [
+        [
+          0.962379515171051,
+          -0.08864759653806686,
+          0.2568407952785492,
+          66.32620239257812
+        ],
+        [
+          -0.25917214155197144,
+          -0.01567806862294674,
+          0.9657037854194641,
+          23.297138214111328
+        ],
+        [
+          -0.08158055692911148,
+          -0.9959396719932556,
+          -0.03806323930621147,
+          -26.10032081604004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4132,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_583081722",
+      "mask_path": "../../mask/hdr_left_04132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04133.png",
+      "transform_matrix": [
+        [
+          0.9607111811637878,
+          -0.09113793075084686,
+          0.26215967535972595,
+          66.44244384765625
+        ],
+        [
+          -0.26438403129577637,
+          -0.013040103949606419,
+          0.9643292427062988,
+          23.282569885253906
+        ],
+        [
+          -0.08446837961673737,
+          -0.9957529306411743,
+          -0.036623187363147736,
+          -26.106348037719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4133,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_683082818",
+      "mask_path": "../../mask/hdr_left_04133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04134.png",
+      "transform_matrix": [
+        [
+          0.9569984078407288,
+          -0.0920199379324913,
+          0.2751118838787079,
+          66.52787017822266
+        ],
+        [
+          -0.27704402804374695,
+          -0.008674499578773975,
+          0.9608181118965149,
+          23.27023696899414
+        ],
+        [
+          -0.08602794259786606,
+          -0.9957193732261658,
+          -0.03379505127668381,
+          -26.1068115234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4134,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_783081293",
+      "mask_path": "../../mask/hdr_left_04134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04135.png",
+      "transform_matrix": [
+        [
+          0.9534206986427307,
+          -0.086321622133255,
+          0.2890283167362213,
+          66.59147644042969
+        ],
+        [
+          -0.2905579209327698,
+          -0.0054399967193603516,
+          0.9568418860435486,
+          23.259008407592773
+        ],
+        [
+          -0.08102383464574814,
+          -0.9962524771690369,
+          -0.03026803396642208,
+          -26.112064361572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4135,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_883081674",
+      "mask_path": "../../mask/hdr_left_04135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04136.png",
+      "transform_matrix": [
+        [
+          0.9509209394454956,
+          -0.08398845046758652,
+          0.2978173792362213,
+          66.69702911376953
+        ],
+        [
+          -0.29963037371635437,
+          -0.009583027102053165,
+          0.9540072083473206,
+          23.248075485229492
+        ],
+        [
+          -0.07727159559726715,
+          -0.996420681476593,
+          -0.03427819162607193,
+          -26.122467041015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4136,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_983081102",
+      "mask_path": "../../mask/hdr_left_04136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04137.png",
+      "transform_matrix": [
+        [
+          0.9501994848251343,
+          -0.08650670200586319,
+          0.2993951439857483,
+          66.79703521728516
+        ],
+        [
+          -0.30194658041000366,
+          -0.017782803624868393,
+          0.953158974647522,
+          23.244741439819336
+        ],
+        [
+          -0.07713056355714798,
+          -0.9960926175117493,
+          -0.043017614632844925,
+          -26.140117645263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4137,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_83081245",
+      "mask_path": "../../mask/hdr_left_04137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04138.png",
+      "transform_matrix": [
+        [
+          0.9505841732025146,
+          -0.08738239109516144,
+          0.2979162037372589,
+          66.86219787597656
+        ],
+        [
+          -0.30075106024742126,
+          -0.020994756370782852,
+          0.9534714818000793,
+          23.23980140686035
+        ],
+        [
+          -0.07706193625926971,
+          -0.9959535598754883,
+          -0.04623762518167496,
+          -26.141199111938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4138,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_183080911",
+      "mask_path": "../../mask/hdr_left_04138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04139.png",
+      "transform_matrix": [
+        [
+          0.9503291249275208,
+          -0.08845050632953644,
+          0.2984141707420349,
+          66.94778442382812
+        ],
+        [
+          -0.3009594678878784,
+          -0.01667943224310875,
+          0.9534910321235657,
+          23.236888885498047
+        ],
+        [
+          -0.07935937494039536,
+          -0.9959409236907959,
+          -0.04247095808386803,
+          -26.15216827392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4139,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_283081293",
+      "mask_path": "../../mask/hdr_left_04139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04140.png",
+      "transform_matrix": [
+        [
+          0.9480021595954895,
+          -0.09165757894515991,
+          0.304779589176178,
+          67.05083465576172
+        ],
+        [
+          -0.30750343203544617,
+          -0.01688380353152752,
+          0.9513970613479614,
+          23.22369956970215
+        ],
+        [
+          -0.0820569097995758,
+          -0.9956474304199219,
+          -0.0441908985376358,
+          -26.15958595275879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4140,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_383080482",
+      "mask_path": "../../mask/hdr_left_04140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04141.png",
+      "transform_matrix": [
+        [
+          0.9447799324989319,
+          -0.09167442470788956,
+          0.31462153792381287,
+          67.12821960449219
+        ],
+        [
+          -0.3174254298210144,
+          -0.017422731965780258,
+          0.9481232762336731,
+          23.208995819091797
+        ],
+        [
+          -0.08143706619739532,
+          -0.9956366419792175,
+          -0.04556043818593025,
+          -26.160188674926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4141,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_483080625",
+      "mask_path": "../../mask/hdr_left_04141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04142.png",
+      "transform_matrix": [
+        [
+          0.94130539894104,
+          -0.08678312599658966,
+          0.32620957493782043,
+          67.1873779296875
+        ],
+        [
+          -0.32872068881988525,
+          -0.016013367101550102,
+          0.9442914128303528,
+          23.202518463134766
+        ],
+        [
+          -0.07672484964132309,
+          -0.9960985779762268,
+          -0.04360087215900421,
+          -26.172983169555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4142,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_583079576",
+      "mask_path": "../../mask/hdr_left_04142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04143.png",
+      "transform_matrix": [
+        [
+          0.9392600059509277,
+          -0.08244093507528305,
+          0.33315765857696533,
+          67.28518676757812
+        ],
+        [
+          -0.33579060435295105,
+          -0.02004276216030121,
+          0.9417233467102051,
+          23.196430206298828
+        ],
+        [
+          -0.07095915824174881,
+          -0.9963943958282471,
+          -0.04650825634598732,
+          -26.184032440185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4143,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_683080673",
+      "mask_path": "../../mask/hdr_left_04143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04144.png",
+      "transform_matrix": [
+        [
+          0.9396606683731079,
+          -0.08180026710033417,
+          0.33218446373939514,
+          67.38754272460938
+        ],
+        [
+          -0.3352215588092804,
+          -0.026315247640013695,
+          0.9417717456817627,
+          23.185049057006836
+        ],
+        [
+          -0.0682956650853157,
+          -0.9963012933731079,
+          -0.05214861407876015,
+          -26.187776565551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4144,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_783079862",
+      "mask_path": "../../mask/hdr_left_04144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04145.png",
+      "transform_matrix": [
+        [
+          0.9418869614601135,
+          -0.08039732277393341,
+          0.3261672556400299,
+          67.46161651611328
+        ],
+        [
+          -0.3291982114315033,
+          -0.027503851801156998,
+          0.9438602328300476,
+          23.17378044128418
+        ],
+        [
+          -0.06691297888755798,
+          -0.9963833689689636,
+          -0.05237217992544174,
+          -26.185714721679688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4145,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_883080720",
+      "mask_path": "../../mask/hdr_left_04145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04146.png",
+      "transform_matrix": [
+        [
+          0.9462633728981018,
+          -0.07520544528961182,
+          0.31453076004981995,
+          67.54150390625
+        ],
+        [
+          -0.31693336367607117,
+          -0.0221798587590456,
+          0.9481884241104126,
+          23.171899795532227
+        ],
+        [
+          -0.06433267146348953,
+          -0.9969214200973511,
+          -0.04482309892773628,
+          -26.195362091064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4146,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_983080387",
+      "mask_path": "../../mask/hdr_left_04146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04147.png",
+      "transform_matrix": [
+        [
+          0.9501219987869263,
+          -0.07122620195150375,
+          0.3036361336708069,
+          67.64380645751953
+        ],
+        [
+          -0.3056837022304535,
+          -0.019600210711359978,
+          0.9519312977790833,
+          23.16553497314453
+        ],
+        [
+          -0.06185112148523331,
+          -0.9972676634788513,
+          -0.04039527848362923,
+          -26.198516845703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4147,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_83080291",
+      "mask_path": "../../mask/hdr_left_04147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04148.png",
+      "transform_matrix": [
+        [
+          0.952053964138031,
+          -0.06797187030315399,
+          0.29828333854675293,
+          67.72694396972656
+        ],
+        [
+          -0.30014482140541077,
+          -0.018814653158187866,
+          0.9537080526351929,
+          23.155824661254883
+        ],
+        [
+          -0.059213217347860336,
+          -0.9975098371505737,
+          -0.03831396996974945,
+          -26.19546127319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4148,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_183079719",
+      "mask_path": "../../mask/hdr_left_04148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04149.png",
+      "transform_matrix": [
+        [
+          0.9529204368591309,
+          -0.06252476572990417,
+          0.29670384526252747,
+          67.78665161132812
+        ],
+        [
+          -0.29816603660583496,
+          -0.01530499942600727,
+          0.9543913006782532,
+          23.14666175842285
+        ],
+        [
+          -0.05513204261660576,
+          -0.9979261159896851,
+          -0.03322720155119896,
+          -26.200836181640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4149,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_283082008",
+      "mask_path": "../../mask/hdr_left_04149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04150.png",
+      "transform_matrix": [
+        [
+          0.9546600580215454,
+          -0.05700842663645744,
+          0.2921885848045349,
+          67.87177276611328
+        ],
+        [
+          -0.2934189438819885,
+          -0.01437103096395731,
+          0.9558759927749634,
+          23.141582489013672
+        ],
+        [
+          -0.050293926149606705,
+          -0.9982703328132629,
+          -0.030446795746684074,
+          -26.208383560180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4150,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_383081912",
+      "mask_path": "../../mask/hdr_left_04150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04151.png",
+      "transform_matrix": [
+        [
+          0.9592681527137756,
+          -0.05588407814502716,
+          0.2769140303134918,
+          67.96456146240234
+        ],
+        [
+          -0.27831387519836426,
+          -0.018894875422120094,
+          0.960304319858551,
+          23.14206314086914
+        ],
+        [
+          -0.04843346029520035,
+          -0.9982584714889526,
+          -0.0336785614490509,
+          -26.208547592163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4151,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_483082056",
+      "mask_path": "../../mask/hdr_left_04151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04152.png",
+      "transform_matrix": [
+        [
+          0.9651145339012146,
+          -0.05545263737440109,
+          0.25588834285736084,
+          68.03913116455078
+        ],
+        [
+          -0.25724801421165466,
+          -0.018830835819244385,
+          0.9661619067192078,
+          23.144805908203125
+        ],
+        [
+          -0.04875762388110161,
+          -0.9982837438583374,
+          -0.03243899345397949,
+          -26.210603713989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4152,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_583082199",
+      "mask_path": "../../mask/hdr_left_04152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04153.png",
+      "transform_matrix": [
+        [
+          0.9703617691993713,
+          -0.054688021540641785,
+          0.23538735508918762,
+          68.1112060546875
+        ],
+        [
+          -0.236174076795578,
+          -0.008305753581225872,
+          0.9716752171516418,
+          23.15452003479004
+        ],
+        [
+          -0.05118392035365105,
+          -0.9984689950942993,
+          -0.020975474268198013,
+          -26.22945785522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4153,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_683081388",
+      "mask_path": "../../mask/hdr_left_04153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04154.png",
+      "transform_matrix": [
+        [
+          0.9737827181816101,
+          -0.05948919802904129,
+          0.2195633351802826,
+          68.19384765625
+        ],
+        [
+          -0.21998389065265656,
+          -0.0005336187896318734,
+          0.9755033254623413,
+          23.154708862304688
+        ],
+        [
+          -0.057914748787879944,
+          -0.998228907585144,
+          -0.013606289401650429,
+          -26.234203338623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4154,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_783080816",
+      "mask_path": "../../mask/hdr_left_04154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04155.png",
+      "transform_matrix": [
+        [
+          0.9756225347518921,
+          -0.061881039291620255,
+          0.2105502486228943,
+          68.26045227050781
+        ],
+        [
+          -0.21068638563156128,
+          0.004391276277601719,
+          0.977543830871582,
+          23.151222229003906
+        ],
+        [
+          -0.061416007578372955,
+          -0.9980738759040833,
+          -0.008753260597586632,
+          -26.22967529296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4155,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_883082151",
+      "mask_path": "../../mask/hdr_left_04155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04157.png",
+      "transform_matrix": [
+        [
+          0.9734096527099609,
+          -0.05642595514655113,
+          0.2220125049352646,
+          68.39335632324219
+        ],
+        [
+          -0.22180376946926117,
+          0.010015030391514301,
+          0.9750398993492126,
+          23.14903450012207
+        ],
+        [
+          -0.057241011410951614,
+          -0.9983566403388977,
+          -0.002766756806522608,
+          -26.238439559936523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4157,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_83082675",
+      "mask_path": "../../mask/hdr_left_04157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04158.png",
+      "transform_matrix": [
+        [
+          0.9721989631652832,
+          -0.060958392918109894,
+          0.22608241438865662,
+          68.49005126953125
+        ],
+        [
+          -0.22660225629806519,
+          -0.0016628347802907228,
+          0.9739859700202942,
+          23.139863967895508
+        ],
+        [
+          -0.05899667739868164,
+          -0.998138964176178,
+          -0.015429914928972721,
+          -26.247407913208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4158,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_183080673",
+      "mask_path": "../../mask/hdr_left_04158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04159.png",
+      "transform_matrix": [
+        [
+          0.9720062613487244,
+          -0.06360173970460892,
+          0.22618253529071808,
+          68.56732940673828
+        ],
+        [
+          -0.22700192034244537,
+          -0.005871232599020004,
+          0.9738765954971313,
+          23.132890701293945
+        ],
+        [
+          -0.0606122687458992,
+          -0.9979581832885742,
+          -0.020144591107964516,
+          -26.25111961364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4159,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_283082962",
+      "mask_path": "../../mask/hdr_left_04159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04160.png",
+      "transform_matrix": [
+        [
+          0.971653938293457,
+          -0.06510887295007706,
+          0.22726504504680634,
+          68.65997314453125
+        ],
+        [
+          -0.2278321087360382,
+          -0.001322723925113678,
+          0.9736995100975037,
+          23.13542366027832
+        ],
+        [
+          -0.06309586763381958,
+          -0.9978773593902588,
+          -0.01611911877989769,
+          -26.268619537353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4160,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_383082389",
+      "mask_path": "../../mask/hdr_left_04160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04161.png",
+      "transform_matrix": [
+        [
+          0.9696659445762634,
+          -0.07205813378095627,
+          0.23357127606868744,
+          68.75192260742188
+        ],
+        [
+          -0.2343314290046692,
+          -0.002163140568882227,
+          0.9721543788909912,
+          23.132535934448242
+        ],
+        [
+          -0.06954637914896011,
+          -0.9973981380462646,
+          -0.018983010202646255,
+          -26.276586532592773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4161,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_483082294",
+      "mask_path": "../../mask/hdr_left_04161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04162.png",
+      "transform_matrix": [
+        [
+          0.9672386646270752,
+          -0.07632432878017426,
+          0.24212369322776794,
+          68.82450866699219
+        ],
+        [
+          -0.2431388944387436,
+          -0.004161004908382893,
+          0.9699825644493103,
+          23.123043060302734
+        ],
+        [
+          -0.07302577793598175,
+          -0.9970743656158447,
+          -0.022582095116376877,
+          -26.274812698364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4162,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_583082437",
+      "mask_path": "../../mask/hdr_left_04162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04163.png",
+      "transform_matrix": [
+        [
+          0.9647830128669739,
+          -0.0717727541923523,
+          0.25306591391563416,
+          68.8915786743164
+        ],
+        [
+          -0.2537163496017456,
+          5.588304702541791e-05,
+          0.9672785997390747,
+          23.120346069335938
+        ],
+        [
+          -0.0694384053349495,
+          -0.9974210262298584,
+          -0.018156006932258606,
+          -26.286203384399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4163,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_683080911",
+      "mask_path": "../../mask/hdr_left_04163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04164.png",
+      "transform_matrix": [
+        [
+          0.9625464677810669,
+          -0.07203114777803421,
+          0.26137304306030273,
+          68.99263763427734
+        ],
+        [
+          -0.2620762586593628,
+          -0.00032351433765143156,
+          0.9650470614433289,
+          23.11699676513672
+        ],
+        [
+          -0.06942889094352722,
+          -0.9974023103713989,
+          -0.019189050421118736,
+          -26.296083450317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4164,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_783082246",
+      "mask_path": "../../mask/hdr_left_04164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04165.png",
+      "transform_matrix": [
+        [
+          0.9620901346206665,
+          -0.07608562707901001,
+          0.2619034945964813,
+          69.093994140625
+        ],
+        [
+          -0.26308774948120117,
+          -0.005803337320685387,
+          0.9647545218467712,
+          23.11383056640625
+        ],
+        [
+          -0.07188402861356735,
+          -0.997084379196167,
+          -0.025600530207157135,
+          -26.306148529052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4165,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_883081912",
+      "mask_path": "../../mask/hdr_left_04165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04166.png",
+      "transform_matrix": [
+        [
+          0.9637749195098877,
+          -0.07539382576942444,
+          0.2558390200138092,
+          69.1671371459961
+        ],
+        [
+          -0.257215678691864,
+          -0.008988144807517529,
+          0.9663121700286865,
+          23.113618850708008
+        ],
+        [
+          -0.07055444270372391,
+          -0.9971133470535278,
+          -0.028055017814040184,
+          -26.309419631958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4166,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_983082056",
+      "mask_path": "../../mask/hdr_left_04166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04167.png",
+      "transform_matrix": [
+        [
+          0.9658085703849792,
+          -0.07333667576313019,
+          0.24866724014282227,
+          69.24327087402344
+        ],
+        [
+          -0.24958057701587677,
+          -0.0034179496578872204,
+          0.9683480262756348,
+          23.11344337463379
+        ],
+        [
+          -0.0701654776930809,
+          -0.9973013997077942,
+          -0.021604495123028755,
+          -26.314748764038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4167,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_83082437",
+      "mask_path": "../../mask/hdr_left_04167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04168.png",
+      "transform_matrix": [
+        [
+          0.9667739272117615,
+          -0.07549268752336502,
+          0.24423131346702576,
+          69.33358001708984
+        ],
+        [
+          -0.2449541985988617,
+          -0.00032650469802320004,
+          0.9695345163345337,
+          23.112958908081055
+        ],
+        [
+          -0.07311303168535233,
+          -0.9971463084220886,
+          -0.0188079085201025,
+          -26.321022033691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4168,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_183081150",
+      "mask_path": "../../mask/hdr_left_04168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04169.png",
+      "transform_matrix": [
+        [
+          0.9683243036270142,
+          -0.07658714056015015,
+          0.23765996098518372,
+          69.41134643554688
+        ],
+        [
+          -0.23837201297283173,
+          -0.00016041146591305733,
+          0.971173882484436,
+          23.110477447509766
+        ],
+        [
+          -0.0743412971496582,
+          -0.9970629215240479,
+          -0.018411558121442795,
+          -26.320308685302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4169,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_283082008",
+      "mask_path": "../../mask/hdr_left_04169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04170.png",
+      "transform_matrix": [
+        [
+          0.969470202922821,
+          -0.07320895791053772,
+          0.23402518033981323,
+          69.46936798095703
+        ],
+        [
+          -0.23433507978916168,
+          0.004448718391358852,
+          0.9721457362174988,
+          23.10753631591797
+        ],
+        [
+          -0.0722108781337738,
+          -0.9973067045211792,
+          -0.012842526659369469,
+          -26.324731826782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4170,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_383081436",
+      "mask_path": "../../mask/hdr_left_04170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04171.png",
+      "transform_matrix": [
+        [
+          0.9686712622642517,
+          -0.06776131689548492,
+          0.23892375826835632,
+          69.5456771850586
+        ],
+        [
+          -0.23897674679756165,
+          0.007442622911185026,
+          0.9709967970848083,
+          23.10123062133789
+        ],
+        [
+          -0.06757423281669617,
+          -0.9976738691329956,
+          -0.008983921259641647,
+          -26.332359313964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4171,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_483081340",
+      "mask_path": "../../mask/hdr_left_04171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04172.png",
+      "transform_matrix": [
+        [
+          0.9684109687805176,
+          -0.06816277652978897,
+          0.23986241221427917,
+          69.64313507080078
+        ],
+        [
+          -0.24028296768665314,
+          0.0020822063088417053,
+          0.9707006216049194,
+          23.095243453979492
+        ],
+        [
+          -0.06666508316993713,
+          -0.9976722002029419,
+          -0.014361917041242123,
+          -26.336139678955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4172,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_583082437",
+      "mask_path": "../../mask/hdr_left_04172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04173.png",
+      "transform_matrix": [
+        [
+          0.9701347947120667,
+          -0.06809183210134506,
+          0.23281343281269073,
+          69.72612762451172
+        ],
+        [
+          -0.23352603614330292,
+          -0.0025885729119181633,
+          0.97234708070755,
+          23.096338272094727
+        ],
+        [
+          -0.06560622155666351,
+          -0.9976757168769836,
+          -0.018412470817565918,
+          -26.343074798583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4173,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_683081865",
+      "mask_path": "../../mask/hdr_left_04173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04174.png",
+      "transform_matrix": [
+        [
+          0.9737715125083923,
+          -0.0635308027267456,
+          0.21847845613956451,
+          69.80826568603516
+        ],
+        [
+          -0.21887923777103424,
+          0.000666768872179091,
+          0.9757516384124756,
+          23.099594116210938
+        ],
+        [
+          -0.0621359646320343,
+          -0.9979797005653381,
+          -0.013256290927529335,
+          -26.36064910888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4174,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_783082008",
+      "mask_path": "../../mask/hdr_left_04174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04175.png",
+      "transform_matrix": [
+        [
+          0.9770973324775696,
+          -0.06738098710775375,
+          0.20184274017810822,
+          69.90228271484375
+        ],
+        [
+          -0.2019757777452469,
+          0.004903360735625029,
+          0.9793782234191895,
+          23.099660873413086
+        ],
+        [
+          -0.06698116660118103,
+          -0.9977152943611145,
+          -0.008818259462714195,
+          -26.35850715637207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4175,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_883082151",
+      "mask_path": "../../mask/hdr_left_04175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04176.png",
+      "transform_matrix": [
+        [
+          0.9795194268226624,
+          -0.07321038097143173,
+          0.1875685751438141,
+          69.98361206054688
+        ],
+        [
+          -0.18753957748413086,
+          0.0073320805095136166,
+          0.9822297096252441,
+          23.102100372314453
+        ],
+        [
+          -0.07328467816114426,
+          -0.9972896575927734,
+          -0.0065479278564453125,
+          -26.351520538330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4176,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_983082294",
+      "mask_path": "../../mask/hdr_left_04176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04177.png",
+      "transform_matrix": [
+        [
+          0.980681300163269,
+          -0.07292022556066513,
+          0.18151238560676575,
+          70.04924774169922
+        ],
+        [
+          -0.1809712052345276,
+          0.014016879722476006,
+          0.9833884835243225,
+          23.101945877075195
+        ],
+        [
+          -0.0742531344294548,
+          -0.997239351272583,
+          0.0005496370722539723,
+          -26.356285095214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4177,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_83083152",
+      "mask_path": "../../mask/hdr_left_04177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04178.png",
+      "transform_matrix": [
+        [
+          0.9799404740333557,
+          -0.07051406055688858,
+          0.18639875948429108,
+          70.12736511230469
+        ],
+        [
+          -0.1859966516494751,
+          0.01228418666869402,
+          0.9824735522270203,
+          23.10211753845215
+        ],
+        [
+          -0.07156795263290405,
+          -0.9974351525306702,
+          -0.0010776063427329063,
+          -26.37029266357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4178,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_183082103",
+      "mask_path": "../../mask/hdr_left_04178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04179.png",
+      "transform_matrix": [
+        [
+          0.9795041680335999,
+          -0.07551232725381851,
+          0.18673352897167206,
+          70.22795867919922
+        ],
+        [
+          -0.1872158795595169,
+          0.0007028088439255953,
+          0.9823185205459595,
+          23.101299285888672
+        ],
+        [
+          -0.07430840283632278,
+          -0.9971446990966797,
+          -0.013448699377477169,
+          -26.382156372070312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4179,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_283081054",
+      "mask_path": "../../mask/hdr_left_04179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04180.png",
+      "transform_matrix": [
+        [
+          0.9801937341690063,
+          -0.08004271239042282,
+          0.18114425241947174,
+          70.30587005615234
+        ],
+        [
+          -0.1820908486843109,
+          -0.004628349561244249,
+          0.9832707643508911,
+          23.106287002563477
+        ],
+        [
+          -0.07786526530981064,
+          -0.9967807531356812,
+          -0.019111722707748413,
+          -26.398670196533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4180,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_383081436",
+      "mask_path": "../../mask/hdr_left_04180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04181.png",
+      "transform_matrix": [
+        [
+          0.9808986186981201,
+          -0.0795605480670929,
+          0.17750467360019684,
+          70.3831558227539
+        ],
+        [
+          -0.17804445326328278,
+          0.0003142046043649316,
+          0.9840223789215088,
+          23.121761322021484
+        ],
+        [
+          -0.07834512740373611,
+          -0.9968299865722656,
+          -0.013857108540832996,
+          -26.4298095703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4181,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_483081102",
+      "mask_path": "../../mask/hdr_left_04181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04182.png",
+      "transform_matrix": [
+        [
+          0.9789221882820129,
+          -0.0916115790605545,
+          0.18253366649150848,
+          70.46488952636719
+        ],
+        [
+          -0.18268801271915436,
+          0.006769642233848572,
+          0.9831475615501404,
+          23.127134323120117
+        ],
+        [
+          -0.09130338579416275,
+          -0.9957718253135681,
+          -0.010109378956258297,
+          -26.442001342773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4182,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_583082199",
+      "mask_path": "../../mask/hdr_left_04182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04183.png",
+      "transform_matrix": [
+        [
+          0.9756175875663757,
+          -0.10570374131202698,
+          0.1923460066318512,
+          70.54228973388672
+        ],
+        [
+          -0.19254371523857117,
+          0.008428352884948254,
+          0.9812522530555725,
+          23.113292694091797
+        ],
+        [
+          -0.10534318536520004,
+          -0.994361937046051,
+          -0.012129737064242363,
+          -26.436220169067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4183,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_683082103",
+      "mask_path": "../../mask/hdr_left_04183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04184.png",
+      "transform_matrix": [
+        [
+          0.9729140400886536,
+          -0.10799364745616913,
+          0.20439094305038452,
+          70.6155014038086
+        ],
+        [
+          -0.20442642271518707,
+          0.010861193761229515,
+          0.9788216352462769,
+          23.104084014892578
+        ],
+        [
+          -0.10792645066976547,
+          -0.9940923452377319,
+          -0.011509746313095093,
+          -26.440279006958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4184,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_783082008",
+      "mask_path": "../../mask/hdr_left_04184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04185.png",
+      "transform_matrix": [
+        [
+          0.9696025848388672,
+          -0.1087629497051239,
+          0.21918369829654694,
+          70.71100616455078
+        ],
+        [
+          -0.2195393443107605,
+          0.008842547424137592,
+          0.9755635261535645,
+          23.10297966003418
+        ],
+        [
+          -0.10804329067468643,
+          -0.9940283894538879,
+          -0.01530398428440094,
+          -26.457796096801758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4185,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_883081674",
+      "mask_path": "../../mask/hdr_left_04185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04186.png",
+      "transform_matrix": [
+        [
+          0.9668957591056824,
+          -0.12206064909696579,
+          0.22408421337604523,
+          70.81757354736328
+        ],
+        [
+          -0.22568807005882263,
+          0.0007035356829874218,
+          0.9741994142532349,
+          23.104185104370117
+        ],
+        [
+          -0.11906906217336655,
+          -0.9925224184989929,
+          -0.02686738409101963,
+          -26.48381233215332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4186,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_983081817",
+      "mask_path": "../../mask/hdr_left_04186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04187.png",
+      "transform_matrix": [
+        [
+          0.9657579064369202,
+          -0.13318729400634766,
+          0.22264932096004486,
+          70.88895416259766
+        ],
+        [
+          -0.22532887756824493,
+          -0.005201985593885183,
+          0.974268913269043,
+          23.108999252319336
+        ],
+        [
+          -0.1286020129919052,
+          -0.9910773038864136,
+          -0.035034798085689545,
+          -26.51093292236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4187,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_83081722",
+      "mask_path": "../../mask/hdr_left_04187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04188.png",
+      "transform_matrix": [
+        [
+          0.9658588171005249,
+          -0.13313275575637817,
+          0.22224409878253937,
+          70.95223999023438
+        ],
+        [
+          -0.22493505477905273,
+          -0.005332467146217823,
+          0.9743592143058777,
+          23.11168098449707
+        ],
+        [
+          -0.1285340040922165,
+          -0.9910839200019836,
+          -0.03509662672877312,
+          -26.524898529052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4188,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_183082103",
+      "mask_path": "../../mask/hdr_left_04188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04189.png",
+      "transform_matrix": [
+        [
+          0.9644256830215454,
+          -0.1392587274312973,
+          0.2247002124786377,
+          71.04521179199219
+        ],
+        [
+          -0.2281523197889328,
+          -0.009132133796811104,
+          0.9735825657844543,
+          23.105106353759766
+        ],
+        [
+          -0.13352786004543304,
+          -0.9902139902114868,
+          -0.04057946428656578,
+          -26.538482666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4189,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_283081769",
+      "mask_path": "../../mask/hdr_left_04189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04190.png",
+      "transform_matrix": [
+        [
+          0.961860716342926,
+          -0.14389918744564056,
+          0.2326303869485855,
+          71.14346313476562
+        ],
+        [
+          -0.23675040900707245,
+          -0.011961285956203938,
+          0.9714969396591187,
+          23.086162567138672
+        ],
+        [
+          -0.13701501488685608,
+          -0.9895200729370117,
+          -0.04557327181100845,
+          -26.54831886291504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4190,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_383081912",
+      "mask_path": "../../mask/hdr_left_04190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04191.png",
+      "transform_matrix": [
+        [
+          0.9595837593078613,
+          -0.1395878791809082,
+          0.24436509609222412,
+          71.21519470214844
+        ],
+        [
+          -0.24783076345920563,
+          -0.007738280110061169,
+          0.9687725305557251,
+          23.07343292236328
+        ],
+        [
+          -0.13333791494369507,
+          -0.9901795387268066,
+          -0.04201969876885414,
+          -26.553579330444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4191,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_483082294",
+      "mask_path": "../../mask/hdr_left_04191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04192.png",
+      "transform_matrix": [
+        [
+          0.957736074924469,
+          -0.13082380592823029,
+          0.2561769485473633,
+          71.28406524658203
+        ],
+        [
+          -0.2591838538646698,
+          -0.006206715479493141,
+          0.965808093547821,
+          23.06673812866211
+        ],
+        [
+          -0.12476065754890442,
+          -0.9913862943649292,
+          -0.03985180705785751,
+          -26.56084442138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4192,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_583081483",
+      "mask_path": "../../mask/hdr_left_04192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04193.png",
+      "transform_matrix": [
+        [
+          0.956009030342102,
+          -0.13631246984004974,
+          0.2597412168979645,
+          71.3814468383789
+        ],
+        [
+          -0.26364976167678833,
+          -0.011129523627460003,
+          0.9645542502403259,
+          23.057525634765625
+        ],
+        [
+          -0.1285899579524994,
+          -0.9906033873558044,
+          -0.04657867178320885,
+          -26.582965850830078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4193,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_683082342",
+      "mask_path": "../../mask/hdr_left_04193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04194.png",
+      "transform_matrix": [
+        [
+          0.9549306631088257,
+          -0.14585773646831512,
+          0.25852081179618835,
+          71.46617889404297
+        ],
+        [
+          -0.26346033811569214,
+          -0.01529129408299923,
+          0.9645490050315857,
+          23.049848556518555
+        ],
+        [
+          -0.13673381507396698,
+          -0.9891874194145203,
+          -0.053029850125312805,
+          -26.610952377319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4194,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_783082485",
+      "mask_path": "../../mask/hdr_left_04194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04195.png",
+      "transform_matrix": [
+        [
+          0.9548237919807434,
+          -0.1448620855808258,
+          0.259473592042923,
+          71.53543090820312
+        ],
+        [
+          -0.2637532949447632,
+          -0.010824110358953476,
+          0.9645294547080994,
+          23.040515899658203
+        ],
+        [
+          -0.1369151771068573,
+          -0.9893926382064819,
+          -0.04854297265410423,
+          -26.618440628051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4195,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_883081912",
+      "mask_path": "../../mask/hdr_left_04195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04196.png",
+      "transform_matrix": [
+        [
+          0.9539055228233337,
+          -0.14538832008838654,
+          0.2625381052494049,
+          71.62596130371094
+        ],
+        [
+          -0.2656450569629669,
+          -0.002032635500654578,
+          0.9640687704086304,
+          23.038227081298828
+        ],
+        [
+          -0.13963069021701813,
+          -0.9893726110458374,
+          -0.04056062921881676,
+          -26.640958786010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4196,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_983083724",
+      "mask_path": "../../mask/hdr_left_04196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04197.png",
+      "transform_matrix": [
+        [
+          0.9511244893074036,
+          -0.15028388798236847,
+          0.2697718143463135,
+          71.71749877929688
+        ],
+        [
+          -0.27259474992752075,
+          0.0018841743003576994,
+          0.9621270895004272,
+          23.029285430908203
+        ],
+        [
+          -0.14510047435760498,
+          -0.9886411428451538,
+          -0.03917451202869415,
+          -26.66202735900879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4197,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_83082199",
+      "mask_path": "../../mask/hdr_left_04197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04198.png",
+      "transform_matrix": [
+        [
+          0.9477763175964355,
+          -0.1532580554485321,
+          0.27969983220100403,
+          71.79118347167969
+        ],
+        [
+          -0.28231900930404663,
+          0.00484857801347971,
+          0.9593082666397095,
+          23.013391494750977
+        ],
+        [
+          -0.14837788045406342,
+          -0.988174319267273,
+          -0.03867229074239731,
+          -26.6691951751709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4198,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_183081150",
+      "mask_path": "../../mask/hdr_left_04198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04199.png",
+      "transform_matrix": [
+        [
+          0.9446895718574524,
+          -0.1485127955675125,
+          0.29241320490837097,
+          71.8620834350586
+        ],
+        [
+          -0.29471877217292786,
+          0.006737919989973307,
+          0.9555602073669434,
+          23.002653121948242
+        ],
+        [
+          -0.14388316869735718,
+          -0.9888876080513,
+          -0.03740426152944565,
+          -26.67864227294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4199,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_283080816",
+      "mask_path": "../../mask/hdr_left_04199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04200.png",
+      "transform_matrix": [
+        [
+          0.9422252774238586,
+          -0.1422128677368164,
+          0.30329349637031555,
+          71.96932983398438
+        ],
+        [
+          -0.3052312135696411,
+          0.008520123548805714,
+          0.9522401690483093,
+          22.998247146606445
+        ],
+        [
+          -0.13800488412380219,
+          -0.989799439907074,
+          -0.03537992388010025,
+          -26.691608428955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4200,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_383081912",
+      "mask_path": "../../mask/hdr_left_04200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04201.png",
+      "transform_matrix": [
+        [
+          0.9423152804374695,
+          -0.13833266496658325,
+          0.30480462312698364,
+          72.07476043701172
+        ],
+        [
+          -0.3069356679916382,
+          0.006184211000800133,
+          0.9517101645469666,
+          22.99610710144043
+        ],
+        [
+          -0.13353756070137024,
+          -0.9903665781021118,
+          -0.0366317443549633,
+          -26.699628829956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4201,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_483082532",
+      "mask_path": "../../mask/hdr_left_04201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04202.png",
+      "transform_matrix": [
+        [
+          0.9437726736068726,
+          -0.13176092505455017,
+          0.30320337414741516,
+          72.14986419677734
+        ],
+        [
+          -0.3054485619068146,
+          0.0033173207193613052,
+          0.9522027373313904,
+          22.997472763061523
+        ],
+        [
+          -0.12646892666816711,
+          -0.9912760257720947,
+          -0.03711538389325142,
+          -26.703643798828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4202,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_583083629",
+      "mask_path": "../../mask/hdr_left_04202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04203.png",
+      "transform_matrix": [
+        [
+          0.9445186257362366,
+          -0.12309234589338303,
+          0.30452030897140503,
+          72.23159790039062
+        ],
+        [
+          -0.306603342294693,
+          0.0021163925994187593,
+          0.9518349766731262,
+          22.99986457824707
+        ],
+        [
+          -0.11780809611082077,
+          -0.9923930168151855,
+          -0.035741548985242844,
+          -26.71622657775879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4203,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_683082580",
+      "mask_path": "../../mask/hdr_left_04203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04204.png",
+      "transform_matrix": [
+        [
+          0.9435490965843201,
+          -0.11655734479427338,
+          0.3100476562976837,
+          72.33369445800781
+        ],
+        [
+          -0.3120110332965851,
+          0.0014717965386807919,
+          0.9500773549079895,
+          22.989639282226562
+        ],
+        [
+          -0.11119481921195984,
+          -0.993182897567749,
+          -0.034978464245796204,
+          -26.72173309326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4204,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_783082246",
+      "mask_path": "../../mask/hdr_left_04204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04205.png",
+      "transform_matrix": [
+        [
+          0.9414352774620056,
+          -0.10900310426950455,
+          0.3190891146659851,
+          72.41516876220703
+        ],
+        [
+          -0.32082128524780273,
+          0.001733863726258278,
+          0.9471381306648254,
+          22.980655670166016
+        ],
+        [
+          -0.10379424691200256,
+          -0.9940399527549744,
+          -0.033338192850351334,
+          -26.718717575073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4205,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_883082389",
+      "mask_path": "../../mask/hdr_left_04205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04206.png",
+      "transform_matrix": [
+        [
+          0.9382113814353943,
+          -0.09749850630760193,
+          0.3320443630218506,
+          72.48169708251953
+        ],
+        [
+          -0.33356302976608276,
+          0.0007666735327802598,
+          0.9427275061607361,
+          22.970077514648438
+        ],
+        [
+          -0.09216908365488052,
+          -0.9952355027198792,
+          -0.03180258721113205,
+          -26.717731475830078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4206,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_983082532",
+      "mask_path": "../../mask/hdr_left_04206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04207.png",
+      "transform_matrix": [
+        [
+          0.9355505108833313,
+          -0.09256677329540253,
+          0.3408468961715698,
+          72.57868194580078
+        ],
+        [
+          -0.3426307141780853,
+          -0.0036218399181962013,
+          0.9394630789756775,
+          22.957748413085938
+        ],
+        [
+          -0.08572857081890106,
+          -0.9957000017166138,
+          -0.03510463237762451,
+          -26.72313117980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4207,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_83082914",
+      "mask_path": "../../mask/hdr_left_04207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04208.png",
+      "transform_matrix": [
+        [
+          0.936060905456543,
+          -0.09362313896417618,
+          0.3391527533531189,
+          72.66594696044922
+        ],
+        [
+          -0.3417532742023468,
+          -0.012809011153876781,
+          0.9397023320198059,
+          22.954856872558594
+        ],
+        [
+          -0.08363368362188339,
+          -0.9955253005027771,
+          -0.04398602619767189,
+          -26.738697052001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4208,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_183081388",
+      "mask_path": "../../mask/hdr_left_04208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04209.png",
+      "transform_matrix": [
+        [
+          0.9381253123283386,
+          -0.09116561710834503,
+          0.33408042788505554,
+          72.71987915039062
+        ],
+        [
+          -0.3369868993759155,
+          -0.01814844086766243,
+          0.9413343667984009,
+          22.953495025634766
+        ],
+        [
+          -0.0797543004155159,
+          -0.9956704378128052,
+          -0.04774713143706322,
+          -26.7563533782959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4209,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_283081769",
+      "mask_path": "../../mask/hdr_left_04209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04210.png",
+      "transform_matrix": [
+        [
+          0.9386284351348877,
+          -0.09231676906347275,
+          0.332346647977829,
+          72.79437255859375
+        ],
+        [
+          -0.334797739982605,
+          -0.01201540231704712,
+          0.9422134160995483,
+          22.93648338317871
+        ],
+        [
+          -0.08298882097005844,
+          -0.9956572651863098,
+          -0.04218544065952301,
+          -26.77536392211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4210,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_383083105",
+      "mask_path": "../../mask/hdr_left_04210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04211.png",
+      "transform_matrix": [
+        [
+          0.9340983629226685,
+          -0.11326932162046432,
+          0.3385709524154663,
+          72.87468719482422
+        ],
+        [
+          -0.3415847718715668,
+          -0.007754497695714235,
+          0.9398189187049866,
+          22.924158096313477
+        ],
+        [
+          -0.10382720828056335,
+          -0.9935341477394104,
+          -0.045934539288282394,
+          -26.798437118530273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4211,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_483081579",
+      "mask_path": "../../mask/hdr_left_04211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04212.png",
+      "transform_matrix": [
+        [
+          0.927391767501831,
+          -0.13603712618350983,
+          0.34848010540008545,
+          72.92144775390625
+        ],
+        [
+          -0.3525662124156952,
+          -0.00640680780634284,
+          0.9357648491859436,
+          22.918149948120117
+        ],
+        [
+          -0.1250661313533783,
+          -0.9906831383705139,
+          -0.05390371382236481,
+          -26.82204818725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4212,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_583083391",
+      "mask_path": "../../mask/hdr_left_04212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04213.png",
+      "transform_matrix": [
+        [
+          0.9215980768203735,
+          -0.14312583208084106,
+          0.3607936501502991,
+          72.96681213378906
+        ],
+        [
+          -0.3642822206020355,
+          0.001959659159183502,
+          0.9312865138053894,
+          22.899812698364258
+        ],
+        [
+          -0.13399818539619446,
+          -0.989702582359314,
+          -0.05033217370510101,
+          -26.82962417602539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4213,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_683081388",
+      "mask_path": "../../mask/hdr_left_04213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04214.png",
+      "transform_matrix": [
+        [
+          0.9164003133773804,
+          -0.1433434635400772,
+          0.3737151622772217,
+          73.03179931640625
+        ],
+        [
+          -0.3771674633026123,
+          0.003319625975564122,
+          0.9261391758918762,
+          22.885574340820312
+        ],
+        [
+          -0.13399659097194672,
+          -0.9896674752235413,
+          -0.05102238059043884,
+          -26.840242385864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4214,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_783081769",
+      "mask_path": "../../mask/hdr_left_04214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04215.png",
+      "transform_matrix": [
+        [
+          0.9143140316009521,
+          -0.14736002683639526,
+          0.3772464096546173,
+          73.1136474609375
+        ],
+        [
+          -0.3819229006767273,
+          -0.0037420359440147877,
+          0.9241865277290344,
+          22.87615394592285
+        ],
+        [
+          -0.13477648794651031,
+          -0.9890758991241455,
+          -0.05970156192779541,
+          -26.84590721130371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4215,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_883080244",
+      "mask_path": "../../mask/hdr_left_04215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04216.png",
+      "transform_matrix": [
+        [
+          0.9148221015930176,
+          -0.15088267624378204,
+          0.3746131360530853,
+          73.18360900878906
+        ],
+        [
+          -0.3808141052722931,
+          -0.01343467179685831,
+          0.9245539903640747,
+          22.863840103149414
+        ],
+        [
+          -0.13446636497974396,
+          -0.9884604215621948,
+          -0.06974858045578003,
+          -26.85466957092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4216,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_983080625",
+      "mask_path": "../../mask/hdr_left_04216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04217.png",
+      "transform_matrix": [
+        [
+          0.915982186794281,
+          -0.14928501844406128,
+          0.37241190671920776,
+          73.23493957519531
+        ],
+        [
+          -0.3792981505393982,
+          -0.01958865486085415,
+          0.925067126750946,
+          22.850772857666016
+        ],
+        [
+          -0.13080358505249023,
+          -0.9886001944541931,
+          -0.07456637918949127,
+          -26.85774803161621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4217,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_83081007",
+      "mask_path": "../../mask/hdr_left_04217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04218.png",
+      "transform_matrix": [
+        [
+          0.9158443212509155,
+          -0.14775392413139343,
+          0.3733602464199066,
+          73.32170104980469
+        ],
+        [
+          -0.3801861107349396,
+          -0.01994532346725464,
+          0.924694836139679,
+          22.82765769958496
+        ],
+        [
+          -0.12918049097061157,
+          -0.9888230562210083,
+          -0.07444079965353012,
+          -26.876638412475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4218,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_183080673",
+      "mask_path": "../../mask/hdr_left_04218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04219.png",
+      "transform_matrix": [
+        [
+          0.909898579120636,
+          -0.16217148303985596,
+          0.38181769847869873,
+          73.40548706054688
+        ],
+        [
+          -0.3884516954421997,
+          -0.010110500268638134,
+          0.9214136004447937,
+          22.80185317993164
+        ],
+        [
+          -0.14556661248207092,
+          -0.986710786819458,
+          -0.07219530642032623,
+          -26.889001846313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4219,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_283081054",
+      "mask_path": "../../mask/hdr_left_04219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04221.png",
+      "transform_matrix": [
+        [
+          0.8986046314239502,
+          -0.17908251285552979,
+          0.4005484879016876,
+          73.4942626953125
+        ],
+        [
+          -0.4079268276691437,
+          -0.004821358248591423,
+          0.9130018949508667,
+          22.767255783081055
+        ],
+        [
+          -0.1615714728832245,
+          -0.9838222861289978,
+          -0.0773850530385971,
+          -26.895694732666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4221,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_483079910",
+      "mask_path": "../../mask/hdr_left_04221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04222.png",
+      "transform_matrix": [
+        [
+          0.8946046829223633,
+          -0.17879211902618408,
+          0.40953129529953003,
+          73.54296112060547
+        ],
+        [
+          -0.4165765941143036,
+          -0.002053608885034919,
+          0.9090983271598816,
+          22.755294799804688
+        ],
+        [
+          -0.161698579788208,
+          -0.9838847517967224,
+          -0.07631776481866837,
+          -26.91923713684082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4222,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_583078861",
+      "mask_path": "../../mask/hdr_left_04222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04223.png",
+      "transform_matrix": [
+        [
+          0.8885407447814941,
+          -0.2135249525308609,
+          0.40608176589012146,
+          73.5951156616211
+        ],
+        [
+          -0.41982704401016235,
+          -0.02142461948096752,
+          0.9073512554168701,
+          22.730472564697266
+        ],
+        [
+          -0.18504194915294647,
+          -0.9767027497291565,
+          -0.10868019610643387,
+          -26.928600311279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4223,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_683080196",
+      "mask_path": "../../mask/hdr_left_04223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04226.png",
+      "transform_matrix": [
+        [
+          0.8835431933403015,
+          -0.22267132997512817,
+          0.41203010082244873,
+          73.71183776855469
+        ],
+        [
+          -0.4295988976955414,
+          -0.03492221236228943,
+          0.902344286441803,
+          22.679235458374023
+        ],
+        [
+          -0.18653719127178192,
+          -0.9742678999900818,
+          -0.12651462852954865,
+          -26.96562957763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4226,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_983081102",
+      "mask_path": "../../mask/hdr_left_04226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04227.png",
+      "transform_matrix": [
+        [
+          0.8891111612319946,
+          -0.22203417122364044,
+          0.4002276062965393,
+          73.77417755126953
+        ],
+        [
+          -0.41807791590690613,
+          -0.038133881986141205,
+          0.907610297203064,
+          22.658933639526367
+        ],
+        [
+          -0.18625828623771667,
+          -0.9742929339408875,
+          -0.12673284113407135,
+          -26.986669540405273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4227,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_83080768",
+      "mask_path": "../../mask/hdr_left_04227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04228.png",
+      "transform_matrix": [
+        [
+          0.8956878185272217,
+          -0.21535903215408325,
+          0.38905513286590576,
+          73.82733154296875
+        ],
+        [
+          -0.40581512451171875,
+          -0.03814317658543587,
+          0.9131588935852051,
+          22.648889541625977
+        ],
+        [
+          -0.1818172037601471,
+          -0.9757897853851318,
+          -0.12156032770872116,
+          -27.000497817993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4228,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_183081150",
+      "mask_path": "../../mask/hdr_left_04228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04230.png",
+      "transform_matrix": [
+        [
+          0.9093983173370361,
+          -0.19299457967281342,
+          0.3684397041797638,
+          73.9544448852539
+        ],
+        [
+          -0.38097408413887024,
+          -0.031065315008163452,
+          0.9240636825561523,
+          22.626386642456055
+        ],
+        [
+          -0.1668935865163803,
+          -0.9807080030441284,
+          -0.10177668184041977,
+          -27.01934051513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4230,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_383080005",
+      "mask_path": "../../mask/hdr_left_04230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04231.png",
+      "transform_matrix": [
+        [
+          0.916454017162323,
+          -0.1856309026479721,
+          0.3544759154319763,
+          74.02899169921875
+        ],
+        [
+          -0.36505499482154846,
+          -0.025126373395323753,
+          0.9306467771530151,
+          22.627412796020508
+        ],
+        [
+          -0.1638500839471817,
+          -0.9822983741760254,
+          -0.09079264849424362,
+          -27.039548873901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4231,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_483081102",
+      "mask_path": "../../mask/hdr_left_04231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04233.png",
+      "transform_matrix": [
+        [
+          0.926611602306366,
+          -0.16398850083351135,
+          0.3383764326572418,
+          74.14354705810547
+        ],
+        [
+          -0.34479546546936035,
+          -0.011518738232553005,
+          0.9386072754859924,
+          22.62734603881836
+        ],
+        [
+          -0.15002308785915375,
+          -0.9863950610160828,
+          -0.06721588224172592,
+          -27.046302795410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4233,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_683080673",
+      "mask_path": "../../mask/hdr_left_04233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04234.png",
+      "transform_matrix": [
+        [
+          0.9276303052902222,
+          -0.1567733734846115,
+          0.33900460600852966,
+          74.21296691894531
+        ],
+        [
+          -0.3440128564834595,
+          -0.005154587794095278,
+          0.9389508366584778,
+          22.616159439086914
+        ],
+        [
+          -0.1454550325870514,
+          -0.9876213073730469,
+          -0.058713603764772415,
+          -27.056365966796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4234,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_783080577",
+      "mask_path": "../../mask/hdr_left_04234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04235.png",
+      "transform_matrix": [
+        [
+          0.926863968372345,
+          -0.15636791288852692,
+          0.3412802219390869,
+          74.27616882324219
+        ],
+        [
+          -0.34674012660980225,
+          -0.00822179764509201,
+          0.9379252195358276,
+          22.609230041503906
+        ],
+        [
+          -0.14385546743869781,
+          -0.9876646995544434,
+          -0.0618395172059536,
+          -27.06890296936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4235,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_883082866",
+      "mask_path": "../../mask/hdr_left_04235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04236.png",
+      "transform_matrix": [
+        [
+          0.9251684546470642,
+          -0.15732236206531525,
+          0.3454171419143677,
+          74.32742309570312
+        ],
+        [
+          -0.35186663269996643,
+          -0.014274989254772663,
+          0.935941219329834,
+          22.601417541503906
+        ],
+        [
+          -0.1423136442899704,
+          -0.9874441623687744,
+          -0.06856326013803482,
+          -27.074291229248047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4236,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_983082294",
+      "mask_path": "../../mask/hdr_left_04236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04237.png",
+      "transform_matrix": [
+        [
+          0.9224445223808289,
+          -0.15359489619731903,
+          0.35426637530326843,
+          74.382080078125
+        ],
+        [
+          -0.36013469099998474,
+          -0.011284337379038334,
+          0.9328321218490601,
+          22.582809448242188
+        ],
+        [
+          -0.13928057253360748,
+          -0.988069474697113,
+          -0.06572402268648148,
+          -27.07724952697754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4237,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_83082199",
+      "mask_path": "../../mask/hdr_left_04237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04238.png",
+      "transform_matrix": [
+        [
+          0.9198989272117615,
+          -0.14980097115039825,
+          0.3624162971973419,
+          74.42555236816406
+        ],
+        [
+          -0.36824366450309753,
+          -0.012195690535008907,
+          0.9296493530273438,
+          22.55992317199707
+        ],
+        [
+          -0.13484244048595428,
+          -0.9886409640312195,
+          -0.06638206541538239,
+          -27.05409049987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4238,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_183080911",
+      "mask_path": "../../mask/hdr_left_04238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04239.png",
+      "transform_matrix": [
+        [
+          0.9166980981826782,
+          -0.17344141006469727,
+          0.35997578501701355,
+          74.5189208984375
+        ],
+        [
+          -0.37051182985305786,
+          -0.031629838049411774,
+          0.9282890558242798,
+          22.54803466796875
+        ],
+        [
+          -0.1496177613735199,
+          -0.9843361377716064,
+          -0.09325709939002991,
+          -27.09419059753418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4239,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_283080577",
+      "mask_path": "../../mask/hdr_left_04239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04240.png",
+      "transform_matrix": [
+        [
+          0.912493109703064,
+          -0.1970936506986618,
+          0.3584834933280945,
+          74.59500885009766
+        ],
+        [
+          -0.37341663241386414,
+          -0.04339046776294708,
+          0.9266484379768372,
+          22.534282684326172
+        ],
+        [
+          -0.16708172857761383,
+          -0.979423999786377,
+          -0.11319154500961304,
+          -27.1357364654541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4240,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_383082628",
+      "mask_path": "../../mask/hdr_left_04240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04242.png",
+      "transform_matrix": [
+        [
+          0.9095669984817505,
+          -0.1900915801525116,
+          0.3695306181907654,
+          74.69574737548828
+        ],
+        [
+          -0.3840363025665283,
+          -0.04478990286588669,
+          0.9222309589385986,
+          22.500734329223633
+        ],
+        [
+          -0.15875709056854248,
+          -0.9807441234588623,
+          -0.11374146491289139,
+          -27.162487030029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4242,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_583080768",
+      "mask_path": "../../mask/hdr_left_04242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04243.png",
+      "transform_matrix": [
+        [
+          0.9087604880332947,
+          -0.19167470932006836,
+          0.37069541215896606,
+          74.77388763427734
+        ],
+        [
+          -0.38669684529304504,
+          -0.05278442054986954,
+          0.9206949472427368,
+          22.467117309570312
+        ],
+        [
+          -0.15690697729587555,
+          -0.9800381064414978,
+          -0.12208839505910873,
+          -27.17308235168457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4243,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_683081388",
+      "mask_path": "../../mask/hdr_left_04243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04244.png",
+      "transform_matrix": [
+        [
+          0.9064863324165344,
+          -0.19322159886360168,
+          0.3754303753376007,
+          74.83494567871094
+        ],
+        [
+          -0.3923841714859009,
+          -0.057115066796541214,
+          0.9180264472961426,
+          22.43902587890625
+        ],
+        [
+          -0.15593977272510529,
+          -0.9794913530349731,
+          -0.1275911033153534,
+          -27.175487518310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4244,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_783082962",
+      "mask_path": "../../mask/hdr_left_04244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04245.png",
+      "transform_matrix": [
+        [
+          0.9039689898490906,
+          -0.18946214020252228,
+          0.38333290815353394,
+          74.88311767578125
+        ],
+        [
+          -0.3997209370136261,
+          -0.05602831766009331,
+          0.9149230122566223,
+          22.42282485961914
+        ],
+        [
+          -0.15186575055122375,
+          -0.9802882075309753,
+          -0.1263798177242279,
+          -27.189250946044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4245,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_883081674",
+      "mask_path": "../../mask/hdr_left_04245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04246.png",
+      "transform_matrix": [
+        [
+          0.9015715718269348,
+          -0.17853637039661407,
+          0.39407289028167725,
+          74.95000457763672
+        ],
+        [
+          -0.40820130705833435,
+          -0.04929928109049797,
+          0.9115598201751709,
+          22.407377243041992
+        ],
+        [
+          -0.1433190554380417,
+          -0.9826975464820862,
+          -0.11732560396194458,
+          -27.207233428955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4246,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_983082294",
+      "mask_path": "../../mask/hdr_left_04246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04247.png",
+      "transform_matrix": [
+        [
+          0.9019272923469543,
+          -0.16848202049732208,
+          0.3976692855358124,
+          75.04127502441406
+        ],
+        [
+          -0.4103715121746063,
+          -0.04731525480747223,
+          0.9106901288032532,
+          22.381458282470703
+        ],
+        [
+          -0.1346190720796585,
+          -0.9845685362815857,
+          -0.11181513965129852,
+          -27.20452880859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4247,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_83082675",
+      "mask_path": "../../mask/hdr_left_04247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04248.png",
+      "transform_matrix": [
+        [
+          0.9055739045143127,
+          -0.15878666937351227,
+          0.39334794878959656,
+          75.1113510131836
+        ],
+        [
+          -0.40503519773483276,
+          -0.04818159341812134,
+          0.913030743598938,
+          22.359540939331055
+        ],
+        [
+          -0.12602496147155762,
+          -0.9861366152763367,
+          -0.10794615745544434,
+          -27.200546264648438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4248,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_183082580",
+      "mask_path": "../../mask/hdr_left_04248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06187.png",
+      "transform_matrix": [
+        [
+          -0.8468784689903259,
+          -0.1204894557595253,
+          -0.5179566144943237,
+          74.79032135009766
+        ],
+        [
+          0.5214864015579224,
+          0.0026034354232251644,
+          -0.853255569934845,
+          22.679546356201172
+        ],
+        [
+          0.10415675491094589,
+          -0.9927112460136414,
+          0.06062881648540497,
+          -27.174148559570312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6187,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_83078384",
+      "mask_path": "../../mask/hdr_left_06187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06188.png",
+      "transform_matrix": [
+        [
+          -0.8495082259178162,
+          -0.13686016201972961,
+          -0.5095145106315613,
+          74.67851257324219
+        ],
+        [
+          0.5155326724052429,
+          -0.010173430666327477,
+          -0.8568095564842224,
+          22.68350601196289
+        ],
+        [
+          0.11207957565784454,
+          -0.9905381202697754,
+          0.07919829338788986,
+          -27.14421272277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6188,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_183080196",
+      "mask_path": "../../mask/hdr_left_06188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06189.png",
+      "transform_matrix": [
+        [
+          -0.85760098695755,
+          -0.13899530470371246,
+          -0.49517762660980225,
+          74.5587158203125
+        ],
+        [
+          0.5004754662513733,
+          -0.00368207017891109,
+          -0.8657428622245789,
+          22.6969051361084
+        ],
+        [
+          0.11851091682910919,
+          -0.9902862310409546,
+          0.07272148877382278,
+          -27.11554527282715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6189,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_283080816",
+      "mask_path": "../../mask/hdr_left_06189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06190.png",
+      "transform_matrix": [
+        [
+          -0.868114173412323,
+          -0.13332419097423553,
+          -0.47812390327453613,
+          74.4904556274414
+        ],
+        [
+          0.4812682271003723,
+          0.009671371430158615,
+          -0.8765200972557068,
+          22.708560943603516
+        ],
+        [
+          0.12148542702198029,
+          -0.991025447845459,
+          0.05576884746551514,
+          -27.117813110351562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6190,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_383080005",
+      "mask_path": "../../mask/hdr_left_06190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06191.png",
+      "transform_matrix": [
+        [
+          -0.8768625259399414,
+          -0.1304326206445694,
+          -0.4627087712287903,
+          74.42989349365234
+        ],
+        [
+          0.4655100405216217,
+          0.00998654030263424,
+          -0.8849862813949585,
+          22.71204948425293
+        ],
+        [
+          0.12005192786455154,
+          -0.9914069175720215,
+          0.05196087062358856,
+          -27.118404388427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6191,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_483080148",
+      "mask_path": "../../mask/hdr_left_06191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06192.png",
+      "transform_matrix": [
+        [
+          -0.8829739093780518,
+          -0.12986984848976135,
+          -0.45109957456588745,
+          74.35130310058594
+        ],
+        [
+          0.4544021189212799,
+          0.004675702191889286,
+          -0.8907843828201294,
+          22.724756240844727
+        ],
+        [
+          0.11779524385929108,
+          -0.9915200471878052,
+          0.05488461256027222,
+          -27.10857582092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6192,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_583080530",
+      "mask_path": "../../mask/hdr_left_06192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06193.png",
+      "transform_matrix": [
+        [
+          -0.8870689868927002,
+          -0.13397124409675598,
+          -0.44176945090293884,
+          74.26411437988281
+        ],
+        [
+          0.44581159949302673,
+          -0.00019401298777665943,
+          -0.8951268196105957,
+          22.743162155151367
+        ],
+        [
+          0.11983552575111389,
+          -0.9909852147102356,
+          0.05989803373813629,
+          -27.087482452392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6193,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_683079957",
+      "mask_path": "../../mask/hdr_left_06193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06194.png",
+      "transform_matrix": [
+        [
+          -0.8908707499504089,
+          -0.13812468945980072,
+          -0.4327477812767029,
+          74.18635559082031
+        ],
+        [
+          0.43771103024482727,
+          -0.006248046178370714,
+          -0.8990939855575562,
+          22.758617401123047
+        ],
+        [
+          0.12148323655128479,
+          -0.990395188331604,
+          0.06602489948272705,
+          -27.070621490478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6194,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_783082962",
+      "mask_path": "../../mask/hdr_left_06194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06195.png",
+      "transform_matrix": [
+        [
+          -0.8942298889160156,
+          -0.13688519597053528,
+          -0.4261634349822998,
+          74.10030364990234
+        ],
+        [
+          0.43149203062057495,
+          -0.010444398038089275,
+          -0.9020562767982483,
+          22.775482177734375
+        ],
+        [
+          0.11902712285518646,
+          -0.9905319213867188,
+          0.06840457022190094,
+          -27.05800437927246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6195,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_883082628",
+      "mask_path": "../../mask/hdr_left_06195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06196.png",
+      "transform_matrix": [
+        [
+          -0.896977424621582,
+          -0.1312122642993927,
+          -0.42215490341186523,
+          74.01056671142578
+        ],
+        [
+          0.42647603154182434,
+          -0.005392756313085556,
+          -0.9044828414916992,
+          22.79825782775879
+        ],
+        [
+          0.11640263348817825,
+          -0.9913396835327148,
+          0.060796063393354416,
+          -27.05396270751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6196,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_983082532",
+      "mask_path": "../../mask/hdr_left_06196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06197.png",
+      "transform_matrix": [
+        [
+          -0.8984181880950928,
+          -0.1269696205854416,
+          -0.4203847050666809,
+          73.9368896484375
+        ],
+        [
+          0.42411020398139954,
+          -0.0025601061061024666,
+          -0.9056069850921631,
+          22.816938400268555
+        ],
+        [
+          0.11390833556652069,
+          -0.9919033646583557,
+          0.056149158626794815,
+          -27.057039260864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6197,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_83083868",
+      "mask_path": "../../mask/hdr_left_06197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06198.png",
+      "transform_matrix": [
+        [
+          -0.897534966468811,
+          -0.1280614584684372,
+          -0.42193758487701416,
+          73.86766052246094
+        ],
+        [
+          0.42590680718421936,
+          -0.004019503947347403,
+          -0.904758095741272,
+          22.834505081176758
+        ],
+        [
+          0.11416865885257721,
+          -0.9917581677436829,
+          0.05814989283680916,
+          -27.054012298583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6198,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_183081865",
+      "mask_path": "../../mask/hdr_left_06198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06199.png",
+      "transform_matrix": [
+        [
+          -0.8945598006248474,
+          -0.12995754182338715,
+          -0.42763736844062805,
+          73.77681732177734
+        ],
+        [
+          0.4317604899406433,
+          -0.003966578282415867,
+          -0.9019795656204224,
+          22.863628387451172
+        ],
+        [
+          0.11552278697490692,
+          -0.9915117025375366,
+          0.05965888127684593,
+          -27.02383804321289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6199,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_283084392",
+      "mask_path": "../../mask/hdr_left_06199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06200.png",
+      "transform_matrix": [
+        [
+          -0.8910975456237793,
+          -0.13317207992076874,
+          -0.4338320791721344,
+          73.69283294677734
+        ],
+        [
+          0.43857666850090027,
+          -0.0070927259512245655,
+          -0.898665726184845,
+          22.8947696685791
+        ],
+        [
+          0.11660012602806091,
+          -0.99106764793396,
+          0.06472647935152054,
+          -26.99149513244629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6200,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_383081674",
+      "mask_path": "../../mask/hdr_left_06200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06201.png",
+      "transform_matrix": [
+        [
+          -0.8890272974967957,
+          -0.1384865790605545,
+          -0.43640801310539246,
+          73.6266098022461
+        ],
+        [
+          0.4422479569911957,
+          -0.013000166043639183,
+          -0.8967986106872559,
+          22.917190551757812
+        ],
+        [
+          0.11852117627859116,
+          -0.9902790188789368,
+          0.07280290126800537,
+          -26.97669219970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6201,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_483086109",
+      "mask_path": "../../mask/hdr_left_06201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06202.png",
+      "transform_matrix": [
+        [
+          -0.8882349133491516,
+          -0.14260981976985931,
+          -0.43669337034225464,
+          73.55208587646484
+        ],
+        [
+          0.44402068853378296,
+          -0.022689253091812134,
+          -0.8957291841506958,
+          22.937347412109375
+        ],
+        [
+          0.1178315132856369,
+          -0.989518940448761,
+          0.08347509801387787,
+          -26.968055725097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6202,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_583082675",
+      "mask_path": "../../mask/hdr_left_06202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06203.png",
+      "transform_matrix": [
+        [
+          -0.8917929530143738,
+          -0.1362154632806778,
+          -0.4314517676830292,
+          73.44367980957031
+        ],
+        [
+          0.43830057978630066,
+          -0.023529935628175735,
+          -0.8985203504562378,
+          22.965211868286133
+        ],
+        [
+          0.11224032938480377,
+          -0.9903997778892517,
+          0.08068714290857315,
+          -26.947132110595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6203,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_683084726",
+      "mask_path": "../../mask/hdr_left_06203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06204.png",
+      "transform_matrix": [
+        [
+          -0.8979934453964233,
+          -0.12875999510288239,
+          -0.4207476079463959,
+          73.35437774658203
+        ],
+        [
+          0.42648229002952576,
+          -0.019428618252277374,
+          -0.9042871594429016,
+          22.977184295654297
+        ],
+        [
+          0.10826145112514496,
+          -0.9914855360984802,
+          0.07236063480377197,
+          -26.93669319152832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6204,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_783081531",
+      "mask_path": "../../mask/hdr_left_06204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06205.png",
+      "transform_matrix": [
+        [
+          -0.9040106534957886,
+          -0.12393965572118759,
+          -0.40914982557296753,
+          73.28656005859375
+        ],
+        [
+          0.4146682918071747,
+          -0.02140030451118946,
+          -0.9097209572792053,
+          22.978321075439453
+        ],
+        [
+          0.10399457067251205,
+          -0.992059051990509,
+          0.07073994725942612,
+          -26.93294906616211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6205,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_883084297",
+      "mask_path": "../../mask/hdr_left_06205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06206.png",
+      "transform_matrix": [
+        [
+          -0.908770740032196,
+          -0.12847687304019928,
+          -0.39702558517456055,
+          73.20230865478516
+        ],
+        [
+          0.40264594554901123,
+          -0.02008719928562641,
+          -0.915135383605957,
+          22.986677169799805
+        ],
+        [
+          0.10959857702255249,
+          -0.9915090799331665,
+          0.06998534500598907,
+          -26.92306900024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6206,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_983082056",
+      "mask_path": "../../mask/hdr_left_06206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06207.png",
+      "transform_matrix": [
+        [
+          -0.9130324125289917,
+          -0.13774536550045013,
+          -0.38392436504364014,
+          73.1116943359375
+        ],
+        [
+          0.390524685382843,
+          -0.02351563610136509,
+          -0.9202920794487,
+          22.994327545166016
+        ],
+        [
+          0.11773771792650223,
+          -0.9901885390281677,
+          0.07526350021362305,
+          -26.898345947265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6207,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_83081960",
+      "mask_path": "../../mask/hdr_left_06207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06208.png",
+      "transform_matrix": [
+        [
+          -0.9184780120849609,
+          -0.14373716711997986,
+          -0.36842599511146545,
+          73.03594207763672
+        ],
+        [
+          0.3764401972293854,
+          -0.032238081097602844,
+          -0.9258798360824585,
+          22.99674415588379
+        ],
+        [
+          0.12120600789785385,
+          -0.9890907406806946,
+          0.08371841907501221,
+          -26.88338851928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6208,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_183081150",
+      "mask_path": "../../mask/hdr_left_06208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06209.png",
+      "transform_matrix": [
+        [
+          -0.9211483597755432,
+          -0.16652239859104156,
+          -0.35178983211517334,
+          72.92488861083984
+        ],
+        [
+          0.3639826774597168,
+          -0.04844047501683235,
+          -0.9301451444625854,
+          22.990798950195312
+        ],
+        [
+          0.1378491371870041,
+          -0.9848471283912659,
+          0.1052321344614029,
+          -26.854677200317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6209,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_283080101",
+      "mask_path": "../../mask/hdr_left_06209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06210.png",
+      "transform_matrix": [
+        [
+          -0.9264401197433472,
+          -0.17845970392227173,
+          -0.33145251870155334,
+          72.8130874633789
+        ],
+        [
+          0.3445063531398773,
+          -0.047029759734869,
+          -0.9376052021980286,
+          22.99102020263672
+        ],
+        [
+          0.15173658728599548,
+          -0.9828226566314697,
+          0.10505075007677078,
+          -26.79421615600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6210,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_383081912",
+      "mask_path": "../../mask/hdr_left_06210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06211.png",
+      "transform_matrix": [
+        [
+          -0.9331747889518738,
+          -0.17440809309482574,
+          -0.3142714500427246,
+          72.74722290039062
+        ],
+        [
+          0.32460010051727295,
+          -0.03349030762910843,
+          -0.9452582597732544,
+          22.997962951660156
+        ],
+        [
+          0.154335618019104,
+          -0.984103798866272,
+          0.0878651961684227,
+          -26.784929275512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6211,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_483083009",
+      "mask_path": "../../mask/hdr_left_06211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06212.png",
+      "transform_matrix": [
+        [
+          -0.9373486042022705,
+          -0.17391729354858398,
+          -0.30187785625457764,
+          72.68128967285156
+        ],
+        [
+          0.3108416497707367,
+          -0.02617623470723629,
+          -0.9501011371612549,
+          23.005231857299805
+        ],
+        [
+          0.1573369950056076,
+          -0.984412431716919,
+          0.07859699428081512,
+          -26.78976821899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6212,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_583081483",
+      "mask_path": "../../mask/hdr_left_06212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06213.png",
+      "transform_matrix": [
+        [
+          -0.9397656321525574,
+          -0.170833557844162,
+          -0.29606837034225464,
+          72.59093475341797
+        ],
+        [
+          0.3047299385070801,
+          -0.02631448768079281,
+          -0.952075183391571,
+          23.016361236572266
+        ],
+        [
+          0.15485548973083496,
+          -0.984948456287384,
+          0.0767875462770462,
+          -26.758453369140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6213,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_683083295",
+      "mask_path": "../../mask/hdr_left_06213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06214.png",
+      "transform_matrix": [
+        [
+          -0.9417344331741333,
+          -0.16897930204868317,
+          -0.29083022475242615,
+          72.51264190673828
+        ],
+        [
+          0.30073070526123047,
+          -0.03571810573339462,
+          -0.9530400633811951,
+          23.026226043701172
+        ],
+        [
+          0.15065613389015198,
+          -0.9849722385406494,
+          0.08445423096418381,
+          -26.745412826538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6214,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_783081769",
+      "mask_path": "../../mask/hdr_left_06214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06215.png",
+      "transform_matrix": [
+        [
+          -0.9423615336418152,
+          -0.17002803087234497,
+          -0.28817546367645264,
+          72.45670318603516
+        ],
+        [
+          0.2996244430541992,
+          -0.045469556003808975,
+          -0.9529731273651123,
+          23.031583786010742
+        ],
+        [
+          0.1489289104938507,
+          -0.9843897819519043,
+          0.09379331767559052,
+          -26.740447998046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6215,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_883081912",
+      "mask_path": "../../mask/hdr_left_06215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06216.png",
+      "transform_matrix": [
+        [
+          -0.9420099854469299,
+          -0.1674739420413971,
+          -0.2908084988594055,
+          72.37560272216797
+        ],
+        [
+          0.30246078968048096,
+          -0.048304278403520584,
+          -0.9519369602203369,
+          23.0393009185791
+        ],
+        [
+          0.14537732303142548,
+          -0.9846925139427185,
+          0.09615740925073624,
+          -26.725093841552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6216,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_983081817",
+      "mask_path": "../../mask/hdr_left_06216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06217.png",
+      "transform_matrix": [
+        [
+          -0.9423099756240845,
+          -0.16029469668865204,
+          -0.2938663363456726,
+          72.2884292602539
+        ],
+        [
+          0.304036945104599,
+          -0.04255770519375801,
+          -0.9517092108726501,
+          23.046329498291016
+        ],
+        [
+          0.14004766941070557,
+          -0.986151397228241,
+          0.08883805572986603,
+          -26.71143913269043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6217,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_83082675",
+      "mask_path": "../../mask/hdr_left_06217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06218.png",
+      "transform_matrix": [
+        [
+          -0.9431802034378052,
+          -0.15292176604270935,
+          -0.2950015068054199,
+          72.21949005126953
+        ],
+        [
+          0.30413517355918884,
+          -0.0397033728659153,
+          -0.9518011212348938,
+          23.043033599853516
+        ],
+        [
+          0.13383853435516357,
+          -0.9874404072761536,
+          0.08395631611347198,
+          -26.705028533935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6218,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_183081388",
+      "mask_path": "../../mask/hdr_left_06218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06219.png",
+      "transform_matrix": [
+        [
+          -0.9435063600540161,
+          -0.15051518380641937,
+          -0.29519614577293396,
+          72.14299774169922
+        ],
+        [
+          0.30379435420036316,
+          -0.03721979632973671,
+          -0.9520103931427002,
+          23.046367645263672
+        ],
+        [
+          0.132304847240448,
+          -0.987906813621521,
+          0.0808427706360817,
+          -26.703128814697266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6219,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_283081293",
+      "mask_path": "../../mask/hdr_left_06219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06220.png",
+      "transform_matrix": [
+        [
+          -0.9423445463180542,
+          -0.1491355299949646,
+          -0.2995752692222595,
+          72.05400848388672
+        ],
+        [
+          0.3084617853164673,
+          -0.03997737541794777,
+          -0.9503962993621826,
+          23.05780029296875
+        ],
+        [
+          0.12976159155368805,
+          -0.9880083799362183,
+          0.0836750715970993,
+          -26.69426727294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6220,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_383081674",
+      "mask_path": "../../mask/hdr_left_06220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06221.png",
+      "transform_matrix": [
+        [
+          -0.940779983997345,
+          -0.14681711792945862,
+          -0.30557748675346375,
+          71.96195983886719
+        ],
+        [
+          0.31484678387641907,
+          -0.04412705451250076,
+          -0.9481161236763,
+          23.07061195373535
+        ],
+        [
+          0.12571541965007782,
+          -0.9881789088249207,
+          0.08773873746395111,
+          -26.674514770507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6221,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_483082532",
+      "mask_path": "../../mask/hdr_left_06221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06222.png",
+      "transform_matrix": [
+        [
+          -0.9420915842056274,
+          -0.1285758763551712,
+          -0.30972838401794434,
+          71.87062072753906
+        ],
+        [
+          0.3151705861091614,
+          -0.02387336827814579,
+          -0.9487346410751343,
+          23.08291244506836
+        ],
+        [
+          0.1145901158452034,
+          -0.991412341594696,
+          0.06301423162221909,
+          -26.66659927368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6222,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_583081722",
+      "mask_path": "../../mask/hdr_left_06222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06223.png",
+      "transform_matrix": [
+        [
+          -0.9443548917770386,
+          -0.10778307169675827,
+          -0.31076788902282715,
+          71.78823852539062
+        ],
+        [
+          0.3122219443321228,
+          0.003544077044352889,
+          -0.9500025510787964,
+          23.09386444091797
+        ],
+        [
+          0.10349557548761368,
+          -0.9941681027412415,
+          0.030305374413728714,
+          -26.662845611572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6223,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_683082103",
+      "mask_path": "../../mask/hdr_left_06223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06224.png",
+      "transform_matrix": [
+        [
+          -0.9448283314704895,
+          -0.09752370417118073,
+          -0.3127115070819855,
+          71.71704864501953
+        ],
+        [
+          0.31256619095802307,
+          0.017159948125481606,
+          -0.9497409462928772,
+          23.106679916381836
+        ],
+        [
+          0.09798836708068848,
+          -0.9950853586196899,
+          0.014269411563873291,
+          -26.66108512878418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6224,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_783082962",
+      "mask_path": "../../mask/hdr_left_06224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06225.png",
+      "transform_matrix": [
+        [
+          -0.9427669048309326,
+          -0.10274289548397064,
+          -0.3172292411327362,
+          71.62701416015625
+        ],
+        [
+          0.31567174196243286,
+          0.03151455521583557,
+          -0.9483449459075928,
+          23.138471603393555
+        ],
+        [
+          0.10743304342031479,
+          -0.9942086338996887,
+          0.0027221525087952614,
+          -26.657527923583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6225,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_883084058",
+      "mask_path": "../../mask/hdr_left_06225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06226.png",
+      "transform_matrix": [
+        [
+          -0.9376926422119141,
+          -0.11207196116447449,
+          -0.3288954794406891,
+          71.50910949707031
+        ],
+        [
+          0.3271549344062805,
+          0.03411375731229782,
+          -0.9443548321723938,
+          23.17325210571289
+        ],
+        [
+          0.11705553531646729,
+          -0.9931144118309021,
+          0.004676672164350748,
+          -26.59023094177246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6226,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_983082532",
+      "mask_path": "../../mask/hdr_left_06226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06227.png",
+      "transform_matrix": [
+        [
+          -0.9328081011772156,
+          -0.11432386934757233,
+          -0.3417588174343109,
+          71.43582153320312
+        ],
+        [
+          0.3412751257419586,
+          0.024390483275055885,
+          -0.9396470189094543,
+          23.192121505737305
+        ],
+        [
+          0.1157597228884697,
+          -0.993144154548645,
+          0.01626425050199032,
+          -26.575271606445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6227,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_83083152",
+      "mask_path": "../../mask/hdr_left_06227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06228.png",
+      "transform_matrix": [
+        [
+          -0.9290677309036255,
+          -0.11753294616937637,
+          -0.35074079036712646,
+          71.3743667602539
+        ],
+        [
+          0.35112643241882324,
+          0.018096191808581352,
+          -0.9361532330513,
+          23.20655059814453
+        ],
+        [
+          0.11637590825557709,
+          -0.9929041266441345,
+          0.02445632964372635,
+          -26.598590850830078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6228,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_183082342",
+      "mask_path": "../../mask/hdr_left_06228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06229.png",
+      "transform_matrix": [
+        [
+          -0.9276453256607056,
+          -0.11652258038520813,
+          -0.35481932759284973,
+          71.26581573486328
+        ],
+        [
+          0.35535159707069397,
+          0.016880234703421593,
+          -0.9345802664756775,
+          23.215486526489258
+        ],
+        [
+          0.11488912999629974,
+          -0.9930446147918701,
+          0.025747617706656456,
+          -26.576370239257812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6229,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_283081531",
+      "mask_path": "../../mask/hdr_left_06229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06230.png",
+      "transform_matrix": [
+        [
+          -0.9275835752487183,
+          -0.11510530859231949,
+          -0.35544252395629883,
+          71.1791000366211
+        ],
+        [
+          0.35573500394821167,
+          0.018691468983888626,
+          -0.9343999028205872,
+          23.219907760620117
+        ],
+        [
+          0.11419812589883804,
+          -0.9931774735450745,
+          0.023609090596437454,
+          -26.561649322509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6230,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_383082151",
+      "mask_path": "../../mask/hdr_left_06230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06231.png",
+      "transform_matrix": [
+        [
+          -0.9271302223205566,
+          -0.11547549068927765,
+          -0.35650384426116943,
+          71.1147232055664
+        ],
+        [
+          0.35672035813331604,
+          0.019494803622364998,
+          -0.9340077638626099,
+          23.224239349365234
+        ],
+        [
+          0.11480497568845749,
+          -0.9931190609931946,
+          0.023118240758776665,
+          -26.55783462524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6231,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_483082056",
+      "mask_path": "../../mask/hdr_left_06231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06232.png",
+      "transform_matrix": [
+        [
+          -0.9242211580276489,
+          -0.11855659633874893,
+          -0.3629869818687439,
+          71.02302551269531
+        ],
+        [
+          0.3632424473762512,
+          0.020218659192323685,
+          -0.9314752817153931,
+          23.237714767456055
+        ],
+        [
+          0.11777163296937943,
+          -0.9927414655685425,
+          0.024378277361392975,
+          -26.5461368560791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6232,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_583081007",
+      "mask_path": "../../mask/hdr_left_06232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06233.png",
+      "transform_matrix": [
+        [
+          -0.9196570515632629,
+          -0.12426996231079102,
+          -0.37254253029823303,
+          70.93568420410156
+        ],
+        [
+          0.37334418296813965,
+          0.01765417866408825,
+          -0.9275248646736145,
+          23.257038116455078
+        ],
+        [
+          0.12184040993452072,
+          -0.9920914769172668,
+          0.03015967831015587,
+          -26.529190063476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6233,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_683081626",
+      "mask_path": "../../mask/hdr_left_06233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06234.png",
+      "transform_matrix": [
+        [
+          -0.9153464436531067,
+          -0.13159827888011932,
+          -0.38055574893951416,
+          70.87346649169922
+        ],
+        [
+          0.3821442127227783,
+          0.01396699994802475,
+          -0.9239971041679382,
+          23.268802642822266
+        ],
+        [
+          0.12691165506839752,
+          -0.9912047982215881,
+          0.0375048853456974,
+          -26.51958465576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6234,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_783081769",
+      "mask_path": "../../mask/hdr_left_06234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06235.png",
+      "transform_matrix": [
+        [
+          -0.9144091606140137,
+          -0.13270434737205505,
+          -0.38242048025131226,
+          70.77735137939453
+        ],
+        [
+          0.3835771083831787,
+          0.0177609845995903,
+          -0.9233380556106567,
+          23.278575897216797
+        ],
+        [
+          0.1293231099843979,
+          -0.9909965395927429,
+          0.03466153144836426,
+          -26.506061553955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6235,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_883082151",
+      "mask_path": "../../mask/hdr_left_06235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06236.png",
+      "transform_matrix": [
+        [
+          -0.9161368608474731,
+          -0.12842395901679993,
+          -0.3797374367713928,
+          70.68687438964844
+        ],
+        [
+          0.37955451011657715,
+          0.026860244572162628,
+          -0.9247792959213257,
+          23.290489196777344
+        ],
+        [
+          0.1289636790752411,
+          -0.9913555979728699,
+          0.02413623407483101,
+          -26.50146484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6236,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_983081340",
+      "mask_path": "../../mask/hdr_left_06236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06237.png",
+      "transform_matrix": [
+        [
+          -0.9200424551963806,
+          -0.12587402760982513,
+          -0.37104925513267517,
+          70.61437225341797
+        ],
+        [
+          0.3699747622013092,
+          0.03268640860915184,
+          -0.9284666776657104,
+          23.30065155029297
+        ],
+        [
+          0.12899808585643768,
+          -0.9915077090263367,
+          0.016497328877449036,
+          -26.503690719604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6237,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_83082199",
+      "mask_path": "../../mask/hdr_left_06237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06238.png",
+      "transform_matrix": [
+        [
+          -0.925492525100708,
+          -0.11688555032014847,
+          -0.3602794408798218,
+          70.5373306274414
+        ],
+        [
+          0.35938337445259094,
+          0.029394032433629036,
+          -0.9327269196510315,
+          23.312150955200195
+        ],
+        [
+          0.11961235851049423,
+          -0.9927103519439697,
+          0.014802759513258934,
+          -26.498584747314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6238,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_183081626",
+      "mask_path": "../../mask/hdr_left_06238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06239.png",
+      "transform_matrix": [
+        [
+          -0.9300999641418457,
+          -0.11114678531885147,
+          -0.3500863015651703,
+          70.46165466308594
+        ],
+        [
+          0.349606454372406,
+          0.02442077547311783,
+          -0.9365783333778381,
+          23.324626922607422
+        ],
+        [
+          0.11264701932668686,
+          -0.993503987789154,
+          0.01614386960864067,
+          -26.47212791442871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6239,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_283082008",
+      "mask_path": "../../mask/hdr_left_06239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06240.png",
+      "transform_matrix": [
+        [
+          -0.9360034465789795,
+          -0.11250486969947815,
+          -0.3335269093513489,
+          70.39435577392578
+        ],
+        [
+          0.33342060446739197,
+          0.020319323986768723,
+          -0.9425591230392456,
+          23.33133888244629
+        ],
+        [
+          0.11281953006982803,
+          -0.9934434294700623,
+          0.018492484465241432,
+          -26.455564498901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6240,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_383080482",
+      "mask_path": "../../mask/hdr_left_06240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06241.png",
+      "transform_matrix": [
+        [
+          -0.9422144293785095,
+          -0.11485713720321655,
+          -0.31470605731010437,
+          70.32722473144531
+        ],
+        [
+          0.315508097410202,
+          0.011607070453464985,
+          -0.9488518834114075,
+          23.338031768798828
+        ],
+        [
+          0.11263522505760193,
+          -0.9933142066001892,
+          0.025302011519670486,
+          -26.445253372192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6241,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_483082771",
+      "mask_path": "../../mask/hdr_left_06241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06242.png",
+      "transform_matrix": [
+        [
+          -0.9466443657875061,
+          -0.11259331554174423,
+          -0.3019719123840332,
+          70.23271942138672
+        ],
+        [
+          0.30327290296554565,
+          0.005801779683679342,
+          -0.9528860449790955,
+          23.350799560546875
+        ],
+        [
+          0.10904056578874588,
+          -0.9936243295669556,
+          0.028654281049966812,
+          -26.43363380432129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6242,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_583081483",
+      "mask_path": "../../mask/hdr_left_06242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06243.png",
+      "transform_matrix": [
+        [
+          -0.950497031211853,
+          -0.11076047271490097,
+          -0.2903229296207428,
+          70.12969970703125
+        ],
+        [
+          0.29118967056274414,
+          0.00862820167094469,
+          -0.9566263556480408,
+          23.359859466552734
+        ],
+        [
+          0.10846135020256042,
+          -0.9938098192214966,
+          0.024051226675510406,
+          -26.423587799072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6243,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_683082580",
+      "mask_path": "../../mask/hdr_left_06243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06244.png",
+      "transform_matrix": [
+        [
+          -0.9536371827125549,
+          -0.11351992934942245,
+          -0.2787282466888428,
+          70.0482406616211
+        ],
+        [
+          0.2791689336299896,
+          0.012320826761424541,
+          -0.9601629376411438,
+          23.356224060058594
+        ],
+        [
+          0.11243179440498352,
+          -0.9934593439102173,
+          0.01994164101779461,
+          -26.411540985107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6244,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_783082485",
+      "mask_path": "../../mask/hdr_left_06244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06245.png",
+      "transform_matrix": [
+        [
+          -0.9559398889541626,
+          -0.1138821691274643,
+          -0.27057304978370667,
+          69.9530258178711
+        ],
+        [
+          0.27130159735679626,
+          0.009349331259727478,
+          -0.9624490141868591,
+          23.356582641601562
+        ],
+        [
+          0.11213544011116028,
+          -0.9934503436088562,
+          0.02195901796221733,
+          -26.409053802490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6245,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_883081197",
+      "mask_path": "../../mask/hdr_left_06245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06246.png",
+      "transform_matrix": [
+        [
+          -0.9558305740356445,
+          -0.11189988255500793,
+          -0.27178359031677246,
+          69.8268814086914
+        ],
+        [
+          0.2741125524044037,
+          -0.0056846183724701405,
+          -0.9616808295249939,
+          23.35879898071289
+        ],
+        [
+          0.1060669869184494,
+          -0.9937032461166382,
+          0.036106694489717484,
+          -26.37803077697754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6246,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_983081817",
+      "mask_path": "../../mask/hdr_left_06246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06247.png",
+      "transform_matrix": [
+        [
+          -0.9548640847206116,
+          -0.11216305941343307,
+          -0.2750526964664459,
+          69.72756958007812
+        ],
+        [
+          0.27882736921310425,
+          -0.019172770902514458,
+          -0.9601497650146484,
+          23.3636531829834
+        ],
+        [
+          0.10241981595754623,
+          -0.9935048818588257,
+          0.04958152770996094,
+          -26.365556716918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6247,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_83081245",
+      "mask_path": "../../mask/hdr_left_06247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06248.png",
+      "transform_matrix": [
+        [
+          -0.9537172913551331,
+          -0.11634499579668045,
+          -0.27728527784347534,
+          69.63581085205078
+        ],
+        [
+          0.28145360946655273,
+          -0.020743070170283318,
+          -0.9593505859375,
+          23.356910705566406
+        ],
+        [
+          0.10586388409137726,
+          -0.9929922223091125,
+          0.0525287389755249,
+          -26.36126136779785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6248,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_183081150",
+      "mask_path": "../../mask/hdr_left_06248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06249.png",
+      "transform_matrix": [
+        [
+          -0.9558864831924438,
+          -0.10266731679439545,
+          -0.27520930767059326,
+          69.5055160522461
+        ],
+        [
+          0.2770587205886841,
+          -0.003927773796021938,
+          -0.9608449339866638,
+          23.361122131347656
+        ],
+        [
+          0.0975663885474205,
+          -0.9947080016136169,
+          0.03219938278198242,
+          -26.34329605102539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6249,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_283081769",
+      "mask_path": "../../mask/hdr_left_06249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06250.png",
+      "transform_matrix": [
+        [
+          -0.9598613977432251,
+          -0.0882883071899414,
+          -0.26621636748313904,
+          69.39373779296875
+        ],
+        [
+          0.2660263180732727,
+          0.014129982329905033,
+          -0.9638622403144836,
+          23.366710662841797
+        ],
+        [
+          0.08885938674211502,
+          -0.9959948062896729,
+          0.009924189187586308,
+          -26.332792282104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6250,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_383081912",
+      "mask_path": "../../mask/hdr_left_06250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06251.png",
+      "transform_matrix": [
+        [
+          -0.9624077677726746,
+          -0.08673124015331268,
+          -0.257388710975647,
+          69.32894134521484
+        ],
+        [
+          0.2563140392303467,
+          0.02349970117211342,
+          -0.9663078188896179,
+          23.365440368652344
+        ],
+        [
+          0.08985763788223267,
+          -0.9959546327590942,
+          -0.0003858607087749988,
+          -26.342151641845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6251,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_483081817",
+      "mask_path": "../../mask/hdr_left_06251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06252.png",
+      "transform_matrix": [
+        [
+          -0.9627583622932434,
+          -0.07982370257377625,
+          -0.25831085443496704,
+          69.20660400390625
+        ],
+        [
+          0.2574237287044525,
+          0.021389910951256752,
+          -0.9660618305206299,
+          23.3756160736084
+        ],
+        [
+          0.08263986557722092,
+          -0.9965794682502747,
+          -4.4805936340708286e-05,
+          -26.325908660888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6252,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_583082437",
+      "mask_path": "../../mask/hdr_left_06252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06253.png",
+      "transform_matrix": [
+        [
+          -0.9611223340034485,
+          -0.07628913968801498,
+          -0.26537495851516724,
+          69.08539581298828
+        ],
+        [
+          0.2652294635772705,
+          0.012218727730214596,
+          -0.964107871055603,
+          23.38603401184082
+        ],
+        [
+          0.07679350674152374,
+          -0.9970108866691589,
+          0.00849043671041727,
+          -26.297622680664062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6253,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_683081626",
+      "mask_path": "../../mask/hdr_left_06253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06254.png",
+      "transform_matrix": [
+        [
+          -0.9594419598579407,
+          -0.07876139879226685,
+          -0.2706802487373352,
+          69.00686645507812
+        ],
+        [
+          0.27137646079063416,
+          0.0019302329747006297,
+          -0.9624713063240051,
+          23.390066146850586
+        ],
+        [
+          0.07632806152105331,
+          -0.9968916177749634,
+          0.019522041082382202,
+          -26.289167404174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6254,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_783082723",
+      "mask_path": "../../mask/hdr_left_06254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06255.png",
+      "transform_matrix": [
+        [
+          -0.9594340920448303,
+          -0.07680688798427582,
+          -0.2712688148021698,
+          68.89312744140625
+        ],
+        [
+          0.272287517786026,
+          -0.0029160496778786182,
+          -0.962211549282074,
+          23.387773513793945
+        ],
+        [
+          0.07311344146728516,
+          -0.9970417618751526,
+          0.023711318150162697,
+          -26.280132293701172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6255,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_883079767",
+      "mask_path": "../../mask/hdr_left_06255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06256.png",
+      "transform_matrix": [
+        [
+          -0.9618679881095886,
+          -0.07084400206804276,
+          -0.2641799747943878,
+          68.77693176269531
+        ],
+        [
+          0.2645820677280426,
+          0.003817317308858037,
+          -0.9643555879592896,
+          23.384443283081055
+        ],
+        [
+          0.06932727247476578,
+          -0.9974801540374756,
+          0.015072301030158997,
+          -26.278406143188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6256,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_983081102",
+      "mask_path": "../../mask/hdr_left_06256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06257.png",
+      "transform_matrix": [
+        [
+          -0.9657812714576721,
+          -0.06688537448644638,
+          -0.25058478116989136,
+          68.68934631347656
+        ],
+        [
+          0.2504791021347046,
+          0.010098136030137539,
+          -0.968069314956665,
+          23.38111114501953
+        ],
+        [
+          0.0672801211476326,
+          -0.9977096915245056,
+          0.007000803481787443,
+          -26.28076934814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6257,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_83081722",
+      "mask_path": "../../mask/hdr_left_06257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06258.png",
+      "transform_matrix": [
+        [
+          -0.9688851833343506,
+          -0.06342417001724243,
+          -0.23924650251865387,
+          68.59526062011719
+        ],
+        [
+          0.23904401063919067,
+          0.010874300263822079,
+          -0.970947802066803,
+          23.378061294555664
+        ],
+        [
+          0.06418319791555405,
+          -0.9979274272918701,
+          0.004625223111361265,
+          -26.277212142944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6258,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_183081865",
+      "mask_path": "../../mask/hdr_left_06258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06259.png",
+      "transform_matrix": [
+        [
+          -0.9694806933403015,
+          -0.06560559570789337,
+          -0.23622678220272064,
+          68.48307037353516
+        ],
+        [
+          0.23627988994121552,
+          0.007059870287775993,
+          -0.9716594219207764,
+          23.38156509399414
+        ],
+        [
+          0.06541401892900467,
+          -0.9978206753730774,
+          0.008656875230371952,
+          -26.25600814819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6259,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_283082246",
+      "mask_path": "../../mask/hdr_left_06259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06260.png",
+      "transform_matrix": [
+        [
+          -0.9694419503211975,
+          -0.06959325075149536,
+          -0.23524244129657745,
+          68.39765167236328
+        ],
+        [
+          0.23582421243190765,
+          -0.00014847522834315896,
+          -0.9717956185340881,
+          23.38774871826172
+        ],
+        [
+          0.06759548932313919,
+          -0.9975754618644714,
+          0.01655571535229683,
+          -26.245441436767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6260,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_383082866",
+      "mask_path": "../../mask/hdr_left_06260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06261.png",
+      "transform_matrix": [
+        [
+          -0.9697638154029846,
+          -0.07213200628757477,
+          -0.2331417202949524,
+          68.3084716796875
+        ],
+        [
+          0.23408466577529907,
+          -0.0047889286652207375,
+          -0.9722043871879578,
+          23.388120651245117
+        ],
+        [
+          0.06901054829359055,
+          -0.9973835945129395,
+          0.021529126912355423,
+          -26.24481201171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6261,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_483081340",
+      "mask_path": "../../mask/hdr_left_06261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06262.png",
+      "transform_matrix": [
+        [
+          -0.9720237851142883,
+          -0.07048500329256058,
+          -0.224057137966156,
+          68.18465423583984
+        ],
+        [
+          0.2247849702835083,
+          -0.002466835081577301,
+          -0.9744052886962891,
+          23.380708694458008
+        ],
+        [
+          0.06812824308872223,
+          -0.9975098967552185,
+          0.018241791054606438,
+          -26.235502243041992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6262,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_583081722",
+      "mask_path": "../../mask/hdr_left_06262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06263.png",
+      "transform_matrix": [
+        [
+          -0.9752156734466553,
+          -0.06809859722852707,
+          -0.21051569283008575,
+          68.089111328125
+        ],
+        [
+          0.21095934510231018,
+          0.0006911032251082361,
+          -0.9774946570396423,
+          23.368974685668945
+        ],
+        [
+          0.06671150773763657,
+          -0.9976784586906433,
+          0.013692065142095089,
+          -26.23138427734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6263,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_683081626",
+      "mask_path": "../../mask/hdr_left_06263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06264.png",
+      "transform_matrix": [
+        [
+          -0.9770419001579285,
+          -0.06798990070819855,
+          -0.20190700888633728,
+          68.01319122314453
+        ],
+        [
+          0.20236794650554657,
+          0.00011042860569432378,
+          -0.9793095588684082,
+          23.361499786376953
+        ],
+        [
+          0.06660546362400055,
+          -0.9976860880851746,
+          0.013651086017489433,
+          -26.231685638427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6264,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_783081054",
+      "mask_path": "../../mask/hdr_left_06264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06265.png",
+      "transform_matrix": [
+        [
+          -0.9765031933784485,
+          -0.06325303763151169,
+          -0.20601122081279755,
+          67.91841888427734
+        ],
+        [
+          0.20673233270645142,
+          -0.005004378501325846,
+          -0.9783847332000732,
+          23.36463737487793
+        ],
+        [
+          0.060854844748973846,
+          -0.9979850649833679,
+          0.017963241785764694,
+          -26.218183517456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6265,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_883081912",
+      "mask_path": "../../mask/hdr_left_06265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06266.png",
+      "transform_matrix": [
+        [
+          -0.9741371273994446,
+          -0.06255590170621872,
+          -0.21712544560432434,
+          67.83135223388672
+        ],
+        [
+          0.21829019486904144,
+          -0.01234621275216341,
+          -0.9758057594299316,
+          23.370750427246094
+        ],
+        [
+          0.0583617277443409,
+          -0.9979650974273682,
+          0.025682248175144196,
+          -26.199586868286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6266,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_983079433",
+      "mask_path": "../../mask/hdr_left_06266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06267.png",
+      "transform_matrix": [
+        [
+          -0.9716611504554749,
+          -0.06699765473604202,
+          -0.22668448090553284,
+          67.75188446044922
+        ],
+        [
+          0.22844825685024261,
+          -0.019853416830301285,
+          -0.9733536839485168,
+          23.379091262817383
+        ],
+        [
+          0.060711946338415146,
+          -0.997555673122406,
+          0.034596290439367294,
+          -26.195144653320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6267,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_83081722",
+      "mask_path": "../../mask/hdr_left_06267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06268.png",
+      "transform_matrix": [
+        [
+          -0.9705742001533508,
+          -0.06311497092247009,
+          -0.23238350450992584,
+          67.65348815917969
+        ],
+        [
+          0.23403465747833252,
+          -0.020063353702425957,
+          -0.972021222114563,
+          23.382286071777344
+        ],
+        [
+          0.05668668448925018,
+          -0.997804582118988,
+          0.03424406424164772,
+          -26.19335174560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6268,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_183080673",
+      "mask_path": "../../mask/hdr_left_06268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06269.png",
+      "transform_matrix": [
+        [
+          -0.9708662629127502,
+          -0.0554567351937294,
+          -0.2331162840127945,
+          67.55677795410156
+        ],
+        [
+          0.2340598702430725,
+          -0.01108567789196968,
+          -0.9721589088439941,
+          23.38115692138672
+        ],
+        [
+          0.05132850632071495,
+          -0.998399555683136,
+          0.023742910474538803,
+          -26.19401741027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6269,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_283081769",
+      "mask_path": "../../mask/hdr_left_06269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06270.png",
+      "transform_matrix": [
+        [
+          -0.9713112115859985,
+          -0.05207796022295952,
+          -0.23203957080841064,
+          67.48751831054688
+        ],
+        [
+          0.23259246349334717,
+          -0.004735509864985943,
+          -0.9725627899169922,
+          23.37712287902832
+        ],
+        [
+          0.04955025389790535,
+          -0.9986318945884705,
+          0.016712598502635956,
+          -26.19295310974121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6270,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_383082628",
+      "mask_path": "../../mask/hdr_left_06270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06271.png",
+      "transform_matrix": [
+        [
+          -0.9711874127388,
+          -0.04732443764805794,
+          -0.23357050120830536,
+          67.39923858642578
+        ],
+        [
+          0.23408694565296173,
+          -0.00560411810874939,
+          -0.9721994400024414,
+          23.379053115844727
+        ],
+        [
+          0.044699832797050476,
+          -0.9988638758659363,
+          0.016520684584975243,
+          -26.197172164916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6271,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_483082056",
+      "mask_path": "../../mask/hdr_left_06271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06272.png",
+      "transform_matrix": [
+        [
+          -0.9692330956459045,
+          -0.04548158869147301,
+          -0.2419058084487915,
+          67.28802490234375
+        ],
+        [
+          0.24254344403743744,
+          -0.008983541280031204,
+          -0.9700989127159119,
+          23.389175415039062
+        ],
+        [
+          0.04194846376776695,
+          -0.9989248514175415,
+          0.01973840780556202,
+          -26.1860408782959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6272,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_583082675",
+      "mask_path": "../../mask/hdr_left_06272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06273.png",
+      "transform_matrix": [
+        [
+          -0.9664734601974487,
+          -0.047424525022506714,
+          -0.25234875082969666,
+          67.20276641845703
+        ],
+        [
+          0.2532939314842224,
+          -0.015008075162768364,
+          -0.967272937297821,
+          23.398014068603516
+        ],
+        [
+          0.0420851856470108,
+          -0.9987621307373047,
+          0.026517251506447792,
+          -26.171117782592773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6273,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_683081626",
+      "mask_path": "../../mask/hdr_left_06273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06274.png",
+      "transform_matrix": [
+        [
+          -0.9638612270355225,
+          -0.050848111510276794,
+          -0.261507123708725,
+          67.11969757080078
+        ],
+        [
+          0.2627916634082794,
+          -0.02035563811659813,
+          -0.964637815952301,
+          23.397409439086914
+        ],
+        [
+          0.04372686892747879,
+          -0.9984989762306213,
+          0.0329824723303318,
+          -26.162490844726562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6274,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_783082485",
+      "mask_path": "../../mask/hdr_left_06274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06275.png",
+      "transform_matrix": [
+        [
+          -0.9635546803474426,
+          -0.04938270151615143,
+          -0.26291367411613464,
+          67.0029067993164
+        ],
+        [
+          0.2640478312969208,
+          -0.017933683469891548,
+          -0.9643428325653076,
+          23.398591995239258
+        ],
+        [
+          0.04290683567523956,
+          -0.9986189603805542,
+          0.03031948022544384,
+          -26.155946731567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6275,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_883082628",
+      "mask_path": "../../mask/hdr_left_06275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06276.png",
+      "transform_matrix": [
+        [
+          -0.9647504091262817,
+          -0.046177275478839874,
+          -0.2590833306312561,
+          66.91857147216797
+        ],
+        [
+          0.25976860523223877,
+          -0.009409288875758648,
+          -0.9656251072883606,
+          23.396440505981445
+        ],
+        [
+          0.04215214028954506,
+          -0.9988889694213867,
+          0.02107301913201809,
+          -26.155675888061523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6276,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_983083009",
+      "mask_path": "../../mask/hdr_left_06276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06277.png",
+      "transform_matrix": [
+        [
+          -0.9652690291404724,
+          -0.0466657392680645,
+          -0.25705620646476746,
+          66.8453369140625
+        ],
+        [
+          0.2575693130493164,
+          -0.005233914591372013,
+          -0.9662456512451172,
+          23.396656036376953
+        ],
+        [
+          0.04374515265226364,
+          -0.9988968968391418,
+          0.01707179844379425,
+          -26.158288955688477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6277,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_83082199",
+      "mask_path": "../../mask/hdr_left_06277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06278.png",
+      "transform_matrix": [
+        [
+          -0.9647597074508667,
+          -0.04525430127978325,
+          -0.25921186804771423,
+          66.7402572631836
+        ],
+        [
+          0.2596988081932068,
+          -0.00513271801173687,
+          -0.965675950050354,
+          23.404237747192383
+        ],
+        [
+          0.04237053170800209,
+          -0.99896240234375,
+          0.01670433022081852,
+          -26.148746490478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6278,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_183082342",
+      "mask_path": "../../mask/hdr_left_06278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06279.png",
+      "transform_matrix": [
+        [
+          -0.9642156958580017,
+          -0.04811691865324974,
+          -0.2607158422470093,
+          66.64485168457031
+        ],
+        [
+          0.26128247380256653,
+          -0.005777284037321806,
+          -0.9652450680732727,
+          23.412160873413086
+        ],
+        [
+          0.04493838921189308,
+          -0.9988250136375427,
+          0.018142657354474068,
+          -26.134042739868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6279,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_283082723",
+      "mask_path": "../../mask/hdr_left_06279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06280.png",
+      "transform_matrix": [
+        [
+          -0.9643985033035278,
+          -0.05410262569785118,
+          -0.25885993242263794,
+          66.56610107421875
+        ],
+        [
+          0.2597006857395172,
+          -0.009012429974973202,
+          -0.9656470417976379,
+          23.420188903808594
+        ],
+        [
+          0.04991108179092407,
+          -0.9984947443008423,
+          0.02274206280708313,
+          -26.128093719482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6280,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_383082389",
+      "mask_path": "../../mask/hdr_left_06280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06281.png",
+      "transform_matrix": [
+        [
+          -0.9647639393806458,
+          -0.06124245747923851,
+          -0.2558903098106384,
+          66.46723175048828
+        ],
+        [
+          0.25708553194999695,
+          -0.012370632961392403,
+          -0.9663095474243164,
+          23.422748565673828
+        ],
+        [
+          0.05601364001631737,
+          -0.9980463981628418,
+          0.027679292485117912,
+          -26.129528045654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6281,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_483081817",
+      "mask_path": "../../mask/hdr_left_06281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06282.png",
+      "transform_matrix": [
+        [
+          -0.9680479764938354,
+          -0.06514963507652283,
+          -0.24215425550937653,
+          66.34766387939453
+        ],
+        [
+          0.24315325915813446,
+          -0.007748523261398077,
+          -0.9699568748474121,
+          23.41504669189453
+        ],
+        [
+          0.06131599843502045,
+          -0.9978455305099487,
+          0.02334229089319706,
+          -26.110727310180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6282,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_583084106",
+      "mask_path": "../../mask/hdr_left_06282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06283.png",
+      "transform_matrix": [
+        [
+          -0.9728546142578125,
+          -0.06706874072551727,
+          -0.22148507833480835,
+          66.25940704345703
+        ],
+        [
+          0.22217729687690735,
+          -0.002950353780761361,
+          -0.9750017523765564,
+          23.405752182006836
+        ],
+        [
+          0.0647386834025383,
+          -0.997744083404541,
+          0.017771421000361443,
+          -26.100290298461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6283,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_683081865",
+      "mask_path": "../../mask/hdr_left_06283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06284.png",
+      "transform_matrix": [
+        [
+          -0.9766102433204651,
+          -0.06898500770330429,
+          -0.20365051925182343,
+          66.18475341796875
+        ],
+        [
+          0.20456531643867493,
+          -0.006391375791281462,
+          -0.9788321256637573,
+          23.403472900390625
+        ],
+        [
+          0.06622312217950821,
+          -0.9975972771644592,
+          0.02035382203757763,
+          -26.10733985900879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6284,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_783083438",
+      "mask_path": "../../mask/hdr_left_06284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06285.png",
+      "transform_matrix": [
+        [
+          -0.9783743023872375,
+          -0.06954868137836456,
+          -0.1947988122701645,
+          66.0798568725586
+        ],
+        [
+          0.19623377919197083,
+          -0.014367629773914814,
+          -0.9804518222808838,
+          23.405439376831055
+        ],
+        [
+          0.06539031863212585,
+          -0.9974751472473145,
+          0.027704723179340363,
+          -26.08939552307129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6285,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_883081912",
+      "mask_path": "../../mask/hdr_left_06285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06286.png",
+      "transform_matrix": [
+        [
+          -0.9790157675743103,
+          -0.0724039077758789,
+          -0.190487802028656,
+          65.99360656738281
+        ],
+        [
+          0.19245706498622894,
+          -0.021206622943282127,
+          -0.9810761213302612,
+          23.405073165893555
+        ],
+        [
+          0.06699414551258087,
+          -0.9971499443054199,
+          0.03469626605510712,
+          -26.06806755065918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6286,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_983082532",
+      "mask_path": "../../mask/hdr_left_06286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06287.png",
+      "transform_matrix": [
+        [
+          -0.9791404008865356,
+          -0.0775698646903038,
+          -0.18779484927654266,
+          65.92650604248047
+        ],
+        [
+          0.19042006134986877,
+          -0.027893822640180588,
+          -0.9813063144683838,
+          23.412038803100586
+        ],
+        [
+          0.07088146358728409,
+          -0.9965966939926147,
+          0.04208282753825188,
+          -26.07460594177246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6287,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_83082199",
+      "mask_path": "../../mask/hdr_left_06287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06288.png",
+      "transform_matrix": [
+        [
+          -0.9806199669837952,
+          -0.07533980906009674,
+          -0.18085460364818573,
+          65.82324981689453
+        ],
+        [
+          0.18338315188884735,
+          -0.02806014195084572,
+          -0.9826408624649048,
+          23.40322494506836
+        ],
+        [
+          0.06895717978477478,
+          -0.9967631697654724,
+          0.04133238643407822,
+          -26.061391830444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6288,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_183082342",
+      "mask_path": "../../mask/hdr_left_06288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06289.png",
+      "transform_matrix": [
+        [
+          -0.9824599027633667,
+          -0.07013697922229767,
+          -0.1727808117866516,
+          65.7197036743164
+        ],
+        [
+          0.1745758056640625,
+          -0.02027849294245243,
+          -0.9844349026679993,
+          23.387449264526367
+        ],
+        [
+          0.06554155796766281,
+          -0.9973313212394714,
+          0.03216702863574028,
+          -26.049591064453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6289,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_283081769",
+      "mask_path": "../../mask/hdr_left_06289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06290.png",
+      "transform_matrix": [
+        [
+          -0.9829607605934143,
+          -0.06772097200155258,
+          -0.17088575661182404,
+          65.64568328857422
+        ],
+        [
+          0.17232568562030792,
+          -0.015980854630470276,
+          -0.9849103093147278,
+          23.383689880371094
+        ],
+        [
+          0.06396818906068802,
+          -0.9975762963294983,
+          0.027378618717193604,
+          -26.047372817993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6290,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_383081912",
+      "mask_path": "../../mask/hdr_left_06290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06291.png",
+      "transform_matrix": [
+        [
+          -0.9827682375907898,
+          -0.06190364807844162,
+          -0.17416808009147644,
+          65.56463623046875
+        ],
+        [
+          0.17567402124404907,
+          -0.019737483933568,
+          -0.9842504858970642,
+          23.386123657226562
+        ],
+        [
+          0.057491056621074677,
+          -0.9978869557380676,
+          0.030272236093878746,
+          -26.04700469970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6291,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_483080625",
+      "mask_path": "../../mask/hdr_left_06291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06292.png",
+      "transform_matrix": [
+        [
+          -0.9811118245124817,
+          -0.06082649901509285,
+          -0.1836291402578354,
+          65.46665954589844
+        ],
+        [
+          0.1853301227092743,
+          -0.02356642484664917,
+          -0.982393741607666,
+          23.391830444335938
+        ],
+        [
+          0.05542808398604393,
+          -0.9978702664375305,
+          0.0343942828476429,
+          -26.03479766845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6292,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_583082199",
+      "mask_path": "../../mask/hdr_left_06292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06293.png",
+      "transform_matrix": [
+        [
+          -0.9789198637008667,
+          -0.06322290003299713,
+          -0.19421252608299255,
+          65.38404083251953
+        ],
+        [
+          0.19620034098625183,
+          -0.026859182864427567,
+          -0.9801958799362183,
+          23.399185180664062
+        ],
+        [
+          0.056754425168037415,
+          -0.997637927532196,
+          0.038697343319654465,
+          -26.023006439208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6293,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_683081865",
+      "mask_path": "../../mask/hdr_left_06293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06294.png",
+      "transform_matrix": [
+        [
+          -0.9765697717666626,
+          -0.06755159050226212,
+          -0.20432353019714355,
+          65.3062973022461
+        ],
+        [
+          0.20670585334300995,
+          -0.030315948650240898,
+          -0.977933406829834,
+          23.40587043762207
+        ],
+        [
+          0.05986668914556503,
+          -0.9972551465034485,
+          0.04356895014643669,
+          -26.021804809570312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6294,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_783081054",
+      "mask_path": "../../mask/hdr_left_06294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06295.png",
+      "transform_matrix": [
+        [
+          -0.9764285683631897,
+          -0.06613065302371979,
+          -0.20546028017997742,
+          65.17860412597656
+        ],
+        [
+          0.2075502872467041,
+          -0.026385990902781487,
+          -0.977868378162384,
+          23.400531768798828
+        ],
+        [
+          0.059245798736810684,
+          -0.9974620342254639,
+          0.03948947414755821,
+          -26.009187698364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6295,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_883081912",
+      "mask_path": "../../mask/hdr_left_06295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06296.png",
+      "transform_matrix": [
+        [
+          -0.9778582453727722,
+          -0.0615881010890007,
+          -0.20000015199184418,
+          65.0755844116211
+        ],
+        [
+          0.20145906507968903,
+          -0.018403882160782814,
+          -0.9793239831924438,
+          23.394603729248047
+        ],
+        [
+          0.056633926928043365,
+          -0.9979320168495178,
+          0.030403872951865196,
+          -26.00624656677246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6296,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_983081817",
+      "mask_path": "../../mask/hdr_left_06296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06297.png",
+      "transform_matrix": [
+        [
+          -0.9786325693130493,
+          -0.06064274162054062,
+          -0.19647054374217987,
+          65.00741577148438
+        ],
+        [
+          0.19763067364692688,
+          -0.01370599027723074,
+          -0.9801807403564453,
+          23.3970890045166
+        ],
+        [
+          0.05674801766872406,
+          -0.9980654716491699,
+          0.025397997349500656,
+          -26.013551712036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6297,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_83082675",
+      "mask_path": "../../mask/hdr_left_06297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06298.png",
+      "transform_matrix": [
+        [
+          -0.9780063629150391,
+          -0.05945555865764618,
+          -0.19992123544216156,
+          64.9127426147461
+        ],
+        [
+          0.20091712474822998,
+          -0.011211257427930832,
+          -0.9795440435409546,
+          23.399444580078125
+        ],
+        [
+          0.05599796772003174,
+          -0.9981679916381836,
+          0.02291032113134861,
+          -25.996360778808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6298,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_183080673",
+      "mask_path": "../../mask/hdr_left_06298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06299.png",
+      "transform_matrix": [
+        [
+          -0.9759092330932617,
+          -0.06174280494451523,
+          -0.20925801992416382,
+          64.82199096679688
+        ],
+        [
+          0.21038198471069336,
+          -0.01222926564514637,
+          -0.9775427579879761,
+          23.40199089050293
+        ],
+        [
+          0.057797156274318695,
+          -0.9980172514915466,
+          0.024924227967858315,
+          -25.972387313842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6299,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_283080816",
+      "mask_path": "../../mask/hdr_left_06299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04109.png",
+      "transform_matrix": [
+        [
+          -0.9747387170791626,
+          -0.18122872710227966,
+          0.1305394172668457,
+          65.2115249633789
+        ],
+        [
+          -0.13416267931461334,
+          0.007826101966202259,
+          -0.9909284710884094,
+          23.547218322753906
+        ],
+        [
+          0.17856308817863464,
+          -0.9834098219871521,
+          -0.03194253146648407,
+          -26.0048828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4109,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_383081436",
+      "mask_path": "../../mask/hdr_right_04109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04110.png",
+      "transform_matrix": [
+        [
+          -0.978322446346283,
+          -0.1667647361755371,
+          0.1227794885635376,
+          65.30091857910156
+        ],
+        [
+          -0.12586918473243713,
+          0.008045071735978127,
+          -0.9920142292976379,
+          23.54599380493164
+        ],
+        [
+          0.16444522142410278,
+          -0.9859639406204224,
+          -0.028861215338110924,
+          -26.0144100189209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4110,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_483080863",
+      "mask_path": "../../mask/hdr_right_04110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04111.png",
+      "transform_matrix": [
+        [
+          -0.9821785688400269,
+          -0.15136030316352844,
+          0.11142395436763763,
+          65.39581298828125
+        ],
+        [
+          -0.11302857846021652,
+          0.002012053271755576,
+          -0.9935897588729858,
+          23.54490089416504
+        ],
+        [
+          0.150165855884552,
+          -0.9884766340255737,
+          -0.019084233790636063,
+          -26.0196475982666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4111,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_583082675",
+      "mask_path": "../../mask/hdr_right_04111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04112.png",
+      "transform_matrix": [
+        [
+          -0.9841429591178894,
+          -0.14116965234279633,
+          0.10739485174417496,
+          65.52449798583984
+        ],
+        [
+          -0.10758689790964127,
+          -0.006293873768299818,
+          -0.9941757917404175,
+          23.54191017150879
+        ],
+        [
+          0.14102336764335632,
+          -0.9899654388427734,
+          -0.00899393018335104,
+          -26.035005569458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4112,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_683082342",
+      "mask_path": "../../mask/hdr_right_04112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04113.png",
+      "transform_matrix": [
+        [
+          -0.9848849177360535,
+          -0.1324235051870346,
+          0.11165016144514084,
+          65.62353515625
+        ],
+        [
+          -0.11123059689998627,
+          -0.010585125535726547,
+          -0.9937382936477661,
+          23.548992156982422
+        ],
+        [
+          0.132776141166687,
+          -0.9911367297172546,
+          -0.004304412752389908,
+          -26.056669235229492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4113,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_783082008",
+      "mask_path": "../../mask/hdr_right_04113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04114.png",
+      "transform_matrix": [
+        [
+          -0.9859934449195862,
+          -0.12111002951860428,
+          0.11466986685991287,
+          65.68749237060547
+        ],
+        [
+          -0.1143912672996521,
+          -0.009273766539990902,
+          -0.9933924674987793,
+          23.55466651916504
+        ],
+        [
+          0.12137320637702942,
+          -0.9925957322120667,
+          -0.004710055887699127,
+          -26.071632385253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4114,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_883083105",
+      "mask_path": "../../mask/hdr_right_04114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04115.png",
+      "transform_matrix": [
+        [
+          -0.9867531657218933,
+          -0.11972326040267944,
+          0.10947373509407043,
+          65.78778076171875
+        ],
+        [
+          -0.10952002555131912,
+          -0.006213157903403044,
+          -0.993965208530426,
+          23.545949935913086
+        ],
+        [
+          0.11968093365430832,
+          -0.9927878379821777,
+          -0.006981240585446358,
+          -26.068510055541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4115,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_983082056",
+      "mask_path": "../../mask/hdr_right_04115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04116.png",
+      "transform_matrix": [
+        [
+          -0.9882544875144958,
+          -0.11724457144737244,
+          0.09801429510116577,
+          65.89622497558594
+        ],
+        [
+          -0.09846290200948715,
+          -0.001974046928808093,
+          -0.995138943195343,
+          23.538471221923828
+        ],
+        [
+          0.11686810851097107,
+          -0.9931011199951172,
+          -0.009593378752470016,
+          -26.068933486938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4116,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_83081722",
+      "mask_path": "../../mask/hdr_right_04116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04117.png",
+      "transform_matrix": [
+        [
+          -0.9905152916908264,
+          -0.10730944573879242,
+          0.08581534028053284,
+          65.97307586669922
+        ],
+        [
+          -0.08610069751739502,
+          -0.001979727065190673,
+          -0.9962844848632812,
+          23.531726837158203
+        ],
+        [
+          0.1070806235074997,
+          -0.9942237138748169,
+          -0.007278467062860727,
+          -26.076738357543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4117,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_183082103",
+      "mask_path": "../../mask/hdr_right_04117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04118.png",
+      "transform_matrix": [
+        [
+          -0.992216169834137,
+          -0.09873782098293304,
+          0.0758809745311737,
+          66.06358337402344
+        ],
+        [
+          -0.07513599097728729,
+          -0.011247326619923115,
+          -0.9971098899841309,
+          23.518959045410156
+        ],
+        [
+          0.09930591285228729,
+          -0.9950499534606934,
+          0.003741014515981078,
+          -26.09114646911621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4118,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_283081769",
+      "mask_path": "../../mask/hdr_right_04118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04119.png",
+      "transform_matrix": [
+        [
+          -0.9925839900970459,
+          -0.0946965366601944,
+          0.07622195780277252,
+          66.1697006225586
+        ],
+        [
+          -0.07440683990716934,
+          -0.022558264434337616,
+          -0.9969728589057922,
+          23.50541877746582
+        ],
+        [
+          0.09612931311130524,
+          -0.9952505826950073,
+          0.01534490380436182,
+          -26.092893600463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4119,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_383081912",
+      "mask_path": "../../mask/hdr_right_04119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04120.png",
+      "transform_matrix": [
+        [
+          -0.9924771785736084,
+          -0.0898277536034584,
+          0.08318667113780975,
+          66.25471496582031
+        ],
+        [
+          -0.08104478567838669,
+          -0.027240728959441185,
+          -0.9963381290435791,
+          23.50107765197754
+        ],
+        [
+          0.0917648896574974,
+          -0.9955847263336182,
+          0.019755730405449867,
+          -26.086803436279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4120,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_483081579",
+      "mask_path": "../../mask/hdr_right_04120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04121.png",
+      "transform_matrix": [
+        [
+          -0.9925350546836853,
+          -0.08465777337551117,
+          0.08779091387987137,
+          66.34489440917969
+        ],
+        [
+          -0.08590836822986603,
+          -0.025636479258537292,
+          -0.9959731101989746,
+          23.503337860107422
+        ],
+        [
+          0.08656752109527588,
+          -0.9960801601409912,
+          0.01817229390144348,
+          -26.106271743774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4121,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_583081722",
+      "mask_path": "../../mask/hdr_right_04121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04122.png",
+      "transform_matrix": [
+        [
+          -0.9927893280982971,
+          -0.08720436692237854,
+          0.08224784582853317,
+          66.46227264404297
+        ],
+        [
+          -0.08053207397460938,
+          -0.023020390421152115,
+          -0.9964861273765564,
+          23.48867416381836
+        ],
+        [
+          0.08879131823778152,
+          -0.9959244132041931,
+          0.015831654891371727,
+          -26.111902236938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4122,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_683082818",
+      "mask_path": "../../mask/hdr_right_04122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04123.png",
+      "transform_matrix": [
+        [
+          -0.9937210083007812,
+          -0.08822142332792282,
+          0.06881580501794815,
+          66.55046844482422
+        ],
+        [
+          -0.06742019951343536,
+          -0.018706317991018295,
+          -0.9975494146347046,
+          23.476072311401367
+        ],
+        [
+          0.0892925038933754,
+          -0.9959251880645752,
+          0.012640955857932568,
+          -26.111736297607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4123,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_783081293",
+      "mask_path": "../../mask/hdr_right_04123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04124.png",
+      "transform_matrix": [
+        [
+          -0.9950883984565735,
+          -0.08266595005989075,
+          0.054455969482660294,
+          66.61705017089844
+        ],
+        [
+          -0.053350526839494705,
+          -0.015524780377745628,
+          -0.9984551072120667,
+          23.464506149291992
+        ],
+        [
+          0.08338366448879242,
+          -0.9964563250541687,
+          0.01103825680911541,
+          -26.116443634033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4124,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_883081674",
+      "mask_path": "../../mask/hdr_right_04124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04125.png",
+      "transform_matrix": [
+        [
+          -0.9957299828529358,
+          -0.08042445778846741,
+          0.045317891985177994,
+          66.7244873046875
+        ],
+        [
+          -0.0438682921230793,
+          -0.01970158889889717,
+          -0.9988430738449097,
+          23.453310012817383
+        ],
+        [
+          0.0812242403626442,
+          -0.9965659976005554,
+          0.01608937792479992,
+          -26.127796173095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4125,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323675_983081102",
+      "mask_path": "../../mask/hdr_right_04125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04126.png",
+      "transform_matrix": [
+        [
+          -0.9955980181694031,
+          -0.08296075463294983,
+          0.04361460357904434,
+          66.82483673095703
+        ],
+        [
+          -0.04142724722623825,
+          -0.027908507734537125,
+          -0.998751699924469,
+          23.449872970581055
+        ],
+        [
+          0.08407442271709442,
+          -0.996161937713623,
+          0.024348817765712738,
+          -26.147235870361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4126,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_83081245",
+      "mask_path": "../../mask/hdr_right_04126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04127.png",
+      "transform_matrix": [
+        [
+          -0.9954577088356018,
+          -0.08382121473550797,
+          0.0451449379324913,
+          66.88968658447266
+        ],
+        [
+          -0.04266764968633652,
+          -0.031115267425775528,
+          -0.9986046552658081,
+          23.44495391845703
+        ],
+        [
+          0.08510895818471909,
+          -0.9959948658943176,
+          0.027397477999329567,
+          -26.148977279663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4127,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_183080911",
+      "mask_path": "../../mask/hdr_right_04127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04128.png",
+      "transform_matrix": [
+        [
+          -0.9953911900520325,
+          -0.08489518612623215,
+          0.04460083693265915,
+          66.97537994384766
+        ],
+        [
+          -0.0424649640917778,
+          -0.02680169977247715,
+          -0.9987384676933289,
+          23.442054748535156
+        ],
+        [
+          0.08598345518112183,
+          -0.9960293173789978,
+          0.02307310327887535,
+          -26.15909767150879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4128,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_283081293",
+      "mask_path": "../../mask/hdr_right_04128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04129.png",
+      "transform_matrix": [
+        [
+          -0.9953855872154236,
+          -0.08817169815301895,
+          0.03785673901438713,
+          67.0798110961914
+        ],
+        [
+          -0.03559989109635353,
+          -0.02703016996383667,
+          -0.9990004897117615,
+          23.428667068481445
+        ],
+        [
+          0.08910684287548065,
+          -0.9957384467124939,
+          0.023766541853547096,
+          -26.166770935058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4129,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_383080482",
+      "mask_path": "../../mask/hdr_right_04129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04130.png",
+      "transform_matrix": [
+        [
+          -0.9957147240638733,
+          -0.08829377591609955,
+          0.027506699785590172,
+          67.15930938720703
+        ],
+        [
+          -0.02515801601111889,
+          -0.027604777365922928,
+          -0.9993023872375488,
+          23.41364288330078
+        ],
+        [
+          0.08899149298667908,
+          -0.9957118630409241,
+          0.02526518702507019,
+          -26.167675018310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4130,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_483080625",
+      "mask_path": "../../mask/hdr_right_04130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04131.png",
+      "transform_matrix": [
+        [
+          -0.9963870644569397,
+          -0.08352461457252502,
+          0.015378899872303009,
+          67.22096252441406
+        ],
+        [
+          -0.013228795491158962,
+          -0.026235241442918777,
+          -0.9995682835578918,
+          23.40677833557129
+        ],
+        [
+          0.08389203250408173,
+          -0.9961602687835693,
+          0.025035519152879715,
+          -26.180234909057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4131,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_583079576",
+      "mask_path": "../../mask/hdr_right_04131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04132.png",
+      "transform_matrix": [
+        [
+          -0.9968213438987732,
+          -0.07925549149513245,
+          0.00810564961284399,
+          67.32026672363281
+        ],
+        [
+          -0.005719520151615143,
+          -0.03028782829642296,
+          -0.9995248317718506,
+          23.400409698486328
+        ],
+        [
+          0.07946333289146423,
+          -0.9963940978050232,
+          0.029738254845142365,
+          -26.192079544067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4132,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_683080673",
+      "mask_path": "../../mask/hdr_right_04132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04133.png",
+      "transform_matrix": [
+        [
+          -0.9968639612197876,
+          -0.07860393077135086,
+          0.009150553494691849,
+          67.42240905761719
+        ],
+        [
+          -0.00629048515111208,
+          -0.036556705832481384,
+          -0.9993118643760681,
+          23.38901138305664
+        ],
+        [
+          0.07888434827327728,
+          -0.9962354302406311,
+          0.03594760596752167,
+          -26.197067260742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4133,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_783079862",
+      "mask_path": "../../mask/hdr_right_04133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04134.png",
+      "transform_matrix": [
+        [
+          -0.996899425983429,
+          -0.07713507860898972,
+          0.015551522374153137,
+          67.49518585205078
+        ],
+        [
+          -0.012668629176914692,
+          -0.037724435329437256,
+          -0.9992079138755798,
+          23.377958297729492
+        ],
+        [
+          0.07766065746545792,
+          -0.9963066577911377,
+          0.03663027286529541,
+          -26.195100784301758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4134,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_883080720",
+      "mask_path": "../../mask/hdr_right_04134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04135.png",
+      "transform_matrix": [
+        [
+          -0.9970268607139587,
+          -0.07181543111801147,
+          0.027928980067372322,
+          67.57254791259766
+        ],
+        [
+          -0.02565760351717472,
+          -0.03235902264714241,
+          -0.9991469383239746,
+          23.37653923034668
+        ],
+        [
+          0.07265792042016983,
+          -0.9968928694725037,
+          0.030420204624533653,
+          -26.203298568725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4135,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323676_983080387",
+      "mask_path": "../../mask/hdr_right_04135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04136.png",
+      "transform_matrix": [
+        [
+          -0.9969245195388794,
+          -0.06771805137395859,
+          0.0394449308514595,
+          67.67249298095703
+        ],
+        [
+          -0.03750116378068924,
+          -0.02973930537700653,
+          -0.9988539218902588,
+          23.370546340942383
+        ],
+        [
+          0.0688135102391243,
+          -0.9972612261772156,
+          0.02710833214223385,
+          -26.20563507080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4136,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_83080291",
+      "mask_path": "../../mask/hdr_right_04136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04137.png",
+      "transform_matrix": [
+        [
+          -0.9969040751457214,
+          -0.06440551578998566,
+          0.045102011412382126,
+          67.75447082519531
+        ],
+        [
+          -0.04331142455339432,
+          -0.02893342263996601,
+          -0.9986425638198853,
+          23.361005783081055
+        ],
+        [
+          0.06562304496765137,
+          -0.9975042343139648,
+          0.02605435438454151,
+          -26.202247619628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4137,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_183079719",
+      "mask_path": "../../mask/hdr_right_04137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04138.png",
+      "transform_matrix": [
+        [
+          -0.9971626400947571,
+          -0.05893958732485771,
+          0.0468263179063797,
+          67.81382751464844
+        ],
+        [
+          -0.045393649488687515,
+          -0.025417108088731766,
+          -0.9986457824707031,
+          23.351917266845703
+        ],
+        [
+          0.060049962252378464,
+          -0.9979379177093506,
+          0.022669505327939987,
+          -26.20672607421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4138,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_283082008",
+      "mask_path": "../../mask/hdr_right_04138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04139.png",
+      "transform_matrix": [
+        [
+          -0.9972401857376099,
+          -0.05337360128760338,
+          0.05160726606845856,
+          67.8979721069336
+        ],
+        [
+          -0.050359513610601425,
+          -0.0244654081761837,
+          -0.9984315037727356,
+          23.346975326538086
+        ],
+        [
+          0.054552480578422546,
+          -0.9982748627662659,
+          0.021710021421313286,
+          -26.213876724243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4139,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_383081912",
+      "mask_path": "../../mask/hdr_right_04139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04140.png",
+      "transform_matrix": [
+        [
+          -0.9963569045066833,
+          -0.05208852142095566,
+          0.06752516329288483,
+          67.98748779296875
+        ],
+        [
+          -0.06608308851718903,
+          -0.028929859399795532,
+          -0.9973946809768677,
+          23.347827911376953
+        ],
+        [
+          0.05390630662441254,
+          -0.9982233643531799,
+          0.02538229525089264,
+          -26.214765548706055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4140,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_483082056",
+      "mask_path": "../../mask/hdr_right_04140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04141.png",
+      "transform_matrix": [
+        [
+          -0.9946775436401367,
+          -0.05143895372748375,
+          0.08927842974662781,
+          68.05756378173828
+        ],
+        [
+          -0.08788319677114487,
+          -0.028780624270439148,
+          -0.9957149624824524,
+          23.351028442382812
+        ],
+        [
+          0.05378802493214607,
+          -0.9982613325119019,
+          0.024106822907924652,
+          -26.216556549072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4141,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_583082199",
+      "mask_path": "../../mask/hdr_right_04141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04142.png",
+      "transform_matrix": [
+        [
+          -0.9926129579544067,
+          -0.05046459659934044,
+          0.11033066362142563,
+          68.1252670288086
+        ],
+        [
+          -0.10954076051712036,
+          -0.01816793903708458,
+          -0.9938163161277771,
+          23.361143112182617
+        ],
+        [
+          0.05215701460838318,
+          -0.9985606074333191,
+          0.012505801394581795,
+          -26.232986450195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4142,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_683081388",
+      "mask_path": "../../mask/hdr_right_04142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04143.png",
+      "transform_matrix": [
+        [
+          -0.9904447197914124,
+          -0.055107615888118744,
+          0.12642087042331696,
+          68.20455169677734
+        ],
+        [
+          -0.1260412633419037,
+          -0.010324985720217228,
+          -0.9919712543487549,
+          23.361555099487305
+        ],
+        [
+          0.055970463901758194,
+          -0.9984270930290222,
+          0.0032804948277771473,
+          -26.235992431640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4143,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_783080816",
+      "mask_path": "../../mask/hdr_right_04143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04144.png",
+      "transform_matrix": [
+        [
+          -0.9891064763069153,
+          -0.057410091161727905,
+          0.13554495573043823,
+          68.26924896240234
+        ],
+        [
+          -0.135461688041687,
+          -0.0053580934181809425,
+          -0.9907681345939636,
+          23.358163833618164
+        ],
+        [
+          0.057606350630521774,
+          -0.9983362555503845,
+          -0.0024771427270025015,
+          -26.230348587036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4144,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323677_883082151",
+      "mask_path": "../../mask/hdr_right_04144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04146.png",
+      "transform_matrix": [
+        [
+          -0.9909201860427856,
+          -0.05206798017024994,
+          0.12396006286144257,
+          68.40458679199219
+        ],
+        [
+          -0.12413959205150604,
+          0.0002153287350665778,
+          -0.9922647476196289,
+          23.35586166381836
+        ],
+        [
+          0.05163852497935295,
+          -0.9986435174942017,
+          -0.006677072495222092,
+          -26.238039016723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4146,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_83082675",
+      "mask_path": "../../mask/hdr_right_04146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04147.png",
+      "transform_matrix": [
+        [
+          -0.9911847114562988,
+          -0.056642889976501465,
+          0.11976800858974457,
+          68.50214385986328
+        ],
+        [
+          -0.11930587887763977,
+          -0.011483678594231606,
+          -0.9927911758422852,
+          23.346630096435547
+        ],
+        [
+          0.057609934359788895,
+          -0.998328447341919,
+          0.00462461868301034,
+          -26.249530792236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4147,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_183080673",
+      "mask_path": "../../mask/hdr_right_04147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04148.png",
+      "transform_matrix": [
+        [
+          -0.9910460710525513,
+          -0.059288185089826584,
+          0.11963531374931335,
+          68.5794448852539
+        ],
+        [
+          -0.11890598386526108,
+          -0.015693465247750282,
+          -0.9927815198898315,
+          23.339643478393555
+        ],
+        [
+          0.06073770672082901,
+          -0.9981176257133484,
+          0.008503228425979614,
+          -26.254148483276367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4148,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_283082962",
+      "mask_path": "../../mask/hdr_right_04148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04149.png",
+      "transform_matrix": [
+        [
+          -0.9910889267921448,
+          -0.06080678850412369,
+          0.1185130923986435,
+          68.67231750488281
+        ],
+        [
+          -0.11805101484060287,
+          -0.011149037629365921,
+          -0.9929449558258057,
+          23.342174530029297
+        ],
+        [
+          0.06169910356402397,
+          -0.9980872869491577,
+          0.0038713831454515457,
+          -26.27073860168457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4149,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_383082389",
+      "mask_path": "../../mask/hdr_right_04149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04150.png",
+      "transform_matrix": [
+        [
+          -0.9913933873176575,
+          -0.06782259047031403,
+          0.11197865009307861,
+          68.76561737060547
+        ],
+        [
+          -0.11141715943813324,
+          -0.012017942033708096,
+          -0.9937011003494263,
+          23.33919906616211
+        ],
+        [
+          0.06874113529920578,
+          -0.9976249933242798,
+          0.004357912112027407,
+          -26.279064178466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4150,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_483082294",
+      "mask_path": "../../mask/hdr_right_04150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04151.png",
+      "transform_matrix": [
+        [
+          -0.9920430183410645,
+          -0.07217758893966675,
+          0.10315550118684769,
+          68.84003448486328
+        ],
+        [
+          -0.1024034321308136,
+          -0.014053693041205406,
+          -0.9946436285972595,
+          23.32956886291504
+        ],
+        [
+          0.07324069738388062,
+          -0.9972927570343018,
+          0.0065506380051374435,
+          -26.277902603149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4151,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_583082437",
+      "mask_path": "../../mask/hdr_right_04151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04152.png",
+      "transform_matrix": [
+        [
+          -0.9934538006782532,
+          -0.06773602962493896,
+          0.09198582917451859,
+          68.909423828125
+        ],
+        [
+          -0.09152502566576004,
+          -0.009881865233182907,
+          -0.9957537055015564,
+          23.326692581176758
+        ],
+        [
+          0.06835740804672241,
+          -0.9976543188095093,
+          0.0036176329012960196,
+          -26.288516998291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4152,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_683080911",
+      "mask_path": "../../mask/hdr_right_04152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04153.png",
+      "transform_matrix": [
+        [
+          -0.994186520576477,
+          -0.0680801272392273,
+          0.08341716229915619,
+          69.01226043701172
+        ],
+        [
+          -0.08290660381317139,
+          -0.010295852087438107,
+          -0.9965041875839233,
+          23.32318115234375
+        ],
+        [
+          0.06870099157094955,
+          -0.9976267218589783,
+          0.004591704811900854,
+          -26.298608779907227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4153,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_783082246",
+      "mask_path": "../../mask/hdr_right_04153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04154.png",
+      "transform_matrix": [
+        [
+          -0.993951141834259,
+          -0.0721418634057045,
+          0.08280450105667114,
+          69.11373901367188
+        ],
+        [
+          -0.0818730890750885,
+          -0.01577935367822647,
+          -0.9965179562568665,
+          23.319984436035156
+        ],
+        [
+          0.07319725304841995,
+          -0.9972695112228394,
+          0.009777436032891273,
+          -26.309894561767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4154,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_883081912",
+      "mask_path": "../../mask/hdr_right_04154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04155.png",
+      "transform_matrix": [
+        [
+          -0.9934635758399963,
+          -0.07138719409704208,
+          0.08907249569892883,
+          69.18558502197266
+        ],
+        [
+          -0.08793416619300842,
+          -0.018939582630991936,
+          -0.9959462285041809,
+          23.319883346557617
+        ],
+        [
+          0.07278479635715485,
+          -0.9972688555717468,
+          0.012538413517177105,
+          -26.3137149810791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4155,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323678_983082056",
+      "mask_path": "../../mask/hdr_right_04155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04156.png",
+      "transform_matrix": [
+        [
+          -0.9929220080375671,
+          -0.06925550103187561,
+          0.09648633003234863,
+          69.26018524169922
+        ],
+        [
+          -0.09578830003738403,
+          -0.013338079676032066,
+          -0.9953123927116394,
+          23.319860458374023
+        ],
+        [
+          0.0702177956700325,
+          -0.9975097179412842,
+          0.006609808653593063,
+          -26.31774139404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4156,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_83082437",
+      "mask_path": "../../mask/hdr_right_04156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04157.png",
+      "transform_matrix": [
+        [
+          -0.9923226237297058,
+          -0.07136708498001099,
+          0.10100734978914261,
+          69.34955596923828
+        ],
+        [
+          -0.10053224861621857,
+          -0.010227243416011333,
+          -0.9948812127113342,
+          23.319459915161133
+        ],
+        [
+          0.0720348060131073,
+          -0.9973976612091064,
+          0.002974033821374178,
+          -26.323339462280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4157,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_183081150",
+      "mask_path": "../../mask/hdr_right_04157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04158.png",
+      "transform_matrix": [
+        [
+          -0.9915413856506348,
+          -0.07239507138729095,
+          0.10772428661584854,
+          69.4259262084961
+        ],
+        [
+          -0.10727827250957489,
+          -0.010032899677753448,
+          -0.9941784739494324,
+          23.31708335876465
+        ],
+        [
+          0.07305440306663513,
+          -0.9973255395889282,
+          0.002181618008762598,
+          -26.32250213623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4158,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_283082008",
+      "mask_path": "../../mask/hdr_right_04158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04159.png",
+      "transform_matrix": [
+        [
+          -0.9913679361343384,
+          -0.06897850334644318,
+          0.11149705201387405,
+          69.48316192626953
+        ],
+        [
+          -0.11139016598463058,
+          -0.005406414158642292,
+          -0.9937620759010315,
+          23.314205169677734
+        ],
+        [
+          0.06915102154016495,
+          -0.9976034760475159,
+          -0.0023237785790115595,
+          -26.325862884521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4159,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_383081436",
+      "mask_path": "../../mask/hdr_right_04159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04160.png",
+      "transform_matrix": [
+        [
+          -0.9922711849212646,
+          -0.06357837468385696,
+          0.10656408220529556,
+          69.56050872802734
+        ],
+        [
+          -0.10662571340799332,
+          -0.002432672306895256,
+          -0.9942963123321533,
+          23.307828903198242
+        ],
+        [
+          0.06347498297691345,
+          -0.9979739189147949,
+          -0.004365220200270414,
+          -26.33286476135254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4160,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_483081340",
+      "mask_path": "../../mask/hdr_right_04160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04161.png",
+      "transform_matrix": [
+        [
+          -0.9923479557037354,
+          -0.0639895498752594,
+          0.1055971309542656,
+          69.65816497802734
+        ],
+        [
+          -0.10531351715326309,
+          -0.0077986386604607105,
+          -0.9944084882736206,
+          23.301820755004883
+        ],
+        [
+          0.06445525586605072,
+          -0.9979202151298523,
+          0.0009999996982514858,
+          -26.33777618408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4161,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_583082437",
+      "mask_path": "../../mask/hdr_right_04161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04162.png",
+      "transform_matrix": [
+        [
+          -0.9915632009506226,
+          -0.06384699046611786,
+          0.11281020194292068,
+          69.73965454101562
+        ],
+        [
+          -0.11224129050970078,
+          -0.012439824640750885,
+          -0.9936031103134155,
+          23.303010940551758
+        ],
+        [
+          0.06484189629554749,
+          -0.9978821277618408,
+          0.005168603267520666,
+          -26.34557342529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4162,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_683081865",
+      "mask_path": "../../mask/hdr_right_04162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04163.png",
+      "transform_matrix": [
+        [
+          -0.9900766611099243,
+          -0.05913974344730377,
+          0.12747827172279358,
+          69.8187484741211
+        ],
+        [
+          -0.12716060876846313,
+          -0.009119694121181965,
+          -0.9918402433395386,
+          23.306453704833984
+        ],
+        [
+          0.059819746762514114,
+          -0.9982080459594727,
+          0.0015089509543031454,
+          -26.362218856811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4163,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_783082008",
+      "mask_path": "../../mask/hdr_right_04163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04164.png",
+      "transform_matrix": [
+        [
+          -0.9875391125679016,
+          -0.06282546371221542,
+          0.14428925514221191,
+          69.90924835205078
+        ],
+        [
+          -0.14427384734153748,
+          -0.00480576092377305,
+          -0.9895261526107788,
+          23.306673049926758
+        ],
+        [
+          0.06286085397005081,
+          -0.9980129599571228,
+          -0.004318194463849068,
+          -26.35900115966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4164,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_883082151",
+      "mask_path": "../../mask/hdr_right_04164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04165.png",
+      "transform_matrix": [
+        [
+          -0.9849639534950256,
+          -0.06851637363433838,
+          0.15859244763851166,
+          69.9875717163086
+        ],
+        [
+          -0.15880908071994781,
+          -0.0023088122252374887,
+          -0.9873067140579224,
+          23.309192657470703
+        ],
+        [
+          0.06801283359527588,
+          -0.9976473450660706,
+          -0.008606924675405025,
+          -26.351327896118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4165,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323679_983082294",
+      "mask_path": "../../mask/hdr_right_04165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04166.png",
+      "transform_matrix": [
+        [
+          -0.9839890003204346,
+          -0.06816676259040833,
+          0.1646784096956253,
+          70.05193328857422
+        ],
+        [
+          -0.1653578132390976,
+          0.00440790131688118,
+          -0.9862238168716431,
+          23.309051513671875
+        ],
+        [
+          0.06650179624557495,
+          -0.997664213180542,
+          -0.015609231777489185,
+          -26.354610443115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4166,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_83083152",
+      "mask_path": "../../mask/hdr_right_04166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04167.png",
+      "transform_matrix": [
+        [
+          -0.9849522113800049,
+          -0.06580745428800583,
+          0.1598079800605774,
+          70.13107299804688
+        ],
+        [
+          -0.16032716631889343,
+          0.0026508395094424486,
+          -0.9870603680610657,
+          23.30921173095703
+        ],
+        [
+          0.0645323097705841,
+          -0.9978287816047668,
+          -0.013161675073206425,
+          -26.36904525756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4167,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_183082103",
+      "mask_path": "../../mask/hdr_right_04167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04168.png",
+      "transform_matrix": [
+        [
+          -0.9846718907356262,
+          -0.07081112265586853,
+          0.15939579904079437,
+          70.23174285888672
+        ],
+        [
+          -0.15916430950164795,
+          -0.008936382830142975,
+          -0.9872117042541504,
+          23.308393478393555
+        ],
+        [
+          0.0713299885392189,
+          -0.9974497556686401,
+          -0.00247119995765388,
+          -26.383337020874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4168,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_283081054",
+      "mask_path": "../../mask/hdr_right_04168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04169.png",
+      "transform_matrix": [
+        [
+          -0.9834272861480713,
+          -0.0752888172864914,
+          0.16493123769760132,
+          70.30848693847656
+        ],
+        [
+          -0.16432328522205353,
+          -0.0142424451187253,
+          -0.9863036870956421,
+          23.313390731811523
+        ],
+        [
+          0.07660666108131409,
+          -0.9970600605010986,
+          0.0016347048804163933,
+          -26.400882720947266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4169,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_383081436",
+      "mask_path": "../../mask/hdr_right_04169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04170.png",
+      "transform_matrix": [
+        [
+          -0.9828466176986694,
+          -0.07477089017629623,
+          0.1685878187417984,
+          70.38500213623047
+        ],
+        [
+          -0.1683679074048996,
+          -0.00928060244768858,
+          -0.9856805801391602,
+          23.328880310058594
+        ],
+        [
+          0.07526480406522751,
+          -0.9971575140953064,
+          -0.003467608243227005,
+          -26.430932998657227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4170,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_483081102",
+      "mask_path": "../../mask/hdr_right_04170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04171.png",
+      "transform_matrix": [
+        [
+          -0.9827421307563782,
+          -0.08687712252140045,
+          0.16331025958061218,
+          70.46781921386719
+        ],
+        [
+          -0.1636844277381897,
+          -0.002847893862053752,
+          -0.9865086078643799,
+          23.334243774414062
+        ],
+        [
+          0.08617011457681656,
+          -0.9962149262428284,
+          -0.011421686969697475,
+          -26.441905975341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4171,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_583082199",
+      "mask_path": "../../mask/hdr_right_04171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04172.png",
+      "transform_matrix": [
+        [
+          -0.9830275177955627,
+          -0.1010739877820015,
+          0.15310440957546234,
+          70.54732513427734
+        ],
+        [
+          -0.15376830101013184,
+          -0.0012363963760435581,
+          -0.9881062507629395,
+          23.320362091064453
+        ],
+        [
+          0.10006112605333328,
+          -0.9948781132698059,
+          -0.014326561242341995,
+          -26.436044692993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4172,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_683082103",
+      "mask_path": "../../mask/hdr_right_04172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04173.png",
+      "transform_matrix": [
+        [
+          -0.9846028089523315,
+          -0.10348457843065262,
+          0.1408838927745819,
+          70.62309265136719
+        ],
+        [
+          -0.14176179468631744,
+          0.0011407437268644571,
+          -0.9899001717567444,
+          23.31107521057129
+        ],
+        [
+          0.1022786945104599,
+          -0.9946304559707642,
+          -0.015793338418006897,
+          -26.43988609313965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4173,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_783082008",
+      "mask_path": "../../mask/hdr_right_04173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04174.png",
+      "transform_matrix": [
+        [
+          -0.9865394830703735,
+          -0.10440215468406677,
+          0.12585754692554474,
+          70.72172546386719
+        ],
+        [
+          -0.12645044922828674,
+          -0.0009470180375501513,
+          -0.9919725060462952,
+          23.309833526611328
+        ],
+        [
+          0.10368324816226959,
+          -0.9945346713066101,
+          -0.012267427518963814,
+          -26.458173751831055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4174,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_883081674",
+      "mask_path": "../../mask/hdr_right_04174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04175.png",
+      "transform_matrix": [
+        [
+          -0.9857085347175598,
+          -0.11775857955217361,
+          0.12046439945697784,
+          70.82938385009766
+        ],
+        [
+          -0.12023063749074936,
+          -0.009113396517932415,
+          -0.9927042126655579,
+          23.31096649169922
+        ],
+        [
+          0.11799728125333786,
+          -0.9930004477500916,
+          -0.005175034981220961,
+          -26.486162185668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4175,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323680_983081817",
+      "mask_path": "../../mask/hdr_right_04175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04176.png",
+      "transform_matrix": [
+        [
+          -0.9841840863227844,
+          -0.1288795918226242,
+          0.12153922021389008,
+          70.90049743652344
+        ],
+        [
+          -0.12061038613319397,
+          -0.015016863122582436,
+          -0.9925863742828369,
+          23.31577491760254
+        ],
+        [
+          0.12974925339221954,
+          -0.9915465712547302,
+          -0.0007648563478142023,
+          -26.514616012573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4176,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_83081722",
+      "mask_path": "../../mask/hdr_right_04176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04177.png",
+      "transform_matrix": [
+        [
+          -0.9841404557228088,
+          -0.12882091104984283,
+          0.12195397913455963,
+          70.96369171142578
+        ],
+        [
+          -0.12101180106401443,
+          -0.015145581215620041,
+          -0.9925355911254883,
+          23.31846046447754
+        ],
+        [
+          0.12970639765262604,
+          -0.9915522336959839,
+          -0.0006834706291556358,
+          -26.528596878051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4177,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_183082103",
+      "mask_path": "../../mask/hdr_right_04177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04178.png",
+      "transform_matrix": [
+        [
+          -0.9836503863334656,
+          -0.1349768489599228,
+          0.11921931803226471,
+          71.05721282958984
+        ],
+        [
+          -0.11773446202278137,
+          -0.018959052860736847,
+          -0.9928641319274902,
+          23.31183624267578
+        ],
+        [
+          0.13627396523952484,
+          -0.9906674027442932,
+          0.0027576512657105923,
+          -26.543123245239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4178,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_283081769",
+      "mask_path": "../../mask/hdr_right_04178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04179.png",
+      "transform_matrix": [
+        [
+          -0.983959436416626,
+          -0.13970161974430084,
+          0.1109379231929779,
+          71.15716552734375
+        ],
+        [
+          -0.10894953459501266,
+          -0.021825436502695084,
+          -0.9938077330589294,
+          23.292766571044922
+        ],
+        [
+          0.14125779271125793,
+          -0.9899530410766602,
+          0.006254922598600388,
+          -26.553857803344727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4179,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_383081912",
+      "mask_path": "../../mask/hdr_right_04179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04180.png",
+      "transform_matrix": [
+        [
+          -0.985809326171875,
+          -0.13550597429275513,
+          0.09908676892518997,
+          71.23137664794922
+        ],
+        [
+          -0.09759142994880676,
+          -0.017650552093982697,
+          -0.9950700998306274,
+          23.279870986938477
+        ],
+        [
+          0.13658688962459564,
+          -0.9906193017959595,
+          0.004175861366093159,
+          -26.558521270751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4180,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_483082294",
+      "mask_path": "../../mask/hdr_right_04180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04181.png",
+      "transform_matrix": [
+        [
+          -0.9880751967430115,
+          -0.126855731010437,
+          0.08726385980844498,
+          71.302734375
+        ],
+        [
+          -0.08590342104434967,
+          -0.016166644170880318,
+          -0.9961723685264587,
+          23.27297019958496
+        ],
+        [
+          0.12778091430664062,
+          -0.9917895197868347,
+          0.005076522007584572,
+          -26.565645217895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4181,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_583081483",
+      "mask_path": "../../mask/hdr_right_04181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04182.png",
+      "transform_matrix": [
+        [
+          -0.987684965133667,
+          -0.13238577544689178,
+          0.0833807960152626,
+          71.40089416503906
+        ],
+        [
+          -0.08129304647445679,
+          -0.021107127889990807,
+          -0.9964667558670044,
+          23.26365089416504
+        ],
+        [
+          0.13367795944213867,
+          -0.9909735321998596,
+          0.010085155256092548,
+          -26.589006423950195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4182,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_683082342",
+      "mask_path": "../../mask/hdr_right_04182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04183.png",
+      "transform_matrix": [
+        [
+          -0.986284613609314,
+          -0.14192695915699005,
+          0.08425802737474442,
+          71.48541259765625
+        ],
+        [
+          -0.08148230612277985,
+          -0.02526739425957203,
+          -0.9963545203208923,
+          23.255964279174805
+        ],
+        [
+          0.14353854954242706,
+          -0.9895545840263367,
+          0.013356308452785015,
+          -26.618022918701172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4183,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_783082485",
+      "mask_path": "../../mask/hdr_right_04183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04184.png",
+      "transform_matrix": [
+        [
+          -0.9865061640739441,
+          -0.14094023406505585,
+          0.08331580460071564,
+          71.55486297607422
+        ],
+        [
+          -0.08118635416030884,
+          -0.02080218493938446,
+          -0.9964818358421326,
+          23.246641159057617
+        ],
+        [
+          0.1421775370836258,
+          -0.9897994995117188,
+          0.00907906610518694,
+          -26.624589920043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4184,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_883081912",
+      "mask_path": "../../mask/hdr_right_04184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04185.png",
+      "transform_matrix": [
+        [
+          -0.9866902828216553,
+          -0.1414986550807953,
+          0.08012741804122925,
+          71.64604949951172
+        ],
+        [
+          -0.07922350615262985,
+          -0.012019429355859756,
+          -0.9967844486236572,
+          23.244333267211914
+        ],
+        [
+          0.1420067399740219,
+          -0.9898654222488403,
+          0.0006494333501905203,
+          -26.645381927490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4185,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323681_983083724",
+      "mask_path": "../../mask/hdr_right_04185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04186.png",
+      "transform_matrix": [
+        [
+          -0.9865593314170837,
+          -0.1464739441871643,
+          0.07242961972951889,
+          71.7391586303711
+        ],
+        [
+          -0.0720161646604538,
+          -0.00813087448477745,
+          -0.9973703622817993,
+          23.23524284362793
+        ],
+        [
+          0.14667768776416779,
+          -0.9891811013221741,
+          -0.002526897471398115,
+          -26.665977478027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4186,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_83082199",
+      "mask_path": "../../mask/hdr_right_04186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04187.png",
+      "transform_matrix": [
+        [
+          -0.9868085384368896,
+          -0.14955472946166992,
+          0.06198602542281151,
+          71.81498718261719
+        ],
+        [
+          -0.06190449744462967,
+          -0.005204983055591583,
+          -0.9980685114860535,
+          23.219118118286133
+        ],
+        [
+          0.14958851039409637,
+          -0.9887397289276123,
+          -0.004121788311749697,
+          -26.67292594909668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4187,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_183081150",
+      "mask_path": "../../mask/hdr_right_04187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04188.png",
+      "transform_matrix": [
+        [
+          -0.9882298111915588,
+          -0.14493876695632935,
+          0.048934269696474075,
+          71.88858795166016
+        ],
+        [
+          -0.048964161425828934,
+          -0.003363323397934437,
+          -0.9987949132919312,
+          23.208049774169922
+        ],
+        [
+          0.14492866396903992,
+          -0.9894348978996277,
+          -0.0037730641197413206,
+          -26.682273864746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4188,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_283080816",
+      "mask_path": "../../mask/hdr_right_04188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04189.png",
+      "transform_matrix": [
+        [
+          -0.9896059036254883,
+          -0.13874848186969757,
+          0.037801891565322876,
+          71.9981460571289
+        ],
+        [
+          -0.037944246083498,
+          -0.0016203309642150998,
+          -0.9992785453796387,
+          23.20333480834961
+        ],
+        [
+          0.13870961964130402,
+          -0.9903262853622437,
+          -0.003661215305328369,
+          -26.695032119750977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4189,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_383081912",
+      "mask_path": "../../mask/hdr_right_04189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04190.png",
+      "transform_matrix": [
+        [
+          -0.9901940226554871,
+          -0.1348808854818344,
+          0.0363723561167717,
+          72.10388946533203
+        ],
+        [
+          -0.03616851195693016,
+          -0.003962521441280842,
+          -0.9993378520011902,
+          23.20114517211914
+        ],
+        [
+          0.13493569195270538,
+          -0.9908539056777954,
+          -0.0009547752561047673,
+          -26.70346450805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4190,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_483082532",
+      "mask_path": "../../mask/hdr_right_04190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04191.png",
+      "transform_matrix": [
+        [
+          -0.9909970760345459,
+          -0.12828640639781952,
+          0.038307175040245056,
+          72.17861938476562
+        ],
+        [
+          -0.037743378430604935,
+          -0.006823911797255278,
+          -0.9992641806602478,
+          23.20255470275879
+        ],
+        [
+          0.12845340371131897,
+          -0.9917137026786804,
+          0.0019205150892958045,
+          -26.707826614379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4191,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_583083629",
+      "mask_path": "../../mask/hdr_right_04191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04192.png",
+      "transform_matrix": [
+        [
+          -0.992120623588562,
+          -0.11962483823299408,
+          0.03723481670022011,
+          72.26060485839844
+        ],
+        [
+          -0.03653618320822716,
+          -0.008029039949178696,
+          -0.9993001222610474,
+          23.204910278320312
+        ],
+        [
+          0.11984007805585861,
+          -0.992786705493927,
+          0.0035951435565948486,
+          -26.72043228149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4192,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_683082580",
+      "mask_path": "../../mask/hdr_right_04192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04193.png",
+      "transform_matrix": [
+        [
+          -0.9930747747421265,
+          -0.1131439059972763,
+          0.031641483306884766,
+          72.36387634277344
+        ],
+        [
+          -0.030855294317007065,
+          -0.008693290874361992,
+          -0.9994860887527466,
+          23.194515228271484
+        ],
+        [
+          0.11336082965135574,
+          -0.9935405850410461,
+          0.005141997244209051,
+          -26.726015090942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4193,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_783082246",
+      "mask_path": "../../mask/hdr_right_04193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04194.png",
+      "transform_matrix": [
+        [
+          -0.9941490292549133,
+          -0.10568133741617203,
+          0.022344231605529785,
+          72.44727325439453
+        ],
+        [
+          -0.0215701162815094,
+          -0.008462667465209961,
+          -0.9997315406799316,
+          23.185239791870117
+        ],
+        [
+          0.10584205389022827,
+          -0.9943640232086182,
+          0.006133594084531069,
+          -26.722925186157227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4194,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_883082389",
+      "mask_path": "../../mask/hdr_right_04194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04195.png",
+      "transform_matrix": [
+        [
+          -0.9955028295516968,
+          -0.09430938214063644,
+          0.008948948234319687,
+          72.51657104492188
+        ],
+        [
+          -0.00809116568416357,
+          -0.009473885409533978,
+          -0.9999223947525024,
+          23.174205780029297
+        ],
+        [
+          0.09438684582710266,
+          -0.9954979419708252,
+          0.008668202906847,
+          -26.722034454345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4195,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323682_983082532",
+      "mask_path": "../../mask/hdr_right_04195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04196.png",
+      "transform_matrix": [
+        [
+          -0.9959893822669983,
+          -0.08947063237428665,
+          -0.00028338146512396634,
+          72.61544799804688
+        ],
+        [
+          0.0015324588166549802,
+          -0.013892441056668758,
+          -0.9999022483825684,
+          23.161521911621094
+        ],
+        [
+          0.08945795893669128,
+          -0.9958925843238831,
+          0.013973836787045002,
+          -26.72833251953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4196,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_83082914",
+      "mask_path": "../../mask/hdr_right_04196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04197.png",
+      "transform_matrix": [
+        [
+          -0.9958944916725159,
+          -0.09050911664962769,
+          0.0014940042747184634,
+          72.70235443115234
+        ],
+        [
+          0.000597383885178715,
+          -0.023075493052601814,
+          -0.9997335076332092,
+          23.158639907836914
+        ],
+        [
+          0.090519480407238,
+          -0.9956281781196594,
+          0.023034822195768356,
+          -26.745784759521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4197,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_183081388",
+      "mask_path": "../../mask/hdr_right_04197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04198.png",
+      "transform_matrix": [
+        [
+          -0.9960967898368835,
+          -0.08799490332603455,
+          0.006940758787095547,
+          72.75518035888672
+        ],
+        [
+          -0.004456406459212303,
+          -0.028397973626852036,
+          -0.9995868802070618,
+          23.157438278198242
+        ],
+        [
+          0.08815565705299377,
+          -0.9957160949707031,
+          0.027894986793398857,
+          -26.764345169067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4198,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_283081769",
+      "mask_path": "../../mask/hdr_right_04198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04199.png",
+      "transform_matrix": [
+        [
+          -0.995981752872467,
+          -0.08912786096334457,
+          0.008753926493227482,
+          72.82929992675781
+        ],
+        [
+          -0.006794997025281191,
+          -0.022258752956986427,
+          -0.9997292160987854,
+          23.14053726196289
+        ],
+        [
+          0.08929857611656189,
+          -0.9957714676856995,
+          0.021563692018389702,
+          -26.782106399536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4199,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_383083105",
+      "mask_path": "../../mask/hdr_right_04199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04200.png",
+      "transform_matrix": [
+        [
+          -0.9939124584197998,
+          -0.11016178876161575,
+          0.0015730507439002395,
+          72.91102600097656
+        ],
+        [
+          0.00041500257793813944,
+          -0.01802118867635727,
+          -0.9998375177383423,
+          23.12796401977539
+        ],
+        [
+          0.11017224192619324,
+          -0.993750274181366,
+          0.01795719936490059,
+          -26.80521583557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4200,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_483081579",
+      "mask_path": "../../mask/hdr_right_04200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04201.png",
+      "transform_matrix": [
+        [
+          -0.9910600185394287,
+          -0.13305650651454926,
+          -0.009795257821679115,
+          72.96001434326172
+        ],
+        [
+          0.012124844826757908,
+          -0.016709398478269577,
+          -0.9997868537902832,
+          23.12151336669922
+        ],
+        [
+          0.13286447525024414,
+          -0.9909676313400269,
+          0.01817331090569496,
+          -26.829708099365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4201,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_583083391",
+      "mask_path": "../../mask/hdr_right_04201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04202.png",
+      "transform_matrix": [
+        [
+          -0.9898372292518616,
+          -0.14028780162334442,
+          -0.023273145779967308,
+          73.00808715820312
+        ],
+        [
+          0.024691816419363022,
+          -0.008380317129194736,
+          -0.9996600151062012,
+          23.102680206298828
+        ],
+        [
+          0.14004507660865784,
+          -0.9900752902030945,
+          0.011759110726416111,
+          -26.836240768432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4202,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_683081388",
+      "mask_path": "../../mask/hdr_right_04202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04203.png",
+      "transform_matrix": [
+        [
+          -0.9893606901168823,
+          -0.14064981043338776,
+          -0.03718972206115723,
+          73.07589721679688
+        ],
+        [
+          0.03856424614787102,
+          -0.0070591093972325325,
+          -0.9992313385009766,
+          23.087844848632812
+        ],
+        [
+          0.140279158949852,
+          -0.9900342226028442,
+          0.012408063746988773,
+          -26.847000122070312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4203,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_783081769",
+      "mask_path": "../../mask/hdr_right_04203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04204.png",
+      "transform_matrix": [
+        [
+          -0.9886168837547302,
+          -0.14470988512039185,
+          -0.04117937758564949,
+          73.15853881835938
+        ],
+        [
+          0.04367849603295326,
+          -0.014134185388684273,
+          -0.9989456534385681,
+          23.078182220458984
+        ],
+        [
+          0.14397527277469635,
+          -0.9893731474876404,
+          0.020294005051255226,
+          -26.854408264160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4204,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_883080244",
+      "mask_path": "../../mask/hdr_right_04204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04205.png",
+      "transform_matrix": [
+        [
+          -0.9882070422172546,
+          -0.1482064425945282,
+          -0.038494773209095,
+          73.22793579101562
+        ],
+        [
+          0.04248068109154701,
+          -0.02382228523492813,
+          -0.998813271522522,
+          23.065895080566406
+        ],
+        [
+          0.14711353182792664,
+          -0.9886694550514221,
+          0.029837265610694885,
+          -26.865232467651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4205,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323683_983080625",
+      "mask_path": "../../mask/hdr_right_04205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04206.png",
+      "transform_matrix": [
+        [
+          -0.9885415434837341,
+          -0.14658252894878387,
+          -0.03604636341333389,
+          73.27877807617188
+        ],
+        [
+          0.04086143523454666,
+          -0.029970569536089897,
+          -0.9987152218818665,
+          23.052873611450195
+        ],
+        [
+          0.14531387388706207,
+          -0.98874431848526,
+          0.03561672940850258,
+          -26.869422912597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4206,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_83081007",
+      "mask_path": "../../mask/hdr_right_04206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04207.png",
+      "transform_matrix": [
+        [
+          -0.9887307286262512,
+          -0.14506053924560547,
+          -0.03700050339102745,
+          73.36573791503906
+        ],
+        [
+          0.04182202368974686,
+          -0.030329734086990356,
+          -0.9986646175384521,
+          23.029714584350586
+        ],
+        [
+          0.1437446027994156,
+          -0.9889577627182007,
+          0.03605467081069946,
+          -26.888343811035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4207,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_183080673",
+      "mask_path": "../../mask/hdr_right_04207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04208.png",
+      "transform_matrix": [
+        [
+          -0.9860721826553345,
+          -0.15958814322948456,
+          -0.0468304343521595,
+          73.45144653320312
+        ],
+        [
+          0.050741758197546005,
+          -0.020520465448498726,
+          -0.9985009431838989,
+          23.0035400390625
+        ],
+        [
+          0.1583879292011261,
+          -0.9869703054428101,
+          0.02833244763314724,
+          -26.899675369262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4208,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_283081054",
+      "mask_path": "../../mask/hdr_right_04208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04210.png",
+      "transform_matrix": [
+        [
+          -0.9818993210792542,
+          -0.176731675863266,
+          -0.0681157335639,
+          73.54442596435547
+        ],
+        [
+          0.07193464040756226,
+          -0.015284665860235691,
+          -0.9972922801971436,
+          22.967910766601562
+        ],
+        [
+          0.17521201074123383,
+          -0.9841403961181641,
+          0.027721131220459938,
+          -26.906864166259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4210,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_483079910",
+      "mask_path": "../../mask/hdr_right_04210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04211.png",
+      "transform_matrix": [
+        [
+          -0.9812031388282776,
+          -0.1765441596508026,
+          -0.07792672514915466,
+          73.5950927734375
+        ],
+        [
+          0.08140578866004944,
+          -0.012539193034172058,
+          -0.9966021776199341,
+          22.95545768737793
+        ],
+        [
+          0.17496713995933533,
+          -0.9842128753662109,
+          0.026675214990973473,
+          -26.93018341064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4211,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_583078861",
+      "mask_path": "../../mask/hdr_right_04211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04212.png",
+      "transform_matrix": [
+        [
+          -0.974434494972229,
+          -0.21128438413143158,
+          -0.07639634609222412,
+          73.64672088623047
+        ],
+        [
+          0.08499692380428314,
+          -0.03191499412059784,
+          -0.9958699941635132,
+          22.93037223815918
+        ],
+        [
+          0.20797356963157654,
+          -0.97690349817276,
+          0.04905759543180466,
+          -26.945329666137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4212,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_683080196",
+      "mask_path": "../../mask/hdr_right_04212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04215.png",
+      "transform_matrix": [
+        [
+          -0.9717947840690613,
+          -0.2205134481191635,
+          -0.08359847962856293,
+          73.76482391357422
+        ],
+        [
+          0.09584856778383255,
+          -0.04543166980147362,
+          -0.9943586587905884,
+          22.878440856933594
+        ],
+        [
+          0.21547143161296844,
+          -0.9743252396583557,
+          0.06528616696596146,
+          -26.985946655273438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4215,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323684_983081102",
+      "mask_path": "../../mask/hdr_right_04215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04216.png",
+      "transform_matrix": [
+        [
+          -0.9729998707771301,
+          -0.21973916888237,
+          -0.07061174511909485,
+          73.8245620727539
+        ],
+        [
+          0.08321224898099899,
+          -0.048614270985126495,
+          -0.9953452944755554,
+          22.858808517456055
+        ],
+        [
+          0.21528363227844238,
+          -0.9743466377258301,
+          0.06558667123317719,
+          -27.007038116455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4216,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_83080768",
+      "mask_path": "../../mask/hdr_right_04216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04217.png",
+      "transform_matrix": [
+        [
+          -0.9753492474555969,
+          -0.21292617917060852,
+          -0.05793510004878044,
+          73.87521362304688
+        ],
+        [
+          0.06979221105575562,
+          -0.048592329025268555,
+          -0.9963774085044861,
+          22.84946632385254
+        ],
+        [
+          0.20933961868286133,
+          -0.9758592247962952,
+          0.06225509196519852,
+          -27.019968032836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4217,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_183081150",
+      "mask_path": "../../mask/hdr_right_04217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04219.png",
+      "transform_matrix": [
+        [
+          -0.981133759021759,
+          -0.19029779732227325,
+          -0.03410990908741951,
+          73.9976577758789
+        ],
+        [
+          0.04274339601397514,
+          -0.04144873470067978,
+          -0.99822598695755,
+          22.82832908630371
+        ],
+        [
+          0.18854640424251556,
+          -0.9808510541915894,
+          0.04880072921514511,
+          -27.03529930114746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4219,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_383080005",
+      "mask_path": "../../mask/hdr_right_04219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04220.png",
+      "transform_matrix": [
+        [
+          -0.982978880405426,
+          -0.1827692687511444,
+          -0.018653178587555885,
+          74.06912231445312
+        ],
+        [
+          0.025552062317728996,
+          -0.035464268177747726,
+          -0.9990442395210266,
+          22.830148696899414
+        ],
+        [
+          0.18193303048610687,
+          -0.9825160503387451,
+          0.039530765265226364,
+          -27.053373336791992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4220,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_483081102",
+      "mask_path": "../../mask/hdr_right_04220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04222.png",
+      "transform_matrix": [
+        [
+          -0.986966609954834,
+          -0.1609245389699936,
+          -0.0002774133754428476,
+          74.18004608154297
+        ],
+        [
+          0.0038347046356648207,
+          -0.02179545909166336,
+          -0.9997552037239075,
+          22.831012725830078
+        ],
+        [
+          0.16087906062602997,
+          -0.9867260456085205,
+          0.022128498181700706,
+          -27.055803298950195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4222,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_683080673",
+      "mask_path": "../../mask/hdr_right_04222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04223.png",
+      "transform_matrix": [
+        [
+          -0.9881160259246826,
+          -0.15370865166187286,
+          -0.0005944185541011393,
+          74.24957275390625
+        ],
+        [
+          0.0030016587115824223,
+          -0.015429590828716755,
+          -0.9998765587806702,
+          22.81987762451172
+        ],
+        [
+          0.15368050336837769,
+          -0.9879958033561707,
+          0.01570761203765869,
+          -27.06429100036621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4223,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_783080577",
+      "mask_path": "../../mask/hdr_right_04223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04224.png",
+      "transform_matrix": [
+        [
+          -0.9881708025932312,
+          -0.15332768857479095,
+          -0.00299899373203516,
+          74.31326293945312
+        ],
+        [
+          0.005905633792281151,
+          -0.018505359068512917,
+          -0.9998114109039307,
+          22.812829971313477
+        ],
+        [
+          0.1532432734966278,
+          -0.9880020618438721,
+          0.019191959872841835,
+          -27.0775203704834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4224,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_883082866",
+      "mask_path": "../../mask/hdr_right_04224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04225.png",
+      "transform_matrix": [
+        [
+          -0.9879915118217468,
+          -0.15432851016521454,
+          -0.007456095423549414,
+          74.36542510986328
+        ],
+        [
+          0.01138254813849926,
+          -0.024574141949415207,
+          -0.9996331930160522,
+          22.804784774780273
+        ],
+        [
+          0.15408869087696075,
+          -0.9877139329910278,
+          0.026035696268081665,
+          -27.084335327148438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4225,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323685_983082294",
+      "mask_path": "../../mask/hdr_right_04225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04226.png",
+      "transform_matrix": [
+        [
+          -0.988438606262207,
+          -0.15069477260112762,
+          -0.016741527244448662,
+          74.42198944091797
+        ],
+        [
+          0.02022452838718891,
+          -0.021610144525766373,
+          -0.9995619654655457,
+          22.78583335876465
+        ],
+        [
+          0.15026697516441345,
+          -0.9883440732955933,
+          0.024408036842942238,
+          -27.086820602416992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4226,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_83082199",
+      "mask_path": "../../mask/hdr_right_04226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04227.png",
+      "transform_matrix": [
+        [
+          -0.9888145923614502,
+          -0.1469874233007431,
+          -0.025309430435299873,
+          74.46721649169922
+        ],
+        [
+          0.028930004686117172,
+          -0.022546274587512016,
+          -0.9993271827697754,
+          22.76258087158203
+        ],
+        [
+          0.14631788432598114,
+          -0.9888813495635986,
+          0.026546433568000793,
+          -27.063953399658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4227,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_183080911",
+      "mask_path": "../../mask/hdr_right_04227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04228.png",
+      "transform_matrix": [
+        [
+          -0.9850468039512634,
+          -0.17062613368034363,
+          -0.02386469393968582,
+          74.56017303466797
+        ],
+        [
+          0.031465575098991394,
+          -0.04198221117258072,
+          -0.9986227750778198,
+          22.750473022460938
+        ],
+        [
+          0.1693892478942871,
+          -0.9844410419464111,
+          0.046723295003175735,
+          -27.109018325805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4228,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_283080577",
+      "mask_path": "../../mask/hdr_right_04228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04229.png",
+      "transform_matrix": [
+        [
+          -0.9806587100028992,
+          -0.19429123401641846,
+          -0.023653624579310417,
+          74.63607788085938
+        ],
+        [
+          0.03471916541457176,
+          -0.05374675989151001,
+          -0.9979509115219116,
+          22.73647689819336
+        ],
+        [
+          0.19262179732322693,
+          -0.9794703125953674,
+          0.059452857822179794,
+          -27.15401840209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4229,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_383082628",
+      "mask_path": "../../mask/hdr_right_04229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04231.png",
+      "transform_matrix": [
+        [
+          -0.9816554188728333,
+          -0.18740324676036835,
+          -0.03510757163167,
+          74.73918151855469
+        ],
+        [
+          0.04620436578989029,
+          -0.05517648905515671,
+          -0.9974070191383362,
+          22.702396392822266
+        ],
+        [
+          0.18498019874095917,
+          -0.9807321429252625,
+          0.06282315403223038,
+          -27.18117332458496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4231,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_583080768",
+      "mask_path": "../../mask/hdr_right_04231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04232.png",
+      "transform_matrix": [
+        [
+          -0.981299638748169,
+          -0.18900148570537567,
+          -0.03646128624677658,
+          74.81758117675781
+        ],
+        [
+          0.049204401671886444,
+          -0.06317447125911713,
+          -0.9967887997627258,
+          22.668550491333008
+        ],
+        [
+          0.1860911250114441,
+          -0.9799425601959229,
+          0.07129279524087906,
+          -27.19353675842285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4232,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_683081388",
+      "mask_path": "../../mask/hdr_right_04232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04233.png",
+      "transform_matrix": [
+        [
+          -0.9807822704315186,
+          -0.190603569149971,
+          -0.04167189821600914,
+          74.87969207763672
+        ],
+        [
+          0.05544738098978996,
+          -0.06751853227615356,
+          -0.9961762428283691,
+          22.640108108520508
+        ],
+        [
+          0.18706108629703522,
+          -0.9793424010276794,
+          0.07678945362567902,
+          -27.197097778320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4233,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_783082962",
+      "mask_path": "../../mask/hdr_right_04233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04234.png",
+      "transform_matrix": [
+        [
+          -0.9811004996299744,
+          -0.1869283765554428,
+          -0.04999728873372078,
+          74.9295654296875
+        ],
+        [
+          0.06340610235929489,
+          -0.06645239144563675,
+          -0.9957730174064636,
+          22.623531341552734
+        ],
+        [
+          0.1828157752752304,
+          -0.9801234006881714,
+          0.07704886049032211,
+          -27.210758209228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4234,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_883081674",
+      "mask_path": "../../mask/hdr_right_04234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04235.png",
+      "transform_matrix": [
+        [
+          -0.9824771285057068,
+          -0.1761108785867691,
+          -0.06102244183421135,
+          74.99874114990234
+        ],
+        [
+          0.07254603505134583,
+          -0.059749409556388855,
+          -0.9955737590789795,
+          22.60770034790039
+        ],
+        [
+          0.17168530821800232,
+          -0.9825553297996521,
+          0.07147858291864395,
+          -27.22719383239746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4235,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323686_983082294",
+      "mask_path": "../../mask/hdr_right_04235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04236.png",
+      "transform_matrix": [
+        [
+          -0.9840071797370911,
+          -0.16608570516109467,
+          -0.06438475102186203,
+          75.09074401855469
+        ],
+        [
+          0.07488890737295151,
+          -0.057771988213062286,
+          -0.9955170154571533,
+          22.581682205200195
+        ],
+        [
+          0.16162151098251343,
+          -0.9844175577163696,
+          0.0692860409617424,
+          -27.223670959472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4236,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_83082675",
+      "mask_path": "../../mask/hdr_right_04236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04237.png",
+      "transform_matrix": [
+        [
+          -0.985930323600769,
+          -0.15633034706115723,
+          -0.0591784343123436,
+          75.15982055664062
+        ],
+        [
+          0.06907154619693756,
+          -0.05862405151128769,
+          -0.9958877563476562,
+          22.560054779052734
+        ],
+        [
+          0.15221817791461945,
+          -0.9859635233879089,
+          0.0685972049832344,
+          -27.219200134277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4237,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_183082580",
+      "mask_path": "../../mask/hdr_right_04237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06176.png",
+      "transform_matrix": [
+        [
+          0.9724008440971375,
+          -0.12148217111825943,
+          0.1991954743862152,
+          74.71407318115234
+        ],
+        [
+          -0.1990710198879242,
+          0.013284272514283657,
+          0.9798949956893921,
+          22.48711585998535
+        ],
+        [
+          -0.1216859370470047,
+          -0.9925047159194946,
+          -0.011265944689512253,
+          -27.16644287109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6176,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_83078384",
+      "mask_path": "../../mask/hdr_right_06176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06177.png",
+      "transform_matrix": [
+        [
+          0.9719414114952087,
+          -0.13794134557247162,
+          0.19053120911121368,
+          74.60406494140625
+        ],
+        [
+          -0.19230177998542786,
+          0.0005003635305911303,
+          0.9813357591629028,
+          22.490543365478516
+        ],
+        [
+          -0.13546210527420044,
+          -0.9904402494430542,
+          -0.02604004368185997,
+          -27.132991790771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6177,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_183080196",
+      "mask_path": "../../mask/hdr_right_06177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06178.png",
+      "transform_matrix": [
+        [
+          0.9746504426002502,
+          -0.1402515172958374,
+          0.1743163764476776,
+          74.48747253417969
+        ],
+        [
+          -0.1750800609588623,
+          0.006971210241317749,
+          0.9845295548439026,
+          22.502653121948242
+        ],
+        [
+          -0.13929694890975952,
+          -0.9900913238525391,
+          -0.017760753631591797,
+          -27.105871200561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6178,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_283080816",
+      "mask_path": "../../mask/hdr_right_06178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06179.png",
+      "transform_matrix": [
+        [
+          0.9787319898605347,
+          -0.13479480147361755,
+          0.15464194118976593,
+          74.42306518554688
+        ],
+        [
+          -0.153306782245636,
+          0.02029288001358509,
+          0.9879703521728516,
+          22.512794494628906
+        ],
+        [
+          -0.1363113969564438,
+          -0.9906657934188843,
+          -0.0008036688668653369,
+          -27.111703872680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6179,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_383080005",
+      "mask_path": "../../mask/hdr_right_06179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06180.png",
+      "transform_matrix": [
+        [
+          0.9817050695419312,
+          -0.13209202885627747,
+          0.13713830709457397,
+          74.36595916748047
+        ],
+        [
+          -0.13560470938682556,
+          0.020579369738698006,
+          0.9905493259429932,
+          22.515106201171875
+        ],
+        [
+          -0.13366588950157166,
+          -0.9910237789154053,
+          0.002290565986186266,
+          -27.11302375793457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6180,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_483080148",
+      "mask_path": "../../mask/hdr_right_06180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06181.png",
+      "transform_matrix": [
+        [
+          0.9834906458854675,
+          -0.13166828453540802,
+          0.1241355612874031,
+          74.28995513916016
+        ],
+        [
+          -0.12320169806480408,
+          0.015247178263962269,
+          0.9922645688056946,
+          22.52701187133789
+        ],
+        [
+          -0.1325424760580063,
+          -0.9911765456199646,
+          -0.0012263011885806918,
+          -27.102519989013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6181,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_583080530",
+      "mask_path": "../../mask/hdr_right_06181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06182.png",
+      "transform_matrix": [
+        [
+          0.9841439127922058,
+          -0.1358758807182312,
+          0.1140107735991478,
+          74.2048110961914
+        ],
+        [
+          -0.1136602908372879,
+          0.01035977341234684,
+          0.9934656620025635,
+          22.54482650756836
+        ],
+        [
+          -0.13616915047168732,
+          -0.990671694278717,
+          -0.005248192232102156,
+          -27.080472946166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6182,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_683079957",
+      "mask_path": "../../mask/hdr_right_06182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06183.png",
+      "transform_matrix": [
+        [
+          0.9846266508102417,
+          -0.14013101160526276,
+          0.10427649319171906,
+          74.12902069091797
+        ],
+        [
+          -0.10471116751432419,
+          0.004288051277399063,
+          0.9944934248924255,
+          22.559749603271484
+        ],
+        [
+          -0.13980652391910553,
+          -0.9901236891746521,
+          -0.01045115664601326,
+          -27.06241798400879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6183,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_783082962",
+      "mask_path": "../../mask/hdr_right_06183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06184.png",
+      "transform_matrix": [
+        [
+          0.985541582107544,
+          -0.13896974921226501,
+          0.09692884981632233,
+          74.04443359375
+        ],
+        [
+          -0.09786774218082428,
+          7.737534906482324e-05,
+          0.99519944190979,
+          22.576223373413086
+        ],
+        [
+          -0.13831011950969696,
+          -0.9902966618537903,
+          -0.013524405658245087,
+          -27.04922866821289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6184,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_883082628",
+      "mask_path": "../../mask/hdr_right_06184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06185.png",
+      "transform_matrix": [
+        [
+          0.9867742657661438,
+          -0.1333492398262024,
+          0.09216547012329102,
+          73.95561981201172
+        ],
+        [
+          -0.0923091396689415,
+          0.005117299500852823,
+          0.9957174062728882,
+          22.598684310913086
+        ],
+        [
+          -0.13324977457523346,
+          -0.9910559058189392,
+          -0.007259736768901348,
+          -27.04665184020996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6185,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323881_983082532",
+      "mask_path": "../../mask/hdr_right_06185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06186.png",
+      "transform_matrix": [
+        [
+          0.9875378608703613,
+          -0.12913130223751068,
+          0.08996650576591492,
+          73.88235473632812
+        ],
+        [
+          -0.08969292044639587,
+          0.00794422160834074,
+          0.9959378242492676,
+          22.617219924926758
+        ],
+        [
+          -0.12932145595550537,
+          -0.9915956854820251,
+          -0.003736943705007434,
+          -27.050588607788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6186,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_83083868",
+      "mask_path": "../../mask/hdr_right_06186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06187.png",
+      "transform_matrix": [
+        [
+          0.9872340559959412,
+          -0.13020406663417816,
+          0.09173868596553802,
+          73.81277465820312
+        ],
+        [
+          -0.09167584776878357,
+          0.00648917444050312,
+          0.9957678318023682,
+          22.63489532470703
+        ],
+        [
+          -0.1302483230829239,
+          -0.9914660453796387,
+          -0.005530236288905144,
+          -27.047163009643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6187,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_183081865",
+      "mask_path": "../../mask/hdr_right_06187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06188.png",
+      "transform_matrix": [
+        [
+          0.9863762259483337,
+          -0.13203196227550507,
+          0.09813061356544495,
+          73.72066497802734
+        ],
+        [
+          -0.09812610596418381,
+          0.0065558915957808495,
+          0.995152473449707,
+          22.66438102722168
+        ],
+        [
+          -0.1320352703332901,
+          -0.9912238121032715,
+          -0.006489215884357691,
+          -27.016727447509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6188,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_283084392",
+      "mask_path": "../../mask/hdr_right_06188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06189.png",
+      "transform_matrix": [
+        [
+          0.9852251410484314,
+          -0.1351708471775055,
+          0.10516748577356339,
+          73.63528442382812
+        ],
+        [
+          -0.10567361116409302,
+          0.0034453105181455612,
+          0.9943948984146118,
+          22.69595718383789
+        ],
+        [
+          -0.1347755342721939,
+          -0.9908163547515869,
+          -0.010889588855206966,
+          -26.983386993408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6189,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_383081674",
+      "mask_path": "../../mask/hdr_right_06189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06190.png",
+      "transform_matrix": [
+        [
+          0.9841413497924805,
+          -0.14044959843158722,
+          0.10834953188896179,
+          73.5684585571289
+        ],
+        [
+          -0.10977999120950699,
+          -0.002454208442941308,
+          0.9939529299736023,
+          22.718624114990234
+        ],
+        [
+          -0.13933436572551727,
+          -0.9900847673416138,
+          -0.017833849415183067,
+          -26.96700096130371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6190,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_483086109",
+      "mask_path": "../../mask/hdr_right_06190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06191.png",
+      "transform_matrix": [
+        [
+          0.9834810495376587,
+          -0.14456506073474884,
+          0.10893041640520096,
+          73.49385070800781
+        ],
+        [
+          -0.11184147745370865,
+          -0.012140518054366112,
+          0.9936519265174866,
+          22.738927841186523
+        ],
+        [
+          -0.14232487976551056,
+          -0.9894208312034607,
+          -0.028108350932598114,
+          -26.956161499023438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6191,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_583082675",
+      "mask_path": "../../mask/hdr_right_06191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06192.png",
+      "transform_matrix": [
+        [
+          0.9850572347640991,
+          -0.13823896646499634,
+          0.10272413492202759,
+          73.38664245605469
+        ],
+        [
+          -0.10551491379737854,
+          -0.012993976473808289,
+          0.9943328499794006,
+          22.766422271728516
+        ],
+        [
+          -0.1361207365989685,
+          -0.9903136491775513,
+          -0.02738608606159687,
+          -26.935611724853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6192,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_683084726",
+      "mask_path": "../../mask/hdr_right_06192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06193.png",
+      "transform_matrix": [
+        [
+          0.9872568249702454,
+          -0.13091571629047394,
+          0.09047091007232666,
+          73.29975128173828
+        ],
+        [
+          -0.09242553263902664,
+          -0.008919394575059414,
+          0.9956796169281006,
+          22.777633666992188
+        ],
+        [
+          -0.12954317033290863,
+          -0.991353452205658,
+          -0.020905693992972374,
+          -26.92673683166504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6193,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_783081531",
+      "mask_path": "../../mask/hdr_right_06193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06194.png",
+      "transform_matrix": [
+        [
+          0.9889709949493408,
+          -0.12623395025730133,
+          0.07746729999780655,
+          73.2345199584961
+        ],
+        [
+          -0.07947264611721039,
+          -0.010920297354459763,
+          0.9967772364616394,
+          22.778072357177734
+        ],
+        [
+          -0.12498117238283157,
+          -0.991940438747406,
+          -0.020832007750868797,
+          -26.923173904418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6194,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_883084297",
+      "mask_path": "../../mask/hdr_right_06194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06195.png",
+      "transform_matrix": [
+        [
+          0.9892948269844055,
+          -0.1309056282043457,
+          0.06449374556541443,
+          73.15290069580078
+        ],
+        [
+          -0.06632037460803986,
+          -0.009638102725148201,
+          0.9977518916130066,
+          22.78574562072754
+        ],
+        [
+          -0.12998972833156586,
+          -0.9913479685783386,
+          -0.01821664161980152,
+          -26.91364288330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6195,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323882_983082056",
+      "mask_path": "../../mask/hdr_right_06195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06196.png",
+      "transform_matrix": [
+        [
+          0.9888020157814026,
+          -0.14031349122524261,
+          0.050820495933294296,
+          73.06510162353516
+        ],
+        [
+          -0.053177788853645325,
+          -0.013100030831992626,
+          0.9984992146492004,
+          22.79276466369629
+        ],
+        [
+          -0.13943715393543243,
+          -0.9900204539299011,
+          -0.02041490189731121,
+          -26.888126373291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6196,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_83081960",
+      "mask_path": "../../mask/hdr_right_06196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06197.png",
+      "transform_matrix": [
+        [
+          0.9886143803596497,
+          -0.14647306501865387,
+          0.03445655107498169,
+          72.9926986694336
+        ],
+        [
+          -0.03805923089385033,
+          -0.02186458557844162,
+          0.9990363121032715,
+          22.794523239135742
+        ],
+        [
+          -0.1455785483121872,
+          -0.9889730215072632,
+          -0.027190295979380608,
+          -26.871562957763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6197,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_183081150",
+      "mask_path": "../../mask/hdr_right_06197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06198.png",
+      "transform_matrix": [
+        [
+          0.9853775501251221,
+          -0.16941700875759125,
+          0.018142174929380417,
+          72.8851089477539
+        ],
+        [
+          -0.024944502860307693,
+          -0.03810954838991165,
+          0.9989621639251709,
+          22.78812599182129
+        ],
+        [
+          -0.1685498058795929,
+          -0.9848073124885559,
+          -0.0417783223092556,
+          -26.83903694152832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6198,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_283080101",
+      "mask_path": "../../mask/hdr_right_06198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06199.png",
+      "transform_matrix": [
+        [
+          0.9833758473396301,
+          -0.18156228959560394,
+          -0.0026567308232188225,
+          72.77763366699219
+        ],
+        [
+          -0.004087274894118309,
+          -0.036760129034519196,
+          0.9993157982826233,
+          22.787506103515625
+        ],
+        [
+          -0.1815357208251953,
+          -0.9826920628547668,
+          -0.03689112514257431,
+          -26.779096603393555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6199,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_383081912",
+      "mask_path": "../../mask/hdr_right_06199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06200.png",
+      "transform_matrix": [
+        [
+          0.9838572144508362,
+          -0.17770177125930786,
+          -0.021145228296518326,
+          72.71551513671875
+        ],
+        [
+          0.01727769710123539,
+          -0.023283783346414566,
+          0.9995796084403992,
+          22.793596267700195
+        ],
+        [
+          -0.17811940610408783,
+          -0.9838088750839233,
+          -0.0198376402258873,
+          -26.77341079711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6200,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_483083009",
+      "mask_path": "../../mask/hdr_right_06200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06201.png",
+      "transform_matrix": [
+        [
+          0.9835535883903503,
+          -0.17734426259994507,
+          -0.03422355279326439,
+          72.65225982666016
+        ],
+        [
+          0.031885650008916855,
+          -0.016017043963074684,
+          0.9993632435798645,
+          22.80036735534668
+        ],
+        [
+          -0.17777951061725616,
+          -0.9840186238288879,
+          -0.010098887607455254,
+          -26.78024673461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6201,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_583081483",
+      "mask_path": "../../mask/hdr_right_06201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06202.png",
+      "transform_matrix": [
+        [
+          0.9838531613349915,
+          -0.17432613670825958,
+          -0.0405404232442379,
+          72.56317901611328
+        ],
+        [
+          0.0383036844432354,
+          -0.016177648678421974,
+          0.9991351962089539,
+          22.81130599975586
+        ],
+        [
+          -0.17483122646808624,
+          -0.9845550060272217,
+          -0.00923910178244114,
+          -26.749216079711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6202,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_683083295",
+      "mask_path": "../../mask/hdr_right_06202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06203.png",
+      "transform_matrix": [
+        [
+          0.9839224219322205,
+          -0.17252963781356812,
+          -0.04615471512079239,
+          72.48602294921875
+        ],
+        [
+          0.04236282780766487,
+          -0.025598162785172462,
+          0.9987743496894836,
+          22.821104049682617
+        ],
+        [
+          -0.17349964380264282,
+          -0.9846716523170471,
+          -0.017877766862511635,
+          -26.73446273803711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6203,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_783081769",
+      "mask_path": "../../mask/hdr_right_06203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06204.png",
+      "transform_matrix": [
+        [
+          0.9836028814315796,
+          -0.17360512912273407,
+          -0.048853255808353424,
+          72.43065643310547
+        ],
+        [
+          0.043349478393793106,
+          -0.03535674139857292,
+          0.9984341859817505,
+          22.826505661010742
+        ],
+        [
+          -0.17506058514118195,
+          -0.9841805100440979,
+          -0.027251310646533966,
+          -26.727529525756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6204,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_883081912",
+      "mask_path": "../../mask/hdr_right_06204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06205.png",
+      "transform_matrix": [
+        [
+          0.9841787219047546,
+          -0.1710263192653656,
+          -0.04628457874059677,
+          72.3489990234375
+        ],
+        [
+          0.040320977568626404,
+          -0.038181956857442856,
+          0.9984570145606995,
+          22.834331512451172
+        ],
+        [
+          -0.1725296527147293,
+          -0.9845263957977295,
+          -0.030681923031806946,
+          -26.71156883239746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6205,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323883_983081817",
+      "mask_path": "../../mask/hdr_right_06205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06206.png",
+      "transform_matrix": [
+        [
+          0.985526442527771,
+          -0.16382315754890442,
+          -0.043586406856775284,
+          72.26122283935547
+        ],
+        [
+          0.0387796126306057,
+          -0.032427530735731125,
+          0.9987215399742126,
+          22.841358184814453
+        ],
+        [
+          -0.16502712666988373,
+          -0.985956609249115,
+          -0.02560518868267536,
+          -26.699222564697266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6206,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_83082675",
+      "mask_path": "../../mask/hdr_right_06206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06207.png",
+      "transform_matrix": [
+        [
+          0.9867547154426575,
+          -0.15644650161266327,
+          -0.04289194941520691,
+          72.19209289550781
+        ],
+        [
+          0.03872755169868469,
+          -0.02957194112241268,
+          0.998812198638916,
+          22.838043212890625
+        ],
+        [
+          -0.1575290560722351,
+          -0.9872435927391052,
+          -0.023121463134884834,
+          -26.693593978881836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6207,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_183081388",
+      "mask_path": "../../mask/hdr_right_06207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06208.png",
+      "transform_matrix": [
+        [
+          0.9871351718902588,
+          -0.15404048562049866,
+          -0.042844969779253006,
+          72.1155776977539
+        ],
+        [
+          0.03912702202796936,
+          -0.02708890475332737,
+          0.9988670349121094,
+          22.84134864807129
+        ],
+        [
+          -0.15502658486366272,
+          -0.9876931309700012,
+          -0.02071326971054077,
+          -26.692277908325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6208,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_283081293",
+      "mask_path": "../../mask/hdr_right_06208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06209.png",
+      "transform_matrix": [
+        [
+          0.9875413775444031,
+          -0.15261583030223846,
+          -0.03834656998515129,
+          72.02565002441406
+        ],
+        [
+          0.034180399030447006,
+          -0.02983015961945057,
+          0.9989704489707947,
+          22.852943420410156
+        ],
+        [
+          -0.15360257029533386,
+          -0.9878353476524353,
+          -0.024242060258984566,
+          -26.68274688720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6209,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_383081674",
+      "mask_path": "../../mask/hdr_right_06209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06210.png",
+      "transform_matrix": [
+        [
+          0.9881258010864258,
+          -0.15023595094680786,
+          -0.0321948304772377,
+          71.93232727050781
+        ],
+        [
+          0.027387667447328568,
+          -0.033958110958337784,
+          0.9990479350090027,
+          22.86599349975586
+        ],
+        [
+          -0.15118616819381714,
+          -0.9880667924880981,
+          -0.02944028191268444,
+          -26.662023544311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6210,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_483082532",
+      "mask_path": "../../mask/hdr_right_06210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06211.png",
+      "transform_matrix": [
+        [
+          0.9908317923545837,
+          -0.13196855783462524,
+          -0.02892785705626011,
+          71.84020233154297
+        ],
+        [
+          0.02735741250216961,
+          -0.013698198832571507,
+          0.9995318651199341,
+          22.878177642822266
+        ],
+        [
+          -0.13230302929878235,
+          -0.9911592602729797,
+          -0.009962295182049274,
+          -26.658771514892578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6211,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_583081722",
+      "mask_path": "../../mask/hdr_right_06211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06212.png",
+      "transform_matrix": [
+        [
+          0.9933786988258362,
+          -0.11118258535861969,
+          -0.028936287388205528,
+          71.75770568847656
+        ],
+        [
+          0.03064718283712864,
+          0.013709588907659054,
+          0.9994362592697144,
+          22.889001846313477
+        ],
+        [
+          -0.11072319746017456,
+          -0.9937053918838501,
+          0.01702624186873436,
+          -26.66130828857422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6212,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_683082103",
+      "mask_path": "../../mask/hdr_right_06212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06213.png",
+      "transform_matrix": [
+        [
+          0.9945188760757446,
+          -0.10091015696525574,
+          -0.027376245707273483,
+          71.68614196777344
+        ],
+        [
+          0.030276766046881676,
+          0.02732464298605919,
+          0.9991680383682251,
+          22.901872634887695
+        ],
+        [
+          -0.10007816553115845,
+          -0.9945202469825745,
+          0.030230103060603142,
+          -26.66263198852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6213,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_783082962",
+      "mask_path": "../../mask/hdr_right_06213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06214.png",
+      "transform_matrix": [
+        [
+          0.9941061735153198,
+          -0.10607700049877167,
+          -0.02237292192876339,
+          71.5951156616211
+        ],
+        [
+          0.02692604996263981,
+          0.04168641194701195,
+          0.9987679123878479,
+          22.933856964111328
+        ],
+        [
+          -0.1050136610865593,
+          -0.9934837222099304,
+          0.04429695010185242,
+          -26.661762237548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6214,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_883084058",
+      "mask_path": "../../mask/hdr_right_06214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06215.png",
+      "transform_matrix": [
+        [
+          0.9932876825332642,
+          -0.11527271568775177,
+          -0.009580410085618496,
+          71.47463989257812
+        ],
+        [
+          0.014778622426092625,
+          0.04432506486773491,
+          0.9989079236984253,
+          22.969053268432617
+        ],
+        [
+          -0.11472216248512268,
+          -0.9923444390296936,
+          0.045731108635663986,
+          -26.59440040588379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6215,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323884_983082532",
+      "mask_path": "../../mask/hdr_right_06215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06216.png",
+      "transform_matrix": [
+        [
+          0.9930779933929443,
+          -0.11738261580467224,
+          0.004200030118227005,
+          71.39855194091797
+        ],
+        [
+          -0.00013076598406769335,
+          0.034652747213840485,
+          0.9993994832038879,
+          22.988378524780273
+        ],
+        [
+          -0.11745766550302505,
+          -0.99248206615448,
+          0.03439752757549286,
+          -26.577030181884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6216,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_83083152",
+      "mask_path": "../../mask/hdr_right_06216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06217.png",
+      "transform_matrix": [
+        [
+          0.9926164746284485,
+          -0.12049032747745514,
+          0.013951627537608147,
+          71.33513641357422
+        ],
+        [
+          -0.010602489113807678,
+          0.028392182663083076,
+          0.9995406866073608,
+          23.003170013427734
+        ],
+        [
+          -0.12083110213279724,
+          -0.9923083782196045,
+          0.02690504677593708,
+          -26.598697662353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6217,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_183082342",
+      "mask_path": "../../mask/hdr_right_06217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06218.png",
+      "transform_matrix": [
+        [
+          0.9926741123199463,
+          -0.11943584680557251,
+          0.0182601660490036,
+          71.22570037841797
+        ],
+        [
+          -0.01511459145694971,
+          0.027189966291189194,
+          0.9995160102844238,
+          23.012277603149414
+        ],
+        [
+          -0.11987453699111938,
+          -0.9924695491790771,
+          0.025185545906424522,
+          -26.576162338256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6218,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_283081531",
+      "mask_path": "../../mask/hdr_right_06218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06219.png",
+      "transform_matrix": [
+        [
+          0.9928330779075623,
+          -0.1180129125714302,
+          0.018852433189749718,
+          71.13885498046875
+        ],
+        [
+          -0.015530913136899471,
+          0.029002012684941292,
+          0.9994586706161499,
+          23.0167236328125
+        ],
+        [
+          -0.11849579215049744,
+          -0.992588460445404,
+          0.026961306110024452,
+          -26.561853408813477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6219,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_383082151",
+      "mask_path": "../../mask/hdr_right_06219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06220.png",
+      "transform_matrix": [
+        [
+          0.9927678108215332,
+          -0.11837103962898254,
+          0.020008524879813194,
+          71.07424926757812
+        ],
+        [
+          -0.016588382422924042,
+          0.029808273538947105,
+          0.9994180798530579,
+          23.021102905273438
+        ],
+        [
+          -0.11889857053756714,
+          -0.9925219416618347,
+          0.027629105374217033,
+          -26.55816078186035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6220,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_483082056",
+      "mask_path": "../../mask/hdr_right_06220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06221.png",
+      "transform_matrix": [
+        [
+          0.9922357201576233,
+          -0.12137758731842041,
+          0.027126405388116837,
+          70.98111724853516
+        ],
+        [
+          -0.023580893874168396,
+          0.030552292242646217,
+          0.9992550611495972,
+          23.034868240356445
+        ],
+        [
+          -0.12211593985557556,
+          -0.9921361207962036,
+          0.027452876791357994,
+          -26.546310424804688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6221,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_583081007",
+      "mask_path": "../../mask/hdr_right_06221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06222.png",
+      "transform_matrix": [
+        [
+          0.9911878108978271,
+          -0.12697921693325043,
+          0.037723835557699203,
+          70.89166259765625
+        ],
+        [
+          -0.034432247281074524,
+          0.02801901288330555,
+          0.9990141987800598,
+          23.054641723632812
+        ],
+        [
+          -0.1279110312461853,
+          -0.9915096163749695,
+          0.023399922996759415,
+          -26.528324127197266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6222,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_683081626",
+      "mask_path": "../../mask/hdr_right_06222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06223.png",
+      "transform_matrix": [
+        [
+          0.9898470640182495,
+          -0.13421058654785156,
+          0.04680164158344269,
+          70.82764434814453
+        ],
+        [
+          -0.04391932487487793,
+          0.0243583582341671,
+          0.9987381100654602,
+          23.066814422607422
+        ],
+        [
+          -0.1351812481880188,
+          -0.9906534552574158,
+          0.018216606229543686,
+          -26.51739501953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6223,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_783081769",
+      "mask_path": "../../mask/hdr_right_06223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06224.png",
+      "transform_matrix": [
+        [
+          0.98959881067276,
+          -0.13529454171657562,
+          0.04888550192117691,
+          70.73112487792969
+        ],
+        [
+          -0.04547922685742378,
+          0.028155680745840073,
+          0.9985684752464294,
+          23.076677322387695
+        ],
+        [
+          -0.1364772468805313,
+          -0.990405261516571,
+          0.021709728986024857,
+          -26.504535675048828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6224,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_883082151",
+      "mask_path": "../../mask/hdr_right_06224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06225.png",
+      "transform_matrix": [
+        [
+          0.9903207421302795,
+          -0.1310485452413559,
+          0.04573025926947594,
+          70.6412582397461
+        ],
+        [
+          -0.04117794334888458,
+          0.03724091872572899,
+          0.9984575510025024,
+          23.08844566345215
+        ],
+        [
+          -0.1325494647026062,
+          -0.99067622423172,
+          0.03148414567112923,
+          -26.5020751953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6225,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323885_983081340",
+      "mask_path": "../../mask/hdr_right_06225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06226.png",
+      "transform_matrix": [
+        [
+          0.9910356402397156,
+          -0.12859849631786346,
+          0.036205194890499115,
+          70.57067108154297
+        ],
+        [
+          -0.030896859243512154,
+          0.04303678870201111,
+          0.9985957145690918,
+          23.098196029663086
+        ],
+        [
+          -0.1299760490655899,
+          -0.9907625317573547,
+          0.038677703589200974,
+          -26.505863189697266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6226,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_83082199",
+      "mask_path": "../../mask/hdr_right_06226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06227.png",
+      "transform_matrix": [
+        [
+          0.9925122261047363,
+          -0.11973807215690613,
+          0.024130549281835556,
+          70.49602508544922
+        ],
+        [
+          -0.019497735425829887,
+          0.0397130623459816,
+          0.9990209341049194,
+          23.10919189453125
+        ],
+        [
+          -0.12057912349700928,
+          -0.9920108914375305,
+          0.03708108142018318,
+          -26.500774383544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6227,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_183081626",
+      "mask_path": "../../mask/hdr_right_06227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06228.png",
+      "transform_matrix": [
+        [
+          0.9933834075927734,
+          -0.11411678791046143,
+          0.012918753549456596,
+          70.42259216308594
+        ],
+        [
+          -0.009009035304188728,
+          0.034710273146629333,
+          0.9993568658828735,
+          23.121217727661133
+        ],
+        [
+          -0.1144917905330658,
+          -0.9928607940673828,
+          0.03345252573490143,
+          -26.47380256652832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6228,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_283082008",
+      "mask_path": "../../mask/hdr_right_06228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06229.png",
+      "transform_matrix": [
+        [
+          0.9932786822319031,
+          -0.11565496772527695,
+          -0.004646325018256903,
+          70.35888671875
+        ],
+        [
+          0.00823333952575922,
+          0.03055630810558796,
+          0.9994990825653076,
+          23.12727165222168
+        ],
+        [
+          -0.11545506119728088,
+          -0.9928193688392639,
+          0.031303152441978455,
+          -26.45676612854004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6229,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_383080482",
+      "mask_path": "../../mask/hdr_right_06229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06230.png",
+      "transform_matrix": [
+        [
+          0.9926881790161133,
+          -0.11820865422487259,
+          -0.024431752040982246,
+          70.29580688476562
+        ],
+        [
+          0.02719074673950672,
+          0.0217833761125803,
+          0.9993929266929626,
+          23.133296966552734
+        ],
+        [
+          -0.11760469526052475,
+          -0.9927497506141663,
+          0.0248382780700922,
+          -26.445058822631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6230,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_483082771",
+      "mask_path": "../../mask/hdr_right_06230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06231.png",
+      "transform_matrix": [
+        [
+          0.9925147891044617,
+          -0.1160828098654747,
+          -0.037935782223939896,
+          70.20405578613281
+        ],
+        [
+          0.04005002975463867,
+          0.015934359282255173,
+          0.9990707039833069,
+          23.14566421508789
+        ],
+        [
+          -0.11537043750286102,
+          -0.993111789226532,
+          0.020464204251766205,
+          -26.432628631591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6231,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_583081483",
+      "mask_path": "../../mask/hdr_right_06231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06232.png",
+      "transform_matrix": [
+        [
+          0.992167592048645,
+          -0.11437487602233887,
+          -0.05021845921874046,
+          70.10356140136719
+        ],
+        [
+          0.05269313231110573,
+          0.018715014681220055,
+          0.998435378074646,
+          23.154386520385742
+        ],
+        [
+          -0.11325608193874359,
+          -0.993261456489563,
+          0.024595201015472412,
+          -26.42350196838379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6232,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_683082580",
+      "mask_path": "../../mask/hdr_right_06232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06233.png",
+      "transform_matrix": [
+        [
+          0.9911547899246216,
+          -0.11725393682718277,
+          -0.06215987727046013,
+          70.02456665039062
+        ],
+        [
+          0.06521064788103104,
+          0.022360477596521378,
+          0.9976209998130798,
+          23.150453567504883
+        ],
+        [
+          -0.11558505892753601,
+          -0.9928501844406128,
+          0.02980889566242695,
+          -26.412431716918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6233,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_783082485",
+      "mask_path": "../../mask/hdr_right_06233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06234.png",
+      "transform_matrix": [
+        [
+          0.9905357956886292,
+          -0.1177009865641594,
+          -0.07060722261667252,
+          69.93109893798828
+        ],
+        [
+          0.07337657362222672,
+          0.019358176738023758,
+          0.9971164464950562,
+          23.150617599487305
+        ],
+        [
+          -0.11599476635456085,
+          -0.9928604364395142,
+          0.027811458334326744,
+          -26.409523010253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6234,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_883081197",
+      "mask_path": "../../mask/hdr_right_06234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06235.png",
+      "transform_matrix": [
+        [
+          0.9908521771430969,
+          -0.11570771783590317,
+          -0.0694524347782135,
+          69.80470275878906
+        ],
+        [
+          0.0704253688454628,
+          0.004336578771471977,
+          0.9975077509880066,
+          23.152875900268555
+        ],
+        [
+          -0.11511816084384918,
+          -0.9932738542556763,
+          0.012445665895938873,
+          -26.375398635864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6235,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323886_983081817",
+      "mask_path": "../../mask/hdr_right_06235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06236.png",
+      "transform_matrix": [
+        [
+          0.9910582900047302,
+          -0.11593659222126007,
+          -0.06604721397161484,
+          69.70469665527344
+        ],
+        [
+          0.06542905420064926,
+          -0.009133616462349892,
+          0.9978154301643372,
+          23.15786361694336
+        ],
+        [
+          -0.11628656834363937,
+          -0.9932146072387695,
+          -0.0014663274632766843,
+          -26.36004638671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6236,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_83081245",
+      "mask_path": "../../mask/hdr_right_06236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06237.png",
+      "transform_matrix": [
+        [
+          0.9907289743423462,
+          -0.12009173631668091,
+          -0.06351447850465775,
+          69.61243438720703
+        ],
+        [
+          0.0626828670501709,
+          -0.01069379597902298,
+          0.9979762434959412,
+          23.15119171142578
+        ],
+        [
+          -0.12052791565656662,
+          -0.9927051663398743,
+          -0.0030669611878693104,
+          -26.355270385742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6237,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_183081150",
+      "mask_path": "../../mask/hdr_right_06237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06238.png",
+      "transform_matrix": [
+        [
+          0.9921024441719055,
+          -0.10644663125276566,
+          -0.06634626537561417,
+          69.48265075683594
+        ],
+        [
+          0.0673762634396553,
+          0.0061050946824252605,
+          0.9977089762687683,
+          23.1552677154541
+        ],
+        [
+          -0.10579769313335419,
+          -0.9942996501922607,
+          0.01322884950786829,
+          -26.341167449951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6238,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_283081769",
+      "mask_path": "../../mask/hdr_right_06238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06239.png",
+      "transform_matrix": [
+        [
+          0.9928153157234192,
+          -0.09217123687267303,
+          -0.07630281150341034,
+          69.37286376953125
+        ],
+        [
+          0.07883235812187195,
+          0.02411675825715065,
+          0.9965962171554565,
+          23.16064453125
+        ],
+        [
+          -0.09001731872558594,
+          -0.9954510927200317,
+          0.031209561973810196,
+          -26.33490753173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6239,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_383081912",
+      "mask_path": "../../mask/hdr_right_06239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06240.png",
+      "transform_matrix": [
+        [
+          0.9922019243240356,
+          -0.09070643782615662,
+          -0.0854850560426712,
+          69.3099594116211
+        ],
+        [
+          0.08882544934749603,
+          0.03344446420669556,
+          0.9954856038093567,
+          23.159225463867188
+        ],
+        [
+          -0.0874379426240921,
+          -0.9953159689903259,
+          0.04124070331454277,
+          -26.346405029296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6240,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_483081817",
+      "mask_path": "../../mask/hdr_right_06240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06241.png",
+      "transform_matrix": [
+        [
+          0.9928677082061768,
+          -0.08379363268613815,
+          -0.0848088338971138,
+          69.18746185302734
+        ],
+        [
+          0.08769184350967407,
+          0.031339824199676514,
+          0.9956545829772949,
+          23.169408798217773
+        ],
+        [
+          -0.08077161759138107,
+          -0.9959901571273804,
+          0.03846431523561478,
+          -26.329843521118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6241,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_583082437",
+      "mask_path": "../../mask/hdr_right_06241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06242.png",
+      "transform_matrix": [
+        [
+          0.9937509894371033,
+          -0.0801880955696106,
+          -0.07764703780412674,
+          69.06475067138672
+        ],
+        [
+          0.07965928316116333,
+          0.022202597931027412,
+          0.9965749382972717,
+          23.179943084716797
+        ],
+        [
+          -0.07818947732448578,
+          -0.9965324401855469,
+          0.028451574966311455,
+          -26.299610137939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6242,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_683081626",
+      "mask_path": "../../mask/hdr_right_06242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06243.png",
+      "transform_matrix": [
+        [
+          0.9939737319946289,
+          -0.08260384202003479,
+          -0.07206167280673981,
+          68.98507690429688
+        ],
+        [
+          0.07329070568084717,
+          0.011940181255340576,
+          0.9972392320632935,
+          23.184083938598633
+        ],
+        [
+          -0.0815153568983078,
+          -0.996510922908783,
+          0.01792231760919094,
+          -26.28888511657715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6243,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_783082723",
+      "mask_path": "../../mask/hdr_right_06243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06244.png",
+      "transform_matrix": [
+        [
+          0.9941732883453369,
+          -0.08064434677362442,
+          -0.07152582705020905,
+          68.87122344970703
+        ],
+        [
+          0.0723305493593216,
+          0.007097806315869093,
+          0.9973555207252502,
+          23.181808471679688
+        ],
+        [
+          -0.07992341369390488,
+          -0.9967176914215088,
+          0.012889496982097626,
+          -26.27888298034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6244,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_883079767",
+      "mask_path": "../../mask/hdr_right_06244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06245.png",
+      "transform_matrix": [
+        [
+          0.9940611124038696,
+          -0.07475832849740982,
+          -0.07908054441213608,
+          68.75656127929688
+        ],
+        [
+          0.080326147377491,
+          0.013799633830785751,
+          0.9966731071472168,
+          23.17831802368164
+        ],
+        [
+          -0.07341834157705307,
+          -0.9971061944961548,
+          0.019722726196050644,
+          -26.278789520263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6245,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323887_983081102",
+      "mask_path": "../../mask/hdr_right_06245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06246.png",
+      "transform_matrix": [
+        [
+          0.9931135773658752,
+          -0.07094184309244156,
+          -0.0932350605726242,
+          68.6718978881836
+        ],
+        [
+          0.09486944228410721,
+          0.020021267235279083,
+          0.9952883720397949,
+          23.174726486206055
+        ],
+        [
+          -0.06874090433120728,
+          -0.9972795844078064,
+          0.02661360241472721,
+          -26.28272819519043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6246,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_83081722",
+      "mask_path": "../../mask/hdr_right_06246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06247.png",
+      "transform_matrix": [
+        [
+          0.9921734929084778,
+          -0.06759815663099289,
+          -0.10498692840337753,
+          68.58023834228516
+        ],
+        [
+          0.10660286247730255,
+          0.020748551934957504,
+          0.9940851926803589,
+          23.171489715576172
+        ],
+        [
+          -0.06501999497413635,
+          -0.9974968433380127,
+          0.027792319655418396,
+          -26.27954864501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6247,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_183081865",
+      "mask_path": "../../mask/hdr_right_06247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06248.png",
+      "transform_matrix": [
+        [
+          0.9916962385177612,
+          -0.0698092132806778,
+          -0.10800614207983017,
+          68.46868133544922
+        ],
+        [
+          0.10943200439214706,
+          0.01692267321050167,
+          0.9938502907752991,
+          23.17494010925293
+        ],
+        [
+          -0.06755215674638748,
+          -0.9974167943000793,
+          0.024421509355306625,
+          -26.2575626373291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6248,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_283082246",
+      "mask_path": "../../mask/hdr_right_06248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06249.png",
+      "transform_matrix": [
+        [
+          0.9913115501403809,
+          -0.07380484789609909,
+          -0.10887723416090012,
+          68.38346099853516
+        ],
+        [
+          0.1098843514919281,
+          0.009712981060147285,
+          0.9938969016075134,
+          23.18110466003418
+        ],
+        [
+          -0.07229689508676529,
+          -0.9972254037857056,
+          0.01773858815431595,
+          -26.24546241760254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6249,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_383082866",
+      "mask_path": "../../mask/hdr_right_06249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06250.png",
+      "transform_matrix": [
+        [
+          0.9908894300460815,
+          -0.07636356353759766,
+          -0.1109355241060257,
+          68.29470825195312
+        ],
+        [
+          0.11164450645446777,
+          0.0050651151686906815,
+          0.9937353134155273,
+          23.18144989013672
+        ],
+        [
+          -0.07532326877117157,
+          -0.9970671534538269,
+          0.013544539920985699,
+          -26.243864059448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6250,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_483081340",
+      "mask_path": "../../mask/hdr_right_06250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06251.png",
+      "transform_matrix": [
+        [
+          0.9899194240570068,
+          -0.07480920106172562,
+          -0.1202625259757042,
+          68.1728286743164
+        ],
+        [
+          0.12114428728818893,
+          0.007346158381551504,
+          0.9926077723503113,
+          23.17391586303711
+        ],
+        [
+          -0.07337271422147751,
+          -0.9971708655357361,
+          0.016334809362888336,
+          -26.235197067260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6251,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_583081722",
+      "mask_path": "../../mask/hdr_right_06251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06252.png",
+      "transform_matrix": [
+        [
+          0.9883072376251221,
+          -0.07255974411964417,
+          -0.13410432636737823,
+          68.08016967773438
+        ],
+        [
+          0.13520413637161255,
+          0.010441514663398266,
+          0.9907628297805786,
+          23.162038803100586
+        ],
+        [
+          -0.07048925012350082,
+          -0.9973094463348389,
+          0.020129799842834473,
+          -26.231956481933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6252,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_683081626",
+      "mask_path": "../../mask/hdr_right_06252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06253.png",
+      "transform_matrix": [
+        [
+          0.987087070941925,
+          -0.07253671437501907,
+          -0.14282020926475525,
+          68.00606536865234
+        ],
+        [
+          0.1438974142074585,
+          0.009821195155382156,
+          0.9895439147949219,
+          23.154491424560547
+        ],
+        [
+          -0.07037560641765594,
+          -0.9973174333572388,
+          0.020132219418883324,
+          -26.232263565063477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6253,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_783081054",
+      "mask_path": "../../mask/hdr_right_06253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06254.png",
+      "transform_matrix": [
+        [
+          0.9879956245422363,
+          -0.06776142120361328,
+          -0.13882726430892944,
+          67.91044616699219
+        ],
+        [
+          0.13946345448493958,
+          0.004726815037429333,
+          0.9902160167694092,
+          23.15765953063965
+        ],
+        [
+          -0.06644222885370255,
+          -0.9976903796195984,
+          0.014120311476290226,
+          -26.217679977416992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6254,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_883081912",
+      "mask_path": "../../mask/hdr_right_06254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06255.png",
+      "transform_matrix": [
+        [
+          0.9895657300949097,
+          -0.06695366650819778,
+          -0.12758035957813263,
+          67.82102966308594
+        ],
+        [
+          0.12769635021686554,
+          -0.002562400884926319,
+          0.9918100237846375,
+          23.163888931274414
+        ],
+        [
+          -0.06673223525285721,
+          -0.9977527856826782,
+          0.006014072336256504,
+          -26.197420120239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6255,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323888_983079433",
+      "mask_path": "../../mask/hdr_right_06255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06256.png",
+      "transform_matrix": [
+        [
+          0.9904858469963074,
+          -0.07129715383052826,
+          -0.11770503222942352,
+          67.73951721191406
+        ],
+        [
+          0.11728785187005997,
+          -0.01002488937228918,
+          0.9930474758148193,
+          23.172367095947266
+        ],
+        [
+          -0.07198143005371094,
+          -0.9974048137664795,
+          -0.001567224389873445,
+          -26.191240310668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6256,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_83081722",
+      "mask_path": "../../mask/hdr_right_06256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06257.png",
+      "transform_matrix": [
+        [
+          0.9914206266403198,
+          -0.06735876947641373,
+          -0.11201723664999008,
+          67.63992309570312
+        ],
+        [
+          0.11158142238855362,
+          -0.010210325010120869,
+          0.9937028884887695,
+          23.17563819885254
+        ],
+        [
+          -0.06807832419872284,
+          -0.9976765513420105,
+          -0.002606744412332773,
+          -26.18937873840332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6257,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_183080673",
+      "mask_path": "../../mask/hdr_right_06257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06258.png",
+      "transform_matrix": [
+        [
+          0.991969108581543,
+          -0.059696562588214874,
+          -0.11150673776865005,
+          67.54308319091797
+        ],
+        [
+          0.11163266748189926,
+          -0.0012318202061578631,
+          0.9937487840652466,
+          23.174489974975586
+        ],
+        [
+          -0.05946074426174164,
+          -0.9982157945632935,
+          0.005442156456410885,
+          -26.192001342773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6258,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_283081769",
+      "mask_path": "../../mask/hdr_right_06258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06259.png",
+      "transform_matrix": [
+        [
+          0.9920305013656616,
+          -0.05633009225130081,
+          -0.11270523816347122,
+          67.47406005859375
+        ],
+        [
+          0.1131695955991745,
+          0.005112010519951582,
+          0.993562638759613,
+          23.170429229736328
+        ],
+        [
+          -0.05539131537079811,
+          -0.9983991384506226,
+          0.011446121148765087,
+          -26.192310333251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6259,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_383082628",
+      "mask_path": "../../mask/hdr_right_06259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06260.png",
+      "transform_matrix": [
+        [
+          0.9924513697624207,
+          -0.051562897861003876,
+          -0.11127284914255142,
+          67.38546752929688
+        ],
+        [
+          0.1116381362080574,
+          0.004249946214258671,
+          0.9937398433685303,
+          23.172382354736328
+        ],
+        [
+          -0.0507671982049942,
+          -0.998660683631897,
+          0.00997424777597189,
+          -26.196399688720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6260,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_483082056",
+      "mask_path": "../../mask/hdr_right_06260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06261.png",
+      "transform_matrix": [
+        [
+          0.9934638142585754,
+          -0.04963601008057594,
+          -0.1027902215719223,
+          67.27249145507812
+        ],
+        [
+          0.10296190530061722,
+          0.0009070736123248935,
+          0.9946848750114441,
+          23.182634353637695
+        ],
+        [
+          -0.049278948456048965,
+          -0.9987669587135315,
+          0.006011761259287596,
+          -26.18451499938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6261,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_583082675",
+      "mask_path": "../../mask/hdr_right_06261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06262.png",
+      "transform_matrix": [
+        [
+          0.9944266676902771,
+          -0.05147141218185425,
+          -0.0920129343867302,
+          67.18500518798828
+        ],
+        [
+          0.09187357872724533,
+          -0.005072229541838169,
+          0.9957577586174011,
+          23.191667556762695
+        ],
+        [
+          -0.05171976983547211,
+          -0.9986615777015686,
+          -0.0003150994598399848,
+          -26.168212890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6262,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_683081626",
+      "mask_path": "../../mask/hdr_right_06262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06263.png",
+      "transform_matrix": [
+        [
+          0.9950851202011108,
+          -0.054799363017082214,
+          -0.08247816562652588,
+          67.09996032714844
+        ],
+        [
+          0.0820300504565239,
+          -0.010381021536886692,
+          0.9965758323669434,
+          23.19126319885254
+        ],
+        [
+          -0.05546792596578598,
+          -0.9984434247016907,
+          -0.005834807176142931,
+          -26.158323287963867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6263,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_783082485",
+      "mask_path": "../../mask/hdr_right_06263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06264.png",
+      "transform_matrix": [
+        [
+          0.995281457901001,
+          -0.053319983184337616,
+          -0.0810665562748909,
+          66.98287200927734
+        ],
+        [
+          0.08075619488954544,
+          -0.007953660562634468,
+          0.9967021942138672,
+          23.19246482849121
+        ],
+        [
+          -0.053788922727108,
+          -0.9985458254814148,
+          -0.0036102135200053453,
+          -26.152292251586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6264,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_883082628",
+      "mask_path": "../../mask/hdr_right_06264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06265.png",
+      "transform_matrix": [
+        [
+          0.9951086640357971,
+          -0.05015532672405243,
+          -0.0851077064871788,
+          66.89937591552734
+        ],
+        [
+          0.08524267375469208,
+          0.0005537287797778845,
+          0.996360182762146,
+          23.190208435058594
+        ],
+        [
+          -0.04992563650012016,
+          -0.9987412095069885,
+          0.004826392978429794,
+          -26.153884887695312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6265,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323889_983083009",
+      "mask_path": "../../mask/hdr_right_06265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06266.png",
+      "transform_matrix": [
+        [
+          0.9949029684066772,
+          -0.0506645031273365,
+          -0.08718501031398773,
+          66.82656860351562
+        ],
+        [
+          0.08753470331430435,
+          0.004720046650618315,
+          0.9961503148078918,
+          23.190380096435547
+        ],
+        [
+          -0.050057943910360336,
+          -0.9987045526504517,
+          0.009130889549851418,
+          -26.15736961364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6266,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_83082199",
+      "mask_path": "../../mask/hdr_right_06266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06267.png",
+      "transform_matrix": [
+        [
+          0.9951640367507935,
+          -0.049231357872486115,
+          -0.08499954640865326,
+          66.72103118896484
+        ],
+        [
+          0.08533895760774612,
+          0.004830041900277138,
+          0.996340274810791,
+          23.1980037689209
+        ],
+        [
+          -0.04864063858985901,
+          -0.9987757205963135,
+          0.009008035063743591,
+          -26.14785385131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6267,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_183082342",
+      "mask_path": "../../mask/hdr_right_06267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06268.png",
+      "transform_matrix": [
+        [
+          0.9951568841934204,
+          -0.05207740142941475,
+          -0.0833708792924881,
+          66.62529754638672
+        ],
+        [
+          0.08370129764080048,
+          0.004191999789327383,
+          0.9964821338653564,
+          23.20595932006836
+        ],
+        [
+          -0.051544707268476486,
+          -0.9986342191696167,
+          0.008530642837285995,
+          -26.132946014404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6268,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_283082723",
+      "mask_path": "../../mask/hdr_right_06268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06269.png",
+      "transform_matrix": [
+        [
+          0.9946768879890442,
+          -0.05807987228035927,
+          -0.08511628210544586,
+          66.54692840576172
+        ],
+        [
+          0.08531524986028671,
+          0.0009503180626779795,
+          0.9963535666465759,
+          23.21395492553711
+        ],
+        [
+          -0.057787198573350906,
+          -0.998311460018158,
+          0.005900357384234667,
+          -26.12623405456543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6269,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_383082389",
+      "mask_path": "../../mask/hdr_right_06269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06270.png",
+      "transform_matrix": [
+        [
+          0.9939849972724915,
+          -0.06524714082479477,
+          -0.08795897662639618,
+          66.44866943359375
+        ],
+        [
+          0.08798903226852417,
+          -0.0024188251700252295,
+          0.9961186051368713,
+          23.216466903686523
+        ],
+        [
+          -0.06520665436983109,
+          -0.9978662729263306,
+          0.0033367546275258064,
+          -26.126873016357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6270,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_483081817",
+      "mask_path": "../../mask/hdr_right_06270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06271.png",
+      "transform_matrix": [
+        [
+          0.9923731684684753,
+          -0.06929317116737366,
+          -0.10195048153400421,
+          66.33201599121094
+        ],
+        [
+          0.1023440808057785,
+          0.002144723664969206,
+          0.994746744632721,
+          23.208513259887695
+        ],
+        [
+          -0.06871050596237183,
+          -0.9975940585136414,
+          0.00922011025249958,
+          -26.109140396118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6271,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_583084106",
+      "mask_path": "../../mask/hdr_right_06271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06272.png",
+      "transform_matrix": [
+        [
+          0.9898335933685303,
+          -0.0714205652475357,
+          -0.1229986771941185,
+          66.2481460571289
+        ],
+        [
+          0.12379748374223709,
+          0.006851015612483025,
+          0.992283821105957,
+          23.198928833007812
+        ],
+        [
+          -0.07002681493759155,
+          -0.9974228143692017,
+          0.01562305074185133,
+          -26.09996223449707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6272,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_683081865",
+      "mask_path": "../../mask/hdr_right_06272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06273.png",
+      "transform_matrix": [
+        [
+          0.9872730374336243,
+          -0.07351402193307877,
+          -0.1410239040851593,
+          66.17725372314453
+        ],
+        [
+          0.14164872467517853,
+          0.0033297997433692217,
+          0.9899114966392517,
+          23.19647789001465
+        ],
+        [
+          -0.07230278104543686,
+          -0.9972886443138123,
+          0.013700584881007671,
+          -26.106536865234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6273,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_783083438",
+      "mask_path": "../../mask/hdr_right_06273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06274.png",
+      "transform_matrix": [
+        [
+          0.9859095215797424,
+          -0.07416501641273499,
+          -0.14994017779827118,
+          66.07423400878906
+        ],
+        [
+          0.15000806748867035,
+          -0.004685677122324705,
+          0.9886736273765564,
+          23.198396682739258
+        ],
+        [
+          -0.07402755320072174,
+          -0.9972350001335144,
+          0.006505692843347788,
+          -26.087060928344727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6274,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_883081912",
+      "mask_path": "../../mask/hdr_right_06274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06275.png",
+      "transform_matrix": [
+        [
+          0.9850327372550964,
+          -0.07706122100353241,
+          -0.1541818231344223,
+          65.98887634277344
+        ],
+        [
+          0.15374985337257385,
+          -0.011543206870555878,
+          0.9880423545837402,
+          23.198030471801758
+        ],
+        [
+          -0.07791950553655624,
+          -0.9969595074653625,
+          0.0004777110298164189,
+          -26.064361572265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6275,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323890_983082532",
+      "mask_path": "../../mask/hdr_right_06275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06276.png",
+      "transform_matrix": [
+        [
+          0.9842150211334229,
+          -0.08225080370903015,
+          -0.15670259296894073,
+          65.92232513427734
+        ],
+        [
+          0.15572229027748108,
+          -0.018241146579384804,
+          0.9876323938369751,
+          23.20501136779785
+        ],
+        [
+          -0.08409199118614197,
+          -0.9964447021484375,
+          -0.005144932772964239,
+          -26.06952667236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6276,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_83082199",
+      "mask_path": "../../mask/hdr_right_06276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06277.png",
+      "transform_matrix": [
+        [
+          0.9832447171211243,
+          -0.0800899937748909,
+          -0.1637537032365799,
+          65.82054901123047
+        ],
+        [
+          0.16279175877571106,
+          -0.018441257998347282,
+          0.9864880442619324,
+          23.196170806884766
+        ],
+        [
+          -0.08202765136957169,
+          -0.9966170787811279,
+          -0.005094282329082489,
+          -26.056398391723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6277,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_183082342",
+      "mask_path": "../../mask/hdr_right_06277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06278.png",
+      "transform_matrix": [
+        [
+          0.9822359085083008,
+          -0.0749686136841774,
+          -0.17202384769916534,
+          65.71871948242188
+        ],
+        [
+          0.1717069298028946,
+          -0.010701303370296955,
+          0.9850899577140808,
+          23.18034553527832
+        ],
+        [
+          -0.07569172233343124,
+          -0.9971284866333008,
+          0.00236142473295331,
+          -26.04635238647461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6278,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_283081769",
+      "mask_path": "../../mask/hdr_right_06278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06279.png",
+      "transform_matrix": [
+        [
+          0.9820677042007446,
+          -0.0725722461938858,
+          -0.1740007847547531,
+          65.64510345458984
+        ],
+        [
+          0.17399762570858002,
+          -0.006414303556084633,
+          0.9847251772880554,
+          23.176572799682617
+        ],
+        [
+          -0.07257982343435287,
+          -0.9973425269126892,
+          0.006328117568045855,
+          -26.045055389404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6279,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_383081912",
+      "mask_path": "../../mask/hdr_right_06279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06280.png",
+      "transform_matrix": [
+        [
+          0.9830246567726135,
+          -0.06672583520412445,
+          -0.1709095537662506,
+          65.56338500976562
+        ],
+        [
+          0.1706133782863617,
+          -0.01015484519302845,
+          0.985285758972168,
+          23.179019927978516
+        ],
+        [
+          -0.06747958064079285,
+          -0.9977196455001831,
+          0.001401854562573135,
+          -26.04387092590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6280,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_483080625",
+      "mask_path": "../../mask/hdr_right_06280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06281.png",
+      "transform_matrix": [
+        [
+          0.984699010848999,
+          -0.0655568540096283,
+          -0.16146256029605865,
+          65.46341705322266
+        ],
+        [
+          0.16089129447937012,
+          -0.013937399722635746,
+          0.9868737459182739,
+          23.184764862060547
+        ],
+        [
+          -0.06694670766592026,
+          -0.9977515935897827,
+          -0.0031766220927238464,
+          -26.030750274658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6281,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_583082199",
+      "mask_path": "../../mask/hdr_right_06281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06282.png",
+      "transform_matrix": [
+        [
+          0.9862419962882996,
+          -0.06784814596176147,
+          -0.1507422924041748,
+          65.3785629272461
+        ],
+        [
+          0.1499132513999939,
+          -0.01717892289161682,
+          0.9885499477386475,
+          23.192184448242188
+        ],
+        [
+          -0.06966086477041245,
+          -0.9975477457046509,
+          -0.006771243643015623,
+          -26.018125534057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6282,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_683081865",
+      "mask_path": "../../mask/hdr_right_06282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06283.png",
+      "transform_matrix": [
+        [
+          0.9874690771102905,
+          -0.07207464426755905,
+          -0.1403922140598297,
+          65.29866790771484
+        ],
+        [
+          0.13925543427467346,
+          -0.020587343722581863,
+          0.990042507648468,
+          23.19896125793457
+        ],
+        [
+          -0.07424727082252502,
+          -0.9971867203712463,
+          -0.010292582213878632,
+          -26.016036987304688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6283,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_783081054",
+      "mask_path": "../../mask/hdr_right_06283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06284.png",
+      "transform_matrix": [
+        [
+          0.9877286553382874,
+          -0.0706431195139885,
+          -0.13929012417793274,
+          65.17073822021484
+        ],
+        [
+          0.13845176994800568,
+          -0.01665273867547512,
+          0.9902291893959045,
+          23.1936092376709
+        ],
+        [
+          -0.07227244228124619,
+          -0.9973626136779785,
+          -0.006667726207524538,
+          -26.00423240661621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6284,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_883081912",
+      "mask_path": "../../mask/hdr_right_06284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06285.png",
+      "transform_matrix": [
+        [
+          0.9872238039970398,
+          -0.06615690886974335,
+          -0.1449567824602127,
+          65.06889343261719
+        ],
+        [
+          0.14469896256923676,
+          -0.008697770535945892,
+          0.989437460899353,
+          23.187604904174805
+        ],
+        [
+          -0.0667189285159111,
+          -0.9977713227272034,
+          0.0009861885337159038,
+          -26.003055572509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6285,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323891_983081817",
+      "mask_path": "../../mask/hdr_right_06285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06286.png",
+      "transform_matrix": [
+        [
+          0.9867503643035889,
+          -0.06524689495563507,
+          -0.14854830503463745,
+          65.00146484375
+        ],
+        [
+          0.1486045867204666,
+          -0.004017418250441551,
+          0.9888886213302612,
+          23.190053939819336
+        ],
+        [
+          -0.0651186853647232,
+          -0.9978610277175903,
+          0.005731794051826,
+          -26.01138687133789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6286,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_83082675",
+      "mask_path": "../../mask/hdr_right_06286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06287.png",
+      "transform_matrix": [
+        [
+          0.9873427748680115,
+          -0.0640261173248291,
+          -0.14510338008403778,
+          64.90607452392578
+        ],
+        [
+          0.14530588686466217,
+          -0.0015071566449478269,
+          0.9893856644630432,
+          23.192428588867188
+        ],
+        [
+          -0.0635652169585228,
+          -0.9979470372200012,
+          0.007815290242433548,
+          -25.99467658996582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6287,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_183080673",
+      "mask_path": "../../mask/hdr_right_06287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06288.png",
+      "transform_matrix": [
+        [
+          0.9885498285293579,
+          -0.06621956825256348,
+          -0.13558830320835114,
+          64.81333923339844
+        ],
+        [
+          0.1357230246067047,
+          -0.002481411676853895,
+          0.9907437562942505,
+          23.195051193237305
+        ],
+        [
+          -0.06594307720661163,
+          -0.9978020191192627,
+          0.006534517742693424,
+          -25.970355987548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6288,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_283080816",
+      "mask_path": "../../mask/hdr_right_06288.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/6065f895/mesh.ply b/2024-11-11-12-07-40/splats/6065f895/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..80139361d70c7cac7025c11e93c24b9ce4cb20fc
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6065f895/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a8f3b2ddb0a8d9a1fe3ffebe6b9f8537ad069fb5b0a0f19f7ba3a8065cd849
+size 60358423
diff --git a/2024-11-11-12-07-40/splats/6065f895/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/6065f895/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a01c7aaf1b5afaa6e28e490a0771634992cd7f03
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6065f895/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c871804469f70a7fdd625110e7edd0b56897480dd0f3c3078c845e3014ffd36
+size 1586938
diff --git a/2024-11-11-12-07-40/splats/6065f895/splatfacto/config.yml b/2024-11-11-12-07-40/splats/6065f895/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..1e89c1189dff3d9b3c1322552ba02750343f8cb6
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6065f895/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_6065f895
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_6065f895
+      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/2024-11-11-12-07-40/splats/6065f895/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/6065f895/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..590aa984638422aabf719e29ecc69be55ca6cdf3
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6065f895/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.9518781900405884,
+            0.2448827475309372,
+            0.18428342044353485,
+            94.67852020263672
+        ],
+        [
+            0.2448827475309372,
+            0.969277024269104,
+            -0.023120207712054253,
+            -40.05870056152344
+        ],
+        [
+            -0.18428342044353485,
+            0.023120207712054253,
+            -0.9826011657714844,
+            -13.304126739501953
+        ]
+    ],
+    "scale": 0.32142979758594137
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/6065f895/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/6065f895/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6563e84e6ee4065aebca9241430196a45ef4ae45
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6065f895/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68cc91fb4fc2db6147105e0d0162320e2d452f2e484211d8556d966c81acbca8
+size 220052737
diff --git a/2024-11-11-12-07-40/splats/6065f895/transforms.json b/2024-11-11-12-07-40/splats/6065f895/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddaab26bfc1cdf51cea1697f30fbd77624bf6c67
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6065f895/transforms.json
@@ -0,0 +1,16386 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_04554.png",
+      "transform_matrix": [
+        [
+          0.3525274097919464,
+          -0.15093836188316345,
+          -0.9235486388206482,
+          95.29810333251953
+        ],
+        [
+          0.933700442314148,
+          -0.00936280656605959,
+          0.3579326570034027,
+          16.622529983520508
+        ],
+        [
+          -0.06267277151346207,
+          -0.988498866558075,
+          0.13763056695461273,
+          -30.967056274414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4554,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_883080720",
+      "mask_path": "../../mask/hdr_front_04554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04555.png",
+      "transform_matrix": [
+        [
+          0.35266736149787903,
+          -0.14807850122451782,
+          -0.9239580631256104,
+          95.36668395996094
+        ],
+        [
+          0.93324875831604,
+          -0.01647062785923481,
+          0.35885319113731384,
+          16.59920310974121
+        ],
+        [
+          -0.06835660338401794,
+          -0.9888384342193604,
+          0.13238540291786194,
+          -30.976289749145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4555,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_983081579",
+      "mask_path": "../../mask/hdr_front_04555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04556.png",
+      "transform_matrix": [
+        [
+          0.3538433611392975,
+          -0.14022909104824066,
+          -0.9247328639030457,
+          95.42665100097656
+        ],
+        [
+          0.9330354332923889,
+          -0.015907542780041695,
+          0.3594326078891754,
+          16.58017349243164
+        ],
+        [
+          -0.0651131421327591,
+          -0.989991307258606,
+          0.12520992755889893,
+          -30.985504150390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4556,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_83080530",
+      "mask_path": "../../mask/hdr_front_04556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04557.png",
+      "transform_matrix": [
+        [
+          0.3558478355407715,
+          -0.1350470334291458,
+          -0.924734890460968,
+          95.5045166015625
+        ],
+        [
+          0.9324793815612793,
+          -0.01442759670317173,
+          0.3609350025653839,
+          16.562551498413086
+        ],
+        [
+          -0.06208490580320358,
+          -0.9907342195510864,
+          0.12079454213380814,
+          -30.999197006225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4557,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_183081150",
+      "mask_path": "../../mask/hdr_front_04557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04558.png",
+      "transform_matrix": [
+        [
+          0.34975433349609375,
+          -0.13356855511665344,
+          -0.9272708892822266,
+          95.58584594726562
+        ],
+        [
+          0.9345628619194031,
+          -0.019246412441134453,
+          0.35527709126472473,
+          16.547611236572266
+        ],
+        [
+          -0.06530047208070755,
+          -0.9908527135848999,
+          0.11809669435024261,
+          -31.01325798034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4558,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_283079147",
+      "mask_path": "../../mask/hdr_front_04558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04560.png",
+      "transform_matrix": [
+        [
+          0.33193904161453247,
+          -0.12431463599205017,
+          -0.9350734949111938,
+          95.67457580566406
+        ],
+        [
+          0.9412196278572083,
+          -0.022163236513733864,
+          0.3370673656463623,
+          16.53911781311035
+        ],
+        [
+          -0.0626266598701477,
+          -0.9919953346252441,
+          0.10965052992105484,
+          -31.032243728637695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4560,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_483079433",
+      "mask_path": "../../mask/hdr_front_04560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04561.png",
+      "transform_matrix": [
+        [
+          0.3234174847602844,
+          -0.12610192596912384,
+          -0.9378163814544678,
+          95.73685455322266
+        ],
+        [
+          0.9442220330238342,
+          -0.021945755928754807,
+          0.3285774886608124,
+          16.531295776367188
+        ],
+        [
+          -0.062015339732170105,
+          -0.9917745590209961,
+          0.11197058856487274,
+          -31.0426025390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4561,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_583079814",
+      "mask_path": "../../mask/hdr_front_04561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04562.png",
+      "transform_matrix": [
+        [
+          0.3153918385505676,
+          -0.12625928223133087,
+          -0.9405245780944824,
+          95.79682922363281
+        ],
+        [
+          0.946950376033783,
+          -0.022618284448981285,
+          0.32058295607566833,
+          16.517749786376953
+        ],
+        [
+          -0.06174962595105171,
+          -0.9917393922805786,
+          0.11242764443159103,
+          -31.03607749938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4562,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_683079242",
+      "mask_path": "../../mask/hdr_front_04562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04564.png",
+      "transform_matrix": [
+        [
+          0.30502551794052124,
+          -0.11599788814783096,
+          -0.9452532529830933,
+          95.8893051147461
+        ],
+        [
+          0.951021671295166,
+          -0.015188639983534813,
+          0.30875083804130554,
+          16.490970611572266
+        ],
+        [
+          -0.05017155408859253,
+          -0.9931333661079407,
+          0.1056835874915123,
+          -31.04620933532715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4564,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_883079290",
+      "mask_path": "../../mask/hdr_front_04564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04565.png",
+      "transform_matrix": [
+        [
+          0.2969886362552643,
+          -0.1146048977971077,
+          -0.9479786157608032,
+          95.94330596923828
+        ],
+        [
+          0.9535561800003052,
+          -0.016681861132383347,
+          0.30075278878211975,
+          16.472227096557617
+        ],
+        [
+          -0.050281789153814316,
+          -0.9932710528373718,
+          0.10432789474725723,
+          -31.04952621459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4565,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_983080148",
+      "mask_path": "../../mask/hdr_front_04565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04567.png",
+      "transform_matrix": [
+        [
+          0.2551548182964325,
+          -0.11835328489542007,
+          -0.9596293568611145,
+          96.02466583251953
+        ],
+        [
+          0.9647935628890991,
+          -0.03431618958711624,
+          0.26076018810272217,
+          16.462194442749023
+        ],
+        [
+          -0.0637926384806633,
+          -0.9923784136772156,
+          0.10543053597211838,
+          -31.058767318725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4567,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_183081150",
+      "mask_path": "../../mask/hdr_front_04567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04569.png",
+      "transform_matrix": [
+        [
+          0.2142469435930252,
+          -0.11508908867835999,
+          -0.9699756503105164,
+          96.12683868408203
+        ],
+        [
+          0.9750221967697144,
+          -0.034342531114816666,
+          0.2194364070892334,
+          16.465002059936523
+        ],
+        [
+          -0.05856616422533989,
+          -0.9927613735198975,
+          0.10485663264989853,
+          -31.084909439086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4569,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_383081197",
+      "mask_path": "../../mask/hdr_front_04569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04570.png",
+      "transform_matrix": [
+        [
+          0.21063362061977386,
+          -0.12616990506649017,
+          -0.9693887829780579,
+          96.18773651123047
+        ],
+        [
+          0.9754220247268677,
+          -0.038499616086483,
+          0.21695543825626373,
+          16.444664001464844
+        ],
+        [
+          -0.06469433754682541,
+          -0.9912613034248352,
+          0.11495958268642426,
+          -31.091930389404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4570,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_483080625",
+      "mask_path": "../../mask/hdr_front_04570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04572.png",
+      "transform_matrix": [
+        [
+          0.22460103034973145,
+          -0.1525905430316925,
+          -0.9624294638633728,
+          96.26432800292969
+        ],
+        [
+          0.972628653049469,
+          -0.025267219170928,
+          0.23098723590373993,
+          16.42032814025879
+        ],
+        [
+          -0.05956437438726425,
+          -0.9879664778709412,
+          0.14273887872695923,
+          -31.124874114990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4572,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_683080673",
+      "mask_path": "../../mask/hdr_front_04572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04573.png",
+      "transform_matrix": [
+        [
+          0.2305830866098404,
+          -0.15045982599258423,
+          -0.9613498449325562,
+          96.32718658447266
+        ],
+        [
+          0.9717825055122375,
+          -0.014854245819151402,
+          0.23541025817394257,
+          16.41417694091797
+        ],
+        [
+          -0.04969990625977516,
+          -0.9885046482086182,
+          0.1427891105413437,
+          -31.13526153564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4573,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_783082723",
+      "mask_path": "../../mask/hdr_front_04573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04574.png",
+      "transform_matrix": [
+        [
+          0.23034851253032684,
+          -0.15387026965618134,
+          -0.9608660340309143,
+          96.39285278320312
+        ],
+        [
+          0.9715323448181152,
+          -0.019807489588856697,
+          0.23607748746871948,
+          16.404159545898438
+        ],
+        [
+          -0.05535764992237091,
+          -0.9878925085067749,
+          0.14492732286453247,
+          -31.14757537841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4574,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_883082151",
+      "mask_path": "../../mask/hdr_front_04574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04575.png",
+      "transform_matrix": [
+        [
+          0.2278277724981308,
+          -0.15401574969291687,
+          -0.9614436626434326,
+          96.44873809814453
+        ],
+        [
+          0.9718366265296936,
+          -0.02511245384812355,
+          0.23431341350078583,
+          16.389719009399414
+        ],
+        [
+          -0.06023215875029564,
+          -0.9877492189407349,
+          0.14395682513713837,
+          -31.16387367248535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4575,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_983081102",
+      "mask_path": "../../mask/hdr_front_04575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04576.png",
+      "transform_matrix": [
+        [
+          0.22550170123577118,
+          -0.14748799800872803,
+          -0.9630141258239746,
+          96.50553131103516
+        ],
+        [
+          0.972598135471344,
+          -0.023332420736551285,
+          0.23131932318210602,
+          16.382017135620117
+        ],
+        [
+          -0.05658626928925514,
+          -0.9887886643409729,
+          0.1381850689649582,
+          -31.178707122802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4576,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_83082199",
+      "mask_path": "../../mask/hdr_front_04576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04577.png",
+      "transform_matrix": [
+        [
+          0.224115252494812,
+          -0.1436351239681244,
+          -0.9639198184013367,
+          96.56356811523438
+        ],
+        [
+          0.9731312990188599,
+          -0.020603789016604424,
+          0.22932717204093933,
+          16.377260208129883
+        ],
+        [
+          -0.05279983952641487,
+          -0.9894163012504578,
+          0.1351582109928131,
+          -31.20107650756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4577,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_183081865",
+      "mask_path": "../../mask/hdr_front_04577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04578.png",
+      "transform_matrix": [
+        [
+          0.22811904549598694,
+          -0.15091939270496368,
+          -0.9618653655052185,
+          96.6344985961914
+        ],
+        [
+          0.9720630645751953,
+          -0.02078157477080822,
+          0.23379822075366974,
+          16.353023529052734
+        ],
+        [
+          -0.05527375638484955,
+          -0.9883276224136353,
+          0.14196248352527618,
+          -31.2109317779541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4578,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_283080816",
+      "mask_path": "../../mask/hdr_front_04578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04579.png",
+      "transform_matrix": [
+        [
+          0.2359817773103714,
+          -0.1638791859149933,
+          -0.95783931016922,
+          96.68797302246094
+        ],
+        [
+          0.9696502685546875,
+          -0.025166120380163193,
+          0.24319735169410706,
+          16.330448150634766
+        ],
+        [
+          -0.06396007537841797,
+          -0.9861593842506409,
+          0.15296675264835358,
+          -31.219417572021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4579,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_383082389",
+      "mask_path": "../../mask/hdr_front_04579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04580.png",
+      "transform_matrix": [
+        [
+          0.2457624226808548,
+          -0.16990068554878235,
+          -0.9543241858482361,
+          96.73291778564453
+        ],
+        [
+          0.9672337174415588,
+          -0.021730512380599976,
+          0.25295570492744446,
+          16.3095703125
+        ],
+        [
+          -0.06371530145406723,
+          -0.9852215647697449,
+          0.15899313986301422,
+          -31.23569107055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4580,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_483081340",
+      "mask_path": "../../mask/hdr_front_04580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04581.png",
+      "transform_matrix": [
+        [
+          0.25278735160827637,
+          -0.17364878952503204,
+          -0.9518113136291504,
+          96.79505920410156
+        ],
+        [
+          0.965430498123169,
+          -0.019374772906303406,
+          0.25993916392326355,
+          16.28806495666504
+        ],
+        [
+          -0.0635792464017868,
+          -0.9846170544624329,
+          0.16274812817573547,
+          -31.246341705322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4581,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_583082437",
+      "mask_path": "../../mask/hdr_front_04581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04582.png",
+      "transform_matrix": [
+        [
+          0.2545489966869354,
+          -0.181571364402771,
+          -0.9498613476753235,
+          96.88252258300781
+        ],
+        [
+          0.9649777412414551,
+          -0.01672971062362194,
+          0.2617979645729065,
+          16.264171600341797
+        ],
+        [
+          -0.06342590600252151,
+          -0.9832354784011841,
+          0.17095378041267395,
+          -31.271121978759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4582,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_683082580",
+      "mask_path": "../../mask/hdr_front_04582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04583.png",
+      "transform_matrix": [
+        [
+          0.2564256489276886,
+          -0.18768976628780365,
+          -0.9481658935546875,
+          96.95977783203125
+        ],
+        [
+          0.9646268486976624,
+          -0.012380087748169899,
+          0.2633281350135803,
+          16.23951530456543
+        ],
+        [
+          -0.061162371188402176,
+          -0.9821503758430481,
+          0.17787599563598633,
+          -31.30703353881836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4583,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_783082723",
+      "mask_path": "../../mask/hdr_front_04583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04584.png",
+      "transform_matrix": [
+        [
+          0.2612435519695282,
+          -0.18488870561122894,
+          -0.9474006295204163,
+          97.01664733886719
+        ],
+        [
+          0.9632647037506104,
+          -0.013343780301511288,
+          0.2682220935821533,
+          16.224641799926758
+        ],
+        [
+          -0.06223313510417938,
+          -0.9826688766479492,
+          0.17461079359054565,
+          -31.33119010925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4584,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_883082628",
+      "mask_path": "../../mask/hdr_front_04584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04585.png",
+      "transform_matrix": [
+        [
+          0.26560497283935547,
+          -0.17936387658119202,
+          -0.9472500681877136,
+          97.08598327636719
+        ],
+        [
+          0.9618597030639648,
+          -0.017374461516737938,
+          0.2729912996292114,
+          16.211101531982422
+        ],
+        [
+          -0.06542272865772247,
+          -0.9836294054985046,
+          0.16790813207626343,
+          -31.339813232421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4585,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_983082532",
+      "mask_path": "../../mask/hdr_front_04585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04586.png",
+      "transform_matrix": [
+        [
+          0.2712678015232086,
+          -0.1758204847574234,
+          -0.9463091492652893,
+          97.165771484375
+        ],
+        [
+          0.960132360458374,
+          -0.019542908295989037,
+          0.278861403465271,
+          16.17548942565918
+        ],
+        [
+          -0.06752317398786545,
+          -0.984228253364563,
+          0.1635095775127411,
+          -31.362411499023438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4586,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_83082199",
+      "mask_path": "../../mask/hdr_front_04586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04587.png",
+      "transform_matrix": [
+        [
+          0.2904389500617981,
+          -0.18347738683223724,
+          -0.9391385912895203,
+          97.24082946777344
+        ],
+        [
+          0.954962432384491,
+          -0.0067415013909339905,
+          0.2966497540473938,
+          16.147605895996094
+        ],
+        [
+          -0.06075971946120262,
+          -0.9830008149147034,
+          0.1732560247182846,
+          -31.369688034057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4587,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_183082342",
+      "mask_path": "../../mask/hdr_front_04587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04589.png",
+      "transform_matrix": [
+        [
+          0.34820568561553955,
+          -0.18705439567565918,
+          -0.9185660481452942,
+          97.32157135009766
+        ],
+        [
+          0.9349404573440552,
+          -0.0018983082845807076,
+          0.3547994792461395,
+          16.106769561767578
+        ],
+        [
+          -0.06811050325632095,
+          -0.9823477864265442,
+          0.17422370612621307,
+          -31.379213333129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4589,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_383082389",
+      "mask_path": "../../mask/hdr_front_04589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04590.png",
+      "transform_matrix": [
+        [
+          0.3834056258201599,
+          -0.17547740042209625,
+          -0.9067567586898804,
+          97.41439056396484
+        ],
+        [
+          0.9205144643783569,
+          -0.007322473451495171,
+          0.39063993096351624,
+          16.07260513305664
+        ],
+        [
+          -0.07518817484378815,
+          -0.9844561815261841,
+          0.15872201323509216,
+          -31.376699447631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4590,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_483080387",
+      "mask_path": "../../mask/hdr_front_04590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04595.png",
+      "transform_matrix": [
+        [
+          0.4850461483001709,
+          -0.1841752678155899,
+          -0.8548741340637207,
+          97.63943481445312
+        ],
+        [
+          0.867530882358551,
+          -0.021727873012423515,
+          0.49690860509872437,
+          15.957947731018066
+        ],
+        [
+          -0.11009284853935242,
+          -0.9826532602310181,
+          0.149238720536232,
+          -31.429655075073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4595,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_983081579",
+      "mask_path": "../../mask/hdr_front_04595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04596.png",
+      "transform_matrix": [
+        [
+          0.4969569742679596,
+          -0.1922999769449234,
+          -0.8461999893188477,
+          97.69853973388672
+        ],
+        [
+          0.8605693578720093,
+          -0.01619294472038746,
+          0.5090757012367249,
+          15.933032989501953
+        ],
+        [
+          -0.11159771680831909,
+          -0.9812026023864746,
+          0.15744028985500336,
+          -31.447010040283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4596,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_83081722",
+      "mask_path": "../../mask/hdr_front_04596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04598.png",
+      "transform_matrix": [
+        [
+          0.505376398563385,
+          -0.18602252006530762,
+          -0.8426092863082886,
+          97.80318450927734
+        ],
+        [
+          0.856638491153717,
+          -0.009255647659301758,
+          0.5158340930938721,
+          15.873899459838867
+        ],
+        [
+          -0.1037556603550911,
+          -0.9825019240379333,
+          0.15467646718025208,
+          -31.48838233947754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4598,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_283082723",
+      "mask_path": "../../mask/hdr_front_04598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04599.png",
+      "transform_matrix": [
+        [
+          0.5027704238891602,
+          -0.18207798898220062,
+          -0.8450262546539307,
+          97.88715362548828
+        ],
+        [
+          0.8581789135932922,
+          -0.012120697647333145,
+          0.5132076740264893,
+          15.828826904296875
+        ],
+        [
+          -0.10368610918521881,
+          -0.9832094311714172,
+          0.15016156435012817,
+          -31.50487518310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4599,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_383081436",
+      "mask_path": "../../mask/hdr_front_04599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04601.png",
+      "transform_matrix": [
+        [
+          0.4967459738254547,
+          -0.16381391882896423,
+          -0.8522960543632507,
+          97.98831176757812
+        ],
+        [
+          0.8623816967010498,
+          -0.017360515892505646,
+          0.5059609413146973,
+          15.776037216186523
+        ],
+        [
+          -0.0976797491312027,
+          -0.9863384962081909,
+          0.1326463669538498,
+          -31.512434005737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4601,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_583081722",
+      "mask_path": "../../mask/hdr_front_04601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04602.png",
+      "transform_matrix": [
+        [
+          0.49425676465034485,
+          -0.15265998244285583,
+          -0.8558066487312317,
+          98.06649780273438
+        ],
+        [
+          0.8652233481407166,
+          -0.009027274325489998,
+          0.5013054609298706,
+          15.737825393676758
+        ],
+        [
+          -0.08425487577915192,
+          -0.9882375001907349,
+          0.12762317061424255,
+          -31.534109115600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4602,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_683081388",
+      "mask_path": "../../mask/hdr_front_04602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04603.png",
+      "transform_matrix": [
+        [
+          0.48312699794769287,
+          -0.15362851321697235,
+          -0.8619667887687683,
+          98.14189910888672
+        ],
+        [
+          0.8730904459953308,
+          0.010788866318762302,
+          0.4874389171600342,
+          15.708855628967285
+        ],
+        [
+          -0.06558486819267273,
+          -0.9880697727203369,
+          0.1393439918756485,
+          -31.543655395507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4603,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_783081531",
+      "mask_path": "../../mask/hdr_front_04603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04605.png",
+      "transform_matrix": [
+        [
+          0.4348898231983185,
+          -0.16237910091876984,
+          -0.885722279548645,
+          98.22547149658203
+        ],
+        [
+          0.8990063071250916,
+          0.021972034126520157,
+          0.4373841881752014,
+          15.692517280578613
+        ],
+        [
+          -0.051560938358306885,
+          -0.9864838123321533,
+          0.1555352658033371,
+          -31.55487060546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4605,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_983082294",
+      "mask_path": "../../mask/hdr_front_04605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04607.png",
+      "transform_matrix": [
+        [
+          0.40037140250205994,
+          -0.1680631786584854,
+          -0.9008094072341919,
+          98.32783508300781
+        ],
+        [
+          0.9153010845184326,
+          0.026256924495100975,
+          0.4019136130809784,
+          15.65310001373291
+        ],
+        [
+          -0.04389439523220062,
+          -0.9854264855384827,
+          0.16434092819690704,
+          -31.575284957885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4607,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_183082103",
+      "mask_path": "../../mask/hdr_front_04607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04608.png",
+      "transform_matrix": [
+        [
+          0.3978809416294098,
+          -0.17693713307380676,
+          -0.9002133011817932,
+          98.3880386352539
+        ],
+        [
+          0.9161831736564636,
+          0.025347501039505005,
+          0.3999573588371277,
+          15.622387886047363
+        ],
+        [
+          -0.04794915020465851,
+          -0.9838957190513611,
+          0.17219211161136627,
+          -31.578571319580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4608,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_283080339",
+      "mask_path": "../../mask/hdr_front_04608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04610.png",
+      "transform_matrix": [
+        [
+          0.39943477511405945,
+          -0.17330077290534973,
+          -0.9002326130867004,
+          98.45670318603516
+        ],
+        [
+          0.9160572290420532,
+          0.03696347773075104,
+          0.3993404805660248,
+          15.617979049682617
+        ],
+        [
+          -0.03593028336763382,
+          -0.9841750860214233,
+          0.17351791262626648,
+          -31.6054744720459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4610,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_483081340",
+      "mask_path": "../../mask/hdr_front_04610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04612.png",
+      "transform_matrix": [
+        [
+          0.4072871208190918,
+          -0.17898207902908325,
+          -0.8955907225608826,
+          98.54573059082031
+        ],
+        [
+          0.9123225808143616,
+          0.03437184914946556,
+          0.40802711248397827,
+          15.581134796142578
+        ],
+        [
+          -0.04224642738699913,
+          -0.9832517504692078,
+          0.17728860676288605,
+          -31.629634857177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4612,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_683082103",
+      "mask_path": "../../mask/hdr_front_04612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04614.png",
+      "transform_matrix": [
+        [
+          0.4243125319480896,
+          -0.17339186370372772,
+          -0.888759970664978,
+          98.63742065429688
+        ],
+        [
+          0.9047305583953857,
+          0.040310848504304886,
+          0.424072802066803,
+          15.539447784423828
+        ],
+        [
+          -0.03770411014556885,
+          -0.9840275645256042,
+          0.1739773154258728,
+          -31.661304473876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4614,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_883081436",
+      "mask_path": "../../mask/hdr_front_04614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04615.png",
+      "transform_matrix": [
+        [
+          0.42576053738594055,
+          -0.18040676414966583,
+          -0.8866687417030334,
+          98.717041015625
+        ],
+        [
+          0.9038875102996826,
+          0.03994523361325264,
+          0.4259011745452881,
+          15.514491081237793
+        ],
+        [
+          -0.04141726344823837,
+          -0.9827806353569031,
+          0.1800745129585266,
+          -31.68061637878418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4615,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_983081102",
+      "mask_path": "../../mask/hdr_front_04615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04616.png",
+      "transform_matrix": [
+        [
+          0.4224034547805786,
+          -0.18859626352787018,
+          -0.8865702748298645,
+          98.7806167602539
+        ],
+        [
+          0.9050530195236206,
+          0.03429800271987915,
+          0.42391347885131836,
+          15.497488021850586
+        ],
+        [
+          -0.04954090341925621,
+          -0.9814556241035461,
+          0.18517722189426422,
+          -31.69973373413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4616,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_83081722",
+      "mask_path": "../../mask/hdr_front_04616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04618.png",
+      "transform_matrix": [
+        [
+          0.41412070393562317,
+          -0.18721596896648407,
+          -0.8907604813575745,
+          98.85900115966797
+        ],
+        [
+          0.9087740182876587,
+          0.029864531010389328,
+          0.4162185788154602,
+          15.48641300201416
+        ],
+        [
+          -0.05132061988115311,
+          -0.9818647503852844,
+          0.1825045496225357,
+          -31.73409080505371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4618,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_283081769",
+      "mask_path": "../../mask/hdr_front_04618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04619.png",
+      "transform_matrix": [
+        [
+          0.4132455885410309,
+          -0.20374171435832977,
+          -0.8875344395637512,
+          98.91722106933594
+        ],
+        [
+          0.9092243313789368,
+          0.03838442638516426,
+          0.41453316807746887,
+          15.479375839233398
+        ],
+        [
+          -0.05039018765091896,
+          -0.9782719612121582,
+          0.2011091262102127,
+          -31.759281158447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4619,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_383081912",
+      "mask_path": "../../mask/hdr_front_04619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04620.png",
+      "transform_matrix": [
+        [
+          0.4198891222476959,
+          -0.22495394945144653,
+          -0.8792547583580017,
+          98.97407531738281
+        ],
+        [
+          0.9060078263282776,
+          0.04698031023144722,
+          0.4206453859806061,
+          15.460185050964355
+        ],
+        [
+          -0.053318191319704056,
+          -0.9732362031936646,
+          0.22353659570217133,
+          -31.770984649658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4620,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_483082532",
+      "mask_path": "../../mask/hdr_front_04620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04622.png",
+      "transform_matrix": [
+        [
+          0.4334980845451355,
+          -0.23389673233032227,
+          -0.8702710866928101,
+          99.04110717773438
+        ],
+        [
+          0.89932781457901,
+          0.0508289597928524,
+          0.4343108832836151,
+          15.422917366027832
+        ],
+        [
+          -0.05734892189502716,
+          -0.9709320068359375,
+          0.2323840856552124,
+          -31.80406379699707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4622,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_683081626",
+      "mask_path": "../../mask/hdr_front_04622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04623.png",
+      "transform_matrix": [
+        [
+          0.4315777122974396,
+          -0.25336411595344543,
+          -0.8657640218734741,
+          99.11585998535156
+        ],
+        [
+          0.8986057639122009,
+          0.03665025904774666,
+          0.43722352385520935,
+          15.390618324279785
+        ],
+        [
+          -0.07904626429080963,
+          -0.9666764736175537,
+          0.24349190294742584,
+          -31.81165313720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4623,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_783081531",
+      "mask_path": "../../mask/hdr_front_04623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04626.png",
+      "transform_matrix": [
+        [
+          0.4218566119670868,
+          -0.27346858382225037,
+          -0.8644373416900635,
+          99.22747039794922
+        ],
+        [
+          0.9003110527992249,
+          0.013692691922187805,
+          0.4350316524505615,
+          15.34415340423584
+        ],
+        [
+          -0.1071309894323349,
+          -0.9617835879325867,
+          0.251983106136322,
+          -31.862506866455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4626,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_83082675",
+      "mask_path": "../../mask/hdr_front_04626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04627.png",
+      "transform_matrix": [
+        [
+          0.42364737391471863,
+          -0.2838453948497772,
+          -0.860206127166748,
+          99.27837371826172
+        ],
+        [
+          0.9000262022018433,
+          0.024600816890597343,
+          0.4351409375667572,
+          15.3226957321167
+        ],
+        [
+          -0.10235097259283066,
+          -0.9585544466972351,
+          0.2658903896808624,
+          -31.888898849487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4627,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_183082103",
+      "mask_path": "../../mask/hdr_front_04627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04629.png",
+      "transform_matrix": [
+        [
+          0.43003323674201965,
+          -0.30354753136634827,
+          -0.8502531051635742,
+          99.3392562866211
+        ],
+        [
+          0.8981620669364929,
+          0.04836970567703247,
+          0.43699580430984497,
+          15.28896713256836
+        ],
+        [
+          -0.09152249991893768,
+          -0.9515877962112427,
+          0.29343539476394653,
+          -31.92789649963379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4629,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_383082389",
+      "mask_path": "../../mask/hdr_front_04629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04630.png",
+      "transform_matrix": [
+        [
+          0.43016913533210754,
+          -0.3032585680484772,
+          -0.8502874374389648,
+          99.38691711425781
+        ],
+        [
+          0.8985316157341003,
+          0.052900202572345734,
+          0.43570926785469055,
+          15.2644624710083
+        ],
+        [
+          -0.08715219795703888,
+          -0.951438844203949,
+          0.29524344205856323,
+          -31.955318450927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4630,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_483082294",
+      "mask_path": "../../mask/hdr_front_04630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04631.png",
+      "transform_matrix": [
+        [
+          0.42705410718917847,
+          -0.3019688129425049,
+          -0.852314293384552,
+          99.44490051269531
+        ],
+        [
+          0.900629997253418,
+          0.05806775391101837,
+          0.43068987131118774,
+          15.249238014221191
+        ],
+        [
+          -0.08056292682886124,
+          -0.9515476822853088,
+          0.2967602610588074,
+          -32.009521484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4631,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_583083868",
+      "mask_path": "../../mask/hdr_front_04631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04632.png",
+      "transform_matrix": [
+        [
+          0.4132063388824463,
+          -0.32468047738075256,
+          -0.8507896661758423,
+          99.514892578125
+        ],
+        [
+          0.906430721282959,
+          0.05694536492228508,
+          0.41849806904792786,
+          15.232477188110352
+        ],
+        [
+          -0.08742962032556534,
+          -0.9441080093383789,
+          0.31783056259155273,
+          -32.03056716918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4632,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_683082342",
+      "mask_path": "../../mask/hdr_front_04632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04634.png",
+      "transform_matrix": [
+        [
+          0.40447697043418884,
+          -0.326194703578949,
+          -0.854397714138031,
+          99.60527801513672
+        ],
+        [
+          0.9115203619003296,
+          0.06783095002174377,
+          0.4056224822998047,
+          15.194852828979492
+        ],
+        [
+          -0.0743572935461998,
+          -0.9428658485412598,
+          0.32476916909217834,
+          -32.03685760498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4634,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_883082389",
+      "mask_path": "../../mask/hdr_front_04634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04635.png",
+      "transform_matrix": [
+        [
+          0.4037196934223175,
+          -0.3179967999458313,
+          -0.8578393459320068,
+          99.67221069335938
+        ],
+        [
+          0.9124237895011902,
+          0.07124920189380646,
+          0.4029967486858368,
+          15.167348861694336
+        ],
+        [
+          -0.06703127920627594,
+          -0.9454108476638794,
+          0.318912535905838,
+          -32.057769775390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4635,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_983082771",
+      "mask_path": "../../mask/hdr_front_04635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04636.png",
+      "transform_matrix": [
+        [
+          0.39866217970848083,
+          -0.31823936104774475,
+          -0.8601117134094238,
+          99.72772216796875
+        ],
+        [
+          0.9147335290908813,
+          0.07068156450986862,
+          0.3978274464607239,
+          15.140432357788086
+        ],
+        [
+          -0.06581030786037445,
+          -0.9453718662261963,
+          0.31928226351737976,
+          -32.079925537109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4636,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_83082199",
+      "mask_path": "../../mask/hdr_front_04636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04638.png",
+      "transform_matrix": [
+        [
+          0.4062846899032593,
+          -0.3030336797237396,
+          -0.8620343804359436,
+          99.80642700195312
+        ],
+        [
+          0.9118427038192749,
+          0.0735914334654808,
+          0.40389004349708557,
+          15.108989715576172
+        ],
+        [
+          -0.05895393341779709,
+          -0.9501341581344604,
+          0.30621811747550964,
+          -32.11960220336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4638,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_283082246",
+      "mask_path": "../../mask/hdr_front_04638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04639.png",
+      "transform_matrix": [
+        [
+          0.4106760323047638,
+          -0.28796064853668213,
+          -0.8651149272918701,
+          99.88556671142578
+        ],
+        [
+          0.9097890853881836,
+          0.06672941148281097,
+          0.40967175364494324,
+          15.075887680053711
+        ],
+        [
+          -0.0602407231926918,
+          -0.9553145170211792,
+          0.28938761353492737,
+          -32.1456298828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4639,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_383082151",
+      "mask_path": "../../mask/hdr_front_04639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04640.png",
+      "transform_matrix": [
+        [
+          0.41056519746780396,
+          -0.27772319316864014,
+          -0.8685080409049988,
+          99.96839141845703
+        ],
+        [
+          0.9093843698501587,
+          0.054981570690870285,
+          0.4123070240020752,
+          15.038934707641602
+        ],
+        [
+          -0.06675528734922409,
+          -0.959086537361145,
+          0.27513065934181213,
+          -32.14924621582031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4640,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_483082532",
+      "mask_path": "../../mask/hdr_front_04640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04641.png",
+      "transform_matrix": [
+        [
+          0.4085257351398468,
+          -0.2695704996585846,
+          -0.8720312118530273,
+          100.02412414550781
+        ],
+        [
+          0.909952700138092,
+          0.04558519646525383,
+          0.4121992588043213,
+          15.017035484313965
+        ],
+        [
+          -0.07136505097150803,
+          -0.9619011282920837,
+          0.2639191150665283,
+          -32.152042388916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4641,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_583081722",
+      "mask_path": "../../mask/hdr_front_04641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04642.png",
+      "transform_matrix": [
+        [
+          0.40696653723716736,
+          -0.25831305980682373,
+          -0.8761578798294067,
+          100.09424591064453
+        ],
+        [
+          0.9105923175811768,
+          0.03900613635778427,
+          0.41146108508110046,
+          14.992612838745117
+        ],
+        [
+          -0.07211022824048996,
+          -0.9652735590934753,
+          0.2510921061038971,
+          -32.171173095703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4642,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_683084487",
+      "mask_path": "../../mask/hdr_front_04642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04643.png",
+      "transform_matrix": [
+        [
+          0.4092628061771393,
+          -0.253625750541687,
+          -0.8764576315879822,
+          100.18446350097656
+        ],
+        [
+          0.9096497893333435,
+          0.03866838291287422,
+          0.4135722815990448,
+          14.950791358947754
+        ],
+        [
+          -0.07100138068199158,
+          -0.9665293097496033,
+          0.24653615057468414,
+          -32.18793487548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4643,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_783081769",
+      "mask_path": "../../mask/hdr_front_04643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04644.png",
+      "transform_matrix": [
+        [
+          0.4177749752998352,
+          -0.24955053627490997,
+          -0.8736066222190857,
+          100.25991821289062
+        ],
+        [
+          0.9055494666099548,
+          0.03628235310316086,
+          0.4226863980293274,
+          14.910564422607422
+        ],
+        [
+          -0.07378511130809784,
+          -0.9676818251609802,
+          0.24113821983337402,
+          -32.19718933105469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4644,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_883081436",
+      "mask_path": "../../mask/hdr_front_04644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04645.png",
+      "transform_matrix": [
+        [
+          0.42948809266090393,
+          -0.24160441756248474,
+          -0.8701536059379578,
+          100.3241958618164
+        ],
+        [
+          0.8995050191879272,
+          0.028888262808322906,
+          0.4359542727470398,
+          14.875033378601074
+        ],
+        [
+          -0.0801912471652031,
+          -0.9699447154998779,
+          0.22973157465457916,
+          -32.210411071777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4645,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_983080148",
+      "mask_path": "../../mask/hdr_front_04645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05677.png",
+      "transform_matrix": [
+        [
+          -0.5023810267448425,
+          -0.16012945771217346,
+          0.8496893048286438,
+          99.28009033203125
+        ],
+        [
+          -0.8639310002326965,
+          0.05299801751971245,
+          -0.5008136630058289,
+          15.19237232208252
+        ],
+        [
+          0.03516317903995514,
+          -0.9856723546981812,
+          -0.16496598720550537,
+          -32.00462341308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5677,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_183080911",
+      "mask_path": "../../mask/hdr_front_05677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05678.png",
+      "transform_matrix": [
+        [
+          -0.49951115250587463,
+          -0.17810511589050293,
+          0.8478013277053833,
+          99.19446563720703
+        ],
+        [
+          -0.8654611110687256,
+          0.05934890732169151,
+          -0.4974481761455536,
+          15.21789836883545
+        ],
+        [
+          0.038281992077827454,
+          -0.9822201132774353,
+          -0.1837885081768036,
+          -31.930171966552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5678,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_283080101",
+      "mask_path": "../../mask/hdr_front_05678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05679.png",
+      "transform_matrix": [
+        [
+          -0.5047363042831421,
+          -0.1724930703639984,
+          0.8458649516105652,
+          99.15372467041016
+        ],
+        [
+          -0.8629151582717896,
+          0.07257811725139618,
+          -0.500109851360321,
+          15.263496398925781
+        ],
+        [
+          0.024874191731214523,
+          -0.9823331832885742,
+          -0.18547970056533813,
+          -31.95235252380371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5679,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_383080720",
+      "mask_path": "../../mask/hdr_front_05679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05680.png",
+      "transform_matrix": [
+        [
+          -0.5154327750205994,
+          -0.17505353689193726,
+          0.8388596177101135,
+          99.0858154296875
+        ],
+        [
+          -0.8568015098571777,
+          0.0883239209651947,
+          -0.5080256462097168,
+          15.32925033569336
+        ],
+        [
+          0.014840323477983475,
+          -0.9805892109870911,
+          -0.19551117718219757,
+          -31.91370391845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5680,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_483080863",
+      "mask_path": "../../mask/hdr_front_05680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05681.png",
+      "transform_matrix": [
+        [
+          -0.5237792134284973,
+          -0.18041156232357025,
+          0.8325304388999939,
+          99.03485870361328
+        ],
+        [
+          -0.8516975045204163,
+          0.09217637777328491,
+          -0.5158632397651672,
+          15.369909286499023
+        ],
+        [
+          0.01632804423570633,
+          -0.97926265001297,
+          -0.20193615555763245,
+          -31.886632919311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5681,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_583081007",
+      "mask_path": "../../mask/hdr_front_05681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05682.png",
+      "transform_matrix": [
+        [
+          -0.5293800830841064,
+          -0.1849823296070099,
+          0.827972412109375,
+          98.9951171875
+        ],
+        [
+          -0.8480687141418457,
+          0.08874654024839401,
+          -0.5224016904830933,
+          15.400873184204102
+        ],
+        [
+          0.023155394941568375,
+          -0.9787265658378601,
+          -0.2038583904504776,
+          -31.88619041442871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5682,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_683080911",
+      "mask_path": "../../mask/hdr_front_05682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05683.png",
+      "transform_matrix": [
+        [
+          -0.5315569043159485,
+          -0.20793591439723969,
+          0.8211028575897217,
+          98.89634704589844
+        ],
+        [
+          -0.8459815979003906,
+          0.08228239417076111,
+          -0.5268253087997437,
+          15.427759170532227
+        ],
+        [
+          0.04198358207941055,
+          -0.9746755361557007,
+          -0.21964770555496216,
+          -31.839210510253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5683,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_783080816",
+      "mask_path": "../../mask/hdr_front_05683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05684.png",
+      "transform_matrix": [
+        [
+          -0.5248352885246277,
+          -0.22936460375785828,
+          0.8197193741798401,
+          98.80620574951172
+        ],
+        [
+          -0.8498613238334656,
+          0.08713387697935104,
+          -0.5197533369064331,
+          15.454883575439453
+        ],
+        [
+          0.04778769612312317,
+          -0.9694325923919678,
+          -0.24065902829170227,
+          -31.749635696411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5684,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_883080482",
+      "mask_path": "../../mask/hdr_front_05684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05686.png",
+      "transform_matrix": [
+        [
+          -0.5248048305511475,
+          -0.2147861123085022,
+          0.8236788511276245,
+          98.73900604248047
+        ],
+        [
+          -0.8509317636489868,
+          0.10708578675985336,
+          -0.514244794845581,
+          15.51285457611084
+        ],
+        [
+          0.02224835380911827,
+          -0.9707726836204529,
+          -0.23896744847297668,
+          -31.75578498840332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5686,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_83079338",
+      "mask_path": "../../mask/hdr_front_05686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05687.png",
+      "transform_matrix": [
+        [
+          -0.5287439823150635,
+          -0.20905080437660217,
+          0.8226344585418701,
+          98.68229675292969
+        ],
+        [
+          -0.8487170338630676,
+          0.11828300356864929,
+          -0.5154498815536499,
+          15.552364349365234
+        ],
+        [
+          0.010451536625623703,
+          -0.9707249999046326,
+          -0.23996639251708984,
+          -31.739212036132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5687,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_183078289",
+      "mask_path": "../../mask/hdr_front_05687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05688.png",
+      "transform_matrix": [
+        [
+          -0.5381116271018982,
+          -0.20312736928462982,
+          0.8180312514305115,
+          98.63420104980469
+        ],
+        [
+          -0.842535674571991,
+          0.10214787721633911,
+          -0.5288663506507874,
+          15.595897674560547
+        ],
+        [
+          0.023867066949605942,
+          -0.9738095998764038,
+          -0.22610901296138763,
+          -31.72515296936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5688,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_283078670",
+      "mask_path": "../../mask/hdr_front_05688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05689.png",
+      "transform_matrix": [
+        [
+          -0.5471648573875427,
+          -0.19854199886322021,
+          0.8131370544433594,
+          98.58735656738281
+        ],
+        [
+          -0.8362661600112915,
+          0.08831685036420822,
+          -0.5411645174026489,
+          15.622438430786133
+        ],
+        [
+          0.035630181431770325,
+          -0.9761050939559937,
+          -0.21435782313346863,
+          -31.69880485534668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5689,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_383080959",
+      "mask_path": "../../mask/hdr_front_05689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05690.png",
+      "transform_matrix": [
+        [
+          -0.5519847273826599,
+          -0.2023971527814865,
+          0.8089179396629333,
+          98.54654693603516
+        ],
+        [
+          -0.8328275084495544,
+          0.08569072932004929,
+          -0.546859622001648,
+          15.650059700012207
+        ],
+        [
+          0.04136605188250542,
+          -0.9755473136901855,
+          -0.21586188673973083,
+          -31.674522399902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5690,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_483080863",
+      "mask_path": "../../mask/hdr_front_05690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05691.png",
+      "transform_matrix": [
+        [
+          -0.5530924797058105,
+          -0.22356176376342773,
+          0.8025639653205872,
+          98.47637176513672
+        ],
+        [
+          -0.8310688734054565,
+          0.0804980918765068,
+          -0.5503132939338684,
+          15.688830375671387
+        ],
+        [
+          0.058424148708581924,
+          -0.9713600277900696,
+          -0.2303181141614914,
+          -31.64486312866211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5691,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_583081960",
+      "mask_path": "../../mask/hdr_front_05691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05692.png",
+      "transform_matrix": [
+        [
+          -0.5493972897529602,
+          -0.23140183091163635,
+          0.8028796315193176,
+          98.3944320678711
+        ],
+        [
+          -0.8338309526443481,
+          0.09003067761659622,
+          -0.5446287393569946,
+          15.722224235534668
+        ],
+        [
+          0.05374425649642944,
+          -0.9686834812164307,
+          -0.24241259694099426,
+          -31.587026596069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5692,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_683081150",
+      "mask_path": "../../mask/hdr_front_05692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05694.png",
+      "transform_matrix": [
+        [
+          -0.5303246974945068,
+          -0.21517542004585266,
+          0.8200337290763855,
+          98.32942962646484
+        ],
+        [
+          -0.8472235202789307,
+          0.09901086986064911,
+          -0.5219283103942871,
+          15.74591064453125
+        ],
+        [
+          0.031113887205719948,
+          -0.9715433120727539,
+          -0.23480957746505737,
+          -31.582284927368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5694,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_883080482",
+      "mask_path": "../../mask/hdr_front_05694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05695.png",
+      "transform_matrix": [
+        [
+          -0.5136122107505798,
+          -0.21011173725128174,
+          0.8318987488746643,
+          98.27965545654297
+        ],
+        [
+          -0.8575999736785889,
+          0.09529063105583191,
+          -0.5054126381874084,
+          15.765506744384766
+        ],
+        [
+          0.026920972391963005,
+          -0.9730225205421448,
+          -0.22913426160812378,
+          -31.57101058959961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5695,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_983080863",
+      "mask_path": "../../mask/hdr_front_05695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05696.png",
+      "transform_matrix": [
+        [
+          -0.49189841747283936,
+          -0.2110556960105896,
+          0.8446842432022095,
+          98.21756744384766
+        ],
+        [
+          -0.8702439665794373,
+          0.08946605026721954,
+          -0.4844287037849426,
+          15.787936210632324
+        ],
+        [
+          0.026670880615711212,
+          -0.9733710885047913,
+          -0.22767817974090576,
+          -31.550567626953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5696,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_83078145",
+      "mask_path": "../../mask/hdr_front_05696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05698.png",
+      "transform_matrix": [
+        [
+          -0.4389883279800415,
+          -0.22398824989795685,
+          0.8701256513595581,
+          98.11726379394531
+        ],
+        [
+          -0.8974007368087769,
+          0.0615733303129673,
+          -0.43689873814582825,
+          15.79726505279541
+        ],
+        [
+          0.04428364709019661,
+          -0.9726449251174927,
+          -0.22803720831871033,
+          -31.526052474975586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5698,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_283080101",
+      "mask_path": "../../mask/hdr_front_05698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05699.png",
+      "transform_matrix": [
+        [
+          -0.4157252907752991,
+          -0.21806518733501434,
+          0.8829609751701355,
+          98.06512451171875
+        ],
+        [
+          -0.9084993004798889,
+          0.054262712597846985,
+          -0.4143482744693756,
+          15.804366111755371
+        ],
+        [
+          0.04244308918714523,
+          -0.9744245409965515,
+          -0.22067047655582428,
+          -31.520017623901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5699,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_383078336",
+      "mask_path": "../../mask/hdr_front_05699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05701.png",
+      "transform_matrix": [
+        [
+          -0.4061204791069031,
+          -0.21180549263954163,
+          0.8889345526695251,
+          97.97898864746094
+        ],
+        [
+          -0.9126517176628113,
+          0.04484662413597107,
+          -0.40627041459083557,
+          15.818221092224121
+        ],
+        [
+          0.04618459194898605,
+          -0.9762824177742004,
+          -0.21151778101921082,
+          -31.512950897216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5701,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_583082675",
+      "mask_path": "../../mask/hdr_front_05701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05703.png",
+      "transform_matrix": [
+        [
+          -0.41316255927085876,
+          -0.1944211721420288,
+          0.8896611928939819,
+          97.90190124511719
+        ],
+        [
+          -0.9087511301040649,
+          0.02484731189906597,
+          -0.4165980815887451,
+          15.822794914245605
+        ],
+        [
+          0.05888979882001877,
+          -0.9806034564971924,
+          -0.18694643676280975,
+          -31.504058837890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5703,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_783081769",
+      "mask_path": "../../mask/hdr_front_05703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05704.png",
+      "transform_matrix": [
+        [
+          -0.41903573274612427,
+          -0.20141185820102692,
+          0.8853487372398376,
+          97.85540771484375
+        ],
+        [
+          -0.9054864645004272,
+          0.020631538704037666,
+          -0.4238733947277069,
+          15.844773292541504
+        ],
+        [
+          0.06710701435804367,
+          -0.9792893528938293,
+          -0.19102105498313904,
+          -31.490690231323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5704,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_883081436",
+      "mask_path": "../../mask/hdr_front_05704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05705.png",
+      "transform_matrix": [
+        [
+          -0.4242226481437683,
+          -0.20061823725700378,
+          0.8830557465553284,
+          97.80619049072266
+        ],
+        [
+          -0.9026493430137634,
+          0.015586153604090214,
+          -0.43009448051452637,
+          15.870108604431152
+        ],
+        [
+          0.07252135127782822,
+          -0.9795454740524292,
+          -0.18769991397857666,
+          -31.482351303100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5705,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_983081579",
+      "mask_path": "../../mask/hdr_front_05705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05706.png",
+      "transform_matrix": [
+        [
+          -0.42642930150032043,
+          -0.18706358969211578,
+          0.884966254234314,
+          97.74897766113281
+        ],
+        [
+          -0.902449905872345,
+          0.021819407120347023,
+          -0.43024179339408875,
+          15.888484954833984
+        ],
+        [
+          0.06117312237620354,
+          -0.9821054339408875,
+          -0.178119957447052,
+          -31.471864700317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5706,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_83082199",
+      "mask_path": "../../mask/hdr_front_05706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05708.png",
+      "transform_matrix": [
+        [
+          -0.4299597442150116,
+          -0.16419756412506104,
+          0.8877915740013123,
+          97.67683410644531
+        ],
+        [
+          -0.9019134640693665,
+          0.03338183835148811,
+          -0.43062499165534973,
+          15.922849655151367
+        ],
+        [
+          0.04107145965099335,
+          -0.9858625531196594,
+          -0.1624448299407959,
+          -31.466609954833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5708,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_283081054",
+      "mask_path": "../../mask/hdr_front_05708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05709.png",
+      "transform_matrix": [
+        [
+          -0.4269266128540039,
+          -0.16035208106040955,
+          0.8899555802345276,
+          97.62979888916016
+        ],
+        [
+          -0.9037400484085083,
+          0.04145871475338936,
+          -0.4260692894458771,
+          15.954142570495605
+        ],
+        [
+          0.03142467886209488,
+          -0.9861888885498047,
+          -0.16261644661426544,
+          -31.457843780517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5709,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_383083343",
+      "mask_path": "../../mask/hdr_front_05709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05710.png",
+      "transform_matrix": [
+        [
+          -0.4216850697994232,
+          -0.15924814343452454,
+          0.8926488161087036,
+          97.56892395019531
+        ],
+        [
+          -0.9061675071716309,
+          0.03896273672580719,
+          -0.42112040519714355,
+          15.978586196899414
+        ],
+        [
+          0.03228260949254036,
+          -0.9864694476127625,
+          -0.16073550283908844,
+          -31.421884536743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5710,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_483082056",
+      "mask_path": "../../mask/hdr_front_05710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05713.png",
+      "transform_matrix": [
+        [
+          -0.38550448417663574,
+          -0.1722414493560791,
+          0.9064873456954956,
+          97.41263580322266
+        ],
+        [
+          -0.9210766553878784,
+          0.013477466069161892,
+          -0.38914811611175537,
+          16.018526077270508
+        ],
+        [
+          0.05481027439236641,
+          -0.9849626421928406,
+          -0.16384316980838776,
+          -31.37555503845215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5713,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_783080339",
+      "mask_path": "../../mask/hdr_front_05713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05714.png",
+      "transform_matrix": [
+        [
+          -0.3640882074832916,
+          -0.16699768602848053,
+          0.9162704944610596,
+          97.34961700439453
+        ],
+        [
+          -0.9296587705612183,
+          0.005651652347296476,
+          -0.3683781623840332,
+          16.030838012695312
+        ],
+        [
+          0.05633984133601189,
+          -0.9859411120414734,
+          -0.15730856359004974,
+          -31.368783950805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5714,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_883080482",
+      "mask_path": "../../mask/hdr_front_05714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05717.png",
+      "transform_matrix": [
+        [
+          -0.3319500684738159,
+          -0.14139282703399658,
+          0.9326399564743042,
+          97.20490264892578
+        ],
+        [
+          -0.9423943161964417,
+          0.006467650644481182,
+          -0.3344414234161377,
+          16.060138702392578
+        ],
+        [
+          0.041255634278059006,
+          -0.9899324178695679,
+          -0.13539473712444305,
+          -31.36918067932129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5717,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_183080673",
+      "mask_path": "../../mask/hdr_front_05717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05718.png",
+      "transform_matrix": [
+        [
+          -0.33842065930366516,
+          -0.14414827525615692,
+          0.9298885464668274,
+          97.13973999023438
+        ],
+        [
+          -0.9398931860923767,
+          0.003975484985858202,
+          -0.3414454460144043,
+          16.079635620117188
+        ],
+        [
+          0.045522015541791916,
+          -0.9895480871200562,
+          -0.13682937622070312,
+          -31.35337257385254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5718,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_283080101",
+      "mask_path": "../../mask/hdr_front_05718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05719.png",
+      "transform_matrix": [
+        [
+          -0.34564363956451416,
+          -0.15041258931159973,
+          0.9262324571609497,
+          97.0820083618164
+        ],
+        [
+          -0.9370441436767578,
+          0.0029547035228461027,
+          -0.34919846057891846,
+          16.100221633911133
+        ],
+        [
+          0.04978710785508156,
+          -0.9886189103126526,
+          -0.14196452498435974,
+          -31.33468246459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5719,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_383078813",
+      "mask_path": "../../mask/hdr_front_05719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05720.png",
+      "transform_matrix": [
+        [
+          -0.351288378238678,
+          -0.1515643298625946,
+          0.9239181280136108,
+          97.01490020751953
+        ],
+        [
+          -0.934762716293335,
+          0.0008534165099263191,
+          -0.35527169704437256,
+          16.12058448791504
+        ],
+        [
+          0.05305802822113037,
+          -0.9884470105171204,
+          -0.1419764757156372,
+          -31.317821502685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5720,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_483079910",
+      "mask_path": "../../mask/hdr_front_05720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05721.png",
+      "transform_matrix": [
+        [
+          -0.3540397882461548,
+          -0.14876852929592133,
+          0.9233221411705017,
+          96.9266128540039
+        ],
+        [
+          -0.9339590668678284,
+          0.004781804513186216,
+          -0.3573479652404785,
+          16.141040802001953
+        ],
+        [
+          0.0487469844520092,
+          -0.988860547542572,
+          -0.14063666760921478,
+          -31.303665161132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5721,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_583083152",
+      "mask_path": "../../mask/hdr_front_05721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05722.png",
+      "transform_matrix": [
+        [
+          -0.3558291792869568,
+          -0.1426841914653778,
+          0.9235945343971252,
+          96.86222076416016
+        ],
+        [
+          -0.9336981177330017,
+          0.012066008523106575,
+          -0.35785773396492004,
+          16.15917205810547
+        ],
+        [
+          0.03991653770208359,
+          -0.9896947145462036,
+          -0.13751739263534546,
+          -31.297948837280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5722,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_683081865",
+      "mask_path": "../../mask/hdr_front_05722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05723.png",
+      "transform_matrix": [
+        [
+          -0.36011451482772827,
+          -0.13782815635204315,
+          0.9226705431938171,
+          96.81564331054688
+        ],
+        [
+          -0.9322459697723389,
+          0.015910713002085686,
+          -0.3614750802516937,
+          16.181304931640625
+        ],
+        [
+          0.03514109179377556,
+          -0.9903283715248108,
+          -0.13421940803527832,
+          -31.29714584350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5723,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_783082008",
+      "mask_path": "../../mask/hdr_front_05723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05724.png",
+      "transform_matrix": [
+        [
+          -0.36312174797058105,
+          -0.14007921516895294,
+          0.9211516976356506,
+          96.7554702758789
+        ],
+        [
+          -0.9314659833908081,
+          0.030528638511896133,
+          -0.36254528164863586,
+          16.210779190063477
+        ],
+        [
+          0.022663548588752747,
+          -0.989669680595398,
+          -0.14156466722488403,
+          -31.28300666809082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5724,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_883082389",
+      "mask_path": "../../mask/hdr_front_05724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05725.png",
+      "transform_matrix": [
+        [
+          -0.3698149025440216,
+          -0.14651961624622345,
+          0.9174796938896179,
+          96.68323516845703
+        ],
+        [
+          -0.928992748260498,
+          0.04292846471071243,
+          -0.3675999343395233,
+          16.252763748168945
+        ],
+        [
+          0.014474610798060894,
+          -0.9882758855819702,
+          -0.15199123322963715,
+          -31.244216918945312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5725,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_983082532",
+      "mask_path": "../../mask/hdr_front_05725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05728.png",
+      "transform_matrix": [
+        [
+          -0.37385475635528564,
+          -0.1616087704896927,
+          0.9132990837097168,
+          96.51252746582031
+        ],
+        [
+          -0.9266554713249207,
+          0.023389585316181183,
+          -0.3751834034919739,
+          16.325441360473633
+        ],
+        [
+          0.03927123174071312,
+          -0.9865776896476746,
+          -0.15849997103214264,
+          -31.213716506958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5728,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_283081769",
+      "mask_path": "../../mask/hdr_front_05728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05729.png",
+      "transform_matrix": [
+        [
+          -0.3632117211818695,
+          -0.16330476105213165,
+          0.9172834157943726,
+          96.43011474609375
+        ],
+        [
+          -0.9309484958648682,
+          0.023901093751192093,
+          -0.3643674850463867,
+          16.34587860107422
+        ],
+        [
+          0.037578873336315155,
+          -0.9862861633300781,
+          -0.1607094705104828,
+          -31.196073532104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5729,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_383081912",
+      "mask_path": "../../mask/hdr_front_05729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05732.png",
+      "transform_matrix": [
+        [
+          -0.3073117434978485,
+          -0.15538763999938965,
+          0.9388366341590881,
+          96.2802963256836
+        ],
+        [
+          -0.951126754283905,
+          0.018753299489617348,
+          -0.3082308769226074,
+          16.34980583190918
+        ],
+        [
+          0.030288979411125183,
+          -0.9876755475997925,
+          -0.1535564661026001,
+          -31.165904998779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5732,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_683082103",
+      "mask_path": "../../mask/hdr_front_05732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05733.png",
+      "transform_matrix": [
+        [
+          -0.2981140911579132,
+          -0.1594698578119278,
+          0.9411150217056274,
+          96.21233367919922
+        ],
+        [
+          -0.9538062214851379,
+          0.011374414898455143,
+          -0.3002069294452667,
+          16.36690330505371
+        ],
+        [
+          0.03716932609677315,
+          -0.9871373176574707,
+          -0.15549421310424805,
+          -31.146282196044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5733,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_783081531",
+      "mask_path": "../../mask/hdr_front_05733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05735.png",
+      "transform_matrix": [
+        [
+          -0.30650028586387634,
+          -0.1723155677318573,
+          0.9361436367034912,
+          96.10675811767578
+        ],
+        [
+          -0.950018048286438,
+          -0.005950325168669224,
+          -0.312138170003891,
+          16.39925765991211
+        ],
+        [
+          0.05935661122202873,
+          -0.9850237965583801,
+          -0.16187910735607147,
+          -31.126066207885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5735,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_983082294",
+      "mask_path": "../../mask/hdr_front_05735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05736.png",
+      "transform_matrix": [
+        [
+          -0.3077618181705475,
+          -0.1748422384262085,
+          0.9352608323097229,
+          96.0280990600586
+        ],
+        [
+          -0.9497430324554443,
+          -0.002632963703945279,
+          -0.31301963329315186,
+          16.425485610961914
+        ],
+        [
+          0.05719156190752983,
+          -0.9845929145812988,
+          -0.16524487733840942,
+          -31.08621597290039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5736,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_83080053",
+      "mask_path": "../../mask/hdr_front_05736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05738.png",
+      "transform_matrix": [
+        [
+          -0.3137717545032501,
+          -0.16886848211288452,
+          0.9343611001968384,
+          95.92440032958984
+        ],
+        [
+          -0.9485756158828735,
+          0.012375208549201488,
+          -0.3163086771965027,
+          16.465347290039062
+        ],
+        [
+          0.04185163974761963,
+          -0.9855610132217407,
+          -0.16406752169132233,
+          -31.083940505981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5738,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_283081769",
+      "mask_path": "../../mask/hdr_front_05738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05739.png",
+      "transform_matrix": [
+        [
+          -0.3175524175167084,
+          -0.16750118136405945,
+          0.9333294630050659,
+          95.86932373046875
+        ],
+        [
+          -0.9473650455474854,
+          0.013749293982982635,
+          -0.3198602795600891,
+          16.49454116821289
+        ],
+        [
+          0.040744349360466,
+          -0.9857760667800903,
+          -0.16305088996887207,
+          -31.076650619506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5739,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_383081197",
+      "mask_path": "../../mask/hdr_front_05739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05740.png",
+      "transform_matrix": [
+        [
+          -0.32447877526283264,
+          -0.16497103869915009,
+          0.9313957691192627,
+          95.80620574951172
+        ],
+        [
+          -0.945182740688324,
+          0.018398476764559746,
+          -0.3260231018066406,
+          16.525611877441406
+        ],
+        [
+          0.03664810582995415,
+          -0.9861268997192383,
+          -0.1618976891040802,
+          -31.054420471191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5740,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_483082532",
+      "mask_path": "../../mask/hdr_front_05740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05741.png",
+      "transform_matrix": [
+        [
+          -0.328777015209198,
+          -0.16285493969917297,
+          0.930260181427002,
+          95.75362396240234
+        ],
+        [
+          -0.943798840045929,
+          0.021295784041285515,
+          -0.3298338055610657,
+          16.547460556030273
+        ],
+        [
+          0.03390445560216904,
+          -0.9864201545715332,
+          -0.1607038676738739,
+          -31.036348342895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5741,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_583081722",
+      "mask_path": "../../mask/hdr_front_05741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05743.png",
+      "transform_matrix": [
+        [
+          -0.32490384578704834,
+          -0.16063344478607178,
+          0.9320056438446045,
+          95.65303039550781
+        ],
+        [
+          -0.9447351098060608,
+          0.00954889040440321,
+          -0.32769569754600525,
+          16.57853889465332
+        ],
+        [
+          0.043739255517721176,
+          -0.9869679808616638,
+          -0.15485849976539612,
+          -31.011669158935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5743,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_783079624",
+      "mask_path": "../../mask/hdr_front_05743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05744.png",
+      "transform_matrix": [
+        [
+          -0.30552658438682556,
+          -0.155534565448761,
+          0.9393947720527649,
+          95.58672332763672
+        ],
+        [
+          -0.9515525698661804,
+          0.013964117504656315,
+          -0.3071688115596771,
+          16.58527183532715
+        ],
+        [
+          0.034657541662454605,
+          -0.9877316951751709,
+          -0.152265727519989,
+          -30.99325180053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5744,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_883079528",
+      "mask_path": "../../mask/hdr_front_05744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05746.png",
+      "transform_matrix": [
+        [
+          -0.24509474635124207,
+          -0.14345473051071167,
+          0.958827018737793,
+          95.52010345458984
+        ],
+        [
+          -0.9693398475646973,
+          0.01833415776491165,
+          -0.24503900110721588,
+          16.566802978515625
+        ],
+        [
+          0.017572712153196335,
+          -0.9894870519638062,
+          -0.14354999363422394,
+          -31.002580642700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5746,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_83080053",
+      "mask_path": "../../mask/hdr_front_05746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05747.png",
+      "transform_matrix": [
+        [
+          -0.21724365651607513,
+          -0.142098069190979,
+          0.9657191038131714,
+          95.4742660522461
+        ],
+        [
+          -0.9759994745254517,
+          0.016241025179624557,
+          -0.21716654300689697,
+          16.558561325073242
+        ],
+        [
+          0.015174675732851028,
+          -0.9897193312644958,
+          -0.14221589267253876,
+          -30.97821617126465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5747,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_183079957",
+      "mask_path": "../../mask/hdr_front_05747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05748.png",
+      "transform_matrix": [
+        [
+          -0.19734717905521393,
+          -0.14461636543273926,
+          0.9696082472801208,
+          95.41661834716797
+        ],
+        [
+          -0.9802075624465942,
+          0.013247331604361534,
+          -0.1975286602973938,
+          16.567678451538086
+        ],
+        [
+          0.015721159055829048,
+          -0.9893991351127625,
+          -0.14436839520931244,
+          -30.951641082763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5748,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_283080577",
+      "mask_path": "../../mask/hdr_front_05748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05750.png",
+      "transform_matrix": [
+        [
+          -0.20321328938007355,
+          -0.14312154054641724,
+          0.9686179161071777,
+          95.32294464111328
+        ],
+        [
+          -0.9788197875022888,
+          0.0046156421303749084,
+          -0.20467163622379303,
+          16.591644287109375
+        ],
+        [
+          0.02482212521135807,
+          -0.989694356918335,
+          -0.14102813601493835,
+          -30.945537567138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5750,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_483080625",
+      "mask_path": "../../mask/hdr_front_05750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05751.png",
+      "transform_matrix": [
+        [
+          -0.20497466623783112,
+          -0.13811495900154114,
+          0.9689734578132629,
+          95.25910186767578
+        ],
+        [
+          -0.9785323143005371,
+          0.007223008666187525,
+          -0.20596715807914734,
+          16.607717514038086
+        ],
+        [
+          0.02144823782145977,
+          -0.9903899431228638,
+          -0.13663046061992645,
+          -30.945026397705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5751,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_583079099",
+      "mask_path": "../../mask/hdr_front_05751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05753.png",
+      "transform_matrix": [
+        [
+          -0.20498846471309662,
+          -0.13687753677368164,
+          0.9691461324691772,
+          95.14799499511719
+        ],
+        [
+          -0.978657603263855,
+          0.01403779350221157,
+          -0.20501764118671417,
+          16.62171745300293
+        ],
+        [
+          0.014457634650170803,
+          -0.9904885292053223,
+          -0.1368338018655777,
+          -30.92691993713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5753,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_783081293",
+      "mask_path": "../../mask/hdr_front_05753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05754.png",
+      "transform_matrix": [
+        [
+          -0.20750010013580322,
+          -0.1278575211763382,
+          0.9698433876037598,
+          95.07722473144531
+        ],
+        [
+          -0.9780753254890442,
+          0.009201482869684696,
+          -0.2080482691526413,
+          16.6321964263916
+        ],
+        [
+          0.01767653599381447,
+          -0.9917498826980591,
+          -0.12696358561515808,
+          -30.933279037475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5754,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_883081912",
+      "mask_path": "../../mask/hdr_front_05754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05755.png",
+      "transform_matrix": [
+        [
+          -0.21572135388851166,
+          -0.1260376274585724,
+          0.9682865738868713,
+          94.99291229248047
+        ],
+        [
+          -0.9761810302734375,
+          0.00435076467692852,
+          -0.2169138491153717,
+          16.6472225189209
+        ],
+        [
+          0.023126516491174698,
+          -0.9920158982276917,
+          -0.12397409975528717,
+          -30.930137634277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5755,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_983081817",
+      "mask_path": "../../mask/hdr_front_05755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05756.png",
+      "transform_matrix": [
+        [
+          -0.22439071536064148,
+          -0.1277347207069397,
+          0.9660914540290833,
+          94.91473388671875
+        ],
+        [
+          -0.9741483330726624,
+          0.0028019994497299194,
+          -0.2258916199207306,
+          16.67192268371582
+        ],
+        [
+          0.02614721469581127,
+          -0.9918044805526733,
+          -0.12506133317947388,
+          -30.915136337280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5756,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_83082914",
+      "mask_path": "../../mask/hdr_front_05756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05757.png",
+      "transform_matrix": [
+        [
+          -0.23082897067070007,
+          -0.12702786922454834,
+          0.9646667242050171,
+          94.84313201904297
+        ],
+        [
+          -0.9724916219711304,
+          -0.0017448399448767304,
+          -0.23293112218379974,
+          16.675214767456055
+        ],
+        [
+          0.031271934509277344,
+          -0.9918976426124573,
+          -0.12313080579042435,
+          -30.910972595214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5757,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_183082103",
+      "mask_path": "../../mask/hdr_front_05757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05758.png",
+      "transform_matrix": [
+        [
+          -0.23364536464214325,
+          -0.11889421194791794,
+          0.9650253653526306,
+          94.73310852050781
+        ],
+        [
+          -0.9719278812408447,
+          0.0003061761090066284,
+          -0.23527882993221283,
+          16.690933227539062
+        ],
+        [
+          0.02767782285809517,
+          -0.992906928062439,
+          -0.11562814563512802,
+          -30.901437759399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5758,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_283082723",
+      "mask_path": "../../mask/hdr_front_05758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04575.png",
+      "transform_matrix": [
+        [
+          0.8438958525657654,
+          -0.14752958714962006,
+          0.5158243775367737,
+          95.18878173828125
+        ],
+        [
+          -0.5210898518562317,
+          0.003442578949034214,
+          0.8534948825836182,
+          16.555009841918945
+        ],
+        [
+          -0.12769149243831635,
+          -0.9890516996383667,
+          -0.0739709883928299,
+          -30.950864791870117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4575,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_883080720",
+      "mask_path": "../../mask/hdr_left_04575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04576.png",
+      "transform_matrix": [
+        [
+          0.8442838191986084,
+          -0.14466868340969086,
+          0.5159996747970581,
+          95.25731658935547
+        ],
+        [
+          -0.5219398736953735,
+          -0.0036693268921226263,
+          0.8529744148254395,
+          16.531795501708984
+        ],
+        [
+          -0.12150529026985168,
+          -0.9894733428955078,
+          -0.07860629260540009,
+          -30.959930419921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4576,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_983081579",
+      "mask_path": "../../mask/hdr_left_04576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04577.png",
+      "transform_matrix": [
+        [
+          0.8448621034622192,
+          -0.13680551946163177,
+          0.5171965956687927,
+          95.31710815429688
+        ],
+        [
+          -0.5224689841270447,
+          -0.003108316333964467,
+          0.8526526689529419,
+          16.512832641601562
+        ],
+        [
+          -0.11503996700048447,
+          -0.9905930757522583,
+          -0.0741027370095253,
+          -30.97004508972168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4577,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_83080530",
+      "mask_path": "../../mask/hdr_left_04577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04578.png",
+      "transform_matrix": [
+        [
+          0.8445205092430115,
+          -0.13159747421741486,
+          0.519102156162262,
+          95.39478302001953
+        ],
+        [
+          -0.5238403677940369,
+          -0.0016337947454303503,
+          0.8518149256706238,
+          16.495389938354492
+        ],
+        [
+          -0.11124856770038605,
+          -0.991301953792572,
+          -0.07031583786010742,
+          -30.984397888183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4578,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_183081150",
+      "mask_path": "../../mask/hdr_left_04578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04579.png",
+      "transform_matrix": [
+        [
+          0.8481233716011047,
+          -0.13020294904708862,
+          0.513550341129303,
+          95.47653198242188
+        ],
+        [
+          -0.5186710953712463,
+          -0.006432392634451389,
+          0.8549495935440063,
+          16.479782104492188
+        ],
+        [
+          -0.10801360011100769,
+          -0.9914665818214417,
+          -0.07298796623945236,
+          -30.998342514038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4579,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_283079147",
+      "mask_path": "../../mask/hdr_left_04579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04581.png",
+      "transform_matrix": [
+        [
+          0.8590566515922546,
+          -0.1211954802274704,
+          0.4973260164260864,
+          95.56648254394531
+        ],
+        [
+          -0.5019784569740295,
+          -0.009285887703299522,
+          0.8648302555084229,
+          16.469161987304688
+        ],
+        [
+          -0.10019540041685104,
+          -0.992585301399231,
+          -0.06881462782621384,
+          -31.018272399902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4581,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_483079433",
+      "mask_path": "../../mask/hdr_left_04581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04582.png",
+      "transform_matrix": [
+        [
+          0.8632903099060059,
+          -0.12309876829385757,
+          0.4894654452800751,
+          95.6294174194336
+        ],
+        [
+          -0.494171679019928,
+          -0.009040356613695621,
+          0.8693172335624695,
+          16.460363388061523
+        ],
+        [
+          -0.10258694738149643,
+          -0.9923532605171204,
+          -0.06863637268543243,
+          -31.02850914001465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4582,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_583079814",
+      "mask_path": "../../mask/hdr_left_04582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04583.png",
+      "transform_matrix": [
+        [
+          0.8674063086509705,
+          -0.12336567044258118,
+          0.4820655584335327,
+          95.69000244140625
+        ],
+        [
+          -0.48680579662323,
+          -0.009687698446214199,
+          0.8734565377235413,
+          16.445903778076172
+        ],
+        [
+          -0.10308442264795303,
+          -0.9923140406608582,
+          -0.06845829635858536,
+          -31.021974563598633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4583,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_683079242",
+      "mask_path": "../../mask/hdr_left_04583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04585.png",
+      "transform_matrix": [
+        [
+          0.8739717602729797,
+          -0.11324836313724518,
+          0.4725971221923828,
+          95.7831802368164
+        ],
+        [
+          -0.47587868571281433,
+          -0.002221078611910343,
+          0.8795081377029419,
+          16.417781829833984
+        ],
+        [
+          -0.09855318069458008,
+          -0.993564248085022,
+          -0.055833637714385986,
+          -31.033830642700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4585,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_883079290",
+      "mask_path": "../../mask/hdr_left_04585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04586.png",
+      "transform_matrix": [
+        [
+          0.878112256526947,
+          -0.11196523904800415,
+          0.4651694893836975,
+          95.8377914428711
+        ],
+        [
+          -0.4684772491455078,
+          -0.003691601101309061,
+          0.8834677934646606,
+          16.398143768310547
+        ],
+        [
+          -0.09720046073198318,
+          -0.9937052726745605,
+          -0.05569480359554291,
+          -31.037242889404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4586,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_983080148",
+      "mask_path": "../../mask/hdr_left_04586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04588.png",
+      "transform_matrix": [
+        [
+          0.8971300721168518,
+          -0.11628102511167526,
+          0.42618805170059204,
+          95.92251586914062
+        ],
+        [
+          -0.43124592304229736,
+          -0.021230485290288925,
+          0.9019846320152283,
+          16.383777618408203
+        ],
+        [
+          -0.09583550691604614,
+          -0.9929894804954529,
+          -0.06919222325086594,
+          -31.04500961303711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4588,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_183081150",
+      "mask_path": "../../mask/hdr_left_04588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04590.png",
+      "transform_matrix": [
+        [
+          0.9147236347198486,
+          -0.11357086896896362,
+          0.3877916634082794,
+          96.02806854248047
+        ],
+        [
+          -0.3924572467803955,
+          -0.021178049966692924,
+          0.9195263981819153,
+          16.38227081298828
+        ],
+        [
+          -0.09621873497962952,
+          -0.9933041930198669,
+          -0.0639437735080719,
+          -31.071733474731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4590,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_383081197",
+      "mask_path": "../../mask/hdr_left_04590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04591.png",
+      "transform_matrix": [
+        [
+          0.9147592782974243,
+          -0.12469758093357086,
+          0.3842731714248657,
+          96.0893783569336
+        ],
+        [
+          -0.39010515809059143,
+          -0.025332868099212646,
+          0.9204217195510864,
+          16.3616886138916
+        ],
+        [
+          -0.10503961145877838,
+          -0.9918713569641113,
+          -0.07181864231824875,
+          -31.07732582092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4591,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_483080625",
+      "mask_path": "../../mask/hdr_left_04591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04593.png",
+      "transform_matrix": [
+        [
+          0.9052879214286804,
+          -0.15092216432094574,
+          0.39708468317985535,
+          96.16505432128906
+        ],
+        [
+          -0.40334996581077576,
+          -0.012119412422180176,
+          0.9149655103683472,
+          16.338764190673828
+        ],
+        [
+          -0.13327613472938538,
+          -0.9884713888168335,
+          -0.07184600085020065,
+          -31.108596801757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4593,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_683080673",
+      "mask_path": "../../mask/hdr_left_04593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04594.png",
+      "transform_matrix": [
+        [
+          0.9031509160995483,
+          -0.14871126413345337,
+          0.40274471044540405,
+          96.2273941040039
+        ],
+        [
+          -0.40750789642333984,
+          -0.001712505822069943,
+          0.9131999611854553,
+          16.33306312561035
+        ],
+        [
+          -0.1351134330034256,
+          -0.9888793230056763,
+          -0.062147654592990875,
+          -31.119991302490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4594,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_783082723",
+      "mask_path": "../../mask/hdr_left_04594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04595.png",
+      "transform_matrix": [
+        [
+          0.9027050137519836,
+          -0.1521238386631012,
+          0.40246984362602234,
+          96.2931137084961
+        ],
+        [
+          -0.4081372618675232,
+          -0.006667708046734333,
+          0.9128962755203247,
+          16.323116302490234
+        ],
+        [
+          -0.13618971407413483,
+          -0.9883390069007874,
+          -0.06810636818408966,
+          -31.13155746459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4595,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_883082151",
+      "mask_path": "../../mask/hdr_left_04595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04596.png",
+      "transform_matrix": [
+        [
+          0.9037287831306458,
+          -0.15230335295200348,
+          0.40009742975234985,
+          96.34921264648438
+        ],
+        [
+          -0.4064772129058838,
+          -0.011970588937401772,
+          0.913582444190979,
+          16.308500289916992
+        ],
+        [
+          -0.13435225188732147,
+          -0.988261342048645,
+          -0.07272599637508392,
+          -31.147432327270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4596,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_983081102",
+      "mask_path": "../../mask/hdr_left_04596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04597.png",
+      "transform_matrix": [
+        [
+          0.9057188630104065,
+          -0.14580899477005005,
+          0.39801132678985596,
+          96.4061279296875
+        ],
+        [
+          -0.4036638140678406,
+          -0.010184735991060734,
+          0.9148507714271545,
+          16.300485610961914
+        ],
+        [
+          -0.12933982908725739,
+          -0.9892603754997253,
+          -0.06808231770992279,
+          -31.163097381591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4597,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_83082199",
+      "mask_path": "../../mask/hdr_left_04597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04598.png",
+      "transform_matrix": [
+        [
+          0.9068748950958252,
+          -0.14197596907615662,
+          0.3967628479003906,
+          96.4642333984375
+        ],
+        [
+          -0.401790976524353,
+          -0.007452016696333885,
+          0.9157010912895203,
+          16.29551887512207
+        ],
+        [
+          -0.12705086171627045,
+          -0.9898421764373779,
+          -0.06380271166563034,
+          -31.186094284057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4598,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_183081865",
+      "mask_path": "../../mask/hdr_left_04598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04599.png",
+      "transform_matrix": [
+        [
+          0.9041024446487427,
+          -0.14920398592948914,
+          0.40042081475257874,
+          96.534912109375
+        ],
+        [
+          -0.40599536895751953,
+          -0.0076378025114536285,
+          0.9138432741165161,
+          16.271745681762695
+        ],
+        [
+          -0.13329070806503296,
+          -0.9887769222259521,
+          -0.06748148798942566,
+          -31.19515609741211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4599,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_283080816",
+      "mask_path": "../../mask/hdr_left_04599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04600.png",
+      "transform_matrix": [
+        [
+          0.8986712098121643,
+          -0.1620534360408783,
+          0.4075888991355896,
+          96.58788299560547
+        ],
+        [
+          -0.414818674325943,
+          -0.012041018344461918,
+          0.9098244309425354,
+          16.250154495239258
+        ],
+        [
+          -0.14253239333629608,
+          -0.9867085814476013,
+          -0.07804369926452637,
+          -31.20187759399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4600,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_383082389",
+      "mask_path": "../../mask/hdr_left_04600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04601.png",
+      "transform_matrix": [
+        [
+          0.8934209942817688,
+          -0.16794058680534363,
+          0.41664716601371765,
+          96.63209533691406
+        ],
+        [
+          -0.42396536469459534,
+          -0.008624331094324589,
+          0.905637264251709,
+          16.23029899597168
+        ],
+        [
+          -0.14849995076656342,
+          -0.9857593774795532,
+          -0.07890615612268448,
+          -31.217700958251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4601,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_483081340",
+      "mask_path": "../../mask/hdr_left_04601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04602.png",
+      "transform_matrix": [
+        [
+          0.8896638751029968,
+          -0.17159226536750793,
+          0.4231480658054352,
+          96.69371032714844
+        ],
+        [
+          -0.4304981827735901,
+          -0.006283095106482506,
+          0.9025694727897644,
+          16.209535598754883
+        ],
+        [
+          -0.15221524238586426,
+          -0.985148012638092,
+          -0.07945999503135681,
+          -31.22806739807129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4602,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_583082437",
+      "mask_path": "../../mask/hdr_left_04602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04603.png",
+      "transform_matrix": [
+        [
+          0.8873977065086365,
+          -0.17948825657367706,
+          0.4246281683444977,
+          96.78113555908203
+        ],
+        [
+          -0.43223437666893005,
+          -0.0036417129449546337,
+          0.9017539620399475,
+          16.18583869934082
+        ],
+        [
+          -0.1603078693151474,
+          -0.9837533831596375,
+          -0.08081263303756714,
+          -31.252214431762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4603,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_683082580",
+      "mask_path": "../../mask/hdr_left_04603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04604.png",
+      "transform_matrix": [
+        [
+          0.8853676915168762,
+          -0.1855790615081787,
+          0.4262445867061615,
+          96.85832977294922
+        ],
+        [
+          -0.43365952372550964,
+          0.0007049778942018747,
+          0.9010764360427856,
+          16.16134262084961
+        ],
+        [
+          -0.1675214171409607,
+          -0.982629120349884,
+          -0.07985395938158035,
+          -31.287809371948242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4604,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_783082723",
+      "mask_path": "../../mask/hdr_left_04604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04605.png",
+      "transform_matrix": [
+        [
+          0.8837532997131348,
+          -0.18271365761756897,
+          0.4308081865310669,
+          96.91476440429688
+        ],
+        [
+          -0.43822959065437317,
+          -0.0002699479809962213,
+          0.8988630771636963,
+          16.14699363708496
+        ],
+        [
+          -0.16411824524402618,
+          -0.9831661581993103,
+          -0.08030908554792404,
+          -31.312114715576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4605,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_883082628",
+      "mask_path": "../../mask/hdr_left_04605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04606.png",
+      "transform_matrix": [
+        [
+          0.8828362226486206,
+          -0.1771315634250641,
+          0.43499955534935,
+          96.98368072509766
+        ],
+        [
+          -0.44268056750297546,
+          -0.004312328062951565,
+          0.8966690301895142,
+          16.13397216796875
+        ],
+        [
+          -0.15695251524448395,
+          -0.9841777682304382,
+          -0.08221977204084396,
+          -31.320940017700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4606,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_983082532",
+      "mask_path": "../../mask/hdr_left_04606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04607.png",
+      "transform_matrix": [
+        [
+          0.8808988332748413,
+          -0.17351248860359192,
+          0.4403528571128845,
+          97.06295776367188
+        ],
+        [
+          -0.44814902544021606,
+          -0.006495393812656403,
+          0.8939352035522461,
+          16.0989990234375
+        ],
+        [
+          -0.15224863588809967,
+          -0.9848102331161499,
+          -0.08348122984170914,
+          -31.343671798706055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4607,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_83082199",
+      "mask_path": "../../mask/hdr_left_04607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04608.png",
+      "transform_matrix": [
+        [
+          0.8703474998474121,
+          -0.18090605735778809,
+          0.45800453424453735,
+          97.13660430908203
+        ],
+        [
+          -0.4646596312522888,
+          0.0062608602456748486,
+          0.8854671120643616,
+          16.07306480407715
+        ],
+        [
+          -0.16305387020111084,
+          -0.9834805130958557,
+          -0.0786106139421463,
+          -31.350872039794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4608,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_183082342",
+      "mask_path": "../../mask/hdr_left_04608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04610.png",
+      "transform_matrix": [
+        [
+          0.8396434783935547,
+          -0.18369267880916595,
+          0.5111318826675415,
+          97.21304321289062
+        ],
+        [
+          -0.5182051658630371,
+          0.010918520390987396,
+          0.8551866412162781,
+          16.03888511657715
+        ],
+        [
+          -0.16267231106758118,
+          -0.9829232096672058,
+          -0.08602280914783478,
+          -31.35956573486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4610,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_383082389",
+      "mask_path": "../../mask/hdr_left_04610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04611.png",
+      "transform_matrix": [
+        [
+          0.8216997981071472,
+          -0.17163628339767456,
+          0.5434613227844238,
+          97.3031997680664
+        ],
+        [
+          -0.5508615374565125,
+          0.005353229120373726,
+          0.8345794677734375,
+          16.00902557373047
+        ],
+        [
+          -0.14615340530872345,
+          -0.9851458072662354,
+          -0.09014908224344254,
+          -31.35755157470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4611,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_483080387",
+      "mask_path": "../../mask/hdr_left_04611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04616.png",
+      "transform_matrix": [
+        [
+          0.752241313457489,
+          -0.17892193794250488,
+          0.6341292858123779,
+          97.52191162109375
+        ],
+        [
+          -0.6458348631858826,
+          -0.009605459868907928,
+          0.7634167671203613,
+          15.908185005187988
+        ],
+        [
+          -0.1305009126663208,
+          -0.9838164448738098,
+          -0.12277963012456894,
+          -31.40767478942871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4616,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_983081579",
+      "mask_path": "../../mask/hdr_left_04616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04617.png",
+      "transform_matrix": [
+        [
+          0.7415238618850708,
+          -0.18687701225280762,
+          0.6443749666213989,
+          97.58045959472656
+        ],
+        [
+          -0.6565198302268982,
+          -0.004146323539316654,
+          0.7542973756790161,
+          15.884952545166016
+        ],
+        [
+          -0.13828904926776886,
+          -0.9823746085166931,
+          -0.12576305866241455,
+          -31.424224853515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4617,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_83081722",
+      "mask_path": "../../mask/hdr_left_04617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04619.png",
+      "transform_matrix": [
+        [
+          0.7364916801452637,
+          -0.18048416078090668,
+          0.6519244313240051,
+          97.68453216552734
+        ],
+        [
+          -0.6624289751052856,
+          0.0027476917020976543,
+          0.7491196393966675,
+          15.826765060424805
+        ],
+        [
+          -0.13699550926685333,
+          -0.9835740923881531,
+          -0.11753428727388382,
+          -31.46662139892578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4619,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_283082723",
+      "mask_path": "../../mask/hdr_left_04619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04620.png",
+      "transform_matrix": [
+        [
+          0.739355206489563,
+          -0.1765776425600052,
+          0.649749219417572,
+          97.76858520507812
+        ],
+        [
+          -0.6601355075836182,
+          -0.00010035452578449622,
+          0.7511465549468994,
+          15.781323432922363
+        ],
+        [
+          -0.13257046043872833,
+          -0.9842867851257324,
+          -0.11663934588432312,
+          -31.483478546142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4620,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_383081436",
+      "mask_path": "../../mask/hdr_left_04620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04622.png",
+      "transform_matrix": [
+        [
+          0.7476635575294495,
+          -0.15840452909469604,
+          0.6449087858200073,
+          97.86981201171875
+        ],
+        [
+          -0.6537890434265137,
+          -0.005294113885611296,
+          0.7566583752632141,
+          15.727523803710938
+        ],
+        [
+          -0.11644389480352402,
+          -0.9873601198196411,
+          -0.10752137005329132,
+          -31.4930419921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4622,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_583081722",
+      "mask_path": "../../mask/hdr_left_04622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04623.png",
+      "transform_matrix": [
+        [
+          0.7516083121299744,
+          -0.1472891867160797,
+          0.6429546475410461,
+          97.94799041748047
+        ],
+        [
+          -0.6496939063072205,
+          0.003069555852562189,
+          0.7601897716522217,
+          15.688661575317383
+        ],
+        [
+          -0.11394128203392029,
+          -0.9890887141227722,
+          -0.09338577091693878,
+          -31.51649284362793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4623,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_683081388",
+      "mask_path": "../../mask/hdr_left_04623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04624.png",
+      "transform_matrix": [
+        [
+          0.7596778869628906,
+          -0.14841283857822418,
+          0.6331375241279602,
+          98.02404022216797
+        ],
+        [
+          -0.6374070644378662,
+          0.022968893870711327,
+          0.7701847553253174,
+          15.657811164855957
+        ],
+        [
+          -0.12884777784347534,
+          -0.9886587262153625,
+          -0.07715042680501938,
+          -31.527029037475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4624,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_783081531",
+      "mask_path": "../../mask/hdr_left_04624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04626.png",
+      "transform_matrix": [
+        [
+          0.791741132736206,
+          -0.1578313261270523,
+          0.5901146531105042,
+          98.11067199707031
+        ],
+        [
+          -0.5928300023078918,
+          0.03442494198679924,
+          0.8045915365219116,
+          15.634870529174805
+        ],
+        [
+          -0.14730440080165863,
+          -0.9868658781051636,
+          -0.06631150841712952,
+          -31.538400650024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4626,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_983082294",
+      "mask_path": "../../mask/hdr_left_04626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04628.png",
+      "transform_matrix": [
+        [
+          0.8128069639205933,
+          -0.1639907956123352,
+          0.5589739084243774,
+          98.21538543701172
+        ],
+        [
+          -0.5608799457550049,
+          0.03887621685862541,
+          0.8269838690757751,
+          15.590984344482422
+        ],
+        [
+          -0.15734851360321045,
+          -0.9856955409049988,
+          -0.06038028746843338,
+          -31.55890464782715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4628,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_183082103",
+      "mask_path": "../../mask/hdr_left_04628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04629.png",
+      "transform_matrix": [
+        [
+          0.812638521194458,
+          -0.17289601266384125,
+          0.5565298795700073,
+          98.27587890625
+        ],
+        [
+          -0.5591191053390503,
+          0.03797585144639015,
+          0.8282171487808228,
+          15.560026168823242
+        ],
+        [
+          -0.1643301248550415,
+          -0.9842077493667603,
+          -0.06580882519483566,
+          -31.561153411865234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4629,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_283080339",
+      "mask_path": "../../mask/hdr_left_04629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04631.png",
+      "transform_matrix": [
+        [
+          0.8123897314071655,
+          -0.16923950612545013,
+          0.5580151081085205,
+          98.3443832397461
+        ],
+        [
+          -0.5584463477134705,
+          0.04958830773830414,
+          0.8280571103096008,
+          15.555594444274902
+        ],
+        [
+          -0.16781097650527954,
+          -0.9843267202377319,
+          -0.054226141422986984,
+          -31.58918571472168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4631,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_483081340",
+      "mask_path": "../../mask/hdr_left_04631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04633.png",
+      "transform_matrix": [
+        [
+          0.8063817620277405,
+          -0.17481040954589844,
+          0.5649688243865967,
+          98.43296813964844
+        ],
+        [
+          -0.5663228631019592,
+          0.046959444880485535,
+          0.8228446245193481,
+          15.519817352294922
+        ],
+        [
+          -0.17037241160869598,
+          -0.9834816455841064,
+          -0.06113188713788986,
+          -31.612398147583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4633,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_683082103",
+      "mask_path": "../../mask/hdr_left_04633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04635.png",
+      "transform_matrix": [
+        [
+          0.7966024875640869,
+          -0.16898679733276367,
+          0.5804033279418945,
+          98.5234603881836
+        ],
+        [
+          -0.5807067155838013,
+          0.052819572389125824,
+          0.8123975396156311,
+          15.480183601379395
+        ],
+        [
+          -0.16794109344482422,
+          -0.9842020273208618,
+          -0.056055568158626556,
+          -31.64479637145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4635,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_883081436",
+      "mask_path": "../../mask/hdr_left_04635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04636.png",
+      "transform_matrix": [
+        [
+          0.7942575216293335,
+          -0.1759791374206543,
+          0.5815379023551941,
+          98.60308837890625
+        ],
+        [
+          -0.5823536515235901,
+          0.05244535207748413,
+          0.8112421631813049,
+          15.45545768737793
+        ],
+        [
+          -0.1732606142759323,
+          -0.982995867729187,
+          -0.06082696095108986,
+          -31.663244247436523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4636,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_983081102",
+      "mask_path": "../../mask/hdr_left_04636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04637.png",
+      "transform_matrix": [
+        [
+          0.7947378754615784,
+          -0.1842120736837387,
+          0.5783230066299438,
+          98.66700744628906
+        ],
+        [
+          -0.5806307792663574,
+          0.046811293810606,
+          0.8128201365470886,
+          15.438170433044434
+        ],
+        [
+          -0.176803320646286,
+          -0.9817711710929871,
+          -0.06975648552179337,
+          -31.681123733520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4637,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_83081722",
+      "mask_path": "../../mask/hdr_left_04637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04639.png",
+      "transform_matrix": [
+        [
+          0.8003635406494141,
+          -0.18294686079025269,
+          0.5709189772605896,
+          98.74591064453125
+        ],
+        [
+          -0.573753297328949,
+          0.04241684079170227,
+          0.8179290890693665,
+          15.426100730895996
+        ],
+        [
+          -0.17385414242744446,
+          -0.9822074174880981,
+          -0.07101747393608093,
+          -31.71550941467285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4639,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_283081769",
+      "mask_path": "../../mask/hdr_left_04639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04640.png",
+      "transform_matrix": [
+        [
+          0.7972877025604248,
+          -0.19947831332683563,
+          0.569684624671936,
+          98.80445861816406
+        ],
+        [
+          -0.5721455216407776,
+          0.050939638167619705,
+          0.8185687065124512,
+          15.418893814086914
+        ],
+        [
+          -0.19230620563030243,
+          -0.9785773754119873,
+          -0.07351706176996231,
+          -31.739322662353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4640,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_383081912",
+      "mask_path": "../../mask/hdr_left_04640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04641.png",
+      "transform_matrix": [
+        [
+          0.7878631949424744,
+          -0.2205897867679596,
+          0.5749884843826294,
+          98.86125946044922
+        ],
+        [
+          -0.5775423645973206,
+          0.05950063839554787,
+          0.8141893744468689,
+          15.40052604675293
+        ],
+        [
+          -0.21381406486034393,
+          -0.9735502004623413,
+          -0.0805215984582901,
+          -31.748945236206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4641,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_483082532",
+      "mask_path": "../../mask/hdr_left_04641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04643.png",
+      "transform_matrix": [
+        [
+          0.7765308618545532,
+          -0.22934001684188843,
+          0.5868585109710693,
+          98.92759704589844
+        ],
+        [
+          -0.5897582173347473,
+          0.0632793977856636,
+          0.8050968647003174,
+          15.365028381347656
+        ],
+        [
+          -0.22177696228027344,
+          -0.9712873697280884,
+          -0.08611675351858139,
+          -31.78091049194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4643,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_683081626",
+      "mask_path": "../../mask/hdr_left_04643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04644.png",
+      "transform_matrix": [
+        [
+          0.7723734378814697,
+          -0.24882490932941437,
+          0.5844017267227173,
+          99.00287628173828
+        ],
+        [
+          -0.5925447940826416,
+          0.049096375703811646,
+          0.8040398955345154,
+          15.333016395568848
+        ],
+        [
+          -0.22875715792179108,
+          -0.9673033356666565,
+          -0.10951916128396988,
+          -31.785390853881836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4644,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_783081531",
+      "mask_path": "../../mask/hdr_left_04644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04647.png",
+      "transform_matrix": [
+        [
+          0.7727537155151367,
+          -0.2690540552139282,
+          0.5748578310012817,
+          99.11557006835938
+        ],
+        [
+          -0.590783417224884,
+          0.02616034634411335,
+          0.8064059019088745,
+          15.286178588867188
+        ],
+        [
+          -0.23200522363185883,
+          -0.9627698659896851,
+          -0.13873712718486786,
+          -31.832685470581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4647,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_83082675",
+      "mask_path": "../../mask/hdr_left_04647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04648.png",
+      "transform_matrix": [
+        [
+          0.7682296633720398,
+          -0.2794005572795868,
+          0.5759847164154053,
+          99.16661071777344
+        ],
+        [
+          -0.5907987356185913,
+          0.037063900381326675,
+          0.8059672117233276,
+          15.2647705078125
+        ],
+        [
+          -0.24653594195842743,
+          -0.9594590663909912,
+          -0.13659590482711792,
+          -31.85846519470215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4648,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_183082103",
+      "mask_path": "../../mask/hdr_left_04648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04650.png",
+      "transform_matrix": [
+        [
+          0.7572116851806641,
+          -0.2990032136440277,
+          0.5807130336761475,
+          99.22760009765625
+        ],
+        [
+          -0.5921968817710876,
+          0.06080862879753113,
+          0.8034955859184265,
+          15.231406211853027
+        ],
+        [
+          -0.27556008100509644,
+          -0.952312707901001,
+          -0.13102374970912933,
+          -31.896390914916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4650,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_383082389",
+      "mask_path": "../../mask/hdr_left_04650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04651.png",
+      "transform_matrix": [
+        [
+          0.7572218179702759,
+          -0.29871252179145813,
+          0.5808491706848145,
+          99.2752456665039
+        ],
+        [
+          -0.590981662273407,
+          0.06534185260534286,
+          0.8040342926979065,
+          15.206767082214355
+        ],
+        [
+          -0.27812889218330383,
+          -0.9521036744117737,
+          -0.1270553320646286,
+          -31.924118041992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4651,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_483082294",
+      "mask_path": "../../mask/hdr_left_04651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04652.png",
+      "transform_matrix": [
+        [
+          0.759783923625946,
+          -0.2974667251110077,
+          0.5781365633010864,
+          99.33338928222656
+        ],
+        [
+          -0.5864058136940002,
+          0.07052981108427048,
+          0.8069409728050232,
+          15.190937042236328
+        ],
+        [
+          -0.28081393241882324,
+          -0.9521235227584839,
+          -0.12084881216287613,
+          -31.9788761138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4652,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_583083868",
+      "mask_path": "../../mask/hdr_left_04652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04653.png",
+      "transform_matrix": [
+        [
+          0.7607070207595825,
+          -0.3203570246696472,
+          0.5645318627357483,
+          99.40489959716797
+        ],
+        [
+          -0.575469970703125,
+          0.06946747750043869,
+          0.8148672580718994,
+          15.172616004943848
+        ],
+        [
+          -0.30026504397392273,
+          -0.9447464346885681,
+          -0.13151143491268158,
+          -31.99754524230957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4653,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_683082342",
+      "mask_path": "../../mask/hdr_left_04653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04655.png",
+      "transform_matrix": [
+        [
+          0.7658300995826721,
+          -0.3219911456108093,
+          0.5566200613975525,
+          99.49589538574219
+        ],
+        [
+          -0.5636880993843079,
+          0.08040175586938858,
+          0.8220652341842651,
+          15.133463859558105
+        ],
+        [
+          -0.3094509541988373,
+          -0.943322479724884,
+          -0.1199285089969635,
+          -32.0046272277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4655,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_883082389",
+      "mask_path": "../../mask/hdr_left_04655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04656.png",
+      "transform_matrix": [
+        [
+          0.7693825364112854,
+          -0.3138086497783661,
+          0.5563942193984985,
+          99.56263732910156
+        ],
+        [
+          -0.5612566471099854,
+          0.08382804691791534,
+          0.8233855962753296,
+          15.105664253234863
+        ],
+        [
+          -0.30502691864967346,
+          -0.9457785487174988,
+          -0.11163131147623062,
+          -32.026756286621094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4656,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_983082771",
+      "mask_path": "../../mask/hdr_left_04656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04657.png",
+      "transform_matrix": [
+        [
+          0.772532045841217,
+          -0.3141210079193115,
+          0.551835298538208,
+          99.61849212646484
+        ],
+        [
+          -0.5565930008888245,
+          0.0832839086651802,
+          0.826600193977356,
+          15.07810115814209
+        ],
+        [
+          -0.3056114912033081,
+          -0.9457229971885681,
+          -0.11049807816743851,
+          -32.049007415771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4657,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_83082199",
+      "mask_path": "../../mask/hdr_left_04657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04659.png",
+      "transform_matrix": [
+        [
+          0.7730995416641235,
+          -0.2988187372684479,
+          0.5594858527183533,
+          99.69628143310547
+        ],
+        [
+          -0.5620212554931641,
+          0.08616362512111664,
+          0.8226225972175598,
+          15.04743766784668
+        ],
+        [
+          -0.2940223515033722,
+          -0.9504121541976929,
+          -0.10132939368486404,
+          -32.090423583984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4659,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_283082246",
+      "mask_path": "../../mask/hdr_left_04659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04660.png",
+      "transform_matrix": [
+        [
+          0.7753903269767761,
+          -0.28369325399398804,
+          0.5641701221466064,
+          99.77474212646484
+        ],
+        [
+          -0.5673611760139465,
+          0.0792829692363739,
+          0.8196435570716858,
+          15.014996528625488
+        ],
+        [
+          -0.27725642919540405,
+          -0.9556319117546082,
+          -0.09948126971721649,
+          -32.11766052246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4660,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_383082151",
+      "mask_path": "../../mask/hdr_left_04660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04661.png",
+      "transform_matrix": [
+        [
+          0.7787854671478271,
+          -0.27346277236938477,
+          0.564545214176178,
+          99.8573226928711
+        ],
+        [
+          -0.5699233412742615,
+          0.06753440946340561,
+          0.8189178109169006,
+          14.978279113769531
+        ],
+        [
+          -0.2620697617530823,
+          -0.9595089554786682,
+          -0.10325799882411957,
+          -32.12173843383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4661,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_483082532",
+      "mask_path": "../../mask/hdr_left_04661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04662.png",
+      "transform_matrix": [
+        [
+          0.7826500535011292,
+          -0.26534250378608704,
+          0.5630738735198975,
+          99.91299438476562
+        ],
+        [
+          -0.5699552893638611,
+          0.05814621224999428,
+          0.81961590051651,
+          14.956302642822266
+        ],
+        [
+          -0.25021952390670776,
+          -0.9623993039131165,
+          -0.10572522133588791,
+          -32.12494659423828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4662,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_583081722",
+      "mask_path": "../../mask/hdr_left_04662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04663.png",
+      "transform_matrix": [
+        [
+          0.7870327234268188,
+          -0.25411224365234375,
+          0.5621445178985596,
+          99.98295593261719
+        ],
+        [
+          -0.5693695545196533,
+          0.05157516524195671,
+          0.8204622268676758,
+          14.931748390197754
+        ],
+        [
+          -0.2374821901321411,
+          -0.9657987356185913,
+          -0.10409242659807205,
+          -32.14501953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4663,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_683084487",
+      "mask_path": "../../mask/hdr_left_04663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04664.png",
+      "transform_matrix": [
+        [
+          0.7869293093681335,
+          -0.2493954449892044,
+          0.5643972158432007,
+          100.07292938232422
+        ],
+        [
+          -0.5712764859199524,
+          0.0512278787791729,
+          0.8191574215888977,
+          14.890190124511719
+        ],
+        [
+          -0.23320697247982025,
+          -0.9670459032058716,
+          -0.10216103494167328,
+          -32.162254333496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4664,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_783081769",
+      "mask_path": "../../mask/hdr_left_04664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04665.png",
+      "transform_matrix": [
+        [
+          0.7825995087623596,
+          -0.24520441889762878,
+          0.5721999406814575,
+          100.14774322509766
+        ],
+        [
+          -0.5795064568519592,
+          0.04880034923553467,
+          0.813505232334137,
+          14.851101875305176
+        ],
+        [
+          -0.22739863395690918,
+          -0.9682424068450928,
+          -0.10390642285346985,
+          -32.171653747558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4665,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_883081436",
+      "mask_path": "../../mask/hdr_left_04665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04666.png",
+      "transform_matrix": [
+        [
+          0.7771125435829163,
+          -0.2370997816324234,
+          0.5829919576644897,
+          100.21109771728516
+        ],
+        [
+          -0.591488242149353,
+          0.041345201432704926,
+          0.8052527904510498,
+          14.817231178283691
+        ],
+        [
+          -0.21502918004989624,
+          -0.9706051349639893,
+          -0.10811185836791992,
+          -32.18511962890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4666,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_983080148",
+      "mask_path": "../../mask/hdr_left_04666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05698.png",
+      "transform_matrix": [
+        [
+          -0.7452865242958069,
+          -0.16558824479579926,
+          -0.6458548307418823,
+          99.39859771728516
+        ],
+        [
+          0.6491401195526123,
+          0.04091503471136093,
+          -0.7595676183700562,
+          15.24149227142334
+        ],
+        [
+          0.1522006094455719,
+          -0.9853460192680359,
+          0.07699654251337051,
+          -32.02238082885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5698,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_183080911",
+      "mask_path": "../../mask/hdr_left_05698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05699.png",
+      "transform_matrix": [
+        [
+          -0.7440164089202881,
+          -0.18352702260017395,
+          -0.6424620151519775,
+          99.31251525878906
+        ],
+        [
+          0.6461308598518372,
+          0.04724975675344467,
+          -0.7617626190185547,
+          15.267447471618652
+        ],
+        [
+          0.1701601892709732,
+          -0.9818785190582275,
+          0.08342789858579636,
+          -31.949731826782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5699,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_283080101",
+      "mask_path": "../../mask/hdr_left_05699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05700.png",
+      "transform_matrix": [
+        [
+          -0.7411450147628784,
+          -0.17798703908920288,
+          -0.6473211646080017,
+          99.27216339111328
+        ],
+        [
+          0.6483368873596191,
+          0.06050777807831764,
+          -0.7589452862739563,
+          15.312589645385742
+        ],
+        [
+          0.17425037920475006,
+          -0.9821707606315613,
+          0.07055052369832993,
+          -31.97066879272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5700,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_383080720",
+      "mask_path": "../../mask/hdr_left_05700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05701.png",
+      "transform_matrix": [
+        [
+          -0.7323285341262817,
+          -0.18069791793823242,
+          -0.6565387845039368,
+          99.20478820800781
+        ],
+        [
+          0.6550736427307129,
+          0.07632209360599518,
+          -0.7517002820968628,
+          15.377108573913574
+        ],
+        [
+          0.18593905866146088,
+          -0.9805729389190674,
+          0.062477611005306244,
+          -31.931781768798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5701,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_483080863",
+      "mask_path": "../../mask/hdr_left_05701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05702.png",
+      "transform_matrix": [
+        [
+          -0.7246129512786865,
+          -0.1861741840839386,
+          -0.6635323166847229,
+          99.15419006347656
+        ],
+        [
+          0.6618720293045044,
+          0.08023089170455933,
+          -0.7453109622001648,
+          15.416627883911133
+        ],
+        [
+          0.19199343025684357,
+          -0.9792355895042419,
+          0.06508713960647583,
+          -31.905370712280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5702,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_583081007",
+      "mask_path": "../../mask/hdr_left_05702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05703.png",
+      "transform_matrix": [
+        [
+          -0.7191332578659058,
+          -0.19082464277744293,
+          -0.668156623840332,
+          99.11465454101562
+        ],
+        [
+          0.6676326394081116,
+          0.076840341091156,
+          -0.7405148148536682,
+          15.446700096130371
+        ],
+        [
+          0.19264987111091614,
+          -0.9786120653152466,
+          0.07214231044054031,
+          -31.905780792236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5703,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_683080911",
+      "mask_path": "../../mask/hdr_left_05703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05704.png",
+      "transform_matrix": [
+        [
+          -0.7120687365531921,
+          -0.21381425857543945,
+          -0.6687611937522888,
+          99.01553344726562
+        ],
+        [
+          0.6715811491012573,
+          0.07039829343557358,
+          -0.7375790476799011,
+          15.473014831542969
+        ],
+        [
+          0.2047845423221588,
+          -0.9743344783782959,
+          0.09346520900726318,
+          -31.861974716186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5704,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_783080816",
+      "mask_path": "../../mask/hdr_left_05704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05705.png",
+      "transform_matrix": [
+        [
+          -0.7120047807693481,
+          -0.23515427112579346,
+          -0.661628007888794,
+          98.92456817626953
+        ],
+        [
+          0.665346622467041,
+          0.07520776987075806,
+          -0.7427366971969604,
+          15.501100540161133
+        ],
+        [
+          0.22441725432872772,
+          -0.969044029712677,
+          0.10291080176830292,
+          -31.77465057373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5705,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_883080482",
+      "mask_path": "../../mask/hdr_left_05705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05707.png",
+      "transform_matrix": [
+        [
+          -0.7158500552177429,
+          -0.22057127952575684,
+          -0.6625005602836609,
+          98.85769653320312
+        ],
+        [
+          0.6601973176002502,
+          0.09515129029750824,
+          -0.745040774345398,
+          15.559639930725098
+        ],
+        [
+          0.22737234830856323,
+          -0.9707186222076416,
+          0.07750650495290756,
+          -31.778045654296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5707,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_83079338",
+      "mask_path": "../../mask/hdr_left_05707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05708.png",
+      "transform_matrix": [
+        [
+          -0.714088499546051,
+          -0.21488985419273376,
+          -0.6662581562995911,
+          98.80131530761719
+        ],
+        [
+          0.6610231399536133,
+          0.10637510567903519,
+          -0.7427870631217957,
+          15.59883975982666
+        ],
+        [
+          0.23049068450927734,
+          -0.9708278775215149,
+          0.06608594954013824,
+          -31.76034164428711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5708,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_183078289",
+      "mask_path": "../../mask/hdr_left_05708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05709.png",
+      "transform_matrix": [
+        [
+          -0.7078433036804199,
+          -0.2090967893600464,
+          -0.674712061882019,
+          98.75382995605469
+        ],
+        [
+          0.67303866147995,
+          0.09030470997095108,
+          -0.7340736985206604,
+          15.640660285949707
+        ],
+        [
+          0.21442213654518127,
+          -0.9737164378166199,
+          0.0768086314201355,
+          -31.746566772460938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5709,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_283078670",
+      "mask_path": "../../mask/hdr_left_05709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05710.png",
+      "transform_matrix": [
+        [
+          -0.701373815536499,
+          -0.20463791489601135,
+          -0.6827870011329651,
+          98.70752716064453
+        ],
+        [
+          0.6839469075202942,
+          0.07654089480638504,
+          -0.7255054116249084,
+          15.665570259094238
+        ],
+        [
+          0.20072700083255768,
+          -0.9758405685424805,
+          0.08627767860889435,
+          -31.720500946044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5710,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_383080959",
+      "mask_path": "../../mask/hdr_left_05710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05711.png",
+      "transform_matrix": [
+        [
+          -0.6963663101196289,
+          -0.20856204628944397,
+          -0.6867137551307678,
+          98.66687774658203
+        ],
+        [
+          0.6889155507087708,
+          0.07395263016223907,
+          -0.7210592031478882,
+          15.69238567352295
+        ],
+        [
+          0.20116986334323883,
+          -0.9752091765403748,
+          0.09218350797891617,
+          -31.696924209594727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5711,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_483080863",
+      "mask_path": "../../mask/hdr_left_05711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05712.png",
+      "transform_matrix": [
+        [
+          -0.6899957060813904,
+          -0.22974805533885956,
+          -0.6863831281661987,
+          98.5962905883789
+        ],
+        [
+          0.6919743418693542,
+          0.06877895444631577,
+          -0.7186382412910461,
+          15.730697631835938
+        ],
+        [
+          0.2123144418001175,
+          -0.9708169102668762,
+          0.11152258515357971,
+          -31.67015266418457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5712,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_583081960",
+      "mask_path": "../../mask/hdr_left_05712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05713.png",
+      "transform_matrix": [
+        [
+          -0.6910043358802795,
+          -0.23753823339939117,
+          -0.6827067732810974,
+          98.51398468017578
+        ],
+        [
+          0.6869193315505981,
+          0.07828199118375778,
+          -0.7225051522254944,
+          15.7648344039917
+        ],
+        [
+          0.22506621479988098,
+          -0.9682187438011169,
+          0.10907639563083649,
+          -31.612789154052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5713,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_683081150",
+      "mask_path": "../../mask/hdr_left_05713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05715.png",
+      "transform_matrix": [
+        [
+          -0.7112672924995422,
+          -0.2210383266210556,
+          -0.6672636866569519,
+          98.44840240478516
+        ],
+        [
+          0.6670522689819336,
+          0.0871155709028244,
+          -0.7398999929428101,
+          15.791699409484863
+        ],
+        [
+          0.22167529165744781,
+          -0.9713665843009949,
+          0.0854816660284996,
+          -31.60512924194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5715,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_883080482",
+      "mask_path": "../../mask/hdr_left_05715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05716.png",
+      "transform_matrix": [
+        [
+          -0.7259430289268494,
+          -0.21573849022388458,
+          -0.6530418395996094,
+          98.3978500366211
+        ],
+        [
+          0.6526744365692139,
+          0.08328120410442352,
+          -0.7530473470687866,
+          15.813660621643066
+        ],
+        [
+          0.21684738993644714,
+          -0.972893238067627,
+          0.08034957200288773,
+          -31.59297752380371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5716,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_983080863",
+      "mask_path": "../../mask/hdr_left_05716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05717.png",
+      "transform_matrix": [
+        [
+          -0.7424517869949341,
+          -0.21637850999832153,
+          -0.6339918375015259,
+          98.33454895019531
+        ],
+        [
+          0.6343047618865967,
+          0.07731884717941284,
+          -0.7692068219184875,
+          15.83903980255127
+        ],
+        [
+          0.21545936167240143,
+          -0.9732431173324585,
+          0.0798444151878357,
+          -31.5723934173584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5717,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_83078145",
+      "mask_path": "../../mask/hdr_left_05717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05719.png",
+      "transform_matrix": [
+        [
+          -0.7770996689796448,
+          -0.22857731580734253,
+          -0.5864030122756958,
+          98.2308120727539
+        ],
+        [
+          0.5923731923103333,
+          0.049134913831949234,
+          -0.804163932800293,
+          15.854879379272461
+        ],
+        [
+          0.21262647211551666,
+          -0.9722850918769836,
+          0.09722034633159637,
+          -31.549713134765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5719,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_283080101",
+      "mask_path": "../../mask/hdr_left_05719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05720.png",
+      "transform_matrix": [
+        [
+          -0.7939123511314392,
+          -0.22233043611049652,
+          -0.5659260153770447,
+          98.17730712890625
+        ],
+        [
+          0.5721776485443115,
+          0.04170917347073555,
+          -0.8190683722496033,
+          15.86489200592041
+        ],
+        [
+          0.2057081162929535,
+          -0.9740788340568542,
+          0.09409907460212708,
+          -31.54290771484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5720,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_383078336",
+      "mask_path": "../../mask/hdr_left_05720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05722.png",
+      "transform_matrix": [
+        [
+          -0.8015027642250061,
+          -0.21593645215034485,
+          -0.5576421022415161,
+          98.09066009521484
+        ],
+        [
+          0.5649499893188477,
+          0.03225010633468628,
+          -0.8244946599006653,
+          15.879800796508789
+        ],
+        [
+          0.19602246582508087,
+          -0.9758747816085815,
+          0.09614474326372147,
+          -31.535505294799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5722,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_583082675",
+      "mask_path": "../../mask/hdr_left_05722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05724.png",
+      "transform_matrix": [
+        [
+          -0.8008777499198914,
+          -0.19864557683467865,
+          -0.5649200677871704,
+          98.01437377929688
+        ],
+        [
+          0.57432621717453,
+          0.012289974838495255,
+          -0.818534255027771,
+          15.883136749267578
+        ],
+        [
+          0.16954106092453003,
+          -0.9799944162368774,
+          0.10424459725618362,
+          -31.52597999572754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5724,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_783081769",
+      "mask_path": "../../mask/hdr_left_05724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05725.png",
+      "transform_matrix": [
+        [
+          -0.7955992817878723,
+          -0.205718994140625,
+          -0.5698257684707642,
+          97.9681396484375
+        ],
+        [
+          0.580874502658844,
+          0.008107755333185196,
+          -0.8139527440071106,
+          15.904199600219727
+        ],
+        [
+          0.17206554114818573,
+          -0.9785775542259216,
+          0.11304638534784317,
+          -31.513774871826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5725,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_883081436",
+      "mask_path": "../../mask/hdr_left_05725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05726.png",
+      "transform_matrix": [
+        [
+          -0.7924022674560547,
+          -0.2049969881772995,
+          -0.5745214819908142,
+          97.91927337646484
+        ],
+        [
+          0.586460292339325,
+          0.0030917865224182606,
+          -0.8099720478057861,
+          15.928747177124023
+        ],
+        [
+          0.1678181141614914,
+          -0.9787577390670776,
+          0.1177726462483406,
+          -31.50572967529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5726,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_983081579",
+      "mask_path": "../../mask/hdr_left_05726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05727.png",
+      "transform_matrix": [
+        [
+          -0.7938311696052551,
+          -0.19147004187107086,
+          -0.5772099494934082,
+          97.8624496459961
+        ],
+        [
+          0.5865922570228577,
+          0.009326922707259655,
+          -0.8098285794258118,
+          15.947097778320312
+        ],
+        [
+          0.16044151782989502,
+          -0.9814541339874268,
+          0.10491085052490234,
+          -31.493324279785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5727,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_83082199",
+      "mask_path": "../../mask/hdr_left_05727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05729.png",
+      "transform_matrix": [
+        [
+          -0.7958853840827942,
+          -0.16864876449108124,
+          -0.581484317779541,
+          97.79092407226562
+        ],
+        [
+          0.5869150757789612,
+          0.020894892513751984,
+          -0.8093788623809814,
+          15.981390953063965
+        ],
+        [
+          0.14865078032016754,
+          -0.985454797744751,
+          0.08235257118940353,
+          -31.484771728515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5729,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_283081054",
+      "mask_path": "../../mask/hdr_left_05729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05730.png",
+      "transform_matrix": [
+        [
+          -0.7985484600067139,
+          -0.16476066410541534,
+          -0.5789424180984497,
+          97.74374389648438
+        ],
+        [
+          0.5827955007553101,
+          0.028953153640031815,
+          -0.8121028542518616,
+          16.013240814208984
+        ],
+        [
+          0.15056481957435608,
+          -0.985908567905426,
+          0.07290127873420715,
+          -31.47503089904785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5730,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_383083343",
+      "mask_path": "../../mask/hdr_left_05730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05731.png",
+      "transform_matrix": [
+        [
+          -0.8021419644355774,
+          -0.16358402371406555,
+          -0.5742896199226379,
+          97.68254852294922
+        ],
+        [
+          0.5783585906028748,
+          0.02643209882080555,
+          -0.8153542876243591,
+          16.038320541381836
+        ],
+        [
+          0.1485586166381836,
+          -0.9861752390861511,
+          0.07340793311595917,
+          -31.439010620117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5731,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_483082056",
+      "mask_path": "../../mask/hdr_left_05731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05734.png",
+      "transform_matrix": [
+        [
+          -0.8223503828048706,
+          -0.17608004808425903,
+          -0.5410506129264832,
+          97.52362823486328
+        ],
+        [
+          0.5495191216468811,
+          0.000795832194853574,
+          -0.835480809211731,
+          16.08228874206543
+        ],
+        [
+          0.1475420594215393,
+          -0.9843755960464478,
+          0.09610489010810852,
+          -31.395235061645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5734,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_783080339",
+      "mask_path": "../../mask/hdr_left_05734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05735.png",
+      "transform_matrix": [
+        [
+          -0.835829496383667,
+          -0.170540913939476,
+          -0.521828293800354,
+          97.45919799804688
+        ],
+        [
+          0.5306171178817749,
+          -0.00711428327485919,
+          -0.8475817441940308,
+          16.09711265563965
+        ],
+        [
+          0.14083491265773773,
+          -0.9853249788284302,
+          0.09643823653459549,
+          -31.388107299804688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5735,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_883080482",
+      "mask_path": "../../mask/hdr_left_05735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05738.png",
+      "transform_matrix": [
+        [
+          -0.8576513528823853,
+          -0.14449207484722137,
+          -0.49351418018341064,
+          97.31250762939453
+        ],
+        [
+          0.49955010414123535,
+          -0.0064202467910945415,
+          -0.8662611842155457,
+          16.130403518676758
+        ],
+        [
+          0.12199937552213669,
+          -0.9894851446151733,
+          0.07768737524747849,
+          -31.385229110717773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5738,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_183080673",
+      "mask_path": "../../mask/hdr_left_05738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05739.png",
+      "transform_matrix": [
+        [
+          -0.8537842631340027,
+          -0.14733637869358063,
+          -0.4993439316749573,
+          97.2477798461914
+        ],
+        [
+          0.5059763193130493,
+          -0.00888871494680643,
+          -0.8625015616416931,
+          16.14908790588379
+        ],
+        [
+          0.12263931334018707,
+          -0.9890465140342712,
+          0.08213776350021362,
+          -31.369970321655273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5739,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_283080101",
+      "mask_path": "../../mask/hdr_left_05739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05740.png",
+      "transform_matrix": [
+        [
+          -0.8489042520523071,
+          -0.15370039641857147,
+          -0.5057051777839661,
+          97.19049835205078
+        ],
+        [
+          0.5130814909934998,
+          -0.009882358834147453,
+          -0.8582830429077148,
+          16.168766021728516
+        ],
+        [
+          0.1269208937883377,
+          -0.9880681037902832,
+          0.0872500091791153,
+          -31.352123260498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5740,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_383078813",
+      "mask_path": "../../mask/hdr_left_05740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05741.png",
+      "transform_matrix": [
+        [
+          -0.845610499382019,
+          -0.15492965281009674,
+          -0.5108224153518677,
+          97.12378692626953
+        ],
+        [
+          0.5186334848403931,
+          -0.0119616175070405,
+          -0.8549129962921143,
+          16.188413619995117
+        ],
+        [
+          0.1263411045074463,
+          -0.9878530502319336,
+          0.09046657383441925,
+          -31.33559799194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5741,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_483079910",
+      "mask_path": "../../mask/hdr_left_05741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05742.png",
+      "transform_matrix": [
+        [
+          -0.8445159196853638,
+          -0.15217120945453644,
+          -0.5134557485580444,
+          97.03572845458984
+        ],
+        [
+          0.5205445289611816,
+          -0.008025795221328735,
+          -0.8537967801094055,
+          16.208627700805664
+        ],
+        [
+          0.12580238282680511,
+          -0.9883216619491577,
+          0.085989810526371,
+          -31.320894241333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5742,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_583083152",
+      "mask_path": "../../mask/hdr_left_05742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05743.png",
+      "transform_matrix": [
+        [
+          -0.8444371223449707,
+          -0.1461106389760971,
+          -0.5153421759605408,
+          96.97154998779297
+        ],
+        [
+          0.5210257768630981,
+          -0.0007394805434159935,
+          -0.8535405397415161,
+          16.226699829101562
+        ],
+        [
+          0.12433026731014252,
+          -0.9892680048942566,
+          0.07675185799598694,
+          -31.31402587890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5743,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_683081865",
+      "mask_path": "../../mask/hdr_left_05743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05744.png",
+      "transform_matrix": [
+        [
+          -0.8427345156669617,
+          -0.14131282269954681,
+          -0.519450843334198,
+          96.92535400390625
+        ],
+        [
+          0.524334728717804,
+          0.003119125496596098,
+          -0.8515064716339111,
+          16.248403549194336
+        ],
+        [
+          0.12194900214672089,
+          -0.9899601340293884,
+          0.07146662473678589,
+          -31.31247329711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5744,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_783082008",
+      "mask_path": "../../mask/hdr_left_05744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05745.png",
+      "transform_matrix": [
+        [
+          -0.8407046794891357,
+          -0.14360542595386505,
+          -0.5221044421195984,
+          96.86536407470703
+        ],
+        [
+          0.5253005623817444,
+          0.017744602635502815,
+          -0.8507317304611206,
+          16.277729034423828
+        ],
+        [
+          0.13143423199653625,
+          -0.9894760847091675,
+          0.06051803380250931,
+          -31.29763412475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5745,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_883082389",
+      "mask_path": "../../mask/hdr_left_05745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05746.png",
+      "transform_matrix": [
+        [
+          -0.8359056711196899,
+          -0.15013854205608368,
+          -0.52793949842453,
+          96.79351806640625
+        ],
+        [
+          0.5298700332641602,
+          0.03016909584403038,
+          -0.8475421071052551,
+          16.319074630737305
+        ],
+        [
+          0.14317616820335388,
+          -0.9882045984268188,
+          0.05433540418744087,
+          -31.258827209472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5746,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_983082532",
+      "mask_path": "../../mask/hdr_left_05746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05749.png",
+      "transform_matrix": [
+        [
+          -0.8311190009117126,
+          -0.1652853637933731,
+          -0.5309631824493408,
+          96.62287902832031
+        ],
+        [
+          0.5368321537971497,
+          0.010652462020516396,
+          -0.8436218500137329,
+          16.390892028808594
+        ],
+        [
+          0.1450943946838379,
+          -0.9861882925033569,
+          0.07987703382968903,
+          -31.23138427734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5749,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_283081769",
+      "mask_path": "../../mask/hdr_left_05749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05750.png",
+      "transform_matrix": [
+        [
+          -0.8369705677032471,
+          -0.16683536767959595,
+          -0.5211969017982483,
+          96.53968048095703
+        ],
+        [
+          0.5269742608070374,
+          0.011121989227831364,
+          -0.8498085141181946,
+          16.412622451782227
+        ],
+        [
+          0.14757482707500458,
+          -0.98592209815979,
+          0.0786091610789299,
+          -31.213741302490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5750,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_383081912",
+      "mask_path": "../../mask/hdr_left_05750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05753.png",
+      "transform_matrix": [
+        [
+          -0.8682583570480347,
+          -0.15815217792987823,
+          -0.4702290892601013,
+          96.3858413696289
+        ],
+        [
+          0.47539955377578735,
+          0.005784742999821901,
+          -0.8797510266304016,
+          16.423051834106445
+        ],
+        [
+          0.1418546885251999,
+          -0.9873978495597839,
+          0.0701628252863884,
+          -31.182260513305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5753,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_683082103",
+      "mask_path": "../../mask/hdr_left_05753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05754.png",
+      "transform_matrix": [
+        [
+          -0.872179388999939,
+          -0.1621095985174179,
+          -0.46154484152793884,
+          96.3171157836914
+        ],
+        [
+          0.46796590089797974,
+          -0.001617934787645936,
+          -0.8837449550628662,
+          16.441049575805664
+        ],
+        [
+          0.14251677691936493,
+          -0.9867714643478394,
+          0.07727289944887161,
+          -31.163496017456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5754,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_783081531",
+      "mask_path": "../../mask/hdr_left_05754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05756.png",
+      "transform_matrix": [
+        [
+          -0.8658198118209839,
+          -0.1750715672969818,
+          -0.4687280058860779,
+          96.21199035644531
+        ],
+        [
+          0.47894957661628723,
+          -0.018907392397522926,
+          -0.8776387572288513,
+          16.47205352783203
+        ],
+        [
+          0.14478714764118195,
+          -0.9843741655349731,
+          0.10022082924842834,
+          -31.146059036254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5756,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_983082294",
+      "mask_path": "../../mask/hdr_left_05756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05757.png",
+      "transform_matrix": [
+        [
+          -0.8647326231002808,
+          -0.17761586606502533,
+          -0.46977657079696655,
+          96.13338470458984
+        ],
+        [
+          0.4797790050506592,
+          -0.015587890520691872,
+          -0.8772508502006531,
+          16.498186111450195
+        ],
+        [
+          0.14849086105823517,
+          -0.983976423740387,
+          0.09869572520256042,
+          -31.106250762939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5757,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_83080053",
+      "mask_path": "../../mask/hdr_left_05757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05759.png",
+      "transform_matrix": [
+        [
+          -0.8627374172210693,
+          -0.1717231422662735,
+          -0.4755997657775879,
+          96.03024291992188
+        ],
+        [
+          0.48285824060440063,
+          -0.0005701094050891697,
+          -0.8756983280181885,
+          16.53768539428711
+        ],
+        [
+          0.1501065343618393,
+          -0.9851452112197876,
+          0.08340977877378464,
+          -31.102312088012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5759,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_283081769",
+      "mask_path": "../../mask/hdr_left_05759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05760.png",
+      "transform_matrix": [
+        [
+          -0.8610332608222961,
+          -0.170407235622406,
+          -0.4791482090950012,
+          95.97547912597656
+        ],
+        [
+          0.4861370623111725,
+          0.0008149996865540743,
+          -0.8738822340965271,
+          16.56647491455078
+        ],
+        [
+          0.14930635690689087,
+          -0.9853734374046326,
+          0.08213953673839569,
+          -31.094825744628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5760,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_383081197",
+      "mask_path": "../../mask/hdr_left_05760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05761.png",
+      "transform_matrix": [
+        [
+          -0.8578681945800781,
+          -0.16797132790088654,
+          -0.48564156889915466,
+          95.91291046142578
+        ],
+        [
+          0.4918202757835388,
+          0.0054841856472194195,
+          -0.870679497718811,
+          16.596839904785156
+        ],
+        [
+          0.14891251921653748,
+          -0.9857767224311829,
+          0.07790698856115341,
+          -31.072086334228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5761,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_483082532",
+      "mask_path": "../../mask/hdr_left_05761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05762.png",
+      "transform_matrix": [
+        [
+          -0.855965256690979,
+          -0.1659136563539505,
+          -0.4896897077560425,
+          95.86067962646484
+        ],
+        [
+          0.49532821774482727,
+          0.008394317701458931,
+          -0.8686653971672058,
+          16.618249893188477
+        ],
+        [
+          0.1482340395450592,
+          -0.9861045479774475,
+          0.0749964788556099,
+          -31.053638458251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5762,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_583081722",
+      "mask_path": "../../mask/hdr_left_05762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05764.png",
+      "transform_matrix": [
+        [
+          -0.8583748936653137,
+          -0.1636388897895813,
+          -0.4862252473831177,
+          95.75983428955078
+        ],
+        [
+          0.49335116147994995,
+          -0.0033609888050705194,
+          -0.8698237538337708,
+          16.649580001831055
+        ],
+        [
+          0.14070278406143188,
+          -0.9865146279335022,
+          0.08361641317605972,
+          -31.02950668334961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5764,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_783079624",
+      "mask_path": "../../mask/hdr_left_05764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05765.png",
+      "transform_matrix": [
+        [
+          -0.8691309094429016,
+          -0.1582747846841812,
+          -0.4685727655887604,
+          95.69213104248047
+        ],
+        [
+          0.47441431879997253,
+          0.000991808483377099,
+          -0.8803010582923889,
+          16.658639907836914
+        ],
+        [
+          0.13979418575763702,
+          -0.9873945713043213,
+          0.07422581315040588,
+          -31.009952545166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5765,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_883079528",
+      "mask_path": "../../mask/hdr_left_05765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05767.png",
+      "transform_matrix": [
+        [
+          -0.8991377353668213,
+          -0.14537233114242554,
+          -0.4128173887729645,
+          95.62085723876953
+        ],
+        [
+          0.4165481925010681,
+          0.005211250856518745,
+          -0.9090986847877502,
+          16.64691162109375
+        ],
+        [
+          0.1343090832233429,
+          -0.9893633127212524,
+          0.05586894601583481,
+          -31.016843795776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5767,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_83080053",
+      "mask_path": "../../mask/hdr_left_05767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05768.png",
+      "transform_matrix": [
+        [
+          -0.9109529852867126,
+          -0.1436389833688736,
+          -0.3866942524909973,
+          95.57270812988281
+        ],
+        [
+          0.3903343975543976,
+          0.0030683272052556276,
+          -0.9206680059432983,
+          16.641551971435547
+        ],
+        [
+          0.13343030214309692,
+          -0.9896253943443298,
+          0.05327213183045387,
+          -30.992128372192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5768,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_183079957",
+      "mask_path": "../../mask/hdr_left_05768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05769.png",
+      "transform_matrix": [
+        [
+          -0.9183893799781799,
+          -0.1458892971277237,
+          -0.3678005039691925,
+          95.5133285522461
+        ],
+        [
+          0.3717718720436096,
+          4.607308437698521e-05,
+          -0.9283241033554077,
+          16.652650833129883
+        ],
+        [
+          0.13544948399066925,
+          -0.9893009662628174,
+          0.05419522896409035,
+          -30.965778350830078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5769,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_283080577",
+      "mask_path": "../../mask/hdr_left_05769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05771.png",
+      "transform_matrix": [
+        [
+          -0.9163478016853333,
+          -0.14447332918643951,
+          -0.37340885400772095,
+          95.42018127441406
+        ],
+        [
+          0.378513365983963,
+          -0.008576258085668087,
+          -0.9255560040473938,
+          16.675899505615234
+        ],
+        [
+          0.1305156946182251,
+          -0.9894715547561646,
+          0.06254391372203827,
+          -30.960344314575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5771,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_483080625",
+      "mask_path": "../../mask/hdr_left_05771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05772.png",
+      "transform_matrix": [
+        [
+          -0.9163599610328674,
+          -0.13948994874954224,
+          -0.3752690851688385,
+          95.3565444946289
+        ],
+        [
+          0.37974512577056885,
+          -0.005967088509351015,
+          -0.9250719547271729,
+          16.691843032836914
+        ],
+        [
+          0.12679894268512726,
+          -0.9902055859565735,
+          0.05843861773610115,
+          -30.959138870239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5772,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_583079099",
+      "mask_path": "../../mask/hdr_left_05772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05774.png",
+      "transform_matrix": [
+        [
+          -0.9165226221084595,
+          -0.13825257122516632,
+          -0.3753296434879303,
+          95.2454605102539
+        ],
+        [
+          0.37885937094688416,
+          0.0008467338047921658,
+          -0.9254539012908936,
+          16.7059383392334
+        ],
+        [
+          0.1282641738653183,
+          -0.9903966784477234,
+          0.05160222575068474,
+          -30.940332412719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5774,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_783081293",
+      "mask_path": "../../mask/hdr_left_05774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05775.png",
+      "transform_matrix": [
+        [
+          -0.9167200326919556,
+          -0.12926554679870605,
+          -0.378040611743927,
+          95.17501068115234
+        ],
+        [
+          0.38171645998954773,
+          -0.003985589370131493,
+          -0.9242708683013916,
+          16.71611213684082
+        ],
+        [
+          0.11796965450048447,
+          -0.9916020631790161,
+          0.052996449172496796,
+          -30.946243286132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5775,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_883081912",
+      "mask_path": "../../mask/hdr_left_05775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05776.png",
+      "transform_matrix": [
+        [
+          -0.9136938452720642,
+          -0.12755638360977173,
+          -0.38586655259132385,
+          95.09142303466797
+        ],
+        [
+          0.3900744616985321,
+          -0.008822939358651638,
+          -0.9207410216331482,
+          16.73023796081543
+        ],
+        [
+          0.11404191702604294,
+          -0.9917920827865601,
+          0.05781795084476471,
+          -30.943424224853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5776,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_983081817",
+      "mask_path": "../../mask/hdr_left_05776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05777.png",
+      "transform_matrix": [
+        [
+          -0.9099717140197754,
+          -0.12937068939208984,
+          -0.39397281408309937,
+          95.01396179199219
+        ],
+        [
+          0.3985300362110138,
+          -0.010356955230236053,
+          -0.917096734046936,
+          16.754018783569336
+        ],
+        [
+          0.11456508189439774,
+          -0.9915422797203064,
+          0.06098264455795288,
+          -30.92881965637207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5777,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_83082914",
+      "mask_path": "../../mask/hdr_left_05777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05778.png",
+      "transform_matrix": [
+        [
+          -0.9074023365974426,
+          -0.1287507712841034,
+          -0.4000551104545593,
+          94.94290161132812
+        ],
+        [
+          0.40513625741004944,
+          -0.014891105704009533,
+          -0.9141349792480469,
+          16.75657844543457
+        ],
+        [
+          0.11173833906650543,
+          -0.9915652275085449,
+          0.0656738430261612,
+          -30.925029754638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5778,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_183082103",
+      "mask_path": "../../mask/hdr_left_05778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05779.png",
+      "transform_matrix": [
+        [
+          -0.907214879989624,
+          -0.12065450102090836,
+          -0.40299317240715027,
+          94.83321380615234
+        ],
+        [
+          0.4073507487773895,
+          -0.012836024165153503,
+          -0.9131816029548645,
+          16.772058486938477
+        ],
+        [
+          0.1050066351890564,
+          -0.9926116466522217,
+          0.060793738812208176,
+          -30.914533615112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5779,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_283082723",
+      "mask_path": "../../mask/hdr_left_05779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04564.png",
+      "transform_matrix": [
+        [
+          -0.9697049856185913,
+          -0.14652231335639954,
+          -0.19545724987983704,
+          95.2644271850586
+        ],
+        [
+          0.19863539934158325,
+          -0.007238111458718777,
+          -0.9800466895103455,
+          16.747482299804688
+        ],
+        [
+          0.14218397438526154,
+          -0.989180862903595,
+          0.036123357713222504,
+          -30.962526321411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4564,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_883080720",
+      "mask_path": "../../mask/hdr_right_04564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04565.png",
+      "transform_matrix": [
+        [
+          -0.9701205492019653,
+          -0.14366059005260468,
+          -0.1955191045999527,
+          95.3329849243164
+        ],
+        [
+          0.1995898187160492,
+          -0.014350605197250843,
+          -0.979774534702301,
+          16.72418212890625
+        ],
+        [
+          0.137949138879776,
+          -0.9895229339599609,
+          0.04259501397609711,
+          -30.972755432128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4565,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_983081579",
+      "mask_path": "../../mask/hdr_right_04565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04566.png",
+      "transform_matrix": [
+        [
+          -0.9710479974746704,
+          -0.1358044296503067,
+          -0.19652754068374634,
+          95.39301300048828
+        ],
+        [
+          0.20019876956939697,
+          -0.013790268450975418,
+          -0.979658305644989,
+          16.705175399780273
+        ],
+        [
+          0.13033175468444824,
+          -0.9906396865844727,
+          0.040578894317150116,
+          -30.982177734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4566,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_83080530",
+      "mask_path": "../../mask/hdr_right_04566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04567.png",
+      "transform_matrix": [
+        [
+          -0.9713608026504517,
+          -0.130615234375,
+          -0.19848871231079102,
+          95.47108459472656
+        ],
+        [
+          0.20177824795246124,
+          -0.012317458167672157,
+          -0.9793538451194763,
+          16.68760871887207
+        ],
+        [
+          0.12547364830970764,
+          -0.991356611251831,
+          0.038320016115903854,
+          -30.995891571044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4567,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_183081150",
+      "mask_path": "../../mask/hdr_right_04567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04568.png",
+      "transform_matrix": [
+        [
+          -0.9728489518165588,
+          -0.12914995849132538,
+          -0.19205546379089355,
+          95.55158233642578
+        ],
+        [
+          0.19583474099636078,
+          -0.017109446227550507,
+          -0.9804877042770386,
+          16.672456741333008
+        ],
+        [
+          0.12334397435188293,
+          -0.9914774894714355,
+          0.041936952620744705,
+          -31.010494232177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4568,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_283079147",
+      "mask_path": "../../mask/hdr_right_04568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04570.png",
+      "transform_matrix": [
+        [
+          -0.9775627255439758,
+          -0.1199333667755127,
+          -0.17316804826259613,
+          95.63784790039062
+        ],
+        [
+          0.17676381766796112,
+          -0.019940251484513283,
+          -0.9840513467788696,
+          16.663267135620117
+        ],
+        [
+          0.11456757038831711,
+          -0.9925817251205444,
+          0.04069272801280022,
+          -31.02984619140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4570,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_483079433",
+      "mask_path": "../../mask/hdr_right_04570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04571.png",
+      "transform_matrix": [
+        [
+          -0.9788663387298584,
+          -0.12174181640148163,
+          -0.1643156260251999,
+          95.69902038574219
+        ],
+        [
+          0.1678953468799591,
+          -0.019683049991726875,
+          -0.9856083393096924,
+          16.65511131286621
+        ],
+        [
+          0.11675551533699036,
+          -0.99236661195755,
+          0.03970696032047272,
+          -31.039962768554688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4571,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_583079814",
+      "mask_path": "../../mask/hdr_right_04571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04572.png",
+      "transform_matrix": [
+        [
+          -0.9802114367485046,
+          -0.121918685734272,
+          -0.15595321357250214,
+          95.75794982910156
+        ],
+        [
+          0.15955720841884613,
+          -0.020318517461419106,
+          -0.986979603767395,
+          16.641239166259766
+        ],
+        [
+          0.11716251075267792,
+          -0.9923321008682251,
+          0.039369456470012665,
+          -31.033374786376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4572,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_683079242",
+      "mask_path": "../../mask/hdr_right_04572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04574.png",
+      "transform_matrix": [
+        [
+          -0.9831209182739258,
+          -0.11167842894792557,
+          -0.14491744339466095,
+          95.8489761352539
+        ],
+        [
+          0.147244393825531,
+          -0.012834007851779461,
+          -0.9890168309211731,
+          16.613977432250977
+        ],
+        [
+          0.10859198868274689,
+          -0.9936615228652954,
+          0.02906140685081482,
+          -31.042814254760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4574,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_883079290",
+      "mask_path": "../../mask/hdr_right_04574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04575.png",
+      "transform_matrix": [
+        [
+          -0.984474778175354,
+          -0.11030495911836624,
+          -0.13653650879859924,
+          95.90193176269531
+        ],
+        [
+          0.13893155753612518,
+          -0.014290839433670044,
+          -0.9901988506317139,
+          16.594886779785156
+        ],
+        [
+          0.10727262496948242,
+          -0.9937950372695923,
+          0.029393814504146576,
+          -31.04624366760254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4575,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323720_983080148",
+      "mask_path": "../../mask/hdr_right_04575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04577.png",
+      "transform_matrix": [
+        [
+          -0.9890652298927307,
+          -0.11416345089673996,
+          -0.09336361289024353,
+          95.97802734375
+        ],
+        [
+          0.09756215661764145,
+          -0.03174823522567749,
+          -0.9947229623794556,
+          16.58298110961914
+        ],
+        [
+          0.11059688031673431,
+          -0.9929545521736145,
+          0.042539115995168686,
+          -31.056814193725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4577,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_183081150",
+      "mask_path": "../../mask/hdr_right_04577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04579.png",
+      "transform_matrix": [
+        [
+          -0.9924943447113037,
+          -0.1110105887055397,
+          -0.05129869282245636,
+          96.07513427734375
+        ],
+        [
+          0.05511633679270744,
+          -0.03159693628549576,
+          -0.9979798793792725,
+          16.58370018005371
+        ],
+        [
+          0.10916545242071152,
+          -0.9933167695999146,
+          0.03747829049825668,
+          -31.08245277404785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4579,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_383081197",
+      "mask_path": "../../mask/hdr_right_04579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04580.png",
+      "transform_matrix": [
+        [
+          -0.9913622140884399,
+          -0.12210621684789658,
+          -0.04786503687500954,
+          96.13571166992188
+        ],
+        [
+          0.052586957812309265,
+          -0.0357440747320652,
+          -0.9979764819145203,
+          16.563213348388672
+        ],
+        [
+          0.12014824151992798,
+          -0.9918731451034546,
+          0.04185652732849121,
+          -31.089344024658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4580,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_483080625",
+      "mask_path": "../../mask/hdr_right_04580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04582.png",
+      "transform_matrix": [
+        [
+          -0.9869118928909302,
+          -0.1485002189874649,
+          -0.0628691166639328,
+          96.21430969238281
+        ],
+        [
+          0.06693972647190094,
+          -0.022569723427295685,
+          -0.9975017309188843,
+          16.53965187072754
+        ],
+        [
+          0.14671029150485992,
+          -0.9886547923088074,
+          0.03221489489078522,
+          -31.11962890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4582,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_683080673",
+      "mask_path": "../../mask/hdr_right_04582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04583.png",
+      "transform_matrix": [
+        [
+          -0.9868274331092834,
+          -0.14635178446769714,
+          -0.06894098222255707,
+          96.27787017822266
+        ],
+        [
+          0.07148294150829315,
+          -0.012174999341368675,
+          -0.9973675012588501,
+          16.53374671936035
+        ],
+        [
+          0.14512717723846436,
+          -0.9891577959060669,
+          0.022476276382803917,
+          -31.12898063659668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4583,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_783082723",
+      "mask_path": "../../mask/hdr_right_04583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04584.png",
+      "transform_matrix": [
+        [
+          -0.9863250851631165,
+          -0.14976467192173004,
+          -0.06879974156618118,
+          96.34355163574219
+        ],
+        [
+          0.07216273248195648,
+          -0.01713135652244091,
+          -0.9972458481788635,
+          16.523754119873047
+        ],
+        [
+          0.14817354083061218,
+          -0.9885732531547546,
+          0.027704520151019096,
+          -31.1417236328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4584,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_883082151",
+      "mask_path": "../../mask/hdr_right_04584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04585.png",
+      "transform_matrix": [
+        [
+          -0.9864786267280579,
+          -0.14991723001003265,
+          -0.06621865183115005,
+          96.39913177490234
+        ],
+        [
+          0.07035166025161743,
+          -0.022429145872592926,
+          -0.9972700476646423,
+          16.50921630859375
+        ],
+        [
+          0.14802272617816925,
+          -0.9884440898895264,
+          0.03267280012369156,
+          -31.158605575561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4585,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323721_983081102",
+      "mask_path": "../../mask/hdr_right_04585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04586.png",
+      "transform_matrix": [
+        [
+          -0.9876171946525574,
+          -0.14339253306388855,
+          -0.06364557892084122,
+          96.45555877685547
+        ],
+        [
+          0.06727992743253708,
+          -0.020636189728975296,
+          -0.9975208044052124,
+          16.501361846923828
+        ],
+        [
+          0.1417236328125,
+          -0.9894507527351379,
+          0.030028097331523895,
+          -31.173500061035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4586,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_83082199",
+      "mask_path": "../../mask/hdr_right_04586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04587.png",
+      "transform_matrix": [
+        [
+          -0.9882660508155823,
+          -0.13954156637191772,
+          -0.06211705878376961,
+          96.51337432861328
+        ],
+        [
+          0.06523788720369339,
+          -0.017898883670568466,
+          -0.9977092742919922,
+          16.49650764465332
+        ],
+        [
+          0.13811008632183075,
+          -0.9900544881820679,
+          0.026792259886860847,
+          -31.195703506469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4587,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_183081865",
+      "mask_path": "../../mask/hdr_right_04587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04588.png",
+      "transform_matrix": [
+        [
+          -0.9869304895401001,
+          -0.14681841433048248,
+          -0.06642698496580124,
+          96.58488464355469
+        ],
+        [
+          0.069823257625103,
+          -0.018095750361680984,
+          -0.9973953366279602,
+          16.472501754760742
+        ],
+        [
+          0.14523394405841827,
+          -0.9889978766441345,
+          0.028110593557357788,
+          -31.205297470092773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4588,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_283080816",
+      "mask_path": "../../mask/hdr_right_04588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04589.png",
+      "transform_matrix": [
+        [
+          -0.9843108057975769,
+          -0.15976360440254211,
+          -0.0748855397105217,
+          96.63949584960938
+        ],
+        [
+          0.07947449386119843,
+          -0.02252095565199852,
+          -0.9965825080871582,
+          16.450393676757812
+        ],
+        [
+          0.15753112733364105,
+          -0.9868983626365662,
+          0.03486475348472595,
+          -31.213850021362305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4589,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_383082389",
+      "mask_path": "../../mask/hdr_right_04589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04590.png",
+      "transform_matrix": [
+        [
+          -0.9824844598770142,
+          -0.16576197743415833,
+          -0.08513054996728897,
+          96.68573760986328
+        ],
+        [
+          0.08951155096292496,
+          -0.019127344712615013,
+          -0.995802104473114,
+          16.430007934570312
+        ],
+        [
+          0.16343779861927032,
+          -0.985980212688446,
+          0.03362994268536568,
+          -31.229639053344727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4590,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_483081340",
+      "mask_path": "../../mask/hdr_right_04590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04591.png",
+      "transform_matrix": [
+        [
+          -0.9811821579933167,
+          -0.1694934368133545,
+          -0.09248531609773636,
+          96.74880981445312
+        ],
+        [
+          0.09670630097389221,
+          -0.016801919788122177,
+          -0.9951711297035217,
+          16.40884780883789
+        ],
+        [
+          0.167121022939682,
+          -0.9853880405426025,
+          0.03287683054804802,
+          -31.239988327026367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4591,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_583082437",
+      "mask_path": "../../mask/hdr_right_04591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04592.png",
+      "transform_matrix": [
+        [
+          -0.9795815944671631,
+          -0.17741625010967255,
+          -0.09456855058670044,
+          96.83660125732422
+        ],
+        [
+          0.09862479567527771,
+          -0.01416485384106636,
+          -0.9950239062309265,
+          16.385047912597656
+        ],
+        [
+          0.17519386112689972,
+          -0.9840339422225952,
+          0.0313732735812664,
+          -31.26412582397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4592,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_683082580",
+      "mask_path": "../../mask/hdr_right_04592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04593.png",
+      "transform_matrix": [
+        [
+          -0.9782439470291138,
+          -0.18353363871574402,
+          -0.09671786427497864,
+          96.91419219970703
+        ],
+        [
+          0.10020914673805237,
+          -0.009821764193475246,
+          -0.9949179291725159,
+          16.3604679107666
+        ],
+        [
+          0.18165095150470734,
+          -0.9829643964767456,
+          0.02799983322620392,
+          -31.299272537231445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4593,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_783082723",
+      "mask_path": "../../mask/hdr_right_04593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04594.png",
+      "transform_matrix": [
+        [
+          -0.9782745242118835,
+          -0.18071797490119934,
+          -0.10158763080835342,
+          96.97161865234375
+        ],
+        [
+          0.1052570790052414,
+          -0.010807022452354431,
+          -0.9943863749504089,
+          16.345827102661133
+        ],
+        [
+          0.17860563099384308,
+          -0.9834755659103394,
+          0.02959408424794674,
+          -31.323789596557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4594,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_883082628",
+      "mask_path": "../../mask/hdr_right_04594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04595.png",
+      "transform_matrix": [
+        [
+          -0.978825032711029,
+          -0.17517809569835663,
+          -0.10589749366044998,
+          97.04142761230469
+        ],
+        [
+          0.1101769432425499,
+          -0.01485895924270153,
+          -0.9938009977340698,
+          16.332508087158203
+        ],
+        [
+          0.17251862585544586,
+          -0.9844245910644531,
+          0.03384491428732872,
+          -31.3332576751709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4595,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323722_983082532",
+      "mask_path": "../../mask/hdr_right_04595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04596.png",
+      "transform_matrix": [
+        [
+          -0.9788190126419067,
+          -0.17161765694618225,
+          -0.11162745207548141,
+          97.12187194824219
+        ],
+        [
+          0.11624316871166229,
+          -0.017053598538041115,
+          -0.9930742979049683,
+          16.297164916992188
+        ],
+        [
+          0.16852542757987976,
+          -0.9850159883499146,
+          0.036641769111156464,
+          -31.35641098022461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4596,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_83082199",
+      "mask_path": "../../mask/hdr_right_04596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04597.png",
+      "transform_matrix": [
+        [
+          -0.9749463200569153,
+          -0.1792302280664444,
+          -0.13174280524253845,
+          97.1994857788086
+        ],
+        [
+          0.13469189405441284,
+          -0.00433156406506896,
+          -0.9908779859542847,
+          16.270092010498047
+        ],
+        [
+          0.17702464759349823,
+          -0.9837976098060608,
+          0.028363903984427452,
+          -31.36223793029785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4597,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_183082342",
+      "mask_path": "../../mask/hdr_right_04597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04599.png",
+      "transform_matrix": [
+        [
+          -0.9642195105552673,
+          -0.18267038464546204,
+          -0.19212593138217926,
+          97.287841796875
+        ],
+        [
+          0.19536994397640228,
+          0.0002414282935205847,
+          -0.9807296395301819,
+          16.231609344482422
+        ],
+        [
+          0.17919662594795227,
+          -0.9831742644309998,
+          0.035455502569675446,
+          -31.37245750427246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4599,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_383082389",
+      "mask_path": "../../mask/hdr_right_04599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04600.png",
+      "transform_matrix": [
+        [
+          -0.9583452343940735,
+          -0.1710076928138733,
+          -0.22875922918319702,
+          97.38523864746094
+        ],
+        [
+          0.2330801635980606,
+          -0.005356644280254841,
+          -0.9724428057670593,
+          16.198678970336914
+        ],
+        [
+          0.1650698482990265,
+          -0.9852550625801086,
+          0.04499201476573944,
+          -31.371868133544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4600,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_483080387",
+      "mask_path": "../../mask/hdr_right_04600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04605.png",
+      "transform_matrix": [
+        [
+          -0.9240115284919739,
+          -0.17951825261116028,
+          -0.33760324120521545,
+          97.6248779296875
+        ],
+        [
+          0.34658700227737427,
+          -0.02031429298222065,
+          -0.9377979040145874,
+          16.08661651611328
+        ],
+        [
+          0.1614936739206314,
+          -0.9835448861122131,
+          0.08098933100700378,
+          -31.429197311401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4605,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323723_983081579",
+      "mask_path": "../../mask/hdr_right_04605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04606.png",
+      "transform_matrix": [
+        [
+          -0.9174576997756958,
+          -0.18762977421283722,
+          -0.35080814361572266,
+          97.6858901977539
+        ],
+        [
+          0.35975924134254456,
+          -0.014845890924334526,
+          -0.9329270720481873,
+          16.061901092529297
+        ],
+        [
+          0.1698368489742279,
+          -0.9821276068687439,
+          0.081122025847435,
+          -31.446083068847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4606,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_83081722",
+      "mask_path": "../../mask/hdr_right_04606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04608.png",
+      "transform_matrix": [
+        [
+          -0.9152832627296448,
+          -0.1813344806432724,
+          -0.35968661308288574,
+          97.79168701171875
+        ],
+        [
+          0.3671018183231354,
+          -0.007945822551846504,
+          -0.9301468133926392,
+          16.002870559692383
+        ],
+        [
+          0.16580969095230103,
+          -0.9833893775939941,
+          0.0738409012556076,
+          -31.486846923828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4608,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_283082723",
+      "mask_path": "../../mask/hdr_right_04608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04609.png",
+      "transform_matrix": [
+        [
+          -0.9172206521034241,
+          -0.17739109694957733,
+          -0.35670527815818787,
+          97.87519836425781
+        ],
+        [
+          0.36424553394317627,
+          -0.010796356946229935,
+          -0.931240439414978,
+          15.957759857177734
+        ],
+        [
+          0.16134262084960938,
+          -0.9840812087059021,
+          0.07451655715703964,
+          -31.50367546081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4609,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_383081436",
+      "mask_path": "../../mask/hdr_right_04609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04611.png",
+      "transform_matrix": [
+        [
+          -0.923322319984436,
+          -0.15912403166294098,
+          -0.34950774908065796,
+          97.97515869140625
+        ],
+        [
+          0.35638317465782166,
+          -0.015996325761079788,
+          -0.934203028678894,
+          15.904857635498047
+        ],
+        [
+          0.14306330680847168,
+          -0.9871289730072021,
+          0.07147890329360962,
+          -31.511945724487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4611,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_583081722",
+      "mask_path": "../../mask/hdr_right_04611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04612.png",
+      "transform_matrix": [
+        [
+          -0.9263290762901306,
+          -0.1479671597480774,
+          -0.34643933176994324,
+          98.05281066894531
+        ],
+        [
+          0.35135507583618164,
+          -0.00763712078332901,
+          -0.9362112283706665,
+          15.866582870483398
+        ],
+        [
+          0.13588270545005798,
+          -0.988962709903717,
+          0.05906350538134575,
+          -31.53260040283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4612,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_683081388",
+      "mask_path": "../../mask/hdr_right_04612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04613.png",
+      "transform_matrix": [
+        [
+          -0.9305684566497803,
+          -0.14895455539226532,
+          -0.33444732427597046,
+          98.12657928466797
+        ],
+        [
+          0.33645737171173096,
+          0.012254277244210243,
+          -0.9416189193725586,
+          15.837363243103027
+        ],
+        [
+          0.1443568468093872,
+          -0.9887680411338806,
+          0.038713421672582626,
+          -31.53929901123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4613,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_783081531",
+      "mask_path": "../../mask/hdr_right_04613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04615.png",
+      "transform_matrix": [
+        [
+          -0.9460583925247192,
+          -0.15779682993888855,
+          -0.282973051071167,
+          98.20329284667969
+        ],
+        [
+          0.2828521132469177,
+          0.023700948804616928,
+          -0.9588706493377686,
+          15.819900512695312
+        ],
+        [
+          0.1580134928226471,
+          -0.9871870875358582,
+          0.02221069671213627,
+          -31.54781150817871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4615,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323724_983082294",
+      "mask_path": "../../mask/hdr_right_04615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04617.png",
+      "transform_matrix": [
+        [
+          -0.9552547335624695,
+          -0.16355305910110474,
+          -0.24645256996154785,
+          98.3009033203125
+        ],
+        [
+          0.24519328773021698,
+          0.028165196999907494,
+          -0.9690650701522827,
+          15.779472351074219
+        ],
+        [
+          0.16543494164943695,
+          -0.9861323833465576,
+          0.013197182677686214,
+          -31.56675148010254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4617,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_183082103",
+      "mask_path": "../../mask/hdr_right_04617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04618.png",
+      "transform_matrix": [
+        [
+          -0.9542903304100037,
+          -0.1724378615617752,
+          -0.24412131309509277,
+          98.36089324951172
+        ],
+        [
+          0.24311457574367523,
+          0.02726561948657036,
+          -0.9696143269538879,
+          15.748703002929688
+        ],
+        [
+          0.17385433614253998,
+          -0.9846429824829102,
+          0.015902843326330185,
+          -31.569862365722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4618,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_283080339",
+      "mask_path": "../../mask/hdr_right_04618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04620.png",
+      "transform_matrix": [
+        [
+          -0.9545517563819885,
+          -0.16879591345787048,
+          -0.24563977122306824,
+          98.42971801757812
+        ],
+        [
+          0.24257299304008484,
+          0.038883108645677567,
+          -0.9693536162376404,
+          15.744227409362793
+        ],
+        [
+          0.1731741577386856,
+          -0.9848837852478027,
+          0.0038293886464089155,
+          -31.595409393310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4620,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_483081340",
+      "mask_path": "../../mask/hdr_right_04620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04622.png",
+      "transform_matrix": [
+        [
+          -0.9512941837310791,
+          -0.1744648516178131,
+          -0.25416824221611023,
+          98.51992797851562
+        ],
+        [
+          0.2517470419406891,
+          0.03624849021434784,
+          -0.9671140909194946,
+          15.707658767700195
+        ],
+        [
+          0.17794062197208405,
+          -0.9839959144592285,
+          0.009438039734959602,
+          -31.61993980407715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4622,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_683082103",
+      "mask_path": "../../mask/hdr_right_04622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04624.png",
+      "transform_matrix": [
+        [
+          -0.947349488735199,
+          -0.16883701086044312,
+          -0.272071897983551,
+          98.6139144897461
+        ],
+        [
+          0.2688503563404083,
+          0.04210546612739563,
+          -0.9622612595558167,
+          15.666401863098145
+        ],
+        [
+          0.17392101883888245,
+          -0.9847441911697388,
+          0.005503304302692413,
+          -31.65138816833496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4624,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_883081436",
+      "mask_path": "../../mask/hdr_right_04624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04625.png",
+      "transform_matrix": [
+        [
+          -0.9455541372299194,
+          -0.17585377395153046,
+          -0.27386653423309326,
+          98.69384765625
+        ],
+        [
+          0.2707914710044861,
+          0.041730597615242004,
+          -0.9617331624031067,
+          15.641496658325195
+        ],
+        [
+          0.18055300414562225,
+          -0.9835314154624939,
+          0.008161162957549095,
+          -31.670621871948242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4625,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323725_983081102",
+      "mask_path": "../../mask/hdr_right_04625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04626.png",
+      "transform_matrix": [
+        [
+          -0.9449344873428345,
+          -0.18405553698539734,
+          -0.2705962061882019,
+          98.75708770751953
+        ],
+        [
+          0.26861611008644104,
+          0.03609439358115196,
+          -0.96257084608078,
+          15.624465942382812
+        ],
+        [
+          0.1869334876537323,
+          -0.9822528958320618,
+          0.015333439223468304,
+          -31.690200805664062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4626,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_83081722",
+      "mask_path": "../../mask/hdr_right_04626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04628.png",
+      "transform_matrix": [
+        [
+          -0.9476925134658813,
+          -0.18269063532352448,
+          -0.26173073053359985,
+          98.83428192138672
+        ],
+        [
+          0.26039451360702515,
+          0.03170056641101837,
+          -0.9649817943572998,
+          15.613194465637207
+        ],
+        [
+          0.1845901608467102,
+          -0.9826592803001404,
+          0.017529254779219627,
+          -31.72494888305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4628,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_283081769",
+      "mask_path": "../../mask/hdr_right_04628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04629.png",
+      "transform_matrix": [
+        [
+          -0.9444316625595093,
+          -0.19923032820224762,
+          -0.26144999265670776,
+          98.89266967773438
+        ],
+        [
+          0.25869157910346985,
+          0.04022771865129471,
+          -0.9651220440864563,
+          15.606070518493652
+        ],
+        [
+          0.20279908180236816,
+          -0.9791266918182373,
+          0.013546873815357685,
+          -31.748620986938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4629,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_383081912",
+      "mask_path": "../../mask/hdr_right_04629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04630.png",
+      "transform_matrix": [
+        [
+          -0.9374480247497559,
+          -0.22044673562049866,
+          -0.26943376660346985,
+          98.95085906982422
+        ],
+        [
+          0.2652853727340698,
+          0.04879111796617508,
+          -0.9629345536231995,
+          15.587006568908691
+        ],
+        [
+          0.22542180120944977,
+          -0.9741779565811157,
+          0.012742170132696629,
+          -31.7589168548584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4630,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_483082532",
+      "mask_path": "../../mask/hdr_right_04630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04632.png",
+      "transform_matrix": [
+        [
+          -0.9308727979660034,
+          -0.22937127947807312,
+          -0.28436708450317383,
+          99.02001190185547
+        ],
+        [
+          0.27988216280937195,
+          0.052569158375263214,
+          -0.958594024181366,
+          15.55008316040039
+        ],
+        [
+          0.23482289910316467,
+          -0.9719184637069702,
+          0.015261740423738956,
+          -31.791744232177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4632,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_683081626",
+      "mask_path": "../../mask/hdr_right_04632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04633.png",
+      "transform_matrix": [
+        [
+          -0.9261873364448547,
+          -0.248860701918602,
+          -0.2832759618759155,
+          99.09491729736328
+        ],
+        [
+          0.28281792998313904,
+          0.03837810829281807,
+          -0.9584055542945862,
+          15.517938613891602
+        ],
+        [
+          0.24938105046749115,
+          -0.9677786231040955,
+          0.03483695164322853,
+          -31.80075454711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4633,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323726_783081531",
+      "mask_path": "../../mask/hdr_right_04633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04636.png",
+      "transform_matrix": [
+        [
+          -0.9233517050743103,
+          -0.2690042555332184,
+          -0.2739676535129547,
+          99.20562744140625
+        ],
+        [
+          0.28028351068496704,
+          0.015434411354362965,
+          -0.959793210029602,
+          15.471497535705566
+        ],
+        [
+          0.2624169588088989,
+          -0.9630153775215149,
+          0.06114606931805611,
+          -31.85389518737793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4636,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_83082675",
+      "mask_path": "../../mask/hdr_right_04636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04637.png",
+      "transform_matrix": [
+        [
+          -0.9195159077644348,
+          -0.279388964176178,
+          -0.2764640748500824,
+          99.25704193115234
+        ],
+        [
+          0.28048157691955566,
+          0.02634100802242756,
+          -0.9594979286193848,
+          15.450013160705566
+        ],
+        [
+          0.2753555178642273,
+          -0.9598166346549988,
+          0.05414249002933502,
+          -31.878725051879883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4637,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_183082103",
+      "mask_path": "../../mask/hdr_right_04637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04639.png",
+      "transform_matrix": [
+        [
+          -0.9108332395553589,
+          -0.29910194873809814,
+          -0.28446581959724426,
+          99.31936645507812
+        ],
+        [
+          0.2827130854129791,
+          0.05009659752249718,
+          -0.9578954577445984,
+          15.416216850280762
+        ],
+        [
+          0.30075913667678833,
+          -0.9529052376747131,
+          0.03893040865659714,
+          -31.914491653442383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4639,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_383082389",
+      "mask_path": "../../mask/hdr_right_04639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04640.png",
+      "transform_matrix": [
+        [
+          -0.9108884334564209,
+          -0.2988123893737793,
+          -0.2845933437347412,
+          99.36703491210938
+        ],
+        [
+          0.281401127576828,
+          0.054632753133773804,
+          -0.9580338001251221,
+          15.391650199890137
+        ],
+        [
+          0.3018204867839813,
+          -0.9527467489242554,
+          0.03432181105017662,
+          -31.94131851196289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4640,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_483082294",
+      "mask_path": "../../mask/hdr_right_04640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04641.png",
+      "transform_matrix": [
+        [
+          -0.9123674035072327,
+          -0.29752689599990845,
+          -0.28118231892585754,
+          99.4245376586914
+        ],
+        [
+          0.27612435817718506,
+          0.05982488766312599,
+          -0.9592582583427429,
+          15.376258850097656
+        ],
+        [
+          0.30222684144973755,
+          -0.9528371691703796,
+          0.027572156861424446,
+          -31.99471664428711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4641,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_583083868",
+      "mask_path": "../../mask/hdr_right_04641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04642.png",
+      "transform_matrix": [
+        [
+          -0.9086647033691406,
+          -0.320293128490448,
+          -0.267844557762146,
+          99.49320983886719
+        ],
+        [
+          0.26313719153404236,
+          0.05876488983631134,
+          -0.9629670977592468,
+          15.359172821044922
+        ],
+        [
+          0.3241715729236603,
+          -0.9454941153526306,
+          0.030883437022566795,
+          -32.01487350463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4642,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_683082342",
+      "mask_path": "../../mask/hdr_right_04642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04644.png",
+      "transform_matrix": [
+        [
+          -0.9107861518859863,
+          -0.3218262791633606,
+          -0.25864338874816895,
+          99.58241271972656
+        ],
+        [
+          0.2496405392885208,
+          0.06971251219511032,
+          -0.9658259749412537,
+          15.321089744567871
+        ],
+        [
+          0.3288588523864746,
+          -0.9442287683486938,
+          0.01684771291911602,
+          -32.01926803588867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4644,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_883082389",
+      "mask_path": "../../mask/hdr_right_04644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04645.png",
+      "transform_matrix": [
+        [
+          -0.9140229225158691,
+          -0.3136194348335266,
+          -0.25730329751968384,
+          99.64899444580078
+        ],
+        [
+          0.24691516160964966,
+          0.07314291596412659,
+          -0.96627277135849,
+          15.293478012084961
+        ],
+        [
+          0.32186180353164673,
+          -0.946727454662323,
+          0.010583090595901012,
+          -32.039859771728516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4645,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323727_983082771",
+      "mask_path": "../../mask/hdr_right_04645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04646.png",
+      "transform_matrix": [
+        [
+          -0.9154289364814758,
+          -0.31387239694595337,
+          -0.25194045901298523,
+          99.70381164550781
+        ],
+        [
+          0.24143296480178833,
+          0.07260119915008545,
+          -0.9676978588104248,
+          15.266407012939453
+        ],
+        [
+          0.3220248222351074,
+          -0.9466854333877563,
+          0.009317908436059952,
+          -32.061859130859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4646,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_83082199",
+      "mask_path": "../../mask/hdr_right_04646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04648.png",
+      "transform_matrix": [
+        [
+          -0.918524980545044,
+          -0.29863300919532776,
+          -0.25909510254859924,
+          99.78314971923828
+        ],
+        [
+          0.24790149927139282,
+          0.07547999173402786,
+          -0.9658403992652893,
+          15.235124588012695
+        ],
+        [
+          0.30798831582069397,
+          -0.9513785243034363,
+          0.004701316822320223,
+          -32.10181427001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4648,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_283082246",
+      "mask_path": "../../mask/hdr_right_04648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04649.png",
+      "transform_matrix": [
+        [
+          -0.9222293496131897,
+          -0.2835339307785034,
+          -0.26287198066711426,
+          99.86251068115234
+        ],
+        [
+          0.2539158761501312,
+          0.06859096884727478,
+          -0.9647912383079529,
+          15.202254295349121
+        ],
+        [
+          0.2915816307067871,
+          -0.9565060138702393,
+          0.008737172931432724,
+          -32.12926483154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4649,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_383082151",
+      "mask_path": "../../mask/hdr_right_04649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04650.png",
+      "transform_matrix": [
+        [
+          -0.9255167841911316,
+          -0.2732853889465332,
+          -0.2621713876724243,
+          99.94505310058594
+        ],
+        [
+          0.2565353214740753,
+          0.056832827627658844,
+          -0.9648625254631042,
+          15.165467262268066
+        ],
+        [
+          0.2785828113555908,
+          -0.9602527022361755,
+          0.017507625743746758,
+          -32.134647369384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4650,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_483082532",
+      "mask_path": "../../mask/hdr_right_04650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04651.png",
+      "transform_matrix": [
+        [
+          -0.9286221861839294,
+          -0.26512810587882996,
+          -0.25955337285995483,
+          100.00029754638672
+        ],
+        [
+          0.25629788637161255,
+          0.04743897542357445,
+          -0.9654331803321838,
+          15.143624305725098
+        ],
+        [
+          0.2682763934135437,
+          -0.9630454778671265,
+          0.023898914456367493,
+          -32.13877868652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4651,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_583081722",
+      "mask_path": "../../mask/hdr_right_04651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04652.png",
+      "transform_matrix": [
+        [
+          -0.9323896765708923,
+          -0.25386232137680054,
+          -0.2573000490665436,
+          100.06993865966797
+        ],
+        [
+          0.25543808937072754,
+          0.04086480662226677,
+          -0.9659614562988281,
+          15.11921501159668
+        ],
+        [
+          0.25573575496673584,
+          -0.966376781463623,
+          0.026744192466139793,
+          -32.158966064453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4652,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_683084487",
+      "mask_path": "../../mask/hdr_right_04652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04653.png",
+      "transform_matrix": [
+        [
+          -0.9330464601516724,
+          -0.24916580319404602,
+          -0.25950121879577637,
+          100.16036987304688
+        ],
+        [
+          0.2576746940612793,
+          0.04051647707819939,
+          -0.965381920337677,
+          15.0774564743042
+        ],
+        [
+          0.25105422735214233,
+          -0.9676129817962646,
+          0.026399986818432808,
+          -32.175960540771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4653,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_783081769",
+      "mask_path": "../../mask/hdr_right_04653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04654.png",
+      "transform_matrix": [
+        [
+          -0.931625485420227,
+          -0.24506987631320953,
+          -0.26835542917251587,
+          100.23693084716797
+        ],
+        [
+          0.26733168959617615,
+          0.03808468580245972,
+          -0.9628517031669617,
+          15.03749942779541
+        ],
+        [
+          0.24618616700172424,
+          -0.9687570929527283,
+          0.03003428690135479,
+          -32.185916900634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4654,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_883081436",
+      "mask_path": "../../mask/hdr_right_04654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04655.png",
+      "transform_matrix": [
+        [
+          -0.9301246404647827,
+          -0.23709365725517273,
+          -0.28045454621315,
+          100.30268859863281
+        ],
+        [
+          0.2813868522644043,
+          0.03062375821173191,
+          -0.9591056108474731,
+          15.002355575561523
+        ],
+        [
+          0.23598644137382507,
+          -0.9710039496421814,
+          0.03823111951351166,
+          -32.200679779052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4655,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323728_983080148",
+      "mask_path": "../../mask/hdr_right_04655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05687.png",
+      "transform_matrix": [
+        [
+          0.920400857925415,
+          -0.1648266762495041,
+          0.35453400015830994,
+          99.29264068603516
+        ],
+        [
+          -0.35090962052345276,
+          0.051610276103019714,
+          0.9349860548973083,
+          15.063763618469238
+        ],
+        [
+          -0.17240820825099945,
+          -0.9849714040756226,
+          -0.010337136685848236,
+          -32.01300811767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5687,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_183080911",
+      "mask_path": "../../mask/hdr_right_05687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05688.png",
+      "transform_matrix": [
+        [
+          0.9179934859275818,
+          -0.18278537690639496,
+          0.3519623577594757,
+          99.20718383789062
+        ],
+        [
+          -0.3473123610019684,
+          0.057944122701883316,
+          0.9359576106071472,
+          15.089383125305176
+        ],
+        [
+          -0.19147352874279022,
+          -0.9814438223838806,
+          -0.01029131654649973,
+          -31.939668655395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5688,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_283080101",
+      "mask_path": "../../mask/hdr_right_05688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05689.png",
+      "transform_matrix": [
+        [
+          0.9169695973396301,
+          -0.1771855354309082,
+          0.3574523627758026,
+          99.1657485961914
+        ],
+        [
+          -0.3503059148788452,
+          0.07119137793779373,
+          0.9339258670806885,
+          15.13503646850586
+        ],
+        [
+          -0.19092565774917603,
+          -0.9815992116928101,
+          0.003211189294233918,
+          -31.96337890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5689,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_383080720",
+      "mask_path": "../../mask/hdr_right_05689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05690.png",
+      "transform_matrix": [
+        [
+          0.9118185639381409,
+          -0.1797603964805603,
+          0.3691520094871521,
+          99.09617614746094
+        ],
+        [
+          -0.35906097292900085,
+          0.08698590099811554,
+          0.9292517304420471,
+          15.200815200805664
+        ],
+        [
+          -0.19915366172790527,
+          -0.9798569083213806,
+          0.014770403504371643,
+          -31.92654800415039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5690,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_483080863",
+      "mask_path": "../../mask/hdr_right_05690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05691.png",
+      "transform_matrix": [
+        [
+          0.906934916973114,
+          -0.1851266622543335,
+          0.3784139156341553,
+          99.04386901855469
+        ],
+        [
+          -0.3676190972328186,
+          0.09088334441184998,
+          0.9255249500274658,
+          15.241405487060547
+        ],
+        [
+          -0.2057308554649353,
+          -0.9785031676292419,
+          0.01436917670071125,
+          -31.89981460571289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5691,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_583081007",
+      "mask_path": "../../mask/hdr_right_05691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05692.png",
+      "transform_matrix": [
+        [
+          0.9033473134040833,
+          -0.1897018998861313,
+          0.38467758893966675,
+          99.0031967163086
+        ],
+        [
+          -0.3746809661388397,
+          0.08748885989189148,
+          0.9230167269706726,
+          15.27225112915039
+        ],
+        [
+          -0.2087530493736267,
+          -0.9779360294342041,
+          0.007955131120979786,
+          -31.898805618286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5692,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_683080911",
+      "mask_path": "../../mask/hdr_right_05692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05693.png",
+      "transform_matrix": [
+        [
+          0.8968414068222046,
+          -0.21263957023620605,
+          0.38789185881614685,
+          98.9036865234375
+        ],
+        [
+          -0.37941426038742065,
+          0.08104736357927322,
+          0.9216703772544861,
+          15.299020767211914
+        ],
+        [
+          -0.22742117941379547,
+          -0.9737637639045715,
+          -0.007991861552000046,
+          -31.85106658935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5693,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_783080816",
+      "mask_path": "../../mask/hdr_right_05693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05694.png",
+      "transform_matrix": [
+        [
+          0.8942809700965881,
+          -0.23403917253017426,
+          0.3814278244972229,
+          98.81415557861328
+        ],
+        [
+          -0.3717791438102722,
+          0.08586075156927109,
+          0.924342155456543,
+          15.326276779174805
+        ],
+        [
+          -0.24908195436000824,
+          -0.968428373336792,
+          -0.010227251797914505,
+          -31.762495040893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5694,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_883080482",
+      "mask_path": "../../mask/hdr_right_05694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05696.png",
+      "transform_matrix": [
+        [
+          0.8982386589050293,
+          -0.21947427093982697,
+          0.3807865381240845,
+          98.74724578857422
+        ],
+        [
+          -0.3660905957221985,
+          0.10578978806734085,
+          0.924546480178833,
+          15.384546279907227
+        ],
+        [
+          -0.2431974858045578,
+          -0.9698657393455505,
+          0.014677009545266628,
+          -31.771183013916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5696,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_83079338",
+      "mask_path": "../../mask/hdr_right_05696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05697.png",
+      "transform_matrix": [
+        [
+          0.8978824615478516,
+          -0.21374957263469696,
+          0.38486114144325256,
+          98.69004821777344
+        ],
+        [
+          -0.36760076880455017,
+          0.11699891835451126,
+          0.9225946664810181,
+          15.424188613891602
+        ],
+        [
+          -0.2422325760126114,
+          -0.9698569178581238,
+          0.026476750150322914,
+          -31.755918502807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5697,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_183078289",
+      "mask_path": "../../mask/hdr_right_05697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05698.png",
+      "transform_matrix": [
+        [
+          0.8949145078659058,
+          -0.2078440934419632,
+          0.3948783874511719,
+          98.64061737060547
+        ],
+        [
+          -0.38191819190979004,
+          0.10093191266059875,
+          0.9186683297157288,
+          15.467351913452148
+        ],
+        [
+          -0.23079560697078705,
+          -0.9729406833648682,
+          0.010945994406938553,
+          -31.739395141601562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5698,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_283078670",
+      "mask_path": "../../mask/hdr_right_05698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05699.png",
+      "transform_matrix": [
+        [
+          0.8916021585464478,
+          -0.20327451825141907,
+          0.404629647731781,
+          98.59244537353516
+        ],
+        [
+          -0.39513808488845825,
+          0.0871654748916626,
+          0.9144769906997681,
+          15.49361515045166
+        ],
+        [
+          -0.22115959227085114,
+          -0.9752340912818909,
+          -0.002604586770758033,
+          -31.710920333862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5699,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_383080959",
+      "mask_path": "../../mask/hdr_right_05699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05700.png",
+      "transform_matrix": [
+        [
+          0.8882226347923279,
+          -0.207132488489151,
+          0.41006922721862793,
+          98.55081939697266
+        ],
+        [
+          -0.40133363008499146,
+          0.08457114547491074,
+          0.9120191931724548,
+          15.521162033081055
+        ],
+        [
+          -0.22358882427215576,
+          -0.9746506214141846,
+          -0.008011231198906898,
+          -31.6861515045166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5700,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_483080863",
+      "mask_path": "../../mask/hdr_right_05700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05701.png",
+      "transform_matrix": [
+        [
+          0.882055401802063,
+          -0.22827914357185364,
+          0.41214919090270996,
+          98.48005676269531
+        ],
+        [
+          -0.405051052570343,
+          0.07939665019512177,
+          0.9108402729034424,
+          15.559855461120605
+        ],
+        [
+          -0.24064908921718597,
+          -0.9703529477119446,
+          -0.022432461380958557,
+          -31.655818939208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5701,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_583081960",
+      "mask_path": "../../mask/hdr_right_05701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05702.png",
+      "transform_matrix": [
+        [
+          0.8817249536514282,
+          -0.23610693216323853,
+          0.40842947363853455,
+          98.39852905273438
+        ],
+        [
+          -0.39895039796829224,
+          0.08889982849359512,
+          0.9126529693603516,
+          15.593390464782715
+        ],
+        [
+          -0.2517929971218109,
+          -0.9676519632339478,
+          -0.01580975018441677,
+          -31.599397659301758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5702,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_683081150",
+      "mask_path": "../../mask/hdr_right_05702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05704.png",
+      "transform_matrix": [
+        [
+          0.8955546021461487,
+          -0.2198709100484848,
+          0.3868318200111389,
+          98.33682250976562
+        ],
+        [
+          -0.37431323528289795,
+          0.09775447845458984,
+          0.9221354126930237,
+          15.61740779876709
+        ],
+        [
+          -0.24056528508663177,
+          -0.9706187844276428,
+          0.005243876948952675,
+          -31.596437454223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5704,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_883080482",
+      "mask_path": "../../mask/hdr_right_05704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05705.png",
+      "transform_matrix": [
+        [
+          0.9045138955116272,
+          -0.21478788554668427,
+          0.3684030771255493,
+          98.2896957397461
+        ],
+        [
+          -0.3563244342803955,
+          0.09394074976444244,
+          0.9296279549598694,
+          15.63718318939209
+        ],
+        [
+          -0.23428085446357727,
+          -0.9721323847770691,
+          0.008436535485088825,
+          -31.585166931152344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5705,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323833_983080863",
+      "mask_path": "../../mask/hdr_right_05705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05706.png",
+      "transform_matrix": [
+        [
+          0.9135305881500244,
+          -0.21569764614105225,
+          0.34487172961235046,
+          98.2308578491211
+        ],
+        [
+          -0.3335624039173126,
+          0.08799933642148972,
+          0.9386118650436401,
+          15.659899711608887
+        ],
+        [
+          -0.23280487954616547,
+          -0.9724867939949036,
+          0.008441457524895668,
+          -31.564638137817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5706,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_83078145",
+      "mask_path": "../../mask/hdr_right_05706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05708.png",
+      "transform_matrix": [
+        [
+          0.9298248887062073,
+          -0.2285272479057312,
+          0.2884458005428314,
+          98.13803100585938
+        ],
+        [
+          -0.2823081314563751,
+          0.05984748527407646,
+          0.9574551582336426,
+          15.670039176940918
+        ],
+        [
+          -0.23606733977794647,
+          -0.9716962575912476,
+          -0.008867418393492699,
+          -31.53830909729004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5708,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_283080101",
+      "mask_path": "../../mask/hdr_right_05708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05709.png",
+      "transform_matrix": [
+        [
+          0.9386618733406067,
+          -0.2225646823644638,
+          0.26339876651763916,
+          98.08930969238281
+        ],
+        [
+          -0.2582624852657318,
+          0.052420251071453094,
+          0.9646515846252441,
+          15.677708625793457
+        ],
+        [
+          -0.22850480675697327,
+          -0.9735075831413269,
+          -0.008275230415165424,
+          -31.531902313232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5709,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_383078336",
+      "mask_path": "../../mask/hdr_right_05709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05711.png",
+      "transform_matrix": [
+        [
+          0.9429903626441956,
+          -0.21629104018211365,
+          0.2529572546482086,
+          98.00462341308594
+        ],
+        [
+          -0.24964669346809387,
+          0.04296183958649635,
+          0.9673835635185242,
+          15.691752433776855
+        ],
+        [
+          -0.2201038897037506,
+          -0.9753832817077637,
+          -0.013483749702572823,
+          -31.523744583129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5711,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_583082675",
+      "mask_path": "../../mask/hdr_right_05711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05713.png",
+      "transform_matrix": [
+        [
+          0.9449398517608643,
+          -0.1989346295595169,
+          0.2598339915275574,
+          97.92684936523438
+        ],
+        [
+          -0.26055610179901123,
+          0.023011982440948486,
+          0.9651845097541809,
+          15.695956230163574
+        ],
+        [
+          -0.19798791408538818,
+          -0.9797425270080566,
+          -0.030088700354099274,
+          -31.51164436340332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5713,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_783081769",
+      "mask_path": "../../mask/hdr_right_05713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05714.png",
+      "transform_matrix": [
+        [
+          0.9416298270225525,
+          -0.20593157410621643,
+          0.2663184106349945,
+          97.8794174194336
+        ],
+        [
+          -0.2682875394821167,
+          0.01883278228342533,
+          0.9631547927856445,
+          15.717721939086914
+        ],
+        [
+          -0.20335949957370758,
+          -0.9783851504325867,
+          -0.037515368312597275,
+          -31.49772834777832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5714,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_883081436",
+      "mask_path": "../../mask/hdr_right_05714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05715.png",
+      "transform_matrix": [
+        [
+          0.9402288794517517,
+          -0.20514872670173645,
+          0.27181532979011536,
+          97.82948303222656
+        ],
+        [
+          -0.27491194009780884,
+          0.013818850740790367,
+          0.9613701701164246,
+          15.742880821228027
+        ],
+        [
+          -0.2009800225496292,
+          -0.9786332249641418,
+          -0.0434049591422081,
+          -31.488571166992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5715,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323834_983081579",
+      "mask_path": "../../mask/hdr_right_05715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05716.png",
+      "transform_matrix": [
+        [
+          0.9425315856933594,
+          -0.19160866737365723,
+          0.2737160921096802,
+          97.77217864990234
+        ],
+        [
+          -0.27506551146507263,
+          0.02005324512720108,
+          0.9612163305282593,
+          15.761262893676758
+        ],
+        [
+          -0.1896662712097168,
+          -0.981266438961029,
+          -0.03380412235856056,
+          -31.478534698486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5716,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_83082199",
+      "mask_path": "../../mask/hdr_right_05716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05718.png",
+      "transform_matrix": [
+        [
+          0.9459919929504395,
+          -0.16876520216464996,
+          0.276798814535141,
+          97.69986724853516
+        ],
+        [
+          -0.27548637986183167,
+          0.031618762761354446,
+          0.960784912109375,
+          15.795648574829102
+        ],
+        [
+          -0.17089909315109253,
+          -0.9851490259170532,
+          -0.016581429168581963,
+          -31.474180221557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5718,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_283081054",
+      "mask_path": "../../mask/hdr_right_05718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05719.png",
+      "transform_matrix": [
+        [
+          0.947640061378479,
+          -0.1649162918329239,
+          0.27346116304397583,
+          97.65331268310547
+        ],
+        [
+          -0.27065950632095337,
+          0.03967345505952835,
+          0.9618573188781738,
+          15.827094078063965
+        ],
+        [
+          -0.16947509348392487,
+          -0.9855093359947205,
+          -0.007040008902549744,
+          -31.4664363861084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5719,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_383083343",
+      "mask_path": "../../mask/hdr_right_05719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05720.png",
+      "transform_matrix": [
+        [
+          0.949434220790863,
+          -0.16380278766155243,
+          0.26784980297088623,
+          97.59319305419922
+        ],
+        [
+          -0.26538732647895813,
+          0.03715192526578903,
+          0.9634258151054382,
+          15.851663589477539
+        ],
+        [
+          -0.16776296496391296,
+          -0.9857932329177856,
+          -0.008197891525924206,
+          -31.43024253845215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5720,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_483082056",
+      "mask_path": "../../mask/hdr_right_05720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05723.png",
+      "transform_matrix": [
+        [
+          0.9570505023002625,
+          -0.1767134815454483,
+          0.229840949177742,
+          97.4417495727539
+        ],
+        [
+          -0.23149161040782928,
+          0.011504456400871277,
+          0.9727689623832703,
+          15.892504692077637
+        ],
+        [
+          -0.17454557120800018,
+          -0.9841951131820679,
+          -0.02989734709262848,
+          -31.381797790527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5723,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_783080339",
+      "mask_path": "../../mask/hdr_right_05723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05724.png",
+      "transform_matrix": [
+        [
+          0.9631798267364502,
+          -0.1714264303445816,
+          0.20711775124073029,
+          97.3817138671875
+        ],
+        [
+          -0.2096199095249176,
+          0.0035771233960986137,
+          0.9777764081954956,
+          15.905510902404785
+        ],
+        [
+          -0.16835758090019226,
+          -0.9851904511451721,
+          -0.03248897194862366,
+          -31.374366760253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5724,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323835_883080482",
+      "mask_path": "../../mask/hdr_right_05724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05727.png",
+      "transform_matrix": [
+        [
+          0.9741130471229553,
+          -0.1457625776529312,
+          0.17279203236103058,
+          97.24159240722656
+        ],
+        [
+          -0.17404192686080933,
+          0.004231689963489771,
+          0.9847291707992554,
+          15.936075210571289
+        ],
+        [
+          -0.14426785707473755,
+          -0.9893105030059814,
+          -0.021246666088700294,
+          -31.374662399291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5727,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_183080673",
+      "mask_path": "../../mask/hdr_right_05727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05728.png",
+      "transform_matrix": [
+        [
+          0.9724581837654114,
+          -0.14853177964687347,
+          0.1796201914548874,
+          97.17554473876953
+        ],
+        [
+          -0.18137286603450775,
+          0.0017724140780046582,
+          0.9834128022193909,
+          15.955300331115723
+        ],
+        [
+          -0.14638642966747284,
+          -0.9889060258865356,
+          -0.025216039270162582,
+          -31.358518600463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5728,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_283080101",
+      "mask_path": "../../mask/hdr_right_05728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05729.png",
+      "transform_matrix": [
+        [
+          0.9700214862823486,
+          -0.15480943024158478,
+          0.18732953071594238,
+          97.11678314208984
+        ],
+        [
+          -0.18949410319328308,
+          0.0007883061189204454,
+          0.9818815588951111,
+          15.975590705871582
+        ],
+        [
+          -0.15215221047401428,
+          -0.9879440069198608,
+          -0.028570810332894325,
+          -31.33977508544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5729,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_383078813",
+      "mask_path": "../../mask/hdr_right_05729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05730.png",
+      "transform_matrix": [
+        [
+          0.9686675071716309,
+          -0.15597349405288696,
+          0.19327574968338013,
+          97.04891204833984
+        ],
+        [
+          -0.19586919248104095,
+          -0.0012840591371059418,
+          0.9806292057037354,
+          15.995728492736816
+        ],
+        [
+          -0.15270398557186127,
+          -0.9877603650093079,
+          -0.0317942313849926,
+          -31.322572708129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5730,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_483079910",
+      "mask_path": "../../mask/hdr_right_05730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05731.png",
+      "transform_matrix": [
+        [
+          0.9685456156730652,
+          -0.15318554639816284,
+          0.19609610736370087,
+          96.96028137207031
+        ],
+        [
+          -0.1980341672897339,
+          0.002654243726283312,
+          0.9801915884017944,
+          16.016109466552734
+        ],
+        [
+          -0.15067166090011597,
+          -0.988193929195404,
+          -0.027765223756432533,
+          -31.30876350402832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5731,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_583083152",
+      "mask_path": "../../mask/hdr_right_05731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05732.png",
+      "transform_matrix": [
+        [
+          0.9691340327262878,
+          -0.14710861444473267,
+          0.19783392548561096,
+          96.89572143554688
+        ],
+        [
+          -0.1985512226819992,
+          0.009941033087670803,
+          0.9800400733947754,
+          16.034223556518555
+        ],
+        [
+          -0.1461390256881714,
+          -0.9890703558921814,
+          -0.019574405625462532,
+          -31.30373191833496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5732,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_683081865",
+      "mask_path": "../../mask/hdr_right_05732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05733.png",
+      "transform_matrix": [
+        [
+          0.9689503312110901,
+          -0.14226485788822174,
+          0.20222744345664978,
+          96.84862518310547
+        ],
+        [
+          -0.20234359800815582,
+          0.01380323525518179,
+          0.9792173504829407,
+          16.056230545043945
+        ],
+        [
+          -0.14209958910942078,
+          -0.9897323846817017,
+          -0.015411734580993652,
+          -31.303176879882812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5733,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_783082008",
+      "mask_path": "../../mask/hdr_right_05733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05734.png",
+      "transform_matrix": [
+        [
+          0.9679405689239502,
+          -0.14452147483825684,
+          0.20543769001960754,
+          96.78802490234375
+        ],
+        [
+          -0.2034701555967331,
+          0.028427429497241974,
+          0.9786683917045593,
+          16.085695266723633
+        ],
+        [
+          -0.14727868139743805,
+          -0.9890933632850647,
+          -0.0018897437257692218,
+          -31.290903091430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5734,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_883082389",
+      "mask_path": "../../mask/hdr_right_05734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05735.png",
+      "transform_matrix": [
+        [
+          0.9653999209403992,
+          -0.15097324550151825,
+          0.2126266062259674,
+          96.71481323242188
+        ],
+        [
+          -0.20881497859954834,
+          0.04085320979356766,
+          0.9771015644073486,
+          16.127544403076172
+        ],
+        [
+          -0.15620265901088715,
+          -0.9876933097839355,
+          0.007914199493825436,
+          -31.253767013549805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5735,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323836_983082532",
+      "mask_path": "../../mask/hdr_right_05735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05738.png",
+      "transform_matrix": [
+        [
+          0.9618848562240601,
+          -0.16606244444847107,
+          0.21725712716579437,
+          96.54337310791016
+        ],
+        [
+          -0.21675769984722137,
+          0.021348819136619568,
+          0.9759920239448547,
+          16.199899673461914
+        ],
+        [
+          -0.16671380400657654,
+          -0.9858840703964233,
+          -0.01546020433306694,
+          -31.221174240112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5738,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_283081769",
+      "mask_path": "../../mask/hdr_right_05738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05739.png",
+      "transform_matrix": [
+        [
+          0.9640485048294067,
+          -0.16773386299610138,
+          0.20609690248966217,
+          96.4623794555664
+        ],
+        [
+          -0.20537905395030975,
+          0.021808035671710968,
+          0.9784395098686218,
+          16.220712661743164
+        ],
+        [
+          -0.16861200332641602,
+          -0.9855910539627075,
+          -0.013425027020275593,
+          -31.203876495361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5739,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_383081912",
+      "mask_path": "../../mask/hdr_right_05739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05742.png",
+      "transform_matrix": [
+        [
+          0.9760965704917908,
+          -0.15969006717205048,
+          0.14742685854434967,
+          96.3200454711914
+        ],
+        [
+          -0.14670006930828094,
+          0.016396472230553627,
+          0.9890452027320862,
+          16.226825714111328
+        ],
+        [
+          -0.1603579819202423,
+          -0.9870309829711914,
+          -0.007422011345624924,
+          -31.17392349243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5742,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_683082103",
+      "mask_path": "../../mask/hdr_right_05742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05743.png",
+      "transform_matrix": [
+        [
+          0.9768071174621582,
+          -0.16374705731868744,
+          0.1379670351743698,
+          96.25321960449219
+        ],
+        [
+          -0.13837292790412903,
+          0.008980700746178627,
+          0.990339457988739,
+          16.2442626953125
+        ],
+        [
+          -0.1634042114019394,
+          -0.9864614605903625,
+          -0.01388575229793787,
+          -31.153728485107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5743,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_783081531",
+      "mask_path": "../../mask/hdr_right_05743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05745.png",
+      "transform_matrix": [
+        [
+          0.9732394814491272,
+          -0.176605686545372,
+          0.14702144265174866,
+          96.14639282226562
+        ],
+        [
+          -0.15083464980125427,
+          -0.008289546705782413,
+          0.9885242581367493,
+          16.27610969543457
+        ],
+        [
+          -0.17336024343967438,
+          -0.9842467308044434,
+          -0.03470597043633461,
+          -31.131683349609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5745,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323837_983082294",
+      "mask_path": "../../mask/hdr_right_05745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05746.png",
+      "transform_matrix": [
+        [
+          0.9725673794746399,
+          -0.1791338324546814,
+          0.1484040468931198,
+          96.06753540039062
+        ],
+        [
+          -0.151736319065094,
+          -0.0049682315438985825,
+          0.9884085059165955,
+          16.302295684814453
+        ],
+        [
+          -0.1763201206922531,
+          -0.9838120937347412,
+          -0.03201305493712425,
+          -31.092315673828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5746,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_83080053",
+      "mask_path": "../../mask/hdr_right_05746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05748.png",
+      "transform_matrix": [
+        [
+          0.9726971387863159,
+          -0.17317861318588257,
+          0.15449775755405426,
+          95.96314239501953
+        ],
+        [
+          -0.15511365234851837,
+          0.010055161081254482,
+          0.9878455400466919,
+          16.34202003479004
+        ],
+        [
+          -0.17262722551822662,
+          -0.9848392009735107,
+          -0.017081737518310547,
+          -31.091554641723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5748,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_283081769",
+      "mask_path": "../../mask/hdr_right_05748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05749.png",
+      "transform_matrix": [
+        [
+          0.9723098874092102,
+          -0.17182137072086334,
+          0.15840096771717072,
+          95.9075927734375
+        ],
+        [
+          -0.1588110327720642,
+          0.011445684358477592,
+          0.9872427582740784,
+          16.371068954467773
+        ],
+        [
+          -0.1714424043893814,
+          -0.9850616455078125,
+          -0.01615837961435318,
+          -31.084300994873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5749,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_383081197",
+      "mask_path": "../../mask/hdr_right_05749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05750.png",
+      "transform_matrix": [
+        [
+          0.9715577363967896,
+          -0.16930948197841644,
+          0.16555918753147125,
+          95.84359741210938
+        ],
+        [
+          -0.1652313619852066,
+          0.016123656183481216,
+          0.9861230850219727,
+          16.401893615722656
+        ],
+        [
+          -0.16962939500808716,
+          -0.9854311347007751,
+          -0.012310175225138664,
+          -31.06241226196289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5750,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_483082532",
+      "mask_path": "../../mask/hdr_right_05750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05751.png",
+      "transform_matrix": [
+        [
+          0.9711565971374512,
+          -0.16720493137836456,
+          0.16999228298664093,
+          95.79047393798828
+        ],
+        [
+          -0.1692069172859192,
+          0.019038887694478035,
+          0.9853967428207397,
+          16.423595428466797
+        ],
+        [
+          -0.16799965500831604,
+          -0.9857382774353027,
+          -0.009802501648664474,
+          -31.04453468322754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5751,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_583081722",
+      "mask_path": "../../mask/hdr_right_05751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05753.png",
+      "transform_matrix": [
+        [
+          0.9722466468811035,
+          -0.16497553884983063,
+          0.16589047014713287,
+          95.69041442871094
+        ],
+        [
+          -0.16698992252349854,
+          0.007281488738954067,
+          0.9859318137168884,
+          16.454744338989258
+        ],
+        [
+          -0.16386254131793976,
+          -0.9862707853317261,
+          -0.020469848066568375,
+          -31.018381118774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5753,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_783079624",
+      "mask_path": "../../mask/hdr_right_05753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05754.png",
+      "transform_matrix": [
+        [
+          0.9763513207435608,
+          -0.15983250737190247,
+          0.14557358622550964,
+          95.62670135498047
+        ],
+        [
+          -0.14560121297836304,
+          0.011602198705077171,
+          0.989275336265564,
+          16.462331771850586
+        ],
+        [
+          -0.15980732440948486,
+          -0.987075924873352,
+          -0.011943984776735306,
+          -31.000713348388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5754,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323838_883079528",
+      "mask_path": "../../mask/hdr_right_05754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05756.png",
+      "transform_matrix": [
+        [
+          0.9855750203132629,
+          -0.14760255813598633,
+          0.08279701322317123,
+          95.56787872314453
+        ],
+        [
+          -0.08136913925409317,
+          0.01569647341966629,
+          0.9965603947639465,
+          16.446752548217773
+        ],
+        [
+          -0.14839448034763336,
+          -0.988922119140625,
+          0.0034597599878907204,
+          -31.01116180419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5756,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_83080053",
+      "mask_path": "../../mask/hdr_right_05756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05757.png",
+      "transform_matrix": [
+        [
+          0.9877739548683167,
+          -0.14616963267326355,
+          0.05419394373893738,
+          95.52547454833984
+        ],
+        [
+          -0.05278779938817024,
+          0.013484407216310501,
+          0.9985147714614868,
+          16.439945220947266
+        ],
+        [
+          -0.14668329060077667,
+          -0.9891676306724548,
+          0.0056035700254142284,
+          -30.98694610595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5757,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_183079957",
+      "mask_path": "../../mask/hdr_right_05757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05758.png",
+      "transform_matrix": [
+        [
+          0.9883109331130981,
+          -0.14862987399101257,
+          0.03392091020941734,
+          95.47020721435547
+        ],
+        [
+          -0.03273649886250496,
+          0.010408670641481876,
+          0.9994098544120789,
+          16.45012664794922
+        ],
+        [
+          -0.14889521896839142,
+          -0.9888380765914917,
+          0.005421377252787352,
+          -30.960477828979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5758,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_283080577",
+      "mask_path": "../../mask/hdr_right_05758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05760.png",
+      "transform_matrix": [
+        [
+          0.9883097410202026,
+          -0.14715270698070526,
+          0.03987445682287216,
+          95.37584686279297
+        ],
+        [
+          -0.04004468768835068,
+          0.0018064305186271667,
+          0.9991962313652039,
+          16.473695755004883
+        ],
+        [
+          -0.14710643887519836,
+          -0.989112138748169,
+          -0.004107378423213959,
+          -30.953166961669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5760,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_483080625",
+      "mask_path": "../../mask/hdr_right_05760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05761.png",
+      "transform_matrix": [
+        [
+          0.988971471786499,
+          -0.14215371012687683,
+          0.04156765341758728,
+          95.31183624267578
+        ],
+        [
+          -0.041359588503837585,
+          0.004419215023517609,
+          0.9991346001625061,
+          16.48969841003418
+        ],
+        [
+          -0.1422143578529358,
+          -0.9898347854614258,
+          -0.0015089453663676977,
+          -30.95267105102539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5761,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_583079099",
+      "mask_path": "../../mask/hdr_right_05761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05763.png",
+      "transform_matrix": [
+        [
+          0.9891488552093506,
+          -0.14091692864894867,
+          0.04155639931559563,
+          95.20074462890625
+        ],
+        [
+          -0.04037544131278992,
+          0.01123022846877575,
+          0.9991215467453003,
+          16.503755569458008
+        ],
+        [
+          -0.1412598192691803,
+          -0.9899576902389526,
+          0.005418777000159025,
+          -30.93531036376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5763,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_783081293",
+      "mask_path": "../../mask/hdr_right_05763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05764.png",
+      "transform_matrix": [
+        [
+          0.9902873635292053,
+          -0.13190841674804688,
+          0.043945010751485825,
+          95.1297607421875
+        ],
+        [
+          -0.043479759246110916,
+          0.0064064026810228825,
+          0.9990338683128357,
+          16.51406478881836
+        ],
+        [
+          -0.13206249475479126,
+          -0.9912412166595459,
+          0.0006088325753808022,
+          -30.94057846069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5764,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_883081912",
+      "mask_path": "../../mask/hdr_right_05764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05765.png",
+      "transform_matrix": [
+        [
+          0.990118145942688,
+          -0.1301126778125763,
+          0.05231587588787079,
+          95.04447174072266
+        ],
+        [
+          -0.0525556318461895,
+          0.001592779764905572,
+          0.9986167550086975,
+          16.528614044189453
+        ],
+        [
+          -0.130016028881073,
+          -0.9914978742599487,
+          -0.0052611129358410835,
+          -30.9366397857666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5765,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323839_983081817",
+      "mask_path": "../../mask/hdr_right_05765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05766.png",
+      "transform_matrix": [
+        [
+          0.9893794059753418,
+          -0.13183334469795227,
+          0.06122376769781113,
+          94.96521759033203
+        ],
+        [
+          -0.06175195798277855,
+          8.194809197448194e-05,
+          0.9980915188789368,
+          16.552841186523438
+        ],
+        [
+          -0.13158677518367767,
+          -0.9912719130516052,
+          -0.008059889078140259,
+          -30.921405792236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5766,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_83082914",
+      "mask_path": "../../mask/hdr_right_05766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05767.png",
+      "transform_matrix": [
+        [
+          0.9890413284301758,
+          -0.1311447024345398,
+          0.067811019718647,
+          94.89282989501953
+        ],
+        [
+          -0.06898638606071472,
+          -0.0044348821975290775,
+          0.9976077079772949,
+          16.555770874023438
+        ],
+        [
+          -0.13053026795387268,
+          -0.9913532733917236,
+          -0.01343348529189825,
+          -30.91655921936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5767,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_183082103",
+      "mask_path": "../../mask/hdr_right_05767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05768.png",
+      "transform_matrix": [
+        [
+          0.9898927211761475,
+          -0.12302245944738388,
+          0.07055351138114929,
+          94.78253936767578
+        ],
+        [
+          -0.07138686627149582,
+          -0.002373860916122794,
+          0.9974458813667297,
+          16.571369171142578
+        ],
+        [
+          -0.12254077196121216,
+          -0.9924010634422302,
+          -0.011132057756185532,
+          -30.90682601928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5768,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_283082723",
+      "mask_path": "../../mask/hdr_right_05768.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/619b7051/mesh.ply b/2024-11-11-12-07-40/splats/619b7051/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0a7f616140fb40694fb6d99e4b82ffdce3f3be09
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/619b7051/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8002f768e212f8cf55a8317df8c66fb479b46d5f694620c0e3fe1383ece0148c
+size 106302474
diff --git a/2024-11-11-12-07-40/splats/619b7051/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/619b7051/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..74c1b1f110340511cd9c1d2d4efc303d7b31de0f
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/619b7051/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e37d9f3a63db7fe7000f354b86079341204cf348cb876f06c5ca4ad17540be8
+size 1579390
diff --git a/2024-11-11-12-07-40/splats/619b7051/splatfacto/config.yml b/2024-11-11-12-07-40/splats/619b7051/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..7d7f5855583a18dfbfec51c37a3550e57b2f3df5
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/619b7051/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_619b7051
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_619b7051
+      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/2024-11-11-12-07-40/splats/619b7051/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/619b7051/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..c621a949e2dbd1daf67b1cbfbe9ba7d85fecb46c
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/619b7051/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            0.9651541709899902,
+            -0.26130831241607666,
+            0.013978995382785797,
+            19.95344352722168
+        ],
+        [
+            -0.26130831241607666,
+            -0.9595463275909424,
+            0.10482823103666306,
+            9.354412078857422
+        ],
+        [
+            -0.013978995382785797,
+            -0.10482823103666306,
+            -0.9943921566009521,
+            -10.322362899780273
+        ]
+    ],
+    "scale": 0.3868980039576225
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/619b7051/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/619b7051/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5507997f49273466c49b7d49eab235fe7c3220e6
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/619b7051/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca0e4afd771ec33225396c03b051d83779154844d2a1897ed82f82e3fe8752cb
+size 149582545
diff --git a/2024-11-11-12-07-40/splats/619b7051/transforms.json b/2024-11-11-12-07-40/splats/619b7051/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc8f5464add463fd9412eb2cc68d3b2478700ded
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/619b7051/transforms.json
@@ -0,0 +1,26970 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_01838.png",
+      "transform_matrix": [
+        [
+          -0.08003148436546326,
+          0.217849463224411,
+          0.972695529460907,
+          -15.26354694366455
+        ],
+        [
+          -0.9957261681556702,
+          0.02764887735247612,
+          -0.0881187692284584,
+          11.67685317993164
+        ],
+        [
+          -0.046090561896562576,
+          -0.975590705871582,
+          0.21470564603805542,
+          -10.7791166305542
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1838,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_283081769",
+      "mask_path": "../../mask/hdr_front_01838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01839.png",
+      "transform_matrix": [
+        [
+          -0.08487934619188309,
+          0.19417881965637207,
+          0.9772871136665344,
+          -15.372553825378418
+        ],
+        [
+          -0.9955325126647949,
+          0.02418474480509758,
+          -0.09126931428909302,
+          11.675941467285156
+        ],
+        [
+          -0.04135800525546074,
+          -0.9806680083274841,
+          0.19125854969024658,
+          -10.790472030639648
+        ],
+        [
+          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": "1731323448_383082151",
+      "mask_path": "../../mask/hdr_front_01839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01842.png",
+      "transform_matrix": [
+        [
+          -0.08578252047300339,
+          0.14481297135353088,
+          0.9857335686683655,
+          -15.536378860473633
+        ],
+        [
+          -0.9960607290267944,
+          0.009836205281317234,
+          -0.0881262719631195,
+          11.66013240814209
+        ],
+        [
+          -0.022457702085375786,
+          -0.9894102215766907,
+          0.14339874684810638,
+          -10.793211936950684
+        ],
+        [
+          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": "1731323448_683081865",
+      "mask_path": "../../mask/hdr_front_01842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01843.png",
+      "transform_matrix": [
+        [
+          -0.0839604064822197,
+          0.131184920668602,
+          0.9877961277961731,
+          -15.611936569213867
+        ],
+        [
+          -0.9960026144981384,
+          0.01927889883518219,
+          -0.08721829950809479,
+          11.672207832336426
+        ],
+        [
+          -0.030485350638628006,
+          -0.9911705255508423,
+          0.129041850566864,
+          -10.788281440734863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1843,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_783082246",
+      "mask_path": "../../mask/hdr_front_01843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01844.png",
+      "transform_matrix": [
+        [
+          -0.08788049966096878,
+          0.11657020449638367,
+          0.9892868995666504,
+          -15.678122520446777
+        ],
+        [
+          -0.9956400990486145,
+          0.02089693397283554,
+          -0.09090721607208252,
+          11.685202598571777
+        ],
+        [
+          -0.03127013146877289,
+          -0.9929627180099487,
+          0.11422552913427353,
+          -10.78458309173584
+        ],
+        [
+          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": "1731323448_883081197",
+      "mask_path": "../../mask/hdr_front_01844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01845.png",
+      "transform_matrix": [
+        [
+          -0.09555205702781677,
+          0.101821668446064,
+          0.9902031421661377,
+          -15.749603271484375
+        ],
+        [
+          -0.994929850101471,
+          0.021583393216133118,
+          -0.0982275903224945,
+          11.689470291137695
+        ],
+        [
+          -0.03137363865971565,
+          -0.9945685863494873,
+          0.09924308210611343,
+          -10.789379119873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1845,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_983082056",
+      "mask_path": "../../mask/hdr_front_01845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01846.png",
+      "transform_matrix": [
+        [
+          -0.09606464207172394,
+          0.09269555658102036,
+          0.9910494685173035,
+          -15.832972526550293
+        ],
+        [
+          -0.9946932792663574,
+          0.027906302362680435,
+          -0.09902799874544144,
+          11.69510555267334
+        ],
+        [
+          -0.03683597967028618,
+          -0.9953033328056335,
+          0.0895228311419487,
+          -10.795368194580078
+        ],
+        [
+          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": "1731323449_83082675",
+      "mask_path": "../../mask/hdr_front_01846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01847.png",
+      "transform_matrix": [
+        [
+          -0.0903807207942009,
+          0.08160470426082611,
+          0.9925583600997925,
+          -15.90390682220459
+        ],
+        [
+          -0.9950932264328003,
+          0.03288862109184265,
+          -0.09331554174423218,
+          11.701026916503906
+        ],
+        [
+          -0.04025885462760925,
+          -0.9961220026016235,
+          0.07823178172111511,
+          -10.800873756408691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1847,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_183082580",
+      "mask_path": "../../mask/hdr_front_01847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01848.png",
+      "transform_matrix": [
+        [
+          -0.08548454940319061,
+          0.06843231618404388,
+          0.9939867258071899,
+          -15.969751358032227
+        ],
+        [
+          -0.995690107345581,
+          0.030144961550831795,
+          -0.08770643174648285,
+          11.696812629699707
+        ],
+        [
+          -0.03596564009785652,
+          -0.9972002506256104,
+          0.06556045264005661,
+          -10.801671028137207
+        ],
+        [
+          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": "1731323449_283082962",
+      "mask_path": "../../mask/hdr_front_01848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01849.png",
+      "transform_matrix": [
+        [
+          -0.08341433107852936,
+          0.058912016451358795,
+          0.9947721362113953,
+          -16.038328170776367
+        ],
+        [
+          -0.9960983395576477,
+          0.02393382042646408,
+          -0.08494294434785843,
+          11.69638729095459
+        ],
+        [
+          -0.028812851756811142,
+          -0.9979762434959412,
+          0.056685738265514374,
+          -10.807435035705566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1849,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_383082389",
+      "mask_path": "../../mask/hdr_front_01849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01850.png",
+      "transform_matrix": [
+        [
+          -0.08856242150068283,
+          0.05485017970204353,
+          0.9945592880249023,
+          -16.111051559448242
+        ],
+        [
+          -0.9956443309783936,
+          0.024335039779543877,
+          -0.09000111371278763,
+          11.700767517089844
+        ],
+        [
+          -0.029139209538698196,
+          -0.9981980323791504,
+          0.052456099539995193,
+          -10.804584503173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1850,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_483083248",
+      "mask_path": "../../mask/hdr_front_01850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01851.png",
+      "transform_matrix": [
+        [
+          -0.09826040267944336,
+          0.05169300734996796,
+          0.9938172698020935,
+          -16.178192138671875
+        ],
+        [
+          -0.9946621060371399,
+          0.02650851383805275,
+          -0.09972276538610458,
+          11.704998016357422
+        ],
+        [
+          -0.03149958699941635,
+          -0.9983111619949341,
+          0.04881233721971512,
+          -10.79451847076416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1851,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_583082199",
+      "mask_path": "../../mask/hdr_front_01851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01852.png",
+      "transform_matrix": [
+        [
+          -0.11342848837375641,
+          0.0434294268488884,
+          0.9925965070724487,
+          -16.239681243896484
+        ],
+        [
+          -0.9931407570838928,
+          0.023577377200126648,
+          -0.114522285759449,
+          11.712313652038574
+        ],
+        [
+          -0.02837645821273327,
+          -0.9987782835960388,
+          0.040457189083099365,
+          -10.794278144836426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1852,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_683083772",
+      "mask_path": "../../mask/hdr_front_01852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01853.png",
+      "transform_matrix": [
+        [
+          -0.13119858503341675,
+          0.037265077233314514,
+          0.9906555414199829,
+          -16.31489372253418
+        ],
+        [
+          -0.9908460974693298,
+          0.02712181955575943,
+          -0.1322440505027771,
+          11.720843315124512
+        ],
+        [
+          -0.03179646283388138,
+          -0.9989373683929443,
+          0.03336561098694801,
+          -10.792352676391602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1853,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_783082485",
+      "mask_path": "../../mask/hdr_front_01853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01854.png",
+      "transform_matrix": [
+        [
+          -0.1422501504421234,
+          0.0344865657389164,
+          0.9892298579216003,
+          -16.397043228149414
+        ],
+        [
+          -0.9890504479408264,
+          0.03472097963094711,
+          -0.1434348076581955,
+          11.732805252075195
+        ],
+        [
+          -0.03929360210895538,
+          -0.9988018870353699,
+          0.02916988916695118,
+          -10.797135353088379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1854,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_883083105",
+      "mask_path": "../../mask/hdr_front_01854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01856.png",
+      "transform_matrix": [
+        [
+          -0.15795980393886566,
+          0.025701479986310005,
+          0.9871110320091248,
+          -16.502607345581055
+        ],
+        [
+          -0.9864516854286194,
+          0.04073335602879524,
+          -0.15891489386558533,
+          11.73637866973877
+        ],
+        [
+          -0.04429268836975098,
+          -0.9988394975662231,
+          0.01891903206706047,
+          -10.802521705627441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1856,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_83081722",
+      "mask_path": "../../mask/hdr_front_01856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01857.png",
+      "transform_matrix": [
+        [
+          -0.17000159621238708,
+          0.030400987714529037,
+          0.98497474193573,
+          -16.572769165039062
+        ],
+        [
+          -0.984592080116272,
+          0.03630845621228218,
+          -0.17105621099472046,
+          11.738259315490723
+        ],
+        [
+          -0.04096319526433945,
+          -0.9988781213760376,
+          0.023760072886943817,
+          -10.805628776550293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1857,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_183081388",
+      "mask_path": "../../mask/hdr_front_01857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01858.png",
+      "transform_matrix": [
+        [
+          -0.18619608879089355,
+          0.03323063999414444,
+          0.9819504618644714,
+          -16.63502311706543
+        ],
+        [
+          -0.9816659092903137,
+          0.03519251570105553,
+          -0.18733307719230652,
+          11.752534866333008
+        ],
+        [
+          -0.04078251123428345,
+          -0.9988279342651367,
+          0.0260686744004488,
+          -10.797883033752441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1858,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_283082008",
+      "mask_path": "../../mask/hdr_front_01858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01859.png",
+      "transform_matrix": [
+        [
+          -0.20120492577552795,
+          0.03148731589317322,
+          0.9790430068969727,
+          -16.687021255493164
+        ],
+        [
+          -0.97849440574646,
+          0.039910174906253815,
+          -0.20237576961517334,
+          11.765620231628418
+        ],
+        [
+          -0.045446038246154785,
+          -0.9987070560455322,
+          0.022780034691095352,
+          -10.792335510253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1859,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_383083105",
+      "mask_path": "../../mask/hdr_front_01859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01860.png",
+      "transform_matrix": [
+        [
+          -0.2133806049823761,
+          0.02901921607553959,
+          0.9765381217002869,
+          -16.736188888549805
+        ],
+        [
+          -0.9759352207183838,
+          0.039641380310058594,
+          -0.21442686021327972,
+          11.77510929107666
+        ],
+        [
+          -0.04493381455540657,
+          -0.9987925291061401,
+          0.01986217498779297,
+          -10.794550895690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1860,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_483082771",
+      "mask_path": "../../mask/hdr_front_01860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01861.png",
+      "transform_matrix": [
+        [
+          -0.22197173535823822,
+          0.021404646337032318,
+          0.9748181700706482,
+          -16.821226119995117
+        ],
+        [
+          -0.9741474986076355,
+          0.038211070001125336,
+          -0.22265805304050446,
+          11.79542064666748
+        ],
+        [
+          -0.04201475903391838,
+          -0.9990404844284058,
+          0.012369503267109394,
+          -10.798811912536621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1861,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_583081483",
+      "mask_path": "../../mask/hdr_front_01861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01862.png",
+      "transform_matrix": [
+        [
+          -0.22404934465885162,
+          0.016591669991612434,
+          0.9744365215301514,
+          -16.900802612304688
+        ],
+        [
+          -0.973609983921051,
+          0.04073899984359741,
+          -0.2245529592037201,
+          11.804618835449219
+        ],
+        [
+          -0.04342327639460564,
+          -0.9990320801734924,
+          0.0070262691006064415,
+          -10.79220199584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1862,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_683084011",
+      "mask_path": "../../mask/hdr_front_01862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01863.png",
+      "transform_matrix": [
+        [
+          -0.22120316326618195,
+          0.01753736473619938,
+          0.9750701189041138,
+          -16.958463668823242
+        ],
+        [
+          -0.9743505120277405,
+          0.03842414543032646,
+          -0.221731036901474,
+          11.809443473815918
+        ],
+        [
+          -0.041354816406965256,
+          -0.9991076588630676,
+          0.00858799833804369,
+          -10.790580749511719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1863,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_783082008",
+      "mask_path": "../../mask/hdr_front_01863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01864.png",
+      "transform_matrix": [
+        [
+          -0.21973824501037598,
+          0.017868034541606903,
+          0.9753952622413635,
+          -17.02398109436035
+        ],
+        [
+          -0.9749330282211304,
+          0.03178570792078972,
+          -0.22021639347076416,
+          11.820779800415039
+        ],
+        [
+          -0.03493846580386162,
+          -0.999334990978241,
+          0.010435599833726883,
+          -10.799402236938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1864,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_883082866",
+      "mask_path": "../../mask/hdr_front_01864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01865.png",
+      "transform_matrix": [
+        [
+          -0.22588928043842316,
+          0.02343042381107807,
+          0.973871111869812,
+          -17.09283447265625
+        ],
+        [
+          -0.9738275408744812,
+          0.02040986530482769,
+          -0.2263702005147934,
+          11.824787139892578
+        ],
+        [
+          -0.025180527940392494,
+          -0.9995171427726746,
+          0.018206818029284477,
+          -10.785324096679688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1865,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_983083009",
+      "mask_path": "../../mask/hdr_front_01865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01867.png",
+      "transform_matrix": [
+        [
+          -0.2675086557865143,
+          0.027530085295438766,
+          0.9631620645523071,
+          -17.163326263427734
+        ],
+        [
+          -0.963494062423706,
+          0.0036370058078318834,
+          -0.26770487427711487,
+          11.861658096313477
+        ],
+        [
+          -0.010872961953282356,
+          -0.9996143579483032,
+          0.025552142411470413,
+          -10.784199714660645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1867,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_183082103",
+      "mask_path": "../../mask/hdr_front_01867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01868.png",
+      "transform_matrix": [
+        [
+          -0.3008284568786621,
+          0.034666143357753754,
+          0.9530479907989502,
+          -17.21080780029297
+        ],
+        [
+          -0.9535691142082214,
+          0.004180859308689833,
+          -0.301145076751709,
+          11.884078979492188
+        ],
+        [
+          -0.0144240977242589,
+          -0.999390184879303,
+          0.031798847019672394,
+          -10.793716430664062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1868,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_283082485",
+      "mask_path": "../../mask/hdr_front_01868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01869.png",
+      "transform_matrix": [
+        [
+          -0.328191876411438,
+          0.05402897298336029,
+          0.9430646300315857,
+          -17.269289016723633
+        ],
+        [
+          -0.9440942406654358,
+          0.014259863644838333,
+          -0.32936713099479675,
+          11.908130645751953
+        ],
+        [
+          -0.0312433410435915,
+          -0.9984375834465027,
+          0.04632847011089325,
+          -10.806601524353027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1869,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_383081912",
+      "mask_path": "../../mask/hdr_front_01869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01870.png",
+      "transform_matrix": [
+        [
+          -0.35197970271110535,
+          0.06861167401075363,
+          0.9334896206855774,
+          -17.308677673339844
+        ],
+        [
+          -0.9348946213722229,
+          0.022850288078188896,
+          -0.35418903827667236,
+          11.948470115661621
+        ],
+        [
+          -0.045632001012563705,
+          -0.9973818063735962,
+          0.05610184744000435,
+          -10.839438438415527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1870,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_483081340",
+      "mask_path": "../../mask/hdr_front_01870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01872.png",
+      "transform_matrix": [
+        [
+          -0.39845800399780273,
+          0.08768129348754883,
+          0.9129859209060669,
+          -17.350862503051758
+        ],
+        [
+          -0.9146926403045654,
+          0.03536857292056084,
+          -0.402599573135376,
+          12.024213790893555
+        ],
+        [
+          -0.06759146600961685,
+          -0.9955205321311951,
+          0.06610854715108871,
+          -10.88427734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1872,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_683082103",
+      "mask_path": "../../mask/hdr_front_01872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01874.png",
+      "transform_matrix": [
+        [
+          -0.44508135318756104,
+          0.11389362066984177,
+          0.8882178068161011,
+          -17.402109146118164
+        ],
+        [
+          -0.8937634825706482,
+          0.005064383614808321,
+          -0.44850975275039673,
+          12.055961608886719
+        ],
+        [
+          -0.05558067560195923,
+          -0.9934800863265991,
+          0.09953990578651428,
+          -10.877079963684082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1874,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_883081674",
+      "mask_path": "../../mask/hdr_front_01874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01875.png",
+      "transform_matrix": [
+        [
+          -0.46010729670524597,
+          0.11848150938749313,
+          0.8799224495887756,
+          -17.442453384399414
+        ],
+        [
+          -0.8865233063697815,
+          -0.006879202090203762,
+          -0.4626326262950897,
+          12.091672897338867
+        ],
+        [
+          -0.048760246485471725,
+          -0.9929324388504028,
+          0.10820178687572479,
+          -10.896432876586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1875,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_983082294",
+      "mask_path": "../../mask/hdr_front_01875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01876.png",
+      "transform_matrix": [
+        [
+          -0.46966105699539185,
+          0.12117960304021835,
+          0.8744906783103943,
+          -17.482955932617188
+        ],
+        [
+          -0.8817582130432129,
+          -0.01521140057593584,
+          -0.4714563488960266,
+          12.12752628326416
+        ],
+        [
+          -0.04382866248488426,
+          -0.9925140738487244,
+          0.11399531364440918,
+          -10.913392066955566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1876,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_83082199",
+      "mask_path": "../../mask/hdr_front_01876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01877.png",
+      "transform_matrix": [
+        [
+          -0.4737546145915985,
+          0.12709346413612366,
+          0.8714377880096436,
+          -17.528228759765625
+        ],
+        [
+          -0.8795214295387268,
+          -0.018049312755465508,
+          -0.4755168855190277,
+          12.145000457763672
+        ],
+        [
+          -0.04470622539520264,
+          -0.9917265772819519,
+          0.12033237516880035,
+          -10.9028902053833
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1877,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_183081388",
+      "mask_path": "../../mask/hdr_front_01877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01879.png",
+      "transform_matrix": [
+        [
+          -0.47292888164520264,
+          0.13192155957221985,
+          0.8711687922477722,
+          -17.612144470214844
+        ],
+        [
+          -0.8801436424255371,
+          -0.0246640183031559,
+          -0.47406622767448425,
+          12.174332618713379
+        ],
+        [
+          -0.04105302691459656,
+          -0.9909533262252808,
+          0.12777425348758698,
+          -10.925533294677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1879,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_383081197",
+      "mask_path": "../../mask/hdr_front_01879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01880.png",
+      "transform_matrix": [
+        [
+          -0.47289085388183594,
+          0.13248741626739502,
+          0.8711035847663879,
+          -17.66179656982422
+        ],
+        [
+          -0.8804213404655457,
+          -0.03165772929787636,
+          -0.473134309053421,
+          12.193960189819336
+        ],
+        [
+          -0.03510718420147896,
+          -0.9906790256500244,
+          0.13161538541316986,
+          -10.936216354370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1880,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_483080863",
+      "mask_path": "../../mask/hdr_front_01880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01881.png",
+      "transform_matrix": [
+        [
+          -0.47638145089149475,
+          0.14687809348106384,
+          0.8668838739395142,
+          -17.71065330505371
+        ],
+        [
+          -0.8788898587226868,
+          -0.05177658796310425,
+          -0.47420650720596313,
+          12.219390869140625
+        ],
+        [
+          -0.024766260758042336,
+          -0.9877986311912537,
+          0.1537550687789917,
+          -10.955032348632812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1881,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_583081245",
+      "mask_path": "../../mask/hdr_front_01881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01882.png",
+      "transform_matrix": [
+        [
+          -0.48361027240753174,
+          0.16814003884792328,
+          0.8589819669723511,
+          -17.75188636779785
+        ],
+        [
+          -0.8751463890075684,
+          -0.07552555948495865,
+          -0.4779273569583893,
+          12.250797271728516
+        ],
+        [
+          -0.015483626164495945,
+          -0.9828656315803528,
+          0.18367210030555725,
+          -10.991410255432129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1882,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_683081388",
+      "mask_path": "../../mask/hdr_front_01882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01883.png",
+      "transform_matrix": [
+        [
+          -0.49226438999176025,
+          0.17764732241630554,
+          0.8521251678466797,
+          -17.78949737548828
+        ],
+        [
+          -0.8704239726066589,
+          -0.09354748576879501,
+          -0.48333314061164856,
+          12.279603958129883
+        ],
+        [
+          -0.006148680113255978,
+          -0.9796379208564758,
+          0.20067861676216125,
+          -11.029650688171387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1883,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_783080101",
+      "mask_path": "../../mask/hdr_front_01883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01884.png",
+      "transform_matrix": [
+        [
+          -0.49869710206985474,
+          0.18104426562786102,
+          0.8476580381393433,
+          -17.841365814208984
+        ],
+        [
+          -0.8667758107185364,
+          -0.105207659304142,
+          -0.48747414350509644,
+          12.289443016052246
+        ],
+        [
+          0.0009257328347302973,
+          -0.9778314232826233,
+          0.2093915492296219,
+          -11.044794082641602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1884,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_883081197",
+      "mask_path": "../../mask/hdr_front_01884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01885.png",
+      "transform_matrix": [
+        [
+          -0.49366626143455505,
+          0.22459426522254944,
+          0.8401494026184082,
+          -17.90242576599121
+        ],
+        [
+          -0.8695122599601746,
+          -0.11019353568553925,
+          -0.4814620614051819,
+          12.290037155151367
+        ],
+        [
+          -0.015554582700133324,
+          -0.9682019352912903,
+          0.2496863156557083,
+          -11.071569442749023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1885,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_983081102",
+      "mask_path": "../../mask/hdr_front_01885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01887.png",
+      "transform_matrix": [
+        [
+          -0.48069605231285095,
+          0.2650093138217926,
+          0.835883617401123,
+          -17.948040008544922
+        ],
+        [
+          -0.8766220808029175,
+          -0.12178458273410797,
+          -0.4655129909515381,
+          12.299651145935059
+        ],
+        [
+          -0.021567557007074356,
+          -0.9565242528915405,
+          0.2908543646335602,
+          -11.133660316467285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1887,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_183077573",
+      "mask_path": "../../mask/hdr_front_01887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01888.png",
+      "transform_matrix": [
+        [
+          -0.48511531949043274,
+          0.245357945561409,
+          0.8393227458000183,
+          -18.00895118713379
+        ],
+        [
+          -0.8744349479675293,
+          -0.1304541528224945,
+          -0.4672742486000061,
+          12.3070068359375
+        ],
+        [
+          -0.005156304221600294,
+          -0.9606150984764099,
+          0.2778348922729492,
+          -11.134971618652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1888,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_283080577",
+      "mask_path": "../../mask/hdr_front_01888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01889.png",
+      "transform_matrix": [
+        [
+          -0.49666717648506165,
+          0.2395527958869934,
+          0.8342279195785522,
+          -18.066869735717773
+        ],
+        [
+          -0.8679406046867371,
+          -0.13808372616767883,
+          -0.47708699107170105,
+          12.31699275970459
+        ],
+        [
+          0.0009057947900146246,
+          -0.9610137343406677,
+          0.27649927139282227,
+          -11.137146949768066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1889,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_383080959",
+      "mask_path": "../../mask/hdr_front_01889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01891.png",
+      "transform_matrix": [
+        [
+          -0.5425024628639221,
+          0.23524323105812073,
+          0.8064439296722412,
+          -18.138900756835938
+        ],
+        [
+          -0.8400426506996155,
+          -0.1468660831451416,
+          -0.5222631692886353,
+          12.368818283081055
+        ],
+        [
+          -0.004419639240950346,
+          -0.9607762098312378,
+          0.2772895395755768,
+          -11.174359321594238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1891,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_583081007",
+      "mask_path": "../../mask/hdr_front_01891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01892.png",
+      "transform_matrix": [
+        [
+          -0.5745800137519836,
+          0.2390095293521881,
+          0.7827721834182739,
+          -18.196704864501953
+        ],
+        [
+          -0.8182021379470825,
+          -0.14428257942199707,
+          -0.5565319061279297,
+          12.406892776489258
+        ],
+        [
+          -0.020076030865311623,
+          -0.9602380394935608,
+          0.27845999598503113,
+          -11.19675350189209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1892,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_683081388",
+      "mask_path": "../../mask/hdr_front_01892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01896.png",
+      "transform_matrix": [
+        [
+          -0.7140926718711853,
+          0.2289143204689026,
+          0.6615661978721619,
+          -18.318931579589844
+        ],
+        [
+          -0.6980992555618286,
+          -0.16233237087726593,
+          -0.6973562240600586,
+          12.507923126220703
+        ],
+        [
+          -0.052241191267967224,
+          -0.9598158597946167,
+          0.27572527527809143,
+          -11.225883483886719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1896,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_83081007",
+      "mask_path": "../../mask/hdr_front_01896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01897.png",
+      "transform_matrix": [
+        [
+          -0.7636573314666748,
+          0.21125030517578125,
+          0.6100825667381287,
+          -18.358816146850586
+        ],
+        [
+          -0.6455126404762268,
+          -0.2324596345424652,
+          -0.7275136113166809,
+          12.499524116516113
+        ],
+        [
+          -0.011867889203131199,
+          -0.9493870735168457,
+          0.31388428807258606,
+          -11.2423677444458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1897,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_183080911",
+      "mask_path": "../../mask/hdr_front_01897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01899.png",
+      "transform_matrix": [
+        [
+          -0.8277541995048523,
+          0.2007552832365036,
+          0.5239469408988953,
+          -18.38766098022461
+        ],
+        [
+          -0.5609341859817505,
+          -0.2740192115306854,
+          -0.7811954617500305,
+          12.538562774658203
+        ],
+        [
+          -0.01325761154294014,
+          -0.9405375123023987,
+          0.3394310474395752,
+          -11.298249244689941
+        ],
+        [
+          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": "1731323454_383080482",
+      "mask_path": "../../mask/hdr_front_01899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01900.png",
+      "transform_matrix": [
+        [
+          -0.844624400138855,
+          0.19434316456317902,
+          0.4988391399383545,
+          -18.43813705444336
+        ],
+        [
+          -0.5346558094024658,
+          -0.2584533095359802,
+          -0.8045775890350342,
+          12.584773063659668
+        ],
+        [
+          -0.027437524870038033,
+          -0.9462730884552002,
+          0.3222026526927948,
+          -11.313079833984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1900,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_483082056",
+      "mask_path": "../../mask/hdr_front_01900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01902.png",
+      "transform_matrix": [
+        [
+          -0.8768906593322754,
+          0.16704916954040527,
+          0.4507297873497009,
+          -18.474716186523438
+        ],
+        [
+          -0.48020943999290466,
+          -0.26251786947250366,
+          -0.836948812007904,
+          12.644493103027344
+        ],
+        [
+          -0.021486971527338028,
+          -0.9503572583198547,
+          0.3104180693626404,
+          -11.339434623718262
+        ],
+        [
+          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": "1731323454_683078765",
+      "mask_path": "../../mask/hdr_front_01902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01904.png",
+      "transform_matrix": [
+        [
+          -0.917300283908844,
+          0.14481109380722046,
+          0.3709312081336975,
+          -18.466089248657227
+        ],
+        [
+          -0.39711233973503113,
+          -0.2640012502670288,
+          -0.8789796233177185,
+          12.759835243225098
+        ],
+        [
+          -0.029359687119722366,
+          -0.953589677810669,
+          0.29967471957206726,
+          -11.38795280456543
+        ],
+        [
+          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": "1731323454_883080720",
+      "mask_path": "../../mask/hdr_front_01904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01906.png",
+      "transform_matrix": [
+        [
+          -0.9654439687728882,
+          0.08336513489484787,
+          0.24691712856292725,
+          -18.454912185668945
+        ],
+        [
+          -0.2603490948677063,
+          -0.35094180703163147,
+          -0.8994767665863037,
+          12.816713333129883
+        ],
+        [
+          0.011668545193970203,
+          -0.9326789975166321,
+          0.3605187237262726,
+          -11.412572860717773
+        ],
+        [
+          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": "1731323455_83080291",
+      "mask_path": "../../mask/hdr_front_01906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01908.png",
+      "transform_matrix": [
+        [
+          -0.9870391488075256,
+          0.0766965001821518,
+          0.14096590876579285,
+          -18.47967529296875
+        ],
+        [
+          -0.15848258137702942,
+          -0.32770657539367676,
+          -0.9313923716545105,
+          12.925858497619629
+        ],
+        [
+          -0.02523907646536827,
+          -0.9416613578796387,
+          0.33561432361602783,
+          -11.44482707977295
+        ],
+        [
+          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": "1731323455_283080101",
+      "mask_path": "../../mask/hdr_front_01908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01910.png",
+      "transform_matrix": [
+        [
+          -0.9960207343101501,
+          0.06711585819721222,
+          0.05863657593727112,
+          -18.4733829498291
+        ],
+        [
+          -0.0769367665052414,
+          -0.31543686985969543,
+          -0.9458225965499878,
+          12.983837127685547
+        ],
+        [
+          -0.044983550906181335,
+          -0.9465701580047607,
+          0.3193453252315521,
+          -11.492899894714355
+        ],
+        [
+          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": "1731323455_483081102",
+      "mask_path": "../../mask/hdr_front_01910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01912.png",
+      "transform_matrix": [
+        [
+          -0.9994682669639587,
+          0.032478462904691696,
+          -0.002868443727493286,
+          -18.463623046875
+        ],
+        [
+          -0.007467085495591164,
+          -0.3136458098888397,
+          -0.9495107531547546,
+          13.065773963928223
+        ],
+        [
+          -0.03173832595348358,
+          -0.9489845037460327,
+          0.31372153759002686,
+          -11.5384521484375
+        ],
+        [
+          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": "1731323455_683079719",
+      "mask_path": "../../mask/hdr_front_01912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01913.png",
+      "transform_matrix": [
+        [
+          -0.9988957047462463,
+          -0.02941516973078251,
+          -0.0366334542632103,
+          -18.48068618774414
+        ],
+        [
+          0.04461153596639633,
+          -0.3493342697620392,
+          -0.9359356164932251,
+          13.103949546813965
+        ],
+        [
+          0.014733380638062954,
+          -0.9365363717079163,
+          0.35026082396507263,
+          -11.555699348449707
+        ],
+        [
+          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": "1731323455_783081054",
+      "mask_path": "../../mask/hdr_front_01913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01915.png",
+      "transform_matrix": [
+        [
+          -0.9935867190361023,
+          -0.048952583223581314,
+          -0.10192617774009705,
+          -18.483766555786133
+        ],
+        [
+          0.11280874162912369,
+          -0.3676670491695404,
+          -0.9230899214744568,
+          13.167216300964355
+        ],
+        [
+          0.007712746039032936,
+          -0.9286682605743408,
+          0.37083137035369873,
+          -11.581080436706543
+        ],
+        [
+          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": "1731323455_983078718",
+      "mask_path": "../../mask/hdr_front_01915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01916.png",
+      "transform_matrix": [
+        [
+          -0.9907365441322327,
+          -0.04109077900648117,
+          -0.12943227589130402,
+          -18.486543655395508
+        ],
+        [
+          0.13553471863269806,
+          -0.3585498332977295,
+          -0.9236191511154175,
+          13.220427513122559
+        ],
+        [
+          -0.008455686271190643,
+          -0.9326058626174927,
+          0.36079761385917664,
+          -11.587698936462402
+        ],
+        [
+          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": "1731323456_83079814",
+      "mask_path": "../../mask/hdr_front_01916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01918.png",
+      "transform_matrix": [
+        [
+          -0.9764840006828308,
+          -0.061194032430648804,
+          -0.2067229151725769,
+          -18.448274612426758
+        ],
+        [
+          0.21508364379405975,
+          -0.3422028422355652,
+          -0.9146782755851746,
+          13.281548500061035
+        ],
+        [
+          -0.014768334105610847,
+          -0.937631368637085,
+          0.3473174273967743,
+          -11.636551856994629
+        ],
+        [
+          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": "1731323456_283080577",
+      "mask_path": "../../mask/hdr_front_01918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01919.png",
+      "transform_matrix": [
+        [
+          -0.964031457901001,
+          -0.07557246834039688,
+          -0.25481802225112915,
+          -18.410072326660156
+        ],
+        [
+          0.2652628719806671,
+          -0.333818256855011,
+          -0.9045445919036865,
+          13.321834564208984
+        ],
+        [
+          -0.016704240813851357,
+          -0.9396032691001892,
+          0.3418578505516052,
+          -11.667346954345703
+        ],
+        [
+          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": "1731323456_383080720",
+      "mask_path": "../../mask/hdr_front_01919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01920.png",
+      "transform_matrix": [
+        [
+          -0.9450416564941406,
+          -0.10694155097007751,
+          -0.30896538496017456,
+          -18.35896873474121
+        ],
+        [
+          0.3268352150917053,
+          -0.33400991559028625,
+          -0.8840904831886292,
+          13.360135078430176
+        ],
+        [
+          -0.008651480078697205,
+          -0.9364833235740662,
+          0.3506055474281311,
+          -11.688701629638672
+        ],
+        [
+          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": "1731323456_483080148",
+      "mask_path": "../../mask/hdr_front_01920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01922.png",
+      "transform_matrix": [
+        [
+          -0.89723801612854,
+          -0.1307440847158432,
+          -0.42174646258354187,
+          -18.280773162841797
+        ],
+        [
+          0.440461665391922,
+          -0.331963449716568,
+          -0.8341425061225891,
+          13.375189781188965
+        ],
+        [
+          -0.030945196747779846,
+          -0.9341875314712524,
+          0.3554379642009735,
+          -11.68853759765625
+        ],
+        [
+          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": "1731323456_683080911",
+      "mask_path": "../../mask/hdr_front_01922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01924.png",
+      "transform_matrix": [
+        [
+          -0.8502156734466553,
+          -0.11074904352426529,
+          -0.5146533846855164,
+          -18.22249984741211
+        ],
+        [
+          0.5174217224121094,
+          -0.35592979192733765,
+          -0.778195858001709,
+          13.41113567352295
+        ],
+        [
+          -0.096996009349823,
+          -0.9279271364212036,
+          0.35992100834846497,
+          -11.708022117614746
+        ],
+        [
+          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": "1731323456_883081674",
+      "mask_path": "../../mask/hdr_front_01924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01926.png",
+      "transform_matrix": [
+        [
+          -0.8181222081184387,
+          -0.11098311841487885,
+          -0.5642328858375549,
+          -18.18975257873535
+        ],
+        [
+          0.5638718008995056,
+          -0.34730586409568787,
+          -0.7492845058441162,
+          13.452032089233398
+        ],
+        [
+          -0.11280348151922226,
+          -0.9311613440513611,
+          0.3467188775539398,
+          -11.731438636779785
+        ],
+        [
+          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": "1731323457_83080768",
+      "mask_path": "../../mask/hdr_front_01926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01930.png",
+      "transform_matrix": [
+        [
+          -0.792297899723053,
+          -0.101821668446064,
+          -0.6015781760215759,
+          -18.096424102783203
+        ],
+        [
+          0.5998165607452393,
+          -0.3105446994304657,
+          -0.7374157905578613,
+          13.594202995300293
+        ],
+        [
+          -0.11173200607299805,
+          -0.9450896382331848,
+          0.3071182370185852,
+          -11.794273376464844
+        ],
+        [
+          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": "1731323457_483081102",
+      "mask_path": "../../mask/hdr_front_01930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01932.png",
+      "transform_matrix": [
+        [
+          -0.7913374900817871,
+          -0.0968203991651535,
+          -0.6036645174026489,
+          -18.033201217651367
+        ],
+        [
+          0.5999543070793152,
+          -0.31297051906585693,
+          -0.7362772822380066,
+          13.671846389770508
+        ],
+        [
+          -0.11764252185821533,
+          -0.9448149800300598,
+          0.3057531416416168,
+          -11.833405494689941
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1932,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323457_683080911",
+      "mask_path": "../../mask/hdr_front_01932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01933.png",
+      "transform_matrix": [
+        [
+          -0.788215696811676,
+          -0.10028567910194397,
+          -0.6071728467941284,
+          -17.993772506713867
+        ],
+        [
+          0.6044977903366089,
+          -0.3110572099685669,
+          -0.7333661913871765,
+          13.72072982788086
+        ],
+        [
+          -0.11531935632228851,
+          -0.9450852870941162,
+          0.3058026432991028,
+          -11.829347610473633
+        ],
+        [
+          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": "1731323457_783082008",
+      "mask_path": "../../mask/hdr_front_01933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01935.png",
+      "transform_matrix": [
+        [
+          -0.7445049285888672,
+          -0.09269174933433533,
+          -0.6611509919166565,
+          -17.928791046142578
+        ],
+        [
+          0.6564826965332031,
+          -0.281752347946167,
+          -0.6997472047805786,
+          13.76852798461914
+        ],
+        [
+          -0.12142003327608109,
+          -0.9549993872642517,
+          0.2706165611743927,
+          -11.845678329467773
+        ],
+        [
+          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": "1731323457_983080625",
+      "mask_path": "../../mask/hdr_front_01935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01936.png",
+      "transform_matrix": [
+        [
+          -0.7035693526268005,
+          -0.09606979042291641,
+          -0.7041028738021851,
+          -17.867897033691406
+        ],
+        [
+          0.6993681788444519,
+          -0.26928040385246277,
+          -0.6620967984199524,
+          13.788627624511719
+        ],
+        [
+          -0.12599362432956696,
+          -0.9582581520080566,
+          0.2566455900669098,
+          -11.857647895812988
+        ],
+        [
+          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": "1731323458_83079338",
+      "mask_path": "../../mask/hdr_front_01936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01938.png",
+      "transform_matrix": [
+        [
+          -0.6127578616142273,
+          -0.11399023979902267,
+          -0.7820064425468445,
+          -17.80597686767578
+        ],
+        [
+          0.7799031734466553,
+          -0.2469867765903473,
+          -0.5751075744628906,
+          13.805281639099121
+        ],
+        [
+          -0.12758858501911163,
+          -0.9622909426689148,
+          0.24024444818496704,
+          -11.855152130126953
+        ],
+        [
+          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": "1731323458_283081531",
+      "mask_path": "../../mask/hdr_front_01938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01940.png",
+      "transform_matrix": [
+        [
+          -0.5610279440879822,
+          -0.10202819854021072,
+          -0.821485161781311,
+          -17.721681594848633
+        ],
+        [
+          0.8181772828102112,
+          -0.21919333934783936,
+          -0.5315451622009277,
+          13.851512908935547
+        ],
+        [
+          -0.1258314698934555,
+          -0.9703322052955627,
+          0.20645074546337128,
+          -11.876422882080078
+        ],
+        [
+          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": "1731323458_483081817",
+      "mask_path": "../../mask/hdr_front_01940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01941.png",
+      "transform_matrix": [
+        [
+          -0.5545651316642761,
+          -0.09251979738473892,
+          -0.8269810080528259,
+          -17.685569763183594
+        ],
+        [
+          0.8236928582191467,
+          -0.2022768259048462,
+          -0.5297302603721619,
+          13.892068862915039
+        ],
+        [
+          -0.11826854199171066,
+          -0.9749482870101929,
+          0.1883835643529892,
+          -11.869208335876465
+        ],
+        [
+          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": "1731323458_583082199",
+      "mask_path": "../../mask/hdr_front_01941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01943.png",
+      "transform_matrix": [
+        [
+          -0.5634938478469849,
+          -0.08114171028137207,
+          -0.8221257925033569,
+          -17.628555297851562
+        ],
+        [
+          0.8203191161155701,
+          -0.1726866364479065,
+          -0.5452117919921875,
+          13.954594612121582
+        ],
+        [
+          -0.09773071855306625,
+          -0.9816288948059082,
+          0.1638699471950531,
+          -11.8695650100708
+        ],
+        [
+          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": "1731323458_783082485",
+      "mask_path": "../../mask/hdr_front_01943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01945.png",
+      "transform_matrix": [
+        [
+          -0.5671738386154175,
+          -0.0763283520936966,
+          -0.8200536370277405,
+          -17.52742576599121
+        ],
+        [
+          0.8202444314956665,
+          -0.1421138495206833,
+          -0.554078221321106,
+          14.019933700561523
+        ],
+        [
+          -0.07424908131361008,
+          -0.9869030714035034,
+          0.14321115612983704,
+          -11.880111694335938
+        ],
+        [
+          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": "1731323458_983080863",
+      "mask_path": "../../mask/hdr_front_01945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01946.png",
+      "transform_matrix": [
+        [
+          -0.5627342462539673,
+          -0.06928922981023788,
+          -0.8237288594245911,
+          -17.46019744873047
+        ],
+        [
+          0.8236696720123291,
+          -0.13136734068393707,
+          -0.5516436696052551,
+          14.06284236907959
+        ],
+        [
+          -0.06998809427022934,
+          -0.9889093041419983,
+          0.13099633157253265,
+          -11.888343811035156
+        ],
+        [
+          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": "1731323459_83080530",
+      "mask_path": "../../mask/hdr_front_01946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01948.png",
+      "transform_matrix": [
+        [
+          -0.5481192469596863,
+          -0.06177414953708649,
+          -0.8341159224510193,
+          -17.382190704345703
+        ],
+        [
+          0.834140956401825,
+          -0.11362308263778687,
+          -0.5397209525108337,
+          14.122425079345703
+        ],
+        [
+          -0.06143399327993393,
+          -0.9916015863418579,
+          0.11380735039710999,
+          -11.909330368041992
+        ],
+        [
+          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": "1731323459_283081054",
+      "mask_path": "../../mask/hdr_front_01948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01949.png",
+      "transform_matrix": [
+        [
+          -0.5451487898826599,
+          -0.056974079459905624,
+          -0.8364011645317078,
+          -17.31824493408203
+        ],
+        [
+          0.8363699316978455,
+          -0.10530675947666168,
+          -0.5379551649093628,
+          14.168257713317871
+        ],
+        [
+          -0.05742918699979782,
+          -0.9928064346313477,
+          0.10505925863981247,
+          -11.910107612609863
+        ],
+        [
+          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": "1731323459_383080720",
+      "mask_path": "../../mask/hdr_front_01949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01950.png",
+      "transform_matrix": [
+        [
+          -0.5487844944000244,
+          -0.05160554125905037,
+          -0.8343695402145386,
+          -17.26976203918457
+        ],
+        [
+          0.8343310952186584,
+          -0.09616219997406006,
+          -0.5428115725517273,
+          14.209959983825684
+        ],
+        [
+          -0.05222272872924805,
+          -0.9940270781517029,
+          0.09582842886447906,
+          -11.909937858581543
+        ],
+        [
+          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": "1731323459_483080387",
+      "mask_path": "../../mask/hdr_front_01950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01952.png",
+      "transform_matrix": [
+        [
+          -0.5554758310317993,
+          -0.052629128098487854,
+          -0.8298655152320862,
+          -17.20030975341797
+        ],
+        [
+          0.8309749364852905,
+          -0.07167832553386688,
+          -0.5516726970672607,
+          14.265425682067871
+        ],
+        [
+          -0.03044930472970009,
+          -0.9960383176803589,
+          0.08354905992746353,
+          -11.920927047729492
+        ],
+        [
+          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": "1731323459_683080911",
+      "mask_path": "../../mask/hdr_front_01952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01953.png",
+      "transform_matrix": [
+        [
+          -0.5522825717926025,
+          -0.06364035606384277,
+          -0.8312243223190308,
+          -17.16059112548828
+        ],
+        [
+          0.8331787586212158,
+          -0.07590258121490479,
+          -0.5477699041366577,
+          14.296395301818848
+        ],
+        [
+          -0.02823178842663765,
+          -0.9950823187828064,
+          0.09494347870349884,
+          -11.92612361907959
+        ],
+        [
+          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": "1731323459_783081054",
+      "mask_path": "../../mask/hdr_front_01953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01954.png",
+      "transform_matrix": [
+        [
+          -0.5444697737693787,
+          -0.0766206756234169,
+          -0.8352736234664917,
+          -17.117341995239258
+        ],
+        [
+          0.8381090760231018,
+          -0.0895325168967247,
+          -0.5381050705909729,
+          14.341684341430664
+        ],
+        [
+          -0.03355415537953377,
+          -0.9930324554443359,
+          0.11296422779560089,
+          -11.947907447814941
+        ],
+        [
+          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": "1731323459_883080005",
+      "mask_path": "../../mask/hdr_front_01954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01955.png",
+      "transform_matrix": [
+        [
+          -0.5365036129951477,
+          -0.08786115050315857,
+          -0.8393116593360901,
+          -17.069717407226562
+        ],
+        [
+          0.8433558940887451,
+          -0.09146606922149658,
+          -0.5295138359069824,
+          14.37690258026123
+        ],
+        [
+          -0.030244847759604454,
+          -0.9919246435165405,
+          0.12317010760307312,
+          -11.978682518005371
+        ],
+        [
+          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": "1731323459_983080863",
+      "mask_path": "../../mask/hdr_front_01955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01957.png",
+      "transform_matrix": [
+        [
+          -0.5254426598548889,
+          -0.08636428415775299,
+          -0.8464344143867493,
+          -16.961023330688477
+        ],
+        [
+          0.8499884009361267,
+          -0.09749650955200195,
+          -0.5177008509635925,
+          14.43624210357666
+        ],
+        [
+          -0.03781352564692497,
+          -0.991481602191925,
+          0.12463746964931488,
+          -11.988348007202148
+        ],
+        [
+          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": "1731323460_183081150",
+      "mask_path": "../../mask/hdr_front_01957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01960.png",
+      "transform_matrix": [
+        [
+          -0.5339866876602173,
+          -0.08636598289012909,
+          -0.8410702347755432,
+          -16.845455169677734
+        ],
+        [
+          0.8436678647994995,
+          -0.11975322663784027,
+          -0.523339033126831,
+          14.538384437561035
+        ],
+        [
+          -0.055522188544273376,
+          -0.9890400171279907,
+          0.13681083917617798,
+          -12.037696838378906
+        ],
+        [
+          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": "1731323460_483079671",
+      "mask_path": "../../mask/hdr_front_01960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01961.png",
+      "transform_matrix": [
+        [
+          -0.5319855809211731,
+          -0.12246578186750412,
+          -0.8378506302833557,
+          -16.804460525512695
+        ],
+        [
+          0.8456960916519165,
+          -0.126277893781662,
+          -0.5185094475746155,
+          14.569478034973145
+        ],
+        [
+          -0.04230233281850815,
+          -0.9844064116477966,
+          0.17074686288833618,
+          -12.0576171875
+        ],
+        [
+          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": "1731323460_583080768",
+      "mask_path": "../../mask/hdr_front_01961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01963.png",
+      "transform_matrix": [
+        [
+          -0.5146574378013611,
+          -0.17699873447418213,
+          -0.8389275670051575,
+          -16.757545471191406
+        ],
+        [
+          0.8566886782646179,
+          -0.14588993787765503,
+          -0.4947732388973236,
+          14.606612205505371
+        ],
+        [
+          -0.034816838800907135,
+          -0.9733383655548096,
+          0.22671614587306976,
+          -12.110040664672852
+        ],
+        [
+          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": "1731323460_783082008",
+      "mask_path": "../../mask/hdr_front_01963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01964.png",
+      "transform_matrix": [
+        [
+          -0.50716233253479,
+          -0.1809597760438919,
+          -0.8426386713981628,
+          -16.7303466796875
+        ],
+        [
+          0.8611513376235962,
+          -0.14577458798885345,
+          -0.4869990944862366,
+          14.63940143585205
+        ],
+        [
+          -0.034708037972450256,
+          -0.9726270437240601,
+          0.2297651618719101,
+          -12.136540412902832
+        ],
+        [
+          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": "1731323460_883082151",
+      "mask_path": "../../mask/hdr_front_01964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01965.png",
+      "transform_matrix": [
+        [
+          -0.5064685344696045,
+          -0.1902739256620407,
+          -0.8410026431083679,
+          -16.685171127319336
+        ],
+        [
+          0.8605182766914368,
+          -0.17347030341625214,
+          -0.47897428274154663,
+          14.682482719421387
+        ],
+        [
+          -0.0547526553273201,
+          -0.9662836194038391,
+          0.25159141421318054,
+          -12.153943061828613
+        ],
+        [
+          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": "1731323460_983082056",
+      "mask_path": "../../mask/hdr_front_01965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01970.png",
+      "transform_matrix": [
+        [
+          -0.3624584376811981,
+          -0.21436673402786255,
+          -0.9070120453834534,
+          -16.52061653137207
+        ],
+        [
+          0.9218369126319885,
+          -0.2257862389087677,
+          -0.3150195777416229,
+          14.649556159973145
+        ],
+        [
+          -0.13726110756397247,
+          -0.9502986073493958,
+          0.2794492840766907,
+          -12.195439338684082
+        ],
+        [
+          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": "1731323461_483082056",
+      "mask_path": "../../mask/hdr_front_01970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01972.png",
+      "transform_matrix": [
+        [
+          -0.27469608187675476,
+          -0.33708786964416504,
+          -0.9005075693130493,
+          -16.582477569580078
+        ],
+        [
+          0.9602264761924744,
+          -0.14494183659553528,
+          -0.23865684866905212,
+          14.687406539916992
+        ],
+        [
+          -0.05007290095090866,
+          -0.9302492141723633,
+          0.3634956181049347,
+          -12.220879554748535
+        ],
+        [
+          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": "1731323461_683082818",
+      "mask_path": "../../mask/hdr_front_01972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01974.png",
+      "transform_matrix": [
+        [
+          -0.2668072581291199,
+          -0.3326264023780823,
+          -0.9045294523239136,
+          -16.50108528137207
+        ],
+        [
+          0.9619326591491699,
+          -0.1495206505060196,
+          -0.22875553369522095,
+          14.705904960632324
+        ],
+        [
+          -0.05915571004152298,
+          -0.9311301112174988,
+          0.359857439994812,
+          -12.278170585632324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1974,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323461_883082151",
+      "mask_path": "../../mask/hdr_front_01974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01976.png",
+      "transform_matrix": [
+        [
+          -0.26495084166526794,
+          -0.32248547673225403,
+          -0.9087376594543457,
+          -16.42879295349121
+        ],
+        [
+          0.9615391492843628,
+          -0.15913014113903046,
+          -0.22387485206127167,
+          14.700760841369629
+        ],
+        [
+          -0.07241115719079971,
+          -0.9331027269363403,
+          0.352244108915329,
+          -12.299487113952637
+        ],
+        [
+          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": "1731323462_83083391",
+      "mask_path": "../../mask/hdr_front_01976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01978.png",
+      "transform_matrix": [
+        [
+          -0.2649078369140625,
+          -0.31371232867240906,
+          -0.9118160009384155,
+          -16.32525634765625
+        ],
+        [
+          0.9621245265007019,
+          -0.14909015595912933,
+          -0.2282290756702423,
+          14.701583862304688
+        ],
+        [
+          -0.06434452533721924,
+          -0.9377402663230896,
+          0.34132546186447144,
+          -12.312438011169434
+        ],
+        [
+          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": "1731323462_283080339",
+      "mask_path": "../../mask/hdr_front_01978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02090.png",
+      "transform_matrix": [
+        [
+          -0.1283673346042633,
+          -0.34951913356781006,
+          -0.9280938506126404,
+          -16.25968360900879
+        ],
+        [
+          0.9913914203643799,
+          -0.0695556178689003,
+          -0.11092761904001236,
+          14.641798973083496
+        ],
+        [
+          -0.025782814249396324,
+          -0.9343438744544983,
+          0.3554389476776123,
+          -12.380298614501953
+        ],
+        [
+          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": "1731323473_483082294",
+      "mask_path": "../../mask/hdr_front_02090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02094.png",
+      "transform_matrix": [
+        [
+          -0.1290210485458374,
+          -0.32099097967147827,
+          -0.9382528066635132,
+          -16.085329055786133
+        ],
+        [
+          0.9897589087486267,
+          -0.09996350109577179,
+          -0.10190468281507492,
+          14.637724876403809
+        ],
+        [
+          -0.06108054891228676,
+          -0.9417919516563416,
+          0.3306010961532593,
+          -12.439094543457031
+        ],
+        [
+          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": "1731323473_883082389",
+      "mask_path": "../../mask/hdr_front_02094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02095.png",
+      "transform_matrix": [
+        [
+          -0.1334703415632248,
+          -0.31056830286979675,
+          -0.9411339163780212,
+          -16.020334243774414
+        ],
+        [
+          0.988375186920166,
+          -0.1114719957113266,
+          -0.10338498651981354,
+          14.642659187316895
+        ],
+        [
+          -0.07280196994543076,
+          -0.9439922571182251,
+          0.3218362331390381,
+          -12.445908546447754
+        ],
+        [
+          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": "1731323473_983081817",
+      "mask_path": "../../mask/hdr_front_02095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02097.png",
+      "transform_matrix": [
+        [
+          -0.14358016848564148,
+          -0.29457947611808777,
+          -0.9447791576385498,
+          -15.935786247253418
+        ],
+        [
+          0.9867358207702637,
+          -0.11568065732717514,
+          -0.11388753354549408,
+          14.65276050567627
+        ],
+        [
+          -0.07574374973773956,
+          -0.9485994577407837,
+          0.30728161334991455,
+          -12.462441444396973
+        ],
+        [
+          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": "1731323474_183083772",
+      "mask_path": "../../mask/hdr_front_02097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02099.png",
+      "transform_matrix": [
+        [
+          -0.15160824358463287,
+          -0.2739422023296356,
+          -0.9497213363647461,
+          -15.821781158447266
+        ],
+        [
+          0.9861183762550354,
+          -0.10774281620979309,
+          -0.12634062767028809,
+          14.655662536621094
+        ],
+        [
+          -0.06771562248468399,
+          -0.9556919932365417,
+          0.2864741384983063,
+          -12.485306739807129
+        ],
+        [
+          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": "1731323474_383082389",
+      "mask_path": "../../mask/hdr_front_02099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02100.png",
+      "transform_matrix": [
+        [
+          -0.16163502633571625,
+          -0.2634028494358063,
+          -0.9510484337806702,
+          -15.756843566894531
+        ],
+        [
+          0.9846115112304688,
+          -0.10792799293994904,
+          -0.13744744658470154,
+          14.657426834106445
+        ],
+        [
+          -0.06644070148468018,
+          -0.9586294889450073,
+          0.2767944037914276,
+          -12.490964889526367
+        ],
+        [
+          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": "1731323474_483082771",
+      "mask_path": "../../mask/hdr_front_02100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02102.png",
+      "transform_matrix": [
+        [
+          -0.18180833756923676,
+          -0.24406006932258606,
+          -0.9525651931762695,
+          -15.673981666564941
+        ],
+        [
+          0.9812624454498291,
+          -0.10787513852119446,
+          -0.15964649617671967,
+          14.664319038391113
+        ],
+        [
+          -0.06379476934671402,
+          -0.9637415409088135,
+          0.2590996026992798,
+          -12.504535675048828
+        ],
+        [
+          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": "1731323474_683082103",
+      "mask_path": "../../mask/hdr_front_02102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02107.png",
+      "transform_matrix": [
+        [
+          -0.33625802397727966,
+          -0.2025570422410965,
+          -0.9197288751602173,
+          -15.48266887664795
+        ],
+        [
+          0.9416626691818237,
+          -0.057575106620788574,
+          -0.33159708976745605,
+          14.76984977722168
+        ],
+        [
+          0.01421383023262024,
+          -0.9775765538215637,
+          0.21010048687458038,
+          -12.523836135864258
+        ],
+        [
+          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": "1731323475_183080911",
+      "mask_path": "../../mask/hdr_front_02107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02109.png",
+      "transform_matrix": [
+        [
+          -0.33892738819122314,
+          -0.19320322573184967,
+          -0.920760989189148,
+          -15.401721000671387
+        ],
+        [
+          0.9403526186943054,
+          -0.038971155881881714,
+          -0.33796173334121704,
+          14.788374900817871
+        ],
+        [
+          0.029412172734737396,
+          -0.9803845882415771,
+          0.19488756358623505,
+          -12.500003814697266
+        ],
+        [
+          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": "1731323475_383080482",
+      "mask_path": "../../mask/hdr_front_02109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02111.png",
+      "transform_matrix": [
+        [
+          -0.3386179804801941,
+          -0.15844571590423584,
+          -0.9274873733520508,
+          -15.317667961120605
+        ],
+        [
+          0.9405618906021118,
+          -0.02965843677520752,
+          -0.33832478523254395,
+          14.812708854675293
+        ],
+        [
+          0.026098286733031273,
+          -0.9869221448898315,
+          0.15907087922096252,
+          -12.507762908935547
+        ],
+        [
+          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": "1731323475_583081722",
+      "mask_path": "../../mask/hdr_front_02111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02113.png",
+      "transform_matrix": [
+        [
+          -0.33781522512435913,
+          -0.15367458760738373,
+          -0.9285823106765747,
+          -15.259397506713867
+        ],
+        [
+          0.9394754767417908,
+          0.004856218118220568,
+          -0.3425818383693695,
+          14.871408462524414
+        ],
+        [
+          0.05715551599860191,
+          -0.9881095886230469,
+          0.14273300766944885,
+          -12.524471282958984
+        ],
+        [
+          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": "1731323475_783081531",
+      "mask_path": "../../mask/hdr_front_02113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02114.png",
+      "transform_matrix": [
+        [
+          -0.33841389417648315,
+          -0.15001673996448517,
+          -0.9289622902870178,
+          -15.22240161895752
+        ],
+        [
+          0.938908576965332,
+          0.01191022526472807,
+          -0.34396055340766907,
+          14.908920288085938
+        ],
+        [
+          0.06266399472951889,
+          -0.9886118173599243,
+          0.1368214190006256,
+          -12.534159660339355
+        ],
+        [
+          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": "1731323475_883081197",
+      "mask_path": "../../mask/hdr_front_02114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02115.png",
+      "transform_matrix": [
+        [
+          -0.3371080160140991,
+          -0.14113233983516693,
+          -0.9308275580406189,
+          -15.166001319885254
+        ],
+        [
+          0.9396156668663025,
+          0.011519914492964745,
+          -0.3420373797416687,
+          14.936126708984375
+        ],
+        [
+          0.05899558216333389,
+          -0.9899237751960754,
+          0.12872669100761414,
+          -12.530280113220215
+        ],
+        [
+          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": "1731323475_983081579",
+      "mask_path": "../../mask/hdr_front_02115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02116.png",
+      "transform_matrix": [
+        [
+          -0.333584725856781,
+          -0.12853969633579254,
+          -0.9339158535003662,
+          -15.110629081726074
+        ],
+        [
+          0.9411530494689941,
+          0.011688481085002422,
+          -0.3377785384654999,
+          14.955207824707031
+        ],
+        [
+          0.05433400347828865,
+          -0.9916355609893799,
+          0.11707642674446106,
+          -12.518451690673828
+        ],
+        [
+          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": "1731323476_83080291",
+      "mask_path": "../../mask/hdr_front_02116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02118.png",
+      "transform_matrix": [
+        [
+          -0.323374480009079,
+          -0.10675674676895142,
+          -0.9402297735214233,
+          -15.012542724609375
+        ],
+        [
+          0.9451549053192139,
+          0.011806870810687542,
+          -0.3264089524745941,
+          14.998929977416992
+        ],
+        [
+          0.04594752937555313,
+          -0.9942150712013245,
+          0.09708361327648163,
+          -12.515437126159668
+        ],
+        [
+          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": "1731323476_283081054",
+      "mask_path": "../../mask/hdr_front_02118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02121.png",
+      "transform_matrix": [
+        [
+          -0.3264522850513458,
+          -0.09040501713752747,
+          -0.9408804178237915,
+          -14.866783142089844
+        ],
+        [
+          0.9442697167396545,
+          0.013283967040479183,
+          -0.3289046287536621,
+          15.076536178588867
+        ],
+        [
+          0.04223325103521347,
+          -0.9958165287971497,
+          0.08103013038635254,
+          -12.549707412719727
+        ],
+        [
+          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": "1731323476_583082914",
+      "mask_path": "../../mask/hdr_front_02121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07553.png",
+      "transform_matrix": [
+        [
+          0.4017762243747711,
+          -0.06798148155212402,
+          0.9132109880447388,
+          -15.141905784606934
+        ],
+        [
+          -0.9154527187347412,
+          -0.004927983041852713,
+          0.4023955464363098,
+          14.869963645935059
+        ],
+        [
+          -0.022855155169963837,
+          -0.9976744055747986,
+          -0.06421378254890442,
+          -12.460028648376465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7553,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_783082962",
+      "mask_path": "../../mask/hdr_front_07553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07555.png",
+      "transform_matrix": [
+        [
+          0.38516485691070557,
+          -0.03961527347564697,
+          0.9219971299171448,
+          -15.223182678222656
+        ],
+        [
+          -0.9226674437522888,
+          0.003222711617127061,
+          0.3855833411216736,
+          14.836202621459961
+        ],
+        [
+          -0.01824631728231907,
+          -0.9992098808288574,
+          -0.03531043976545334,
+          -12.473413467407227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7555,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_983081817",
+      "mask_path": "../../mask/hdr_front_07555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07556.png",
+      "transform_matrix": [
+        [
+          0.3761345446109772,
+          -0.025415360927581787,
+          0.9262164235115051,
+          -15.27812385559082
+        ],
+        [
+          -0.92652827501297,
+          -0.0014095451915636659,
+          0.37622252106666565,
+          14.822220802307129
+        ],
+        [
+          -0.008256284520030022,
+          -0.9996760487556458,
+          -0.02407822571694851,
+          -12.48605728149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7556,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_83082437",
+      "mask_path": "../../mask/hdr_front_07556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07557.png",
+      "transform_matrix": [
+        [
+          0.3627919554710388,
+          -0.01042335107922554,
+          0.9318119287490845,
+          -15.327714920043945
+        ],
+        [
+          -0.9318242073059082,
+          -0.013990415260195732,
+          0.36264026165008545,
+          14.805109977722168
+        ],
+        [
+          0.009256508201360703,
+          -0.9998478293418884,
+          -0.014788341708481312,
+          -12.523360252380371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7557,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_183082342",
+      "mask_path": "../../mask/hdr_front_07557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07558.png",
+      "transform_matrix": [
+        [
+          0.35856786370277405,
+          -0.008709278889000416,
+          0.9334630370140076,
+          -15.419930458068848
+        ],
+        [
+          -0.933434247970581,
+          -0.015545235946774483,
+          0.3584116995334625,
+          14.764143943786621
+        ],
+        [
+          0.011389396153390408,
+          -0.9998412728309631,
+          -0.013703559525310993,
+          -12.514857292175293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7558,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_283081293",
+      "mask_path": "../../mask/hdr_front_07558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07559.png",
+      "transform_matrix": [
+        [
+          0.36352676153182983,
+          -0.013798587024211884,
+          0.9314814805984497,
+          -15.500885009765625
+        ],
+        [
+          -0.9315756559371948,
+          -0.009548717178404331,
+          0.3634220361709595,
+          14.711002349853516
+        ],
+        [
+          0.0038797443266958,
+          -0.9998591542243958,
+          -0.01632564328610897,
+          -12.490395545959473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7559,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_383081436",
+      "mask_path": "../../mask/hdr_front_07559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07560.png",
+      "transform_matrix": [
+        [
+          0.36773067712783813,
+          -0.01458741631358862,
+          0.9298179149627686,
+          -15.548702239990234
+        ],
+        [
+          -0.9299322962760925,
+          -0.005452032200992107,
+          0.36769038438796997,
+          14.687522888183594
+        ],
+        [
+          -0.000294254336040467,
+          -0.9998787641525269,
+          -0.015570188872516155,
+          -12.501976013183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7560,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_483080625",
+      "mask_path": "../../mask/hdr_front_07560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07561.png",
+      "transform_matrix": [
+        [
+          0.3642287850379944,
+          -0.002941087121143937,
+          0.931304931640625,
+          -15.615632057189941
+        ],
+        [
+          -0.9313032627105713,
+          0.0025396859273314476,
+          0.36423614621162415,
+          14.660245895385742
+        ],
+        [
+          -0.0034364713355898857,
+          -0.9999924898147583,
+          -0.001814017305150628,
+          -12.507299423217773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7561,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_583079576",
+      "mask_path": "../../mask/hdr_front_07561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07562.png",
+      "transform_matrix": [
+        [
+          0.355916827917099,
+          0.006338683422654867,
+          0.9344961643218994,
+          -15.684063911437988
+        ],
+        [
+          -0.9344831109046936,
+          0.011012946255505085,
+          0.3558371663093567,
+          14.629637718200684
+        ],
+        [
+          -0.008036017417907715,
+          -0.9999192953109741,
+          0.009843084961175919,
+          -12.505279541015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7562,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_683079957",
+      "mask_path": "../../mask/hdr_front_07562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07564.png",
+      "transform_matrix": [
+        [
+          0.33941373229026794,
+          0.00199868087656796,
+          0.940635085105896,
+          -15.774208068847656
+        ],
+        [
+          -0.940598726272583,
+          0.009764089249074459,
+          0.33937984704971313,
+          14.614794731140137
+        ],
+        [
+          -0.008506132289767265,
+          -0.9999504089355469,
+          0.005194022785872221,
+          -12.510480880737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7564,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_883080244",
+      "mask_path": "../../mask/hdr_front_07564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07565.png",
+      "transform_matrix": [
+        [
+          0.33033984899520874,
+          -0.0058553218841552734,
+          0.9438439011573792,
+          -15.834827423095703
+        ],
+        [
+          -0.9438566565513611,
+          0.0013352659298107028,
+          0.3303525447845459,
+          14.590137481689453
+        ],
+        [
+          -0.003194602904841304,
+          -0.9999819993972778,
+          -0.005085492506623268,
+          -12.503482818603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7565,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_983081102",
+      "mask_path": "../../mask/hdr_front_07565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07566.png",
+      "transform_matrix": [
+        [
+          0.32857903838157654,
+          -0.01462661474943161,
+          0.9443632364273071,
+          -15.897534370422363
+        ],
+        [
+          -0.944444477558136,
+          0.003153648227453232,
+          0.3286561667919159,
+          14.564905166625977
+        ],
+        [
+          -0.0077853151597082615,
+          -0.999888002872467,
+          -0.012777800671756268,
+          -12.491512298583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7566,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_83081722",
+      "mask_path": "../../mask/hdr_front_07566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07567.png",
+      "transform_matrix": [
+        [
+          0.3323361873626709,
+          -0.02247665822505951,
+          0.9428931474685669,
+          -15.953266143798828
+        ],
+        [
+          -0.9429905414581299,
+          0.011083160527050495,
+          0.33263471722602844,
+          14.541123390197754
+        ],
+        [
+          -0.01792675442993641,
+          -0.9996860027313232,
+          -0.017511945217847824,
+          -12.479901313781738
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7567,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_183082342",
+      "mask_path": "../../mask/hdr_front_07567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07569.png",
+      "transform_matrix": [
+        [
+          0.3300970494747162,
+          -0.02388797327876091,
+          0.9436447620391846,
+          -16.043371200561523
+        ],
+        [
+          -0.9438352584838867,
+          0.007026659790426493,
+          0.3303415775299072,
+          14.525569915771484
+        ],
+        [
+          -0.014521859586238861,
+          -0.9996899962425232,
+          -0.02022683247923851,
+          -12.476709365844727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7569,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_383081436",
+      "mask_path": "../../mask/hdr_front_07569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07571.png",
+      "transform_matrix": [
+        [
+          0.3093690276145935,
+          -0.029698139056563377,
+          0.950478196144104,
+          -16.122291564941406
+        ],
+        [
+          -0.9509148001670837,
+          -0.0020988367032259703,
+          0.3094456195831299,
+          14.5062837600708
+        ],
+        [
+          -0.0071950568817555904,
+          -0.9995567202568054,
+          -0.028889713808894157,
+          -12.446810722351074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7571,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_583080291",
+      "mask_path": "../../mask/hdr_front_07571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07573.png",
+      "transform_matrix": [
+        [
+          0.28978538513183594,
+          -0.03791490197181702,
+          0.9563403129577637,
+          -16.19887924194336
+        ],
+        [
+          -0.9570521116256714,
+          -0.020556556060910225,
+          0.2891860902309418,
+          14.498700141906738
+        ],
+        [
+          0.008694599382579327,
+          -0.9990695714950562,
+          -0.042243532836437225,
+          -12.4334716796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7573,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_783081769",
+      "mask_path": "../../mask/hdr_front_07573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07574.png",
+      "transform_matrix": [
+        [
+          0.28251633048057556,
+          -0.058254387229681015,
+          0.9574920535087585,
+          -16.274490356445312
+        ],
+        [
+          -0.9591524004936218,
+          -0.032272063195705414,
+          0.28104278445243835,
+          14.48848819732666
+        ],
+        [
+          0.014528266154229641,
+          -0.9977800846099854,
+          -0.06499222666025162,
+          -12.406363487243652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7574,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_883083343",
+      "mask_path": "../../mask/hdr_front_07574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07576.png",
+      "transform_matrix": [
+        [
+          0.28304505348205566,
+          -0.09600830078125,
+          0.9542892575263977,
+          -16.34618377685547
+        ],
+        [
+          -0.9591065049171448,
+          -0.028462884947657585,
+          0.2816103994846344,
+          14.450060844421387
+        ],
+        [
+          0.000124892481835559,
+          -0.9949735403060913,
+          -0.10013847053050995,
+          -12.376825332641602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7576,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_83082437",
+      "mask_path": "../../mask/hdr_front_07576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07577.png",
+      "transform_matrix": [
+        [
+          0.2847484350204468,
+          -0.10617782175540924,
+          0.9527038335800171,
+          -16.41006088256836
+        ],
+        [
+          -0.9585455060005188,
+          -0.020724724978208542,
+          0.2841847240924835,
+          14.436320304870605
+        ],
+        [
+          -0.01042958814650774,
+          -0.9941311478614807,
+          -0.10767762362957001,
+          -12.368132591247559
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7577,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_183082103",
+      "mask_path": "../../mask/hdr_front_07577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07579.png",
+      "transform_matrix": [
+        [
+          0.2749306261539459,
+          -0.10595439374446869,
+          0.9556081295013428,
+          -16.472408294677734
+        ],
+        [
+          -0.9614543318748474,
+          -0.034776318818330765,
+          0.27275675535202026,
+          14.405059814453125
+        ],
+        [
+          0.004332763608545065,
+          -0.993762731552124,
+          -0.11143138259649277,
+          -12.359660148620605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7579,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_383082151",
+      "mask_path": "../../mask/hdr_front_07579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07581.png",
+      "transform_matrix": [
+        [
+          0.2598477900028229,
+          -0.11811850965023041,
+          0.9583982229232788,
+          -16.562538146972656
+        ],
+        [
+          -0.9655762910842896,
+          -0.044005006551742554,
+          0.25637051463127136,
+          14.371240615844727
+        ],
+        [
+          0.011892217211425304,
+          -0.9920240044593811,
+          -0.1254870593547821,
+          -12.320080757141113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7581,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_583081245",
+      "mask_path": "../../mask/hdr_front_07581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07582.png",
+      "transform_matrix": [
+        [
+          0.25128331780433655,
+          -0.12677346169948578,
+          0.9595755338668823,
+          -16.613285064697266
+        ],
+        [
+          -0.9673352241516113,
+          -0.06715843081474304,
+          0.24444277584552765,
+          14.339276313781738
+        ],
+        [
+          0.03345472738146782,
+          -0.9896556735038757,
+          -0.13950824737548828,
+          -12.333054542541504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7582,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_683083057",
+      "mask_path": "../../mask/hdr_front_07582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07583.png",
+      "transform_matrix": [
+        [
+          0.25158175826072693,
+          -0.1413753628730774,
+          0.9574546813964844,
+          -16.681438446044922
+        ],
+        [
+          -0.9669662117958069,
+          -0.07864879816770554,
+          0.24246792495250702,
+          14.31102466583252
+        ],
+        [
+          0.041023679077625275,
+          -0.9868269562721252,
+          -0.15649177134037018,
+          -12.290349006652832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7583,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_783082485",
+      "mask_path": "../../mask/hdr_front_07583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07588.png",
+      "transform_matrix": [
+        [
+          0.23376010358333588,
+          -0.17178907990455627,
+          0.9569977521896362,
+          -16.864601135253906
+        ],
+        [
+          -0.9721450209617615,
+          -0.0585409514605999,
+          0.2269514501094818,
+          14.259263038635254
+        ],
+        [
+          0.01703578233718872,
+          -0.9833928346633911,
+          -0.18068842589855194,
+          -12.220495223999023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7588,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_283081531",
+      "mask_path": "../../mask/hdr_front_07588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07590.png",
+      "transform_matrix": [
+        [
+          0.21888425946235657,
+          -0.17333608865737915,
+          0.9602314233779907,
+          -16.9416561126709
+        ],
+        [
+          -0.9748039245605469,
+          -0.08218997716903687,
+          0.20736955106258392,
+          14.233219146728516
+        ],
+        [
+          0.04297676682472229,
+          -0.9814273118972778,
+          -0.18695880472660065,
+          -12.202278137207031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7590,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_483082532",
+      "mask_path": "../../mask/hdr_front_07590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07591.png",
+      "transform_matrix": [
+        [
+          0.21972891688346863,
+          -0.19908589124679565,
+          0.9550308585166931,
+          -16.999319076538086
+        ],
+        [
+          -0.9733099937438965,
+          -0.11120186001062393,
+          0.200753316283226,
+          14.207136154174805
+        ],
+        [
+          0.0662340596318245,
+          -0.9736524224281311,
+          -0.21820655465126038,
+          -12.147669792175293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7591,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_583081007",
+      "mask_path": "../../mask/hdr_front_07591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07592.png",
+      "transform_matrix": [
+        [
+          0.22098830342292786,
+          -0.22327208518981934,
+          0.949375569820404,
+          -17.061216354370117
+        ],
+        [
+          -0.9731537103652954,
+          -0.1146707534790039,
+          0.19955521821975708,
+          14.183161735534668
+        ],
+        [
+          0.0643104761838913,
+          -0.9679877161979675,
+          -0.24261896312236786,
+          -12.103878021240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7592,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_683082342",
+      "mask_path": "../../mask/hdr_front_07592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07594.png",
+      "transform_matrix": [
+        [
+          0.20697255432605743,
+          -0.2221224159002304,
+          0.9527979493141174,
+          -17.139728546142578
+        ],
+        [
+          -0.9773344397544861,
+          -0.09123338758945465,
+          0.19103355705738068,
+          14.155580520629883
+        ],
+        [
+          0.0444941520690918,
+          -0.9707410335540771,
+          -0.23597069084644318,
+          -12.086475372314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7594,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_883081436",
+      "mask_path": "../../mask/hdr_front_07594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07595.png",
+      "transform_matrix": [
+        [
+          0.1983753740787506,
+          -0.22599919140338898,
+          0.9537146687507629,
+          -17.204242706298828
+        ],
+        [
+          -0.9788292050361633,
+          -0.0957225039601326,
+          0.1809161752462387,
+          14.136385917663574
+        ],
+        [
+          0.050405047833919525,
+          -0.9694131016731262,
+          -0.24020357429981232,
+          -12.041133880615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7595,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_983082532",
+      "mask_path": "../../mask/hdr_front_07595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07597.png",
+      "transform_matrix": [
+        [
+          0.18689993023872375,
+          -0.23168939352035522,
+          0.9546666145324707,
+          -17.293956756591797
+        ],
+        [
+          -0.9803388118743896,
+          -0.1065845862030983,
+          0.1660587340593338,
+          14.117432594299316
+        ],
+        [
+          0.06327871978282928,
+          -0.9669331908226013,
+          -0.24705474078655243,
+          -12.006183624267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7597,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_183082580",
+      "mask_path": "../../mask/hdr_front_07597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07598.png",
+      "transform_matrix": [
+        [
+          0.188302680850029,
+          -0.2499866634607315,
+          0.9497625231742859,
+          -17.365774154663086
+        ],
+        [
+          -0.9780198335647583,
+          -0.13590916991233826,
+          0.15813246369361877,
+          14.086512565612793
+        ],
+        [
+          0.08955041319131851,
+          -0.9586633443832397,
+          -0.2700839638710022,
+          -11.986674308776855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7598,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_283082008",
+      "mask_path": "../../mask/hdr_front_07598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07599.png",
+      "transform_matrix": [
+        [
+          0.19274158775806427,
+          -0.26880979537963867,
+          0.9437118172645569,
+          -17.439945220947266
+        ],
+        [
+          -0.9773449301719666,
+          -0.13830292224884033,
+          0.16021613776683807,
+          14.07441234588623
+        ],
+        [
+          0.08745042234659195,
+          -0.9532122611999512,
+          -0.2893766164779663,
+          -11.939597129821777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7599,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_383083105",
+      "mask_path": "../../mask/hdr_front_07599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07601.png",
+      "transform_matrix": [
+        [
+          0.20229631662368774,
+          -0.26216670870780945,
+          0.9435808062553406,
+          -17.54279899597168
+        ],
+        [
+          -0.9775427579879761,
+          -0.11214826256036758,
+          0.17841792106628418,
+          14.061321258544922
+        ],
+        [
+          0.059045713394880295,
+          -0.9584839344024658,
+          -0.27896633744239807,
+          -11.936412811279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7601,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_583081483",
+      "mask_path": "../../mask/hdr_front_07601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07602.png",
+      "transform_matrix": [
+        [
+          0.20831096172332764,
+          -0.227548286318779,
+          0.951224684715271,
+          -17.588062286376953
+        ],
+        [
+          -0.974962592124939,
+          -0.12568399310112,
+          0.18344374001026154,
+          14.033926010131836
+        ],
+        [
+          0.07781140506267548,
+          -0.9656217098236084,
+          -0.24803240597248077,
+          -11.915922164916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7602,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_683081865",
+      "mask_path": "../../mask/hdr_front_07602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07603.png",
+      "transform_matrix": [
+        [
+          0.21177200973033905,
+          -0.18626415729522705,
+          0.9594051837921143,
+          -17.601055145263672
+        ],
+        [
+          -0.9721997976303101,
+          -0.14049522578716278,
+          0.18731971085071564,
+          13.990354537963867
+        ],
+        [
+          0.09990090131759644,
+          -0.9724025726318359,
+          -0.2108389437198639,
+          -11.881856918334961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7603,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_783082008",
+      "mask_path": "../../mask/hdr_front_07603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07604.png",
+      "transform_matrix": [
+        [
+          0.22105249762535095,
+          -0.17439721524715424,
+          0.9595423340797424,
+          -17.64887046813965
+        ],
+        [
+          -0.9699989557266235,
+          -0.1413918286561966,
+          0.19776342809200287,
+          13.982267379760742
+        ],
+        [
+          0.10118203610181808,
+          -0.9744711518287659,
+          -0.20042012631893158,
+          -11.87462043762207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7604,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_883082866",
+      "mask_path": "../../mask/hdr_front_07604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07605.png",
+      "transform_matrix": [
+        [
+          0.23222389817237854,
+          -0.1740194857120514,
+          0.9569688439369202,
+          -17.719478607177734
+        ],
+        [
+          -0.9682782888412476,
+          -0.1346677988767624,
+          0.210479736328125,
+          13.996197700500488
+        ],
+        [
+          0.09224529564380646,
+          -0.9754905700683594,
+          -0.1997724026441574,
+          -11.884992599487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7605,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_983082532",
+      "mask_path": "../../mask/hdr_front_07605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07607.png",
+      "transform_matrix": [
+        [
+          0.2696787118911743,
+          -0.1480628103017807,
+          0.9514992833137512,
+          -17.806406021118164
+        ],
+        [
+          -0.9620814919471741,
+          -0.08339329808950424,
+          0.2597011923789978,
+          13.978992462158203
+        ],
+        [
+          0.04089656472206116,
+          -0.9854557514190674,
+          -0.16493791341781616,
+          -11.887434005737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7607,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_183081150",
+      "mask_path": "../../mask/hdr_front_07607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07608.png",
+      "transform_matrix": [
+        [
+          0.29963308572769165,
+          -0.1433495283126831,
+          0.9432237148284912,
+          -17.85685920715332
+        ],
+        [
+          -0.9534200429916382,
+          -0.08104011416435242,
+          0.290555864572525,
+          13.955489158630371
+        ],
+        [
+          0.03478790447115898,
+          -0.986348569393158,
+          -0.16095463931560516,
+          -11.87053108215332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7608,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_283081054",
+      "mask_path": "../../mask/hdr_front_07608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07610.png",
+      "transform_matrix": [
+        [
+          0.3461660146713257,
+          -0.08929616957902908,
+          0.9339138865470886,
+          -17.916873931884766
+        ],
+        [
+          -0.9363337159156799,
+          -0.09519118070602417,
+          0.3379613161087036,
+          13.905638694763184
+        ],
+        [
+          0.05872171372175217,
+          -0.991445779800415,
+          -0.11656296253204346,
+          -11.86288833618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7610,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_483082294",
+      "mask_path": "../../mask/hdr_front_07610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07612.png",
+      "transform_matrix": [
+        [
+          0.38229259848594666,
+          -0.05955636873841286,
+          0.9221200942993164,
+          -17.99818992614746
+        ],
+        [
+          -0.9204325079917908,
+          -0.11265264451503754,
+          0.37431713938713074,
+          13.852055549621582
+        ],
+        [
+          0.08158630132675171,
+          -0.9918479919433594,
+          -0.09788390249013901,
+          -11.865116119384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7612,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_683082103",
+      "mask_path": "../../mask/hdr_front_07612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07615.png",
+      "transform_matrix": [
+        [
+          0.4727899730205536,
+          -0.03835849463939667,
+          0.8803398609161377,
+          -18.066286087036133
+        ],
+        [
+          -0.8808866143226624,
+          -0.046136524528265,
+          0.47107332944869995,
+          13.736910820007324
+        ],
+        [
+          0.022546159103512764,
+          -0.9981984496116638,
+          -0.05560236796736717,
+          -11.850584983825684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7615,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_983082294",
+      "mask_path": "../../mask/hdr_front_07615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07617.png",
+      "transform_matrix": [
+        [
+          0.5298141241073608,
+          -0.033614132553339005,
+          0.8474474549293518,
+          -18.14136505126953
+        ],
+        [
+          -0.8478562235832214,
+          -0.0456121526658535,
+          0.5282605886459351,
+          13.670961380004883
+        ],
+        [
+          0.020896878093481064,
+          -0.9983935356140137,
+          -0.052665919065475464,
+          -11.858226776123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7617,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_183082342",
+      "mask_path": "../../mask/hdr_front_07617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07618.png",
+      "transform_matrix": [
+        [
+          0.5477098822593689,
+          -0.02444942481815815,
+          0.8363111019134521,
+          -18.172496795654297
+        ],
+        [
+          -0.8360352516174316,
+          -0.05487070977687836,
+          0.5459250807762146,
+          13.627118110656738
+        ],
+        [
+          0.0325414314866066,
+          -0.9981940984725952,
+          -0.05049380287528038,
+          -11.846721649169922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7618,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_283082485",
+      "mask_path": "../../mask/hdr_front_07618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07620.png",
+      "transform_matrix": [
+        [
+          0.5812680721282959,
+          -0.008922712877392769,
+          0.8136632442474365,
+          -18.206199645996094
+        ],
+        [
+          -0.8115067481994629,
+          -0.07992683351039886,
+          0.5788509845733643,
+          13.55235767364502
+        ],
+        [
+          0.059868596494197845,
+          -0.9967607855796814,
+          -0.05369975417852402,
+          -11.846906661987305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7620,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_483082294",
+      "mask_path": "../../mask/hdr_front_07620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07621.png",
+      "transform_matrix": [
+        [
+          0.6034074425697327,
+          -0.01905757002532482,
+          0.7972052693367004,
+          -18.252538681030273
+        ],
+        [
+          -0.7945058941841125,
+          -0.09994523972272873,
+          0.5989750623703003,
+          13.506141662597656
+        ],
+        [
+          0.06826185435056686,
+          -0.9948104619979858,
+          -0.07544905692338943,
+          -11.811846733093262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7621,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_583081483",
+      "mask_path": "../../mask/hdr_front_07621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07622.png",
+      "transform_matrix": [
+        [
+          0.6297295689582825,
+          -0.03174121677875519,
+          0.7761657238006592,
+          -18.290695190429688
+        ],
+        [
+          -0.774319052696228,
+          -0.10567192733287811,
+          0.6239098310470581,
+          13.45613956451416
+        ],
+        [
+          0.06221526861190796,
+          -0.9938943982124329,
+          -0.09112255275249481,
+          -11.775717735290527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7622,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_683081150",
+      "mask_path": "../../mask/hdr_front_07622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07624.png",
+      "transform_matrix": [
+        [
+          0.681276798248291,
+          -0.030822010710835457,
+          0.7313768267631531,
+          -18.324974060058594
+        ],
+        [
+          -0.7303063273429871,
+          -0.09706169366836548,
+          0.6761891841888428,
+          13.37204647064209
+        ],
+        [
+          0.0501471608877182,
+          -0.9948010444641113,
+          -0.0886353924870491,
+          -11.778057098388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7624,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_883081912",
+      "mask_path": "../../mask/hdr_front_07624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07626.png",
+      "transform_matrix": [
+        [
+          0.7169308066368103,
+          -0.027193984016776085,
+          0.6966137290000916,
+          -18.367321014404297
+        ],
+        [
+          -0.694933295249939,
+          -0.10739784687757492,
+          0.7110087871551514,
+          13.294963836669922
+        ],
+        [
+          0.05547965317964554,
+          -0.9938441514968872,
+          -0.09589482843875885,
+          -11.747966766357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7626,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_83081007",
+      "mask_path": "../../mask/hdr_front_07626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07628.png",
+      "transform_matrix": [
+        [
+          0.7490231394767761,
+          -0.02083665318787098,
+          0.6622160077095032,
+          -18.396465301513672
+        ],
+        [
+          -0.6593970656394958,
+          -0.12074331194162369,
+          0.7420353293418884,
+          13.212319374084473
+        ],
+        [
+          0.06449662894010544,
+          -0.9924651384353638,
+          -0.10417915880680084,
+          -11.737135887145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7628,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_283081293",
+      "mask_path": "../../mask/hdr_front_07628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07630.png",
+      "transform_matrix": [
+        [
+          0.7863752841949463,
+          -0.01893933303654194,
+          0.6174586415290833,
+          -18.43174934387207
+        ],
+        [
+          -0.6103887557983398,
+          -0.1776571273803711,
+          0.7719219923019409,
+          13.125184059143066
+        ],
+        [
+          0.09507624804973602,
+          -0.9839102029800415,
+          -0.15126554667949677,
+          -11.678898811340332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7630,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_483081102",
+      "mask_path": "../../mask/hdr_front_07630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07631.png",
+      "transform_matrix": [
+        [
+          0.8118319511413574,
+          -0.030109534040093422,
+          0.5831143856048584,
+          -18.4404354095459
+        ],
+        [
+          -0.5763456225395203,
+          -0.20135721564292908,
+          0.7920108437538147,
+          13.057400703430176
+        ],
+        [
+          0.09356721490621567,
+          -0.9790550470352173,
+          -0.18082170188426971,
+          -11.625364303588867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7631,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_583082199",
+      "mask_path": "../../mask/hdr_front_07631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07633.png",
+      "transform_matrix": [
+        [
+          0.8550667762756348,
+          -0.03668014332652092,
+          0.517218828201294,
+          -18.443939208984375
+        ],
+        [
+          -0.5133806467056274,
+          -0.19995342195034027,
+          0.8345412015914917,
+          12.968060493469238
+        ],
+        [
+          0.07280857861042023,
+          -0.9791186451911926,
+          -0.18980440497398376,
+          -11.619967460632324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7633,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_783082723",
+      "mask_path": "../../mask/hdr_front_07633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07635.png",
+      "transform_matrix": [
+        [
+          0.8854429125785828,
+          -0.04019808769226074,
+          0.4630065858364105,
+          -18.464773178100586
+        ],
+        [
+          -0.4608187675476074,
+          -0.2052164077758789,
+          0.863442063331604,
+          12.889280319213867
+        ],
+        [
+          0.0603078193962574,
+          -0.9778908491134644,
+          -0.2002313882112503,
+          -11.593997955322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7635,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_983082771",
+      "mask_path": "../../mask/hdr_front_07635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07637.png",
+      "transform_matrix": [
+        [
+          0.9108650088310242,
+          -0.02597777545452118,
+          0.411886066198349,
+          -18.47316551208496
+        ],
+        [
+          -0.40755242109298706,
+          -0.21382269263267517,
+          0.8877955675125122,
+          12.82479476928711
+        ],
+        [
+          0.06500763446092606,
+          -0.9765270352363586,
+          -0.20535092055797577,
+          -11.57601547241211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7637,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324028_183082580",
+      "mask_path": "../../mask/hdr_front_07637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07639.png",
+      "transform_matrix": [
+        [
+          0.9414836168289185,
+          0.0036127993371337652,
+          0.3370395004749298,
+          -18.454072952270508
+        ],
+        [
+          -0.32535555958747864,
+          -0.25146806240081787,
+          0.9115412831306458,
+          12.723609924316406
+        ],
+        [
+          0.08804789930582047,
+          -0.9678589105606079,
+          -0.23557762801647186,
+          -11.508880615234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7639,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324028_383082389",
+      "mask_path": "../../mask/hdr_front_07639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07646.png",
+      "transform_matrix": [
+        [
+          0.9998864531517029,
+          0.0016218472737818956,
+          0.014972402714192867,
+          -18.2923583984375
+        ],
+        [
+          -0.013830874115228653,
+          -0.2944933772087097,
+          0.955553412437439,
+          12.583614349365234
+        ],
+        [
+          0.00595903629437089,
+          -0.9556521773338318,
+          -0.29443755745887756,
+          -11.405441284179688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7646,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_83080291",
+      "mask_path": "../../mask/hdr_front_07646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07648.png",
+      "transform_matrix": [
+        [
+          0.9989916682243347,
+          -0.00856660958379507,
+          -0.04407067969441414,
+          -18.240217208862305
+        ],
+        [
+          0.03971870243549347,
+          -0.2889731526374817,
+          0.9565128684043884,
+          12.528194427490234
+        ],
+        [
+          -0.02092931419610977,
+          -0.9572989344596863,
+          -0.28834155201911926,
+          -11.394455909729004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7648,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_283082723",
+      "mask_path": "../../mask/hdr_front_07648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07650.png",
+      "transform_matrix": [
+        [
+          0.9958062171936035,
+          -0.02138286456465721,
+          -0.08895382285118103,
+          -18.210420608520508
+        ],
+        [
+          0.07890699058771133,
+          -0.29132434725761414,
+          0.9533644318580627,
+          12.46727180480957
+        ],
+        [
+          -0.04630007594823837,
+          -0.9563854336738586,
+          -0.2884153425693512,
+          -11.342325210571289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7650,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_483081817",
+      "mask_path": "../../mask/hdr_front_07650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07651.png",
+      "transform_matrix": [
+        [
+          0.9940344095230103,
+          -0.02047380432486534,
+          -0.10712780803442001,
+          -18.2020206451416
+        ],
+        [
+          0.09500499814748764,
+          -0.3198825418949127,
+          0.9426819086074829,
+          12.412110328674316
+        ],
+        [
+          -0.05356859788298607,
+          -0.9472359418869019,
+          -0.3160291314125061,
+          -11.289116859436035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7651,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_583079814",
+      "mask_path": "../../mask/hdr_front_07651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07652.png",
+      "transform_matrix": [
+        [
+          0.9919503927230835,
+          -0.013157200999557972,
+          -0.12594211101531982,
+          -18.18926429748535
+        ],
+        [
+          0.11363542079925537,
+          -0.3463381230831146,
+          0.9312018752098083,
+          12.363439559936523
+        ],
+        [
+          -0.05587056651711464,
+          -0.9380174875259399,
+          -0.342055082321167,
+          -11.241859436035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7652,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_683080673",
+      "mask_path": "../../mask/hdr_front_07652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07654.png",
+      "transform_matrix": [
+        [
+          0.9857345223426819,
+          -0.007520423736423254,
+          -0.1681392788887024,
+          -18.1527042388916
+        ],
+        [
+          0.15524423122406006,
+          -0.3452587425708771,
+          0.9255785942077637,
+          12.313760757446289
+        ],
+        [
+          -0.06501227617263794,
+          -0.9384774565696716,
+          -0.33916592597961426,
+          -11.256775856018066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7654,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_883082389",
+      "mask_path": "../../mask/hdr_front_07654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07656.png",
+      "transform_matrix": [
+        [
+          0.9761853814125061,
+          -0.014843961223959923,
+          -0.2164294719696045,
+          -18.10886001586914
+        ],
+        [
+          0.19914615154266357,
+          -0.3343639075756073,
+          0.9211631417274475,
+          12.257417678833008
+        ],
+        [
+          -0.08603991568088531,
+          -0.9423271417617798,
+          -0.32344508171081543,
+          -11.199383735656738
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7656,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_83081483",
+      "mask_path": "../../mask/hdr_front_07656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07658.png",
+      "transform_matrix": [
+        [
+          0.9641376733779907,
+          0.013160443864762783,
+          -0.2650761008262634,
+          -18.06623077392578
+        ],
+        [
+          0.25462472438812256,
+          -0.3276011645793915,
+          0.9098591804504395,
+          12.173657417297363
+        ],
+        [
+          -0.07486509531736374,
+          -0.9447245001792908,
+          -0.31920361518859863,
+          -11.179439544677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7658,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_283082008",
+      "mask_path": "../../mask/hdr_front_07658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07660.png",
+      "transform_matrix": [
+        [
+          0.949506938457489,
+          0.05033496394753456,
+          -0.3096819519996643,
+          -18.015047073364258
+        ],
+        [
+          0.308290958404541,
+          -0.33294135332107544,
+          0.8911266326904297,
+          12.124960899353027
+        ],
+        [
+          -0.05825109779834747,
+          -0.9416031837463379,
+          -0.33164793252944946,
+          -11.133686065673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7660,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_483083009",
+      "mask_path": "../../mask/hdr_front_07660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07667.png",
+      "transform_matrix": [
+        [
+          0.8627439737319946,
+          0.11527132242918015,
+          -0.49232643842697144,
+          -17.834453582763672
+        ],
+        [
+          0.5027867555618286,
+          -0.29887720942497253,
+          0.811096727848053,
+          11.985250473022461
+        ],
+        [
+          -0.053648944944143295,
+          -0.9473041296005249,
+          -0.3158113956451416,
+          -11.048822402954102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7667,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_183080196",
+      "mask_path": "../../mask/hdr_front_07667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07669.png",
+      "transform_matrix": [
+        [
+          0.8277776837348938,
+          0.17338137328624725,
+          -0.5335943102836609,
+          -17.76962661743164
+        ],
+        [
+          0.5604619979858398,
+          -0.2992910146713257,
+          0.7722093462944031,
+          11.947175025939941
+        ],
+        [
+          -0.02581324614584446,
+          -0.9382770657539368,
+          -0.3449200987815857,
+          -10.974862098693848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7669,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_383081674",
+      "mask_path": "../../mask/hdr_front_07669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07671.png",
+      "transform_matrix": [
+        [
+          0.7880715131759644,
+          0.1559232622385025,
+          -0.5955092310905457,
+          -17.70549964904785
+        ],
+        [
+          0.613154411315918,
+          -0.28468337655067444,
+          0.7368834018707275,
+          11.944247245788574
+        ],
+        [
+          -0.05463429540395737,
+          -0.9458559155464172,
+          -0.3199559152126312,
+          -10.981133460998535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7671,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_583082199",
+      "mask_path": "../../mask/hdr_front_07671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07673.png",
+      "transform_matrix": [
+        [
+          0.7382494211196899,
+          0.16054083406925201,
+          -0.6551446318626404,
+          -17.624258041381836
+        ],
+        [
+          0.6711534261703491,
+          -0.2718594968318939,
+          0.6896706223487854,
+          11.925065040588379
+        ],
+        [
+          -0.06738700717687607,
+          -0.948851466178894,
+          -0.30844762921333313,
+          -10.960590362548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7673,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_783082008",
+      "mask_path": "../../mask/hdr_front_07673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07675.png",
+      "transform_matrix": [
+        [
+          0.6823618412017822,
+          0.18367284536361694,
+          -0.7075639367103577,
+          -17.56087875366211
+        ],
+        [
+          0.7291428446769714,
+          -0.2402317225933075,
+          0.6408116221427917,
+          11.91384220123291
+        ],
+        [
+          -0.05227959156036377,
+          -0.9531804919242859,
+          -0.2978486716747284,
+          -10.950517654418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7675,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_983080863",
+      "mask_path": "../../mask/hdr_front_07675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07677.png",
+      "transform_matrix": [
+        [
+          0.6264464259147644,
+          0.17796100676059723,
+          -0.7588773369789124,
+          -17.479637145996094
+        ],
+        [
+          0.7763704061508179,
+          -0.22912050783634186,
+          0.5871566534042358,
+          11.8900728225708
+        ],
+        [
+          -0.06938336044549942,
+          -0.9569920897483826,
+          -0.28169533610343933,
+          -10.925604820251465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7677,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_183082818",
+      "mask_path": "../../mask/hdr_front_07677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07679.png",
+      "transform_matrix": [
+        [
+          0.5614835023880005,
+          0.1792442351579666,
+          -0.8078414797782898,
+          -17.40342903137207
+        ],
+        [
+          0.8241986036300659,
+          -0.20810101926326752,
+          0.5266789197921753,
+          11.87485408782959
+        ],
+        [
+          -0.07370848953723907,
+          -0.9615433812141418,
+          -0.26457810401916504,
+          -10.902745246887207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7679,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_383081436",
+      "mask_path": "../../mask/hdr_front_07679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07681.png",
+      "transform_matrix": [
+        [
+          0.5043812990188599,
+          0.20228977501392365,
+          -0.839451253414154,
+          -17.316619873046875
+        ],
+        [
+          0.8621362447738647,
+          -0.172215074300766,
+          0.4765113890171051,
+          11.855685234069824
+        ],
+        [
+          -0.048172760754823685,
+          -0.9640647768974304,
+          -0.2612634003162384,
+          -10.876681327819824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7681,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_583081483",
+      "mask_path": "../../mask/hdr_front_07681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07683.png",
+      "transform_matrix": [
+        [
+          0.45356157422065735,
+          0.2160627841949463,
+          -0.8646379113197327,
+          -17.224191665649414
+        ],
+        [
+          0.8906632661819458,
+          -0.14432750642299652,
+          0.43114784359931946,
+          11.83630084991455
+        ],
+        [
+          -0.03163602948188782,
+          -0.9656534194946289,
+          -0.257900595664978,
+          -10.843822479248047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7683,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_783079862",
+      "mask_path": "../../mask/hdr_front_07683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07685.png",
+      "transform_matrix": [
+        [
+          0.39557668566703796,
+          0.20672491192817688,
+          -0.8948653340339661,
+          -17.135623931884766
+        ],
+        [
+          0.9166966080665588,
+          -0.14875446259975433,
+          0.3708631694316864,
+          11.834733963012695
+        ],
+        [
+          -0.0564485564827919,
+          -0.9670248031616211,
+          -0.24834781885147095,
+          -10.81777572631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7685,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_983080625",
+      "mask_path": "../../mask/hdr_front_07685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07687.png",
+      "transform_matrix": [
+        [
+          0.33702656626701355,
+          0.1961204707622528,
+          -0.9208419919013977,
+          -17.032447814941406
+        ],
+        [
+          0.9399161338806152,
+          -0.1267097145318985,
+          0.31702107191085815,
+          11.82201862335205
+        ],
+        [
+          -0.05450530722737312,
+          -0.9723587036132812,
+          -0.22704128921031952,
+          -10.803767204284668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7687,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_183080196",
+      "mask_path": "../../mask/hdr_front_07687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07689.png",
+      "transform_matrix": [
+        [
+          0.3127855360507965,
+          0.19707068800926208,
+          -0.929154634475708,
+          -16.95635986328125
+        ],
+        [
+          0.9494375586509705,
+          -0.09276307374238968,
+          0.29993870854377747,
+          11.808226585388184
+        ],
+        [
+          -0.02708211913704872,
+          -0.9759909510612488,
+          -0.21612125635147095,
+          -10.789071083068848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7689,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_383081197",
+      "mask_path": "../../mask/hdr_front_07689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07690.png",
+      "transform_matrix": [
+        [
+          0.3071673810482025,
+          0.19095514714717865,
+          -0.9323006868362427,
+          -16.90949821472168
+        ],
+        [
+          0.9515019059181213,
+          -0.07922729104757309,
+          0.2972661852836609,
+          11.793148040771484
+        ],
+        [
+          -0.017099127173423767,
+          -0.9783962368965149,
+          -0.2060302197933197,
+          -10.774435997009277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7690,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_483079433",
+      "mask_path": "../../mask/hdr_front_07690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07691.png",
+      "transform_matrix": [
+        [
+          0.29908519983291626,
+          0.1751701533794403,
+          -0.9380103349685669,
+          -16.854461669921875
+        ],
+        [
+          0.9540250897407532,
+          -0.07508261501789093,
+          0.29017016291618347,
+          11.781046867370605
+        ],
+        [
+          -0.019599122926592827,
+          -0.9816710352897644,
+          -0.18957281112670898,
+          -10.771577835083008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7691,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_583081007",
+      "mask_path": "../../mask/hdr_front_07691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07693.png",
+      "transform_matrix": [
+        [
+          0.2785307765007019,
+          0.1501992791891098,
+          -0.9486099481582642,
+          -16.772953033447266
+        ],
+        [
+          0.960143506526947,
+          -0.06755391508340836,
+          0.2712210416793823,
+          11.772770881652832
+        ],
+        [
+          -0.023345109075307846,
+          -0.9863451719284058,
+          -0.16302871704101562,
+          -10.769902229309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7693,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_783080101",
+      "mask_path": "../../mask/hdr_front_07693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07695.png",
+      "transform_matrix": [
+        [
+          0.2699700593948364,
+          0.13281205296516418,
+          -0.9536650776863098,
+          -16.684782028198242
+        ],
+        [
+          0.9628354907035828,
+          -0.04547017067670822,
+          0.2662336826324463,
+          11.751203536987305
+        ],
+        [
+          -0.008004270493984222,
+          -0.9900977611541748,
+          -0.1401517540216446,
+          -10.753983497619629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7695,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_983080863",
+      "mask_path": "../../mask/hdr_front_07695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07697.png",
+      "transform_matrix": [
+        [
+          0.25272729992866516,
+          0.1278897076845169,
+          -0.9590480327606201,
+          -16.604768753051758
+        ],
+        [
+          0.9674732089042664,
+          -0.021978743374347687,
+          0.25201666355133057,
+          11.743281364440918
+        ],
+        [
+          0.011151667684316635,
+          -0.9915449023246765,
+          -0.12928450107574463,
+          -10.74965763092041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7697,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_183078050",
+      "mask_path": "../../mask/hdr_front_07697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07702.png",
+      "transform_matrix": [
+        [
+          0.13405980169773102,
+          0.09806632250547409,
+          -0.9861090779304504,
+          -16.368614196777344
+        ],
+        [
+          0.9909040331840515,
+          -0.025024564936757088,
+          0.13222306966781616,
+          11.758272171020508
+        ],
+        [
+          -0.011710315942764282,
+          -0.9948652386665344,
+          -0.10052909702062607,
+          -10.750696182250977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7702,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_683077812",
+      "mask_path": "../../mask/hdr_front_07702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07704.png",
+      "transform_matrix": [
+        [
+          0.08900104463100433,
+          0.10137069225311279,
+          -0.9908595681190491,
+          -16.29875373840332
+        ],
+        [
+          0.9960194230079651,
+          -0.004156239330768585,
+          0.08903931081295013,
+          11.751425743103027
+        ],
+        [
+          0.004907727241516113,
+          -0.9948400855064392,
+          -0.10133709013462067,
+          -10.74315357208252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7704,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_883080244",
+      "mask_path": "../../mask/hdr_front_07704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07705.png",
+      "transform_matrix": [
+        [
+          0.06773260980844498,
+          0.09117496758699417,
+          -0.9935287833213806,
+          -16.246423721313477
+        ],
+        [
+          0.9977006912231445,
+          -0.003796846605837345,
+          0.06766858696937561,
+          11.736948013305664
+        ],
+        [
+          0.0023974059149622917,
+          -0.9958276748657227,
+          -0.09122249484062195,
+          -10.728652000427246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7705,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_983080863",
+      "mask_path": "../../mask/hdr_front_07705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07707.png",
+      "transform_matrix": [
+        [
+          0.01298670843243599,
+          0.06849554181098938,
+          -0.9975668787956238,
+          -16.159591674804688
+        ],
+        [
+          0.9997520446777344,
+          -0.018938696011900902,
+          0.011714776046574116,
+          11.750114440917969
+        ],
+        [
+          -0.018090205267071724,
+          -0.9974716901779175,
+          -0.06872450560331345,
+          -10.731398582458496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7707,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_183080434",
+      "mask_path": "../../mask/hdr_front_07707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07708.png",
+      "transform_matrix": [
+        [
+          -0.01512517873197794,
+          0.06090230494737625,
+          -0.9980291724205017,
+          -16.10950469970703
+        ],
+        [
+          0.9997700452804565,
+          -0.014259029179811478,
+          -0.01602168381214142,
+          11.75680923461914
+        ],
+        [
+          -0.015206682495772839,
+          -0.9980419278144836,
+          -0.06067262217402458,
+          -10.72987174987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7708,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_283082008",
+      "mask_path": "../../mask/hdr_front_07708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07709.png",
+      "transform_matrix": [
+        [
+          -0.03619593754410744,
+          0.05274418741464615,
+          -0.9979519248008728,
+          -16.059101104736328
+        ],
+        [
+          0.9993351101875305,
+          -0.002465351950377226,
+          -0.036376409232616425,
+          11.768112182617188
+        ],
+        [
+          -0.00437894556671381,
+          -0.9986050724983215,
+          -0.05261987820267677,
+          -10.721694946289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7709,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_383082389",
+      "mask_path": "../../mask/hdr_front_07709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07711.png",
+      "transform_matrix": [
+        [
+          -0.06363960355520248,
+          0.04499632492661476,
+          -0.9969580173492432,
+          -15.982597351074219
+        ],
+        [
+          0.997816264629364,
+          0.02056576870381832,
+          -0.0627661794424057,
+          11.793534278869629
+        ],
+        [
+          0.017678961157798767,
+          -0.9987754821777344,
+          -0.04620686545968056,
+          -10.71999454498291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7711,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_583081007",
+      "mask_path": "../../mask/hdr_front_07711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07712.png",
+      "transform_matrix": [
+        [
+          -0.0691378116607666,
+          0.0388568714261055,
+          -0.9968500733375549,
+          -15.933743476867676
+        ],
+        [
+          0.9972931146621704,
+          0.027758140116930008,
+          -0.06808654218912125,
+          11.80630111694336
+        ],
+        [
+          0.025025080889463425,
+          -0.998859167098999,
+          -0.040670834481716156,
+          -10.71832275390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7712,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_683083057",
+      "mask_path": "../../mask/hdr_front_07712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07713.png",
+      "transform_matrix": [
+        [
+          -0.07057739794254303,
+          0.03154803439974785,
+          -0.9970073699951172,
+          -15.869185447692871
+        ],
+        [
+          0.9973469376564026,
+          0.020095249637961388,
+          -0.06996559351682663,
+          11.808465957641602
+        ],
+        [
+          0.0178278349339962,
+          -0.9993002414703369,
+          -0.032882608473300934,
+          -10.715664863586426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7713,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_783082008",
+      "mask_path": "../../mask/hdr_front_07713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07714.png",
+      "transform_matrix": [
+        [
+          -0.0730455294251442,
+          0.027961086481809616,
+          -0.996936559677124,
+          -15.813078880310059
+        ],
+        [
+          0.9972968101501465,
+          0.010032725520431995,
+          -0.07279052585363388,
+          11.816146850585938
+        ],
+        [
+          0.007966690696775913,
+          -0.999558687210083,
+          -0.0286183450371027,
+          -10.726244926452637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7714,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_883081674",
+      "mask_path": "../../mask/hdr_front_07714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07715.png",
+      "transform_matrix": [
+        [
+          -0.07426580041646957,
+          0.024066997691988945,
+          -0.9969480037689209,
+          -15.750935554504395
+        ],
+        [
+          0.9972270727157593,
+          0.006564830895513296,
+          -0.07412810623645782,
+          11.833155632019043
+        ],
+        [
+          0.004760753829032183,
+          -0.9996888637542725,
+          -0.024487802758812904,
+          -10.737160682678223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7715,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_983082532",
+      "mask_path": "../../mask/hdr_front_07715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07716.png",
+      "transform_matrix": [
+        [
+          -0.06912561506032944,
+          0.016711723059415817,
+          -0.9974679946899414,
+          -15.667275428771973
+        ],
+        [
+          0.9975910782814026,
+          0.0069641838781535625,
+          -0.06901747733354568,
+          11.848893165588379
+        ],
+        [
+          0.005793149117380381,
+          -0.9998360872268677,
+          -0.017152871936559677,
+          -10.741721153259277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7716,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_83081722",
+      "mask_path": "../../mask/hdr_front_07716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07717.png",
+      "transform_matrix": [
+        [
+          -0.06005578115582466,
+          0.01350577361881733,
+          -0.998103678226471,
+          -15.590764999389648
+        ],
+        [
+          0.9981361627578735,
+          0.011667543090879917,
+          -0.05989985913038254,
+          11.858735084533691
+        ],
+        [
+          0.010836423374712467,
+          -0.9998407363891602,
+          -0.014181305654346943,
+          -10.741171836853027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7717,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_183081150",
+      "mask_path": "../../mask/hdr_front_07717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07718.png",
+      "transform_matrix": [
+        [
+          -0.051250383257865906,
+          0.016432078555226326,
+          -0.9985505938529968,
+          -15.536219596862793
+        ],
+        [
+          0.998487114906311,
+          0.02079136297106743,
+          -0.050904981791973114,
+          11.864990234375
+        ],
+        [
+          0.019924752414226532,
+          -0.9996488690376282,
+          -0.017472784966230392,
+          -10.732954978942871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7718,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_283082008",
+      "mask_path": "../../mask/hdr_front_07718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07719.png",
+      "transform_matrix": [
+        [
+          -0.04440430551767349,
+          0.014516557566821575,
+          -0.9989081025123596,
+          -15.456570625305176
+        ],
+        [
+          0.9988778233528137,
+          0.01713135838508606,
+          -0.044154003262519836,
+          11.874919891357422
+        ],
+        [
+          0.016471687704324722,
+          -0.9997478723526001,
+          -0.015260973945260048,
+          -10.725892066955566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7719,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_383080959",
+      "mask_path": "../../mask/hdr_front_07719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07720.png",
+      "transform_matrix": [
+        [
+          -0.04233698174357414,
+          0.013109843246638775,
+          -0.9990173578262329,
+          -15.382381439208984
+        ],
+        [
+          0.9991012215614319,
+          0.0026051716413348913,
+          -0.04230635613203049,
+          11.888427734375
+        ],
+        [
+          0.0020479822997003794,
+          -0.9999107122421265,
+          -0.013208354823291302,
+          -10.726324081420898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7720,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_483082532",
+      "mask_path": "../../mask/hdr_front_07720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07722.png",
+      "transform_matrix": [
+        [
+          -0.041036881506443024,
+          0.008441399782896042,
+          -0.9991220235824585,
+          -15.318329811096191
+        ],
+        [
+          0.9990599155426025,
+          -0.013643563725054264,
+          -0.041149597615003586,
+          11.902334213256836
+        ],
+        [
+          -0.013978943228721619,
+          -0.9998713731765747,
+          -0.00787357334047556,
+          -10.739990234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7722,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_683082818",
+      "mask_path": "../../mask/hdr_front_07722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07723.png",
+      "transform_matrix": [
+        [
+          -0.037266213446855545,
+          0.0034976620227098465,
+          -0.9992992281913757,
+          -15.267435073852539
+        ],
+        [
+          0.9991447329521179,
+          -0.017798932269215584,
+          -0.0373227521777153,
+          11.906255722045898
+        ],
+        [
+          -0.017916999757289886,
+          -0.9998354911804199,
+          -0.0028313719667494297,
+          -10.74257755279541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7723,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_783082485",
+      "mask_path": "../../mask/hdr_front_07723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07727.png",
+      "transform_matrix": [
+        [
+          0.0018148825038224459,
+          0.002477128291502595,
+          -0.9999953508377075,
+          -15.073418617248535
+        ],
+        [
+          0.9998328685760498,
+          -0.018194284290075302,
+          0.0017695188289508224,
+          11.866394996643066
+        ],
+        [
+          -0.018189812079072,
+          -0.9998314380645752,
+          -0.0025097348261624575,
+          -10.713189125061035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7727,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_183077573",
+      "mask_path": "../../mask/hdr_front_07727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07731.png",
+      "transform_matrix": [
+        [
+          0.041391320526599884,
+          0.015616117976605892,
+          -0.999021053314209,
+          -14.881633758544922
+        ],
+        [
+          0.9984825849533081,
+          -0.03699348866939545,
+          0.040790755301713943,
+          11.842816352844238
+        ],
+        [
+          -0.0363202765583992,
+          -0.999193549156189,
+          -0.0171236302703619,
+          -10.721041679382324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7731,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_583082199",
+      "mask_path": "../../mask/hdr_front_07731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07733.png",
+      "transform_matrix": [
+        [
+          0.07696285843849182,
+          0.022323060780763626,
+          -0.9967840909957886,
+          -14.806921005249023
+        ],
+        [
+          0.9967743754386902,
+          -0.024532847106456757,
+          0.07641270011663437,
+          11.814568519592285
+        ],
+        [
+          -0.022748185321688652,
+          -0.9994497895240784,
+          -0.024139173328876495,
+          -10.701043128967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7733,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_783081531",
+      "mask_path": "../../mask/hdr_front_07733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07734.png",
+      "transform_matrix": [
+        [
+          0.08840031921863556,
+          0.028467394411563873,
+          -0.995678186416626,
+          -14.755401611328125
+        ],
+        [
+          0.9959803223609924,
+          -0.017014935612678528,
+          0.08794067800045013,
+          11.806828498840332
+        ],
+        [
+          -0.014437956735491753,
+          -0.9994499683380127,
+          -0.02985709346830845,
+          -10.693878173828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7734,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_883081197",
+      "mask_path": "../../mask/hdr_front_07734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01859.png",
+      "transform_matrix": [
+        [
+          -0.9413143396377563,
+          0.2180965691804886,
+          -0.25760647654533386,
+          -15.17822265625
+        ],
+        [
+          0.2670339047908783,
+          0.014390328899025917,
+          -0.9635797142982483,
+          11.772079467773438
+        ],
+        [
+          -0.20644637942314148,
+          -0.9758211374282837,
+          -0.07178499549627304,
+          -10.75852108001709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1859,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_283081769",
+      "mask_path": "../../mask/hdr_left_01859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01860.png",
+      "transform_matrix": [
+        [
+          -0.9450405240058899,
+          0.194370299577713,
+          -0.26290392875671387,
+          -15.286395072937012
+        ],
+        [
+          0.2700843811035156,
+          0.01092477422207594,
+          -0.9627746343612671,
+          11.770894050598145
+        ],
+        [
+          -0.18426261842250824,
+          -0.9808674454689026,
+          -0.06282073259353638,
+          -10.772220611572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1860,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_383082151",
+      "mask_path": "../../mask/hdr_left_01860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01863.png",
+      "transform_matrix": [
+        [
+          -0.9533677101135254,
+          0.14500834047794342,
+          -0.2646932005882263,
+          -15.449516296386719
+        ],
+        [
+          0.26703548431396484,
+          -0.003425199305638671,
+          -0.9636805653572083,
+          11.755373001098633
+        ],
+        [
+          -0.14064836502075195,
+          -0.9894245862960815,
+          -0.03545689955353737,
+          -10.780691146850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1863,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_683081865",
+      "mask_path": "../../mask/hdr_left_01863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01864.png",
+      "transform_matrix": [
+        [
+          -0.9557768702507019,
+          0.13140833377838135,
+          -0.26310136914253235,
+          -15.525114059448242
+        ],
+        [
+          0.26616716384887695,
+          0.006018665619194508,
+          -0.9639080762863159,
+          11.767523765563965
+        ],
+        [
+          -0.12508203089237213,
+          -0.991310179233551,
+          -0.040729086846113205,
+          -10.776073455810547
+        ],
+        [
+          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": "1731323448_783082246",
+      "mask_path": "../../mask/hdr_left_01864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01865.png",
+      "transform_matrix": [
+        [
+          -0.9565876722335815,
+          0.11674521863460541,
+          -0.2670402526855469,
+          -15.590795516967773
+        ],
+        [
+          0.26973551511764526,
+          0.00763632683083415,
+          -0.962904155254364,
+          11.780192375183105
+        ],
+        [
+          -0.11037523299455643,
+          -0.9931326508522034,
+          -0.038795143365859985,
+          -10.773468017578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1865,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_883081197",
+      "mask_path": "../../mask/hdr_left_01865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01866.png",
+      "transform_matrix": [
+        [
+          -0.9561548829078674,
+          0.10189801454544067,
+          -0.2745625376701355,
+          -15.661434173583984
+        ],
+        [
+          0.27680885791778564,
+          0.008322145789861679,
+          -0.9608889222145081,
+          11.783808708190918
+        ],
+        [
+          -0.09562772512435913,
+          -0.9947601556777954,
+          -0.03616352751851082,
+          -10.779438018798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1866,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_983082056",
+      "mask_path": "../../mask/hdr_left_01866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01867.png",
+      "transform_matrix": [
+        [
+          -0.9569284915924072,
+          0.09276709705591202,
+          -0.27510371804237366,
+          -15.744693756103516
+        ],
+        [
+          0.277576744556427,
+          0.014646531082689762,
+          -0.9605917930603027,
+          11.789363861083984
+        ],
+        [
+          -0.08508198708295822,
+          -0.9955801367759705,
+          -0.03976566717028618,
+          -10.785635948181152
+        ],
+        [
+          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": "1731323449_83082675",
+      "mask_path": "../../mask/hdr_left_01867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01868.png",
+      "transform_matrix": [
+        [
+          -0.959482729434967,
+          0.08175425231456757,
+          -0.2696462571620941,
+          -15.816104888916016
+        ],
+        [
+          0.2720496952533722,
+          0.019630901515483856,
+          -0.9620829820632935,
+          11.795783042907715
+        ],
+        [
+          -0.07336095720529556,
+          -0.9964592456817627,
+          -0.041076719760894775,
+          -10.7916841506958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1868,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_183082580",
+      "mask_path": "../../mask/hdr_left_01868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01869.png",
+      "transform_matrix": [
+        [
+          -0.9618229269981384,
+          0.06864956766366959,
+          -0.2649223804473877,
+          -15.882352828979492
+        ],
+        [
+          0.266631156206131,
+          0.016887230798602104,
+          -0.963650643825531,
+          11.792070388793945
+        ],
+        [
+          -0.061680395156145096,
+          -0.9974979162216187,
+          -0.034546636044979095,
+          -10.793924331665039
+        ],
+        [
+          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": "1731323449_283082962",
+      "mask_path": "../../mask/hdr_left_01869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01870.png",
+      "transform_matrix": [
+        [
+          -0.9630056619644165,
+          0.059158481657505035,
+          -0.26290765404701233,
+          -15.951090812683105
+        ],
+        [
+          0.26396411657333374,
+          0.010675007477402687,
+          -0.9644734859466553,
+          11.791897773742676
+        ],
+        [
+          -0.054250240325927734,
+          -0.9981915354728699,
+          -0.025895802304148674,
+          -10.801124572753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1870,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_383082389",
+      "mask_path": "../../mask/hdr_left_01870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01871.png",
+      "transform_matrix": [
+        [
+          -0.9618794322013855,
+          0.05502879619598389,
+          -0.2678799629211426,
+          -16.02330780029297
+        ],
+        [
+          0.2688579559326172,
+          0.011075305752456188,
+          -0.9631161689758301,
+          11.795832633972168
+        ],
+        [
+          -0.05003226548433304,
+          -0.9984233379364014,
+          -0.025448031723499298,
+          -10.798574447631836
+        ],
+        [
+          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": "1731323449_483083248",
+      "mask_path": "../../mask/hdr_left_01871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01872.png",
+      "transform_matrix": [
+        [
+          -0.9594057202339172,
+          0.05174294486641884,
+          -0.2772422432899475,
+          -16.089515686035156
+        ],
+        [
+          0.27824917435646057,
+          0.013248332776129246,
+          -0.9604175686836243,
+          11.799196243286133
+        ],
+        [
+          -0.04602183401584625,
+          -0.998572587966919,
+          -0.027107954025268555,
+          -10.788555145263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1872,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_583082199",
+      "mask_path": "../../mask/hdr_left_01872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01873.png",
+      "transform_matrix": [
+        [
+          -0.9554898142814636,
+          0.043278325349092484,
+          -0.2918321192264557,
+          -16.149555206298828
+        ],
+        [
+          0.29251769185066223,
+          0.010317408479750156,
+          -0.956204354763031,
+          11.805183410644531
+        ],
+        [
+          -0.0383719727396965,
+          -0.9990098476409912,
+          -0.0225178524851799,
+          -10.789295196533203
+        ],
+        [
+          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": "1731323449_683083772",
+      "mask_path": "../../mask/hdr_left_01873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01874.png",
+      "transform_matrix": [
+        [
+          -0.9503867626190186,
+          0.03687744587659836,
+          -0.30887705087661743,
+          -16.22310447692871
+        ],
+        [
+          0.3095442056655884,
+          0.013867725618183613,
+          -0.950783908367157,
+          11.812080383300781
+        ],
+        [
+          -0.030779054388403893,
+          -0.9992236495018005,
+          -0.024594899266958237,
+          -10.787579536437988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1874,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_783082485",
+      "mask_path": "../../mask/hdr_left_01874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01875.png",
+      "transform_matrix": [
+        [
+          -0.9469942450523376,
+          0.03395143896341324,
+          -0.3194515109062195,
+          -16.304235458374023
+        ],
+        [
+          0.3202532231807709,
+          0.021474694833159447,
+          -0.9470884799957275,
+          11.822982788085938
+        ],
+        [
+          -0.025294892489910126,
+          -0.9991927742958069,
+          -0.031209466978907585,
+          -10.791925430297852
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1875,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_883083105",
+      "mask_path": "../../mask/hdr_left_01875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01877.png",
+      "transform_matrix": [
+        [
+          -0.9420990347862244,
+          0.024956991896033287,
+          -0.33440467715263367,
+          -16.40836524963379
+        ],
+        [
+          0.335029274225235,
+          0.027499787509441376,
+          -0.9418063759803772,
+          11.8250732421875
+        ],
+        [
+          -0.014308592304587364,
+          -0.9993102550506592,
+          -0.03426884114742279,
+          -10.797608375549316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1877,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_83081722",
+      "mask_path": "../../mask/hdr_left_01877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01878.png",
+      "transform_matrix": [
+        [
+          -0.9378005266189575,
+          0.02949431911110878,
+          -0.3459194302558899,
+          -16.477455139160156
+        ],
+        [
+          0.3466167449951172,
+          0.023083310574293137,
+          -0.9377227425575256,
+          11.825798988342285
+        ],
+        [
+          -0.01967252604663372,
+          -0.9992983937263489,
+          -0.0318707674741745,
+          -10.800674438476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1878,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_183081388",
+      "mask_path": "../../mask/hdr_left_01878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01879.png",
+      "transform_matrix": [
+        [
+          -0.9318837523460388,
+          0.03210596367716789,
+          -0.36133328080177307,
+          -16.538284301757812
+        ],
+        [
+          0.3620906472206116,
+          0.021983947604894638,
+          -0.931883692741394,
+          11.838486671447754
+        ],
+        [
+          -0.02197548747062683,
+          -0.9992427229881287,
+          -0.032111749053001404,
+          -10.792764663696289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1879,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_283082008",
+      "mask_path": "../../mask/hdr_left_01879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01880.png",
+      "transform_matrix": [
+        [
+          -0.926313579082489,
+          0.030160831287503242,
+          -0.37554410099983215,
+          -16.588972091674805
+        ],
+        [
+          0.3763279616832733,
+          0.026722583919763565,
+          -0.92610102891922,
+          11.85006332397461
+        ],
+        [
+          -0.017896467819809914,
+          -0.9991878271102905,
+          -0.03610385209321976,
+          -10.78699779510498
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1880,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_383083105",
+      "mask_path": "../../mask/hdr_left_01880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01881.png",
+      "transform_matrix": [
+        [
+          -0.9216550588607788,
+          0.02752891555428505,
+          -0.38703250885009766,
+          -16.63709259033203
+        ],
+        [
+          0.38771557807922363,
+          0.026471193879842758,
+          -0.9213988780975342,
+          11.858336448669434
+        ],
+        [
+          -0.01511989813297987,
+          -0.999270498752594,
+          -0.035070694983005524,
+          -10.789496421813965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1881,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_483082771",
+      "mask_path": "../../mask/hdr_left_01881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01882.png",
+      "transform_matrix": [
+        [
+          -0.9184364676475525,
+          0.019799336791038513,
+          -0.3950725793838501,
+          -16.721391677856445
+        ],
+        [
+          0.3954817056655884,
+          0.02505340985953808,
+          -0.9181321859359741,
+          11.877813339233398
+        ],
+        [
+          -0.008280489593744278,
+          -0.9994901418685913,
+          -0.03084023855626583,
+          -10.794650077819824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1882,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_583081483",
+      "mask_path": "../../mask/hdr_left_01882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01883.png",
+      "transform_matrix": [
+        [
+          -0.9177029728889465,
+          0.014958854764699936,
+          -0.39698526263237,
+          -16.800790786743164
+        ],
+        [
+          0.39725735783576965,
+          0.027585629373788834,
+          -0.9172925353050232,
+          11.886809349060059
+        ],
+        [
+          -0.0027705577667802572,
+          -0.9995075464248657,
+          -0.03125792741775513,
+          -10.788317680358887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1883,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_683084011",
+      "mask_path": "../../mask/hdr_left_01883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01884.png",
+      "transform_matrix": [
+        [
+          -0.9188377857208252,
+          0.015942877158522606,
+          -0.39431312680244446,
+          -16.858694076538086
+        ],
+        [
+          0.3946075141429901,
+          0.025265047326683998,
+          -0.9185023903846741,
+          11.891929626464844
+        ],
+        [
+          -0.004681229591369629,
+          -0.9995536804199219,
+          -0.029505662620067596,
+          -10.786785125732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1884,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_783082008",
+      "mask_path": "../../mask/hdr_left_01884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01885.png",
+      "transform_matrix": [
+        [
+          -0.9194215536117554,
+          0.01629328727722168,
+          -0.3929356336593628,
+          -16.924335479736328
+        ],
+        [
+          0.3931986689567566,
+          0.018621569499373436,
+          -0.9192649722099304,
+          11.903437614440918
+        ],
+        [
+          -0.007660767529159784,
+          -0.9996938705444336,
+          -0.023527568206191063,
+          -10.796119689941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1885,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_883082866",
+      "mask_path": "../../mask/hdr_left_01885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01886.png",
+      "transform_matrix": [
+        [
+          -0.9167884588241577,
+          0.02177196554839611,
+          -0.39877933263778687,
+          -16.992671966552734
+        ],
+        [
+          0.39900821447372437,
+          0.007252945564687252,
+          -0.9169186949729919,
+          11.906832695007324
+        ],
+        [
+          -0.017070794478058815,
+          -0.9997367262840271,
+          -0.01533660851418972,
+          -10.782428741455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1886,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_983083009",
+      "mask_path": "../../mask/hdr_left_01886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01888.png",
+      "transform_matrix": [
+        [
+          -0.8987061977386475,
+          0.025307636708021164,
+          -0.43782031536102295,
+          -17.059734344482422
+        ],
+        [
+          0.4377262592315674,
+          -0.009438294917345047,
+          -0.8990586996078491,
+          11.93935775756836
+        ],
+        [
+          -0.02688532881438732,
+          -0.9996352195739746,
+          -0.0025955589953809977,
+          -10.78219223022461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1888,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_183082103",
+      "mask_path": "../../mask/hdr_left_01888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01889.png",
+      "transform_matrix": [
+        [
+          -0.8827004432678223,
+          0.03198974207043648,
+          -0.46884599328041077,
+          -17.104589462280273
+        ],
+        [
+          0.4688188135623932,
+          -0.008809005841612816,
+          -0.88325035572052,
+          11.958118438720703
+        ],
+        [
+          -0.03238501772284508,
+          -0.9994493722915649,
+          -0.007221678737550974,
+          -10.790850639343262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1889,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_283082485",
+      "mask_path": "../../mask/hdr_left_01889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01890.png",
+      "transform_matrix": [
+        [
+          -0.8678560256958008,
+          0.05097629874944687,
+          -0.49419349431991577,
+          -17.161029815673828
+        ],
+        [
+          0.4948965013027191,
+          0.0013557523488998413,
+          -0.8689507842063904,
+          11.97898006439209
+        ],
+        [
+          -0.04362589120864868,
+          -0.9986989498138428,
+          -0.026404593139886856,
+          -10.800860404968262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1890,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_383081912",
+      "mask_path": "../../mask/hdr_left_01890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01891.png",
+      "transform_matrix": [
+        [
+          -0.8540782928466797,
+          0.06523087620735168,
+          -0.5160378813743591,
+          -17.198719024658203
+        ],
+        [
+          0.5176745653152466,
+          0.010033052414655685,
+          -0.8555188179016113,
+          12.016423225402832
+        ],
+        [
+          -0.05062879994511604,
+          -0.9978198409080505,
+          -0.04233736917376518,
+          -10.83144760131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1891,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_483081340",
+      "mask_path": "../../mask/hdr_left_01891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01893.png",
+      "transform_matrix": [
+        [
+          -0.8254280686378479,
+          0.08365777879953384,
+          -0.5582740902900696,
+          -17.237733840942383
+        ],
+        [
+          0.5616739988327026,
+          0.02275095507502556,
+          -0.827045738697052,
+          12.086282730102539
+        ],
+        [
+          -0.056487537920475006,
+          -0.9962348341941833,
+          -0.06576767563819885,
+          -10.87324047088623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1893,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_683082103",
+      "mask_path": "../../mask/hdr_left_01893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01895.png",
+      "transform_matrix": [
+        [
+          -0.79253089427948,
+          0.10921904444694519,
+          -0.5999715924263,
+          -17.28612518310547
+        ],
+        [
+          0.6029232144355774,
+          -0.007336858659982681,
+          -0.7977653741836548,
+          12.112221717834473
+        ],
+        [
+          -0.09153307974338531,
+          -0.9939906597137451,
+          -0.060036007314920425,
+          -10.864631652832031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1895,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_883081674",
+      "mask_path": "../../mask/hdr_left_01895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01896.png",
+      "transform_matrix": [
+        [
+          -0.7816352248191833,
+          0.11359702050685883,
+          -0.6133042573928833,
+          -17.325578689575195
+        ],
+        [
+          0.6154573559761047,
+          -0.019203074276447296,
+          -0.7879361510276794,
+          12.1460599899292
+        ],
+        [
+          -0.10128451883792877,
+          -0.993341326713562,
+          -0.05490431934595108,
+          -10.88399887084961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1896,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_983082294",
+      "mask_path": "../../mask/hdr_left_01896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01897.png",
+      "transform_matrix": [
+        [
+          -0.7745535969734192,
+          0.11616145819425583,
+          -0.6217500567436218,
+          -17.36552619934082
+        ],
+        [
+          0.6232414245605469,
+          -0.02748366817831993,
+          -0.781546413898468,
+          12.180718421936035
+        ],
+        [
+          -0.10787353664636612,
+          -0.9928500652313232,
+          -0.05110906437039375,
+          -10.901005744934082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1897,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_83082199",
+      "mask_path": "../../mask/hdr_left_01897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01898.png",
+      "transform_matrix": [
+        [
+          -0.7707880139350891,
+          0.12201663851737976,
+          -0.6252980828285217,
+          -17.410614013671875
+        ],
+        [
+          0.626819372177124,
+          -0.03029733896255493,
+          -0.7785753607749939,
+          12.197638511657715
+        ],
+        [
+          -0.11394401639699936,
+          -0.9920656085014343,
+          -0.05312955379486084,
+          -10.889911651611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1898,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_183081388",
+      "mask_path": "../../mask/hdr_left_01898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01900.png",
+      "transform_matrix": [
+        [
+          -0.7706549167633057,
+          0.12685483694076538,
+          -0.6244987845420837,
+          -17.494630813598633
+        ],
+        [
+          0.6254806518554688,
+          -0.03691769763827324,
+          -0.7793657183647156,
+          12.227142333984375
+        ],
+        [
+          -0.1219213530421257,
+          -0.9912340641021729,
+          -0.05089443176984787,
+          -10.912341117858887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1900,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_383081197",
+      "mask_path": "../../mask/hdr_left_01900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01901.png",
+      "transform_matrix": [
+        [
+          -0.7705956101417542,
+          0.1274210661649704,
+          -0.6244568228721619,
+          -17.54429054260254
+        ],
+        [
+          0.6245883703231812,
+          -0.04391319304704666,
+          -0.7797185182571411,
+          12.24686336517334
+        ],
+        [
+          -0.12677443027496338,
+          -0.9908761978149414,
+          -0.04574640095233917,
+          -10.923330307006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1901,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_483080863",
+      "mask_path": "../../mask/hdr_left_01901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01902.png",
+      "transform_matrix": [
+        [
+          -0.765760064125061,
+          0.14175868034362793,
+          -0.6273085474967957,
+          -17.593107223510742
+        ],
+        [
+          0.6252906322479248,
+          -0.06401153653860092,
+          -0.777762234210968,
+          12.272029876708984
+        ],
+        [
+          -0.1504095196723938,
+          -0.9878295063972473,
+          -0.039622899144887924,
+          -10.94145393371582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1902,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_583081245",
+      "mask_path": "../../mask/hdr_left_01902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01903.png",
+      "transform_matrix": [
+        [
+          -0.7566009163856506,
+          0.16291265189647675,
+          -0.6332570314407349,
+          -17.634197235107422
+        ],
+        [
+          0.6281837821006775,
+          -0.08771409094333649,
+          -0.7731049656867981,
+          12.302730560302734
+        ],
+        [
+          -0.18149414658546448,
+          -0.9827338457107544,
+          -0.035974517464637756,
+          -10.976414680480957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1903,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_683081388",
+      "mask_path": "../../mask/hdr_left_01903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01904.png",
+      "transform_matrix": [
+        [
+          -0.7482552528381348,
+          0.17229561507701874,
+          -0.6406466960906982,
+          -17.67145347595215
+        ],
+        [
+          0.6325780749320984,
+          -0.1056794747710228,
+          -0.7672527432441711,
+          12.330605506896973
+        ],
+        [
+          -0.19989749789237976,
+          -0.9793601036071777,
+          -0.029915209859609604,
+          -11.014266014099121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1904,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_783080101",
+      "mask_path": "../../mask/hdr_left_01904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01905.png",
+      "transform_matrix": [
+        [
+          -0.7426847815513611,
+          0.1756013184785843,
+          -0.6462069749832153,
+          -17.723011016845703
+        ],
+        [
+          0.6359467506408691,
+          -0.11729612201452255,
+          -0.7627668976783752,
+          12.339730262756348
+        ],
+        [
+          -0.20974044501781464,
+          -0.9774486422538757,
+          -0.0245590228587389,
+          -11.029444694519043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1905,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_883081197",
+      "mask_path": "../../mask/hdr_left_01905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01906.png",
+      "transform_matrix": [
+        [
+          -0.7360488772392273,
+          0.2192036509513855,
+          -0.6404544711112976,
+          -17.785131454467773
+        ],
+        [
+          0.6305108666419983,
+          -0.12230949848890305,
+          -0.7664830684661865,
+          12.341073989868164
+        ],
+        [
+          -0.24634955823421478,
+          -0.9679826498031616,
+          -0.04818452522158623,
+          -11.0513334274292
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1906,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_983081102",
+      "mask_path": "../../mask/hdr_left_01906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01908.png",
+      "transform_matrix": [
+        [
+          -0.7340511083602905,
+          0.2597804665565491,
+          -0.6274416446685791,
+          -17.832366943359375
+        ],
+        [
+          0.6160694360733032,
+          -0.13397164642810822,
+          -0.7762152552604675,
+          12.352665901184082
+        ],
+        [
+          -0.28570494055747986,
+          -0.956329345703125,
+          -0.06170078366994858,
+          -11.109540939331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1908,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_183077573",
+      "mask_path": "../../mask/hdr_left_01908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01909.png",
+      "transform_matrix": [
+        [
+          -0.7367064356803894,
+          0.2400771826505661,
+          -0.6321601271629333,
+          -17.892576217651367
+        ],
+        [
+          0.6173733472824097,
+          -0.1426139920949936,
+          -0.7736351490020752,
+          12.359647750854492
+        ],
+        [
+          -0.27588701248168945,
+          -0.960220992565155,
+          -0.0431525893509388,
+          -11.113570213317871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1909,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_283080577",
+      "mask_path": "../../mask/hdr_left_01909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01910.png",
+      "transform_matrix": [
+        [
+          -0.7296261787414551,
+          0.23411323130130768,
+          -0.6425235867500305,
+          -17.949718475341797
+        ],
+        [
+          0.6258196830749512,
+          -0.15017054975032806,
+          -0.7653747797012329,
+          12.368183135986328
+        ],
+        [
+          -0.2756724953651428,
+          -0.9605414867401123,
+          -0.03694428130984306,
+          -11.116472244262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1910,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_383080959",
+      "mask_path": "../../mask/hdr_left_01910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01912.png",
+      "transform_matrix": [
+        [
+          -0.6940193176269531,
+          0.2291615903377533,
+          -0.682511568069458,
+          -18.019245147705078
+        ],
+        [
+          0.6651656031608582,
+          -0.15864549577236176,
+          -0.7296481728553772,
+          12.413566589355469
+        ],
+        [
+          -0.27548468112945557,
+          -0.9603731632232666,
+          -0.04232736676931381,
+          -11.153076171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1912,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_583081007",
+      "mask_path": "../../mask/hdr_left_01912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01913.png",
+      "transform_matrix": [
+        [
+          -0.6649176478385925,
+          0.23247218132019043,
+          -0.7098177671432495,
+          -18.075624465942383
+        ],
+        [
+          0.6949233412742615,
+          -0.15582065284252167,
+          -0.701998233795166,
+          12.446695327758789
+        ],
+        [
+          -0.2737993001937866,
+          -0.9600399732589722,
+          -0.05794243887066841,
+          -11.1737699508667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1913,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_683081388",
+      "mask_path": "../../mask/hdr_left_01913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01917.png",
+      "transform_matrix": [
+        [
+          -0.5204952955245972,
+          0.22037257254123688,
+          -0.8249366879463196,
+          -18.19312858581543
+        ],
+        [
+          0.8116085529327393,
+          -0.17247578501701355,
+          -0.5581609606742859,
+          12.524253845214844
+        ],
+        [
+          -0.2652849555015564,
+          -0.9600459337234497,
+          -0.08908341825008392,
+          -11.199816703796387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1917,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_83081007",
+      "mask_path": "../../mask/hdr_left_01917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01918.png",
+      "transform_matrix": [
+        [
+          -0.4609551429748535,
+          0.20198623836040497,
+          -0.8641306161880493,
+          -18.232017517089844
+        ],
+        [
+          0.8314856290817261,
+          -0.2419441193342209,
+          -0.5000946521759033,
+          12.507997512817383
+        ],
+        [
+          -0.3100835382938385,
+          -0.9490334987640381,
+          -0.056423261761665344,
+          -11.217415809631348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1918,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_183080911",
+      "mask_path": "../../mask/hdr_left_01918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01920.png",
+      "transform_matrix": [
+        [
+          -0.3646783232688904,
+          0.1905294507741928,
+          -0.9114319682121277,
+          -18.261104583740234
+        ],
+        [
+          0.8688129782676697,
+          -0.2824572026729584,
+          -0.40667176246643066,
+          12.534070014953613
+        ],
+        [
+          -0.3349234461784363,
+          -0.9401683211326599,
+          -0.06252844631671906,
+          -11.271125793457031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1920,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_383080482",
+      "mask_path": "../../mask/hdr_left_01920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01921.png",
+      "transform_matrix": [
+        [
+          -0.33695530891418457,
+          0.18386119604110718,
+          -0.9233938455581665,
+          -18.31184196472168
+        ],
+        [
+          0.8871090412139893,
+          -0.26657775044441223,
+          -0.37679412961006165,
+          12.575754165649414
+        ],
+        [
+          -0.3154340088367462,
+          -0.9461138844490051,
+          -0.07328012585639954,
+          -11.285869598388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1921,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_483082056",
+      "mask_path": "../../mask/hdr_left_01921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01923.png",
+      "transform_matrix": [
+        [
+          -0.2839014232158661,
+          0.1560785472393036,
+          -0.9460651874542236,
+          -18.348941802978516
+        ],
+        [
+          0.9090728163719177,
+          -0.269967645406723,
+          -0.3173389136791229,
+          12.627324104309082
+        ],
+        [
+          -0.3049367666244507,
+          -0.9501352310180664,
+          -0.06524255126714706,
+          -11.31377124786377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1923,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_683078765",
+      "mask_path": "../../mask/hdr_left_01923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01925.png",
+      "transform_matrix": [
+        [
+          -0.19818907976150513,
+          0.13320083916187286,
+          -0.9710708856582642,
+          -18.342500686645508
+        ],
+        [
+          0.9353591799736023,
+          -0.27041175961494446,
+          -0.2279926985502243,
+          12.730817794799805
+        ],
+        [
+          -0.29295775294303894,
+          -0.9534858465194702,
+          -0.07099796831607819,
+          -11.362333297729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1925,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_883080720",
+      "mask_path": "../../mask/hdr_left_01925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01927.png",
+      "transform_matrix": [
+        [
+          -0.06773802638053894,
+          0.07095658034086227,
+          -0.9951766729354858,
+          -18.336252212524414
+        ],
+        [
+          0.9304335713386536,
+          -0.3555682599544525,
+          -0.0886833667755127,
+          12.771946907043457
+        ],
+        [
+          -0.3601458966732025,
+          -0.9319530129432678,
+          -0.04193488880991936,
+          -11.386330604553223
+        ],
+        [
+          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": "1731323455_83080291",
+      "mask_path": "../../mask/hdr_left_01927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01929.png",
+      "transform_matrix": [
+        [
+          0.04034643992781639,
+          0.06385961920022964,
+          -0.9971429705619812,
+          -18.3671817779541
+        ],
+        [
+          0.9434658885002136,
+          -0.3310345411300659,
+          0.016974231228232384,
+          12.868144989013672
+        ],
+        [
+          -0.32900479435920715,
+          -0.9414553046226501,
+          -0.07360544055700302,
+          -11.416776657104492
+        ],
+        [
+          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": "1731323455_283080101",
+      "mask_path": "../../mask/hdr_left_01929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01931.png",
+      "transform_matrix": [
+        [
+          0.12290505319833755,
+          0.054049424827098846,
+          -0.99094557762146,
+          -18.366485595703125
+        ],
+        [
+          0.9429400563240051,
+          -0.31770971417427063,
+          0.09962208569049835,
+          12.916630744934082
+        ],
+        [
+          -0.3094484806060791,
+          -0.9466463327407837,
+          -0.09001348167657852,
+          -11.464115142822266
+        ],
+        [
+          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": "1731323455_483081102",
+      "mask_path": "../../mask/hdr_left_01931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01933.png",
+      "transform_matrix": [
+        [
+          0.18388839066028595,
+          0.01928599737584591,
+          -0.9827578663825989,
+          -18.361270904541016
+        ],
+        [
+          0.9339969754219055,
+          -0.3150073289871216,
+          0.16858269274234772,
+          12.991150856018066
+        ],
+        [
+          -0.3063246011734009,
+          -0.9488933682441711,
+          -0.07593924552202225,
+          -11.511473655700684
+        ],
+        [
+          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": "1731323455_683079719",
+      "mask_path": "../../mask/hdr_left_01933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01934.png",
+      "transform_matrix": [
+        [
+          0.21676096320152283,
+          -0.04264053329825401,
+          -0.9752930402755737,
+          -18.38113021850586
+        ],
+        [
+          0.911084771156311,
+          -0.3499871492385864,
+          0.21779225766658783,
+          13.025015830993652
+        ],
+        [
+          -0.3506268262863159,
+          -0.9357835054397583,
+          -0.03701441362500191,
+          -11.530587196350098
+        ],
+        [
+          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": "1731323455_783081054",
+      "mask_path": "../../mask/hdr_left_01934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01936.png",
+      "transform_matrix": [
+        [
+          0.27994033694267273,
+          -0.062194932252168655,
+          -0.9580006003379822,
+          -18.389938354492188
+        ],
+        [
+          0.8860365748405457,
+          -0.3674011528491974,
+          0.2827637791633606,
+          13.082280158996582
+        ],
+        [
+          -0.3695569336414337,
+          -0.9279807806015015,
+          -0.04774339124560356,
+          -11.55361270904541
+        ],
+        [
+          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": "1731323455_983078718",
+      "mask_path": "../../mask/hdr_left_01936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01937.png",
+      "transform_matrix": [
+        [
+          0.3065049648284912,
+          -0.054333604872226715,
+          -0.9503170847892761,
+          -18.395172119140625
+        ],
+        [
+          0.8824767470359802,
+          -0.35798561573028564,
+          0.3050920069217682,
+          13.13312816619873
+        ],
+        [
+          -0.35677653551101685,
+          -0.9321449995040894,
+          -0.06177622079849243,
+          -11.559370040893555
+        ],
+        [
+          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": "1731323456_83079814",
+      "mask_path": "../../mask/hdr_left_01937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01939.png",
+      "transform_matrix": [
+        [
+          0.37986263632774353,
+          -0.07435211539268494,
+          -0.9220499396324158,
+          -18.3644962310791
+        ],
+        [
+          0.8593426942825317,
+          -0.34057846665382385,
+          0.3814922869205475,
+          13.186812400817871
+        ],
+        [
+          -0.3423950970172882,
+          -0.9372716546058655,
+          -0.0654790997505188,
+          -11.608646392822266
+        ],
+        [
+          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": "1731323456_283080577",
+      "mask_path": "../../mask/hdr_left_01939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01940.png",
+      "transform_matrix": [
+        [
+          0.42485466599464417,
+          -0.08863037824630737,
+          -0.9009124040603638,
+          -18.33138656616211
+        ],
+        [
+          0.840323269367218,
+          -0.33151882886886597,
+          0.4288961887359619,
+          13.222760200500488
+        ],
+        [
+          -0.33668264746665955,
+          -0.9392763376235962,
+          -0.06636914610862732,
+          -11.639677047729492
+        ],
+        [
+          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": "1731323456_383080720",
+      "mask_path": "../../mask/hdr_left_01940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01941.png",
+      "transform_matrix": [
+        [
+          0.4745520055294037,
+          -0.119819775223732,
+          -0.8720340728759766,
+          -18.28654670715332
+        ],
+        [
+          0.8090593814849854,
+          -0.3308703601360321,
+          0.48574432730674744,
+          13.25636100769043
+        ],
+        [
+          -0.3467320203781128,
+          -0.9360385537147522,
+          -0.06007387489080429,
+          -11.661162376403809
+        ],
+        [
+          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": "1731323456_483080148",
+      "mask_path": "../../mask/hdr_left_01941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01943.png",
+      "transform_matrix": [
+        [
+          0.576725423336029,
+          -0.14314284920692444,
+          -0.8042997121810913,
+          -18.22219467163086
+        ],
+        [
+          0.739373505115509,
+          -0.3272571563720703,
+          0.5884127020835876,
+          13.26370620727539
+        ],
+        [
+          -0.34743988513946533,
+          -0.9340305328369141,
+          -0.0829014703631401,
+          -11.658327102661133
+        ],
+        [
+          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": "1731323456_683080911",
+      "mask_path": "../../mask/hdr_left_01943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01945.png",
+      "transform_matrix": [
+        [
+          0.6596579551696777,
+          -0.122655488550663,
+          -0.741489827632904,
+          -18.17606544494629
+        ],
+        [
+          0.6703293919563293,
+          -0.35013002157211304,
+          0.6542686223983765,
+          13.296151161193848
+        ],
+        [
+          -0.33986741304397583,
+          -0.9286359548568726,
+          -0.14874643087387085,
+          -11.670674324035645
+        ],
+        [
+          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": "1731323456_883081674",
+      "mask_path": "../../mask/hdr_left_01945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01947.png",
+      "transform_matrix": [
+        [
+          0.7026066184043884,
+          -0.12253352999687195,
+          -0.70094895362854,
+          -18.150529861450195
+        ],
+        [
+          0.6335187554359436,
+          -0.3408547639846802,
+          0.6946020722389221,
+          13.334576606750488
+        ],
+        [
+          -0.32403379678726196,
+          -0.9320963621139526,
+          -0.16185954213142395,
+          -11.69351577758789
+        ],
+        [
+          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": "1731323457_83080768",
+      "mask_path": "../../mask/hdr_left_01947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01951.png",
+      "transform_matrix": [
+        [
+          0.7346933484077454,
+          -0.11308295279741287,
+          -0.668907880783081,
+          -18.06279182434082
+        ],
+        [
+          0.615475594997406,
+          -0.30360648036003113,
+          0.7273326516151428,
+          13.474039077758789
+        ],
+        [
+          -0.28533369302749634,
+          -0.9460631608963013,
+          -0.1534578502178192,
+          -11.759605407714844
+        ],
+        [
+          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": "1731323457_483081102",
+      "mask_path": "../../mask/hdr_left_01951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01953.png",
+      "transform_matrix": [
+        [
+          0.7365899682044983,
+          -0.10807228833436966,
+          -0.6676493287086487,
+          -17.999826431274414
+        ],
+        [
+          0.6143219470977783,
+          -0.30602872371673584,
+          0.7272928357124329,
+          13.55175495147705
+        ],
+        [
+          -0.28292006254196167,
+          -0.9458683133125305,
+          -0.15902648866176605,
+          -11.798237800598145
+        ],
+        [
+          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": "1731323457_683080911",
+      "mask_path": "../../mask/hdr_left_01953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01954.png",
+      "transform_matrix": [
+        [
+          0.7394621968269348,
+          -0.11150085180997849,
+          -0.6639000177383423,
+          -17.96099853515625
+        ],
+        [
+          0.6106436252593994,
+          -0.3040516972541809,
+          0.7312092781066895,
+          13.600404739379883
+        ],
+        [
+          -0.2833903729915619,
+          -0.9461079239845276,
+          -0.15674743056297302,
+          -11.794414520263672
+        ],
+        [
+          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": "1731323457_783082008",
+      "mask_path": "../../mask/hdr_left_01954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01956.png",
+      "transform_matrix": [
+        [
+          0.7846627235412598,
+          -0.10340429842472076,
+          -0.6112380623817444,
+          -17.904760360717773
+        ],
+        [
+          0.5682780146598816,
+          -0.27401790022850037,
+          0.7758700251579285,
+          13.645559310913086
+        ],
+        [
+          -0.24771840870380402,
+          -0.9561494588851929,
+          -0.15624922513961792,
+          -11.812911987304688
+        ],
+        [
+          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": "1731323457_983080625",
+      "mask_path": "../../mask/hdr_left_01956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01957.png",
+      "transform_matrix": [
+        [
+          0.8194808959960938,
+          -0.10630036145448685,
+          -0.5631619095802307,
+          -17.851463317871094
+        ],
+        [
+          0.5235324501991272,
+          -0.2609300911426544,
+          0.8110666871070862,
+          13.664247512817383
+        ],
+        [
+          -0.23316256701946259,
+          -0.95948725938797,
+          -0.1581755429506302,
+          -11.825520515441895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1957,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323458_83079338",
+      "mask_path": "../../mask/hdr_left_01957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01959.png",
+      "transform_matrix": [
+        [
+          0.8795889616012573,
+          -0.12312707304954529,
+          -0.45952457189559937,
+          -17.805036544799805
+        ],
+        [
+          0.42348405718803406,
+          -0.23745770752429962,
+          0.874228298664093,
+          13.679539680480957
+        ],
+        [
+          -0.2167588174343109,
+          -0.9635630249977112,
+          -0.15672282874584198,
+          -11.824161529541016
+        ],
+        [
+          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": "1731323458_283081531",
+      "mask_path": "../../mask/hdr_left_01959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01961.png",
+      "transform_matrix": [
+        [
+          0.9090943336486816,
+          -0.11053729057312012,
+          -0.4016576111316681,
+          -17.729156494140625
+        ],
+        [
+          0.37381619215011597,
+          -0.2091025561094284,
+          0.9036246538162231,
+          13.72531795501709
+        ],
+        [
+          -0.18387185037136078,
+          -0.9716262817382812,
+          -0.14877331256866455,
+          -11.848291397094727
+        ],
+        [
+          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": "1731323458_483081817",
+      "mask_path": "../../mask/hdr_left_01961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01962.png",
+      "transform_matrix": [
+        [
+          0.9133647680282593,
+          -0.10095193237066269,
+          -0.3944280743598938,
+          -17.694129943847656
+        ],
+        [
+          0.3710957169532776,
+          -0.1921122968196869,
+          0.9085047245025635,
+          13.765469551086426
+        ],
+        [
+          -0.16748978197574615,
+          -0.9761667847633362,
+          -0.13800574839115143,
+          -11.84328556060791
+        ],
+        [
+          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": "1731323458_583082199",
+      "mask_path": "../../mask/hdr_left_01962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01964.png",
+      "transform_matrix": [
+        [
+          0.9102486371994019,
+          -0.08968603610992432,
+          -0.4042324423789978,
+          -17.63580322265625
+        ],
+        [
+          0.3870423436164856,
+          -0.16259026527404785,
+          0.9076136946678162,
+          13.827152252197266
+        ],
+        [
+          -0.1471244990825653,
+          -0.982609212398529,
+          -0.11328526586294174,
+          -11.847695350646973
+        ],
+        [
+          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": "1731323458_783082485",
+      "mask_path": "../../mask/hdr_left_01964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01966.png",
+      "transform_matrix": [
+        [
+          0.9088948965072632,
+          -0.08491883426904678,
+          -0.40828779339790344,
+          -17.53412628173828
+        ],
+        [
+          0.39588961005210876,
+          -0.13203319907188416,
+          0.9087566137313843,
+          13.891833305358887
+        ],
+        [
+          -0.1310780793428421,
+          -0.9876011610031128,
+          -0.08638579398393631,
+          -11.862289428710938
+        ],
+        [
+          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": "1731323458_983080863",
+      "mask_path": "../../mask/hdr_left_01966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01967.png",
+      "transform_matrix": [
+        [
+          0.9117318391799927,
+          -0.07782676070928574,
+          -0.4033460319042206,
+          -17.467636108398438
+        ],
+        [
+          0.3929152488708496,
+          -0.12123914062976837,
+          0.9115473628044128,
+          13.93459415435791
+        ],
+        [
+          -0.11984408646821976,
+          -0.9895676374435425,
+          -0.07995825260877609,
+          -11.871925354003906
+        ],
+        [
+          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": "1731323459_83080530",
+      "mask_path": "../../mask/hdr_left_01967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01969.png",
+      "transform_matrix": [
+        [
+          0.9193292260169983,
+          -0.07013364881277084,
+          -0.38718870282173157,
+          -17.391942977905273
+        ],
+        [
+          0.37935999035835266,
+          -0.10334209352731705,
+          0.919459879398346,
+          13.994064331054688
+        ],
+        [
+          -0.10449794679880142,
+          -0.9921702146530151,
+          -0.06839948892593384,
+          -11.895151138305664
+        ],
+        [
+          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": "1731323459_283081054",
+      "mask_path": "../../mask/hdr_left_01969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01970.png",
+      "transform_matrix": [
+        [
+          0.9210567474365234,
+          -0.0652979165315628,
+          -0.38391485810279846,
+          -17.328475952148438
+        ],
+        [
+          0.3772508502006531,
+          -0.0949946939945221,
+          0.9212262034416199,
+          14.039817810058594
+        ],
+        [
+          -0.09662401676177979,
+          -0.9933339953422546,
+          -0.06286180019378662,
+          -11.897032737731934
+        ],
+        [
+          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": "1731323459_383080720",
+      "mask_path": "../../mask/hdr_left_01970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01971.png",
+      "transform_matrix": [
+        [
+          0.9197369813919067,
+          -0.05997505038976669,
+          -0.387926310300827,
+          -17.27945327758789
+        ],
+        [
+          0.3824301064014435,
+          -0.08588443696498871,
+          0.9199842214584351,
+          14.081356048583984
+        ],
+        [
+          -0.08849292993545532,
+          -0.9944983720779419,
+          -0.05605483055114746,
+          -11.898127555847168
+        ],
+        [
+          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": "1731323459_483080387",
+      "mask_path": "../../mask/hdr_left_01971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01973.png",
+      "transform_matrix": [
+        [
+          0.916515052318573,
+          -0.061080705374479294,
+          -0.39530909061431885,
+          -17.208959579467773
+        ],
+        [
+          0.39184364676475525,
+          -0.06145904213190079,
+          0.9179767370223999,
+          14.136492729187012
+        ],
+        [
+          -0.08036597073078156,
+          -0.9962388873100281,
+          -0.032394036650657654,
+          -11.912323951721191
+        ],
+        [
+          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": "1731323459_683080911",
+      "mask_path": "../../mask/hdr_left_01973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01974.png",
+      "transform_matrix": [
+        [
+          0.9172322750091553,
+          -0.07205069065093994,
+          -0.3917827010154724,
+          -17.169689178466797
+        ],
+        [
+          0.38759058713912964,
+          -0.06564854085445404,
+          0.9194909930229187,
+          14.167540550231934
+        ],
+        [
+          -0.09196991473436356,
+          -0.995238184928894,
+          -0.03228877857327461,
+          -11.916845321655273
+        ],
+        [
+          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": "1731323459_783081054",
+      "mask_path": "../../mask/hdr_left_01974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01975.png",
+      "transform_matrix": [
+        [
+          0.919751763343811,
+          -0.08493229001760483,
+          -0.3832012414932251,
+          -17.12757682800293
+        ],
+        [
+          0.37714219093322754,
+          -0.07919909805059433,
+          0.9227628111839294,
+          14.213071823120117
+        ],
+        [
+          -0.1087215468287468,
+          -0.9932342767715454,
+          -0.040811944752931595,
+          -11.936656951904297
+        ],
+        [
+          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": "1731323459_883080005",
+      "mask_path": "../../mask/hdr_left_01975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01976.png",
+      "transform_matrix": [
+        [
+          0.9222389459609985,
+          -0.09607216715812683,
+          -0.37449315190315247,
+          -17.081098556518555
+        ],
+        [
+          0.367735892534256,
+          -0.08105158805847168,
+          0.9263913631439209,
+          14.248429298400879
+        ],
+        [
+          -0.11935369670391083,
+          -0.9920690059661865,
+          -0.0394197516143322,
+          -11.966963768005371
+        ],
+        [
+          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": "1731323459_983080863",
+      "mask_path": "../../mask/hdr_left_01976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01978.png",
+      "transform_matrix": [
+        [
+          0.9272471070289612,
+          -0.09443919360637665,
+          -0.36234524846076965,
+          -16.974102020263672
+        ],
+        [
+          0.3548949956893921,
+          -0.08697793632745743,
+          0.9308514595031738,
+          14.308014869689941
+        ],
+        [
+          -0.11942489445209503,
+          -0.9917238354682922,
+          -0.04713403061032295,
+          -11.975736618041992
+        ],
+        [
+          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": "1731323460_183081150",
+      "mask_path": "../../mask/hdr_left_01978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01981.png",
+      "transform_matrix": [
+        [
+          0.9235183596611023,
+          -0.09454632550477982,
+          -0.3717186450958252,
+          -16.85723304748535
+        ],
+        [
+          0.36150121688842773,
+          -0.10932374745607376,
+          0.9259401559829712,
+          14.410333633422852
+        ],
+        [
+          -0.12818190455436707,
+          -0.9894996285438538,
+          -0.06678386777639389,
+          -12.02230453491211
+        ],
+        [
+          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": "1731323460_483079671",
+      "mask_path": "../../mask/hdr_left_01981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01982.png",
+      "transform_matrix": [
+        [
+          0.9198551774024963,
+          -0.13061216473579407,
+          -0.3698742389678955,
+          -16.81622886657715
+        ],
+        [
+          0.3563600182533264,
+          -0.11581450700759888,
+          0.9271432161331177,
+          14.441594123840332
+        ],
+        [
+          -0.16393297910690308,
+          -0.9846458435058594,
+          -0.059987615793943405,
+          -12.0408935546875
+        ],
+        [
+          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": "1731323460_583080768",
+      "mask_path": "../../mask/hdr_left_01982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01984.png",
+      "transform_matrix": [
+        [
+          0.9175739288330078,
+          -0.18491318821907043,
+          -0.35194486379623413,
+          -16.771238327026367
+        ],
+        [
+          0.33095303177833557,
+          -0.13524755835533142,
+          0.933904767036438,
+          14.479454040527344
+        ],
+        [
+          -0.22029095888137817,
+          -0.9734039306640625,
+          -0.0629020556807518,
+          -12.08965015411377
+        ],
+        [
+          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": "1731323460_783082008",
+      "mask_path": "../../mask/hdr_left_01984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01985.png",
+      "transform_matrix": [
+        [
+          0.9198521971702576,
+          -0.1887800544500351,
+          -0.34385183453559875,
+          -16.745105743408203
+        ],
+        [
+          0.3224999010562897,
+          -0.13506276905536652,
+          0.9368841052055359,
+          14.512399673461914
+        ],
+        [
+          -0.22330661118030548,
+          -0.9726870656013489,
+          -0.06335621327161789,
+          -12.11591911315918
+        ],
+        [
+          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": "1731323460_883082151",
+      "mask_path": "../../mask/hdr_left_01985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01986.png",
+      "transform_matrix": [
+        [
+          0.9180828928947449,
+          -0.19808200001716614,
+          -0.3433472812175751,
+          -16.69988441467285
+        ],
+        [
+          0.31461918354034424,
+          -0.16275349259376526,
+          0.9351610541343689,
+          14.55614948272705
+        ],
+        [
+          -0.24111948907375336,
+          -0.966579020023346,
+          -0.08710077404975891,
+          -12.129532814025879
+        ],
+        [
+          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": "1731323460_983082056",
+      "mask_path": "../../mask/hdr_left_01986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01991.png",
+      "transform_matrix": [
+        [
+          0.9568392038345337,
+          -0.22036251425743103,
+          -0.18947027623653412,
+          -16.555347442626953
+        ],
+        [
+          0.14207874238491058,
+          -0.21403302252292633,
+          0.9664385318756104,
+          14.529829978942871
+        ],
+        [
+          -0.2535197138786316,
+          -0.951646089553833,
+          -0.1734863668680191,
+          -12.160344123840332
+        ],
+        [
+          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": "1731323461_483082056",
+      "mask_path": "../../mask/hdr_left_01991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01993.png",
+      "transform_matrix": [
+        [
+          0.9340963959693909,
+          -0.34190618991851807,
+          -0.10278168320655823,
+          -16.625837326049805
+        ],
+        [
+          0.06032948940992355,
+          -0.13258546590805054,
+          0.9893338680267334,
+          14.569867134094238
+        ],
+        [
+          -0.35188668966293335,
+          -0.9303339719772339,
+          -0.10322057455778122,
+          -12.188065528869629
+        ],
+        [
+          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": "1731323461_683082818",
+      "mask_path": "../../mask/hdr_left_01993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01995.png",
+      "transform_matrix": [
+        [
+          0.936640202999115,
+          -0.33734652400016785,
+          -0.09435243159532547,
+          -16.545568466186523
+        ],
+        [
+          0.05026590824127197,
+          -0.13712792098522186,
+          0.9892771244049072,
+          14.588967323303223
+        ],
+        [
+          -0.3466675281524658,
+          -0.9313395619392395,
+          -0.11148248612880707,
+          -12.244712829589844
+        ],
+        [
+          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": "1731323461_883082151",
+      "mask_path": "../../mask/hdr_left_01995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01997.png",
+      "transform_matrix": [
+        [
+          0.9404805302619934,
+          -0.327187716960907,
+          -0.09189394861459732,
+          -16.473787307739258
+        ],
+        [
+          0.04550134763121605,
+          -0.14673511683940887,
+          0.9881287217140198,
+          14.58423900604248
+        ],
+        [
+          -0.3367876410484314,
+          -0.9334971904754639,
+          -0.12311403453350067,
+          -12.265274047851562
+        ],
+        [
+          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": "1731323462_83083391",
+      "mask_path": "../../mask/hdr_left_01997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01999.png",
+      "transform_matrix": [
+        [
+          0.9435328841209412,
+          -0.3184189200401306,
+          -0.09140589088201523,
+          -16.370487213134766
+        ],
+        [
+          0.04971501603722572,
+          -0.13669420778751373,
+          0.9893649816513062,
+          14.584668159484863
+        ],
+        [
+          -0.32752716541290283,
+          -0.9380427002906799,
+          -0.11314527690410614,
+          -12.279919624328613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1999,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323462_283080339",
+      "mask_path": "../../mask/hdr_left_01999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02111.png",
+      "transform_matrix": [
+        [
+          0.9346886277198792,
+          -0.3524433970451355,
+          0.04626953601837158,
+          -16.320249557495117
+        ],
+        [
+          -0.07064946740865707,
+          -0.05662111937999725,
+          0.9958928823471069,
+          14.531241416931152
+        ],
+        [
+          -0.34837600588798523,
+          -0.9341186881065369,
+          -0.07782305032014847,
+          -12.350618362426758
+        ],
+        [
+          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": "1731323473_483082294",
+      "mask_path": "../../mask/hdr_left_02111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02115.png",
+      "transform_matrix": [
+        [
+          0.9449042081832886,
+          -0.3239401578903198,
+          0.04710307717323303,
+          -16.1466007232666
+        ],
+        [
+          -0.07934096455574036,
+          -0.08703559637069702,
+          0.9930406808853149,
+          14.528013229370117
+        ],
+        [
+          -0.31758612394332886,
+          -0.9420655965805054,
+          -0.10794202983379364,
+          -12.407763481140137
+        ],
+        [
+          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": "1731323473_883082389",
+      "mask_path": "../../mask/hdr_left_02115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02116.png",
+      "transform_matrix": [
+        [
+          0.9485819935798645,
+          -0.31358104944229126,
+          0.0431167408823967,
+          -16.081363677978516
+        ],
+        [
+          -0.07767750322818756,
+          -0.09856335073709488,
+          0.9920943975448608,
+          14.532958984375
+        ],
+        [
+          -0.3068522810935974,
+          -0.944432258605957,
+          -0.11785359680652618,
+          -12.414070129394531
+        ],
+        [
+          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": "1731323473_983081817",
+      "mask_path": "../../mask/hdr_left_02116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02118.png",
+      "transform_matrix": [
+        [
+          0.9540568590164185,
+          -0.2977319359779358,
+          0.03363144025206566,
+          -15.996048927307129
+        ],
+        [
+          -0.0670674741268158,
+          -0.10280754417181015,
+          0.9924377202987671,
+          14.542393684387207
+        ],
+        [
+          -0.29202282428741455,
+          -0.9490976929664612,
+          -0.11805237829685211,
+          -12.431456565856934
+        ],
+        [
+          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": "1731323474_183083772",
+      "mask_path": "../../mask/hdr_left_02118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02120.png",
+      "transform_matrix": [
+        [
+          0.9604476094245911,
+          -0.2772091031074524,
+          0.026368947699666023,
+          -15.881587028503418
+        ],
+        [
+          -0.05467888340353966,
+          -0.09489547461271286,
+          0.9939844012260437,
+          14.544384002685547
+        ],
+        [
+          -0.27303922176361084,
+          -0.9561119079589844,
+          -0.10629961639642715,
+          -12.45679759979248
+        ],
+        [
+          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": "1731323474_383082389",
+      "mask_path": "../../mask/hdr_left_02120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02121.png",
+      "transform_matrix": [
+        [
+          0.9636073112487793,
+          -0.2668047547340393,
+          0.016614891588687897,
+          -15.815713882446289
+        ],
+        [
+          -0.04348357021808624,
+          -0.09511560946702957,
+          0.9945160746574402,
+          14.545425415039062
+        ],
+        [
+          -0.2637612521648407,
+          -0.9590455293655396,
+          -0.10325571894645691,
+          -12.46335506439209
+        ],
+        [
+          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": "1731323474_483082771",
+      "mask_path": "../../mask/hdr_left_02121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02123.png",
+      "transform_matrix": [
+        [
+          0.9688233137130737,
+          -0.24773189425468445,
+          -0.00319481547921896,
+          -15.730880737304688
+        ],
+        [
+          -0.021044990047812462,
+          -0.09513711929321289,
+          0.9952417016029358,
+          14.55090618133545
+        ],
+        [
+          -0.24685707688331604,
+          -0.9641461968421936,
+          -0.09738457947969437,
+          -12.47860050201416
+        ],
+        [
+          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": "1731323474_683082103",
+      "mask_path": "../../mask/hdr_left_02123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02128.png",
+      "transform_matrix": [
+        [
+          0.9646464586257935,
+          -0.20822548866271973,
+          -0.16155272722244263,
+          -15.521080017089844
+        ],
+        [
+          0.15541957318782806,
+          -0.045597657561302185,
+          0.9867956042289734,
+          14.646968841552734
+        ],
+        [
+          -0.2128424197435379,
+          -0.9770174622535706,
+          -0.011623299680650234,
+          -12.509793281555176
+        ],
+        [
+          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": "1731323475_183080911",
+      "mask_path": "../../mask/hdr_left_02128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02130.png",
+      "transform_matrix": [
+        [
+          0.966179609298706,
+          -0.19890911877155304,
+          -0.16410993039608002,
+          -15.439929962158203
+        ],
+        [
+          0.16198548674583435,
+          -0.027021275833249092,
+          0.9864230751991272,
+          14.665145874023438
+        ],
+        [
+          -0.20064301788806915,
+          -0.9796454310417175,
+          0.006112988106906414,
+          -12.488725662231445
+        ],
+        [
+          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": "1731323475_383080482",
+      "mask_path": "../../mask/hdr_left_02130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02132.png",
+      "transform_matrix": [
+        [
+          0.9728683233261108,
+          -0.16415973007678986,
+          -0.16303007304668427,
+          -15.356400489807129
+        ],
+        [
+          0.16233937442302704,
+          -0.017707107588648796,
+          0.9865760207176208,
+          14.68943977355957
+        ],
+        [
+          -0.16484284400939941,
+          -0.9862748384475708,
+          0.009422904811799526,
+          -12.498982429504395
+        ],
+        [
+          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": "1731323475_583081722",
+      "mask_path": "../../mask/hdr_left_02132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02134.png",
+      "transform_matrix": [
+        [
+          0.9738175272941589,
+          -0.15937991440296173,
+          -0.16210313141345978,
+          -15.298294067382812
+        ],
+        [
+          0.16685128211975098,
+          0.016784392297267914,
+          0.985839307308197,
+          14.747953414916992
+        ],
+        [
+          -0.15440218150615692,
+          -0.9870746731758118,
+          0.04293768107891083,
+          -12.520169258117676
+        ],
+        [
+          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": "1731323475_783081531",
+      "mask_path": "../../mask/hdr_left_02134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02135.png",
+      "transform_matrix": [
+        [
+          0.9743133783340454,
+          -0.15573081374168396,
+          -0.1626695841550827,
+          -15.261262893676758
+        ],
+        [
+          0.16833613812923431,
+          0.023828428238630295,
+          0.9854416251182556,
+          14.785423278808594
+        ],
+        [
+          -0.1495874673128128,
+          -0.9875121712684631,
+          0.04943148419260979,
+          -12.530890464782715
+        ],
+        [
+          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": "1731323475_883081197",
+      "mask_path": "../../mask/hdr_left_02135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02136.png",
+      "transform_matrix": [
+        [
+          0.9759443998336792,
+          -0.14683248102664948,
+          -0.16116078197956085,
+          -15.205133438110352
+        ],
+        [
+          0.16631530225276947,
+          0.02345009334385395,
+          0.9857937097549438,
+          14.812707901000977
+        ],
+        [
+          -0.14096727967262268,
+          -0.9888834357261658,
+          0.04730647802352905,
+          -12.527276039123535
+        ],
+        [
+          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": "1731323475_983081579",
+      "mask_path": "../../mask/hdr_left_02136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02137.png",
+      "transform_matrix": [
+        [
+          0.9783906936645508,
+          -0.13419866561889648,
+          -0.1572970747947693,
+          -15.150352478027344
+        ],
+        [
+          0.16184915602207184,
+          0.023644715547561646,
+          0.9865322113037109,
+          14.831968307495117
+        ],
+        [
+          -0.1286720633506775,
+          -0.9906724095344543,
+          0.044853709638118744,
+          -12.515892028808594
+        ],
+        [
+          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": "1731323476_83080291",
+      "mask_path": "../../mask/hdr_left_02137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02139.png",
+      "transform_matrix": [
+        [
+          0.9828328490257263,
+          -0.11229152232408524,
+          -0.1463904231786728,
+          -15.053788185119629
+        ],
+        [
+          0.14994347095489502,
+          0.02383134327828884,
+          0.9884073138237,
+          14.876177787780762
+        ],
+        [
+          -0.1075010746717453,
+          -0.9933895468711853,
+          0.04025961458683014,
+          -12.513599395751953
+        ],
+        [
+          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": "1731323476_283081054",
+      "mask_path": "../../mask/hdr_left_02139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02142.png",
+      "transform_matrix": [
+        [
+          0.9840909242630005,
+          -0.09598271548748016,
+          -0.14950738847255707,
+          -14.907746315002441
+        ],
+        [
+          0.1525636464357376,
+          0.02529323846101761,
+          0.9879699349403381,
+          14.953680038452148
+        ],
+        [
+          -0.09104650467634201,
+          -0.9950616359710693,
+          0.039534322917461395,
+          -12.548759460449219
+        ],
+        [
+          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": "1731323476_583082914",
+      "mask_path": "../../mask/hdr_left_02142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07574.png",
+      "transform_matrix": [
+        [
+          -0.9711058139801025,
+          -0.06143373250961304,
+          0.23060627281665802,
+          -15.111037254333496
+        ],
+        [
+          -0.23002561926841736,
+          -0.016457926481962204,
+          -0.9730454087257385,
+          14.99567985534668
+        ],
+        [
+          0.06357311457395554,
+          -0.9979754686355591,
+          0.001851057866588235,
+          -12.463882446289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7574,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_783082962",
+      "mask_path": "../../mask/hdr_left_07574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07576.png",
+      "transform_matrix": [
+        [
+          -0.9766336679458618,
+          -0.033277224749326706,
+          0.21231882274150848,
+          -15.189882278442383
+        ],
+        [
+          -0.21215477585792542,
+          -0.008425980806350708,
+          -0.9771997928619385,
+          14.96134090423584
+        ],
+        [
+          0.03430747985839844,
+          -0.9994107484817505,
+          0.0011691765394061804,
+          -12.475458145141602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7576,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_983081817",
+      "mask_path": "../../mask/hdr_left_07576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07577.png",
+      "transform_matrix": [
+        [
+          -0.9790953993797302,
+          -0.019191961735486984,
+          0.2024938017129898,
+          -15.243548393249512
+        ],
+        [
+          -0.20226699113845825,
+          -0.013121488504111767,
+          -0.9792424440383911,
+          14.947010040283203
+        ],
+        [
+          0.021450601518154144,
+          -0.9997297525405884,
+          0.008965293876826763,
+          -12.488239288330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7577,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_83082437",
+      "mask_path": "../../mask/hdr_left_07577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07578.png",
+      "transform_matrix": [
+        [
+          -0.9821270108222961,
+          -0.004369689151644707,
+          0.18816883862018585,
+          -15.29131031036377
+        ],
+        [
+          -0.18799735605716705,
+          -0.02578958123922348,
+          -0.981830894947052,
+          14.929354667663574
+        ],
+        [
+          0.00914308987557888,
+          -0.9996578693389893,
+          0.024507153779268265,
+          -12.526605606079102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7578,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_183082342",
+      "mask_path": "../../mask/hdr_left_07578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07579.png",
+      "transform_matrix": [
+        [
+          -0.9829797148704529,
+          -0.0027092506643384695,
+          0.18369410932064056,
+          -15.382960319519043
+        ],
+        [
+          -0.1835530400276184,
+          -0.027371253818273544,
+          -0.9826287031173706,
+          14.88821792602539
+        ],
+        [
+          0.0076901232823729515,
+          -0.9996217489242554,
+          0.02640809677541256,
+          -12.51823616027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7579,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_283081293",
+      "mask_path": "../../mask/hdr_left_07579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07580.png",
+      "transform_matrix": [
+        [
+          -0.981947660446167,
+          -0.0077353836968541145,
+          0.18899421393871307,
+          -15.46458625793457
+        ],
+        [
+          -0.18879464268684387,
+          -0.021343933418393135,
+          -0.9817846417427063,
+          14.835288047790527
+        ],
+        [
+          0.011628360487520695,
+          -0.9997422695159912,
+          0.019498229026794434,
+          -12.493210792541504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7580,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_383081436",
+      "mask_path": "../../mask/hdr_left_07580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07581.png",
+      "transform_matrix": [
+        [
+          -0.9810755848884583,
+          -0.008470943197607994,
+          0.1934395730495453,
+          -15.512967109680176
+        ],
+        [
+          -0.19327469170093536,
+          -0.01722012460231781,
+          -0.9809935688972473,
+          14.811982154846191
+        ],
+        [
+          0.011640993878245354,
+          -0.9998158812522888,
+          0.015257028862833977,
+          -12.504302978515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7581,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_483080625",
+      "mask_path": "../../mask/hdr_left_07581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07582.png",
+      "transform_matrix": [
+        [
+          -0.9818605780601501,
+          0.003130182856693864,
+          0.1895783394575119,
+          -15.57940673828125
+        ],
+        [
+          -0.18959957361221313,
+          -0.009251892566680908,
+          -0.9818179607391357,
+          14.784581184387207
+        ],
+        [
+          -0.0013193119084462523,
+          -0.9999523758888245,
+          0.009677551686763763,
+          -12.508216857910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7582,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_583079576",
+      "mask_path": "../../mask/hdr_left_07582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07583.png",
+      "transform_matrix": [
+        [
+          -0.9834597110748291,
+          0.012303818017244339,
+          0.18070851266384125,
+          -15.646723747253418
+        ],
+        [
+          -0.18073219060897827,
+          -0.0008327439427375793,
+          -0.9835320115089417,
+          14.753645896911621
+        ],
+        [
+          -0.011950714513659477,
+          -0.9999240040779114,
+          0.0030426669400185347,
+          -12.504804611206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7583,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_683079957",
+      "mask_path": "../../mask/hdr_left_07583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07585.png",
+      "transform_matrix": [
+        [
+          -0.9865255951881409,
+          0.007754820864647627,
+          0.16342322528362274,
+          -15.734694480895996
+        ],
+        [
+          -0.1634444147348404,
+          -0.002184541430324316,
+          -0.9865500926971436,
+          14.738128662109375
+        ],
+        [
+          -0.007293514907360077,
+          -0.999967634677887,
+          0.0034225918352603912,
+          -12.51032543182373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7585,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_883080244",
+      "mask_path": "../../mask/hdr_left_07585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07586.png",
+      "transform_matrix": [
+        [
+          -0.9880678057670593,
+          -0.000213839637581259,
+          0.15401899814605713,
+          -15.794137954711914
+        ],
+        [
+          -0.1540079563856125,
+          -0.010667874477803707,
+          -0.9880120158195496,
+          14.713082313537598
+        ],
+        [
+          0.0018543301848694682,
+          -0.9999430775642395,
+          0.010507653467357159,
+          -12.504684448242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7586,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_983081102",
+      "mask_path": "../../mask/hdr_left_07586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07587.png",
+      "transform_matrix": [
+        [
+          -0.9882924556732178,
+          -0.009006884880363941,
+          0.15230508148670197,
+          -15.856633186340332
+        ],
+        [
+          -0.15222638845443726,
+          -0.00885971263051033,
+          -0.988305926322937,
+          14.68777847290039
+        ],
+        [
+          0.010250934399664402,
+          -0.9999201893806458,
+          0.00738490279763937,
+          -12.492850303649902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7587,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_83081722",
+      "mask_path": "../../mask/hdr_left_07587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07588.png",
+      "transform_matrix": [
+        [
+          -0.9875561594963074,
+          -0.01680867001414299,
+          0.15636593103408813,
+          -15.91287612915039
+        ],
+        [
+          -0.15637287497520447,
+          -0.0009063092875294387,
+          -0.9876976013183594,
+          14.664170265197754
+        ],
+        [
+          0.016743598505854607,
+          -0.9998583793640137,
+          -0.0017333866562694311,
+          -12.480572700500488
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7588,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_183082342",
+      "mask_path": "../../mask/hdr_left_07588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07590.png",
+      "transform_matrix": [
+        [
+          -0.9878951907157898,
+          -0.018248379230499268,
+          0.15404585003852844,
+          -16.00269317626953
+        ],
+        [
+          -0.1539798229932785,
+          -0.0049767144955694675,
+          -0.9880614280700684,
+          14.648518562316895
+        ],
+        [
+          0.01879716105759144,
+          -0.999821126461029,
+          0.002106592757627368,
+          -12.477944374084473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7590,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_383081436",
+      "mask_path": "../../mask/hdr_left_07590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07592.png",
+      "transform_matrix": [
+        [
+          -0.9908847212791443,
+          -0.024322204291820526,
+          0.13249877095222473,
+          -16.078954696655273
+        ],
+        [
+          -0.13218161463737488,
+          -0.014223209582269192,
+          -0.991123378276825,
+          14.628296852111816
+        ],
+        [
+          0.025990858674049377,
+          -0.9996030330657959,
+          0.010878616012632847,
+          -12.449482917785645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7592,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_583080291",
+      "mask_path": "../../mask/hdr_left_07592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07594.png",
+      "transform_matrix": [
+        [
+          -0.9931350350379944,
+          -0.03278864175081253,
+          0.11228355765342712,
+          -16.153078079223633
+        ],
+        [
+          -0.11121464520692825,
+          -0.032787811011075974,
+          -0.9932553172111511,
+          14.619720458984375
+        ],
+        [
+          0.03624902665615082,
+          -0.9989243745803833,
+          0.028916146606206894,
+          -12.438828468322754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7594,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_783081769",
+      "mask_path": "../../mask/hdr_left_07594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07595.png",
+      "transform_matrix": [
+        [
+          -0.9930274486541748,
+          -0.05322067067027092,
+          0.10518563538789749,
+          -16.227874755859375
+        ],
+        [
+          -0.10286935418844223,
+          -0.04454106092453003,
+          -0.9936970472335815,
+          14.6090669631958
+        ],
+        [
+          0.05757029727101326,
+          -0.9975889921188354,
+          0.03875572234392166,
+          -12.414113998413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7595,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_883083343",
+      "mask_path": "../../mask/hdr_left_07595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07597.png",
+      "transform_matrix": [
+        [
+          -0.9901140332221985,
+          -0.09096863865852356,
+          0.10676606744527817,
+          -16.299917221069336
+        ],
+        [
+          -0.10342171043157578,
+          -0.04073084518313408,
+          -0.9938032031059265,
+          14.570684432983398
+        ],
+        [
+          0.09475359320640564,
+          -0.9950205087661743,
+          0.03092004917562008,
+          -12.385873794555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7597,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_83082437",
+      "mask_path": "../../mask/hdr_left_07597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07598.png",
+      "transform_matrix": [
+        [
+          -0.9889010787010193,
+          -0.10111695528030396,
+          0.10885768383741379,
+          -16.364107131958008
+        ],
+        [
+          -0.10602620244026184,
+          -0.032982464879751205,
+          -0.9938161373138428,
+          14.557099342346191
+        ],
+        [
+          0.10408205538988113,
+          -0.99432772397995,
+          0.02189534902572632,
+          -12.376691818237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7598,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_183082103",
+      "mask_path": "../../mask/hdr_left_07598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07600.png",
+      "transform_matrix": [
+        [
+          -0.9899790287017822,
+          -0.10101911425590515,
+          0.0986742302775383,
+          -16.42521858215332
+        ],
+        [
+          -0.0943128913640976,
+          -0.04708673059940338,
+          -0.9944284558296204,
+          14.525217056274414
+        ],
+        [
+          0.1051025241613388,
+          -0.9937695860862732,
+          0.03708747774362564,
+          -12.370030403137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7600,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_383082151",
+      "mask_path": "../../mask/hdr_left_07600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07602.png",
+      "transform_matrix": [
+        [
+          -0.9900376796722412,
+          -0.11337735503911972,
+          0.08349157869815826,
+          -16.513593673706055
+        ],
+        [
+          -0.07748568803071976,
+          -0.056391261518001556,
+          -0.9953973889350891,
+          14.490516662597656
+        ],
+        [
+          0.11756371706724167,
+          -0.9919504523277283,
+          0.04704435542225838,
+          -12.332335472106934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7602,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_583081245",
+      "mask_path": "../../mask/hdr_left_07602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07603.png",
+      "transform_matrix": [
+        [
+          -0.9896773099899292,
+          -0.12214294075965881,
+          0.07496635615825653,
+          -16.563377380371094
+        ],
+        [
+          -0.06552296876907349,
+          -0.07958206534385681,
+          -0.9946725368499756,
+          14.457763671875
+        ],
+        [
+          0.12745819985866547,
+          -0.9893169403076172,
+          0.07075739651918411,
+          -12.348627090454102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7603,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_683083057",
+      "mask_path": "../../mask/hdr_left_07603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07604.png",
+      "transform_matrix": [
+        [
+          -0.9876999258995056,
+          -0.1367424875497818,
+          0.07582974433898926,
+          -16.631746292114258
+        ],
+        [
+          -0.06369037181138992,
+          -0.09106924384832382,
+          -0.9938057661056519,
+          14.429305076599121
+        ],
+        [
+          0.1428011953830719,
+          -0.9864116907119751,
+          0.08123990148305893,
+          -12.308036804199219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7604,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_783082485",
+      "mask_path": "../../mask/hdr_left_07604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07609.png",
+      "transform_matrix": [
+        [
+          -0.9841373562812805,
+          -0.16738927364349365,
+          0.05877402424812317,
+          -16.81315040588379
+        ],
+        [
+          -0.047417912632226944,
+          -0.07105257362127304,
+          -0.9963448643684387,
+          14.376871109008789
+        ],
+        [
+          0.17095346748828888,
+          -0.9833272099494934,
+          0.061988238245248795,
+          -12.237629890441895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7609,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_283081531",
+      "mask_path": "../../mask/hdr_left_07609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07611.png",
+      "transform_matrix": [
+        [
+          -0.9846301674842834,
+          -0.16912801563739777,
+          0.043579477816820145,
+          -16.888425827026367
+        ],
+        [
+          -0.027766471728682518,
+          -0.09476121515035629,
+          -0.9951127171516418,
+          14.349526405334473
+        ],
+        [
+          0.172431081533432,
+          -0.981028139591217,
+          0.08860865235328674,
+          -12.22256851196289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7611,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_483082532",
+      "mask_path": "../../mask/hdr_left_07611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07612.png",
+      "transform_matrix": [
+        [
+          -0.979764461517334,
+          -0.1948714703321457,
+          0.04567953571677208,
+          -16.94661521911621
+        ],
+        [
+          -0.021638164296746254,
+          -0.12375982850790024,
+          -0.9920762777328491,
+          14.322733879089355
+        ],
+        [
+          0.1989806443452835,
+          -0.972989559173584,
+          0.11703882366418839,
+          -12.172806739807129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7612,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_583081007",
+      "mask_path": "../../mask/hdr_left_07612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07613.png",
+      "transform_matrix": [
+        [
+          -0.9745206832885742,
+          -0.21904660761356354,
+          0.04824991524219513,
+          -17.00911521911621
+        ],
+        [
+          -0.020501095801591873,
+          -0.12722797691822052,
+          -0.9916614890098572,
+          14.29864501953125
+        ],
+        [
+          0.22335883975028992,
+          -0.9673839807510376,
+          0.11949559301137924,
+          -12.130741119384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7613,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_683082342",
+      "mask_path": "../../mask/hdr_left_07613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07615.png",
+      "transform_matrix": [
+        [
+          -0.9753448367118835,
+          -0.21807730197906494,
+          0.03383263945579529,
+          -17.085918426513672
+        ],
+        [
+          -0.011276116594672203,
+          -0.10385941714048386,
+          -0.9945279955863953,
+          14.270846366882324
+        ],
+        [
+          0.22039781510829926,
+          -0.9703894257545471,
+          0.09883968532085419,
+          -12.110782623291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7615,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_883081436",
+      "mask_path": "../../mask/hdr_left_07615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07616.png",
+      "transform_matrix": [
+        [
+          -0.9747043251991272,
+          -0.22206591069698334,
+          0.025261661037802696,
+          -17.14948272705078
+        ],
+        [
+          -0.0010720943100750446,
+          -0.10838160663843155,
+          -0.9941087961196899,
+          14.25100040435791
+        ],
+        [
+          0.22349554300308228,
+          -0.968989372253418,
+          0.10540195554494858,
+          -12.066380500793457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7616,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_983082532",
+      "mask_path": "../../mask/hdr_left_07616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07618.png",
+      "transform_matrix": [
+        [
+          -0.9735842943191528,
+          -0.22790570557117462,
+          0.013876894488930702,
+          -17.23794937133789
+        ],
+        [
+          0.01377256028354168,
+          -0.11928284913301468,
+          -0.9927647709846497,
+          14.2310152053833
+        ],
+        [
+          0.22791200876235962,
+          -0.966349184513092,
+          0.11927076429128647,
+          -12.033289909362793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7618,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_183082580",
+      "mask_path": "../../mask/hdr_left_07618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07619.png",
+      "transform_matrix": [
+        [
+          -0.969083309173584,
+          -0.24618951976299286,
+          0.0163772813975811,
+          -17.310319900512695
+        ],
+        [
+          0.02103872038424015,
+          -0.1485850214958191,
+          -0.9886758327484131,
+          14.199197769165039
+        ],
+        [
+          0.2458350509405136,
+          -0.957764744758606,
+          0.14917078614234924,
+          -12.01828670501709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7619,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_283082008",
+      "mask_path": "../../mask/hdr_left_07619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07620.png",
+      "transform_matrix": [
+        [
+          -0.9640063643455505,
+          -0.2649606764316559,
+          0.022077661007642746,
+          -17.38544464111328
+        ],
+        [
+          0.018858416005969048,
+          -0.1509668380022049,
+          -0.9883589744567871,
+          14.187190055847168
+        ],
+        [
+          0.26520922780036926,
+          -0.9523680806159973,
+          0.15052971243858337,
+          -11.972511291503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7620,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_383083105",
+      "mask_path": "../../mask/hdr_left_07620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07622.png",
+      "transform_matrix": [
+        [
+          -0.9655826687812805,
+          -0.2581923007965088,
+          0.03141280263662338,
+          -17.489282608032227
+        ],
+        [
+          0.0010907469550147653,
+          -0.12479234486818314,
+          -0.9921822547912598,
+          14.17558765411377
+        ],
+        [
+          0.26009389758110046,
+          -0.9579998254776001,
+          0.12077895551919937,
+          -11.965596199035645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7622,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_583081483",
+      "mask_path": "../../mask/hdr_left_07622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07623.png",
+      "transform_matrix": [
+        [
+          -0.97406005859375,
+          -0.22348716855049133,
+          0.035502780228853226,
+          -17.53451919555664
+        ],
+        [
+          -0.0043695177882909775,
+          -0.13828600943088531,
+          -0.9903827905654907,
+          14.148309707641602
+        ],
+        [
+          0.22624735534191132,
+          -0.9648473858833313,
+          0.13372235000133514,
+          -11.944595336914062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7623,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_683081865",
+      "mask_path": "../../mask/hdr_left_07623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07624.png",
+      "transform_matrix": [
+        [
+          -0.9825780987739563,
+          -0.18214990198612213,
+          0.03689953312277794,
+          -17.54717445373535
+        ],
+        [
+          -0.008736765943467617,
+          -0.15305423736572266,
+          -0.9881791472434998,
+          14.104743957519531
+        ],
+        [
+          0.18564435839653015,
+          -0.9712857007980347,
+          0.14879634976387024,
+          -11.90986442565918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7624,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_783082008",
+      "mask_path": "../../mask/hdr_left_07624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07625.png",
+      "transform_matrix": [
+        [
+          -0.9843488931655884,
+          -0.17016136646270752,
+          0.04584997892379761,
+          -17.595918655395508
+        ],
+        [
+          -0.01940961368381977,
+          -0.15390752255916595,
+          -0.987894594669342,
+          14.09725570678711
+        ],
+        [
+          0.17515814304351807,
+          -0.9733229875564575,
+          0.14819592237472534,
+          -11.901937484741211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7625,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_883082866",
+      "mask_path": "../../mask/hdr_left_07625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07626.png",
+      "transform_matrix": [
+        [
+          -0.9838390350341797,
+          -0.16963979601860046,
+          0.05729696899652481,
+          -17.667875289916992
+        ],
+        [
+          -0.03220218047499657,
+          -0.14714409410953522,
+          -0.9885907769203186,
+          14.112022399902344
+        ],
+        [
+          0.17613524198532104,
+          -0.9744593501091003,
+          0.13930334150791168,
+          -11.911343574523926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7626,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_983082532",
+      "mask_path": "../../mask/hdr_left_07626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07628.png",
+      "transform_matrix": [
+        [
+          -0.9851441979408264,
+          -0.14319869875907898,
+          0.09478957206010818,
+          -17.759048461914062
+        ],
+        [
+          -0.08154074847698212,
+          -0.09572545439004898,
+          -0.9920623898506165,
+          14.098128318786621
+        ],
+        [
+          0.15113583207130432,
+          -0.9850537776947021,
+          0.0826268419623375,
+          -11.90577507019043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7628,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_183081150",
+      "mask_path": "../../mask/hdr_left_07628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07629.png",
+      "transform_matrix": [
+        [
+          -0.9824108481407166,
+          -0.13810190558433533,
+          0.12568478286266327,
+          -17.81322479248047
+        ],
+        [
+          -0.11344468593597412,
+          -0.09321627020835876,
+          -0.9891617894172668,
+          14.076176643371582
+        ],
+        [
+          0.1483209878206253,
+          -0.9860216379165649,
+          0.07590974867343903,
+          -11.887931823730469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7629,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_283081054",
+      "mask_path": "../../mask/hdr_left_07629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07631.png",
+      "transform_matrix": [
+        [
+          -0.9814780950546265,
+          -0.08345205336809158,
+          0.17244243621826172,
+          -17.878686904907227
+        ],
+        [
+          -0.16321247816085815,
+          -0.1070762425661087,
+          -0.9807631373405457,
+          14.028304100036621
+        ],
+        [
+          0.10031117498874664,
+          -0.9907423257827759,
+          0.0914725661277771,
+          -11.879242897033691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7631,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_483082294",
+      "mask_path": "../../mask/hdr_left_07631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07633.png",
+      "transform_matrix": [
+        [
+          -0.9763088822364807,
+          -0.05325429141521454,
+          0.20972585678100586,
+          -17.96460723876953
+        ],
+        [
+          -0.20191115140914917,
+          -0.12427698075771332,
+          -0.9714870452880859,
+          13.975942611694336
+        ],
+        [
+          0.07779994606971741,
+          -0.9908174872398376,
+          0.11058008670806885,
+          -11.882340431213379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7633,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_683082103",
+      "mask_path": "../../mask/hdr_left_07633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07636.png",
+      "transform_matrix": [
+        [
+          -0.9515242576599121,
+          -0.03092116490006447,
+          0.30601534247398376,
+          -18.04526710510254
+        ],
+        [
+          -0.30397945642471313,
+          -0.05711347609758377,
+          -0.9509649872779846,
+          13.864461898803711
+        ],
+        [
+          0.04688253998756409,
+          -0.9978888034820557,
+          0.04494545981287956,
+          -11.858417510986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7636,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_983082294",
+      "mask_path": "../../mask/hdr_left_07636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07638.png",
+      "transform_matrix": [
+        [
+          -0.9294817447662354,
+          -0.025469621643424034,
+          0.3679877817630768,
+          -18.1287899017334
+        ],
+        [
+          -0.366199254989624,
+          -0.05607565864920616,
+          -0.9288452863693237,
+          13.799643516540527
+        ],
+        [
+          0.04429249465465546,
+          -0.9981015920639038,
+          0.04279434308409691,
+          -11.865657806396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7638,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_183082342",
+      "mask_path": "../../mask/hdr_left_07638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07639.png",
+      "transform_matrix": [
+        [
+          -0.9217352271080017,
+          -0.016084764152765274,
+          0.38748612999916077,
+          -18.162628173828125
+        ],
+        [
+          -0.3857463300228119,
+          -0.06515344232320786,
+          -0.9203014373779297,
+          13.755972862243652
+        ],
+        [
+          0.04004887491464615,
+          -0.9977456331253052,
+          0.053849589079618454,
+          -11.855175971984863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7639,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_283082485",
+      "mask_path": "../../mask/hdr_left_07639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07641.png",
+      "transform_matrix": [
+        [
+          -0.905479371547699,
+          -0.00014747570094186813,
+          0.42439013719558716,
+          -18.20154571533203
+        ],
+        [
+          -0.4226619601249695,
+          -0.08983901143074036,
+          -0.9018235802650452,
+          13.681269645690918
+        ],
+        [
+          0.038259781897068024,
+          -0.995956301689148,
+          0.0812850296497345,
+          -11.858416557312012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7641,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_483082294",
+      "mask_path": "../../mask/hdr_left_07641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07642.png",
+      "transform_matrix": [
+        [
+          -0.8933394551277161,
+          -0.010011733509600163,
+          0.4492708146572113,
+          -18.251468658447266
+        ],
+        [
+          -0.4456057846546173,
+          -0.10960401594638824,
+          -0.8884944319725037,
+          13.63487720489502
+        ],
+        [
+          0.05813725292682648,
+          -0.9939249157905579,
+          0.09345231205224991,
+          -11.825933456420898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7642,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_583081483",
+      "mask_path": "../../mask/hdr_left_07642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07643.png",
+      "transform_matrix": [
+        [
+          -0.8774604201316833,
+          -0.022375602275133133,
+          0.47912687063217163,
+          -18.294002532958984
+        ],
+        [
+          -0.47380438446998596,
+          -0.11502999067306519,
+          -0.8730850219726562,
+          13.584768295288086
+        ],
+        [
+          0.07464973628520966,
+          -0.9931100606918335,
+          0.09033259749412537,
+          -11.790422439575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7643,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_683081150",
+      "mask_path": "../../mask/hdr_left_07643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07645.png",
+      "transform_matrix": [
+        [
+          -0.8427407741546631,
+          -0.02083730511367321,
+          0.5379161834716797,
+          -18.337108612060547
+        ],
+        [
+          -0.533155620098114,
+          -0.10576880723237991,
+          -0.8393796682357788,
+          13.500300407409668
+        ],
+        [
+          0.0743851587176323,
+          -0.9941724538803101,
+          0.07802616059780121,
+          -11.791328430175781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7645,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_883081912",
+      "mask_path": "../../mask/hdr_left_07645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07647.png",
+      "transform_matrix": [
+        [
+          -0.8149937391281128,
+          -0.016786474734544754,
+          0.5792264342308044,
+          -18.38585662841797
+        ],
+        [
+          -0.5738421082496643,
+          -0.11559005826711655,
+          -0.810767650604248,
+          13.42232894897461
+        ],
+        [
+          0.08056274056434631,
+          -0.9931551814079285,
+          0.08457238972187042,
+          -11.762357711791992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7647,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_83081007",
+      "mask_path": "../../mask/hdr_left_07647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07649.png",
+      "transform_matrix": [
+        [
+          -0.7869511842727661,
+          -0.01005307026207447,
+          0.6169333457946777,
+          -18.421005249023438
+        ],
+        [
+          -0.6108389496803284,
+          -0.12842334806919098,
+          -0.7812702059745789,
+          13.338475227355957
+        ],
+        [
+          0.08708280324935913,
+          -0.9916685819625854,
+          0.09492210298776627,
+          -11.753105163574219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7649,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_283081293",
+      "mask_path": "../../mask/hdr_left_07649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07651.png",
+      "transform_matrix": [
+        [
+          -0.7496888637542725,
+          -0.007723975460976362,
+          0.6617452502250671,
+          -18.463655471801758
+        ],
+        [
+          -0.6493161916732788,
+          -0.18464499711990356,
+          -0.7377633452415466,
+          13.24860954284668
+        ],
+        [
+          0.12788641452789307,
+          -0.9827749729156494,
+          0.13341102004051208,
+          -11.701716423034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7651,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_483081102",
+      "mask_path": "../../mask/hdr_left_07651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07652.png",
+      "transform_matrix": [
+        [
+          -0.7205626964569092,
+          -0.018604034557938576,
+          0.6931400895118713,
+          -18.477680206298828
+        ],
+        [
+          -0.6753244400024414,
+          -0.20786656439304352,
+          -0.7076216340065002,
+          13.17889404296875
+        ],
+        [
+          0.15724524855613708,
+          -0.9779803156852722,
+          0.13721714913845062,
+          -11.650357246398926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7652,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_583082199",
+      "mask_path": "../../mask/hdr_left_07652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07654.png",
+      "transform_matrix": [
+        [
+          -0.6636084318161011,
+          -0.024693245068192482,
+          0.7476723790168762,
+          -18.490833282470703
+        ],
+        [
+          -0.7285457849502563,
+          -0.2055744081735611,
+          -0.6534218192100525,
+          13.086456298828125
+        ],
+        [
+          0.16983740031719208,
+          -0.9783299565315247,
+          0.11843074858188629,
+          -11.643540382385254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7654,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_783082723",
+      "mask_path": "../../mask/hdr_left_07654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07656.png",
+      "transform_matrix": [
+        [
+          -0.6158049702644348,
+          -0.027883822098374367,
+          0.7874051928520203,
+          -18.519071578979492
+        ],
+        [
+          -0.7665044665336609,
+          -0.21010421216487885,
+          -0.6068994998931885,
+          13.004562377929688
+        ],
+        [
+          0.1823597550392151,
+          -0.977281391620636,
+          0.10801012068986893,
+          -11.617111206054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7656,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_983082771",
+      "mask_path": "../../mask/hdr_left_07656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07658.png",
+      "transform_matrix": [
+        [
+          -0.5700790286064148,
+          -0.013398858718574047,
+          0.8214805722236633,
+          -18.53409767150879
+        ],
+        [
+          -0.8001309037208557,
+          -0.21797391772270203,
+          -0.5588182806968689,
+          12.936525344848633
+        ],
+        [
+          0.1865488886833191,
+          -0.9758626222610474,
+          0.11354151368141174,
+          -11.600013732910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7658,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324028_183082580",
+      "mask_path": "../../mask/hdr_left_07658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07660.png",
+      "transform_matrix": [
+        [
+          -0.5019028782844543,
+          0.016491325572133064,
+          0.8647668361663818,
+          -18.524028778076172
+        ],
+        [
+          -0.8385054469108582,
+          -0.25449931621551514,
+          -0.4818076491355896,
+          12.828742027282715
+        ],
+        [
+          0.2121368795633316,
+          -0.9669323563575745,
+          0.14156199991703033,
+          -11.53762149810791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7660,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324028_383082389",
+      "mask_path": "../../mask/hdr_left_07660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07667.png",
+      "transform_matrix": [
+        [
+          -0.19574092328548431,
+          0.014833284541964531,
+          0.980543315410614,
+          -18.39375877380371
+        ],
+        [
+          -0.9383494853973389,
+          -0.2933511435985565,
+          -0.18288028240203857,
+          12.6602144241333
+        ],
+        [
+          0.2849308252334595,
+          -0.9558897018432617,
+          0.07133964449167252,
+          -11.430397987365723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7667,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_83080291",
+      "mask_path": "../../mask/hdr_left_07667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07669.png",
+      "transform_matrix": [
+        [
+          -0.13754990696907043,
+          0.004553666338324547,
+          0.990484356880188,
+          -18.346202850341797
+        ],
+        [
+          -0.9489672780036926,
+          -0.2871236205101013,
+          -0.1304643303155899,
+          12.599382400512695
+        ],
+        [
+          0.28379735350608826,
+          -0.9578827619552612,
+          0.04381510615348816,
+          -11.416173934936523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7669,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_283082723",
+      "mask_path": "../../mask/hdr_left_07669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07671.png",
+      "transform_matrix": [
+        [
+          -0.09287978708744049,
+          -0.00836449209600687,
+          0.9956421852111816,
+          -18.31964111328125
+        ],
+        [
+          -0.9529744982719421,
+          -0.28896191716194153,
+          -0.09132705628871918,
+          12.534187316894531
+        ],
+        [
+          0.28846654295921326,
+          -0.9573041796684265,
+          0.018867574632167816,
+          -11.361445426940918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7671,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_483081817",
+      "mask_path": "../../mask/hdr_left_07671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07672.png",
+      "transform_matrix": [
+        [
+          -0.07468210160732269,
+          -0.00750358821824193,
+          0.9971791505813599,
+          -18.3124942779541
+        ],
+        [
+          -0.9454893469810486,
+          -0.31731972098350525,
+          -0.07319863140583038,
+          12.476497650146484
+        ],
+        [
+          0.31697383522987366,
+          -0.9482889175415039,
+          0.016603538766503334,
+          -11.309662818908691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7672,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_583079814",
+      "mask_path": "../../mask/hdr_left_07672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07673.png",
+      "transform_matrix": [
+        [
+          -0.0557742640376091,
+          -0.00024069684150163084,
+          0.9984434247016907,
+          -18.301002502441406
+        ],
+        [
+          -0.9376705288887024,
+          -0.34354281425476074,
+          -0.052462223917245865,
+          12.424979209899902
+        ],
+        [
+          0.34302061796188354,
+          -0.9391370415687561,
+          0.018935145810246468,
+          -11.264215469360352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7673,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_683080673",
+      "mask_path": "../../mask/hdr_left_07673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07675.png",
+      "transform_matrix": [
+        [
+          -0.01312838401645422,
+          0.005256226286292076,
+          0.9998999834060669,
+          -18.267133712768555
+        ],
+        [
+          -0.9396691918373108,
+          -0.34192222356796265,
+          -0.010540170595049858,
+          12.370588302612305
+        ],
+        [
+          0.34183254837989807,
+          -0.9397136569023132,
+          0.009428002871572971,
+          -11.277966499328613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7675,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_883082389",
+      "mask_path": "../../mask/hdr_left_07675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07677.png",
+      "transform_matrix": [
+        [
+          0.036065008491277695,
+          -0.0022582821547985077,
+          0.999346911907196,
+          -18.226133346557617
+        ],
+        [
+          -0.9432342648506165,
+          -0.33045515418052673,
+          0.03329325467348099,
+          12.309404373168945
+        ],
+        [
+          0.3301641345024109,
+          -0.943818986415863,
+          -0.014047968201339245,
+          -11.217179298400879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7677,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_83081483",
+      "mask_path": "../../mask/hdr_left_07677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07679.png",
+      "transform_matrix": [
+        [
+          0.08619291335344315,
+          0.025518596172332764,
+          0.9959515929222107,
+          -18.18608283996582
+        ],
+        [
+          -0.9421359896659851,
+          -0.3229764699935913,
+          0.08981095254421234,
+          12.219066619873047
+        ],
+        [
+          0.3239607810974121,
+          -0.9460629820823669,
+          -0.003796301782131195,
+          -11.19804859161377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7679,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_283082008",
+      "mask_path": "../../mask/hdr_left_07679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07681.png",
+      "transform_matrix": [
+        [
+          0.1328486204147339,
+          0.06243619695305824,
+          0.9891677498817444,
+          -18.136878967285156
+        ],
+        [
+          -0.933448851108551,
+          -0.32763364911079407,
+          0.14604559540748596,
+          12.16337776184082
+        ],
+        [
+          0.33320319652557373,
+          -0.9427396655082703,
+          0.01475531980395317,
+          -11.154979705810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7681,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_483083009",
+      "mask_path": "../../mask/hdr_left_07681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07688.png",
+      "transform_matrix": [
+        [
+          0.3284233808517456,
+          0.12597395479679108,
+          0.93609219789505,
+          -17.96174430847168
+        ],
+        [
+          -0.8898271322250366,
+          -0.29111534357070923,
+          0.3513680696487427,
+          11.99742603302002
+        ],
+        [
+          0.31677404046058655,
+          -0.9483578205108643,
+          0.016485970467329025,
+          -11.069343566894531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7688,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_183080196",
+      "mask_path": "../../mask/hdr_left_07688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07690.png",
+      "transform_matrix": [
+        [
+          0.37555593252182007,
+          0.1835615038871765,
+          0.9084398150444031,
+          -17.896526336669922
+        ],
+        [
+          -0.8620258569717407,
+          -0.2908210754394531,
+          0.4151320159435272,
+          11.950360298156738
+        ],
+        [
+          0.3403956890106201,
+          -0.9390039443969727,
+          0.04901520535349846,
+          -11.000529289245605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7690,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_383081674",
+      "mask_path": "../../mask/hdr_left_07690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07692.png",
+      "transform_matrix": [
+        [
+          0.44357070326805115,
+          0.16549694538116455,
+          0.8808267712593079,
+          -17.83323860168457
+        ],
+        [
+          -0.8367689847946167,
+          -0.27556759119033813,
+          0.4731597304344177,
+          11.939250946044922
+        ],
+        [
+          0.321033775806427,
+          -0.9469283819198608,
+          0.016249023377895355,
+          -11.001879692077637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7692,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_583082199",
+      "mask_path": "../../mask/hdr_left_07692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07694.png",
+      "transform_matrix": [
+        [
+          0.5112573504447937,
+          0.16937576234340668,
+          0.8425720930099487,
+          -17.751590728759766
+        ],
+        [
+          -0.8007893562316895,
+          -0.262043833732605,
+          0.5385810136795044,
+          11.910402297973633
+        ],
+        [
+          0.3120133876800537,
+          -0.9500762820243835,
+          0.001662435824982822,
+          -10.979121208190918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7694,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_783082008",
+      "mask_path": "../../mask/hdr_left_07694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07696.png",
+      "transform_matrix": [
+        [
+          0.5730141997337341,
+          0.19169718027114868,
+          0.7968103885650635,
+          -17.686595916748047
+        ],
+        [
+          -0.7631187438964844,
+          -0.22972020506858826,
+          0.6040517091751099,
+          11.889404296875
+        ],
+        [
+          0.29883843660354614,
+          -0.9541912078857422,
+          0.014654754661023617,
+          -10.969765663146973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7696,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_983080863",
+      "mask_path": "../../mask/hdr_left_07696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07698.png",
+      "transform_matrix": [
+        [
+          0.6335812211036682,
+          0.18517841398715973,
+          0.7511882781982422,
+          -17.603679656982422
+        ],
+        [
+          -0.7188596725463867,
+          -0.21805983781814575,
+          0.6600688695907593,
+          11.856561660766602
+        ],
+        [
+          0.2860344648361206,
+          -0.9582061767578125,
+          -0.005041331984102726,
+          -10.941826820373535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7698,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_183082818",
+      "mask_path": "../../mask/hdr_left_07698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07700.png",
+      "transform_matrix": [
+        [
+          0.6935017108917236,
+          0.1855379343032837,
+          0.6961544752120972,
+          -17.524673461914062
+        ],
+        [
+          -0.6679623126983643,
+          -0.19649341702461243,
+          0.7177859544754028,
+          11.831680297851562
+        ],
+        [
+          0.2699662744998932,
+          -0.962790846824646,
+          -0.012336183339357376,
+          -10.91717529296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7700,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_383081436",
+      "mask_path": "../../mask/hdr_left_07700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07702.png",
+      "transform_matrix": [
+        [
+          0.7350126504898071,
+          0.20778515934944153,
+          0.6454313397407532,
+          -17.434478759765625
+        ],
+        [
+          -0.6253587603569031,
+          -0.1601783186197281,
+          0.763720691204071,
+          11.804695129394531
+        ],
+        [
+          0.26207390427589417,
+          -0.9649706482887268,
+          0.012207187712192535,
+          -10.893472671508789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7702,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_583081483",
+      "mask_path": "../../mask/hdr_left_07702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07704.png",
+      "transform_matrix": [
+        [
+          0.7690348625183105,
+          0.22085227072238922,
+          0.5998413562774658,
+          -17.338809967041016
+        ],
+        [
+          -0.5858058929443359,
+          -0.13197852671146393,
+          0.7996330857276917,
+          11.778830528259277
+        ],
+        [
+          0.25576692819595337,
+          -0.9663363695144653,
+          0.027880489826202393,
+          -10.862046241760254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7704,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_783079862",
+      "mask_path": "../../mask/hdr_left_07704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07706.png",
+      "transform_matrix": [
+        [
+          0.8092253804206848,
+          0.21070915460586548,
+          0.5484120845794678,
+          -17.246694564819336
+        ],
+        [
+          -0.5312474966049194,
+          -0.13614358007907867,
+          0.8362063765525818,
+          11.769824028015137
+        ],
+        [
+          0.2508590817451477,
+          -0.9680220484733582,
+          0.0017678560689091682,
+          -10.8326997756958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7706,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_983080625",
+      "mask_path": "../../mask/hdr_left_07706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07708.png",
+      "transform_matrix": [
+        [
+          0.8453332185745239,
+          0.19929790496826172,
+          0.49567338824272156,
+          -17.13957405090332
+        ],
+        [
+          -0.4824170768260956,
+          -0.1138676255941391,
+          0.8685089945793152,
+          11.750495910644531
+        ],
+        [
+          0.2295331209897995,
+          -0.9733008742332458,
+          -0.00011138089757878333,
+          -10.81721305847168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7708,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_183080196",
+      "mask_path": "../../mask/hdr_left_07708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07710.png",
+      "transform_matrix": [
+        [
+          0.8579006791114807,
+          0.19991692900657654,
+          0.473328173160553,
+          -17.061656951904297
+        ],
+        [
+          -0.467214435338974,
+          -0.07982157170772552,
+          0.8805334568023682,
+          11.734415054321289
+        ],
+        [
+          0.21381531655788422,
+          -0.9765561819076538,
+          0.024925095960497856,
+          -10.804471969604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7710,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_383081197",
+      "mask_path": "../../mask/hdr_left_07710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07711.png",
+      "transform_matrix": [
+        [
+          0.8619889616966248,
+          0.19372354447841644,
+          0.4684509038925171,
+          -17.01447296142578
+        ],
+        [
+          -0.4649094343185425,
+          -0.06626337021589279,
+          0.8828750848770142,
+          11.718929290771484
+        ],
+        [
+          0.20207479596138,
+          -0.9788158535957336,
+          0.03294561430811882,
+          -10.790066719055176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7711,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_483079433",
+      "mask_path": "../../mask/hdr_left_07711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07712.png",
+      "transform_matrix": [
+        [
+          0.8690087199211121,
+          0.17782554030418396,
+          0.4617377817630768,
+          -16.959075927734375
+        ],
+        [
+          -0.4583720266819,
+          -0.06209542229771614,
+          0.8865885138511658,
+          11.706012725830078
+        ],
+        [
+          0.18632987141609192,
+          -0.9821009635925293,
+          0.027548789978027344,
+          -10.785654067993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7712,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_583081007",
+      "mask_path": "../../mask/hdr_left_07712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07714.png",
+      "transform_matrix": [
+        [
+          0.8830612301826477,
+          0.15257129073143005,
+          0.44376200437545776,
+          -16.876325607299805
+        ],
+        [
+          -0.440815806388855,
+          -0.05451241880655289,
+          0.8959407210350037,
+          11.6956205368042
+        ],
+        [
+          0.16088537871837616,
+          -0.9867879748344421,
+          0.019118040800094604,
+          -10.781502723693848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7714,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_783080101",
+      "mask_path": "../../mask/hdr_left_07714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07716.png",
+      "transform_matrix": [
+        [
+          0.8895179629325867,
+          0.13506577908992767,
+          0.43648022413253784,
+          -16.787694931030273
+        ],
+        [
+          -0.43631601333618164,
+          -0.032401878386735916,
+          0.8992099165916443,
+          11.673407554626465
+        ],
+        [
+          0.13559526205062866,
+          -0.9903067350387573,
+          0.030109314247965813,
+          -10.765353202819824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7716,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_983080863",
+      "mask_path": "../../mask/hdr_left_07716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07718.png",
+      "transform_matrix": [
+        [
+          0.897915244102478,
+          0.12990906834602356,
+          0.4205612540245056,
+          -16.706342697143555
+        ],
+        [
+          -0.42308613657951355,
+          -0.008870655670762062,
+          0.9060459733009338,
+          11.663912773132324
+        ],
+        [
+          0.12143424898386002,
+          -0.9914863109588623,
+          0.04699763283133507,
+          -10.762136459350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7718,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_183078050",
+      "mask_path": "../../mask/hdr_left_07718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07723.png",
+      "transform_matrix": [
+        [
+          0.94590163230896,
+          0.09848598390817642,
+          0.3091449439525604,
+          -16.460186004638672
+        ],
+        [
+          -0.309526264667511,
+          -0.011769918724894524,
+          0.9508180022239685,
+          11.66702938079834
+        ],
+        [
+          0.0972808450460434,
+          -0.9950689077377319,
+          0.019350817427039146,
+          -10.758561134338379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7723,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_683077812",
+      "mask_path": "../../mask/hdr_left_07723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07725.png",
+      "transform_matrix": [
+        [
+          0.9587435722351074,
+          0.10118915885686874,
+          0.2656528949737549,
+          -16.38607406616211
+        ],
+        [
+          -0.26790478825569153,
+          0.009105361066758633,
+          0.9634023308753967,
+          11.656268119812012
+        ],
+        [
+          0.09506699442863464,
+          -0.994825541973114,
+          0.035838767886161804,
+          -10.752786636352539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7725,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_883080244",
+      "mask_path": "../../mask/hdr_left_07725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07726.png",
+      "transform_matrix": [
+        [
+          0.9651810526847839,
+          0.0907101109623909,
+          0.2453508824110031,
+          -16.331785202026367
+        ],
+        [
+          -0.24719040095806122,
+          0.00945785641670227,
+          0.9689208269119263,
+          11.639930725097656
+        ],
+        [
+          0.08557041734457016,
+          -0.9958324432373047,
+          0.031551215797662735,
+          -10.737229347229004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7726,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_983080863",
+      "mask_path": "../../mask/hdr_left_07726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07728.png",
+      "transform_matrix": [
+        [
+          0.978979229927063,
+          0.06730494648218155,
+          0.19253437221050262,
+          -16.23967933654785
+        ],
+        [
+          -0.1925894021987915,
+          -0.005731651559472084,
+          0.981262743473053,
+          11.648447036743164
+        ],
+        [
+          0.06714735925197601,
+          -0.9977160692214966,
+          0.007351050619035959,
+          -10.73609733581543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7728,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_183080434",
+      "mask_path": "../../mask/hdr_left_07728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07729.png",
+      "transform_matrix": [
+        [
+          0.9844951033592224,
+          0.05934087187051773,
+          0.16506989300251007,
+          -16.18675422668457
+        ],
+        [
+          -0.16529731452465057,
+          -0.0010898594046011567,
+          0.9862432479858398,
+          11.6529541015625
+        ],
+        [
+          0.0587044283747673,
+          -0.9982372522354126,
+          0.008735925890505314,
+          -10.734230995178223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7729,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_283082008",
+      "mask_path": "../../mask/hdr_left_07729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07730.png",
+      "transform_matrix": [
+        [
+          0.9882034063339233,
+          0.05090559646487236,
+          0.14443902671337128,
+          -16.134191513061523
+        ],
+        [
+          -0.14515641331672668,
+          0.010669375769793987,
+          0.9893511533737183,
+          11.662705421447754
+        ],
+        [
+          0.04882243275642395,
+          -0.9986465573310852,
+          0.017932789400219917,
+          -10.726530075073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7730,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_383082389",
+      "mask_path": "../../mask/hdr_left_07730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07732.png",
+      "transform_matrix": [
+        [
+          0.9921656250953674,
+          0.04279770702123642,
+          0.11736995726823807,
+          -16.0548038482666
+        ],
+        [
+          -0.11884213984012604,
+          0.033642563968896866,
+          0.9923430681228638,
+          11.686223983764648
+        ],
+        [
+          0.038521379232406616,
+          -0.9985172152519226,
+          0.038465168327093124,
+          -10.726585388183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7732,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_583081007",
+      "mask_path": "../../mask/hdr_left_07732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07733.png",
+      "transform_matrix": [
+        [
+          0.9930319786071777,
+          0.03658640757203102,
+          0.11202168464660645,
+          -16.005382537841797
+        ],
+        [
+          -0.11348821967840195,
+          0.0408201701939106,
+          0.9927003979682922,
+          11.69863224029541
+        ],
+        [
+          0.03174659609794617,
+          -0.9984964728355408,
+          0.044687870889902115,
+          -10.72523021697998
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7733,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_683083057",
+      "mask_path": "../../mask/hdr_left_07733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07734.png",
+      "transform_matrix": [
+        [
+          0.9934200048446655,
+          0.029259005561470985,
+          0.11072751879692078,
+          -15.940698623657227
+        ],
+        [
+          -0.11167851835489273,
+          0.03315611183643341,
+          0.9931910634040833,
+          11.700634956359863
+        ],
+        [
+          0.02538849040865898,
+          -0.9990218281745911,
+          0.03620554879307747,
+          -10.721219062805176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7734,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_783082008",
+      "mask_path": "../../mask/hdr_left_07734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07735.png",
+      "transform_matrix": [
+        [
+          0.9937838912010193,
+          0.025639908388257027,
+          0.10833324491977692,
+          -15.884336471557617
+        ],
+        [
+          -0.10892870277166367,
+          0.023089969530701637,
+          0.993781328201294,
+          11.708086013793945
+        ],
+        [
+          0.022979049012064934,
+          -0.9994045495986938,
+          0.025739362463355064,
+          -10.730450630187988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7735,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_883081674",
+      "mask_path": "../../mask/hdr_left_07735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07736.png",
+      "transform_matrix": [
+        [
+          0.9940016269683838,
+          0.021730048581957817,
+          0.10718487203121185,
+          -15.822072982788086
+        ],
+        [
+          -0.10761352628469467,
+          0.019619641825556755,
+          0.9939991235733032,
+          11.724991798400879
+        ],
+        [
+          0.019496718421578407,
+          -0.9995713829994202,
+          0.021840402856469154,
+          -10.740711212158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7736,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_983082532",
+      "mask_path": "../../mask/hdr_left_07736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07737.png",
+      "transform_matrix": [
+        [
+          0.993554949760437,
+          0.01444252673536539,
+          0.11242744326591492,
+          -15.73898983001709
+        ],
+        [
+          -0.11270409822463989,
+          0.020030708983540535,
+          0.9934266209602356,
+          11.741097450256348
+        ],
+        [
+          0.012095589190721512,
+          -0.9996950626373291,
+          0.021529342979192734,
+          -10.74479866027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7737,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_83081722",
+      "mask_path": "../../mask/hdr_left_07737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07738.png",
+      "transform_matrix": [
+        [
+          0.992526113986969,
+          0.011355651542544365,
+          0.12150250375270844,
+          -15.663464546203613
+        ],
+        [
+          -0.12175214290618896,
+          0.024753239005804062,
+          0.9922518134117126,
+          11.751608848571777
+        ],
+        [
+          0.008260084316134453,
+          -0.9996291399002075,
+          0.025950811803340912,
+          -10.744531631469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7738,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_183081150",
+      "mask_path": "../../mask/hdr_left_07738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07739.png",
+      "transform_matrix": [
+        [
+          0.9913824200630188,
+          0.014397259801626205,
+          0.13020530343055725,
+          -15.609853744506836
+        ],
+        [
+          -0.1306278556585312,
+          0.03389310836791992,
+          0.9908520579338074,
+          11.758548736572266
+        ],
+        [
+          0.00985249038785696,
+          -0.9993218183517456,
+          0.03548172116279602,
+          -10.737506866455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7739,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_283082008",
+      "mask_path": "../../mask/hdr_left_07739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07740.png",
+      "transform_matrix": [
+        [
+          0.9904875755310059,
+          0.01257173903286457,
+          0.13702677190303802,
+          -15.530938148498535
+        ],
+        [
+          -0.1373516023159027,
+          0.030247759073972702,
+          0.9900604486465454,
+          11.768967628479004
+        ],
+        [
+          0.008302026428282261,
+          -0.9994633793830872,
+          0.031686775386333466,
+          -10.729914665222168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7740,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_383080959",
+      "mask_path": "../../mask/hdr_left_07740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07741.png",
+      "transform_matrix": [
+        [
+          0.9902153611183167,
+          0.01119227334856987,
+          0.1390974074602127,
+          -15.456971168518066
+        ],
+        [
+          -0.13926325738430023,
+          0.015728307887911797,
+          0.9901304244995117,
+          11.78258228302002
+        ],
+        [
+          0.008894042111933231,
+          -0.9998137354850769,
+          0.017133088782429695,
+          -10.728704452514648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7741,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_483082532",
+      "mask_path": "../../mask/hdr_left_07741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07743.png",
+      "transform_matrix": [
+        [
+          0.9900655746459961,
+          0.006541249807924032,
+          0.14045430719852448,
+          -15.39306640625
+        ],
+        [
+          -0.14045394957065582,
+          -0.000517971464432776,
+          0.99008709192276,
+          11.7965669631958
+        ],
+        [
+          0.006549156736582518,
+          -0.9999785423278809,
+          0.00040592075674794614,
+          -10.740304946899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7743,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_683082818",
+      "mask_path": "../../mask/hdr_left_07743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07744.png",
+      "transform_matrix": [
+        [
+          0.989538848400116,
+          0.0016474516596645117,
+          0.1442573517560959,
+          -15.342577934265137
+        ],
+        [
+          -0.1442483812570572,
+          -0.00466665206477046,
+          0.9895305633544922,
+          11.800777435302734
+        ],
+        [
+          0.0023034019395709038,
+          -0.999987781047821,
+          -0.004380188882350922,
+          -10.742090225219727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7744,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_783082485",
+      "mask_path": "../../mask/hdr_left_07744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07748.png",
+      "transform_matrix": [
+        [
+          0.983144223690033,
+          0.0011416475754231215,
+          0.18282820284366608,
+          -15.152626991271973
+        ],
+        [
+          -0.1828204244375229,
+          -0.004999756813049316,
+          0.9831335544586182,
+          11.763934135437012
+        ],
+        [
+          0.0020364876836538315,
+          -0.9999868869781494,
+          -0.0047067622654139996,
+          -10.712648391723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7748,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_183077573",
+      "mask_path": "../../mask/hdr_left_07748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07752.png",
+      "transform_matrix": [
+        [
+          0.9750698804855347,
+          0.014802927151322365,
+          0.22140347957611084,
+          -14.964811325073242
+        ],
+        [
+          -0.22102214395999908,
+          -0.023762082681059837,
+          0.9749792218208313,
+          11.74355697631836
+        ],
+        [
+          0.01969355158507824,
+          -0.9996080994606018,
+          -0.01989791728556156,
+          -10.719795227050781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7752,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_583082199",
+      "mask_path": "../../mask/hdr_left_07752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07754.png",
+      "transform_matrix": [
+        [
+          0.9664549231529236,
+          0.021981608122587204,
+          0.25589361786842346,
+          -14.893563270568848
+        ],
+        [
+          -0.25569948554039,
+          -0.01127665862441063,
+          0.9666904807090759,
+          11.718314170837402
+        ],
+        [
+          0.024135034531354904,
+          -0.99969482421875,
+          -0.005277691408991814,
+          -10.701744079589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7754,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_783081531",
+      "mask_path": "../../mask/hdr_left_07754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07755.png",
+      "transform_matrix": [
+        [
+          0.9633196592330933,
+          0.028277793899178505,
+          0.2668626308441162,
+          -14.843122482299805
+        ],
+        [
+          -0.26686516404151917,
+          -0.003754211822524667,
+          0.9637265205383301,
+          11.71157455444336
+        ],
+        [
+          0.028253918513655663,
+          -0.9995931386947632,
+          0.0039298562332987785,
+          -10.695882797241211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7755,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_883081197",
+      "mask_path": "../../mask/hdr_left_07755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01848.png",
+      "transform_matrix": [
+        [
+          0.9733986854553223,
+          0.2142413705587387,
+          -0.08121409267187119,
+          -15.197667121887207
+        ],
+        [
+          0.07778966426849365,
+          0.02438114583492279,
+          0.9966716766357422,
+          11.566036224365234
+        ],
+        [
+          0.2155083864927292,
+          -0.9764764308929443,
+          0.007066812366247177,
+          -10.766968727111816
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1848,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_283081769",
+      "mask_path": "../../mask/hdr_right_01848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01849.png",
+      "transform_matrix": [
+        [
+          0.9786346554756165,
+          0.1905379742383957,
+          -0.07726225256919861,
+          -15.306816101074219
+        ],
+        [
+          0.07463675737380981,
+          0.02092849835753441,
+          0.9969911575317383,
+          11.564905166625977
+        ],
+        [
+          0.19158166646957397,
+          -0.9814566969871521,
+          0.006260219030082226,
+          -10.779619216918945
+        ],
+        [
+          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": "1731323448_383082151",
+      "mask_path": "../../mask/hdr_right_01849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01852.png",
+      "transform_matrix": [
+        [
+          0.9869188070297241,
+          0.1411406695842743,
+          -0.07791435718536377,
+          -15.470062255859375
+        ],
+        [
+          0.07776706665754318,
+          0.006567519158124924,
+          0.9969499707221985,
+          11.549290657043457
+        ],
+        [
+          0.14122189581394196,
+          -0.9899678230285645,
+          -0.004494490567594767,
+          -10.784037590026855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1852,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_683081865",
+      "mask_path": "../../mask/hdr_right_01852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01853.png",
+      "transform_matrix": [
+        [
+          0.9885978102684021,
+          0.12751227617263794,
+          -0.08009282499551773,
+          -15.54526424407959
+        ],
+        [
+          0.0786903128027916,
+          0.016007207334041595,
+          0.9967706203460693,
+          11.56143569946289
+        ],
+        [
+          0.12838254868984222,
+          -0.9917078614234924,
+          0.005790716037154198,
+          -10.78104305267334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1853,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_783082246",
+      "mask_path": "../../mask/hdr_right_01853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01854.png",
+      "transform_matrix": [
+        [
+          0.9906582236289978,
+          0.11287861317396164,
+          -0.0765165239572525,
+          -15.611737251281738
+        ],
+        [
+          0.0749986544251442,
+          0.01763910800218582,
+          0.9970276951789856,
+          11.574185371398926
+        ],
+        [
+          0.11389277875423431,
+          -0.9934523105621338,
+          0.009008585475385189,
+          -10.778558731079102
+        ],
+        [
+          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": "1731323448_883081197",
+      "mask_path": "../../mask/hdr_right_01854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01855.png",
+      "transform_matrix": [
+        [
+          0.9927715063095093,
+          0.09809964150190353,
+          -0.0691457986831665,
+          -15.683942794799805
+        ],
+        [
+          0.06766434013843536,
+          0.01835308037698269,
+          0.9975392818450928,
+          11.577966690063477
+        ],
+        [
+          0.09912730008363724,
+          -0.9950073957443237,
+          0.011582566425204277,
+          -10.784509658813477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1855,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_983082056",
+      "mask_path": "../../mask/hdr_right_01855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01856.png",
+      "transform_matrix": [
+        [
+          0.9936549067497253,
+          0.0889689177274704,
+          -0.06880729645490646,
+          -15.767294883728027
+        ],
+        [
+          0.0668608695268631,
+          0.02467948943376541,
+          0.9974570870399475,
+          11.583562850952148
+        ],
+        [
+          0.09044080227613449,
+          -0.9957285523414612,
+          0.01857435703277588,
+          -10.7918119430542
+        ],
+        [
+          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": "1731323449_83082675",
+      "mask_path": "../../mask/hdr_right_01856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01857.png",
+      "transform_matrix": [
+        [
+          0.9941595196723938,
+          0.07789342105388641,
+          -0.07469535619020462,
+          -15.837512969970703
+        ],
+        [
+          0.07258053869009018,
+          0.02964082546532154,
+          0.9969220757484436,
+          11.589876174926758
+        ],
+        [
+          0.07986769080162048,
+          -0.99652099609375,
+          0.023814162239432335,
+          -10.798538208007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1857,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_183082580",
+      "mask_path": "../../mask/hdr_right_01857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01858.png",
+      "transform_matrix": [
+        [
+          0.9947068095207214,
+          0.06473387032747269,
+          -0.07979937642812729,
+          -15.902729988098145
+        ],
+        [
+          0.07820024341344833,
+          0.026875922456383705,
+          0.9965752959251404,
+          11.586030006408691
+        ],
+        [
+          0.06665685772895813,
+          -0.9975405931472778,
+          0.021671459078788757,
+          -10.79985523223877
+        ],
+        [
+          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": "1731323449_283082962",
+      "mask_path": "../../mask/hdr_right_01858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01859.png",
+      "transform_matrix": [
+        [
+          0.9951016306877136,
+          0.055218424648046494,
+          -0.08199921250343323,
+          -15.971024513244629
+        ],
+        [
+          0.08096859604120255,
+          0.020653966814279556,
+          0.9965027570724487,
+          11.585776329040527
+        ],
+        [
+          0.056718919426202774,
+          -0.9982606172561646,
+          0.016081832349300385,
+          -10.805549621582031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1859,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_383082389",
+      "mask_path": "../../mask/hdr_right_01859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01860.png",
+      "transform_matrix": [
+        [
+          0.9957265853881836,
+          0.05113891884684563,
+          -0.07689885050058365,
+          -16.044300079345703
+        ],
+        [
+          0.07590657472610474,
+          0.021074064075946808,
+          0.9968922734260559,
+          11.58981704711914
+        ],
+        [
+          0.05260055884718895,
+          -0.9984691739082336,
+          0.01710222102701664,
+          -10.803056716918945
+        ],
+        [
+          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": "1731323449_483083248",
+      "mask_path": "../../mask/hdr_right_01860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01861.png",
+      "transform_matrix": [
+        [
+          0.9965852499008179,
+          0.04794955998659134,
+          -0.06722106039524078,
+          -16.11250877380371
+        ],
+        [
+          0.06616497784852982,
+          0.023284200578927994,
+          0.9975370764732361,
+          11.593405723571777
+        ],
+        [
+          0.04939665272831917,
+          -0.9985783100128174,
+          0.020032107830047607,
+          -10.793516159057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1861,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_583082199",
+      "mask_path": "../../mask/hdr_right_01861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01862.png",
+      "transform_matrix": [
+        [
+          0.9978557229042053,
+          0.03963589668273926,
+          -0.052084460854530334,
+          -16.17567253112793
+        ],
+        [
+          0.05130608752369881,
+          0.02040904387831688,
+          0.9984743595123291,
+          11.599750518798828
+        ],
+        [
+          0.04063842073082924,
+          -0.9990057349205017,
+          0.018331721425056458,
+          -10.793587684631348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1862,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_683083772",
+      "mask_path": "../../mask/hdr_right_01862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01863.png",
+      "transform_matrix": [
+        [
+          0.998854398727417,
+          0.0334145687520504,
+          -0.03425637260079384,
+          -16.252885818481445
+        ],
+        [
+          0.03346296399831772,
+          0.02402212843298912,
+          0.9991512894630432,
+          11.607162475585938
+        ],
+        [
+          0.03420911729335785,
+          -0.9991528391838074,
+          0.022876456379890442,
+          -10.792561531066895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1863,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_783082485",
+      "mask_path": "../../mask/hdr_right_01863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01864.png",
+      "transform_matrix": [
+        [
+          0.9992640614509583,
+          0.030601350590586662,
+          -0.023129479959607124,
+          -16.336299896240234
+        ],
+        [
+          0.022159505635499954,
+          0.03166580945253372,
+          0.9992528557777405,
+          11.618453025817871
+        ],
+        [
+          0.031310901045799255,
+          -0.9990299344062805,
+          0.03096439503133297,
+          -10.79844856262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1864,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323449_883083105",
+      "mask_path": "../../mask/hdr_right_01864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01866.png",
+      "transform_matrix": [
+        [
+          0.9997363686561584,
+          0.021767308935523033,
+          -0.00731186056509614,
+          -16.443662643432617
+        ],
+        [
+          0.006486714351922274,
+          0.03774023801088333,
+          0.9992665648460388,
+          11.621110916137695
+        ],
+        [
+          0.02202729508280754,
+          -0.999050498008728,
+          0.037589091807603836,
+          -10.805140495300293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1866,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_83081722",
+      "mask_path": "../../mask/hdr_right_01866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01867.png",
+      "transform_matrix": [
+        [
+          0.9996384978294373,
+          0.026430899277329445,
+          0.004931311588734388,
+          -16.515247344970703
+        ],
+        [
+          -0.005812403280287981,
+          0.03336348384618759,
+          0.9994264245033264,
+          11.622260093688965
+        ],
+        [
+          0.026251211762428284,
+          -0.9990937113761902,
+          0.03350505605340004,
+          -10.80752944946289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1867,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_183081388",
+      "mask_path": "../../mask/hdr_right_01867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01868.png",
+      "transform_matrix": [
+        [
+          0.9993438124656677,
+          0.02921280451118946,
+          0.02141128107905388,
+          -16.57942771911621
+        ],
+        [
+          -0.022353334352374077,
+          0.032313574105501175,
+          0.9992279410362244,
+          11.635598182678223
+        ],
+        [
+          0.028498372063040733,
+          -0.9990507960319519,
+          0.032945383340120316,
+          -10.799589157104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1868,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_283082008",
+      "mask_path": "../../mask/hdr_right_01868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01869.png",
+      "transform_matrix": [
+        [
+          0.9989503622055054,
+          0.02742563746869564,
+          0.03668900951743126,
+          -16.633214950561523
+        ],
+        [
+          -0.0376945398747921,
+          0.037093862891197205,
+          0.9986006021499634,
+          11.647862434387207
+        ],
+        [
+          0.026026319712400436,
+          -0.9989354014396667,
+          0.03808872029185295,
+          -10.794779777526855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1869,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_383083105",
+      "mask_path": "../../mask/hdr_right_01869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01870.png",
+      "transform_matrix": [
+        [
+          0.9984827041625977,
+          0.024922486394643784,
+          0.049103859812021255,
+          -16.68384552001953
+        ],
+        [
+          -0.05000384896993637,
+          0.03687535598874092,
+          0.9980680346488953,
+          11.656697273254395
+        ],
+        [
+          0.023063616827130318,
+          -0.9990090131759644,
+          0.03806562349200249,
+          -10.797164916992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1870,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_483082771",
+      "mask_path": "../../mask/hdr_right_01870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01871.png",
+      "transform_matrix": [
+        [
+          0.9981763362884521,
+          0.017283093184232712,
+          0.057838473469018936,
+          -16.769906997680664
+        ],
+        [
+          -0.05842289328575134,
+          0.035479556769132614,
+          0.9976613521575928,
+          11.676567077636719
+        ],
+        [
+          0.015190589241683483,
+          -0.9992209672927856,
+          0.036424584686756134,
+          -10.8016939163208
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1871,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_583081483",
+      "mask_path": "../../mask/hdr_right_01871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01872.png",
+      "transform_matrix": [
+        [
+          0.9981244206428528,
+          0.012464032508432865,
+          0.05993626266717911,
+          -16.849727630615234
+        ],
+        [
+          -0.06037057563662529,
+          0.03801584243774414,
+          0.997451901435852,
+          11.685675621032715
+        ],
+        [
+          0.010153746232390404,
+          -0.999199390411377,
+          0.03869699686765671,
+          -10.795639991760254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1872,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_683084011",
+      "mask_path": "../../mask/hdr_right_01872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01873.png",
+      "transform_matrix": [
+        [
+          0.9982824325561523,
+          0.01341775432229042,
+          0.057027317583560944,
+          -16.907045364379883
+        ],
+        [
+          -0.057474229484796524,
+          0.03568873926997185,
+          0.9977089166641235,
+          11.69063949584961
+        ],
+        [
+          0.011351781897246838,
+          -0.999272882938385,
+          0.03639862313866615,
+          -10.793682098388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1873,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_783082008",
+      "mask_path": "../../mask/hdr_right_01873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01874.png",
+      "transform_matrix": [
+        [
+          0.9983623027801514,
+          0.013752560131251812,
+          0.05552981048822403,
+          -16.972383499145508
+        ],
+        [
+          -0.05591042712330818,
+          0.029043126851320267,
+          0.9980133175849915,
+          11.702033996582031
+        ],
+        [
+          0.012112478725612164,
+          -0.9994835257530212,
+          0.029764477163553238,
+          -10.801692008972168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1874,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_883082866",
+      "mask_path": "../../mask/hdr_right_01874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01875.png",
+      "transform_matrix": [
+        [
+          0.9978979825973511,
+          0.019298037514090538,
+          0.06186465919017792,
+          -17.04199981689453
+        ],
+        [
+          -0.06220729649066925,
+          0.017692379653453827,
+          0.997906506061554,
+          11.705693244934082
+        ],
+        [
+          0.018163101747632027,
+          -0.9996572136878967,
+          0.01885567046701908,
+          -10.78600025177002
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1875,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323450_983083009",
+      "mask_path": "../../mask/hdr_right_01875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01877.png",
+      "transform_matrix": [
+        [
+          0.9942318797111511,
+          0.023285049945116043,
+          0.104693703353405,
+          -17.117660522460938
+        ],
+        [
+          -0.10474744439125061,
+          0.001097780535928905,
+          0.9944982528686523,
+          11.740492820739746
+        ],
+        [
+          0.02304201014339924,
+          -0.999728262424469,
+          0.0035304969642311335,
+          -10.782818794250488
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1877,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_183082103",
+      "mask_path": "../../mask/hdr_right_01877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01878.png",
+      "transform_matrix": [
+        [
+          0.9897927641868591,
+          0.030336132273077965,
+          0.1392480731010437,
+          -17.169403076171875
+        ],
+        [
+          -0.1393657922744751,
+          0.001791283255442977,
+          0.9902393817901611,
+          11.761394500732422
+        ],
+        [
+          0.029790600761771202,
+          -0.9995381236076355,
+          0.006000818219035864,
+          -10.792229652404785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1878,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_283082485",
+      "mask_path": "../../mask/hdr_right_01878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01879.png",
+      "transform_matrix": [
+        [
+          0.9845464825630188,
+          0.04963473230600357,
+          0.16794270277023315,
+          -17.231517791748047
+        ],
+        [
+          -0.16872568428516388,
+          0.012000404298305511,
+          0.9855899810791016,
+          11.784273147583008
+        ],
+        [
+          0.04690411686897278,
+          -0.9986953139305115,
+          0.020189611241221428,
+          -10.805761337280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1879,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_383081912",
+      "mask_path": "../../mask/hdr_right_01879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01880.png",
+      "transform_matrix": [
+        [
+          0.9790927767753601,
+          0.06416468322277069,
+          0.1930292695760727,
+          -17.274133682250977
+        ],
+        [
+          -0.19469258189201355,
+          0.020708376541733742,
+          0.9806457161903381,
+          11.823671340942383
+        ],
+        [
+          0.05892549082636833,
+          -0.9977244734764099,
+          0.03276780620217323,
+          -10.83935546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1880,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_483081340",
+      "mask_path": "../../mask/hdr_right_01880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01882.png",
+      "transform_matrix": [
+        [
+          0.9666293263435364,
+          0.08313747495412827,
+          0.242313951253891,
+          -17.32275390625
+        ],
+        [
+          -0.24572652578353882,
+          0.03346406668424606,
+          0.9687614440917969,
+          11.897817611694336
+        ],
+        [
+          0.07243157178163528,
+          -0.9959760308265686,
+          0.052776437252759933,
+          -10.885725975036621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1882,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_683082103",
+      "mask_path": "../../mask/hdr_right_01882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01884.png",
+      "transform_matrix": [
+        [
+          0.9500122666358948,
+          0.10926691442728043,
+          0.29246780276298523,
+          -17.380781173706055
+        ],
+        [
+          -0.294584184885025,
+          0.003391880774870515,
+          0.9556194543838501,
+          11.928260803222656
+        ],
+        [
+          0.10342557728290558,
+          -0.9940066933631897,
+          0.03541063517332077,
+          -10.87471866607666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1884,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_883081674",
+      "mask_path": "../../mask/hdr_right_01884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01885.png",
+      "transform_matrix": [
+        [
+          0.9443328976631165,
+          0.11382920295000076,
+          0.30867186188697815,
+          -17.4233341217041
+        ],
+        [
+          -0.30975669622421265,
+          -0.008477430790662766,
+          0.950778067111969,
+          11.963655471801758
+        ],
+        [
+          0.11084304749965668,
+          -0.9934641718864441,
+          0.02725384570658207,
+          -10.892696380615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1885,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323451_983082294",
+      "mask_path": "../../mask/hdr_right_01885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01886.png",
+      "transform_matrix": [
+        [
+          0.940565824508667,
+          0.11651156842708588,
+          0.3190000355243683,
+          -17.46525001525879
+        ],
+        [
+          -0.3192795515060425,
+          -0.016762347891926765,
+          0.9475123882293701,
+          11.999337196350098
+        ],
+        [
+          0.11574333906173706,
+          -0.993047833442688,
+          0.021433675661683083,
+          -10.908697128295898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1886,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_83082199",
+      "mask_path": "../../mask/hdr_right_01886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01887.png",
+      "transform_matrix": [
+        [
+          0.9382549524307251,
+          0.12242110073566437,
+          0.3235594928264618,
+          -17.511188507080078
+        ],
+        [
+          -0.32366514205932617,
+          -0.01957835629582405,
+          0.9459691643714905,
+          12.016736030578613
+        ],
+        [
+          0.12214134633541107,
+          -0.9922851920127869,
+          0.021253954619169235,
+          -10.89780330657959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1887,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_183081388",
+      "mask_path": "../../mask/hdr_right_01887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01889.png",
+      "transform_matrix": [
+        [
+          0.9378722310066223,
+          0.12725301086902618,
+          0.32280394434928894,
+          -17.595041275024414
+        ],
+        [
+          -0.32215777039527893,
+          -0.026200158521533012,
+          0.9463233947753906,
+          12.046117782592773
+        ],
+        [
+          0.12887999415397644,
+          -0.9915242195129395,
+          0.016423150897026062,
+          -10.919495582580566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1889,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_383081197",
+      "mask_path": "../../mask/hdr_right_01889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01890.png",
+      "transform_matrix": [
+        [
+          0.9378038644790649,
+          0.12781922519207,
+          0.3227789103984833,
+          -17.64469337463379
+        ],
+        [
+          -0.3212205171585083,
+          -0.033197954297065735,
+          0.9464223980903625,
+          12.065791130065918
+        ],
+        [
+          0.13168655335903168,
+          -0.9912417531013489,
+          0.009924987331032753,
+          -10.929264068603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1890,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_483080863",
+      "mask_path": "../../mask/hdr_right_01890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01891.png",
+      "transform_matrix": [
+        [
+          0.9342761635780334,
+          0.14221160113811493,
+          0.3269617557525635,
+          -17.69424819946289
+        ],
+        [
+          -0.3226107060909271,
+          -0.0533074252307415,
+          0.9450294375419617,
+          12.09131145477295
+        ],
+        [
+          0.15182363986968994,
+          -0.9883998036384583,
+          -0.003924863412976265,
+          -10.945307731628418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1891,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_583081245",
+      "mask_path": "../../mask/hdr_right_01891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01892.png",
+      "transform_matrix": [
+        [
+          0.9277620315551758,
+          0.16347435116767883,
+          0.33546045422554016,
+          -17.73685073852539
+        ],
+        [
+          -0.32699307799339294,
+          -0.0770299956202507,
+          0.9418821334838867,
+          12.122838020324707
+        ],
+        [
+          0.17981408536434174,
+          -0.9835357069969177,
+          -0.01801052689552307,
+          -10.978431701660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1892,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_683081388",
+      "mask_path": "../../mask/hdr_right_01892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01893.png",
+      "transform_matrix": [
+        [
+          0.9224677085876465,
+          0.1729739010334015,
+          0.3451571464538574,
+          -17.775896072387695
+        ],
+        [
+          -0.3331763744354248,
+          -0.09501633048057556,
+          0.938064694404602,
+          12.151734352111816
+        ],
+        [
+          0.19505631923675537,
+          -0.980332612991333,
+          -0.030018677935004234,
+          -11.014398574829102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1893,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_783080101",
+      "mask_path": "../../mask/hdr_right_01893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01894.png",
+      "transform_matrix": [
+        [
+          0.9191388487815857,
+          0.176363006234169,
+          0.3522498607635498,
+          -17.828781127929688
+        ],
+        [
+          -0.3379094898700714,
+          -0.10664916038513184,
+          0.9351166486740112,
+          12.161645889282227
+        ],
+        [
+          0.20248712599277496,
+          -0.9785305261611938,
+          -0.03843065723776817,
+          -11.02813720703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1894,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_883081197",
+      "mask_path": "../../mask/hdr_right_01894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01895.png",
+      "transform_matrix": [
+        [
+          0.9110743403434753,
+          0.21995609998703003,
+          0.34865882992744446,
+          -17.88991355895996
+        ],
+        [
+          -0.3315476179122925,
+          -0.11166530102491379,
+          0.9368067979812622,
+          12.162415504455566
+        ],
+        [
+          0.24498948454856873,
+          -0.9690976738929749,
+          -0.02880946174263954,
+          -11.053559303283691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1895,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323452_983081102",
+      "mask_path": "../../mask/hdr_right_01895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01897.png",
+      "transform_matrix": [
+        [
+          0.9048832654953003,
+          0.260431706905365,
+          0.33669233322143555,
+          -17.934520721435547
+        ],
+        [
+          -0.31468871235847473,
+          -0.12333609908819199,
+          0.9411478638648987,
+          12.172513008117676
+        ],
+        [
+          0.2866310477256775,
+          -0.9575821757316589,
+          -0.029649833217263222,
+          -11.113138198852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1897,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_183077573",
+      "mask_path": "../../mask/hdr_right_01897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01898.png",
+      "transform_matrix": [
+        [
+          0.9089276790618896,
+          0.24075298011302948,
+          0.3404238820075989,
+          -17.995620727539062
+        ],
+        [
+          -0.31682154536247253,
+          -0.13199171423912048,
+          0.9392563104629517,
+          12.179967880249023
+        ],
+        [
+          0.27106189727783203,
+          -0.9615696668624878,
+          -0.043695200234651566,
+          -11.113727569580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1898,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_283080577",
+      "mask_path": "../../mask/hdr_right_01898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01899.png",
+      "transform_matrix": [
+        [
+          0.9057894945144653,
+          0.23492389917373657,
+          0.3526417315006256,
+          -18.055131912231445
+        ],
+        [
+          -0.32760292291641235,
+          -0.13956443965435028,
+          0.9344507455825806,
+          12.189886093139648
+        ],
+        [
+          0.26874104142189026,
+          -0.9619420766830444,
+          -0.04945427551865578,
+          -11.115370750427246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1899,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_383080959",
+      "mask_path": "../../mask/hdr_right_01899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01901.png",
+      "transform_matrix": [
+        [
+          0.885947048664093,
+          0.23054493963718414,
+          0.4024263024330139,
+          -18.13407325744629
+        ],
+        [
+          -0.3768033981323242,
+          -0.1480925977230072,
+          0.9143784642219543,
+          12.241178512573242
+        ],
+        [
+          0.27040165662765503,
+          -0.9617263078689575,
+          -0.04433206096291542,
+          -11.153079986572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1901,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_583081007",
+      "mask_path": "../../mask/hdr_right_01901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01902.png",
+      "transform_matrix": [
+        [
+          0.8679182529449463,
+          0.23427700996398926,
+          0.4379865527153015,
+          -18.19704246520996
+        ],
+        [
+          -0.4142003059387207,
+          -0.14531393349170685,
+          0.8985109925270081,
+          12.278914451599121
+        ],
+        [
+          0.2741459906101227,
+          -0.9612482190132141,
+          -0.02908300794661045,
+          -11.177020072937012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1902,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323453_683081388",
+      "mask_path": "../../mask/hdr_right_01902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01906.png",
+      "transform_matrix": [
+        [
+          0.7714009881019592,
+          0.22409553825855255,
+          0.5955852270126343,
+          -18.343111038208008
+        ],
+        [
+          -0.5730099081993103,
+          -0.16245266795158386,
+          0.8032863140106201,
+          12.381739616394043
+        ],
+        [
+          0.2767672538757324,
+          -0.9609320163726807,
+          0.003092813305556774,
+          -11.209721565246582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1906,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_83081007",
+      "mask_path": "../../mask/hdr_right_01906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01907.png",
+      "transform_matrix": [
+        [
+          0.7287486791610718,
+          0.20642977952957153,
+          0.6529257893562317,
+          -18.39210319519043
+        ],
+        [
+          -0.6117218732833862,
+          -0.23228774964809418,
+          0.7562001943588257,
+          12.376570701599121
+        ],
+        [
+          0.30776891112327576,
+          -0.9504888653755188,
+          -0.04300176724791527,
+          -11.219075202941895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1907,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_183080911",
+      "mask_path": "../../mask/hdr_right_01907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01909.png",
+      "transform_matrix": [
+        [
+          0.6543517112731934,
+          0.19599908590316772,
+          0.7303481101989746,
+          -18.43422508239746
+        ],
+        [
+          -0.678809642791748,
+          -0.27336061000823975,
+          0.6815361380577087,
+          12.420368194580078
+        ],
+        [
+          0.33322882652282715,
+          -0.9417315125465393,
+          -0.04582789167761803,
+          -11.273153305053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1909,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_383080482",
+      "mask_path": "../../mask/hdr_right_01909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01910.png",
+      "transform_matrix": [
+        [
+          0.6323526501655579,
+          0.1896122545003891,
+          0.751117467880249,
+          -18.48838233947754
+        ],
+        [
+          -0.7061519622802734,
+          -0.2576209306716919,
+          0.6595308184623718,
+          12.467528343200684
+        ],
+        [
+          0.3185586631298065,
+          -0.9474590420722961,
+          -0.02901221439242363,
+          -11.290780067443848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1910,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_483082056",
+      "mask_path": "../../mask/hdr_right_01910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01912.png",
+      "transform_matrix": [
+        [
+          0.5901308059692383,
+          0.16236712038516998,
+          0.7908113598823547,
+          -18.53199577331543
+        ],
+        [
+          -0.7470932602882385,
+          -0.2613798975944519,
+          0.6111727952957153,
+          12.530465126037598
+        ],
+        [
+          0.3059365451335907,
+          -0.9514816999435425,
+          -0.03294496238231659,
+          -11.317412376403809
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1912,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323454_683078765",
+      "mask_path": "../../mask/hdr_right_01912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01914.png",
+      "transform_matrix": [
+        [
+          0.5180219411849976,
+          0.14025676250457764,
+          0.8437898755073547,
+          -18.533679962158203
+        ],
+        [
+          -0.8022868037223816,
+          -0.262422114610672,
+          0.536162793636322,
+          12.65127944946289
+        ],
+        [
+          0.29662957787513733,
+          -0.9547055959701538,
+          -0.023414263501763344,
+          -11.367571830749512
+        ],
+        [
+          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": "1731323454_883080720",
+      "mask_path": "../../mask/hdr_right_01914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01916.png",
+      "transform_matrix": [
+        [
+          0.40342941880226135,
+          0.07906215637922287,
+          0.9115886092185974,
+          -18.53697967529297
+        ],
+        [
+          -0.845451831817627,
+          -0.3488015830516815,
+          0.404411643743515,
+          12.720932960510254
+        ],
+        [
+          0.34993723034858704,
+          -0.9338557720184326,
+          -0.07387357205152512,
+          -11.38326358795166
+        ],
+        [
+          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": "1731323455_83080291",
+      "mask_path": "../../mask/hdr_right_01916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01918.png",
+      "transform_matrix": [
+        [
+          0.3024795353412628,
+          0.07267770171165466,
+          0.9503811001777649,
+          -18.572097778320312
+        ],
+        [
+          -0.8936740159988403,
+          -0.32509273290634155,
+          0.3092918395996094,
+          12.838271141052246
+        ],
+        [
+          0.33144062757492065,
+          -0.9428852796554565,
+          -0.033383727073669434,
+          -11.421274185180664
+        ],
+        [
+          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": "1731323455_283080101",
+      "mask_path": "../../mask/hdr_right_01918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01920.png",
+      "transform_matrix": [
+        [
+          0.22273002564907074,
+          0.06334587931632996,
+          0.9728200435638428,
+          -18.573034286499023
+        ],
+        [
+          -0.9213359951972961,
+          -0.31248173117637634,
+          0.2312900871038437,
+          12.90366268157959
+        ],
+        [
+          0.31863972544670105,
+          -0.9478092789649963,
+          -0.01123620755970478,
+          -11.472651481628418
+        ],
+        [
+          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": "1731323455_483081102",
+      "mask_path": "../../mask/hdr_right_01920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01922.png",
+      "transform_matrix": [
+        [
+          0.16250431537628174,
+          0.028906406834721565,
+          0.9862843751907349,
+          -18.568317413330078
+        ],
+        [
+          -0.9364492297172546,
+          -0.310429185628891,
+          0.16339144110679626,
+          12.992576599121094
+        ],
+        [
+          0.3108944594860077,
+          -0.9501569271087646,
+          -0.023376688361167908,
+          -11.517248153686523
+        ],
+        [
+          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": "1731323455_683079719",
+      "mask_path": "../../mask/hdr_right_01922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01923.png",
+      "transform_matrix": [
+        [
+          0.12886446714401245,
+          -0.03286921605467796,
+          0.9911173582077026,
+          -18.587865829467773
+        ],
+        [
+          -0.9318103194236755,
+          -0.34597691893577576,
+          0.10967948287725449,
+          13.037253379821777
+        ],
+        [
+          0.33929869532585144,
+          -0.9376670718193054,
+          -0.07521200180053711,
+          -11.52685260772705
+        ],
+        [
+          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": "1731323455_783081054",
+      "mask_path": "../../mask/hdr_right_01923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01925.png",
+      "transform_matrix": [
+        [
+          0.06351552903652191,
+          -0.05216459929943085,
+          0.9966166019439697,
+          -18.595373153686523
+        ],
+        [
+          -0.9304865002632141,
+          -0.3641089200973511,
+          0.04024289548397064,
+          13.108638763427734
+        ],
+        [
+          0.36077767610549927,
+          -0.9298943877220154,
+          -0.07166502624750137,
+          -11.551398277282715
+        ],
+        [
+          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": "1731323455_983078718",
+      "mask_path": "../../mask/hdr_right_01925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01926.png",
+      "transform_matrix": [
+        [
+          0.0359480082988739,
+          -0.04419883340597153,
+          0.9983758330345154,
+          -18.599958419799805
+        ],
+        [
+          -0.9347288012504578,
+          -0.3549085557460785,
+          0.017944231629371643,
+          13.164180755615234
+        ],
+        [
+          0.35353899002075195,
+          -0.9338557124137878,
+          -0.054072171449661255,
+          -11.56047248840332
+        ],
+        [
+          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": "1731323456_83079814",
+      "mask_path": "../../mask/hdr_right_01926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01928.png",
+      "transform_matrix": [
+        [
+          -0.04271426796913147,
+          -0.06398706883192062,
+          0.9970362186431885,
+          -18.566099166870117
+        ],
+        [
+          -0.9389950633049011,
+          -0.3383072316646576,
+          -0.06193937733769417,
+          13.234289169311523
+        ],
+        [
+          0.341267853975296,
+          -0.9388577342033386,
+          -0.0456329844892025,
+          -11.61101245880127
+        ],
+        [
+          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": "1731323456_283080577",
+      "mask_path": "../../mask/hdr_right_01928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01929.png",
+      "transform_matrix": [
+        [
+          -0.09226260334253311,
+          -0.07815661281347275,
+          0.9926627278327942,
+          -18.530261993408203
+        ],
+        [
+          -0.9372619986534119,
+          -0.32977747917175293,
+          -0.11307826638221741,
+          13.28058910369873
+        ],
+        [
+          0.33619561791419983,
+          -0.9408179521560669,
+          -0.04282707720994949,
+          -11.642426490783691
+        ],
+        [
+          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": "1731323456_383080720",
+      "mask_path": "../../mask/hdr_right_01929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01930.png",
+      "transform_matrix": [
+        [
+          -0.1489277333021164,
+          -0.10927252471446991,
+          0.9827919006347656,
+          -18.481298446655273
+        ],
+        [
+          -0.9272676706314087,
+          -0.3298183083534241,
+          -0.17718498408794403,
+          13.326889038085938
+        ],
+        [
+          0.3435042202472687,
+          -0.937699019908905,
+          -0.05220579355955124,
+          -11.662272453308105
+        ],
+        [
+          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": "1731323456_483080148",
+      "mask_path": "../../mask/hdr_right_01930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01932.png",
+      "transform_matrix": [
+        [
+          -0.2681523263454437,
+          -0.1325186789035797,
+          0.9542186856269836,
+          -18.406713485717773
+        ],
+        [
+          -0.8967806100845337,
+          -0.32753512263298035,
+          -0.29749828577041626,
+          13.357636451721191
+        ],
+        [
+          0.35196420550346375,
+          -0.9354996085166931,
+          -0.031010881066322327,
+          -11.664070129394531
+        ],
+        [
+          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": "1731323456_683080911",
+      "mask_path": "../../mask/hdr_right_01932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01934.png",
+      "transform_matrix": [
+        [
+          -0.3674739599227905,
+          -0.11203841120004654,
+          0.9232608079910278,
+          -18.35064125061035
+        ],
+        [
+          -0.8544197082519531,
+          -0.3514162600040436,
+          -0.38271865248680115,
+          13.405916213989258
+        ],
+        [
+          0.3673279881477356,
+          -0.9294912815093994,
+          0.033408477902412415,
+          -11.690118789672852
+        ],
+        [
+          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": "1731323456_883081674",
+      "mask_path": "../../mask/hdr_right_01934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01936.png",
+      "transform_matrix": [
+        [
+          -0.42167675495147705,
+          -0.11198832094669342,
+          0.8998040556907654,
+          -18.318330764770508
+        ],
+        [
+          -0.8335500359535217,
+          -0.34272465109825134,
+          -0.43328309059143066,
+          13.453872680664062
+        ],
+        [
+          0.3569076359272003,
+          -0.9327370524406433,
+          0.05117117613554001,
+          -11.716195106506348
+        ],
+        [
+          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": "1731323457_83080768",
+      "mask_path": "../../mask/hdr_right_01936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01940.png",
+      "transform_matrix": [
+        [
+          -0.46274039149284363,
+          -0.10260703414678574,
+          0.8805356621742249,
+          -18.22516441345215
+        ],
+        [
+          -0.8276405930519104,
+          -0.30587562918663025,
+          -0.47058597207069397,
+          13.600687026977539
+        ],
+        [
+          0.31761983036994934,
+          -0.9465262293815613,
+          0.056619249284267426,
+          -11.781937599182129
+        ],
+        [
+          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": "1731323457_483081102",
+      "mask_path": "../../mask/hdr_right_01940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01942.png",
+      "transform_matrix": [
+        [
+          -0.4649369418621063,
+          -0.09759525954723358,
+          0.8799482583999634,
+          -18.162002563476562
+        ],
+        [
+          -0.8265501260757446,
+          -0.3083048164844513,
+          -0.4709171950817108,
+          13.678433418273926
+        ],
+        [
+          0.3172515630722046,
+          -0.9462680816650391,
+          0.06267490237951279,
+          -11.821791648864746
+        ],
+        [
+          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": "1731323457_683080911",
+      "mask_path": "../../mask/hdr_right_01942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01943.png",
+      "transform_matrix": [
+        [
+          -0.46892669796943665,
+          -0.10103734582662582,
+          0.8774390816688538,
+          -18.122512817382812
+        ],
+        [
+          -0.8244225382804871,
+          -0.30638518929481506,
+          -0.4758736789226532,
+          13.728013038635254
+        ],
+        [
+          0.3169153034687042,
+          -0.946530282497406,
+          0.06037472188472748,
+          -11.817486763000488
+        ],
+        [
+          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": "1731323457_783082008",
+      "mask_path": "../../mask/hdr_right_01943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01945.png",
+      "transform_matrix": [
+        [
+          -0.5293568968772888,
+          -0.09310272336006165,
+          0.843275249004364,
+          -18.057096481323242
+        ],
+        [
+          -0.7997429966926575,
+          -0.27700909972190857,
+          -0.5326135754585266,
+          13.783798217773438
+        ],
+        [
+          0.28318271040916443,
+          -0.9563460946083069,
+          0.0721784308552742,
+          -11.837140083312988
+        ],
+        [
+          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": "1731323457_983080625",
+      "mask_path": "../../mask/hdr_right_01945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01946.png",
+      "transform_matrix": [
+        [
+          -0.5784972906112671,
+          -0.09618748724460602,
+          0.8099931478500366,
+          -17.99520492553711
+        ],
+        [
+          -0.7696500420570374,
+          -0.2645120620727539,
+          -0.5810955762863159,
+          13.811250686645508
+        ],
+        [
+          0.27014708518981934,
+          -0.95957350730896,
+          0.07898886501789093,
+          -11.850653648376465
+        ],
+        [
+          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": "1731323458_83079338",
+      "mask_path": "../../mask/hdr_right_01946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01948.png",
+      "transform_matrix": [
+        [
+          -0.6704100370407104,
+          -0.11351650953292847,
+          0.7332559823989868,
+          -17.929738998413086
+        ],
+        [
+          -0.6970817446708679,
+          -0.24222692847251892,
+          -0.674835741519928,
+          13.842960357666016
+        ],
+        [
+          0.2542193531990051,
+          -0.9635559916496277,
+          0.08326109498739243,
+          -11.849575996398926
+        ],
+        [
+          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": "1731323458_283081531",
+      "mask_path": "../../mask/hdr_right_01948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01950.png",
+      "transform_matrix": [
+        [
+          -0.7178487181663513,
+          -0.1012345626950264,
+          0.6887995004653931,
+          -17.843063354492188
+        ],
+        [
+          -0.66033536195755,
+          -0.2144453078508377,
+          -0.7197016477584839,
+          13.896506309509277
+        ],
+        [
+          0.22056850790977478,
+          -0.9714755415916443,
+          0.08709052205085754,
+          -11.873242378234863
+        ],
+        [
+          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": "1731323458_483081817",
+      "mask_path": "../../mask/hdr_right_01950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01951.png",
+      "transform_matrix": [
+        [
+          -0.7242996096611023,
+          -0.09168437123298645,
+          0.6833624243736267,
+          -17.80670166015625
+        ],
+        [
+          -0.6593902111053467,
+          -0.19751542806625366,
+          -0.725391149520874,
+          13.93776798248291
+        ],
+        [
+          0.2014816254377365,
+          -0.9760028719902039,
+          0.0826045572757721,
+          -11.866616249084473
+        ],
+        [
+          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": "1731323458_583082199",
+      "mask_path": "../../mask/hdr_right_01951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01953.png",
+      "transform_matrix": [
+        [
+          -0.7179902195930481,
+          -0.08035498112440109,
+          0.6913994550704956,
+          -17.750255584716797
+        ],
+        [
+          -0.6739838719367981,
+          -0.16788487136363983,
+          -0.7194167375564575,
+          13.998740196228027
+        ],
+        [
+          0.17388419806957245,
+          -0.9825261831283569,
+          0.06638175249099731,
+          -11.866697311401367
+        ],
+        [
+          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": "1731323458_783082485",
+      "mask_path": "../../mask/hdr_right_01953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01955.png",
+      "transform_matrix": [
+        [
+          -0.7153192758560181,
+          -0.07556193321943283,
+          0.6947005391120911,
+          -17.649354934692383
+        ],
+        [
+          -0.6825949549674988,
+          -0.13728247582912445,
+          -0.7177866101264954,
+          14.063377380371094
+        ],
+        [
+          0.14960753917694092,
+          -0.9876456260681152,
+          0.04662259668111801,
+          -11.87636661529541
+        ],
+        [
+          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": "1731323458_983080863",
+      "mask_path": "../../mask/hdr_right_01955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01956.png",
+      "transform_matrix": [
+        [
+          -0.7196499705314636,
+          -0.06849445402622223,
+          0.6909504532814026,
+          -17.581947326660156
+        ],
+        [
+          -0.6807175874710083,
+          -0.12653212249279022,
+          -0.7215352654457092,
+          14.106823921203613
+        ],
+        [
+          0.1368485987186432,
+          -0.9895949363708496,
+          0.044433459639549255,
+          -11.885085105895996
+        ],
+        [
+          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": "1731323459_83080530",
+      "mask_path": "../../mask/hdr_right_01956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01958.png",
+      "transform_matrix": [
+        [
+          -0.7322800159454346,
+          -0.06089165806770325,
+          0.6782759428024292,
+          -17.503211975097656
+        ],
+        [
+          -0.670619547367096,
+          -0.10879124701023102,
+          -0.7337806224822998,
+          14.168401718139648
+        ],
+        [
+          0.11847159266471863,
+          -0.9921978712081909,
+          0.038830507546663284,
+          -11.906490325927734
+        ],
+        [
+          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": "1731323459_283081054",
+      "mask_path": "../../mask/hdr_right_01958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01959.png",
+      "transform_matrix": [
+        [
+          -0.735005795955658,
+          -0.056073203682899475,
+          0.6757383346557617,
+          -17.439132690429688
+        ],
+        [
+          -0.669213593006134,
+          -0.1004730686545372,
+          -0.7362461090087891,
+          14.214598655700684
+        ],
+        [
+          0.10917717963457108,
+          -0.9933584928512573,
+          0.03632333502173424,
+          -11.907517433166504
+        ],
+        [
+          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": "1731323459_383080720",
+      "mask_path": "../../mask/hdr_right_01959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01960.png",
+      "transform_matrix": [
+        [
+          -0.7323799729347229,
+          -0.05072468891739845,
+          0.6790041327476501,
+          -17.39087677001953
+        ],
+        [
+          -0.6736299395561218,
+          -0.09131935238838196,
+          -0.733405351638794,
+          14.25571060180664
+        ],
+        [
+          0.09920798242092133,
+          -0.9945289492607117,
+          0.03271080181002617,
+          -11.90750789642334
+        ],
+        [
+          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": "1731323459_483080387",
+      "mask_path": "../../mask/hdr_right_01960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01962.png",
+      "transform_matrix": [
+        [
+          -0.7268359065055847,
+          -0.0517876110970974,
+          0.6848558783531189,
+          -17.321779251098633
+        ],
+        [
+          -0.6817175149917603,
+          -0.06681757420301437,
+          -0.7285578846931458,
+          14.310133934020996
+        ],
+        [
+          0.08349066227674484,
+          -0.9964202642440796,
+          0.013260887935757637,
+          -11.917160034179688
+        ],
+        [
+          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": "1731323459_683080911",
+      "mask_path": "../../mask/hdr_right_01962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01963.png",
+      "transform_matrix": [
+        [
+          -0.7287474274635315,
+          -0.06278263032436371,
+          0.6818984746932983,
+          -17.28182601928711
+        ],
+        [
+          -0.6782494187355042,
+          -0.07104719430208206,
+          -0.7313891053199768,
+          14.341634750366211
+        ],
+        [
+          0.09436549991369247,
+          -0.9954952001571655,
+          0.0091931764036417,
+          -11.92125415802002
+        ],
+        [
+          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": "1731323459_783081054",
+      "mask_path": "../../mask/hdr_right_01963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01964.png",
+      "transform_matrix": [
+        [
+          -0.7340837717056274,
+          -0.07572097331285477,
+          0.6748239994049072,
+          -17.238061904907227
+        ],
+        [
+          -0.6695865392684937,
+          -0.08469226956367493,
+          -0.7378896474838257,
+          14.38818645477295
+        ],
+        [
+          0.11302609741687775,
+          -0.9935259222984314,
+          0.011469469405710697,
+          -11.942216873168945
+        ],
+        [
+          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": "1731323459_883080005",
+      "mask_path": "../../mask/hdr_right_01964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01965.png",
+      "transform_matrix": [
+        [
+          -0.7394275069236755,
+          -0.08691897988319397,
+          0.6676015853881836,
+          -17.18990707397461
+        ],
+        [
+          -0.661988377571106,
+          -0.08663631230592728,
+          -0.7444902062416077,
+          14.42461109161377
+        ],
+        [
+          0.12254887819290161,
+          -0.9924410581588745,
+          0.006521915551275015,
+          -11.971866607666016
+        ],
+        [
+          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": "1731323459_983080863",
+      "mask_path": "../../mask/hdr_right_01965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01967.png",
+      "transform_matrix": [
+        [
+          -0.7482746243476868,
+          -0.08535820245742798,
+          0.6578747630119324,
+          -17.080602645874023
+        ],
+        [
+          -0.651458203792572,
+          -0.09268321096897125,
+          -0.7530021071434021,
+          14.485549926757812
+        ],
+        [
+          0.12524884939193726,
+          -0.992030143737793,
+          0.013745184987783432,
+          -11.982211112976074
+        ],
+        [
+          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": "1731323460_183081150",
+      "mask_path": "../../mask/hdr_right_01967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01970.png",
+      "transform_matrix": [
+        [
+          -0.7415719628334045,
+          -0.08540882170200348,
+          0.6654144525527954,
+          -16.965517044067383
+        ],
+        [
+          -0.656062126159668,
+          -0.11494307219982147,
+          -0.7459026575088501,
+          14.586612701416016
+        ],
+        [
+          0.1401914358139038,
+          -0.9896936416625977,
+          0.029205074533820152,
+          -12.032482147216797
+        ],
+        [
+          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": "1731323460_483079671",
+      "mask_path": "../../mask/hdr_right_01970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01971.png",
+      "transform_matrix": [
+        [
+          -0.7388702630996704,
+          -0.12151198834180832,
+          0.6628013849258423,
+          -16.92404556274414
+        ],
+        [
+          -0.651660144329071,
+          -0.12147685885429382,
+          -0.748720645904541,
+          14.618291854858398
+        ],
+        [
+          0.1714935600757599,
+          -0.9851284623146057,
+          0.010571131482720375,
+          -12.048429489135742
+        ],
+        [
+          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": "1731323460_583080768",
+      "mask_path": "../../mask/hdr_right_01971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01973.png",
+      "transform_matrix": [
+        [
+          -0.7430123686790466,
+          -0.17597851157188416,
+          0.6457277536392212,
+          -16.8753719329834
+        ],
+        [
+          -0.6301451325416565,
+          -0.141130268573761,
+          -0.7635439038276672,
+          14.658400535583496
+        ],
+        [
+          0.22549904882907867,
+          -0.9742246866226196,
+          -0.00603046640753746,
+          -12.095797538757324
+        ],
+        [
+          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": "1731323460_783082008",
+      "mask_path": "../../mask/hdr_right_01973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01974.png",
+      "transform_matrix": [
+        [
+          -0.7479270100593567,
+          -0.17989999055862427,
+          0.6389375925064087,
+          -16.847671508789062
+        ],
+        [
+          -0.6232151389122009,
+          -0.14102543890476227,
+          -0.7692298889160156,
+          14.69225025177002
+        ],
+        [
+          0.2284909188747406,
+          -0.9735233783721924,
+          -0.006639673840254545,
+          -12.122053146362305
+        ],
+        [
+          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": "1731323460_883082151",
+      "mask_path": "../../mask/hdr_right_01974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01975.png",
+      "transform_matrix": [
+        [
+          -0.7464650869369507,
+          -0.18921710550785065,
+          0.6379551887512207,
+          -16.80229377746582
+        ],
+        [
+          -0.6153057813644409,
+          -0.16875046491622925,
+          -0.7700144648551941,
+          14.735894203186035
+        ],
+        [
+          0.25335511565208435,
+          -0.9673263430595398,
+          0.00953993946313858,
+          -12.139884948730469
+        ],
+        [
+          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": "1731323460_983082056",
+      "mask_path": "../../mask/hdr_right_01975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01980.png",
+      "transform_matrix": [
+        [
+          -0.8354650735855103,
+          -0.21256837248802185,
+          0.5067670941352844,
+          -16.627721786499023
+        ],
+        [
+          -0.46395015716552734,
+          -0.22140541672706604,
+          -0.8577470183372498,
+          14.721940994262695
+        ],
+        [
+          0.29453086853027344,
+          -0.9517322182655334,
+          0.08635537326335907,
+          -12.187883377075195
+        ],
+        [
+          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": "1731323461_483082056",
+      "mask_path": "../../mask/hdr_right_01980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01982.png",
+      "transform_matrix": [
+        [
+          -0.8440422415733337,
+          -0.33499568700790405,
+          0.41877278685569763,
+          -16.679841995239258
+        ],
+        [
+          -0.39466404914855957,
+          -0.14068497717380524,
+          -0.9079912900924683,
+          14.769596099853516
+        ],
+        [
+          0.3630881905555725,
+          -0.9316574335098267,
+          -0.013466677628457546,
+          -12.197797775268555
+        ],
+        [
+          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": "1731323461_683082818",
+      "mask_path": "../../mask/hdr_right_01982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01984.png",
+      "transform_matrix": [
+        [
+          -0.8492950797080994,
+          -0.3304923176765442,
+          0.41167062520980835,
+          -16.597938537597656
+        ],
+        [
+          -0.3851991295814514,
+          -0.14529140293598175,
+          -0.9113243222236633,
+          14.789031982421875
+        ],
+        [
+          0.36099791526794434,
+          -0.9325584173202515,
+          -0.0039100730791687965,
+          -12.256315231323242
+        ],
+        [
+          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": "1731323461_883082151",
+      "mask_path": "../../mask/hdr_right_01984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01986.png",
+      "transform_matrix": [
+        [
+          -0.8537120223045349,
+          -0.32033050060272217,
+          0.41056549549102783,
+          -16.525779724121094
+        ],
+        [
+          -0.38035863637924194,
+          -0.15491883456707,
+          -0.9117715954780579,
+          14.784225463867188
+        ],
+        [
+          0.35567259788513184,
+          -0.9345525503158569,
+          0.01041561271995306,
+          -12.279598236083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1986,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323462_83083391",
+      "mask_path": "../../mask/hdr_right_01986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01988.png",
+      "transform_matrix": [
+        [
+          -0.8567204475402832,
+          -0.31154677271842957,
+          0.4110579788684845,
+          -16.422475814819336
+        ],
+        [
+          -0.3847099542617798,
+          -0.14486202597618103,
+          -0.911599338054657,
+          14.784770965576172
+        ],
+        [
+          0.34355252981185913,
+          -0.939123809337616,
+          0.004251120146363974,
+          -12.292537689208984
+        ],
+        [
+          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": "1731323462_283080339",
+      "mask_path": "../../mask/hdr_right_01988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02100.png",
+      "transform_matrix": [
+        [
+          -0.8954851031303406,
+          -0.3468083441257477,
+          0.27898097038269043,
+          -16.34385871887207
+        ],
+        [
+          -0.2735458314418793,
+          -0.06562379747629166,
+          -0.9596177339553833,
+          14.736968994140625
+        ],
+        [
+          0.3511112332344055,
+          -0.9356374740600586,
+          -0.036102842539548874,
+          -12.355291366577148
+        ],
+        [
+          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": "1731323473_483082294",
+      "mask_path": "../../mask/hdr_right_02100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02104.png",
+      "transform_matrix": [
+        [
+          -0.9052832722663879,
+          -0.3182482123374939,
+          0.2813897728919983,
+          -16.170366287231445
+        ],
+        [
+          -0.2644975483417511,
+          -0.09606794267892838,
+          -0.9595895409584045,
+          14.733430862426758
+        ],
+        [
+          0.3324202001094818,
+          -0.9431272149085999,
+          0.002792826620861888,
+          -12.419671058654785
+        ],
+        [
+          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": "1731323473_883082389",
+      "mask_path": "../../mask/hdr_right_02104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02105.png",
+      "transform_matrix": [
+        [
+          -0.9073480367660522,
+          -0.3078318238258362,
+          0.28628504276275635,
+          -16.106061935424805
+        ],
+        [
+          -0.26577430963516235,
+          -0.10757620632648468,
+          -0.9580142498016357,
+          14.738114356994629
+        ],
+        [
+          0.3257047235965729,
+          -0.945339560508728,
+          0.0157952718436718,
+          -12.42837905883789
+        ],
+        [
+          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": "1731323473_983081817",
+      "mask_path": "../../mask/hdr_right_02105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02107.png",
+      "transform_matrix": [
+        [
+          -0.9092088341712952,
+          -0.2918669581413269,
+          0.2969058156013489,
+          -16.022857666015625
+        ],
+        [
+          -0.275877982378006,
+          -0.11175484955310822,
+          -0.9546739459037781,
+          14.74724292755127
+        ],
+        [
+          0.3118184208869934,
+          -0.949907660484314,
+          0.021088827401399612,
+          -12.446330070495605
+        ],
+        [
+          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": "1731323474_183083772",
+      "mask_path": "../../mask/hdr_right_02107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02109.png",
+      "transform_matrix": [
+        [
+          -0.9126743078231812,
+          -0.27124184370040894,
+          0.30570167303085327,
+          -15.910080909729004
+        ],
+        [
+          -0.28802624344825745,
+          -0.10377683490514755,
+          -0.9519827961921692,
+          14.749124526977539
+        ],
+        [
+          0.28994229435920715,
+          -0.9569002985954285,
+          0.0165896937251091,
+          -12.469943046569824
+        ],
+        [
+          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": "1731323474_383082389",
+      "mask_path": "../../mask/hdr_right_02109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02110.png",
+      "transform_matrix": [
+        [
+          -0.9122840762138367,
+          -0.26073402166366577,
+          0.3158411383628845,
+          -15.846299171447754
+        ],
+        [
+          -0.29873183369636536,
+          -0.10392951965332031,
+          -0.948661208152771,
+          14.749881744384766
+        ],
+        [
+          0.28017348051071167,
+          -0.9598001837730408,
+          0.016923697665333748,
+          -12.476205825805664
+        ],
+        [
+          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": "1731323474_483082771",
+      "mask_path": "../../mask/hdr_right_02110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02112.png",
+      "transform_matrix": [
+        [
+          -0.9103688597679138,
+          -0.24145859479904175,
+          0.3360450267791748,
+          -15.76567268371582
+        ],
+        [
+          -0.3200715482234955,
+          -0.10381292551755905,
+          -0.9416884779930115,
+          14.75472640991211
+        ],
+        [
+          0.26226457953453064,
+          -0.9648422598838806,
+          0.017224034294486046,
+          -12.490849494934082
+        ],
+        [
+          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": "1731323474_683082103",
+      "mask_path": "../../mask/hdr_right_02112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02117.png",
+      "transform_matrix": [
+        [
+          -0.8522909283638,
+          -0.20062154531478882,
+          0.4830644130706787,
+          -15.588014602661133
+        ],
+        [
+          -0.4829109013080597,
+          -0.053068749606609344,
+          -0.8740599751472473,
+          14.842944145202637
+        ],
+        [
+          0.20099088549613953,
+          -0.9782304167747498,
+          -0.051652323454618454,
+          -12.505736351013184
+        ],
+        [
+          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": "1731323475_183080911",
+      "mask_path": "../../mask/hdr_right_02117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02119.png",
+      "transform_matrix": [
+        [
+          -0.8528305292129517,
+          -0.19127389788627625,
+          0.48589545488357544,
+          -15.507430076599121
+        ],
+        [
+          -0.48889780044555664,
+          -0.03444800525903702,
+          -0.8716606497764587,
+          14.860835075378418
+        ],
+        [
+          0.18346405029296875,
+          -0.9809320569038391,
+          -0.06413507461547852,
+          -12.481476783752441
+        ],
+        [
+          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": "1731323475_383080482",
+      "mask_path": "../../mask/hdr_right_02119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02121.png",
+      "transform_matrix": [
+        [
+          -0.8593779802322388,
+          -0.15649275481700897,
+          0.4868054687976837,
+          -15.423877716064453
+        ],
+        [
+          -0.48925361037254333,
+          -0.025133410468697548,
+          -0.8717793226242065,
+          14.88515853881836
+        ],
+        [
+          0.14866222441196442,
+          -0.9873592853546143,
+          -0.0549655444920063,
+          -12.492317199707031
+        ],
+        [
+          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": "1731323475_583081722",
+      "mask_path": "../../mask/hdr_right_02121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02123.png",
+      "transform_matrix": [
+        [
+          -0.860571563243866,
+          -0.15171507000923157,
+          0.48620888590812683,
+          -15.365610122680664
+        ],
+        [
+          -0.493135929107666,
+          0.009391451254487038,
+          -0.869901716709137,
+          14.943399429321289
+        ],
+        [
+          0.12741099298000336,
+          -0.9883796572685242,
+          -0.08289816975593567,
+          -12.507027626037598
+        ],
+        [
+          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": "1731323475_783081531",
+      "mask_path": "../../mask/hdr_right_02123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02124.png",
+      "transform_matrix": [
+        [
+          -0.8608329892158508,
+          -0.14805811643600464,
+          0.4868730306625366,
+          -15.328707695007324
+        ],
+        [
+          -0.49437403678894043,
+          0.016448043286800385,
+          -0.8690937161445618,
+          14.980742454528809
+        ],
+        [
+          0.12066826969385147,
+          -0.9888419508934021,
+          -0.0873551219701767,
+          -12.516592025756836
+        ],
+        [
+          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": "1731323475_883081197",
+      "mask_path": "../../mask/hdr_right_02124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02125.png",
+      "transform_matrix": [
+        [
+          -0.8628531694412231,
+          -0.13916277885437012,
+          0.4859198331832886,
+          -15.272318840026855
+        ],
+        [
+          -0.4925957918167114,
+          0.016053710132837296,
+          -0.8701101541519165,
+          15.008170127868652
+        ],
+        [
+          0.1132861077785492,
+          -0.9901394248008728,
+          -0.08240298181772232,
+          -12.513714790344238
+        ],
+        [
+          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": "1731323475_983081579",
+      "mask_path": "../../mask/hdr_right_02125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02126.png",
+      "transform_matrix": [
+        [
+          -0.8664315938949585,
+          -0.12654712796211243,
+          0.482992947101593,
+          -15.216821670532227
+        ],
+        [
+          -0.4886489510536194,
+          0.016213253140449524,
+          -0.8723298907279968,
+          15.02773666381836
+        ],
+        [
+          0.10255995392799377,
+          -0.9918281435966492,
+          -0.07588480412960052,
+          -12.503263473510742
+        ],
+        [
+          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": "1731323476_83080291",
+      "mask_path": "../../mask/hdr_right_02126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02128.png",
+      "transform_matrix": [
+        [
+          -0.8742600679397583,
+          -0.10470631718635559,
+          0.47403162717819214,
+          -15.118163108825684
+        ],
+        [
+          -0.4780968725681305,
+          0.01630719192326069,
+          -0.8781557679176331,
+          15.072746276855469
+        ],
+        [
+          0.08421832323074341,
+          -0.9943694472312927,
+          -0.06431649625301361,
+          -12.50265121459961
+        ],
+        [
+          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": "1731323476_283081054",
+      "mask_path": "../../mask/hdr_right_02128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02131.png",
+      "transform_matrix": [
+        [
+          -0.8743282556533813,
+          -0.08836360275745392,
+          0.4772231876850128,
+          -14.972784996032715
+        ],
+        [
+          -0.4804060757160187,
+          0.017789611592888832,
+          -0.8768658638000488,
+          15.150069236755371
+        ],
+        [
+          0.06899339705705643,
+          -0.9959294199943542,
+          -0.05800436809659004,
+          -12.53853702545166
+        ],
+        [
+          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": "1731323476_583082914",
+      "mask_path": "../../mask/hdr_right_02131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07563.png",
+      "transform_matrix": [
+        [
+          0.8339625000953674,
+          -0.06965664029121399,
+          -0.5474070906639099,
+          -15.030058860778809
+        ],
+        [
+          0.5481553673744202,
+          -0.009581205435097218,
+          0.8363218307495117,
+          14.80505657196045
+        ],
+        [
+          -0.06350018084049225,
+          -0.9975249767303467,
+          0.030192289501428604,
+          -12.466763496398926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7563,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_783082962",
+      "mask_path": "../../mask/hdr_right_07563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07565.png",
+      "transform_matrix": [
+        [
+          0.8454856276512146,
+          -0.04138027876615524,
+          -0.5323924422264099,
+          -15.112415313720703
+        ],
+        [
+          0.5327993035316467,
+          -0.0013991037849336863,
+          0.8462405800819397,
+          14.769251823425293
+        ],
+        [
+          -0.03576253727078438,
+          -0.999142587184906,
+          0.02086445689201355,
+          -12.477457046508789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7565,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_983081817",
+      "mask_path": "../../mask/hdr_right_07565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07566.png",
+      "transform_matrix": [
+        [
+          0.8511956930160522,
+          -0.02722729556262493,
+          -0.5241416692733765,
+          -15.167986869812012
+        ],
+        [
+          0.5241871476173401,
+          -0.006013200618326664,
+          0.851581871509552,
+          14.75415325164795
+        ],
+        [
+          -0.026338040828704834,
+          -0.9996111989021301,
+          0.009153785184025764,
+          -12.48819637298584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7566,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_83082437",
+      "mask_path": "../../mask/hdr_right_07566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07567.png",
+      "transform_matrix": [
+        [
+          0.8589789867401123,
+          -0.012302371673285961,
+          -0.5118631720542908,
+          -15.218552589416504
+        ],
+        [
+          0.5116174221038818,
+          -0.01856655441224575,
+          0.8590127825737,
+          14.735457420349121
+        ],
+        [
+          -0.020071430131793022,
+          -0.9997519254684448,
+          -0.009654171764850616,
+          -12.52295970916748
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7567,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_183082342",
+      "mask_path": "../../mask/hdr_right_07567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07568.png",
+      "transform_matrix": [
+        [
+          0.8613123893737793,
+          -0.010609090328216553,
+          -0.5079650282859802,
+          -15.311083793640137
+        ],
+        [
+          0.5077070593833923,
+          -0.020112698897719383,
+          0.8612950444221497,
+          14.694000244140625
+        ],
+        [
+          -0.01935410313308239,
+          -0.9997414350509644,
+          -0.011937007308006287,
+          -12.514150619506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7568,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_283081293",
+      "mask_path": "../../mask/hdr_right_07568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07569.png",
+      "transform_matrix": [
+        [
+          0.8585183024406433,
+          -0.0156738068908453,
+          -0.5125433206558228,
+          -15.391669273376465
+        ],
+        [
+          0.51236492395401,
+          -0.014126687310636044,
+          0.8586516976356506,
+          14.641432762145996
+        ],
+        [
+          -0.020698878914117813,
+          -0.9997773170471191,
+          -0.004097312688827515,
+          -12.490674018859863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7569,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_383081436",
+      "mask_path": "../../mask/hdr_right_07569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07570.png",
+      "transform_matrix": [
+        [
+          0.8561795353889465,
+          -0.016441885381937027,
+          -0.5164167284965515,
+          -15.439173698425293
+        ],
+        [
+          0.5163190960884094,
+          -0.010038726031780243,
+          0.8563375473022461,
+          14.618449211120605
+        ],
+        [
+          -0.019263969734311104,
+          -0.9998144507408142,
+          -0.00010569437290541828,
+          -12.502633094787598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7570,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_483080625",
+      "mask_path": "../../mask/hdr_right_07570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07571.png",
+      "transform_matrix": [
+        [
+          0.858271062374115,
+          -0.004813321400433779,
+          -0.5131741762161255,
+          -15.506362915039062
+        ],
+        [
+          0.5131706595420837,
+          -0.0020402336958795786,
+          0.8582842946052551,
+          14.590760231018066
+        ],
+        [
+          -0.005178193096071482,
+          -0.9999863505363464,
+          0.000718980620149523,
+          -12.507232666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7571,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_583079576",
+      "mask_path": "../../mask/hdr_right_07571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07572.png",
+      "transform_matrix": [
+        [
+          0.8628289699554443,
+          0.004425662569701672,
+          -0.5054765939712524,
+          -15.575424194335938
+        ],
+        [
+          0.5054463744163513,
+          0.0064501832239329815,
+          0.8628339767456055,
+          14.559173583984375
+        ],
+        [
+          0.007079029455780983,
+          -0.9999694228172302,
+          0.0033284707460552454,
+          -12.504802703857422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7572,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_683079957",
+      "mask_path": "../../mask/hdr_right_07572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07574.png",
+      "transform_matrix": [
+        [
+          0.8715940713882446,
+          5.632386546494672e-06,
+          -0.4902282953262329,
+          -15.666821479797363
+        ],
+        [
+          0.4902215301990509,
+          0.005235576536506414,
+          0.8715821504592896,
+          14.542433738708496
+        ],
+        [
+          0.0025715366937220097,
+          -0.9999863505363464,
+          0.004560535307973623,
+          -12.510409355163574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7574,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_883080244",
+      "mask_path": "../../mask/hdr_right_07574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07575.png",
+      "transform_matrix": [
+        [
+          0.8762274980545044,
+          -0.007891736924648285,
+          -0.48183301091194153,
+          -15.728139877319336
+        ],
+        [
+          0.4818236529827118,
+          -0.0031740174163132906,
+          0.8762624859809875,
+          14.51675033569336
+        ],
+        [
+          -0.008444579318165779,
+          -0.9999638199806213,
+          0.0010212621418759227,
+          -12.503642082214355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7575,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324020_983081102",
+      "mask_path": "../../mask/hdr_right_07575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07576.png",
+      "transform_matrix": [
+        [
+          0.8769960403442383,
+          -0.01667100377380848,
+          -0.4802083373069763,
+          -15.790986061096191
+        ],
+        [
+          0.4802549481391907,
+          -0.0013519759522750974,
+          0.877128005027771,
+          14.491326332092285
+        ],
+        [
+          -0.015271831303834915,
+          -0.9998600482940674,
+          0.0068206521682441235,
+          -12.492738723754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7576,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_83081722",
+      "mask_path": "../../mask/hdr_right_07576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07577.png",
+      "transform_matrix": [
+        [
+          0.8748940825462341,
+          -0.024502472952008247,
+          -0.4836941361427307,
+          -15.84643268585205
+        ],
+        [
+          0.4839698374271393,
+          0.0065690744668245316,
+          0.8750600218772888,
+          14.467995643615723
+        ],
+        [
+          -0.018263710662722588,
+          -0.9996782541275024,
+          0.017605703324079514,
+          -12.482549667358398
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7577,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_183082342",
+      "mask_path": "../../mask/hdr_right_07577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07579.png",
+      "transform_matrix": [
+        [
+          0.8759998083114624,
+          -0.025924358516931534,
+          -0.48161420226097107,
+          -15.936713218688965
+        ],
+        [
+          0.48183178901672363,
+          0.002517419634386897,
+          0.8762601017951965,
+          14.452180862426758
+        ],
+        [
+          -0.021504055708646774,
+          -0.9996607303619385,
+          0.014696437865495682,
+          -12.479208946228027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7579,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_383081436",
+      "mask_path": "../../mask/hdr_right_07579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07581.png",
+      "transform_matrix": [
+        [
+          0.8861424922943115,
+          -0.03183203935623169,
+          -0.4623183012008667,
+          -16.017274856567383
+        ],
+        [
+          0.4623574912548065,
+          -0.006562040187418461,
+          0.8866692781448364,
+          14.430562019348145
+        ],
+        [
+          -0.031258244067430496,
+          -0.9994716644287109,
+          0.008902877569198608,
+          -12.44920825958252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7581,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_583080291",
+      "mask_path": "../../mask/hdr_right_07581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07583.png",
+      "transform_matrix": [
+        [
+          0.8951284289360046,
+          -0.04013888165354729,
+          -0.4439975917339325,
+          -16.095457077026367
+        ],
+        [
+          0.4433182179927826,
+          -0.024972403421998024,
+          0.8960163593292236,
+          14.420798301696777
+        ],
+        [
+          -0.0470527820289135,
+          -0.998881995677948,
+          -0.00455921096727252,
+          -12.435229301452637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7583,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_783081769",
+      "mask_path": "../../mask/hdr_right_07583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07584.png",
+      "transform_matrix": [
+        [
+          0.8973853588104248,
+          -0.06050809472799301,
+          -0.43707939982414246,
+          -16.17172622680664
+        ],
+        [
+          0.4355878233909607,
+          -0.036667510867118835,
+          0.8993991017341614,
+          14.409750938415527
+        ],
+        [
+          -0.07044754177331924,
+          -0.9974940419197083,
+          -0.006548297591507435,
+          -12.40925121307373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7584,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324021_883083343",
+      "mask_path": "../../mask/hdr_right_07584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07586.png",
+      "transform_matrix": [
+        [
+          0.8939898610115051,
+          -0.09824872016906738,
+          -0.43718355894088745,
+          -16.243587493896484
+        ],
+        [
+          0.4361551105976105,
+          -0.03286014869809151,
+          0.8992713093757629,
+          14.371369361877441
+        ],
+        [
+          -0.10271817445755005,
+          -0.9946192502975464,
+          0.01347503624856472,
+          -12.383907318115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7586,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_83082437",
+      "mask_path": "../../mask/hdr_right_07586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07587.png",
+      "transform_matrix": [
+        [
+          0.89210444688797,
+          -0.10840660333633423,
+          -0.4386316239833832,
+          -16.307403564453125
+        ],
+        [
+          0.43863189220428467,
+          -0.025128858163952827,
+          0.8983154892921448,
+          14.357880592346191
+        ],
+        [
+          -0.10840564966201782,
+          -0.9937889575958252,
+          0.025133026763796806,
+          -12.376893997192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7587,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_183082103",
+      "mask_path": "../../mask/hdr_right_07587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07589.png",
+      "transform_matrix": [
+        [
+          0.896592378616333,
+          -0.10822826623916626,
+          -0.4294283390045166,
+          -16.370555877685547
+        ],
+        [
+          0.4277864098548889,
+          -0.039151713252067566,
+          0.9030316472053528,
+          14.32544994354248
+        ],
+        [
+          -0.11454639583826065,
+          -0.9933547973632812,
+          0.011195442639291286,
+          -12.367165565490723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7589,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_383082151",
+      "mask_path": "../../mask/hdr_right_07589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07591.png",
+      "transform_matrix": [
+        [
+          0.9017890095710754,
+          -0.120455801486969,
+          -0.4150503873825073,
+          -16.4620418548584
+        ],
+        [
+          0.41227051615715027,
+          -0.048339150846004486,
+          0.9097781777381897,
+          14.289953231811523
+        ],
+        [
+          -0.1296512484550476,
+          -0.9915410876274109,
+          0.006068654824048281,
+          -12.327872276306152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7591,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_583081245",
+      "mask_path": "../../mask/hdr_right_07591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07592.png",
+      "transform_matrix": [
+        [
+          0.904331624507904,
+          -0.12914535403251648,
+          -0.40682411193847656,
+          -16.513587951660156
+        ],
+        [
+          0.40070605278015137,
+          -0.07145790010690689,
+          0.9134158492088318,
+          14.256906509399414
+        ],
+        [
+          -0.14703422784805298,
+          -0.9890477061271667,
+          -0.012872312217950821,
+          -12.339665412902832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7592,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_683083057",
+      "mask_path": "../../mask/hdr_right_07592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07593.png",
+      "transform_matrix": [
+        [
+          0.9021328687667847,
+          -0.1437387615442276,
+          -0.40681126713752747,
+          -16.581865310668945
+        ],
+        [
+          0.3986518979072571,
+          -0.08294007182121277,
+          0.9133442044258118,
+          14.228548049926758
+        ],
+        [
+          -0.16502389311790466,
+          -0.9861339330673218,
+          -0.017521241679787636,
+          -12.297469139099121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7593,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324022_783082485",
+      "mask_path": "../../mask/hdr_right_07593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07598.png",
+      "transform_matrix": [
+        [
+          0.9045076370239258,
+          -0.1742144227027893,
+          -0.38924965262413025,
+          -16.76690673828125
+        ],
+        [
+          0.3842845857143402,
+          -0.06279808282852173,
+          0.9210764765739441,
+          14.175046920776367
+        ],
+        [
+          -0.1849089115858078,
+          -0.9827032685279846,
+          0.01014656201004982,
+          -12.231974601745605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7598,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_283081531",
+      "mask_path": "../../mask/hdr_right_07598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07600.png",
+      "transform_matrix": [
+        [
+          0.9101495146751404,
+          -0.17582574486732483,
+          -0.3751176595687866,
+          -16.84526824951172
+        ],
+        [
+          0.3653181195259094,
+          -0.08638953417539597,
+          0.9268655180931091,
+          14.147242546081543
+        ],
+        [
+          -0.195373073220253,
+          -0.9806233644485474,
+          -0.014395063742995262,
+          -12.211526870727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7600,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_483082532",
+      "mask_path": "../../mask/hdr_right_07600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07601.png",
+      "transform_matrix": [
+        [
+          0.9047790169715881,
+          -0.20155446231365204,
+          -0.37516748905181885,
+          -16.903226852416992
+        ],
+        [
+          0.3584311902523041,
+          -0.11537313461303711,
+          0.9263996481895447,
+          14.12082576751709
+        ],
+        [
+          -0.2300042361021042,
+          -0.972658634185791,
+          -0.03214380145072937,
+          -12.156881332397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7601,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_583081007",
+      "mask_path": "../../mask/hdr_right_07601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07602.png",
+      "transform_matrix": [
+        [
+          0.898897647857666,
+          -0.22571654617786407,
+          -0.37554654479026794,
+          -16.965410232543945
+        ],
+        [
+          0.3572100102901459,
+          -0.11883734166622162,
+          0.926433265209198,
+          14.09677791595459
+        ],
+        [
+          -0.2537402808666229,
+          -0.9669176340103149,
+          -0.02619437500834465,
+          -12.115160942077637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7602,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_683082342",
+      "mask_path": "../../mask/hdr_right_07602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07604.png",
+      "transform_matrix": [
+        [
+          0.9045943021774292,
+          -0.22462879121303558,
+          -0.3622859716415405,
+          -17.04512596130371
+        ],
+        [
+          0.349589467048645,
+          -0.09538616985082626,
+          0.9320346713066101,
+          14.068095207214355
+        ],
+        [
+          -0.24391889572143555,
+          -0.9697645902633667,
+          -0.007757929153740406,
+          -12.099318504333496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7604,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_883081436",
+      "mask_path": "../../mask/hdr_right_07604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07605.png",
+      "transform_matrix": [
+        [
+          0.9069040417671204,
+          -0.22853945195674896,
+          -0.35397017002105713,
+          -17.1104679107666
+        ],
+        [
+          0.3398406207561493,
+          -0.09984606504440308,
+          0.9351680278778076,
+          14.0479736328125
+        ],
+        [
+          -0.2490653097629547,
+          -0.9684010148048401,
+          -0.012883821502327919,
+          -12.053683280944824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7605,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324023_983082532",
+      "mask_path": "../../mask/hdr_right_07605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07607.png",
+      "transform_matrix": [
+        [
+          0.9097172021865845,
+          -0.23427395522594452,
+          -0.3428269326686859,
+          -17.201305389404297
+        ],
+        [
+          0.3253942131996155,
+          -0.11066273599863052,
+          0.9390805959701538,
+          14.027731895446777
+        ],
+        [
+          -0.25794029235839844,
+          -0.9658517241477966,
+          -0.024440426379442215,
+          -12.017913818359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7607,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_183082580",
+      "mask_path": "../../mask/hdr_right_07607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07608.png",
+      "transform_matrix": [
+        [
+          0.9045762419700623,
+          -0.2525492310523987,
+          -0.3434540629386902,
+          -17.273340225219727
+        ],
+        [
+          0.3170776963233948,
+          -0.13995160162448883,
+          0.9380167722702026,
+          13.996465682983398
+        ],
+        [
+          -0.28496235609054565,
+          -0.9574092626571655,
+          -0.04651917517185211,
+          -11.997424125671387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7608,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_283082008",
+      "mask_path": "../../mask/hdr_right_07608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07609.png",
+      "transform_matrix": [
+        [
+          0.897800624370575,
+          -0.2713356018066406,
+          -0.3468875586986542,
+          -17.34749984741211
+        ],
+        [
+          0.3190116286277771,
+          -0.14235001802444458,
+          0.9369996190071106,
+          13.984596252441406
+        ],
+        [
+          -0.3036207854747772,
+          -0.9518998861312866,
+          -0.04124272242188454,
+          -11.952043533325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7609,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_383083105",
+      "mask_path": "../../mask/hdr_right_07609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07611.png",
+      "transform_matrix": [
+        [
+          0.8961184620857239,
+          -0.2646579146385193,
+          -0.35626938939094543,
+          -17.44936752319336
+        ],
+        [
+          0.3370991051197052,
+          -0.11625849455595016,
+          0.9342634677886963,
+          13.972862243652344
+        ],
+        [
+          -0.2886795699596405,
+          -0.9573087692260742,
+          -0.014965441077947617,
+          -11.951028823852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7611,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_583081483",
+      "mask_path": "../../mask/hdr_right_07611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07612.png",
+      "transform_matrix": [
+        [
+          0.9027999043464661,
+          -0.2300444394350052,
+          -0.36336201429367065,
+          -17.493436813354492
+        ],
+        [
+          0.3415757417678833,
+          -0.12980195879936218,
+          0.9308478236198425,
+          13.946127891540527
+        ],
+        [
+          -0.2613014280796051,
+          -0.9644848108291626,
+          -0.03860761225223541,
+          -11.92620849609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7612,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_683081865",
+      "mask_path": "../../mask/hdr_right_07612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07613.png",
+      "transform_matrix": [
+        [
+          0.9104591012001038,
+          -0.18877632915973663,
+          -0.36800509691238403,
+          -17.50546646118164
+        ],
+        [
+          0.3448830246925354,
+          -0.14461633563041687,
+          0.9274382591247559,
+          13.903149604797363
+        ],
+        [
+          -0.22829794883728027,
+          -0.9713133573532104,
+          -0.06656152009963989,
+          -11.886987686157227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7613,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_783082008",
+      "mask_path": "../../mask/hdr_right_07613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07614.png",
+      "transform_matrix": [
+        [
+          0.9091072678565979,
+          -0.1768767386674881,
+          -0.37714529037475586,
+          -17.552309036254883
+        ],
+        [
+          0.35481569170951843,
+          -0.14554066956043243,
+          0.9235387444496155,
+          13.89609146118164
+        ],
+        [
+          -0.21824248135089874,
+          -0.973412811756134,
+          -0.0695534348487854,
+          -11.87881851196289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7614,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_883082866",
+      "mask_path": "../../mask/hdr_right_07614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07615.png",
+      "transform_matrix": [
+        [
+          0.9047241806983948,
+          -0.1764502078294754,
+          -0.38773640990257263,
+          -17.621946334838867
+        ],
+        [
+          0.36709919571876526,
+          -0.13885393738746643,
+          0.9197596311569214,
+          13.91117000579834
+        ],
+        [
+          -0.21613052487373352,
+          -0.9744664430618286,
+          -0.060849789530038834,
+          -11.89007568359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7615,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324024_983082532",
+      "mask_path": "../../mask/hdr_right_07615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07617.png",
+      "transform_matrix": [
+        [
+          0.8932415843009949,
+          -0.1503409594297409,
+          -0.42369455099105835,
+          -17.70539093017578
+        ],
+        [
+          0.4148218035697937,
+          -0.08772580325603485,
+          0.9056639075279236,
+          13.898346900939941
+        ],
+        [
+          -0.17332735657691956,
+          -0.9847344160079956,
+          -0.01599561981856823,
+          -11.895214080810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7617,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_183081150",
+      "mask_path": "../../mask/hdr_right_07617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07618.png",
+      "transform_matrix": [
+        [
+          0.8801473379135132,
+          -0.14549218118190765,
+          -0.4518546760082245,
+          -17.75335121154785
+        ],
+        [
+          0.4438294470310211,
+          -0.08544687181711197,
+          0.8920282125473022,
+          13.878106117248535
+        ],
+        [
+          -0.16839270293712616,
+          -0.9856626391410828,
+          -0.010632127523422241,
+          -11.878644943237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7618,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_283081054",
+      "mask_path": "../../mask/hdr_right_07618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07620.png",
+      "transform_matrix": [
+        [
+          0.8634880781173706,
+          -0.09124097228050232,
+          -0.4960477650165558,
+          -17.80924415588379
+        ],
+        [
+          0.4877021908760071,
+          -0.0996982753276825,
+          0.8672986030578613,
+          13.833673477172852
+        ],
+        [
+          -0.12858828902244568,
+          -0.9908255338668823,
+          -0.04158985987305641,
+          -11.865104675292969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7620,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_483082294",
+      "mask_path": "../../mask/hdr_right_07620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07622.png",
+      "transform_matrix": [
+        [
+          0.8460027575492859,
+          -0.061331842094659805,
+          -0.5296392440795898,
+          -17.88770294189453
+        ],
+        [
+          0.5208601951599121,
+          -0.11722659319639206,
+          0.8455545902252197,
+          13.784542083740234
+        ],
+        [
+          -0.11394723504781723,
+          -0.9912095069885254,
+          -0.06722871959209442,
+          -11.863513946533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7622,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_683082103",
+      "mask_path": "../../mask/hdr_right_07622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07625.png",
+      "transform_matrix": [
+        [
+          0.7899229526519775,
+          -0.03966739773750305,
+          -0.6119217872619629,
+          -17.949548721313477
+        ],
+        [
+          0.6100112795829773,
+          -0.0508996956050396,
+          0.7907562255859375,
+          13.680890083312988
+        ],
+        [
+          -0.06251388043165207,
+          -0.9979156851768494,
+          -0.01600927673280239,
+          -11.851916313171387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7625,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324025_983082294",
+      "mask_path": "../../mask/hdr_right_07625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07627.png",
+      "transform_matrix": [
+        [
+          0.748076319694519,
+          -0.034606534987688065,
+          -0.6627098321914673,
+          -18.02118492126465
+        ],
+        [
+          0.6609538197517395,
+          -0.050452083349227905,
+          0.7487286925315857,
+          13.622764587402344
+        ],
+        [
+          -0.059345994144678116,
+          -0.9981266856193542,
+          -0.01486868318170309,
+          -11.859506607055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7627,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_183082342",
+      "mask_path": "../../mask/hdr_right_07627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07628.png",
+      "transform_matrix": [
+        [
+          0.734171450138092,
+          -0.025339817628264427,
+          -0.6784911751747131,
+          -18.051301956176758
+        ],
+        [
+          0.6763846278190613,
+          -0.059728432446718216,
+          0.7341228127479553,
+          13.581512451171875
+        ],
+        [
+          -0.05912775173783302,
+          -0.9978929758071899,
+          -0.02671145461499691,
+          -11.84661865234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7628,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_283082485",
+      "mask_path": "../../mask/hdr_right_07628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07630.png",
+      "transform_matrix": [
+        [
+          0.706349790096283,
+          -0.00961577519774437,
+          -0.707797646522522,
+          -18.08323860168457
+        ],
+        [
+          0.7047039270401001,
+          -0.08480869233608246,
+          0.7044146060943604,
+          13.511846542358398
+        ],
+        [
+          -0.06680087745189667,
+          -0.9963508248329163,
+          -0.053128328174352646,
+          -11.844193458557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7630,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_483082294",
+      "mask_path": "../../mask/hdr_right_07630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07631.png",
+      "transform_matrix": [
+        [
+          0.6864187717437744,
+          -0.01961502432823181,
+          -0.7269418239593506,
+          -18.128515243530273
+        ],
+        [
+          0.7216615676879883,
+          -0.10483459383249283,
+          0.6842617392539978,
+          13.468957901000977
+        ],
+        [
+          -0.08963046222925186,
+          -0.9942961931228638,
+          -0.057805027812719345,
+          -11.809919357299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7631,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_583081483",
+      "mask_path": "../../mask/hdr_right_07631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07632.png",
+      "transform_matrix": [
+        [
+          0.6612678170204163,
+          -0.03213241323828697,
+          -0.7494614720344543,
+          -18.165523529052734
+        ],
+        [
+          0.7428938150405884,
+          -0.11057394742965698,
+          0.660213828086853,
+          13.422975540161133
+        ],
+        [
+          -0.10408515483140945,
+          -0.9933483600616455,
+          -0.04924802482128143,
+          -11.77562141418457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7632,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_683081150",
+      "mask_path": "../../mask/hdr_right_07632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07634.png",
+      "transform_matrix": [
+        [
+          0.6085785627365112,
+          -0.030875694006681442,
+          -0.7928927540779114,
+          -18.197837829589844
+        ],
+        [
+          0.7872126698493958,
+          -0.10198447108268738,
+          0.6081903576850891,
+          13.34747314453125
+        ],
+        [
+          -0.09964104741811752,
+          -0.994306743144989,
+          -0.03775982931256294,
+          -11.779031753540039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7634,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324026_883081912",
+      "mask_path": "../../mask/hdr_right_07634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07636.png",
+      "transform_matrix": [
+        [
+          0.5684149861335754,
+          -0.02700134553015232,
+          -0.8222988247871399,
+          -18.239120483398438
+        ],
+        [
+          0.8156652450561523,
+          -0.11231254786252975,
+          0.5675175189971924,
+          13.276756286621094
+        ],
+        [
+          -0.10767821222543716,
+          -0.9933059811592102,
+          -0.04181607812643051,
+          -11.748939514160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7636,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_83081007",
+      "mask_path": "../../mask/hdr_right_07636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07638.png",
+      "transform_matrix": [
+        [
+          0.5292112827301025,
+          -0.020411735400557518,
+          -0.8482445478439331,
+          -18.26754379272461
+        ],
+        [
+          0.8403381109237671,
+          -0.12563635408878326,
+          0.5273019075393677,
+          13.200204849243164
+        ],
+        [
+          -0.11733349412679672,
+          -0.991866409778595,
+          -0.049335431307554245,
+          -11.737800598144531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7638,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_283081293",
+      "mask_path": "../../mask/hdr_right_07638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07640.png",
+      "transform_matrix": [
+        [
+          0.47890332341194153,
+          -0.018227890133857727,
+          -0.877678394317627,
+          -18.302345275878906
+        ],
+        [
+          0.8614874482154846,
+          -0.18247583508491516,
+          0.4738585948944092,
+          13.120508193969727
+        ],
+        [
+          -0.16879254579544067,
+          -0.9830413460731506,
+          -0.07168519496917725,
+          -11.679971694946289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7640,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_483081102",
+      "mask_path": "../../mask/hdr_right_07640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07641.png",
+      "transform_matrix": [
+        [
+          0.4407797157764435,
+          -0.02918955869972706,
+          -0.8971405625343323,
+          -18.310991287231445
+        ],
+        [
+          0.8755789995193481,
+          -0.20612217485904694,
+          0.4368927776813507,
+          13.057831764221191
+        ],
+        [
+          -0.1976732611656189,
+          -0.9780908226966858,
+          -0.06529673933982849,
+          -11.628857612609863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7641,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_583082199",
+      "mask_path": "../../mask/hdr_right_07641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07643.png",
+      "transform_matrix": [
+        [
+          0.36861875653266907,
+          -0.03538033738732338,
+          -0.9289070963859558,
+          -18.31501007080078
+        ],
+        [
+          0.9071218371391296,
+          -0.20463787019252777,
+          0.3677680194377899,
+          12.978322982788086
+        ],
+        [
+          -0.20310133695602417,
+          -0.9781981110572815,
+          -0.043339088559150696,
+          -11.626317024230957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7643,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_783082723",
+      "mask_path": "../../mask/hdr_right_07643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07645.png",
+      "transform_matrix": [
+        [
+          0.31011781096458435,
+          -0.038604430854320526,
+          -0.9499141573905945,
+          -18.33681297302246
+        ],
+        [
+          0.9269160628318787,
+          -0.20981106162071228,
+          0.3111364245414734,
+          12.907249450683594
+        ],
+        [
+          -0.21131369471549988,
+          -0.9769796133041382,
+          -0.029283078387379646,
+          -11.602452278137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7645,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324027_983082771",
+      "mask_path": "../../mask/hdr_right_07645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07647.png",
+      "transform_matrix": [
+        [
+          0.25555503368377686,
+          -0.024118782952427864,
+          -0.9664936661720276,
+          -18.346466064453125
+        ],
+        [
+          0.9420957565307617,
+          -0.2183094620704651,
+          0.25455179810523987,
+          12.850196838378906
+        ],
+        [
+          -0.21713419258594513,
+          -0.9755814671516418,
+          -0.03306788206100464,
+          -11.584370613098145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7647,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324028_183082580",
+      "mask_path": "../../mask/hdr_right_07647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07649.png",
+      "transform_matrix": [
+        [
+          0.17679470777511597,
+          0.005836508236825466,
+          -0.9842305183410645,
+          -18.329912185668945
+        ],
+        [
+          0.9517791867256165,
+          -0.25574085116386414,
+          0.16944904625415802,
+          12.759439468383789
+        ],
+        [
+          -0.25071895122528076,
+          -0.9667277336120605,
+          -0.05076871067285538,
+          -11.517143249511719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7649,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324028_383082389",
+      "mask_path": "../../mask/hdr_right_07649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07656.png",
+      "transform_matrix": [
+        [
+          -0.15050113201141357,
+          0.0051536886021494865,
+          -0.9885963201522827,
+          -18.186716079711914
+        ],
+        [
+          0.9435225129127502,
+          -0.2977994978427887,
+          -0.14519166946411133,
+          12.655390739440918
+        ],
+        [
+          -0.29515182971954346,
+          -0.954614520072937,
+          0.03995654359459877,
+          -11.426790237426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7656,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_83080291",
+      "mask_path": "../../mask/hdr_right_07656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07658.png",
+      "transform_matrix": [
+        [
+          -0.2086239904165268,
+          -0.00483640655875206,
+          -0.9779840111732483,
+          -18.139177322387695
+        ],
+        [
+          0.9356392621994019,
+          -0.2920907139778137,
+          -0.1981465071439743,
+          12.605637550354004
+        ],
+        [
+          -0.28470173478126526,
+          -0.9563784003257751,
+          0.06546225398778915,
+          -11.418148040771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7658,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_283082723",
+      "mask_path": "../../mask/hdr_right_07658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07660.png",
+      "transform_matrix": [
+        [
+          -0.2524135708808899,
+          -0.017510786652565002,
+          -0.9674610495567322,
+          -18.11313819885254
+        ],
+        [
+          0.9260473847389221,
+          -0.2942907214164734,
+          -0.23628205060958862,
+          12.54857063293457
+        ],
+        [
+          -0.28057730197906494,
+          -0.9555556178092957,
+          0.09049878269433975,
+          -11.368675231933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7660,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_483081817",
+      "mask_path": "../../mask/hdr_right_07660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07661.png",
+      "transform_matrix": [
+        [
+          -0.27004095911979675,
+          -0.016546079888939857,
+          -0.9627066850662231,
+          -18.106311798095703
+        ],
+        [
+          0.9127379655838013,
+          -0.3227544128894806,
+          -0.2504774332046509,
+          12.494291305541992
+        ],
+        [
+          -0.30657339096069336,
+          -0.9463380575180054,
+          0.10225913673639297,
+          -11.318343162536621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7661,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_583079814",
+      "mask_path": "../../mask/hdr_right_07661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07662.png",
+      "transform_matrix": [
+        [
+          -0.28822287917137146,
+          -0.009172843769192696,
+          -0.95751953125,
+          -18.095216751098633
+        ],
+        [
+          0.8982317447662354,
+          -0.34910374879837036,
+          -0.26703235507011414,
+          12.44670581817627
+        ],
+        [
+          -0.3318241834640503,
+          -0.9370391964912415,
+          0.10885902494192123,
+          -11.273321151733398
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7662,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_683080673",
+      "mask_path": "../../mask/hdr_right_07662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07664.png",
+      "transform_matrix": [
+        [
+          -0.32878953218460083,
+          -0.003414440667256713,
+          -0.9443970322608948,
+          -18.06253433227539
+        ],
+        [
+          0.8858125805854797,
+          -0.3478560745716095,
+          -0.30713582038879395,
+          12.400944709777832
+        ],
+        [
+          -0.3274655342102051,
+          -0.9375417828559875,
+          0.11739597469568253,
+          -11.288970947265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7664,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324029_883082389",
+      "mask_path": "../../mask/hdr_right_07664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07666.png",
+      "transform_matrix": [
+        [
+          -0.37486568093299866,
+          -0.010607349686324596,
+          -0.9270184636116028,
+          -18.02337646484375
+        ],
+        [
+          0.8742443323135376,
+          -0.33678901195526123,
+          -0.34967127442359924,
+          12.348845481872559
+        ],
+        [
+          -0.3085005581378937,
+          -0.9415203332901001,
+          0.13552406430244446,
+          -11.232573509216309
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7666,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_83081483",
+      "mask_path": "../../mask/hdr_right_07666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07668.png",
+      "transform_matrix": [
+        [
+          -0.42074054479599,
+          0.01751951314508915,
+          -0.907011866569519,
+          -17.985742568969727
+        ],
+        [
+          0.8539524674415588,
+          -0.3297889828681946,
+          -0.40249767899513245,
+          12.270015716552734
+        ],
+        [
+          -0.306174099445343,
+          -0.9438921213150024,
+          0.12379477918148041,
+          -11.211134910583496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7668,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_283082008",
+      "mask_path": "../../mask/hdr_right_07668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07670.png",
+      "transform_matrix": [
+        [
+          -0.46216699481010437,
+          0.0547933354973793,
+          -0.8850985169410706,
+          -17.939517974853516
+        ],
+        [
+          0.8265860080718994,
+          -0.33487290143966675,
+          -0.4523446559906006,
+          12.225499153137207
+        ],
+        [
+          -0.32118096947669983,
+          -0.9406688213348389,
+          0.10947579890489578,
+          -11.164599418640137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7670,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324030_483083009",
+      "mask_path": "../../mask/hdr_right_07670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07677.png",
+      "transform_matrix": [
+        [
+          -0.6276994347572327,
+          0.1200411468744278,
+          -0.7691447138786316,
+          -17.781991958618164
+        ],
+        [
+          0.7156436443328857,
+          -0.29983916878700256,
+          -0.6308333277702332,
+          12.099977493286133
+        ],
+        [
+          -0.306345671415329,
+          -0.9464072585105896,
+          0.1023021936416626,
+          -11.07804012298584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7677,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_183080196",
+      "mask_path": "../../mask/hdr_right_07677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07679.png",
+      "transform_matrix": [
+        [
+          -0.6623898148536682,
+          0.1781659722328186,
+          -0.7276652455329895,
+          -17.72400665283203
+        ],
+        [
+          0.6677565574645996,
+          -0.2999136447906494,
+          -0.6812877655029297,
+          12.064956665039062
+        ],
+        [
+          -0.3396190106868744,
+          -0.9371812343597412,
+          0.0796881765127182,
+          -11.003400802612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7679,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_383081674",
+      "mask_path": "../../mask/hdr_right_07679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07681.png",
+      "transform_matrix": [
+        [
+          -0.7169584035873413,
+          0.1607770472764969,
+          -0.6783225536346436,
+          -17.66875457763672
+        ],
+        [
+          0.6242649555206299,
+          -0.2849968373775482,
+          -0.7273721098899841,
+          12.064826965332031
+        ],
+        [
+          -0.310264527797699,
+          -0.9449484348297119,
+          0.10396338999271393,
+          -11.010771751403809
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7681,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_583082199",
+      "mask_path": "../../mask/hdr_right_07681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07683.png",
+      "transform_matrix": [
+        [
+          -0.7675195336341858,
+          0.16541948914527893,
+          -0.6193143129348755,
+          -17.597280502319336
+        ],
+        [
+          0.5681658983230591,
+          -0.27180421352386475,
+          -0.7767303586006165,
+          12.048089027404785
+        ],
+        [
+          -0.2968185842037201,
+          -0.9480289220809937,
+          0.1146293431520462,
+          -10.990679740905762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7683,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_783082008",
+      "mask_path": "../../mask/hdr_right_07683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07685.png",
+      "transform_matrix": [
+        [
+          -0.8098879456520081,
+          0.18852980434894562,
+          -0.5554620027542114,
+          -17.543764114379883
+        ],
+        [
+          0.51051926612854,
+          -0.2398023158311844,
+          -0.8257511854171753,
+          12.03917407989502
+        ],
+        [
+          -0.28887975215911865,
+          -0.9523398876190186,
+          0.09796490520238876,
+          -10.978215217590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7685,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324031_983080863",
+      "mask_path": "../../mask/hdr_right_07685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07687.png",
+      "transform_matrix": [
+        [
+          -0.8512753844261169,
+          0.18279273808002472,
+          -0.49185070395469666,
+          -17.472286224365234
+        ],
+        [
+          0.4498404562473297,
+          -0.22833894193172455,
+          -0.8634263873100281,
+          12.016231536865234
+        ],
+        [
+          -0.27013668417930603,
+          -0.9562678933143616,
+          0.11215174943208694,
+          -10.953853607177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7687,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_183082818",
+      "mask_path": "../../mask/hdr_right_07687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07689.png",
+      "transform_matrix": [
+        [
+          -0.888822615146637,
+          0.18401022255420685,
+          -0.41968396306037903,
+          -17.406612396240234
+        ],
+        [
+          0.38237258791923523,
+          -0.20694199204444885,
+          -0.9005367159843445,
+          12.001376152038574
+        ],
+        [
+          -0.252558171749115,
+          -0.9608929753303528,
+          0.11357428133487701,
+          -10.930133819580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7689,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_383081436",
+      "mask_path": "../../mask/hdr_right_07689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07691.png",
+      "transform_matrix": [
+        [
+          -0.9104675650596619,
+          0.20695871114730835,
+          -0.3580739200115204,
+          -17.32819938659668
+        ],
+        [
+          0.3267667293548584,
+          -0.17074938118457794,
+          -0.9295526742935181,
+          11.982316017150879
+        ],
+        [
+          -0.2535198926925659,
+          -0.9633342027664185,
+          0.08783453702926636,
+          -10.90114688873291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7691,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_583081483",
+      "mask_path": "../../mask/hdr_right_07691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07693.png",
+      "transform_matrix": [
+        [
+          -0.9268530607223511,
+          0.22063538432121277,
+          -0.3037491738796234,
+          -17.24301528930664
+        ],
+        [
+          0.27742257714271545,
+          -0.14260517060756683,
+          -0.9501054883003235,
+          11.96242904663086
+        ],
+        [
+          -0.2529430687427521,
+          -0.9648750424385071,
+          0.07096478343009949,
+          -10.866301536560059
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7693,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_783079862",
+      "mask_path": "../../mask/hdr_right_07693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07695.png",
+      "transform_matrix": [
+        [
+          -0.9471167922019958,
+          0.21119296550750732,
+          -0.24159330129623413,
+          -17.16281509399414
+        ],
+        [
+          0.21364697813987732,
+          -0.1467331051826477,
+          -0.9658284187316895,
+          11.958976745605469
+        ],
+        [
+          -0.2394258826971054,
+          -0.9663679003715515,
+          0.09385265409946442,
+          -10.842116355895996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7695,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324032_983080625",
+      "mask_path": "../../mask/hdr_right_07695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07697.png",
+      "transform_matrix": [
+        [
+          -0.9630999565124512,
+          0.20046748220920563,
+          -0.17958636581897736,
+          -17.067737579345703
+        ],
+        [
+          0.15679514408111572,
+          -0.12442173063755035,
+          -0.9797624945640564,
+          11.944559097290039
+        ],
+        [
+          -0.21875493228435516,
+          -0.9717674851417542,
+          0.08839823305606842,
+          -10.826272964477539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7697,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_183080196",
+      "mask_path": "../../mask/hdr_right_07697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07699.png",
+      "transform_matrix": [
+        [
+          -0.9672876596450806,
+          0.20135918259620667,
+          -0.1543019562959671,
+          -16.99481964111328
+        ],
+        [
+          0.13850842416286469,
+          -0.09038310497999191,
+          -0.986228346824646,
+          11.930436134338379
+        ],
+        [
+          -0.2125324159860611,
+          -0.9753386378288269,
+          0.05953652039170265,
+          -10.80787467956543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7699,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_383081197",
+      "mask_path": "../../mask/hdr_right_07699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07700.png",
+      "transform_matrix": [
+        [
+          -0.969485878944397,
+          0.19523431360721588,
+          -0.1482592672109604,
+          -16.948781967163086
+        ],
+        [
+          0.13558503985404968,
+          -0.07683096826076508,
+          -0.9877822399139404,
+          11.915362358093262
+        ],
+        [
+          -0.2042398899793625,
+          -0.9777425527572632,
+          0.048015668988227844,
+          -10.791422843933105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7700,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_483079433",
+      "mask_path": "../../mask/hdr_right_07700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07701.png",
+      "transform_matrix": [
+        [
+          -0.973843514919281,
+          0.17944003641605377,
+          -0.13939137756824493,
+          -16.895017623901367
+        ],
+        [
+          0.12818597257137299,
+          -0.07265309244394302,
+          -0.9890854358673096,
+          11.902979850769043
+        ],
+        [
+          -0.1876087188720703,
+          -0.9810824394226074,
+          0.0477510467171669,
+          -10.787565231323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7701,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_583081007",
+      "mask_path": "../../mask/hdr_right_07701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07703.png",
+      "transform_matrix": [
+        [
+          -0.9809985160827637,
+          0.15443198382854462,
+          -0.1174418106675148,
+          -16.81645393371582
+        ],
+        [
+          0.1085161343216896,
+          -0.06503790616989136,
+          -0.9919648766517639,
+          11.893890380859375
+        ],
+        [
+          -0.16082929074764252,
+          -0.9858604669570923,
+          0.047043729573488235,
+          -10.784250259399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7703,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_783080101",
+      "mask_path": "../../mask/hdr_right_07703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07705.png",
+      "transform_matrix": [
+        [
+          -0.984637975692749,
+          0.13703154027462006,
+          -0.10821492224931717,
+          -16.729555130004883
+        ],
+        [
+          0.10323985666036606,
+          -0.04292777553200722,
+          -0.993729829788208,
+          11.872210502624512
+        ],
+        [
+          -0.14081774652004242,
+          -0.9896361231803894,
+          0.02812119573354721,
+          -10.764976501464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7705,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324033_983080863",
+      "mask_path": "../../mask/hdr_right_07705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07707.png",
+      "transform_matrix": [
+        [
+          -0.9871161580085754,
+          0.13206583261489868,
+          -0.09033422917127609,
+          -16.651750564575195
+        ],
+        [
+          0.08854489773511887,
+          -0.019371507689356804,
+          -0.9958837628364563,
+          11.863673210144043
+        ],
+        [
+          -0.13327214121818542,
+          -0.9910516738891602,
+          0.00742817297577858,
+          -10.757817268371582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7707,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_183078050",
+      "mask_path": "../../mask/hdr_right_07707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07712.png",
+      "transform_matrix": [
+        [
+          -0.9943078756332397,
+          0.10190991312265396,
+          0.03108491562306881,
+          -16.430051803588867
+        ],
+        [
+          -0.033484939485788345,
+          -0.021924620494246483,
+          -0.9991987347602844,
+          11.871955871582031
+        ],
+        [
+          -0.10114672034978867,
+          -0.9945520162582397,
+          0.02521226741373539,
+          -10.759045600891113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7712,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_683077812",
+      "mask_path": "../../mask/hdr_right_07712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07714.png",
+      "transform_matrix": [
+        [
+          -0.9915321469306946,
+          0.10506898909807205,
+          0.07631868124008179,
+          -16.365264892578125
+        ],
+        [
+          -0.07683730125427246,
+          -0.0008908859454095364,
+          -0.997043251991272,
+          11.862330436706543
+        ],
+        [
+          -0.10469032824039459,
+          -0.9944645166397095,
+          0.00895655620843172,
+          -10.74982738494873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7714,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_883080244",
+      "mask_path": "../../mask/hdr_right_07714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07715.png",
+      "transform_matrix": [
+        [
+          -0.9906893968582153,
+          0.09480628371238708,
+          0.09770537912845612,
+          -16.315357208251953
+        ],
+        [
+          -0.09819037467241287,
+          -0.0004525601689238101,
+          -0.9951676726341248,
+          11.846394538879395
+        ],
+        [
+          -0.0943039283156395,
+          -0.995495617389679,
+          0.009757407009601593,
+          -10.734813690185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7715,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324034_983080863",
+      "mask_path": "../../mask/hdr_right_07715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07717.png",
+      "transform_matrix": [
+        [
+          -0.985712468624115,
+          0.07194473594427109,
+          0.15229803323745728,
+          -16.234540939331055
+        ],
+        [
+          -0.15377306938171387,
+          -0.015395969152450562,
+          -0.9879863262176514,
+          11.85550594329834
+        ],
+        [
+          -0.06873563677072525,
+          -0.9972898364067078,
+          0.02623916044831276,
+          -10.737980842590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7717,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_183080434",
+      "mask_path": "../../mask/hdr_right_07717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07718.png",
+      "transform_matrix": [
+        [
+          -0.9815518260002136,
+          0.06425243616104126,
+          0.18007689714431763,
+          -16.187423706054688
+        ],
+        [
+          -0.18111222982406616,
+          -0.010621664114296436,
+          -0.9834052324295044,
+          11.860079765319824
+        ],
+        [
+          -0.06127345934510231,
+          -0.9978771805763245,
+          0.02206261269748211,
+          -10.735536575317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7718,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_283082008",
+      "mask_path": "../../mask/hdr_right_07718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07719.png",
+      "transform_matrix": [
+        [
+          -0.9780250191688538,
+          0.0560186505317688,
+          0.2008206844329834,
+          -16.139211654663086
+        ],
+        [
+          -0.20106825232505798,
+          0.0012397560058161616,
+          -0.9795764684677124,
+          11.869773864746094
+        ],
+        [
+          -0.05512351542711258,
+          -0.998429000377655,
+          0.010051054880023003,
+          -10.72561264038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7719,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_383082389",
+      "mask_path": "../../mask/hdr_right_07719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07721.png",
+      "transform_matrix": [
+        [
+          -0.9725393056869507,
+          0.048169154673814774,
+          0.2276993691921234,
+          -16.06549644470215
+        ],
+        [
+          -0.2267526239156723,
+          0.024355188012123108,
+          -0.9736478328704834,
+          11.893006324768066
+        ],
+        [
+          -0.05244545266032219,
+          -0.9985422492027283,
+          -0.012763899751007557,
+          -10.721116065979004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7721,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_583081007",
+      "mask_path": "../../mask/hdr_right_07721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07722.png",
+      "transform_matrix": [
+        [
+          -0.9715483784675598,
+          0.042009707540273666,
+          0.23308582603931427,
+          -16.01720428466797
+        ],
+        [
+          -0.23188482224941254,
+          0.03156374767422676,
+          -0.9722309708595276,
+          11.90530776977539
+        ],
+        [
+          -0.04820020869374275,
+          -0.998618483543396,
+          -0.02092430181801319,
+          -10.718253135681152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7722,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_683083057",
+      "mask_path": "../../mask/hdr_right_07722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07723.png",
+      "transform_matrix": [
+        [
+          -0.9714944362640381,
+          0.03469633683562279,
+          0.2345099002122879,
+          -15.952804565429688
+        ],
+        [
+          -0.2337772101163864,
+          0.023907557129859924,
+          -0.9719961881637573,
+          11.907339096069336
+        ],
+        [
+          -0.03933126851916313,
+          -0.9991118907928467,
+          -0.015114846639335155,
+          -10.715751647949219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7723,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_783082008",
+      "mask_path": "../../mask/hdr_right_07723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07724.png",
+      "transform_matrix": [
+        [
+          -0.9710308313369751,
+          0.031100347638130188,
+          0.23692171275615692,
+          -15.89694881439209
+        ],
+        [
+          -0.2365947812795639,
+          0.013854613527655602,
+          -0.9715096950531006,
+          11.914804458618164
+        ],
+        [
+          -0.03349674493074417,
+          -0.9994202256202698,
+          -0.006095079705119133,
+          -10.727036476135254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7724,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_883081674",
+      "mask_path": "../../mask/hdr_right_07724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07725.png",
+      "transform_matrix": [
+        [
+          -0.9708558320999146,
+          0.027201972901821136,
+          0.23811551928520203,
+          -15.834931373596191
+        ],
+        [
+          -0.23791615664958954,
+          0.010391075164079666,
+          -0.9712300896644592,
+          11.931705474853516
+        ],
+        [
+          -0.028893649578094482,
+          -0.9995759725570679,
+          -0.0036164477933198214,
+          -10.737971305847168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7725,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324035_983082532",
+      "mask_path": "../../mask/hdr_right_07725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07726.png",
+      "transform_matrix": [
+        [
+          -0.9722473621368408,
+          0.019866980612277985,
+          0.23311017453670502,
+          -15.75076961517334
+        ],
+        [
+          -0.23293447494506836,
+          0.01077429112046957,
+          -0.9724327325820923,
+          11.947872161865234
+        ],
+        [
+          -0.021830901503562927,
+          -0.9997445344924927,
+          -0.005847572349011898,
+          -10.741863250732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7726,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_83081722",
+      "mask_path": "../../mask/hdr_right_07726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07727.png",
+      "transform_matrix": [
+        [
+          -0.9743861556053162,
+          0.016695739701390266,
+          0.22426071763038635,
+          -15.673357963562012
+        ],
+        [
+          -0.22401383519172668,
+          0.015448438934981823,
+          -0.9744635820388794,
+          11.958465576171875
+        ],
+        [
+          -0.019733868539333344,
+          -0.99974125623703,
+          -0.011312669143080711,
+          -10.740559577941895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7727,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_183081150",
+      "mask_path": "../../mask/hdr_right_07727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07728.png",
+      "transform_matrix": [
+        [
+          -0.976270854473114,
+          0.01965508796274662,
+          0.21565908193588257,
+          -15.617928504943848
+        ],
+        [
+          -0.2151646614074707,
+          0.024542715400457382,
+          -0.9762694239616394,
+          11.965438842773438
+        ],
+        [
+          -0.024481521919369698,
+          -0.9995055794715881,
+          -0.01973125897347927,
+          -10.731644630432129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7728,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_283082008",
+      "mask_path": "../../mask/hdr_right_07728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07729.png",
+      "transform_matrix": [
+        [
+          -0.9777626395225525,
+          0.017765341326594353,
+          0.2089606374502182,
+          -15.537590026855469
+        ],
+        [
+          -0.20858566462993622,
+          0.020861122757196426,
+          -0.9777816534042358,
+          11.975927352905273
+        ],
+        [
+          -0.02172977849841118,
+          -0.9996245503425598,
+          -0.016691632568836212,
+          -10.724773406982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7729,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_383080959",
+      "mask_path": "../../mask/hdr_right_07729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07730.png",
+      "transform_matrix": [
+        [
+          -0.978217601776123,
+          0.016366425901651382,
+          0.20693562924861908,
+          -15.4631929397583
+        ],
+        [
+          -0.2068578451871872,
+          0.006329610478132963,
+          -0.9783505201339722,
+          11.989608764648438
+        ],
+        [
+          -0.01732192374765873,
+          -0.9998460412025452,
+          -0.002806214615702629,
+          -10.726555824279785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7730,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_483082532",
+      "mask_path": "../../mask/hdr_right_07730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07732.png",
+      "transform_matrix": [
+        [
+          -0.9785542488098145,
+          0.011703054420650005,
+          0.20565685629844666,
+          -15.39901065826416
+        ],
+        [
+          -0.2057744711637497,
+          -0.00992301944643259,
+          -0.9785492420196533,
+          12.003608703613281
+        ],
+        [
+          -0.009411277249455452,
+          -0.9998822808265686,
+          0.012118401005864143,
+          -10.74148941040039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7732,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_683082818",
+      "mask_path": "../../mask/hdr_right_07732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07733.png",
+      "transform_matrix": [
+        [
+          -0.9793718457221985,
+          0.006773493718355894,
+          0.20195269584655762,
+          -15.347732543945312
+        ],
+        [
+          -0.20203077793121338,
+          -0.014091088436543941,
+          -0.9792778491973877,
+          12.007834434509277
+        ],
+        [
+          -0.0037873995024710894,
+          -0.9998777508735657,
+          0.015168869867920876,
+          -10.744102478027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7733,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324036_783082485",
+      "mask_path": "../../mask/hdr_right_07733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07737.png",
+      "transform_matrix": [
+        [
+          -0.9865221977233887,
+          0.0058953892439603806,
+          0.16352145373821259,
+          -15.149683952331543
+        ],
+        [
+          -0.16359184682369232,
+          -0.014617346227169037,
+          -0.9864198565483093,
+          11.971033096313477
+        ],
+        [
+          -0.0034250784665346146,
+          -0.9998757839202881,
+          0.015384770929813385,
+          -10.71471881866455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7737,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_183077573",
+      "mask_path": "../../mask/hdr_right_07737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07741.png",
+      "transform_matrix": [
+        [
+          -0.9920510053634644,
+          0.019172709435224533,
+          0.12436763197183609,
+          -14.953696250915527
+        ],
+        [
+          -0.12495888024568558,
+          -0.03355428948998451,
+          -0.9915943741798401,
+          11.950307846069336
+        ],
+        [
+          -0.014838481321930885,
+          -0.99925297498703,
+          0.035683367401361465,
+          -10.72558307647705
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7741,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_583082199",
+      "mask_path": "../../mask/hdr_right_07741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07743.png",
+      "transform_matrix": [
+        [
+          -0.9956979751586914,
+          0.02599940448999405,
+          0.08893575519323349,
+          -14.87509822845459
+        ],
+        [
+          -0.08949554711580276,
+          -0.021221458911895752,
+          -0.9957610964775085,
+          11.924598693847656
+        ],
+        [
+          -0.024001849815249443,
+          -0.9994366765022278,
+          0.02345699444413185,
+          -10.704703330993652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7743,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_783081531",
+      "mask_path": "../../mask/hdr_right_07743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07744.png",
+      "transform_matrix": [
+        [
+          -0.9964736104011536,
+          0.032180871814489365,
+          0.0774911567568779,
+          -14.822301864624023
+        ],
+        [
+          -0.07796523720026016,
+          -0.013745815493166447,
+          -0.9968613386154175,
+          11.91765308380127
+        ],
+        [
+          -0.031014690175652504,
+          -0.9993876218795776,
+          0.016206329688429832,
+          -10.69710636138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7744,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_883081197",
+      "mask_path": "../../mask/hdr_right_07744.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/622346cc/mesh.ply b/2024-11-11-12-07-40/splats/622346cc/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6fe2bb5750ef50ffad8497b5e573b1a9e3cb90d8
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/622346cc/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5288516e44d7eae91323e931c45e1c6764cf68b881780461570bb559037a3e10
+size 75400497
diff --git a/2024-11-11-12-07-40/splats/622346cc/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/622346cc/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3d579f01a86bac9959a04081d7ad1ac436d23647
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/622346cc/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98854a567de62006ce1ae7a759e2117b64df24428abea01e77ef771efab3d607
+size 1581022
diff --git a/2024-11-11-12-07-40/splats/622346cc/splatfacto/config.yml b/2024-11-11-12-07-40/splats/622346cc/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..1e6e7d6b1b01800a3d1a688636830617d712f9de
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/622346cc/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_622346cc
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_622346cc
+      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/2024-11-11-12-07-40/splats/622346cc/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/622346cc/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..b57e36448d5329a752d27653e4b228e94494713f
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/622346cc/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.9003756046295166,
+            0.4156060516834259,
+            0.1288233995437622,
+            90.71510314941406
+        ],
+        [
+            0.4156060516834259,
+            0.9091082811355591,
+            -0.028173265978693962,
+            -55.90724563598633
+        ],
+        [
+            -0.1288233995437622,
+            0.028173265978693962,
+            -0.991267204284668,
+            -19.493104934692383
+        ]
+    ],
+    "scale": 0.2967181978498616
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/622346cc/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/622346cc/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..054cfd4d3dcecc38496cdd017302488fa970c486
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/622346cc/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f7e08396c0b695da6dc45afd4c79e93ebf6977f54cacd2fda4adfa255e389c
+size 234198657
diff --git a/2024-11-11-12-07-40/splats/622346cc/transforms.json b/2024-11-11-12-07-40/splats/622346cc/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f9fe62137b69f20faf249ea76973a3b649f68ac
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/622346cc/transforms.json
@@ -0,0 +1,18024 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_04646.png",
+      "transform_matrix": [
+        [
+          0.4408326745033264,
+          -0.23555830121040344,
+          -0.8661287426948547,
+          100.3855972290039
+        ],
+        [
+          0.8933889269828796,
+          0.0219055637717247,
+          0.4487497806549072,
+          14.839105606079102
+        ],
+        [
+          -0.08673369884490967,
+          -0.9716132879257202,
+          0.22010186314582825,
+          -32.23448181152344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4646,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_83081245",
+      "mask_path": "../../mask/hdr_front_04646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04647.png",
+      "transform_matrix": [
+        [
+          0.44757208228111267,
+          -0.2310061901807785,
+          -0.8638954758644104,
+          100.47541809082031
+        ],
+        [
+          0.889541506767273,
+          0.016027377918362617,
+          0.4565732181072235,
+          14.802545547485352
+        ],
+        [
+          -0.09162525087594986,
+          -0.9728202819824219,
+          0.21266299486160278,
+          -32.26713562011719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4647,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_183079957",
+      "mask_path": "../../mask/hdr_front_04647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04648.png",
+      "transform_matrix": [
+        [
+          0.4363265931606293,
+          -0.2460322231054306,
+          -0.8654983043670654,
+          100.57337188720703
+        ],
+        [
+          0.8929772973060608,
+          0.0002741105272434652,
+          0.4501017928123474,
+          14.757086753845215
+        ],
+        [
+          -0.11050228774547577,
+          -0.9692615866661072,
+          0.2198207825422287,
+          -32.26396560668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4648,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_283080101",
+      "mask_path": "../../mask/hdr_front_04648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04650.png",
+      "transform_matrix": [
+        [
+          0.4199380576610565,
+          -0.23266665637493134,
+          -0.8772218823432922,
+          100.67890930175781
+        ],
+        [
+          0.901039719581604,
+          -0.00870605930685997,
+          0.43364909291267395,
+          14.700161933898926
+        ],
+        [
+          -0.10853282362222672,
+          -0.9725175499916077,
+          0.2059859037399292,
+          -32.299007415771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4650,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_483082056",
+      "mask_path": "../../mask/hdr_front_04650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04651.png",
+      "transform_matrix": [
+        [
+          0.4247662127017975,
+          -0.2206783890724182,
+          -0.8779947757720947,
+          100.7695083618164
+        ],
+        [
+          0.8983876705169678,
+          -0.01689363643527031,
+          0.43887823820114136,
+          14.637687683105469
+        ],
+        [
+          -0.11168345808982849,
+          -0.975200355052948,
+          0.19107887148857117,
+          -32.31157302856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4651,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_583081960",
+      "mask_path": "../../mask/hdr_front_04651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04652.png",
+      "transform_matrix": [
+        [
+          0.43436795473098755,
+          -0.2044147104024887,
+          -0.8772338628768921,
+          100.83413696289062
+        ],
+        [
+          0.8938248157501221,
+          -0.022589465603232384,
+          0.447846919298172,
+          14.587686538696289
+        ],
+        [
+          -0.1113627478480339,
+          -0.9786238074302673,
+          0.1728987991809845,
+          -32.30058288574219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4652,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_683081626",
+      "mask_path": "../../mask/hdr_front_04652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04653.png",
+      "transform_matrix": [
+        [
+          0.4446668028831482,
+          -0.18390712141990662,
+          -0.8766125440597534,
+          100.90472412109375
+        ],
+        [
+          0.888993501663208,
+          -0.028888225555419922,
+          0.4570077061653137,
+          14.564879417419434
+        ],
+        [
+          -0.10937074571847916,
+          -0.9825190305709839,
+          0.15064659714698792,
+          -32.32371520996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4653,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_783080577",
+      "mask_path": "../../mask/hdr_front_04653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04654.png",
+      "transform_matrix": [
+        [
+          0.4451676905155182,
+          -0.17505480349063873,
+          -0.8781694173812866,
+          101.0199203491211
+        ],
+        [
+          0.8883270025253296,
+          -0.03709278628230095,
+          0.45771095156669617,
+          14.518750190734863
+        ],
+        [
+          -0.11269823461771011,
+          -0.9838597774505615,
+          0.13899339735507965,
+          -32.329654693603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4654,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_883083820",
+      "mask_path": "../../mask/hdr_front_04654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04655.png",
+      "transform_matrix": [
+        [
+          0.439139723777771,
+          -0.16627463698387146,
+          -0.8828981518745422,
+          101.11431884765625
+        ],
+        [
+          0.8911457657814026,
+          -0.04417495056986809,
+          0.45156145095825195,
+          14.471668243408203
+        ],
+        [
+          -0.11408518999814987,
+          -0.9850895404815674,
+          0.1287759691476822,
+          -32.31404495239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4655,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_983082771",
+      "mask_path": "../../mask/hdr_front_04655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04656.png",
+      "transform_matrix": [
+        [
+          0.4355488121509552,
+          -0.14950557053089142,
+          -0.8876628875732422,
+          101.18331909179688
+        ],
+        [
+          0.8933224678039551,
+          -0.04956844821572304,
+          0.4466744065284729,
+          14.441088676452637
+        ],
+        [
+          -0.11078038066625595,
+          -0.9875176548957825,
+          0.11196719110012054,
+          -32.31118392944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4656,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_83082199",
+      "mask_path": "../../mask/hdr_front_04656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04657.png",
+      "transform_matrix": [
+        [
+          0.4376910626888275,
+          -0.14546868205070496,
+          -0.8872798681259155,
+          101.26470184326172
+        ],
+        [
+          0.894381582736969,
+          -0.030796462669968605,
+          0.44624343514442444,
+          14.405755043029785
+        ],
+        [
+          -0.09223951399326324,
+          -0.9888834357261658,
+          0.11662516742944717,
+          -32.322383880615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4657,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_183081388",
+      "mask_path": "../../mask/hdr_front_04657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04658.png",
+      "transform_matrix": [
+        [
+          0.44305986166000366,
+          -0.15821537375450134,
+          -0.882420539855957,
+          101.33367919921875
+        ],
+        [
+          0.8928756713867188,
+          -0.010445281863212585,
+          0.4501821994781494,
+          14.37973403930664
+        ],
+        [
+          -0.080442875623703,
+          -0.9873494505882263,
+          0.13663877546787262,
+          -32.34510803222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4658,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_283083438",
+      "mask_path": "../../mask/hdr_front_04658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04659.png",
+      "transform_matrix": [
+        [
+          0.4502229392528534,
+          -0.17086537182331085,
+          -0.8764156103134155,
+          101.38372039794922
+        ],
+        [
+          0.8894948959350586,
+          -1.7124977603089064e-05,
+          0.4569452404975891,
+          14.356229782104492
+        ],
+        [
+          -0.07809111475944519,
+          -0.9852943420410156,
+          0.15197613835334778,
+          -32.38243865966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4659,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_383082151",
+      "mask_path": "../../mask/hdr_front_04659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04660.png",
+      "transform_matrix": [
+        [
+          0.45870915055274963,
+          -0.1721627563238144,
+          -0.8717487454414368,
+          101.43844604492188
+        ],
+        [
+          0.8855431079864502,
+          0.007443265523761511,
+          0.4644976556301117,
+          14.32603645324707
+        ],
+        [
+          -0.0734805315732956,
+          -0.9850404858589172,
+          0.15587180852890015,
+          -32.410274505615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4660,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_483083009",
+      "mask_path": "../../mask/hdr_front_04660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04661.png",
+      "transform_matrix": [
+        [
+          0.4659740626811981,
+          -0.1699899137020111,
+          -0.8683153986930847,
+          101.52919006347656
+        ],
+        [
+          0.8818262219429016,
+          0.008853916078805923,
+          0.47149133682250977,
+          14.283546447753906
+        ],
+        [
+          -0.07246077060699463,
+          -0.9854060411453247,
+          0.15402725338935852,
+          -32.41957092285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4661,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_583081722",
+      "mask_path": "../../mask/hdr_front_04661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04662.png",
+      "transform_matrix": [
+        [
+          0.4670247733592987,
+          -0.16707563400268555,
+          -0.8683165311813354,
+          101.61717224121094
+        ],
+        [
+          0.8810455203056335,
+          0.004471933469176292,
+          0.4730105400085449,
+          14.241673469543457
+        ],
+        [
+          -0.07514548301696777,
+          -0.9859338998794556,
+          0.14928972721099854,
+          -32.41957092285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4662,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_683082342",
+      "mask_path": "../../mask/hdr_front_04662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04663.png",
+      "transform_matrix": [
+        [
+          0.47025519609451294,
+          -0.16115006804466248,
+          -0.8676927089691162,
+          101.68077087402344
+        ],
+        [
+          0.8789510130882263,
+          -0.002941285725682974,
+          0.4769029915332794,
+          14.210522651672363
+        ],
+        [
+          -0.07940508425235748,
+          -0.9869255423545837,
+          0.14025986194610596,
+          -32.427978515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4663,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_783082246",
+      "mask_path": "../../mask/hdr_front_04663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04664.png",
+      "transform_matrix": [
+        [
+          0.473181813955307,
+          -0.15352743864059448,
+          -0.867483913898468,
+          101.75714111328125
+        ],
+        [
+          0.8767791986465454,
+          -0.013803905807435513,
+          0.48069509863853455,
+          14.18880844116211
+        ],
+        [
+          -0.08577454835176468,
+          -0.9880479574203491,
+          0.1280779093503952,
+          -32.43666076660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4664,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_883081197",
+      "mask_path": "../../mask/hdr_front_04664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04665.png",
+      "transform_matrix": [
+        [
+          0.4824836850166321,
+          -0.1607687920331955,
+          -0.8610243797302246,
+          101.84800720214844
+        ],
+        [
+          0.8724582195281982,
+          0.0010882039787247777,
+          0.48868751525878906,
+          14.136000633239746
+        ],
+        [
+          -0.0776287242770195,
+          -0.9869915843009949,
+          0.14078909158706665,
+          -32.455501556396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4665,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_983081579",
+      "mask_path": "../../mask/hdr_front_04665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04666.png",
+      "transform_matrix": [
+        [
+          0.5050299763679504,
+          -0.17809639871120453,
+          -0.8445273041725159,
+          101.90802001953125
+        ],
+        [
+          0.8619850873947144,
+          0.05431869253516197,
+          0.5040149688720703,
+          14.102686882019043
+        ],
+        [
+          -0.04388963058590889,
+          -0.9825127124786377,
+          0.18094900250434875,
+          -32.45539093017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4666,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_83079338",
+      "mask_path": "../../mask/hdr_front_04666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04667.png",
+      "transform_matrix": [
+        [
+          0.5196506977081299,
+          -0.18638864159584045,
+          -0.8337998986244202,
+          101.95111846923828
+        ],
+        [
+          0.8535995483398438,
+          0.07159124314785004,
+          0.5159869194030762,
+          14.072765350341797
+        ],
+        [
+          -0.036481332033872604,
+          -0.9798642992973328,
+          0.19630369544029236,
+          -32.45763397216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4667,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_183080673",
+      "mask_path": "../../mask/hdr_front_04667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04668.png",
+      "transform_matrix": [
+        [
+          0.5267866253852844,
+          -0.1876264065504074,
+          -0.8290308713912964,
+          101.99676513671875
+        ],
+        [
+          0.8482722640037537,
+          0.05393360182642937,
+          0.5268067717552185,
+          14.015639305114746
+        ],
+        [
+          -0.05413023382425308,
+          -0.9807586669921875,
+          0.1875697672367096,
+          -32.48368453979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4668,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_283080101",
+      "mask_path": "../../mask/hdr_front_04668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04669.png",
+      "transform_matrix": [
+        [
+          0.5336052179336548,
+          -0.17572283744812012,
+          -0.8272768259048462,
+          102.08724212646484
+        ],
+        [
+          0.8429416418075562,
+          0.03108576498925686,
+          0.5371062755584717,
+          13.956892013549805
+        ],
+        [
+          -0.06866530328989029,
+          -0.9839487671852112,
+          0.164711594581604,
+          -32.50086975097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4669,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_383078336",
+      "mask_path": "../../mask/hdr_front_04669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04670.png",
+      "transform_matrix": [
+        [
+          0.5362406969070435,
+          -0.15832307934761047,
+          -0.8290836811065674,
+          102.17298126220703
+        ],
+        [
+          0.8408416509628296,
+          0.01443717535585165,
+          0.5410887002944946,
+          13.909566879272461
+        ],
+        [
+          -0.07369719445705414,
+          -0.987281858921051,
+          0.14086641371250153,
+          -32.50680923461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4670,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_483081579",
+      "mask_path": "../../mask/hdr_front_04670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04671.png",
+      "transform_matrix": [
+        [
+          0.5373583436012268,
+          -0.14116622507572174,
+          -0.8314553499221802,
+          102.24604034423828
+        ],
+        [
+          0.8402799963951111,
+          0.005519236903637648,
+          0.5421245098114014,
+          13.86865520477295
+        ],
+        [
+          -0.07194067537784576,
+          -0.9899705648422241,
+          0.12158496677875519,
+          -32.51639175415039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4671,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_583082437",
+      "mask_path": "../../mask/hdr_front_04671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04672.png",
+      "transform_matrix": [
+        [
+          0.5411571860313416,
+          -0.12550388276576996,
+          -0.8315033316612244,
+          102.31392669677734
+        ],
+        [
+          0.8383845686912537,
+          0.003773523960262537,
+          0.5450661182403564,
+          13.810972213745117
+        ],
+        [
+          -0.06527020782232285,
+          -0.9920859932899475,
+          0.10726259648799896,
+          -32.52046585083008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4672,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_683082103",
+      "mask_path": "../../mask/hdr_front_04672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04673.png",
+      "transform_matrix": [
+        [
+          0.547268807888031,
+          -0.12070658802986145,
+          -0.8282070159912109,
+          102.3821029663086
+        ],
+        [
+          0.8346271514892578,
+          0.0049264454282820225,
+          0.5507932305335999,
+          13.747820854187012
+        ],
+        [
+          -0.06240424886345863,
+          -0.9926760792732239,
+          0.10344108194112778,
+          -32.52067565917969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4673,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_783081769",
+      "mask_path": "../../mask/hdr_front_04673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04674.png",
+      "transform_matrix": [
+        [
+          0.5538256764411926,
+          -0.11965584754943848,
+          -0.8239901065826416,
+          102.431640625
+        ],
+        [
+          0.8303298354148865,
+          0.005817399825900793,
+          0.5572419166564941,
+          13.70285415649414
+        ],
+        [
+          -0.061883773654699326,
+          -0.9927985072135925,
+          0.1025756374001503,
+          -32.522735595703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4674,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_883081197",
+      "mask_path": "../../mask/hdr_front_04674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04675.png",
+      "transform_matrix": [
+        [
+          0.5604602694511414,
+          -0.11849959194660187,
+          -0.8196598291397095,
+          102.48194885253906
+        ],
+        [
+          0.8257923722267151,
+          0.004842090420424938,
+          0.5639535784721375,
+          13.662642478942871
+        ],
+        [
+          -0.06285938620567322,
+          -0.9929422736167908,
+          0.10056985169649124,
+          -32.528541564941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4675,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_983081817",
+      "mask_path": "../../mask/hdr_front_04675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04676.png",
+      "transform_matrix": [
+        [
+          0.563444972038269,
+          -0.12482983618974686,
+          -0.8166684508323669,
+          102.58314514160156
+        ],
+        [
+          0.8233386278152466,
+          0.00331185944378376,
+          0.56754070520401,
+          13.605428695678711
+        ],
+        [
+          -0.06814131885766983,
+          -0.9921726584434509,
+          0.10464327782392502,
+          -32.546878814697266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4676,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_83083152",
+      "mask_path": "../../mask/hdr_front_04676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04677.png",
+      "transform_matrix": [
+        [
+          0.561944305896759,
+          -0.1308699995279312,
+          -0.8167567849159241,
+          102.66889190673828
+        ],
+        [
+          0.8238999247550964,
+          0.000775427499320358,
+          0.5667346715927124,
+          13.558845520019531
+        ],
+        [
+          -0.07353523373603821,
+          -0.9913992285728455,
+          0.10825952887535095,
+          -32.568328857421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4677,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_183080196",
+      "mask_path": "../../mask/hdr_front_04677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04678.png",
+      "transform_matrix": [
+        [
+          0.5534703135490417,
+          -0.13096408545970917,
+          -0.8225077390670776,
+          102.72515869140625
+        ],
+        [
+          0.8296148777008057,
+          -0.0005204514018259943,
+          0.5583357214927673,
+          13.53531265258789
+        ],
+        [
+          -0.07354998588562012,
+          -0.9913870096206665,
+          0.10836169868707657,
+          -32.58689498901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4678,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_283079385",
+      "mask_path": "../../mask/hdr_front_04678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04679.png",
+      "transform_matrix": [
+        [
+          0.540744960308075,
+          -0.13167372345924377,
+          -0.8308170437812805,
+          102.78263092041016
+        ],
+        [
+          0.8384739756584167,
+          0.005116099491715431,
+          0.544917643070221,
+          13.507365226745605
+        ],
+        [
+          -0.06750079244375229,
+          -0.9912799596786499,
+          0.11317148804664612,
+          -32.60539245605469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4679,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_383079767",
+      "mask_path": "../../mask/hdr_front_04679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04680.png",
+      "transform_matrix": [
+        [
+          0.530652642250061,
+          -0.14589349925518036,
+          -0.8349388837814331,
+          102.84882354736328
+        ],
+        [
+          0.8453623652458191,
+          0.019737277179956436,
+          0.5338286757469177,
+          13.47640609741211
+        ],
+        [
+          -0.061402708292007446,
+          -0.9891034364700317,
+          0.1338064968585968,
+          -32.62703323364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4680,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_483080625",
+      "mask_path": "../../mask/hdr_front_04680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04681.png",
+      "transform_matrix": [
+        [
+          0.5314849019050598,
+          -0.16401386260986328,
+          -0.8310374617576599,
+          102.89875030517578
+        ],
+        [
+          0.8451352715492249,
+          0.036443568766117096,
+          0.5333086848258972,
+          13.445734977722168
+        ],
+        [
+          -0.057184044271707535,
+          -0.985784649848938,
+          0.15798312425613403,
+          -32.64461135864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4681,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_583080291",
+      "mask_path": "../../mask/hdr_front_04681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04683.png",
+      "transform_matrix": [
+        [
+          0.5477494597434998,
+          -0.17588280141353607,
+          -0.8179460167884827,
+          102.9651870727539
+        ],
+        [
+          0.8352661728858948,
+          0.058908965438604355,
+          0.5466809868812561,
+          13.389898300170898
+        ],
+        [
+          -0.047967419028282166,
+          -0.9826469421386719,
+          0.17917631566524506,
+          -32.68880844116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4683,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_783080101",
+      "mask_path": "../../mask/hdr_front_04683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04684.png",
+      "transform_matrix": [
+        [
+          0.5507062077522278,
+          -0.1881369650363922,
+          -0.8132202625274658,
+          103.03862762451172
+        ],
+        [
+          0.8326470255851746,
+          0.05554559454321861,
+          0.5510113835334778,
+          13.343572616577148
+        ],
+        [
+          -0.05849481746554375,
+          -0.980570912361145,
+          0.18724100291728973,
+          -32.69595718383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4684,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_883080720",
+      "mask_path": "../../mask/hdr_front_04684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04685.png",
+      "transform_matrix": [
+        [
+          0.5479106903076172,
+          -0.20250433683395386,
+          -0.8116562962532043,
+          103.10199737548828
+        ],
+        [
+          0.8335238099098206,
+          0.049881674349308014,
+          0.5502271056175232,
+          13.308195114135742
+        ],
+        [
+          -0.07093660533428192,
+          -0.9780101180076599,
+          0.1961228847503662,
+          -32.7104606628418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4685,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_983080625",
+      "mask_path": "../../mask/hdr_front_04685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04686.png",
+      "transform_matrix": [
+        [
+          0.544981062412262,
+          -0.208943709731102,
+          -0.8119964599609375,
+          103.15120697021484
+        ],
+        [
+          0.8349135518074036,
+          0.04640384018421173,
+          0.5484215021133423,
+          13.285957336425781
+        ],
+        [
+          -0.07690946757793427,
+          -0.9768261909484863,
+          0.19973914325237274,
+          -32.73420333862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4686,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_83080768",
+      "mask_path": "../../mask/hdr_front_04686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04687.png",
+      "transform_matrix": [
+        [
+          0.543371856212616,
+          -0.2191331386566162,
+          -0.810387372970581,
+          103.2083740234375
+        ],
+        [
+          0.8357871770858765,
+          0.050617851316928864,
+          0.5467153191566467,
+          13.265031814575195
+        ],
+        [
+          -0.07878337800502777,
+          -0.9743810892105103,
+          0.21065297722816467,
+          -32.765586853027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4687,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_183081150",
+      "mask_path": "../../mask/hdr_front_04687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04688.png",
+      "transform_matrix": [
+        [
+          0.5466779470443726,
+          -0.22775402665138245,
+          -0.8057737946510315,
+          103.27301788330078
+        ],
+        [
+          0.8328120112419128,
+          0.04791804775595665,
+          0.5514779686927795,
+          13.216792106628418
+        ],
+        [
+          -0.08699022233486176,
+          -0.972538948059082,
+          0.21587203443050385,
+          -32.77848434448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4688,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_283080816",
+      "mask_path": "../../mask/hdr_front_04688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04689.png",
+      "transform_matrix": [
+        [
+          0.5545702576637268,
+          -0.23075120151042938,
+          -0.7995033860206604,
+          103.32447814941406
+        ],
+        [
+          0.8271373510360718,
+          0.04769808053970337,
+          0.5599719882011414,
+          13.16533088684082
+        ],
+        [
+          -0.09107942134141922,
+          -0.9718430042266846,
+          0.21731488406658173,
+          -32.78669357299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4689,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_383080482",
+      "mask_path": "../../mask/hdr_front_04689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04690.png",
+      "transform_matrix": [
+        [
+          0.5628008842468262,
+          -0.23327089846134186,
+          -0.7929943203926086,
+          103.35781860351562
+        ],
+        [
+          0.8220175504684448,
+          0.057152457535266876,
+          0.5665868520736694,
+          13.126544952392578
+        ],
+        [
+          -0.08684664219617844,
+          -0.9707307815551758,
+          0.22391821444034576,
+          -32.80414962768555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4690,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_483080625",
+      "mask_path": "../../mask/hdr_front_04690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04691.png",
+      "transform_matrix": [
+        [
+          0.5696936845779419,
+          -0.22522418200969696,
+          -0.7903943657875061,
+          103.42850494384766
+        ],
+        [
+          0.8176894187927246,
+          0.05859910696744919,
+          0.5726693272590637,
+          13.080670356750488
+        ],
+        [
+          -0.08266256749629974,
+          -0.9725431799888611,
+          0.2175469845533371,
+          -32.842796325683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4691,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_583081245",
+      "mask_path": "../../mask/hdr_front_04691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04692.png",
+      "transform_matrix": [
+        [
+          0.5718769431114197,
+          -0.21509568393230438,
+          -0.7916379570960999,
+          103.52583312988281
+        ],
+        [
+          0.8162268400192261,
+          0.0526885949075222,
+          0.5753239989280701,
+          13.024969100952148
+        ],
+        [
+          -0.08203940838575363,
+          -0.9751706123352051,
+          0.20569826662540436,
+          -32.86639404296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4692,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_683081150",
+      "mask_path": "../../mask/hdr_front_04692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04693.png",
+      "transform_matrix": [
+        [
+          0.5734227895736694,
+          -0.2028888314962387,
+          -0.7937395572662354,
+          103.59632873535156
+        ],
+        [
+          0.8158220648765564,
+          0.0527518130838871,
+          0.57589191198349,
+          12.982780456542969
+        ],
+        [
+          -0.07497084140777588,
+          -0.9777798056602478,
+          0.1957702785730362,
+          -32.88381576538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4693,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_783079862",
+      "mask_path": "../../mask/hdr_front_04693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04694.png",
+      "transform_matrix": [
+        [
+          0.5753827691078186,
+          -0.18476438522338867,
+          -0.7967414259910583,
+          103.659423828125
+        ],
+        [
+          0.8155353665351868,
+          0.055832501500844955,
+          0.576007604598999,
+          12.941749572753906
+        ],
+        [
+          -0.06194162368774414,
+          -0.9811956286430359,
+          0.18280696868896484,
+          -32.90696334838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4694,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_883080720",
+      "mask_path": "../../mask/hdr_front_04694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04695.png",
+      "transform_matrix": [
+        [
+          0.579220712184906,
+          -0.17326022684574127,
+          -0.796545147895813,
+          103.74411010742188
+        ],
+        [
+          0.8135199546813965,
+          0.060705143958330154,
+          0.5783600211143494,
+          12.878189086914062
+        ],
+        [
+          -0.051852401345968246,
+          -0.9830034375190735,
+          0.1761123239994049,
+          -32.92118453979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4695,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_983079433",
+      "mask_path": "../../mask/hdr_front_04695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04696.png",
+      "transform_matrix": [
+        [
+          0.5874919891357422,
+          -0.16772857308387756,
+          -0.7916567921638489,
+          103.82332611083984
+        ],
+        [
+          0.8079350590705872,
+          0.06625466048717499,
+          0.5855348706245422,
+          12.810724258422852
+        ],
+        [
+          -0.04575998708605766,
+          -0.9836043119430542,
+          0.17443791031837463,
+          -32.92864227294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4696,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_83081007",
+      "mask_path": "../../mask/hdr_front_04696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04697.png",
+      "transform_matrix": [
+        [
+          0.5958630442619324,
+          -0.16239166259765625,
+          -0.7864962220191956,
+          103.87479400634766
+        ],
+        [
+          0.8019284605979919,
+          0.06775281578302383,
+          0.5935655832290649,
+          12.761933326721191
+        ],
+        [
+          -0.04310278594493866,
+          -0.9843975901603699,
+          0.1705978959798813,
+          -32.934471130371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4697,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_183080196",
+      "mask_path": "../../mask/hdr_front_04697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04698.png",
+      "transform_matrix": [
+        [
+          0.6030628681182861,
+          -0.15664450824260712,
+          -0.7821621894836426,
+          103.935546875
+        ],
+        [
+          0.7962900996208191,
+          0.06007525324821472,
+          0.6019245386123657,
+          12.71839714050293
+        ],
+        [
+          -0.047299571335315704,
+          -0.985826313495636,
+          0.16096362471580505,
+          -32.94786071777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4698,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_283080816",
+      "mask_path": "../../mask/hdr_front_04698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04699.png",
+      "transform_matrix": [
+        [
+          0.6019355058670044,
+          -0.1654905080795288,
+          -0.7812084555625916,
+          104.03018188476562
+        ],
+        [
+          0.7959073185920715,
+          0.04488963261246681,
+          0.6037519574165344,
+          12.652729988098145
+        ],
+        [
+          -0.06484704464673996,
+          -0.9851891994476318,
+          0.15873578190803528,
+          -32.94683074951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4699,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_383082628",
+      "mask_path": "../../mask/hdr_front_04699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04700.png",
+      "transform_matrix": [
+        [
+          0.5979166626930237,
+          -0.16388612985610962,
+          -0.7846254110336304,
+          104.10401916503906
+        ],
+        [
+          0.7984864711761475,
+          0.03616580367088318,
+          0.6009253859519958,
+          12.602458953857422
+        ],
+        [
+          -0.07010670751333237,
+          -0.9858161211013794,
+          0.1524849832057953,
+          -32.949588775634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4700,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_483082771",
+      "mask_path": "../../mask/hdr_front_04700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04701.png",
+      "transform_matrix": [
+        [
+          0.599537193775177,
+          -0.14445394277572632,
+          -0.787202775478363,
+          104.16630554199219
+        ],
+        [
+          0.7981448769569397,
+          0.03500015288591385,
+          0.6014480590820312,
+          12.566974639892578
+        ],
+        [
+          -0.0593293271958828,
+          -0.9888923764228821,
+          0.13627906143665314,
+          -32.975608825683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4701,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_583081960",
+      "mask_path": "../../mask/hdr_front_04701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04702.png",
+      "transform_matrix": [
+        [
+          0.6079396605491638,
+          -0.13329151272773743,
+          -0.7827149629592896,
+          104.2338638305664
+        ],
+        [
+          0.7920697331428528,
+          0.03341420739889145,
+          0.6095153093338013,
+          12.50524616241455
+        ],
+        [
+          -0.05508941784501076,
+          -0.9905135631561279,
+          0.12589000165462494,
+          -32.97151184082031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4702,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_683081626",
+      "mask_path": "../../mask/hdr_front_04702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04703.png",
+      "transform_matrix": [
+        [
+          0.6214091777801514,
+          -0.11923518776893616,
+          -0.774360179901123,
+          104.29817962646484
+        ],
+        [
+          0.7821059823036194,
+          0.035763490945100784,
+          0.622118353843689,
+          12.439887046813965
+        ],
+        [
+          -0.0464845672249794,
+          -0.9922217130661011,
+          0.11547831445932388,
+          -32.95741271972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4703,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_783082246",
+      "mask_path": "../../mask/hdr_front_04703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04704.png",
+      "transform_matrix": [
+        [
+          0.6327680349349976,
+          -0.10243037343025208,
+          -0.7675367593765259,
+          104.3375473022461
+        ],
+        [
+          0.7735335826873779,
+          0.03834958001971245,
+          0.6325940489768982,
+          12.39374828338623
+        ],
+        [
+          -0.0353621244430542,
+          -0.9940006732940674,
+          0.10349971801042557,
+          -32.954383850097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4704,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_883081912",
+      "mask_path": "../../mask/hdr_front_04704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04705.png",
+      "transform_matrix": [
+        [
+          0.6392369866371155,
+          -0.09402202814817429,
+          -0.7632404565811157,
+          104.41548156738281
+        ],
+        [
+          0.7682175040245056,
+          0.033033885061740875,
+          0.639336109161377,
+          12.34185791015625
+        ],
+        [
+          -0.03489888086915016,
+          -0.9950219392776489,
+          0.09334585815668106,
+          -32.95720672607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4705,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_983082056",
+      "mask_path": "../../mask/hdr_front_04705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04706.png",
+      "transform_matrix": [
+        [
+          0.6393347382545471,
+          -0.09150978177785873,
+          -0.7634637951850891,
+          104.51316833496094
+        ],
+        [
+          0.7678936123847961,
+          0.02448859252035618,
+          0.640109121799469,
+          12.291799545288086
+        ],
+        [
+          -0.03988008573651314,
+          -0.9955030679702759,
+          0.08592619001865387,
+          -32.96763229370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4706,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_83082437",
+      "mask_path": "../../mask/hdr_front_04706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04707.png",
+      "transform_matrix": [
+        [
+          0.6355438828468323,
+          -0.08728503435850143,
+          -0.7671149373054504,
+          104.57819366455078
+        ],
+        [
+          0.7710367441177368,
+          0.02049850858747959,
+          0.6364607214927673,
+          12.256585121154785
+        ],
+        [
+          -0.03982878476381302,
+          -0.9959724545478821,
+          0.08032767474651337,
+          -32.97800064086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4707,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_183083295",
+      "mask_path": "../../mask/hdr_front_04707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04708.png",
+      "transform_matrix": [
+        [
+          0.6316415071487427,
+          -0.07803565263748169,
+          -0.7713231444358826,
+          104.64269256591797
+        ],
+        [
+          0.7747759819030762,
+          0.028368230909109116,
+          0.6315991282463074,
+          12.21450138092041
+        ],
+        [
+          -0.027406176552176476,
+          -0.9965468645095825,
+          0.07837870717048645,
+          -32.993099212646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4708,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_283081769",
+      "mask_path": "../../mask/hdr_front_04708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04709.png",
+      "transform_matrix": [
+        [
+          0.6278815865516663,
+          -0.07351185381412506,
+          -0.7748295664787292,
+          104.70699310302734
+        ],
+        [
+          0.7781152725219727,
+          0.037082500755786896,
+          0.6270260214805603,
+          12.16838550567627
+        ],
+        [
+          -0.017361219972372055,
+          -0.9966047406196594,
+          0.08048411458730698,
+          -32.99574661254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4709,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_383083105",
+      "mask_path": "../../mask/hdr_front_04709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04710.png",
+      "transform_matrix": [
+        [
+          0.619844913482666,
+          -0.07103933393955231,
+          -0.7815021872520447,
+          104.76004028320312
+        ],
+        [
+          0.7846351265907288,
+          0.04108726233243942,
+          0.6185948848724365,
+          12.13295841217041
+        ],
+        [
+          -0.011834786273539066,
+          -0.9966269731521606,
+          0.08120769262313843,
+          -32.99199295043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4710,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_483080625",
+      "mask_path": "../../mask/hdr_front_04710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04711.png",
+      "transform_matrix": [
+        [
+          0.609447181224823,
+          -0.06115854158997536,
+          -0.7904643416404724,
+          104.8062515258789
+        ],
+        [
+          0.7928261756896973,
+          0.04812904819846153,
+          0.607544481754303,
+          12.103425025939941
+        ],
+        [
+          0.000887760950718075,
+          -0.9969670176506042,
+          0.07782021164894104,
+          -32.99382400512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4711,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_583081483",
+      "mask_path": "../../mask/hdr_front_04711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04712.png",
+      "transform_matrix": [
+        [
+          0.5983489155769348,
+          -0.05386892706155777,
+          -0.7994227409362793,
+          104.85678100585938
+        ],
+        [
+          0.8011590838432312,
+          0.054021112620830536,
+          0.5960083603858948,
+          12.071137428283691
+        ],
+        [
+          0.011079369112849236,
+          -0.9970857501029968,
+          0.07548105716705322,
+          -32.99595642089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4712,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_683081150",
+      "mask_path": "../../mask/hdr_front_04712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04713.png",
+      "transform_matrix": [
+        [
+          0.5833489298820496,
+          -0.06021576374769211,
+          -0.8099865317344666,
+          104.93217468261719
+        ],
+        [
+          0.8121062517166138,
+          0.0600532628595829,
+          0.5804111361503601,
+          12.025394439697266
+        ],
+        [
+          0.013692431151866913,
+          -0.9963773488998413,
+          0.08393361419439316,
+          -33.01082992553711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4713,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_783082246",
+      "mask_path": "../../mask/hdr_front_04713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04714.png",
+      "transform_matrix": [
+        [
+          0.5637158155441284,
+          -0.06527136266231537,
+          -0.8233857750892639,
+          105.001708984375
+        ],
+        [
+          0.825793981552124,
+          0.0650499165058136,
+          0.5602079033851624,
+          11.994070053100586
+        ],
+        [
+          0.016995646059513092,
+          -0.995745062828064,
+          0.090570367872715,
+          -33.02996826171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4714,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_883081674",
+      "mask_path": "../../mask/hdr_front_04714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04716.png",
+      "transform_matrix": [
+        [
+          0.5224711894989014,
+          -0.06666849553585052,
+          -0.8500465750694275,
+          105.09334564208984
+        ],
+        [
+          0.8520364165306091,
+          0.07884744554758072,
+          0.5175102949142456,
+          11.967494010925293
+        ],
+        [
+          0.03252236545085907,
+          -0.9946549534797668,
+          0.09799949824810028,
+          -33.04739761352539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4716,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_83080768",
+      "mask_path": "../../mask/hdr_front_04716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04717.png",
+      "transform_matrix": [
+        [
+          0.518255889415741,
+          -0.07448520511388779,
+          -0.8519758582115173,
+          105.15673828125
+        ],
+        [
+          0.8546417355537415,
+          0.08191106468439102,
+          0.5127164125442505,
+          11.940253257751465
+        ],
+        [
+          0.03159646317362785,
+          -0.9938523769378662,
+          0.10610905289649963,
+          -33.050811767578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4717,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_183082103",
+      "mask_path": "../../mask/hdr_front_04717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05587.png",
+      "transform_matrix": [
+        [
+          -0.6099011301994324,
+          -0.07894428819417953,
+          0.7885356545448303,
+          104.72286987304688
+        ],
+        [
+          -0.7920957803726196,
+          0.02984730526804924,
+          -0.6096665859222412,
+          12.610620498657227
+        ],
+        [
+          0.024594031274318695,
+          -0.9964321851730347,
+          -0.08073534816503525,
+          -32.97362518310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5587,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_183081150",
+      "mask_path": "../../mask/hdr_front_05587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05589.png",
+      "transform_matrix": [
+        [
+          -0.5786539912223816,
+          -0.09647116810083389,
+          0.8098474740982056,
+          104.64082336425781
+        ],
+        [
+          -0.8143443465232849,
+          0.013854001648724079,
+          -0.5802167057991028,
+          12.657088279724121
+        ],
+        [
+          0.044754549860954285,
+          -0.9952393770217896,
+          -0.08657742291688919,
+          -32.957122802734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5589,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_383081674",
+      "mask_path": "../../mask/hdr_front_05589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05590.png",
+      "transform_matrix": [
+        [
+          -0.558042049407959,
+          -0.09957592189311981,
+          0.8238165974617004,
+          104.56696319580078
+        ],
+        [
+          -0.8285694122314453,
+          0.012539464980363846,
+          -0.5597458481788635,
+          12.693329811096191
+        ],
+        [
+          0.045406993478536606,
+          -0.994951069355011,
+          -0.08950310945510864,
+          -32.945064544677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5590,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_483082056",
+      "mask_path": "../../mask/hdr_front_05590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05591.png",
+      "transform_matrix": [
+        [
+          -0.5351875424385071,
+          -0.09914690256118774,
+          0.8388946652412415,
+          104.49867248535156
+        ],
+        [
+          -0.8437591195106506,
+          0.015059597790241241,
+          -0.5365109443664551,
+          12.718646049499512
+        ],
+        [
+          0.04055996984243393,
+          -0.9949588775634766,
+          -0.09171579778194427,
+          -32.93880844116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5591,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_583082437",
+      "mask_path": "../../mask/hdr_front_05591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05593.png",
+      "transform_matrix": [
+        [
+          -0.5038940906524658,
+          -0.09705215692520142,
+          0.858295738697052,
+          104.4000015258789
+        ],
+        [
+          -0.8625350594520569,
+          0.0035205893218517303,
+          -0.5059848427772522,
+          12.753475189208984
+        ],
+        [
+          0.04608521610498428,
+          -0.9952731132507324,
+          -0.08548489212989807,
+          -32.936279296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5593,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_783082246",
+      "mask_path": "../../mask/hdr_front_05593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05594.png",
+      "transform_matrix": [
+        [
+          -0.505220353603363,
+          -0.10096143931150436,
+          0.8570643663406372,
+          104.33049774169922
+        ],
+        [
+          -0.861504077911377,
+          0.0007413172861561179,
+          -0.5077502131462097,
+          12.796060562133789
+        ],
+        [
+          0.050627823919057846,
+          -0.9948901534080505,
+          -0.08735321462154388,
+          -32.918670654296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5594,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_883081912",
+      "mask_path": "../../mask/hdr_front_05594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05596.png",
+      "transform_matrix": [
+        [
+          -0.5163686871528625,
+          -0.10723552107810974,
+          0.8496257066726685,
+          104.21656036376953
+        ],
+        [
+          -0.8542649745941162,
+          -0.004958756733685732,
+          -0.5198141932487488,
+          12.860926628112793
+        ],
+        [
+          0.059955623000860214,
+          -0.9942212700843811,
+          -0.08904700726270676,
+          -32.89462661743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5596,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_83082437",
+      "mask_path": "../../mask/hdr_front_05596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05597.png",
+      "transform_matrix": [
+        [
+          -0.5165191888809204,
+          -0.09948401153087616,
+          0.8504768013954163,
+          104.12866973876953
+        ],
+        [
+          -0.8545057773590088,
+          -0.003938799258321524,
+          -0.5194268822669983,
+          12.898859024047852
+        ],
+        [
+          0.05502452701330185,
+          -0.9950314164161682,
+          -0.08297519385814667,
+          -32.88788986206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5597,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_183082342",
+      "mask_path": "../../mask/hdr_front_05597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05600.png",
+      "transform_matrix": [
+        [
+          -0.519374668598175,
+          -0.08518863469362259,
+          0.8502898812294006,
+          103.9790267944336
+        ],
+        [
+          -0.8528396487236023,
+          -0.01118721254169941,
+          -0.5220529437065125,
+          12.988465309143066
+        ],
+        [
+          0.0539853535592556,
+          -0.99630206823349,
+          -0.06684189289808273,
+          -32.89350891113281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5600,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_483081817",
+      "mask_path": "../../mask/hdr_front_05600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05601.png",
+      "transform_matrix": [
+        [
+          -0.5278191566467285,
+          -0.08212363719940186,
+          0.8453772068023682,
+          103.9301528930664
+        ],
+        [
+          -0.847705602645874,
+          -0.01109754852950573,
+          -0.5303509831428528,
+          13.024781227111816
+        ],
+        [
+          0.05293596163392067,
+          -0.9965603947639465,
+          -0.06375916302204132,
+          -32.88345718383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5601,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_583081960",
+      "mask_path": "../../mask/hdr_front_05601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05602.png",
+      "transform_matrix": [
+        [
+          -0.536910355091095,
+          -0.08485011756420135,
+          0.8393614888191223,
+          103.88959503173828
+        ],
+        [
+          -0.8418549299240112,
+          -0.010789108462631702,
+          -0.5395960211753845,
+          13.054499626159668
+        ],
+        [
+          0.05484074354171753,
+          -0.9963353276252747,
+          -0.0656387060880661,
+          -32.873294830322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5602,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_683081865",
+      "mask_path": "../../mask/hdr_front_05602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05603.png",
+      "transform_matrix": [
+        [
+          -0.5434799790382385,
+          -0.07943513989448547,
+          0.835655152797699,
+          103.81967163085938
+        ],
+        [
+          -0.8376350402832031,
+          -0.013604269362986088,
+          -0.5460608005523682,
+          13.099701881408691
+        ],
+        [
+          0.0547448992729187,
+          -0.9967472553253174,
+          -0.05914400517940521,
+          -32.8673210144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5603,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_783080101",
+      "mask_path": "../../mask/hdr_front_05603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05604.png",
+      "transform_matrix": [
+        [
+          -0.5394123196601868,
+          -0.06752540171146393,
+          0.8393298983573914,
+          103.7492446899414
+        ],
+        [
+          -0.8407846689224243,
+          -0.011253193020820618,
+          -0.5412527322769165,
+          13.138833999633789
+        ],
+        [
+          0.045993443578481674,
+          -0.9976540803909302,
+          -0.05070420727133751,
+          -32.86697006225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5604,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_883082389",
+      "mask_path": "../../mask/hdr_front_05604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05606.png",
+      "transform_matrix": [
+        [
+          -0.4968312680721283,
+          -0.05294864997267723,
+          0.8662304282188416,
+          103.66290283203125
+        ],
+        [
+          -0.8671844005584717,
+          -0.008712269365787506,
+          -0.4979110658168793,
+          13.182215690612793
+        ],
+        [
+          0.03391054645180702,
+          -0.9985592365264893,
+          -0.0415877103805542,
+          -32.88250732421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5606,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_83081722",
+      "mask_path": "../../mask/hdr_front_05606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05607.png",
+      "transform_matrix": [
+        [
+          -0.47994935512542725,
+          -0.0515701062977314,
+          0.8757792115211487,
+          103.6101303100586
+        ],
+        [
+          -0.8766449689865112,
+          -0.010264691896736622,
+          -0.4810282588005066,
+          13.216592788696289
+        ],
+        [
+          0.0337962806224823,
+          -0.998616635799408,
+          -0.04028214141726494,
+          -32.87596893310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5607,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_183081865",
+      "mask_path": "../../mask/hdr_front_05607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05609.png",
+      "transform_matrix": [
+        [
+          -0.4791650176048279,
+          -0.05806168541312218,
+          0.8758023977279663,
+          103.55085754394531
+        ],
+        [
+          -0.8763258457183838,
+          -0.024666232988238335,
+          -0.481086790561676,
+          13.263508796691895
+        ],
+        [
+          0.04953544959425926,
+          -0.9980083107948303,
+          -0.039061758667230606,
+          -32.86433410644531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5609,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_383082151",
+      "mask_path": "../../mask/hdr_front_05609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05610.png",
+      "transform_matrix": [
+        [
+          -0.4780452847480774,
+          -0.08322925865650177,
+          0.8743829131126404,
+          103.49556732177734
+        ],
+        [
+          -0.8753544092178345,
+          -0.0368005745112896,
+          -0.48207929730415344,
+          13.295090675354004
+        ],
+        [
+          0.07230089604854584,
+          -0.995850682258606,
+          -0.055262744426727295,
+          -32.85346984863281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5610,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_483081102",
+      "mask_path": "../../mask/hdr_front_05610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05611.png",
+      "transform_matrix": [
+        [
+          -0.4663299322128296,
+          -0.09852618724107742,
+          0.8791069388389587,
+          103.43363189697266
+        ],
+        [
+          -0.8812616467475891,
+          -0.0346522182226181,
+          -0.47135666012763977,
+          13.311912536621094
+        ],
+        [
+          0.07690396904945374,
+          -0.994530975818634,
+          -0.07066798210144043,
+          -32.805503845214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5611,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_583082914",
+      "mask_path": "../../mask/hdr_front_05611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05613.png",
+      "transform_matrix": [
+        [
+          -0.4356192648410797,
+          -0.1030963659286499,
+          0.8942074775695801,
+          103.36206817626953
+        ],
+        [
+          -0.8970537185668945,
+          -0.03235190734267235,
+          -0.4407358169555664,
+          13.318889617919922
+        ],
+        [
+          0.07436757534742355,
+          -0.9941450953483582,
+          -0.07838986068964005,
+          -32.81342697143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5613,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_783083438",
+      "mask_path": "../../mask/hdr_front_05613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05618.png",
+      "transform_matrix": [
+        [
+          -0.4000929892063141,
+          -0.11853040754795074,
+          0.9087772965431213,
+          103.12981414794922
+        ],
+        [
+          -0.9126020073890686,
+          -0.039534058421850204,
+          -0.4069331884384155,
+          13.346200942993164
+        ],
+        [
+          0.08416161686182022,
+          -0.9921631217002869,
+          -0.09235380589962006,
+          -32.7503662109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5618,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_283084154",
+      "mask_path": "../../mask/hdr_front_05618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05619.png",
+      "transform_matrix": [
+        [
+          -0.39581188559532166,
+          -0.10778073221445084,
+          0.9119848608970642,
+          103.04783630371094
+        ],
+        [
+          -0.915310263633728,
+          -0.034189410507678986,
+          -0.4012957811355591,
+          13.375078201293945
+        ],
+        [
+          0.07443217933177948,
+          -0.9935867190361023,
+          -0.08512023091316223,
+          -32.75724411010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5619,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_383081436",
+      "mask_path": "../../mask/hdr_front_05619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05620.png",
+      "transform_matrix": [
+        [
+          -0.39022889733314514,
+          -0.10470471531152725,
+          0.914745032787323,
+          102.98875427246094
+        ],
+        [
+          -0.9182921648025513,
+          -0.027811145409941673,
+          -0.39492544531822205,
+          13.403428077697754
+        ],
+        [
+          0.06679066270589828,
+          -0.9941143989562988,
+          -0.08529680222272873,
+          -32.771732330322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5620,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_483085870",
+      "mask_path": "../../mask/hdr_front_05620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05621.png",
+      "transform_matrix": [
+        [
+          -0.3890213072299957,
+          -0.10668815672397614,
+          0.9150301814079285,
+          102.94158935546875
+        ],
+        [
+          -0.9191678166389465,
+          -0.021450120955705643,
+          -0.3932814300060272,
+          13.423125267028809
+        ],
+        [
+          0.06158597394824028,
+          -0.9940611720085144,
+          -0.08971977978944778,
+          -32.77787780761719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5621,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_583082437",
+      "mask_path": "../../mask/hdr_front_05621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05622.png",
+      "transform_matrix": [
+        [
+          -0.3938111960887909,
+          -0.12068630009889603,
+          0.9112340807914734,
+          102.8555679321289
+        ],
+        [
+          -0.9185148477554321,
+          0.013639084063470364,
+          -0.39515140652656555,
+          13.472825050354004
+        ],
+        [
+          0.03526095673441887,
+          -0.9925969839096069,
+          -0.11622337251901627,
+          -32.74101638793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5622,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_683082103",
+      "mask_path": "../../mask/hdr_front_05622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05623.png",
+      "transform_matrix": [
+        [
+          -0.4093340039253235,
+          -0.14638887345790863,
+          0.9005642533302307,
+          102.77110290527344
+        ],
+        [
+          -0.9120814204216003,
+          0.0402122400701046,
+          -0.40803229808807373,
+          13.52805233001709
+        ],
+        [
+          0.023517677560448647,
+          -0.9884095191955566,
+          -0.14997880160808563,
+          -32.648128509521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5623,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_783082246",
+      "mask_path": "../../mask/hdr_front_05623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05624.png",
+      "transform_matrix": [
+        [
+          -0.42247772216796875,
+          -0.16495315730571747,
+          0.8912368416786194,
+          102.70966339111328
+        ],
+        [
+          -0.905974805355072,
+          0.04769677296280861,
+          -0.42063620686531067,
+          13.568926811218262
+        ],
+        [
+          0.02687615528702736,
+          -0.9851474761962891,
+          -0.1695941984653473,
+          -32.61899185180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5624,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_883083343",
+      "mask_path": "../../mask/hdr_front_05624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05625.png",
+      "transform_matrix": [
+        [
+          -0.4265298843383789,
+          -0.1716630607843399,
+          0.8880338668823242,
+          102.63185119628906
+        ],
+        [
+          -0.9039372205734253,
+          0.04710112512111664,
+          -0.42506352066993713,
+          13.598304748535156
+        ],
+        [
+          0.031140314415097237,
+          -0.9840291142463684,
+          -0.1752626746892929,
+          -32.634037017822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5625,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_983082056",
+      "mask_path": "../../mask/hdr_front_05625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05626.png",
+      "transform_matrix": [
+        [
+          -0.4257051646709442,
+          -0.15183258056640625,
+          0.8920324444770813,
+          102.55254364013672
+        ],
+        [
+          -0.9046341180801392,
+          0.04929479956626892,
+          -0.4233286380767822,
+          13.628522872924805
+        ],
+        [
+          0.020302515476942062,
+          -0.9871762990951538,
+          -0.15833798050880432,
+          -32.62157440185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5626,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_83083868",
+      "mask_path": "../../mask/hdr_front_05626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05627.png",
+      "transform_matrix": [
+        [
+          -0.4233771860599518,
+          -0.13838624954223633,
+          0.8953217267990112,
+          102.48944854736328
+        ],
+        [
+          -0.9058953523635864,
+          0.053468238562345505,
+          -0.4201127886772156,
+          13.650862693786621
+        ],
+        [
+          0.010266555473208427,
+          -0.9889340400695801,
+          -0.14800068736076355,
+          -32.60243606567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5627,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_183081865",
+      "mask_path": "../../mask/hdr_front_05627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05628.png",
+      "transform_matrix": [
+        [
+          -0.42261597514152527,
+          -0.14221367239952087,
+          0.895081639289856,
+          102.42982482910156
+        ],
+        [
+          -0.9062203168869019,
+          0.05250387266278267,
+          -0.4195331633090973,
+          13.664569854736328
+        ],
+        [
+          0.012668105773627758,
+          -0.988442599773407,
+          -0.1510659158229828,
+          -32.589290618896484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5628,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_283082723",
+      "mask_path": "../../mask/hdr_front_05628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05629.png",
+      "transform_matrix": [
+        [
+          -0.42411017417907715,
+          -0.15331599116325378,
+          0.8925384283065796,
+          102.34193420410156
+        ],
+        [
+          -0.9056100845336914,
+          0.07076715677976608,
+          -0.41816550493240356,
+          13.706134796142578
+        ],
+        [
+          0.0009490507072769105,
+          -0.9856399893760681,
+          -0.16885757446289062,
+          -32.57056427001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5629,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_383081912",
+      "mask_path": "../../mask/hdr_front_05629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05630.png",
+      "transform_matrix": [
+        [
+          -0.4317984879016876,
+          -0.1703680455684662,
+          0.8857340216636658,
+          102.24676513671875
+        ],
+        [
+          -0.9019699096679688,
+          0.08202631026506424,
+          -0.4239361584186554,
+          13.74754524230957
+        ],
+        [
+          -0.0004283266025595367,
+          -0.9819605350494385,
+          -0.1890856921672821,
+          -32.51206970214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5630,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_483082532",
+      "mask_path": "../../mask/hdr_front_05630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05631.png",
+      "transform_matrix": [
+        [
+          -0.44027265906333923,
+          -0.18076352775096893,
+          0.879479706287384,
+          102.18539428710938
+        ],
+        [
+          -0.8978158831596375,
+          0.07848449051380157,
+          -0.43332064151763916,
+          13.777122497558594
+        ],
+        [
+          0.009303051978349686,
+          -0.9803901314735413,
+          -0.19684696197509766,
+          -32.481651306152344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5631,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_583082914",
+      "mask_path": "../../mask/hdr_front_05631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05632.png",
+      "transform_matrix": [
+        [
+          -0.44513756036758423,
+          -0.18346825242042542,
+          0.8764657378196716,
+          102.1226806640625
+        ],
+        [
+          -0.895333468914032,
+          0.07459472119808197,
+          -0.439105361700058,
+          13.809096336364746
+        ],
+        [
+          0.015182187780737877,
+          -0.9801913499832153,
+          -0.19747017323970795,
+          -32.480403900146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5632,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_683083057",
+      "mask_path": "../../mask/hdr_front_05632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05633.png",
+      "transform_matrix": [
+        [
+          -0.4485149085521698,
+          -0.1817951202392578,
+          0.8750913739204407,
+          102.04066467285156
+        ],
+        [
+          -0.8936877250671387,
+          0.0775083377957344,
+          -0.44194433093070984,
+          13.843932151794434
+        ],
+        [
+          0.012516451999545097,
+          -0.9802770614624023,
+          -0.1972317099571228,
+          -32.46385955810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5633,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_783081769",
+      "mask_path": "../../mask/hdr_front_05633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05634.png",
+      "transform_matrix": [
+        [
+          -0.4517227113246918,
+          -0.17910505831241608,
+          0.8739953637123108,
+          101.96984100341797
+        ],
+        [
+          -0.8921392560005188,
+          0.08427958190441132,
+          -0.4438292384147644,
+          13.869511604309082
+        ],
+        [
+          0.0058320919051766396,
+          -0.9802135229110718,
+          -0.19785766303539276,
+          -32.44330978393555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5634,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_883082866",
+      "mask_path": "../../mask/hdr_front_05634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05635.png",
+      "transform_matrix": [
+        [
+          -0.4552028179168701,
+          -0.17471203207969666,
+          0.8730785250663757,
+          101.91085052490234
+        ],
+        [
+          -0.8903756141662598,
+          0.08417920768260956,
+          -0.44737595319747925,
+          13.90124225616455
+        ],
+        [
+          0.004666897002607584,
+          -0.981014609336853,
+          -0.1938779354095459,
+          -32.43702697753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5635,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_983080625",
+      "mask_path": "../../mask/hdr_front_05635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05636.png",
+      "transform_matrix": [
+        [
+          -0.46238747239112854,
+          -0.16708676517009735,
+          0.8707926273345947,
+          101.8358154296875
+        ],
+        [
+          -0.8866453766822815,
+          0.07871086150407791,
+          -0.4557023048400879,
+          13.937213897705078
+        ],
+        [
+          0.007600975688546896,
+          -0.9827952980995178,
+          -0.18454162776470184,
+          -32.42873001098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5636,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_83080768",
+      "mask_path": "../../mask/hdr_front_05636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05637.png",
+      "transform_matrix": [
+        [
+          -0.4701422154903412,
+          -0.16195565462112427,
+          0.8676040768623352,
+          101.76866912841797
+        ],
+        [
+          -0.8825188875198364,
+          0.0737253874540329,
+          -0.4644620716571808,
+          13.967267036437988
+        ],
+        [
+          0.011257818900048733,
+          -0.9840401411056519,
+          -0.17759032547473907,
+          -32.40291976928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5637,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_183083057",
+      "mask_path": "../../mask/hdr_front_05637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05638.png",
+      "transform_matrix": [
+        [
+          -0.4758250117301941,
+          -0.16225381195545197,
+          0.8644444942474365,
+          101.71814727783203
+        ],
+        [
+          -0.8793957829475403,
+          0.0699707493185997,
+          -0.47092151641845703,
+          13.998743057250977
+        ],
+        [
+          0.01592298038303852,
+          -0.984265148639679,
+          -0.17597916722297668,
+          -32.38746643066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5638,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_283081054",
+      "mask_path": "../../mask/hdr_front_05638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05639.png",
+      "transform_matrix": [
+        [
+          -0.4796049892902374,
+          -0.13662824034690857,
+          0.8667824864387512,
+          101.65264129638672
+        ],
+        [
+          -0.8774551153182983,
+          0.06658831983804703,
+          -0.47501423954963684,
+          14.041866302490234
+        ],
+        [
+          0.007182772736996412,
+          -0.9883819222450256,
+          -0.15182122588157654,
+          -32.39040756225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5639,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_383082866",
+      "mask_path": "../../mask/hdr_front_05639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05640.png",
+      "transform_matrix": [
+        [
+          -0.48145338892936707,
+          -0.1051398366689682,
+          0.8701426386833191,
+          101.58674621582031
+        ],
+        [
+          -0.8764175176620483,
+          0.06879283487796783,
+          -0.47661298513412476,
+          14.084232330322266
+        ],
+        [
+          -0.009748563170433044,
+          -0.9920752048492432,
+          -0.1252669245004654,
+          -32.38645553588867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5640,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_483081817",
+      "mask_path": "../../mask/hdr_front_05640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05641.png",
+      "transform_matrix": [
+        [
+          -0.4822067618370056,
+          -0.09100409597158432,
+          0.871317982673645,
+          101.53443908691406
+        ],
+        [
+          -0.875876247882843,
+          0.07030937820672989,
+          -0.4773860275745392,
+          14.110491752624512
+        ],
+        [
+          -0.017817741259932518,
+          -0.9933654069900513,
+          -0.11361198127269745,
+          -32.389408111572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5641,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_583081722",
+      "mask_path": "../../mask/hdr_front_05641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05642.png",
+      "transform_matrix": [
+        [
+          -0.4836292564868927,
+          -0.08363670110702515,
+          0.8712678551673889,
+          101.4668197631836
+        ],
+        [
+          -0.8750898838043213,
+          0.06656377017498016,
+          -0.47936108708381653,
+          14.143487930297852
+        ],
+        [
+          -0.017902689054608345,
+          -0.9942706823348999,
+          -0.10538181662559509,
+          -32.385650634765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5642,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_683081865",
+      "mask_path": "../../mask/hdr_front_05642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05643.png",
+      "transform_matrix": [
+        [
+          -0.491054892539978,
+          -0.07974860072135925,
+          0.8674705624580383,
+          101.39033508300781
+        ],
+        [
+          -0.871021032333374,
+          0.060597244650125504,
+          -0.4874938726425171,
+          14.18925952911377
+        ],
+        [
+          -0.013689369894564152,
+          -0.994971513748169,
+          -0.09921927750110626,
+          -32.37590789794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5643,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_783080816",
+      "mask_path": "../../mask/hdr_front_05643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05644.png",
+      "transform_matrix": [
+        [
+          -0.5040789842605591,
+          -0.08062552660703659,
+          0.8598860502243042,
+          101.3325424194336
+        ],
+        [
+          -0.8635881543159485,
+          0.05968637019395828,
+          -0.5006526708602905,
+          14.231173515319824
+        ],
+        [
+          -0.010958080179989338,
+          -0.994955837726593,
+          -0.09971389174461365,
+          -32.36424255371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5644,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_883081197",
+      "mask_path": "../../mask/hdr_front_05644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05645.png",
+      "transform_matrix": [
+        [
+          -0.5176979899406433,
+          -0.08525633066892624,
+          0.8513050079345703,
+          101.27986145019531
+        ],
+        [
+          -0.8555632829666138,
+          0.052175749093294144,
+          -0.5150622725486755,
+          14.268254280090332
+        ],
+        [
+          -0.0005051536136306822,
+          -0.9949920177459717,
+          -0.09995346516370773,
+          -32.35026550292969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5645,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_983080625",
+      "mask_path": "../../mask/hdr_front_05645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05646.png",
+      "transform_matrix": [
+        [
+          -0.5280618667602539,
+          -0.10079201310873032,
+          0.8432032465934753,
+          101.18262481689453
+        ],
+        [
+          -0.848957359790802,
+          0.03863268345594406,
+          -0.5270474553108215,
+          14.307820320129395
+        ],
+        [
+          0.020546961575746536,
+          -0.9941571950912476,
+          -0.10596856474876404,
+          -32.32692337036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5646,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_83081483",
+      "mask_path": "../../mask/hdr_front_05646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05647.png",
+      "transform_matrix": [
+        [
+          -0.5271508693695068,
+          -0.10453065484762192,
+          0.8433180451393127,
+          101.07662963867188
+        ],
+        [
+          -0.8495484590530396,
+          0.04207949340343475,
+          -0.5258296728134155,
+          14.34897518157959
+        ],
+        [
+          0.01947893016040325,
+          -0.9936310648918152,
+          -0.11098609119653702,
+          -32.30250930786133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5647,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_183081150",
+      "mask_path": "../../mask/hdr_front_05647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05648.png",
+      "transform_matrix": [
+        [
+          -0.5222331881523132,
+          -0.09883207827806473,
+          0.84705650806427,
+          101.01383972167969
+        ],
+        [
+          -0.8527806997299194,
+          0.05337689816951752,
+          -0.5195344090461731,
+          14.378690719604492
+        ],
+        [
+          0.0061334166675806046,
+          -0.9936715364456177,
+          -0.11215727031230927,
+          -32.29862976074219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5648,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_283081054",
+      "mask_path": "../../mask/hdr_front_05648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05649.png",
+      "transform_matrix": [
+        [
+          -0.5197645425796509,
+          -0.09676153212785721,
+          0.8488121628761292,
+          100.96736907958984
+        ],
+        [
+          -0.8543090224266052,
+          0.05779721960425377,
+          -0.5165419578552246,
+          14.405096054077148
+        ],
+        [
+          0.0009224108653143048,
+          -0.9936280846595764,
+          -0.11270519345998764,
+          -32.302162170410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5649,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_383081436",
+      "mask_path": "../../mask/hdr_front_05649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05650.png",
+      "transform_matrix": [
+        [
+          -0.5185346007347107,
+          -0.09562814980745316,
+          0.8496923446655273,
+          100.90509796142578
+        ],
+        [
+          -0.8550536632537842,
+          0.060604386031627655,
+          -0.5149856805801392,
+          14.442850112915039
+        ],
+        [
+          -0.0022479540202766657,
+          -0.9935705661773682,
+          -0.11319265514612198,
+          -32.29187774658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5650,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_483081579",
+      "mask_path": "../../mask/hdr_front_05650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05651.png",
+      "transform_matrix": [
+        [
+          -0.5172569155693054,
+          -0.10056007653474808,
+          0.8499017953872681,
+          100.83113861083984
+        ],
+        [
+          -0.8558294177055359,
+          0.059476837515830994,
+          -0.5138272047042847,
+          14.48337173461914
+        ],
+        [
+          0.0011210328666493297,
+          -0.9931516647338867,
+          -0.1168270856142044,
+          -32.268917083740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5651,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_583082199",
+      "mask_path": "../../mask/hdr_front_05651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05652.png",
+      "transform_matrix": [
+        [
+          -0.5153747797012329,
+          -0.10737929493188858,
+          0.8502109050750732,
+          100.77957153320312
+        ],
+        [
+          -0.8569219708442688,
+          0.05464858561754227,
+          -0.5125409364700317,
+          14.512020111083984
+        ],
+        [
+          0.008573467843234539,
+          -0.9927151203155518,
+          -0.12018018960952759,
+          -32.257205963134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5652,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_683081150",
+      "mask_path": "../../mask/hdr_front_05652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05653.png",
+      "transform_matrix": [
+        [
+          -0.5157631039619446,
+          -0.1063113883137703,
+          0.8501096367835999,
+          100.72357940673828
+        ],
+        [
+          -0.8566116690635681,
+          0.04741353541612625,
+          -0.513778567314148,
+          14.538084030151367
+        ],
+        [
+          0.01431381143629551,
+          -0.9932018518447876,
+          -0.11552172899246216,
+          -32.24895095825195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5653,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_783079385",
+      "mask_path": "../../mask/hdr_front_05653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05654.png",
+      "transform_matrix": [
+        [
+          -0.513047993183136,
+          -0.09678614139556885,
+          0.8528858423233032,
+          100.6495590209961
+        ],
+        [
+          -0.8583122491836548,
+          0.04737771674990654,
+          -0.5109357833862305,
+          14.571128845214844
+        ],
+        [
+          0.009043713100254536,
+          -0.994176983833313,
+          -0.10737976431846619,
+          -32.249515533447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5654,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_883080005",
+      "mask_path": "../../mask/hdr_front_05654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05656.png",
+      "transform_matrix": [
+        [
+          -0.5010751485824585,
+          -0.09199827164411545,
+          0.8604997992515564,
+          100.54471588134766
+        ],
+        [
+          -0.8653805255889893,
+          0.04596802592277527,
+          -0.499002605676651,
+          14.606865882873535
+        ],
+        [
+          0.006351896561682224,
+          -0.994697630405426,
+          -0.10264694690704346,
+          -32.249305725097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5656,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_83079576",
+      "mask_path": "../../mask/hdr_front_05656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05657.png",
+      "transform_matrix": [
+        [
+          -0.49696579575538635,
+          -0.0843590646982193,
+          0.8636599183082581,
+          100.48164367675781
+        ],
+        [
+          -0.8676887154579163,
+          0.034676097333431244,
+          -0.4958970844745636,
+          14.634943962097168
+        ],
+        [
+          0.011885054409503937,
+          -0.9958319664001465,
+          -0.09043023735284805,
+          -32.24506759643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5657,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_183082580",
+      "mask_path": "../../mask/hdr_front_05657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05658.png",
+      "transform_matrix": [
+        [
+          -0.499639630317688,
+          -0.0795065313577652,
+          0.8625769019126892,
+          100.43157196044922
+        ],
+        [
+          -0.8661202788352966,
+          0.029760172590613365,
+          -0.49894896149635315,
+          14.654690742492676
+        ],
+        [
+          0.013999264687299728,
+          -0.9963900446891785,
+          -0.08373156934976578,
+          -32.2300910949707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5658,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_283082008",
+      "mask_path": "../../mask/hdr_front_05658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05659.png",
+      "transform_matrix": [
+        [
+          -0.5037113428115845,
+          -0.07914023101329803,
+          0.8602393865585327,
+          100.38615417480469
+        ],
+        [
+          -0.8637519478797913,
+          0.02954098768532276,
+          -0.5030505061149597,
+          14.68381118774414
+        ],
+        [
+          0.014399220235645771,
+          -0.9964257478713989,
+          -0.0832376703619957,
+          -32.219398498535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5659,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_383079767",
+      "mask_path": "../../mask/hdr_front_05659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05660.png",
+      "transform_matrix": [
+        [
+          -0.5061735510826111,
+          -0.0819685086607933,
+          0.858527421951294,
+          100.33377838134766
+        ],
+        [
+          -0.8621415495872498,
+          0.02227511629462242,
+          -0.5061776638031006,
+          14.719734191894531
+        ],
+        [
+          0.022366823628544807,
+          -0.9963861107826233,
+          -0.08194353431463242,
+          -32.21503829956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5660,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_483081817",
+      "mask_path": "../../mask/hdr_front_05660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05661.png",
+      "transform_matrix": [
+        [
+          -0.507800817489624,
+          -0.07829275727272034,
+          0.8579095005989075,
+          100.26136016845703
+        ],
+        [
+          -0.8611055016517639,
+          0.0169879961758852,
+          -0.508142352104187,
+          14.753445625305176
+        ],
+        [
+          0.02520969696342945,
+          -0.9967857003211975,
+          -0.07604485005140305,
+          -32.20263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5661,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_583082437",
+      "mask_path": "../../mask/hdr_front_05661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05662.png",
+      "transform_matrix": [
+        [
+          -0.5040561556816101,
+          -0.06882253289222717,
+          0.8609244227409363,
+          100.2085189819336
+        ],
+        [
+          -0.8635347485542297,
+          0.022459106519818306,
+          -0.5037890076637268,
+          14.782878875732422
+        ],
+        [
+          0.015336441807448864,
+          -0.9973760843276978,
+          -0.07075129449367523,
+          -32.198486328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5662,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_683082103",
+      "mask_path": "../../mask/hdr_front_05662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05664.png",
+      "transform_matrix": [
+        [
+          -0.4752701222896576,
+          -0.0561365969479084,
+          0.8780472874641418,
+          100.1125717163086
+        ],
+        [
+          -0.8798390030860901,
+          0.028989965096116066,
+          -0.47438669204711914,
+          14.802955627441406
+        ],
+        [
+          0.001175892073661089,
+          -0.9980021715164185,
+          -0.06316924840211868,
+          -32.19371032714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5664,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_883082628",
+      "mask_path": "../../mask/hdr_front_05664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05665.png",
+      "transform_matrix": [
+        [
+          -0.4592330753803253,
+          -0.05065324157476425,
+          0.8868704438209534,
+          100.05123138427734
+        ],
+        [
+          -0.8883155584335327,
+          0.026837565004825592,
+          -0.458448588848114,
+          14.816965103149414
+        ],
+        [
+          -0.000579536659643054,
+          -0.9983556866645813,
+          -0.05732076242566109,
+          -32.1888313293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5665,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_983083724",
+      "mask_path": "../../mask/hdr_front_05665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05666.png",
+      "transform_matrix": [
+        [
+          -0.4513663649559021,
+          -0.05282870680093765,
+          0.890773594379425,
+          99.99974060058594
+        ],
+        [
+          -0.8923296332359314,
+          0.02222173660993576,
+          -0.4508369565010071,
+          14.829803466796875
+        ],
+        [
+          0.004022602457553148,
+          -0.9983563423156738,
+          -0.05717076361179352,
+          -32.179508209228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5666,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_83081960",
+      "mask_path": "../../mask/hdr_front_05666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05668.png",
+      "transform_matrix": [
+        [
+          -0.45612508058547974,
+          -0.0658000111579895,
+          0.8874797821044922,
+          99.90003204345703
+        ],
+        [
+          -0.8897109031677246,
+          0.012325556017458439,
+          -0.4563579857349396,
+          14.869056701660156
+        ],
+        [
+          0.019089680165052414,
+          -0.9977567195892334,
+          -0.06416498869657516,
+          -32.16655731201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5668,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_283082246",
+      "mask_path": "../../mask/hdr_front_05668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05669.png",
+      "transform_matrix": [
+        [
+          -0.45738720893859863,
+          -0.0638170838356018,
+          0.8869748711585999,
+          99.8251724243164
+        ],
+        [
+          -0.8891680240631104,
+          0.01788889802992344,
+          -0.4572310745716095,
+          14.900188446044922
+        ],
+        [
+          0.013312152586877346,
+          -0.9978012442588806,
+          -0.06492626667022705,
+          -32.15858459472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5669,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_383081912",
+      "mask_path": "../../mask/hdr_front_05669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05670.png",
+      "transform_matrix": [
+        [
+          -0.455273300409317,
+          -0.05834013596177101,
+          0.8884384036064148,
+          99.76677703857422
+        ],
+        [
+          -0.8903430104255676,
+          0.0254167802631855,
+          -0.4545803666114807,
+          14.92867660522461
+        ],
+        [
+          0.003939037211239338,
+          -0.9979732632637024,
+          -0.06351431459188461,
+          -32.16423797607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5670,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_483082056",
+      "mask_path": "../../mask/hdr_front_05670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05671.png",
+      "transform_matrix": [
+        [
+          -0.45554888248443604,
+          -0.05654177814722061,
+          0.8884133696556091,
+          99.70487976074219
+        ],
+        [
+          -0.8902101516723633,
+          0.03006592206656933,
+          -0.45455676317214966,
+          14.95921802520752
+        ],
+        [
+          -0.0010095183970406651,
+          -0.9979473948478699,
+          -0.06403056532144547,
+          -32.16340255737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5671,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_583081483",
+      "mask_path": "../../mask/hdr_front_05671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05672.png",
+      "transform_matrix": [
+        [
+          -0.45835310220718384,
+          -0.06151627376675606,
+          0.8866387009620667,
+          99.6417465209961
+        ],
+        [
+          -0.8887678384780884,
+          0.034019965678453445,
+          -0.4570934474468231,
+          14.994308471679688
+        ],
+        [
+          -0.0020447312854230404,
+          -0.9975261092185974,
+          -0.07026685029268265,
+          -32.15884780883789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5672,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_683081626",
+      "mask_path": "../../mask/hdr_front_05672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05673.png",
+      "transform_matrix": [
+        [
+          -0.4676415026187897,
+          -0.0669347494840622,
+          0.8813802003860474,
+          99.56876373291016
+        ],
+        [
+          -0.883879542350769,
+          0.04473864659667015,
+          -0.4655700623989105,
+          15.038881301879883
+        ],
+        [
+          -0.00826894398778677,
+          -0.9967538714408875,
+          -0.08008390665054321,
+          -32.12637710571289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5673,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_783080816",
+      "mask_path": "../../mask/hdr_front_05673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05674.png",
+      "transform_matrix": [
+        [
+          -0.48135676980018616,
+          -0.07533103227615356,
+          0.873281717300415,
+          99.49703216552734
+        ],
+        [
+          -0.8764821290969849,
+          0.051189593970775604,
+          -0.47870516777038574,
+          15.089799880981445
+        ],
+        [
+          -0.008641580119729042,
+          -0.9958438277244568,
+          -0.090666763484478,
+          -32.090850830078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5674,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_883081197",
+      "mask_path": "../../mask/hdr_front_05674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05676.png",
+      "transform_matrix": [
+        [
+          -0.5046631097793579,
+          -0.11228661984205246,
+          0.8559828996658325,
+          99.41051483154297
+        ],
+        [
+          -0.863203763961792,
+          0.0496225580573082,
+          -0.5024110674858093,
+          15.153400421142578
+        ],
+        [
+          0.013937976211309433,
+          -0.9924360513687134,
+          -0.12196891009807587,
+          -32.105491638183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5676,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_83078384",
+      "mask_path": "../../mask/hdr_front_05676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04667.png",
+      "transform_matrix": [
+        [
+          0.771122932434082,
+          -0.23089906573295593,
+          0.5933423042297363,
+          100.27165222167969
+        ],
+        [
+          -0.602990984916687,
+          0.0342998206615448,
+          0.7970103025436401,
+          14.782934188842773
+        ],
+        [
+          -0.20438045263290405,
+          -0.9723729491233826,
+          -0.11278067529201508,
+          -32.209285736083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4667,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_83081245",
+      "mask_path": "../../mask/hdr_left_04667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04668.png",
+      "transform_matrix": [
+        [
+          0.7677234411239624,
+          -0.226255401968956,
+          0.5995074510574341,
+          100.3609619140625
+        ],
+        [
+          -0.6100104451179504,
+          0.02838202752172947,
+          0.7918848991394043,
+          14.747380256652832
+        ],
+        [
+          -0.1961834579706192,
+          -0.9736544489860535,
+          -0.1162286028265953,
+          -32.24202346801758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4668,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_183079957",
+      "mask_path": "../../mask/hdr_left_04668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04669.png",
+      "transform_matrix": [
+        [
+          0.7712797522544861,
+          -0.24143065512180328,
+          0.5889302492141724,
+          100.45993041992188
+        ],
+        [
+          -0.6043267250061035,
+          0.012666675262153149,
+          0.7966359853744507,
+          14.70103931427002
+        ],
+        [
+          -0.19979210197925568,
+          -0.9703354239463806,
+          -0.13613341748714447,
+          -32.236351013183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4669,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_283080101",
+      "mask_path": "../../mask/hdr_left_04669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04671.png",
+      "transform_matrix": [
+        [
+          0.7858262658119202,
+          -0.2282983958721161,
+          0.5747667551040649,
+          100.56623840332031
+        ],
+        [
+          -0.5896391272544861,
+          0.0037712983321398497,
+          0.8076579570770264,
+          14.64197826385498
+        ],
+        [
+          -0.1865546554327011,
+          -0.9735838770866394,
+          -0.13165007531642914,
+          -32.27268981933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4671,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_483082056",
+      "mask_path": "../../mask/hdr_left_04671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04672.png",
+      "transform_matrix": [
+        [
+          0.7857570052146912,
+          -0.2162485271692276,
+          0.5795020461082458,
+          100.65629577636719
+        ],
+        [
+          -0.594332218170166,
+          -0.004443438723683357,
+          0.8042073249816895,
+          14.580179214477539
+        ],
+        [
+          -0.17133362591266632,
+          -0.9763282537460327,
+          -0.1320149004459381,
+          -32.28611373901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4672,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_583081960",
+      "mask_path": "../../mask/hdr_left_04672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04673.png",
+      "transform_matrix": [
+        [
+          0.7833307981491089,
+          -0.19985859096050262,
+          0.588599443435669,
+          100.72001647949219
+        ],
+        [
+          -0.602347731590271,
+          -0.010186772793531418,
+          0.7981687188148499,
+          14.53134822845459
+        ],
+        [
+          -0.15352493524551392,
+          -0.9797719120979309,
+          -0.1283639818429947,
+          -32.27659606933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4673,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_683081626",
+      "mask_path": "../../mask/hdr_left_04673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04674.png",
+      "transform_matrix": [
+        [
+          0.7809316515922546,
+          -0.17921608686447144,
+          0.5983536839485168,
+          100.78961944580078
+        ],
+        [
+          -0.6105058789253235,
+          -0.01653626747429371,
+          0.791839063167572,
+          14.509754180908203
+        ],
+        [
+          -0.13201576471328735,
+          -0.9836707711219788,
+          -0.12232615798711777,
+          -32.30169677734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4674,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_783080577",
+      "mask_path": "../../mask/hdr_left_04674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04675.png",
+      "transform_matrix": [
+        [
+          0.7824052572250366,
+          -0.17036005854606628,
+          0.599015474319458,
+          100.90464782714844
+        ],
+        [
+          -0.6111074090003967,
+          -0.0247479435056448,
+          0.7911607027053833,
+          14.463739395141602
+        ],
+        [
+          -0.11995776742696762,
+          -0.9850711226463318,
+          -0.12347118556499481,
+          -32.3082160949707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4675,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_883083820",
+      "mask_path": "../../mask/hdr_left_04675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04676.png",
+      "transform_matrix": [
+        [
+          0.7881796956062317,
+          -0.1616666167974472,
+          0.5938321352005005,
+          100.99930572509766
+        ],
+        [
+          -0.6055962443351746,
+          -0.03180065378546715,
+          0.7951363325119019,
+          14.415874481201172
+        ],
+        [
+          -0.1096627488732338,
+          -0.9863329529762268,
+          -0.12296932190656662,
+          -32.29327392578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4676,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_983082771",
+      "mask_path": "../../mask/hdr_left_04676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04677.png",
+      "transform_matrix": [
+        [
+          0.7935782670974731,
+          -0.14495287835597992,
+          0.5909502506256104,
+          101.06831359863281
+        ],
+        [
+          -0.6012041568756104,
+          -0.03717160224914551,
+          0.7982304692268372,
+          14.384679794311523
+        ],
+        [
+          -0.09373921155929565,
+          -0.988740086555481,
+          -0.11664484441280365,
+          -32.29207992553711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4677,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_83082199",
+      "mask_path": "../../mask/hdr_left_04677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04678.png",
+      "transform_matrix": [
+        [
+          0.7928287386894226,
+          -0.1408875584602356,
+          0.5929361581802368,
+          101.1495132446289
+        ],
+        [
+          -0.6009020805358887,
+          -0.01838788203895092,
+          0.7991111278533936,
+          14.349224090576172
+        ],
+        [
+          -0.10168196260929108,
+          -0.9898548722267151,
+          -0.09923806041479111,
+          -32.30481719970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4678,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_183081388",
+      "mask_path": "../../mask/hdr_left_04678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04679.png",
+      "transform_matrix": [
+        [
+          0.7870302796363831,
+          -0.15355567634105682,
+          0.5974980592727661,
+          101.21830749511719
+        ],
+        [
+          -0.6044273376464844,
+          0.00194699433632195,
+          0.796657919883728,
+          14.323692321777344
+        ],
+        [
+          -0.12349465489387512,
+          -0.9881381392478943,
+          -0.09128090739250183,
+          -32.32716751098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4679,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_283083438",
+      "mask_path": "../../mask/hdr_left_04679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04680.png",
+      "transform_matrix": [
+        [
+          0.7797806859016418,
+          -0.16610191762447357,
+          0.6036158800125122,
+          101.26808166503906
+        ],
+        [
+          -0.6104276776313782,
+          0.012338824570178986,
+          0.7919759154319763,
+          14.301080703735352
+        ],
+        [
+          -0.13899660110473633,
+          -0.9860313534736633,
+          -0.09177161008119583,
+          -32.363525390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4680,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_383082151",
+      "mask_path": "../../mask/hdr_left_04680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04681.png",
+      "transform_matrix": [
+        [
+          0.7736498713493347,
+          -0.1672808825969696,
+          0.6111325025558472,
+          101.32230377197266
+        ],
+        [
+          -0.6171119213104248,
+          0.01975669153034687,
+          0.7866272926330566,
+          14.271897315979004
+        ],
+        [
+          -0.14366164803504944,
+          -0.985711395740509,
+          -0.08794626593589783,
+          -32.39152908325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4681,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_483083009",
+      "mask_path": "../../mask/hdr_left_04681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04682.png",
+      "transform_matrix": [
+        [
+          0.768966019153595,
+          -0.16500772535800934,
+          0.6176273822784424,
+          101.41256713867188
+        ],
+        [
+          -0.6233118772506714,
+          0.02112768590450287,
+          0.7816877961158752,
+          14.23034381866455
+        ],
+        [
+          -0.14203356206417084,
+          -0.9860659837722778,
+          -0.0866047814488411,
+          -32.40107345581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4682,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_583081722",
+      "mask_path": "../../mask/hdr_left_04682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04683.png",
+      "transform_matrix": [
+        [
+          0.7687877416610718,
+          -0.1620798259973526,
+          0.6186237931251526,
+          101.50045013427734
+        ],
+        [
+          -0.6246809363365173,
+          0.01673785410821438,
+          0.7807007431983948,
+          14.188665390014648
+        ],
+        [
+          -0.13689027726650238,
+          -0.986635684967041,
+          -0.08838032186031342,
+          -32.40117263793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4683,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_683082342",
+      "mask_path": "../../mask/hdr_left_04683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04684.png",
+      "transform_matrix": [
+        [
+          0.767611563205719,
+          -0.15611132979393005,
+          0.6216121912002563,
+          101.56377410888672
+        ],
+        [
+          -0.6281574964523315,
+          0.009302947670221329,
+          0.7780306339263916,
+          14.158029556274414
+        ],
+        [
+          -0.12724220752716064,
+          -0.9876956939697266,
+          -0.09092144668102264,
+          -32.40985870361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4684,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_783082246",
+      "mask_path": "../../mask/hdr_left_04684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04685.png",
+      "transform_matrix": [
+        [
+          0.7669047713279724,
+          -0.14845047891139984,
+          0.6243553161621094,
+          101.6398696899414
+        ],
+        [
+          -0.6315341591835022,
+          -0.0015822178684175014,
+          0.7753463983535767,
+          14.136825561523438
+        ],
+        [
+          -0.11411268264055252,
+          -0.9889186024665833,
+          -0.09496494382619858,
+          -32.418853759765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4685,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_883081197",
+      "mask_path": "../../mask/hdr_left_04685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04686.png",
+      "transform_matrix": [
+        [
+          0.7588409781455994,
+          -0.1555596888065338,
+          0.6324251294136047,
+          101.73027801513672
+        ],
+        [
+          -0.638556718826294,
+          0.013262440450489521,
+          0.7694604992866516,
+          14.085108757019043
+        ],
+        [
+          -0.12808454036712646,
+          -0.9877375364303589,
+          -0.08926958590745926,
+          -32.437522888183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4686,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_983081579",
+      "mask_path": "../../mask/hdr_left_04686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04687.png",
+      "transform_matrix": [
+        [
+          0.7384701371192932,
+          -0.17256589233875275,
+          0.65183025598526,
+          101.78926849365234
+        ],
+        [
+          -0.6515363454818726,
+          0.06637091189622879,
+          0.7557083368301392,
+          14.0541410446167
+        ],
+        [
+          -0.17367203533649445,
+          -0.982759416103363,
+          -0.06342000514268875,
+          -32.43769454956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4687,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_83079338",
+      "mask_path": "../../mask/hdr_left_04687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04688.png",
+      "transform_matrix": [
+        [
+          0.7252423167228699,
+          -0.18064995110034943,
+          0.6643710732460022,
+          101.83170318603516
+        ],
+        [
+          -0.6617279052734375,
+          0.08354758471250534,
+          0.7450745105743408,
+          14.026045799255371
+        ],
+        [
+          -0.19010424613952637,
+          -0.9799925684928894,
+          -0.05894886329770088,
+          -32.439483642578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4688,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_183080673",
+      "mask_path": "../../mask/hdr_left_04688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04689.png",
+      "transform_matrix": [
+        [
+          0.7192556262016296,
+          -0.18178698420524597,
+          0.6705406904220581,
+          101.87699890136719
+        ],
+        [
+          -0.6714701652526855,
+          0.06583592295646667,
+          0.7381012439727783,
+          13.970300674438477
+        ],
+        [
+          -0.17832282185554504,
+          -0.9811315536499023,
+          -0.07471167296171188,
+          -32.464412689208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4689,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_283080101",
+      "mask_path": "../../mask/hdr_left_04689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04690.png",
+      "transform_matrix": [
+        [
+          0.7163404226303101,
+          -0.16979211568832397,
+          0.6767768263816833,
+          101.9669189453125
+        ],
+        [
+          -0.6807194352149963,
+          0.04293377324938774,
+          0.7312849760055542,
+          13.912888526916504
+        ],
+        [
+          -0.1532229781150818,
+          -0.9845442771911621,
+          -0.08482559770345688,
+          -32.48191833496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4690,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_383078336",
+      "mask_path": "../../mask/hdr_left_04690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04691.png",
+      "transform_matrix": [
+        [
+          0.7177051305770874,
+          -0.15236158668994904,
+          0.6794742941856384,
+          102.0522689819336
+        ],
+        [
+          -0.6843178272247314,
+          0.026264354586601257,
+          0.7287106513977051,
+          13.86607551574707
+        ],
+        [
+          -0.12887342274188995,
+          -0.9879758358001709,
+          -0.08541368693113327,
+          -32.48923110961914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4691,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_483081579",
+      "mask_path": "../../mask/hdr_left_04691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04692.png",
+      "transform_matrix": [
+        [
+          0.7198992371559143,
+          -0.13519471883773804,
+          0.6807844042778015,
+          102.12503814697266
+        ],
+        [
+          -0.6852681636810303,
+          0.01734119839966297,
+          0.7280843257904053,
+          13.82529354095459
+        ],
+        [
+          -0.11023876816034317,
+          -0.9906673431396484,
+          -0.0801607221364975,
+          -32.500518798828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4692,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_583082437",
+      "mask_path": "../../mask/hdr_left_04692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04693.png",
+      "transform_matrix": [
+        [
+          0.7193169593811035,
+          -0.11948369443416595,
+          0.6843294501304626,
+          102.19255065917969
+        ],
+        [
+          -0.6878243684768677,
+          0.015574631281197071,
+          0.7257099151611328,
+          13.768034934997559
+        ],
+        [
+          -0.09736868739128113,
+          -0.9927140474319458,
+          -0.07098070532083511,
+          -32.506412506103516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4693,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_683082103",
+      "mask_path": "../../mask/hdr_left_04693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04694.png",
+      "transform_matrix": [
+        [
+          0.7149865031242371,
+          -0.11460170894861221,
+          0.6896815299987793,
+          102.26036834716797
+        ],
+        [
+          -0.692772388458252,
+          0.016685664653778076,
+          0.7209632396697998,
+          13.70572280883789
+        ],
+        [
+          -0.09413141012191772,
+          -0.9932714700698853,
+          -0.06746286153793335,
+          -32.50721740722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4694,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_783081769",
+      "mask_path": "../../mask/hdr_left_04694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04695.png",
+      "transform_matrix": [
+        [
+          0.7096561789512634,
+          -0.11345883458852768,
+          0.6953525543212891,
+          102.3095703125
+        ],
+        [
+          -0.6983331441879272,
+          0.017528612166643143,
+          0.7155582308769226,
+          13.661707878112793
+        ],
+        [
+          -0.09337496012449265,
+          -0.9933881759643555,
+          -0.06679277122020721,
+          -32.5093994140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4695,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_883081197",
+      "mask_path": "../../mask/hdr_left_04695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04696.png",
+      "transform_matrix": [
+        [
+          0.7042006254196167,
+          -0.1122092604637146,
+          0.7010781764984131,
+          102.35953521728516
+        ],
+        [
+          -0.7041159272193909,
+          0.01650265045464039,
+          0.7098932862281799,
+          13.622490882873535
+        ],
+        [
+          -0.0912262350320816,
+          -0.9935475587844849,
+          -0.06738714128732681,
+          -32.515262603759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4696,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_983081817",
+      "mask_path": "../../mask/hdr_left_04696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04697.png",
+      "transform_matrix": [
+        [
+          0.7006948590278625,
+          -0.11849550902843475,
+          0.7035521864891052,
+          102.46066284179688
+        ],
+        [
+          -0.7072052955627441,
+          0.014945058152079582,
+          0.7068502306938171,
+          13.565811157226562
+        ],
+        [
+          -0.09427320212125778,
+          -0.9928421378135681,
+          -0.07332871854305267,
+          -32.53273391723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4697,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_83083152",
+      "mask_path": "../../mask/hdr_left_04697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04698.png",
+      "transform_matrix": [
+        [
+          0.7010308504104614,
+          -0.1245550662279129,
+          0.7021693587303162,
+          102.54653930664062
+        ],
+        [
+          -0.7065236568450928,
+          0.012415158562362194,
+          0.7075804471969604,
+          13.51910400390625
+        ],
+        [
+          -0.09685026109218597,
+          -0.9921350479125977,
+          -0.07929769158363342,
+          -32.553348541259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4698,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_183080196",
+      "mask_path": "../../mask/hdr_left_04698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04699.png",
+      "transform_matrix": [
+        [
+          0.7082205414772034,
+          -0.12476874887943268,
+          0.6948786377906799,
+          102.60322570800781
+        ],
+        [
+          -0.6993029713630676,
+          0.01118337269872427,
+          0.7147377729415894,
+          13.494318962097168
+        ],
+        [
+          -0.09694802016019821,
+          -0.9921228289604187,
+          -0.07933085411787033,
+          -32.571903228759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4699,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_283079385",
+      "mask_path": "../../mask/hdr_left_04699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04700.png",
+      "transform_matrix": [
+        [
+          0.7186936140060425,
+          -0.12565749883651733,
+          0.6838783025741577,
+          102.6613540649414
+        ],
+        [
+          -0.6876896023750305,
+          0.016918066889047623,
+          0.7258076071739197,
+          13.464408874511719
+        ],
+        [
+          -0.10277306288480759,
+          -0.9919294714927673,
+          -0.07425445318222046,
+          -32.590641021728516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4700,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_383079767",
+      "mask_path": "../../mask/hdr_left_04700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04701.png",
+      "transform_matrix": [
+        [
+          0.7245214581489563,
+          -0.14001478254795074,
+          0.6748810410499573,
+          102.72824096679688
+        ],
+        [
+          -0.6779766082763672,
+          0.03161376342177391,
+          0.7344034314155579,
+          13.431882858276367
+        ],
+        [
+          -0.12416285276412964,
+          -0.9896446466445923,
+          -0.07202188670635223,
+          -32.61127471923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4701,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_483080625",
+      "mask_path": "../../mask/hdr_left_04701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04702.png",
+      "transform_matrix": [
+        [
+          0.7204663753509521,
+          -0.15811726450920105,
+          0.675223708152771,
+          102.77835845947266
+        ],
+        [
+          -0.6773618459701538,
+          0.048314884305000305,
+          0.734061598777771,
+          13.401212692260742
+        ],
+        [
+          -0.14869117736816406,
+          -0.986237645149231,
+          -0.07229335606098175,
+          -32.62737274169922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4702,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_583080291",
+      "mask_path": "../../mask/hdr_left_04702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04704.png",
+      "transform_matrix": [
+        [
+          0.7046026587486267,
+          -0.1697527915239334,
+          0.6889985799789429,
+          102.84415435791016
+        ],
+        [
+          -0.6886426210403442,
+          0.07066627591848373,
+          0.721649169921875,
+          13.3474702835083
+        ],
+        [
+          -0.17119091749191284,
+          -0.9829498529434204,
+          -0.06710735708475113,
+          -32.670833587646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4704,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_783080101",
+      "mask_path": "../../mask/hdr_left_04704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04705.png",
+      "transform_matrix": [
+        [
+          0.6993740200996399,
+          -0.18196043372154236,
+          0.6912064552307129,
+          102.91765594482422
+        ],
+        [
+          -0.6924397945404053,
+          0.0672745332121849,
+          0.7183321714401245,
+          13.301752090454102
+        ],
+        [
+          -0.17720861732959747,
+          -0.9810018539428711,
+          -0.07894660532474518,
+          -32.676265716552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4705,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_883080720",
+      "mask_path": "../../mask/hdr_left_04705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04706.png",
+      "transform_matrix": [
+        [
+          0.6982884407043457,
+          -0.19636130332946777,
+          0.6883570551872253,
+          102.98141479492188
+        ],
+        [
+          -0.6918483376502991,
+          0.061621617525815964,
+          0.7194084525108337,
+          13.266216278076172
+        ],
+        [
+          -0.1836816519498825,
+          -0.9785934090614319,
+          -0.09282258152961731,
+          -32.688785552978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4706,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_983080625",
+      "mask_path": "../../mask/hdr_left_04706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04707.png",
+      "transform_matrix": [
+        [
+          0.6991294026374817,
+          -0.2028392255306244,
+          0.685619592666626,
+          103.03089141845703
+        ],
+        [
+          -0.6903371214866638,
+          0.0581599660217762,
+          0.7211463451385498,
+          13.24368953704834
+        ],
+        [
+          -0.1861523687839508,
+          -0.9774834513664246,
+          -0.09936610609292984,
+          -32.711631774902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4707,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_83080768",
+      "mask_path": "../../mask/hdr_left_04707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04708.png",
+      "transform_matrix": [
+        [
+          0.6978002786636353,
+          -0.21304678916931152,
+          0.6838755011558533,
+          103.08833312988281
+        ],
+        [
+          -0.688801646232605,
+          0.062382813543081284,
+          0.7222607731819153,
+          13.222543716430664
+        ],
+        [
+          -0.19653742015361786,
+          -0.9750484824180603,
+          -0.10321623086929321,
+          -32.7419548034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4708,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_183081150",
+      "mask_path": "../../mask/hdr_left_04708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04709.png",
+      "transform_matrix": [
+        [
+          0.6926323175430298,
+          -0.22161704301834106,
+          0.6864010095596313,
+          103.15299224853516
+        ],
+        [
+          -0.6929569840431213,
+          0.0596504732966423,
+          0.7185070514678955,
+          13.174983024597168
+        ],
+        [
+          -0.20017753541469574,
+          -0.9733076691627502,
+          -0.11225523799657822,
+          -32.753597259521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4709,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_283080816",
+      "mask_path": "../../mask/hdr_left_04709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04710.png",
+      "transform_matrix": [
+        [
+          0.6850255727767944,
+          -0.22450131177902222,
+          0.6930649280548096,
+          103.20413970947266
+        ],
+        [
+          -0.7002840042114258,
+          0.05936720594763756,
+          0.7113914489746094,
+          13.124774932861328
+        ],
+        [
+          -0.2008536159992218,
+          -0.9726637601852417,
+          -0.1165466159582138,
+          -32.76127243041992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4710,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_383080482",
+      "mask_path": "../../mask/hdr_left_04710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04711.png",
+      "transform_matrix": [
+        [
+          0.6771246194839478,
+          -0.22690334916114807,
+          0.70001220703125,
+          103.23715209960938
+        ],
+        [
+          -0.7058274745941162,
+          0.06876219809055328,
+          0.7050384879112244,
+          13.087047576904297
+        ],
+        [
+          -0.20810995995998383,
+          -0.9714868068695068,
+          -0.11359401792287827,
+          -32.77864074707031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4711,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_483080625",
+      "mask_path": "../../mask/hdr_left_04711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04712.png",
+      "transform_matrix": [
+        [
+          0.6733497381210327,
+          -0.21876287460327148,
+          0.706217348575592,
+          103.30734252929688
+        ],
+        [
+          -0.7110203504562378,
+          0.07015988975763321,
+          0.6996625065803528,
+          13.042098999023438
+        ],
+        [
+          -0.20260830223560333,
+          -0.973252534866333,
+          -0.10830271244049072,
+          -32.81821823120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4712,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_583081245",
+      "mask_path": "../../mask/hdr_left_04712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04713.png",
+      "transform_matrix": [
+        [
+          0.6742152571678162,
+          -0.20860815048217773,
+          0.7084605693817139,
+          103.40435791015625
+        ],
+        [
+          -0.7133883237838745,
+          0.06423420459032059,
+          0.6978187561035156,
+          12.986751556396484
+        ],
+        [
+          -0.1910780668258667,
+          -0.9758875966072083,
+          -0.10551094263792038,
+          -32.84281921386719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4713,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_683081150",
+      "mask_path": "../../mask/hdr_left_04713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04714.png",
+      "transform_matrix": [
+        [
+          0.6760477423667908,
+          -0.19638483226299286,
+          0.7102059125900269,
+          103.47454833984375
+        ],
+        [
+          -0.7138734459877014,
+          0.06429285556077957,
+          0.6973170042037964,
+          12.944649696350098
+        ],
+        [
+          -0.1826036423444748,
+          -0.9784168004989624,
+          -0.09672888368368149,
+          -32.86175537109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4714,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_783079862",
+      "mask_path": "../../mask/hdr_left_04714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04715.png",
+      "transform_matrix": [
+        [
+          0.6787126660346985,
+          -0.17824020981788635,
+          0.7124462127685547,
+          103.53722381591797
+        ],
+        [
+          -0.7139238119125366,
+          0.06736963987350464,
+          0.6969749331474304,
+          12.90365982055664
+        ],
+        [
+          -0.1722261905670166,
+          -0.9816780686378479,
+          -0.0815252959728241,
+          -32.88726806640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4715,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_883080720",
+      "mask_path": "../../mask/hdr_left_04715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04716.png",
+      "transform_matrix": [
+        [
+          0.6778676509857178,
+          -0.16668616235256195,
+          0.7160384058952332,
+          103.62154388427734
+        ],
+        [
+          -0.715854287147522,
+          0.07221846282482147,
+          0.694504976272583,
+          12.840497970581055
+        ],
+        [
+          -0.16747556626796722,
+          -0.9833617210388184,
+          -0.0703684464097023,
+          -32.90305709838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4716,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_983079433",
+      "mask_path": "../../mask/hdr_left_04716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04717.png",
+      "transform_matrix": [
+        [
+          0.6715832352638245,
+          -0.16103923320770264,
+          0.7232166528701782,
+          103.7002944946289
+        ],
+        [
+          -0.7218787670135498,
+          0.0777035653591156,
+          0.6876431107521057,
+          12.774179458618164
+        ],
+        [
+          -0.1669340431690216,
+          -0.9838844537734985,
+          -0.06406639516353607,
+          -32.91127395629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4717,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_83081007",
+      "mask_path": "../../mask/hdr_left_04717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04718.png",
+      "transform_matrix": [
+        [
+          0.6650123596191406,
+          -0.15558533370494843,
+          0.7304462790489197,
+          103.7513198852539
+        ],
+        [
+          -0.7286837100982666,
+          0.07913326472043991,
+          0.680263102054596,
+          12.726641654968262
+        ],
+        [
+          -0.163641557097435,
+          -0.984647810459137,
+          -0.060747914016246796,
+          -32.91767883300781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4718,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_183080196",
+      "mask_path": "../../mask/hdr_left_04718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04719.png",
+      "transform_matrix": [
+        [
+          0.6594679355621338,
+          -0.14973782002925873,
+          0.736668586730957,
+          103.81168365478516
+        ],
+        [
+          -0.7359122037887573,
+          0.07139334827661514,
+          0.6733024716377258,
+          12.684335708618164
+        ],
+        [
+          -0.15341205894947052,
+          -0.9861448407173157,
+          -0.06311225891113281,
+          -32.931396484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4719,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_283080816",
+      "mask_path": "../../mask/hdr_left_04719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04720.png",
+      "transform_matrix": [
+        [
+          0.6587010622024536,
+          -0.15859660506248474,
+          0.7354997992515564,
+          103.90650177001953
+        ],
+        [
+          -0.7376967668533325,
+          0.05620650202035904,
+          0.6727884411811829,
+          12.618834495544434
+        ],
+        [
+          -0.14804184436798096,
+          -0.9857423305511475,
+          -0.07997290045022964,
+          -32.928741455078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4720,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_383082628",
+      "mask_path": "../../mask/hdr_left_04720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04721.png",
+      "transform_matrix": [
+        [
+          0.6627951264381409,
+          -0.1570500284433365,
+          0.7321460247039795,
+          103.98048400878906
+        ],
+        [
+          -0.7354163527488708,
+          0.04751362279057503,
+          0.6759476065635681,
+          12.568065643310547
+        ],
+        [
+          -0.1409444957971573,
+          -0.9864470362663269,
+          -0.08400534838438034,
+          -32.93145751953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4721,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_483082771",
+      "mask_path": "../../mask/hdr_left_04721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04722.png",
+      "transform_matrix": [
+        [
+          0.6651089191436768,
+          -0.13760168850421906,
+          0.7339590191841125,
+          104.04241943359375
+        ],
+        [
+          -0.7358728051185608,
+          0.04634428024291992,
+          0.6755319237709045,
+          12.5326566696167
+        ],
+        [
+          -0.1269691288471222,
+          -0.9894028902053833,
+          -0.0704333558678627,
+          -32.95986557006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4722,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_583081960",
+      "mask_path": "../../mask/hdr_left_04722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04723.png",
+      "transform_matrix": [
+        [
+          0.6592157483100891,
+          -0.12632329761981964,
+          0.741267204284668,
+          104.10948944091797
+        ],
+        [
+          -0.7427128553390503,
+          0.04468929022550583,
+          0.668117105960846,
+          12.472187042236328
+        ],
+        [
+          -0.11752544343471527,
+          -0.9909821152687073,
+          -0.0643620416522026,
+          -32.95703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4723,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_683081626",
+      "mask_path": "../../mask/hdr_left_04723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04724.png",
+      "transform_matrix": [
+        [
+          0.6486127972602844,
+          -0.11207913607358932,
+          0.752821147441864,
+          104.173095703125
+        ],
+        [
+          -0.753294825553894,
+          0.04692404717206955,
+          0.6560068726539612,
+          12.408848762512207
+        ],
+        [
+          -0.10885009169578552,
+          -0.9925907850265503,
+          -0.0539930984377861,
+          -32.94463348388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4724,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_783082246",
+      "mask_path": "../../mask/hdr_left_04724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04725.png",
+      "transform_matrix": [
+        [
+          0.6399083137512207,
+          -0.09511667490005493,
+          0.7625417709350586,
+          104.21186065673828
+        ],
+        [
+          -0.7620357275009155,
+          0.04941105470061302,
+          0.6456469893455505,
+          12.364419937133789
+        ],
+        [
+          -0.09908979386091232,
+          -0.994239091873169,
+          -0.040863752365112305,
+          -32.94369888305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4725,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_883081912",
+      "mask_path": "../../mask/hdr_left_04725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04726.png",
+      "transform_matrix": [
+        [
+          0.6345431804656982,
+          -0.08661788702011108,
+          0.768018364906311,
+          104.28947448730469
+        ],
+        [
+          -0.767723798751831,
+          0.04403485730290413,
+          0.6392660737037659,
+          12.313602447509766
+        ],
+        [
+          -0.08919145911931992,
+          -0.9952679872512817,
+          -0.03855658695101738,
+          -32.94736862182617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4726,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_983082056",
+      "mask_path": "../../mask/hdr_left_04726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04727.png",
+      "transform_matrix": [
+        [
+          0.6347545981407166,
+          -0.08410487323999405,
+          0.7681229710578918,
+          104.38713836669922
+        ],
+        [
+          -0.7684571743011475,
+          0.0354870930314064,
+          0.6389163732528687,
+          12.263628959655762
+        ],
+        [
+          -0.08099444210529327,
+          -0.9958248734474182,
+          -0.04210539534687996,
+          -32.9578742980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4727,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_83082437",
+      "mask_path": "../../mask/hdr_left_04727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04728.png",
+      "transform_matrix": [
+        [
+          0.6390473246574402,
+          -0.0799354687333107,
+          0.7650025486946106,
+          104.4522705078125
+        ],
+        [
+          -0.765453040599823,
+          0.0315338671207428,
+          0.6427187323570251,
+          12.227798461914062
+        ],
+        [
+          -0.0754995048046112,
+          -0.9963011741638184,
+          -0.04103521630167961,
+          -32.96868896484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4728,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_183083295",
+      "mask_path": "../../mask/hdr_left_04728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04729.png",
+      "transform_matrix": [
+        [
+          0.6439270377159119,
+          -0.0707441121339798,
+          0.761809229850769,
+          104.516845703125
+        ],
+        [
+          -0.7613193988800049,
+          0.03944562003016472,
+          0.6471759676933289,
+          12.184956550598145
+        ],
+        [
+          -0.07583392411470413,
+          -0.9967142939567566,
+          -0.028458762913942337,
+          -32.98521423339844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4729,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_283081769",
+      "mask_path": "../../mask/hdr_left_04729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04730.png",
+      "transform_matrix": [
+        [
+          0.6480729579925537,
+          -0.06627507507801056,
+          0.7586891055107117,
+          104.58126068115234
+        ],
+        [
+          -0.757394015789032,
+          0.04819696396589279,
+          0.6511769890785217,
+          12.13814640045166
+        ],
+        [
+          -0.0797233134508133,
+          -0.9966367483139038,
+          -0.018961189314723015,
+          -32.988731384277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4730,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_383083105",
+      "mask_path": "../../mask/hdr_left_04730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04731.png",
+      "transform_matrix": [
+        [
+          0.6560994982719421,
+          -0.0639178678393364,
+          0.7519626617431641,
+          104.63460540771484
+        ],
+        [
+          -0.7502676844596863,
+          0.05227592587471008,
+          0.6590641736984253,
+          12.101387977600098
+        ],
+        [
+          -0.08143552392721176,
+          -0.9965850710868835,
+          -0.01365730632096529,
+          -32.9854850769043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4731,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_483080625",
+      "mask_path": "../../mask/hdr_left_04731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04732.png",
+      "transform_matrix": [
+        [
+          0.6668326258659363,
+          -0.05418730154633522,
+          0.7432347536087036,
+          104.68119049072266
+        ],
+        [
+          -0.7408566474914551,
+          0.05941013619303703,
+          0.669030487537384,
+          12.070149421691895
+        ],
+        [
+          -0.08040863275527954,
+          -0.9967618584632874,
+          -0.0005284015787765384,
+          -32.988887786865234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4732,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_583081483",
+      "mask_path": "../../mask/hdr_left_04732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04733.png",
+      "transform_matrix": [
+        [
+          0.6776794791221619,
+          -0.04705692455172539,
+          0.7338502407073975,
+          104.7321548461914
+        ],
+        [
+          -0.7309979200363159,
+          0.06539593636989594,
+          0.6792388558387756,
+          12.036101341247559
+        ],
+        [
+          -0.07995370775461197,
+          -0.9967493414878845,
+          0.009918966330587864,
+          -32.992252349853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4733,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_683081150",
+      "mask_path": "../../mask/hdr_left_04733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04734.png",
+      "transform_matrix": [
+        [
+          0.6907605528831482,
+          -0.053615450859069824,
+          0.7210930585861206,
+          104.8082504272461
+        ],
+        [
+          -0.717617928981781,
+          0.07155077904462814,
+          0.6927517056465149,
+          11.988009452819824
+        ],
+        [
+          -0.08873695880174637,
+          -0.9959949851036072,
+          0.010949048213660717,
+          -33.0067253112793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4734,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_783082246",
+      "mask_path": "../../mask/hdr_left_04734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04735.png",
+      "transform_matrix": [
+        [
+          0.7074739336967468,
+          -0.05894783139228821,
+          0.7042768001556396,
+          104.87873077392578
+        ],
+        [
+          -0.7002081274986267,
+          0.0767001137137413,
+          0.7098067402839661,
+          11.953689575195312
+        ],
+        [
+          -0.09585966914892197,
+          -0.9953101277351379,
+          0.01298758015036583,
+          -33.02567672729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4735,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_883081674",
+      "mask_path": "../../mask/hdr_left_04735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04737.png",
+      "transform_matrix": [
+        [
+          0.741155743598938,
+          -0.060925208032131195,
+          0.6685627102851868,
+          104.97248840332031
+        ],
+        [
+          -0.6629160642623901,
+          0.09078460186719894,
+          0.7431691288948059,
+          11.921062469482422
+        ],
+        [
+          -0.10597292333841324,
+          -0.9940052032470703,
+          0.026897238567471504,
+          -33.04410934448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4737,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_83080768",
+      "mask_path": "../../mask/hdr_left_04737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04738.png",
+      "transform_matrix": [
+        [
+          0.7437872290611267,
+          -0.0687994658946991,
+          0.6648662686347961,
+          105.0361557006836
+        ],
+        [
+          -0.6586616039276123,
+          0.09387580305337906,
+          0.7465601563453674,
+          11.893179893493652
+        ],
+        [
+          -0.11377779394388199,
+          -0.99320387840271,
+          0.02450805902481079,
+          -33.04678726196289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4738,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_183082103",
+      "mask_path": "../../mask/hdr_left_04738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05608.png",
+      "transform_matrix": [
+        [
+          -0.6653756499290466,
+          -0.0859118178486824,
+          -0.7415485978126526,
+          104.84767150878906
+        ],
+        [
+          0.7431020140647888,
+          0.018566111102700233,
+          -0.6689205169677734,
+          12.643741607666016
+        ],
+        [
+          0.07123584300279617,
+          -0.9961298108100891,
+          0.05148780718445778,
+          -32.98365020751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5608,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_183081150",
+      "mask_path": "../../mask/hdr_left_05608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05610.png",
+      "transform_matrix": [
+        [
+          -0.6920575499534607,
+          -0.10299595445394516,
+          -0.7144564986228943,
+          104.76407623291016
+        ],
+        [
+          0.7181073427200317,
+          0.0023207231424748898,
+          -0.6959285140037537,
+          12.694801330566406
+        ],
+        [
+          0.07333587110042572,
+          -0.9946790933609009,
+          0.07235606759786606,
+          -32.96967697143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5610,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_383081674",
+      "mask_path": "../../mask/hdr_left_05610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05611.png",
+      "transform_matrix": [
+        [
+          -0.7095389366149902,
+          -0.1058095172047615,
+          -0.696677029132843,
+          104.689208984375
+        ],
+        [
+          0.7005453109741211,
+          0.0008464589482173324,
+          -0.7136073112487793,
+          12.734118461608887
+        ],
+        [
+          0.07609613984823227,
+          -0.9943861365318298,
+          0.07352377474308014,
+          -32.957916259765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5611,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_483082056",
+      "mask_path": "../../mask/hdr_left_05611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05612.png",
+      "transform_matrix": [
+        [
+          -0.7285038232803345,
+          -0.10505852848291397,
+          -0.6769378781318665,
+          104.61976623535156
+        ],
+        [
+          0.680453896522522,
+          0.003197557758539915,
+          -0.7327840328216553,
+          12.762831687927246
+        ],
+        [
+          0.0791497454047203,
+          -0.994460940361023,
+          0.06915803998708725,
+          -32.95133972167969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5612,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_583082437",
+      "mask_path": "../../mask/hdr_left_05612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05614.png",
+      "transform_matrix": [
+        [
+          -0.7532418370246887,
+          -0.10252474993467331,
+          -0.6497040390968323,
+          104.51941680908203
+        ],
+        [
+          0.6537887454032898,
+          -0.008546649478375912,
+          -0.756628692150116,
+          12.801987648010254
+        ],
+        [
+          0.07202038168907166,
+          -0.9946937561035156,
+          0.07346723228693008,
+          -32.948883056640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5614,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_783082246",
+      "mask_path": "../../mask/hdr_left_05614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05615.png",
+      "transform_matrix": [
+        [
+          -0.7518051862716675,
+          -0.10645285993814468,
+          -0.65073561668396,
+          104.449951171875
+        ],
+        [
+          0.6553278565406799,
+          -0.011314475908875465,
+          -0.7552598118782043,
+          12.844324111938477
+        ],
+        [
+          0.07303683459758759,
+          -0.9942535161972046,
+          0.07826780527830124,
+          -32.931888580322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5615,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_883081912",
+      "mask_path": "../../mask/hdr_left_05615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05617.png",
+      "transform_matrix": [
+        [
+          -0.7424945831298828,
+          -0.11288358271121979,
+          -0.6602718830108643,
+          104.33655548095703
+        ],
+        [
+          0.665860652923584,
+          -0.016934942454099655,
+          -0.7458840012550354,
+          12.907486915588379
+        ],
+        [
+          0.07301639020442963,
+          -0.993463933467865,
+          0.08773882687091827,
+          -32.908935546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5617,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_83082437",
+      "mask_path": "../../mask/hdr_left_05617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05618.png",
+      "transform_matrix": [
+        [
+          -0.7432754039764404,
+          -0.10513358563184738,
+          -0.6606727242469788,
+          104.24876403808594
+        ],
+        [
+          0.6655271053314209,
+          -0.01591772586107254,
+          -0.7462038993835449,
+          12.945476531982422
+        ],
+        [
+          0.06793467700481415,
+          -0.9943307638168335,
+          0.08180050551891327,
+          -32.90121078491211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5618,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_183082342",
+      "mask_path": "../../mask/hdr_left_05618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05621.png",
+      "transform_matrix": [
+        [
+          -0.7425214052200317,
+          -0.09087738394737244,
+          -0.663628876209259,
+          104.09941864013672
+        ],
+        [
+          0.6677811145782471,
+          -0.023147089406847954,
+          -0.7439976334571838,
+          13.034695625305176
+        ],
+        [
+          0.052251484245061874,
+          -0.9955930709838867,
+          0.07787341624498367,
+          -32.905452728271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5621,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_483081817",
+      "mask_path": "../../mask/hdr_left_05621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05622.png",
+      "transform_matrix": [
+        [
+          -0.7361497282981873,
+          -0.08793073892593384,
+          -0.6710824370384216,
+          104.051025390625
+        ],
+        [
+          0.6750128269195557,
+          -0.02300098165869713,
+          -0.7374473810195923,
+          13.069829940795898
+        ],
+        [
+          0.04940873757004738,
+          -0.9958609938621521,
+          0.07628653943538666,
+          -32.895050048828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5622,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_583081960",
+      "mask_path": "../../mask/hdr_left_05622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05623.png",
+      "transform_matrix": [
+        [
+          -0.7285977602005005,
+          -0.09078510105609894,
+          -0.6788985729217529,
+          104.01091766357422
+        ],
+        [
+          0.6830469369888306,
+          -0.022627947852015495,
+          -0.7300238609313965,
+          13.098217010498047
+        ],
+        [
+          0.05091320350766182,
+          -0.9956133961677551,
+          0.07849714905023575,
+          -32.885231018066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5623,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_683081865",
+      "mask_path": "../../mask/hdr_left_05623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05624.png",
+      "transform_matrix": [
+        [
+          -0.7237430810928345,
+          -0.0854623094201088,
+          -0.684756875038147,
+          103.9413833618164
+        ],
+        [
+          0.6886304020881653,
+          -0.02539597637951374,
+          -0.7246676683425903,
+          13.142473220825195
+        ],
+        [
+          0.04454168677330017,
+          -0.9960177540779114,
+          0.07723210752010345,
+          -32.87873458862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5624,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_783080101",
+      "mask_path": "../../mask/hdr_left_05624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05625.png",
+      "transform_matrix": [
+        [
+          -0.728049099445343,
+          -0.07349495589733124,
+          -0.6815738081932068,
+          103.87084197998047
+        ],
+        [
+          0.6844807267189026,
+          -0.023080121725797653,
+          -0.7286654710769653,
+          13.182310104370117
+        ],
+        [
+          0.0378224216401577,
+          -0.9970285296440125,
+          0.06710934638977051,
+          -32.8768196105957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5625,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_883082389",
+      "mask_path": "../../mask/hdr_left_05625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05627.png",
+      "transform_matrix": [
+        [
+          -0.7621597051620483,
+          -0.058321163058280945,
+          -0.6447567343711853,
+          103.78226470947266
+        ],
+        [
+          0.6466445326805115,
+          -0.020828794687986374,
+          -0.7625070810317993,
+          13.231828689575195
+        ],
+        [
+          0.03104078583419323,
+          -0.9980805516242981,
+          0.05358792468905449,
+          -32.89039993286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5627,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_83081722",
+      "mask_path": "../../mask/hdr_left_05627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05628.png",
+      "transform_matrix": [
+        [
+          -0.7746017575263977,
+          -0.05670704320073128,
+          -0.6299018859863281,
+          103.72852325439453
+        ],
+        [
+          0.6317479014396667,
+          -0.022482946515083313,
+          -0.7748477458953857,
+          13.268508911132812
+        ],
+        [
+          0.029777271673083305,
+          -0.9981377124786377,
+          0.053239885717630386,
+          -32.88374328613281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5628,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_183081865",
+      "mask_path": "../../mask/hdr_left_05628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05630.png",
+      "transform_matrix": [
+        [
+          -0.7747907638549805,
+          -0.06318767368793488,
+          -0.6290521621704102,
+          103.6691665649414
+        ],
+        [
+          0.631693959236145,
+          -0.03687909245491028,
+          -0.7743400931358337,
+          13.3153715133667
+        ],
+        [
+          0.025729870423674583,
+          -0.9973201155662537,
+          0.06848885118961334,
+          -32.873626708984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5630,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_383082151",
+      "mask_path": "../../mask/hdr_left_05630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05631.png",
+      "transform_matrix": [
+        [
+          -0.7736912965774536,
+          -0.08834019303321838,
+          -0.6273736357688904,
+          103.61361694335938
+        ],
+        [
+          0.6324490308761597,
+          -0.04900089651346207,
+          -0.7730505466461182,
+          13.346760749816895
+        ],
+        [
+          0.03754954785108566,
+          -0.9948843717575073,
+          0.09378223121166229,
+          -32.86637878417969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5631,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_483081102",
+      "mask_path": "../../mask/hdr_left_05631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05632.png",
+      "transform_matrix": [
+        [
+          -0.7805151343345642,
+          -0.10347478836774826,
+          -0.6165136098861694,
+          103.55084228515625
+        ],
+        [
+          0.622981071472168,
+          -0.046916089951992035,
+          -0.7808286547660828,
+          13.365038871765137
+        ],
+        [
+          0.05187166854739189,
+          -0.9935250282287598,
+          0.10108155757188797,
+          -32.820098876953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5632,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_583082914",
+      "mask_path": "../../mask/hdr_left_05632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05634.png",
+      "transform_matrix": [
+        [
+          -0.8009429574012756,
+          -0.10761889070272446,
+          -0.5889893174171448,
+          103.47731018066406
+        ],
+        [
+          0.5957340598106384,
+          -0.04478269815444946,
+          -0.8019323348999023,
+          13.376058578491211
+        ],
+        [
+          0.05992651730775833,
+          -0.9931831359863281,
+          0.09998062252998352,
+          -32.828369140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5634,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_783083438",
+      "mask_path": "../../mask/hdr_left_05634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05639.png",
+      "transform_matrix": [
+        [
+          -0.8217612504959106,
+          -0.12256307899951935,
+          -0.5564950108528137,
+          103.24254608154297
+        ],
+        [
+          0.5652784109115601,
+          -0.05212340131402016,
+          -0.8232517242431641,
+          13.407628059387207
+        ],
+        [
+          0.0718938559293747,
+          -0.9910910725593567,
+          0.11211525648832321,
+          -32.767417907714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5639,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_283084154",
+      "mask_path": "../../mask/hdr_left_05639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05640.png",
+      "transform_matrix": [
+        [
+          -0.8256507515907288,
+          -0.11175350844860077,
+          -0.5530027151107788,
+          103.16039276123047
+        ],
+        [
+          0.5602443814277649,
+          -0.046807289123535156,
+          -0.8270038366317749,
+          13.437234878540039
+        ],
+        [
+          0.06653601676225662,
+          -0.9926331043243408,
+          0.10125575959682465,
+          -32.772727966308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5640,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_383081436",
+      "mask_path": "../../mask/hdr_left_05640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05641.png",
+      "transform_matrix": [
+        [
+          -0.829364538192749,
+          -0.10860036313533783,
+          -0.5480513572692871,
+          103.10095977783203
+        ],
+        [
+          0.5545430183410645,
+          -0.040460262447595596,
+          -0.8311708569526672,
+          13.466401100158691
+        ],
+        [
+          0.06809113919734955,
+          -0.9932617545127869,
+          0.09377987682819366,
+          -32.78644561767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5641,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_483085870",
+      "mask_path": "../../mask/hdr_left_05641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05642.png",
+      "transform_matrix": [
+        [
+          -0.8298709988594055,
+          -0.11056730896234512,
+          -0.5468903183937073,
+          103.0536880493164
+        ],
+        [
+          0.5531083941459656,
+          -0.034109119325876236,
+          -0.8324106931686401,
+          13.48632526397705
+        ],
+        [
+          0.07338346540927887,
+          -0.993283212184906,
+          0.08946187794208527,
+          -32.79240798950195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5642,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_583082437",
+      "mask_path": "../../mask/hdr_left_05642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05643.png",
+      "transform_matrix": [
+        [
+          -0.825322687625885,
+          -0.1246325746178627,
+          -0.5507349967956543,
+          102.96784973144531
+        ],
+        [
+          0.5549599528312683,
+          0.0009830750059336424,
+          -0.8318765163421631,
+          13.535849571228027
+        ],
+        [
+          0.10422030091285706,
+          -0.9922024607658386,
+          0.06835472583770752,
+          -32.754940032958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5643,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_683082103",
+      "mask_path": "../../mask/hdr_left_05643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05644.png",
+      "transform_matrix": [
+        [
+          -0.8121147751808167,
+          -0.1505521684885025,
+          -0.5637407898902893,
+          102.88410186767578
+        ],
+        [
+          0.5665622353553772,
+          0.027621261775493622,
+          -0.8235558271408081,
+          13.589428901672363
+        ],
+        [
+          0.13955934345722198,
+          -0.98821622133255,
+          0.06286554038524628,
+          -32.66350555419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5644,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_783082246",
+      "mask_path": "../../mask/hdr_left_05644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05645.png",
+      "transform_matrix": [
+        [
+          -0.800631046295166,
+          -0.1693008989095688,
+          -0.5747408270835876,
+          102.82325744628906
+        ],
+        [
+          0.5778800845146179,
+          0.035168565809726715,
+          -0.8153636455535889,
+          13.628689765930176
+        ],
+        [
+          0.15825457870960236,
+          -0.9849368333816528,
+          0.06967856734991074,
+          -32.636260986328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5645,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_883083343",
+      "mask_path": "../../mask/hdr_left_05645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05646.png",
+      "transform_matrix": [
+        [
+          -0.7967724204063416,
+          -0.1760680377483368,
+          -0.5780603289604187,
+          102.74559020996094
+        ],
+        [
+          0.5818630456924438,
+          0.03459383547306061,
+          -0.8125506639480591,
+          13.657508850097656
+        ],
+        [
+          0.16306151449680328,
+          -0.983769953250885,
+          0.0748840793967247,
+          -32.652191162109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5646,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_983082056",
+      "mask_path": "../../mask/hdr_left_05646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05647.png",
+      "transform_matrix": [
+        [
+          -0.8007804155349731,
+          -0.15622296929359436,
+          -0.5782257914543152,
+          102.66654205322266
+        ],
+        [
+          0.5802912712097168,
+          0.03678048029541969,
+          -0.8135780692100525,
+          13.68793773651123
+        ],
+        [
+          0.1483670026063919,
+          -0.9870368838310242,
+          0.061201732605695724,
+          -32.63728332519531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5647,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_83083868",
+      "mask_path": "../../mask/hdr_left_05647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05648.png",
+      "transform_matrix": [
+        [
+          -0.8043866157531738,
+          -0.14274264872074127,
+          -0.5767032504081726,
+          102.60348510742188
+        ],
+        [
+          0.5773724317550659,
+          0.040941283106803894,
+          -0.815453827381134,
+          13.710665702819824
+        ],
+        [
+          0.1400109827518463,
+          -0.9889127612113953,
+          0.0494830459356308,
+          -32.61629867553711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5648,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_183081865",
+      "mask_path": "../../mask/hdr_left_05648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05649.png",
+      "transform_matrix": [
+        [
+          -0.8043025135993958,
+          -0.14656001329421997,
+          -0.575862467288971,
+          102.54375457763672
+        ],
+        [
+          0.5768576264381409,
+          0.03997350484132767,
+          -0.8158659934997559,
+          13.724451065063477
+        ],
+        [
+          0.14259257912635803,
+          -0.9883938431739807,
+          0.05239348113536835,
+          -32.603641510009766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5649,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_283082723",
+      "mask_path": "../../mask/hdr_left_05649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05650.png",
+      "transform_matrix": [
+        [
+          -0.8015722632408142,
+          -0.15768451988697052,
+          -0.5767300128936768,
+          102.455810546875
+        ],
+        [
+          0.5754701495170593,
+          0.05824509263038635,
+          -0.8157460689544678,
+          13.766081809997559
+        ],
+        [
+          0.16222220659255981,
+          -0.9857703447341919,
+          0.04405508190393448,
+          -32.58511734008789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5650,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_383081912",
+      "mask_path": "../../mask/hdr_left_05650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05651.png",
+      "transform_matrix": [
+        [
+          -0.7935519218444824,
+          -0.17484575510025024,
+          -0.5828414559364319,
+          102.36087036132812
+        ],
+        [
+          0.5805283188819885,
+          0.06954343616962433,
+          -0.8112647533416748,
+          13.80667495727539
+        ],
+        [
+          0.18237899243831635,
+          -0.9821368455886841,
+          0.04631657898426056,
+          -32.528072357177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5651,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_483082532",
+      "mask_path": "../../mask/hdr_left_05651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05652.png",
+      "transform_matrix": [
+        [
+          -0.7859055995941162,
+          -0.1853606402873993,
+          -0.5899099707603455,
+          102.29986572265625
+        ],
+        [
+          0.5889924168586731,
+          0.06604397296905518,
+          -0.8054353594779968,
+          13.835081100463867
+        ],
+        [
+          0.18825598061084747,
+          -0.9804487228393555,
+          0.057271670550107956,
+          -32.499267578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5652,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_583082914",
+      "mask_path": "../../mask/hdr_left_05652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05653.png",
+      "transform_matrix": [
+        [
+          -0.7820706963539124,
+          -0.1881333887577057,
+          -0.5941138863563538,
+          102.2374038696289
+        ],
+        [
+          0.5942175984382629,
+          0.06217943876981735,
+          -0.8018971681594849,
+          13.866337776184082
+        ],
+        [
+          0.18780528008937836,
+          -0.9801732897758484,
+          0.06316345930099487,
+          -32.49867248535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5653,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_683083057",
+      "mask_path": "../../mask/hdr_left_05653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05654.png",
+      "transform_matrix": [
+        [
+          -0.7801014184951782,
+          -0.18650683760643005,
+          -0.5972075462341309,
+          102.15563201904297
+        ],
+        [
+          0.5967224836349487,
+          0.06511065363883972,
+          -0.799801766872406,
+          13.900784492492676
+        ],
+        [
+          0.18805305659770966,
+          -0.9802938103675842,
+          0.06049991771578789,
+          -32.48183822631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5654,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_783081769",
+      "mask_path": "../../mask/hdr_left_05654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05655.png",
+      "transform_matrix": [
+        [
+          -0.7784327864646912,
+          -0.18386082351207733,
+          -0.6001978516578674,
+          102.08505249023438
+        ],
+        [
+          0.5983211398124695,
+          0.0718991607427597,
+          -0.7980239391326904,
+          13.926063537597656
+        ],
+        [
+          0.18987904489040375,
+          -0.9803192615509033,
+          0.05403914675116539,
+          -32.46064758300781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5655,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_883082866",
+      "mask_path": "../../mask/hdr_left_05655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05656.png",
+      "transform_matrix": [
+        [
+          -0.7768846750259399,
+          -0.17951534688472748,
+          -0.6035099625587463,
+          102.02635192871094
+        ],
+        [
+          0.6014895439147949,
+          0.07181724905967712,
+          -0.7956460118293762,
+          13.9573335647583
+        ],
+        [
+          0.18617306649684906,
+          -0.9811302423477173,
+          0.0521828718483448,
+          -32.45393371582031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5656,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_983080625",
+      "mask_path": "../../mask/hdr_left_05656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05657.png",
+      "transform_matrix": [
+        [
+          -0.7733075022697449,
+          -0.17198863625526428,
+          -0.6102585196495056,
+          101.9518814086914
+        ],
+        [
+          0.608982503414154,
+          0.06638727337121964,
+          -0.790400505065918,
+          13.992257118225098
+        ],
+        [
+          0.17645329236984253,
+          -0.9828594326972961,
+          0.053400296717882156,
+          -32.44519805908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5657,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_83080768",
+      "mask_path": "../../mask/hdr_left_05657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05658.png",
+      "transform_matrix": [
+        [
+          -0.7687485814094543,
+          -0.16696462035179138,
+          -0.6173723340034485,
+          101.88528442382812
+        ],
+        [
+          0.61683189868927,
+          0.06144477054476738,
+          -0.7846929430961609,
+          14.02118968963623
+        ],
+        [
+          0.16895021498203278,
+          -0.984046459197998,
+          0.05575351417064667,
+          -32.419219970703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5658,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_183083057",
+      "mask_path": "../../mask/hdr_left_05658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05659.png",
+      "transform_matrix": [
+        [
+          -0.7646133899688721,
+          -0.16734200716018677,
+          -0.622384786605835,
+          101.83509826660156
+        ],
+        [
+          0.6226051449775696,
+          0.05772288516163826,
+          -0.780404269695282,
+          14.051830291748047
+        ],
+        [
+          0.16652026772499084,
+          -0.9842077493667603,
+          0.0600522980093956,
+          -32.404117584228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5659,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_283081054",
+      "mask_path": "../../mask/hdr_left_05659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05660.png",
+      "transform_matrix": [
+        [
+          -0.7661330699920654,
+          -0.14176537096500397,
+          -0.6268514394760132,
+          101.77019500732422
+        ],
+        [
+          0.6262661814689636,
+          0.05436079576611519,
+          -0.7777116894721985,
+          14.094427108764648
+        ],
+        [
+          0.14432872831821442,
+          -0.9884065985679626,
+          0.04713527485728264,
+          -32.40425491333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5660,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_383082866",
+      "mask_path": "../../mask/hdr_left_05660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05661.png",
+      "transform_matrix": [
+        [
+          -0.7689856290817261,
+          -0.11029956489801407,
+          -0.6296784281730652,
+          101.70478820800781
+        ],
+        [
+          0.6276589035987854,
+          0.05657662823796272,
+          -0.7764298915863037,
+          14.136563301086426
+        ],
+        [
+          0.12126494199037552,
+          -0.9922868609428406,
+          0.025723887607455254,
+          -32.3964729309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5661,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_483081817",
+      "mask_path": "../../mask/hdr_left_05661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05662.png",
+      "transform_matrix": [
+        [
+          -0.7699525356292725,
+          -0.09617340564727783,
+          -0.6308120489120483,
+          101.65266418457031
+        ],
+        [
+          0.6283268332481384,
+          0.058099132031202316,
+          -0.7757769823074341,
+          14.162708282470703
+        ],
+        [
+          0.11125873029232025,
+          -0.9936675429344177,
+          0.015694759786128998,
+          -32.39767837524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5662,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_583081722",
+      "mask_path": "../../mask/hdr_left_05662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05663.png",
+      "transform_matrix": [
+        [
+          -0.7696182131767273,
+          -0.08882549405097961,
+          -0.6322956085205078,
+          101.58519744873047
+        ],
+        [
+          0.630112886428833,
+          0.05436154082417488,
+          -0.7745983004570007,
+          14.195463180541992
+        ],
+        [
+          0.10317663103342056,
+          -0.9945626854896545,
+          0.01413246151059866,
+          -32.39326095581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5663,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_683081865",
+      "mask_path": "../../mask/hdr_left_05663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05664.png",
+      "transform_matrix": [
+        [
+          -0.7645249366760254,
+          -0.0850408673286438,
+          -0.6389597654342651,
+          101.5091781616211
+        ],
+        [
+          0.637352466583252,
+          0.048438165336847305,
+          -0.7690485119819641,
+          14.240167617797852
+        ],
+        [
+          0.09635057300329208,
+          -0.99519944190979,
+          0.017168818041682243,
+          -32.38346481323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5664,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_783080816",
+      "mask_path": "../../mask/hdr_left_05664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05665.png",
+      "transform_matrix": [
+        [
+          -0.7547111511230469,
+          -0.08609984815120697,
+          -0.650382936000824,
+          101.45211791992188
+        ],
+        [
+          0.648944616317749,
+          0.04760754480957985,
+          -0.759344756603241,
+          14.280278205871582
+        ],
+        [
+          0.09634259343147278,
+          -0.9951484203338623,
+          0.019944095984101295,
+          -32.37211990356445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5665,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_883081197",
+      "mask_path": "../../mask/hdr_left_05665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05666.png",
+      "transform_matrix": [
+        [
+          -0.7438235282897949,
+          -0.09092157334089279,
+          -0.6621629595756531,
+          101.40015411376953
+        ],
+        [
+          0.6616352200508118,
+          0.04018386825919151,
+          -0.7487484216690063,
+          14.315387725830078
+        ],
+        [
+          0.0946856439113617,
+          -0.9950470328330994,
+          0.030267206951975822,
+          -32.35923385620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5666,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_983080625",
+      "mask_path": "../../mask/hdr_left_05666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05667.png",
+      "transform_matrix": [
+        [
+          -0.7340373396873474,
+          -0.10660362988710403,
+          -0.6706898212432861,
+          101.3033218383789
+        ],
+        [
+          0.6721757650375366,
+          0.026712853461503983,
+          -0.7399095892906189,
+          14.353314399719238
+        ],
+        [
+          0.09679307788610458,
+          -0.9939427375793457,
+          0.05204813554883003,
+          -32.33852767944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5667,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_83081483",
+      "mask_path": "../../mask/hdr_left_05667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05668.png",
+      "transform_matrix": [
+        [
+          -0.734329104423523,
+          -0.1103297770023346,
+          -0.6697672009468079,
+          101.19723510742188
+        ],
+        [
+          0.6710979342460632,
+          0.030153218656778336,
+          -0.7407552599906921,
+          14.394630432128906
+        ],
+        [
+          0.10192298144102097,
+          -0.9934375286102295,
+          0.051899708807468414,
+          -32.31439971923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5668,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_183081150",
+      "mask_path": "../../mask/hdr_left_05668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05669.png",
+      "transform_matrix": [
+        [
+          -0.7388748526573181,
+          -0.10456173866987228,
+          -0.6656807065010071,
+          101.13424682617188
+        ],
+        [
+          0.6655340790748596,
+          0.04141554236412048,
+          -0.745217502117157,
+          14.425187110900879
+        ],
+        [
+          0.10549075156450272,
+          -0.9936556816101074,
+          0.038988493382930756,
+          -32.309242248535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5669,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_283081054",
+      "mask_path": "../../mask/hdr_left_05669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05670.png",
+      "transform_matrix": [
+        [
+          -0.7410405874252319,
+          -0.10245642066001892,
+          -0.6635973453521729,
+          101.0876693725586
+        ],
+        [
+          0.6628841757774353,
+          0.04581938311457634,
+          -0.7473185062408447,
+          14.451990127563477
+        ],
+        [
+          0.10697320103645325,
+          -0.9936817288398743,
+          0.03396272286772728,
+          -32.31228256225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5670,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_383081436",
+      "mask_path": "../../mask/hdr_left_05670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05671.png",
+      "transform_matrix": [
+        [
+          -0.7421247363090515,
+          -0.10130570828914642,
+          -0.6625615954399109,
+          101.02533721923828
+        ],
+        [
+          0.6614990234375,
+          0.04861859232187271,
+          -0.7483683824539185,
+          14.489947319030762
+        ],
+        [
+          0.10802678763866425,
+          -0.9936667084693909,
+          0.030932564288377762,
+          -32.30171203613281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5671,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_483081579",
+      "mask_path": "../../mask/hdr_left_05671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05672.png",
+      "transform_matrix": [
+        [
+          -0.7425804138183594,
+          -0.1062200665473938,
+          -0.6612802147865295,
+          100.95125579833984
+        ],
+        [
+          0.6604958772659302,
+          0.047482483088970184,
+          -0.7493267059326172,
+          14.530638694763184
+        ],
+        [
+          0.11099275201559067,
+          -0.9932082891464233,
+          0.03489835187792778,
+          -32.27938461303711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5672,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_583082199",
+      "mask_path": "../../mask/hdr_left_05672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05673.png",
+      "transform_matrix": [
+        [
+          -0.7432505488395691,
+          -0.11301343142986298,
+          -0.6593986749649048,
+          100.8995132446289
+        ],
+        [
+          0.6594107151031494,
+          0.04264198988676071,
+          -0.7505725622177124,
+          14.559494972229004
+        ],
+        [
+          0.11294284462928772,
+          -0.9926780462265015,
+          0.04282858967781067,
+          -32.268699645996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5673,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_683081150",
+      "mask_path": "../../mask/hdr_left_05673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05674.png",
+      "transform_matrix": [
+        [
+          -0.743076741695404,
+          -0.11195088177919388,
+          -0.6597757339477539,
+          100.84355926513672
+        ],
+        [
+          0.6605446934700012,
+          0.03540998697280884,
+          -0.7499512434005737,
+          14.585421562194824
+        ],
+        [
+          0.10732033848762512,
+          -0.9930827021598816,
+          0.047636229544878006,
+          -32.26066970825195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5674,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_783079385",
+      "mask_path": "../../mask/hdr_left_05674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05675.png",
+      "transform_matrix": [
+        [
+          -0.7462630867958069,
+          -0.10238687694072723,
+          -0.6577296853065491,
+          100.76948547363281
+        ],
+        [
+          0.6580566763877869,
+          0.03535560145974159,
+          -0.7521378397941589,
+          14.618865013122559
+        ],
+        [
+          0.10026346147060394,
+          -0.9941161870956421,
+          0.040991783142089844,
+          -32.26005172729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5675,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_883080005",
+      "mask_path": "../../mask/hdr_left_05675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05677.png",
+      "transform_matrix": [
+        [
+          -0.7559009194374084,
+          -0.09743112325668335,
+          -0.6473954319953918,
+          100.66402435302734
+        ],
+        [
+          0.647595226764679,
+          0.033869002014398575,
+          -0.761231541633606,
+          14.656270027160645
+        ],
+        [
+          0.0960942730307579,
+          -0.9946658611297607,
+          0.037494316697120667,
+          -32.259193420410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5677,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_83079576",
+      "mask_path": "../../mask/hdr_left_05677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05678.png",
+      "transform_matrix": [
+        [
+          -0.7597243189811707,
+          -0.08973408490419388,
+          -0.6440237760543823,
+          100.60079193115234
+        ],
+        [
+          0.6449167728424072,
+          0.02255184017121792,
+          -0.7639200091362,
+          14.684816360473633
+        ],
+        [
+          0.08307357877492905,
+          -0.995710551738739,
+          0.04073783755302429,
+          -32.254554748535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5678,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_183082580",
+      "mask_path": "../../mask/hdr_left_05678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05679.png",
+      "transform_matrix": [
+        [
+          -0.7581570744514465,
+          -0.08491872251033783,
+          -0.6465188264846802,
+          100.55091094970703
+        ],
+        [
+          0.6476160287857056,
+          0.01765288971364498,
+          -0.7617623805999756,
+          14.704155921936035
+        ],
+        [
+          0.07610080391168594,
+          -0.9962315559387207,
+          0.04161106050014496,
+          -32.23926544189453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5679,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_283082008",
+      "mask_path": "../../mask/hdr_left_05679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05680.png",
+      "transform_matrix": [
+        [
+          -0.7551195621490479,
+          -0.08460935205221176,
+          -0.650104284286499,
+          100.50572967529297
+        ],
+        [
+          0.6512202024459839,
+          0.01745939441025257,
+          -0.7586879134178162,
+          14.732708930969238
+        ],
+        [
+          0.07554251700639725,
+          -0.9962612986564636,
+          0.04191539064049721,
+          -32.22857666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5680,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_383079767",
+      "mask_path": "../../mask/hdr_left_05680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05681.png",
+      "transform_matrix": [
+        [
+          -0.7530007362365723,
+          -0.08747218549251556,
+          -0.6521796584129333,
+          100.45346069335938
+        ],
+        [
+          0.6539769768714905,
+          0.01021115668118,
+          -0.7564455270767212,
+          14.768211364746094
+        ],
+        [
+          0.07282745838165283,
+          -0.9961147308349609,
+          0.04951578378677368,
+          -32.22493362426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5681,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_483081817",
+      "mask_path": "../../mask/hdr_left_05681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05682.png",
+      "transform_matrix": [
+        [
+          -0.7520847320556641,
+          -0.08381906896829605,
+          -0.6537147164344788,
+          100.38117218017578
+        ],
+        [
+          0.6557018756866455,
+          0.0049355002120137215,
+          -0.7550036907196045,
+          14.801655769348145
+        ],
+        [
+          0.06651011109352112,
+          -0.9964687824249268,
+          0.05124840885400772,
+          -32.21235656738281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5682,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_583082437",
+      "mask_path": "../../mask/hdr_left_05682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05683.png",
+      "transform_matrix": [
+        [
+          -0.7556925415992737,
+          -0.07429617643356323,
+          -0.650698721408844,
+          100.32819366455078
+        ],
+        [
+          0.6518808007240295,
+          0.010379997082054615,
+          -0.7582504749298096,
+          14.831687927246094
+        ],
+        [
+          0.06308936327695847,
+          -0.9971822500228882,
+          0.04058815911412239,
+          -32.20677185058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5683,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_683082103",
+      "mask_path": "../../mask/hdr_left_05683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05685.png",
+      "transform_matrix": [
+        [
+          -0.7776964902877808,
+          -0.06120831519365311,
+          -0.6256529688835144,
+          100.23065948486328
+        ],
+        [
+          0.6259405612945557,
+          0.016735147684812546,
+          -0.7796910405158997,
+          14.855768203735352
+        ],
+        [
+          0.05819397792220116,
+          -0.9979847073554993,
+          0.025297904387116432,
+          -32.199947357177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5685,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_883082628",
+      "mask_path": "../../mask/hdr_left_05685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05686.png",
+      "transform_matrix": [
+        [
+          -0.789256751537323,
+          -0.05550187826156616,
+          -0.6115497946739197,
+          100.16838073730469
+        ],
+        [
+          0.6117925643920898,
+          0.014492770656943321,
+          -0.7908853888511658,
+          14.871904373168945
+        ],
+        [
+          0.05275867134332657,
+          -0.9983534812927246,
+          0.022517120465636253,
+          -32.194427490234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5686,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_983083724",
+      "mask_path": "../../mask/hdr_left_05686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05687.png",
+      "transform_matrix": [
+        [
+          -0.7945277094841003,
+          -0.05756806582212448,
+          -0.6044928431510925,
+          100.11638641357422
+        ],
+        [
+          0.60501629114151,
+          0.00983473937958479,
+          -0.7961522936820984,
+          14.885750770568848
+        ],
+        [
+          0.051777973771095276,
+          -0.9982931613922119,
+          0.027015650644898415,
+          -32.18556594848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5687,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_83081960",
+      "mask_path": "../../mask/hdr_left_05687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05689.png",
+      "transform_matrix": [
+        [
+          -0.7904751300811768,
+          -0.07060548663139343,
+          -0.6084109544754028,
+          100.01689147949219
+        ],
+        [
+          0.6099350452423096,
+          -3.352801286382601e-05,
+          -0.7924514412879944,
+          14.924287796020508
+        ],
+        [
+          0.055931009352207184,
+          -0.9975043535232544,
+          0.043091267347335815,
+          -32.174713134765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5689,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_283082246",
+      "mask_path": "../../mask/hdr_left_05689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05690.png",
+      "transform_matrix": [
+        [
+          -0.789742648601532,
+          -0.06864006817340851,
+          -0.6095860004425049,
+          99.94212341308594
+        ],
+        [
+          0.6107161641120911,
+          0.005535299424082041,
+          -0.7918302416801453,
+          14.955302238464355
+        ],
+        [
+          0.057725515216588974,
+          -0.9976261258125305,
+          0.037548139691352844,
+          -32.16620635986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5690,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_383081912",
+      "mask_path": "../../mask/hdr_left_05690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05691.png",
+      "transform_matrix": [
+        [
+          -0.7915443181991577,
+          -0.06313372403383255,
+          -0.6078419089317322,
+          99.88362884521484
+        ],
+        [
+          0.6083500385284424,
+          0.0130506232380867,
+          -0.7935615181922913,
+          14.98412799835205
+        ],
+        [
+          0.058033205568790436,
+          -0.9979198575019836,
+          0.02807725965976715,
+          -32.17078399658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5691,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_483082056",
+      "mask_path": "../../mask/hdr_left_05691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05692.png",
+      "transform_matrix": [
+        [
+          -0.7914631366729736,
+          -0.06133919581770897,
+          -0.6081312894821167,
+          99.82176208496094
+        ],
+        [
+          0.6083200573921204,
+          0.01770113967359066,
+          -0.7934942841529846,
+          15.014662742614746
+        ],
+        [
+          0.05943691357970238,
+          -0.9979600310325623,
+          0.02330406755208969,
+          -32.16948699951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5692,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_583081483",
+      "mask_path": "../../mask/hdr_left_05692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05693.png",
+      "transform_matrix": [
+        [
+          -0.7892286777496338,
+          -0.06635265797376633,
+          -0.6105042099952698,
+          99.75877380371094
+        ],
+        [
+          0.6105684638023376,
+          0.021670415997505188,
+          -0.7916669249534607,
+          15.049409866333008
+        ],
+        [
+          0.0657590851187706,
+          -0.9975608587265015,
+          0.023409930989146233,
+          -32.165313720703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5693,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_683081626",
+      "mask_path": "../../mask/hdr_left_05693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05694.png",
+      "transform_matrix": [
+        [
+          -0.7823956608772278,
+          -0.07190034538507462,
+          -0.6186171770095825,
+          99.68631744384766
+        ],
+        [
+          0.6180598735809326,
+          0.03244112432003021,
+          -0.78546142578125,
+          15.092823028564453
+        ],
+        [
+          0.07654356956481934,
+          -0.9968841671943665,
+          0.01905692368745804,
+          -32.13298034667969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5694,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_783080816",
+      "mask_path": "../../mask/hdr_left_05694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05695.png",
+      "transform_matrix": [
+        [
+          -0.7719792723655701,
+          -0.08048783987760544,
+          -0.6305312514305115,
+          99.61534118652344
+        ],
+        [
+          0.6296626329421997,
+          0.03897123783826828,
+          -0.7758905291557312,
+          15.141952514648438
+        ],
+        [
+          0.0870223343372345,
+          -0.9959934949874878,
+          0.020595194771885872,
+          -32.09825134277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5695,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_883081197",
+      "mask_path": "../../mask/hdr_left_05695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05697.png",
+      "transform_matrix": [
+        [
+          -0.7508847713470459,
+          -0.11777116358280182,
+          -0.6498476266860962,
+          99.5298080444336
+        ],
+        [
+          0.6505667567253113,
+          0.03754729777574539,
+          -0.758520245552063,
+          15.202315330505371
+        ],
+        [
+          0.11373183131217957,
+          -0.9923307299613953,
+          0.04842431843280792,
+          -32.117679595947266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5697,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_83078384",
+      "mask_path": "../../mask/hdr_left_05697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04656.png",
+      "transform_matrix": [
+        [
+          -0.9280064702033997,
+          -0.23102068901062012,
+          -0.2922903597354889,
+          100.36558532714844
+        ],
+        [
+          0.29498952627182007,
+          0.023575574159622192,
+          -0.9552096128463745,
+          14.966771125793457
+        ],
+        [
+          0.22756409645080566,
+          -0.972663164138794,
+          0.04627041891217232,
+          -32.226173400878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4656,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_83081245",
+      "mask_path": "../../mask/hdr_right_04656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04657.png",
+      "transform_matrix": [
+        [
+          -0.926899790763855,
+          -0.22645211219787598,
+          -0.2992927134037018,
+          100.4562759399414
+        ],
+        [
+          0.30331799387931824,
+          0.01765698380768299,
+          -0.952725887298584,
+          14.93040943145752
+        ],
+        [
+          0.22103136777877808,
+          -0.9738622307777405,
+          0.05232074484229088,
+          -32.25990295410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4657,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_183079957",
+      "mask_path": "../../mask/hdr_right_04657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04658.png",
+      "transform_matrix": [
+        [
+          -0.9266812801361084,
+          -0.24151279032230377,
+          -0.28798165917396545,
+          100.55294036865234
+        ],
+        [
+          0.296305388212204,
+          0.0019382990431040525,
+          -0.9550913572311401,
+          14.8848237991333
+        ],
+        [
+          0.23122495412826538,
+          -0.9703956842422485,
+          0.0697653517127037,
+          -32.25816345214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4658,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_283080101",
+      "mask_path": "../../mask/hdr_right_04658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04660.png",
+      "transform_matrix": [
+        [
+          -0.9354817271232605,
+          -0.2281661033630371,
+          -0.26984095573425293,
+          100.6558609008789
+        ],
+        [
+          0.27871090173721313,
+          -0.00695673655718565,
+          -0.9603498578071594,
+          14.827489852905273
+        ],
+        [
+          0.2172420769929886,
+          -0.9735972881317139,
+          0.07010029256343842,
+          -32.2940559387207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4660,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_483082056",
+      "mask_path": "../../mask/hdr_right_04660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04661.png",
+      "transform_matrix": [
+        [
+          -0.9369945526123047,
+          -0.21615804731845856,
+          -0.2744393050670624,
+          100.74690246582031
+        ],
+        [
+          0.2842741310596466,
+          -0.015171557664871216,
+          -0.9586229920387268,
+          14.765142440795898
+        ],
+        [
+          0.2030503749847412,
+          -0.9762404561042786,
+          0.07566379755735397,
+          -32.30808639526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4661,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_583081960",
+      "mask_path": "../../mask/hdr_right_04661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04662.png",
+      "transform_matrix": [
+        [
+          -0.9377667903900146,
+          -0.1998627632856369,
+          -0.2839864194393158,
+          100.81257629394531
+        ],
+        [
+          0.29385098814964294,
+          -0.020914265885949135,
+          -0.9556224346160889,
+          14.715353012084961
+        ],
+        [
+          0.1850539743900299,
+          -0.979600727558136,
+          0.07834258675575256,
+          -32.2984504699707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4662,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_683081626",
+      "mask_path": "../../mask/hdr_right_04662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04663.png",
+      "transform_matrix": [
+        [
+          -0.9387753009796143,
+          -0.17932063341140747,
+          -0.2941853106021881,
+          100.88427734375
+        ],
+        [
+          0.3036593496799469,
+          -0.027261516079306602,
+          -0.9523906111717224,
+          14.692745208740234
+        ],
+        [
+          0.16276337206363678,
+          -0.9834128618240356,
+          0.08004482835531235,
+          -32.32307434082031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4663,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_783080577",
+      "mask_path": "../../mask/hdr_right_04663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04664.png",
+      "transform_matrix": [
+        [
+          -0.9403585195541382,
+          -0.17046132683753967,
+          -0.29439565539360046,
+          100.99940490722656
+        ],
+        [
+          0.30443063378334045,
+          -0.035470761358737946,
+          -0.9518738985061646,
+          14.646604537963867
+        ],
+        [
+          0.1518152356147766,
+          -0.9847257137298584,
+          0.08524888008832932,
+          -32.33024978637695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4664,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_883083820",
+      "mask_path": "../../mask/hdr_right_04664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04665.png",
+      "transform_matrix": [
+        [
+          -0.9439910054206848,
+          -0.1616867333650589,
+          -0.2876428961753845,
+          101.09281158447266
+        ],
+        [
+          0.29787176847457886,
+          -0.04252175986766815,
+          -0.953658401966095,
+          14.599350929260254
+        ],
+        [
+          0.14196282625198364,
+          -0.9859256148338318,
+          0.08830207586288452,
+          -32.31556701660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4665,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323729_983082771",
+      "mask_path": "../../mask/hdr_right_04665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04666.png",
+      "transform_matrix": [
+        [
+          -0.9480302929878235,
+          -0.14491447806358337,
+          -0.2832639813423157,
+          101.16105651855469
+        ],
+        [
+          0.292670875787735,
+          -0.047890715301036835,
+          -0.9550132751464844,
+          14.568628311157227
+        ],
+        [
+          0.12482953816652298,
+          -0.9882844686508179,
+          0.08781410753726959,
+          -32.31364440917969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4666,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_83082199",
+      "mask_path": "../../mask/hdr_right_04666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04667.png",
+      "transform_matrix": [
+        [
+          -0.9479905962944031,
+          -0.14087127149105072,
+          -0.28542807698249817,
+          101.24269104003906
+        ],
+        [
+          0.2921450138092041,
+          -0.02911369502544403,
+          -0.9559308886528015,
+          14.53336238861084
+        ],
+        [
+          0.12635333836078644,
+          -0.9895997643470764,
+          0.06875435262918472,
+          -32.322547912597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4667,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_183081388",
+      "mask_path": "../../mask/hdr_right_04667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04668.png",
+      "transform_matrix": [
+        [
+          -0.9441360235214233,
+          -0.15361514687538147,
+          -0.29156410694122314,
+          101.31260681152344
+        ],
+        [
+          0.2963590621948242,
+          -0.00878160074353218,
+          -0.9550362229347229,
+          14.507473945617676
+        ],
+        [
+          0.14414763450622559,
+          -0.988091766834259,
+          0.05381627380847931,
+          -32.34251022338867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4668,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_283083438",
+      "mask_path": "../../mask/hdr_right_04668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04669.png",
+      "transform_matrix": [
+        [
+          -0.939447820186615,
+          -0.16625981032848358,
+          -0.29965880513191223,
+          101.3638687133789
+        ],
+        [
+          0.3036291003227234,
+          0.0016112399753183126,
+          -0.9527890086174011,
+          14.484127044677734
+        ],
+        [
+          0.15889333188533783,
+          -0.9860805869102478,
+          0.0489676408469677,
+          -32.37842559814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4669,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_383082151",
+      "mask_path": "../../mask/hdr_right_04669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04670.png",
+      "transform_matrix": [
+        [
+          -0.9362530708312988,
+          -0.1675426959991455,
+          -0.308803528547287,
+          101.41983795166016
+        ],
+        [
+          0.311760276556015,
+          0.009031610563397408,
+          -0.9501178860664368,
+          14.454093933105469
+        ],
+        [
+          0.16197429597377777,
+          -0.9858235120773315,
+          0.04377729073166847,
+          -32.40548324584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4670,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_483083009",
+      "mask_path": "../../mask/hdr_right_04670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04671.png",
+      "transform_matrix": [
+        [
+          -0.934059202671051,
+          -0.16535556316375732,
+          -0.31652960181236267,
+          101.5115966796875
+        ],
+        [
+          0.31927764415740967,
+          0.010405064560472965,
+          -0.9476040601730347,
+          14.411748886108398
+        ],
+        [
+          0.15998509526252747,
+          -0.9861791133880615,
+          0.04307539016008377,
+          -32.41481018066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4671,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_583081722",
+      "mask_path": "../../mask/hdr_right_04671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04672.png",
+      "transform_matrix": [
+        [
+          -0.9342224597930908,
+          -0.1624375432729721,
+          -0.3175570070743561,
+          101.59968566894531
+        ],
+        [
+          0.3208876848220825,
+          0.006015154533088207,
+          -0.9470982551574707,
+          14.369913101196289
+        ],
+        [
+          0.1557544767856598,
+          -0.9867004156112671,
+          0.04650472104549408,
+          -32.41545486450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4672,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_683082342",
+      "mask_path": "../../mask/hdr_right_04672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04673.png",
+      "transform_matrix": [
+        [
+          -0.9341177940368652,
+          -0.1565026044845581,
+          -0.32082849740982056,
+          101.6636734008789
+        ],
+        [
+          0.3250434100627899,
+          -0.0014187587657943368,
+          -0.945698082447052,
+          14.338845252990723
+        ],
+        [
+          0.14754903316497803,
+          -0.9876765012741089,
+          0.052195437252521515,
+          -32.42499542236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4673,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_783082246",
+      "mask_path": "../../mask/hdr_right_04673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04674.png",
+      "transform_matrix": [
+        [
+          -0.934365451335907,
+          -0.1488703042268753,
+          -0.3237266540527344,
+          101.7403564453125
+        ],
+        [
+          0.3290993571281433,
+          -0.012301965616643429,
+          -0.9442152380943298,
+          14.317200660705566
+        ],
+        [
+          0.1365831196308136,
+          -0.9887802004814148,
+          0.06048765033483505,
+          -32.43527603149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4674,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_883081197",
+      "mask_path": "../../mask/hdr_right_04674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04675.png",
+      "transform_matrix": [
+        [
+          -0.9295609593391418,
+          -0.15610025823116302,
+          -0.33398985862731934,
+          101.83269500732422
+        ],
+        [
+          0.33775490522384644,
+          0.002547208685427904,
+          -0.9412306547164917,
+          14.264543533325195
+        ],
+        [
+          0.14777708053588867,
+          -0.9877379536628723,
+          0.05035584419965744,
+          -32.452293395996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4675,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323730_983081579",
+      "mask_path": "../../mask/hdr_right_04675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04676.png",
+      "transform_matrix": [
+        [
+          -0.9170862436294556,
+          -0.17340314388275146,
+          -0.359004408121109,
+          101.89633178710938
+        ],
+        [
+          0.35481318831443787,
+          0.05568721890449524,
+          -0.9332772493362427,
+          14.231277465820312
+        ],
+        [
+          0.1818251609802246,
+          -0.983275294303894,
+          0.010455746203660965,
+          -32.445587158203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4676,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_83079338",
+      "mask_path": "../../mask/hdr_right_04676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04677.png",
+      "transform_matrix": [
+        [
+          -0.9089560508728027,
+          -0.18167950212955475,
+          -0.37522178888320923,
+          101.94178771972656
+        ],
+        [
+          0.3680747151374817,
+          0.07288866490125656,
+          -0.9269348978996277,
+          14.201385498046875
+        ],
+        [
+          0.19575448334217072,
+          -0.9806527495384216,
+          0.0006190555286593735,
+          -32.44588851928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4677,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_183080673",
+      "mask_path": "../../mask/hdr_right_04677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04678.png",
+      "transform_matrix": [
+        [
+          -0.9054370522499084,
+          -0.18290795385837555,
+          -0.3830515742301941,
+          101.9885482788086
+        ],
+        [
+          0.37955641746520996,
+          0.055175237357616425,
+          -0.9235219359397888,
+          14.144538879394531
+        ],
+        [
+          0.19005444645881653,
+          -0.9815804958343506,
+          0.019466185942292213,
+          -32.474449157714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4678,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_283080101",
+      "mask_path": "../../mask/hdr_right_04678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04679.png",
+      "transform_matrix": [
+        [
+          -0.9047870635986328,
+          -0.17098607122898102,
+          -0.3900308907032013,
+          102.0798568725586
+        ],
+        [
+          0.3905048668384552,
+          0.032273437827825546,
+          -0.9200350642204285,
+          14.086034774780273
+        ],
+        [
+          0.1699007898569107,
+          -0.9847447276115417,
+          0.03757031634449959,
+          -32.49489974975586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4679,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_383078336",
+      "mask_path": "../../mask/hdr_right_04679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04680.png",
+      "transform_matrix": [
+        [
+          -0.9069358110427856,
+          -0.15357093513011932,
+          -0.3922797441482544,
+          102.16572570800781
+        ],
+        [
+          0.3947136402130127,
+          0.01560394000262022,
+          -0.9186716675758362,
+          14.03880500793457
+        ],
+        [
+          0.14720235764980316,
+          -0.9880144000053406,
+          0.04646478220820427,
+          -32.5031852722168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4680,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_483081579",
+      "mask_path": "../../mask/hdr_right_04680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04681.png",
+      "transform_matrix": [
+        [
+          -0.9093918204307556,
+          -0.1364021897315979,
+          -0.392939031124115,
+          102.23870849609375
+        ],
+        [
+          0.39579278230667114,
+          0.0066805649548769,
+          -0.918315589427948,
+          13.997918128967285
+        ],
+        [
+          0.12788531184196472,
+          -0.9906310439109802,
+          0.047911759465932846,
+          -32.51405715942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4681,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_583082437",
+      "mask_path": "../../mask/hdr_right_04681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04682.png",
+      "transform_matrix": [
+        [
+          -0.9100050330162048,
+          -0.12072625756263733,
+          -0.396631121635437,
+          102.3069839477539
+        ],
+        [
+          0.39900025725364685,
+          0.004918045364320278,
+          -0.9169376492500305,
+          13.940262794494629
+        ],
+        [
+          0.1126491129398346,
+          -0.9926736354827881,
+          0.04369436204433441,
+          -32.51852798461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4682,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_683082103",
+      "mask_path": "../../mask/hdr_right_04682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04683.png",
+      "transform_matrix": [
+        [
+          -0.9077451825141907,
+          -0.11591836810112,
+          -0.4031892418861389,
+          102.37604522705078
+        ],
+        [
+          0.4052742123603821,
+          0.006037948653101921,
+          -0.9141752123832703,
+          13.877156257629395
+        ],
+        [
+          0.10840412974357605,
+          -0.9932404160499573,
+          0.04149780422449112,
+          -32.51873016357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4683,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_783081769",
+      "mask_path": "../../mask/hdr_right_04683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04684.png",
+      "transform_matrix": [
+        [
+          -0.904666006565094,
+          -0.11485853791236877,
+          -0.41034984588623047,
+          102.42658996582031
+        ],
+        [
+          0.41234803199768066,
+          0.006891490891575813,
+          -0.9110003113746643,
+          13.832233428955078
+        ],
+        [
+          0.10746409744024277,
+          -0.9933580160140991,
+          0.041127197444438934,
+          -32.52080154418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4684,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_883081197",
+      "mask_path": "../../mask/hdr_right_04684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04685.png",
+      "transform_matrix": [
+        [
+          -0.9014874696731567,
+          -0.11369328945875168,
+          -0.41760554909706116,
+          102.47792053222656
+        ],
+        [
+          0.41971340775489807,
+          0.005877036135643721,
+          -0.9076377749443054,
+          13.792060852050781
+        ],
+        [
+          0.10564659535884857,
+          -0.9934985041618347,
+          0.04242052137851715,
+          -32.526859283447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4685,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323731_983081817",
+      "mask_path": "../../mask/hdr_right_04685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04686.png",
+      "transform_matrix": [
+        [
+          -0.8990556597709656,
+          -0.1200229674577713,
+          -0.4210624396800995,
+          102.57966613769531
+        ],
+        [
+          0.42365074157714844,
+          0.004325792659074068,
+          -0.9058153033256531,
+          13.73486614227295
+        ],
+        [
+          0.11054006963968277,
+          -0.9927616715431213,
+          0.046958692371845245,
+          -32.545440673828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4686,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_83083152",
+      "mask_path": "../../mask/hdr_right_04686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04687.png",
+      "transform_matrix": [
+        [
+          -0.8989185690879822,
+          -0.1260681450366974,
+          -0.41958579421043396,
+          102.66524505615234
+        ],
+        [
+          0.4227529764175415,
+          0.0017941530095413327,
+          -0.9062431454658508,
+          13.688281059265137
+        ],
+        [
+          0.11500118672847748,
+          -0.9920199513435364,
+          0.05168289318680763,
+          -32.567176818847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4687,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_183080196",
+      "mask_path": "../../mask/hdr_right_04687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04688.png",
+      "transform_matrix": [
+        [
+          -0.9031900763511658,
+          -0.1261729598045349,
+          -0.41027799248695374,
+          102.7201919555664
+        ],
+        [
+          0.41351982951164246,
+          0.0005474244244396687,
+          -0.910494863986969,
+          13.664704322814941
+        ],
+        [
+          0.11510444432497025,
+          -0.9920080900192261,
+          0.05168059095740318,
+          -32.58573913574219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4688,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_283079385",
+      "mask_path": "../../mask/hdr_right_04688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04689.png",
+      "transform_matrix": [
+        [
+          -0.9092844128608704,
+          -0.126899853348732,
+          -0.3963563144207001,
+          102.77570343017578
+        ],
+        [
+          0.3988443613052368,
+          0.0062614306807518005,
+          -0.9169972538948059,
+          13.636652946472168
+        ],
+        [
+          0.11884856224060059,
+          -0.9918957948684692,
+          0.044919878244400024,
+          -32.60323715209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4689,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_383079767",
+      "mask_path": "../../mask/hdr_right_04689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04690.png",
+      "transform_matrix": [
+        [
+          -0.9117375016212463,
+          -0.14114154875278473,
+          -0.3857637941837311,
+          102.84053039550781
+        ],
+        [
+          0.3868272602558136,
+          0.020944945514202118,
+          -0.9219143390655518,
+          13.605557441711426
+        ],
+        [
+          0.13820022344589233,
+          -0.9897677898406982,
+          0.03550111502408981,
+          -32.62266159057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4690,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_483080625",
+      "mask_path": "../../mask/hdr_right_04690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04691.png",
+      "transform_matrix": [
+        [
+          -0.9080991744995117,
+          -0.15927201509475708,
+          -0.3872833549976349,
+          102.8908462524414
+        ],
+        [
+          0.38641810417175293,
+          0.037651993334293365,
+          -0.9215548038482666,
+          13.574813842773438
+        ],
+        [
+          0.16135992109775543,
+          -0.9865164756774902,
+          0.02735384739935398,
+          -32.63795471191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4691,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_583080291",
+      "mask_path": "../../mask/hdr_right_04691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04693.png",
+      "transform_matrix": [
+        [
+          -0.8979232907295227,
+          -0.17112720012664795,
+          -0.405523419380188,
+          102.95999908447266
+        ],
+        [
+          0.40132656693458557,
+          0.060036126524209976,
+          -0.9139653444290161,
+          13.51895523071289
+        ],
+        [
+          0.18075038492679596,
+          -0.9834181070327759,
+          0.014770051464438438,
+          -32.679569244384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4693,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_783080101",
+      "mask_path": "../../mask/hdr_right_04693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04694.png",
+      "transform_matrix": [
+        [
+          -0.8937997817993164,
+          -0.18338672816753387,
+          -0.40925702452659607,
+          103.03411865234375
+        ],
+        [
+          0.4060170650482178,
+          0.05664863437414169,
+          -0.9121080636978149,
+          13.472688674926758
+        ],
+        [
+          0.19045235216617584,
+          -0.9814072847366333,
+          0.02382560446858406,
+          -32.68720245361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4694,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_883080720",
+      "mask_path": "../../mask/hdr_right_04694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04695.png",
+      "transform_matrix": [
+        [
+          -0.8918521404266357,
+          -0.19776928424835205,
+          -0.4068011939525604,
+          103.09732055664062
+        ],
+        [
+          0.40507617592811584,
+          0.05099060386419296,
+          -0.9128599762916565,
+          13.437345504760742
+        ],
+        [
+          0.2012786865234375,
+          -0.9789214730262756,
+          0.03463555872440338,
+          -32.702327728271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4695,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323732_983080625",
+      "mask_path": "../../mask/hdr_right_04695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04696.png",
+      "transform_matrix": [
+        [
+          -0.8917288184165955,
+          -0.20421791076660156,
+          -0.4038747251033783,
+          103.14620208740234
+        ],
+        [
+          0.40305188298225403,
+          0.04752395302057266,
+          -0.9139423966407776,
+          13.415118217468262
+        ],
+        [
+          0.20583713054656982,
+          -0.9777712821960449,
+          0.03993195667862892,
+          -32.72642135620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4696,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_83080768",
+      "mask_path": "../../mask/hdr_right_04696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04697.png",
+      "transform_matrix": [
+        [
+          -0.889916181564331,
+          -0.2144184708595276,
+          -0.4025839567184448,
+          103.20332336425781
+        ],
+        [
+          0.4012415111064911,
+          0.05174686387181282,
+          -0.9145094752311707,
+          13.394150733947754
+        ],
+        [
+          0.2169201821088791,
+          -0.9753701686859131,
+          0.03998322784900665,
+          -32.757164001464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4697,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_183081150",
+      "mask_path": "../../mask/hdr_right_04697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04698.png",
+      "transform_matrix": [
+        [
+          -0.8859467506408691,
+          -0.22304315865039825,
+          -0.40663281083106995,
+          103.26866912841797
+        ],
+        [
+          0.4064197242259979,
+          0.0490201860666275,
+          -0.9123705625534058,
+          13.345965385437012
+        ],
+        [
+          0.22343122959136963,
+          -0.973575234413147,
+          0.04721986874938011,
+          -32.77052307128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4698,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_283080816",
+      "mask_path": "../../mask/hdr_right_04698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04699.png",
+      "transform_matrix": [
+        [
+          -0.8810790777206421,
+          -0.22603340446949005,
+          -0.415461927652359,
+          103.32144165039062
+        ],
+        [
+          0.4157339036464691,
+          0.04875090345740318,
+          -0.9081787467002869,
+          13.294560432434082
+        ],
+        [
+          0.2255328744649887,
+          -0.9728989005088806,
+          0.05101634934544563,
+          -32.779052734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4699,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_383080482",
+      "mask_path": "../../mask/hdr_right_04699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04700.png",
+      "transform_matrix": [
+        [
+          -0.876029908657074,
+          -0.22854577004909515,
+          -0.4246627390384674,
+          103.35614013671875
+        ],
+        [
+          0.4231414496898651,
+          0.05816425010561943,
+          -0.9041948318481445,
+          13.25574016571045
+        ],
+        [
+          0.2313500940799713,
+          -0.971794068813324,
+          0.045753564685583115,
+          -32.79555892944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4700,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_483080625",
+      "mask_path": "../../mask/hdr_right_04700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04701.png",
+      "transform_matrix": [
+        [
+          -0.8745732307434082,
+          -0.22048333287239075,
+          -0.4318665862083435,
+          103.42774200439453
+        ],
+        [
+          0.42986130714416504,
+          0.05957462266087532,
+          -0.9009274244308472,
+          13.209877967834473
+        ],
+        [
+          0.22436776757240295,
+          -0.9735696911811829,
+          0.04267488420009613,
+          -32.83425521850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4701,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_583081245",
+      "mask_path": "../../mask/hdr_right_04701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04702.png",
+      "transform_matrix": [
+        [
+          -0.8761205673217773,
+          -0.2103428989648819,
+          -0.433784157037735,
+          103.52519989013672
+        ],
+        [
+          0.43269777297973633,
+          0.05364988371729851,
+          -0.8999413847923279,
+          13.154230117797852
+        ],
+        [
+          0.2125687301158905,
+          -0.9761544466018677,
+          0.04401114210486412,
+          -32.85869216918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4702,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_683081150",
+      "mask_path": "../../mask/hdr_right_04702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04703.png",
+      "transform_matrix": [
+        [
+          -0.878400444984436,
+          -0.1981234848499298,
+          -0.43492504954338074,
+          103.59568786621094
+        ],
+        [
+          0.4333250820636749,
+          0.053709711879491806,
+          -0.8996357917785645,
+          13.112042427062988
+        ],
+        [
+          0.20159867405891418,
+          -0.9787043929100037,
+          0.03867324814200401,
+          -32.87613296508789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4703,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_783079862",
+      "mask_path": "../../mask/hdr_right_04703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04704.png",
+      "transform_matrix": [
+        [
+          -0.8816132545471191,
+          -0.179981991648674,
+          -0.43630799651145935,
+          103.65874481201172
+        ],
+        [
+          0.4334987699985504,
+          0.056788939982652664,
+          -0.8993630409240723,
+          13.070988655090332
+        ],
+        [
+          0.18664661049842834,
+          -0.9820292592048645,
+          0.02795608527958393,
+          -32.89890670776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4704,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_883080720",
+      "mask_path": "../../mask/hdr_right_04704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04705.png",
+      "transform_matrix": [
+        [
+          -0.8820085525512695,
+          -0.16846489906311035,
+          -0.44009146094322205,
+          103.74384307861328
+        ],
+        [
+          0.43617120385169983,
+          0.06164627522230148,
+          -0.8977497816085815,
+          13.007394790649414
+        ],
+        [
+          0.17836932837963104,
+          -0.9837780594825745,
+          0.019107000902295113,
+          -32.9125862121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4705,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323733_983079433",
+      "mask_path": "../../mask/hdr_right_04705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04706.png",
+      "transform_matrix": [
+        [
+          -0.8785327076911926,
+          -0.16292035579681396,
+          -0.4490404725074768,
+          103.82429504394531
+        ],
+        [
+          0.44419240951538086,
+          0.06715123355388641,
+          -0.8934112787246704,
+          12.93989086151123
+        ],
+        [
+          0.17570851743221283,
+          -0.984351396560669,
+          0.013373433612287045,
+          -32.91953659057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4706,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_83081007",
+      "mask_path": "../../mask/hdr_right_04706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04707.png",
+      "transform_matrix": [
+        [
+          -0.874805748462677,
+          -0.15757110714912415,
+          -0.4581335783004761,
+          103.87702941894531
+        ],
+        [
+          0.4531114101409912,
+          0.06860044598579407,
+          -0.8888104557991028,
+          12.891085624694824
+        ],
+        [
+          0.1714790165424347,
+          -0.98512202501297,
+          0.011385215446352959,
+          -32.925376892089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4707,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_183080196",
+      "mask_path": "../../mask/hdr_right_04707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04708.png",
+      "transform_matrix": [
+        [
+          -0.8716987371444702,
+          -0.15181301534175873,
+          -0.4659337103366852,
+          103.9388656616211
+        ],
+        [
+          0.46225684881210327,
+          0.06087425351142883,
+          -0.8846542239189148,
+          12.847603797912598
+        ],
+        [
+          0.16266538202762604,
+          -0.9865328669548035,
+          0.017112595960497856,
+          -32.93994140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4708,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_283080816",
+      "mask_path": "../../mask/hdr_right_04708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04709.png",
+      "transform_matrix": [
+        [
+          -0.8706067800521851,
+          -0.16066619753837585,
+          -0.4650057554244995,
+          104.03346252441406
+        ],
+        [
+          0.46406224370002747,
+          0.045681215822696686,
+          -0.8846238851547241,
+          12.782044410705566
+        ],
+        [
+          0.16337119042873383,
+          -0.9859510660171509,
+          0.034788742661476135,
+          -32.940914154052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4709,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_383082628",
+      "mask_path": "../../mask/hdr_right_04709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04710.png",
+      "transform_matrix": [
+        [
+          -0.8733060359954834,
+          -0.15906457602977753,
+          -0.46047258377075195,
+          104.10661315917969
+        ],
+        [
+          0.46081382036209106,
+          0.03697637841105461,
+          -0.8867262601852417,
+          12.731832504272461
+        ],
+        [
+          0.1580733209848404,
+          -0.9865754842758179,
+          0.041007451713085175,
+          -32.9447021484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4710,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_483082771",
+      "mask_path": "../../mask/hdr_right_04710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04711.png",
+      "transform_matrix": [
+        [
+          -0.8760389685630798,
+          -0.13961803913116455,
+          -0.4615871012210846,
+          104.16886138916016
+        ],
+        [
+          0.46138110756874084,
+          0.03580773249268532,
+          -0.8864791989326477,
+          12.6963529586792
+        ],
+        [
+          0.14029687643051147,
+          -0.9895577430725098,
+          0.03304817155003548,
+          -32.97083282470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4711,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_583081960",
+      "mask_path": "../../mask/hdr_right_04711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04712.png",
+      "transform_matrix": [
+        [
+          -0.8729575872421265,
+          -0.1284409463405609,
+          -0.47058260440826416,
+          104.23763275146484
+        ],
+        [
+          0.4703352451324463,
+          0.03417251631617546,
+          -0.8818259835243225,
+          12.634607315063477
+        ],
+        [
+          0.12934355437755585,
+          -0.9911283254623413,
+          0.030579151585698128,
+          -32.96708679199219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4712,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_683081626",
+      "mask_path": "../../mask/hdr_right_04712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04713.png",
+      "transform_matrix": [
+        [
+          -0.8668885827064514,
+          -0.11436502635478973,
+          -0.48520609736442566,
+          104.30398559570312
+        ],
+        [
+          0.4844210147857666,
+          0.036443065851926804,
+          -0.8740755915641785,
+          12.569169044494629
+        ],
+        [
+          0.11764608323574066,
+          -0.9927700757980347,
+          0.02380875125527382,
+          -32.952880859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4713,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_783082246",
+      "mask_path": "../../mask/hdr_right_04713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04714.png",
+      "transform_matrix": [
+        [
+          -0.861970067024231,
+          -0.09754300117492676,
+          -0.4974866211414337,
+          104.34505462646484
+        ],
+        [
+          0.4961797595024109,
+          0.03896266594529152,
+          -0.8673451542854309,
+          12.522933006286621
+        ],
+        [
+          0.10398685187101364,
+          -0.9944683313369751,
+          0.01481421198695898,
+          -32.949607849121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4714,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_883081912",
+      "mask_path": "../../mask/hdr_right_04714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04715.png",
+      "transform_matrix": [
+        [
+          -0.858768880367279,
+          -0.08912623673677444,
+          -0.5045518279075623,
+          104.42398834228516
+        ],
+        [
+          0.5036867260932922,
+          0.03360498324036598,
+          -0.8632326126098633,
+          12.471006393432617
+        ],
+        [
+          0.09389213472604752,
+          -0.9954532980918884,
+          0.016032790765166283,
+          -32.953155517578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4715,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323734_983082056",
+      "mask_path": "../../mask/hdr_right_04715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04716.png",
+      "transform_matrix": [
+        [
+          -0.8589954376220703,
+          -0.08661291003227234,
+          -0.5046038031578064,
+          104.52166748046875
+        ],
+        [
+          0.5044687986373901,
+          0.02505599707365036,
+          -0.8630663156509399,
+          12.420978546142578
+        ],
+        [
+          0.087396040558815,
+          -0.9959269165992737,
+          0.022170521318912506,
+          -32.96467208862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4716,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_83082437",
+      "mask_path": "../../mask/hdr_right_04716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04717.png",
+      "transform_matrix": [
+        [
+          -0.8619529604911804,
+          -0.08238933980464935,
+          -0.5002491474151611,
+          104.58601379394531
+        ],
+        [
+          0.5003352761268616,
+          0.021089673042297363,
+          -0.8655749559402466,
+          12.385814666748047
+        ],
+        [
+          0.08186423778533936,
+          -0.9963770508766174,
+          0.02304399572312832,
+          -32.975460052490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4717,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_183083295",
+      "mask_path": "../../mask/hdr_right_04717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04718.png",
+      "transform_matrix": [
+        [
+          -0.8654216527938843,
+          -0.07313969731330872,
+          -0.49567729234695435,
+          104.6497802734375
+        ],
+        [
+          0.4949536919593811,
+          0.028989283367991447,
+          -0.8684356808662415,
+          12.343746185302734
+        ],
+        [
+          0.07788646221160889,
+          -0.9969002604484558,
+          0.011112809181213379,
+          -32.98940658569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4718,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_283081769",
+      "mask_path": "../../mask/hdr_right_04718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04719.png",
+      "transform_matrix": [
+        [
+          -0.8682403564453125,
+          -0.06861746311187744,
+          -0.4913760721683502,
+          104.71341705322266
+        ],
+        [
+          0.48992598056793213,
+          0.03773101791739464,
+          -0.8709471821784973,
+          12.297624588012695
+        ],
+        [
+          0.078302301466465,
+          -0.9969293475151062,
+          0.0008578866836614907,
+          -32.990848541259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4719,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_383083105",
+      "mask_path": "../../mask/hdr_right_04719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04720.png",
+      "transform_matrix": [
+        [
+          -0.8734830021858215,
+          -0.06615100800991058,
+          -0.4823395907878876,
+          104.7651138305664
+        ],
+        [
+          0.4805491268634796,
+          0.041787855327129364,
+          -0.8759716749191284,
+          12.262231826782227
+        ],
+        [
+          0.07810235023498535,
+          -0.9969342350959778,
+          -0.00471216905862093,
+          -32.98645782470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4720,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_483080625",
+      "mask_path": "../../mask/hdr_right_04720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04721.png",
+      "transform_matrix": [
+        [
+          -0.8805640339851379,
+          -0.056277018040418625,
+          -0.47057417035102844,
+          104.8095474243164
+        ],
+        [
+          0.46832475066185,
+          0.048896610736846924,
+          -0.8822024464607239,
+          12.232706069946289
+        ],
+        [
+          0.07265720516443253,
+          -0.9972171187400818,
+          -0.01670067384839058,
+          -32.987220764160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4721,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_583081483",
+      "mask_path": "../../mask/hdr_right_04721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04722.png",
+      "transform_matrix": [
+        [
+          -0.887535810470581,
+          -0.048996701836586,
+          -0.4581260681152344,
+          104.85823059082031
+        ],
+        [
+          0.45559343695640564,
+          0.05485782027244568,
+          -0.8884961605072021,
+          12.200404167175293
+        ],
+        [
+          0.06866516917943954,
+          -0.9972913265228271,
+          -0.026365704834461212,
+          -32.98846435546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4722,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_683081150",
+      "mask_path": "../../mask/hdr_right_04722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04723.png",
+      "transform_matrix": [
+        [
+          -0.8954998850822449,
+          -0.05536116659641266,
+          -0.44160518050193787,
+          104.9312515258789
+        ],
+        [
+          0.4384251534938812,
+          0.06098233908414841,
+          -0.8966965079307556,
+          12.154608726501465
+        ],
+        [
+          0.07657227665185928,
+          -0.9966024160385132,
+          -0.030337950214743614,
+          -33.002418518066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4723,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_783082246",
+      "mask_path": "../../mask/hdr_right_04723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04724.png",
+      "transform_matrix": [
+        [
+          -0.9054895639419556,
+          -0.06044134125113487,
+          -0.42004233598709106,
+          104.99771118164062
+        ],
+        [
+          0.41625723242759705,
+          0.06609690934419632,
+          -0.9068413376808167,
+          12.123167037963867
+        ],
+        [
+          0.08257420361042023,
+          -0.9959809184074402,
+          -0.034690916538238525,
+          -33.02070617675781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4724,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323735_883081674",
+      "mask_path": "../../mask/hdr_right_04724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04726.png",
+      "transform_matrix": [
+        [
+          -0.9249714612960815,
+          -0.06189528852701187,
+          -0.3749622106552124,
+          105.08299255371094
+        ],
+        [
+          0.369864284992218,
+          0.08013398200273514,
+          -0.9256234765052795,
+          12.096061706542969
+        ],
+        [
+          0.08733895421028137,
+          -0.9948605298995972,
+          -0.05122879520058632,
+          -33.035945892333984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4726,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_83080768",
+      "mask_path": "../../mask/hdr_right_04726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04727.png",
+      "transform_matrix": [
+        [
+          -0.9262084364891052,
+          -0.06972042471170425,
+          -0.37050920724868774,
+          105.14580535888672
+        ],
+        [
+          0.3647177815437317,
+          0.08322324603796005,
+          -0.9273914098739624,
+          12.0687255859375
+        ],
+        [
+          0.09549310803413391,
+          -0.9940889477729797,
+          -0.051653794944286346,
+          -33.03883361816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4727,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_183082103",
+      "mask_path": "../../mask/hdr_right_04727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05597.png",
+      "transform_matrix": [
+        [
+          0.8781824707984924,
+          -0.08381913602352142,
+          0.4709245264530182,
+          104.7194595336914
+        ],
+        [
+          -0.470229834318161,
+          0.029088644310832024,
+          0.8820645213127136,
+          12.481209754943848
+        ],
+        [
+          -0.0876324400305748,
+          -0.9960563778877258,
+          -0.013869121670722961,
+          -32.97666549682617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5597,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_183081150",
+      "mask_path": "../../mask/hdr_right_05597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05599.png",
+      "transform_matrix": [
+        [
+          0.8939666748046875,
+          -0.10130654275417328,
+          0.4365324079990387,
+          104.64231872558594
+        ],
+        [
+          -0.4375710189342499,
+          0.012915335595607758,
+          0.8990911841392517,
+          12.527612686157227
+        ],
+        [
+          -0.09672178328037262,
+          -0.994771420955658,
+          -0.03278292715549469,
+          -32.95850372314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5599,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_383081674",
+      "mask_path": "../../mask/hdr_right_05599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05600.png",
+      "transform_matrix": [
+        [
+          0.9043243527412415,
+          -0.10438506305217743,
+          0.41388577222824097,
+          104.5716781616211
+        ],
+        [
+          -0.41503584384918213,
+          0.0114799989387393,
+          0.9097326397895813,
+          12.563933372497559
+        ],
+        [
+          -0.09971389919519424,
+          -0.9944707751274109,
+          -0.03294190391898155,
+          -32.94660186767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5600,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_483082056",
+      "mask_path": "../../mask/hdr_right_05600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05601.png",
+      "transform_matrix": [
+        [
+          0.9154188632965088,
+          -0.10392559319734573,
+          0.3888545632362366,
+          104.5069351196289
+        ],
+        [
+          -0.3895999491214752,
+          0.013866397552192211,
+          0.9208799004554749,
+          12.589436531066895
+        ],
+        [
+          -0.10109498351812363,
+          -0.9944884181022644,
+          -0.02779584564268589,
+          -32.94102096557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5601,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_583082437",
+      "mask_path": "../../mask/hdr_right_05601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05603.png",
+      "transform_matrix": [
+        [
+          0.929388701915741,
+          -0.10178492963314056,
+          0.35479092597961426,
+          104.41300964355469
+        ],
+        [
+          -0.356436163187027,
+          0.0021561014000326395,
+          0.9343171119689941,
+          12.62464427947998
+        ],
+        [
+          -0.09586437046527863,
+          -0.9948040843009949,
+          -0.03427598252892494,
+          -32.937435150146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5603,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_783082246",
+      "mask_path": "../../mask/hdr_right_05603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05604.png",
+      "transform_matrix": [
+        [
+          0.9283778667449951,
+          -0.1056947112083435,
+          0.35629090666770935,
+          104.3432846069336
+        ],
+        [
+          -0.35835862159729004,
+          -0.0006134192226454616,
+          0.9335838556289673,
+          12.667203903198242
+        ],
+        [
+          -0.09845632314682007,
+          -0.9943985342979431,
+          -0.038446094840765,
+          -32.91949462890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5604,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_883081912",
+      "mask_path": "../../mask/hdr_right_05604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05606.png",
+      "transform_matrix": [
+        [
+          0.9228596091270447,
+          -0.1119832918047905,
+          0.3684968054294586,
+          104.22760772705078
+        ],
+        [
+          -0.3714756965637207,
+          -0.0062463232316076756,
+          0.9284217357635498,
+          12.731907844543457
+        ],
+        [
+          -0.10166597366333008,
+          -0.9936904311180115,
+          -0.04736354574561119,
+          -32.89460754394531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5606,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_83082437",
+      "mask_path": "../../mask/hdr_right_05606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05607.png",
+      "transform_matrix": [
+        [
+          0.9237544536590576,
+          -0.10423532128334045,
+          0.3685275912284851,
+          104.13976287841797
+        ],
+        [
+          -0.3710498809814453,
+          -0.005228562280535698,
+          0.9285982251167297,
+          12.769844055175781
+        ],
+        [
+          -0.09486586600542068,
+          -0.9945389032363892,
+          -0.04350641742348671,
+          -32.88792037963867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5607,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_183082342",
+      "mask_path": "../../mask/hdr_right_05607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05610.png",
+      "transform_matrix": [
+        [
+          0.9240986704826355,
+          -0.08994971215724945,
+          0.37141716480255127,
+          103.98980712890625
+        ],
+        [
+          -0.37394389510154724,
+          -0.012461956590414047,
+          0.9273675680160522,
+          12.859427452087402
+        ],
+        [
+          -0.07878787070512772,
+          -0.9958683252334595,
+          -0.04515222832560539,
+          -32.89241409301758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5610,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_483081817",
+      "mask_path": "../../mask/hdr_right_05610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05611.png",
+      "transform_matrix": [
+        [
+          0.9206616282463074,
+          -0.08689825236797333,
+          0.3805665373802185,
+          103.9396743774414
+        ],
+        [
+          -0.3829759657382965,
+          -0.012325585819780827,
+          0.9236761331558228,
+          12.895645141601562
+        ],
+        [
+          -0.07557513564825058,
+          -0.9961408972740173,
+          -0.044627632945775986,
+          -32.88223648071289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5611,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_583081960",
+      "mask_path": "../../mask/hdr_right_05611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05612.png",
+      "transform_matrix": [
+        [
+          0.9162206649780273,
+          -0.08963675051927567,
+          0.3905189335346222,
+          103.897705078125
+        ],
+        [
+          -0.3930596113204956,
+          -0.011964642442762852,
+          0.9194351434707642,
+          12.925268173217773
+        ],
+        [
+          -0.07774277031421661,
+          -0.9959026575088501,
+          -0.04619484022259712,
+          -32.87202072143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5612,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_683081865",
+      "mask_path": "../../mask/hdr_right_05612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05613.png",
+      "transform_matrix": [
+        [
+          0.9136726260185242,
+          -0.08423274010419846,
+          0.39762696623802185,
+          103.8268051147461
+        ],
+        [
+          -0.40014412999153137,
+          -0.014742590487003326,
+          0.9163336157798767,
+          12.970418930053711
+        ],
+        [
+          -0.07132323831319809,
+          -0.9963370561599731,
+          -0.04717514291405678,
+          -32.86555862426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5613,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_783080101",
+      "mask_path": "../../mask/hdr_right_05613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05614.png",
+      "transform_matrix": [
+        [
+          0.9166715145111084,
+          -0.0723211020231247,
+          0.39304319024086,
+          103.757080078125
+        ],
+        [
+          -0.3948722183704376,
+          -0.012419233098626137,
+          0.9186520576477051,
+          13.009588241577148
+        ],
+        [
+          -0.06155664101243019,
+          -0.9973040223121643,
+          -0.03994195908308029,
+          -32.865478515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5614,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323824_883082389",
+      "mask_path": "../../mask/hdr_right_05614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05616.png",
+      "transform_matrix": [
+        [
+          0.9362212419509888,
+          -0.05768372863531113,
+          0.34664463996887207,
+          103.67723083496094
+        ],
+        [
+          -0.3477534055709839,
+          -0.010120812803506851,
+          0.9375314712524414,
+          13.053523063659668
+        ],
+        [
+          -0.0505719855427742,
+          -0.9982835650444031,
+          -0.02953503094613552,
+          -32.8815803527832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5616,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_83081722",
+      "mask_path": "../../mask/hdr_right_05616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05617.png",
+      "transform_matrix": [
+        [
+          0.942853569984436,
+          -0.056277286261320114,
+          0.3284206986427307,
+          103.626953125
+        ],
+        [
+          -0.32954537868499756,
+          -0.011764717288315296,
+          0.9440664052963257,
+          13.088203430175781
+        ],
+        [
+          -0.04926571995019913,
+          -0.9983458518981934,
+          -0.02963832952082157,
+          -32.87495040893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5617,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_183081865",
+      "mask_path": "../../mask/hdr_right_05617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05619.png",
+      "transform_matrix": [
+        [
+          0.9427210688591003,
+          -0.06276605278253555,
+          0.32762402296066284,
+          103.5677719116211
+        ],
+        [
+          -0.32971277832984924,
+          -0.026164738461375237,
+          0.943718671798706,
+          13.135156631469727
+        ],
+        [
+          -0.050661299377679825,
+          -0.9976853132247925,
+          -0.04536082223057747,
+          -32.86157989501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5619,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_383082151",
+      "mask_path": "../../mask/hdr_right_05619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05620.png",
+      "transform_matrix": [
+        [
+          0.9410365223884583,
+          -0.08792446553707123,
+          0.3266795873641968,
+          103.51250457763672
+        ],
+        [
+          -0.33090025186538696,
+          -0.038292065262794495,
+          0.9428885579109192,
+          13.166769981384277
+        ],
+        [
+          -0.07039371877908707,
+          -0.9953908324241638,
+          -0.06512846052646637,
+          -32.849578857421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5620,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_483081102",
+      "mask_path": "../../mask/hdr_right_05620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05621.png",
+      "transform_matrix": [
+        [
+          0.9436984658241272,
+          -0.10319533944129944,
+          0.31429916620254517,
+          103.45216369628906
+        ],
+        [
+          -0.3193402588367462,
+          -0.03620148450136185,
+          0.9469484090805054,
+          13.183793067932129
+        ],
+        [
+          -0.08634256571531296,
+          -0.994002103805542,
+          -0.06711771339178085,
+          -32.80230712890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5621,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_583082914",
+      "mask_path": "../../mask/hdr_right_05621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05623.png",
+      "transform_matrix": [
+        [
+          0.9534968137741089,
+          -0.1077069416642189,
+          0.2815013527870178,
+          103.38496398925781
+        ],
+        [
+          -0.28652146458625793,
+          -0.03406226262450218,
+          0.9574681520462036,
+          13.191460609436035
+        ],
+        [
+          -0.09353738278150558,
+          -0.993598997592926,
+          -0.06333861500024796,
+          -32.81108474731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5623,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323825_783083438",
+      "mask_path": "../../mask/hdr_right_05623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05628.png",
+      "transform_matrix": [
+        [
+          0.9619328379631042,
+          -0.12306319922208786,
+          0.24400965869426727,
+          103.15754699707031
+        ],
+        [
+          -0.25064244866371155,
+          -0.041415371000766754,
+          0.9671934247016907,
+          13.219734191894531
+        ],
+        [
+          -0.10892017185688019,
+          -0.9915342330932617,
+          -0.07068367302417755,
+          -32.74807357788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5628,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_283084154",
+      "mask_path": "../../mask/hdr_right_05628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05629.png",
+      "transform_matrix": [
+        [
+          0.9644311666488647,
+          -0.11230925470590591,
+          0.23928919434547424,
+          103.07625579833984
+        ],
+        [
+          -0.24461384117603302,
+          -0.03609972447156906,
+          0.9689484238624573,
+          13.248757362365723
+        ],
+        [
+          -0.10018359124660492,
+          -0.9930174350738525,
+          -0.062288109213113785,
+          -32.75541305541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5629,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_383081436",
+      "mask_path": "../../mask/hdr_right_05629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05630.png",
+      "transform_matrix": [
+        [
+          0.9662426114082336,
+          -0.10922268778085709,
+          0.23333589732646942,
+          103.0179672241211
+        ],
+        [
+          -0.2378130853176117,
+          -0.02975395880639553,
+          0.9708551168441772,
+          13.277278900146484
+        ],
+        [
+          -0.09909673780202866,
+          -0.9935718774795532,
+          -0.054724134504795074,
+          -32.77070999145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5630,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_483085870",
+      "mask_path": "../../mask/hdr_right_05630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05631.png",
+      "transform_matrix": [
+        [
+          0.9663164019584656,
+          -0.11120275408029556,
+          0.23209193348884583,
+          102.970947265625
+        ],
+        [
+          -0.2360217422246933,
+          -0.023401759564876556,
+          0.9714658856391907,
+          13.297006607055664
+        ],
+        [
+          -0.10259833186864853,
+          -0.9935221672058105,
+          -0.048859771341085434,
+          -32.777740478515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5631,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_583082437",
+      "mask_path": "../../mask/hdr_right_05631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05632.png",
+      "transform_matrix": [
+        [
+          0.9633089303970337,
+          -0.125204935669899,
+          0.2374018132686615,
+          102.88414764404297
+        ],
+        [
+          -0.23783504962921143,
+          0.011695735156536102,
+          0.9712352156639099,
+          13.346611022949219
+        ],
+        [
+          -0.12438001483678818,
+          -0.9920619130134583,
+          -0.018511518836021423,
+          -32.74565887451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5632,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_683082103",
+      "mask_path": "../../mask/hdr_right_05632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05633.png",
+      "transform_matrix": [
+        [
+          0.955250084400177,
+          -0.150926411151886,
+          0.2543984353542328,
+          102.79725646972656
+        ],
+        [
+          -0.25149694085121155,
+          0.038335565477609634,
+          0.9670985341072083,
+          13.401511192321777
+        ],
+        [
+          -0.15571323037147522,
+          -0.9878014326095581,
+          -0.0013374793343245983,
+          -32.656578063964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5633,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_783082246",
+      "mask_path": "../../mask/hdr_right_05633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05634.png",
+      "transform_matrix": [
+        [
+          0.948150098323822,
+          -0.16950573027133942,
+          0.2688480019569397,
+          102.7337417602539
+        ],
+        [
+          -0.2649071216583252,
+          0.045884888619184494,
+          0.963181734085083,
+          13.442056655883789
+        ],
+        [
+          -0.17560085654258728,
+          -0.9844604730606079,
+          -0.001397529966197908,
+          -32.62859344482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5634,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_883083343",
+      "mask_path": "../../mask/hdr_right_05634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05635.png",
+      "transform_matrix": [
+        [
+          0.9456344842910767,
+          -0.1762191653251648,
+          0.2733539640903473,
+          102.65525817871094
+        ],
+        [
+          -0.2696126103401184,
+          0.04531165584921837,
+          0.9619022607803345,
+          13.471309661865234
+        ],
+        [
+          -0.18189172446727753,
+          -0.9833074808120728,
+          -0.004662657622247934,
+          -32.64362716674805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5635,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323826_983082056",
+      "mask_path": "../../mask/hdr_right_05635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05636.png",
+      "transform_matrix": [
+        [
+          0.9495202302932739,
+          -0.15639960765838623,
+          0.2719384729862213,
+          102.57633209228516
+        ],
+        [
+          -0.26777780055999756,
+          0.04749688506126404,
+          0.9623093008995056,
+          13.501585960388184
+        ],
+        [
+          -0.16342101991176605,
+          -0.9865512251853943,
+          0.0032189118210226297,
+          -32.63100051879883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5636,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_83083868",
+      "mask_path": "../../mask/hdr_right_05636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05637.png",
+      "transform_matrix": [
+        [
+          0.9524325728416443,
+          -0.14295631647109985,
+          0.26913872361183167,
+          102.51373291015625
+        ],
+        [
+          -0.26438117027282715,
+          0.05165478587150574,
+          0.9630340337753296,
+          13.52403736114502
+        ],
+        [
+          -0.15157407522201538,
+          -0.9883801341056824,
+          0.011402733623981476,
+          -32.61212158203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5637,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_183081865",
+      "mask_path": "../../mask/hdr_right_05637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05638.png",
+      "transform_matrix": [
+        [
+          0.9520547986030579,
+          -0.14678014814853668,
+          0.26841631531715393,
+          102.45417022705078
+        ],
+        [
+          -0.26375967264175415,
+          0.050687287002801895,
+          0.963255763053894,
+          13.537755966186523
+        ],
+        [
+          -0.15499214828014374,
+          -0.9878696203231812,
+          0.009542388841509819,
+          -32.598960876464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5638,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_283082723",
+      "mask_path": "../../mask/hdr_right_05638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05639.png",
+      "transform_matrix": [
+        [
+          0.9497496485710144,
+          -0.15787900984287262,
+          0.2702774107456207,
+          102.36593627929688
+        ],
+        [
+          -0.26243939995765686,
+          0.06894786655902863,
+          0.9624820947647095,
+          13.57947826385498
+        ],
+        [
+          -0.17059075832366943,
+          -0.9850484132766724,
+          0.024049535393714905,
+          -32.58281707763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5639,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_383081912",
+      "mask_path": "../../mask/hdr_right_05639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05640.png",
+      "transform_matrix": [
+        [
+          0.9442422389984131,
+          -0.17493517696857452,
+          0.2789340615272522,
+          102.26944732666016
+        ],
+        [
+          -0.26868775486946106,
+          0.08023961633443832,
+          0.9598793983459473,
+          13.620820999145508
+        ],
+        [
+          -0.19029824435710907,
+          -0.9813048839569092,
+          0.02876269444823265,
+          -32.52601623535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5640,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_483082532",
+      "mask_path": "../../mask/hdr_right_05640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05641.png",
+      "transform_matrix": [
+        [
+          0.9394336342811584,
+          -0.1853395700454712,
+          0.28829458355903625,
+          102.20672607421875
+        ],
+        [
+          -0.27864372730255127,
+          0.07674474269151688,
+          0.9573233127593994,
+          13.650117874145508
+        ],
+        [
+          -0.19955499470233917,
+          -0.9796731472015381,
+          0.020452871918678284,
+          -32.495174407958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5641,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_583082914",
+      "mask_path": "../../mask/hdr_right_05641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05642.png",
+      "transform_matrix": [
+        [
+          0.9372545480728149,
+          -0.18805141746997833,
+          0.2935827076435089,
+          102.14326477050781
+        ],
+        [
+          -0.2847745716571808,
+          0.07288365811109543,
+          0.9558197855949402,
+          13.681910514831543
+        ],
+        [
+          -0.2011406272649765,
+          -0.9794511795043945,
+          0.014758258126676083,
+          -32.49336242675781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5642,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_683083057",
+      "mask_path": "../../mask/hdr_right_05642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05643.png",
+      "transform_matrix": [
+        [
+          0.9364639520645142,
+          -0.18638572096824646,
+          0.2971457540988922,
+          102.06079864501953
+        ],
+        [
+          -0.2878349721431732,
+          0.07581281661987305,
+          0.9546746015548706,
+          13.716700553894043
+        ],
+        [
+          -0.2004651576280594,
+          -0.9795472621917725,
+          0.017347635701298714,
+          -32.477081298828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5643,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_783081769",
+      "mask_path": "../../mask/hdr_right_05643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05644.png",
+      "transform_matrix": [
+        [
+          0.9359239339828491,
+          -0.1837034374475479,
+          0.3004985451698303,
+          101.98955535888672
+        ],
+        [
+          -0.2899230718612671,
+          0.08259595930576324,
+          0.9534791707992554,
+          13.742293357849121
+        ],
+        [
+          -0.19997738301753998,
+          -0.9795055389404297,
+          0.024043666198849678,
+          -32.457275390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5644,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_883082866",
+      "mask_path": "../../mask/hdr_right_05644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05645.png",
+      "transform_matrix": [
+        [
+          0.9356123208999634,
+          -0.1793198138475418,
+          0.30409538745880127,
+          101.93013000488281
+        ],
+        [
+          -0.29371288418769836,
+          0.08251401036977768,
+          0.952325701713562,
+          13.773937225341797
+        ],
+        [
+          -0.19586297869682312,
+          -0.9803243279457092,
+          0.024532577022910118,
+          -32.450809478759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5645,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323827_983080625",
+      "mask_path": "../../mask/hdr_right_05645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05646.png",
+      "transform_matrix": [
+        [
+          0.934575617313385,
+          -0.17171259224414825,
+          0.31158170104026794,
+          101.85415649414062
+        ],
+        [
+          -0.3025628626346588,
+          0.07708750665187836,
+          0.9500069618225098,
+          13.809664726257324
+        ],
+        [
+          -0.18714721500873566,
+          -0.9821264147758484,
+          0.02009025774896145,
+          -32.441490173339844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5646,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_83080768",
+      "mask_path": "../../mask/hdr_right_05646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05647.png",
+      "transform_matrix": [
+        [
+          0.9327330589294434,
+          -0.16659845411777496,
+          0.31977206468582153,
+          101.78595733642578
+        ],
+        [
+          -0.3119038939476013,
+          0.07214675843715668,
+          0.9473705291748047,
+          13.839482307434082
+        ],
+        [
+          -0.1809009462594986,
+          -0.9833818078041077,
+          0.015330955386161804,
+          -32.41476821899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5647,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_183083057",
+      "mask_path": "../../mask/hdr_right_05647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05648.png",
+      "transform_matrix": [
+        [
+          0.9305551052093506,
+          -0.1669061779975891,
+          0.32589805126190186,
+          101.73460388183594
+        ],
+        [
+          -0.3188055157661438,
+          0.06842540204524994,
+          0.945347011089325,
+          13.870793342590332
+        ],
+        [
+          -0.1800839751958847,
+          -0.983595609664917,
+          0.010462995618581772,
+          -32.398704528808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5648,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_283081054",
+      "mask_path": "../../mask/hdr_right_05648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05649.png",
+      "transform_matrix": [
+        [
+          0.9335871338844299,
+          -0.1413024365901947,
+          0.3293156325817108,
+          101.66886901855469
+        ],
+        [
+          -0.3231760859489441,
+          0.06506393104791641,
+          0.9440996050834656,
+          13.913808822631836
+        ],
+        [
+          -0.15483014285564423,
+          -0.9878260493278503,
+          0.01507726963609457,
+          -32.40070724487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5649,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_383082866",
+      "mask_path": "../../mask/hdr_right_05649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05650.png",
+      "transform_matrix": [
+        [
+          0.9373311400413513,
+          -0.1098325252532959,
+          0.3306766450405121,
+          101.60301208496094
+        ],
+        [
+          -0.3249155879020691,
+          0.06727758795022964,
+          0.9433470368385315,
+          13.956159591674805
+        ],
+        [
+          -0.12585730850696564,
+          -0.991670548915863,
+          0.027375077828764915,
+          -32.39649200439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5650,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_483081817",
+      "mask_path": "../../mask/hdr_right_05650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05651.png",
+      "transform_matrix": [
+        [
+          0.938670814037323,
+          -0.09570366144180298,
+          0.3312673568725586,
+          101.55070495605469
+        ],
+        [
+          -0.32576143741607666,
+          0.06879869103431702,
+          0.9429455995559692,
+          13.982416152954102
+        ],
+        [
+          -0.11303409934043884,
+          -0.9930294156074524,
+          0.03340275585651398,
+          -32.39939880371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5651,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_583081722",
+      "mask_path": "../../mask/hdr_right_05651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05652.png",
+      "transform_matrix": [
+        [
+          0.9388855695724487,
+          -0.08834128081798553,
+          0.3327004611492157,
+          101.4829330444336
+        ],
+        [
+          -0.32785412669181824,
+          0.06506268680095673,
+          0.9424853324890137,
+          14.015344619750977
+        ],
+        [
+          -0.10490674525499344,
+          -0.9939631223678589,
+          0.03212336078286171,
+          -32.395015716552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5652,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_683081865",
+      "mask_path": "../../mask/hdr_right_05652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05653.png",
+      "transform_matrix": [
+        [
+          0.9363834261894226,
+          -0.08446688205003738,
+          0.3406631648540497,
+          101.40538024902344
+        ],
+        [
+          -0.3365711569786072,
+          0.05913856253027916,
+          0.9397991895675659,
+          14.06092357635498
+        ],
+        [
+          -0.0995282381772995,
+          -0.9946697950363159,
+          0.026947248727083206,
+          -32.384361267089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5653,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_783080816",
+      "mask_path": "../../mask/hdr_right_05653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05654.png",
+      "transform_matrix": [
+        [
+          0.9310526251792908,
+          -0.08536459505558014,
+          0.354759156703949,
+          101.34564208984375
+        ],
+        [
+          -0.350781112909317,
+          0.0582992285490036,
+          0.9346410632133484,
+          14.102608680725098
+        ],
+        [
+          -0.10046743601560593,
+          -0.9946426749229431,
+          0.024335354566574097,
+          -32.3724479675293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5654,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_883081197",
+      "mask_path": "../../mask/hdr_right_05654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05655.png",
+      "transform_matrix": [
+        [
+          0.9248224496841431,
+          -0.09001486003398895,
+          0.3695954978466034,
+          101.29088592529297
+        ],
+        [
+          -0.3663485050201416,
+          0.05086661875247955,
+          0.9290863871574402,
+          14.139430046081543
+        ],
+        [
+          -0.10243164747953415,
+          -0.994640588760376,
+          0.014065774157643318,
+          -32.357398986816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5655,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323828_983080625",
+      "mask_path": "../../mask/hdr_right_05655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05656.png",
+      "transform_matrix": [
+        [
+          0.9184837937355042,
+          -0.10555984824895859,
+          0.3811098337173462,
+          101.19195556640625
+        ],
+        [
+          -0.37931421399116516,
+          0.03738828003406525,
+          0.9245122671127319,
+          14.178778648376465
+        ],
+        [
+          -0.11184041202068329,
+          -0.9937098622322083,
+          -0.00569981848821044,
+          -32.33231735229492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5656,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_83081483",
+      "mask_path": "../../mask/hdr_right_05656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05657.png",
+      "transform_matrix": [
+        [
+          0.9184316992759705,
+          -0.10929557681083679,
+          0.38018134236335754,
+          101.08606719970703
+        ],
+        [
+          -0.3780018985271454,
+          0.040828775614500046,
+          0.9249041676521301,
+          14.219963073730469
+        ],
+        [
+          -0.11661026626825333,
+          -0.9931703805923462,
+          -0.003815500997006893,
+          -32.30839920043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5657,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_183081150",
+      "mask_path": "../../mask/hdr_right_05657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05658.png",
+      "transform_matrix": [
+        [
+          0.9213284254074097,
+          -0.10359220206737518,
+          0.3747302293777466,
+          101.02407836914062
+        ],
+        [
+          -0.3712143301963806,
+          0.05209298059344292,
+          0.9270849227905273,
+          14.249814987182617
+        ],
+        [
+          -0.11555956304073334,
+          -0.9932547211647034,
+          0.009539833292365074,
+          -32.30600357055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5658,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_283081054",
+      "mask_path": "../../mask/hdr_right_05658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05659.png",
+      "transform_matrix": [
+        [
+          0.9226599335670471,
+          -0.10151882469654083,
+          0.37201154232025146,
+          100.9780044555664
+        ],
+        [
+          -0.3679928779602051,
+          0.05649756267666817,
+          0.9281105995178223,
+          14.276287078857422
+        ],
+        [
+          -0.11523843556642532,
+          -0.993228018283844,
+          0.01476982794702053,
+          -32.31011962890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5659,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_383081436",
+      "mask_path": "../../mask/hdr_right_05659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05660.png",
+      "transform_matrix": [
+        [
+          0.92332923412323,
+          -0.10038404911756516,
+          0.3706563413143158,
+          100.9159164428711
+        ],
+        [
+          -0.366323858499527,
+          0.05929671600461006,
+          0.9285961389541626,
+          14.314081192016602
+        ],
+        [
+          -0.11519493162631989,
+          -0.9931802153587341,
+          0.017977314069867134,
+          -32.30020523071289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5660,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_483081579",
+      "mask_path": "../../mask/hdr_right_05660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05661.png",
+      "transform_matrix": [
+        [
+          0.9233050346374512,
+          -0.1053120493888855,
+          0.3693469166755676,
+          100.84211730957031
+        ],
+        [
+          -0.3650575280189514,
+          0.058162447065114975,
+          0.9291663765907288,
+          14.354610443115234
+        ],
+        [
+          -0.11933453381061554,
+          -0.99273681640625,
+          0.015256721526384354,
+          -32.27717208862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5661,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_583082199",
+      "mask_path": "../../mask/hdr_right_05661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05662.png",
+      "transform_matrix": [
+        [
+          0.923271894454956,
+          -0.11212550103664398,
+          0.36741945147514343,
+          100.790771484375
+        ],
+        [
+          -0.36362752318382263,
+          0.05332595109939575,
+          0.9300168752670288,
+          14.383245468139648
+        ],
+        [
+          -0.12387159466743469,
+          -0.9922621846199036,
+          0.008462428115308285,
+          -32.26493835449219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5662,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_683081150",
+      "mask_path": "../../mask/hdr_right_05662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05663.png",
+      "transform_matrix": [
+        [
+          0.9232404828071594,
+          -0.11105865240097046,
+          0.3678222894668579,
+          100.73473358154297
+        ],
+        [
+          -0.3649280071258545,
+          0.0460963249206543,
+          0.9298939108848572,
+          14.409252166748047
+        ],
+        [
+          -0.12022801488637924,
+          -0.9927442073822021,
+          0.0020295719150453806,
+          -32.25572967529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5663,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_783079385",
+      "mask_path": "../../mask/hdr_right_05663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05664.png",
+      "transform_matrix": [
+        [
+          0.9255673289299011,
+          -0.10153326392173767,
+          0.3647138774394989,
+          100.66120147705078
+        ],
+        [
+          -0.3618433475494385,
+          0.046044714748859406,
+          0.9311010837554932,
+          14.44233512878418
+        ],
+        [
+          -0.11133087426424026,
+          -0.9937660098075867,
+          0.005878342781215906,
+          -32.256221771240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5664,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323829_883080005",
+      "mask_path": "../../mask/hdr_right_05664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05666.png",
+      "transform_matrix": [
+        [
+          0.9311164021492004,
+          -0.09672852605581284,
+          0.35166144371032715,
+          100.55818939208984
+        ],
+        [
+          -0.34891173243522644,
+          0.044568996876478195,
+          0.9360952377319336,
+          14.47824764251709
+        ],
+        [
+          -0.1062203124165535,
+          -0.9943124055862427,
+          0.007749209180474281,
+          -32.25593185424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5666,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_83079576",
+      "mask_path": "../../mask/hdr_right_05666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05667.png",
+      "transform_matrix": [
+        [
+          0.9335839748382568,
+          -0.08908546715974808,
+          0.34710896015167236,
+          100.49578094482422
+        ],
+        [
+          -0.3455120623111725,
+          0.0332583449780941,
+          0.9378248453140259,
+          14.506327629089355
+        ],
+        [
+          -0.0950908362865448,
+          -0.9954686164855957,
+          0.00026935042114928365,
+          -32.25017547607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5667,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_183082580",
+      "mask_path": "../../mask/hdr_right_05667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05668.png",
+      "transform_matrix": [
+        [
+          0.9329770803451538,
+          -0.08423887938261032,
+          0.34993937611579895,
+          100.44535064697266
+        ],
+        [
+          -0.3488006889820099,
+          0.02835851162672043,
+          0.9367678165435791,
+          14.526007652282715
+        ],
+        [
+          -0.08883602172136307,
+          -0.9960419535636902,
+          -0.0029247438069432974,
+          -32.234466552734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5668,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_283082008",
+      "mask_path": "../../mask/hdr_right_05668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05669.png",
+      "transform_matrix": [
+        [
+          0.93134605884552,
+          -0.08387920260429382,
+          0.35434260964393616,
+          100.39932250976562
+        ],
+        [
+          -0.35323813557624817,
+          0.028161808848381042,
+          0.9351094961166382,
+          14.555063247680664
+        ],
+        [
+          -0.08841516822576523,
+          -0.9960779547691345,
+          -0.0034009446389973164,
+          -32.22369384765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5669,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_383079767",
+      "mask_path": "../../mask/hdr_right_05669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05670.png",
+      "transform_matrix": [
+        [
+          0.9300535917282104,
+          -0.08671042323112488,
+          0.3570455312728882,
+          100.3465576171875
+        ],
+        [
+          -0.35661712288856506,
+          0.020912466570734978,
+          0.9340165257453918,
+          14.590919494628906
+        ],
+        [
+          -0.0884556844830513,
+          -0.9960141181945801,
+          -0.011472709476947784,
+          -32.21840286254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5670,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_483081817",
+      "mask_path": "../../mask/hdr_right_05670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05671.png",
+      "transform_matrix": [
+        [
+          0.9297276139259338,
+          -0.08303844183683395,
+          0.3587634265422821,
+          100.27392578125
+        ],
+        [
+          -0.3587469458580017,
+          0.01563582755625248,
+          0.9333038926124573,
+          14.624591827392578
+        ],
+        [
+          -0.08310966938734055,
+          -0.9964236617088318,
+          -0.015252728015184402,
+          -32.20525360107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5671,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_583082437",
+      "mask_path": "../../mask/hdr_right_05671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05672.png",
+      "transform_matrix": [
+        [
+          0.932119607925415,
+          -0.07356519997119904,
+          0.3546000123023987,
+          100.2217025756836
+        ],
+        [
+          -0.35403040051460266,
+          0.02108331210911274,
+          0.9349963068962097,
+          14.65410041809082
+        ],
+        [
+          -0.07625932991504669,
+          -0.9970675110816956,
+          -0.006392147857695818,
+          -32.20172882080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5672,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_683082103",
+      "mask_path": "../../mask/hdr_right_05672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05674.png",
+      "transform_matrix": [
+        [
+          0.9442988634109497,
+          -0.06083469092845917,
+          0.3234173655509949,
+          100.13005828857422
+        ],
+        [
+          -0.3223118484020233,
+          0.027455352246761322,
+          0.9462352395057678,
+          14.674717903137207
+        ],
+        [
+          -0.06644348055124283,
+          -0.9977701902389526,
+          0.006318316794931889,
+          -32.197853088378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5674,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_883082628",
+      "mask_path": "../../mask/hdr_right_05674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05675.png",
+      "transform_matrix": [
+        [
+          0.950371503829956,
+          -0.05532404035329819,
+          0.30615881085395813,
+          100.07107543945312
+        ],
+        [
+          -0.3052005469799042,
+          0.02521822601556778,
+          0.951954185962677,
+          14.689061164855957
+        ],
+        [
+          -0.06038673222064972,
+          -0.9981499314308167,
+          0.007081754505634308,
+          -32.19271469116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5675,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323830_983083724",
+      "mask_path": "../../mask/hdr_right_05675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05676.png",
+      "transform_matrix": [
+        [
+          0.9529119729995728,
+          -0.05748460814356804,
+          0.2977486848831177,
+          100.02069854736328
+        ],
+        [
+          -0.2970484793186188,
+          0.020562101155519485,
+          0.9546409845352173,
+          14.702064514160156
+        ],
+        [
+          -0.06099949777126312,
+          -0.9981346130371094,
+          0.002518152119591832,
+          -32.18289566040039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5676,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_83081960",
+      "mask_path": "../../mask/hdr_right_05676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05678.png",
+      "transform_matrix": [
+        [
+          0.9503988027572632,
+          -0.07046157121658325,
+          0.30294784903526306,
+          99.92024993896484
+        ],
+        [
+          -0.3029654920101166,
+          0.010694262571632862,
+          0.9529415369033813,
+          14.741174697875977
+        ],
+        [
+          -0.07038556039333344,
+          -0.9974571466445923,
+          -0.011183615773916245,
+          -32.168907165527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5678,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_283082246",
+      "mask_path": "../../mask/hdr_right_05678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05679.png",
+      "transform_matrix": [
+        [
+          0.9501172304153442,
+          -0.06848146766424179,
+          0.304282009601593,
+          99.84522247314453
+        ],
+        [
+          -0.3038943111896515,
+          0.016262460500001907,
+          0.9525669813156128,
+          14.772294044494629
+        ],
+        [
+          -0.07018155604600906,
+          -0.9975197911262512,
+          -0.005359887611120939,
+          -32.16159439086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5679,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_383081912",
+      "mask_path": "../../mask/hdr_right_05679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05680.png",
+      "transform_matrix": [
+        [
+          0.9512329697608948,
+          -0.06300199776887894,
+          0.3019714951515198,
+          99.78715515136719
+        ],
+        [
+          -0.30105605721473694,
+          0.02377699688076973,
+          0.953309953212738,
+          14.800857543945312
+        ],
+        [
+          -0.067240409553051,
+          -0.9977301955223083,
+          0.0036503239534795284,
+          -32.16811752319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5680,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_483082056",
+      "mask_path": "../../mask/hdr_right_05680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05681.png",
+      "transform_matrix": [
+        [
+          0.9512609243392944,
+          -0.061204567551612854,
+          0.30225273966789246,
+          99.7252197265625
+        ],
+        [
+          -0.3010363280773163,
+          0.028426475822925568,
+          0.9531888365745544,
+          14.831411361694336
+        ],
+        [
+          -0.06693149358034134,
+          -0.9977203011512756,
+          0.008616194128990173,
+          -32.167842864990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5681,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_583081483",
+      "mask_path": "../../mask/hdr_right_05681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05682.png",
+      "transform_matrix": [
+        [
+          0.9499545097351074,
+          -0.06618299335241318,
+          0.30529695749282837,
+          99.66166687011719
+        ],
+        [
+          -0.3037608861923218,
+          0.03239429369568825,
+          0.9521974921226501,
+          14.866456985473633
+        ],
+        [
+          -0.0729091688990593,
+          -0.9972814917564392,
+          0.01066929753869772,
+          -32.16387176513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5682,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_683081626",
+      "mask_path": "../../mask/hdr_right_05682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05683.png",
+      "transform_matrix": [
+        [
+          0.9462823271751404,
+          -0.0716167464852333,
+          0.3153107166290283,
+          99.58731079101562
+        ],
+        [
+          -0.31288638710975647,
+          0.043159279972314835,
+          0.9488095641136169,
+          14.910886764526367
+        ],
+        [
+          -0.08155922591686249,
+          -0.9964980483055115,
+          0.01843295432627201,
+          -32.1328010559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5683,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_783080816",
+      "mask_path": "../../mask/hdr_right_05683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05684.png",
+      "transform_matrix": [
+        [
+          0.9405290484428406,
+          -0.08003444224596024,
+          0.3301509916782379,
+          99.51353454589844
+        ],
+        [
+          -0.3270379602909088,
+          0.049681469798088074,
+          0.94370436668396,
+          14.961570739746094
+        ],
+        [
+          -0.09193123131990433,
+          -0.9955532550811768,
+          0.020552560687065125,
+          -32.09812545776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5684,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323831_883081197",
+      "mask_path": "../../mask/hdr_right_05684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05686.png",
+      "transform_matrix": [
+        [
+          0.9271745085716248,
+          -0.1170140728354454,
+          0.35588645935058594,
+          99.42327880859375
+        ],
+        [
+          -0.35261857509613037,
+          0.04824291169643402,
+          0.934522807598114,
+          15.024746894836426
+        ],
+        [
+          -0.12652131915092468,
+          -0.9919578433036804,
+          0.0034682590048760176,
+          -32.11280059814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5686,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323832_83078384",
+      "mask_path": "../../mask/hdr_right_05686.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/6515898b/mesh.ply b/2024-11-11-12-07-40/splats/6515898b/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5f49122e76cdf7615f077490c3b9bcc4d0063b98
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6515898b/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d228d63d84d1e9cf854ddd3cb7107a0e405a4c270c7fea1203dca9c8062c5e3c
+size 92967267
diff --git a/2024-11-11-12-07-40/splats/6515898b/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/6515898b/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bc44db037dd0e8fd70471f58ceca2eb06c1a0b86
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6515898b/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fa198dc84ec160fcc29ca9171bfd8b244c739d8eed5926d047afc49f0196519
+size 1569534
diff --git a/2024-11-11-12-07-40/splats/6515898b/splatfacto/config.yml b/2024-11-11-12-07-40/splats/6515898b/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..c98a3a4aae63adb5c0221ec3d6d214bb404595e2
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6515898b/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_6515898b
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_6515898b
+      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/2024-11-11-12-07-40/splats/6515898b/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/6515898b/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2e67377c5b977482b2f12f72323e7aae66248db
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6515898b/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.7940384149551392,
+            -0.5746702551841736,
+            0.19813433289527893,
+            57.32119369506836
+        ],
+        [
+            -0.5746702551841736,
+            0.8159204125404358,
+            0.06346680968999863,
+            11.59680461883545
+        ],
+        [
+            -0.19813433289527893,
+            -0.06346680968999863,
+            -0.9781179428100586,
+            -11.468476295471191
+        ]
+    ],
+    "scale": 0.2135277812395891
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/6515898b/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/6515898b/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b386221a28de461b5225d049b039210f36fb5d71
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6515898b/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56a2c073b92624301ce0d498929493c26bcbc4f40d34c807235ddfabdf5e4a9
+size 186434849
diff --git a/2024-11-11-12-07-40/splats/6515898b/transforms.json b/2024-11-11-12-07-40/splats/6515898b/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..e020ca0c840f79d8a64fa3215d2fb4db8eafe70c
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/6515898b/transforms.json
@@ -0,0 +1,30876 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_03862.png",
+      "transform_matrix": [
+        [
+          0.04765649512410164,
+          -0.025020048022270203,
+          -0.9985503554344177,
+          45.3778076171875
+        ],
+        [
+          0.9983201026916504,
+          -0.031783271580934525,
+          0.04844188317656517,
+          22.46375274658203
+        ],
+        [
+          -0.03294921666383743,
+          -0.9991815686225891,
+          0.02346334047615528,
+          -22.3126277923584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3862,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_683082103",
+      "mask_path": "../../mask/hdr_front_03862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03863.png",
+      "transform_matrix": [
+        [
+          0.044634733349084854,
+          -0.025104112923145294,
+          -0.9986879229545593,
+          45.47945022583008
+        ],
+        [
+          0.9981797933578491,
+          -0.03946167603135109,
+          0.04560398310422897,
+          22.472152709960938
+        ],
+        [
+          -0.040554746985435486,
+          -0.9989056587219238,
+          0.023297056555747986,
+          -22.314655303955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3863,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_783082008",
+      "mask_path": "../../mask/hdr_front_03863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03864.png",
+      "transform_matrix": [
+        [
+          0.04067002981901169,
+          -0.02430787682533264,
+          -0.9988769888877869,
+          45.547691345214844
+        ],
+        [
+          0.9982856512069702,
+          -0.041123878210783005,
+          0.04164671525359154,
+          22.4791202545166
+        ],
+        [
+          -0.0420900322496891,
+          -0.9988583326339722,
+          0.022593695670366287,
+          -22.321369171142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3864,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_883081674",
+      "mask_path": "../../mask/hdr_front_03864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03865.png",
+      "transform_matrix": [
+        [
+          0.04155584052205086,
+          -0.02900131605565548,
+          -0.9987152218818665,
+          45.64167404174805
+        ],
+        [
+          0.9982742071151733,
+          -0.04030735790729523,
+          0.042707957327365875,
+          22.478649139404297
+        ],
+        [
+          -0.04149415343999863,
+          -0.9987663626670837,
+          0.027276258915662766,
+          -22.32769775390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3865,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_983080387",
+      "mask_path": "../../mask/hdr_front_03865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03866.png",
+      "transform_matrix": [
+        [
+          0.05094676837325096,
+          -0.03187810257077217,
+          -0.998192548751831,
+          45.7340087890625
+        ],
+        [
+          0.9978312253952026,
+          -0.04008857160806656,
+          0.05220859870314598,
+          22.467111587524414
+        ],
+        [
+          -0.041680414229631424,
+          -0.9986875057220459,
+          0.029766583815217018,
+          -22.32237434387207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3866,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_83081960",
+      "mask_path": "../../mask/hdr_front_03866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03867.png",
+      "transform_matrix": [
+        [
+          0.06457462161779404,
+          -0.029752664268016815,
+          -0.9974692463874817,
+          45.80031204223633
+        ],
+        [
+          0.9969655871391296,
+          -0.04162059724330902,
+          0.06578347086906433,
+          22.458189010620117
+        ],
+        [
+          -0.043472498655319214,
+          -0.9986904263496399,
+          0.026974746957421303,
+          -22.316816329956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3867,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_183081388",
+      "mask_path": "../../mask/hdr_front_03867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03868.png",
+      "transform_matrix": [
+        [
+          0.07864982634782791,
+          -0.02812606655061245,
+          -0.9965054392814636,
+          45.88174819946289
+        ],
+        [
+          0.9957324862480164,
+          -0.046194348484277725,
+          0.07989265024662018,
+          22.458667755126953
+        ],
+        [
+          -0.048279985785484314,
+          -0.9985365271568298,
+          0.02437286078929901,
+          -22.330997467041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3868,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_283082008",
+      "mask_path": "../../mask/hdr_front_03868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03869.png",
+      "transform_matrix": [
+        [
+          0.08471415936946869,
+          -0.03231005743145943,
+          -0.9958813190460205,
+          45.982791900634766
+        ],
+        [
+          0.9948910474777222,
+          -0.05233689770102501,
+          0.0863279327750206,
+          22.452430725097656
+        ],
+        [
+          -0.05491059273481369,
+          -0.9981067180633545,
+          0.02771131321787834,
+          -22.3360538482666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3869,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_383082389",
+      "mask_path": "../../mask/hdr_front_03869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03870.png",
+      "transform_matrix": [
+        [
+          0.08252618461847305,
+          -0.03784644231200218,
+          -0.9958699941635132,
+          46.07539367675781
+        ],
+        [
+          0.9946099519729614,
+          -0.05981462076306343,
+          0.08469492942094803,
+          22.449779510498047
+        ],
+        [
+          -0.06277299672365189,
+          -0.9974917769432068,
+          0.03270617872476578,
+          -22.34400177001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3870,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_483082056",
+      "mask_path": "../../mask/hdr_front_03870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03872.png",
+      "transform_matrix": [
+        [
+          0.08123515546321869,
+          -0.048333995044231415,
+          -0.9955223202705383,
+          46.22971725463867
+        ],
+        [
+          0.9945785999298096,
+          -0.06112511828541756,
+          0.08412585407495499,
+          22.444814682006836
+        ],
+        [
+          -0.06491755694150925,
+          -0.9969591498374939,
+          0.04310644418001175,
+          -22.364604949951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3872,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_683082103",
+      "mask_path": "../../mask/hdr_front_03872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03873.png",
+      "transform_matrix": [
+        [
+          0.09197978675365448,
+          -0.061435651034116745,
+          -0.9938638806343079,
+          46.3317756652832
+        ],
+        [
+          0.9937513470649719,
+          -0.05771428346633911,
+          0.0955369845032692,
+          22.43238639831543
+        ],
+        [
+          -0.0632295161485672,
+          -0.9964410662651062,
+          0.05574321001768112,
+          -22.37399673461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3873,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_783083915",
+      "mask_path": "../../mask/hdr_front_03873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03874.png",
+      "transform_matrix": [
+        [
+          0.10417483747005463,
+          -0.06645719707012177,
+          -0.9923362731933594,
+          46.38900375366211
+        ],
+        [
+          0.9921638369560242,
+          -0.06226038187742233,
+          0.10832634568214417,
+          22.419939041137695
+        ],
+        [
+          -0.06898228079080582,
+          -0.9958449602127075,
+          0.059450455009937286,
+          -22.375654220581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3874,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_883082151",
+      "mask_path": "../../mask/hdr_front_03874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03875.png",
+      "transform_matrix": [
+        [
+          0.11515732854604721,
+          -0.06593887507915497,
+          -0.991156280040741,
+          46.44260787963867
+        ],
+        [
+          0.9907015562057495,
+          -0.06515245139598846,
+          0.11943889409303665,
+          22.402490615844727
+        ],
+        [
+          -0.07245191931724548,
+          -0.9956943988800049,
+          0.05782296508550644,
+          -22.375761032104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3875,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_983081579",
+      "mask_path": "../../mask/hdr_front_03875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03876.png",
+      "transform_matrix": [
+        [
+          0.12260714173316956,
+          -0.060373079031705856,
+          -0.9906172752380371,
+          46.53861999511719
+        ],
+        [
+          0.9898191690444946,
+          -0.06526380777359009,
+          0.12648583948612213,
+          22.394201278686523
+        ],
+        [
+          -0.07228779792785645,
+          -0.9960400462150574,
+          0.05175662413239479,
+          -22.380037307739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3876,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_83081960",
+      "mask_path": "../../mask/hdr_front_03876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03877.png",
+      "transform_matrix": [
+        [
+          0.12163309007883072,
+          -0.05651940777897835,
+          -0.9909645915031433,
+          46.640602111816406
+        ],
+        [
+          0.9895508885383606,
+          -0.07097132503986359,
+          0.1255074143409729,
+          22.39205551147461
+        ],
+        [
+          -0.07742366939783096,
+          -0.9958758354187012,
+          0.047296371310949326,
+          -22.38308334350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3877,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_183080673",
+      "mask_path": "../../mask/hdr_front_03877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03878.png",
+      "transform_matrix": [
+        [
+          0.11755595356225967,
+          -0.05373075604438782,
+          -0.9916115999221802,
+          46.69647979736328
+        ],
+        [
+          0.9895474314689636,
+          -0.07764745503664017,
+          0.12151859700679779,
+          22.397390365600586
+        ],
+        [
+          -0.0835253968834877,
+          -0.9955319762229919,
+          0.04404120892286301,
+          -22.389698028564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3878,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_283081531",
+      "mask_path": "../../mask/hdr_front_03878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03879.png",
+      "transform_matrix": [
+        [
+          0.11543790996074677,
+          -0.04916784167289734,
+          -0.9920970797538757,
+          46.75994110107422
+        ],
+        [
+          0.9895270466804504,
+          -0.08144600689411163,
+          0.11917528510093689,
+          22.397457122802734
+        ],
+        [
+          -0.0866619274020195,
+          -0.9954642653465271,
+          0.039250947535037994,
+          -22.4052791595459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3879,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_383084058",
+      "mask_path": "../../mask/hdr_front_03879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03880.png",
+      "transform_matrix": [
+        [
+          0.11844079941511154,
+          -0.05886700749397278,
+          -0.9912146925926208,
+          46.83875274658203
+        ],
+        [
+          0.9897850751876831,
+          -0.07277794927358627,
+          0.12259217351675034,
+          22.37977409362793
+        ],
+        [
+          -0.07935519516468048,
+          -0.9956093430519104,
+          0.0496458075940609,
+          -22.4029598236084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3880,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_483082294",
+      "mask_path": "../../mask/hdr_front_03880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03881.png",
+      "transform_matrix": [
+        [
+          0.12553443014621735,
+          -0.06893518567085266,
+          -0.989691436290741,
+          46.897178649902344
+        ],
+        [
+          0.988985538482666,
+          -0.07015360891819,
+          0.13033130764961243,
+          22.365610122680664
+        ],
+        [
+          -0.07841483503580093,
+          -0.9951514601707458,
+          0.059369202703237534,
+          -22.395479202270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3881,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_583081722",
+      "mask_path": "../../mask/hdr_front_03881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03883.png",
+      "transform_matrix": [
+        [
+          0.14223630726337433,
+          -0.06707341223955154,
+          -0.987557590007782,
+          46.97431564331055
+        ],
+        [
+          0.9860209822654724,
+          -0.07787267118692398,
+          0.147303968667984,
+          22.33302116394043
+        ],
+        [
+          -0.08678392320871353,
+          -0.99470454454422,
+          0.05505947396159172,
+          -22.386241912841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3883,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_783081293",
+      "mask_path": "../../mask/hdr_front_03883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03884.png",
+      "transform_matrix": [
+        [
+          0.14826922118663788,
+          -0.05747677758336067,
+          -0.9872753620147705,
+          47.0523567199707
+        ],
+        [
+          0.9852568507194519,
+          -0.07757630199193954,
+          0.15248237550258636,
+          22.321319580078125
+        ],
+        [
+          -0.08535335958003998,
+          -0.9953283071517944,
+          0.045127205550670624,
+          -22.38302230834961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3884,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_883081912",
+      "mask_path": "../../mask/hdr_front_03884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03885.png",
+      "transform_matrix": [
+        [
+          0.14504554867744446,
+          -0.048643775284290314,
+          -0.9882285594940186,
+          47.1282958984375
+        ],
+        [
+          0.9857556819915771,
+          -0.0788334384560585,
+          0.14856302738189697,
+          22.31949806213379
+        ],
+        [
+          -0.08513210713863373,
+          -0.9957002997398376,
+          0.03651643916964531,
+          -22.379878997802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3885,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_983081817",
+      "mask_path": "../../mask/hdr_front_03885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03886.png",
+      "transform_matrix": [
+        [
+          0.1354474276304245,
+          -0.043890658766031265,
+          -0.9898119568824768,
+          47.191917419433594
+        ],
+        [
+          0.9871136546134949,
+          -0.0799395740032196,
+          0.13862289488315582,
+          22.32404327392578
+        ],
+        [
+          -0.08520939201116562,
+          -0.9958329796791077,
+          0.032497454434633255,
+          -22.382417678833008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3886,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_83078861",
+      "mask_path": "../../mask/hdr_front_03886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03888.png",
+      "transform_matrix": [
+        [
+          0.11782585829496384,
+          -0.03960375115275383,
+          -0.9922442436218262,
+          47.319129943847656
+        ],
+        [
+          0.990262508392334,
+          -0.0699167251586914,
+          0.12038113921880722,
+          22.316402435302734
+        ],
+        [
+          -0.07414199411869049,
+          -0.9967663884162903,
+          0.03098011389374733,
+          -22.376985549926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3888,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_283082008",
+      "mask_path": "../../mask/hdr_front_03888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03889.png",
+      "transform_matrix": [
+        [
+          0.11289286613464355,
+          -0.04392547905445099,
+          -0.9926357269287109,
+          47.39992141723633
+        ],
+        [
+          0.9910924434661865,
+          -0.06605315953493118,
+          0.11564029008150101,
+          22.31622314453125
+        ],
+        [
+          -0.07064629346132278,
+          -0.9968488216400146,
+          0.03607727587223053,
+          -22.376022338867188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3889,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_383082389",
+      "mask_path": "../../mask/hdr_front_03889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03890.png",
+      "transform_matrix": [
+        [
+          0.10655709356069565,
+          -0.04415223002433777,
+          -0.9933258295059204,
+          47.47359848022461
+        ],
+        [
+          0.9918729662895203,
+          -0.06513398885726929,
+          0.10929637402296066,
+          22.333641052246094
+        ],
+        [
+          -0.06952495872974396,
+          -0.9968993067741394,
+          0.03685291111469269,
+          -22.403406143188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3890,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_483081817",
+      "mask_path": "../../mask/hdr_front_03890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03891.png",
+      "transform_matrix": [
+        [
+          0.09905482083559036,
+          -0.039677850902080536,
+          -0.9942905306816101,
+          47.56428909301758
+        ],
+        [
+          0.992959201335907,
+          -0.06129030883312225,
+          0.1013680174946785,
+          22.332191467285156
+        ],
+        [
+          -0.06496243178844452,
+          -0.9973310828208923,
+          0.03332739695906639,
+          -22.41826820373535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3891,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_583082675",
+      "mask_path": "../../mask/hdr_front_03891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03892.png",
+      "transform_matrix": [
+        [
+          0.08266358822584152,
+          -0.036564089357852936,
+          -0.9959065914154053,
+          47.671226501464844
+        ],
+        [
+          0.994146466255188,
+          -0.06673227250576019,
+          0.08496753871440887,
+          22.318450927734375
+        ],
+        [
+          -0.06956586241722107,
+          -0.9971007704734802,
+          0.030833734199404716,
+          -22.40746307373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3892,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_683081865",
+      "mask_path": "../../mask/hdr_front_03892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03893.png",
+      "transform_matrix": [
+        [
+          0.05493883416056633,
+          -0.03578244522213936,
+          -0.9978482723236084,
+          47.751155853271484
+        ],
+        [
+          0.9954922795295715,
+          -0.0754140093922615,
+          0.05751343071460724,
+          22.33382797241211
+        ],
+        [
+          -0.07730969786643982,
+          -0.9965102076530457,
+          0.03147799149155617,
+          -22.415809631347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3893,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_783082962",
+      "mask_path": "../../mask/hdr_front_03893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03894.png",
+      "transform_matrix": [
+        [
+          0.021634796634316444,
+          -0.033322591334581375,
+          -0.9992104768753052,
+          47.81412124633789
+        ],
+        [
+          0.9973062872886658,
+          -0.06934492290019989,
+          0.023906143382191658,
+          22.35243797302246
+        ],
+        [
+          -0.0700867772102356,
+          -0.9970360398292542,
+          0.03173256665468216,
+          -22.42802619934082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3894,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_883080959",
+      "mask_path": "../../mask/hdr_front_03894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03895.png",
+      "transform_matrix": [
+        [
+          -0.0047849505208432674,
+          -0.04253201186656952,
+          -0.9990836381912231,
+          47.904056549072266
+        ],
+        [
+          0.9985414743423462,
+          -0.053934089839458466,
+          -0.002486324403434992,
+          22.35335922241211
+        ],
+        [
+          -0.05377892032265663,
+          -0.9976383447647095,
+          0.04272804781794548,
+          -22.422887802124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3895,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_983082532",
+      "mask_path": "../../mask/hdr_front_03895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03896.png",
+      "transform_matrix": [
+        [
+          -0.019686615094542503,
+          -0.052948374301195145,
+          -0.9984031915664673,
+          47.99346160888672
+        ],
+        [
+          0.9988797903060913,
+          -0.044021401554346085,
+          -0.01736142486333847,
+          22.361597061157227
+        ],
+        [
+          -0.04303184896707535,
+          -0.997626543045044,
+          0.05375568941235542,
+          -22.425586700439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3896,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_83082437",
+      "mask_path": "../../mask/hdr_front_03896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03898.png",
+      "transform_matrix": [
+        [
+          -0.024261746555566788,
+          -0.06734959781169891,
+          -0.9974344968795776,
+          48.11210250854492
+        ],
+        [
+          0.9988768696784973,
+          -0.042251043021678925,
+          -0.02144392393529415,
+          22.36876106262207
+        ],
+        [
+          -0.04069840908050537,
+          -0.9968345165252686,
+          0.06829904764890671,
+          -22.437231063842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3898,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_283082485",
+      "mask_path": "../../mask/hdr_front_03898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03899.png",
+      "transform_matrix": [
+        [
+          -0.027102990075945854,
+          -0.08394882827997208,
+          -0.996101438999176,
+          48.22245407104492
+        ],
+        [
+          0.9982749223709106,
+          -0.0541912205517292,
+          -0.022595034912228584,
+          22.391496658325195
+        ],
+        [
+          -0.05208312347531319,
+          -0.9949954748153687,
+          0.08527275174856186,
+          -22.47988510131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3899,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_383080959",
+      "mask_path": "../../mask/hdr_front_03899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03900.png",
+      "transform_matrix": [
+        [
+          -0.03344512730836868,
+          -0.10108484327793121,
+          -0.9943154454231262,
+          48.3013916015625
+        ],
+        [
+          0.9975830912590027,
+          -0.06400327384471893,
+          -0.02704828791320324,
+          22.404678344726562
+        ],
+        [
+          -0.06090528517961502,
+          -0.9928169846534729,
+          0.10298112779855728,
+          -22.514766693115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3900,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_483081579",
+      "mask_path": "../../mask/hdr_front_03900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03901.png",
+      "transform_matrix": [
+        [
+          -0.040793802589178085,
+          -0.10835155099630356,
+          -0.9932752847671509,
+          48.353397369384766
+        ],
+        [
+          0.996771514415741,
+          -0.07321789115667343,
+          -0.03295041248202324,
+          22.406885147094727
+        ],
+        [
+          -0.06915529817342758,
+          -0.9914126992225647,
+          0.1109885647892952,
+          -22.53206443786621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3901,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_583081007",
+      "mask_path": "../../mask/hdr_front_03901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03902.png",
+      "transform_matrix": [
+        [
+          -0.05231981724500656,
+          -0.12089204043149948,
+          -0.9912859201431274,
+          48.43976593017578
+        ],
+        [
+          0.9961050152778625,
+          -0.0768665075302124,
+          -0.04319993779063225,
+          22.410396575927734
+        ],
+        [
+          -0.07097414880990982,
+          -0.9896851778030396,
+          0.12444280833005905,
+          -22.565916061401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3902,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_683081865",
+      "mask_path": "../../mask/hdr_front_03902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03903.png",
+      "transform_matrix": [
+        [
+          -0.06318937242031097,
+          -0.15712928771972656,
+          -0.9855543971061707,
+          48.506813049316406
+        ],
+        [
+          0.9960237145423889,
+          -0.07207032293081284,
+          -0.052370280027389526,
+          22.418315887451172
+        ],
+        [
+          -0.06280031055212021,
+          -0.9849448204040527,
+          0.16105856001377106,
+          -22.59191131591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3903,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_783081769",
+      "mask_path": "../../mask/hdr_front_03903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03905.png",
+      "transform_matrix": [
+        [
+          -0.0803888738155365,
+          -0.1996258944272995,
+          -0.9765690565109253,
+          48.59807205200195
+        ],
+        [
+          0.9949357509613037,
+          -0.07537639886140823,
+          -0.06649266928434372,
+          22.409101486206055
+        ],
+        [
+          -0.06033658981323242,
+          -0.9769687056541443,
+          0.2046743780374527,
+          -22.622697830200195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3905,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_983080863",
+      "mask_path": "../../mask/hdr_front_03905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03906.png",
+      "transform_matrix": [
+        [
+          -0.09982001781463623,
+          -0.21130624413490295,
+          -0.972309410572052,
+          48.65101623535156
+        ],
+        [
+          0.9933027029037476,
+          -0.0783080905675888,
+          -0.08495699614286423,
+          22.411027908325195
+        ],
+        [
+          -0.05818774923682213,
+          -0.9742780327796936,
+          0.2177077680826187,
+          -22.63942527770996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3906,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_83082437",
+      "mask_path": "../../mask/hdr_front_03906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03907.png",
+      "transform_matrix": [
+        [
+          -0.1358463615179062,
+          -0.23125317692756653,
+          -0.9633627533912659,
+          48.73676300048828
+        ],
+        [
+          0.988860011100769,
+          -0.09136312454938889,
+          -0.11751027405261993,
+          22.44086265563965
+        ],
+        [
+          -0.06084119901061058,
+          -0.9685941934585571,
+          0.24108834564685822,
+          -22.681116104125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3907,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_183081150",
+      "mask_path": "../../mask/hdr_front_03907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03909.png",
+      "transform_matrix": [
+        [
+          -0.21829625964164734,
+          -0.28064605593681335,
+          -0.9346574544906616,
+          48.82790756225586
+        ],
+        [
+          0.9731540679931641,
+          -0.13417290151119232,
+          -0.1869998425245285,
+          22.488170623779297
+        ],
+        [
+          -0.07292494177818298,
+          -0.9503870606422424,
+          0.30240127444267273,
+          -22.731534957885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3909,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_383081912",
+      "mask_path": "../../mask/hdr_front_03909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03911.png",
+      "transform_matrix": [
+        [
+          -0.2457905411720276,
+          -0.2925255596637726,
+          -0.924129843711853,
+          48.89707946777344
+        ],
+        [
+          0.9671346545219421,
+          -0.13803382217884064,
+          -0.2135351002216339,
+          22.526168823242188
+        ],
+        [
+          -0.06509669125080109,
+          -0.9462428092956543,
+          0.3168390691280365,
+          -22.770917892456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3911,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_583081960",
+      "mask_path": "../../mask/hdr_front_03911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03912.png",
+      "transform_matrix": [
+        [
+          -0.2515450716018677,
+          -0.30646437406539917,
+          -0.9180439710617065,
+          48.963993072509766
+        ],
+        [
+          0.965988278388977,
+          -0.1382335126399994,
+          -0.21853633224964142,
+          22.561992645263672
+        ],
+        [
+          -0.05993082374334335,
+          -0.9417914152145386,
+          0.3308129608631134,
+          -22.830413818359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3912,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_683082103",
+      "mask_path": "../../mask/hdr_front_03912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03913.png",
+      "transform_matrix": [
+        [
+          -0.25729116797447205,
+          -0.3132294714450836,
+          -0.9141599535942078,
+          49.022403717041016
+        ],
+        [
+          0.9647899270057678,
+          -0.13672268390655518,
+          -0.22469404339790344,
+          22.58942985534668
+        ],
+        [
+          -0.05460561066865921,
+          -0.9397841691970825,
+          0.3373781442642212,
+          -22.867578506469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3913,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_783082008",
+      "mask_path": "../../mask/hdr_front_03913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03914.png",
+      "transform_matrix": [
+        [
+          -0.25763970613479614,
+          -0.2994764745235443,
+          -0.9186597466468811,
+          49.10063171386719
+        ],
+        [
+          0.964472234249115,
+          -0.13721010088920593,
+          -0.225758358836174,
+          22.62977409362793
+        ],
+        [
+          -0.05844005569815636,
+          -0.9441860318183899,
+          0.3241875171661377,
+          -22.909908294677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3914,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_883080482",
+      "mask_path": "../../mask/hdr_front_03914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03915.png",
+      "transform_matrix": [
+        [
+          -0.25635045766830444,
+          -0.29141268134117126,
+          -0.9216089844703674,
+          49.18138885498047
+        ],
+        [
+          0.9641981720924377,
+          -0.1440439671278,
+          -0.2226501852273941,
+          22.67275047302246
+        ],
+        [
+          -0.0678691416978836,
+          -0.9456902146339417,
+          0.31790536642074585,
+          -22.92881965637207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3915,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_983082771",
+      "mask_path": "../../mask/hdr_front_03915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03916.png",
+      "transform_matrix": [
+        [
+          -0.2548799514770508,
+          -0.29630863666534424,
+          -0.9204550385475159,
+          49.24108123779297
+        ],
+        [
+          0.9642677903175354,
+          -0.1490330994129181,
+          -0.21903596818447113,
+          22.698848724365234
+        ],
+        [
+          -0.07227599620819092,
+          -0.9433929920196533,
+          0.3237064778804779,
+          -22.950761795043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3916,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_83081483",
+      "mask_path": "../../mask/hdr_front_03916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03917.png",
+      "transform_matrix": [
+        [
+          -0.2522589862346649,
+          -0.29855087399482727,
+          -0.9204524755477905,
+          49.303314208984375
+        ],
+        [
+          0.9646205902099609,
+          -0.15291382372379303,
+          -0.2147657573223114,
+          22.71983528137207
+        ],
+        [
+          -0.07663138210773468,
+          -0.942064106464386,
+          0.32656219601631165,
+          -22.98945426940918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3917,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_183082342",
+      "mask_path": "../../mask/hdr_front_03917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03918.png",
+      "transform_matrix": [
+        [
+          -0.24536879360675812,
+          -0.32945311069488525,
+          -0.9117317795753479,
+          49.4366455078125
+        ],
+        [
+          0.9672556519508362,
+          -0.14615212380886078,
+          -0.20749971270561218,
+          22.738969802856445
+        ],
+        [
+          -0.06489010900259018,
+          -0.9327917098999023,
+          0.35452648997306824,
+          -23.0601749420166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3918,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_283081054",
+      "mask_path": "../../mask/hdr_front_03918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03919.png",
+      "transform_matrix": [
+        [
+          -0.22406062483787537,
+          -0.39532923698425293,
+          -0.8907927870750427,
+          49.500144958496094
+        ],
+        [
+          0.9742743968963623,
+          -0.11356628686189651,
+          -0.19465863704681396,
+          22.76422882080078
+        ],
+        [
+          -0.024209780618548393,
+          -0.9114919304847717,
+          0.41060489416122437,
+          -23.09977912902832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3919,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_383082628",
+      "mask_path": "../../mask/hdr_front_03919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03921.png",
+      "transform_matrix": [
+        [
+          -0.2160901129245758,
+          -0.4232715368270874,
+          -0.8798558712005615,
+          49.58033752441406
+        ],
+        [
+          0.976329505443573,
+          -0.10221739113330841,
+          -0.1906101554632187,
+          22.816015243530273
+        ],
+        [
+          -0.00925672147423029,
+          -0.9002181887626648,
+          0.4353407025337219,
+          -23.140514373779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3921,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_583081960",
+      "mask_path": "../../mask/hdr_front_03921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03922.png",
+      "transform_matrix": [
+        [
+          -0.22101236879825592,
+          -0.4006681740283966,
+          -0.8891673684120178,
+          49.67130661010742
+        ],
+        [
+          0.9750496745109558,
+          -0.11019977927207947,
+          -0.19270221889019012,
+          22.843141555786133
+        ],
+        [
+          -0.020776402205228806,
+          -0.9095718860626221,
+          0.41502687335014343,
+          -23.164113998413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3922,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_683082103",
+      "mask_path": "../../mask/hdr_front_03922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03923.png",
+      "transform_matrix": [
+        [
+          -0.22095616161823273,
+          -0.3912981152534485,
+          -0.8933444023132324,
+          49.74646759033203
+        ],
+        [
+          0.9750667810440063,
+          -0.10794959962368011,
+          -0.19388554990291595,
+          22.865100860595703
+        ],
+        [
+          -0.020569106563925743,
+          -0.9139106869697571,
+          0.4053939878940582,
+          -23.199630737304688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3923,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_783082246",
+      "mask_path": "../../mask/hdr_front_03923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03924.png",
+      "transform_matrix": [
+        [
+          -0.21726343035697937,
+          -0.3900262415409088,
+          -0.8948051333427429,
+          49.796424865722656
+        ],
+        [
+          0.976008951663971,
+          -0.10019209235906601,
+          -0.19330856204032898,
+          22.880098342895508
+        ],
+        [
+          -0.014256983064115047,
+          -0.9153366088867188,
+          0.40243712067604065,
+          -23.24005126953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3924,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_883081674",
+      "mask_path": "../../mask/hdr_front_03924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03925.png",
+      "transform_matrix": [
+        [
+          -0.2206370234489441,
+          -0.3861145079135895,
+          -0.8956757187843323,
+          49.866371154785156
+        ],
+        [
+          0.9751272201538086,
+          -0.10721089690923691,
+          -0.1939915418624878,
+          22.89415740966797
+        ],
+        [
+          -0.021123245358467102,
+          -0.9161995053291321,
+          0.40016546845436096,
+          -23.286659240722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3925,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_983081102",
+      "mask_path": "../../mask/hdr_front_03925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03926.png",
+      "transform_matrix": [
+        [
+          -0.22628603875637054,
+          -0.3874625563621521,
+          -0.8936820030212402,
+          49.93577575683594
+        ],
+        [
+          0.9735442996025085,
+          -0.11984004825353622,
+          -0.19455018639564514,
+          22.905498504638672
+        ],
+        [
+          -0.03171797841787338,
+          -0.9140629768371582,
+          0.4043300747871399,
+          -23.3346004486084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3926,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_83081245",
+      "mask_path": "../../mask/hdr_front_03926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03927.png",
+      "transform_matrix": [
+        [
+          -0.22781063616275787,
+          -0.38526490330696106,
+          -0.8942445516586304,
+          49.997642517089844
+        ],
+        [
+          0.9727782011032104,
+          -0.13012194633483887,
+          -0.1917572170495987,
+          22.904420852661133
+        ],
+        [
+          -0.04248352348804474,
+          -0.9135859608650208,
+          0.4044204652309418,
+          -23.3593692779541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3927,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_183082342",
+      "mask_path": "../../mask/hdr_front_03927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03928.png",
+      "transform_matrix": [
+        [
+          -0.22729986906051636,
+          -0.37621283531188965,
+          -0.8982197642326355,
+          50.056095123291016
+        ],
+        [
+          0.9723703861236572,
+          -0.13807213306427002,
+          -0.1882336139678955,
+          22.90258026123047
+        ],
+        [
+          -0.05320319905877113,
+          -0.9161878228187561,
+          0.3972020149230957,
+          -23.381444931030273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3928,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_283081293",
+      "mask_path": "../../mask/hdr_front_03928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03929.png",
+      "transform_matrix": [
+        [
+          -0.23223628103733063,
+          -0.37193676829338074,
+          -0.8987376689910889,
+          50.14280700683594
+        ],
+        [
+          0.9700284004211426,
+          -0.15648113191127777,
+          -0.1858993023633957,
+          22.92198944091797
+        ],
+        [
+          -0.07149270176887512,
+          -0.9149736762046814,
+          0.39712977409362793,
+          -23.4228458404541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3929,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_383082151",
+      "mask_path": "../../mask/hdr_front_03929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03930.png",
+      "transform_matrix": [
+        [
+          -0.24518334865570068,
+          -0.3802676498889923,
+          -0.8917856216430664,
+          50.2215576171875
+        ],
+        [
+          0.9643346071243286,
+          -0.19027580320835114,
+          -0.183993861079216,
+          22.933353424072266
+        ],
+        [
+          -0.09971829503774643,
+          -0.9050920605659485,
+          0.41335776448249817,
+          -23.443979263305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3930,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_483082056",
+      "mask_path": "../../mask/hdr_front_03930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03931.png",
+      "transform_matrix": [
+        [
+          -0.24859961867332458,
+          -0.38486501574516296,
+          -0.8888629078865051,
+          50.27606201171875
+        ],
+        [
+          0.9628031849861145,
+          -0.19848880171775818,
+          -0.18333661556243896,
+          22.93696403503418
+        ],
+        [
+          -0.10586947202682495,
+          -0.9013774394989014,
+          0.4198934733867645,
+          -23.45588493347168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3931,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_583081007",
+      "mask_path": "../../mask/hdr_front_03931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03932.png",
+      "transform_matrix": [
+        [
+          -0.24989604949951172,
+          -0.37112483382225037,
+          -0.8943256139755249,
+          50.34342575073242
+        ],
+        [
+          0.9624372124671936,
+          -0.19645407795906067,
+          -0.1874040812253952,
+          22.953392028808594
+        ],
+        [
+          -0.10614359378814697,
+          -0.9075638651847839,
+          0.40627747774124146,
+          -23.49331283569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3932,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_683080911",
+      "mask_path": "../../mask/hdr_front_03932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03933.png",
+      "transform_matrix": [
+        [
+          -0.2527186870574951,
+          -0.3518289029598236,
+          -0.9013044238090515,
+          50.41850662231445
+        ],
+        [
+          0.9616051316261292,
+          -0.1943512111902237,
+          -0.19376051425933838,
+          22.970426559448242
+        ],
+        [
+          -0.10699905455112457,
+          -0.9156659245491028,
+          0.3874366879463196,
+          -23.523208618164062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3933,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_783080339",
+      "mask_path": "../../mask/hdr_front_03933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03934.png",
+      "transform_matrix": [
+        [
+          -0.2495497167110443,
+          -0.3344487249851227,
+          -0.9087733626365662,
+          50.487579345703125
+        ],
+        [
+          0.962329089641571,
+          -0.19024330377578735,
+          -0.1942424178123474,
+          22.984756469726562
+        ],
+        [
+          -0.10792392492294312,
+          -0.9230122566223145,
+          0.3693249225616455,
+          -23.543685913085938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3934,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_883081912",
+      "mask_path": "../../mask/hdr_front_03934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03935.png",
+      "transform_matrix": [
+        [
+          -0.24245944619178772,
+          -0.32309484481811523,
+          -0.9147804379463196,
+          50.553958892822266
+        ],
+        [
+          0.9636502265930176,
+          -0.18926545977592468,
+          -0.18856485188007355,
+          22.999317169189453
+        ],
+        [
+          -0.11221198737621307,
+          -0.9272477030754089,
+          0.35723963379859924,
+          -23.564926147460938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3935,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_983081102",
+      "mask_path": "../../mask/hdr_front_03935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03936.png",
+      "transform_matrix": [
+        [
+          -0.23683518171310425,
+          -0.31501439213752747,
+          -0.9190620183944702,
+          50.64865493774414
+        ],
+        [
+          0.9648288488388062,
+          -0.18733805418014526,
+          -0.18441762030124664,
+          23.029787063598633
+        ],
+        [
+          -0.11408110707998276,
+          -0.9304141402244568,
+          0.3483031988143921,
+          -23.60719108581543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3936,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_83081483",
+      "mask_path": "../../mask/hdr_front_03936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03937.png",
+      "transform_matrix": [
+        [
+          -0.2296394407749176,
+          -0.3117418587207794,
+          -0.9219992756843567,
+          50.73513412475586
+        ],
+        [
+          0.9664822220802307,
+          -0.18477322161197662,
+          -0.17824409902095795,
+          23.058380126953125
+        ],
+        [
+          -0.11479465663433075,
+          -0.9320278763771057,
+          0.34372419118881226,
+          -23.66039276123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3937,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_183081388",
+      "mask_path": "../../mask/hdr_front_03937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03938.png",
+      "transform_matrix": [
+        [
+          -0.21651437878608704,
+          -0.31305915117263794,
+          -0.9247245788574219,
+          50.803653717041016
+        ],
+        [
+          0.9702850580215454,
+          -0.17380428314208984,
+          -0.16834163665771484,
+          23.073549270629883
+        ],
+        [
+          -0.10802020132541656,
+          -0.9336948394775391,
+          0.3413877487182617,
+          -23.69915771484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3938,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_283082008",
+      "mask_path": "../../mask/hdr_front_03938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03939.png",
+      "transform_matrix": [
+        [
+          -0.20312561094760895,
+          -0.30822086334228516,
+          -0.9293761253356934,
+          50.87688446044922
+        ],
+        [
+          0.9737951159477234,
+          -0.16274651885032654,
+          -0.1588602066040039,
+          23.088947296142578
+        ],
+        [
+          -0.10228867828845978,
+          -0.9372905492782593,
+          0.33320194482803345,
+          -23.73114013671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3939,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_383082151",
+      "mask_path": "../../mask/hdr_front_03939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03940.png",
+      "transform_matrix": [
+        [
+          -0.1832459270954132,
+          -0.31941160559654236,
+          -0.929729700088501,
+          50.981876373291016
+        ],
+        [
+          0.9793726205825806,
+          -0.14123018085956573,
+          -0.14451031386852264,
+          23.091415405273438
+        ],
+        [
+          -0.08514760434627533,
+          -0.9370326995849609,
+          0.33870285749435425,
+          -23.765913009643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3940,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_483082771",
+      "mask_path": "../../mask/hdr_front_03940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03941.png",
+      "transform_matrix": [
+        [
+          -0.15198545157909393,
+          -0.33052858710289,
+          -0.9314780235290527,
+          51.06565856933594
+        ],
+        [
+          0.985143780708313,
+          -0.12689301371574402,
+          -0.11571474373340607,
+          23.090614318847656
+        ],
+        [
+          -0.07995102554559708,
+          -0.9352267384529114,
+          0.3449040651321411,
+          -23.77876091003418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3941,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_583081722",
+      "mask_path": "../../mask/hdr_front_03941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03942.png",
+      "transform_matrix": [
+        [
+          -0.11723551154136658,
+          -0.3266420066356659,
+          -0.9378490447998047,
+          51.13367462158203
+        ],
+        [
+          0.9887377619743347,
+          -0.12684857845306396,
+          -0.07941694557666779,
+          23.08978271484375
+        ],
+        [
+          -0.09302391111850739,
+          -0.9365972876548767,
+          0.3378344178199768,
+          -23.789592742919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3942,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_683081388",
+      "mask_path": "../../mask/hdr_front_03942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03943.png",
+      "transform_matrix": [
+        [
+          -0.08536535501480103,
+          -0.32327499985694885,
+          -0.9424468278884888,
+          51.229915618896484
+        ],
+        [
+          0.9907222390174866,
+          -0.12793250381946564,
+          -0.0458550900220871,
+          23.09341812133789
+        ],
+        [
+          -0.10574577748775482,
+          -0.9376174807548523,
+          0.33119672536849976,
+          -23.824827194213867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3943,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_783081054",
+      "mask_path": "../../mask/hdr_front_03943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03944.png",
+      "transform_matrix": [
+        [
+          -0.053068019449710846,
+          -0.3261430263519287,
+          -0.9438297152519226,
+          51.307186126708984
+        ],
+        [
+          0.9919039607048035,
+          -0.12641431391239166,
+          -0.012088226154446602,
+          23.08983612060547
+        ],
+        [
+          -0.11537110060453415,
+          -0.9368298649787903,
+          0.3302110731601715,
+          -23.854848861694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3944,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_883081674",
+      "mask_path": "../../mask/hdr_front_03944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03945.png",
+      "transform_matrix": [
+        [
+          -0.02034595236182213,
+          -0.32630035281181335,
+          -0.9450471997261047,
+          51.362205505371094
+        ],
+        [
+          0.993341326713562,
+          -0.11380809545516968,
+          0.01790931075811386,
+          23.082937240600586
+        ],
+        [
+          -0.11339782923460007,
+          -0.9383900761604309,
+          0.3264431059360504,
+          -23.87642478942871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3945,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_983081340",
+      "mask_path": "../../mask/hdr_front_03945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03946.png",
+      "transform_matrix": [
+        [
+          0.004552186466753483,
+          -0.321045458316803,
+          -0.9470528960227966,
+          51.412532806396484
+        ],
+        [
+          0.9938675761222839,
+          -0.10318223387002945,
+          0.03975539281964302,
+          23.07830238342285
+        ],
+        [
+          -0.11048231273889542,
+          -0.9414262771606445,
+          0.318606972694397,
+          -23.89451026916504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3946,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_83081483",
+      "mask_path": "../../mask/hdr_front_03946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03947.png",
+      "transform_matrix": [
+        [
+          0.010532976128160954,
+          -0.31466442346572876,
+          -0.9491445422172546,
+          51.507667541503906
+        ],
+        [
+          0.9936447739601135,
+          -0.10308673977851868,
+          0.04520256444811821,
+          23.072521209716797
+        ],
+        [
+          -0.11206785589456558,
+          -0.9435886144638062,
+          0.3115788698196411,
+          -23.932035446166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3947,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_183081626",
+      "mask_path": "../../mask/hdr_front_03947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03948.png",
+      "transform_matrix": [
+        [
+          0.02593439258635044,
+          -0.33778098225593567,
+          -0.9408673644065857,
+          51.59305191040039
+        ],
+        [
+          0.9969763159751892,
+          -0.06022564321756363,
+          0.049102626740932465,
+          23.07126808166504
+        ],
+        [
+          -0.07325026392936707,
+          -0.9392960071563721,
+          0.33519768714904785,
+          -23.95903205871582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3948,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_283082246",
+      "mask_path": "../../mask/hdr_front_03948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03949.png",
+      "transform_matrix": [
+        [
+          0.0417017787694931,
+          -0.36154666543006897,
+          -0.9314209818840027,
+          51.63852310180664
+        ],
+        [
+          0.9982572793960571,
+          -0.02388128452003002,
+          0.05396411195397377,
+          23.081844329833984
+        ],
+        [
+          -0.041754066944122314,
+          -0.9320482015609741,
+          0.3599206507205963,
+          -23.961898803710938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3949,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_383081197",
+      "mask_path": "../../mask/hdr_front_03949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03950.png",
+      "transform_matrix": [
+        [
+          0.041595395654439926,
+          -0.35299694538116455,
+          -0.9346994757652283,
+          51.721771240234375
+        ],
+        [
+          0.9979500770568848,
+          -0.030861077830195427,
+          0.05606507509946823,
+          23.083093643188477
+        ],
+        [
+          -0.048636630177497864,
+          -0.935115396976471,
+          0.3509896397590637,
+          -23.988195419311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3950,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_483082532",
+      "mask_path": "../../mask/hdr_front_03950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03951.png",
+      "transform_matrix": [
+        [
+          0.04140839725732803,
+          -0.339731365442276,
+          -0.9396106004714966,
+          51.823123931884766
+        ],
+        [
+          0.997394859790802,
+          -0.0415399894118309,
+          0.05897438898682594,
+          23.0802001953125
+        ],
+        [
+          -0.05906685069203377,
+          -0.9396046996116638,
+          0.3371261954307556,
+          -24.031848907470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3951,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_583081960",
+      "mask_path": "../../mask/hdr_front_03951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03952.png",
+      "transform_matrix": [
+        [
+          0.04515077546238899,
+          -0.33166906237602234,
+          -0.9423148036003113,
+          51.898807525634766
+        ],
+        [
+          0.9974750280380249,
+          -0.036792781203985214,
+          0.060743819922208786,
+          23.080808639526367
+        ],
+        [
+          -0.05481721833348274,
+          -0.9426781535148621,
+          0.3291704058647156,
+          -24.067481994628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3952,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_683081626",
+      "mask_path": "../../mask/hdr_front_03952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03953.png",
+      "transform_matrix": [
+        [
+          0.04692906513810158,
+          -0.3183215260505676,
+          -0.9468206167221069,
+          51.97368621826172
+        ],
+        [
+          0.9980388879776001,
+          -0.024367695674300194,
+          0.05766012519598007,
+          23.078754425048828
+        ],
+        [
+          -0.04142628610134125,
+          -0.9476696252822876,
+          0.31655365228652954,
+          -24.091970443725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3953,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_783082008",
+      "mask_path": "../../mask/hdr_front_03953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03954.png",
+      "transform_matrix": [
+        [
+          0.04730358347296715,
+          -0.31341227889060974,
+          -0.948438286781311,
+          52.10226821899414
+        ],
+        [
+          0.9983354210853577,
+          -0.01652984879910946,
+          0.05525452271103859,
+          23.064138412475586
+        ],
+        [
+          -0.03299498185515404,
+          -0.9494733214378357,
+          0.31210869550704956,
+          -24.132963180541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3954,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_883080244",
+      "mask_path": "../../mask/hdr_front_03954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03955.png",
+      "transform_matrix": [
+        [
+          0.06014736741781235,
+          -0.33243322372436523,
+          -0.9412069320678711,
+          52.2017707824707
+        ],
+        [
+          0.9981887340545654,
+          0.02117602899670601,
+          0.056309424340724945,
+          23.05079460144043
+        ],
+        [
+          0.001211902592331171,
+          -0.9428890943527222,
+          0.33310478925704956,
+          -24.148963928222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3955,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_983080863",
+      "mask_path": "../../mask/hdr_front_03955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03956.png",
+      "transform_matrix": [
+        [
+          0.06689610332250595,
+          -0.334843248128891,
+          -0.9398962259292603,
+          52.26407241821289
+        ],
+        [
+          0.9975102543830872,
+          0.0435154065489769,
+          0.055494122207164764,
+          23.061067581176758
+        ],
+        [
+          0.02231813594698906,
+          -0.9412685036659241,
+          0.3369206488132477,
+          -24.145977020263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3956,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_83082199",
+      "mask_path": "../../mask/hdr_front_03956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03957.png",
+      "transform_matrix": [
+        [
+          0.0631277859210968,
+          -0.3152517080307007,
+          -0.9469061493873596,
+          52.372581481933594
+        ],
+        [
+          0.9979302287101746,
+          0.03159194439649582,
+          0.05601158365607262,
+          23.064674377441406
+        ],
+        [
+          0.012256857939064503,
+          -0.948482096195221,
+          0.3165935277938843,
+          -24.16611099243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3957,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_183081626",
+      "mask_path": "../../mask/hdr_front_03957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03958.png",
+      "transform_matrix": [
+        [
+          0.060175176709890366,
+          -0.29721930623054504,
+          -0.9529111385345459,
+          52.49665451049805
+        ],
+        [
+          0.9981826543807983,
+          0.020991923287510872,
+          0.056486498564481735,
+          23.060264587402344
+        ],
+        [
+          0.00321456091478467,
+          -0.9545784592628479,
+          0.2979423701763153,
+          -24.201337814331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3958,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_283085823",
+      "mask_path": "../../mask/hdr_front_03958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03959.png",
+      "transform_matrix": [
+        [
+          0.057527534663677216,
+          -0.2802357077598572,
+          -0.9582058787345886,
+          52.56736755371094
+        ],
+        [
+          0.9983423948287964,
+          0.017873339354991913,
+          0.05470997467637062,
+          23.05948257446289
+        ],
+        [
+          0.0017946489388123155,
+          -0.959764838218689,
+          0.28079932928085327,
+          -24.21748161315918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3959,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_383081912",
+      "mask_path": "../../mask/hdr_front_03959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03960.png",
+      "transform_matrix": [
+        [
+          0.053142424672842026,
+          -0.26308301091194153,
+          -0.9633084535598755,
+          52.66276931762695
+        ],
+        [
+          0.9985703229904175,
+          0.008437071926891804,
+          0.05278350040316582,
+          23.05221939086914
+        ],
+        [
+          -0.005758937913924456,
+          -0.9647364020347595,
+          0.2631552517414093,
+          -24.242647171020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3960,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_483083009",
+      "mask_path": "../../mask/hdr_front_03960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03961.png",
+      "transform_matrix": [
+        [
+          0.05156104266643524,
+          -0.252323716878891,
+          -0.9662681221961975,
+          52.784629821777344
+        ],
+        [
+          0.9985786080360413,
+          -5.399588553700596e-05,
+          0.05329925939440727,
+          23.04500389099121
+        ],
+        [
+          -0.013500840403139591,
+          -0.9676428437232971,
+          0.251962274312973,
+          -24.28141212463379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3961,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_583080768",
+      "mask_path": "../../mask/hdr_front_03961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03962.png",
+      "transform_matrix": [
+        [
+          0.05509340763092041,
+          -0.2420113980770111,
+          -0.9687079787254333,
+          52.8687744140625
+        ],
+        [
+          0.9983860850334167,
+          -4.152517067268491e-05,
+          0.05679165944457054,
+          23.031038284301758
+        ],
+        [
+          -0.013784454204142094,
+          -0.970273494720459,
+          0.24161851406097412,
+          -24.297529220581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3962,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_683080911",
+      "mask_path": "../../mask/hdr_front_03962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03963.png",
+      "transform_matrix": [
+        [
+          0.06326278299093246,
+          -0.23023609817028046,
+          -0.9710763692855835,
+          52.958343505859375
+        ],
+        [
+          0.997698962688446,
+          -0.009182794950902462,
+          0.06717436760663986,
+          23.022401809692383
+        ],
+        [
+          -0.02438315562903881,
+          -0.9730915427207947,
+          0.22912538051605225,
+          -24.313772201538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3963,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_783080577",
+      "mask_path": "../../mask/hdr_front_03963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03964.png",
+      "transform_matrix": [
+        [
+          0.06976855546236038,
+          -0.21936950087547302,
+          -0.9731441140174866,
+          53.083553314208984
+        ],
+        [
+          0.996951162815094,
+          -0.018833903595805168,
+          0.07572098821401596,
+          23.02379608154297
+        ],
+        [
+          -0.03493897244334221,
+          -0.9754600524902344,
+          0.2173866629600525,
+          -24.34326934814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3964,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_883081436",
+      "mask_path": "../../mask/hdr_front_03964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03965.png",
+      "transform_matrix": [
+        [
+          0.06682461500167847,
+          -0.2058677226305008,
+          -0.9762955904006958,
+          53.1998176574707
+        ],
+        [
+          0.9969043731689453,
+          -0.026850393041968346,
+          0.07389707118272781,
+          23.024887084960938
+        ],
+        [
+          -0.04142693430185318,
+          -0.9782114624977112,
+          0.20343613624572754,
+          -24.341323852539062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3965,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_983082532",
+      "mask_path": "../../mask/hdr_front_03965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03966.png",
+      "transform_matrix": [
+        [
+          0.06264054030179977,
+          -0.1914249062538147,
+          -0.9795063138008118,
+          53.27718734741211
+        ],
+        [
+          0.9971022605895996,
+          -0.030442804098129272,
+          0.06971526145935059,
+          23.035737991333008
+        ],
+        [
+          -0.04316415637731552,
+          -0.981035053730011,
+          0.18896326422691345,
+          -24.35381507873535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3966,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_83081960",
+      "mask_path": "../../mask/hdr_front_03966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03967.png",
+      "transform_matrix": [
+        [
+          0.061550091952085495,
+          -0.17974504828453064,
+          -0.981785774230957,
+          53.40019989013672
+        ],
+        [
+          0.9970414042472839,
+          -0.03430388495326042,
+          0.0687868520617485,
+          23.033845901489258
+        ],
+        [
+          -0.046043165028095245,
+          -0.9831149578094482,
+          0.17710185050964355,
+          -24.384464263916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3967,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_183081388",
+      "mask_path": "../../mask/hdr_front_03967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03968.png",
+      "transform_matrix": [
+        [
+          0.0668964833021164,
+          -0.1674988567829132,
+          -0.9836000800132751,
+          53.539642333984375
+        ],
+        [
+          0.9964898228645325,
+          -0.03850974887609482,
+          0.07433102279901505,
+          23.01555633544922
+        ],
+        [
+          -0.05032854899764061,
+          -0.9851199388504028,
+          0.1643347144126892,
+          -24.39914894104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3968,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_283082008",
+      "mask_path": "../../mask/hdr_front_03968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03969.png",
+      "transform_matrix": [
+        [
+          0.07637368887662888,
+          -0.153453066945076,
+          -0.9852001070976257,
+          53.6387825012207
+        ],
+        [
+          0.9959167242050171,
+          -0.03596092760562897,
+          0.08280567079782486,
+          23.001787185668945
+        ],
+        [
+          -0.04813548922538757,
+          -0.9875013828277588,
+          0.15007998049259186,
+          -24.404359817504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3969,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_383082151",
+      "mask_path": "../../mask/hdr_front_03969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03970.png",
+      "transform_matrix": [
+        [
+          0.08629219979047775,
+          -0.14108730852603912,
+          -0.9862291216850281,
+          53.75102233886719
+        ],
+        [
+          0.9948366284370422,
+          -0.04087650775909424,
+          0.09289301931858063,
+          23.000564575195312
+        ],
+        [
+          -0.053419627249240875,
+          -0.9891529083251953,
+          0.13683150708675385,
+          -24.425935745239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3970,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_483081817",
+      "mask_path": "../../mask/hdr_front_03970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03971.png",
+      "transform_matrix": [
+        [
+          0.08924362063407898,
+          -0.14124204218387604,
+          -0.9859444499015808,
+          53.89674377441406
+        ],
+        [
+          0.9941459894180298,
+          -0.04789808392524719,
+          0.09684766083955765,
+          22.99374771118164
+        ],
+        [
+          -0.06090380623936653,
+          -0.9888157248497009,
+          0.1361405998468399,
+          -24.45117950439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3971,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_583080291",
+      "mask_path": "../../mask/hdr_front_03971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03972.png",
+      "transform_matrix": [
+        [
+          0.08637986332178116,
+          -0.14303065836429596,
+          -0.9859417080879211,
+          54.0019416809082
+        ],
+        [
+          0.9944995045661926,
+          -0.046465691179037094,
+          0.09387042373418808,
+          22.98841094970703
+        ],
+        [
+          -0.05923880264163017,
+          -0.9886269569396973,
+          0.13823018968105316,
+          -24.468441009521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3972,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_683082103",
+      "mask_path": "../../mask/hdr_front_03972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03973.png",
+      "transform_matrix": [
+        [
+          0.08414163440465927,
+          -0.13666363060474396,
+          -0.9870375990867615,
+          54.1246452331543
+        ],
+        [
+          0.9950932860374451,
+          -0.04021938890218735,
+          0.09039707481861115,
+          22.99325180053711
+        ],
+        [
+          -0.05205203965306282,
+          -0.989800751209259,
+          0.13260892033576965,
+          -24.497018814086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3973,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_783082008",
+      "mask_path": "../../mask/hdr_front_03973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03974.png",
+      "transform_matrix": [
+        [
+          0.08809608221054077,
+          -0.1512758433818817,
+          -0.98455810546875,
+          54.21897888183594
+        ],
+        [
+          0.9953678846359253,
+          -0.02482861839234829,
+          0.09287820011377335,
+          22.987024307250977
+        ],
+        [
+          -0.03849544748663902,
+          -0.9881798028945923,
+          0.14838780462741852,
+          -24.50762367248535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3974,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_883082389",
+      "mask_path": "../../mask/hdr_front_03974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03975.png",
+      "transform_matrix": [
+        [
+          0.08647120743989944,
+          -0.16557954251766205,
+          -0.9823982119560242,
+          54.267337799072266
+        ],
+        [
+          0.9958491921424866,
+          -0.013752169907093048,
+          0.08997305482625961,
+          22.98407745361328
+        ],
+        [
+          -0.028407800942659378,
+          -0.9861005544662476,
+          0.1637030988931656,
+          -24.507652282714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3975,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_983081579",
+      "mask_path": "../../mask/hdr_front_03975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03976.png",
+      "transform_matrix": [
+        [
+          0.0760505273938179,
+          -0.16305701434612274,
+          -0.9836812019348145,
+          54.335777282714844
+        ],
+        [
+          0.9968564510345459,
+          -0.009543019346892834,
+          0.07865102589130402,
+          22.986740112304688
+        ],
+        [
+          -0.022211886942386627,
+          -0.9865705370903015,
+          0.1618187129497528,
+          -24.521129608154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3976,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_83081960",
+      "mask_path": "../../mask/hdr_front_03976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03977.png",
+      "transform_matrix": [
+        [
+          0.0661884993314743,
+          -0.15741315484046936,
+          -0.9853122234344482,
+          54.410499572753906
+        ],
+        [
+          0.9976757764816284,
+          -0.005580322351306677,
+          0.06791054457426071,
+          22.97669219970703
+        ],
+        [
+          -0.016188373789191246,
+          -0.9875171184539795,
+          0.1566779464483261,
+          -24.518800735473633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3977,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_183081388",
+      "mask_path": "../../mask/hdr_front_03977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03978.png",
+      "transform_matrix": [
+        [
+          0.044898826628923416,
+          -0.1807308942079544,
+          -0.9825072288513184,
+          54.537574768066406
+        ],
+        [
+          0.9983965158462524,
+          -0.025821246206760406,
+          0.05037472024559975,
+          22.979351043701172
+        ],
+        [
+          -0.034473832696676254,
+          -0.983193576335907,
+          0.17928175628185272,
+          -24.55036163330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3978,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_283082485",
+      "mask_path": "../../mask/hdr_front_03978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03979.png",
+      "transform_matrix": [
+        [
+          0.017243484035134315,
+          -0.2075510025024414,
+          -0.9780722260475159,
+          54.63985824584961
+        ],
+        [
+          0.9986751079559326,
+          -0.04386087879538536,
+          0.02691417932510376,
+          22.981199264526367
+        ],
+        [
+          -0.0484851635992527,
+          -0.9772403836250305,
+          0.20651966333389282,
+          -24.583967208862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3979,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_383080005",
+      "mask_path": "../../mask/hdr_front_03979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03981.png",
+      "transform_matrix": [
+        [
+          -0.02932078018784523,
+          -0.20704306662082672,
+          -0.9778923392295837,
+          54.745025634765625
+        ],
+        [
+          0.9988890290260315,
+          -0.04217743128538132,
+          -0.021020373329520226,
+          22.99911117553711
+        ],
+        [
+          -0.036892857402563095,
+          -0.9774222373962402,
+          0.2080497145652771,
+          -24.620471954345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3981,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_583080768",
+      "mask_path": "../../mask/hdr_front_03981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03982.png",
+      "transform_matrix": [
+        [
+          -0.053794410079717636,
+          -0.20589874684810638,
+          -0.9770935773849487,
+          54.84748458862305
+        ],
+        [
+          0.9979891777038574,
+          -0.043935928493738174,
+          -0.045686401426792145,
+          23.004640579223633
+        ],
+        [
+          -0.03352274000644684,
+          -0.977586567401886,
+          0.2078482061624527,
+          -24.64734649658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3982,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_683082580",
+      "mask_path": "../../mask/hdr_front_03982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03983.png",
+      "transform_matrix": [
+        [
+          -0.05983416363596916,
+          -0.20464739203453064,
+          -0.9770053029060364,
+          54.911643981933594
+        ],
+        [
+          0.9978587627410889,
+          -0.038161758333444595,
+          -0.0531177781522274,
+          23.011520385742188
+        ],
+        [
+          -0.026413824409246445,
+          -0.9780915975570679,
+          0.2064925730228424,
+          -24.656753540039062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3983,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_783080816",
+      "mask_path": "../../mask/hdr_front_03983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03984.png",
+      "transform_matrix": [
+        [
+          -0.051970433443784714,
+          -0.19453254342079163,
+          -0.9795183539390564,
+          54.999725341796875
+        ],
+        [
+          0.9982179403305054,
+          -0.03892124816775322,
+          -0.04523281380534172,
+          23.027076721191406
+        ],
+        [
+          -0.029324820265173912,
+          -0.9801235795021057,
+          0.1962086260318756,
+          -24.684070587158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3984,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_883080959",
+      "mask_path": "../../mask/hdr_front_03984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03985.png",
+      "transform_matrix": [
+        [
+          -0.04870840162038803,
+          -0.18589122593402863,
+          -0.9813623428344727,
+          55.127166748046875
+        ],
+        [
+          0.997968316078186,
+          -0.049458954483270645,
+          -0.04016401991248131,
+          23.04292106628418
+        ],
+        [
+          -0.04107101261615753,
+          -0.9813247919082642,
+          0.1879226118326187,
+          -24.70072364807129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3985,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_983079671",
+      "mask_path": "../../mask/hdr_front_03985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03986.png",
+      "transform_matrix": [
+        [
+          -0.049260806292295456,
+          -0.18033458292484283,
+          -0.9823709726333618,
+          55.234954833984375
+        ],
+        [
+          0.9977436661720276,
+          -0.053807877004146576,
+          -0.040154118090867996,
+          23.055423736572266
+        ],
+        [
+          -0.045618120580911636,
+          -0.9821324944496155,
+          0.18257832527160645,
+          -24.712923049926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3986,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_83082675",
+      "mask_path": "../../mask/hdr_front_03986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06452.png",
+      "transform_matrix": [
+        [
+          -0.1027572974562645,
+          -0.13760270178318024,
+          0.9851428270339966,
+          54.64988327026367
+        ],
+        [
+          -0.9946333169937134,
+          0.002207151846960187,
+          -0.10343894362449646,
+          23.268098831176758
+        ],
+        [
+          0.012059117667376995,
+          -0.9904850721359253,
+          -0.13709105551242828,
+          -24.552322387695312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6452,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_683082103",
+      "mask_path": "../../mask/hdr_front_06452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06454.png",
+      "transform_matrix": [
+        [
+          -0.11259804666042328,
+          -0.14479310810565948,
+          0.9830344319343567,
+          54.565704345703125
+        ],
+        [
+          -0.9934142231941223,
+          -0.004711705259978771,
+          -0.11448097974061966,
+          23.276752471923828
+        ],
+        [
+          0.02120782434940338,
+          -0.9894507527351379,
+          -0.14330899715423584,
+          -24.54798126220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6454,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_883083105",
+      "mask_path": "../../mask/hdr_front_06454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06455.png",
+      "transform_matrix": [
+        [
+          -0.10834937542676926,
+          -0.14048132300376892,
+          0.9841368794441223,
+          54.50504684448242
+        ],
+        [
+          -0.993945837020874,
+          -0.0028426111675798893,
+          -0.10983505845069885,
+          23.28461456298828
+        ],
+        [
+          0.018227292224764824,
+          -0.9900792837142944,
+          -0.13932283222675323,
+          -24.549020767211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6455,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_983080863",
+      "mask_path": "../../mask/hdr_front_06455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06456.png",
+      "transform_matrix": [
+        [
+          -0.10212962329387665,
+          -0.13861341774463654,
+          0.9850665330886841,
+          54.452083587646484
+        ],
+        [
+          -0.9946548938751221,
+          -0.000905471621081233,
+          -0.10325115919113159,
+          23.284765243530273
+        ],
+        [
+          0.015203947201371193,
+          -0.9903461337089539,
+          -0.1377800554037094,
+          -24.546791076660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6456,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_83081722",
+      "mask_path": "../../mask/hdr_front_06456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06458.png",
+      "transform_matrix": [
+        [
+          -0.09977026283740997,
+          -0.1329679787158966,
+          0.9860859513282776,
+          54.36110305786133
+        ],
+        [
+          -0.9949161410331726,
+          -0.00031607699929736555,
+          -0.1007063016295433,
+          23.292518615722656
+        ],
+        [
+          0.013702392578125,
+          -0.9911203384399414,
+          -0.13226047158241272,
+          -24.533926010131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6458,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_283085107",
+      "mask_path": "../../mask/hdr_front_06458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06459.png",
+      "transform_matrix": [
+        [
+          -0.10302016884088516,
+          -0.13088077306747437,
+          0.9860309958457947,
+          54.29618835449219
+        ],
+        [
+          -0.9945775866508484,
+          -0.000624661217443645,
+          -0.10399602353572845,
+          23.30689239501953
+        ],
+        [
+          0.01422701682895422,
+          -0.9913979172706604,
+          -0.13010673224925995,
+          -24.522600173950195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6459,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_383081674",
+      "mask_path": "../../mask/hdr_front_06459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06461.png",
+      "transform_matrix": [
+        [
+          -0.10886233299970627,
+          -0.13298222422599792,
+          0.9851217269897461,
+          54.22269821166992
+        ],
+        [
+          -0.9937825798988342,
+          -0.008721298538148403,
+          -0.11099670827388763,
+          23.311054229736328
+        ],
+        [
+          0.023352131247520447,
+          -0.9910800457000732,
+          -0.13120600581169128,
+          -24.50386619567871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6461,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_583081722",
+      "mask_path": "../../mask/hdr_front_06461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06462.png",
+      "transform_matrix": [
+        [
+          -0.1081077978014946,
+          -0.13088499009609222,
+          0.9854856133460999,
+          54.15851974487305
+        ],
+        [
+          -0.9939631223678589,
+          -0.0044248816557228565,
+          -0.10962547361850739,
+          23.321725845336914
+        ],
+        [
+          0.018708983436226845,
+          -0.9913877248764038,
+          -0.12961646914482117,
+          -24.499919891357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6462,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_683082818",
+      "mask_path": "../../mask/hdr_front_06462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06463.png",
+      "transform_matrix": [
+        [
+          -0.10478236526250839,
+          -0.12604324519634247,
+          0.9864753484725952,
+          54.103729248046875
+        ],
+        [
+          -0.9944347143173218,
+          0.002331529511138797,
+          -0.10532988607883453,
+          23.331836700439453
+        ],
+        [
+          0.010976121760904789,
+          -0.9920220375061035,
+          -0.12558606266975403,
+          -24.503765106201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6463,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_783080816",
+      "mask_path": "../../mask/hdr_front_06463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06464.png",
+      "transform_matrix": [
+        [
+          -0.10269981622695923,
+          -0.12318243831396103,
+          0.9870557188987732,
+          54.053955078125
+        ],
+        [
+          -0.9946820139884949,
+          0.004970948211848736,
+          -0.10287295281887054,
+          23.339635848999023
+        ],
+        [
+          0.0077655380591750145,
+          -0.9923716187477112,
+          -0.12303787469863892,
+          -24.5031795501709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6464,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_883081912",
+      "mask_path": "../../mask/hdr_front_06464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06465.png",
+      "transform_matrix": [
+        [
+          -0.1035652831196785,
+          -0.12562936544418335,
+          0.9866567254066467,
+          53.98191452026367
+        ],
+        [
+          -0.9945895671844482,
+          0.004994095768779516,
+          -0.10376208275556564,
+          23.358102798461914
+        ],
+        [
+          0.008108106441795826,
+          -0.9920647740364075,
+          -0.12546688318252563,
+          -24.49242401123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6465,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_983082532",
+      "mask_path": "../../mask/hdr_front_06465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06466.png",
+      "transform_matrix": [
+        [
+          -0.10440098494291306,
+          -0.13167719542980194,
+          0.9857797026634216,
+          53.9238166809082
+        ],
+        [
+          -0.9944544434547424,
+          0.0011832360178232193,
+          -0.105161651968956,
+          23.37187957763672
+        ],
+        [
+          0.012680980376899242,
+          -0.9912919402122498,
+          -0.13107050955295563,
+          -24.47821807861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6466,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_83082675",
+      "mask_path": "../../mask/hdr_front_06466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06468.png",
+      "transform_matrix": [
+        [
+          -0.10307517647743225,
+          -0.14442449808120728,
+          0.984132707118988,
+          53.801544189453125
+        ],
+        [
+          -0.9943390488624573,
+          -0.010696947574615479,
+          -0.10571398586034775,
+          23.379493713378906
+        ],
+        [
+          0.02579490654170513,
+          -0.9894580245018005,
+          -0.14250431954860687,
+          -24.44746208190918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6468,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_283083438",
+      "mask_path": "../../mask/hdr_front_06468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06469.png",
+      "transform_matrix": [
+        [
+          -0.09035443514585495,
+          -0.14740166068077087,
+          0.9849410653114319,
+          53.72461700439453
+        ],
+        [
+          -0.9955543875694275,
+          -0.01304834894835949,
+          -0.09328082948923111,
+          23.3753662109375
+        ],
+        [
+          0.026601599529385567,
+          -0.9889906644821167,
+          -0.1455674022436142,
+          -24.423673629760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6469,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_383081912",
+      "mask_path": "../../mask/hdr_front_06469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06471.png",
+      "transform_matrix": [
+        [
+          -0.05257001146674156,
+          -0.14986835420131683,
+          0.9873074293136597,
+          53.60865020751953
+        ],
+        [
+          -0.9985356330871582,
+          -0.004747947212308645,
+          -0.05388858541846275,
+          23.355518341064453
+        ],
+        [
+          0.012763875536620617,
+          -0.9886946082115173,
+          -0.1493992954492569,
+          -24.396015167236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6471,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_583082437",
+      "mask_path": "../../mask/hdr_front_06471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06472.png",
+      "transform_matrix": [
+        [
+          -0.032605309039354324,
+          -0.1468055099248886,
+          0.9886278510093689,
+          53.53168869018555
+        ],
+        [
+          -0.9993603229522705,
+          -0.009747792966663837,
+          -0.034406766295433044,
+          23.339187622070312
+        ],
+        [
+          0.014688043855130672,
+          -0.9891173243522644,
+          -0.1463937759399414,
+          -24.375499725341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6472,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_683083057",
+      "mask_path": "../../mask/hdr_front_06472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06473.png",
+      "transform_matrix": [
+        [
+          -0.016954906284809113,
+          -0.14766351878643036,
+          0.9888923764228821,
+          53.46586608886719
+        ],
+        [
+          -0.999618411064148,
+          -0.019064949825406075,
+          -0.019985631108283997,
+          23.324983596801758
+        ],
+        [
+          0.021804330870509148,
+          -0.988853931427002,
+          -0.1472839117050171,
+          -24.36084747314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6473,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_783082246",
+      "mask_path": "../../mask/hdr_front_06473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06474.png",
+      "transform_matrix": [
+        [
+          -0.01099418569356203,
+          -0.15156713128089905,
+          0.9883858561515808,
+          53.40675354003906
+        ],
+        [
+          -0.9995145797729492,
+          -0.027147715911269188,
+          -0.015281027182936668,
+          23.315814971923828
+        ],
+        [
+          0.029148517176508904,
+          -0.9880741238594055,
+          -0.15119510889053345,
+          -24.349613189697266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6474,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_883083105",
+      "mask_path": "../../mask/hdr_front_06474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06475.png",
+      "transform_matrix": [
+        [
+          -0.012921755202114582,
+          -0.14627352356910706,
+          0.9891598224639893,
+          53.31573486328125
+        ],
+        [
+          -0.9994558691978455,
+          -0.02813546545803547,
+          -0.01721683144569397,
+          23.307802200317383
+        ],
+        [
+          0.030348842963576317,
+          -0.9888440370559692,
+          -0.14583034813404083,
+          -24.33656883239746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6475,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_983081579",
+      "mask_path": "../../mask/hdr_front_06475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06476.png",
+      "transform_matrix": [
+        [
+          -0.01099427416920662,
+          -0.1389145702123642,
+          0.9902433753013611,
+          53.22075271606445
+        ],
+        [
+          -0.9996928572654724,
+          -0.020469101145863533,
+          -0.013970662839710712,
+          23.305688858032227
+        ],
+        [
+          0.022210119292140007,
+          -0.9900928139686584,
+          -0.13864685595035553,
+          -24.327024459838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6476,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_83081960",
+      "mask_path": "../../mask/hdr_front_06476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06477.png",
+      "transform_matrix": [
+        [
+          -0.00632827915251255,
+          -0.13510973751544952,
+          0.9908105134963989,
+          53.15700149536133
+        ],
+        [
+          -0.9998301863670349,
+          -0.016292817890644073,
+          -0.008607623167335987,
+          23.299224853515625
+        ],
+        [
+          0.017306068912148476,
+          -0.9906967282295227,
+          -0.13498371839523315,
+          -24.326196670532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6477,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_183082103",
+      "mask_path": "../../mask/hdr_front_06477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06478.png",
+      "transform_matrix": [
+        [
+          -0.004775505047291517,
+          -0.12761449813842773,
+          0.9918124675750732,
+          53.08094787597656
+        ],
+        [
+          -0.9998071193695068,
+          -0.018286773934960365,
+          -0.007166921626776457,
+          23.30036735534668
+        ],
+        [
+          0.019051652401685715,
+          -0.9916553497314453,
+          -0.12750253081321716,
+          -24.330223083496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6478,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_283081531",
+      "mask_path": "../../mask/hdr_front_06478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06479.png",
+      "transform_matrix": [
+        [
+          -0.01207004301249981,
+          -0.11332996934652328,
+          0.9934841394424438,
+          52.98745346069336
+        ],
+        [
+          -0.9996033310890198,
+          -0.02391570433974266,
+          -0.014872529543936253,
+          23.30316734313965
+        ],
+        [
+          0.025445373728871346,
+          -0.9932695627212524,
+          -0.11299635469913483,
+          -24.31629753112793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6479,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_383081912",
+      "mask_path": "../../mask/hdr_front_06479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06480.png",
+      "transform_matrix": [
+        [
+          -0.021376730874180794,
+          -0.10557150840759277,
+          0.9941819906234741,
+          52.909034729003906
+        ],
+        [
+          -0.9992489218711853,
+          -0.029891274869441986,
+          -0.024659819900989532,
+          23.304235458374023
+        ],
+        [
+          0.03232073783874512,
+          -0.9939624071121216,
+          -0.10485323518514633,
+          -24.298778533935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6480,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_483081579",
+      "mask_path": "../../mask/hdr_front_06480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06481.png",
+      "transform_matrix": [
+        [
+          -0.02758912369608879,
+          -0.10849414020776749,
+          0.9937142133712769,
+          52.83124923706055
+        ],
+        [
+          -0.9986660480499268,
+          -0.04041299596428871,
+          -0.03213891759514809,
+          23.301301956176758
+        ],
+        [
+          0.04364584758877754,
+          -0.9932753443717957,
+          -0.10723446309566498,
+          -24.292203903198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6481,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_583083391",
+      "mask_path": "../../mask/hdr_front_06481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06482.png",
+      "transform_matrix": [
+        [
+          -0.02609746716916561,
+          -0.128763809800148,
+          0.9913318753242493,
+          52.709163665771484
+        ],
+        [
+          -0.9982561469078064,
+          -0.04916774109005928,
+          -0.03266613930463791,
+          23.289226531982422
+        ],
+        [
+          0.0529477559030056,
+          -0.990455687046051,
+          -0.1272561103105545,
+          -24.250652313232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6482,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_683081150",
+      "mask_path": "../../mask/hdr_front_06482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06483.png",
+      "transform_matrix": [
+        [
+          -0.014287462458014488,
+          -0.14339779317378998,
+          0.9895619750022888,
+          52.59810256958008
+        ],
+        [
+          -0.9989151358604431,
+          -0.041820406913757324,
+          -0.020482713356614113,
+          23.275049209594727
+        ],
+        [
+          0.04432106018066406,
+          -0.9887811541557312,
+          -0.1426447033882141,
+          -24.20077896118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6483,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_783082246",
+      "mask_path": "../../mask/hdr_front_06483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06484.png",
+      "transform_matrix": [
+        [
+          -0.002078757155686617,
+          -0.1453242152929306,
+          0.9893819689750671,
+          52.533905029296875
+        ],
+        [
+          -0.9995025992393494,
+          -0.03083299845457077,
+          -0.006628890987485647,
+          23.277503967285156
+        ],
+        [
+          0.0314689502120018,
+          -0.9889035224914551,
+          -0.14518781006336212,
+          -24.190248489379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6484,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_883082151",
+      "mask_path": "../../mask/hdr_front_06484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06485.png",
+      "transform_matrix": [
+        [
+          0.004555145278573036,
+          -0.14328302443027496,
+          0.9896713495254517,
+          52.460567474365234
+        ],
+        [
+          -0.9993295669555664,
+          -0.03660343959927559,
+          -0.0006997890304774046,
+          23.286800384521484
+        ],
+        [
+          0.036325640976428986,
+          -0.9890046715736389,
+          -0.14335371553897858,
+          -24.181499481201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6485,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_983082771",
+      "mask_path": "../../mask/hdr_front_06485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06486.png",
+      "transform_matrix": [
+        [
+          0.00734795443713665,
+          -0.1448133885860443,
+          0.9894317388534546,
+          52.372928619384766
+        ],
+        [
+          -0.9992254376411438,
+          -0.039315830916166306,
+          0.0016664151335135102,
+          23.297273635864258
+        ],
+        [
+          0.03865900635719299,
+          -0.9886775612831116,
+          -0.14499013125896454,
+          -24.167381286621094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6486,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_83083152",
+      "mask_path": "../../mask/hdr_front_06486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06487.png",
+      "transform_matrix": [
+        [
+          0.010201726108789444,
+          -0.1487787663936615,
+          0.9888179302215576,
+          52.30373764038086
+        ],
+        [
+          -0.9992470145225525,
+          -0.038534313440322876,
+          0.004511403385549784,
+          23.30134391784668
+        ],
+        [
+          0.037432219833135605,
+          -0.9881194829940796,
+          -0.14905987679958344,
+          -24.15423011779785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6487,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_183081865",
+      "mask_path": "../../mask/hdr_front_06487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06488.png",
+      "transform_matrix": [
+        [
+          0.010191607289016247,
+          -0.15034860372543335,
+          0.9885805249214172,
+          52.230125427246094
+        ],
+        [
+          -0.9990547299385071,
+          -0.0433105044066906,
+          0.003712697420269251,
+          23.293088912963867
+        ],
+        [
+          0.04225771874189377,
+          -0.9876839518547058,
+          -0.15064789354801178,
+          -24.13361358642578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6488,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_283081769",
+      "mask_path": "../../mask/hdr_front_06488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06489.png",
+      "transform_matrix": [
+        [
+          0.018089640885591507,
+          -0.14954358339309692,
+          0.9885897040367126,
+          52.147274017333984
+        ],
+        [
+          -0.9991263151168823,
+          -0.03996136412024498,
+          0.01223750226199627,
+          23.28438949584961
+        ],
+        [
+          0.03767535462975502,
+          -0.9879473447799683,
+          -0.1501358151435852,
+          -24.127330780029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6489,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_383082389",
+      "mask_path": "../../mask/hdr_front_06489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06491.png",
+      "transform_matrix": [
+        [
+          0.05230344086885452,
+          -0.14430168271064758,
+          0.9881504774093628,
+          52.033485412597656
+        ],
+        [
+          -0.9982719421386719,
+          -0.03409784287214279,
+          0.0478597991168499,
+          23.266584396362305
+        ],
+        [
+          0.026787549257278442,
+          -0.9889460802078247,
+          -0.1458357572555542,
+          -24.119014739990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6491,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_583081483",
+      "mask_path": "../../mask/hdr_front_06491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06492.png",
+      "transform_matrix": [
+        [
+          0.07593367993831635,
+          -0.1405777633190155,
+          0.9871534705162048,
+          51.97355651855469
+        ],
+        [
+          -0.9967848658561707,
+          -0.036091677844524384,
+          0.07153482735157013,
+          23.257835388183594
+        ],
+        [
+          0.025571823120117188,
+          -0.9894115924835205,
+          -0.14286638796329498,
+          -24.108863830566406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6492,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_683080911",
+      "mask_path": "../../mask/hdr_front_06492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06494.png",
+      "transform_matrix": [
+        [
+          0.12345034629106522,
+          -0.14696131646633148,
+          0.981408417224884,
+          51.905487060546875
+        ],
+        [
+          -0.99188232421875,
+          -0.04865768551826477,
+          0.11748160421848297,
+          23.233003616333008
+        ],
+        [
+          0.03048781119287014,
+          -0.9879447221755981,
+          -0.15177513659000397,
+          -24.093738555908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6494,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_883080959",
+      "mask_path": "../../mask/hdr_front_06494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06496.png",
+      "transform_matrix": [
+        [
+          0.1758832335472107,
+          -0.16434556245803833,
+          0.9705954790115356,
+          51.809326171875
+        ],
+        [
+          -0.9830166101455688,
+          -0.08178400993347168,
+          0.1642860770225525,
+          23.185495376586914
+        ],
+        [
+          0.05237950012087822,
+          -0.9830065965652466,
+          -0.17593884468078613,
+          -24.05853271484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6496,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_83081483",
+      "mask_path": "../../mask/hdr_front_06496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06499.png",
+      "transform_matrix": [
+        [
+          0.19623419642448425,
+          -0.18875710666179657,
+          0.9622177481651306,
+          51.659339904785156
+        ],
+        [
+          -0.9797407984733582,
+          -0.07777447253465652,
+          0.184550940990448,
+          23.12371253967285
+        ],
+        [
+          0.04000067710876465,
+          -0.9789391756057739,
+          -0.2001950442790985,
+          -24.008468627929688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6499,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_383082151",
+      "mask_path": "../../mask/hdr_front_06499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06500.png",
+      "transform_matrix": [
+        [
+          0.19361016154289246,
+          -0.1838824599981308,
+          0.9636920690536499,
+          51.598419189453125
+        ],
+        [
+          -0.9800700545310974,
+          -0.0807783380150795,
+          0.18148724734783173,
+          23.102523803710938
+        ],
+        [
+          0.044473111629486084,
+          -0.9796234965324402,
+          -0.1958572119474411,
+          -23.992658615112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6500,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_483079671",
+      "mask_path": "../../mask/hdr_front_06500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06501.png",
+      "transform_matrix": [
+        [
+          0.1890038400888443,
+          -0.184425488114357,
+          0.9645023941993713,
+          51.54151153564453
+        ],
+        [
+          -0.9805634021759033,
+          -0.08811724185943604,
+          0.17530198395252228,
+          23.08407211303711
+        ],
+        [
+          0.05265912786126137,
+          -0.9788884520530701,
+          -0.19749537110328674,
+          -23.96628761291504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6501,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_583080768",
+      "mask_path": "../../mask/hdr_front_06501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06502.png",
+      "transform_matrix": [
+        [
+          0.18378041684627533,
+          -0.19057206809520721,
+          0.9643168449401855,
+          51.479393005371094
+        ],
+        [
+          -0.9812711477279663,
+          -0.09317577630281448,
+          0.16859781742095947,
+          23.070308685302734
+        ],
+        [
+          0.057720936834812164,
+          -0.9772413372993469,
+          -0.2041267454624176,
+          -23.947383880615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6502,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_683079242",
+      "mask_path": "../../mask/hdr_front_06502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06503.png",
+      "transform_matrix": [
+        [
+          0.183034747838974,
+          -0.21001143753528595,
+          0.9604131579399109,
+          51.395713806152344
+        ],
+        [
+          -0.9802302718162537,
+          -0.1136581301689148,
+          0.16195812821388245,
+          23.0460262298584
+        ],
+        [
+          0.07514570653438568,
+          -0.9710700511932373,
+          -0.22666294872760773,
+          -23.910266876220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6503,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_783077716",
+      "mask_path": "../../mask/hdr_front_06503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06504.png",
+      "transform_matrix": [
+        [
+          0.18623098731040955,
+          -0.22573958337306976,
+          0.9562215805053711,
+          51.29510498046875
+        ],
+        [
+          -0.9800810813903809,
+          -0.11101876199245453,
+          0.16466911137104034,
+          23.023351669311523
+        ],
+        [
+          0.0689861997961998,
+          -0.9678411483764648,
+          -0.24191822111606598,
+          -23.8508243560791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6504,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_883082389",
+      "mask_path": "../../mask/hdr_front_06504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06505.png",
+      "transform_matrix": [
+        [
+          0.1886676549911499,
+          -0.22830967605113983,
+          0.9551331400871277,
+          51.22187042236328
+        ],
+        [
+          -0.9808275699615479,
+          -0.09214328229427338,
+          0.17171767354011536,
+          23.003385543823242
+        ],
+        [
+          0.04880428686738014,
+          -0.9692184329032898,
+          -0.24131685495376587,
+          -23.834383010864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6505,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_983081340",
+      "mask_path": "../../mask/hdr_front_06505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06506.png",
+      "transform_matrix": [
+        [
+          0.18734239041805267,
+          -0.23396161198616028,
+          0.9540256261825562,
+          51.147308349609375
+        ],
+        [
+          -0.981645405292511,
+          -0.07989829033613205,
+          0.17317214608192444,
+          22.991512298583984
+        ],
+        [
+          0.03570937737822533,
+          -0.9689573645591736,
+          -0.2446356564760208,
+          -23.8319091796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6506,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_83081245",
+      "mask_path": "../../mask/hdr_front_06506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06507.png",
+      "transform_matrix": [
+        [
+          0.18135173618793488,
+          -0.24159707129001617,
+          0.9532798528671265,
+          51.05720138549805
+        ],
+        [
+          -0.9829474687576294,
+          -0.07452128827571869,
+          0.1681092530488968,
+          22.990509033203125
+        ],
+        [
+          0.0304249357432127,
+          -0.9675109386444092,
+          -0.2509918212890625,
+          -23.79442596435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6507,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_183081388",
+      "mask_path": "../../mask/hdr_front_06507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06508.png",
+      "transform_matrix": [
+        [
+          0.17561295628547668,
+          -0.24805545806884766,
+          0.9526954293251038,
+          50.99778366088867
+        ],
+        [
+          -0.9840341806411743,
+          -0.0726650133728981,
+          0.16246981918811798,
+          22.98899269104004
+        ],
+        [
+          0.028926115483045578,
+          -0.9660167098045349,
+          -0.2568559944629669,
+          -23.764801025390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6508,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_283077716",
+      "mask_path": "../../mask/hdr_front_06508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06509.png",
+      "transform_matrix": [
+        [
+          0.17211881279945374,
+          -0.24780268967151642,
+          0.9533986449241638,
+          50.94807052612305
+        ],
+        [
+          -0.9846128225326538,
+          -0.0729609951376915,
+          0.15879030525684357,
+          22.983278274536133
+        ],
+        [
+          0.030212249606847763,
+          -0.9660592675209045,
+          -0.2565476596355438,
+          -23.759052276611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6509,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_383077859",
+      "mask_path": "../../mask/hdr_front_06509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06510.png",
+      "transform_matrix": [
+        [
+          0.1715807318687439,
+          -0.26329317688941956,
+          0.9493349194526672,
+          50.855472564697266
+        ],
+        [
+          -0.9843935966491699,
+          -0.08406892418861389,
+          0.1546011120080948,
+          22.956323623657227
+        ],
+        [
+          0.039104145020246506,
+          -0.9610459208488464,
+          -0.2736087143421173,
+          -23.70428466796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6510,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_483082532",
+      "mask_path": "../../mask/hdr_front_06510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06511.png",
+      "transform_matrix": [
+        [
+          0.17313753068447113,
+          -0.2775198519229889,
+          0.9449900984764099,
+          50.75932693481445
+        ],
+        [
+          -0.9844334125518799,
+          -0.07821951061487198,
+          0.15739309787750244,
+          22.9362850189209
+        ],
+        [
+          0.030236946418881416,
+          -0.9575304388999939,
+          -0.28674253821372986,
+          -23.643327713012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6511,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_583080768",
+      "mask_path": "../../mask/hdr_front_06511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06512.png",
+      "transform_matrix": [
+        [
+          0.1717461198568344,
+          -0.27666303515434265,
+          0.945495069026947,
+          50.69158172607422
+        ],
+        [
+          -0.9850386381149292,
+          -0.06207769736647606,
+          0.1607644259929657,
+          22.921146392822266
+        ],
+        [
+          0.014216575771570206,
+          -0.9589598774909973,
+          -0.2831853926181793,
+          -23.624235153198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6512,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_683079719",
+      "mask_path": "../../mask/hdr_front_06512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06513.png",
+      "transform_matrix": [
+        [
+          0.16419659554958344,
+          -0.271476686000824,
+          0.9483353495597839,
+          50.604496002197266
+        ],
+        [
+          -0.9863482117652893,
+          -0.057385966181755066,
+          0.15435053408145905,
+          22.922075271606445
+        ],
+        [
+          0.012518574483692646,
+          -0.9607326984405518,
+          -0.2771931290626526,
+          -23.611482620239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6513,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_783081293",
+      "mask_path": "../../mask/hdr_front_06513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06514.png",
+      "transform_matrix": [
+        [
+          0.1550791710615158,
+          -0.27050644159317017,
+          0.9501456618309021,
+          50.51619338989258
+        ],
+        [
+          -0.987703800201416,
+          -0.06172599270939827,
+          0.14363586902618408,
+          22.932506561279297
+        ],
+        [
+          0.01979425549507141,
+          -0.9607372879981995,
+          -0.2767525911331177,
+          -23.587305068969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6514,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_883081197",
+      "mask_path": "../../mask/hdr_front_06514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06515.png",
+      "transform_matrix": [
+        [
+          0.1470060795545578,
+          -0.27270686626434326,
+          0.9507997632026672,
+          50.442970275878906
+        ],
+        [
+          -0.9888097643852234,
+          -0.06518501788377762,
+          0.13418665528297424,
+          22.927614212036133
+        ],
+        [
+          0.02538427524268627,
+          -0.9598864316940308,
+          -0.2792378067970276,
+          -23.556684494018555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6515,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_983082056",
+      "mask_path": "../../mask/hdr_front_06515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06516.png",
+      "transform_matrix": [
+        [
+          0.14496637880802155,
+          -0.278279185295105,
+          0.9494974613189697,
+          50.36942672729492
+        ],
+        [
+          -0.9887897372245789,
+          -0.0754389762878418,
+          0.12885572016239166,
+          22.900339126586914
+        ],
+        [
+          0.035771261900663376,
+          -0.957533061504364,
+          -0.2860957682132721,
+          -23.51468276977539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6516,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_83081245",
+      "mask_path": "../../mask/hdr_front_06516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06517.png",
+      "transform_matrix": [
+        [
+          0.14985787868499756,
+          -0.28184565901756287,
+          0.9476844668388367,
+          50.28306579589844
+        ],
+        [
+          -0.9883269667625427,
+          -0.06929387152194977,
+          0.13567639887332916,
+          22.87907600402832
+        ],
+        [
+          0.02742891199886799,
+          -0.9569543600082397,
+          -0.288939893245697,
+          -23.46552085876465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6517,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_183081388",
+      "mask_path": "../../mask/hdr_front_06517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06518.png",
+      "transform_matrix": [
+        [
+          0.16410604119300842,
+          -0.2825722098350525,
+          0.9451043009757996,
+          50.22316360473633
+        ],
+        [
+          -0.9863973259925842,
+          -0.05620074272155762,
+          0.15447285771369934,
+          22.86272621154785
+        ],
+        [
+          0.009465820156037807,
+          -0.9575983285903931,
+          -0.28795138001441956,
+          -23.449554443359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6518,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_283081293",
+      "mask_path": "../../mask/hdr_front_06518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06519.png",
+      "transform_matrix": [
+        [
+          0.1844642609357834,
+          -0.2792137861251831,
+          0.9423443078994751,
+          50.17452621459961
+        ],
+        [
+          -0.9828260540962219,
+          -0.05735873803496361,
+          0.17539337277412415,
+          22.843616485595703
+        ],
+        [
+          0.0050794389098882675,
+          -0.958514392375946,
+          -0.28499922156333923,
+          -23.441818237304688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6519,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_383082628",
+      "mask_path": "../../mask/hdr_front_06519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06520.png",
+      "transform_matrix": [
+        [
+          0.199175626039505,
+          -0.2813866138458252,
+          0.9386963248252869,
+          50.088951110839844
+        ],
+        [
+          -0.9799562096595764,
+          -0.06096363440155983,
+          0.18965566158294678,
+          22.832027435302734
+        ],
+        [
+          0.0038597777020186186,
+          -0.9576560258865356,
+          -0.2878890037536621,
+          -23.42565155029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6520,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_483081579",
+      "mask_path": "../../mask/hdr_front_06520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06521.png",
+      "transform_matrix": [
+        [
+          0.20665115118026733,
+          -0.28597182035446167,
+          0.9356898665428162,
+          50.00998306274414
+        ],
+        [
+          -0.9784054160118103,
+          -0.06458042562007904,
+          0.19634754955768585,
+          22.816072463989258
+        ],
+        [
+          0.004277385305613279,
+          -0.956059455871582,
+          -0.2931419610977173,
+          -23.390172958374023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6521,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_583082199",
+      "mask_path": "../../mask/hdr_front_06521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06523.png",
+      "transform_matrix": [
+        [
+          0.22717061638832092,
+          -0.29663780331611633,
+          0.9275771975517273,
+          49.924442291259766
+        ],
+        [
+          -0.9735456109046936,
+          -0.09318283200263977,
+          0.20862887799739838,
+          22.7659912109375
+        ],
+        [
+          0.024547064676880836,
+          -0.9504331350326538,
+          -0.309958815574646,
+          -23.315113067626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6523,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_783081769",
+      "mask_path": "../../mask/hdr_front_06523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06524.png",
+      "transform_matrix": [
+        [
+          0.24735789000988007,
+          -0.3062311112880707,
+          0.919258713722229,
+          49.86073684692383
+        ],
+        [
+          -0.968652069568634,
+          -0.10063827782869339,
+          0.22712342441082,
+          22.738035202026367
+        ],
+        [
+          0.0229603610932827,
+          -0.9466227293014526,
+          -0.32152503728866577,
+          -23.25985336303711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6524,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_883082151",
+      "mask_path": "../../mask/hdr_front_06524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06525.png",
+      "transform_matrix": [
+        [
+          0.2570698857307434,
+          -0.3046349287033081,
+          0.917121946811676,
+          49.811038970947266
+        ],
+        [
+          -0.9663359522819519,
+          -0.09131916612386703,
+          0.24053172767162323,
+          22.722198486328125
+        ],
+        [
+          0.010476446710526943,
+          -0.9480814337730408,
+          -0.3178551197052002,
+          -23.25713348388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6525,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_983083009",
+      "mask_path": "../../mask/hdr_front_06525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06526.png",
+      "transform_matrix": [
+        [
+          0.25539854168891907,
+          -0.30066922307014465,
+          0.9188958406448364,
+          49.740272521972656
+        ],
+        [
+          -0.9668348431587219,
+          -0.08070731163024902,
+          0.24231480062007904,
+          22.69736099243164
+        ],
+        [
+          0.0013050185516476631,
+          -0.9503074884414673,
+          -0.3113100230693817,
+          -23.237323760986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6526,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_83082675",
+      "mask_path": "../../mask/hdr_front_06526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06527.png",
+      "transform_matrix": [
+        [
+          0.25146618485450745,
+          -0.29390913248062134,
+          0.9221618175506592,
+          49.66538619995117
+        ],
+        [
+          -0.9678658246994019,
+          -0.0769929513335228,
+          0.2393903285264969,
+          22.68107032775879
+        ],
+        [
+          0.0006409419584088027,
+          -0.9527273774147034,
+          -0.3038257658481598,
+          -23.219301223754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6527,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_183083057",
+      "mask_path": "../../mask/hdr_front_06527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06528.png",
+      "transform_matrix": [
+        [
+          0.2486204206943512,
+          -0.2908098101615906,
+          0.9239142537117004,
+          49.59941864013672
+        ],
+        [
+          -0.9685431122779846,
+          -0.08506006747484207,
+          0.2338564693927765,
+          22.665353775024414
+        ],
+        [
+          0.01058045495301485,
+          -0.9529923796653748,
+          -0.30280956625938416,
+          -23.200111389160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6528,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_283082723",
+      "mask_path": "../../mask/hdr_front_06528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06529.png",
+      "transform_matrix": [
+        [
+          0.24282877147197723,
+          -0.2922493815422058,
+          0.9249997735023499,
+          49.528419494628906
+        ],
+        [
+          -0.9699081182479858,
+          -0.0905139371752739,
+          0.22602060437202454,
+          22.645465850830078
+        ],
+        [
+          0.017670994624495506,
+          -0.9520491361618042,
+          -0.3054344952106476,
+          -23.16592025756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6529,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_383082628",
+      "mask_path": "../../mask/hdr_front_06529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06530.png",
+      "transform_matrix": [
+        [
+          0.2421308308839798,
+          -0.304334431886673,
+          0.9212780594825745,
+          49.449520111083984
+        ],
+        [
+          -0.9694591164588928,
+          -0.11406354606151581,
+          0.21711412072181702,
+          22.612125396728516
+        ],
+        [
+          0.03900894522666931,
+          -0.9457114934921265,
+          -0.32265809178352356,
+          -23.112751007080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6530,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_483081579",
+      "mask_path": "../../mask/hdr_front_06530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06531.png",
+      "transform_matrix": [
+        [
+          0.24585193395614624,
+          -0.3136482238769531,
+          0.9171596169471741,
+          49.36960220336914
+        ],
+        [
+          -0.9683573842048645,
+          -0.12135729193687439,
+          0.21807444095611572,
+          22.58454704284668
+        ],
+        [
+          0.042905330657958984,
+          -0.9417521953582764,
+          -0.333559513092041,
+          -23.061227798461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6531,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_583081960",
+      "mask_path": "../../mask/hdr_front_06531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06532.png",
+      "transform_matrix": [
+        [
+          0.2445271760225296,
+          -0.3137913942337036,
+          0.9174646735191345,
+          49.298606872558594
+        ],
+        [
+          -0.9691396355628967,
+          -0.10955657064914703,
+          0.2208293229341507,
+          22.570838928222656
+        ],
+        [
+          0.031219933182001114,
+          -0.9431502819061279,
+          -0.3308972716331482,
+          -23.04096794128418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6532,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_683080673",
+      "mask_path": "../../mask/hdr_front_06532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06533.png",
+      "transform_matrix": [
+        [
+          0.2392711341381073,
+          -0.3095451593399048,
+          0.920288622379303,
+          49.223533630371094
+        ],
+        [
+          -0.9705700874328613,
+          -0.10286156088113785,
+          0.21774595975875854,
+          22.55855941772461
+        ],
+        [
+          0.02726011350750923,
+          -0.9453048706054688,
+          -0.325047105550766,
+          -23.02390480041504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6533,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_783081293",
+      "mask_path": "../../mask/hdr_front_06533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06534.png",
+      "transform_matrix": [
+        [
+          0.23358306288719177,
+          -0.30880206823349,
+          0.9219979643821716,
+          49.143348693847656
+        ],
+        [
+          -0.9718472957611084,
+          -0.10423073917627335,
+          0.21130242943763733,
+          22.550983428955078
+        ],
+        [
+          0.03084990382194519,
+          -0.9453979730606079,
+          -0.32445499300956726,
+          -22.99950408935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6534,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_883081197",
+      "mask_path": "../../mask/hdr_front_06534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06535.png",
+      "transform_matrix": [
+        [
+          0.22968922555446625,
+          -0.31271830201148987,
+          0.9216561913490295,
+          49.08012390136719
+        ],
+        [
+          -0.972563624382019,
+          -0.10966803133487701,
+          0.20516563951969147,
+          22.540973663330078
+        ],
+        [
+          0.03691716864705086,
+          -0.9434936046600342,
+          -0.3293280005455017,
+          -22.966135025024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6535,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_983081102",
+      "mask_path": "../../mask/hdr_front_06535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06536.png",
+      "transform_matrix": [
+        [
+          0.22729450464248657,
+          -0.31622961163520813,
+          0.9210516810417175,
+          49.00908279418945
+        ],
+        [
+          -0.9726503491401672,
+          -0.12018198519945145,
+          0.19876517355442047,
+          22.523218154907227
+        ],
+        [
+          0.04783838242292404,
+          -0.941039502620697,
+          -0.33489754796028137,
+          -22.949190139770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6536,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_83081245",
+      "mask_path": "../../mask/hdr_front_06536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06537.png",
+      "transform_matrix": [
+        [
+          0.22394515573978424,
+          -0.3195017874240875,
+          0.9207428097724915,
+          48.93520736694336
+        ],
+        [
+          -0.9737008213996887,
+          -0.11396054923534393,
+          0.19728097319602966,
+          22.496444702148438
+        ],
+        [
+          0.04189673438668251,
+          -0.9407081604003906,
+          -0.336620032787323,
+          -22.894214630126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6537,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_183081865",
+      "mask_path": "../../mask/hdr_front_06537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06538.png",
+      "transform_matrix": [
+        [
+          0.2170206904411316,
+          -0.3204663395881653,
+          0.9220647215843201,
+          48.87885284423828
+        ],
+        [
+          -0.9758207201957703,
+          -0.09637556225061417,
+          0.19617731869220734,
+          22.4821720123291
+        ],
+        [
+          0.025996295735239983,
+          -0.9423445463180542,
+          -0.3336331844329834,
+          -22.85512924194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6538,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_283081054",
+      "mask_path": "../../mask/hdr_front_06538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06539.png",
+      "transform_matrix": [
+        [
+          0.2108142226934433,
+          -0.3176710605621338,
+          0.9244688153266907,
+          48.817840576171875
+        ],
+        [
+          -0.9773402214050293,
+          -0.08694499731063843,
+          0.19299444556236267,
+          22.46306800842285
+        ],
+        [
+          0.01906917802989483,
+          -0.9442063570022583,
+          -0.3288019299507141,
+          -22.836801528930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6539,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_383081912",
+      "mask_path": "../../mask/hdr_front_06539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06540.png",
+      "transform_matrix": [
+        [
+          0.20489861071109772,
+          -0.33082300424575806,
+          0.9211800694465637,
+          48.75461196899414
+        ],
+        [
+          -0.9787818193435669,
+          -0.06763099879026413,
+          0.19342271983623505,
+          22.447467803955078
+        ],
+        [
+          -0.0016883519710972905,
+          -0.9412662982940674,
+          -0.3376610279083252,
+          -22.833145141601562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6540,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_483081817",
+      "mask_path": "../../mask/hdr_front_06540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06541.png",
+      "transform_matrix": [
+        [
+          0.185797318816185,
+          -0.36896079778671265,
+          0.910685122013092,
+          48.6590576171875
+        ],
+        [
+          -0.9823096990585327,
+          -0.04768736660480499,
+          0.18108977377414703,
+          22.442527770996094
+        ],
+        [
+          -0.02338685281574726,
+          -0.928220808506012,
+          -0.3712939918041229,
+          -22.730911254882812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6541,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_583082199",
+      "mask_path": "../../mask/hdr_front_06541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06542.png",
+      "transform_matrix": [
+        [
+          0.17826896905899048,
+          -0.3845297396183014,
+          0.9057357311248779,
+          48.58119201660156
+        ],
+        [
+          -0.9838624596595764,
+          -0.055319808423519135,
+          0.17016005516052246,
+          22.445537567138672
+        ],
+        [
+          -0.015326475724577904,
+          -0.9214535355567932,
+          -0.38818618655204773,
+          -22.642715454101562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6542,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_683082103",
+      "mask_path": "../../mask/hdr_front_06542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06543.png",
+      "transform_matrix": [
+        [
+          0.18182969093322754,
+          -0.3708358108997345,
+          0.9107242822647095,
+          48.5289421081543
+        ],
+        [
+          -0.9833295941352844,
+          -0.06948745995759964,
+          0.16803118586540222,
+          22.43741798400879
+        ],
+        [
+          0.0009719413938000798,
+          -0.926095187664032,
+          -0.3772887587547302,
+          -22.63698959350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6543,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_783082485",
+      "mask_path": "../../mask/hdr_front_06543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06544.png",
+      "transform_matrix": [
+        [
+          0.17848068475723267,
+          -0.3533794581890106,
+          0.9182960987091064,
+          48.4468994140625
+        ],
+        [
+          -0.9839411973953247,
+          -0.06209706515073776,
+          0.16734328866004944,
+          22.417417526245117
+        ],
+        [
+          -0.0021121951285749674,
+          -0.9334168434143066,
+          -0.35878774523735046,
+          -22.620973587036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6544,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_883081912",
+      "mask_path": "../../mask/hdr_front_06544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06545.png",
+      "transform_matrix": [
+        [
+          0.17568981647491455,
+          -0.34049364924430847,
+          0.9236868023872375,
+          48.363887786865234
+        ],
+        [
+          -0.9844192266464233,
+          -0.053901661187410355,
+          0.1673719584941864,
+          22.40061378479004
+        ],
+        [
+          -0.007200837600976229,
+          -0.9387006163597107,
+          -0.34465843439102173,
+          -22.607812881469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6545,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_983082294",
+      "mask_path": "../../mask/hdr_front_06545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06546.png",
+      "transform_matrix": [
+        [
+          0.1739443838596344,
+          -0.32987624406814575,
+          0.9278604984283447,
+          48.28193283081055
+        ],
+        [
+          -0.9847449660301208,
+          -0.05391242355108261,
+          0.16544128954410553,
+          22.390548706054688
+        ],
+        [
+          -0.004551934078335762,
+          -0.9424834847450256,
+          -0.334221750497818,
+          -22.589859008789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6546,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_83081722",
+      "mask_path": "../../mask/hdr_front_06546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06547.png",
+      "transform_matrix": [
+        [
+          0.1711251139640808,
+          -0.3275008201599121,
+          0.9292251467704773,
+          48.1872673034668
+        ],
+        [
+          -0.9852400422096252,
+          -0.06098487600684166,
+          0.15994693338871002,
+          22.38161849975586
+        ],
+        [
+          0.004285928327590227,
+          -0.9428806900978088,
+          -0.3331029415130615,
+          -22.564603805541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6547,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_183084249",
+      "mask_path": "../../mask/hdr_front_06547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06548.png",
+      "transform_matrix": [
+        [
+          0.1692388951778412,
+          -0.32953453063964844,
+          0.9288516044616699,
+          48.12883758544922
+        ],
+        [
+          -0.985424816608429,
+          -0.07303319126367569,
+          0.15363620221614838,
+          22.37218475341797
+        ],
+        [
+          0.017208559438586235,
+          -0.9413145780563354,
+          -0.3370915353298187,
+          -22.53217315673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6548,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_283082723",
+      "mask_path": "../../mask/hdr_front_06548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06549.png",
+      "transform_matrix": [
+        [
+          0.17220044136047363,
+          -0.3330673277378082,
+          0.927045464515686,
+          48.06167221069336
+        ],
+        [
+          -0.9844363331794739,
+          -0.09172124415636063,
+          0.1499074548482895,
+          22.345077514648438
+        ],
+        [
+          0.035100486129522324,
+          -0.938431441783905,
+          -0.3436780273914337,
+          -22.491724014282227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6549,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_383082151",
+      "mask_path": "../../mask/hdr_front_06549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06550.png",
+      "transform_matrix": [
+        [
+          0.17816880345344543,
+          -0.33268260955810547,
+          0.9260552525520325,
+          47.96870422363281
+        ],
+        [
+          -0.9835684895515442,
+          -0.08807558566331863,
+          0.15759322047233582,
+          22.30986785888672
+        ],
+        [
+          0.029134321957826614,
+          -0.9389170408248901,
+          -0.34290844202041626,
+          -22.44012451171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6550,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_483083009",
+      "mask_path": "../../mask/hdr_front_06550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06551.png",
+      "transform_matrix": [
+        [
+          0.18079614639282227,
+          -0.3281542956829071,
+          0.9271610379219055,
+          47.89657974243164
+        ],
+        [
+          -0.9833790063858032,
+          -0.07630863040685654,
+          0.1647503823041916,
+          22.293790817260742
+        ],
+        [
+          0.016686834394931793,
+          -0.9415369629859924,
+          -0.33649641275405884,
+          -22.426681518554688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6551,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_583081960",
+      "mask_path": "../../mask/hdr_front_06551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06552.png",
+      "transform_matrix": [
+        [
+          0.18168434500694275,
+          -0.3227007985115051,
+          0.928899884223938,
+          47.82954406738281
+        ],
+        [
+          -0.9832404255867004,
+          -0.07415667176246643,
+          0.16655077040195465,
+          22.290515899658203
+        ],
+        [
+          0.015138056129217148,
+          -0.9435915946960449,
+          -0.3307655453681946,
+          -22.4271183013916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6552,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_683079481",
+      "mask_path": "../../mask/hdr_front_06552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06553.png",
+      "transform_matrix": [
+        [
+          0.17889176309108734,
+          -0.2973339855670929,
+          0.9378647804260254,
+          47.75038528442383
+        ],
+        [
+          -0.9834508895874023,
+          -0.0818219855427742,
+          0.161646768450737,
+          22.272615432739258
+        ],
+        [
+          0.02867487631738186,
+          -0.9512611627578735,
+          -0.3070506155490875,
+          -22.40049171447754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6553,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_783080339",
+      "mask_path": "../../mask/hdr_front_06553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06554.png",
+      "transform_matrix": [
+        [
+          0.17044492065906525,
+          -0.2825319766998291,
+          0.9439937472343445,
+          47.67124938964844
+        ],
+        [
+          -0.9845402240753174,
+          -0.08807355910539627,
+          0.15140597522258759,
+          22.255765914916992
+        ],
+        [
+          0.0403638556599617,
+          -0.9552060961723328,
+          -0.2931757867336273,
+          -22.366914749145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6554,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_883079767",
+      "mask_path": "../../mask/hdr_front_06554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06555.png",
+      "transform_matrix": [
+        [
+          0.1616268903017044,
+          -0.28110402822494507,
+          0.9459689855575562,
+          47.59246063232422
+        ],
+        [
+          -0.9857034683227539,
+          -0.09222012013196945,
+          0.14101174473762512,
+          22.237619400024414
+        ],
+        [
+          0.04759839549660683,
+          -0.9552360773086548,
+          -0.2919904589653015,
+          -22.334001541137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6555,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_983082771",
+      "mask_path": "../../mask/hdr_front_06555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06556.png",
+      "transform_matrix": [
+        [
+          0.15744155645370483,
+          -0.26597774028778076,
+          0.9510353207588196,
+          47.498252868652344
+        ],
+        [
+          -0.9862465858459473,
+          -0.09140049666166306,
+          0.13770855963230133,
+          22.230117797851562
+        ],
+        [
+          0.050297677516937256,
+          -0.9596362709999084,
+          -0.27670982480049133,
+          -22.325143814086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6556,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_83079576",
+      "mask_path": "../../mask/hdr_front_06556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06557.png",
+      "transform_matrix": [
+        [
+          0.1550532579421997,
+          -0.2487698346376419,
+          0.9560711979866028,
+          47.414756774902344
+        ],
+        [
+          -0.9870666861534119,
+          -0.07889822125434875,
+          0.13955070078372955,
+          22.21950912475586
+        ],
+        [
+          0.04071630910038948,
+          -0.9653438329696655,
+          -0.257785826921463,
+          -22.318735122680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6557,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_183083534",
+      "mask_path": "../../mask/hdr_front_06557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06558.png",
+      "transform_matrix": [
+        [
+          0.15132051706314087,
+          -0.23742635548114777,
+          0.9595471620559692,
+          47.34312438964844
+        ],
+        [
+          -0.9880210161209106,
+          -0.06606046110391617,
+          0.13946513831615448,
+          22.212825775146484
+        ],
+        [
+          0.030275430530309677,
+          -0.9691567420959473,
+          -0.2445785403251648,
+          -22.312664031982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6558,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_283081531",
+      "mask_path": "../../mask/hdr_front_06558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06559.png",
+      "transform_matrix": [
+        [
+          0.1450451761484146,
+          -0.21343682706356049,
+          0.966129720211029,
+          47.25323486328125
+        ],
+        [
+          -0.9890373349189758,
+          -0.05861038714647293,
+          0.13553613424301147,
+          22.210128784179688
+        ],
+        [
+          0.027696838602423668,
+          -0.9751971960067749,
+          -0.21959814429283142,
+          -22.302631378173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6559,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_383081436",
+      "mask_path": "../../mask/hdr_front_06559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06560.png",
+      "transform_matrix": [
+        [
+          0.1325279325246811,
+          -0.187213733792305,
+          0.97333824634552,
+          47.18352508544922
+        ],
+        [
+          -0.9906893372535706,
+          -0.055890802294015884,
+          0.12414029240608215,
+          22.204437255859375
+        ],
+        [
+          0.031159892678260803,
+          -0.9807279706001282,
+          -0.19287775456905365,
+          -22.288379669189453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6560,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_483080387",
+      "mask_path": "../../mask/hdr_front_06560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06561.png",
+      "transform_matrix": [
+        [
+          0.11848290264606476,
+          -0.17331445217132568,
+          0.9777135848999023,
+          47.129608154296875
+        ],
+        [
+          -0.9922158122062683,
+          -0.05867924913764,
+          0.10983854532241821,
+          22.209293365478516
+        ],
+        [
+          0.03833489492535591,
+          -0.9831169247627258,
+          -0.17891782522201538,
+          -22.289026260375977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6561,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_583077669",
+      "mask_path": "../../mask/hdr_front_06561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06562.png",
+      "transform_matrix": [
+        [
+          0.10374883562326431,
+          -0.1551530957221985,
+          0.9824274778366089,
+          47.043678283691406
+        ],
+        [
+          -0.993829607963562,
+          -0.05513005703687668,
+          0.09624635428190231,
+          22.197904586791992
+        ],
+        [
+          0.03922835364937782,
+          -0.986350953578949,
+          -0.15991541743278503,
+          -22.28205680847168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6562,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_683079957",
+      "mask_path": "../../mask/hdr_front_06562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06563.png",
+      "transform_matrix": [
+        [
+          0.09135547280311584,
+          -0.1342034935951233,
+          0.9867338538169861,
+          46.956722259521484
+        ],
+        [
+          -0.995241641998291,
+          -0.04602217301726341,
+          0.08588378131389618,
+          22.1904354095459
+        ],
+        [
+          0.03388572856783867,
+          -0.989884614944458,
+          -0.13776931166648865,
+          -22.288244247436523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6563,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_783081054",
+      "mask_path": "../../mask/hdr_front_06563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06564.png",
+      "transform_matrix": [
+        [
+          0.08017703890800476,
+          -0.12093701213598251,
+          0.9894168972969055,
+          46.89335632324219
+        ],
+        [
+          -0.9964234828948975,
+          -0.036294739693403244,
+          0.076308473944664,
+          22.193885803222656
+        ],
+        [
+          0.026682112365961075,
+          -0.9919964671134949,
+          -0.12341448664665222,
+          -22.297040939331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6564,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_883082628",
+      "mask_path": "../../mask/hdr_front_06564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06565.png",
+      "transform_matrix": [
+        [
+          0.06678456813097,
+          -0.11090182512998581,
+          0.9915849566459656,
+          46.82533264160156
+        ],
+        [
+          -0.9975026845932007,
+          -0.03031061589717865,
+          0.0637931153178215,
+          22.20988655090332
+        ],
+        [
+          0.02298077568411827,
+          -0.9933691024780273,
+          -0.11264915764331818,
+          -22.296018600463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6565,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_983083486",
+      "mask_path": "../../mask/hdr_front_06565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06566.png",
+      "transform_matrix": [
+        [
+          0.05084540322422981,
+          -0.10033784061670303,
+          0.9936534762382507,
+          46.74155044555664
+        ],
+        [
+          -0.9984657764434814,
+          -0.02695537731051445,
+          0.04836973175406456,
+          22.223909378051758
+        ],
+        [
+          0.021930988878011703,
+          -0.9945882558822632,
+          -0.10155446082353592,
+          -22.293941497802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6566,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_83082914",
+      "mask_path": "../../mask/hdr_front_06566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06567.png",
+      "transform_matrix": [
+        [
+          0.035301949828863144,
+          -0.09179097414016724,
+          0.9951523542404175,
+          46.661895751953125
+        ],
+        [
+          -0.9991165399551392,
+          -0.02596156857907772,
+          0.033047933131456375,
+          22.232566833496094
+        ],
+        [
+          0.022802215069532394,
+          -0.9954398274421692,
+          -0.09262636303901672,
+          -22.2896728515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6567,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_183080911",
+      "mask_path": "../../mask/hdr_front_06567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06568.png",
+      "transform_matrix": [
+        [
+          0.020315665751695633,
+          -0.08713330328464508,
+          0.9959895014762878,
+          46.5902099609375
+        ],
+        [
+          -0.9994289875030518,
+          -0.028672443702816963,
+          0.01787743717432022,
+          22.245563507080078
+        ],
+        [
+          0.026999738067388535,
+          -0.9957840442657471,
+          -0.08766604959964752,
+          -22.287946701049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6568,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_283083200",
+      "mask_path": "../../mask/hdr_front_06568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06569.png",
+      "transform_matrix": [
+        [
+          0.011839705519378185,
+          -0.08135635405778885,
+          0.9966146945953369,
+          46.50722885131836
+        ],
+        [
+          -0.9993720650672913,
+          -0.034249093383550644,
+          0.009076617658138275,
+          22.24778175354004
+        ],
+        [
+          0.0333947129547596,
+          -0.9960964918136597,
+          -0.08171077072620392,
+          -22.28629493713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6569,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_383081436",
+      "mask_path": "../../mask/hdr_front_06569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06570.png",
+      "transform_matrix": [
+        [
+          0.01516864262521267,
+          -0.07199352979660034,
+          0.997289776802063,
+          46.427024841308594
+        ],
+        [
+          -0.9994687438011169,
+          -0.02986605279147625,
+          0.0130457803606987,
+          22.243206024169922
+        ],
+        [
+          0.0288458913564682,
+          -0.9969578385353088,
+          -0.07240831851959229,
+          -22.290605545043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6570,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_483080863",
+      "mask_path": "../../mask/hdr_front_06570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06571.png",
+      "transform_matrix": [
+        [
+          0.021053899079561234,
+          -0.06406108289957047,
+          0.9977238774299622,
+          46.354248046875
+        ],
+        [
+          -0.9996120929718018,
+          -0.019547944888472557,
+          0.019838623702526093,
+          22.24147605895996
+        ],
+        [
+          0.018232569098472595,
+          -0.9977545738220215,
+          -0.0644477978348732,
+          -22.29681968688965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6571,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_583081245",
+      "mask_path": "../../mask/hdr_front_06571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06572.png",
+      "transform_matrix": [
+        [
+          0.022916382178664207,
+          -0.0539088100194931,
+          0.9982829093933105,
+          46.27581787109375
+        ],
+        [
+          -0.9995431900024414,
+          -0.020913878455758095,
+          0.021815931424498558,
+          22.251880645751953
+        ],
+        [
+          0.019701894372701645,
+          -0.99832683801651,
+          -0.05436346307396889,
+          -22.310575485229492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6572,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_683080911",
+      "mask_path": "../../mask/hdr_front_06572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06573.png",
+      "transform_matrix": [
+        [
+          0.015925534069538116,
+          -0.046951714903116226,
+          0.9987702965736389,
+          46.186317443847656
+        ],
+        [
+          -0.9996079802513123,
+          -0.023755023255944252,
+          0.014822178520262241,
+          22.268150329589844
+        ],
+        [
+          0.023029880598187447,
+          -0.9986147284507751,
+          -0.04731161892414093,
+          -22.31003761291504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6573,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_783082962",
+      "mask_path": "../../mask/hdr_front_06573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06574.png",
+      "transform_matrix": [
+        [
+          0.006654171738773584,
+          -0.04478605464100838,
+          0.9989744424819946,
+          46.11531448364258
+        ],
+        [
+          -0.9995465278625488,
+          -0.02963639609515667,
+          0.005329323001205921,
+          22.272279739379883
+        ],
+        [
+          0.029367322102189064,
+          -0.9985569715499878,
+          -0.04496295005083084,
+          -22.303543090820312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6574,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_883081912",
+      "mask_path": "../../mask/hdr_front_06574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06575.png",
+      "transform_matrix": [
+        [
+          -0.0023422110825777054,
+          -0.044645633548498154,
+          0.9990001320838928,
+          46.04768371582031
+        ],
+        [
+          -0.9992126226425171,
+          -0.0394638292491436,
+          -0.004106360487639904,
+          22.260997772216797
+        ],
+        [
+          0.0396077036857605,
+          -0.998223066329956,
+          -0.04451804608106613,
+          -22.293907165527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6575,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_983081340",
+      "mask_path": "../../mask/hdr_front_06575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06576.png",
+      "transform_matrix": [
+        [
+          -0.0031473692506551743,
+          -0.0409698560833931,
+          0.9991553425788879,
+          45.94949722290039
+        ],
+        [
+          -0.9992207884788513,
+          -0.03918188065290451,
+          -0.004754207096993923,
+          22.250661849975586
+        ],
+        [
+          0.039343565702438354,
+          -0.9983918070793152,
+          -0.04081461578607559,
+          -22.290287017822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6576,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_83081483",
+      "mask_path": "../../mask/hdr_front_06576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06577.png",
+      "transform_matrix": [
+        [
+          0.0038306149654090405,
+          -0.03761127218604088,
+          0.9992851614952087,
+          45.864864349365234
+        ],
+        [
+          -0.9993689656257629,
+          -0.03543201833963394,
+          0.0024973398540169,
+          22.24329948425293
+        ],
+        [
+          0.03531276062130928,
+          -0.9986640810966492,
+          -0.03772325813770294,
+          -22.30230140686035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6577,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_183081865",
+      "mask_path": "../../mask/hdr_front_06577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06578.png",
+      "transform_matrix": [
+        [
+          0.008833661675453186,
+          -0.036863453686237335,
+          0.9992812871932983,
+          45.800262451171875
+        ],
+        [
+          -0.999241292476654,
+          -0.03823275491595268,
+          0.00742290448397398,
+          22.227436065673828
+        ],
+        [
+          0.037931643426418304,
+          -0.9985886812210083,
+          -0.03717321529984474,
+          -22.304792404174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6578,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_283081769",
+      "mask_path": "../../mask/hdr_front_06578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06579.png",
+      "transform_matrix": [
+        [
+          0.0076240613125264645,
+          -0.03145642578601837,
+          0.9994760155677795,
+          45.731632232666016
+        ],
+        [
+          -0.9992114901542664,
+          -0.03918672725558281,
+          0.0063887229189276695,
+          22.210834503173828
+        ],
+        [
+          0.03896522894501686,
+          -0.9987366795539856,
+          -0.03173037990927696,
+          -22.306303024291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6579,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_383080959",
+      "mask_path": "../../mask/hdr_front_06579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06580.png",
+      "transform_matrix": [
+        [
+          -0.0011773282894864678,
+          -0.030761132016777992,
+          0.9995260834693909,
+          45.656761169433594
+        ],
+        [
+          -0.9992337226867676,
+          -0.0390685610473156,
+          -0.0023793471045792103,
+          22.20429801940918
+        ],
+        [
+          0.039123233407735825,
+          -0.9987630248069763,
+          -0.030691560357809067,
+          -22.29438018798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6580,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_483081340",
+      "mask_path": "../../mask/hdr_front_06580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06581.png",
+      "transform_matrix": [
+        [
+          -0.015912814065814018,
+          -0.034035999327898026,
+          0.999293863773346,
+          45.59540557861328
+        ],
+        [
+          -0.998921275138855,
+          -0.04306498542428017,
+          -0.017373673617839813,
+          22.20602035522461
+        ],
+        [
+          0.04362591356039047,
+          -0.998492419719696,
+          -0.03331398591399193,
+          -22.287370681762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6581,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_583082199",
+      "mask_path": "../../mask/hdr_front_06581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06582.png",
+      "transform_matrix": [
+        [
+          -0.03703872859477997,
+          -0.03303230553865433,
+          0.9987677931785583,
+          45.534027099609375
+        ],
+        [
+          -0.9984055161476135,
+          -0.04138052463531494,
+          -0.03839387744665146,
+          22.2069034576416
+        ],
+        [
+          0.04259776696562767,
+          -0.998597264289856,
+          -0.03144695237278938,
+          -22.282529830932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6582,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_683080196",
+      "mask_path": "../../mask/hdr_front_06582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06583.png",
+      "transform_matrix": [
+        [
+          -0.0584724135696888,
+          -0.027025097981095314,
+          0.9979231953620911,
+          45.45635986328125
+        ],
+        [
+          -0.9976006746292114,
+          -0.03553347662091255,
+          -0.059415824711322784,
+          22.203514099121094
+        ],
+        [
+          0.03706539794802666,
+          -0.999002993106842,
+          -0.024882527068257332,
+          -22.282745361328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6583,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_783082008",
+      "mask_path": "../../mask/hdr_front_06583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06587.png",
+      "transform_matrix": [
+        [
+          -0.15944528579711914,
+          0.009564051404595375,
+          0.9871604442596436,
+          45.335811614990234
+        ],
+        [
+          -0.9871140718460083,
+          -0.015246337279677391,
+          -0.15929009020328522,
+          22.235525131225586
+        ],
+        [
+          0.013527121394872665,
+          -0.99983811378479,
+          0.011871766299009323,
+          -22.302282333374023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6587,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_183080434",
+      "mask_path": "../../mask/hdr_front_06587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06589.png",
+      "transform_matrix": [
+        [
+          -0.19776087999343872,
+          0.012351369485259056,
+          0.9801724553108215,
+          45.264732360839844
+        ],
+        [
+          -0.9802008867263794,
+          -0.01253427378833294,
+          -0.19760866463184357,
+          22.272138595581055
+        ],
+        [
+          0.009845011867582798,
+          -0.9998452067375183,
+          0.01458561047911644,
+          -22.306058883666992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6589,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_383081436",
+      "mask_path": "../../mask/hdr_front_06589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06591.png",
+      "transform_matrix": [
+        [
+          -0.21329642832279205,
+          0.013028094545006752,
+          0.9769006967544556,
+          45.16767501831055
+        ],
+        [
+          -0.9769623279571533,
+          -0.010026204399764538,
+          -0.21317622065544128,
+          22.312711715698242
+        ],
+        [
+          0.007017326541244984,
+          -0.999864935874939,
+          0.014866511337459087,
+          -22.293588638305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6591,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_583081960",
+      "mask_path": "../../mask/hdr_front_06591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06592.png",
+      "transform_matrix": [
+        [
+          -0.21167059242725372,
+          0.011383709497749805,
+          0.9772747755050659,
+          45.10551452636719
+        ],
+        [
+          -0.9773392677307129,
+          -0.004315373487770557,
+          -0.2116343080997467,
+          22.325658798217773
+        ],
+        [
+          0.0018081233138218522,
+          -0.9999259114265442,
+          0.012039185501635075,
+          -22.296096801757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6592,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_683081865",
+      "mask_path": "../../mask/hdr_front_06592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06593.png",
+      "transform_matrix": [
+        [
+          -0.209442600607872,
+          0.00978658813983202,
+          0.977772057056427,
+          45.03827667236328
+        ],
+        [
+          -0.9778180718421936,
+          -0.004512846004217863,
+          -0.20940729975700378,
+          22.333663940429688
+        ],
+        [
+          0.0023631511721760035,
+          -0.9999419450759888,
+          0.01051468588411808,
+          -22.303438186645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6593,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_783081769",
+      "mask_path": "../../mask/hdr_front_06593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06594.png",
+      "transform_matrix": [
+        [
+          -0.21137811243534088,
+          0.014156544581055641,
+          0.9773018956184387,
+          44.96041488647461
+        ],
+        [
+          -0.9774041771888733,
+          -0.002584158442914486,
+          -0.2113628387451172,
+          22.34489631652832
+        ],
+        [
+          -0.0004666636523324996,
+          -0.9998964667320251,
+          0.014382901601493359,
+          -22.30485725402832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6594,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_883084297",
+      "mask_path": "../../mask/hdr_front_06594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06595.png",
+      "transform_matrix": [
+        [
+          -0.21809597313404083,
+          0.014042351394891739,
+          0.9758263230323792,
+          44.885475158691406
+        ],
+        [
+          -0.9759268760681152,
+          -0.004224733915179968,
+          -0.21805763244628906,
+          22.36515235900879
+        ],
+        [
+          0.001060564536601305,
+          -0.9998924732208252,
+          0.014625703915953636,
+          -22.29639434814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6595,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_983082056",
+      "mask_path": "../../mask/hdr_front_06595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06596.png",
+      "transform_matrix": [
+        [
+          -0.22916948795318604,
+          0.007530706003308296,
+          0.9733574986457825,
+          44.81979751586914
+        ],
+        [
+          -0.9733402729034424,
+          -0.011529562994837761,
+          -0.22907622158527374,
+          22.375844955444336
+        ],
+        [
+          0.009497282095253468,
+          -0.9999051690101624,
+          0.0099721634760499,
+          -22.291431427001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6596,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_83082675",
+      "mask_path": "../../mask/hdr_front_06596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03883.png",
+      "transform_matrix": [
+        [
+          0.9733213782310486,
+          -0.02574636973440647,
+          0.2279965877532959,
+          45.29397964477539
+        ],
+        [
+          -0.2284979671239853,
+          -0.018544068560004234,
+          0.9733676910400391,
+          22.36511993408203
+        ],
+        [
+          -0.02083270065486431,
+          -0.9994965195655823,
+          -0.023932330310344696,
+          -22.30851936340332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3883,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_683082103",
+      "mask_path": "../../mask/hdr_left_03883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03884.png",
+      "transform_matrix": [
+        [
+          0.9740033745765686,
+          -0.02587047964334488,
+          0.22505101561546326,
+          45.39591979980469
+        ],
+        [
+          -0.2257101833820343,
+          -0.02622750774025917,
+          0.9738413691520691,
+          22.373302459716797
+        ],
+        [
+          -0.019291212782263756,
+          -0.9993211627006531,
+          -0.0313849113881588,
+          -22.30978012084961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3884,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_783082008",
+      "mask_path": "../../mask/hdr_left_03884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03885.png",
+      "transform_matrix": [
+        [
+          0.9749101400375366,
+          -0.025126876309514046,
+          0.22117628157138824,
+          45.46455764770508
+        ],
+        [
+          -0.2218436896800995,
+          -0.0278935469686985,
+          0.9746830463409424,
+          22.37994384765625
+        ],
+        [
+          -0.01832135207951069,
+          -0.9992950558662415,
+          -0.03276793286204338,
+          -22.316390991210938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3885,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_883081674",
+      "mask_path": "../../mask/hdr_left_03885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03886.png",
+      "transform_matrix": [
+        [
+          0.9745731353759766,
+          -0.02980799600481987,
+          0.22207781672477722,
+          45.55845260620117
+        ],
+        [
+          -0.22288228571414948,
+          -0.02707580476999283,
+          0.9744693636894226,
+          22.379558563232422
+        ],
+        [
+          -0.02303404174745083,
+          -0.9991888999938965,
+          -0.03303102031350136,
+          -22.322410583496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3886,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_983080387",
+      "mask_path": "../../mask/hdr_left_03886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03887.png",
+      "transform_matrix": [
+        [
+          0.9723482131958008,
+          -0.03255992755293846,
+          0.2312547117471695,
+          45.649864196777344
+        ],
+        [
+          -0.23214483261108398,
+          -0.026849966496229172,
+          0.9723105430603027,
+          22.368818283081055
+        ],
+        [
+          -0.025449182838201523,
+          -0.9991090893745422,
+          -0.033666130155324936,
+          -22.316871643066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3887,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_83081960",
+      "mask_path": "../../mask/hdr_left_03887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03888.png",
+      "transform_matrix": [
+        [
+          0.9691776037216187,
+          -0.030253903940320015,
+          0.2444981336593628,
+          45.71482849121094
+        ],
+        [
+          -0.24534428119659424,
+          -0.02837483212351799,
+          0.9690207242965698,
+          22.361055374145508
+        ],
+        [
+          -0.022379066795110703,
+          -0.9991394281387329,
+          -0.034922871738672256,
+          -22.311349868774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3888,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_183081388",
+      "mask_path": "../../mask/hdr_left_03888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03889.png",
+      "transform_matrix": [
+        [
+          0.96568763256073,
+          -0.0284404493868351,
+          0.2581442892551422,
+          45.794898986816406
+        ],
+        [
+          -0.2590140104293823,
+          -0.03294526785612106,
+          0.9653115272521973,
+          22.362770080566406
+        ],
+        [
+          -0.01894925907254219,
+          -0.9990525245666504,
+          -0.039181310683488846,
+          -22.325244903564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3889,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_283082008",
+      "mask_path": "../../mask/hdr_left_03889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03890.png",
+      "transform_matrix": [
+        [
+          0.9639602899551392,
+          -0.03254321962594986,
+          0.26404809951782227,
+          45.895362854003906
+        ],
+        [
+          -0.2652134299278259,
+          -0.0390896312892437,
+          0.9633969664573669,
+          22.35712242126465
+        ],
+        [
+          -0.021030496805906296,
+          -0.9987056851387024,
+          -0.046311743557453156,
+          -22.329355239868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3890,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_383082389",
+      "mask_path": "../../mask/hdr_left_03890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03891.png",
+      "transform_matrix": [
+        [
+          0.9643247127532959,
+          -0.038107968866825104,
+          0.26196491718292236,
+          45.988182067871094
+        ],
+        [
+          -0.2635844349861145,
+          -0.04657262563705444,
+          0.9635114073753357,
+          22.354360580444336
+        ],
+        [
+          -0.02451706863939762,
+          -0.998187780380249,
+          -0.054955799132585526,
+          -22.336101531982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3891,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_483082056",
+      "mask_path": "../../mask/hdr_left_03891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03893.png",
+      "transform_matrix": [
+        [
+          0.9641774296760559,
+          -0.04861115664243698,
+          0.26076585054397583,
+          46.14265823364258
+        ],
+        [
+          -0.2630239725112915,
+          -0.047884196043014526,
+          0.9636002779006958,
+          22.349353790283203
+        ],
+        [
+          -0.03435515612363815,
+          -0.9976693391799927,
+          -0.05895475298166275,
+          -22.355663299560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3893,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_683082103",
+      "mask_path": "../../mask/hdr_left_03893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03894.png",
+      "transform_matrix": [
+        [
+          0.9605522751808167,
+          -0.06156765669584274,
+          0.27119845151901245,
+          46.24372863769531
+        ],
+        [
+          -0.2740839421749115,
+          -0.044469062238931656,
+          0.9606770277023315,
+          22.337915420532227
+        ],
+        [
+          -0.0470866933465004,
+          -0.9971117973327637,
+          -0.059589557349681854,
+          -22.364227294921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3894,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_783083915",
+      "mask_path": "../../mask/hdr_left_03894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03895.png",
+      "transform_matrix": [
+        [
+          0.9568233489990234,
+          -0.06642579287290573,
+          0.28297820687294006,
+          46.29982376098633
+        ],
+        [
+          -0.28639140725135803,
+          -0.04901831969618797,
+          0.9568579792976379,
+          22.326635360717773
+        ],
+        [
+          -0.04968893155455589,
+          -0.9965866804122925,
+          -0.06592564284801483,
+          -22.364999771118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3895,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_883082151",
+      "mask_path": "../../mask/hdr_left_03895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03896.png",
+      "transform_matrix": [
+        [
+          0.9536766409873962,
+          -0.0657610297203064,
+          0.2935579717159271,
+          46.35239028930664
+        ],
+        [
+          -0.29706627130508423,
+          -0.05191432312130928,
+          0.9534445405006409,
+          22.310213088989258
+        ],
+        [
+          -0.04745963215827942,
+          -0.9964840412139893,
+          -0.06904485076665878,
+          -22.364879608154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3896,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_983081579",
+      "mask_path": "../../mask/hdr_left_03896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03897.png",
+      "transform_matrix": [
+        [
+          0.9518184661865234,
+          -0.060096707195043564,
+          0.3007155656814575,
+          46.447689056396484
+        ],
+        [
+          -0.3038374185562134,
+          -0.052027732133865356,
+          0.9513022303581238,
+          22.302570343017578
+        ],
+        [
+          -0.041524581611156464,
+          -0.9968357682228088,
+          -0.06778059154748917,
+          -22.369653701782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3897,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_83081960",
+      "mask_path": "../../mask/hdr_left_03897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03898.png",
+      "transform_matrix": [
+        [
+          0.9523508548736572,
+          -0.056256696581840515,
+          0.2997715473175049,
+          46.549747467041016
+        ],
+        [
+          -0.30284783244132996,
+          -0.05773961916565895,
+          0.9512882828712463,
+          22.300369262695312
+        ],
+        [
+          -0.036207642406225204,
+          -0.9967454075813293,
+          -0.0720255896449089,
+          -22.37252426147461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3898,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_183080673",
+      "mask_path": "../../mask/hdr_left_03898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03899.png",
+      "transform_matrix": [
+        [
+          0.9537355899810791,
+          -0.05352295935153961,
+          0.29584380984306335,
+          46.60599899291992
+        ],
+        [
+          -0.2989492118358612,
+          -0.06442063301801682,
+          0.9520921111106873,
+          22.305381774902344
+        ],
+        [
+          -0.03190033510327339,
+          -0.996486485004425,
+          -0.07744088768959045,
+          -22.378768920898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3899,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_283081531",
+      "mask_path": "../../mask/hdr_left_03899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03900.png",
+      "transform_matrix": [
+        [
+          0.9546135067939758,
+          -0.04898904636502266,
+          0.2937907874584198,
+          46.66964340209961
+        ],
+        [
+          -0.2966550886631012,
+          -0.0682222992181778,
+          0.9525446891784668,
+          22.305261611938477
+        ],
+        [
+          -0.026621168479323387,
+          -0.9964666962623596,
+          -0.07965877652168274,
+          -22.3944091796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3900,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_383084058",
+      "mask_path": "../../mask/hdr_left_03900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03901.png",
+      "transform_matrix": [
+        [
+          0.9531659483909607,
+          -0.0586465448141098,
+          0.2967074513435364,
+          46.74820327758789
+        ],
+        [
+          -0.3000299334526062,
+          -0.05954695865511894,
+          0.9520694613456726,
+          22.287830352783203
+        ],
+        [
+          -0.038167551159858704,
+          -0.9965012669563293,
+          -0.07435384392738342,
+          -22.392017364501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3901,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_483082294",
+      "mask_path": "../../mask/hdr_left_03901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03902.png",
+      "transform_matrix": [
+        [
+          0.9503461122512817,
+          -0.06861817836761475,
+          0.3035355806350708,
+          46.80601119995117
+        ],
+        [
+          -0.3074865937232971,
+          -0.05692287161946297,
+          0.9498484134674072,
+          22.274362564086914
+        ],
+        [
+          -0.04789874702692032,
+          -0.9960177540779114,
+          -0.07519559562206268,
+          -22.383865356445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3902,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_583081722",
+      "mask_path": "../../mask/hdr_left_03902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03904.png",
+      "transform_matrix": [
+        [
+          0.9452307224273682,
+          -0.06653332710266113,
+          0.31954988837242126,
+          46.8816032409668
+        ],
+        [
+          -0.32367071509361267,
+          -0.0646573007106781,
+          0.9439579844474792,
+          22.243412017822266
+        ],
+        [
+          -0.042143434286117554,
+          -0.9956871271133423,
+          -0.08265095204114914,
+          -22.374107360839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3904,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_783081293",
+      "mask_path": "../../mask/hdr_left_03904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03905.png",
+      "transform_matrix": [
+        [
+          0.9438967108726501,
+          -0.05685756728053093,
+          0.32530930638313293,
+          46.95906066894531
+        ],
+        [
+          -0.32862406969070435,
+          -0.0643640011548996,
+          0.9422650933265686,
+          22.232196807861328
+        ],
+        [
+          -0.03263668715953827,
+          -0.996305525302887,
+          -0.0794377252459526,
+          -22.371822357177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3905,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_883081912",
+      "mask_path": "../../mask/hdr_left_03905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03906.png",
+      "transform_matrix": [
+        [
+          0.9454506635665894,
+          -0.04806916415691376,
+          0.32219937443733215,
+          47.0352668762207
+        ],
+        [
+          -0.3248645067214966,
+          -0.06561977416276932,
+          0.9434813261032104,
+          22.230012893676758
+        ],
+        [
+          -0.02420971170067787,
+          -0.9966862201690674,
+          -0.07765620946884155,
+          -22.369380950927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3906,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_983081817",
+      "mask_path": "../../mask/hdr_left_03906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03907.png",
+      "transform_matrix": [
+        [
+          0.9487632513046265,
+          -0.043445244431495667,
+          0.3129868805408478,
+          47.09975051879883
+        ],
+        [
+          -0.315338671207428,
+          -0.06672140955924988,
+          0.9466307163238525,
+          22.233633041381836
+        ],
+        [
+          -0.02024366892874241,
+          -0.9968253970146179,
+          -0.07700277864933014,
+          -22.372228622436523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3907,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_83078861",
+      "mask_path": "../../mask/hdr_left_03907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03909.png",
+      "transform_matrix": [
+        [
+          0.9543615579605103,
+          -0.03939449414610863,
+          0.2960439622402191,
+          47.228580474853516
+        ],
+        [
+          -0.2979312241077423,
+          -0.056682687252759933,
+          0.9529029130935669,
+          22.2242374420166
+        ],
+        [
+          -0.02075856178998947,
+          -0.9976148009300232,
+          -0.06583261489868164,
+          -22.36805534362793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3909,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_283082008",
+      "mask_path": "../../mask/hdr_left_03909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03910.png",
+      "transform_matrix": [
+        [
+          0.9556235671043396,
+          -0.04378145560622215,
+          0.2913188338279724,
+          47.30984878540039
+        ],
+        [
+          -0.29340463876724243,
+          -0.05281496047973633,
+          0.954528272151947,
+          22.223604202270508
+        ],
+        [
+          -0.02640463598072529,
+          -0.9976441264152527,
+          -0.06331691145896912,
+          -22.367048263549805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3910,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_383082389",
+      "mask_path": "../../mask/hdr_left_03910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03911.png",
+      "transform_matrix": [
+        [
+          0.9574484825134277,
+          -0.044092707335948944,
+          0.28521615266799927,
+          47.384117126464844
+        ],
+        [
+          -0.28730344772338867,
+          -0.05189419537782669,
+          0.9564328193664551,
+          22.240442276000977
+        ],
+        [
+          -0.027370642870664597,
+          -0.9976787567138672,
+          -0.062354009598493576,
+          -22.394485473632812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3911,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_483081817",
+      "mask_path": "../../mask/hdr_left_03911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03912.png",
+      "transform_matrix": [
+        [
+          0.9597721695899963,
+          -0.03971901163458824,
+          0.2779562473297119,
+          47.47550582885742
+        ],
+        [
+          -0.2796885073184967,
+          -0.048047300428152084,
+          0.9588877558708191,
+          22.238258361816406
+        ],
+        [
+          -0.02473103255033493,
+          -0.998055100440979,
+          -0.057223398238420486,
+          -22.410093307495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3912,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_583082675",
+      "mask_path": "../../mask/hdr_left_03912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03913.png",
+      "transform_matrix": [
+        [
+          0.9643405079841614,
+          -0.03682396188378334,
+          0.2620902955532074,
+          47.58399963378906
+        ],
+        [
+          -0.2637943923473358,
+          -0.053495414555072784,
+          0.9630942940711975,
+          22.223093032836914
+        ],
+        [
+          -0.021444322541356087,
+          -0.9978889226913452,
+          -0.06130174547433853,
+          -22.39901351928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3913,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_683081865",
+      "mask_path": "../../mask/hdr_left_03913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03914.png",
+      "transform_matrix": [
+        [
+          0.9712724685668945,
+          -0.03641079366207123,
+          0.23516781628131866,
+          47.6666259765625
+        ],
+        [
+          -0.23707014322280884,
+          -0.06219594553112984,
+          0.9694995880126953,
+          22.23615264892578
+        ],
+        [
+          -0.020673763006925583,
+          -0.9973996877670288,
+          -0.06904110312461853,
+          -22.406513214111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3914,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_783082962",
+      "mask_path": "../../mask/hdr_left_03914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03915.png",
+      "transform_matrix": [
+        [
+          0.978650689125061,
+          -0.034392375499010086,
+          0.20263241231441498,
+          47.73290252685547
+        ],
+        [
+          -0.20432424545288086,
+          -0.05614914000034332,
+          0.9772916436195374,
+          22.251928329467773
+        ],
+        [
+          -0.022233745083212852,
+          -0.9978298544883728,
+          -0.061977583914995193,
+          -22.419452667236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3915,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_883080959",
+      "mask_path": "../../mask/hdr_left_03915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03916.png",
+      "transform_matrix": [
+        [
+          0.9832747578620911,
+          -0.04394936561584473,
+          0.17674584686756134,
+          47.82554626464844
+        ],
+        [
+          -0.17853428423404694,
+          -0.040759239345788956,
+          0.9830891489982605,
+          22.250654220581055
+        ],
+        [
+          -0.036002110689878464,
+          -0.9982020258903503,
+          -0.04792400076985359,
+          -22.415119171142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3916,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_983082532",
+      "mask_path": "../../mask/hdr_left_03916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03917.png",
+      "transform_matrix": [
+        [
+          0.9852645993232727,
+          -0.054560478776693344,
+          0.1621011197566986,
+          47.91651916503906
+        ],
+        [
+          -0.16392943263053894,
+          -0.03086318075656891,
+          0.9859892129898071,
+          22.257694244384766
+        ],
+        [
+          -0.04879308119416237,
+          -0.9980334043502808,
+          -0.03935246542096138,
+          -22.418048858642578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3917,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_83082437",
+      "mask_path": "../../mask/hdr_left_03917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03919.png",
+      "transform_matrix": [
+        [
+          0.9850865006446838,
+          -0.06901947408914566,
+          0.15760986506938934,
+          48.03569412231445
+        ],
+        [
+          -0.1599072962999344,
+          -0.02909856289625168,
+          0.9867030382156372,
+          22.264537811279297
+        ],
+        [
+          -0.06351550668478012,
+          -0.9971909523010254,
+          -0.039701323956251144,
+          -22.428781509399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3919,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_283082485",
+      "mask_path": "../../mask/hdr_left_03919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03920.png",
+      "transform_matrix": [
+        [
+          0.9842280149459839,
+          -0.0856529250741005,
+          0.15478573739528656,
+          48.146419525146484
+        ],
+        [
+          -0.15871070325374603,
+          -0.041047196835279465,
+          0.9864714741706848,
+          22.287229537963867
+        ],
+        [
+          -0.07814064621925354,
+          -0.995479166507721,
+          -0.053993839770555496,
+          -22.46892547607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3920,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_383080959",
+      "mask_path": "../../mask/hdr_left_03920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03921.png",
+      "transform_matrix": [
+        [
+          0.9835560321807861,
+          -0.10286867618560791,
+          0.14844369888305664,
+          48.226131439208984
+        ],
+        [
+          -0.1542423814535141,
+          -0.05087357014417648,
+          0.9867224097251892,
+          22.300121307373047
+        ],
+        [
+          -0.09395096451044083,
+          -0.9933931827545166,
+          -0.06590371578931808,
+          -22.50149917602539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3921,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_483081579",
+      "mask_path": "../../mask/hdr_left_03921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03922.png",
+      "transform_matrix": [
+        [
+          0.9838363528251648,
+          -0.11023027449846268,
+          0.1411212533712387,
+          48.278968811035156
+        ],
+        [
+          -0.14832523465156555,
+          -0.06010610610246658,
+          0.9871103167533875,
+          22.30193328857422
+        ],
+        [
+          -0.10032718628644943,
+          -0.9920870065689087,
+          -0.0754845067858696,
+          -22.517316818237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3922,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_583081007",
+      "mask_path": "../../mask/hdr_left_03922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03923.png",
+      "transform_matrix": [
+        [
+          0.9839198589324951,
+          -0.12291901558637619,
+          0.1295861154794693,
+          48.366661071777344
+        ],
+        [
+          -0.138138085603714,
+          -0.06377711892127991,
+          0.9883573651313782,
+          22.304698944091797
+        ],
+        [
+          -0.11322328448295593,
+          -0.9903653264045715,
+          -0.07973136752843857,
+          -22.549915313720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3923,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_683081865",
+      "mask_path": "../../mask/hdr_left_03923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03924.png",
+      "transform_matrix": [
+        [
+          0.9801158905029297,
+          -0.159288689494133,
+          0.11832054704427719,
+          48.43523406982422
+        ],
+        [
+          -0.12908674776554108,
+          -0.058994896709918976,
+          0.9898768067359924,
+          22.311906814575195
+        ],
+        [
+          -0.15069587528705597,
+          -0.985467791557312,
+          -0.07838388532400131,
+          -22.573850631713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3924,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_783081769",
+      "mask_path": "../../mask/hdr_left_03924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03926.png",
+      "transform_matrix": [
+        [
+          0.9742346405982971,
+          -0.20199625194072723,
+          0.10032067447900772,
+          48.52892303466797
+        ],
+        [
+          -0.11501318216323853,
+          -0.06233423203229904,
+          0.991406261920929,
+          22.301685333251953
+        ],
+        [
+          -0.19400693476200104,
+          -0.9774006009101868,
+          -0.0839603915810585,
+          -22.60143280029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3926,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_983080863",
+      "mask_path": "../../mask/hdr_left_03926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03927.png",
+      "transform_matrix": [
+        [
+          0.9735198020935059,
+          -0.21392613649368286,
+          0.08058969676494598,
+          48.58418273925781
+        ],
+        [
+          -0.09656938165426254,
+          -0.06531231105327606,
+          0.9931811094284058,
+          22.302316665649414
+        ],
+        [
+          -0.20720387995243073,
+          -0.9746640920639038,
+          -0.08424153178930283,
+          -22.61734962463379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3927,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_83082437",
+      "mask_path": "../../mask/hdr_left_03927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03928.png",
+      "transform_matrix": [
+        [
+          0.9711690545082092,
+          -0.23433443903923035,
+          0.04379575327038765,
+          48.67430877685547
+        ],
+        [
+          -0.06379858404397964,
+          -0.07846905291080475,
+          0.9948729872703552,
+          22.330018997192383
+        ],
+        [
+          -0.2296963781118393,
+          -0.9689840078353882,
+          -0.09115690737962723,
+          -22.65691375732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3928,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_183081150",
+      "mask_path": "../../mask/hdr_left_03928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03930.png",
+      "transform_matrix": [
+        [
+          0.9576812386512756,
+          -0.28477171063423157,
+          -0.041853539645671844,
+          48.776123046875
+        ],
+        [
+          0.007226152811199427,
+          -0.1215767189860344,
+          0.9925557971000671,
+          22.37339973449707
+        ],
+        [
+          -0.28774017095565796,
+          -0.9508545398712158,
+          -0.11437394469976425,
+          -22.70122718811035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3930,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_383081912",
+      "mask_path": "../../mask/hdr_left_03930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03932.png",
+      "transform_matrix": [
+        [
+          0.9522609710693359,
+          -0.2969985604286194,
+          -0.07064612954854965,
+          48.84893798828125
+        ],
+        [
+          0.03439811244606972,
+          -0.12555277347564697,
+          0.9914904236793518,
+          22.409914016723633
+        ],
+        [
+          -0.3033410608768463,
+          -0.9465877413749695,
+          -0.10934282094240189,
+          -22.74026870727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3932,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_583081960",
+      "mask_path": "../../mask/hdr_left_03932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03933.png",
+      "transform_matrix": [
+        [
+          0.947265625,
+          -0.31100383400917053,
+          -0.07722964882850647,
+          48.91690444946289
+        ],
+        [
+          0.039523471146821976,
+          -0.12577436864376068,
+          0.9912712574005127,
+          22.445459365844727
+        ],
+        [
+          -0.3180026113986969,
+          -0.9420496225357056,
+          -0.1068497747182846,
+          -22.799182891845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3933,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_683082103",
+      "mask_path": "../../mask/hdr_left_03933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03934.png",
+      "transform_matrix": [
+        [
+          0.944460928440094,
+          -0.3178388178348541,
+          -0.08349745720624924,
+          48.9762077331543
+        ],
+        [
+          0.04580196738243103,
+          -0.12428786605596542,
+          0.9911885261535645,
+          22.4725341796875
+        ],
+        [
+          -0.3254159092903137,
+          -0.9399633407592773,
+          -0.10282737761735916,
+          -22.836374282836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3934,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_783082008",
+      "mask_path": "../../mask/hdr_left_03934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03935.png",
+      "transform_matrix": [
+        [
+          0.9490006566047668,
+          -0.3040977418422699,
+          -0.08320045471191406,
+          49.05413055419922
+        ],
+        [
+          0.046904388815164566,
+          -0.12478086352348328,
+          0.9910750985145569,
+          22.512826919555664
+        ],
+        [
+          -0.31176552176475525,
+          -0.944433331489563,
+          -0.1041535809636116,
+          -22.879356384277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3935,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_883080482",
+      "mask_path": "../../mask/hdr_left_03935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03936.png",
+      "transform_matrix": [
+        [
+          0.9516977071762085,
+          -0.2960216701030731,
+          -0.08150126785039902,
+          49.13452911376953
+        ],
+        [
+          0.043871745467185974,
+          -0.13161353766918182,
+          0.9903297424316406,
+          22.55607032775879
+        ],
+        [
+          -0.3038857579231262,
+          -0.9460703134536743,
+          -0.1122693344950676,
+          -22.89780044555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3936,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_983082771",
+      "mask_path": "../../mask/hdr_left_03936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03937.png",
+      "transform_matrix": [
+        [
+          0.9502784609794617,
+          -0.3008962571620941,
+          -0.08020181208848953,
+          49.194156646728516
+        ],
+        [
+          0.040286093950271606,
+          -0.13659638166427612,
+          0.9898073077201843,
+          22.582439422607422
+        ],
+        [
+          -0.3087845742702484,
+          -0.9438235759735107,
+          -0.11768265813589096,
+          -22.918827056884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3937,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_83081483",
+      "mask_path": "../../mask/hdr_left_03937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03938.png",
+      "transform_matrix": [
+        [
+          0.9497931003570557,
+          -0.3031036853790283,
+          -0.07759631425142288,
+          49.25611877441406
+        ],
+        [
+          0.03600815311074257,
+          -0.14046631753444672,
+          0.9894303679466248,
+          22.603723526000977
+        ],
+        [
+          -0.31079962849617004,
+          -0.9425483345985413,
+          -0.12249969691038132,
+          -22.956846237182617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3938,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_183082342",
+      "mask_path": "../../mask/hdr_left_03938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03939.png",
+      "transform_matrix": [
+        [
+          0.9398539662361145,
+          -0.33390045166015625,
+          -0.07200635224580765,
+          49.389400482177734
+        ],
+        [
+          0.02841033972799778,
+          -0.13366056978702545,
+          0.9906198978424072,
+          22.623170852661133
+        ],
+        [
+          -0.3403927683830261,
+          -0.9330838322639465,
+          -0.11613517254590988,
+          -23.026552200317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3939,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_283081054",
+      "mask_path": "../../mask/hdr_left_03939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03940.png",
+      "transform_matrix": [
+        [
+          0.9151580333709717,
+          -0.39946120977401733,
+          -0.054005224257707596,
+          49.45228958129883
+        ],
+        [
+          0.01463225856423378,
+          -0.10096754878759384,
+          0.994782030582428,
+          22.648759841918945
+        ],
+        [
+          -0.4028296172618866,
+          -0.9111730456352234,
+          -0.08655624091625214,
+          -23.065876007080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3940,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_383082628",
+      "mask_path": "../../mask/hdr_left_03940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03942.png",
+      "transform_matrix": [
+        [
+          0.9028548002243042,
+          -0.42728105187416077,
+          -0.047791868448257446,
+          49.532501220703125
+        ],
+        [
+          0.010320938192307949,
+          -0.08958703279495239,
+          0.9959254860877991,
+          22.700668334960938
+        ],
+        [
+          -0.42982161045074463,
+          -0.8996694684028625,
+          -0.0764741525053978,
+          -23.106176376342773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3942,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_583081960",
+      "mask_path": "../../mask/hdr_left_03942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03943.png",
+      "transform_matrix": [
+        [
+          0.9129877686500549,
+          -0.4047572612762451,
+          -0.05123396962881088,
+          49.623260498046875
+        ],
+        [
+          0.012580379843711853,
+          -0.097588449716568,
+          0.9951472878456116,
+          22.727750778198242
+        ],
+        [
+          -0.40779292583465576,
+          -0.9092019200325012,
+          -0.08400505036115646,
+          -23.130210876464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3943,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_683082103",
+      "mask_path": "../../mask/hdr_left_03943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03944.png",
+      "transform_matrix": [
+        [
+          0.9171204566955566,
+          -0.3953929841518402,
+          -0.050541605800390244,
+          49.698097229003906
+        ],
+        [
+          0.013749421574175358,
+          -0.09533984959125519,
+          0.9953497648239136,
+          22.749618530273438
+        ],
+        [
+          -0.39837291836738586,
+          -0.9135506749153137,
+          -0.0820016860961914,
+          -23.166513442993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3944,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_783082246",
+      "mask_path": "../../mask/hdr_left_03944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03945.png",
+      "transform_matrix": [
+        [
+          0.9178931713104248,
+          -0.3940744698047638,
+          -0.04666190966963768,
+          49.747562408447266
+        ],
+        [
+          0.013040315359830856,
+          -0.08756981045007706,
+          0.9960730671882629,
+          22.76457405090332
+        ],
+        [
+          -0.39661309123039246,
+          -0.9148972034454346,
+          -0.07524087280035019,
+          -23.20781898498535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3945,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_883081674",
+      "mask_path": "../../mask/hdr_left_03945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03946.png",
+      "transform_matrix": [
+        [
+          0.9193747639656067,
+          -0.39020875096321106,
+          -0.04987160116434097,
+          49.81779098510742
+        ],
+        [
+          0.01384547259658575,
+          -0.09460055828094482,
+          0.9954190254211426,
+          22.778661727905273
+        ],
+        [
+          -0.393139123916626,
+          -0.9158536791801453,
+          -0.08157072961330414,
+          -23.2539005279541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3946,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_983081102",
+      "mask_path": "../../mask/hdr_left_03946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03947.png",
+      "transform_matrix": [
+        [
+          0.9184316396713257,
+          -0.3916285037994385,
+          -0.0557706244289875,
+          49.88793182373047
+        ],
+        [
+          0.014634434133768082,
+          -0.10725023597478867,
+          0.9941242337226868,
+          22.79010772705078
+        ],
+        [
+          -0.39530882239341736,
+          -0.9138514995574951,
+          -0.09277075529098511,
+          -23.30042266845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3947,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_83081245",
+      "mask_path": "../../mask/hdr_left_03947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03948.png",
+      "transform_matrix": [
+        [
+          0.9192690849304199,
+          -0.38945192098617554,
+          -0.0571960024535656,
+          49.949913024902344
+        ],
+        [
+          0.011987989768385887,
+          -0.11753755062818527,
+          0.992996096611023,
+          22.789316177368164
+        ],
+        [
+          -0.3934468924999237,
+          -0.9135164022445679,
+          -0.10337988287210464,
+          -23.324081420898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3948,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_183082342",
+      "mask_path": "../../mask/hdr_left_03948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03949.png",
+      "transform_matrix": [
+        [
+          0.9231199026107788,
+          -0.38039934635162354,
+          -0.05608911067247391,
+          50.00800704956055
+        ],
+        [
+          0.008566882461309433,
+          -0.12548762559890747,
+          0.9920581579208374,
+          22.78778648376465
+        ],
+        [
+          -0.38441675901412964,
+          -0.9162692427635193,
+          -0.112581267952919,
+          -23.345630645751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3949,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_283081293",
+      "mask_path": "../../mask/hdr_left_03949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03950.png",
+      "transform_matrix": [
+        [
+          0.9245389103889465,
+          -0.3761894702911377,
+          -0.060904163867235184,
+          50.095191955566406
+        ],
+        [
+          0.006626573391258717,
+          -0.14392273128032684,
+          0.9895667433738708,
+          22.807600021362305
+        ],
+        [
+          -0.38103002309799194,
+          -0.9152966141700745,
+          -0.13056929409503937,
+          -23.38515853881836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3950,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_383082151",
+      "mask_path": "../../mask/hdr_left_03950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03951.png",
+      "transform_matrix": [
+        [
+          0.9200147390365601,
+          -0.38468095660209656,
+          -0.07478895038366318,
+          50.17580795288086
+        ],
+        [
+          0.005657548550516367,
+          -0.1777869611978531,
+          0.9840526580810547,
+          22.81966209411621
+        ],
+        [
+          -0.39184287190437317,
+          -0.9057661890983582,
+          -0.1613902449607849,
+          -23.402103424072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3951,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_483082056",
+      "mask_path": "../../mask/hdr_left_03951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03952.png",
+      "transform_matrix": [
+        [
+          0.9177416563034058,
+          -0.3893190324306488,
+          -0.07861919701099396,
+          50.230892181396484
+        ],
+        [
+          0.005257830955088139,
+          -0.18601854145526886,
+          0.9825321435928345,
+          22.823471069335938
+        ],
+        [
+          -0.39714306592941284,
+          -0.9021241068840027,
+          -0.16866998374462128,
+          -23.41285514831543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3952,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_583081007",
+      "mask_path": "../../mask/hdr_left_03952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03953.png",
+      "transform_matrix": [
+        [
+          0.9233999252319336,
+          -0.3756045997142792,
+          -0.07907979190349579,
+          50.297969818115234
+        ],
+        [
+          0.00933187548071146,
+          -0.1839943528175354,
+          0.9828829765319824,
+          22.839616775512695
+        ],
+        [
+          -0.3837255537509918,
+          -0.9083321690559387,
+          -0.16639527678489685,
+          -23.451339721679688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3953,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_683080911",
+      "mask_path": "../../mask/hdr_left_03953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03954.png",
+      "transform_matrix": [
+        [
+          0.9308462738990784,
+          -0.35635706782341003,
+          -0.08083745092153549,
+          50.3728141784668
+        ],
+        [
+          0.015741730108857155,
+          -0.18191128969192505,
+          0.9831889271736145,
+          22.856237411499023
+        ],
+        [
+          -0.365071564912796,
+          -0.9164704084396362,
+          -0.16372178494930267,
+          -23.48264503479004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3954,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_783080339",
+      "mask_path": "../../mask/hdr_left_03954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03955.png",
+      "transform_matrix": [
+        [
+          0.9376828074455261,
+          -0.33894675970077515,
+          -0.0765899196267128,
+          50.44099044799805
+        ],
+        [
+          0.016099868342280388,
+          -0.17779484391212463,
+          0.9839358329772949,
+          22.870458602905273
+        ],
+        [
+          -0.34711915254592896,
+          -0.9238529205322266,
+          -0.16125817596912384,
+          -23.504467010498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3955,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_883081912",
+      "mask_path": "../../mask/hdr_left_03955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03956.png",
+      "transform_matrix": [
+        [
+          0.9423491954803467,
+          -0.32750850915908813,
+          -0.0686742439866066,
+          50.50617980957031
+        ],
+        [
+          0.010280651040375233,
+          -0.1767919510602951,
+          0.9841944575309753,
+          22.885334014892578
+        ],
+        [
+          -0.3344731330871582,
+          -0.9281609654426575,
+          -0.1632327437400818,
+          -23.526227951049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3956,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_983081102",
+      "mask_path": "../../mask/hdr_left_03956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03957.png",
+      "transform_matrix": [
+        [
+          0.9455718994140625,
+          -0.3193603754043579,
+          -0.06247096136212349,
+          50.599971771240234
+        ],
+        [
+          0.005995758343487978,
+          -0.17484351992607117,
+          0.9845780730247498,
+          22.916013717651367
+        ],
+        [
+          -0.3253578245639801,
+          -0.9313639402389526,
+          -0.16341231763362885,
+          -23.569011688232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3957,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_83081483",
+      "mask_path": "../../mask/hdr_left_03957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03958.png",
+      "transform_matrix": [
+        [
+          0.947170078754425,
+          -0.3159972131252289,
+          -0.05490456148982048,
+          50.685482025146484
+        ],
+        [
+          -0.00036548200296238065,
+          -0.1722487211227417,
+          0.9850534200668335,
+          22.944927215576172
+        ],
+        [
+          -0.32073134183883667,
+          -0.9329931735992432,
+          -0.16326431930065155,
+          -23.622501373291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3958,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_183081388",
+      "mask_path": "../../mask/hdr_left_03958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03959.png",
+      "transform_matrix": [
+        [
+          0.947469174861908,
+          -0.3171449303627014,
+          -0.04148728772997856,
+          50.752437591552734
+        ],
+        [
+          -0.01075184065848589,
+          -0.1612171083688736,
+          0.9868603348731995,
+          22.96050262451172
+        ],
+        [
+          -0.31966620683670044,
+          -0.9345738291740417,
+          -0.15615813434123993,
+          -23.66214942932129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3959,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_283082008",
+      "mask_path": "../../mask/hdr_left_03959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03960.png",
+      "transform_matrix": [
+        [
+          0.9496378898620605,
+          -0.31213676929473877,
+          -0.02754027210175991,
+          50.82393264770508
+        ],
+        [
+          -0.02067079022526741,
+          -0.15010111033916473,
+          0.9884545207023621,
+          22.976303100585938
+        ],
+        [
+          -0.31266680359840393,
+          -0.9381046891212463,
+          -0.14899380505084991,
+          -23.695369720458984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3960,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_383082151",
+      "mask_path": "../../mask/hdr_left_03960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03961.png",
+      "transform_matrix": [
+        [
+          0.9463448524475098,
+          -0.3230647146701813,
+          -0.007784382440149784,
+          50.92684555053711
+        ],
+        [
+          -0.0357130765914917,
+          -0.12849359214305878,
+          0.9910670518875122,
+          22.979354858398438
+        ],
+        [
+          -0.32117903232574463,
+          -0.937613308429718,
+          -0.13313685357570648,
+          -23.731468200683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3961,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_483082771",
+      "mask_path": "../../mask/hdr_left_03961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03962.png",
+      "transform_matrix": [
+        [
+          0.942363440990448,
+          -0.3337706923484802,
+          0.023414848372340202,
+          51.007266998291016
+        ],
+        [
+          -0.0650240033864975,
+          -0.11404240876436234,
+          0.9913456439971924,
+          22.980253219604492
+        ],
+        [
+          -0.32821181416511536,
+          -0.9357304573059082,
+          -0.12917248904705048,
+          -23.744356155395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3962,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_583081722",
+      "mask_path": "../../mask/hdr_left_03962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03963.png",
+      "transform_matrix": [
+        [
+          0.9423524141311646,
+          -0.32943466305732727,
+          0.058691658079624176,
+          51.07122039794922
+        ],
+        [
+          -0.10137222707271576,
+          -0.11390122771263123,
+          0.9883067607879639,
+          22.981922149658203
+        ],
+        [
+          -0.31889739632606506,
+          -0.9372829794883728,
+          -0.140730619430542,
+          -23.75440788269043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3963,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_683081388",
+      "mask_path": "../../mask/hdr_left_03963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03964.png",
+      "transform_matrix": [
+        [
+          0.9411168098449707,
+          -0.3256537616252899,
+          0.09082202613353729,
+          51.16383361816406
+        ],
+        [
+          -0.13474257290363312,
+          -0.11491325497627258,
+          0.984194815158844,
+          22.988004684448242
+        ],
+        [
+          -0.3100700378417969,
+          -0.9384799599647522,
+          -0.1520262062549591,
+          -23.788862228393555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3964,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_783081054",
+      "mask_path": "../../mask/hdr_left_03964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03965.png",
+      "transform_matrix": [
+        [
+          0.9366189241409302,
+          -0.32809731364250183,
+          0.12286971509456635,
+          51.23767852783203
+        ],
+        [
+          -0.16815948486328125,
+          -0.11333370953798294,
+          0.9792231321334839,
+          22.986970901489258
+        ],
+        [
+          -0.3073551654815674,
+          -0.9378207325935364,
+          -0.1613231748342514,
+          -23.81797218322754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3965,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_883081674",
+      "mask_path": "../../mask/hdr_left_03965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03966.png",
+      "transform_matrix": [
+        [
+          0.9318916201591492,
+          -0.32782459259033203,
+          0.15527062118053436,
+          51.289241790771484
+        ],
+        [
+          -0.19787436723709106,
+          -0.10066886246204376,
+          0.9750444293022156,
+          22.982311248779297
+        ],
+        [
+          -0.3040125370025635,
+          -0.9393599033355713,
+          -0.15868054330348969,
+          -23.840051651000977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3966,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_983081340",
+      "mask_path": "../../mask/hdr_left_03966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03967.png",
+      "transform_matrix": [
+        [
+          0.9293761253356934,
+          -0.32224440574645996,
+          0.18005140125751495,
+          51.33686447143555
+        ],
+        [
+          -0.21941497921943665,
+          -0.09000729769468307,
+          0.971470832824707,
+          22.979358673095703
+        ],
+        [
+          -0.29684507846832275,
+          -0.9423680305480957,
+          -0.15435588359832764,
+          -23.859058380126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3967,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_83081483",
+      "mask_path": "../../mask/hdr_left_03967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03968.png",
+      "transform_matrix": [
+        [
+          0.9303742051124573,
+          -0.3157878816127777,
+          0.1862303763628006,
+          51.43122482299805
+        ],
+        [
+          -0.22473140060901642,
+          -0.08990734815597534,
+          0.970264196395874,
+          22.974031448364258
+        ],
+        [
+          -0.2896541655063629,
+          -0.9445605874061584,
+          -0.15461492538452148,
+          -23.8969783782959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3968,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_183081626",
+      "mask_path": "../../mask/hdr_left_03968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03969.png",
+      "transform_matrix": [
+        [
+          0.9193594455718994,
+          -0.3386879563331604,
+          0.2001713663339615,
+          51.515655517578125
+        ],
+        [
+          -0.2290104776620865,
+          -0.04700076952576637,
+          0.9722886085510254,
+          22.972795486450195
+        ],
+        [
+          -0.3198941946029663,
+          -0.9397241473197937,
+          -0.12077366560697556,
+          -23.92608642578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3969,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_283082246",
+      "mask_path": "../../mask/hdr_left_03969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03970.png",
+      "transform_matrix": [
+        [
+          0.9071261286735535,
+          -0.36223068833351135,
+          0.2142687886953354,
+          51.56023025512695
+        ],
+        [
+          -0.23388808965682983,
+          -0.010636098682880402,
+          0.9722053408622742,
+          22.983665466308594
+        ],
+        [
+          -0.3498836159706116,
+          -0.9320278763771057,
+          -0.09436971694231033,
+          -23.93022346496582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3970,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_383081197",
+      "mask_path": "../../mask/hdr_left_03970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03971.png",
+      "transform_matrix": [
+        [
+          0.910401463508606,
+          -0.3536876142024994,
+          0.2146489918231964,
+          51.64324188232422
+        ],
+        [
+          -0.23592469096183777,
+          -0.017616478726267815,
+          0.9716116189956665,
+          22.9851016998291
+        ],
+        [
+          -0.3398655951023102,
+          -0.9351977705955505,
+          -0.09948169440031052,
+          -23.95652198791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3971,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_483082532",
+      "mask_path": "../../mask/hdr_left_03971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03972.png",
+      "transform_matrix": [
+        [
+          0.9153146743774414,
+          -0.340432345867157,
+          0.21518553793430328,
+          51.744239807128906
+        ],
+        [
+          -0.2387251853942871,
+          -0.028297817334532738,
+          0.9706748127937317,
+          22.982484817504883
+        ],
+        [
+          -0.3243597745895386,
+          -0.9398431181907654,
+          -0.10717116296291351,
+          -24.000205993652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3972,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_583081960",
+      "mask_path": "../../mask/hdr_left_03972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03973.png",
+      "transform_matrix": [
+        [
+          0.9173266887664795,
+          -0.3323250412940979,
+          0.2192527949810028,
+          51.8193359375
+        ],
+        [
+          -0.24046219885349274,
+          -0.023547567427158356,
+          0.97037273645401,
+          22.98322868347168
+        ],
+        [
+          -0.31731629371643066,
+          -0.9428710341453552,
+          -0.10151240974664688,
+          -24.036907196044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3973,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_683081626",
+      "mask_path": "../../mask/hdr_left_03973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03974.png",
+      "transform_matrix": [
+        [
+          0.9214857816696167,
+          -0.31896132230758667,
+          0.22164753079414368,
+          51.8936882019043
+        ],
+        [
+          -0.23748525977134705,
+          -0.011120326817035675,
+          0.9713274836540222,
+          22.980886459350586
+        ],
+        [
+          -0.30735108256340027,
+          -0.9477025270462036,
+          -0.08599582314491272,
+          -24.06377410888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3974,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_783082008",
+      "mask_path": "../../mask/hdr_left_03974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03975.png",
+      "transform_matrix": [
+        [
+          0.9230272769927979,
+          -0.3140498101711273,
+          0.22224627435207367,
+          52.02210998535156
+        ],
+        [
+          -0.23514391481876373,
+          -0.0032825274392962456,
+          0.9719550013542175,
+          22.966060638427734
+        ],
+        [
+          -0.30451273918151855,
+          -0.9494008421897888,
+          -0.07687675952911377,
+          -24.10598373413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3975,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_883080244",
+      "mask_path": "../../mask/hdr_left_03975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03976.png",
+      "transform_matrix": [
+        [
+          0.9135193228721619,
+          -0.3328897953033447,
+          0.23380936682224274,
+          52.12084197998047
+        ],
+        [
+          -0.23601435124874115,
+          0.03441953286528587,
+          0.9711397290229797,
+          22.952857971191406
+        ],
+        [
+          -0.3313300907611847,
+          -0.9423374533653259,
+          -0.047123853117227554,
+          -24.123828887939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3976,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_983080863",
+      "mask_path": "../../mask/hdr_left_03976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03977.png",
+      "transform_matrix": [
+        [
+          0.9109994769096375,
+          -0.3352087736129761,
+          0.24023932218551636,
+          52.18255615234375
+        ],
+        [
+          -0.23500646650791168,
+          0.056746888905763626,
+          0.970335841178894,
+          22.963159561157227
+        ],
+        [
+          -0.3388979136943817,
+          -0.9404333233833313,
+          -0.02707984670996666,
+          -24.12270164489746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3977,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_83082199",
+      "mask_path": "../../mask/hdr_left_03977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03978.png",
+      "transform_matrix": [
+        [
+          0.9186487793922424,
+          -0.315678209066391,
+          0.23755356669425964,
+          52.29092025756836
+        ],
+        [
+          -0.23563583195209503,
+          0.04483071714639664,
+          0.970806896686554,
+          22.966751098632812
+        ],
+        [
+          -0.3171122372150421,
+          -0.9478066563606262,
+          -0.03320140764117241,
+          -24.14341926574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3978,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_183081626",
+      "mask_path": "../../mask/hdr_left_03978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03979.png",
+      "transform_matrix": [
+        [
+          0.9251561760902405,
+          -0.29769450426101685,
+          0.23550783097743988,
+          52.41484069824219
+        ],
+        [
+          -0.23618808388710022,
+          0.03423560783267021,
+          0.971104085445404,
+          22.96234130859375
+        ],
+        [
+          -0.29715508222579956,
+          -0.9540470838546753,
+          -0.038638606667518616,
+          -24.179197311401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3979,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_283085823",
+      "mask_path": "../../mask/hdr_left_03979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03980.png",
+      "transform_matrix": [
+        [
+          0.9309060573577881,
+          -0.28075453639030457,
+          0.23364676535129547,
+          52.48542785644531
+        ],
+        [
+          -0.23448145389556885,
+          0.031116988509893417,
+          0.9716224670410156,
+          22.96139907836914
+        ],
+        [
+          -0.28005772829055786,
+          -0.9592751264572144,
+          -0.03686473146080971,
+          -24.196557998657227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3980,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_383081912",
+      "mask_path": "../../mask/hdr_left_03980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03981.png",
+      "transform_matrix": [
+        [
+          0.9367820620536804,
+          -0.26366811990737915,
+          0.23004013299942017,
+          52.580894470214844
+        ],
+        [
+          -0.23266325891017914,
+          0.02168193832039833,
+          0.9723156094551086,
+          22.953948974609375
+        ],
+        [
+          -0.26135632395744324,
+          -0.9643698334693909,
+          -0.041034623980522156,
+          -24.222347259521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3981,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_483083009",
+      "mask_path": "../../mask/hdr_left_03981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03982.png",
+      "transform_matrix": [
+        [
+          0.9400191903114319,
+          -0.25293466448783875,
+          0.2288839966058731,
+          52.702693939208984
+        ],
+        [
+          -0.23320363461971283,
+          0.013192429207265377,
+          0.9723384380340576,
+          22.94676399230957
+        ],
+        [
+          -0.24895760416984558,
+          -0.9673933982849121,
+          -0.04658413305878639,
+          -24.261205673217773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3982,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_583080768",
+      "mask_path": "../../mask/hdr_left_03982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03983.png",
+      "transform_matrix": [
+        [
+          0.941817581653595,
+          -0.24257995188236237,
+          0.2326682060956955,
+          52.78629684448242
+        ],
+        [
+          -0.23660339415073395,
+          0.013207104988396168,
+          0.9715165495872498,
+          22.933094024658203
+        ],
+        [
+          -0.23874330520629883,
+          -0.9700416326522827,
+          -0.044956546276807785,
+          -24.278114318847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3983,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_683080911",
+      "mask_path": "../../mask/hdr_left_03983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03984.png",
+      "transform_matrix": [
+        [
+          0.9427117109298706,
+          -0.23070113360881805,
+          0.2409808486700058,
+          52.87485122680664
+        ],
+        [
+          -0.24672411382198334,
+          0.0040716854855418205,
+          0.9690771698951721,
+          22.925338745117188
+        ],
+        [
+          -0.22454838454723358,
+          -0.9730162024497986,
+          -0.053081102669239044,
+          -24.294260025024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3984,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_783080577",
+      "mask_path": "../../mask/hdr_left_03984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03985.png",
+      "transform_matrix": [
+        [
+          0.9436078667640686,
+          -0.2197524905204773,
+          0.24761462211608887,
+          52.999244689941406
+        ],
+        [
+          -0.2550300061702728,
+          -0.005576821509748697,
+          0.966917097568512,
+          22.927474975585938
+        ],
+        [
+          -0.21110151708126068,
+          -0.9755397439002991,
+          -0.061305806040763855,
+          -24.323604583740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3985,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_883081436",
+      "mask_path": "../../mask/hdr_left_03985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03986.png",
+      "transform_matrix": [
+        [
+          0.9472905397415161,
+          -0.20629501342773438,
+          0.2451184093952179,
+          53.115577697753906
+        ],
+        [
+          -0.2532576620578766,
+          -0.013595703057944775,
+          0.9673032760620117,
+          22.928417205810547
+        ],
+        [
+          -0.19621726870536804,
+          -0.9783954620361328,
+          -0.06512486189603806,
+          -24.322099685668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3986,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_983082532",
+      "mask_path": "../../mask/hdr_left_03986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03987.png",
+      "transform_matrix": [
+        [
+          0.9512594938278198,
+          -0.19191302359104156,
+          0.24140138924121857,
+          53.19314193725586
+        ],
+        [
+          -0.2491941750049591,
+          -0.017190871760249138,
+          0.9683008790016174,
+          22.938913345336914
+        ],
+        [
+          -0.1816796511411667,
+          -0.9812614321708679,
+          -0.06417658179998398,
+          -24.335559844970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3987,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_83081960",
+      "mask_path": "../../mask/hdr_left_03987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03988.png",
+      "transform_matrix": [
+        [
+          0.9537422060966492,
+          -0.18025168776512146,
+          0.24059313535690308,
+          53.316097259521484
+        ],
+        [
+          -0.2482844740152359,
+          -0.021053679287433624,
+          0.9684582948684692,
+          22.936948776245117
+        ],
+        [
+          -0.16950087249279022,
+          -0.9833952188491821,
+          -0.06483347713947296,
+          -24.366851806640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3988,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_183081388",
+      "mask_path": "../../mask/hdr_left_03988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03989.png",
+      "transform_matrix": [
+        [
+          0.9546042084693909,
+          -0.16793851554393768,
+          0.24602335691452026,
+          53.45486068725586
+        ],
+        [
+          -0.25365281105041504,
+          -0.02525891549885273,
+          0.9669655561447144,
+          22.91914939880371
+        ],
+        [
+          -0.15617641806602478,
+          -0.9854738712310791,
+          -0.06671032309532166,
+          -24.382110595703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3989,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_283082008",
+      "mask_path": "../../mask/hdr_left_03989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03990.png",
+      "transform_matrix": [
+        [
+          0.9545142650604248,
+          -0.15377110242843628,
+          0.25545406341552734,
+          53.55291748046875
+        ],
+        [
+          -0.26187407970428467,
+          -0.02270635962486267,
+          0.9648349285125732,
+          22.906112670898438
+        ],
+        [
+          -0.14256326854228973,
+          -0.9878455996513367,
+          -0.0619422011077404,
+          -24.388673782348633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3990,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_383082151",
+      "mask_path": "../../mask/hdr_left_03990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03991.png",
+      "transform_matrix": [
+        [
+          0.9537768363952637,
+          -0.14127697050571442,
+          0.2652367353439331,
+          53.6640739440918
+        ],
+        [
+          -0.27161747217178345,
+          -0.0276220440864563,
+          0.9620087742805481,
+          22.905792236328125
+        ],
+        [
+          -0.12858329713344574,
+          -0.9895846843719482,
+          -0.06471855193376541,
+          -24.410757064819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3991,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_483081817",
+      "mask_path": "../../mask/hdr_left_03991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03992.png",
+      "transform_matrix": [
+        [
+          0.952961802482605,
+          -0.14139235019683838,
+          0.26808953285217285,
+          53.809513092041016
+        ],
+        [
+          -0.2754078507423401,
+          -0.034646738320589066,
+          0.9607028961181641,
+          22.899351119995117
+        ],
+        [
+          -0.12654760479927063,
+          -0.9893471598625183,
+          -0.07195757329463959,
+          -24.435285568237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3992,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_583080291",
+      "mask_path": "../../mask/hdr_left_03992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03993.png",
+      "transform_matrix": [
+        [
+          0.9534709453582764,
+          -0.14321860671043396,
+          0.2652956247329712,
+          53.91500473022461
+        ],
+        [
+          -0.27253851294517517,
+          -0.03321385756134987,
+          0.961571455001831,
+          22.89374542236328
+        ],
+        [
+          -0.12890340387821198,
+          -0.9891336560249329,
+          -0.07070101797580719,
+          -24.452552795410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3993,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_683082103",
+      "mask_path": "../../mask/hdr_left_03993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03994.png",
+      "transform_matrix": [
+        [
+          0.9549776911735535,
+          -0.13688313961029053,
+          0.2632119655609131,
+          54.03785705566406
+        ],
+        [
+          -0.26920679211616516,
+          -0.02696499042212963,
+          0.9627048373222351,
+          22.898256301879883
+        ],
+        [
+          -0.1246805340051651,
+          -0.9902201890945435,
+          -0.06260082870721817,
+          -24.482315063476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3994,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_783082008",
+      "mask_path": "../../mask/hdr_left_03994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03995.png",
+      "transform_matrix": [
+        [
+          0.9517688155174255,
+          -0.15143853425979614,
+          0.2668377459049225,
+          54.13196563720703
+        ],
+        [
+          -0.27163925766944885,
+          -0.011568576097488403,
+          0.962329626083374,
+          22.892213821411133
+        ],
+        [
+          -0.14264684915542603,
+          -0.988399088382721,
+          -0.052147265523672104,
+          -24.493061065673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3995,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_883082389",
+      "mask_path": "../../mask/hdr_left_03995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03996.png",
+      "transform_matrix": [
+        [
+          0.9498854875564575,
+          -0.16575947403907776,
+          0.26503080129623413,
+          54.18064498901367
+        ],
+        [
+          -0.26882803440093994,
+          -0.0004907012917101383,
+          0.9631879925727844,
+          22.889001846313477
+        ],
+        [
+          -0.1595274806022644,
+          -0.9861661195755005,
+          -0.04502689838409424,
+          -24.49291229248047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3996,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_983081579",
+      "mask_path": "../../mask/hdr_left_03996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03997.png",
+      "transform_matrix": [
+        [
+          0.9530433416366577,
+          -0.16337639093399048,
+          0.25498348474502563,
+          54.25005340576172
+        ],
+        [
+          -0.25785985589027405,
+          0.003715979168191552,
+          0.9661751389503479,
+          22.890668869018555
+        ],
+        [
+          -0.1587977260351181,
+          -0.986556887626648,
+          -0.03858672454953194,
+          -24.50717544555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3997,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_83081960",
+      "mask_path": "../../mask/hdr_left_03997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03998.png",
+      "transform_matrix": [
+        [
+          0.9564538598060608,
+          -0.15786534547805786,
+          0.24550879001617432,
+          54.32566452026367
+        ],
+        [
+          -0.24743050336837769,
+          0.0076745375990867615,
+          0.9688752889633179,
+          22.87969398498535
+        ],
+        [
+          -0.1548359990119934,
+          -0.9874308705329895,
+          -0.0317203626036644,
+          -24.50587272644043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3998,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_183081388",
+      "mask_path": "../../mask/hdr_left_03998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03999.png",
+      "transform_matrix": [
+        [
+          0.9574626684188843,
+          -0.18145810067653656,
+          0.22436170279979706,
+          54.45512008666992
+        ],
+        [
+          -0.23039047420024872,
+          -0.012578933499753475,
+          0.9730169773101807,
+          22.880870819091797
+        ],
+        [
+          -0.17373956739902496,
+          -0.9833182692527771,
+          -0.05385007709264755,
+          -24.53376579284668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3999,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_283082485",
+      "mask_path": "../../mask/hdr_left_03999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04000.png",
+      "transform_matrix": [
+        [
+          0.9580078125,
+          -0.20863467454910278,
+          0.19670408964157104,
+          54.56056213378906
+        ],
+        [
+          -0.20743541419506073,
+          -0.03064519353210926,
+          0.97776859998703,
+          22.880815505981445
+        ],
+        [
+          -0.19796836376190186,
+          -0.9775134325027466,
+          -0.07263654470443726,
+          -24.56377410888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4000,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_383080005",
+      "mask_path": "../../mask/hdr_left_04000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04002.png",
+      "transform_matrix": [
+        [
+          0.966262936592102,
+          -0.20874084532260895,
+          0.15087439119815826,
+          54.6705207824707
+        ],
+        [
+          -0.16032575070858002,
+          -0.02902422472834587,
+          0.9866373538970947,
+          22.89491844177246
+        ],
+        [
+          -0.2015724778175354,
+          -0.9775401949882507,
+          -0.0615115612745285,
+          -24.601346969604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4002,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_583080768",
+      "mask_path": "../../mask/hdr_left_04002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04003.png",
+      "transform_matrix": [
+        [
+          0.9699124097824097,
+          -0.20791840553283691,
+          0.12664812803268433,
+          54.77555465698242
+        ],
+        [
+          -0.13591115176677704,
+          -0.0308279637247324,
+          0.9902412295341492,
+          22.898590087890625
+        ],
+        [
+          -0.20198506116867065,
+          -0.9776603579521179,
+          -0.05815885215997696,
+          -24.628583908081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4003,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_683082580",
+      "mask_path": "../../mask/hdr_left_04003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04004.png",
+      "transform_matrix": [
+        [
+          0.9709237217903137,
+          -0.20674672722816467,
+          0.12067681550979614,
+          54.8403434753418
+        ],
+        [
+          -0.1285575032234192,
+          -0.02506612241268158,
+          0.9913851618766785,
+          22.904903411865234
+        ],
+        [
+          -0.20194074511528015,
+          -0.9780734181404114,
+          -0.05091613531112671,
+          -24.63882827758789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4004,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_783080816",
+      "mask_path": "../../mask/hdr_left_04004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04005.png",
+      "transform_matrix": [
+        [
+          0.9720091819763184,
+          -0.1965324431657791,
+          0.128736212849617,
+          54.927433013916016
+        ],
+        [
+          -0.13637998700141907,
+          -0.025810090824961662,
+          0.9903203248977661,
+          22.921043395996094
+        ],
+        [
+          -0.19130736589431763,
+          -0.9801575541496277,
+          -0.05189073085784912,
+          -24.66666030883789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4005,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_883080959",
+      "mask_path": "../../mask/hdr_left_04005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04006.png",
+      "transform_matrix": [
+        [
+          0.9732643365859985,
+          -0.18785135447978973,
+          0.13216795027256012,
+          55.05440139770508
+        ],
+        [
+          -0.14135904610157013,
+          -0.036343272775411606,
+          0.9892910718917847,
+          22.937301635742188
+        ],
+        [
+          -0.18103623390197754,
+          -0.9815248847007751,
+          -0.06192609667778015,
+          -24.68276596069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4006,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_983079671",
+      "mask_path": "../../mask/hdr_left_04006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04007.png",
+      "transform_matrix": [
+        [
+          0.9743769764900208,
+          -0.18230386078357697,
+          0.131736621260643,
+          55.162174224853516
+        ],
+        [
+          -0.14134430885314941,
+          -0.04069476202130318,
+          0.9891237020492554,
+          22.949825286865234
+        ],
+        [
+          -0.17496009171009064,
+          -0.9823997616767883,
+          -0.06541965156793594,
+          -24.694921493530273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4007,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_83082675",
+      "mask_path": "../../mask/hdr_left_04007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06473.png",
+      "transform_matrix": [
+        [
+          -0.9507657885551453,
+          -0.13760723173618317,
+          -0.2776842415332794,
+          54.73812484741211
+        ],
+        [
+          0.28180816769599915,
+          -0.011055562645196915,
+          -0.9594070315361023,
+          23.361974716186523
+        ],
+        [
+          0.12895140051841736,
+          -0.9904252290725708,
+          0.04929009824991226,
+          -24.565509796142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6473,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_683082103",
+      "mask_path": "../../mask/hdr_left_06473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06475.png",
+      "transform_matrix": [
+        [
+          -0.9469374418258667,
+          -0.1449297070503235,
+          -0.2868882119655609,
+          54.65477752685547
+        ],
+        [
+          0.2924211621284485,
+          -0.017972737550735474,
+          -0.9561206698417664,
+          23.36962127685547
+        ],
+        [
+          0.1334141045808792,
+          -0.9892787337303162,
+          0.0593995675444603,
+          -24.562597274780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6475,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_883083105",
+      "mask_path": "../../mask/hdr_left_06475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06476.png",
+      "transform_matrix": [
+        [
+          -0.9487748146057129,
+          -0.14056074619293213,
+          -0.2829646170139313,
+          54.59377670288086
+        ],
+        [
+          0.28795525431632996,
+          -0.016104504466056824,
+          -0.9575085043907166,
+          23.37790870666504
+        ],
+        [
+          0.13003107905387878,
+          -0.9899411201477051,
+          0.05575475096702576,
+          -24.563016891479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6476,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_983080863",
+      "mask_path": "../../mask/hdr_left_06476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06477.png",
+      "transform_matrix": [
+        [
+          -0.950808048248291,
+          -0.13860967755317688,
+          -0.2770403325557709,
+          54.540252685546875
+        ],
+        [
+          0.2816157937049866,
+          -0.01416794303804636,
+          -0.9594226479530334,
+          23.37865447998047
+        ],
+        [
+          0.12906019389629364,
+          -0.9902457594871521,
+          0.052505675703287125,
+          -24.56035614013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6477,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_83081722",
+      "mask_path": "../../mask/hdr_left_06477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06479.png",
+      "transform_matrix": [
+        [
+          -0.9522168040275574,
+          -0.13293223083019257,
+          -0.27497661113739014,
+          54.44911575317383
+        ],
+        [
+          0.2791624963283539,
+          -0.013578587211668491,
+          -0.9601478576660156,
+          23.386634826660156
+        ],
+        [
+          0.12390080094337463,
+          -0.9910321831703186,
+          0.05003945529460907,
+          -24.546899795532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6479,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_283085107",
+      "mask_path": "../../mask/hdr_left_06479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06480.png",
+      "transform_matrix": [
+        [
+          -0.9515666365623474,
+          -0.1308881640434265,
+          -0.27818915247917175,
+          54.38452911376953
+        ],
+        [
+          0.28233540058135986,
+          -0.013887149281799793,
+          -0.9592152833938599,
+          23.400714874267578
+        ],
+        [
+          0.1216866597533226,
+          -0.9912999272346497,
+          0.05016890540719032,
+          -24.535459518432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6480,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_383081674",
+      "mask_path": "../../mask/hdr_left_06480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06482.png",
+      "transform_matrix": [
+        [
+          -0.9496225118637085,
+          -0.13306774199008942,
+          -0.28374287486076355,
+          54.31156921386719
+        ],
+        [
+          0.2890462577342987,
+          -0.0219820998609066,
+          -0.9570627808570862,
+          23.404232025146484
+        ],
+        [
+          0.12111689895391464,
+          -0.9908631443977356,
+          0.05933742970228195,
+          -24.51774787902832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6482,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_583081722",
+      "mask_path": "../../mask/hdr_left_06482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06483.png",
+      "transform_matrix": [
+        [
+          -0.9501092433929443,
+          -0.13096024096012115,
+          -0.2830934226512909,
+          54.24734115600586
+        ],
+        [
+          0.2877463698387146,
+          -0.01768658123910427,
+          -0.9575432538986206,
+          23.415035247802734
+        ],
+        [
+          0.12039311230182648,
+          -0.9912298917770386,
+          0.05448751151561737,
+          -24.513200759887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6483,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_683082818",
+      "mask_path": "../../mask/hdr_left_06483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06484.png",
+      "transform_matrix": [
+        [
+          -0.9516665935516357,
+          -0.1260737031698227,
+          -0.2800641357898712,
+          54.192291259765625
+        ],
+        [
+          0.2836323380470276,
+          -0.010931146331131458,
+          -0.9588708281517029,
+          23.425540924072266
+        ],
+        [
+          0.11782695353031158,
+          -0.9919607043266296,
+          0.04616137966513634,
+          -24.515933990478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6484,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_783080816",
+      "mask_path": "../../mask/hdr_left_06484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06485.png",
+      "transform_matrix": [
+        [
+          -0.9526037573814392,
+          -0.12318487465381622,
+          -0.27815765142440796,
+          54.142356872558594
+        ],
+        [
+          0.2812706530094147,
+          -0.008291883394122124,
+          -0.9595926403999329,
+          23.433563232421875
+        ],
+        [
+          0.11590084433555603,
+          -0.9923491477966309,
+          0.04254717007279396,
+          -24.51481819152832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6485,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_883081912",
+      "mask_path": "../../mask/hdr_left_06485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06486.png",
+      "transform_matrix": [
+        [
+          -0.9520637392997742,
+          -0.1256435513496399,
+          -0.27890533208847046,
+          54.070369720458984
+        ],
+        [
+          0.2821284234523773,
+          -0.00826872605830431,
+          -0.9593409299850464,
+          23.451950073242188
+        ],
+        [
+          0.11822881549596786,
+          -0.9920410513877869,
+          0.04331997409462929,
+          -24.504289627075195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6486,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_983082532",
+      "mask_path": "../../mask/hdr_left_06486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06487.png",
+      "transform_matrix": [
+        [
+          -0.9510725140571594,
+          -0.13170306384563446,
+          -0.2794913947582245,
+          54.01227951049805
+        ],
+        [
+          0.2834661900997162,
+          -0.012079370208084583,
+          -0.9589061737060547,
+          23.46559715270996
+        ],
+        [
+          0.12291479855775833,
+          -0.9912156462669373,
+          0.04882172495126724,
+          -24.490995407104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6487,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_83082675",
+      "mask_path": "../../mask/hdr_left_06487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06489.png",
+      "transform_matrix": [
+        [
+          -0.9497402310371399,
+          -0.14443399012088776,
+          -0.2777271270751953,
+          53.88972854614258
+        ],
+        [
+          0.2839442491531372,
+          -0.023957736790180206,
+          -0.9585414528846741,
+          23.47314453125
+        ],
+        [
+          0.13179223239421844,
+          -0.989224374294281,
+          0.06376482546329498,
+          -24.46248435974121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6489,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_283083438",
+      "mask_path": "../../mask/hdr_left_06489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06490.png",
+      "transform_matrix": [
+        [
+          -0.952849268913269,
+          -0.1472419649362564,
+          -0.2653261721134186,
+          53.81155776977539
+        ],
+        [
+          0.2719278931617737,
+          -0.02630806714296341,
+          -0.9619579911231995,
+          23.47011947631836
+        ],
+        [
+          0.13466036319732666,
+          -0.9887505769729614,
+          0.0651068165898323,
+          -24.439022064208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6490,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_383081912",
+      "mask_path": "../../mask/hdr_left_06490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06492.png",
+      "transform_matrix": [
+        [
+          -0.9620263576507568,
+          -0.1492067575454712,
+          -0.22856657207012177,
+          53.691898345947266
+        ],
+        [
+          0.23375754058361053,
+          -0.01799418404698372,
+          -0.9721283316612244,
+          23.45370101928711
+        ],
+        [
+          0.14093522727489471,
+          -0.9886423349380493,
+          0.05218908563256264,
+          -24.410245895385742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6492,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_583082437",
+      "mask_path": "../../mask/hdr_left_06492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06493.png",
+      "transform_matrix": [
+        [
+          -0.9669279456138611,
+          -0.14587900042533875,
+          -0.20921163260936737,
+          53.61299514770508
+        ],
+        [
+          0.2147284746170044,
+          -0.02297798916697502,
+          -0.9764034152030945,
+          23.438989639282227
+        ],
+        [
+          0.13762947916984558,
+          -0.9890355467796326,
+          0.05354243516921997,
+          -24.389690399169922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6493,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_683083057",
+      "mask_path": "../../mask/hdr_left_06493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06494.png",
+      "transform_matrix": [
+        [
+          -0.9700246453285217,
+          -0.14653010666370392,
+          -0.19385820627212524,
+          53.54558563232422
+        ],
+        [
+          0.20055775344371796,
+          -0.03227813169360161,
+          -0.9791499376296997,
+          23.425941467285156
+        ],
+        [
+          0.13721750676631927,
+          -0.9886794686317444,
+          0.06069832667708397,
+          -24.375837326049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6494,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_783082246",
+      "mask_path": "../../mask/hdr_left_06494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06495.png",
+      "transform_matrix": [
+        [
+          -0.970620334148407,
+          -0.15035542845726013,
+          -0.18785512447357178,
+          53.485816955566406
+        ],
+        [
+          0.19588200747966766,
+          -0.04035242274403572,
+          -0.979796826839447,
+          23.417123794555664
+        ],
+        [
+          0.1397373527288437,
+          -0.9878082275390625,
+          0.06861880421638489,
+          -24.365665435791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6495,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_883083105",
+      "mask_path": "../../mask/hdr_left_06495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06496.png",
+      "transform_matrix": [
+        [
+          -0.9710127711296082,
+          -0.1450866460800171,
+          -0.18995818495750427,
+          53.39506530761719
+        ],
+        [
+          0.19777150452136993,
+          -0.04134194180369377,
+          -0.979375958442688,
+          23.408950805664062
+        ],
+        [
+          0.13424111902713776,
+          -0.9885548949241638,
+          0.06883756071329117,
+          -24.35232162475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6496,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_983081579",
+      "mask_path": "../../mask/hdr_left_06496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06497.png",
+      "transform_matrix": [
+        [
+          -0.972399890422821,
+          -0.13770145177841187,
+          -0.18835259974002838,
+          53.29997634887695
+        ],
+        [
+          0.19465048611164093,
+          -0.03367496281862259,
+          -0.9802944660186768,
+          23.407127380371094
+        ],
+        [
+          0.1286451816558838,
+          -0.9899011850357056,
+          0.059549182653427124,
+          -24.34137535095215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6497,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_83081960",
+      "mask_path": "../../mask/hdr_left_06497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06498.png",
+      "transform_matrix": [
+        [
+          -0.9737882614135742,
+          -0.1338346302509308,
+          -0.18391525745391846,
+          53.23579788208008
+        ],
+        [
+          0.18941651284694672,
+          -0.02949357219040394,
+          -0.9814537167549133,
+          23.401105880737305
+        ],
+        [
+          0.12592817842960358,
+          -0.99056476354599,
+          0.054070986807346344,
+          -24.33975601196289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6498,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_183082103",
+      "mask_path": "../../mask/hdr_left_06498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06499.png",
+      "transform_matrix": [
+        [
+          -0.9750267863273621,
+          -0.12631820142269135,
+          -0.18266509473323822,
+          53.15967559814453
+        ],
+        [
+          0.1879880279302597,
+          -0.03148508816957474,
+          -0.9816665053367615,
+          23.40235710144043
+        ],
+        [
+          0.11825108528137207,
+          -0.9914901256561279,
+          0.05444511026144028,
+          -24.34337043762207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6499,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_283081531",
+      "mask_path": "../../mask/hdr_left_06499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06500.png",
+      "transform_matrix": [
+        [
+          -0.9752970337867737,
+          -0.11212888360023499,
+          -0.19032298028469086,
+          53.067073822021484
+        ],
+        [
+          0.19550839066505432,
+          -0.03712131083011627,
+          -0.9799992442131042,
+          23.404521942138672
+        ],
+        [
+          0.10282117873430252,
+          -0.9930001497268677,
+          0.05812644213438034,
+          -24.32895851135254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6500,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_383081912",
+      "mask_path": "../../mask/hdr_left_06500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06501.png",
+      "transform_matrix": [
+        [
+          -0.9742695093154907,
+          -0.10449294000864029,
+          -0.19970016181468964,
+          52.98967742919922
+        ],
+        [
+          0.20504744350910187,
+          -0.043104980140924454,
+          -0.9778023958206177,
+          23.404773712158203
+        ],
+        [
+          0.09356535226106644,
+          -0.9935911297798157,
+          0.06342187523841858,
+          -24.311500549316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6501,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_483081579",
+      "mask_path": "../../mask/hdr_left_06501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06502.png",
+      "transform_matrix": [
+        [
+          -0.9726956486701965,
+          -0.10749790817499161,
+          -0.20568746328353882,
+          52.9124870300293
+        ],
+        [
+          0.21225817501544952,
+          -0.05362825468182564,
+          -0.9757409691810608,
+          23.40117645263672
+        ],
+        [
+          0.09385944902896881,
+          -0.9927579164505005,
+          0.07498127967119217,
+          -24.306276321411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6502,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_583083391",
+      "mask_path": "../../mask/hdr_left_06502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06503.png",
+      "transform_matrix": [
+        [
+          -0.9706982970237732,
+          -0.12774935364723206,
+          -0.2035311907529831,
+          52.7900390625
+        ],
+        [
+          0.21266984939575195,
+          -0.06237753853201866,
+          -0.9751309752464294,
+          23.389007568359375
+        ],
+        [
+          0.11187657713890076,
+          -0.9898430705070496,
+          0.08771820366382599,
+          -24.267255783081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6503,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_683081150",
+      "mask_path": "../../mask/hdr_left_06503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06504.png",
+      "transform_matrix": [
+        [
+          -0.971150279045105,
+          -0.1422286480665207,
+          -0.19141064584255219,
+          52.677608489990234
+        ],
+        [
+          0.20083452761173248,
+          -0.055022984743118286,
+          -0.9780786633491516,
+          23.375869750976562
+        ],
+        [
+          0.1285787969827652,
+          -0.9883033633232117,
+          0.0820000097155571,
+          -24.21771240234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6504,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_783082246",
+      "mask_path": "../../mask/hdr_left_06504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06505.png",
+      "transform_matrix": [
+        [
+          -0.9731907248497009,
+          -0.14399407804012299,
+          -0.17934763431549072,
+          52.61214065551758
+        ],
+        [
+          0.18735700845718384,
+          -0.04402546212077141,
+          -0.9813047647476196,
+          23.37948989868164
+        ],
+        [
+          0.13340620696544647,
+          -0.9885987639427185,
+          0.06982346624135971,
+          -24.206066131591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6505,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_883082151",
+      "mask_path": "../../mask/hdr_left_06505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06506.png",
+      "transform_matrix": [
+        [
+          -0.9746686816215515,
+          -0.14186514914035797,
+          -0.17290233075618744,
+          52.53814697265625
+        ],
+        [
+          0.18147312104701996,
+          -0.049785055220127106,
+          -0.9821348190307617,
+          23.389232635498047
+        ],
+        [
+          0.130722776055336,
+          -0.9886332750320435,
+          0.0742686465382576,
+          -24.197669982910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6506,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_983082771",
+      "mask_path": "../../mask/hdr_left_06506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06507.png",
+      "transform_matrix": [
+        [
+          -0.9749443531036377,
+          -0.14335887134075165,
+          -0.17009304463863373,
+          52.45020294189453
+        ],
+        [
+          0.17911706864833832,
+          -0.052492618560791016,
+          -0.9824263453483582,
+          23.399879455566406
+        ],
+        [
+          0.13191090524196625,
+          -0.9882776737213135,
+          0.07685539871454239,
+          -24.18391990661621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6507,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_83083152",
+      "mask_path": "../../mask/hdr_left_06507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06508.png",
+      "transform_matrix": [
+        [
+          -0.9748721718788147,
+          -0.14728708565235138,
+          -0.16712506115436554,
+          52.38066482543945
+        ],
+        [
+          0.1763259470462799,
+          -0.05170758441090584,
+          -0.9829727411270142,
+          23.404176712036133
+        ],
+        [
+          0.13613756000995636,
+          -0.9877413511276245,
+          0.07637882232666016,
+          -24.170963287353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6508,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_183081865",
+      "mask_path": "../../mask/hdr_left_06508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06509.png",
+      "transform_matrix": [
+        [
+          -0.9746427536010742,
+          -0.1488572359085083,
+          -0.16707205772399902,
+          52.30703353881836
+        ],
+        [
+          0.17705883085727692,
+          -0.05648190155625343,
+          -0.9825782179832458,
+          23.39583396911621
+        ],
+        [
+          0.13682730495929718,
+          -0.9872443675994873,
+          0.08140616118907928,
+          -24.150968551635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6509,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_283081769",
+      "mask_path": "../../mask/hdr_left_06509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06510.png",
+      "transform_matrix": [
+        [
+          -0.9760786890983582,
+          -0.14794808626174927,
+          -0.15931713581085205,
+          52.22337341308594
+        ],
+        [
+          0.16870039701461792,
+          -0.05312241613864899,
+          -0.9842348098754883,
+          23.387819290161133
+        ],
+        [
+          0.13715232908725739,
+          -0.9875674843788147,
+          0.0768105536699295,
+          -24.144174575805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6510,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_383082389",
+      "mask_path": "../../mask/hdr_left_06510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06512.png",
+      "transform_matrix": [
+        [
+          -0.9818212389945984,
+          -0.14225587248802185,
+          -0.12565892934799194,
+          52.10604476928711
+        ],
+        [
+          0.13353414833545685,
+          -0.04719971865415573,
+          -0.9899196028709412,
+          23.37274742126465
+        ],
+        [
+          0.13489079475402832,
+          -0.9887039065361023,
+          0.06533771008253098,
+          -24.134401321411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6512,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_583081483",
+      "mask_path": "../../mask/hdr_left_06512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06513.png",
+      "transform_matrix": [
+        [
+          -0.9851049780845642,
+          -0.1382218897342682,
+          -0.1022881343960762,
+          52.043617248535156
+        ],
+        [
+          0.10997387766838074,
+          -0.04914158582687378,
+          -0.9927188754081726,
+          23.36571502685547
+        ],
+        [
+          0.13218887150287628,
+          -0.989181399345398,
+          0.06361041963100433,
+          -24.123891830444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6513,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_683080911",
+      "mask_path": "../../mask/hdr_left_06513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06515.png",
+      "transform_matrix": [
+        [
+          -0.988081157207489,
+          -0.1439858078956604,
+          -0.05443931743502617,
+          51.970211029052734
+        ],
+        [
+          0.06385229527950287,
+          -0.06157935410737991,
+          -0.9960576891899109,
+          23.343996047973633
+        ],
+        [
+          0.14006580412387848,
+          -0.9876618981361389,
+          0.07003922760486603,
+          -24.109973907470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6515,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_883080959",
+      "mask_path": "../../mask/hdr_left_06515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06517.png",
+      "transform_matrix": [
+        [
+          -0.9870043992996216,
+          -0.16069148480892181,
+          -0.0006982878549024463,
+          51.8677978515625
+        ],
+        [
+          0.016093114390969276,
+          -0.09452218562364578,
+          -0.9953926801681519,
+          23.29924201965332
+        ],
+        [
+          0.15988512337207794,
+          -0.9824682474136353,
+          0.09587983787059784,
+          -24.07891845703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6517,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_83081483",
+      "mask_path": "../../mask/hdr_left_06517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06520.png",
+      "transform_matrix": [
+        [
+          -0.982540488243103,
+          -0.1848437786102295,
+          0.02114231139421463,
+          51.71503448486328
+        ],
+        [
+          -0.004414861090481281,
+          -0.0904422476887703,
+          -0.9958918690681458,
+          23.238727569580078
+        ],
+        [
+          0.18599657714366913,
+          -0.9785974621772766,
+          0.0880471020936966,
+          -24.029497146606445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6520,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_383082151",
+      "mask_path": "../../mask/hdr_left_06520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06521.png",
+      "transform_matrix": [
+        [
+          -0.9834972023963928,
+          -0.18000218272209167,
+          0.018232880160212517,
+          51.65450668334961
+        ],
+        [
+          -0.0013534005265682936,
+          -0.09345434606075287,
+          -0.9956226944923401,
+          23.217327117919922
+        ],
+        [
+          0.18091818690299988,
+          -0.9792168140411377,
+          0.09166847169399261,
+          -24.01380157470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6521,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_483079671",
+      "mask_path": "../../mask/hdr_left_06521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06522.png",
+      "transform_matrix": [
+        [
+          -0.9834622144699097,
+          -0.18060483038425446,
+          0.01356325764209032,
+          51.5981330871582
+        ],
+        [
+          0.004791589453816414,
+          -0.10080752521753311,
+          -0.9948943853378296,
+          23.198429107666016
+        ],
+        [
+          0.18105000257492065,
+          -0.9783760905265808,
+          0.10000576823949814,
+          -23.988399505615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6522,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_583080768",
+      "mask_path": "../../mask/hdr_left_06522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06523.png",
+      "transform_matrix": [
+        [
+          -0.9823569655418396,
+          -0.18682003021240234,
+          0.008538424968719482,
+          51.53652572631836
+        ],
+        [
+          0.011494208127260208,
+          -0.10588406026363373,
+          -0.994312047958374,
+          23.184202194213867
+        ],
+        [
+          0.1866614818572998,
+          -0.9766713380813599,
+          0.10616330057382584,
+          -23.970539093017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6523,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_683079242",
+      "mask_path": "../../mask/hdr_left_06523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06524.png",
+      "transform_matrix": [
+        [
+          -0.9784553050994873,
+          -0.20627282559871674,
+          0.008759447373449802,
+          51.45259475708008
+        ],
+        [
+          0.017759395763278008,
+          -0.12635990977287292,
+          -0.9918254613876343,
+          23.159265518188477
+        ],
+        [
+          0.20569348335266113,
+          -0.9703013300895691,
+          0.12730079889297485,
+          -23.93698501586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6524,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_783077716",
+      "mask_path": "../../mask/hdr_left_06524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06525.png",
+      "transform_matrix": [
+        [
+          -0.9749702215194702,
+          -0.22196312248706818,
+          0.012861782684922218,
+          51.35131072998047
+        ],
+        [
+          0.01507603656500578,
+          -0.1237151175737381,
+          -0.9922032952308655,
+          23.13679313659668
+        ],
+        [
+          0.22182370722293854,
+          -0.967174768447876,
+          0.12396487593650818,
+          -23.878110885620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6525,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_883082389",
+      "mask_path": "../../mask/hdr_left_06525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06526.png",
+      "transform_matrix": [
+        [
+          -0.9743505120277405,
+          -0.2245023250579834,
+          0.015487768687307835,
+          51.27773666381836
+        ],
+        [
+          0.008349452167749405,
+          -0.10484156757593155,
+          -0.9944539070129395,
+          23.117481231689453
+        ],
+        [
+          0.22488094866275787,
+          -0.9688173532485962,
+          0.10402689129114151,
+          -23.859554290771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6526,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_983081340",
+      "mask_path": "../../mask/hdr_left_06526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06527.png",
+      "transform_matrix": [
+        [
+          -0.9730424284934998,
+          -0.2301727533340454,
+          0.014457008801400661,
+          51.203216552734375
+        ],
+        [
+          0.0071127102710306644,
+          -0.09260646253824234,
+          -0.9956774115562439,
+          23.105819702148438
+        ],
+        [
+          0.23051659762859344,
+          -0.968733549118042,
+          0.09174716472625732,
+          -23.85599708557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6527,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_83081245",
+      "mask_path": "../../mask/hdr_left_06527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06528.png",
+      "transform_matrix": [
+        [
+          -0.9712527990341187,
+          -0.23788759112358093,
+          0.008798126131296158,
+          51.1136589050293
+        ],
+        [
+          0.012347693555057049,
+          -0.08725399523973465,
+          -0.9961095452308655,
+          23.104557037353516
+        ],
+        [
+          0.2377297729253769,
+          -0.9673656225204468,
+          0.0876830518245697,
+          -23.81847381591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6528,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_183081388",
+      "mask_path": "../../mask/hdr_left_06528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06529.png",
+      "transform_matrix": [
+        [
+          -0.969663143157959,
+          -0.24442191421985626,
+          0.0033427004236727953,
+          51.054771423339844
+        ],
+        [
+          0.018097545951604843,
+          -0.08541988581418991,
+          -0.9961806535720825,
+          23.10270881652832
+        ],
+        [
+          0.24377387762069702,
+          -0.9658992290496826,
+          0.08725196868181229,
+          -23.789155960083008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6529,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_283077716",
+      "mask_path": "../../mask/hdr_left_06529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06530.png",
+      "transform_matrix": [
+        [
+          -0.9697213172912598,
+          -0.24421431124210358,
+          -0.00022393831750378013,
+          51.00547409057617
+        ],
+        [
+          0.02181987650692463,
+          -0.0857284739613533,
+          -0.9960796236991882,
+          23.096763610839844
+        ],
+        [
+          0.2432376742362976,
+          -0.9659244418144226,
+          0.08846145123243332,
+          -23.78351402282715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6530,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_383077859",
+      "mask_path": "../../mask/hdr_left_06530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06531.png",
+      "transform_matrix": [
+        [
+          -0.9656850099563599,
+          -0.25971606373786926,
+          0.00017991843924392015,
+          50.912593841552734
+        ],
+        [
+          0.025858750566840172,
+          -0.09683822840452194,
+          -0.994964063167572,
+          23.069440841674805
+        ],
+        [
+          0.2584255337715149,
+          -0.9608173966407776,
+          0.10023115575313568,
+          -23.731002807617188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6531,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_483082532",
+      "mask_path": "../../mask/hdr_left_06531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06532.png",
+      "transform_matrix": [
+        [
+          -0.9617468118667603,
+          -0.27392685413360596,
+          0.0026787009555846453,
+          50.8159294128418
+        ],
+        [
+          0.023141905665397644,
+          -0.09098605811595917,
+          -0.9955832362174988,
+          23.04963493347168
+        ],
+        [
+          0.27296069264411926,
+          -0.9574370384216309,
+          0.09384474158287048,
+          -23.670169830322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6532,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_583080768",
+      "mask_path": "../../mask/hdr_left_06532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06533.png",
+      "transform_matrix": [
+        [
+          -0.9619883894920349,
+          -0.2730877995491028,
+          0.0012080519227311015,
+          50.74836730957031
+        ],
+        [
+          0.019996032118797302,
+          -0.07484907656908035,
+          -0.9969943761825562,
+          23.03484344482422
+        ],
+        [
+          0.27235740423202515,
+          -0.9590728878974915,
+          0.07746460288763046,
+          -23.649152755737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6533,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_683079719",
+      "mask_path": "../../mask/hdr_left_06533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06534.png",
+      "transform_matrix": [
+        [
+          -0.9633955955505371,
+          -0.2679976224899292,
+          -0.00679637910798192,
+          50.66228485107422
+        ],
+        [
+          0.02655845694243908,
+          -0.07018374651670456,
+          -0.9971804618835449,
+          23.035404205322266
+        ],
+        [
+          0.2667649984359741,
+          -0.9608598351478577,
+          0.07473231106996536,
+          -23.63575553894043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6534,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_783081293",
+      "mask_path": "../../mask/hdr_left_06534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06535.png",
+      "transform_matrix": [
+        [
+          -0.9635216593742371,
+          -0.2671452760696411,
+          -0.01610247604548931,
+          50.5750617980957
+        ],
+        [
+          0.037325240671634674,
+          -0.07455584406852722,
+          -0.9965181350708008,
+          23.045122146606445
+        ],
+        [
+          0.26501449942588806,
+          -0.9607678651809692,
+          0.08180741220712662,
+          -23.612289428710938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6535,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_883081197",
+      "mask_path": "../../mask/hdr_left_06535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06536.png",
+      "transform_matrix": [
+        [
+          -0.9627116322517395,
+          -0.2694511413574219,
+          -0.024131877347826958,
+          50.50271987915039
+        ],
+        [
+          0.04680558666586876,
+          -0.07804199308156967,
+          -0.9958507418632507,
+          23.039592742919922
+        ],
+        [
+          0.26644977927207947,
+          -0.9598466753959656,
+          0.08774375170469284,
+          -23.58243751525879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6536,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_983082056",
+      "mask_path": "../../mask/hdr_left_06536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06537.png",
+      "transform_matrix": [
+        [
+          -0.9610823392868042,
+          -0.27505162358283997,
+          -0.0258309505879879,
+          50.42927551269531
+        ],
+        [
+          0.052006568759679794,
+          -0.08830203115940094,
+          -0.9947351813316345,
+          23.011884689331055
+        ],
+        [
+          0.271322637796402,
+          -0.9573658108711243,
+          0.0991700291633606,
+          -23.54203987121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6537,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_83081245",
+      "mask_path": "../../mask/hdr_left_06537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06538.png",
+      "transform_matrix": [
+        [
+          -0.9601981043815613,
+          -0.2785557210445404,
+          -0.02064703218638897,
+          50.34226608276367
+        ],
+        [
+          0.045237746089696884,
+          -0.08214209228754044,
+          -0.9955933690071106,
+          22.991117477416992
+        ],
+        [
+          0.27563223242759705,
+          -0.9569010734558105,
+          0.09147390723228455,
+          -23.492246627807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6538,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_183081388",
+      "mask_path": "../../mask/hdr_left_06538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06539.png",
+      "transform_matrix": [
+        [
+          -0.9602428674697876,
+          -0.2790977656841278,
+          -0.006159134674817324,
+          50.28069305419922
+        ],
+        [
+          0.026451455429196358,
+          -0.06899911165237427,
+          -0.9972659945487976,
+          22.976070404052734
+        ],
+        [
+          0.2779097557067871,
+          -0.9577805995941162,
+          0.0736384466290474,
+          -23.474361419677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6539,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_283081293",
+      "mask_path": "../../mask/hdr_left_06539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06540.png",
+      "transform_matrix": [
+        [
+          -0.9612017869949341,
+          -0.27547478675842285,
+          0.014317882247269154,
+          50.22975540161133
+        ],
+        [
+          0.00522593641653657,
+          -0.0700814500451088,
+          -0.997527539730072,
+          22.9582462310791
+        ],
+        [
+          0.2757970690727234,
+          -0.9587504267692566,
+          0.06880202889442444,
+          -23.4659423828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6540,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_383082628",
+      "mask_path": "../../mask/hdr_left_06540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06541.png",
+      "transform_matrix": [
+        [
+          -0.960285484790802,
+          -0.2774583101272583,
+          0.029473090544342995,
+          50.14238357543945
+        ],
+        [
+          -0.009333556517958641,
+          -0.07362878322601318,
+          -0.9972420334815979,
+          22.947486877441406
+        ],
+        [
+          0.27886316180229187,
+          -0.9579122066497803,
+          0.0681149810552597,
+          -23.44987678527832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6541,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_483081579",
+      "mask_path": "../../mask/hdr_left_06541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06542.png",
+      "transform_matrix": [
+        [
+          -0.9586992263793945,
+          -0.2819485664367676,
+          0.03742716833949089,
+          50.06240463256836
+        ],
+        [
+          -0.016209062188863754,
+          -0.07721570134162903,
+          -0.9968826770782471,
+          22.93189811706543
+        ],
+        [
+          0.28395962715148926,
+          -0.9563174247741699,
+          0.06945651024580002,
+          -23.41485595703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6542,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_583082199",
+      "mask_path": "../../mask/hdr_left_06542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06544.png",
+      "transform_matrix": [
+        [
+          -0.9544753432273865,
+          -0.29235392808914185,
+          0.059210509061813354,
+          49.97410202026367
+        ],
+        [
+          -0.029273750260472298,
+          -0.10573478788137436,
+          -0.9939634203910828,
+          22.88225555419922
+        ],
+        [
+          0.29684969782829285,
+          -0.9504469633102417,
+          0.09236294776201248,
+          -23.343196868896484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6544,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_783081769",
+      "mask_path": "../../mask/hdr_left_06544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06545.png",
+      "transform_matrix": [
+        [
+          -0.9499847888946533,
+          -0.3016913831233978,
+          0.08069080114364624,
+          49.907657623291016
+        ],
+        [
+          -0.04837625101208687,
+          -0.11309988051652908,
+          -0.9924052357673645,
+          22.85525131225586
+        ],
+        [
+          0.3085262179374695,
+          -0.946673572063446,
+          0.09284847229719162,
+          -23.288684844970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6545,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_883082151",
+      "mask_path": "../../mask/hdr_left_06545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06546.png",
+      "transform_matrix": [
+        [
+          -0.9496358036994934,
+          -0.2999701201915741,
+          0.09060806781053543,
+          49.85679626464844
+        ],
+        [
+          -0.06194748356938362,
+          -0.10373280942440033,
+          -0.9926741123199463,
+          22.840246200561523
+        ],
+        [
+          0.30717161297798157,
+          -0.9482918977737427,
+          0.07992599159479141,
+          -23.28439712524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6546,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_983083009",
+      "mask_path": "../../mask/hdr_left_06546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06547.png",
+      "transform_matrix": [
+        [
+          -0.9510629773139954,
+          -0.2960244119167328,
+          0.0885927677154541,
+          49.786346435546875
+        ],
+        [
+          -0.06357121467590332,
+          -0.09312604367733002,
+          -0.9936227202415466,
+          22.81561279296875
+        ],
+        [
+          0.3023868203163147,
+          -0.9506298303604126,
+          0.0697501003742218,
+          -23.26313018798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6547,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_83082675",
+      "mask_path": "../../mask/hdr_left_06547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06548.png",
+      "transform_matrix": [
+        [
+          -0.9535378217697144,
+          -0.28931233286857605,
+          0.0840483158826828,
+          49.712127685546875
+        ],
+        [
+          -0.06049461290240288,
+          -0.0894295871257782,
+          -0.9941542744636536,
+          22.79920196533203
+        ],
+        [
+          0.29513752460479736,
+          -0.9530481100082397,
+          0.06777264177799225,
+          -23.244449615478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6548,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_183083057",
+      "mask_path": "../../mask/hdr_left_06548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06549.png",
+      "transform_matrix": [
+        [
+          -0.9547345638275146,
+          -0.28624844551086426,
+          0.08089306205511093,
+          49.6465950012207
+        ],
+        [
+          -0.05495968088507652,
+          -0.09751245379447937,
+          -0.9937155842781067,
+          22.783109664916992
+        ],
+        [
+          0.29233765602111816,
+          -0.9531805515289307,
+          0.07736639678478241,
+          -23.226200103759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6549,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_283082723",
+      "mask_path": "../../mask/hdr_left_06549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06550.png",
+      "transform_matrix": [
+        [
+          -0.9547589421272278,
+          -0.2877628207206726,
+          0.07501937448978424,
+          49.57627487182617
+        ],
+        [
+          -0.04702652990818024,
+          -0.10299450159072876,
+          -0.9935696125030518,
+          22.76273536682129
+        ],
+        [
+          0.29363900423049927,
+          -0.9521474242210388,
+          0.08480243384838104,
+          -23.192943572998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6550,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_383082628",
+      "mask_path": "../../mask/hdr_left_06550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06551.png",
+      "transform_matrix": [
+        [
+          -0.951017439365387,
+          -0.2998611032962799,
+          0.07516077160835266,
+          49.49713897705078
+        ],
+        [
+          -0.038436319679021835,
+          -0.12654821574687958,
+          -0.9912155270576477,
+          22.728618621826172
+        ],
+        [
+          0.30673837661743164,
+          -0.9455522298812866,
+          0.10882400721311569,
+          -23.1433162689209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6551,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_483081579",
+      "mask_path": "../../mask/hdr_left_06551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06552.png",
+      "transform_matrix": [
+        [
+          -0.947675347328186,
+          -0.30913057923316956,
+          0.07968437671661377,
+          49.41650390625
+        ],
+        [
+          -0.039607420563697815,
+          -0.13382548093795776,
+          -0.9902130961418152,
+          22.70099449157715
+        ],
+        [
+          0.31676894426345825,
+          -0.9415567517280579,
+          0.11457924544811249,
+          -23.09305191040039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6552,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_583081960",
+      "mask_path": "../../mask/hdr_left_06552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06553.png",
+      "transform_matrix": [
+        [
+          -0.9477361440658569,
+          -0.3092907965183258,
+          0.0783282071352005,
+          49.34566879272461
+        ],
+        [
+          -0.04213117063045502,
+          -0.12203237414360046,
+          -0.9916314482688904,
+          22.687597274780273
+        ],
+        [
+          0.31626102328300476,
+          -0.9431052207946777,
+          0.10262370854616165,
+          -23.07138442993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6553,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_683080673",
+      "mask_path": "../../mask/hdr_left_06553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06554.png",
+      "transform_matrix": [
+        [
+          -0.9495459794998169,
+          -0.30511045455932617,
+          0.07259409129619598,
+          49.2713623046875
+        ],
+        [
+          -0.038814857602119446,
+          -0.11536101251840591,
+          -0.9925649762153625,
+          22.675230026245117
+        ],
+        [
+          0.31121647357940674,
+          -0.9453039169311523,
+          0.09769777953624725,
+          -23.053455352783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6554,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_783081293",
+      "mask_path": "../../mask/hdr_left_06554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06555.png",
+      "transform_matrix": [
+        [
+          -0.9501945376396179,
+          -0.30444011092185974,
+          0.06668152660131454,
+          49.19189453125
+        ],
+        [
+          -0.032251738011837006,
+          -0.11675568670034409,
+          -0.9926367402076721,
+          22.667272567749023
+        ],
+        [
+          0.30998390913009644,
+          -0.945348858833313,
+          0.10112190246582031,
+          -23.029375076293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6555,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_883081197",
+      "mask_path": "../../mask/hdr_left_06555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06556.png",
+      "transform_matrix": [
+        [
+          -0.9491680860519409,
+          -0.30840784311294556,
+          0.06296412646770477,
+          49.1290397644043
+        ],
+        [
+          -0.02610696852207184,
+          -0.12221028655767441,
+          -0.9921607375144958,
+          22.65684700012207
+        ],
+        [
+          0.31368502974510193,
+          -0.9433712363243103,
+          0.10794651508331299,
+          -22.997011184692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6556,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_983081102",
+      "mask_path": "../../mask/hdr_left_06556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06557.png",
+      "transform_matrix": [
+        [
+          -0.9481530785560608,
+          -0.31195127964019775,
+          0.060763340443372726,
+          49.05819320678711
+        ],
+        [
+          -0.01983577385544777,
+          -0.13273316621780396,
+          -0.9909533262252808,
+          22.638580322265625
+        ],
+        [
+          0.317194402217865,
+          -0.9407808184623718,
+          0.11966355890035629,
+          -22.981624603271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6557,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_83081245",
+      "mask_path": "../../mask/hdr_left_06557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06558.png",
+      "transform_matrix": [
+        [
+          -0.9472551345825195,
+          -0.31526777148246765,
+          0.05756722763180733,
+          48.9846305847168
+        ],
+        [
+          -0.018162745982408524,
+          -0.12652814388275146,
+          -0.9917967319488525,
+          22.611804962158203
+        ],
+        [
+          0.3199653625488281,
+          -0.9405302405357361,
+          0.11412830650806427,
+          -22.92617416381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6558,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_183081865",
+      "mask_path": "../../mask/hdr_left_06558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06559.png",
+      "transform_matrix": [
+        [
+          -0.9473051428794861,
+          -0.31632179021835327,
+          0.050530701875686646,
+          48.92909240722656
+        ],
+        [
+          -0.016628030687570572,
+          -0.10897418111562729,
+          -0.9939054846763611,
+          22.597681045532227
+        ],
+        [
+          0.3199004530906677,
+          -0.94237220287323,
+          0.09797200560569763,
+          -22.885225296020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6559,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_283081054",
+      "mask_path": "../../mask/hdr_left_06559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06560.png",
+      "transform_matrix": [
+        [
+          -0.9485353827476501,
+          -0.3136053681373596,
+          0.043956443667411804,
+          48.86891174316406
+        ],
+        [
+          -0.013187557458877563,
+          -0.09956881403923035,
+          -0.9949433207511902,
+          22.578493118286133
+        ],
+        [
+          0.31639623641967773,
+          -0.9443186521530151,
+          0.09030884504318237,
+          -22.865806579589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6560,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_383081912",
+      "mask_path": "../../mask/hdr_left_06560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06561.png",
+      "transform_matrix": [
+        [
+          -0.944279134273529,
+          -0.3268386721611023,
+          0.038902025669813156,
+          48.80601501464844
+        ],
+        [
+          -0.013275792822241783,
+          -0.08027494698762894,
+          -0.9966843724250793,
+          22.56309700012207
+        ],
+        [
+          0.32887783646583557,
+          -0.9416647553443909,
+          0.07146291434764862,
+          -22.860715866088867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6561,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_483081817",
+      "mask_path": "../../mask/hdr_left_06561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06562.png",
+      "transform_matrix": [
+        [
+          -0.9306415915489197,
+          -0.36523935198783875,
+          0.022503862157464027,
+          48.7115478515625
+        ],
+        [
+          -0.0004337441350799054,
+          -0.06039637699723244,
+          -0.9981743693351746,
+          22.557567596435547
+        ],
+        [
+          0.3659317195415497,
+          -0.9289523363113403,
+          0.05604896694421768,
+          -22.758899688720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6562,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_583082199",
+      "mask_path": "../../mask/hdr_left_06562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06563.png",
+      "transform_matrix": [
+        [
+          -0.9244691133499146,
+          -0.38091298937797546,
+          0.01619497314095497,
+          48.6340446472168
+        ],
+        [
+          0.010567955672740936,
+          -0.06806349009275436,
+          -0.9976250529289246,
+          22.559864044189453
+        ],
+        [
+          0.3811105489730835,
+          -0.9221023321151733,
+          0.0669480562210083,
+          -22.6728572845459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6563,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_683082103",
+      "mask_path": "../../mask/hdr_left_06563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06564.png",
+      "transform_matrix": [
+        [
+          -0.9299688339233398,
+          -0.3671664893627167,
+          0.01861894130706787,
+          48.58184051513672
+        ],
+        [
+          0.0125123867765069,
+          -0.08222576230764389,
+          -0.9965351819992065,
+          22.55150604248047
+        ],
+        [
+          0.3674252927303314,
+          -0.9265137314796448,
+          0.08106152713298798,
+          -22.667949676513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6564,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_783082485",
+      "mask_path": "../../mask/hdr_left_06564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06565.png",
+      "transform_matrix": [
+        [
+          -0.9367440342903137,
+          -0.34974557161331177,
+          0.0137323047965765,
+          48.50075912475586
+        ],
+        [
+          0.013327157124876976,
+          -0.07484501600265503,
+          -0.9971061944961548,
+          22.53152084350586
+        ],
+        [
+          0.3497612476348877,
+          -0.9338502883911133,
+          0.07477173954248428,
+          -22.650163650512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6565,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_883081912",
+      "mask_path": "../../mask/hdr_left_06565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06566.png",
+      "transform_matrix": [
+        [
+          -0.9414924383163452,
+          -0.33689039945602417,
+          0.009847658686339855,
+          48.41847610473633
+        ],
+        [
+          0.013416055589914322,
+          -0.06665660440921783,
+          -0.9976857304573059,
+          22.514780044555664
+        ],
+        [
+          0.3367671072483063,
+          -0.9391815066337585,
+          0.06727641075849533,
+          -22.63536834716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6566,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_983082294",
+      "mask_path": "../../mask/hdr_left_06566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06567.png",
+      "transform_matrix": [
+        [
+          -0.9452415704727173,
+          -0.3262912631034851,
+          0.007240320555865765,
+          48.337039947509766
+        ],
+        [
+          0.01537374872714281,
+          -0.06667428463697433,
+          -0.9976563453674316,
+          22.504594802856445
+        ],
+        [
+          0.3260093033313751,
+          -0.9429149627685547,
+          0.06803962588310242,
+          -22.616867065429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6567,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_83081722",
+      "mask_path": "../../mask/hdr_left_06567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06568.png",
+      "transform_matrix": [
+        [
+          -0.9460643529891968,
+          -0.32395139336586,
+          0.004190553445369005,
+          48.242774963378906
+        ],
+        [
+          0.020840544253587723,
+          -0.07376011461019516,
+          -0.9970582723617554,
+          22.495271682739258
+        ],
+        [
+          0.32330745458602905,
+          -0.9431940317153931,
+          0.07653313130140305,
+          -22.592430114746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6568,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_183084249",
+      "mask_path": "../../mask/hdr_left_06568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06569.png",
+      "transform_matrix": [
+        [
+          -0.9453631043434143,
+          -0.3260103166103363,
+          0.0024291877634823322,
+          48.184505462646484
+        ],
+        [
+          0.027035502716898918,
+          -0.08581838756799698,
+          -0.9959439039230347,
+          22.48534393310547
+        ],
+        [
+          0.3248963952064514,
+          -0.9414629340171814,
+          0.08994337916374207,
+          -22.56163787841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6569,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_283082723",
+      "mask_path": "../../mask/hdr_left_06569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06570.png",
+      "transform_matrix": [
+        [
+          -0.9441361427307129,
+          -0.32950618863105774,
+          0.005713560618460178,
+          48.11688995361328
+        ],
+        [
+          0.030454037711024284,
+          -0.10449682176113129,
+          -0.9940587878227234,
+          22.457820892333984
+        ],
+        [
+          0.3281455636024475,
+          -0.9383529424667358,
+          0.10869402438402176,
+          -22.523542404174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6570,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_383082151",
+      "mask_path": "../../mask/hdr_left_06570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06571.png",
+      "transform_matrix": [
+        [
+          -0.9442414045333862,
+          -0.3290441334247589,
+          0.011757158674299717,
+          48.023231506347656
+        ],
+        [
+          0.022751783952116966,
+          -0.1008295863866806,
+          -0.99464350938797,
+          22.423133850097656
+        ],
+        [
+          0.3284670412540436,
+          -0.9389162063598633,
+          0.10269379615783691,
+          -22.471271514892578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6571,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_483083009",
+      "mask_path": "../../mask/hdr_left_06571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06572.png",
+      "transform_matrix": [
+        [
+          -0.9457876086235046,
+          -0.3244800269603729,
+          0.014082977548241615,
+          47.950927734375
+        ],
+        [
+          0.015722498297691345,
+          -0.08905143290758133,
+          -0.9959028959274292,
+          22.407615661621094
+        ],
+        [
+          0.3244047462940216,
+          -0.9416913986206055,
+          0.08932539075613022,
+          -22.456045150756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6572,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_583081960",
+      "mask_path": "../../mask/hdr_left_06572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06573.png",
+      "transform_matrix": [
+        [
+          -0.9476383328437805,
+          -0.31901293992996216,
+          0.014572160318493843,
+          47.88394546508789
+        ],
+        [
+          0.013934791088104248,
+          -0.08689539134502411,
+          -0.9961199760437012,
+          22.404470443725586
+        ],
+        [
+          0.3190414011478424,
+          -0.943758487701416,
+          0.0867907777428627,
+          -22.455873489379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6573,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_683079481",
+      "mask_path": "../../mask/hdr_left_06573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06574.png",
+      "transform_matrix": [
+        [
+          -0.9558549523353577,
+          -0.29367300868034363,
+          0.00987976137548685,
+          47.80581283569336
+        ],
+        [
+          0.018767258152365685,
+          -0.09456948190927505,
+          -0.995341420173645,
+          22.386198043823242
+        ],
+        [
+          0.29323917627334595,
+          -0.9512165784835815,
+          0.09590612351894379,
+          -22.428770065307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6574,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_783080339",
+      "mask_path": "../../mask/hdr_left_06574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06575.png",
+      "transform_matrix": [
+        [
+          -0.9602982401847839,
+          -0.2789754271507263,
+          0.0002750283747445792,
+          47.72804260253906
+        ],
+        [
+          0.029012687504291534,
+          -0.10084878653287888,
+          -0.994478702545166,
+          22.368642807006836
+        ],
+        [
+          0.2774628698825836,
+          -0.9549881219863892,
+          0.10493873059749603,
+          -22.395301818847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6575,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_883079767",
+      "mask_path": "../../mask/hdr_left_06575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06576.png",
+      "transform_matrix": [
+        [
+          -0.9606389999389648,
+          -0.2776612341403961,
+          -0.008772359229624271,
+          47.65031814575195
+        ],
+        [
+          0.039430227130651474,
+          -0.10502445697784424,
+          -0.9936876893043518,
+          22.349788665771484
+        ],
+        [
+          0.27498722076416016,
+          -0.9549210071563721,
+          0.11183882504701614,
+          -22.363037109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6576,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_983082771",
+      "mask_path": "../../mask/hdr_left_06576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06577.png",
+      "transform_matrix": [
+        [
+          -0.9648074507713318,
+          -0.2625845968723297,
+          -0.013998068869113922,
+          47.55695343017578
+        ],
+        [
+          0.04278017207980156,
+          -0.104216568171978,
+          -0.9936341047286987,
+          22.342082977294922
+        ],
+        [
+          0.2594541311264038,
+          -0.9592644572257996,
+          0.11178231984376907,
+          -22.353252410888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6577,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_83079576",
+      "mask_path": "../../mask/hdr_left_06577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06578.png",
+      "transform_matrix": [
+        [
+          -0.9692635536193848,
+          -0.24540287256240845,
+          -0.017477592453360558,
+          47.47412109375
+        ],
+        [
+          0.041163548827171326,
+          -0.09172371029853821,
+          -0.9949333071708679,
+          22.33171844482422
+        ],
+        [
+          0.2425563782453537,
+          -0.9650722146034241,
+          0.09900610148906708,
+          -22.344371795654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6578,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_183083534",
+      "mask_path": "../../mask/hdr_left_06578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06579.png",
+      "transform_matrix": [
+        [
+          -0.9719641208648682,
+          -0.2341049164533615,
+          -0.02192213386297226,
+          47.403160095214844
+        ],
+        [
+          0.041468314826488495,
+          -0.07889977842569351,
+          -0.9960196614265442,
+          22.32513999938965
+        ],
+        [
+          0.23144344985485077,
+          -0.9690045118331909,
+          0.08639568835496902,
+          -22.336191177368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6579,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_283081531",
+      "mask_path": "../../mask/hdr_left_06579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06580.png",
+      "transform_matrix": [
+        [
+          -0.9772123098373413,
+          -0.21019133925437927,
+          -0.02959052473306656,
+          47.31446075439453
+        ],
+        [
+          0.0455441027879715,
+          -0.07146911323070526,
+          -0.9964025020599365,
+          22.32224464416504
+        ],
+        [
+          0.20732037723064423,
+          -0.9750444889068604,
+          0.07941347360610962,
+          -22.323925018310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6580,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_383081436",
+      "mask_path": "../../mask/hdr_left_06580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06581.png",
+      "transform_matrix": [
+        [
+          -0.981937825679779,
+          -0.1841259002685547,
+          -0.04353887960314751,
+          47.24663543701172
+        ],
+        [
+          0.05706078186631203,
+          -0.06878704577684402,
+          -0.9959981441497803,
+          22.315826416015625
+        ],
+        [
+          0.18039414286613464,
+          -0.9804928302764893,
+          0.07805097848176956,
+          -22.307924270629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6581,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_483080387",
+      "mask_path": "../../mask/hdr_left_06581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06582.png",
+      "transform_matrix": [
+        [
+          -0.9836463928222656,
+          -0.17040717601776123,
+          -0.058319780975580215,
+          47.194522857666016
+        ],
+        [
+          0.07139203697443008,
+          -0.0716148316860199,
+          -0.9948740601539612,
+          22.319705963134766
+        ],
+        [
+          0.1653570979833603,
+          -0.9827679395675659,
+          0.0826093778014183,
+          -22.30820655822754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6582,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_583077669",
+      "mask_path": "../../mask/hdr_left_06582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06583.png",
+      "transform_matrix": [
+        [
+          -0.9855471849441528,
+          -0.15243539214134216,
+          -0.07389378547668457,
+          47.110496520996094
+        ],
+        [
+          0.08506491780281067,
+          -0.06810571253299713,
+          -0.9940450191497803,
+          22.30741310119629
+        ],
+        [
+          0.1464950442314148,
+          -0.9859640598297119,
+          0.0800882875919342,
+          -22.29983139038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6583,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_683079957",
+      "mask_path": "../../mask/hdr_left_06583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06584.png",
+      "transform_matrix": [
+        [
+          -0.9874604940414429,
+          -0.1316452920436859,
+          -0.0871276929974556,
+          47.025177001953125
+        ],
+        [
+          0.09554575383663177,
+          -0.05903134495019913,
+          -0.9936731457710266,
+          22.299280166625977
+        ],
+        [
+          0.12566912174224854,
+          -0.98953777551651,
+          0.07086926698684692,
+          -22.303722381591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6584,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_783081054",
+      "mask_path": "../../mask/hdr_left_06584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06585.png",
+      "transform_matrix": [
+        [
+          -0.9880260229110718,
+          -0.11852379143238068,
+          -0.09877513349056244,
+          46.96318435668945
+        ],
+        [
+          0.10521295666694641,
+          -0.049333371222019196,
+          -0.9932252764701843,
+          22.302106857299805
+        ],
+        [
+          0.11284792423248291,
+          -0.991724967956543,
+          0.061212897300720215,
+          -22.310649871826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6585,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_883082628",
+      "mask_path": "../../mask/hdr_left_06585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06586.png",
+      "transform_matrix": [
+        [
+          -0.9876961708068848,
+          -0.10866322368383408,
+          -0.11246539652347565,
+          46.8967170715332
+        ],
+        [
+          0.11773909628391266,
+          -0.04338102042675018,
+          -0.9920965433120728,
+          22.31723403930664
+        ],
+        [
+          0.10292554646730423,
+          -0.9931316375732422,
+          0.055641185492277145,
+          -22.30839729309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6586,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_983083486",
+      "mask_path": "../../mask/hdr_left_06586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06587.png",
+      "transform_matrix": [
+        [
+          -0.9868054389953613,
+          -0.09830763936042786,
+          -0.1286487877368927,
+          46.81474304199219
+        ],
+        [
+          0.13309435546398163,
+          -0.04005974903702736,
+          -0.9902935028076172,
+          22.330141067504883
+        ],
+        [
+          0.09219978004693985,
+          -0.994349479675293,
+          0.052615370601415634,
+          -22.30533790588379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6587,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_83082914",
+      "mask_path": "../../mask/hdr_left_06587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06588.png",
+      "transform_matrix": [
+        [
+          -0.9854336977005005,
+          -0.08996454626321793,
+          -0.1443142294883728,
+          46.73681640625
+        ],
+        [
+          0.14828437566757202,
+          -0.039095439016819,
+          -0.9881717562675476,
+          22.337656021118164
+        ],
+        [
+          0.08325838297605515,
+          -0.9951773881912231,
+          0.051866304129362106,
+          -22.300453186035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6588,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_183080911",
+      "mask_path": "../../mask/hdr_left_06588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06589.png",
+      "transform_matrix": [
+        [
+          -0.9835265278816223,
+          -0.08550386130809784,
+          -0.15926240384578705,
+          46.6667366027832
+        ],
+        [
+          0.16325055062770844,
+          -0.04183081537485123,
+          -0.9856974482536316,
+          22.3494815826416
+        ],
+        [
+          0.07761885225772858,
+          -0.9954594373703003,
+          0.055100273340940475,
+          -22.29876708984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6589,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_283083200",
+      "mask_path": "../../mask/hdr_left_06589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06590.png",
+      "transform_matrix": [
+        [
+          -0.9825853705406189,
+          -0.07983838766813278,
+          -0.16778430342674255,
+          46.58468246459961
+        ],
+        [
+          0.1718747913837433,
+          -0.04741818830370903,
+          -0.9839768409729004,
+          22.35099220275879
+        ],
+        [
+          0.07060310244560242,
+          -0.9956793785095215,
+          0.06031462922692299,
+          -22.29730224609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6590,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_383081436",
+      "mask_path": "../../mask/hdr_left_06590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06591.png",
+      "transform_matrix": [
+        [
+          -0.9838171005249023,
+          -0.07043155282735825,
+          -0.1647520810365677,
+          46.50419998168945
+        ],
+        [
+          0.1680050790309906,
+          -0.04303141310811043,
+          -0.9848464727401733,
+          22.346744537353516
+        ],
+        [
+          0.0622747503221035,
+          -0.9965880513191223,
+          0.05416789650917053,
+          -22.300411224365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6591,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_483080863",
+      "mask_path": "../../mask/hdr_left_06591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06592.png",
+      "transform_matrix": [
+        [
+          -0.9852799773216248,
+          -0.06242157518863678,
+          -0.15914417803287506,
+          46.43085861206055
+        ],
+        [
+          0.16138893365859985,
+          -0.03270686790347099,
+          -0.9863487482070923,
+          22.345579147338867
+        ],
+        [
+          0.056364335119724274,
+          -0.9975138902664185,
+          0.042299576103687286,
+          -22.304908752441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6592,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_583081245",
+      "mask_path": "../../mask/hdr_left_06592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06593.png",
+      "transform_matrix": [
+        [
+          -0.986129105091095,
+          -0.05224486067891121,
+          -0.15754307806491852,
+          46.352298736572266
+        ],
+        [
+          0.159426748752594,
+          -0.034069087356328964,
+          -0.9866216778755188,
+          22.356130599975586
+        ],
+        [
+          0.04617856815457344,
+          -0.9980530142784119,
+          0.04192574694752693,
+          -22.318017959594727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6593,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_683080911",
+      "mask_path": "../../mask/hdr_left_06593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06594.png",
+      "transform_matrix": [
+        [
+          -0.9853168725967407,
+          -0.045379944145679474,
+          -0.1645945906639099,
+          46.2635612487793
+        ],
+        [
+          0.1663060337305069,
+          -0.03692034259438515,
+          -0.9853828549385071,
+          22.371850967407227
+        ],
+        [
+          0.038639724254608154,
+          -0.9982873797416687,
+          0.04392518848180771,
+          -22.317264556884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6594,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_783082962",
+      "mask_path": "../../mask/hdr_left_06594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06595.png",
+      "transform_matrix": [
+        [
+          -0.9838310480117798,
+          -0.04333651065826416,
+          -0.17377647757530212,
+          46.19352340698242
+        ],
+        [
+          0.17560890316963196,
+          -0.042813289910554886,
+          -0.9835286736488342,
+          22.37521743774414
+        ],
+        [
+          0.035182755440473557,
+          -0.9981428384780884,
+          0.04973132535815239,
+          -22.311235427856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6595,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_883081912",
+      "mask_path": "../../mask/hdr_left_06595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06596.png",
+      "transform_matrix": [
+        [
+          -0.982227087020874,
+          -0.04331475496292114,
+          -0.18262982368469238,
+          46.12682342529297
+        ],
+        [
+          0.18479152023792267,
+          -0.05264827981591225,
+          -0.9813665747642517,
+          22.36314582824707
+        ],
+        [
+          0.03289249911904335,
+          -0.9976732730865479,
+          0.05971676856279373,
+          -22.302614212036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6596,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_983081340",
+      "mask_path": "../../mask/hdr_left_06596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06597.png",
+      "transform_matrix": [
+        [
+          -0.9822203516960144,
+          -0.039649710059165955,
+          -0.18349650502204895,
+          46.02873229980469
+        ],
+        [
+          0.18543119728565216,
+          -0.05236734449863434,
+          -0.9812608361244202,
+          22.352758407592773
+        ],
+        [
+          0.02929748222231865,
+          -0.9978404641151428,
+          0.058788564056158066,
+          -22.298673629760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6597,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_83081483",
+      "mask_path": "../../mask/hdr_left_06597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06598.png",
+      "transform_matrix": [
+        [
+          -0.9835987687110901,
+          -0.036199185997247696,
+          -0.17670071125030518,
+          45.943397521972656
+        ],
+        [
+          0.17834033071994781,
+          -0.048609908670186996,
+          -0.9827674031257629,
+          22.345989227294922
+        ],
+        [
+          0.02698596566915512,
+          -0.9981616735458374,
+          0.05426841974258423,
+          -22.31003189086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6598,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_183081865",
+      "mask_path": "../../mask/hdr_left_06598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06599.png",
+      "transform_matrix": [
+        [
+          -0.9844979047775269,
+          -0.035385433584451675,
+          -0.17178960144519806,
+          45.87828063964844
+        ],
+        [
+          0.1734626591205597,
+          -0.0514020211994648,
+          -0.9834981560707092,
+          22.33049774169922
+        ],
+        [
+          0.025971170514822006,
+          -0.9980509877204895,
+          0.056743234395980835,
+          -22.312747955322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6599,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_283081769",
+      "mask_path": "../../mask/hdr_left_06599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06600.png",
+      "transform_matrix": [
+        [
+          -0.9844503402709961,
+          -0.029994577169418335,
+          -0.17308317124843597,
+          45.80979537963867
+        ],
+        [
+          0.17447078227996826,
+          -0.05235692113637924,
+          -0.9832693934440613,
+          22.313812255859375
+        ],
+        [
+          0.02043064497411251,
+          -0.9981778860092163,
+          0.05677597224712372,
+          -22.313934326171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6600,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_383080959",
+      "mask_path": "../../mask/hdr_left_06600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06601.png",
+      "transform_matrix": [
+        [
+          -0.9829035997390747,
+          -0.029415391385555267,
+          -0.18175627291202545,
+          45.735836029052734
+        ],
+        [
+          0.18309836089611053,
+          -0.052250973880290985,
+          -0.9817050695419312,
+          22.30658531188965
+        ],
+        [
+          0.019380291923880577,
+          -0.9982007741928101,
+          0.05674357712268829,
+          -22.301944732666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6601,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_483081340",
+      "mask_path": "../../mask/hdr_left_06601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06602.png",
+      "transform_matrix": [
+        [
+          -0.9800195693969727,
+          -0.032884687185287476,
+          -0.19616322219371796,
+          45.675968170166016
+        ],
+        [
+          0.19777335226535797,
+          -0.056263308972120285,
+          -0.9786317944526672,
+          22.307085037231445
+        ],
+        [
+          0.02114519663155079,
+          -0.99787437915802,
+          0.06164286658167839,
+          -22.295604705810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6602,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_583082199",
+      "mask_path": "../../mask/hdr_left_06602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06603.png",
+      "transform_matrix": [
+        [
+          -0.9756737947463989,
+          -0.03216050565242767,
+          -0.21685566008090973,
+          45.61671829223633
+        ],
+        [
+          0.21835896372795105,
+          -0.05460076034069061,
+          -0.9743398427963257,
+          22.306257247924805
+        ],
+        [
+          0.01949477382004261,
+          -0.9979902505874634,
+          0.06029506400227547,
+          -22.290510177612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6603,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_683080196",
+      "mask_path": "../../mask/hdr_left_06603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06604.png",
+      "transform_matrix": [
+        [
+          -0.970940351486206,
+          -0.02643774263560772,
+          -0.23785680532455444,
+          45.54119110107422
+        ],
+        [
+          0.23890943825244904,
+          -0.048772186040878296,
+          -0.969816267490387,
+          22.301130294799805
+        ],
+        [
+          0.014038952067494392,
+          -0.9984599947929382,
+          0.053671106696128845,
+          -22.289642333984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6604,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_783082008",
+      "mask_path": "../../mask/hdr_left_06604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06608.png",
+      "transform_matrix": [
+        [
+          -0.9419388175010681,
+          0.008801452815532684,
+          -0.33566907048225403,
+          45.43019104003906
+        ],
+        [
+          0.3353096842765808,
+          -0.028484230861067772,
+          -0.9416772723197937,
+          22.324195861816406
+        ],
+        [
+          -0.017849402502179146,
+          -0.9995555877685547,
+          0.023879192769527435,
+          -22.30385971069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6608,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_183080434",
+      "mask_path": "../../mask/hdr_left_06608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06610.png",
+      "transform_matrix": [
+        [
+          -0.9281192421913147,
+          0.011073540896177292,
+          -0.372118204832077,
+          45.36249542236328
+        ],
+        [
+          0.3717532455921173,
+          -0.025733284652233124,
+          -0.9279748797416687,
+          22.357074737548828
+        ],
+        [
+          -0.019851788878440857,
+          -0.9996075630187988,
+          0.01976693421602249,
+          -22.307043075561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6610,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_383081436",
+      "mask_path": "../../mask/hdr_left_06610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06612.png",
+      "transform_matrix": [
+        [
+          -0.9220864176750183,
+          0.011540803126990795,
+          -0.38681185245513916,
+          45.26677322387695
+        ],
+        [
+          0.3864865005016327,
+          -0.02320387028157711,
+          -0.9220031499862671,
+          22.396087646484375
+        ],
+        [
+          -0.01961618848145008,
+          -0.9996641874313354,
+          0.01693561300635338,
+          -22.294260025024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6612,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_583081960",
+      "mask_path": "../../mask/hdr_left_06612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06613.png",
+      "transform_matrix": [
+        [
+          -0.9227547645568848,
+          0.009918520227074623,
+          -0.38525980710983276,
+          45.20447540283203
+        ],
+        [
+          0.3850596249103546,
+          -0.017496420070528984,
+          -0.9227257370948792,
+          22.40920066833496
+        ],
+        [
+          -0.015892742201685905,
+          -0.9997977614402771,
+          0.012325688265264034,
+          -22.296457290649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6613,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_683081865",
+      "mask_path": "../../mask/hdr_left_06613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06614.png",
+      "transform_matrix": [
+        [
+          -0.9236531257629395,
+          0.008351609110832214,
+          -0.3831385374069214,
+          45.13704299926758
+        ],
+        [
+          0.3829553723335266,
+          -0.0176971647888422,
+          -0.9235972762107849,
+          22.417430877685547
+        ],
+        [
+          -0.014493988826870918,
+          -0.9998085498809814,
+          0.0131477490067482,
+          -22.30397605895996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6614,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_783081769",
+      "mask_path": "../../mask/hdr_left_06614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06615.png",
+      "transform_matrix": [
+        [
+          -0.9228240251541138,
+          0.012695007026195526,
+          -0.3850124180316925,
+          45.059349060058594
+        ],
+        [
+          0.38481083512306213,
+          -0.015765845775604248,
+          -0.9228608012199402,
+          22.428468704223633
+        ],
+        [
+          -0.01778576895594597,
+          -0.999795138835907,
+          0.009663927368819714,
+          -22.304800033569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6615,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_883084297",
+      "mask_path": "../../mask/hdr_left_06615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06616.png",
+      "transform_matrix": [
+        [
+          -0.9201570749282837,
+          0.01249019056558609,
+          -0.39135000109672546,
+          44.984981536865234
+        ],
+        [
+          0.39112135767936707,
+          -0.017395885661244392,
+          -0.920174777507782,
+          22.448041915893555
+        ],
+        [
+          -0.018301036208868027,
+          -0.9997707009315491,
+          0.011121767573058605,
+          -22.29647445678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6616,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_983082056",
+      "mask_path": "../../mask/hdr_left_06616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06617.png",
+      "transform_matrix": [
+        [
+          -0.9157485365867615,
+          0.005829673260450363,
+          -0.4017096161842346,
+          44.92023849487305
+        ],
+        [
+          0.40146228671073914,
+          -0.02468092367053032,
+          -0.9155430197715759,
+          22.457592010498047
+        ],
+        [
+          -0.015251879580318928,
+          -0.9996784329414368,
+          0.0202611293643713,
+          -22.292743682861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6617,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_83082675",
+      "mask_path": "../../mask/hdr_left_06617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03872.png",
+      "transform_matrix": [
+        [
+          -0.99278324842453,
+          -0.0214421134442091,
+          0.11799018085002899,
+          45.306461334228516
+        ],
+        [
+          -0.11736557632684708,
+          -0.028370823711156845,
+          -0.9926834106445312,
+          22.571809768676758
+        ],
+        [
+          0.024632710963487625,
+          -0.9993674159049988,
+          0.02564951404929161,
+          -22.3137149810791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3872,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_683082103",
+      "mask_path": "../../mask/hdr_right_03872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03873.png",
+      "transform_matrix": [
+        [
+          -0.9924196600914001,
+          -0.021536534652113914,
+          0.12099284678697586,
+          45.40777587890625
+        ],
+        [
+          -0.12017162144184113,
+          -0.03603995591402054,
+          -0.9920987486839294,
+          22.57998275756836
+        ],
+        [
+          0.02572694607079029,
+          -0.9991182088851929,
+          0.03317868709564209,
+          -22.31654930114746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3873,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_783082008",
+      "mask_path": "../../mask/hdr_right_03873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03874.png",
+      "transform_matrix": [
+        [
+          -0.9919477701187134,
+          -0.020753871649503708,
+          0.12493661046028137,
+          45.475589752197266
+        ],
+        [
+          -0.12409848719835281,
+          -0.037688255310058594,
+          -0.9915538430213928,
+          22.586658477783203
+        ],
+        [
+          0.02528722584247589,
+          -0.9990739822387695,
+          0.03480925038456917,
+          -22.323476791381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3874,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_883081674",
+      "mask_path": "../../mask/hdr_right_03874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03875.png",
+      "transform_matrix": [
+        [
+          -0.9919531345367432,
+          -0.025444630533456802,
+          0.12402229756116867,
+          45.569679260253906
+        ],
+        [
+          -0.12304673343896866,
+          -0.0368754081428051,
+          -0.9917156100273132,
+          22.586267471313477
+        ],
+        [
+          0.029807208105921745,
+          -0.998995840549469,
+          0.03344779834151268,
+          -22.32938575744629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3875,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_983080387",
+      "mask_path": "../../mask/hdr_right_03875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03876.png",
+      "transform_matrix": [
+        [
+          -0.9930013418197632,
+          -0.028289513662457466,
+          0.1146656796336174,
+          45.66303634643555
+        ],
+        [
+          -0.11360276490449905,
+          -0.03669062256813049,
+          -0.9928485751152039,
+          22.575408935546875
+        ],
+        [
+          0.03229435905814171,
+          -0.9989261627197266,
+          0.033220063894987106,
+          -22.323890686035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3876,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_83081960",
+      "mask_path": "../../mask/hdr_right_03876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03877.png",
+      "transform_matrix": [
+        [
+          -0.9945321679115295,
+          -0.026117736473679543,
+          0.10111211240291595,
+          45.73081588745117
+        ],
+        [
+          -0.10007770359516144,
+          -0.03827205300331116,
+          -0.9942433834075928,
+          22.56743621826172
+        ],
+        [
+          0.02983715385198593,
+          -0.9989259243011475,
+          0.03544898331165314,
+          -22.31873321533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3877,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_183081388",
+      "mask_path": "../../mask/hdr_right_03877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03878.png",
+      "transform_matrix": [
+        [
+          -0.9959017634391785,
+          -0.024444010108709335,
+          0.0870761126279831,
+          45.81379699707031
+        ],
+        [
+          -0.08597700297832489,
+          -0.04289830103516579,
+          -0.9953731894493103,
+          22.568866729736328
+        ],
+        [
+          0.028066327795386314,
+          -0.9987804293632507,
+          0.04062087461352348,
+          -22.3336181640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3878,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_283082008",
+      "mask_path": "../../mask/hdr_right_03878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03879.png",
+      "transform_matrix": [
+        [
+          -0.9963051080703735,
+          -0.028608348220586777,
+          0.08097965270280838,
+          45.915523529052734
+        ],
+        [
+          -0.0795155018568039,
+          -0.04906574636697769,
+          -0.995625376701355,
+          22.563037872314453
+        ],
+        [
+          0.032456524670124054,
+          -0.9983857870101929,
+          0.04660964384675026,
+          -22.339111328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3879,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_383082389",
+      "mask_path": "../../mask/hdr_right_03879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03880.png",
+      "transform_matrix": [
+        [
+          -0.9959542155265808,
+          -0.034152545034885406,
+          0.08311919122934341,
+          46.00790023803711
+        ],
+        [
+          -0.0811091735959053,
+          -0.056538812816143036,
+          -0.9951003789901733,
+          22.56023597717285
+        ],
+        [
+          0.038684673607349396,
+          -0.9978160858154297,
+          0.05353999137878418,
+          -22.347497940063477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3880,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_483082056",
+      "mask_path": "../../mask/hdr_right_03880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03882.png",
+      "transform_matrix": [
+        [
+          -0.9954394102096558,
+          -0.044645778834819794,
+          0.0843038558959961,
+          46.16212463378906
+        ],
+        [
+          -0.08167040348052979,
+          -0.05784746631979942,
+          -0.9949792623519897,
+          22.555225372314453
+        ],
+        [
+          0.04929838702082634,
+          -0.9973266124725342,
+          0.053937409073114395,
+          -22.36753273010254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3882,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_683082103",
+      "mask_path": "../../mask/hdr_right_03882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03883.png",
+      "transform_matrix": [
+        [
+          -0.9956315755844116,
+          -0.05771443247795105,
+          0.07339399307966232,
+          46.265438079833984
+        ],
+        [
+          -0.07026609033346176,
+          -0.054478567093610764,
+          -0.9960395097732544,
+          22.543581008911133
+        ],
+        [
+          0.06148425489664078,
+          -0.996845543384552,
+          0.05018521845340729,
+          -22.37578010559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3883,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_783083915",
+      "mask_path": "../../mask/hdr_right_03883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03884.png",
+      "transform_matrix": [
+        [
+          -0.9961606860160828,
+          -0.06269742548465729,
+          0.061099328100681305,
+          46.32406234741211
+        ],
+        [
+          -0.05740834027528763,
+          -0.05907393619418144,
+          -0.9966015219688416,
+          22.53194808959961
+        ],
+        [
+          0.06609372794628143,
+          -0.9962827563285828,
+          0.055247772485017776,
+          -22.377756118774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3884,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_883082151",
+      "mask_path": "../../mask/hdr_right_03884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03885.png",
+      "transform_matrix": [
+        [
+          -0.996810257434845,
+          -0.06214378774166107,
+          0.05007448419928551,
+          46.378902435302734
+        ],
+        [
+          -0.04621848464012146,
+          -0.06200912222266197,
+          -0.9970049262046814,
+          22.51519775390625
+        ],
+        [
+          0.0650627389550209,
+          -0.9961390495300293,
+          0.0589391365647316,
+          -22.37834930419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3885,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323651_983081579",
+      "mask_path": "../../mask/hdr_right_03885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03886.png",
+      "transform_matrix": [
+        [
+          -0.9974880218505859,
+          -0.056553203612565994,
+          0.0426546111702919,
+          46.475730895996094
+        ],
+        [
+          -0.039123114198446274,
+          -0.062147680670022964,
+          -0.9972999095916748,
+          22.507356643676758
+        ],
+        [
+          0.05905139073729515,
+          -0.9964634776115417,
+          0.05977904051542282,
+          -22.383073806762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3886,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_83081960",
+      "mask_path": "../../mask/hdr_right_03886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03887.png",
+      "transform_matrix": [
+        [
+          -0.9976543188095093,
+          -0.052701883018016815,
+          0.043684132397174835,
+          46.57758331298828
+        ],
+        [
+          -0.040066320449113846,
+          -0.06785275787115097,
+          -0.9968905448913574,
+          22.505109786987305
+        ],
+        [
+          0.05550210177898407,
+          -0.9963024258613586,
+          0.0655820220708847,
+          -22.38699722290039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3887,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_183080673",
+      "mask_path": "../../mask/hdr_right_03887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03888.png",
+      "transform_matrix": [
+        [
+          -0.997607409954071,
+          -0.04992567002773285,
+          0.04782038927078247,
+          46.63298416137695
+        ],
+        [
+          -0.04402609169483185,
+          -0.0745152086019516,
+          -0.9962475895881653,
+          22.510143280029297
+        ],
+        [
+          0.05330166965723038,
+          -0.995969295501709,
+          0.07213889062404633,
+          -22.394498825073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3888,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_283081531",
+      "mask_path": "../../mask/hdr_right_03888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03889.png",
+      "transform_matrix": [
+        [
+          -0.997718095779419,
+          -0.045368742197752,
+          0.050003089010715485,
+          46.69618606567383
+        ],
+        [
+          -0.046348799020051956,
+          -0.07830578088760376,
+          -0.9958513975143433,
+          22.51003074645996
+        ],
+        [
+          0.04909604787826538,
+          -0.9958965182304382,
+          0.07602431625127792,
+          -22.41077423095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3889,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_383084058",
+      "mask_path": "../../mask/hdr_right_03889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03890.png",
+      "transform_matrix": [
+        [
+          -0.9973825812339783,
+          -0.05506004020571709,
+          0.04686685651540756,
+          46.77538299560547
+        ],
+        [
+          -0.04298730567097664,
+          -0.06964857131242752,
+          -0.9966449737548828,
+          22.492631912231445
+        ],
+        [
+          0.05813952535390854,
+          -0.9960508942604065,
+          0.06709939241409302,
+          -22.406896591186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3890,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_483082294",
+      "mask_path": "../../mask/hdr_right_03890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03891.png",
+      "transform_matrix": [
+        [
+          -0.9970926642417908,
+          -0.06510786712169647,
+          0.03958914801478386,
+          46.83467102050781
+        ],
+        [
+          -0.03521212935447693,
+          -0.06705352663993835,
+          -0.9971280097961426,
+          22.478973388671875
+        ],
+        [
+          0.06757546961307526,
+          -0.9956228137016296,
+          0.0645659938454628,
+          -22.398574829101562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3891,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_583081722",
+      "mask_path": "../../mask/hdr_right_03891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03893.png",
+      "transform_matrix": [
+        [
+          -0.9977415204048157,
+          -0.06319355219602585,
+          0.02276991493999958,
+          46.91371536254883
+        ],
+        [
+          -0.018013596534729004,
+          -0.07484102994203568,
+          -0.9970327615737915,
+          22.447376251220703
+        ],
+        [
+          0.06471017748117447,
+          -0.9951911568641663,
+          0.07353366166353226,
+          -22.390541076660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3893,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_783081293",
+      "mask_path": "../../mask/hdr_right_03893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03894.png",
+      "transform_matrix": [
+        [
+          -0.998422384262085,
+          -0.053576383739709854,
+          0.016801880672574043,
+          46.99240493774414
+        ],
+        [
+          -0.012778989970684052,
+          -0.07456506788730621,
+          -0.997134268283844,
+          22.435991287231445
+        ],
+        [
+          0.05467568337917328,
+          -0.9957759380340576,
+          0.07376278936862946,
+          -22.38793182373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3894,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_883081912",
+      "mask_path": "../../mask/hdr_right_03894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03895.png",
+      "transform_matrix": [
+        [
+          -0.998794674873352,
+          -0.044751785695552826,
+          0.020164981484413147,
+          47.067928314208984
+        ],
+        [
+          -0.016731824725866318,
+          -0.07580703496932983,
+          -0.9969821572303772,
+          22.433921813964844
+        ],
+        [
+          0.04614537954330444,
+          -0.9961177110671997,
+          0.07496687024831772,
+          -22.38542366027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3895,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323652_983081817",
+      "mask_path": "../../mask/hdr_right_03895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03896.png",
+      "transform_matrix": [
+        [
+          -0.9987509250640869,
+          -0.040027718991041183,
+          0.029906874522566795,
+          47.13042449951172
+        ],
+        [
+          -0.026763979345560074,
+          -0.07687437534332275,
+          -0.9966815710067749,
+          22.437850952148438
+        ],
+        [
+          0.042193956673145294,
+          -0.9962369799613953,
+          0.07570704817771912,
+          -22.388277053833008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3896,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_83078861",
+      "mask_path": "../../mask/hdr_right_03896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03898.png",
+      "transform_matrix": [
+        [
+          -0.9982200860977173,
+          -0.03579571098089218,
+          0.047700729221105576,
+          47.2556037902832
+        ],
+        [
+          -0.04523549973964691,
+          -0.06677812337875366,
+          -0.9967418909072876,
+          22.42913818359375
+        ],
+        [
+          0.03886444866657257,
+          -0.9971255660057068,
+          0.06504002213478088,
+          -22.381803512573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3898,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_283082008",
+      "mask_path": "../../mask/hdr_right_03898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03899.png",
+      "transform_matrix": [
+        [
+          -0.9978078603744507,
+          -0.040133729577064514,
+          0.052617721259593964,
+          47.335853576660156
+        ],
+        [
+          -0.05003299564123154,
+          -0.06289546191692352,
+          -0.9967652559280396,
+          22.428682327270508
+        ],
+        [
+          0.043313317000865936,
+          -0.997212827205658,
+          0.060749590396881104,
+          -22.380084991455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3899,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_383082389",
+      "mask_path": "../../mask/hdr_right_03899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03900.png",
+      "transform_matrix": [
+        [
+          -0.9974421262741089,
+          -0.040380824357271194,
+          0.05897970497608185,
+          47.4088134765625
+        ],
+        [
+          -0.056414954364299774,
+          -0.061951857060194016,
+          -0.9964835047721863,
+          22.445695877075195
+        ],
+        [
+          0.04389272630214691,
+          -0.9972619414329529,
+          0.059515323489904404,
+          -22.40729331970215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3900,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_483081817",
+      "mask_path": "../../mask/hdr_right_03900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03901.png",
+      "transform_matrix": [
+        [
+          -0.9971358180046082,
+          -0.0359300933778286,
+          0.06655149161815643,
+          47.4986457824707
+        ],
+        [
+          -0.06439853459596634,
+          -0.05807728320360184,
+          -0.996232807636261,
+          22.44375228881836
+        ],
+        [
+          0.03965987265110016,
+          -0.9976653456687927,
+          0.05559709295630455,
+          -22.421947479248047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3901,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_583082675",
+      "mask_path": "../../mask/hdr_right_03901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03902.png",
+      "transform_matrix": [
+        [
+          -0.9960078597068787,
+          -0.03286958858370781,
+          0.0829935297369957,
+          47.60374450683594
+        ],
+        [
+          -0.08079106360673904,
+          -0.06345897167921066,
+          -0.9947088956832886,
+          22.428882598876953
+        ],
+        [
+          0.03796235844492912,
+          -0.9974430203437805,
+          0.06055006757378578,
+          -22.411813735961914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3902,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_683081865",
+      "mask_path": "../../mask/hdr_right_03902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03903.png",
+      "transform_matrix": [
+        [
+          -0.9933371543884277,
+          -0.032180678099393845,
+          0.11066003888845444,
+          47.68062973022461
+        ],
+        [
+          -0.10812412947416306,
+          -0.07204210758209229,
+          -0.9915236830711365,
+          22.442306518554688
+        ],
+        [
+          0.039880089461803436,
+          -0.9968823790550232,
+          0.06808259338140488,
+          -22.420921325683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3903,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_783082962",
+      "mask_path": "../../mask/hdr_right_03903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03904.png",
+      "transform_matrix": [
+        [
+          -0.9891658425331116,
+          -0.029835546389222145,
+          0.14373822510242462,
+          47.74000549316406
+        ],
+        [
+          -0.14154468476772308,
+          -0.06585193425416946,
+          -0.9877392649650574,
+          22.458534240722656
+        ],
+        [
+          0.03893518075346947,
+          -0.9973832368850708,
+          0.06091541796922684,
+          -22.432363510131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3904,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_883080959",
+      "mask_path": "../../mask/hdr_right_03904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03905.png",
+      "transform_matrix": [
+        [
+          -0.9847102165222168,
+          -0.03913995623588562,
+          0.16974608600139618,
+          47.82719421386719
+        ],
+        [
+          -0.1677170842885971,
+          -0.05034681782126427,
+          -0.9845488667488098,
+          22.457557678222656
+        ],
+        [
+          0.047081369906663895,
+          -0.9979645609855652,
+          0.0430125966668129,
+          -22.424678802490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3905,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323653_983082532",
+      "mask_path": "../../mask/hdr_right_03905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03906.png",
+      "transform_matrix": [
+        [
+          -0.9816172122955322,
+          -0.04961191117763519,
+          0.18429923057556152,
+          47.91510009765625
+        ],
+        [
+          -0.18240416049957275,
+          -0.04038228839635849,
+          -0.9823941588401794,
+          22.464689254760742
+        ],
+        [
+          0.05618087202310562,
+          -0.997951865196228,
+          0.030590537935495377,
+          -22.425411224365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3906,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_83082437",
+      "mask_path": "../../mask/hdr_right_03906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03908.png",
+      "transform_matrix": [
+        [
+          -0.9799626469612122,
+          -0.0640326589345932,
+          0.18860851228237152,
+          48.033348083496094
+        ],
+        [
+          -0.18642297387123108,
+          -0.03859803453087807,
+          -0.9817111492156982,
+          22.471538543701172
+        ],
+        [
+          0.0701414942741394,
+          -0.997201144695282,
+          0.02588747628033161,
+          -22.435699462890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3908,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_283082485",
+      "mask_path": "../../mask/hdr_right_03908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03909.png",
+      "transform_matrix": [
+        [
+          -0.9782440066337585,
+          -0.08064641803503036,
+          0.19114099442958832,
+          48.14351272583008
+        ],
+        [
+          -0.18750599026679993,
+          -0.050536297261714935,
+          -0.9809626340866089,
+          22.494129180908203
+        ],
+        [
+          0.08877068012952805,
+          -0.9954608082771301,
+          0.034315142780542374,
+          -22.478248596191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3909,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_383080959",
+      "mask_path": "../../mask/hdr_right_03909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03910.png",
+      "transform_matrix": [
+        [
+          -0.9755021929740906,
+          -0.09781104326248169,
+          0.19704972207546234,
+          48.2219352722168
+        ],
+        [
+          -0.19182240962982178,
+          -0.060335516929626465,
+          -0.9795733094215393,
+          22.506906509399414
+        ],
+        [
+          0.10770218074321747,
+          -0.9933744072914124,
+          0.04009508341550827,
+          -22.512699127197266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3910,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_483081579",
+      "mask_path": "../../mask/hdr_right_03910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03911.png",
+      "transform_matrix": [
+        [
+          -0.9732903242111206,
+          -0.10510753840208054,
+          0.2041037380695343,
+          48.27325439453125
+        ],
+        [
+          -0.1975456327199936,
+          -0.06953278928995132,
+          -0.9778246283531189,
+          22.508581161499023
+        ],
+        [
+          0.11696863919496536,
+          -0.9920269846916199,
+          0.046912070363759995,
+          -22.53024673461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3911,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_583081007",
+      "mask_path": "../../mask/hdr_right_03911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03912.png",
+      "transform_matrix": [
+        [
+          -0.9694728255271912,
+          -0.11769596487283707,
+          0.21510504186153412,
+          48.358577728271484
+        ],
+        [
+          -0.20755837857723236,
+          -0.07314877957105637,
+          -0.9754838943481445,
+          22.511241912841797
+        ],
+        [
+          0.13054518401622772,
+          -0.9903519153594971,
+          0.04648697003722191,
+          -22.563261032104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3912,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_683081865",
+      "mask_path": "../../mask/hdr_right_03912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03913.png",
+      "transform_matrix": [
+        [
+          -0.9621669054031372,
+          -0.15399126708507538,
+          0.22476992011070251,
+          48.42494583129883
+        ],
+        [
+          -0.21657007932662964,
+          -0.06832165271043777,
+          -0.973873496055603,
+          22.518447875976562
+        ],
+        [
+          0.16532465815544128,
+          -0.9857072830200195,
+          0.03238693252205849,
+          -22.58560562133789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3913,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_783081769",
+      "mask_path": "../../mask/hdr_right_03913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03915.png",
+      "transform_matrix": [
+        [
+          -0.9506304264068604,
+          -0.19657965004444122,
+          0.24012120068073273,
+          48.51512145996094
+        ],
+        [
+          -0.23033133149147034,
+          -0.07158341258764267,
+          -0.9704758524894714,
+          22.508041381835938
+        ],
+        [
+          0.2079644799232483,
+          -0.9778712391853333,
+          0.02277090959250927,
+          -22.612804412841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3915,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323654_983080863",
+      "mask_path": "../../mask/hdr_right_03915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03916.png",
+      "transform_matrix": [
+        [
+          -0.943263828754425,
+          -0.2083440124988556,
+          0.2585460841655731,
+          48.566368103027344
+        ],
+        [
+          -0.24828320741653442,
+          -0.07445792108774185,
+          -0.9658217430114746,
+          22.50838851928711
+        ],
+        [
+          0.22047396004199982,
+          -0.975217342376709,
+          0.0185051541775465,
+          -22.628313064575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3916,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_83082437",
+      "mask_path": "../../mask/hdr_right_03916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03917.png",
+      "transform_matrix": [
+        [
+          -0.9285643696784973,
+          -0.22845032811164856,
+          0.29253846406936646,
+          48.64904022216797
+        ],
+        [
+          -0.2797057628631592,
+          -0.08741764724254608,
+          -0.9560977220535278,
+          22.535276412963867
+        ],
+        [
+          0.2439938485622406,
+          -0.9696229100227356,
+          0.017274046316742897,
+          -22.66849708557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3917,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_183081150",
+      "mask_path": "../../mask/hdr_right_03917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03919.png",
+      "transform_matrix": [
+        [
+          -0.8868212103843689,
+          -0.2782359719276428,
+          0.3689618706703186,
+          48.73379135131836
+        ],
+        [
+          -0.34581223130226135,
+          -0.13004609942436218,
+          -0.9292481541633606,
+          22.575654983520508
+        ],
+        [
+          0.3065323233604431,
+          -0.9516684412956238,
+          0.019110247492790222,
+          -22.71550178527832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3919,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_383081912",
+      "mask_path": "../../mask/hdr_right_03919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03921.png",
+      "transform_matrix": [
+        [
+          -0.8719408512115479,
+          -0.290249764919281,
+          0.39430221915245056,
+          48.8009033203125
+        ],
+        [
+          -0.37100258469581604,
+          -0.1338379979133606,
+          -0.9189366102218628,
+          22.610998153686523
+        ],
+        [
+          0.3194938004016876,
+          -0.9475454688072205,
+          0.0090154018253088,
+          -22.75296401977539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3921,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_583081960",
+      "mask_path": "../../mask/hdr_right_03921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03922.png",
+      "transform_matrix": [
+        [
+          -0.8650427460670471,
+          -0.30422982573509216,
+          0.398930162191391,
+          48.8676872253418
+        ],
+        [
+          -0.37574630975723267,
+          -0.1340247243642807,
+          -0.9169799089431763,
+          22.646318435668945
+        ],
+        [
+          0.3324390947818756,
+          -0.9431232810020447,
+          0.0016239038668572903,
+          -22.810853958129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3922,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_683082103",
+      "mask_path": "../../mask/hdr_right_03922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03923.png",
+      "transform_matrix": [
+        [
+          -0.8602892160415649,
+          -0.3110286593437195,
+          0.403935045003891,
+          48.92580032348633
+        ],
+        [
+          -0.38161522150039673,
+          -0.13249722123146057,
+          -0.9147756099700928,
+          22.673160552978516
+        ],
+        [
+          0.33804166316986084,
+          -0.941119372844696,
+          -0.0047073266468942165,
+          -22.846961975097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3923,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_783082008",
+      "mask_path": "../../mask/hdr_right_03923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03924.png",
+      "transform_matrix": [
+        [
+          -0.8646150231361389,
+          -0.29726171493530273,
+          0.4050634503364563,
+          49.003639221191406
+        ],
+        [
+          -0.3826143145561218,
+          -0.13298211991786957,
+          -0.9142878651618958,
+          22.713388442993164
+        ],
+        [
+          0.3256489634513855,
+          -0.9454899430274963,
+          0.0012417543912306428,
+          -22.890697479248047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3924,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_883080482",
+      "mask_path": "../../mask/hdr_right_03924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03925.png",
+      "transform_matrix": [
+        [
+          -0.8677048087120056,
+          -0.2891833484172821,
+          0.4043034315109253,
+          49.08430099487305
+        ],
+        [
+          -0.3795306086540222,
+          -0.13982750475406647,
+          -0.9145516157150269,
+          22.75657844543457
+        ],
+        [
+          0.3210059106349945,
+          -0.9470064640045166,
+          0.011575072072446346,
+          -22.911075592041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3925,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323655_983082771",
+      "mask_path": "../../mask/hdr_right_03925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03926.png",
+      "transform_matrix": [
+        [
+          -0.8668292164802551,
+          -0.29407793283462524,
+          0.40264785289764404,
+          49.14423751831055
+        ],
+        [
+          -0.3759974539279938,
+          -0.1448286473751068,
+          -0.9152325987815857,
+          22.782962799072266
+        ],
+        [
+          0.32746466994285583,
+          -0.9447448253631592,
+          0.014969156123697758,
+          -22.933032989501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3926,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_83081483",
+      "mask_path": "../../mask/hdr_right_03926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03927.png",
+      "transform_matrix": [
+        [
+          -0.8672688603401184,
+          -0.2963107228279114,
+          0.4000559151172638,
+          49.20674514770508
+        ],
+        [
+          -0.37185966968536377,
+          -0.14872263371944427,
+          -0.916297972202301,
+          22.8043155670166
+        ],
+        [
+          0.3310062885284424,
+          -0.9434412717819214,
+          0.018796483054757118,
+          -22.97196388244629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3927,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_183082342",
+      "mask_path": "../../mask/hdr_right_03927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03928.png",
+      "transform_matrix": [
+        [
+          -0.8599292635917664,
+          -0.32721763849258423,
+          0.39172717928886414,
+          49.34148406982422
+        ],
+        [
+          -0.3651024103164673,
+          -0.14197635650634766,
+          -0.9200778007507324,
+          22.824277877807617
+        ],
+        [
+          0.3566816449165344,
+          -0.9342223405838013,
+          0.002621706575155258,
+          -23.039325714111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3928,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_283081054",
+      "mask_path": "../../mask/hdr_right_03928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03929.png",
+      "transform_matrix": [
+        [
+          -0.8430612683296204,
+          -0.39308804273605347,
+          0.3670552670955658,
+          49.408843994140625
+        ],
+        [
+          -0.35346928238868713,
+          -0.10940958559513092,
+          -0.9290258288383484,
+          22.851232528686523
+        ],
+        [
+          0.4053483009338379,
+          -0.9129683971405029,
+          -0.04670554772019386,
+          -23.070404052734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3929,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_383082628",
+      "mask_path": "../../mask/hdr_right_03929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03931.png",
+      "transform_matrix": [
+        [
+          -0.8337029814720154,
+          -0.42103877663612366,
+          0.35730352997779846,
+          49.490726470947266
+        ],
+        [
+          -0.34977129101753235,
+          -0.0980672836303711,
+          -0.9316881895065308,
+          22.90353775024414
+        ],
+        [
+          0.4273166358470917,
+          -0.9017256498336792,
+          -0.06550829112529755,
+          -23.107690811157227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3931,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_583081960",
+      "mask_path": "../../mask/hdr_right_03931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03932.png",
+      "transform_matrix": [
+        [
+          -0.8419831991195679,
+          -0.3984215557575226,
+          0.3637644350528717,
+          49.58045196533203
+        ],
+        [
+          -0.35165461897850037,
+          -0.10604701936244965,
+          -0.9301038384437561,
+          22.930374145507812
+        ],
+        [
+          0.40914955735206604,
+          -0.9110511541366577,
+          -0.05081695318222046,
+          -23.134042739868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3932,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_683082103",
+      "mask_path": "../../mask/hdr_right_03932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03933.png",
+      "transform_matrix": [
+        [
+          -0.8460749387741089,
+          -0.389037162065506,
+          0.3644272983074188,
+          49.655296325683594
+        ],
+        [
+          -0.35281556844711304,
+          -0.10379277169704437,
+          -0.9299184083938599,
+          22.95224380493164
+        ],
+        [
+          0.39959776401519775,
+          -0.9153563380241394,
+          -0.04944191500544548,
+          -23.170270919799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3933,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_783082246",
+      "mask_path": "../../mask/hdr_right_03933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03934.png",
+      "transform_matrix": [
+        [
+          -0.848120927810669,
+          -0.3877470791339874,
+          0.36103060841560364,
+          49.705528259277344
+        ],
+        [
+          -0.35237154364585876,
+          -0.09603395313024521,
+          -0.9309199452400208,
+          22.96738052368164
+        ],
+        [
+          0.39563265442848206,
+          -0.9167494773864746,
+          -0.05518262833356857,
+          -23.21025848388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3934,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_883081674",
+      "mask_path": "../../mask/hdr_right_03934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03935.png",
+      "transform_matrix": [
+        [
+          -0.8484064340591431,
+          -0.3838444948196411,
+          0.3645132780075073,
+          49.77505111694336
+        ],
+        [
+          -0.35292717814445496,
+          -0.1030535027384758,
+          -0.9299583435058594,
+          22.981298446655273
+        ],
+        [
+          0.3945237994194031,
+          -0.9176292419433594,
+          -0.04803790524601936,
+          -23.257755279541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3935,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323656_983081102",
+      "mask_path": "../../mask/hdr_right_03935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03936.png",
+      "transform_matrix": [
+        [
+          -0.845511794090271,
+          -0.3852195739746094,
+          0.3697510063648224,
+          49.844017028808594
+        ],
+        [
+          -0.3532664477825165,
+          -0.11568626016378403,
+          -0.928342342376709,
+          22.99243927001953
+        ],
+        [
+          0.40039074420928955,
+          -0.9155449271202087,
+          -0.038271062076091766,
+          -23.306486129760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3936,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_83081245",
+      "mask_path": "../../mask/hdr_right_03936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03937.png",
+      "transform_matrix": [
+        [
+          -0.845805823802948,
+          -0.38302549719810486,
+          0.3713541626930237,
+          49.90568161010742
+        ],
+        [
+          -0.35042598843574524,
+          -0.12598031759262085,
+          -0.9280790090560913,
+          22.991500854492188
+        ],
+        [
+          0.40226122736930847,
+          -0.9151067733764648,
+          -0.027667194604873657,
+          -23.332374572753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3937,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_183082342",
+      "mask_path": "../../mask/hdr_right_03937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03938.png",
+      "transform_matrix": [
+        [
+          -0.849774956703186,
+          -0.37395817041397095,
+          0.37153440713882446,
+          49.9638786315918
+        ],
+        [
+          -0.34691494703292847,
+          -0.13394388556480408,
+          -0.9282829165458679,
+          22.989891052246094
+        ],
+        [
+          0.39690375328063965,
+          -0.9177224040031433,
+          -0.015909524634480476,
+          -23.356121063232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3938,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_283081293",
+      "mask_path": "../../mask/hdr_right_03938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03939.png",
+      "transform_matrix": [
+        [
+          -0.8494529724121094,
+          -0.36969807744026184,
+          0.3765012323856354,
+          50.05003356933594
+        ],
+        [
+          -0.34429848194122314,
+          -0.15236900746822357,
+          -0.9264136552810669,
+          23.00924301147461
+        ],
+        [
+          0.3998604118824005,
+          -0.9165735840797424,
+          0.0021438272669911385,
+          -23.399438858032227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3939,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_383082151",
+      "mask_path": "../../mask/hdr_right_03939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03940.png",
+      "transform_matrix": [
+        [
+          -0.8404894471168518,
+          -0.3780989646911621,
+          0.3880961537361145,
+          50.127967834472656
+        ],
+        [
+          -0.3416118621826172,
+          -0.1861901730298996,
+          -0.9212136268615723,
+          23.020177841186523
+        ],
+        [
+          0.42056959867477417,
+          -0.9068486094474792,
+          0.027327770367264748,
+          -23.422286987304688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3940,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_483082056",
+      "mask_path": "../../mask/hdr_right_03940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03941.png",
+      "transform_matrix": [
+        [
+          -0.8370604515075684,
+          -0.3827184736728668,
+          0.3909686207771301,
+          50.182342529296875
+        ],
+        [
+          -0.3407430052757263,
+          -0.1944108009338379,
+          -0.9198362827301025,
+          23.023681640625
+        ],
+        [
+          0.428046852350235,
+          -0.903178334236145,
+          0.03232494369149208,
+          -23.434337615966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3941,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_583081007",
+      "mask_path": "../../mask/hdr_right_03941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03942.png",
+      "transform_matrix": [
+        [
+          -0.8421792984008789,
+          -0.3689644932746887,
+          0.39319100975990295,
+          50.249141693115234
+        ],
+        [
+          -0.34468597173690796,
+          -0.19236353039741516,
+          -0.918796956539154,
+          23.039758682250977
+        ],
+        [
+          0.41463905572891235,
+          -0.9093192219734192,
+          0.03482770919799805,
+          -23.47283172607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3942,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_683080911",
+      "mask_path": "../../mask/hdr_right_03942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03943.png",
+      "transform_matrix": [
+        [
+          -0.8485192060470581,
+          -0.3496550917625427,
+          0.397185742855072,
+          50.323387145996094
+        ],
+        [
+          -0.3508090674877167,
+          -0.1902419924736023,
+          -0.9169192910194397,
+          23.05622100830078
+        ],
+        [
+          0.39616692066192627,
+          -0.9173600077629089,
+          0.03876180201768875,
+          -23.504253387451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3943,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_783080339",
+      "mask_path": "../../mask/hdr_right_03943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03944.png",
+      "transform_matrix": [
+        [
+          -0.8563403487205505,
+          -0.3322382867336273,
+          0.39534667134284973,
+          50.392208099365234
+        ],
+        [
+          -0.35138773918151855,
+          -0.1861298829317093,
+          -0.91754150390625,
+          23.070585250854492
+        ],
+        [
+          0.37842825055122375,
+          -0.9246477484703064,
+          0.04264608025550842,
+          -23.526208877563477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3944,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_883081912",
+      "mask_path": "../../mask/hdr_right_03944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03945.png",
+      "transform_matrix": [
+        [
+          -0.8633918166160583,
+          -0.32083866000175476,
+          0.38938069343566895,
+          50.4588623046875
+        ],
+        [
+          -0.34600284695625305,
+          -0.18516670167446136,
+          -0.9197800159454346,
+          23.08572006225586
+        ],
+        [
+          0.3672013282775879,
+          -0.9288572669029236,
+          0.04886031523346901,
+          -23.548818588256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3945,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323657_983081102",
+      "mask_path": "../../mask/hdr_right_03945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03946.png",
+      "transform_matrix": [
+        [
+          -0.8685120940208435,
+          -0.3127235174179077,
+          0.3845656216144562,
+          50.55381774902344
+        ],
+        [
+          -0.3420998454093933,
+          -0.18324923515319824,
+          -0.9216222763061523,
+          23.116628646850586
+        ],
+        [
+          0.3586843013763428,
+          -0.9319998621940613,
+          0.05217154324054718,
+          -23.591960906982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3946,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_83081483",
+      "mask_path": "../../mask/hdr_right_03946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03947.png",
+      "transform_matrix": [
+        [
+          -0.8725854158401489,
+          -0.3094152510166168,
+          0.37796416878700256,
+          50.64081954956055
+        ],
+        [
+          -0.3362744450569153,
+          -0.18069958686828613,
+          -0.9242658019065857,
+          23.145864486694336
+        ],
+        [
+          0.35427987575531006,
+          -0.9336005449295044,
+          0.05362740904092789,
+          -23.645584106445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3947,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_183081388",
+      "mask_path": "../../mask/hdr_right_03947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03948.png",
+      "transform_matrix": [
+        [
+          -0.8774478435516357,
+          -0.3106761872768402,
+          0.36546626687049866,
+          50.71050262451172
+        ],
+        [
+          -0.3270934522151947,
+          -0.16975092887878418,
+          -0.929620623588562,
+          23.162181854248047
+        ],
+        [
+          0.3508492112159729,
+          -0.9352352023124695,
+          0.04732746258378029,
+          -23.683820724487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3948,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_283082008",
+      "mask_path": "../../mask/hdr_right_03948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03949.png",
+      "transform_matrix": [
+        [
+          -0.8842292428016663,
+          -0.30577412247657776,
+          0.3530450761318207,
+          50.78477478027344
+        ],
+        [
+          -0.3182789385318756,
+          -0.15871307253837585,
+          -0.9346168637275696,
+          23.178667068481445
+        ],
+        [
+          0.3418145179748535,
+          -0.9387823939323425,
+          0.04301728308200836,
+          -23.7158260345459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3949,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_383082151",
+      "mask_path": "../../mask/hdr_right_03949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03950.png",
+      "transform_matrix": [
+        [
+          -0.8879082202911377,
+          -0.31689226627349854,
+          0.33346420526504517,
+          50.891822814941406
+        ],
+        [
+          -0.3049633502960205,
+          -0.13722597062587738,
+          -0.9424257874488831,
+          23.182802200317383
+        ],
+        [
+          0.34440740942955017,
+          -0.9384819269180298,
+          0.025203542783856392,
+          -23.748388290405273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3950,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_483082771",
+      "mask_path": "../../mask/hdr_right_03950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03951.png",
+      "transform_matrix": [
+        [
+          -0.8948436379432678,
+          -0.32789111137390137,
+          0.302889883518219,
+          50.97874450683594
+        ],
+        [
+          -0.27746129035949707,
+          -0.12296655029058456,
+          -0.9528350234031677,
+          23.184797286987305
+        ],
+        [
+          0.34967145323753357,
+          -0.9366784691810608,
+          0.019058750942349434,
+          -23.76021957397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3951,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_583081722",
+      "mask_path": "../../mask/hdr_right_03951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03952.png",
+      "transform_matrix": [
+        [
+          -0.9068555235862732,
+          -0.3238583505153656,
+          0.2696828842163086,
+          51.049903869628906
+        ],
+        [
+          -0.24225693941116333,
+          -0.1230330765247345,
+          -0.9623795747756958,
+          23.187116622924805
+        ],
+        [
+          0.34485456347465515,
+          -0.9380717873573303,
+          0.033116307109594345,
+          -23.77295684814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3952,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_683081388",
+      "mask_path": "../../mask/hdr_right_03952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03953.png",
+      "transform_matrix": [
+        [
+          -0.9166445732116699,
+          -0.32036149501800537,
+          0.23902137577533722,
+          51.14912414550781
+        ],
+        [
+          -0.20948931574821472,
+          -0.12422437965869904,
+          -0.969887912273407,
+          23.193525314331055
+        ],
+        [
+          0.34040698409080505,
+          -0.9391148686408997,
+          0.04675731062889099,
+          -23.810029983520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3953,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_783081054",
+      "mask_path": "../../mask/hdr_right_03953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03954.png",
+      "transform_matrix": [
+        [
+          -0.9233582615852356,
+          -0.3231090307235718,
+          0.20738857984542847,
+          51.22966384887695
+        ],
+        [
+          -0.17637650668621063,
+          -0.12281718105077744,
+          -0.9766306281089783,
+          23.19264793395996
+        ],
+        [
+          0.34102901816368103,
+          -0.9383583664894104,
+          0.056415438652038574,
+          -23.84113121032715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3954,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_883081674",
+      "mask_path": "../../mask/hdr_right_03954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03955.png",
+      "transform_matrix": [
+        [
+          -0.9299683570861816,
+          -0.32314494252204895,
+          0.17531763017177582,
+          51.28801345825195
+        ],
+        [
+          -0.14697955548763275,
+          -0.11030831187963486,
+          -0.9829695820808411,
+          23.188186645507812
+        ],
+        [
+          0.33698058128356934,
+          -0.939898669719696,
+          0.055087555199861526,
+          -23.862789154052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3955,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323658_983081340",
+      "mask_path": "../../mask/hdr_right_03955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03956.png",
+      "transform_matrix": [
+        [
+          -0.9360411167144775,
+          -0.3177940249443054,
+          0.15110929310321808,
+          51.34078598022461
+        ],
+        [
+          -0.1254790872335434,
+          -0.09975522756576538,
+          -0.9870682954788208,
+          23.185270309448242
+        ],
+        [
+          0.3287583589553833,
+          -0.9428976774215698,
+          0.05349849537014961,
+          -23.881166458129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3956,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_83081483",
+      "mask_path": "../../mask/hdr_right_03956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03957.png",
+      "transform_matrix": [
+        [
+          -0.9390673637390137,
+          -0.31138449907302856,
+          0.14557550847530365,
+          51.436378479003906
+        ],
+        [
+          -0.12006967514753342,
+          -0.0996791198849678,
+          -0.9877486824989319,
+          23.179882049560547
+        ],
+        [
+          0.32208049297332764,
+          -0.9450416564941406,
+          0.05621757730841637,
+          -23.91939353942871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3957,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_183081626",
+      "mask_path": "../../mask/hdr_right_03957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03958.png",
+      "transform_matrix": [
+        [
+          -0.9335412979125977,
+          -0.3344738483428955,
+          0.1289491504430771,
+          51.524017333984375
+        ],
+        [
+          -0.11660437285900116,
+          -0.056819915771484375,
+          -0.9915518760681152,
+          23.17925262451172
+        ],
+        [
+          0.3389750123023987,
+          -0.9406905770301819,
+          0.014042634516954422,
+          -23.94053077697754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3958,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_283082246",
+      "mask_path": "../../mask/hdr_right_03958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03959.png",
+      "transform_matrix": [
+        [
+          -0.9269251823425293,
+          -0.35821497440338135,
+          0.11176663637161255,
+          51.57187271118164
+        ],
+        [
+          -0.1118776947259903,
+          -0.02048799954354763,
+          -0.9935107827186584,
+          23.1903133392334
+        ],
+        [
+          0.35818031430244446,
+          -0.9334143996238708,
+          -0.021085413172841072,
+          -23.93821907043457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3959,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_383081197",
+      "mask_path": "../../mask/hdr_right_03959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03960.png",
+      "transform_matrix": [
+        [
+          -0.9301071166992188,
+          -0.34965455532073975,
+          0.1124388799071312,
+          51.65485763549805
+        ],
+        [
+          -0.10978249460458755,
+          -0.027475979179143906,
+          -0.9935758709907532,
+          23.191694259643555
+        ],
+        [
+          0.35049766302108765,
+          -0.9364756941795349,
+          -0.01283033937215805,
+          -23.965917587280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3960,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_483082532",
+      "mask_path": "../../mask/hdr_right_03960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03961.png",
+      "transform_matrix": [
+        [
+          -0.9348672032356262,
+          -0.33637306094169617,
+          0.113474540412426,
+          51.75580596923828
+        ],
+        [
+          -0.10686370730400085,
+          -0.03816667199134827,
+          -0.9935409426689148,
+          23.18897247314453
+        ],
+        [
+          0.3385312855243683,
+          -0.9409550428390503,
+          -0.0002652954717632383,
+          -24.011716842651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3961,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_583081960",
+      "mask_path": "../../mask/hdr_right_03961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03962.png",
+      "transform_matrix": [
+        [
+          -0.93812096118927,
+          -0.3282882273197174,
+          0.11025464534759521,
+          51.831668853759766
+        ],
+        [
+          -0.10511309653520584,
+          -0.03342527151107788,
+          -0.993898332118988,
+          23.189720153808594
+        ],
+        [
+          0.32997041940689087,
+          -0.9439860582351685,
+          -0.0031504444777965546,
+          -24.04751205444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3962,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_683081626",
+      "mask_path": "../../mask/hdr_right_03962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03963.png",
+      "transform_matrix": [
+        [
+          -0.942805826663971,
+          -0.3149190843105316,
+          0.10928529500961304,
+          51.9063835144043
+        ],
+        [
+          -0.1081983745098114,
+          -0.020987797528505325,
+          -0.9939078092575073,
+          23.187482833862305
+        ],
+        [
+          0.31529414653778076,
+          -0.9488864541053772,
+          -0.014286310411989689,
+          -24.071563720703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3963,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_783082008",
+      "mask_path": "../../mask/hdr_right_03963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03964.png",
+      "transform_matrix": [
+        [
+          -0.9444437026977539,
+          -0.31000304222106934,
+          0.10919792950153351,
+          52.034873962402344
+        ],
+        [
+          -0.11058887094259262,
+          -0.013140778057277203,
+          -0.9937793612480164,
+          23.172710418701172
+        ],
+        [
+          0.30950960516929626,
+          -0.9506447315216064,
+          -0.02187216468155384,
+          -24.112014770507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3964,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_883080244",
+      "mask_path": "../../mask/hdr_right_03964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03965.png",
+      "transform_matrix": [
+        [
+          -0.93951016664505,
+          -0.32900241017341614,
+          0.0952790230512619,
+          52.13628387451172
+        ],
+        [
+          -0.10937503725290298,
+          0.024560512974858284,
+          -0.9936970472335815,
+          23.15941047668457
+        ],
+        [
+          0.3245886266231537,
+          -0.9440096616744995,
+          -0.059059496968984604,
+          -24.122838973999023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3965,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323659_983080863",
+      "mask_path": "../../mask/hdr_right_03965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03966.png",
+      "transform_matrix": [
+        [
+          -0.9393425583839417,
+          -0.33139267563819885,
+          0.08839933574199677,
+          52.19939422607422
+        ],
+        [
+          -0.1099785715341568,
+          0.04689996689558029,
+          -0.9928268194198608,
+          23.169536590576172
+        ],
+        [
+          0.32486966252326965,
+          -0.9423264861106873,
+          -0.08050122857093811,
+          -24.117353439331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3966,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_83082199",
+      "mask_path": "../../mask/hdr_right_03966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03967.png",
+      "transform_matrix": [
+        [
+          -0.9455556273460388,
+          -0.31179097294807434,
+          0.09333276003599167,
+          52.30696487426758
+        ],
+        [
+          -0.10958483815193176,
+          0.03497638925909996,
+          -0.9933619499206543,
+          23.173233032226562
+        ],
+        [
+          0.3064568042755127,
+          -0.9495067000389099,
+          -0.0672396719455719,
+          -24.140090942382812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3967,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_183081626",
+      "mask_path": "../../mask/hdr_right_03967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03968.png",
+      "transform_matrix": [
+        [
+          -0.950918436050415,
+          -0.2937488853931427,
+          0.09729094058275223,
+          52.43025588989258
+        ],
+        [
+          -0.109200119972229,
+          0.024375783279538155,
+          -0.9937208890914917,
+          23.16889190673828
+        ],
+        [
+          0.2895328402519226,
+          -0.955571711063385,
+          -0.05525679513812065,
+          -24.177684783935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3968,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_283085823",
+      "mask_path": "../../mask/hdr_right_03968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03969.png",
+      "transform_matrix": [
+        [
+          -0.9556355476379395,
+          -0.2767569124698639,
+          0.10082783550024033,
+          52.50027847290039
+        ],
+        [
+          -0.11099093407392502,
+          0.02126386947929859,
+          -0.9935939908027649,
+          23.167993545532227
+        ],
+        [
+          0.2728399634361267,
+          -0.9607046842575073,
+          -0.05103801190853119,
+          -24.19528579711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3969,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_383081912",
+      "mask_path": "../../mask/hdr_right_03969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03970.png",
+      "transform_matrix": [
+        [
+          -0.9598752856254578,
+          -0.25960272550582886,
+          0.10604702681303024,
+          52.594825744628906
+        ],
+        [
+          -0.1129659116268158,
+          0.011835109442472458,
+          -0.993528425693512,
+          23.160612106323242
+        ],
+        [
+          0.2566675841808319,
+          -0.9656429886817932,
+          -0.040686484426259995,
+          -24.222585678100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3970,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_483083009",
+      "mask_path": "../../mask/hdr_right_03970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03971.png",
+      "transform_matrix": [
+        [
+          -0.9624902009963989,
+          -0.2488391399383545,
+          0.10812785476446152,
+          52.716285705566406
+        ],
+        [
+          -0.11249222606420517,
+          0.0033424156717956066,
+          -0.993647038936615,
+          23.153440475463867
+        ],
+        [
+          0.24689683318138123,
+          -0.9685389995574951,
+          -0.03120950609445572,
+          -24.26301383972168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3971,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_583080768",
+      "mask_path": "../../mask/hdr_right_03971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03972.png",
+      "transform_matrix": [
+        [
+          -0.96543949842453,
+          -0.23850595951080322,
+          0.10507804900407791,
+          52.80060958862305
+        ],
+        [
+          -0.10901602357625961,
+          0.003342280862852931,
+          -0.994034469127655,
+          23.139720916748047
+        ],
+        [
+          0.23673193156719208,
+          -0.9711353182792664,
+          -0.029227737337350845,
+          -24.279951095581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3972,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_683080911",
+      "mask_path": "../../mask/hdr_right_03972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03973.png",
+      "transform_matrix": [
+        [
+          -0.9690790772438049,
+          -0.22669345140457153,
+          0.09744756668806076,
+          52.89084243774414
+        ],
+        [
+          -0.09869880974292755,
+          -0.0058367629535496235,
+          -0.9951002597808838,
+          23.131813049316406
+        ],
+        [
+          0.2261514812707901,
+          -0.9739486575126648,
+          -0.01671808585524559,
+          -24.298254013061523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3973,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_783080577",
+      "mask_path": "../../mask/hdr_right_03973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03974.png",
+      "transform_matrix": [
+        [
+          -0.9721506237983704,
+          -0.21579663455486298,
+          0.09140540659427643,
+          53.016571044921875
+        ],
+        [
+          -0.09018442034721375,
+          -0.015519591979682446,
+          -0.9958041906356812,
+          23.1337890625
+        ],
+        [
+          0.21630975604057312,
+          -0.9763149619102478,
+          -0.0043741073459386826,
+          -24.329750061035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3974,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_883081436",
+      "mask_path": "../../mask/hdr_right_03974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03975.png",
+      "transform_matrix": [
+        [
+          -0.9747187495231628,
+          -0.20229481160640717,
+          0.09486989676952362,
+          53.13227462768555
+        ],
+        [
+          -0.09200719743967056,
+          -0.02352992631494999,
+          -0.9954802989959717,
+          23.13473892211914
+        ],
+        [
+          0.20361275970935822,
+          -0.9790419936180115,
+          0.004322484601289034,
+          -24.32954978942871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3975,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323660_983082532",
+      "mask_path": "../../mask/hdr_right_03975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03976.png",
+      "transform_matrix": [
+        [
+          -0.9771366119384766,
+          -0.18785621225833893,
+          0.09957003593444824,
+          53.20895767211914
+        ],
+        [
+          -0.09617839008569717,
+          -0.027107317000627518,
+          -0.9949949383735657,
+          23.145294189453125
+        ],
+        [
+          0.18961504101753235,
+          -0.9818224310874939,
+          0.008419844321906567,
+          -24.343326568603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3976,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_83081960",
+      "mask_path": "../../mask/hdr_right_03976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03977.png",
+      "transform_matrix": [
+        [
+          -0.9791581630706787,
+          -0.1761726289987564,
+          0.10105697810649872,
+          53.33167266845703
+        ],
+        [
+          -0.09709924459457397,
+          -0.030965402722358704,
+          -0.9947929382324219,
+          23.143325805664062
+        ],
+        [
+          0.17838455736637115,
+          -0.98387211561203,
+          0.013213802129030228,
+          -24.375181198120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3977,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_183081388",
+      "mask_path": "../../mask/hdr_right_03977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03978.png",
+      "transform_matrix": [
+        [
+          -0.9817827343940735,
+          -0.16390123963356018,
+          0.0961204469203949,
+          53.471527099609375
+        ],
+        [
+          -0.0915568470954895,
+          -0.035192109644412994,
+          -0.9951779246330261,
+          23.125404357910156
+        ],
+        [
+          0.16649353504180908,
+          -0.9858488440513611,
+          0.019544731825590134,
+          -24.39129066467285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3978,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_283082008",
+      "mask_path": "../../mask/hdr_right_03978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03979.png",
+      "transform_matrix": [
+        [
+          -0.9848716259002686,
+          -0.14981620013713837,
+          0.08707986027002335,
+          53.571529388427734
+        ],
+        [
+          -0.08309401571750641,
+          -0.032674286514520645,
+          -0.9960059523582458,
+          23.11222267150879
+        ],
+        [
+          0.15206308662891388,
+          -0.98817378282547,
+          0.019731150940060616,
+          -24.39735984802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3979,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_383082151",
+      "mask_path": "../../mask/hdr_right_03979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03980.png",
+      "transform_matrix": [
+        [
+          -0.9874771237373352,
+          -0.13741154968738556,
+          0.07750468701124191,
+          53.684722900390625
+        ],
+        [
+          -0.0729864314198494,
+          -0.037628091871738434,
+          -0.9966228604316711,
+          23.11166000366211
+        ],
+        [
+          0.13986384868621826,
+          -0.9897990226745605,
+          0.027127699926495552,
+          -24.420499801635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3980,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_483081817",
+      "mask_path": "../../mask/hdr_right_03980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03981.png",
+      "transform_matrix": [
+        [
+          -0.9876847267150879,
+          -0.13755665719509125,
+          0.07454636693000793,
+          53.83076858520508
+        ],
+        [
+          -0.06899984925985336,
+          -0.04466554895043373,
+          -0.9966163039207458,
+          23.105079650878906
+        ],
+        [
+          0.1404208540916443,
+          -0.9894862771034241,
+          0.034624096006155014,
+          -24.446577072143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3981,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_583080291",
+      "mask_path": "../../mask/hdr_right_03981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03982.png",
+      "transform_matrix": [
+        [
+          -0.9872156977653503,
+          -0.13935554027557373,
+          0.07736494392156601,
+          53.9356689453125
+        ],
+        [
+          -0.07198887318372726,
+          -0.04322174936532974,
+          -0.9964685440063477,
+          23.099550247192383
+        ],
+        [
+          0.14220723509788513,
+          -0.9892987012863159,
+          0.03263714537024498,
+          -24.463504791259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3982,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_683082103",
+      "mask_path": "../../mask/hdr_right_03982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03983.png",
+      "transform_matrix": [
+        [
+          -0.9879014492034912,
+          -0.13299286365509033,
+          0.07977245002985,
+          54.05805206298828
+        ],
+        [
+          -0.07548785954713821,
+          -0.036961544305086136,
+          -0.9964615106582642,
+          23.104183197021484
+        ],
+        [
+          0.13547076284885406,
+          -0.9904276132583618,
+          0.026475021615624428,
+          -24.491762161254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3983,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_783082008",
+      "mask_path": "../../mask/hdr_right_03983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03984.png",
+      "transform_matrix": [
+        [
+          -0.9861675500869751,
+          -0.14759919047355652,
+          0.07541915029287338,
+          54.15299987792969
+        ],
+        [
+          -0.07302534580230713,
+          -0.02157844416797161,
+          -0.9970966577529907,
+          23.09816551208496
+        ],
+        [
+          0.14879809319972992,
+          -0.9888119101524353,
+          0.01050148531794548,
+          -24.499744415283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3984,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_883082389",
+      "mask_path": "../../mask/hdr_right_03984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03985.png",
+      "transform_matrix": [
+        [
+          -0.9838253855705261,
+          -0.16191589832305908,
+          0.0766221284866333,
+          54.201358795166016
+        ],
+        [
+          -0.07592623680830002,
+          -0.010490493848919868,
+          -0.9970582723617554,
+          23.095041275024414
+        ],
+        [
+          0.16224339604377747,
+          -0.9867488145828247,
+          -0.001972853671759367,
+          -24.497549057006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3985,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323661_983081579",
+      "mask_path": "../../mask/hdr_right_03985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03986.png",
+      "transform_matrix": [
+        [
+          -0.9833582639694214,
+          -0.15942637622356415,
+          0.08711899071931839,
+          54.268611907958984
+        ],
+        [
+          -0.08724229037761688,
+          -0.006239157635718584,
+          -0.9961676001548767,
+          23.096940994262695
+        ],
+        [
+          0.159358948469162,
+          -0.9871901273727417,
+          -0.00777339655905962,
+          -24.510522842407227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3986,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_83081960",
+      "mask_path": "../../mask/hdr_right_03986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03987.png",
+      "transform_matrix": [
+        [
+          -0.9833143949508667,
+          -0.15381234884262085,
+          0.09713166952133179,
+          54.3421745300293
+        ],
+        [
+          -0.09795469790697098,
+          -0.0022369290236383677,
+          -0.9951884150505066,
+          23.08615493774414
+        ],
+        [
+          0.1532895565032959,
+          -0.9880975484848022,
+          -0.012867034412920475,
+          -24.507957458496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3987,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_183081388",
+      "mask_path": "../../mask/hdr_right_03987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03988.png",
+      "transform_matrix": [
+        [
+          -0.9771212339401245,
+          -0.17721566557884216,
+          0.11759541928768158,
+          54.46725082397461
+        ],
+        [
+          -0.11544838547706604,
+          -0.022415194660425186,
+          -0.9930605888366699,
+          23.087560653686523
+        ],
+        [
+          0.1786218136548996,
+          -0.9839167594909668,
+          0.001443103770725429,
+          -24.539703369140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3988,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_283082485",
+      "mask_path": "../../mask/hdr_right_03988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03989.png",
+      "transform_matrix": [
+        [
+          -0.968282163143158,
+          -0.20414967834949493,
+          0.14405737817287445,
+          54.56699752807617
+        ],
+        [
+          -0.13870346546173096,
+          -0.04037356376647949,
+          -0.989510715007782,
+          23.08765411376953
+        ],
+        [
+          0.20782436430454254,
+          -0.9781067371368408,
+          0.010776741430163383,
+          -24.57269287109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3989,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_383080005",
+      "mask_path": "../../mask/hdr_right_03989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03991.png",
+      "transform_matrix": [
+        [
+          -0.9604060649871826,
+          -0.2038092166185379,
+          0.18995259702205658,
+          54.66731262207031
+        ],
+        [
+          -0.18600696325302124,
+          -0.03852582722902298,
+          -0.9817928671836853,
+          23.1019229888916
+        ],
+        [
+          0.20741651952266693,
+          -0.9782522916793823,
+          -0.0009094965062104166,
+          -24.60787010192871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3991,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_583080768",
+      "mask_path": "../../mask/hdr_right_03991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03992.png",
+      "transform_matrix": [
+        [
+          -0.9555683732032776,
+          -0.20275533199310303,
+          0.21396079659461975,
+          54.767276763916016
+        ],
+        [
+          -0.2101917266845703,
+          -0.04020337015390396,
+          -0.9768332242965698,
+          23.105472564697266
+        ],
+        [
+          0.20666007697582245,
+          -0.9784038066864014,
+          -0.004200416151434183,
+          -24.63440704345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3992,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_683082580",
+      "mask_path": "../../mask/hdr_right_03992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03993.png",
+      "transform_matrix": [
+        [
+          -0.9544780850410461,
+          -0.20152594149112701,
+          0.21990655362606049,
+          54.830810546875
+        ],
+        [
+          -0.21747641265392303,
+          -0.03440438583493233,
+          -0.9754590392112732,
+          23.11176872253418
+        ],
+        [
+          0.20414605736732483,
+          -0.9788787961006165,
+          -0.010988904163241386,
+          -24.64317512512207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3993,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_783080816",
+      "mask_path": "../../mask/hdr_right_03993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03994.png",
+      "transform_matrix": [
+        [
+          -0.9582163095474243,
+          -0.19137446582317352,
+          0.21259652078151703,
+          54.919517517089844
+        ],
+        [
+          -0.2097623497247696,
+          -0.03518947958946228,
+          -0.977118968963623,
+          23.12796401977539
+        ],
+        [
+          0.19447676837444305,
+          -0.9808860421180725,
+          -0.006424021907150745,
+          -24.671581268310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3994,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_883080959",
+      "mask_path": "../../mask/hdr_right_03994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03995.png",
+      "transform_matrix": [
+        [
+          -0.9605399370193481,
+          -0.1827152669429779,
+          0.20970985293388367,
+          55.047149658203125
+        ],
+        [
+          -0.2047637701034546,
+          -0.04574524611234665,
+          -0.9777419567108154,
+          23.144176483154297
+        ],
+        [
+          0.1882416158914566,
+          -0.9821010828018188,
+          0.006526673212647438,
+          -24.690095901489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3995,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323662_983079671",
+      "mask_path": "../../mask/hdr_right_03995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03996.png",
+      "transform_matrix": [
+        [
+          -0.9614214301109314,
+          -0.1771572232246399,
+          0.21043789386749268,
+          55.15480422973633
+        ],
+        [
+          -0.20473405718803406,
+          -0.05009495094418526,
+          -0.9775348901748657,
+          23.156660079956055
+        ],
+        [
+          0.18371927738189697,
+          -0.9829068183898926,
+          0.011892245151102543,
+          -24.703176498413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3996,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_83082675",
+      "mask_path": "../../mask/hdr_right_03996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06462.png",
+      "transform_matrix": [
+        [
+          0.9880244731903076,
+          -0.14133034646511078,
+          -0.0619143508374691,
+          54.714542388916016
+        ],
+        [
+          0.06239902973175049,
+          -0.0010040818015113473,
+          0.9980508089065552,
+          23.156240463256836
+        ],
+        [
+          -0.14111703634262085,
+          -0.9899619817733765,
+          0.007826817221939564,
+          -24.560985565185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6462,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_683082103",
+      "mask_path": "../../mask/hdr_right_06462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06464.png",
+      "transform_matrix": [
+        [
+          0.9875432252883911,
+          -0.14854873716831207,
+          -0.051881857216358185,
+          54.62917709350586
+        ],
+        [
+          0.051280081272125244,
+          -0.007880812510848045,
+          0.9986531734466553,
+          23.164180755615234
+        ],
+        [
+          -0.14875753223896027,
+          -0.9888736605644226,
+          -0.00016505469102412462,
+          -24.556163787841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6464,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_883083105",
+      "mask_path": "../../mask/hdr_right_06464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06465.png",
+      "transform_matrix": [
+        [
+          0.9879452586174011,
+          -0.14422553777694702,
+          -0.05624149367213249,
+          54.56904602050781
+        ],
+        [
+          0.05595732852816582,
+          -0.006029497366398573,
+          0.9984151124954224,
+          23.17234230041504
+        ],
+        [
+          -0.1443360447883606,
+          -0.9895265102386475,
+          0.0021136566065251827,
+          -24.557209014892578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6465,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_983080863",
+      "mask_path": "../../mask/hdr_right_06465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06466.png",
+      "transform_matrix": [
+        [
+          0.9878413677215576,
+          -0.14233854413032532,
+          -0.06252377480268478,
+          54.51679992675781
+        ],
+        [
+          0.06257546693086624,
+          -0.004117385018616915,
+          0.9980317950248718,
+          23.17292022705078
+        ],
+        [
+          -0.1423158347606659,
+          -0.9898094534873962,
+          0.004839577246457338,
+          -24.555177688598633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6466,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_83081722",
+      "mask_path": "../../mask/hdr_right_06466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06468.png",
+      "transform_matrix": [
+        [
+          0.9884791374206543,
+          -0.1366882026195526,
+          -0.06500241160392761,
+          54.426143646240234
+        ],
+        [
+          0.0651308223605156,
+          -0.003537616226822138,
+          0.9978705048561096,
+          23.18083953857422
+        ],
+        [
+          -0.13662706315517426,
+          -0.9906077980995178,
+          0.005405752453953028,
+          -24.54204559326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6468,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_283085107",
+      "mask_path": "../../mask/hdr_right_06468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06469.png",
+      "transform_matrix": [
+        [
+          0.9889703392982483,
+          -0.13461247086524963,
+          -0.06178194284439087,
+          54.36088180541992
+        ],
+        [
+          0.06182919442653656,
+          -0.0038337598089128733,
+          0.9980794787406921,
+          23.194997787475586
+        ],
+        [
+          -0.13459078967571259,
+          -0.9908908605575562,
+          0.004531500861048698,
+          -24.530502319335938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6469,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_383081674",
+      "mask_path": "../../mask/hdr_right_06469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06471.png",
+      "transform_matrix": [
+        [
+          0.9890310168266296,
+          -0.13673172891139984,
+          -0.05587611347436905,
+          54.286712646484375
+        ],
+        [
+          0.05476140230894089,
+          -0.011903563514351845,
+          0.9984285831451416,
+          23.198711395263672
+        ],
+        [
+          -0.13718199729919434,
+          -0.9905365705490112,
+          -0.0042853765189647675,
+          -24.510896682739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6471,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_583081722",
+      "mask_path": "../../mask/hdr_right_06471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06472.png",
+      "transform_matrix": [
+        [
+          0.9892734885215759,
+          -0.13463306427001953,
+          -0.05667419359087944,
+          54.22264099121094
+        ],
+        [
+          0.056160617619752884,
+          -0.00761252548545599,
+          0.9983927011489868,
+          23.2094669342041
+        ],
+        [
+          -0.13484808802604675,
+          -0.9908662438392639,
+          3.02027565339813e-05,
+          -24.507314682006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6472,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_683082818",
+      "mask_path": "../../mask/hdr_right_06472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06473.png",
+      "transform_matrix": [
+        [
+          0.9897191524505615,
+          -0.12978282570838928,
+          -0.06010309234261513,
+          54.16826629638672
+        ],
+        [
+          0.06050177291035652,
+          -0.0008725426741875708,
+          0.9981678128242493,
+          23.219852447509766
+        ],
+        [
+          -0.129597470164299,
+          -0.9915421009063721,
+          0.006988514680415392,
+          -24.511659622192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6473,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_783080816",
+      "mask_path": "../../mask/hdr_right_06473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06474.png",
+      "transform_matrix": [
+        [
+          0.9899585247039795,
+          -0.1269165724515915,
+          -0.06224442273378372,
+          54.11875534057617
+        ],
+        [
+          0.06297622621059418,
+          0.001757575199007988,
+          0.9980134963989258,
+          23.227813720703125
+        ],
+        [
+          -0.12655505537986755,
+          -0.9919118285179138,
+          0.009732650592923164,
+          -24.511215209960938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6474,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_883081912",
+      "mask_path": "../../mask/hdr_right_06474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06475.png",
+      "transform_matrix": [
+        [
+          0.9896984100341797,
+          -0.1293652057647705,
+          -0.06133217364549637,
+          54.04659652709961
+        ],
+        [
+          0.0620841346681118,
+          0.0017840871587395668,
+          0.9980692863464355,
+          23.2462215423584
+        ],
+        [
+          -0.1290060430765152,
+          -0.991595447063446,
+          0.009797233156859875,
+          -24.5006103515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6475,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323910_983082532",
+      "mask_path": "../../mask/hdr_right_06475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06476.png",
+      "transform_matrix": [
+        [
+          0.9889477491378784,
+          -0.13541297614574432,
+          -0.0603809580206871,
+          53.988346099853516
+        ],
+        [
+          0.060666415840387344,
+          -0.0020214663818478584,
+          0.9981560707092285,
+          23.259906768798828
+        ],
+        [
+          -0.13528534770011902,
+          -0.990787148475647,
+          0.006215894129127264,
+          -24.48635482788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6476,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_83082675",
+      "mask_path": "../../mask/hdr_right_06476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06478.png",
+      "transform_matrix": [
+        [
+          0.9870538115501404,
+          -0.1481497436761856,
+          -0.061454128473997116,
+          53.86609649658203
+        ],
+        [
+          0.06005559861660004,
+          -0.013899206183850765,
+          0.9980983734130859,
+          23.267498016357422
+        ],
+        [
+          -0.14872215688228607,
+          -0.9888672232627869,
+          -0.0048220488242805,
+          -24.455102920532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6478,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_283083438",
+      "mask_path": "../../mask/hdr_right_06478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06479.png",
+      "transform_matrix": [
+        [
+          0.9857365489006042,
+          -0.1510840505361557,
+          -0.07414226233959198,
+          53.790557861328125
+        ],
+        [
+          0.07250920683145523,
+          -0.01629735343158245,
+          0.9972346425056458,
+          23.26419448852539
+        ],
+        [
+          -0.1518745869398117,
+          -0.9883865118026733,
+          -0.005109912250190973,
+          -24.43146514892578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6479,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_383081912",
+      "mask_path": "../../mask/hdr_right_06479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06481.png",
+      "transform_matrix": [
+        [
+          0.9818150997161865,
+          -0.15342339873313904,
+          -0.11180520057678223,
+          53.67872619628906
+        ],
+        [
+          0.11188490688800812,
+          -0.008142134174704552,
+          0.9936878085136414,
+          23.24704360961914
+        ],
+        [
+          -0.15336528420448303,
+          -0.9881270527839661,
+          0.009171687997877598,
+          -24.40554428100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6481,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_583082437",
+      "mask_path": "../../mask/hdr_right_06481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06482.png",
+      "transform_matrix": [
+        [
+          0.9798294901847839,
+          -0.15029354393482208,
+          -0.13170433044433594,
+          53.603946685791016
+        ],
+        [
+          0.13121512532234192,
+          -0.013211342506110668,
+          0.9912658929824829,
+          23.232118606567383
+        ],
+        [
+          -0.15072084963321686,
+          -0.9885531067848206,
+          0.006775917485356331,
+          -24.384597778320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6482,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_683083057",
+      "mask_path": "../../mask/hdr_right_06482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06483.png",
+      "transform_matrix": [
+        [
+          0.9775000810623169,
+          -0.151096373796463,
+          -0.14718562364578247,
+          53.5397834777832
+        ],
+        [
+          0.14544355869293213,
+          -0.022578513249754906,
+          0.9891088604927063,
+          23.218996047973633
+        ],
+        [
+          -0.15277397632598877,
+          -0.9882611632347107,
+          -9.451121150050312e-05,
+          -24.36927032470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6483,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_783082246",
+      "mask_path": "../../mask/hdr_right_06483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06484.png",
+      "transform_matrix": [
+        [
+          0.9759998321533203,
+          -0.15497684478759766,
+          -0.15299218893051147,
+          53.48125457763672
+        ],
+        [
+          0.15003426373004913,
+          -0.030676858499646187,
+          0.9882047772407532,
+          23.210203170776367
+        ],
+        [
+          -0.15784217417240143,
+          -0.9874417185783386,
+          -0.006688772235065699,
+          -24.357568740844727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6484,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_883083105",
+      "mask_path": "../../mask/hdr_right_06484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06485.png",
+      "transform_matrix": [
+        [
+          0.9771026968955994,
+          -0.1496928483247757,
+          -0.15120336413383484,
+          53.39009475708008
+        ],
+        [
+          0.148111492395401,
+          -0.031657781451940536,
+          0.9884638786315918,
+          23.20204734802246
+        ],
+        [
+          -0.15275272727012634,
+          -0.9882256388664246,
+          -0.00876168254762888,
+          -24.343990325927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6485,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323911_983081579",
+      "mask_path": "../../mask/hdr_right_06485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06486.png",
+      "transform_matrix": [
+        [
+          0.9778818488121033,
+          -0.14233078062534332,
+          -0.15326158702373505,
+          53.29539108276367
+        ],
+        [
+          0.15138250589370728,
+          -0.02400343492627144,
+          0.988183856010437,
+          23.200153350830078
+        ],
+        [
+          -0.144327774643898,
+          -0.9895280599594116,
+          -0.0019261387642472982,
+          -24.33474349975586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6486,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_83081960",
+      "mask_path": "../../mask/hdr_right_06486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06487.png",
+      "transform_matrix": [
+        [
+          0.9776849746704102,
+          -0.13851121068000793,
+          -0.15794581174850464,
+          53.23217010498047
+        ],
+        [
+          0.15671095252037048,
+          -0.01984599232673645,
+          0.9874451756477356,
+          23.194082260131836
+        ],
+        [
+          -0.13990682363510132,
+          -0.9901620149612427,
+          0.002303091809153557,
+          -24.334148406982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6487,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_183082103",
+      "mask_path": "../../mask/hdr_right_06487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06488.png",
+      "transform_matrix": [
+        [
+          0.9784461259841919,
+          -0.1310139149427414,
+          -0.15962056815624237,
+          53.156349182128906
+        ],
+        [
+          0.15812011063098907,
+          -0.021844755858182907,
+          0.9871782660484314,
+          23.19533920288086
+        ],
+        [
+          -0.13282093405723572,
+          -0.9911398887634277,
+          -0.0006579906330443919,
+          -24.337419509887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6488,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_283081531",
+      "mask_path": "../../mask/hdr_right_06488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06489.png",
+      "transform_matrix": [
+        [
+          0.9813570380210876,
+          -0.11676140129566193,
+          -0.1526603400707245,
+          53.06221389770508
+        ],
+        [
+          0.15046460926532745,
+          -0.027446597814559937,
+          0.9882343411445618,
+          23.197574615478516
+        ],
+        [
+          -0.11957763880491257,
+          -0.9927806854248047,
+          -0.009366456419229507,
+          -24.321718215942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6489,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_383081912",
+      "mask_path": "../../mask/hdr_right_06489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06490.png",
+      "transform_matrix": [
+        [
+          0.9836142659187317,
+          -0.10903877019882202,
+          -0.1435740441083908,
+          52.982872009277344
+        ],
+        [
+          0.14072978496551514,
+          -0.0333874337375164,
+          0.989484965801239,
+          23.197935104370117
+        ],
+        [
+          -0.11268578469753265,
+          -0.9934766292572021,
+          -0.017495356500148773,
+          -24.3028564453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6490,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_483081579",
+      "mask_path": "../../mask/hdr_right_06490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06491.png",
+      "transform_matrix": [
+        [
+          0.984168291091919,
+          -0.11198203265666962,
+          -0.1373784840106964,
+          52.90439987182617
+        ],
+        [
+          0.13321565091609955,
+          -0.04388142004609108,
+          0.9901151657104492,
+          23.194496154785156
+        ],
+        [
+          -0.11690347641706467,
+          -0.9927408695220947,
+          -0.02826894447207451,
+          -24.29528045654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6491,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_583083391",
+      "mask_path": "../../mask/hdr_right_06491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06492.png",
+      "transform_matrix": [
+        [
+          0.9814919829368591,
+          -0.13223797082901,
+          -0.13851600885391235,
+          52.78230285644531
+        ],
+        [
+          0.1325932890176773,
+          -0.05263279005885124,
+          0.9897720813751221,
+          23.18242835998535
+        ],
+        [
+          -0.13817594945430756,
+          -0.9898196458816528,
+          -0.034124791622161865,
+          -24.254287719726562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6492,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_683081150",
+      "mask_path": "../../mask/hdr_right_06492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06493.png",
+      "transform_matrix": [
+        [
+          0.9777364134788513,
+          -0.14682342112064362,
+          -0.14991439878940582,
+          52.67234802246094
+        ],
+        [
+          0.1447470337152481,
+          -0.04532947391271591,
+          0.988429844379425,
+          23.169109344482422
+        ],
+        [
+          -0.15192018449306488,
+          -0.9881234765052795,
+          -0.023068029433488846,
+          -24.20649528503418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6493,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_783082246",
+      "mask_path": "../../mask/hdr_right_06493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06494.png",
+      "transform_matrix": [
+        [
+          0.9755332469940186,
+          -0.14870545268058777,
+          -0.16193103790283203,
+          52.609413146972656
+        ],
+        [
+          0.15855075418949127,
+          -0.03439157456159592,
+          0.9867516756057739,
+          23.172555923461914
+        ],
+        [
+          -0.15230441093444824,
+          -0.9882832765579224,
+          -0.009972766973078251,
+          -24.19750213623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6494,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_883082151",
+      "mask_path": "../../mask/hdr_right_06494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06495.png",
+      "transform_matrix": [
+        [
+          0.9747301340103149,
+          -0.14664150774478912,
+          -0.1685154139995575,
+          52.53678894042969
+        ],
+        [
+          0.1643468141555786,
+          -0.04018155112862587,
+          0.9855838418006897,
+          23.182327270507812
+        ],
+        [
+          -0.15129871666431427,
+          -0.9883732199668884,
+          -0.015066108666360378,
+          -24.1881046295166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6495,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323912_983082771",
+      "mask_path": "../../mask/hdr_right_06495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06496.png",
+      "transform_matrix": [
+        [
+          0.9740262031555176,
+          -0.14816103875637054,
+          -0.17123472690582275,
+          52.449424743652344
+        ],
+        [
+          0.16665251553058624,
+          -0.04290161281824112,
+          0.9850819706916809,
+          23.1929931640625
+        ],
+        [
+          -0.15329700708389282,
+          -0.9880322217941284,
+          -0.017095882445573807,
+          -24.17386817932129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6496,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_83083152",
+      "mask_path": "../../mask/hdr_right_06496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06497.png",
+      "transform_matrix": [
+        [
+          0.9729334712028503,
+          -0.15211403369903564,
+          -0.17395953834056854,
+          52.38048553466797
+        ],
+        [
+          0.16946502029895782,
+          -0.04212988540530205,
+          0.9846353530883789,
+          23.197277069091797
+        ],
+        [
+          -0.15710574388504028,
+          -0.9874646663665771,
+          -0.015211571007966995,
+          -24.161157608032227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6497,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_183081865",
+      "mask_path": "../../mask/hdr_right_06497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06498.png",
+      "transform_matrix": [
+        [
+          0.9726947546005249,
+          -0.15368308126926422,
+          -0.17391498386859894,
+          52.30685806274414
+        ],
+        [
+          0.1686265915632248,
+          -0.046902600675821304,
+          0.9845634698867798,
+          23.188983917236328
+        ],
+        [
+          -0.15946783125400543,
+          -0.987006425857544,
+          -0.019706862047314644,
+          -24.14015769958496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6498,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_283081769",
+      "mask_path": "../../mask/hdr_right_06498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06499.png",
+      "transform_matrix": [
+        [
+          0.9714015126228333,
+          -0.15284980833530426,
+          -0.18170344829559326,
+          52.224830627441406
+        ],
+        [
+          0.17705915868282318,
+          -0.043582845479249954,
+          0.9832347631454468,
+          23.180927276611328
+        ],
+        [
+          -0.15820638835430145,
+          -0.9872879385948181,
+          -0.015272990800440311,
+          -24.134315490722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6499,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_383082389",
+      "mask_path": "../../mask/hdr_right_06499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06501.png",
+      "transform_matrix": [
+        [
+          0.9653338193893433,
+          -0.14748387038707733,
+          -0.21535822749137878,
+          52.11458206176758
+        ],
+        [
+          0.21207314729690552,
+          -0.03783787041902542,
+          0.9765210747718811,
+          23.165931701660156
+        ],
+        [
+          -0.15216980874538422,
+          -0.9883403778076172,
+          -0.005248808301985264,
+          -24.126806259155273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6501,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_583081483",
+      "mask_path": "../../mask/hdr_right_06501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06502.png",
+      "transform_matrix": [
+        [
+          0.9604593515396118,
+          -0.143671914935112,
+          -0.23848740756511688,
+          52.05704116821289
+        ],
+        [
+          0.23516865074634552,
+          -0.03990712761878967,
+          0.9711349606513977,
+          23.159149169921875
+        ],
+        [
+          -0.14904220402240753,
+          -0.9888203740119934,
+          -0.004542047157883644,
+          -24.116554260253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6502,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_683080911",
+      "mask_path": "../../mask/hdr_right_06502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06504.png",
+      "transform_matrix": [
+        [
+          0.9469138979911804,
+          -0.14986552298069,
+          -0.2844194173812866,
+          51.99350357055664
+        ],
+        [
+          0.2796229422092438,
+          -0.052612174302339554,
+          0.9586673378944397,
+          23.138349533081055
+        ],
+        [
+          -0.15863507986068726,
+          -0.9873055219650269,
+          -0.007913367822766304,
+          -24.101598739624023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6504,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323913_883080959",
+      "mask_path": "../../mask/hdr_right_06504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06506.png",
+      "transform_matrix": [
+        [
+          0.9275142550468445,
+          -0.16702477633953094,
+          -0.3343949317932129,
+          51.902008056640625
+        ],
+        [
+          0.3241867125034332,
+          -0.08586601167917252,
+          0.9420881867408752,
+          23.095367431640625
+        ],
+        [
+          -0.18606522679328918,
+          -0.9822065830230713,
+          -0.025494741275906563,
+          -24.065954208374023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6506,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_83081483",
+      "mask_path": "../../mask/hdr_right_06506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06509.png",
+      "transform_matrix": [
+        [
+          0.9157913327217102,
+          -0.19133450090885162,
+          -0.3531534671783447,
+          51.75352096557617
+        ],
+        [
+          0.3436470627784729,
+          -0.08191392570734024,
+          0.9355195164680481,
+          23.035472869873047
+        ],
+        [
+          -0.20792536437511444,
+          -0.9781007766723633,
+          -0.009264528751373291,
+          -24.01904296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6509,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_383082151",
+      "mask_path": "../../mask/hdr_right_06509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06510.png",
+      "transform_matrix": [
+        [
+          0.9176983833312988,
+          -0.18647435307502747,
+          -0.35079479217529297,
+          51.69243621826172
+        ],
+        [
+          0.34066808223724365,
+          -0.08490847796201706,
+          0.9363418221473694,
+          23.01401710510254
+        ],
+        [
+          -0.20438919961452484,
+          -0.978783905506134,
+          -0.014394513331353664,
+          -24.002431869506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6510,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_483079671",
+      "mask_path": "../../mask/hdr_right_06510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06511.png",
+      "transform_matrix": [
+        [
+          0.919256865978241,
+          -0.1870366483926773,
+          -0.34638741612434387,
+          51.635108947753906
+        ],
+        [
+          0.3346204459667206,
+          -0.09222795814275742,
+          0.9378290176391602,
+          22.995044708251953
+        ],
+        [
+          -0.20735499262809753,
+          -0.9780139327049255,
+          -0.022194894030690193,
+          -23.975330352783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6511,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_583080768",
+      "mask_path": "../../mask/hdr_right_06511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06512.png",
+      "transform_matrix": [
+        [
+          0.9199129343032837,
+          -0.1932012438774109,
+          -0.34122344851493835,
+          51.57243347167969
+        ],
+        [
+          0.32810550928115845,
+          -0.09726609289646149,
+          0.9396201968193054,
+          22.980697631835938
+        ],
+        [
+          -0.21472525596618652,
+          -0.976326048374176,
+          -0.026085954159498215,
+          -23.956405639648438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6512,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_683079242",
+      "mask_path": "../../mask/hdr_right_06512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06513.png",
+      "transform_matrix": [
+        [
+          0.9161093235015869,
+          -0.21262972056865692,
+          -0.33990049362182617,
+          51.48838806152344
+        ],
+        [
+          0.3213041126728058,
+          -0.1177218109369278,
+          0.939630389213562,
+          22.95602798461914
+        ],
+        [
+          -0.23980705440044403,
+          -0.9700155258178711,
+          -0.03952725604176521,
+          -23.9191951751709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6513,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_783077716",
+      "mask_path": "../../mask/hdr_right_06513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06514.png",
+      "transform_matrix": [
+        [
+          0.9113848209381104,
+          -0.22833192348480225,
+          -0.34240657091140747,
+          51.38780212402344
+        ],
+        [
+          0.32396358251571655,
+          -0.11509118974208832,
+          0.9390429854393005,
+          22.933574676513672
+        ],
+        [
+          -0.2538214325904846,
+          -0.9667567014694214,
+          -0.030921148136258125,
+          -23.86156463623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6514,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_883082389",
+      "mask_path": "../../mask/hdr_right_06514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06515.png",
+      "transform_matrix": [
+        [
+          0.9098984599113464,
+          -0.23088952898979187,
+          -0.3446374237537384,
+          51.31473922729492
+        ],
+        [
+          0.33111321926116943,
+          -0.09624266624450684,
+          0.9386700391769409,
+          22.914058685302734
+        ],
+        [
+          -0.24989791214466095,
+          -0.9682083129882812,
+          -0.011120477691292763,
+          -23.847187042236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6515,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323914_983081340",
+      "mask_path": "../../mask/hdr_right_06515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06516.png",
+      "transform_matrix": [
+        [
+          0.9090027809143066,
+          -0.23654237389564514,
+          -0.3431640565395355,
+          51.239959716796875
+        ],
+        [
+          0.3327312767505646,
+          -0.08400572091341019,
+          0.9392726421356201,
+          22.902204513549805
+        ],
+        [
+          -0.25100550055503845,
+          -0.967982828617096,
+          0.002343612490221858,
+          -23.84633445739746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6516,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_83081245",
+      "mask_path": "../../mask/hdr_right_06516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06517.png",
+      "transform_matrix": [
+        [
+          0.9092273116111755,
+          -0.24419666826725006,
+          -0.3371552526950836,
+          51.149173736572266
+        ],
+        [
+          0.3279745876789093,
+          -0.0786161795258522,
+          0.941409707069397,
+          22.90067481994629
+        ],
+        [
+          -0.25639498233795166,
+          -0.9665337204933167,
+          0.00861032772809267,
+          -23.809890747070312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6517,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_183081388",
+      "mask_path": "../../mask/hdr_right_06517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06518.png",
+      "transform_matrix": [
+        [
+          0.909574031829834,
+          -0.2506735324859619,
+          -0.3314180374145508,
+          51.089111328125
+        ],
+        [
+          0.32259970903396606,
+          -0.07674457877874374,
+          0.9434191584587097,
+          22.89861297607422
+        ],
+        [
+          -0.26192474365234375,
+          -0.9650248289108276,
+          0.01106232963502407,
+          -23.78087043762207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6518,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_283077716",
+      "mask_path": "../../mask/hdr_right_06518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06519.png",
+      "transform_matrix": [
+        [
+          0.9108460545539856,
+          -0.2504357099533081,
+          -0.3280874788761139,
+          51.03908920288086
+        ],
+        [
+          0.3190653324127197,
+          -0.07703007757663727,
+          0.9445971846580505,
+          22.89255714416504
+        ],
+        [
+          -0.26183342933654785,
+          -0.9650638699531555,
+          0.009742802008986473,
+          -23.77496337890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6519,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_383077859",
+      "mask_path": "../../mask/hdr_right_06519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06520.png",
+      "transform_matrix": [
+        [
+          0.9068660140037537,
+          -0.26591405272483826,
+          -0.32693105936050415,
+          50.94613265991211
+        ],
+        [
+          0.31485363841056824,
+          -0.08812278509140015,
+          0.9450404644012451,
+          22.865310668945312
+        ],
+        [
+          -0.28010961413383484,
+          -0.9599604606628418,
+          0.003808441339060664,
+          -23.7205753326416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6520,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_483082532",
+      "mask_path": "../../mask/hdr_right_06520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06521.png",
+      "transform_matrix": [
+        [
+          0.9022672176361084,
+          -0.2801201343536377,
+          -0.32779043912887573,
+          50.84982681274414
+        ],
+        [
+          0.3176369071006775,
+          -0.08228311687707901,
+          0.9446356296539307,
+          22.845478057861328
+        ],
+        [
+          -0.2915830612182617,
+          -0.956432044506073,
+          0.014735138975083828,
+          -23.661550521850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6521,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_583080768",
+      "mask_path": "../../mask/hdr_right_06521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06522.png",
+      "transform_matrix": [
+        [
+          0.902998685836792,
+          -0.2792700529098511,
+          -0.3264991343021393,
+          50.78197479248047
+        ],
+        [
+          0.3211257755756378,
+          -0.06615517288446426,
+          0.9447231888771057,
+          22.83052635192871
+        ],
+        [
+          -0.28543248772621155,
+          -0.9579309821128845,
+          0.029942775145173073,
+          -23.643857955932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6522,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_683079719",
+      "mask_path": "../../mask/hdr_right_06522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06523.png",
+      "transform_matrix": [
+        [
+          0.9070682525634766,
+          -0.2741205096244812,
+          -0.3195076286792755,
+          50.694313049316406
+        ],
+        [
+          0.3150351643562317,
+          -0.061446309089660645,
+          0.9470888376235962,
+          22.83082389831543
+        ],
+        [
+          -0.27924904227256775,
+          -0.959730327129364,
+          0.030621593818068504,
+          -23.63082504272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6523,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_783081293",
+      "mask_path": "../../mask/hdr_right_06523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06524.png",
+      "transform_matrix": [
+        [
+          0.91036456823349,
+          -0.27318912744522095,
+          -0.3108120262622833,
+          50.605194091796875
+        ],
+        [
+          0.3046748638153076,
+          -0.06575458496809006,
+          0.9501841068267822,
+          22.84029769897461
+        ],
+        [
+          -0.280017226934433,
+          -0.9597103595733643,
+          0.023373203352093697,
+          -23.605852127075195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6524,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_883081197",
+      "mask_path": "../../mask/hdr_right_06524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06525.png",
+      "transform_matrix": [
+        [
+          0.9123353958129883,
+          -0.2754206955432892,
+          -0.3029647171497345,
+          50.53118133544922
+        ],
+        [
+          0.29552480578422546,
+          -0.0691852867603302,
+          0.9528266191482544,
+          22.83456802368164
+        ],
+        [
+          -0.2833888828754425,
+          -0.9588309526443481,
+          0.01827346161007881,
+          -23.574838638305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6525,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323915_983082056",
+      "mask_path": "../../mask/hdr_right_06525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06526.png",
+      "transform_matrix": [
+        [
+          0.9113661050796509,
+          -0.28099578619003296,
+          -0.3007543683052063,
+          50.45732879638672
+        ],
+        [
+          0.2902233898639679,
+          -0.07942086458206177,
+          0.9536575675010681,
+          22.806894302368164
+        ],
+        [
+          -0.2918599843978882,
+          -0.9564170241355896,
+          0.009170060977339745,
+          -23.532276153564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6526,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_83081245",
+      "mask_path": "../../mask/hdr_right_06526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06527.png",
+      "transform_matrix": [
+        [
+          0.9087554216384888,
+          -0.28453850746154785,
+          -0.3052894175052643,
+          50.371341705322266
+        ],
+        [
+          0.2968980073928833,
+          -0.07329744100570679,
+          0.9520919919013977,
+          22.786195755004883
+        ],
+        [
+          -0.29328376054763794,
+          -0.9558585286140442,
+          0.01786946877837181,
+          -23.48420524597168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6527,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_183081388",
+      "mask_path": "../../mask/hdr_right_06527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06528.png",
+      "transform_matrix": [
+        [
+          0.9038527607917786,
+          -0.285205215215683,
+          -0.3189171552658081,
+          50.31272888183594
+        ],
+        [
+          0.3151686191558838,
+          -0.060261692851781845,
+          0.9471205472946167,
+          22.7714786529541
+        ],
+        [
+          -0.2893421947956085,
+          -0.9565702080726624,
+          0.03542003408074379,
+          -23.47003936767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6528,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_283081293",
+      "mask_path": "../../mask/hdr_right_06528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06529.png",
+      "transform_matrix": [
+        [
+          0.8977789878845215,
+          -0.2817644476890564,
+          -0.33852896094322205,
+          50.26601028442383
+        ],
+        [
+          0.3352063000202179,
+          -0.06147824972867966,
+          0.9401367902755737,
+          22.75434112548828
+        ],
+        [
+          -0.2857092618942261,
+          -0.9575120210647583,
+          0.03925532102584839,
+          -23.462535858154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6529,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_383082628",
+      "mask_path": "../../mask/hdr_right_06529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06530.png",
+      "transform_matrix": [
+        [
+          0.8917408585548401,
+          -0.2838720977306366,
+          -0.35244131088256836,
+          50.18169403076172
+        ],
+        [
+          0.3487836420536041,
+          -0.06512147933244705,
+          0.9349380731582642,
+          22.7441463470459
+        ],
+        [
+          -0.2883542776107788,
+          -0.9566482305526733,
+          0.040938448160886765,
+          -23.446718215942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6530,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_483081579",
+      "mask_path": "../../mask/hdr_right_06530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06531.png",
+      "transform_matrix": [
+        [
+          0.8875220417976379,
+          -0.2884202003479004,
+          -0.35933059453964233,
+          50.10327911376953
+        ],
+        [
+          0.35511279106140137,
+          -0.06875550001859665,
+          0.9322916269302368,
+          22.728866577148438
+        ],
+        [
+          -0.2935976982116699,
+          -0.9550322890281677,
+          0.04139966890215874,
+          -23.41160011291504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6531,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_583082199",
+      "mask_path": "../../mask/hdr_right_06531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06533.png",
+      "transform_matrix": [
+        [
+          0.8760871887207031,
+          -0.2989848554134369,
+          -0.3782583177089691,
+          50.01926803588867
+        ],
+        [
+          0.36630862951278687,
+          -0.09738204628229141,
+          0.9253836870193481,
+          22.680248260498047
+        ],
+        [
+          -0.3135112226009369,
+          -0.9492759704589844,
+          0.024205554276704788,
+          -23.335708618164062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6533,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_783081769",
+      "mask_path": "../../mask/hdr_right_06533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06534.png",
+      "transform_matrix": [
+        [
+          0.8645083904266357,
+          -0.3084773123264313,
+          -0.39682117104530334,
+          49.9570426940918
+        ],
+        [
+          0.38371026515960693,
+          -0.10488296300172806,
+          0.9174781441688538,
+          22.65422248840332
+        ],
+        [
+          -0.3246409595012665,
+          -0.9454318284988403,
+          0.027693698182702065,
+          -23.28150177001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6534,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_883082151",
+      "mask_path": "../../mask/hdr_right_06534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06535.png",
+      "transform_matrix": [
+        [
+          0.8608019351959229,
+          -0.3068390488624573,
+          -0.40604156255722046,
+          49.9081916809082
+        ],
+        [
+          0.3965880274772644,
+          -0.09560141712427139,
+          0.9130050539970398,
+          22.639646530151367
+        ],
+        [
+          -0.31896379590034485,
+          -0.9469478130340576,
+          0.039394814521074295,
+          -23.27980613708496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6535,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323916_983083009",
+      "mask_path": "../../mask/hdr_right_06535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06536.png",
+      "transform_matrix": [
+        [
+          0.8628434538841248,
+          -0.3028854429721832,
+          -0.40467461943626404,
+          49.83738708496094
+        ],
+        [
+          0.39847105741500854,
+          -0.08499755710363388,
+          0.9132338762283325,
+          22.614887237548828
+        ],
+        [
+          -0.31100162863731384,
+          -0.9492290616035461,
+          0.04735147953033447,
+          -23.260452270507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6536,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_83082675",
+      "mask_path": "../../mask/hdr_right_06536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06537.png",
+      "transform_matrix": [
+        [
+          0.8667411804199219,
+          -0.29615065455436707,
+          -0.40131619572639465,
+          49.762332916259766
+        ],
+        [
+          0.39577195048332214,
+          -0.08127696067094803,
+          0.9147451519966125,
+          22.598262786865234
+        ],
+        [
+          -0.30352017283439636,
+          -0.9516767859458923,
+          0.046762049198150635,
+          -23.241924285888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6537,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_183083057",
+      "mask_path": "../../mask/hdr_right_06537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06538.png",
+      "transform_matrix": [
+        [
+          0.8689521551132202,
+          -0.2930675446987152,
+          -0.3987900912761688,
+          49.69620132446289
+        ],
+        [
+          0.39039427042007446,
+          -0.08932752907276154,
+          0.9163039326667786,
+          22.58205795288086
+        ],
+        [
+          -0.304161936044693,
+          -0.951909601688385,
+          0.036790549755096436,
+          -23.22161865234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6538,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_283082723",
+      "mask_path": "../../mask/hdr_right_06538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06539.png",
+      "transform_matrix": [
+        [
+          0.8709744215011597,
+          -0.29453155398368835,
+          -0.3932618498802185,
+          49.62467956542969
+        ],
+        [
+          0.38287028670310974,
+          -0.0947594866156578,
+          0.9189292788505554,
+          22.561431884765625
+        ],
+        [
+          -0.3079189956188202,
+          -0.9509320259094238,
+          0.03023429960012436,
+          -23.1868896484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6539,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_383082628",
+      "mask_path": "../../mask/hdr_right_06539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06540.png",
+      "transform_matrix": [
+        [
+          0.8673713803291321,
+          -0.3066062927246094,
+          -0.3919942080974579,
+          49.54542922973633
+        ],
+        [
+          0.37391898036003113,
+          -0.11827680468559265,
+          0.9198887944221497,
+          22.5274715423584
+        ],
+        [
+          -0.32840749621391296,
+          -0.9444592595100403,
+          0.012055971659719944,
+          -23.132808685302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6540,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_483081579",
+      "mask_path": "../../mask/hdr_right_06540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06541.png",
+      "transform_matrix": [
+        [
+          0.8626576662063599,
+          -0.3158925771713257,
+          -0.39501097798347473,
+          49.46559524536133
+        ],
+        [
+          0.3746551275253296,
+          -0.12556979060173035,
+          0.9186217188835144,
+          22.500083923339844
+        ],
+        [
+          -0.33978724479675293,
+          -0.9404488801956177,
+          0.010027025826275349,
+          -23.081714630126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6541,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_583081960",
+      "mask_path": "../../mask/hdr_right_06541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06542.png",
+      "transform_matrix": [
+        [
+          0.8631770014762878,
+          -0.3160415291786194,
+          -0.39375531673431396,
+          49.39448547363281
+        ],
+        [
+          0.37754806876182556,
+          -0.1137814149260521,
+          0.918972909450531,
+          22.48649787902832
+        ],
+        [
+          -0.3352356255054474,
+          -0.9418978691101074,
+          0.021107373759150505,
+          -23.062471389770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6542,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_683080673",
+      "mask_path": "../../mask/hdr_right_06542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06543.png",
+      "transform_matrix": [
+        [
+          0.866847574710846,
+          -0.3118238151073456,
+          -0.3890257775783539,
+          49.31907272338867
+        ],
+        [
+          0.37477007508277893,
+          -0.1070810928940773,
+          0.9209132194519043,
+          22.473831176757812
+        ],
+        [
+          -0.32882001996040344,
+          -0.9440866112709045,
+          0.024039238691329956,
+          -23.045373916625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6543,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_783081293",
+      "mask_path": "../../mask/hdr_right_06543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06544.png",
+      "transform_matrix": [
+        [
+          0.8694766163825989,
+          -0.31110692024230957,
+          -0.38369637727737427,
+          49.23842239379883
+        ],
+        [
+          0.36862093210220337,
+          -0.10843285173177719,
+          0.9232339262962341,
+          22.46562957763672
+        ],
+        [
+          -0.3288297653198242,
+          -0.9441688656806946,
+          0.020400697365403175,
+          -23.020551681518555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6544,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_883081197",
+      "mask_path": "../../mask/hdr_right_06544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06545.png",
+      "transform_matrix": [
+        [
+          0.8697676062583923,
+          -0.3150359094142914,
+          -0.37981125712394714,
+          49.174766540527344
+        ],
+        [
+          0.3626655042171478,
+          -0.11385170370340347,
+          0.9249386191368103,
+          22.455078125
+        ],
+        [
+          -0.334631085395813,
+          -0.9422261714935303,
+          0.015228116884827614,
+          -22.986923217773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6545,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323917_983081102",
+      "mask_path": "../../mask/hdr_right_06545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06546.png",
+      "transform_matrix": [
+        [
+          0.8695533275604248,
+          -0.31855371594429016,
+          -0.37735995650291443,
+          49.10343551635742
+        ],
+        [
+          0.3563258647918701,
+          -0.12434400618076324,
+          0.9260510802268982,
+          22.43682861328125
+        ],
+        [
+          -0.3419194221496582,
+          -0.9397139549255371,
+          0.005385156255215406,
+          -22.969263076782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6546,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_83081245",
+      "mask_path": "../../mask/hdr_right_06546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06547.png",
+      "transform_matrix": [
+        [
+          0.8697894811630249,
+          -0.32183679938316345,
+          -0.3740153908729553,
+          49.0291862487793
+        ],
+        [
+          0.355060338973999,
+          -0.11812134087085724,
+          0.9273508787155151,
+          22.40983009338379
+        ],
+        [
+          -0.34263482689857483,
+          -0.9393979907035828,
+          0.011530760675668716,
+          -22.915040969848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6547,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_183081865",
+      "mask_path": "../../mask/hdr_right_06547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06548.png",
+      "transform_matrix": [
+        [
+          0.8722339272499084,
+          -0.3228306472301483,
+          -0.36740759015083313,
+          48.97220993041992
+        ],
+        [
+          0.354391872882843,
+          -0.1005404070019722,
+          0.9296762943267822,
+          22.395240783691406
+        ],
+        [
+          -0.33706727623939514,
+          -0.9411015510559082,
+          0.026713777333498,
+          -22.877389907836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6548,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_283081054",
+      "mask_path": "../../mask/hdr_right_06548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06549.png",
+      "transform_matrix": [
+        [
+          0.8756418228149414,
+          -0.32006582617759705,
+          -0.3616756200790405,
+          48.91073226928711
+        ],
+        [
+          0.3515412509441376,
+          -0.09110453724861145,
+          0.9317290186882019,
+          22.375728607177734
+        ],
+        [
+          -0.3311648964881897,
+          -0.9430046677589417,
+          0.03274140879511833,
+          -22.859413146972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6549,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_383081912",
+      "mask_path": "../../mask/hdr_right_06549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06550.png",
+      "transform_matrix": [
+        [
+          0.8733241558074951,
+          -0.33322760462760925,
+          -0.35533687472343445,
+          48.846641540527344
+        ],
+        [
+          0.35227835178375244,
+          -0.07179740816354752,
+          0.9331372976303101,
+          22.360000610351562
+        ],
+        [
+          -0.33645936846733093,
+          -0.9401087760925293,
+          0.05468645319342613,
+          -22.858606338500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6550,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_483081817",
+      "mask_path": "../../mask/hdr_right_06550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06551.png",
+      "transform_matrix": [
+        [
+          0.8659800887107849,
+          -0.37139758467674255,
+          -0.3348768353462219,
+          48.74831008911133
+        ],
+        [
+          0.3407772481441498,
+          -0.05182458460330963,
+          0.9387146830558777,
+          22.35373878479004
+        ],
+        [
+          -0.3659912049770355,
+          -0.9270263910293579,
+          0.08168478310108185,
+          -22.761219024658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6551,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_583082199",
+      "mask_path": "../../mask/hdr_right_06551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06552.png",
+      "transform_matrix": [
+        [
+          0.8622815608978271,
+          -0.386976420879364,
+          -0.32668018341064453,
+          48.669288635253906
+        ],
+        [
+          0.3302243947982788,
+          -0.05942520871758461,
+          0.9420300126075745,
+          22.355754852294922
+        ],
+        [
+          -0.3839564323425293,
+          -0.9201727509498596,
+          0.0765477865934372,
+          -22.67347526550293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6552,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_683082103",
+      "mask_path": "../../mask/hdr_right_06552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06553.png",
+      "transform_matrix": [
+        [
+          0.8666670322418213,
+          -0.3732869029045105,
+          -0.33097586035728455,
+          48.61778259277344
+        ],
+        [
+          0.3279806673526764,
+          -0.07358351349830627,
+          0.9418143630027771,
+          22.347536087036133
+        ],
+        [
+          -0.375921368598938,
+          -0.9247931241989136,
+          0.058658476918935776,
+          -22.665210723876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6553,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_783082485",
+      "mask_path": "../../mask/hdr_right_06553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06554.png",
+      "transform_matrix": [
+        [
+          0.8747572898864746,
+          -0.3558686077594757,
+          -0.32887277007102966,
+          48.53596115112305
+        ],
+        [
+          0.3274325728416443,
+          -0.06619305163621902,
+          0.9425532221794128,
+          22.32741355895996
+        ],
+        [
+          -0.357194185256958,
+          -0.9321888089179993,
+          0.05862012505531311,
+          -22.648099899291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6554,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_883081912",
+      "mask_path": "../../mask/hdr_right_06554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06555.png",
+      "transform_matrix": [
+        [
+          0.8805860877037048,
+          -0.34301134943962097,
+          -0.3269731402397156,
+          48.45306396484375
+        ],
+        [
+          0.3275723159313202,
+          -0.05799955874681473,
+          0.9430443048477173,
+          22.310558319091797
+        ],
+        [
+          -0.3424391448497772,
+          -0.9375389814376831,
+          0.06128740310668945,
+          -22.63438606262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6555,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323918_983082294",
+      "mask_path": "../../mask/hdr_right_06555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06556.png",
+      "transform_matrix": [
+        [
+          0.8850328922271729,
+          -0.33241456747055054,
+          -0.32591012120246887,
+          48.371238708496094
+        ],
+        [
+          0.32572200894355774,
+          -0.05800490081310272,
+          0.9436846375465393,
+          22.300312042236328
+        ],
+        [
+          -0.33259889483451843,
+          -0.9413479566574097,
+          0.05693848431110382,
+          -22.6153564453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6556,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_83081722",
+      "mask_path": "../../mask/hdr_right_06556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06557.png",
+      "transform_matrix": [
+        [
+          0.8868541121482849,
+          -0.3300539255142212,
+          -0.32334816455841064,
+          48.2763786315918
+        ],
+        [
+          0.3203571140766144,
+          -0.06506029516458511,
+          0.945060133934021,
+          22.290912628173828
+        ],
+        [
+          -0.3329578936100006,
+          -0.9417173266410828,
+          0.0480361245572567,
+          -22.58909034729004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6557,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_183084249",
+      "mask_path": "../../mask/hdr_right_06557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06558.png",
+      "transform_matrix": [
+        [
+          0.8867895007133484,
+          -0.33209308981895447,
+          -0.3214322030544281,
+          48.21772384643555
+        ],
+        [
+          0.31411612033843994,
+          -0.07708759605884552,
+          0.946249783039093,
+          22.280982971191406
+        ],
+        [
+          -0.3390214145183563,
+          -0.9400912523269653,
+          0.035955317318439484,
+          -22.555614471435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6558,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_283082723",
+      "mask_path": "../../mask/hdr_right_06558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06559.png",
+      "transform_matrix": [
+        [
+          0.8845046758651733,
+          -0.3356090784072876,
+          -0.3240649402141571,
+          48.150733947753906
+        ],
+        [
+          0.3102013170719147,
+          -0.09575915336608887,
+          0.9458357095718384,
+          22.253705978393555
+        ],
+        [
+          -0.3484632670879364,
+          -0.937121570110321,
+          0.019406963139772415,
+          -22.51380157470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6559,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_383082151",
+      "mask_path": "../../mask/hdr_right_06559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06560.png",
+      "transform_matrix": [
+        [
+          0.8825430870056152,
+          -0.33519962430000305,
+          -0.3297863006591797,
+          48.05831527709961
+        ],
+        [
+          0.31765231490135193,
+          -0.09213665127754211,
+          0.9437202215194702,
+          22.219173431396484
+        ],
+        [
+          -0.34672001004219055,
+          -0.9376311898231506,
+          0.025162363424897194,
+          -22.462766647338867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6560,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_483083009",
+      "mask_path": "../../mask/hdr_right_06560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06561.png",
+      "transform_matrix": [
+        [
+          0.8832173347473145,
+          -0.3306657075881958,
+          -0.33254683017730713,
+          47.98654556274414
+        ],
+        [
+          0.3247261941432953,
+          -0.08039357513189316,
+          0.9423851370811462,
+          22.203655242919922
+        ],
+        [
+          -0.3383491635322571,
+          -0.9403175115585327,
+          0.03637082502245903,
+          -22.450132369995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6561,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_583081960",
+      "mask_path": "../../mask/hdr_right_06561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06562.png",
+      "transform_matrix": [
+        [
+          0.8848070502281189,
+          -0.32521504163742065,
+          -0.33369407057762146,
+          47.91973114013672
+        ],
+        [
+          0.3264874219894409,
+          -0.07824729382991791,
+          0.9419572353363037,
+          22.200531005859375
+        ],
+        [
+          -0.3324493169784546,
+          -0.9423972368240356,
+          0.036944855004549026,
+          -22.450292587280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6562,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_683079481",
+      "mask_path": "../../mask/hdr_right_06562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06563.png",
+      "transform_matrix": [
+        [
+          0.8942105174064636,
+          -0.29988911747932434,
+          -0.33234652876853943,
+          47.8409538269043
+        ],
+        [
+          0.32165539264678955,
+          -0.08589654415845871,
+          0.9429526925086975,
+          22.182239532470703
+        ],
+        [
+          -0.3113286793231964,
+          -0.9500991702079773,
+          0.019651351496577263,
+          -22.420433044433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6563,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_783080339",
+      "mask_path": "../../mask/hdr_right_06563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06564.png",
+      "transform_matrix": [
+        [
+          0.9017099142074585,
+          -0.28513848781585693,
+          -0.3249851167201996,
+          47.76139450073242
+        ],
+        [
+          0.31171083450317383,
+          -0.09211699664592743,
+          0.9457013607025146,
+          22.16449546813965
+        ],
+        [
+          -0.2995924949645996,
+          -0.9540495276451111,
+          0.005817944649606943,
+          -22.384571075439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6564,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_883079767",
+      "mask_path": "../../mask/hdr_right_06564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06565.png",
+      "transform_matrix": [
+        [
+          0.9051212072372437,
+          -0.2837488651275635,
+          -0.316610723733902,
+          47.68183517456055
+        ],
+        [
+          0.3016355335712433,
+          -0.09623221307992935,
+          0.948554515838623,
+          22.145435333251953
+        ],
+        [
+          -0.2996194064617157,
+          -0.9540576338768005,
+          -0.0015130684478208423,
+          -22.350812911987305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6565,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323919_983082771",
+      "mask_path": "../../mask/hdr_right_06565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06566.png",
+      "transform_matrix": [
+        [
+          0.9108694195747375,
+          -0.26865503191947937,
+          -0.3132755160331726,
+          47.58756637573242
+        ],
+        [
+          0.2984708547592163,
+          -0.0954032838344574,
+          0.9496386051177979,
+          22.137624740600586
+        ],
+        [
+          -0.28501272201538086,
+          -0.9585002064704895,
+          -0.0067142304033041,
+          -22.34050178527832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6566,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_83079576",
+      "mask_path": "../../mask/hdr_right_06566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06567.png",
+      "transform_matrix": [
+        [
+          0.9162987470626831,
+          -0.2514730989933014,
+          -0.3117014467716217,
+          47.50419616699219
+        ],
+        [
+          0.3004726767539978,
+          -0.08291038125753403,
+          0.9501799941062927,
+          22.127063751220703
+        ],
+        [
+          -0.2647880017757416,
+          -0.9643065929412842,
+          -0.00040990233537741005,
+          -22.333642959594727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6567,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_183083534",
+      "mask_path": "../../mask/hdr_right_06567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06568.png",
+      "transform_matrix": [
+        [
+          0.9203888773918152,
+          -0.24015499651432037,
+          -0.30856096744537354,
+          47.43243408203125
+        ],
+        [
+          0.30059680342674255,
+          -0.07007589936256409,
+          0.9511734843254089,
+          22.12026596069336
+        ],
+        [
+          -0.2500517666339874,
+          -0.9682018756866455,
+          0.007692740298807621,
+          -22.327653884887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6568,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_283081531",
+      "mask_path": "../../mask/hdr_right_06568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06569.png",
+      "transform_matrix": [
+        [
+          0.9280129671096802,
+          -0.21621070802211761,
+          -0.3033888638019562,
+          47.342376708984375
+        ],
+        [
+          0.2969193458557129,
+          -0.06261616200208664,
+          0.952847421169281,
+          22.117158889770508
+        ],
+        [
+          -0.2250128537416458,
+          -0.9743367433547974,
+          0.006088521797209978,
+          -22.315975189208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6569,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_383081436",
+      "mask_path": "../../mask/hdr_right_06569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06570.png",
+      "transform_matrix": [
+        [
+          0.9372950792312622,
+          -0.19005738198757172,
+          -0.2921575903892517,
+          47.27189636230469
+        ],
+        [
+          0.28596416115760803,
+          -0.05986364558339119,
+          0.9563685655593872,
+          22.110422134399414
+        ],
+        [
+          -0.19925454258918762,
+          -0.9799462556838989,
+          -0.0017603039741516113,
+          -22.29931640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6570,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_483080387",
+      "mask_path": "../../mask/hdr_right_06570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06571.png",
+      "transform_matrix": [
+        [
+          0.9439867734909058,
+          -0.1762235313653946,
+          -0.2789878249168396,
+          47.21683883666992
+        ],
+        [
+          0.272100567817688,
+          -0.0626087337732315,
+          0.9602299332618713,
+          22.11402702331543
+        ],
+        [
+          -0.18668217957019806,
+          -0.9823570847511292,
+          -0.011151306331157684,
+          -22.298145294189453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6571,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_583077669",
+      "mask_path": "../../mask/hdr_right_06571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06572.png",
+      "transform_matrix": [
+        [
+          0.9511430859565735,
+          -0.15813127160072327,
+          -0.26518183946609497,
+          47.129722595214844
+        ],
+        [
+          0.2589762508869171,
+          -0.05901899188756943,
+          0.9640788435935974,
+          22.101428985595703
+        ],
+        [
+          -0.16810177266597748,
+          -0.9856526851654053,
+          -0.015183264389634132,
+          -22.289627075195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6572,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_683079957",
+      "mask_path": "../../mask/hdr_right_06572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06573.png",
+      "transform_matrix": [
+        [
+          0.9575215578079224,
+          -0.13724103569984436,
+          -0.25360867381095886,
+          47.041786193847656
+        ],
+        [
+          0.24902574717998505,
+          -0.04988092929124832,
+          0.9672115445137024,
+          22.093013763427734
+        ],
+        [
+          -0.1453913450241089,
+          -0.9892809987068176,
+          -0.01358551811426878,
+          -22.294677734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6573,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_783081054",
+      "mask_path": "../../mask/hdr_right_06573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06574.png",
+      "transform_matrix": [
+        [
+          0.9620679616928101,
+          -0.1240239217877388,
+          -0.24298818409442902,
+          46.97745132446289
+        ],
+        [
+          0.23981605470180511,
+          -0.040125180035829544,
+          0.9699888229370117,
+          22.095603942871094
+        ],
+        [
+          -0.13005176186561584,
+          -0.9914675951004028,
+          -0.008860224857926369,
+          -22.303129196166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6574,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_883082628",
+      "mask_path": "../../mask/hdr_right_06574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06575.png",
+      "transform_matrix": [
+        [
+          0.9664595127105713,
+          -0.11404424160718918,
+          -0.2301086038351059,
+          46.90818405151367
+        ],
+        [
+          0.22767500579357147,
+          -0.034102294594049454,
+          0.9731398820877075,
+          22.110530853271484
+        ],
+        [
+          -0.11882823705673218,
+          -0.9928902387619019,
+          -0.0069934651255607605,
+          -22.301668167114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6575,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323920_983083486",
+      "mask_path": "../../mask/hdr_right_06575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06576.png",
+      "transform_matrix": [
+        [
+          0.9711759686470032,
+          -0.10354456305503845,
+          -0.21469934284687042,
+          46.82289123535156
+        ],
+        [
+          0.21263636648654938,
+          -0.030697926878929138,
+          0.9766491651535034,
+          22.123271942138672
+        ],
+        [
+          -0.10771753638982773,
+          -0.9941509962081909,
+          -0.0077957515604794025,
+          -22.298852920532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6576,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_83082914",
+      "mask_path": "../../mask/hdr_right_06576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06577.png",
+      "transform_matrix": [
+        [
+          0.9752572178840637,
+          -0.0950586125254631,
+          -0.19959218800067902,
+          46.741722106933594
+        ],
+        [
+          0.19763696193695068,
+          -0.029654189944267273,
+          0.9798267483711243,
+          22.13068962097168
+        ],
+        [
+          -0.09905970096588135,
+          -0.9950299263000488,
+          -0.01013337355107069,
+          -22.29380989074707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6577,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_183080911",
+      "mask_path": "../../mask/hdr_right_06577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06578.png",
+      "transform_matrix": [
+        [
+          0.9785783886909485,
+          -0.09045755863189697,
+          -0.18493668735027313,
+          46.66852951049805
+        ],
+        [
+          0.18271619081497192,
+          -0.03231438994407654,
+          0.9826346039772034,
+          22.142494201660156
+        ],
+        [
+          -0.09486284106969833,
+          -0.99537593126297,
+          -0.015094117261469364,
+          -22.2912654876709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6578,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_283083200",
+      "mask_path": "../../mask/hdr_right_06578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06579.png",
+      "transform_matrix": [
+        [
+          0.9806190133094788,
+          -0.08471318334341049,
+          -0.1766635924577713,
+          46.58470916748047
+        ],
+        [
+          0.17400500178337097,
+          -0.03786073997616768,
+          0.9840165972709656,
+          22.14405059814453
+        ],
+        [
+          -0.09004779905080795,
+          -0.9956858158111572,
+          -0.022386450320482254,
+          -22.288490295410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6579,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_383081436",
+      "mask_path": "../../mask/hdr_right_06579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06580.png",
+      "transform_matrix": [
+        [
+          0.980771541595459,
+          -0.07534085214138031,
+          -0.1800304800271988,
+          46.50489807128906
+        ],
+        [
+          0.1779528707265854,
+          -0.03349164128303528,
+          0.9834689497947693,
+          22.1397647857666
+        ],
+        [
+          -0.08012489974498749,
+          -0.9965952038764954,
+          -0.019440528005361557,
+          -22.292564392089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6580,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_483080863",
+      "mask_path": "../../mask/hdr_right_06580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06581.png",
+      "transform_matrix": [
+        [
+          0.9802582859992981,
+          -0.06738889217376709,
+          -0.18588294088840485,
+          46.432762145996094
+        ],
+        [
+          0.18471674621105194,
+          -0.023197351023554802,
+          0.9825180768966675,
+          22.138532638549805
+        ],
+        [
+          -0.07052279263734818,
+          -0.9974570870399475,
+          -0.01029154285788536,
+          -22.299280166625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6581,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_583081245",
+      "mask_path": "../../mask/hdr_right_06581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06582.png",
+      "transform_matrix": [
+        [
+          0.9805419445037842,
+          -0.057231977581977844,
+          -0.18778204917907715,
+          46.35456848144531
+        ],
+        [
+          0.18665005266666412,
+          -0.024569766595959663,
+          0.9821191430091858,
+          22.149097442626953
+        ],
+        [
+          -0.060822390019893646,
+          -0.9980584979057312,
+          -0.013409337028861046,
+          -22.312110900878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6582,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_683080911",
+      "mask_path": "../../mask/hdr_right_06582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06583.png",
+      "transform_matrix": [
+        [
+          0.9822056889533997,
+          -0.050301678478717804,
+          -0.18094731867313385,
+          46.26436996459961
+        ],
+        [
+          0.17975202202796936,
+          -0.02738724835216999,
+          0.9833307862281799,
+          22.164827346801758
+        ],
+        [
+          -0.05441883206367493,
+          -0.9983584880828857,
+          -0.017858080565929413,
+          -22.310686111450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6583,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_783082962",
+      "mask_path": "../../mask/hdr_right_06583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06584.png",
+      "transform_matrix": [
+        [
+          0.9839480519294739,
+          -0.04816996678709984,
+          -0.17183086276054382,
+          46.19240951538086
+        ],
+        [
+          0.1703563779592514,
+          -0.03323594108223915,
+          0.9848219156265259,
+          22.168241500854492
+        ],
+        [
+          -0.05314979702234268,
+          -0.9982860684394836,
+          -0.024496382102370262,
+          -22.303348541259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6584,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_883081912",
+      "mask_path": "../../mask/hdr_right_06584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06585.png",
+      "transform_matrix": [
+        [
+          0.9854609966278076,
+          -0.04806187003850937,
+          -0.16296212375164032,
+          46.123844146728516
+        ],
+        [
+          0.160956472158432,
+          -0.04302986338734627,
+          0.9860231280326843,
+          22.156278610229492
+        ],
+        [
+          -0.05440235510468483,
+          -0.9979169964790344,
+          -0.034668389707803726,
+          -22.2926082611084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6585,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323921_983081340",
+      "mask_path": "../../mask/hdr_right_06585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06586.png",
+      "transform_matrix": [
+        [
+          0.9857617616653442,
+          -0.04438955336809158,
+          -0.1621827930212021,
+          46.025577545166016
+        ],
+        [
+          0.16032001376152039,
+          -0.04274573549628258,
+          0.9861391186714172,
+          22.145891189575195
+        ],
+        [
+          -0.0507069006562233,
+          -0.9980993270874023,
+          -0.035020582377910614,
+          -22.288732528686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6586,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_83081483",
+      "mask_path": "../../mask/hdr_right_06586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06587.png",
+      "transform_matrix": [
+        [
+          0.9847496747970581,
+          -0.04100644960999489,
+          -0.16907620429992676,
+          45.94168472290039
+        ],
+        [
+          0.16751109063625336,
+          -0.039021193981170654,
+          0.9850976467132568,
+          22.139066696166992
+        ],
+        [
+          -0.04699290543794632,
+          -0.998396635055542,
+          -0.03155707195401192,
+          -22.300931930541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6587,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_183081865",
+      "mask_path": "../../mask/hdr_right_06587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06588.png",
+      "transform_matrix": [
+        [
+          0.9839218258857727,
+          -0.04024069756269455,
+          -0.1740075647830963,
+          45.87760543823242
+        ],
+        [
+          0.17233668267726898,
+          -0.04183824360370636,
+          0.9841492772102356,
+          22.123592376708984
+        ],
+        [
+          -0.04688301682472229,
+          -0.9983136653900146,
+          -0.03423061594367027,
+          -22.30310821533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6588,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_283081769",
+      "mask_path": "../../mask/hdr_right_06588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06589.png",
+      "transform_matrix": [
+        [
+          0.9843352437019348,
+          -0.034838736057281494,
+          -0.1728307455778122,
+          45.80885696411133
+        ],
+        [
+          0.1713080257177353,
+          -0.04278856888413429,
+          0.9842879772186279,
+          22.106918334960938
+        ],
+        [
+          -0.0416865274310112,
+          -0.998476505279541,
+          -0.036150142550468445,
+          -22.304094314575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6589,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_383080959",
+      "mask_path": "../../mask/hdr_right_06589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06590.png",
+      "transform_matrix": [
+        [
+          0.9858421683311462,
+          -0.03417516127228737,
+          -0.1641566902399063,
+          45.73307418823242
+        ],
+        [
+          0.16266478598117828,
+          -0.0426405668258667,
+          0.9857596158981323,
+          22.099706649780273
+        ],
+        [
+          -0.040688224136829376,
+          -0.9985058903694153,
+          -0.03647777438163757,
+          -22.29207420349121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6590,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_483081340",
+      "mask_path": "../../mask/hdr_right_06590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06591.png",
+      "transform_matrix": [
+        [
+          0.9880358576774597,
+          -0.037501998245716095,
+          -0.14959532022476196,
+          45.670162200927734
+        ],
+        [
+          0.14780935645103455,
+          -0.04658466577529907,
+          0.9879181981086731,
+          22.100317001342773
+        ],
+        [
+          -0.04401774704456329,
+          -0.9982101917266846,
+          -0.04048418626189232,
+          -22.2847957611084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6591,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_583082199",
+      "mask_path": "../../mask/hdr_right_06591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06592.png",
+      "transform_matrix": [
+        [
+          0.9910128712654114,
+          -0.03657222166657448,
+          -0.12867020070552826,
+          45.60653305053711
+        ],
+        [
+          0.1269998848438263,
+          -0.04482666030526161,
+          0.9908893704414368,
+          22.099647521972656
+        ],
+        [
+          -0.042006880044937134,
+          -0.9983251094818115,
+          -0.03977913036942482,
+          -22.279918670654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6592,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_683080196",
+      "mask_path": "../../mask/hdr_right_06592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06593.png",
+      "transform_matrix": [
+        [
+          0.9937465190887451,
+          -0.030639011412858963,
+          -0.10737401992082596,
+          45.52656173706055
+        ],
+        [
+          0.10615737736225128,
+          -0.038905076682567596,
+          0.9935880303382874,
+          22.0947322845459
+        ],
+        [
+          -0.03461994603276253,
+          -0.9987730383872986,
+          -0.03540923073887825,
+          -22.28021240234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6593,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323922_783082008",
+      "mask_path": "../../mask/hdr_right_06593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06597.png",
+      "transform_matrix": [
+        [
+          0.9999668002128601,
+          0.005624588578939438,
+          -0.005902901757508516,
+          45.394615173339844
+        ],
+        [
+          0.006004633381962776,
+          -0.018239859491586685,
+          0.9998156428337097,
+          22.12019157409668
+        ],
+        [
+          0.005515881348401308,
+          -0.9998178482055664,
+          -0.01827302761375904,
+          -22.29939842224121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6597,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_183080434",
+      "mask_path": "../../mask/hdr_right_06597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06599.png",
+      "transform_matrix": [
+        [
+          0.9994192719459534,
+          0.008298415690660477,
+          0.03304879739880562,
+          45.31899642944336
+        ],
+        [
+          -0.03291850537061691,
+          -0.015372321009635925,
+          0.9993398785591125,
+          22.15459632873535
+        ],
+        [
+          0.008800971321761608,
+          -0.999847412109375,
+          -0.015090223401784897,
+          -22.3033504486084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6599,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_383081436",
+      "mask_path": "../../mask/hdr_right_06599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06601.png",
+      "transform_matrix": [
+        [
+          0.9987630844116211,
+          0.008930625393986702,
+          0.04891341179609299,
+          45.22006607055664
+        ],
+        [
+          -0.04879717528820038,
+          -0.012799564749002457,
+          0.9987267255783081,
+          22.19431495666504
+        ],
+        [
+          0.009545325301587582,
+          -0.9998782277107239,
+          -0.012347945012152195,
+          -22.291152954101562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6601,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_583081960",
+      "mask_path": "../../mask/hdr_right_06601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06602.png",
+      "transform_matrix": [
+        [
+          0.998856782913208,
+          0.0072908103466033936,
+          0.047243230044841766,
+          45.158103942871094
+        ],
+        [
+          -0.04719160124659538,
+          -0.007095415610820055,
+          0.9988605976104736,
+          22.207338333129883
+        ],
+        [
+          0.007617713417857885,
+          -0.999948263168335,
+          -0.006743241101503372,
+          -22.294422149658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6602,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_683081865",
+      "mask_path": "../../mask/hdr_right_06602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06603.png",
+      "transform_matrix": [
+        [
+          0.9989725947380066,
+          0.005699995905160904,
+          0.044958945363759995,
+          45.09113693237305
+        ],
+        [
+          -0.04491689056158066,
+          -0.007302199024707079,
+          0.9989640712738037,
+          22.215463638305664
+        ],
+        [
+          0.006022391375154257,
+          -0.9999570846557617,
+          -0.007038671523332596,
+          -22.301822662353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6603,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_783081769",
+      "mask_path": "../../mask/hdr_right_06603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06604.png",
+      "transform_matrix": [
+        [
+          0.998846173286438,
+          0.010064567439258099,
+          0.04695852845907211,
+          45.01303482055664
+        ],
+        [
+          -0.04690626263618469,
+          -0.005365380551666021,
+          0.998884916305542,
+          22.22658920288086
+        ],
+        [
+          0.010305293835699558,
+          -0.9999349117279053,
+          -0.004887099377810955,
+          -22.30324363708496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6604,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_883084297",
+      "mask_path": "../../mask/hdr_right_06604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06605.png",
+      "transform_matrix": [
+        [
+          0.9985008239746094,
+          0.009931336157023907,
+          0.053827520459890366,
+          44.937278747558594
+        ],
+        [
+          -0.0537596233189106,
+          -0.006977800279855728,
+          0.9985296726226807,
+          22.246488571166992
+        ],
+        [
+          0.010292330756783485,
+          -0.9999263286590576,
+          -0.006433434784412384,
+          -22.294601440429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6605,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323923_983082056",
+      "mask_path": "../../mask/hdr_right_06605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06606.png",
+      "transform_matrix": [
+        [
+          0.9978706240653992,
+          0.0033885145094245672,
+          0.06513740122318268,
+          44.87025833129883
+        ],
+        [
+          -0.06508299708366394,
+          -0.014235678128898144,
+          0.9977784156799316,
+          22.25661277770996
+        ],
+        [
+          0.004308261442929506,
+          -0.9998928904533386,
+          -0.013984831981360912,
+          -22.289112091064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6606,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_83082675",
+      "mask_path": "../../mask/hdr_right_06606.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/65d07966/mesh.ply b/2024-11-11-12-07-40/splats/65d07966/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f2b68ccc3dae80b39866a05c4f2919b3c577f37f
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/65d07966/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cd8ced9b2b5ae1235eacf40054558981c460880cf2ac24134a1780f3a598b7c
+size 82394534
diff --git a/2024-11-11-12-07-40/splats/65d07966/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/65d07966/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..eed66f3d02377bde4434eadc21f8a6052f72930e
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/65d07966/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:020ba8f87e9f5a94d6babb841c668fb9c9310ec0d44a01171618ceed4dbe2080
+size 1600657
diff --git a/2024-11-11-12-07-40/splats/65d07966/splatfacto/config.yml b/2024-11-11-12-07-40/splats/65d07966/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..bb24466f8d855c86bb2ddd3ba9092fe76ebf78f1
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/65d07966/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_65d07966
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_65d07966
+      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/2024-11-11-12-07-40/splats/65d07966/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/65d07966/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..abedbfb8c9fe0649d064b62fc83532673724ef30
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/65d07966/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.9700640439987183,
+            0.19939598441123962,
+            0.13862524926662445,
+            87.76097869873047
+        ],
+        [
+            0.19939598441123962,
+            0.9798185229301453,
+            -0.014030669815838337,
+            -36.21630859375
+        ],
+        [
+            -0.13862524926662445,
+            0.014030669815838337,
+            -0.9902454614639282,
+            -17.50254249572754
+        ]
+    ],
+    "scale": 0.1789659810072571
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/65d07966/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/65d07966/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..069aa26ad112e8806c270d689629f92b35d6f475
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/65d07966/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b04ed03459d81ad0f13b67b7a5e2230a2c4262f3c47cf456a8c006695b0c1049
+size 164961273
diff --git a/2024-11-11-12-07-40/splats/65d07966/transforms.json b/2024-11-11-12-07-40/splats/65d07966/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f9f67afb18afe0899bd5311960249b89cdb468e
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/65d07966/transforms.json
@@ -0,0 +1,33018 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_04413.png",
+      "transform_matrix": [
+        [
+          0.2907656133174896,
+          -0.20529785752296448,
+          -0.9345096349716187,
+          85.2718734741211
+        ],
+        [
+          0.9566114544868469,
+          0.043281666934490204,
+          0.2881341278553009,
+          19.753925323486328
+        ],
+        [
+          -0.01870618760585785,
+          -0.977742075920105,
+          0.20897510647773743,
+          -29.17477798461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4413,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_783082723",
+      "mask_path": "../../mask/hdr_front_04413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04414.png",
+      "transform_matrix": [
+        [
+          0.29707634449005127,
+          -0.2035018354654312,
+          -0.9329162240028381,
+          85.37854766845703
+        ],
+        [
+          0.9545429944992065,
+          0.03837094083428383,
+          0.29559314250946045,
+          19.730716705322266
+        ],
+        [
+          -0.024356864392757416,
+          -0.9783223867416382,
+          0.20565035939216614,
+          -29.19449234008789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4414,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_883082389",
+      "mask_path": "../../mask/hdr_front_04414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04415.png",
+      "transform_matrix": [
+        [
+          0.29956361651420593,
+          -0.20397023856639862,
+          -0.9320182204246521,
+          85.45902252197266
+        ],
+        [
+          0.953767716884613,
+          0.039178505539894104,
+          0.2979801595211029,
+          19.714548110961914
+        ],
+        [
+          -0.02426399476826191,
+          -0.9781928658485413,
+          0.20627667009830475,
+          -29.21257209777832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4415,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_983081579",
+      "mask_path": "../../mask/hdr_front_04415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04416.png",
+      "transform_matrix": [
+        [
+          0.3004649877548218,
+          -0.19767102599143982,
+          -0.9330846071243286,
+          85.52765655517578
+        ],
+        [
+          0.9535614848136902,
+          0.04071103408932686,
+          0.2984342873096466,
+          19.69599723815918
+        ],
+        [
+          -0.021004969254136086,
+          -0.9794226884841919,
+          0.20072369277477264,
+          -29.231786727905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4416,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_83081245",
+      "mask_path": "../../mask/hdr_front_04416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04417.png",
+      "transform_matrix": [
+        [
+          0.30047959089279175,
+          -0.19264428317546844,
+          -0.9341307282447815,
+          85.60616302490234
+        ],
+        [
+          0.9534974694252014,
+          0.03649095818400383,
+          0.2991838753223419,
+          19.674272537231445
+        ],
+        [
+          -0.023548733443021774,
+          -0.9805899262428284,
+          0.19465063512325287,
+          -29.25267791748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4417,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_183082580",
+      "mask_path": "../../mask/hdr_front_04417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04418.png",
+      "transform_matrix": [
+        [
+          0.30434444546699524,
+          -0.18431356549263,
+          -0.9345602989196777,
+          85.70214080810547
+        ],
+        [
+          0.951870322227478,
+          0.02146223932504654,
+          0.3057487905025482,
+          19.635099411010742
+        ],
+        [
+          -0.03629588708281517,
+          -0.982633113861084,
+          0.18197453022003174,
+          -29.270038604736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4418,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_283082246",
+      "mask_path": "../../mask/hdr_front_04418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04419.png",
+      "transform_matrix": [
+        [
+          0.3119924068450928,
+          -0.17123709619045258,
+          -0.9345259070396423,
+          85.78238677978516
+        ],
+        [
+          0.9489755034446716,
+          0.008652199991047382,
+          0.3152310252189636,
+          19.5975399017334
+        ],
+        [
+          -0.04589353874325752,
+          -0.9851919412612915,
+          0.16519923508167267,
+          -29.271888732910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4419,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_383082866",
+      "mask_path": "../../mask/hdr_front_04419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04420.png",
+      "transform_matrix": [
+        [
+          0.3242713510990143,
+          -0.15609951317310333,
+          -0.9329957365989685,
+          85.85238647460938
+        ],
+        [
+          0.9448622465133667,
+          0.005857862997800112,
+          0.3274155557155609,
+          19.579238891601562
+        ],
+        [
+          -0.04564404487609863,
+          -0.9877240061759949,
+          0.14939209818840027,
+          -29.27586555480957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4420,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_483082532",
+      "mask_path": "../../mask/hdr_front_04420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04421.png",
+      "transform_matrix": [
+        [
+          0.33216172456741333,
+          -0.14894096553325653,
+          -0.931388795375824,
+          85.94920349121094
+        ],
+        [
+          0.9420871138572693,
+          0.003953017294406891,
+          0.33534497022628784,
+          19.552221298217773
+        ],
+        [
+          -0.046264804899692535,
+          -0.9888381958007812,
+          0.1416284292936325,
+          -29.284685134887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4421,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_583080768",
+      "mask_path": "../../mask/hdr_front_04421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04422.png",
+      "transform_matrix": [
+        [
+          0.33235710859298706,
+          -0.14296887814998627,
+          -0.9322546720504761,
+          86.04219055175781
+        ],
+        [
+          0.9420461654663086,
+          0.0024348695296794176,
+          0.3354744613170624,
+          19.52939224243164
+        ],
+        [
+          -0.045692481100559235,
+          -0.9897242188453674,
+          0.13549253344535828,
+          -29.297462463378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4422,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_683081150",
+      "mask_path": "../../mask/hdr_front_04422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04423.png",
+      "transform_matrix": [
+        [
+          0.3296193778514862,
+          -0.13278640806674957,
+          -0.934729278087616,
+          86.11602783203125
+        ],
+        [
+          0.9431964755058289,
+          0.0026793433353304863,
+          0.33222460746765137,
+          19.513124465942383
+        ],
+        [
+          -0.04161045700311661,
+          -0.9911412000656128,
+          0.12612685561180115,
+          -29.308055877685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4423,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_783081293",
+      "mask_path": "../../mask/hdr_front_04423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04424.png",
+      "transform_matrix": [
+        [
+          0.3284113109111786,
+          -0.12664420902729034,
+          -0.9360060095787048,
+          86.1983413696289
+        ],
+        [
+          0.9438307285308838,
+          0.005744393449276686,
+          0.3303794860839844,
+          19.49134635925293
+        ],
+        [
+          -0.03646385297179222,
+          -0.991931676864624,
+          0.12141720205545425,
+          -29.323827743530273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4424,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_883080959",
+      "mask_path": "../../mask/hdr_front_04424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04425.png",
+      "transform_matrix": [
+        [
+          0.3344312012195587,
+          -0.12694717943668365,
+          -0.9338309168815613,
+          86.2897720336914
+        ],
+        [
+          0.9419089555740356,
+          0.012392301112413406,
+          0.3356395661830902,
+          19.461889266967773
+        ],
+        [
+          -0.031036170199513435,
+          -0.9918320775032043,
+          0.1237170472741127,
+          -29.336042404174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4425,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_983082056",
+      "mask_path": "../../mask/hdr_front_04425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04426.png",
+      "transform_matrix": [
+        [
+          0.3433847725391388,
+          -0.1269226372241974,
+          -0.9305791258811951,
+          86.35130310058594
+        ],
+        [
+          0.9387243986129761,
+          0.015025366097688675,
+          0.34434109926223755,
+          19.432283401489258
+        ],
+        [
+          -0.029722385108470917,
+          -0.9917989373207092,
+          0.12430485337972641,
+          -29.33596420288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4426,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_83081483",
+      "mask_path": "../../mask/hdr_front_04426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04427.png",
+      "transform_matrix": [
+        [
+          0.3534276485443115,
+          -0.12520726025104523,
+          -0.9270447492599487,
+          86.40387725830078
+        ],
+        [
+          0.9348344802856445,
+          0.010985511355102062,
+          0.35491371154785156,
+          19.401670455932617
+        ],
+        [
+          -0.03425371274352074,
+          -0.9920699000358582,
+          0.12093066424131393,
+          -29.341196060180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4427,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_183081865",
+      "mask_path": "../../mask/hdr_front_04427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04428.png",
+      "transform_matrix": [
+        [
+          0.35472801327705383,
+          -0.13761262595653534,
+          -0.9247868657112122,
+          86.48912811279297
+        ],
+        [
+          0.9339321255683899,
+          0.005571052897721529,
+          0.3574069142341614,
+          19.369705200195312
+        ],
+        [
+          -0.04403166472911835,
+          -0.9904704689979553,
+          0.1304970532655716,
+          -29.373199462890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4428,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_283082246",
+      "mask_path": "../../mask/hdr_front_04428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04429.png",
+      "transform_matrix": [
+        [
+          0.34985291957855225,
+          -0.15124282240867615,
+          -0.924515426158905,
+          86.57395935058594
+        ],
+        [
+          0.9352946877479553,
+          0.00038201853749342263,
+          0.3538695275783539,
+          19.339677810668945
+        ],
+        [
+          -0.05316704511642456,
+          -0.9884966015815735,
+          0.14159025251865387,
+          -29.40447998046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4429,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_383082389",
+      "mask_path": "../../mask/hdr_front_04429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04430.png",
+      "transform_matrix": [
+        [
+          0.34710264205932617,
+          -0.15337206423282623,
+          -0.9252009391784668,
+          86.63911437988281
+        ],
+        [
+          0.936190128326416,
+          -0.001597970724105835,
+          0.3514903485774994,
+          19.318397521972656
+        ],
+        [
+          -0.055387236177921295,
+          -0.9881672263145447,
+          0.14303076267242432,
+          -29.416305541992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4430,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_483081817",
+      "mask_path": "../../mask/hdr_front_04430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04431.png",
+      "transform_matrix": [
+        [
+          0.3456560969352722,
+          -0.15525312721729279,
+          -0.9254287481307983,
+          86.7188491821289
+        ],
+        [
+          0.9369453191757202,
+          0.0029460086952894926,
+          0.34946346282958984,
+          19.284801483154297
+        ],
+        [
+          -0.05152897164225578,
+          -0.9878703355789185,
+          0.14648200571537018,
+          -29.43396759033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4431,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_583081245",
+      "mask_path": "../../mask/hdr_front_04431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04432.png",
+      "transform_matrix": [
+        [
+          0.3515419065952301,
+          -0.1634867638349533,
+          -0.9217865467071533,
+          86.79663848876953
+        ],
+        [
+          0.9348634481430054,
+          0.009260118938982487,
+          0.3548867106437683,
+          19.247509002685547
+        ],
+        [
+          -0.04948342591524124,
+          -0.9865021109580994,
+          0.15609310567378998,
+          -29.445642471313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4432,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_683080673",
+      "mask_path": "../../mask/hdr_front_04432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04433.png",
+      "transform_matrix": [
+        [
+          0.36370864510536194,
+          -0.16952987015247345,
+          -0.9159560799598694,
+          86.85216522216797
+        ],
+        [
+          0.930203378200531,
+          0.01398212369531393,
+          0.3667781352996826,
+          19.213401794433594
+        ],
+        [
+          -0.049372829496860504,
+          -0.9854258298873901,
+          0.162782683968544,
+          -29.455385208129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4433,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_783081769",
+      "mask_path": "../../mask/hdr_front_04433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04434.png",
+      "transform_matrix": [
+        [
+          0.37789487838745117,
+          -0.1674954891204834,
+          -0.9105716347694397,
+          86.90846252441406
+        ],
+        [
+          0.9245638251304626,
+          0.01647772826254368,
+          0.38067078590393066,
+          19.17475700378418
+        ],
+        [
+          -0.048756491392850876,
+          -0.9857351779937744,
+          0.16108712553977966,
+          -29.464384078979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4434,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_883081674",
+      "mask_path": "../../mask/hdr_front_04434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04435.png",
+      "transform_matrix": [
+        [
+          0.38852593302726746,
+          -0.16675078868865967,
+          -0.9062238931655884,
+          86.97657012939453
+        ],
+        [
+          0.9200876355171204,
+          0.016985835507512093,
+          0.39134421944618225,
+          19.1318416595459
+        ],
+        [
+          -0.049863990396261215,
+          -0.9858527779579163,
+          0.16002479195594788,
+          -29.477750778198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4435,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_983082294",
+      "mask_path": "../../mask/hdr_front_04435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04436.png",
+      "transform_matrix": [
+        [
+          0.38782596588134766,
+          -0.18250642716884613,
+          -0.903483510017395,
+          87.06463623046875
+        ],
+        [
+          0.9200816750526428,
+          0.018013350665569305,
+          0.3913120627403259,
+          19.097888946533203
+        ],
+        [
+          -0.055142201483249664,
+          -0.9830396771430969,
+          0.1749068647623062,
+          -29.48984146118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4436,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_83081960",
+      "mask_path": "../../mask/hdr_front_04436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04437.png",
+      "transform_matrix": [
+        [
+          0.38255754113197327,
+          -0.18759095668792725,
+          -0.9046874046325684,
+          87.12828063964844
+        ],
+        [
+          0.922356128692627,
+          0.020381759852170944,
+          0.3858027756214142,
+          19.07840347290039
+        ],
+        [
+          -0.05393398180603981,
+          -0.9820358157157898,
+          0.18082287907600403,
+          -29.499156951904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4437,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_183081865",
+      "mask_path": "../../mask/hdr_front_04437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04438.png",
+      "transform_matrix": [
+        [
+          0.3774859309196472,
+          -0.1748570054769516,
+          -0.9093565940856934,
+          87.18096160888672
+        ],
+        [
+          0.9248439073562622,
+          0.021809497848153114,
+          0.3797212541103363,
+          19.067699432373047
+        ],
+        [
+          -0.04656430706381798,
+          -0.9843522906303406,
+          0.16994822025299072,
+          -29.50864028930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4438,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_283082246",
+      "mask_path": "../../mask/hdr_front_04438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04439.png",
+      "transform_matrix": [
+        [
+          0.36856889724731445,
+          -0.17041876912117004,
+          -0.913845956325531,
+          87.26631927490234
+        ],
+        [
+          0.9283973574638367,
+          0.01748337782919407,
+          0.37117743492126465,
+          19.051408767700195
+        ],
+        [
+          -0.04727847874164581,
+          -0.9852166771888733,
+          0.16466017067432404,
+          -29.521244049072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4439,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_383082151",
+      "mask_path": "../../mask/hdr_front_04439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04440.png",
+      "transform_matrix": [
+        [
+          0.35909780859947205,
+          -0.16435949504375458,
+          -0.9187135696411133,
+          87.35629272460938
+        ],
+        [
+          0.9321178793907166,
+          0.013629834167659283,
+          0.36189866065979004,
+          19.02544593811035
+        ],
+        [
+          -0.04695957154035568,
+          -0.9863063097000122,
+          0.15809686481952667,
+          -29.528532028198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4440,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_483081817",
+      "mask_path": "../../mask/hdr_front_04440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04441.png",
+      "transform_matrix": [
+        [
+          0.353999525308609,
+          -0.15230706334114075,
+          -0.922760546207428,
+          87.42381286621094
+        ],
+        [
+          0.9341545104980469,
+          0.009935692884027958,
+          0.35673072934150696,
+          19.003475189208984
+        ],
+        [
+          -0.045164335519075394,
+          -0.9882832765579224,
+          0.145795539021492,
+          -29.531097412109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4441,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_583081483",
+      "mask_path": "../../mask/hdr_front_04441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04442.png",
+      "transform_matrix": [
+        [
+          0.3547321557998657,
+          -0.1413053274154663,
+          -0.924228310585022,
+          87.49626159667969
+        ],
+        [
+          0.9338045120239258,
+          0.004247021395713091,
+          0.3577583432197571,
+          18.982404708862305
+        ],
+        [
+          -0.0466279461979866,
+          -0.9899569749832153,
+          0.13345812261104584,
+          -29.543296813964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4442,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_683080673",
+      "mask_path": "../../mask/hdr_front_04442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04443.png",
+      "transform_matrix": [
+        [
+          0.35306668281555176,
+          -0.13972999155521393,
+          -0.9251050353050232,
+          87.58552551269531
+        ],
+        [
+          0.9339649081230164,
+          -0.005761199165135622,
+          0.357318252325058,
+          18.95853042602539
+        ],
+        [
+          -0.05525779351592064,
+          -0.9901729226112366,
+          0.1284688264131546,
+          -29.552854537963867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4443,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_783081769",
+      "mask_path": "../../mask/hdr_front_04443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04444.png",
+      "transform_matrix": [
+        [
+          0.3492056727409363,
+          -0.1347467452287674,
+          -0.9273072481155396,
+          87.65621185302734
+        ],
+        [
+          0.9352076053619385,
+          -0.011843794956803322,
+          0.35390180349349976,
+          18.940309524536133
+        ],
+        [
+          -0.05866995081305504,
+          -0.9908092617988586,
+          0.12188025563955307,
+          -29.559213638305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4444,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_883081912",
+      "mask_path": "../../mask/hdr_front_04444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04445.png",
+      "transform_matrix": [
+        [
+          0.3477068245410919,
+          -0.1228281706571579,
+          -0.9295230507850647,
+          87.7122802734375
+        ],
+        [
+          0.9360353946685791,
+          -0.011835494078695774,
+          0.3517068326473236,
+          18.927658081054688
+        ],
+        [
+          -0.05420086905360222,
+          -0.9923573732376099,
+          0.11085622757673264,
+          -29.56479835510254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4445,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_983082771",
+      "mask_path": "../../mask/hdr_front_04445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04446.png",
+      "transform_matrix": [
+        [
+          0.34940797090530396,
+          -0.11469269543886185,
+          -0.9299245476722717,
+          87.77655029296875
+        ],
+        [
+          0.9357870817184448,
+          -0.007155156694352627,
+          0.3524932265281677,
+          18.907346725463867
+        ],
+        [
+          -0.04708214849233627,
+          -0.993375301361084,
+          0.1048278659582138,
+          -29.5752010345459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4446,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_83081722",
+      "mask_path": "../../mask/hdr_front_04446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04447.png",
+      "transform_matrix": [
+        [
+          0.35464513301849365,
+          -0.11299406737089157,
+          -0.9281482100486755,
+          87.84764862060547
+        ],
+        [
+          0.9339846968650818,
+          -0.0034598878119140863,
+          0.3572963774204254,
+          18.877052307128906
+        ],
+        [
+          -0.043583665043115616,
+          -0.9935896992683411,
+          0.10430768877267838,
+          -29.579483032226562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4447,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_183082818",
+      "mask_path": "../../mask/hdr_front_04447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04448.png",
+      "transform_matrix": [
+        [
+          0.3613182604312897,
+          -0.11442866176366806,
+          -0.925394594669342,
+          87.90082550048828
+        ],
+        [
+          0.9313198328018188,
+          -0.004399978555738926,
+          0.36417582631111145,
+          18.848575592041016
+        ],
+        [
+          -0.04574386030435562,
+          -0.9934217929840088,
+          0.10497988015413284,
+          -29.585023880004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4448,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_283082723",
+      "mask_path": "../../mask/hdr_front_04448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04449.png",
+      "transform_matrix": [
+        [
+          0.36909571290016174,
+          -0.11164725571870804,
+          -0.9226609468460083,
+          87.94365692138672
+        ],
+        [
+          0.9282894134521484,
+          -0.004043289925903082,
+          0.3718365430831909,
+          18.8216552734375
+        ],
+        [
+          -0.04524511098861694,
+          -0.993739664554596,
+          0.1021486222743988,
+          -29.589412689208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4449,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_383081912",
+      "mask_path": "../../mask/hdr_front_04449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04450.png",
+      "transform_matrix": [
+        [
+          0.3747369349002838,
+          -0.11427789181470871,
+          -0.9200613498687744,
+          88.0133285522461
+        ],
+        [
+          0.9259009957313538,
+          -0.004977957345545292,
+          0.37773364782333374,
+          18.79372787475586
+        ],
+        [
+          -0.04774663224816322,
+          -0.9934364557266235,
+          0.10394458472728729,
+          -29.600496292114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4450,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_483081340",
+      "mask_path": "../../mask/hdr_front_04450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04451.png",
+      "transform_matrix": [
+        [
+          0.37542328238487244,
+          -0.1250937581062317,
+          -0.9183729290962219,
+          88.09005737304688
+        ],
+        [
+          0.9250174760818481,
+          -0.011767148971557617,
+          0.3797423243522644,
+          18.76404571533203
+        ],
+        [
+          -0.05831001326441765,
+          -0.9920751452445984,
+          0.11129622906446457,
+          -29.619176864624023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4451,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_583081722",
+      "mask_path": "../../mask/hdr_front_04451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04452.png",
+      "transform_matrix": [
+        [
+          0.37483492493629456,
+          -0.12986920773983002,
+          -0.9179502725601196,
+          88.14897155761719
+        ],
+        [
+          0.9247658252716064,
+          -0.01771482080221176,
+          0.3801242411136627,
+          18.735721588134766
+        ],
+        [
+          -0.06562775373458862,
+          -0.9913729429244995,
+          0.11345846951007843,
+          -29.633283615112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4452,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_683081865",
+      "mask_path": "../../mask/hdr_front_04452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04453.png",
+      "transform_matrix": [
+        [
+          0.3723214566707611,
+          -0.12955160439014435,
+          -0.9190175533294678,
+          88.21027374267578
+        ],
+        [
+          0.925627589225769,
+          -0.020452702417969704,
+          0.37788259983062744,
+          18.706993103027344
+        ],
+        [
+          -0.0677516907453537,
+          -0.9913617372512817,
+          0.11230155825614929,
+          -29.64256477355957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4453,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_783081531",
+      "mask_path": "../../mask/hdr_front_04453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04454.png",
+      "transform_matrix": [
+        [
+          0.3648276925086975,
+          -0.1340251863002777,
+          -0.9213783144950867,
+          88.28973388671875
+        ],
+        [
+          0.9288007616996765,
+          -0.016736527904868126,
+          0.3702012300491333,
+          18.674816131591797
+        ],
+        [
+          -0.06503695994615555,
+          -0.9908365607261658,
+          0.11837676167488098,
+          -29.6567325592041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4454,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_883081436",
+      "mask_path": "../../mask/hdr_front_04454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04455.png",
+      "transform_matrix": [
+        [
+          0.35526102781295776,
+          -0.13838042318820953,
+          -0.9244677424430847,
+          88.35882568359375
+        ],
+        [
+          0.9328328371047974,
+          -0.011106479912996292,
+          0.3601381480693817,
+          18.64887046813965
+        ],
+        [
+          -0.0601036436855793,
+          -0.9903169274330139,
+          0.12514011561870575,
+          -29.66357421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4455,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_983082532",
+      "mask_path": "../../mask/hdr_front_04455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04456.png",
+      "transform_matrix": [
+        [
+          0.3477148711681366,
+          -0.13737760484218597,
+          -0.9274814128875732,
+          88.41085052490234
+        ],
+        [
+          0.9360962510108948,
+          -0.005143120884895325,
+          0.3517063856124878,
+          18.630287170410156
+        ],
+        [
+          -0.05308672413229942,
+          -0.9905053973197937,
+          0.12681032717227936,
+          -29.668346405029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4456,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_83083391",
+      "mask_path": "../../mask/hdr_front_04456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04457.png",
+      "transform_matrix": [
+        [
+          0.34138423204421997,
+          -0.13102510571479797,
+          -0.9307466745376587,
+          88.48219299316406
+        ],
+        [
+          0.9388870596885681,
+          0.001037835725583136,
+          0.34422385692596436,
+          18.614730834960938
+        ],
+        [
+          -0.04413600638508797,
+          -0.9913785457611084,
+          0.12337205559015274,
+          -29.682680130004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4457,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_183084011",
+      "mask_path": "../../mask/hdr_front_04457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04458.png",
+      "transform_matrix": [
+        [
+          0.33126649260520935,
+          -0.13133320212364197,
+          -0.9343523383140564,
+          88.57237243652344
+        ],
+        [
+          0.9426576495170593,
+          0.0033148862421512604,
+          0.3337450921535492,
+          18.58945083618164
+        ],
+        [
+          -0.04073454067111015,
+          -0.9913327693939209,
+          0.12490034103393555,
+          -29.68961524963379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4458,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_283081531",
+      "mask_path": "../../mask/hdr_front_04458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04459.png",
+      "transform_matrix": [
+        [
+          0.3161858320236206,
+          -0.13424044847488403,
+          -0.9391517639160156,
+          88.64462280273438
+        ],
+        [
+          0.9477779269218445,
+          0.0011266452493146062,
+          0.31892895698547363,
+          18.573522567749023
+        ],
+        [
+          -0.0417550727725029,
+          -0.9909482002258301,
+          0.12758636474609375,
+          -29.693788528442383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4459,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_383082866",
+      "mask_path": "../../mask/hdr_front_04459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04460.png",
+      "transform_matrix": [
+        [
+          0.30133000016212463,
+          -0.1302499771118164,
+          -0.9445821046829224,
+          88.70706939697266
+        ],
+        [
+          0.952703595161438,
+          0.00014336383901536465,
+          0.3039011061191559,
+          18.57483673095703
+        ],
+        [
+          -0.039447687566280365,
+          -0.9914812445640564,
+          0.12413281947374344,
+          -29.71242904663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4460,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_483081102",
+      "mask_path": "../../mask/hdr_front_04460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04461.png",
+      "transform_matrix": [
+        [
+          0.29110845923423767,
+          -0.12765532732009888,
+          -0.9481350183486938,
+          88.77518463134766
+        ],
+        [
+          0.9561713933944702,
+          0.006192765198647976,
+          0.2927420735359192,
+          18.56891441345215
+        ],
+        [
+          -0.031498510390520096,
+          -0.9917992353439331,
+          0.12386314570903778,
+          -29.728792190551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4461,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_583081722",
+      "mask_path": "../../mask/hdr_front_04461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04462.png",
+      "transform_matrix": [
+        [
+          0.28802689909935,
+          -0.13645465672016144,
+          -0.9478505849838257,
+          88.82881164550781
+        ],
+        [
+          0.9571563601493835,
+          0.010149689391255379,
+          0.2893935441970825,
+          18.563018798828125
+        ],
+        [
+          -0.0298687145113945,
+          -0.9905943274497986,
+          0.1335318386554718,
+          -29.746414184570312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4462,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_683081150",
+      "mask_path": "../../mask/hdr_front_04462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04463.png",
+      "transform_matrix": [
+        [
+          0.2893584370613098,
+          -0.149473175406456,
+          -0.9454784393310547,
+          88.89869689941406
+        ],
+        [
+          0.9567034244537354,
+          0.01268845796585083,
+          0.29078781604766846,
+          18.555294036865234
+        ],
+        [
+          -0.03146831691265106,
+          -0.988684356212616,
+          0.1466730237007141,
+          -29.775278091430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4463,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_783081054",
+      "mask_path": "../../mask/hdr_front_04463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04465.png",
+      "transform_matrix": [
+        [
+          0.29564496874809265,
+          -0.15675990283489227,
+          -0.9423483610153198,
+          89.0411148071289
+        ],
+        [
+          0.9545508623123169,
+          0.009472151286900043,
+          0.2978975772857666,
+          18.533756256103516
+        ],
+        [
+          -0.037772320210933685,
+          -0.9875914454460144,
+          0.15243567526340485,
+          -29.80440902709961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4465,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_983083009",
+      "mask_path": "../../mask/hdr_front_04465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04466.png",
+      "transform_matrix": [
+        [
+          0.2927841544151306,
+          -0.1640818566083908,
+          -0.9419950246810913,
+          89.16503143310547
+        ],
+        [
+          0.9549854397773743,
+          0.0009793645003810525,
+          0.2966511845588684,
+          18.516605377197266
+        ],
+        [
+          -0.04775252193212509,
+          -0.9864462614059448,
+          0.15698252618312836,
+          -29.83367156982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4466,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_83081960",
+      "mask_path": "../../mask/hdr_front_04466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04467.png",
+      "transform_matrix": [
+        [
+          0.28904396295547485,
+          -0.161392480134964,
+          -0.9436133503913879,
+          89.2279052734375
+        ],
+        [
+          0.9559497833251953,
+          -0.003978650085628033,
+          0.2935033142566681,
+          18.510953903198242
+        ],
+        [
+          -0.05112352594733238,
+          -0.9868823289871216,
+          0.1531330794095993,
+          -29.851911544799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4467,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_183081865",
+      "mask_path": "../../mask/hdr_front_04467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04468.png",
+      "transform_matrix": [
+        [
+          0.284717321395874,
+          -0.152008056640625,
+          -0.9464828372001648,
+          89.28803253173828
+        ],
+        [
+          0.9570342302322388,
+          -0.011543897911906242,
+          0.2897453010082245,
+          18.518470764160156
+        ],
+        [
+          -0.05496972054243088,
+          -0.9883118867874146,
+          0.14219017326831818,
+          -29.849822998046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4468,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_283082723",
+      "mask_path": "../../mask/hdr_front_04468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04469.png",
+      "transform_matrix": [
+        [
+          0.2860793471336365,
+          -0.15845683217048645,
+          -0.9450132250785828,
+          89.379638671875
+        ],
+        [
+          0.956916868686676,
+          -0.0038939507212489843,
+          0.29033586382865906,
+          18.50586700439453
+        ],
+        [
+          -0.0496855303645134,
+          -0.9873583316802979,
+          0.15051604807376862,
+          -29.872623443603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4469,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_383082151",
+      "mask_path": "../../mask/hdr_front_04469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04470.png",
+      "transform_matrix": [
+        [
+          0.29435765743255615,
+          -0.17478913068771362,
+          -0.9395756721496582,
+          89.45967864990234
+        ],
+        [
+          0.9542083740234375,
+          -0.0010697991820052266,
+          0.29914093017578125,
+          18.481847763061523
+        ],
+        [
+          -0.053291741758584976,
+          -0.9846054315567017,
+          0.16647033393383026,
+          -29.888139724731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4470,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_483081579",
+      "mask_path": "../../mask/hdr_front_04470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04471.png",
+      "transform_matrix": [
+        [
+          0.3030209243297577,
+          -0.18352437019348145,
+          -0.9351455569267273,
+          89.50638580322266
+        ],
+        [
+          0.9507438540458679,
+          -0.009023047983646393,
+          0.3098461627960205,
+          18.453514099121094
+        ],
+        [
+          -0.06530217826366425,
+          -0.9829737544059753,
+          0.1717504858970642,
+          -29.891252517700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4471,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_583081960",
+      "mask_path": "../../mask/hdr_front_04471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04472.png",
+      "transform_matrix": [
+        [
+          0.3122413456439972,
+          -0.18974336981773376,
+          -0.9308613538742065,
+          89.57162475585938
+        ],
+        [
+          0.9472697377204895,
+          -0.012088053859770298,
+          0.32020923495292664,
+          18.41311264038086
+        ],
+        [
+          -0.07200987637042999,
+          -0.9817593097686768,
+          0.17596375942230225,
+          -29.908939361572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4472,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_683082580",
+      "mask_path": "../../mask/hdr_front_04472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04473.png",
+      "transform_matrix": [
+        [
+          0.3203384578227997,
+          -0.18595607578754425,
+          -0.9288722276687622,
+          89.6612319946289
+        ],
+        [
+          0.9444547295570374,
+          -0.01328826043754816,
+          0.32837265729904175,
+          18.37689781188965
+        ],
+        [
+          -0.07340598106384277,
+          -0.98246830701828,
+          0.17137037217617035,
+          -29.93069839477539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4473,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_783082485",
+      "mask_path": "../../mask/hdr_front_04473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04474.png",
+      "transform_matrix": [
+        [
+          0.3220583498477936,
+          -0.18020541965961456,
+          -0.9294108152389526,
+          89.75435638427734
+        ],
+        [
+          0.9435356855392456,
+          -0.019352246075868607,
+          0.3307051956653595,
+          18.341014862060547
+        ],
+        [
+          -0.07758104801177979,
+          -0.9834386706352234,
+          0.16379769146442413,
+          -29.954723358154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4474,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_883081912",
+      "mask_path": "../../mask/hdr_front_04474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04475.png",
+      "transform_matrix": [
+        [
+          0.32239848375320435,
+          -0.17172817885875702,
+          -0.9308967590332031,
+          89.8284912109375
+        ],
+        [
+          0.9433572292327881,
+          -0.023093506693840027,
+          0.33097416162490845,
+          18.31000518798828
+        ],
+        [
+          -0.07833525538444519,
+          -0.9848736524581909,
+          0.15455567836761475,
+          -29.975631713867188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4475,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_983082294",
+      "mask_path": "../../mask/hdr_front_04475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04476.png",
+      "transform_matrix": [
+        [
+          0.32536575198173523,
+          -0.15617865324020386,
+          -0.9326013922691345,
+          89.9092025756836
+        ],
+        [
+          0.9425134062767029,
+          -0.02590702287852764,
+          0.33316245675086975,
+          18.2725887298584
+        ],
+        [
+          -0.07619379460811615,
+          -0.9873890280723572,
+          0.13877125084400177,
+          -29.997997283935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4476,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_83082437",
+      "mask_path": "../../mask/hdr_front_04476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04477.png",
+      "transform_matrix": [
+        [
+          0.3308008313179016,
+          -0.15074829757213593,
+          -0.9315823912620544,
+          90.01231384277344
+        ],
+        [
+          0.9410417675971985,
+          -0.021355630829930305,
+          0.33761560916900635,
+          18.22496223449707
+        ],
+        [
+          -0.07078950852155685,
+          -0.9883415102958679,
+          0.13479600846767426,
+          -30.001571655273438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4477,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_183082580",
+      "mask_path": "../../mask/hdr_front_04477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04478.png",
+      "transform_matrix": [
+        [
+          0.33876198530197144,
+          -0.15163005888462067,
+          -0.928573489189148,
+          90.09010314941406
+        ],
+        [
+          0.9386634826660156,
+          -0.013118371367454529,
+          0.3445851802825928,
+          18.190229415893555
+        ],
+        [
+          -0.0644308403134346,
+          -0.9883502721786499,
+          0.13788558542728424,
+          -30.000690460205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4478,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_283081531",
+      "mask_path": "../../mask/hdr_front_04478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04479.png",
+      "transform_matrix": [
+        [
+          0.34846290946006775,
+          -0.14495520293712616,
+          -0.9260461926460266,
+          90.14433288574219
+        ],
+        [
+          0.9356172680854797,
+          -0.0057771410793066025,
+          0.352968692779541,
+          18.170135498046875
+        ],
+        [
+          -0.05651455000042915,
+          -0.9894214272499084,
+          0.13360947370529175,
+          -29.998903274536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4479,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_383079528",
+      "mask_path": "../../mask/hdr_front_04479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04480.png",
+      "transform_matrix": [
+        [
+          0.3534505069255829,
+          -0.1514236479997635,
+          -0.9231162667274475,
+          90.23577117919922
+        ],
+        [
+          0.9332850575447083,
+          -0.010066300630569458,
+          0.3589952886104584,
+          18.14179801940918
+        ],
+        [
+          -0.06365273892879486,
+          -0.9884177446365356,
+          0.13776348531246185,
+          -30.020004272460938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4480,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_483082056",
+      "mask_path": "../../mask/hdr_front_04480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04481.png",
+      "transform_matrix": [
+        [
+          0.35559993982315063,
+          -0.16773420572280884,
+          -0.9194640517234802,
+          90.33170318603516
+        ],
+        [
+          0.9314146637916565,
+          -0.018038244917988777,
+          0.36351248621940613,
+          18.111186981201172
+        ],
+        [
+          -0.0775589868426323,
+          -0.9856672286987305,
+          0.14981569349765778,
+          -30.04534339904785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4481,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_583082437",
+      "mask_path": "../../mask/hdr_front_04481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04482.png",
+      "transform_matrix": [
+        [
+          0.3584873378276825,
+          -0.17977923154830933,
+          -0.916060209274292,
+          90.39314270019531
+        ],
+        [
+          0.9294273853302002,
+          -0.023213448002934456,
+          0.36827409267425537,
+          18.08609962463379
+        ],
+        [
+          -0.08747296035289764,
+          -0.9834330677986145,
+          0.15877002477645874,
+          -30.064842224121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4482,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_683082580",
+      "mask_path": "../../mask/hdr_front_04482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04483.png",
+      "transform_matrix": [
+        [
+          0.3610072135925293,
+          -0.18463505804538727,
+          -0.9141026735305786,
+          90.45028686523438
+        ],
+        [
+          0.92759770154953,
+          -0.029921967536211014,
+          0.37238064408302307,
+          18.065038681030273
+        ],
+        [
+          -0.09610626101493835,
+          -0.982351541519165,
+          0.16046500205993652,
+          -30.082229614257812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4483,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_783081293",
+      "mask_path": "../../mask/hdr_front_04483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04484.png",
+      "transform_matrix": [
+        [
+          0.3630523383617401,
+          -0.1956603080034256,
+          -0.9109940528869629,
+          90.54141235351562
+        ],
+        [
+          0.9263167977333069,
+          -0.02982051484286785,
+          0.3755635619163513,
+          18.021480560302734
+        ],
+        [
+          -0.10064918547868729,
+          -0.980218231678009,
+          0.17041702568531036,
+          -30.10648536682129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4484,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_883080720",
+      "mask_path": "../../mask/hdr_front_04484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04485.png",
+      "transform_matrix": [
+        [
+          0.3692828416824341,
+          -0.20714311301708221,
+          -0.9059370756149292,
+          90.63079071044922
+        ],
+        [
+          0.9237309098243713,
+          -0.024908021092414856,
+          0.38223129510879517,
+          17.979278564453125
+        ],
+        [
+          -0.10174167901277542,
+          -0.9779936075210571,
+          0.18214638531208038,
+          -30.13424301147461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4485,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_983081340",
+      "mask_path": "../../mask/hdr_front_04485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04486.png",
+      "transform_matrix": [
+        [
+          0.38066089153289795,
+          -0.20716047286987305,
+          -0.9012113213539124,
+          90.68453216552734
+        ],
+        [
+          0.9197827577590942,
+          -0.015698010101914406,
+          0.39211374521255493,
+          17.95602035522461
+        ],
+        [
+          -0.09537769109010696,
+          -0.978181004524231,
+          0.18456701934337616,
+          -30.145063400268555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4486,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_83081960",
+      "mask_path": "../../mask/hdr_front_04486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04487.png",
+      "transform_matrix": [
+        [
+          0.3923092782497406,
+          -0.20257312059402466,
+          -0.8972499966621399,
+          90.74446105957031
+        ],
+        [
+          0.9155522584915161,
+          -0.00800818856805563,
+          0.40211957693099976,
+          17.927562713623047
+        ],
+        [
+          -0.08864396065473557,
+          -0.9792343974113464,
+          0.18232455849647522,
+          -30.16219711303711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4487,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_183080911",
+      "mask_path": "../../mask/hdr_front_04487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04488.png",
+      "transform_matrix": [
+        [
+          0.39551568031311035,
+          -0.1988448202610016,
+          -0.8966761231422424,
+          90.8414306640625
+        ],
+        [
+          0.9148596525192261,
+          -0.0010572981555014849,
+          0.40377068519592285,
+          17.901954650878906
+        ],
+        [
+          -0.08123577386140823,
+          -0.9800304174423218,
+          0.18149691820144653,
+          -30.182214736938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4488,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_283082485",
+      "mask_path": "../../mask/hdr_front_04488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04489.png",
+      "transform_matrix": [
+        [
+          0.3909042179584503,
+          -0.19936788082122803,
+          -0.8985801339149475,
+          90.92212677001953
+        ],
+        [
+          0.9173187017440796,
+          0.004164906684309244,
+          0.3981319069862366,
+          17.884552001953125
+        ],
+        [
+          -0.07563221454620361,
+          -0.9799158573150635,
+          0.18451198935508728,
+          -30.197654724121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4489,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_383080244",
+      "mask_path": "../../mask/hdr_front_04489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04490.png",
+      "transform_matrix": [
+        [
+          0.38188526034355164,
+          -0.19948692619800568,
+          -0.9024237394332886,
+          90.9814224243164
+        ],
+        [
+          0.9213476181030273,
+          0.00538755813613534,
+          0.3887024223804474,
+          17.87581443786621
+        ],
+        [
+          -0.07267918437719345,
+          -0.9798856973648071,
+          0.1858542412519455,
+          -30.212617874145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4490,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_483081340",
+      "mask_path": "../../mask/hdr_front_04490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04491.png",
+      "transform_matrix": [
+        [
+          0.3683300316333771,
+          -0.20021690428256989,
+          -0.9078800678253174,
+          91.05997467041016
+        ],
+        [
+          0.9271295666694641,
+          0.00660715950652957,
+          0.37468254566192627,
+          17.86006736755371
+        ],
+        [
+          -0.06901928782463074,
+          -0.9797293543815613,
+          0.18806065618991852,
+          -30.235065460205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4491,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_583082437",
+      "mask_path": "../../mask/hdr_front_04491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04492.png",
+      "transform_matrix": [
+        [
+          0.3681448996067047,
+          -0.21474236249923706,
+          -0.9046297669410706,
+          91.11722564697266
+        ],
+        [
+          0.929014265537262,
+          0.045778948813676834,
+          0.3672012984752655,
+          17.852720260620117
+        ],
+        [
+          -0.037440668791532516,
+          -0.9755973219871521,
+          0.21635200083255768,
+          -30.24652671813965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4492,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_683082342",
+      "mask_path": "../../mask/hdr_front_04492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04494.png",
+      "transform_matrix": [
+        [
+          0.362217515707016,
+          -0.22459609806537628,
+          -0.9046298265457153,
+          91.18614959716797
+        ],
+        [
+          0.9315190315246582,
+          0.05315157398581505,
+          0.35978788137435913,
+          17.837135314941406
+        ],
+        [
+          -0.03272445127367973,
+          -0.9730013012886047,
+          0.22846795618534088,
+          -30.23626136779785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4494,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_883081912",
+      "mask_path": "../../mask/hdr_front_04494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04495.png",
+      "transform_matrix": [
+        [
+          0.35209718346595764,
+          -0.21801254153251648,
+          -0.9102187156677246,
+          91.2646484375
+        ],
+        [
+          0.9354070425033569,
+          0.04843629524111748,
+          0.3502393662929535,
+          17.811382293701172
+        ],
+        [
+          -0.032268937677145004,
+          -0.9747433066368103,
+          0.22098472714424133,
+          -30.25931739807129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4495,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_983082532",
+      "mask_path": "../../mask/hdr_front_04495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04496.png",
+      "transform_matrix": [
+        [
+          0.3419133722782135,
+          -0.20841248333454132,
+          -0.9163293242454529,
+          91.3348617553711
+        ],
+        [
+          0.939166784286499,
+          0.04198499023914337,
+          0.34088563919067383,
+          17.79424285888672
+        ],
+        [
+          -0.032572731375694275,
+          -0.9771394729614258,
+          0.210089311003685,
+          -30.282339096069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4496,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_83081960",
+      "mask_path": "../../mask/hdr_front_04496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04498.png",
+      "transform_matrix": [
+        [
+          0.3238711655139923,
+          -0.1904691904783249,
+          -0.9267303347587585,
+          91.43321990966797
+        ],
+        [
+          0.9460591673851013,
+          0.055966977030038834,
+          0.31912338733673096,
+          17.77962303161621
+        ],
+        [
+          -0.008916878141462803,
+          -0.9800965189933777,
+          0.19832120835781097,
+          -30.304946899414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4498,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_283082962",
+      "mask_path": "../../mask/hdr_front_04498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04499.png",
+      "transform_matrix": [
+        [
+          0.3092065453529358,
+          -0.18533898890018463,
+          -0.9327597618103027,
+          91.4900894165039
+        ],
+        [
+          0.9509601593017578,
+          0.06864756345748901,
+          0.3015996813774109,
+          17.775146484375
+        ],
+        [
+          0.008133511058986187,
+          -0.980273962020874,
+          0.19747625291347504,
+          -30.31627082824707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4499,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_383081912",
+      "mask_path": "../../mask/hdr_front_04499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04500.png",
+      "transform_matrix": [
+        [
+          0.29243096709251404,
+          -0.177252396941185,
+          -0.9397158026695251,
+          91.56035614013672
+        ],
+        [
+          0.9562519192695618,
+          0.06256668269634247,
+          0.285775363445282,
+          17.747819900512695
+        ],
+        [
+          0.008140532299876213,
+          -0.9821746349334717,
+          0.18779438734054565,
+          -30.33348846435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4500,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_483083248",
+      "mask_path": "../../mask/hdr_front_04500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04501.png",
+      "transform_matrix": [
+        [
+          0.2809757888317108,
+          -0.17040285468101501,
+          -0.9444657564163208,
+          91.62535858154297
+        ],
+        [
+          0.9597015976905823,
+          0.05505090951919556,
+          0.27557599544525146,
+          17.724384307861328
+        ],
+        [
+          0.005034762434661388,
+          -0.9838355183601379,
+          0.17900387942790985,
+          -30.341604232788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4501,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_583081960",
+      "mask_path": "../../mask/hdr_front_04501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04503.png",
+      "transform_matrix": [
+        [
+          0.2863340377807617,
+          -0.16184072196483612,
+          -0.944362461566925,
+          91.74720001220703
+        ],
+        [
+          0.9580799341201782,
+          0.058421503752470016,
+          0.280481219291687,
+          17.6920223236084
+        ],
+        [
+          0.00977779645472765,
+          -0.9850860834121704,
+          0.1717844009399414,
+          -30.37425994873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4503,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_783080577",
+      "mask_path": "../../mask/hdr_front_04503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04504.png",
+      "transform_matrix": [
+        [
+          0.28410404920578003,
+          -0.17089077830314636,
+          -0.9434411525726318,
+          91.81604766845703
+        ],
+        [
+          0.9587844014167786,
+          0.05490700155496597,
+          0.2787788212299347,
+          17.67941665649414
+        ],
+        [
+          0.004160796757787466,
+          -0.9837589859962463,
+          0.17944671213626862,
+          -30.398256301879883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4504,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_883081436",
+      "mask_path": "../../mask/hdr_front_04504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04505.png",
+      "transform_matrix": [
+        [
+          0.28099608421325684,
+          -0.17506833374500275,
+          -0.9436060190200806,
+          91.8694076538086
+        ],
+        [
+          0.9597070217132568,
+          0.05320892482995987,
+          0.27591896057128906,
+          17.66480255126953
+        ],
+        [
+          0.0019035955192521214,
+          -0.9831175208091736,
+          0.18296581506729126,
+          -30.42301368713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4505,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_983080863",
+      "mask_path": "../../mask/hdr_front_04505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04506.png",
+      "transform_matrix": [
+        [
+          0.280011385679245,
+          -0.1739790439605713,
+          -0.9441000819206238,
+          91.92131042480469
+        ],
+        [
+          0.9599890112876892,
+          0.054681356996297836,
+          0.27464723587036133,
+          17.650341033935547
+        ],
+        [
+          0.0038418066687881947,
+          -0.9832299947738647,
+          0.18232938647270203,
+          -30.443405151367188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4506,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_83082914",
+      "mask_path": "../../mask/hdr_front_04506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04507.png",
+      "transform_matrix": [
+        [
+          0.2798880934715271,
+          -0.1724541336297989,
+          -0.9444164037704468,
+          91.98979187011719
+        ],
+        [
+          0.960011899471283,
+          0.05673937872052193,
+          0.27414920926094055,
+          17.630666732788086
+        ],
+        [
+          0.006307436618953943,
+          -0.9833820462226868,
+          0.18143869936466217,
+          -30.449607849121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4507,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_183081150",
+      "mask_path": "../../mask/hdr_front_04507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04508.png",
+      "transform_matrix": [
+        [
+          0.284873366355896,
+          -0.16820931434631348,
+          -0.943691074848175,
+          92.0613784790039
+        ],
+        [
+          0.9585336446762085,
+          0.05796734243631363,
+          0.2790214717388153,
+          17.60954475402832
+        ],
+        [
+          0.007769253570586443,
+          -0.9840454459190369,
+          0.1777476817369461,
+          -30.4479923248291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4508,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_283082485",
+      "mask_path": "../../mask/hdr_front_04508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04510.png",
+      "transform_matrix": [
+        [
+          0.3071513772010803,
+          -0.15399698913097382,
+          -0.9391182065010071,
+          92.16361236572266
+        ],
+        [
+          0.9516474604606628,
+          0.054902639240026474,
+          0.3022463023662567,
+          17.573410034179688
+        ],
+        [
+          0.0050150491297245026,
+          -0.9865448474884033,
+          0.16341426968574524,
+          -30.450868606567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4510,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_483082056",
+      "mask_path": "../../mask/hdr_front_04510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04511.png",
+      "transform_matrix": [
+        [
+          0.3128066658973694,
+          -0.15458247065544128,
+          -0.9371533393859863,
+          92.22855377197266
+        ],
+        [
+          0.9498022198677063,
+          0.04544338583946228,
+          0.30953291058540344,
+          17.552553176879883
+        ],
+        [
+          -0.005260936450213194,
+          -0.9869343042373657,
+          0.16103778779506683,
+          -30.455678939819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4511,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_583080768",
+      "mask_path": "../../mask/hdr_front_04511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04512.png",
+      "transform_matrix": [
+        [
+          0.3146684467792511,
+          -0.1574590653181076,
+          -0.9360504746437073,
+          92.29148864746094
+        ],
+        [
+          0.9491052627563477,
+          0.03815146163105965,
+          0.31263941526412964,
+          17.530363082885742
+        ],
+        [
+          -0.013516207225620747,
+          -0.9867883324623108,
+          0.1614503115415573,
+          -30.46833038330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4512,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_683082580",
+      "mask_path": "../../mask/hdr_front_04512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04513.png",
+      "transform_matrix": [
+        [
+          0.3131529688835144,
+          -0.1554613560438156,
+          -0.9368922114372253,
+          92.34814453125
+        ],
+        [
+          0.9495563507080078,
+          0.033937640488147736,
+          0.31175461411476135,
+          17.521915435791016
+        ],
+        [
+          -0.01666988618671894,
+          -0.9872589111328125,
+          0.15824700891971588,
+          -30.486026763916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4513,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_783081769",
+      "mask_path": "../../mask/hdr_front_04513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04514.png",
+      "transform_matrix": [
+        [
+          0.31177768111228943,
+          -0.15905225276947021,
+          -0.9367481470108032,
+          92.42802429199219
+        ],
+        [
+          0.9498850703239441,
+          0.02867189608514309,
+          0.31128180027008057,
+          17.508272171020508
+        ],
+        [
+          -0.02265172079205513,
+          -0.9868537783622742,
+          0.1600206047296524,
+          -30.511709213256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4514,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_883082866",
+      "mask_path": "../../mask/hdr_front_04514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04515.png",
+      "transform_matrix": [
+        [
+          0.3135105073451996,
+          -0.16261962056159973,
+          -0.9355565905570984,
+          92.52518463134766
+        ],
+        [
+          0.9492355585098267,
+          0.026957008987665176,
+          0.313408762216568,
+          17.474828720092773
+        ],
+        [
+          -0.025746604427695274,
+          -0.9863206744194031,
+          0.1628156304359436,
+          -30.53611946105957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4515,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_983082532",
+      "mask_path": "../../mask/hdr_front_04515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04516.png",
+      "transform_matrix": [
+        [
+          0.3165418207645416,
+          -0.15871857106685638,
+          -0.9352057576179504,
+          92.59564971923828
+        ],
+        [
+          0.9482755661010742,
+          0.028034880757331848,
+          0.3162077069282532,
+          17.449132919311523
+        ],
+        [
+          -0.02396964654326439,
+          -0.9869257807731628,
+          0.15938317775726318,
+          -30.54640007019043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4516,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_83082437",
+      "mask_path": "../../mask/hdr_front_04516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04517.png",
+      "transform_matrix": [
+        [
+          0.3221670091152191,
+          -0.14692842960357666,
+          -0.9352114796638489,
+          92.67373657226562
+        ],
+        [
+          0.9464264512062073,
+          0.026998193934559822,
+          0.32178881764411926,
+          17.429540634155273
+        ],
+        [
+          -0.022030893713235855,
+          -0.9887786507606506,
+          0.14775486290454865,
+          -30.549158096313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4517,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_183081626",
+      "mask_path": "../../mask/hdr_front_04517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04518.png",
+      "transform_matrix": [
+        [
+          0.3252752125263214,
+          -0.14118380844593048,
+          -0.9350204467773438,
+          92.77496337890625
+        ],
+        [
+          0.9452705383300781,
+          0.021691452711820602,
+          0.3255656957626343,
+          17.408296585083008
+        ],
+        [
+          -0.025682657957077026,
+          -0.9897457957267761,
+          0.1405125856399536,
+          -30.562122344970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4518,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_283082723",
+      "mask_path": "../../mask/hdr_front_04518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04519.png",
+      "transform_matrix": [
+        [
+          0.32446524500846863,
+          -0.1379120945930481,
+          -0.9357898831367493,
+          92.85598754882812
+        ],
+        [
+          0.9454353451728821,
+          0.016358602792024612,
+          0.3253988027572632,
+          17.389049530029297
+        ],
+        [
+          -0.02956821583211422,
+          -0.9903093576431274,
+          0.13569478690624237,
+          -30.578372955322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4519,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_383082151",
+      "mask_path": "../../mask/hdr_front_04519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04520.png",
+      "transform_matrix": [
+        [
+          0.3239046335220337,
+          -0.1316661834716797,
+          -0.9368830323219299,
+          92.9343032836914
+        ],
+        [
+          0.9456561803817749,
+          0.015083294361829758,
+          0.3248180150985718,
+          17.36899757385254
+        ],
+        [
+          -0.02863626554608345,
+          -0.991179347038269,
+          0.12939651310443878,
+          -30.592355728149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4520,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_483082532",
+      "mask_path": "../../mask/hdr_front_04520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04521.png",
+      "transform_matrix": [
+        [
+          0.3259325623512268,
+          -0.1224934309720993,
+          -0.9374237656593323,
+          93.00238037109375
+        ],
+        [
+          0.9449674487113953,
+          0.012468390166759491,
+          0.3269262909889221,
+          17.34786605834961
+        ],
+        [
+          -0.028358150273561478,
+          -0.9923909902572632,
+          0.11981618404388428,
+          -30.604354858398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4521,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_583082437",
+      "mask_path": "../../mask/hdr_front_04521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04522.png",
+      "transform_matrix": [
+        [
+          0.32927244901657104,
+          -0.1163666844367981,
+          -0.9370370507240295,
+          93.08517456054688
+        ],
+        [
+          0.9436832666397095,
+          0.006638810969889164,
+          0.33078354597091675,
+          17.315258026123047
+        ],
+        [
+          -0.0322713665664196,
+          -0.9931842088699341,
+          0.1119992807507515,
+          -30.59646987915039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4522,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_683082103",
+      "mask_path": "../../mask/hdr_front_04522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04523.png",
+      "transform_matrix": [
+        [
+          0.3325710594654083,
+          -0.11443199962377548,
+          -0.9361099004745483,
+          93.1636734008789
+        ],
+        [
+          0.9424222111701965,
+          0.0033083755988627672,
+          0.3344091773033142,
+          17.282222747802734
+        ],
+        [
+          -0.03517010435461998,
+          -0.9934256076812744,
+          0.10894352197647095,
+          -30.5926570892334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4523,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_783081769",
+      "mask_path": "../../mask/hdr_front_04523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04525.png",
+      "transform_matrix": [
+        [
+          0.3417321443557739,
+          -0.10960838198661804,
+          -0.9333837628364563,
+          93.28569793701172
+        ],
+        [
+          0.938898503780365,
+          -0.003609591396525502,
+          0.3441751301288605,
+          17.231542587280273
+        ],
+        [
+          -0.0410936139523983,
+          -0.9939684271812439,
+          0.10167764127254486,
+          -30.60365104675293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4525,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_983080625",
+      "mask_path": "../../mask/hdr_front_04525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04526.png",
+      "transform_matrix": [
+        [
+          0.3387727439403534,
+          -0.11772415041923523,
+          -0.9334742426872253,
+          93.36074829101562
+        ],
+        [
+          0.9391129016876221,
+          -0.018266020342707634,
+          0.3431227505207062,
+          17.199222564697266
+        ],
+        [
+          -0.05744469165802002,
+          -0.9928783774375916,
+          0.10436823219060898,
+          -30.607675552368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4526,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_83080768",
+      "mask_path": "../../mask/hdr_front_04526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04528.png",
+      "transform_matrix": [
+        [
+          0.33677661418914795,
+          -0.09754025936126709,
+          -0.9365187883377075,
+          93.45475769042969
+        ],
+        [
+          0.9398409724235535,
+          -0.025678692385554314,
+          0.34064579010009766,
+          17.184938430786133
+        ],
+        [
+          -0.05727525055408478,
+          -0.9949002861976624,
+          0.08302434533834457,
+          -30.61277198791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4528,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_283081531",
+      "mask_path": "../../mask/hdr_front_04528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04529.png",
+      "transform_matrix": [
+        [
+          0.33481353521347046,
+          -0.09497156739234924,
+          -0.9374861121177673,
+          93.52484130859375
+        ],
+        [
+          0.9407194256782532,
+          -0.023625990375876427,
+          0.3383617401123047,
+          17.163715362548828
+        ],
+        [
+          -0.05428377911448479,
+          -0.9951996207237244,
+          0.0814312994480133,
+          -30.619443893432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4529,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_383081912",
+      "mask_path": "../../mask/hdr_front_04529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04530.png",
+      "transform_matrix": [
+        [
+          0.331891268491745,
+          -0.10380067676305771,
+          -0.9375892877578735,
+          93.59101867675781
+        ],
+        [
+          0.9418525099754333,
+          -0.01891147345304489,
+          0.33549410104751587,
+          17.142330169677734
+        ],
+        [
+          -0.05255571007728577,
+          -0.9944183826446533,
+          0.09148836880922318,
+          -30.64435577392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4530,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_483082056",
+      "mask_path": "../../mask/hdr_front_04530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04533.png",
+      "transform_matrix": [
+        [
+          0.30920422077178955,
+          -0.11420390009880066,
+          -0.9441134929656982,
+          93.76065826416016
+        ],
+        [
+          0.9501485824584961,
+          -0.004792632069438696,
+          0.3117605447769165,
+          17.102609634399414
+        ],
+        [
+          -0.04012905806303024,
+          -0.9934458136558533,
+          0.1070287674665451,
+          -30.683700561523438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4533,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_783082246",
+      "mask_path": "../../mask/hdr_front_04533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04534.png",
+      "transform_matrix": [
+        [
+          0.293673574924469,
+          -0.12334589660167694,
+          -0.9479143619537354,
+          93.83704376220703
+        ],
+        [
+          0.9549869298934937,
+          -0.005612884648144245,
+          0.2965950667858124,
+          17.089475631713867
+        ],
+        [
+          -0.04190431907773018,
+          -0.9923478960990906,
+          0.11614536494016647,
+          -30.705425262451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4534,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_883081436",
+      "mask_path": "../../mask/hdr_front_04534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04535.png",
+      "transform_matrix": [
+        [
+          0.2788953483104706,
+          -0.12544412910938263,
+          -0.9520931243896484,
+          93.89529418945312
+        ],
+        [
+          0.9593695402145386,
+          -0.0077387490309774876,
+          0.28204646706581116,
+          17.083425521850586
+        ],
+        [
+          -0.0427490770816803,
+          -0.9920705556869507,
+          0.11818896979093552,
+          -30.717159271240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4535,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_983079910",
+      "mask_path": "../../mask/hdr_front_04535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04536.png",
+      "transform_matrix": [
+        [
+          0.26666826009750366,
+          -0.1241421028971672,
+          -0.9557598233222961,
+          93.96551513671875
+        ],
+        [
+          0.9628384709358215,
+          -0.009703315794467926,
+          0.26990365982055664,
+          17.078094482421875
+        ],
+        [
+          -0.04278044030070305,
+          -0.9922170042991638,
+          0.11694122105836868,
+          -30.715932846069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4536,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_83082675",
+      "mask_path": "../../mask/hdr_front_04536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04537.png",
+      "transform_matrix": [
+        [
+          0.2660183012485504,
+          -0.12765996158123016,
+          -0.9554775357246399,
+          94.04214477539062
+        ],
+        [
+          0.9632470011711121,
+          -0.0031262431293725967,
+          0.26859915256500244,
+          17.058605194091797
+        ],
+        [
+          -0.037276409566402435,
+          -0.991813063621521,
+          0.1221364364027977,
+          -30.73052215576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4537,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_183081865",
+      "mask_path": "../../mask/hdr_front_04537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04538.png",
+      "transform_matrix": [
+        [
+          0.27741679549217224,
+          -0.13654223084449768,
+          -0.9509974718093872,
+          94.10613250732422
+        ],
+        [
+          0.9600099921226501,
+          0.0005615106201730669,
+          0.27996525168418884,
+          17.038658142089844
+        ],
+        [
+          -0.0376930795609951,
+          -0.9906341433525085,
+          0.1312376707792282,
+          -30.739809036254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4538,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_283081054",
+      "mask_path": "../../mask/hdr_front_04538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04539.png",
+      "transform_matrix": [
+        [
+          0.29030662775039673,
+          -0.14200669527053833,
+          -0.9463382959365845,
+          94.15962982177734
+        ],
+        [
+          0.9561219811439514,
+          0.0023215957917273045,
+          0.2929595708847046,
+          17.017698287963867
+        ],
+        [
+          -0.0394052118062973,
+          -0.9898629784584045,
+          0.13644970953464508,
+          -30.744443893432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4539,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_383082389",
+      "mask_path": "../../mask/hdr_front_04539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04540.png",
+      "transform_matrix": [
+        [
+          0.30388787388801575,
+          -0.14101587235927582,
+          -0.942213773727417,
+          94.21772003173828
+        ],
+        [
+          0.9520779848098755,
+          0.008995447307825089,
+          0.30572304129600525,
+          16.993188858032227
+        ],
+        [
+          -0.03463616222143173,
+          -0.9899665117263794,
+          0.1369917094707489,
+          -30.751497268676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4540,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_483082056",
+      "mask_path": "../../mask/hdr_front_04540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04541.png",
+      "transform_matrix": [
+        [
+          0.315106064081192,
+          -0.1443856954574585,
+          -0.9380090236663818,
+          94.28741455078125
+        ],
+        [
+          0.9482385516166687,
+          0.006873754318803549,
+          0.31748440861701965,
+          16.970090866088867
+        ],
+        [
+          -0.03939256817102432,
+          -0.9894976019859314,
+          0.1390780508518219,
+          -30.751880645751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4541,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_583081722",
+      "mask_path": "../../mask/hdr_front_04541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04542.png",
+      "transform_matrix": [
+        [
+          0.3168206512928009,
+          -0.16031885147094727,
+          -0.9348383545875549,
+          94.38728332519531
+        ],
+        [
+          0.9472347497940063,
+          0.0028805078472942114,
+          0.3205278813838959,
+          16.94100570678711
+        ],
+        [
+          -0.04869385063648224,
+          -0.987061083316803,
+          0.1527722030878067,
+          -30.77810287475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4542,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_683081626",
+      "mask_path": "../../mask/hdr_front_04542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04543.png",
+      "transform_matrix": [
+        [
+          0.3145398497581482,
+          -0.1772121638059616,
+          -0.9325558543205261,
+          94.46755981445312
+        ],
+        [
+          0.9476495981216431,
+          0.001701669069007039,
+          0.31930747628211975,
+          16.919078826904297
+        ],
+        [
+          -0.05499826744198799,
+          -0.9841712117195129,
+          0.16847029328346252,
+          -30.83040428161621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4543,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_783080101",
+      "mask_path": "../../mask/hdr_front_04543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04544.png",
+      "transform_matrix": [
+        [
+          0.3153234124183655,
+          -0.1841508150100708,
+          -0.930945634841919,
+          94.5155029296875
+        ],
+        [
+          0.947234034538269,
+          0.0015242769150063396,
+          0.32053905725479126,
+          16.90907096862793
+        ],
+        [
+          -0.05760850012302399,
+          -0.9828968644142151,
+          0.17491458356380463,
+          -30.87110137939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4544,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_883080959",
+      "mask_path": "../../mask/hdr_front_04544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04545.png",
+      "transform_matrix": [
+        [
+          0.31726109981536865,
+          -0.18444962799549103,
+          -0.9302278757095337,
+          94.58222198486328
+        ],
+        [
+          0.94626384973526,
+          -0.0032702565658837557,
+          0.3233788013458252,
+          16.894527435302734
+        ],
+        [
+          -0.06268918514251709,
+          -0.9828365445137024,
+          0.17350049316883087,
+          -30.88125228881836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4545,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_983080625",
+      "mask_path": "../../mask/hdr_front_04545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04546.png",
+      "transform_matrix": [
+        [
+          0.3195992410182953,
+          -0.1905698925256729,
+          -0.9281915426254272,
+          94.67977142333984
+        ],
+        [
+          0.9452691674232483,
+          -0.003845417406409979,
+          0.3262689709663391,
+          16.84940528869629
+        ],
+        [
+          -0.06574632227420807,
+          -0.9816661477088928,
+          0.17891085147857666,
+          -30.90517234802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4546,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_83079814",
+      "mask_path": "../../mask/hdr_front_04546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04547.png",
+      "transform_matrix": [
+        [
+          0.32689741253852844,
+          -0.1979321986436844,
+          -0.9241001009941101,
+          94.7615737915039
+        ],
+        [
+          0.942661464214325,
+          -0.0013277081307023764,
+          0.33374783396720886,
+          16.807056427001953
+        ],
+        [
+          -0.06728637218475342,
+          -0.9802148342132568,
+          0.18614904582500458,
+          -30.92465591430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4547,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_183081865",
+      "mask_path": "../../mask/hdr_front_04547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04548.png",
+      "transform_matrix": [
+        [
+          0.33674609661102295,
+          -0.19806398451328278,
+          -0.9205285906791687,
+          94.81503295898438
+        ],
+        [
+          0.9390628933906555,
+          -0.0010108001297339797,
+          0.34374383091926575,
+          16.784833908081055
+        ],
+        [
+          -0.06901373714208603,
+          -0.9801886081695557,
+          0.1856541633605957,
+          -30.932144165039062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4548,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_283081293",
+      "mask_path": "../../mask/hdr_front_04548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04549.png",
+      "transform_matrix": [
+        [
+          0.34688451886177063,
+          -0.19337551295757294,
+          -0.9177565574645996,
+          94.87448120117188
+        ],
+        [
+          0.9351896047592163,
+          -0.0031310117337852716,
+          0.3541334569454193,
+          16.749040603637695
+        ],
+        [
+          -0.07135424017906189,
+          -0.9811198115348816,
+          0.17975668609142303,
+          -30.938962936401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4549,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_383080720",
+      "mask_path": "../../mask/hdr_front_04549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04550.png",
+      "transform_matrix": [
+        [
+          0.3535057604312897,
+          -0.1821008026599884,
+          -0.9175363779067993,
+          94.98127746582031
+        ],
+        [
+          0.9329624772071838,
+          -0.0025952032301574945,
+          0.35996419191360474,
+          16.71031379699707
+        ],
+        [
+          -0.06793095916509628,
+          -0.9832764267921448,
+          0.16897578537464142,
+          -30.937206268310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4550,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_483080387",
+      "mask_path": "../../mask/hdr_front_04550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04551.png",
+      "transform_matrix": [
+        [
+          0.35301634669303894,
+          -0.1699313074350357,
+          -0.9200559258460999,
+          95.0787124633789
+        ],
+        [
+          0.9334973096847534,
+          -0.002188380341976881,
+          0.3585778474807739,
+          16.687747955322266
+        ],
+        [
+          -0.06294704228639603,
+          -0.9854535460472107,
+          0.15785790979862213,
+          -30.941162109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4551,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_583080530",
+      "mask_path": "../../mask/hdr_front_04551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04552.png",
+      "transform_matrix": [
+        [
+          0.3503071069717407,
+          -0.1593620479106903,
+          -0.9229781627655029,
+          95.15587615966797
+        ],
+        [
+          0.9346465468406677,
+          -0.0046997289173305035,
+          0.3555472195148468,
+          16.670427322387695
+        ],
+        [
+          -0.060998473316431046,
+          -0.9872090220451355,
+          0.1473008245229721,
+          -30.949342727661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4552,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_683081150",
+      "mask_path": "../../mask/hdr_front_04552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04553.png",
+      "transform_matrix": [
+        [
+          0.3504125475883484,
+          -0.15298546850681305,
+          -0.924016535282135,
+          95.22786712646484
+        ],
+        [
+          0.9347350597381592,
+          -0.00502882432192564,
+          0.35530993342399597,
+          16.65033721923828
+        ],
+        [
+          -0.05900397524237633,
+          -0.9882156252861023,
+          0.14123870432376862,
+          -30.957674026489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4553,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_783079624",
+      "mask_path": "../../mask/hdr_front_04553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05759.png",
+      "transform_matrix": [
+        [
+          -0.23382556438446045,
+          -0.10868797451257706,
+          0.9661845564842224,
+          94.64286804199219
+        ],
+        [
+          -0.9721153974533081,
+          0.007928701117634773,
+          -0.23436899483203888,
+          16.711654663085938
+        ],
+        [
+          0.01781250163912773,
+          -0.994044303894043,
+          -0.10751118510961533,
+          -30.89697265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5759,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_383081436",
+      "mask_path": "../../mask/hdr_front_05759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05760.png",
+      "transform_matrix": [
+        [
+          -0.23591911792755127,
+          -0.10326259583234787,
+          0.9662707448005676,
+          94.58275604248047
+        ],
+        [
+          -0.9716930985450745,
+          0.0123485391959548,
+          -0.2359233796596527,
+          16.72288703918457
+        ],
+        [
+          0.01243002898991108,
+          -0.9945775270462036,
+          -0.10325281322002411,
+          -30.89607048034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5760,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_483083009",
+      "mask_path": "../../mask/hdr_front_05760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05761.png",
+      "transform_matrix": [
+        [
+          -0.2400309443473816,
+          -0.10319499671459198,
+          0.9652646780014038,
+          94.50487518310547
+        ],
+        [
+          -0.9707575440406799,
+          0.021554576233029366,
+          -0.23909249901771545,
+          16.754560470581055
+        ],
+        [
+          0.0038672760128974915,
+          -0.9944276213645935,
+          -0.10535108298063278,
+          -30.90958595275879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5761,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_583082437",
+      "mask_path": "../../mask/hdr_front_05761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05762.png",
+      "transform_matrix": [
+        [
+          -0.25778526067733765,
+          -0.12657712399959564,
+          0.9578752517700195,
+          94.40802001953125
+        ],
+        [
+          -0.9661874771118164,
+          0.039242979139089584,
+          -0.2548365890979767,
+          16.78972053527832
+        ],
+        [
+          -0.00533340172842145,
+          -0.9911802411079407,
+          -0.13241349160671234,
+          -30.824270248413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5762,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_683081865",
+      "mask_path": "../../mask/hdr_front_05762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05763.png",
+      "transform_matrix": [
+        [
+          -0.2766002118587494,
+          -0.14387147128582,
+          0.9501543641090393,
+          94.33291625976562
+        ],
+        [
+          -0.9609842300415039,
+          0.04268583282828331,
+          -0.2732894718647003,
+          16.812654495239258
+        ],
+        [
+          -0.0012395791709423065,
+          -0.9886753559112549,
+          -0.1500651091337204,
+          -30.75791358947754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5763,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_783081293",
+      "mask_path": "../../mask/hdr_front_05763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05764.png",
+      "transform_matrix": [
+        [
+          -0.2881782054901123,
+          -0.14228761196136475,
+          0.946946382522583,
+          94.27796173095703
+        ],
+        [
+          -0.9575170278549194,
+          0.03177047520875931,
+          -0.2866213023662567,
+          16.829647064208984
+        ],
+        [
+          0.010697719641029835,
+          -0.9893154501914978,
+          -0.14539837837219238,
+          -30.77862548828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5764,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_883081674",
+      "mask_path": "../../mask/hdr_front_05764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05765.png",
+      "transform_matrix": [
+        [
+          -0.2933056652545929,
+          -0.1401875913143158,
+          0.945684552192688,
+          94.1717300415039
+        ],
+        [
+          -0.9557962417602539,
+          0.021660534664988518,
+          -0.29323092103004456,
+          16.841054916381836
+        ],
+        [
+          0.02062329836189747,
+          -0.9898880124092102,
+          -0.14034393429756165,
+          -30.77142906188965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5765,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_983081102",
+      "mask_path": "../../mask/hdr_front_05765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05766.png",
+      "transform_matrix": [
+        [
+          -0.29267463088035583,
+          -0.13553842902183533,
+          0.9465574026107788,
+          94.08493041992188
+        ],
+        [
+          -0.9561018347740173,
+          0.026445908471941948,
+          -0.2918388843536377,
+          16.849498748779297
+        ],
+        [
+          0.014522812329232693,
+          -0.9904191493988037,
+          -0.13732858002185822,
+          -30.76024055480957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5766,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_83079814",
+      "mask_path": "../../mask/hdr_front_05766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05768.png",
+      "transform_matrix": [
+        [
+          -0.29697945713996887,
+          -0.12147314101457596,
+          0.9471259117126465,
+          94.00169372558594
+        ],
+        [
+          -0.9548811912536621,
+          0.040134187787771225,
+          -0.2942638099193573,
+          16.857688903808594
+        ],
+        [
+          -0.0022669818717986345,
+          -0.9917830228805542,
+          -0.12791144847869873,
+          -30.772029876708984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5768,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_283082008",
+      "mask_path": "../../mask/hdr_front_05768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05769.png",
+      "transform_matrix": [
+        [
+          -0.3040865957736969,
+          -0.11695420742034912,
+          0.9454380869865417,
+          93.92716979980469
+        ],
+        [
+          -0.9525743126869202,
+          0.04936140030622482,
+          -0.3002757132053375,
+          16.881103515625
+        ],
+        [
+          -0.011549638584256172,
+          -0.9919098615646362,
+          -0.12641771137714386,
+          -30.743820190429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5769,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_383082151",
+      "mask_path": "../../mask/hdr_front_05769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05770.png",
+      "transform_matrix": [
+        [
+          -0.31189003586769104,
+          -0.11780692636966705,
+          0.9427863955497742,
+          93.86029815673828
+        ],
+        [
+          -0.9500119686126709,
+          0.05350645259022713,
+          -0.3075944483280182,
+          16.90756607055664
+        ],
+        [
+          -0.014208395965397358,
+          -0.9915940165519714,
+          -0.12860612571239471,
+          -30.71792221069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5770,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_483082056",
+      "mask_path": "../../mask/hdr_front_05770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05771.png",
+      "transform_matrix": [
+        [
+          -0.3213796317577362,
+          -0.12180190533399582,
+          0.9390843510627747,
+          93.80784606933594
+        ],
+        [
+          -0.9469085931777954,
+          0.050657738000154495,
+          -0.31748685240745544,
+          16.929433822631836
+        ],
+        [
+          -0.008901393041014671,
+          -0.9912608861923218,
+          -0.13161562383174896,
+          -30.707979202270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5771,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_583081245",
+      "mask_path": "../../mask/hdr_front_05771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05772.png",
+      "transform_matrix": [
+        [
+          -0.32836291193962097,
+          -0.12311477959156036,
+          0.9364937543869019,
+          93.73875427246094
+        ],
+        [
+          -0.9445240497589111,
+          0.05036434903740883,
+          -0.3245575428009033,
+          16.958070755004883
+        ],
+        [
+          -0.007208060473203659,
+          -0.9911136627197266,
+          -0.1328226625919342,
+          -30.695764541625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5772,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_683081150",
+      "mask_path": "../../mask/hdr_front_05772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05773.png",
+      "transform_matrix": [
+        [
+          -0.3349105715751648,
+          -0.1186368390917778,
+          0.9347515106201172,
+          93.6720962524414
+        ],
+        [
+          -0.9421108365058899,
+          0.05920908600091934,
+          -0.3300325870513916,
+          16.990318298339844
+        ],
+        [
+          -0.01619175262749195,
+          -0.9911708235740662,
+          -0.1315988004207611,
+          -30.697799682617188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5773,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_783081531",
+      "mask_path": "../../mask/hdr_front_05773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05774.png",
+      "transform_matrix": [
+        [
+          -0.34308508038520813,
+          -0.11517064273357391,
+          0.9322169423103333,
+          93.61310577392578
+        ],
+        [
+          -0.9390203952789307,
+          0.06645496934652328,
+          -0.3373788297176361,
+          17.016767501831055
+        ],
+        [
+          -0.023094309493899345,
+          -0.9911203384399414,
+          -0.1309472769498825,
+          -30.698965072631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5774,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_883081197",
+      "mask_path": "../../mask/hdr_front_05774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05775.png",
+      "transform_matrix": [
+        [
+          -0.35154208540916443,
+          -0.11790213733911514,
+          0.928718090057373,
+          93.54431915283203
+        ],
+        [
+          -0.9354095458984375,
+          0.08427109569311142,
+          -0.34337663650512695,
+          17.054763793945312
+        ],
+        [
+          -0.037779245525598526,
+          -0.9894430041313171,
+          -0.13991162180900574,
+          -30.695552825927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5775,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_983082294",
+      "mask_path": "../../mask/hdr_front_05775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05776.png",
+      "transform_matrix": [
+        [
+          -0.36680734157562256,
+          -0.12425646185874939,
+          0.9219613671302795,
+          93.46073150634766
+        ],
+        [
+          -0.9293494820594788,
+          0.09365997463464737,
+          -0.35712382197380066,
+          17.10028839111328
+        ],
+        [
+          -0.04197593405842781,
+          -0.9878199100494385,
+          -0.1498328447341919,
+          -30.62308120727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5776,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_83081007",
+      "mask_path": "../../mask/hdr_front_05776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05778.png",
+      "transform_matrix": [
+        [
+          -0.38644886016845703,
+          -0.13524872064590454,
+          0.9123404622077942,
+          93.36177825927734
+        ],
+        [
+          -0.9222416877746582,
+          0.0687766745686531,
+          -0.3804470896720886,
+          17.14817237854004
+        ],
+        [
+          -0.011292746290564537,
+          -0.9884217977523804,
+          -0.15131066739559174,
+          -30.602806091308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5778,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_283080816",
+      "mask_path": "../../mask/hdr_front_05778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05779.png",
+      "transform_matrix": [
+        [
+          -0.3913009464740753,
+          -0.1327999085187912,
+          0.910630464553833,
+          93.290771484375
+        ],
+        [
+          -0.9202623963356018,
+          0.0555775910615921,
+          -0.38733482360839844,
+          17.17577362060547
+        ],
+        [
+          0.0008273884886875749,
+          -0.989583432674408,
+          -0.14395833015441895,
+          -30.59290313720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5779,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_383080244",
+      "mask_path": "../../mask/hdr_front_05779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05780.png",
+      "transform_matrix": [
+        [
+          -0.38990670442581177,
+          -0.12857288122177124,
+          0.9118342995643616,
+          93.222412109375
+        ],
+        [
+          -0.9208421111106873,
+          0.04933088272809982,
+          -0.38680264353752136,
+          17.19834327697754
+        ],
+        [
+          0.004750740248709917,
+          -0.9904723763465881,
+          -0.13762974739074707,
+          -30.58665657043457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5780,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_483081579",
+      "mask_path": "../../mask/hdr_front_05780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05781.png",
+      "transform_matrix": [
+        [
+          -0.38641077280044556,
+          -0.12815220654010773,
+          0.9133804440498352,
+          93.16954803466797
+        ],
+        [
+          -0.9222703576087952,
+          0.04272904992103577,
+          -0.384176641702652,
+          17.205713272094727
+        ],
+        [
+          0.010205203667283058,
+          -0.9908336400985718,
+          -0.1347019523382187,
+          -30.57628059387207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5781,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_583081722",
+      "mask_path": "../../mask/hdr_front_05781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05782.png",
+      "transform_matrix": [
+        [
+          -0.38619711995124817,
+          -0.12118659168481827,
+          0.9144209623336792,
+          93.1206283569336
+        ],
+        [
+          -0.9222812652587891,
+          0.03377051651477814,
+          -0.38504138588905334,
+          17.214366912841797
+        ],
+        [
+          0.015781382098793983,
+          -0.9920551776885986,
+          -0.12481020390987396,
+          -30.581533432006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5782,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_683084726",
+      "mask_path": "../../mask/hdr_front_05782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05783.png",
+      "transform_matrix": [
+        [
+          -0.3935370147228241,
+          -0.11747518181800842,
+          0.9117720723152161,
+          93.05488586425781
+        ],
+        [
+          -0.9190839529037476,
+          0.028343606740236282,
+          -0.3930411636829376,
+          17.22633171081543
+        ],
+        [
+          0.02032966911792755,
+          -0.9926712512969971,
+          -0.11912380903959274,
+          -30.56679344177246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5783,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_783082008",
+      "mask_path": "../../mask/hdr_front_05783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05784.png",
+      "transform_matrix": [
+        [
+          -0.4053876996040344,
+          -0.11972592025995255,
+          0.9062706828117371,
+          92.99380493164062
+        ],
+        [
+          -0.913816511631012,
+          0.026504961773753166,
+          -0.4052615463733673,
+          17.242712020874023
+        ],
+        [
+          0.024499638006091118,
+          -0.9924531579017639,
+          -0.1201522946357727,
+          -30.537885665893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5784,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_883082151",
+      "mask_path": "../../mask/hdr_front_05784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05785.png",
+      "transform_matrix": [
+        [
+          -0.4165923595428467,
+          -0.1173064187169075,
+          0.9014931917190552,
+          92.94464874267578
+        ],
+        [
+          -0.9087116122245789,
+          0.024997377768158913,
+          -0.416675329208374,
+          17.2713623046875
+        ],
+        [
+          0.02634371817111969,
+          -0.9927811026573181,
+          -0.1170114204287529,
+          -30.53215217590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5785,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_983082056",
+      "mask_path": "../../mask/hdr_front_05785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05786.png",
+      "transform_matrix": [
+        [
+          -0.4190925359725952,
+          -0.11135175824165344,
+          0.9010894894599915,
+          92.89287567138672
+        ],
+        [
+          -0.9075599908828735,
+          0.022532913833856583,
+          -0.41931745409965515,
+          17.29305648803711
+        ],
+        [
+          0.026387561112642288,
+          -0.9935256242752075,
+          -0.11050177365541458,
+          -30.53959846496582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5786,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_83082199",
+      "mask_path": "../../mask/hdr_front_05786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05788.png",
+      "transform_matrix": [
+        [
+          -0.4146636426448822,
+          -0.0999656543135643,
+          0.9044672846794128,
+          92.81329345703125
+        ],
+        [
+          -0.9096994400024414,
+          0.02109021693468094,
+          -0.4147314429283142,
+          17.314863204956055
+        ],
+        [
+          0.022383490577340126,
+          -0.9947673678398132,
+          -0.09968404471874237,
+          -30.541427612304688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5788,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_283081769",
+      "mask_path": "../../mask/hdr_front_05788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05792.png",
+      "transform_matrix": [
+        [
+          -0.4164424538612366,
+          -0.1053391695022583,
+          0.9030388593673706,
+          92.6518325805664
+        ],
+        [
+          -0.9090712070465088,
+          0.03419867157936096,
+          -0.4152349829673767,
+          17.406009674072266
+        ],
+        [
+          0.012857777066528797,
+          -0.9938480854034424,
+          -0.11000257730484009,
+          -30.51304054260254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5792,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_683082818",
+      "mask_path": "../../mask/hdr_front_05792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05794.png",
+      "transform_matrix": [
+        [
+          -0.37777358293533325,
+          -0.07543966919183731,
+          0.9228195548057556,
+          92.58598327636719
+        ],
+        [
+          -0.9257904887199402,
+          0.04597293585538864,
+          -0.3752315044403076,
+          17.422712326049805
+        ],
+        [
+          -0.014117388986051083,
+          -0.9960900545120239,
+          -0.08720867335796356,
+          -30.508447647094727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5794,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_883082151",
+      "mask_path": "../../mask/hdr_front_05794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05796.png",
+      "transform_matrix": [
+        [
+          -0.30369046330451965,
+          -0.07631136476993561,
+          0.9497098326683044,
+          92.4978256225586
+        ],
+        [
+          -0.9526264071464539,
+          0.04167059063911438,
+          -0.3012748658657074,
+          17.403039932250977
+        ],
+        [
+          -0.016584275290369987,
+          -0.996212899684906,
+          -0.08535118401050568,
+          -30.514524459838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5796,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_83081722",
+      "mask_path": "../../mask/hdr_front_05796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05797.png",
+      "transform_matrix": [
+        [
+          -0.2743857502937317,
+          -0.07960817217826843,
+          0.958318829536438,
+          92.4483413696289
+        ],
+        [
+          -0.9615845084190369,
+          0.03123330883681774,
+          -0.2727262079715729,
+          17.397554397583008
+        ],
+        [
+          -0.008220228366553783,
+          -0.996336817741394,
+          -0.08511997014284134,
+          -30.486780166625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5797,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_183081865",
+      "mask_path": "../../mask/hdr_front_05797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05799.png",
+      "transform_matrix": [
+        [
+          -0.26993539929389954,
+          -0.09361550956964493,
+          0.9583167433738708,
+          92.37026977539062
+        ],
+        [
+          -0.9627514481544495,
+          0.010084091685712337,
+          -0.2701994776725769,
+          17.419790267944336
+        ],
+        [
+          0.015631109476089478,
+          -0.9955574870109558,
+          -0.09285052865743637,
+          -30.456083297729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5799,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_383081674",
+      "mask_path": "../../mask/hdr_front_05799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05800.png",
+      "transform_matrix": [
+        [
+          -0.2753468155860901,
+          -0.09325157105922699,
+          0.9568115472793579,
+          92.31763458251953
+        ],
+        [
+          -0.9610965847969055,
+          0.004075805190950632,
+          -0.2761826813220978,
+          17.427953720092773
+        ],
+        [
+          0.021854693070054054,
+          -0.9956341981887817,
+          -0.09074601531028748,
+          -30.4503116607666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5800,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_483082056",
+      "mask_path": "../../mask/hdr_front_05800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05811.png",
+      "transform_matrix": [
+        [
+          -0.30276474356651306,
+          -0.06674176454544067,
+          0.9507254958152771,
+          91.87874603271484
+        ],
+        [
+          -0.9527130722999573,
+          -0.005924706347286701,
+          -0.303813636302948,
+          17.5224609375
+        ],
+        [
+          0.025909826159477234,
+          -0.9977526664733887,
+          -0.06179196015000343,
+          -30.448944091796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5811,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_583081722",
+      "mask_path": "../../mask/hdr_front_05811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05814.png",
+      "transform_matrix": [
+        [
+          -0.3254361152648926,
+          -0.08927325159311295,
+          0.9413403272628784,
+          91.75975799560547
+        ],
+        [
+          -0.9442747235298157,
+          -0.02128716930747032,
+          -0.3284693956375122,
+          17.584888458251953
+        ],
+        [
+          0.049362003803253174,
+          -0.9957796931266785,
+          -0.07737085968255997,
+          -30.434127807617188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5814,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_883079767",
+      "mask_path": "../../mask/hdr_front_05814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05815.png",
+      "transform_matrix": [
+        [
+          -0.33092111349105835,
+          -0.12096819281578064,
+          0.9358727931976318,
+          91.67481231689453
+        ],
+        [
+          -0.9411956667900085,
+          -0.029293954372406006,
+          -0.3365897536277771,
+          17.602224349975586
+        ],
+        [
+          0.06813206523656845,
+          -0.9922240972518921,
+          -0.10416074097156525,
+          -30.382919311523438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5815,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_983079910",
+      "mask_path": "../../mask/hdr_front_05815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05816.png",
+      "transform_matrix": [
+        [
+          -0.3334914445877075,
+          -0.13827747106552124,
+          0.9325571656227112,
+          91.61131286621094
+        ],
+        [
+          -0.940299928188324,
+          -0.022527361288666725,
+          -0.33960068225860596,
+          17.611644744873047
+        ],
+        [
+          0.06796717643737793,
+          -0.9901373386383057,
+          -0.12250960618257523,
+          -30.345001220703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5816,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_83080530",
+      "mask_path": "../../mask/hdr_front_05816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05818.png",
+      "transform_matrix": [
+        [
+          -0.3355996906757355,
+          -0.13319148123264313,
+          0.9325411319732666,
+          91.5244369506836
+        ],
+        [
+          -0.9403796195983887,
+          -0.010755405761301517,
+          -0.33995673060417175,
+          17.64824676513672
+        ],
+        [
+          0.055309198796749115,
+          -0.9910320043563843,
+          -0.12164103984832764,
+          -30.344430923461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5818,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_283079385",
+      "mask_path": "../../mask/hdr_front_05818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05819.png",
+      "transform_matrix": [
+        [
+          -0.3357948660850525,
+          -0.1302737593650818,
+          0.9328829646110535,
+          91.46707153320312
+        ],
+        [
+          -0.9406646490097046,
+          -0.005041831638664007,
+          -0.3393000662326813,
+          17.668254852294922
+        ],
+        [
+          0.04890533536672592,
+          -0.9914652705192566,
+          -0.12085089832544327,
+          -30.32829475402832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5819,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_383081197",
+      "mask_path": "../../mask/hdr_front_05819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05821.png",
+      "transform_matrix": [
+        [
+          -0.32997557520866394,
+          -0.1311345100402832,
+          0.9348368644714355,
+          91.3857650756836
+        ],
+        [
+          -0.9423946142196655,
+          -0.011780455708503723,
+          -0.3342958092689514,
+          17.69615364074707
+        ],
+        [
+          0.054850514978170395,
+          -0.9912946820259094,
+          -0.11969318240880966,
+          -30.33849334716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5821,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_583082437",
+      "mask_path": "../../mask/hdr_front_05821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05822.png",
+      "transform_matrix": [
+        [
+          -0.3208814859390259,
+          -0.13177216053009033,
+          0.9379079341888428,
+          91.32096862792969
+        ],
+        [
+          -0.9453969597816467,
+          -0.015132240951061249,
+          -0.3255697190761566,
+          17.705751419067383
+        ],
+        [
+          0.05709366872906685,
+          -0.9911646246910095,
+          -0.11972136050462723,
+          -30.325088500976562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5822,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_683082103",
+      "mask_path": "../../mask/hdr_front_05822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05823.png",
+      "transform_matrix": [
+        [
+          -0.30391746759414673,
+          -0.13226035237312317,
+          0.9434730410575867,
+          91.25381469726562
+        ],
+        [
+          -0.9512975215911865,
+          -0.011554595082998276,
+          -0.3080576956272125,
+          17.707988739013672
+        ],
+        [
+          0.051645271480083466,
+          -0.9911476969718933,
+          -0.12230731546878815,
+          -30.302536010742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5823,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_783083200",
+      "mask_path": "../../mask/hdr_front_05823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05825.png",
+      "transform_matrix": [
+        [
+          -0.2697533965110779,
+          -0.12732122838497162,
+          0.9544749855995178,
+          91.1654281616211
+        ],
+        [
+          -0.962113082408905,
+          -0.005168679635971785,
+          -0.27260154485702515,
+          17.694421768188477
+        ],
+        [
+          0.03964133933186531,
+          -0.9918481111526489,
+          -0.12110313773155212,
+          -30.305274963378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5825,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_983081579",
+      "mask_path": "../../mask/hdr_front_05825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05826.png",
+      "transform_matrix": [
+        [
+          -0.25966116786003113,
+          -0.12308423221111298,
+          0.9578237533569336,
+          91.10591888427734
+        ],
+        [
+          -0.9649308323860168,
+          -0.0065046027302742004,
+          -0.26242372393608093,
+          17.697969436645508
+        ],
+        [
+          0.03853049501776695,
+          -0.9923750162124634,
+          -0.11707878857851028,
+          -30.29469108581543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5826,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_83081960",
+      "mask_path": "../../mask/hdr_front_05826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05827.png",
+      "transform_matrix": [
+        [
+          -0.25868114829063416,
+          -0.12550726532936096,
+          0.9577745199203491,
+          91.05010223388672
+        ],
+        [
+          -0.9650031328201294,
+          -0.01060822419822216,
+          -0.26202359795570374,
+          17.70772933959961
+        ],
+        [
+          0.04304615408182144,
+          -0.9920360445976257,
+          -0.11837073415517807,
+          -30.273542404174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5827,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_183080196",
+      "mask_path": "../../mask/hdr_front_05827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05828.png",
+      "transform_matrix": [
+        [
+          -0.26387619972229004,
+          -0.1331089586019516,
+          0.9553279876708984,
+          90.9962158203125
+        ],
+        [
+          -0.9633692502975464,
+          -0.01275769155472517,
+          -0.26787492632865906,
+          17.727855682373047
+        ],
+        [
+          0.047844335436820984,
+          -0.9910193085670471,
+          -0.12486661970615387,
+          -30.254030227661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5828,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_283080101",
+      "mask_path": "../../mask/hdr_front_05828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05829.png",
+      "transform_matrix": [
+        [
+          -0.26809239387512207,
+          -0.13048896193504333,
+          0.9545152187347412,
+          90.91493225097656
+        ],
+        [
+          -0.9624555110931396,
+          -0.007427705451846123,
+          -0.27133792638778687,
+          17.747684478759766
+        ],
+        [
+          0.042496465146541595,
+          -0.9914219379425049,
+          -0.12359850853681564,
+          -30.244646072387695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5829,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_383081674",
+      "mask_path": "../../mask/hdr_front_05829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05830.png",
+      "transform_matrix": [
+        [
+          -0.27125269174575806,
+          -0.1233738511800766,
+          0.9545683860778809,
+          90.84811401367188
+        ],
+        [
+          -0.9619096517562866,
+          -0.00022237133816815913,
+          -0.2733675539493561,
+          17.759319305419922
+        ],
+        [
+          0.03393867239356041,
+          -0.9923602938652039,
+          -0.11861417442560196,
+          -30.2556209564209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5830,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_483082056",
+      "mask_path": "../../mask/hdr_front_05830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05831.png",
+      "transform_matrix": [
+        [
+          -0.2753825783729553,
+          -0.12114379554986954,
+          0.9536711573600769,
+          90.79708099365234
+        ],
+        [
+          -0.9607966542243958,
+          0.0014970038319006562,
+          -0.2772499918937683,
+          17.76822280883789
+        ],
+        [
+          0.032159462571144104,
+          -0.9926338791847229,
+          -0.11680679768323898,
+          -30.264202117919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5831,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_583083391",
+      "mask_path": "../../mask/hdr_front_05831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05832.png",
+      "transform_matrix": [
+        [
+          -0.27754735946655273,
+          -0.12022242695093155,
+          0.9531600475311279,
+          90.74627685546875
+        ],
+        [
+          -0.9603765606880188,
+          0.008504861034452915,
+          -0.2785760760307312,
+          17.785737991333008
+        ],
+        [
+          0.02538459189236164,
+          -0.992710530757904,
+          -0.11781930923461914,
+          -30.28038787841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5832,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_683082103",
+      "mask_path": "../../mask/hdr_front_05832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05833.png",
+      "transform_matrix": [
+        [
+          -0.28858819603919983,
+          -0.12947075068950653,
+          0.9486591815948486,
+          90.66458129882812
+        ],
+        [
+          -0.9572818875312805,
+          0.020268995314836502,
+          -0.28844502568244934,
+          17.824474334716797
+        ],
+        [
+          0.018116828054189682,
+          -0.9913761019706726,
+          -0.12978941202163696,
+          -30.210494995117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5833,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_783082008",
+      "mask_path": "../../mask/hdr_front_05833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05834.png",
+      "transform_matrix": [
+        [
+          -0.2991306185722351,
+          -0.1404307335615158,
+          0.9438220858573914,
+          90.58857727050781
+        ],
+        [
+          -0.95400071144104,
+          0.023191304877400398,
+          -0.29890599846839905,
+          17.855302810668945
+        ],
+        [
+          0.020087121054530144,
+          -0.989818811416626,
+          -0.14090824127197266,
+          -30.160476684570312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5834,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_883080482",
+      "mask_path": "../../mask/hdr_front_05834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05835.png",
+      "transform_matrix": [
+        [
+          -0.3043043613433838,
+          -0.1514301896095276,
+          0.9404615163803101,
+          90.5225601196289
+        ],
+        [
+          -0.952096700668335,
+          0.01707311160862446,
+          -0.3053201138973236,
+          17.858474731445312
+        ],
+        [
+          0.03017808124423027,
+          -0.9883205890655518,
+          -0.14937160909175873,
+          -30.158557891845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5835,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_983082532",
+      "mask_path": "../../mask/hdr_front_05835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05836.png",
+      "transform_matrix": [
+        [
+          -0.30383220314979553,
+          -0.14669525623321533,
+          0.9413641691207886,
+          90.43756103515625
+        ],
+        [
+          -0.9523621797561646,
+          0.01947706937789917,
+          -0.3043466806411743,
+          17.870798110961914
+        ],
+        [
+          0.026311203837394714,
+          -0.9889899492263794,
+          -0.1456247866153717,
+          -30.13795280456543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5836,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_83081960",
+      "mask_path": "../../mask/hdr_front_05836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05837.png",
+      "transform_matrix": [
+        [
+          -0.29722166061401367,
+          -0.1385914534330368,
+          0.9446966052055359,
+          90.37348937988281
+        ],
+        [
+          -0.9547268748283386,
+          0.03020685352385044,
+          -0.2959459722042084,
+          17.884672164916992
+        ],
+        [
+          0.012479263357818127,
+          -0.9898889064788818,
+          -0.14129512012004852,
+          -30.125152587890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5837,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_183081626",
+      "mask_path": "../../mask/hdr_front_05837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05839.png",
+      "transform_matrix": [
+        [
+          -0.2902405560016632,
+          -0.14049285650253296,
+          0.9465845227241516,
+          90.28032684326172
+        ],
+        [
+          -0.9569506049156189,
+          0.04006585478782654,
+          -0.2874724268913269,
+          17.895702362060547
+        ],
+        [
+          0.0024621051270514727,
+          -0.9892707467079163,
+          -0.14607346057891846,
+          -30.1142635345459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5839,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_383081674",
+      "mask_path": "../../mask/hdr_front_05839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05840.png",
+      "transform_matrix": [
+        [
+          -0.2912923991680145,
+          -0.1468106508255005,
+          0.9453017711639404,
+          90.21940612792969
+        ],
+        [
+          -0.9565620422363281,
+          0.05681873485445976,
+          -0.285938024520874,
+          17.900604248046875
+        ],
+        [
+          -0.011732103303074837,
+          -0.9875314831733704,
+          -0.156984344124794,
+          -30.09117317199707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5840,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_483081340",
+      "mask_path": "../../mask/hdr_front_05840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05841.png",
+      "transform_matrix": [
+        [
+          -0.2979326844215393,
+          -0.15909095108509064,
+          0.9412364959716797,
+          90.15338134765625
+        ],
+        [
+          -0.9544670581817627,
+          0.06526745855808258,
+          -0.29108884930610657,
+          17.90965461730957
+        ],
+        [
+          -0.015122504904866219,
+          -0.9851042628288269,
+          -0.17129239439964294,
+          -30.041000366210938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5841,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_583081483",
+      "mask_path": "../../mask/hdr_front_05841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05844.png",
+      "transform_matrix": [
+        [
+          -0.3188651502132416,
+          -0.17652346193790436,
+          0.9312166571617126,
+          89.98968505859375
+        ],
+        [
+          -0.9476585984230042,
+          0.042399145662784576,
+          -0.3164578974246979,
+          17.94367027282715
+        ],
+        [
+          0.016379445791244507,
+          -0.9833829402923584,
+          -0.1808035522699356,
+          -30.00128173828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5844,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_883081197",
+      "mask_path": "../../mask/hdr_front_05844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05847.png",
+      "transform_matrix": [
+        [
+          -0.33525606989860535,
+          -0.1644389033317566,
+          0.9276654720306396,
+          89.85990142822266
+        ],
+        [
+          -0.9420567154884338,
+          0.04648067057132721,
+          -0.3322179317474365,
+          17.966718673706055
+        ],
+        [
+          0.011511031538248062,
+          -0.9852915406227112,
+          -0.1704936921596527,
+          -29.980098724365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5847,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_183079719",
+      "mask_path": "../../mask/hdr_front_05847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05848.png",
+      "transform_matrix": [
+        [
+          -0.3421061635017395,
+          -0.16279058158397675,
+          0.9254525899887085,
+          89.81428527832031
+        ],
+        [
+          -0.9394528865814209,
+          0.03851620480418205,
+          -0.3405064642429352,
+          17.979036331176758
+        ],
+        [
+          0.01978631503880024,
+          -0.9859086275100708,
+          -0.16611070930957794,
+          -29.96146583557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5848,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_283081531",
+      "mask_path": "../../mask/hdr_front_05848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05850.png",
+      "transform_matrix": [
+        [
+          -0.35861313343048096,
+          -0.14907443523406982,
+          0.9215061068534851,
+          89.74282836914062
+        ],
+        [
+          -0.9327757358551025,
+          0.01871832087635994,
+          -0.35997074842453003,
+          18.009387969970703
+        ],
+        [
+          0.036413390189409256,
+          -0.9886488318443298,
+          -0.14576567709445953,
+          -29.948366165161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5850,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_483080863",
+      "mask_path": "../../mask/hdr_front_05850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05852.png",
+      "transform_matrix": [
+        [
+          -0.3574756681919098,
+          -0.1204497367143631,
+          0.9261225461959839,
+          89.65879821777344
+        ],
+        [
+          -0.9338453412055969,
+          0.033353228121995926,
+          -0.35611870884895325,
+          18.046064376831055
+        ],
+        [
+          0.012005233205854893,
+          -0.9921589493751526,
+          -0.12440439313650131,
+          -29.95173454284668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5852,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_683079719",
+      "mask_path": "../../mask/hdr_front_05852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05854.png",
+      "transform_matrix": [
+        [
+          -0.3589361608028412,
+          -0.12270445376634598,
+          0.9252613186836243,
+          89.566650390625
+        ],
+        [
+          -0.9333600997924805,
+          0.04923565685749054,
+          -0.3555485010147095,
+          18.101621627807617
+        ],
+        [
+          -0.001928462996147573,
+          -0.9912212491035461,
+          -0.13219988346099854,
+          -29.920677185058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5854,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_883081197",
+      "mask_path": "../../mask/hdr_front_05854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05855.png",
+      "transform_matrix": [
+        [
+          -0.36404260993003845,
+          -0.1327817142009735,
+          0.9218688011169434,
+          89.5170669555664
+        ],
+        [
+          -0.9313822984695435,
+          0.05206124112010002,
+          -0.36030083894729614,
+          18.135601043701172
+        ],
+        [
+          -0.00015227161929942667,
+          -0.9897770881652832,
+          -0.14262305200099945,
+          -29.886079788208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5855,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_983081579",
+      "mask_path": "../../mask/hdr_front_05855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05857.png",
+      "transform_matrix": [
+        [
+          -0.37639352679252625,
+          -0.15024352073669434,
+          0.9141961932182312,
+          89.45967864990234
+        ],
+        [
+          -0.9263826012611389,
+          0.04829075187444687,
+          -0.3734745681285858,
+          18.17401695251465
+        ],
+        [
+          0.011964904144406319,
+          -0.9874690175056458,
+          -0.157359316945076,
+          -29.87269401550293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5857,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_183082103",
+      "mask_path": "../../mask/hdr_front_05857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05859.png",
+      "transform_matrix": [
+        [
+          -0.3792966604232788,
+          -0.10437947511672974,
+          0.9193688035011292,
+          89.39230346679688
+        ],
+        [
+          -0.9249851703643799,
+          0.06764702498912811,
+          -0.3739335834980011,
+          18.2119140625
+        ],
+        [
+          -0.023161577060818672,
+          -0.9922342300415039,
+          -0.12220775336027145,
+          -29.874652862548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5859,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_383080959",
+      "mask_path": "../../mask/hdr_front_05859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05861.png",
+      "transform_matrix": [
+        [
+          -0.3812912404537201,
+          -0.0937797948718071,
+          0.9196860790252686,
+          89.31689453125
+        ],
+        [
+          -0.9239809513092041,
+          0.07051573693752289,
+          -0.3758813738822937,
+          18.247356414794922
+        ],
+        [
+          -0.029602253809571266,
+          -0.9930925965309143,
+          -0.11353776603937149,
+          -29.870525360107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5861,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_583081483",
+      "mask_path": "../../mask/hdr_front_05861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05862.png",
+      "transform_matrix": [
+        [
+          -0.3865957260131836,
+          -0.08589434623718262,
+          0.9182406663894653,
+          89.26631927490234
+        ],
+        [
+          -0.9219209551811218,
+          0.0625559389591217,
+          -0.38229358196258545,
+          18.266508102416992
+        ],
+        [
+          -0.024604536592960358,
+          -0.9943384528160095,
+          -0.10337166488170624,
+          -29.8643856048584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5862,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_683079719",
+      "mask_path": "../../mask/hdr_front_05862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05863.png",
+      "transform_matrix": [
+        [
+          -0.39569351077079773,
+          -0.08418028801679611,
+          0.9145164489746094,
+          89.21791076660156
+        ],
+        [
+          -0.9182690382003784,
+          0.0519288033246994,
+          -0.39253711700439453,
+          18.28631019592285
+        ],
+        [
+          -0.014445848762989044,
+          -0.9950965642929077,
+          -0.09784805029630661,
+          -29.850242614746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5863,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_783082008",
+      "mask_path": "../../mask/hdr_front_05863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05865.png",
+      "transform_matrix": [
+        [
+          -0.4123014211654663,
+          -0.08346513658761978,
+          0.9072161316871643,
+          89.11974334716797
+        ],
+        [
+          -0.9110454320907593,
+          0.03566434234380722,
+          -0.4107605516910553,
+          18.333513259887695
+        ],
+        [
+          0.0019289202755317092,
+          -0.9958723187446594,
+          -0.0907449871301651,
+          -29.840682983398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5865,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_983082056",
+      "mask_path": "../../mask/hdr_front_05865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05866.png",
+      "transform_matrix": [
+        [
+          -0.4108916223049164,
+          -0.0744611918926239,
+          0.9086383581161499,
+          89.05387878417969
+        ],
+        [
+          -0.9116788506507874,
+          0.03698427230119705,
+          -0.40923577547073364,
+          18.35276985168457
+        ],
+        [
+          -0.003133146557956934,
+          -0.9965379238128662,
+          -0.0830812156200409,
+          -29.838838577270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5866,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_83082437",
+      "mask_path": "../../mask/hdr_front_05866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05869.png",
+      "transform_matrix": [
+        [
+          -0.41104644536972046,
+          -0.07062079757452011,
+          0.9088749289512634,
+          88.89289093017578
+        ],
+        [
+          -0.9114685654640198,
+          0.04967036470770836,
+          -0.40836000442504883,
+          18.42722511291504
+        ],
+        [
+          -0.016305437311530113,
+          -0.9962658286094666,
+          -0.08478546142578125,
+          -29.82838249206543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5869,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_383081436",
+      "mask_path": "../../mask/hdr_front_05869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05870.png",
+      "transform_matrix": [
+        [
+          -0.41770729422569275,
+          -0.07945509254932404,
+          0.9051008820533752,
+          88.8294448852539
+        ],
+        [
+          -0.9084362983703613,
+          0.05434153228998184,
+          -0.414476215839386,
+          18.46506690979004
+        ],
+        [
+          -0.016252318397164345,
+          -0.9953562021255493,
+          -0.09487873315811157,
+          -29.81290054321289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5870,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_483080625",
+      "mask_path": "../../mask/hdr_front_05870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05871.png",
+      "transform_matrix": [
+        [
+          -0.4251151382923126,
+          -0.08942633122205734,
+          0.9007108211517334,
+          88.7801742553711
+        ],
+        [
+          -0.9050982594490051,
+          0.05146998539566994,
+          -0.4220758080482483,
+          18.490625381469727
+        ],
+        [
+          -0.008614885620772839,
+          -0.9946626424789429,
+          -0.10282029211521149,
+          -29.799060821533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5871,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_583081245",
+      "mask_path": "../../mask/hdr_front_05871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05872.png",
+      "transform_matrix": [
+        [
+          -0.43110141158103943,
+          -0.10688749700784683,
+          0.8959501385688782,
+          88.68891143798828
+        ],
+        [
+          -0.9022843241691589,
+          0.044601887464523315,
+          -0.4288281798362732,
+          18.521560668945312
+        ],
+        [
+          0.005875308532267809,
+          -0.993270218372345,
+          -0.11567086726427078,
+          -29.780214309692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5872,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_683080196",
+      "mask_path": "../../mask/hdr_front_05872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05873.png",
+      "transform_matrix": [
+        [
+          -0.42961931228637695,
+          -0.11905840784311295,
+          0.89512699842453,
+          88.59419250488281
+        ],
+        [
+          -0.9029765725135803,
+          0.048109330236911774,
+          -0.4269879162311554,
+          18.545209884643555
+        ],
+        [
+          0.007772544864565134,
+          -0.9917210340499878,
+          -0.12817566096782684,
+          -29.7468204498291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5873,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_783081531",
+      "mask_path": "../../mask/hdr_front_05873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05876.png",
+      "transform_matrix": [
+        [
+          -0.430364727973938,
+          -0.12132242321968079,
+          0.8944646716117859,
+          88.4308090209961
+        ],
+        [
+          -0.9026336073875427,
+          0.06468670070171356,
+          -0.42552119493484497,
+          18.615562438964844
+        ],
+        [
+          -0.006234706845134497,
+          -0.990503191947937,
+          -0.13734856247901917,
+          -29.72127342224121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5876,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_83081007",
+      "mask_path": "../../mask/hdr_front_05876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05877.png",
+      "transform_matrix": [
+        [
+          -0.43944552540779114,
+          -0.12754479050636292,
+          0.8891681432723999,
+          88.35877227783203
+        ],
+        [
+          -0.8982639908790588,
+          0.06578255444765091,
+          -0.43450483679771423,
+          18.653661727905273
+        ],
+        [
+          -0.0030729216523468494,
+          -0.9896489381790161,
+          -0.14347673952579498,
+          -29.695466995239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5877,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_183080434",
+      "mask_path": "../../mask/hdr_front_05877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05878.png",
+      "transform_matrix": [
+        [
+          -0.4479879140853882,
+          -0.1347886621952057,
+          0.8838207125663757,
+          88.29277038574219
+        ],
+        [
+          -0.894026517868042,
+          0.06220819056034088,
+          -0.4436739385128021,
+          18.684906005859375
+        ],
+        [
+          0.004821328446269035,
+          -0.9889196753501892,
+          -0.14837314188480377,
+          -29.679035186767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5878,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_283079624",
+      "mask_path": "../../mask/hdr_front_05878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05879.png",
+      "transform_matrix": [
+        [
+          -0.45100417733192444,
+          -0.1353606879711151,
+          0.8821976780891418,
+          88.2158203125
+        ],
+        [
+          -0.892477810382843,
+          0.05857657268643379,
+          -0.4472719430923462,
+          18.71735382080078
+        ],
+        [
+          0.008866931311786175,
+          -0.9890633821487427,
+          -0.14722470939159393,
+          -29.666906356811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5879,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_383080959",
+      "mask_path": "../../mask/hdr_front_05879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05880.png",
+      "transform_matrix": [
+        [
+          -0.4493735730648041,
+          -0.13010331988334656,
+          0.8838192820549011,
+          88.13710021972656
+        ],
+        [
+          -0.89333176612854,
+          0.060274507850408554,
+          -0.4453374147415161,
+          18.74833106994629
+        ],
+        [
+          0.004668097943067551,
+          -0.9896667003631592,
+          -0.14331117272377014,
+          -29.655475616455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5880,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_483081102",
+      "mask_path": "../../mask/hdr_front_05880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05881.png",
+      "transform_matrix": [
+        [
+          -0.4474398195743561,
+          -0.126162588596344,
+          0.8853703141212463,
+          88.06858825683594
+        ],
+        [
+          -0.8943074345588684,
+          0.05930814892053604,
+          -0.4435051679611206,
+          18.77256965637207
+        ],
+        [
+          0.0034440853632986546,
+          -0.9902351498603821,
+          -0.13936495780944824,
+          -29.650623321533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5881,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_583081483",
+      "mask_path": "../../mask/hdr_front_05881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05882.png",
+      "transform_matrix": [
+        [
+          -0.44844716787338257,
+          -0.12494433671236038,
+          0.8850333094596863,
+          88.0
+        ],
+        [
+          -0.8937985301017761,
+          0.05781377851963043,
+          -0.4447266757488251,
+          18.803373336791992
+        ],
+        [
+          0.004398947115987539,
+          -0.990477979183197,
+          -0.13760149478912354,
+          -29.653234481811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5882,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_683080673",
+      "mask_path": "../../mask/hdr_front_05882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05883.png",
+      "transform_matrix": [
+        [
+          -0.45533546805381775,
+          -0.11851804703474045,
+          0.8823962807655334,
+          87.93728637695312
+        ],
+        [
+          -0.890291690826416,
+          0.05271943658590317,
+          -0.45232880115509033,
+          18.850109100341797
+        ],
+        [
+          0.007089689839631319,
+          -0.9915514588356018,
+          -0.12952066957950592,
+          -29.616703033447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5883,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_783081054",
+      "mask_path": "../../mask/hdr_front_05883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05884.png",
+      "transform_matrix": [
+        [
+          -0.46347758173942566,
+          -0.11832764744758606,
+          0.8781725764274597,
+          87.8873062133789
+        ],
+        [
+          -0.8859748244285583,
+          0.04464889317750931,
+          -0.46157917380332947,
+          18.889114379882812
+        ],
+        [
+          0.015408151783049107,
+          -0.9919703006744385,
+          -0.12552905082702637,
+          -29.58429527282715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5884,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_883080959",
+      "mask_path": "../../mask/hdr_front_05884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05885.png",
+      "transform_matrix": [
+        [
+          -0.46884986758232117,
+          -0.12814441323280334,
+          0.873932957649231,
+          87.83321380615234
+        ],
+        [
+          -0.8829367756843567,
+          0.04050378501415253,
+          -0.46774131059646606,
+          18.917882919311523
+        ],
+        [
+          0.024540837854146957,
+          -0.9909281134605408,
+          -0.1321336328983307,
+          -29.569007873535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5885,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_983080863",
+      "mask_path": "../../mask/hdr_front_05885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05886.png",
+      "transform_matrix": [
+        [
+          -0.4731280207633972,
+          -0.12619490921497345,
+          0.8719086050987244,
+          87.77359771728516
+        ],
+        [
+          -0.8804557919502258,
+          0.03315122053027153,
+          -0.47296786308288574,
+          18.949514389038086
+        ],
+        [
+          0.030781308189034462,
+          -0.9914513826370239,
+          -0.12679383158683777,
+          -29.559736251831055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5886,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_83080530",
+      "mask_path": "../../mask/hdr_front_05886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05887.png",
+      "transform_matrix": [
+        [
+          -0.4735897481441498,
+          -0.1190018430352211,
+          0.8726691603660583,
+          87.70669555664062
+        ],
+        [
+          -0.8802022337913513,
+          0.02915165014564991,
+          -0.47370263934135437,
+          18.978059768676758
+        ],
+        [
+          0.030931739136576653,
+          -0.9924660325050354,
+          -0.11855160444974899,
+          -29.551471710205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5887,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_183080673",
+      "mask_path": "../../mask/hdr_front_05887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05888.png",
+      "transform_matrix": [
+        [
+          -0.4713447391986847,
+          -0.11679976433515549,
+          0.8741807341575623,
+          87.64196014404297
+        ],
+        [
+          -0.8813938498497009,
+          0.027219925075769424,
+          -0.4715971350669861,
+          18.995162963867188
+        ],
+        [
+          0.031287290155887604,
+          -0.992782473564148,
+          -0.11577656865119934,
+          -29.541467666625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5888,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_283081531",
+      "mask_path": "../../mask/hdr_front_05888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05889.png",
+      "transform_matrix": [
+        [
+          -0.46771371364593506,
+          -0.11312267184257507,
+          0.8766111135482788,
+          87.5893783569336
+        ],
+        [
+          -0.883232057094574,
+          0.021849006414413452,
+          -0.46842682361602783,
+          19.0123233795166
+        ],
+        [
+          0.03383660688996315,
+          -0.993340790271759,
+          -0.11013264954090118,
+          -29.537403106689453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5889,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_383080720",
+      "mask_path": "../../mask/hdr_front_05889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05890.png",
+      "transform_matrix": [
+        [
+          -0.4629533588886261,
+          -0.11223374307155609,
+          0.8792484402656555,
+          87.52910614013672
+        ],
+        [
+          -0.8856449127197266,
+          0.018108461052179337,
+          -0.4640099108219147,
+          19.02630043029785
+        ],
+        [
+          0.03615572676062584,
+          -0.9935168623924255,
+          -0.10778260976076126,
+          -29.531665802001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5890,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_483080863",
+      "mask_path": "../../mask/hdr_front_05890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05891.png",
+      "transform_matrix": [
+        [
+          -0.45753565430641174,
+          -0.1176302433013916,
+          0.881376326084137,
+          87.46565246582031
+        ],
+        [
+          -0.8882201313972473,
+          0.01414620690047741,
+          -0.45920035243034363,
+          19.041229248046875
+        ],
+        [
+          0.04154771566390991,
+          -0.992956817150116,
+          -0.1109539344906807,
+          -29.51392936706543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5891,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_583080768",
+      "mask_path": "../../mask/hdr_front_05891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05892.png",
+      "transform_matrix": [
+        [
+          -0.452083557844162,
+          -0.12561443448066711,
+          0.8830863237380981,
+          87.4115219116211
+        ],
+        [
+          -0.8905752301216125,
+          0.008111151866614819,
+          -0.45476365089416504,
+          19.063129425048828
+        ],
+        [
+          0.04996202513575554,
+          -0.9920459389686584,
+          -0.11553601920604706,
+          -29.498815536499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5892,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_683080673",
+      "mask_path": "../../mask/hdr_front_05892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05893.png",
+      "transform_matrix": [
+        [
+          -0.4500200152397156,
+          -0.12348365783691406,
+          0.8844398856163025,
+          87.34806060791016
+        ],
+        [
+          -0.8914265036582947,
+          0.0030062394216656685,
+          -0.4531552493572235,
+          19.089162826538086
+        ],
+        [
+          0.05329842492938042,
+          -0.9923421144485474,
+          -0.11142946034669876,
+          -29.489810943603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5893,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_783081293",
+      "mask_path": "../../mask/hdr_front_05893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05894.png",
+      "transform_matrix": [
+        [
+          -0.45005834102630615,
+          -0.11487054079771042,
+          0.8855802416801453,
+          87.28730010986328
+        ],
+        [
+          -0.8918251991271973,
+          0.006984281353652477,
+          -0.4523262083530426,
+          19.118671417236328
+        ],
+        [
+          0.045773811638355255,
+          -0.993355929851532,
+          -0.10558778792619705,
+          -29.49119758605957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5894,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_883080005",
+      "mask_path": "../../mask/hdr_front_05894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05895.png",
+      "transform_matrix": [
+        [
+          -0.44814378023147583,
+          -0.11044508963823318,
+          0.8871127367019653,
+          87.23966979980469
+        ],
+        [
+          -0.8930597901344299,
+          0.010751117020845413,
+          -0.44980955123901367,
+          19.14187240600586
+        ],
+        [
+          0.04014179855585098,
+          -0.9938240647315979,
+          -0.10345211625099182,
+          -29.495458602905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5895,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_983078479",
+      "mask_path": "../../mask/hdr_front_05895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05896.png",
+      "transform_matrix": [
+        [
+          -0.44468027353286743,
+          -0.1072651818394661,
+          0.8892432451248169,
+          87.18926239013672
+        ],
+        [
+          -0.8948105573654175,
+          0.00923312921077013,
+          -0.4463505148887634,
+          19.166828155517578
+        ],
+        [
+          0.03966737538576126,
+          -0.994187593460083,
+          -0.10008780658245087,
+          -29.497034072875977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5896,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_83081245",
+      "mask_path": "../../mask/hdr_front_05896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05897.png",
+      "transform_matrix": [
+        [
+          -0.4447639286518097,
+          -0.09673473238945007,
+          0.8904085755348206,
+          87.13317108154297
+        ],
+        [
+          -0.8947064876556396,
+          0.002418328309431672,
+          -0.44664809107780457,
+          19.194210052490234
+        ],
+        [
+          0.041053079068660736,
+          -0.9953073263168335,
+          -0.08762478083372116,
+          -29.4898738861084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5897,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_183077812",
+      "mask_path": "../../mask/hdr_front_05897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05898.png",
+      "transform_matrix": [
+        [
+          -0.4485055208206177,
+          -0.09438596665859222,
+          0.8887823820114136,
+          87.0848388671875
+        ],
+        [
+          -0.8924849033355713,
+          -0.006217166315764189,
+          -0.451034277677536,
+          19.218725204467773
+        ],
+        [
+          0.04809700697660446,
+          -0.995516300201416,
+          -0.08144962042570114,
+          -29.46967124938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5898,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_283081054",
+      "mask_path": "../../mask/hdr_front_05898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05899.png",
+      "transform_matrix": [
+        [
+          -0.45314303040504456,
+          -0.10271479934453964,
+          0.8855004906654358,
+          87.04096221923828
+        ],
+        [
+          -0.8895219564437866,
+          -0.01298855897039175,
+          -0.456707626581192,
+          19.241281509399414
+        ],
+        [
+          0.05841200798749924,
+          -0.9946261048316956,
+          -0.08548139780759811,
+          -29.454994201660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5899,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_383080720",
+      "mask_path": "../../mask/hdr_front_05899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05900.png",
+      "transform_matrix": [
+        [
+          -0.45713165402412415,
+          -0.09609204530715942,
+          0.8841928243637085,
+          86.98271942138672
+        ],
+        [
+          -0.8871830701828003,
+          -0.020867839455604553,
+          -0.4609455168247223,
+          19.269351959228516
+        ],
+        [
+          0.0627443790435791,
+          -0.9951537251472473,
+          -0.07571187615394592,
+          -29.453466415405273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5900,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_483080625",
+      "mask_path": "../../mask/hdr_front_05900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05901.png",
+      "transform_matrix": [
+        [
+          -0.4544147253036499,
+          -0.0826033428311348,
+          0.8869521021842957,
+          86.9145278930664
+        ],
+        [
+          -0.8888882994651794,
+          -0.02298199012875557,
+          -0.4575471878051758,
+          19.297475814819336
+        ],
+        [
+          0.058178842067718506,
+          -0.9963175654411316,
+          -0.06298178434371948,
+          -29.456233978271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5901,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_583080768",
+      "mask_path": "../../mask/hdr_front_05901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05902.png",
+      "transform_matrix": [
+        [
+          -0.4496598541736603,
+          -0.07477550953626633,
+          0.8900644779205322,
+          86.86027526855469
+        ],
+        [
+          -0.8915727138519287,
+          -0.02254668064415455,
+          -0.452316015958786,
+          19.316267013549805
+        ],
+        [
+          0.053890153765678406,
+          -0.9969455003738403,
+          -0.05652946978807449,
+          -29.46238136291504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5902,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_683081626",
+      "mask_path": "../../mask/hdr_front_05902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05904.png",
+      "transform_matrix": [
+        [
+          -0.4489966034889221,
+          -0.0662190169095993,
+          0.8910765051841736,
+          86.76213073730469
+        ],
+        [
+          -0.891970157623291,
+          -0.025747695937752724,
+          -0.45136043429374695,
+          19.354875564575195
+        ],
+        [
+          0.05283180996775627,
+          -0.997472882270813,
+          -0.04750475659966469,
+          -29.462366104125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5904,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_883080720",
+      "mask_path": "../../mask/hdr_front_05904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05905.png",
+      "transform_matrix": [
+        [
+          -0.45323142409324646,
+          -0.06893983483314514,
+          0.8887230157852173,
+          86.70890808105469
+        ],
+        [
+          -0.8898003101348877,
+          -0.02458278276026249,
+          -0.4556877613067627,
+          19.383380889892578
+        ],
+        [
+          0.05326232314109802,
+          -0.997317910194397,
+          -0.05020098760724068,
+          -29.44793128967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5905,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_983080387",
+      "mask_path": "../../mask/hdr_front_05905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05906.png",
+      "transform_matrix": [
+        [
+          -0.4544188678264618,
+          -0.07834106683731079,
+          0.8873366117477417,
+          86.65826416015625
+        ],
+        [
+          -0.8886235952377319,
+          -0.02953362837433815,
+          -0.4576854705810547,
+          19.40289878845215
+        ],
+        [
+          0.06206183135509491,
+          -0.9964891672134399,
+          -0.056195084005594254,
+          -29.43739128112793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5906,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_83079338",
+      "mask_path": "../../mask/hdr_front_05906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05907.png",
+      "transform_matrix": [
+        [
+          -0.4474235475063324,
+          -0.08509703725576401,
+          0.8902644515037537,
+          86.58820343017578
+        ],
+        [
+          -0.8917958736419678,
+          -0.03231532871723175,
+          -0.45128223299980164,
+          19.417335510253906
+        ],
+        [
+          0.06717196851968765,
+          -0.9958485960960388,
+          -0.06143055483698845,
+          -29.421100616455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5907,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_183080196",
+      "mask_path": "../../mask/hdr_front_05907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05908.png",
+      "transform_matrix": [
+        [
+          -0.43008875846862793,
+          -0.087103933095932,
+          0.898574709892273,
+          86.5236587524414
+        ],
+        [
+          -0.9005045294761658,
+          -0.02933443896472454,
+          -0.4338560104370117,
+          19.42884063720703
+        ],
+        [
+          0.06414975225925446,
+          -0.9957672953605652,
+          -0.065821073949337,
+          -29.411582946777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5908,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_283080577",
+      "mask_path": "../../mask/hdr_front_05908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05910.png",
+      "transform_matrix": [
+        [
+          -0.3927612006664276,
+          -0.08275105804204941,
+          0.9159099459648132,
+          86.4529037475586
+        ],
+        [
+          -0.9177812337875366,
+          -0.028028903529047966,
+          -0.39609602093696594,
+          19.428361892700195
+        ],
+        [
+          0.058449309319257736,
+          -0.9961760640144348,
+          -0.06493870168924332,
+          -29.417625427246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5910,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_483078718",
+      "mask_path": "../../mask/hdr_front_05910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05912.png",
+      "transform_matrix": [
+        [
+          -0.3945031464099884,
+          -0.1093207597732544,
+          0.9123684763908386,
+          86.36906433105469
+        ],
+        [
+          -0.9183813333511353,
+          0.01372683234512806,
+          -0.3954583406448364,
+          19.46915054321289
+        ],
+        [
+          0.030707867816090584,
+          -0.9939117431640625,
+          -0.1058134064078331,
+          -29.333919525146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5912,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_683078765",
+      "mask_path": "../../mask/hdr_front_05912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05914.png",
+      "transform_matrix": [
+        [
+          -0.41100722551345825,
+          -0.13622184097766876,
+          0.9013971090316772,
+          86.27166748046875
+        ],
+        [
+          -0.9107843637466431,
+          0.018726110458374023,
+          -0.4124576151371002,
+          19.53245735168457
+        ],
+        [
+          0.039306070655584335,
+          -0.9905014038085938,
+          -0.13176527619361877,
+          -29.30518913269043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5914,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_883081197",
+      "mask_path": "../../mask/hdr_front_05914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05915.png",
+      "transform_matrix": [
+        [
+          -0.41650626063346863,
+          -0.13971075415611267,
+          0.8983336687088013,
+          86.22236633300781
+        ],
+        [
+          -0.908154308795929,
+          0.01810269244015217,
+          -0.4182441830635071,
+          19.562095642089844
+        ],
+        [
+          0.042170941829681396,
+          -0.9900268912315369,
+          -0.1344188004732132,
+          -29.285802841186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5915,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_983080625",
+      "mask_path": "../../mask/hdr_front_05915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05917.png",
+      "transform_matrix": [
+        [
+          -0.41215455532073975,
+          -0.14124524593353271,
+          0.9000990986824036,
+          86.14974212646484
+        ],
+        [
+          -0.9100915789604187,
+          0.01703357882797718,
+          -0.4140571355819702,
+          19.59093475341797
+        ],
+        [
+          0.043151695281267166,
+          -0.9898281693458557,
+          -0.1355665773153305,
+          -29.287796020507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5917,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_183080911",
+      "mask_path": "../../mask/hdr_front_05917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05919.png",
+      "transform_matrix": [
+        [
+          -0.39849454164505005,
+          -0.13946105539798737,
+          0.906505823135376,
+          86.07533264160156
+        ],
+        [
+          -0.9157761335372925,
+          0.0060166167095303535,
+          -0.4016440510749817,
+          19.59403419494629
+        ],
+        [
+          0.05055960640311241,
+          -0.9902092814445496,
+          -0.1301126778125763,
+          -29.285499572753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5919,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_383081197",
+      "mask_path": "../../mask/hdr_front_05919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05921.png",
+      "transform_matrix": [
+        [
+          -0.369265079498291,
+          -0.14463911950588226,
+          0.9179994463920593,
+          85.99186706542969
+        ],
+        [
+          -0.9273242354393005,
+          -0.007421731483191252,
+          -0.37418538331985474,
+          19.607675552368164
+        ],
+        [
+          0.06093497946858406,
+          -0.9894566535949707,
+          -0.13138677179813385,
+          -29.269807815551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5921,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_583081007",
+      "mask_path": "../../mask/hdr_front_05921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05923.png",
+      "transform_matrix": [
+        [
+          -0.3544009029865265,
+          -0.14583925902843475,
+          0.9236508011817932,
+          85.91212463378906
+        ],
+        [
+          -0.9326167106628418,
+          -0.016718773171305656,
+          -0.3604809641838074,
+          19.63288688659668
+        ],
+        [
+          0.06801457703113556,
+          -0.9891670942306519,
+          -0.1300869584083557,
+          -29.25922393798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5923,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_783081531",
+      "mask_path": "../../mask/hdr_front_05923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05925.png",
+      "transform_matrix": [
+        [
+          -0.3549020290374756,
+          -0.13866513967514038,
+          0.924562931060791,
+          85.83265686035156
+        ],
+        [
+          -0.9325892925262451,
+          -0.01702939346432686,
+          -0.3605371415615082,
+          19.654197692871094
+        ],
+        [
+          0.06573867797851562,
+          -0.9901928901672363,
+          -0.12327385693788528,
+          -29.265317916870117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5925,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_983081340",
+      "mask_path": "../../mask/hdr_front_05925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05927.png",
+      "transform_matrix": [
+        [
+          -0.3580091893672943,
+          -0.12967485189437866,
+          0.924669623374939,
+          85.74639892578125
+        ],
+        [
+          -0.931722104549408,
+          -0.015102852135896683,
+          -0.36285775899887085,
+          19.66398811340332
+        ],
+        [
+          0.061018671840429306,
+          -0.991441547870636,
+          -0.11541396379470825,
+          -29.257291793823242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5927,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_183081388",
+      "mask_path": "../../mask/hdr_front_05927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05928.png",
+      "transform_matrix": [
+        [
+          -0.360348641872406,
+          -0.13456343114376068,
+          0.923060953617096,
+          85.68767547607422
+        ],
+        [
+          -0.9306984543800354,
+          -0.01480070874094963,
+          -0.3654879033565521,
+          19.68431854248047
+        ],
+        [
+          0.06284325569868088,
+          -0.9907944798469543,
+          -0.1199045479297638,
+          -29.244279861450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5928,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_283081769",
+      "mask_path": "../../mask/hdr_front_05928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05930.png",
+      "transform_matrix": [
+        [
+          -0.36452826857566833,
+          -0.1411501169204712,
+          0.9204323291778564,
+          85.58712768554688
+        ],
+        [
+          -0.9290761947631836,
+          -0.011469884775578976,
+          -0.3697105050086975,
+          19.73577117919922
+        ],
+        [
+          0.06274193525314331,
+          -0.9899218082427979,
+          -0.12695811688899994,
+          -29.226112365722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5930,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_483081579",
+      "mask_path": "../../mask/hdr_front_05930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05931.png",
+      "transform_matrix": [
+        [
+          -0.36338961124420166,
+          -0.13444629311561584,
+          0.9218851923942566,
+          85.53437805175781
+        ],
+        [
+          -0.929882824420929,
+          -0.008356724865734577,
+          -0.36776089668273926,
+          19.756906509399414
+        ],
+        [
+          0.0571480318903923,
+          -0.9908856749534607,
+          -0.12198254466056824,
+          -29.227340698242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5931,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_583081007",
+      "mask_path": "../../mask/hdr_front_05931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05932.png",
+      "transform_matrix": [
+        [
+          -0.35872337222099304,
+          -0.12860609591007233,
+          0.9245421290397644,
+          85.47787475585938
+        ],
+        [
+          -0.9318290948867798,
+          -0.008897826075553894,
+          -0.36278846859931946,
+          19.7711238861084
+        ],
+        [
+          0.054883211851119995,
+          -0.9916559457778931,
+          -0.11664703488349915,
+          -29.22446632385254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5932,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_683082103",
+      "mask_path": "../../mask/hdr_front_05932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05933.png",
+      "transform_matrix": [
+        [
+          -0.3508470952510834,
+          -0.12054234743118286,
+          0.9286420345306396,
+          85.41355895996094
+        ],
+        [
+          -0.9346069097518921,
+          -0.01682250387966633,
+          -0.35528433322906494,
+          19.794763565063477
+        ],
+        [
+          0.05844889208674431,
+          -0.9925656914710999,
+          -0.10675758123397827,
+          -29.218280792236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5933,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_783080339",
+      "mask_path": "../../mask/hdr_front_05933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05934.png",
+      "transform_matrix": [
+        [
+          -0.34886130690574646,
+          -0.11718545854091644,
+          0.9298189878463745,
+          85.35502624511719
+        ],
+        [
+          -0.9350658655166626,
+          -0.022992247715592384,
+          -0.35372763872146606,
+          19.823904037475586
+        ],
+        [
+          0.062830351293087,
+          -0.9928438663482666,
+          -0.1015550047159195,
+          -29.20272445678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5934,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_883082628",
+      "mask_path": "../../mask/hdr_front_05934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05936.png",
+      "transform_matrix": [
+        [
+          -0.34774795174598694,
+          -0.121551014482975,
+          0.9296756386756897,
+          85.25433349609375
+        ],
+        [
+          -0.9347043633460999,
+          -0.032763589173555374,
+          -0.35391268134117126,
+          19.854251861572266
+        ],
+        [
+          0.07347795367240906,
+          -0.9920443296432495,
+          -0.1022207960486412,
+          -29.1861572265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5936,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_83081245",
+      "mask_path": "../../mask/hdr_front_05936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05937.png",
+      "transform_matrix": [
+        [
+          -0.33820343017578125,
+          -0.11659721285104752,
+          0.9338219165802002,
+          85.17366027832031
+        ],
+        [
+          -0.9383095502853394,
+          -0.03421002998948097,
+          -0.3441001772880554,
+          19.865964889526367
+        ],
+        [
+          0.07206719368696213,
+          -0.9925898909568787,
+          -0.09783433377742767,
+          -29.178007125854492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5937,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_183080673",
+      "mask_path": "../../mask/hdr_front_05937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05943.png",
+      "transform_matrix": [
+        [
+          -0.34036001563072205,
+          -0.1220041811466217,
+          0.9323464632034302,
+          84.92044067382812
+        ],
+        [
+          -0.9371758103370667,
+          -0.03668368607759476,
+          -0.3469234108924866,
+          19.942508697509766
+        ],
+        [
+          0.07652800530195236,
+          -0.9918514490127563,
+          -0.10185369849205017,
+          -29.141620635986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5943,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_783080816",
+      "mask_path": "../../mask/hdr_front_05943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05944.png",
+      "transform_matrix": [
+        [
+          -0.3362993597984314,
+          -0.13751830160617828,
+          0.9316605925559998,
+          84.84944152832031
+        ],
+        [
+          -0.9385899901390076,
+          -0.032097067683935165,
+          -0.3435383439064026,
+          19.946300506591797
+        ],
+        [
+          0.07714638859033585,
+          -0.9899790287017822,
+          -0.11827908456325531,
+          -29.10264778137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5944,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_883081197",
+      "mask_path": "../../mask/hdr_front_05944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05946.png",
+      "transform_matrix": [
+        [
+          -0.3200492262840271,
+          -0.14644357562065125,
+          0.9360142350196838,
+          84.7713394165039
+        ],
+        [
+          -0.9458784461021423,
+          -0.006594624370336533,
+          -0.32445383071899414,
+          19.95712661743164
+        ],
+        [
+          0.05368684604763985,
+          -0.9891970753669739,
+          -0.13640724122524261,
+          -29.0745792388916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5946,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_83081722",
+      "mask_path": "../../mask/hdr_front_05946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04434.png",
+      "transform_matrix": [
+        [
+          0.8656545877456665,
+          -0.2027139961719513,
+          0.4577653110027313,
+          85.16796112060547
+        ],
+        [
+          -0.4563969373703003,
+          0.05628981068730354,
+          0.8879939913749695,
+          19.678598403930664
+        ],
+        [
+          -0.20577633380889893,
+          -0.9776188135147095,
+          -0.04379051923751831,
+          -29.157445907592773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4434,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_783082723",
+      "mask_path": "../../mask/hdr_left_04434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04435.png",
+      "transform_matrix": [
+        [
+          0.8629517555236816,
+          -0.20083272457122803,
+          0.46365979313850403,
+          85.27410888671875
+        ],
+        [
+          -0.4633764922618866,
+          0.05136236548423767,
+          0.8846718072891235,
+          19.656185150146484
+        ],
+        [
+          -0.20148567855358124,
+          -0.9782781600952148,
+          -0.04873789846897125,
+          -29.176843643188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4435,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_883082389",
+      "mask_path": "../../mask/hdr_left_04435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04436.png",
+      "transform_matrix": [
+        [
+          0.8616165518760681,
+          -0.2012670636177063,
+          0.4659491181373596,
+          85.35440063476562
+        ],
+        [
+          -0.46558064222335815,
+          0.05216287821531296,
+          0.883466899394989,
+          19.64028549194336
+        ],
+        [
+          -0.20211800932884216,
+          -0.9781465530395508,
+          -0.04876164346933365,
+          -29.194883346557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4436,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_983081579",
+      "mask_path": "../../mask/hdr_left_04436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04437.png",
+      "transform_matrix": [
+        [
+          0.8625256419181824,
+          -0.1949579417705536,
+          0.46694841980934143,
+          85.42286682128906
+        ],
+        [
+          -0.4659842550754547,
+          0.05369316786527634,
+          0.8831623196601868,
+          19.621795654296875
+        ],
+        [
+          -0.19725142419338226,
+          -0.9793408513069153,
+          -0.04453558847308159,
+          -29.214872360229492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4437,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_83081245",
+      "mask_path": "../../mask/hdr_left_04437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04438.png",
+      "transform_matrix": [
+        [
+          0.863570511341095,
+          -0.18993288278579712,
+          0.4670882821083069,
+          85.50129699707031
+        ],
+        [
+          -0.46672552824020386,
+          0.049473635852336884,
+          0.8830173015594482,
+          19.60013198852539
+        ],
+        [
+          -0.19082258641719818,
+          -0.9805498123168945,
+          -0.045922547578811646,
+          -29.235984802246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4438,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_183082580",
+      "mask_path": "../../mask/hdr_left_04438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04439.png",
+      "transform_matrix": [
+        [
+          0.8633243441581726,
+          -0.18155249953269958,
+          0.47086066007614136,
+          85.59685516357422
+        ],
+        [
+          -0.47294336557388306,
+          0.03443369269371033,
+          0.8804197311401367,
+          19.561626434326172
+        ],
+        [
+          -0.17605586349964142,
+          -0.9827782511711121,
+          -0.056136585772037506,
+          -29.253042221069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4439,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_283082246",
+      "mask_path": "../../mask/hdr_left_04439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04440.png",
+      "transform_matrix": [
+        [
+          0.8619545102119446,
+          -0.16837622225284576,
+          0.47820886969566345,
+          85.67633056640625
+        ],
+        [
+          -0.4817924499511719,
+          0.021599479019641876,
+          0.8760191202163696,
+          19.52509880065918
+        ],
+        [
+          -0.15782983601093292,
+          -0.9854862093925476,
+          -0.06250461935997009,
+          -29.25523567199707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4440,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_383082866",
+      "mask_path": "../../mask/hdr_left_04440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04441.png",
+      "transform_matrix": [
+        [
+          0.8582831621170044,
+          -0.1530759036540985,
+          0.48981407284736633,
+          85.74520874023438
+        ],
+        [
+          -0.4930413067340851,
+          0.01876768469810486,
+          0.8698034286499023,
+          19.508180618286133
+        ],
+        [
+          -0.14233863353729248,
+          -0.9880362749099731,
+          -0.05936474725604057,
+          -29.26049041748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4441,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_483082532",
+      "mask_path": "../../mask/hdr_left_04441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04442.png",
+      "transform_matrix": [
+        [
+          0.8553009629249573,
+          -0.14581170678138733,
+          0.49719128012657166,
+          85.84135437011719
+        ],
+        [
+          -0.5003442764282227,
+          0.016837172210216522,
+          0.8656627535820007,
+          19.482070922851562
+        ],
+        [
+          -0.13459506630897522,
+          -0.9891690611839294,
+          -0.058555204421281815,
+          -29.269861221313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4442,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_583080768",
+      "mask_path": "../../mask/hdr_left_04442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04443.png",
+      "transform_matrix": [
+        [
+          0.8561392426490784,
+          -0.13983874022960663,
+          0.4974641501903534,
+          85.93425750732422
+        ],
+        [
+          -0.5004698038101196,
+          0.0153187932446599,
+          0.8656184077262878,
+          19.45925521850586
+        ],
+        [
+          -0.12866753339767456,
+          -0.9900558590888977,
+          -0.056870050728321075,
+          -29.28318214416504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4443,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_683081150",
+      "mask_path": "../../mask/hdr_left_04443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04444.png",
+      "transform_matrix": [
+        [
+          0.8591065406799316,
+          -0.12969665229320526,
+          0.49509042501449585,
+          86.00819396972656
+        ],
+        [
+          -0.497481107711792,
+          0.01557400356978178,
+          0.8673349618911743,
+          19.442611694335938
+        ],
+        [
+          -0.1202009841799736,
+          -0.9914315342903137,
+          -0.051141902804374695,
+          -29.294937133789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4444,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_783081293",
+      "mask_path": "../../mask/hdr_left_04444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04445.png",
+      "transform_matrix": [
+        [
+          0.8606038689613342,
+          -0.12357266247272491,
+          0.4940554201602936,
+          86.09053039550781
+        ],
+        [
+          -0.4957698881626129,
+          0.01864464394748211,
+          0.868253767490387,
+          19.420625686645508
+        ],
+        [
+          -0.11650390177965164,
+          -0.9921604990959167,
+          -0.04521794244647026,
+          -29.311609268188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4445,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_883080959",
+      "mask_path": "../../mask/hdr_left_04445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04446.png",
+      "transform_matrix": [
+        [
+          0.8573737144470215,
+          -0.12379322201013565,
+          0.4995853006839752,
+          86.18152618408203
+        ],
+        [
+          -0.5005703568458557,
+          0.0252737645059824,
+          0.8653268218040466,
+          19.39179039001465
+        ],
+        [
+          -0.11974798887968063,
+          -0.9919861555099487,
+          -0.04029814153909683,
+          -29.324199676513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4446,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_983082056",
+      "mask_path": "../../mask/hdr_left_04446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04447.png",
+      "transform_matrix": [
+        [
+          0.8525548577308655,
+          -0.12364615499973297,
+          0.5078009366989136,
+          86.24238586425781
+        ],
+        [
+          -0.5085416436195374,
+          0.027876410633325577,
+          0.8605860471725464,
+          19.363201141357422
+        ],
+        [
+          -0.120563805103302,
+          -0.9919348359107971,
+          -0.03911304101347923,
+          -29.324209213256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4447,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_83081483",
+      "mask_path": "../../mask/hdr_left_04447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04448.png",
+      "transform_matrix": [
+        [
+          0.8472670912742615,
+          -0.12179363518953323,
+          0.5170152187347412,
+          86.2942123413086
+        ],
+        [
+          -0.5182503461837769,
+          0.023799963295459747,
+          0.854897677898407,
+          19.333820343017578
+        ],
+        [
+          -0.11642604321241379,
+          -0.9922701716423035,
+          -0.04295465722680092,
+          -29.32924461364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4448,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_183081865",
+      "mask_path": "../../mask/hdr_left_04448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04449.png",
+      "transform_matrix": [
+        [
+          0.8447648882865906,
+          -0.13417766988277435,
+          0.5180429816246033,
+          86.3794937133789
+        ],
+        [
+          -0.5205591320991516,
+          0.01837746612727642,
+          0.8536278009414673,
+          19.30213737487793
+        ],
+        [
+          -0.12405809760093689,
+          -0.9907869100570679,
+          -0.05432276427745819,
+          -29.359485626220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4449,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_283082246",
+      "mask_path": "../../mask/hdr_left_04449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04450.png",
+      "transform_matrix": [
+        [
+          0.8453296422958374,
+          -0.14787061512470245,
+          0.5133732557296753,
+          86.46483612060547
+        ],
+        [
+          -0.517346203327179,
+          0.013202056288719177,
+          0.8556743264198303,
+          19.271682739257812
+        ],
+        [
+          -0.13330666720867157,
+          -0.9889186024665833,
+          -0.06534020602703094,
+          -29.38895034790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4450,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_383082389",
+      "mask_path": "../../mask/hdr_left_04450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04451.png",
+      "transform_matrix": [
+        [
+          0.8464938998222351,
+          -0.15003690123558044,
+          0.5108199119567871,
+          86.53022003173828
+        ],
+        [
+          -0.5151758193969727,
+          0.011230818927288055,
+          0.8570108413696289,
+          19.2501220703125
+        ],
+        [
+          -0.13432016968727112,
+          -0.9886165857315063,
+          -0.06778855621814728,
+          -29.400434494018555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4451,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_483081817",
+      "mask_path": "../../mask/hdr_left_04451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04452.png",
+      "transform_matrix": [
+        [
+          0.8469728827476501,
+          -0.15193718671798706,
+          0.5094625949859619,
+          86.61007690429688
+        ],
+        [
+          -0.5133022665977478,
+          0.01578160747885704,
+          0.8580626845359802,
+          19.21629524230957
+        ],
+        [
+          -0.1384117603302002,
+          -0.9882642030715942,
+          -0.06462310254573822,
+          -29.4182186126709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4452,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_583081245",
+      "mask_path": "../../mask/hdr_left_04452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04453.png",
+      "transform_matrix": [
+        [
+          0.8422945737838745,
+          -0.1600874960422516,
+          0.5146958827972412,
+          86.68754577636719
+        ],
+        [
+          -0.5182353854179382,
+          0.022075070068240166,
+          0.8549529910087585,
+          19.179649353027344
+        ],
+        [
+          -0.1482292115688324,
+          -0.9868559837341309,
+          -0.06436929851770401,
+          -29.42934226989746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4453,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_683080673",
+      "mask_path": "../../mask/hdr_left_04453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04454.png",
+      "transform_matrix": [
+        [
+          0.8343353271484375,
+          -0.1659616380929947,
+          0.5256816744804382,
+          86.74227905273438
+        ],
+        [
+          -0.5290690064430237,
+          0.02675134316086769,
+          0.8481570482254028,
+          19.1469669342041
+        ],
+        [
+          -0.15482421219348907,
+          -0.9857692718505859,
+          -0.06548555195331573,
+          -29.438566207885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4454,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_783081769",
+      "mask_path": "../../mask/hdr_left_04454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04455.png",
+      "transform_matrix": [
+        [
+          0.8264790773391724,
+          -0.16373296082019806,
+          0.5386313199996948,
+          86.79754638671875
+        ],
+        [
+          -0.5417016744613647,
+          0.029191209003329277,
+          0.8400638103485107,
+          19.110000610351562
+        ],
+        [
+          -0.153269425034523,
+          -0.9860727787017822,
+          -0.06456849724054337,
+          -29.447763442993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4455,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_883081674",
+      "mask_path": "../../mask/hdr_left_04455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04456.png",
+      "transform_matrix": [
+        [
+          0.8202813267707825,
+          -0.16284216940402985,
+          0.5482890009880066,
+          86.86490631103516
+        ],
+        [
+          -0.5513863563537598,
+          0.029654724523425102,
+          0.8337227702140808,
+          19.068387985229492
+        ],
+        [
+          -0.15202458202838898,
+          -0.9862064123153687,
+          -0.06546373665332794,
+          -29.46109962463379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4456,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_983082294",
+      "mask_path": "../../mask/hdr_left_04456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04457.png",
+      "transform_matrix": [
+        [
+          0.8176543116569519,
+          -0.1786019206047058,
+          0.5473049879074097,
+          86.95323944091797
+        ],
+        [
+          -0.5513498783111572,
+          0.030682029202580452,
+          0.833709716796875,
+          19.034435272216797
+        ],
+        [
+          -0.16569456458091736,
+          -0.9834429621696472,
+          -0.0733848512172699,
+          -29.47146987915039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4457,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_83081960",
+      "mask_path": "../../mask/hdr_left_04457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04458.png",
+      "transform_matrix": [
+        [
+          0.8197731375694275,
+          -0.18375714123249054,
+          0.5424067974090576,
+          87.01732635498047
+        ],
+        [
+          -0.5463345646858215,
+          0.03307274729013443,
+          0.8369138240814209,
+          19.014284133911133
+        ],
+        [
+          -0.17172777652740479,
+          -0.9824152588844299,
+          -0.07328072935342789,
+          -29.48044204711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4458,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_183081865",
+      "mask_path": "../../mask/hdr_left_04458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04459.png",
+      "transform_matrix": [
+        [
+          0.8253307938575745,
+          -0.17109757661819458,
+          0.5381028652191162,
+          87.07017517089844
+        ],
+        [
+          -0.5407986640930176,
+          0.034524913877248764,
+          0.8404432535171509,
+          19.002845764160156
+        ],
+        [
+          -0.16237574815750122,
+          -0.9846490621566772,
+          -0.06403486430644989,
+          -29.49154281616211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4459,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_283082246",
+      "mask_path": "../../mask/hdr_left_04459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04460.png",
+      "transform_matrix": [
+        [
+          0.8313767910003662,
+          -0.16678346693515778,
+          0.5300903916358948,
+          87.15609741210938
+        ],
+        [
+          -0.5330555438995361,
+          0.0302344411611557,
+          0.8455398082733154,
+          18.985509872436523
+        ],
+        [
+          -0.1570490449666977,
+          -0.9855299592018127,
+          -0.06376862525939941,
+          -29.504491806030273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4460,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_383082151",
+      "mask_path": "../../mask/hdr_left_04460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04461.png",
+      "transform_matrix": [
+        [
+          0.83790123462677,
+          -0.16085629165172577,
+          0.5215809345245361,
+          87.24666595458984
+        ],
+        [
+          -0.5246180891990662,
+          0.02641770988702774,
+          0.8509277701377869,
+          18.95842933654785
+        ],
+        [
+          -0.15065604448318481,
+          -0.9866242408752441,
+          -0.06225269287824631,
+          -29.512332916259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4461,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_483081817",
+      "mask_path": "../../mask/hdr_left_04461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04462.png",
+      "transform_matrix": [
+        [
+          0.8428491950035095,
+          -0.14887768030166626,
+          0.5171467065811157,
+          87.31439971923828
+        ],
+        [
+          -0.5199180245399475,
+          0.022743739187717438,
+          0.853913426399231,
+          18.935836791992188
+        ],
+        [
+          -0.13889046013355255,
+          -0.9885940551757812,
+          -0.058234646916389465,
+          -29.516056060791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4462,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_583081483",
+      "mask_path": "../../mask/hdr_left_04462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04463.png",
+      "transform_matrix": [
+        [
+          0.8442009687423706,
+          -0.1378692388534546,
+          0.5179929137229919,
+          87.38667297363281
+        ],
+        [
+          -0.5208866000175476,
+          0.01705234684050083,
+          0.8534555435180664,
+          18.91487693786621
+        ],
+        [
+          -0.1264982521533966,
+          -0.990303635597229,
+          -0.05741862580180168,
+          -29.529081344604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4463,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_683080673",
+      "mask_path": "../../mask/hdr_left_04463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04464.png",
+      "transform_matrix": [
+        [
+          0.8453706502914429,
+          -0.1363172084093094,
+          0.5164938569068909,
+          87.47603607177734
+        ],
+        [
+          -0.5205200910568237,
+          0.007046522106975317,
+          0.8538203239440918,
+          18.89093780517578
+        ],
+        [
+          -0.12002988159656525,
+          -0.9906402230262756,
+          -0.06499891728162766,
+          -29.538148880004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4464,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_783081769",
+      "mask_path": "../../mask/hdr_left_04464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04465.png",
+      "transform_matrix": [
+        [
+          0.8482540249824524,
+          -0.131388321518898,
+          0.5130323171615601,
+          87.54695129394531
+        ],
+        [
+          -0.5174077749252319,
+          0.0009762124391272664,
+          0.8557384014129639,
+          18.872312545776367
+        ],
+        [
+          -0.11293485760688782,
+          -0.9913305044174194,
+          -0.06715325266122818,
+          -29.544679641723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4465,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_883081912",
+      "mask_path": "../../mask/hdr_left_04465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04466.png",
+      "transform_matrix": [
+        [
+          0.8507489562034607,
+          -0.11949358135461807,
+          0.511807918548584,
+          87.60301208496094
+        ],
+        [
+          -0.5153989195823669,
+          0.0009924503974616528,
+          0.8569498062133789,
+          18.859403610229492
+        ],
+        [
+          -0.1029079407453537,
+          -0.9928345084190369,
+          -0.06074252724647522,
+          -29.55159568786621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4466,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_983082771",
+      "mask_path": "../../mask/hdr_left_04466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04467.png",
+      "transform_matrix": [
+        [
+          0.8508662581443787,
+          -0.11133693158626556,
+          0.5134499073028564,
+          87.66708374023438
+        ],
+        [
+          -0.516109824180603,
+          0.005670169368386269,
+          0.8565036654472351,
+          18.83918571472168
+        ],
+        [
+          -0.09827183187007904,
+          -0.9937666058540344,
+          -0.052637528628110886,
+          -29.56320571899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4467,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_83081722",
+      "mask_path": "../../mask/hdr_left_04467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04468.png",
+      "transform_matrix": [
+        [
+          0.8481773138046265,
+          -0.10956694930791855,
+          0.5182567834854126,
+          87.73778533935547
+        ],
+        [
+          -0.5204935669898987,
+          0.00934786256402731,
+          0.853814423084259,
+          18.80946159362793
+        ],
+        [
+          -0.09839442372322083,
+          -0.9939355254173279,
+          -0.04910024255514145,
+          -29.567888259887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4468,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_183082818",
+      "mask_path": "../../mask/hdr_left_04468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04469.png",
+      "transform_matrix": [
+        [
+          0.844255805015564,
+          -0.11090963333845139,
+          0.5243387222290039,
+          87.79049682617188
+        ],
+        [
+          -0.5267803072929382,
+          0.008382049389183521,
+          0.849960207939148,
+          18.78179931640625
+        ],
+        [
+          -0.09866378456354141,
+          -0.9937952160835266,
+          -0.05134841054677963,
+          -29.57315444946289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4469,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_283082723",
+      "mask_path": "../../mask/hdr_left_04469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04470.png",
+      "transform_matrix": [
+        [
+          0.8401696681976318,
+          -0.10802215337753296,
+          0.5314565896987915,
+          87.83274841308594
+        ],
+        [
+          -0.5337644219398499,
+          0.008709137327969074,
+          0.8455883264541626,
+          18.755796432495117
+        ],
+        [
+          -0.09597080200910568,
+          -0.9941103458404541,
+          -0.05034122243523598,
+          -29.57781982421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4470,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_383081912",
+      "mask_path": "../../mask/hdr_left_04470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04471.png",
+      "transform_matrix": [
+        [
+          0.8365818858146667,
+          -0.11057460308074951,
+          0.5365667939186096,
+          87.90203857421875
+        ],
+        [
+          -0.5391351580619812,
+          0.007751058787107468,
+          0.8421836495399475,
+          18.72857666015625
+        ],
+        [
+          -0.09728308022022247,
+          -0.9938377737998962,
+          -0.05313025787472725,
+          -29.588502883911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4471,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_483081340",
+      "mask_path": "../../mask/hdr_left_04471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04472.png",
+      "transform_matrix": [
+        [
+          0.8347569108009338,
+          -0.12137816846370697,
+          0.5370737314224243,
+          87.97882843017578
+        ],
+        [
+          -0.5409758687019348,
+          0.0009535379940643907,
+          0.8410375118255615,
+          18.699138641357422
+        ],
+        [
+          -0.10259570181369781,
+          -0.9926059246063232,
+          -0.06486667692661285,
+          -29.60551643371582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4472,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_583081722",
+      "mask_path": "../../mask/hdr_left_04472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04473.png",
+      "transform_matrix": [
+        [
+          0.8344298601150513,
+          -0.1261603832244873,
+          0.5364793539047241,
+          88.03782653808594
+        ],
+        [
+          -0.5413280725479126,
+          -0.004996410105377436,
+          0.8407966494560242,
+          18.67086410522461
+        ],
+        [
+          -0.10339474678039551,
+          -0.9919973611831665,
+          -0.07246331125497818,
+          -29.618701934814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4473,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_683081865",
+      "mask_path": "../../mask/hdr_left_04473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04474.png",
+      "transform_matrix": [
+        [
+          0.8359357118606567,
+          -0.12587741017341614,
+          0.5341968536376953,
+          88.09930419921875
+        ],
+        [
+          -0.5392897129058838,
+          -0.007725731004029512,
+          0.8420848250389099,
+          18.641864776611328
+        ],
+        [
+          -0.10187239944934845,
+          -0.9920157194137573,
+          -0.07434260845184326,
+          -29.627857208251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4474,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_783081531",
+      "mask_path": "../../mask/hdr_left_04474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04475.png",
+      "transform_matrix": [
+        [
+          0.8395975232124329,
+          -0.13045267760753632,
+          0.5273120403289795,
+          88.1793441772461
+        ],
+        [
+          -0.5322960019111633,
+          -0.0039784591645002365,
+          0.846548855304718,
+          18.608760833740234
+        ],
+        [
+          -0.1083366870880127,
+          -0.9914465546607971,
+          -0.07277973741292953,
+          -29.641820907592773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4475,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_883081436",
+      "mask_path": "../../mask/hdr_left_04475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04476.png",
+      "transform_matrix": [
+        [
+          0.844351589679718,
+          -0.13493794202804565,
+          0.5185191035270691,
+          88.2491683959961
+        ],
+        [
+          -0.5231083035469055,
+          0.001690609846264124,
+          0.8522645235061646,
+          18.58161163330078
+        ],
+        [
+          -0.11587943136692047,
+          -0.9908526539802551,
+          -0.06915968656539917,
+          -29.648635864257812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4476,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_983082532",
+      "mask_path": "../../mask/hdr_left_04476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04477.png",
+      "transform_matrix": [
+        [
+          0.8486853837966919,
+          -0.13403885066509247,
+          0.5116313099861145,
+          88.30172729492188
+        ],
+        [
+          -0.5153845548629761,
+          0.007685036864131689,
+          0.8569245934486389,
+          18.562034606933594
+        ],
+        [
+          -0.11879309266805649,
+          -0.9909462928771973,
+          -0.06255936622619629,
+          -29.653995513916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4477,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_83083391",
+      "mask_path": "../../mask/hdr_left_04477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04478.png",
+      "transform_matrix": [
+        [
+          0.8530663847923279,
+          -0.12777487933635712,
+          0.5059162378311157,
+          88.37346649169922
+        ],
+        [
+          -0.5085079073905945,
+          0.013892099261283875,
+          0.8609452843666077,
+          18.545608520507812
+        ],
+        [
+          -0.1170353814959526,
+          -0.9917059540748596,
+          -0.05312364548444748,
+          -29.669519424438477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4478,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_183084011",
+      "mask_path": "../../mask/hdr_left_04478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04479.png",
+      "transform_matrix": [
+        [
+          0.8584430813789368,
+          -0.1282213181257248,
+          0.4966234266757965,
+          88.46439361572266
+        ],
+        [
+          -0.49887657165527344,
+          0.01620444841682911,
+          0.8665215969085693,
+          18.519115447998047
+        ],
+        [
+          -0.11915404349565506,
+          -0.9916132092475891,
+          -0.05005601420998573,
+          -29.67668342590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4479,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_283081531",
+      "mask_path": "../../mask/hdr_left_04479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04480.png",
+      "transform_matrix": [
+        [
+          0.8658825755119324,
+          -0.13133379817008972,
+          0.48269936442375183,
+          88.53781127929688
+        ],
+        [
+          -0.48524048924446106,
+          0.014063813723623753,
+          0.8742675185203552,
+          18.501489639282227
+        ],
+        [
+          -0.12160944938659668,
+          -0.9912384748458862,
+          -0.05155085399746895,
+          -29.680538177490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4480,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_383082866",
+      "mask_path": "../../mask/hdr_left_04480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04481.png",
+      "transform_matrix": [
+        [
+          0.8739275336265564,
+          -0.12754705548286438,
+          0.46902281045913696,
+          88.60135650634766
+        ],
+        [
+          -0.47135648131370544,
+          0.013125174678862095,
+          0.8818451166152954,
+          18.501108169555664
+        ],
+        [
+          -0.1186327412724495,
+          -0.9917457699775696,
+          -0.04864966869354248,
+          -29.699689865112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4481,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_483081102",
+      "mask_path": "../../mask/hdr_left_04481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04482.png",
+      "transform_matrix": [
+        [
+          0.8792819976806641,
+          -0.1250923126935959,
+          0.4595814049243927,
+          88.67024230957031
+        ],
+        [
+          -0.46098724007606506,
+          0.019204627722501755,
+          0.8871988654136658,
+          18.493955612182617
+        ],
+        [
+          -0.11980784684419632,
+          -0.9919592142105103,
+          -0.04077967628836632,
+          -29.716890335083008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4482,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_583081722",
+      "mask_path": "../../mask/hdr_left_04482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04483.png",
+      "transform_matrix": [
+        [
+          0.8795273303985596,
+          -0.13393113017082214,
+          0.4566115438938141,
+          88.72420501708984
+        ],
+        [
+          -0.4578576683998108,
+          0.02316964790225029,
+          0.8887234926223755,
+          18.48769760131836
+        ],
+        [
+          -0.12960729002952576,
+          -0.9907197952270508,
+          -0.04094306007027626,
+          -29.73391342163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4483,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_683081150",
+      "mask_path": "../../mask/hdr_left_04483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04484.png",
+      "transform_matrix": [
+        [
+          0.8769049048423767,
+          -0.14692769944667816,
+          0.4576571583747864,
+          88.79412841796875
+        ],
+        [
+          -0.4591374397277832,
+          0.02570411190390587,
+          0.887993335723877,
+          18.480133056640625
+        ],
+        [
+          -0.14223448932170868,
+          -0.9888132214546204,
+          -0.0449199452996254,
+          -29.761573791503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4484,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_783081054",
+      "mask_path": "../../mask/hdr_left_04484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04486.png",
+      "transform_matrix": [
+        [
+          0.8726611733436584,
+          -0.1541266143321991,
+          0.46336519718170166,
+          88.9361343383789
+        ],
+        [
+          -0.46575191617012024,
+          0.022469351068139076,
+          0.884630024433136,
+          18.459375381469727
+        ],
+        [
+          -0.14675651490688324,
+          -0.9877957105636597,
+          -0.052176617085933685,
+          -29.789600372314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4486,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_983083009",
+      "mask_path": "../../mask/hdr_left_04486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04487.png",
+      "transform_matrix": [
+        [
+          0.8728042840957642,
+          -0.16148518025875092,
+          0.4605811536312103,
+          89.06036376953125
+        ],
+        [
+          -0.4646364152431488,
+          0.013981353491544724,
+          0.8853911757469177,
+          18.44207191467285
+        ],
+        [
+          -0.14941708743572235,
+          -0.9867761135101318,
+          -0.0628289058804512,
+          -29.81747817993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4487,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_83081960",
+      "mask_path": "../../mask/hdr_left_04487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04488.png",
+      "transform_matrix": [
+        [
+          0.8750830292701721,
+          -0.15884757041931152,
+          0.45716187357902527,
+          89.12349700927734
+        ],
+        [
+          -0.4617336392402649,
+          0.009032216854393482,
+          0.8869726061820984,
+          18.436065673828125
+        ],
+        [
+          -0.14502260088920593,
+          -0.9872618913650513,
+          -0.0654413178563118,
+          -29.835676193237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4488,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_183081865",
+      "mask_path": "../../mask/hdr_left_04488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04489.png",
+      "transform_matrix": [
+        [
+          0.8787234425544739,
+          -0.1495249718427658,
+          0.45330727100372314,
+          89.1838607788086
+        ],
+        [
+          -0.45826226472854614,
+          0.001476834062486887,
+          0.8888158202171326,
+          18.443164825439453
+        ],
+        [
+          -0.1335696130990982,
+          -0.9887569546699524,
+          -0.06722392141819,
+          -29.834060668945312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4489,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_283082723",
+      "mask_path": "../../mask/hdr_left_04489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04490.png",
+      "transform_matrix": [
+        [
+          0.8770074844360352,
+          -0.15595319867134094,
+          0.4544626474380493,
+          89.27542877197266
+        ],
+        [
+          -0.4587933123111725,
+          0.009125362150371075,
+          0.8884961009025574,
+          18.43062973022461
+        ],
+        [
+          -0.14271096885204315,
+          -0.9877223968505859,
+          -0.0635472759604454,
+          -29.85674285888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4490,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_383082151",
+      "mask_path": "../../mask/hdr_left_04490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04491.png",
+      "transform_matrix": [
+        [
+          0.870100200176239,
+          -0.17216746509075165,
+          0.46182671189308167,
+          89.35503387451172
+        ],
+        [
+          -0.46695196628570557,
+          0.011925501748919487,
+          0.8842023015022278,
+          18.4075870513916
+        ],
+        [
+          -0.15773837268352509,
+          -0.9849956631660461,
+          -0.07001754641532898,
+          -29.87062644958496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4491,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_483081579",
+      "mask_path": "../../mask/hdr_left_04491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04492.png",
+      "transform_matrix": [
+        [
+          0.8641424179077148,
+          -0.18078161776065826,
+          0.4696550667285919,
+          89.40119171142578
+        ],
+        [
+          -0.4768826365470886,
+          0.003941796720027924,
+          0.8789581060409546,
+          18.38044548034668
+        ],
+        [
+          -0.16075073182582855,
+          -0.9835153818130493,
+          -0.0828053280711174,
+          -29.872087478637695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4492,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_583081960",
+      "mask_path": "../../mask/hdr_left_04492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04493.png",
+      "transform_matrix": [
+        [
+          0.8582366108894348,
+          -0.18687261641025543,
+          0.4780257046222687,
+          89.4658203125
+        ],
+        [
+          -0.48645684123039246,
+          0.0008453126065433025,
+          0.8737042546272278,
+          18.341217041015625
+        ],
+        [
+          -0.1636754423379898,
+          -0.9823838472366333,
+          -0.09017997980117798,
+          -29.888751983642578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4493,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_683082580",
+      "mask_path": "../../mask/hdr_left_04493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04494.png",
+      "transform_matrix": [
+        [
+          0.8548285365104675,
+          -0.1829761117696762,
+          0.48557987809181213,
+          89.55474853515625
+        ],
+        [
+          -0.4939801096916199,
+          -0.00038083051913417876,
+          0.8694730997085571,
+          18.30593490600586
+        ],
+        [
+          -0.15890787541866302,
+          -0.983117401599884,
+          -0.09071210771799088,
+          -29.91073226928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4494,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_783082485",
+      "mask_path": "../../mask/hdr_left_04494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04495.png",
+      "transform_matrix": [
+        [
+          0.8550682067871094,
+          -0.17720401287078857,
+          0.487295538187027,
+          89.64765930175781
+        ],
+        [
+          -0.4961302876472473,
+          -0.006453237030655146,
+          0.8682240843772888,
+          18.270322799682617
+        ],
+        [
+          -0.1507081538438797,
+          -0.9841530919075012,
+          -0.09343422949314117,
+          -29.93492889404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4495,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_883081912",
+      "mask_path": "../../mask/hdr_left_04495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04496.png",
+      "transform_matrix": [
+        [
+          0.8564996123313904,
+          -0.16872504353523254,
+          0.48779115080833435,
+          89.7216567993164
+        ],
+        [
+          -0.4963764548301697,
+          -0.010196156799793243,
+          0.8680474758148193,
+          18.239349365234375
+        ],
+        [
+          -0.1414877325296402,
+          -0.9856104254722595,
+          -0.09248413890600204,
+          -29.956491470336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4496,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_983082294",
+      "mask_path": "../../mask/hdr_left_04496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04497.png",
+      "transform_matrix": [
+        [
+          0.8576968312263489,
+          -0.15314006805419922,
+          0.49081990122795105,
+          89.80194854736328
+        ],
+        [
+          -0.49838629364967346,
+          -0.013017583638429642,
+          0.8668572306632996,
+          18.20218849182129
+        ],
+        [
+          -0.12636129558086395,
+          -0.9881187677383423,
+          -0.08748805522918701,
+          -29.980327606201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4497,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_83082437",
+      "mask_path": "../../mask/hdr_left_04497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04498.png",
+      "transform_matrix": [
+        [
+          0.8557309508323669,
+          -0.14763709902763367,
+          0.49591103196144104,
+          89.90458679199219
+        ],
+        [
+          -0.5024824142456055,
+          -0.008479954674839973,
+          0.8645457625389099,
+          18.155071258544922
+        ],
+        [
+          -0.12343374639749527,
+          -0.9890052676200867,
+          -0.08144161105155945,
+          -29.984771728515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4498,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_183082580",
+      "mask_path": "../../mask/hdr_left_04498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04499.png",
+      "transform_matrix": [
+        [
+          0.8513271808624268,
+          -0.1484096646308899,
+          0.5032063126564026,
+          89.98179626464844
+        ],
+        [
+          -0.5088754892349243,
+          -0.00026532294577918947,
+          0.8608401417732239,
+          18.12114143371582
+        ],
+        [
+          -0.12762346863746643,
+          -0.9889259338378906,
+          -0.07574791461229324,
+          -29.984298706054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4499,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_283081531",
+      "mask_path": "../../mask/hdr_left_04499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04500.png",
+      "transform_matrix": [
+        [
+          0.8471102714538574,
+          -0.1416039764881134,
+          0.5122035145759583,
+          90.03524017333984
+        ],
+        [
+          -0.516541600227356,
+          0.007046469487249851,
+          0.8562330603599548,
+          18.10202980041504
+        ],
+        [
+          -0.12485521286725998,
+          -0.9898983836174011,
+          -0.06717520952224731,
+          -29.983661651611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4500,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_383079528",
+      "mask_path": "../../mask/hdr_left_04500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04501.png",
+      "transform_matrix": [
+        [
+          0.8433017134666443,
+          -0.14800207316875458,
+          0.5166599750518799,
+          90.12638854980469
+        ],
+        [
+          -0.5220623016357422,
+          0.0027351099997758865,
+          0.852902889251709,
+          18.074405670166016
+        ],
+        [
+          -0.12764452397823334,
+          -0.9889833331108093,
+          -0.07495976984500885,
+          -30.003700256347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4501,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_483082056",
+      "mask_path": "../../mask/hdr_left_04501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04502.png",
+      "transform_matrix": [
+        [
+          0.839259922504425,
+          -0.16427786648273468,
+          0.5183200240135193,
+          90.22237396240234
+        ],
+        [
+          -0.5261958837509155,
+          -0.005254669580608606,
+          0.850347101688385,
+          18.04433250427246
+        ],
+        [
+          -0.13696959614753723,
+          -0.9864001274108887,
+          -0.09085237234830856,
+          -30.026657104492188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4502,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_583082437",
+      "mask_path": "../../mask/hdr_left_04502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04503.png",
+      "transform_matrix": [
+        [
+          0.8353447914123535,
+          -0.17627911269664764,
+          0.5206964015960693,
+          90.28376770019531
+        ],
+        [
+          -0.5305383205413818,
+          -0.010449161753058434,
+          0.8475965261459351,
+          18.019819259643555
+        ],
+        [
+          -0.1439727246761322,
+          -0.9842848181724548,
+          -0.10225149244070053,
+          -30.044429779052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4503,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_683082580",
+      "mask_path": "../../mask/hdr_left_04503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04504.png",
+      "transform_matrix": [
+        [
+          0.8329452872276306,
+          -0.18109861016273499,
+          0.5228817462921143,
+          90.34080505371094
+        ],
+        [
+          -0.534270703792572,
+          -0.017175650224089622,
+          0.8451389670372009,
+          17.999263763427734
+        ],
+        [
+          -0.14407263696193695,
+          -0.9833149909973145,
+          -0.11106204241514206,
+          -30.060794830322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4504,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_783081293",
+      "mask_path": "../../mask/hdr_left_04504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04505.png",
+      "transform_matrix": [
+        [
+          0.8294767141342163,
+          -0.1920916885137558,
+          0.524470329284668,
+          90.43194580078125
+        ],
+        [
+          -0.5371687412261963,
+          -0.017086777836084366,
+          0.8433017134666443,
+          17.95608901977539
+        ],
+        [
+          -0.15302972495555878,
+          -0.981228232383728,
+          -0.1173587292432785,
+          -30.083797454833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4505,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_883080720",
+      "mask_path": "../../mask/hdr_left_04505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04506.png",
+      "transform_matrix": [
+        [
+          0.8233325481414795,
+          -0.2034844160079956,
+          0.5298278331756592,
+          90.52108001708984
+        ],
+        [
+          -0.5432398319244385,
+          -0.012199766933918,
+          0.8394889831542969,
+          17.914684295654297
+        ],
+        [
+          -0.16435910761356354,
+          -0.9790022373199463,
+          -0.12058528512716293,
+          -30.11051368713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4506,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_983081340",
+      "mask_path": "../../mask/hdr_left_04506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04507.png",
+      "transform_matrix": [
+        [
+          0.8166249990463257,
+          -0.20334523916244507,
+          0.5401613712310791,
+          90.57402801513672
+        ],
+        [
+          -0.5522097945213318,
+          -0.003029221436008811,
+          0.8336997032165527,
+          17.892621994018555
+        ],
+        [
+          -0.16789257526397705,
+          -0.9791024327278137,
+          -0.11476296931505203,
+          -30.121795654296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4507,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_83081960",
+      "mask_path": "../../mask/hdr_left_04507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04508.png",
+      "transform_matrix": [
+        [
+          0.8106374144554138,
+          -0.1985992193222046,
+          0.5508404970169067,
+          90.6330795288086
+        ],
+        [
+          -0.5612556338310242,
+          0.004617711994796991,
+          0.8276297450065613,
+          17.865398406982422
+        ],
+        [
+          -0.16691021621227264,
+          -0.9800699353218079,
+          -0.10772162675857544,
+          -30.13979721069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4508,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_183080911",
+      "mask_path": "../../mask/hdr_left_04508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04509.png",
+      "transform_matrix": [
+        [
+          0.8095064759254456,
+          -0.19482816755771637,
+          0.553842306137085,
+          90.72976684570312
+        ],
+        [
+          -0.5627281665802002,
+          0.011561097577214241,
+          0.8265611529350281,
+          17.84000015258789
+        ],
+        [
+          -0.16744041442871094,
+          -0.9807692766189575,
+          -0.10027652233839035,
+          -30.160640716552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4509,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_283082485",
+      "mask_path": "../../mask/hdr_left_04509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04510.png",
+      "transform_matrix": [
+        [
+          0.8122118711471558,
+          -0.19541461765766144,
+          0.5496588349342346,
+          90.81078338623047
+        ],
+        [
+          -0.5576083064079285,
+          0.016807621344923973,
+          0.8299339413642883,
+          17.8219051361084
+        ],
+        [
+          -0.1714196801185608,
+          -0.9805766940116882,
+          -0.09531346708536148,
+          -30.17641830444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4510,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_383080244",
+      "mask_path": "../../mask/hdr_left_04510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04511.png",
+      "transform_matrix": [
+        [
+          0.8176243305206299,
+          -0.1956578642129898,
+          0.5414872169494629,
+          90.8707046508789
+        ],
+        [
+          -0.5490595698356628,
+          0.01807050034403801,
+          0.8355877995491028,
+          17.812009811401367
+        ],
+        [
+          -0.17327426373958588,
+          -0.9805057644844055,
+          -0.09265293926000595,
+          -30.191577911376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4511,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_483081340",
+      "mask_path": "../../mask/hdr_left_04511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04512.png",
+      "transform_matrix": [
+        [
+          0.8254417181015015,
+          -0.19657403230667114,
+          0.5291545391082764,
+          90.95021057128906
+        ],
+        [
+          -0.5363137125968933,
+          0.019347218796610832,
+          0.8437968492507935,
+          17.79456329345703
+        ],
+        [
+          -0.17610621452331543,
+          -0.9802981615066528,
+          -0.08945535868406296,
+          -30.2142276763916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4512,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_583082437",
+      "mask_path": "../../mask/hdr_left_04512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04513.png",
+      "transform_matrix": [
+        [
+          0.8222246170043945,
+          -0.21109622716903687,
+          0.5285688042640686,
+          91.00772857666016
+        ],
+        [
+          -0.5291513800621033,
+          0.058530256152153015,
+          0.8465063571929932,
+          17.786476135253906
+        ],
+        [
+          -0.20963154733181,
+          -0.9757114052772522,
+          -0.0635768324136734,
+          -30.226688385009766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4513,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_683082342",
+      "mask_path": "../../mask/hdr_left_04513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04515.png",
+      "transform_matrix": [
+        [
+          0.8232610821723938,
+          -0.22102729976177216,
+          0.5228652954101562,
+          91.0772476196289
+        ],
+        [
+          -0.522286593914032,
+          0.06592520326375961,
+          0.8502180576324463,
+          17.770055770874023
+        ],
+        [
+          -0.22239135205745697,
+          -0.9730369448661804,
+          -0.06116592139005661,
+          -30.215946197509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4515,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_883081912",
+      "mask_path": "../../mask/hdr_left_04515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04516.png",
+      "transform_matrix": [
+        [
+          0.8306143283843994,
+          -0.21458542346954346,
+          0.5138413310050964,
+          91.1563491821289
+        ],
+        [
+          -0.5136173367500305,
+          0.06124865636229515,
+          0.8558304905891418,
+          17.743144989013672
+        ],
+        [
+          -0.21512079238891602,
+          -0.9747829437255859,
+          -0.05934077501296997,
+          -30.239641189575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4516,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_983082532",
+      "mask_path": "../../mask/hdr_left_04516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04517.png",
+      "transform_matrix": [
+        [
+          0.838503360748291,
+          -0.20512886345386505,
+          0.5048109889030457,
+          91.22713470458984
+        ],
+        [
+          -0.5051229596138,
+          0.05483480542898178,
+          0.8613036274909973,
+          17.724872589111328
+        ],
+        [
+          -0.20435942709445953,
+          -0.9771977066993713,
+          -0.05763611942529678,
+          -30.26349639892578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4517,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_83081960",
+      "mask_path": "../../mask/hdr_left_04517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04519.png",
+      "transform_matrix": [
+        [
+          0.8520656824111938,
+          -0.18743932247161865,
+          0.488723486661911,
+          91.3265380859375
+        ],
+        [
+          -0.48491623997688293,
+          0.06887690722942352,
+          0.8718441128730774,
+          17.707841873168945
+        ],
+        [
+          -0.1970796287059784,
+          -0.9798584580421448,
+          -0.03220471367239952,
+          -30.289464950561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4519,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_283082962",
+      "mask_path": "../../mask/hdr_left_04519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04520.png",
+      "transform_matrix": [
+        [
+          0.8606694340705872,
+          -0.18251122534275055,
+          0.4753289818763733,
+          91.38444519042969
+        ],
+        [
+          -0.4685222804546356,
+          0.0815972238779068,
+          0.8796753883361816,
+          17.701492309570312
+        ],
+        [
+          -0.19933614134788513,
+          -0.9798120856285095,
+          -0.015282326377928257,
+          -30.30260467529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4520,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_383081912",
+      "mask_path": "../../mask/hdr_left_04520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04521.png",
+      "transform_matrix": [
+        [
+          0.8705776929855347,
+          -0.17465610802173615,
+          0.4599887430667877,
+          91.45589447021484
+        ],
+        [
+          -0.4539402425289154,
+          0.07556518167257309,
+          0.8878220915794373,
+          17.672365188598633
+        ],
+        [
+          -0.18982268869876862,
+          -0.9817256331443787,
+          -0.013498073443770409,
+          -30.32059097290039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4521,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_483083248",
+      "mask_path": "../../mask/hdr_left_04521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04522.png",
+      "transform_matrix": [
+        [
+          0.8773485422134399,
+          -0.16796475648880005,
+          0.4494968056678772,
+          91.5217056274414
+        ],
+        [
+          -0.44456207752227783,
+          0.06808171421289444,
+          0.8931570053100586,
+          17.647762298583984
+        ],
+        [
+          -0.1806214153766632,
+          -0.9834392666816711,
+          -0.014939358457922935,
+          -30.329084396362305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4522,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_583081960",
+      "mask_path": "../../mask/hdr_left_04522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04524.png",
+      "transform_matrix": [
+        [
+          0.876308798789978,
+          -0.1593325436115265,
+          0.4546383321285248,
+          91.64301300048828
+        ],
+        [
+          -0.44908004999160767,
+          0.0714372843503952,
+          0.8906311392784119,
+          17.615957260131836
+        ],
+        [
+          -0.17438463866710663,
+          -0.9846369624137878,
+          -0.00895193312317133,
+          -30.3627986907959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4524,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_783080577",
+      "mask_path": "../../mask/hdr_left_04524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04525.png",
+      "transform_matrix": [
+        [
+          0.8757727742195129,
+          -0.16840997338294983,
+          0.4523937702178955,
+          91.71215057373047
+        ],
+        [
+          -0.4475463926792145,
+          0.06793007254600525,
+          0.8916769027709961,
+          17.603139877319336
+        ],
+        [
+          -0.18089841306209564,
+          -0.9833736419677734,
+          -0.01587996631860733,
+          -30.385610580444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4525,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_883081436",
+      "mask_path": "../../mask/hdr_left_04525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04526.png",
+      "transform_matrix": [
+        [
+          0.8764819502830505,
+          -0.17262838780879974,
+          0.4494204819202423,
+          91.76580810546875
+        ],
+        [
+          -0.44490715861320496,
+          0.06624042987823486,
+          0.8931236267089844,
+          17.58820343017578
+        ],
+        [
+          -0.18394829332828522,
+          -0.9827572703361511,
+          -0.018745057284832,
+          -30.40985679626465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4526,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_983080863",
+      "mask_path": "../../mask/hdr_left_04526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04527.png",
+      "transform_matrix": [
+        [
+          0.8771501779556274,
+          -0.1715528666973114,
+          0.4485277235507965,
+          91.81777954101562
+        ],
+        [
+          -0.44370201230049133,
+          0.06771472096443176,
+          0.8936125040054321,
+          17.57361602783203
+        ],
+        [
+          -0.183673694729805,
+          -0.9828450679779053,
+          -0.01672236993908882,
+          -30.430500030517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4527,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_83082914",
+      "mask_path": "../../mask/hdr_left_04527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04528.png",
+      "transform_matrix": [
+        [
+          0.8774892687797546,
+          -0.1700301468372345,
+          0.4484443664550781,
+          91.88624572753906
+        ],
+        [
+          -0.4432087242603302,
+          0.06977219134569168,
+          0.8936989903450012,
+          17.55390167236328
+        ],
+        [
+          -0.1832447201013565,
+          -0.9829657673835754,
+          -0.014134490862488747,
+          -30.43702507019043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4528,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_183081150",
+      "mask_path": "../../mask/hdr_left_04528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04529.png",
+      "transform_matrix": [
+        [
+          0.8758891820907593,
+          -0.1657189428806305,
+          0.45316144824028015,
+          91.95738220214844
+        ],
+        [
+          -0.4477282166481018,
+          0.07098716497421265,
+          0.8913474082946777,
+          17.53331756591797
+        ],
+        [
+          -0.17988181114196777,
+          -0.9836148023605347,
+          -0.012020156718790531,
+          -30.43585205078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4529,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_283082485",
+      "mask_path": "../../mask/hdr_left_04529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04531.png",
+      "transform_matrix": [
+        [
+          0.8674116730690002,
+          -0.15120774507522583,
+          0.47406038641929626,
+          92.05770874023438
+        ],
+        [
+          -0.46933385729789734,
+          0.06786344945430756,
+          0.8804091811180115,
+          17.49972152709961
+        ],
+        [
+          -0.1652960479259491,
+          -0.9861698150634766,
+          -0.01210135780274868,
+          -30.4395809173584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4531,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_483082056",
+      "mask_path": "../../mask/hdr_left_04531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04532.png",
+      "transform_matrix": [
+        [
+          0.8644531965255737,
+          -0.15171588957309723,
+          0.47927337884902954,
+          92.12222290039062
+        ],
+        [
+          -0.4762011170387268,
+          0.05839059129357338,
+          0.8773955702781677,
+          17.479618072509766
+        ],
+        [
+          -0.16109991073608398,
+          -0.9866980314254761,
+          -0.021771345287561417,
+          -30.443525314331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4532,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_583080768",
+      "mask_path": "../../mask/hdr_left_04532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04533.png",
+      "transform_matrix": [
+        [
+          0.8630208969116211,
+          -0.1545661836862564,
+          0.48094114661216736,
+          92.18505859375
+        ],
+        [
+          -0.47915729880332947,
+          0.05109433829784393,
+          0.8762404918670654,
+          17.45773696899414
+        ],
+        [
+          -0.16001051664352417,
+          -0.9866604208946228,
+          -0.029966026544570923,
+          -30.455297470092773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4533,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_683082580",
+      "mask_path": "../../mask/hdr_left_04533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04534.png",
+      "transform_matrix": [
+        [
+          0.864130437374115,
+          -0.15258976817131042,
+          0.47957783937454224,
+          92.2417984008789
+        ],
+        [
+          -0.47838446497917175,
+          0.04688563197851181,
+          0.876897931098938,
+          17.449169158935547
+        ],
+        [
+          -0.15629099309444427,
+          -0.9871768951416016,
+          -0.03248128294944763,
+          -30.472923278808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4534,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_783081769",
+      "mask_path": "../../mask/hdr_left_04534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04535.png",
+      "transform_matrix": [
+        [
+          0.864224374294281,
+          -0.15619830787181854,
+          0.4782450199127197,
+          92.32183074951172
+        ],
+        [
+          -0.47799861431121826,
+          0.0416240468621254,
+          0.8773738145828247,
+          17.435449600219727
+        ],
+        [
+          -0.15695078670978546,
+          -0.9868482947349548,
+          -0.038690049201250076,
+          -30.497852325439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4535,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_883082866",
+      "mask_path": "../../mask/hdr_left_04535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04536.png",
+      "transform_matrix": [
+        [
+          0.8627254366874695,
+          -0.1597408801317215,
+          0.4797786772251129,
+          92.41890716552734
+        ],
+        [
+          -0.4799792170524597,
+          0.039903633296489716,
+          0.8763718008995056,
+          17.402236938476562
+        ],
+        [
+          -0.1591373085975647,
+          -0.986352264881134,
+          -0.042246416211128235,
+          -30.5217227935791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4536,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_983082532",
+      "mask_path": "../../mask/hdr_left_04536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04537.png",
+      "transform_matrix": [
+        [
+          0.8618461489677429,
+          -0.15579970180988312,
+          0.48264646530151367,
+          92.48908996582031
+        ],
+        [
+          -0.48255404829978943,
+          0.040972549468278885,
+          0.8749072551727295,
+          17.376863479614258
+        ],
+        [
+          -0.1560855358839035,
+          -0.9869385957717896,
+          -0.03986974060535431,
+          -30.53245735168457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4537,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_83082437",
+      "mask_path": "../../mask/hdr_left_04537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04538.png",
+      "transform_matrix": [
+        [
+          0.8608773946762085,
+          -0.1439363956451416,
+          0.4880291521549225,
+          92.56661224365234
+        ],
+        [
+          -0.48771199584007263,
+          0.03991914540529251,
+          0.8720914125442505,
+          17.357900619506836
+        ],
+        [
+          -0.14500738680362701,
+          -0.9887815117835999,
+          -0.03583400696516037,
+          -30.536334991455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4538,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_183081626",
+      "mask_path": "../../mask/hdr_left_04538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04539.png",
+      "transform_matrix": [
+        [
+          0.8601481318473816,
+          -0.13815101981163025,
+          0.49097803235054016,
+          92.66754150390625
+        ],
+        [
+          -0.49123698472976685,
+          0.034602753818035126,
+          0.8703383207321167,
+          17.337068557739258
+        ],
+        [
+          -0.13722732663154602,
+          -0.989806592464447,
+          -0.03810139372944832,
+          -30.54949951171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4539,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_283082723",
+      "mask_path": "../../mask/hdr_left_04539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04540.png",
+      "transform_matrix": [
+        [
+          0.8610637187957764,
+          -0.1348913311958313,
+          0.4902791678905487,
+          92.74858856201172
+        ],
+        [
+          -0.4911224842071533,
+          0.02927231974899769,
+          0.8705984950065613,
+          17.31778335571289
+        ],
+        [
+          -0.13178779184818268,
+          -0.9904279112815857,
+          -0.041042834520339966,
+          -30.565732955932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4540,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_383082151",
+      "mask_path": "../../mask/hdr_left_04540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04541.png",
+      "transform_matrix": [
+        [
+          0.862263560295105,
+          -0.1286548376083374,
+          0.4898463189601898,
+          92.82688903808594
+        ],
+        [
+          -0.4905960261821747,
+          0.02799924835562706,
+          0.8709371089935303,
+          17.29766082763672
+        ],
+        [
+          -0.1257656067609787,
+          -0.9912941455841064,
+          -0.038974829018116,
+          -30.58030891418457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4541,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_483082532",
+      "mask_path": "../../mask/hdr_left_04541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04542.png",
+      "transform_matrix": [
+        [
+          0.8624624013900757,
+          -0.11945687234401703,
+          0.4918217360973358,
+          92.89472198486328
+        ],
+        [
+          -0.49255457520484924,
+          0.025378355756402016,
+          0.8699113726615906,
+          17.276763916015625
+        ],
+        [
+          -0.11639852821826935,
+          -0.9925150275230408,
+          -0.03695114701986313,
+          -30.593095779418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4542,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_583082437",
+      "mask_path": "../../mask/hdr_left_04542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04543.png",
+      "transform_matrix": [
+        [
+          0.8615002036094666,
+          -0.1132860854268074,
+          0.49495813250541687,
+          92.97721099853516
+        ],
+        [
+          -0.49613723158836365,
+          0.019537586718797684,
+          0.8680241703987122,
+          17.244586944580078
+        ],
+        [
+          -0.10800535976886749,
+          -0.9933704137802124,
+          -0.03937380388379097,
+          -30.58542823791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4543,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_683082103",
+      "mask_path": "../../mask/hdr_left_04543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04544.png",
+      "transform_matrix": [
+        [
+          0.8599984645843506,
+          -0.11130679398775101,
+          0.49800944328308105,
+          93.0554428100586
+        ],
+        [
+          -0.499487042427063,
+          0.016195736825466156,
+          0.8661699891090393,
+          17.211963653564453
+        ],
+        [
+          -0.1044762134552002,
+          -0.993654191493988,
+          -0.04166799038648605,
+          -30.581560134887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4544,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_783081769",
+      "mask_path": "../../mask/hdr_left_04544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04546.png",
+      "transform_matrix": [
+        [
+          0.8556767702102661,
+          -0.10635902732610703,
+          0.5064632892608643,
+          93.17675018310547
+        ],
+        [
+          -0.5084794163703918,
+          0.009245164692401886,
+          0.8610244989395142,
+          17.16240882873535
+        ],
+        [
+          -0.09626007080078125,
+          -0.9942849278450012,
+          -0.04617049917578697,
+          -30.592519760131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4546,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_983080625",
+      "mask_path": "../../mask/hdr_left_04546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04547.png",
+      "transform_matrix": [
+        [
+          0.8562712073326111,
+          -0.11451325565576553,
+          0.50367271900177,
+          93.25209045410156
+        ],
+        [
+          -0.507537841796875,
+          -0.0054085757583379745,
+          0.8616124987602234,
+          17.129966735839844
+        ],
+        [
+          -0.09594187885522842,
+          -0.9934070706367493,
+          -0.06275101006031036,
+          -30.594654083251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4547,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_83080768",
+      "mask_path": "../../mask/hdr_left_04547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04549.png",
+      "transform_matrix": [
+        [
+          0.8597020506858826,
+          -0.09436161071062088,
+          0.5020041465759277,
+          93.34608459472656
+        ],
+        [
+          -0.505261242389679,
+          -0.012814359739422798,
+          0.8628712892532349,
+          17.11540412902832
+        ],
+        [
+          -0.07498905062675476,
+          -0.9954555630683899,
+          -0.058693788945674896,
+          -30.601457595825195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4549,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_283081531",
+      "mask_path": "../../mask/hdr_left_04549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04550.png",
+      "transform_matrix": [
+        [
+          0.8610184192657471,
+          -0.09182035177946091,
+          0.5002161264419556,
+          93.41629791259766
+        ],
+        [
+          -0.5031663179397583,
+          -0.01075335219502449,
+          0.8641226291656494,
+          17.09391212463379
+        ],
+        [
+          -0.07396504282951355,
+          -0.9957175254821777,
+          -0.05545974522829056,
+          -30.60856056213379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4550,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_383081912",
+      "mask_path": "../../mask/hdr_left_04550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04551.png",
+      "transform_matrix": [
+        [
+          0.8616160154342651,
+          -0.10068737715482712,
+          0.49747350811958313,
+          93.48275756835938
+        ],
+        [
+          -0.5005336999893188,
+          -0.0060282014310359955,
+          0.8656960725784302,
+          17.072189331054688
+        ],
+        [
+          -0.0841657966375351,
+          -0.9948999285697937,
+          -0.055591411888599396,
+          -30.632854461669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4551,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_483082056",
+      "mask_path": "../../mask/hdr_left_04551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04554.png",
+      "transform_matrix": [
+        [
+          0.8721008896827698,
+          -0.11139786243438721,
+          0.47647711634635925,
+          93.6541976928711
+        ],
+        [
+          -0.4786417782306671,
+          0.00816658977419138,
+          0.8779723048210144,
+          17.02975845336914
+        ],
+        [
+          -0.10169541835784912,
+          -0.9937424063682556,
+          -0.04619757831096649,
+          -30.672245025634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4554,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_783082246",
+      "mask_path": "../../mask/hdr_left_04554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04555.png",
+      "transform_matrix": [
+        [
+          0.8786166310310364,
+          -0.12074911594390869,
+          0.46200910210609436,
+          93.73186492919922
+        ],
+        [
+          -0.46460607647895813,
+          0.007389626931399107,
+          0.8854867219924927,
+          17.014928817749023
+        ],
+        [
+          -0.11033579707145691,
+          -0.9926556348800659,
+          -0.04960812255740166,
+          -30.693065643310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4555,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_883081436",
+      "mask_path": "../../mask/hdr_left_04555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04556.png",
+      "transform_matrix": [
+        [
+          0.8853939771652222,
+          -0.12304779887199402,
+          0.44825977087020874,
+          93.79129791259766
+        ],
+        [
+          -0.45109933614730835,
+          0.00530199334025383,
+          0.8924580216407776,
+          17.00727653503418
+        ],
+        [
+          -0.11219165474176407,
+          -0.9923866391181946,
+          -0.05081242695450783,
+          -30.704551696777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4556,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_983079910",
+      "mask_path": "../../mask/hdr_left_04556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04557.png",
+      "transform_matrix": [
+        [
+          0.8912184834480286,
+          -0.12191218882799149,
+          0.43688321113586426,
+          93.86248779296875
+        ],
+        [
+          -0.43979260325431824,
+          0.003366859396919608,
+          0.8980931043624878,
+          17.000627517700195
+        ],
+        [
+          -0.11095939576625824,
+          -0.9925352334976196,
+          -0.05061545968055725,
+          -30.703420639038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4557,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_83082675",
+      "mask_path": "../../mask/hdr_left_04557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04558.png",
+      "transform_matrix": [
+        [
+          0.8910453915596008,
+          -0.125437930226326,
+          0.4362376928329468,
+          93.93920135498047
+        ],
+        [
+          -0.4385591447353363,
+          0.009946969337761402,
+          0.8986473083496094,
+          16.981002807617188
+        ],
+        [
+          -0.11706369370222092,
+          -0.9920516014099121,
+          -0.046148739755153656,
+          -30.718164443969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4558,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_183081865",
+      "mask_path": "../../mask/hdr_left_04558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04559.png",
+      "transform_matrix": [
+        [
+          0.8845427632331848,
+          -0.13416294753551483,
+          0.44674864411354065,
+          94.00236511230469
+        ],
+        [
+          -0.44913753867149353,
+          0.013607143424451351,
+          0.8933590054512024,
+          16.962289810180664
+        ],
+        [
+          -0.1259346455335617,
+          -0.9908658862113953,
+          -0.04822150617837906,
+          -30.726686477661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4559,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_283081054",
+      "mask_path": "../../mask/hdr_left_04559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04560.png",
+      "transform_matrix": [
+        [
+          0.8776066303253174,
+          -0.1394505500793457,
+          0.45865023136138916,
+          94.05490112304688
+        ],
+        [
+          -0.4612066149711609,
+          0.015333441086113453,
+          0.8871602416038513,
+          16.94275665283203
+        ],
+        [
+          -0.13074767589569092,
+          -0.9901103377342224,
+          -0.050858788192272186,
+          -30.73073387145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4560,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_383082389",
+      "mask_path": "../../mask/hdr_left_04560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04561.png",
+      "transform_matrix": [
+        [
+          0.8710952401161194,
+          -0.13827502727508545,
+          0.4712463915348053,
+          94.11192321777344
+        ],
+        [
+          -0.4730021059513092,
+          0.021970704197883606,
+          0.8807873129844666,
+          16.919677734375
+        ],
+        [
+          -0.132144495844841,
+          -0.9901502132415771,
+          -0.046265795826911926,
+          -30.73823356628418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4561,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_483082056",
+      "mask_path": "../../mask/hdr_left_04561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04562.png",
+      "transform_matrix": [
+        [
+          0.8649164438247681,
+          -0.1414908468723297,
+          0.48155975341796875,
+          94.18079376220703
+        ],
+        [
+          -0.48388180136680603,
+          0.01981453038752079,
+          0.874908983707428,
+          16.89790153503418
+        ],
+        [
+          -0.1333334892988205,
+          -0.9897412657737732,
+          -0.0513269379734993,
+          -30.73796272277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4562,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_583081722",
+      "mask_path": "../../mask/hdr_left_04562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04563.png",
+      "transform_matrix": [
+        [
+          0.861428439617157,
+          -0.15739567577838898,
+          0.48287448287010193,
+          94.28072357177734
+        ],
+        [
+          -0.4867080748081207,
+          0.015812529250979424,
+          0.8734215497970581,
+          16.869155883789062
+        ],
+        [
+          -0.14510822296142578,
+          -0.9874090552330017,
+          -0.06298437714576721,
+          -30.76214599609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4563,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_683081626",
+      "mask_path": "../../mask/hdr_left_04563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04564.png",
+      "transform_matrix": [
+        [
+          0.8595336675643921,
+          -0.174314484000206,
+          0.4804333448410034,
+          94.36139678955078
+        ],
+        [
+          -0.48558738827705383,
+          0.014637609012424946,
+          0.8740655183792114,
+          16.847087860107422
+        ],
+        [
+          -0.15939468145370483,
+          -0.9845812916755676,
+          -0.0720633938908577,
+          -30.812557220458984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4564,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_783080101",
+      "mask_path": "../../mask/hdr_left_04564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04565.png",
+      "transform_matrix": [
+        [
+          0.8577823042869568,
+          -0.1812400072813034,
+          0.4810006022453308,
+          94.40937042236328
+        ],
+        [
+          -0.48672398924827576,
+          0.014456423930823803,
+          0.8734361529350281,
+          16.83721923828125
+        ],
+        [
+          -0.1652551293373108,
+          -0.9833326935768127,
+          -0.07581339031457901,
+          -30.852476119995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4565,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_883080959",
+      "mask_path": "../../mask/hdr_left_04565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04566.png",
+      "transform_matrix": [
+        [
+          0.8567245602607727,
+          -0.181512251496315,
+          0.48277994990348816,
+          94.4759521484375
+        ],
+        [
+          -0.489359050989151,
+          0.009653372690081596,
+          0.8720288872718811,
+          16.822996139526367
+        ],
+        [
+          -0.16294437646865845,
+          -0.9833413362503052,
+          -0.08055438101291656,
+          -30.862218856811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4566,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_983080625",
+      "mask_path": "../../mask/hdr_left_04566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04567.png",
+      "transform_matrix": [
+        [
+          0.8542757034301758,
+          -0.1875983625650406,
+          0.4847884178161621,
+          94.57341766357422
+        ],
+        [
+          -0.4920234978199005,
+          0.009069066494703293,
+          0.8705346584320068,
+          16.778202056884766
+        ],
+        [
+          -0.1677074283361435,
+          -0.982204020023346,
+          -0.08455531299114227,
+          -30.885393142700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4567,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_83079814",
+      "mask_path": "../../mask/hdr_left_04567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04568.png",
+      "transform_matrix": [
+        [
+          0.848903238773346,
+          -0.19485816359519958,
+          0.4913181960582733,
+          94.65478515625
+        ],
+        [
+          -0.4988971948623657,
+          0.011562317609786987,
+          0.8665840029716492,
+          16.73671531677246
+        ],
+        [
+          -0.17454175651073456,
+          -0.98076331615448,
+          -0.08739890903234482,
+          -30.904146194458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4568,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_183081865",
+      "mask_path": "../../mask/hdr_left_04568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04569.png",
+      "transform_matrix": [
+        [
+          0.8436072468757629,
+          -0.19485516846179962,
+          0.5003582239151001,
+          94.70751953125
+        ],
+        [
+          -0.5080752968788147,
+          0.011845310218632221,
+          0.8612311482429504,
+          16.715652465820312
+        ],
+        [
+          -0.17374221980571747,
+          -0.9807605147361755,
+          -0.08900829404592514,
+          -30.911497116088867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4569,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_283081293",
+      "mask_path": "../../mask/hdr_left_04569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04570.png",
+      "transform_matrix": [
+        [
+          0.8390630483627319,
+          -0.1900295913219452,
+          0.5097665786743164,
+          94.76614379882812
+        ],
+        [
+          -0.5175998210906982,
+          0.009688308462500572,
+          0.8555679321289062,
+          16.681076049804688
+        ],
+        [
+          -0.16752199828624725,
+          -0.981730580329895,
+          -0.09023017436265945,
+          -30.918540954589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4570,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_383080720",
+      "mask_path": "../../mask/hdr_left_04570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04571.png",
+      "transform_matrix": [
+        [
+          0.8376897573471069,
+          -0.17866821587085724,
+          0.516094446182251,
+          94.8722915649414
+        ],
+        [
+          -0.5229289531707764,
+          0.010202610865235329,
+          0.8523151278495789,
+          16.643037796020508
+        ],
+        [
+          -0.15754713118076324,
+          -0.9838564991950989,
+          -0.0848841518163681,
+          -30.917991638183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4571,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_483080387",
+      "mask_path": "../../mask/hdr_left_04571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04572.png",
+      "transform_matrix": [
+        [
+          0.840301513671875,
+          -0.16650967299938202,
+          0.5159144997596741,
+          94.96959686279297
+        ],
+        [
+          -0.5216609239578247,
+          0.01061457023024559,
+          0.8530869483947754,
+          16.62030792236328
+        ],
+        [
+          -0.1475234180688858,
+          -0.9859827756881714,
+          -0.0779421329498291,
+          -30.923341751098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4572,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_583080530",
+      "mask_path": "../../mask/hdr_left_04572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04573.png",
+      "transform_matrix": [
+        [
+          0.843705415725708,
+          -0.15598104894161224,
+          0.5136448740959167,
+          95.04682159423828
+        ],
+        [
+          -0.5188977718353271,
+          0.008114486001431942,
+          0.8547977805137634,
+          16.60262680053711
+        ],
+        [
+          -0.13750021159648895,
+          -0.9877267479896545,
+          -0.07409197837114334,
+          -30.932558059692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4573,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_683081150",
+      "mask_path": "../../mask/hdr_left_04573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04574.png",
+      "transform_matrix": [
+        [
+          0.8447312712669373,
+          -0.14960505068302155,
+          0.5138553977012634,
+          95.11872100830078
+        ],
+        [
+          -0.5186816453933716,
+          0.007786264177411795,
+          0.8549320697784424,
+          16.582508087158203
+        ],
+        [
+          -0.13190317153930664,
+          -0.9887151718139648,
+          -0.07102009654045105,
+          -30.941572189331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4574,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_783079624",
+      "mask_path": "../../mask/hdr_left_04574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05780.png",
+      "transform_matrix": [
+        [
+          -0.9082842469215393,
+          -0.11044996231794357,
+          -0.4035102128982544,
+          94.74308776855469
+        ],
+        [
+          0.4065183103084564,
+          -0.00521540641784668,
+          -0.9136277437210083,
+          16.792879104614258
+        ],
+        [
+          0.09880567342042923,
+          -0.9938679933547974,
+          0.049637001007795334,
+          -30.908416748046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5780,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_383081436",
+      "mask_path": "../../mask/hdr_left_05780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05781.png",
+      "transform_matrix": [
+        [
+          -0.9079697132110596,
+          -0.10505256801843643,
+          -0.40565362572669983,
+          94.6832046508789
+        ],
+        [
+          0.4079870283603668,
+          -0.0007924992823973298,
+          -0.9129873514175415,
+          16.8039493560791
+        ],
+        [
+          0.09559016674757004,
+          -0.9944664239883423,
+          0.043579649180173874,
+          -30.906625747680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5781,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_483083009",
+      "mask_path": "../../mask/hdr_left_05781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05782.png",
+      "transform_matrix": [
+        [
+          -0.9062357544898987,
+          -0.10504058003425598,
+          -0.4095158576965332,
+          94.60566711425781
+        ],
+        [
+          0.4109686613082886,
+          0.008420765399932861,
+          -0.9116105437278748,
+          16.83528709411621
+        ],
+        [
+          0.09920454025268555,
+          -0.9944323301315308,
+          0.03553718701004982,
+          -30.9194278717041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5782,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_583082437",
+      "mask_path": "../../mask/hdr_left_05782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05783.png",
+      "transform_matrix": [
+        [
+          -0.8958412408828735,
+          -0.12866492569446564,
+          -0.42533954977989197,
+          94.51002502441406
+        ],
+        [
+          0.42569100856781006,
+          0.026146503165364265,
+          -0.9044907093048096,
+          16.86875343322754
+        ],
+        [
+          0.1274973601102829,
+          -0.9913434386253357,
+          0.03134837746620178,
+          -30.835304260253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5783,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_683081865",
+      "mask_path": "../../mask/hdr_left_05783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05784.png",
+      "transform_matrix": [
+        [
+          -0.8849061131477356,
+          -0.1462164670228958,
+          -0.4422236979007721,
+          94.43621826171875
+        ],
+        [
+          0.4429095983505249,
+          0.02963261865079403,
+          -0.8960763216018677,
+          16.889699935913086
+        ],
+        [
+          0.14412535727024078,
+          -0.9888087511062622,
+          0.03853859007358551,
+          -30.77075958251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5784,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_783081293",
+      "mask_path": "../../mask/hdr_left_05784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05785.png",
+      "transform_matrix": [
+        [
+          -0.8796491622924805,
+          -0.14478984475135803,
+          -0.4530486464500427,
+          94.3822021484375
+        ],
+        [
+          0.45535266399383545,
+          0.018745843321084976,
+          -0.8901137113571167,
+          16.905271530151367
+        ],
+        [
+          0.1373722106218338,
+          -0.9892849326133728,
+          0.04944068565964699,
+          -30.792329788208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5785,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_883081674",
+      "mask_path": "../../mask/hdr_left_05785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05786.png",
+      "transform_matrix": [
+        [
+          -0.8774720430374146,
+          -0.14275938272476196,
+          -0.4578891396522522,
+          94.27639770507812
+        ],
+        [
+          0.461503803730011,
+          0.008650509640574455,
+          -0.8870959877967834,
+          16.915969848632812
+        ],
+        [
+          0.13060225546360016,
+          -0.9897196292877197,
+          0.0582934133708477,
+          -30.785751342773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5786,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_983081102",
+      "mask_path": "../../mask/hdr_left_05786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05787.png",
+      "transform_matrix": [
+        [
+          -0.8784273862838745,
+          -0.13810111582279205,
+          -0.4574858248233795,
+          94.18960571289062
+        ],
+        [
+          0.460207998752594,
+          0.013433322310447693,
+          -0.8877094984054565,
+          16.924558639526367
+        ],
+        [
+          0.12873920798301697,
+          -0.9903271198272705,
+          0.05175503343343735,
+          -30.773700714111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5787,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_83079814",
+      "mask_path": "../../mask/hdr_left_05787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05789.png",
+      "transform_matrix": [
+        [
+          -0.8781548142433167,
+          -0.12409307807683945,
+          -0.46200114488601685,
+          94.10687255859375
+        ],
+        [
+          0.46242281794548035,
+          0.02713320590555668,
+          -0.8862442970275879,
+          16.93244743347168
+        ],
+        [
+          0.1225123330950737,
+          -0.9918996095657349,
+          0.03355631232261658,
+          -30.783023834228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5789,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_283082008",
+      "mask_path": "../../mask/hdr_left_05789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05790.png",
+      "transform_matrix": [
+        [
+          -0.875191330909729,
+          -0.11967059969902039,
+          -0.4687420725822449,
+          94.03295135498047
+        ],
+        [
+          0.46795204281806946,
+          0.03638186678290367,
+          -0.8830046057701111,
+          16.955162048339844
+        ],
+        [
+          0.12272338569164276,
+          -0.9921468496322632,
+          0.024159008637070656,
+          -30.75374412536621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5790,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_383082151",
+      "mask_path": "../../mask/hdr_left_05790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05791.png",
+      "transform_matrix": [
+        [
+          -0.8711739182472229,
+          -0.12062980234622955,
+          -0.47592487931251526,
+          93.96666717529297
+        ],
+        [
+          0.4747013747692108,
+          0.040550410747528076,
+          -0.8792123198509216,
+          16.98078727722168
+        ],
+        [
+          0.12535814940929413,
+          -0.9918690919876099,
+          0.021936673671007156,
+          -30.727745056152344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5791,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_483082056",
+      "mask_path": "../../mask/hdr_left_05791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05792.png",
+      "transform_matrix": [
+        [
+          -0.8658298850059509,
+          -0.1247546523809433,
+          -0.4845355749130249,
+          93.9148941040039
+        ],
+        [
+          0.48385775089263916,
+          0.03772944584488869,
+          -0.8743330240249634,
+          17.001550674438477
+        ],
+        [
+          0.1273583471775055,
+          -0.9914700388908386,
+          0.027696216478943825,
+          -30.718584060668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5792,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_583081245",
+      "mask_path": "../../mask/hdr_left_05792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05793.png",
+      "transform_matrix": [
+        [
+          -0.8620227575302124,
+          -0.1261630654335022,
+          -0.4909170866012573,
+          93.84630584716797
+        ],
+        [
+          0.4903787672519684,
+          0.03745793178677559,
+          -0.8707039952278137,
+          17.02938461303711
+        ],
+        [
+          0.12823940813541412,
+          -0.9913021326065063,
+          0.029578108340501785,
+          -30.70663833618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5793,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_683081150",
+      "mask_path": "../../mask/hdr_left_05793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05794.png",
+      "transform_matrix": [
+        [
+          -0.8591071963310242,
+          -0.12177426367998123,
+          -0.4970974624156952,
+          93.78019714355469
+        ],
+        [
+          0.4953593313694,
+          0.04632628336548805,
+          -0.8674520254135132,
+          17.06096076965332
+        ],
+        [
+          0.12866200506687164,
+          -0.9914761781692505,
+          0.02052277885377407,
+          -30.70765495300293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5794,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_783081531",
+      "mask_path": "../../mask/hdr_left_05794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05795.png",
+      "transform_matrix": [
+        [
+          -0.8551216721534729,
+          -0.11841966211795807,
+          -0.5047214031219482,
+          93.72183990478516
+        ],
+        [
+          0.5020516514778137,
+          0.053602319210767746,
+          -0.8631749153137207,
+          17.08652114868164
+        ],
+        [
+          0.12927109003067017,
+          -0.9915158152580261,
+          0.013616279698908329,
+          -30.70806121826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5795,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_883081197",
+      "mask_path": "../../mask/hdr_left_05795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05796.png",
+      "transform_matrix": [
+        [
+          -0.850159764289856,
+          -0.12126724421977997,
+          -0.5123695135116577,
+          93.65364074707031
+        ],
+        [
+          0.507362961769104,
+          0.07145635783672333,
+          -0.8587647676467896,
+          17.123693466186523
+        ],
+        [
+          0.14075209200382233,
+          -0.9900445938110352,
+          0.0007771827513352036,
+          -30.703847885131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5796,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_983082294",
+      "mask_path": "../../mask/hdr_left_05796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05797.png",
+      "transform_matrix": [
+        [
+          -0.8407747745513916,
+          -0.1278315782546997,
+          -0.5260767936706543,
+          93.57108306884766
+        ],
+        [
+          0.5198206305503845,
+          0.08090567588806152,
+          -0.8504356145858765,
+          17.16752052307129
+        ],
+        [
+          0.1512751281261444,
+          -0.9884904623031616,
+          -0.0015739507507532835,
+          -30.631729125976562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5797,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_83081007",
+      "mask_path": "../../mask/hdr_left_05797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05799.png",
+      "transform_matrix": [
+        [
+          -0.8277979493141174,
+          -0.13909506797790527,
+          -0.5435100197792053,
+          93.47337341308594
+        ],
+        [
+          0.541378915309906,
+          0.05608662962913513,
+          -0.838905930519104,
+          17.21280288696289
+        ],
+        [
+          0.14717130362987518,
+          -0.9886895418167114,
+          0.028874751180410385,
+          -30.61471939086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5799,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_283080816",
+      "mask_path": "../../mask/hdr_left_05799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05800.png",
+      "transform_matrix": [
+        [
+          -0.8252286314964294,
+          -0.13671281933784485,
+          -0.5480030179023743,
+          93.4027328491211
+        ],
+        [
+          0.5477452278137207,
+          0.04290546104311943,
+          -0.835544228553772,
+          17.239643096923828
+        ],
+        [
+          0.13774193823337555,
+          -0.9896811246871948,
+          0.03947698697447777,
+          -30.605478286743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5800,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_383080244",
+      "mask_path": "../../mask/hdr_left_05800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05801.png",
+      "transform_matrix": [
+        [
+          -0.8266492486000061,
+          -0.1324661374092102,
+          -0.5469037294387817,
+          93.3343276977539
+        ],
+        [
+          0.5473036170005798,
+          0.03665237873792648,
+          -0.83613121509552,
+          17.262306213378906
+        ],
+        [
+          0.13080435991287231,
+          -0.9905096888542175,
+          0.042200516909360886,
+          -30.599138259887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5801,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_483081579",
+      "mask_path": "../../mask/hdr_left_05801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05802.png",
+      "transform_matrix": [
+        [
+          -0.8288012146949768,
+          -0.1319972723722458,
+          -0.5437511801719666,
+          93.2812271118164
+        ],
+        [
+          0.5449548959732056,
+          0.030035853385925293,
+          -0.8379271626472473,
+          17.270023345947266
+        ],
+        [
+          0.126936137676239,
+          -0.9907949566841125,
+          0.047038812190294266,
+          -30.589088439941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5802,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_583081722",
+      "mask_path": "../../mask/hdr_left_05802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05803.png",
+      "transform_matrix": [
+        [
+          -0.8298372626304626,
+          -0.12502802908420563,
+          -0.5438181757926941,
+          93.23237609863281
+        ],
+        [
+          0.545773983001709,
+          0.021076790988445282,
+          -0.8376672863960266,
+          17.278600692749023
+        ],
+        [
+          0.11619383841753006,
+          -0.9919294118881226,
+          0.05074674263596535,
+          -30.594135284423828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5803,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_683084726",
+      "mask_path": "../../mask/hdr_left_05803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05804.png",
+      "transform_matrix": [
+        [
+          -0.8258894681930542,
+          -0.12141738831996918,
+          -0.5506036877632141,
+          93.16718292236328
+        ],
+        [
+          0.5530424118041992,
+          0.015681663528084755,
+          -0.8330054879188538,
+          17.289600372314453
+        ],
+        [
+          0.10977572202682495,
+          -0.9924777150154114,
+          0.05419764295220375,
+          -30.57941246032715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5804,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_783082008",
+      "mask_path": "../../mask/hdr_left_05804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05805.png",
+      "transform_matrix": [
+        [
+          -0.8183419704437256,
+          -0.12383174151182175,
+          -0.5612326860427856,
+          93.10688018798828
+        ],
+        [
+          0.5641003251075745,
+          0.013896063901484013,
+          -0.8255892992019653,
+          17.30447006225586
+        ],
+        [
+          0.1100330725312233,
+          -0.9922059774398804,
+          0.058481790125370026,
+          -30.55101203918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5805,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_883082151",
+      "mask_path": "../../mask/hdr_left_05805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05806.png",
+      "transform_matrix": [
+        [
+          -0.8116058707237244,
+          -0.1215667724609375,
+          -0.5714169144630432,
+          93.0584945678711
+        ],
+        [
+          0.5743955969810486,
+          0.012440444901585579,
+          -0.818483293056488,
+          17.331693649291992
+        ],
+        [
+          0.106609046459198,
+          -0.9925053119659424,
+          0.05973067134618759,
+          -30.54522132873535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5806,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_983082056",
+      "mask_path": "../../mask/hdr_left_05806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05807.png",
+      "transform_matrix": [
+        [
+          -0.8107340335845947,
+          -0.11564616858959198,
+          -0.5738782286643982,
+          93.0069580078125
+        ],
+        [
+          0.576776385307312,
+          0.009987798519432545,
+          -0.8168409466743469,
+          17.353057861328125
+        ],
+        [
+          0.10019630193710327,
+          -0.9932403564453125,
+          0.05860452353954315,
+          -30.55215835571289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5807,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_83082199",
+      "mask_path": "../../mask/hdr_left_05807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05809.png",
+      "transform_matrix": [
+        [
+          -0.8148153424263,
+          -0.10419804602861404,
+          -0.5702794790267944,
+          92.92720031738281
+        ],
+        [
+          0.5726481080055237,
+          0.008523237891495228,
+          -0.8197569251060486,
+          17.375444412231445
+        ],
+        [
+          0.09027768671512604,
+          -0.9945200681686401,
+          0.052723951637744904,
+          -30.552722930908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5809,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_283081769",
+      "mask_path": "../../mask/hdr_left_05809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05813.png",
+      "transform_matrix": [
+        [
+          -0.8131086230278015,
+          -0.10959649085998535,
+          -0.5717017650604248,
+          92.76580047607422
+        ],
+        [
+          0.573078453540802,
+          0.02163814567029476,
+          -0.8192148208618164,
+          17.466501235961914
+        ],
+        [
+          0.10215362161397934,
+          -0.9937406182289124,
+          0.04521322622895241,
+          -30.524173736572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5813,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_683082818",
+      "mask_path": "../../mask/hdr_left_05813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05815.png",
+      "transform_matrix": [
+        [
+          -0.8394516110420227,
+          -0.0791625902056694,
+          -0.5376376509666443,
+          92.69758605957031
+        ],
+        [
+          0.5368070602416992,
+          0.03324517235159874,
+          -0.8430498838424683,
+          17.488094329833984
+        ],
+        [
+          0.08461185544729233,
+          -0.9963072538375854,
+          0.014587316662073135,
+          -30.515012741088867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5815,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_883082151",
+      "mask_path": "../../mask/hdr_left_05815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05817.png",
+      "transform_matrix": [
+        [
+          -0.8793127536773682,
+          -0.07902029901742935,
+          -0.46964332461357117,
+          92.60395050048828
+        ],
+        [
+          0.4689154624938965,
+          0.028689689934253693,
+          -0.8827769756317139,
+          17.477014541625977
+        ],
+        [
+          0.08323121815919876,
+          -0.9964601397514343,
+          0.011826629750430584,
+          -30.52069091796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5817,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_83081722",
+      "mask_path": "../../mask/hdr_left_05817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05818.png",
+      "transform_matrix": [
+        [
+          -0.8930971622467041,
+          -0.08191850781440735,
+          -0.4423424005508423,
+          92.55213165283203
+        ],
+        [
+          0.44242173433303833,
+          0.018173947930336,
+          -0.896622896194458,
+          17.474693298339844
+        ],
+        [
+          0.08148912340402603,
+          -0.9964733719825745,
+          0.020011432468891144,
+          -30.493785858154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5818,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_183081865",
+      "mask_path": "../../mask/hdr_left_05818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05820.png",
+      "transform_matrix": [
+        [
+          -0.8939529657363892,
+          -0.09586590528488159,
+          -0.43778735399246216,
+          92.47359466552734
+        ],
+        [
+          0.4400692284107208,
+          -0.002985370811074972,
+          -0.8979588150978088,
+          17.497224807739258
+        ],
+        [
+          0.08477666974067688,
+          -0.9953899383544922,
+          0.044856417924165726,
+          -30.46614646911621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5820,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_383081674",
+      "mask_path": "../../mask/hdr_left_05820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05821.png",
+      "transform_matrix": [
+        [
+          -0.8914915323257446,
+          -0.09557543694972992,
+          -0.44284090399742126,
+          92.42138671875
+        ],
+        [
+          0.4456315338611603,
+          -0.008979427628219128,
+          -0.8951715230941772,
+          17.50473976135254
+        ],
+        [
+          0.08157992362976074,
+          -0.9953816533088684,
+          0.05059650540351868,
+          -30.460847854614258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5821,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_483082056",
+      "mask_path": "../../mask/hdr_left_05821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05832.png",
+      "transform_matrix": [
+        [
+          -0.8804436326026917,
+          -0.06943795084953308,
+          -0.4690387547016144,
+          91.98486328125
+        ],
+        [
+          0.47125065326690674,
+          -0.018906015902757645,
+          -0.8817967176437378,
+          17.59619140625
+        ],
+        [
+          0.05236249789595604,
+          -0.997407078742981,
+          0.04936835914850235,
+          -30.457611083984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5832,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_583081722",
+      "mask_path": "../../mask/hdr_left_05832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05835.png",
+      "transform_matrix": [
+        [
+          -0.8671929836273193,
+          -0.09227930754423141,
+          -0.4893472492694855,
+          91.86743927001953
+        ],
+        [
+          0.493913859128952,
+          -0.034189313650131226,
+          -0.8688384294509888,
+          17.655786514282227
+        ],
+        [
+          0.06344535946846008,
+          -0.9951460361480713,
+          0.07522676885128021,
+          -30.446430206298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5835,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_883079767",
+      "mask_path": "../../mask/hdr_left_05835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05836.png",
+      "transform_matrix": [
+        [
+          -0.8609409928321838,
+          -0.12405125051736832,
+          -0.4933476746082306,
+          91.78258514404297
+        ],
+        [
+          0.5013126730918884,
+          -0.042165812104940414,
+          -0.8642382025718689,
+          17.672157287597656
+        ],
+        [
+          0.08640742301940918,
+          -0.9913795590400696,
+          0.09849074482917786,
+          -30.399259567260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5836,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_983079910",
+      "mask_path": "../../mask/hdr_left_05836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05837.png",
+      "transform_matrix": [
+        [
+          -0.8572792410850525,
+          -0.14139743149280548,
+          -0.49505460262298584,
+          91.71907043457031
+        ],
+        [
+          0.504136860370636,
+          -0.03539209067821503,
+          -0.8628982901573181,
+          17.68125343322754
+        ],
+        [
+          0.10449056327342987,
+          -0.9893200993537903,
+          0.10162457078695297,
+          -30.36277198791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5837,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_83080530",
+      "mask_path": "../../mask/hdr_left_05837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05839.png",
+      "transform_matrix": [
+        [
+          -0.8568628430366516,
+          -0.1363397091627121,
+          -0.49718961119651794,
+          91.63240814208984
+        ],
+        [
+          0.5045453310012817,
+          -0.023622702807188034,
+          -0.8630619645118713,
+          17.717849731445312
+        ],
+        [
+          0.10592465847730637,
+          -0.9903804659843445,
+          0.08903099596500397,
+          -30.360836029052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5839,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_283079385",
+      "mask_path": "../../mask/hdr_left_05839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05840.png",
+      "transform_matrix": [
+        [
+          -0.8571527600288391,
+          -0.13342437148094177,
+          -0.4974806308746338,
+          91.5750961303711
+        ],
+        [
+          0.5039724111557007,
+          -0.017912501469254494,
+          -0.8635339140892029,
+          17.737945556640625
+        ],
+        [
+          0.10630533844232559,
+          -0.9908971786499023,
+          0.08259595185518265,
+          -30.343978881835938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5840,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_383081197",
+      "mask_path": "../../mask/hdr_left_05840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05842.png",
+      "transform_matrix": [
+        [
+          -0.8601312041282654,
+          -0.134205624461174,
+          -0.4921008348464966,
+          91.49334716796875
+        ],
+        [
+          0.49933895468711853,
+          -0.024666553363204002,
+          -0.8660554885864258,
+          17.766408920288086
+        ],
+        [
+          0.10409107059240341,
+          -0.9906466007232666,
+          0.08823056519031525,
+          -30.35469627380371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5842,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_583082437",
+      "mask_path": "../../mask/hdr_left_05842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05843.png",
+      "transform_matrix": [
+        [
+          -0.8648002743721008,
+          -0.13471905887126923,
+          -0.4837058186531067,
+          91.42786407470703
+        ],
+        [
+          0.4912882149219513,
+          -0.028045792132616043,
+          -0.8705453872680664,
+          17.777000427246094
+        ],
+        [
+          0.10371314734220505,
+          -0.9904869198799133,
+          0.09043989330530167,
+          -30.341524124145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5843,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_683082103",
+      "mask_path": "../../mask/hdr_left_05843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05844.png",
+      "transform_matrix": [
+        [
+          -0.8733463883399963,
+          -0.1349758505821228,
+          -0.4680251181125641,
+          91.35940551757812
+        ],
+        [
+          0.4751472771167755,
+          -0.024522501975297928,
+          -0.8795645236968994,
+          17.781232833862305
+        ],
+        [
+          0.10724282264709473,
+          -0.9905454516410828,
+          0.08555004745721817,
+          -30.318618774414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5844,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_783083200",
+      "mask_path": "../../mask/hdr_left_05844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05846.png",
+      "transform_matrix": [
+        [
+          -0.8903332352638245,
+          -0.12957146763801575,
+          -0.4364836812019348,
+          91.26838684082031
+        ],
+        [
+          0.44225919246673584,
+          -0.018231645226478577,
+          -0.8967019319534302,
+          17.771583557128906
+        ],
+        [
+          0.10822916775941849,
+          -0.9914025068283081,
+          0.07353641092777252,
+          -30.320030212402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5846,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_983081579",
+      "mask_path": "../../mask/hdr_left_05846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05847.png",
+      "transform_matrix": [
+        [
+          -0.8954379558563232,
+          -0.1251971572637558,
+          -0.427219420671463,
+          91.20811462402344
+        ],
+        [
+          0.4327547550201416,
+          -0.019590789452195168,
+          -0.9012987613677979,
+          17.77622413635254
+        ],
+        [
+          0.10447047650814056,
+          -0.991938591003418,
+          0.07172201573848724,
+          -30.30901527404785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5847,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_83081960",
+      "mask_path": "../../mask/hdr_left_05847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05848.png",
+      "transform_matrix": [
+        [
+          -0.8955759406089783,
+          -0.12760712206363678,
+          -0.42621591687202454,
+          91.15219116210938
+        ],
+        [
+          0.43235906958580017,
+          -0.023694459348917007,
+          -0.9013901352882385,
+          17.7860164642334
+        ],
+        [
+          0.10492481291294098,
+          -0.9915418028831482,
+          0.0763922855257988,
+          -30.288433074951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5848,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_183080196",
+      "mask_path": "../../mask/hdr_left_05848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05849.png",
+      "transform_matrix": [
+        [
+          -0.8922576308250427,
+          -0.13527999818325043,
+          -0.4307849109172821,
+          91.0986328125
+        ],
+        [
+          0.43780985474586487,
+          -0.025830136612057686,
+          -0.8986965417861938,
+          17.805511474609375
+        ],
+        [
+          0.1104484274983406,
+          -0.9904707074165344,
+          0.08227405697107315,
+          -30.26992416381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5849,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_283080101",
+      "mask_path": "../../mask/hdr_left_05849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05850.png",
+      "transform_matrix": [
+        [
+          -0.8906852602958679,
+          -0.13271696865558624,
+          -0.43481722474098206,
+          91.0177230834961
+        ],
+        [
+          0.441070020198822,
+          -0.020493270829319954,
+          -0.8972387313842773,
+          17.82497787475586
+        ],
+        [
+          0.11016795784235,
+          -0.990942120552063,
+          0.07679053395986557,
+          -30.259889602661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5850,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_383081674",
+      "mask_path": "../../mask/hdr_left_05850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05851.png",
+      "transform_matrix": [
+        [
+          -0.8901389241218567,
+          -0.12564410269260406,
+          -0.43802520632743835,
+          90.95124053955078
+        ],
+        [
+          0.4429941177368164,
+          -0.013284127227962017,
+          -0.8964261412620544,
+          17.83640480041504
+        ],
+        [
+          0.10681185871362686,
+          -0.9919864535331726,
+          0.0674843117594719,
+          -30.269594192504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5851,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_483082056",
+      "mask_path": "../../mask/hdr_left_05851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05852.png",
+      "transform_matrix": [
+        [
+          -0.8885006308555603,
+          -0.12346994131803513,
+          -0.4419524073600769,
+          90.90055847167969
+        ],
+        [
+          0.4466172754764557,
+          -0.011555497534573078,
+          -0.8946504592895508,
+          17.844890594482422
+        ],
+        [
+          0.10535545647144318,
+          -0.9922810792922974,
+          0.06541087478399277,
+          -30.277851104736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5852,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_583083391",
+      "mask_path": "../../mask/hdr_left_05852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05853.png",
+      "transform_matrix": [
+        [
+          -0.8876025080680847,
+          -0.12257791310548782,
+          -0.44400039315223694,
+          90.84993743896484
+        ],
+        [
+          0.44787150621414185,
+          -0.004544516559690237,
+          -0.894086480140686,
+          17.86226463317871
+        ],
+        [
+          0.10757748782634735,
+          -0.9924485087394714,
+          0.058932870626449585,
+          -30.29342269897461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5853,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_683082103",
+      "mask_path": "../../mask/hdr_left_05853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05854.png",
+      "transform_matrix": [
+        [
+          -0.8812115788459778,
+          -0.13197720050811768,
+          -0.45392510294914246,
+          90.76901245117188
+        ],
+        [
+          0.457060843706131,
+          0.007245997898280621,
+          -0.8894058465957642,
+          17.89991569519043
+        ],
+        [
+          0.12067043781280518,
+          -0.991226315498352,
+          0.05393635854125023,
+          -30.22372817993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5854,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_783082008",
+      "mask_path": "../../mask/hdr_left_05854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05855.png",
+      "transform_matrix": [
+        [
+          -0.8745867013931274,
+          -0.1430818736553192,
+          -0.46327701210975647,
+          90.69369506835938
+        ],
+        [
+          0.46676573157310486,
+          0.010197116993367672,
+          -0.8843221664428711,
+          17.92958641052246
+        ],
+        [
+          0.13125455379486084,
+          -0.9896582961082458,
+          0.05786744877696037,
+          -30.174787521362305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5855,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_883080482",
+      "mask_path": "../../mask/hdr_left_05855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05856.png",
+      "transform_matrix": [
+        [
+          -0.870386004447937,
+          -0.15415319800376892,
+          -0.4676162600517273,
+          90.6279296875
+        ],
+        [
+          0.47270628809928894,
+          0.0040958640165627,
+          -0.8812105059623718,
+          17.932048797607422
+        ],
+        [
+          0.13775669038295746,
+          -0.9880385398864746,
+          0.0693042054772377,
+          -30.174571990966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5856,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_983082532",
+      "mask_path": "../../mask/hdr_left_05856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05857.png",
+      "transform_matrix": [
+        [
+          -0.8713416457176208,
+          -0.14941121637821198,
+          -0.46737566590309143,
+          90.54296112060547
+        ],
+        [
+          0.47180598974227905,
+          0.006497430149465799,
+          -0.8816784024238586,
+          17.94447898864746
+        ],
+        [
+          0.13476939499378204,
+          -0.9887537956237793,
+          0.06483163684606552,
+          -30.153274536132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5857,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_83081960",
+      "mask_path": "../../mask/hdr_left_05857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05858.png",
+      "transform_matrix": [
+        [
+          -0.8757855892181396,
+          -0.14121639728546143,
+          -0.4615815281867981,
+          90.47847747802734
+        ],
+        [
+          0.4640122056007385,
+          0.017206493765115738,
+          -0.8856615424156189,
+          17.959272384643555
+        ],
+        [
+          0.13301213085651398,
+          -0.9898292422294617,
+          0.050456929951906204,
+          -30.138715744018555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5858,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_183081626",
+      "mask_path": "../../mask/hdr_left_05858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05860.png",
+      "transform_matrix": [
+        [
+          -0.8789132237434387,
+          -0.14302295446395874,
+          -0.4550340473651886,
+          90.38475036621094
+        ],
+        [
+          0.45611807703971863,
+          0.0270468071103096,
+          -0.8895082473754883,
+          17.971208572387695
+        ],
+        [
+          0.13952729105949402,
+          -0.9893497824668884,
+          0.04146356135606766,
+          -30.12717628479004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5860,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_383081674",
+      "mask_path": "../../mask/hdr_left_05860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05861.png",
+      "transform_matrix": [
+        [
+          -0.8774847388267517,
+          -0.14935581386089325,
+          -0.45575574040412903,
+          90.3238296508789
+        ],
+        [
+          0.4546011686325073,
+          0.04380542412400246,
+          -0.8896172046661377,
+          17.976211547851562
+        ],
+        [
+          0.15283404290676117,
+          -0.9878127574920654,
+          0.029458723962306976,
+          -30.10348892211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5861,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_483081340",
+      "mask_path": "../../mask/hdr_left_05861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05862.png",
+      "transform_matrix": [
+        [
+          -0.8723302483558655,
+          -0.161728173494339,
+          -0.4613932967185974,
+          90.25814819335938
+        ],
+        [
+          0.45931902527809143,
+          0.05227404460310936,
+          -0.8867318630218506,
+          17.984649658203125
+        ],
+        [
+          0.1675284206867218,
+          -0.9854499101638794,
+          0.028684595599770546,
+          -30.054096221923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5862,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_583081483",
+      "mask_path": "../../mask/hdr_left_05862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05865.png",
+      "transform_matrix": [
+        [
+          -0.8587514162063599,
+          -0.1794489175081253,
+          -0.479941725730896,
+          90.09578704833984
+        ],
+        [
+          0.4829508066177368,
+          0.029463082551956177,
+          -0.8751516938209534,
+          18.01593589782715
+        ],
+        [
+          0.17118555307388306,
+          -0.9833261370658875,
+          0.06136353313922882,
+          -30.01835823059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5865,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_883081197",
+      "mask_path": "../../mask/hdr_left_05865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05868.png",
+      "transform_matrix": [
+        [
+          -0.8522464632987976,
+          -0.16758649051189423,
+          -0.4955711364746094,
+          89.96741485595703
+        ],
+        [
+          0.4974513053894043,
+          0.03359673172235489,
+          -0.8668410778045654,
+          18.037168502807617
+        ],
+        [
+          0.16192041337490082,
+          -0.9852847456932068,
+          0.05473342165350914,
+          -29.99586296081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5868,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_183079719",
+      "mask_path": "../../mask/hdr_left_05868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05869.png",
+      "transform_matrix": [
+        [
+          -0.8488238453865051,
+          -0.16603168845176697,
+          -0.5019276738166809,
+          89.92233276367188
+        ],
+        [
+          0.5051018595695496,
+          0.02565605193376541,
+          -0.8626783490180969,
+          18.048555374145508
+        ],
+        [
+          0.15610940754413605,
+          -0.9857866764068604,
+          0.06208542734384537,
+          -29.977733612060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5869,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_283081531",
+      "mask_path": "../../mask/hdr_left_05869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05871.png",
+      "transform_matrix": [
+        [
+          -0.841903030872345,
+          -0.15253989398479462,
+          -0.5176203846931458,
+          89.8522720336914
+        ],
+        [
+          0.5229616761207581,
+          0.005921542178839445,
+          -0.8523355722427368,
+          18.076662063598633
+        ],
+        [
+          0.13308028876781464,
+          -0.9882795810699463,
+          0.07478715479373932,
+          -29.964736938476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5871,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_483080863",
+      "mask_path": "../../mask/hdr_left_05871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05873.png",
+      "transform_matrix": [
+        [
+          -0.846542477607727,
+          -0.12389642745256424,
+          -0.5177021026611328,
+          89.76852416992188
+        ],
+        [
+          0.5194214582443237,
+          0.020546285435557365,
+          -0.8542711138725281,
+          18.113767623901367
+        ],
+        [
+          0.11647798866033554,
+          -0.992082417011261,
+          0.046961165964603424,
+          -29.96391487121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5873,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_683079719",
+      "mask_path": "../../mask/hdr_left_05873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05875.png",
+      "transform_matrix": [
+        [
+          -0.8454393744468689,
+          -0.12617138028144836,
+          -0.5189536809921265,
+          89.67645263671875
+        ],
+        [
+          0.5188320279121399,
+          0.03643449768424034,
+          -0.854099452495575,
+          18.16933822631836
+        ],
+        [
+          0.126670703291893,
+          -0.9913392066955566,
+          0.03465859219431877,
+          -29.932043075561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5875,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_883081197",
+      "mask_path": "../../mask/hdr_left_05875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05876.png",
+      "transform_matrix": [
+        [
+          -0.8412160277366638,
+          -0.13631972670555115,
+          -0.5232327580451965,
+          89.62712097167969
+        ],
+        [
+          0.5231582522392273,
+          0.03927946463227272,
+          -0.8513298630714417,
+          18.202743530273438
+        ],
+        [
+          0.13660535216331482,
+          -0.9898859262466431,
+          0.03827427700161934,
+          -29.89845085144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5876,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_983081579",
+      "mask_path": "../../mask/hdr_left_05876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05878.png",
+      "transform_matrix": [
+        [
+          -0.8314993381500244,
+          -0.15395337343215942,
+          -0.5337669253349304,
+          89.57037353515625
+        ],
+        [
+          0.535194993019104,
+          0.03555735945701599,
+          -0.8439798355102539,
+          18.239601135253906
+        ],
+        [
+          0.14891287684440613,
+          -0.9874382019042969,
+          0.05282914638519287,
+          -29.887470245361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5878,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_183082103",
+      "mask_path": "../../mask/hdr_left_05878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05880.png",
+      "transform_matrix": [
+        [
+          -0.8358899354934692,
+          -0.10812463611364365,
+          -0.538142204284668,
+          89.50375366210938
+        ],
+        [
+          0.5354655385017395,
+          0.05492974445223808,
+          -0.8427689075469971,
+          18.277339935302734
+        ],
+        [
+          0.12068407982587814,
+          -0.9926186800003052,
+          0.011981790885329247,
+          -29.883052825927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5880,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_383080959",
+      "mask_path": "../../mask/hdr_left_05880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05882.png",
+      "transform_matrix": [
+        [
+          -0.835801362991333,
+          -0.09755177050828934,
+          -0.5402960181236267,
+          89.4285888671875
+        ],
+        [
+          0.5372100472450256,
+          0.057808808982372284,
+          -0.8414651155471802,
+          18.312528610229492
+        ],
+        [
+          0.1133202537894249,
+          -0.9935501217842102,
+          0.004089113790541887,
+          -29.877580642700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5882,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_583081483",
+      "mask_path": "../../mask/hdr_left_05882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05883.png",
+      "transform_matrix": [
+        [
+          -0.8333901166915894,
+          -0.08973896503448486,
+          -0.5453510284423828,
+          89.37844848632812
+        ],
+        [
+          0.543113648891449,
+          0.04986816644668579,
+          -0.838176965713501,
+          18.330955505371094
+        ],
+        [
+          0.10241278260946274,
+          -0.9947161078453064,
+          0.00717882439494133,
+          -29.871150970458984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5883,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_683079719",
+      "mask_path": "../../mask/hdr_left_05883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05884.png",
+      "transform_matrix": [
+        [
+          -0.8280739784240723,
+          -0.08815014362335205,
+          -0.553645133972168,
+          89.3306884765625
+        ],
+        [
+          0.5524870753288269,
+          0.03927622362971306,
+          -0.8325955867767334,
+          18.349559783935547
+        ],
+        [
+          0.09513849020004272,
+          -0.9953325986862183,
+          0.016178200021386147,
+          -29.857614517211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5884,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_783082008",
+      "mask_path": "../../mask/hdr_left_05884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05886.png",
+      "transform_matrix": [
+        [
+          -0.8178849220275879,
+          -0.08766407519578934,
+          -0.5686643123626709,
+          89.233642578125
+        ],
+        [
+          0.5690408945083618,
+          0.023083720356225967,
+          -0.821985125541687,
+          18.394563674926758
+        ],
+        [
+          0.0851854532957077,
+          -0.9958826303482056,
+          0.031004613265395164,
+          -29.84917640686035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5886,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_983082056",
+      "mask_path": "../../mask/hdr_left_05886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05887.png",
+      "transform_matrix": [
+        [
+          -0.8195053935050964,
+          -0.0786403939127922,
+          -0.5676500797271729,
+          89.16775512695312
+        ],
+        [
+          0.5676608681678772,
+          0.02439725026488304,
+          -0.8229009509086609,
+          18.41400718688965
+        ],
+        [
+          0.07856234163045883,
+          -0.9966045022010803,
+          0.024647392332553864,
+          -29.846206665039062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5887,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_83082437",
+      "mask_path": "../../mask/hdr_left_05887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05890.png",
+      "transform_matrix": [
+        [
+          -0.8196956515312195,
+          -0.07480205595493317,
+          -0.5678940415382385,
+          89.00680541992188
+        ],
+        [
+          0.5668087601661682,
+          0.03708619251847267,
+          -0.8230141997337341,
+          18.488525390625
+        ],
+        [
+          0.0826241746544838,
+          -0.9965085983276367,
+          0.011999070644378662,
+          -29.834531784057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5890,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_383081436",
+      "mask_path": "../../mask/hdr_left_05890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05891.png",
+      "transform_matrix": [
+        [
+          -0.814811110496521,
+          -0.08372857421636581,
+          -0.5736483931541443,
+          88.94373321533203
+        ],
+        [
+          0.5722923278808594,
+          0.04178864136338234,
+          -0.8189842700958252,
+          18.525575637817383
+        ],
+        [
+          0.09254436939954758,
+          -0.9956120252609253,
+          0.013867376372218132,
+          -29.819852828979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5891,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_483080625",
+      "mask_path": "../../mask/hdr_left_05891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05892.png",
+      "transform_matrix": [
+        [
+          -0.8091895580291748,
+          -0.09380263835191727,
+          -0.5800113081932068,
+          88.89486694335938
+        ],
+        [
+          0.5791512131690979,
+          0.038951050490140915,
+          -0.8142890930175781,
+          18.550189971923828
+        ],
+        [
+          0.09897451102733612,
+          -0.9948285818099976,
+          0.022807123139500618,
+          -29.807422637939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5892,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_583081245",
+      "mask_path": "../../mask/hdr_left_05892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05893.png",
+      "transform_matrix": [
+        [
+          -0.8034889101982117,
+          -0.11134772002696991,
+          -0.5848138332366943,
+          88.80382537841797
+        ],
+        [
+          0.5852569937705994,
+          0.032111506909132004,
+          -0.8102117776870728,
+          18.58029556274414
+        ],
+        [
+          0.1089944839477539,
+          -0.9932625889778137,
+          0.03936579078435898,
+          -29.791078567504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5893,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_683080196",
+      "mask_path": "../../mask/hdr_left_05893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05894.png",
+      "transform_matrix": [
+        [
+          -0.8029930591583252,
+          -0.12349912524223328,
+          -0.583052396774292,
+          88.70886993408203
+        ],
+        [
+          0.5835855007171631,
+          0.03561200574040413,
+          -0.8112703561782837,
+          18.604162216186523
+        ],
+        [
+          0.12095484882593155,
+          -0.9917054772377014,
+          0.04347610846161842,
+          -29.758865356445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5894,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_783081531",
+      "mask_path": "../../mask/hdr_left_05894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05897.png",
+      "transform_matrix": [
+        [
+          -0.8022151589393616,
+          -0.12577366828918457,
+          -0.5836367011070251,
+          88.54551696777344
+        ],
+        [
+          0.58214271068573,
+          0.052194442600011826,
+          -0.8114097118377686,
+          18.67461585998535
+        ],
+        [
+          0.13251656293869019,
+          -0.9906850457191467,
+          0.03134705126285553,
+          -29.732603073120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5897,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_83081007",
+      "mask_path": "../../mask/hdr_left_05897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05898.png",
+      "transform_matrix": [
+        [
+          -0.7953853607177734,
+          -0.1321224868297577,
+          -0.5915282964706421,
+          88.47398376464844
+        ],
+        [
+          0.5901908278465271,
+          0.05333563685417175,
+          -0.8054999113082886,
+          18.711557388305664
+        ],
+        [
+          0.13797417283058167,
+          -0.9897974729537964,
+          0.03555510193109512,
+          -29.707605361938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5898,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_183080434",
+      "mask_path": "../../mask/hdr_left_05898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05899.png",
+      "transform_matrix": [
+        [
+          -0.7886067032814026,
+          -0.1394856870174408,
+          -0.5988683104515076,
+          88.4084243774414
+        ],
+        [
+          0.5984278321266174,
+          0.04980502650141716,
+          -0.7996270656585693,
+          18.74163818359375
+        ],
+        [
+          0.14136317372322083,
+          -0.9889708161354065,
+          0.04419554024934769,
+          -29.69236946105957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5899,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_283079624",
+      "mask_path": "../../mask/hdr_left_05899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05900.png",
+      "transform_matrix": [
+        [
+          -0.786466658115387,
+          -0.1400996744632721,
+          -0.6015332341194153,
+          88.33165740966797
+        ],
+        [
+          0.6016724705696106,
+          0.04618926718831062,
+          -0.7974063158035278,
+          18.773639678955078
+        ],
+        [
+          0.13950073719024658,
+          -0.9890595078468323,
+          0.047967806458473206,
+          -29.680564880371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5900,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_383080959",
+      "mask_path": "../../mask/hdr_left_05900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05901.png",
+      "transform_matrix": [
+        [
+          -0.7883370518684387,
+          -0.13481903076171875,
+          -0.6002903580665588,
+          88.2529067993164
+        ],
+        [
+          0.5999308228492737,
+          0.047878414392471313,
+          -0.798617959022522,
+          18.804859161376953
+        ],
+        [
+          0.13640981912612915,
+          -0.9897128939628601,
+          0.04313776269555092,
+          -29.668394088745117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5901,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_483081102",
+      "mask_path": "../../mask/hdr_left_05901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05902.png",
+      "transform_matrix": [
+        [
+          -0.7901979088783264,
+          -0.13085104525089264,
+          -0.5987196564674377,
+          88.18431854248047
+        ],
+        [
+          0.5983019471168518,
+          0.04690176248550415,
+          -0.7998968958854675,
+          18.829341888427734
+        ],
+        [
+          0.1327483355998993,
+          -0.9902920722961426,
+          0.04122675582766533,
+          -29.66310691833496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5902,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_583081483",
+      "mask_path": "../../mask/hdr_left_05902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05903.png",
+      "transform_matrix": [
+        [
+          -0.7896795272827148,
+          -0.1296466439962387,
+          -0.5996648669242859,
+          88.11580657958984
+        ],
+        [
+          0.5994055271148682,
+          0.045412577688694,
+          -0.7991562485694885,
+          18.859994888305664
+        ],
+        [
+          0.1308402568101883,
+          -0.9905198812484741,
+          0.0418495237827301,
+          -29.66567611694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5903,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_683080673",
+      "mask_path": "../../mask/hdr_left_05903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05904.png",
+      "transform_matrix": [
+        [
+          -0.7858150005340576,
+          -0.12331537902355194,
+          -0.6060429215431213,
+          88.05359649658203
+        ],
+        [
+          0.6062281131744385,
+          0.040354616940021515,
+          -0.7942662239074707,
+          18.905765533447266
+        ],
+        [
+          0.12240186333656311,
+          -0.9915468096733093,
+          0.04304598644375801,
+          -29.6287841796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5904,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_783081054",
+      "mask_path": "../../mask/hdr_left_05904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05905.png",
+      "transform_matrix": [
+        [
+          -0.7801864147186279,
+          -0.12323815375566483,
+          -0.6132874488830566,
+          88.0041275024414
+        ],
+        [
+          0.6145139932632446,
+          0.03232915699481964,
+          -0.7882433533668518,
+          18.943586349487305
+        ],
+        [
+          0.11696869879961014,
+          -0.9918504357337952,
+          0.05050880089402199,
+          -29.596914291381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5905,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_883080959",
+      "mask_path": "../../mask/hdr_left_05905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05906.png",
+      "transform_matrix": [
+        [
+          -0.7750808596611023,
+          -0.13313068449497223,
+          -0.6176778078079224,
+          87.95023345947266
+        ],
+        [
+          0.6200087666511536,
+          0.028216121718287468,
+          -0.7840872406959534,
+          18.9715518951416
+        ],
+        [
+          0.1218145564198494,
+          -0.9906967878341675,
+          0.060672421008348465,
+          -29.583084106445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5906,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_983080863",
+      "mask_path": "../../mask/hdr_left_05906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05907.png",
+      "transform_matrix": [
+        [
+          -0.7723081111907959,
+          -0.13124054670333862,
+          -0.6215431690216064,
+          87.89089965820312
+        ],
+        [
+          0.6246723532676697,
+          0.020889831706881523,
+          -0.7806074023246765,
+          19.002506256103516
+        ],
+        [
+          0.1154312863945961,
+          -0.9911304712295532,
+          0.06584896892309189,
+          -29.574031829833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5907,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_83080530",
+      "mask_path": "../../mask/hdr_left_05907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05908.png",
+      "transform_matrix": [
+        [
+          -0.7729457020759583,
+          -0.12405318021774292,
+          -0.6222264766693115,
+          87.82411193847656
+        ],
+        [
+          0.6253342032432556,
+          0.01689295843243599,
+          -0.780174195766449,
+          19.030963897705078
+        ],
+        [
+          0.10729431360960007,
+          -0.9921318292617798,
+          0.06451734900474548,
+          -29.56513214111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5908,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_183080673",
+      "mask_path": "../../mask/hdr_left_05908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05909.png",
+      "transform_matrix": [
+        [
+          -0.7748305201530457,
+          -0.12181961536407471,
+          -0.6203205585479736,
+          87.75926971435547
+        ],
+        [
+          0.6234720945358276,
+          0.014948541298508644,
+          -0.7817026972770691,
+          19.04835319519043
+        ],
+        [
+          0.10449960082769394,
+          -0.9924397468566895,
+          0.06436853110790253,
+          -29.554946899414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5909,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_283081531",
+      "mask_path": "../../mask/hdr_left_05909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05910.png",
+      "transform_matrix": [
+        [
+          -0.777864396572113,
+          -0.1180916428565979,
+          -0.6172367334365845,
+          87.70650482177734
+        ],
+        [
+          0.6206669211387634,
+          0.009558155201375484,
+          -0.7840160131454468,
+          19.065948486328125
+        ],
+        [
+          0.09848537296056747,
+          -0.9929567575454712,
+          0.06586062908172607,
+          -29.550697326660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5910,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_383080720",
+      "mask_path": "../../mask/hdr_left_05910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05911.png",
+      "transform_matrix": [
+        [
+          -0.7813166379928589,
+          -0.1171364113688469,
+          -0.6130443215370178,
+          87.64595794677734
+        ],
+        [
+          0.6167458891868591,
+          0.005792108830064535,
+          -0.7871409058570862,
+          19.080516815185547
+        ],
+        [
+          0.09575366973876953,
+          -0.9930989742279053,
+          0.06771792471408844,
+          -29.545011520385742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5911,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_483080863",
+      "mask_path": "../../mask/hdr_left_05911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05912.png",
+      "transform_matrix": [
+        [
+          -0.7844103574752808,
+          -0.1224580630660057,
+          -0.6080332398414612,
+          87.58211517333984
+        ],
+        [
+          0.612467348575592,
+          0.0018027668120339513,
+          -0.7904938459396362,
+          19.096084594726562
+        ],
+        [
+          0.09789847582578659,
+          -0.9924721717834473,
+          0.07358745485544205,
+          -29.528079986572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5912,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_583080768",
+      "mask_path": "../../mask/hdr_left_05912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05913.png",
+      "transform_matrix": [
+        [
+          -0.787108838558197,
+          -0.13036729395389557,
+          -0.6028797030448914,
+          87.52754974365234
+        ],
+        [
+          0.6085078716278076,
+          -0.004256796557456255,
+          -0.7935364246368408,
+          19.11857032775879
+        ],
+        [
+          0.10088485479354858,
+          -0.9914566278457642,
+          0.08268009126186371,
+          -29.514190673828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5913,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_683080673",
+      "mask_path": "../../mask/hdr_left_05913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05914.png",
+      "transform_matrix": [
+        [
+          -0.7888056039810181,
+          -0.12820763885974884,
+          -0.6011226177215576,
+          87.4639892578125
+        ],
+        [
+          0.6070611476898193,
+          -0.009370305575430393,
+          -0.7945998311042786,
+          19.144813537597656
+        ],
+        [
+          0.0962410569190979,
+          -0.9917031526565552,
+          0.08522123098373413,
+          -29.505203247070312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5914,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_783081293",
+      "mask_path": "../../mask/hdr_left_05914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05915.png",
+      "transform_matrix": [
+        [
+          -0.7898881435394287,
+          -0.11959424614906311,
+          -0.6014764308929443,
+          87.40332794189453
+        ],
+        [
+          0.6063328385353088,
+          -0.005396746098995209,
+          -0.7951926589012146,
+          19.1744327545166
+        ],
+        [
+          0.09185443818569183,
+          -0.9928082227706909,
+          0.07677674293518066,
+          -29.50535774230957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5915,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_883080005",
+      "mask_path": "../../mask/hdr_left_05915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05916.png",
+      "transform_matrix": [
+        [
+          -0.7917254567146301,
+          -0.1151418387889862,
+          -0.599927544593811,
+          87.35562896728516
+        ],
+        [
+          0.6040953397750854,
+          -0.001643109368160367,
+          -0.7969103455543518,
+          19.19796371459961
+        ],
+        [
+          0.09077197313308716,
+          -0.993347704410553,
+          0.07085753977298737,
+          -29.508872985839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5916,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_983078479",
+      "mask_path": "../../mask/hdr_left_05916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05917.png",
+      "transform_matrix": [
+        [
+          -0.7944359183311462,
+          -0.11191362887620926,
+          -0.5969478487968445,
+          87.30503845214844
+        ],
+        [
+          0.6010047793388367,
+          -0.003179358784109354,
+          -0.7992390990257263,
+          19.223369598388672
+        ],
+        [
+          0.08754782378673553,
+          -0.9937129020690918,
+          0.0697864219546318,
+          -29.510135650634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5917,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_83081245",
+      "mask_path": "../../mask/hdr_left_05917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05918.png",
+      "transform_matrix": [
+        [
+          -0.7955276370048523,
+          -0.10138361901044846,
+          -0.5973751544952393,
+          87.24906158447266
+        ],
+        [
+          0.6012532114982605,
+          -0.009992592968046665,
+          -0.798996090888977,
+          19.25071144104004
+        ],
+        [
+          0.07503578811883926,
+          -0.9947972893714905,
+          0.06890660524368286,
+          -29.502132415771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5918,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_183077812",
+      "mask_path": "../../mask/hdr_left_05918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05919.png",
+      "transform_matrix": [
+        [
+          -0.7932422161102295,
+          -0.09908663481473923,
+          -0.6007900238037109,
+          87.20098876953125
+        ],
+        [
+          0.605132520198822,
+          -0.018603980541229248,
+          -0.7959072589874268,
+          19.274641036987305
+        ],
+        [
+          0.06768668442964554,
+          -0.9949049353599548,
+          0.07471799850463867,
+          -29.48216438293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5919,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_283081054",
+      "mask_path": "../../mask/hdr_left_05919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05920.png",
+      "transform_matrix": [
+        [
+          -0.7892060279846191,
+          -0.10748036950826645,
+          -0.6046501994132996,
+          87.15731048583984
+        ],
+        [
+          0.6101503968238831,
+          -0.0253433994948864,
+          -0.7918801307678223,
+          19.296438217163086
+        ],
+        [
+          0.06978766620159149,
+          -0.9938842058181763,
+          0.08558036386966705,
+          -29.468862533569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5920,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_383080720",
+      "mask_path": "../../mask/hdr_left_05920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05921.png",
+      "transform_matrix": [
+        [
+          -0.7871730923652649,
+          -0.10091260075569153,
+          -0.6084200739860535,
+          87.0993881225586
+        ],
+        [
+          0.6138654947280884,
+          -0.03319689258933067,
+          -0.7887123823165894,
+          19.323923110961914
+        ],
+        [
+          0.059393350034952164,
+          -0.9943413734436035,
+          0.08807844668626785,
+          -29.467008590698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5921,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_483080625",
+      "mask_path": "../../mask/hdr_left_05921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05922.png",
+      "transform_matrix": [
+        [
+          -0.7903283834457397,
+          -0.08738549053668976,
+          -0.6064196228981018,
+          87.0311508178711
+        ],
+        [
+          0.6108241081237793,
+          -0.035328734666109085,
+          -0.7909777164459229,
+          19.352489471435547
+        ],
+        [
+          0.04769592732191086,
+          -0.9955480098724365,
+          0.08129846304655075,
+          -29.46830177307129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5922,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_583080768",
+      "mask_path": "../../mask/hdr_left_05922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05923.png",
+      "transform_matrix": [
+        [
+          -0.794221043586731,
+          -0.07949139177799225,
+          -0.602406919002533,
+          86.9766616821289
+        ],
+        [
+          0.6061670780181885,
+          -0.03492176532745361,
+          -0.7945703268051147,
+          19.37196922302246
+        ],
+        [
+          0.04212437942624092,
+          -0.9962236881256104,
+          0.07592065632343292,
+          -29.473501205444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5923,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_683081626",
+      "mask_path": "../../mask/hdr_left_05923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05925.png",
+      "transform_matrix": [
+        [
+          -0.7953044176101685,
+          -0.0709255188703537,
+          -0.6020468473434448,
+          86.8785400390625
+        ],
+        [
+          0.6052873134613037,
+          -0.038126446306705475,
+          -0.7950934767723083,
+          19.410690307617188
+        ],
+        [
+          0.033438507467508316,
+          -0.9967527389526367,
+          0.07325245440006256,
+          -29.472665786743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5925,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_883080720",
+      "mask_path": "../../mask/hdr_left_05925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05926.png",
+      "transform_matrix": [
+        [
+          -0.7922333478927612,
+          -0.07370516657829285,
+          -0.6057505011558533,
+          86.8255615234375
+        ],
+        [
+          0.6091545820236206,
+          -0.03693889081478119,
+          -0.7921908497810364,
+          19.43863296508789
+        ],
+        [
+          0.03601279854774475,
+          -0.9965957403182983,
+          0.074162058532238,
+          -29.45848846435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5926,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_983080387",
+      "mask_path": "../../mask/hdr_left_05926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05927.png",
+      "transform_matrix": [
+        [
+          -0.7906899452209473,
+          -0.08312312513589859,
+          -0.6065475940704346,
+          86.7749252319336
+        ],
+        [
+          0.6108878254890442,
+          -0.04187649115920067,
+          -0.7906089425086975,
+          19.457866668701172
+        ],
+        [
+          0.04031779617071152,
+          -0.9956591129302979,
+          0.08389022201299667,
+          -29.449321746826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5927,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_83079338",
+      "mask_path": "../../mask/hdr_left_05927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05928.png",
+      "transform_matrix": [
+        [
+          -0.7948609590530396,
+          -0.0897822380065918,
+          -0.6001126170158386,
+          86.7043685913086
+        ],
+        [
+          0.6051543951034546,
+          -0.04469109699130058,
+          -0.794852614402771,
+          19.47313117980957
+        ],
+        [
+          0.044543955475091934,
+          -0.9949583411216736,
+          0.08985533565282822,
+          -29.433969497680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5928,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_183080196",
+      "mask_path": "../../mask/hdr_left_05928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05929.png",
+      "transform_matrix": [
+        [
+          -0.8061797618865967,
+          -0.09154895693063736,
+          -0.5845450758934021,
+          86.63870239257812
+        ],
+        [
+          0.5896039605140686,
+          -0.04180167242884636,
+          -0.8066099882125854,
+          19.486909866333008
+        ],
+        [
+          0.04940934479236603,
+          -0.9949228763580322,
+          0.08767729997634888,
+          -29.424488067626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5929,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_283080577",
+      "mask_path": "../../mask/hdr_left_05929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05931.png",
+      "transform_matrix": [
+        [
+          -0.8299700021743774,
+          -0.08668045699596405,
+          -0.5510320663452148,
+          86.56549072265625
+        ],
+        [
+          0.5556009411811829,
+          -0.04067285358905792,
+          -0.8304536938667297,
+          19.49118995666504
+        ],
+        [
+          0.04957205057144165,
+          -0.9954056143760681,
+          0.08191698789596558,
+          -29.42987823486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5931,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_483078718",
+      "mask_path": "../../mask/hdr_left_05931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05933.png",
+      "transform_matrix": [
+        [
+          -0.8262707591056824,
+          -0.11327561736106873,
+          -0.5517655611038208,
+          86.48151397705078
+        ],
+        [
+          0.5552380084991455,
+          0.0010721605503931642,
+          -0.8316907286643982,
+          19.532136917114258
+        ],
+        [
+          0.09480185061693192,
+          -0.9935630559921265,
+          0.062009021639823914,
+          -29.3465518951416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5933,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_683078765",
+      "mask_path": "../../mask/hdr_left_05933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05935.png",
+      "transform_matrix": [
+        [
+          -0.8125929832458496,
+          -0.14040696620941162,
+          -0.5656664371490479,
+          86.3849105834961
+        ],
+        [
+          0.5705994367599487,
+          0.006148117128759623,
+          -0.8212054967880249,
+          19.593326568603516
+        ],
+        [
+          0.11878076195716858,
+          -0.9900748133659363,
+          0.0751202329993248,
+          -29.320751190185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5935,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_883081197",
+      "mask_path": "../../mask/hdr_left_05935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05936.png",
+      "transform_matrix": [
+        [
+          -0.8085976839065552,
+          -0.14397229254245758,
+          -0.5704749226570129,
+          86.33592987060547
+        ],
+        [
+          0.5758118629455566,
+          0.0055515882559120655,
+          -0.8175634145736694,
+          19.622238159179688
+        ],
+        [
+          0.12087351083755493,
+          -0.9895662069320679,
+          0.07841195911169052,
+          -29.30186653137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5936,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_983080625",
+      "mask_path": "../../mask/hdr_left_05936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05938.png",
+      "transform_matrix": [
+        [
+          -0.8111273646354675,
+          -0.14544685184955597,
+          -0.5664957165718079,
+          86.26299285888672
+        ],
+        [
+          0.5720407962799072,
+          0.004462699871510267,
+          -0.8202130198478699,
+          19.6516056060791
+        ],
+        [
+          0.12182547897100449,
+          -0.9893561005592346,
+          0.07958171516656876,
+          -29.304052352905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5938,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_183080911",
+      "mask_path": "../../mask/hdr_left_05938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05940.png",
+      "transform_matrix": [
+        [
+          -0.8198946118354797,
+          -0.14347389340400696,
+          -0.5542454123497009,
+          86.18769836425781
+        ],
+        [
+          0.5608211159706116,
+          -0.00661141611635685,
+          -0.8279106020927429,
+          19.6562557220459
+        ],
+        [
+          0.11511918157339096,
+          -0.9896320104598999,
+          0.08588384091854095,
+          -29.302085876464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5940,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_383081197",
+      "mask_path": "../../mask/hdr_left_05940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05942.png",
+      "transform_matrix": [
+        [
+          -0.8365092277526855,
+          -0.1482502520084381,
+          -0.5275169014930725,
+          86.10213470458984
+        ],
+        [
+          0.5358569622039795,
+          -0.020163612440228462,
+          -0.8440679907798767,
+          19.673236846923828
+        ],
+        [
+          0.1144966334104538,
+          -0.98874431848526,
+          0.09630797058343887,
+          -29.28755760192871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5942,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_583081007",
+      "mask_path": "../../mask/hdr_left_05942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05944.png",
+      "transform_matrix": [
+        [
+          -0.8447628617286682,
+          -0.14924651384353638,
+          -0.5139077305793762,
+          86.02130889892578
+        ],
+        [
+          0.5233026146888733,
+          -0.02951102890074253,
+          -0.851635754108429,
+          19.70006561279297
+        ],
+        [
+          0.11193768680095673,
+          -0.9883596301078796,
+          0.10303090512752533,
+          -29.277597427368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5944,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_783081531",
+      "mask_path": "../../mask/hdr_left_05944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05946.png",
+      "transform_matrix": [
+        [
+          -0.8455423712730408,
+          -0.14207838475704193,
+          -0.5146569609642029,
+          85.94197845458984
+        ],
+        [
+          0.523351788520813,
+          -0.02982133813202381,
+          -0.8515946269035339,
+          19.72136878967285
+        ],
+        [
+          0.10564543306827545,
+          -0.9894061088562012,
+          0.09957218170166016,
+          -29.282920837402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5946,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_983081340",
+      "mask_path": "../../mask/hdr_left_05946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05948.png",
+      "transform_matrix": [
+        [
+          -0.8450513482093811,
+          -0.13312973082065582,
+          -0.5178462266921997,
+          85.8560562133789
+        ],
+        [
+          0.5254841446876526,
+          -0.027886679396033287,
+          -0.8503461480140686,
+          19.730886459350586
+        ],
+        [
+          0.09876535087823868,
+          -0.990706205368042,
+          0.09352324903011322,
+          -29.27379035949707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5948,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_183081388",
+      "mask_path": "../../mask/hdr_left_05948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05949.png",
+      "transform_matrix": [
+        [
+          -0.8430638909339905,
+          -0.13805094361305237,
+          -0.5197933316230774,
+          85.79743957519531
+        ],
+        [
+          0.5278866291046143,
+          -0.027574632316827774,
+          -0.8488670587539673,
+          19.750904083251953
+        ],
+        [
+          0.10285378247499466,
+          -0.9900412559509277,
+          0.09612242132425308,
+          -29.261320114135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5949,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_283081769",
+      "mask_path": "../../mask/hdr_left_05949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05951.png",
+      "transform_matrix": [
+        [
+          -0.8397465944290161,
+          -0.14469577372074127,
+          -0.5233436822891235,
+          85.69710540771484
+        ],
+        [
+          0.5317581295967102,
+          -0.02422843873500824,
+          -0.8465495705604553,
+          19.801862716674805
+        ],
+        [
+          0.10981234163045883,
+          -0.9891795516014099,
+          0.09728890657424927,
+          -29.243698120117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5951,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_483081579",
+      "mask_path": "../../mask/hdr_left_05951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05952.png",
+      "transform_matrix": [
+        [
+          -0.8413565158843994,
+          -0.1379755288362503,
+          -0.5225723385810852,
+          85.64436340332031
+        ],
+        [
+          0.5299984216690063,
+          -0.021123547106981277,
+          -0.8477354645729065,
+          19.8232364654541
+        ],
+        [
+          0.10592816025018692,
+          -0.9902104139328003,
+          0.090899258852005,
+          -29.243959426879883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5952,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_583081007",
+      "mask_path": "../../mask/hdr_left_05952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05953.png",
+      "transform_matrix": [
+        [
+          -0.8447926044464111,
+          -0.13207067549228668,
+          -0.5185390710830688,
+          85.58759307861328
+        ],
+        [
+          0.525458574295044,
+          -0.02168351598083973,
+          -0.8505429029464722,
+          19.83804702758789
+        ],
+        [
+          0.10108800232410431,
+          -0.9910032153129578,
+          0.08771573007106781,
+          -29.240432739257812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5953,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_683082103",
+      "mask_path": "../../mask/hdr_left_05953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05954.png",
+      "transform_matrix": [
+        [
+          -0.8502206206321716,
+          -0.12389814853668213,
+          -0.5116387009620667,
+          85.52281188964844
+        ],
+        [
+          0.5185518860816956,
+          -0.029633942991495132,
+          -0.8545324802398682,
+          19.86255645751953
+        ],
+        [
+          0.09071312099695206,
+          -0.9918524026870728,
+          0.08944301307201385,
+          -29.23383331298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5954,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_783080339",
+      "mask_path": "../../mask/hdr_left_05954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05955.png",
+      "transform_matrix": [
+        [
+          -0.851725161075592,
+          -0.12051375955343246,
+          -0.5099417567253113,
+          85.46416473388672
+        ],
+        [
+          0.5170809626579285,
+          -0.035807084292173386,
+          -0.855187177658081,
+          19.89185905456543
+        ],
+        [
+          0.0848022848367691,
+          -0.9920657277107239,
+          0.0928131565451622,
+          -29.21831512451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5955,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_883082628",
+      "mask_path": "../../mask/hdr_left_05955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05957.png",
+      "transform_matrix": [
+        [
+          -0.8518020510673523,
+          -0.12486444413661957,
+          -0.5087653994560242,
+          85.36334228515625
+        ],
+        [
+          0.5171611309051514,
+          -0.045573048293590546,
+          -0.8546738028526306,
+          19.922143936157227
+        ],
+        [
+          0.08353237807750702,
+          -0.9911266565322876,
+          0.10339425504207611,
+          -29.202892303466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5957,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_83081245",
+      "mask_path": "../../mask/hdr_left_05957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05958.png",
+      "transform_matrix": [
+        [
+          -0.8575892448425293,
+          -0.11977952718734741,
+          -0.5001932382583618,
+          85.28202819824219
+        ],
+        [
+          0.5081581473350525,
+          -0.047053590416908264,
+          -0.8599774837493896,
+          19.935001373291016
+        ],
+        [
+          0.07947179675102234,
+          -0.9916848540306091,
+          0.10121959447860718,
+          -29.194252014160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5958,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_183080673",
+      "mask_path": "../../mask/hdr_left_05958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05964.png",
+      "transform_matrix": [
+        [
+          -0.8557679057121277,
+          -0.12521646916866302,
+          -0.5019780397415161,
+          85.0289077758789
+        ],
+        [
+          0.5107201933860779,
+          -0.04951590672135353,
+          -0.858319878578186,
+          20.01120376586914
+        ],
+        [
+          0.08261989057064056,
+          -0.9908930659294128,
+          0.106324702501297,
+          -29.158639907836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5964,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_783080816",
+      "mask_path": "../../mask/hdr_left_05964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05965.png",
+      "transform_matrix": [
+        [
+          -0.8558862805366516,
+          -0.1406765878200531,
+          -0.4976631700992584,
+          84.95741271972656
+        ],
+        [
+          0.5076642036437988,
+          -0.04494374617934227,
+          -0.8603819012641907,
+          20.015411376953125
+        ],
+        [
+          0.09866874665021896,
+          -0.9890350103378296,
+          0.10988321900367737,
+          -29.12102508544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5965,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_883081197",
+      "mask_path": "../../mask/hdr_left_05965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05967.png",
+      "transform_matrix": [
+        [
+          -0.863143265247345,
+          -0.14938077330589294,
+          -0.4823577404022217,
+          84.87797546386719
+        ],
+        [
+          0.49030977487564087,
+          -0.01951376348733902,
+          -0.8713297247886658,
+          20.028522491455078
+        ],
+        [
+          0.12074730545282364,
+          -0.9885872006416321,
+          0.09008603543043137,
+          -29.091983795166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5967,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_83081722",
+      "mask_path": "../../mask/hdr_left_05967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04423.png",
+      "transform_matrix": [
+        [
+          -0.9705213904380798,
+          -0.2010650485754013,
+          -0.13289497792720795,
+          85.23092651367188
+        ],
+        [
+          0.12621885538101196,
+          0.045725952833890915,
+          -0.9909480214118958,
+          19.875905990600586
+        ],
+        [
+          0.2053217589855194,
+          -0.9785100817680359,
+          -0.018999803811311722,
+          -29.16020393371582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4423,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_783082723",
+      "mask_path": "../../mask/hdr_right_04423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04424.png",
+      "transform_matrix": [
+        [
+          -0.9699860215187073,
+          -0.19925187528133392,
+          -0.1393769085407257,
+          85.33837890625
+        ],
+        [
+          0.13389767706394196,
+          0.04078242555260658,
+          -0.9901556968688965,
+          19.85305404663086
+        ],
+        [
+          0.20297449827194214,
+          -0.9790992736816406,
+          -0.012879016809165478,
+          -29.180763244628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4424,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_883082389",
+      "mask_path": "../../mask/hdr_right_04424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04425.png",
+      "transform_matrix": [
+        [
+          -0.9695132970809937,
+          -0.19971443712711334,
+          -0.14197979867458344,
+          85.41918182373047
+        ],
+        [
+          0.13638320565223694,
+          0.04157906025648117,
+          -0.9897832870483398,
+          19.836986541748047
+        ],
+        [
+          0.20357738435268402,
+          -0.978971540927887,
+          -0.013073761947453022,
+          -29.19878387451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4425,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_983081579",
+      "mask_path": "../../mask/hdr_right_04425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04426.png",
+      "transform_matrix": [
+        [
+          -0.9706891179084778,
+          -0.19340841472148895,
+          -0.14267376065254211,
+          85.48783111572266
+        ],
+        [
+          0.13687123358249664,
+          0.04310928285121918,
+          -0.9896504282951355,
+          19.818449020385742
+        ],
+        [
+          0.1975572556257248,
+          -0.9801707863807678,
+          -0.01537365559488535,
+          -29.218082427978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4426,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_83081245",
+      "mask_path": "../../mask/hdr_right_04426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04427.png",
+      "transform_matrix": [
+        [
+          -0.971703290939331,
+          -0.18837812542915344,
+          -0.14250034093856812,
+          85.5662612915039
+        ],
+        [
+          0.13760438561439514,
+          0.03888646885752678,
+          -0.9897236824035645,
+          19.796777725219727
+        ],
+        [
+          0.19198362529277802,
+          -0.9813264012336731,
+          -0.011864460073411465,
+          -29.239704132080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4427,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_183082580",
+      "mask_path": "../../mask/hdr_right_04427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04428.png",
+      "transform_matrix": [
+        [
+          -0.9727329015731812,
+          -0.18003219366073608,
+          -0.1462162286043167,
+          85.66260528564453
+        ],
+        [
+          0.14428843557834625,
+          0.023829706013202667,
+          -0.9892487525939941,
+          19.757944107055664
+        ],
+        [
+          0.18158091604709625,
+          -0.9833719730377197,
+          0.002796624321490526,
+          -29.25936508178711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4428,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_283082246",
+      "mask_path": "../../mask/hdr_right_04428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04429.png",
+      "transform_matrix": [
+        [
+          -0.9739113450050354,
+          -0.16692858934402466,
+          -0.1537257879972458,
+          85.74364471435547
+        ],
+        [
+          0.15406794846057892,
+          0.010977099649608135,
+          -0.9879993200302124,
+          19.720813751220703
+        ],
+        [
+          0.16661280393600464,
+          -0.9859079122543335,
+          0.015027628280222416,
+          -29.263500213623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4429,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_383082866",
+      "mask_path": "../../mask/hdr_right_04429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04430.png",
+      "transform_matrix": [
+        [
+          -0.9743719696998596,
+          -0.15175241231918335,
+          -0.1660437434911728,
+          85.81503295898438
+        ],
+        [
+          0.1667536050081253,
+          0.008126486092805862,
+          -0.9859651327133179,
+          19.70301628112793
+        ],
+        [
+          0.15097194910049438,
+          -0.9883851408958435,
+          0.017387043684720993,
+          -29.268657684326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4430,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_483082532",
+      "mask_path": "../../mask/hdr_right_04430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04431.png",
+      "transform_matrix": [
+        [
+          -0.9740630388259888,
+          -0.14457117021083832,
+          -0.17406992614269257,
+          85.91279602050781
+        ],
+        [
+          0.17502504587173462,
+          0.006184665486216545,
+          -0.984544575214386,
+          19.676315307617188
+        ],
+        [
+          0.14341334998607635,
+          -0.9894750714302063,
+          0.019279325380921364,
+          -29.278135299682617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4431,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_583080768",
+      "mask_path": "../../mask/hdr_right_04431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04432.png",
+      "transform_matrix": [
+        [
+          -0.9749255776405334,
+          -0.13859550654888153,
+          -0.17410172522068024,
+          86.00572967529297
+        ],
+        [
+          0.17515349388122559,
+          0.004665948450565338,
+          -0.9845300912857056,
+          19.653493881225586
+        ],
+        [
+          0.13726378977298737,
+          -0.9903380870819092,
+          0.01972653716802597,
+          -29.29132080078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4432,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_683081150",
+      "mask_path": "../../mask/hdr_right_04432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04433.png",
+      "transform_matrix": [
+        [
+          -0.9768733382225037,
+          -0.12841452658176422,
+          -0.1709623634815216,
+          86.07908630371094
+        ],
+        [
+          0.17175926268100739,
+          0.004925629124045372,
+          -0.9851266741752625,
+          19.637096405029297
+        ],
+        [
+          0.1273466795682907,
+          -0.9917084574699402,
+          0.017244670540094376,
+          -29.302202224731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4433,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_783081293",
+      "mask_path": "../../mask/hdr_right_04433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04434.png",
+      "transform_matrix": [
+        [
+          -0.9779086112976074,
+          -0.12227237224578857,
+          -0.1695416271686554,
+          86.16117095947266
+        ],
+        [
+          0.1698468029499054,
+          0.007999209687113762,
+          -0.9854380488395691,
+          19.61524200439453
+        ],
+        [
+          0.12184803187847137,
+          -0.9924644231796265,
+          0.012945076450705528,
+          -29.31779670715332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4434,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_883080959",
+      "mask_path": "../../mask/hdr_right_04434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04435.png",
+      "transform_matrix": [
+        [
+          -0.976759672164917,
+          -0.12256117910146713,
+          -0.1758391112089157,
+          86.25340270996094
+        ],
+        [
+          0.1753784716129303,
+          0.014622203074395657,
+          -0.984392523765564,
+          19.585981369018555
+        ],
+        [
+          0.12321946024894714,
+          -0.9923532605171204,
+          0.007212208583950996,
+          -29.329267501831055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4435,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323706_983082056",
+      "mask_path": "../../mask/hdr_right_04435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04436.png",
+      "transform_matrix": [
+        [
+          -0.9750325083732605,
+          -0.12251566350460052,
+          -0.18520693480968475,
+          86.31611633300781
+        ],
+        [
+          0.18449701368808746,
+          0.017214136198163033,
+          -0.9826823472976685,
+          19.55670738220215
+        ],
+        [
+          0.1235821396112442,
+          -0.9923173785209656,
+          0.005819433368742466,
+          -29.329008102416992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4436,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_83081483",
+      "mask_path": "../../mask/hdr_right_04436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04437.png",
+      "transform_matrix": [
+        [
+          -0.9731999635696411,
+          -0.12077637761831284,
+          -0.19569075107574463,
+          86.37001037597656
+        ],
+        [
+          0.19555112719535828,
+          0.013124320656061172,
+          -0.9806057214736938,
+          19.526500701904297
+        ],
+        [
+          0.12100232392549515,
+          -0.9925930500030518,
+          0.010845365934073925,
+          -29.334970474243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4437,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_183081865",
+      "mask_path": "../../mask/hdr_right_04437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04438.png",
+      "transform_matrix": [
+        [
+          -0.9712372422218323,
+          -0.13318462669849396,
+          -0.19738329946994781,
+          86.45557403564453
+        ],
+        [
+          0.19813773036003113,
+          0.0076981885358691216,
+          -0.9801439642906189,
+          19.4946346282959
+        ],
+        [
+          0.13205958902835846,
+          -0.9910613298416138,
+          0.01891213282942772,
+          -29.367265701293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4438,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_283082246",
+      "mask_path": "../../mask/hdr_right_04438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04439.png",
+      "transform_matrix": [
+        [
+          -0.9702175259590149,
+          -0.14683304727077484,
+          -0.19266068935394287,
+          86.53992462158203
+        ],
+        [
+          0.194403275847435,
+          0.0025261694099754095,
+          -0.9809184670448303,
+          19.464479446411133
+        ],
+        [
+          0.1445179432630539,
+          -0.989158034324646,
+          0.026093898341059685,
+          -29.398653030395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4439,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_383082389",
+      "mask_path": "../../mask/hdr_right_04439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04440.png",
+      "transform_matrix": [
+        [
+          -0.9704474806785583,
+          -0.14896978437900543,
+          -0.18984125554561615,
+          86.60474395751953
+        ],
+        [
+          0.19190099835395813,
+          0.000557530380319804,
+          -0.9814141392707825,
+          19.443113327026367
+        ],
+        [
+          0.14630691707134247,
+          -0.9888415336608887,
+          0.028046391904354095,
+          -29.410602569580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4440,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_483081817",
+      "mask_path": "../../mask/hdr_right_04440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04441.png",
+      "transform_matrix": [
+        [
+          -0.9704405069351196,
+          -0.15085522830486298,
+          -0.18838252127170563,
+          86.68431091308594
+        ],
+        [
+          0.18979515135288239,
+          0.005111075472086668,
+          -0.9818103909492493,
+          19.409439086914062
+        ],
+        [
+          0.14907406270503998,
+          -0.9885426163673401,
+          0.023671600967645645,
+          -29.427597045898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4441,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_583081245",
+      "mask_path": "../../mask/hdr_right_04441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04442.png",
+      "transform_matrix": [
+        [
+          -0.967853844165802,
+          -0.15908010303974152,
+          -0.19481386244297028,
+          86.76300048828125
+        ],
+        [
+          0.19551287591457367,
+          0.011399146169424057,
+          -0.9806349277496338,
+          19.372339248657227
+        ],
+        [
+          0.15822018682956696,
+          -0.9871998429298401,
+          0.020069507881999016,
+          -29.438323974609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4442,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_683080673",
+      "mask_path": "../../mask/hdr_right_04442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04443.png",
+      "transform_matrix": [
+        [
+          -0.9641387462615967,
+          -0.16509944200515747,
+          -0.2077949047088623,
+          86.82024383544922
+        ],
+        [
+          0.20802956819534302,
+          0.01606382243335247,
+          -0.9779906868934631,
+          19.338651657104492
+        ],
+        [
+          0.1648036688566208,
+          -0.9861460328102112,
+          0.018857812508940697,
+          -29.44754409790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4443,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_783081769",
+      "mask_path": "../../mask/hdr_right_04443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04444.png",
+      "transform_matrix": [
+        [
+          -0.9611651301383972,
+          -0.1630326211452484,
+          -0.22266998887062073,
+          86.8784408569336
+        ],
+        [
+          0.22267307341098785,
+          0.01849178969860077,
+          -0.9747177958488464,
+          19.300477981567383
+        ],
+        [
+          0.16302835941314697,
+          -0.9864473938941956,
+          0.018529318273067474,
+          -29.456607818603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4444,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_883081674",
+      "mask_path": "../../mask/hdr_right_04444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04445.png",
+      "transform_matrix": [
+        [
+          -0.9586314558982849,
+          -0.1622646600008011,
+          -0.2338712066411972,
+          86.94798278808594
+        ],
+        [
+          0.23394151031970978,
+          0.018947433680295944,
+          -0.9720661044120789,
+          19.257911682128906
+        ],
+        [
+          0.16216324269771576,
+          -0.986565351486206,
+          0.019796840846538544,
+          -29.470170974731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4445,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323707_983082294",
+      "mask_path": "../../mask/hdr_right_04445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04446.png",
+      "transform_matrix": [
+        [
+          -0.95587557554245,
+          -0.17803196609020233,
+          -0.2336806207895279,
+          87.03619384765625
+        ],
+        [
+          0.23391485214233398,
+          0.019975025206804276,
+          -0.9720518589019775,
+          19.223955154418945
+        ],
+        [
+          0.17772407829761505,
+          -0.9838219881057739,
+          0.022550687193870544,
+          -29.481678009033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4446,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_83081960",
+      "mask_path": "../../mask/hdr_right_04446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04447.png",
+      "transform_matrix": [
+        [
+          -0.9562121033668518,
+          -0.18313120305538177,
+          -0.22830085456371307,
+          87.09919738769531
+        ],
+        [
+          0.2281147986650467,
+          0.0223703533411026,
+          -0.9733772873878479,
+          19.20428466796875
+        ],
+        [
+          0.1833629310131073,
+          -0.982833981513977,
+          0.020384132862091064,
+          -29.490415573120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4447,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_183081865",
+      "mask_path": "../../mask/hdr_right_04447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04448.png",
+      "transform_matrix": [
+        [
+          -0.9599283933639526,
+          -0.17039965093135834,
+          -0.2224893420934677,
+          87.15099334716797
+        ],
+        [
+          0.22171138226985931,
+          0.02382773533463478,
+          -0.9748212695121765,
+          19.193374633789062
+        ],
+        [
+          0.17141060531139374,
+          -0.9850869178771973,
+          0.014906630851328373,
+          -29.499958038330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4448,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_283082246",
+      "mask_path": "../../mask/hdr_right_04448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04449.png",
+      "transform_matrix": [
+        [
+          -0.9628644585609436,
+          -0.1659781038761139,
+          -0.21293973922729492,
+          87.23506927490234
+        ],
+        [
+          0.21268071234226227,
+          0.01954355277121067,
+          -0.976926326751709,
+          19.176803588867188
+        ],
+        [
+          0.16630998253822327,
+          -0.9859357476234436,
+          0.01648254320025444,
+          -29.51304054260254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4449,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_383082151",
+      "mask_path": "../../mask/hdr_right_04449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04450.png",
+      "transform_matrix": [
+        [
+          -0.9660756587982178,
+          -0.15993623435497284,
+          -0.20277632772922516,
+          87.32367706298828
+        ],
+        [
+          0.20289942622184753,
+          0.015735045075416565,
+          -0.9790732860565186,
+          19.150524139404297
+        ],
+        [
+          0.15977998077869415,
+          -0.987001895904541,
+          0.017249733209609985,
+          -29.520795822143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4450,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_483081817",
+      "mask_path": "../../mask/hdr_right_04450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04451.png",
+      "transform_matrix": [
+        [
+          -0.9691764712333679,
+          -0.1478884071111679,
+          -0.19704344868659973,
+          87.39035034179688
+        ],
+        [
+          0.19745132327079773,
+          0.012065880000591278,
+          -0.9802385568618774,
+          19.128374099731445
+        ],
+        [
+          0.14734339714050293,
+          -0.9889304041862488,
+          0.017506802454590797,
+          -29.524112701416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4451,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_583081483",
+      "mask_path": "../../mask/hdr_right_04451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04452.png",
+      "transform_matrix": [
+        [
+          -0.9707016348838806,
+          -0.13687919080257416,
+          -0.19749070703983307,
+          87.46275329589844
+        ],
+        [
+          0.19850018620491028,
+          0.006372516974806786,
+          -0.9800801277160645,
+          19.10734748840332
+        ],
+        [
+          0.1354110836982727,
+          -0.9905672073364258,
+          0.02098473533987999,
+          -29.53740692138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4452,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_683080673",
+      "mask_path": "../../mask/hdr_right_04452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04453.png",
+      "transform_matrix": [
+        [
+          -0.9712847471237183,
+          -0.13530683517456055,
+          -0.195698544383049,
+          87.55177307128906
+        ],
+        [
+          0.19800004363059998,
+          -0.0036335045006126165,
+          -0.9801952838897705,
+          19.08346176147461
+        ],
+        [
+          0.13191606104373932,
+          -0.9907971024513245,
+          0.030319932848215103,
+          -29.548250198364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4453,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_783081769",
+      "mask_path": "../../mask/hdr_right_04453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04454.png",
+      "transform_matrix": [
+        [
+          -0.9727987051010132,
+          -0.13032996654510498,
+          -0.1915118396282196,
+          87.62188720703125
+        ],
+        [
+          0.1944011151790619,
+          -0.00969991646707058,
+          -0.9808741807937622,
+          19.06511116027832
+        ],
+        [
+          0.12597964704036713,
+          -0.9914231896400452,
+          0.0347723588347435,
+          -29.55546760559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4454,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_883081912",
+      "mask_path": "../../mask/hdr_right_04454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04455.png",
+      "transform_matrix": [
+        [
+          -0.9746891260147095,
+          -0.11840935051441193,
+          -0.18963193893432617,
+          87.67761993408203
+        ],
+        [
+          0.19209957122802734,
+          -0.009681160561740398,
+          -0.9813277721405029,
+          19.052379608154297
+        ],
+        [
+          0.11436252295970917,
+          -0.9929176568984985,
+          0.03218251094222069,
+          -29.561426162719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4455,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323708_983082771",
+      "mask_path": "../../mask/hdr_right_04455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04456.png",
+      "transform_matrix": [
+        [
+          -0.975334107875824,
+          -0.11026651412248611,
+          -0.19121912121772766,
+          87.74203491210938
+        ],
+        [
+          0.19293466210365295,
+          -0.005004453007131815,
+          -0.9811989665031433,
+          19.032100677490234
+        ],
+        [
+          0.10723643004894257,
+          -0.9938895106315613,
+          0.026155250146985054,
+          -29.57154655456543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4456,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_83081722",
+      "mask_path": "../../mask/hdr_right_04456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04457.png",
+      "transform_matrix": [
+        [
+          -0.9744411110877991,
+          -0.10855520516633987,
+          -0.19667278230190277,
+          87.81381225585938
+        ],
+        [
+          0.19798433780670166,
+          -0.001332076033577323,
+          -0.9802044034004211,
+          19.001983642578125
+        ],
+        [
+          0.10614429414272308,
+          -0.9940895438194275,
+          0.02279026433825493,
+          -29.575502395629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4457,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_183082818",
+      "mask_path": "../../mask/hdr_right_04457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04458.png",
+      "transform_matrix": [
+        [
+          -0.9728341102600098,
+          -0.10997526347637177,
+          -0.2037135511636734,
+          87.8678970336914
+        ],
+        [
+          0.2052057981491089,
+          -0.002305175643414259,
+          -0.9787161946296692,
+          18.973752975463867
+        ],
+        [
+          0.10716497153043747,
+          -0.9939316511154175,
+          0.02481011301279068,
+          -29.581218719482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4458,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_283082723",
+      "mask_path": "../../mask/hdr_right_04458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04459.png",
+      "transform_matrix": [
+        [
+          -0.9714126586914062,
+          -0.10717535018920898,
+          -0.2118275761604309,
+          87.91175079345703
+        ],
+        [
+          0.21326342225074768,
+          -0.0019854872953146696,
+          -0.9769927263259888,
+          18.94710350036621
+        ],
+        [
+          0.1042889654636383,
+          -0.9942381381988525,
+          0.024785306304693222,
+          -29.585771560668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4459,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_383081912",
+      "mask_path": "../../mask/hdr_right_04459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04460.png",
+      "transform_matrix": [
+        [
+          -0.9697916507720947,
+          -0.10979460924863815,
+          -0.21782873570919037,
+          87.98220825195312
+        ],
+        [
+          0.21947048604488373,
+          -0.0029488217551261187,
+          -0.9756147265434265,
+          18.919376373291016
+        ],
+        [
+          0.10647489875555038,
+          -0.9939500093460083,
+          0.026956424117088318,
+          -29.59697914123535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4460,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_483081340",
+      "mask_path": "../../mask/hdr_right_04460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04461.png",
+      "transform_matrix": [
+        [
+          -0.9682827591896057,
+          -0.12061364948749542,
+          -0.2188168466091156,
+          88.05915069580078
+        ],
+        [
+          0.22157064080238342,
+          -0.009747948497533798,
+          -0.9750956892967224,
+          18.889759063720703
+        ],
+        [
+          0.11547680199146271,
+          -0.992651641368866,
+          0.03616321086883545,
+          -29.616201400756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4461,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_583081722",
+      "mask_path": "../../mask/hdr_right_04461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04462.png",
+      "transform_matrix": [
+        [
+          -0.967787504196167,
+          -0.1253925859928131,
+          -0.21832065284252167,
+          88.11803436279297
+        ],
+        [
+          0.22196537256240845,
+          -0.015697753056883812,
+          -0.9749282598495483,
+          18.86144256591797
+        ],
+        [
+          0.11882162094116211,
+          -0.9919830560684204,
+          0.043024905025959015,
+          -29.630908966064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4462,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_683081865",
+      "mask_path": "../../mask/hdr_right_04462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04463.png",
+      "transform_matrix": [
+        [
+          -0.9684233665466309,
+          -0.12508034706115723,
+          -0.21566441655158997,
+          88.17900085449219
+        ],
+        [
+          0.21960128843784332,
+          -0.0184248648583889,
+          -0.9754157066345215,
+          18.83263397216797
+        ],
+        [
+          0.11803174763917923,
+          -0.9919754862785339,
+          0.04531087726354599,
+          -29.640501022338867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4463,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_783081531",
+      "mask_path": "../../mask/hdr_right_04463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04464.png",
+      "transform_matrix": [
+        [
+          -0.9695307612419128,
+          -0.12957267463207245,
+          -0.20789679884910583,
+          88.25749969482422
+        ],
+        [
+          0.2115158587694168,
+          -0.01467115618288517,
+          -0.977264404296875,
+          18.800199508666992
+        ],
+        [
+          0.12357668578624725,
+          -0.9914613366127014,
+          0.041630808264017105,
+          -29.653919219970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4464,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_883081436",
+      "mask_path": "../../mask/hdr_right_04464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04465.png",
+      "transform_matrix": [
+        [
+          -0.9710135459899902,
+          -0.1339516043663025,
+          -0.19796404242515564,
+          88.32535552978516
+        ],
+        [
+          0.20094707608222961,
+          -0.008992397226393223,
+          -0.9795608520507812,
+          18.773900985717773
+        ],
+        [
+          0.12943357229232788,
+          -0.9909470677375793,
+          0.03564892336726189,
+          -29.659730911254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4465,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323709_983082532",
+      "mask_path": "../../mask/hdr_right_04465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04466.png",
+      "transform_matrix": [
+        [
+          -0.9727344512939453,
+          -0.132965549826622,
+          -0.1900205761194229,
+          88.37635803222656
+        ],
+        [
+          0.19211554527282715,
+          -0.002988649532198906,
+          -0.981367826461792,
+          18.7550106048584
+        ],
+        [
+          0.12992019951343536,
+          -0.9911161065101624,
+          0.028451913967728615,
+          -29.66364097595215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4466,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_83083391",
+      "mask_path": "../../mask/hdr_right_04466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04467.png",
+      "transform_matrix": [
+        [
+          -0.9748831987380981,
+          -0.1266246736049652,
+          -0.18321841955184937,
+          88.44678497314453
+        ],
+        [
+          0.18429915606975555,
+          0.003227760549634695,
+          -0.9828649759292603,
+          18.739171981811523
+        ],
+        [
+          0.12504631280899048,
+          -0.9919455051422119,
+          0.02019013836979866,
+          -29.67730140686035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4467,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_183084011",
+      "mask_path": "../../mask/hdr_right_04467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04468.png",
+      "transform_matrix": [
+        [
+          -0.9767681360244751,
+          -0.12695671617984772,
+          -0.17264480888843536,
+          88.53562927246094
+        ],
+        [
+          0.17335040867328644,
+          0.0055540455505251884,
+          -0.9848446249961853,
+          18.713481903076172
+        ],
+        [
+          0.12599150836467743,
+          -0.9918926954269409,
+          0.01658298820257187,
+          -29.683765411376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4468,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_283081531",
+      "mask_path": "../../mask/hdr_right_04468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04469.png",
+      "transform_matrix": [
+        [
+          -0.9790202975273132,
+          -0.12990158796310425,
+          -0.15698693692684174,
+          88.60594177246094
+        ],
+        [
+          0.1578831523656845,
+          0.003434729063883424,
+          -0.9874517917633057,
+          18.696958541870117
+        ],
+        [
+          0.12881077826023102,
+          -0.9915209412574768,
+          0.017146605998277664,
+          -29.68783950805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4469,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_383082866",
+      "mask_path": "../../mask/hdr_right_04469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04470.png",
+      "transform_matrix": [
+        [
+          -0.9819044470787048,
+          -0.12594588100910187,
+          -0.14142604172229767,
+          88.66641998291016
+        ],
+        [
+          0.14224404096603394,
+          0.002520382171496749,
+          -0.9898284673690796,
+          18.69763946533203
+        ],
+        [
+          0.12502126395702362,
+          -0.9920339584350586,
+          0.015440280549228191,
+          -29.70650291442871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4470,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_483081102",
+      "mask_path": "../../mask/hdr_right_04470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04471.png",
+      "transform_matrix": [
+        [
+          -0.9837087392807007,
+          -0.1233757734298706,
+          -0.1307501345872879,
+          88.73319244384766
+        ],
+        [
+          0.13068939745426178,
+          0.008620208129286766,
+          -0.9913859367370605,
+          18.69122314453125
+        ],
+        [
+          0.12344009429216385,
+          -0.992322564125061,
+          0.007644131314009428,
+          -29.722055435180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4471,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_583081722",
+      "mask_path": "../../mask/hdr_right_04471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04472.png",
+      "transform_matrix": [
+        [
+          -0.9829536080360413,
+          -0.13218700885772705,
+          -0.12778417766094208,
+          88.7865219116211
+        ],
+        [
+          0.12723980844020844,
+          0.01259203813970089,
+          -0.9917920827865601,
+          18.685171127319336
+        ],
+        [
+          0.13271109759807587,
+          -0.9911447763442993,
+          0.0044420636259019375,
+          -29.738767623901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4472,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_683081150",
+      "mask_path": "../../mask/hdr_right_04472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04473.png",
+      "transform_matrix": [
+        [
+          -0.9808858036994934,
+          -0.1452086716890335,
+          -0.12952817976474762,
+          88.85673522949219
+        ],
+        [
+          0.12869977951049805,
+          0.015124395489692688,
+          -0.9915682673454285,
+          18.67750358581543
+        ],
+        [
+          0.14594335854053497,
+          -0.989285409450531,
+          0.003853023750707507,
+          -29.766796112060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4473,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_783081054",
+      "mask_path": "../../mask/hdr_right_04473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04475.png",
+      "transform_matrix": [
+        [
+          -0.978866696357727,
+          -0.1524834781885147,
+          -0.13626724481582642,
+          89.00005340576172
+        ],
+        [
+          0.13605473935604095,
+          0.01187615655362606,
+          -0.9906301498413086,
+          18.656288146972656
+        ],
+        [
+          0.15267303586006165,
+          -0.9882347583770752,
+          0.009120927192270756,
+          -29.796144485473633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4475,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323710_983083009",
+      "mask_path": "../../mask/hdr_right_04475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04476.png",
+      "transform_matrix": [
+        [
+          -0.9780743718147278,
+          -0.15981680154800415,
+          -0.13352596759796143,
+          89.12370300292969
+        ],
+        [
+          0.1347200870513916,
+          0.0033892847131937742,
+          -0.9908779859542847,
+          18.63909149169922
+        ],
+        [
+          0.15881149470806122,
+          -0.9871408343315125,
+          0.018215561285614967,
+          -29.82610321044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4476,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_83081960",
+      "mask_path": "../../mask/hdr_right_04476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04477.png",
+      "transform_matrix": [
+        [
+          -0.9790415167808533,
+          -0.15713532269001007,
+          -0.12956170737743378,
+          89.1860580444336
+        ],
+        [
+          0.1314365118741989,
+          -0.0015544738853350282,
+          -0.9913234114646912,
+          18.633302688598633
+        ],
+        [
+          0.15557049214839935,
+          -0.987575888633728,
+          0.022175217047333717,
+          -29.844989776611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4477,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_183081865",
+      "mask_path": "../../mask/hdr_right_04477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04478.png",
+      "transform_matrix": [
+        [
+          -0.9811192154884338,
+          -0.14775674045085907,
+          -0.12479240447282791,
+          89.24551391601562
+        ],
+        [
+          0.12752100825309753,
+          -0.00910292100161314,
+          -0.9917941689491272,
+          18.640649795532227
+        ],
+        [
+          0.14540830254554749,
+          -0.9889819025993347,
+          0.02777314931154251,
+          -29.844141006469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4478,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_283082723",
+      "mask_path": "../../mask/hdr_right_04478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04479.png",
+      "transform_matrix": [
+        [
+          -0.979920506477356,
+          -0.1542055606842041,
+          -0.12639780342578888,
+          89.33737182617188
+        ],
+        [
+          0.12815311551094055,
+          -0.0014555031666532159,
+          -0.9917532801628113,
+          18.628074645996094
+        ],
+        [
+          0.1527499109506607,
+          -0.9880377650260925,
+          0.021188201382756233,
+          -29.865751266479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4479,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_383082151",
+      "mask_path": "../../mask/hdr_right_04479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04480.png",
+      "transform_matrix": [
+        [
+          -0.9759907722473145,
+          -0.17052654922008514,
+          -0.13550953567028046,
+          89.41870880126953
+        ],
+        [
+          0.13729585707187653,
+          0.0013288670452311635,
+          -0.9905292391777039,
+          18.604442596435547
+        ],
+        [
+          0.16909159719944,
+          -0.9853522777557373,
+          0.022115638479590416,
+          -29.880428314208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4480,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_483081579",
+      "mask_path": "../../mask/hdr_right_04480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04481.png",
+      "transform_matrix": [
+        [
+          -0.9730880856513977,
+          -0.1792457550764084,
+          -0.14481185376644135,
+          89.46666717529297
+        ],
+        [
+          0.14839494228363037,
+          -0.006673222407698631,
+          -0.988905668258667,
+          18.576570510864258
+        ],
+        [
+          0.17629076540470123,
+          -0.9837816953659058,
+          0.03309280052781105,
+          -29.88439178466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4481,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_583081960",
+      "mask_path": "../../mask/hdr_right_04481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04482.png",
+      "transform_matrix": [
+        [
+          -0.9704115986824036,
+          -0.18544626235961914,
+          -0.15463203191757202,
+          89.533203125
+        ],
+        [
+          0.15917754173278809,
+          -0.009785996749997139,
+          -0.9872015118598938,
+          18.53660011291504
+        ],
+        [
+          0.18155960738658905,
+          -0.9826056957244873,
+          0.03901532292366028,
+          -29.90245819091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4482,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_683082580",
+      "mask_path": "../../mask/hdr_right_04482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04483.png",
+      "transform_matrix": [
+        [
+          -0.9697732329368591,
+          -0.1816367655992508,
+          -0.1629352867603302,
+          89.6238021850586
+        ],
+        [
+          0.16768912971019745,
+          -0.011024127714335918,
+          -0.985778272151947,
+          18.500717163085938
+        ],
+        [
+          0.17725737392902374,
+          -0.983303964138031,
+          0.04114942252635956,
+          -29.924715042114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4483,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_783082485",
+      "mask_path": "../../mask/hdr_right_04483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04484.png",
+      "transform_matrix": [
+        [
+          -0.9705659747123718,
+          -0.17587819695472717,
+          -0.16452541947364807,
+          89.71705627441406
+        ],
+        [
+          0.17011749744415283,
+          -0.01709928922355175,
+          -0.9852754473686218,
+          18.464920043945312
+        ],
+        [
+          0.17047519981861115,
+          -0.9842634797096252,
+          0.046515945345163345,
+          -29.94975471496582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4484,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_883081912",
+      "mask_path": "../../mask/hdr_right_04484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04485.png",
+      "transform_matrix": [
+        [
+          -0.972054123878479,
+          -0.16739477217197418,
+          -0.1645900458097458,
+          89.7911148071289
+        ],
+        [
+          0.17039744555950165,
+          -0.020842062309384346,
+          -0.9851550459861755,
+          18.433914184570312
+        ],
+        [
+          0.1614793837070465,
+          -0.9856696128845215,
+          0.048783257603645325,
+          -29.971446990966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4485,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323711_983082294",
+      "mask_path": "../../mask/hdr_right_04485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04486.png",
+      "transform_matrix": [
+        [
+          -0.9741642475128174,
+          -0.15182898938655853,
+          -0.16718852519989014,
+          89.87199401855469
+        ],
+        [
+          0.1726839691400528,
+          -0.023666033521294594,
+          -0.9846928715705872,
+          18.396577835083008
+        ],
+        [
+          0.1455482542514801,
+          -0.98812335729599,
+          0.0492730438709259,
+          -29.994794845581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4486,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_83082437",
+      "mask_path": "../../mask/hdr_right_04486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04487.png",
+      "transform_matrix": [
+        [
+          -0.9740361571311951,
+          -0.14638270437717438,
+          -0.17270110547542572,
+          89.97574615478516
+        ],
+        [
+          0.17733709514141083,
+          -0.019135164096951485,
+          -0.9839640855789185,
+          18.349136352539062
+        ],
+        [
+          0.14073069393634796,
+          -0.9890429377555847,
+          0.04459742456674576,
+          -29.99810791015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4487,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_183082580",
+      "mask_path": "../../mask/hdr_right_04487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04488.png",
+      "transform_matrix": [
+        [
+          -0.9723880290985107,
+          -0.14724619686603546,
+          -0.18105268478393555,
+          90.05459594726562
+        ],
+        [
+          0.1846364140510559,
+          -0.01093030720949173,
+          -0.9827462434768677,
+          18.314682006835938
+        ],
+        [
+          0.14272665977478027,
+          -0.9890394806861877,
+          0.03781551867723465,
+          -29.99632453918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4488,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_283081531",
+      "mask_path": "../../mask/hdr_right_04488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04489.png",
+      "transform_matrix": [
+        [
+          -0.9714726209640503,
+          -0.14054527878761292,
+          -0.19101805984973907,
+          90.11003112792969
+        ],
+        [
+          0.19343715906143188,
+          -0.0036286849062889814,
+          -0.9811059832572937,
+          18.294906616210938
+        ],
+        [
+          0.1371966451406479,
+          -0.9900676608085632,
+          0.03071185201406479,
+          -29.994037628173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4489,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_383079528",
+      "mask_path": "../../mask/hdr_right_04489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04490.png",
+      "transform_matrix": [
+        [
+          -0.969433069229126,
+          -0.14700576663017273,
+          -0.19644054770469666,
+          90.20221710205078
+        ],
+        [
+          0.19974929094314575,
+          -0.007946711033582687,
+          -0.9798148274421692,
+          18.26679039001465
+        ],
+        [
+          0.1424773633480072,
+          -0.9891037344932556,
+          0.03706810250878334,
+          -30.015565872192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4490,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_483082056",
+      "mask_path": "../../mask/hdr_right_04490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04491.png",
+      "transform_matrix": [
+        [
+          -0.9662508368492126,
+          -0.1633208841085434,
+          -0.19921258091926575,
+          90.29866790771484
+        ],
+        [
+          0.20448195934295654,
+          -0.015940671786665916,
+          -0.9787405729293823,
+          18.236331939697266
+        ],
+        [
+          0.15667317807674408,
+          -0.9864442348480225,
+          0.04879886284470558,
+          -30.041439056396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4491,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_583082437",
+      "mask_path": "../../mask/hdr_right_04491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04492.png",
+      "transform_matrix": [
+        [
+          -0.9634189009666443,
+          -0.17536701261997223,
+          -0.20265868306159973,
+          90.36067199707031
+        ],
+        [
+          0.20948605239391327,
+          -0.021139176562428474,
+          -0.977583110332489,
+          18.211402893066406
+        ],
+        [
+          0.1671518236398697,
+          -0.9842761754989624,
+          0.05710284039378166,
+          -30.061290740966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4492,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_683082580",
+      "mask_path": "../../mask/hdr_right_04492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04493.png",
+      "transform_matrix": [
+        [
+          -0.9619240164756775,
+          -0.18022044003009796,
+          -0.20548191666603088,
+          90.4182357788086
+        ],
+        [
+          0.2138119339942932,
+          -0.027868181467056274,
+          -0.976477324962616,
+          18.19046974182129
+        ],
+        [
+          0.17025475203990936,
+          -0.9832313656806946,
+          0.06534036248922348,
+          -30.079450607299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4493,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_783081293",
+      "mask_path": "../../mask/hdr_right_04493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04494.png",
+      "transform_matrix": [
+        [
+          -0.9592397809028625,
+          -0.1912488341331482,
+          -0.20804551243782043,
+          90.50981140136719
+        ],
+        [
+          0.21716317534446716,
+          -0.027782179415225983,
+          -0.9757398962974548,
+          18.147022247314453
+        ],
+        [
+          0.18082916736602783,
+          -0.9811483025550842,
+          0.06818198412656784,
+          -30.103422164916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4494,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_883080720",
+      "mask_path": "../../mask/hdr_right_04494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04495.png",
+      "transform_matrix": [
+        [
+          -0.9553276896476746,
+          -0.20272642374038696,
+          -0.2150603085756302,
+          90.6002426147461
+        ],
+        [
+          0.2241860181093216,
+          -0.022901762276887894,
+          -0.9742773175239563,
+          18.105056762695312
+        ],
+        [
+          0.1925864815711975,
+          -0.9789676070213318,
+          0.06732712686061859,
+          -30.130399703979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4495,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323712_983081340",
+      "mask_path": "../../mask/hdr_right_04495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04496.png",
+      "transform_matrix": [
+        [
+          -0.9525477886199951,
+          -0.20271913707256317,
+          -0.22706304490566254,
+          90.65553283691406
+        ],
+        [
+          0.23462149500846863,
+          -0.01373972836881876,
+          -0.9719897508621216,
+          18.082134246826172
+        ],
+        [
+          0.19392113387584686,
+          -0.9791404604911804,
+          0.060650020837783813,
+          -30.140369415283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4496,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_83081960",
+      "mask_path": "../../mask/hdr_right_04496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04497.png",
+      "transform_matrix": [
+        [
+          -0.9505482316017151,
+          -0.19810360670089722,
+          -0.23919227719306946,
+          90.71697998046875
+        ],
+        [
+          0.24521932005882263,
+          -0.006099298130720854,
+          -0.9694485664367676,
+          18.053997039794922
+        ],
+        [
+          0.19059233367443085,
+          -0.9801620841026306,
+          0.0543765127658844,
+          -30.15696907043457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4497,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_183080911",
+      "mask_path": "../../mask/hdr_right_04497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04498.png",
+      "transform_matrix": [
+        [
+          -0.9504975080490112,
+          -0.19436581432819366,
+          -0.2424383908510208,
+          90.81432342529297
+        ],
+        [
+          0.24698969721794128,
+          0.0008433916955254972,
+          -0.9690178036689758,
+          18.028438568115234
+        ],
+        [
+          0.18854840099811554,
+          -0.9809287190437317,
+          0.04720472916960716,
+          -30.1762752532959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4498,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_283082485",
+      "mask_path": "../../mask/hdr_right_04498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04499.png",
+      "transform_matrix": [
+        [
+          -0.9516152143478394,
+          -0.19489890336990356,
+          -0.23757721483707428,
+          90.89439392089844
+        ],
+        [
+          0.24104274809360504,
+          0.006093582138419151,
+          -0.9704954028129578,
+          18.0108585357666
+        ],
+        [
+          0.19059619307518005,
+          -0.9808043837547302,
+          0.04118022695183754,
+          -30.190898895263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4499,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_383080244",
+      "mask_path": "../../mask/hdr_right_04499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04500.png",
+      "transform_matrix": [
+        [
+          -0.9539155960083008,
+          -0.19503715634346008,
+          -0.22804732620716095,
+          90.95245361328125
+        ],
+        [
+          0.23108191788196564,
+          0.007362826727330685,
+          -0.9729064702987671,
+          18.001819610595703
+        ],
+        [
+          0.19143196940422058,
+          -0.9807682037353516,
+          0.03804604709148407,
+          -30.20545196533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4500,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_483081340",
+      "mask_path": "../../mask/hdr_right_04500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04501.png",
+      "transform_matrix": [
+        [
+          -0.9570590853691101,
+          -0.19579708576202393,
+          -0.21377886831760406,
+          91.02916717529297
+        ],
+        [
+          0.21630409359931946,
+          0.008650965988636017,
+          -0.9762877225875854,
+          17.98560333251953
+        ],
+        [
+          0.19300369918346405,
+          -0.9806062579154968,
+          0.03407224267721176,
+          -30.22734832763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4501,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_583082437",
+      "mask_path": "../../mask/hdr_right_04501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04502.png",
+      "transform_matrix": [
+        [
+          -0.9538804292678833,
+          -0.21033412218093872,
+          -0.2141767144203186,
+          91.08666229248047
+        ],
+        [
+          0.2087692767381668,
+          0.047854550182819366,
+          -0.9767934083938599,
+          17.977861404418945
+        ],
+        [
+          0.21570231020450592,
+          -0.9764576554298401,
+          -0.0017362136859446764,
+          -30.233348846435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4502,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_683082342",
+      "mask_path": "../../mask/hdr_right_04502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04504.png",
+      "transform_matrix": [
+        [
+          -0.9529397487640381,
+          -0.22020897269248962,
+          -0.20836015045642853,
+          91.15496826171875
+        ],
+        [
+          0.20107311010360718,
+          0.05526135489344597,
+          -0.9780163764953613,
+          17.961965560913086
+        ],
+        [
+          0.2268822193145752,
+          -0.9738861322402954,
+          -0.008382640779018402,
+          -30.22166633605957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4504,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_883081912",
+      "mask_path": "../../mask/hdr_right_04504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04505.png",
+      "transform_matrix": [
+        [
+          -0.9567528367042542,
+          -0.2136426866054535,
+          -0.197435662150383,
+          91.23197937011719
+        ],
+        [
+          0.19099465012550354,
+          0.05059264227747917,
+          -0.9802864193916321,
+          17.93589210510254
+        ],
+        [
+          0.21941977739334106,
+          -0.9756008982658386,
+          -0.007600043434649706,
+          -30.2452449798584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4505,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323713_983082532",
+      "mask_path": "../../mask/hdr_right_04505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04506.png",
+      "transform_matrix": [
+        [
+          -0.9610580205917358,
+          -0.20405839383602142,
+          -0.1863533854484558,
+          91.30065155029297
+        ],
+        [
+          0.18112266063690186,
+          0.044186804443597794,
+          -0.9824674129486084,
+          17.918434143066406
+        ],
+        [
+          0.2087150663137436,
+          -0.9779609441757202,
+          -0.0055064852349460125,
+          -30.269128799438477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4506,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_83081960",
+      "mask_path": "../../mask/hdr_right_04506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04508.png",
+      "transform_matrix": [
+        [
+          -0.9682626128196716,
+          -0.18614448606967926,
+          -0.1667868047952652,
+          91.39631652832031
+        ],
+        [
+          0.15857604146003723,
+          0.058267563581466675,
+          -0.9856259822845459,
+          17.902862548828125
+        ],
+        [
+          0.19318708777427673,
+          -0.9807931184768677,
+          -0.02690025046467781,
+          -30.290163040161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4508,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_283082962",
+      "mask_path": "../../mask/hdr_right_04508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04509.png",
+      "transform_matrix": [
+        [
+          -0.971764862537384,
+          -0.18104632198810577,
+          -0.15131211280822754,
+          91.4511947631836
+        ],
+        [
+          0.14053359627723694,
+          0.07102534919977188,
+          -0.9875251650810242,
+          17.897550582885742
+        ],
+        [
+          0.1895347684621811,
+          -0.9809065461158752,
+          -0.04357684403657913,
+          -30.29977035522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4509,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_383081912",
+      "mask_path": "../../mask/hdr_right_04509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04510.png",
+      "transform_matrix": [
+        [
+          -0.9758201837539673,
+          -0.17299620807170868,
+          -0.13359352946281433,
+          91.51917266845703
+        ],
+        [
+          0.12402831017971039,
+          0.06501749157905579,
+          -0.9901463389396667,
+          17.869571685791016
+        ],
+        [
+          0.17997747659683228,
+          -0.9827741384506226,
+          -0.041988953948020935,
+          -30.317726135253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4510,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_483083248",
+      "mask_path": "../../mask/hdr_right_04510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04511.png",
+      "transform_matrix": [
+        [
+          -0.9785842299461365,
+          -0.166171595454216,
+          -0.12149044871330261,
+          91.5826187133789
+        ],
+        [
+          0.11336936801671982,
+          0.057548969984054565,
+          -0.9918848872184753,
+          17.845722198486328
+        ],
+        [
+          0.17181473970413208,
+          -0.984416127204895,
+          -0.03747774660587311,
+          -30.32683753967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4511,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_583081960",
+      "mask_path": "../../mask/hdr_right_04511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04513.png",
+      "transform_matrix": [
+        [
+          -0.9793341755867004,
+          -0.15759071707725525,
+          -0.1267666071653366,
+          91.70501708984375
+        ],
+        [
+          0.11848848313093185,
+          0.06089697778224945,
+          -0.9910863637924194,
+          17.813562393188477
+        ],
+        [
+          0.16390569508075714,
+          -0.9856250882148743,
+          -0.04096580669283867,
+          -30.35955047607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4513,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_783080577",
+      "mask_path": "../../mask/hdr_right_04513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04514.png",
+      "transform_matrix": [
+        [
+          -0.9780927896499634,
+          -0.16665180027484894,
+          -0.12474647164344788,
+          91.7737045288086
+        ],
+        [
+          0.11667916923761368,
+          0.05739085003733635,
+          -0.9915100932121277,
+          17.8009033203125
+        ],
+        [
+          0.1723962426185608,
+          -0.9843442440032959,
+          -0.03668878600001335,
+          -30.383546829223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4514,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_883081436",
+      "mask_path": "../../mask/hdr_right_04514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04515.png",
+      "transform_matrix": [
+        [
+          -0.9777582287788391,
+          -0.17083987593650818,
+          -0.12166643887758255,
+          91.82672882080078
+        ],
+        [
+          0.11369943618774414,
+          0.05570586025714874,
+          -0.9919523596763611,
+          17.78616714477539
+        ],
+        [
+          0.17624254524707794,
+          -0.9837228655815125,
+          -0.03504246473312378,
+          -30.40827178955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4515,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323714_983080863",
+      "mask_path": "../../mask/hdr_right_04515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04516.png",
+      "transform_matrix": [
+        [
+          -0.9780783653259277,
+          -0.16975244879722595,
+          -0.12061037868261337,
+          91.87849426269531
+        ],
+        [
+          0.11240442097187042,
+          0.05718361958861351,
+          -0.9920158386230469,
+          17.771638870239258
+        ],
+        [
+          0.17529404163360596,
+          -0.9838262796401978,
+          -0.03684913367033005,
+          -30.428510665893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4516,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_83082914",
+      "mask_path": "../../mask/hdr_right_04516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04517.png",
+      "transform_matrix": [
+        [
+          -0.9783639311790466,
+          -0.1682269275188446,
+          -0.12043198198080063,
+          91.94692993164062
+        ],
+        [
+          0.11191760748624802,
+          0.059243399649858475,
+          -0.9919499754905701,
+          17.75192642211914
+        ],
+        [
+          0.17400749027729034,
+          -0.9839664101600647,
+          -0.03913404792547226,
+          -30.43452262878418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4517,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_183081150",
+      "mask_path": "../../mask/hdr_right_04517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04518.png",
+      "transform_matrix": [
+        [
+          -0.9784558415412903,
+          -0.16396676003932953,
+          -0.12545591592788696,
+          92.01909637451172
+        ],
+        [
+          0.11697201430797577,
+          0.060449425131082535,
+          -0.9912938475608826,
+          17.731021881103516
+        ],
+        [
+          0.17012299597263336,
+          -0.984611988067627,
+          -0.03996757045388222,
+          -30.43303680419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4518,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_283082485",
+      "mask_path": "../../mask/hdr_right_04518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04520.png",
+      "transform_matrix": [
+        [
+          -0.9775720238685608,
+          -0.14969037473201752,
+          -0.1481410562992096,
+          92.1240005493164
+        ],
+        [
+          0.1410033106803894,
+          0.05728084594011307,
+          -0.9883506894111633,
+          17.69594383239746
+        ],
+        [
+          0.15643222630023956,
+          -0.9870723485946655,
+          -0.03488931432366371,
+          -30.437294006347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4520,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_483082056",
+      "mask_path": "../../mask/hdr_right_04520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04521.png",
+      "transform_matrix": [
+        [
+          -0.9765713214874268,
+          -0.15026229619979858,
+          -0.15404506027698517,
+          92.18968200683594
+        ],
+        [
+          0.14845718443393707,
+          0.04779023677110672,
+          -0.9877634644508362,
+          17.675457000732422
+        ],
+        [
+          0.155785471200943,
+          -0.9874904155731201,
+          -0.02436305768787861,
+          -30.443359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4521,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_583080768",
+      "mask_path": "../../mask/hdr_right_04521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04522.png",
+      "transform_matrix": [
+        [
+          -0.9758027791976929,
+          -0.15313594043254852,
+          -0.15607206523418427,
+          92.25289916992188
+        ],
+        [
+          0.15160727500915527,
+          0.040485307574272156,
+          -0.9876112341880798,
+          17.6534366607666
+        ],
+        [
+          0.157557412981987,
+          -0.9873754978179932,
+          -0.016289157792925835,
+          -30.456844329833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4522,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_683082580",
+      "mask_path": "../../mask/hdr_right_04522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04523.png",
+      "transform_matrix": [
+        [
+          -0.9763744473457336,
+          -0.15114080905914307,
+          -0.15443237125873566,
+          92.309326171875
+        ],
+        [
+          0.15064340829849243,
+          0.03627616912126541,
+          -0.9879224300384521,
+          17.644969940185547
+        ],
+        [
+          0.1549176275730133,
+          -0.9878464341163635,
+          -0.012650754302740097,
+          -30.475112915039062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4523,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_783081769",
+      "mask_path": "../../mask/hdr_right_04523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04524.png",
+      "transform_matrix": [
+        [
+          -0.9760192632675171,
+          -0.15473708510398865,
+          -0.15311048924922943,
+          92.38907623291016
+        ],
+        [
+          0.15010197460651398,
+          0.031013283878564835,
+          -0.9881840348243713,
+          17.631328582763672
+        ],
+        [
+          0.157657191157341,
+          -0.9874687790870667,
+          -0.0070432210341095924,
+          -30.501285552978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4524,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_883082866",
+      "mask_path": "../../mask/hdr_right_04524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04525.png",
+      "transform_matrix": [
+        [
+          -0.975144624710083,
+          -0.15830226242542267,
+          -0.15502701699733734,
+          92.48651885986328
+        ],
+        [
+          0.15230020880699158,
+          0.02928883209824562,
+          -0.9879001975059509,
+          17.597978591918945
+        ],
+        [
+          0.1609273999929428,
+          -0.9869562983512878,
+          -0.004451375920325518,
+          -30.525806427001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4525,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323715_983082532",
+      "mask_path": "../../mask/hdr_right_04525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04526.png",
+      "transform_matrix": [
+        [
+          -0.9752842783927917,
+          -0.1543916016817093,
+          -0.15806300938129425,
+          92.55732727050781
+        ],
+        [
+          0.1552235633134842,
+          0.03035370074212551,
+          -0.9874129295349121,
+          17.572397232055664
+        ],
+        [
+          0.15724606812000275,
+          -0.9875433444976807,
+          -0.0056382748298347,
+          -30.536163330078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4526,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_83082437",
+      "mask_path": "../../mask/hdr_right_04526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04527.png",
+      "transform_matrix": [
+        [
+          -0.9761730432510376,
+          -0.14258143305778503,
+          -0.16357481479644775,
+          92.635986328125
+        ],
+        [
+          0.16102944314479828,
+          0.029291359707713127,
+          -0.9865148663520813,
+          17.55303955078125
+        ],
+        [
+          0.14545002579689026,
+          -0.9893496036529541,
+          -0.005633635446429253,
+          -30.53960609436035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4527,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_183081626",
+      "mask_path": "../../mask/hdr_right_04527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04528.png",
+      "transform_matrix": [
+        [
+          -0.976475715637207,
+          -0.13682639598846436,
+          -0.1666548103094101,
+          92.737548828125
+        ],
+        [
+          0.16492442786693573,
+          0.02396765723824501,
+          -0.9860149621963501,
+          17.531967163085938
+        ],
+        [
+          0.13890719413757324,
+          -0.9903050661087036,
+          -0.0008378157508559525,
+          -30.553504943847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4528,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_283082723",
+      "mask_path": "../../mask/hdr_right_04528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04529.png",
+      "transform_matrix": [
+        [
+          -0.977087676525116,
+          -0.13355500996112823,
+          -0.16571907699108124,
+          92.81842803955078
+        ],
+        [
+          0.16471140086650848,
+          0.018636031076312065,
+          -0.9861657619476318,
+          17.512725830078125
+        ],
+        [
+          0.13479572534561157,
+          -0.9908661246299744,
+          0.003789001377299428,
+          -30.57052993774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4529,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_383082151",
+      "mask_path": "../../mask/hdr_right_04529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04530.png",
+      "transform_matrix": [
+        [
+          -0.9780484437942505,
+          -0.1273074448108673,
+          -0.16496692597866058,
+          92.8966064453125
+        ],
+        [
+          0.16409710049629211,
+          0.01736351102590561,
+          -0.9862913489341736,
+          17.492652893066406
+        ],
+        [
+          0.128426656126976,
+          -0.9917113184928894,
+          0.003908426966518164,
+          -30.584896087646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4530,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_483082532",
+      "mask_path": "../../mask/hdr_right_04530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04531.png",
+      "transform_matrix": [
+        [
+          -0.9788805842399597,
+          -0.11812569200992584,
+          -0.16685029864311218,
+          92.96484375
+        ],
+        [
+          0.1662798523902893,
+          0.014738979749381542,
+          -0.9859684109687805,
+          17.47161293029785
+        ],
+        [
+          0.11892741173505783,
+          -0.9928892254829407,
+          0.0052142152562737465,
+          -30.597597122192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4531,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_583082437",
+      "mask_path": "../../mask/hdr_right_04531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04532.png",
+      "transform_matrix": [
+        [
+          -0.9790270328521729,
+          -0.1119883731007576,
+          -0.1701899617910385,
+          93.04801177978516
+        ],
+        [
+          0.17027319967746735,
+          0.00889170914888382,
+          -0.9853567481040955,
+          17.43916893005371
+        ],
+        [
+          0.11186178773641586,
+          -0.9936698079109192,
+          0.010363396257162094,
+          -30.590721130371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4532,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_683082103",
+      "mask_path": "../../mask/hdr_right_04532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04533.png",
+      "transform_matrix": [
+        [
+          -0.9786502718925476,
+          -0.11004505306482315,
+          -0.17359067499637604,
+          93.12692260742188
+        ],
+        [
+          0.17404422163963318,
+          0.005544425919651985,
+          -0.9847222566604614,
+          17.406280517578125
+        ],
+        [
+          0.10932628065347672,
+          -0.9939111471176147,
+          0.013726653531193733,
+          -30.587444305419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4533,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_783081769",
+      "mask_path": "../../mask/hdr_right_04533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04535.png",
+      "transform_matrix": [
+        [
+          -0.97745680809021,
+          -0.1051979660987854,
+          -0.18306201696395874,
+          93.25011444091797
+        ],
+        [
+          0.18423080444335938,
+          -0.0014194026589393616,
+          -0.982882022857666,
+          17.35598373413086
+        ],
+        [
+          0.10313735902309418,
+          -0.9944503903388977,
+          0.020768115296959877,
+          -30.599611282348633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4535,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323716_983080625",
+      "mask_path": "../../mask/hdr_right_04535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04536.png",
+      "transform_matrix": [
+        [
+          -0.977088987827301,
+          -0.11332393437623978,
+          -0.1801525205373764,
+          93.3248519897461
+        ],
+        [
+          0.18309949338436127,
+          -0.016071291640400887,
+          -0.9829630255699158,
+          17.323612213134766
+        ],
+        [
+          0.10849794745445251,
+          -0.993428111076355,
+          0.03645263612270355,
+          -30.605140686035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4536,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_83080768",
+      "mask_path": "../../mask/hdr_right_04536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04538.png",
+      "transform_matrix": [
+        [
+          -0.9796818494796753,
+          -0.09313705563545227,
+          -0.17762057483196259,
+          93.41841125488281
+        ],
+        [
+          0.18050694465637207,
+          -0.02347281388938427,
+          -0.9832936525344849,
+          17.309221267700195
+        ],
+        [
+          0.0874118059873581,
+          -0.9953765869140625,
+          0.03980777785181999,
+          -30.61185073852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4538,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_283081531",
+      "mask_path": "../../mask/hdr_right_04538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04539.png",
+      "transform_matrix": [
+        [
+          -0.9803012013435364,
+          -0.09057212620973587,
+          -0.1755169928073883,
+          93.48821258544922
+        ],
+        [
+          0.17811724543571472,
+          -0.02140919677913189,
+          -0.983776330947876,
+          17.287912368774414
+        ],
+        [
+          0.08534503728151321,
+          -0.9956597089767456,
+          0.03711991757154465,
+          -30.618330001831055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4539,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_383081912",
+      "mask_path": "../../mask/hdr_right_04539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04540.png",
+      "transform_matrix": [
+        [
+          -0.9799548387527466,
+          -0.0994112491607666,
+          -0.17264415323734283,
+          93.55408477783203
+        ],
+        [
+          0.17512045800685883,
+          -0.016680894419550896,
+          -0.9844057559967041,
+          17.26642417907715
+        ],
+        [
+          0.09498114883899689,
+          -0.9949066638946533,
+          0.03375547006726265,
+          -30.642292022705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4540,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_483082056",
+      "mask_path": "../../mask/hdr_right_04540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04543.png",
+      "transform_matrix": [
+        [
+          -0.9826803803443909,
+          -0.10987338423728943,
+          -0.14922171831130981,
+          93.72085571289062
+        ],
+        [
+          0.1503981053829193,
+          -0.0024515229742974043,
+          -0.9886224865913391,
+          17.22574806213379
+        ],
+        [
+          0.1082574725151062,
+          -0.9939426183700562,
+          0.018933815881609917,
+          -30.67915153503418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4543,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_783082246",
+      "mask_path": "../../mask/hdr_right_04543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04544.png",
+      "transform_matrix": [
+        [
+          -0.9838980436325073,
+          -0.11905795335769653,
+          -0.13330362737178802,
+          93.79533386230469
+        ],
+        [
+          0.13463841378688812,
+          -0.003202686784788966,
+          -0.9908897280693054,
+          17.211959838867188
+        ],
+        [
+          0.11754636466503143,
+          -0.9928821325302124,
+          0.019180893898010254,
+          -30.70036506652832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4544,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_883081436",
+      "mask_path": "../../mask/hdr_right_04544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04545.png",
+      "transform_matrix": [
+        [
+          -0.9855848550796509,
+          -0.12119485437870026,
+          -0.11804424971342087,
+          93.85172271728516
+        ],
+        [
+          0.1195572018623352,
+          -0.005263183731585741,
+          -0.9928134083747864,
+          17.205257415771484
+        ],
+        [
+          0.11970258504152298,
+          -0.9926148056983948,
+          0.01967703551054001,
+          -30.712032318115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4545,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323717_983079910",
+      "mask_path": "../../mask/hdr_right_04545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04546.png",
+      "transform_matrix": [
+        [
+          -0.9871748685836792,
+          -0.1199241504073143,
+          -0.10537543892860413,
+          93.9203872680664
+        ],
+        [
+          0.10700033605098724,
+          -0.007173866964876652,
+          -0.9942331910133362,
+          17.19936180114746
+        ],
+        [
+          0.11847660690546036,
+          -0.9927571415901184,
+          0.01991378515958786,
+          -30.71090316772461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4546,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_83082675",
+      "mask_path": "../../mask/hdr_right_04546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04547.png",
+      "transform_matrix": [
+        [
+          -0.9868029356002808,
+          -0.12344525754451752,
+          -0.10479152947664261,
+          93.9969711303711
+        ],
+        [
+          0.10567231476306915,
+          -0.0005909609608352184,
+          -0.9944008588790894,
+          17.179813385009766
+        ],
+        [
+          0.12269213795661926,
+          -0.9923511743545532,
+          0.013627905398607254,
+          -30.724519729614258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4547,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_183081865",
+      "mask_path": "../../mask/hdr_right_04547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04548.png",
+      "transform_matrix": [
+        [
+          -0.9843037724494934,
+          -0.13230185210704803,
+          -0.11680012196302414,
+          94.06249237060547
+        ],
+        [
+          0.11743159592151642,
+          0.0030463701114058495,
+          -0.9930763840675354,
+          17.1603946685791
+        ],
+        [
+          0.13174164295196533,
+          -0.9912047982215881,
+          0.01253786776214838,
+          -30.733156204223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4548,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_283081054",
+      "mask_path": "../../mask/hdr_right_04548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04549.png",
+      "transform_matrix": [
+        [
+          -0.9818609952926636,
+          -0.13773596286773682,
+          -0.13029898703098297,
+          94.1176986694336
+        ],
+        [
+          0.13089671730995178,
+          0.0047481670044362545,
+          -0.9913846850395203,
+          17.1400203704834
+        ],
+        [
+          0.1371680051088333,
+          -0.9904575943946838,
+          0.013367150910198689,
+          -30.737571716308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4549,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_383082389",
+      "mask_path": "../../mask/hdr_right_04549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04550.png",
+      "transform_matrix": [
+        [
+          -0.9800341725349426,
+          -0.13671055436134338,
+          -0.14437218010425568,
+          94.17752075195312
+        ],
+        [
+          0.14417938888072968,
+          0.01136389933526516,
+          -0.9894863367080688,
+          17.116060256958008
+        ],
+        [
+          0.13691385090351105,
+          -0.9905458688735962,
+          0.008573835715651512,
+          -30.74408531188965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4550,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_483082056",
+      "mask_path": "../../mask/hdr_right_04550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04551.png",
+      "transform_matrix": [
+        [
+          -0.9777548909187317,
+          -0.14005447924137115,
+          -0.15614107251167297,
+          94.24871063232422
+        ],
+        [
+          0.15640507638454437,
+          0.009188346564769745,
+          -0.9876502752304077,
+          17.093461990356445
+        ],
+        [
+          0.13975952565670013,
+          -0.9901010990142822,
+          0.012921291403472424,
+          -30.74480628967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4551,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_583081722",
+      "mask_path": "../../mask/hdr_right_04551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04552.png",
+      "transform_matrix": [
+        [
+          -0.9749743342399597,
+          -0.15599212050437927,
+          -0.15840351581573486,
+          94.34901428222656
+        ],
+        [
+          0.1595567911863327,
+          0.005181168671697378,
+          -0.9871752262115479,
+          17.06450653076172
+        ],
+        [
+          0.1548122614622116,
+          -0.9877446889877319,
+          0.01983810029923916,
+          -30.770954132080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4552,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_683081626",
+      "mask_path": "../../mask/hdr_right_04552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04553.png",
+      "transform_matrix": [
+        [
+          -0.9724130630493164,
+          -0.1729011833667755,
+          -0.1565815955400467,
+          94.42923736572266
+        ],
+        [
+          0.15827995538711548,
+          0.0040079946629703045,
+          -0.987386167049408,
+          17.042530059814453
+        ],
+        [
+          0.17134784162044525,
+          -0.9849309921264648,
+          0.023469364270567894,
+          -30.822715759277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4553,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_783080101",
+      "mask_path": "../../mask/hdr_right_04553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04554.png",
+      "transform_matrix": [
+        [
+          -0.9709819555282593,
+          -0.17984244227409363,
+          -0.15764112770557404,
+          94.47738647460938
+        ],
+        [
+          0.15956254303455353,
+          0.0038249134086072445,
+          -0.9871804118156433,
+          17.032573699951172
+        ],
+        [
+          0.17813992500305176,
+          -0.9836879968643188,
+          0.02498219534754753,
+          -30.863195419311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4554,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_883080959",
+      "mask_path": "../../mask/hdr_right_04554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04555.png",
+      "transform_matrix": [
+        [
+          -0.9705955982208252,
+          -0.1801367551088333,
+          -0.15967170894145966,
+          94.54435729980469
+        ],
+        [
+          0.162504643201828,
+          -0.0009827262256294489,
+          -0.9867072701454163,
+          17.01814842224121
+        ],
+        [
+          0.17758534848690033,
+          -0.9836410880088806,
+          0.03022688999772072,
+          -30.873985290527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4555,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323718_983080625",
+      "mask_path": "../../mask/hdr_right_04555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04556.png",
+      "transform_matrix": [
+        [
+          -0.9689978957176208,
+          -0.18625551462173462,
+          -0.1623324751853943,
+          94.6423110961914
+        ],
+        [
+          0.1655171513557434,
+          -0.0015713050961494446,
+          -0.9862056970596313,
+          16.973142623901367
+        ],
+        [
+          0.18343116343021393,
+          -0.9825000762939453,
+          0.03235107660293579,
+          -30.897809982299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4556,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_83079814",
+      "mask_path": "../../mask/hdr_right_04556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04557.png",
+      "transform_matrix": [
+        [
+          -0.9661983251571655,
+          -0.19360552728176117,
+          -0.17022842168807983,
+          94.7251968383789
+        ],
+        [
+          0.1733340620994568,
+          0.0009115131688304245,
+          -0.9848626852035522,
+          16.931093215942383
+        ],
+        [
+          0.1908300518989563,
+          -0.9810790419578552,
+          0.03267773985862732,
+          -30.916902542114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4557,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_183081865",
+      "mask_path": "../../mask/hdr_right_04557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04558.png",
+      "transform_matrix": [
+        [
+          -0.9643043875694275,
+          -0.1937142163515091,
+          -0.180532306432724,
+          94.77996063232422
+        ],
+        [
+          0.18378858268260956,
+          0.0011814176104962826,
+          -0.9829651117324829,
+          16.909257888793945
+        ],
+        [
+          0.1906275898218155,
+          -0.9810572862625122,
+          0.03446321189403534,
+          -30.924610137939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4558,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_283081293",
+      "mask_path": "../../mask/hdr_right_04558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04559.png",
+      "transform_matrix": [
+        [
+          -0.9632278680801392,
+          -0.18899893760681152,
+          -0.19097553193569183,
+          94.8406753540039
+        ],
+        [
+          0.1946670264005661,
+          -0.0009880944853648543,
+          -0.980868935585022,
+          16.873855590820312
+        ],
+        [
+          0.1851944774389267,
+          -0.9819767475128174,
+          0.03774362429976463,
+          -30.9321231842041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4559,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_383080720",
+      "mask_path": "../../mask/hdr_right_04559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04560.png",
+      "transform_matrix": [
+        [
+          -0.9640604853630066,
+          -0.17770138382911682,
+          -0.1975085586309433,
+          94.94817352294922
+        ],
+        [
+          0.200787752866745,
+          -0.00048016669461503625,
+          -0.9796346426010132,
+          16.83534049987793
+        ],
+        [
+          0.17398758232593536,
+          -0.9840843081474304,
+          0.03614317625761032,
+          -30.930831909179688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4560,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_483080387",
+      "mask_path": "../../mask/hdr_right_04560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04561.png",
+      "transform_matrix": [
+        [
+          -0.9664162397384644,
+          -0.16552519798278809,
+          -0.19657324254512787,
+          95.04536437988281
+        ],
+        [
+          0.19933371245861053,
+          -6.67026179144159e-05,
+          -0.9799317121505737,
+          16.812725067138672
+        ],
+        [
+          0.1621902734041214,
+          -0.9862055778503418,
+          0.033059220761060715,
+          -30.935117721557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4561,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_583080530",
+      "mask_path": "../../mask/hdr_right_04561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04562.png",
+      "transform_matrix": [
+        [
+          -0.9688087105751038,
+          -0.15495578944683075,
+          -0.19338685274124146,
+          95.12200927734375
+        ],
+        [
+          0.19614489376544952,
+          -0.0025635622441768646,
+          -0.9805716276168823,
+          16.7952938079834
+        ],
+        [
+          0.15144950151443481,
+          -0.9879180788993835,
+          0.03287739306688309,
+          -30.943899154663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4562,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_683081150",
+      "mask_path": "../../mask/hdr_right_04562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04563.png",
+      "transform_matrix": [
+        [
+          -0.969825029373169,
+          -0.14857538044452667,
+          -0.19330021739006042,
+          95.19393157958984
+        ],
+        [
+          0.19589492678642273,
+          -0.0028915267903357744,
+          -0.9806206822395325,
+          16.77519416809082
+        ],
+        [
+          0.14513714611530304,
+          -0.9888967871665955,
+          0.03190944343805313,
+          -30.952486038208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4563,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323719_783079624",
+      "mask_path": "../../mask/hdr_right_04563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05769.png",
+      "transform_matrix": [
+        [
+          0.9911061525344849,
+          -0.11282095313072205,
+          0.07056993991136551,
+          94.6923599243164
+        ],
+        [
+          -0.07042838633060455,
+          0.005244794301688671,
+          0.9975030422210693,
+          16.592134475708008
+        ],
+        [
+          -0.11290937662124634,
+          -0.9936014413833618,
+          -0.002747653517872095,
+          -30.902769088745117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5769,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_383081436",
+      "mask_path": "../../mask/hdr_right_05769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05770.png",
+      "transform_matrix": [
+        [
+          0.9915586709976196,
+          -0.10740343481302261,
+          0.07263655960559845,
+          94.63203430175781
+        ],
+        [
+          -0.07201370596885681,
+          0.00967139471322298,
+          0.9973567724227905,
+          16.603290557861328
+        ],
+        [
+          -0.10782203078269958,
+          -0.9941685199737549,
+          0.0018552335677668452,
+          -30.9021053314209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5770,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_483083009",
+      "mask_path": "../../mask/hdr_right_05770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05771.png",
+      "transform_matrix": [
+        [
+          0.9912464022636414,
+          -0.10734713822603226,
+          0.07685830444097519,
+          94.55364227294922
+        ],
+        [
+          -0.07525739818811417,
+          0.018891483545303345,
+          0.9969851970672607,
+          16.634815216064453
+        ],
+        [
+          -0.1084754690527916,
+          -0.9940420985221863,
+          0.010647446848452091,
+          -30.916675567626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5771,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_583082437",
+      "mask_path": "../../mask/hdr_right_05771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05772.png",
+      "transform_matrix": [
+        [
+          0.9868007302284241,
+          -0.13076739013195038,
+          0.09552034735679626,
+          94.45438385009766
+        ],
+        [
+          -0.09147020429372787,
+          0.03664976358413696,
+          0.9951331615447998,
+          16.66923713684082
+        ],
+        [
+          -0.13363175094127655,
+          -0.9907354116439819,
+          0.024204697459936142,
+          -30.834392547607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5772,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_683081865",
+      "mask_path": "../../mask/hdr_right_05772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05773.png",
+      "transform_matrix": [
+        [
+          0.9822277426719666,
+          -0.14810259640216827,
+          0.11530127376317978,
+          94.3767318725586
+        ],
+        [
+          -0.1105155423283577,
+          0.040174175053834915,
+          0.9930620789527893,
+          16.691303253173828
+        ],
+        [
+          -0.15170720219612122,
+          -0.988155722618103,
+          0.02309255115687847,
+          -30.768959045410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5773,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_783081293",
+      "mask_path": "../../mask/hdr_right_05773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05774.png",
+      "transform_matrix": [
+        [
+          0.9809839129447937,
+          -0.1465492993593216,
+          0.12725494801998138,
+          94.32032775878906
+        ],
+        [
+          -0.1242801696062088,
+          0.029316863045096397,
+          0.9918140172958374,
+          16.707645416259766
+        ],
+        [
+          -0.14908036589622498,
+          -0.9887688755989075,
+          0.010546194389462471,
+          -30.788066864013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5774,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_883081674",
+      "mask_path": "../../mask/hdr_right_05774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05775.png",
+      "transform_matrix": [
+        [
+          0.9805952906608582,
+          -0.14446337521076202,
+          0.13252666592597961,
+          94.21345520019531
+        ],
+        [
+          -0.13112324476242065,
+          0.01923576183617115,
+          0.9911794662475586,
+          16.718732833862305
+        ],
+        [
+          -0.1457383781671524,
+          -0.9893231391906738,
+          -8.001287642400712e-05,
+          -30.77944564819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5775,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323840_983081102",
+      "mask_path": "../../mask/hdr_right_05775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05776.png",
+      "transform_matrix": [
+        [
+          0.9813701510429382,
+          -0.13981498777866364,
+          0.13177385926246643,
+          94.12678527832031
+        ],
+        [
+          -0.12968096137046814,
+          0.024015232920646667,
+          0.9912649393081665,
+          16.72724723815918
+        ],
+        [
+          -0.1417582631111145,
+          -0.9898864030838013,
+          0.00543648935854435,
+          -30.76866340637207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5776,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_83079814",
+      "mask_path": "../../mask/hdr_right_05776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05778.png",
+      "transform_matrix": [
+        [
+          0.9826982021331787,
+          -0.12576723098754883,
+          0.13596723973751068,
+          94.04313659667969
+        ],
+        [
+          -0.13222011923789978,
+          0.03771599382162094,
+          0.990502655506134,
+          16.735374450683594
+        ],
+        [
+          -0.1297009140253067,
+          -0.9913426041603088,
+          0.02043447457253933,
+          -30.78148651123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5778,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_283082008",
+      "mask_path": "../../mask/hdr_right_05778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05779.png",
+      "transform_matrix": [
+        [
+          0.9822261333465576,
+          -0.12126807123422623,
+          0.14326897263526917,
+          93.96773529052734
+        ],
+        [
+          -0.13849402964115143,
+          0.046971868723630905,
+          0.9892487525939941,
+          16.758563995361328
+        ],
+        [
+          -0.12669388949871063,
+          -0.9915077686309814,
+          0.029342088848352432,
+          -30.754133224487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5779,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_383082151",
+      "mask_path": "../../mask/hdr_right_05779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05780.png",
+      "transform_matrix": [
+        [
+          0.9808974266052246,
+          -0.12213969230651855,
+          0.1514008492231369,
+          93.89984893798828
+        ],
+        [
+          -0.14611919224262238,
+          0.05115102231502533,
+          0.9879437685012817,
+          16.784732818603516
+        ],
+        [
+          -0.1284114569425583,
+          -0.9911940097808838,
+          0.032326944172382355,
+          -30.728679656982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5780,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_483082056",
+      "mask_path": "../../mask/hdr_right_05780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05781.png",
+      "transform_matrix": [
+        [
+          0.9787991046905518,
+          -0.1261560022830963,
+          0.16135995090007782,
+          93.84612274169922
+        ],
+        [
+          -0.1563996523618698,
+          0.04834721237421036,
+          0.9865099191665649,
+          16.806169509887695
+        ],
+        [
+          -0.1322554349899292,
+          -0.9908316135406494,
+          0.027591457590460777,
+          -30.718412399291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5781,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_583081245",
+      "mask_path": "../../mask/hdr_right_05781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05782.png",
+      "transform_matrix": [
+        [
+          0.9773932099342346,
+          -0.12748503684997559,
+          0.16867145895957947,
+          93.7761001586914
+        ],
+        [
+          -0.16376836597919464,
+          0.0480864979326725,
+          0.9853261113166809,
+          16.834516525268555
+        ],
+        [
+          -0.13372516632080078,
+          -0.9906741380691528,
+          0.026121392846107483,
+          -30.706113815307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5782,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_683081150",
+      "mask_path": "../../mask/hdr_right_05782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05783.png",
+      "transform_matrix": [
+        [
+          0.9767749309539795,
+          -0.12302467226982117,
+          0.1754303276538849,
+          93.70862579345703
+        ],
+        [
+          -0.1695319563150406,
+          0.05695845186710358,
+          0.983877420425415,
+          16.866592407226562
+        ],
+        [
+          -0.13103343546390533,
+          -0.9907677173614502,
+          0.03477897122502327,
+          -30.708993911743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5783,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_783081531",
+      "mask_path": "../../mask/hdr_right_05783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05784.png",
+      "transform_matrix": [
+        [
+          0.9756401777267456,
+          -0.11957916617393494,
+          0.18392162024974823,
+          93.6485824584961
+        ],
+        [
+          -0.17725923657417297,
+          0.06424038857221603,
+          0.9820653200149536,
+          16.892799377441406
+        ],
+        [
+          -0.12924973666667938,
+          -0.9907441139221191,
+          0.04147898778319359,
+          -30.710830688476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5784,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_883081197",
+      "mask_path": "../../mask/hdr_right_05784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05785.png",
+      "transform_matrix": [
+        [
+          0.973576545715332,
+          -0.1223289892077446,
+          0.19283251464366913,
+          93.57864379882812
+        ],
+        [
+          -0.1837008148431778,
+          0.08208969235420227,
+          0.9795486330986023,
+          16.93070411682129
+        ],
+        [
+          -0.13565675914287567,
+          -0.9890888929367065,
+          0.05744866654276848,
+          -30.709638595581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5785,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323841_983082294",
+      "mask_path": "../../mask/hdr_right_05785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05786.png",
+      "transform_matrix": [
+        [
+          0.9694108963012695,
+          -0.1287148892879486,
+          0.20898573100566864,
+          93.49295806884766
+        ],
+        [
+          -0.1982232928276062,
+          0.09154707938432693,
+          0.9758723378181458,
+          16.975805282592773
+        ],
+        [
+          -0.14474131166934967,
+          -0.9874469637870789,
+          0.0632324367761612,
+          -30.63836669921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5786,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_83081007",
+      "mask_path": "../../mask/hdr_right_05786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05788.png",
+      "transform_matrix": [
+        [
+          0.9631255269050598,
+          -0.1397445648908615,
+          0.22991465032100677,
+          93.39122009277344
+        ],
+        [
+          -0.22249892354011536,
+          0.06676912307739258,
+          0.9726439714431763,
+          17.022661209106445
+        ],
+        [
+          -0.15127287805080414,
+          -0.987933874130249,
+          0.033214014023542404,
+          -30.61499786376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5788,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_283080816",
+      "mask_path": "../../mask/hdr_right_05788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05789.png",
+      "transform_matrix": [
+        [
+          0.9622507095336914,
+          -0.13730734586715698,
+          0.23498991131782532,
+          93.31957244873047
+        ],
+        [
+          -0.22967125475406647,
+          0.053600795567035675,
+          0.9717912077903748,
+          17.049951553344727
+        ],
+        [
+          -0.14602971076965332,
+          -0.9890771508216858,
+          0.020041851326823235,
+          -30.60326385498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5789,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_383080244",
+      "mask_path": "../../mask/hdr_right_05789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05790.png",
+      "transform_matrix": [
+        [
+          0.9632243514060974,
+          -0.13307948410511017,
+          0.23342841863632202,
+          93.25144958496094
+        ],
+        [
+          -0.22907531261444092,
+          0.04735027253627777,
+          0.9722564220428467,
+          17.0725040435791
+        ],
+        [
+          -0.14044024050235748,
+          -0.9899736046791077,
+          0.015123703517019749,
+          -30.59612464904785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5790,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_483081579",
+      "mask_path": "../../mask/hdr_right_05790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05791.png",
+      "transform_matrix": [
+        [
+          0.9641730189323425,
+          -0.13265155255794525,
+          0.22972626984119415,
+          93.19906616210938
+        ],
+        [
+          -0.2262754738330841,
+          0.04073444381356239,
+          0.9732112288475037,
+          17.07992935180664
+        ],
+        [
+          -0.13845576345920563,
+          -0.9903253316879272,
+          0.009259254671633244,
+          -30.58495330810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5791,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_583081722",
+      "mask_path": "../../mask/hdr_right_05791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05792.png",
+      "transform_matrix": [
+        [
+          0.9651914834976196,
+          -0.1256888061761856,
+          0.22936423122882843,
+          93.1502456665039
+        ],
+        [
+          -0.2271619588136673,
+          0.031778931617736816,
+          0.9733383655548096,
+          17.08852195739746
+        ],
+        [
+          -0.12962669134140015,
+          -0.9915606379508972,
+          0.0021210317499935627,
+          -30.5888671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5792,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_683084726",
+      "mask_path": "../../mask/hdr_right_05792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05793.png",
+      "transform_matrix": [
+        [
+          0.9638069272041321,
+          -0.12199471145868301,
+          0.23705200850963593,
+          93.08353424072266
+        ],
+        [
+          -0.23560160398483276,
+          0.026390837505459785,
+          0.9714913964271545,
+          17.10021209716797
+        ],
+        [
+          -0.1247728019952774,
+          -0.992179811000824,
+          -0.003306478960439563,
+          -30.573217391967773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5793,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_783082008",
+      "mask_path": "../../mask/hdr_right_05793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05794.png",
+      "transform_matrix": [
+        [
+          0.9603311419487,
+          -0.12426911294460297,
+          0.24964234232902527,
+          93.02079010009766
+        ],
+        [
+          -0.24853172898292542,
+          0.024612784385681152,
+          0.9683110117912292,
+          17.116209030151367
+        ],
+        [
+          -0.12647554278373718,
+          -0.9919432401657104,
+          -0.007248397916555405,
+          -30.5439510345459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5794,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_883082151",
+      "mask_path": "../../mask/hdr_right_05794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05795.png",
+      "transform_matrix": [
+        [
+          0.9574810266494751,
+          -0.12187349051237106,
+          0.26148971915245056,
+          92.9700927734375
+        ],
+        [
+          -0.26063820719718933,
+          0.02316245250403881,
+          0.9651587009429932,
+          17.144521713256836
+        ],
+        [
+          -0.12368398904800415,
+          -0.9922752976417542,
+          -0.00958727952092886,
+          -30.537784576416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5795,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323842_983082056",
+      "mask_path": "../../mask/hdr_right_05795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05796.png",
+      "transform_matrix": [
+        [
+          0.9575197696685791,
+          -0.11592648923397064,
+          0.26403987407684326,
+          92.91802978515625
+        ],
+        [
+          -0.26344406604766846,
+          0.020711159333586693,
+          0.96445232629776,
+          17.166133880615234
+        ],
+        [
+          -0.11727414280176163,
+          -0.9930418729782104,
+          -0.010708805173635483,
+          -30.544729232788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5796,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_83082199",
+      "mask_path": "../../mask/hdr_right_05796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05798.png",
+      "transform_matrix": [
+        [
+          0.960163950920105,
+          -0.10453617572784424,
+          0.25914740562438965,
+          92.83916473388672
+        ],
+        [
+          -0.2585732340812683,
+          0.019245168194174767,
+          0.9657999873161316,
+          17.18807029724121
+        ],
+        [
+          -0.10594837367534637,
+          -0.994334876537323,
+          -0.008551747538149357,
+          -30.5461483001709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5798,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_283081769",
+      "mask_path": "../../mask/hdr_right_05798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05802.png",
+      "transform_matrix": [
+        [
+          0.9590281248092651,
+          -0.10991112142801285,
+          0.2611218988895416,
+          92.67740631103516
+        ],
+        [
+          -0.2591218650341034,
+          0.03235743194818497,
+          0.9653025269508362,
+          17.27923583984375
+        ],
+        [
+          -0.11454672366380692,
+          -0.9934145212173462,
+          0.002551308134570718,
+          -30.519546508789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5802,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_683082818",
+      "mask_path": "../../mask/hdr_right_05802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05804.png",
+      "transform_matrix": [
+        [
+          0.9722630977630615,
+          -0.07994091510772705,
+          0.21980413794517517,
+          92.61709594726562
+        ],
+        [
+          -0.21685875952243805,
+          0.04393515735864639,
+          0.9752139449119568,
+          17.297243118286133
+        ],
+        [
+          -0.08761661499738693,
+          -0.9958308935165405,
+          0.02538064494729042,
+          -30.516027450561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5804,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323843_883082151",
+      "mask_path": "../../mask/hdr_right_05804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05806.png",
+      "transform_matrix": [
+        [
+          0.9865344166755676,
+          -0.08063887804746628,
+          0.14229287207126617,
+          92.53873443603516
+        ],
+        [
+          -0.13950127363204956,
+          0.03928437456488609,
+          0.9894423484802246,
+          17.28042221069336
+        ],
+        [
+          -0.08537741005420685,
+          -0.9959689378738403,
+          0.027506163343787193,
+          -30.522220611572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5806,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_83081722",
+      "mask_path": "../../mask/hdr_right_05806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05807.png",
+      "transform_matrix": [
+        [
+          0.990168035030365,
+          -0.08386000990867615,
+          0.11195854097604752,
+          92.49297332763672
+        ],
+        [
+          -0.1099061444401741,
+          0.02871771901845932,
+          0.9935269951820374,
+          17.27618980407715
+        ],
+        [
+          -0.08653239160776138,
+          -0.9960636496543884,
+          0.01921863481402397,
+          -30.49358558654785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5807,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_183081865",
+      "mask_path": "../../mask/hdr_right_05807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05809.png",
+      "transform_matrix": [
+        [
+          0.9893749952316284,
+          -0.0978512167930603,
+          0.1075282171368599,
+          92.4153823852539
+        ],
+        [
+          -0.10730500519275665,
+          0.0075559597462415695,
+          0.9941973686218262,
+          17.29850959777832
+        ],
+        [
+          -0.09809590131044388,
+          -0.9951724410057068,
+          -0.003024251665920019,
+          -30.460987091064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5809,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_383081674",
+      "mask_path": "../../mask/hdr_right_05809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05810.png",
+      "transform_matrix": [
+        [
+          0.9887863397598267,
+          -0.09750154614448547,
+          0.11311502009630203,
+          92.362060546875
+        ],
+        [
+          -0.11350316554307938,
+          0.001574090332724154,
+          0.9935364723205566,
+          17.3063907623291
+        ],
+        [
+          -0.09704937785863876,
+          -0.9952340722084045,
+          -0.009510301053524017,
+          -30.454404830932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5810,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323844_483082056",
+      "mask_path": "../../mask/hdr_right_05810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05821.png",
+      "transform_matrix": [
+        [
+          0.9874210357666016,
+          -0.07106954604387283,
+          0.1412404328584671,
+          91.91983032226562
+        ],
+        [
+          -0.14217908680438995,
+          -0.008301986381411552,
+          0.9898062348365784,
+          17.399667739868164
+        ],
+        [
+          -0.06917250156402588,
+          -0.9974367618560791,
+          -0.01830216310918331,
+          -30.45039939880371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5821,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_583081722",
+      "mask_path": "../../mask/hdr_right_05821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05824.png",
+      "transform_matrix": [
+        [
+          0.981823205947876,
+          -0.0936499759554863,
+          0.16508428752422333,
+          91.79776763916016
+        ],
+        [
+          -0.16795113682746887,
+          -0.023549901321530342,
+          0.9855140447616577,
+          17.46109962463379
+        ],
+        [
+          -0.08840564638376236,
+          -0.995326578617096,
+          -0.03885046765208244,
+          -30.434322357177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5824,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_883079767",
+      "mask_path": "../../mask/hdr_right_05824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05825.png",
+      "transform_matrix": [
+        [
+          0.9772121906280518,
+          -0.12534552812576294,
+          0.17130348086357117,
+          91.71184539794922
+        ],
+        [
+          -0.1765003353357315,
+          -0.03151784837245941,
+          0.9837958812713623,
+          17.4781436920166
+        ],
+        [
+          -0.11791530251502991,
+          -0.991612434387207,
+          -0.05292316526174545,
+          -30.383203506469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5825,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323845_983079910",
+      "mask_path": "../../mask/hdr_right_05825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05826.png",
+      "transform_matrix": [
+        [
+          0.9742985367774963,
+          -0.1426524966955185,
+          0.17433513700962067,
+          91.64783477783203
+        ],
+        [
+          -0.1795911341905594,
+          -0.024737857282161713,
+          0.9834302663803101,
+          17.4874210357666
+        ],
+        [
+          -0.13597610592842102,
+          -0.9894636273384094,
+          -0.049721188843250275,
+          -30.34670639038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5826,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_83080530",
+      "mask_path": "../../mask/hdr_right_05826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05828.png",
+      "transform_matrix": [
+        [
+          0.9746512770652771,
+          -0.13757406175136566,
+          0.17643208801746368,
+          91.56072998046875
+        ],
+        [
+          -0.1798824816942215,
+          -0.012965117581188679,
+          0.9836027026176453,
+          17.523983001708984
+        ],
+        [
+          -0.1330307573080063,
+          -0.9904066324234009,
+          -0.03738364577293396,
+          -30.347393035888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5828,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_283079385",
+      "mask_path": "../../mask/hdr_right_05828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05829.png",
+      "transform_matrix": [
+        [
+          0.9750322103500366,
+          -0.13465824723243713,
+          0.17657679319381714,
+          91.50337219238281
+        ],
+        [
+          -0.17916516959667206,
+          -0.007254875730723143,
+          0.983792245388031,
+          17.544008255004883
+        ],
+        [
+          -0.13119468092918396,
+          -0.9908655285835266,
+          -0.03119981288909912,
+          -30.331863403320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5829,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_383081197",
+      "mask_path": "../../mask/hdr_right_05829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05831.png",
+      "transform_matrix": [
+        [
+          0.9759939908981323,
+          -0.1355047971010208,
+          0.17051199078559875,
+          91.4228286743164
+        ],
+        [
+          -0.17397049069404602,
+          -0.014016689732670784,
+          0.9846511483192444,
+          17.572111129760742
+        ],
+        [
+          -0.1310349404811859,
+          -0.9906775951385498,
+          -0.03725404292345047,
+          -30.341352462768555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5831,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_583082437",
+      "mask_path": "../../mask/hdr_right_05831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05832.png",
+      "transform_matrix": [
+        [
+          0.9775170087814331,
+          -0.13612031936645508,
+          0.1610335111618042,
+          91.35921478271484
+        ],
+        [
+          -0.16488149762153625,
+          -0.017408963292837143,
+          0.9861598014831543,
+          17.582063674926758
+        ],
+        [
+          -0.13143298029899597,
+          -0.9905393719673157,
+          -0.03946128487586975,
+          -30.327716827392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5832,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_683082103",
+      "mask_path": "../../mask/hdr_right_05832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05833.png",
+      "transform_matrix": [
+        [
+          0.9801996350288391,
+          -0.13656671345233917,
+          0.14338156580924988,
+          91.29425811767578
+        ],
+        [
+          -0.14662103354930878,
+          -0.013912253081798553,
+          0.9890949726104736,
+          17.58502197265625
+        ],
+        [
+          -0.13308270275592804,
+          -0.990533173084259,
+          -0.033660344779491425,
+          -30.305931091308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5833,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_783083200",
+      "mask_path": "../../mask/hdr_right_05833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05835.png",
+      "transform_matrix": [
+        [
+          0.9854225516319275,
+          -0.13154275715351105,
+          0.10788364708423615,
+          91.21028137207031
+        ],
+        [
+          -0.10983987152576447,
+          -0.00768614187836647,
+          0.9939196109771729,
+          17.57303237915039
+        ],
+        [
+          -0.12991371750831604,
+          -0.991280734539032,
+          -0.02202274277806282,
+          -30.309831619262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5835,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323846_983081579",
+      "mask_path": "../../mask/hdr_right_05835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05836.png",
+      "transform_matrix": [
+        [
+          0.9870738387107849,
+          -0.1272810846567154,
+          0.0973893254995346,
+          91.15208435058594
+        ],
+        [
+          -0.09934169054031372,
+          -0.00906687043607235,
+          0.995012104511261,
+          17.577064514160156
+        ],
+        [
+          -0.1257632076740265,
+          -0.9918253421783447,
+          -0.02159399725496769,
+          -30.299055099487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5836,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_83081960",
+      "mask_path": "../../mask/hdr_right_05836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05837.png",
+      "transform_matrix": [
+        [
+          0.9868536591529846,
+          -0.1297004073858261,
+          0.09642374515533447,
+          91.09636688232422
+        ],
+        [
+          -0.09895133227109909,
+          -0.01317206583917141,
+          0.9950051307678223,
+          17.586849212646484
+        ],
+        [
+          -0.1277824491262436,
+          -0.9914657473564148,
+          -0.02583293989300728,
+          -30.27753448486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5837,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_183080196",
+      "mask_path": "../../mask/hdr_right_05837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05838.png",
+      "transform_matrix": [
+        [
+          0.9852694869041443,
+          -0.13731227815151215,
+          0.10192913562059402,
+          91.041748046875
+        ],
+        [
+          -0.10500071197748184,
+          -0.01529568899422884,
+          0.9943546056747437,
+          17.606700897216797
+        ],
+        [
+          -0.1349780112504959,
+          -0.9904096722602844,
+          -0.02948826737701893,
+          -30.258018493652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5838,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_283080101",
+      "mask_path": "../../mask/hdr_right_05838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05839.png",
+      "transform_matrix": [
+        [
+          0.9851751327514648,
+          -0.13470464944839478,
+          0.10622944682836533,
+          90.9599609375
+        ],
+        [
+          -0.10854598879814148,
+          -0.009950677864253521,
+          0.9940416812896729,
+          17.62635612487793
+        ],
+        [
+          -0.1328449696302414,
+          -0.9908357858657837,
+          -0.02442481927573681,
+          -30.249094009399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5839,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_383081674",
+      "mask_path": "../../mask/hdr_right_05839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05840.png",
+      "transform_matrix": [
+        [
+          0.9857782125473022,
+          -0.12760113179683685,
+          0.10935857892036438,
+          90.89281463623047
+        ],
+        [
+          -0.11060935258865356,
+          -0.0027365516871213913,
+          0.9938602447509766,
+          17.637887954711914
+        ],
+        [
+          -0.12651841342449188,
+          -0.9918217658996582,
+          -0.016811519861221313,
+          -30.260581970214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5840,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_483082056",
+      "mask_path": "../../mask/hdr_right_05840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05841.png",
+      "transform_matrix": [
+        [
+          0.9855847954750061,
+          -0.12538284063339233,
+          0.11358657479286194,
+          90.84127807617188
+        ],
+        [
+          -0.1146155595779419,
+          -0.0009999634930863976,
+          0.9934094548225403,
+          17.6466121673584
+        ],
+        [
+          -0.12444290518760681,
+          -0.9921079277992249,
+          -0.015356376767158508,
+          -30.269210815429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5841,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_583083391",
+      "mask_path": "../../mask/hdr_right_05841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05842.png",
+      "transform_matrix": [
+        [
+          0.9854421019554138,
+          -0.12446749955415726,
+          0.11580881476402283,
+          90.79020690917969
+        ],
+        [
+          -0.1159651055932045,
+          0.006013837642967701,
+          0.9932352304458618,
+          17.664064407348633
+        ],
+        [
+          -0.12432195991277695,
+          -0.9922054409980774,
+          -0.008507593534886837,
+          -30.286182403564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5842,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_683082103",
+      "mask_path": "../../mask/hdr_right_05842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05843.png",
+      "transform_matrix": [
+        [
+          0.982791543006897,
+          -0.1337399184703827,
+          0.1274142563343048,
+          90.70702362060547
+        ],
+        [
+          -0.12616321444511414,
+          0.017822587862610817,
+          0.991849422454834,
+          17.702362060546875
+        ],
+        [
+          -0.13492071628570557,
+          -0.9908561706542969,
+          0.0006428304477594793,
+          -30.217966079711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5843,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_783082008",
+      "mask_path": "../../mask/hdr_right_05843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05844.png",
+      "transform_matrix": [
+        [
+          0.9797202944755554,
+          -0.14472103118896484,
+          0.1385786533355713,
+          90.62955474853516
+        ],
+        [
+          -0.13701096177101135,
+          0.020792309194803238,
+          0.9903513193130493,
+          17.73273468017578
+        ],
+        [
+          -0.14620603621006012,
+          -0.9892539381980896,
+          0.000542274909093976,
+          -30.168590545654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5844,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_883080482",
+      "mask_path": "../../mask/hdr_right_05844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05845.png",
+      "transform_matrix": [
+        [
+          0.9772176146507263,
+          -0.15572743117809296,
+          0.1442040205001831,
+          90.562744140625
+        ],
+        [
+          -0.14367574453353882,
+          0.014702897518873215,
+          0.9895156025886536,
+          17.735618591308594
+        ],
+        [
+          -0.15621493756771088,
+          -0.9876906871795654,
+          -0.008006330579519272,
+          -30.1662654876709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5845,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323847_983082532",
+      "mask_path": "../../mask/hdr_right_05845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05846.png",
+      "transform_matrix": [
+        [
+          0.97804856300354,
+          -0.1509939432144165,
+          0.14360320568084717,
+          90.47785949707031
+        ],
+        [
+          -0.14266234636306763,
+          0.017102554440498352,
+          0.9896236658096313,
+          17.74798583984375
+        ],
+        [
+          -0.15188317000865936,
+          -0.9883866906166077,
+          -0.004814024083316326,
+          -30.14577865600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5846,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_83081960",
+      "mask_path": "../../mask/hdr_right_05846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05847.png",
+      "transform_matrix": [
+        [
+          0.9802745580673218,
+          -0.14287792146205902,
+          0.13655681908130646,
+          90.41472625732422
+        ],
+        [
+          -0.13394387066364288,
+          0.02779507078230381,
+          0.9905989766120911,
+          17.762248992919922
+        ],
+        [
+          -0.14533035457134247,
+          -0.9893499612808228,
+          0.008109180256724358,
+          -30.134092330932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5847,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_183081626",
+      "mask_path": "../../mask/hdr_right_05847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05849.png",
+      "transform_matrix": [
+        [
+          0.9809749722480774,
+          -0.14476071298122406,
+          0.1293540745973587,
+          90.32244110107422
+        ],
+        [
+          -0.12518037855625153,
+          0.037617072463035583,
+          0.9914206862449646,
+          17.77368927001953
+        ],
+        [
+          -0.1483847051858902,
+          -0.9887513518333435,
+          0.01878019981086254,
+          -30.124616622924805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5849,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_383081674",
+      "mask_path": "../../mask/hdr_right_05849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05850.png",
+      "transform_matrix": [
+        [
+          0.9798586964607239,
+          -0.15107783675193787,
+          0.1305847316980362,
+          90.26131439208984
+        ],
+        [
+          -0.12366504967212677,
+          0.05436590313911438,
+          0.990833580493927,
+          17.77873992919922
+        ],
+        [
+          -0.15679232776165009,
+          -0.987025797367096,
+          0.03458785638213158,
+          -30.103843688964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5850,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_483081340",
+      "mask_path": "../../mask/hdr_right_05850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05851.png",
+      "transform_matrix": [
+        [
+          0.9768984317779541,
+          -0.16336791217327118,
+          0.1377691924571991,
+          90.19429779052734
+        ],
+        [
+          -0.12905782461166382,
+          0.06283960491418839,
+          0.9896440505981445,
+          17.78761100769043
+        ],
+        [
+          -0.17033344507217407,
+          -0.9845619201660156,
+          0.040303997695446014,
+          -30.05512046813965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5851,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_583081483",
+      "mask_path": "../../mask/hdr_right_05851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05854.png",
+      "transform_matrix": [
+        [
+          0.9704075455665588,
+          -0.18084102869033813,
+          0.16001810133457184,
+          90.02764892578125
+        ],
+        [
+          -0.1552935540676117,
+          0.040082525461912155,
+          0.9870548844337463,
+          17.820411682128906
+        ],
+        [
+          -0.18491393327713013,
+          -0.9826952815055847,
+          0.010812927037477493,
+          -30.01283836364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5854,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323848_883081197",
+      "mask_path": "../../mask/hdr_right_05854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05857.png",
+      "transform_matrix": [
+        [
+          0.9696623086929321,
+          -0.16880324482917786,
+          0.17680640518665314,
+          89.8958740234375
+        ],
+        [
+          -0.17174650728702545,
+          0.04423784464597702,
+          0.9841474294662476,
+          17.842838287353516
+        ],
+        [
+          -0.17394880950450897,
+          -0.9846565127372742,
+          0.013904404826462269,
+          -29.991374969482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5857,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_183079719",
+      "mask_path": "../../mask/hdr_right_05857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05858.png",
+      "transform_matrix": [
+        [
+          0.9686187505722046,
+          -0.1671719253063202,
+          0.18393288552761078,
+          89.84938049316406
+        ],
+        [
+          -0.1803828924894333,
+          0.036311082541942596,
+          0.9829260110855103,
+          17.85479736328125
+        ],
+        [
+          -0.17099642753601074,
+          -0.9852588772773743,
+          0.00501664262264967,
+          -29.971540451049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5858,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_283081531",
+      "mask_path": "../../mask/hdr_right_05858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05860.png",
+      "transform_matrix": [
+        [
+          0.9675092697143555,
+          -0.15350164473056793,
+          0.20090578496456146,
+          89.77588653564453
+        ],
+        [
+          -0.20076127350330353,
+          0.016603779047727585,
+          0.9794994592666626,
+          17.884370803833008
+        ],
+        [
+          -0.15369057655334473,
+          -0.9880088567733765,
+          -0.014752884395420551,
+          -29.955148696899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5860,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_483080863",
+      "mask_path": "../../mask/hdr_right_05860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05862.png",
+      "transform_matrix": [
+        [
+          0.9719874262809753,
+          -0.12488896399736404,
+          0.1991058886051178,
+          89.69231414794922
+        ],
+        [
+          -0.19672758877277374,
+          0.031221529468894005,
+          0.9799609780311584,
+          17.921220779418945
+        ],
+        [
+          -0.12860271334648132,
+          -0.991679310798645,
+          0.005777823738753796,
+          -29.959430694580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5862,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_683079719",
+      "mask_path": "../../mask/hdr_right_05862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05864.png",
+      "transform_matrix": [
+        [
+          0.97137051820755,
+          -0.1271459460258484,
+          0.20068196952342987,
+          89.59994506835938
+        ],
+        [
+          -0.19618254899978638,
+          0.047103557735681534,
+          0.9794354438781738,
+          17.976863861083984
+        ],
+        [
+          -0.1339840590953827,
+          -0.9907649159431458,
+          0.020811183378100395,
+          -29.9304256439209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5864,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_883081197",
+      "mask_path": "../../mask/hdr_right_05864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05865.png",
+      "transform_matrix": [
+        [
+          0.9688287973403931,
+          -0.1372298151254654,
+          0.20624901354312897,
+          89.54957580566406
+        ],
+        [
+          -0.20118524134159088,
+          0.04995240643620491,
+          0.9782787561416626,
+          18.01068687438965
+        ],
+        [
+          -0.14455163478851318,
+          -0.9892789125442505,
+          0.020786723122000694,
+          -29.896440505981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5865,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323849_983081579",
+      "mask_path": "../../mask/hdr_right_05865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05867.png",
+      "transform_matrix": [
+        [
+          0.9632343053817749,
+          -0.15470947325229645,
+          0.2196463942527771,
+          89.49031829833984
+        ],
+        [
+          -0.21501894295215607,
+          0.046244826167821884,
+          0.9755144119262695,
+          18.04861831665039
+        ],
+        [
+          -0.1610788255929947,
+          -0.9868771433830261,
+          0.011279132217168808,
+          -29.882917404174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5867,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_183082103",
+      "mask_path": "../../mask/hdr_right_05867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05869.png",
+      "transform_matrix": [
+        [
+          0.968997061252594,
+          -0.10887405276298523,
+          0.22179076075553894,
+          89.42301177978516
+        ],
+        [
+          -0.21562603116035461,
+          0.06560743600130081,
+          0.9742695689201355,
+          18.08661651611328
+        ],
+        [
+          -0.12062378227710724,
+          -0.9918881058692932,
+          0.04009733721613884,
+          -29.8858585357666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5869,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_383080959",
+      "mask_path": "../../mask/hdr_right_05869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05871.png",
+      "transform_matrix": [
+        [
+          0.9696816205978394,
+          -0.09828273206949234,
+          0.22373691201210022,
+          89.347412109375
+        ],
+        [
+          -0.21770167350769043,
+          0.06848636269569397,
+          0.9736096262931824,
+          18.122013092041016
+        ],
+        [
+          -0.11101192981004715,
+          -0.9927991032600403,
+          0.045013632625341415,
+          -29.88174057006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5871,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_583081483",
+      "mask_path": "../../mask/hdr_right_05871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05872.png",
+      "transform_matrix": [
+        [
+          0.9691640734672546,
+          -0.0904114618897438,
+          0.22923076152801514,
+          89.2961654663086
+        ],
+        [
+          -0.2243976593017578,
+          0.06055591627955437,
+          0.9726143479347229,
+          18.140893936157227
+        ],
+        [
+          -0.10181675851345062,
+          -0.9940617084503174,
+          0.03840048983693123,
+          -29.874300003051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5872,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_683079719",
+      "mask_path": "../../mask/hdr_right_05872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05873.png",
+      "transform_matrix": [
+        [
+          0.967001736164093,
+          -0.08871731907129288,
+          0.23882406949996948,
+          89.24652862548828
+        ],
+        [
+          -0.2351459115743637,
+          0.04997694492340088,
+          0.9706743359565735,
+          18.160301208496094
+        ],
+        [
+          -0.09805132448673248,
+          -0.9948022365570068,
+          0.027466274797916412,
+          -29.858671188354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5873,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_783082008",
+      "mask_path": "../../mask/hdr_right_05873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05875.png",
+      "transform_matrix": [
+        [
+          0.9625498652458191,
+          -0.08803677558898926,
+          0.2564122974872589,
+          89.14606475830078
+        ],
+        [
+          -0.2543768584728241,
+          0.03380074352025986,
+          0.9665143489837646,
+          18.20687484741211
+        ],
+        [
+          -0.09375572949647903,
+          -0.9955435395240784,
+          0.010140378959476948,
+          -29.846858978271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5875,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323850_983082056",
+      "mask_path": "../../mask/hdr_right_05875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05876.png",
+      "transform_matrix": [
+        [
+          0.9637551307678223,
+          -0.07903274148702621,
+          0.254813551902771,
+          89.08045196533203
+        ],
+        [
+          -0.25276315212249756,
+          0.03511318564414978,
+          0.9668908715248108,
+          18.226181030273438
+        ],
+        [
+          -0.08536334335803986,
+          -0.9962534308433533,
+          0.013863946311175823,
+          -29.844955444335938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5876,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_83082437",
+      "mask_path": "../../mask/hdr_right_05876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05879.png",
+      "transform_matrix": [
+        [
+          0.9640291929244995,
+          -0.07519375532865524,
+          0.2549385726451874,
+          88.9194564819336
+        ],
+        [
+          -0.25188401341438293,
+          0.047796886414289474,
+          0.9665763974189758,
+          18.300718307495117
+        ],
+        [
+          -0.08486577868461609,
+          -0.9960227608680725,
+          0.02713748998939991,
+          -29.83600616455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5879,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_383081436",
+      "mask_path": "../../mask/hdr_right_05879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05880.png",
+      "transform_matrix": [
+        [
+          0.9613730907440186,
+          -0.08403893560171127,
+          0.26210537552833557,
+          88.85503387451172
+        ],
+        [
+          -0.25839874148368835,
+          0.05249973013997078,
+          0.9646108150482178,
+          18.33840560913086
+        ],
+        [
+          -0.09482531249523163,
+          -0.9950785040855408,
+          0.028756268322467804,
+          -29.821290969848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5880,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_483080625",
+      "mask_path": "../../mask/hdr_right_05880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05881.png",
+      "transform_matrix": [
+        [
+          0.9582285284996033,
+          -0.09402161836624146,
+          0.27010732889175415,
+          88.80465698242188
+        ],
+        [
+          -0.26645684242248535,
+          0.04966610670089722,
+          0.9625664353370667,
+          18.36373519897461
+        ],
+        [
+          -0.10391724109649658,
+          -0.9943305253982544,
+          0.02253877930343151,
+          -29.807260513305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5881,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_583081245",
+      "mask_path": "../../mask/hdr_right_05881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05882.png",
+      "transform_matrix": [
+        [
+          0.954453706741333,
+          -0.11148778349161148,
+          0.27674633264541626,
+          88.71241760253906
+        ],
+        [
+          -0.27360859513282776,
+          0.04283121973276138,
+          0.9608870148658752,
+          18.394451141357422
+        ],
+        [
+          -0.1189805418252945,
+          -0.9928423166275024,
+          0.010376395657658577,
+          -29.787883758544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5882,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_683080196",
+      "mask_path": "../../mask/hdr_right_05882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05883.png",
+      "transform_matrix": [
+        [
+          0.9533487558364868,
+          -0.12365042418241501,
+          0.2753845453262329,
+          88.6177978515625
+        ],
+        [
+          -0.2716653645038605,
+          0.04632985591888428,
+          0.9612759351730347,
+          18.41816520690918
+        ],
+        [
+          -0.13162072002887726,
+          -0.9912437200546265,
+          0.010576972737908363,
+          -29.7552490234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5883,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323851_783081531",
+      "mask_path": "../../mask/hdr_right_05883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05886.png",
+      "transform_matrix": [
+        [
+          0.9528098702430725,
+          -0.1259148120880127,
+          0.27622246742248535,
+          88.45428466796875
+        ],
+        [
+          -0.270209938287735,
+          0.0629032552242279,
+          0.9607444405555725,
+          18.488658905029297
+        ],
+        [
+          -0.13834723830223083,
+          -0.9900447726249695,
+          0.025911400094628334,
+          -29.73186683654785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5886,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_83081007",
+      "mask_path": "../../mask/hdr_right_05886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05887.png",
+      "transform_matrix": [
+        [
+          0.9490625858306885,
+          -0.13215158879756927,
+          0.28603532910346985,
+          88.38089752197266
+        ],
+        [
+          -0.2797878086566925,
+          0.06404539942741394,
+          0.9579233527183533,
+          18.526525497436523
+        ],
+        [
+          -0.1449103206396103,
+          -0.9891582727432251,
+          0.023808678612113,
+          -29.706199645996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5887,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_183080434",
+      "mask_path": "../../mask/hdr_right_05887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05888.png",
+      "transform_matrix": [
+        [
+          0.9451720714569092,
+          -0.13940772414207458,
+          0.2953226566314697,
+          88.3135986328125
+        ],
+        [
+          -0.28954532742500305,
+          0.06051754578948021,
+          0.9552491903305054,
+          18.557514190673828
+        ],
+        [
+          -0.15104131400585175,
+          -0.9883840680122375,
+          0.01683463528752327,
+          -29.68931770324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5888,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_283079624",
+      "mask_path": "../../mask/hdr_right_05888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05889.png",
+      "transform_matrix": [
+        [
+          0.9440675973892212,
+          -0.13998502492904663,
+          0.29856395721435547,
+          88.2362060546875
+        ],
+        [
+          -0.29336416721343994,
+          0.05690379813313484,
+          0.9543057680130005,
+          18.58985137939453
+        ],
+        [
+          -0.15057794749736786,
+          -0.988517165184021,
+          0.012654436752200127,
+          -29.676677703857422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5889,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_383080959",
+      "mask_path": "../../mask/hdr_right_05889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05890.png",
+      "transform_matrix": [
+        [
+          0.9454182982444763,
+          -0.13472740352153778,
+          0.29670339822769165,
+          88.15778350830078
+        ],
+        [
+          -0.2913084030151367,
+          0.0585920512676239,
+          0.9548332691192627,
+          18.620885848999023
+        ],
+        [
+          -0.1460266411304474,
+          -0.9891489148139954,
+          0.016146769747138023,
+          -29.665386199951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5890,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_483081102",
+      "mask_path": "../../mask/hdr_right_05890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05891.png",
+      "transform_matrix": [
+        [
+          0.9466438889503479,
+          -0.13078509271144867,
+          0.2945515215396881,
+          88.08958435058594
+        ],
+        [
+          -0.289343923330307,
+          0.05761595815420151,
+          0.9554896950721741,
+          18.64516258239746
+        ],
+        [
+          -0.14193467795848846,
+          -0.9897351861000061,
+          0.01669992133975029,
+          -29.66036033630371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5891,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_583081483",
+      "mask_path": "../../mask/hdr_right_05891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05892.png",
+      "transform_matrix": [
+        [
+          0.9464828968048096,
+          -0.12956930696964264,
+          0.2956043481826782,
+          88.02086639404297
+        ],
+        [
+          -0.29063865542411804,
+          0.05612759664654732,
+          0.9551853537559509,
+          18.675928115844727
+        ],
+        [
+          -0.14035427570343018,
+          -0.9899805784225464,
+          0.015465968288481236,
+          -29.662734985351562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5892,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_683080673",
+      "mask_path": "../../mask/hdr_right_05892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05893.png",
+      "transform_matrix": [
+        [
+          0.9450461268424988,
+          -0.1231587827205658,
+          0.3028528690338135,
+          87.95722961425781
+        ],
+        [
+          -0.29873591661453247,
+          0.05107181891798973,
+          0.9529682397842407,
+          18.72245216369629
+        ],
+        [
+          -0.13283364474773407,
+          -0.9910719990730286,
+          0.011473269201815128,
+          -29.62530517578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5893,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_783081054",
+      "mask_path": "../../mask/hdr_right_05893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05894.png",
+      "transform_matrix": [
+        [
+          0.9422271847724915,
+          -0.12298315018415451,
+          0.31158167123794556,
+          87.90607452392578
+        ],
+        [
+          -0.30860450863838196,
+          0.04304840415716171,
+          0.9502159953117371,
+          18.761205673217773
+        ],
+        [
+          -0.13027362525463104,
+          -0.9914746284484863,
+          0.0026082086842507124,
+          -29.591724395751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5894,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_883080959",
+      "mask_path": "../../mask/hdr_right_05894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05895.png",
+      "transform_matrix": [
+        [
+          0.938895046710968,
+          -0.13280457258224487,
+          0.31755170226097107,
+          87.8510971069336
+        ],
+        [
+          -0.3152003586292267,
+          0.038935258984565735,
+          0.9482260346412659,
+          18.789823532104492
+        ],
+        [
+          -0.13829272985458374,
+          -0.9903771877288818,
+          -0.005303932353854179,
+          -29.575984954833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5895,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323852_983080863",
+      "mask_path": "../../mask/hdr_right_05895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05896.png",
+      "transform_matrix": [
+        [
+          0.9376134276390076,
+          -0.13086353242397308,
+          0.3221113979816437,
+          87.79087829589844
+        ],
+        [
+          -0.32079416513442993,
+          0.03160950541496277,
+          0.946621298789978,
+          18.821317672729492
+        ],
+        [
+          -0.13405999541282654,
+          -0.9908963441848755,
+          -0.012342770583927631,
+          -29.565654754638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5896,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_83080530",
+      "mask_path": "../../mask/hdr_right_05896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05897.png",
+      "transform_matrix": [
+        [
+          0.9384682774543762,
+          -0.12367479503154755,
+          0.32246240973472595,
+          87.72398376464844
+        ],
+        [
+          -0.3215765953063965,
+          0.027613399550318718,
+          0.9464808702468872,
+          18.849836349487305
+        ],
+        [
+          -0.125960111618042,
+          -0.9919385313987732,
+          -0.013856623321771622,
+          -29.556743621826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5897,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_183080673",
+      "mask_path": "../../mask/hdr_right_05897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05898.png",
+      "transform_matrix": [
+        [
+          0.9395967125892639,
+          -0.12146985530853271,
+          0.32000496983528137,
+          87.65959930419922
+        ],
+        [
+          -0.3193107545375824,
+          0.02567024528980255,
+          0.9473023414611816,
+          18.866975784301758
+        ],
+        [
+          -0.1232832819223404,
+          -0.99226313829422,
+          -0.014666949398815632,
+          -29.546489715576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5898,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_283081531",
+      "mask_path": "../../mask/hdr_right_05898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05899.png",
+      "transform_matrix": [
+        [
+          0.9414079785346985,
+          -0.11778809130191803,
+          0.31603309512138367,
+          87.60757446289062
+        ],
+        [
+          -0.315901517868042,
+          0.020281989127397537,
+          0.9485751986503601,
+          18.884191513061523
+        ],
+        [
+          -0.11814063787460327,
+          -0.9928315877914429,
+          -0.018115805462002754,
+          -29.541725158691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5899,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_383080720",
+      "mask_path": "../../mask/hdr_right_05899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05900.png",
+      "transform_matrix": [
+        [
+          0.9432256817817688,
+          -0.11689111590385437,
+          0.31090492010116577,
+          87.54800415039062
+        ],
+        [
+          -0.3111613094806671,
+          0.016517771407961845,
+          0.9502135515213013,
+          18.89825439453125
+        ],
+        [
+          -0.11620697379112244,
+          -0.9930073618888855,
+          -0.020792007446289062,
+          -29.535566329956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5900,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_483080863",
+      "mask_path": "../../mask/hdr_right_05900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05901.png",
+      "transform_matrix": [
+        [
+          0.9444074630737305,
+          -0.12227538973093033,
+          0.30519402027130127,
+          87.48529052734375
+        ],
+        [
+          -0.306007981300354,
+          0.012529930099844933,
+          0.9519465565681458,
+          18.913284301757812
+        ],
+        [
+          -0.12022368609905243,
+          -0.9924172163009644,
+          -0.025583891198039055,
+          -29.51750946044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5901,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_583080768",
+      "mask_path": "../../mask/hdr_right_05901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05902.png",
+      "transform_matrix": [
+        [
+          0.9451611042022705,
+          -0.13024577498435974,
+          0.29951053857803345,
+          87.4318618774414
+        ],
+        [
+          -0.30126693844795227,
+          0.0064713736064732075,
+          0.9535179138183594,
+          18.93528175354004
+        ],
+        [
+          -0.12612992525100708,
+          -0.9914605617523193,
+          -0.03312226012349129,
+          -29.501867294311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5902,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_683080673",
+      "mask_path": "../../mask/hdr_right_05902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05903.png",
+      "transform_matrix": [
+        [
+          0.9461632370948792,
+          -0.12811225652694702,
+          0.2972579896450043,
+          87.36872100830078
+        ],
+        [
+          -0.2995601296424866,
+          0.001357985194772482,
+          0.9540764689445496,
+          18.96135139465332
+        ],
+        [
+          -0.12263254076242447,
+          -0.9917587637901306,
+          -0.037092454731464386,
+          -29.492198944091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5903,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_783081293",
+      "mask_path": "../../mask/hdr_right_05903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05904.png",
+      "transform_matrix": [
+        [
+          0.9473284482955933,
+          -0.11950327455997467,
+          0.2971328794956207,
+          87.30803680419922
+        ],
+        [
+          -0.29866087436676025,
+          0.005331721156835556,
+          0.9543443918228149,
+          18.990880966186523
+        ],
+        [
+          -0.11563152074813843,
+          -0.9928194284439087,
+          -0.03064006380736828,
+          -29.493927001953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5904,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_883080005",
+      "mask_path": "../../mask/hdr_right_05904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05905.png",
+      "transform_matrix": [
+        [
+          0.9485408663749695,
+          -0.11507624387741089,
+          0.2950044870376587,
+          87.2607192993164
+        ],
+        [
+          -0.2959598898887634,
+          0.009085500612854958,
+          0.9551571607589722,
+          19.014142990112305
+        ],
+        [
+          -0.11259616911411285,
+          -0.9933151006698608,
+          -0.02543998695909977,
+          -29.498611450195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5905,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323853_983078479",
+      "mask_path": "../../mask/hdr_right_05905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05906.png",
+      "transform_matrix": [
+        [
+          0.9500821828842163,
+          -0.1118912324309349,
+          0.29124587774276733,
+          87.2108383178711
+        ],
+        [
+          -0.2922650873661041,
+          0.007549455855041742,
+          0.956307590007782,
+          19.039180755615234
+        ],
+        [
+          -0.10920118540525436,
+          -0.9936918020248413,
+          -0.02552930638194084,
+          -29.499980926513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5906,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_83081245",
+      "mask_path": "../../mask/hdr_right_05906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05907.png",
+      "transform_matrix": [
+        [
+          0.9512869715690613,
+          -0.10136518627405167,
+          0.2911670207977295,
+          87.15482330322266
+        ],
+        [
+          -0.2926027178764343,
+          0.0007361268508248031,
+          0.9562338590621948,
+          19.06655502319336
+        ],
+        [
+          -0.09714316576719284,
+          -0.9948490262031555,
+          -0.02895946428179741,
+          -29.491722106933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5907,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_183077812",
+      "mask_path": "../../mask/hdr_right_05907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05908.png",
+      "transform_matrix": [
+        [
+          0.9503108263015747,
+          -0.09902431070804596,
+          0.29513290524482727,
+          87.10597229003906
+        ],
+        [
+          -0.2973299026489258,
+          -0.007876336574554443,
+          0.9547423124313354,
+          19.090970993041992
+        ],
+        [
+          -0.09221813827753067,
+          -0.9950538277626038,
+          -0.036927856504917145,
+          -29.47031021118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5908,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_283081054",
+      "mask_path": "../../mask/hdr_right_05908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05909.png",
+      "transform_matrix": [
+        [
+          0.947807788848877,
+          -0.10735846310853958,
+          0.3002243638038635,
+          87.06136322021484
+        ],
+        [
+          -0.30344173312187195,
+          -0.014617672190070152,
+          0.9527378082275391,
+          19.113407135009766
+        ],
+        [
+          -0.09789589047431946,
+          -0.9941129088401794,
+          -0.04643179103732109,
+          -29.454864501953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5909,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_383080720",
+      "mask_path": "../../mask/hdr_right_05909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05910.png",
+      "transform_matrix": [
+        [
+          0.9472036361694336,
+          -0.10074562579393387,
+          0.3043939769268036,
+          87.00260162353516
+        ],
+        [
+          -0.3080390691757202,
+          -0.0224740169942379,
+          0.9511082768440247,
+          19.141401290893555
+        ],
+        [
+          -0.08897902816534042,
+          -0.994658350944519,
+          -0.05232105031609535,
+          -29.45213508605957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5910,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_483080625",
+      "mask_path": "../../mask/hdr_right_05910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05911.png",
+      "transform_matrix": [
+        [
+          0.9495291709899902,
+          -0.0872567668557167,
+          0.3012983798980713,
+          86.93489837646484
+        ],
+        [
+          -0.3044140338897705,
+          -0.024605846032500267,
+          0.9522219300270081,
+          19.16960906982422
+        ],
+        [
+          -0.07567410171031952,
+          -0.995881974697113,
+          -0.04992615059018135,
+          -29.45440673828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5911,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_583080768",
+      "mask_path": "../../mask/hdr_right_05911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05912.png",
+      "transform_matrix": [
+        [
+          0.9518437385559082,
+          -0.07942260801792145,
+          0.2961176633834839,
+          86.8813705444336
+        ],
+        [
+          -0.2988094389438629,
+          -0.024198006838560104,
+          0.9540059566497803,
+          19.188518524169922
+        ],
+        [
+          -0.06860419362783432,
+          -0.996547281742096,
+          -0.04676494374871254,
+          -29.460508346557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5912,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_683081626",
+      "mask_path": "../../mask/hdr_right_05912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05914.png",
+      "transform_matrix": [
+        [
+          0.9527660608291626,
+          -0.07086729258298874,
+          0.2953217029571533,
+          86.78336334228516
+        ],
+        [
+          -0.2978139817714691,
+          -0.02740366943180561,
+          0.9542304873466492,
+          19.22715950012207
+        ],
+        [
+          -0.0595308393239975,
+          -0.9971092343330383,
+          -0.0472145602107048,
+          -29.45991325378418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5914,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_883080720",
+      "mask_path": "../../mask/hdr_right_05914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05915.png",
+      "transform_matrix": [
+        [
+          0.9511340856552124,
+          -0.07359522581100464,
+          0.29987919330596924,
+          86.72952270507812
+        ],
+        [
+          -0.3024357855319977,
+          -0.026216229423880577,
+          0.9528092741966248,
+          19.25556182861328
+        ],
+        [
+          -0.06226050481200218,
+          -0.9969435334205627,
+          -0.04719299077987671,
+          -29.445640563964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5915,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323854_983080387",
+      "mask_path": "../../mask/hdr_right_05915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05916.png",
+      "transform_matrix": [
+        [
+          0.94992595911026,
+          -0.08299586176872253,
+          0.30125153064727783,
+          86.67865753173828
+        ],
+        [
+          -0.3046201169490814,
+          -0.031155982986092567,
+          0.9519643187522888,
+          19.275053024291992
+        ],
+        [
+          -0.06962331384420395,
+          -0.9960628151893616,
+          -0.05487808585166931,
+          -29.43463897705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5916,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_83079338",
+      "mask_path": "../../mask/hdr_right_05916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05917.png",
+      "transform_matrix": [
+        [
+          0.9516304731369019,
+          -0.08973667770624161,
+          0.29384845495224,
+          86.60955810546875
+        ],
+        [
+          -0.29779163002967834,
+          -0.03397086262702942,
+          0.9540262818336487,
+          19.289649963378906
+        ],
+        [
+          -0.075628861784935,
+          -0.9953860640525818,
+          -0.0590505488216877,
+          -29.418216705322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5917,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_183080196",
+      "mask_path": "../../mask/hdr_right_05917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05918.png",
+      "transform_matrix": [
+        [
+          0.9569531083106995,
+          -0.09170977771282196,
+          0.2753725051879883,
+          86.5474624633789
+        ],
+        [
+          -0.279153972864151,
+          -0.031080670654773712,
+          0.9597432613372803,
+          19.301572799682617
+        ],
+        [
+          -0.07945907860994339,
+          -0.9953005909919739,
+          -0.055343903601169586,
+          -29.40934944152832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5918,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_283080577",
+      "mask_path": "../../mask/hdr_right_05918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05920.png",
+      "transform_matrix": [
+        [
+          0.9678969979286194,
+          -0.08728234469890594,
+          0.23570600152015686,
+          86.48192596435547
+        ],
+        [
+          -0.23905286192893982,
+          -0.02996588870882988,
+          0.9705440998077393,
+          19.302175521850586
+        ],
+        [
+          -0.07764822244644165,
+          -0.995732843875885,
+          -0.04986899346113205,
+          -29.41592025756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5920,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_483078718",
+      "mask_path": "../../mask/hdr_right_05920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05922.png",
+      "transform_matrix": [
+        [
+          0.9645870923995972,
+          -0.11384588479995728,
+          0.23793049156665802,
+          86.39764404296875
+        ],
+        [
+          -0.23815949261188507,
+          0.011785008013248444,
+          0.971154510974884,
+          19.342926025390625
+        ],
+        [
+          -0.11336594820022583,
+          -0.9934284687042236,
+          -0.01574581116437912,
+          -29.338239669799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5922,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_683078765",
+      "mask_path": "../../mask/hdr_right_05922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05924.png",
+      "transform_matrix": [
+        [
+          0.9563882350921631,
+          -0.14076833426952362,
+          0.25594115257263184,
+          86.2977066040039
+        ],
+        [
+          -0.2561607360839844,
+          0.016869444400072098,
+          0.9664871096611023,
+          19.405725479125977
+        ],
+        [
+          -0.14036837220191956,
+          -0.9898988604545593,
+          -0.019925588741898537,
+          -29.310596466064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5924,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_883081197",
+      "mask_path": "../../mask/hdr_right_05924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05925.png",
+      "transform_matrix": [
+        [
+          0.9542621970176697,
+          -0.14426647126674652,
+          0.26186054944992065,
+          86.24759674072266
+        ],
+        [
+          -0.2623048424720764,
+          0.016275202855467796,
+          0.9648478627204895,
+          19.435195922851562
+        ],
+        [
+          -0.14345702528953552,
+          -0.9894050359725952,
+          -0.02231098711490631,
+          -29.291112899780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5925,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323855_983080625",
+      "mask_path": "../../mask/hdr_right_05925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05927.png",
+      "transform_matrix": [
+        [
+          0.9552778005599976,
+          -0.14579136669635773,
+          0.2572723627090454,
+          86.1755599975586
+        ],
+        [
+          -0.257859468460083,
+          0.015184874646365643,
+          0.9660632014274597,
+          19.464153289794922
+        ],
+        [
+          -0.14475031197071075,
+          -0.9891988635063171,
+          -0.023087918758392334,
+          -29.293092727661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5927,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_183080911",
+      "mask_path": "../../mask/hdr_right_05927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05929.png",
+      "transform_matrix": [
+        [
+          0.9593455791473389,
+          -0.14398011565208435,
+          0.24274656176567078,
+          86.10307312011719
+        ],
+        [
+          -0.24472124874591827,
+          0.0041053262539207935,
+          0.9695848226547241,
+          19.467615127563477
+        ],
+        [
+          -0.14059747755527496,
+          -0.9895720481872559,
+          -0.03129656985402107,
+          -29.28960609436035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5929,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_383081197",
+      "mask_path": "../../mask/hdr_right_05929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05931.png",
+      "transform_matrix": [
+        [
+          0.965829074382782,
+          -0.14909258484840393,
+          0.21200400590896606,
+          86.02354431152344
+        ],
+        [
+          -0.21578480303287506,
+          -0.00946792121976614,
+          0.9763951301574707,
+          19.48215675354004
+        ],
+        [
+          -0.14356601238250732,
+          -0.9887778759002686,
+          -0.041316308081150055,
+          -29.272926330566406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5931,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_583081007",
+      "mask_path": "../../mask/hdr_right_05931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05933.png",
+      "transform_matrix": [
+        [
+          0.9689410328865051,
+          -0.15025871992111206,
+          0.19640664756298065,
+          85.9457778930664
+        ],
+        [
+          -0.20143097639083862,
+          -0.018830569460988045,
+          0.9793217182159424,
+          19.50786781311035
+        ],
+        [
+          -0.14345316588878632,
+          -0.9884673953056335,
+          -0.04851248115301132,
+          -29.261503219604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5933,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_783081531",
+      "mask_path": "../../mask/hdr_right_05933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05935.png",
+      "transform_matrix": [
+        [
+          0.9699517488479614,
+          -0.14308959245681763,
+          0.19677136838436127,
+          85.8663330078125
+        ],
+        [
+          -0.20149216055870056,
+          -0.019140897318720818,
+          0.9793030619621277,
+          19.529176712036133
+        ],
+        [
+          -0.13636170327663422,
+          -0.9895246028900146,
+          -0.0473971851170063,
+          -29.26731300354004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5935,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323856_983081340",
+      "mask_path": "../../mask/hdr_right_05935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05937.png",
+      "transform_matrix": [
+        [
+          0.9706061482429504,
+          -0.13411091268062592,
+          0.1998448222875595,
+          85.77975463867188
+        ],
+        [
+          -0.2039165198802948,
+          -0.017203355208039284,
+          0.9788371324539185,
+          19.53887939453125
+        ],
+        [
+          -0.127834752202034,
+          -0.9908169507980347,
+          -0.04404512420296669,
+          -29.259178161621094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5937,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_183081388",
+      "mask_path": "../../mask/hdr_right_05937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05938.png",
+      "transform_matrix": [
+        [
+          0.9693870544433594,
+          -0.13900233805179596,
+          0.20240351557731628,
+          85.72066497802734
+        ],
+        [
+          -0.20667849481105804,
+          -0.0168885737657547,
+          0.9782631993293762,
+          19.559114456176758
+        ],
+        [
+          -0.1325625479221344,
+          -0.9901480078697205,
+          -0.04510036110877991,
+          -29.246320724487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5938,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_283081769",
+      "mask_path": "../../mask/hdr_right_05938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05940.png",
+      "transform_matrix": [
+        [
+          0.9674593210220337,
+          -0.14559495449066162,
+          0.20694056153297424,
+          85.6194839477539
+        ],
+        [
+          -0.21109798550605774,
+          -0.013537569902837276,
+          0.9773712158203125,
+          19.610414505004883
+        ],
+        [
+          -0.13949884474277496,
+          -0.9892516732215881,
+          -0.043831851333379745,
+          -29.22870445251465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5940,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_483081579",
+      "mask_path": "../../mask/hdr_right_05940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05941.png",
+      "transform_matrix": [
+        [
+          0.9687304496765137,
+          -0.13889208436012268,
+          0.20559734106063843,
+          85.56696319580078
+        ],
+        [
+          -0.20902954041957855,
+          -0.010433991439640522,
+          0.9778536558151245,
+          19.631610870361328
+        ],
+        [
+          -0.13367094099521637,
+          -0.9902525544166565,
+          -0.03914028778672218,
+          -29.230134963989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5941,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_583081007",
+      "mask_path": "../../mask/hdr_right_05941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05942.png",
+      "transform_matrix": [
+        [
+          0.9706026911735535,
+          -0.1330443024635315,
+          0.20057347416877747,
+          85.51113891601562
+        ],
+        [
+          -0.20380595326423645,
+          -0.010999023914337158,
+          0.9789496064186096,
+          19.646007537841797
+        ],
+        [
+          -0.12803754210472107,
+          -0.9910491108894348,
+          -0.03779090940952301,
+          -29.227088928222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5942,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_683082103",
+      "mask_path": "../../mask/hdr_right_05942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05943.png",
+      "transform_matrix": [
+        [
+          0.9733762145042419,
+          -0.12496642023324966,
+          0.19215179979801178,
+          85.44795989990234
+        ],
+        [
+          -0.1959773749113083,
+          -0.018959160894155502,
+          0.9804251194000244,
+          19.669933319091797
+        ],
+        [
+          -0.11887717992067337,
+          -0.9919797778129578,
+          -0.04294499009847641,
+          -29.21977424621582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5943,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_783080339",
+      "mask_path": "../../mask/hdr_right_05943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05944.png",
+      "transform_matrix": [
+        [
+          0.9742220640182495,
+          -0.12160646915435791,
+          0.190008744597435,
+          85.38971710205078
+        ],
+        [
+          -0.19439062476158142,
+          -0.025135785341262817,
+          0.9806021451950073,
+          19.699148178100586
+        ],
+        [
+          -0.11447153240442276,
+          -0.9922600388526917,
+          -0.04812698811292648,
+          -29.20336151123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5944,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323857_883082628",
+      "mask_path": "../../mask/hdr_right_05944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05946.png",
+      "transform_matrix": [
+        [
+          0.9738793969154358,
+          -0.12596750259399414,
+          0.18892145156860352,
+          85.28913879394531
+        ],
+        [
+          -0.19467158615589142,
+          -0.0349050797522068,
+          0.9802471995353699,
+          19.729524612426758
+        ],
+        [
+          -0.11688496917486191,
+          -0.9914200901985168,
+          -0.058515630662441254,
+          -29.185733795166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5946,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_83081245",
+      "mask_path": "../../mask/hdr_right_05946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05947.png",
+      "transform_matrix": [
+        [
+          0.9764106273651123,
+          -0.1209937036037445,
+          0.1788375824689865,
+          85.20977783203125
+        ],
+        [
+          -0.1844039112329483,
+          -0.03639790043234825,
+          0.9821764230728149,
+          19.741613388061523
+        ],
+        [
+          -0.11232785135507584,
+          -0.9919856786727905,
+          -0.05785100907087326,
+          -29.177396774291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5947,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_183080673",
+      "mask_path": "../../mask/hdr_right_05947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05953.png",
+      "transform_matrix": [
+        [
+          0.9752904176712036,
+          -0.1264033019542694,
+          0.1811923384666443,
+          84.95622253417969
+        ],
+        [
+          -0.1873854547739029,
+          -0.038857828825712204,
+          0.9815176129341125,
+          19.81806182861328
+        ],
+        [
+          -0.11702631413936615,
+          -0.9912175536155701,
+          -0.06158381327986717,
+          -29.140850067138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5953,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_783080816",
+      "mask_path": "../../mask/hdr_right_05953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05954.png",
+      "transform_matrix": [
+        [
+          0.9738814234733582,
+          -0.14190034568309784,
+          0.17725485563278198,
+          84.88560485839844
+        ],
+        [
+          -0.18379507958889008,
+          -0.03428788483142853,
+          0.9823664426803589,
+          19.82196044921875
+        ],
+        [
+          -0.13332043588161469,
+          -0.9892868995666504,
+          -0.059472933411598206,
+          -29.103069305419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5954,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323858_883081197",
+      "mask_path": "../../mask/hdr_right_05954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05956.png",
+      "transform_matrix": [
+        [
+          0.9754538536071777,
+          -0.15078212320804596,
+          0.16048215329647064,
+          84.80953216552734
+        ],
+        [
+          -0.16366758942604065,
+          -0.008876984938979149,
+          0.9864755868911743,
+          19.83346939086914
+        ],
+        [
+          -0.1473183035850525,
+          -0.9885271787643433,
+          -0.033337246626615524,
+          -29.078840255737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5956,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_83081722",
+      "mask_path": "../../mask/hdr_right_05956.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/730ff440/mesh.ply b/2024-11-11-12-07-40/splats/730ff440/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8b18a850574f4ced2ed21553077586a1cf500fa1
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/730ff440/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e0d9cee49a394c75ad7826416dc7990d06cd708860b400a05736d9ee0275ee
+size 63213498
diff --git a/2024-11-11-12-07-40/splats/730ff440/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/730ff440/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c6281c32f4898d08222a1f633554c01991b8748e
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/730ff440/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b4b788ae5e814c7d5bb47cfe76f24007184d6a99f5e3c1b6aca30e767e25956
+size 1587894
diff --git a/2024-11-11-12-07-40/splats/730ff440/splatfacto/config.yml b/2024-11-11-12-07-40/splats/730ff440/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..ead1415c702bcc113d389ff45e7580347ea91188
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/730ff440/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_730ff440
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_730ff440
+      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/2024-11-11-12-07-40/splats/730ff440/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/730ff440/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13709ae7490e3750687f25292f7bc26b572fff6
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/730ff440/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.899835467338562,
+            0.4276939928531647,
+            0.0858701542019844,
+            112.64942932128906
+        ],
+        [
+            0.4276939928531647,
+            0.9037168622016907,
+            -0.019331224262714386,
+            -55.7193489074707
+        ],
+        [
+            -0.0858701542019844,
+            0.019331224262714386,
+            -0.9961186647415161,
+            -25.20672607421875
+        ]
+    ],
+    "scale": 0.18851739879587734
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/730ff440/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/730ff440/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1e9c724ebcaf5813bc62a7be74060032e6e62e44
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/730ff440/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdad31543f79b90603d46e70f4545cbc56306570933f4deceb319aafbc634324
+size 156534977
diff --git a/2024-11-11-12-07-40/splats/730ff440/transforms.json b/2024-11-11-12-07-40/splats/730ff440/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..914e752273319af8bd40a0190839970d84d98970
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/730ff440/transforms.json
@@ -0,0 +1,30120 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_04933.png",
+      "transform_matrix": [
+        [
+          0.5724437832832336,
+          -0.05129557102918625,
+          -0.8183378577232361,
+          118.75580596923828
+        ],
+        [
+          0.8176952004432678,
+          -0.03815144672989845,
+          0.5743857622146606,
+          4.798943519592285
+        ],
+        [
+          -0.0606842041015625,
+          -0.9979546070098877,
+          0.020104577764868736,
+          -35.35963821411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4933,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_783081769",
+      "mask_path": "../../mask/hdr_front_04933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04934.png",
+      "transform_matrix": [
+        [
+          0.5726614594459534,
+          -0.04799531027674675,
+          -0.8183857798576355,
+          118.804931640625
+        ],
+        [
+          0.8177313804626465,
+          -0.037292592227458954,
+          0.5743906497955322,
+          4.7687201499938965
+        ],
+        [
+          -0.0580877847969532,
+          -0.9981511831283569,
+          0.017891233786940575,
+          -35.36814498901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4934,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_883084058",
+      "mask_path": "../../mask/hdr_front_04934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04935.png",
+      "transform_matrix": [
+        [
+          0.5793961882591248,
+          -0.04705074429512024,
+          -0.8136868476867676,
+          118.87310028076172
+        ],
+        [
+          0.813400149345398,
+          -0.030031293630599976,
+          0.5809286832809448,
+          4.717713832855225
+        ],
+        [
+          -0.0517691932618618,
+          -0.9984409809112549,
+          0.02087107114493847,
+          -35.36732482910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4935,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_983081817",
+      "mask_path": "../../mask/hdr_front_04935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04936.png",
+      "transform_matrix": [
+        [
+          0.5882552266120911,
+          -0.04608214274048805,
+          -0.8073612451553345,
+          118.93392944335938
+        ],
+        [
+          0.8073292374610901,
+          -0.024114830419421196,
+          0.5896083116531372,
+          4.667586326599121
+        ],
+        [
+          -0.04663978889584541,
+          -0.9986465573310852,
+          0.02301779016852379,
+          -35.36104202270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4936,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_83083629",
+      "mask_path": "../../mask/hdr_front_04936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04938.png",
+      "transform_matrix": [
+        [
+          0.5881030559539795,
+          -0.03482084348797798,
+          -0.8080360889434814,
+          119.02366638183594
+        ],
+        [
+          0.8081519603729248,
+          -0.014250341802835464,
+          0.5888016223907471,
+          4.610072135925293
+        ],
+        [
+          -0.03201735019683838,
+          -0.9992920160293579,
+          0.01975986547768116,
+          -35.363101959228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4938,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_283081769",
+      "mask_path": "../../mask/hdr_front_04938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04939.png",
+      "transform_matrix": [
+        [
+          0.577798068523407,
+          -0.039526138454675674,
+          -0.8152221441268921,
+          119.09486389160156
+        ],
+        [
+          0.8155191540718079,
+          -0.012217613868415356,
+          0.5786011219024658,
+          4.5696187019348145
+        ],
+        [
+          -0.03282993659377098,
+          -0.9991438388824463,
+          0.025175010785460472,
+          -35.357452392578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4939,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_383081197",
+      "mask_path": "../../mask/hdr_front_04939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04940.png",
+      "transform_matrix": [
+        [
+          0.5610449314117432,
+          -0.04699059575796127,
+          -0.826450526714325,
+          119.14966583251953
+        ],
+        [
+          0.8268769979476929,
+          -0.01494582649320364,
+          0.56218421459198,
+          4.543280124664307
+        ],
+        [
+          -0.03876935690641403,
+          -0.998783528804779,
+          0.030470160767436028,
+          -35.359588623046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4940,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_483083486",
+      "mask_path": "../../mask/hdr_front_04940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04942.png",
+      "transform_matrix": [
+        [
+          0.5135332942008972,
+          -0.048766542226076126,
+          -0.8566827774047852,
+          119.2422866821289
+        ],
+        [
+          0.8576399683952332,
+          -0.002423084806650877,
+          0.5142449140548706,
+          4.516921043395996
+        ],
+        [
+          -0.02715376205742359,
+          -0.9988072514533997,
+          0.040579795837402344,
+          -35.3702507019043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4942,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_683082342",
+      "mask_path": "../../mask/hdr_front_04942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04943.png",
+      "transform_matrix": [
+        [
+          0.49442365765571594,
+          -0.04893697798252106,
+          -0.8678423762321472,
+          119.30322265625
+        ],
+        [
+          0.8689998388290405,
+          0.005301532335579395,
+          0.49478408694267273,
+          4.490438461303711
+        ],
+        [
+          -0.01961234025657177,
+          -0.9987878203392029,
+          0.04514742270112038,
+          -35.36852264404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4943,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_783081531",
+      "mask_path": "../../mask/hdr_front_04943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04944.png",
+      "transform_matrix": [
+        [
+          0.48375263810157776,
+          -0.04489756003022194,
+          -0.8740523457527161,
+          119.35204315185547
+        ],
+        [
+          0.8751116394996643,
+          0.010247452184557915,
+          0.483812540769577,
+          4.466868877410889
+        ],
+        [
+          -0.012765191495418549,
+          -0.998939037322998,
+          0.04424760863184929,
+          -35.366214752197266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4944,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_883081674",
+      "mask_path": "../../mask/hdr_front_04944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04946.png",
+      "transform_matrix": [
+        [
+          0.48089635372161865,
+          -0.027238890528678894,
+          -0.8763542175292969,
+          119.4489517211914
+        ],
+        [
+          0.8767048120498657,
+          0.027806833386421204,
+          0.4802244305610657,
+          4.426190376281738
+        ],
+        [
+          0.011287855915725231,
+          -0.9992421865463257,
+          0.037252672016620636,
+          -35.36708450317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4946,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_83081960",
+      "mask_path": "../../mask/hdr_front_04946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04947.png",
+      "transform_matrix": [
+        [
+          0.4807909429073334,
+          -0.02840636670589447,
+          -0.8763749599456787,
+          119.51160430908203
+        ],
+        [
+          0.8767930865287781,
+          0.025382261723279953,
+          0.480197548866272,
+          4.398834705352783
+        ],
+        [
+          0.008603711612522602,
+          -0.9992741346359253,
+          0.03711006045341492,
+          -35.370887756347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4947,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_183083295",
+      "mask_path": "../../mask/hdr_front_04947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04949.png",
+      "transform_matrix": [
+        [
+          0.47644636034965515,
+          -0.030115380883216858,
+          -0.8786876201629639,
+          119.5835189819336
+        ],
+        [
+          0.879194974899292,
+          0.0207341481000185,
+          0.47601082921028137,
+          4.378111839294434
+        ],
+        [
+          0.003883593250066042,
+          -0.9993314146995544,
+          0.03635599836707115,
+          -35.380638122558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4949,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_383081912",
+      "mask_path": "../../mask/hdr_front_04949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04951.png",
+      "transform_matrix": [
+        [
+          0.48420628905296326,
+          -0.03349427506327629,
+          -0.8743125200271606,
+          119.67414855957031
+        ],
+        [
+          0.8749436140060425,
+          0.02336915396153927,
+          0.48366057872772217,
+          4.346856117248535
+        ],
+        [
+          0.0042320857755839825,
+          -0.9991656541824341,
+          0.04062109813094139,
+          -35.37919616699219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4951,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_583081483",
+      "mask_path": "../../mask/hdr_front_04951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04953.png",
+      "transform_matrix": [
+        [
+          0.5024590492248535,
+          -0.025278422981500626,
+          -0.8642314672470093,
+          119.75762176513672
+        ],
+        [
+          0.8645939230918884,
+          0.01874559000134468,
+          0.5021215081214905,
+          4.287672996520996
+        ],
+        [
+          0.003507687011733651,
+          -0.9995047450065613,
+          0.03127446398139,
+          -35.37966537475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4953,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_783081531",
+      "mask_path": "../../mask/hdr_front_04953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04954.png",
+      "transform_matrix": [
+        [
+          0.5089168548583984,
+          -0.030550599098205566,
+          -0.8602734804153442,
+          119.81593322753906
+        ],
+        [
+          0.8607906699180603,
+          0.010453248396515846,
+          0.5088515877723694,
+          4.247636318206787
+        ],
+        [
+          -0.00655306875705719,
+          -0.9994786381721497,
+          0.03161751106381416,
+          -35.37889862060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4954,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_883082151",
+      "mask_path": "../../mask/hdr_front_04954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04955.png",
+      "transform_matrix": [
+        [
+          0.5111316442489624,
+          -0.03880372643470764,
+          -0.8586260080337524,
+          119.88182067871094
+        ],
+        [
+          0.8592628836631775,
+          -0.0005135137471370399,
+          0.5115339756011963,
+          4.206597328186035
+        ],
+        [
+          -0.02029033750295639,
+          -0.9992467164993286,
+          0.03308012709021568,
+          -35.37979507446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4955,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_983081817",
+      "mask_path": "../../mask/hdr_front_04955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04956.png",
+      "transform_matrix": [
+        [
+          0.5112370848655701,
+          -0.04137033596634865,
+          -0.8584434390068054,
+          119.93991088867188
+        ],
+        [
+          0.8590076565742493,
+          -0.007070442195981741,
+          0.5119138360023499,
+          4.171165943145752
+        ],
+        [
+          -0.027247624471783638,
+          -0.9991188645362854,
+          0.03192276507616043,
+          -35.38539505004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4956,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_83082914",
+      "mask_path": "../../mask/hdr_front_04956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04957.png",
+      "transform_matrix": [
+        [
+          0.5122643113136292,
+          -0.0407991036772728,
+          -0.8578583002090454,
+          120.0073013305664
+        ],
+        [
+          0.8583205938339233,
+          -0.01000306848436594,
+          0.5130162239074707,
+          4.125619888305664
+        ],
+        [
+          -0.02951180934906006,
+          -0.9991173148155212,
+          0.029894495382905006,
+          -35.391029357910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4957,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_183081865",
+      "mask_path": "../../mask/hdr_front_04957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04958.png",
+      "transform_matrix": [
+        [
+          0.5201805233955383,
+          -0.03708237037062645,
+          -0.8532509803771973,
+          120.08422088623047
+        ],
+        [
+          0.8535398840904236,
+          -0.012166988104581833,
+          0.5208855271339417,
+          4.06470251083374
+        ],
+        [
+          -0.02969716116786003,
+          -0.9992382526397705,
+          0.02532225288450718,
+          -35.38447189331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4958,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_283082485",
+      "mask_path": "../../mask/hdr_front_04958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04959.png",
+      "transform_matrix": [
+        [
+          0.53187096118927,
+          -0.03115709312260151,
+          -0.8462520241737366,
+          120.13746643066406
+        ],
+        [
+          0.8464170098304749,
+          -0.011473000049591064,
+          0.5323970317840576,
+          4.027059555053711
+        ],
+        [
+          -0.026296991854906082,
+          -0.9994487166404724,
+          0.020269738510251045,
+          -35.38089370727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4959,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_383081197",
+      "mask_path": "../../mask/hdr_front_04959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04960.png",
+      "transform_matrix": [
+        [
+          0.5384920835494995,
+          -0.027688220143318176,
+          -0.8421756625175476,
+          120.1961441040039
+        ],
+        [
+          0.8422664999961853,
+          -0.011692383326590061,
+          0.538934588432312,
+          3.9964823722839355
+        ],
+        [
+          -0.02476917766034603,
+          -0.9995482563972473,
+          0.017024604603648186,
+          -35.38408660888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4960,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_483081579",
+      "mask_path": "../../mask/hdr_front_04960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04961.png",
+      "transform_matrix": [
+        [
+          0.5298488140106201,
+          -0.029239913448691368,
+          -0.8475879430770874,
+          120.28266906738281
+        ],
+        [
+          0.8476407527923584,
+          -0.014346710406243801,
+          0.530376672744751,
+          3.9539706707000732
+        ],
+        [
+          -0.027668263763189316,
+          -0.9994694590568542,
+          0.017183354124426842,
+          -35.39152526855469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4961,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_583082675",
+      "mask_path": "../../mask/hdr_front_04961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04962.png",
+      "transform_matrix": [
+        [
+          0.5063045024871826,
+          -0.03213294968008995,
+          -0.8617558479309082,
+          120.35011291503906
+        ],
+        [
+          0.8617172837257385,
+          -0.01956445910036564,
+          0.5070114135742188,
+          3.9364418983459473
+        ],
+        [
+          -0.03315155208110809,
+          -0.9992921352386475,
+          0.01778394728899002,
+          -35.39593505859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4962,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_683081388",
+      "mask_path": "../../mask/hdr_front_04962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04963.png",
+      "transform_matrix": [
+        [
+          0.4791332185268402,
+          -0.03119407407939434,
+          -0.8771877884864807,
+          120.41010284423828
+        ],
+        [
+          0.8771882653236389,
+          -0.018481779843568802,
+          0.47979074716567993,
+          3.925889492034912
+        ],
+        [
+          -0.031178612262010574,
+          -0.9993425011634827,
+          0.01850784383714199,
+          -35.39933395385742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4963,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_783082723",
+      "mask_path": "../../mask/hdr_front_04963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04964.png",
+      "transform_matrix": [
+        [
+          0.45628616213798523,
+          -0.032412219792604446,
+          -0.8892425894737244,
+          120.49279022216797
+        ],
+        [
+          0.8895050287246704,
+          -0.010519366711378098,
+          0.4568043053150177,
+          3.898686647415161
+        ],
+        [
+          -0.02416030876338482,
+          -0.9994192719459534,
+          0.024030989035964012,
+          -35.40456008911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4964,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_883080959",
+      "mask_path": "../../mask/hdr_front_04964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04965.png",
+      "transform_matrix": [
+        [
+          0.43966737389564514,
+          -0.030876323580741882,
+          -0.8976298570632935,
+          120.56742858886719
+        ],
+        [
+          0.8980053067207336,
+          -0.0034788947086781263,
+          0.4399709403514862,
+          3.872037887573242
+        ],
+        [
+          -0.016707444563508034,
+          -0.9995171427726746,
+          0.02619754523038864,
+          -35.40400314331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4965,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_983082056",
+      "mask_path": "../../mask/hdr_front_04965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04966.png",
+      "transform_matrix": [
+        [
+          0.43288713693618774,
+          -0.023290643468499184,
+          -0.901147186756134,
+          120.622314453125
+        ],
+        [
+          0.9014265537261963,
+          0.004267116542905569,
+          0.43291109800338745,
+          3.8529651165008545
+        ],
+        [
+          -0.0062374756671488285,
+          -0.9997196793556213,
+          0.022841982543468475,
+          -35.40309524536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4966,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_83082675",
+      "mask_path": "../../mask/hdr_front_04966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04967.png",
+      "transform_matrix": [
+        [
+          0.43620944023132324,
+          -0.023338008671998978,
+          -0.899542510509491,
+          120.69554138183594
+        ],
+        [
+          0.8998403549194336,
+          0.008043867535889149,
+          0.43614521622657776,
+          3.819108724594116
+        ],
+        [
+          -0.0029429583810269833,
+          -0.9996953010559082,
+          0.02450929395854473,
+          -35.40608596801758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4967,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_183080911",
+      "mask_path": "../../mask/hdr_front_04967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04968.png",
+      "transform_matrix": [
+        [
+          0.43743816018104553,
+          -0.03124811127781868,
+          -0.8987054228782654,
+          120.78389739990234
+        ],
+        [
+          0.8991991877555847,
+          0.00473044766113162,
+          0.4375140070915222,
+          3.7764363288879395
+        ],
+        [
+          -0.009420204907655716,
+          -0.9995005130767822,
+          0.030167553573846817,
+          -35.411380767822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4968,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_283081769",
+      "mask_path": "../../mask/hdr_front_04968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04969.png",
+      "transform_matrix": [
+        [
+          0.43532779812812805,
+          -0.03624705225229263,
+          -0.8995420336723328,
+          120.85006713867188
+        ],
+        [
+          0.9001539945602417,
+          0.0013431085972115397,
+          0.43556979298591614,
+          3.7495644092559814
+        ],
+        [
+          -0.014579935930669308,
+          -0.9993419647216797,
+          0.03321261703968048,
+          -35.419532775878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4969,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_383081436",
+      "mask_path": "../../mask/hdr_front_04969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04970.png",
+      "transform_matrix": [
+        [
+          0.4356186091899872,
+          -0.03479477018117905,
+          -0.8994585275650024,
+          120.91595458984375
+        ],
+        [
+          0.9000494480133057,
+          0.0033579051960259676,
+          0.43577489256858826,
+          3.7225162982940674
+        ],
+        [
+          -0.012142390944063663,
+          -0.9993888735771179,
+          0.03277977928519249,
+          -35.42836380004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4970,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_483082056",
+      "mask_path": "../../mask/hdr_front_04970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04971.png",
+      "transform_matrix": [
+        [
+          0.4414144456386566,
+          -0.03937665745615959,
+          -0.8964388966560364,
+          121.0030517578125
+        ],
+        [
+          0.8972200751304626,
+          0.005763260181993246,
+          0.4415459632873535,
+          3.6812744140625
+        ],
+        [
+          -0.012220191769301891,
+          -0.9992078542709351,
+          0.037873513996601105,
+          -35.428871154785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4971,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_583081960",
+      "mask_path": "../../mask/hdr_front_04971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04972.png",
+      "transform_matrix": [
+        [
+          0.4504466652870178,
+          -0.04214276745915413,
+          -0.8918082118034363,
+          121.08399963378906
+        ],
+        [
+          0.8927353620529175,
+          0.008935975842177868,
+          0.4504927396774292,
+          3.6391494274139404
+        ],
+        [
+          -0.011015829630196095,
+          -0.9990716576576233,
+          0.041647523641586304,
+          -35.42673873901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4972,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_683081388",
+      "mask_path": "../../mask/hdr_front_04972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04973.png",
+      "transform_matrix": [
+        [
+          0.46133890748023987,
+          -0.036265745759010315,
+          -0.8864825367927551,
+          121.13949584960938
+        ],
+        [
+          0.887206494808197,
+          0.01258121244609356,
+          0.4612009823322296,
+          3.610947370529175
+        ],
+        [
+          -0.005572771653532982,
+          -0.9992629885673523,
+          0.03797940909862518,
+          -35.42695999145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4973,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_783082723",
+      "mask_path": "../../mask/hdr_front_04973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04974.png",
+      "transform_matrix": [
+        [
+          0.4678135812282562,
+          -0.044404443353414536,
+          -0.8827109336853027,
+          121.22989654541016
+        ],
+        [
+          0.8837162256240845,
+          0.0076789227314293385,
+          0.4679601490497589,
+          3.568591594696045
+        ],
+        [
+          -0.01400123629719019,
+          -0.998984158039093,
+          0.042833227664232254,
+          -35.43263244628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4974,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_883082628",
+      "mask_path": "../../mask/hdr_front_04974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04975.png",
+      "transform_matrix": [
+        [
+          0.4667307436466217,
+          -0.055830515921115875,
+          -0.8826355338096619,
+          121.32682800292969
+        ],
+        [
+          0.8839576244354248,
+          -0.002093473682180047,
+          0.4675622880458832,
+          3.530937910079956
+        ],
+        [
+          -0.02795201912522316,
+          -0.9984381198883057,
+          0.0483747236430645,
+          -35.45387268066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4975,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_983082532",
+      "mask_path": "../../mask/hdr_front_04975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04976.png",
+      "transform_matrix": [
+        [
+          0.4640161693096161,
+          -0.05667597055435181,
+          -0.8840118050575256,
+          121.39686584472656
+        ],
+        [
+          0.8852108716964722,
+          -0.007537480443716049,
+          0.4651288092136383,
+          3.503035068511963
+        ],
+        [
+          -0.03302484378218651,
+          -0.9983642101287842,
+          0.04667267948389053,
+          -35.46712875366211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4976,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_83084344",
+      "mask_path": "../../mask/hdr_front_04976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04977.png",
+      "transform_matrix": [
+        [
+          0.4632425904273987,
+          -0.056318726390600204,
+          -0.8844403028488159,
+          121.46998596191406
+        ],
+        [
+          0.8856028318405151,
+          -0.008170106448233128,
+          0.4643717110157013,
+          3.469175338745117
+        ],
+        [
+          -0.03337879851460457,
+          -0.9983794689178467,
+          0.04609127715229988,
+          -35.472389221191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4977,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_183083057",
+      "mask_path": "../../mask/hdr_front_04977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04978.png",
+      "transform_matrix": [
+        [
+          0.46859222650527954,
+          -0.06101323664188385,
+          -0.8813052177429199,
+          121.55358123779297
+        ],
+        [
+          0.8826713562011719,
+          -0.008576746098697186,
+          0.46991240978240967,
+          3.4214773178100586
+        ],
+        [
+          -0.036229606717824936,
+          -0.9981001615524292,
+          0.04983564093708992,
+          -35.47195053100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4978,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_283082246",
+      "mask_path": "../../mask/hdr_front_04978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04979.png",
+      "transform_matrix": [
+        [
+          0.4774167835712433,
+          -0.06479034572839737,
+          -0.8762850165367126,
+          121.621337890625
+        ],
+        [
+          0.8779105544090271,
+          -0.006471662316471338,
+          0.4787808954715729,
+          3.380760431289673
+        ],
+        [
+          -0.03669139742851257,
+          -0.9978779554367065,
+          0.05379045009613037,
+          -35.47667694091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4979,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_383082628",
+      "mask_path": "../../mask/hdr_front_04979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04980.png",
+      "transform_matrix": [
+        [
+          0.48708376288414,
+          -0.06108537316322327,
+          -0.8712164163589478,
+          121.67053985595703
+        ],
+        [
+          0.8727120757102966,
+          -0.00423326576128602,
+          0.4882168471813202,
+          3.3530917167663574
+        ],
+        [
+          -0.03351099416613579,
+          -0.9981235265731812,
+          0.051247987896203995,
+          -35.485477447509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4980,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_483083724",
+      "mask_path": "../../mask/hdr_front_04980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04981.png",
+      "transform_matrix": [
+        [
+          0.4922608733177185,
+          -0.07411336898803711,
+          -0.8672868013381958,
+          121.75410461425781
+        ],
+        [
+          0.8693377375602722,
+          -0.00844029150903225,
+          0.49414628744125366,
+          3.3012290000915527
+        ],
+        [
+          -0.04394299536943436,
+          -0.997214138507843,
+          0.06027472764253616,
+          -35.49575424194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4981,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_583083391",
+      "mask_path": "../../mask/hdr_front_04981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04982.png",
+      "transform_matrix": [
+        [
+          0.492491751909256,
+          -0.08862858265638351,
+          -0.8657926321029663,
+          121.84326934814453
+        ],
+        [
+          0.8684467673301697,
+          -0.015137488022446632,
+          0.495551198720932,
+          3.253002166748047
+        ],
+        [
+          -0.05702592059969902,
+          -0.9959497451782227,
+          0.06951411813497543,
+          -35.51783752441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4982,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_683082103",
+      "mask_path": "../../mask/hdr_front_04982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04983.png",
+      "transform_matrix": [
+        [
+          0.4923764765262604,
+          -0.0883890837430954,
+          -0.8658826351165771,
+          121.91130065917969
+        ],
+        [
+          0.8681941032409668,
+          -0.02062378078699112,
+          0.4957961142063141,
+          3.2190685272216797
+        ],
+        [
+          -0.061680737882852554,
+          -0.9958724975585938,
+          0.06658421456813812,
+          -35.531959533691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4983,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_783082723",
+      "mask_path": "../../mask/hdr_front_04983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04984.png",
+      "transform_matrix": [
+        [
+          0.4945630431175232,
+          -0.08557314425706863,
+          -0.8649188280105591,
+          121.98050689697266
+        ],
+        [
+          0.8669611811637878,
+          -0.021876251325011253,
+          0.4978952407836914,
+          3.178983688354492
+        ],
+        [
+          -0.061527643352746964,
+          -0.9960917234420776,
+          0.06336941570043564,
+          -35.53691482543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4984,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_883082628",
+      "mask_path": "../../mask/hdr_front_04984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04985.png",
+      "transform_matrix": [
+        [
+          0.5018170475959778,
+          -0.0925755575299263,
+          -0.8600054979324341,
+          122.05937957763672
+        ],
+        [
+          0.8627407550811768,
+          -0.017825210466980934,
+          0.5053319931030273,
+          3.126993417739868
+        ],
+        [
+          -0.06211117282509804,
+          -0.9955461621284485,
+          0.07092373073101044,
+          -35.537330627441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4985,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_983082056",
+      "mask_path": "../../mask/hdr_front_04985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04986.png",
+      "transform_matrix": [
+        [
+          0.5094296932220459,
+          -0.10225959122180939,
+          -0.8544146418571472,
+          122.11643981933594
+        ],
+        [
+          0.8580613136291504,
+          -0.014521285891532898,
+          0.5133419632911682,
+          3.09140944480896
+        ],
+        [
+          -0.06490132957696915,
+          -0.994651734828949,
+          0.08034741878509521,
+          -35.543636322021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4986,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_83081960",
+      "mask_path": "../../mask/hdr_front_04986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04987.png",
+      "transform_matrix": [
+        [
+          0.5176394581794739,
+          -0.10231300443410873,
+          -0.8494594693183899,
+          122.1610107421875
+        ],
+        [
+          0.8533888459205627,
+          -0.009572073817253113,
+          0.5211869478225708,
+          3.058368444442749
+        ],
+        [
+          -0.06145528703927994,
+          -0.9947062134742737,
+          0.08235791325569153,
+          -35.55134582519531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4987,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_183081865",
+      "mask_path": "../../mask/hdr_front_04987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04988.png",
+      "transform_matrix": [
+        [
+          0.524522602558136,
+          -0.10629229247570038,
+          -0.8447354435920715,
+          122.22444152832031
+        ],
+        [
+          0.8491402864456177,
+          -0.006876256782561541,
+          0.5281227827072144,
+          3.010831832885742
+        ],
+        [
+          -0.06194400042295456,
+          -0.9943111538887024,
+          0.0866502970457077,
+          -35.561405181884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4988,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_283081531",
+      "mask_path": "../../mask/hdr_front_04988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04989.png",
+      "transform_matrix": [
+        [
+          0.5261833667755127,
+          -0.12263501435518265,
+          -0.8414818644523621,
+          122.30591583251953
+        ],
+        [
+          0.847442626953125,
+          -0.006431554909795523,
+          0.5308480262756348,
+          2.961699962615967
+        ],
+        [
+          -0.07051259279251099,
+          -0.9924310445785522,
+          0.10054196417331696,
+          -35.59149932861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4989,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_383082866",
+      "mask_path": "../../mask/hdr_front_04989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04990.png",
+      "transform_matrix": [
+        [
+          0.5273546576499939,
+          -0.13702121376991272,
+          -0.838523805141449,
+          122.36409759521484
+        ],
+        [
+          0.8463795185089111,
+          -0.0017267938237637281,
+          0.532577395439148,
+          2.921907663345337
+        ],
+        [
+          -0.07442236691713333,
+          -0.990566611289978,
+          0.11506132036447525,
+          -35.62088394165039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4990,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_483081340",
+      "mask_path": "../../mask/hdr_front_04990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04991.png",
+      "transform_matrix": [
+        [
+          0.5263877511024475,
+          -0.14137689769268036,
+          -0.838408350944519,
+          122.41048431396484
+        ],
+        [
+          0.8469671010971069,
+          0.0006902400637045503,
+          0.531644880771637,
+          2.8911054134368896
+        ],
+        [
+          -0.07458361238241196,
+          -0.9899556040763855,
+          0.12010492384433746,
+          -35.64279556274414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4991,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_583082437",
+      "mask_path": "../../mask/hdr_front_04991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04992.png",
+      "transform_matrix": [
+        [
+          0.5205892324447632,
+          -0.1414821445941925,
+          -0.8420034050941467,
+          122.46977996826172
+        ],
+        [
+          0.8508921265602112,
+          0.004547385033220053,
+          0.5253209471702576,
+          2.8466808795928955
+        ],
+        [
+          -0.07049461454153061,
+          -0.9899303913116455,
+          0.12275334447622299,
+          -35.65677261352539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4992,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_683081626",
+      "mask_path": "../../mask/hdr_front_04992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04993.png",
+      "transform_matrix": [
+        [
+          0.5166751742362976,
+          -0.14627408981323242,
+          -0.8435938954353333,
+          122.53146362304688
+        ],
+        [
+          0.8538172245025635,
+          0.014855033718049526,
+          0.5203608870506287,
+          2.7965660095214844
+        ],
+        [
+          -0.06358370929956436,
+          -0.9891325235366821,
+          0.13256655633449554,
+          -35.66383743286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4993,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_783082246",
+      "mask_path": "../../mask/hdr_front_04993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04994.png",
+      "transform_matrix": [
+        [
+          0.5174421668052673,
+          -0.1510382443666458,
+          -0.842283308506012,
+          122.57626342773438
+        ],
+        [
+          0.8536903858184814,
+          0.0233926884829998,
+          0.5202551484107971,
+          2.760643720626831
+        ],
+        [
+          -0.058875154703855515,
+          -0.9882510900497437,
+          0.1410442739725113,
+          -35.67292404174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4994,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_883081197",
+      "mask_path": "../../mask/hdr_front_04994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04996.png",
+      "transform_matrix": [
+        [
+          0.5202738642692566,
+          -0.1476418823003769,
+          -0.8411402702331543,
+          122.68448638916016
+        ],
+        [
+          0.8526227474212646,
+          0.03389836475253105,
+          0.5214261412620544,
+          2.6966423988342285
+        ],
+        [
+          -0.048471059650182724,
+          -0.9884598255157471,
+          0.14351926743984222,
+          -35.689693450927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4996,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_83080768",
+      "mask_path": "../../mask/hdr_front_04996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04997.png",
+      "transform_matrix": [
+        [
+          0.5087500214576721,
+          -0.1504850834608078,
+          -0.8476600050926208,
+          122.76246643066406
+        ],
+        [
+          0.8596446514129639,
+          0.03534519672393799,
+          0.5096681714057922,
+          2.6603050231933594
+        ],
+        [
+          -0.04673675075173378,
+          -0.987980306148529,
+          0.14734555780887604,
+          -35.70009994506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4997,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_183079242",
+      "mask_path": "../../mask/hdr_front_04997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04998.png",
+      "transform_matrix": [
+        [
+          0.48940202593803406,
+          -0.15171483159065247,
+          -0.8587597608566284,
+          122.82379150390625
+        ],
+        [
+          0.8708716034889221,
+          0.033672042191028595,
+          0.49035578966140747,
+          2.646496295928955
+        ],
+        [
+          -0.04547804594039917,
+          -0.9878506064414978,
+          0.14860330522060394,
+          -35.71792984008789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4998,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_283082008",
+      "mask_path": "../../mask/hdr_front_04998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04999.png",
+      "transform_matrix": [
+        [
+          0.46455928683280945,
+          -0.15155324339866638,
+          -0.872477114200592,
+          122.8795166015625
+        ],
+        [
+          0.8844813108444214,
+          0.031200142577290535,
+          0.4655314087867737,
+          2.6432790756225586
+        ],
+        [
+          -0.043331392109394073,
+          -0.9879565834999084,
+          0.14854033291339874,
+          -35.73237991333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4999,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_383081197",
+      "mask_path": "../../mask/hdr_front_04999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05000.png",
+      "transform_matrix": [
+        [
+          0.4379611909389496,
+          -0.15538311004638672,
+          -0.8854638338088989,
+          122.942138671875
+        ],
+        [
+          0.8981821537017822,
+          0.03378290683031082,
+          0.4383235275745392,
+          2.639155864715576
+        ],
+        [
+          -0.038194525986909866,
+          -0.9872764945030212,
+          0.1543579399585724,
+          -35.749576568603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5000,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_483080863",
+      "mask_path": "../../mask/hdr_front_05000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05001.png",
+      "transform_matrix": [
+        [
+          0.42916399240493774,
+          -0.17348773777484894,
+          -0.8864086866378784,
+          123.0146713256836
+        ],
+        [
+          0.9031311869621277,
+          0.06815699487924576,
+          0.42392072081565857,
+          2.620151996612549
+        ],
+        [
+          -0.013130090199410915,
+          -0.9824747443199158,
+          0.1859327107667923,
+          -35.76578903198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5001,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_583080768",
+      "mask_path": "../../mask/hdr_front_05001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05003.png",
+      "transform_matrix": [
+        [
+          0.4420115649700165,
+          -0.19622021913528442,
+          -0.8752848505973816,
+          123.07523345947266
+        ],
+        [
+          0.8969976305961609,
+          0.09169293940067291,
+          0.4324207603931427,
+          2.59542179107666
+        ],
+        [
+          -0.004592261277139187,
+          -0.9762634038925171,
+          0.2165384143590927,
+          -35.77687072753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5003,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_783082246",
+      "mask_path": "../../mask/hdr_front_05003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05004.png",
+      "transform_matrix": [
+        [
+          0.4469817578792572,
+          -0.19067010283470154,
+          -0.8739864230155945,
+          123.13999938964844
+        ],
+        [
+          0.8945271968841553,
+          0.08943584561347961,
+          0.4379754066467285,
+          2.5567939281463623
+        ],
+        [
+          -0.005343092139810324,
+          -0.9775716066360474,
+          0.21053574979305267,
+          -35.800804138183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5004,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_883081197",
+      "mask_path": "../../mask/hdr_front_05004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05005.png",
+      "transform_matrix": [
+        [
+          0.4493400454521179,
+          -0.18619464337825775,
+          -0.8737420439720154,
+          123.19461059570312
+        ],
+        [
+          0.8932812213897705,
+          0.08058828115463257,
+          0.44221511483192444,
+          2.525101900100708
+        ],
+        [
+          -0.011924722231924534,
+          -0.9792023301124573,
+          0.2025357037782669,
+          -35.821197509765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5005,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_983082056",
+      "mask_path": "../../mask/hdr_front_05005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05006.png",
+      "transform_matrix": [
+        [
+          0.45117056369781494,
+          -0.18394796550273895,
+          -0.8732745051383972,
+          123.24393463134766
+        ],
+        [
+          0.8923085927963257,
+          0.07633495330810547,
+          0.44492512941360474,
+          2.495213508605957
+        ],
+        [
+          -0.01518169790506363,
+          -0.9799674153327942,
+          0.19857843220233917,
+          -35.844261169433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5006,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_83081007",
+      "mask_path": "../../mask/hdr_front_05006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05007.png",
+      "transform_matrix": [
+        [
+          0.4524644613265991,
+          -0.17662043869495392,
+          -0.8741174340248108,
+          123.2983169555664
+        ],
+        [
+          0.8917281031608582,
+          0.07878673076629639,
+          0.44566088914871216,
+          2.461261749267578
+        ],
+        [
+          -0.009843962267041206,
+          -0.981120765209198,
+          0.19314560294151306,
+          -35.859161376953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5007,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_183081626",
+      "mask_path": "../../mask/hdr_front_05007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05008.png",
+      "transform_matrix": [
+        [
+          0.4481433033943176,
+          -0.1696413904428482,
+          -0.8777183294296265,
+          123.37406158447266
+        ],
+        [
+          0.8939443826675415,
+          0.07892352342605591,
+          0.4411740303039551,
+          2.4095959663391113
+        ],
+        [
+          -0.005568757653236389,
+          -0.9823405146598816,
+          0.18701902031898499,
+          -35.867103576660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5008,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_283079147",
+      "mask_path": "../../mask/hdr_front_05008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05009.png",
+      "transform_matrix": [
+        [
+          0.4418005049228668,
+          -0.1659424602985382,
+          -0.8816322088241577,
+          123.43941497802734
+        ],
+        [
+          0.8971036076545715,
+          0.07715737074613571,
+          0.43503081798553467,
+          2.3681023120880127
+        ],
+        [
+          -0.0041656652465462685,
+          -0.9831123352050781,
+          0.1829557716846466,
+          -35.870567321777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5009,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_383077621",
+      "mask_path": "../../mask/hdr_front_05009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05010.png",
+      "transform_matrix": [
+        [
+          0.43742433190345764,
+          -0.15983042120933533,
+          -0.8849374651908875,
+          123.4863052368164
+        ],
+        [
+          0.8992550373077393,
+          0.07714418321847916,
+          0.4305683970451355,
+          2.3462517261505127
+        ],
+        [
+          -0.000550155236851424,
+          -0.9841254949569702,
+          0.1774730533361435,
+          -35.878257751464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5010,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_483078718",
+      "mask_path": "../../mask/hdr_front_05010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05012.png",
+      "transform_matrix": [
+        [
+          0.4218236207962036,
+          -0.1398400217294693,
+          -0.8958290815353394,
+          123.59188842773438
+        ],
+        [
+          0.9066445827484131,
+          0.07352735847234726,
+          0.415438711643219,
+          2.302764415740967
+        ],
+        [
+          0.0077729783952236176,
+          -0.9874404668807983,
+          0.15780076384544373,
+          -35.903656005859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5012,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_683080434",
+      "mask_path": "../../mask/hdr_front_05012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05013.png",
+      "transform_matrix": [
+        [
+          0.4048111140727997,
+          -0.14572101831436157,
+          -0.9027143716812134,
+          123.6725845336914
+        ],
+        [
+          0.9143979549407959,
+          0.06224566698074341,
+          0.4000023901462555,
+          2.2710089683532715
+        ],
+        [
+          -0.0020987021271139383,
+          -0.9873656630516052,
+          0.15844474732875824,
+          -35.9132194519043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5013,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_783081054",
+      "mask_path": "../../mask/hdr_front_05013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05014.png",
+      "transform_matrix": [
+        [
+          0.3904709815979004,
+          -0.1548456996679306,
+          -0.9074994921684265,
+          123.73649597167969
+        ],
+        [
+          0.9205342531204224,
+          0.05259455740451813,
+          0.3871053457260132,
+          2.2501673698425293
+        ],
+        [
+          -0.0122120575979352,
+          -0.9865376949310303,
+          0.1630774289369583,
+          -35.92573165893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5014,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_883080720",
+      "mask_path": "../../mask/hdr_front_05014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05015.png",
+      "transform_matrix": [
+        [
+          0.38332709670066833,
+          -0.15413616597652435,
+          -0.910660445690155,
+          123.78968811035156
+        ],
+        [
+          0.9235240817070007,
+          0.050309475511312485,
+          0.38022658228874207,
+          2.239102840423584
+        ],
+        [
+          -0.012791811488568783,
+          -0.9867679476737976,
+          0.1616334468126297,
+          -35.944698333740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5015,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_983081817",
+      "mask_path": "../../mask/hdr_front_05015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05016.png",
+      "transform_matrix": [
+        [
+          0.3798585534095764,
+          -0.1562459021806717,
+          -0.9117536544799805,
+          123.86727142333984
+        ],
+        [
+          0.9250041842460632,
+          0.054951056838035583,
+          0.37596216797828674,
+          2.2199301719665527
+        ],
+        [
+          -0.008640717715024948,
+          -0.986188530921936,
+          0.16540174186229706,
+          -35.96985626220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5016,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_83082437",
+      "mask_path": "../../mask/hdr_front_05016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05017.png",
+      "transform_matrix": [
+        [
+          0.3823262155056,
+          -0.16122013330459595,
+          -0.9098542332649231,
+          123.9548110961914
+        ],
+        [
+          0.9240259528160095,
+          0.06493309140205383,
+          0.37677547335624695,
+          2.1961848735809326
+        ],
+        [
+          -0.0016641538823023438,
+          -0.9847800731658936,
+          0.17379720509052277,
+          -35.994041442871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5017,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_183081388",
+      "mask_path": "../../mask/hdr_front_05017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05018.png",
+      "transform_matrix": [
+        [
+          0.38559985160827637,
+          -0.1582724153995514,
+          -0.9089899063110352,
+          124.02842712402344
+        ],
+        [
+          0.922646701335907,
+          0.07253678143024445,
+          0.3787631392478943,
+          2.180694580078125
+        ],
+        [
+          0.005987443961203098,
+          -0.9847275018692017,
+          0.17399969696998596,
+          -36.011749267578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5018,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_283081054",
+      "mask_path": "../../mask/hdr_front_05018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05019.png",
+      "transform_matrix": [
+        [
+          0.38890644907951355,
+          -0.15539290010929108,
+          -0.908077597618103,
+          124.13434600830078
+        ],
+        [
+          0.9212753176689148,
+          0.06359072029590607,
+          0.3836769163608551,
+          2.157069683074951
+        ],
+        [
+          -0.0018753607291728258,
+          -0.9858039617538452,
+          0.16789047420024872,
+          -36.03411865234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5019,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_383083820",
+      "mask_path": "../../mask/hdr_front_05019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05020.png",
+      "transform_matrix": [
+        [
+          0.39208751916885376,
+          -0.15726862847805023,
+          -0.9063851833343506,
+          124.25772094726562
+        ],
+        [
+          0.919847309589386,
+          0.05398408696055412,
+          0.3885441720485687,
+          2.1220407485961914
+        ],
+        [
+          -0.012175431475043297,
+          -0.9860792756080627,
+          0.1658296287059784,
+          -36.07014465332031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5020,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_483082056",
+      "mask_path": "../../mask/hdr_front_05020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05021.png",
+      "transform_matrix": [
+        [
+          0.39142560958862305,
+          -0.15433108806610107,
+          -0.9071758389472961,
+          124.3442153930664
+        ],
+        [
+          0.9201324582099915,
+          0.05286158621311188,
+          0.38802313804626465,
+          2.0962793827056885
+        ],
+        [
+          -0.011929283849895,
+          -0.9866040945053101,
+          0.16269643604755402,
+          -36.09450149536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5021,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_583081007",
+      "mask_path": "../../mask/hdr_front_05021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05022.png",
+      "transform_matrix": [
+        [
+          0.3891838788986206,
+          -0.14967042207717896,
+          -0.9089195728302002,
+          124.42886352539062
+        ],
+        [
+          0.9211105704307556,
+          0.05299777537584305,
+          0.3856768012046814,
+          2.067852258682251
+        ],
+        [
+          -0.009553694166243076,
+          -0.9873145818710327,
+          0.15848888456821442,
+          -36.11516571044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5022,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_683082342",
+      "mask_path": "../../mask/hdr_front_05022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05023.png",
+      "transform_matrix": [
+        [
+          0.39510592818260193,
+          -0.164456307888031,
+          -0.903795063495636,
+          124.52730560302734
+        ],
+        [
+          0.9186285138130188,
+          0.06688790023326874,
+          0.3894195854663849,
+          2.0227737426757812
+        ],
+        [
+          -0.003589554224163294,
+          -0.9841139316558838,
+          0.17750205099582672,
+          -36.12822341918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5023,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_783082246",
+      "mask_path": "../../mask/hdr_front_05023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05024.png",
+      "transform_matrix": [
+        [
+          0.40253201127052307,
+          -0.1744937151670456,
+          -0.898621141910553,
+          124.60086822509766
+        ],
+        [
+          0.9154039621353149,
+          0.0747068002820015,
+          0.39554327726364136,
+          1.9871773719787598
+        ],
+        [
+          -0.0018866980681195855,
+          -0.9818201661109924,
+          0.1898041069507599,
+          -36.132728576660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5024,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_883080005",
+      "mask_path": "../../mask/hdr_front_05024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05025.png",
+      "transform_matrix": [
+        [
+          0.4093574583530426,
+          -0.17023281753063202,
+          -0.896352231502533,
+          124.68020629882812
+        ],
+        [
+          0.9123708605766296,
+          0.07377225160598755,
+          0.4026624262332916,
+          1.9394285678863525
+        ],
+        [
+          -0.0024204496294260025,
+          -0.9826385378837585,
+          0.1855146884918213,
+          -36.133888244628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5025,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_983081102",
+      "mask_path": "../../mask/hdr_front_05025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05026.png",
+      "transform_matrix": [
+        [
+          0.41368335485458374,
+          -0.17615196108818054,
+          -0.8932170271873474,
+          124.74021911621094
+        ],
+        [
+          0.9103224873542786,
+          0.0656154453754425,
+          0.40866556763648987,
+          1.9002864360809326
+        ],
+        [
+          -0.013378400355577469,
+          -0.9821737408638,
+          0.18749913573265076,
+          -36.15154266357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5026,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_83082199",
+      "mask_path": "../../mask/hdr_front_05026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05027.png",
+      "transform_matrix": [
+        [
+          0.41427096724510193,
+          -0.18841439485549927,
+          -0.8904378414154053,
+          124.79691314697266
+        ],
+        [
+          0.9097797870635986,
+          0.05768845975399017,
+          0.41106295585632324,
+          1.8607758283615112
+        ],
+        [
+          -0.026082178577780724,
+          -0.9803938269615173,
+          0.19531425833702087,
+          -36.17582702636719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5027,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_183082818",
+      "mask_path": "../../mask/hdr_front_05027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05028.png",
+      "transform_matrix": [
+        [
+          0.4164014458656311,
+          -0.19302570819854736,
+          -0.8884541988372803,
+          124.89755249023438
+        ],
+        [
+          0.9088096618652344,
+          0.060448057949543,
+          0.41280871629714966,
+          1.8211580514907837
+        ],
+        [
+          -0.02597735822200775,
+          -0.9793299436569214,
+          0.20059430599212646,
+          -36.23929977416992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5028,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_283082246",
+      "mask_path": "../../mask/hdr_front_05028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05029.png",
+      "transform_matrix": [
+        [
+          0.41735854744911194,
+          -0.1901121735572815,
+          -0.8886333703994751,
+          125.00243377685547
+        ],
+        [
+          0.9085310101509094,
+          0.0662279725074768,
+          0.4125351309776306,
+          1.774954080581665
+        ],
+        [
+          -0.019575567916035652,
+          -0.9795260429382324,
+          0.20036360621452332,
+          -36.282569885253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5029,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_383081674",
+      "mask_path": "../../mask/hdr_front_05029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05030.png",
+      "transform_matrix": [
+        [
+          0.41794589161872864,
+          -0.19071727991104126,
+          -0.8882275223731995,
+          125.10423278808594
+        ],
+        [
+          0.9083616137504578,
+          0.07249493151903152,
+          0.41185393929481506,
+          1.707213044166565
+        ],
+        [
+          -0.014155660755932331,
+          -0.9789645075798035,
+          0.2035391926765442,
+          -36.28544998168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5030,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_483082532",
+      "mask_path": "../../mask/hdr_front_05030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05031.png",
+      "transform_matrix": [
+        [
+          0.42062100768089294,
+          -0.19204561412334442,
+          -0.8866772651672363,
+          125.1775894165039
+        ],
+        [
+          0.9071334600448608,
+          0.07430179417133331,
+          0.4142319858074188,
+          1.671682596206665
+        ],
+        [
+          -0.013669724576175213,
+          -0.9785692691802979,
+          0.20546390116214752,
+          -36.31232452392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5031,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_583080530",
+      "mask_path": "../../mask/hdr_front_05031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05032.png",
+      "transform_matrix": [
+        [
+          0.4266531467437744,
+          -0.1866104006767273,
+          -0.8849540948867798,
+          125.23551177978516
+        ],
+        [
+          0.9042844772338867,
+          0.07137534022331238,
+          0.42092183232307434,
+          1.6464158296585083
+        ],
+        [
+          -0.015384491533041,
+          -0.9798377752304077,
+          0.19920139014720917,
+          -36.323936462402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5032,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_683082342",
+      "mask_path": "../../mask/hdr_front_05032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05033.png",
+      "transform_matrix": [
+        [
+          0.43333202600479126,
+          -0.17592737078666687,
+          -0.8838964700698853,
+          125.33100128173828
+        ],
+        [
+          0.9010865688323975,
+          0.06681670993566513,
+          0.42846062779426575,
+          1.6020294427871704
+        ],
+        [
+          -0.016318900510668755,
+          -0.9821329116821289,
+          0.1874796450138092,
+          -36.334510803222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5033,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_783081769",
+      "mask_path": "../../mask/hdr_front_05033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05034.png",
+      "transform_matrix": [
+        [
+          0.4314885437488556,
+          -0.16989484429359436,
+          -0.8859759569168091,
+          125.4300537109375
+        ],
+        [
+          0.901901125907898,
+          0.0596865639090538,
+          0.42779895663261414,
+          1.563091516494751
+        ],
+        [
+          -0.01979997754096985,
+          -0.9836530089378357,
+          0.1789824217557907,
+          -36.34358596801758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5034,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_883080005",
+      "mask_path": "../../mask/hdr_front_05034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05035.png",
+      "transform_matrix": [
+        [
+          0.4262341856956482,
+          -0.1664147526025772,
+          -0.8891741037368774,
+          125.50141143798828
+        ],
+        [
+          0.9043336510658264,
+          0.05396838113665581,
+          0.42340055108070374,
+          1.5379135608673096
+        ],
+        [
+          -0.022472811862826347,
+          -0.9845778942108154,
+          0.17349766194820404,
+          -36.35090255737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5035,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_983078956",
+      "mask_path": "../../mask/hdr_front_05035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05036.png",
+      "transform_matrix": [
+        [
+          0.4250357151031494,
+          -0.15886472165584564,
+          -0.8911266922950745,
+          125.5707015991211
+        ],
+        [
+          0.9049744009971619,
+          0.053775716572999954,
+          0.42205384373664856,
+          1.5157301425933838
+        ],
+        [
+          -0.01912848651409149,
+          -0.9858347773551941,
+          0.16662511229515076,
+          -36.371978759765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5036,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_83079576",
+      "mask_path": "../../mask/hdr_front_05036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05037.png",
+      "transform_matrix": [
+        [
+          0.42627546191215515,
+          -0.1522357165813446,
+          -0.8916914463043213,
+          125.65166473388672
+        ],
+        [
+          0.9043020009994507,
+          0.046696484088897705,
+          0.4243316352367401,
+          1.4794212579727173
+        ],
+        [
+          -0.022959573194384575,
+          -0.9872404932975769,
+          0.15757262706756592,
+          -36.38212585449219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5037,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_183080911",
+      "mask_path": "../../mask/hdr_front_05037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05038.png",
+      "transform_matrix": [
+        [
+          0.42886584997177124,
+          -0.14295512437820435,
+          -0.8919853568077087,
+          125.73497009277344
+        ],
+        [
+          0.9029770493507385,
+          0.03878442943096161,
+          0.42793479561805725,
+          1.4362329244613647
+        ],
+        [
+          -0.026580331847071648,
+          -0.9889689683914185,
+          0.145718514919281,
+          -36.38261032104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5038,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_283081054",
+      "mask_path": "../../mask/hdr_front_05038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05039.png",
+      "transform_matrix": [
+        [
+          0.4349379241466522,
+          -0.12739109992980957,
+          -0.8914037942886353,
+          125.80574798583984
+        ],
+        [
+          0.9002079963684082,
+          0.038076408207416534,
+          0.43379226326942444,
+          1.4044189453125
+        ],
+        [
+          -0.02131982147693634,
+          -0.9911214709281921,
+          0.1312393695116043,
+          -36.388370513916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5039,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_383080959",
+      "mask_path": "../../mask/hdr_front_05039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05040.png",
+      "transform_matrix": [
+        [
+          0.43898531794548035,
+          -0.12255717813968658,
+          -0.8900963664054871,
+          125.87966918945312
+        ],
+        [
+          0.8982149958610535,
+          0.035168007016181946,
+          0.4381471276283264,
+          1.3705848455429077
+        ],
+        [
+          -0.02239515632390976,
+          -0.9918382167816162,
+          0.12552094459533691,
+          -36.395626068115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5040,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_483079910",
+      "mask_path": "../../mask/hdr_front_05040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05041.png",
+      "transform_matrix": [
+        [
+          0.43645215034484863,
+          -0.12218775600194931,
+          -0.8913919925689697,
+          125.95708465576172
+        ],
+        [
+          0.8993001580238342,
+          0.028715170919895172,
+          0.43638816475868225,
+          1.3401097059249878
+        ],
+        [
+          -0.02772480994462967,
+          -0.9920915365219116,
+          0.12241627275943756,
+          -36.40613555908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5041,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_583080768",
+      "mask_path": "../../mask/hdr_front_05041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05042.png",
+      "transform_matrix": [
+        [
+          0.4314899742603302,
+          -0.1145206168293953,
+          -0.8948192596435547,
+          126.02517700195312
+        ],
+        [
+          0.9016880393028259,
+          0.02413824200630188,
+          0.43171289563179016,
+          1.316287875175476
+        ],
+        [
+          -0.027840662747621536,
+          -0.9931275844573975,
+          0.11367727071046829,
+          -36.415225982666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5042,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_683080673",
+      "mask_path": "../../mask/hdr_front_05042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05043.png",
+      "transform_matrix": [
+        [
+          0.42154988646507263,
+          -0.1061214804649353,
+          -0.900574266910553,
+          126.09296417236328
+        ],
+        [
+          0.9065141677856445,
+          0.02415888011455536,
+          0.4214835464954376,
+          1.2924703359603882
+        ],
+        [
+          -0.022971589118242264,
+          -0.994059681892395,
+          0.10638479888439178,
+          -36.42675018310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5043,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_783080339",
+      "mask_path": "../../mask/hdr_front_05043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05044.png",
+      "transform_matrix": [
+        [
+          0.413939505815506,
+          -0.10319065302610397,
+          -0.9044367671012878,
+          126.17316436767578
+        ],
+        [
+          0.9100899696350098,
+          0.02535034716129303,
+          0.41363462805747986,
+          1.263039231300354
+        ],
+        [
+          -0.01975543610751629,
+          -0.9943385124206543,
+          0.10440629720687866,
+          -36.43175506591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5044,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_883079290",
+      "mask_path": "../../mask/hdr_front_05044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05045.png",
+      "transform_matrix": [
+        [
+          0.4127359986305237,
+          -0.10050686448812485,
+          -0.9052885174751282,
+          126.24457550048828
+        ],
+        [
+          0.910671591758728,
+          0.025823485106229782,
+          0.4123232364654541,
+          1.2294704914093018
+        ],
+        [
+          -0.018063610419631004,
+          -0.9946011900901794,
+          0.10218703001737595,
+          -36.42597961425781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5045,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_983081102",
+      "mask_path": "../../mask/hdr_front_05045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05046.png",
+      "transform_matrix": [
+        [
+          0.41597750782966614,
+          -0.09222695231437683,
+          -0.9046860933303833,
+          126.29936981201172
+        ],
+        [
+          0.9092321395874023,
+          0.02455288916826248,
+          0.41556480526924133,
+          1.203002691268921
+        ],
+        [
+          -0.016113612800836563,
+          -0.9954352974891663,
+          0.09406916052103043,
+          -36.43014907836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5046,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_83080291",
+      "mask_path": "../../mask/hdr_front_05046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05047.png",
+      "transform_matrix": [
+        [
+          0.4225796163082123,
+          -0.08330541849136353,
+          -0.902489185333252,
+          126.37419128417969
+        ],
+        [
+          0.9061500430107117,
+          0.019222773611545563,
+          0.42251938581466675,
+          1.1713550090789795
+        ],
+        [
+          -0.01784980297088623,
+          -0.9963387250900269,
+          0.08361034095287323,
+          -36.44108963012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5047,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_183080911",
+      "mask_path": "../../mask/hdr_front_05047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05048.png",
+      "transform_matrix": [
+        [
+          0.4242982268333435,
+          -0.08220013231039047,
+          -0.9017838835716248,
+          126.48002624511719
+        ],
+        [
+          0.9051122665405273,
+          0.008525364100933075,
+          0.4250871539115906,
+          1.1196784973144531
+        ],
+        [
+          -0.02725418470799923,
+          -0.9965794086456299,
+          0.07801765203475952,
+          -36.444114685058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5048,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_283081769",
+      "mask_path": "../../mask/hdr_front_05048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05049.png",
+      "transform_matrix": [
+        [
+          0.4226711690425873,
+          -0.07941865175962448,
+          -0.9027966260910034,
+          126.5545425415039
+        ],
+        [
+          0.9057152271270752,
+          0.0017560727428644896,
+          0.4238831102848053,
+          1.0857467651367188
+        ],
+        [
+          -0.03207884356379509,
+          -0.9968398809432983,
+          0.07267291843891144,
+          -36.44828414916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5049,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_383081674",
+      "mask_path": "../../mask/hdr_front_05049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05050.png",
+      "transform_matrix": [
+        [
+          0.42152172327041626,
+          -0.07279191166162491,
+          -0.9038919806480408,
+          126.61163330078125
+        ],
+        [
+          0.9063211679458618,
+          0.0008154734969139099,
+          0.42258885502815247,
+          1.0650341510772705
+        ],
+        [
+          -0.030023949220776558,
+          -0.9973468780517578,
+          0.06631658971309662,
+          -36.44850158691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5050,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_483081579",
+      "mask_path": "../../mask/hdr_front_05050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05051.png",
+      "transform_matrix": [
+        [
+          0.42494669556617737,
+          -0.07288526743650436,
+          -0.9022793769836426,
+          126.69451904296875
+        ],
+        [
+          0.90486079454422,
+          0.006188218481838703,
+          0.4256625771522522,
+          1.0303977727890015
+        ],
+        [
+          -0.02544102817773819,
+          -0.9973211884498596,
+          0.06858069449663162,
+          -36.450439453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5051,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_583082914",
+      "mask_path": "../../mask/hdr_front_05051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05052.png",
+      "transform_matrix": [
+        [
+          0.43209168314933777,
+          -0.07016993314027786,
+          -0.8990957140922546,
+          126.7707748413086
+        ],
+        [
+          0.9015885591506958,
+          0.01055795606225729,
+          0.43246573209762573,
+          0.9870493412017822
+        ],
+        [
+          -0.020853472873568535,
+          -0.9974792003631592,
+          0.06782642751932144,
+          -36.447933197021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5052,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_683081865",
+      "mask_path": "../../mask/hdr_front_05052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05053.png",
+      "transform_matrix": [
+        [
+          0.43709006905555725,
+          -0.062343962490558624,
+          -0.8972544074058533,
+          126.83321380615234
+        ],
+        [
+          0.8993077278137207,
+          0.014694822952151299,
+          0.4370693266391754,
+          0.9564732313156128
+        ],
+        [
+          -0.01406363770365715,
+          -0.997946560382843,
+          0.06248936802148819,
+          -36.45359802246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5053,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_783081769",
+      "mask_path": "../../mask/hdr_front_05053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05054.png",
+      "transform_matrix": [
+        [
+          0.44160187244415283,
+          -0.053884588181972504,
+          -0.895591676235199,
+          126.89437103271484
+        ],
+        [
+          0.8971959352493286,
+          0.02071065455675125,
+          0.4411468803882599,
+          0.9339602589607239
+        ],
+        [
+          -0.005222728010267019,
+          -0.9983323812484741,
+          0.057490892708301544,
+          -36.45501708984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5054,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_883082151",
+      "mask_path": "../../mask/hdr_front_05054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05055.png",
+      "transform_matrix": [
+        [
+          0.43627139925956726,
+          -0.04930909350514412,
+          -0.8984630703926086,
+          126.96879577636719
+        ],
+        [
+          0.8998094797134399,
+          0.020388741046190262,
+          0.4358062744140625,
+          0.9064244031906128
+        ],
+        [
+          -0.0031706804875284433,
+          -0.9985755085945129,
+          0.05326381325721741,
+          -36.45429992675781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5055,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_983082294",
+      "mask_path": "../../mask/hdr_front_05055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05056.png",
+      "transform_matrix": [
+        [
+          0.4190569818019867,
+          -0.05024012178182602,
+          -0.9065689444541931,
+          127.04518127441406
+        ],
+        [
+          0.9079402089118958,
+          0.016614224761724472,
+          0.4187702238559723,
+          0.8855768442153931
+        ],
+        [
+          -0.005977127235382795,
+          -0.9985989928245544,
+          0.052577339112758636,
+          -36.46168899536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5056,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_83082199",
+      "mask_path": "../../mask/hdr_front_05056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05057.png",
+      "transform_matrix": [
+        [
+          0.40247225761413574,
+          -0.048811692744493484,
+          -0.914129912853241,
+          127.10501098632812
+        ],
+        [
+          0.9154198169708252,
+          0.016279302537441254,
+          0.40217095613479614,
+          0.8764315843582153
+        ],
+        [
+          -0.004749245010316372,
+          -0.9986754059791565,
+          0.05123516544699669,
+          -36.472450256347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5057,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_183082103",
+      "mask_path": "../../mask/hdr_front_05057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05058.png",
+      "transform_matrix": [
+        [
+          0.38972893357276917,
+          -0.04406638815999031,
+          -0.9198747873306274,
+          127.16867065429688
+        ],
+        [
+          0.9209247827529907,
+          0.021870354190468788,
+          0.38912612199783325,
+          0.8669067025184631
+        ],
+        [
+          0.0029706014320254326,
+          -0.9987891912460327,
+          0.04910534247756004,
+          -36.481773376464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5058,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_283082485",
+      "mask_path": "../../mask/hdr_front_05058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05059.png",
+      "transform_matrix": [
+        [
+          0.3873468041419983,
+          -0.043479714542627335,
+          -0.9209081530570984,
+          127.23760986328125
+        ],
+        [
+          0.9218888878822327,
+          0.02815481647849083,
+          0.3864300847053528,
+          0.8506627082824707
+        ],
+        [
+          0.009126133285462856,
+          -0.9986575245857239,
+          0.05098915100097656,
+          -36.47813415527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5059,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_383081436",
+      "mask_path": "../../mask/hdr_front_05059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05060.png",
+      "transform_matrix": [
+        [
+          0.39309367537498474,
+          -0.04145398736000061,
+          -0.9185634851455688,
+          127.29712677001953
+        ],
+        [
+          0.9194114804267883,
+          0.031464144587516785,
+          0.3920365869998932,
+          0.8208572864532471
+        ],
+        [
+          0.012650334276258945,
+          -0.9986449480056763,
+          0.05048162862658501,
+          -36.46515655517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5060,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_483081579",
+      "mask_path": "../../mask/hdr_front_05060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05061.png",
+      "transform_matrix": [
+        [
+          0.4004989564418793,
+          -0.03143438696861267,
+          -0.915757954120636,
+          127.35929870605469
+        ],
+        [
+          0.9160255193710327,
+          0.038067758083343506,
+          0.39930933713912964,
+          0.7916122078895569
+        ],
+        [
+          0.02230880595743656,
+          -0.9987806677818298,
+          0.044040802866220474,
+          -36.45899200439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5061,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_583081722",
+      "mask_path": "../../mask/hdr_front_05061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05062.png",
+      "transform_matrix": [
+        [
+          0.40798044204711914,
+          -0.030581902712583542,
+          -0.9124783277511597,
+          127.43866729736328
+        ],
+        [
+          0.9127334356307983,
+          0.03738919645547867,
+          0.40684136748313904,
+          0.7619471549987793
+        ],
+        [
+          0.021674850955605507,
+          -0.9988327622413635,
+          0.04316718876361847,
+          -36.463157653808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5062,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_683082342",
+      "mask_path": "../../mask/hdr_front_05062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05063.png",
+      "transform_matrix": [
+        [
+          0.4087117612361908,
+          -0.03767542168498039,
+          -0.9118855595588684,
+          127.53363037109375
+        ],
+        [
+          0.912567138671875,
+          0.03138985112309456,
+          0.4077203571796417,
+          0.7259994745254517
+        ],
+        [
+          0.013262920081615448,
+          -0.9987968802452087,
+          0.04721074923872948,
+          -36.481529235839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5063,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_783082246",
+      "mask_path": "../../mask/hdr_front_05063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05064.png",
+      "transform_matrix": [
+        [
+          0.4055168628692627,
+          -0.03965480253100395,
+          -0.9132270216941833,
+          127.59970092773438
+        ],
+        [
+          0.9140574932098389,
+          0.025693140923976898,
+          0.40476998686790466,
+          0.7074383497238159
+        ],
+        [
+          0.007412599865347147,
+          -0.9988831281661987,
+          0.04666576907038689,
+          -36.4892692565918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5064,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_883081674",
+      "mask_path": "../../mask/hdr_front_05064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05066.png",
+      "transform_matrix": [
+        [
+          0.4091969430446625,
+          -0.04386863484978676,
+          -0.9113909006118774,
+          127.65614318847656
+        ],
+        [
+          0.9124355912208557,
+          0.024469351395964622,
+          0.4084881544113159,
+          0.681898832321167
+        ],
+        [
+          0.0043813250958919525,
+          -0.9987375736236572,
+          0.05004008486866951,
+          -36.48396301269531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5066,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_83081007",
+      "mask_path": "../../mask/hdr_front_05066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05068.png",
+      "transform_matrix": [
+        [
+          0.42321866750717163,
+          -0.04282154515385628,
+          -0.9050150513648987,
+          127.71790313720703
+        ],
+        [
+          0.9060274362564087,
+          0.019415153190493584,
+          0.42277345061302185,
+          0.6327791810035706
+        ],
+        [
+          -0.0005328048137016594,
+          -0.9988940954208374,
+          0.047014348208904266,
+          -36.475032806396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5068,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_283083200",
+      "mask_path": "../../mask/hdr_front_05068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05074.png",
+      "transform_matrix": [
+        [
+          0.4464317262172699,
+          -0.035334277898073196,
+          -0.8941197991371155,
+          127.60307312011719
+        ],
+        [
+          0.8947786092758179,
+          0.00828042346984148,
+          0.4464334547519684,
+          0.69791579246521
+        ],
+        [
+          -0.008370715193450451,
+          -0.9993412494659424,
+          0.03531299903988838,
+          -36.46867752075195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5074,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_883082866",
+      "mask_path": "../../mask/hdr_front_05074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05075.png",
+      "transform_matrix": [
+        [
+          0.45401644706726074,
+          -0.03760690242052078,
+          -0.8901993036270142,
+          127.53562927246094
+        ],
+        [
+          0.8908887505531311,
+          0.0038517292123287916,
+          0.45420536398887634,
+          0.727439284324646
+        ],
+        [
+          -0.013652445748448372,
+          -0.9992851614952087,
+          0.03525231406092644,
+          -36.45903396606445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5075,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_983082294",
+      "mask_path": "../../mask/hdr_front_05075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05078.png",
+      "transform_matrix": [
+        [
+          0.4799423813819885,
+          -0.04495345801115036,
+          -0.8761475086212158,
+          127.39417266845703
+        ],
+        [
+          0.8763949275016785,
+          -0.02078736573457718,
+          0.48114439845085144,
+          0.7683003544807434
+        ],
+        [
+          -0.0398419015109539,
+          -0.9987727999687195,
+          0.029420237988233566,
+          -36.44086837768555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5078,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_283082008",
+      "mask_path": "../../mask/hdr_front_05078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05082.png",
+      "transform_matrix": [
+        [
+          0.48435238003730774,
+          -0.04463252052664757,
+          -0.8737338781356812,
+          127.21610260009766
+        ],
+        [
+          0.8736166954040527,
+          -0.028825482353568077,
+          0.48576003313064575,
+          0.8483611345291138
+        ],
+        [
+          -0.04686649143695831,
+          -0.9985875487327576,
+          0.025030026212334633,
+          -36.44627380371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5082,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_683080911",
+      "mask_path": "../../mask/hdr_front_05082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05083.png",
+      "transform_matrix": [
+        [
+          0.4926033914089203,
+          -0.04579747095704079,
+          -0.8690481185913086,
+          127.1677474975586
+        ],
+        [
+          0.8690168261528015,
+          -0.027340324595570564,
+          0.4940265119075775,
+          0.8708555102348328
+        ],
+        [
+          -0.04638522118330002,
+          -0.9985765814781189,
+          0.026330841705203056,
+          -36.438934326171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5083,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_783081054",
+      "mask_path": "../../mask/hdr_front_05083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05085.png",
+      "transform_matrix": [
+        [
+          0.5095182061195374,
+          -0.05106987804174423,
+          -0.8589430451393127,
+          127.0928726196289
+        ],
+        [
+          0.8588157892227173,
+          -0.031496111303567886,
+          0.5113155245780945,
+          0.9014918208122253
+        ],
+        [
+          -0.05316617712378502,
+          -0.9981983304023743,
+          0.027811776846647263,
+          -36.42603302001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5085,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_983080387",
+      "mask_path": "../../mask/hdr_front_05085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05086.png",
+      "transform_matrix": [
+        [
+          0.5132097601890564,
+          -0.05571267381310463,
+          -0.8564531207084656,
+          127.03179931640625
+        ],
+        [
+          0.8564567565917969,
+          -0.03146703168749809,
+          0.5152589082717896,
+          0.9233106970787048
+        ],
+        [
+          -0.05565648153424263,
+          -0.9979508519172668,
+          0.0315663106739521,
+          -36.418251037597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5086,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323773_83084821",
+      "mask_path": "../../mask/hdr_front_05086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05094.png",
+      "transform_matrix": [
+        [
+          0.5519546866416931,
+          -0.06837941706180573,
+          -0.831065833568573,
+          126.80397033691406
+        ],
+        [
+          0.8312734365463257,
+          -0.03352992609143257,
+          0.5548515319824219,
+          1.0511131286621094
+        ],
+        [
+          -0.06580598652362823,
+          -0.9970958232879639,
+          0.03833499550819397,
+          -36.41655731201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5094,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323773_883081197",
+      "mask_path": "../../mask/hdr_front_05094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05096.png",
+      "transform_matrix": [
+        [
+          0.5542152523994446,
+          -0.0609448067843914,
+          -0.8301392197608948,
+          126.75465393066406
+        ],
+        [
+          0.8306308388710022,
+          -0.024004938080906868,
+          0.5563058257102966,
+          1.0754636526107788
+        ],
+        [
+          -0.05383138731122017,
+          -0.9978524446487427,
+          0.03731873258948326,
+          -36.41645431518555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5096,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_83080291",
+      "mask_path": "../../mask/hdr_front_05096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05099.png",
+      "transform_matrix": [
+        [
+          0.5617631673812866,
+          -0.0643979012966156,
+          -0.8247879147529602,
+          126.6878433227539
+        ],
+        [
+          0.8259481191635132,
+          -0.013272243551909924,
+          0.5635898113250732,
+          1.1150493621826172
+        ],
+        [
+          -0.04724078252911568,
+          -0.9978360533714294,
+          0.04573347419500351,
+          -36.42103576660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5099,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_383080482",
+      "mask_path": "../../mask/hdr_front_05099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05102.png",
+      "transform_matrix": [
+        [
+          0.5951633453369141,
+          -0.07550998777151108,
+          -0.8000492453575134,
+          126.61612701416016
+        ],
+        [
+          0.8013716340065002,
+          -0.018399668857455254,
+          0.5978838205337524,
+          1.1378178596496582
+        ],
+        [
+          -0.059866826981306076,
+          -0.996975302696228,
+          0.04956074804067612,
+          -36.40791702270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5102,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_683080911",
+      "mask_path": "../../mask/hdr_front_05102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05104.png",
+      "transform_matrix": [
+        [
+          0.6479102969169617,
+          -0.06783444434404373,
+          -0.7586902379989624,
+          126.5395278930664
+        ],
+        [
+          0.7600961923599243,
+          -0.007358621805906296,
+          0.6497688293457031,
+          1.1471004486083984
+        ],
+        [
+          -0.049659620970487595,
+          -0.997669517993927,
+          0.046792980283498764,
+          -36.39741134643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5104,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_883080959",
+      "mask_path": "../../mask/hdr_front_05104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05109.png",
+      "transform_matrix": [
+        [
+          0.8473995327949524,
+          -0.08663509786128998,
+          -0.5238401889801025,
+          126.43132019042969
+        ],
+        [
+          0.5253009796142578,
+          -0.006811588536947966,
+          0.8508892059326172,
+          1.1046245098114014
+        ],
+        [
+          -0.0772850438952446,
+          -0.996216893196106,
+          0.03973736613988876,
+          -36.37472915649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5109,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_383081912",
+      "mask_path": "../../mask/hdr_front_05109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05112.png",
+      "transform_matrix": [
+        [
+          0.9453762173652649,
+          -0.08305441588163376,
+          -0.3152233064174652,
+          126.33351135253906
+        ],
+        [
+          0.3150673806667328,
+          -0.015321987681090832,
+          0.9489456415176392,
+          1.0365312099456787
+        ],
+        [
+          -0.08364395797252655,
+          -0.9964272379875183,
+          0.011682692915201187,
+          -36.37031555175781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5112,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_683081626",
+      "mask_path": "../../mask/hdr_front_05112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05114.png",
+      "transform_matrix": [
+        [
+          0.9864780306816101,
+          -0.07388859242200851,
+          -0.1462920904159546,
+          126.22501373291016
+        ],
+        [
+          0.1455696076154709,
+          -0.015099696815013885,
+          0.9892327785491943,
+          1.0071830749511719
+        ],
+        [
+          -0.07530198246240616,
+          -0.9971522688865662,
+          -0.0041395872831344604,
+          -36.34667205810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5114,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_883081912",
+      "mask_path": "../../mask/hdr_front_05114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05117.png",
+      "transform_matrix": [
+        [
+          0.9860489964485168,
+          -0.07626505941152573,
+          0.14795568585395813,
+          126.10491943359375
+        ],
+        [
+          -0.14882829785346985,
+          -0.0058566005900502205,
+          0.988845705986023,
+          1.0045372247695923
+        ],
+        [
+          -0.07454785704612732,
+          -0.9970703721046448,
+          -0.017125291749835014,
+          -36.355690002441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5117,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_183081150",
+      "mask_path": "../../mask/hdr_front_05117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05119.png",
+      "transform_matrix": [
+        [
+          0.942216157913208,
+          -0.08674971014261246,
+          0.32357874512672424,
+          125.99900817871094
+        ],
+        [
+          -0.3256703317165375,
+          -0.010759458877146244,
+          0.9454221725463867,
+          1.0197641849517822
+        ],
+        [
+          -0.07853355258703232,
+          -0.9961721301078796,
+          -0.03838954493403435,
+          -36.33867645263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5119,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_383082628",
+      "mask_path": "../../mask/hdr_front_05119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05121.png",
+      "transform_matrix": [
+        [
+          0.8670767545700073,
+          -0.06801015883684158,
+          0.4935104548931122,
+          125.86963653564453
+        ],
+        [
+          -0.4951408803462982,
+          -0.008491515181958675,
+          0.8687712550163269,
+          1.0505255460739136
+        ],
+        [
+          -0.054894618690013885,
+          -0.9976485371589661,
+          -0.04103740677237511,
+          -36.34627151489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5121,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_583082437",
+      "mask_path": "../../mask/hdr_front_05121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05124.png",
+      "transform_matrix": [
+        [
+          0.6808719038963318,
+          -0.05013268440961838,
+          0.7306846976280212,
+          125.75582122802734
+        ],
+        [
+          -0.7316760420799255,
+          -0.0021357769146561623,
+          0.6816492080688477,
+          1.146381139755249
+        ],
+        [
+          -0.03261232376098633,
+          -0.9987402558326721,
+          -0.038135070353746414,
+          -36.36481475830078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5124,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_883080005",
+      "mask_path": "../../mask/hdr_front_05124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05126.png",
+      "transform_matrix": [
+        [
+          0.5372025966644287,
+          -0.0516866073012352,
+          0.8418681025505066,
+          125.70281219482422
+        ],
+        [
+          -0.84159916639328,
+          0.033297304064035416,
+          0.5390752553939819,
+          1.2410550117492676
+        ],
+        [
+          -0.05589491128921509,
+          -0.9981081485748291,
+          -0.025612009689211845,
+          -36.344993591308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5126,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_83080291",
+      "mask_path": "../../mask/hdr_front_05126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05128.png",
+      "transform_matrix": [
+        [
+          0.37462833523750305,
+          -0.05058905854821205,
+          0.9257938861846924,
+          125.64002227783203
+        ],
+        [
+          -0.9264128804206848,
+          0.02005273848772049,
+          0.3759746253490448,
+          1.3239599466323853
+        ],
+        [
+          -0.03758490830659866,
+          -0.9985182881355286,
+          -0.03935403376817703,
+          -36.35825729370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5128,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_283080339",
+      "mask_path": "../../mask/hdr_front_05128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05130.png",
+      "transform_matrix": [
+        [
+          0.17202173173427582,
+          -0.047029219567775726,
+          0.9839699864387512,
+          125.60164642333984
+        ],
+        [
+          -0.9849157929420471,
+          0.010739323683083057,
+          0.1727004051208496,
+          1.4272171258926392
+        ],
+        [
+          -0.01868913695216179,
+          -0.9988358020782471,
+          -0.044472429901361465,
+          -36.343257904052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5130,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_483081579",
+      "mask_path": "../../mask/hdr_front_05130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05133.png",
+      "transform_matrix": [
+        [
+          -0.09957700222730637,
+          -0.03718922659754753,
+          0.9943346381187439,
+          125.5902328491211
+        ],
+        [
+          -0.9948678612709045,
+          0.021755967289209366,
+          -0.09881670027971268,
+          1.5628011226654053
+        ],
+        [
+          -0.017957795411348343,
+          -0.9990714192390442,
+          -0.03916476294398308,
+          -36.322261810302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5133,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_783084630",
+      "mask_path": "../../mask/hdr_front_05133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05138.png",
+      "transform_matrix": [
+        [
+          -0.16321763396263123,
+          -0.05138774961233139,
+          0.9852508902549744,
+          125.5705795288086
+        ],
+        [
+          -0.9865261912345886,
+          -0.002864981070160866,
+          -0.1635783314704895,
+          1.6304821968078613
+        ],
+        [
+          0.011228648014366627,
+          -0.9986746907234192,
+          -0.05022774264216423,
+          -36.3189582824707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5138,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_283082485",
+      "mask_path": "../../mask/hdr_front_05138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05140.png",
+      "transform_matrix": [
+        [
+          -0.17349524796009064,
+          -0.051173530519008636,
+          0.9835042953491211,
+          125.52075958251953
+        ],
+        [
+          -0.9844053387641907,
+          -0.020475026220083237,
+          -0.17471957206726074,
+          1.6503667831420898
+        ],
+        [
+          0.029078291729092598,
+          -0.9984799027442932,
+          -0.046823177486658096,
+          -36.32755661010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5140,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_483082056",
+      "mask_path": "../../mask/hdr_front_05140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05142.png",
+      "transform_matrix": [
+        [
+          -0.17060713469982147,
+          -0.0443817600607872,
+          0.9843391180038452,
+          125.44957733154297
+        ],
+        [
+          -0.9852690100669861,
+          -0.004231431055814028,
+          -0.17095910012722015,
+          1.673843264579773
+        ],
+        [
+          0.011752629652619362,
+          -0.9990057349205017,
+          -0.043006058782339096,
+          -36.314693450927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5142,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_683082342",
+      "mask_path": "../../mask/hdr_front_05142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05145.png",
+      "transform_matrix": [
+        [
+          -0.1693473607301712,
+          -0.04195309057831764,
+          0.9846631288528442,
+          125.3027114868164
+        ],
+        [
+          -0.9851941466331482,
+          -0.019882531836628914,
+          -0.17028582096099854,
+          1.6935770511627197
+        ],
+        [
+          0.026721613481640816,
+          -0.9989217519760132,
+          -0.03796488046646118,
+          -36.32512664794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5145,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_983082056",
+      "mask_path": "../../mask/hdr_front_05145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05146.png",
+      "transform_matrix": [
+        [
+          -0.17530405521392822,
+          -0.043857257813215256,
+          0.9835370779037476,
+          125.24082946777344
+        ],
+        [
+          -0.9837490320205688,
+          -0.03158019855618477,
+          -0.1767500340938568,
+          1.7056666612625122
+        ],
+        [
+          0.0388120636343956,
+          -0.998538613319397,
+          -0.037608396261930466,
+          -36.3152961730957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5146,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_83081722",
+      "mask_path": "../../mask/hdr_front_05146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05147.png",
+      "transform_matrix": [
+        [
+          -0.18083350360393524,
+          -0.04877376928925514,
+          0.9823035597801208,
+          125.1758041381836
+        ],
+        [
+          -0.9824761152267456,
+          -0.036908116191625595,
+          -0.1826978325843811,
+          1.7034536600112915
+        ],
+        [
+          0.045165836811065674,
+          -0.9981277585029602,
+          -0.04124483838677406,
+          -36.30638122558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5147,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_183082818",
+      "mask_path": "../../mask/hdr_front_05147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05148.png",
+      "transform_matrix": [
+        [
+          -0.1791766732931137,
+          -0.04944799467921257,
+          0.9825735092163086,
+          125.1029052734375
+        ],
+        [
+          -0.982936680316925,
+          -0.03324105590581894,
+          -0.1809157431125641,
+          1.703112006187439
+        ],
+        [
+          0.041607700288295746,
+          -0.9982233643531799,
+          -0.04264822229743004,
+          -36.296207427978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5148,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_283081769",
+      "mask_path": "../../mask/hdr_front_05148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05149.png",
+      "transform_matrix": [
+        [
+          -0.17334124445915222,
+          -0.048653338104486465,
+          0.9836593866348267,
+          125.04517364501953
+        ],
+        [
+          -0.9842628836631775,
+          -0.02626807801425457,
+          -0.17474687099456787,
+          1.7044416666030884
+        ],
+        [
+          0.034340858459472656,
+          -0.9984703063964844,
+          -0.04333433136343956,
+          -36.29401397705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5149,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_383081436",
+      "mask_path": "../../mask/hdr_front_05149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05151.png",
+      "transform_matrix": [
+        [
+          -0.16974377632141113,
+          -0.0524931475520134,
+          0.9840892553329468,
+          124.93854522705078
+        ],
+        [
+          -0.9849026799201965,
+          -0.025381235405802727,
+          -0.1712380051612854,
+          1.703003168106079
+        ],
+        [
+          0.03396621719002724,
+          -0.998298704624176,
+          -0.047392334789037704,
+          -36.28622055053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5151,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_583083629",
+      "mask_path": "../../mask/hdr_front_05151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05152.png",
+      "transform_matrix": [
+        [
+          -0.17431023716926575,
+          -0.06068415939807892,
+          0.9828190207481384,
+          124.88207244873047
+        ],
+        [
+          -0.9839187860488892,
+          -0.02878040447831154,
+          -0.1762823462486267,
+          1.7053855657577515
+        ],
+        [
+          0.03898347541689873,
+          -0.9977420568466187,
+          -0.05469156801700592,
+          -36.26877212524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5152,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_683082103",
+      "mask_path": "../../mask/hdr_front_05152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05154.png",
+      "transform_matrix": [
+        [
+          -0.18879009783267975,
+          -0.08372151851654053,
+          0.9784421324729919,
+          124.79753112792969
+        ],
+        [
+          -0.9805452227592468,
+          -0.038467973470687866,
+          -0.192487433552742,
+          1.7292495965957642
+        ],
+        [
+          0.053754016757011414,
+          -0.9957464337348938,
+          -0.07483035326004028,
+          -36.251853942871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5154,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_883082151",
+      "mask_path": "../../mask/hdr_front_05154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05155.png",
+      "transform_matrix": [
+        [
+          -0.19133058190345764,
+          -0.10689936578273773,
+          0.9756870269775391,
+          124.73719024658203
+        ],
+        [
+          -0.9792004227638245,
+          -0.047594595700502396,
+          -0.19723419845104218,
+          1.7208294868469238
+        ],
+        [
+          0.06752163171768188,
+          -0.993130087852478,
+          -0.09556961059570312,
+          -36.22948455810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5155,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_983081817",
+      "mask_path": "../../mask/hdr_front_05155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05156.png",
+      "transform_matrix": [
+        [
+          -0.19167545437812805,
+          -0.12176328152418137,
+          0.9738759398460388,
+          124.6734619140625
+        ],
+        [
+          -0.9796197414398193,
+          -0.03697355464100838,
+          -0.19742873311042786,
+          1.7113451957702637
+        ],
+        [
+          0.0600472129881382,
+          -0.9918703436851501,
+          -0.11219480633735657,
+          -36.17987060546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5156,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_83082437",
+      "mask_path": "../../mask/hdr_front_05156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05158.png",
+      "transform_matrix": [
+        [
+          -0.2078549563884735,
+          -0.12879177927970886,
+          0.9696438312530518,
+          124.6069107055664
+        ],
+        [
+          -0.977380633354187,
+          -0.012207591906189919,
+          -0.2111349105834961,
+          1.734036922454834
+        ],
+        [
+          0.03902945667505264,
+          -0.991596519947052,
+          -0.12334120273590088,
+          -36.17012023925781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5158,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_283080816",
+      "mask_path": "../../mask/hdr_front_05158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05160.png",
+      "transform_matrix": [
+        [
+          -0.2584032118320465,
+          -0.13626313209533691,
+          0.956378698348999,
+          124.53731536865234
+        ],
+        [
+          -0.9652069807052612,
+          -0.004617829341441393,
+          -0.26144644618034363,
+          1.7799278497695923
+        ],
+        [
+          0.04004190117120743,
+          -0.9906619191169739,
+          -0.13032886385917664,
+          -36.16160583496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5160,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_483082056",
+      "mask_path": "../../mask/hdr_front_05160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05162.png",
+      "transform_matrix": [
+        [
+          -0.33365458250045776,
+          -0.1404300034046173,
+          0.9321770668029785,
+          124.49693298339844
+        ],
+        [
+          -0.9419882297515869,
+          0.011371332220733166,
+          -0.3354532718658447,
+          1.8352134227752686
+        ],
+        [
+          0.03650760278105736,
+          -0.9900252819061279,
+          -0.13607750833034515,
+          -36.149295806884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5162,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_683083057",
+      "mask_path": "../../mask/hdr_front_05162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05164.png",
+      "transform_matrix": [
+        [
+          -0.3820023536682129,
+          -0.13943101465702057,
+          0.9135826230049133,
+          124.42243957519531
+        ],
+        [
+          -0.9235990643501282,
+          0.023120705038309097,
+          -0.38266196846961975,
+          1.865378737449646
+        ],
+        [
+          0.03223227337002754,
+          -0.9899618625640869,
+          -0.137610524892807,
+          -36.11610412597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5164,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_883081912",
+      "mask_path": "../../mask/hdr_front_05164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05166.png",
+      "transform_matrix": [
+        [
+          -0.3828663229942322,
+          -0.1287553906440735,
+          0.9147871136665344,
+          124.33683776855469
+        ],
+        [
+          -0.9236277341842651,
+          0.03402126580476761,
+          -0.38177797198295593,
+          1.8920131921768188
+        ],
+        [
+          0.018033763393759727,
+          -0.9910926222801208,
+          -0.13194765150547028,
+          -36.12757110595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5166,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_83081483",
+      "mask_path": "../../mask/hdr_front_05166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05167.png",
+      "transform_matrix": [
+        [
+          -0.3880021572113037,
+          -0.12810368835926056,
+          0.9127123355865479,
+          124.29326629638672
+        ],
+        [
+          -0.9215601682662964,
+          0.0394599586725235,
+          -0.3862250745296478,
+          1.9171899557113647
+        ],
+        [
+          0.013461279682815075,
+          -0.9909754991531372,
+          -0.13336580991744995,
+          -36.10472869873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5167,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_183080911",
+      "mask_path": "../../mask/hdr_front_05167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05170.png",
+      "transform_matrix": [
+        [
+          -0.40919527411460876,
+          -0.1343131959438324,
+          0.9025072455406189,
+          124.16105651855469
+        ],
+        [
+          -0.9123467206954956,
+          0.04557659104466438,
+          -0.40687376260757446,
+          2.0028042793273926
+        ],
+        [
+          0.01351531408727169,
+          -0.9898902773857117,
+          -0.14118991792201996,
+          -36.06638717651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5170,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_483079910",
+      "mask_path": "../../mask/hdr_front_05170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05171.png",
+      "transform_matrix": [
+        [
+          -0.4145604074001312,
+          -0.12822440266609192,
+          0.900942862033844,
+          124.1001205444336
+        ],
+        [
+          -0.9100143313407898,
+          0.054401278495788574,
+          -0.4109920263290405,
+          2.038452625274658
+        ],
+        [
+          0.003686758456751704,
+          -0.9902519583702087,
+          -0.13923867046833038,
+          -36.06415939331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5171,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_583080291",
+      "mask_path": "../../mask/hdr_front_05171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05172.png",
+      "transform_matrix": [
+        [
+          -0.41864675283432007,
+          -0.1279078722000122,
+          0.8990965485572815,
+          124.0448226928711
+        ],
+        [
+          -0.9081490635871887,
+          0.0585629865527153,
+          -0.41453060507774353,
+          2.060323476791382
+        ],
+        [
+          0.0003679483779706061,
+          -0.9900556206703186,
+          -0.1406766176223755,
+          -36.067840576171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5172,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_683080673",
+      "mask_path": "../../mask/hdr_front_05172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05173.png",
+      "transform_matrix": [
+        [
+          -0.4233328402042389,
+          -0.12296029925346375,
+          0.8975912928581238,
+          123.97832489013672
+        ],
+        [
+          -0.9059298634529114,
+          0.04764387384057045,
+          -0.4207388460636139,
+          2.0961556434631348
+        ],
+        [
+          0.008969446644186974,
+          -0.9912673234939575,
+          -0.13156259059906006,
+          -36.05959701538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5173,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_783080577",
+      "mask_path": "../../mask/hdr_front_05173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05174.png",
+      "transform_matrix": [
+        [
+          -0.4330677092075348,
+          -0.12428664416074753,
+          0.8927514553070068,
+          123.90808868408203
+        ],
+        [
+          -0.9011784791946411,
+          0.03975098580121994,
+          -0.43162158131599426,
+          2.1374943256378174
+        ],
+        [
+          0.018157044425606728,
+          -0.9914498329162598,
+          -0.12921933829784393,
+          -36.035865783691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5174,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_883078336",
+      "mask_path": "../../mask/hdr_front_05174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05175.png",
+      "transform_matrix": [
+        [
+          -0.44018837809562683,
+          -0.1322913020849228,
+          0.8881065845489502,
+          123.8494873046875
+        ],
+        [
+          -0.89750736951828,
+          0.03537923842668533,
+          -0.4395779073238373,
+          2.166496992111206
+        ],
+        [
+          0.026731794700026512,
+          -0.9905793070793152,
+          -0.13430596888065338,
+          -36.02845764160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5175,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_983079195",
+      "mask_path": "../../mask/hdr_front_05175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05176.png",
+      "transform_matrix": [
+        [
+          -0.44378218054771423,
+          -0.15164445340633392,
+          0.8832107782363892,
+          123.78694152832031
+        ],
+        [
+          -0.8949781060218811,
+          0.02494467794895172,
+          -0.4454119801521301,
+          2.182255744934082
+        ],
+        [
+          0.0455128476023674,
+          -0.9881203174591064,
+          -0.14678849279880524,
+          -36.01396179199219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5176,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_83078384",
+      "mask_path": "../../mask/hdr_front_05176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05177.png",
+      "transform_matrix": [
+        [
+          -0.44278138875961304,
+          -0.15890248119831085,
+          0.8824367523193359,
+          123.70135498046875
+        ],
+        [
+          -0.895704984664917,
+          0.03370599448680878,
+          -0.44336947798728943,
+          2.1967387199401855
+        ],
+        [
+          0.040709108114242554,
+          -0.9867188334465027,
+          -0.15725412964820862,
+          -35.95594787597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5177,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_183079004",
+      "mask_path": "../../mask/hdr_front_05177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05178.png",
+      "transform_matrix": [
+        [
+          -0.43710798025131226,
+          -0.15275782346725464,
+          0.8863417506217957,
+          123.62347412109375
+        ],
+        [
+          -0.8991387486457825,
+          0.05005721002817154,
+          -0.4347917437553406,
+          2.226630926132202
+        ],
+        [
+          0.022050045430660248,
+          -0.9869951605796814,
+          -0.15923085808753967,
+          -35.93818283081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5178,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_283081054",
+      "mask_path": "../../mask/hdr_front_05178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05179.png",
+      "transform_matrix": [
+        [
+          -0.43278032541275024,
+          -0.14992384612560272,
+          0.888945460319519,
+          123.57040405273438
+        ],
+        [
+          -0.9014055132865906,
+          0.05773342773318291,
+          -0.4291095733642578,
+          2.254873037338257
+        ],
+        [
+          0.013011879287660122,
+          -0.9870105385780334,
+          -0.16012805700302124,
+          -35.94404220581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5179,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_383080244",
+      "mask_path": "../../mask/hdr_front_05179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05180.png",
+      "transform_matrix": [
+        [
+          -0.43581292033195496,
+          -0.1453421264886856,
+          0.8882245421409607,
+          123.51180267333984
+        ],
+        [
+          -0.8999085426330566,
+          0.053673628717660904,
+          -0.4327630400657654,
+          2.2768545150756836
+        ],
+        [
+          0.015224466100335121,
+          -0.9879245758056641,
+          -0.15418626368045807,
+          -35.93357849121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5180,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_483082532",
+      "mask_path": "../../mask/hdr_front_05180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05181.png",
+      "transform_matrix": [
+        [
+          -0.4423406422138214,
+          -0.14621001482009888,
+          0.8848487138748169,
+          123.45516204833984
+        ],
+        [
+          -0.8965752720832825,
+          0.04780050739645958,
+          -0.44030436873435974,
+          2.2981767654418945
+        ],
+        [
+          0.0220806822180748,
+          -0.9880980849266052,
+          -0.15223239362239838,
+          -35.91318130493164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5181,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_583083152",
+      "mask_path": "../../mask/hdr_front_05181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05183.png",
+      "transform_matrix": [
+        [
+          -0.45318683981895447,
+          -0.14556527137756348,
+          0.8794501423835754,
+          123.36157989501953
+        ],
+        [
+          -0.890995979309082,
+          0.043701618909835815,
+          -0.4519030451774597,
+          2.335908889770508
+        ],
+        [
+          0.0273479912430048,
+          -0.9883829951286316,
+          -0.14950305223464966,
+          -35.88996505737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5183,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_783082246",
+      "mask_path": "../../mask/hdr_front_05183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05184.png",
+      "transform_matrix": [
+        [
+          -0.4539757966995239,
+          -0.13286523520946503,
+          0.8810521364212036,
+          123.28823852539062
+        ],
+        [
+          -0.8908605575561523,
+          0.049331940710544586,
+          -0.45159032940864563,
+          2.3634626865386963
+        ],
+        [
+          0.016536641865968704,
+          -0.9899056553840637,
+          -0.1407599151134491,
+          -35.88896179199219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5184,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_883081912",
+      "mask_path": "../../mask/hdr_front_05184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05186.png",
+      "transform_matrix": [
+        [
+          -0.45622894167900085,
+          -0.12303860485553741,
+          0.8813153505325317,
+          123.20437622070312
+        ],
+        [
+          -0.8898462057113647,
+          0.0570978969335556,
+          -0.4526738226413727,
+          2.3952670097351074
+        ],
+        [
+          0.00537510821595788,
+          -0.9907580018043518,
+          -0.13553515076637268,
+          -35.88838577270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5186,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_83081960",
+      "mask_path": "../../mask/hdr_front_05186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05188.png",
+      "transform_matrix": [
+        [
+          -0.4664149880409241,
+          -0.12633106112480164,
+          0.8754984736442566,
+          123.123046875
+        ],
+        [
+          -0.884559690952301,
+          0.06286680698394775,
+          -0.46217086911201477,
+          2.4268064498901367
+        ],
+        [
+          0.003346741432324052,
+          -0.9899941086769104,
+          -0.14106936752796173,
+          -35.86331558227539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5188,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_283082246",
+      "mask_path": "../../mask/hdr_front_05188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05189.png",
+      "transform_matrix": [
+        [
+          -0.4728814959526062,
+          -0.1376657634973526,
+          0.8703052997589111,
+          123.08057403564453
+        ],
+        [
+          -0.880988597869873,
+          0.05642705038189888,
+          -0.46976062655448914,
+          2.451594352722168
+        ],
+        [
+          0.01556120254099369,
+          -0.9888701438903809,
+          -0.14796526730060577,
+          -35.844478607177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5189,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_383082151",
+      "mask_path": "../../mask/hdr_front_05189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05191.png",
+      "transform_matrix": [
+        [
+          -0.4784543216228485,
+          -0.13439476490020752,
+          0.8677669763565063,
+          122.98295593261719
+        ],
+        [
+          -0.8778185844421387,
+          0.047637131065130234,
+          -0.4766186773777008,
+          2.4776461124420166
+        ],
+        [
+          0.022717127576470375,
+          -0.9897822141647339,
+          -0.14076641201972961,
+          -35.79882049560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5191,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_583081722",
+      "mask_path": "../../mask/hdr_front_05191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05237.png",
+      "transform_matrix": [
+        [
+          -0.45999282598495483,
+          -0.22177143394947052,
+          0.8597814440727234,
+          122.80896759033203
+        ],
+        [
+          -0.8784142136573792,
+          -0.027668576687574387,
+          -0.4770984351634979,
+          2.421079158782959
+        ],
+        [
+          0.12959572672843933,
+          -0.9747060537338257,
+          -0.18207983672618866,
+          -35.71982955932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5237,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323788_183081626",
+      "mask_path": "../../mask/hdr_front_05237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05261.png",
+      "transform_matrix": [
+        [
+          -0.5600540041923523,
+          -0.1544700562953949,
+          0.8139278888702393,
+          122.78164672851562
+        ],
+        [
+          -0.8271816372871399,
+          0.04979035258293152,
+          -0.5597244501113892,
+          2.4772708415985107
+        ],
+        [
+          0.04593491181731224,
+          -0.9867420196533203,
+          -0.15566007792949677,
+          -35.745399475097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5261,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323790_583080053",
+      "mask_path": "../../mask/hdr_front_05261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05264.png",
+      "transform_matrix": [
+        [
+          -0.5607105493545532,
+          -0.1498733013868332,
+          0.8143350481987,
+          122.7194595336914
+        ],
+        [
+          -0.8263572454452515,
+          0.039143793284893036,
+          -0.5617842078208923,
+          2.518173933029175
+        ],
+        [
+          0.052320294082164764,
+          -0.9879301190376282,
+          -0.14579720795154572,
+          -35.741485595703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5264,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323790_883082389",
+      "mask_path": "../../mask/hdr_front_05264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05267.png",
+      "transform_matrix": [
+        [
+          -0.5772708654403687,
+          -0.14268699288368225,
+          0.8039893507957458,
+          122.6727066040039
+        ],
+        [
+          -0.8146852254867554,
+          0.03409111872315407,
+          -0.5789004564285278,
+          2.5740578174591064
+        ],
+        [
+          0.05519266054034233,
+          -0.9891806244850159,
+          -0.1359248012304306,
+          -35.73374557495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5267,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_183082818",
+      "mask_path": "../../mask/hdr_front_05267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05269.png",
+      "transform_matrix": [
+        [
+          -0.5829992890357971,
+          -0.12958821654319763,
+          0.8020715713500977,
+          122.6248779296875
+        ],
+        [
+          -0.8112071752548218,
+          0.03776645287871361,
+          -0.5835379958152771,
+          2.6235861778259277
+        ],
+        [
+          0.045328255742788315,
+          -0.9908484816551208,
+          -0.12714073061943054,
+          -35.71592712402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5269,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_383081912",
+      "mask_path": "../../mask/hdr_front_05269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05271.png",
+      "transform_matrix": [
+        [
+          -0.5843554735183716,
+          -0.1227106973528862,
+          0.8021663427352905,
+          122.56202697753906
+        ],
+        [
+          -0.8103916049003601,
+          0.03664904832839966,
+          -0.5847411155700684,
+          2.674593925476074
+        ],
+        [
+          0.04235537722706795,
+          -0.9917656183242798,
+          -0.120859794318676,
+          -35.72400665283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5271,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_583082199",
+      "mask_path": "../../mask/hdr_front_05271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05279.png",
+      "transform_matrix": [
+        [
+          -0.6090371012687683,
+          -0.10458686202764511,
+          0.7862158417701721,
+          122.36421966552734
+        ],
+        [
+          -0.7927054166793823,
+          0.04739417880773544,
+          -0.6077596545219421,
+          2.8952879905700684
+        ],
+        [
+          0.02630162052810192,
+          -0.9933858513832092,
+          -0.11177139729261398,
+          -35.69862747192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5279,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_383080720",
+      "mask_path": "../../mask/hdr_front_05279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05282.png",
+      "transform_matrix": [
+        [
+          -0.6187422275543213,
+          -0.13459819555282593,
+          0.7739775776863098,
+          122.22476196289062
+        ],
+        [
+          -0.783950924873352,
+          0.0421019122004509,
+          -0.619393527507782,
+          3.0036492347717285
+        ],
+        [
+          0.050783298909664154,
+          -0.9900054931640625,
+          -0.13156862556934357,
+          -35.65912628173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5282,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_683081865",
+      "mask_path": "../../mask/hdr_front_05282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05283.png",
+      "transform_matrix": [
+        [
+          -0.5983286499977112,
+          -0.14047707617282867,
+          0.7888403534889221,
+          122.14423370361328
+        ],
+        [
+          -0.7997604608535767,
+          0.04468591883778572,
+          -0.5986537337303162,
+          3.0381908416748047
+        ],
+        [
+          0.04884706810116768,
+          -0.9890750646591187,
+          -0.13908489048480988,
+          -35.61771774291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5283,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_783081293",
+      "mask_path": "../../mask/hdr_front_05283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05285.png",
+      "transform_matrix": [
+        [
+          -0.5221856832504272,
+          -0.13658499717712402,
+          0.841823399066925,
+          122.04881286621094
+        ],
+        [
+          -0.8522346019744873,
+          0.04663747176527977,
+          -0.5210769176483154,
+          3.0404446125030518
+        ],
+        [
+          0.031910769641399384,
+          -0.9895299673080444,
+          -0.14075587689876556,
+          -35.619361877441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5285,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_983082771",
+      "mask_path": "../../mask/hdr_front_05285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05286.png",
+      "transform_matrix": [
+        [
+          -0.47979092597961426,
+          -0.13291946053504944,
+          0.8672560453414917,
+          121.98047637939453
+        ],
+        [
+          -0.8768187165260315,
+          0.03719807043671608,
+          -0.4793801009654999,
+          3.057905912399292
+        ],
+        [
+          0.03145868331193924,
+          -0.9904285669326782,
+          -0.13439354300498962,
+          -35.59172439575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5286,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_83081960",
+      "mask_path": "../../mask/hdr_front_05286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05287.png",
+      "transform_matrix": [
+        [
+          -0.43954232335090637,
+          -0.13521568477153778,
+          0.8879861235618591,
+          121.904052734375
+        ],
+        [
+          -0.8975830674171448,
+          0.028842998668551445,
+          -0.4399007558822632,
+          3.0792665481567383
+        ],
+        [
+          0.03386930003762245,
+          -0.9903963804244995,
+          -0.13404501974582672,
+          -35.56251907348633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5287,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_183081626",
+      "mask_path": "../../mask/hdr_front_05287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05288.png",
+      "transform_matrix": [
+        [
+          -0.4005371928215027,
+          -0.14285840094089508,
+          0.9050753712654114,
+          121.823486328125
+        ],
+        [
+          -0.9154554009437561,
+          0.020479634404182434,
+          -0.40189826488494873,
+          3.0997607707977295
+        ],
+        [
+          0.03887892886996269,
+          -0.9895312786102295,
+          -0.1389833390712738,
+          -35.547691345214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5288,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_283082485",
+      "mask_path": "../../mask/hdr_front_05288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05289.png",
+      "transform_matrix": [
+        [
+          -0.3644872009754181,
+          -0.14970725774765015,
+          0.9190956950187683,
+          121.75767517089844
+        ],
+        [
+          -0.9299983382225037,
+          0.008221111260354519,
+          -0.3674717843532562,
+          3.1033596992492676
+        ],
+        [
+          0.04745720699429512,
+          -0.9886961579322815,
+          -0.1422239989042282,
+          -35.5418701171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5289,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_383083343",
+      "mask_path": "../../mask/hdr_front_05289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05290.png",
+      "transform_matrix": [
+        [
+          -0.3486919701099396,
+          -0.150615856051445,
+          0.9250560402870178,
+          121.68061065673828
+        ],
+        [
+          -0.9361251592636108,
+          0.00789634045213461,
+          -0.35157862305641174,
+          3.1181387901306152
+        ],
+        [
+          0.04564877226948738,
+          -0.9885609149932861,
+          -0.14374865591526031,
+          -35.517059326171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5290,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_483082294",
+      "mask_path": "../../mask/hdr_front_05290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05309.png",
+      "transform_matrix": [
+        [
+          -0.4353752136230469,
+          -0.07120310515165329,
+          0.8974288702011108,
+          121.1485824584961
+        ],
+        [
+          -0.9002478122711182,
+          0.03279196470975876,
+          -0.4341411292552948,
+          3.389451742172241
+        ],
+        [
+          0.0014837324852123857,
+          -0.9969227313995361,
+          -0.07837724685668945,
+          -35.44759750366211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5309,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_383081436",
+      "mask_path": "../../mask/hdr_front_05309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05311.png",
+      "transform_matrix": [
+        [
+          -0.45477211475372314,
+          -0.06357169896364212,
+          0.8883360028266907,
+          121.06011962890625
+        ],
+        [
+          -0.8905314803123474,
+          0.019402552396059036,
+          -0.45450758934020996,
+          3.4278762340545654
+        ],
+        [
+          0.011657834984362125,
+          -0.997788667678833,
+          -0.06543634086847305,
+          -35.41682434082031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5311,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_583081483",
+      "mask_path": "../../mask/hdr_front_05311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05313.png",
+      "transform_matrix": [
+        [
+          -0.48062148690223694,
+          -0.06343746185302734,
+          0.8746305704116821,
+          120.95207977294922
+        ],
+        [
+          -0.8767970204353333,
+          0.01751677505671978,
+          -0.48054149746894836,
+          3.494171380996704
+        ],
+        [
+          0.015163621865212917,
+          -0.9978321194648743,
+          -0.06404072046279907,
+          -35.417171478271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5313,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_783081531",
+      "mask_path": "../../mask/hdr_front_05313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05314.png",
+      "transform_matrix": [
+        [
+          -0.4835215210914612,
+          -0.05555388331413269,
+          0.8735678791999817,
+          120.88072204589844
+        ],
+        [
+          -0.8753020167350769,
+          0.022352982312440872,
+          -0.483059823513031,
+          3.520221710205078
+        ],
+        [
+          0.00730900326743722,
+          -0.9982054233551025,
+          -0.059434570372104645,
+          -35.418907165527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5314,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_883081436",
+      "mask_path": "../../mask/hdr_front_05314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05316.png",
+      "transform_matrix": [
+        [
+          -0.48872312903404236,
+          -0.0447835698723793,
+          0.8712888360023499,
+          120.79338836669922
+        ],
+        [
+          -0.8724384307861328,
+          0.026076095178723335,
+          -0.48802778124809265,
+          3.5676980018615723
+        ],
+        [
+          -0.0008641835302114487,
+          -0.9986563324928284,
+          -0.05181490629911423,
+          -35.43334197998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5316,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_83081960",
+      "mask_path": "../../mask/hdr_front_05316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05318.png",
+      "transform_matrix": [
+        [
+          -0.5053539276123047,
+          -0.03108489327132702,
+          0.8623520731925964,
+          120.7203598022461
+        ],
+        [
+          -0.8629035353660583,
+          0.02267082780599594,
+          -0.5048599243164062,
+          3.6149773597717285
+        ],
+        [
+          -0.0038567152805626392,
+          -0.9992596507072449,
+          -0.03828005865216255,
+          -35.42831802368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5318,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_283082723",
+      "mask_path": "../../mask/hdr_front_05318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05320.png",
+      "transform_matrix": [
+        [
+          -0.5305017232894897,
+          -0.03562352433800697,
+          0.846934974193573,
+          120.6555404663086
+        ],
+        [
+          -0.8476765751838684,
+          0.018163761124014854,
+          -0.5302022099494934,
+          3.6530323028564453
+        ],
+        [
+          0.0035041479859501123,
+          -0.9992002248764038,
+          -0.039833132177591324,
+          -35.42227554321289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5320,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_483082294",
+      "mask_path": "../../mask/hdr_front_05320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05321.png",
+      "transform_matrix": [
+        [
+          -0.53337562084198,
+          -0.028557194396853447,
+          0.8453962802886963,
+          120.59546661376953
+        ],
+        [
+          -0.8458765745162964,
+          0.020113520324230194,
+          -0.5329992175102234,
+          3.683934450149536
+        ],
+        [
+          -0.0017829317366704345,
+          -0.9993898272514343,
+          -0.03488392010331154,
+          -35.41288757324219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5321,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_583082199",
+      "mask_path": "../../mask/hdr_front_05321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05324.png",
+      "transform_matrix": [
+        [
+          -0.5211946368217468,
+          -0.013368341140449047,
+          0.8533331155776978,
+          120.45996856689453
+        ],
+        [
+          -0.85337233543396,
+          0.020550135523080826,
+          -0.5208966732025146,
+          3.7406625747680664
+        ],
+        [
+          -0.01057258527725935,
+          -0.9996994733810425,
+          -0.022118790075182915,
+          -35.42991638183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5324,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_883081674",
+      "mask_path": "../../mask/hdr_front_05324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05325.png",
+      "transform_matrix": [
+        [
+          -0.5238080620765686,
+          -0.009619240649044514,
+          0.8517819046974182,
+          120.40152740478516
+        ],
+        [
+          -0.8517820835113525,
+          0.01720326952636242,
+          -0.5236138701438904,
+          3.7748594284057617
+        ],
+        [
+          -0.009616666473448277,
+          -0.999805748462677,
+          -0.017204709351062775,
+          -35.4238166809082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5325,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_983081340",
+      "mask_path": "../../mask/hdr_front_05325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05328.png",
+      "transform_matrix": [
+        [
+          -0.5498639941215515,
+          -0.021476205438375473,
+          0.8349781036376953,
+          120.25858306884766
+        ],
+        [
+          -0.8352542519569397,
+          0.014404639601707458,
+          -0.5496753454208374,
+          3.8796157836914062
+        ],
+        [
+          -0.0002226190408691764,
+          -0.9996656179428101,
+          -0.0258586797863245,
+          -35.41361999511719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5328,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_283082485",
+      "mask_path": "../../mask/hdr_front_05328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05329.png",
+      "transform_matrix": [
+        [
+          -0.5503169298171997,
+          -0.018311765044927597,
+          0.834755003452301,
+          120.17460632324219
+        ],
+        [
+          -0.8349160552024841,
+          0.02183135785162449,
+          -0.549944281578064,
+          3.9285998344421387
+        ],
+        [
+          -0.008153384551405907,
+          -0.99959397315979,
+          -0.027302952483296394,
+          -35.40749740600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5329,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_383081197",
+      "mask_path": "../../mask/hdr_front_05329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05330.png",
+      "transform_matrix": [
+        [
+          -0.548048734664917,
+          -0.016548840329051018,
+          0.8362827897071838,
+          120.1185531616211
+        ],
+        [
+          -0.8363174796104431,
+          0.028401533141732216,
+          -0.5475093722343445,
+          3.9568023681640625
+        ],
+        [
+          -0.014691067859530449,
+          -0.9994596242904663,
+          -0.029405502602458,
+          -35.40989685058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5330,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_483081579",
+      "mask_path": "../../mask/hdr_front_05330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05331.png",
+      "transform_matrix": [
+        [
+          -0.5470424294471741,
+          -0.0172928124666214,
+          0.836926281452179,
+          120.06211853027344
+        ],
+        [
+          -0.8369920253753662,
+          0.027722742408514023,
+          -0.5465124845504761,
+          3.9841372966766357
+        ],
+        [
+          -0.013751154765486717,
+          -0.9994661211967468,
+          -0.029639458283782005,
+          -35.41746520996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5331,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_583081007",
+      "mask_path": "../../mask/hdr_front_05331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05332.png",
+      "transform_matrix": [
+        [
+          -0.5514501333236694,
+          -0.010990310460329056,
+          0.8341355323791504,
+          119.99232482910156
+        ],
+        [
+          -0.8340634703636169,
+          0.02586512640118599,
+          -0.551061749458313,
+          4.024562358856201
+        ],
+        [
+          -0.015518678352236748,
+          -0.9996050596237183,
+          -0.02342994324862957,
+          -35.414520263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5332,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_683082103",
+      "mask_path": "../../mask/hdr_front_05332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05333.png",
+      "transform_matrix": [
+        [
+          -0.5623881816864014,
+          -0.008202824741601944,
+          0.8268327116966248,
+          119.93070220947266
+        ],
+        [
+          -0.826755940914154,
+          0.022430134937167168,
+          -0.5621134638786316,
+          4.069381237030029
+        ],
+        [
+          -0.013935049064457417,
+          -0.999714732170105,
+          -0.01939617469906807,
+          -35.401817321777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5333,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_783080339",
+      "mask_path": "../../mask/hdr_front_05333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05334.png",
+      "transform_matrix": [
+        [
+          -0.5767493844032288,
+          -0.012412036769092083,
+          0.8168268799781799,
+          119.88005828857422
+        ],
+        [
+          -0.816851019859314,
+          0.0218617245554924,
+          -0.576434314250946,
+          4.105517864227295
+        ],
+        [
+          -0.010702518746256828,
+          -0.9996840357780457,
+          -0.022747520357370377,
+          -35.40176010131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5334,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_883081197",
+      "mask_path": "../../mask/hdr_front_05334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05335.png",
+      "transform_matrix": [
+        [
+          -0.5881621837615967,
+          -0.01904725283384323,
+          0.8085187077522278,
+          119.79303741455078
+        ],
+        [
+          -0.8086937665939331,
+          0.0248746108263731,
+          -0.5877035856246948,
+          4.157171726226807
+        ],
+        [
+          -0.008917446248233318,
+          -0.9995090961456299,
+          -0.03003370203077793,
+          -35.4028205871582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5335,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_983082532",
+      "mask_path": "../../mask/hdr_front_05335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05336.png",
+      "transform_matrix": [
+        [
+          -0.5890842080116272,
+          -0.017877183854579926,
+          0.8078739643096924,
+          119.69779205322266
+        ],
+        [
+          -0.807949423789978,
+          0.03041880391538143,
+          -0.5884661674499512,
+          4.207409381866455
+        ],
+        [
+          -0.014054438099265099,
+          -0.9993773698806763,
+          -0.03236309438943863,
+          -35.395484924316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5336,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_83081960",
+      "mask_path": "../../mask/hdr_front_05336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05337.png",
+      "transform_matrix": [
+        [
+          -0.5845857858657837,
+          -0.01517149992287159,
+          0.811190128326416,
+          119.6312255859375
+        ],
+        [
+          -0.8111240267753601,
+          0.03356220945715904,
+          -0.5839105248451233,
+          4.2393293380737305
+        ],
+        [
+          -0.018366534262895584,
+          -0.9993215203285217,
+          -0.03192595764994621,
+          -35.39213943481445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5337,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_183080911",
+      "mask_path": "../../mask/hdr_front_05337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05338.png",
+      "transform_matrix": [
+        [
+          -0.5820579528808594,
+          -0.01988440379500389,
+          0.8129041790962219,
+          119.56580352783203
+        ],
+        [
+          -0.8130664229393005,
+          0.02833450958132744,
+          -0.5814809799194336,
+          4.278846740722656
+        ],
+        [
+          -0.011470838449895382,
+          -0.9994007349014282,
+          -0.03265966847538948,
+          -35.39464569091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5338,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_283080816",
+      "mask_path": "../../mask/hdr_front_05338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05339.png",
+      "transform_matrix": [
+        [
+          -0.5865620374679565,
+          -0.015880273655056953,
+          0.809748649597168,
+          119.48531341552734
+        ],
+        [
+          -0.8098801970481873,
+          0.01922171749174595,
+          -0.586280345916748,
+          4.331341743469238
+        ],
+        [
+          -0.006254467647522688,
+          -0.9996892213821411,
+          -0.024135848507285118,
+          -35.3968620300293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5339,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_383079767",
+      "mask_path": "../../mask/hdr_front_05339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05340.png",
+      "transform_matrix": [
+        [
+          -0.5936976671218872,
+          -0.011999247595667839,
+          0.8045987486839294,
+          119.4198226928711
+        ],
+        [
+          -0.8046780228614807,
+          0.013878978788852692,
+          -0.5935491919517517,
+          4.379740238189697
+        ],
+        [
+          -0.004044863861054182,
+          -0.9998317360877991,
+          -0.017895448952913284,
+          -35.37666702270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5340,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_483082532",
+      "mask_path": "../../mask/hdr_front_05340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05341.png",
+      "transform_matrix": [
+        [
+          -0.6006025075912476,
+          -0.018023427575826645,
+          0.799344539642334,
+          119.37259674072266
+        ],
+        [
+          -0.799542248249054,
+          0.009844924323260784,
+          -0.6005290746688843,
+          4.414332389831543
+        ],
+        [
+          0.0029541058465838432,
+          -0.9997891783714294,
+          -0.0203233789652586,
+          -35.366085052490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5341,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_583081960",
+      "mask_path": "../../mask/hdr_front_05341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05342.png",
+      "transform_matrix": [
+        [
+          -0.6073341965675354,
+          -0.024742770940065384,
+          0.7940611243247986,
+          119.2947769165039
+        ],
+        [
+          -0.7944139838218689,
+          0.009889821521937847,
+          -0.6072960495948792,
+          4.467625141143799
+        ],
+        [
+          0.007173065096139908,
+          -0.9996449947357178,
+          -0.025662433356046677,
+          -35.370933532714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5342,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_683081388",
+      "mask_path": "../../mask/hdr_front_05342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05343.png",
+      "transform_matrix": [
+        [
+          -0.6086065769195557,
+          -0.022123003378510475,
+          0.7931636571884155,
+          119.20795440673828
+        ],
+        [
+          -0.7934709787368774,
+          0.01525105256587267,
+          -0.6084170937538147,
+          4.524910926818848
+        ],
+        [
+          0.0013634305214509368,
+          -0.9996389746665955,
+          -0.0268358513712883,
+          -35.3692626953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5343,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_783081293",
+      "mask_path": "../../mask/hdr_front_05343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05344.png",
+      "transform_matrix": [
+        [
+          -0.6067577600479126,
+          -0.017596852034330368,
+          0.7946920394897461,
+          119.14530944824219
+        ],
+        [
+          -0.7948777675628662,
+          0.018206600099802017,
+          -0.6064963936805725,
+          4.563002586364746
+        ],
+        [
+          -0.003796214237809181,
+          -0.9996793270111084,
+          -0.0250343419611454,
+          -35.36804962158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5344,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_883082628",
+      "mask_path": "../../mask/hdr_front_05344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05345.png",
+      "transform_matrix": [
+        [
+          -0.6063867807388306,
+          -0.018301256000995636,
+          0.794959306716919,
+          119.08296966552734
+        ],
+        [
+          -0.7951694130897522,
+          0.015056922100484371,
+          -0.6062003374099731,
+          4.605983257293701
+        ],
+        [
+          -0.0008754117297939956,
+          -0.9997191429138184,
+          -0.023682916536927223,
+          -35.37491989135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5345,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_983082056",
+      "mask_path": "../../mask/hdr_front_05345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05346.png",
+      "transform_matrix": [
+        [
+          -0.6105932593345642,
+          -0.017755506560206413,
+          0.7917453646659851,
+          119.01123809814453
+        ],
+        [
+          -0.7919436693191528,
+          0.012278039008378983,
+          -0.610470712184906,
+          4.657165050506592
+        ],
+        [
+          0.0011181376175954938,
+          -0.999767005443573,
+          -0.02155824936926365,
+          -35.37097930908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5346,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_83081960",
+      "mask_path": "../../mask/hdr_front_05346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05347.png",
+      "transform_matrix": [
+        [
+          -0.6177147030830383,
+          -0.020574625581502914,
+          0.7861331105232239,
+          118.94172668457031
+        ],
+        [
+          -0.7863810062408447,
+          0.008800570853054523,
+          -0.6176791191101074,
+          4.711049556732178
+        ],
+        [
+          0.005790096241980791,
+          -0.9997496008872986,
+          -0.021615734323859215,
+          -35.35795593261719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5347,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_183082580",
+      "mask_path": "../../mask/hdr_front_05347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05348.png",
+      "transform_matrix": [
+        [
+          -0.6251329779624939,
+          -0.02955317683517933,
+          0.7799585461616516,
+          118.88228607177734
+        ],
+        [
+          -0.7803794741630554,
+          0.004820459056645632,
+          -0.625287652015686,
+          4.760868072509766
+        ],
+        [
+          0.014719477854669094,
+          -0.9995515942573547,
+          -0.026076121255755424,
+          -35.35030746459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5348,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_283082962",
+      "mask_path": "../../mask/hdr_front_05348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05349.png",
+      "transform_matrix": [
+        [
+          -0.6296504139900208,
+          -0.0328386053442955,
+          0.7761842608451843,
+          118.80636596679688
+        ],
+        [
+          -0.7766586542129517,
+          0.002830836223438382,
+          -0.6299152970314026,
+          4.81441068649292
+        ],
+        [
+          0.018488291651010513,
+          -0.9994566440582275,
+          -0.027286823838949203,
+          -35.34600067138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5349,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_383082389",
+      "mask_path": "../../mask/hdr_front_05349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05350.png",
+      "transform_matrix": [
+        [
+          -0.6302747130393982,
+          -0.028164593502879143,
+          0.7758610844612122,
+          118.72528076171875
+        ],
+        [
+          -0.7762426137924194,
+          0.004601736553013325,
+          -0.63041752576828,
+          4.868540287017822
+        ],
+        [
+          0.014185145497322083,
+          -0.9995927214622498,
+          -0.024762915447354317,
+          -35.34814453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5350,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_483082294",
+      "mask_path": "../../mask/hdr_front_05350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05351.png",
+      "transform_matrix": [
+        [
+          -0.6300285458564758,
+          -0.026112886145710945,
+          0.7761328816413879,
+          118.66657257080078
+        ],
+        [
+          -0.7764887809753418,
+          0.006547948811203241,
+          -0.6300970911979675,
+          4.9135661125183105
+        ],
+        [
+          0.011371576227247715,
+          -0.9996376037597656,
+          -0.02440175600349903,
+          -35.3517951965332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5351,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_583082199",
+      "mask_path": "../../mask/hdr_front_05351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05352.png",
+      "transform_matrix": [
+        [
+          -0.632487416267395,
+          -0.02656378410756588,
+          0.7741150259971619,
+          118.60697174072266
+        ],
+        [
+          -0.7743849158287048,
+          -0.00020153878722339869,
+          -0.6327148079872131,
+          4.9603071212768555
+        ],
+        [
+          0.016963312402367592,
+          -0.9996471405029297,
+          -0.02044312097132206,
+          -35.35447311401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5352,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_683083057",
+      "mask_path": "../../mask/hdr_front_05352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05353.png",
+      "transform_matrix": [
+        [
+          -0.6358902454376221,
+          -0.024252677336335182,
+          0.7713983654975891,
+          118.53988647460938
+        ],
+        [
+          -0.7715646028518677,
+          -0.003612567437812686,
+          -0.636140763759613,
+          5.019876956939697
+        ],
+        [
+          0.018214844167232513,
+          -0.9996993541717529,
+          -0.0164153054356575,
+          -35.34836196899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5353,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_783083200",
+      "mask_path": "../../mask/hdr_front_05353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05354.png",
+      "transform_matrix": [
+        [
+          -0.6308895349502563,
+          -0.024413662031292915,
+          0.7754884362220764,
+          118.4860610961914
+        ],
+        [
+          -0.7756550312042236,
+          -0.003827372333034873,
+          -0.6311454772949219,
+          5.068845272064209
+        ],
+        [
+          0.018376655876636505,
+          -0.9996947050094604,
+          -0.01652192883193493,
+          -35.34294891357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5354,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_883085489",
+      "mask_path": "../../mask/hdr_front_05354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05355.png",
+      "transform_matrix": [
+        [
+          -0.6211411356925964,
+          -0.030819840729236603,
+          0.7830923795700073,
+          118.43384552001953
+        ],
+        [
+          -0.7833347916603088,
+          -0.006029288750141859,
+          -0.6215707063674927,
+          5.103919506072998
+        ],
+        [
+          0.023878199979662895,
+          -0.9995068311691284,
+          -0.020397217944264412,
+          -35.33717346191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5355,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_983081340",
+      "mask_path": "../../mask/hdr_front_05355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05356.png",
+      "transform_matrix": [
+        [
+          -0.6045981049537659,
+          -0.03026251494884491,
+          0.7959555387496948,
+          118.36814880371094
+        ],
+        [
+          -0.7960851192474365,
+          -0.010460416786372662,
+          -0.6050942540168762,
+          5.147521495819092
+        ],
+        [
+          0.02663770131766796,
+          -0.9994872808456421,
+          -0.01776718907058239,
+          -35.339176177978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5356,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_83083152",
+      "mask_path": "../../mask/hdr_front_05356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04954.png",
+      "transform_matrix": [
+        [
+          0.7009814381599426,
+          -0.044851262122392654,
+          0.7117677927017212,
+          118.6323471069336
+        ],
+        [
+          -0.7130699157714844,
+          -0.026579752564430237,
+          0.7005888223648071,
+          4.760398864746094
+        ],
+        [
+          -0.012503677047789097,
+          -0.9986400604248047,
+          -0.05061398446559906,
+          -35.35294723510742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4954,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_783081769",
+      "mask_path": "../../mask/hdr_left_04954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04955.png",
+      "transform_matrix": [
+        [
+          0.7010014057159424,
+          -0.041548483073711395,
+          0.7119485139846802,
+          118.68144989013672
+        ],
+        [
+          -0.7130781412124634,
+          -0.025720488280057907,
+          0.7006126642227173,
+          4.730172634124756
+        ],
+        [
+          -0.010797721333801746,
+          -0.9988054037094116,
+          -0.04765740782022476,
+          -35.36189651489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4955,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_883084058",
+      "mask_path": "../../mask/hdr_left_04955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04956.png",
+      "transform_matrix": [
+        [
+          0.6951644420623779,
+          -0.04050876572728157,
+          0.7177084684371948,
+          118.74929809570312
+        ],
+        [
+          -0.7186968326568604,
+          -0.018508080393075943,
+          0.6950770616531372,
+          4.680135726928711
+        ],
+        [
+          -0.01487330999225378,
+          -0.9990078210830688,
+          -0.041979677975177765,
+          -35.361488342285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4956,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_983081817",
+      "mask_path": "../../mask/hdr_left_04956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04957.png",
+      "transform_matrix": [
+        [
+          0.6873431205749512,
+          -0.039414774626493454,
+          0.7252625823020935,
+          118.80972290039062
+        ],
+        [
+          -0.726111888885498,
+          -0.012660432606935501,
+          0.6874600052833557,
+          4.631323337554932
+        ],
+        [
+          -0.0179139431566,
+          -0.9991427659988403,
+          -0.03732159361243248,
+          -35.35556411743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4957,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_83083629",
+      "mask_path": "../../mask/hdr_left_04957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04959.png",
+      "transform_matrix": [
+        [
+          0.6880762577056885,
+          -0.028157392516732216,
+          0.725091814994812,
+          118.8994369506836
+        ],
+        [
+          -0.7254306077957153,
+          -0.0027870540507137775,
+          0.6882895231246948,
+          4.573672294616699
+        ],
+        [
+          -0.017359569668769836,
+          -0.9995996356010437,
+          -0.02234393171966076,
+          -35.35938262939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4959,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_283081769",
+      "mask_path": "../../mask/hdr_left_04959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04960.png",
+      "transform_matrix": [
+        [
+          0.6969916820526123,
+          -0.033007994294166565,
+          0.7163190841674805,
+          118.97111511230469
+        ],
+        [
+          -0.7167249321937561,
+          -0.000671177520416677,
+          0.6973555088043213,
+          4.5316596031188965
+        ],
+        [
+          -0.022537527605891228,
+          -0.9994548559188843,
+          -0.024125458672642708,
+          -35.35322189331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4960,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_383081197",
+      "mask_path": "../../mask/hdr_left_04960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04961.png",
+      "transform_matrix": [
+        [
+          0.7110396027565002,
+          -0.04070807248353958,
+          0.701972484588623,
+          119.02674102783203
+        ],
+        [
+          -0.7026459574699402,
+          -0.0032716216519474983,
+          0.7115321755409241,
+          4.50285530090332
+        ],
+        [
+          -0.02666851133108139,
+          -0.9991657733917236,
+          -0.03092961385846138,
+          -35.35432815551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4961,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_483083486",
+      "mask_path": "../../mask/hdr_left_04961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04963.png",
+      "transform_matrix": [
+        [
+          0.7493671178817749,
+          -0.04315176233649254,
+          0.660747230052948,
+          119.1218490600586
+        ],
+        [
+          -0.6610219478607178,
+          0.009590704925358295,
+          0.7503052353858948,
+          4.469565391540527
+        ],
+        [
+          -0.03871401771903038,
+          -0.9990224838256836,
+          -0.021337300539016724,
+          -35.36538314819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4963,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_683082342",
+      "mask_path": "../../mask/hdr_left_04963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04964.png",
+      "transform_matrix": [
+        [
+          0.7638012766838074,
+          -0.043589457869529724,
+          0.6439778804779053,
+          119.1838607788086
+        ],
+        [
+          -0.6439106464385986,
+          0.01743805967271328,
+          0.7649019956588745,
+          4.440388202667236
+        ],
+        [
+          -0.04457138478755951,
+          -0.9988973736763,
+          -0.014748498797416687,
+          -35.364070892333984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4964,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_783081531",
+      "mask_path": "../../mask/hdr_left_04964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04965.png",
+      "transform_matrix": [
+        [
+          0.7718555927276611,
+          -0.03969961777329445,
+          0.6345571875572205,
+          119.23328399658203
+        ],
+        [
+          -0.6342085599899292,
+          0.02244926430284977,
+          0.7728359699249268,
+          4.415329933166504
+        ],
+        [
+          -0.044926632195711136,
+          -0.998959481716156,
+          -0.007850243709981441,
+          -35.36253356933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4965,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_883081674",
+      "mask_path": "../../mask/hdr_left_04965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04967.png",
+      "transform_matrix": [
+        [
+          0.7747021913528442,
+          -0.022083312273025513,
+          0.6319404244422913,
+          119.33032989501953
+        ],
+        [
+          -0.6309028267860413,
+          0.04002324119210243,
+          0.7748289108276367,
+          4.3742241859436035
+        ],
+        [
+          -0.04240309074521065,
+          -0.998954713344574,
+          0.017073674127459526,
+          -35.366424560546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4967,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_83081960",
+      "mask_path": "../../mask/hdr_left_04967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04968.png",
+      "transform_matrix": [
+        [
+          0.7747374176979065,
+          -0.023252103477716446,
+          0.631855309009552,
+          119.39298248291016
+        ],
+        [
+          -0.6309013366699219,
+          0.03760001063346863,
+          0.7749513983726501,
+          4.346855163574219
+        ],
+        [
+          -0.04177701100707054,
+          -0.999022364616394,
+          0.014460353180766106,
+          -35.369964599609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4968,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_183083295",
+      "mask_path": "../../mask/hdr_left_04968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04970.png",
+      "transform_matrix": [
+        [
+          0.7777920365333557,
+          -0.025021430104970932,
+          0.6280235052108765,
+          119.46516418457031
+        ],
+        [
+          -0.6272359490394592,
+          0.032978303730487823,
+          0.7781307101249695,
+          4.325549602508545
+        ],
+        [
+          -0.04018108919262886,
+          -0.9991428852081299,
+          0.009955923072993755,
+          -35.37928771972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4970,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_383081912",
+      "mask_path": "../../mask/hdr_left_04970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04972.png",
+      "transform_matrix": [
+        [
+          0.7720717787742615,
+          -0.02829170599579811,
+          0.6349052786827087,
+          119.55533599853516
+        ],
+        [
+          -0.633979856967926,
+          0.03556738793849945,
+          0.772531270980835,
+          4.295337677001953
+        ],
+        [
+          -0.04443814978003502,
+          -0.9989667534828186,
+          0.0095242103561759,
+          -35.37754821777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4972,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_583081483",
+      "mask_path": "../../mask/hdr_left_04972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04974.png",
+      "transform_matrix": [
+        [
+          0.7588834166526794,
+          -0.019822068512439728,
+          0.650924801826477,
+          119.63774871826172
+        ],
+        [
+          -0.6502789855003357,
+          0.03083278425037861,
+          0.7590695023536682,
+          4.2386698722839355
+        ],
+        [
+          -0.035116150975227356,
+          -0.999328076839447,
+          0.010508610866963863,
+          -35.37868118286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4974,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_783081531",
+      "mask_path": "../../mask/hdr_left_04974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04975.png",
+      "transform_matrix": [
+        [
+          0.7538020014762878,
+          -0.025003205984830856,
+          0.6566256880760193,
+          119.6957015991211
+        ],
+        [
+          -0.6562402248382568,
+          0.022500142455101013,
+          0.7542163729667664,
+          4.199545860290527
+        ],
+        [
+          -0.033632006496191025,
+          -0.999434232711792,
+          0.0005525487358681858,
+          -35.376853942871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4975,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_883082151",
+      "mask_path": "../../mask/hdr_left_04975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04976.png",
+      "transform_matrix": [
+        [
+          0.7517501711845398,
+          -0.03322414681315422,
+          0.6586104035377502,
+          119.76148223876953
+        ],
+        [
+          -0.6586424708366394,
+          0.011517834849655628,
+          0.7523677945137024,
+          4.158863067626953
+        ],
+        [
+          -0.03258254751563072,
+          -0.9993816018104553,
+          -0.013224298134446144,
+          -35.37622833251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4976,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_983081817",
+      "mask_path": "../../mask/hdr_left_04976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04977.png",
+      "transform_matrix": [
+        [
+          0.7515419125556946,
+          -0.035788893699645996,
+          0.6587137579917908,
+          119.819580078125
+        ],
+        [
+          -0.6589943170547485,
+          0.004958632402122021,
+          0.752131462097168,
+          4.123480796813965
+        ],
+        [
+          -0.030184272676706314,
+          -0.9993470907211304,
+          -0.01985805854201317,
+          -35.381202697753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4977,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_83082914",
+      "mask_path": "../../mask/hdr_left_04977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04978.png",
+      "transform_matrix": [
+        [
+          0.7507825493812561,
+          -0.03520336374640465,
+          0.6596106290817261,
+          119.88690185546875
+        ],
+        [
+          -0.6599650382995605,
+          0.0020186977926641703,
+          0.7512935996055603,
+          4.078088760375977
+        ],
+        [
+          -0.027779612690210342,
+          -0.9993781447410583,
+          -0.0217173770070076,
+          -35.38676452636719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4978,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_183081865",
+      "mask_path": "../../mask/hdr_left_04978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04979.png",
+      "transform_matrix": [
+        [
+          0.7448321580886841,
+          -0.03137626126408577,
+          0.6665138006210327,
+          119.96337890625
+        ],
+        [
+          -0.666846752166748,
+          -0.00019740585412364453,
+          0.7451949119567871,
+          4.01828145980835
+        ],
+        [
+          -0.023249855265021324,
+          -0.9995077252388,
+          -0.021070187911391258,
+          -35.380550384521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4979,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_283082485",
+      "mask_path": "../../mask/hdr_left_04979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04980.png",
+      "transform_matrix": [
+        [
+          0.7358545660972595,
+          -0.02528776228427887,
+          0.6766672730445862,
+          120.01598358154297
+        ],
+        [
+          -0.6768758296966553,
+          0.0004181972471997142,
+          0.7360970973968506,
+          3.9822800159454346
+        ],
+        [
+          -0.018897227942943573,
+          -0.99968022108078,
+          -0.01680893823504448,
+          -35.37771987915039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4980,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_383081197",
+      "mask_path": "../../mask/hdr_left_04980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04981.png",
+      "transform_matrix": [
+        [
+          0.7306597232818604,
+          -0.021726300939917564,
+          0.6823961138725281,
+          120.07431030273438
+        ],
+        [
+          -0.6825547218322754,
+          0.0001529624278191477,
+          0.7308344841003418,
+          3.9526448249816895
+        ],
+        [
+          -0.01598271168768406,
+          -0.9997640252113342,
+          -0.01471762266010046,
+          -35.38132858276367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4981,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_483081579",
+      "mask_path": "../../mask/hdr_left_04981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04982.png",
+      "transform_matrix": [
+        [
+          0.7375416159629822,
+          -0.023399244993925095,
+          0.6748961210250854,
+          120.16129302978516
+        ],
+        [
+          -0.6751211285591125,
+          -0.0024418618995696306,
+          0.7377029061317444,
+          3.908902406692505
+        ],
+        [
+          -0.015613685362040997,
+          -0.9997232556343079,
+          -0.017598293721675873,
+          -35.38845443725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4982,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_583082675",
+      "mask_path": "../../mask/hdr_left_04982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04983.png",
+      "transform_matrix": [
+        [
+          0.7557271122932434,
+          -0.026621893048286438,
+          0.6543453335762024,
+          120.23002624511719
+        ],
+        [
+          -0.6547099947929382,
+          -0.007505201734602451,
+          0.755842924118042,
+          3.8880770206451416
+        ],
+        [
+          -0.01521097868680954,
+          -0.9996174573898315,
+          -0.023101501166820526,
+          -35.39225769042969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4983,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_683081388",
+      "mask_path": "../../mask/hdr_left_04983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04984.png",
+      "transform_matrix": [
+        [
+          0.7758264541625977,
+          -0.02606254070997238,
+          0.6304078102111816,
+          120.29158782958984
+        ],
+        [
+          -0.6307362914085388,
+          -0.006255511660128832,
+          0.7759720087051392,
+          3.8737874031066895
+        ],
+        [
+          -0.0162802841514349,
+          -0.9996407628059387,
+          -0.02129177749156952,
+          -35.39579772949219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4984,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_783082723",
+      "mask_path": "../../mask/hdr_left_04984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04985.png",
+      "transform_matrix": [
+        [
+          0.7918136715888977,
+          -0.02759837917983532,
+          0.6101386547088623,
+          120.37566375732422
+        ],
+        [
+          -0.6103299260139465,
+          0.0018374491482973099,
+          0.7921451330184937,
+          3.8435134887695312
+        ],
+        [
+          -0.022983018308877945,
+          -0.9996174573898315,
+          -0.015389197506010532,
+          -35.40130615234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4985,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_883080959",
+      "mask_path": "../../mask/hdr_left_04985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04986.png",
+      "transform_matrix": [
+        [
+          0.8030767440795898,
+          -0.02629326656460762,
+          0.5952951312065125,
+          120.45135498046875
+        ],
+        [
+          -0.595287561416626,
+          0.008966563269495964,
+          0.8034626841545105,
+          3.8146700859069824
+        ],
+        [
+          -0.026463406160473824,
+          -0.9996140599250793,
+          -0.008451215922832489,
+          -35.401344299316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4986,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_983082056",
+      "mask_path": "../../mask/hdr_left_04986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04987.png",
+      "transform_matrix": [
+        [
+          0.8077918887138367,
+          -0.01880248449742794,
+          0.5891679525375366,
+          120.50666046142578
+        ],
+        [
+          -0.5889350175857544,
+          0.016747433692216873,
+          0.8080068826675415,
+          3.7946972846984863
+        ],
+        [
+          -0.025059586390852928,
+          -0.9996830224990845,
+          0.0024550016969442368,
+          -35.40177536010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4987,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_83082675",
+      "mask_path": "../../mask/hdr_left_04987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04988.png",
+      "transform_matrix": [
+        [
+          0.8056119084358215,
+          -0.018803834915161133,
+          0.5921450257301331,
+          120.57967376708984
+        ],
+        [
+          -0.591814398765564,
+          0.020507320761680603,
+          0.8058133125305176,
+          3.761263608932495
+        ],
+        [
+          -0.027295691892504692,
+          -0.9996129274368286,
+          0.005392565857619047,
+          -35.40497589111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4988,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_183080911",
+      "mask_path": "../../mask/hdr_left_04988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04989.png",
+      "transform_matrix": [
+        [
+          0.8045368194580078,
+          -0.026695894077420235,
+          0.5933024883270264,
+          120.66796875
+        ],
+        [
+          -0.593056857585907,
+          0.01718759536743164,
+          0.8049771189689636,
+          3.718761444091797
+        ],
+        [
+          -0.03168702498078346,
+          -0.9994958639144897,
+          -0.002004125854000449,
+          -35.409156799316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4989,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_283081769",
+      "mask_path": "../../mask/hdr_left_04989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04990.png",
+      "transform_matrix": [
+        [
+          0.8057230710983276,
+          -0.031723372638225555,
+          0.591442346572876,
+          120.7342758178711
+        ],
+        [
+          -0.5913302302360535,
+          0.013810507953166962,
+          0.8063111901283264,
+          3.691633939743042
+        ],
+        [
+          -0.033747024834156036,
+          -0.9994012713432312,
+          -0.007631543558090925,
+          -35.41653823852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4990,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_383081436",
+      "mask_path": "../../mask/hdr_left_04990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04991.png",
+      "transform_matrix": [
+        [
+          0.8055936694145203,
+          -0.030267268419265747,
+          0.5916946530342102,
+          120.80014038085938
+        ],
+        [
+          -0.5915055871009827,
+          0.015824027359485626,
+          0.8061456680297852,
+          3.6646151542663574
+        ],
+        [
+          -0.033762820065021515,
+          -0.9994165897369385,
+          -0.005155519582331181,
+          -35.42565155029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4991,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_483082056",
+      "mask_path": "../../mask/hdr_left_04991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04992.png",
+      "transform_matrix": [
+        [
+          0.8015575408935547,
+          -0.034768182784318924,
+          0.5969057679176331,
+          120.88687896728516
+        ],
+        [
+          -0.5966600179672241,
+          0.01819968782365322,
+          0.8022876381874084,
+          3.624122142791748
+        ],
+        [
+          -0.03875758871436119,
+          -0.9992296695709229,
+          -0.00615668436512351,
+          -35.425750732421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4992,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_583081960",
+      "mask_path": "../../mask/hdr_left_04992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04993.png",
+      "transform_matrix": [
+        [
+          0.795357882976532,
+          -0.037408601492643356,
+          0.6049846410751343,
+          120.9672622680664
+        ],
+        [
+          -0.6046351790428162,
+          0.021325118839740753,
+          0.7962170839309692,
+          3.5831680297851562
+        ],
+        [
+          -0.04268673434853554,
+          -0.9990725517272949,
+          -0.005657447036355734,
+          -35.42344284057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4993,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_683081388",
+      "mask_path": "../../mask/hdr_left_04993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04994.png",
+      "transform_matrix": [
+        [
+          0.7881701588630676,
+          -0.03138115629553795,
+          0.6146567463874817,
+          121.0220718383789
+        ],
+        [
+          -0.6141517758369446,
+          0.024911649525165558,
+          0.7887945771217346,
+          3.5563833713531494
+        ],
+        [
+          -0.040065400302410126,
+          -0.9991970062255859,
+          0.00036182685289531946,
+          -35.42451095581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4994,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_783082723",
+      "mask_path": "../../mask/hdr_left_04994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04995.png",
+      "transform_matrix": [
+        [
+          0.7832584381103516,
+          -0.03942859172821045,
+          0.6204445362091064,
+          121.11209106445312
+        ],
+        [
+          -0.6201855540275574,
+          0.01997293159365654,
+          0.7842007875442505,
+          3.5149145126342773
+        ],
+        [
+          -0.04331202432513237,
+          -0.9990227818489075,
+          -0.008809070102870464,
+          -35.42893981933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4995,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_883082628",
+      "mask_path": "../../mask/hdr_left_04995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04996.png",
+      "transform_matrix": [
+        [
+          0.7833377718925476,
+          -0.05086784437298775,
+          0.6195114850997925,
+          121.2091293334961
+        ],
+        [
+          -0.6198744773864746,
+          0.010204039514064789,
+          0.7846346497535706,
+          3.477193593978882
+        ],
+        [
+          -0.046234190464019775,
+          -0.9986532926559448,
+          -0.023538466542959213,
+          -35.44831085205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4996,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_983082532",
+      "mask_path": "../../mask/hdr_left_04996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04997.png",
+      "transform_matrix": [
+        [
+          0.7851795554161072,
+          -0.05175090581178665,
+          0.6171019673347473,
+          121.27933502197266
+        ],
+        [
+          -0.6177284121513367,
+          0.004773736000061035,
+          0.7863770127296448,
+          3.4489636421203613
+        ],
+        [
+          -0.04364160820841789,
+          -0.9986486434936523,
+          -0.028219757601618767,
+          -35.461177825927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4997,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_83084344",
+      "mask_path": "../../mask/hdr_left_04997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04998.png",
+      "transform_matrix": [
+        [
+          0.7857423424720764,
+          -0.05140447989106178,
+          0.6164142489433289,
+          121.35250091552734
+        ],
+        [
+          -0.6170570850372314,
+          0.004145307932049036,
+          0.7869074940681458,
+          3.4150030612945557
+        ],
+        [
+          -0.043005798012018204,
+          -0.9986693859100342,
+          -0.028462359681725502,
+          -35.46644973754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4998,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_183083057",
+      "mask_path": "../../mask/hdr_left_04998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04999.png",
+      "transform_matrix": [
+        [
+          0.7816730737686157,
+          -0.056023743003606796,
+          0.6211670637130737,
+          121.435791015625
+        ],
+        [
+          -0.6219770312309265,
+          0.003707560943439603,
+          0.7830266952514648,
+          3.3680434226989746
+        ],
+        [
+          -0.046171098947525024,
+          -0.9984226226806641,
+          -0.03194737806916237,
+          -35.46541976928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4999,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_283082246",
+      "mask_path": "../../mask/hdr_left_04999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05000.png",
+      "transform_matrix": [
+        [
+          0.775124192237854,
+          -0.059677280485630035,
+          0.6289840936660767,
+          121.50303649902344
+        ],
+        [
+          -0.6298291087150574,
+          0.0057617062702775,
+          0.7767123579978943,
+          3.3285181522369385
+        ],
+        [
+          -0.04997609555721283,
+          -0.9982011318206787,
+          -0.033120445907115936,
+          -35.46978759765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5000,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_383082628",
+      "mask_path": "../../mask/hdr_left_05000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05001.png",
+      "transform_matrix": [
+        [
+          0.7684030532836914,
+          -0.0558382049202919,
+          0.6375254988670349,
+          121.55165100097656
+        ],
+        [
+          -0.6381595730781555,
+          0.007944149896502495,
+          0.7698630690574646,
+          3.302130699157715
+        ],
+        [
+          -0.04805237427353859,
+          -0.9984081983566284,
+          -0.029529374092817307,
+          -35.4791145324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5001,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_483083724",
+      "mask_path": "../../mask/hdr_left_05001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05002.png",
+      "transform_matrix": [
+        [
+          0.7635526061058044,
+          -0.06879141926765442,
+          0.6420708298683167,
+          121.63497924804688
+        ],
+        [
+          -0.6433957815170288,
+          0.0037010356318205595,
+          0.7655247449874878,
+          3.2510781288146973
+        ],
+        [
+          -0.055037859827280045,
+          -0.9976242184638977,
+          -0.041434165090322495,
+          -35.487606048583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5002,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_583083391",
+      "mask_path": "../../mask/hdr_left_05002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05003.png",
+      "transform_matrix": [
+        [
+          0.7619872689247131,
+          -0.08330027759075165,
+          0.6422120928764343,
+          121.7242202758789
+        ],
+        [
+          -0.644641101360321,
+          -0.0030054172966629267,
+          0.7644793391227722,
+          3.2030463218688965
+        ],
+        [
+          -0.06175122782588005,
+          -0.9965199828147888,
+          -0.0559888631105423,
+          -35.50761795043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5003,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_683082103",
+      "mask_path": "../../mask/hdr_left_05003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05004.png",
+      "transform_matrix": [
+        [
+          0.7620975375175476,
+          -0.08306244015693665,
+          0.6421120166778564,
+          121.7922592163086
+        ],
+        [
+          -0.6448566317558289,
+          -0.00849422812461853,
+          0.7642563581466675,
+          3.169151782989502
+        ],
+        [
+          -0.0580267496407032,
+          -0.9965081810951233,
+          -0.0600367933511734,
+          -35.52149200439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5004,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_783082723",
+      "mask_path": "../../mask/hdr_left_05004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05005.png",
+      "transform_matrix": [
+        [
+          0.7607643604278564,
+          -0.08021659404039383,
+          0.6440519094467163,
+          121.86132049560547
+        ],
+        [
+          -0.6467025279998779,
+          -0.009759998880326748,
+          0.7626798748970032,
+          3.1293580532073975
+        ],
+        [
+          -0.05489363521337509,
+          -0.9967297315597534,
+          -0.05930134281516075,
+          -35.52671432495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5005,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_883082628",
+      "mask_path": "../../mask/hdr_left_05005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05006.png",
+      "transform_matrix": [
+        [
+          0.7545928359031677,
+          -0.08711601793766022,
+          0.650384783744812,
+          121.93982696533203
+        ],
+        [
+          -0.6532372236251831,
+          -0.005754884798079729,
+          0.7571313381195068,
+          3.07839298248291
+        ],
+        [
+          -0.062215376645326614,
+          -0.9961816072463989,
+          -0.06125001609325409,
+          -35.5264778137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5006,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_983082056",
+      "mask_path": "../../mask/hdr_left_05006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05007.png",
+      "transform_matrix": [
+        [
+          0.747680127620697,
+          -0.09669116139411926,
+          0.656981885433197,
+          121.99653625488281
+        ],
+        [
+          -0.6602552533149719,
+          -0.0025020986795425415,
+          0.7510371804237366,
+          3.0439257621765137
+        ],
+        [
+          -0.07097481191158295,
+          -0.9953113198280334,
+          -0.065711610019207,
+          -35.5317497253418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5007,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_83081960",
+      "mask_path": "../../mask/hdr_left_05007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05008.png",
+      "transform_matrix": [
+        [
+          0.7413204312324524,
+          -0.09662952274084091,
+          0.6641587018966675,
+          122.04066467285156
+        ],
+        [
+          -0.6671062111854553,
+          0.0023956983350217342,
+          0.7449588179588318,
+          3.0119895935058594
+        ],
+        [
+          -0.07357614487409592,
+          -0.9953175783157349,
+          -0.06268616765737534,
+          -35.53965377807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5008,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_183081865",
+      "mask_path": "../../mask/hdr_left_05008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05009.png",
+      "transform_matrix": [
+        [
+          0.7354134917259216,
+          -0.10051123797893524,
+          0.6701227426528931,
+          122.10375213623047
+        ],
+        [
+          -0.6731481552124023,
+          0.005044654477387667,
+          0.7394905090332031,
+          2.965440034866333
+        ],
+        [
+          -0.07770762592554092,
+          -0.9949231147766113,
+          -0.06394904851913452,
+          -35.54932403564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5009,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_283081531",
+      "mask_path": "../../mask/hdr_left_05009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05010.png",
+      "transform_matrix": [
+        [
+          0.731852114200592,
+          -0.11682619154453278,
+          0.6713747382164001,
+          122.18529510498047
+        ],
+        [
+          -0.6755194067955017,
+          0.0054706246592104435,
+          0.7373219132423401,
+          2.916698455810547
+        ],
+        [
+          -0.08981135487556458,
+          -0.9931373596191406,
+          -0.07491465657949448,
+          -35.57743835449219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5010,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_383082866",
+      "mask_path": "../../mask/hdr_left_05010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05011.png",
+      "transform_matrix": [
+        [
+          0.7286773324012756,
+          -0.1311916559934616,
+          0.6721740961074829,
+          122.24357604980469
+        ],
+        [
+          -0.677010178565979,
+          0.010163298808038235,
+          0.7359034419059753,
+          2.8771567344665527
+        ],
+        [
+          -0.10337589681148529,
+          -0.9913049936294556,
+          -0.08141232281923294,
+          -35.60527038574219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5011,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_483081340",
+      "mask_path": "../../mask/hdr_left_05011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05012.png",
+      "transform_matrix": [
+        [
+          0.7287225723266602,
+          -0.1355595588684082,
+          0.6712577939033508,
+          122.2900619506836
+        ],
+        [
+          -0.6761903762817383,
+          0.012586602009832859,
+          0.7366193532943726,
+          2.8462235927581787
+        ],
+        [
+          -0.10830464214086533,
+          -0.990689218044281,
+          -0.082491934299469,
+          -35.62677001953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5012,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_583082437",
+      "mask_path": "../../mask/hdr_left_05012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05013.png",
+      "transform_matrix": [
+        [
+          0.7333075404167175,
+          -0.13574616611003876,
+          0.6662079095840454,
+          122.34967041015625
+        ],
+        [
+          -0.6706671714782715,
+          0.016486594453454018,
+          0.7415752410888672,
+          2.800900936126709
+        ],
+        [
+          -0.11164948344230652,
+          -0.9906064867973328,
+          -0.07895075529813766,
+          -35.64095687866211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5013,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_683081626",
+      "mask_path": "../../mask/hdr_left_05013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05014.png",
+      "transform_matrix": [
+        [
+          0.7355625629425049,
+          -0.14059148728847504,
+          0.6627078652381897,
+          122.41162109375
+        ],
+        [
+          -0.6662803292274475,
+          0.026825185865163803,
+          0.7452186346054077,
+          2.750105619430542
+        ],
+        [
+          -0.12254863232374191,
+          -0.9897042512893677,
+          -0.07394175231456757,
+          -35.647953033447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5014,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_783082246",
+      "mask_path": "../../mask/hdr_left_05014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05015.png",
+      "transform_matrix": [
+        [
+          0.7341169714927673,
+          -0.1453433334827423,
+          0.6632853746414185,
+          122.4564437866211
+        ],
+        [
+          -0.6661215424537659,
+          0.035360272973775864,
+          0.745004415512085,
+          2.7141973972320557
+        ],
+        [
+          -0.13173536956310272,
+          -0.9887492060661316,
+          -0.07085775583982468,
+          -35.65685272216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5015,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_883081197",
+      "mask_path": "../../mask/hdr_left_05015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05017.png",
+      "transform_matrix": [
+        [
+          0.7324929237365723,
+          -0.14190836250782013,
+          0.6658198237419128,
+          122.56446838378906
+        ],
+        [
+          -0.6670408248901367,
+          0.045852530747652054,
+          0.7436087727546692,
+          2.6504101753234863
+        ],
+        [
+          -0.13605381548404694,
+          -0.9888173341751099,
+          -0.06107200309634209,
+          -35.674495697021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5017,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_83080768",
+      "mask_path": "../../mask/hdr_left_05017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05018.png",
+      "transform_matrix": [
+        [
+          0.7409805059432983,
+          -0.14491219818592072,
+          0.6557042598724365,
+          122.64311218261719
+        ],
+        [
+          -0.6567431092262268,
+          0.047375891357660294,
+          0.7526246905326843,
+          2.612424850463867
+        ],
+        [
+          -0.14012905955314636,
+          -0.9883097410202026,
+          -0.06006546691060066,
+          -35.68477249145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5018,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_183079242",
+      "mask_path": "../../mask/hdr_left_05018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05019.png",
+      "transform_matrix": [
+        [
+          0.7553950548171997,
+          -0.146412193775177,
+          0.6387032270431519,
+          122.70555114746094
+        ],
+        [
+          -0.6397887468338013,
+          0.04582475125789642,
+          0.7671834230422974,
+          2.5959362983703613
+        ],
+        [
+          -0.14159339666366577,
+          -0.9881617426872253,
+          -0.059057075530290604,
+          -35.702632904052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5019,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_283082008",
+      "mask_path": "../../mask/hdr_left_05019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05020.png",
+      "transform_matrix": [
+        [
+          0.7733837366104126,
+          -0.1465969979763031,
+          0.6167550683021545,
+          122.76273345947266
+        ],
+        [
+          -0.6178478598594666,
+          0.043498873710632324,
+          0.7850935459136963,
+          2.589357852935791
+        ],
+        [
+          -0.14192050695419312,
+          -0.9882394671440125,
+          -0.05693332850933075,
+          -35.717308044433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5020,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_383081197",
+      "mask_path": "../../mask/hdr_left_05020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05021.png",
+      "transform_matrix": [
+        [
+          0.790956974029541,
+          -0.1507950723171234,
+          0.5929991602897644,
+          122.82705688476562
+        ],
+        [
+          -0.5935606360435486,
+          0.046225182712078094,
+          0.8034606575965881,
+          2.581681966781616
+        ],
+        [
+          -0.14856937527656555,
+          -0.98748379945755,
+          -0.052943889051675797,
+          -35.73456954956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5021,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_483080863",
+      "mask_path": "../../mask/hdr_left_05021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05022.png",
+      "transform_matrix": [
+        [
+          0.793411374092102,
+          -0.16901545226573944,
+          0.5847496390342712,
+          122.900390625
+        ],
+        [
+          -0.580163836479187,
+          0.0806419625878334,
+          0.8104978799819946,
+          2.5610709190368652
+        ],
+        [
+          -0.18414200842380524,
+          -0.9823088645935059,
+          -0.03407439589500427,
+          -35.750858306884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5022,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_583080768",
+      "mask_path": "../../mask/hdr_left_05022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05024.png",
+      "transform_matrix": [
+        [
+          0.7800607681274414,
+          -0.19156132638454437,
+          0.5956588387489319,
+          122.96049499511719
+        ],
+        [
+          -0.5873252749443054,
+          0.10410647839307785,
+          0.8026275038719177,
+          2.537668228149414
+        ],
+        [
+          -0.21576431393623352,
+          -0.9759438037872314,
+          -0.031299423426389694,
+          -35.76039123535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5024,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_783082246",
+      "mask_path": "../../mask/hdr_left_05024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05025.png",
+      "transform_matrix": [
+        [
+          0.777904748916626,
+          -0.1859443485736847,
+          0.6002407073974609,
+          123.02485656738281
+        ],
+        [
+          -0.5923492312431335,
+          0.10182453691959381,
+          0.7992209792137146,
+          2.499730110168457
+        ],
+        [
+          -0.20972982048988342,
+          -0.9772700071334839,
+          -0.030934197828173637,
+          -35.78471755981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5025,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_883081197",
+      "mask_path": "../../mask/hdr_left_05025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05026.png",
+      "transform_matrix": [
+        [
+          0.777254045009613,
+          -0.18143784999847412,
+          0.602458655834198,
+          123.07925415039062
+        ],
+        [
+          -0.5963262319564819,
+          0.09296707063913345,
+          0.7973406910896301,
+          2.4684910774230957
+        ],
+        [
+          -0.2006765604019165,
+          -0.9789982438087463,
+          -0.0359371080994606,
+          -35.80507278442383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5026,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_983082056",
+      "mask_path": "../../mask/hdr_left_05026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05027.png",
+      "transform_matrix": [
+        [
+          0.7764712572097778,
+          -0.17916658520698547,
+          0.6041454672813416,
+          123.12842559814453
+        ],
+        [
+          -0.5988311767578125,
+          0.08870496600866318,
+          0.7959476113319397,
+          2.4389119148254395
+        ],
+        [
+          -0.19619789719581604,
+          -0.9798116087913513,
+          -0.03841366991400719,
+          -35.8281135559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5027,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_83081007",
+      "mask_path": "../../mask/hdr_left_05027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05028.png",
+      "transform_matrix": [
+        [
+          0.7770933508872986,
+          -0.17182378470897675,
+          0.6054772138595581,
+          123.18262481689453
+        ],
+        [
+          -0.5994405746459961,
+          0.09114987403154373,
+          0.7952123284339905,
+          2.405080556869507
+        ],
+        [
+          -0.19182553887367249,
+          -0.980901837348938,
+          -0.03216618299484253,
+          -35.843994140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5028,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_183081626",
+      "mask_path": "../../mask/hdr_left_05028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05029.png",
+      "transform_matrix": [
+        [
+          0.7814429402351379,
+          -0.16490724682807922,
+          0.6017910242080688,
+          123.25852966308594
+        ],
+        [
+          -0.5954285860061646,
+          0.0913097932934761,
+          0.7982025146484375,
+          2.352832794189453
+        ],
+        [
+          -0.18657879531383514,
+          -0.9820734262466431,
+          -0.026837099343538284,
+          -35.85285949707031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5029,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_283079147",
+      "mask_path": "../../mask/hdr_left_05029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05030.png",
+      "transform_matrix": [
+        [
+          0.7864543199539185,
+          -0.16129764914512634,
+          0.5962153077125549,
+          123.32422637939453
+        ],
+        [
+          -0.5899655222892761,
+          0.08957713097333908,
+          0.8024441599845886,
+          2.310527801513672
+        ],
+        [
+          -0.18283961713314056,
+          -0.9828321933746338,
+          -0.024711735546588898,
+          -35.85679244995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5030,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_383077621",
+      "mask_path": "../../mask/hdr_left_05030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05031.png",
+      "transform_matrix": [
+        [
+          0.7905198931694031,
+          -0.15524835884571075,
+          0.5924324989318848,
+          123.3713150024414
+        ],
+        [
+          -0.5859664082527161,
+          0.08958625793457031,
+          0.8053680062294006,
+          2.2881035804748535
+        ],
+        [
+          -0.178105890750885,
+          -0.9838050007820129,
+          -0.02015060931444168,
+          -35.86528778076172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5031,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_483078718",
+      "mask_path": "../../mask/hdr_left_05031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05033.png",
+      "transform_matrix": [
+        [
+          0.8041302561759949,
+          -0.1354803442955017,
+          0.5788087248802185,
+          123.4776611328125
+        ],
+        [
+          -0.57243812084198,
+          0.08604668080806732,
+          0.8154204487800598,
+          2.2426583766937256
+        ],
+        [
+          -0.16027799248695374,
+          -0.9870365858078003,
+          -0.008361376821994781,
+          -35.893096923828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5033,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_683080434",
+      "mask_path": "../../mask/hdr_left_05033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05034.png",
+      "transform_matrix": [
+        [
+          0.8139598965644836,
+          -0.14159461855888367,
+          0.5634004473686218,
+          123.5595474243164
+        ],
+        [
+          -0.5587027668952942,
+          0.0748472809791565,
+          0.8259837627410889,
+          2.2088749408721924
+        ],
+        [
+          -0.15912383794784546,
+          -0.9870911240577698,
+          -0.018186617642641068,
+          -35.90159606933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5034,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_783081054",
+      "mask_path": "../../mask/hdr_left_05034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05035.png",
+      "transform_matrix": [
+        [
+          0.8212280869483948,
+          -0.15091419219970703,
+          0.5502812266349792,
+          123.62454223632812
+        ],
+        [
+          -0.5471657514572144,
+          0.06526044756174088,
+          0.8344762921333313,
+          2.186373710632324
+        ],
+        [
+          -0.16184590756893158,
+          -0.9863904118537903,
+          -0.028981361538171768,
+          -35.91270446777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5035,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_883080720",
+      "mask_path": "../../mask/hdr_left_05035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05036.png",
+      "transform_matrix": [
+        [
+          0.8256327509880066,
+          -0.15030325949192047,
+          0.5438193678855896,
+          123.67822265625
+        ],
+        [
+          -0.5409505367279053,
+          0.06300566345453262,
+          0.8386911153793335,
+          2.1744563579559326
+        ],
+        [
+          -0.1603216975927353,
+          -0.9866302609443665,
+          -0.029287083074450493,
+          -35.931724548339844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5036,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_983081817",
+      "mask_path": "../../mask/hdr_left_05036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05037.png",
+      "transform_matrix": [
+        [
+          0.8273279070854187,
+          -0.15246006846427917,
+          0.5406332015991211,
+          123.75606536865234
+        ],
+        [
+          -0.5370073318481445,
+          0.06766056269407272,
+          0.8408597707748413,
+          2.1548001766204834
+        ],
+        [
+          -0.16477707028388977,
+          -0.9859910011291504,
+          -0.02589467540383339,
+          -35.957008361816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5037,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_83082437",
+      "mask_path": "../../mask/hdr_left_05037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05038.png",
+      "transform_matrix": [
+        [
+          0.824994683265686,
+          -0.15739871561527252,
+          0.542779266834259,
+          123.843505859375
+        ],
+        [
+          -0.537592887878418,
+          0.0776299238204956,
+          0.8396235108375549,
+          2.131230592727661
+        ],
+        [
+          -0.17429155111312866,
+          -0.9844791889190674,
+          -0.020572157576680183,
+          -35.98124694824219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5038,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_183081388",
+      "mask_path": "../../mask/hdr_left_05038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05039.png",
+      "transform_matrix": [
+        [
+          0.8235629200935364,
+          -0.15440689027309418,
+          0.545804500579834,
+          123.91685485839844
+        ],
+        [
+          -0.5392696857452393,
+          0.0852174460887909,
+          0.8378104567527771,
+          2.1160473823547363
+        ],
+        [
+          -0.17587575316429138,
+          -0.9843254089355469,
+          -0.013085014186799526,
+          -35.99972152709961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5039,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_283081054",
+      "mask_path": "../../mask/hdr_left_05039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05040.png",
+      "transform_matrix": [
+        [
+          0.8220778107643127,
+          -0.15148276090621948,
+          0.5488542914390564,
+          124.02250671386719
+        ],
+        [
+          -0.5438872575759888,
+          0.0762607529759407,
+          0.8356859087944031,
+          2.0929415225982666
+        ],
+        [
+          -0.1684480458498001,
+          -0.9855138063430786,
+          -0.01969725824892521,
+          -36.02177047729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5040,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_383083820",
+      "mask_path": "../../mask/hdr_left_05040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05041.png",
+      "transform_matrix": [
+        [
+          0.8198304176330566,
+          -0.15331405401229858,
+          0.5516999363899231,
+          124.14569091796875
+        ],
+        [
+          -0.5484512448310852,
+          0.06664274632930756,
+          0.8335225582122803,
+          2.0584330558776855
+        ],
+        [
+          -0.1645575314760208,
+          -0.9859278202056885,
+          -0.02944953739643097,
+          -36.05690383911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5041,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_483082056",
+      "mask_path": "../../mask/hdr_left_05041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05042.png",
+      "transform_matrix": [
+        [
+          0.8207388520240784,
+          -0.15038658678531647,
+          0.5511548519134521,
+          124.23219299316406
+        ],
+        [
+          -0.5479946732521057,
+          0.06552340090274811,
+          0.8339115977287292,
+          2.032599925994873
+        ],
+        [
+          -0.16152264177799225,
+          -0.9864535927772522,
+          -0.02863345295190811,
+          -36.0815315246582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5042,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_583081007",
+      "mask_path": "../../mask/hdr_left_05042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05043.png",
+      "transform_matrix": [
+        [
+          0.8228769302368164,
+          -0.14575828611850739,
+          0.5492067337036133,
+          124.31693267822266
+        ],
+        [
+          -0.545863687992096,
+          0.06566929072141647,
+          0.835296630859375,
+          2.003887176513672
+        ],
+        [
+          -0.15781739354133606,
+          -0.9871383905410767,
+          -0.02552640065550804,
+          -36.1027717590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5043,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_683082342",
+      "mask_path": "../../mask/hdr_left_05043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05044.png",
+      "transform_matrix": [
+        [
+          0.8167099356651306,
+          -0.1604577749967575,
+          0.5542907118797302,
+          124.4151611328125
+        ],
+        [
+          -0.5490435361862183,
+          0.07953053712844849,
+          0.8320013284683228,
+          1.9593747854232788
+        ],
+        [
+          -0.17758409678936005,
+          -0.9838334918022156,
+          -0.023144911974668503,
+          -36.11493682861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5044,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_783082246",
+      "mask_path": "../../mask/hdr_left_05044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05045.png",
+      "transform_matrix": [
+        [
+          0.8102397322654724,
+          -0.1703892946243286,
+          0.5607842803001404,
+          124.48835754394531
+        ],
+        [
+          -0.5544530153274536,
+          0.08731453120708466,
+          0.8276218771934509,
+          1.9246019124984741
+        ],
+        [
+          -0.18998250365257263,
+          -0.9815007448196411,
+          -0.023727145045995712,
+          -36.11864471435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5045,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_883080005",
+      "mask_path": "../../mask/hdr_left_05045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05046.png",
+      "transform_matrix": [
+        [
+          0.8067885041236877,
+          -0.16603563725948334,
+          0.5670312643051147,
+          124.56717681884766
+        ],
+        [
+          -0.560908854007721,
+          0.0863497257232666,
+          0.8233619928359985,
+          1.8777258396148682
+        ],
+        [
+          -0.185670405626297,
+          -0.9823318719863892,
+          -0.023464903235435486,
+          -36.120086669921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5046,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_983081102",
+      "mask_path": "../../mask/hdr_left_05046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05047.png",
+      "transform_matrix": [
+        [
+          0.8028998970985413,
+          -0.1718929260969162,
+          0.5707929134368896,
+          124.62699127197266
+        ],
+        [
+          -0.5664722323417664,
+          0.07817477732896805,
+          0.8203644156455994,
+          1.8392590284347534
+        ],
+        [
+          -0.1856364607810974,
+          -0.9820089936256409,
+          -0.03460605815052986,
+          -36.13645935058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5047,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_83082199",
+      "mask_path": "../../mask/hdr_left_05047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05048.png",
+      "transform_matrix": [
+        [
+          0.8000146746635437,
+          -0.18414276838302612,
+          0.5710236430168152,
+          124.68383026123047
+        ],
+        [
+          -0.5687613487243652,
+          0.07024458795785904,
+          0.8194975256919861,
+          1.7999846935272217
+        ],
+        [
+          -0.1910158395767212,
+          -0.9803862571716309,
+          -0.048536572605371475,
+          -36.15882110595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5048,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_183082818",
+      "mask_path": "../../mask/hdr_left_05048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05049.png",
+      "transform_matrix": [
+        [
+          0.7976608276367188,
+          -0.1887228637933731,
+          0.5728182196617126,
+          124.7844009399414
+        ],
+        [
+          -0.5702923536300659,
+          0.07299351692199707,
+          0.8181922435760498,
+          1.7606074810028076
+        ],
+        [
+          -0.19622358679771423,
+          -0.9793139100074768,
+          -0.0494031198322773,
+          -36.22188949584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5049,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_283082246",
+      "mask_path": "../../mask/hdr_left_05049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05050.png",
+      "transform_matrix": [
+        [
+          0.7976745963096619,
+          -0.18579719960689545,
+          0.5737547278404236,
+          124.88917541503906
+        ],
+        [
+          -0.5699512958526611,
+          0.07876887172460556,
+          0.8178942799568176,
+          1.7144169807434082
+        ],
+        [
+          -0.19715644419193268,
+          -0.979425847530365,
+          -0.043063417077064514,
+          -36.265830993652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5050,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_383081674",
+      "mask_path": "../../mask/hdr_left_05050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05051.png",
+      "transform_matrix": [
+        [
+          0.7971669435501099,
+          -0.18639394640922546,
+          0.5742665529251099,
+          124.9909439086914
+        ],
+        [
+          -0.5692273378372192,
+          0.08503212034702301,
+          0.8177711963653564,
+          1.6466466188430786
+        ],
+        [
+          -0.20125868916511536,
+          -0.9787884950637817,
+          -0.038315724581480026,
+          -36.26901626586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5051,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_483082532",
+      "mask_path": "../../mask/hdr_left_05051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05052.png",
+      "transform_matrix": [
+        [
+          0.795153021812439,
+          -0.1876847743988037,
+          0.5766333937644958,
+          125.06414794921875
+        ],
+        [
+          -0.5713369846343994,
+          0.08682585507631302,
+          0.8161098957061768,
+          1.6114320755004883
+        ],
+        [
+          -0.20323807001113892,
+          -0.978384256362915,
+          -0.038191407918930054,
+          -36.2957878112793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5052,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_583080530",
+      "mask_path": "../../mask/hdr_left_05052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05053.png",
+      "transform_matrix": [
+        [
+          0.7923864722251892,
+          -0.182168111205101,
+          0.5821841359138489,
+          125.12159729003906
+        ],
+        [
+          -0.577411413192749,
+          0.08387116342782974,
+          0.8121340870857239,
+          1.5869829654693604
+        ],
+        [
+          -0.19677338004112244,
+          -0.9796838164329529,
+          -0.03872755169868469,
+          -36.30772018432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5053,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_683082342",
+      "mask_path": "../../mask/hdr_left_05053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05054.png",
+      "transform_matrix": [
+        [
+          0.790177047252655,
+          -0.17139647901058197,
+          0.588424563407898,
+          125.21649169921875
+        ],
+        [
+          -0.5842635035514832,
+          0.07928099483251572,
+          0.8076822757720947,
+          1.5435153245925903
+        ],
+        [
+          -0.18508478999137878,
+          -0.9820070266723633,
+          -0.03749469295144081,
+          -36.31912612915039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5054,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_783081769",
+      "mask_path": "../../mask/hdr_left_05054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05055.png",
+      "transform_matrix": [
+        [
+          0.7925783395767212,
+          -0.16539162397384644,
+          0.5869114995002747,
+          125.3155746459961
+        ],
+        [
+          -0.5837868452072144,
+          0.07216131687164307,
+          0.8086938261985779,
+          1.504433512687683
+        ],
+        [
+          -0.17610350251197815,
+          -0.983584463596344,
+          -0.03935995325446129,
+          -36.32851791381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5055,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_883080005",
+      "mask_path": "../../mask/hdr_left_05055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05056.png",
+      "transform_matrix": [
+        [
+          0.7966878414154053,
+          -0.16198550164699554,
+          0.5822792649269104,
+          125.38722229003906
+        ],
+        [
+          -0.5799228549003601,
+          0.06646975129842758,
+          0.8119551539421082,
+          1.4786518812179565
+        ],
+        [
+          -0.17022894322872162,
+          -0.9845519661903381,
+          -0.040983445942401886,
+          -36.33599853515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5056,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_983078956",
+      "mask_path": "../../mask/hdr_left_05056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05057.png",
+      "transform_matrix": [
+        [
+          0.7988532185554504,
+          -0.15445460379123688,
+          0.5813581943511963,
+          125.45649719238281
+        ],
+        [
+          -0.5787151455879211,
+          0.06628372520208359,
+          0.8128315806388855,
+          1.4562962055206299
+        ],
+        [
+          -0.16408014297485352,
+          -0.9857739806175232,
+          -0.03643423318862915,
+          -36.35795974731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5057,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_83079576",
+      "mask_path": "../../mask/hdr_left_05057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05058.png",
+      "transform_matrix": [
+        [
+          0.79920893907547,
+          -0.14781059324741364,
+          0.58259516954422,
+          125.53729248046875
+        ],
+        [
+          -0.580859899520874,
+          0.059199340641498566,
+          0.811847984790802,
+          1.4202282428741455
+        ],
+        [
+          -0.15448898077011108,
+          -0.9872424006462097,
+          -0.03854459896683693,
+          -36.368431091308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5058,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_183080911",
+      "mask_path": "../../mask/hdr_left_05058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05059.png",
+      "transform_matrix": [
+        [
+          0.7990635633468628,
+          -0.13849703967571259,
+          0.5850775837898254,
+          125.62032318115234
+        ],
+        [
+          -0.5841931104660034,
+          0.051275402307510376,
+          0.809993326663971,
+          1.3774516582489014
+        ],
+        [
+          -0.14218176901340485,
+          -0.9890345931053162,
+          -0.03993671014904976,
+          -36.369483947753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5059,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_283081054",
+      "mask_path": "../../mask/hdr_left_05059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05060.png",
+      "transform_matrix": [
+        [
+          0.7974503040313721,
+          -0.12285348027944565,
+          0.5907453894615173,
+          125.69053649902344
+        ],
+        [
+          -0.5894550681114197,
+          0.05053887143731117,
+          0.806218683719635,
+          1.3463839292526245
+        ],
+        [
+          -0.1289023756980896,
+          -0.9911372065544128,
+          -0.03211437165737152,
+          -36.376930236816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5060,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_383080959",
+      "mask_path": "../../mask/hdr_left_05060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05061.png",
+      "transform_matrix": [
+        [
+          0.7954497933387756,
+          -0.11796481907367706,
+          0.5944272875785828,
+          125.76415252685547
+        ],
+        [
+          -0.5933879017829895,
+          0.04761035367846489,
+          0.8035072088241577,
+          1.3130950927734375
+        ],
+        [
+          -0.12308646738529205,
+          -0.9918758869171143,
+          -0.032127246260643005,
+          -36.384525299072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5061,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_483079910",
+      "mask_path": "../../mask/hdr_left_05061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05062.png",
+      "transform_matrix": [
+        [
+          0.7971839308738708,
+          -0.11763060092926025,
+          0.5921660661697388,
+          125.84172821044922
+        ],
+        [
+          -0.5918785333633423,
+          0.04117001220583916,
+          0.8049749732017517,
+          1.282362461090088
+        ],
+        [
+          -0.1190691813826561,
+          -0.9922036528587341,
+          -0.03680295869708061,
+          -36.39473342895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5062,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_583080768",
+      "mask_path": "../../mask/hdr_left_05062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05063.png",
+      "transform_matrix": [
+        [
+          0.8014814257621765,
+          -0.1100342646241188,
+          0.5878093838691711,
+          125.91006469726562
+        ],
+        [
+          -0.5877299308776855,
+          0.03661863133311272,
+          0.808228075504303,
+          1.2579209804534912
+        ],
+        [
+          -0.11045753955841064,
+          -0.9932529926300049,
+          -0.035321276634931564,
+          -36.40450668334961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5063,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_683080673",
+      "mask_path": "../../mask/hdr_left_05063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05064.png",
+      "transform_matrix": [
+        [
+          0.808972179889679,
+          -0.10177482664585114,
+          0.5789695978164673,
+          125.97842407226562
+        ],
+        [
+          -0.5785433650016785,
+          0.03668903559446335,
+          0.8148259520530701,
+          1.2327998876571655
+        ],
+        [
+          -0.10417062044143677,
+          -0.9941307306289673,
+          -0.029200736433267593,
+          -36.41710662841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5064,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_783080339",
+      "mask_path": "../../mask/hdr_left_05064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05065.png",
+      "transform_matrix": [
+        [
+          0.8141595721244812,
+          -0.09894990921020508,
+          0.572147786617279,
+          126.0591049194336
+        ],
+        [
+          -0.5714670419692993,
+          0.03791690245270729,
+          0.8197485208511353,
+          1.202383041381836
+        ],
+        [
+          -0.10280811041593552,
+          -0.9943698048591614,
+          -0.025676202028989792,
+          -36.4225959777832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5065,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_883079290",
+      "mask_path": "../../mask/hdr_left_05065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05066.png",
+      "transform_matrix": [
+        [
+          0.8152251839637756,
+          -0.09628339111804962,
+          0.5710843205451965,
+          126.13057708740234
+        ],
+        [
+          -0.5702809691429138,
+          0.03839588910341263,
+          0.8205519318580627,
+          1.1686514616012573
+        ],
+        [
+          -0.10093280673027039,
+          -0.9946131110191345,
+          -0.02360728569328785,
+          -36.417171478271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5066,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_983081102",
+      "mask_path": "../../mask/hdr_left_05066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05067.png",
+      "transform_matrix": [
+        [
+          0.8140766620635986,
+          -0.0879606232047081,
+          0.5740574598312378,
+          126.18508911132812
+        ],
+        [
+          -0.5732130408287048,
+          0.0371108241379261,
+          0.8185656070709229,
+          1.1425861120224
+        ],
+        [
+          -0.09330528229475021,
+          -0.9954324960708618,
+          -0.020209118723869324,
+          -36.422183990478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5067,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_83080291",
+      "mask_path": "../../mask/hdr_left_05067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05068.png",
+      "transform_matrix": [
+        [
+          0.8107540607452393,
+          -0.07894978672266006,
+          0.5800385475158691,
+          126.2594223022461
+        ],
+        [
+          -0.5795145630836487,
+          0.031749967485666275,
+          0.8143432140350342,
+          1.1117981672286987
+        ],
+        [
+          -0.08270841091871262,
+          -0.9963729381561279,
+          -0.02001112513244152,
+          -36.433773040771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5068,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_183080911",
+      "mask_path": "../../mask/hdr_left_05068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05069.png",
+      "transform_matrix": [
+        [
+          0.80975341796875,
+          -0.07782097160816193,
+          0.5815868377685547,
+          126.36514282226562
+        ],
+        [
+          -0.5818918347358704,
+          0.02104329690337181,
+          0.8129938840866089,
+          1.0604190826416016
+        ],
+        [
+          -0.07550648599863052,
+          -0.9967452883720398,
+          -0.028243502601981163,
+          -36.436275482177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5069,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_283081769",
+      "mask_path": "../../mask/hdr_left_05069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05070.png",
+      "transform_matrix": [
+        [
+          0.8110542893409729,
+          -0.0750625729560852,
+          0.5801348090171814,
+          126.43974304199219
+        ],
+        [
+          -0.5808420181274414,
+          0.014280918054282665,
+          0.8138909935951233,
+          1.026322603225708
+        ],
+        [
+          -0.069377601146698,
+          -0.9970766305923462,
+          -0.03201689198613167,
+          -36.44037628173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5070,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_383081674",
+      "mask_path": "../../mask/hdr_left_05070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05071.png",
+      "transform_matrix": [
+        [
+          0.8123644590377808,
+          -0.06845306605100632,
+          0.5791184306144714,
+          126.49687957763672
+        ],
+        [
+          -0.5796824097633362,
+          0.013346636667847633,
+          0.8147332668304443,
+          1.0054445266723633
+        ],
+        [
+          -0.06350026279687881,
+          -0.9975651502609253,
+          -0.02883870340883732,
+          -36.441307067871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5071,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_483081579",
+      "mask_path": "../../mask/hdr_left_05071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05072.png",
+      "transform_matrix": [
+        [
+          0.8101580739021301,
+          -0.06849904358386993,
+          0.5821956396102905,
+          126.57953643798828
+        ],
+        [
+          -0.5824209451675415,
+          0.018703820183873177,
+          0.8126720786094666,
+          0.9712070226669312
+        ],
+        [
+          -0.06655655056238174,
+          -0.9974758625030518,
+          -0.02474222332239151,
+          -36.44353485107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5072,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_583082914",
+      "mask_path": "../../mask/hdr_left_05072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05073.png",
+      "transform_matrix": [
+        [
+          0.8057435154914856,
+          -0.06568536162376404,
+          0.5886108875274658,
+          126.65531158447266
+        ],
+        [
+          -0.5885028839111328,
+          0.023039253428578377,
+          0.8081668019294739,
+          0.9287368059158325
+        ],
+        [
+          -0.06664588302373886,
+          -0.9975743889808655,
+          -0.02009228989481926,
+          -36.441558837890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5073,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_683081865",
+      "mask_path": "../../mask/hdr_left_05073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05074.png",
+      "transform_matrix": [
+        [
+          0.8030569553375244,
+          -0.05779162794351578,
+          0.5930932760238647,
+          126.71739196777344
+        ],
+        [
+          -0.5926020741462708,
+          0.0271519236266613,
+          0.8050375580787659,
+          0.8987631797790527
+        ],
+        [
+          -0.06262804567813873,
+          -0.9979594349861145,
+          -0.012442895211279392,
+          -36.448341369628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5074,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_783081769",
+      "mask_path": "../../mask/hdr_left_05074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05075.png",
+      "transform_matrix": [
+        [
+          0.800636351108551,
+          -0.04927121475338936,
+          0.5971213579177856,
+          126.77822875976562
+        ],
+        [
+          -0.5962074398994446,
+          0.03314490616321564,
+          0.8021458983421326,
+          0.8767958879470825
+        ],
+        [
+          -0.05931423231959343,
+          -0.9982354044914246,
+          -0.002838848391547799,
+          -36.4510612487793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5075,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_883082151",
+      "mask_path": "../../mask/hdr_left_05075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05076.png",
+      "transform_matrix": [
+        [
+          0.8044423460960388,
+          -0.04477034881711006,
+          0.5923411250114441,
+          126.85297393798828
+        ],
+        [
+          -0.5914295315742493,
+          0.0328502431511879,
+          0.8056871891021729,
+          0.848569393157959
+        ],
+        [
+          -0.05552944540977478,
+          -0.9984570741653442,
+          -5.237516961642541e-05,
+          -36.45089340209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5076,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_983082294",
+      "mask_path": "../../mask/hdr_left_05076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05077.png",
+      "transform_matrix": [
+        [
+          0.8155273199081421,
+          -0.04593941941857338,
+          0.5768923163414001,
+          126.93048858642578
+        ],
+        [
+          -0.5761612057685852,
+          0.029160169884562492,
+          0.8168157339096069,
+          0.8255371451377869
+        ],
+        [
+          -0.054346319288015366,
+          -0.9985185861587524,
+          -0.002687594387680292,
+          -36.458045959472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5077,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_83082199",
+      "mask_path": "../../mask/hdr_left_05077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05078.png",
+      "transform_matrix": [
+        [
+          0.8259711861610413,
+          -0.044740188866853714,
+          0.5619340538978577,
+          126.99142456054688
+        ],
+        [
+          -0.5611916780471802,
+          0.028901388868689537,
+          0.8271810412406921,
+          0.8143123388290405
+        ],
+        [
+          -0.05324891582131386,
+          -0.9985805749893188,
+          -0.0012361041735857725,
+          -36.46903991699219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5078,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_183082103",
+      "mask_path": "../../mask/hdr_left_05078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05079.png",
+      "transform_matrix": [
+        [
+          0.8339458703994751,
+          -0.04017123207449913,
+          0.5503822565078735,
+          127.05594635009766
+        ],
+        [
+          -0.5493383407592773,
+          0.03454684466123581,
+          0.8348855376243591,
+          0.8031980991363525
+        ],
+        [
+          -0.05255235359072685,
+          -0.9985954165458679,
+          0.006742598954588175,
+          -36.47932434082031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5079,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_283082485",
+      "mask_path": "../../mask/hdr_left_05079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05080.png",
+      "transform_matrix": [
+        [
+          0.8353955745697021,
+          -0.03961744159460068,
+          0.5482193827629089,
+          127.12504577636719
+        ],
+        [
+          -0.5468379259109497,
+          0.04083980619907379,
+          0.8362417817115784,
+          0.786649227142334
+        ],
+        [
+          -0.05551894009113312,
+          -0.9983800053596497,
+          0.012453080154955387,
+          -36.476165771484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5080,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_383081436",
+      "mask_path": "../../mask/hdr_left_05080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05081.png",
+      "transform_matrix": [
+        [
+          0.8320568203926086,
+          -0.0375128872692585,
+          0.5534204244613647,
+          127.18415832519531
+        ],
+        [
+          -0.5518909096717834,
+          0.04412378370761871,
+          0.8327482342720032,
+          0.757544755935669
+        ],
+        [
+          -0.05565778911113739,
+          -0.9983215928077698,
+          0.016010472550988197,
+          -36.46358871459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5081,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_483081579",
+      "mask_path": "../../mask/hdr_left_05081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05082.png",
+      "transform_matrix": [
+        [
+          0.8279942274093628,
+          -0.027392659336328506,
+          0.5600671768188477,
+          127.24581146240234
+        ],
+        [
+          -0.558405876159668,
+          0.050692033022642136,
+          0.82801753282547,
+          0.7292292714118958
+        ],
+        [
+          -0.05107254162430763,
+          -0.9983386397361755,
+          0.026676490902900696,
+          -36.458927154541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5082,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_583081722",
+      "mask_path": "../../mask/hdr_left_05082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05083.png",
+      "transform_matrix": [
+        [
+          0.8234175443649292,
+          -0.02643709070980549,
+          0.5668196082115173,
+          127.32466125488281
+        ],
+        [
+          -0.5652198791503906,
+          0.04998033493757248,
+          0.8234249353408813,
+          0.70049649477005
+        ],
+        [
+          -0.05009879171848297,
+          -0.9984002709388733,
+          0.026211921125650406,
+          -36.463096618652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5083,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_683082342",
+      "mask_path": "../../mask/hdr_left_05083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05084.png",
+      "transform_matrix": [
+        [
+          0.822675883769989,
+          -0.033519528806209564,
+          0.5675217509269714,
+          127.41959381103516
+        ],
+        [
+          -0.5660765767097473,
+          0.043980520218610764,
+          0.8231785893440247,
+          0.6646285057067871
+        ],
+        [
+          -0.05255245789885521,
+          -0.998469889163971,
+          0.01720709167420864,
+          -36.480281829833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5084,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_783082246",
+      "mask_path": "../../mask/hdr_left_05084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05085.png",
+      "transform_matrix": [
+        [
+          0.8245660662651062,
+          -0.03554271161556244,
+          0.5646480321884155,
+          127.48588562011719
+        ],
+        [
+          -0.5634660720825195,
+          0.038299962878227234,
+          0.8252509236335754,
+          0.6456748843193054
+        ],
+        [
+          -0.05095764622092247,
+          -0.9986340403556824,
+          0.011553744785487652,
+          -36.48746871948242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5085,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_883081674",
+      "mask_path": "../../mask/hdr_left_05085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05087.png",
+      "transform_matrix": [
+        [
+          0.8220784068107605,
+          -0.039705127477645874,
+          0.5679880976676941,
+          127.54208374023438
+        ],
+        [
+          -0.5668336749076843,
+          0.03705993667244911,
+          0.8229982852935791,
+          0.6205942630767822
+        ],
+        [
+          -0.05372684448957443,
+          -0.9985239505767822,
+          0.007959970273077488,
+          -36.48158264160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5087,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_83081007",
+      "mask_path": "../../mask/hdr_left_05087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05089.png",
+      "transform_matrix": [
+        [
+          0.8132733106613159,
+          -0.03846447914838791,
+          0.5806090831756592,
+          127.60291290283203
+        ],
+        [
+          -0.5797414183616638,
+          0.03194105625152588,
+          0.8141741752624512,
+          0.5732553005218506
+        ],
+        [
+          -0.04986204579472542,
+          -0.9987493753433228,
+          0.0036773597821593285,
+          -36.472389221191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5089,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_283083200",
+      "mask_path": "../../mask/hdr_left_05089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05095.png",
+      "transform_matrix": [
+        [
+          0.7983835935592651,
+          -0.03065681830048561,
+          0.6013683080673218,
+          127.486572265625
+        ],
+        [
+          -0.6010153293609619,
+          0.02069106325507164,
+          0.7989696860313416,
+          0.6414031386375427
+        ],
+        [
+          -0.03693681210279465,
+          -0.9993157982826233,
+          -0.0019058127654716372,
+          -36.466156005859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5095,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_883082866",
+      "mask_path": "../../mask/hdr_left_05095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05096.png",
+      "transform_matrix": [
+        [
+          0.7931462526321411,
+          -0.032823849469423294,
+          0.6081460118293762,
+          127.41866302490234
+        ],
+        [
+          -0.6079709529876709,
+          0.01622200198471546,
+          0.7937934994697571,
+          0.671934962272644
+        ],
+        [
+          -0.035920705646276474,
+          -0.9993295073509216,
+          -0.007089523132890463,
+          -36.455970764160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5096,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_983082294",
+      "mask_path": "../../mask/hdr_left_05096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05099.png",
+      "transform_matrix": [
+        [
+          0.7746056318283081,
+          -0.03980862721800804,
+          0.631190299987793,
+          127.27564239501953
+        ],
+        [
+          -0.6319324970245361,
+          -0.008569522760808468,
+          0.7749760746955872,
+          0.7163841724395752
+        ],
+        [
+          -0.0254417285323143,
+          -0.9991706013679504,
+          -0.031794361770153046,
+          -36.43558120727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5099,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_283082008",
+      "mask_path": "../../mask/hdr_left_05099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05103.png",
+      "transform_matrix": [
+        [
+          0.7714346647262573,
+          -0.039426255971193314,
+          0.635085940361023,
+          127.0973129272461
+        ],
+        [
+          -0.6359987854957581,
+          -0.01663731038570404,
+          0.7715105414390564,
+          0.7970855832099915
+        ],
+        [
+          -0.019851654767990112,
+          -0.9990839958190918,
+          -0.03790964558720589,
+          -36.44061279296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5103,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_683080911",
+      "mask_path": "../../mask/hdr_left_05103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05104.png",
+      "transform_matrix": [
+        [
+          0.7653282284736633,
+          -0.04047588258981705,
+          0.6423662304878235,
+          127.0484848022461
+        ],
+        [
+          -0.6432903409004211,
+          -0.015201730653643608,
+          0.7654713988304138,
+          0.820706844329834
+        ],
+        [
+          -0.021218053996562958,
+          -0.9990649223327637,
+          -0.03767206147313118,
+          -36.43321990966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5104,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_783081054",
+      "mask_path": "../../mask/hdr_left_05104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05106.png",
+      "transform_matrix": [
+        [
+          0.7523083686828613,
+          -0.04551093652844429,
+          0.6572373509407043,
+          126.97266387939453
+        ],
+        [
+          -0.6584620475769043,
+          -0.01946823112666607,
+          0.752362072467804,
+          0.8537514209747314
+        ],
+        [
+          -0.02144545502960682,
+          -0.9987741708755493,
+          -0.04461333528161049,
+          -36.41950607299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5106,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_983080387",
+      "mask_path": "../../mask/hdr_left_05106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05107.png",
+      "transform_matrix": [
+        [
+          0.7491739988327026,
+          -0.05010123923420906,
+          0.6604757308959961,
+          126.9113998413086
+        ],
+        [
+          -0.6619131565093994,
+          -0.019464919343590736,
+          0.7493278384208679,
+          0.8761239051818848
+        ],
+        [
+          -0.024686144664883614,
+          -0.9985544681549072,
+          -0.04774527624249458,
+          -36.411170959472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5107,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323773_83084821",
+      "mask_path": "../../mask/hdr_left_05107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05115.png",
+      "transform_matrix": [
+        [
+          0.7171446681022644,
+          -0.062221214175224304,
+          0.6941412091255188,
+          126.68158721923828
+        ],
+        [
+          -0.69629967212677,
+          -0.021806053817272186,
+          0.7174198627471924,
+          1.009636640548706
+        ],
+        [
+          -0.029502255842089653,
+          -0.9978241920471191,
+          -0.05896269530057907,
+          -36.407901763916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5115,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323773_883081197",
+      "mask_path": "../../mask/hdr_left_05115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05117.png",
+      "transform_matrix": [
+        [
+          0.7158517837524414,
+          -0.05475617200136185,
+          0.6961019039154053,
+          126.63211822509766
+        ],
+        [
+          -0.6975780725479126,
+          -0.012288402765989304,
+          0.7164034247398376,
+          1.0341787338256836
+        ],
+        [
+          -0.030673524364829063,
+          -0.9984241724014282,
+          -0.046993374824523926,
+          -36.40910720825195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5117,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_83080291",
+      "mask_path": "../../mask/hdr_left_05117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05120.png",
+      "transform_matrix": [
+        [
+          0.709209680557251,
+          -0.058102115988731384,
+          0.7025993466377258,
+          126.56495666503906
+        ],
+        [
+          -0.7038538455963135,
+          -0.0016085291281342506,
+          0.7103429436683655,
+          1.074832558631897
+        ],
+        [
+          -0.040142275393009186,
+          -0.9983093738555908,
+          -0.04203617572784424,
+          -36.4136962890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5120,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_383080482",
+      "mask_path": "../../mask/hdr_left_05120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05123.png",
+      "transform_matrix": [
+        [
+          0.6787916421890259,
+          -0.06873895972967148,
+          0.7311065196990967,
+          126.49176025390625
+        ],
+        [
+          -0.7331506013870239,
+          -0.007013123482465744,
+          0.6800301671028137,
+          1.1028268337249756
+        ],
+        [
+          -0.04161721467971802,
+          -0.9976100325584412,
+          -0.05515644699335098,
+          -36.398983001708984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5123,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_683080911",
+      "mask_path": "../../mask/hdr_left_05123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05125.png",
+      "transform_matrix": [
+        [
+          0.6285955905914307,
+          -0.060311995446681976,
+          0.7753903269767761,
+          126.41301727294922
+        ],
+        [
+          -0.7766641974449158,
+          0.003552941372618079,
+          0.6299048066139221,
+          1.1204569339752197
+        ],
+        [
+          -0.040745727717876434,
+          -0.9981733560562134,
+          -0.04460880160331726,
+          -36.38974380493164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5125,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_883080959",
+      "mask_path": "../../mask/hdr_left_05125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05130.png",
+      "transform_matrix": [
+        [
+          0.3614419102668762,
+          -0.07615997642278671,
+          0.9292790293693542,
+          126.30288696289062
+        ],
+        [
+          -0.9319496750831604,
+          0.0012757026124745607,
+          0.36258524656295776,
+          1.117964506149292
+        ],
+        [
+          -0.02879996784031391,
+          -0.9970948696136475,
+          -0.07051616907119751,
+          -36.36478042602539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5130,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_383081912",
+      "mask_path": "../../mask/hdr_left_05130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05133.png",
+      "transform_matrix": [
+        [
+          0.13854925334453583,
+          -0.07100348174571991,
+          0.987807035446167,
+          126.21150970458984
+        ],
+        [
+          -0.9903554916381836,
+          -0.009874223731458187,
+          0.13819698989391327,
+          1.0791798830032349
+        ],
+        [
+          -5.863721889909357e-05,
+          -0.997427225112915,
+          -0.0716867446899414,
+          -36.361934661865234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5133,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_683081626",
+      "mask_path": "../../mask/hdr_left_05133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05135.png",
+      "transform_matrix": [
+        [
+          -0.03499624878168106,
+          -0.06106660142540932,
+          0.9975199103355408,
+          126.1121597290039
+        ],
+        [
+          -0.9992895126342773,
+          -0.011833331547677517,
+          -0.03578275814652443,
+          1.0704057216644287
+        ],
+        [
+          0.013989114202558994,
+          -0.9980636239051819,
+          -0.06060909479856491,
+          -36.340396881103516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5135,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_883081912",
+      "mask_path": "../../mask/hdr_left_05135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05138.png",
+      "transform_matrix": [
+        [
+          -0.3243107497692108,
+          -0.06304857134819031,
+          0.9438470602035522,
+          126.0153579711914
+        ],
+        [
+          -0.9455757737159729,
+          -0.006475485395640135,
+          -0.325337290763855,
+          1.0979441404342651
+        ],
+        [
+          0.026623917743563652,
+          -0.9979894757270813,
+          -0.05751713365316391,
+          -36.350521087646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5138,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_183081150",
+      "mask_path": "../../mask/hdr_left_05138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05140.png",
+      "transform_matrix": [
+        [
+          -0.4891338348388672,
+          -0.07387187331914902,
+          0.869074821472168,
+          125.92781066894531
+        ],
+        [
+          -0.8708724975585938,
+          -0.013769962824881077,
+          -0.4913160502910614,
+          1.1278773546218872
+        ],
+        [
+          0.04826156422495842,
+          -0.9971727728843689,
+          -0.05759761109948158,
+          -36.334774017333984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5140,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_383082628",
+      "mask_path": "../../mask/hdr_left_05140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05142.png",
+      "transform_matrix": [
+        [
+          -0.6425830721855164,
+          -0.055894285440444946,
+          0.7641746401786804,
+          125.81959533691406
+        ],
+        [
+          -0.7647988796234131,
+          -0.013842182233929634,
+          -0.6441203951835632,
+          1.169971227645874
+        ],
+        [
+          0.046580493450164795,
+          -0.9983407855033875,
+          -0.03385313227772713,
+          -36.345008850097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5142,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_583082437",
+      "mask_path": "../../mask/hdr_left_05142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05145.png",
+      "transform_matrix": [
+        [
+          -0.8420587182044983,
+          -0.04015256091952324,
+          0.5378892421722412,
+          125.74365234375
+        ],
+        [
+          -0.5379237532615662,
+          -0.01086188480257988,
+          -0.8429235816001892,
+          1.2753143310546875
+        ],
+        [
+          0.039688028395175934,
+          -0.9991345405578613,
+          -0.012452668510377407,
+          -36.36560821533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5145,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_883080005",
+      "mask_path": "../../mask/hdr_left_05145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05147.png",
+      "transform_matrix": [
+        [
+          -0.9253996014595032,
+          -0.04345061630010605,
+          0.37649381160736084,
+          125.71417236328125
+        ],
+        [
+          -0.3776739835739136,
+          0.022924106568098068,
+          -0.9256548285484314,
+          1.3700388669967651
+        ],
+        [
+          0.03158948943018913,
+          -0.9987925887107849,
+          -0.03762412443757057,
+          -36.3424072265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5147,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_83080291",
+      "mask_path": "../../mask/hdr_left_05147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05149.png",
+      "transform_matrix": [
+        [
+          -0.97850102186203,
+          -0.04438389092683792,
+          0.20140956342220306,
+          125.67469024658203
+        ],
+        [
+          -0.2019641250371933,
+          0.00834009237587452,
+          -0.9793573617935181,
+          1.4487414360046387
+        ],
+        [
+          0.04178791493177414,
+          -0.9989798069000244,
+          -0.01712474226951599,
+          -36.358638763427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5149,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_283080339",
+      "mask_path": "../../mask/hdr_left_05149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05151.png",
+      "transform_matrix": [
+        [
+          -0.9990215301513672,
+          -0.04341822490096092,
+          -0.00841069407761097,
+          125.66169738769531
+        ],
+        [
+          0.008506407961249352,
+          -0.002020608400925994,
+          -0.9999616742134094,
+          1.5419265031814575
+        ],
+        [
+          0.04339957237243652,
+          -0.9990549683570862,
+          0.0023879664950072765,
+          -36.345977783203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5151,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_483081579",
+      "mask_path": "../../mask/hdr_left_05151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05154.png",
+      "transform_matrix": [
+        [
+          -0.9600073099136353,
+          -0.037148136645555496,
+          -0.27749931812286377,
+          125.67898559570312
+        ],
+        [
+          0.2773776352405548,
+          0.008494721725583076,
+          -0.9607234597206116,
+          1.6570870876312256
+        ],
+        [
+          0.03804636374115944,
+          -0.9992737174034119,
+          0.0021490680519491434,
+          -36.324642181396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5154,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_783084630",
+      "mask_path": "../../mask/hdr_left_05154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05159.png",
+      "transform_matrix": [
+        [
+          -0.9396049976348877,
+          -0.052197352051734924,
+          -0.3382571339607239,
+          125.66513061523438
+        ],
+        [
+          0.3394666910171509,
+          -0.016102036461234093,
+          -0.9404801726341248,
+          1.7187668085098267
+        ],
+        [
+          0.04364394396543503,
+          -0.998507022857666,
+          0.032848820090293884,
+          -36.3252067565918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5159,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_283082485",
+      "mask_path": "../../mask/hdr_left_05159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05161.png",
+      "transform_matrix": [
+        [
+          -0.9360257387161255,
+          -0.0521211139857769,
+          -0.34805044531822205,
+          125.61622619628906
+        ],
+        [
+          0.3499741852283478,
+          -0.0336976982653141,
+          -0.9361530542373657,
+          1.7375335693359375
+        ],
+        [
+          0.037064842879772186,
+          -0.99807208776474,
+          0.04978295788168907,
+          -36.335365295410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5161,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_483082056",
+      "mask_path": "../../mask/hdr_left_05161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05163.png",
+      "transform_matrix": [
+        [
+          -0.9373443126678467,
+          -0.04529070109128952,
+          -0.34544792771339417,
+          125.54481506347656
+        ],
+        [
+          0.3464927673339844,
+          -0.017461813986301422,
+          -0.9378900527954102,
+          1.7614140510559082
+        ],
+        [
+          0.03644555062055588,
+          -0.9988212585449219,
+          0.03206063434481621,
+          -36.3204231262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5163,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_683082342",
+      "mask_path": "../../mask/hdr_left_05163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05166.png",
+      "transform_matrix": [
+        [
+          -0.9378820061683655,
+          -0.042845189571380615,
+          -0.34429866075515747,
+          125.39785766601562
+        ],
+        [
+          0.34575873613357544,
+          -0.0331096351146698,
+          -0.9377391934394836,
+          1.7811756134033203
+        ],
+        [
+          0.02877800166606903,
+          -0.9985330104827881,
+          0.045867033302783966,
+          -36.331993103027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5166,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_983082056",
+      "mask_path": "../../mask/hdr_left_05166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05167.png",
+      "transform_matrix": [
+        [
+          -0.9357032179832458,
+          -0.04482930153608322,
+          -0.34992825984954834,
+          125.33649444580078
+        ],
+        [
+          0.35181090235710144,
+          -0.04479599371552467,
+          -0.9349985718727112,
+          1.792593002319336
+        ],
+        [
+          0.026239950209856033,
+          -0.9979898929595947,
+          0.057687193155288696,
+          -36.3233757019043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5167,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_83081722",
+      "mask_path": "../../mask/hdr_left_05167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05168.png",
+      "transform_matrix": [
+        [
+          -0.9335074424743652,
+          -0.049820009618997574,
+          -0.35507991909980774,
+          125.27193450927734
+        ],
+        [
+          0.3574100434780121,
+          -0.05011473223567009,
+          -0.932602047920227,
+          1.7897733449935913
+        ],
+        [
+          0.028667498379945755,
+          -0.9975001811981201,
+          0.06458865106105804,
+          -36.315399169921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5168,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_183082818",
+      "mask_path": "../../mask/hdr_left_05168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05169.png",
+      "transform_matrix": [
+        [
+          -0.9340752959251404,
+          -0.0504719503223896,
+          -0.3534908890724182,
+          125.19888305664062
+        ],
+        [
+          0.35575446486473083,
+          -0.04645165055990219,
+          -0.9334242939949036,
+          1.7896239757537842
+        ],
+        [
+          0.03069150075316429,
+          -0.9976446628570557,
+          0.06134496629238129,
+          -36.30497360229492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5169,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_283081769",
+      "mask_path": "../../mask/hdr_left_05169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05170.png",
+      "transform_matrix": [
+        [
+          -0.9361967444419861,
+          -0.049598898738622665,
+          -0.34795916080474854,
+          125.14063262939453
+        ],
+        [
+          0.34995368123054504,
+          -0.03948839753866196,
+          -0.9359342455863953,
+          1.791585087776184
+        ],
+        [
+          0.03268095478415489,
+          -0.9979883432388306,
+          0.05432622507214546,
+          -36.302085876464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5170,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_383081436",
+      "mask_path": "../../mask/hdr_left_05170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05172.png",
+      "transform_matrix": [
+        [
+          -0.9372850060462952,
+          -0.05339032784104347,
+          -0.3444504141807556,
+          125.0336685180664
+        ],
+        [
+          0.34662193059921265,
+          -0.038605302572250366,
+          -0.9372101426124573,
+          1.7904903888702393
+        ],
+        [
+          0.036740340292453766,
+          -0.9978272318840027,
+          0.05469043180346489,
+          -36.29457473754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5172,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_583083629",
+      "mask_path": "../../mask/hdr_left_05172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05173.png",
+      "transform_matrix": [
+        [
+          -0.9352397322654724,
+          -0.061642590910196304,
+          -0.34860676527023315,
+          124.97755432128906
+        ],
+        [
+          0.35139212012290955,
+          -0.04199805110692978,
+          -0.9352859258651733,
+          1.7923693656921387
+        ],
+        [
+          0.04301263764500618,
+          -0.9972143769264221,
+          0.06093896925449371,
+          -36.27821731567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5173,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_683082103",
+      "mask_path": "../../mask/hdr_left_05173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05175.png",
+      "transform_matrix": [
+        [
+          -0.9283995628356934,
+          -0.08487489819526672,
+          -0.36176028847694397,
+          124.89412689208984
+        ],
+        [
+          0.3666824400424957,
+          -0.05166228860616684,
+          -0.9289107322692871,
+          1.8145958185195923
+        ],
+        [
+          0.0601518340408802,
+          -0.995051383972168,
+          0.07908537238836288,
+          -36.264404296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5175,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_883082151",
+      "mask_path": "../../mask/hdr_left_05175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05176.png",
+      "transform_matrix": [
+        [
+          -0.9253163933753967,
+          -0.10808797180652618,
+          -0.3634646534919739,
+          124.83380126953125
+        ],
+        [
+          0.37107324600219727,
+          -0.06077681854367256,
+          -0.9266126155853271,
+          1.805652379989624
+        ],
+        [
+          0.07806544750928879,
+          -0.9922818541526794,
+          0.09634633362293243,
+          -36.24508285522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5176,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_983081817",
+      "mask_path": "../../mask/hdr_left_05176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05177.png",
+      "transform_matrix": [
+        [
+          -0.9235281348228455,
+          -0.12295759469270706,
+          -0.3632866442203522,
+          124.76995086669922
+        ],
+        [
+          0.3713800609111786,
+          -0.050162505358457565,
+          -0.9271249175071716,
+          1.7962077856063843
+        ],
+        [
+          0.09577367454767227,
+          -0.9911434054374695,
+          0.09199047833681107,
+          -36.196014404296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5177,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_83082437",
+      "mask_path": "../../mask/hdr_left_05177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05179.png",
+      "transform_matrix": [
+        [
+          -0.9164630174636841,
+          -0.1302046775817871,
+          -0.37834155559539795,
+          124.70471954345703
+        ],
+        [
+          0.38454657793045044,
+          -0.025387810543179512,
+          -0.9227563738822937,
+          1.8176144361495972
+        ],
+        [
+          0.1105419397354126,
+          -0.9911620616912842,
+          0.07333675026893616,
+          -36.18498992919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5179,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_283080816",
+      "mask_path": "../../mask/hdr_left_05179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05181.png",
+      "transform_matrix": [
+        [
+          -0.8942936658859253,
+          -0.13836026191711426,
+          -0.42555296421051025,
+          124.63925170898438
+        ],
+        [
+          0.4318506717681885,
+          -0.0177064947783947,
+          -0.9017713665962219,
+          1.8582890033721924
+        ],
+        [
+          0.1172342523932457,
+          -0.9902237057685852,
+          0.07558577507734299,
+          -36.177127838134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5181,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_483082056",
+      "mask_path": "../../mask/hdr_left_05181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05183.png",
+      "transform_matrix": [
+        [
+          -0.8568838834762573,
+          -0.14355243742465973,
+          -0.49511876702308655,
+          124.60467529296875
+        ],
+        [
+          0.5004900097846985,
+          -0.0015130143146961927,
+          -0.8657410740852356,
+          1.9053621292114258
+        ],
+        [
+          0.12353010475635529,
+          -0.989641547203064,
+          0.07314303517341614,
+          -36.16490936279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5183,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_683083057",
+      "mask_path": "../../mask/hdr_left_05183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05185.png",
+      "transform_matrix": [
+        [
+          -0.8298401832580566,
+          -0.14321665465831757,
+          -0.5393090844154358,
+          124.53367614746094
+        ],
+        [
+          0.5436328053474426,
+          0.010413763113319874,
+          -0.8392585515975952,
+          1.929923176765442
+        ],
+        [
+          0.12581203877925873,
+          -0.9896366000175476,
+          0.06921551376581192,
+          -36.13140106201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5185,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_883081912",
+      "mask_path": "../../mask/hdr_left_05185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05187.png",
+      "transform_matrix": [
+        [
+          -0.8308285474777222,
+          -0.13255172967910767,
+          -0.5405126810073853,
+          124.4482650756836
+        ],
+        [
+          0.5428091883659363,
+          0.021314186975359917,
+          -0.8395856022834778,
+          1.956642746925354
+        ],
+        [
+          0.12280908972024918,
+          -0.990946888923645,
+          0.05424186959862709,
+          -36.140968322753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5187,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_83081483",
+      "mask_path": "../../mask/hdr_left_05187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05188.png",
+      "transform_matrix": [
+        [
+          -0.8278558254241943,
+          -0.13197065889835358,
+          -0.5451958179473877,
+          124.40505981445312
+        ],
+        [
+          0.5468287467956543,
+          0.026773635298013687,
+          -0.8368163108825684,
+          1.9812620878219604
+        ],
+        [
+          0.12503208220005035,
+          -0.9908919930458069,
+          0.05000065639615059,
+          -36.117767333984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5188,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_183080911",
+      "mask_path": "../../mask/hdr_left_05188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05191.png",
+      "transform_matrix": [
+        [
+          -0.8140056729316711,
+          -0.13847309350967407,
+          -0.5641098618507385,
+          124.27420806884766
+        ],
+        [
+          0.5654907822608948,
+          0.032983213663101196,
+          -0.8240947723388672,
+          2.0643062591552734
+        ],
+        [
+          0.13272109627723694,
+          -0.9898168444633484,
+          0.05145673826336861,
+          -36.080047607421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5191,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_483079910",
+      "mask_path": "../../mask/hdr_left_05191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05192.png",
+      "transform_matrix": [
+        [
+          -0.8114732503890991,
+          -0.13245774805545807,
+          -0.5691801309585571,
+          124.21369934082031
+        ],
+        [
+          0.5691516399383545,
+          0.041832298040390015,
+          -0.8211677074432373,
+          2.0993998050689697
+        ],
+        [
+          0.13258013129234314,
+          -0.990305483341217,
+          0.041442740708589554,
+          -36.07666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5192,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_583080291",
+      "mask_path": "../../mask/hdr_left_05192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05193.png",
+      "transform_matrix": [
+        [
+          -0.8089163899421692,
+          -0.13219764828681946,
+          -0.5728682279586792,
+          124.15867614746094
+        ],
+        [
+          0.5723095536231995,
+          0.04601344093680382,
+          -0.8187457323074341,
+          2.1208043098449707
+        ],
+        [
+          0.13459590077400208,
+          -0.9901549220085144,
+          0.038436949253082275,
+          -36.08011245727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5193,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_683080673",
+      "mask_path": "../../mask/hdr_left_05193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05194.png",
+      "transform_matrix": [
+        [
+          -0.8065692186355591,
+          -0.12731437385082245,
+          -0.5772668719291687,
+          124.0925521850586
+        ],
+        [
+          0.5779727101325989,
+          0.03511612489819527,
+          -0.8153002262115479,
+          2.1559059619903564
+        ],
+        [
+          0.12407078593969345,
+          -0.9912406206130981,
+          0.04526064544916153,
+          -36.0720329284668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5194,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_783080577",
+      "mask_path": "../../mask/hdr_left_05194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05195.png",
+      "transform_matrix": [
+        [
+          -0.8000519275665283,
+          -0.12877562642097473,
+          -0.585946798324585,
+          124.02293395996094
+        ],
+        [
+          0.5877858996391296,
+          0.027271822094917297,
+          -0.8085567951202393,
+          2.1958882808685303
+        ],
+        [
+          0.12010221928358078,
+          -0.9912987351417542,
+          0.053873613476753235,
+          -36.0490608215332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5195,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_883078336",
+      "mask_path": "../../mask/hdr_left_05195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05196.png",
+      "transform_matrix": [
+        [
+          -0.7942245006561279,
+          -0.1368798315525055,
+          -0.5920062065124512,
+          123.96468353271484
+        ],
+        [
+          0.5949297547340393,
+          0.02293807826936245,
+          -0.8034502863883972,
+          2.2238805294036865
+        ],
+        [
+          0.12355562299489975,
+          -0.9903221130371094,
+          0.06321589648723602,
+          -36.042930603027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5196,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_983079195",
+      "mask_path": "../../mask/hdr_left_05196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05197.png",
+      "transform_matrix": [
+        [
+          -0.7888311743736267,
+          -0.1562853455543518,
+          -0.5944074392318726,
+          123.90209197998047
+        ],
+        [
+          0.6001705527305603,
+          0.012529873289167881,
+          -0.7997738122940063,
+          2.2389068603515625
+        ],
+        [
+          0.13244079053401947,
+          -0.9876325130462646,
+          0.08391392230987549,
+          -36.03134536743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5197,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_83078384",
+      "mask_path": "../../mask/hdr_left_05197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05198.png",
+      "transform_matrix": [
+        [
+          -0.7882781028747559,
+          -0.16353057324886322,
+          -0.5931907296180725,
+          123.81633758544922
+        ],
+        [
+          0.5983261466026306,
+          0.021283604204654694,
+          -0.8009698987007141,
+          2.253635883331299
+        ],
+        [
+          0.14360831677913666,
+          -0.986308753490448,
+          0.08106722682714462,
+          -35.973663330078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5198,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_183079004",
+      "mask_path": "../../mask/hdr_left_05198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05199.png",
+      "transform_matrix": [
+        [
+          -0.7931227684020996,
+          -0.15730629861354828,
+          -0.5883969068527222,
+          123.73818969726562
+        ],
+        [
+          0.5905727744102478,
+          0.03759974241256714,
+          -0.8061079978942871,
+          2.284576654434204
+        ],
+        [
+          0.1489294320344925,
+          -0.9868338704109192,
+          0.06307961046695709,
+          -35.954139709472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5199,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_283081054",
+      "mask_path": "../../mask/hdr_left_05199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05200.png",
+      "transform_matrix": [
+        [
+          -0.7964564561843872,
+          -0.1544119417667389,
+          -0.5846487283706665,
+          123.68489074707031
+        ],
+        [
+          0.585423469543457,
+          0.045253101736307144,
+          -0.8094636797904968,
+          2.313508987426758
+        ],
+        [
+          0.15144801139831543,
+          -0.9869697093963623,
+          0.05435425043106079,
+          -35.959144592285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5200,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_383080244",
+      "mask_path": "../../mask/hdr_left_05200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05201.png",
+      "transform_matrix": [
+        [
+          -0.7951812148094177,
+          -0.1498716175556183,
+          -0.5875586867332458,
+          123.62654876708984
+        ],
+        [
+          0.5887304544448853,
+          0.04120844230055809,
+          -0.8072783350944519,
+          2.3350436687469482
+        ],
+        [
+          0.1452004760503769,
+          -0.9878463745117188,
+          0.05546579882502556,
+          -35.94844055175781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5201,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_483082532",
+      "mask_path": "../../mask/hdr_left_05201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05202.png",
+      "transform_matrix": [
+        [
+          -0.7906827330589294,
+          -0.15083014965057373,
+          -0.5933555960655212,
+          123.57030487060547
+        ],
+        [
+          0.5955217480659485,
+          0.03536956384778023,
+          -0.8025601506233215,
+          2.3554210662841797
+        ],
+        [
+          0.14203697443008423,
+          -0.9879268407821655,
+          0.06185651943087578,
+          -35.9285888671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5202,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_583083152",
+      "mask_path": "../../mask/hdr_left_05202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05204.png",
+      "transform_matrix": [
+        [
+          -0.7834073901176453,
+          -0.1503358781337738,
+          -0.6030522584915161,
+          123.47740936279297
+        ],
+        [
+          0.6059033274650574,
+          0.03132887929677963,
+          -0.7949211597442627,
+          2.391659736633301
+        ],
+        [
+          0.13839811086654663,
+          -0.9881384968757629,
+          0.06654573231935501,
+          -35.90570068359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5204,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_783082246",
+      "mask_path": "../../mask/hdr_left_05204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05205.png",
+      "transform_matrix": [
+        [
+          -0.7847927212715149,
+          -0.1376451849937439,
+          -0.6042798757553101,
+          123.40428924560547
+        ],
+        [
+          0.6055922508239746,
+          0.036960914731025696,
+          -0.7949162721633911,
+          2.4192306995391846
+        ],
+        [
+          0.1317511349916458,
+          -0.989791750907898,
+          0.05435020104050636,
+          -35.90290069580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5205,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_883081912",
+      "mask_path": "../../mask/hdr_left_05205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05207.png",
+      "transform_matrix": [
+        [
+          -0.7846070528030396,
+          -0.1278487890958786,
+          -0.6066683530807495,
+          123.32068634033203
+        ],
+        [
+          0.6065030694007874,
+          0.04473809897899628,
+          -0.7938214540481567,
+          2.4508540630340576
+        ],
+        [
+          0.12863029539585114,
+          -0.990784227848053,
+          0.042438868433237076,
+          -35.90076446533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5207,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_83081960",
+      "mask_path": "../../mask/hdr_left_05207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05209.png",
+      "transform_matrix": [
+        [
+          -0.777054488658905,
+          -0.1312832534313202,
+          -0.61558997631073,
+          123.23994445800781
+        ],
+        [
+          0.6149075627326965,
+          0.05056333541870117,
+          -0.7869765162467957,
+          2.481107234954834
+        ],
+        [
+          0.13444310426712036,
+          -0.9900546669960022,
+          0.04143659025430679,
+          -35.87592315673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5209,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_283082246",
+      "mask_path": "../../mask/hdr_left_05209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05210.png",
+      "transform_matrix": [
+        [
+          -0.7708186507225037,
+          -0.14270932972431183,
+          -0.6208643317222595,
+          123.19771575927734
+        ],
+        [
+          0.6217013597488403,
+          0.04416093975305557,
+          -0.7820084691047668,
+          2.5049216747283936
+        ],
+        [
+          0.13901783525943756,
+          -0.9887790083885193,
+          0.05468250438570976,
+          -35.858882904052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5210,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_383082151",
+      "mask_path": "../../mask/hdr_left_05210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05212.png",
+      "transform_matrix": [
+        [
+          -0.7673012614250183,
+          -0.13951559364795685,
+          -0.6259266138076782,
+          123.10047149658203
+        ],
+        [
+          0.6278393268585205,
+          0.03540429472923279,
+          -0.7775372862815857,
+          2.5300962924957275
+        ],
+        [
+          0.13063907623291016,
+          -0.9895867705345154,
+          0.06042761728167534,
+          -35.813392639160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5212,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_583081722",
+      "mask_path": "../../mask/hdr_left_05212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05258.png",
+      "transform_matrix": [
+        [
+          -0.7631155252456665,
+          -0.2266518622636795,
+          -0.6052136421203613,
+          122.92385864257812
+        ],
+        [
+          0.6281384825706482,
+          -0.039903298020362854,
+          -0.7770776748657227,
+          2.4734678268432617
+        ],
+        [
+          0.151976078748703,
+          -0.9731581211090088,
+          0.1728195697069168,
+          -35.74861145019531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5258,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323788_183081626",
+      "mask_path": "../../mask/hdr_left_05258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05282.png",
+      "transform_matrix": [
+        [
+          -0.6996539831161499,
+          -0.16073881089687347,
+          -0.6961661577224731,
+          122.90325164794922
+        ],
+        [
+          0.7004117965698242,
+          0.03811240941286087,
+          -0.7127206325531006,
+          2.517960786819458
+        ],
+        [
+          0.14109443128108978,
+          -0.9862608313560486,
+          0.0859178677201271,
+          -35.763526916503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5282,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323790_583080053",
+      "mask_path": "../../mask/hdr_left_05282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05285.png",
+      "transform_matrix": [
+        [
+          -0.6999184489250183,
+          -0.15615056455135345,
+          -0.6969440579414368,
+          122.84117126464844
+        ],
+        [
+          0.7022486329078674,
+          0.027474863454699516,
+          -0.7114014625549316,
+          2.5586044788360596
+        ],
+        [
+          0.13023413717746735,
+          -0.9873511791229248,
+          0.09042635560035706,
+          -35.75948715209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5285,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323790_883082389",
+      "mask_path": "../../mask/hdr_left_05285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05288.png",
+      "transform_matrix": [
+        [
+          -0.6867188215255737,
+          -0.14919742941856384,
+          -0.7114473581314087,
+          122.7953109741211
+        ],
+        [
+          0.7169499397277832,
+          0.022553354501724243,
+          -0.6967597007751465,
+          2.6119327545166016
+        ],
+        [
+          0.12000027298927307,
+          -0.9885502457618713,
+          0.09147927165031433,
+          -35.75126647949219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5288,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_183082818",
+      "mask_path": "../../mask/hdr_left_05288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05290.png",
+      "transform_matrix": [
+        [
+          -0.683746874332428,
+          -0.13617798686027527,
+          -0.716900110244751,
+          122.74793243408203
+        ],
+        [
+          0.7208948135375977,
+          0.026267945766448975,
+          -0.6925464868545532,
+          2.6607418060302734
+        ],
+        [
+          0.11314108222723007,
+          -0.9903361201286316,
+          0.0802093893289566,
+          -35.73174285888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5290,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_383081912",
+      "mask_path": "../../mask/hdr_left_05290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05292.png",
+      "transform_matrix": [
+        [
+          -0.6835688948631287,
+          -0.12931883335113525,
+          -0.7183384895324707,
+          122.68523406982422
+        ],
+        [
+          0.721926212310791,
+          0.025159761309623718,
+          -0.6915123462677002,
+          2.7115695476531982
+        ],
+        [
+          0.10749880224466324,
+          -0.9912838935852051,
+          0.0761602446436882,
+          -35.73902130126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5292,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_583082199",
+      "mask_path": "../../mask/hdr_left_05292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05300.png",
+      "transform_matrix": [
+        [
+          -0.6633461713790894,
+          -0.11154389381408691,
+          -0.7399525046348572,
+          122.48872375488281
+        ],
+        [
+          0.7414023280143738,
+          0.036105990409851074,
+          -0.6700887084007263,
+          2.9286422729492188
+        ],
+        [
+          0.1014610230922699,
+          -0.9931034445762634,
+          0.05874812602996826,
+          -35.711280822753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5300,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_383080720",
+      "mask_path": "../../mask/hdr_left_05300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05303.png",
+      "transform_matrix": [
+        [
+          -0.6496650576591492,
+          -0.1416972577571869,
+          -0.7468984127044678,
+          122.34925079345703
+        ],
+        [
+          0.7512391805648804,
+          0.03091387078166008,
+          -0.6593056917190552,
+          3.035179615020752
+        ],
+        [
+          0.11651131510734558,
+          -0.9894272685050964,
+          0.08636485785245895,
+          -35.675846099853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5303,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_683081865",
+      "mask_path": "../../mask/hdr_left_05303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05304.png",
+      "transform_matrix": [
+        [
+          -0.6679997444152832,
+          -0.14728610217571259,
+          -0.7294403314590454,
+          122.2677993774414
+        ],
+        [
+          0.7337141633033752,
+          0.03331726789474487,
+          -0.6786409020423889,
+          3.0729854106903076
+        ],
+        [
+          0.12425732612609863,
+          -0.9885327219963074,
+          0.08580996096134186,
+          -35.63483810424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5304,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_783081293",
+      "mask_path": "../../mask/hdr_left_05304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05306.png",
+      "transform_matrix": [
+        [
+          -0.7338774800300598,
+          -0.14231783151626587,
+          -0.6642058491706848,
+          122.16875457763672
+        ],
+        [
+          0.6669270992279053,
+          0.03468181937932968,
+          -0.7443153858184814,
+          3.0867555141448975
+        ],
+        [
+          0.12896521389484406,
+          -0.989213228225708,
+          0.06946340948343277,
+          -35.63487243652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5306,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_983082771",
+      "mask_path": "../../mask/hdr_left_05306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05307.png",
+      "transform_matrix": [
+        [
+          -0.7665512561798096,
+          -0.13805873692035675,
+          -0.6271673440933228,
+          122.09808349609375
+        ],
+        [
+          0.6303352117538452,
+          0.02497558854520321,
+          -0.7759212851524353,
+          3.1100234985351562
+        ],
+        [
+          0.12278653681278229,
+          -0.9901091456413269,
+          0.06787820160388947,
+          -35.606689453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5307,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_83081960",
+      "mask_path": "../../mask/hdr_left_05307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05308.png",
+      "transform_matrix": [
+        [
+          -0.7942339181900024,
+          -0.13979560136795044,
+          -0.5913118124008179,
+          122.01917266845703
+        ],
+        [
+          0.5952366590499878,
+          0.016400976106524467,
+          -0.8033830523490906,
+          3.136625051498413
+        ],
+        [
+          0.12200748920440674,
+          -0.9900446534156799,
+          0.07018525153398514,
+          -35.577701568603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5308,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_183081626",
+      "mask_path": "../../mask/hdr_left_05308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05309.png",
+      "transform_matrix": [
+        [
+          -0.8181307315826416,
+          -0.14689981937408447,
+          -0.5559518933296204,
+          121.93594360351562
+        ],
+        [
+          0.5610668659210205,
+          0.007854216732084751,
+          -0.8277332782745361,
+          3.1619465351104736
+        ],
+        [
+          0.12596040964126587,
+          -0.9891202449798584,
+          0.07599484920501709,
+          -35.563777923583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5309,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_283082485",
+      "mask_path": "../../mask/hdr_left_05309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05310.png",
+      "transform_matrix": [
+        [
+          -0.8384713530540466,
+          -0.15325342118740082,
+          -0.5229523181915283,
+          121.8675308227539
+        ],
+        [
+          0.529796838760376,
+          -0.004548298195004463,
+          -0.8481124639511108,
+          3.1697444915771484
+        ],
+        [
+          0.1275976002216339,
+          -0.9881764650344849,
+          0.08500678837299347,
+          -35.5590934753418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5310,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_383083343",
+      "mask_path": "../../mask/hdr_left_05310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05311.png",
+      "transform_matrix": [
+        [
+          -0.8471962213516235,
+          -0.1539454609155655,
+          -0.5084872841835022,
+          121.78931427001953
+        ],
+        [
+          0.5152744054794312,
+          -0.004932267125695944,
+          -0.8570111393928528,
+          3.1864075660705566
+        ],
+        [
+          0.12942495942115784,
+          -0.988067090511322,
+          0.08350275456905365,
+          -35.534217834472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5311,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_483082294",
+      "mask_path": "../../mask/hdr_left_05311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05330.png",
+      "transform_matrix": [
+        [
+          -0.8040364384651184,
+          -0.07572083175182343,
+          -0.5897385478019714,
+          121.26409149169922
+        ],
+        [
+          0.5900693535804749,
+          0.020322268828749657,
+          -0.8070967197418213,
+          3.447543144226074
+        ],
+        [
+          0.07309885323047638,
+          -0.9969220161437988,
+          0.028340691700577736,
+          -35.4550666809082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5330,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_383081436",
+      "mask_path": "../../mask/hdr_left_05330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05332.png",
+      "transform_matrix": [
+        [
+          -0.7915538549423218,
+          -0.06835835427045822,
+          -0.6072639226913452,
+          121.17691040039062
+        ],
+        [
+          0.6082901954650879,
+          0.0070345341227948666,
+          -0.7936835289001465,
+          3.4833462238311768
+        ],
+        [
+          0.05852671340107918,
+          -0.997636079788208,
+          0.03601350635290146,
+          -35.42431640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5332,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_583081483",
+      "mask_path": "../../mask/hdr_left_05332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05334.png",
+      "transform_matrix": [
+        [
+          -0.7733947038650513,
+          -0.06858377903699875,
+          -0.6302038431167603,
+          121.0704345703125
+        ],
+        [
+          0.6314001679420471,
+          0.00529473228380084,
+          -0.7754390835762024,
+          3.546172618865967
+        ],
+        [
+          0.05651930347084999,
+          -0.9976313710212708,
+          0.03920888900756836,
+          -35.42491149902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5334,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_783081531",
+      "mask_path": "../../mask/hdr_left_05334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05335.png",
+      "transform_matrix": [
+        [
+          -0.7717950940132141,
+          -0.060740601271390915,
+          -0.6329635381698608,
+          120.99930572509766
+        ],
+        [
+          0.6336241960525513,
+          0.01014681439846754,
+          -0.7735744714736938,
+          3.571876049041748
+        ],
+        [
+          0.05340993404388428,
+          -0.9981020092964172,
+          0.030655452981591225,
+          -35.425479888916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5335,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_883081436",
+      "mask_path": "../../mask/hdr_left_05335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05337.png",
+      "transform_matrix": [
+        [
+          -0.7685719132423401,
+          -0.050042957067489624,
+          -0.6378031969070435,
+          120.91233825683594
+        ],
+        [
+          0.6380054950714111,
+          0.013900628313422203,
+          -0.769906222820282,
+          3.6186702251434326
+        ],
+        [
+          0.047394249588251114,
+          -0.9986503720283508,
+          0.021244050934910774,
+          -35.438472747802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5337,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_83081960",
+      "mask_path": "../../mask/hdr_left_05337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05339.png",
+      "transform_matrix": [
+        [
+          -0.756721019744873,
+          -0.03657703846693039,
+          -0.6527138352394104,
+          120.84031677246094
+        ],
+        [
+          0.6528204679489136,
+          0.01059857290238142,
+          -0.7574385404586792,
+          3.663637399673462
+        ],
+        [
+          0.034622687846422195,
+          -0.9992746710777283,
+          0.015858080238103867,
+          -35.432071685791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5339,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_283082723",
+      "mask_path": "../../mask/hdr_left_05339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05341.png",
+      "transform_matrix": [
+        [
+          -0.7370228171348572,
+          -0.04146799072623253,
+          -0.6745944023132324,
+          120.77686309814453
+        ],
+        [
+          0.6749703288078308,
+          0.006258341949433088,
+          -0.7378183007240295,
+          3.698122262954712
+        ],
+        [
+          0.03481767699122429,
+          -0.99912029504776,
+          0.023377124220132828,
+          -35.426910400390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5341,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_483082294",
+      "mask_path": "../../mask/hdr_left_05341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05342.png",
+      "transform_matrix": [
+        [
+          -0.7349629998207092,
+          -0.03444229066371918,
+          -0.6772319078445435,
+          120.71696472167969
+        ],
+        [
+          0.6774024367332458,
+          0.008227873593568802,
+          -0.7355665564537048,
+          3.728621006011963
+        ],
+        [
+          0.03090677037835121,
+          -0.9993728399276733,
+          0.017284110188484192,
+          -35.416587829589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5342,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_583082199",
+      "mask_path": "../../mask/hdr_left_05342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05345.png",
+      "transform_matrix": [
+        [
+          -0.7449173331260681,
+          -0.019083283841609955,
+          -0.6668837666511536,
+          120.58085632324219
+        ],
+        [
+          0.6668586134910583,
+          0.008582010865211487,
+          -0.7451347708702087,
+          3.7870750427246094
+        ],
+        [
+          0.019942818209528923,
+          -0.9997811317443848,
+          0.006332966964691877,
+          -35.431705474853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5345,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_883081674",
+      "mask_path": "../../mask/hdr_left_05345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05346.png",
+      "transform_matrix": [
+        [
+          -0.7429046034812927,
+          -0.015371100045740604,
+          -0.6692206263542175,
+          120.52256774902344
+        ],
+        [
+          0.669230580329895,
+          0.005252726376056671,
+          -0.7430363297462463,
+          3.820890188217163
+        ],
+        [
+          0.014936516992747784,
+          -0.9998680949211121,
+          0.006384534761309624,
+          -35.425315856933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5346,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_983081340",
+      "mask_path": "../../mask/hdr_left_05346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05349.png",
+      "transform_matrix": [
+        [
+          -0.7217055559158325,
+          -0.02759360894560814,
+          -0.6916499733924866,
+          120.3809585571289
+        ],
+        [
+          0.6918584704399109,
+          0.002636966295540333,
+          -0.722028374671936,
+          3.9218883514404297
+        ],
+        [
+          0.021747222170233727,
+          -0.9996157884597778,
+          0.017187757417559624,
+          -35.41676712036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5349,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_283082485",
+      "mask_path": "../../mask/hdr_left_05349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05350.png",
+      "transform_matrix": [
+        [
+          -0.7213923335075378,
+          -0.024435726925730705,
+          -0.6920952796936035,
+          120.29701232910156
+        ],
+        [
+          0.6920893788337708,
+          0.010067128576338291,
+          -0.7217416167259216,
+          3.970824718475342
+        ],
+        [
+          0.024603690952062607,
+          -0.9996507167816162,
+          0.009649359621107578,
+          -35.409942626953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5350,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_383081197",
+      "mask_path": "../../mask/hdr_left_05350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05351.png",
+      "transform_matrix": [
+        [
+          -0.723298966884613,
+          -0.022640954703092575,
+          -0.6901638507843018,
+          120.24085235595703
+        ],
+        [
+          0.6899728775024414,
+          0.0166215468198061,
+          -0.7236443161964417,
+          3.999370813369751
+        ],
+        [
+          0.027855582535266876,
+          -0.9996055364608765,
+          0.003599299816414714,
+          -35.41183853149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5351,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_483081579",
+      "mask_path": "../../mask/hdr_left_05351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05352.png",
+      "transform_matrix": [
+        [
+          -0.7241168022155762,
+          -0.023370712995529175,
+          -0.6892812848091125,
+          120.18435668945312
+        ],
+        [
+          0.6891121864318848,
+          0.015935270115733147,
+          -0.7244795560836792,
+          4.026853084564209
+        ],
+        [
+          0.027915481477975845,
+          -0.9995999336242676,
+          0.004566042218357325,
+          -35.419525146484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5352,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_583081007",
+      "mask_path": "../../mask/hdr_left_05352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05353.png",
+      "transform_matrix": [
+        [
+          -0.7205507159233093,
+          -0.017130708321928978,
+          -0.6931906938552856,
+          120.11480712890625
+        ],
+        [
+          0.6930491328239441,
+          0.014110269956290722,
+          -0.7207522392272949,
+          4.066615581512451
+        ],
+        [
+          0.02212810143828392,
+          -0.9997537136077881,
+          0.0017052607145160437,
+          -35.4159049987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5353,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_683082103",
+      "mask_path": "../../mask/hdr_left_05353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05354.png",
+      "transform_matrix": [
+        [
+          -0.7113778591156006,
+          -0.014497695490717888,
+          -0.702660083770752,
+          120.0537338256836
+        ],
+        [
+          0.7025823593139648,
+          0.010756966657936573,
+          -0.7115211486816406,
+          4.10980749130249
+        ],
+        [
+          0.01787390559911728,
+          -0.9998370409011841,
+          0.0025335578247904778,
+          -35.403045654296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5354,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_783080339",
+      "mask_path": "../../mask/hdr_left_05354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05355.png",
+      "transform_matrix": [
+        [
+          -0.6989531517028809,
+          -0.018909601494669914,
+          -0.7149173617362976,
+          120.00376892089844
+        ],
+        [
+          0.7148711681365967,
+          0.010299813002347946,
+          -0.6991803646087646,
+          4.143795967102051
+        ],
+        [
+          0.02058473415672779,
+          -0.9997682571411133,
+          0.006318842992186546,
+          -35.403587341308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5355,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_883081197",
+      "mask_path": "../../mask/hdr_left_05355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05356.png",
+      "transform_matrix": [
+        [
+          -0.6887409687042236,
+          -0.0257060918956995,
+          -0.7245516777038574,
+          119.91725158691406
+        ],
+        [
+          0.7244884967803955,
+          0.013404732570052147,
+          -0.6891564130783081,
+          4.1937255859375
+        ],
+        [
+          0.02742794156074524,
+          -0.999579668045044,
+          0.009391384199261665,
+          -35.4054069519043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5356,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_983082532",
+      "mask_path": "../../mask/hdr_left_05356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05357.png",
+      "transform_matrix": [
+        [
+          -0.6879355311393738,
+          -0.024549167603254318,
+          -0.7253565192222595,
+          119.82205200195312
+        ],
+        [
+          0.7251242995262146,
+          0.018957223743200302,
+          -0.6883569359779358,
+          4.243833065032959
+        ],
+        [
+          0.030649330466985703,
+          -0.999518871307373,
+          0.004759855102747679,
+          -35.397727966308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5357,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_83081960",
+      "mask_path": "../../mask/hdr_left_05357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05358.png",
+      "transform_matrix": [
+        [
+          -0.6920011043548584,
+          -0.021779866889119148,
+          -0.7215677499771118,
+          119.75528717041016
+        ],
+        [
+          0.7212304472923279,
+          0.022064661607146263,
+          -0.6923437714576721,
+          4.276442527770996
+        ],
+        [
+          0.031000297516584396,
+          -0.9995192885398865,
+          0.00043953079148195684,
+          -35.39390563964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5358,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_183080911",
+      "mask_path": "../../mask/hdr_left_05358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05359.png",
+      "transform_matrix": [
+        [
+          -0.694162130355835,
+          -0.026456676423549652,
+          -0.7193322777748108,
+          119.68974304199219
+        ],
+        [
+          0.7191733121871948,
+          0.016815099865198135,
+          -0.6946271657943726,
+          4.316344738006592
+        ],
+        [
+          0.030473168939352036,
+          -0.9995086193084717,
+          0.007354531902819872,
+          -35.397178649902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5359,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_283080816",
+      "mask_path": "../../mask/hdr_left_05359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05360.png",
+      "transform_matrix": [
+        [
+          -0.6902284622192383,
+          -0.022516608238220215,
+          -0.7232411503791809,
+          119.60946655273438
+        ],
+        [
+          0.723282516002655,
+          0.007738618645817041,
+          -0.6905089020729065,
+          4.368123531341553
+        ],
+        [
+          0.021144801750779152,
+          -0.9997166395187378,
+          0.010944455862045288,
+          -35.399253845214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5360,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_383079767",
+      "mask_path": "../../mask/hdr_left_05360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05361.png",
+      "transform_matrix": [
+        [
+          -0.6838573217391968,
+          -0.0187370628118515,
+          -0.7293750643730164,
+          119.54430389404297
+        ],
+        [
+          0.7294694781303406,
+          0.002455101814121008,
+          -0.6840089559555054,
+          4.415407657623291
+        ],
+        [
+          0.014607005752623081,
+          -0.9998214840888977,
+          0.011989178135991096,
+          -35.37879180908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5361,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_483082532",
+      "mask_path": "../../mask/hdr_left_05361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05362.png",
+      "transform_matrix": [
+        [
+          -0.6774624586105347,
+          -0.024858947843313217,
+          -0.7351371645927429,
+          119.49736785888672
+        ],
+        [
+          0.7353891730308533,
+          -0.0015203297371044755,
+          -0.6776432394981384,
+          4.448916912078857
+        ],
+        [
+          0.015727847814559937,
+          -0.9996898770332336,
+          0.01931096985936165,
+          -35.36912155151367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5362,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_583081960",
+      "mask_path": "../../mask/hdr_left_05362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05363.png",
+      "transform_matrix": [
+        [
+          -0.6710726022720337,
+          -0.03167369216680527,
+          -0.7407147884368896,
+          119.41980743408203
+        ],
+        [
+          0.7411159873008728,
+          -0.001416979357600212,
+          -0.6713754534721375,
+          4.5011491775512695
+        ],
+        [
+          0.020215360447764397,
+          -0.9994973540306091,
+          0.024424778297543526,
+          -35.37482452392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5363,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_683081388",
+      "mask_path": "../../mask/hdr_left_05363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05364.png",
+      "transform_matrix": [
+        [
+          -0.6699498891830444,
+          -0.02907215990126133,
+          -0.7418368458747864,
+          119.33305358886719
+        ],
+        [
+          0.7420676946640015,
+          0.003954697400331497,
+          -0.6703133583068848,
+          4.558255195617676
+        ],
+        [
+          0.02242119610309601,
+          -0.9995695352554321,
+          0.018924061208963394,
+          -35.372650146484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5364,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_783081293",
+      "mask_path": "../../mask/hdr_left_05364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05365.png",
+      "transform_matrix": [
+        [
+          -0.6717708706855774,
+          -0.024519938975572586,
+          -0.7403531074523926,
+          119.27034759521484
+        ],
+        [
+          0.7404444813728333,
+          0.006894037127494812,
+          -0.6720821857452393,
+          4.596646308898926
+        ],
+        [
+          0.02158343233168125,
+          -0.9996755719184875,
+          0.013524439185857773,
+          -35.370765686035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5365,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_883082628",
+      "mask_path": "../../mask/hdr_left_05365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05366.png",
+      "transform_matrix": [
+        [
+          -0.6721034646034241,
+          -0.02521902322769165,
+          -0.7400277256965637,
+          119.20797729492188
+        ],
+        [
+          0.7401943802833557,
+          0.0037411891389638186,
+          -0.6723825335502625,
+          4.639677047729492
+        ],
+        [
+          0.019725408405065536,
+          -0.9996749758720398,
+          0.01615251414477825,
+          -35.377830505371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5366,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_983082056",
+      "mask_path": "../../mask/hdr_left_05366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05367.png",
+      "transform_matrix": [
+        [
+          -0.6681790351867676,
+          -0.02473318576812744,
+          -0.7435892820358276,
+          119.13643646240234
+        ],
+        [
+          0.7437998652458191,
+          0.0009993038838729262,
+          -0.6684016585350037,
+          4.690187454223633
+        ],
+        [
+          0.017274772748351097,
+          -0.9996936321258545,
+          0.01772882603108883,
+          -35.373924255371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5367,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_83081960",
+      "mask_path": "../../mask/hdr_left_05367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05368.png",
+      "transform_matrix": [
+        [
+          -0.6613808274269104,
+          -0.027653634548187256,
+          -0.7495402693748474,
+          119.06720733642578
+        ],
+        [
+          0.7498689889907837,
+          -0.0024142691399902105,
+          -0.6615818738937378,
+          4.742927551269531
+        ],
+        [
+          0.01648554764688015,
+          -0.9996146559715271,
+          0.022333355620503426,
+          -35.361385345458984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5368,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_183082580",
+      "mask_path": "../../mask/hdr_left_05368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05369.png",
+      "transform_matrix": [
+        [
+          -0.6539987921714783,
+          -0.03673765808343887,
+          -0.7556029558181763,
+          119.00802612304688
+        ],
+        [
+          0.7562504410743713,
+          -0.00632519694045186,
+          -0.6542516946792603,
+          4.791524410247803
+        ],
+        [
+          0.019256334751844406,
+          -0.9993049502372742,
+          0.03191953897476196,
+          -35.355003356933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5369,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_283082962",
+      "mask_path": "../../mask/hdr_left_05369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05370.png",
+      "transform_matrix": [
+        [
+          -0.6494812965393066,
+          -0.04008752480149269,
+          -0.759320080280304,
+          118.93226623535156
+        ],
+        [
+          0.7601205706596375,
+          -0.008271845988929272,
+          -0.6497293710708618,
+          4.844317436218262
+        ],
+        [
+          0.019765058532357216,
+          -0.999161958694458,
+          0.03584375977516174,
+          -35.35118103027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5370,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_383082389",
+      "mask_path": "../../mask/hdr_left_05370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05371.png",
+      "transform_matrix": [
+        [
+          -0.6490330696105957,
+          -0.03542259708046913,
+          -0.7599350214004517,
+          118.85122680664062
+        ],
+        [
+          0.7605457305908203,
+          -0.006496296264231205,
+          -0.6492518782615662,
+          4.898366451263428
+        ],
+        [
+          0.018061421811580658,
+          -0.9993513226509094,
+          0.031156819313764572,
+          -35.352684020996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5371,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_483082294",
+      "mask_path": "../../mask/hdr_left_05371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05372.png",
+      "transform_matrix": [
+        [
+          -0.6493372321128845,
+          -0.03336745500564575,
+          -0.7597682476043701,
+          118.79251861572266
+        ],
+        [
+          0.7602823972702026,
+          -0.0045530665665864944,
+          -0.6495767831802368,
+          4.943445205688477
+        ],
+        [
+          0.018215443938970566,
+          -0.9994328618049622,
+          0.028325164690613747,
+          -35.35601806640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5372,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_583082199",
+      "mask_path": "../../mask/hdr_left_05372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05373.png",
+      "transform_matrix": [
+        [
+          -0.6469091773033142,
+          -0.03385349363088608,
+          -0.7618151903152466,
+          118.7330093383789
+        ],
+        [
+          0.7624507546424866,
+          -0.011277763172984123,
+          -0.6469479203224182,
+          4.989756107330322
+        ],
+        [
+          0.013309872709214687,
+          -0.9993632435798645,
+          0.03310731425881386,
+          -35.35895538330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5373,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_683083057",
+      "mask_path": "../../mask/hdr_left_05373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05374.png",
+      "transform_matrix": [
+        [
+          -0.643612802028656,
+          -0.031591176986694336,
+          -0.7646989822387695,
+          118.66606140136719
+        ],
+        [
+          0.7652968764305115,
+          -0.014655941165983677,
+          -0.6435106992721558,
+          5.04876184463501
+        ],
+        [
+          0.009121870622038841,
+          -0.9993934631347656,
+          0.03360937908291817,
+          -35.35265350341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5374,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_783083200",
+      "mask_path": "../../mask/hdr_left_05374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05375.png",
+      "transform_matrix": [
+        [
+          -0.6485412120819092,
+          -0.03168061375617981,
+          -0.7605199217796326,
+          118.6120376586914
+        ],
+        [
+          0.761123776435852,
+          -0.014917900785803795,
+          -0.6484349966049194,
+          5.098544120788574
+        ],
+        [
+          0.00919745396822691,
+          -0.9993867874145508,
+          0.03378774970769882,
+          -35.347267150878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5375,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_883085489",
+      "mask_path": "../../mask/hdr_left_05375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05376.png",
+      "transform_matrix": [
+        [
+          -0.6578083038330078,
+          -0.037947285920381546,
+          -0.7522287964820862,
+          118.5594253540039
+        ],
+        [
+          0.7530895471572876,
+          -0.017207928001880646,
+          -0.6576929092407227,
+          5.135160446166992
+        ],
+        [
+          0.012013362720608711,
+          -0.9991316795349121,
+          0.03989722579717636,
+          -35.34236145019531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5376,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_983081340",
+      "mask_path": "../../mask/hdr_left_05376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05377.png",
+      "transform_matrix": [
+        [
+          -0.6734516024589539,
+          -0.03715427964925766,
+          -0.7382969856262207,
+          118.49304962158203
+        ],
+        [
+          0.7391773462295532,
+          -0.021784480661153793,
+          -0.6731584668159485,
+          5.181367874145508
+        ],
+        [
+          0.008927296847105026,
+          -0.9990720748901367,
+          0.042134396731853485,
+          -35.34444046020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5377,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_83083152",
+      "mask_path": "../../mask/hdr_left_05377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04943.png",
+      "transform_matrix": [
+        [
+          -0.9018985629081726,
+          -0.046451669186353683,
+          -0.42944303154945374,
+          118.75309753417969
+        ],
+        [
+          0.4311702847480774,
+          -0.0371805839240551,
+          -0.9015041589736938,
+          4.928337574005127
+        ],
+        [
+          0.02590942196547985,
+          -0.9982283711433411,
+          0.05356168746948242,
+          -35.3638801574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4943,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_783081769",
+      "mask_path": "../../mask/hdr_right_04943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04944.png",
+      "transform_matrix": [
+        [
+          -0.9019687175750732,
+          -0.04315050318837166,
+          -0.4296400249004364,
+          118.80223846435547
+        ],
+        [
+          0.43117254972457886,
+          -0.036321625113487244,
+          -0.9015381336212158,
+          4.898117542266846
+        ],
+        [
+          0.023296594619750977,
+          -0.9984081387519836,
+          0.05136628448963165,
+          -35.37228775024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4944,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_883084058",
+      "mask_path": "../../mask/hdr_right_04944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04945.png",
+      "transform_matrix": [
+        [
+          -0.8984439373016357,
+          -0.04219784587621689,
+          -0.4370560348033905,
+          118.87146759033203
+        ],
+        [
+          0.43836528062820435,
+          -0.02909824065864086,
+          -0.8983257412910461,
+          4.847154140472412
+        ],
+        [
+          0.025189852342009544,
+          -0.9986854791641235,
+          0.04464120790362358,
+          -35.37057876586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4945,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_983081817",
+      "mask_path": "../../mask/hdr_right_04945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04946.png",
+      "transform_matrix": [
+        [
+          -0.8936657905578613,
+          -0.04121909663081169,
+          -0.4468359053134918,
+          118.93370819091797
+        ],
+        [
+          0.4479523003101349,
+          -0.023233218118548393,
+          -0.8937555551528931,
+          4.797052383422852
+        ],
+        [
+          0.026458358392119408,
+          -0.9988799691200256,
+          0.039226919412612915,
+          -35.36359405517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4946,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_83083629",
+      "mask_path": "../../mask/hdr_right_04946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04948.png",
+      "transform_matrix": [
+        [
+          -0.8942616581916809,
+          -0.02995617687702179,
+          -0.44654086232185364,
+          119.02337646484375
+        ],
+        [
+          0.447059690952301,
+          -0.01336314994841814,
+          -0.8944042921066284,
+          4.739556789398193
+        ],
+        [
+          0.020825741812586784,
+          -0.9994618892669678,
+          0.02534235082566738,
+          -35.36437225341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4948,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_283081769",
+      "mask_path": "../../mask/hdr_right_04948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04949.png",
+      "transform_matrix": [
+        [
+          -0.8996641635894775,
+          -0.03467382490634918,
+          -0.4352037310600281,
+          119.09294128417969
+        ],
+        [
+          0.43578991293907166,
+          -0.011269246228039265,
+          -0.8999778628349304,
+          4.699092864990234
+        ],
+        [
+          0.02630125917494297,
+          -0.9993351101875305,
+          0.025249043479561806,
+          -35.358394622802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4949,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_383081197",
+      "mask_path": "../../mask/hdr_right_04949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04950.png",
+      "transform_matrix": [
+        [
+          -0.9079983234405518,
+          -0.04215991124510765,
+          -0.41684725880622864,
+          119.1451416015625
+        ],
+        [
+          0.4177108705043793,
+          -0.013900714926421642,
+          -0.9084737300872803,
+          4.672687530517578
+        ],
+        [
+          0.03250669315457344,
+          -0.9990141987800598,
+          0.03023247793316841,
+          -35.360748291015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4950,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_483083486",
+      "mask_path": "../../mask/hdr_right_04950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04952.png",
+      "transform_matrix": [
+        [
+          -0.9299681782722473,
+          -0.04400293901562691,
+          -0.3649972379207611,
+          119.2304916381836
+        ],
+        [
+          0.36539602279663086,
+          -0.0011043328559026122,
+          -0.9308515191078186,
+          4.645871162414551
+        ],
+        [
+          0.040557123720645905,
+          -0.9990307688713074,
+          0.017105497419834137,
+          -35.369422912597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4952,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_683082342",
+      "mask_path": "../../mask/hdr_right_04952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04953.png",
+      "transform_matrix": [
+        [
+          -0.9378162026405334,
+          -0.04420377314090729,
+          -0.3443062901496887,
+          119.28857421875
+        ],
+        [
+          0.34435588121414185,
+          0.006727292202413082,
+          -0.938815176486969,
+          4.619083881378174
+        ],
+        [
+          0.04381541907787323,
+          -0.9989998936653137,
+          0.00891286600381136,
+          -35.36655807495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4953,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_783081531",
+      "mask_path": "../../mask/hdr_right_04953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04954.png",
+      "transform_matrix": [
+        [
+          -0.9421609044075012,
+          -0.04018145799636841,
+          -0.3327435851097107,
+          119.33580017089844
+        ],
+        [
+          0.3325446844100952,
+          0.011732485145330429,
+          -0.9430145621299744,
+          4.595311164855957
+        ],
+        [
+          0.04179560765624046,
+          -0.9991235136985779,
+          0.002308240858837962,
+          -35.36360168457031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4954,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323758_883081674",
+      "mask_path": "../../mask/hdr_right_04954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04956.png",
+      "transform_matrix": [
+        [
+          -0.9438890218734741,
+          -0.02252538688480854,
+          -0.3294936716556549,
+          119.4322280883789
+        ],
+        [
+          0.3288121223449707,
+          0.029309600591659546,
+          -0.9439404606819153,
+          4.5545148849487305
+        ],
+        [
+          0.03091995231807232,
+          -0.9993165731430054,
+          -0.02025839313864708,
+          -35.362491607666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4956,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_83081960",
+      "mask_path": "../../mask/hdr_right_04956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04957.png",
+      "transform_matrix": [
+        [
+          -0.9438967108726501,
+          -0.023693155497312546,
+          -0.329389750957489,
+          119.49486541748047
+        ],
+        [
+          0.32876139879226685,
+          0.026885468512773514,
+          -0.9440302848815918,
+          4.527167797088623
+        ],
+        [
+          0.031222853809595108,
+          -0.9993577003479004,
+          -0.017587710171937943,
+          -35.3665885925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4957,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_183083295",
+      "mask_path": "../../mask/hdr_right_04957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04959.png",
+      "transform_matrix": [
+        [
+          -0.945466160774231,
+          -0.025409827008843422,
+          -0.32472771406173706,
+          119.56615447998047
+        ],
+        [
+          0.3242168724536896,
+          0.022260300815105438,
+          -0.945720911026001,
+          4.506378650665283
+        ],
+        [
+          0.03125913441181183,
+          -0.9994292855262756,
+          -0.012808067724108696,
+          -35.376888275146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4959,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_383081912",
+      "mask_path": "../../mask/hdr_right_04959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04961.png",
+      "transform_matrix": [
+        [
+          -0.942447304725647,
+          -0.02877580001950264,
+          -0.3331141769886017,
+          119.65792846679688
+        ],
+        [
+          0.3324745297431946,
+          0.024853942915797234,
+          -0.9427847266197205,
+          4.47526216506958
+        ],
+        [
+          0.035408586263656616,
+          -0.9992768168449402,
+          -0.01385631412267685,
+          -35.37508773803711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4961,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_583081483",
+      "mask_path": "../../mask/hdr_right_04961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04963.png",
+      "transform_matrix": [
+        [
+          -0.9354895353317261,
+          -0.020529037341475487,
+          -0.3527577817440033,
+          119.74407958984375
+        ],
+        [
+          0.35237374901771545,
+          0.02013036422431469,
+          -0.9356428980827332,
+          4.41641092300415
+        ],
+        [
+          0.02630898915231228,
+          -0.9995865821838379,
+          -0.011597847566008568,
+          -35.376346588134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4963,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_783081531",
+      "mask_path": "../../mask/hdr_right_04963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04964.png",
+      "transform_matrix": [
+        [
+          -0.9326741695404053,
+          -0.025791512802243233,
+          -0.35979658365249634,
+          119.8033676147461
+        ],
+        [
+          0.35960710048675537,
+          0.01180153340101242,
+          -0.9330291748046875,
+          4.376496315002441
+        ],
+        [
+          0.028310386463999748,
+          -0.9995977282524109,
+          -0.0017321774503216147,
+          -35.37660217285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4964,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_883082151",
+      "mask_path": "../../mask/hdr_right_04964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04965.png",
+      "transform_matrix": [
+        [
+          -0.9314482808113098,
+          -0.03404222056269646,
+          -0.3622777462005615,
+          119.86962127685547
+        ],
+        [
+          0.3624616265296936,
+          0.0008202794124372303,
+          -0.9319983124732971,
+          4.335508346557617
+        ],
+        [
+          0.03202446550130844,
+          -0.9994200468063354,
+          0.011574951931834221,
+          -35.378822326660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4965,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323759_983081817",
+      "mask_path": "../../mask/hdr_right_04965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04966.png",
+      "transform_matrix": [
+        [
+          -0.9312958121299744,
+          -0.036609046161174774,
+          -0.36241957545280457,
+          119.927734375
+        ],
+        [
+          0.362852543592453,
+          -0.005738778505474329,
+          -0.9318289160728455,
+          4.300083637237549
+        ],
+        [
+          0.032033521682024,
+          -0.9993131756782532,
+          0.018628191202878952,
+          -35.38523864746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4966,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_83082914",
+      "mask_path": "../../mask/hdr_right_04966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04967.png",
+      "transform_matrix": [
+        [
+          -0.9308862090110779,
+          -0.036036133766174316,
+          -0.3635276257991791,
+          119.99527740478516
+        ],
+        [
+          0.3640417456626892,
+          -0.008677592501044273,
+          -0.9313421845436096,
+          4.254551410675049
+        ],
+        [
+          0.03040742687880993,
+          -0.9993128180503845,
+          0.021196505054831505,
+          -35.39126205444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4967,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_183081865",
+      "mask_path": "../../mask/hdr_right_04967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04968.png",
+      "transform_matrix": [
+        [
+          -0.9276360869407654,
+          -0.03230680152773857,
+          -0.3720855414867401,
+          120.07337188720703
+        ],
+        [
+          0.3725843131542206,
+          -0.010885464958846569,
+          -0.9279345870018005,
+          4.193737506866455
+        ],
+        [
+          0.025928275659680367,
+          -0.9994187951087952,
+          0.022134756669402122,
+          -35.38507843017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4968,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_283082485",
+      "mask_path": "../../mask/hdr_right_04968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04969.png",
+      "transform_matrix": [
+        [
+          -0.9226424098014832,
+          -0.026363585144281387,
+          -0.3847544193267822,
+          120.12837219238281
+        ],
+        [
+          0.3851175606250763,
+          -0.010256284847855568,
+          -0.9228106141090393,
+          4.1562299728393555
+        ],
+        [
+          0.020382443442940712,
+          -0.999599814414978,
+          0.019615961238741875,
+          -35.381526947021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4969,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_383081197",
+      "mask_path": "../../mask/hdr_right_04969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04970.png",
+      "transform_matrix": [
+        [
+          -0.9197027683258057,
+          -0.02288493700325489,
+          -0.39194798469543457,
+          120.18804931640625
+        ],
+        [
+          0.39225029945373535,
+          -0.010512842796742916,
+          -0.9197984933853149,
+          4.125718593597412
+        ],
+        [
+          0.01692904159426689,
+          -0.9996828436851501,
+          0.018645312637090683,
+          -35.38481140136719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4970,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_483081579",
+      "mask_path": "../../mask/hdr_right_04970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04971.png",
+      "transform_matrix": [
+        [
+          -0.9236180782318115,
+          -0.024449117481708527,
+          -0.38253355026245117,
+          120.27325439453125
+        ],
+        [
+          0.38291135430336,
+          -0.013118681497871876,
+          -0.9236920475959778,
+          4.083116054534912
+        ],
+        [
+          0.01756511628627777,
+          -0.999614953994751,
+          0.021478494629263878,
+          -35.392539978027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4971,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_583082675",
+      "mask_path": "../../mask/hdr_right_04971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04972.png",
+      "transform_matrix": [
+        [
+          -0.9337108135223389,
+          -0.0273781456053257,
+          -0.3569798767566681,
+          120.337158203125
+        ],
+        [
+          0.35752028226852417,
+          -0.01820620708167553,
+          -0.9337279200553894,
+          4.065274715423584
+        ],
+        [
+          0.019064491614699364,
+          -0.9994593262672424,
+          0.026787571609020233,
+          -35.39747619628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4972,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_683081388",
+      "mask_path": "../../mask/hdr_right_04972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04973.png",
+      "transform_matrix": [
+        [
+          -0.9444353580474854,
+          -0.026483995839953423,
+          -0.3276287317276001,
+          120.39312744140625
+        ],
+        [
+          0.3281213343143463,
+          -0.01697523146867752,
+          -0.9444830417633057,
+          4.054257392883301
+        ],
+        [
+          0.019452115520834923,
+          -0.9995051026344299,
+          0.024721968919038773,
+          -35.40061569213867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4973,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_783082723",
+      "mask_path": "../../mask/hdr_right_04973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04974.png",
+      "transform_matrix": [
+        [
+          -0.9525525569915771,
+          -0.027742868289351463,
+          -0.30310699343681335,
+          120.47250366210938
+        ],
+        [
+          0.30344682931900024,
+          -0.008890355937182903,
+          -0.9528068900108337,
+          4.026579856872559
+        ],
+        [
+          0.023738862946629524,
+          -0.9995755553245544,
+          0.016887018457055092,
+          -35.40468215942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4974,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_883080959",
+      "mask_path": "../../mask/hdr_right_04974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04975.png",
+      "transform_matrix": [
+        [
+          -0.9580713510513306,
+          -0.02623792551457882,
+          -0.28532588481903076,
+          120.54476928710938
+        ],
+        [
+          0.28546804189682007,
+          -0.0017620782600715756,
+          -0.9583866596221924,
+          3.999528646469116
+        ],
+        [
+          0.02464330941438675,
+          -0.9996541738510132,
+          0.009178286418318748,
+          -35.40318298339844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4975,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323760_983082056",
+      "mask_path": "../../mask/hdr_right_04975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04976.png",
+      "transform_matrix": [
+        [
+          -0.9603896141052246,
+          -0.018664633855223656,
+          -0.2780350148677826,
+          120.59867095947266
+        ],
+        [
+          0.27797049283981323,
+          0.006020184140652418,
+          -0.9605708122253418,
+          3.980269432067871
+        ],
+        [
+          0.019602524116635323,
+          -0.9998076558113098,
+          -0.0005935062072239816,
+          -35.40143585205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4976,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_83082675",
+      "mask_path": "../../mask/hdr_right_04976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04977.png",
+      "transform_matrix": [
+        [
+          -0.9593563079833984,
+          -0.018705569207668304,
+          -0.2815770208835602,
+          120.67237091064453
+        ],
+        [
+          0.2814371883869171,
+          0.009780170395970345,
+          -0.9595298171043396,
+          3.9464924335479736
+        ],
+        [
+          0.0207024235278368,
+          -0.9997771978378296,
+          -0.004118226934224367,
+          -35.40395736694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4977,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_183080911",
+      "mask_path": "../../mask/hdr_right_04977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04978.png",
+      "transform_matrix": [
+        [
+          -0.9587651491165161,
+          -0.026614027097821236,
+          -0.28295066952705383,
+          120.76092529296875
+        ],
+        [
+          0.2828800678253174,
+          0.006459823343902826,
+          -0.9591335654258728,
+          3.9038596153259277
+        ],
+        [
+          0.027354218065738678,
+          -0.9996249079704285,
+          0.0013351227389648557,
+          -35.40949630737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4978,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_283081769",
+      "mask_path": "../../mask/hdr_right_04978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04979.png",
+      "transform_matrix": [
+        [
+          -0.9592612385749817,
+          -0.03161761164665222,
+          -0.2807459235191345,
+          120.8268051147461
+        ],
+        [
+          0.28079137206077576,
+          0.003082580864429474,
+          -0.9597639441490173,
+          3.8769404888153076
+        ],
+        [
+          0.03121086210012436,
+          -0.999495267868042,
+          0.0059209526516497135,
+          -35.41795349121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4979,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_383081436",
+      "mask_path": "../../mask/hdr_right_04979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04980.png",
+      "transform_matrix": [
+        [
+          -0.9592211842536926,
+          -0.03016459383070469,
+          -0.2810422480106354,
+          120.89273834228516
+        ],
+        [
+          0.2810189127922058,
+          0.005096278619021177,
+          -0.9596887826919556,
+          3.849896192550659
+        ],
+        [
+          0.030380889773368835,
+          -0.9995319247245789,
+          0.0035883630625903606,
+          -35.42656326293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4980,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_483082056",
+      "mask_path": "../../mask/hdr_right_04980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04981.png",
+      "transform_matrix": [
+        [
+          -0.9572192430496216,
+          -0.03473595529794693,
+          -0.28727105259895325,
+          120.98067474365234
+        ],
+        [
+          0.28718772530555725,
+          0.007471775636076927,
+          -0.9578452110290527,
+          3.808798313140869
+        ],
+        [
+          0.03541809692978859,
+          -0.9993685483932495,
+          0.0028236114885658026,
+          -35.42668914794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4981,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_583081960",
+      "mask_path": "../../mask/hdr_right_04981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04982.png",
+      "transform_matrix": [
+        [
+          -0.9541561603546143,
+          -0.03748546913266182,
+          -0.29695266485214233,
+          121.06291961669922
+        ],
+        [
+          0.29676520824432373,
+          0.010597857646644115,
+          -0.9548916816711426,
+          3.7668869495391846
+        ],
+        [
+          0.038941625505685806,
+          -0.9992409944534302,
+          0.0010123690590262413,
+          -35.42414093017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4982,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_683081388",
+      "mask_path": "../../mask/hdr_right_04982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04983.png",
+      "transform_matrix": [
+        [
+          -0.9506809711456299,
+          -0.03158765658736229,
+          -0.30855792760849,
+          121.11995697021484
+        ],
+        [
+          0.3082543909549713,
+          0.01418670266866684,
+          -0.9511982202529907,
+          3.7389235496520996
+        ],
+        [
+          0.03442354127764702,
+          -0.99940025806427,
+          -0.0037499950267374516,
+          -35.424072265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4983,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_783082723",
+      "mask_path": "../../mask/hdr_right_04983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04984.png",
+      "transform_matrix": [
+        [
+          -0.9480636715888977,
+          -0.03971591964364052,
+          -0.31559115648269653,
+          121.2113265991211
+        ],
+        [
+          0.31547802686691284,
+          0.009248905815184116,
+          -0.9488878846168518,
+          3.6967227458953857
+        ],
+        [
+          0.04060482233762741,
+          -0.9991682171821594,
+          0.003760946448892355,
+          -35.430259704589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4984,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_883082628",
+      "mask_path": "../../mask/hdr_right_04984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04985.png",
+      "transform_matrix": [
+        [
+          -0.947855532169342,
+          -0.05114598944783211,
+          -0.3145695924758911,
+          121.30815887451172
+        ],
+        [
+          0.3150070905685425,
+          -0.0005211484967730939,
+          -0.9490892291069031,
+          3.659069299697876
+        ],
+        [
+          0.048378173261880875,
+          -0.9986910820007324,
+          0.016605325043201447,
+          -35.45253372192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4985,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323761_983082532",
+      "mask_path": "../../mask/hdr_right_04985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04986.png",
+      "transform_matrix": [
+        [
+          -0.9487676024436951,
+          -0.051996465772390366,
+          -0.31166738271713257,
+          121.37779998779297
+        ],
+        [
+          0.3123784065246582,
+          -0.0059522949159145355,
+          -0.9499390721321106,
+          3.6311144828796387
+        ],
+        [
+          0.04753834381699562,
+          -0.9986295104026794,
+          0.02188991568982601,
+          -35.46644973754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4986,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_83084344",
+      "mask_path": "../../mask/hdr_right_04986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04987.png",
+      "transform_matrix": [
+        [
+          -0.94906085729599,
+          -0.05164053663611412,
+          -0.31083256006240845,
+          121.45081329345703
+        ],
+        [
+          0.31156444549560547,
+          -0.006580926012247801,
+          -0.9502023458480835,
+          3.597238063812256
+        ],
+        [
+          0.04702339321374893,
+          -0.9986440539360046,
+          0.022335059940814972,
+          -35.4717903137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4987,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_183083057",
+      "mask_path": "../../mask/hdr_right_04987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04988.png",
+      "transform_matrix": [
+        [
+          -0.9468716979026794,
+          -0.05632651597261429,
+          -0.3166407346725464,
+          121.53520965576172
+        ],
+        [
+          0.3175118565559387,
+          -0.007016969379037619,
+          -0.9482283592224121,
+          3.5496578216552734
+        ],
+        [
+          0.05118854343891144,
+          -0.9983877539634705,
+          0.02452850714325905,
+          -35.47136306762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4988,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_283082246",
+      "mask_path": "../../mask/hdr_right_04988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04989.png",
+      "transform_matrix": [
+        [
+          -0.9433942437171936,
+          -0.06008908897638321,
+          -0.3261849582195282,
+          121.6042709350586
+        ],
+        [
+          0.3270535171031952,
+          -0.0049592275172472,
+          -0.9449928402900696,
+          3.509119987487793
+        ],
+        [
+          0.05516613647341728,
+          -0.9981807470321655,
+          0.024330856278538704,
+          -35.47583770751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4989,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_383082628",
+      "mask_path": "../../mask/hdr_right_04989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04990.png",
+      "transform_matrix": [
+        [
+          -0.9399785995483398,
+          -0.05636681243777275,
+          -0.33654576539993286,
+          121.65487670898438
+        ],
+        [
+          0.3372277021408081,
+          -0.0027716802433133125,
+          -0.9414190649986267,
+          3.481628179550171
+        ],
+        [
+          0.05213199555873871,
+          -0.9984062314033508,
+          0.021613767370581627,
+          -35.4844970703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4990,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_483083724",
+      "mask_path": "../../mask/hdr_right_04990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04991.png",
+      "transform_matrix": [
+        [
+          -0.9370104074478149,
+          -0.06938950717449188,
+          -0.3423399031162262,
+          121.73928833007812
+        ],
+        [
+          0.34361663460731506,
+          -0.007010975852608681,
+          -0.9390838742256165,
+          3.429868459701538
+        ],
+        [
+          0.06276242434978485,
+          -0.997564971446991,
+          0.030412742868065834,
+          -35.495174407958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4991,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_583083391",
+      "mask_path": "../../mask/hdr_right_04991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04992.png",
+      "transform_matrix": [
+        [
+          -0.9356324076652527,
+          -0.083908811211586,
+          -0.34285768866539,
+          121.82859802246094
+        ],
+        [
+          0.34512296319007874,
+          -0.013716076500713825,
+          -0.938457190990448,
+          3.381659746170044
+        ],
+        [
+          0.07404215633869171,
+          -0.996379017829895,
+          0.04179206117987633,
+          -35.517921447753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4992,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_683082103",
+      "mask_path": "../../mask/hdr_right_04992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04993.png",
+      "transform_matrix": [
+        [
+          -0.9357011318206787,
+          -0.08366941660642624,
+          -0.3427284061908722,
+          121.8966064453125
+        ],
+        [
+          0.34538453817367554,
+          -0.019204042851924896,
+          -0.938264787197113,
+          3.347721576690674
+        ],
+        [
+          0.07192230224609375,
+          -0.996308445930481,
+          0.04686737433075905,
+          -35.532752990722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4993,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_783082723",
+      "mask_path": "../../mask/hdr_right_04993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04994.png",
+      "transform_matrix": [
+        [
+          -0.9351009130477905,
+          -0.08084896951913834,
+          -0.3450358510017395,
+          121.96611785888672
+        ],
+        [
+          0.3476536273956299,
+          -0.020468076691031456,
+          -0.9373996257781982,
+          3.307669162750244
+        ],
+        [
+          0.0687255784869194,
+          -0.9965161681175232,
+          0.04724716395139694,
+          -35.53793716430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4994,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_883082628",
+      "mask_path": "../../mask/hdr_right_04994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04995.png",
+      "transform_matrix": [
+        [
+          -0.9314818978309631,
+          -0.08784206956624985,
+          -0.35302305221557617,
+          122.04612731933594
+        ],
+        [
+          0.3557016849517822,
+          -0.016457581892609596,
+          -0.9344545602798462,
+          3.2558040618896484
+        ],
+        [
+          0.07627452909946442,
+          -0.9959985017776489,
+          0.04657551646232605,
+          -35.537837982177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4995,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323762_983082056",
+      "mask_path": "../../mask/hdr_right_04995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04996.png",
+      "transform_matrix": [
+        [
+          -0.9272646307945251,
+          -0.09751777350902557,
+          -0.3614839017391205,
+          122.10440826416016
+        ],
+        [
+          0.3643878698348999,
+          -0.013197794556617737,
+          -0.9311537742614746,
+          3.220341444015503
+        ],
+        [
+          0.08603324741125107,
+          -0.9951462745666504,
+          0.04777215048670769,
+          -35.54371643066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4996,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_83081960",
+      "mask_path": "../../mask/hdr_right_04996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04997.png",
+      "transform_matrix": [
+        [
+          -0.9237349033355713,
+          -0.09755866974592209,
+          -0.3703998923301697,
+          122.15022277832031
+        ],
+        [
+          0.3729168772697449,
+          -0.008292152546346188,
+          -0.9278277158737183,
+          3.1874091625213623
+        ],
+        [
+          0.08744624257087708,
+          -0.995195209980011,
+          0.044041022658348083,
+          -35.55091094970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4997,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_183081865",
+      "mask_path": "../../mask/hdr_right_04997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04998.png",
+      "transform_matrix": [
+        [
+          -0.920229434967041,
+          -0.10152936726808548,
+          -0.377981036901474,
+          122.21473693847656
+        ],
+        [
+          0.3804702162742615,
+          -0.005635256413370371,
+          -0.9247761368751526,
+          3.1399571895599365
+        ],
+        [
+          0.09176190197467804,
+          -0.9948165416717529,
+          0.04381463676691055,
+          -35.560691833496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4998,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_283081531",
+      "mask_path": "../../mask/hdr_right_04998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04999.png",
+      "transform_matrix": [
+        [
+          -0.9173597097396851,
+          -0.1178770363330841,
+          -0.3802053928375244,
+          122.29663848876953
+        ],
+        [
+          0.3834403157234192,
+          -0.005205941386520863,
+          -0.9235510230064392,
+          3.0908560752868652
+        ],
+        [
+          0.10688614100217819,
+          -0.9930145740509033,
+          0.049974530935287476,
+          -35.59062194824219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4999,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_383082866",
+      "mask_path": "../../mask/hdr_right_04999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05000.png",
+      "transform_matrix": [
+        [
+          -0.9146929383277893,
+          -0.1322689652442932,
+          -0.38189223408699036,
+          122.35518646240234
+        ],
+        [
+          0.38534021377563477,
+          -0.0005109473713673651,
+          -0.9227744936943054,
+          3.051082134246826
+        ],
+        [
+          0.12185929715633392,
+          -0.9912137389183044,
+          0.0514359176158905,
+          -35.61930465698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5000,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_483081340",
+      "mask_path": "../../mask/hdr_right_05000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05001.png",
+      "transform_matrix": [
+        [
+          -0.9144365191459656,
+          -0.13662844896316528,
+          -0.38097065687179565,
+          122.40147399902344
+        ],
+        [
+          0.38433295488357544,
+          0.0019113437738269567,
+          -0.92319256067276,
+          3.020268678665161
+        ],
+        [
+          0.1268625408411026,
+          -0.990620493888855,
+          0.050763025879859924,
+          -35.64085006713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5001,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_583082437",
+      "mask_path": "../../mask/hdr_right_05001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05002.png",
+      "transform_matrix": [
+        [
+          -0.9170240759849548,
+          -0.13674220442771912,
+          -0.3746579885482788,
+          122.45989227294922
+        ],
+        [
+          0.3774624764919281,
+          0.005804081913083792,
+          -0.9260067343711853,
+          2.975768804550171
+        ],
+        [
+          0.1287987381219864,
+          -0.9905896782875061,
+          0.04629258066415787,
+          -35.654197692871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5002,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_683081626",
+      "mask_path": "../../mask/hdr_right_05002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05003.png",
+      "transform_matrix": [
+        [
+          -0.9179646968841553,
+          -0.1415426880121231,
+          -0.37054911255836487,
+          122.52104949951172
+        ],
+        [
+          0.37212806940078735,
+          0.016139008104801178,
+          -0.9280411005020142,
+          2.925574541091919
+        ],
+        [
+          0.13733771443367004,
+          -0.9898005723953247,
+          0.03785698115825653,
+          -35.6597900390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5003,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_783082246",
+      "mask_path": "../../mask/hdr_right_05003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05004.png",
+      "transform_matrix": [
+        [
+          -0.9168176651000977,
+          -0.1463085114955902,
+          -0.3715362846851349,
+          122.56603240966797
+        ],
+        [
+          0.37207847833633423,
+          0.02467646449804306,
+          -0.9278731346130371,
+          2.8896260261535645
+        ],
+        [
+          0.14492394030094147,
+          -0.9889311790466309,
+          0.031814444810152054,
+          -35.6677360534668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5004,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323763_883081197",
+      "mask_path": "../../mask/hdr_right_05004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05006.png",
+      "transform_matrix": [
+        [
+          -0.9161450862884521,
+          -0.14290595054626465,
+          -0.374507874250412,
+          122.67463684082031
+        ],
+        [
+          0.37345144152641296,
+          0.03517419099807739,
+          -0.926982581615448,
+          2.825596809387207
+        ],
+        [
+          0.14564433693885803,
+          -0.989111065864563,
+          0.021143775433301926,
+          -35.683231353759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5006,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_83080768",
+      "mask_path": "../../mask/hdr_right_05006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05007.png",
+      "transform_matrix": [
+        [
+          -0.9206814765930176,
+          -0.1457681655883789,
+          -0.3620734214782715,
+          122.75091552734375
+        ],
+        [
+          0.36070042848587036,
+          0.036686282604932785,
+          -0.9319599270820618,
+          2.789093494415283
+        ],
+        [
+          0.14913319051265717,
+          -0.9886384010314941,
+          0.018802255392074585,
+          -35.69316101074219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5007,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_183079242",
+      "mask_path": "../../mask/hdr_right_05007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05008.png",
+      "transform_matrix": [
+        [
+          -0.9284352660179138,
+          -0.1470293551683426,
+          -0.34116044640541077,
+          122.80937194824219
+        ],
+        [
+          0.3397914171218872,
+          0.03511927276849747,
+          -0.9398448467254639,
+          2.7749826908111572
+        ],
+        [
+          0.1501660943031311,
+          -0.9885084629058838,
+          0.017353348433971405,
+          -35.71076202392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5008,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_283082008",
+      "mask_path": "../../mask/hdr_right_05008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05009.png",
+      "transform_matrix": [
+        [
+          -0.9378567337989807,
+          -0.14690999686717987,
+          -0.3143915832042694,
+          122.86144256591797
+        ],
+        [
+          0.31304931640625,
+          0.03278086706995964,
+          -0.9491710662841797,
+          2.7712910175323486
+        ],
+        [
+          0.14974874258041382,
+          -0.9886065125465393,
+          0.015246327966451645,
+          -35.72499465942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5009,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_383081197",
+      "mask_path": "../../mask/hdr_right_05009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05010.png",
+      "transform_matrix": [
+        [
+          -0.9462835788726807,
+          -0.15079079568386078,
+          -0.2860240936279297,
+          122.92030334472656
+        ],
+        [
+          0.2839615046977997,
+          0.035505522042512894,
+          -0.9581781029701233,
+          2.7665183544158936
+        ],
+        [
+          0.15463986992835999,
+          -0.9879279136657715,
+          0.009220498614013195,
+          -35.741207122802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5010,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_483080863",
+      "mask_path": "../../mask/hdr_right_05010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05011.png",
+      "transform_matrix": [
+        [
+          -0.9458329081535339,
+          -0.1689235121011734,
+          -0.27724558115005493,
+          122.99185180664062
+        ],
+        [
+          0.26907485723495483,
+          0.0699460580945015,
+          -0.960576057434082,
+          2.74691104888916
+        ],
+        [
+          0.1816561073064804,
+          -0.9831441044807434,
+          -0.020704204216599464,
+          -35.75239181518555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5011,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_583080768",
+      "mask_path": "../../mask/hdr_right_05011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05013.png",
+      "transform_matrix": [
+        [
+          -0.9370756149291992,
+          -0.19164763391017914,
+          -0.2918226420879364,
+          123.05461883544922
+        ],
+        [
+          0.2785649299621582,
+          0.09343073517084122,
+          -0.9558621048927307,
+          2.7221765518188477
+        ],
+        [
+          0.21045391261577606,
+          -0.9770066738128662,
+          -0.03416535630822182,
+          -35.76024627685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5013,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_783082246",
+      "mask_path": "../../mask/hdr_right_05013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05014.png",
+      "transform_matrix": [
+        [
+          -0.9365947246551514,
+          -0.18608419597148895,
+          -0.29692262411117554,
+          123.12000274658203
+        ],
+        [
+          0.28444257378578186,
+          0.09114586561918259,
+          -0.9543505907058716,
+          2.683716297149658
+        ],
+        [
+          0.2046527862548828,
+          -0.9782971143722534,
+          -0.03243647515773773,
+          -35.78471374511719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5014,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_883081197",
+      "mask_path": "../../mask/hdr_right_05014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05015.png",
+      "transform_matrix": [
+        [
+          -0.9367257952690125,
+          -0.1816011667251587,
+          -0.29927554726600647,
+          123.17487335205078
+        ],
+        [
+          0.2887948453426361,
+          0.08227948099374771,
+          -0.9538488984107971,
+          2.6522231101989746
+        ],
+        [
+          0.19784431159496307,
+          -0.9799240231513977,
+          -0.024627817794680595,
+          -35.8064079284668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5015,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323764_983082056",
+      "mask_path": "../../mask/hdr_right_05015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05016.png",
+      "transform_matrix": [
+        [
+          -0.9365584254264832,
+          -0.17934955656528473,
+          -0.30115148425102234,
+          123.22441864013672
+        ],
+        [
+          0.2916114628314972,
+          0.07801347225904465,
+          -0.9533502459526062,
+          2.6224427223205566
+        ],
+        [
+          0.19447681307792664,
+          -0.9806873202323914,
+          -0.020763780921697617,
+          -35.83011245727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5016,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_83081007",
+      "mask_path": "../../mask/hdr_right_05016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05017.png",
+      "transform_matrix": [
+        [
+          -0.9375746250152588,
+          -0.17201462388038635,
+          -0.3022664487361908,
+          123.27887725830078
+        ],
+        [
+          0.29244276881217957,
+          0.08046063035726547,
+          -0.9528920650482178,
+          2.5884852409362793
+        ],
+        [
+          0.1882319152355194,
+          -0.9818029403686523,
+          -0.025133412331342697,
+          -35.84486770629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5017,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_183081626",
+      "mask_path": "../../mask/hdr_right_05017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05018.png",
+      "transform_matrix": [
+        [
+          -0.940384030342102,
+          -0.1650388538837433,
+          -0.29738879203796387,
+          123.35388946533203
+        ],
+        [
+          0.2876518666744232,
+          0.0806206688284874,
+          -0.9543358087539673,
+          2.536707878112793
+        ],
+        [
+          0.18147817254066467,
+          -0.9829865097999573,
+          -0.028340652585029602,
+          -35.85283279418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5018,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_283079147",
+      "mask_path": "../../mask/hdr_right_05018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05019.png",
+      "transform_matrix": [
+        [
+          -0.9431810975074768,
+          -0.1613493412733078,
+          -0.29047536849975586,
+          123.41827392578125
+        ],
+        [
+          0.2810640037059784,
+          0.07888682186603546,
+          -0.9564412832260132,
+          2.4950757026672363
+        ],
+        [
+          0.17723587155342102,
+          -0.98373943567276,
+          -0.029055053368210793,
+          -35.85646057128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5019,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_383077621",
+      "mask_path": "../../mask/hdr_right_05019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05020.png",
+      "transform_matrix": [
+        [
+          -0.9456932544708252,
+          -0.15524177253246307,
+          -0.2855948805809021,
+          123.4644546508789
+        ],
+        [
+          0.2763073444366455,
+          0.07889656722545624,
+          -0.9578254818916321,
+          2.4731087684631348
+        ],
+        [
+          0.17122699320316315,
+          -0.9847208857536316,
+          -0.03171749785542488,
+          -35.864192962646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5020,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_483078718",
+      "mask_path": "../../mask/hdr_right_05020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05022.png",
+      "transform_matrix": [
+        [
+          -0.9537771344184875,
+          -0.1352703720331192,
+          -0.2683490514755249,
+          123.56755828857422
+        ],
+        [
+          0.26015016436576843,
+          0.07535788416862488,
+          -0.9626230597496033,
+          2.42923903465271
+        ],
+        [
+          0.15043658018112183,
+          -0.9879388809204102,
+          -0.03668401017785072,
+          -35.89022445678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5022,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_683080434",
+      "mask_path": "../../mask/hdr_right_05022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05023.png",
+      "transform_matrix": [
+        [
+          -0.9577789902687073,
+          -0.14118877053260803,
+          -0.2504499554634094,
+          123.64595794677734
+        ],
+        [
+          0.24360007047653198,
+          0.06415677815675735,
+          -0.9677515029907227,
+          2.397120237350464
+        ],
+        [
+          0.15270371735095978,
+          -0.9879016280174255,
+          -0.02705441415309906,
+          -35.9007682800293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5023,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_783081054",
+      "mask_path": "../../mask/hdr_right_05023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05024.png",
+      "transform_matrix": [
+        [
+          -0.960163950920105,
+          -0.15034839510917664,
+          -0.23554325103759766,
+          123.7080078125
+        ],
+        [
+          0.22982802987098694,
+          0.05457178130745888,
+          -0.9717000722885132,
+          2.375939130783081
+        ],
+        [
+          0.15894757211208344,
+          -0.9871257543563843,
+          -0.01784358359873295,
+          -35.91398239135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5024,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_883080720",
+      "mask_path": "../../mask/hdr_right_05024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05025.png",
+      "transform_matrix": [
+        [
+          -0.9620977640151978,
+          -0.14965368807315826,
+          -0.2279730588197708,
+          123.76021575927734
+        ],
+        [
+          0.2225407361984253,
+          0.05232090875506401,
+          -0.973518431186676,
+          2.3646626472473145
+        ],
+        [
+          0.15761838853359222,
+          -0.9873531460762024,
+          -0.01703379675745964,
+          -35.93312072753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5025,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323765_983081817",
+      "mask_path": "../../mask/hdr_right_05025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05026.png",
+      "transform_matrix": [
+        [
+          -0.9626109600067139,
+          -0.15177209675312042,
+          -0.2243777960538864,
+          123.83734893798828
+        ],
+        [
+          0.21810871362686157,
+          0.056982286274433136,
+          -0.9742595553398132,
+          2.345315933227539
+        ],
+        [
+          0.16065095365047455,
+          -0.9867717027664185,
+          -0.02174895815551281,
+          -35.957557678222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5026,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_83082437",
+      "mask_path": "../../mask/hdr_right_05026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05027.png",
+      "transform_matrix": [
+        [
+          -0.9611653089523315,
+          -0.15674389898777008,
+          -0.22714026272296906,
+          123.92530059814453
+        ],
+        [
+          0.21911203861236572,
+          0.06695792078971863,
+          -0.9733995795249939,
+          2.3215248584747314
+        ],
+        [
+          0.16778327524662018,
+          -0.9853668808937073,
+          -0.03001314029097557,
+          -35.980369567871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5027,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_183081388",
+      "mask_path": "../../mask/hdr_right_05027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05028.png",
+      "transform_matrix": [
+        [
+          -0.9608422517776489,
+          -0.15378743410110474,
+          -0.23050297796726227,
+          123.99932098388672
+        ],
+        [
+          0.2213304191827774,
+          0.07454979419708252,
+          -0.9723452925682068,
+          2.3060381412506104
+        ],
+        [
+          0.16671843826770782,
+          -0.985287606716156,
+          -0.037592753767967224,
+          -35.99726486206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5028,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_283081054",
+      "mask_path": "../../mask/hdr_right_05028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05029.png",
+      "transform_matrix": [
+        [
+          -0.9604776501655579,
+          -0.15089921653270721,
+          -0.2339063137769699,
+          124.10565185546875
+        ],
+        [
+          0.22636783123016357,
+          0.06558215618133545,
+          -0.9718315601348877,
+          2.2826507091522217
+        ],
+        [
+          0.16198870539665222,
+          -0.9863713979721069,
+          -0.028831468895077705,
+          -36.02091979980469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5029,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_383083820",
+      "mask_path": "../../mask/hdr_right_05029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05030.png",
+      "transform_matrix": [
+        [
+          -0.9593417644500732,
+          -0.1527692973613739,
+          -0.2373289316892624,
+          124.2294921875
+        ],
+        [
+          0.2313661128282547,
+          0.05595392361283302,
+          -0.9712563157081604,
+          2.247850179672241
+        ],
+        [
+          0.1616576462984085,
+          -0.9866765737533569,
+          -0.018333295360207558,
+          -36.05818176269531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5030,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_483082056",
+      "mask_path": "../../mask/hdr_right_05030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05031.png",
+      "transform_matrix": [
+        [
+          -0.9600004553794861,
+          -0.14983147382736206,
+          -0.23653672635555267,
+          124.31584930419922
+        ],
+        [
+          0.23080067336559296,
+          0.054834235459566116,
+          -0.9714547395706177,
+          2.2220795154571533
+        ],
+        [
+          0.15852481126785278,
+          -0.9871898293495178,
+          -0.018059680238366127,
+          -36.0827522277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5031,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_583081007",
+      "mask_path": "../../mask/hdr_right_05031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05032.png",
+      "transform_matrix": [
+        [
+          -0.9613312482833862,
+          -0.14517295360565186,
+          -0.23402376472949982,
+          124.40013122558594
+        ],
+        [
+          0.2283255159854889,
+          0.054981932044029236,
+          -0.9720311760902405,
+          2.193575143814087
+        ],
+        [
+          0.15397970378398895,
+          -0.9878774285316467,
+          -0.019709162414073944,
+          -36.10348892211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5032,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_683082342",
+      "mask_path": "../../mask/hdr_right_05032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05033.png",
+      "transform_matrix": [
+        [
+          -0.957314670085907,
+          -0.15995492041110992,
+          -0.2407553344964981,
+          124.49959564208984
+        ],
+        [
+          0.23248200118541718,
+          0.06885022670030594,
+          -0.9701607823371887,
+          2.148515462875366
+        ],
+        [
+          0.1717580258846283,
+          -0.9847202897071838,
+          -0.028724685311317444,
+          -36.114471435546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5033,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_783082246",
+      "mask_path": "../../mask/hdr_right_05033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05034.png",
+      "transform_matrix": [
+        [
+          -0.9534791707992554,
+          -0.16998325288295746,
+          -0.24896426498889923,
+          124.57433319091797
+        ],
+        [
+          0.2390853315591812,
+          0.07663657516241074,
+          -0.9679695963859558,
+          2.1130456924438477
+        ],
+        [
+          0.18361836671829224,
+          -0.982462465763092,
+          -0.03243087977170944,
+          -36.117862701416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5034,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_883080005",
+      "mask_path": "../../mask/hdr_right_05034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05035.png",
+      "transform_matrix": [
+        [
+          -0.9523528218269348,
+          -0.16570568084716797,
+          -0.2560581862926483,
+          124.65455627441406
+        ],
+        [
+          0.24660418927669525,
+          0.0756668820977211,
+          -0.966157853603363,
+          2.0655248165130615
+        ],
+        [
+          0.17947296798229218,
+          -0.9832680821418762,
+          -0.031197844073176384,
+          -36.11940383911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5035,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323766_983081102",
+      "mask_path": "../../mask/hdr_right_05035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05036.png",
+      "transform_matrix": [
+        [
+          -0.949999213218689,
+          -0.1716199517250061,
+          -0.26086047291755676,
+          124.71526336669922
+        ],
+        [
+          0.25283101201057434,
+          0.0674823597073555,
+          -0.9651541709899902,
+          2.026632070541382
+        ],
+        [
+          0.18324318528175354,
+          -0.9828492999076843,
+          -0.020717352628707886,
+          -36.1380500793457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5036,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_83082199",
+      "mask_path": "../../mask/hdr_right_05036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05037.png",
+      "transform_matrix": [
+        [
+          -0.9474040269851685,
+          -0.18388961255550385,
+          -0.2619357705116272,
+          124.7722396850586
+        ],
+        [
+          0.25525373220443726,
+          0.05954534932971001,
+          -0.9650388360023499,
+          1.9872525930404663
+        ],
+        [
+          0.19305764138698578,
+          -0.9811416268348694,
+          -0.009474992752075195,
+          -36.16306686401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5037,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_183082818",
+      "mask_path": "../../mask/hdr_right_05037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05038.png",
+      "transform_matrix": [
+        [
+          -0.9458180069923401,
+          -0.18850000202655792,
+          -0.2643785774707794,
+          124.87325286865234
+        ],
+        [
+          0.2571467459201813,
+          0.06229547783732414,
+          -0.964362382888794,
+          1.9476653337478638
+        ],
+        [
+          0.1982519030570984,
+          -0.9800954461097717,
+          -0.010448027402162552,
+          -36.22612762451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5038,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_283082246",
+      "mask_path": "../../mask/hdr_right_05038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05039.png",
+      "transform_matrix": [
+        [
+          -0.9461413621902466,
+          -0.1855824589729309,
+          -0.2652842104434967,
+          124.97822570800781
+        ],
+        [
+          0.25694581866264343,
+          0.0680752545595169,
+          -0.9640252590179443,
+          1.901408076286316
+        ],
+        [
+          0.19696545600891113,
+          -0.9802677631378174,
+          -0.016724171116948128,
+          -36.26874542236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5039,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_383081674",
+      "mask_path": "../../mask/hdr_right_05039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05040.png",
+      "transform_matrix": [
+        [
+          -0.9458406567573547,
+          -0.18618683516979218,
+          -0.2659323513507843,
+          125.08011627197266
+        ],
+        [
+          0.2563268542289734,
+          0.07434386014938354,
+          -0.9637268781661987,
+          1.833593726158142
+        ],
+        [
+          0.19920368492603302,
+          -0.9796976447105408,
+          -0.022592758759856224,
+          -36.270816802978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5040,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_483082532",
+      "mask_path": "../../mask/hdr_right_05040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05041.png",
+      "transform_matrix": [
+        [
+          -0.9447590112686157,
+          -0.18751086294651031,
+          -0.2688308656215668,
+          125.15386962890625
+        ],
+        [
+          0.2588823139667511,
+          0.07613818347454071,
+          -0.9629034399986267,
+          1.7981157302856445
+        ],
+        [
+          0.201023131608963,
+          -0.979307234287262,
+          -0.023388994857668877,
+          -36.29749298095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5041,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_583080530",
+      "mask_path": "../../mask/hdr_right_05041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05042.png",
+      "transform_matrix": [
+        [
+          -0.9440352320671082,
+          -0.18205997347831726,
+          -0.27504870295524597,
+          125.2125473022461
+        ],
+        [
+          0.2659394145011902,
+          0.073178730905056,
+          -0.961208164691925,
+          1.773064374923706
+        ],
+        [
+          0.1951252520084381,
+          -0.9805605411529541,
+          -0.020666375756263733,
+          -36.30976104736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5042,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_683082342",
+      "mask_path": "../../mask/hdr_right_05042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05043.png",
+      "transform_matrix": [
+        [
+          -0.9440537691116333,
+          -0.17135675251483917,
+          -0.2817787826061249,
+          125.30880737304688
+        ],
+        [
+          0.27388498187065125,
+          0.06858297437429428,
+          -0.9593140482902527,
+          1.7289226055145264
+        ],
+        [
+          0.18371018767356873,
+          -0.9828190207481384,
+          -0.017813974991440773,
+          -36.321327209472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5043,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_783081769",
+      "mask_path": "../../mask/hdr_right_05043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05044.png",
+      "transform_matrix": [
+        [
+          -0.945776104927063,
+          -0.16532380878925323,
+          -0.27959898114204407,
+          125.40750885009766
+        ],
+        [
+          0.2730695307254791,
+          0.06145809218287468,
+          -0.9600291848182678,
+          1.6900233030319214
+        ],
+        [
+          0.17589931190013885,
+          -0.9843225479125977,
+          -0.012980692088603973,
+          -36.331417083740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5044,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_883080005",
+      "mask_path": "../../mask/hdr_right_05044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05045.png",
+      "transform_matrix": [
+        [
+          -0.9480479955673218,
+          -0.1618516743183136,
+          -0.27387794852256775,
+          125.47807312011719
+        ],
+        [
+          0.26830700039863586,
+          0.05576370656490326,
+          -0.9617181420326233,
+          1.664766550064087
+        ],
+        [
+          0.17092816531658173,
+          -0.985238254070282,
+          -0.009440730325877666,
+          -36.33943176269531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5045,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323767_983078956",
+      "mask_path": "../../mask/hdr_right_05045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05046.png",
+      "transform_matrix": [
+        [
+          -0.9497457146644592,
+          -0.15429936349391937,
+          -0.2723507881164551,
+          125.54708099365234
+        ],
+        [
+          0.2668721377849579,
+          0.05557793006300926,
+          -0.9621280431747437,
+          1.6425472497940063
+        ],
+        [
+          0.16359242796897888,
+          -0.9864597320556641,
+          -0.011606696993112564,
+          -36.360679626464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5046,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_83079576",
+      "mask_path": "../../mask/hdr_right_05046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05047.png",
+      "transform_matrix": [
+        [
+          -0.9504814147949219,
+          -0.14766408503055573,
+          -0.27346038818359375,
+          125.62812805175781
+        ],
+        [
+          0.26920169591903687,
+          0.04848860576748848,
+          -0.9618623852729797,
+          1.6063461303710938
+        ],
+        [
+          0.15529224276542664,
+          -0.9878482222557068,
+          -0.006336091551929712,
+          -36.37192153930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5047,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_183080911",
+      "mask_path": "../../mask/hdr_right_05047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05048.png",
+      "transform_matrix": [
+        [
+          -0.9511626958847046,
+          -0.13837331533432007,
+          -0.2759389877319336,
+          125.71167755126953
+        ],
+        [
+          0.27294299006462097,
+          0.04055960476398468,
+          -0.9611748456954956,
+          1.563299298286438
+        ],
+        [
+          0.1441929191350937,
+          -0.9895492196083069,
+          -0.0008107528556138277,
+          -36.373687744140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5048,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_283081054",
+      "mask_path": "../../mask/hdr_right_05048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05049.png",
+      "transform_matrix": [
+        [
+          -0.951531171798706,
+          -0.12278970330953598,
+          -0.28197741508483887,
+          125.78311920166016
+        ],
+        [
+          0.27917471528053284,
+          0.03982168808579445,
+          -0.9594142436981201,
+          1.5316442251205444
+        ],
+        [
+          0.12903501093387604,
+          -0.9916334748268127,
+          -0.00361178838647902,
+          -36.3800048828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5049,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_383080959",
+      "mask_path": "../../mask/hdr_right_05049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05050.png",
+      "transform_matrix": [
+        [
+          -0.9508916735649109,
+          -0.11794580519199371,
+          -0.2861708700656891,
+          125.85755920410156
+        ],
+        [
+          0.2837875783443451,
+          0.03689132258296013,
+          -0.9581772089004517,
+          1.4979363679885864
+        ],
+        [
+          0.12357019633054733,
+          -0.9923346042633057,
+          -0.001608099672012031,
+          -36.38780975341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5050,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_483079910",
+      "mask_path": "../../mask/hdr_right_05050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05051.png",
+      "transform_matrix": [
+        [
+          -0.9517492651939392,
+          -0.11758103966712952,
+          -0.28345730900764465,
+          125.93462371826172
+        ],
+        [
+          0.28184789419174194,
+          0.03044845536351204,
+          -0.9589758515357971,
+          1.467443823814392
+        ],
+        [
+          0.12138821929693222,
+          -0.9925963282585144,
+          0.004160672891885042,
+          -36.399112701416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5051,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_583080768",
+      "mask_path": "../../mask/hdr_right_05051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05052.png",
+      "transform_matrix": [
+        [
+          -0.954278826713562,
+          -0.10992008447647095,
+          -0.27797412872314453,
+          126.0019302368164
+        ],
+        [
+          0.2768242061138153,
+          0.025896091014146805,
+          -0.9605716466903687,
+          1.443516731262207
+        ],
+        [
+          0.11278454959392548,
+          -0.993602991104126,
+          0.005716452840715647,
+          -36.40888595581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5052,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_683080673",
+      "mask_path": "../../mask/hdr_right_05052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05053.png",
+      "transform_matrix": [
+        [
+          -0.9582783579826355,
+          -0.10153703391551971,
+          -0.267194539308548,
+          126.06822967529297
+        ],
+        [
+          0.26593801379203796,
+          0.025968924164772034,
+          -0.9636402726173401,
+          1.4194214344024658
+        ],
+        [
+          0.10478393733501434,
+          -0.994492769241333,
+          0.0021170983090996742,
+          -36.42045593261719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5053,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_783080339",
+      "mask_path": "../../mask/hdr_right_05053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05054.png",
+      "transform_matrix": [
+        [
+          -0.9608180522918701,
+          -0.09862033277750015,
+          -0.2590417265892029,
+          126.1473388671875
+        ],
+        [
+          0.2576107382774353,
+          0.027199968695640564,
+          -0.9658659100532532,
+          1.389763355255127
+        ],
+        [
+          0.10229994356632233,
+          -0.9947533011436462,
+          -0.0007285673636943102,
+          -36.42527389526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5054,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_883079290",
+      "mask_path": "../../mask/hdr_right_05054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05055.png",
+      "transform_matrix": [
+        [
+          -0.9614486694335938,
+          -0.09593798965215683,
+          -0.257705956697464,
+          126.21855163574219
+        ],
+        [
+          0.2562231421470642,
+          0.02767965756356716,
+          -0.9662213325500488,
+          1.3561547994613647
+        ],
+        [
+          0.09983054548501968,
+          -0.9950023293495178,
+          -0.002031034557148814,
+          -36.41949462890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5055,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323768_983081102",
+      "mask_path": "../../mask/hdr_right_05055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05056.png",
+      "transform_matrix": [
+        [
+          -0.9613575339317322,
+          -0.08764861524105072,
+          -0.2609778344631195,
+          126.27372741699219
+        ],
+        [
+          0.2596530020236969,
+          0.02639286033809185,
+          -0.965341329574585,
+          1.3297851085662842
+        ],
+        [
+          0.09149878472089767,
+          -0.9958017468452454,
+          -0.00261475145816803,
+          -36.42407989501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5056,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_83080291",
+      "mask_path": "../../mask/hdr_right_05056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05057.png",
+      "transform_matrix": [
+        [
+          -0.9602468609809875,
+          -0.07871102541685104,
+          -0.26782578229904175,
+          126.34940338134766
+        ],
+        [
+          0.2670002579689026,
+          0.02102803811430931,
+          -0.9634670615196228,
+          1.2983499765396118
+        ],
+        [
+          0.08146732300519943,
+          -0.9966757297515869,
+          0.0008237555739469826,
+          -36.43600082397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5057,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_183080911",
+      "mask_path": "../../mask/hdr_right_05057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05058.png",
+      "transform_matrix": [
+        [
+          -0.9598309397697449,
+          -0.07760200649499893,
+          -0.26963403820991516,
+          126.45547485351562
+        ],
+        [
+          0.26966187357902527,
+          0.010318280197679996,
+          -0.9628998041152954,
+          1.2467674016952515
+        ],
+        [
+          0.07750511914491653,
+          -0.9969310164451599,
+          0.011022496037185192,
+          -36.44043731689453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5058,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_283081769",
+      "mask_path": "../../mask/hdr_right_05058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05059.png",
+      "transform_matrix": [
+        [
+          -0.9605498313903809,
+          -0.07482293248176575,
+          -0.267853707075119,
+          126.52973937988281
+        ],
+        [
+          0.26834794878959656,
+          0.003555340226739645,
+          -0.963315486907959,
+          1.2128103971481323
+        ],
+        [
+          0.07303039729595184,
+          -0.997190535068512,
+          0.01666349731385708,
+          -36.445518493652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5059,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_383081674",
+      "mask_path": "../../mask/hdr_right_05059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05060.png",
+      "transform_matrix": [
+        [
+          -0.9614139199256897,
+          -0.06819665431976318,
+          -0.2665192782878876,
+          126.58662414550781
+        ],
+        [
+          0.2669675946235657,
+          0.0026213403325527906,
+          -0.9637020230293274,
+          1.1920627355575562
+        ],
+        [
+          0.06641989201307297,
+          -0.9976685047149658,
+          0.01568610593676567,
+          -36.446006774902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5060,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_483081579",
+      "mask_path": "../../mask/hdr_right_05060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05061.png",
+      "transform_matrix": [
+        [
+          -0.9603899717330933,
+          -0.06828323751688004,
+          -0.27016401290893555,
+          126.66999053955078
+        ],
+        [
+          0.2702617049217224,
+          0.00797829870134592,
+          -0.9627538919448853,
+          1.157505750656128
+        ],
+        [
+          0.06789540499448776,
+          -0.9976340532302856,
+          0.010792067274451256,
+          -36.44729232788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5061,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_583082914",
+      "mask_path": "../../mask/hdr_right_05061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05062.png",
+      "transform_matrix": [
+        [
+          -0.9584203362464905,
+          -0.0655532032251358,
+          -0.2777288556098938,
+          126.74723052978516
+        ],
+        [
+          0.27752935886383057,
+          0.012313046492636204,
+          -0.9606382250785828,
+          1.114332914352417
+        ],
+        [
+          0.06639260798692703,
+          -0.9977731108665466,
+          0.006391860079020262,
+          -36.444366455078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5062,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_683081865",
+      "mask_path": "../../mask/hdr_right_05062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05063.png",
+      "transform_matrix": [
+        [
+          -0.9573996067047119,
+          -0.05771569162607193,
+          -0.2829396426677704,
+          126.8103256225586
+        ],
+        [
+          0.2824629843235016,
+          0.016425982117652893,
+          -0.9591376185417175,
+          1.083868145942688
+        ],
+        [
+          0.06000484526157379,
+          -0.9981979131698608,
+          0.0005763176013715565,
+          -36.44972610473633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5063,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_783081769",
+      "mask_path": "../../mask/hdr_right_05063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05064.png",
+      "transform_matrix": [
+        [
+          -0.9564720392227173,
+          -0.0492459274828434,
+          -0.2876390516757965,
+          126.87208557128906
+        ],
+        [
+          0.2868572771549225,
+          0.022420262917876244,
+          -0.9577109813690186,
+          1.0614427328109741
+        ],
+        [
+          0.05361231043934822,
+          -0.9985350370407104,
+          -0.007317799609154463,
+          -36.45060348510742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5064,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_883082151",
+      "mask_path": "../../mask/hdr_right_05064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05065.png",
+      "transform_matrix": [
+        [
+          -0.9584047794342041,
+          -0.04467979446053505,
+          -0.2818937301635742,
+          126.94572448730469
+        ],
+        [
+          0.2811569273471832,
+          0.022125938907265663,
+          -0.9594066739082336,
+          1.0337718725204468
+        ],
+        [
+          0.0491032600402832,
+          -0.9987562894821167,
+          -0.008643572218716145,
+          -36.44999694824219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5065,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323769_983082294",
+      "mask_path": "../../mask/hdr_right_05065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05066.png",
+      "transform_matrix": [
+        [
+          -0.9635573625564575,
+          -0.045644842088222504,
+          -0.26357904076576233,
+          127.01969146728516
+        ],
+        [
+          0.2629964351654053,
+          0.018438728526234627,
+          -0.9646205902099609,
+          1.012473702430725
+        ],
+        [
+          0.048890020698308945,
+          -0.998787522315979,
+          -0.005762340035289526,
+          -36.45772933959961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5066,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_83082199",
+      "mask_path": "../../mask/hdr_right_05066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05067.png",
+      "transform_matrix": [
+        [
+          -0.9682672619819641,
+          -0.04425005987286568,
+          -0.24596840143203735,
+          127.07721710205078
+        ],
+        [
+          0.2453879714012146,
+          0.01818724535405636,
+          -0.9692543745040894,
+          1.0028413534164429
+        ],
+        [
+          0.047363054007291794,
+          -0.9988549947738647,
+          -0.0067516821436584,
+          -36.468467712402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5067,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_183082103",
+      "mask_path": "../../mask/hdr_right_05067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05068.png",
+      "transform_matrix": [
+        [
+          -0.9718078374862671,
+          -0.039530880749225616,
+          -0.23243668675422668,
+          127.13909912109375
+        ],
+        [
+          0.2316349297761917,
+          0.02384245954453945,
+          -0.972510576248169,
+          0.992891252040863
+        ],
+        [
+          0.04398606717586517,
+          -0.9989338517189026,
+          -0.014013558626174927,
+          -36.47714614868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5068,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_283082485",
+      "mask_path": "../../mask/hdr_right_05068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05069.png",
+      "transform_matrix": [
+        [
+          -0.9724310040473938,
+          -0.03894922509789467,
+          -0.2299148142337799,
+          127.20771026611328
+        ],
+        [
+          0.22884145379066467,
+          0.0301394984126091,
+          -0.9729970097541809,
+          0.976538360118866
+        ],
+        [
+          0.04482700303196907,
+          -0.9987865686416626,
+          -0.020395388826727867,
+          -36.47271728515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5069,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_383081436",
+      "mask_path": "../../mask/hdr_right_05069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05070.png",
+      "transform_matrix": [
+        [
+          -0.9710605144500732,
+          -0.036910928785800934,
+          -0.23596414923667908,
+          127.26800537109375
+        ],
+        [
+          0.23479339480400085,
+          0.033420782536268234,
+          -0.9714706540107727,
+          0.9469007849693298
+        ],
+        [
+          0.04374399036169052,
+          -0.9987595677375793,
+          -0.023787155747413635,
+          -36.45941162109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5070,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_483081579",
+      "mask_path": "../../mask/hdr_right_05070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05071.png",
+      "transform_matrix": [
+        [
+          -0.9694778919219971,
+          -0.026874486356973648,
+          -0.2437015175819397,
+          127.33116149902344
+        ],
+        [
+          0.24255187809467316,
+          0.039987366646528244,
+          -0.9693139791488647,
+          0.9178541898727417
+        ],
+        [
+          0.03579479828476906,
+          -0.9988387227058411,
+          -0.03224841505289078,
+          -36.452728271484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5071,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_583081722",
+      "mask_path": "../../mask/hdr_right_05071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05072.png",
+      "transform_matrix": [
+        [
+          -0.9674766659736633,
+          -0.026006393134593964,
+          -0.2516196370124817,
+          127.41156005859375
+        ],
+        [
+          0.2505216896533966,
+          0.03927132114768028,
+          -0.9673142433166504,
+          0.888421356678009
+        ],
+        [
+          0.03503778949379921,
+          -0.9988901019096375,
+          -0.03147892281413078,
+          -36.457027435302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5072,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_683082342",
+      "mask_path": "../../mask/hdr_right_05072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05073.png",
+      "transform_matrix": [
+        [
+          -0.9670410752296448,
+          -0.0330992266535759,
+          -0.25245994329452515,
+          127.50665283203125
+        ],
+        [
+          0.2513923645019531,
+          0.03326845541596413,
+          -0.9673133492469788,
+          0.8525267839431763
+        ],
+        [
+          0.04041627421975136,
+          -0.9988981485366821,
+          -0.023851072415709496,
+          -36.47596740722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5073,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_783082246",
+      "mask_path": "../../mask/hdr_right_05073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05074.png",
+      "transform_matrix": [
+        [
+          -0.967843770980835,
+          -0.03508545458316803,
+          -0.2490932047367096,
+          127.57228088378906
+        ],
+        [
+          0.24821369349956512,
+          0.027587218210101128,
+          -0.9683124423027039,
+          0.8338990807533264
+        ],
+        [
+          0.04084546118974686,
+          -0.999003529548645,
+          -0.017991431057453156,
+          -36.4843635559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5074,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323770_883081674",
+      "mask_path": "../../mask/hdr_right_05074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05076.png",
+      "transform_matrix": [
+        [
+          -0.9666579365730286,
+          -0.039292313158512115,
+          -0.2530386447906494,
+          127.6292495727539
+        ],
+        [
+          0.252143919467926,
+          0.026344945654273033,
+          -0.9673311710357666,
+          0.8084750175476074
+        ],
+        [
+          0.044674962759017944,
+          -0.9988803267478943,
+          -0.01555923093110323,
+          -36.4791145324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5076,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_83081007",
+      "mask_path": "../../mask/hdr_right_05076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05078.png",
+      "transform_matrix": [
+        [
+          -0.9626834392547607,
+          -0.03821674734354019,
+          -0.26791825890541077,
+          127.69296264648438
+        ],
+        [
+          0.2672717869281769,
+          0.021219108253717422,
+          -0.9633875489234924,
+          0.7597806453704834
+        ],
+        [
+          0.042502522468566895,
+          -0.9990441203117371,
+          -0.010213025845587254,
+          -36.47093200683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5078,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_283083200",
+      "mask_path": "../../mask/hdr_right_05078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05084.png",
+      "transform_matrix": [
+        [
+          -0.9557453989982605,
+          -0.03068356215953827,
+          -0.2925906479358673,
+          127.58139038085938
+        ],
+        [
+          0.29242146015167236,
+          0.009963484480977058,
+          -0.95623779296875,
+          0.8255568146705627
+        ],
+        [
+          0.032255999743938446,
+          -0.9994794130325317,
+          -0.0005500194965861738,
+          -36.46628952026367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5084,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_883082866",
+      "mask_path": "../../mask/hdr_right_05084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05085.png",
+      "transform_matrix": [
+        [
+          -0.9531415700912476,
+          -0.032942354679107666,
+          -0.3007258176803589,
+          127.51504516601562
+        ],
+        [
+          0.30071187019348145,
+          0.005494389217346907,
+          -0.9536992907524109,
+          0.855270504951477
+        ],
+        [
+          0.03306940197944641,
+          -0.9994421005249023,
+          0.004669223912060261,
+          -36.45719909667969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5085,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323771_983082294",
+      "mask_path": "../../mask/hdr_right_05085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05088.png",
+      "transform_matrix": [
+        [
+          -0.9435975551605225,
+          -0.040243860334157944,
+          -0.3286396265029907,
+          127.37737274169922
+        ],
+        [
+          0.32957834005355835,
+          -0.01928825117647648,
+          -0.9439312219619751,
+          0.896690309047699
+        ],
+        [
+          0.03164855018258095,
+          -0.9990037083625793,
+          0.031463854014873505,
+          -36.44221878051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5088,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_283082008",
+      "mask_path": "../../mask/hdr_right_05088.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05092.png",
+      "transform_matrix": [
+        [
+          -0.9419448375701904,
+          -0.039915360510349274,
+          -0.33338698744773865,
+          127.19994354248047
+        ],
+        [
+          0.3345578610897064,
+          -0.027351971715688705,
+          -0.9419780969619751,
+          0.9768181443214417
+        ],
+        [
+          0.028480609878897667,
+          -0.9988285899162292,
+          0.039118047803640366,
+          -36.44869613647461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5092,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_683080911",
+      "mask_path": "../../mask/hdr_right_05092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05093.png",
+      "transform_matrix": [
+        [
+          -0.9386919736862183,
+          -0.041066717356443405,
+          -0.34230247139930725,
+          127.15281677246094
+        ],
+        [
+          0.343476802110672,
+          -0.025911519303917885,
+          -0.9388036727905273,
+          0.9994629621505737
+        ],
+        [
+          0.02968401089310646,
+          -0.9988203644752502,
+          0.038428403437137604,
+          -36.44120788574219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5093,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_783081054",
+      "mask_path": "../../mask/hdr_right_05093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05095.png",
+      "transform_matrix": [
+        [
+          -0.9315427541732788,
+          -0.04631292447447777,
+          -0.3606705665588379,
+          127.08048248291016
+        ],
+        [
+          0.36219748854637146,
+          -0.030162794515490532,
+          -0.9316132664680481,
+          1.0303573608398438
+        ],
+        [
+          0.032266903668642044,
+          -0.9984714984893799,
+          0.044872354716062546,
+          -36.428897857666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5095,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323772_983080387",
+      "mask_path": "../../mask/hdr_right_05095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05096.png",
+      "transform_matrix": [
+        [
+          -0.9297156929969788,
+          -0.05095092952251434,
+          -0.3647366464138031,
+          127.01998901367188
+        ],
+        [
+          0.3664766550064087,
+          -0.030155623331665993,
+          -0.9299384951591492,
+          1.0522310733795166
+        ],
+        [
+          0.036382369697093964,
+          -0.9982457756996155,
+          0.04670848324894905,
+          -36.42109298706055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5096,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323773_83084821",
+      "mask_path": "../../mask/hdr_right_05096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05104.png",
+      "transform_matrix": [
+        [
+          -0.9111321568489075,
+          -0.06356529891490936,
+          -0.4071826636791229,
+          126.79815673828125
+        ],
+        [
+          0.4096788167953491,
+          -0.032443817704916,
+          -0.911652684211731,
+          1.1804296970367432
+        ],
+        [
+          0.04473892226815224,
+          -0.9974501729011536,
+          0.05560195446014404,
+          -36.41994094848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5104,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323773_883081197",
+      "mask_path": "../../mask/hdr_right_05104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05106.png",
+      "transform_matrix": [
+        [
+          -0.9105625748634338,
+          -0.056125838309526443,
+          -0.4095432460308075,
+          126.74913787841797
+        ],
+        [
+          0.4112569987773895,
+          -0.0229262076318264,
+          -0.9112311005592346,
+          1.2048189640045166
+        ],
+        [
+          0.0417543388903141,
+          -0.9981604218482971,
+          0.043957892805337906,
+          -36.418663024902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5106,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_83080291",
+      "mask_path": "../../mask/hdr_right_05106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05109.png",
+      "transform_matrix": [
+        [
+          -0.9065462350845337,
+          -0.059570103883743286,
+          -0.41788214445114136,
+          126.68352508544922
+        ],
+        [
+          0.4192572236061096,
+          -0.012235275469720364,
+          -0.9077849984169006,
+          1.2444661855697632
+        ],
+        [
+          0.04896394908428192,
+          -0.9981490969657898,
+          0.03606703504920006,
+          -36.421913146972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5109,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_383080482",
+      "mask_path": "../../mask/hdr_right_05109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05112.png",
+      "transform_matrix": [
+        [
+          -0.8877127766609192,
+          -0.07064677029848099,
+          -0.4549451172351837,
+          126.61720275878906
+        ],
+        [
+          0.45712122321128845,
+          -0.01756771095097065,
+          -0.8892309665679932,
+          1.2672908306121826
+        ],
+        [
+          0.0548289455473423,
+          -0.9973466396331787,
+          0.04788921773433685,
+          -36.40982437133789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5112,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_683080911",
+      "mask_path": "../../mask/hdr_right_05112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05114.png",
+      "transform_matrix": [
+        [
+          -0.8556113243103027,
+          -0.06292341649532318,
+          -0.5137801766395569,
+          126.54927062988281
+        ],
+        [
+          0.5151583552360535,
+          -0.00685172388330102,
+          -0.8570675849914551,
+          1.2762203216552734
+        ],
+        [
+          0.05040934681892395,
+          -0.9979948997497559,
+          0.03827793896198273,
+          -36.398460388183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5114,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323774_883080959",
+      "mask_path": "../../mask/hdr_right_05114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05119.png",
+      "transform_matrix": [
+        [
+          -0.6570420265197754,
+          -0.08181026577949524,
+          -0.7494016885757446,
+          126.4798812866211
+        ],
+        [
+          0.7523228526115417,
+          -0.007832233794033527,
+          -0.6587481498718262,
+          1.2245819568634033
+        ],
+        [
+          0.04802287369966507,
+          -0.9966171979904175,
+          0.06669382750988007,
+          -36.379207611083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5119,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_383081912",
+      "mask_path": "../../mask/hdr_right_05119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05122.png",
+      "transform_matrix": [
+        [
+          -0.4674772024154663,
+          -0.07859030365943909,
+          -0.8805049061775208,
+          126.40825653076172
+        ],
+        [
+          0.8837459087371826,
+          -0.017430419102311134,
+          -0.4676421880722046,
+          1.142018437385559
+        ],
+        [
+          0.021404573693871498,
+          -0.9967546463012695,
+          0.07760217785835266,
+          -36.377601623535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5122,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_683081626",
+      "mask_path": "../../mask/hdr_right_05122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05124.png",
+      "transform_matrix": [
+        [
+          -0.3076285421848297,
+          -0.06985367089509964,
+          -0.9489389061927795,
+          126.31697082519531
+        ],
+        [
+          0.9514963030815125,
+          -0.017952952533960342,
+          -0.30713605880737305,
+          1.0980360507965088
+        ],
+        [
+          0.0044183251447975636,
+          -0.9973957538604736,
+          0.07198835909366608,
+          -36.35429382324219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5124,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323775_883081912",
+      "mask_path": "../../mask/hdr_right_05124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05127.png",
+      "transform_matrix": [
+        [
+          -0.01736912876367569,
+          -0.07323555648326874,
+          -0.9971634149551392,
+          126.21932220458984
+        ],
+        [
+          0.99981290102005,
+          -0.009763579815626144,
+          -0.01669817790389061,
+          1.0645875930786133
+        ],
+        [
+          -0.008512981235980988,
+          -0.9972668886184692,
+          0.07339143753051758,
+          -36.364227294921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5127,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_183081150",
+      "mask_path": "../../mask/hdr_right_05127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05129.png",
+      "transform_matrix": [
+        [
+          0.16304050385951996,
+          -0.08447634428739548,
+          -0.9829962849617004,
+          126.12226867675781
+        ],
+        [
+          0.9861983060836792,
+          -0.015151912346482277,
+          0.16487373411655426,
+          1.0580154657363892
+        ],
+        [
+          -0.02882220223546028,
+          -0.9963103532791138,
+          0.08084004372358322,
+          -36.3492546081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5129,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_383082628",
+      "mask_path": "../../mask/hdr_right_05129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05131.png",
+      "transform_matrix": [
+        [
+          0.3431275486946106,
+          -0.06658604741096497,
+          -0.9369257688522339,
+          125.9980239868164
+        ],
+        [
+          0.9386235475540161,
+          -0.013229751028120518,
+          0.3446895480155945,
+          1.0652037858963013
+        ],
+        [
+          -0.035346806049346924,
+          -0.9976930022239685,
+          0.05795973911881447,
+          -36.354583740234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5131,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_583082437",
+      "mask_path": "../../mask/hdr_right_05131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05134.png",
+      "transform_matrix": [
+        [
+          0.6078864932060242,
+          -0.05018521845340729,
+          -0.792436420917511,
+          125.88287353515625
+        ],
+        [
+          0.7931996583938599,
+          -0.007083255797624588,
+          0.6089205741882324,
+          1.1220290660858154
+        ],
+        [
+          -0.03617183864116669,
+          -0.998714804649353,
+          0.03550107777118683,
+          -36.370574951171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5134,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323776_883080005",
+      "mask_path": "../../mask/hdr_right_05134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05136.png",
+      "transform_matrix": [
+        [
+          0.7412810325622559,
+          -0.05263327434659004,
+          -0.6691279411315918,
+          125.82334899902344
+        ],
+        [
+          0.6708976626396179,
+          0.028441932052373886,
+          0.7410043478012085,
+          1.1942944526672363
+        ],
+        [
+          -0.01997019350528717,
+          -0.99820876121521,
+          0.05639500543475151,
+          -36.352230072021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5136,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_83080291",
+      "mask_path": "../../mask/hdr_right_05136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05138.png",
+      "transform_matrix": [
+        [
+          0.8509283065795898,
+          -0.05240464210510254,
+          -0.5226611495018005,
+          125.74998474121094
+        ],
+        [
+          0.524008572101593,
+          0.015450078062713146,
+          0.8515729308128357,
+          1.255873203277588
+        ],
+        [
+          -0.03655121475458145,
+          -0.998506486415863,
+          0.04060738906264305,
+          -36.36463165283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5138,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_283080339",
+      "mask_path": "../../mask/hdr_right_05138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05140.png",
+      "transform_matrix": [
+        [
+          0.9418071508407593,
+          -0.04976934194564819,
+          -0.3324489891529083,
+          125.69487762451172
+        ],
+        [
+          0.33316531777381897,
+          0.0066206734627485275,
+          0.9428451657295227,
+          1.3374803066253662
+        ],
+        [
+          -0.0447237491607666,
+          -0.9987387657165527,
+          0.022816816344857216,
+          -36.348045349121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5140,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_483081579",
+      "mask_path": "../../mask/hdr_right_05140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05143.png",
+      "transform_matrix": [
+        [
+          0.9969614148139954,
+          -0.04093806445598602,
+          -0.06627209484577179,
+          125.65586853027344
+        ],
+        [
+          0.06707378476858139,
+          0.018527882173657417,
+          0.997576117515564,
+          1.4512593746185303
+        ],
+        [
+          -0.03961094841361046,
+          -0.9989898800849915,
+          0.021217454224824905,
+          -36.32657241821289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5143,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323777_783084630",
+      "mask_path": "../../mask/hdr_right_05143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05148.png",
+      "transform_matrix": [
+        [
+          0.9984658360481262,
+          -0.055333469063043594,
+          -0.0020478535443544388,
+          125.62887573242188
+        ],
+        [
+          0.0017272306140512228,
+          -0.00584191782400012,
+          0.9999814629554749,
+          1.5148749351501465
+        ],
+        [
+          -0.05534440651535988,
+          -0.9984508752822876,
+          -0.005737384781241417,
+          -36.32106399536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5148,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_283082485",
+      "mask_path": "../../mask/hdr_right_05148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05150.png",
+      "transform_matrix": [
+        [
+          0.9984429478645325,
+          -0.055150121450424194,
+          0.008377665653824806,
+          125.57785034179688
+        ],
+        [
+          -0.00968090258538723,
+          -0.02340613678097725,
+          0.9996792674064636,
+          1.5341392755508423
+        ],
+        [
+          -0.05493634194135666,
+          -0.998203694820404,
+          -0.02390359528362751,
+          -36.32753372192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5150,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_483082056",
+      "mask_path": "../../mask/hdr_right_05150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05152.png",
+      "transform_matrix": [
+        [
+          0.9988158345222473,
+          -0.04835093021392822,
+          0.005411485675722361,
+          125.50702667236328
+        ],
+        [
+          -0.005765171255916357,
+          -0.007178664673119783,
+          0.9999576210975647,
+          1.5578038692474365
+        ],
+        [
+          -0.04831003397703171,
+          -0.9988046288490295,
+          -0.007448917254805565,
+          -36.31618881225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5152,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_683082342",
+      "mask_path": "../../mask/hdr_right_05152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05155.png",
+      "transform_matrix": [
+        [
+          0.998936653137207,
+          -0.04591888189315796,
+          0.004122693091630936,
+          125.36032104492188
+        ],
+        [
+          -0.005175436846911907,
+          -0.02283160202205181,
+          0.9997260570526123,
+          1.5776056051254272
+        ],
+        [
+          -0.04581216722726822,
+          -0.9986842274665833,
+          -0.023044981062412262,
+          -36.32467269897461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5155,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323778_983082056",
+      "mask_path": "../../mask/hdr_right_05155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05156.png",
+      "transform_matrix": [
+        [
+          0.9988031983375549,
+          -0.047840528190135956,
+          0.010177905671298504,
+          125.2977294921875
+        ],
+        [
+          -0.011835861019790173,
+          -0.03450189158320427,
+          0.9993345737457275,
+          1.5893586874008179
+        ],
+        [
+          -0.047457534819841385,
+          -0.9982589483261108,
+          -0.03502683341503143,
+          -36.31355285644531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5156,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_83081722",
+      "mask_path": "../../mask/hdr_right_05156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05157.png",
+      "transform_matrix": [
+        [
+          0.998481273651123,
+          -0.05277258902788162,
+          0.015820544213056564,
+          125.2320327758789
+        ],
+        [
+          -0.01793326810002327,
+          -0.039804890751838684,
+          0.9990465641021729,
+          1.586827039718628
+        ],
+        [
+          -0.0520925372838974,
+          -0.9978129267692566,
+          -0.040690828114748,
+          -36.30424880981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5157,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_183082818",
+      "mask_path": "../../mask/hdr_right_05157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05158.png",
+      "transform_matrix": [
+        [
+          0.9984708428382874,
+          -0.053441789001226425,
+          0.014139889739453793,
+          125.1593246459961
+        ],
+        [
+          -0.016085071489214897,
+          -0.03614560514688492,
+          0.9992170929908752,
+          1.586571455001831
+        ],
+        [
+          -0.05288885161280632,
+          -0.9979165196418762,
+          -0.03694995492696762,
+          -36.2945556640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5158,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_283081769",
+      "mask_path": "../../mask/hdr_right_05158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05159.png",
+      "transform_matrix": [
+        [
+          0.9985803365707397,
+          -0.05262993648648262,
+          0.008207648992538452,
+          125.10228729248047
+        ],
+        [
+          -0.00975428894162178,
+          -0.02919851243495941,
+          0.9995260238647461,
+          1.5882302522659302
+        ],
+        [
+          -0.05236533656716347,
+          -0.9981871247291565,
+          -0.029670434072613716,
+          -36.293174743652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5159,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_383081436",
+      "mask_path": "../../mask/hdr_right_05159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05161.png",
+      "transform_matrix": [
+        [
+          0.9983944296836853,
+          -0.05645827576518059,
+          0.004577241372317076,
+          124.9960708618164
+        ],
+        [
+          -0.006184461060911417,
+          -0.028325945138931274,
+          0.9995796084403992,
+          1.5869925022125244
+        ],
+        [
+          -0.05630488693714142,
+          -0.9980030655860901,
+          -0.02862963266670704,
+          -36.28573226928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5161,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_583083629",
+      "mask_path": "../../mask/hdr_right_05161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05162.png",
+      "transform_matrix": [
+        [
+          0.9978642463684082,
+          -0.06466121971607208,
+          0.009266478009521961,
+          124.93902587890625
+        ],
+        [
+          -0.011335459537804127,
+          -0.031704336404800415,
+          0.9994330406188965,
+          1.5890940427780151
+        ],
+        [
+          -0.06433076411485672,
+          -0.9974035024642944,
+          -0.03236959129571915,
+          -36.26831817626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5162,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_683082103",
+      "mask_path": "../../mask/hdr_right_05162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05164.png",
+      "transform_matrix": [
+        [
+          0.9958497881889343,
+          -0.08773524314165115,
+          0.02420215681195259,
+          124.85265350341797
+        ],
+        [
+          -0.027913471683859825,
+          -0.04132441058754921,
+          0.9987558722496033,
+          1.612077236175537
+        ],
+        [
+          -0.08662594109773636,
+          -0.9952862858772278,
+          -0.04360189661383629,
+          -36.25139236450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5164,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_883082151",
+      "mask_path": "../../mask/hdr_right_05164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05165.png",
+      "transform_matrix": [
+        [
+          0.9934608340263367,
+          -0.1109125167131424,
+          0.027094289660453796,
+          124.7918472290039
+        ],
+        [
+          -0.03285330533981323,
+          -0.05042990669608116,
+          0.9981871247291565,
+          1.6034399271011353
+        ],
+        [
+          -0.10934508591890335,
+          -0.9925498962402344,
+          -0.05374397709965706,
+          -36.22917556762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5165,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323779_983081817",
+      "mask_path": "../../mask/hdr_right_05165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05166.png",
+      "transform_matrix": [
+        [
+          0.9916728138923645,
+          -0.12577129900455475,
+          0.027689646929502487,
+          124.72795104980469
+        ],
+        [
+          -0.03293381258845329,
+          -0.03980983421206474,
+          0.9986644387245178,
+          1.593890905380249
+        ],
+        [
+          -0.12450101226568222,
+          -0.9912602305412292,
+          -0.043620456010103226,
+          -36.18161392211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5166,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_83082437",
+      "mask_path": "../../mask/hdr_right_05166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05168.png",
+      "transform_matrix": [
+        [
+          0.9901455044746399,
+          -0.1328432559967041,
+          0.044325195252895355,
+          124.65939331054688
+        ],
+        [
+          -0.046723462641239166,
+          -0.014989388175308704,
+          0.9987953901290894,
+          1.6157548427581787
+        ],
+        [
+          -0.1320188343524933,
+          -0.9910237193107605,
+          -0.02104857563972473,
+          -36.17491149902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5168,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_283080816",
+      "mask_path": "../../mask/hdr_right_05168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05170.png",
+      "transform_matrix": [
+        [
+          0.9853885769844055,
+          -0.1404503881931305,
+          0.09634840488433838,
+          124.58350372314453
+        ],
+        [
+          -0.0983247384428978,
+          -0.0071844435296952724,
+          0.9951285123825073,
+          1.659067153930664
+        ],
+        [
+          -0.1390739530324936,
+          -0.9900616407394409,
+          -0.020889218896627426,
+          -36.16682434082031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5170,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_483082056",
+      "mask_path": "../../mask/hdr_right_05170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05172.png",
+      "transform_matrix": [
+        [
+          0.9739421010017395,
+          -0.14480428397655487,
+          0.17455245554447174,
+          124.53341674804688
+        ],
+        [
+          -0.17508754134178162,
+          0.00914021860808134,
+          0.9845105409622192,
+          1.7111122608184814
+        ],
+        [
+          -0.1441567838191986,
+          -0.989418089389801,
+          -0.016451388597488403,
+          -36.15532302856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5172,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_683083057",
+      "mask_path": "../../mask/hdr_right_05172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05174.png",
+      "transform_matrix": [
+        [
+          0.9635990858078003,
+          -0.1439151167869568,
+          0.22531159222126007,
+          124.45244598388672
+        ],
+        [
+          -0.2246396243572235,
+          0.021116409450769424,
+          0.9742130637168884,
+          1.7395834922790527
+        ],
+        [
+          -0.14496177434921265,
+          -0.9893646836280823,
+          -0.011981291696429253,
+          -36.12269592285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5174,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323780_883081912",
+      "mask_path": "../../mask/hdr_right_05174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05176.png",
+      "transform_matrix": [
+        [
+          0.9649720191955566,
+          -0.13324683904647827,
+          0.22599627077579498,
+          124.36683654785156
+        ],
+        [
+          -0.22371990978717804,
+          0.03201371431350708,
+          0.9741276502609253,
+          1.7662763595581055
+        ],
+        [
+          -0.13703440129756927,
+          -0.9905656576156616,
+          0.0010823601623997092,
+          -36.135215759277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5176,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_83081483",
+      "mask_path": "../../mask/hdr_right_05176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05177.png",
+      "transform_matrix": [
+        [
+          0.9637772440910339,
+          -0.13260646164417267,
+          0.2314063310623169,
+          124.32257080078125
+        ],
+        [
+          -0.22842605412006378,
+          0.03747492656111717,
+          0.9728397727012634,
+          1.7913261651992798
+        ],
+        [
+          -0.13767677545547485,
+          -0.9904600381851196,
+          0.005826697219163179,
+          -36.11296081542969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5177,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_183080911",
+      "mask_path": "../../mask/hdr_right_05177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05180.png",
+      "transform_matrix": [
+        [
+          0.9571911096572876,
+          -0.13885702192783356,
+          0.2539762854576111,
+          124.18736267089844
+        ],
+        [
+          -0.2502892315387726,
+          0.04369494691491127,
+          0.9671846032142639,
+          1.8763211965560913
+        ],
+        [
+          -0.1453978568315506,
+          -0.9893479943275452,
+          0.007069993764162064,
+          -36.07521057128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5180,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_483079910",
+      "mask_path": "../../mask/hdr_right_05180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05181.png",
+      "transform_matrix": [
+        [
+          0.9565593004226685,
+          -0.1327821910381317,
+          0.2595442831516266,
+          124.12574005126953
+        ],
+        [
+          -0.2547014653682709,
+          0.052541933953762054,
+          0.965591311454773,
+          1.911893606185913
+        ],
+        [
+          -0.14185026288032532,
+          -0.9897515177726746,
+          0.016439659520983696,
+          -36.0738639831543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5181,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_583080291",
+      "mask_path": "../../mask/hdr_right_05181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05182.png",
+      "transform_matrix": [
+        [
+          0.9554150104522705,
+          -0.13247400522232056,
+          0.26388055086135864,
+          124.06987762451172
+        ],
+        [
+          -0.2584831416606903,
+          0.05672235041856766,
+          0.964349091053009,
+          1.933686375617981
+        ],
+        [
+          -0.1427190899848938,
+          -0.9895622134208679,
+          0.01995108276605606,
+          -36.077999114990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5182,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_683080673",
+      "mask_path": "../../mask/hdr_right_05182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05183.png",
+      "transform_matrix": [
+        [
+          0.9547246694564819,
+          -0.12753814458847046,
+          0.2687656283378601,
+          124.00277709960938
+        ],
+        [
+          -0.26501601934432983,
+          0.04583250358700752,
+          0.9631541967391968,
+          1.9692820310592651
+        ],
+        [
+          -0.13515709340572357,
+          -0.9907741546630859,
+          0.009957767091691494,
+          -36.06815719604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5183,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_783080577",
+      "mask_path": "../../mask/hdr_right_05183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05184.png",
+      "transform_matrix": [
+        [
+          0.9515553116798401,
+          -0.12888284027576447,
+          0.2791626453399658,
+          123.93115234375
+        ],
+        [
+          -0.2765655517578125,
+          0.037993866950273514,
+          0.9602437615394592,
+          2.0102896690368652
+        ],
+        [
+          -0.13436542451381683,
+          -0.9909316897392273,
+          0.000508710800204426,
+          -36.04328918457031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5184,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_883078336",
+      "mask_path": "../../mask/hdr_right_05184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05185.png",
+      "transform_matrix": [
+        [
+          0.948119580745697,
+          -0.13689707219600677,
+          0.28692933917045593,
+          123.8714599609375
+        ],
+        [
+          -0.28503644466400146,
+          0.033662471920251846,
+          0.9579253792762756,
+          2.0390703678131104
+        ],
+        [
+          -0.14079593122005463,
+          -0.9900131821632385,
+          -0.007104605436325073,
+          -36.03537368774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5185,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323781_983079195",
+      "mask_path": "../../mask/hdr_right_05185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05186.png",
+      "transform_matrix": [
+        [
+          0.9438086748123169,
+          -0.15624617040157318,
+          0.29122552275657654,
+          123.80816650390625
+        ],
+        [
+          -0.2912495732307434,
+          0.02325700968503952,
+          0.9563643336296082,
+          2.0546531677246094
+        ],
+        [
+          -0.1562013030052185,
+          -0.987444281578064,
+          -0.02355646714568138,
+          -36.01987075805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5186,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_83078384",
+      "mask_path": "../../mask/hdr_right_05186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05187.png",
+      "transform_matrix": [
+        [
+          0.942851185798645,
+          -0.16349786520004272,
+          0.29034489393234253,
+          123.7226333618164
+        ],
+        [
+          -0.289080411195755,
+          0.03200864419341087,
+          0.956769585609436,
+          2.069211483001709
+        ],
+        [
+          -0.16572333872318268,
+          -0.9860243201255798,
+          -0.017084652557969093,
+          -35.96316146850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5187,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_183079004",
+      "mask_path": "../../mask/hdr_right_05187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05188.png",
+      "transform_matrix": [
+        [
+          0.9457889199256897,
+          -0.15734627842903137,
+          0.2841222882270813,
+          123.64563751220703
+        ],
+        [
+          -0.2799884080886841,
+          0.04831809177994728,
+          0.95878666639328,
+          2.099391460418701
+        ],
+        [
+          -0.1645897626876831,
+          -0.9863607883453369,
+          0.0016435680445283651,
+          -35.94749450683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5188,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_283081054",
+      "mask_path": "../../mask/hdr_right_05188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05189.png",
+      "transform_matrix": [
+        [
+          0.9476526975631714,
+          -0.15450571477413177,
+          0.2794322371482849,
+          123.59322357177734
+        ],
+        [
+          -0.27397942543029785,
+          0.055966705083847046,
+          0.9601057767868042,
+          2.127826690673828
+        ],
+        [
+          -0.16398072242736816,
+          -0.9864054322242737,
+          0.01070561446249485,
+          -35.954368591308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5189,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_383080244",
+      "mask_path": "../../mask/hdr_right_05189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05190.png",
+      "transform_matrix": [
+        [
+          0.9474610090255737,
+          -0.14993245899677277,
+          0.28255587816238403,
+          123.53424835205078
+        ],
+        [
+          -0.277846097946167,
+          0.05192478373646736,
+          0.9592213034629822,
+          2.1496875286102295
+        ],
+        [
+          -0.15849004685878754,
+          -0.9873318076133728,
+          0.007538556586951017,
+          -35.94321823120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5190,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_483082532",
+      "mask_path": "../../mask/hdr_right_05190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05191.png",
+      "transform_matrix": [
+        [
+          0.9452072978019714,
+          -0.15081222355365753,
+          0.28954920172691345,
+          123.4766616821289
+        ],
+        [
+          -0.28585782647132874,
+          0.04608940705657005,
+          0.9571630954742432,
+          2.1707847118377686
+        ],
+        [
+          -0.15769702196121216,
+          -0.9874874949455261,
+          0.0004531922750174999,
+          -35.92195510864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5191,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_583083152",
+      "mask_path": "../../mask/hdr_right_05191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05193.png",
+      "transform_matrix": [
+        [
+          0.9416783452033997,
+          -0.1501879245042801,
+          0.3011404871940613,
+          123.38153839111328
+        ],
+        [
+          -0.29823532700538635,
+          0.042050138115882874,
+          0.9535656571388245,
+          2.2082154750823975
+        ],
+        [
+          -0.155877023935318,
+          -0.9877628087997437,
+          -0.005193643271923065,
+          -35.897979736328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5193,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_783082246",
+      "mask_path": "../../mask/hdr_right_05193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05194.png",
+      "transform_matrix": [
+        [
+          0.9434390068054199,
+          -0.13749633729457855,
+          0.3016914427280426,
+          123.3082275390625
+        ],
+        [
+          -0.29792699217796326,
+          0.04767980799078941,
+          0.9533972144126892,
+          2.235804319381714
+        ],
+        [
+          -0.14547322690486908,
+          -0.9893540143966675,
+          0.004019112326204777,
+          -35.897438049316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5194,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323782_883081912",
+      "mask_path": "../../mask/hdr_right_05194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05196.png",
+      "transform_matrix": [
+        [
+          0.9441098570823669,
+          -0.1276787966489792,
+          0.3038993179798126,
+          123.2241439819336
+        ],
+        [
+          -0.2991325259208679,
+          0.05545300245285034,
+          0.9525989294052124,
+          2.267627477645874
+        ],
+        [
+          -0.1384788155555725,
+          -0.9902641773223877,
+          0.014160833321511745,
+          -35.89762496948242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5196,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_83081960",
+      "mask_path": "../../mask/hdr_right_05196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05198.png",
+      "transform_matrix": [
+        [
+          0.9400436878204346,
+          -0.13098786771297455,
+          0.31489694118499756,
+          123.14131164550781
+        ],
+        [
+          -0.30934983491897583,
+          0.061273183673620224,
+          0.9489722847938538,
+          2.29899001121521
+        ],
+        [
+          -0.14359857141971588,
+          -0.9894886612892151,
+          0.01707839034497738,
+          -35.873191833496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5198,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_283082246",
+      "mask_path": "../../mask/hdr_right_05198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05199.png",
+      "transform_matrix": [
+        [
+          0.935945987701416,
+          -0.14232788980007172,
+          0.3220992386341095,
+          123.09777069091797
+        ],
+        [
+          -0.3174509108066559,
+          0.05487219616770744,
+          0.946685791015625,
+          2.3235745429992676
+        ],
+        [
+          -0.15241406857967377,
+          -0.9882974028587341,
+          0.0061752875335514545,
+          -35.853607177734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5199,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_383082151",
+      "mask_path": "../../mask/hdr_right_05199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05201.png",
+      "transform_matrix": [
+        [
+          0.9343766570091248,
+          -0.13906824588775635,
+          0.328024685382843,
+          122.99937438964844
+        ],
+        [
+          -0.3247733414173126,
+          0.0461171418428421,
+          0.944666862487793,
+          2.349438190460205
+        ],
+        [
+          -0.14650072157382965,
+          -0.9892084002494812,
+          -0.0020748733077198267,
+          -35.8066520690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5201,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323783_583081722",
+      "mask_path": "../../mask/hdr_right_05201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05247.png",
+      "transform_matrix": [
+        [
+          0.9231037497520447,
+          -0.22635042667388916,
+          0.31087779998779297,
+          122.8267593383789
+        ],
+        [
+          -0.3254460096359253,
+          -0.029188135638833046,
+          0.945110023021698,
+          2.2928149700164795
+        ],
+        [
+          -0.2048521190881729,
+          -0.9736084938049316,
+          -0.10060853511095047,
+          -35.71965408325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5247,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323788_183081626",
+      "mask_path": "../../mask/hdr_right_05247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05271.png",
+      "transform_matrix": [
+        [
+          0.8946870565414429,
+          -0.15925198793411255,
+          0.4173416197299957,
+          122.78543090820312
+        ],
+        [
+          -0.4150967001914978,
+          0.048735328018665314,
+          0.9084710478782654,
+          2.3480000495910645
+        ],
+        [
+          -0.1650151163339615,
+          -0.9860342741012573,
+          -0.0225021131336689,
+          -35.7519416809082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5271,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323790_583080053",
+      "mask_path": "../../mask/hdr_right_05271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05274.png",
+      "transform_matrix": [
+        [
+          0.8952153325080872,
+          -0.15465903282165527,
+          0.4179355204105377,
+          122.72320556640625
+        ],
+        [
+          -0.4173065423965454,
+          0.038098882883787155,
+          0.9079669117927551,
+          2.3888378143310547
+        ],
+        [
+          -0.1563481241464615,
+          -0.9872331023216248,
+          -0.0304335318505764,
+          -35.746604919433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5274,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323790_883082389",
+      "mask_path": "../../mask/hdr_right_05274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05277.png",
+      "transform_matrix": [
+        [
+          0.8877777457237244,
+          -0.14749686419963837,
+          0.43599942326545715,
+          122.6739273071289
+        ],
+        [
+          -0.43613648414611816,
+          0.03314649313688278,
+          0.8992698788642883,
+          2.4446358680725098
+        ],
+        [
+          -0.147091343998909,
+          -0.9885069131851196,
+          -0.03490203991532326,
+          -35.73781204223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5277,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_183082818",
+      "mask_path": "../../mask/hdr_right_05277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05279.png",
+      "transform_matrix": [
+        [
+          0.8868849873542786,
+          -0.1344122290611267,
+          0.4420049786567688,
+          122.6253433227539
+        ],
+        [
+          -0.44127050042152405,
+          0.03685006871819496,
+          0.8966172337532043,
+          2.494171142578125
+        ],
+        [
+          -0.1368042379617691,
+          -0.9902400970458984,
+          -0.02663039043545723,
+          -35.72035217285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5279,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_383081912",
+      "mask_path": "../../mask/hdr_right_05279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05281.png",
+      "transform_matrix": [
+        [
+          0.887229859828949,
+          -0.1275399774312973,
+          0.443347305059433,
+          122.5623550415039
+        ],
+        [
+          -0.44259631633758545,
+          0.035739701241254807,
+          0.8960084319114685,
+          2.545172691345215
+        ],
+        [
+          -0.13012200593948364,
+          -0.9911893606185913,
+          -0.02473941072821617,
+          -35.7282600402832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5281,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323791_583082199",
+      "mask_path": "../../mask/hdr_right_05281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05289.png",
+      "transform_matrix": [
+        [
+          0.8756503462791443,
+          -0.10945038497447968,
+          0.47037971019744873,
+          122.3607406616211
+        ],
+        [
+          -0.46817895770072937,
+          0.04662661254405975,
+          0.8824026584625244,
+          2.765949249267578
+        ],
+        [
+          -0.11851152777671814,
+          -0.9928981065750122,
+          -0.010413755662739277,
+          -35.70386505126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5289,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_383080720",
+      "mask_path": "../../mask/hdr_right_05289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05292.png",
+      "transform_matrix": [
+        [
+          0.8650659918785095,
+          -0.13945436477661133,
+          0.48188522458076477,
+          122.21934509277344
+        ],
+        [
+          -0.48112067580223083,
+          0.04140547290444374,
+          0.8756760358810425,
+          2.8743388652801514
+        ],
+        [
+          -0.14206953346729279,
+          -0.9893624782562256,
+          -0.031275905668735504,
+          -35.6633186340332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5292,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_683081865",
+      "mask_path": "../../mask/hdr_right_05292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05293.png",
+      "transform_matrix": [
+        [
+          0.8763266801834106,
+          -0.14531072974205017,
+          0.4592781662940979,
+          122.14208984375
+        ],
+        [
+          -0.4580428898334503,
+          0.04386203736066818,
+          0.8878473043441772,
+          2.9088125228881836
+        ],
+        [
+          -0.14915862679481506,
+          -0.9884133338928223,
+          -0.028121083974838257,
+          -35.6226921081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5293,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_783081293",
+      "mask_path": "../../mask/hdr_right_05293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05295.png",
+      "transform_matrix": [
+        [
+          0.9160100221633911,
+          -0.1413266360759735,
+          0.37543630599975586,
+          122.05867767333984
+        ],
+        [
+          -0.37285247445106506,
+          0.045360855758190155,
+          0.9267812967300415,
+          2.9115121364593506
+        ],
+        [
+          -0.14800900220870972,
+          -0.988923192024231,
+          -0.01114298403263092,
+          -35.62622833251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5295,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323792_983082771",
+      "mask_path": "../../mask/hdr_right_05295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05296.png",
+      "transform_matrix": [
+        [
+          0.934099555015564,
+          -0.137595996260643,
+          0.3294317424297333,
+          121.99671173095703
+        ],
+        [
+          -0.3277032971382141,
+          0.035691212862730026,
+          0.9441063404083252,
+          2.9295973777770996
+        ],
+        [
+          -0.14166302978992462,
+          -0.9898451566696167,
+          -0.011751516722142696,
+          -35.59815216064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5296,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_83081960",
+      "mask_path": "../../mask/hdr_right_05296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05297.png",
+      "transform_matrix": [
+        [
+          0.9478824138641357,
+          -0.1398186981678009,
+          0.28630343079566956,
+          121.92608642578125
+        ],
+        [
+          -0.2853682339191437,
+          0.02712714485824108,
+          0.9580339789390564,
+          2.951810836791992
+        ],
+        [
+          -0.14171764254570007,
+          -0.9898055195808411,
+          -0.014186474494636059,
+          -35.568668365478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5297,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_183081626",
+      "mask_path": "../../mask/hdr_right_05297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05298.png",
+      "transform_matrix": [
+        [
+          0.9582590460777283,
+          -0.14737984538078308,
+          0.24498744308948517,
+          121.85089874267578
+        ],
+        [
+          -0.24496771395206451,
+          0.0185701847076416,
+          0.9693534970283508,
+          2.9733474254608154
+        ],
+        [
+          -0.14741261303424835,
+          -0.9889056086540222,
+          -0.018308265134692192,
+          -35.55369567871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5298,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_283082485",
+      "mask_path": "../../mask/hdr_right_05298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05299.png",
+      "transform_matrix": [
+        [
+          0.9661004543304443,
+          -0.15414728224277496,
+          0.20709560811519623,
+          121.78993225097656
+        ],
+        [
+          -0.20865973830223083,
+          0.0061422414146363735,
+          0.9779690504074097,
+          2.9780654907226562
+        ],
+        [
+          -0.1520233005285263,
+          -0.9880287051200867,
+          -0.026230311021208763,
+          -35.54722595214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5299,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_383083343",
+      "mask_path": "../../mask/hdr_right_05299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05300.png",
+      "transform_matrix": [
+        [
+          0.9693644046783447,
+          -0.1550195962190628,
+          0.19052979350090027,
+          121.71497344970703
+        ],
+        [
+          -0.19197390973567963,
+          0.005741295870393515,
+          0.9813833236694336,
+          2.9934194087982178
+        ],
+        [
+          -0.1532275229692459,
+          -0.9878947138786316,
+          -0.024194326251745224,
+          -35.52272415161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5300,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323793_483082294",
+      "mask_path": "../../mask/hdr_right_05300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05319.png",
+      "transform_matrix": [
+        [
+          0.9567597508430481,
+          -0.07582417875528336,
+          0.28082284331321716,
+          121.1717300415039
+        ],
+        [
+          -0.2792317271232605,
+          0.03104686364531517,
+          0.9597216844558716,
+          3.262155771255493
+        ],
+        [
+          -0.08148877322673798,
+          -0.996637761592865,
+          0.008531873114407063,
+          -35.45287322998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5319,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_383081436",
+      "mask_path": "../../mask/hdr_right_05319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05321.png",
+      "transform_matrix": [
+        [
+          0.9510284662246704,
+          -0.06823135167360306,
+          0.3014785647392273,
+          121.0805435180664
+        ],
+        [
+          -0.3009769320487976,
+          0.017761917784810066,
+          0.9534659385681152,
+          3.30004620552063
+        ],
+        [
+          -0.07041111588478088,
+          -0.9975113868713379,
+          -0.003643979085609317,
+          -35.420047760009766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5321,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_583081483",
+      "mask_path": "../../mask/hdr_right_05321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05323.png",
+      "transform_matrix": [
+        [
+          0.9417849183082581,
+          -0.06814298033714294,
+          0.3292382061481476,
+          120.96875
+        ],
+        [
+          -0.32893019914627075,
+          0.016014201566576958,
+          0.9442184567451477,
+          3.3657872676849365
+        ],
+        [
+          -0.06961435824632645,
+          -0.9975470304489136,
+          -0.007332352455705404,
+          -35.419918060302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5323,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_783081531",
+      "mask_path": "../../mask/hdr_right_05323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05324.png",
+      "transform_matrix": [
+        [
+          0.941247284412384,
+          -0.060266271233558655,
+          0.3322973847389221,
+          120.89701080322266
+        ],
+        [
+          -0.3316418528556824,
+          0.020864298567175865,
+          0.9431747198104858,
+          3.391798496246338
+        ],
+        [
+          -0.06377477198839188,
+          -0.9979642033576965,
+          -0.00034835547558031976,
+          -35.422122955322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5324,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323795_883081436",
+      "mask_path": "../../mask/hdr_right_05324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05326.png",
+      "transform_matrix": [
+        [
+          0.9399019479751587,
+          -0.04950695484876633,
+          0.3378361761569977,
+          120.80895233154297
+        ],
+        [
+          -0.3370000123977661,
+          0.024614578112959862,
+          0.9411827921867371,
+          3.439192295074463
+        ],
+        [
+          -0.05491079017519951,
+          -0.9984704256057739,
+          0.00645144609734416,
+          -35.43682861328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5326,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_83081960",
+      "mask_path": "../../mask/hdr_right_05326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05328.png",
+      "transform_matrix": [
+        [
+          0.9338914752006531,
+          -0.03583754971623421,
+          0.3557560443878174,
+          120.73348999023438
+        ],
+        [
+          -0.3551900386810303,
+          0.021300947293639183,
+          0.9345514178276062,
+          3.4861831665039062
+        ],
+        [
+          -0.04106997326016426,
+          -0.9991306066513062,
+          0.0071636284701526165,
+          -35.43108367919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5328,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_283082723",
+      "mask_path": "../../mask/hdr_right_05328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05330.png",
+      "transform_matrix": [
+        [
+          0.9228253364562988,
+          -0.04041363671422005,
+          0.3830927610397339,
+          120.66487121582031
+        ],
+        [
+          -0.3827182948589325,
+          0.016934961080551147,
+          0.9237098693847656,
+          3.5238945484161377
+        ],
+        [
+          -0.04381813481450081,
+          -0.9990395307540894,
+          0.00016097190382424742,
+          -35.42439270019531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5330,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_483082294",
+      "mask_path": "../../mask/hdr_right_05330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05331.png",
+      "transform_matrix": [
+        [
+          0.9218108654022217,
+          -0.03335244208574295,
+          0.38620248436927795,
+          120.6043701171875
+        ],
+        [
+          -0.3857665956020355,
+          0.018900688737630844,
+          0.9224027991294861,
+          3.55476975440979
+        ],
+        [
+          -0.03806387633085251,
+          -0.9992648959159851,
+          0.004556599538773298,
+          -35.41517639160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5331,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_583082199",
+      "mask_path": "../../mask/hdr_right_05331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05334.png",
+      "transform_matrix": [
+        [
+          0.9276850819587708,
+          -0.01814720593392849,
+          0.37292227149009705,
+          120.47074127197266
+        ],
+        [
+          -0.3725898861885071,
+          0.019269147887825966,
+          0.9277960062026978,
+          3.6116394996643066
+        ],
+        [
+          -0.024022798985242844,
+          -0.9996496438980103,
+          0.011114235036075115,
+          -35.43214797973633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5334,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_883081674",
+      "mask_path": "../../mask/hdr_right_05334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05335.png",
+      "transform_matrix": [
+        [
+          0.9266020655632019,
+          -0.01440222468227148,
+          0.3757672905921936,
+          120.41191101074219
+        ],
+        [
+          -0.37554579973220825,
+          0.01593729294836521,
+          0.9266668558120728,
+          3.645796775817871
+        ],
+        [
+          -0.01933477632701397,
+          -0.9997692108154297,
+          0.009358834475278854,
+          -35.42557144165039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5335,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323796_983081340",
+      "mask_path": "../../mask/hdr_right_05335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05338.png",
+      "transform_matrix": [
+        [
+          0.9142894744873047,
+          -0.026295077055692673,
+          0.40420714020729065,
+          120.26496887207031
+        ],
+        [
+          -0.40399158000946045,
+          0.013286837376654148,
+          0.9146662950515747,
+          3.7502896785736084
+        ],
+        [
+          -0.0294218547642231,
+          -0.9995658993721008,
+          0.0015250256983563304,
+          -35.41505813598633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5338,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_283082485",
+      "mask_path": "../../mask/hdr_right_05338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05339.png",
+      "transform_matrix": [
+        [
+          0.9141567945480347,
+          -0.023131540045142174,
+          0.4047001600265503,
+          120.18092346191406
+        ],
+        [
+          -0.4042833149433136,
+          0.02071559615433216,
+          0.914399266242981,
+          3.7992842197418213
+        ],
+        [
+          -0.029535064473748207,
+          -0.9995177388191223,
+          0.009585605934262276,
+          -35.409873962402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5339,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_383081197",
+      "mask_path": "../../mask/hdr_right_05339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05340.png",
+      "transform_matrix": [
+        [
+          0.9152957201004028,
+          -0.02136571891605854,
+          0.402215838432312,
+          120.1252212524414
+        ],
+        [
+          -0.40162423253059387,
+          0.027272360399365425,
+          0.9153984189033508,
+          3.8275227546691895
+        ],
+        [
+          -0.030527515336871147,
+          -0.9993996620178223,
+          0.0163812804967165,
+          -35.413116455078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5340,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_483081579",
+      "mask_path": "../../mask/hdr_right_05340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05341.png",
+      "transform_matrix": [
+        [
+          0.9157609939575195,
+          -0.022108273580670357,
+          0.401114821434021,
+          120.06893920898438
+        ],
+        [
+          -0.4005323350429535,
+          0.02658775821328163,
+          0.9158968925476074,
+          3.8548638820648193
+        ],
+        [
+          -0.030913637951016426,
+          -0.9994019865989685,
+          0.015492957085371017,
+          -35.42060470581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5341,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_583081007",
+      "mask_path": "../../mask/hdr_right_05341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05342.png",
+      "transform_matrix": [
+        [
+          0.9137621521949768,
+          -0.015812121331691742,
+          0.405941903591156,
+          119.99846649169922
+        ],
+        [
+          -0.40551039576530457,
+          0.024756181985139847,
+          0.9137551784515381,
+          3.8952479362487793
+        ],
+        [
+          -0.024497978389263153,
+          -0.9995684623718262,
+          0.016209280118346214,
+          -35.4173698425293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5342,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_683082103",
+      "mask_path": "../../mask/hdr_right_05342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05343.png",
+      "transform_matrix": [
+        [
+          0.9083788394927979,
+          -0.013038949109613895,
+          0.41794490814208984,
+          119.93514251708984
+        ],
+        [
+          -0.41763147711753845,
+          0.02138512395322323,
+          0.9083648324012756,
+          3.9399876594543457
+        ],
+        [
+          -0.020781924948096275,
+          -0.9996862411499023,
+          0.013980318792164326,
+          -35.40419006347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5343,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_783080339",
+      "mask_path": "../../mask/hdr_right_05343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05344.png",
+      "transform_matrix": [
+        [
+          0.9008678197860718,
+          -0.017265433445572853,
+          0.4337499737739563,
+          119.88224029541016
+        ],
+        [
+          -0.4333947002887726,
+          0.020901072770357132,
+          0.9009619355201721,
+          3.976064920425415
+        ],
+        [
+          -0.02462133765220642,
+          -0.9996325373649597,
+          0.011346357874572277,
+          -35.404052734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5344,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_883081197",
+      "mask_path": "../../mask/hdr_right_05344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05345.png",
+      "transform_matrix": [
+        [
+          0.8945342302322388,
+          -0.023913118988275528,
+          0.4463593661785126,
+          119.79338836669922
+        ],
+        [
+          -0.44584527611732483,
+          0.023981600999832153,
+          0.8947886824607849,
+          4.027708053588867
+        ],
+        [
+          -0.032101601362228394,
+          -0.9994263052940369,
+          0.010790811851620674,
+          -35.40548324584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5345,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323797_983082532",
+      "mask_path": "../../mask/hdr_right_05345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05346.png",
+      "transform_matrix": [
+        [
+          0.8940554261207581,
+          -0.02274416945874691,
+          0.4473787248134613,
+          119.69800567626953
+        ],
+        [
+          -0.4466983675956726,
+          0.029530996456742287,
+          0.8941971063613892,
+          4.0779619216918945
+        ],
+        [
+          -0.03354930505156517,
+          -0.999305009841919,
+          0.016242558136582375,
+          -35.39886474609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5346,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_83081960",
+      "mask_path": "../../mask/hdr_right_05346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05347.png",
+      "transform_matrix": [
+        [
+          0.8965930938720703,
+          -0.020033709704875946,
+          0.4424021542072296,
+          119.63215637207031
+        ],
+        [
+          -0.4416682720184326,
+          0.03264744579792023,
+          0.8965843319892883,
+          4.109897136688232
+        ],
+        [
+          -0.03240520507097244,
+          -0.9992660880088806,
+          0.020423216745257378,
+          -35.39593505859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5347,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_183080911",
+      "mask_path": "../../mask/hdr_right_05347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05348.png",
+      "transform_matrix": [
+        [
+          0.897847056388855,
+          -0.024743346497416496,
+          0.4396117329597473,
+          119.56713104248047
+        ],
+        [
+          -0.4389718770980835,
+          0.027404559776186943,
+          0.8980827927589417,
+          4.149399757385254
+        ],
+        [
+          -0.03426894545555115,
+          -0.9993181824684143,
+          0.013743470422923565,
+          -35.39777755737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5348,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_283080816",
+      "mask_path": "../../mask/hdr_right_05348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05349.png",
+      "transform_matrix": [
+        [
+          0.8954953551292419,
+          -0.02074464038014412,
+          0.4445872902870178,
+          119.48593139648438
+        ],
+        [
+          -0.4442678391933441,
+          0.018319670110940933,
+          0.8957067728042603,
+          4.201866149902344
+        ],
+        [
+          -0.026725806295871735,
+          -0.9996170401573181,
+          0.007189001888036728,
+          -35.39879608154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5349,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_383079767",
+      "mask_path": "../../mask/hdr_right_05349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05350.png",
+      "transform_matrix": [
+        [
+          0.8916110396385193,
+          -0.016871660947799683,
+          0.45248761773109436,
+          119.41929626464844
+        ],
+        [
+          -0.45231765508651733,
+          0.013020438142120838,
+          0.891761839389801,
+          4.250255584716797
+        ],
+        [
+          -0.020937088876962662,
+          -0.9997729063034058,
+          0.0039778160862624645,
+          -35.37789535522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5350,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_483082532",
+      "mask_path": "../../mask/hdr_right_05350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05351.png",
+      "transform_matrix": [
+        [
+          0.887546718120575,
+          -0.022902581840753555,
+          0.4601480960845947,
+          119.3709487915039
+        ],
+        [
+          -0.46006643772125244,
+          0.00902865082025528,
+          0.8878385424613953,
+          4.284852981567383
+        ],
+        [
+          -0.024488314986228943,
+          -0.9996969699859619,
+          -0.0025233603082597256,
+          -35.366764068603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5351,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_583081960",
+      "mask_path": "../../mask/hdr_right_05351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05352.png",
+      "transform_matrix": [
+        [
+          0.8834220767021179,
+          -0.029627937823534012,
+          0.46764057874679565,
+          119.29202270507812
+        ],
+        [
+          -0.4675877094268799,
+          0.009115010499954224,
+          0.8838996887207031,
+          4.338164806365967
+        ],
+        [
+          -0.03045067749917507,
+          -0.9995194673538208,
+          -0.0058012595400214195,
+          -35.37158203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5352,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_683081388",
+      "mask_path": "../../mask/hdr_right_05352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05353.png",
+      "transform_matrix": [
+        [
+          0.8827576637268066,
+          -0.02700970135629177,
+          0.4690515398979187,
+          119.20500183105469
+        ],
+        [
+          -0.46882790327072144,
+          0.014483380131423473,
+          0.8831708431243896,
+          4.39546012878418
+        ],
+        [
+          -0.030647631734609604,
+          -0.9995302557945251,
+          0.000122413708595559,
+          -35.370609283447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5353,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_783081293",
+      "mask_path": "../../mask/hdr_right_05353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05354.png",
+      "transform_matrix": [
+        [
+          0.8839773535728455,
+          -0.022482194006443024,
+          0.46698901057243347,
+          119.14266967773438
+        ],
+        [
+          -0.46668949723243713,
+          0.017427297309041023,
+          0.8842495679855347,
+          4.433549880981445
+        ],
+        [
+          -0.028018224984407425,
+          -0.9995952844619751,
+          0.004913133103400469,
+          -35.36979675292969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5354,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_883082628",
+      "mask_path": "../../mask/hdr_right_05354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05355.png",
+      "transform_matrix": [
+        [
+          0.8841767907142639,
+          -0.023186173290014267,
+          0.46657681465148926,
+          119.08038330078125
+        ],
+        [
+          -0.46636176109313965,
+          0.01427560206502676,
+          0.8844789266586304,
+          4.476524353027344
+        ],
+        [
+          -0.02716834470629692,
+          -0.9996292591094971,
+          0.0018090108642354608,
+          -35.376258850097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5355,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323798_983082056",
+      "mask_path": "../../mask/hdr_right_05355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05356.png",
+      "transform_matrix": [
+        [
+          0.881704568862915,
+          -0.022644538432359695,
+          0.4712583124637604,
+          119.00797271728516
+        ],
+        [
+          -0.4711175560951233,
+          0.011522882618010044,
+          0.8819952011108398,
+          4.527718544006348
+        ],
+        [
+          -0.025402627885341644,
+          -0.9996771216392517,
+          -0.0005084624863229692,
+          -35.371944427490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5356,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_83081960",
+      "mask_path": "../../mask/hdr_right_05356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05357.png",
+      "transform_matrix": [
+        [
+          0.8773354887962341,
+          -0.02546999230980873,
+          0.4792011082172394,
+          118.93728637695312
+        ],
+        [
+          -0.4791599214076996,
+          0.008089983835816383,
+          0.877690315246582,
+          4.581635475158691
+        ],
+        [
+          -0.026231493800878525,
+          -0.9996428489685059,
+          -0.0051065715961158276,
+          -35.35844039916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5357,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_183082580",
+      "mask_path": "../../mask/hdr_right_05357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05358.png",
+      "transform_matrix": [
+        [
+          0.8724365830421448,
+          -0.03445395082235336,
+          0.4875113070011139,
+          118.87660217285156
+        ],
+        [
+          -0.4876715838909149,
+          0.0041573853231966496,
+          0.8730173110961914,
+          4.631501197814941
+        ],
+        [
+          -0.032105665653944016,
+          -0.9993975758552551,
+          -0.013175156898796558,
+          -35.350196838378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5358,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_283082962",
+      "mask_path": "../../mask/hdr_right_05358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05359.png",
+      "transform_matrix": [
+        [
+          0.8694480061531067,
+          -0.037742648273706436,
+          0.49258068203926086,
+          118.79991912841797
+        ],
+        [
+          -0.4928584694862366,
+          0.0021969086956232786,
+          0.8701066970825195,
+          4.685080528259277
+        ],
+        [
+          -0.033922288566827774,
+          -0.9992850422859192,
+          -0.01669168658554554,
+          -35.34558868408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5359,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_383082389",
+      "mask_path": "../../mask/hdr_right_05359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05360.png",
+      "transform_matrix": [
+        [
+          0.869251012802124,
+          -0.033069830387830734,
+          0.49326372146606445,
+          118.71874237060547
+        ],
+        [
+          -0.4934154748916626,
+          0.003970991354435682,
+          0.8697847723960876,
+          4.739213943481445
+        ],
+        [
+          -0.030722377821803093,
+          -0.9994451403617859,
+          -0.012865379452705383,
+          -35.347991943359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5360,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_483082294",
+      "mask_path": "../../mask/hdr_right_05360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05361.png",
+      "transform_matrix": [
+        [
+          0.8694864511489868,
+          -0.031018191948533058,
+          0.4929821193218231,
+          118.66007995605469
+        ],
+        [
+          -0.49305105209350586,
+          0.005915204528719187,
+          0.8699802756309509,
+          4.784237384796143
+        ],
+        [
+          -0.029901305213570595,
+          -0.9995013475418091,
+          -0.0101503636687994,
+          -35.35190963745117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5361,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_583082199",
+      "mask_path": "../../mask/hdr_right_05361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05362.png",
+      "transform_matrix": [
+        [
+          0.8679009675979614,
+          -0.03147101029753685,
+          0.4957393705844879,
+          118.60006713867188
+        ],
+        [
+          -0.49600720405578613,
+          -0.0008177305571734905,
+          0.8683180212974548,
+          4.831002235412598
+        ],
+        [
+          -0.026921464130282402,
+          -0.9995043277740479,
+          -0.016319558024406433,
+          -35.35369873046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5362,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_683083057",
+      "mask_path": "../../mask/hdr_right_05362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05363.png",
+      "transform_matrix": [
+        [
+          0.8657933473587036,
+          -0.029162857681512833,
+          0.49955135583877563,
+          118.53241729736328
+        ],
+        [
+          -0.49986565113067627,
+          -0.004206922370940447,
+          0.8660927414894104,
+          4.89060640335083
+        ],
+        [
+          -0.02315616048872471,
+          -0.999565839767456,
+          -0.0182198379188776,
+          -35.34714889526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5363,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_783083200",
+      "mask_path": "../../mask/hdr_right_05363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05364.png",
+      "transform_matrix": [
+        [
+          0.8689998984336853,
+          -0.029319874942302704,
+          0.49394282698631287,
+          118.47942352294922
+        ],
+        [
+          -0.49426379799842834,
+          -0.004453425295650959,
+          0.8693005442619324,
+          4.9395294189453125
+        ],
+        [
+          -0.023288045078516006,
+          -0.9995602369308472,
+          -0.018361784517765045,
+          -35.34172821044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5364,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_883085489",
+      "mask_path": "../../mask/hdr_right_05364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05365.png",
+      "transform_matrix": [
+        [
+          0.8748624920845032,
+          -0.035716988146305084,
+          0.4830525815486908,
+          118.42881774902344
+        ],
+        [
+          -0.4835602343082428,
+          -0.0067155007272958755,
+          0.8752853274345398,
+          4.974534034729004
+        ],
+        [
+          -0.028018616139888763,
+          -0.9993394017219543,
+          -0.023146454244852066,
+          -35.335670471191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5365,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323799_983081340",
+      "mask_path": "../../mask/hdr_right_05365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05366.png",
+      "transform_matrix": [
+        [
+          0.8848163485527039,
+          -0.035144273191690445,
+          0.46461260318756104,
+          118.36583709716797
+        ],
+        [
+          -0.46522057056427,
+          -0.011248476803302765,
+          0.8851233720779419,
+          5.018065929412842
+        ],
+        [
+          -0.025880834087729454,
+          -0.9993188977241516,
+          -0.026302678510546684,
+          -35.33718490600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5366,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_83083152",
+      "mask_path": "../../mask/hdr_right_05366.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/79d2d304/mesh.ply b/2024-11-11-12-07-40/splats/79d2d304/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1d4744089e573db5f37d7b91b094350c72c6749b
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/79d2d304/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc20a63f62780e081c25225f8bc6b5f3808f2d973dffa4fe308cbcb0a57b1bf
+size 95625105
diff --git a/2024-11-11-12-07-40/splats/79d2d304/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/79d2d304/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..25bc5c740f3e54758ab33fca2d6f2a94ebe04181
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/79d2d304/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc3423ca54462eca8907a12ccc76c5d5f3eb9785029c342180b72098ac473f04
+size 1585293
diff --git a/2024-11-11-12-07-40/splats/79d2d304/splatfacto/config.yml b/2024-11-11-12-07-40/splats/79d2d304/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..0cb3852783b933cb59d9da7c29fdf917d3240319
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/79d2d304/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_79d2d304
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_79d2d304
+      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/2024-11-11-12-07-40/splats/79d2d304/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/79d2d304/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d678fad131d17a86703a1b103eec2a76a963f85
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/79d2d304/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.7680039405822754,
+            -0.6346001625061035,
+            0.08632824569940567,
+            35.627777099609375
+        ],
+        [
+            -0.6346001625061035,
+            0.772219181060791,
+            0.030986309051513672,
+            -4.605949401855469
+        ],
+        [
+            -0.08632824569940567,
+            -0.030986309051513672,
+            -0.9957847595214844,
+            -16.52843475341797
+        ]
+    ],
+    "scale": 0.19132608469557
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/79d2d304/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/79d2d304/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b3046634747a416f2e60bdecf7871b8e43fd6001
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/79d2d304/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba08292d4e86fd156a11662f4e0a44a32f499c1ade924eb53213f69bc7b90b0
+size 215452337
diff --git a/2024-11-11-12-07-40/splats/79d2d304/transforms.json b/2024-11-11-12-07-40/splats/79d2d304/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ac7640041a8297554e7c9c864827bb7757db1b
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/79d2d304/transforms.json
@@ -0,0 +1,35916 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_03025.png",
+      "transform_matrix": [
+        [
+          -0.24412018060684204,
+          -0.1386185735464096,
+          -0.9597865343093872,
+          17.990873336791992
+        ],
+        [
+          0.9697429537773132,
+          -0.03287298232316971,
+          -0.2419048398733139,
+          25.064638137817383
+        ],
+        [
+          0.0019814542029052973,
+          -0.9898000955581665,
+          0.14244931936264038,
+          -18.827590942382812
+        ],
+        [
+          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": "1731323566_983081817",
+      "mask_path": "../../mask/hdr_front_03025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03026.png",
+      "transform_matrix": [
+        [
+          -0.24555610120296478,
+          -0.13543565571308136,
+          -0.95987468957901,
+          18.075416564941406
+        ],
+        [
+          0.969382107257843,
+          -0.03499555587768555,
+          -0.24305051565170288,
+          25.095720291137695
+        ],
+        [
+          -0.0006736379000358284,
+          -0.9901679158210754,
+          0.13988228142261505,
+          -18.839977264404297
+        ],
+        [
+          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": "1731323567_83081722",
+      "mask_path": "../../mask/hdr_front_03026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03027.png",
+      "transform_matrix": [
+        [
+          -0.2578306198120117,
+          -0.12886688113212585,
+          -0.9575576782226562,
+          18.1481876373291
+        ],
+        [
+          0.9661809802055359,
+          -0.03869902715086937,
+          -0.25494447350502014,
+          25.12793731689453
+        ],
+        [
+          -0.004202648065984249,
+          -0.9909065365791321,
+          0.13448652625083923,
+          -18.844375610351562
+        ],
+        [
+          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": "1731323567_183082342",
+      "mask_path": "../../mask/hdr_front_03027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03028.png",
+      "transform_matrix": [
+        [
+          -0.2715142071247101,
+          -0.11572544276714325,
+          -0.9554515480995178,
+          18.199216842651367
+        ],
+        [
+          0.96242755651474,
+          -0.036392856389284134,
+          -0.2690887153148651,
+          25.159242630004883
+        ],
+        [
+          -0.0036312027368694544,
+          -0.9926143288612366,
+          0.12125852704048157,
+          -18.84674072265625
+        ],
+        [
+          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": "1731323567_283081293",
+      "mask_path": "../../mask/hdr_front_03028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03029.png",
+      "transform_matrix": [
+        [
+          -0.28264713287353516,
+          -0.10729831457138062,
+          -0.9532039165496826,
+          18.25879669189453
+        ],
+        [
+          0.9592116475105286,
+          -0.026589874178171158,
+          -0.2814355194568634,
+          25.19780158996582
+        ],
+        [
+          0.004851981066167355,
+          -0.9938713312149048,
+          0.11043734848499298,
+          -18.8527889251709
+        ],
+        [
+          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": "1731323567_383081436",
+      "mask_path": "../../mask/hdr_front_03029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03030.png",
+      "transform_matrix": [
+        [
+          -0.2869822084903717,
+          -0.10202512890100479,
+          -0.9524872899055481,
+          18.33824920654297
+        ],
+        [
+          0.9578685760498047,
+          -0.01877417229115963,
+          -0.28659260272979736,
+          25.238616943359375
+        ],
+        [
+          0.011357485316693783,
+          -0.9946047067642212,
+          0.1031145229935646,
+          -18.84708595275879
+        ],
+        [
+          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": "1731323567_483082056",
+      "mask_path": "../../mask/hdr_front_03030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03031.png",
+      "transform_matrix": [
+        [
+          -0.2912278175354004,
+          -0.09480583667755127,
+          -0.9519444704055786,
+          18.408206939697266
+        ],
+        [
+          0.9565801024436951,
+          -0.0165108572691679,
+          -0.2910016179084778,
+          25.265254974365234
+        ],
+        [
+          0.01187123078852892,
+          -0.9953588843345642,
+          0.09549779444932938,
+          -18.837175369262695
+        ],
+        [
+          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": "1731323567_583081960",
+      "mask_path": "../../mask/hdr_front_03031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03032.png",
+      "transform_matrix": [
+        [
+          -0.2980354130268097,
+          -0.08264357596635818,
+          -0.950970470905304,
+          18.4588623046875
+        ],
+        [
+          0.954487144947052,
+          -0.013942352496087551,
+          -0.2979259192943573,
+          25.286962509155273
+        ],
+        [
+          0.011362898163497448,
+          -0.9964816570281982,
+          0.08303755521774292,
+          -18.838003158569336
+        ],
+        [
+          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": "1731323567_683080196",
+      "mask_path": "../../mask/hdr_front_03032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03033.png",
+      "transform_matrix": [
+        [
+          -0.3056662678718567,
+          -0.07079970091581345,
+          -0.9495027661323547,
+          18.537508010864258
+        ],
+        [
+          0.9521088600158691,
+          -0.014835749752819538,
+          -0.3053990304470062,
+          25.318561553955078
+        ],
+        [
+          0.007535573560744524,
+          -0.9973801970481873,
+          0.07194381207227707,
+          -18.8364315032959
+        ],
+        [
+          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": "1731323567_783082485",
+      "mask_path": "../../mask/hdr_front_03033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03034.png",
+      "transform_matrix": [
+        [
+          -0.311542809009552,
+          -0.062334638088941574,
+          -0.9481854438781738,
+          18.62710189819336
+        ],
+        [
+          0.9502269625663757,
+          -0.02370554581284523,
+          -0.3106552064418793,
+          25.34745979309082
+        ],
+        [
+          -0.0031126716639846563,
+          -0.9977737665176392,
+          0.06661733984947205,
+          -18.834383010864258
+        ],
+        [
+          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": "1731323567_883081197",
+      "mask_path": "../../mask/hdr_front_03034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03035.png",
+      "transform_matrix": [
+        [
+          -0.31449127197265625,
+          -0.05430847406387329,
+          -0.9477055072784424,
+          18.687402725219727
+        ],
+        [
+          0.9492062926292419,
+          -0.028642553836107254,
+          -0.31334802508354187,
+          25.375896453857422
+        ],
+        [
+          -0.010127255693078041,
+          -0.9981133937835693,
+          0.060557782649993896,
+          -18.839197158813477
+        ],
+        [
+          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": "1731323567_983082771",
+      "mask_path": "../../mask/hdr_front_03035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03036.png",
+      "transform_matrix": [
+        [
+          -0.31582579016685486,
+          -0.050404686480760574,
+          -0.947477400302887,
+          18.74419593811035
+        ],
+        [
+          0.9487980008125305,
+          -0.023128407076001167,
+          -0.3150355815887451,
+          25.407419204711914
+        ],
+        [
+          -0.006034373305737972,
+          -0.9984610676765442,
+          0.05512841418385506,
+          -18.84435272216797
+        ],
+        [
+          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": "1731323568_83080768",
+      "mask_path": "../../mask/hdr_front_03036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03037.png",
+      "transform_matrix": [
+        [
+          -0.3101964294910431,
+          -0.057043250650167465,
+          -0.9489595890045166,
+          18.832630157470703
+        ],
+        [
+          0.9506720900535583,
+          -0.017652401700615883,
+          -0.3096950948238373,
+          25.44082260131836
+        ],
+        [
+          0.0009146005031652749,
+          -0.9982156753540039,
+          0.059705134481191635,
+          -18.84418487548828
+        ],
+        [
+          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": "1731323568_183080673",
+      "mask_path": "../../mask/hdr_front_03037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03038.png",
+      "transform_matrix": [
+        [
+          -0.298366516828537,
+          -0.06170053407549858,
+          -0.9524549841880798,
+          18.916248321533203
+        ],
+        [
+          0.9544231295585632,
+          -0.01161475945264101,
+          -0.29823070764541626,
+          25.464237213134766
+        ],
+        [
+          0.0073384554125368595,
+          -0.9980272054672241,
+          0.062353868037462234,
+          -18.839509963989258
+        ],
+        [
+          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": "1731323568_283081293",
+      "mask_path": "../../mask/hdr_front_03038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03040.png",
+      "transform_matrix": [
+        [
+          -0.27281856536865234,
+          -0.06028035283088684,
+          -0.9601751565933228,
+          19.019763946533203
+        ],
+        [
+          0.961928129196167,
+          -0.00022257336240727454,
+          -0.27330267429351807,
+          25.50674057006836
+        ],
+        [
+          0.01626107096672058,
+          -0.9981815218925476,
+          0.05804608389735222,
+          -18.831310272216797
+        ],
+        [
+          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": "1731323568_483081340",
+      "mask_path": "../../mask/hdr_front_03040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03041.png",
+      "transform_matrix": [
+        [
+          -0.26950979232788086,
+          -0.07426244765520096,
+          -0.9601300358772278,
+          19.086849212646484
+        ],
+        [
+          0.9628896713256836,
+          -0.005849695764482021,
+          -0.26983195543289185,
+          25.539703369140625
+        ],
+        [
+          0.014421910047531128,
+          -0.9972215890884399,
+          0.07308308780193329,
+          -18.847862243652344
+        ],
+        [
+          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": "1731323568_583085536",
+      "mask_path": "../../mask/hdr_front_03041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03042.png",
+      "transform_matrix": [
+        [
+          -0.2710784673690796,
+          -0.0877581387758255,
+          -0.9585484266281128,
+          19.143056869506836
+        ],
+        [
+          0.9624130129814148,
+          -0.007470160257071257,
+          -0.27148744463920593,
+          25.56970977783203
+        ],
+        [
+          0.016664724797010422,
+          -0.9961138367652893,
+          0.08648457378149033,
+          -18.88095474243164
+        ],
+        [
+          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": "1731323568_683081865",
+      "mask_path": "../../mask/hdr_front_03042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03043.png",
+      "transform_matrix": [
+        [
+          -0.2745262682437897,
+          -0.09283793717622757,
+          -0.957087516784668,
+          19.18899154663086
+        ],
+        [
+          0.9613848328590393,
+          -0.006466310936957598,
+          -0.27513161301612854,
+          25.591449737548828
+        ],
+        [
+          0.019353825598955154,
+          -0.9956603050231934,
+          0.09102814644575119,
+          -18.892101287841797
+        ],
+        [
+          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": "1731323568_783084630",
+      "mask_path": "../../mask/hdr_front_03043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03044.png",
+      "transform_matrix": [
+        [
+          -0.27247920632362366,
+          -0.11254653334617615,
+          -0.9555565714836121,
+          19.248056411743164
+        ],
+        [
+          0.9619078040122986,
+          -0.009050324559211731,
+          -0.2732243239879608,
+          25.61701774597168
+        ],
+        [
+          0.0221023578196764,
+          -0.9936052560806274,
+          0.11072541773319244,
+          -18.908082962036133
+        ],
+        [
+          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": "1731323568_883081674",
+      "mask_path": "../../mask/hdr_front_03044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03045.png",
+      "transform_matrix": [
+        [
+          -0.264324814081192,
+          -0.14288544654846191,
+          -0.9537904262542725,
+          19.30554962158203
+        ],
+        [
+          0.9641954898834229,
+          -0.017175164073705673,
+          -0.26463544368743896,
+          25.636432647705078
+        ],
+        [
+          0.02143104188144207,
+          -0.9895902276039124,
+          0.14230933785438538,
+          -18.943988800048828
+        ],
+        [
+          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": "1731323568_983083248",
+      "mask_path": "../../mask/hdr_front_03045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03048.png",
+      "transform_matrix": [
+        [
+          -0.24355299770832062,
+          -0.18621651828289032,
+          -0.9518432021141052,
+          19.4768123626709
+        ],
+        [
+          0.9698635935783386,
+          -0.03985694423317909,
+          -0.24036647379398346,
+          25.66032600402832
+        ],
+        [
+          0.006822642404586077,
+          -0.9817000031471252,
+          0.19031189382076263,
+          -19.011821746826172
+        ],
+        [
+          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": "1731323569_283082008",
+      "mask_path": "../../mask/hdr_front_03048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03049.png",
+      "transform_matrix": [
+        [
+          -0.2461758852005005,
+          -0.20669938623905182,
+          -0.946928083896637,
+          19.5648250579834
+        ],
+        [
+          0.9691138863563538,
+          -0.06729855388402939,
+          -0.23725342750549316,
+          25.67514419555664
+        ],
+        [
+          -0.01468675397336483,
+          -0.9760872721672058,
+          0.21688252687454224,
+          -19.04627799987793
+        ],
+        [
+          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": "1731323569_383082866",
+      "mask_path": "../../mask/hdr_front_03049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03050.png",
+      "transform_matrix": [
+        [
+          -0.24908505380153656,
+          -0.22464297711849213,
+          -0.9420680999755859,
+          19.61166763305664
+        ],
+        [
+          0.9679458737373352,
+          -0.09009450674057007,
+          -0.2344435304403305,
+          25.68173599243164
+        ],
+        [
+          -0.032209064811468124,
+          -0.9702672362327576,
+          0.2398834228515625,
+          -19.083908081054688
+        ],
+        [
+          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": "1731323569_483081579",
+      "mask_path": "../../mask/hdr_front_03050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03051.png",
+      "transform_matrix": [
+        [
+          -0.2523135542869568,
+          -0.23703885078430176,
+          -0.9381633996963501,
+          19.68345832824707
+        ],
+        [
+          0.9666255712509155,
+          -0.10624690353870392,
+          -0.23312366008758545,
+          25.700002670288086
+        ],
+        [
+          -0.044417575001716614,
+          -0.9656729102134705,
+          0.25593534111976624,
+          -19.129880905151367
+        ],
+        [
+          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": "1731323569_583082437",
+      "mask_path": "../../mask/hdr_front_03051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03052.png",
+      "transform_matrix": [
+        [
+          -0.2392568141222,
+          -0.2794441282749176,
+          -0.9298747777938843,
+          19.80381965637207
+        ],
+        [
+          0.9706369042396545,
+          -0.09339741617441177,
+          -0.22167733311653137,
+          25.714651107788086
+        ],
+        [
+          -0.02490147389471531,
+          -0.9556087255477905,
+          0.29358476400375366,
+          -19.15440559387207
+        ],
+        [
+          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": "1731323569_683081626",
+      "mask_path": "../../mask/hdr_front_03052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03053.png",
+      "transform_matrix": [
+        [
+          -0.22164829075336456,
+          -0.310474157333374,
+          -0.9243797659873962,
+          19.878196716308594
+        ],
+        [
+          0.9750750660896301,
+          -0.08031436055898666,
+          -0.20682866871356964,
+          25.715496063232422
+        ],
+        [
+          -0.010026016272604465,
+          -0.9471828937530518,
+          0.32053717970848083,
+          -19.17094612121582
+        ],
+        [
+          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": "1731323569_783081531",
+      "mask_path": "../../mask/hdr_front_03053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03054.png",
+      "transform_matrix": [
+        [
+          -0.21101024746894836,
+          -0.3214450776576996,
+          -0.9231184720993042,
+          19.92537498474121
+        ],
+        [
+          0.9773750305175781,
+          -0.08347385376691818,
+          -0.19434548914432526,
+          25.71440887451172
+        ],
+        [
+          -0.014584857039153576,
+          -0.9432418942451477,
+          0.33178624510765076,
+          -19.201860427856445
+        ],
+        [
+          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": "1731323569_883081197",
+      "mask_path": "../../mask/hdr_front_03054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03055.png",
+      "transform_matrix": [
+        [
+          -0.20163680613040924,
+          -0.33116599917411804,
+          -0.9217764139175415,
+          20.015579223632812
+        ],
+        [
+          0.9793433547019958,
+          -0.0827120915055275,
+          -0.18451356887817383,
+          25.743558883666992
+        ],
+        [
+          -0.015137441456317902,
+          -0.939940333366394,
+          0.34100303053855896,
+          -19.25261688232422
+        ],
+        [
+          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": "1731323569_983080148",
+      "mask_path": "../../mask/hdr_front_03055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03056.png",
+      "transform_matrix": [
+        [
+          -0.1937137097120285,
+          -0.3317045271396637,
+          -0.923280656337738,
+          20.106456756591797
+        ],
+        [
+          0.9809831380844116,
+          -0.07712570577859879,
+          -0.17811155319213867,
+          25.774152755737305
+        ],
+        [
+          -0.012128269299864769,
+          -0.9402254223823547,
+          0.3403368592262268,
+          -19.295997619628906
+        ],
+        [
+          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": "1731323570_83080530",
+      "mask_path": "../../mask/hdr_front_03056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03057.png",
+      "transform_matrix": [
+        [
+          -0.18543118238449097,
+          -0.3286464810371399,
+          -0.9260706901550293,
+          20.197893142700195
+        ],
+        [
+          0.982655942440033,
+          -0.0635182335972786,
+          -0.1742199957370758,
+          25.7956485748291
+        ],
+        [
+          -0.0015655835159122944,
+          -0.9423147439956665,
+          0.3347247242927551,
+          -19.326913833618164
+        ],
+        [
+          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": "1731323570_183080911",
+      "mask_path": "../../mask/hdr_front_03057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03058.png",
+      "transform_matrix": [
+        [
+          -0.18239784240722656,
+          -0.31363797187805176,
+          -0.9318596124649048,
+          20.2904109954834
+        ],
+        [
+          0.9832236766815186,
+          -0.05965222045779228,
+          -0.17237433791160583,
+          25.814510345458984
+        ],
+        [
+          -0.0015243549132719636,
+          -0.947667121887207,
+          0.3192566931247711,
+          -19.36032485961914
+        ],
+        [
+          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": "1731323570_283081054",
+      "mask_path": "../../mask/hdr_front_03058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03059.png",
+      "transform_matrix": [
+        [
+          -0.1823148876428604,
+          -0.291303813457489,
+          -0.9390971064567566,
+          20.399639129638672
+        ],
+        [
+          0.983224093914032,
+          -0.05948227643966675,
+          -0.17243051528930664,
+          25.81985092163086
+        ],
+        [
+          -0.005629976745694876,
+          -0.9547795653343201,
+          0.29726147651672363,
+          -19.37635040283203
+        ],
+        [
+          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": "1731323570_383080959",
+      "mask_path": "../../mask/hdr_front_03059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03060.png",
+      "transform_matrix": [
+        [
+          -0.17953146994113922,
+          -0.26981812715530396,
+          -0.9460267424583435,
+          20.500728607177734
+        ],
+        [
+          0.9837391972541809,
+          -0.054179538041353226,
+          -0.17123568058013916,
+          25.83086395263672
+        ],
+        [
+          -0.005052811931818724,
+          -0.9613859057426453,
+          0.275157630443573,
+          -19.386680603027344
+        ],
+        [
+          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": "1731323570_483079433",
+      "mask_path": "../../mask/hdr_front_03060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03061.png",
+      "transform_matrix": [
+        [
+          -0.17246046662330627,
+          -0.2431878000497818,
+          -0.9545246362686157,
+          20.589473724365234
+        ],
+        [
+          0.9849206209182739,
+          -0.05608920007944107,
+          -0.16366228461265564,
+          25.85132598876953
+        ],
+        [
+          -0.013737843371927738,
+          -0.9683562517166138,
+          0.24919383227825165,
+          -19.4034366607666
+        ],
+        [
+          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": "1731323570_583080053",
+      "mask_path": "../../mask/hdr_front_03061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03062.png",
+      "transform_matrix": [
+        [
+          -0.16792480647563934,
+          -0.21615613996982574,
+          -0.9618095755577087,
+          20.726444244384766
+        ],
+        [
+          0.9856469631195068,
+          -0.05399392917752266,
+          -0.15995211899280548,
+          25.881563186645508
+        ],
+        [
+          -0.017357243224978447,
+          -0.9748647212982178,
+          0.22212056815624237,
+          -19.41518211364746
+        ],
+        [
+          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": "1731323570_683079957",
+      "mask_path": "../../mask/hdr_front_03062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03063.png",
+      "transform_matrix": [
+        [
+          -0.16821783781051636,
+          -0.1982923001050949,
+          -0.965599775314331,
+          20.825275421142578
+        ],
+        [
+          0.9856290817260742,
+          -0.04916684329509735,
+          -0.1616104245185852,
+          25.905099868774414
+        ],
+        [
+          -0.015429389663040638,
+          -0.9789089560508728,
+          0.20371338725090027,
+          -19.42774200439453
+        ],
+        [
+          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": "1731323570_783080816",
+      "mask_path": "../../mask/hdr_front_03063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03064.png",
+      "transform_matrix": [
+        [
+          -0.16911134123802185,
+          -0.18231216073036194,
+          -0.9685884118080139,
+          20.88671112060547
+        ],
+        [
+          0.9855043292045593,
+          -0.04475102201104164,
+          -0.1636415421962738,
+          25.9246826171875
+        ],
+        [
+          -0.013511484488844872,
+          -0.982221782207489,
+          0.18723733723163605,
+          -19.443086624145508
+        ],
+        [
+          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": "1731323570_883080482",
+      "mask_path": "../../mask/hdr_front_03064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03065.png",
+      "transform_matrix": [
+        [
+          -0.16677886247634888,
+          -0.16633135080337524,
+          -0.9718635082244873,
+          20.986021041870117
+        ],
+        [
+          0.9858715534210205,
+          -0.04368533939123154,
+          -0.1617061346769333,
+          25.937026977539062
+        ],
+        [
+          -0.01555938646197319,
+          -0.9851017594337463,
+          0.17126713693141937,
+          -19.448305130004883
+        ],
+        [
+          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": "1731323570_983080625",
+      "mask_path": "../../mask/hdr_front_03065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03066.png",
+      "transform_matrix": [
+        [
+          -0.1607331782579422,
+          -0.1512184590101242,
+          -0.9753450155258179,
+          21.082834243774414
+        ],
+        [
+          0.9868608117103577,
+          -0.041094694286584854,
+          -0.15625958144664764,
+          25.94823455810547
+        ],
+        [
+          -0.016452167183160782,
+          -0.9876458048820496,
+          0.15583686530590057,
+          -19.448633193969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3066,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323571_83080768",
+      "mask_path": "../../mask/hdr_front_03066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03067.png",
+      "transform_matrix": [
+        [
+          -0.15390007197856903,
+          -0.13475735485553741,
+          -0.9788540601730347,
+          21.150962829589844
+        ],
+        [
+          0.9879845976829529,
+          -0.035212185233831406,
+          -0.15048803389072418,
+          25.96124839782715
+        ],
+        [
+          -0.014188219793140888,
+          -0.9902527928352356,
+          0.1385573446750641,
+          -19.447185516357422
+        ],
+        [
+          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": "1731323571_183080911",
+      "mask_path": "../../mask/hdr_front_03067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03068.png",
+      "transform_matrix": [
+        [
+          -0.14906902611255646,
+          -0.11935800313949585,
+          -0.9815967679023743,
+          21.241722106933594
+        ],
+        [
+          0.9886631369590759,
+          -0.03604704514145851,
+          -0.1457589864730835,
+          25.975561141967773
+        ],
+        [
+          -0.017986154183745384,
+          -0.9921967387199402,
+          0.12337835878133774,
+          -19.44222068786621
+        ],
+        [
+          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": "1731323571_283078908",
+      "mask_path": "../../mask/hdr_front_03068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03069.png",
+      "transform_matrix": [
+        [
+          -0.1505514234304428,
+          -0.10858507454395294,
+          -0.9826208353042603,
+          21.340389251708984
+        ],
+        [
+          0.988294780254364,
+          -0.041312940418720245,
+          -0.14685548841953278,
+          26.003002166748047
+        ],
+        [
+          -0.0246486347168684,
+          -0.9932283759117126,
+          0.11353379487991333,
+          -19.452577590942383
+        ],
+        [
+          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": "1731323571_383080244",
+      "mask_path": "../../mask/hdr_front_03069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03070.png",
+      "transform_matrix": [
+        [
+          -0.1536898910999298,
+          -0.0976443663239479,
+          -0.9832828044891357,
+          21.415376663208008
+        ],
+        [
+          0.9877434968948364,
+          -0.042617056518793106,
+          -0.15015505254268646,
+          26.027687072753906
+        ],
+        [
+          -0.027242818847298622,
+          -0.9943085312843323,
+          0.10299739241600037,
+          -19.461374282836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3070,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323571_483079195",
+      "mask_path": "../../mask/hdr_front_03070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03071.png",
+      "transform_matrix": [
+        [
+          -0.15305230021476746,
+          -0.08736961334943771,
+          -0.9843482375144958,
+          21.4827880859375
+        ],
+        [
+          0.9879618287086487,
+          -0.03621170297265053,
+          -0.15040001273155212,
+          26.046476364135742
+        ],
+        [
+          -0.02250453270971775,
+          -0.9955176711082458,
+          0.09186011552810669,
+          -19.468935012817383
+        ],
+        [
+          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": "1731323571_583079814",
+      "mask_path": "../../mask/hdr_front_03071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03072.png",
+      "transform_matrix": [
+        [
+          -0.14548714458942413,
+          -0.08554302155971527,
+          -0.9856551289558411,
+          21.57127571105957
+        ],
+        [
+          0.9891480803489685,
+          -0.0332011841237545,
+          -0.14312128722667694,
+          26.060747146606445
+        ],
+        [
+          -0.020481884479522705,
+          -0.9957811236381531,
+          0.08944505453109741,
+          -19.468629837036133
+        ],
+        [
+          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": "1731323571_683080911",
+      "mask_path": "../../mask/hdr_front_03072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03073.png",
+      "transform_matrix": [
+        [
+          -0.13452152907848358,
+          -0.08271045237779617,
+          -0.9874528050422668,
+          21.65460777282715
+        ],
+        [
+          0.9907429814338684,
+          -0.029553871601819992,
+          -0.13249430060386658,
+          26.06175422668457
+        ],
+        [
+          -0.018224388360977173,
+          -0.9961353540420532,
+          0.08592043817043304,
+          -19.456724166870117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3073,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323571_783081054",
+      "mask_path": "../../mask/hdr_front_03073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03074.png",
+      "transform_matrix": [
+        [
+          -0.12482177466154099,
+          -0.07438471168279648,
+          -0.9893869161605835,
+          21.713491439819336
+        ],
+        [
+          0.9920502305030823,
+          -0.02543693780899048,
+          -0.12324535846710205,
+          26.05416488647461
+        ],
+        [
+          -0.01599939726293087,
+          -0.9969052076339722,
+          0.07696845382452011,
+          -19.443037033081055
+        ],
+        [
+          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": "1731323571_883081436",
+      "mask_path": "../../mask/hdr_front_03074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03075.png",
+      "transform_matrix": [
+        [
+          -0.11719202995300293,
+          -0.06765654683113098,
+          -0.9908020496368408,
+          21.79806137084961
+        ],
+        [
+          0.992895781993866,
+          -0.028667528182268143,
+          -0.11548212915658951,
+          26.06293487548828
+        ],
+        [
+          -0.02059072069823742,
+          -0.9972967505455017,
+          0.07053549587726593,
+          -19.449371337890625
+        ],
+        [
+          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": "1731323571_983082532",
+      "mask_path": "../../mask/hdr_front_03075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03076.png",
+      "transform_matrix": [
+        [
+          -0.11801838874816895,
+          -0.06267739832401276,
+          -0.9910314083099365,
+          21.905616760253906
+        ],
+        [
+          0.9924879670143127,
+          -0.03984302654862404,
+          -0.11567201465368271,
+          26.075769424438477
+        ],
+        [
+          -0.03223566338419914,
+          -0.997238278388977,
+          0.06690877676010132,
+          -19.453638076782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3076,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_83082199",
+      "mask_path": "../../mask/hdr_front_03076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03077.png",
+      "transform_matrix": [
+        [
+          -0.1229480728507042,
+          -0.05610526725649834,
+          -0.9908259510993958,
+          21.9882869720459
+        ],
+        [
+          0.9915805459022522,
+          -0.04783349111676216,
+          -0.12033313512802124,
+          26.08786392211914
+        ],
+        [
+          -0.04064333066344261,
+          -0.9972783923149109,
+          0.06151392683386803,
+          -19.456886291503906
+        ],
+        [
+          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": "1731323572_183082580",
+      "mask_path": "../../mask/hdr_front_03077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03078.png",
+      "transform_matrix": [
+        [
+          -0.12579979002475739,
+          -0.049441397190093994,
+          -0.990822970867157,
+          22.05713653564453
+        ],
+        [
+          0.9911856055259705,
+          -0.048085812479257584,
+          -0.12344638258218765,
+          26.097591400146484
+        ],
+        [
+          -0.04154115915298462,
+          -0.9976187944412231,
+          0.05505478009581566,
+          -19.46819496154785
+        ],
+        [
+          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": "1731323572_283082485",
+      "mask_path": "../../mask/hdr_front_03078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03079.png",
+      "transform_matrix": [
+        [
+          -0.12249584496021271,
+          -0.04868461191654205,
+          -0.9912741780281067,
+          22.153732299804688
+        ],
+        [
+          0.9916025996208191,
+          -0.04773063212633133,
+          -0.12019222974777222,
+          26.09636878967285
+        ],
+        [
+          -0.04146263375878334,
+          -0.9976731538772583,
+          0.05412258580327034,
+          -19.460044860839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3079,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_383082151",
+      "mask_path": "../../mask/hdr_front_03079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03080.png",
+      "transform_matrix": [
+        [
+          -0.11393410712480545,
+          -0.04800707846879959,
+          -0.9923277497291565,
+          22.221153259277344
+        ],
+        [
+          0.9927336573600769,
+          -0.044425494968891144,
+          -0.11183148622512817,
+          26.098676681518555
+        ],
+        [
+          -0.038715943694114685,
+          -0.9978585839271545,
+          0.05271982401609421,
+          -19.450733184814453
+        ],
+        [
+          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": "1731323572_483080387",
+      "mask_path": "../../mask/hdr_front_03080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03082.png",
+      "transform_matrix": [
+        [
+          -0.10010790824890137,
+          -0.039977286010980606,
+          -0.9941731095314026,
+          22.333816528320312
+        ],
+        [
+          0.9945918321609497,
+          -0.03180500864982605,
+          -0.0988711416721344,
+          26.1081600189209
+        ],
+        [
+          -0.027667082846164703,
+          -0.9986943006515503,
+          0.0429450199007988,
+          -19.448453903198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3082,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_683079957",
+      "mask_path": "../../mask/hdr_front_03082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03083.png",
+      "transform_matrix": [
+        [
+          -0.10816662013530731,
+          -0.038641586899757385,
+          -0.9933815598487854,
+          22.42733383178711
+        ],
+        [
+          0.9936497211456299,
+          -0.03534878417849541,
+          -0.10682079195976257,
+          26.120569229125977
+        ],
+        [
+          -0.030987102538347244,
+          -0.9986277222633362,
+          0.04221976548433304,
+          -19.440080642700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3083,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_783081293",
+      "mask_path": "../../mask/hdr_front_03083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03084.png",
+      "transform_matrix": [
+        [
+          -0.12646156549453735,
+          -0.03823557123541832,
+          -0.9912343621253967,
+          22.49227523803711
+        ],
+        [
+          0.9912884831428528,
+          -0.041945815086364746,
+          -0.12485048174858093,
+          26.14204978942871
+        ],
+        [
+          -0.036804404109716415,
+          -0.9983880519866943,
+          0.04320701211690903,
+          -19.447223663330078
+        ],
+        [
+          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": "1731323572_883082151",
+      "mask_path": "../../mask/hdr_front_03084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03086.png",
+      "transform_matrix": [
+        [
+          -0.16153916716575623,
+          -0.04667560011148453,
+          -0.9857619404792786,
+          22.565906524658203
+        ],
+        [
+          0.986395537853241,
+          -0.03848539665341377,
+          -0.1598207652568817,
+          26.185348510742188
+        ],
+        [
+          -0.030477706342935562,
+          -0.9981684684753418,
+          0.05225750431418419,
+          -19.46868133544922
+        ],
+        [
+          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": "1731323573_83081483",
+      "mask_path": "../../mask/hdr_front_03086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03087.png",
+      "transform_matrix": [
+        [
+          -0.1710863560438156,
+          -0.050805237144231796,
+          -0.9839453101158142,
+          22.622581481933594
+        ],
+        [
+          0.9849259257316589,
+          -0.03466719388961792,
+          -0.16946688294410706,
+          26.202138900756836
+        ],
+        [
+          -0.025500813499093056,
+          -0.9981067776679993,
+          0.05597047507762909,
+          -19.472389221191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3087,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_183081388",
+      "mask_path": "../../mask/hdr_front_03087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03089.png",
+      "transform_matrix": [
+        [
+          -0.18245507776737213,
+          -0.04793425649404526,
+          -0.9820449948310852,
+          22.711782455444336
+        ],
+        [
+          0.9829807281494141,
+          -0.030657056719064713,
+          -0.18113252520561218,
+          26.211626052856445
+        ],
+        [
+          -0.021424155682325363,
+          -0.9983799457550049,
+          0.05271198973059654,
+          -19.46643829345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3089,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_383082151",
+      "mask_path": "../../mask/hdr_front_03089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03090.png",
+      "transform_matrix": [
+        [
+          -0.18468542397022247,
+          -0.04914456978440285,
+          -0.9815682768821716,
+          22.763198852539062
+        ],
+        [
+          0.9826171398162842,
+          -0.028377419337630272,
+          -0.1834619790315628,
+          26.222091674804688
+        ],
+        [
+          -0.01883821003139019,
+          -0.9983885288238525,
+          0.05353119224309921,
+          -19.479225158691406
+        ],
+        [
+          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": "1731323573_483081102",
+      "mask_path": "../../mask/hdr_front_03090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03091.png",
+      "transform_matrix": [
+        [
+          -0.1914484053850174,
+          -0.05077643319964409,
+          -0.9801883697509766,
+          22.84469985961914
+        ],
+        [
+          0.9811771512031555,
+          -0.035618189722299576,
+          -0.18979641795158386,
+          26.237571716308594
+        ],
+        [
+          -0.025275347754359245,
+          -0.9980747699737549,
+          0.05663972347974777,
+          -19.48104476928711
+        ],
+        [
+          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": "1731323573_583079814",
+      "mask_path": "../../mask/hdr_front_03091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03094.png",
+      "transform_matrix": [
+        [
+          -0.20411671698093414,
+          -0.05214407667517662,
+          -0.9775568842887878,
+          23.004898071289062
+        ],
+        [
+          0.977864682674408,
+          -0.05779309570789337,
+          -0.2010982483625412,
+          26.248586654663086
+        ],
+        [
+          -0.04600995033979416,
+          -0.9969658851623535,
+          0.06278639286756516,
+          -19.487199783325195
+        ],
+        [
+          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": "1731323573_883081436",
+      "mask_path": "../../mask/hdr_front_03094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03095.png",
+      "transform_matrix": [
+        [
+          -0.19476984441280365,
+          -0.0560065433382988,
+          -0.9792487621307373,
+          23.071674346923828
+        ],
+        [
+          0.9797539710998535,
+          -0.05827230215072632,
+          -0.19153755903244019,
+          26.247760772705078
+        ],
+        [
+          -0.04633571207523346,
+          -0.9967284798622131,
+          0.06622231751680374,
+          -19.49471664428711
+        ],
+        [
+          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": "1731323573_983080625",
+      "mask_path": "../../mask/hdr_front_03095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03097.png",
+      "transform_matrix": [
+        [
+          -0.1661454141139984,
+          -0.0492422915995121,
+          -0.9848710298538208,
+          23.138816833496094
+        ],
+        [
+          0.9848883152008057,
+          -0.05780745670199394,
+          -0.16325804591178894,
+          26.232656478881836
+        ],
+        [
+          -0.04889368265867233,
+          -0.9971125721931458,
+          0.058102600276470184,
+          -19.480316162109375
+        ],
+        [
+          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": "1731323574_183081865",
+      "mask_path": "../../mask/hdr_front_03097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03098.png",
+      "transform_matrix": [
+        [
+          -0.15323728322982788,
+          -0.04208768531680107,
+          -0.9872927665710449,
+          23.21059226989746
+        ],
+        [
+          0.9871965646743774,
+          -0.05129627138376236,
+          -0.1510356366634369,
+          26.228307723999023
+        ],
+        [
+          -0.04428769275546074,
+          -0.9977962374687195,
+          0.04940931499004364,
+          -19.481473922729492
+        ],
+        [
+          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": "1731323574_283082723",
+      "mask_path": "../../mask/hdr_front_03098.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03099.png",
+      "transform_matrix": [
+        [
+          -0.14959929883480072,
+          -0.036190226674079895,
+          -0.9880841970443726,
+          23.275094985961914
+        ],
+        [
+          0.9877928495407104,
+          -0.049357376992702484,
+          -0.14774739742279053,
+          26.22502326965332
+        ],
+        [
+          -0.04342222586274147,
+          -0.9981253147125244,
+          0.043132275342941284,
+          -19.466819763183594
+        ],
+        [
+          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": "1731323574_383080959",
+      "mask_path": "../../mask/hdr_front_03099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03100.png",
+      "transform_matrix": [
+        [
+          -0.15155957639217377,
+          -0.03436126932501793,
+          -0.9878507256507874,
+          23.338706970214844
+        ],
+        [
+          0.9874918460845947,
+          -0.04921494796872139,
+          -0.1497926563024521,
+          26.2384033203125
+        ],
+        [
+          -0.043469950556755066,
+          -0.9981970191001892,
+          0.041390471160411835,
+          -19.464609146118164
+        ],
+        [
+          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": "1731323574_483083009",
+      "mask_path": "../../mask/hdr_front_03100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03101.png",
+      "transform_matrix": [
+        [
+          -0.15385623276233673,
+          -0.033916544169187546,
+          -0.9875110387802124,
+          23.412105560302734
+        ],
+        [
+          0.9872466325759888,
+          -0.04664186015725136,
+          -0.15221311151981354,
+          26.258466720581055
+        ],
+        [
+          -0.04089680686593056,
+          -0.9983357191085815,
+          0.040660131722688675,
+          -19.47233009338379
+        ],
+        [
+          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": "1731323574_583081960",
+      "mask_path": "../../mask/hdr_front_03101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03102.png",
+      "transform_matrix": [
+        [
+          -0.15354880690574646,
+          -0.038542281836271286,
+          -0.9873891472816467,
+          23.484582901000977
+        ],
+        [
+          0.9874548316001892,
+          -0.04321809858083725,
+          -0.15187203884124756,
+          26.2757568359375
+        ],
+        [
+          -0.03681958466768265,
+          -0.9983220100402832,
+          0.04469485208392143,
+          -19.482545852661133
+        ],
+        [
+          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": "1731323574_683082342",
+      "mask_path": "../../mask/hdr_front_03102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03103.png",
+      "transform_matrix": [
+        [
+          -0.14692285656929016,
+          -0.04014832153916359,
+          -0.9883329272270203,
+          23.55672836303711
+        ],
+        [
+          0.9884424805641174,
+          -0.04368991404771805,
+          -0.1451643854379654,
+          26.282001495361328
+        ],
+        [
+          -0.0373520664870739,
+          -0.9982381463050842,
+          0.046103354543447495,
+          -19.480987548828125
+        ],
+        [
+          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": "1731323574_783082246",
+      "mask_path": "../../mask/hdr_front_03103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03105.png",
+      "transform_matrix": [
+        [
+          -0.12773120403289795,
+          -0.03775990754365921,
+          -0.9910898208618164,
+          23.649280548095703
+        ],
+        [
+          0.9912013411521912,
+          -0.03982974588871002,
+          -0.12622807919979095,
+          26.29561424255371
+        ],
+        [
+          -0.03470848873257637,
+          -0.9984927773475647,
+          0.04251516982913017,
+          -19.48293685913086
+        ],
+        [
+          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": "1731323574_983081579",
+      "mask_path": "../../mask/hdr_front_03105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03106.png",
+      "transform_matrix": [
+        [
+          -0.1182791143655777,
+          -0.030407942831516266,
+          -0.9925146698951721,
+          23.74169921875
+        ],
+        [
+          0.9923073053359985,
+          -0.04041491821408272,
+          -0.11701620370149612,
+          26.31425666809082
+        ],
+        [
+          -0.03655417263507843,
+          -0.9987201690673828,
+          0.03495427221059799,
+          -19.4876651763916
+        ],
+        [
+          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": "1731323575_83083629",
+      "mask_path": "../../mask/hdr_front_03106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03107.png",
+      "transform_matrix": [
+        [
+          -0.11778620630502701,
+          -0.02426030859351158,
+          -0.992742657661438,
+          23.829626083374023
+        ],
+        [
+          0.9921057820320129,
+          -0.04620213061571121,
+          -0.11658159643411636,
+          26.332141876220703
+        ],
+        [
+          -0.043038513511419296,
+          -0.9986375570297241,
+          0.02951076626777649,
+          -19.496984481811523
+        ],
+        [
+          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": "1731323575_183082342",
+      "mask_path": "../../mask/hdr_front_03107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03109.png",
+      "transform_matrix": [
+        [
+          -0.12411916255950928,
+          -0.023891538381576538,
+          -0.9919795989990234,
+          23.9366512298584
+        ],
+        [
+          0.9913310408592224,
+          -0.04640502855181694,
+          -0.12292034178972244,
+          26.352996826171875
+        ],
+        [
+          -0.04309608042240143,
+          -0.9986370801925659,
+          0.029444172978401184,
+          -19.50751304626465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3109,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323575_383081197",
+      "mask_path": "../../mask/hdr_front_03109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03110.png",
+      "transform_matrix": [
+        [
+          -0.11743085831403732,
+          -0.03439180180430412,
+          -0.9924853444099426,
+          24.009593963623047
+        ],
+        [
+          0.9921079277992249,
+          -0.0482948012650013,
+          -0.11571269482374191,
+          26.363502502441406
+        ],
+        [
+          -0.04395231604576111,
+          -0.9982408881187439,
+          0.03979168087244034,
+          -19.51708984375
+        ],
+        [
+          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": "1731323575_483083963",
+      "mask_path": "../../mask/hdr_front_03110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03111.png",
+      "transform_matrix": [
+        [
+          -0.10535824298858643,
+          -0.04430973902344704,
+          -0.9934467077255249,
+          24.070030212402344
+        ],
+        [
+          0.9930784106254578,
+          -0.056840211153030396,
+          -0.10278400033712387,
+          26.367738723754883
+        ],
+        [
+          -0.05191338434815407,
+          -0.9973995685577393,
+          0.04999162256717682,
+          -19.523317337036133
+        ],
+        [
+          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": "1731323575_583081722",
+      "mask_path": "../../mask/hdr_front_03111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03112.png",
+      "transform_matrix": [
+        [
+          -0.08730648458003998,
+          -0.04637767747044563,
+          -0.9951014518737793,
+          24.12080955505371
+        ],
+        [
+          0.9946970343589783,
+          -0.058571454137563705,
+          -0.08454122394323349,
+          26.358285903930664
+        ],
+        [
+          -0.054363708943128586,
+          -0.997205376625061,
+          0.05124540627002716,
+          -19.52456283569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3112,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323575_683081626",
+      "mask_path": "../../mask/hdr_front_03112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03113.png",
+      "transform_matrix": [
+        [
+          -0.05674130097031593,
+          -0.048321276903152466,
+          -0.997218906879425,
+          24.18790054321289
+        ],
+        [
+          0.9968338012695312,
+          -0.05846794322133064,
+          -0.05388627201318741,
+          26.348731994628906
+        ],
+        [
+          -0.05570147931575775,
+          -0.997119128704071,
+          0.05148583650588989,
+          -19.52751350402832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3113,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323575_783082246",
+      "mask_path": "../../mask/hdr_front_03113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03114.png",
+      "transform_matrix": [
+        [
+          -0.02667393535375595,
+          -0.05629552900791168,
+          -0.9980577826499939,
+          24.244369506835938
+        ],
+        [
+          0.9972885251045227,
+          -0.07000047713518143,
+          -0.022704996168613434,
+          26.34809112548828
+        ],
+        [
+          -0.0685863271355629,
+          -0.9959572553634644,
+          0.058010075241327286,
+          -19.534921646118164
+        ],
+        [
+          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": "1731323575_883081912",
+      "mask_path": "../../mask/hdr_front_03114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03116.png",
+      "transform_matrix": [
+        [
+          0.03447328135371208,
+          -0.06220417469739914,
+          -0.9974679946899414,
+          24.30872344970703
+        ],
+        [
+          0.9944146871566772,
+          -0.09748521447181702,
+          0.04044714570045471,
+          26.324283599853516
+        ],
+        [
+          -0.09975434094667435,
+          -0.9932911992073059,
+          0.05849611386656761,
+          -19.565229415893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3116,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_83081483",
+      "mask_path": "../../mask/hdr_front_03116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03118.png",
+      "transform_matrix": [
+        [
+          0.1086362972855568,
+          -0.07444719970226288,
+          -0.9912899732589722,
+          24.39779281616211
+        ],
+        [
+          0.989354133605957,
+          -0.08903846889734268,
+          0.11511106789112091,
+          26.27345848083496
+        ],
+        [
+          -0.09683263301849365,
+          -0.993242084980011,
+          0.06398183852434158,
+          -19.55851173400879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3118,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_283079385",
+      "mask_path": "../../mask/hdr_front_03118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03120.png",
+      "transform_matrix": [
+        [
+          0.1746276170015335,
+          -0.07334773987531662,
+          -0.981898844242096,
+          24.45036506652832
+        ],
+        [
+          0.9796339869499207,
+          -0.08743272721767426,
+          0.18075603246688843,
+          26.217058181762695
+        ],
+        [
+          -0.09910812973976135,
+          -0.9934664964675903,
+          0.05658577010035515,
+          -19.546367645263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3120,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_483082532",
+      "mask_path": "../../mask/hdr_front_03120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03122.png",
+      "transform_matrix": [
+        [
+          0.20037557184696198,
+          -0.058378733694553375,
+          -0.9779782295227051,
+          24.54522705078125
+        ],
+        [
+          0.9753907322883606,
+          -0.08184157311916351,
+          0.2047308385372162,
+          26.1809024810791
+        ],
+        [
+          -0.09199120849370956,
+          -0.9949341416358948,
+          0.04054303467273712,
+          -19.53190803527832
+        ],
+        [
+          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": "1731323576_683080911",
+      "mask_path": "../../mask/hdr_front_03122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03123.png",
+      "transform_matrix": [
+        [
+          0.2011137455701828,
+          -0.05575442686676979,
+          -0.9779799580574036,
+          24.600427627563477
+        ],
+        [
+          0.9757250547409058,
+          -0.0769447311758995,
+          0.20503666996955872,
+          26.16676139831543
+        ],
+        [
+          -0.08668208867311478,
+          -0.9954752326011658,
+          0.03892635181546211,
+          -19.52985382080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3123,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_783081531",
+      "mask_path": "../../mask/hdr_front_03123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03124.png",
+      "transform_matrix": [
+        [
+          0.2024713158607483,
+          -0.05384793505072594,
+          -0.9778066277503967,
+          24.665372848510742
+        ],
+        [
+          0.9763678312301636,
+          -0.06595330685377121,
+          0.2058054655790329,
+          26.15522003173828
+        ],
+        [
+          -0.07557178288698196,
+          -0.9963687062263489,
+          0.03922174498438835,
+          -19.540571212768555
+        ],
+        [
+          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": "1731323576_883081197",
+      "mask_path": "../../mask/hdr_front_03124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03125.png",
+      "transform_matrix": [
+        [
+          0.20869265496730804,
+          -0.05644144117832184,
+          -0.9763512015342712,
+          24.758176803588867
+        ],
+        [
+          0.9757404923439026,
+          -0.05552548170089722,
+          0.21177195012569427,
+          26.138450622558594
+        ],
+        [
+          -0.06616508215665817,
+          -0.996860682964325,
+          0.04348444193601608,
+          -19.54698371887207
+        ],
+        [
+          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": "1731323576_983080863",
+      "mask_path": "../../mask/hdr_front_03125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03127.png",
+      "transform_matrix": [
+        [
+          0.23170773684978485,
+          -0.05426130071282387,
+          -0.9712709188461304,
+          24.866535186767578
+        ],
+        [
+          0.9715262055397034,
+          -0.03787711262702942,
+          0.23388470709323883,
+          26.12213134765625
+        ],
+        [
+          -0.04947982355952263,
+          -0.9978080987930298,
+          0.04393985867500305,
+          -19.562143325805664
+        ],
+        [
+          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": "1731323577_183082342",
+      "mask_path": "../../mask/hdr_front_03127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03128.png",
+      "transform_matrix": [
+        [
+          0.24335944652557373,
+          -0.05069390684366226,
+          -0.9686105847358704,
+          24.95747947692871
+        ],
+        [
+          0.9688858985900879,
+          -0.03375472128391266,
+          0.24519525468349457,
+          26.103649139404297
+        ],
+        [
+          -0.0451250784099102,
+          -0.9981436729431152,
+          0.04090208187699318,
+          -19.56789779663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3128,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_283082485",
+      "mask_path": "../../mask/hdr_front_03128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03129.png",
+      "transform_matrix": [
+        [
+          0.24285227060317993,
+          -0.051783788949251175,
+          -0.968680202960968,
+          25.041038513183594
+        ],
+        [
+          0.9688734412193298,
+          -0.0364946685731411,
+          0.24485169351100922,
+          26.08799934387207
+        ],
+        [
+          -0.048031002283096313,
+          -0.9979912638664246,
+          0.04130911827087402,
+          -19.572233200073242
+        ],
+        [
+          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": "1731323577_383083105",
+      "mask_path": "../../mask/hdr_front_03129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03130.png",
+      "transform_matrix": [
+        [
+          0.23643139004707336,
+          -0.051583223044872284,
+          -0.9702780246734619,
+          25.100648880004883
+        ],
+        [
+          0.9702939391136169,
+          -0.04017161205410957,
+          0.2385709285736084,
+          26.08391571044922
+        ],
+        [
+          -0.05128388851881027,
+          -0.9978604912757874,
+          0.040553051978349686,
+          -19.5813045501709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3130,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_483082056",
+      "mask_path": "../../mask/hdr_front_03130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03131.png",
+      "transform_matrix": [
+        [
+          0.23225106298923492,
+          -0.048319414258003235,
+          -0.9714549779891968,
+          25.152055740356445
+        ],
+        [
+          0.9714131951332092,
+          -0.03894708678126335,
+          0.2341783195734024,
+          26.072660446166992
+        ],
+        [
+          -0.04915068671107292,
+          -0.9980723857879639,
+          0.03789261728525162,
+          -19.589550018310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3131,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_583082675",
+      "mask_path": "../../mask/hdr_front_03131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03132.png",
+      "transform_matrix": [
+        [
+          0.23875848948955536,
+          -0.05941435322165489,
+          -0.9692596197128296,
+          25.223255157470703
+        ],
+        [
+          0.96991366147995,
+          -0.03429064154624939,
+          0.24102160334587097,
+          26.050451278686523
+        ],
+        [
+          -0.04755667224526405,
+          -0.997644305229187,
+          0.04943961650133133,
+          -19.587303161621094
+        ],
+        [
+          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": "1731323577_683082103",
+      "mask_path": "../../mask/hdr_front_03132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03133.png",
+      "transform_matrix": [
+        [
+          0.25083598494529724,
+          -0.0721132680773735,
+          -0.9653398394584656,
+          25.302223205566406
+        ],
+        [
+          0.9666642546653748,
+          -0.034284770488739014,
+          0.2537412941455841,
+          26.023160934448242
+        ],
+        [
+          -0.051394566893577576,
+          -0.9968070387840271,
+          0.061109475791454315,
+          -19.587482452392578
+        ],
+        [
+          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": "1731323577_783083438",
+      "mask_path": "../../mask/hdr_front_03133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03134.png",
+      "transform_matrix": [
+        [
+          0.26244062185287476,
+          -0.07230634242296219,
+          -0.9622353911399841,
+          25.365264892578125
+        ],
+        [
+          0.9634039998054504,
+          -0.03675545006990433,
+          0.265521377325058,
+          25.997108459472656
+        ],
+        [
+          -0.054566264152526855,
+          -0.9967049956321716,
+          0.06001409515738487,
+          -19.59530258178711
+        ],
+        [
+          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": "1731323577_883081674",
+      "mask_path": "../../mask/hdr_front_03134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03135.png",
+      "transform_matrix": [
+        [
+          0.27316027879714966,
+          -0.0705060064792633,
+          -0.9593813419342041,
+          25.41060447692871
+        ],
+        [
+          0.9603466391563416,
+          -0.03790227323770523,
+          0.2762206196784973,
+          25.970176696777344
+        ],
+        [
+          -0.05583794414997101,
+          -0.9967910051345825,
+          0.057356808334589005,
+          -19.605072021484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3135,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_983082294",
+      "mask_path": "../../mask/hdr_front_03135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03136.png",
+      "transform_matrix": [
+        [
+          0.28234371542930603,
+          -0.05947262421250343,
+          -0.9574680924415588,
+          25.52178955078125
+        ],
+        [
+          0.9577847123146057,
+          -0.03884616494178772,
+          0.28484997153282166,
+          25.93876838684082
+        ],
+        [
+          -0.05413473770022392,
+          -0.9974738955497742,
+          0.045993998646736145,
+          -19.607105255126953
+        ],
+        [
+          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": "1731323578_83082199",
+      "mask_path": "../../mask/hdr_front_03136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03137.png",
+      "transform_matrix": [
+        [
+          0.2862210273742676,
+          -0.05462247133255005,
+          -0.9566054344177246,
+          25.62980842590332
+        ],
+        [
+          0.9563793540000916,
+          -0.04461311176419258,
+          0.2887008488178253,
+          25.908842086791992
+        ],
+        [
+          -0.05844670161604881,
+          -0.9975098967552185,
+          0.03947059065103531,
+          -19.609020233154297
+        ],
+        [
+          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": "1731323578_183082580",
+      "mask_path": "../../mask/hdr_front_03137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03138.png",
+      "transform_matrix": [
+        [
+          0.2873714566230774,
+          -0.05531751736998558,
+          -0.9562204480171204,
+          25.69236946105957
+        ],
+        [
+          0.9555015563964844,
+          -0.052850861102342606,
+          0.29021281003952026,
+          25.882568359375
+        ],
+        [
+          -0.06659093499183655,
+          -0.9970691800117493,
+          0.037668149918317795,
+          -19.61322784423828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3138,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323578_283082723",
+      "mask_path": "../../mask/hdr_front_03138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03139.png",
+      "transform_matrix": [
+        [
+          0.29071560502052307,
+          -0.059780336916446686,
+          -0.9549401998519897,
+          25.7781925201416
+        ],
+        [
+          0.9549322724342346,
+          -0.044360190629959106,
+          0.2934902012348175,
+          25.84192657470703
+        ],
+        [
+          -0.05990627035498619,
+          -0.9972254037857056,
+          0.044189974665641785,
+          -19.619384765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3139,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323578_383082151",
+      "mask_path": "../../mask/hdr_front_03139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03140.png",
+      "transform_matrix": [
+        [
+          0.29967543482780457,
+          -0.07025302201509476,
+          -0.9514511227607727,
+          25.865617752075195
+        ],
+        [
+          0.9522299766540527,
+          -0.03939700126647949,
+          0.3028298020362854,
+          25.808109283447266
+        ],
+        [
+          -0.058759018778800964,
+          -0.9967509508132935,
+          0.05509071424603462,
+          -19.626741409301758
+        ],
+        [
+          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": "1731323578_483082294",
+      "mask_path": "../../mask/hdr_front_03140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03141.png",
+      "transform_matrix": [
+        [
+          0.310788094997406,
+          -0.07512035965919495,
+          -0.9475060701370239,
+          25.935091018676758
+        ],
+        [
+          0.9484509229660034,
+          -0.04058079048991203,
+          0.3143153190612793,
+          25.782079696655273
+        ],
+        [
+          -0.06206202507019043,
+          -0.9963483810424805,
+          0.05863594263792038,
+          -19.63198471069336
+        ],
+        [
+          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": "1731323578_583082437",
+      "mask_path": "../../mask/hdr_front_03141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03142.png",
+      "transform_matrix": [
+        [
+          0.3222191631793976,
+          -0.07303984463214874,
+          -0.9438432455062866,
+          26.020729064941406
+        ],
+        [
+          0.9446372985839844,
+          -0.04041469842195511,
+          0.3256177008152008,
+          25.75623893737793
+        ],
+        [
+          -0.061928197741508484,
+          -0.996509850025177,
+          0.05597377195954323,
+          -19.650272369384766
+        ],
+        [
+          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": "1731323578_683082342",
+      "mask_path": "../../mask/hdr_front_03142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03143.png",
+      "transform_matrix": [
+        [
+          0.32840895652770996,
+          -0.06558544188737869,
+          -0.9422558546066284,
+          26.13310432434082
+        ],
+        [
+          0.9424046874046326,
+          -0.04422057792544365,
+          0.33153876662254333,
+          25.733501434326172
+        ],
+        [
+          -0.06341122835874557,
+          -0.9968666434288025,
+          0.047285597771406174,
+          -19.65548324584961
+        ],
+        [
+          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": "1731323578_783082485",
+      "mask_path": "../../mask/hdr_front_03143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03144.png",
+      "transform_matrix": [
+        [
+          0.3249605894088745,
+          -0.05952107161283493,
+          -0.9438527226448059,
+          26.229764938354492
+        ],
+        [
+          0.9433462619781494,
+          -0.05037739500403404,
+          0.3279631733894348,
+          25.712825775146484
+        ],
+        [
+          -0.06706955283880234,
+          -0.9969550371170044,
+          0.03977831453084946,
+          -19.649436950683594
+        ],
+        [
+          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": "1731323578_883081197",
+      "mask_path": "../../mask/hdr_front_03144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03145.png",
+      "transform_matrix": [
+        [
+          0.31806322932243347,
+          -0.05534558370709419,
+          -0.9464526772499084,
+          26.292892456054688
+        ],
+        [
+          0.9454578161239624,
+          -0.05553336814045906,
+          0.3209763169288635,
+          25.699432373046875
+        ],
+        [
+          -0.07032432407140732,
+          -0.9969217777252197,
+          0.034663788974285126,
+          -19.64678382873535
+        ],
+        [
+          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": "1731323578_983082056",
+      "mask_path": "../../mask/hdr_front_03145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03146.png",
+      "transform_matrix": [
+        [
+          0.315572589635849,
+          -0.050497885793447495,
+          -0.947556734085083,
+          26.378490447998047
+        ],
+        [
+          0.9466060400009155,
+          -0.05266019329428673,
+          0.318062424659729,
+          25.67753028869629
+        ],
+        [
+          -0.06596000492572784,
+          -0.997334897518158,
+          0.03118349239230156,
+          -19.654014587402344
+        ],
+        [
+          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": "1731323579_83081722",
+      "mask_path": "../../mask/hdr_front_03146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03147.png",
+      "transform_matrix": [
+        [
+          0.3238145709037781,
+          -0.05881163105368614,
+          -0.9442909955978394,
+          26.47064971923828
+        ],
+        [
+          0.9445048570632935,
+          -0.03820959851145744,
+          0.32626765966415405,
+          25.650470733642578
+        ],
+        [
+          -0.055269304662942886,
+          -0.9975375533103943,
+          0.043175045400857925,
+          -19.65208625793457
+        ],
+        [
+          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": "1731323579_183082818",
+      "mask_path": "../../mask/hdr_front_03147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03148.png",
+      "transform_matrix": [
+        [
+          0.33463162183761597,
+          -0.06614798307418823,
+          -0.9400244951248169,
+          26.52581214904785
+        ],
+        [
+          0.9409971833229065,
+          -0.029956724494695663,
+          0.33708587288856506,
+          25.628183364868164
+        ],
+        [
+          -0.050457607954740524,
+          -0.9973600506782532,
+          0.05222059041261673,
+          -19.64638328552246
+        ],
+        [
+          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": "1731323579_283082485",
+      "mask_path": "../../mask/hdr_front_03148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03149.png",
+      "transform_matrix": [
+        [
+          0.3448352515697479,
+          -0.06012967228889465,
+          -0.9367352724075317,
+          26.584402084350586
+        ],
+        [
+          0.9375385642051697,
+          -0.02677472122013569,
+          0.34684956073760986,
+          25.610445022583008
+        ],
+        [
+          -0.04593678191304207,
+          -0.9978315234184265,
+          0.04714101925492287,
+          -19.65269660949707
+        ],
+        [
+          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": "1731323579_383081436",
+      "mask_path": "../../mask/hdr_front_03149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03150.png",
+      "transform_matrix": [
+        [
+          0.3553486764431,
+          -0.04629508778452873,
+          -0.9335866570472717,
+          26.67512321472168
+        ],
+        [
+          0.9338204264640808,
+          -0.0265614315867424,
+          0.35675477981567383,
+          25.585710525512695
+        ],
+        [
+          -0.04131338745355606,
+          -0.9985746145248413,
+          0.033792730420827866,
+          -19.654314041137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3150,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323579_483081579",
+      "mask_path": "../../mask/hdr_front_03150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03151.png",
+      "transform_matrix": [
+        [
+          0.3588510751724243,
+          -0.03920736163854599,
+          -0.9325710535049438,
+          26.75030517578125
+        ],
+        [
+          0.9324276447296143,
+          -0.030414113774895668,
+          0.36007457971572876,
+          25.558019638061523
+        ],
+        [
+          -0.042480893433094025,
+          -0.9987680912017822,
+          0.02564389258623123,
+          -19.647329330444336
+        ],
+        [
+          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": "1731323579_583081960",
+      "mask_path": "../../mask/hdr_front_03151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03152.png",
+      "transform_matrix": [
+        [
+          0.35964277386665344,
+          -0.03828774020075798,
+          -0.9323042035102844,
+          26.821256637573242
+        ],
+        [
+          0.9319446086883545,
+          -0.034754134714603424,
+          0.3609313368797302,
+          25.54015350341797
+        ],
+        [
+          -0.04622066766023636,
+          -0.9986622333526611,
+          0.023182978853583336,
+          -19.645435333251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3152,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323579_683082103",
+      "mask_path": "../../mask/hdr_front_03152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03153.png",
+      "transform_matrix": [
+        [
+          0.3613428771495819,
+          -0.035800427198410034,
+          -0.9317455291748047,
+          26.8824462890625
+        ],
+        [
+          0.9312543272972107,
+          -0.036371950060129166,
+          0.36254996061325073,
+          25.522050857543945
+        ],
+        [
+          -0.046868838369846344,
+          -0.9986969232559204,
+          0.02019656077027321,
+          -19.65386962890625
+        ],
+        [
+          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": "1731323579_783082008",
+      "mask_path": "../../mask/hdr_front_03153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03154.png",
+      "transform_matrix": [
+        [
+          0.36815589666366577,
+          -0.041807711124420166,
+          -0.9288236498832703,
+          26.958534240722656
+        ],
+        [
+          0.9287716150283813,
+          -0.02960868738591671,
+          0.3694680333137512,
+          25.50052261352539
+        ],
+        [
+          -0.042947862297296524,
+          -0.9986869096755981,
+          0.02792919985949993,
+          -19.65775489807129
+        ],
+        [
+          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": "1731323579_883082628",
+      "mask_path": "../../mask/hdr_front_03154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03155.png",
+      "transform_matrix": [
+        [
+          0.379291296005249,
+          -0.04592328518629074,
+          -0.9241369366645813,
+          27.021757125854492
+        ],
+        [
+          0.9244550466537476,
+          -0.023290038108825684,
+          0.3805791735649109,
+          25.47533416748047
+        ],
+        [
+          -0.039000630378723145,
+          -0.9986734390258789,
+          0.03362029790878296,
+          -19.6517276763916
+        ],
+        [
+          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": "1731323579_983081817",
+      "mask_path": "../../mask/hdr_front_03155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03157.png",
+      "transform_matrix": [
+        [
+          0.4060348570346832,
+          -0.03891773149371147,
+          -0.9130285978317261,
+          27.114547729492188
+        ],
+        [
+          0.9131478071212769,
+          -0.0220909733325243,
+          0.40702953934669495,
+          25.420927047729492
+        ],
+        [
+          -0.03601035103201866,
+          -0.99899822473526,
+          0.026567935943603516,
+          -19.65009117126465
+        ],
+        [
+          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": "1731323580_183082342",
+      "mask_path": "../../mask/hdr_front_03157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03158.png",
+      "transform_matrix": [
+        [
+          0.4124893844127655,
+          -0.042465485632419586,
+          -0.9099720120429993,
+          27.195810317993164
+        ],
+        [
+          0.9099879860877991,
+          -0.026983244344592094,
+          0.4137558043003082,
+          25.387619018554688
+        ],
+        [
+          -0.042124342173337936,
+          -0.9987335205078125,
+          0.027512777596712112,
+          -19.651269912719727
+        ],
+        [
+          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": "1731323580_283081531",
+      "mask_path": "../../mask/hdr_front_03158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03159.png",
+      "transform_matrix": [
+        [
+          0.41270071268081665,
+          -0.047013044357299805,
+          -0.909652590751648,
+          27.256378173828125
+        ],
+        [
+          0.9095190763473511,
+          -0.03303229436278343,
+          0.414347380399704,
+          25.35941505432129
+        ],
+        [
+          -0.049527641385793686,
+          -0.9983479380607605,
+          0.029126813635230064,
+          -19.65445327758789
+        ],
+        [
+          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": "1731323580_383081436",
+      "mask_path": "../../mask/hdr_front_03159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03160.png",
+      "transform_matrix": [
+        [
+          0.4119066596031189,
+          -0.04890390485525131,
+          -0.9099128246307373,
+          27.30434226989746
+        ],
+        [
+          0.9096553325653076,
+          -0.03653595224022865,
+          0.41375380754470825,
+          25.338356018066406
+        ],
+        [
+          -0.053478699177503586,
+          -0.9981350898742676,
+          0.029436299577355385,
+          -19.6589298248291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3160,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323580_483081579",
+      "mask_path": "../../mask/hdr_front_03160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03161.png",
+      "transform_matrix": [
+        [
+          0.41080012917518616,
+          -0.0542740635573864,
+          -0.9101086258888245,
+          27.373798370361328
+        ],
+        [
+          0.9100680947303772,
+          -0.03575056791305542,
+          0.41291385889053345,
+          25.313507080078125
+        ],
+        [
+          -0.05494740605354309,
+          -0.9978860020637512,
+          0.034706756472587585,
+          -19.667945861816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3161,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323580_583082675",
+      "mask_path": "../../mask/hdr_front_03161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03164.png",
+      "transform_matrix": [
+        [
+          0.39371827244758606,
+          -0.05054117739200592,
+          -0.9178407788276672,
+          27.51787567138672
+        ],
+        [
+          0.9179967641830444,
+          -0.030110104009509087,
+          0.395443320274353,
+          25.23900032043457
+        ],
+        [
+          -0.0476224459707737,
+          -0.9982680678367615,
+          0.034541741013526917,
+          -19.665199279785156
+        ],
+        [
+          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": "1731323580_883082866",
+      "mask_path": "../../mask/hdr_front_03164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03165.png",
+      "transform_matrix": [
+        [
+          0.38615870475769043,
+          -0.050522468984127045,
+          -0.9210476875305176,
+          27.612123489379883
+        ],
+        [
+          0.9212195873260498,
+          -0.030061941593885422,
+          0.38787972927093506,
+          25.203784942626953
+        ],
+        [
+          -0.04728512838482857,
+          -0.9982703924179077,
+          0.03493361547589302,
+          -19.677318572998047
+        ],
+        [
+          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": "1731323580_983081340",
+      "mask_path": "../../mask/hdr_front_03165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03166.png",
+      "transform_matrix": [
+        [
+          0.3726806342601776,
+          -0.05458218976855278,
+          -0.9263530969619751,
+          27.70423698425293
+        ],
+        [
+          0.9264777898788452,
+          -0.03450821712613106,
+          0.3747641146183014,
+          25.16826057434082
+        ],
+        [
+          -0.052422236651182175,
+          -0.9979128241539001,
+          0.03770863637328148,
+          -19.686325073242188
+        ],
+        [
+          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": "1731323581_83079814",
+      "mask_path": "../../mask/hdr_front_03166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03167.png",
+      "transform_matrix": [
+        [
+          0.3506355881690979,
+          -0.05657930299639702,
+          -0.9348013401031494,
+          27.770946502685547
+        ],
+        [
+          0.9350229501724243,
+          -0.03511657193303108,
+          0.3528441786766052,
+          25.14545249938965
+        ],
+        [
+          -0.05279069393873215,
+          -0.9977803230285645,
+          0.040589820593595505,
+          -19.68794059753418
+        ],
+        [
+          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": "1731323581_183082818",
+      "mask_path": "../../mask/hdr_front_03167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03168.png",
+      "transform_matrix": [
+        [
+          0.32506251335144043,
+          -0.05743113532662392,
+          -0.9439470767974854,
+          27.851293563842773
+        ],
+        [
+          0.9447503089904785,
+          -0.024822194129228592,
+          0.32684943079948425,
+          25.13231086730957
+        ],
+        [
+          -0.042202167212963104,
+          -0.9980409145355225,
+          0.0461893193423748,
+          -19.70610809326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3168,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323581_283081293",
+      "mask_path": "../../mask/hdr_front_03168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03169.png",
+      "transform_matrix": [
+        [
+          0.30672553181648254,
+          -0.06099891662597656,
+          -0.9498413801193237,
+          27.93549156188965
+        ],
+        [
+          0.951120913028717,
+          -0.01799234189093113,
+          0.3082942068576813,
+          25.109764099121094
+        ],
+        [
+          -0.03589548170566559,
+          -0.9979756474494934,
+          0.05249863117933273,
+          -19.71671485900879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3169,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323581_383082628",
+      "mask_path": "../../mask/hdr_front_03169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03172.png",
+      "transform_matrix": [
+        [
+          0.311595618724823,
+          -0.07244100421667099,
+          -0.9474494457244873,
+          28.11646842956543
+        ],
+        [
+          0.9499735832214355,
+          0.0012836187379434705,
+          0.3123275935649872,
+          25.057607650756836
+        ],
+        [
+          -0.021409157663583755,
+          -0.9973719120025635,
+          0.0692170187830925,
+          -19.748523712158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3172,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323581_683080673",
+      "mask_path": "../../mask/hdr_front_03172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03173.png",
+      "transform_matrix": [
+        [
+          0.31638237833976746,
+          -0.09182541817426682,
+          -0.9441770911216736,
+          28.20185661315918
+        ],
+        [
+          0.9482343196868896,
+          0.0018050867365673184,
+          0.3175663948059082,
+          25.03312873840332
+        ],
+        [
+          -0.027456345036625862,
+          -0.9957734942436218,
+          0.0876431092619896,
+          -19.777076721191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3173,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323581_783083200",
+      "mask_path": "../../mask/hdr_front_03173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03174.png",
+      "transform_matrix": [
+        [
+          0.3187529742717743,
+          -0.10348710417747498,
+          -0.9421715140342712,
+          28.260719299316406
+        ],
+        [
+          0.9473558068275452,
+          0.0030882135033607483,
+          0.32016775012016296,
+          25.017192840576172
+        ],
+        [
+          -0.030223602429032326,
+          -0.994625985622406,
+          0.0990234911441803,
+          -19.796310424804688
+        ],
+        [
+          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": "1731323581_883081912",
+      "mask_path": "../../mask/hdr_front_03174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03175.png",
+      "transform_matrix": [
+        [
+          0.3217240869998932,
+          -0.10866349935531616,
+          -0.9405773878097534,
+          28.333019256591797
+        ],
+        [
+          0.9463960528373718,
+          0.006713826674968004,
+          0.3229387402534485,
+          24.99215316772461
+        ],
+        [
+          -0.028776776045560837,
+          -0.994055986404419,
+          0.10499870032072067,
+          -19.81684684753418
+        ],
+        [
+          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": "1731323581_983081817",
+      "mask_path": "../../mask/hdr_front_03175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03176.png",
+      "transform_matrix": [
+        [
+          0.32626789808273315,
+          -0.12043607234954834,
+          -0.9375737309455872,
+          28.422121047973633
+        ],
+        [
+          0.9449883103370667,
+          0.017033735290169716,
+          0.3266601860523224,
+          24.961429595947266
+        ],
+        [
+          -0.02337128110229969,
+          -0.99257493019104,
+          0.11936825513839722,
+          -19.834861755371094
+        ],
+        [
+          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": "1731323582_83082437",
+      "mask_path": "../../mask/hdr_front_03176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03177.png",
+      "transform_matrix": [
+        [
+          0.33246681094169617,
+          -0.13103513419628143,
+          -0.9339675903320312,
+          28.492464065551758
+        ],
+        [
+          0.9429229497909546,
+          0.026201743632555008,
+          0.33197855949401855,
+          24.9356632232666
+        ],
+        [
+          -0.019029274582862854,
+          -0.9910314083099365,
+          0.13226726651191711,
+          -19.848875045776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3177,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323582_183082103",
+      "mask_path": "../../mask/hdr_front_03177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03178.png",
+      "transform_matrix": [
+        [
+          0.34273844957351685,
+          -0.13245441019535065,
+          -0.9300463795661926,
+          28.54741668701172
+        ],
+        [
+          0.9392898678779602,
+          0.03116755560040474,
+          0.3417060673236847,
+          24.908588409423828
+        ],
+        [
+          -0.016273202374577522,
+          -0.990699052810669,
+          0.13509540259838104,
+          -19.86224365234375
+        ],
+        [
+          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": "1731323582_283080577",
+      "mask_path": "../../mask/hdr_front_03178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06821.png",
+      "transform_matrix": [
+        [
+          -0.22309060394763947,
+          -0.13778267800807953,
+          0.9650111794471741,
+          28.9006404876709
+        ],
+        [
+          -0.9744040966033936,
+          0.0033919713459908962,
+          -0.22477778792381287,
+          25.081703186035156
+        ],
+        [
+          0.02769719436764717,
+          -0.9904567003250122,
+          -0.13501273095607758,
+          -19.96514129638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6821,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_583080768",
+      "mask_path": "../../mask/hdr_front_06821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06822.png",
+      "transform_matrix": [
+        [
+          -0.22799086570739746,
+          -0.14333976805210114,
+          0.9630544185638428,
+          28.828208923339844
+        ],
+        [
+          -0.9730783104896545,
+          -0.0007374112028628588,
+          -0.23047363758087158,
+          25.10379409790039
+        ],
+        [
+          0.033746201545000076,
+          -0.9896733164787292,
+          -0.13931268453598022,
+          -19.95674705505371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6822,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_683082103",
+      "mask_path": "../../mask/hdr_front_06822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06823.png",
+      "transform_matrix": [
+        [
+          -0.2295423299074173,
+          -0.13576793670654297,
+          0.9637829065322876,
+          28.73554801940918
+        ],
+        [
+          -0.9727946519851685,
+          0.00014185487816575915,
+          -0.23166869580745697,
+          25.122177124023438
+        ],
+        [
+          0.03131646662950516,
+          -0.9907406568527222,
+          -0.13210690021514893,
+          -19.939716339111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6823,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_783082723",
+      "mask_path": "../../mask/hdr_front_06823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06824.png",
+      "transform_matrix": [
+        [
+          -0.22703227400779724,
+          -0.12860387563705444,
+          0.9653586745262146,
+          28.65045166015625
+        ],
+        [
+          -0.9735558032989502,
+          0.004112894646823406,
+          -0.2284121960401535,
+          25.133520126342773
+        ],
+        [
+          0.025404274463653564,
+          -0.991687536239624,
+          -0.12613680958747864,
+          -19.928476333618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6824,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_883081912",
+      "mask_path": "../../mask/hdr_front_06824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06825.png",
+      "transform_matrix": [
+        [
+          -0.22476713359355927,
+          -0.13040052354335785,
+          0.9656476974487305,
+          28.577804565429688
+        ],
+        [
+          -0.974166214466095,
+          0.007789096795022488,
+          -0.2256980836391449,
+          25.13939666748047
+        ],
+        [
+          0.021909620612859726,
+          -0.9914308190345764,
+          -0.1287824809551239,
+          -19.9146728515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6825,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_983081817",
+      "mask_path": "../../mask/hdr_front_06825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06826.png",
+      "transform_matrix": [
+        [
+          -0.22341527044773102,
+          -0.13219034671783447,
+          0.9657180905342102,
+          28.51180648803711
+        ],
+        [
+          -0.9744872450828552,
+          0.008488600142300129,
+          -0.22428208589553833,
+          25.143508911132812
+        ],
+        [
+          0.021450329571962357,
+          -0.9911880493164062,
+          -0.1307142823934555,
+          -19.902467727661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6826,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_83081960",
+      "mask_path": "../../mask/hdr_front_06826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06827.png",
+      "transform_matrix": [
+        [
+          -0.22553613781929016,
+          -0.13537812232971191,
+          0.9647830128669739,
+          28.44414710998535
+        ],
+        [
+          -0.9738215208053589,
+          0.002481922972947359,
+          -0.22730080783367157,
+          25.149391174316406
+        ],
+        [
+          0.02837703563272953,
+          -0.9907909035682678,
+          -0.13239388167858124,
+          -19.895174026489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6827,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_183080434",
+      "mask_path": "../../mask/hdr_front_06827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06828.png",
+      "transform_matrix": [
+        [
+          -0.22580885887145996,
+          -0.13975565135478973,
+          0.9640948176383972,
+          28.366796493530273
+        ],
+        [
+          -0.9735294580459595,
+          -0.0035548480227589607,
+          -0.22853393852710724,
+          25.155229568481445
+        ],
+        [
+          0.03536611422896385,
+          -0.990179717540741,
+          -0.13525351881980896,
+          -19.879085540771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6828,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_283080577",
+      "mask_path": "../../mask/hdr_front_06828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06829.png",
+      "transform_matrix": [
+        [
+          -0.21450713276863098,
+          -0.13912710547447205,
+          0.9667627811431885,
+          28.278188705444336
+        ],
+        [
+          -0.9760713577270508,
+          -0.005598407704383135,
+          -0.21737819910049438,
+          25.16509246826172
+        ],
+        [
+          0.03565552830696106,
+          -0.9902586936950684,
+          -0.13459709286689758,
+          -19.866188049316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6829,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_383081436",
+      "mask_path": "../../mask/hdr_front_06829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06830.png",
+      "transform_matrix": [
+        [
+          -0.19194155931472778,
+          -0.1352693736553192,
+          0.972039520740509,
+          28.18614959716797
+        ],
+        [
+          -0.980982780456543,
+          -0.002652669558301568,
+          -0.19407665729522705,
+          25.162015914916992
+        ],
+        [
+          0.028831126168370247,
+          -0.9908053278923035,
+          -0.13218775391578674,
+          -19.862476348876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6830,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_483084201",
+      "mask_path": "../../mask/hdr_front_06830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06831.png",
+      "transform_matrix": [
+        [
+          -0.17062123119831085,
+          -0.13083994388580322,
+          0.9766111969947815,
+          28.114439010620117
+        ],
+        [
+          -0.9850602149963379,
+          -0.0008264111820608377,
+          -0.17220808565616608,
+          25.162609100341797
+        ],
+        [
+          0.02333877980709076,
+          -0.9914031624794006,
+          -0.1287442147731781,
+          -19.8632869720459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6831,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_583082914",
+      "mask_path": "../../mask/hdr_front_06831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06832.png",
+      "transform_matrix": [
+        [
+          -0.15551261603832245,
+          -0.13080225884914398,
+          0.9791356325149536,
+          28.044464111328125
+        ],
+        [
+          -0.9875909090042114,
+          -0.0013936074683442712,
+          -0.15704169869422913,
+          25.170574188232422
+        ],
+        [
+          0.021905940026044846,
+          -0.9914075136184692,
+          -0.1289624124765396,
+          -19.858379364013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6832,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_683081865",
+      "mask_path": "../../mask/hdr_front_06832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06833.png",
+      "transform_matrix": [
+        [
+          -0.14598152041435242,
+          -0.13782893121242523,
+          0.9796389937400818,
+          27.964792251586914
+        ],
+        [
+          -0.9891331195831299,
+          0.0028508747927844524,
+          -0.1469952017068863,
+          25.183860778808594
+        ],
+        [
+          0.017467359080910683,
+          -0.9904520511627197,
+          -0.1367473155260086,
+          -19.82134246826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6833,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_783082723",
+      "mask_path": "../../mask/hdr_front_06833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06834.png",
+      "transform_matrix": [
+        [
+          -0.14904114603996277,
+          -0.15058457851409912,
+          0.977297842502594,
+          27.88554573059082
+        ],
+        [
+          -0.988702118396759,
+          0.006738167721778154,
+          -0.14974212646484375,
+          25.206268310546875
+        ],
+        [
+          0.015963656827807426,
+          -0.988574206829071,
+          -0.1498875468969345,
+          -19.7845458984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6834,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_883081197",
+      "mask_path": "../../mask/hdr_front_06834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06835.png",
+      "transform_matrix": [
+        [
+          -0.15174052119255066,
+          -0.16188253462314606,
+          0.9750738143920898,
+          27.825225830078125
+        ],
+        [
+          -0.9881755709648132,
+          0.002891584299504757,
+          -0.15329937636852264,
+          25.216421127319336
+        ],
+        [
+          0.021996982395648956,
+          -0.9868058562278748,
+          -0.16040712594985962,
+          -19.760690689086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6835,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_983082294",
+      "mask_path": "../../mask/hdr_front_06835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06836.png",
+      "transform_matrix": [
+        [
+          -0.1505022644996643,
+          -0.16773490607738495,
+          0.9742762446403503,
+          27.765779495239258
+        ],
+        [
+          -0.9882464408874512,
+          -0.0011833412572741508,
+          -0.15286406874656677,
+          25.2219295501709
+        ],
+        [
+          0.026793543249368668,
+          -0.9858314394950867,
+          -0.16558533906936646,
+          -19.747358322143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6836,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_83081722",
+      "mask_path": "../../mask/hdr_front_06836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06837.png",
+      "transform_matrix": [
+        [
+          -0.1415349692106247,
+          -0.16651813685894012,
+          0.9758276343345642,
+          27.68027114868164
+        ],
+        [
+          -0.9895764589309692,
+          -0.002666640095412731,
+          -0.1439841389656067,
+          25.223264694213867
+        ],
+        [
+          0.026578150689601898,
+          -0.9860348105430603,
+          -0.164404958486557,
+          -19.73329734802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6837,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_183081388",
+      "mask_path": "../../mask/hdr_front_06837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06838.png",
+      "transform_matrix": [
+        [
+          -0.1293114870786667,
+          -0.164426788687706,
+          0.9778764843940735,
+          27.609798431396484
+        ],
+        [
+          -0.9912410378456116,
+          -0.005243799649178982,
+          -0.13196051120758057,
+          25.214303970336914
+        ],
+        [
+          0.02682563289999962,
+          -0.9863753914833069,
+          -0.1623084992170334,
+          -19.716508865356445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6838,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_283081054",
+      "mask_path": "../../mask/hdr_front_06838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06839.png",
+      "transform_matrix": [
+        [
+          -0.11772113293409348,
+          -0.15963156521320343,
+          0.9801324009895325,
+          27.543048858642578
+        ],
+        [
+          -0.992696225643158,
+          -0.007303398102521896,
+          -0.12041962891817093,
+          25.2048397064209
+        ],
+        [
+          0.026381071656942368,
+          -0.9871496558189392,
+          -0.1576058715581894,
+          -19.711992263793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6839,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_383081197",
+      "mask_path": "../../mask/hdr_front_06839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06840.png",
+      "transform_matrix": [
+        [
+          -0.10778175294399261,
+          -0.15895114839076996,
+          0.9813856482505798,
+          27.453929901123047
+        ],
+        [
+          -0.9937772750854492,
+          -0.010677877813577652,
+          -0.11087214946746826,
+          25.197214126586914
+        ],
+        [
+          0.028102371841669083,
+          -0.9872287511825562,
+          -0.1568111777305603,
+          -19.696556091308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6840,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_483082056",
+      "mask_path": "../../mask/hdr_front_06840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06841.png",
+      "transform_matrix": [
+        [
+          -0.1012941524386406,
+          -0.16408602893352509,
+          0.9812315106391907,
+          27.36912727355957
+        ],
+        [
+          -0.9942594766616821,
+          -0.017467498779296875,
+          -0.1055600494146347,
+          25.19159698486328
+        ],
+        [
+          0.034460581839084625,
+          -0.9862913489341736,
+          -0.1613747477531433,
+          -19.6637020111084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6841,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_583082199",
+      "mask_path": "../../mask/hdr_front_06841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06842.png",
+      "transform_matrix": [
+        [
+          -0.10244548320770264,
+          -0.16200947761535645,
+          0.9814570546150208,
+          27.274433135986328
+        ],
+        [
+          -0.9942123889923096,
+          -0.015413034707307816,
+          -0.10632114857435226,
+          25.197690963745117
+        ],
+        [
+          0.032352264970541,
+          -0.9866688251495361,
+          -0.15949282050132751,
+          -19.650680541992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6842,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_683082342",
+      "mask_path": "../../mask/hdr_front_06842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06843.png",
+      "transform_matrix": [
+        [
+          -0.10515172779560089,
+          -0.1327112913131714,
+          0.9855612516403198,
+          27.184825897216797
+        ],
+        [
+          -0.994235098361969,
+          -0.006868735421448946,
+          -0.10700207948684692,
+          25.203964233398438
+        ],
+        [
+          0.020969944074749947,
+          -0.9911309480667114,
+          -0.13122397661209106,
+          -19.650367736816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6843,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_783081769",
+      "mask_path": "../../mask/hdr_front_06843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06844.png",
+      "transform_matrix": [
+        [
+          -0.10105583816766739,
+          -0.11169596761465073,
+          0.9885907769203186,
+          27.10881805419922
+        ],
+        [
+          -0.994780421257019,
+          -0.002767064841464162,
+          -0.10200119018554688,
+          25.201051712036133
+        ],
+        [
+          0.014128617011010647,
+          -0.99373859167099,
+          -0.11083333939313889,
+          -19.640426635742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6844,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_883081912",
+      "mask_path": "../../mask/hdr_front_06844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06845.png",
+      "transform_matrix": [
+        [
+          -0.09877216070890427,
+          -0.11105217784643173,
+          0.9888941049575806,
+          27.038997650146484
+        ],
+        [
+          -0.995038628578186,
+          -0.0008873208425939083,
+          -0.09948553144931793,
+          25.19391632080078
+        ],
+        [
+          0.011925552040338516,
+          -0.99381422996521,
+          -0.1104135662317276,
+          -19.626258850097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6845,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_983082532",
+      "mask_path": "../../mask/hdr_front_06845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06846.png",
+      "transform_matrix": [
+        [
+          -0.10351148247718811,
+          -0.09919824451208115,
+          0.9896692037582397,
+          26.959518432617188
+        ],
+        [
+          -0.9943214058876038,
+          -0.014394242316484451,
+          -0.10544086247682571,
+          25.197221755981445
+        ],
+        [
+          0.02470508962869644,
+          -0.9949635863304138,
+          -0.0971449539065361,
+          -19.6290225982666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6846,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_83082199",
+      "mask_path": "../../mask/hdr_front_06846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06847.png",
+      "transform_matrix": [
+        [
+          -0.11458832025527954,
+          -0.08749032020568848,
+          0.989552915096283,
+          26.890724182128906
+        ],
+        [
+          -0.9928037524223328,
+          -0.02479720488190651,
+          -0.11715717613697052,
+          25.203771591186523
+        ],
+        [
+          0.034788262099027634,
+          -0.995856761932373,
+          -0.084019236266613,
+          -19.629911422729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6847,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_183082580",
+      "mask_path": "../../mask/hdr_front_06847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06848.png",
+      "transform_matrix": [
+        [
+          -0.1255379617214203,
+          -0.0869675949215889,
+          0.9882696270942688,
+          26.823232650756836
+        ],
+        [
+          -0.9913632273674011,
+          -0.027092309668660164,
+          -0.1283150613307953,
+          25.20899772644043
+        ],
+        [
+          0.03793375939130783,
+          -0.9958427548408508,
+          -0.08281536400318146,
+          -19.61373519897461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6848,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_283082962",
+      "mask_path": "../../mask/hdr_front_06848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06849.png",
+      "transform_matrix": [
+        [
+          -0.1349799782037735,
+          -0.08330367505550385,
+          0.9873403310775757,
+          26.721338272094727
+        ],
+        [
+          -0.9900563955307007,
+          -0.028491349890828133,
+          -0.13775518536567688,
+          25.22667121887207
+        ],
+        [
+          0.03960616886615753,
+          -0.9961168766021729,
+          -0.07862957566976547,
+          -19.604394912719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6849,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_383082628",
+      "mask_path": "../../mask/hdr_front_06849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06850.png",
+      "transform_matrix": [
+        [
+          -0.13742966949939728,
+          -0.07080977410078049,
+          0.9879773259162903,
+          26.623279571533203
+        ],
+        [
+          -0.9898971319198608,
+          -0.02530854195356369,
+          -0.1395106315612793,
+          25.239225387573242
+        ],
+        [
+          0.03488297760486603,
+          -0.997168779373169,
+          -0.0666162446141243,
+          -19.604354858398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6850,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_483082294",
+      "mask_path": "../../mask/hdr_front_06850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06851.png",
+      "transform_matrix": [
+        [
+          -0.13523481786251068,
+          -0.06034894287586212,
+          0.9889740347862244,
+          26.56022834777832
+        ],
+        [
+          -0.9903410077095032,
+          -0.022588863968849182,
+          -0.13680019974708557,
+          25.235647201538086
+        ],
+        [
+          0.03059554658830166,
+          -0.9979217052459717,
+          -0.05671123415231705,
+          -19.604297637939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6851,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_583081960",
+      "mask_path": "../../mask/hdr_front_06851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06852.png",
+      "transform_matrix": [
+        [
+          -0.13381510972976685,
+          -0.05364654213190079,
+          0.9895532131195068,
+          26.489242553710938
+        ],
+        [
+          -0.9905688762664795,
+          -0.022426750510931015,
+          -0.13516828417778015,
+          25.240718841552734
+        ],
+        [
+          0.02944377064704895,
+          -0.9983081221580505,
+          -0.05013955011963844,
+          -19.606334686279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6852,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_683081865",
+      "mask_path": "../../mask/hdr_front_06852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06853.png",
+      "transform_matrix": [
+        [
+          -0.137990340590477,
+          -0.04884300380945206,
+          0.9892284274101257,
+          26.40342140197754
+        ],
+        [
+          -0.9900648593902588,
+          -0.02044891193509102,
+          -0.13911667466163635,
+          25.25816535949707
+        ],
+        [
+          0.027023525908589363,
+          -0.9985970854759216,
+          -0.045535992830991745,
+          -19.604825973510742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6853,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_783082008",
+      "mask_path": "../../mask/hdr_front_06853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06854.png",
+      "transform_matrix": [
+        [
+          -0.14930862188339233,
+          -0.04760877788066864,
+          0.9876438975334167,
+          26.30951690673828
+        ],
+        [
+          -0.9884395599365234,
+          -0.019427893683314323,
+          -0.1503654271364212,
+          25.283979415893555
+        ],
+        [
+          0.02634655311703682,
+          -0.998677134513855,
+          -0.04415764659643173,
+          -19.59516716003418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6854,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_883082151",
+      "mask_path": "../../mask/hdr_front_06854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06855.png",
+      "transform_matrix": [
+        [
+          -0.16363376379013062,
+          -0.04853716865181923,
+          0.9853264093399048,
+          26.236867904663086
+        ],
+        [
+          -0.9860604405403137,
+          -0.02247415855526924,
+          -0.1648627370595932,
+          25.295024871826172
+        ],
+        [
+          0.03014635108411312,
+          -0.9985685348510742,
+          -0.04418305307626724,
+          -19.58360481262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6855,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_983081817",
+      "mask_path": "../../mask/hdr_front_06855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06856.png",
+      "transform_matrix": [
+        [
+          -0.1763015240430832,
+          -0.04953261837363243,
+          0.9830892086029053,
+          26.164892196655273
+        ],
+        [
+          -0.9838733077049255,
+          -0.021757550537586212,
+          -0.1775384098291397,
+          25.298341751098633
+        ],
+        [
+          0.03018355183303356,
+          -0.9985355734825134,
+          -0.044897932559251785,
+          -19.578731536865234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6856,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_83082914",
+      "mask_path": "../../mask/hdr_front_06856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06857.png",
+      "transform_matrix": [
+        [
+          -0.1789592206478119,
+          -0.045140646398067474,
+          0.9828203916549683,
+          26.082176208496094
+        ],
+        [
+          -0.9836059808731079,
+          -0.014333593659102917,
+          -0.17976060509681702,
+          25.29383087158203
+        ],
+        [
+          0.022201858460903168,
+          -0.9988778233528137,
+          -0.0418354794383049,
+          -19.57723617553711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6857,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_183082342",
+      "mask_path": "../../mask/hdr_front_06857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06858.png",
+      "transform_matrix": [
+        [
+          -0.17565859854221344,
+          -0.0401766411960125,
+          0.9836310148239136,
+          25.996492385864258
+        ],
+        [
+          -0.9843324422836304,
+          -0.008349701762199402,
+          -0.1761249154806137,
+          25.300094604492188
+        ],
+        [
+          0.015289133414626122,
+          -0.9991577863693237,
+          -0.038080476224422455,
+          -19.577619552612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6858,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_283082246",
+      "mask_path": "../../mask/hdr_front_06858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06859.png",
+      "transform_matrix": [
+        [
+          -0.17414376139640808,
+          -0.03801735118031502,
+          0.9839861392974854,
+          25.896270751953125
+        ],
+        [
+          -0.9846230149269104,
+          -0.007310413755476475,
+          -0.17453895509243011,
+          25.33019256591797
+        ],
+        [
+          0.013828853145241737,
+          -0.9992504119873047,
+          -0.0361597016453743,
+          -19.58780860900879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6859,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_383081912",
+      "mask_path": "../../mask/hdr_front_06859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06860.png",
+      "transform_matrix": [
+        [
+          -0.18099477887153625,
+          -0.03728916496038437,
+          0.982776939868927,
+          25.795015335083008
+        ],
+        [
+          -0.9833993315696716,
+          -0.006252228748053312,
+          -0.18134662508964539,
+          25.353431701660156
+        ],
+        [
+          0.012906810268759727,
+          -0.9992849826812744,
+          -0.03553852066397667,
+          -19.57057762145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6860,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_483081340",
+      "mask_path": "../../mask/hdr_front_06860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06861.png",
+      "transform_matrix": [
+        [
+          -0.19202390313148499,
+          -0.03805813565850258,
+          0.9806520342826843,
+          25.730588912963867
+        ],
+        [
+          -0.9813023805618286,
+          -0.005921086296439171,
+          -0.19238103926181793,
+          25.374492645263672
+        ],
+        [
+          0.013128189370036125,
+          -0.9992579817771912,
+          -0.036209553480148315,
+          -19.56111717224121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6861,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_583081960",
+      "mask_path": "../../mask/hdr_front_06861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06862.png",
+      "transform_matrix": [
+        [
+          -0.2017029970884323,
+          -0.04130693897604942,
+          0.9785753488540649,
+          25.660614013671875
+        ],
+        [
+          -0.979335606098175,
+          -0.006540273781865835,
+          -0.20213580131530762,
+          25.399288177490234
+        ],
+        [
+          0.014749760739505291,
+          -0.9991251230239868,
+          -0.03913416713476181,
+          -19.566265106201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6862,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_683082103",
+      "mask_path": "../../mask/hdr_front_06862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06863.png",
+      "transform_matrix": [
+        [
+          -0.20697294175624847,
+          -0.038218941539525986,
+          0.9775999188423157,
+          25.568443298339844
+        ],
+        [
+          -0.9783055186271667,
+          -0.0010771506931632757,
+          -0.2071644514799118,
+          25.420469284057617
+        ],
+        [
+          0.00897062849253416,
+          -0.9992688894271851,
+          -0.037166863679885864,
+          -19.5638370513916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6863,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_783082008",
+      "mask_path": "../../mask/hdr_front_06863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06864.png",
+      "transform_matrix": [
+        [
+          -0.20784258842468262,
+          -0.032256174832582474,
+          0.9776303768157959,
+          25.4871883392334
+        ],
+        [
+          -0.9781537652015686,
+          0.011012774892151356,
+          -0.20759055018424988,
+          25.438827514648438
+        ],
+        [
+          -0.004070345312356949,
+          -0.9994190335273743,
+          -0.033840425312519073,
+          -19.566390991210938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6864,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_883081912",
+      "mask_path": "../../mask/hdr_front_06864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06865.png",
+      "transform_matrix": [
+        [
+          -0.2070016711950302,
+          -0.030357228592038155,
+          0.97786945104599,
+          25.413114547729492
+        ],
+        [
+          -0.978235125541687,
+          0.02109932154417038,
+          -0.2064240574836731,
+          25.451099395751953
+        ],
+        [
+          -0.014365922659635544,
+          -0.999316394329071,
+          -0.03406410291790962,
+          -19.564672470092773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6865,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_983082056",
+      "mask_path": "../../mask/hdr_front_06865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06866.png",
+      "transform_matrix": [
+        [
+          -0.2075405716896057,
+          -0.029572371393442154,
+          0.9777794480323792,
+          25.335023880004883
+        ],
+        [
+          -0.9780817627906799,
+          0.023459671065211296,
+          -0.20689527690410614,
+          25.469676971435547
+        ],
+        [
+          -0.016819994896650314,
+          -0.9992873072624207,
+          -0.03379302844405174,
+          -19.565311431884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6866,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_83081960",
+      "mask_path": "../../mask/hdr_front_06866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06867.png",
+      "transform_matrix": [
+        [
+          -0.2140927016735077,
+          -0.025790702551603317,
+          0.9764728546142578,
+          25.236326217651367
+        ],
+        [
+          -0.9766671657562256,
+          0.02294781431555748,
+          -0.21352919936180115,
+          25.498287200927734
+        ],
+        [
+          -0.016900846734642982,
+          -0.9994039535522461,
+          -0.030101889744400978,
+          -19.553691864013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6867,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_183082103",
+      "mask_path": "../../mask/hdr_front_06867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06868.png",
+      "transform_matrix": [
+        [
+          -0.22473138570785522,
+          -0.02459954284131527,
+          0.9741101861000061,
+          25.161157608032227
+        ],
+        [
+          -0.974319577217102,
+          0.020077599212527275,
+          -0.224272683262825,
+          25.51980209350586
+        ],
+        [
+          -0.014040788635611534,
+          -0.9994957447052002,
+          -0.028479881584644318,
+          -19.54538917541504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6868,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_283081531",
+      "mask_path": "../../mask/hdr_front_06868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06869.png",
+      "transform_matrix": [
+        [
+          -0.23571819067001343,
+          -0.03002176433801651,
+          0.9713576436042786,
+          25.106521606445312
+        ],
+        [
+          -0.9717720150947571,
+          0.017374642193317413,
+          -0.23528173565864563,
+          25.5345401763916
+        ],
+        [
+          -0.009813416749238968,
+          -0.9993982315063477,
+          -0.03326983004808426,
+          -19.550382614135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6869,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_383081674",
+      "mask_path": "../../mask/hdr_front_06869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06870.png",
+      "transform_matrix": [
+        [
+          -0.23964081704616547,
+          -0.028469771146774292,
+          0.9704441428184509,
+          25.015243530273438
+        ],
+        [
+          -0.9707739949226379,
+          0.020449675619602203,
+          -0.2391224056482315,
+          25.55262565612793
+        ],
+        [
+          -0.013037504628300667,
+          -0.9993855357170105,
+          -0.032538291066884995,
+          -19.549171447753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6870,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_483081817",
+      "mask_path": "../../mask/hdr_front_06870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06871.png",
+      "transform_matrix": [
+        [
+          -0.2365601658821106,
+          -0.025576496496796608,
+          0.9712801575660706,
+          24.919099807739258
+        ],
+        [
+          -0.9714237451553345,
+          0.0261556264013052,
+          -0.23590637743473053,
+          25.5653018951416
+        ],
+        [
+          -0.019370781257748604,
+          -0.9993306398391724,
+          -0.031032994389533997,
+          -19.54715919494629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6871,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_583081245",
+      "mask_path": "../../mask/hdr_front_06871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06872.png",
+      "transform_matrix": [
+        [
+          -0.23296907544136047,
+          -0.02797679603099823,
+          0.9720816612243652,
+          24.843875885009766
+        ],
+        [
+          -0.9722632765769958,
+          0.028002003207802773,
+          -0.23220673203468323,
+          25.569194793701172
+        ],
+        [
+          -0.02072383090853691,
+          -0.9992163181304932,
+          -0.03372441604733467,
+          -19.541704177856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6872,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_683080434",
+      "mask_path": "../../mask/hdr_front_06872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06873.png",
+      "transform_matrix": [
+        [
+          -0.23306648433208466,
+          -0.029443390667438507,
+          0.9720149636268616,
+          24.7619571685791
+        ],
+        [
+          -0.9723352193832397,
+          0.023116372525691986,
+          -0.23244307935237885,
+          25.581666946411133
+        ],
+        [
+          -0.015625545755028725,
+          -0.9992991089820862,
+          -0.034016501158475876,
+          -19.541175842285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6873,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_783082962",
+      "mask_path": "../../mask/hdr_front_06873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06874.png",
+      "transform_matrix": [
+        [
+          -0.24209098517894745,
+          -0.027377475053071976,
+          0.9698672890663147,
+          24.681894302368164
+        ],
+        [
+          -0.9701921343803406,
+          0.01808095909655094,
+          -0.24166171252727509,
+          25.60275650024414
+        ],
+        [
+          -0.010920040309429169,
+          -0.9994616508483887,
+          -0.03093864396214485,
+          -19.529653549194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6874,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_883081912",
+      "mask_path": "../../mask/hdr_front_06874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06875.png",
+      "transform_matrix": [
+        [
+          -0.25469815731048584,
+          -0.026968570426106453,
+          0.9666445255279541,
+          24.609722137451172
+        ],
+        [
+          -0.9669916033744812,
+          0.014846940524876118,
+          -0.2543753683567047,
+          25.62511444091797
+        ],
+        [
+          -0.007491571828722954,
+          -0.9995260238647461,
+          -0.029859870672225952,
+          -19.519060134887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6875,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_983080863",
+      "mask_path": "../../mask/hdr_front_06875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06876.png",
+      "transform_matrix": [
+        [
+          -0.26729753613471985,
+          -0.03069901466369629,
+          0.9631249308586121,
+          24.540796279907227
+        ],
+        [
+          -0.9636120796203613,
+          0.010553154163062572,
+          -0.2670963704586029,
+          25.646648406982422
+        ],
+        [
+          -0.0019644100684672594,
+          -0.999472975730896,
+          -0.03240277245640755,
+          -19.51591682434082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6876,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_83081722",
+      "mask_path": "../../mask/hdr_front_06876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06877.png",
+      "transform_matrix": [
+        [
+          -0.27673009037971497,
+          -0.03060857206583023,
+          0.9604600667953491,
+          24.433528900146484
+        ],
+        [
+          -0.9609228372573853,
+          0.01600828766822815,
+          -0.27635329961776733,
+          25.674694061279297
+        ],
+        [
+          -0.006916541140526533,
+          -0.9994032979011536,
+          -0.03384245187044144,
+          -19.512643814086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6877,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_183082103",
+      "mask_path": "../../mask/hdr_front_06877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06878.png",
+      "transform_matrix": [
+        [
+          -0.2775201201438904,
+          -0.02675730176270008,
+          0.9603471159934998,
+          24.318204879760742
+        ],
+        [
+          -0.9605434536933899,
+          0.026879671961069107,
+          -0.27682799100875854,
+          25.694061279296875
+        ],
+        [
+          -0.018406642600893974,
+          -0.9992805123329163,
+          -0.03316119685769081,
+          -19.508089065551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6878,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_283081769",
+      "mask_path": "../../mask/hdr_front_06878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06879.png",
+      "transform_matrix": [
+        [
+          -0.27470892667770386,
+          -0.02396366186439991,
+          0.9612287282943726,
+          24.241928100585938
+        ],
+        [
+          -0.9611832499504089,
+          0.03358859568834305,
+          -0.27385854721069336,
+          25.705036163330078
+        ],
+        [
+          -0.025723665952682495,
+          -0.999148428440094,
+          -0.032260555773973465,
+          -19.50250816345215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6879,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_383082628",
+      "mask_path": "../../mask/hdr_front_06879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06880.png",
+      "transform_matrix": [
+        [
+          -0.2747727334499359,
+          -0.022620180621743202,
+          0.9612431526184082,
+          24.16641616821289
+        ],
+        [
+          -0.9611740708351135,
+          0.03285013511776924,
+          -0.2739799916744232,
+          25.733009338378906
+        ],
+        [
+          -0.02537948451936245,
+          -0.9992043375968933,
+          -0.030768252909183502,
+          -19.504680633544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6880,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_483082294",
+      "mask_path": "../../mask/hdr_front_06880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06881.png",
+      "transform_matrix": [
+        [
+          -0.2822697162628174,
+          -0.0190596841275692,
+          0.9591457843780518,
+          24.085098266601562
+        ],
+        [
+          -0.9590845108032227,
+          0.028458302840590477,
+          -0.2816861569881439,
+          25.7624454498291
+        ],
+        [
+          -0.02192680723965168,
+          -0.999413251876831,
+          -0.02631276287138462,
+          -19.496368408203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6881,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_583081722",
+      "mask_path": "../../mask/hdr_front_06881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06882.png",
+      "transform_matrix": [
+        [
+          -0.2924388647079468,
+          -0.01914811320602894,
+          0.9560924768447876,
+          24.010730743408203
+        ],
+        [
+          -0.9561374187469482,
+          0.023377062752842903,
+          -0.2919843792915344,
+          25.78664779663086
+        ],
+        [
+          -0.016759684309363365,
+          -0.9995433688163757,
+          -0.025144586339592934,
+          -19.48680877685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6882,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_683081388",
+      "mask_path": "../../mask/hdr_front_06882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06883.png",
+      "transform_matrix": [
+        [
+          -0.29940131306648254,
+          -0.02516765147447586,
+          0.9537952542304993,
+          23.937576293945312
+        ],
+        [
+          -0.9540920853614807,
+          0.016475213691592216,
+          -0.29905974864959717,
+          25.81194496154785
+        ],
+        [
+          -0.008187348023056984,
+          -0.9995474815368652,
+          -0.02894495613873005,
+          -19.48417854309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6883,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_783081769",
+      "mask_path": "../../mask/hdr_front_06883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06884.png",
+      "transform_matrix": [
+        [
+          -0.29831886291503906,
+          -0.02644508332014084,
+          0.9540998935699463,
+          23.83060073852539
+        ],
+        [
+          -0.9544485807418823,
+          0.01434262003749609,
+          -0.29803040623664856,
+          25.83483123779297
+        ],
+        [
+          -0.005802852101624012,
+          -0.9995474219322205,
+          -0.02951914817094803,
+          -19.477039337158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6884,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_883082151",
+      "mask_path": "../../mask/hdr_front_06884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06885.png",
+      "transform_matrix": [
+        [
+          -0.28708794713020325,
+          -0.023606915026903152,
+          0.9576132893562317,
+          23.7337646484375
+        ],
+        [
+          -0.9578325748443604,
+          0.01930539309978485,
+          -0.2866777777671814,
+          25.8491268157959
+        ],
+        [
+          -0.011719523929059505,
+          -0.9995349049568176,
+          -0.028153816238045692,
+          -19.4735107421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6885,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_983082532",
+      "mask_path": "../../mask/hdr_front_06885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06886.png",
+      "transform_matrix": [
+        [
+          -0.27217063307762146,
+          -0.02318018302321434,
+          0.961969792842865,
+          23.667224884033203
+        ],
+        [
+          -0.9621409177780151,
+          0.02153797633945942,
+          -0.2717001140117645,
+          25.857309341430664
+        ],
+        [
+          -0.014420820400118828,
+          -0.9994993209838867,
+          -0.028164610266685486,
+          -19.474985122680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6886,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_83082675",
+      "mask_path": "../../mask/hdr_front_06886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06887.png",
+      "transform_matrix": [
+        [
+          -0.25589093565940857,
+          -0.024800248444080353,
+          0.9663874506950378,
+          23.583751678466797
+        ],
+        [
+          -0.9666582942008972,
+          0.016457924619317055,
+          -0.25554025173187256,
+          25.867568969726562
+        ],
+        [
+          -0.009567268192768097,
+          -0.9995568990707397,
+          -0.02818479761481285,
+          -19.477449417114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6887,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_183082342",
+      "mask_path": "../../mask/hdr_front_06887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06888.png",
+      "transform_matrix": [
+        [
+          -0.24371980130672455,
+          -0.0247341338545084,
+          0.9695302844047546,
+          23.49056625366211
+        ],
+        [
+          -0.9698434472084045,
+          0.008381512016057968,
+          -0.24358470737934113,
+          25.8790283203125
+        ],
+        [
+          -0.0021012721117585897,
+          -0.9996589422225952,
+          -0.026030976325273514,
+          -19.46697425842285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6888,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_283081531",
+      "mask_path": "../../mask/hdr_front_06888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06889.png",
+      "transform_matrix": [
+        [
+          -0.23479434847831726,
+          -0.02567361481487751,
+          0.971705973148346,
+          23.408485412597656
+        ],
+        [
+          -0.9720332026481628,
+          0.001269161351956427,
+          -0.23483990132808685,
+          25.889144897460938
+        ],
+        [
+          0.004795938264578581,
+          -0.99966961145401,
+          -0.025253597646951675,
+          -19.45512580871582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6889,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_383081197",
+      "mask_path": "../../mask/hdr_front_06889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06890.png",
+      "transform_matrix": [
+        [
+          -0.2258414477109909,
+          -0.030041852965950966,
+          0.973700761795044,
+          23.334545135498047
+        ],
+        [
+          -0.9740830659866333,
+          -0.005922516342252493,
+          -0.22611285746097565,
+          25.90167236328125
+        ],
+        [
+          0.012559608556330204,
+          -0.999531090259552,
+          -0.02792571298778057,
+          -19.454343795776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6890,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_483080625",
+      "mask_path": "../../mask/hdr_front_06890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06891.png",
+      "transform_matrix": [
+        [
+          -0.2173820436000824,
+          -0.03230258822441101,
+          0.975551962852478,
+          23.22785186767578
+        ],
+        [
+          -0.9759142398834229,
+          -0.011590417474508286,
+          -0.21784652769565582,
+          25.915016174316406
+        ],
+        [
+          0.018344061449170113,
+          -0.9994109869003296,
+          -0.029005004093050957,
+          -19.453649520874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6891,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_583080053",
+      "mask_path": "../../mask/hdr_front_06891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06892.png",
+      "transform_matrix": [
+        [
+          -0.20490817725658417,
+          -0.030628390610218048,
+          0.9783018827438354,
+          23.130420684814453
+        ],
+        [
+          -0.9786767959594727,
+          -0.008183871395885944,
+          -0.20524294674396515,
+          25.927074432373047
+        ],
+        [
+          0.01429255772382021,
+          -0.9994973540306091,
+          -0.028298353776335716,
+          -19.450834274291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6892,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_683080196",
+      "mask_path": "../../mask/hdr_front_06892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06893.png",
+      "transform_matrix": [
+        [
+          -0.19325532019138336,
+          -0.02991977334022522,
+          0.9806921482086182,
+          23.059160232543945
+        ],
+        [
+          -0.9811043739318848,
+          -0.0035911602899432182,
+          -0.1934461146593094,
+          25.93531608581543
+        ],
+        [
+          0.009309686720371246,
+          -0.9995458126068115,
+          -0.028660409152507782,
+          -19.448762893676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6893,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_783079624",
+      "mask_path": "../../mask/hdr_front_06893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06894.png",
+      "transform_matrix": [
+        [
+          -0.18649078905582428,
+          -0.031787339597940445,
+          0.981942355632782,
+          22.969039916992188
+        ],
+        [
+          -0.9824034571647644,
+          -0.004371348302811384,
+          -0.1867198944091797,
+          25.94910430908203
+        ],
+        [
+          0.010227740742266178,
+          -0.9994850754737854,
+          -0.03041277453303337,
+          -19.450969696044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6894,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_883081197",
+      "mask_path": "../../mask/hdr_front_06894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06895.png",
+      "transform_matrix": [
+        [
+          -0.18969739973545074,
+          -0.02855948731303215,
+          0.9814271926879883,
+          22.876100540161133
+        ],
+        [
+          -0.9817492961883545,
+          -0.00826654676347971,
+          -0.19000022113323212,
+          25.966949462890625
+        ],
+        [
+          0.013539322651922703,
+          -0.9995579719543457,
+          -0.026470109820365906,
+          -19.43942642211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6895,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_983080387",
+      "mask_path": "../../mask/hdr_front_06895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06896.png",
+      "transform_matrix": [
+        [
+          -0.19759254157543182,
+          -0.02674393728375435,
+          0.97991943359375,
+          22.794775009155273
+        ],
+        [
+          -0.9801290035247803,
+          -0.012402654625475407,
+          -0.19797328114509583,
+          25.98573112487793
+        ],
+        [
+          0.0174481850117445,
+          -0.9995654225349426,
+          -0.02376183308660984,
+          -19.43080711364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6896,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_83081007",
+      "mask_path": "../../mask/hdr_front_06896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06897.png",
+      "transform_matrix": [
+        [
+          -0.20404137670993805,
+          -0.03192945569753647,
+          0.9784414172172546,
+          22.7165470123291
+        ],
+        [
+          -0.9786936640739441,
+          -0.01675603538751602,
+          -0.20464082062244415,
+          26.002063751220703
+        ],
+        [
+          0.022928867489099503,
+          -0.9993497133255005,
+          -0.027830230072140694,
+          -19.42894172668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6897,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_183080911",
+      "mask_path": "../../mask/hdr_front_06897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06898.png",
+      "transform_matrix": [
+        [
+          -0.20689897239208221,
+          -0.03197695314884186,
+          0.9778395891189575,
+          22.618654251098633
+        ],
+        [
+          -0.9781203269958496,
+          -0.0154638746753335,
+          -0.2074640989303589,
+          26.018356323242188
+        ],
+        [
+          0.02175525762140751,
+          -0.9993690252304077,
+          -0.028077850118279457,
+          -19.42769432067871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6898,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_283081293",
+      "mask_path": "../../mask/hdr_front_06898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06899.png",
+      "transform_matrix": [
+        [
+          -0.20535346865653992,
+          -0.028213271871209145,
+          0.9782810807228088,
+          22.53689193725586
+        ],
+        [
+          -0.97859787940979,
+          -0.0076361349783837795,
+          -0.20564018189907074,
+          26.032102584838867
+        ],
+        [
+          0.01327206939458847,
+          -0.99957275390625,
+          -0.026041341945528984,
+          -19.430217742919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6899,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_383084774",
+      "mask_path": "../../mask/hdr_front_06899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06900.png",
+      "transform_matrix": [
+        [
+          -0.19815745949745178,
+          -0.027849260717630386,
+          0.979774534702301,
+          22.46405029296875
+        ],
+        [
+          -0.9801360964775085,
+          -0.002709808060899377,
+          -0.198307603597641,
+          26.034934997558594
+        ],
+        [
+          0.008177720941603184,
+          -0.9996084570884705,
+          -0.02675909362733364,
+          -19.424604415893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6900,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_483082294",
+      "mask_path": "../../mask/hdr_front_06900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06901.png",
+      "transform_matrix": [
+        [
+          -0.1837053745985031,
+          -0.025372017174959183,
+          0.9826539158821106,
+          22.371103286743164
+        ],
+        [
+          -0.9828617572784424,
+          -0.010849584825336933,
+          -0.1840243935585022,
+          26.04671859741211
+        ],
+        [
+          0.015330457128584385,
+          -0.99961918592453,
+          -0.022944055497646332,
+          -19.432281494140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6901,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_583082437",
+      "mask_path": "../../mask/hdr_front_06901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06902.png",
+      "transform_matrix": [
+        [
+          -0.1680414229631424,
+          -0.02420657128095627,
+          0.9854826927185059,
+          22.27638816833496
+        ],
+        [
+          -0.9855964183807373,
+          -0.015161293558776379,
+          -0.16843323409557343,
+          26.064510345458984
+        ],
+        [
+          0.0190183836966753,
+          -0.9995920658111572,
+          -0.02131018415093422,
+          -19.43199348449707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6902,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_683081388",
+      "mask_path": "../../mask/hdr_front_06902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06903.png",
+      "transform_matrix": [
+        [
+          -0.14893484115600586,
+          -0.026631252840161324,
+          0.9884883761405945,
+          22.192256927490234
+        ],
+        [
+          -0.9886135458946228,
+          -0.01771511323750019,
+          -0.14943097531795502,
+          26.07798194885254
+        ],
+        [
+          0.021490715444087982,
+          -0.9994884133338928,
+          -0.023689616471529007,
+          -19.425405502319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6903,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_783081531",
+      "mask_path": "../../mask/hdr_front_06903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06904.png",
+      "transform_matrix": [
+        [
+          -0.12705641984939575,
+          -0.029701272025704384,
+          0.9914507269859314,
+          22.116905212402344
+        ],
+        [
+          -0.9914473295211792,
+          -0.026238510385155678,
+          -0.12784205377101898,
+          26.08098602294922
+        ],
+        [
+          0.02981126494705677,
+          -0.9992144703865051,
+          -0.02611348032951355,
+          -19.418964385986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6904,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_883082628",
+      "mask_path": "../../mask/hdr_front_06904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06905.png",
+      "transform_matrix": [
+        [
+          -0.10237546265125275,
+          -0.026434700936079025,
+          0.9943946003913879,
+          22.014938354492188
+        ],
+        [
+          -0.9942050576210022,
+          -0.030238814651966095,
+          -0.1031598225235939,
+          26.0810546875
+        ],
+        [
+          0.032796308398246765,
+          -0.9991930723190308,
+          -0.02318580076098442,
+          -19.41655731201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6905,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_983082056",
+      "mask_path": "../../mask/hdr_front_06905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06906.png",
+      "transform_matrix": [
+        [
+          -0.07406730949878693,
+          -0.020907267928123474,
+          0.9970340728759766,
+          21.941038131713867
+        ],
+        [
+          -0.9969189763069153,
+          -0.024332158267498016,
+          -0.07456899434328079,
+          26.073122024536133
+        ],
+        [
+          0.025819025933742523,
+          -0.9994853734970093,
+          -0.019040634855628014,
+          -19.420705795288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6906,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_83082437",
+      "mask_path": "../../mask/hdr_front_06906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06907.png",
+      "transform_matrix": [
+        [
+          -0.048152949661016464,
+          -0.020135803148150444,
+          0.9986370205879211,
+          21.867431640625
+        ],
+        [
+          -0.9985975027084351,
+          -0.021055642515420914,
+          -0.04857559874653816,
+          26.06620979309082
+        ],
+        [
+          0.022005055099725723,
+          -0.9995754957199097,
+          -0.019093671813607216,
+          -19.422548294067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6907,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_183082103",
+      "mask_path": "../../mask/hdr_front_06907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06908.png",
+      "transform_matrix": [
+        [
+          -0.026929590851068497,
+          -0.021022271364927292,
+          0.9994162321090698,
+          21.777475357055664
+        ],
+        [
+          -0.9992127418518066,
+          -0.028572646901011467,
+          -0.02752511389553547,
+          26.06513786315918
+        ],
+        [
+          0.029134605079889297,
+          -0.9993706941604614,
+          -0.020236272364854813,
+          -19.430288314819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6908,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_283082008",
+      "mask_path": "../../mask/hdr_front_06908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06909.png",
+      "transform_matrix": [
+        [
+          -0.013178625144064426,
+          -0.01875481754541397,
+          0.9997372627258301,
+          21.68988609313965
+        ],
+        [
+          -0.9993970394134521,
+          -0.031872257590293884,
+          -0.013772057369351387,
+          26.058029174804688
+        ],
+        [
+          0.0321221761405468,
+          -0.9993159770965576,
+          -0.018323475494980812,
+          -19.423248291015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6909,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_383081674",
+      "mask_path": "../../mask/hdr_front_06909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06910.png",
+      "transform_matrix": [
+        [
+          -0.010756643489003181,
+          -0.018896544352173805,
+          0.999763548374176,
+          21.60755729675293
+        ],
+        [
+          -0.9993464946746826,
+          -0.03429919853806496,
+          -0.01140044629573822,
+          26.053455352783203
+        ],
+        [
+          0.03450651466846466,
+          -0.9992329478263855,
+          -0.018515251576900482,
+          -19.40874671936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6910,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_483082532",
+      "mask_path": "../../mask/hdr_front_06910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06911.png",
+      "transform_matrix": [
+        [
+          -0.015017574653029442,
+          -0.024715978652238846,
+          0.9995817542076111,
+          21.527568817138672
+        ],
+        [
+          -0.9990376234054565,
+          -0.04083220660686493,
+          -0.016019031405448914,
+          26.050642013549805
+        ],
+        [
+          0.04121105745434761,
+          -0.998860239982605,
+          -0.024078991264104843,
+          -19.40079689025879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6911,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_583082437",
+      "mask_path": "../../mask/hdr_front_06911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06912.png",
+      "transform_matrix": [
+        [
+          -0.015235034748911858,
+          -0.026232760399580002,
+          0.9995397329330444,
+          21.435461044311523
+        ],
+        [
+          -0.9990469813346863,
+          -0.04049302265048027,
+          -0.01629026047885418,
+          26.038103103637695
+        ],
+        [
+          0.04090172052383423,
+          -0.9988353848457336,
+          -0.025590846315026283,
+          -19.39545249938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6912,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_683081865",
+      "mask_path": "../../mask/hdr_front_06912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06913.png",
+      "transform_matrix": [
+        [
+          -0.003738399362191558,
+          -0.024781133979558945,
+          0.9996859431266785,
+          21.34115219116211
+        ],
+        [
+          -0.9994361996650696,
+          -0.03326214477419853,
+          -0.0045619988813996315,
+          26.026763916015625
+        ],
+        [
+          0.03336474671959877,
+          -0.9991394281387329,
+          -0.0246428195387125,
+          -19.400959014892578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6913,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_783081769",
+      "mask_path": "../../mask/hdr_front_06913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06914.png",
+      "transform_matrix": [
+        [
+          0.013792270794510841,
+          -0.025158705189824104,
+          0.9995883107185364,
+          21.27033042907715
+        ],
+        [
+          -0.999437689781189,
+          -0.030902445316314697,
+          0.013012406416237354,
+          26.01636505126953
+        ],
+        [
+          0.030562346801161766,
+          -0.9992057085037231,
+          -0.02557077258825302,
+          -19.404666900634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6914,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_883081912",
+      "mask_path": "../../mask/hdr_front_06914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06915.png",
+      "transform_matrix": [
+        [
+          0.02931194379925728,
+          -0.019489169120788574,
+          0.9993802905082703,
+          21.187774658203125
+        ],
+        [
+          -0.9989271759986877,
+          -0.036430709064006805,
+          0.02858821116387844,
+          26.008596420288086
+        ],
+        [
+          0.035850975662469864,
+          -0.9991461634635925,
+          -0.020536113530397415,
+          -19.411134719848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6915,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_983082056",
+      "mask_path": "../../mask/hdr_front_06915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06916.png",
+      "transform_matrix": [
+        [
+          0.042392484843730927,
+          -0.016634952276945114,
+          0.9989625811576843,
+          21.073633193969727
+        ],
+        [
+          -0.9983099699020386,
+          -0.040485043078660965,
+          0.04169062152504921,
+          25.99431610107422
+        ],
+        [
+          0.039749521762132645,
+          -0.9990416765213013,
+          -0.018323101103305817,
+          -19.391611099243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6916,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_83082437",
+      "mask_path": "../../mask/hdr_front_06916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06917.png",
+      "transform_matrix": [
+        [
+          0.054360419511795044,
+          -0.018935997039079666,
+          0.9983419179916382,
+          20.983978271484375
+        ],
+        [
+          -0.9976438283920288,
+          -0.04293772205710411,
+          0.05350799486041069,
+          25.98801612854004
+        ],
+        [
+          0.04185329005122185,
+          -0.9988982677459717,
+          -0.021225491538643837,
+          -19.381561279296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6917,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_183082580",
+      "mask_path": "../../mask/hdr_front_06917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06918.png",
+      "transform_matrix": [
+        [
+          0.05710779130458832,
+          -0.021983908489346504,
+          0.9981259703636169,
+          20.92060089111328
+        ],
+        [
+          -0.9973621368408203,
+          -0.0461229607462883,
+          0.05604822188615799,
+          25.986541748046875
+        ],
+        [
+          0.04480436444282532,
+          -0.9986938238143921,
+          -0.024559898301959038,
+          -19.380918502807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6918,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_283081054",
+      "mask_path": "../../mask/hdr_front_06918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06919.png",
+      "transform_matrix": [
+        [
+          0.059412334114313126,
+          -0.02083679847419262,
+          0.9980161190032959,
+          20.8365535736084
+        ],
+        [
+          -0.9971930384635925,
+          -0.04687601700425148,
+          0.05838466063141823,
+          25.978227615356445
+        ],
+        [
+          0.04556646943092346,
+          -0.9986834526062012,
+          -0.0235633235424757,
+          -19.376815795898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6919,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_383081436",
+      "mask_path": "../../mask/hdr_front_06919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06920.png",
+      "transform_matrix": [
+        [
+          0.06848017871379852,
+          -0.018134379759430885,
+          0.9974877238273621,
+          20.755834579467773
+        ],
+        [
+          -0.9967259764671326,
+          -0.04432341828942299,
+          0.06762208044528961,
+          25.96658706665039
+        ],
+        [
+          0.04298577457666397,
+          -0.9988526701927185,
+          -0.021110285073518753,
+          -19.38213539123535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6920,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_483082294",
+      "mask_path": "../../mask/hdr_front_06920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06921.png",
+      "transform_matrix": [
+        [
+          0.07810603827238083,
+          -0.017141392454504967,
+          0.9967977404594421,
+          20.687883377075195
+        ],
+        [
+          -0.9960408210754395,
+          -0.043916258960962296,
+          0.07729153335094452,
+          25.952316284179688
+        ],
+        [
+          0.042450740933418274,
+          -0.9988881945610046,
+          -0.020503651350736618,
+          -19.381988525390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6921,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_583081722",
+      "mask_path": "../../mask/hdr_front_06921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06922.png",
+      "transform_matrix": [
+        [
+          0.08327990770339966,
+          -0.013424485921859741,
+          0.9964357614517212,
+          20.609535217285156
+        ],
+        [
+          -0.995419442653656,
+          -0.04823171719908714,
+          0.08254516124725342,
+          25.940113067626953
+        ],
+        [
+          0.04695168137550354,
+          -0.9987460374832153,
+          -0.017379725351929665,
+          -19.382482528686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6922,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_683082818",
+      "mask_path": "../../mask/hdr_front_06922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06923.png",
+      "transform_matrix": [
+        [
+          0.08208665996789932,
+          -0.013696450740098953,
+          0.996531069278717,
+          20.526033401489258
+        ],
+        [
+          -0.9953808188438416,
+          -0.05107790231704712,
+          0.08128988742828369,
+          25.9317626953125
+        ],
+        [
+          0.04978732764720917,
+          -0.9986007809638977,
+          -0.017826000228524208,
+          -19.375404357910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6923,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_783082485",
+      "mask_path": "../../mask/hdr_front_06923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06924.png",
+      "transform_matrix": [
+        [
+          0.078451968729496,
+          -0.016324516385793686,
+          0.9967842698097229,
+          20.439998626708984
+        ],
+        [
+          -0.99550861120224,
+          -0.05442916229367256,
+          0.07746017724275589,
+          25.924043655395508
+        ],
+        [
+          0.05298962816596031,
+          -0.9983842372894287,
+          -0.020521270111203194,
+          -19.366897583007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6924,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_883081674",
+      "mask_path": "../../mask/hdr_front_06924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06925.png",
+      "transform_matrix": [
+        [
+          0.07343464344739914,
+          -0.021566247567534447,
+          0.997066855430603,
+          20.35282325744629
+        ],
+        [
+          -0.9957617521286011,
+          -0.05709274485707283,
+          0.07210361957550049,
+          25.912174224853516
+        ],
+        [
+          0.0553702786564827,
+          -0.9981359243392944,
+          -0.025667427107691765,
+          -19.3616886138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6925,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_983080625",
+      "mask_path": "../../mask/hdr_front_06925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06926.png",
+      "transform_matrix": [
+        [
+          0.0750374048948288,
+          -0.023283809423446655,
+          0.9969088435173035,
+          20.251422882080078
+        ],
+        [
+          -0.9959630370140076,
+          -0.051141172647476196,
+          0.07377175241708755,
+          25.893646240234375
+        ],
+        [
+          0.04926539584994316,
+          -0.998420000076294,
+          -0.0270273145288229,
+          -19.35413360595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6926,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_83082914",
+      "mask_path": "../../mask/hdr_front_06926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06927.png",
+      "transform_matrix": [
+        [
+          0.08585019409656525,
+          -0.02216365747153759,
+          0.9960614442825317,
+          20.168926239013672
+        ],
+        [
+          -0.9955716729164124,
+          -0.04033942520618439,
+          0.08491037040948868,
+          25.87788200378418
+        ],
+        [
+          0.038298629224300385,
+          -0.9989402294158936,
+          -0.02552865631878376,
+          -19.358919143676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6927,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_183080673",
+      "mask_path": "../../mask/hdr_front_06927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06928.png",
+      "transform_matrix": [
+        [
+          0.1036035344004631,
+          -0.023852625861763954,
+          0.9943326711654663,
+          20.09762954711914
+        ],
+        [
+          -0.9940171241760254,
+          -0.037245940417051315,
+          0.10267718136310577,
+          25.86858558654785
+        ],
+        [
+          0.03458573296666145,
+          -0.9990214705467224,
+          -0.027568727731704712,
+          -19.376394271850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6928,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_283082485",
+      "mask_path": "../../mask/hdr_front_06928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06929.png",
+      "transform_matrix": [
+        [
+          0.12502363324165344,
+          -0.04456590488553047,
+          0.9911524057388306,
+          20.015378952026367
+        ],
+        [
+          -0.9920119047164917,
+          -0.022506747394800186,
+          0.1241200789809227,
+          25.855321884155273
+        ],
+        [
+          0.01677609421312809,
+          -0.9987528920173645,
+          -0.04702378809452057,
+          -19.352880477905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6929,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_383082389",
+      "mask_path": "../../mask/hdr_front_06929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06930.png",
+      "transform_matrix": [
+        [
+          0.1355476975440979,
+          -0.08075563609600067,
+          0.9874743223190308,
+          19.91510009765625
+        ],
+        [
+          -0.9907511472702026,
+          -0.017327219247817993,
+          0.13458047807216644,
+          25.846805572509766
+        ],
+        [
+          0.0062420484609901905,
+          -0.9965834021568298,
+          -0.08235741406679153,
+          -19.262027740478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6930,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_483081102",
+      "mask_path": "../../mask/hdr_front_06930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06931.png",
+      "transform_matrix": [
+        [
+          0.1440969556570053,
+          -0.10067293792963028,
+          0.9844293594360352,
+          19.838151931762695
+        ],
+        [
+          -0.9894452095031738,
+          -0.030041800811886787,
+          0.14175894856452942,
+          25.83748435974121
+        ],
+        [
+          0.015302736312150955,
+          -0.9944660067558289,
+          -0.10393928736448288,
+          -19.23396110534668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6931,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_583081483",
+      "mask_path": "../../mask/hdr_front_06931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06932.png",
+      "transform_matrix": [
+        [
+          0.1588902771472931,
+          -0.10801748931407928,
+          0.9813694953918457,
+          19.767597198486328
+        ],
+        [
+          -0.9869760274887085,
+          -0.04269082844257355,
+          0.15509913861751556,
+          25.807472229003906
+        ],
+        [
+          0.025142058730125427,
+          -0.9932320713996887,
+          -0.11339383572340012,
+          -19.239185333251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6932,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_683081150",
+      "mask_path": "../../mask/hdr_front_06932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06933.png",
+      "transform_matrix": [
+        [
+          0.18361660838127136,
+          -0.10765581578016281,
+          0.9770850539207458,
+          19.688966751098633
+        ],
+        [
+          -0.9826049208641052,
+          -0.048205431550741196,
+          0.17934264242649078,
+          25.77133560180664
+        ],
+        [
+          0.027793526649475098,
+          -0.9930189251899719,
+          -0.11463446170091629,
+          -19.22907066345215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6933,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_783081531",
+      "mask_path": "../../mask/hdr_front_06933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06934.png",
+      "transform_matrix": [
+        [
+          0.2134760320186615,
+          -0.11026288568973541,
+          0.970706045627594,
+          19.621660232543945
+        ],
+        [
+          -0.9766942858695984,
+          -0.046748846769332886,
+          0.20948272943496704,
+          25.739545822143555
+        ],
+        [
+          0.022281212732195854,
+          -0.9928024411201477,
+          -0.1176728829741478,
+          -19.225204467773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6934,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_883081197",
+      "mask_path": "../../mask/hdr_front_06934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06935.png",
+      "transform_matrix": [
+        [
+          0.24003176391124725,
+          -0.11462792754173279,
+          0.9639735817909241,
+          19.565553665161133
+        ],
+        [
+          -0.970579206943512,
+          -0.047765880823135376,
+          0.23599664866924286,
+          25.709102630615234
+        ],
+        [
+          0.01899324357509613,
+          -0.9922595024108887,
+          -0.12272080779075623,
+          -19.218170166015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6935,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_983079910",
+      "mask_path": "../../mask/hdr_front_06935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06936.png",
+      "transform_matrix": [
+        [
+          0.2581527829170227,
+          -0.11663584411144257,
+          0.959037721157074,
+          19.515705108642578
+        ],
+        [
+          -0.9659051299095154,
+          -0.051311228424310684,
+          0.2537609934806824,
+          25.67911720275879
+        ],
+        [
+          0.019611770287156105,
+          -0.9918484091758728,
+          -0.12590527534484863,
+          -19.20404052734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6936,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_83080291",
+      "mask_path": "../../mask/hdr_front_06936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06937.png",
+      "transform_matrix": [
+        [
+          0.2655864655971527,
+          -0.12492819875478745,
+          0.9559586644172668,
+          19.454023361206055
+        ],
+        [
+          -0.9636436700820923,
+          -0.0644693598151207,
+          0.2592964172363281,
+          25.655141830444336
+        ],
+        [
+          0.029236603528261185,
+          -0.9900690317153931,
+          -0.13750845193862915,
+          -19.179290771484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6937,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_183080196",
+      "mask_path": "../../mask/hdr_front_06937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06938.png",
+      "transform_matrix": [
+        [
+          0.2669968605041504,
+          -0.13698109984397888,
+          0.9539124965667725,
+          19.387828826904297
+        ],
+        [
+          -0.9627689123153687,
+          -0.08135593682527542,
+          0.257793128490448,
+          25.63214111328125
+        ],
+        [
+          0.042293645441532135,
+          -0.9872271418571472,
+          -0.15360292792320251,
+          -19.148096084594727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6938,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_283082008",
+      "mask_path": "../../mask/hdr_front_06938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06939.png",
+      "transform_matrix": [
+        [
+          0.2714172303676605,
+          -0.15656901895999908,
+          0.9496414065361023,
+          19.30640411376953
+        ],
+        [
+          -0.9605621099472046,
+          -0.10602783411741257,
+          0.2570574879646301,
+          25.593164443969727
+        ],
+        [
+          0.06044119596481323,
+          -0.9819594025611877,
+          -0.17917202413082123,
+          -19.104785919189453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6939,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_383080005",
+      "mask_path": "../../mask/hdr_front_06939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06940.png",
+      "transform_matrix": [
+        [
+          0.2772167921066284,
+          -0.1740044504404068,
+          0.9449198246002197,
+          19.214126586914062
+        ],
+        [
+          -0.9591872096061707,
+          -0.1072080209851265,
+          0.26166048645973206,
+          25.560205459594727
+        ],
+        [
+          0.055772874504327774,
+          -0.9788916707038879,
+          -0.19662275910377502,
+          -19.066743850708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6940,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_483081579",
+      "mask_path": "../../mask/hdr_front_06940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06941.png",
+      "transform_matrix": [
+        [
+          0.27832189202308655,
+          -0.18663200736045837,
+          0.9421812295913696,
+          19.14500617980957
+        ],
+        [
+          -0.9596405029296875,
+          -0.0952259749174118,
+          0.26461663842201233,
+          25.5403995513916
+        ],
+        [
+          0.04033418744802475,
+          -0.9778039455413818,
+          -0.20560313761234283,
+          -19.047842025756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6941,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_583080530",
+      "mask_path": "../../mask/hdr_front_06941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06942.png",
+      "transform_matrix": [
+        [
+          0.2775147557258606,
+          -0.19908407330513,
+          0.9398676156997681,
+          19.083810806274414
+        ],
+        [
+          -0.960164487361908,
+          -0.09077861905097961,
+          0.26427894830703735,
+          25.5228214263916
+        ],
+        [
+          0.03270614519715309,
+          -0.9757688641548157,
+          -0.216345876455307,
+          -19.033918380737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6942,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_683079719",
+      "mask_path": "../../mask/hdr_front_06942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06943.png",
+      "transform_matrix": [
+        [
+          0.2635737359523773,
+          -0.2507140636444092,
+          0.9314887523651123,
+          18.996360778808594
+        ],
+        [
+          -0.9646391272544861,
+          -0.06876853853464127,
+          0.2544446289539337,
+          25.529996871948242
+        ],
+        [
+          0.00026427145348861814,
+          -0.9656155705451965,
+          -0.2599742114543915,
+          -18.959016799926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6943,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_783081769",
+      "mask_path": "../../mask/hdr_front_06943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06944.png",
+      "transform_matrix": [
+        [
+          0.23881128430366516,
+          -0.28032007813453674,
+          0.9297256469726562,
+          18.906564712524414
+        ],
+        [
+          -0.9710633158683777,
+          -0.06667323410511017,
+          0.22932679951190948,
+          25.514493942260742
+        ],
+        [
+          -0.0022970843128859997,
+          -0.9575883150100708,
+          -0.28813081979751587,
+          -18.877490997314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6944,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_883081674",
+      "mask_path": "../../mask/hdr_front_06944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06945.png",
+      "transform_matrix": [
+        [
+          0.22995145618915558,
+          -0.27464520931243896,
+          0.9336446523666382,
+          18.82994270324707
+        ],
+        [
+          -0.9729242324829102,
+          -0.08779649436473846,
+          0.21379922330379486,
+          25.49081802368164
+        ],
+        [
+          0.023251792415976524,
+          -0.9575290679931641,
+          -0.28739795088768005,
+          -18.85910987854004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6945,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_983081340",
+      "mask_path": "../../mask/hdr_front_06945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06946.png",
+      "transform_matrix": [
+        [
+          0.22933191061019897,
+          -0.2657477855682373,
+          0.9363679885864258,
+          18.75511932373047
+        ],
+        [
+          -0.9727819561958313,
+          -0.09538859874010086,
+          0.21117836236953735,
+          25.470117568969727
+        ],
+        [
+          0.03319865092635155,
+          -0.959311842918396,
+          -0.28039026260375977,
+          -18.84933853149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6946,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_83081960",
+      "mask_path": "../../mask/hdr_front_06946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06947.png",
+      "transform_matrix": [
+        [
+          0.22888556122779846,
+          -0.2611008882522583,
+          0.9377834796905518,
+          18.680919647216797
+        ],
+        [
+          -0.9730501770973206,
+          -0.08908841013908386,
+          0.2126888483762741,
+          25.44438362121582
+        ],
+        [
+          0.028012381866574287,
+          -0.9611917734146118,
+          -0.27445533871650696,
+          -18.825124740600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6947,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_183081865",
+      "mask_path": "../../mask/hdr_front_06947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06948.png",
+      "transform_matrix": [
+        [
+          0.22917914390563965,
+          -0.2580071687698364,
+          0.9385676383972168,
+          18.619943618774414
+        ],
+        [
+          -0.9730775952339172,
+          -0.0849282443523407,
+          0.21425947546958923,
+          25.424304962158203
+        ],
+        [
+          0.024430422112345695,
+          -0.9624029994010925,
+          -0.2705248296260834,
+          -18.808837890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6948,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_283081769",
+      "mask_path": "../../mask/hdr_front_06948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06949.png",
+      "transform_matrix": [
+        [
+          0.22923648357391357,
+          -0.24203023314476013,
+          0.9428002238273621,
+          18.558931350708008
+        ],
+        [
+          -0.9729578495025635,
+          -0.08518319576978683,
+          0.21470145881175995,
+          25.399927139282227
+        ],
+        [
+          0.028346484526991844,
+          -0.9665222764015198,
+          -0.25501227378845215,
+          -18.79865837097168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6949,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_383082389",
+      "mask_path": "../../mask/hdr_front_06949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06950.png",
+      "transform_matrix": [
+        [
+          0.2244901806116104,
+          -0.23365430533885956,
+          0.9460495114326477,
+          18.482147216796875
+        ],
+        [
+          -0.9738606810569763,
+          -0.08829712867736816,
+          0.2092820256948471,
+          25.371610641479492
+        ],
+        [
+          0.0346338152885437,
+          -0.968302309513092,
+          -0.24736858904361725,
+          -18.772214889526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6950,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_483082294",
+      "mask_path": "../../mask/hdr_front_06950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06951.png",
+      "transform_matrix": [
+        [
+          0.21865108609199524,
+          -0.22957460582256317,
+          0.9484129548072815,
+          18.402433395385742
+        ],
+        [
+          -0.9747580289840698,
+          -0.09635712206363678,
+          0.20140039920806885,
+          25.350170135498047
+        ],
+        [
+          0.04514993727207184,
+          -0.9685095548629761,
+          -0.24484828114509583,
+          -18.751028060913086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6951,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_583082675",
+      "mask_path": "../../mask/hdr_front_06951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06952.png",
+      "transform_matrix": [
+        [
+          0.2150772362947464,
+          -0.21605509519577026,
+          0.9523980617523193,
+          18.304044723510742
+        ],
+        [
+          -0.9757367372512817,
+          -0.08846516907215118,
+          0.200279101729393,
+          25.323320388793945
+        ],
+        [
+          0.040982723236083984,
+          -0.9723652601242065,
+          -0.2298397570848465,
+          -18.744474411010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6952,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_683081865",
+      "mask_path": "../../mask/hdr_front_06952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06953.png",
+      "transform_matrix": [
+        [
+          0.21245627105236053,
+          -0.1853226125240326,
+          0.9594362378120422,
+          18.2100772857666
+        ],
+        [
+          -0.976871907711029,
+          -0.06455480307340622,
+          0.2038479447364807,
+          25.3095703125
+        ],
+        [
+          0.02415858395397663,
+          -0.98055499792099,
+          -0.19475151598453522,
+          -18.73834228515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6953,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_783080577",
+      "mask_path": "../../mask/hdr_front_06953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06954.png",
+      "transform_matrix": [
+        [
+          0.21401755511760712,
+          -0.16140097379684448,
+          0.963403582572937,
+          18.14080047607422
+        ],
+        [
+          -0.9767072200775146,
+          -0.050978608429431915,
+          0.2084324210882187,
+          25.302486419677734
+        ],
+        [
+          0.015471769496798515,
+          -0.9855713844299316,
+          -0.16855184733867645,
+          -18.72980499267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6954,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_883081436",
+      "mask_path": "../../mask/hdr_front_06954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06955.png",
+      "transform_matrix": [
+        [
+          0.21402817964553833,
+          -0.15401585400104523,
+          0.9646093249320984,
+          18.069202423095703
+        ],
+        [
+          -0.976769745349884,
+          -0.044489528983831406,
+          0.2096228301525116,
+          25.290111541748047
+        ],
+        [
+          0.010629767552018166,
+          -0.9870663285255432,
+          -0.15996003150939941,
+          -18.71821403503418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6955,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_983083009",
+      "mask_path": "../../mask/hdr_front_06955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06956.png",
+      "transform_matrix": [
+        [
+          0.20989848673343658,
+          -0.13885712623596191,
+          0.967812716960907,
+          17.989042282104492
+        ],
+        [
+          -0.9776034951210022,
+          -0.04529920220375061,
+          0.2055225819349289,
+          25.28314208984375
+        ],
+        [
+          0.015302866697311401,
+          -0.9892758727073669,
+          -0.1452554315328598,
+          -18.71399688720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6956,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_83080768",
+      "mask_path": "../../mask/hdr_front_06956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06957.png",
+      "transform_matrix": [
+        [
+          0.21011686325073242,
+          -0.12312883883714676,
+          0.9698917865753174,
+          17.915050506591797
+        ],
+        [
+          -0.9774510860443115,
+          -0.04774433374404907,
+          0.205693319439888,
+          25.27342987060547
+        ],
+        [
+          0.02098005823791027,
+          -0.9912415146827698,
+          -0.13038431107997894,
+          -18.715225219726562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6957,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_183080911",
+      "mask_path": "../../mask/hdr_front_06957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06958.png",
+      "transform_matrix": [
+        [
+          0.21373456716537476,
+          -0.11460093408823013,
+          0.9701465368270874,
+          17.8507022857666
+        ],
+        [
+          -0.9765626788139343,
+          -0.05084221437573433,
+          0.20914226770401,
+          25.25395965576172
+        ],
+        [
+          0.02535649761557579,
+          -0.9921097159385681,
+          -0.12278173118829727,
+          -18.711877822875977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6958,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_283083200",
+      "mask_path": "../../mask/hdr_front_06958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06959.png",
+      "transform_matrix": [
+        [
+          0.2237708419561386,
+          -0.10643830895423889,
+          0.9688124060630798,
+          17.76290512084961
+        ],
+        [
+          -0.9742695093154907,
+          -0.05189884454011917,
+          0.21932946145534515,
+          25.214473724365234
+        ],
+        [
+          0.026935191825032234,
+          -0.992963969707489,
+          -0.11531305313110352,
+          -18.70569610595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6959,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_383082389",
+      "mask_path": "../../mask/hdr_front_06959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06960.png",
+      "transform_matrix": [
+        [
+          0.2385445386171341,
+          -0.0962328240275383,
+          0.9663518071174622,
+          17.672101974487305
+        ],
+        [
+          -0.970946729183197,
+          -0.04304938018321991,
+          0.2353917807340622,
+          25.179628372192383
+        ],
+        [
+          0.018948424607515335,
+          -0.994427502155304,
+          -0.10370614379644394,
+          -18.70869255065918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6960,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_483082294",
+      "mask_path": "../../mask/hdr_front_06960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06961.png",
+      "transform_matrix": [
+        [
+          0.2513517141342163,
+          -0.08507262915372849,
+          0.9641499519348145,
+          17.610584259033203
+        ],
+        [
+          -0.967781126499176,
+          -0.03742576390504837,
+          0.2489960938692093,
+          25.160051345825195
+        ],
+        [
+          0.014901294372975826,
+          -0.9956716895103455,
+          -0.09173870831727982,
+          -18.7219181060791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6961,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_583082675",
+      "mask_path": "../../mask/hdr_front_06961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06962.png",
+      "transform_matrix": [
+        [
+          0.25746768712997437,
+          -0.07605301588773727,
+          0.9632892608642578,
+          17.55141830444336
+        ],
+        [
+          -0.9661428332328796,
+          -0.037477605044841766,
+          0.25527146458625793,
+          25.138011932373047
+        ],
+        [
+          0.016687609255313873,
+          -0.9963992238044739,
+          -0.08312735706567764,
+          -18.721906661987305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6962,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_683082103",
+      "mask_path": "../../mask/hdr_front_06962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06963.png",
+      "transform_matrix": [
+        [
+          0.2536216676235199,
+          -0.07046647369861603,
+          0.9647334814071655,
+          17.48390007019043
+        ],
+        [
+          -0.9670907855033875,
+          -0.03939112275838852,
+          0.25136420130729675,
+          25.11643409729004
+        ],
+        [
+          0.020289184525609016,
+          -0.9967361092567444,
+          -0.07813791185617447,
+          -18.7093563079834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6963,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_783084154",
+      "mask_path": "../../mask/hdr_front_06963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06964.png",
+      "transform_matrix": [
+        [
+          0.2457687258720398,
+          -0.06591495126485825,
+          0.9670848250389099,
+          17.412460327148438
+        ],
+        [
+          -0.9689401984214783,
+          -0.04494309797883034,
+          0.24317702651023865,
+          25.098865509033203
+        ],
+        [
+          0.027434784919023514,
+          -0.996812641620636,
+          -0.07491324841976166,
+          -18.69827651977539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6964,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_883080482",
+      "mask_path": "../../mask/hdr_front_06964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06965.png",
+      "transform_matrix": [
+        [
+          0.2414155751466751,
+          -0.06059868633747101,
+          0.9685279130935669,
+          17.319032669067383
+        ],
+        [
+          -0.9700915217399597,
+          -0.04110594466328621,
+          0.23923343420028687,
+          25.073566436767578
+        ],
+        [
+          0.025315022096037865,
+          -0.9973154664039612,
+          -0.06870989501476288,
+          -18.696462631225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6965,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_983081340",
+      "mask_path": "../../mask/hdr_front_06965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06966.png",
+      "transform_matrix": [
+        [
+          0.2428545355796814,
+          -0.055895064026117325,
+          0.9684510231018066,
+          17.235980987548828
+        ],
+        [
+          -0.9699739217758179,
+          -0.027499215677380562,
+          0.24164928495883942,
+          25.047134399414062
+        ],
+        [
+          0.01312464103102684,
+          -0.9980579018592834,
+          -0.06089505925774574,
+          -18.709854125976562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6966,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_83080291",
+      "mask_path": "../../mask/hdr_front_06966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06967.png",
+      "transform_matrix": [
+        [
+          0.24543972313404083,
+          -0.053011491894721985,
+          0.967961311340332,
+          17.176362991333008
+        ],
+        [
+          -0.9694003462791443,
+          -0.018280116841197014,
+          0.2448035031557083,
+          25.02834701538086
+        ],
+        [
+          0.004717049654573202,
+          -0.9984266757965088,
+          -0.055876024067401886,
+          -18.716243743896484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6967,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_183083534",
+      "mask_path": "../../mask/hdr_front_06967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06968.png",
+      "transform_matrix": [
+        [
+          0.245641827583313,
+          -0.046450115740299225,
+          0.9682471752166748,
+          17.10965919494629
+        ],
+        [
+          -0.9693482518196106,
+          -0.01682942546904087,
+          0.245113804936409,
+          25.007295608520508
+        ],
+        [
+          0.004909477196633816,
+          -0.9987788796424866,
+          -0.049160342663526535,
+          -18.71283531188965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6968,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_283081054",
+      "mask_path": "../../mask/hdr_front_06968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06969.png",
+      "transform_matrix": [
+        [
+          0.24942269921302795,
+          -0.04505149647593498,
+          0.9673463106155396,
+          17.032997131347656
+        ],
+        [
+          -0.968384861946106,
+          -0.016094285994768143,
+          0.24894097447395325,
+          24.98947525024414
+        ],
+        [
+          0.0043535842560231686,
+          -0.9988550543785095,
+          -0.04764147102832794,
+          -18.705286026000977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6969,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_383080959",
+      "mask_path": "../../mask/hdr_front_06969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06970.png",
+      "transform_matrix": [
+        [
+          0.2568022906780243,
+          -0.04845653474330902,
+          0.9652484655380249,
+          16.97129249572754
+        ],
+        [
+          -0.9664482474327087,
+          -0.018568506464362144,
+          0.25618934631347656,
+          24.978618621826172
+        ],
+        [
+          0.005509175825864077,
+          -0.9986527562141418,
+          -0.0515991635620594,
+          -18.701637268066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6970,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_483081102",
+      "mask_path": "../../mask/hdr_front_06970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06971.png",
+      "transform_matrix": [
+        [
+          0.26213884353637695,
+          -0.04811447113752365,
+          0.9638299942016602,
+          16.91912841796875
+        ],
+        [
+          -0.9649627804756165,
+          -0.024875270202755928,
+          0.26120513677597046,
+          24.959888458251953
+        ],
+        [
+          0.011407784186303616,
+          -0.9985320568084717,
+          -0.0529494434595108,
+          -18.695947647094727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6971,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_583081483",
+      "mask_path": "../../mask/hdr_front_06971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06972.png",
+      "transform_matrix": [
+        [
+          0.2670772075653076,
+          -0.05187283456325531,
+          0.9622780084609985,
+          16.859115600585938
+        ],
+        [
+          -0.9631684422492981,
+          -0.04674740508198738,
+          0.26480433344841003,
+          24.957195281982422
+        ],
+        [
+          0.031247852370142937,
+          -0.9975590109825134,
+          -0.062447439879179,
+          -18.712188720703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6972,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_683081626",
+      "mask_path": "../../mask/hdr_front_06972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03046.png",
+      "transform_matrix": [
+        [
+          0.98759925365448,
+          -0.1431315541267395,
+          -0.06450595706701279,
+          17.93991470336914
+        ],
+        [
+          0.06221841648221016,
+          -0.02040533907711506,
+          0.9978538751602173,
+          24.94599151611328
+        ],
+        [
+          -0.1441406011581421,
+          -0.9894933104515076,
+          -0.011246873065829277,
+          -18.81765365600586
+        ],
+        [
+          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": "1731323566_983081817",
+      "mask_path": "../../mask/hdr_left_03046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03047.png",
+      "transform_matrix": [
+        [
+          0.9879576563835144,
+          -0.13996796309947968,
+          -0.06594258546829224,
+          18.02460289001465
+        ],
+        [
+          0.06340257078409195,
+          -0.022534044459462166,
+          0.9977335333824158,
+          24.97701644897461
+        ],
+        [
+          -0.14113670587539673,
+          -0.9898995757102966,
+          -0.013388346880674362,
+          -18.829971313476562
+        ],
+        [
+          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": "1731323567_83081722",
+      "mask_path": "../../mask/hdr_left_03047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03048.png",
+      "transform_matrix": [
+        [
+          0.9879257082939148,
+          -0.13355857133865356,
+          -0.07851636409759521,
+          18.09882354736328
+        ],
+        [
+          0.07566563785076141,
+          -0.026295587420463562,
+          0.9967864155769348,
+          25.00861930847168
+        ],
+        [
+          -0.13519400358200073,
+          -0.9906920790672302,
+          -0.015872284770011902,
+          -18.834434509277344
+        ],
+        [
+          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": "1731323567_183082342",
+      "mask_path": "../../mask/hdr_left_03048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03049.png",
+      "transform_matrix": [
+        [
+          0.9883806705474854,
+          -0.12059593945741653,
+          -0.09252126514911652,
+          18.151437759399414
+        ],
+        [
+          0.09026417881250381,
+          -0.024058358743786812,
+          0.995627224445343,
+          25.039194107055664
+        ],
+        [
+          -0.12229449301958084,
+          -0.9924101829528809,
+          -0.012893321923911572,
+          -18.83790397644043
+        ],
+        [
+          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": "1731323567_283081293",
+      "mask_path": "../../mask/hdr_left_03049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03050.png",
+      "transform_matrix": [
+        [
+          0.9882171154022217,
+          -0.11231337487697601,
+          -0.10398348420858383,
+          18.21234703063965
+        ],
+        [
+          0.10302557796239853,
+          -0.014315447770059109,
+          0.9945756196975708,
+          25.077117919921875
+        ],
+        [
+          -0.11319271475076675,
+          -0.9935697913169861,
+          -0.002575621474534273,
+          -18.845680236816406
+        ],
+        [
+          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": "1731323567_383081436",
+      "mask_path": "../../mask/hdr_left_03050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03051.png",
+      "transform_matrix": [
+        [
+          0.9883168339729309,
+          -0.10709686577320099,
+          -0.10844342410564423,
+          18.292306900024414
+        ],
+        [
+          0.10836970806121826,
+          -0.006525163538753986,
+          0.9940892457962036,
+          25.117671966552734
+        ],
+        [
+          -0.1071714460849762,
+          -0.9942272305488586,
+          0.005157128907740116,
+          -18.841222763061523
+        ],
+        [
+          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": "1731323567_483082056",
+      "mask_path": "../../mask/hdr_left_03051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03052.png",
+      "transform_matrix": [
+        [
+          0.9885784983634949,
+          -0.09993348270654678,
+          -0.11280866712331772,
+          18.362751007080078
+        ],
+        [
+          0.11294753104448318,
+          -0.004285038448870182,
+          0.9935917258262634,
+          25.14409637451172
+        ],
+        [
+          -0.09977646172046661,
+          -0.9949849247932434,
+          0.007051145192235708,
+          -18.831968307495117
+        ],
+        [
+          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": "1731323567_583081960",
+      "mask_path": "../../mask/hdr_left_03052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03053.png",
+      "transform_matrix": [
+        [
+          0.9888983964920044,
+          -0.08786077797412872,
+          -0.11983437091112137,
+          18.414196014404297
+        ],
+        [
+          0.12014585733413696,
+          -0.001753783319145441,
+          0.9927546977996826,
+          25.165475845336914
+        ],
+        [
+          -0.08743435889482498,
+          -0.9961312413215637,
+          0.00882179755717516,
+          -18.833730697631836
+        ],
+        [
+          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": "1731323567_683080196",
+      "mask_path": "../../mask/hdr_left_03053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03054.png",
+      "transform_matrix": [
+        [
+          0.9888806939125061,
+          -0.07611662149429321,
+          -0.12775494158267975,
+          18.49375343322754
+        ],
+        [
+          0.12792262434959412,
+          -0.0026886349078267813,
+          0.9917804598808289,
+          25.196727752685547
+        ],
+        [
+          -0.07583446055650711,
+          -0.9970952868461609,
+          0.007078301627188921,
+          -18.832643508911133
+        ],
+        [
+          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": "1731323567_783082485",
+      "mask_path": "../../mask/hdr_left_03054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03055.png",
+      "transform_matrix": [
+        [
+          0.9886804819107056,
+          -0.06772804260253906,
+          -0.1338801383972168,
+          18.584064483642578
+        ],
+        [
+          0.13339956104755402,
+          -0.011589622125029564,
+          0.9909945726394653,
+          25.225393295288086
+        ],
+        [
+          -0.06866973638534546,
+          -0.9976365566253662,
+          -0.0024235378950834274,
+          -18.829923629760742
+        ],
+        [
+          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": "1731323567_883081197",
+      "mask_path": "../../mask/hdr_left_03055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03056.png",
+      "transform_matrix": [
+        [
+          0.9887722134590149,
+          -0.0597408302128315,
+          -0.1369687169790268,
+          18.64471435546875
+        ],
+        [
+          0.1362142562866211,
+          -0.016543323174118996,
+          0.9905412197113037,
+          25.25371551513672
+        ],
+        [
+          -0.06144167110323906,
+          -0.9980769157409668,
+          -0.008220023475587368,
+          -18.834497451782227
+        ],
+        [
+          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": "1731323567_983082771",
+      "mask_path": "../../mask/hdr_left_03056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03057.png",
+      "transform_matrix": [
+        [
+          0.988804042339325,
+          -0.055854681879282,
+          -0.1383720189332962,
+          18.7016658782959
+        ],
+        [
+          0.13796840608119965,
+          -0.011037341319024563,
+          0.9903751015663147,
+          25.285152435302734
+        ],
+        [
+          -0.05684434249997139,
+          -0.9983779191970825,
+          -0.0032075827475637197,
+          -18.84050178527832
+        ],
+        [
+          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": "1731323568_83080768",
+      "mask_path": "../../mask/hdr_left_03057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03058.png",
+      "transform_matrix": [
+        [
+          0.9892177581787109,
+          -0.06242040917277336,
+          -0.1324833184480667,
+          18.789398193359375
+        ],
+        [
+          0.13239732384681702,
+          -0.00552983395755291,
+          0.9911813735961914,
+          25.31879234313965
+        ],
+        [
+          -0.06260254979133606,
+          -0.998034656047821,
+          0.0027940887957811356,
+          -18.840686798095703
+        ],
+        [
+          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": "1731323568_183080673",
+      "mask_path": "../../mask/hdr_left_03058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03059.png",
+      "transform_matrix": [
+        [
+          0.9904963374137878,
+          -0.06692596524953842,
+          -0.12015774101018906,
+          18.87152099609375
+        ],
+        [
+          0.12046582996845245,
+          0.0005723471404053271,
+          0.9927172660827637,
+          25.342735290527344
+        ],
+        [
+          -0.06636978685855865,
+          -0.9977578520774841,
+          0.008629200048744678,
+          -18.83646011352539
+        ],
+        [
+          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": "1731323568_283081293",
+      "mask_path": "../../mask/hdr_left_03059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03061.png",
+      "transform_matrix": [
+        [
+          0.9934688210487366,
+          -0.06517935544252396,
+          -0.0936543345451355,
+          18.9718074798584
+        ],
+        [
+          0.09463364630937576,
+          0.012096424587070942,
+          0.9954387545585632,
+          25.386451721191406
+        ],
+        [
+          -0.06374916434288025,
+          -0.9978002905845642,
+          0.018185582011938095,
+          -18.829517364501953
+        ],
+        [
+          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": "1731323568_483081340",
+      "mask_path": "../../mask/hdr_left_03061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03062.png",
+      "transform_matrix": [
+        [
+          0.9927734136581421,
+          -0.07911650836467743,
+          -0.09023074805736542,
+          19.038541793823242
+        ],
+        [
+          0.09102528542280197,
+          0.006487199570983648,
+          0.9958274364471436,
+          25.41958236694336
+        ],
+        [
+          -0.07820102572441101,
+          -0.9968442916870117,
+          0.013641919940710068,
+          -18.84469223022461
+        ],
+        [
+          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": "1731323568_583085536",
+      "mask_path": "../../mask/hdr_left_03062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03063.png",
+      "transform_matrix": [
+        [
+          0.9914515614509583,
+          -0.0926295593380928,
+          -0.0918879508972168,
+          19.095020294189453
+        ],
+        [
+          0.09273365139961243,
+          0.00485833827406168,
+          0.9956790804862976,
+          25.449504852294922
+        ],
+        [
+          -0.09178289026021957,
+          -0.995688796043396,
+          0.013406687416136265,
+          -18.876951217651367
+        ],
+        [
+          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": "1731323568_683081865",
+      "mask_path": "../../mask/hdr_left_03063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03064.png",
+      "transform_matrix": [
+        [
+          0.9906201362609863,
+          -0.0977524071931839,
+          -0.095478355884552,
+          19.141416549682617
+        ],
+        [
+          0.09650743752717972,
+          0.00584358349442482,
+          0.9953151345252991,
+          25.471065521240234
+        ],
+        [
+          -0.09673649817705154,
+          -0.9951936602592468,
+          0.015222610905766487,
+          -18.888015747070312
+        ],
+        [
+          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": "1731323568_783084630",
+      "mask_path": "../../mask/hdr_left_03064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03065.png",
+      "transform_matrix": [
+        [
+          0.9886705279350281,
+          -0.1174301877617836,
+          -0.09349167346954346,
+          19.20037078857422
+        ],
+        [
+          0.09452739357948303,
+          0.003269287757575512,
+          0.9955168962478638,
+          25.496726989746094
+        ],
+        [
+          -0.11659808456897736,
+          -0.9930757880210876,
+          0.014332621358335018,
+          -18.902719497680664
+        ],
+        [
+          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": "1731323568_883081674",
+      "mask_path": "../../mask/hdr_left_03065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03066.png",
+      "transform_matrix": [
+        [
+          0.9853442907333374,
+          -0.14765644073486328,
+          -0.0854063630104065,
+          19.25713348388672
+        ],
+        [
+          0.08563601970672607,
+          -0.004812981002032757,
+          0.9963148236274719,
+          25.516576766967773
+        ],
+        [
+          -0.14752338826656342,
+          -0.9890270233154297,
+          0.007902267388999462,
+          -18.93605613708496
+        ],
+        [
+          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": "1731323568_983083248",
+      "mask_path": "../../mask/hdr_left_03066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03069.png",
+      "transform_matrix": [
+        [
+          0.9795070886611938,
+          -0.1907070279121399,
+          -0.06478070467710495,
+          19.42637062072754
+        ],
+        [
+          0.06065761670470238,
+          -0.027385003864765167,
+          0.9977829456329346,
+          25.541780471801758
+        ],
+        [
+          -0.19205822050571442,
+          -0.9812650084495544,
+          -0.015255969949066639,
+          -18.99858856201172
+        ],
+        [
+          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": "1731323569_283082008",
+      "mask_path": "../../mask/hdr_left_03069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03070.png",
+      "transform_matrix": [
+        [
+          0.9750718474388123,
+          -0.2112160176038742,
+          -0.06798931211233139,
+          19.515018463134766
+        ],
+        [
+          0.0576295331120491,
+          -0.054829858243465424,
+          0.9968311786651611,
+          25.55689239501953
+        ],
+        [
+          -0.2142745554447174,
+          -0.975900411605835,
+          -0.0412907712161541,
+          -19.028732299804688
+        ],
+        [
+          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": "1731323569_383082866",
+      "mask_path": "../../mask/hdr_left_03070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03071.png",
+      "transform_matrix": [
+        [
+          0.9707520008087158,
+          -0.22918979823589325,
+          -0.07150176912546158,
+          19.562522888183594
+        ],
+        [
+          0.05499261990189552,
+          -0.07763539999723434,
+          0.995464026927948,
+          25.563798904418945
+        ],
+        [
+          -0.23370124399662018,
+          -0.9702807664871216,
+          -0.06276096403598785,
+          -19.062740325927734
+        ],
+        [
+          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": "1731323569_483081579",
+      "mask_path": "../../mask/hdr_left_03071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03072.png",
+      "transform_matrix": [
+        [
+          0.9674502015113831,
+          -0.24162188172340393,
+          -0.07522590458393097,
+          19.634939193725586
+        ],
+        [
+          0.05387343093752861,
+          -0.09380199760198593,
+          0.9941322207450867,
+          25.582286834716797
+        ],
+        [
+          -0.2472604364156723,
+          -0.965826153755188,
+          -0.07773175090551376,
+          -19.10618782043457
+        ],
+        [
+          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": "1731323569_583082437",
+      "mask_path": "../../mask/hdr_left_03072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03073.png",
+      "transform_matrix": [
+        [
+          0.9567767977714539,
+          -0.2838398814201355,
+          -0.0633472129702568,
+          19.754568099975586
+        ],
+        [
+          0.04193795844912529,
+          -0.08088516443967819,
+          0.9958407282829285,
+          25.597444534301758
+        ],
+        [
+          -0.2877831757068634,
+          -0.9554541707038879,
+          -0.06548537313938141,
+          -19.12972640991211
+        ],
+        [
+          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": "1731323569_683081626",
+      "mask_path": "../../mask/hdr_left_03073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03074.png",
+      "transform_matrix": [
+        [
+          0.9480690956115723,
+          -0.31462740898132324,
+          -0.046631261706352234,
+          19.827537536621094
+        ],
+        [
+          0.026580026373267174,
+          -0.06772452592849731,
+          0.9973498582839966,
+          25.59902000427246
+        ],
+        [
+          -0.3169516921043396,
+          -0.946796178817749,
+          -0.05584472790360451,
+          -19.145654678344727
+        ],
+        [
+          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": "1731323569_783081531",
+      "mask_path": "../../mask/hdr_left_03074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03075.png",
+      "transform_matrix": [
+        [
+          0.944861888885498,
+          -0.32545533776283264,
+          -0.03625869378447533,
+          19.87371063232422
+        ],
+        [
+          0.013875060714781284,
+          -0.07083642482757568,
+          0.997391402721405,
+          25.59868049621582
+        ],
+        [
+          -0.3271747827529907,
+          -0.9429003596305847,
+          -0.062414929270744324,
+          -19.175207138061523
+        ],
+        [
+          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": "1731323569_883081197",
+      "mask_path": "../../mask/hdr_left_03075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03076.png",
+      "transform_matrix": [
+        [
+          0.941808819770813,
+          -0.33504989743232727,
+          -0.027160251513123512,
+          19.963050842285156
+        ],
+        [
+          0.0038521678652614355,
+          -0.0700354054570198,
+          0.9975370764732361,
+          25.628406524658203
+        ],
+        [
+          -0.3361268639564514,
+          -0.9395939111709595,
+          -0.06466928869485855,
+          -19.225175857543945
+        ],
+        [
+          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": "1731323569_983080148",
+      "mask_path": "../../mask/hdr_left_03076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03077.png",
+      "transform_matrix": [
+        [
+          0.9418517351150513,
+          -0.33548590540885925,
+          -0.019089533016085625,
+          20.052993774414062
+        ],
+        [
+          -0.0027200672775506973,
+          -0.06441916525363922,
+          0.9979192614555359,
+          25.659345626831055
+        ],
+        [
+          -0.33601754903793335,
+          -0.9398401379585266,
+          -0.06158585846424103,
+          -19.268917083740234
+        ],
+        [
+          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": "1731323570_83080530",
+      "mask_path": "../../mask/hdr_left_03077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03078.png",
+      "transform_matrix": [
+        [
+          0.9431076049804688,
+          -0.3323226571083069,
+          -0.010478323325514793,
+          20.14336395263672
+        ],
+        [
+          -0.006799450609833002,
+          -0.05078553780913353,
+          0.9986864328384399,
+          25.680992126464844
+        ],
+        [
+          -0.3324182629585266,
+          -0.9417975544929504,
+          -0.05015583336353302,
+          -19.301362991333008
+        ],
+        [
+          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": "1731323570_183080911",
+      "mask_path": "../../mask/hdr_left_03078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03079.png",
+      "transform_matrix": [
+        [
+          0.9483075141906738,
+          -0.3172833323478699,
+          -0.006638197228312492,
+          20.235130310058594
+        ],
+        [
+          -0.008702958934009075,
+          -0.046909864991903305,
+          0.9988612532615662,
+          25.6999454498291
+        ],
+        [
+          -0.3172333538532257,
+          -0.9471699595451355,
+          -0.04724627733230591,
+          -19.33600616455078
+        ],
+        [
+          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": "1731323570_283081054",
+      "mask_path": "../../mask/hdr_left_03079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03080.png",
+      "transform_matrix": [
+        [
+          0.9554936289787292,
+          -0.2949598729610443,
+          -0.005530365742743015,
+          20.34380340576172
+        ],
+        [
+          -0.00864717923104763,
+          -0.046740010380744934,
+          0.9988696575164795,
+          25.705280303955078
+        ],
+        [
+          -0.29488494992256165,
+          -0.9543658494949341,
+          -0.04721035435795784,
+          -19.353357315063477
+        ],
+        [
+          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": "1731323570_383080959",
+      "mask_path": "../../mask/hdr_left_03080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03081.png",
+      "transform_matrix": [
+        [
+          0.9618847966194153,
+          -0.27344876527786255,
+          -0.001811871537938714,
+          20.444082260131836
+        ],
+        [
+          -0.00989575032144785,
+          -0.041429318487644196,
+          0.9990924596786499,
+          25.71634292602539
+        ],
+        [
+          -0.27327561378479004,
+          -0.9609940052032471,
+          -0.042556215077638626,
+          -19.365501403808594
+        ],
+        [
+          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": "1731323570_483079433",
+      "mask_path": "../../mask/hdr_left_03081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03082.png",
+      "transform_matrix": [
+        [
+          0.9690611958503723,
+          -0.24673904478549957,
+          0.006341459695249796,
+          20.531461715698242
+        ],
+        [
+          -0.017564944922924042,
+          -0.043312929570674896,
+          0.9989070892333984,
+          25.737279891967773
+        ],
+        [
+          -0.24619469046592712,
+          -0.9681136012077332,
+          -0.046306826174259186,
+          -19.383426666259766
+        ],
+        [
+          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": "1731323570_583080053",
+      "mask_path": "../../mask/hdr_left_03082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03083.png",
+      "transform_matrix": [
+        [
+          0.9755053520202637,
+          -0.21965982019901276,
+          0.01177680678665638,
+          20.667421340942383
+        ],
+        [
+          -0.021337468177080154,
+          -0.04120321944355965,
+          0.9989228844642639,
+          25.767736434936523
+        ],
+        [
+          -0.2189379632472992,
+          -0.9747061133384705,
+          -0.0448809377849102,
+          -19.396947860717773
+        ],
+        [
+          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": "1731323570_683079957",
+      "mask_path": "../../mask/hdr_left_03083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03084.png",
+      "transform_matrix": [
+        [
+          0.9793524146080017,
+          -0.20180657505989075,
+          0.011947587132453918,
+          20.766002655029297
+        ],
+        [
+          -0.01968533918261528,
+          -0.036379046738147736,
+          0.9991441965103149,
+          25.79115104675293
+        ],
+        [
+          -0.20119920372962952,
+          -0.9787495732307434,
+          -0.03960053622722626,
+          -19.411163330078125
+        ],
+        [
+          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": "1731323570_783080816",
+      "mask_path": "../../mask/hdr_left_03084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03085.png",
+      "transform_matrix": [
+        [
+          0.9825130701065063,
+          -0.18584367632865906,
+          0.011406706646084785,
+          20.827312469482422
+        ],
+        [
+          -0.017648780718445778,
+          -0.031968023627996445,
+          0.9993330240249634,
+          25.810590744018555
+        ],
+        [
+          -0.185355082154274,
+          -0.9820591807365417,
+          -0.03468891605734825,
+          -19.428010940551758
+        ],
+        [
+          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": "1731323570_883080482",
+      "mask_path": "../../mask/hdr_left_03085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03086.png",
+      "transform_matrix": [
+        [
+          0.9853712320327759,
+          -0.16983796656131744,
+          0.014090056531131268,
+          20.926143646240234
+        ],
+        [
+          -0.019614707678556442,
+          -0.03089495562016964,
+          0.9993301630020142,
+          25.82305145263672
+        ],
+        [
+          -0.16928885877132416,
+          -0.9849876165390015,
+          -0.03377431631088257,
+          -19.434284210205078
+        ],
+        [
+          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": "1731323570_983080625",
+      "mask_path": "../../mask/hdr_left_03086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03087.png",
+      "transform_matrix": [
+        [
+          0.9877569079399109,
+          -0.15465137362480164,
+          0.02047334983944893,
+          21.022077560424805
+        ],
+        [
+          -0.02514066733419895,
+          -0.028284084051847458,
+          0.9992837309837341,
+          25.8345890045166
+        ],
+        [
+          -0.15396153926849365,
+          -0.9875641465187073,
+          -0.03182583302259445,
+          -19.43574333190918
+        ],
+        [
+          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": "1731323571_83080768",
+      "mask_path": "../../mask/hdr_left_03087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03088.png",
+      "transform_matrix": [
+        [
+          0.9900321960449219,
+          -0.1381063312292099,
+          0.027618801221251488,
+          21.08924674987793
+        ],
+        [
+          -0.030998334288597107,
+          -0.022379424422979355,
+          0.9992688894271851,
+          25.847951889038086
+        ],
+        [
+          -0.13738727569580078,
+          -0.990164577960968,
+          -0.026437412947416306,
+          -19.435897827148438
+        ],
+        [
+          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": "1731323571_183080911",
+      "mask_path": "../../mask/hdr_left_03088.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03089.png",
+      "transform_matrix": [
+        [
+          0.991912305355072,
+          -0.12264832854270935,
+          0.03267022222280502,
+          21.179309844970703
+        ],
+        [
+          -0.035775139927864075,
+          -0.02319882996380329,
+          0.9990904927253723,
+          25.862567901611328
+        ],
+        [
+          -0.12177886068820953,
+          -0.9921790361404419,
+          -0.027398960664868355,
+          -19.431743621826172
+        ],
+        [
+          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": "1731323571_283078908",
+      "mask_path": "../../mask/hdr_left_03089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03090.png",
+      "transform_matrix": [
+        [
+          0.9932279586791992,
+          -0.1118972972035408,
+          0.031260766088962555,
+          21.278060913085938
+        ],
+        [
+          -0.03464973345398903,
+          -0.028470611199736595,
+          0.9989938735961914,
+          25.889955520629883
+        ],
+        [
+          -0.11089469492435455,
+          -0.993311882019043,
+          -0.032155007123947144,
+          -19.442195892333984
+        ],
+        [
+          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": "1731323571_383080244",
+      "mask_path": "../../mask/hdr_left_03090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03091.png",
+      "transform_matrix": [
+        [
+          0.9944879412651062,
+          -0.1009998619556427,
+          0.028155043721199036,
+          21.353330612182617
+        ],
+        [
+          -0.03130975365638733,
+          -0.029786372557282448,
+          0.9990657567977905,
+          25.9144344329834
+        ],
+        [
+          -0.10006684809923172,
+          -0.994440495967865,
+          -0.032784461975097656,
+          -19.451560974121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3091,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323571_483079195",
+      "mask_path": "../../mask/hdr_left_03091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03092.png",
+      "transform_matrix": [
+        [
+          0.9954586625099182,
+          -0.09071904420852661,
+          0.028844203799962997,
+          21.420604705810547
+        ],
+        [
+          -0.031084483489394188,
+          -0.02337903529405594,
+          0.9992432594299316,
+          25.93318748474121
+        ],
+        [
+          -0.08997603505849838,
+          -0.9956021904945374,
+          -0.026092810556292534,
+          -19.46048927307129
+        ],
+        [
+          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": "1731323571_583079814",
+      "mask_path": "../../mask/hdr_left_03092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03093.png",
+      "transform_matrix": [
+        [
+          0.9953810572624207,
+          -0.08879458904266357,
+          0.036497052758932114,
+          21.508214950561523
+        ],
+        [
+          -0.03844643384218216,
+          -0.02034323662519455,
+          0.9990534782409668,
+          25.94791603088379
+        ],
+        [
+          -0.08796806633472443,
+          -0.9958422183990479,
+          -0.023663101717829704,
+          -19.460582733154297
+        ],
+        [
+          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": "1731323571_683080911",
+      "mask_path": "../../mask/hdr_left_03093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03094.png",
+      "transform_matrix": [
+        [
+          0.9951743483543396,
+          -0.0858200415968895,
+          0.04756994545459747,
+          21.590282440185547
+        ],
+        [
+          -0.04917290434241295,
+          -0.01666075922548771,
+          0.9986512660980225,
+          25.949604034423828
+        ],
+        [
+          -0.08491174876689911,
+          -0.9961714148521423,
+          -0.020800380036234856,
+          -19.449186325073242
+        ],
+        [
+          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": "1731323571_783081054",
+      "mask_path": "../../mask/hdr_left_03094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03095.png",
+      "transform_matrix": [
+        [
+          0.9953514337539673,
+          -0.07736969739198685,
+          0.057352807372808456,
+          21.648027420043945
+        ],
+        [
+          -0.05849027633666992,
+          -0.012514369562268257,
+          0.9982095956802368,
+          25.942615509033203
+        ],
+        [
+          -0.07651343941688538,
+          -0.9969239830970764,
+          -0.016981564462184906,
+          -19.436437606811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3095,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323571_883081436",
+      "mask_path": "../../mask/hdr_left_03095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03096.png",
+      "transform_matrix": [
+        [
+          0.9953869581222534,
+          -0.07054338604211807,
+          0.06502639502286911,
+          21.73171043395996
+        ],
+        [
+          -0.06629027426242828,
+          -0.01572296768426895,
+          0.9976764917373657,
+          25.951908111572266
+        ],
+        [
+          -0.06935705989599228,
+          -0.9973848462104797,
+          -0.020326772704720497,
+          -19.44281005859375
+        ],
+        [
+          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": "1731323571_983082532",
+      "mask_path": "../../mask/hdr_left_03096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03097.png",
+      "transform_matrix": [
+        [
+          0.9957807064056396,
+          -0.06557589024305344,
+          0.06419192254543304,
+          21.839336395263672
+        ],
+        [
+          -0.06607133895158768,
+          -0.026903124526143074,
+          0.9974521398544312,
+          25.96475601196289
+        ],
+        [
+          -0.06368184834718704,
+          -0.9974849224090576,
+          -0.031122291460633278,
+          -19.4461669921875
+        ],
+        [
+          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": "1731323572_83082199",
+      "mask_path": "../../mask/hdr_left_03097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03098.png",
+      "transform_matrix": [
+        [
+          0.9964955449104309,
+          -0.05906909704208374,
+          0.05922328680753708,
+          21.922536849975586
+        ],
+        [
+          -0.061352748423814774,
+          -0.03491119295358658,
+          0.9975054264068604,
+          25.976566314697266
+        ],
+        [
+          -0.056854184716939926,
+          -0.9976432919502258,
+          -0.03841289132833481,
+          -19.4489803314209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3098,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_183082580",
+      "mask_path": "../../mask/hdr_left_03098.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03099.png",
+      "transform_matrix": [
+        [
+          0.9970337152481079,
+          -0.052443429827690125,
+          0.05633358657360077,
+          21.991687774658203
+        ],
+        [
+          -0.058220405131578445,
+          -0.03517293184995651,
+          0.9976840019226074,
+          25.9860897064209
+        ],
+        [
+          -0.05034054443240166,
+          -0.9980043172836304,
+          -0.038121871650218964,
+          -19.46070671081543
+        ],
+        [
+          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": "1731323572_283082485",
+      "mask_path": "../../mask/hdr_left_03099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03100.png",
+      "transform_matrix": [
+        [
+          0.9968821406364441,
+          -0.0516437366604805,
+          0.05965472385287285,
+          22.087909698486328
+        ],
+        [
+          -0.061494942754507065,
+          -0.03480786085128784,
+          0.9975003004074097,
+          25.985082626342773
+        ],
+        [
+          -0.04943818226456642,
+          -0.9980588555335999,
+          -0.03787516430020332,
+          -19.452638626098633
+        ],
+        [
+          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": "1731323572_383082151",
+      "mask_path": "../../mask/hdr_left_03100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03101.png",
+      "transform_matrix": [
+        [
+          0.9963708519935608,
+          -0.05085474252700806,
+          0.06825637072324753,
+          22.154369354248047
+        ],
+        [
+          -0.06990990787744522,
+          -0.03147672861814499,
+          0.9970565438270569,
+          25.987937927246094
+        ],
+        [
+          -0.04855656996369362,
+          -0.9982099533081055,
+          -0.034917738288640976,
+          -19.4437198638916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3101,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_483080387",
+      "mask_path": "../../mask/hdr_left_03101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03103.png",
+      "transform_matrix": [
+        [
+          0.9957124590873718,
+          -0.042645759880542755,
+          0.08208482712507248,
+          22.265478134155273
+        ],
+        [
+          -0.08294539153575897,
+          -0.01881522126495838,
+          0.9963763952255249,
+          25.99827003479004
+        ],
+        [
+          -0.04094678908586502,
+          -0.9989131093025208,
+          -0.022271815687417984,
+          -19.443347930908203
+        ],
+        [
+          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": "1731323572_683079957",
+      "mask_path": "../../mask/hdr_left_03103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03104.png",
+      "transform_matrix": [
+        [
+          0.996397852897644,
+          -0.041415419429540634,
+          0.07399963587522507,
+          22.359886169433594
+        ],
+        [
+          -0.0749698057770729,
+          -0.022381920367479324,
+          0.9969345331192017,
+          26.010143280029297
+        ],
+        [
+          -0.03963220864534378,
+          -0.9988913536071777,
+          -0.02540620230138302,
+          -19.434690475463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3104,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_783081293",
+      "mask_path": "../../mask/hdr_left_03104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03105.png",
+      "transform_matrix": [
+        [
+          0.9975998997688293,
+          -0.041247881948947906,
+          0.055614665150642395,
+          22.42687225341797
+        ],
+        [
+          -0.05683528259396553,
+          -0.029034027829766273,
+          0.9979613423347473,
+          26.030433654785156
+        ],
+        [
+          -0.03954906761646271,
+          -0.9987270832061768,
+          -0.031308677047491074,
+          -19.441158294677734
+        ],
+        [
+          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": "1731323572_883082151",
+      "mask_path": "../../mask/hdr_left_03105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03107.png",
+      "transform_matrix": [
+        [
+          0.998537003993988,
+          -0.050142496824264526,
+          0.0202363058924675,
+          22.504528045654297
+        ],
+        [
+          -0.021544411778450012,
+          -0.025685995817184448,
+          0.9994379281997681,
+          26.071474075317383
+        ],
+        [
+          -0.049594514071941376,
+          -0.9984117150306702,
+          -0.02672870270907879,
+          -19.46255111694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3107,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_83081483",
+      "mask_path": "../../mask/hdr_left_03107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03108.png",
+      "transform_matrix": [
+        [
+          0.9984634518623352,
+          -0.05439525470137596,
+          0.010571334511041641,
+          22.562320709228516
+        ],
+        [
+          -0.011777457781136036,
+          -0.021900629624724388,
+          0.9996907114982605,
+          26.087657928466797
+        ],
+        [
+          -0.054146908223629,
+          -0.998279333114624,
+          -0.02250761166214943,
+          -19.466476440429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3108,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_183081388",
+      "mask_path": "../../mask/hdr_left_03108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03110.png",
+      "transform_matrix": [
+        [
+          0.9986635446548462,
+          -0.05167192965745926,
+          -0.0009891357040032744,
+          22.652841567993164
+        ],
+        [
+          6.24260792392306e-05,
+          -0.017932360991835594,
+          0.999839186668396,
+          26.096426010131836
+        ],
+        [
+          -0.051681358367204666,
+          -0.9985031485557556,
+          -0.01790517009794712,
+          -19.461200714111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3110,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_383082151",
+      "mask_path": "../../mask/hdr_left_03110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03111.png",
+      "transform_matrix": [
+        [
+          0.9985939860343933,
+          -0.05291091278195381,
+          -0.003253340721130371,
+          22.70452117919922
+        ],
+        [
+          0.002427693223580718,
+          -0.015660887584090233,
+          0.9998744130134583,
+          26.106748580932617
+        ],
+        [
+          -0.05295521393418312,
+          -0.998476505279541,
+          -0.015510411001741886,
+          -19.47418785095215
+        ],
+        [
+          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": "1731323573_483081102",
+      "mask_path": "../../mask/hdr_left_03111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03112.png",
+      "transform_matrix": [
+        [
+          0.9984552264213562,
+          -0.05462997779250145,
+          -0.01013307087123394,
+          22.78682518005371
+        ],
+        [
+          0.008891132660210133,
+          -0.022928627207875252,
+          0.9996975660324097,
+          26.12186622619629
+        ],
+        [
+          -0.054845791310071945,
+          -0.9982434511184692,
+          -0.02240748144686222,
+          -19.475101470947266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3112,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_583079814",
+      "mask_path": "../../mask/hdr_left_03112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03115.png",
+      "transform_matrix": [
+        [
+          0.9981555938720703,
+          -0.056161053478717804,
+          -0.023050006479024887,
+          22.948530197143555
+        ],
+        [
+          0.02052321471273899,
+          -0.04516064375638962,
+          0.9987689256668091,
+          26.13230323791504
+        ],
+        [
+          -0.057132866233587265,
+          -0.9973998665809631,
+          -0.04392474144697189,
+          -19.478639602661133
+        ],
+        [
+          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": "1731323573_883081436",
+      "mask_path": "../../mask/hdr_left_03115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03116.png",
+      "transform_matrix": [
+        [
+          0.9981129169464111,
+          -0.059902168810367584,
+          -0.013502907007932663,
+          23.01420783996582
+        ],
+        [
+          0.010776752606034279,
+          -0.04560188949108124,
+          0.9989016056060791,
+          26.132038116455078
+        ],
+        [
+          -0.06045212596654892,
+          -0.9971621036529541,
+          -0.0448702797293663,
+          -19.48585319519043
+        ],
+        [
+          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": "1731323573_983080625",
+      "mask_path": "../../mask/hdr_left_03116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03118.png",
+      "transform_matrix": [
+        [
+          0.998485267162323,
+          -0.0527685210108757,
+          0.015577948652207851,
+          23.077978134155273
+        ],
+        [
+          -0.017963048070669174,
+          -0.04503091424703598,
+          0.9988240599632263,
+          26.11864471435547
+        ],
+        [
+          -0.052004970610141754,
+          -0.997590959072113,
+          -0.045910581946372986,
+          -19.471832275390625
+        ],
+        [
+          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": "1731323574_183081865",
+      "mask_path": "../../mask/hdr_left_03118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03119.png",
+      "transform_matrix": [
+        [
+          0.9985566735267639,
+          -0.045447539538145065,
+          0.02861909382045269,
+          23.148244857788086
+        ],
+        [
+          -0.03037705458700657,
+          -0.03847323730587959,
+          0.9987978935241699,
+          26.11503028869629
+        ],
+        [
+          -0.04429183527827263,
+          -0.9982256293296814,
+          -0.03979826346039772,
+          -19.474149703979492
+        ],
+        [
+          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": "1731323574_283082723",
+      "mask_path": "../../mask/hdr_left_03119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03120.png",
+      "transform_matrix": [
+        [
+          0.998698353767395,
+          -0.039503686130046844,
+          0.03226485848426819,
+          23.212318420410156
+        ],
+        [
+          -0.03371162712574005,
+          -0.03652217239141464,
+          0.9987640380859375,
+          26.111948013305664
+        ],
+        [
+          -0.03827647864818573,
+          -0.9985517859458923,
+          -0.03780636191368103,
+          -19.460081100463867
+        ],
+        [
+          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": "1731323574_383080959",
+      "mask_path": "../../mask/hdr_left_03120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03121.png",
+      "transform_matrix": [
+        [
+          0.9988304972648621,
+          -0.03770042955875397,
+          0.03027159720659256,
+          23.276151657104492
+        ],
+        [
+          -0.03164517879486084,
+          -0.036386508494615555,
+          0.9988366961479187,
+          26.12519645690918
+        ],
+        [
+          -0.03655509278178215,
+          -0.9986264705657959,
+          -0.03753698244690895,
+          -19.458003997802734
+        ],
+        [
+          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": "1731323574_483083009",
+      "mask_path": "../../mask/hdr_left_03121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03122.png",
+      "transform_matrix": [
+        [
+          0.9989138245582581,
+          -0.03728558123111725,
+          0.027945924550294876,
+          23.349815368652344
+        ],
+        [
+          -0.029210742563009262,
+          -0.033820174634456635,
+          0.9990010261535645,
+          26.145097732543945
+        ],
+        [
+          -0.036303192377090454,
+          -0.9987322092056274,
+          -0.03487258031964302,
+          -19.466045379638672
+        ],
+        [
+          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": "1731323574_583081960",
+      "mask_path": "../../mask/hdr_left_03122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03123.png",
+      "transform_matrix": [
+        [
+          0.9987210035324097,
+          -0.0419066920876503,
+          0.028285052627325058,
+          23.422264099121094
+        ],
+        [
+          -0.029571130871772766,
+          -0.030393501743674278,
+          0.9991005063056946,
+          26.162397384643555
+        ],
+        [
+          -0.04100931063294411,
+          -0.9986591935157776,
+          -0.03159385174512863,
+          -19.476362228393555
+        ],
+        [
+          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": "1731323574_683082342",
+      "mask_path": "../../mask/hdr_left_03123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03124.png",
+      "transform_matrix": [
+        [
+          0.998443603515625,
+          -0.04342645779252052,
+          0.03499225527048111,
+          23.49365234375
+        ],
+        [
+          -0.03634844720363617,
+          -0.030843131244182587,
+          0.9988630414009094,
+          26.169069290161133
+        ],
+        [
+          -0.042297814041376114,
+          -0.9985804557800293,
+          -0.03237360715866089,
+          -19.47463607788086
+        ],
+        [
+          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": "1731323574_783082246",
+      "mask_path": "../../mask/hdr_left_03124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03126.png",
+      "transform_matrix": [
+        [
+          0.9976893663406372,
+          -0.040788810700178146,
+          0.0543338768184185,
+          23.584022521972656
+        ],
+        [
+          -0.05545678734779358,
+          -0.026921164244413376,
+          0.9980981349945068,
+          26.183900833129883
+        ],
+        [
+          -0.039248500019311905,
+          -0.998805046081543,
+          -0.029120972380042076,
+          -19.477142333984375
+        ],
+        [
+          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": "1731323574_983081579",
+      "mask_path": "../../mask/hdr_left_03126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03127.png",
+      "transform_matrix": [
+        [
+          0.9974068403244019,
+          -0.03331473097205162,
+          0.0637933760881424,
+          23.675365447998047
+        ],
+        [
+          -0.06471879780292511,
+          -0.027479173615574837,
+          0.9975250959396362,
+          26.203157424926758
+        ],
+        [
+          -0.03147929534316063,
+          -0.9990670680999756,
+          -0.02956400439143181,
+          -19.48227882385254
+        ],
+        [
+          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": "1731323575_83083629",
+      "mask_path": "../../mask/hdr_left_03127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03128.png",
+      "transform_matrix": [
+        [
+          0.9975646734237671,
+          -0.02716144360601902,
+          0.06424111872911453,
+          23.76323127746582
+        ],
+        [
+          -0.0651312917470932,
+          -0.033267948776483536,
+          0.9973219037055969,
+          26.22109031677246
+        ],
+        [
+          -0.02495153434574604,
+          -0.9990773797035217,
+          -0.034955982118844986,
+          -19.491361618041992
+        ],
+        [
+          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": "1731323575_183082342",
+      "mask_path": "../../mask/hdr_left_03128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03130.png",
+      "transform_matrix": [
+        [
+          0.9979621767997742,
+          -0.026875218376517296,
+          0.057870522141456604,
+          23.870967864990234
+        ],
+        [
+          -0.05875782668590546,
+          -0.033489663153886795,
+          0.9977104067802429,
+          26.24152374267578
+        ],
+        [
+          -0.024875616654753685,
+          -0.9990777969360352,
+          -0.03500054031610489,
+          -19.501890182495117
+        ],
+        [
+          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": "1731323575_383081197",
+      "mask_path": "../../mask/hdr_left_03130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03131.png",
+      "transform_matrix": [
+        [
+          0.9972096681594849,
+          -0.03728700801730156,
+          0.06467293202877045,
+          23.94317054748535
+        ],
+        [
+          -0.0659940093755722,
+          -0.035359226167201996,
+          0.9971932768821716,
+          26.25251579284668
+        ],
+        [
+          -0.03489557281136513,
+          -0.9986788630485535,
+          -0.03772127628326416,
+          -19.510560989379883
+        ],
+        [
+          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": "1731323575_483083963",
+      "mask_path": "../../mask/hdr_left_03131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03132.png",
+      "transform_matrix": [
+        [
+          0.9959324598312378,
+          -0.04704611003398895,
+          0.07684530317783356,
+          24.002283096313477
+        ],
+        [
+          -0.07891649752855301,
+          -0.04387350380420685,
+          0.9959153532981873,
+          26.257665634155273
+        ],
+        [
+          -0.0434824638068676,
+          -0.9979287981987,
+          -0.04740775749087334,
+          -19.515165328979492
+        ],
+        [
+          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": "1731323575_583081722",
+      "mask_path": "../../mask/hdr_left_03132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03133.png",
+      "transform_matrix": [
+        [
+          0.9942839741706848,
+          -0.048877961933612823,
+          0.09492311626672745,
+          24.051076889038086
+        ],
+        [
+          -0.09715717285871506,
+          -0.04555844888091087,
+          0.9942257404327393,
+          26.249486923217773
+        ],
+        [
+          -0.04427117854356766,
+          -0.9977652430534363,
+          -0.050046876072883606,
+          -19.51605796813965
+        ],
+        [
+          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": "1731323575_683081626",
+      "mask_path": "../../mask/hdr_left_03133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03134.png",
+      "transform_matrix": [
+        [
+          0.9908255934715271,
+          -0.050421033054590225,
+          0.12538868188858032,
+          24.1148624420166
+        ],
+        [
+          -0.12769180536270142,
+          -0.04538508877158165,
+          0.9907748699188232,
+          26.242136001586914
+        ],
+        [
+          -0.04426512122154236,
+          -0.9976963400840759,
+          -0.05140705406665802,
+          -19.51885414123535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3134,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323575_783082246",
+      "mask_path": "../../mask/hdr_left_03134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03135.png",
+      "transform_matrix": [
+        [
+          0.986177384853363,
+          -0.05799905210733414,
+          0.15520994365215302,
+          24.168170928955078
+        ],
+        [
+          -0.1584828943014145,
+          -0.05686822906136513,
+          0.9857226610183716,
+          26.243900299072266
+        ],
+        [
+          -0.04834446683526039,
+          -0.9966956377029419,
+          -0.06527401506900787,
+          -19.524423599243164
+        ],
+        [
+          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": "1731323575_883081912",
+      "mask_path": "../../mask/hdr_left_03135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03137.png",
+      "transform_matrix": [
+        [
+          0.9745051264762878,
+          -0.06309967488050461,
+          0.21530970931053162,
+          24.22629165649414
+        ],
+        [
+          -0.22017312049865723,
+          -0.084302619099617,
+          0.971811056137085,
+          26.225345611572266
+        ],
+        [
+          -0.04316979646682739,
+          -0.9944403767585754,
+          -0.09604617208242416,
+          -19.55149269104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3137,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_83081483",
+      "mask_path": "../../mask/hdr_left_03137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03139.png",
+      "transform_matrix": [
+        [
+          0.9549569487571716,
+          -0.07435481995344162,
+          0.2872777581214905,
+          24.308225631713867
+        ],
+        [
+          -0.2926550507545471,
+          -0.0758218988776207,
+          0.95320725440979,
+          26.180950164794922
+        ],
+        [
+          -0.04909360781311989,
+          -0.9943452477455139,
+          -0.09416695684194565,
+          -19.544641494750977
+        ],
+        [
+          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": "1731323576_283079385",
+      "mask_path": "../../mask/hdr_left_03139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03141.png",
+      "transform_matrix": [
+        [
+          0.933777928352356,
+          -0.07237208634614944,
+          0.3504582643508911,
+          24.35477066040039
+        ],
+        [
+          -0.35544905066490173,
+          -0.0742553099989891,
+          0.9317414164543152,
+          26.1307373046875
+        ],
+        [
+          -0.04140867665410042,
+          -0.9946097731590271,
+          -0.09506255388259888,
+          -19.532848358154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3141,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_483082532",
+      "mask_path": "../../mask/hdr_left_03141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03143.png",
+      "transform_matrix": [
+        [
+          0.9253165125846863,
+          -0.05705937743186951,
+          0.37487801909446716,
+          24.44731903076172
+        ],
+        [
+          -0.3782384693622589,
+          -0.0686880424618721,
+          0.923156201839447,
+          26.09691619873047
+        ],
+        [
+          -0.026925088837742805,
+          -0.9960051774978638,
+          -0.08514022827148438,
+          -19.520387649536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3143,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_683080911",
+      "mask_path": "../../mask/hdr_left_03143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03144.png",
+      "transform_matrix": [
+        [
+          0.925194263458252,
+          -0.054425567388534546,
+          0.37557080388069153,
+          24.5024471282959
+        ],
+        [
+          -0.37858152389526367,
+          -0.06378679722547531,
+          0.9233673810958862,
+          26.08277130126953
+        ],
+        [
+          -0.02629833109676838,
+          -0.9964783787727356,
+          -0.07961968332529068,
+          -19.519006729125977
+        ],
+        [
+          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": "1731323576_783081531",
+      "mask_path": "../../mask/hdr_left_03144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03145.png",
+      "transform_matrix": [
+        [
+          0.9247850775718689,
+          -0.052501097321510315,
+          0.3768501877784729,
+          24.5672664642334
+        ],
+        [
+          -0.37941303849220276,
+          -0.05278681963682175,
+          0.9237203001976013,
+          26.071237564086914
+        ],
+        [
+          -0.028603605926036835,
+          -0.997224748134613,
+          -0.06873606890439987,
+          -19.530841827392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3145,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_883081197",
+      "mask_path": "../../mask/hdr_left_03145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03146.png",
+      "transform_matrix": [
+        [
+          0.9222177863121033,
+          -0.055010322481393814,
+          0.3827376365661621,
+          24.6595458984375
+        ],
+        [
+          -0.3851284682750702,
+          -0.042360078543424606,
+          0.9218902587890625,
+          26.055015563964844
+        ],
+        [
+          -0.03450068086385727,
+          -0.9975868463516235,
+          -0.060251250863075256,
+          -19.537883758544922
+        ],
+        [
+          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": "1731323576_983080863",
+      "mask_path": "../../mask/hdr_left_03146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03148.png",
+      "transform_matrix": [
+        [
+          0.9130628705024719,
+          -0.05251983553171158,
+          0.40442270040512085,
+          24.765947341918945
+        ],
+        [
+          -0.40604692697525024,
+          -0.024738803505897522,
+          0.9135172367095947,
+          26.040897369384766
+        ],
+        [
+          -0.037972841411828995,
+          -0.9983134269714355,
+          -0.043913599103689194,
+          -19.554719924926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3148,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_183082342",
+      "mask_path": "../../mask/hdr_left_03148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03149.png",
+      "transform_matrix": [
+        [
+          0.9083502888679504,
+          -0.0487954244017601,
+          0.4153536856174469,
+          24.85590934753418
+        ],
+        [
+          -0.4166771173477173,
+          -0.020636234432458878,
+          0.9088203310966492,
+          26.023584365844727
+        ],
+        [
+          -0.03577493131160736,
+          -0.9985955953598022,
+          -0.03907685726881027,
+          -19.561161041259766
+        ],
+        [
+          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": "1731323577_283082485",
+      "mask_path": "../../mask/hdr_left_03149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03150.png",
+      "transform_matrix": [
+        [
+          0.9085065722465515,
+          -0.04989199712872505,
+          0.4148814082145691,
+          24.939512252807617
+        ],
+        [
+          -0.4163472056388855,
+          -0.023376571014523506,
+          0.9089051485061646,
+          26.007904052734375
+        ],
+        [
+          -0.03564857318997383,
+          -0.998481035232544,
+          -0.04201015084981918,
+          -19.565166473388672
+        ],
+        [
+          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": "1731323577_383083105",
+      "mask_path": "../../mask/hdr_left_03150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03151.png",
+      "transform_matrix": [
+        [
+          0.9112411737442017,
+          -0.049778323620557785,
+          0.40885400772094727,
+          24.999656677246094
+        ],
+        [
+          -0.410441130399704,
+          -0.027042988687753677,
+          0.911486029624939,
+          26.003173828125
+        ],
+        [
+          -0.03431560844182968,
+          -0.9983941912651062,
+          -0.04507375508546829,
+          -19.573963165283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3151,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_483082056",
+      "mask_path": "../../mask/hdr_left_03151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03152.png",
+      "transform_matrix": [
+        [
+          0.9131676554679871,
+          -0.046571556478738785,
+          0.4049147069454193,
+          25.051403045654297
+        ],
+        [
+          -0.4063192307949066,
+          -0.025809772312641144,
+          0.9133665561676025,
+          25.991458892822266
+        ],
+        [
+          -0.032086145132780075,
+          -0.9985815286636353,
+          -0.04249155893921852,
+          -19.582637786865234
+        ],
+        [
+          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": "1731323577_583082675",
+      "mask_path": "../../mask/hdr_left_03152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03153.png",
+      "transform_matrix": [
+        [
+          0.9097892045974731,
+          -0.057576682418584824,
+          0.4110576808452606,
+          25.122095108032227
+        ],
+        [
+          -0.41276055574417114,
+          -0.021164221689105034,
+          0.910593569278717,
+          25.96994972229004
+        ],
+        [
+          -0.04372924193739891,
+          -0.9981167316436768,
+          -0.043020352721214294,
+          -19.579641342163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3153,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_683082103",
+      "mask_path": "../../mask/hdr_left_03153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03154.png",
+      "transform_matrix": [
+        [
+          0.9037003517150879,
+          -0.07010981440544128,
+          0.42238643765449524,
+          25.20012092590332
+        ],
+        [
+          -0.4246816337108612,
+          -0.021183930337429047,
+          0.9050948023796082,
+          25.94399642944336
+        ],
+        [
+          -0.054508235305547714,
+          -0.9973143935203552,
+          -0.04891827329993248,
+          -19.57850456237793
+        ],
+        [
+          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": "1731323577_783083438",
+      "mask_path": "../../mask/hdr_left_03154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03155.png",
+      "transform_matrix": [
+        [
+          0.8985454440116882,
+          -0.07014555484056473,
+          0.43323856592178345,
+          25.262216567993164
+        ],
+        [
+          -0.435685932636261,
+          -0.023681391030550003,
+          0.8997870683670044,
+          25.919208526611328
+        ],
+        [
+          -0.05285637080669403,
+          -0.9972556829452515,
+          -0.05184022709727287,
+          -19.586084365844727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3155,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_883081674",
+      "mask_path": "../../mask/hdr_left_03155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03156.png",
+      "transform_matrix": [
+        [
+          0.893804669380188,
+          -0.06820008158683777,
+          0.4432404339313507,
+          25.306684494018555
+        ],
+        [
+          -0.4456591010093689,
+          -0.024853909388184547,
+          0.89485764503479,
+          25.893434524536133
+        ],
+        [
+          -0.05001310631632805,
+          -0.9973620176315308,
+          -0.05260851979255676,
+          -19.59593391418457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3156,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_983082294",
+      "mask_path": "../../mask/hdr_left_03156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03157.png",
+      "transform_matrix": [
+        [
+          0.8903015851974487,
+          -0.05704391375184059,
+          0.4517844021320343,
+          25.417091369628906
+        ],
+        [
+          -0.453685462474823,
+          -0.02581978589296341,
+          0.8907877802848816,
+          25.86297035217285
+        ],
+        [
+          -0.03914904221892357,
+          -0.9980378746986389,
+          -0.04886738210916519,
+          -19.599040985107422
+        ],
+        [
+          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": "1731323578_83082199",
+      "mask_path": "../../mask/hdr_left_03157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03158.png",
+      "transform_matrix": [
+        [
+          0.888769268989563,
+          -0.052141860127449036,
+          0.4553793966770172,
+          25.5247859954834
+        ],
+        [
+          -0.4572397470474243,
+          -0.03159952908754349,
+          0.8887819051742554,
+          25.833484649658203
+        ],
+        [
+          -0.031952958554029465,
+          -0.9981396198272705,
+          -0.05192602425813675,
+          -19.601028442382812
+        ],
+        [
+          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": "1731323578_183082580",
+      "mask_path": "../../mask/hdr_left_03158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03159.png",
+      "transform_matrix": [
+        [
+          0.8881798386573792,
+          -0.05282114818692207,
+          0.45644980669021606,
+          25.587257385253906
+        ],
+        [
+          -0.45859846472740173,
+          -0.03984608128666878,
+          0.8877497911453247,
+          25.807411193847656
+        ],
+        [
+          -0.02870422787964344,
+          -0.9978088140487671,
+          -0.059614185243844986,
+          -19.604543685913086
+        ],
+        [
+          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": "1731323578_283082723",
+      "mask_path": "../../mask/hdr_left_03159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03160.png",
+      "transform_matrix": [
+        [
+          0.886298656463623,
+          -0.057237714529037476,
+          0.45956337451934814,
+          25.672834396362305
+        ],
+        [
+          -0.46168699860572815,
+          -0.03135921433568001,
+          0.8864884376525879,
+          25.76709747314453
+        ],
+        [
+          -0.03632901981472969,
+          -0.997868001461029,
+          -0.05421954020857811,
+          -19.610870361328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3160,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323578_383082151",
+      "mask_path": "../../mask/hdr_left_03160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03161.png",
+      "transform_matrix": [
+        [
+          0.8812061548233032,
+          -0.06758653372526169,
+          0.4678758978843689,
+          25.75960350036621
+        ],
+        [
+          -0.47036442160606384,
+          -0.026419417932629585,
+          0.8820766806602478,
+          25.73430061340332
+        ],
+        [
+          -0.047255486249923706,
+          -0.9973635673522949,
+          -0.05507124960422516,
+          -19.617483139038086
+        ],
+        [
+          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": "1731323578_483082294",
+      "mask_path": "../../mask/hdr_left_03161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03162.png",
+      "transform_matrix": [
+        [
+          0.8752962350845337,
+          -0.0723014697432518,
+          0.4781515598297119,
+          25.828243255615234
+        ],
+        [
+          -0.48098036646842957,
+          -0.02763734571635723,
+          0.8762956857681274,
+          25.709564208984375
+        ],
+        [
+          -0.050142623484134674,
+          -0.9969998002052307,
+          -0.05896645411849022,
+          -19.622106552124023
+        ],
+        [
+          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": "1731323578_583082437",
+      "mask_path": "../../mask/hdr_left_03162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03163.png",
+      "transform_matrix": [
+        [
+          0.8696321845054626,
+          -0.07006535679101944,
+          0.4887029528617859,
+          25.913000106811523
+        ],
+        [
+          -0.49140486121177673,
+          -0.02750621736049652,
+          0.8704966902732849,
+          25.685009002685547
+        ],
+        [
+          -0.0475492924451828,
+          -0.9971631765365601,
+          -0.05835074186325073,
+          -19.64061737060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3163,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323578_683082342",
+      "mask_path": "../../mask/hdr_left_03163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03164.png",
+      "transform_matrix": [
+        [
+          0.8669782876968384,
+          -0.06252779066562653,
+          0.494407594203949,
+          26.024873733520508
+        ],
+        [
+          -0.4968380033969879,
+          -0.03133317083120346,
+          0.8672775030136108,
+          25.6629638671875
+        ],
+        [
+          -0.03873758763074875,
+          -0.9975512623786926,
+          -0.05823136493563652,
+          -19.646364212036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3164,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323578_783082485",
+      "mask_path": "../../mask/hdr_left_03164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03165.png",
+      "transform_matrix": [
+        [
+          0.8691955804824829,
+          -0.056511614471673965,
+          0.49122849106788635,
+          26.12177085876465
+        ],
+        [
+          -0.49351489543914795,
+          -0.0374818854033947,
+          0.8689292669296265,
+          25.641902923583984
+        ],
+        [
+          -0.03069242835044861,
+          -0.9976981282234192,
+          -0.0604684092104435,
+          -19.640535354614258
+        ],
+        [
+          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": "1731323578_883081197",
+      "mask_path": "../../mask/hdr_left_03165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03166.png",
+      "transform_matrix": [
+        [
+          0.8730168342590332,
+          -0.052431024610996246,
+          0.48486337065696716,
+          26.18540382385254
+        ],
+        [
+          -0.4870450496673584,
+          -0.042619042098522186,
+          0.8723364472389221,
+          25.627735137939453
+        ],
+        [
+          -0.02507307566702366,
+          -0.9977147579193115,
+          -0.0627434104681015,
+          -19.63795280456543
+        ],
+        [
+          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": "1731323578_983082056",
+      "mask_path": "../../mask/hdr_left_03166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03167.png",
+      "transform_matrix": [
+        [
+          0.8745716214179993,
+          -0.047618113458156586,
+          0.48255234956741333,
+          26.271175384521484
+        ],
+        [
+          -0.4843764901161194,
+          -0.03973493352532387,
+          0.8739567399024963,
+          25.605487823486328
+        ],
+        [
+          -0.022441985085606575,
+          -0.998075008392334,
+          -0.05781613662838936,
+          -19.645906448364258
+        ],
+        [
+          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": "1731323579_83081722",
+      "mask_path": "../../mask/hdr_left_03167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03168.png",
+      "transform_matrix": [
+        [
+          0.8698367476463318,
+          -0.05581795424222946,
+          0.4901718199253082,
+          26.36273765563965
+        ],
+        [
+          -0.4920118451118469,
+          -0.025302177295088768,
+          0.8702207803726196,
+          25.579307556152344
+        ],
+        [
+          -0.03617152199149132,
+          -0.9981203079223633,
+          -0.04947185143828392,
+          -19.644128799438477
+        ],
+        [
+          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": "1731323579_183082818",
+      "mask_path": "../../mask/hdr_left_03168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03169.png",
+      "transform_matrix": [
+        [
+          0.8636550903320312,
+          -0.06300515681505203,
+          0.5001299977302551,
+          26.4171199798584
+        ],
+        [
+          -0.5019854307174683,
+          -0.017081601545214653,
+          0.864707350730896,
+          25.558244705200195
+        ],
+        [
+          -0.04593798890709877,
+          -0.9978670477867126,
+          -0.04638028144836426,
+          -19.63820457458496
+        ],
+        [
+          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": "1731323579_283082485",
+      "mask_path": "../../mask/hdr_left_03169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03170.png",
+      "transform_matrix": [
+        [
+          0.8585954308509827,
+          -0.05684829130768776,
+          0.5094919204711914,
+          26.474929809570312
+        ],
+        [
+          -0.5109496116638184,
+          -0.013932234607636929,
+          0.8594977259635925,
+          25.541635513305664
+        ],
+        [
+          -0.04176260903477669,
+          -0.998285710811615,
+          -0.04100877046585083,
+          -19.645381927490234
+        ],
+        [
+          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": "1731323579_383081436",
+      "mask_path": "../../mask/hdr_left_03170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03171.png",
+      "transform_matrix": [
+        [
+          0.853646993637085,
+          -0.04287194088101387,
+          0.5190844535827637,
+          26.564836502075195
+        ],
+        [
+          -0.5200172066688538,
+          -0.01375455129891634,
+          0.8540450930595398,
+          25.51806640625
+        ],
+        [
+          -0.029474793002009392,
+          -0.9989858865737915,
+          -0.03403567522764206,
+          -19.648530960083008
+        ],
+        [
+          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": "1731323579_483081579",
+      "mask_path": "../../mask/hdr_left_03171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03172.png",
+      "transform_matrix": [
+        [
+          0.8520405292510986,
+          -0.03573725000023842,
+          0.5222545266151428,
+          26.639745712280273
+        ],
+        [
+          -0.5230443477630615,
+          -0.017620757222175598,
+          0.8521232604980469,
+          25.49077606201172
+        ],
+        [
+          -0.021250026300549507,
+          -0.9992058277130127,
+          -0.03370576724410057,
+          -19.642070770263672
+        ],
+        [
+          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": "1731323579_583081960",
+      "mask_path": "../../mask/hdr_left_03172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03173.png",
+      "transform_matrix": [
+        [
+          0.8516381978988647,
+          -0.03480690345168114,
+          0.5229730606079102,
+          26.71063804626465
+        ],
+        [
+          -0.5238156318664551,
+          -0.02196560613811016,
+          0.851548433303833,
+          25.4730224609375
+        ],
+        [
+          -0.01815234310925007,
+          -0.999152660369873,
+          -0.036939144134521484,
+          -19.639986038208008
+        ],
+        [
+          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": "1731323579_683082103",
+      "mask_path": "../../mask/hdr_left_03173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03174.png",
+      "transform_matrix": [
+        [
+          0.8507901430130005,
+          -0.03229662403464317,
+          0.5245121121406555,
+          26.77170181274414
+        ],
+        [
+          -0.5252885222434998,
+          -0.02359018474817276,
+          0.850597083568573,
+          25.455116271972656
+        ],
+        [
+          -0.01509807538241148,
+          -0.9991999864578247,
+          -0.037035342305898666,
+          -19.648590087890625
+        ],
+        [
+          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": "1731323579_783082008",
+      "mask_path": "../../mask/hdr_left_03174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03175.png",
+      "transform_matrix": [
+        [
+          0.8466607332229614,
+          -0.038209524005651474,
+          0.5307592749595642,
+          26.847312927246094
+        ],
+        [
+          -0.5316175818443298,
+          -0.016850868239998817,
+          0.8468168377876282,
+          25.434396743774414
+        ],
+        [
+          -0.023412708193063736,
+          -0.9991276860237122,
+          -0.03457982465624809,
+          -19.652267456054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3175,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323579_883082628",
+      "mask_path": "../../mask/hdr_left_03175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03176.png",
+      "transform_matrix": [
+        [
+          0.8400202393531799,
+          -0.04217145964503288,
+          0.5409135222434998,
+          26.909759521484375
+        ],
+        [
+          -0.5417400002479553,
+          -0.01057461928576231,
+          0.8404795527458191,
+          25.41053581237793
+        ],
+        [
+          -0.02972429245710373,
+          -0.999054491519928,
+          -0.03172885999083519,
+          -19.646194458007812
+        ],
+        [
+          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": "1731323579_983081817",
+      "mask_path": "../../mask/hdr_left_03176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03178.png",
+      "transform_matrix": [
+        [
+          0.8242799043655396,
+          -0.034798599779605865,
+          0.5651121139526367,
+          27.000694274902344
+        ],
+        [
+          -0.5657015442848206,
+          -0.009488881565630436,
+          0.8245554566383362,
+          25.3593807220459
+        ],
+        [
+          -0.023331094533205032,
+          -0.9993492960929871,
+          -0.0275071132928133,
+          -19.645421981811523
+        ],
+        [
+          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": "1731323580_183082342",
+      "mask_path": "../../mask/hdr_left_03178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03179.png",
+      "transform_matrix": [
+        [
+          0.8200921416282654,
+          -0.03825673460960388,
+          0.5709511041641235,
+          27.081531524658203
+        ],
+        [
+          -0.5717628002166748,
+          -0.014413267374038696,
+          0.8202924132347107,
+          25.32692527770996
+        ],
+        [
+          -0.023152437061071396,
+          -0.9991640448570251,
+          -0.033693987876176834,
+          -19.645898818969727
+        ],
+        [
+          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": "1731323580_283081531",
+      "mask_path": "../../mask/hdr_left_03179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03180.png",
+      "transform_matrix": [
+        [
+          0.8197227716445923,
+          -0.042800672352313995,
+          0.5711589455604553,
+          27.14209747314453
+        ],
+        [
+          -0.5722822546958923,
+          -0.020467165857553482,
+          0.8198011517524719,
+          25.29880714416504
+        ],
+        [
+          -0.023398037999868393,
+          -0.9988740086555481,
+          -0.04127146676182747,
+          -19.648197174072266
+        ],
+        [
+          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": "1731323580_383081436",
+      "mask_path": "../../mask/hdr_left_03180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03181.png",
+      "transform_matrix": [
+        [
+          0.8201153874397278,
+          -0.04470219835639,
+          0.5704492330551147,
+          27.190120697021484
+        ],
+        [
+          -0.5717361569404602,
+          -0.02396952547132969,
+          0.8200872540473938,
+          25.277685165405273
+        ],
+        [
+          -0.022986305877566338,
+          -0.9987128376960754,
+          -0.04521563649177551,
+          -19.652240753173828
+        ],
+        [
+          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": "1731323580_483081579",
+      "mask_path": "../../mask/hdr_left_03181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03182.png",
+      "transform_matrix": [
+        [
+          0.8204882740974426,
+          -0.050086747854948044,
+          0.569464921951294,
+          27.259668350219727
+        ],
+        [
+          -0.5709819793701172,
+          -0.023179909214377403,
+          0.8206352591514587,
+          25.252727508544922
+        ],
+        [
+          -0.02790280617773533,
+          -0.998475968837738,
+          -0.047617461532354355,
+          -19.660690307617188
+        ],
+        [
+          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": "1731323580_583082675",
+      "mask_path": "../../mask/hdr_left_03182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03185.png",
+      "transform_matrix": [
+        [
+          0.8311989903450012,
+          -0.04659005627036095,
+          0.5540194511413574,
+          27.404891967773438
+        ],
+        [
+          -0.5552145838737488,
+          -0.0174590852111578,
+          0.8315238952636719,
+          25.17603302001953
+        ],
+        [
+          -0.029068071395158768,
+          -0.9987615942955017,
+          -0.04037944972515106,
+          -19.658710479736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3185,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323580_883082866",
+      "mask_path": "../../mask/hdr_left_03185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03186.png",
+      "transform_matrix": [
+        [
+          0.8357217311859131,
+          -0.046675439924001694,
+          0.5471659302711487,
+          27.49966049194336
+        ],
+        [
+          -0.5483593940734863,
+          -0.017378689721226692,
+          0.8360621333122253,
+          25.139888763427734
+        ],
+        [
+          -0.029514547437429428,
+          -0.9987589120864868,
+          -0.040118664503097534,
+          -19.67083168029785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3186,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323580_983081340",
+      "mask_path": "../../mask/hdr_left_03186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03187.png",
+      "transform_matrix": [
+        [
+          0.8433642983436584,
+          -0.050919827073812485,
+          0.5349240899085999,
+          27.592735290527344
+        ],
+        [
+          -0.5364291071891785,
+          -0.02177303098142147,
+          0.8436644673347473,
+          25.102783203125
+        ],
+        [
+          -0.03131232410669327,
+          -0.9984654188156128,
+          -0.045677464455366135,
+          -19.67909049987793
+        ],
+        [
+          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": "1731323581_83079814",
+      "mask_path": "../../mask/hdr_left_03187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03188.png",
+      "transform_matrix": [
+        [
+          0.8556565642356873,
+          -0.053219083696603775,
+          0.514800488948822,
+          27.661035537719727
+        ],
+        [
+          -0.516420841217041,
+          -0.02229839190840721,
+          0.856044590473175,
+          25.07736587524414
+        ],
+        [
+          -0.034078676253557205,
+          -0.9983338713645935,
+          -0.04656320810317993,
+          -19.680442810058594
+        ],
+        [
+          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": "1731323581_183082818",
+      "mask_path": "../../mask/hdr_left_03188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03189.png",
+      "transform_matrix": [
+        [
+          0.8692777156829834,
+          -0.05442064628005028,
+          0.4913192391395569,
+          27.743282318115234
+        ],
+        [
+          -0.49257856607437134,
+          -0.011911921203136444,
+          0.8701863884925842,
+          25.06118392944336
+        ],
+        [
+          -0.04150354862213135,
+          -0.9984471201896667,
+          -0.0371612086892128,
+          -19.69925308227539
+        ],
+        [
+          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": "1731323581_283081293",
+      "mask_path": "../../mask/hdr_left_03189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03190.png",
+      "transform_matrix": [
+        [
+          0.8783811330795288,
+          -0.058238040655851364,
+          0.474399596452713,
+          27.82889175415039
+        ],
+        [
+          -0.4754579961299896,
+          -0.005023843143135309,
+          0.8797240853309631,
+          25.03652572631836
+        ],
+        [
+          -0.04885009303689003,
+          -0.9982901215553284,
+          -0.032102588564157486,
+          -19.71000862121582
+        ],
+        [
+          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": "1731323581_383082628",
+      "mask_path": "../../mask/hdr_left_03190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03193.png",
+      "transform_matrix": [
+        [
+          0.8751044273376465,
+          -0.06961161643266678,
+          0.47890129685401917,
+          28.009544372558594
+        ],
+        [
+          -0.47914519906044006,
+          0.014240768738090992,
+          0.8776201605796814,
+          24.984827041625977
+        ],
+        [
+          -0.06791247427463531,
+          -0.9974725842475891,
+          -0.020891912281513214,
+          -19.741981506347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3193,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323581_683080673",
+      "mask_path": "../../mask/hdr_left_03193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03194.png",
+      "transform_matrix": [
+        [
+          0.8709473013877869,
+          -0.08892673254013062,
+          0.4832627475261688,
+          28.09467887878418
+        ],
+        [
+          -0.48398053646087646,
+          0.014746365137398243,
+          0.8749545216560364,
+          24.960941314697266
+        ],
+        [
+          -0.08493321388959885,
+          -0.9959290623664856,
+          -0.03019550070166588,
+          -19.768457412719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3194,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323581_783083200",
+      "mask_path": "../../mask/hdr_left_03194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03195.png",
+      "transform_matrix": [
+        [
+          0.8685022592544556,
+          -0.10055340081453323,
+          0.4853791892528534,
+          28.153444290161133
+        ],
+        [
+          -0.4863750636577606,
+          0.016021324321627617,
+          0.8736032247543335,
+          24.945302963256836
+        ],
+        [
+          -0.09562018513679504,
+          -0.9948026537895203,
+          -0.03499210625886917,
+          -19.78650665283203
+        ],
+        [
+          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": "1731323581_883081912",
+      "mask_path": "../../mask/hdr_left_03195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03196.png",
+      "transform_matrix": [
+        [
+          0.8663772940635681,
+          -0.10568796843290329,
+          0.48807820677757263,
+          28.22555923461914
+        ],
+        [
+          -0.48891299962997437,
+          0.01963772438466549,
+          0.8721114993095398,
+          24.920583724975586
+        ],
+        [
+          -0.10175642371177673,
+          -0.9942054748535156,
+          -0.034658536314964294,
+          -19.806716918945312
+        ],
+        [
+          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": "1731323581_983081817",
+      "mask_path": "../../mask/hdr_left_03196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03197.png",
+      "transform_matrix": [
+        [
+          0.8625567555427551,
+          -0.11739547550678253,
+          0.49215245246887207,
+          28.31441879272461
+        ],
+        [
+          -0.4922795593738556,
+          0.029943211004137993,
+          0.8699219226837158,
+          24.890310287475586
+        ],
+        [
+          -0.11686152964830399,
+          -0.9926337599754333,
+          -0.03196367248892784,
+          -19.82415008544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3197,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323582_83082437",
+      "mask_path": "../../mask/hdr_left_03197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03198.png",
+      "transform_matrix": [
+        [
+          0.857848584651947,
+          -0.127906933426857,
+          0.4977303445339203,
+          28.384397506713867
+        ],
+        [
+          -0.49710196256637573,
+          0.03909039497375488,
+          0.8668111562728882,
+          24.86518669128418
+        ],
+        [
+          -0.13032762706279755,
+          -0.9910155534744263,
+          -0.030049148947000504,
+          -19.837587356567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3198,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323582_183082103",
+      "mask_path": "../../mask/hdr_left_03198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03199.png",
+      "transform_matrix": [
+        [
+          0.8521272540092468,
+          -0.12918522953987122,
+          0.5071393847465515,
+          28.4386043548584
+        ],
+        [
+          -0.5059924721717834,
+          0.044021062552928925,
+          0.8614137768745422,
+          24.83926010131836
+        ],
+        [
+          -0.13360674679279327,
+          -0.9906430244445801,
+          -0.027855198830366135,
+          -19.851015090942383
+        ],
+        [
+          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": "1731323582_283080577",
+      "mask_path": "../../mask/hdr_left_03199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06842.png",
+      "transform_matrix": [
+        [
+          -0.9091821312904358,
+          -0.1394020915031433,
+          -0.3923707902431488,
+          28.9996337890625
+        ],
+        [
+          0.39748311042785645,
+          -0.009768894873559475,
+          -0.9175574779510498,
+          25.16391372680664
+        ],
+        [
+          0.12407639622688293,
+          -0.9901877045631409,
+          0.06429168581962585,
+          -19.979768753051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6842,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_583080768",
+      "mask_path": "../../mask/hdr_left_06842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06843.png",
+      "transform_matrix": [
+        [
+          -0.9063912630081177,
+          -0.14502599835395813,
+          -0.3967646062374115,
+          28.92754364013672
+        ],
+        [
+          0.4028293788433075,
+          -0.013888164423406124,
+          -0.9151697158813477,
+          25.185415267944336
+        ],
+        [
+          0.12721304595470428,
+          -0.9893304109573364,
+          0.0710088387131691,
+          -19.972333908081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6843,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_683082103",
+      "mask_path": "../../mask/hdr_left_06843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06844.png",
+      "transform_matrix": [
+        [
+          -0.9067985415458679,
+          -0.13747429847717285,
+          -0.39851856231689453,
+          28.835107803344727
+        ],
+        [
+          0.4039566218852997,
+          -0.013006859458982944,
+          -0.9146856069564819,
+          25.203676223754883
+        ],
+        [
+          0.12056229263544083,
+          -0.9904199242591858,
+          0.06732825934886932,
+          -19.954484939575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6844,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_783082723",
+      "mask_path": "../../mask/hdr_left_06844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06845.png",
+      "transform_matrix": [
+        [
+          -0.908776044845581,
+          -0.13027560710906982,
+          -0.3964267373085022,
+          28.749887466430664
+        ],
+        [
+          0.4009065628051758,
+          -0.009041784331202507,
+          -0.916074275970459,
+          25.21535873413086
+        ],
+        [
+          0.11575772613286972,
+          -0.9914366006851196,
+          0.06044530123472214,
+          -19.942169189453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6845,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_883081912",
+      "mask_path": "../../mask/hdr_left_06845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06846.png",
+      "transform_matrix": [
+        [
+          -0.9094771146774292,
+          -0.1320418268442154,
+          -0.3942286968231201,
+          28.677030563354492
+        ],
+        [
+          0.3983615040779114,
+          -0.005370267666876316,
+          -0.917212724685669,
+          25.221515655517578
+        ],
+        [
+          0.11899329721927643,
+          -0.9912296533584595,
+          0.05748450756072998,
+          -19.9282169342041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6846,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_983081817",
+      "mask_path": "../../mask/hdr_left_06846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06847.png",
+      "transform_matrix": [
+        [
+          -0.909797728061676,
+          -0.13381357491016388,
+          -0.39288923144340515,
+          28.61089515686035
+        ],
+        [
+          0.39702966809272766,
+          -0.004673137329518795,
+          -0.9177938103675842,
+          25.22577476501465
+        ],
+        [
+          0.12097721546888351,
+          -0.9909955263137817,
+          0.05737955868244171,
+          -19.916114807128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6847,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_83081960",
+      "mask_path": "../../mask/hdr_left_06847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06848.png",
+      "transform_matrix": [
+        [
+          -0.9085059762001038,
+          -0.13703030347824097,
+          -0.3947649896144867,
+          28.54337501525879
+        ],
+        [
+          0.3998555541038513,
+          -0.010674606077373028,
+          -0.9165160655975342,
+          25.23134422302246
+        ],
+        [
+          0.12137649208307266,
+          -0.9905093908309937,
+          0.06449027359485626,
+          -19.909664154052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6848,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_183080434",
+      "mask_path": "../../mask/hdr_left_06848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06849.png",
+      "transform_matrix": [
+        [
+          -0.9077961444854736,
+          -0.14141198992729187,
+          -0.39485281705856323,
+          28.465993881225586
+        ],
+        [
+          0.4009929299354553,
+          -0.01670866832137108,
+          -0.9159287810325623,
+          25.23704719543457
+        ],
+        [
+          0.12292584031820297,
+          -0.9898098707199097,
+          0.0718732699751854,
+          -19.894519805908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6849,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_283080577",
+      "mask_path": "../../mask/hdr_left_06849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06850.png",
+      "transform_matrix": [
+        [
+          -0.9124637842178345,
+          -0.14063076674938202,
+          -0.38422998785972595,
+          28.37643814086914
+        ],
+        [
+          0.39047423005104065,
+          -0.01877042092382908,
+          -0.9204224348068237,
+          25.248050689697266
+        ],
+        [
+          0.12222756445407867,
+          -0.9898841977119446,
+          0.07204002141952515,
+          -19.8815975189209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6850,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_383081436",
+      "mask_path": "../../mask/hdr_left_06850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06851.png",
+      "transform_matrix": [
+        [
+          -0.9217242002487183,
+          -0.13646849989891052,
+          -0.363043874502182,
+          28.282506942749023
+        ],
+        [
+          0.3684580624103546,
+          -0.015858065336942673,
+          -0.9295091032981873,
+          25.2473201751709
+        ],
+        [
+          0.12109153717756271,
+          -0.9905174970626831,
+          0.06489967554807663,
+          -19.876998901367188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6851,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_483084201",
+      "mask_path": "../../mask/hdr_left_06851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06852.png",
+      "transform_matrix": [
+        [
+          -0.9300637245178223,
+          -0.13175196945667267,
+          -0.34296196699142456,
+          28.208972930908203
+        ],
+        [
+          0.3476959764957428,
+          -0.014056036248803139,
+          -0.9375019669532776,
+          25.250062942504883
+        ],
+        [
+          0.11869704723358154,
+          -0.9911830425262451,
+          0.05888264253735542,
+          -19.876972198486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6852,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_583082914",
+      "mask_path": "../../mask/hdr_left_06852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06853.png",
+      "transform_matrix": [
+        [
+          -0.9352815747261047,
+          -0.13151153922080994,
+          -0.328561931848526,
+          28.13764762878418
+        ],
+        [
+          0.3332363963127136,
+          -0.014635954983532429,
+          -0.942729651927948,
+          25.25948715209961
+        ],
+        [
+          0.11917100846767426,
+          -0.9912066459655762,
+          0.057513173669576645,
+          -19.87193489074707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6853,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_683081865",
+      "mask_path": "../../mask/hdr_left_06853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06854.png",
+      "transform_matrix": [
+        [
+          -0.9375283718109131,
+          -0.13841116428375244,
+          -0.3191908895969391,
+          28.057029724121094
+        ],
+        [
+          0.323650985956192,
+          -0.01039853598922491,
+          -0.9461194276809692,
+          25.27372932434082
+        ],
+        [
+          0.12763434648513794,
+          -0.9903203845024109,
+          0.05454582720994949,
+          -19.83505630493164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6854,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_783082723",
+      "mask_path": "../../mask/hdr_left_06854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06855.png",
+      "transform_matrix": [
+        [
+          -0.934719443321228,
+          -0.15120923519134521,
+          -0.3216134011745453,
+          27.9778995513916
+        ],
+        [
+          0.32628896832466125,
+          -0.006509632803499699,
+          -0.9452476501464844,
+          25.295879364013672
+        ],
+        [
+          0.14083658158779144,
+          -0.9884803891181946,
+          0.0554225817322731,
+          -19.799142837524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6855,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_883081197",
+      "mask_path": "../../mask/hdr_left_06855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06856.png",
+      "transform_matrix": [
+        [
+          -0.9320856332778931,
+          -0.162544846534729,
+          -0.32372140884399414,
+          27.917667388916016
+        ],
+        [
+          0.3296777009963989,
+          -0.01035376638174057,
+          -0.9440367221832275,
+          25.305692672729492
+        ],
+        [
+          0.15009655058383942,
+          -0.9866468906402588,
+          0.06323800981044769,
+          -19.776735305786133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6856,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_983082294",
+      "mask_path": "../../mask/hdr_left_06856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06857.png",
+      "transform_matrix": [
+        [
+          -0.9315471649169922,
+          -0.1683814376592636,
+          -0.3222848176956177,
+          27.85802459716797
+        ],
+        [
+          0.32924729585647583,
+          -0.014428677037358284,
+          -0.944133460521698,
+          25.31123924255371
+        ],
+        [
+          0.15432441234588623,
+          -0.9856163263320923,
+          0.06888013333082199,
+          -19.764305114746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6857,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_83081722",
+      "mask_path": "../../mask/hdr_left_06857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06858.png",
+      "transform_matrix": [
+        [
+          -0.9346919059753418,
+          -0.16704435646533966,
+          -0.313762903213501,
+          27.77172088623047
+        ],
+        [
+          0.3207494020462036,
+          -0.015917321667075157,
+          -0.9470303654670715,
+          25.313411712646484
+        ],
+        [
+          0.15320177376270294,
+          -0.9858209490776062,
+          0.06845716387033463,
+          -19.7501277923584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6858,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_183081388",
+      "mask_path": "../../mask/hdr_left_06858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06859.png",
+      "transform_matrix": [
+        [
+          -0.938912034034729,
+          -0.16478917002677917,
+          -0.30214011669158936,
+          27.700157165527344
+        ],
+        [
+          0.30921632051467896,
+          -0.018499871715903282,
+          -0.9508116841316223,
+          25.305566787719727
+        ],
+        [
+          0.15109390020370483,
+          -0.9861553311347961,
+          0.06832525134086609,
+          -19.733200073242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6859,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_283081054",
+      "mask_path": "../../mask/hdr_left_06859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06860.png",
+      "transform_matrix": [
+        [
+          -0.9432111382484436,
+          -0.15983837842941284,
+          -0.2912118434906006,
+          27.632402420043945
+        ],
+        [
+          0.29812198877334595,
+          -0.020562801510095596,
+          -0.9543062448501587,
+          25.297163009643555
+        ],
+        [
+          0.1465466171503067,
+          -0.9869290590286255,
+          0.0670463964343071,
+          -19.728267669677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6860,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_383081197",
+      "mask_path": "../../mask/hdr_left_06860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06861.png",
+      "transform_matrix": [
+        [
+          -0.9462406039237976,
+          -0.15902520716190338,
+          -0.2816731631755829,
+          27.542362213134766
+        ],
+        [
+          0.2889154851436615,
+          -0.023938270285725594,
+          -0.9570552706718445,
+          25.2903995513916
+        ],
+        [
+          0.14545312523841858,
+          -0.9869843125343323,
+          0.06859621405601501,
+          -19.71294403076172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6861,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_483082056",
+      "mask_path": "../../mask/hdr_left_06861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06862.png",
+      "transform_matrix": [
+        [
+          -0.9472826719284058,
+          -0.16407424211502075,
+          -0.2752000689506531,
+          27.456876754760742
+        ],
+        [
+          0.28375324606895447,
+          -0.030726434662938118,
+          -0.9584049582481384,
+          25.28524398803711
+        ],
+        [
+          0.14879363775253296,
+          -0.9859693050384521,
+          0.07566320896148682,
+          -19.681102752685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6862,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_583082199",
+      "mask_path": "../../mask/hdr_left_06862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06863.png",
+      "transform_matrix": [
+        [
+          -0.9472883343696594,
+          -0.1620127558708191,
+          -0.27639955282211304,
+          27.362321853637695
+        ],
+        [
+          0.2845008671283722,
+          -0.028672564774751663,
+          -0.9582468867301941,
+          25.29127311706543
+        ],
+        [
+          0.1473231166601181,
+          -0.9863719940185547,
+          0.07325395196676254,
+          -19.667715072631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6863,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_683082342",
+      "mask_path": "../../mask/hdr_left_06863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06864.png",
+      "transform_matrix": [
+        [
+          -0.9507255554199219,
+          -0.13274727761745453,
+          -0.28017693758010864,
+          27.27334976196289
+        ],
+        [
+          0.28520646691322327,
+          -0.02013024128973484,
+          -0.9582546353340149,
+          25.29750633239746
+        ],
+        [
+          0.12156566977500916,
+          -0.9909454584121704,
+          0.05699872225522995,
+          -19.66400718688965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6864,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_783081769",
+      "mask_path": "../../mask/hdr_left_06864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06865.png",
+      "transform_matrix": [
+        [
+          -0.9543682932853699,
+          -0.11167564243078232,
+          -0.2769651710987091,
+          27.19718360900879
+        ],
+        [
+          0.280402272939682,
+          -0.01602932997047901,
+          -0.9597487449645996,
+          25.2950496673584
+        ],
+        [
+          0.10274098813533783,
+          -0.993615448474884,
+          0.04661199077963829,
+          -19.65175437927246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6865,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_883081912",
+      "mask_path": "../../mask/hdr_left_06865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06866.png",
+      "transform_matrix": [
+        [
+          -0.955077588558197,
+          -0.11100136488676071,
+          -0.27478253841400146,
+          27.127155303955078
+        ],
+        [
+          0.2779819667339325,
+          -0.014149737544357777,
+          -0.960482120513916,
+          25.28814125061035
+        ],
+        [
+          0.10272671282291412,
+          -0.9937195777893066,
+          0.04437047615647316,
+          -19.6373291015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6866,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_983082532",
+      "mask_path": "../../mask/hdr_left_06866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06867.png",
+      "transform_matrix": [
+        [
+          -0.9549376368522644,
+          -0.09920994937419891,
+          -0.27973437309265137,
+          27.048236846923828
+        ],
+        [
+          0.2836586833000183,
+          -0.027654103934764862,
+          -0.9585264921188354,
+          25.2908878326416
+        ],
+        [
+          0.08735954016447067,
+          -0.9946821928024292,
+          0.05454970896244049,
+          -19.640356063842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6867,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_83082199",
+      "mask_path": "../../mask/hdr_left_06867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06868.png",
+      "transform_matrix": [
+        [
+          -0.9527742862701416,
+          -0.08764934539794922,
+          -0.29075515270233154,
+          26.980581283569336
+        ],
+        [
+          0.29486778378486633,
+          -0.03805205598473549,
+          -0.9547800421714783,
+          25.296342849731445
+        ],
+        [
+          0.07262200117111206,
+          -0.9954244494438171,
+          0.06209998205304146,
+          -19.6412410736084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6868,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_183082580",
+      "mask_path": "../../mask/hdr_left_06868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06869.png",
+      "transform_matrix": [
+        [
+          -0.94952791929245,
+          -0.08727286010980606,
+          -0.3012971580028534,
+          26.914113998413086
+        ],
+        [
+          0.30557185411453247,
+          -0.04034311696887016,
+          -0.9513139128684998,
+          25.300537109375
+        ],
+        [
+          0.07086862623691559,
+          -0.9953672885894775,
+          0.06497505307197571,
+          -19.625293731689453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6869,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_283082962",
+      "mask_path": "../../mask/hdr_left_06869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06870.png",
+      "transform_matrix": [
+        [
+          -0.9468910098075867,
+          -0.08373510092496872,
+          -0.3104606866836548,
+          26.81311798095703
+        ],
+        [
+          0.31461411714553833,
+          -0.0417376272380352,
+          -0.9483016133308411,
+          25.31732940673828
+        ],
+        [
+          0.06644823402166367,
+          -0.9956136345863342,
+          0.06586522608995438,
+          -19.615795135498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6870,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_383082628",
+      "mask_path": "../../mask/hdr_left_06870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06871.png",
+      "transform_matrix": [
+        [
+          -0.9470273852348328,
+          -0.07127374410629272,
+          -0.3131440281867981,
+          26.715375900268555
+        ],
+        [
+          0.31632354855537415,
+          -0.03855538368225098,
+          -0.9478676319122314,
+          25.32973289489746
+        ],
+        [
+          0.05548468232154846,
+          -0.9967114329338074,
+          0.05905856564640999,
+          -19.614322662353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6871,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_483082294",
+      "mask_path": "../../mask/hdr_left_06871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06872.png",
+      "transform_matrix": [
+        [
+          -0.9483660459518433,
+          -0.06078352779150009,
+          -0.31129929423332214,
+          26.652189254760742
+        ],
+        [
+          0.31374844908714294,
+          -0.03583811596035957,
+          -0.9488295316696167,
+          25.326417922973633
+        ],
+        [
+          0.046516820788383484,
+          -0.9975073933601379,
+          0.05305838584899902,
+          -19.6130428314209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6872,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_583081960",
+      "mask_path": "../../mask/hdr_left_06872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06873.png",
+      "transform_matrix": [
+        [
+          -0.9491676688194275,
+          -0.05406219884753227,
+          -0.31009334325790405,
+          26.58111000061035
+        ],
+        [
+          0.3121853470802307,
+          -0.035676803439855576,
+          -0.9493511319160461,
+          25.331642150878906
+        ],
+        [
+          0.040260862559080124,
+          -0.9979000091552734,
+          0.050740692764520645,
+          -19.614442825317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6873,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_683081865",
+      "mask_path": "../../mask/hdr_left_06873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06874.png",
+      "transform_matrix": [
+        [
+          -0.9480745196342468,
+          -0.04931460693478584,
+          -0.31420156359672546,
+          26.495698928833008
+        ],
+        [
+          0.3159845769405365,
+          -0.033697858452796936,
+          -0.9481657147407532,
+          25.348726272583008
+        ],
+        [
+          0.03617049753665924,
+          -0.9982146620750427,
+          0.04753074049949646,
+          -19.612323760986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6874,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_783082008",
+      "mask_path": "../../mask/hdr_left_06874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06875.png",
+      "transform_matrix": [
+        [
+          -0.9444624185562134,
+          -0.04823196306824684,
+          -0.3250606060028076,
+          26.40283203125
+        ],
+        [
+          0.32675695419311523,
+          -0.032670777291059494,
+          -0.9445435404777527,
+          25.373485565185547
+        ],
+        [
+          0.03493720293045044,
+          -0.9983017444610596,
+          0.04661644995212555,
+          -19.60248565673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6875,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_883082151",
+      "mask_path": "../../mask/hdr_left_06875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06876.png",
+      "transform_matrix": [
+        [
+          -0.9395933151245117,
+          -0.049352407455444336,
+          -0.3387162983417511,
+          26.33146858215332
+        ],
+        [
+          0.3405725359916687,
+          -0.035705093294382095,
+          -0.9395400285720825,
+          25.38313865661621
+        ],
+        [
+          0.034274667501449585,
+          -0.9981430768966675,
+          0.050356339663267136,
+          -19.5913143157959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6876,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_983081817",
+      "mask_path": "../../mask/hdr_left_06876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06877.png",
+      "transform_matrix": [
+        [
+          -0.9351032972335815,
+          -0.05051793158054352,
+          -0.35075581073760986,
+          26.2606143951416
+        ],
+        [
+          0.3526453375816345,
+          -0.03497692197561264,
+          -0.9351030588150024,
+          25.385229110717773
+        ],
+        [
+          0.03497111424803734,
+          -0.9981105923652649,
+          0.05052194744348526,
+          -19.586502075195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6877,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_83082914",
+      "mask_path": "../../mask/hdr_left_06877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06878.png",
+      "transform_matrix": [
+        [
+          -0.9343414902687073,
+          -0.046161774545907974,
+          -0.353376567363739,
+          26.17815399169922
+        ],
+        [
+          0.35481005907058716,
+          -0.02755311131477356,
+          -0.9345322847366333,
+          25.380523681640625
+        ],
+        [
+          0.03340304270386696,
+          -0.998553991317749,
+          0.042122676968574524,
+          -19.583946228027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6878,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_183082342",
+      "mask_path": "../../mask/hdr_left_06878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06879.png",
+      "transform_matrix": [
+        [
+          -0.935717761516571,
+          -0.04115356132388115,
+          -0.3503407835960388,
+          26.092201232910156
+        ],
+        [
+          0.3513883054256439,
+          -0.021574385464191437,
+          -0.9359812140464783,
+          25.387157440185547
+        ],
+        [
+          0.03096056915819645,
+          -0.9989199638366699,
+          0.03464841842651367,
+          -19.583324432373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6879,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_283082246",
+      "mask_path": "../../mask/hdr_left_06879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06880.png",
+      "transform_matrix": [
+        [
+          -0.9363331198692322,
+          -0.03897399455308914,
+          -0.3489428758621216,
+          25.99185562133789
+        ],
+        [
+          0.3498850166797638,
+          -0.020536869764328003,
+          -0.9365674257278442,
+          25.417409896850586
+        ],
+        [
+          0.02933557890355587,
+          -0.9990292191505432,
+          0.032865770161151886,
+          -19.593210220336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6880,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_383081912",
+      "mask_path": "../../mask/hdr_left_06880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06881.png",
+      "transform_matrix": [
+        [
+          -0.9339009523391724,
+          -0.03833789750933647,
+          -0.3554703891277313,
+          25.891206741333008
+        ],
+        [
+          0.35636258125305176,
+          -0.01947188749909401,
+          -0.9341448545455933,
+          25.43998908996582
+        ],
+        [
+          0.02889147214591503,
+          -0.9990751147270203,
+          0.03184700757265091,
+          -19.575836181640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6881,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_483081340",
+      "mask_path": "../../mask/hdr_left_06881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06882.png",
+      "transform_matrix": [
+        [
+          -0.9298173189163208,
+          -0.03925519064068794,
+          -0.3659217357635498,
+          25.827743530273438
+        ],
+        [
+          0.3668361306190491,
+          -0.01912810653448105,
+          -0.9300888776779175,
+          25.4599609375
+        ],
+        [
+          0.029511427506804466,
+          -0.9990461468696594,
+          0.0321858711540699,
+          -19.566452026367188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6882,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_583081960",
+      "mask_path": "../../mask/hdr_left_06882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06883.png",
+      "transform_matrix": [
+        [
+          -0.9260348081588745,
+          -0.04263422638177872,
+          -0.37502264976501465,
+          25.758594512939453
+        ],
+        [
+          0.3760712444782257,
+          -0.01973455213010311,
+          -0.9263805747032166,
+          25.483783721923828
+        ],
+        [
+          0.03209461271762848,
+          -0.9988958835601807,
+          0.03430838882923126,
+          -19.571996688842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6883,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_683082103",
+      "mask_path": "../../mask/hdr_left_06883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06884.png",
+      "transform_matrix": [
+        [
+          -0.9241098165512085,
+          -0.039617352187633514,
+          -0.38006770610809326,
+          25.66689109802246
+        ],
+        [
+          0.3808506429195404,
+          -0.014265153557062149,
+          -0.9245264530181885,
+          25.504467010498047
+        ],
+        [
+          0.031205570325255394,
+          -0.999113142490387,
+          0.028270864859223366,
+          -19.56882095336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6884,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_783082008",
+      "mask_path": "../../mask/hdr_left_06884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06885.png",
+      "transform_matrix": [
+        [
+          -0.9239600896835327,
+          -0.03366653993725777,
+          -0.38100433349609375,
+          25.58573341369629
+        ],
+        [
+          0.38128724694252014,
+          -0.0021748682484030724,
+          -0.9244539737701416,
+          25.522790908813477
+        ],
+        [
+          0.03029453568160534,
+          -0.9994308352470398,
+          0.014846117235720158,
+          -19.569774627685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6885,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_883081912",
+      "mask_path": "../../mask/hdr_left_06885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06886.png",
+      "transform_matrix": [
+        [
+          -0.9243404269218445,
+          -0.03175634518265724,
+          -0.3802448511123657,
+          25.511594772338867
+        ],
+        [
+          0.380192369222641,
+          0.007911303080618382,
+          -0.9248736500740051,
+          25.535173416137695
+        ],
+        [
+          0.03237883374094963,
+          -0.9994643330574036,
+          0.004760780371725559,
+          -19.5670166015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6886,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_983082056",
+      "mask_path": "../../mask/hdr_left_06886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06887.png",
+      "transform_matrix": [
+        [
+          -0.9241513609886169,
+          -0.030978787690401077,
+          -0.3807685077190399,
+          25.43355369567871
+        ],
+        [
+          0.3806368112564087,
+          0.010272826068103313,
+          -0.9246675372123718,
+          25.553701400756836
+        ],
+        [
+          0.03255663812160492,
+          -0.9994672536849976,
+          0.00229802168905735,
+          -19.5673828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6887,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_83081960",
+      "mask_path": "../../mask/hdr_left_06887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06888.png",
+      "transform_matrix": [
+        [
+          -0.921666145324707,
+          -0.02728566713631153,
+          -0.38702329993247986,
+          25.33542823791504
+        ],
+        [
+          0.3869030475616455,
+          0.009770662523806095,
+          -0.9220686554908752,
+          25.581642150878906
+        ],
+        [
+          0.028940729796886444,
+          -0.9995799660682678,
+          0.0015516222920268774,
+          -19.555463790893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6888,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_183082103",
+      "mask_path": "../../mask/hdr_left_06888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06889.png",
+      "transform_matrix": [
+        [
+          -0.9174119830131531,
+          -0.026238175109028816,
+          -0.39707258343696594,
+          25.261167526245117
+        ],
+        [
+          0.3970332145690918,
+          0.0069170682691037655,
+          -0.9177781343460083,
+          25.60206413269043
+        ],
+        [
+          0.02682740055024624,
+          -0.9996318221092224,
+          0.004071627743542194,
+          -19.547325134277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6889,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_283081531",
+      "mask_path": "../../mask/hdr_left_06889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06890.png",
+      "transform_matrix": [
+        [
+          -0.9127360582351685,
+          -0.031808607280254364,
+          -0.4073094129562378,
+          25.207433700561523
+        ],
+        [
+          0.40738895535469055,
+          0.004232992883771658,
+          -0.9132450222969055,
+          25.61566734313965
+        ],
+        [
+          0.030773188918828964,
+          -0.9994850158691406,
+          0.009094871580600739,
+          -19.553131103515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6890,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_383081674",
+      "mask_path": "../../mask/hdr_left_06890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06891.png",
+      "transform_matrix": [
+        [
+          -0.9111217260360718,
+          -0.03030974417924881,
+          -0.41102123260498047,
+          25.116487503051758
+        ],
+        [
+          0.4109969437122345,
+          0.0073157018050551414,
+          -0.9116073250770569,
+          25.633350372314453
+        ],
+        [
+          0.03063748963177204,
+          -0.9995138645172119,
+          0.0057917204685509205,
+          -19.551532745361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6891,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_483081817",
+      "mask_path": "../../mask/hdr_left_06891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06892.png",
+      "transform_matrix": [
+        [
+          -0.912490963935852,
+          -0.02737494558095932,
+          -0.40817996859550476,
+          25.020097732543945
+        ],
+        [
+          0.40797296166419983,
+          0.013016952201724052,
+          -0.9129012227058411,
+          25.64635467529297
+        ],
+        [
+          0.03030387870967388,
+          -0.9995405077934265,
+          -0.0007096122135408223,
+          -19.548751831054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6892,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_583081245",
+      "mask_path": "../../mask/hdr_left_06892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06893.png",
+      "transform_matrix": [
+        [
+          -0.9139382243156433,
+          -0.02972656860947609,
+          -0.4047631323337555,
+          24.94456672668457
+        ],
+        [
+          0.4044933617115021,
+          0.014857117086648941,
+          -0.9144202470779419,
+          25.65062713623047
+        ],
+        [
+          0.033196188509464264,
+          -0.9994477033615112,
+          -0.0015542869223281741,
+          -19.54336929321289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6893,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_683080434",
+      "mask_path": "../../mask/hdr_left_06893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06894.png",
+      "transform_matrix": [
+        [
+          -0.9138604998588562,
+          -0.031194409355521202,
+          -0.40482819080352783,
+          24.86264991760254
+        ],
+        [
+          0.40472060441970825,
+          0.009970646351575851,
+          -0.9143860340118408,
+          25.663082122802734
+        ],
+        [
+          0.03256013244390488,
+          -0.9994636178016663,
+          0.0035132435150444508,
+          -19.54338836669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6894,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_783082962",
+      "mask_path": "../../mask/hdr_left_06894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06895.png",
+      "transform_matrix": [
+        [
+          -0.9101067185401917,
+          -0.029250651597976685,
+          -0.41334015130996704,
+          24.78334617614746
+        ],
+        [
+          0.41338011622428894,
+          0.0049514202401041985,
+          -0.9105451107025146,
+          25.683218002319336
+        ],
+        [
+          0.028680652379989624,
+          -0.9995598793029785,
+          0.007585318759083748,
+          -19.5321044921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6895,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_883081912",
+      "mask_path": "../../mask/hdr_left_06895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06896.png",
+      "transform_matrix": [
+        [
+          -0.9046533107757568,
+          -0.029012486338615417,
+          -0.4251595139503479,
+          24.71221351623535
+        ],
+        [
+          0.42529210448265076,
+          0.0017426284030079842,
+          -0.90505450963974,
+          25.704240798950195
+        ],
+        [
+          0.026998773217201233,
+          -0.999577522277832,
+          0.010762307792901993,
+          -19.521778106689453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6896,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_983080863",
+      "mask_path": "../../mask/hdr_left_06896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06897.png",
+      "transform_matrix": [
+        [
+          -0.8989248275756836,
+          -0.032913606613874435,
+          -0.4368647634983063,
+          24.644298553466797
+        ],
+        [
+          0.4371749460697174,
+          -0.002523485105484724,
+          -0.899372935295105,
+          25.724416732788086
+        ],
+        [
+          0.02849918231368065,
+          -0.9994550347328186,
+          0.016657428815960884,
+          -19.51940155029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6897,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_83081722",
+      "mask_path": "../../mask/hdr_left_06897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06898.png",
+      "transform_matrix": [
+        [
+          -0.8945960402488708,
+          -0.0329512357711792,
+          -0.44565925002098083,
+          24.53778839111328
+        ],
+        [
+          0.44581231474876404,
+          0.0029540639370679855,
+          -0.895121693611145,
+          25.751461029052734
+        ],
+        [
+          0.030811870470643044,
+          -0.9994526505470276,
+          0.01204737275838852,
+          -19.515735626220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6898,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_183082103",
+      "mask_path": "../../mask/hdr_left_06898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06899.png",
+      "transform_matrix": [
+        [
+          -0.8943275213241577,
+          -0.029110880568623543,
+          -0.4464647173881531,
+          24.42253875732422
+        ],
+        [
+          0.44625091552734375,
+          0.013828854076564312,
+          -0.8948010206222534,
+          25.770763397216797
+        ],
+        [
+          0.032222531735897064,
+          -0.9994805455207825,
+          0.0006232377490960062,
+          -19.50994873046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6899,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_283081769",
+      "mask_path": "../../mask/hdr_left_06899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06900.png",
+      "transform_matrix": [
+        [
+          -0.8956930637359619,
+          -0.026279199868440628,
+          -0.4438954293727875,
+          24.34604835510254
+        ],
+        [
+          0.4434714615345001,
+          0.02053278125822544,
+          -0.8960531949996948,
+          25.782045364379883
+        ],
+        [
+          0.03266196697950363,
+          -0.999443769454956,
+          -0.00673699053004384,
+          -19.5035457611084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6900,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_383082628",
+      "mask_path": "../../mask/hdr_left_06900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06901.png",
+      "transform_matrix": [
+        [
+          -0.8956906199455261,
+          -0.024936659261584282,
+          -0.44397783279418945,
+          24.270544052124023
+        ],
+        [
+          0.4435864984989166,
+          0.019794343039393425,
+          -0.8960128426551819,
+          25.810007095336914
+        ],
+        [
+          0.031131813302636147,
+          -0.9994930624961853,
+          -0.006668036803603172,
+          -19.505634307861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6901,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_483082294",
+      "mask_path": "../../mask/hdr_left_06901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06902.png",
+      "transform_matrix": [
+        [
+          -0.8922575116157532,
+          -0.021478233858942986,
+          -0.4510158896446228,
+          24.18983268737793
+        ],
+        [
+          0.4507705569267273,
+          0.015419987961649895,
+          -0.8925067186355591,
+          25.8386173248291
+        ],
+        [
+          0.026124123483896255,
+          -0.9996504187583923,
+          -0.004076843615621328,
+          -19.497323989868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6902,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_583081722",
+      "mask_path": "../../mask/hdr_left_06902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06903.png",
+      "transform_matrix": [
+        [
+          -0.8874139785766602,
+          -0.021704962477087975,
+          -0.4604620337486267,
+          24.116270065307617
+        ],
+        [
+          0.4603460431098938,
+          0.010364078916609287,
+          -0.8876791000366211,
+          25.861696243286133
+        ],
+        [
+          0.02403930388391018,
+          -0.999710738658905,
+          0.000794565596152097,
+          -19.488203048706055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6903,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_683081388",
+      "mask_path": "../../mask/hdr_left_06903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06904.png",
+      "transform_matrix": [
+        [
+          -0.8839166164398193,
+          -0.027818948030471802,
+          -0.466816246509552,
+          24.04364013671875
+        ],
+        [
+          0.46690842509269714,
+          0.003480201354250312,
+          -0.8842987418174744,
+          25.88621711730957
+        ],
+        [
+          0.02622487023472786,
+          -0.9996069669723511,
+          0.009912695735692978,
+          -19.486753463745117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6904,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_783081769",
+      "mask_path": "../../mask/hdr_left_06904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06905.png",
+      "transform_matrix": [
+        [
+          -0.884416937828064,
+          -0.029081573709845543,
+          -0.46579065918922424,
+          23.936574935913086
+        ],
+        [
+          0.46595272421836853,
+          0.001344492775388062,
+          -0.8848085403442383,
+          25.90921974182129
+        ],
+        [
+          0.026357874274253845,
+          -0.9995761513710022,
+          0.012361548840999603,
+          -19.479902267456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6905,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_883082151",
+      "mask_path": "../../mask/hdr_left_06905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06906.png",
+      "transform_matrix": [
+        [
+          -0.8898949027061462,
+          -0.02609071135520935,
+          -0.4554186165332794,
+          23.8388671875
+        ],
+        [
+          0.4554189145565033,
+          0.006277616135776043,
+          -0.8902551531791687,
+          25.92476463317871
+        ],
+        [
+          0.02608633227646351,
+          -0.9996398687362671,
+          0.006295785307884216,
+          -19.475658416748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6906,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_983082532",
+      "mask_path": "../../mask/hdr_left_06906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06907.png",
+      "transform_matrix": [
+        [
+          -0.8968784809112549,
+          -0.02546129748225212,
+          -0.44154345989227295,
+          23.771142959594727
+        ],
+        [
+          0.4414771795272827,
+          0.008473522029817104,
+          -0.8972324728965759,
+          25.934574127197266
+        ],
+        [
+          0.026586126536130905,
+          -0.9996399879455566,
+          0.003640867304056883,
+          -19.476858139038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6907,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_83082675",
+      "mask_path": "../../mask/hdr_left_06907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06908.png",
+      "transform_matrix": [
+        [
+          -0.9041765332221985,
+          -0.026860440149903297,
+          -0.42631348967552185,
+          23.68634796142578
+        ],
+        [
+          0.4263834059238434,
+          0.0033562842290848494,
+          -0.904536247253418,
+          25.946571350097656
+        ],
+        [
+          0.02572706900537014,
+          -0.9996335506439209,
+          0.008418173529207706,
+          -19.479822158813477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6908,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_183082342",
+      "mask_path": "../../mask/hdr_left_06908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06909.png",
+      "transform_matrix": [
+        [
+          -0.9094706177711487,
+          -0.02662949077785015,
+          -0.4149145185947418,
+          23.592161178588867
+        ],
+        [
+          0.4151720106601715,
+          -0.004745188169181347,
+          -0.9097305536270142,
+          25.959291458129883
+        ],
+        [
+          0.02225681208074093,
+          -0.9996341466903687,
+          0.015371428802609444,
+          -19.469942092895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6909,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_283081531",
+      "mask_path": "../../mask/hdr_left_06909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06910.png",
+      "transform_matrix": [
+        [
+          -0.9132297039031982,
+          -0.027448179200291634,
+          -0.40651935338974,
+          23.509334564208984
+        ],
+        [
+          0.4069417417049408,
+          -0.011873914860188961,
+          -0.9133768677711487,
+          25.97031593322754
+        ],
+        [
+          0.020243555307388306,
+          -0.9995527267456055,
+          0.022013425827026367,
+          -19.458740234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6910,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_383081197",
+      "mask_path": "../../mask/hdr_left_06910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06911.png",
+      "transform_matrix": [
+        [
+          -0.9168286919593811,
+          -0.03169520944356918,
+          -0.39802077412605286,
+          23.434629440307617
+        ],
+        [
+          0.39870327711105347,
+          -0.019080141559243202,
+          -0.9168813824653625,
+          25.983736038208008
+        ],
+        [
+          0.02146645449101925,
+          -0.9993154406547546,
+          0.030130207538604736,
+          -19.458965301513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6911,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_483080625",
+      "mask_path": "../../mask/hdr_left_06911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06912.png",
+      "transform_matrix": [
+        [
+          -0.9201892018318176,
+          -0.03384162858128548,
+          -0.3900083601474762,
+          23.327213287353516
+        ],
+        [
+          0.39088401198387146,
+          -0.024760467931628227,
+          -0.920106828212738,
+          25.997913360595703
+        ],
+        [
+          0.021481119096279144,
+          -0.9991205334663391,
+          0.03601246699690819,
+          -19.45895004272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6912,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_583080053",
+      "mask_path": "../../mask/hdr_left_06912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06913.png",
+      "transform_matrix": [
+        [
+          -0.92514568567276,
+          -0.03199927508831024,
+          -0.378260999917984,
+          23.228721618652344
+        ],
+        [
+          0.379001647233963,
+          -0.021373534575104713,
+          -0.925149142742157,
+          26.011255264282227
+        ],
+        [
+          0.02151932381093502,
+          -0.9992594122886658,
+          0.031901415437459946,
+          -19.455663681030273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6913,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_683080196",
+      "mask_path": "../../mask/hdr_left_06913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06914.png",
+      "transform_matrix": [
+        [
+          -0.9296035170555115,
+          -0.031133737415075302,
+          -0.36724355816841125,
+          23.15645408630371
+        ],
+        [
+          0.3678564131259918,
+          -0.016797220334410667,
+          -0.9297308921813965,
+          26.02068328857422
+        ],
+        [
+          0.02277732640504837,
+          -0.9993740320205688,
+          0.027067502960562706,
+          -19.453109741210938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6914,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_783079624",
+      "mask_path": "../../mask/hdr_left_06914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06915.png",
+      "transform_matrix": [
+        [
+          -0.9320646524429321,
+          -0.03291019797325134,
+          -0.3607940375804901,
+          23.065736770629883
+        ],
+        [
+          0.3614737093448639,
+          -0.017585335299372673,
+          -0.9322164058685303,
+          26.03513526916504
+        ],
+        [
+          0.0243347380310297,
+          -0.9993035793304443,
+          0.02828684262931347,
+          -19.455549240112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6915,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_883081197",
+      "mask_path": "../../mask/hdr_left_06915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06916.png",
+      "transform_matrix": [
+        [
+          -0.9309654831886292,
+          -0.029725633561611176,
+          -0.3638951778411865,
+          22.97308921813965
+        ],
+        [
+          0.364566832780838,
+          -0.0214760210365057,
+          -0.9309296011924744,
+          26.052650451660156
+        ],
+        [
+          0.01985744759440422,
+          -0.9993274211883545,
+          0.030830413103103638,
+          -19.444032669067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6916,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_983080387",
+      "mask_path": "../../mask/hdr_left_06916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06917.png",
+      "transform_matrix": [
+        [
+          -0.9280464053153992,
+          -0.028016451746225357,
+          -0.37140920758247375,
+          22.8924560546875
+        ],
+        [
+          0.3720993399620056,
+          -0.025601224973797798,
+          -0.9278398156166077,
+          26.07063102722168
+        ],
+        [
+          0.016486244276165962,
+          -0.9992796182632446,
+          0.03418402746319771,
+          -19.43560218811035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6917,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_83081007",
+      "mask_path": "../../mask/hdr_left_06917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06918.png",
+      "transform_matrix": [
+        [
+          -0.9254447817802429,
+          -0.03328859806060791,
+          -0.37741729617118835,
+          22.81476593017578
+        ],
+        [
+          0.37838059663772583,
+          -0.029944350942969322,
+          -0.925165593624115,
+          26.086284637451172
+        ],
+        [
+          0.019495949149131775,
+          -0.998997151851654,
+          0.040307603776454926,
+          -19.434619903564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6918,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_183080911",
+      "mask_path": "../../mask/hdr_left_06918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06919.png",
+      "transform_matrix": [
+        [
+          -0.9243356585502625,
+          -0.0333746112883091,
+          -0.38011783361434937,
+          22.717119216918945
+        ],
+        [
+          0.3810581862926483,
+          -0.028648575767874718,
+          -0.924107015132904,
+          26.102296829223633
+        ],
+        [
+          0.019951876252889633,
+          -0.9990322589874268,
+          0.03919857367873192,
+          -19.433271408081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6919,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_283081293",
+      "mask_path": "../../mask/hdr_left_06919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06920.png",
+      "transform_matrix": [
+        [
+          -0.9250357151031494,
+          -0.029590271413326263,
+          -0.3787258565425873,
+          22.635238647460938
+        ],
+        [
+          0.37938007712364197,
+          -0.020825346931815147,
+          -0.9250065088272095,
+          26.11624526977539
+        ],
+        [
+          0.01948409527540207,
+          -0.9993451833724976,
+          0.030490150675177574,
+          -19.434764862060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6920,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_383084774",
+      "mask_path": "../../mask/hdr_left_06920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06921.png",
+      "transform_matrix": [
+        [
+          -0.9278057813644409,
+          -0.029129326343536377,
+          -0.37192443013191223,
+          22.561777114868164
+        ],
+        [
+          0.3724655210971832,
+          -0.015909777954220772,
+          -0.9279096126556396,
+          26.11981964111328
+        ],
+        [
+          0.021112142130732536,
+          -0.9994490146636963,
+          0.02561085671186447,
+          -19.42868423461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6921,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_483082294",
+      "mask_path": "../../mask/hdr_left_06921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06922.png",
+      "transform_matrix": [
+        [
+          -0.9332448244094849,
+          -0.02645772509276867,
+          -0.35826537013053894,
+          22.46757698059082
+        ],
+        [
+          0.3588815927505493,
+          -0.02406538464128971,
+          -0.9330727458000183,
+          26.13300323486328
+        ],
+        [
+          0.016065185889601707,
+          -0.999360203742981,
+          0.0319540873169899,
+          -19.43679428100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6922,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_583082437",
+      "mask_path": "../../mask/hdr_left_06922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06923.png",
+      "transform_matrix": [
+        [
+          -0.9388583898544312,
+          -0.02508188597857952,
+          -0.34338873624801636,
+          22.37148094177246
+        ],
+        [
+          0.34402722120285034,
+          -0.028391601517796516,
+          -0.9385302662849426,
+          26.152301788330078
+        ],
+        [
+          0.013790753670036793,
+          -0.9992822408676147,
+          0.03528454899787903,
+          -19.43675422668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6923,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_683081388",
+      "mask_path": "../../mask/hdr_left_06923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06924.png",
+      "transform_matrix": [
+        [
+          -0.9452824592590332,
+          -0.027250200510025024,
+          -0.3251129388809204,
+          22.285621643066406
+        ],
+        [
+          0.32587581872940063,
+          -0.030959174036979675,
+          -0.9449056386947632,
+          26.16758155822754
+        ],
+        [
+          0.01568363793194294,
+          -0.9991492033004761,
+          0.03814534470438957,
+          -19.43061065673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6924,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_783081531",
+      "mask_path": "../../mask/hdr_left_06924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06925.png",
+      "transform_matrix": [
+        [
+          -0.9521682858467102,
+          -0.03002728894352913,
+          -0.3040953278541565,
+          22.2082576751709
+        ],
+        [
+          0.30512508749961853,
+          -0.03948986157774925,
+          -0.9514930844306946,
+          26.172574996948242
+        ],
+        [
+          0.016562074422836304,
+          -0.9987688064575195,
+          0.04676307737827301,
+          -19.425212860107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6925,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_883082628",
+      "mask_path": "../../mask/hdr_left_06925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06926.png",
+      "transform_matrix": [
+        [
+          -0.9595195055007935,
+          -0.02643139474093914,
+          -0.28039905428886414,
+          22.103994369506836
+        ],
+        [
+          0.2813352644443512,
+          -0.043492648750543594,
+          -0.9586234092712402,
+          26.174869537353516
+        ],
+        [
+          0.01314245630055666,
+          -0.9987040758132935,
+          0.04916812479496002,
+          -19.422882080078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6926,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_983082056",
+      "mask_path": "../../mask/hdr_left_06926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06927.png",
+      "transform_matrix": [
+        [
+          -0.9672197699546814,
+          -0.020527398213744164,
+          -0.25310948491096497,
+          22.02740478515625
+        ],
+        [
+          0.2537304162979126,
+          -0.037583451718091965,
+          -0.966544508934021,
+          26.169483184814453
+        ],
+        [
+          0.010327915661036968,
+          -0.9990827441215515,
+          0.041559889912605286,
+          -19.425987243652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6927,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_83082437",
+      "mask_path": "../../mask/hdr_left_06927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06928.png",
+      "transform_matrix": [
+        [
+          -0.973484992980957,
+          -0.01941194199025631,
+          -0.22792573273181915,
+          21.95126724243164
+        ],
+        [
+          0.22848282754421234,
+          -0.03429403901100159,
+          -0.9729436635971069,
+          26.1648006439209
+        ],
+        [
+          0.011070230044424534,
+          -0.9992232322692871,
+          0.037820033729076385,
+          -19.42744255065918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6928,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_183082103",
+      "mask_path": "../../mask/hdr_left_06928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06929.png",
+      "transform_matrix": [
+        [
+          -0.9780969619750977,
+          -0.02001727744936943,
+          -0.20718476176261902,
+          21.859193801879883
+        ],
+        [
+          0.2078637331724167,
+          -0.041789885610342026,
+          -0.9772647619247437,
+          26.165447235107422
+        ],
+        [
+          0.010903949849307537,
+          -0.9989259243011475,
+          0.04503542557358742,
+          -19.436002731323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6929,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_283082008",
+      "mask_path": "../../mask/hdr_left_06929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06930.png",
+      "transform_matrix": [
+        [
+          -0.9808937907218933,
+          -0.017568176612257957,
+          -0.19374924898147583,
+          21.770221710205078
+        ],
+        [
+          0.19435910880565643,
+          -0.045072946697473526,
+          -0.9798943400382996,
+          26.159439086914062
+        ],
+        [
+          0.00848210509866476,
+          -0.998829185962677,
+          0.0476263053715229,
+          -19.429119110107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6930,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_383081674",
+      "mask_path": "../../mask/hdr_left_06930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06931.png",
+      "transform_matrix": [
+        [
+          -0.9813585877418518,
+          -0.017677901312708855,
+          -0.19137045741081238,
+          21.687646865844727
+        ],
+        [
+          0.19200852513313293,
+          -0.04749578237533569,
+          -0.9802432656288147,
+          26.155046463012695
+        ],
+        [
+          0.008239349350333214,
+          -0.9987150430679321,
+          0.05000470578670502,
+          -19.41487693786621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6931,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_483082532",
+      "mask_path": "../../mask/hdr_left_06931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06932.png",
+      "transform_matrix": [
+        [
+          -0.9804300665855408,
+          -0.023553283885121346,
+          -0.19545361399650574,
+          21.608074188232422
+        ],
+        [
+          0.1964704990386963,
+          -0.054030418395996094,
+          -0.9790199398994446,
+          26.15182876586914
+        ],
+        [
+          0.012498690746724606,
+          -0.9982614517211914,
+          0.05760057643055916,
+          -19.40805435180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6932,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_583082437",
+      "mask_path": "../../mask/hdr_left_06932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06933.png",
+      "transform_matrix": [
+        [
+          -0.9803550839424133,
+          -0.0250728577375412,
+          -0.19564054906368256,
+          21.51598358154297
+        ],
+        [
+          0.19674019515514374,
+          -0.05369175598025322,
+          -0.9789843559265137,
+          26.139270782470703
+        ],
+        [
+          0.014041650108993053,
+          -0.9982427358627319,
+          0.05756982043385506,
+          -19.402795791625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6933,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_683081865",
+      "mask_path": "../../mask/hdr_left_06933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06934.png",
+      "transform_matrix": [
+        [
+          -0.9825747609138489,
+          -0.023469489067792892,
+          -0.18437984585762024,
+          21.420507431030273
+        ],
+        [
+          0.1853032261133194,
+          -0.04645070806145668,
+          -0.9815829396247864,
+          26.128904342651367
+        ],
+        [
+          0.014472677372395992,
+          -0.9986448884010315,
+          0.04999027028679848,
+          -19.407455444335938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6934,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_783081769",
+      "mask_path": "../../mask/hdr_left_06934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06935.png",
+      "transform_matrix": [
+        [
+          -0.9856539964675903,
+          -0.02361588180065155,
+          -0.16711793839931488,
+          21.347881317138672
+        ],
+        [
+          0.16802841424942017,
+          -0.044067349284887314,
+          -0.9847966432571411,
+          26.119897842407227
+        ],
+        [
+          0.01589239574968815,
+          -0.9987494349479675,
+          0.047403302043676376,
+          -19.41094970703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6935,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_883081912",
+      "mask_path": "../../mask/hdr_left_06935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06936.png",
+      "transform_matrix": [
+        [
+          -0.9882380366325378,
+          -0.017742380499839783,
+          -0.1518905907869339,
+          21.263723373413086
+        ],
+        [
+          0.1525970995426178,
+          -0.049567222595214844,
+          -0.9870446920394897,
+          26.113300323486328
+        ],
+        [
+          0.009983723983168602,
+          -0.9986132383346558,
+          0.051691655069589615,
+          -19.41756248474121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6936,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_983082056",
+      "mask_path": "../../mask/hdr_left_06936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06937.png",
+      "transform_matrix": [
+        [
+          -0.9901846647262573,
+          -0.014716414734721184,
+          -0.13898804783821106,
+          21.148208618164062
+        ],
+        [
+          0.13958443701267242,
+          -0.053595248609781265,
+          -0.9887586832046509,
+          26.09998893737793
+        ],
+        [
+          0.007101882249116898,
+          -0.9984543323516846,
+          0.055123377591371536,
+          -19.398263931274414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6937,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_83082437",
+      "mask_path": "../../mask/hdr_left_06937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06938.png",
+      "transform_matrix": [
+        [
+          -0.9917495250701904,
+          -0.01686020940542221,
+          -0.12707726657390594,
+          21.057273864746094
+        ],
+        [
+          0.12783271074295044,
+          -0.05602286010980606,
+          -0.9902122616767883,
+          26.09455108642578
+        ],
+        [
+          0.009575952775776386,
+          -0.9982871413230896,
+          0.057715918868780136,
+          -19.38865852355957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6938,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_183082580",
+      "mask_path": "../../mask/hdr_left_06938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06939.png",
+      "transform_matrix": [
+        [
+          -0.9920459389686584,
+          -0.019871903583407402,
+          -0.12429763376712799,
+          20.993595123291016
+        ],
+        [
+          0.12527160346508026,
+          -0.059200651943683624,
+          -0.9903546571731567,
+          26.093246459960938
+        ],
+        [
+          0.012321730144321918,
+          -0.9980483055114746,
+          0.061219148337841034,
+          -19.388582229614258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6939,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_283081054",
+      "mask_path": "../../mask/hdr_left_06939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06940.png",
+      "transform_matrix": [
+        [
+          -0.9923508167266846,
+          -0.018694641068577766,
+          -0.12202608585357666,
+          20.909303665161133
+        ],
+        [
+          0.12294036149978638,
+          -0.059948232024908066,
+          -0.9906018376350403,
+          26.085098266601562
+        ],
+        [
+          0.011203693225979805,
+          -0.9980264902114868,
+          0.06178800389170647,
+          -19.384477615356445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6940,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_383081436",
+      "mask_path": "../../mask/hdr_left_06940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06941.png",
+      "transform_matrix": [
+        [
+          -0.9934628009796143,
+          -0.01587354764342308,
+          -0.11304761469364166,
+          20.82761573791504
+        ],
+        [
+          0.11378061026334763,
+          -0.05737714096903801,
+          -0.9918476939201355,
+          26.074140548706055
+        ],
+        [
+          0.009257793426513672,
+          -0.9982264041900635,
+          0.05880815163254738,
+          -19.389339447021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6941,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_483082294",
+      "mask_path": "../../mask/hdr_left_06941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06942.png",
+      "transform_matrix": [
+        [
+          -0.9945232272148132,
+          -0.01475459337234497,
+          -0.1034693717956543,
+          20.758623123168945
+        ],
+        [
+          0.1041484847664833,
+          -0.05694783478975296,
+          -0.9929299354553223,
+          26.060565948486328
+        ],
+        [
+          0.008757920935750008,
+          -0.998268187046051,
+          0.058172617107629776,
+          -19.389089584350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6942,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_583081722",
+      "mask_path": "../../mask/hdr_left_06942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06943.png",
+      "transform_matrix": [
+        [
+          -0.9950900673866272,
+          -0.010970248840749264,
+          -0.09836321324110031,
+          20.679719924926758
+        ],
+        [
+          0.09885314106941223,
+          -0.0612475760281086,
+          -0.9932153820991516,
+          26.048709869384766
+        ],
+        [
+          0.004871306475251913,
+          -0.9980624318122864,
+          0.06203130632638931,
+          -19.38979721069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6943,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_683082818",
+      "mask_path": "../../mask/hdr_left_06943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06944.png",
+      "transform_matrix": [
+        [
+          -0.9949687719345093,
+          -0.01125780213624239,
+          -0.09955044835805893,
+          20.59634780883789
+        ],
+        [
+          0.1000700518488884,
+          -0.06409470736980438,
+          -0.9929137825965881,
+          26.040250778198242
+        ],
+        [
+          0.004797372035682201,
+          -0.9978803396224976,
+          0.06489879637956619,
+          -19.383047103881836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6944,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_783082485",
+      "mask_path": "../../mask/hdr_left_06944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06945.png",
+      "transform_matrix": [
+        [
+          -0.9945695400238037,
+          -0.013933243229985237,
+          -0.10313715785741806,
+          20.51070213317871
+        ],
+        [
+          0.10384710878133774,
+          -0.0674525648355484,
+          -0.9923033118247986,
+          26.03223991394043
+        ],
+        [
+          0.00686913775280118,
+          -0.9976252317428589,
+          0.06853318959474564,
+          -19.37508201599121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6945,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_883081674",
+      "mask_path": "../../mask/hdr_left_06945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06946.png",
+      "transform_matrix": [
+        [
+          -0.9939586520195007,
+          -0.019240321591496468,
+          -0.10805556923151016,
+          20.424057006835938
+        ],
+        [
+          0.10915102064609528,
+          -0.07012653350830078,
+          -0.9915484189987183,
+          26.019969940185547
+        ],
+        [
+          0.011500146239995956,
+          -0.9973525404930115,
+          0.07180297374725342,
+          -19.37052345275879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6946,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_983080625",
+      "mask_path": "../../mask/hdr_left_06946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06947.png",
+      "transform_matrix": [
+        [
+          -0.9940998554229736,
+          -0.02093680202960968,
+          -0.10642896592617035,
+          20.322479248046875
+        ],
+        [
+          0.10756908357143402,
+          -0.06417587399482727,
+          -0.9921241402626038,
+          26.001602172851562
+        ],
+        [
+          0.013941735960543156,
+          -0.9977189898490906,
+          0.06604937463998795,
+          -19.362449645996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6947,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_83082914",
+      "mask_path": "../../mask/hdr_left_06947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06948.png",
+      "transform_matrix": [
+        [
+          -0.9952198266983032,
+          -0.019675251096487045,
+          -0.0956566333770752,
+          20.238807678222656
+        ],
+        [
+          0.09658398479223251,
+          -0.05335477367043495,
+          -0.9938937425613403,
+          25.9866886138916
+        ],
+        [
+          0.014451367780566216,
+          -0.9983818531036377,
+          0.055000051856040955,
+          -19.365991592407227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6948,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_183080673",
+      "mask_path": "../../mask/hdr_left_06948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06949.png",
+      "transform_matrix": [
+        [
+          -0.9967399835586548,
+          -0.021132204681634903,
+          -0.07786369323730469,
+          20.165552139282227
+        ],
+        [
+          0.07884098589420319,
+          -0.050216902047395706,
+          -0.9956215023994446,
+          25.978639602661133
+        ],
+        [
+          0.017129605636000633,
+          -0.9985147714614868,
+          0.05171927809715271,
+          -19.38324737548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6949,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_283082485",
+      "mask_path": "../../mask/hdr_left_06949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06950.png",
+      "transform_matrix": [
+        [
+          -0.9975674152374268,
+          -0.04156539961695671,
+          -0.05595990642905235,
+          20.080827713012695
+        ],
+        [
+          0.057444456964731216,
+          -0.0354234054684639,
+          -0.9977200031280518,
+          25.966882705688477
+        ],
+        [
+          0.03948833793401718,
+          -0.9985076785087585,
+          0.03772494196891785,
+          -19.35944366455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6950,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_383082389",
+      "mask_path": "../../mask/hdr_left_06950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06951.png",
+      "transform_matrix": [
+        [
+          -0.9959902763366699,
+          -0.07761810719966888,
+          -0.044484034180641174,
+          19.979137420654297
+        ],
+        [
+          0.04694801941514015,
+          -0.030213480815291405,
+          -0.9984402656555176,
+          25.959068298339844
+        ],
+        [
+          0.07615302503108978,
+          -0.9965253472328186,
+          0.033736348152160645,
+          -19.270299911499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6951,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_483081102",
+      "mask_path": "../../mask/hdr_left_06951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06952.png",
+      "transform_matrix": [
+        [
+          -0.9946176409721375,
+          -0.09742500633001328,
+          -0.035271935164928436,
+          19.901050567626953
+        ],
+        [
+          0.039604462683200836,
+          -0.0428999587893486,
+          -0.9982940554618835,
+          25.95016860961914
+        ],
+        [
+          0.09574563801288605,
+          -0.9943179488182068,
+          0.04652751609683037,
+          -19.24486541748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6952,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_583081483",
+      "mask_path": "../../mask/hdr_left_06952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06953.png",
+      "transform_matrix": [
+        [
+          -0.9943139553070068,
+          -0.10457789897918701,
+          -0.020076816901564598,
+          19.828725814819336
+        ],
+        [
+          0.025990629568696022,
+          -0.05549716576933861,
+          -0.9981204867362976,
+          25.920942306518555
+        ],
+        [
+          0.103267140686512,
+          -0.9929671883583069,
+          0.05789966136217117,
+          -19.25184440612793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6953,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_683081150",
+      "mask_path": "../../mask/hdr_left_06953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06954.png",
+      "transform_matrix": [
+        [
+          -0.9945755004882812,
+          -0.1038958802819252,
+          0.005009927786886692,
+          19.747220993041992
+        ],
+        [
+          0.0013360221637412906,
+          -0.06092066690325737,
+          -0.9981417059898376,
+          25.886266708374023
+        ],
+        [
+          0.1040080189704895,
+          -0.9927207231521606,
+          0.0607290156185627,
+          -19.242101669311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6954,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_783081531",
+      "mask_path": "../../mask/hdr_left_06954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06955.png",
+      "transform_matrix": [
+        [
+          -0.9937175512313843,
+          -0.10611746460199356,
+          0.03556155040860176,
+          19.67634391784668
+        ],
+        [
+          -0.029370462521910667,
+          -0.05934526398777962,
+          -0.9978054165840149,
+          25.85625457763672
+        ],
+        [
+          0.10799498111009598,
+          -0.9925811290740967,
+          0.055855706334114075,
+          -19.23790740966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6955,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_883081197",
+      "mask_path": "../../mask/hdr_left_06955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06956.png",
+      "transform_matrix": [
+        [
+          -0.9919204115867615,
+          -0.11014092713594437,
+          0.06295076757669449,
+          19.61697769165039
+        ],
+        [
+          -0.05655692517757416,
+          -0.06024549528956413,
+          -0.9965800642967224,
+          25.82727813720703
+        ],
+        [
+          0.11355674266815186,
+          -0.9920884370803833,
+          0.05352950468659401,
+          -19.23093605041504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6956,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_983079910",
+      "mask_path": "../../mask/hdr_left_06956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06957.png",
+      "transform_matrix": [
+        [
+          -0.9903542399406433,
+          -0.11191631108522415,
+          0.08169006556272507,
+          19.564876556396484
+        ],
+        [
+          -0.07488701492547989,
+          -0.0637047216296196,
+          -0.9951551556587219,
+          25.7982120513916
+        ],
+        [
+          0.116578109562397,
+          -0.9916735887527466,
+          0.05470915138721466,
+          -19.217119216918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6957,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_83080291",
+      "mask_path": "../../mask/hdr_left_06957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06958.png",
+      "transform_matrix": [
+        [
+          -0.9887027144432068,
+          -0.1201140508055687,
+          0.08966334164142609,
+          19.502180099487305
+        ],
+        [
+          -0.08078937232494354,
+          -0.07682433724403381,
+          -0.993766188621521,
+          25.77442741394043
+        ],
+        [
+          0.12625360488891602,
+          -0.9897831678390503,
+          0.06625249236822128,
+          -19.194272994995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6958,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_183080196",
+      "mask_path": "../../mask/hdr_left_06958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06959.png",
+      "transform_matrix": [
+        [
+          -0.9869906902313232,
+          -0.1321500688791275,
+          0.09157423675060272,
+          19.4356632232666
+        ],
+        [
+          -0.0795321837067604,
+          -0.09369993209838867,
+          -0.9924187660217285,
+          25.75119972229004
+        ],
+        [
+          0.13972868025302887,
+          -0.9867911338806152,
+          0.08197076618671417,
+          -19.165685653686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6959,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_283082008",
+      "mask_path": "../../mask/hdr_left_06959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06960.png",
+      "transform_matrix": [
+        [
+          -0.9836634993553162,
+          -0.1516837477684021,
+          0.09694389998912811,
+          19.35342788696289
+        ],
+        [
+          -0.0793001651763916,
+          -0.11834155023097992,
+          -0.9898013472557068,
+          25.7119083404541
+        ],
+        [
+          0.1616092473268509,
+          -0.9813191890716553,
+          0.10437972098588943,
+          -19.126253128051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6960,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_383080005",
+      "mask_path": "../../mask/hdr_left_06960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06961.png",
+      "transform_matrix": [
+        [
+          -0.9801348447799683,
+          -0.16904756426811218,
+          0.10372401028871536,
+          19.260162353515625
+        ],
+        [
+          -0.08408038318157196,
+          -0.11949723958969116,
+          -0.9892678260803223,
+          25.67917251586914
+        ],
+        [
+          0.17962807416915894,
+          -0.9783370494842529,
+          0.10290981084108353,
+          -19.089107513427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6961,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_483081579",
+      "mask_path": "../../mask/hdr_left_06961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06962.png",
+      "transform_matrix": [
+        [
+          -0.9776886701583862,
+          -0.1816631406545639,
+          0.10546736419200897,
+          19.190698623657227
+        ],
+        [
+          -0.08686093986034393,
+          -0.10751820355653763,
+          -0.9904013872146606,
+          25.659658432006836
+        ],
+        [
+          0.19125908613204956,
+          -0.9774652719497681,
+          0.08933990448713303,
+          -19.0693302154541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6962,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_583080530",
+      "mask_path": "../../mask/hdr_left_06962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06963.png",
+      "transform_matrix": [
+        [
+          -0.9753136038780212,
+          -0.1941279172897339,
+          0.10525105893611908,
+          19.12938690185547
+        ],
+        [
+          -0.08641739934682846,
+          -0.10307861119508743,
+          -0.990912139415741,
+          25.642114639282227
+        ],
+        [
+          0.20321282744407654,
+          -0.9755456447601318,
+          0.0837579295039177,
+          -19.055471420288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6963,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_683079719",
+      "mask_path": "../../mask/hdr_left_06963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06964.png",
+      "transform_matrix": [
+        [
+          -0.9647416472434998,
+          -0.2459486722946167,
+          0.09371600300073624,
+          19.042648315429688
+        ],
+        [
+          -0.07585356384515762,
+          -0.0811428651213646,
+          -0.993811845779419,
+          25.648996353149414
+        ],
+        [
+          0.2520310878753662,
+          -0.9658805727958679,
+          0.05962582305073738,
+          -18.980676651000977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6964,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_783081769",
+      "mask_path": "../../mask/hdr_left_06964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06965.png",
+      "transform_matrix": [
+        [
+          -0.9586349725723267,
+          -0.27588117122650146,
+          0.07006103545427322,
+          18.955219268798828
+        ],
+        [
+          -0.049980130046606064,
+          -0.07916664332151413,
+          -0.9956077337265015,
+          25.632169723510742
+        ],
+        [
+          0.280215859413147,
+          -0.9579260945320129,
+          0.06210332736372948,
+          -18.901103973388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6965,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_883081674",
+      "mask_path": "../../mask/hdr_left_06965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06966.png",
+      "transform_matrix": [
+        [
+          -0.9608640074729919,
+          -0.27031832933425903,
+          0.06056654825806618,
+          18.879823684692383
+        ],
+        [
+          -0.03445103019475937,
+          -0.10033369809389114,
+          -0.994357168674469,
+          25.607433319091797
+        ],
+        [
+          0.2748698592185974,
+          -0.9575287699699402,
+          0.08709428459405899,
+          -18.88528823852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6966,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_983081340",
+      "mask_path": "../../mask/hdr_left_06966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06967.png",
+      "transform_matrix": [
+        [
+          -0.9633970260620117,
+          -0.26142618060112,
+          0.05935090407729149,
+          18.805288314819336
+        ],
+        [
+          -0.03192755952477455,
+          -0.10792681574821472,
+          -0.9936460256576538,
+          25.586503982543945
+        ],
+        [
+          0.2661706209182739,
+          -0.9591706395149231,
+          0.09562967717647552,
+          -18.87598419189453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6967,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_83081960",
+      "mask_path": "../../mask/hdr_left_06967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06968.png",
+      "transform_matrix": [
+        [
+          -0.9646909236907959,
+          -0.256783664226532,
+          0.058596525341272354,
+          18.731250762939453
+        ],
+        [
+          -0.03334103152155876,
+          -0.10162866860628128,
+          -0.9942634701728821,
+          25.560922622680664
+        ],
+        [
+          0.26126572489738464,
+          -0.9611107110977173,
+          0.08947882056236267,
+          -18.850770950317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6968,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_183081865",
+      "mask_path": "../../mask/hdr_left_06968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06969.png",
+      "transform_matrix": [
+        [
+          -0.9655037522315979,
+          -0.25368526577949524,
+          0.05870385095477104,
+          18.67030906677246
+        ],
+        [
+          -0.03486521914601326,
+          -0.0974670946598053,
+          -0.994627833366394,
+          25.54097557067871
+        ],
+        [
+          0.25804415345191956,
+          -0.9623637795448303,
+          0.0852600634098053,
+          -18.83380699157715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6969,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_283081769",
+      "mask_path": "../../mask/hdr_left_06969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06970.png",
+      "transform_matrix": [
+        [
+          -0.9696172475814819,
+          -0.23770321905612946,
+          0.057790473103523254,
+          18.60964584350586
+        ],
+        [
+          -0.03532254323363304,
+          -0.09771984815597534,
+          -0.9945868253707886,
+          25.516620635986328
+        ],
+        [
+          0.2420637607574463,
+          -0.9664099812507629,
+          0.08635455369949341,
+          -18.82280731201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6970,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_383082389",
+      "mask_path": "../../mask/hdr_left_06970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06971.png",
+      "transform_matrix": [
+        [
+          -0.9719223380088806,
+          -0.22938622534275055,
+          0.052428022027015686,
+          18.533615112304688
+        ],
+        [
+          -0.02984083630144596,
+          -0.10085278004407883,
+          -0.9944537281990051,
+          25.487964630126953
+        ],
+        [
+          0.23340150713920593,
+          -0.9680964350700378,
+          0.09117600321769714,
+          -18.79640769958496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6971,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_483082294",
+      "mask_path": "../../mask/hdr_left_06971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06972.png",
+      "transform_matrix": [
+        [
+          -0.9731744527816772,
+          -0.22538071870803833,
+          0.0462060272693634,
+          18.45469093322754
+        ],
+        [
+          -0.021957088261842728,
+          -0.10893461853265762,
+          -0.9938064217567444,
+          25.465986251831055
+        ],
+        [
+          0.2290182262659073,
+          -0.9681615233421326,
+          0.10106368362903595,
+          -18.77610206604004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6972,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_583082675",
+      "mask_path": "../../mask/hdr_left_06972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06973.png",
+      "transform_matrix": [
+        [
+          -0.9763962030410767,
+          -0.2119041234254837,
+          0.04179788753390312,
+          18.356998443603516
+        ],
+        [
+          -0.020647747442126274,
+          -0.10105779767036438,
+          -0.9946662783622742,
+          25.43915557861328
+        ],
+        [
+          0.21499788761138916,
+          -0.9720515012741089,
+          0.09429709613323212,
+          -18.7679386138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6973,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_683081865",
+      "mask_path": "../../mask/hdr_left_06973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06974.png",
+      "transform_matrix": [
+        [
+          -0.9827291369438171,
+          -0.1811993569135666,
+          0.037554822862148285,
+          18.263891220092773
+        ],
+        [
+          -0.023863008245825768,
+          -0.07715965807437897,
+          -0.9967331290245056,
+          25.425830841064453
+        ],
+        [
+          0.1835051029920578,
+          -0.9804148077964783,
+          0.07150307297706604,
+          -18.75731658935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6974,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_783080577",
+      "mask_path": "../../mask/hdr_left_06974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06975.png",
+      "transform_matrix": [
+        [
+          -0.9868242740631104,
+          -0.15725384652614594,
+          0.038067325949668884,
+          18.194793701171875
+        ],
+        [
+          -0.02835093066096306,
+          -0.06357625126838684,
+          -0.9975741505622864,
+          25.41910743713379
+        ],
+        [
+          0.1592925488948822,
+          -0.9855097532272339,
+          0.05828029662370682,
+          -18.74582290649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6975,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_883081436",
+      "mask_path": "../../mask/hdr_left_06975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06976.png",
+      "transform_matrix": [
+        [
+          -0.9879845976829529,
+          -0.14986759424209595,
+          0.03776541352272034,
+          18.12329864501953
+        ],
+        [
+          -0.029486164450645447,
+          -0.05708694830536842,
+          -0.9979337453842163,
+          25.406841278076172
+        ],
+        [
+          0.15171381831169128,
+          -0.9870566725730896,
+          0.05198199674487114,
+          -18.733057022094727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6976,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_983083009",
+      "mask_path": "../../mask/hdr_left_06976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06977.png",
+      "transform_matrix": [
+        [
+          -0.9903308153152466,
+          -0.134760320186615,
+          0.032931335270404816,
+          18.043832778930664
+        ],
+        [
+          -0.02530577965080738,
+          -0.057913124561309814,
+          -0.9980009198188782,
+          25.39963150024414
+        ],
+        [
+          0.1363980770111084,
+          -0.9891843795776367,
+          0.05394293740391731,
+          -18.728160858154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6977,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_83080768",
+      "mask_path": "../../mask/hdr_left_06977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06978.png",
+      "transform_matrix": [
+        [
+          -0.992356538772583,
+          -0.11902771145105362,
+          0.032569415867328644,
+          17.970001220703125
+        ],
+        [
+          -0.025510381907224655,
+          -0.06035579741001129,
+          -0.9978508353233337,
+          25.38991355895996
+        ],
+        [
+          0.12073763459920883,
+          -0.9910547733306885,
+          0.05685803294181824,
+          -18.728797912597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6978,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_183080911",
+      "mask_path": "../../mask/hdr_left_06978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06979.png",
+      "transform_matrix": [
+        [
+          -0.9932301640510559,
+          -0.11045248061418533,
+          0.03597233444452286,
+          17.905309677124023
+        ],
+        [
+          -0.029074693098664284,
+          -0.06343699991703033,
+          -0.9975622892379761,
+          25.370622634887695
+        ],
+        [
+          0.11246518790721893,
+          -0.9918548464775085,
+          0.05979617312550545,
+          -18.725299835205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6979,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_283083200",
+      "mask_path": "../../mask/hdr_left_06979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06980.png",
+      "transform_matrix": [
+        [
+          -0.9937047362327576,
+          -0.10215997695922852,
+          0.04597954824566841,
+          17.816389083862305
+        ],
+        [
+          -0.039512570947408676,
+          -0.06444943696260452,
+          -0.9971383810043335,
+          25.33170509338379
+        ],
+        [
+          0.10483098775148392,
+          -0.9926780462265015,
+          0.060007113963365555,
+          -18.718690872192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6980,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_383082389",
+      "mask_path": "../../mask/hdr_left_06980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06981.png",
+      "transform_matrix": [
+        [
+          -0.9939214587211609,
+          -0.09176383167505264,
+          0.0608234740793705,
+          17.723886489868164
+        ],
+        [
+          -0.05587795376777649,
+          -0.05553508177399635,
+          -0.9968919157981873,
+          25.29779815673828
+        ],
+        [
+          0.09485644847154617,
+          -0.9942310452461243,
+          0.05006992816925049,
+          -18.719951629638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6981,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_483082294",
+      "mask_path": "../../mask/hdr_left_06981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06982.png",
+      "transform_matrix": [
+        [
+          -0.9940330386161804,
+          -0.08043864369392395,
+          0.07367453724145889,
+          17.660892486572266
+        ],
+        [
+          -0.06980951875448227,
+          -0.04985170438885689,
+          -0.9963139295578003,
+          25.27897834777832
+        ],
+        [
+          0.08381493389606476,
+          -0.9955122470855713,
+          0.043938860297203064,
+          -18.73181915283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6982,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_583082675",
+      "mask_path": "../../mask/hdr_left_06982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06983.png",
+      "transform_matrix": [
+        [
+          -0.9942602515220642,
+          -0.07134031504392624,
+          0.07972992956638336,
+          17.601041793823242
+        ],
+        [
+          -0.07627794146537781,
+          -0.04987339675426483,
+          -0.9958385229110718,
+          25.257266998291016
+        ],
+        [
+          0.07501983642578125,
+          -0.9962044358253479,
+          0.044145453721284866,
+          -18.731311798095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6983,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_683082103",
+      "mask_path": "../../mask/hdr_left_06983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06984.png",
+      "transform_matrix": [
+        [
+          -0.9949634671211243,
+          -0.06580303609371185,
+          0.07561516761779785,
+          17.534038543701172
+        ],
+        [
+          -0.07227076590061188,
+          -0.0518045648932457,
+          -0.9960387945175171,
+          25.235475540161133
+        ],
+        [
+          0.06945958733558655,
+          -0.996487021446228,
+          0.046788010746240616,
+          -18.71873664855957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6984,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_783084154",
+      "mask_path": "../../mask/hdr_left_06984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06985.png",
+      "transform_matrix": [
+        [
+          -0.9958372712135315,
+          -0.06135232374072075,
+          0.06740900874137878,
+          17.46359634399414
+        ],
+        [
+          -0.06390479952096939,
+          -0.05739158019423485,
+          -0.9963043928146362,
+          25.217443466186523
+        ],
+        [
+          0.06499429047107697,
+          -0.9964648485183716,
+          0.053231969475746155,
+          -18.7081356048584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6985,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_883080482",
+      "mask_path": "../../mask/hdr_left_06985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06986.png",
+      "transform_matrix": [
+        [
+          -0.9964486360549927,
+          -0.05609199404716492,
+          0.06279920041561127,
+          17.3707332611084
+        ],
+        [
+          -0.059803664684295654,
+          -0.053575314581394196,
+          -0.9967713356018066,
+          25.191953659057617
+        ],
+        [
+          0.05927537381649017,
+          -0.9969872236251831,
+          0.05003054067492485,
+          -18.70561408996582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6986,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_983081340",
+      "mask_path": "../../mask/hdr_left_06986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06987.png",
+      "transform_matrix": [
+        [
+          -0.996616005897522,
+          -0.05136990547180176,
+          0.0641682893037796,
+          17.287532806396484
+        ],
+        [
+          -0.06215020269155502,
+          -0.0399649441242218,
+          -0.9972662925720215,
+          25.16571617126465
+        ],
+        [
+          0.053793951869010925,
+          -0.9978797435760498,
+          0.03663705661892891,
+          -18.717138290405273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6987,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_83080291",
+      "mask_path": "../../mask/hdr_left_06987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06988.png",
+      "transform_matrix": [
+        [
+          -0.9965917468070984,
+          -0.04845314845442772,
+          0.0667625144124031,
+          17.227615356445312
+        ],
+        [
+          -0.06532175093889236,
+          -0.030734801664948463,
+          -0.9973908066749573,
+          25.14712905883789
+        ],
+        [
+          0.05037864297628403,
+          -0.998352587223053,
+          0.027465008199214935,
+          -18.72226905822754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6988,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_183083534",
+      "mask_path": "../../mask/hdr_left_06988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06989.png",
+      "transform_matrix": [
+        [
+          -0.9968849420547485,
+          -0.041889291256666183,
+          0.0668259933590889,
+          17.160921096801758
+        ],
+        [
+          -0.0656309574842453,
+          -0.029283128678798676,
+          -0.9974141716957092,
+          25.1260986328125
+        ],
+        [
+          0.04373784363269806,
+          -0.9986931085586548,
+          0.026442674919962883,
+          -18.71834945678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6989,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_283081054",
+      "mask_path": "../../mask/hdr_left_06989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06990.png",
+      "transform_matrix": [
+        [
+          -0.9966782331466675,
+          -0.04044213891029358,
+          0.0706893652677536,
+          17.083803176879883
+        ],
+        [
+          -0.0695665255188942,
+          -0.028530143201351166,
+          -0.9971692562103271,
+          25.108484268188477
+        ],
+        [
+          0.042344436049461365,
+          -0.998774528503418,
+          0.02562195621430874,
+          -18.710622787475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6990,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_383080959",
+      "mask_path": "../../mask/hdr_left_06990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06991.png",
+      "transform_matrix": [
+        [
+          -0.9959637522697449,
+          -0.04375237226486206,
+          0.07836955785751343,
+          17.021169662475586
+        ],
+        [
+          -0.07705488801002502,
+          -0.030968744307756424,
+          -0.9965457916259766,
+          25.097997665405273
+        ],
+        [
+          0.04602824151515961,
+          -0.9985623955726624,
+          0.027472415938973427,
+          -18.70740509033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6991,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_483081102",
+      "mask_path": "../../mask/hdr_left_06991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06992.png",
+      "transform_matrix": [
+        [
+          -0.9955337047576904,
+          -0.04334186390042305,
+          0.08386996388435364,
+          16.968347549438477
+        ],
+        [
+          -0.08228018879890442,
+          -0.03724854066967964,
+          -0.9959129095077515,
+          25.079505920410156
+        ],
+        [
+          0.04628874361515045,
+          -0.9983657002449036,
+          0.033515993505716324,
+          -18.70242691040039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6992,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_583081483",
+      "mask_path": "../../mask/hdr_left_06992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06993.png",
+      "transform_matrix": [
+        [
+          -0.9949154257774353,
+          -0.04703685641288757,
+          0.0890551283955574,
+          16.907699584960938
+        ],
+        [
+          -0.0862262174487114,
+          -0.05909018591046333,
+          -0.9945217370986938,
+          25.076887130737305
+        ],
+        [
+          0.05204145237803459,
+          -0.9971439242362976,
+          0.05473392829298973,
+          -18.721454620361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6993,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_683081626",
+      "mask_path": "../../mask/hdr_left_06993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03035.png",
+      "transform_matrix": [
+        [
+          -0.9067739248275757,
+          -0.13621704280376434,
+          0.3990062177181244,
+          17.892059326171875
+        ],
+        [
+          -0.39899685978889465,
+          -0.028572319075465202,
+          -0.9165070056915283,
+          25.147510528564453
+        ],
+        [
+          0.13624438643455505,
+          -0.9902668595314026,
+          -0.0284415315836668,
+          -18.815935134887695
+        ],
+        [
+          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": "1731323566_983081817",
+      "mask_path": "../../mask/hdr_right_03035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03036.png",
+      "transform_matrix": [
+        [
+          -0.9066108465194702,
+          -0.13303899765014648,
+          0.40044641494750977,
+          17.976444244384766
+        ],
+        [
+          -0.4000755548477173,
+          -0.030692249536514282,
+          -0.915968120098114,
+          25.178468704223633
+        ],
+        [
+          0.13415010273456573,
+          -0.9906353950500488,
+          -0.02539972774684429,
+          -18.828794479370117
+        ],
+        [
+          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": "1731323567_83081722",
+      "mask_path": "../../mask/hdr_right_03036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03037.png",
+      "transform_matrix": [
+        [
+          -0.9022708535194397,
+          -0.12652219831943512,
+          0.41218850016593933,
+          18.04810333251953
+        ],
+        [
+          -0.41129133105278015,
+          -0.03436656668782234,
+          -0.9108558893203735,
+          25.209444046020508
+        ],
+        [
+          0.12940900027751923,
+          -0.991368293762207,
+          -0.021029531955718994,
+          -18.833974838256836
+        ],
+        [
+          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": "1731323567_183082342",
+      "mask_path": "../../mask/hdr_right_03037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03038.png",
+      "transform_matrix": [
+        [
+          -0.897879958152771,
+          -0.11343714594841003,
+          0.4253746569156647,
+          18.097858428955078
+        ],
+        [
+          -0.424611359834671,
+          -0.032025616616010666,
+          -0.9048091173171997,
+          25.239274978637695
+        ],
+        [
+          0.11626183241605759,
+          -0.9930288791656494,
+          -0.01941153220832348,
+          -18.837289810180664
+        ],
+        [
+          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": "1731323567_283081293",
+      "mask_path": "../../mask/hdr_right_03038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03039.png",
+      "transform_matrix": [
+        [
+          -0.8937897086143494,
+          -0.10505767911672592,
+          0.43600785732269287,
+          18.15644073486328
+        ],
+        [
+          -0.4362178444862366,
+          -0.022192152217030525,
+          -0.8995674848556519,
+          25.276546478271484
+        ],
+        [
+          0.1041824147105217,
+          -0.9942185282707214,
+          -0.02599291503429413,
+          -18.843278884887695
+        ],
+        [
+          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": "1731323567_383081436",
+      "mask_path": "../../mask/hdr_right_03039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03040.png",
+      "transform_matrix": [
+        [
+          -0.8923455476760864,
+          -0.09980253130197525,
+          0.4401804804801941,
+          18.235492706298828
+        ],
+        [
+          -0.44105106592178345,
+          -0.014363765716552734,
+          -0.8973671197891235,
+          25.316823959350586
+        ],
+        [
+          0.09588215500116348,
+          -0.9949036240577698,
+          -0.03120056912302971,
+          -18.837453842163086
+        ],
+        [
+          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": "1731323567_483082056",
+      "mask_path": "../../mask/hdr_right_03040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03041.png",
+      "transform_matrix": [
+        [
+          -0.891079843044281,
+          -0.09260039776563644,
+          0.4442993402481079,
+          18.305044174194336
+        ],
+        [
+          -0.44517743587493896,
+          -0.012090052478015423,
+          -0.8953608274459839,
+          25.342988967895508
+        ],
+        [
+          0.08828236162662506,
+          -0.9956299662590027,
+          -0.030450403690338135,
+          -18.82807159423828
+        ],
+        [
+          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": "1731323567_583081960",
+      "mask_path": "../../mask/hdr_right_03041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03042.png",
+      "transform_matrix": [
+        [
+          -0.8889459371566772,
+          -0.08046600222587585,
+          0.45088842511177063,
+          18.35505485534668
+        ],
+        [
+          -0.45165035128593445,
+          -0.009505454450845718,
+          -0.8921444416046143,
+          25.36394691467285
+        ],
+        [
+          0.07607319205999374,
+          -0.9967119693756104,
+          -0.027892662212252617,
+          -18.829904556274414
+        ],
+        [
+          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": "1731323567_683080196",
+      "mask_path": "../../mask/hdr_right_03042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03043.png",
+      "transform_matrix": [
+        [
+          -0.8861902356147766,
+          -0.0686546266078949,
+          0.45820677280426025,
+          18.433008193969727
+        ],
+        [
+          -0.4586310088634491,
+          -0.010381866246461868,
+          -0.8885661363601685,
+          25.39472770690918
+        ],
+        [
+          0.06576122343540192,
+          -0.9975864291191101,
+          -0.022286830469965935,
+          -18.829580307006836
+        ],
+        [
+          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": "1731323567_783082485",
+      "mask_path": "../../mask/hdr_right_03043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03044.png",
+      "transform_matrix": [
+        [
+          -0.8838861584663391,
+          -0.060215216130018234,
+          0.4638098180294037,
+          18.522085189819336
+        ],
+        [
+          -0.46353888511657715,
+          -0.0192403644323349,
+          -0.885867714881897,
+          25.423030853271484
+        ],
+        [
+          0.06226658821105957,
+          -0.9979999661445618,
+          -0.010905804112553596,
+          -18.82905387878418
+        ],
+        [
+          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": "1731323567_883081197",
+      "mask_path": "../../mask/hdr_right_03044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03045.png",
+      "transform_matrix": [
+        [
+          -0.8828936815261841,
+          -0.05220135673880577,
+          0.4666622281074524,
+          18.582109451293945
+        ],
+        [
+          -0.46604543924331665,
+          -0.024171780794858932,
+          -0.8844305872917175,
+          25.45115852355957
+        ],
+        [
+          0.057448532432317734,
+          -0.9983440041542053,
+          -0.002987088169902563,
+          -18.83506202697754
+        ],
+        [
+          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": "1731323567_983082771",
+      "mask_path": "../../mask/hdr_right_03045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03046.png",
+      "transform_matrix": [
+        [
+          -0.8824326992034912,
+          -0.04830317571759224,
+          0.46795225143432617,
+          18.638778686523438
+        ],
+        [
+          -0.46762049198150635,
+          -0.01865340583026409,
+          -0.8837325572967529,
+          25.482505798339844
+        ],
+        [
+          0.05141599103808403,
+          -0.9986585378646851,
+          -0.006127176806330681,
+          -18.840206146240234
+        ],
+        [
+          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": "1731323568_83080768",
+      "mask_path": "../../mask/hdr_right_03046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03047.png",
+      "transform_matrix": [
+        [
+          -0.8848512768745422,
+          -0.05491643026471138,
+          0.4626256823539734,
+          18.727691650390625
+        ],
+        [
+          -0.4626416265964508,
+          -0.013188974931836128,
+          -0.8864473700523376,
+          25.516511917114258
+        ],
+        [
+          0.05478207767009735,
+          -0.9984038472175598,
+          -0.013736344873905182,
+          -18.83896255493164
+        ],
+        [
+          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": "1731323568_183080673",
+      "mask_path": "../../mask/hdr_right_03047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03048.png",
+      "transform_matrix": [
+        [
+          -0.8902723789215088,
+          -0.059519339352846146,
+          0.4515225291252136,
+          18.812280654907227
+        ],
+        [
+          -0.4519311189651489,
+          -0.007177079562097788,
+          -0.8920239806175232,
+          25.54119110107422
+        ],
+        [
+          0.05633328855037689,
+          -0.9982013702392578,
+          -0.020509084686636925,
+          -18.83341407775879
+        ],
+        [
+          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": "1731323568_283081293",
+      "mask_path": "../../mask/hdr_right_03048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03050.png",
+      "transform_matrix": [
+        [
+          -0.9021035432815552,
+          -0.05798128992319107,
+          0.4276065528392792,
+          18.917875289916992
+        ],
+        [
+          -0.4285416305065155,
+          0.004156809765845537,
+          -0.9035125970840454,
+          25.586376190185547
+        ],
+        [
+          0.05060933902859688,
+          -0.9983090162277222,
+          -0.028597267344594002,
+          -18.824609756469727
+        ],
+        [
+          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": "1731323568_483081340",
+      "mask_path": "../../mask/hdr_right_03050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03051.png",
+      "transform_matrix": [
+        [
+          -0.9026612639427185,
+          -0.07195150852203369,
+          0.4242943525314331,
+          18.985319137573242
+        ],
+        [
+          -0.42529991269111633,
+          -0.0014786387328058481,
+          -0.9050513505935669,
+          25.619709014892578
+        ],
+        [
+          0.06574717909097672,
+          -0.9974070191383362,
+          -0.029266254976391792,
+          -18.840206146240234
+        ],
+        [
+          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": "1731323568_583085536",
+      "mask_path": "../../mask/hdr_right_03051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03052.png",
+      "transform_matrix": [
+        [
+          -0.9008954763412476,
+          -0.08545805513858795,
+          0.42553985118865967,
+          19.04149055480957
+        ],
+        [
+          -0.4268602132797241,
+          -0.0030951432418078184,
+          -0.9043124318122864,
+          25.649539947509766
+        ],
+        [
+          0.07859788835048676,
+          -0.9963369369506836,
+          -0.03369024395942688,
+          -18.872037887573242
+        ],
+        [
+          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": "1731323568_683081865",
+      "mask_path": "../../mask/hdr_right_03052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03053.png",
+      "transform_matrix": [
+        [
+          -0.8989049196243286,
+          -0.09055512398481369,
+          0.42868363857269287,
+          19.08717918395996
+        ],
+        [
+          -0.43028032779693604,
+          -0.002082557650282979,
+          -0.902692973613739,
+          25.670894622802734
+        ],
+        [
+          0.08263622969388962,
+          -0.9958893060684204,
+          -0.03709206357598305,
+          -18.882556915283203
+        ],
+        [
+          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": "1731323568_783084630",
+      "mask_path": "../../mask/hdr_right_03053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03054.png",
+      "transform_matrix": [
+        [
+          -0.8978114724159241,
+          -0.11026137322187424,
+          0.42635318636894226,
+          19.14658546447754
+        ],
+        [
+          -0.4284959137439728,
+          -0.004671172704547644,
+          -0.9035316705703735,
+          25.69666290283203
+        ],
+        [
+          0.10161621123552322,
+          -0.9938916563987732,
+          -0.04305272176861763,
+          -18.896745681762695
+        ],
+        [
+          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": "1731323568_883081674",
+      "mask_path": "../../mask/hdr_right_03054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03055.png",
+      "transform_matrix": [
+        [
+          -0.8975375294685364,
+          -0.14057670533657074,
+          0.41792893409729004,
+          19.2050838470459
+        ],
+        [
+          -0.42043551802635193,
+          -0.012817018665373325,
+          -0.907231867313385,
+          25.71697998046875
+        ],
+        [
+          0.13289228081703186,
+          -0.9899868369102478,
+          -0.04759969189763069,
+          -18.930309295654297
+        ],
+        [
+          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": "1731323568_983083248",
+      "mask_path": "../../mask/hdr_right_03055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03058.png",
+      "transform_matrix": [
+        [
+          -0.8992218971252441,
+          -0.18383947014808655,
+          0.39699238538742065,
+          19.378690719604492
+        ],
+        [
+          -0.3975272476673126,
+          -0.035561010241508484,
+          -0.9169010519981384,
+          25.743331909179688
+        ],
+        [
+          0.18268005549907684,
+          -0.982312798500061,
+          -0.04110395163297653,
+          -18.996004104614258
+        ],
+        [
+          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": "1731323569_283082008",
+      "mask_path": "../../mask/hdr_right_03058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03059.png",
+      "transform_matrix": [
+        [
+          -0.8940221071243286,
+          -0.20434825122356415,
+          0.3987058699131012,
+          19.46681785583496
+        ],
+        [
+          -0.394441694021225,
+          -0.06301558762788773,
+          -0.9167577624320984,
+          25.75832748413086
+        ],
+        [
+          0.21246254444122314,
+          -0.9768678545951843,
+          -0.024266144260764122,
+          -19.030681610107422
+        ],
+        [
+          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": "1731323569_383082866",
+      "mask_path": "../../mask/hdr_right_03059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03060.png",
+      "transform_matrix": [
+        [
+          -0.8888190984725952,
+          -0.2223186194896698,
+          0.4007183015346527,
+          19.51373863220215
+        ],
+        [
+          -0.3915676474571228,
+          -0.08582504093647003,
+          -0.9161381125450134,
+          25.765024185180664
+        ],
+        [
+          0.23806621134281158,
+          -0.9711892008781433,
+          -0.010769848711788654,
+          -19.06838607788086
+        ],
+        [
+          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": "1731323569_483081579",
+      "mask_path": "../../mask/hdr_right_03060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03061.png",
+      "transform_matrix": [
+        [
+          -0.8844835162162781,
+          -0.2347392439842224,
+          0.4032200872898102,
+          19.58549690246582
+        ],
+        [
+          -0.39011162519454956,
+          -0.10198646783828735,
+          -0.9151020646095276,
+          25.783262252807617
+        ],
+        [
+          0.25593337416648865,
+          -0.9666934609413147,
+          -0.001369162811897695,
+          -19.114412307739258
+        ],
+        [
+          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": "1731323569_583082437",
+      "mask_path": "../../mask/hdr_right_03061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03062.png",
+      "transform_matrix": [
+        [
+          -0.8786349892616272,
+          -0.2771254777908325,
+          0.3888469636440277,
+          19.7078800201416
+        ],
+        [
+          -0.3794350326061249,
+          -0.08916182070970535,
+          -0.9209122061729431,
+          25.799198150634766
+        ],
+        [
+          0.2898785471916199,
+          -0.956687867641449,
+          -0.0268104188144207,
+          -19.134021759033203
+        ],
+        [
+          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": "1731323569_683081626",
+      "mask_path": "../../mask/hdr_right_03062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03063.png",
+      "transform_matrix": [
+        [
+          -0.8762489557266235,
+          -0.308110773563385,
+          0.3704802393913269,
+          19.784534454345703
+        ],
+        [
+          -0.36547255516052246,
+          -0.07611367851495743,
+          -0.9277049899101257,
+          25.801633834838867
+        ],
+        [
+          0.31403452157974243,
+          -0.948300838470459,
+          -0.04591149836778641,
+          -19.146953582763672
+        ],
+        [
+          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": "1731323569_783081531",
+      "mask_path": "../../mask/hdr_right_03063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03064.png",
+      "transform_matrix": [
+        [
+          -0.8768067955970764,
+          -0.319047749042511,
+          0.3597475290298462,
+          19.832927703857422
+        ],
+        [
+          -0.3535538613796234,
+          -0.07930748164653778,
+          -0.9320461750030518,
+          25.80174446105957
+        ],
+        [
+          0.3258979618549347,
+          -0.9444145560264587,
+          -0.04326321929693222,
+          -19.177486419677734
+        ],
+        [
+          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": "1731323569_883081197",
+      "mask_path": "../../mask/hdr_right_03064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03065.png",
+      "transform_matrix": [
+        [
+          -0.8770710825920105,
+          -0.3287395238876343,
+          0.3502523601055145,
+          19.92422103881836
+        ],
+        [
+          -0.34417960047721863,
+          -0.07857222110033035,
+          -0.9356104731559753,
+          25.831850051879883
+        ],
+        [
+          0.3350922465324402,
+          -0.9411464929580688,
+          -0.04423201084136963,
+          -19.227598190307617
+        ],
+        [
+          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": "1731323569_983080148",
+      "mask_path": "../../mask/hdr_right_03065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03066.png",
+      "transform_matrix": [
+        [
+          -0.879866361618042,
+          -0.32924455404281616,
+          0.3426853120326996,
+          20.015810012817383
+        ],
+        [
+          -0.3381146192550659,
+          -0.07300186902284622,
+          -0.938269317150116,
+          25.86310386657715
+        ],
+        [
+          0.33393675088882446,
+          -0.941418468952179,
+          -0.047090496867895126,
+          -19.270713806152344
+        ],
+        [
+          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": "1731323570_83080530",
+      "mask_path": "../../mask/hdr_right_03066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03067.png",
+      "transform_matrix": [
+        [
+          -0.8839749097824097,
+          -0.3261473476886749,
+          0.334987074136734,
+          20.10789680480957
+        ],
+        [
+          -0.3344992995262146,
+          -0.059401847422122955,
+          -0.9405220150947571,
+          25.88506317138672
+        ],
+        [
+          0.32664763927459717,
+          -0.9434507489204407,
+          -0.056586310267448425,
+          -19.300954818725586
+        ],
+        [
+          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": "1731323570_183080911",
+      "mask_path": "../../mask/hdr_right_03067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03068.png",
+      "transform_matrix": [
+        [
+          -0.8901261687278748,
+          -0.31110841035842896,
+          0.33299702405929565,
+          20.200281143188477
+        ],
+        [
+          -0.3327575922012329,
+          -0.05554014444351196,
+          -0.9413754940032959,
+          25.904123306274414
+        ],
+        [
+          0.3113645315170288,
+          -0.9487501978874207,
+          -0.05408593267202377,
+          -19.335540771484375
+        ],
+        [
+          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": "1731323570_283081054",
+      "mask_path": "../../mask/hdr_right_03068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03069.png",
+      "transform_matrix": [
+        [
+          -0.8971893787384033,
+          -0.2887495458126068,
+          0.3341779410839081,
+          20.30895233154297
+        ],
+        [
+          -0.3328123688697815,
+          -0.05537001043558121,
+          -0.9413661360740662,
+          25.90945816040039
+        ],
+        [
+          0.290322482585907,
+          -0.9558022022247314,
+          -0.04642201587557793,
+          -19.353673934936523
+        ],
+        [
+          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": "1731323570_383080959",
+      "mask_path": "../../mask/hdr_right_03069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03070.png",
+      "transform_matrix": [
+        [
+          -0.9043987393379211,
+          -0.26723048090934753,
+          0.332642138004303,
+          20.4097900390625
+        ],
+        [
+          -0.3316981792449951,
+          -0.05006956681609154,
+          -0.9420559406280518,
+          25.92061424255371
+        ],
+        [
+          0.26840129494667053,
+          -0.9623309969902039,
+          -0.043356988579034805,
+          -19.365629196166992
+        ],
+        [
+          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": "1731323570_483079433",
+      "mask_path": "../../mask/hdr_right_03070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03071.png",
+      "transform_matrix": [
+        [
+          -0.9138429760932922,
+          -0.24054615199565887,
+          0.3271522521972656,
+          20.49860954284668
+        ],
+        [
+          -0.324431836605072,
+          -0.05200081318616867,
+          -0.9444786906242371,
+          25.94178009033203
+        ],
+        [
+          0.2442028969526291,
+          -0.9692437648773193,
+          -0.030520247295498848,
+          -19.38527488708496
+        ],
+        [
+          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": "1731323570_583080053",
+      "mask_path": "../../mask/hdr_right_03071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03072.png",
+      "transform_matrix": [
+        [
+          -0.9216704964637756,
+          -0.21347370743751526,
+          0.32396355271339417,
+          20.635480880737305
+        ],
+        [
+          -0.32088449597358704,
+          -0.0499156229197979,
+          -0.9458021521568298,
+          25.972373962402344
+        ],
+        [
+          0.2180747389793396,
+          -0.9756727814674377,
+          -0.02249464951455593,
+          -19.399465560913086
+        ],
+        [
+          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": "1731323570_683079957",
+      "mask_path": "../../mask/hdr_right_03072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03073.png",
+      "transform_matrix": [
+        [
+          -0.9252893924713135,
+          -0.19559821486473083,
+          0.32493212819099426,
+          20.73398208618164
+        ],
+        [
+          -0.3224979043006897,
+          -0.045083001255989075,
+          -0.9454960227012634,
+          25.99578094482422
+        ],
+        [
+          0.19958622753620148,
+          -0.9796472787857056,
+          -0.02136518992483616,
+          -19.413227081298828
+        ],
+        [
+          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": "1731323570_783080816",
+      "mask_path": "../../mask/hdr_right_03073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03074.png",
+      "transform_matrix": [
+        [
+          -0.9280259609222412,
+          -0.17961126565933228,
+          0.32635486125946045,
+          20.795087814331055
+        ],
+        [
+          -0.3244629502296448,
+          -0.04066075384616852,
+          -0.9450240731239319,
+          26.015193939208984
+        ],
+        [
+          0.18300682306289673,
+          -0.9828969836235046,
+          -0.020542969927191734,
+          -19.429630279541016
+        ],
+        [
+          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": "1731323570_883080482",
+      "mask_path": "../../mask/hdr_right_03074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03075.png",
+      "transform_matrix": [
+        [
+          -0.9315782189369202,
+          -0.16361112892627716,
+          0.3246433436870575,
+          20.89438247680664
+        ],
+        [
+          -0.32261067628860474,
+          -0.03960036858916283,
+          -0.9457030296325684,
+          26.027721405029297
+        ],
+        [
+          0.16758352518081665,
+          -0.9857297539710999,
+          -0.015891851857304573,
+          -19.436281204223633
+        ],
+        [
+          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": "1731323570_983080625",
+      "mask_path": "../../mask/hdr_right_03075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03076.png",
+      "transform_matrix": [
+        [
+          -0.9359513521194458,
+          -0.1484648883342743,
+          0.3193012475967407,
+          20.991552352905273
+        ],
+        [
+          -0.31739234924316406,
+          -0.03702479228377342,
+          -0.9475712776184082,
+          26.039447784423828
+        ],
+        [
+          0.1525031328201294,
+          -0.9882243275642395,
+          -0.012468218803405762,
+          -19.437881469726562
+        ],
+        [
+          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": "1731323571_83080768",
+      "mask_path": "../../mask/hdr_right_03076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03077.png",
+      "transform_matrix": [
+        [
+          -0.9404764175415039,
+          -0.13196751475334167,
+          0.31319111585617065,
+          21.060117721557617
+        ],
+        [
+          -0.3118627369403839,
+          -0.031158022582530975,
+          -0.9496161937713623,
+          26.053016662597656
+        ],
+        [
+          0.13507691025733948,
+          -0.9907642006874084,
+          -0.011852364055812359,
+          -19.437517166137695
+        ],
+        [
+          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": "1731323571_183080911",
+      "mask_path": "../../mask/hdr_right_03077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03078.png",
+      "transform_matrix": [
+        [
+          -0.9439189434051514,
+          -0.11654169112443924,
+          0.30892565846443176,
+          21.15116310119629
+        ],
+        [
+          -0.3073142468929291,
+          -0.03200657293200493,
+          -0.9510696530342102,
+          26.06776237487793
+        ],
+        [
+          0.12072691321372986,
+          -0.992669939994812,
+          -0.005603309720754623,
+          -19.434106826782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3078,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323571_283078908",
+      "mask_path": "../../mask/hdr_right_03078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03079.png",
+      "transform_matrix": [
+        [
+          -0.9446412920951843,
+          -0.10577070713043213,
+          0.3105889558792114,
+          21.249591827392578
+        ],
+        [
+          -0.30835556983947754,
+          -0.03726998344063759,
+          -0.9505408406257629,
+          26.09508514404297
+        ],
+        [
+          0.11211501806974411,
+          -0.9936918616294861,
+          0.002591771772131324,
+          -19.445913314819336
+        ],
+        [
+          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": "1731323571_383080244",
+      "mask_path": "../../mask/hdr_right_03079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03080.png",
+      "transform_matrix": [
+        [
+          -0.9447320699691772,
+          -0.09483912587165833,
+          0.31382614374160767,
+          21.324193954467773
+        ],
+        [
+          -0.31152379512786865,
+          -0.03856480121612549,
+          -0.9494554996490479,
+          26.119461059570312
+        ],
+        [
+          0.1021481603384018,
+          -0.9947453737258911,
+          0.006888765376061201,
+          -19.455787658691406
+        ],
+        [
+          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": "1731323571_483079195",
+      "mask_path": "../../mask/hdr_right_03080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03081.png",
+      "transform_matrix": [
+        [
+          -0.9458476901054382,
+          -0.08455857634544373,
+          0.3134039640426636,
+          21.391584396362305
+        ],
+        [
+          -0.3117761015892029,
+          -0.032157909125089645,
+          -0.949611246585846,
+          26.13825035095215
+        ],
+        [
+          0.09037619829177856,
+          -0.995899498462677,
+          0.004053137265145779,
+          -19.463703155517578
+        ],
+        [
+          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": "1731323571_583079814",
+      "mask_path": "../../mask/hdr_right_03081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03082.png",
+      "transform_matrix": [
+        [
+          -0.9483797550201416,
+          -0.0827004462480545,
+          0.306164413690567,
+          21.480762481689453
+        ],
+        [
+          -0.3047817349433899,
+          -0.029168009757995605,
+          -0.9519754648208618,
+          26.153202056884766
+        ],
+        [
+          0.08765898644924164,
+          -0.9961475133895874,
+          0.002456765389069915,
+          -19.463369369506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3082,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323571_683080911",
+      "mask_path": "../../mask/hdr_right_03082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03083.png",
+      "transform_matrix": [
+        [
+          -0.9519539475440979,
+          -0.07982248067855835,
+          0.2956552505493164,
+          21.565101623535156
+        ],
+        [
+          -0.29455021023750305,
+          -0.025551285594701767,
+          -0.9552943110466003,
+          26.155183792114258
+        ],
+        [
+          0.08380834013223648,
+          -0.9964815378189087,
+          0.0008119199192151427,
+          -19.45149803161621
+        ],
+        [
+          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": "1731323571_783081054",
+      "mask_path": "../../mask/hdr_right_03083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03084.png",
+      "transform_matrix": [
+        [
+          -0.9554318785667419,
+          -0.07145547866821289,
+          0.28643345832824707,
+          21.624845504760742
+        ],
+        [
+          -0.2856283187866211,
+          -0.02146127074956894,
+          -0.9581002593040466,
+          26.1484375
+        ],
+        [
+          0.07460875064134598,
+          -0.9972128868103027,
+          9.506829519523308e-05,
+          -19.438262939453125
+        ],
+        [
+          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": "1731323571_883081436",
+      "mask_path": "../../mask/hdr_right_03084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03085.png",
+      "transform_matrix": [
+        [
+          -0.9580619931221008,
+          -0.06469523161649704,
+          0.27916261553764343,
+          21.710100173950195
+        ],
+        [
+          -0.27812451124191284,
+          -0.024715280160307884,
+          -0.9602270722389221,
+          26.15789031982422
+        ],
+        [
+          0.06902168691158295,
+          -0.9975989460945129,
+          0.005685441195964813,
+          -19.445568084716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3085,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323571_983082532",
+      "mask_path": "../../mask/hdr_right_03085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03086.png",
+      "transform_matrix": [
+        [
+          -0.9581319093704224,
+          -0.05971832200884819,
+          0.2800302803516388,
+          21.817548751831055
+        ],
+        [
+          -0.2782886028289795,
+          -0.03589145466685295,
+          -0.959826648235321,
+          26.170673370361328
+        ],
+        [
+          0.06736994534730911,
+          -0.9975698590278625,
+          0.017769815400242805,
+          -19.451330184936523
+        ],
+        [
+          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": "1731323572_83082199",
+      "mask_path": "../../mask/hdr_right_03086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03087.png",
+      "transform_matrix": [
+        [
+          -0.9570884108543396,
+          -0.053164638578891754,
+          0.2848776876926422,
+          21.899715423583984
+        ],
+        [
+          -0.2827672064304352,
+          -0.04386917129158974,
+          -0.9581848978996277,
+          26.182321548461914
+        ],
+        [
+          0.06343889981508255,
+          -0.9976216554641724,
+          0.026953453198075294,
+          -19.455869674682617
+        ],
+        [
+          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": "1731323572_183082580",
+      "mask_path": "../../mask/hdr_right_03087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03088.png",
+      "transform_matrix": [
+        [
+          -0.9565876722335815,
+          -0.046511080116033554,
+          0.28770944476127625,
+          21.968265533447266
+        ],
+        [
+          -0.28577330708503723,
+          -0.04411228373646736,
+          -0.9572814702987671,
+          26.191770553588867
+        ],
+        [
+          0.05721571296453476,
+          -0.9979432821273804,
+          0.02890564128756523,
+          -19.467763900756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3088,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_283082485",
+      "mask_path": "../../mask/hdr_right_03088.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03089.png",
+      "transform_matrix": [
+        [
+          -0.9575759768486023,
+          -0.04574092477560043,
+          0.28452783823013306,
+          22.065170288085938
+        ],
+        [
+          -0.28263145685195923,
+          -0.04376671463251114,
+          -0.958229660987854,
+          26.190839767456055
+        ],
+        [
+          0.05628316104412079,
+          -0.9979941248893738,
+          0.02898212894797325,
+          -19.459678649902344
+        ],
+        [
+          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": "1731323572_383082151",
+      "mask_path": "../../mask/hdr_right_03089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03090.png",
+      "transform_matrix": [
+        [
+          -0.9600275158882141,
+          -0.04502912983298302,
+          0.2762600779533386,
+          22.133405685424805
+        ],
+        [
+          -0.2745596766471863,
+          -0.04048608988523483,
+          -0.9607173800468445,
+          26.19390296936035
+        ],
+        [
+          0.05444495752453804,
+          -0.9981649518013,
+          0.026504574343562126,
+          -19.45018768310547
+        ],
+        [
+          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": "1731323572_483080387",
+      "mask_path": "../../mask/hdr_right_03090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03092.png",
+      "transform_matrix": [
+        [
+          -0.9641010761260986,
+          -0.036943595856428146,
+          0.2629530429840088,
+          22.24736785888672
+        ],
+        [
+          -0.26203489303588867,
+          -0.027903318405151367,
+          -0.9646549224853516,
+          26.204565048217773
+        ],
+        [
+          0.042975086718797684,
+          -0.9989277124404907,
+          0.017221108078956604,
+          -19.447498321533203
+        ],
+        [
+          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": "1731323572_683079957",
+      "mask_path": "../../mask/hdr_right_03092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03093.png",
+      "transform_matrix": [
+        [
+          -0.9619829654693604,
+          -0.03563949093222618,
+          0.2707740068435669,
+          22.340103149414062
+        ],
+        [
+          -0.2697334587574005,
+          -0.03142330422997475,
+          -0.9624221920967102,
+          26.216270446777344
+        ],
+        [
+          0.04280885308980942,
+          -0.9988705515861511,
+          0.02061552368104458,
+          -19.43952751159668
+        ],
+        [
+          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": "1731323572_783081293",
+      "mask_path": "../../mask/hdr_right_03093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03094.png",
+      "transform_matrix": [
+        [
+          -0.9568397998809814,
+          -0.03530636057257652,
+          0.28846341371536255,
+          22.403295516967773
+        ],
+        [
+          -0.2871508002281189,
+          -0.03796720132231712,
+          -0.9571326971054077,
+          26.236129760742188
+        ],
+        [
+          0.04474501684308052,
+          -0.9986550807952881,
+          0.02619028091430664,
+          -19.447202682495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3094,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323572_883082151",
+      "mask_path": "../../mask/hdr_right_03094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03096.png",
+      "transform_matrix": [
+        [
+          -0.9456779956817627,
+          -0.04389065504074097,
+          0.32212862372398376,
+          22.47368621826172
+        ],
+        [
+          -0.3208172917366028,
+          -0.034405045211315155,
+          -0.9465160369873047,
+          26.276241302490234
+        ],
+        [
+          0.05262605845928192,
+          -0.9984437227249146,
+          0.01845521293580532,
+          -19.467308044433594
+        ],
+        [
+          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": "1731323573_83081483",
+      "mask_path": "../../mask/hdr_right_03096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03097.png",
+      "transform_matrix": [
+        [
+          -0.9423245787620544,
+          -0.048060644418001175,
+          0.33123183250427246,
+          22.529504776000977
+        ],
+        [
+          -0.33007264137268066,
+          -0.030559247359633446,
+          -0.9434607625007629,
+          26.292137145996094
+        ],
+        [
+          0.05546553060412407,
+          -0.9983768463134766,
+          0.012933222576975822,
+          -19.470212936401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3097,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_183081388",
+      "mask_path": "../../mask/hdr_right_03097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03099.png",
+      "transform_matrix": [
+        [
+          -0.9385599493980408,
+          -0.04523692652583122,
+          0.34213849902153015,
+          22.617660522460938
+        ],
+        [
+          -0.3412403166294098,
+          -0.026516327634453773,
+          -0.9396020770072937,
+          26.300525665283203
+        ],
+        [
+          0.05157696455717087,
+          -0.998624324798584,
+          0.009450501762330532,
+          -19.46408462524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3099,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_383082151",
+      "mask_path": "../../mask/hdr_right_03099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03100.png",
+      "transform_matrix": [
+        [
+          -0.9377259016036987,
+          -0.04645684361457825,
+          0.3442557454109192,
+          22.66887855529785
+        ],
+        [
+          -0.343468576669693,
+          -0.024230072274804115,
+          -0.9388515949249268,
+          26.310775756835938
+        ],
+        [
+          0.051957421004772186,
+          -0.9986264109611511,
+          0.0067646992392838,
+          -19.476537704467773
+        ],
+        [
+          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": "1731323573_483081102",
+      "mask_path": "../../mask/hdr_right_03100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03101.png",
+      "transform_matrix": [
+        [
+          -0.9352536201477051,
+          -0.04811762645840645,
+          0.3506927192211151,
+          22.749780654907227
+        ],
+        [
+          -0.3495064973831177,
+          -0.03145430237054825,
+          -0.9364058375358582,
+          26.325624465942383
+        ],
+        [
+          0.05608842149376869,
+          -0.9983463287353516,
+          0.012600325047969818,
+          -19.47879409790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3101,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323573_583079814",
+      "mask_path": "../../mask/hdr_right_03101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03104.png",
+      "transform_matrix": [
+        [
+          -0.9305697679519653,
+          -0.04953962564468384,
+          0.3627476394176483,
+          22.908857345581055
+        ],
+        [
+          -0.36019301414489746,
+          -0.05360224470496178,
+          -0.9313365817070007,
+          26.33544158935547
+        ],
+        [
+          0.06558215618133545,
+          -0.997332751750946,
+          0.03203679993748665,
+          -19.486644744873047
+        ],
+        [
+          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": "1731323573_883081436",
+      "mask_path": "../../mask/hdr_right_03104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03105.png",
+      "transform_matrix": [
+        [
+          -0.9337985515594482,
+          -0.053362779319286346,
+          0.35379758477211,
+          22.976482391357422
+        ],
+        [
+          -0.351078063249588,
+          -0.054107293486595154,
+          -0.9347817301750183,
+          26.33554458618164
+        ],
+        [
+          0.06902557611465454,
+          -0.9971082210540771,
+          0.03179081156849861,
+          -19.493934631347656
+        ],
+        [
+          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": "1731323573_983080625",
+      "mask_path": "../../mask/hdr_right_03105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03107.png",
+      "transform_matrix": [
+        [
+          -0.9440481066703796,
+          -0.04647685959935188,
+          0.3265165686607361,
+          23.046184539794922
+        ],
+        [
+          -0.32403460144996643,
+          -0.053720541298389435,
+          -0.9445187449455261,
+          26.323139190673828
+        ],
+        [
+          0.0614389106631279,
+          -0.9974737763404846,
+          0.035654667764902115,
+          -19.48042106628418
+        ],
+        [
+          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": "1731323574_183081865",
+      "mask_path": "../../mask/hdr_right_03107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03108.png",
+      "transform_matrix": [
+        [
+          -0.9485418200492859,
+          -0.03926782310009003,
+          0.31420764327049255,
+          23.119117736816406
+        ],
+        [
+          -0.31233617663383484,
+          -0.047242868691682816,
+          -0.948796272277832,
+          26.319961547851562
+        ],
+        [
+          0.05210123211145401,
+          -0.9981112480163574,
+          0.03254707530140877,
+          -19.481761932373047
+        ],
+        [
+          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": "1731323574_283082723",
+      "mask_path": "../../mask/hdr_right_03108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03109.png",
+      "transform_matrix": [
+        [
+          -0.9499003291130066,
+          -0.03335470333695412,
+          0.31076809763908386,
+          23.183937072753906
+        ],
+        [
+          -0.30918407440185547,
+          -0.04531307518482208,
+          -0.9499221444129944,
+          26.316991806030273
+        ],
+        [
+          0.045766230672597885,
+          -0.9984158277511597,
+          0.032730162143707275,
+          -19.467496871948242
+        ],
+        [
+          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": "1731323574_383080959",
+      "mask_path": "../../mask/hdr_right_03109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03110.png",
+      "transform_matrix": [
+        [
+          -0.9493389129638672,
+          -0.03153358772397041,
+          0.31266820430755615,
+          23.24736213684082
+        ],
+        [
+          -0.3111509084701538,
+          -0.04516475275158882,
+          -0.9492868781089783,
+          26.330183029174805
+        ],
+        [
+          0.0440560020506382,
+          -0.9984817504882812,
+          0.03306494653224945,
+          -19.465425491333008
+        ],
+        [
+          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": "1731323574_483083009",
+      "mask_path": "../../mask/hdr_right_03110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03111.png",
+      "transform_matrix": [
+        [
+          -0.9486224055290222,
+          -0.031098254024982452,
+          0.3148784339427948,
+          23.320547103881836
+        ],
+        [
+          -0.31348732113838196,
+          -0.04258431866765022,
+          -0.9486371874809265,
+          26.350034713745117
+        ],
+        [
+          0.04290983825922012,
+          -0.9986087679862976,
+          0.030647534877061844,
+          -19.472932815551758
+        ],
+        [
+          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": "1731323574_583081960",
+      "mask_path": "../../mask/hdr_right_03111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03112.png",
+      "transform_matrix": [
+        [
+          -0.9485713243484497,
+          -0.0357232503592968,
+          0.31454136967658997,
+          23.393068313598633
+        ],
+        [
+          -0.3131718039512634,
+          -0.03916101157665253,
+          -0.9488887786865234,
+          26.36737060546875
+        ],
+        [
+          0.04621514678001404,
+          -0.9985941648483276,
+          0.025959501042962074,
+          -19.48241424560547
+        ],
+        [
+          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": "1731323574_683082342",
+      "mask_path": "../../mask/hdr_right_03112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03113.png",
+      "transform_matrix": [
+        [
+          -0.9506036043167114,
+          -0.03730230778455734,
+          0.3081578314304352,
+          23.46583366394043
+        ],
+        [
+          -0.30672159790992737,
+          -0.03965216875076294,
+          -0.9509729743003845,
+          26.374231338500977
+        ],
+        [
+          0.047692615538835526,
+          -0.9985170364379883,
+          0.02625207230448723,
+          -19.480802536010742
+        ],
+        [
+          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": "1731323574_783082246",
+      "mask_path": "../../mask/hdr_right_03113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03115.png",
+      "transform_matrix": [
+        [
+          -0.9564855098724365,
+          -0.03483574464917183,
+          0.28969311714172363,
+          23.5601806640625
+        ],
+        [
+          -0.28848665952682495,
+          -0.0358467698097229,
+          -0.9568127393722534,
+          26.389577865600586
+        ],
+        [
+          0.04371584579348564,
+          -0.9987499117851257,
+          0.024237262085080147,
+          -19.482751846313477
+        ],
+        [
+          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": "1731323574_983081579",
+      "mask_path": "../../mask/hdr_right_03115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03116.png",
+      "transform_matrix": [
+        [
+          -0.9594239592552185,
+          -0.027445141226053238,
+          0.2806284725666046,
+          23.653472900390625
+        ],
+        [
+          -0.27958667278289795,
+          -0.03645940124988556,
+          -0.9594280123710632,
+          26.409040451049805
+        ],
+        [
+          0.03656318783760071,
+          -0.9989581108093262,
+          0.027306728065013885,
+          -19.488250732421875
+        ],
+        [
+          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": "1731323575_83083629",
+      "mask_path": "../../mask/hdr_right_03116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03117.png",
+      "transform_matrix": [
+        [
+          -0.9597059488296509,
+          -0.021295037120580673,
+          0.2801983058452606,
+          23.741430282592773
+        ],
+        [
+          -0.2791476547718048,
+          -0.04224874824285507,
+          -0.9593182802200317,
+          26.42694091796875
+        ],
+        [
+          0.03226674348115921,
+          -0.9988802075386047,
+          0.03460191190242767,
+          -19.4986629486084
+        ],
+        [
+          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": "1731323575_183082342",
+      "mask_path": "../../mask/hdr_right_03117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03119.png",
+      "transform_matrix": [
+        [
+          -0.9579051733016968,
+          -0.020951567217707634,
+          0.2863190472126007,
+          23.84785270690918
+        ],
+        [
+          -0.28527188301086426,
+          -0.042432792484760284,
+          -0.9575069546699524,
+          26.447229385375977
+        ],
+        [
+          0.0322105847299099,
+          -0.9988797307014465,
+          0.03466969355940819,
+          -19.50920295715332
+        ],
+        [
+          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": "1731323575_383081197",
+      "mask_path": "../../mask/hdr_right_03119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03120.png",
+      "transform_matrix": [
+        [
+          -0.9595510959625244,
+          -0.03142601251602173,
+          0.2797752022743225,
+          23.92146110534668
+        ],
+        [
+          -0.27829933166503906,
+          -0.044344350695610046,
+          -0.9594702124595642,
+          26.4583683013916
+        ],
+        [
+          0.04255877435207367,
+          -0.9985218644142151,
+          0.03380483388900757,
+          -19.518077850341797
+        ],
+        [
+          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": "1731323575_483083963",
+      "mask_path": "../../mask/hdr_right_03120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03121.png",
+      "transform_matrix": [
+        [
+          -0.9625338912010193,
+          -0.04129728674888611,
+          0.26799818873405457,
+          23.983091354370117
+        ],
+        [
+          -0.26574283838272095,
+          -0.052930284291505814,
+          -0.9625898599624634,
+          26.463699340820312
+        ],
+        [
+          0.05393756553530693,
+          -0.9977439045906067,
+          0.03997274115681648,
+          -19.52435874938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3121,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323575_583081722",
+      "mask_path": "../../mask/hdr_right_03121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03122.png",
+      "transform_matrix": [
+        [
+          -0.9671579003334045,
+          -0.043294865638017654,
+          0.25046226382255554,
+          24.035633087158203
+        ],
+        [
+          -0.24802552163600922,
+          -0.05471795052289963,
+          -0.9672070145606995,
+          26.455812454223633
+        ],
+        [
+          0.05557987838983536,
+          -0.9975627660751343,
+          0.042182665318250656,
+          -19.5257625579834
+        ],
+        [
+          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": "1731323575_683081626",
+      "mask_path": "../../mask/hdr_right_03122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03123.png",
+      "transform_matrix": [
+        [
+          -0.9743061065673828,
+          -0.0451216958463192,
+          0.2206619679927826,
+          24.105756759643555
+        ],
+        [
+          -0.21814528107643127,
+          -0.054711371660232544,
+          -0.9743815064430237,
+          26.44882583618164
+        ],
+        [
+          0.05603846535086632,
+          -0.997482180595398,
+          0.04346253722906113,
+          -19.52883529663086
+        ],
+        [
+          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": "1731323575_783082246",
+      "mask_path": "../../mask/hdr_right_03123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03124.png",
+      "transform_matrix": [
+        [
+          -0.980134904384613,
+          -0.05298524349927902,
+          0.1911233514547348,
+          24.165307998657227
+        ],
+        [
+          -0.18751396238803864,
+          -0.06634852290153503,
+          -0.980018675327301,
+          26.45062255859375
+        ],
+        [
+          0.06460727006196976,
+          -0.9963886737823486,
+          0.05509503185749054,
+          -19.537092208862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3124,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323575_883081912",
+      "mask_path": "../../mask/hdr_right_03124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03126.png",
+      "transform_matrix": [
+        [
+          -0.9896837472915649,
+          -0.058676715940237045,
+          0.13070262968540192,
+          24.236101150512695
+        ],
+        [
+          -0.12486474215984344,
+          -0.09405867755413055,
+          -0.9877052903175354,
+          26.431358337402344
+        ],
+        [
+          0.07024902105331421,
+          -0.9938360452651978,
+          0.08576168864965439,
+          -19.57062339782715
+        ],
+        [
+          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": "1731323576_83081483",
+      "mask_path": "../../mask/hdr_right_03126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03128.png",
+      "transform_matrix": [
+        [
+          -0.9958978891372681,
+          -0.07067491859197617,
+          0.056502606719732285,
+          24.333398818969727
+        ],
+        [
+          -0.05035855248570442,
+          -0.08588490635156631,
+          -0.9950315356254578,
+          26.38570785522461
+        ],
+        [
+          0.07517650723457336,
+          -0.9937951564788818,
+          0.08197350800037384,
+          -19.563180923461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3128,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_283079385",
+      "mask_path": "../../mask/hdr_right_03128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03130.png",
+      "transform_matrix": [
+        [
+          -0.9975395202636719,
+          -0.0693710446357727,
+          -0.010129685513675213,
+          24.393587112426758
+        ],
+        [
+          0.01599593460559845,
+          -0.08453798294067383,
+          -0.9962918758392334,
+          26.333309173583984
+        ],
+        [
+          0.06825746595859528,
+          -0.9940025210380554,
+          0.08543963730335236,
+          -19.55183982849121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3130,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_483082532",
+      "mask_path": "../../mask/hdr_right_03130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03132.png",
+      "transform_matrix": [
+        [
+          -0.9978696703910828,
+          -0.05432333052158356,
+          -0.03612693026661873,
+          24.491432189941406
+        ],
+        [
+          0.04036426916718483,
+          -0.079043909907341,
+          -0.9960535764694214,
+          26.298540115356445
+        ],
+        [
+          0.051253341138362885,
+          -0.9953899383544922,
+          0.0810682401061058,
+          -19.537860870361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3132,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_683080911",
+      "mask_path": "../../mask/hdr_right_03132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03133.png",
+      "transform_matrix": [
+        [
+          -0.9979828596115112,
+          -0.05169640854001045,
+          -0.03684687614440918,
+          24.546707153320312
+        ],
+        [
+          0.04063001275062561,
+          -0.07414696365594864,
+          -0.996419370174408,
+          26.284454345703125
+        ],
+        [
+          0.048779215663671494,
+          -0.9959064722061157,
+          0.07609782367944717,
+          -19.535375595092773
+        ],
+        [
+          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": "1731323576_783081531",
+      "mask_path": "../../mask/hdr_right_03133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03134.png",
+      "transform_matrix": [
+        [
+          -0.9980288147926331,
+          -0.049785662442445755,
+          -0.0382087416946888,
+          24.611804962158203
+        ],
+        [
+          0.041325487196445465,
+          -0.06315600126981735,
+          -0.9971476793289185,
+          26.273033142089844
+        ],
+        [
+          0.0472305528819561,
+          -0.9967610836029053,
+          0.06508892774581909,
+          -19.54490852355957
+        ],
+        [
+          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": "1731323576_883081197",
+      "mask_path": "../../mask/hdr_right_03134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03135.png",
+      "transform_matrix": [
+        [
+          -0.9976320862770081,
+          -0.052361808717250824,
+          -0.04459274560213089,
+          24.705373764038086
+        ],
+        [
+          0.0473547987639904,
+          -0.052750904113054276,
+          -0.9974842667579651,
+          26.256649017333984
+        ],
+        [
+          0.04987777769565582,
+          -0.9972339272499084,
+          0.055105578154325485,
+          -19.550012588500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3135,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323576_983080863",
+      "mask_path": "../../mask/hdr_right_03135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03137.png",
+      "transform_matrix": [
+        [
+          -0.9964172840118408,
+          -0.050116557627916336,
+          -0.0681244283914566,
+          24.816524505615234
+        ],
+        [
+          0.06992965191602707,
+          -0.035193298012018204,
+          -0.9969309568405151,
+          26.24156951904297
+        ],
+        [
+          0.04756522551178932,
+          -0.9981231093406677,
+          0.03857184574007988,
+          -19.563392639160156
+        ],
+        [
+          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": "1731323577_183082342",
+      "mask_path": "../../mask/hdr_right_03137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03138.png",
+      "transform_matrix": [
+        [
+          -0.9957053065299988,
+          -0.0465165339410305,
+          -0.08004497736692429,
+          24.908885955810547
+        ],
+        [
+          0.08153722435235977,
+          -0.031119007617235184,
+          -0.9961844086647034,
+          26.223674774169922
+        ],
+        [
+          0.04384812340140343,
+          -0.9984326362609863,
+          0.03477819263935089,
+          -19.568923950195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3138,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_283082485",
+      "mask_path": "../../mask/hdr_right_03138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03139.png",
+      "transform_matrix": [
+        [
+          -0.9956945180892944,
+          -0.04760798439383507,
+          -0.07953649759292603,
+          24.992387771606445
+        ],
+        [
+          0.08118962496519089,
+          -0.0338577926158905,
+          -0.9961234927177429,
+          26.207998275756836
+        ],
+        [
+          0.04473049193620682,
+          -0.998292088508606,
+          0.03757729008793831,
+          -19.573532104492188
+        ],
+        [
+          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": "1731323577_383083105",
+      "mask_path": "../../mask/hdr_right_03139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03140.png",
+      "transform_matrix": [
+        [
+          -0.9962081909179688,
+          -0.04742497205734253,
+          -0.07293926924467087,
+          25.051206588745117
+        ],
+        [
+          0.07474598288536072,
+          -0.037508174777030945,
+          -0.9964970350265503,
+          26.203584671020508
+        ],
+        [
+          0.04452302306890488,
+          -0.9981703162193298,
+          0.04091078042984009,
+          -19.5830020904541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3140,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_483082056",
+      "mask_path": "../../mask/hdr_right_03140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03141.png",
+      "transform_matrix": [
+        [
+          -0.9966650605201721,
+          -0.044172171503305435,
+          -0.06861221790313721,
+          25.102083206176758
+        ],
+        [
+          0.07023365050554276,
+          -0.03626466542482376,
+          -0.9968712329864502,
+          26.192110061645508
+        ],
+        [
+          0.04154575988650322,
+          -0.9983655214309692,
+          0.0392460897564888,
+          -19.59122657775879
+        ],
+        [
+          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": "1731323577_583082675",
+      "mask_path": "../../mask/hdr_right_03141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03142.png",
+      "transform_matrix": [
+        [
+          -0.995619535446167,
+          -0.055251143872737885,
+          -0.07542593777179718,
+          25.174137115478516
+        ],
+        [
+          0.07724903523921967,
+          -0.03163699805736542,
+          -0.9965096712112427,
+          26.170265197753906
+        ],
+        [
+          0.05267205461859703,
+          -0.9979711174964905,
+          0.03576650470495224,
+          -19.58793067932129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3142,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_683082103",
+      "mask_path": "../../mask/hdr_right_03142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03143.png",
+      "transform_matrix": [
+        [
+          -0.9938002228736877,
+          -0.06791999936103821,
+          -0.08802290260791779,
+          25.254674911499023
+        ],
+        [
+          0.09033079445362091,
+          -0.031686168164014816,
+          -0.9954076409339905,
+          26.143606185913086
+        ],
+        [
+          0.06481897830963135,
+          -0.9971874952316284,
+          0.03762498497962952,
+          -19.58761978149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3143,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323577_783083438",
+      "mask_path": "../../mask/hdr_right_03143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03144.png",
+      "transform_matrix": [
+        [
+          -0.9926573038101196,
+          -0.06808207929134369,
+          -0.09998159110546112,
+          25.31916618347168
+        ],
+        [
+          0.10247784107923508,
+          -0.034208688884973526,
+          -0.9941468834877014,
+          26.11811637878418
+        ],
+        [
+          0.06426334381103516,
+          -0.9970930218696594,
+          0.04093440994620323,
+          -19.595855712890625
+        ],
+        [
+          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": "1731323577_883081674",
+      "mask_path": "../../mask/hdr_right_03144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03145.png",
+      "transform_matrix": [
+        [
+          -0.9916074275970459,
+          -0.06625309586524963,
+          -0.11102015525102615,
+          25.3658447265625
+        ],
+        [
+          0.11353069543838501,
+          -0.03540296107530594,
+          -0.9929035902023315,
+          26.09168243408203
+        ],
+        [
+          0.06185248866677284,
+          -0.9971745610237122,
+          0.04262759909033775,
+          -19.605958938598633
+        ],
+        [
+          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": "1731323577_983082294",
+      "mask_path": "../../mask/hdr_right_03145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03146.png",
+      "transform_matrix": [
+        [
+          -0.9911947250366211,
+          -0.0551934652030468,
+          -0.12036070972681046,
+          25.47812843322754
+        ],
+        [
+          0.1224609836935997,
+          -0.03638546168804169,
+          -0.9918062090873718,
+          26.060667037963867
+        ],
+        [
+          0.050361838191747665,
+          -0.9978125691413879,
+          0.04282412678003311,
+          -19.608684539794922
+        ],
+        [
+          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": "1731323578_83082199",
+      "mask_path": "../../mask/hdr_right_03146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03147.png",
+      "transform_matrix": [
+        [
+          -0.990965723991394,
+          -0.05033241957426071,
+          -0.1243128776550293,
+          25.58661651611328
+        ],
+        [
+          0.12646833062171936,
+          -0.04217051342129707,
+          -0.9910739064216614,
+          26.03089141845703
+        ],
+        [
+          0.04464080557227135,
+          -0.9978417754173279,
+          0.04815499484539032,
+          -19.611547470092773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3147,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323578_183082580",
+      "mask_path": "../../mask/hdr_right_03147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03148.png",
+      "transform_matrix": [
+        [
+          -0.990778923034668,
+          -0.051024649292230606,
+          -0.12551315128803253,
+          25.649328231811523
+        ],
+        [
+          0.12807197868824005,
+          -0.05041646584868431,
+          -0.9904826283454895,
+          26.00464630126953
+        ],
+        [
+          0.04421110451221466,
+          -0.9974240660667419,
+          0.05648641288280487,
+          -19.616744995117188
+        ],
+        [
+          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": "1731323578_283082723",
+      "mask_path": "../../mask/hdr_right_03148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03149.png",
+      "transform_matrix": [
+        [
+          -0.9900866746902466,
+          -0.05547979846596718,
+          -0.12903615832328796,
+          25.735599517822266
+        ],
+        [
+          0.1314319521188736,
+          -0.04193912073969841,
+          -0.9904376864433289,
+          25.964191436767578
+        ],
+        [
+          0.04953761771321297,
+          -0.9975786209106445,
+          0.04881518706679344,
+          -19.6217041015625
+        ],
+        [
+          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": "1731323578_383082151",
+      "mask_path": "../../mask/hdr_right_03149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03150.png",
+      "transform_matrix": [
+        [
+          -0.9881681203842163,
+          -0.06593215465545654,
+          -0.13848057389259338,
+          25.824234008789062
+        ],
+        [
+          0.14110930263996124,
+          -0.03701753914356232,
+          -0.9893017411231995,
+          25.930801391601562
+        ],
+        [
+          0.060100577771663666,
+          -0.997137188911438,
+          0.045883189886808395,
+          -19.628108978271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3150,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323578_483082294",
+      "mask_path": "../../mask/hdr_right_03150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03151.png",
+      "transform_matrix": [
+        [
+          -0.9861334562301636,
+          -0.07077307254076004,
+          -0.15010689198970795,
+          25.895174026489258
+        ],
+        [
+          0.15305675566196442,
+          -0.038254041224718094,
+          -0.9874768257141113,
+          25.905256271362305
+        ],
+        [
+          0.064144566655159,
+          -0.9967585802078247,
+          0.048555888235569,
+          -19.633426666259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3151,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323578_583082437",
+      "mask_path": "../../mask/hdr_right_03151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03152.png",
+      "transform_matrix": [
+        [
+          -0.9844022393226624,
+          -0.06866411119699478,
+          -0.16197995841503143,
+          25.982284545898438
+        ],
+        [
+          0.1648346185684204,
+          -0.038140177726745605,
+          -0.985583484172821,
+          25.8798828125
+        ],
+        [
+          0.061496276408433914,
+          -0.9969105124473572,
+          0.048863500356674194,
+          -19.65190315246582
+        ],
+        [
+          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": "1731323578_683082342",
+      "mask_path": "../../mask/hdr_right_03152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03153.png",
+      "transform_matrix": [
+        [
+          -0.9838303327560425,
+          -0.06119304150342941,
+          -0.16832482814788818,
+          26.09542465209961
+        ],
+        [
+          0.17102812230587006,
+          -0.04197421297430992,
+          -0.9843717217445374,
+          25.857364654541016
+        ],
+        [
+          0.05317139998078346,
+          -0.9972429275512695,
+          0.05176124721765518,
+          -19.65793228149414
+        ],
+        [
+          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": "1731323578_783082485",
+      "mask_path": "../../mask/hdr_right_03153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03154.png",
+      "transform_matrix": [
+        [
+          -0.9848112463951111,
+          -0.05513565242290497,
+          -0.16464194655418396,
+          26.191598892211914
+        ],
+        [
+          0.16732174158096313,
+          -0.048115383833646774,
+          -0.9847275614738464,
+          25.836519241333008
+        ],
+        [
+          0.04637179151177406,
+          -0.9973188638687134,
+          0.05660996213555336,
+          -19.652843475341797
+        ],
+        [
+          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": "1731323578_883081197",
+      "mask_path": "../../mask/hdr_right_03154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03155.png",
+      "transform_matrix": [
+        [
+          -0.9862188100814819,
+          -0.05097606033086777,
+          -0.1573973298072815,
+          26.25380516052246
+        ],
+        [
+          0.16006159782409668,
+          -0.053239885717630386,
+          -0.9856703281402588,
+          25.82281494140625
+        ],
+        [
+          0.041865769773721695,
+          -0.9972798228263855,
+          0.06066548824310303,
+          -19.650920867919922
+        ],
+        [
+          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": "1731323578_983082056",
+      "mask_path": "../../mask/hdr_right_03155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03156.png",
+      "transform_matrix": [
+        [
+          -0.9868767857551575,
+          -0.046133581548929214,
+          -0.15474405884742737,
+          26.33905601501465
+        ],
+        [
+          0.15700939297676086,
+          -0.05035269260406494,
+          -0.9863126277923584,
+          25.80080795288086
+        ],
+        [
+          0.03771035745739937,
+          -0.9976654052734375,
+          0.05693531781435013,
+          -19.657960891723633
+        ],
+        [
+          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": "1731323579_83081722",
+      "mask_path": "../../mask/hdr_right_03156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03157.png",
+      "transform_matrix": [
+        [
+          -0.985051155090332,
+          -0.0544288344681263,
+          -0.1634371131658554,
+          26.432331085205078
+        ],
+        [
+          0.16550621390342712,
+          -0.03593779727816582,
+          -0.9855538010597229,
+          25.77414894104004
+        ],
+        [
+          0.0477689728140831,
+          -0.997870683670044,
+          0.044408880174160004,
+          -19.65399932861328
+        ],
+        [
+          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": "1731323579_183082818",
+      "mask_path": "../../mask/hdr_right_03157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03158.png",
+      "transform_matrix": [
+        [
+          -0.9826604723930359,
+          -0.06174089014530182,
+          -0.17483235895633698,
+          26.488954544067383
+        ],
+        [
+          0.17678795754909515,
+          -0.027734505012631416,
+          -0.9838581681251526,
+          25.752315521240234
+        ],
+        [
+          0.055895380675792694,
+          -0.9977067708969116,
+          0.03816865384578705,
+          -19.64710235595703
+        ],
+        [
+          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": "1731323579_283082485",
+      "mask_path": "../../mask/hdr_right_03158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03159.png",
+      "transform_matrix": [
+        [
+          -0.9810793399810791,
+          -0.05569731444120407,
+          -0.1854214370250702,
+          26.548858642578125
+        ],
+        [
+          0.1870015412569046,
+          -0.024598244577646255,
+          -0.9820516109466553,
+          25.734960556030273
+        ],
+        [
+          0.05013659596443176,
+          -0.9981447458267212,
+          0.0345483236014843,
+          -19.653329849243164
+        ],
+        [
+          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": "1731323579_383081436",
+      "mask_path": "../../mask/hdr_right_03159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03160.png",
+      "transform_matrix": [
+        [
+          -0.9796571135520935,
+          -0.041835967451334,
+          -0.19626957178115845,
+          26.640911102294922
+        ],
+        [
+          0.19738589227199554,
+          -0.024432076141238213,
+          -0.9800214767456055,
+          25.710594177246094
+        ],
+        [
+          0.03620486706495285,
+          -0.9988256692886353,
+          0.032192882150411606,
+          -19.655485153198242
+        ],
+        [
+          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": "1731323579_483081579",
+      "mask_path": "../../mask/hdr_right_03160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03161.png",
+      "transform_matrix": [
+        [
+          -0.9792062640190125,
+          -0.03473924100399017,
+          -0.19987058639526367,
+          26.71653175354004
+        ],
+        [
+          0.20087496936321259,
+          -0.028301028534770012,
+          -0.9792079925537109,
+          25.683015823364258
+        ],
+        [
+          0.028360404074192047,
+          -0.9989955425262451,
+          0.03469078987836838,
+          -19.649246215820312
+        ],
+        [
+          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": "1731323579_583081960",
+      "mask_path": "../../mask/hdr_right_03161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03162.png",
+      "transform_matrix": [
+        [
+          -0.9790703058242798,
+          -0.033817704766988754,
+          -0.2006928026676178,
+          26.787586212158203
+        ],
+        [
+          0.20178256928920746,
+          -0.03264565393328667,
+          -0.9788861870765686,
+          25.6651668548584
+        ],
+        [
+          0.02655193768441677,
+          -0.9988946914672852,
+          0.038786210119724274,
+          -19.647930145263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3162,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323579_683082103",
+      "mask_path": "../../mask/hdr_right_03162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03163.png",
+      "transform_matrix": [
+        [
+          -0.9787905216217041,
+          -0.03132623806595802,
+          -0.20245444774627686,
+          26.848995208740234
+        ],
+        [
+          0.2034865915775299,
+          -0.03427144140005112,
+          -0.9784777760505676,
+          25.64711570739746
+        ],
+        [
+          0.023713622242212296,
+          -0.9989215135574341,
+          0.03991903364658356,
+          -19.656660079956055
+        ],
+        [
+          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": "1731323579_783082008",
+      "mask_path": "../../mask/hdr_right_03163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03164.png",
+      "transform_matrix": [
+        [
+          -0.9770587682723999,
+          -0.03731900081038475,
+          -0.20967456698417664,
+          26.926021575927734
+        ],
+        [
+          0.21074660122394562,
+          -0.02754076197743416,
+          -0.9771527051925659,
+          25.625852584838867
+        ],
+        [
+          0.03069176711142063,
+          -0.9989238381385803,
+          0.034773800522089005,
+          -19.6595458984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3164,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323579_883082628",
+      "mask_path": "../../mask/hdr_right_03164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03165.png",
+      "transform_matrix": [
+        [
+          -0.9742934703826904,
+          -0.04141061380505562,
+          -0.22144368290901184,
+          26.990768432617188
+        ],
+        [
+          0.2224433422088623,
+          -0.021275566890835762,
+          -0.9747134447097778,
+          25.601058959960938
+        ],
+        [
+          0.03565214201807976,
+          -0.9989156723022461,
+          0.029940161854028702,
+          -19.65266990661621
+        ],
+        [
+          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": "1731323579_983081817",
+      "mask_path": "../../mask/hdr_right_03165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03167.png",
+      "transform_matrix": [
+        [
+          -0.9677308201789856,
+          -0.03434721380472183,
+          -0.24963465332984924,
+          27.087200164794922
+        ],
+        [
+          0.25040340423583984,
+          -0.020207278430461884,
+          -0.9679307341575623,
+          25.54749298095703
+        ],
+        [
+          0.028201287612318993,
+          -0.9992056488990784,
+          0.028155863285064697,
+          -19.65125846862793
+        ],
+        [
+          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": "1731323580_183082342",
+      "mask_path": "../../mask/hdr_right_03167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03168.png",
+      "transform_matrix": [
+        [
+          -0.9657972455024719,
+          -0.03788222372531891,
+          -0.25651612877845764,
+          27.169374465942383
+        ],
+        [
+          0.2575400173664093,
+          -0.025133760645985603,
+          -0.9659407734870911,
+          25.514371871948242
+        ],
+        [
+          0.030144765973091125,
+          -0.9989660978317261,
+          0.034030310809612274,
+          -19.653005599975586
+        ],
+        [
+          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": "1731323580_283081531",
+      "mask_path": "../../mask/hdr_right_03168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03169.png",
+      "transform_matrix": [
+        [
+          -0.9655351638793945,
+          -0.04243005812168121,
+          -0.2567908763885498,
+          27.229990005493164
+        ],
+        [
+          0.2581770420074463,
+          -0.031186435371637344,
+          -0.9655941128730774,
+          25.48616600036621
+        ],
+        [
+          0.032961826771497726,
+          -0.9986125826835632,
+          0.04106606915593147,
+          -19.65683937072754
+        ],
+        [
+          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": "1731323580_383081436",
+      "mask_path": "../../mask/hdr_right_03169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03170.png",
+      "transform_matrix": [
+        [
+          -0.9656680226325989,
+          -0.04432285577058792,
+          -0.2559703290462494,
+          27.277851104736328
+        ],
+        [
+          0.257555216550827,
+          -0.03468753769993782,
+          -0.9656407833099365,
+          25.465078353881836
+        ],
+        [
+          0.033920977264642715,
+          -0.998414933681488,
+          0.044912226498126984,
+          -19.661705017089844
+        ],
+        [
+          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": "1731323580_483081579",
+      "mask_path": "../../mask/hdr_right_03170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03171.png",
+      "transform_matrix": [
+        [
+          -0.9656994938850403,
+          -0.049696244299411774,
+          -0.25486263632774353,
+          27.34718132019043
+        ],
+        [
+          0.2566617429256439,
+          -0.03389781713485718,
+          -0.9659066200256348,
+          25.440208435058594
+        ],
+        [
+          0.039362650364637375,
+          -0.9981890320777893,
+          0.04549022763967514,
+          -19.670473098754883
+        ],
+        [
+          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": "1731323580_583082675",
+      "mask_path": "../../mask/hdr_right_03171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03174.png",
+      "transform_matrix": [
+        [
+          -0.9704868197441101,
+          -0.045998234301805496,
+          -0.23672664165496826,
+          27.488880157470703
+        ],
+        [
+          0.2381434142589569,
+          -0.028169404715299606,
+          -0.9708214998245239,
+          25.365192413330078
+        ],
+        [
+          0.03798762708902359,
+          -0.9985442757606506,
+          0.038292210549116135,
+          -19.666973114013672
+        ],
+        [
+          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": "1731323580_883082866",
+      "mask_path": "../../mask/hdr_right_03174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03175.png",
+      "transform_matrix": [
+        [
+          -0.9724001288414001,
+          -0.045995671302080154,
+          -0.2287408709526062,
+          27.582090377807617
+        ],
+        [
+          0.23015142977237701,
+          -0.028083890676498413,
+          -0.9727495312690735,
+          25.329734802246094
+        ],
+        [
+          0.038318343460559845,
+          -0.9985467195510864,
+          0.037894751876592636,
+          -19.679025650024414
+        ],
+        [
+          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": "1731323580_983081340",
+      "mask_path": "../../mask/hdr_right_03175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03176.png",
+      "transform_matrix": [
+        [
+          -0.9754207134246826,
+          -0.05008554086089134,
+          -0.2145833671092987,
+          27.672393798828125
+        ],
+        [
+          0.21632957458496094,
+          -0.032466523349285126,
+          -0.9757804870605469,
+          25.293758392333984
+        ],
+        [
+          0.041905708611011505,
+          -0.9982171058654785,
+          0.04250350221991539,
+          -19.688358306884766
+        ],
+        [
+          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": "1731323581_83079814",
+      "mask_path": "../../mask/hdr_right_03176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03177.png",
+      "transform_matrix": [
+        [
+          -0.9801166653633118,
+          -0.052132800221443176,
+          -0.1914510875940323,
+          27.736154556274414
+        ],
+        [
+          0.19329649209976196,
+          -0.03296946361660957,
+          -0.9805863499641418,
+          25.27016830444336
+        ],
+        [
+          0.04480867087841034,
+          -0.9980957508087158,
+          0.042391013354063034,
+          -19.68979263305664
+        ],
+        [
+          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": "1731323581_183082818",
+      "mask_path": "../../mask/hdr_right_03177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03178.png",
+      "transform_matrix": [
+        [
+          -0.9849128723144531,
+          -0.05304505303502083,
+          -0.16472066938877106,
+          27.81313133239746
+        ],
+        [
+          0.1660923808813095,
+          -0.02255166321992874,
+          -0.9858523011207581,
+          25.25605010986328
+        ],
+        [
+          0.0485798642039299,
+          -0.9983375072479248,
+          0.031021803617477417,
+          -19.706424713134766
+        ],
+        [
+          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": "1731323581_283081293",
+      "mask_path": "../../mask/hdr_right_03178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03179.png",
+      "transform_matrix": [
+        [
+          -0.9877092242240906,
+          -0.056658387184143066,
+          -0.1456722617149353,
+          27.894962310791016
+        ],
+        [
+          0.1467665731906891,
+          -0.015635760501027107,
+          -0.9890475869178772,
+          25.23274803161621
+        ],
+        [
+          0.05376014858484268,
+          -0.9982711672782898,
+          0.0237591415643692,
+          -19.71588897705078
+        ],
+        [
+          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": "1731323581_383082628",
+      "mask_path": "../../mask/hdr_right_03179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03182.png",
+      "transform_matrix": [
+        [
+          -0.9862005114555359,
+          -0.06809104233980179,
+          -0.15090468525886536,
+          28.076637268066406
+        ],
+        [
+          0.15101034939289093,
+          0.003622091608121991,
+          -0.9885256290435791,
+          25.180768966674805
+        ],
+        [
+          0.0678563341498375,
+          -0.9976725578308105,
+          0.00671034399420023,
+          -19.74490737915039
+        ],
+        [
+          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": "1731323581_683080673",
+      "mask_path": "../../mask/hdr_right_03182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03183.png",
+      "transform_matrix": [
+        [
+          -0.983841061592102,
+          -0.08746923506259918,
+          -0.15622413158416748,
+          28.16278839111328
+        ],
+        [
+          0.15646658837795258,
+          0.004119446501135826,
+          -0.9876747131347656,
+          25.15650749206543
+        ],
+        [
+          0.08703470975160599,
+          -0.9961587190628052,
+          0.009633133187890053,
+          -19.77268409729004
+        ],
+        [
+          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": "1731323581_783083200",
+      "mask_path": "../../mask/hdr_right_03183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03184.png",
+      "transform_matrix": [
+        [
+          -0.9823011159896851,
+          -0.09912913292646408,
+          -0.15892823040485382,
+          28.22205924987793
+        ],
+        [
+          0.15918244421482086,
+          0.0053905341774225235,
+          -0.9872344732284546,
+          25.14067840576172
+        ],
+        [
+          0.09872040152549744,
+          -0.9950599670410156,
+          0.010484487749636173,
+          -19.791337966918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3184,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323581_883081912",
+      "mask_path": "../../mask/hdr_right_03184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03185.png",
+      "transform_matrix": [
+        [
+          -0.9812405705451965,
+          -0.10430025309324265,
+          -0.16213737428188324,
+          28.29479217529297
+        ],
+        [
+          0.1620882749557495,
+          0.009003209881484509,
+          -0.9867351651191711,
+          25.115747451782227
+        ],
+        [
+          0.10437647253274918,
+          -0.9945051074028015,
+          0.008071533404290676,
+          -19.81126594543457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3185,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323581_983081817",
+      "mask_path": "../../mask/hdr_right_03185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03186.png",
+      "transform_matrix": [
+        [
+          -0.9790757894515991,
+          -0.11606664210557938,
+          -0.1671501249074936,
+          28.384605407714844
+        ],
+        [
+          0.16603200137615204,
+          0.01930525153875351,
+          -0.9859313368797302,
+          25.085155487060547
+        ],
+        [
+          0.11766061931848526,
+          -0.9930537343025208,
+          0.0003694725164677948,
+          -19.827619552612305
+        ],
+        [
+          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": "1731323582_83082437",
+      "mask_path": "../../mask/hdr_right_03186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03187.png",
+      "transform_matrix": [
+        [
+          -0.9765859246253967,
+          -0.1266556680202484,
+          -0.17389130592346191,
+          28.45587730407715
+        ],
+        [
+          0.1716548651456833,
+          0.028447600081562996,
+          -0.9847463965415955,
+          25.0595760345459
+        ],
+        [
+          0.12967050075531006,
+          -0.9915387034416199,
+          -0.006040461361408234,
+          -19.840192794799805
+        ],
+        [
+          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": "1731323582_183082103",
+      "mask_path": "../../mask/hdr_right_03187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03188.png",
+      "transform_matrix": [
+        [
+          -0.974422037601471,
+          -0.1280514895915985,
+          -0.18467400968074799,
+          28.512205123901367
+        ],
+        [
+          0.18186868727207184,
+          0.03336714580655098,
+          -0.9827565550804138,
+          25.032861709594727
+        ],
+        [
+          0.1320054829120636,
+          -0.991206169128418,
+          -0.009225125424563885,
+          -19.853057861328125
+        ],
+        [
+          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": "1731323582_283080577",
+      "mask_path": "../../mask/hdr_right_03188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06831.png",
+      "transform_matrix": [
+        [
+          0.9880593419075012,
+          -0.141872838139534,
+          0.06009026989340782,
+          28.951181411743164
+        ],
+        [
+          -0.06060883030295372,
+          0.0006671957671642303,
+          0.9981613755226135,
+          24.962678909301758
+        ],
+        [
+          -0.14165209233760834,
+          -0.9898846745491028,
+          -0.007939519360661507,
+          -19.972009658813477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6831,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_583080768",
+      "mask_path": "../../mask/hdr_right_06831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06832.png",
+      "transform_matrix": [
+        [
+          0.9869174957275391,
+          -0.14744073152542114,
+          0.06523004919290543,
+          28.87809181213379
+        ],
+        [
+          -0.06646178662776947,
+          -0.003437952371314168,
+          0.9977830648422241,
+          24.984477996826172
+        ],
+        [
+          -0.1468895971775055,
+          -0.9890649318695068,
+          -0.013192154467105865,
+          -19.96331214904785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6832,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_683082103",
+      "mask_path": "../../mask/hdr_right_06832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06833.png",
+      "transform_matrix": [
+        [
+          0.9879223704338074,
+          -0.13987703621387482,
+          0.06666222214698792,
+          28.785320281982422
+        ],
+        [
+          -0.06768377870321274,
+          -0.0025536033790558577,
+          0.997703492641449,
+          25.002798080444336
+        ],
+        [
+          -0.13938561081886292,
+          -0.9901655316352844,
+          -0.01199017558246851,
+          -19.94598388671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6833,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_783082723",
+      "mask_path": "../../mask/hdr_right_06833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06834.png",
+      "transform_matrix": [
+        [
+          0.9890899658203125,
+          -0.13270944356918335,
+          0.06394753605127335,
+          28.70060157775879
+        ],
+        [
+          -0.0643305778503418,
+          0.001403549569658935,
+          0.9979276657104492,
+          25.014307022094727
+        ],
+        [
+          -0.13252417743206024,
+          -0.9911539554595947,
+          -0.007149043958634138,
+          -19.934906005859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6834,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_883081912",
+      "mask_path": "../../mask/hdr_right_06834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06835.png",
+      "transform_matrix": [
+        [
+          0.9889934659004211,
+          -0.1344989389181137,
+          0.061660442501306534,
+          28.628215789794922
+        ],
+        [
+          -0.06153839826583862,
+          0.005068259313702583,
+          0.9980918765068054,
+          25.02032470703125
+        ],
+        [
+          -0.13455477356910706,
+          -0.9909008145332336,
+          -0.0032643775921314955,
+          -19.92167091369629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6835,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_983081817",
+      "mask_path": "../../mask/hdr_right_06835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06836.png",
+      "transform_matrix": [
+        [
+          0.9888322949409485,
+          -0.13628414273262024,
+          0.060310229659080505,
+          28.56236457824707
+        ],
+        [
+          -0.06008605286478996,
+          0.005761772859841585,
+          0.9981765151023865,
+          25.024513244628906
+        ],
+        [
+          -0.13638313114643097,
+          -0.9906530380249023,
+          -0.0024913500528782606,
+          -19.90966033935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6836,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_83081960",
+      "mask_path": "../../mask/hdr_right_06836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06837.png",
+      "transform_matrix": [
+        [
+          0.9882480502128601,
+          -0.13947628438472748,
+          0.06254701316356659,
+          28.494413375854492
+        ],
+        [
+          -0.06319703161716461,
+          -0.00023214585962705314,
+          0.9980011582374573,
+          25.030237197875977
+        ],
+        [
+          -0.1391829550266266,
+          -0.9902253746986389,
+          -0.00904390774667263,
+          -19.901771545410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6837,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_183080434",
+      "mask_path": "../../mask/hdr_right_06837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06838.png",
+      "transform_matrix": [
+        [
+          0.9875970482826233,
+          -0.14385239779949188,
+          0.06291672587394714,
+          28.41698455810547
+        ],
+        [
+          -0.0644853413105011,
+          -0.006263588555157185,
+          0.9978989958763123,
+          25.036014556884766
+        ],
+        [
+          -0.14315606653690338,
+          -0.9895793795585632,
+          -0.015462275594472885,
+          -19.88517189025879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6838,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_283080577",
+      "mask_path": "../../mask/hdr_right_06838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06839.png",
+      "transform_matrix": [
+        [
+          0.9883627891540527,
+          -0.14319245517253876,
+          0.051331374794244766,
+          28.329761505126953
+        ],
+        [
+          -0.053071100264787674,
+          -0.008354293182492256,
+          0.9985557794570923,
+          25.046466827392578
+        ],
+        [
+          -0.14255684614181519,
+          -0.9896595478057861,
+          -0.01585645228624344,
+          -19.8721923828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6839,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_383081436",
+      "mask_path": "../../mask/hdr_right_06839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06840.png",
+      "transform_matrix": [
+        [
+          0.9898521900177002,
+          -0.13927191495895386,
+          0.028215548023581505,
+          28.240482330322266
+        ],
+        [
+          -0.02926679514348507,
+          -0.005505690351128578,
+          0.9995564818382263,
+          25.044654846191406
+        ],
+        [
+          -0.1390547901391983,
+          -0.9902388453483582,
+          -0.009525864385068417,
+          -19.86901092529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6840,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_483084201",
+      "mask_path": "../../mask/hdr_right_06840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06841.png",
+      "transform_matrix": [
+        [
+          0.9908543825149536,
+          -0.13478173315525055,
+          0.006446057464927435,
+          28.17134666442871
+        ],
+        [
+          -0.007017985917627811,
+          -0.0037686771247535944,
+          0.9999682903289795,
+          25.046493530273438
+        ],
+        [
+          -0.13475316762924194,
+          -0.990868091583252,
+          -0.004680110607296228,
+          -19.87013053894043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6841,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_583082914",
+      "mask_path": "../../mask/hdr_right_06841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06842.png",
+      "transform_matrix": [
+        [
+          0.9908468723297119,
+          -0.1346985250711441,
+          -0.008871829137206078,
+          28.1031436920166
+        ],
+        [
+          0.00835571438074112,
+          -0.004396679811179638,
+          0.999955415725708,
+          25.055355072021484
+        ],
+        [
+          -0.13473153114318848,
+          -0.9908768534660339,
+          -0.003230936359614134,
+          -19.86539077758789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6842,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_683081865",
+      "mask_path": "../../mask/hdr_right_06842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06843.png",
+      "transform_matrix": [
+        [
+          0.9897401332855225,
+          -0.14169266819953918,
+          -0.018375832587480545,
+          28.02450942993164
+        ],
+        [
+          0.018535656854510307,
+          -0.0001920521754072979,
+          0.9998282194137573,
+          25.069244384765625
+        ],
+        [
+          -0.14167185127735138,
+          -0.9899107813835144,
+          0.0024362809490412474,
+          -19.82941246032715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6843,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_783082723",
+      "mask_path": "../../mask/hdr_right_06843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06844.png",
+      "transform_matrix": [
+        [
+          0.9878864288330078,
+          -0.1544511467218399,
+          -0.0150092002004385,
+          27.944772720336914
+        ],
+        [
+          0.01577068865299225,
+          0.0037061094772070646,
+          0.9998688101768494,
+          25.09148597717285
+        ],
+        [
+          -0.15437525510787964,
+          -0.9879934787750244,
+          0.006097012665122747,
+          -19.793779373168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6844,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_883081197",
+      "mask_path": "../../mask/hdr_right_06844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06845.png",
+      "transform_matrix": [
+        [
+          0.9860945343971252,
+          -0.16575105488300323,
+          -0.012012876570224762,
+          27.88400650024414
+        ],
+        [
+          0.012160140089690685,
+          -0.0001264037418877706,
+          0.9999260306358337,
+          25.101423263549805
+        ],
+        [
+          -0.16574032604694366,
+          -0.9861676096916199,
+          0.0018909054342657328,
+          -19.770097732543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6845,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323947_983082294",
+      "mask_path": "../../mask/hdr_right_06845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06846.png",
+      "transform_matrix": [
+        [
+          0.9850800633430481,
+          -0.17159618437290192,
+          -0.01311962865293026,
+          27.824630737304688
+        ],
+        [
+          0.012585039250552654,
+          -0.004203018266707659,
+          0.9999119639396667,
+          25.10696029663086
+        ],
+        [
+          -0.17163622379302979,
+          -0.985158383846283,
+          -0.0019807699136435986,
+          -19.756662368774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6846,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_83081722",
+      "mask_path": "../../mask/hdr_right_06846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06847.png",
+      "transform_matrix": [
+        [
+          0.98513263463974,
+          -0.17035259306430817,
+          -0.02221636101603508,
+          27.74017906188965
+        ],
+        [
+          0.021556716412305832,
+          -0.005721361376345158,
+          0.9997512698173523,
+          25.108837127685547
+        ],
+        [
+          -0.1704373061656952,
+          -0.9853665828704834,
+          -0.0019640654791146517,
+          -19.74253273010254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6847,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_183081388",
+      "mask_path": "../../mask/hdr_right_06847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06848.png",
+      "transform_matrix": [
+        [
+          0.9851411581039429,
+          -0.16822446882724762,
+          -0.03460409492254257,
+          27.671138763427734
+        ],
+        [
+          0.033679813146591187,
+          -0.008345476351678371,
+          0.9993978142738342,
+          25.100622177124023
+        ],
+        [
+          -0.1684119552373886,
+          -0.9857133626937866,
+          -0.002555709332227707,
+          -19.725557327270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6848,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_283081054",
+      "mask_path": "../../mask/hdr_right_06848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06849.png",
+      "transform_matrix": [
+        [
+          0.9854691624641418,
+          -0.1633954495191574,
+          -0.046393636614084244,
+          27.605770111083984
+        ],
+        [
+          0.04529423639178276,
+          -0.010449639521539211,
+          0.9989191293716431,
+          25.091890335083008
+        ],
+        [
+          -0.16370362043380737,
+          -0.9865053296089172,
+          -0.0028969338163733482,
+          -19.72072982788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6849,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_383081197",
+      "mask_path": "../../mask/hdr_right_06849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06850.png",
+      "transform_matrix": [
+        [
+          0.9850649833679199,
+          -0.16268372535705566,
+          -0.05640135332942009,
+          27.517786026000977
+        ],
+        [
+          0.05487564578652382,
+          -0.01386052556335926,
+          0.9983970522880554,
+          25.084882736206055
+        ],
+        [
+          -0.16320468485355377,
+          -0.9865809082984924,
+          -0.004726148210465908,
+          -19.70505142211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6850,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_483082056",
+      "mask_path": "../../mask/hdr_right_06850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06851.png",
+      "transform_matrix": [
+        [
+          0.9838203191757202,
+          -0.16779476404190063,
+          -0.06278946250677109,
+          27.433652877807617
+        ],
+        [
+          0.06016746908426285,
+          -0.02066991478204727,
+          0.9979743361473083,
+          25.079626083374023
+        ],
+        [
+          -0.16875270009040833,
+          -0.9856051802635193,
+          -0.010239695198833942,
+          -19.67188262939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6851,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_583082199",
+      "mask_path": "../../mask/hdr_right_06851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06852.png",
+      "transform_matrix": [
+        [
+          0.984241247177124,
+          -0.16572313010692596,
+          -0.06168507784605026,
+          27.338855743408203
+        ],
+        [
+          0.05941718444228172,
+          -0.018612710759043694,
+          0.9980597496032715,
+          25.085664749145508
+        ],
+        [
+          -0.1665496975183487,
+          -0.9859966039657593,
+          -0.008472601883113384,
+          -19.658935546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6852,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_683082342",
+      "mask_path": "../../mask/hdr_right_06852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06853.png",
+      "transform_matrix": [
+        [
+          0.9888522028923035,
+          -0.13644900918006897,
+          -0.05960750952363014,
+          27.2492618560791
+        ],
+        [
+          0.05878318473696709,
+          -0.010066273622214794,
+          0.9982200860977173,
+          25.09187889099121
+        ],
+        [
+          -0.1368061602115631,
+          -0.9905959367752075,
+          -0.001933152205310762,
+          -19.657649993896484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6853,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_783081769",
+      "mask_path": "../../mask/hdr_right_06853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06854.png",
+      "transform_matrix": [
+        [
+          0.991246223449707,
+          -0.1154295951128006,
+          -0.06408540904521942,
+          27.173900604248047
+        ],
+        [
+          0.06382162123918533,
+          -0.005983669776469469,
+          0.9979434609413147,
+          25.08928871154785
+        ],
+        [
+          -0.11557567119598389,
+          -0.9932976365089417,
+          0.0014356112806126475,
+          -19.646862030029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6854,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_883081912",
+      "mask_path": "../../mask/hdr_right_06854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06855.png",
+      "transform_matrix": [
+        [
+          0.9911704063415527,
+          -0.11477866023778915,
+          -0.06638588011264801,
+          27.10434341430664
+        ],
+        [
+          0.06635277718305588,
+          -0.004113457631319761,
+          0.9977878332138062,
+          25.082319259643555
+        ],
+        [
+          -0.11479781568050385,
+          -0.9933825731277466,
+          0.0035387403331696987,
+          -19.63289451599121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6855,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323948_983082532",
+      "mask_path": "../../mask/hdr_right_06855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06856.png",
+      "transform_matrix": [
+        [
+          0.9927651286125183,
+          -0.1029445007443428,
+          -0.061804696917533875,
+          27.02442169189453
+        ],
+        [
+          0.06030741333961487,
+          -0.017597323283553123,
+          0.9980248212814331,
+          25.085250854492188
+        ],
+        [
+          -0.10382875055074692,
+          -0.9945313930511475,
+          -0.01126170251518488,
+          -19.6333065032959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6856,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_83082199",
+      "mask_path": "../../mask/hdr_right_06856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06857.png",
+      "transform_matrix": [
+        [
+          0.9945276975631714,
+          -0.09127601236104965,
+          -0.050826311111450195,
+          26.954452514648438
+        ],
+        [
+          0.048460327088832855,
+          -0.027954747900366783,
+          0.9984338879585266,
+          25.091068267822266
+        ],
+        [
+          -0.09255389124155045,
+          -0.9954332113265991,
+          -0.023378508165478706,
+          -19.632137298583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6857,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_183082580",
+      "mask_path": "../../mask/hdr_right_06857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06858.png",
+      "transform_matrix": [
+        [
+          0.9950740337371826,
+          -0.09078815579414368,
+          -0.03981366008520126,
+          26.885719299316406
+        ],
+        [
+          0.03720882534980774,
+          -0.03020659275352955,
+          0.9988508224487305,
+          25.09559440612793
+        ],
+        [
+          -0.09188646078109741,
+          -0.9954120516777039,
+          -0.02667968161404133,
+          -19.615541458129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6858,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_283082962",
+      "mask_path": "../../mask/hdr_right_06858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06859.png",
+      "transform_matrix": [
+        [
+          0.9957327842712402,
+          -0.08715494722127914,
+          -0.030337104573845863,
+          26.782764434814453
+        ],
+        [
+          0.02767709083855152,
+          -0.031568724662065506,
+          0.9991183280944824,
+          25.11268424987793
+        ],
+        [
+          -0.08803580701351166,
+          -0.9956944584846497,
+          -0.029021821916103363,
+          -19.60570526123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6859,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_383082628",
+      "mask_path": "../../mask/hdr_right_06859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06860.png",
+      "transform_matrix": [
+        [
+          0.9968153238296509,
+          -0.0746721476316452,
+          -0.027989303693175316,
+          26.684492111206055
+        ],
+        [
+          0.025932064279913902,
+          -0.028379397466778755,
+          0.9992609024047852,
+          25.125118255615234
+        ],
+        [
+          -0.07541127502918243,
+          -0.9968042969703674,
+          -0.026352616026997566,
+          -19.605239868164062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6860,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_483082294",
+      "mask_path": "../../mask/hdr_right_06860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06861.png",
+      "transform_matrix": [
+        [
+          0.9974768757820129,
+          -0.06420698016881943,
+          -0.03028763271868229,
+          26.621740341186523
+        ],
+        [
+          0.02868933230638504,
+          -0.025670591741800308,
+          0.9992586374282837,
+          25.121700286865234
+        ],
+        [
+          -0.06493688374757767,
+          -0.9976063370704651,
+          -0.02376377023756504,
+          -19.60487174987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6861,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_583081960",
+      "mask_path": "../../mask/hdr_right_06861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06862.png",
+      "transform_matrix": [
+        [
+          0.9978399872779846,
+          -0.057501550763845444,
+          -0.03176363930106163,
+          26.550941467285156
+        ],
+        [
+          0.030337095260620117,
+          -0.025514861568808556,
+          0.9992141127586365,
+          25.126873016357422
+        ],
+        [
+          -0.05826679989695549,
+          -0.998019278049469,
+          -0.023715320974588394,
+          -19.60652732849121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6862,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_683081865",
+      "mask_path": "../../mask/hdr_right_06862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06863.png",
+      "transform_matrix": [
+        [
+          0.998228907585144,
+          -0.05271192640066147,
+          -0.027577916160225868,
+          26.464658737182617
+        ],
+        [
+          0.026367560029029846,
+          -0.023521771654486656,
+          0.999375581741333,
+          25.144067764282227
+        ],
+        [
+          -0.05332769453525543,
+          -0.998332679271698,
+          -0.022090233862400055,
+          -19.604921340942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6863,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_783082008",
+      "mask_path": "../../mask/hdr_right_06863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06864.png",
+      "transform_matrix": [
+        [
+          0.9985417723655701,
+          -0.05151286721229553,
+          -0.01614980585873127,
+          26.369449615478516
+        ],
+        [
+          0.015009015798568726,
+          -0.022456562146544456,
+          0.9996352195739746,
+          25.169191360473633
+        ],
+        [
+          -0.051856737583875656,
+          -0.9984198212623596,
+          -0.021650662645697594,
+          -19.595226287841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6864,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_883082151",
+      "mask_path": "../../mask/hdr_right_06864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06865.png",
+      "transform_matrix": [
+        [
+          0.9986203908920288,
+          -0.0524846687912941,
+          -0.001641476177610457,
+          26.29512596130371
+        ],
+        [
+          0.00030591487302444875,
+          -0.02544480375945568,
+          0.9996762275695801,
+          25.179378509521484
+        ],
+        [
+          -0.05250944569706917,
+          -0.9982975125312805,
+          -0.025393644347786903,
+          -19.583269119262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6865,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323949_983081817",
+      "mask_path": "../../mask/hdr_right_06865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06866.png",
+      "transform_matrix": [
+        [
+          0.9985038638114929,
+          -0.053517866879701614,
+          0.011218828149139881,
+          26.221656799316406
+        ],
+        [
+          -0.01255396194756031,
+          -0.02467712014913559,
+          0.9996166229248047,
+          25.181955337524414
+        ],
+        [
+          -0.05322050303220749,
+          -0.9982619285583496,
+          -0.025312062352895737,
+          -19.578447341918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6866,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_83082914",
+      "mask_path": "../../mask/hdr_right_06866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06867.png",
+      "transform_matrix": [
+        [
+          0.9986954927444458,
+          -0.04913455620408058,
+          0.0138974254950881,
+          26.138639450073242
+        ],
+        [
+          -0.014760388992726803,
+          -0.017244715243577957,
+          0.9997423887252808,
+          25.177297592163086
+        ],
+        [
+          -0.048882242292165756,
+          -0.9986432790756226,
+          -0.017947468906641006,
+          -19.577550888061523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6867,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_183082342",
+      "mask_path": "../../mask/hdr_right_06867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06868.png",
+      "transform_matrix": [
+        [
+          0.9989690184593201,
+          -0.04416155070066452,
+          0.01052298117429018,
+          26.05335807800293
+        ],
+        [
+          -0.011030984111130238,
+          -0.01127590425312519,
+          0.9998756051063538,
+          25.183761596679688
+        ],
+        [
+          -0.04403740540146828,
+          -0.9989608526229858,
+          -0.011751426383852959,
+          -19.578369140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6868,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_283082246",
+      "mask_path": "../../mask/hdr_right_06868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06869.png",
+      "transform_matrix": [
+        [
+          0.999077320098877,
+          -0.04199806973338127,
+          0.008976693265140057,
+          25.953323364257812
+        ],
+        [
+          -0.00941468682140112,
+          -0.010243081487715244,
+          0.9999032020568848,
+          25.213947296142578
+        ],
+        [
+          -0.04190206155180931,
+          -0.9990652203559875,
+          -0.010629030875861645,
+          -19.588563919067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6869,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_383081912",
+      "mask_path": "../../mask/hdr_right_06869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06870.png",
+      "transform_matrix": [
+        [
+          0.9990201592445374,
+          -0.041290316730737686,
+          0.015935463830828667,
+          25.85125732421875
+        ],
+        [
+          -0.016326753422617912,
+          -0.009157298132777214,
+          0.9998247623443604,
+          25.23679542541504
+        ],
+        [
+          -0.04113715887069702,
+          -0.9991052150726318,
+          -0.009822462685406208,
+          -19.571382522583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6870,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_483081340",
+      "mask_path": "../../mask/hdr_right_06870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06871.png",
+      "transform_matrix": [
+        [
+          0.9987444877624512,
+          -0.042091548442840576,
+          0.027161777019500732,
+          25.7855167388916
+        ],
+        [
+          -0.027554593980312347,
+          -0.00878099724650383,
+          0.9995817542076111,
+          25.257230758666992
+        ],
+        [
+          -0.041835442185401917,
+          -0.9990751147270203,
+          -0.00992979109287262,
+          -19.56195068359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6871,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_583081960",
+      "mask_path": "../../mask/hdr_right_06871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06872.png",
+      "transform_matrix": [
+        [
+          0.9982834458351135,
+          -0.04536791145801544,
+          0.037041302770376205,
+          25.714372634887695
+        ],
+        [
+          -0.03750263899564743,
+          -0.00935984868556261,
+          0.9992527365684509,
+          25.28148651123047
+        ],
+        [
+          -0.044987309724092484,
+          -0.9989265203475952,
+          -0.011045198887586594,
+          -19.56715202331543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6872,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_683082103",
+      "mask_path": "../../mask/hdr_right_06872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06873.png",
+      "transform_matrix": [
+        [
+          0.9982046484947205,
+          -0.042295508086681366,
+          0.04240916669368744,
+          25.62157440185547
+        ],
+        [
+          -0.042610734701156616,
+          -0.0038759447634220123,
+          0.9990842342376709,
+          25.302387237548828
+        ],
+        [
+          -0.04209240525960922,
+          -0.9990976452827454,
+          -0.005671229679137468,
+          -19.565176010131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6873,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_783082008",
+      "mask_path": "../../mask/hdr_right_06873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06874.png",
+      "transform_matrix": [
+        [
+          0.9984020590782166,
+          -0.036336034536361694,
+          0.043279509991407394,
+          25.54022789001465
+        ],
+        [
+          -0.04300819709897041,
+          0.008215829730033875,
+          0.999040961265564,
+          25.320722579956055
+        ],
+        [
+          -0.03665676340460777,
+          -0.9993058443069458,
+          0.00663995323702693,
+          -19.56884002685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6874,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_883081912",
+      "mask_path": "../../mask/hdr_right_06874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06875.png",
+      "transform_matrix": [
+        [
+          0.9985064268112183,
+          -0.03443491458892822,
+          0.042416270822286606,
+          25.466259002685547
+        ],
+        [
+          -0.04180439934134483,
+          0.018297981470823288,
+          0.9989583492279053,
+          25.33306884765625
+        ],
+        [
+          -0.035175174474716187,
+          -0.9992393851280212,
+          0.01683112233877182,
+          -19.568214416503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6875,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323950_983082056",
+      "mask_path": "../../mask/hdr_right_06875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06876.png",
+      "transform_matrix": [
+        [
+          0.9985097646713257,
+          -0.0336516909301281,
+          0.04296499118208885,
+          25.388105392456055
+        ],
+        [
+          -0.04228514805436134,
+          0.020660458132624626,
+          0.9988920092582703,
+          25.351625442504883
+        ],
+        [
+          -0.03450207784771919,
+          -0.9992200136184692,
+          0.0192066989839077,
+          -19.569089889526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6876,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_83081960",
+      "mask_path": "../../mask/hdr_right_06876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06877.png",
+      "transform_matrix": [
+        [
+          0.998319149017334,
+          -0.029889089986681938,
+          0.04965414106845856,
+          25.288619995117188
+        ],
+        [
+          -0.04906360059976578,
+          0.02017631195485592,
+          0.998591959476471,
+          25.3798770904541
+        ],
+        [
+          -0.03084883838891983,
+          -0.9993495941162109,
+          0.018675928935408592,
+          -19.55719566345215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6877,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_183082103",
+      "mask_path": "../../mask/hdr_right_06877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06878.png",
+      "transform_matrix": [
+        [
+          0.9977521896362305,
+          -0.028728004544973373,
+          0.06054052710533142,
+          25.212160110473633
+        ],
+        [
+          -0.06005862355232239,
+          0.017351198941469193,
+          0.9980440735816956,
+          25.40081787109375
+        ],
+        [
+          -0.029722265899181366,
+          -0.999436616897583,
+          0.015586832538247108,
+          -19.54846954345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6878,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_283081531",
+      "mask_path": "../../mask/hdr_right_06878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06879.png",
+      "transform_matrix": [
+        [
+          0.9968321323394775,
+          -0.034180138260126114,
+          0.07181503623723984,
+          25.15616798400879
+        ],
+        [
+          -0.07134794443845749,
+          0.014694963581860065,
+          0.9973433613777161,
+          25.414979934692383
+        ],
+        [
+          -0.03514465317130089,
+          -0.9993076324462891,
+          0.012209727428853512,
+          -19.553388595581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6879,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_383081674",
+      "mask_path": "../../mask/hdr_right_06879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06880.png",
+      "transform_matrix": [
+        [
+          0.9965856671333313,
+          -0.03263910487294197,
+          0.07583931088447571,
+          25.064409255981445
+        ],
+        [
+          -0.07528854161500931,
+          0.01778663881123066,
+          0.9970031380653381,
+          25.432876586914062
+        ],
+        [
+          -0.03389021381735802,
+          -0.9993089437484741,
+          0.015268558636307716,
+          -19.552457809448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6880,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_483081817",
+      "mask_path": "../../mask/hdr_right_06880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06881.png",
+      "transform_matrix": [
+        [
+          0.9969125986099243,
+          -0.029737677425146103,
+          0.07267143577337265,
+          24.96864891052246
+        ],
+        [
+          -0.07198682427406311,
+          0.023479219526052475,
+          0.9971292018890381,
+          25.445728302001953
+        ],
+        [
+          -0.03135857358574867,
+          -0.9992819428443909,
+          0.02126600779592991,
+          -19.550992965698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6881,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_583081245",
+      "mask_path": "../../mask/hdr_right_06881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06882.png",
+      "transform_matrix": [
+        [
+          0.9970998764038086,
+          -0.03212781623005867,
+          0.06899014860391617,
+          24.893863677978516
+        ],
+        [
+          -0.0681920200586319,
+          0.025309942662715912,
+          0.9973511695861816,
+          25.449813842773438
+        ],
+        [
+          -0.03378885239362717,
+          -0.9991632699966431,
+          0.023045681416988373,
+          -19.54588508605957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6882,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_683080434",
+      "mask_path": "../../mask/hdr_right_06882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06883.png",
+      "transform_matrix": [
+        [
+          0.9970444440841675,
+          -0.033594511449337006,
+          0.06909286975860596,
+          24.81192970275879
+        ],
+        [
+          -0.0684325322508812,
+          0.020424921065568924,
+          0.9974466562271118,
+          25.462263107299805
+        ],
+        [
+          -0.03491995483636856,
+          -0.9992267489433289,
+          0.018065594136714935,
+          -19.544845581054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6883,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_783082962",
+      "mask_path": "../../mask/hdr_right_06883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06884.png",
+      "transform_matrix": [
+        [
+          0.9964261651039124,
+          -0.03155363351106644,
+          0.07835434377193451,
+          24.730758666992188
+        ],
+        [
+          -0.07789846509695053,
+          0.015428700484335423,
+          0.9968420267105103,
+          25.482873916625977
+        ],
+        [
+          -0.03266288712620735,
+          -0.9993829727172852,
+          0.012915576808154583,
+          -19.532596588134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6884,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_883081912",
+      "mask_path": "../../mask/hdr_right_06884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06885.png",
+      "transform_matrix": [
+        [
+          0.9953332543373108,
+          -0.03117891401052475,
+          0.09132198989391327,
+          24.65702247619629
+        ],
+        [
+          -0.0909789651632309,
+          0.012249566614627838,
+          0.9957774877548218,
+          25.504596710205078
+        ],
+        [
+          -0.03216591477394104,
+          -0.9994387030601501,
+          0.009355773217976093,
+          -19.521562576293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6885,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323951_983080863",
+      "mask_path": "../../mask/hdr_right_06885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06886.png",
+      "transform_matrix": [
+        [
+          0.993929922580719,
+          -0.03494245186448097,
+          0.10431868582963943,
+          24.58651351928711
+        ],
+        [
+          -0.10410046577453613,
+          0.008011344820261002,
+          0.9945345520973206,
+          25.5255126953125
+        ],
+        [
+          -0.035587210208177567,
+          -0.9993572235107422,
+          0.004325188230723143,
+          -19.518035888671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6886,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_83081722",
+      "mask_path": "../../mask/hdr_right_06886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06887.png",
+      "transform_matrix": [
+        [
+          0.992861270904541,
+          -0.03487671911716461,
+          0.11406221985816956,
+          24.478055953979492
+        ],
+        [
+          -0.11365291476249695,
+          0.013507630676031113,
+          0.9934288263320923,
+          25.553129196166992
+        ],
+        [
+          -0.03618824854493141,
+          -0.9993003606796265,
+          0.009447362273931503,
+          -19.515390396118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6887,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_183082103",
+      "mask_path": "../../mask/hdr_right_06887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06888.png",
+      "transform_matrix": [
+        [
+          0.9928956031799316,
+          -0.031027941033244133,
+          0.11487149447202682,
+          24.362638473510742
+        ],
+        [
+          -0.11414074152708054,
+          0.024381861090660095,
+          0.9931654334068298,
+          25.572494506835938
+        ],
+        [
+          -0.033616650849580765,
+          -0.9992210865020752,
+          0.02066708728671074,
+          -19.511985778808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6888,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_283081769",
+      "mask_path": "../../mask/hdr_right_06888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06889.png",
+      "transform_matrix": [
+        [
+          0.9933115839958191,
+          -0.028227269649505615,
+          0.11196153610944748,
+          24.28672218322754
+        ],
+        [
+          -0.11107992380857468,
+          0.03107827715575695,
+          0.993325412273407,
+          25.5836238861084
+        ],
+        [
+          -0.03151843696832657,
+          -0.9991182684898376,
+          0.027734927833080292,
+          -19.507099151611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6889,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_383082628",
+      "mask_path": "../../mask/hdr_right_06889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06890.png",
+      "transform_matrix": [
+        [
+          0.9933415651321411,
+          -0.026884082704782486,
+          0.11202605813741684,
+          24.21120262145996
+        ],
+        [
+          -0.1112041175365448,
+          0.030340274795889854,
+          0.9933343529701233,
+          25.611589431762695
+        ],
+        [
+          -0.030103782191872597,
+          -0.9991779923439026,
+          0.02714863233268261,
+          -19.50912094116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6890,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_483082294",
+      "mask_path": "../../mask/hdr_right_06890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06891.png",
+      "transform_matrix": [
+        [
+          0.9925263524055481,
+          -0.023343339562416077,
+          0.11977718025445938,
+          24.128938674926758
+        ],
+        [
+          -0.11916698515415192,
+          0.025982273742556572,
+          0.9925342202186584,
+          25.64065933227539
+        ],
+        [
+          -0.026281146332621574,
+          -0.9993897676467896,
+          0.023006334900856018,
+          -19.500106811523438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6891,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_583081722",
+      "mask_path": "../../mask/hdr_right_06891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06892.png",
+      "transform_matrix": [
+        [
+          0.9911956787109375,
+          -0.023457789793610573,
+          0.1303108185529709,
+          24.05327606201172
+        ],
+        [
+          -0.1298307180404663,
+          0.020946793258190155,
+          0.9913150072097778,
+          25.664384841918945
+        ],
+        [
+          -0.025983650237321854,
+          -0.999505341053009,
+          0.017716828733682632,
+          -19.489919662475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6892,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_683081388",
+      "mask_path": "../../mask/hdr_right_06892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06893.png",
+      "transform_matrix": [
+        [
+          0.9900570511817932,
+          -0.02949436381459236,
+          0.1375393271446228,
+          23.97922134399414
+        ],
+        [
+          -0.1371740698814392,
+          0.01407649740576744,
+          0.990446925163269,
+          25.689359664916992
+        ],
+        [
+          -0.031148670241236687,
+          -0.999465823173523,
+          0.009890672750771046,
+          -19.486684799194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6893,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_783081769",
+      "mask_path": "../../mask/hdr_right_06893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06894.png",
+      "transform_matrix": [
+        [
+          0.9901735186576843,
+          -0.030768942087888718,
+          0.13641761243343353,
+          23.87238311767578
+        ],
+        [
+          -0.1361084282398224,
+          0.01193914096802473,
+          0.9906219840049744,
+          25.71228790283203
+        ],
+        [
+          -0.0321091003715992,
+          -0.9994552135467529,
+          0.007633907720446587,
+          -19.479337692260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6894,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_883082151",
+      "mask_path": "../../mask/hdr_right_06894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06895.png",
+      "transform_matrix": [
+        [
+          0.9917933940887451,
+          -0.027902550995349884,
+          0.12476888298988342,
+          23.776987075805664
+        ],
+        [
+          -0.12433304637670517,
+          0.016850994899868965,
+          0.9920974969863892,
+          25.727094650268555
+        ],
+        [
+          -0.02978453040122986,
+          -0.9994685649871826,
+          0.013243497349321842,
+          -19.4763240814209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6895,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323952_983082532",
+      "mask_path": "../../mask/hdr_right_06895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06896.png",
+      "transform_matrix": [
+        [
+          0.9936259388923645,
+          -0.027437234297394753,
+          0.10933800786733627,
+          23.712339401245117
+        ],
+        [
+          -0.10884056240320206,
+          0.019017010927200317,
+          0.9938773512840271,
+          25.73596954345703
+        ],
+        [
+          -0.029348528012633324,
+          -0.9994426369667053,
+          0.015909507870674133,
+          -19.47808074951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6896,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_83082675",
+      "mask_path": "../../mask/hdr_right_06896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06897.png",
+      "transform_matrix": [
+        [
+          0.9952855110168457,
+          -0.029014015570282936,
+          0.09254724532365799,
+          23.63090705871582
+        ],
+        [
+          -0.09217654913663864,
+          0.01386569906026125,
+          0.9956461787223816,
+          25.746997833251953
+        ],
+        [
+          -0.030170923098921776,
+          -0.9994827508926392,
+          0.011125915683805943,
+          -19.480039596557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6897,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_183082342",
+      "mask_path": "../../mask/hdr_right_06897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06898.png",
+      "transform_matrix": [
+        [
+          0.9963734745979309,
+          -0.028915010392665863,
+          0.08002430945634842,
+          23.53923225402832
+        ],
+        [
+          -0.07989100366830826,
+          0.005737182684242725,
+          0.9967871308326721,
+          25.75904083251953
+        ],
+        [
+          -0.02928122505545616,
+          -0.9995653629302979,
+          0.003406326286494732,
+          -19.46862030029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6898,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_283081531",
+      "mask_path": "../../mask/hdr_right_06898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06899.png",
+      "transform_matrix": [
+        [
+          0.9970401525497437,
+          -0.02982991933822632,
+          0.07085924595594406,
+          23.458251953125
+        ],
+        [
+          -0.07093276083469391,
+          -0.0014127625618129969,
+          0.9974800944328308,
+          25.769601821899414
+        ],
+        [
+          -0.029654644429683685,
+          -0.9995539784431458,
+          -0.0035245013423264027,
+          -19.455989837646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6899,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_383081197",
+      "mask_path": "../../mask/hdr_right_06899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06900.png",
+      "transform_matrix": [
+        [
+          0.9975103735923767,
+          -0.03417282924056053,
+          0.06168682128190994,
+          23.38540267944336
+        ],
+        [
+          -0.06201544776558876,
+          -0.008641472086310387,
+          0.9980378150939941,
+          25.7825870513916
+        ],
+        [
+          -0.033572711050510406,
+          -0.999378502368927,
+          -0.010739203542470932,
+          -19.454601287841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6900,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_483080625",
+      "mask_path": "../../mask/hdr_right_06900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06901.png",
+      "transform_matrix": [
+        [
+          0.9979289174079895,
+          -0.036409541964530945,
+          0.05303110182285309,
+          23.27973747253418
+        ],
+        [
+          -0.053582657128572464,
+          -0.014344068244099617,
+          0.9984604716300964,
+          25.79637336730957
+        ],
+        [
+          -0.03559280186891556,
+          -0.9992340207099915,
+          -0.016265282407402992,
+          -19.453386306762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6901,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_583080053",
+      "mask_path": "../../mask/hdr_right_06901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06902.png",
+      "transform_matrix": [
+        [
+          0.9985857605934143,
+          -0.034700047224760056,
+          0.040279321372509,
+          23.183818817138672
+        ],
+        [
+          -0.04068243131041527,
+          -0.010990464128553867,
+          0.9991117119789124,
+          25.809104919433594
+        ],
+        [
+          -0.03422653302550316,
+          -0.9993373155593872,
+          -0.012386605143547058,
+          -19.45094108581543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6902,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_683080196",
+      "mask_path": "../../mask/hdr_right_06902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06903.png",
+      "transform_matrix": [
+        [
+          0.9990198612213135,
+          -0.0339578352868557,
+          0.02839379943907261,
+          23.11395835876465
+        ],
+        [
+          -0.028628526255488396,
+          -0.006446756888180971,
+          0.9995693564414978,
+          25.8179931640625
+        ],
+        [
+          -0.03376016765832901,
+          -0.9994024038314819,
+          -0.007412603124976158,
+          -19.449417114257812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6903,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_783079624",
+      "mask_path": "../../mask/hdr_right_06903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06904.png",
+      "transform_matrix": [
+        [
+          0.9991272687911987,
+          -0.03580540418624878,
+          0.021510150283575058,
+          23.024641036987305
+        ],
+        [
+          -0.021783238276839256,
+          -0.007254539057612419,
+          0.9997364282608032,
+          25.8321590423584
+        ],
+        [
+          -0.035639919340610504,
+          -0.9993324279785156,
+          -0.008028168231248856,
+          -19.451662063598633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6904,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_883081197",
+      "mask_path": "../../mask/hdr_right_06904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06905.png",
+      "transform_matrix": [
+        [
+          0.9991620779037476,
+          -0.03258732706308365,
+          0.024767376482486725,
+          22.931325912475586
+        ],
+        [
+          -0.025141969323158264,
+          -0.011136154644191265,
+          0.9996219277381897,
+          25.849824905395508
+        ],
+        [
+          -0.032299190759658813,
+          -0.9994068741798401,
+          -0.011946133337914944,
+          -19.439470291137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6905,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323953_983080387",
+      "mask_path": "../../mask/hdr_right_06905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06906.png",
+      "transform_matrix": [
+        [
+          0.9989871382713318,
+          -0.030794944614171982,
+          0.03280849754810333,
+          22.849058151245117
+        ],
+        [
+          -0.03328947350382805,
+          -0.015239201486110687,
+          0.9993296265602112,
+          25.868167877197266
+        ],
+        [
+          -0.030274322256445885,
+          -0.999409556388855,
+          -0.0162489153444767,
+          -19.43023681640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6906,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_83081007",
+      "mask_path": "../../mask/hdr_right_06906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06907.png",
+      "transform_matrix": [
+        [
+          0.99857497215271,
+          -0.03599846363067627,
+          0.03939751535654068,
+          22.77004623413086
+        ],
+        [
+          -0.040119718760252,
+          -0.019564639776945114,
+          0.9990032911300659,
+          25.884143829345703
+        ],
+        [
+          -0.03519178926944733,
+          -0.9991603493690491,
+          -0.02098100818693638,
+          -19.42810821533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6907,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_183080911",
+      "mask_path": "../../mask/hdr_right_06907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06908.png",
+      "transform_matrix": [
+        [
+          0.9984535574913025,
+          -0.03605414927005768,
+          0.04231511428952217,
+          22.67180824279785
+        ],
+        [
+          -0.042993802577257156,
+          -0.018260804936289787,
+          0.9989083409309387,
+          25.900279998779297
+        ],
+        [
+          -0.03524208441376686,
+          -0.9991829991340637,
+          -0.019782673567533493,
+          -19.427003860473633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6908,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_283081293",
+      "mask_path": "../../mask/hdr_right_06908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06909.png",
+      "transform_matrix": [
+        [
+          0.998648464679718,
+          -0.03228648006916046,
+          0.04072907194495201,
+          22.590240478515625
+        ],
+        [
+          -0.04108508676290512,
+          -0.010441097430884838,
+          0.9991011619567871,
+          25.914112091064453
+        ],
+        [
+          -0.03183220699429512,
+          -0.9994240999221802,
+          -0.011753479950129986,
+          -19.43025779724121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6909,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_383084774",
+      "mask_path": "../../mask/hdr_right_06909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06910.png",
+      "transform_matrix": [
+        [
+          0.9989333152770996,
+          -0.03190178424119949,
+          0.033386312425136566,
+          22.518264770507812
+        ],
+        [
+          -0.03357966989278793,
+          -0.005545359570533037,
+          0.999420702457428,
+          25.917341232299805
+        ],
+        [
+          -0.031698159873485565,
+          -0.9994755983352661,
+          -0.006610696669667959,
+          -19.42523193359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6910,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_483082294",
+      "mask_path": "../../mask/hdr_right_06910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06911.png",
+      "transform_matrix": [
+        [
+          0.9993939995765686,
+          -0.029382608830928802,
+          0.018664496019482613,
+          22.427045822143555
+        ],
+        [
+          -0.01907471753656864,
+          -0.013743534684181213,
+          0.9997236132621765,
+          25.929935455322266
+        ],
+        [
+          -0.029117969796061516,
+          -0.9994736909866333,
+          -0.014295673929154873,
+          -19.43187141418457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6911,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_583082437",
+      "mask_path": "../../mask/hdr_right_06911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06912.png",
+      "transform_matrix": [
+        [
+          0.9995993375778198,
+          -0.028170699253678322,
+          0.0027519678696990013,
+          22.334184646606445
+        ],
+        [
+          -0.0032631794456392527,
+          -0.018118184059858322,
+          0.9998305439949036,
+          25.948637008666992
+        ],
+        [
+          -0.02811606414616108,
+          -0.9994389414787292,
+          -0.018202854320406914,
+          -19.43107032775879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6912,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_683081388",
+      "mask_path": "../../mask/hdr_right_06912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06913.png",
+      "transform_matrix": [
+        [
+          0.9993958473205566,
+          -0.030537139624357224,
+          -0.01659572497010231,
+          22.25227928161621
+        ],
+        [
+          0.015966147184371948,
+          -0.02074761688709259,
+          0.999657392501831,
+          25.963245391845703
+        ],
+        [
+          -0.030870994552969933,
+          -0.9993183016777039,
+          -0.020247522741556168,
+          -19.424407958984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6913,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_783081531",
+      "mask_path": "../../mask/hdr_right_06913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06914.png",
+      "transform_matrix": [
+        [
+          0.9986889958381653,
+          -0.033538829535245895,
+          -0.03867188096046448,
+          22.179443359375
+        ],
+        [
+          0.037692613899707794,
+          -0.029354719445109367,
+          0.9988581538200378,
+          25.96761131286621
+        ],
+        [
+          -0.034635741263628006,
+          -0.9990062713623047,
+          -0.02805207669734955,
+          -19.417282104492188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6914,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_883082628",
+      "mask_path": "../../mask/hdr_right_06914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06915.png",
+      "transform_matrix": [
+        [
+          0.9975256323814392,
+          -0.030193902552127838,
+          -0.06349010020494461,
+          22.080280303955078
+        ],
+        [
+          0.06247512623667717,
+          -0.033449068665504456,
+          0.9974859356880188,
+          25.96927833557129
+        ],
+        [
+          -0.03224167972803116,
+          -0.9989842176437378,
+          -0.031479936093091965,
+          -19.414339065551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6915,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323954_983082056",
+      "mask_path": "../../mask/hdr_right_06915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06916.png",
+      "transform_matrix": [
+        [
+          0.9954715371131897,
+          -0.02457410655915737,
+          -0.09182857722043991,
+          22.009536743164062
+        ],
+        [
+          0.09114440530538559,
+          -0.027649754658341408,
+          0.9954537749290466,
+          25.963245391845703
+        ],
+        [
+          -0.027001425623893738,
+          -0.999315619468689,
+          -0.02528475783765316,
+          -19.418899536132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6916,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_83082437",
+      "mask_path": "../../mask/hdr_right_06916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06917.png",
+      "transform_matrix": [
+        [
+          0.9927720427513123,
+          -0.02371525950729847,
+          -0.11764899641275406,
+          21.93876075744629
+        ],
+        [
+          0.11707046627998352,
+          -0.02446797862648964,
+          0.9928221702575684,
+          25.958145141601562
+        ],
+        [
+          -0.02642366848886013,
+          -0.9994192719459534,
+          -0.02151477336883545,
+          -19.421146392822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6917,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_183082103",
+      "mask_path": "../../mask/hdr_right_06917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06918.png",
+      "transform_matrix": [
+        [
+          0.9900290369987488,
+          -0.024528322741389275,
+          -0.13871172070503235,
+          21.85108184814453
+        ],
+        [
+          0.1379031538963318,
+          -0.03205891326069832,
+          0.989926815032959,
+          25.958620071411133
+        ],
+        [
+          -0.028728190809488297,
+          -0.9991849660873413,
+          -0.028356721624732018,
+          -19.428226470947266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6918,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_283082008",
+      "mask_path": "../../mask/hdr_right_06918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06919.png",
+      "transform_matrix": [
+        [
+          0.9880816340446472,
+          -0.022212719544768333,
+          -0.1523197889328003,
+          21.76495361328125
+        ],
+        [
+          0.15148434042930603,
+          -0.035406071692705154,
+          0.9878253936767578,
+          25.952547073364258
+        ],
+        [
+          -0.027335330843925476,
+          -0.9991260766983032,
+          -0.03161920979619026,
+          -19.42072868347168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6919,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_383081674",
+      "mask_path": "../../mask/hdr_right_06919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06920.png",
+      "transform_matrix": [
+        [
+          0.9877066612243652,
+          -0.022345853969454765,
+          -0.1547131985425949,
+          21.682880401611328
+        ],
+        [
+          0.15380536019802094,
+          -0.037840891629457474,
+          0.9873762726783752,
+          25.948162078857422
+        ],
+        [
+          -0.027918251231312752,
+          -0.9990338683128357,
+          -0.03393879160284996,
+          -19.40599250793457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6920,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_483082532",
+      "mask_path": "../../mask/hdr_right_06920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06921.png",
+      "transform_matrix": [
+        [
+          0.9882085919380188,
+          -0.028179865330457687,
+          -0.1504981368780136,
+          21.602436065673828
+        ],
+        [
+          0.14917342364788055,
+          -0.04435695335268974,
+          0.9878157377243042,
+          25.945030212402344
+        ],
+        [
+          -0.034512151032686234,
+          -0.9986181855201721,
+          -0.03963024169206619,
+          -19.397768020629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6921,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_583082437",
+      "mask_path": "../../mask/hdr_right_06921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06922.png",
+      "transform_matrix": [
+        [
+          0.9881971478462219,
+          -0.02969726361334324,
+          -0.15028123557567596,
+          21.51030158996582
+        ],
+        [
+          0.1489088237285614,
+          -0.04401688277721405,
+          0.9878708124160767,
+          25.932470321655273
+        ],
+        [
+          -0.035951972007751465,
+          -0.998589277267456,
+          -0.03907516971230507,
+          -19.39257049560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6922,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_683081865",
+      "mask_path": "../../mask/hdr_right_06922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06923.png",
+      "transform_matrix": [
+        [
+          0.986446738243103,
+          -0.028204958885908127,
+          -0.1616395115852356,
+          21.417203903198242
+        ],
+        [
+          0.16056862473487854,
+          -0.03682750090956688,
+          0.986337423324585,
+          25.921981811523438
+        ],
+        [
+          -0.033772386610507965,
+          -0.9989235401153564,
+          -0.03179953992366791,
+          -19.398792266845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6923,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_783081769",
+      "mask_path": "../../mask/hdr_right_06923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06924.png",
+      "transform_matrix": [
+        [
+          0.9834513068199158,
+          -0.028519373387098312,
+          -0.1789139062166214,
+          21.348209381103516
+        ],
+        [
+          0.177910715341568,
+          -0.034527797251939774,
+          0.9834407567977905,
+          25.912925720214844
+        ],
+        [
+          -0.03422461822628975,
+          -0.9989967346191406,
+          -0.028882509097456932,
+          -19.402864456176758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6924,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_883081912",
+      "mask_path": "../../mask/hdr_right_06924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06925.png",
+      "transform_matrix": [
+        [
+          0.9807032942771912,
+          -0.022793585434556007,
+          -0.19416877627372742,
+          21.267255783081055
+        ],
+        [
+          0.1931658834218979,
+          -0.040107306092977524,
+          0.980346143245697,
+          25.906404495239258
+        ],
+        [
+          -0.030133187770843506,
+          -0.998935341835022,
+          -0.034930430352687836,
+          -19.408395767211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6925,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323955_983082056",
+      "mask_path": "../../mask/hdr_right_06925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06926.png",
+      "transform_matrix": [
+        [
+          0.9781404733657837,
+          -0.019891105592250824,
+          -0.2069917619228363,
+          21.154447555541992
+        ],
+        [
+          0.205969899892807,
+          -0.04420408234000206,
+          0.9775594472885132,
+          25.893192291259766
+        ],
+        [
+          -0.028594618663191795,
+          -0.9988244771957397,
+          -0.03914083540439606,
+          -19.388294219970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6926,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_83082437",
+      "mask_path": "../../mask/hdr_right_06926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06927.png",
+      "transform_matrix": [
+        [
+          0.9755409955978394,
+          -0.02214711718261242,
+          -0.21869924664497375,
+          21.065996170043945
+        ],
+        [
+          0.2175048142671585,
+          -0.04669466242194176,
+          0.9749417304992676,
+          25.88786506652832
+        ],
+        [
+          -0.03180423378944397,
+          -0.998663604259491,
+          -0.04073544591665268,
+          -19.378246307373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6927,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_183082580",
+      "mask_path": "../../mask/hdr_right_06927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06928.png",
+      "transform_matrix": [
+        [
+          0.9748619198799133,
+          -0.02518441155552864,
+          -0.22138215601444244,
+          21.002893447875977
+        ],
+        [
+          0.21995091438293457,
+          -0.0498875193297863,
+          0.9742345213890076,
+          25.88661766052246
+        ],
+        [
+          -0.035579729825258255,
+          -0.998437225818634,
+          -0.04309410601854324,
+          -19.37755012512207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6928,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_283081054",
+      "mask_path": "../../mask/hdr_right_06928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06929.png",
+      "transform_matrix": [
+        [
+          0.9743770956993103,
+          -0.024028683081269264,
+          -0.22363340854644775,
+          20.919076919555664
+        ],
+        [
+          0.22222425043582916,
+          -0.050647929310798645,
+          0.9736793041229248,
+          25.878501892089844
+        ],
+        [
+          -0.03472280129790306,
+          -0.9984275102615356,
+          -0.04401043429970741,
+          -19.373291015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6929,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_383081436",
+      "mask_path": "../../mask/hdr_right_06929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06930.png",
+      "transform_matrix": [
+        [
+          0.9723678231239319,
+          -0.021292001008987427,
+          -0.23248110711574554,
+          20.839263916015625
+        ],
+        [
+          0.23126745223999023,
+          -0.04812520369887352,
+          0.9716992378234863,
+          25.867612838745117
+        ],
+        [
+          -0.03187762200832367,
+          -0.9986143708229065,
+          -0.04187125340104103,
+          -19.378692626953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6930,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_483082294",
+      "mask_path": "../../mask/hdr_right_06930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06931.png",
+      "transform_matrix": [
+        [
+          0.9701002240180969,
+          -0.020262178033590317,
+          -0.24185749888420105,
+          20.77226448059082
+        ],
+        [
+          0.2406921684741974,
+          -0.047748588025569916,
+          0.9694262742996216,
+          25.854154586791992
+        ],
+        [
+          -0.03119104541838169,
+          -0.9986538887023926,
+          -0.041443970054388046,
+          -19.378555297851562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6931,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_583081722",
+      "mask_path": "../../mask/hdr_right_06931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06932.png",
+      "transform_matrix": [
+        [
+          0.9689027667045593,
+          -0.016525542363524437,
+          -0.24688927829265594,
+          20.694429397583008
+        ],
+        [
+          0.2457537055015564,
+          -0.0520796924829483,
+          0.9679322838783264,
+          25.842418670654297
+        ],
+        [
+          -0.0288535263389349,
+          -0.9985062479972839,
+          -0.04639895260334015,
+          -19.378339767456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6932,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_683082818",
+      "mask_path": "../../mask/hdr_right_06932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06933.png",
+      "transform_matrix": [
+        [
+          0.9691929221153259,
+          -0.0168021060526371,
+          -0.2457290142774582,
+          20.610809326171875
+        ],
+        [
+          0.24449805915355682,
+          -0.05492141842842102,
+          0.9680930972099304,
+          25.83397674560547
+        ],
+        [
+          -0.029761793091893196,
+          -0.9983493089675903,
+          -0.04912136495113373,
+          -19.371000289916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6933,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_783082485",
+      "mask_path": "../../mask/hdr_right_06933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06934.png",
+      "transform_matrix": [
+        [
+          0.9700330495834351,
+          -0.019444026052951813,
+          -0.2421940267086029,
+          20.5244140625
+        ],
+        [
+          0.2407289296388626,
+          -0.058260031044483185,
+          0.9688422679901123,
+          25.82595443725586
+        ],
+        [
+          -0.03294842690229416,
+          -0.9981120824813843,
+          -0.051833413541316986,
+          -19.36236572265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6934,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_883081674",
+      "mask_path": "../../mask/hdr_right_06934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06935.png",
+      "transform_matrix": [
+        [
+          0.971120297908783,
+          -0.02470463700592518,
+          -0.23730799555778503,
+          20.436738967895508
+        ],
+        [
+          0.23547738790512085,
+          -0.06090620905160904,
+          0.9699695110321045,
+          25.813650131225586
+        ],
+        [
+          -0.03841627389192581,
+          -0.9978377223014832,
+          -0.05332987755537033,
+          -19.357301712036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6935,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323956_983080625",
+      "mask_path": "../../mask/hdr_right_06935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06936.png",
+      "transform_matrix": [
+        [
+          0.9706927537918091,
+          -0.02641589567065239,
+          -0.23886768519878387,
+          20.33549690246582
+        ],
+        [
+          0.23717938363552094,
+          -0.05496112257242203,
+          0.9699099659919739,
+          25.79522705078125
+        ],
+        [
+          -0.03874947875738144,
+          -0.9981390237808228,
+          -0.04708506166934967,
+          -19.350488662719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6936,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_83082914",
+      "mask_path": "../../mask/hdr_right_06936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06937.png",
+      "transform_matrix": [
+        [
+          0.9680741429328918,
+          -0.02525412105023861,
+          -0.24938827753067017,
+          20.25406265258789
+        ],
+        [
+          0.2481427639722824,
+          -0.04419611021876335,
+          0.967714786529541,
+          25.78034782409668
+        ],
+        [
+          -0.03546077758073807,
+          -0.99870365858078,
+          -0.03651849552989006,
+          -19.356304168701172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6937,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_183080673",
+      "mask_path": "../../mask/hdr_right_06937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06938.png",
+      "transform_matrix": [
+        [
+          0.9634280204772949,
+          -0.026873553171753883,
+          -0.2666165232658386,
+          20.184492111206055
+        ],
+        [
+          0.2654203176498413,
+          -0.041157711297273636,
+          0.9632538557052612,
+          25.772571563720703
+        ],
+        [
+          -0.036859381943941116,
+          -0.9987912178039551,
+          -0.03251970559358597,
+          -19.37432289123535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6938,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_283082485",
+      "mask_path": "../../mask/hdr_right_06938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06939.png",
+      "transform_matrix": [
+        [
+          0.9566688537597656,
+          -0.047498974949121475,
+          -0.2872776389122009,
+          20.104248046875
+        ],
+        [
+          0.28629496693611145,
+          -0.026484671980142593,
+          0.9577754139900208,
+          25.76114845275879
+        ],
+        [
+          -0.053101811558008194,
+          -0.9985201358795166,
+          -0.011738348752260208,
+          -19.354158401489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6939,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_383082389",
+      "mask_path": "../../mask/hdr_right_06939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06940.png",
+      "transform_matrix": [
+        [
+          0.9511586427688599,
+          -0.08363800495862961,
+          -0.29715636372566223,
+          20.00480842590332
+        ],
+        [
+          0.2964234948158264,
+          -0.021336378529667854,
+          0.9548183083534241,
+          25.753559112548828
+        ],
+        [
+          -0.0861993357539177,
+          -0.9962677955627441,
+          0.00449798908084631,
+          -19.26711082458496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6940,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_483081102",
+      "mask_path": "../../mask/hdr_right_06940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06941.png",
+      "transform_matrix": [
+        [
+          0.9466637372970581,
+          -0.10351403802633286,
+          -0.3051437735557556,
+          19.928531646728516
+        ],
+        [
+          0.3032369911670685,
+          -0.034070614725351334,
+          0.9523059129714966,
+          25.744932174682617
+        ],
+        [
+          -0.10897345095872879,
+          -0.994044303894043,
+          -0.0008641300955787301,
+          -19.239748001098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6941,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_583081483",
+      "mask_path": "../../mask/hdr_right_06941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06942.png",
+      "transform_matrix": [
+        [
+          0.9411717057228088,
+          -0.1107950434088707,
+          -0.31924954056739807,
+          19.85929298400879
+        ],
+        [
+          0.3159354031085968,
+          -0.04675615578889847,
+          0.9476279616355896,
+          25.716203689575195
+        ],
+        [
+          -0.11991936713457108,
+          -0.9927428960800171,
+          -0.00900149717926979,
+          -19.244667053222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6942,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_683081150",
+      "mask_path": "../../mask/hdr_right_06942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06943.png",
+      "transform_matrix": [
+        [
+          0.9328605532646179,
+          -0.11033015698194504,
+          -0.3429262638092041,
+          19.78291893005371
+        ],
+        [
+          0.3391008973121643,
+          -0.05233773961663246,
+          0.9392930269241333,
+          25.68238067626953
+        ],
+        [
+          -0.1215803399682045,
+          -0.9925159811973572,
+          -0.01141076348721981,
+          -19.234371185302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6943,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_783081531",
+      "mask_path": "../../mask/hdr_right_06943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06944.png",
+      "transform_matrix": [
+        [
+          0.9216235280036926,
+          -0.11280842870473862,
+          -0.3713280260562897,
+          19.718246459960938
+        ],
+        [
+          0.36785492300987244,
+          -0.05096282437443733,
+          0.9284857511520386,
+          25.653512954711914
+        ],
+        [
+          -0.12366494536399841,
+          -0.9923089742660522,
+          -0.0054714009165763855,
+          -19.231311798095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6944,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_883081197",
+      "mask_path": "../../mask/hdr_right_06944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06945.png",
+      "transform_matrix": [
+        [
+          0.9105769991874695,
+          -0.11705528944730759,
+          -0.39641839265823364,
+          19.664403915405273
+        ],
+        [
+          0.3929891288280487,
+          -0.052048392593860626,
+          0.9180689454078674,
+          25.625736236572266
+        ],
+        [
+          -0.1280977576971054,
+          -0.9917605519294739,
+          -0.0013926203828305006,
+          -19.225008010864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6945,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323957_983079910",
+      "mask_path": "../../mask/hdr_right_06945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06946.png",
+      "transform_matrix": [
+        [
+          0.9027058482170105,
+          -0.11898141354322433,
+          -0.4134800434112549,
+          19.616071701049805
+        ],
+        [
+          0.40972235798835754,
+          -0.055637557059526443,
+          0.9105120897293091,
+          25.597599029541016
+        ],
+        [
+          -0.13133901357650757,
+          -0.9913364052772522,
+          -0.0014750069240108132,
+          -19.211057662963867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6946,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_83080291",
+      "mask_path": "../../mask/hdr_right_06946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06947.png",
+      "transform_matrix": [
+        [
+          0.898407518863678,
+          -0.1272365152835846,
+          -0.4203270673751831,
+          19.5549373626709
+        ],
+        [
+          0.4147557318210602,
+          -0.06880630552768707,
+          0.9073277115821838,
+          25.574291229248047
+        ],
+        [
+          -0.14436636865139008,
+          -0.9894829988479614,
+          -0.009044038131833076,
+          -19.186189651489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6947,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_183080196",
+      "mask_path": "../../mask/hdr_right_06947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06948.png",
+      "transform_matrix": [
+        [
+          0.8961087465286255,
+          -0.13927723467350006,
+          -0.4214155972003937,
+          19.488739013671875
+        ],
+        [
+          0.4130616784095764,
+          -0.08568441867828369,
+          0.9066632986068726,
+          25.55127716064453
+        ],
+        [
+          -0.16238629817962646,
+          -0.9865394234657288,
+          -0.019252456724643707,
+          -19.154861450195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6948,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_283082008",
+      "mask_path": "../../mask/hdr_right_06948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06949.png",
+      "transform_matrix": [
+        [
+          0.8910883069038391,
+          -0.15883450210094452,
+          -0.4251273274421692,
+          19.40746307373047
+        ],
+        [
+          0.41187378764152527,
+          -0.11034559458494186,
+          0.904535174369812,
+          25.512487411499023
+        ],
+        [
+          -0.1905822902917862,
+          -0.9811194539070129,
+          -0.032907918095588684,
+          -19.11161231994629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6949,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_383080005",
+      "mask_path": "../../mask/hdr_right_06949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06950.png",
+      "transform_matrix": [
+        [
+          0.8854039907455444,
+          -0.17623284459114075,
+          -0.4301183223724365,
+          19.315441131591797
+        ],
+        [
+          0.4161815047264099,
+          -0.11153654754161835,
+          0.902414858341217,
+          25.480026245117188
+        ],
+        [
+          -0.20700907707214355,
+          -0.9780089855194092,
+          -0.02541004866361618,
+          -19.075395584106445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6950,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_483081579",
+      "mask_path": "../../mask/hdr_right_06950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06951.png",
+      "transform_matrix": [
+        [
+          0.8824704885482788,
+          -0.18884693086147308,
+          -0.43079304695129395,
+          19.246232986450195
+        ],
+        [
+          0.41921931505203247,
+          -0.09956635534763336,
+          0.9024088382720947,
+          25.460390090942383
+        ],
+        [
+          -0.2133096307516098,
+          -0.9769459366798401,
+          -0.008696098811924458,
+          -19.058794021606445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6951,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_583080530",
+      "mask_path": "../../mask/hdr_right_06951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06952.png",
+      "transform_matrix": [
+        [
+          0.8802729249000549,
+          -0.20129384100437164,
+          -0.42965152859687805,
+          19.184782028198242
+        ],
+        [
+          0.41899046301841736,
+          -0.09511977434158325,
+          0.9029946327209473,
+          25.442731857299805
+        ],
+        [
+          -0.22263562679290771,
+          -0.974901556968689,
+          0.0006088431691750884,
+          -19.046491622924805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6952,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_683079719",
+      "mask_path": "../../mask/hdr_right_06952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06953.png",
+      "transform_matrix": [
+        [
+          0.8741094470024109,
+          -0.25294455885887146,
+          -0.4146706163883209,
+          19.095264434814453
+        ],
+        [
+          0.4101182222366333,
+          -0.07309244573116302,
+          0.909098744392395,
+          25.448673248291016
+        ],
+        [
+          -0.2602609097957611,
+          -0.964715838432312,
+          0.039846379309892654,
+          -18.978321075439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6953,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_783081769",
+      "mask_path": "../../mask/hdr_right_06953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06954.png",
+      "transform_matrix": [
+        [
+          0.8763465285301208,
+          -0.2826329469680786,
+          -0.3900454640388489,
+          19.002761840820312
+        ],
+        [
+          0.3864162564277649,
+          -0.07093449681997299,
+          0.9195927977561951,
+          25.430578231811523
+        ],
+        [
+          -0.287574827671051,
+          -0.9566017985343933,
+          0.047050755470991135,
+          -18.899219512939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6954,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_883081674",
+      "mask_path": "../../mask/hdr_right_06954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06955.png",
+      "transform_matrix": [
+        [
+          0.8816984295845032,
+          -0.2770032584667206,
+          -0.38193854689598083,
+          18.92551040649414
+        ],
+        [
+          0.37132638692855835,
+          -0.09201119095087051,
+          0.9239321947097778,
+          25.405532836914062
+        ],
+        [
+          -0.29107481241226196,
+          -0.9564534425735474,
+          0.021732501685619354,
+          -18.87811279296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6955,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323958_983081340",
+      "mask_path": "../../mask/hdr_right_06955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06956.png",
+      "transform_matrix": [
+        [
+          0.8845219612121582,
+          -0.26811742782592773,
+          -0.38175129890441895,
+          18.850826263427734
+        ],
+        [
+          0.36868807673454285,
+          -0.09959374368190765,
+          0.924202561378479,
+          25.38465118408203
+        ],
+        [
+          -0.2858148217201233,
+          -0.9582244753837585,
+          0.010758839547634125,
+          -18.86676597595215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6956,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_83081960",
+      "mask_path": "../../mask/hdr_right_06956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06957.png",
+      "transform_matrix": [
+        [
+          0.8860099911689758,
+          -0.26347702741622925,
+          -0.3815312087535858,
+          18.776683807373047
+        ],
+        [
+          0.3702470064163208,
+          -0.0932997465133667,
+          0.924235999584198,
+          25.358999252319336
+        ],
+        [
+          -0.2791118025779724,
+          -0.9601432085037231,
+          0.014887076802551746,
+          -18.84263801574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6957,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_183081865",
+      "mask_path": "../../mask/hdr_right_06957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06958.png",
+      "transform_matrix": [
+        [
+          0.8867471814155579,
+          -0.2603849768638611,
+          -0.38194119930267334,
+          18.715797424316406
+        ],
+        [
+          0.371817022562027,
+          -0.08914508670568466,
+          0.9240158796310425,
+          25.33903694152832
+        ],
+        [
+          -0.27464810013771057,
+          -0.961380660533905,
+          0.01776641234755516,
+          -18.826425552368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6958,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_283081769",
+      "mask_path": "../../mask/hdr_right_06958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06959.png",
+      "transform_matrix": [
+        [
+          0.8909751772880554,
+          -0.24442248046398163,
+          -0.3826499879360199,
+          18.655107498168945
+        ],
+        [
+          0.3722321391105652,
+          -0.08940111845731735,
+          0.923823893070221,
+          25.314706802368164
+        ],
+        [
+          -0.2600126564502716,
+          -0.9655387997627258,
+          0.01132771372795105,
+          -18.814645767211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6959,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_383082389",
+      "mask_path": "../../mask/hdr_right_06959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06960.png",
+      "transform_matrix": [
+        [
+          0.8949975371360779,
+          -0.23607474565505981,
+          -0.3784812390804291,
+          18.57806968688965
+        ],
+        [
+          0.36702418327331543,
+          -0.0924997553229332,
+          0.9256009459495544,
+          25.2858829498291
+        ],
+        [
+          -0.2535204291343689,
+          -0.9673223495483398,
+          0.0038580787368118763,
+          -18.78696060180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6960,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_483082294",
+      "mask_path": "../../mask/hdr_right_06960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06961.png",
+      "transform_matrix": [
+        [
+          0.8983097672462463,
+          -0.23202408850193024,
+          -0.3731010854244232,
+          18.497922897338867
+        ],
+        [
+          0.3593674600124359,
+          -0.10053598135709763,
+          0.927764892578125,
+          25.263750076293945
+        ],
+        [
+          -0.25277388095855713,
+          -0.9675005078315735,
+          -0.006930552888661623,
+          -18.764482498168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6961,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_583082675",
+      "mask_path": "../../mask/hdr_right_06961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06962.png",
+      "transform_matrix": [
+        [
+          0.9028841853141785,
+          -0.21853114664554596,
+          -0.37019503116607666,
+          18.399459838867188
+        ],
+        [
+          0.3584546148777008,
+          -0.09264380484819412,
+          0.9289389252662659,
+          25.23670768737793
+        ],
+        [
+          -0.23729835450649261,
+          -0.9714223146438599,
+          -0.005313124507665634,
+          -18.75721549987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6962,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_683081865",
+      "mask_path": "../../mask/hdr_right_06962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06963.png",
+      "transform_matrix": [
+        [
+          0.9103803634643555,
+          -0.18783243000507355,
+          -0.36868229508399963,
+          18.30573844909668
+        ],
+        [
+          0.36225658655166626,
+          -0.06874997913837433,
+          0.9295395016670227,
+          25.22309684753418
+        ],
+        [
+          -0.19994455575942993,
+          -0.9797919392585754,
+          0.0054549043998122215,
+          -18.750154495239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6963,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_783080577",
+      "mask_path": "../../mask/hdr_right_06963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06964.png",
+      "transform_matrix": [
+        [
+          0.9141295552253723,
+          -0.16391904652118683,
+          -0.37080684304237366,
+          18.236913681030273
+        ],
+        [
+          0.36680448055267334,
+          -0.05518899857997894,
+          0.9286595582962036,
+          25.216373443603516
+        ],
+        [
+          -0.17268946766853333,
+          -0.9849287867546082,
+          0.009676343761384487,
+          -18.74051856994629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6964,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_883081436",
+      "mask_path": "../../mask/hdr_right_06964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06965.png",
+      "transform_matrix": [
+        [
+          0.9153462648391724,
+          -0.15653808414936066,
+          -0.3709947168827057,
+          18.1654052734375
+        ],
+        [
+          0.36801451444625854,
+          -0.04870428517460823,
+          0.9285436868667603,
+          25.20408058166504
+        ],
+        [
+          -0.16342146694660187,
+          -0.9864703416824341,
+          0.013027003034949303,
+          -18.728775024414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6965,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323959_983083009",
+      "mask_path": "../../mask/hdr_right_06965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06966.png",
+      "transform_matrix": [
+        [
+          0.9192481637001038,
+          -0.14140526950359344,
+          -0.36740636825561523,
+          18.085050582885742
+        ],
+        [
+          0.36410531401634216,
+          -0.04950294643640518,
+          0.9300414323806763,
+          25.19671058654785
+        ],
+        [
+          -0.14970044791698456,
+          -0.9887133240699768,
+          0.005980913061648607,
+          -18.722944259643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6966,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_83080768",
+      "mask_path": "../../mask/hdr_right_06966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06967.png",
+      "transform_matrix": [
+        [
+          0.9213247895240784,
+          -0.1256834864616394,
+          -0.3679187297821045,
+          18.011232376098633
+        ],
+        [
+          0.36423882842063904,
+          -0.05194808170199394,
+          0.9298555850982666,
+          25.187028884887695
+        ],
+        [
+          -0.13598015904426575,
+          -0.9907093048095703,
+          -0.00208225823007524,
+          -18.722442626953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6967,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_183080911",
+      "mask_path": "../../mask/hdr_right_06967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06968.png",
+      "transform_matrix": [
+        [
+          0.921011745929718,
+          -0.11714359372854233,
+          -0.37150341272354126,
+          17.947275161743164
+        ],
+        [
+          0.36748120188713074,
+          -0.05505451187491417,
+          0.9284000992774963,
+          25.16791534423828
+        ],
+        [
+          -0.12920905649662018,
+          -0.99158775806427,
+          -0.007657788228243589,
+          -18.718055725097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6968,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_283083200",
+      "mask_path": "../../mask/hdr_right_06968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06969.png",
+      "transform_matrix": [
+        [
+          0.9180694222450256,
+          -0.10894054919481277,
+          -0.3811567723751068,
+          17.860422134399414
+        ],
+        [
+          0.3771449327468872,
+          -0.05613766610622406,
+          0.9244512915611267,
+          25.12944984436035
+        ],
+        [
+          -0.12210749089717865,
+          -0.9924618601799011,
+          -0.010451904498040676,
+          -18.711137771606445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6969,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_383082389",
+      "mask_path": "../../mask/hdr_right_06969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06970.png",
+      "transform_matrix": [
+        [
+          0.9132410883903503,
+          -0.09867385774850845,
+          -0.3952901065349579,
+          17.770967483520508
+        ],
+        [
+          0.3924719989299774,
+          -0.047331202775239944,
+          0.9185454249382019,
+          25.096176147460938
+        ],
+        [
+          -0.10934597253799438,
+          -0.9939935803413391,
+          -0.0044980738312006,
+          -18.714078903198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6970,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_483082294",
+      "mask_path": "../../mask/hdr_right_06970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06971.png",
+      "transform_matrix": [
+        [
+          0.9089967012405396,
+          -0.08746039122343063,
+          -0.40752390027046204,
+          17.710613250732422
+        ],
+        [
+          0.4053880572319031,
+          -0.041742727160453796,
+          0.9131911993026733,
+          25.077964782714844
+        ],
+        [
+          -0.09687921404838562,
+          -0.9952930808067322,
+          -0.002488609403371811,
+          -18.7268123626709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6971,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_583082675",
+      "mask_path": "../../mask/hdr_right_06971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06972.png",
+      "transform_matrix": [
+        [
+          0.9071727395057678,
+          -0.07841604202985764,
+          -0.41338664293289185,
+          17.65201759338379
+        ],
+        [
+          0.4113060534000397,
+          -0.041810110211372375,
+          0.9105379581451416,
+          25.056577682495117
+        ],
+        [
+          -0.08868452906608582,
+          -0.9960436224937439,
+          -0.005675999913364649,
+          -18.725955963134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6972,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_683082103",
+      "mask_path": "../../mask/hdr_right_06972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06973.png",
+      "transform_matrix": [
+        [
+          0.909254789352417,
+          -0.07284826785326004,
+          -0.4098156690597534,
+          17.584203720092773
+        ],
+        [
+          0.40760165452957153,
+          -0.04371367022395134,
+          0.9121130704879761,
+          25.034603118896484
+        ],
+        [
+          -0.08436040580272675,
+          -0.9963845610618591,
+          -0.010053789243102074,
+          -18.712648391723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6973,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_783084154",
+      "mask_path": "../../mask/hdr_right_06973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06974.png",
+      "transform_matrix": [
+        [
+          0.9128898978233337,
+          -0.0683329701423645,
+          -0.4024459719657898,
+          17.512121200561523
+        ],
+        [
+          0.39981091022491455,
+          -0.049244269728660583,
+          0.9152739644050598,
+          25.016218185424805
+        ],
+        [
+          -0.08236154168844223,
+          -0.9964464902877808,
+          -0.017634330317378044,
+          -18.70057487487793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6974,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_883080482",
+      "mask_path": "../../mask/hdr_right_06974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06975.png",
+      "transform_matrix": [
+        [
+          0.91505366563797,
+          -0.06303729116916656,
+          -0.3983755111694336,
+          17.418344497680664
+        ],
+        [
+          0.3961270749568939,
+          -0.045397836714982986,
+          0.9170727729797363,
+          24.990495681762695
+        ],
+        [
+          -0.07589516788721085,
+          -0.9969781041145325,
+          -0.01657067984342575,
+          -18.69850730895996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6975,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323960_983081340",
+      "mask_path": "../../mask/hdr_right_06975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06976.png",
+      "transform_matrix": [
+        [
+          0.9147586226463318,
+          -0.05832831189036369,
+          -0.39976799488067627,
+          17.335433959960938
+        ],
+        [
+          0.3985441029071808,
+          -0.03179909661412239,
+          0.9165977239608765,
+          24.964252471923828
+        ],
+        [
+          -0.06617585569620132,
+          -0.9977908730506897,
+          -0.00584209430962801,
+          -18.712575912475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6976,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_83080291",
+      "mask_path": "../../mask/hdr_right_06976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06977.png",
+      "transform_matrix": [
+        [
+          0.9138598442077637,
+          -0.055433839559555054,
+          -0.40222808718681335,
+          17.276046752929688
+        ],
+        [
+          0.4015965461730957,
+          -0.022588815540075302,
+          0.9155380725860596,
+          24.94576072692871
+        ],
+        [
+          -0.059837643057107925,
+          -0.9982068538665771,
+          0.0016190262977033854,
+          -18.719459533691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6977,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_183083534",
+      "mask_path": "../../mask/hdr_right_06977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06978.png",
+      "transform_matrix": [
+        [
+          0.9141342043876648,
+          -0.04887279495596886,
+          -0.4024551808834076,
+          17.20938491821289
+        ],
+        [
+          0.4018997550010681,
+          -0.021139012649655342,
+          0.9154396653175354,
+          24.92473793029785
+        ],
+        [
+          -0.0532475970685482,
+          -0.9985813498497009,
+          0.0003180667117703706,
+          -18.715517044067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6978,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_283081054",
+      "mask_path": "../../mask/hdr_right_06978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06979.png",
+      "transform_matrix": [
+        [
+          0.912626326084137,
+          -0.04745756834745407,
+          -0.40603092312812805,
+          17.13304901123047
+        ],
+        [
+          0.40551793575286865,
+          -0.020413488149642944,
+          0.9138591289520264,
+          24.907310485839844
+        ],
+        [
+          -0.05165804177522659,
+          -0.9986646771430969,
+          0.0006150058470666409,
+          -18.707910537719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6979,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_383080959",
+      "mask_path": "../../mask/hdr_right_06979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06980.png",
+      "transform_matrix": [
+        [
+          0.9093241095542908,
+          -0.050828967243433,
+          -0.4129723012447357,
+          17.071956634521484
+        ],
+        [
+          0.4123366177082062,
+          -0.022905468940734863,
+          0.9107435941696167,
+          24.8972110748291
+        ],
+        [
+          -0.05575147271156311,
+          -0.998444676399231,
+          0.0001301452430197969,
+          -18.704442977905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6980,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_483081102",
+      "mask_path": "../../mask/hdr_right_06980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06981.png",
+      "transform_matrix": [
+        [
+          0.9070444107055664,
+          -0.05046294629573822,
+          -0.41799992322921753,
+          17.020240783691406
+        ],
+        [
+          0.41701287031173706,
+          -0.02922394685447216,
+          0.9084306955337524,
+          24.879024505615234
+        ],
+        [
+          -0.05805768445134163,
+          -0.9982982873916626,
+          -0.005463722627609968,
+          -18.698240280151367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6981,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_583081483",
+      "mask_path": "../../mask/hdr_right_06981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06982.png",
+      "transform_matrix": [
+        [
+          0.9046826958656311,
+          -0.05419826880097389,
+          -0.42262494564056396,
+          16.96062660217285
+        ],
+        [
+          0.4201793670654297,
+          -0.05110166221857071,
+          0.906001091003418,
+          24.876806259155273
+        ],
+        [
+          -0.07070052623748779,
+          -0.9972217679023743,
+          -0.02345779910683632,
+          -18.713134765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6982,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_683081626",
+      "mask_path": "../../mask/hdr_right_06982.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/9486cbb3/mesh.ply b/2024-11-11-12-07-40/splats/9486cbb3/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e8480e97680ae43faa257d388b2f88a8041eacf8
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/9486cbb3/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac85c734182d427ce4764e261e6eab093080c850429c6c01c5db5a7f3d9b97ce
+size 56595726
diff --git a/2024-11-11-12-07-40/splats/9486cbb3/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/9486cbb3/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0db2b8e5e991fa2074c53c69a9fd205846931b25
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/9486cbb3/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07ba1fd0f619b56e1cdd63b48ac8d2cede313006743b79a833edd79f75e4fb8c
+size 1589590
diff --git a/2024-11-11-12-07-40/splats/9486cbb3/splatfacto/config.yml b/2024-11-11-12-07-40/splats/9486cbb3/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..2b846bac36415e93029097195e6ec8800f8d6522
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/9486cbb3/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_9486cbb3
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_9486cbb3
+      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/2024-11-11-12-07-40/splats/9486cbb3/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/9486cbb3/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..2be254169e9073ce2e2c205fae9c0612486061bd
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/9486cbb3/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.9857120513916016,
+            -0.10877403616905212,
+            0.12860988080501556,
+            67.39484405517578
+        ],
+        [
+            -0.10877403616905212,
+            0.9940415620803833,
+            0.00704503757879138,
+            -16.1394100189209
+        ],
+        [
+            -0.12860988080501556,
+            -0.00704503757879138,
+            -0.9916704893112183,
+            -17.11333465576172
+        ]
+    ],
+    "scale": 0.3582543192397154
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/9486cbb3/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/9486cbb3/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..574ed4b0eb4e0bc416ed28ad674680c36596d9e7
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/9486cbb3/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:467e658795a6f6c3e786b557d5cef1d02bcf045d51bfdbae22703d50847d73b5
+size 212554953
diff --git a/2024-11-11-12-07-40/splats/9486cbb3/transforms.json b/2024-11-11-12-07-40/splats/9486cbb3/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..b91f65e4c91def8893e5d90e4bd5803f64d4db68
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/9486cbb3/transforms.json
@@ -0,0 +1,14118 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_04046.png",
+      "transform_matrix": [
+        [
+          0.0007089386344887316,
+          -0.10185381770133972,
+          -0.9947991371154785,
+          60.48757553100586
+        ],
+        [
+          0.9998761415481567,
+          -0.015569415874779224,
+          0.0023066517896950245,
+          23.106613159179688
+        ],
+        [
+          -0.01572338305413723,
+          -0.9946776628494263,
+          0.10183016210794449,
+          -25.20458221435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4046,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_83081960",
+      "mask_path": "../../mask/hdr_front_04046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04047.png",
+      "transform_matrix": [
+        [
+          0.0013801447348669171,
+          -0.11012797057628632,
+          -0.9939164519309998,
+          60.5757942199707
+        ],
+        [
+          0.999826967716217,
+          -0.018287431448698044,
+          0.0034146371763199568,
+          23.10930633544922
+        ],
+        [
+          -0.018552228808403015,
+          -0.99374920129776,
+          0.11008366197347641,
+          -25.231996536254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4047,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_183080911",
+      "mask_path": "../../mask/hdr_front_04047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04048.png",
+      "transform_matrix": [
+        [
+          -0.0026646030601114035,
+          -0.12566041946411133,
+          -0.9920697808265686,
+          60.665931701660156
+        ],
+        [
+          0.9997552633285522,
+          -0.02212144061923027,
+          0.00011676434223772958,
+          23.1107120513916
+        ],
+        [
+          -0.021960685029625893,
+          -0.9918266534805298,
+          0.1256885975599289,
+          -25.257484436035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4048,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_283082008",
+      "mask_path": "../../mask/hdr_front_04048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04049.png",
+      "transform_matrix": [
+        [
+          -0.007160143461078405,
+          -0.1340520679950714,
+          -0.9909484386444092,
+          60.729209899902344
+        ],
+        [
+          0.999738872051239,
+          -0.022463755682110786,
+          -0.0041848402470350266,
+          23.108585357666016
+        ],
+        [
+          -0.021699432283639908,
+          -0.9907196164131165,
+          0.13417790830135345,
+          -25.265474319458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4049,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_383082151",
+      "mask_path": "../../mask/hdr_front_04049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04050.png",
+      "transform_matrix": [
+        [
+          -0.013193657621741295,
+          -0.14040419459342957,
+          -0.9900063276290894,
+          60.79478073120117
+        ],
+        [
+          0.999847948551178,
+          -0.013139314949512482,
+          -0.011461377143859863,
+          23.10247230529785
+        ],
+        [
+          -0.011398776434361935,
+          -0.9900071024894714,
+          0.1405562162399292,
+          -25.281940460205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4050,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_483082056",
+      "mask_path": "../../mask/hdr_front_04050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04051.png",
+      "transform_matrix": [
+        [
+          -0.01929839700460434,
+          -0.15219788253307343,
+          -0.9881616830825806,
+          60.89749526977539
+        ],
+        [
+          0.999812126159668,
+          -0.004716638941317797,
+          -0.01879946142435074,
+          23.10049819946289
+        ],
+        [
+          -0.0017995628295466304,
+          -0.988338828086853,
+          0.15226031839847565,
+          -25.304811477661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4051,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_583082675",
+      "mask_path": "../../mask/hdr_front_04051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04052.png",
+      "transform_matrix": [
+        [
+          -0.025741124525666237,
+          -0.15888935327529907,
+          -0.986960768699646,
+          60.973594665527344
+        ],
+        [
+          0.9996681809425354,
+          -0.003023940371349454,
+          -0.025585725903511047,
+          23.10110855102539
+        ],
+        [
+          0.0010807908838614821,
+          -0.9872917532920837,
+          0.1589144617319107,
+          -25.321353912353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4052,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_683079957",
+      "mask_path": "../../mask/hdr_front_04052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04053.png",
+      "transform_matrix": [
+        [
+          -0.032334718853235245,
+          -0.1550559550523758,
+          -0.9873764514923096,
+          61.039031982421875
+        ],
+        [
+          0.999472975730896,
+          -0.002168038859963417,
+          -0.03239038959145546,
+          23.09117889404297
+        ],
+        [
+          0.002881651045754552,
+          -0.987903356552124,
+          0.1550443172454834,
+          -25.317773818969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4053,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_783080577",
+      "mask_path": "../../mask/hdr_front_04053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04054.png",
+      "transform_matrix": [
+        [
+          -0.04772723466157913,
+          -0.15001943707466125,
+          -0.9875304102897644,
+          61.13740539550781
+        ],
+        [
+          0.9988575577735901,
+          -0.004798735957592726,
+          -0.04754568636417389,
+          23.10206413269043
+        ],
+        [
+          0.0023938787635415792,
+          -0.9886714220046997,
+          0.15007707476615906,
+          -25.338394165039062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4054,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_883078575",
+      "mask_path": "../../mask/hdr_front_04054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04055.png",
+      "transform_matrix": [
+        [
+          -0.06921882927417755,
+          -0.1533072590827942,
+          -0.9857513308525085,
+          61.24165344238281
+        ],
+        [
+          0.9976007342338562,
+          -0.011837098747491837,
+          -0.06820995360612869,
+          23.115291595458984
+        ],
+        [
+          -0.0012113552074879408,
+          -0.9881076812744141,
+          0.15375879406929016,
+          -25.35320472717285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4055,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_983080625",
+      "mask_path": "../../mask/hdr_front_04055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04056.png",
+      "transform_matrix": [
+        [
+          -0.08738034218549728,
+          -0.1540856659412384,
+          -0.9841861128807068,
+          61.311405181884766
+        ],
+        [
+          0.9961735606193542,
+          -0.015218010172247887,
+          -0.08606208115816116,
+          23.129629135131836
+        ],
+        [
+          -0.0017164190066978335,
+          -0.9879403114318848,
+          0.15482579171657562,
+          -25.359338760375977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4056,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_83081007",
+      "mask_path": "../../mask/hdr_front_04056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04057.png",
+      "transform_matrix": [
+        [
+          -0.09991446137428284,
+          -0.14710018038749695,
+          -0.9840622544288635,
+          61.38009262084961
+        ],
+        [
+          0.9949938058853149,
+          -0.012692521326243877,
+          -0.09912705421447754,
+          23.16278839111328
+        ],
+        [
+          0.0020913765765726566,
+          -0.989040195941925,
+          0.1476319283246994,
+          -25.382272720336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4057,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_183081388",
+      "mask_path": "../../mask/hdr_front_04057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04058.png",
+      "transform_matrix": [
+        [
+          -0.10708222538232803,
+          -0.14074929058551788,
+          -0.9842373728752136,
+          61.475379943847656
+        ],
+        [
+          0.9942452311515808,
+          -0.012044364586472511,
+          -0.10644868016242981,
+          23.18532371520996
+        ],
+        [
+          0.0031280636321753263,
+          -0.9899721145629883,
+          0.141229048371315,
+          -25.394262313842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4058,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_283082246",
+      "mask_path": "../../mask/hdr_front_04058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04059.png",
+      "transform_matrix": [
+        [
+          -0.10419773310422897,
+          -0.1325700730085373,
+          -0.9856815934181213,
+          61.57621765136719
+        ],
+        [
+          0.9945283532142639,
+          -0.006427288521081209,
+          -0.10426852107048035,
+          23.199586868286133
+        ],
+        [
+          0.007487625814974308,
+          -0.991152822971344,
+          0.13251441717147827,
+          -25.399423599243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4059,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_383081197",
+      "mask_path": "../../mask/hdr_front_04059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04060.png",
+      "transform_matrix": [
+        [
+          -0.09365752339363098,
+          -0.11849283427000046,
+          -0.9885281324386597,
+          61.656494140625
+        ],
+        [
+          0.9955627918243408,
+          -0.002064747968688607,
+          -0.09407653659582138,
+          23.21833038330078
+        ],
+        [
+          0.009106334298849106,
+          -0.9929527640342712,
+          0.1181604415178299,
+          -25.41131019592285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4060,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_483081579",
+      "mask_path": "../../mask/hdr_front_04060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04061.png",
+      "transform_matrix": [
+        [
+          -0.08531477302312851,
+          -0.10726211965084076,
+          -0.9905636310577393,
+          61.7519645690918
+        ],
+        [
+          0.9963513612747192,
+          -0.00688306987285614,
+          -0.08506793528795242,
+          23.235713958740234
+        ],
+        [
+          0.0023064478300511837,
+          -0.994206964969635,
+          0.10745798796415329,
+          -25.40984344482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4061,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_583082437",
+      "mask_path": "../../mask/hdr_front_04061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04062.png",
+      "transform_matrix": [
+        [
+          -0.08571524918079376,
+          -0.10189853608608246,
+          -0.9910951852798462,
+          61.833736419677734
+        ],
+        [
+          0.9963065981864929,
+          -0.013859229162335396,
+          -0.0847410336136818,
+          23.256567001342773
+        ],
+        [
+          -0.005100826732814312,
+          -0.9946982264518738,
+          0.10271012783050537,
+          -25.41245460510254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4062,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_683080673",
+      "mask_path": "../../mask/hdr_front_04062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04063.png",
+      "transform_matrix": [
+        [
+          -0.09008611738681793,
+          -0.0961003452539444,
+          -0.9912866950035095,
+          61.91593551635742
+        ],
+        [
+          0.9958838224411011,
+          -0.018690019845962524,
+          -0.08869199454784393,
+          23.28125762939453
+        ],
+        [
+          -0.010003834962844849,
+          -0.9951962232589722,
+          0.09738848358392715,
+          -25.430173873901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4063,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_783082008",
+      "mask_path": "../../mask/hdr_front_04063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04064.png",
+      "transform_matrix": [
+        [
+          -0.0906246155500412,
+          -0.09594262391328812,
+          -0.9912528395652771,
+          62.0118522644043
+        ],
+        [
+          0.9958644509315491,
+          -0.015151627361774445,
+          -0.08957970142364502,
+          23.297863006591797
+        ],
+        [
+          -0.006424579303711653,
+          -0.9952715635299683,
+          0.09691894054412842,
+          -25.448387145996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4064,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_883080720",
+      "mask_path": "../../mask/hdr_front_04064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04065.png",
+      "transform_matrix": [
+        [
+          -0.08636616915464401,
+          -0.09916888922452927,
+          -0.9913155436515808,
+          62.1098518371582
+        ],
+        [
+          0.9962536096572876,
+          -0.01301916316151619,
+          -0.08549398928880692,
+          23.305749893188477
+        ],
+        [
+          -0.004427752923220396,
+          -0.9949854612350464,
+          0.09992177039384842,
+          -25.450611114501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4065,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_983080863",
+      "mask_path": "../../mask/hdr_front_04065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04066.png",
+      "transform_matrix": [
+        [
+          -0.08014128357172012,
+          -0.09812206774950027,
+          -0.9919422268867493,
+          62.187191009521484
+        ],
+        [
+          0.9967729449272156,
+          -0.012485254555940628,
+          -0.0792965367436409,
+          23.3142032623291
+        ],
+        [
+          -0.004603911191225052,
+          -0.9950961470603943,
+          0.0988059937953949,
+          -25.448503494262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4066,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_83081007",
+      "mask_path": "../../mask/hdr_front_04066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04067.png",
+      "transform_matrix": [
+        [
+          -0.06985919177532196,
+          -0.09073308110237122,
+          -0.9934220314025879,
+          62.27000045776367
+        ],
+        [
+          0.9975261092185974,
+          -0.014181522652506828,
+          -0.06885254383087158,
+          23.3239688873291
+        ],
+        [
+          -0.007841031067073345,
+          -0.9957742691040039,
+          0.09149931371212006,
+          -25.46411895751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4067,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_183078527",
+      "mask_path": "../../mask/hdr_front_04067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04068.png",
+      "transform_matrix": [
+        [
+          -0.06491072475910187,
+          -0.09034434705972672,
+          -0.9937930703163147,
+          62.3801155090332
+        ],
+        [
+          0.9976762533187866,
+          -0.026535755023360252,
+          -0.06275203078985214,
+          23.328332901000977
+        ],
+        [
+          -0.020701756700873375,
+          -0.9955570697784424,
+          0.09185687452554703,
+          -25.471107482910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4068,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_283077955",
+      "mask_path": "../../mask/hdr_front_04068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04069.png",
+      "transform_matrix": [
+        [
+          -0.06802215427160263,
+          -0.09068545699119568,
+          -0.993553876876831,
+          62.470001220703125
+        ],
+        [
+          0.9972037076950073,
+          -0.03706987574696541,
+          -0.06488853693008423,
+          23.335920333862305
+        ],
+        [
+          -0.030946463346481323,
+          -0.9951894283294678,
+          0.09295345097780228,
+          -25.477142333984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4069,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_383077621",
+      "mask_path": "../../mask/hdr_front_04069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04070.png",
+      "transform_matrix": [
+        [
+          -0.07249617576599121,
+          -0.0846829041838646,
+          -0.993767261505127,
+          62.553497314453125
+        ],
+        [
+          0.9968333840370178,
+          -0.03879404440522194,
+          -0.06941406428813934,
+          23.349302291870117
+        ],
+        [
+          -0.03267406299710274,
+          -0.9956525564193726,
+          0.08722715824842453,
+          -25.48716926574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4070,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_483077526",
+      "mask_path": "../../mask/hdr_front_04070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04071.png",
+      "transform_matrix": [
+        [
+          -0.07360011339187622,
+          -0.08641953021287918,
+          -0.9935364723205566,
+          62.65557098388672
+        ],
+        [
+          0.9968412518501282,
+          -0.03618568927049637,
+          -0.07069743424654007,
+          23.3631649017334
+        ],
+        [
+          -0.029842158779501915,
+          -0.9956014752388,
+          0.08880981802940369,
+          -25.498266220092773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4071,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_583081245",
+      "mask_path": "../../mask/hdr_front_04071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04072.png",
+      "transform_matrix": [
+        [
+          -0.0673486515879631,
+          -0.08833128213882446,
+          -0.9938117861747742,
+          62.76775360107422
+        ],
+        [
+          0.9973521828651428,
+          -0.0333523266017437,
+          -0.06462418287992477,
+          23.37017059326172
+        ],
+        [
+          -0.027437597513198853,
+          -0.9955326318740845,
+          0.09034362435340881,
+          -25.50092124938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4072,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_683081865",
+      "mask_path": "../../mask/hdr_front_04072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04073.png",
+      "transform_matrix": [
+        [
+          -0.05655122920870781,
+          -0.08310997486114502,
+          -0.9949344992637634,
+          62.851436614990234
+        ],
+        [
+          0.9980917572975159,
+          -0.029454423114657402,
+          -0.05427026003599167,
+          23.369287490844727
+        ],
+        [
+          -0.024794822558760643,
+          -0.9961051344871521,
+          0.08461707085371017,
+          -25.498868942260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4073,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_783082008",
+      "mask_path": "../../mask/hdr_front_04073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04074.png",
+      "transform_matrix": [
+        [
+          -0.045668646693229675,
+          -0.07557635754346848,
+          -0.99609375,
+          62.938743591308594
+        ],
+        [
+          0.9985679984092712,
+          -0.03126545250415802,
+          -0.04340989515185356,
+          23.381393432617188
+        ],
+        [
+          -0.027862554416060448,
+          -0.9966498613357544,
+          0.07689598202705383,
+          -25.507369995117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4074,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_883081197",
+      "mask_path": "../../mask/hdr_front_04074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04075.png",
+      "transform_matrix": [
+        [
+          -0.04240895435214043,
+          -0.07630140334367752,
+          -0.9961825013160706,
+          63.07252502441406
+        ],
+        [
+          0.9984940886497498,
+          -0.037967268377542496,
+          -0.039599306881427765,
+          23.392475128173828
+        ],
+        [
+          -0.03480084612965584,
+          -0.9963616728782654,
+          0.07779666036367416,
+          -25.51972770690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4075,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_983080863",
+      "mask_path": "../../mask/hdr_front_04075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04076.png",
+      "transform_matrix": [
+        [
+          -0.04668528214097023,
+          -0.07666636258363724,
+          -0.9959632754325867,
+          63.1648063659668
+        ],
+        [
+          0.998184084892273,
+          -0.04157601296901703,
+          -0.04358898103237152,
+          23.402603149414062
+        ],
+        [
+          -0.03806636855006218,
+          -0.9961896538734436,
+          0.07846812903881073,
+          -25.534521102905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4076,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_83082437",
+      "mask_path": "../../mask/hdr_front_04076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04077.png",
+      "transform_matrix": [
+        [
+          -0.0514388382434845,
+          -0.07345329970121384,
+          -0.9959712028503418,
+          63.24448776245117
+        ],
+        [
+          0.9980711340904236,
+          -0.038489289581775665,
+          -0.048708684742450714,
+          23.418163299560547
+        ],
+        [
+          -0.034756410866975784,
+          -0.9965556859970093,
+          0.0752914696931839,
+          -25.54723358154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4077,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_183081388",
+      "mask_path": "../../mask/hdr_front_04077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04078.png",
+      "transform_matrix": [
+        [
+          -0.05133793503046036,
+          -0.08516919612884521,
+          -0.9950430393218994,
+          63.361839294433594
+        ],
+        [
+          0.9981209635734558,
+          -0.03774791955947876,
+          -0.048265762627124786,
+          23.430850982666016
+        ],
+        [
+          -0.03345004841685295,
+          -0.9956512451171875,
+          0.08694706857204437,
+          -25.566434860229492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4078,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_283081054",
+      "mask_path": "../../mask/hdr_front_04078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04079.png",
+      "transform_matrix": [
+        [
+          -0.04727206006646156,
+          -0.10039953142404556,
+          -0.9938236474990845,
+          63.45001983642578
+        ],
+        [
+          0.9983586668968201,
+          -0.03695384040474892,
+          -0.04375457018613815,
+          23.433990478515625
+        ],
+        [
+          -0.0323326550424099,
+          -0.9942607283592224,
+          0.10198162496089935,
+          -25.5841064453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4079,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_383082151",
+      "mask_path": "../../mask/hdr_front_04079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04080.png",
+      "transform_matrix": [
+        [
+          -0.039444852620363235,
+          -0.10438811033964157,
+          -0.9937541484832764,
+          63.50508499145508
+        ],
+        [
+          0.9989134073257446,
+          -0.02882452867925167,
+          -0.03662179037928581,
+          23.43378257751465
+        ],
+        [
+          -0.024821611121296883,
+          -0.9941188097000122,
+          0.10541165620088577,
+          -25.58502769470215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4080,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_483082532",
+      "mask_path": "../../mask/hdr_front_04080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04081.png",
+      "transform_matrix": [
+        [
+          -0.03257869929075241,
+          -0.11470327526330948,
+          -0.9928655028343201,
+          63.62602233886719
+        ],
+        [
+          0.9991088509559631,
+          -0.030409598723053932,
+          -0.029270414263010025,
+          23.44318389892578
+        ],
+        [
+          -0.026835225522518158,
+          -0.9929343461990356,
+          0.11559175699949265,
+          -25.600238800048828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4081,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_583082437",
+      "mask_path": "../../mask/hdr_front_04081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04082.png",
+      "transform_matrix": [
+        [
+          -0.03210620582103729,
+          -0.13272522389888763,
+          -0.9906327724456787,
+          63.760066986083984
+        ],
+        [
+          0.9988463521003723,
+          -0.039669785648584366,
+          -0.027057446539402008,
+          23.45232391357422
+        ],
+        [
+          -0.035706982016563416,
+          -0.9903587102890015,
+          0.1338457465171814,
+          -25.636823654174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4082,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_683083295",
+      "mask_path": "../../mask/hdr_front_04082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04083.png",
+      "transform_matrix": [
+        [
+          -0.033203527331352234,
+          -0.14081233739852905,
+          -0.9894794225692749,
+          63.824501037597656
+        ],
+        [
+          0.9986951351165771,
+          -0.04311036691069603,
+          -0.027377761900424957,
+          23.46099090576172
+        ],
+        [
+          -0.03880169242620468,
+          -0.9890972971916199,
+          0.14206001162528992,
+          -25.656023025512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4083,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_783082962",
+      "mask_path": "../../mask/hdr_front_04083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04084.png",
+      "transform_matrix": [
+        [
+          -0.0338287390768528,
+          -0.14810305833816528,
+          -0.9883931279182434,
+          63.91712951660156
+        ],
+        [
+          0.9988029599189758,
+          -0.039969202131032944,
+          -0.028195951133966446,
+          23.46259117126465
+        ],
+        [
+          -0.03532937541604042,
+          -0.988163948059082,
+          0.14927789568901062,
+          -25.684438705444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4084,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_883083105",
+      "mask_path": "../../mask/hdr_front_04084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04085.png",
+      "transform_matrix": [
+        [
+          -0.02394849993288517,
+          -0.18083609640598297,
+          -0.9832216501235962,
+          64.01981353759766
+        ],
+        [
+          0.9993973970413208,
+          -0.029050074517726898,
+          -0.018999548628926277,
+          23.466737747192383
+        ],
+        [
+          -0.025126853957772255,
+          -0.9830841422080994,
+          0.18142281472682953,
+          -25.723655700683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4085,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_983081817",
+      "mask_path": "../../mask/hdr_front_04085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04086.png",
+      "transform_matrix": [
+        [
+          -0.00951127428561449,
+          -0.20215263962745667,
+          -0.9793078899383545,
+          64.08501434326172
+        ],
+        [
+          0.9996678233146667,
+          -0.025383034721016884,
+          -0.0044693490490317345,
+          23.462486267089844
+        ],
+        [
+          -0.02395431511104107,
+          -0.9790250658988953,
+          0.20232689380645752,
+          -25.731473922729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4086,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_83082675",
+      "mask_path": "../../mask/hdr_front_04086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04087.png",
+      "transform_matrix": [
+        [
+          0.0019877932500094175,
+          -0.20033587515354156,
+          -0.9797252416610718,
+          64.1490707397461
+        ],
+        [
+          0.9996303915977478,
+          -0.026162324473261833,
+          0.00737789599224925,
+          23.45634651184082
+        ],
+        [
+          -0.02710994891822338,
+          -0.9793779850006104,
+          0.200209841132164,
+          -25.74973487854004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4087,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_183081150",
+      "mask_path": "../../mask/hdr_front_04087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04088.png",
+      "transform_matrix": [
+        [
+          0.01122734323143959,
+          -0.19783563911914825,
+          -0.9801710247993469,
+          64.25135040283203
+        ],
+        [
+          0.9996864795684814,
+          -0.019719969481229782,
+          0.015431120991706848,
+          23.453041076660156
+        ],
+        [
+          -0.022381765767931938,
+          -0.9800368547439575,
+          0.19755218923091888,
+          -25.784826278686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4088,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_283081769",
+      "mask_path": "../../mask/hdr_front_04088.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04089.png",
+      "transform_matrix": [
+        [
+          0.011324441060423851,
+          -0.1947808861732483,
+          -0.9807814955711365,
+          64.37586212158203
+        ],
+        [
+          0.999678373336792,
+          -0.020050745457410812,
+          0.015524663962423801,
+          23.451391220092773
+        ],
+        [
+          -0.022689303383231163,
+          -0.9806418418884277,
+          0.1944911777973175,
+          -25.790977478027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4089,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_383081197",
+      "mask_path": "../../mask/hdr_front_04089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04090.png",
+      "transform_matrix": [
+        [
+          0.008997542783617973,
+          -0.19664327800273895,
+          -0.9804339408874512,
+          64.4461898803711
+        ],
+        [
+          0.9996130466461182,
+          -0.024035511538386345,
+          0.013994298875331879,
+          23.446487426757812
+        ],
+        [
+          -0.026317112147808075,
+          -0.980180561542511,
+          0.19635093212127686,
+          -25.803892135620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4090,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_483083248",
+      "mask_path": "../../mask/hdr_front_04090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04091.png",
+      "transform_matrix": [
+        [
+          0.005915167275816202,
+          -0.19694405794143677,
+          -0.9803969264030457,
+          64.5001220703125
+        ],
+        [
+          0.9995871186256409,
+          -0.026400607079267502,
+          0.011334354989230633,
+          23.438739776611328
+        ],
+        [
+          -0.028115306049585342,
+          -0.9800592064857483,
+          0.1967065930366516,
+          -25.823116302490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4091,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_583081722",
+      "mask_path": "../../mask/hdr_front_04091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04092.png",
+      "transform_matrix": [
+        [
+          0.012224224396049976,
+          -0.21944423019886017,
+          -0.975548505783081,
+          64.59358978271484
+        ],
+        [
+          0.9998771548271179,
+          -0.006889390759170055,
+          0.014078808017075062,
+          23.436243057250977
+        ],
+        [
+          -0.00981044489890337,
+          -0.9756008386611938,
+          0.21933305263519287,
+          -25.87145233154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4092,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_683082342",
+      "mask_path": "../../mask/hdr_front_04092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04093.png",
+      "transform_matrix": [
+        [
+          0.023403920233249664,
+          -0.24190588295459747,
+          -0.9700173735618591,
+          64.6857681274414
+        ],
+        [
+          0.9996720552444458,
+          0.01575295813381672,
+          0.0201908890157938,
+          23.44358253479004
+        ],
+        [
+          0.010396349243819714,
+          -0.9701718688011169,
+          0.2421952337026596,
+          -25.903453826904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4093,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_783082008",
+      "mask_path": "../../mask/hdr_front_04093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04094.png",
+      "transform_matrix": [
+        [
+          0.028366606682538986,
+          -0.23624268174171448,
+          -0.9712799787521362,
+          64.75383758544922
+        ],
+        [
+          0.999570369720459,
+          0.01386999897658825,
+          0.025819268077611923,
+          23.441553115844727
+        ],
+        [
+          0.007372040767222643,
+          -0.9715951085090637,
+          0.23653462529182434,
+          -25.909564971923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4094,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_883081197",
+      "mask_path": "../../mask/hdr_front_04094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04095.png",
+      "transform_matrix": [
+        [
+          0.028047747910022736,
+          -0.22774638235569,
+          -0.973316490650177,
+          64.86786651611328
+        ],
+        [
+          0.9996001720428467,
+          0.0028882960323244333,
+          0.028129320591688156,
+          23.436630249023438
+        ],
+        [
+          -0.003595123067498207,
+          -0.9737161993980408,
+          0.22773630917072296,
+          -25.935935974121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4095,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_983081817",
+      "mask_path": "../../mask/hdr_front_04095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04096.png",
+      "transform_matrix": [
+        [
+          0.026633810251951218,
+          -0.2234262377023697,
+          -0.9743568897247314,
+          64.97332763671875
+        ],
+        [
+          0.9996233582496643,
+          -0.00051003327826038,
+          0.027441417798399925,
+          23.436504364013672
+        ],
+        [
+          -0.006628087256103754,
+          -0.9747207760810852,
+          0.22332847118377686,
+          -25.956905364990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4096,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_83084344",
+      "mask_path": "../../mask/hdr_front_04096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04097.png",
+      "transform_matrix": [
+        [
+          0.02577071823179722,
+          -0.21453440189361572,
+          -0.9763764142990112,
+          65.04605865478516
+        ],
+        [
+          0.9996676445007324,
+          0.006279877386987209,
+          0.025005625560879707,
+          23.438732147216797
+        ],
+        [
+          0.0007669562473893166,
+          -0.976696252822876,
+          0.21462492644786835,
+          -25.95616340637207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4097,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_183080434",
+      "mask_path": "../../mask/hdr_front_04097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04098.png",
+      "transform_matrix": [
+        [
+          0.025719203054904938,
+          -0.2005457729101181,
+          -0.9793466329574585,
+          65.15989685058594
+        ],
+        [
+          0.9996682405471802,
+          0.0064873769879341125,
+          0.02492443285882473,
+          23.446292877197266
+        ],
+        [
+          0.001354902284219861,
+          -0.9796628355979919,
+          0.20064610242843628,
+          -25.98603630065918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4098,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_283081054",
+      "mask_path": "../../mask/hdr_front_04098.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06279.png",
+      "transform_matrix": [
+        [
+          -0.03874966874718666,
+          -0.06722236424684525,
+          0.9969853162765503,
+          64.67849731445312
+        ],
+        [
+          -0.9992361664772034,
+          -0.002431433415040374,
+          -0.039001092314720154,
+          23.308244705200195
+        ],
+        [
+          0.005045849364250898,
+          -0.9977350831031799,
+          -0.06707680225372314,
+          -25.96668243408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6279,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_383082151",
+      "mask_path": "../../mask/hdr_front_06279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06280.png",
+      "transform_matrix": [
+        [
+          -0.047658003866672516,
+          -0.07779891788959503,
+          0.9958293437957764,
+          64.6054916381836
+        ],
+        [
+          -0.9986724853515625,
+          -0.01579562947154045,
+          -0.04902810603380203,
+          23.31898307800293
+        ],
+        [
+          0.0195440836250782,
+          -0.9968439340591431,
+          -0.07694285362958908,
+          -25.967456817626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6280,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_483081579",
+      "mask_path": "../../mask/hdr_front_06280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06281.png",
+      "transform_matrix": [
+        [
+          -0.050127457827329636,
+          -0.10671048611402512,
+          0.9930257201194763,
+          64.47359466552734
+        ],
+        [
+          -0.9982327818870544,
+          -0.026418568566441536,
+          -0.05322923883795738,
+          23.306543350219727
+        ],
+        [
+          0.03191443160176277,
+          -0.9939391613006592,
+          -0.10519760847091675,
+          -25.901412963867188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6281,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_583081722",
+      "mask_path": "../../mask/hdr_front_06281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06282.png",
+      "transform_matrix": [
+        [
+          -0.044943131506443024,
+          -0.12596403062343597,
+          0.9910162091255188,
+          64.35919189453125
+        ],
+        [
+          -0.9986632466316223,
+          -0.019685892388224602,
+          -0.04779212176799774,
+          23.301639556884766
+        ],
+        [
+          0.025529127568006516,
+          -0.9918394088745117,
+          -0.12491091340780258,
+          -25.853261947631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6282,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_683082103",
+      "mask_path": "../../mask/hdr_front_06282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06283.png",
+      "transform_matrix": [
+        [
+          -0.04318894445896149,
+          -0.13162276148796082,
+          0.9903586506843567,
+          64.28843688964844
+        ],
+        [
+          -0.9989676475524902,
+          -0.00828496366739273,
+          -0.04466548562049866,
+          23.31892967224121
+        ],
+        [
+          0.014084081165492535,
+          -0.9912652969360352,
+          -0.13112905621528625,
+          -25.86103630065918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6283,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_783081054",
+      "mask_path": "../../mask/hdr_front_06283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06284.png",
+      "transform_matrix": [
+        [
+          -0.05076295882463455,
+          -0.13924935460090637,
+          0.9889553785324097,
+          64.20124816894531
+        ],
+        [
+          -0.9986746907234192,
+          -0.0013405453646555543,
+          -0.05145060643553734,
+          23.343887329101562
+        ],
+        [
+          0.008490203879773617,
+          -0.9902564883232117,
+          -0.13899673521518707,
+          -25.836267471313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6284,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_883081674",
+      "mask_path": "../../mask/hdr_front_06284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06285.png",
+      "transform_matrix": [
+        [
+          -0.060956649482250214,
+          -0.14492005109786987,
+          0.987563967704773,
+          64.10342407226562
+        ],
+        [
+          -0.9980584979057312,
+          -0.0038261006120592356,
+          -0.062165893614292145,
+          23.361328125
+        ],
+        [
+          0.01278760191053152,
+          -0.9894359707832336,
+          -0.14440548419952393,
+          -25.803234100341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6285,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_983082056",
+      "mask_path": "../../mask/hdr_front_06285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06286.png",
+      "transform_matrix": [
+        [
+          -0.0705745592713356,
+          -0.15112222731113434,
+          0.9859925508499146,
+          64.03861236572266
+        ],
+        [
+          -0.9973588585853577,
+          -0.00631302036345005,
+          -0.072355717420578,
+          23.370193481445312
+        ],
+        [
+          0.017159145325422287,
+          -0.9884949326515198,
+          -0.1502775251865387,
+          -25.79769515991211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6286,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_83081722",
+      "mask_path": "../../mask/hdr_front_06286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06287.png",
+      "transform_matrix": [
+        [
+          -0.07660459727048874,
+          -0.1537841111421585,
+          0.9851306080818176,
+          63.952239990234375
+        ],
+        [
+          -0.9969304800033569,
+          -0.004206493496894836,
+          -0.07817883044481277,
+          23.372220993041992
+        ],
+        [
+          0.016166606917977333,
+          -0.9880955815315247,
+          -0.15298983454704285,
+          -25.780702590942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6287,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_183081388",
+      "mask_path": "../../mask/hdr_front_06287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06288.png",
+      "transform_matrix": [
+        [
+          -0.07753267884254456,
+          -0.15171243250370026,
+          0.9853792190551758,
+          63.85218811035156
+        ],
+        [
+          -0.9969676733016968,
+          0.005213853437453508,
+          -0.07764175534248352,
+          23.375368118286133
+        ],
+        [
+          0.0066415974870324135,
+          -0.9884109497070312,
+          -0.1516566276550293,
+          -25.762126922607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6288,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_283078432",
+      "mask_path": "../../mask/hdr_front_06288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06289.png",
+      "transform_matrix": [
+        [
+          -0.07480072230100632,
+          -0.1520456224679947,
+          0.9855389595031738,
+          63.773555755615234
+        ],
+        [
+          -0.9971978068351746,
+          0.012598058208823204,
+          -0.07374200969934464,
+          23.389434814453125
+        ],
+        [
+          -0.0012037252308800817,
+          -0.9882932305335999,
+          -0.15256190299987793,
+          -25.770694732666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6289,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_383082151",
+      "mask_path": "../../mask/hdr_front_06289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06290.png",
+      "transform_matrix": [
+        [
+          -0.0612451545894146,
+          -0.16164207458496094,
+          0.9849472045898438,
+          63.705013275146484
+        ],
+        [
+          -0.9980674982070923,
+          0.02030479907989502,
+          -0.058728720992803574,
+          23.39927864074707
+        ],
+        [
+          -0.010506118647754192,
+          -0.9866405725479126,
+          -0.16257329285144806,
+          -25.754642486572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6290,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_483082294",
+      "mask_path": "../../mask/hdr_front_06290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06291.png",
+      "transform_matrix": [
+        [
+          -0.04186033830046654,
+          -0.17450277507305145,
+          0.983766496181488,
+          63.618160247802734
+        ],
+        [
+          -0.9990467429161072,
+          0.019510045647621155,
+          -0.039049796760082245,
+          23.403671264648438
+        ],
+        [
+          -0.012379028834402561,
+          -0.9844633936882019,
+          -0.17515315115451813,
+          -25.712600708007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6291,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_583081245",
+      "mask_path": "../../mask/hdr_front_06291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06292.png",
+      "transform_matrix": [
+        [
+          -0.01793365553021431,
+          -0.1852758526802063,
+          0.9825229644775391,
+          63.53444290161133
+        ],
+        [
+          -0.999805748462677,
+          0.011348173022270203,
+          -0.016109174117445946,
+          23.407588958740234
+        ],
+        [
+          -0.00816519744694233,
+          -0.9826210737228394,
+          -0.18544337153434753,
+          -25.691728591918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6292,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_683081626",
+      "mask_path": "../../mask/hdr_front_06292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06293.png",
+      "transform_matrix": [
+        [
+          0.00815366767346859,
+          -0.19088533520698547,
+          0.9815784692764282,
+          63.45376205444336
+        ],
+        [
+          -0.9999290108680725,
+          0.006972591392695904,
+          0.009662044234573841,
+          23.39519500732422
+        ],
+        [
+          -0.00868848618119955,
+          -0.9815876483917236,
+          -0.19081492722034454,
+          -25.672142028808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6293,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_783082008",
+      "mask_path": "../../mask/hdr_front_06293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06294.png",
+      "transform_matrix": [
+        [
+          0.035876646637916565,
+          -0.17789232730865479,
+          0.9833958148956299,
+          63.38640213012695
+        ],
+        [
+          -0.9991612434387207,
+          0.013054125010967255,
+          0.03881324827671051,
+          23.37578582763672
+        ],
+        [
+          -0.019741948693990707,
+          -0.9839634299278259,
+          -0.17727477848529816,
+          -25.66352081298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6294,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_883082151",
+      "mask_path": "../../mask/hdr_front_06294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06295.png",
+      "transform_matrix": [
+        [
+          0.05805065110325813,
+          -0.1672711968421936,
+          0.9842004776000977,
+          63.32991409301758
+        ],
+        [
+          -0.997846782207489,
+          0.020424364134669304,
+          0.06232680380344391,
+          23.360008239746094
+        ],
+        [
+          -0.03052714094519615,
+          -0.9856994152069092,
+          -0.16572535037994385,
+          -25.651277542114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6295,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_983082294",
+      "mask_path": "../../mask/hdr_front_06295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06296.png",
+      "transform_matrix": [
+        [
+          0.0701739490032196,
+          -0.1669764667749405,
+          0.983460545539856,
+          63.25599670410156
+        ],
+        [
+          -0.9970465302467346,
+          0.019099904224276543,
+          0.07438623905181885,
+          23.34867286682129
+        ],
+        [
+          -0.031204750761389732,
+          -0.985775887966156,
+          -0.1651429831981659,
+          -25.633930206298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6296,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_83082437",
+      "mask_path": "../../mask/hdr_front_06296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06297.png",
+      "transform_matrix": [
+        [
+          0.07238226383924484,
+          -0.17425647377967834,
+          0.9820364713668823,
+          63.175960540771484
+        ],
+        [
+          -0.9969052076339722,
+          0.017640791833400726,
+          0.07660844177007675,
+          23.347740173339844
+        ],
+        [
+          -0.030673418194055557,
+          -0.9845422506332397,
+          -0.1724402755498886,
+          -25.614604949951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6297,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_183082342",
+      "mask_path": "../../mask/hdr_front_06297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06298.png",
+      "transform_matrix": [
+        [
+          0.06594180315732956,
+          -0.18249525129795074,
+          0.9809929728507996,
+          63.07749557495117
+        ],
+        [
+          -0.9974629878997803,
+          0.014369254931807518,
+          0.06972203403711319,
+          23.348350524902344
+        ],
+        [
+          -0.026820072904229164,
+          -0.9831018447875977,
+          -0.18108472228050232,
+          -25.57019805908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6298,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_283081054",
+      "mask_path": "../../mask/hdr_front_06298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06300.png",
+      "transform_matrix": [
+        [
+          0.06467468291521072,
+          -0.19459564983844757,
+          0.9787490367889404,
+          62.95124053955078
+        ],
+        [
+          -0.9978538751602173,
+          -0.0025440785102546215,
+          0.06543129682540894,
+          23.326007843017578
+        ],
+        [
+          -0.010242631658911705,
+          -0.9808802604675293,
+          -0.19434255361557007,
+          -25.531227111816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6300,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_483081579",
+      "mask_path": "../../mask/hdr_front_06300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06301.png",
+      "transform_matrix": [
+        [
+          0.0713801309466362,
+          -0.18390728533267975,
+          0.9803484082221985,
+          62.86970138549805
+        ],
+        [
+          -0.9973999261856079,
+          -0.0034010051749646664,
+          0.07198366522789001,
+          23.310741424560547
+        ],
+        [
+          -0.009904148057103157,
+          -0.982937753200531,
+          -0.18367189168930054,
+          -25.514196395874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6301,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_583082199",
+      "mask_path": "../../mask/hdr_front_06301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06302.png",
+      "transform_matrix": [
+        [
+          0.08645898848772049,
+          -0.17350386083126068,
+          0.9810306429862976,
+          62.80315399169922
+        ],
+        [
+          -0.9960939288139343,
+          0.0026716748252511024,
+          0.08825904130935669,
+          23.29694366455078
+        ],
+        [
+          -0.017934277653694153,
+          -0.9848296046257019,
+          -0.17259515821933746,
+          -25.50688362121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6302,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_683082103",
+      "mask_path": "../../mask/hdr_front_06302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06304.png",
+      "transform_matrix": [
+        [
+          0.11185158789157867,
+          -0.16552869975566864,
+          0.9798415899276733,
+          62.70439147949219
+        ],
+        [
+          -0.9935086369514465,
+          0.0019466968951746821,
+          0.11374059319496155,
+          23.258987426757812
+        ],
+        [
+          -0.02073478326201439,
+          -0.986203134059906,
+          -0.16423644125461578,
+          -25.494422912597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6304,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_883081912",
+      "mask_path": "../../mask/hdr_front_06304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06305.png",
+      "transform_matrix": [
+        [
+          0.11594828218221664,
+          -0.16076751053333282,
+          0.9801580905914307,
+          62.619728088378906
+        ],
+        [
+          -0.9931743741035461,
+          -0.006173449568450451,
+          0.11647548526525497,
+          23.2415714263916
+        ],
+        [
+          -0.012674512341618538,
+          -0.9869730472564697,
+          -0.16038596630096436,
+          -25.47922706604004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6305,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_983082532",
+      "mask_path": "../../mask/hdr_front_06305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06306.png",
+      "transform_matrix": [
+        [
+          0.11709445714950562,
+          -0.15877480804920197,
+          0.9803466200828552,
+          62.547550201416016
+        ],
+        [
+          -0.9931177496910095,
+          -0.016280578449368477,
+          0.11598309874534607,
+          23.226016998291016
+        ],
+        [
+          -0.002454584464430809,
+          -0.9871805906295776,
+          -0.15958845615386963,
+          -25.462841033935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6306,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_83088874",
+      "mask_path": "../../mask/hdr_front_06306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06307.png",
+      "transform_matrix": [
+        [
+          0.12001854181289673,
+          -0.1547544002532959,
+          0.9806358814239502,
+          62.458274841308594
+        ],
+        [
+          -0.992771327495575,
+          -0.019456256181001663,
+          0.1184333935379982,
+          23.201688766479492
+        ],
+        [
+          0.0007514169556088746,
+          -0.9877614378929138,
+          -0.15597084164619446,
+          -25.455087661743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6307,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_183081865",
+      "mask_path": "../../mask/hdr_front_06307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06308.png",
+      "transform_matrix": [
+        [
+          0.12042584270238876,
+          -0.14871062338352203,
+          0.9815206527709961,
+          62.37094497680664
+        ],
+        [
+          -0.9927013516426086,
+          -0.011620335280895233,
+          0.12003704905509949,
+          23.178955078125
+        ],
+        [
+          -0.006445187143981457,
+          -0.9888125658035278,
+          -0.1490246206521988,
+          -25.449848175048828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6308,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_283081769",
+      "mask_path": "../../mask/hdr_front_06308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06309.png",
+      "transform_matrix": [
+        [
+          0.11750966310501099,
+          -0.14383067190647125,
+          0.9826008081436157,
+          62.29405975341797
+        ],
+        [
+          -0.9930199980735779,
+          -0.006922867149114609,
+          0.11774235963821411,
+          23.16971778869629
+        ],
+        [
+          -0.010132546536624432,
+          -0.9895781874656677,
+          -0.14364023506641388,
+          -25.446836471557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6309,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_383082389",
+      "mask_path": "../../mask/hdr_front_06309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06310.png",
+      "transform_matrix": [
+        [
+          0.11184713244438171,
+          -0.12750235199928284,
+          0.9855117201805115,
+          62.20406723022461
+        ],
+        [
+          -0.9937247633934021,
+          -0.015449955128133297,
+          0.11078037321567535,
+          23.16078758239746
+        ],
+        [
+          0.0011013535549864173,
+          -0.9917179942131042,
+          -0.1284303069114685,
+          -25.441131591796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6310,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_483082294",
+      "mask_path": "../../mask/hdr_front_06310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06311.png",
+      "transform_matrix": [
+        [
+          0.10179319232702255,
+          -0.11506923288106918,
+          0.9881281852722168,
+          62.12248611450195
+        ],
+        [
+          -0.9947693943977356,
+          -0.02023879438638687,
+          0.10012050718069077,
+          23.155853271484375
+        ],
+        [
+          0.008477733470499516,
+          -0.9931513071060181,
+          -0.11652752012014389,
+          -25.429994583129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6311,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_583081722",
+      "mask_path": "../../mask/hdr_front_06311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06312.png",
+      "transform_matrix": [
+        [
+          0.09213326126337051,
+          -0.11102242767810822,
+          0.9895380139350891,
+          62.06005859375
+        ],
+        [
+          -0.9956592321395874,
+          -0.023440320044755936,
+          0.09007328003644943,
+          23.15829849243164
+        ],
+        [
+          0.013194932602345943,
+          -0.9935415387153625,
+          -0.11270013451576233,
+          -25.424983978271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6312,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_683081388",
+      "mask_path": "../../mask/hdr_front_06312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06313.png",
+      "transform_matrix": [
+        [
+          0.08547904342412949,
+          -0.09865185618400574,
+          0.9914439916610718,
+          61.963008880615234
+        ],
+        [
+          -0.9962548017501831,
+          -0.021479813382029533,
+          0.08375651389360428,
+          23.142986297607422
+        ],
+        [
+          0.01303329598158598,
+          -0.9948901534080505,
+          -0.10011845082044601,
+          -25.416221618652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6313,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_783081531",
+      "mask_path": "../../mask/hdr_front_06313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06314.png",
+      "transform_matrix": [
+        [
+          0.08500290662050247,
+          -0.08434773236513138,
+          0.9928041100502014,
+          61.85677719116211
+        ],
+        [
+          -0.9963664412498474,
+          -0.012553462758660316,
+          0.08424137532711029,
+          23.127941131591797
+        ],
+        [
+          0.005357560236006975,
+          -0.996357262134552,
+          -0.08510832488536835,
+          -25.418243408203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6314,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_883081197",
+      "mask_path": "../../mask/hdr_front_06314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06315.png",
+      "transform_matrix": [
+        [
+          0.08768807351589203,
+          -0.07679365575313568,
+          0.9931835532188416,
+          61.7801628112793
+        ],
+        [
+          -0.9961420297622681,
+          -0.0033112820237874985,
+          0.08769325911998749,
+          23.117351531982422
+        ],
+        [
+          -0.0034455733839422464,
+          -0.9970415234565735,
+          -0.07678773999214172,
+          -25.42251968383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6315,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_983080863",
+      "mask_path": "../../mask/hdr_front_06315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06316.png",
+      "transform_matrix": [
+        [
+          0.08777395635843277,
+          -0.0728134885430336,
+          0.9934757947921753,
+          61.710670471191406
+        ],
+        [
+          -0.9960972666740417,
+          0.002863180125132203,
+          0.0882154107093811,
+          23.106725692749023
+        ],
+        [
+          -0.009267770685255527,
+          -0.997341513633728,
+          -0.07227800786495209,
+          -25.422075271606445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6316,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_83081960",
+      "mask_path": "../../mask/hdr_front_06316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06317.png",
+      "transform_matrix": [
+        [
+          0.08289280533790588,
+          -0.07105773687362671,
+          0.9940218925476074,
+          61.61651611328125
+        ],
+        [
+          -0.9964830279350281,
+          0.006360859610140324,
+          0.08355274796485901,
+          23.103490829467773
+        ],
+        [
+          -0.012259903363883495,
+          -0.997451901435852,
+          -0.07028055936098099,
+          -25.411813735961914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6317,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_183080911",
+      "mask_path": "../../mask/hdr_front_06317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06318.png",
+      "transform_matrix": [
+        [
+          0.07242066413164139,
+          -0.07358020544052124,
+          0.9946563243865967,
+          61.518455505371094
+        ],
+        [
+          -0.9973229169845581,
+          0.004769871011376381,
+          0.07296767085790634,
+          23.10511589050293
+        ],
+        [
+          -0.010113358497619629,
+          -0.9972779154777527,
+          -0.07303780317306519,
+          -25.395042419433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6318,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_283081054",
+      "mask_path": "../../mask/hdr_front_06318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06319.png",
+      "transform_matrix": [
+        [
+          0.061421845108270645,
+          -0.0764206051826477,
+          0.9951820373535156,
+          61.44842529296875
+        ],
+        [
+          -0.998110294342041,
+          -0.0028585868421941996,
+          0.06138306111097336,
+          23.112173080444336
+        ],
+        [
+          -0.001846115104854107,
+          -0.9970715641975403,
+          -0.07645176351070404,
+          -25.396617889404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6319,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_383080244",
+      "mask_path": "../../mask/hdr_front_06319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06320.png",
+      "transform_matrix": [
+        [
+          0.05500257387757301,
+          -0.07683254778385162,
+          0.9955258369445801,
+          61.35469436645508
+        ],
+        [
+          -0.9984844923019409,
+          -0.002453665714710951,
+          0.054976686835289,
+          23.099308013916016
+        ],
+        [
+          -0.0017813106533139944,
+          -0.9970410466194153,
+          -0.07685108482837677,
+          -25.388023376464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6320,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_483080625",
+      "mask_path": "../../mask/hdr_front_06320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06321.png",
+      "transform_matrix": [
+        [
+          0.0545528344810009,
+          -0.07343512773513794,
+          0.995806872844696,
+          61.25666427612305
+        ],
+        [
+          -0.9984446167945862,
+          0.00747339054942131,
+          0.05524846911430359,
+          23.077163696289062
+        ],
+        [
+          -0.01149923074990511,
+          -0.9972720146179199,
+          -0.07291320711374283,
+          -25.37742042541504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6321,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_583079576",
+      "mask_path": "../../mask/hdr_front_06321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06322.png",
+      "transform_matrix": [
+        [
+          0.056917186826467514,
+          -0.06848251819610596,
+          0.9960274696350098,
+          61.18630599975586
+        ],
+        [
+          -0.9982134103775024,
+          0.014259129762649536,
+          0.05802250653505325,
+          23.06334686279297
+        ],
+        [
+          -0.018176011741161346,
+          -0.9975504279136658,
+          -0.06754858046770096,
+          -25.376785278320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6322,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_683081865",
+      "mask_path": "../../mask/hdr_front_06322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06323.png",
+      "transform_matrix": [
+        [
+          0.057851579040288925,
+          -0.06296858936548233,
+          0.9963374137878418,
+          61.10581970214844
+        ],
+        [
+          -0.9981529116630554,
+          0.014890963211655617,
+          0.05889810621738434,
+          23.048099517822266
+        ],
+        [
+          -0.018545152619481087,
+          -0.9979044198989868,
+          -0.06199081614613533,
+          -25.376667022705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6323,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_783078432",
+      "mask_path": "../../mask/hdr_front_06323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06324.png",
+      "transform_matrix": [
+        [
+          0.05112472549080849,
+          -0.05806761980056763,
+          0.9970027208328247,
+          61.01051712036133
+        ],
+        [
+          -0.9985381960868835,
+          0.014562041498720646,
+          0.0520516000688076,
+          23.051931381225586
+        ],
+        [
+          -0.017540905624628067,
+          -0.9982064366340637,
+          -0.05723825842142105,
+          -25.368284225463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6324,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_883080720",
+      "mask_path": "../../mask/hdr_front_06324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06325.png",
+      "transform_matrix": [
+        [
+          0.04022549092769623,
+          -0.05668892711400986,
+          0.9975811839103699,
+          60.93489074707031
+        ],
+        [
+          -0.9991088509559631,
+          0.010490844026207924,
+          0.04088325798511505,
+          23.061447143554688
+        ],
+        [
+          -0.012783094309270382,
+          -0.9983367919921875,
+          -0.05621640756726265,
+          -25.36453628540039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6325,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_983079910",
+      "mask_path": "../../mask/hdr_front_06325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06326.png",
+      "transform_matrix": [
+        [
+          0.029627272859215736,
+          -0.05856635421514511,
+          0.997843861579895,
+          60.87054443359375
+        ],
+        [
+          -0.9995536804199219,
+          0.0020938306115567684,
+          0.029800934717059135,
+          23.06492805480957
+        ],
+        [
+          -0.003834647824987769,
+          -0.9982813000679016,
+          -0.058478180319070816,
+          -25.363588333129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6326,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_83081245",
+      "mask_path": "../../mask/hdr_front_06326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06327.png",
+      "transform_matrix": [
+        [
+          0.023852193728089333,
+          -0.05523722618818283,
+          0.9981883764266968,
+          60.76801300048828
+        ],
+        [
+          -0.999711275100708,
+          0.0015648587141186,
+          0.023975184187293053,
+          23.047191619873047
+        ],
+        [
+          -0.0028863444458693266,
+          -0.9984720349311829,
+          -0.055183954536914825,
+          -25.345609664916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6327,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_183081150",
+      "mask_path": "../../mask/hdr_front_06327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06328.png",
+      "transform_matrix": [
+        [
+          0.024681048467755318,
+          -0.05148177593946457,
+          0.9983689785003662,
+          60.67009735107422
+        ],
+        [
+          -0.9996081590652466,
+          0.01192605122923851,
+          0.02532665990293026,
+          23.026317596435547
+        ],
+        [
+          -0.013210460543632507,
+          -0.9986027479171753,
+          -0.05116725713014603,
+          -25.33428192138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6328,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_283081293",
+      "mask_path": "../../mask/hdr_front_06328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06329.png",
+      "transform_matrix": [
+        [
+          0.026533806696534157,
+          -0.05155349522829056,
+          0.9983177185058594,
+          60.59469223022461
+        ],
+        [
+          -0.9993825554847717,
+          0.0216433797031641,
+          0.02767978608608246,
+          23.0161075592041
+        ],
+        [
+          -0.023033956065773964,
+          -0.9984356760978699,
+          -0.05094737932085991,
+          -25.3292293548584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6329,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_383080244",
+      "mask_path": "../../mask/hdr_front_06329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06330.png",
+      "transform_matrix": [
+        [
+          0.024857474491000175,
+          -0.05273323506116867,
+          0.998299241065979,
+          60.511077880859375
+        ],
+        [
+          -0.9993970394134521,
+          0.022903436794877052,
+          0.02609463967382908,
+          23.000347137451172
+        ],
+        [
+          -0.024240538477897644,
+          -0.9983459711074829,
+          -0.05213211476802826,
+          -25.31854248046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6330,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_483078956",
+      "mask_path": "../../mask/hdr_front_06330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06331.png",
+      "transform_matrix": [
+        [
+          0.013997236266732216,
+          -0.06783130764961243,
+          0.9975986480712891,
+          60.42121887207031
+        ],
+        [
+          -0.9995231032371521,
+          0.026515956968069077,
+          0.015827180817723274,
+          23.01500129699707
+        ],
+        [
+          -0.02752586081624031,
+          -0.997344434261322,
+          -0.06742780655622482,
+          -25.28632354736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6331,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_583079814",
+      "mask_path": "../../mask/hdr_front_06331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06332.png",
+      "transform_matrix": [
+        [
+          -0.0024427147582173347,
+          -0.087716244161129,
+          0.996142566204071,
+          60.33588790893555
+        ],
+        [
+          -0.9996415972709656,
+          0.02677038498222828,
+          -9.400485578225926e-05,
+          23.035865783691406
+        ],
+        [
+          -0.02665887400507927,
+          -0.9957857728004456,
+          -0.08775018900632858,
+          -25.25745964050293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6332,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_683081865",
+      "mask_path": "../../mask/hdr_front_06332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06334.png",
+      "transform_matrix": [
+        [
+          -0.022306347265839577,
+          -0.10984861105680466,
+          0.993698000907898,
+          60.192237854003906
+        ],
+        [
+          -0.9995808601379395,
+          0.020797131583094597,
+          -0.020139383152127266,
+          23.02579689025879
+        ],
+        [
+          -0.01845378428697586,
+          -0.9937307834625244,
+          -0.11026647686958313,
+          -25.22789192199707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6334,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_883080959",
+      "mask_path": "../../mask/hdr_front_06334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06335.png",
+      "transform_matrix": [
+        [
+          -0.023393182083964348,
+          -0.11269012838602066,
+          0.9933547973632812,
+          60.097633361816406
+        ],
+        [
+          -0.9994102716445923,
+          0.027619915083050728,
+          -0.02040247432887554,
+          23.012174606323242
+        ],
+        [
+          -0.025137215852737427,
+          -0.9932462573051453,
+          -0.11326979100704193,
+          -25.205076217651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6335,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_983081817",
+      "mask_path": "../../mask/hdr_front_06335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06336.png",
+      "transform_matrix": [
+        [
+          -0.024655107408761978,
+          -0.11600521206855774,
+          0.9929425716400146,
+          60.03045654296875
+        ],
+        [
+          -0.9993577599525452,
+          0.02869684249162674,
+          -0.02146175689995289,
+          23.012414932250977
+        ],
+        [
+          -0.026004638522863388,
+          -0.9928340315818787,
+          -0.11663822084665298,
+          -25.202720642089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6336,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_83080768",
+      "mask_path": "../../mask/hdr_front_06336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06337.png",
+      "transform_matrix": [
+        [
+          -0.027090437710285187,
+          -0.11703825742006302,
+          0.9927578568458557,
+          59.95515441894531
+        ],
+        [
+          -0.9993971586227417,
+          0.024741491302847862,
+          -0.024354789406061172,
+          23.007497787475586
+        ],
+        [
+          -0.021711865440011024,
+          -0.9928192496299744,
+          -0.11763795465230942,
+          -25.191768646240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6337,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_183082580",
+      "mask_path": "../../mask/hdr_front_06337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06338.png",
+      "transform_matrix": [
+        [
+          -0.035619694739580154,
+          -0.12130934000015259,
+          0.9919754862785339,
+          59.876220703125
+        ],
+        [
+          -0.9992303252220154,
+          0.02064335346221924,
+          -0.0333557091653347,
+          23.01154136657715
+        ],
+        [
+          -0.01643134094774723,
+          -0.9924001097679138,
+          -0.12195128202438354,
+          -25.17666244506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6338,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_283080816",
+      "mask_path": "../../mask/hdr_front_06338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06339.png",
+      "transform_matrix": [
+        [
+          -0.044842060655355453,
+          -0.12625326216220856,
+          0.9909840226173401,
+          59.80657196044922
+        ],
+        [
+          -0.9989298582077026,
+          0.016912512481212616,
+          -0.04304692894220352,
+          23.012836456298828
+        ],
+        [
+          -0.011325215920805931,
+          -0.9918538928031921,
+          -0.12687654793262482,
+          -25.157373428344727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6339,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_383080482",
+      "mask_path": "../../mask/hdr_front_06339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06340.png",
+      "transform_matrix": [
+        [
+          -0.05068237707018852,
+          -0.13103294372558594,
+          0.9900817275047302,
+          59.716434478759766
+        ],
+        [
+          -0.9987120032310486,
+          0.009017211385071278,
+          -0.049930788576602936,
+          23.021821975708008
+        ],
+        [
+          -0.0023851976729929447,
+          -0.9913370013237,
+          -0.13132120668888092,
+          -25.162500381469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6340,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_483083248",
+      "mask_path": "../../mask/hdr_front_06340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04067.png",
+      "transform_matrix": [
+        [
+          0.9778454899787903,
+          -0.10318765044212341,
+          0.1821277141571045,
+          60.408775329589844
+        ],
+        [
+          -0.1833467334508896,
+          -0.002373819937929511,
+          0.9830453991889954,
+          23.004194259643555
+        ],
+        [
+          -0.10100580006837845,
+          -0.9946591854095459,
+          -0.021240344271063805,
+          -25.196043014526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4067,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_83081960",
+      "mask_path": "../../mask/hdr_left_04067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04068.png",
+      "transform_matrix": [
+        [
+          0.9768250584602356,
+          -0.11145102232694626,
+          0.18273325264453888,
+          60.49698257446289
+        ],
+        [
+          -0.1844376176595688,
+          -0.0050907377153635025,
+          0.9828310608863831,
+          23.006977081298828
+        ],
+        [
+          -0.10860726237297058,
+          -0.9937569499015808,
+          -0.025528520345687866,
+          -25.22251319885254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4068,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_183080911",
+      "mask_path": "../../mask/hdr_left_04068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04069.png",
+      "transform_matrix": [
+        [
+          0.9756832718849182,
+          -0.12703295052051544,
+          0.17861901223659515,
+          60.58766174316406
+        ],
+        [
+          -0.18119557201862335,
+          -0.008929840289056301,
+          0.9834064841270447,
+          23.00812530517578
+        ],
+        [
+          -0.1233299970626831,
+          -0.9918583035469055,
+          -0.03173050284385681,
+          -25.246417999267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4069,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_283082008",
+      "mask_path": "../../mask/hdr_left_04069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04070.png",
+      "transform_matrix": [
+        [
+          0.9753630757331848,
+          -0.13548165559768677,
+          0.17410193383693695,
+          60.651485443115234
+        ],
+        [
+          -0.17696338891983032,
+          -0.009278185665607452,
+          0.9841736555099487,
+          23.005659103393555
+        ],
+        [
+          -0.13172213733196259,
+          -0.9907364249229431,
+          -0.03302488848567009,
+          -25.253761291503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4070,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_383082151",
+      "mask_path": "../../mask/hdr_left_04070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04071.png",
+      "transform_matrix": [
+        [
+          0.9755052328109741,
+          -0.14191153645515442,
+          0.16807891428470612,
+          60.71773910522461
+        ],
+        [
+          -0.16979214549064636,
+          3.6981615266995504e-05,
+          0.9854798316955566,
+          22.998971939086914
+        ],
+        [
+          -0.1398571878671646,
+          -0.9898793697357178,
+          -0.024059386923909187,
+          -25.270780563354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4071,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_483082056",
+      "mask_path": "../../mask/hdr_left_04071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04072.png",
+      "transform_matrix": [
+        [
+          0.9747523069381714,
+          -0.1537822186946869,
+          0.16189168393611908,
+          60.82121276855469
+        ],
+        [
+          -0.16253753006458282,
+          0.008448471315205097,
+          0.9866661429405212,
+          22.996429443359375
+        ],
+        [
+          -0.1530994474887848,
+          -0.988068699836731,
+          -0.0167602077126503,
+          -25.2937068939209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4072,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_583082675",
+      "mask_path": "../../mask/hdr_left_04072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04073.png",
+      "transform_matrix": [
+        [
+          0.9747128486633301,
+          -0.16055646538734436,
+          0.15542371571063995,
+          60.89806365966797
+        ],
+        [
+          -0.15583108365535736,
+          0.0101298987865448,
+          0.9877318739891052,
+          22.99652099609375
+        ],
+        [
+          -0.16016115248203278,
+          -0.9869746565818787,
+          -0.015145941637456417,
+          -25.310020446777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4073,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_683079957",
+      "mask_path": "../../mask/hdr_left_04073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04074.png",
+      "transform_matrix": [
+        [
+          0.976329505443573,
+          -0.1568109542131424,
+          0.14896613359451294,
+          60.96414566040039
+        ],
+        [
+          -0.1491003781557083,
+          0.010973899625241756,
+          0.9887611865997314,
+          22.986074447631836
+        ],
+        [
+          -0.1566833108663559,
+          -0.9875677227973938,
+          -0.012666424736380577,
+          -25.306930541992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4074,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_783080577",
+      "mask_path": "../../mask/hdr_left_04074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04075.png",
+      "transform_matrix": [
+        [
+          0.9792865514755249,
+          -0.15197815001010895,
+          0.13379311561584473,
+          61.06409454345703
+        ],
+        [
+          -0.1340940147638321,
+          0.008314716629683971,
+          0.9909337759017944,
+          22.995820999145508
+        ],
+        [
+          -0.15171273052692413,
+          -0.9883489012718201,
+          -0.012236869893968105,
+          -25.32789421081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4075,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_883078575",
+      "mask_path": "../../mask/hdr_left_04075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04076.png",
+      "transform_matrix": [
+        [
+          0.9814154505729675,
+          -0.15554681420326233,
+          0.11237825453281403,
+          61.170684814453125
+        ],
+        [
+          -0.11357004940509796,
+          0.0012323035625740886,
+          0.993529200553894,
+          23.007535934448242
+        ],
+        [
+          -0.15467877686023712,
+          -0.9878277778625488,
+          -0.016456056386232376,
+          -25.342042922973633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4076,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_983080625",
+      "mask_path": "../../mask/hdr_left_04076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04077.png",
+      "transform_matrix": [
+        [
+          0.983161211013794,
+          -0.15656261146068573,
+          0.09424494951963425,
+          61.2424201965332
+        ],
+        [
+          -0.09576727449893951,
+          -0.00219140388071537,
+          0.9954013824462891,
+          23.020606994628906
+        ],
+        [
+          -0.15563608705997467,
+          -0.9876656532287598,
+          -0.01714806631207466,
+          -25.348041534423828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4077,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_83081007",
+      "mask_path": "../../mask/hdr_left_04077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04078.png",
+      "transform_matrix": [
+        [
+          0.9853346347808838,
+          -0.14974293112754822,
+          0.08180772513151169,
+          61.31241226196289
+        ],
+        [
+          -0.08269528299570084,
+          0.00030054047238081694,
+          0.9965748190879822,
+          23.052858352661133
+        ],
+        [
+          -0.14925462007522583,
+          -0.988724946975708,
+          -0.012086896225810051,
+          -25.371936798095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4078,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_183081388",
+      "mask_path": "../../mask/hdr_left_04078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04079.png",
+      "transform_matrix": [
+        [
+          0.9868281483650208,
+          -0.14348740875720978,
+          0.07470991462469101,
+          61.40842819213867
+        ],
+        [
+          -0.07535675168037415,
+          0.0009288140572607517,
+          0.9971561431884766,
+          23.07489013671875
+        ],
+        [
+          -0.143148735165596,
+          -0.9896518588066101,
+          -0.009896162897348404,
+          -25.384538650512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4079,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_283082246",
+      "mask_path": "../../mask/hdr_left_04079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04080.png",
+      "transform_matrix": [
+        [
+          0.9877567291259766,
+          -0.1352728307247162,
+          0.07770387828350067,
+          61.50886535644531
+        ],
+        [
+          -0.07753121107816696,
+          0.0065520950593054295,
+          0.9969683289527893,
+          23.089303970336914
+        ],
+        [
+          -0.1353718489408493,
+          -0.9907867908477783,
+          -0.004015989135950804,
+          -25.390836715698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4080,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_383081197",
+      "mask_path": "../../mask/hdr_left_04080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04081.png",
+      "transform_matrix": [
+        [
+          0.9887004494667053,
+          -0.12106163054704666,
+          0.08840524405241013,
+          61.587852478027344
+        ],
+        [
+          -0.08772574365139008,
+          0.01094175223261118,
+          0.9960845708847046,
+          23.10875129699707
+        ],
+        [
+          -0.12155493348836899,
+          -0.9925847053527832,
+          0.00019789735961239785,
+          -25.40402603149414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4081,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_483081579",
+      "mask_path": "../../mask/hdr_left_04081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04082.png",
+      "transform_matrix": [
+        [
+          0.9892337322235107,
+          -0.10972460359334946,
+          0.09683501720428467,
+          61.682315826416016
+        ],
+        [
+          -0.09674611687660217,
+          0.006146500818431377,
+          0.9952901005744934,
+          23.126760482788086
+        ],
+        [
+          -0.10980301350355148,
+          -0.9939430356025696,
+          -0.0045351008884608746,
+          -25.402708053588867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4082,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_583082437",
+      "mask_path": "../../mask/hdr_left_04082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04083.png",
+      "transform_matrix": [
+        [
+          0.9898490309715271,
+          -0.10436749458312988,
+          0.09646918624639511,
+          61.76409149169922
+        ],
+        [
+          -0.09708549827337265,
+          -0.0008291908889077604,
+          0.9952756762504578,
+          23.14763641357422
+        ],
+        [
+          -0.10379443317651749,
+          -0.9945384860038757,
+          -0.010953341610729694,
+          -25.404935836791992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4083,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_683080673",
+      "mask_path": "../../mask/hdr_left_04083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04084.png",
+      "transform_matrix": [
+        [
+          0.9908502697944641,
+          -0.09862774610519409,
+          0.09213179349899292,
+          61.84673309326172
+        ],
+        [
+          -0.09314130246639252,
+          -0.005670506507158279,
+          0.9956368207931519,
+          23.17205238342285
+        ],
+        [
+          -0.09767498075962067,
+          -0.9951083064079285,
+          -0.01480493601411581,
+          -25.42257308959961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4084,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_783082008",
+      "mask_path": "../../mask/hdr_left_04084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04085.png",
+      "transform_matrix": [
+        [
+          0.990915060043335,
+          -0.09847709536552429,
+          0.09159412235021591,
+          61.94270706176758
+        ],
+        [
+          -0.09225159138441086,
+          -0.0021338851656764746,
+          0.9957334399223328,
+          23.188594818115234
+        ],
+        [
+          -0.09786146879196167,
+          -0.9951370358467102,
+          -0.011199161410331726,
+          -25.441190719604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4085,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_883080720",
+      "mask_path": "../../mask/hdr_left_04085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04086.png",
+      "transform_matrix": [
+        [
+          0.9901936650276184,
+          -0.10164698213338852,
+          0.09583423286676407,
+          62.040260314941406
+        ],
+        [
+          -0.09633225947618484,
+          9.07837602426298e-06,
+          0.9953491687774658,
+          23.196765899658203
+        ],
+        [
+          -0.10117510706186295,
+          -0.9948205351829529,
+          -0.009782888926565647,
+          -25.443382263183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4086,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_983080863",
+      "mask_path": "../../mask/hdr_left_04086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04087.png",
+      "transform_matrix": [
+        [
+          0.9896870255470276,
+          -0.10051897913217545,
+          0.1020558550953865,
+          62.11691665649414
+        ],
+        [
+          -0.10251930356025696,
+          0.0005582158919423819,
+          0.9947308897972107,
+          23.205656051635742
+        ],
+        [
+          -0.10004629194736481,
+          -0.9949350357055664,
+          -0.009752674028277397,
+          -25.441343307495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4087,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_83081007",
+      "mask_path": "../../mask/hdr_left_04087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04088.png",
+      "transform_matrix": [
+        [
+          0.9893083572387695,
+          -0.0929970070719719,
+          0.11234104633331299,
+          62.19855880737305
+        ],
+        [
+          -0.11293330788612366,
+          -0.0011137713445350528,
+          0.9936019778251648,
+          23.216169357299805
+        ],
+        [
+          -0.09227687865495682,
+          -0.9956657886505127,
+          -0.01160431932657957,
+          -25.45720672607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4088,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_183078527",
+      "mask_path": "../../mask/hdr_left_04088.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04089.png",
+      "transform_matrix": [
+        [
+          0.9887787699699402,
+          -0.09254352748394012,
+          0.11726953089237213,
+          62.308135986328125
+        ],
+        [
+          -0.1190061867237091,
+          -0.013456643559038639,
+          0.9928022623062134,
+          23.220985412597656
+        ],
+        [
+          -0.09029936790466309,
+          -0.9956177473068237,
+          -0.024318896234035492,
+          -25.462846755981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4089,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_283077955",
+      "mask_path": "../../mask/hdr_left_04089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04090.png",
+      "transform_matrix": [
+        [
+          0.9891056418418884,
+          -0.09292533248662949,
+          0.11417082697153091,
+          62.39836120605469
+        ],
+        [
+          -0.11685867607593536,
+          -0.02399897575378418,
+          0.9928584694862366,
+          23.22844123840332
+        ],
+        [
+          -0.08952172100543976,
+          -0.9953838586807251,
+          -0.03459664806723595,
+          -25.467742919921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4090,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_383077621",
+      "mask_path": "../../mask/hdr_left_04090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04091.png",
+      "transform_matrix": [
+        [
+          0.9901477694511414,
+          -0.0869826152920723,
+          0.10973336547613144,
+          62.48230743408203
+        ],
+        [
+          -0.11234734952449799,
+          -0.025734029710292816,
+          0.9933357238769531,
+          23.241500854492188
+        ],
+        [
+          -0.08357904851436615,
+          -0.9958775043487549,
+          -0.035252757370471954,
+          -25.478046417236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4091,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_483077526",
+      "mask_path": "../../mask/hdr_left_04091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04092.png",
+      "transform_matrix": [
+        [
+          0.9901142716407776,
+          -0.08873334527015686,
+          0.10862807929515839,
+          62.584510803222656
+        ],
+        [
+          -0.11107690632343292,
+          -0.023127546533942223,
+          0.9935426712036133,
+          23.255264282226562
+        ],
+        [
+          -0.0856480598449707,
+          -0.9957869648933411,
+          -0.032755132764577866,
+          -25.489309310913086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4092,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_583081245",
+      "mask_path": "../../mask/hdr_left_04092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04093.png",
+      "transform_matrix": [
+        [
+          0.989246129989624,
+          -0.09056282788515091,
+          0.11484987288713455,
+          62.69602966308594
+        ],
+        [
+          -0.11713169515132904,
+          -0.02027943916618824,
+          0.99290931224823,
+          23.262699127197266
+        ],
+        [
+          -0.08759157359600067,
+          -0.9956842660903931,
+          -0.030669130384922028,
+          -25.492088317871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4093,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_683081865",
+      "mask_path": "../../mask/hdr_left_04093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04094.png",
+      "transform_matrix": [
+        [
+          0.988415002822876,
+          -0.08520105481147766,
+          0.1256047636270523,
+          62.77852249145508
+        ],
+        [
+          -0.12743383646011353,
+          -0.016358043998479843,
+          0.991712212562561,
+          23.26256561279297
+        ],
+        [
+          -0.08244028687477112,
+          -0.9962296485900879,
+          -0.027026034891605377,
+          -25.490760803222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4094,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_783082008",
+      "mask_path": "../../mask/hdr_left_04094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04095.png",
+      "transform_matrix": [
+        [
+          0.9876128435134888,
+          -0.07752610743045807,
+          0.13642054796218872,
+          62.864627838134766
+        ],
+        [
+          -0.13820761442184448,
+          -0.018147872760891914,
+          0.9902369976043701,
+          23.27547836303711
+        ],
+        [
+          -0.07429347187280655,
+          -0.9968252778053284,
+          -0.02863776497542858,
+          -25.49955940246582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4095,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_883081197",
+      "mask_path": "../../mask/hdr_left_04095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04096.png",
+      "transform_matrix": [
+        [
+          0.9871073365211487,
+          -0.07820820808410645,
+          0.13965140283107758,
+          62.99806594848633
+        ],
+        [
+          -0.1419667899608612,
+          -0.02484489604830742,
+          0.9895595908164978,
+          23.2868595123291
+        ],
+        [
+          -0.0739220529794693,
+          -0.9966274499893188,
+          -0.03562754765152931,
+          -25.511133193969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4096,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_983080863",
+      "mask_path": "../../mask/hdr_left_04096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04097.png",
+      "transform_matrix": [
+        [
+          0.987664520740509,
+          -0.07862924784421921,
+          0.13541105389595032,
+          63.09080505371094
+        ],
+        [
+          -0.13800041377544403,
+          -0.028462834656238556,
+          0.9900231957435608,
+          23.296701431274414
+        ],
+        [
+          -0.0739905908703804,
+          -0.9964975714683533,
+          -0.03896259516477585,
+          -25.525537490844727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4097,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_83082437",
+      "mask_path": "../../mask/hdr_left_04097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04098.png",
+      "transform_matrix": [
+        [
+          0.9885449409484863,
+          -0.07547919452190399,
+          0.13069702684879303,
+          63.17097473144531
+        ],
+        [
+          -0.1329333782196045,
+          -0.02538483217358589,
+          0.9907998442649841,
+          23.311872482299805
+        ],
+        [
+          -0.07146704941987991,
+          -0.9968242645263672,
+          -0.035127751529216766,
+          -25.538841247558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4098,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_183081388",
+      "mask_path": "../../mask/hdr_left_04098.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04099.png",
+      "transform_matrix": [
+        [
+          0.9875702261924744,
+          -0.08719146996736526,
+          0.1307772994041443,
+          63.28837585449219
+        ],
+        [
+          -0.13337524235248566,
+          -0.02464226633310318,
+          0.9907591938972473,
+          23.3245906829834
+        ],
+        [
+          -0.08316310495138168,
+          -0.9958868026733398,
+          -0.035965148359537125,
+          -25.557254791259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4099,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_283081054",
+      "mask_path": "../../mask/hdr_left_04099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04100.png",
+      "transform_matrix": [
+        [
+          0.9855781197547913,
+          -0.1023651659488678,
+          0.1347486823797226,
+          63.376220703125
+        ],
+        [
+          -0.13785192370414734,
+          -0.023838987573981285,
+          0.9901658892631531,
+          23.328062057495117
+        ],
+        [
+          -0.0981462225317955,
+          -0.9944612383842468,
+          -0.037606414407491684,
+          -25.573850631713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4100,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_383082151",
+      "mask_path": "../../mask/hdr_left_04100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04101.png",
+      "transform_matrix": [
+        [
+          0.9840778708457947,
+          -0.10625004023313522,
+          0.14248405396938324,
+          63.43048095703125
+        ],
+        [
+          -0.1449369341135025,
+          -0.015693379566073418,
+          0.9893164038658142,
+          23.328369140625
+        ],
+        [
+          -0.10287883877754211,
+          -0.9942156076431274,
+          -0.030843056738376617,
+          -25.575271606445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4101,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_483082532",
+      "mask_path": "../../mask/hdr_left_04101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04102.png",
+      "transform_matrix": [
+        [
+          0.9819223880767822,
+          -0.1164725050330162,
+          0.1492065191268921,
+          63.55077362060547
+        ],
+        [
+          -0.15220807492733002,
+          -0.017265738919377327,
+          0.9881976246833801,
+          23.33833122253418
+        ],
+        [
+          -0.1125216856598854,
+          -0.9930439591407776,
+          -0.034681666642427444,
+          -25.58946990966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4102,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_583082437",
+      "mask_path": "../../mask/hdr_left_04102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04103.png",
+      "transform_matrix": [
+        [
+          0.9795739650726318,
+          -0.13448359072208405,
+          0.14949625730514526,
+          63.68492889404297
+        ],
+        [
+          -0.15437142550945282,
+          -0.02652556821703911,
+          0.9876567125320435,
+          23.34766387939453
+        ],
+        [
+          -0.12885814905166626,
+          -0.99056077003479,
+          -0.046744175255298615,
+          -25.623699188232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4103,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_683083295",
+      "mask_path": "../../mask/hdr_left_04103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04104.png",
+      "transform_matrix": [
+        [
+          0.9786081314086914,
+          -0.14258290827274323,
+          0.14831124246120453,
+          63.74955368041992
+        ],
+        [
+          -0.15404187142848969,
+          -0.029968274757266045,
+          0.9876098036766052,
+          23.35631561279297
+        ],
+        [
+          -0.13637162744998932,
+          -0.9893291592597961,
+          -0.051290929317474365,
+          -25.641929626464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4104,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_783082962",
+      "mask_path": "../../mask/hdr_left_04104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04105.png",
+      "transform_matrix": [
+        [
+          0.9776259064674377,
+          -0.14987976849079132,
+          0.14759254455566406,
+          63.842323303222656
+        ],
+        [
+          -0.1532450020313263,
+          -0.026827076449990273,
+          0.9878239631652832,
+          23.35784339904785
+        ],
+        [
+          -0.14409537613391876,
+          -0.9883402585983276,
+          -0.049195170402526855,
+          -25.670129776000977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4105,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_883083105",
+      "mask_path": "../../mask/hdr_left_04105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04106.png",
+      "transform_matrix": [
+        [
+          0.9706291556358337,
+          -0.18247254192829132,
+          0.15678885579109192,
+          63.944366455078125
+        ],
+        [
+          -0.16235631704330444,
+          -0.01588856801390648,
+          0.9866042733192444,
+          23.362668991088867
+        ],
+        [
+          -0.1775370091199875,
+          -0.9830825924873352,
+          -0.045047469437122345,
+          -25.707849502563477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4106,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_983081817",
+      "mask_path": "../../mask/hdr_left_04106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04107.png",
+      "transform_matrix": [
+        [
+          0.9640869498252869,
+          -0.20359143614768982,
+          0.17054885625839233,
+          64.00836944580078
+        ],
+        [
+          -0.17668160796165466,
+          -0.012198532931506634,
+          0.9841924905776978,
+          23.359542846679688
+        ],
+        [
+          -0.19829270243644714,
+          -0.9789799451828003,
+          -0.047731295228004456,
+          -25.714130401611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4107,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_83082675",
+      "mask_path": "../../mask/hdr_left_04107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04108.png",
+      "transform_matrix": [
+        [
+          0.9624223113059998,
+          -0.20162369310855865,
+          0.18190933763980865,
+          64.07121276855469
+        ],
+        [
+          -0.18832911550998688,
+          -0.012962144799530506,
+          0.9820204377174377,
+          23.354339599609375
+        ],
+        [
+          -0.1956406533718109,
+          -0.9793773293495178,
+          -0.05044667050242424,
+          -25.732234954833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4108,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_183081150",
+      "mask_path": "../../mask/hdr_left_04108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04109.png",
+      "transform_matrix": [
+        [
+          0.9611972570419312,
+          -0.19900238513946533,
+          0.19104428589344025,
+          64.17251586914062
+        ],
+        [
+          -0.19623535871505737,
+          -0.006508669815957546,
+          0.9805352091789246,
+          23.351673126220703
+        ],
+        [
+          -0.19388535618782043,
+          -0.9799774289131165,
+          -0.04530741274356842,
+          -25.768022537231445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4109,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_283081769",
+      "mask_path": "../../mask/hdr_left_04109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04110.png",
+      "transform_matrix": [
+        [
+          0.9617913961410522,
+          -0.19594743847846985,
+          0.19121143221855164,
+          64.2969741821289
+        ],
+        [
+          -0.1963271200656891,
+          -0.006839397829025984,
+          0.9805145263671875,
+          23.35003089904785
+        ],
+        [
+          -0.1908215433359146,
+          -0.9805905818939209,
+          -0.04504786804318428,
+          -25.774385452270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4110,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_383081197",
+      "mask_path": "../../mask/hdr_left_04110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04111.png",
+      "transform_matrix": [
+        [
+          0.9618639945983887,
+          -0.1978399008512497,
+          0.1888839453458786,
+          64.36756896972656
+        ],
+        [
+          -0.19482508301734924,
+          -0.01082675438374281,
+          0.980778157711029,
+          23.345008850097656
+        ],
+        [
+          -0.19199204444885254,
+          -0.9801746606826782,
+          -0.048958033323287964,
+          -25.786779403686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4111,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_483083248",
+      "mask_path": "../../mask/hdr_left_04111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04112.png",
+      "transform_matrix": [
+        [
+          0.9623845815658569,
+          -0.19818127155303955,
+          0.18584990501403809,
+          64.42181396484375
+        ],
+        [
+          -0.19221322238445282,
+          -0.013195600360631943,
+          0.9812644124031067,
+          23.33704948425293
+        ],
+        [
+          -0.19201582670211792,
+          -0.9800766110420227,
+          -0.050792302936315536,
+          -25.805789947509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4112,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_583081722",
+      "mask_path": "../../mask/hdr_left_04112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04113.png",
+      "transform_matrix": [
+        [
+          0.9563902020454407,
+          -0.22058963775634766,
+          0.19146262109279633,
+          64.51499938964844
+        ],
+        [
+          -0.19489212334156036,
+          0.006321456748992205,
+          0.9808043241500854,
+          23.33476448059082
+        ],
+        [
+          -0.21756558120250702,
+          -0.9753463268280029,
+          -0.0369453951716423,
+          -25.85421371459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4113,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_683082342",
+      "mask_path": "../../mask/hdr_left_04113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04114.png",
+      "transform_matrix": [
+        [
+          0.9488428831100464,
+          -0.24289430677890778,
+          0.20174095034599304,
+          64.60643768310547
+        ],
+        [
+          -0.2007816731929779,
+          0.028967417776584625,
+          0.9792076945304871,
+          23.342634201049805
+        ],
+        [
+          -0.24368786811828613,
+          -0.9696202278137207,
+          -0.021283190697431564,
+          -25.886472702026367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4114,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_783082008",
+      "mask_path": "../../mask/hdr_left_04114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04115.png",
+      "transform_matrix": [
+        [
+          0.9492071866989136,
+          -0.2371678501367569,
+          0.20677772164344788,
+          64.67390441894531
+        ],
+        [
+          -0.2063056081533432,
+          0.027090931311249733,
+          0.978112518787384,
+          23.34105682373047
+        ],
+        [
+          -0.2375786155462265,
+          -0.9710909128189087,
+          -0.023214144632220268,
+          -25.892724990844727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4115,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_883081197",
+      "mask_path": "../../mask/hdr_left_04115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04116.png",
+      "transform_matrix": [
+        [
+          0.9512994289398193,
+          -0.22867926955223083,
+          0.20672477781772614,
+          64.78781127929688
+        ],
+        [
+          -0.2086237668991089,
+          0.016113728284835815,
+          0.9778632521629333,
+          23.336299896240234
+        ],
+        [
+          -0.22694814205169678,
+          -0.9733684659004211,
+          -0.03237894922494888,
+          -25.918668746948242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4116,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_983081817",
+      "mask_path": "../../mask/hdr_left_04116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04117.png",
+      "transform_matrix": [
+        [
+          0.9525947570800781,
+          -0.22437956929206848,
+          0.20546773076057434,
+          64.89334106445312
+        ],
+        [
+          -0.20796410739421844,
+          0.012715068645775318,
+          0.9780539274215698,
+          23.33611297607422
+        ],
+        [
+          -0.22206780314445496,
+          -0.9744189381599426,
+          -0.034550584852695465,
+          -25.93967628479004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4117,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_83084344",
+      "mask_path": "../../mask/hdr_left_04117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04118.png",
+      "transform_matrix": [
+        [
+          0.9547702670097351,
+          -0.21550266444683075,
+          0.20487149059772491,
+          64.96601867675781
+        ],
+        [
+          -0.20555129647254944,
+          0.01950165443122387,
+          0.9784520268440247,
+          23.338151931762695
+        ],
+        [
+          -0.21485432982444763,
+          -0.9763085246086121,
+          -0.02567724511027336,
+          -25.94038200378418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4118,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_183080434",
+      "mask_path": "../../mask/hdr_left_04118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04119.png",
+      "transform_matrix": [
+        [
+          0.9577528238296509,
+          -0.20151998102664948,
+          0.2051806002855301,
+          65.07963562011719
+        ],
+        [
+          -0.20547078549861908,
+          0.019709033891558647,
+          0.9784647226333618,
+          23.345706939697266
+        ],
+        [
+          -0.20122408866882324,
+          -0.9792861342430115,
+          -0.02253008261322975,
+          -25.97142219543457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4119,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_283081054",
+      "mask_path": "../../mask/hdr_left_04119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06300.png",
+      "transform_matrix": [
+        [
+          -0.9737383127212524,
+          -0.06637255102396011,
+          -0.2177802324295044,
+          64.76118469238281
+        ],
+        [
+          0.2192516177892685,
+          -0.01566687971353531,
+          -0.9755424857139587,
+          23.407678604125977
+        ],
+        [
+          0.06133731082081795,
+          -0.9976719617843628,
+          0.029807735234498978,
+          -25.97362518310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6300,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_383082151",
+      "mask_path": "../../mask/hdr_left_06300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06301.png",
+      "transform_matrix": [
+        [
+          -0.9710280895233154,
+          -0.07706727087497711,
+          -0.22619663178920746,
+          64.6889877319336
+        ],
+        [
+          0.2289610207080841,
+          -0.02903609164059162,
+          -0.9730023741722107,
+          23.417552947998047
+        ],
+        [
+          0.06841877847909927,
+          -0.9966030120849609,
+          0.04584026709198952,
+          -25.976665496826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6301,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_483081579",
+      "mask_path": "../../mask/hdr_left_06301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06302.png",
+      "transform_matrix": [
+        [
+          -0.9679315090179443,
+          -0.10601268708705902,
+          -0.22774939239025116,
+          64.55709075927734
+        ],
+        [
+          0.23297354578971863,
+          -0.03965800628066063,
+          -0.9716741442680359,
+          23.40472412109375
+        ],
+        [
+          0.09397768974304199,
+          -0.9935736656188965,
+          0.06308438628911972,
+          -25.914121627807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6302,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_583081722",
+      "mask_path": "../../mask/hdr_left_06302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06303.png",
+      "transform_matrix": [
+        [
+          -0.9669655561447144,
+          -0.1251988708972931,
+          -0.2220422625541687,
+          64.44197082519531
+        ],
+        [
+          0.22772932052612305,
+          -0.032924212515354156,
+          -0.9731676578521729,
+          23.400299072265625
+        ],
+        [
+          0.11452893167734146,
+          -0.9915851950645447,
+          0.060348037630319595,
+          -25.866870880126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6303,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_683082103",
+      "mask_path": "../../mask/hdr_left_06303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06304.png",
+      "transform_matrix": [
+        [
+          -0.9666575193405151,
+          -0.13083486258983612,
+          -0.22012610733509064,
+          64.37097930908203
+        ],
+        [
+          0.22475196421146393,
+          -0.021524053066968918,
+          -0.9741782546043396,
+          23.417882919311523
+        ],
+        [
+          0.1227184534072876,
+          -0.9911705255508423,
+          0.050211772322654724,
+          -25.873960494995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6304,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_783081054",
+      "mask_path": "../../mask/hdr_left_06304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06305.png",
+      "transform_matrix": [
+        [
+          -0.9639347195625305,
+          -0.13856260478496552,
+          -0.22722311317920685,
+          64.28445434570312
+        ],
+        [
+          0.23139773309230804,
+          -0.014585602097213268,
+          -0.9727498888969421,
+          23.44228172302246
+        ],
+        [
+          0.13147257268428802,
+          -0.9902462959289551,
+          0.04612264037132263,
+          -25.849239349365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6305,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_883081674",
+      "mask_path": "../../mask/hdr_left_06305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06306.png",
+      "transform_matrix": [
+        [
+          -0.9607418179512024,
+          -0.1443691849708557,
+          -0.23692332208156586,
+          64.18755340576172
+        ],
+        [
+          0.24181506037712097,
+          -0.0170773733407259,
+          -0.9701720476150513,
+          23.45880889892578
+        ],
+        [
+          0.13601692020893097,
+          -0.9893765449523926,
+          0.05131758749485016,
+          -25.817073822021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6306,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_983082056",
+      "mask_path": "../../mask/hdr_left_06306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06307.png",
+      "transform_matrix": [
+        [
+          -0.9574782848358154,
+          -0.15069983899593353,
+          -0.2460179626941681,
+          64.12360382080078
+        ],
+        [
+          0.2517005205154419,
+          -0.01956869475543499,
+          -0.9676072597503662,
+          23.466794967651367
+        ],
+        [
+          0.14100398123264313,
+          -0.9883859157562256,
+          0.056667815893888474,
+          -25.81244468688965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6307,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_83081722",
+      "mask_path": "../../mask/hdr_left_06307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06308.png",
+      "transform_matrix": [
+        [
+          -0.9555487632751465,
+          -0.15344221889972687,
+          -0.2517578601837158,
+          64.03778076171875
+        ],
+        [
+          0.257357656955719,
+          -0.017464617267251015,
+          -0.966158390045166,
+          23.468320846557617
+        ],
+        [
+          0.1438526213169098,
+          -0.9880033135414124,
+          0.05617781728506088,
+          -25.795564651489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6308,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_183081388",
+      "mask_path": "../../mask/hdr_left_06308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06309.png",
+      "transform_matrix": [
+        [
+          -0.9556174874305725,
+          -0.15138262510299683,
+          -0.25274190306663513,
+          63.937843322753906
+        ],
+        [
+          0.2568712830543518,
+          -0.00804485846310854,
+          -0.9664121270179749,
+          23.471525192260742
+        ],
+        [
+          0.14426471292972565,
+          -0.9884425401687622,
+          0.04657365381717682,
+          -25.775907516479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6309,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_283078432",
+      "mask_path": "../../mask/hdr_left_06309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06310.png",
+      "transform_matrix": [
+        [
+          -0.9562705159187317,
+          -0.15167953073978424,
+          -0.25008001923561096,
+          63.85894012451172
+        ],
+        [
+          0.25310516357421875,
+          -0.0006590390112251043,
+          -0.9674385786056519,
+          23.485931396484375
+        ],
+        [
+          0.14657579362392426,
+          -0.988429605960846,
+          0.0390210896730423,
+          -25.783740997314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6310,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_383082151",
+      "mask_path": "../../mask/hdr_left_06310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06311.png",
+      "transform_matrix": [
+        [
+          -0.9581784009933472,
+          -0.16109709441661835,
+          -0.23652036488056183,
+          63.7889518737793
+        ],
+        [
+          0.23852623999118805,
+          0.007055957801640034,
+          -0.971110463142395,
+          23.497058868408203
+        ],
+        [
+          0.15811195969581604,
+          -0.9869133830070496,
+          0.031665023416280746,
+          -25.76752471923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6311,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_483082294",
+      "mask_path": "../../mask/hdr_left_06311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06312.png",
+      "transform_matrix": [
+        [
+          -0.9605746269226074,
+          -0.17370253801345825,
+          -0.21708010137081146,
+          63.70000076293945
+        ],
+        [
+          0.21934697031974792,
+          0.006275101099163294,
+          -0.9756266474723816,
+          23.50310516357422
+        ],
+        [
+          0.17083103954792023,
+          -0.9847782254219055,
+          0.032073426991701126,
+          -25.726282119750977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6312,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_583081245",
+      "mask_path": "../../mask/hdr_left_06312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06313.png",
+      "transform_matrix": [
+        [
+          -0.9637234210968018,
+          -0.18416069447994232,
+          -0.1931886076927185,
+          63.61371612548828
+        ],
+        [
+          0.1968926042318344,
+          -0.0018648859113454819,
+          -0.9804232120513916,
+          23.5089054107666
+        ],
+        [
+          0.1801951378583908,
+          -0.9828944802284241,
+          0.0380571149289608,
+          -25.706653594970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6313,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_683081626",
+      "mask_path": "../../mask/hdr_left_06313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06314.png",
+      "transform_matrix": [
+        [
+          -0.9675384759902954,
+          -0.18942679464817047,
+          -0.1672922670841217,
+          63.530277252197266
+        ],
+        [
+          0.17155344784259796,
+          -0.0062066796235740185,
+          -0.9851552844047546,
+          23.49855613708496
+        ],
+        [
+          0.18557648360729218,
+          -0.9818753004074097,
+          0.03850202262401581,
+          -25.687437057495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6314,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_783082008",
+      "mask_path": "../../mask/hdr_left_06314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06315.png",
+      "transform_matrix": [
+        [
+          -0.9742963910102844,
+          -0.17606672644615173,
+          -0.14052429795265198,
+          63.460235595703125
+        ],
+        [
+          0.14276781678199768,
+          -7.592744077555835e-05,
+          -0.9897562265396118,
+          23.48137855529785
+        ],
+        [
+          0.1742524802684784,
+          -0.9843782782554626,
+          0.02521064132452011,
+          -25.676612854003906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6315,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_883082151",
+      "mask_path": "../../mask/hdr_left_06315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06316.png",
+      "transform_matrix": [
+        [
+          -0.9790626168251038,
+          -0.1651528924703598,
+          -0.11899957060813904,
+          63.401546478271484
+        ],
+        [
+          0.1194324865937233,
+          0.007342963945120573,
+          -0.9928151369094849,
+          23.46733283996582
+        ],
+        [
+          0.16484008729457855,
+          -0.9862407445907593,
+          0.012535401619970798,
+          -25.662353515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6316,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_983082294",
+      "mask_path": "../../mask/hdr_left_06316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06317.png",
+      "transform_matrix": [
+        [
+          -0.9805286526679993,
+          -0.1646992713212967,
+          -0.10694745182991028,
+          63.32632827758789
+        ],
+        [
+          0.1074225902557373,
+          0.0060455696657299995,
+          -0.9941950440406799,
+          23.456867218017578
+        ],
+        [
+          0.16438975930213928,
+          -0.9863253235816956,
+          0.011764571070671082,
+          -25.6448917388916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6317,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_83082437",
+      "mask_path": "../../mask/hdr_left_06317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06318.png",
+      "transform_matrix": [
+        [
+          -0.9795550107955933,
+          -0.17195142805576324,
+          -0.10442529618740082,
+          63.24594497680664
+        ],
+        [
+          0.10520609468221664,
+          0.004591469652950764,
+          -0.9944398403167725,
+          23.456092834472656
+        ],
+        [
+          0.17147479951381683,
+          -0.9850947260856628,
+          0.013592739589512348,
+          -25.62619400024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6318,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_183082342",
+      "mask_path": "../../mask/hdr_left_06318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06319.png",
+      "transform_matrix": [
+        [
+          -0.9773935079574585,
+          -0.18027587234973907,
+          -0.11046494543552399,
+          63.14804458618164
+        ],
+        [
+          0.11206746101379395,
+          0.00130350177641958,
+          -0.9936997890472412,
+          23.456212997436523
+        ],
+        [
+          0.17928406596183777,
+          -0.9836153984069824,
+          0.018929028883576393,
+          -25.58286476135254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6319,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_283081054",
+      "mask_path": "../../mask/hdr_left_06319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06321.png",
+      "transform_matrix": [
+        [
+          -0.9750023484230042,
+          -0.19239497184753418,
+          -0.11115066707134247,
+          63.021732330322266
+        ],
+        [
+          0.11629502475261688,
+          -0.015619332902133465,
+          -0.993091881275177,
+          23.433551788330078
+        ],
+        [
+          0.18932977318763733,
+          -0.9811933040618896,
+          0.0376034639775753,
+          -25.54663848876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6321,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_483081579",
+      "mask_path": "../../mask/hdr_left_06321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06322.png",
+      "transform_matrix": [
+        [
+          -0.9777494072914124,
+          -0.1816169172525406,
+          -0.10498227179050446,
+          62.93964385986328
+        ],
+        [
+          0.10976561903953552,
+          -0.016461290419101715,
+          -0.9938211441040039,
+          23.41875648498535
+        ],
+        [
+          0.17876657843589783,
+          -0.9832316040992737,
+          0.03603030741214752,
+          -25.5288028717041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6322,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_583082199",
+      "mask_path": "../../mask/hdr_left_06322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06323.png",
+      "transform_matrix": [
+        [
+          -0.9811115860939026,
+          -0.17101454734802246,
+          -0.09040988981723785,
+          62.87161636352539
+        ],
+        [
+          0.09354548156261444,
+          -0.01034979335963726,
+          -0.9955611824989319,
+          23.406116485595703
+        ],
+        [
+          0.16931971907615662,
+          -0.9852141737937927,
+          0.02615194022655487,
+          -25.519792556762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6323,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_683082103",
+      "mask_path": "../../mask/hdr_left_06323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06325.png",
+      "transform_matrix": [
+        [
+          -0.9845095276832581,
+          -0.16270670294761658,
+          -0.06532532721757889,
+          62.77016067504883
+        ],
+        [
+          0.06801442056894302,
+          -0.011005965061485767,
+          -0.9976236820220947,
+          23.369909286499023
+        ],
+        [
+          0.16160106658935547,
+          -0.9866131544113159,
+          0.021901879459619522,
+          -25.506385803222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6325,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_883081912",
+      "mask_path": "../../mask/hdr_left_06325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06326.png",
+      "transform_matrix": [
+        [
+          -0.985544741153717,
+          -0.15789145231246948,
+          -0.06141461804509163,
+          62.68510818481445
+        ],
+        [
+          0.0652339905500412,
+          -0.019117269665002823,
+          -0.9976868629455566,
+          23.352664947509766
+        ],
+        [
+          0.15635213255882263,
+          -0.9872714281082153,
+          0.029140815138816833,
+          -25.49171257019043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6326,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_983082532",
+      "mask_path": "../../mask/hdr_left_06326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06327.png",
+      "transform_matrix": [
+        [
+          -0.985930323600769,
+          -0.1558835506439209,
+          -0.06034698709845543,
+          62.612831115722656
+        ],
+        [
+          0.06567031890153885,
+          -0.029223430901765823,
+          -0.9974133372306824,
+          23.337055206298828
+        ],
+        [
+          0.1537167876958847,
+          -0.9873430728912354,
+          0.039049189537763596,
+          -25.4763126373291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6327,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_83088874",
+      "mask_path": "../../mask/hdr_left_06327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06328.png",
+      "transform_matrix": [
+        [
+          -0.9867292046546936,
+          -0.15182453393936157,
+          -0.0575750395655632,
+          62.52328109741211
+        ],
+        [
+          0.06318598240613937,
+          -0.03239092975854874,
+          -0.9974759221076965,
+          23.312881469726562
+        ],
+        [
+          0.14957639575004578,
+          -0.9878766536712646,
+          0.04155426099896431,
+          -25.468605041503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6328,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_183081865",
+      "mask_path": "../../mask/hdr_left_06328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06329.png",
+      "transform_matrix": [
+        [
+          -0.9876505136489868,
+          -0.145774707198143,
+          -0.05741163343191147,
+          62.43598937988281
+        ],
+        [
+          0.061625368893146515,
+          -0.024552594870328903,
+          -0.9977972507476807,
+          23.29027557373047
+        ],
+        [
+          0.14404398202896118,
+          -0.9890131950378418,
+          0.03323280066251755,
+          -25.462078094482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6329,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_283081769",
+      "mask_path": "../../mask/hdr_left_06329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06330.png",
+      "transform_matrix": [
+        [
+          -0.9881666302680969,
+          -0.14093218743801117,
+          -0.060537081211805344,
+          62.359493255615234
+        ],
+        [
+          0.06395730376243591,
+          -0.019862862303853035,
+          -0.9977548718452454,
+          23.280895233154297
+        ],
+        [
+          0.13941332697868347,
+          -0.9898200631141663,
+          0.028641464188694954,
+          -25.458263397216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6330,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_383082389",
+      "mask_path": "../../mask/hdr_left_06330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06331.png",
+      "transform_matrix": [
+        [
+          -0.9899435043334961,
+          -0.12467604875564575,
+          -0.06684047728776932,
+          62.270328521728516
+        ],
+        [
+          0.07090002298355103,
+          -0.028407961130142212,
+          -0.9970787763595581,
+          23.27147674560547
+        ],
+        [
+          0.12241305410861969,
+          -0.9917908310890198,
+          0.036961816251277924,
+          -25.452510833740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6331,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_483082294",
+      "mask_path": "../../mask/hdr_left_06331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06332.png",
+      "transform_matrix": [
+        [
+          -0.9906502366065979,
+          -0.11237310618162155,
+          -0.07735941559076309,
+          62.189998626708984
+        ],
+        [
+          0.08155494183301926,
+          -0.03322464972734451,
+          -0.9961148500442505,
+          23.26580238342285
+        ],
+        [
+          0.109366275370121,
+          -0.9931104779243469,
+          0.04207858815789223,
+          -25.441192626953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6332,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_583081722",
+      "mask_path": "../../mask/hdr_left_06332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06333.png",
+      "transform_matrix": [
+        [
+          -0.9902727603912354,
+          -0.10845217853784561,
+          -0.08716566115617752,
+          62.12867736816406
+        ],
+        [
+          0.09158524125814438,
+          -0.03645128756761551,
+          -0.9951298236846924,
+          23.267541885375977
+        ],
+        [
+          0.10474668443202972,
+          -0.9934332370758057,
+          0.04602934047579765,
+          -25.436365127563477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6333,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_683081388",
+      "mask_path": "../../mask/hdr_left_06333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06334.png",
+      "transform_matrix": [
+        [
+          -0.9908964037895203,
+          -0.0961678996682167,
+          -0.09421191364526749,
+          62.03247833251953
+        ],
+        [
+          0.09791270643472672,
+          -0.034507397562265396,
+          -0.9945966005325317,
+          23.251792907714844
+        ],
+        [
+          0.09239724278450012,
+          -0.9947668313980103,
+          0.043609313666820526,
+          -25.426591873168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6334,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_783081531",
+      "mask_path": "../../mask/hdr_left_06334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06335.png",
+      "transform_matrix": [
+        [
+          -0.9920945763587952,
+          -0.0818694680929184,
+          -0.09510848671197891,
+          61.92641830444336
+        ],
+        [
+          0.09748932719230652,
+          -0.02558264695107937,
+          -0.9949078559875488,
+          23.23680877685547
+        ],
+        [
+          0.07901943475008011,
+          -0.9963146448135376,
+          0.033361803740262985,
+          -25.4266414642334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6335,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_883081197",
+      "mask_path": "../../mask/hdr_left_06335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06336.png",
+      "transform_matrix": [
+        [
+          -0.992925763130188,
+          -0.07428010553121567,
+          -0.09263279289007187,
+          61.84956359863281
+        ],
+        [
+          0.09408832341432571,
+          -0.016333626583218575,
+          -0.9954298138618469,
+          23.226478576660156
+        ],
+        [
+          0.07242760062217712,
+          -0.9971036314964294,
+          0.02320696972310543,
+          -25.429359436035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6336,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_983080863",
+      "mask_path": "../../mask/hdr_left_06336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06337.png",
+      "transform_matrix": [
+        [
+          -0.9932138323783875,
+          -0.07029876112937927,
+          -0.09265191853046417,
+          61.780094146728516
+        ],
+        [
+          0.09358969330787659,
+          -0.010158407501876354,
+          -0.9955589771270752,
+          23.215896606445312
+        ],
+        [
+          0.06904537230730057,
+          -0.9974743127822876,
+          0.016668712720274925,
+          -25.427959442138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6337,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_83081960",
+      "mask_path": "../../mask/hdr_left_06337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06338.png",
+      "transform_matrix": [
+        [
+          -0.992860734462738,
+          -0.06860681623220444,
+          -0.09757322072982788,
+          61.686485290527344
+        ],
+        [
+          0.09825815260410309,
+          -0.006672462448477745,
+          -0.9951385855674744,
+          23.212337493896484
+        ],
+        [
+          0.06762223690748215,
+          -0.997621476650238,
+          0.013366004452109337,
+          -25.417234420776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6338,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_183080911",
+      "mask_path": "../../mask/hdr_left_06338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06339.png",
+      "transform_matrix": [
+        [
+          -0.9915981888771057,
+          -0.07126636058092117,
+          -0.10795415192842484,
+          61.58954620361328
+        ],
+        [
+          0.10881435126066208,
+          -0.008288778364658356,
+          -0.9940274953842163,
+          23.213211059570312
+        ],
+        [
+          0.06994591653347015,
+          -0.9974229335784912,
+          0.01597394235432148,
+          -25.400901794433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6339,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_283081054",
+      "mask_path": "../../mask/hdr_left_06339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06340.png",
+      "transform_matrix": [
+        [
+          -0.9901345372200012,
+          -0.07425089925527573,
+          -0.11882928758859634,
+          61.52068328857422
+        ],
+        [
+          0.12032158672809601,
+          -0.01594270020723343,
+          -0.992607057094574,
+          23.219425201416016
+        ],
+        [
+          0.07180749624967575,
+          -0.9971121549606323,
+          0.024719400331377983,
+          -25.403594970703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6340,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_383080244",
+      "mask_path": "../../mask/hdr_left_06340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06341.png",
+      "transform_matrix": [
+        [
+          -0.989311933517456,
+          -0.07474702596664429,
+          -0.12519891560077667,
+          61.42763900756836
+        ],
+        [
+          0.1266913115978241,
+          -0.015551459044218063,
+          -0.9918201565742493,
+          23.206090927124023
+        ],
+        [
+          0.072188600897789,
+          -0.9970813393592834,
+          0.024855047464370728,
+          -25.395038604736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6341,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_483080625",
+      "mask_path": "../../mask/hdr_left_06341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06342.png",
+      "transform_matrix": [
+        [
+          -0.989494264125824,
+          -0.07135545462369919,
+          -0.1257353127002716,
+          61.329681396484375
+        ],
+        [
+          0.12645378708839417,
+          -0.005624379031360149,
+          -0.9919565320014954,
+          23.183977127075195
+        ],
+        [
+          0.07007431983947754,
+          -0.9974351525306702,
+          0.014588459394872189,
+          -25.383127212524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6342,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_583079576",
+      "mask_path": "../../mask/hdr_left_06342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06343.png",
+      "transform_matrix": [
+        [
+          -0.9901207685470581,
+          -0.06637179106473923,
+          -0.12351322919130325,
+          61.25910186767578
+        ],
+        [
+          0.12370903044939041,
+          0.0011675835121423006,
+          -0.9923178553581238,
+          23.170360565185547
+        ],
+        [
+          0.0660061240196228,
+          -0.9977943301200867,
+          0.007054741494357586,
+          -25.381383895874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6343,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_683081865",
+      "mask_path": "../../mask/hdr_left_06343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06344.png",
+      "transform_matrix": [
+        [
+          -0.990574300289154,
+          -0.06084560230374336,
+          -0.12272067368030548,
+          61.178550720214844
+        ],
+        [
+          0.1228393092751503,
+          0.0018013493390753865,
+          -0.9924249053001404,
+          23.15517807006836
+        ],
+        [
+          0.060605745762586594,
+          -0.998145580291748,
+          0.005689862184226513,
+          -25.380786895751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6344,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_783078432",
+      "mask_path": "../../mask/hdr_left_06344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06345.png",
+      "transform_matrix": [
+        [
+          -0.9899924993515015,
+          -0.056032899767160416,
+          -0.12951862812042236,
+          61.0839958190918
+        ],
+        [
+          0.12964116036891937,
+          0.0014580682618543506,
+          -0.9915599226951599,
+          23.15850830078125
+        ],
+        [
+          0.055748824030160904,
+          -0.9984278678894043,
+          0.00582069531083107,
+          -25.372133255004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6345,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_883080720",
+      "mask_path": "../../mask/hdr_left_06345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06346.png",
+      "transform_matrix": [
+        [
+          -0.9885830879211426,
+          -0.05479733273386955,
+          -0.1403590887784958,
+          61.0095329284668
+        ],
+        [
+          0.14071300625801086,
+          -0.002635480370372534,
+          -0.9900469183921814,
+          23.167194366455078
+        ],
+        [
+          0.053882014006376266,
+          -0.998494029045105,
+          0.010316089726984501,
+          -25.368793487548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6346,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_983079910",
+      "mask_path": "../../mask/hdr_left_06346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06347.png",
+      "transform_matrix": [
+        [
+          -0.9869295954704285,
+          -0.056814055889844894,
+          -0.15080489218235016,
+          60.94629669189453
+        ],
+        [
+          0.15166136622428894,
+          -0.011052685789763927,
+          -0.9883707165718079,
+          23.169836044311523
+        ],
+        [
+          0.05448654666543007,
+          -0.9983236193656921,
+          0.019524721428751945,
+          -25.368942260742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6347,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_83081245",
+      "mask_path": "../../mask/hdr_left_06347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06348.png",
+      "transform_matrix": [
+        [
+          -0.9862105250358582,
+          -0.05356094241142273,
+          -0.15658879280090332,
+          60.84438705444336
+        ],
+        [
+          0.15741737186908722,
+          -0.011591609567403793,
+          -0.9874640703201294,
+          23.151657104492188
+        ],
+        [
+          0.05107438564300537,
+          -0.9984973073005676,
+          0.01986319199204445,
+          -25.350799560546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6348,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_183081150",
+      "mask_path": "../../mask/hdr_left_06348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06349.png",
+      "transform_matrix": [
+        [
+          -0.9865241050720215,
+          -0.04979464411735535,
+          -0.1558542102575302,
+          60.74640655517578
+        ],
+        [
+          0.15610815584659576,
+          -0.001228130771778524,
+          -0.9877392649650574,
+          23.130887985229492
+        ],
+        [
+          0.048992712050676346,
+          -0.9987587928771973,
+          0.008984929881989956,
+          -25.33809471130371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6349,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_283081293",
+      "mask_path": "../../mask/hdr_left_06349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06350.png",
+      "transform_matrix": [
+        [
+          -0.9868094325065613,
+          -0.0498419813811779,
+          -0.15402203798294067,
+          60.67080307006836
+        ],
+        [
+          0.15378929674625397,
+          0.008494517765939236,
+          -0.9880672097206116,
+          23.120851516723633
+        ],
+        [
+          0.05055556446313858,
+          -0.9987210035324097,
+          -0.0007173072081059217,
+          -25.33201789855957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6350,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_383080244",
+      "mask_path": "../../mask/hdr_left_06350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06351.png",
+      "transform_matrix": [
+        [
+          -0.9864922165870667,
+          -0.051043760031461716,
+          -0.15565216541290283,
+          60.58736038208008
+        ],
+        [
+          0.1553555577993393,
+          0.009752118028700352,
+          -0.987810492515564,
+          23.104969024658203
+        ],
+        [
+          0.05193948745727539,
+          -0.9986488223075867,
+          -0.001690459088422358,
+          -25.321300506591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6351,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_483078956",
+      "mask_path": "../../mask/hdr_left_06351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06352.png",
+      "transform_matrix": [
+        [
+          -0.9838933348655701,
+          -0.06628473848104477,
+          -0.1660129278898239,
+          60.49854278564453
+        ],
+        [
+          0.1654895544052124,
+          0.013348703272640705,
+          -0.9861211776733398,
+          23.11882972717285
+        ],
+        [
+          0.06758083403110504,
+          -0.9977115392684937,
+          -0.002164267236366868,
+          -25.289953231811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6352,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_583079814",
+      "mask_path": "../../mask/hdr_left_06352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06353.png",
+      "transform_matrix": [
+        [
+          -0.9795590043067932,
+          -0.0863867849111557,
+          -0.18166299164295197,
+          60.41476058959961
+        ],
+        [
+          0.18116994202136993,
+          0.013579905033111572,
+          -0.9833580255508423,
+          23.13844871520996
+        ],
+        [
+          0.08741609752178192,
+          -0.9961692094802856,
+          0.002348370384424925,
+          -25.262781143188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6353,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_683081865",
+      "mask_path": "../../mask/hdr_left_06353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06355.png",
+      "transform_matrix": [
+        [
+          -0.9736410975456238,
+          -0.10878258943557739,
+          -0.20047226548194885,
+          60.27293014526367
+        ],
+        [
+          0.2008506804704666,
+          0.007580731995403767,
+          -0.979592502117157,
+          23.12678337097168
+        ],
+        [
+          0.10808233171701431,
+          -0.9940366744995117,
+          0.014468144625425339,
+          -25.23583221435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6355,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_883080959",
+      "mask_path": "../../mask/hdr_left_06355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06356.png",
+      "transform_matrix": [
+        [
+          -0.9731174111366272,
+          -0.11163865774869919,
+          -0.20144271850585938,
+          60.17840576171875
+        ],
+        [
+          0.20110395550727844,
+          0.01440480723977089,
+          -0.9794639945030212,
+          23.113128662109375
+        ],
+        [
+          0.1122477799654007,
+          -0.9936444759368896,
+          0.008433406241238117,
+          -25.212568283081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6356,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_983081817",
+      "mask_path": "../../mask/hdr_left_06356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06357.png",
+      "transform_matrix": [
+        [
+          -0.972495973110199,
+          -0.11497065424919128,
+          -0.20256684720516205,
+          60.111324310302734
+        ],
+        [
+          0.2021402269601822,
+          0.015480892732739449,
+          -0.9792342185974121,
+          23.113283157348633
+        ],
+        [
+          0.11571910977363586,
+          -0.9932483434677124,
+          0.008185088634490967,
+          -25.210390090942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6357,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_83080768",
+      "mask_path": "../../mask/hdr_left_06357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06358.png",
+      "transform_matrix": [
+        [
+          -0.9718772768974304,
+          -0.11603599041700363,
+          -0.2049151360988617,
+          60.0362548828125
+        ],
+        [
+          0.2049778252840042,
+          0.011521437205374241,
+          -0.9786987900733948,
+          23.108135223388672
+        ],
+        [
+          0.11592519283294678,
+          -0.9931782484054565,
+          0.012587383389472961,
+          -25.1999568939209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6358,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_183082580",
+      "mask_path": "../../mask/hdr_left_06358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06359.png",
+      "transform_matrix": [
+        [
+          -0.9695795178413391,
+          -0.12042029201984406,
+          -0.2131066471338272,
+          59.9581298828125
+        ],
+        [
+          0.21378447115421295,
+          0.0074136280454695225,
+          -0.9768527150154114,
+          23.111446380615234
+        ],
+        [
+          0.11921276897192001,
+          -0.9926953911781311,
+          0.018555885180830956,
+          -25.185731887817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6359,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_283080816",
+      "mask_path": "../../mask/hdr_left_06359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06360.png",
+      "transform_matrix": [
+        [
+          -0.9669532179832458,
+          -0.12548679113388062,
+          -0.22193334996700287,
+          59.88934326171875
+        ],
+        [
+          0.22324718534946442,
+          0.003673907369375229,
+          -0.9747548699378967,
+          23.111940383911133
+        ],
+        [
+          0.12313421815633774,
+          -0.9920884966850281,
+          0.024462075904011726,
+          -25.167356491088867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6360,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_383080482",
+      "mask_path": "../../mask/hdr_left_06360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06361.png",
+      "transform_matrix": [
+        [
+          -0.965026319026947,
+          -0.13034433126449585,
+          -0.22745242714881897,
+          59.79972839355469
+        ],
+        [
+          0.22994838654994965,
+          -0.004227182827889919,
+          -0.9731937050819397,
+          23.120349884033203
+        ],
+        [
+          0.12588879466056824,
+          -0.9914597868919373,
+          0.0340518094599247,
+          -25.173751831054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6361,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_483083248",
+      "mask_path": "../../mask/hdr_left_06361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04056.png",
+      "transform_matrix": [
+        [
+          -0.9816275835037231,
+          -0.09845596551895142,
+          0.16344334185123444,
+          60.411651611328125
+        ],
+        [
+          -0.16305886209011078,
+          -0.011994188651442528,
+          -0.9865434765815735,
+          23.21129608154297
+        ],
+        [
+          0.09909146279096603,
+          -0.9950692057609558,
+          -0.004280291963368654,
+          -25.197877883911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4056,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_83081960",
+      "mask_path": "../../mask/hdr_right_04056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04057.png",
+      "transform_matrix": [
+        [
+          -0.9809007048606873,
+          -0.1067306250333786,
+          0.16261090338230133,
+          60.5000114440918
+        ],
+        [
+          -0.16196876764297485,
+          -0.014716126024723053,
+          -0.9866862297058105,
+          23.21407127380371
+        ],
+        [
+          0.10770262777805328,
+          -0.9941790699958801,
+          -0.0028519609477370977,
+          -25.224958419799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4057,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_183080911",
+      "mask_path": "../../mask/hdr_right_04057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04058.png",
+      "transform_matrix": [
+        [
+          -0.9784722924232483,
+          -0.12228367477655411,
+          0.16624857485294342,
+          60.589874267578125
+        ],
+        [
+          -0.1652245670557022,
+          -0.018539095297455788,
+          -0.9860816597938538,
+          23.215219497680664
+        ],
+        [
+          0.12366380542516708,
+          -0.9923219680786133,
+          -0.0020642729941755533,
+          -25.249610900878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4058,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_283082008",
+      "mask_path": "../../mask/hdr_right_04058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04059.png",
+      "transform_matrix": [
+        [
+          -0.9766565561294556,
+          -0.1306951642036438,
+          0.17047196626663208,
+          60.65277862548828
+        ],
+        [
+          -0.16946561634540558,
+          -0.01886678673326969,
+          -0.9853554964065552,
+          23.21276092529297
+        ],
+        [
+          0.13199745118618011,
+          -0.9912430047988892,
+          -0.003721965244039893,
+          -25.256925582885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4059,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_383082151",
+      "mask_path": "../../mask/hdr_right_04059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04060.png",
+      "transform_matrix": [
+        [
+          -0.9747553467750549,
+          -0.13707204163074493,
+          0.17624785006046295,
+          60.71779251098633
+        ],
+        [
+          -0.17662313580513,
+          -0.009517244063317776,
+          -0.9842325448989868,
+          23.206098556518555
+        ],
+        [
+          0.13658815622329712,
+          -0.9905153512954712,
+          -0.01493311207741499,
+          -25.271827697753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4060,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_483082056",
+      "mask_path": "../../mask/hdr_right_04060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04061.png",
+      "transform_matrix": [
+        [
+          -0.9719735980033875,
+          -0.14889375865459442,
+          0.1819286346435547,
+          60.82001495361328
+        ],
+        [
+          -0.18382097780704498,
+          -0.0010697636753320694,
+          -0.9829592108726501,
+          23.203554153442383
+        ],
+        [
+          0.14655110239982605,
+          -0.9888526797294617,
+          -0.02633001282811165,
+          -25.292800903320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4061,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_583082675",
+      "mask_path": "../../mask/hdr_right_04061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04062.png",
+      "transform_matrix": [
+        [
+          -0.9697508215904236,
+          -0.15561233460903168,
+          0.18806429207324982,
+          60.895538330078125
+        ],
+        [
+          -0.19048333168029785,
+          0.0006455513066612184,
+          -0.9816903471946716,
+          23.203630447387695
+        ],
+        [
+          0.15264171361923218,
+          -0.9878179430961609,
+          -0.03026757948100567,
+          -25.308534622192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4062,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_683079957",
+      "mask_path": "../../mask/hdr_right_04062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04063.png",
+      "transform_matrix": [
+        [
+          -0.9690556526184082,
+          -0.1518011838197708,
+          0.19464723765850067,
+          60.96025085449219
+        ],
+        [
+          -0.19715869426727295,
+          0.0015239596832543612,
+          -0.9803704619407654,
+          23.193159103393555
+        ],
+        [
+          0.14852473139762878,
+          -0.9884099364280701,
+          -0.03140571713447571,
+          -25.30506134033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4063,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_783080577",
+      "mask_path": "../../mask/hdr_right_04063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04064.png",
+      "transform_matrix": [
+        [
+          -0.9666433930397034,
+          -0.1468193531036377,
+          0.20986835658550262,
+          61.057003021240234
+        ],
+        [
+          -0.2120140939950943,
+          -0.0010572040919214487,
+          -0.9772660732269287,
+          23.202823638916016
+        ],
+        [
+          0.14370346069335938,
+          -0.9891627430915833,
+          -0.03010583110153675,
+          -25.326112747192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4064,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_883078575",
+      "mask_path": "../../mask/hdr_right_04064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04065.png",
+      "transform_matrix": [
+        [
+          -0.961349368095398,
+          -0.15019021928310394,
+          0.23076032102108002,
+          61.159141540527344
+        ],
+        [
+          -0.2322140485048294,
+          -0.008029481396079063,
+          -0.9726316332817078,
+          23.21434211730957
+        ],
+        [
+          0.14793264865875244,
+          -0.9886245131492615,
+          -0.027157144621014595,
+          -25.341018676757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4065,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323669_983080625",
+      "mask_path": "../../mask/hdr_right_04065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04066.png",
+      "transform_matrix": [
+        [
+          -0.9568068981170654,
+          -0.1510390341281891,
+          0.24841085076332092,
+          61.227115631103516
+        ],
+        [
+          -0.2495979517698288,
+          -0.011354558169841766,
+          -0.9682830572128296,
+          23.227169036865234
+        ],
+        [
+          0.14906911551952362,
+          -0.9884625673294067,
+          -0.026834914460778236,
+          -25.347124099731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4066,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_83081007",
+      "mask_path": "../../mask/hdr_right_04066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04067.png",
+      "transform_matrix": [
+        [
+          -0.9545851945877075,
+          -0.14409896731376648,
+          0.2607727348804474,
+          61.294498443603516
+        ],
+        [
+          -0.26227810978889465,
+          -0.008788751438260078,
+          -0.9649523496627808,
+          23.259204864501953
+        ],
+        [
+          0.14134050905704498,
+          -0.989524245262146,
+          -0.02940439246594906,
+          -25.370210647583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4067,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_183081388",
+      "mask_path": "../../mask/hdr_right_04067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04068.png",
+      "transform_matrix": [
+        [
+          -0.9535479545593262,
+          -0.13777324557304382,
+          0.2678896486759186,
+          61.38901901245117
+        ],
+        [
+          -0.2693726420402527,
+          -0.00811830535531044,
+          -0.9630017876625061,
+          23.28110122680664
+        ],
+        [
+          0.13485071063041687,
+          -0.9904305934906006,
+          -0.02937115542590618,
+          -25.382579803466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4068,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_283082246",
+      "mask_path": "../../mask/hdr_right_04068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04069.png",
+      "transform_matrix": [
+        [
+          -0.955416738986969,
+          -0.1295788735151291,
+          0.2653079032897949,
+          61.49004364013672
+        ],
+        [
+          -0.2672470808029175,
+          -0.002507721772417426,
+          -0.9636247158050537,
+          23.295557022094727
+        ],
+        [
+          0.12553073465824127,
+          -0.9915659427642822,
+          -0.03223365545272827,
+          -25.387950897216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4069,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_383081197",
+      "mask_path": "../../mask/hdr_right_04069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04070.png",
+      "transform_matrix": [
+        [
+          -0.9599105715751648,
+          -0.11545432358980179,
+          0.2554251253604889,
+          61.571197509765625
+        ],
+        [
+          -0.2573491036891937,
+          0.0018236981704831123,
+          -0.966316819190979,
+          23.315187454223633
+        ],
+        [
+          0.11109963804483414,
+          -0.9933111071586609,
+          -0.0314626544713974,
+          -25.40076446533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4070,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_483081579",
+      "mask_path": "../../mask/hdr_right_04070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04071.png",
+      "transform_matrix": [
+        [
+          -0.9632526636123657,
+          -0.10418690741062164,
+          0.24756699800491333,
+          61.66737365722656
+        ],
+        [
+          -0.24861390888690948,
+          -0.003022473771125078,
+          -0.9685980081558228,
+          23.333343505859375
+        ],
+        [
+          0.1016635000705719,
+          -0.9945531487464905,
+          -0.022990906611084938,
+          -25.40082550048828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4071,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_583082437",
+      "mask_path": "../../mask/hdr_right_04071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04072.png",
+      "transform_matrix": [
+        [
+          -0.9636895060539246,
+          -0.09882301092147827,
+          0.2480657547712326,
+          61.749061584472656
+        ],
+        [
+          -0.24831171333789825,
+          -0.009999822825193405,
+          -0.9686286449432373,
+          23.35422134399414
+        ],
+        [
+          0.09820341318845749,
+          -0.9950547218322754,
+          -0.014902184717357159,
+          -25.40457534790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4072,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_683080673",
+      "mask_path": "../../mask/hdr_right_04072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04073.png",
+      "transform_matrix": [
+        [
+          -0.963132917881012,
+          -0.09303990006446838,
+          0.25242534279823303,
+          61.830787658691406
+        ],
+        [
+          -0.2521575391292572,
+          -0.014818591065704823,
+          -0.967572808265686,
+          23.378568649291992
+        ],
+        [
+          0.09376347064971924,
+          -0.995552122592926,
+          -0.009188437834382057,
+          -25.4232120513916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4073,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_783082008",
+      "mask_path": "../../mask/hdr_right_04073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04074.png",
+      "transform_matrix": [
+        [
+          -0.9630098938941956,
+          -0.09288422763347626,
+          0.25295132398605347,
+          61.9266471862793
+        ],
+        [
+          -0.25301581621170044,
+          -0.011277281679213047,
+          -0.9673964977264404,
+          23.39510154724121
+        ],
+        [
+          0.09270846098661423,
+          -0.9956130385398865,
+          -0.012641041539609432,
+          -25.441085815429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4074,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_883080720",
+      "mask_path": "../../mask/hdr_right_04074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04075.png",
+      "transform_matrix": [
+        [
+          -0.9637884497642517,
+          -0.09609498083591461,
+          0.24875225126743317,
+          62.025089263916016
+        ],
+        [
+          -0.24904219806194305,
+          -0.009157388471066952,
+          -0.9684493541717529,
+          23.403339385986328
+        ],
+        [
+          0.0953410342335701,
+          -0.9953300356864929,
+          -0.015105919912457466,
+          -25.442873001098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4075,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323670_983080863",
+      "mask_path": "../../mask/hdr_right_04075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04076.png",
+      "transform_matrix": [
+        [
+          -0.9654312133789062,
+          -0.0950237289071083,
+          0.24271975457668304,
+          62.10303497314453
+        ],
+        [
+          -0.24301376938819885,
+          -0.008642769418656826,
+          -0.9699844121932983,
+          23.412321090698242
+        ],
+        [
+          0.094269298017025,
+          -0.995437502861023,
+          -0.014748072251677513,
+          -25.440868377685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4076,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_83081007",
+      "mask_path": "../../mask/hdr_right_04076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04077.png",
+      "transform_matrix": [
+        [
+          -0.9685609936714172,
+          -0.08759293705224991,
+          0.2328457236289978,
+          62.186798095703125
+        ],
+        [
+          -0.232844740152359,
+          -0.010371951386332512,
+          -0.9724587202072144,
+          23.42296600341797
+        ],
+        [
+          0.08759557455778122,
+          -0.9961023330688477,
+          -0.01034968625754118,
+          -25.457382202148438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4077,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_183078527",
+      "mask_path": "../../mask/hdr_right_04077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04078.png",
+      "transform_matrix": [
+        [
+          -0.9697433114051819,
+          -0.08718520402908325,
+          0.2280278354883194,
+          62.297401428222656
+        ],
+        [
+          -0.22690191864967346,
+          -0.022746307775378227,
+          -0.9736520051956177,
+          23.427818298339844
+        ],
+        [
+          0.09007484465837479,
+          -0.995932400226593,
+          0.0022755900863558054,
+          -25.465686798095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4078,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_283077955",
+      "mask_path": "../../mask/hdr_right_04078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04079.png",
+      "transform_matrix": [
+        [
+          -0.9689944982528687,
+          -0.08753828704357147,
+          0.23105590045452118,
+          62.38698196411133
+        ],
+        [
+          -0.22897256910800934,
+          -0.03327470272779465,
+          -0.9728639721870422,
+          23.435199737548828
+        ],
+        [
+          0.09285116195678711,
+          -0.9956052303314209,
+          0.01219913363456726,
+          -25.472707748413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4079,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_383077621",
+      "mask_path": "../../mask/hdr_right_04079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04080.png",
+      "transform_matrix": [
+        [
+          -0.9684416651725769,
+          -0.08155110478401184,
+          0.23552143573760986,
+          62.46998977661133
+        ],
+        [
+          -0.23338142037391663,
+          -0.034984737634658813,
+          -0.9717558026313782,
+          23.448198318481445
+        ],
+        [
+          0.08748739957809448,
+          -0.996055006980896,
+          0.014848164282739162,
+          -25.483354568481445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4080,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_483077526",
+      "mask_path": "../../mask/hdr_right_04080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04081.png",
+      "transform_matrix": [
+        [
+          -0.9680384993553162,
+          -0.08329245448112488,
+          0.23656688630580902,
+          62.57196807861328
+        ],
+        [
+          -0.23463810980319977,
+          -0.03237200900912285,
+          -0.9715436697006226,
+          23.46196174621582
+        ],
+        [
+          0.08858039975166321,
+          -0.9959992170333862,
+          0.011793767102062702,
+          -25.494033813476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4081,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_583081245",
+      "mask_path": "../../mask/hdr_right_04081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04082.png",
+      "transform_matrix": [
+        [
+          -0.9693508148193359,
+          -0.0851808413863182,
+          0.23044128715991974,
+          62.684783935546875
+        ],
+        [
+          -0.22872169315814972,
+          -0.029557570815086365,
+          -0.9730430841445923,
+          23.469482421875
+        ],
+        [
+          0.08969590812921524,
+          -0.9959269762039185,
+          0.009168954566121101,
+          -25.496318817138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4082,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_683081865",
+      "mask_path": "../../mask/hdr_right_04082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04083.png",
+      "transform_matrix": [
+        [
+          -0.9722222685813904,
+          -0.0799170732498169,
+          0.21999356150627136,
+          62.769508361816406
+        ],
+        [
+          -0.21861709654331207,
+          -0.025692390277981758,
+          -0.9754725098609924,
+          23.469467163085938
+        ],
+        [
+          0.08360907435417175,
+          -0.9964704513549805,
+          0.0075074746273458,
+          -25.494430541992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4083,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_783082008",
+      "mask_path": "../../mask/hdr_right_04083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04084.png",
+      "transform_matrix": [
+        [
+          -0.9751344323158264,
+          -0.07234060019254684,
+          0.20947474241256714,
+          62.85786056518555
+        ],
+        [
+          -0.2079920917749405,
+          -0.02753874473273754,
+          -0.9777427911758423,
+          23.482454299926758
+        ],
+        [
+          0.07649917155504227,
+          -0.9969998002052307,
+          0.011807704344391823,
+          -25.503841400146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4084,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_883081197",
+      "mask_path": "../../mask/hdr_right_04084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04085.png",
+      "transform_matrix": [
+        [
+          -0.9757636785507202,
+          -0.07305365800857544,
+          0.2062724232673645,
+          62.991973876953125
+        ],
+        [
+          -0.20424824953079224,
+          -0.034253742545843124,
+          -0.9783197045326233,
+          23.49382209777832
+        ],
+        [
+          0.07853543758392334,
+          -0.9967395663261414,
+          0.018502483144402504,
+          -25.516855239868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4085,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323671_983080863",
+      "mask_path": "../../mask/hdr_right_04085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04086.png",
+      "transform_matrix": [
+        [
+          -0.9748420715332031,
+          -0.07343467324972153,
+          0.21045257151126862,
+          63.083824157714844
+        ],
+        [
+          -0.20814605057239532,
+          -0.037849944084882736,
+          -0.9773651957511902,
+          23.503616333007812
+        ],
+        [
+          0.07973811775445938,
+          -0.9965815544128418,
+          0.021612579002976418,
+          -25.531938552856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4086,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_83082437",
+      "mask_path": "../../mask/hdr_right_04086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04087.png",
+      "transform_matrix": [
+        [
+          -0.9740514159202576,
+          -0.07023866474628448,
+          0.2151515781879425,
+          63.16300582885742
+        ],
+        [
+          -0.21316440403461456,
+          -0.0347461923956871,
+          -0.9763982892036438,
+          23.518770217895508
+        ],
+        [
+          0.07605662196874619,
+          -0.996924877166748,
+          0.018872197717428207,
+          -25.54454803466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4087,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_183081388",
+      "mask_path": "../../mask/hdr_right_04087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04088.png",
+      "transform_matrix": [
+        [
+          -0.973199188709259,
+          -0.08195722103118896,
+          0.2148638367652893,
+          63.28044891357422
+        ],
+        [
+          -0.21273289620876312,
+          -0.034006163477897644,
+          -0.976518452167511,
+          23.531496047973633
+        ],
+        [
+          0.08733944594860077,
+          -0.996055543422699,
+          0.015659773722290993,
+          -25.56272315979004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4088,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_283081054",
+      "mask_path": "../../mask/hdr_right_04088.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04089.png",
+      "transform_matrix": [
+        [
+          -0.9727287292480469,
+          -0.09717696160078049,
+          0.21060711145401,
+          63.36915588378906
+        ],
+        [
+          -0.20831993222236633,
+          -0.03322663530707359,
+          -0.9774962663650513,
+          23.535005569458008
+        ],
+        [
+          0.10198787599802017,
+          -0.9947123527526855,
+          0.0120766069740057,
+          -25.57912826538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4089,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_383082151",
+      "mask_path": "../../mask/hdr_right_04089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04090.png",
+      "transform_matrix": [
+        [
+          -0.9739698767662048,
+          -0.1011376827955246,
+          0.20286428928375244,
+          63.425045013427734
+        ],
+        [
+          -0.20134484767913818,
+          -0.02511977218091488,
+          -0.9791982769966125,
+          23.535396575927734
+        ],
+        [
+          0.10412973910570145,
+          -0.9945552349090576,
+          0.004102348815649748,
+          -25.579002380371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4090,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_483082532",
+      "mask_path": "../../mask/hdr_right_04090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04091.png",
+      "transform_matrix": [
+        [
+          -0.9742692112922668,
+          -0.11143115162849426,
+          0.195915088057518,
+          63.54677200317383
+        ],
+        [
+          -0.1941332221031189,
+          -0.026729201897978783,
+          -0.9806109666824341,
+          23.545381546020508
+        ],
+        [
+          0.1145072653889656,
+          -0.9934127330780029,
+          0.0044089495204389095,
+          -25.593647003173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4091,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_583082437",
+      "mask_path": "../../mask/hdr_right_04091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04092.png",
+      "transform_matrix": [
+        [
+          -0.9722166657447815,
+          -0.12945879995822906,
+          0.19502650201320648,
+          63.68104934692383
+        ],
+        [
+          -0.1919439733028412,
+          -0.03599776700139046,
+          -0.9807454943656921,
+          23.554668426513672
+        ],
+        [
+          0.13398663699626923,
+          -0.9909311532974243,
+          0.010148795321583748,
+          -25.629764556884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4092,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_683083295",
+      "mask_path": "../../mask/hdr_right_04092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04093.png",
+      "transform_matrix": [
+        [
+          -0.9709298014640808,
+          -0.13755367696285248,
+          0.1958940327167511,
+          63.745460510253906
+        ],
+        [
+          -0.19224850833415985,
+          -0.039437755942344666,
+          -0.9805535674095154,
+          23.563295364379883
+        ],
+        [
+          0.14260438084602356,
+          -0.9897089004516602,
+          0.011846802197396755,
+          -25.648658752441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4093,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_783082962",
+      "mask_path": "../../mask/hdr_right_04093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04094.png",
+      "transform_matrix": [
+        [
+          -0.9697839617729187,
+          -0.14485026895999908,
+          0.1963094174861908,
+          63.838111877441406
+        ],
+        [
+          -0.19306083023548126,
+          -0.036293450742959976,
+          -0.9805153608322144,
+          23.564844131469727
+        ],
+        [
+          0.14915266633033752,
+          -0.9887877106666565,
+          0.00723189627751708,
+          -25.67616081237793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4094,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_883083105",
+      "mask_path": "../../mask/hdr_right_04094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04095.png",
+      "transform_matrix": [
+        [
+          -0.9664462804794312,
+          -0.17756512761116028,
+          0.18561306595802307,
+          63.942237854003906
+        ],
+        [
+          -0.18404604494571686,
+          -0.0254037044942379,
+          -0.9825893640518188,
+          23.56974983215332
+        ],
+        [
+          0.17918884754180908,
+          -0.983781099319458,
+          -0.008128841407597065,
+          -25.711856842041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4095,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323672_983081817",
+      "mask_path": "../../mask/hdr_right_04095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04096.png",
+      "transform_matrix": [
+        [
+          -0.9650570750236511,
+          -0.19884303212165833,
+          0.1706642508506775,
+          64.00926208496094
+        ],
+        [
+          -0.1697460114955902,
+          -0.0217853132635355,
+          -0.9852471351623535,
+          23.566635131835938
+        ],
+        [
+          0.19962748885154724,
+          -0.979789137840271,
+          -0.012728734873235226,
+          -25.71795654296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4096,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_83082675",
+      "mask_path": "../../mask/hdr_right_04096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04097.png",
+      "transform_matrix": [
+        [
+          -0.9673622846603394,
+          -0.19698366522789001,
+          0.15939781069755554,
+          64.0744857788086
+        ],
+        [
+          -0.15805873274803162,
+          -0.02260514907538891,
+          -0.987170934677124,
+          23.561397552490234
+        ],
+        [
+          0.1980597823858261,
+          -0.9801461696624756,
+          -0.00926761794835329,
+          -25.736709594726562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4097,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_183081150",
+      "mask_path": "../../mask/hdr_right_04097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04098.png",
+      "transform_matrix": [
+        [
+          -0.9693191647529602,
+          -0.1944488286972046,
+          0.15036652982234955,
+          64.17769622802734
+        ],
+        [
+          -0.15010011196136475,
+          -0.016190147027373314,
+          -0.9885382056236267,
+          23.5587100982666
+        ],
+        [
+          0.19465453922748566,
+          -0.9807790517807007,
+          -0.013493365608155727,
+          -25.771509170532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4098,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_283081769",
+      "mask_path": "../../mask/hdr_right_04098.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04099.png",
+      "transform_matrix": [
+        [
+          -0.9699252247810364,
+          -0.19139167666435242,
+          0.15038074553012848,
+          64.30216979980469
+        ],
+        [
+          -0.15000782907009125,
+          -0.0165212694555521,
+          -0.9885467886924744,
+          23.557065963745117
+        ],
+        [
+          0.19168409705162048,
+          -0.9813746809959412,
+          -0.012685857713222504,
+          -25.777925491333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4099,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_383081197",
+      "mask_path": "../../mask/hdr_right_04099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04100.png",
+      "transform_matrix": [
+        [
+          -0.9692051410675049,
+          -0.19326357543468475,
+          0.15261264145374298,
+          64.37228393554688
+        ],
+        [
+          -0.15152211487293243,
+          -0.020500998944044113,
+          -0.9882412552833557,
+          23.552040100097656
+        ],
+        [
+          0.19411973655223846,
+          -0.9809327125549316,
+          -0.00941402930766344,
+          -25.79107666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4100,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_483083248",
+      "mask_path": "../../mask/hdr_right_04100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04101.png",
+      "transform_matrix": [
+        [
+          -0.9686604142189026,
+          -0.19357551634311676,
+          0.15564559400081635,
+          64.42589569091797
+        ],
+        [
+          -0.15415050089359283,
+          -0.02285708300769329,
+          -0.9877829551696777,
+          23.54408836364746
+        ],
+        [
+          0.19476822018623352,
+          -0.980819046497345,
+          -0.007699013687670231,
+          -25.810461044311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4101,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_583081722",
+      "mask_path": "../../mask/hdr_right_04101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04102.png",
+      "transform_matrix": [
+        [
+          -0.9650105834007263,
+          -0.21606935560703278,
+          0.14855505526065826,
+          64.5204086303711
+        ],
+        [
+          -0.15141455829143524,
+          -0.0033544297330081463,
+          -0.9884647130966187,
+          23.54182243347168
+        ],
+        [
+          0.2140752375125885,
+          -0.9763723611831665,
+          -0.02947898395359516,
+          -25.855159759521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4102,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_683082342",
+      "mask_path": "../../mask/hdr_right_04102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04103.png",
+      "transform_matrix": [
+        [
+          -0.9614924788475037,
+          -0.23850953578948975,
+          0.13654819130897522,
+          64.61418151855469
+        ],
+        [
+          -0.14526310563087463,
+          0.019266054034233093,
+          -0.9892055988311768,
+          23.54959487915039
+        ],
+        [
+          0.2333042174577713,
+          -0.9709490537643433,
+          -0.05317079648375511,
+          -25.883302688598633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4103,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_783082008",
+      "mask_path": "../../mask/hdr_right_04103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04104.png",
+      "transform_matrix": [
+        [
+          -0.9635355472564697,
+          -0.23282431066036224,
+          0.13187934458255768,
+          64.68267822265625
+        ],
+        [
+          -0.13970284163951874,
+          0.017363550141453743,
+          -0.9900412559509277,
+          23.547985076904297
+        ],
+        [
+          0.2282157838344574,
+          -0.9723637700080872,
+          -0.04925661161541939,
+          -25.89016342163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4104,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_883081197",
+      "mask_path": "../../mask/hdr_right_04104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04105.png",
+      "transform_matrix": [
+        [
+          -0.9654576778411865,
+          -0.22432231903076172,
+          0.13255566358566284,
+          64.7965087890625
+        ],
+        [
+          -0.1374729573726654,
+          0.006374206859618425,
+          -0.9904850721359253,
+          23.54324722290039
+        ],
+        [
+          0.22134295105934143,
+          -0.9744940996170044,
+          -0.03699227422475815,
+          -25.918352127075195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4105,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323673_983081817",
+      "mask_path": "../../mask/hdr_right_04105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04106.png",
+      "transform_matrix": [
+        [
+          -0.9662328958511353,
+          -0.22000373899936676,
+          0.13413497805595398,
+          64.90174102783203
+        ],
+        [
+          -0.13816867768764496,
+          0.002978349570184946,
+          -0.9904043674468994,
+          23.543073654174805
+        ],
+        [
+          0.21749313175678253,
+          -0.9754945039749146,
+          -0.03327539563179016,
+          -25.939973831176758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4106,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_83084344",
+      "mask_path": "../../mask/hdr_right_04106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04107.png",
+      "transform_matrix": [
+        [
+          -0.9680468440055847,
+          -0.2111082226037979,
+          0.1353464424610138,
+          64.97422790527344
+        ],
+        [
+          -0.1405513882637024,
+          0.009776645340025425,
+          -0.9900251626968384,
+          23.545116424560547
+        ],
+        [
+          0.20767921209335327,
+          -0.9774137735366821,
+          -0.03913579881191254,
+          -25.939123153686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4107,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_183080434",
+      "mask_path": "../../mask/hdr_right_04107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04108.png",
+      "transform_matrix": [
+        [
+          -0.9709123373031616,
+          -0.19710981845855713,
+          0.13592979311943054,
+          65.08782196044922
+        ],
+        [
+          -0.14063075184822083,
+          0.009984422475099564,
+          -0.9900118112564087,
+          23.552669525146484
+        ],
+        [
+          0.19378386437892914,
+          -0.9803305268287659,
+          -0.03741369768977165,
+          -25.970001220703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4108,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323674_283081054",
+      "mask_path": "../../mask/hdr_right_04108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06289.png",
+      "transform_matrix": [
+        [
+          0.9894024133682251,
+          -0.07076191157102585,
+          -0.12678968906402588,
+          64.7507095336914
+        ],
+        [
+          0.12669244408607483,
+          -0.005878953263163567,
+          0.9919245839118958,
+          23.20083236694336
+        ],
+        [
+          -0.07093586772680283,
+          -0.9974759221076965,
+          0.0031483490020036697,
+          -25.970720291137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6289,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_383082151",
+      "mask_path": "../../mask/hdr_right_06289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06290.png",
+      "transform_matrix": [
+        [
+          0.9896929860115051,
+          -0.08136631548404694,
+          -0.11784427613019943,
+          64.67668914794922
+        ],
+        [
+          0.11665739119052887,
+          -0.019206754863262177,
+          0.9929865002632141,
+          23.210872650146484
+        ],
+        [
+          -0.08305905759334564,
+          -0.9964991807937622,
+          -0.00951681099832058,
+          -25.970733642578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6290,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_483081579",
+      "mask_path": "../../mask/hdr_right_06290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06291.png",
+      "transform_matrix": [
+        [
+          0.9872217774391174,
+          -0.11027681082487106,
+          -0.11503123492002487,
+          64.5443344116211
+        ],
+        [
+          0.11239936202764511,
+          -0.029813654720783234,
+          0.993215799331665,
+          23.198162078857422
+        ],
+        [
+          -0.112958163022995,
+          -0.9934536814689636,
+          -0.01703764870762825,
+          -25.905559539794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6291,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_583081722",
+      "mask_path": "../../mask/hdr_right_06291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06292.png",
+      "transform_matrix": [
+        [
+          0.9843068718910217,
+          -0.12950468063354492,
+          -0.11986922472715378,
+          64.43032836914062
+        ],
+        [
+          0.11785944551229477,
+          -0.02310115471482277,
+          0.9927615523338318,
+          23.19362449645996
+        ],
+        [
+          -0.13133637607097626,
+          -0.991309642791748,
+          -0.007475277408957481,
+          -25.85958480834961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6292,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_683082103",
+      "mask_path": "../../mask/hdr_right_06292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06293.png",
+      "transform_matrix": [
+        [
+          0.9833458662033081,
+          -0.1351548135280609,
+          -0.12150736153125763,
+          64.35971069335938
+        ],
+        [
+          0.12103848159313202,
+          -0.011712123639881611,
+          0.9925788044929504,
+          23.211116790771484
+        ],
+        [
+          -0.13557489216327667,
+          -0.9907552599906921,
+          0.004841857124119997,
+          -25.869029998779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6293,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_783081054",
+      "mask_path": "../../mask/hdr_right_06293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06294.png",
+      "transform_matrix": [
+        [
+          0.983183741569519,
+          -0.14280366897583008,
+          -0.11382827907800674,
+          64.27163696289062
+        ],
+        [
+          0.11432579159736633,
+          -0.004743591416627169,
+          0.9934320449829102,
+          23.23558235168457
+        ],
+        [
+          -0.142405703663826,
+          -0.9897396564483643,
+          0.011662316508591175,
+          -25.845449447631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6294,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_883081674",
+      "mask_path": "../../mask/hdr_right_06294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06295.png",
+      "transform_matrix": [
+        [
+          0.9834738969802856,
+          -0.1485060751438141,
+          -0.10356168448925018,
+          64.17263793945312
+        ],
+        [
+          0.10364630818367004,
+          -0.007190349046140909,
+          0.9945882558822632,
+          23.252269744873047
+        ],
+        [
+          -0.14844705164432526,
+          -0.9888853430747986,
+          0.008320583030581474,
+          -25.812379837036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6295,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323892_983082056",
+      "mask_path": "../../mask/hdr_right_06295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06296.png",
+      "transform_matrix": [
+        [
+          0.983489453792572,
+          -0.15473727881908417,
+          -0.09383481740951538,
+          64.10670471191406
+        ],
+        [
+          0.09347124397754669,
+          -0.009639966301620007,
+          0.9955753087997437,
+          23.26043128967285
+        ],
+        [
+          -0.15495716035366058,
+          -0.9879086017608643,
+          0.004982674960047007,
+          -25.806833267211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6296,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_83081722",
+      "mask_path": "../../mask/hdr_right_06296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06297.png",
+      "transform_matrix": [
+        [
+          0.9836254119873047,
+          -0.15741780400276184,
+          -0.08775316923856735,
+          64.01963806152344
+        ],
+        [
+          0.08766579627990723,
+          -0.0075120627880096436,
+          0.9961217045783997,
+          23.262056350708008
+        ],
+        [
+          -0.15746648609638214,
+          -0.9875035285949707,
+          0.006411097943782806,
+          -25.79015350341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6297,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_183081388",
+      "mask_path": "../../mask/hdr_right_06297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06298.png",
+      "transform_matrix": [
+        [
+          0.9840322732925415,
+          -0.15535031259059906,
+          -0.08687280863523483,
+          63.91950607299805
+        ],
+        [
+          0.0882389098405838,
+          0.0019062026403844357,
+          0.9960975050926208,
+          23.265235900878906
+        ],
+        [
+          -0.15457846224308014,
+          -0.9878575801849365,
+          0.0155837032943964,
+          -25.772470474243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6298,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_283078432",
+      "mask_path": "../../mask/hdr_right_06298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06299.png",
+      "transform_matrix": [
+        [
+          0.9837369918823242,
+          -0.1556742638349533,
+          -0.08959457278251648,
+          63.84117126464844
+        ],
+        [
+          0.09215223789215088,
+          0.009276187047362328,
+          0.995701789855957,
+          23.279571533203125
+        ],
+        [
+          -0.15417402982711792,
+          -0.9877648949623108,
+          0.023471053689718246,
+          -25.78192710876465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6299,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_383082151",
+      "mask_path": "../../mask/hdr_right_06299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06300.png",
+      "transform_matrix": [
+        [
+          0.9808746576309204,
+          -0.1652200073003769,
+          -0.10289426892995834,
+          63.77400588989258
+        ],
+        [
+          0.10713314265012741,
+          0.016928493976593018,
+          0.9941006302833557,
+          23.290468215942383
+        ],
+        [
+          -0.16250348091125488,
+          -0.9861114621162415,
+          0.03430526703596115,
+          -25.76761245727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6300,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_483082294",
+      "mask_path": "../../mask/hdr_right_06300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06301.png",
+      "transform_matrix": [
+        [
+          0.9764552116394043,
+          -0.17800705134868622,
+          -0.12185532599687576,
+          63.6890983581543
+        ],
+        [
+          0.12669993937015533,
+          0.016063101589679718,
+          0.9918110370635986,
+          23.296262741088867
+        ],
+        [
+          -0.17459198832511902,
+          -0.9838981032371521,
+          0.03823838010430336,
+          -25.726730346679688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6301,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_583081245",
+      "mask_path": "../../mask/hdr_right_06301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06302.png",
+      "transform_matrix": [
+        [
+          0.97123122215271,
+          -0.18869000673294067,
+          -0.1452791541814804,
+          63.607791900634766
+        ],
+        [
+          0.14941798150539398,
+          0.007820339873433113,
+          0.9887431859970093,
+          23.301860809326172
+        ],
+        [
+          -0.18542981147766113,
+          -0.9820055961608887,
+          0.035789038985967636,
+          -25.706207275390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6302,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_683081626",
+      "mask_path": "../../mask/hdr_right_06302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06303.png",
+      "transform_matrix": [
+        [
+          0.9659655094146729,
+          -0.194202721118927,
+          -0.17086800932884216,
+          63.52976608276367
+        ],
+        [
+          0.17483755946159363,
+          0.0033564441837370396,
+          0.9845916032791138,
+          23.291427612304688
+        ],
+        [
+          -0.19063685834407806,
+          -0.9809557199478149,
+          0.03719613701105118,
+          -25.687084197998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6303,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_783082008",
+      "mask_path": "../../mask/hdr_right_06303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06304.png",
+      "transform_matrix": [
+        [
+          0.963226854801178,
+          -0.1811167448759079,
+          -0.1984712928533554,
+          63.46543502807617
+        ],
+        [
+          0.2034846991300583,
+          0.009341196157038212,
+          0.9790336489677429,
+          23.274322509765625
+        ],
+        [
+          -0.1754654198884964,
+          -0.983417272567749,
+          0.0458521731197834,
+          -25.6785831451416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6304,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_883082151",
+      "mask_path": "../../mask/hdr_right_06304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06305.png",
+      "transform_matrix": [
+        [
+          0.9603973031044006,
+          -0.17041902244091034,
+          -0.22044159471988678,
+          63.411319732666016
+        ],
+        [
+          0.22648653388023376,
+          0.01663583144545555,
+          0.9738722443580627,
+          23.260475158691406
+        ],
+        [
+          -0.16229911148548126,
+          -0.9852312803268433,
+          0.05457461252808571,
+          -25.666582107543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6305,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323893_983082294",
+      "mask_path": "../../mask/hdr_right_06305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06306.png",
+      "transform_matrix": [
+        [
+          0.9576647281646729,
+          -0.1700783371925354,
+          -0.2322748750448227,
+          63.3386116027832
+        ],
+        [
+          0.23824246227741241,
+          0.015273111872375011,
+          0.9710855484008789,
+          23.250146865844727
+        ],
+        [
+          -0.1616130769252777,
+          -0.9853121638298035,
+          0.05514640361070633,
+          -25.649261474609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6306,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_83082437",
+      "mask_path": "../../mask/hdr_right_06306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06307.png",
+      "transform_matrix": [
+        [
+          0.9558664560317993,
+          -0.17734546959400177,
+          -0.23423901200294495,
+          63.258705139160156
+        ],
+        [
+          0.24040494859218597,
+          0.013806941919028759,
+          0.9705745577812195,
+          23.249399185180664
+        ],
+        [
+          -0.16889287531375885,
+          -0.9840517640113831,
+          0.05583232268691063,
+          -25.63043785095215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6307,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_183082342",
+      "mask_path": "../../mask/hdr_right_06307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06308.png",
+      "transform_matrix": [
+        [
+          0.9558693170547485,
+          -0.18560367822647095,
+          -0.22773918509483337,
+          63.159488677978516
+        ],
+        [
+          0.23369257152080536,
+          0.010556940920650959,
+          0.9722533226013184,
+          23.249425888061523
+        ],
+        [
+          -0.17804956436157227,
+          -0.982568085193634,
+          0.05346525087952614,
+          -25.586292266845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6308,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_283081054",
+      "mask_path": "../../mask/hdr_right_06308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06310.png",
+      "transform_matrix": [
+        [
+          0.9538178443908691,
+          -0.19770081341266632,
+          -0.22615447640419006,
+          63.03293991088867
+        ],
+        [
+          0.22945857048034668,
+          -0.006342947017401457,
+          0.9732978343963623,
+          23.22672462463379
+        ],
+        [
+          -0.19385625422000885,
+          -0.9802418947219849,
+          0.03931412473320961,
+          -25.546602249145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6310,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_483081579",
+      "mask_path": "../../mask/hdr_right_06310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06311.png",
+      "transform_matrix": [
+        [
+          0.9543291330337524,
+          -0.18699400126934052,
+          -0.23300030827522278,
+          62.95221710205078
+        ],
+        [
+          0.23584233224391937,
+          -0.007220590487122536,
+          0.9717645049095154,
+          23.212007522583008
+        ],
+        [
+          -0.18339653313159943,
+          -0.9823344945907593,
+          0.03721028193831444,
+          -25.52872085571289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6311,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_583082199",
+      "mask_path": "../../mask/hdr_right_06311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06312.png",
+      "transform_matrix": [
+        [
+          0.9525507688522339,
+          -0.17653900384902954,
+          -0.24795351922512054,
+          62.88729476928711
+        ],
+        [
+          0.25170186161994934,
+          -0.001198834041133523,
+          0.9678040742874146,
+          23.199586868286133
+        ],
+        [
+          -0.17115242779254913,
+          -0.9842929244041443,
+          0.043293241411447525,
+          -25.521398544311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6312,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_683082103",
+      "mask_path": "../../mask/hdr_right_06312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06314.png",
+      "transform_matrix": [
+        [
+          0.9472123384475708,
+          -0.1684688925743103,
+          -0.27277642488479614,
+          62.79108810424805
+        ],
+        [
+          0.2764025330543518,
+          -0.0020014778710901737,
+          0.9610399603843689,
+          23.163850784301758
+        ],
+        [
+          -0.16245128214359283,
+          -0.9857049584388733,
+          0.044669393450021744,
+          -25.508590698242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6314,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_883081912",
+      "mask_path": "../../mask/hdr_right_06314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06315.png",
+      "transform_matrix": [
+        [
+          0.9468662142753601,
+          -0.16369415819644928,
+          -0.27685490250587463,
+          62.706871032714844
+        ],
+        [
+          0.27901238203048706,
+          -0.0101296566426754,
+          0.9602341651916504,
+          23.146682739257812
+        ],
+        [
+          -0.1599891483783722,
+          -0.9864591360092163,
+          0.036081258207559586,
+          -25.49225616455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6315,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323894_983082532",
+      "mask_path": "../../mask/hdr_right_06315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06316.png",
+      "transform_matrix": [
+        [
+          0.9468706250190735,
+          -0.16169802844524384,
+          -0.2780105769634247,
+          62.634830474853516
+        ],
+        [
+          0.27847740054130554,
+          -0.02023477852344513,
+          0.9602296352386475,
+          23.131101608276367
+        ],
+        [
+          -0.16089272499084473,
+          -0.986632764339447,
+          0.025869527831673622,
+          -25.474740982055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6316,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_83088874",
+      "mask_path": "../../mask/hdr_right_06316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06317.png",
+      "transform_matrix": [
+        [
+          0.9466884732246399,
+          -0.15766817331314087,
+          -0.2809303104877472,
+          62.54587936401367
+        ],
+        [
+          0.2808241546154022,
+          -0.023417538031935692,
+          0.9594734907150269,
+          23.106998443603516
+        ],
+        [
+          -0.15785712003707886,
+          -0.9872145056724548,
+          0.022107912227511406,
+          -25.46637725830078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6317,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_183081865",
+      "mask_path": "../../mask/hdr_right_06317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06318.png",
+      "transform_matrix": [
+        [
+          0.9475176334381104,
+          -0.15162602066993713,
+          -0.2814602851867676,
+          62.458656311035156
+        ],
+        [
+          0.282425194978714,
+          -0.015586932189762592,
+          0.959162712097168,
+          23.08439064025879
+        ],
+        [
+          -0.14982113242149353,
+          -0.9883151054382324,
+          0.02805411070585251,
+          -25.46135711669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6318,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_283081769",
+      "mask_path": "../../mask/hdr_right_06318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06319.png",
+      "transform_matrix": [
+        [
+          0.9490841627120972,
+          -0.1467602699995041,
+          -0.2787482738494873,
+          62.38154602050781
+        ],
+        [
+          0.28023335337638855,
+          -0.010882834903895855,
+          0.9598702192306519,
+          23.074941635131836
+        ],
+        [
+          -0.14390437304973602,
+          -0.9891122579574585,
+          0.03079838864505291,
+          -25.45831871032715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6319,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_383082389",
+      "mask_path": "../../mask/hdr_right_06319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06320.png",
+      "transform_matrix": [
+        [
+          0.9529557228088379,
+          -0.1304623782634735,
+          -0.2735964059829712,
+          62.291175842285156
+        ],
+        [
+          0.27344992756843567,
+          -0.0193885900080204,
+          0.9616908431053162,
+          23.065410614013672
+        ],
+        [
+          -0.13076913356781006,
+          -0.9912636876106262,
+          0.017198456451296806,
+          -25.450275421142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6320,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_483082294",
+      "mask_path": "../../mask/hdr_right_06320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06321.png",
+      "transform_matrix": [
+        [
+          0.9572471380233765,
+          -0.11807435750961304,
+          -0.2640763819217682,
+          62.208736419677734
+        ],
+        [
+          0.26309049129486084,
+          -0.024144746363162994,
+          0.9644690155982971,
+          23.059555053710938
+        ],
+        [
+          -0.12025510519742966,
+          -0.9927111268043518,
+          0.007951746694743633,
+          -25.437456130981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6321,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_583081722",
+      "mask_path": "../../mask/hdr_right_06321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06322.png",
+      "transform_matrix": [
+        [
+          0.9602503180503845,
+          -0.11406702548265457,
+          -0.254770427942276,
+          62.14540481567383
+        ],
+        [
+          0.25331592559814453,
+          -0.027315139770507812,
+          0.9669978618621826,
+          23.061141967773438
+        ],
+        [
+          -0.11726165562868118,
+          -0.9930975437164307,
+          0.0026656202971935272,
+          -25.43166160583496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6322,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_683081388",
+      "mask_path": "../../mask/hdr_right_06322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06323.png",
+      "transform_matrix": [
+        [
+          0.9632788896560669,
+          -0.1017269566655159,
+          -0.24848611652851105,
+          62.04779815673828
+        ],
+        [
+          0.24719232320785522,
+          -0.025335239246487617,
+          0.9686352610588074,
+          23.0452823638916
+        ],
+        [
+          -0.104831762611866,
+          -0.9944896697998047,
+          0.0007412141421809793,
+          -25.421953201293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6323,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_783081531",
+      "mask_path": "../../mask/hdr_right_06323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06324.png",
+      "transform_matrix": [
+        [
+          0.9647555947303772,
+          -0.08742935955524445,
+          -0.24819889664649963,
+          61.941612243652344
+        ],
+        [
+          0.24772429466247559,
+          -0.016411053016781807,
+          0.9686917662620544,
+          23.030258178710938
+        ],
+        [
+          -0.08876530081033707,
+          -0.9960355162620544,
+          0.005825715605169535,
+          -25.423627853393555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6324,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_883081197",
+      "mask_path": "../../mask/hdr_right_06324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06325.png",
+      "transform_matrix": [
+        [
+          0.9647158980369568,
+          -0.07986704260110855,
+          -0.25088736414909363,
+          61.86530303955078
+        ],
+        [
+          0.2511281669139862,
+          -0.0071799601428210735,
+          0.9679272770881653,
+          23.01995086669922
+        ],
+        [
+          -0.07910684496164322,
+          -0.9967796206474304,
+          0.01313023827970028,
+          -25.42818832397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6325,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323895_983080863",
+      "mask_path": "../../mask/hdr_right_06325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06326.png",
+      "transform_matrix": [
+        [
+          0.96500563621521,
+          -0.07588761299848557,
+          -0.2510085701942444,
+          61.795841217041016
+        ],
+        [
+          0.25166013836860657,
+          -0.0010071948636323214,
+          0.967815101146698,
+          23.00936508178711
+        ],
+        [
+          -0.0736979991197586,
+          -0.9971159100532532,
+          0.01812593825161457,
+          -25.428007125854492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6326,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_83081960",
+      "mask_path": "../../mask/hdr_right_06326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06327.png",
+      "transform_matrix": [
+        [
+          0.9663580656051636,
+          -0.07415124028921127,
+          -0.24627965688705444,
+          61.70121383666992
+        ],
+        [
+          0.24713926017284393,
+          0.0025049676187336445,
+          0.9689767956733704,
+          23.0057315826416
+        ],
+        [
+          -0.07123390585184097,
+          -0.9972438216209412,
+          0.020746378228068352,
+          -25.417905807495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6327,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_183080911",
+      "mask_path": "../../mask/hdr_right_06327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06328.png",
+      "transform_matrix": [
+        [
+          0.9687047004699707,
+          -0.07671336829662323,
+          -0.23606401681900024,
+          61.60211181640625
+        ],
+        [
+          0.236832395195961,
+          0.0009471034281887114,
+          0.9715500473976135,
+          23.00646209716797
+        ],
+        [
+          -0.07430731505155563,
+          -0.9970527291297913,
+          0.019085675477981567,
+          -25.401121139526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6328,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_283081054",
+      "mask_path": "../../mask/hdr_right_06328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06329.png",
+      "transform_matrix": [
+        [
+          0.9710299968719482,
+          -0.0795949324965477,
+          -0.22531189024448395,
+          61.530975341796875
+        ],
+        [
+          0.2255071997642517,
+          -0.006644558161497116,
+          0.974219024181366,
+          23.012554168701172
+        ],
+        [
+          -0.07903999090194702,
+          -0.9968051314353943,
+          0.011497162282466888,
+          -25.4020938873291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6329,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_383080244",
+      "mask_path": "../../mask/hdr_right_06329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06330.png",
+      "transform_matrix": [
+        [
+          0.9724284410476685,
+          -0.08003105223178864,
+          -0.21903900802135468,
+          61.43659973144531
+        ],
+        [
+          0.21925246715545654,
+          -0.006219125352799892,
+          0.9756482839584351,
+          22.999160766601562
+        ],
+        [
+          -0.07944440096616745,
+          -0.9967730045318604,
+          0.01149934995919466,
+          -25.393524169921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6330,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_483080625",
+      "mask_path": "../../mask/hdr_right_06330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06331.png",
+      "transform_matrix": [
+        [
+          0.9727934002876282,
+          -0.07663623988628387,
+          -0.2186318337917328,
+          61.33854293823242
+        ],
+        [
+          0.21955318748950958,
+          0.0037070245016366243,
+          0.9755934476852417,
+          22.977035522460938
+        ],
+        [
+          -0.07395534217357635,
+          -0.9970522522926331,
+          0.020431896671652794,
+          -25.383634567260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6331,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_583079576",
+      "mask_path": "../../mask/hdr_right_06331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06332.png",
+      "transform_matrix": [
+        [
+          0.972639799118042,
+          -0.07167597115039825,
+          -0.22098539769649506,
+          61.2684440612793
+        ],
+        [
+          0.2222776859998703,
+          0.010484044440090656,
+          0.9749270677566528,
+          22.963449478149414
+        ],
+        [
+          -0.06756202131509781,
+          -0.9973728656768799,
+          0.026129167526960373,
+          -25.38328742980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6332,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_683081865",
+      "mask_path": "../../mask/hdr_right_06332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06333.png",
+      "transform_matrix": [
+        [
+          0.972812831401825,
+          -0.06615982204675674,
+          -0.22194179892539978,
+          61.18807601928711
+        ],
+        [
+          0.22313374280929565,
+          0.011113099753856659,
+          0.974724531173706,
+          22.948274612426758
+        ],
+        [
+          -0.06202113628387451,
+          -0.9977471232414246,
+          0.025573452934622765,
+          -25.382781982421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6333,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_783078432",
+      "mask_path": "../../mask/hdr_right_06333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06334.png",
+      "transform_matrix": [
+        [
+          0.9746002554893494,
+          -0.06128528714179993,
+          -0.21540293097496033,
+          61.09211730957031
+        ],
+        [
+          0.21644382178783417,
+          0.010806160978972912,
+          0.9762352705001831,
+          22.95154571533203
+        ],
+        [
+          -0.057501181960105896,
+          -0.9980617761611938,
+          0.023796509951353073,
+          -25.373929977416992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6334,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_883080720",
+      "mask_path": "../../mask/hdr_right_06334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06335.png",
+      "transform_matrix": [
+        [
+          0.9769778251647949,
+          -0.05994763970375061,
+          -0.20474521815776825,
+          61.01539611816406
+        ],
+        [
+          0.20550741255283356,
+          0.006771072279661894,
+          0.9786321520805359,
+          22.960147857666016
+        ],
+        [
+          -0.057280346751213074,
+          -0.9981785416603088,
+          0.01893487013876438,
+          -25.36960792541504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6335,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323896_983079910",
+      "mask_path": "../../mask/hdr_right_06335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06336.png",
+      "transform_matrix": [
+        [
+          0.9789811968803406,
+          -0.061863917857408524,
+          -0.19434183835983276,
+          60.9499626159668
+        ],
+        [
+          0.19461791217327118,
+          -0.0015896209515631199,
+          0.9808778762817383,
+          22.96274185180664
+        ],
+        [
+          -0.060989879071712494,
+          -0.9980832934379578,
+          0.010483616031706333,
+          -25.367897033691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6336,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_83081245",
+      "mask_path": "../../mask/hdr_right_06336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06337.png",
+      "transform_matrix": [
+        [
+          0.9802887439727783,
+          -0.058556701987981796,
+          -0.1886933147907257,
+          60.84685516357422
+        ],
+        [
+          0.1888963133096695,
+          -0.0020992751233279705,
+          0.9819948077201843,
+          22.944543838500977
+        ],
+        [
+          -0.057898491621017456,
+          -0.9982818365097046,
+          0.009003246203064919,
+          -25.349567413330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6337,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_183081150",
+      "mask_path": "../../mask/hdr_right_06337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06338.png",
+      "transform_matrix": [
+        [
+          0.9803446531295776,
+          -0.05479894205927849,
+          -0.1895294487476349,
+          60.7490348815918
+        ],
+        [
+          0.1902531385421753,
+          0.008257548324763775,
+          0.9817004203796387,
+          22.923776626586914
+        ],
+        [
+          -0.05223109573125839,
+          -0.9984632730484009,
+          0.018520914018154144,
+          -25.33901023864746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6338,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_283081293",
+      "mask_path": "../../mask/hdr_right_06338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06339.png",
+      "transform_matrix": [
+        [
+          0.9799875617027283,
+          -0.05486384406685829,
+          -0.19134844839572906,
+          60.6738166809082
+        ],
+        [
+          0.19257503747940063,
+          0.01796753704547882,
+          0.981117844581604,
+          22.91376495361328
+        ],
+        [
+          -0.050389837473630905,
+          -0.998332142829895,
+          0.028173372149467468,
+          -25.33496856689453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6339,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_383080244",
+      "mask_path": "../../mask/hdr_right_06339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06340.png",
+      "transform_matrix": [
+        [
+          0.9802418947219849,
+          -0.056049514561891556,
+          -0.18969564139842987,
+          60.590030670166016
+        ],
+        [
+          0.19101910293102264,
+          0.019232936203479767,
+          0.9813979268074036,
+          22.89788055419922
+        ],
+        [
+          -0.05135846883058548,
+          -0.9982427358627319,
+          0.029559457674622536,
+          -25.324499130249023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6340,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_483078956",
+      "mask_path": "../../mask/hdr_right_06340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06341.png",
+      "transform_matrix": [
+        [
+          0.9812862873077393,
+          -0.0711839348077774,
+          -0.1789138913154602,
+          60.49898910522461
+        ],
+        [
+          0.1809280961751938,
+          0.022879991680383682,
+          0.9832301735877991,
+          22.91173553466797
+        ],
+        [
+          -0.0658966451883316,
+          -0.9972007870674133,
+          0.03533099219202995,
+          -25.293794631958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6341,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_583079814",
+      "mask_path": "../../mask/hdr_right_06341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06342.png",
+      "transform_matrix": [
+        [
+          0.9824889302253723,
+          -0.09112256020307541,
+          -0.16251853108406067,
+          60.411842346191406
+        ],
+        [
+          0.1652466207742691,
+          0.023188311606645584,
+          0.9859796762466431,
+          22.93136978149414
+        ],
+        [
+          -0.08607645332813263,
+          -0.9955697059631348,
+          0.03783995285630226,
+          -25.266393661499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6342,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_683081865",
+      "mask_path": "../../mask/hdr_right_06342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06344.png",
+      "transform_matrix": [
+        [
+          0.9832736849784851,
+          -0.11331749707460403,
+          -0.14258991181850433,
+          60.26594161987305
+        ],
+        [
+          0.14544346928596497,
+          0.017283739522099495,
+          0.989215612411499,
+          22.91977882385254
+        ],
+        [
+          -0.10963094979524612,
+          -0.9934085011482239,
+          0.033475931733846664,
+          -25.237689971923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6344,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_883080959",
+      "mask_path": "../../mask/hdr_right_06344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06345.png",
+      "transform_matrix": [
+        [
+          0.9831036925315857,
+          -0.11616170406341553,
+          -0.14146974682807922,
+          60.17119598388672
+        ],
+        [
+          0.145182803273201,
+          0.02410794608294964,
+          0.9891111850738525,
+          22.90614891052246
+        ],
+        [
+          -0.1114862859249115,
+          -0.9929376840591431,
+          0.04056529328227043,
+          -25.215803146362305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6345,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323897_983081817",
+      "mask_path": "../../mask/hdr_right_06345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06346.png",
+      "transform_matrix": [
+        [
+          0.9828925728797913,
+          -0.11947985738515854,
+          -0.14016689360141754,
+          60.103858947753906
+        ],
+        [
+          0.14413367211818695,
+          0.025188663974404335,
+          0.9892376661300659,
+          22.906314849853516
+        ],
+        [
+          -0.11466334015130997,
+          -0.9925171136856079,
+          0.04197881743311882,
+          -25.213796615600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6346,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_83080768",
+      "mask_path": "../../mask/hdr_right_06346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06347.png",
+      "transform_matrix": [
+        [
+          0.9831088781356812,
+          -0.12052099406719208,
+          -0.13773761689662933,
+          60.028289794921875
+        ],
+        [
+          0.14127130806446075,
+          0.02124308981001377,
+          0.9897429943084717,
+          22.901172637939453
+        ],
+        [
+          -0.11635883897542953,
+          -0.9924834966659546,
+          0.037910427898168564,
+          -25.202472686767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6347,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_183082580",
+      "mask_path": "../../mask/hdr_right_06347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06348.png",
+      "transform_matrix": [
+        [
+          0.983730137348175,
+          -0.12481991946697235,
+          -0.12920907139778137,
+          59.94840621948242
+        ],
+        [
+          0.13235048949718475,
+          0.0171763114631176,
+          0.9910541772842407,
+          22.90454864501953
+        ],
+        [
+          -0.12148396670818329,
+          -0.9920307397842407,
+          0.033416830003261566,
+          -25.187143325805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6348,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_283080816",
+      "mask_path": "../../mask/hdr_right_06348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06349.png",
+      "transform_matrix": [
+        [
+          0.984257161617279,
+          -0.1297934502363205,
+          -0.11996442824602127,
+          59.87771987915039
+        ],
+        [
+          0.12272821366786957,
+          0.013479657471179962,
+          0.9923487901687622,
+          22.905136108398438
+        ],
+        [
+          -0.12718328833580017,
+          -0.9914494156837463,
+          0.029196767136454582,
+          -25.16769790649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6349,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_383080482",
+      "mask_path": "../../mask/hdr_right_06349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06350.png",
+      "transform_matrix": [
+        [
+          0.9843137264251709,
+          -0.13459090888500214,
+          -0.11406952142715454,
+          59.78690719604492
+        ],
+        [
+          0.115871861577034,
+          0.005608719773590565,
+          0.9932484030723572,
+          22.91362190246582
+        ],
+        [
+          -0.13304243981838226,
+          -0.990885317325592,
+          0.021116036921739578,
+          -25.172231674194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6350,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_483083248",
+      "mask_path": "../../mask/hdr_right_06350.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/a97f9569/mesh.ply b/2024-11-11-12-07-40/splats/a97f9569/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..63156a73dd776f249d365c982d4acdd42823b7c9
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/a97f9569/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ee9f5d71df3cfd74ba0181a4940ce4b77c1785698b63c1d2871a9d8a00a5dac
+size 132749641
diff --git a/2024-11-11-12-07-40/splats/a97f9569/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/a97f9569/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..02fc5ee0660f947be9862dc1fddad20bae6b36c5
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/a97f9569/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5915c6206f19d6b8f47427dc6c385326989fb09fba2380cea7c745631cddcaac
+size 1587078
diff --git a/2024-11-11-12-07-40/splats/a97f9569/splatfacto/config.yml b/2024-11-11-12-07-40/splats/a97f9569/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..791970fbd0ac4f6f3c18c27b2826a03f802c2bfa
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/a97f9569/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_a97f9569
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_a97f9569
+      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/2024-11-11-12-07-40/splats/a97f9569/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/a97f9569/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d260521e72193fd9ed342bf33a3fad35098e4d
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/a97f9569/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.7545114755630493,
+            0.6462122797966003,
+            0.114552341401577,
+            82.61910247802734
+        ],
+        [
+            0.6462122797966003,
+            0.7619905471801758,
+            -0.04219130799174309,
+            -79.99742126464844
+        ],
+        [
+            -0.114552341401577,
+            0.04219130799174309,
+            -0.9925210475921631,
+            -21.64657211303711
+        ]
+    ],
+    "scale": 0.12649942527459906
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/a97f9569/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/a97f9569/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4858d19d0e569f39fbed23d76395d4e954c05a88
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/a97f9569/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a1db1f407f33dcec7fb7722e4e82a78cb7db505e441caff4cc5d3b5bfea89a1
+size 133318953
diff --git a/2024-11-11-12-07-40/splats/a97f9569/transforms.json b/2024-11-11-12-07-40/splats/a97f9569/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca045a596333f4483f29549d7ae44d99085bbd9
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/a97f9569/transforms.json
@@ -0,0 +1,48516 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_04719.png",
+      "transform_matrix": [
+        [
+          0.5314137935638428,
+          -0.0757598876953125,
+          -0.8437179327011108,
+          105.23612976074219
+        ],
+        [
+          0.8466818928718567,
+          0.07924838364124298,
+          0.5261648297309875,
+          11.887392044067383
+        ],
+        [
+          0.02700108289718628,
+          -0.9939719438552856,
+          0.10625821352005005,
+          -33.04935073852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4719,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_383082628",
+      "mask_path": "../../mask/hdr_front_04719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04720.png",
+      "transform_matrix": [
+        [
+          0.542246401309967,
+          -0.07080277800559998,
+          -0.8372310400009155,
+          105.29751586914062
+        ],
+        [
+          0.8398461937904358,
+          0.07537278532981873,
+          0.537566065788269,
+          11.849361419677734
+        ],
+        [
+          0.025043271481990814,
+          -0.9946386218070984,
+          0.10033407807350159,
+          -33.05876922607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4720,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_483081579",
+      "mask_path": "../../mask/hdr_front_04720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04721.png",
+      "transform_matrix": [
+        [
+          0.5448974370956421,
+          -0.07504714280366898,
+          -0.8351376056671143,
+          105.36485290527344
+        ],
+        [
+          0.8383565545082092,
+          0.06735745072364807,
+          0.5409448146820068,
+          11.810454368591309
+        ],
+        [
+          0.015656372532248497,
+          -0.994902491569519,
+          0.09961917251348495,
+          -33.06596374511719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4721,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_583081245",
+      "mask_path": "../../mask/hdr_front_04721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04723.png",
+      "transform_matrix": [
+        [
+          0.5412871241569519,
+          -0.07762239128351212,
+          -0.8372472524642944,
+          105.45987701416016
+        ],
+        [
+          0.8407963514328003,
+          0.05985686182975769,
+          0.5380321741104126,
+          11.75369644165039
+        ],
+        [
+          0.00835164450109005,
+          -0.9951844215393066,
+          0.09766437858343124,
+          -33.07953643798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4723,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_783081531",
+      "mask_path": "../../mask/hdr_front_04723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04724.png",
+      "transform_matrix": [
+        [
+          0.5430341362953186,
+          -0.07444300502538681,
+          -0.8364042639732361,
+          105.52035522460938
+        ],
+        [
+          0.8396607637405396,
+          0.05898759141564369,
+          0.5398983955383301,
+          11.712846755981445
+        ],
+        [
+          0.00914581585675478,
+          -0.995479166507721,
+          0.09453915059566498,
+          -33.0884895324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4724,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_883081197",
+      "mask_path": "../../mask/hdr_front_04724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04725.png",
+      "transform_matrix": [
+        [
+          0.5504534244537354,
+          -0.07168533653020859,
+          -0.8317825794219971,
+          105.58140563964844
+        ],
+        [
+          0.8348245620727539,
+          0.05717574432492256,
+          0.5475390553474426,
+          11.660100936889648
+        ],
+        [
+          0.00830727070569992,
+          -0.9957872629165649,
+          0.09131725877523422,
+          -33.0866813659668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4725,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_983082056",
+      "mask_path": "../../mask/hdr_front_04725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04728.png",
+      "transform_matrix": [
+        [
+          0.5763727426528931,
+          -0.05745435133576393,
+          -0.8151646852493286,
+          105.71556091308594
+        ],
+        [
+          0.8169436454772949,
+          0.06484708935022354,
+          0.5730602145195007,
+          11.561360359191895
+        ],
+        [
+          0.01993625983595848,
+          -0.9962399005889893,
+          0.08431307971477509,
+          -33.10141372680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4728,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_283079624",
+      "mask_path": "../../mask/hdr_front_04728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04729.png",
+      "transform_matrix": [
+        [
+          0.5775003433227539,
+          -0.0664297491312027,
+          -0.8136833906173706,
+          105.7761001586914
+        ],
+        [
+          0.816343367099762,
+          0.057703930884599686,
+          0.5746772289276123,
+          11.529772758483887
+        ],
+        [
+          0.008777061477303505,
+          -0.9961211681365967,
+          0.08755351603031158,
+          -33.1088752746582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4729,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_383081436",
+      "mask_path": "../../mask/hdr_front_04729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04730.png",
+      "transform_matrix": [
+        [
+          0.5771759748458862,
+          -0.07144296914339066,
+          -0.8134885430335999,
+          105.82353210449219
+        ],
+        [
+          0.8166139721870422,
+          0.05422274395823479,
+          0.5746315121650696,
+          11.507953643798828
+        ],
+        [
+          0.0030561955645680428,
+          -0.995969831943512,
+          0.0896373987197876,
+          -33.1187744140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4730,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_483080625",
+      "mask_path": "../../mask/hdr_front_04730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04732.png",
+      "transform_matrix": [
+        [
+          0.5822590589523315,
+          -0.0748378336429596,
+          -0.8095515966415405,
+          105.91026306152344
+        ],
+        [
+          0.8129947185516357,
+          0.05817621946334839,
+          0.5793575048446655,
+          11.468531608581543
+        ],
+        [
+          0.003738794941455126,
+          -0.9954973459243774,
+          0.0947163850069046,
+          -33.135257720947266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4732,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_683081865",
+      "mask_path": "../../mask/hdr_front_04732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04736.png",
+      "transform_matrix": [
+        [
+          0.6073033213615417,
+          -0.06893710792064667,
+          -0.7914735078811646,
+          106.0648422241211
+        ],
+        [
+          0.7944680452346802,
+          0.05491837486624718,
+          0.604817807674408,
+          11.341780662536621
+        ],
+        [
+          0.0017720514442771673,
+          -0.9961082935333252,
+          0.08812044560909271,
+          -33.13608932495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4736,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_83081245",
+      "mask_path": "../../mask/hdr_front_04736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04740.png",
+      "transform_matrix": [
+        [
+          0.6005750894546509,
+          -0.08250056952238083,
+          -0.7953006625175476,
+          106.2154769897461
+        ],
+        [
+          0.799468994140625,
+          0.046283092349767685,
+          0.5989216566085815,
+          11.23746109008789
+        ],
+        [
+          -0.012602408416569233,
+          -0.995515763759613,
+          0.09375312179327011,
+          -33.16488265991211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4740,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_483082532",
+      "mask_path": "../../mask/hdr_front_04740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04742.png",
+      "transform_matrix": [
+        [
+          0.5891257524490356,
+          -0.0745898187160492,
+          -0.8045912981033325,
+          106.28333282470703
+        ],
+        [
+          0.8080007433891296,
+          0.04439254477620125,
+          0.5875067114830017,
+          11.188045501708984
+        ],
+        [
+          -0.00810416229069233,
+          -0.9962257146835327,
+          0.0864214152097702,
+          -33.158870697021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4742,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_683080673",
+      "mask_path": "../../mask/hdr_front_04742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04744.png",
+      "transform_matrix": [
+        [
+          0.5710636377334595,
+          -0.06476548314094543,
+          -0.8183469176292419,
+          106.37662506103516
+        ],
+        [
+          0.8209013342857361,
+          0.04835245758295059,
+          0.5690194368362427,
+          11.138578414916992
+        ],
+        [
+          0.002716273069381714,
+          -0.9967284798622131,
+          0.08077839761972427,
+          -33.17070388793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4744,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_883080720",
+      "mask_path": "../../mask/hdr_front_04744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04745.png",
+      "transform_matrix": [
+        [
+          0.5608370900154114,
+          -0.0712614431977272,
+          -0.8248536586761475,
+          106.42581939697266
+        ],
+        [
+          0.8279174566268921,
+          0.043700315058231354,
+          0.5591448545455933,
+          11.112885475158691
+        ],
+        [
+          -0.0037990999408066273,
+          -0.9964999556541443,
+          0.08350734412670135,
+          -33.1767578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4745,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_983081579",
+      "mask_path": "../../mask/hdr_front_04745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04747.png",
+      "transform_matrix": [
+        [
+          0.5376548767089844,
+          -0.0719110518693924,
+          -0.8400928974151611,
+          106.5134506225586
+        ],
+        [
+          0.843145489692688,
+          0.0390736423432827,
+          0.5362638831138611,
+          11.086668014526367
+        ],
+        [
+          -0.005737810395658016,
+          -0.9966453909873962,
+          0.0816396027803421,
+          -33.195823669433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4747,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_183081388",
+      "mask_path": "../../mask/hdr_front_04747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04748.png",
+      "transform_matrix": [
+        [
+          0.5295234322547913,
+          -0.0710601732134819,
+          -0.8453137278556824,
+          106.57758331298828
+        ],
+        [
+          0.8482892513275146,
+          0.04060254245996475,
+          0.5279741883277893,
+          11.066877365112305
+        ],
+        [
+          -0.003196051111444831,
+          -0.9966453909873962,
+          0.0817795917391777,
+          -33.2087287902832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4748,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_283082008",
+      "mask_path": "../../mask/hdr_front_04748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04749.png",
+      "transform_matrix": [
+        [
+          0.529262125492096,
+          -0.06805125623941422,
+          -0.8457249402999878,
+          106.65399169921875
+        ],
+        [
+          0.8484581112861633,
+          0.04154379665851593,
+          0.5276296734809875,
+          11.029483795166016
+        ],
+        [
+          -0.0007712348597124219,
+          -0.9968165159225464,
+          0.0797261968255043,
+          -33.208255767822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4749,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_383081912",
+      "mask_path": "../../mask/hdr_front_04749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04750.png",
+      "transform_matrix": [
+        [
+          0.5374307632446289,
+          -0.05998384207487106,
+          -0.8411718606948853,
+          106.7280044555664
+        ],
+        [
+          0.8433025479316711,
+          0.04176473617553711,
+          0.5358138680458069,
+          10.986845970153809
+        ],
+        [
+          0.00299114384688437,
+          -0.9973252415657043,
+          0.07303018867969513,
+          -33.20629119873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4750,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_483081817",
+      "mask_path": "../../mask/hdr_front_04750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04751.png",
+      "transform_matrix": [
+        [
+          0.5467905402183533,
+          -0.05519794672727585,
+          -0.8354479074478149,
+          106.80513763427734
+        ],
+        [
+          0.837268054485321,
+          0.03788071125745773,
+          0.5454791188240051,
+          10.94310474395752
+        ],
+        [
+          0.0015380391851067543,
+          -0.9977566003799438,
+          0.06692828238010406,
+          -33.21854782104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4751,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_583082437",
+      "mask_path": "../../mask/hdr_front_04751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04752.png",
+      "transform_matrix": [
+        [
+          0.5483989715576172,
+          -0.05923045426607132,
+          -0.8341163992881775,
+          106.8836441040039
+        ],
+        [
+          0.8362004160881042,
+          0.0326056070625782,
+          0.5474539399147034,
+          10.90146255493164
+        ],
+        [
+          -0.00522906007245183,
+          -0.9977117776870728,
+          0.06740942597389221,
+          -33.23516845703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4752,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_683082103",
+      "mask_path": "../../mask/hdr_front_04752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04753.png",
+      "transform_matrix": [
+        [
+          0.5463470816612244,
+          -0.06525498628616333,
+          -0.8350129723548889,
+          106.94464111328125
+        ],
+        [
+          0.8374798893928528,
+          0.02887124940752983,
+          0.5457050204277039,
+          10.868443489074707
+        ],
+        [
+          -0.011502102948725224,
+          -0.9974510073661804,
+          0.07042345404624939,
+          -33.25061798095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4753,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_783082246",
+      "mask_path": "../../mask/hdr_front_04753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04754.png",
+      "transform_matrix": [
+        [
+          0.5468586683273315,
+          -0.06746251881122589,
+          -0.8345025181770325,
+          106.99946594238281
+        ],
+        [
+          0.8371574282646179,
+          0.03141918405890465,
+          0.5460586547851562,
+          10.831806182861328
+        ],
+        [
+          -0.010619108565151691,
+          -0.9972269535064697,
+          0.07365862280130386,
+          -33.266998291015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4754,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_883081912",
+      "mask_path": "../../mask/hdr_front_04754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04755.png",
+      "transform_matrix": [
+        [
+          0.5523396730422974,
+          -0.07320176810026169,
+          -0.8303988575935364,
+          107.06108856201172
+        ],
+        [
+          0.8335378170013428,
+          0.03458799049258232,
+          0.5513786673545837,
+          10.786214828491211
+        ],
+        [
+          -0.011640062555670738,
+          -0.9967172741889954,
+          0.08012077212333679,
+          -33.278228759765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4755,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_983082294",
+      "mask_path": "../../mask/hdr_front_04755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04756.png",
+      "transform_matrix": [
+        [
+          0.5599826574325562,
+          -0.08011535555124283,
+          -0.8246217370033264,
+          107.1120834350586
+        ],
+        [
+          0.8283782601356506,
+          0.03677858039736748,
+          0.558960497379303,
+          10.744009017944336
+        ],
+        [
+          -0.01445289608091116,
+          -0.9961068630218506,
+          0.08696119487285614,
+          -33.283233642578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4756,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_83083629",
+      "mask_path": "../../mask/hdr_front_04756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04757.png",
+      "transform_matrix": [
+        [
+          0.5703872442245483,
+          -0.08022520691156387,
+          -0.8174486756324768,
+          107.1534652709961
+        ],
+        [
+          0.821334958076477,
+          0.04576236009597778,
+          0.5686076283454895,
+          10.707134246826172
+        ],
+        [
+          -0.008208290673792362,
+          -0.9957257509231567,
+          0.0919940397143364,
+          -33.29117965698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4757,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_183081626",
+      "mask_path": "../../mask/hdr_front_04757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04758.png",
+      "transform_matrix": [
+        [
+          0.5813120603561401,
+          -0.08876216411590576,
+          -0.808824896812439,
+          107.20844268798828
+        ],
+        [
+          0.8136173486709595,
+          0.05098973214626312,
+          0.579160749912262,
+          10.667342185974121
+        ],
+        [
+          -0.010165796615183353,
+          -0.9947468638420105,
+          0.10185936838388443,
+          -33.31332778930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4758,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_283081531",
+      "mask_path": "../../mask/hdr_front_04758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04759.png",
+      "transform_matrix": [
+        [
+          0.5841324329376221,
+          -0.10884669423103333,
+          -0.8043269515037537,
+          107.27889251708984
+        ],
+        [
+          0.8114849925041199,
+          0.05783248320221901,
+          0.5815045833587646,
+          10.619489669799805
+        ],
+        [
+          -0.016778631135821342,
+          -0.9923748970031738,
+          0.12210928648710251,
+          -33.34446334838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4759,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_383081912",
+      "mask_path": "../../mask/hdr_front_04759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04760.png",
+      "transform_matrix": [
+        [
+          0.5839846730232239,
+          -0.1212194487452507,
+          -0.8026629090309143,
+          107.33589172363281
+        ],
+        [
+          0.8115950226783752,
+          0.0669710636138916,
+          0.5803691744804382,
+          10.579001426696777
+        ],
+        [
+          -0.01659684255719185,
+          -0.9903639554977417,
+          0.1374911665916443,
+          -33.37150573730469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4760,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_483082056",
+      "mask_path": "../../mask/hdr_front_04760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04761.png",
+      "transform_matrix": [
+        [
+          0.5836268663406372,
+          -0.12547360360622406,
+          -0.8022693991661072,
+          107.37802124023438
+        ],
+        [
+          0.8118491768836975,
+          0.06977791339159012,
+          0.5796827077865601,
+          10.542643547058105
+        ],
+        [
+          -0.016754183918237686,
+          -0.9896400570869446,
+          0.14258988201618195,
+          -33.3853645324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4761,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_583081245",
+      "mask_path": "../../mask/hdr_front_04761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04762.png",
+      "transform_matrix": [
+        [
+          0.5757387280464172,
+          -0.12792286276817322,
+          -0.8075646758079529,
+          107.44437408447266
+        ],
+        [
+          0.8175523281097412,
+          0.07613126188516617,
+          0.5707996487617493,
+          10.488991737365723
+        ],
+        [
+          -0.011537394486367702,
+          -0.9888578653335571,
+          0.14841537177562714,
+          -33.39926528930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4762,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_683079957",
+      "mask_path": "../../mask/hdr_front_04762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04763.png",
+      "transform_matrix": [
+        [
+          0.5619481205940247,
+          -0.13261137902736664,
+          -0.8164732456207275,
+          107.50794982910156
+        ],
+        [
+          0.8271319270133972,
+          0.08030813187360764,
+          0.556240439414978,
+          10.438404083251953
+        ],
+        [
+          -0.008194375783205032,
+          -0.9879093766212463,
+          0.15481607615947723,
+          -33.41031265258789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4763,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_783081293",
+      "mask_path": "../../mask/hdr_front_04763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04764.png",
+      "transform_matrix": [
+        [
+          0.5462124943733215,
+          -0.13333797454833984,
+          -0.8269661068916321,
+          107.55162811279297
+        ],
+        [
+          0.8376286029815674,
+          0.08047119528055191,
+          0.5402801632881165,
+          10.408529281616211
+        ],
+        [
+          -0.005492911208420992,
+          -0.987798273563385,
+          0.1556420773267746,
+          -33.4156494140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4764,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_883080720",
+      "mask_path": "../../mask/hdr_front_04764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04765.png",
+      "transform_matrix": [
+        [
+          0.5291128754615784,
+          -0.12731066346168518,
+          -0.8389467000961304,
+          107.59801483154297
+        ],
+        [
+          0.8485351204872131,
+          0.0855197161436081,
+          0.5221825838088989,
+          10.384090423583984
+        ],
+        [
+          0.0052670808508992195,
+          -0.9881691932678223,
+          0.15327715873718262,
+          -33.424217224121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4765,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_983081340",
+      "mask_path": "../../mask/hdr_front_04765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04766.png",
+      "transform_matrix": [
+        [
+          0.5096343755722046,
+          -0.11875436455011368,
+          -0.8521561622619629,
+          107.66521453857422
+        ],
+        [
+          0.8603134155273438,
+          0.08363979309797287,
+          0.5028570890426636,
+          10.35738754272461
+        ],
+        [
+          0.01155769731849432,
+          -0.9893946647644043,
+          0.14479167759418488,
+          -33.441802978515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4766,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_83077669",
+      "mask_path": "../../mask/hdr_front_04766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04767.png",
+      "transform_matrix": [
+        [
+          0.48810553550720215,
+          -0.127004936337471,
+          -0.8634944558143616,
+          107.73968505859375
+        ],
+        [
+          0.8727541565895081,
+          0.07928869128227234,
+          0.4816778004169464,
+          10.319988250732422
+        ],
+        [
+          0.007289889734238386,
+          -0.9887280464172363,
+          0.1495453268289566,
+          -33.4536018371582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4767,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_183081865",
+      "mask_path": "../../mask/hdr_front_04767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04768.png",
+      "transform_matrix": [
+        [
+          0.474680632352829,
+          -0.13766838610172272,
+          -0.8693248629570007,
+          107.80018615722656
+        ],
+        [
+          0.8801451325416565,
+          0.0796295627951622,
+          0.4679785370826721,
+          10.290308952331543
+        ],
+        [
+          0.0047981031239032745,
+          -0.9872722625732422,
+          0.1589667797088623,
+          -33.46646499633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4768,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_283082008",
+      "mask_path": "../../mask/hdr_front_04768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04769.png",
+      "transform_matrix": [
+        [
+          0.47026047110557556,
+          -0.13721753656864166,
+          -0.8717949390411377,
+          107.85678100585938
+        ],
+        [
+          0.8824650645256042,
+          0.08487619459629059,
+          0.4626569151878357,
+          10.26794147491455
+        ],
+        [
+          0.010509981773793697,
+          -0.986897885799408,
+          0.16100360453128815,
+          -33.48301315307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4769,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_383082151",
+      "mask_path": "../../mask/hdr_front_04769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04770.png",
+      "transform_matrix": [
+        [
+          0.4684889316558838,
+          -0.13824816048145294,
+          -0.8725855350494385,
+          107.91659545898438
+        ],
+        [
+          0.8834065198898315,
+          0.0850837379693985,
+          0.46081846952438354,
+          10.247427940368652
+        ],
+        [
+          0.010535525158047676,
+          -0.9867361187934875,
+          0.16199012100696564,
+          -33.5019645690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4770,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_483081102",
+      "mask_path": "../../mask/hdr_front_04770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04771.png",
+      "transform_matrix": [
+        [
+          0.47022509574890137,
+          -0.13139519095420837,
+          -0.8727105855941772,
+          107.99581909179688
+        ],
+        [
+          0.8824911117553711,
+          0.08107691258192062,
+          0.4632880687713623,
+          10.208450317382812
+        ],
+        [
+          0.00988285057246685,
+          -0.9880090951919556,
+          0.15407951176166534,
+          -33.51474380493164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4771,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_583081245",
+      "mask_path": "../../mask/hdr_front_04771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04772.png",
+      "transform_matrix": [
+        [
+          0.47554725408554077,
+          -0.11706926673650742,
+          -0.8718655705451965,
+          108.06271362304688
+        ],
+        [
+          0.8795924782752991,
+          0.07805480808019638,
+          0.46928101778030396,
+          10.174513816833496
+        ],
+        [
+          0.013114930130541325,
+          -0.9900516867637634,
+          0.14009197056293488,
+          -33.51321792602539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4772,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_683082103",
+      "mask_path": "../../mask/hdr_front_04772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04773.png",
+      "transform_matrix": [
+        [
+          0.4803025722503662,
+          -0.11832468211650848,
+          -0.8690850734710693,
+          108.14373779296875
+        ],
+        [
+          0.8771028518676758,
+          0.06468809396028519,
+          0.4759264588356018,
+          10.139305114746094
+        ],
+        [
+          -9.439785208087415e-05,
+          -0.9908657073974609,
+          0.13485276699066162,
+          -33.521812438964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4773,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_783082246",
+      "mask_path": "../../mask/hdr_front_04773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04774.png",
+      "transform_matrix": [
+        [
+          0.48067179322242737,
+          -0.12491989135742188,
+          -0.8679571151733398,
+          108.23746490478516
+        ],
+        [
+          0.8768539428710938,
+          0.05825833976268768,
+          0.4772140383720398,
+          10.102949142456055
+        ],
+        [
+          -0.009047782979905605,
+          -0.9904549717903137,
+          0.13753962516784668,
+          -33.55013656616211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4774,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_883082151",
+      "mask_path": "../../mask/hdr_front_04774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04775.png",
+      "transform_matrix": [
+        [
+          0.4789860248565674,
+          -0.12402155995368958,
+          -0.8690173625946045,
+          108.30280303955078
+        ],
+        [
+          0.8777788877487183,
+          0.05779648944735527,
+          0.4755668640136719,
+          10.083498001098633
+        ],
+        [
+          -0.008754395879805088,
+          -0.9905949234962463,
+          0.13654720783233643,
+          -33.571311950683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4775,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_983081340",
+      "mask_path": "../../mask/hdr_front_04775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04776.png",
+      "transform_matrix": [
+        [
+          0.47767454385757446,
+          -0.119316965341568,
+          -0.8703967928886414,
+          108.36360931396484
+        ],
+        [
+          0.8785034418106079,
+          0.05622969567775726,
+          0.4744153618812561,
+          10.057893753051758
+        ],
+        [
+          -0.007663661148399115,
+          -0.991262674331665,
+          0.13167987763881683,
+          -33.583065032958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4776,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_83081245",
+      "mask_path": "../../mask/hdr_front_04776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04777.png",
+      "transform_matrix": [
+        [
+          0.48069754242897034,
+          -0.11754323542118073,
+          -0.868972659111023,
+          108.43934631347656
+        ],
+        [
+          0.8768346309661865,
+          0.0536499097943306,
+          0.47778958082199097,
+          10.019227027893066
+        ],
+        [
+          -0.00954063143581152,
+          -0.9916175603866577,
+          0.128855362534523,
+          -33.590545654296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4777,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_183081626",
+      "mask_path": "../../mask/hdr_front_04777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04778.png",
+      "transform_matrix": [
+        [
+          0.48768115043640137,
+          -0.11622732877731323,
+          -0.8652504682540894,
+          108.50996398925781
+        ],
+        [
+          0.8729170560836792,
+          0.04956761375069618,
+          0.4853440225124359,
+          9.973302841186523
+        ],
+        [
+          -0.013521838001906872,
+          -0.991985023021698,
+          0.12563002109527588,
+          -33.590354919433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4778,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_283081531",
+      "mask_path": "../../mask/hdr_front_04778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04779.png",
+      "transform_matrix": [
+        [
+          0.4953770339488983,
+          -0.11127457022666931,
+          -0.8615217208862305,
+          108.56700134277344
+        ],
+        [
+          0.8685297966003418,
+          0.045119620859622955,
+          0.49357903003692627,
+          9.932278633117676
+        ],
+        [
+          -0.016051264479756355,
+          -0.992764949798584,
+          0.1189965084195137,
+          -33.59302520751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4779,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_383081436",
+      "mask_path": "../../mask/hdr_front_04779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04780.png",
+      "transform_matrix": [
+        [
+          0.502037525177002,
+          -0.1129070520401001,
+          -0.8574440479278564,
+          108.63562774658203
+        ],
+        [
+          0.8645040392875671,
+          0.03764443099498749,
+          0.5012142658233643,
+          9.886062622070312
+        ],
+        [
+          -0.02431262657046318,
+          -0.9928922057151794,
+          0.11650751531124115,
+          -33.602481842041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4780,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_483083009",
+      "mask_path": "../../mask/hdr_front_04780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04781.png",
+      "transform_matrix": [
+        [
+          0.4993506371974945,
+          -0.1263241171836853,
+          -0.8571413159370422,
+          108.722412109375
+        ],
+        [
+          0.8655692934989929,
+          0.029427872970700264,
+          0.4999237358570099,
+          9.83271312713623
+        ],
+        [
+          -0.03792857751250267,
+          -0.9915525317192078,
+          0.12403711676597595,
+          -33.616207122802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4781,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_583080768",
+      "mask_path": "../../mask/hdr_front_04781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04782.png",
+      "transform_matrix": [
+        [
+          0.49048900604248047,
+          -0.13375180959701538,
+          -0.8611218929290771,
+          108.7953109741211
+        ],
+        [
+          0.8702600002288818,
+          0.023613816127181053,
+          0.49202629923820496,
+          9.79483413696289
+        ],
+        [
+          -0.045475032180547714,
+          -0.9907335042953491,
+          0.12798115611076355,
+          -33.63484573364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4782,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_683082818",
+      "mask_path": "../../mask/hdr_front_04782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04783.png",
+      "transform_matrix": [
+        [
+          0.48240017890930176,
+          -0.1304709017276764,
+          -0.8661798238754272,
+          108.85292053222656
+        ],
+        [
+          0.8749126195907593,
+          0.023634985089302063,
+          0.4837036728858948,
+          9.76904296875
+        ],
+        [
+          -0.04263710603117943,
+          -0.9911704063415527,
+          0.12555216252803802,
+          -33.65209197998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4783,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_783081054",
+      "mask_path": "../../mask/hdr_front_04783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04784.png",
+      "transform_matrix": [
+        [
+          0.4768170416355133,
+          -0.13942962884902954,
+          -0.8678737878799438,
+          108.9303970336914
+        ],
+        [
+          0.8779536485671997,
+          0.02732543833553791,
+          0.47796502709388733,
+          9.719407081604004
+        ],
+        [
+          -0.04292745515704155,
+          -0.9898548722267151,
+          0.13544200360774994,
+          -33.67443084716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4784,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_883081674",
+      "mask_path": "../../mask/hdr_front_04784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04785.png",
+      "transform_matrix": [
+        [
+          0.47277408838272095,
+          -0.15752455592155457,
+          -0.8669894933700562,
+          109.00240325927734
+        ],
+        [
+          0.8800291419029236,
+          0.034056514501571655,
+          0.4736970067024231,
+          9.669198036193848
+        ],
+        [
+          -0.04509226232767105,
+          -0.9869276285171509,
+          0.1547272503376007,
+          -33.6978645324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4785,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_983081817",
+      "mask_path": "../../mask/hdr_front_04785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04786.png",
+      "transform_matrix": [
+        [
+          0.4700641930103302,
+          -0.16510657966136932,
+          -0.8670521974563599,
+          109.05255889892578
+        ],
+        [
+          0.8817477822303772,
+          0.0438765287399292,
+          0.4696761965751648,
+          9.643851280212402
+        ],
+        [
+          -0.03950338810682297,
+          -0.985299289226532,
+          0.16620713472366333,
+          -33.71906280517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4786,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_83082914",
+      "mask_path": "../../mask/hdr_front_04786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04787.png",
+      "transform_matrix": [
+        [
+          0.4696497917175293,
+          -0.16062749922275543,
+          -0.8681174516677856,
+          109.10528564453125
+        ],
+        [
+          0.8823729157447815,
+          0.052986908704042435,
+          0.4675578773021698,
+          9.620059967041016
+        ],
+        [
+          -0.029103795066475868,
+          -0.9855918288230896,
+          0.16661866009235382,
+          -33.740230560302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4787,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_183081388",
+      "mask_path": "../../mask/hdr_front_04787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04788.png",
+      "transform_matrix": [
+        [
+          0.4688462018966675,
+          -0.16734352707862854,
+          -0.8672827482223511,
+          109.18653869628906
+        ],
+        [
+          0.882713794708252,
+          0.05362112447619438,
+          0.46684178709983826,
+          9.581974983215332
+        ],
+        [
+          -0.03161827474832535,
+          -0.9844394326210022,
+          0.17285649478435516,
+          -33.75987243652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4788,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_283082485",
+      "mask_path": "../../mask/hdr_front_04788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04789.png",
+      "transform_matrix": [
+        [
+          0.466046005487442,
+          -0.18034811317920685,
+          -0.8661845326423645,
+          109.26182556152344
+        ],
+        [
+          0.8838735222816467,
+          0.05107593163847923,
+          0.46492892503738403,
+          9.54807186126709
+        ],
+        [
+          -0.039607856422662735,
+          -0.9822758436203003,
+          0.1832086443901062,
+          -33.77824783325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4789,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_383081436",
+      "mask_path": "../../mask/hdr_front_04789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04790.png",
+      "transform_matrix": [
+        [
+          0.46284860372543335,
+          -0.18622343242168427,
+          -0.866655707359314,
+          109.31324005126953
+        ],
+        [
+          0.8853753805160522,
+          0.049276672303676605,
+          0.46225783228874207,
+          9.524089813232422
+        ],
+        [
+          -0.04337732121348381,
+          -0.981270968914032,
+          0.1876852810382843,
+          -33.79790496826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4790,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_483082771",
+      "mask_path": "../../mask/hdr_front_04790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04791.png",
+      "transform_matrix": [
+        [
+          0.45965415239334106,
+          -0.18791969120502472,
+          -0.867988646030426,
+          109.36259460449219
+        ],
+        [
+          0.8869523406028748,
+          0.04750804975628853,
+          0.4594111144542694,
+          9.501971244812012
+        ],
+        [
+          -0.04509594291448593,
+          -0.9810347557067871,
+          0.18851308524608612,
+          -33.81715774536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4791,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_583081722",
+      "mask_path": "../../mask/hdr_front_04791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04792.png",
+      "transform_matrix": [
+        [
+          0.4617120027542114,
+          -0.1965094655752182,
+          -0.8649890422821045,
+          109.43206787109375
+        ],
+        [
+          0.8860958814620972,
+          0.05744084715843201,
+          0.4599289000034332,
+          9.456827163696289
+        ],
+        [
+          -0.04069468006491661,
+          -0.9788179993629456,
+          0.20064735412597656,
+          -33.834503173828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4792,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_683082342",
+      "mask_path": "../../mask/hdr_front_04792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04793.png",
+      "transform_matrix": [
+        [
+          0.46918365359306335,
+          -0.20601321756839752,
+          -0.858734667301178,
+          109.48414611816406
+        ],
+        [
+          0.8822660446166992,
+          0.06708468496799469,
+          0.46594661474227905,
+          9.416193962097168
+        ],
+        [
+          -0.03838321566581726,
+          -0.9762470722198486,
+          0.21323351562023163,
+          -33.8427619934082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4793,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_783082008",
+      "mask_path": "../../mask/hdr_front_04793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04795.png",
+      "transform_matrix": [
+        [
+          0.4843835234642029,
+          -0.2075333446264267,
+          -0.8498837947845459,
+          109.55888366699219
+        ],
+        [
+          0.8738635182380676,
+          0.06852062791585922,
+          0.48131850361824036,
+          9.356132507324219
+        ],
+        [
+          -0.04165506735444069,
+          -0.975825309753418,
+          0.2145460695028305,
+          -33.85836410522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4795,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_983081817",
+      "mask_path": "../../mask/hdr_front_04795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04796.png",
+      "transform_matrix": [
+        [
+          0.49089229106903076,
+          -0.2029554694890976,
+          -0.8472508192062378,
+          109.62307739257812
+        ],
+        [
+          0.8703745603561401,
+          0.07140478491783142,
+          0.48718538880348206,
+          9.30951976776123
+        ],
+        [
+          -0.03837917000055313,
+          -0.9765810370445251,
+          0.21169932186603546,
+          -33.87744140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4796,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_83082199",
+      "mask_path": "../../mask/hdr_front_04796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04797.png",
+      "transform_matrix": [
+        [
+          0.48910433053970337,
+          -0.19626514613628387,
+          -0.849856972694397,
+          109.68618774414062
+        ],
+        [
+          0.8716899156570435,
+          0.07585544139146805,
+          0.4841515123844147,
+          9.27599811553955
+        ],
+        [
+          -0.03055579587817192,
+          -0.9776123762130737,
+          0.20818355679512024,
+          -33.9015998840332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4797,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_183081388",
+      "mask_path": "../../mask/hdr_front_04797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04799.png",
+      "transform_matrix": [
+        [
+          0.4680023789405823,
+          -0.17860731482505798,
+          -0.865490198135376,
+          109.78654479980469
+        ],
+        [
+          0.8837064504623413,
+          0.08785277605056763,
+          0.45972275733947754,
+          9.24697494506836
+        ],
+        [
+          -0.006074125878512859,
+          -0.979990541934967,
+          0.19895170629024506,
+          -33.932769775390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4799,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_383081674",
+      "mask_path": "../../mask/hdr_front_04799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04800.png",
+      "transform_matrix": [
+        [
+          0.44900479912757874,
+          -0.17476296424865723,
+          -0.8762719631195068,
+          109.85914611816406
+        ],
+        [
+          0.8935288786888123,
+          0.08689854294061661,
+          0.4405164122581482,
+          9.212594032287598
+        ],
+        [
+          -0.0008391801966354251,
+          -0.9807683825492859,
+          0.19517362117767334,
+          -33.94147491455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4800,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_483082294",
+      "mask_path": "../../mask/hdr_front_04800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04801.png",
+      "transform_matrix": [
+        [
+          0.43116918206214905,
+          -0.1682235151529312,
+          -0.8864502310752869,
+          109.91996765136719
+        ],
+        [
+          0.9022672176361084,
+          0.08326973766088486,
+          0.42306026816368103,
+          9.179902076721191
+        ],
+        [
+          0.0026457926724106073,
+          -0.9822255969047546,
+          0.18768592178821564,
+          -33.94602584838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4801,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_583080768",
+      "mask_path": "../../mask/hdr_front_04801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04803.png",
+      "transform_matrix": [
+        [
+          0.40963461995124817,
+          -0.14448536932468414,
+          -0.9007349014282227,
+          110.02613830566406
+        ],
+        [
+          0.9121352434158325,
+          0.080506831407547,
+          0.4019052982330322,
+          9.140253067016602
+        ],
+        [
+          0.014445878565311432,
+          -0.986226499080658,
+          0.16476862132549286,
+          -33.96113204956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4803,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_783083915",
+      "mask_path": "../../mask/hdr_front_04803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04804.png",
+      "transform_matrix": [
+        [
+          0.4011373221874237,
+          -0.14143148064613342,
+          -0.9050337076187134,
+          110.10247039794922
+        ],
+        [
+          0.9159018993377686,
+          0.0776505321264267,
+          0.3938198387622833,
+          9.107560157775879
+        ],
+        [
+          0.014577828347682953,
+          -0.9868979454040527,
+          0.16068589687347412,
+          -33.975311279296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4804,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_883081436",
+      "mask_path": "../../mask/hdr_front_04804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04805.png",
+      "transform_matrix": [
+        [
+          0.3966735899448395,
+          -0.13959607481956482,
+          -0.9072832465171814,
+          110.16348266601562
+        ],
+        [
+          0.9177755117416382,
+          0.0801115557551384,
+          0.38893479108810425,
+          9.09162425994873
+        ],
+        [
+          0.018390106037259102,
+          -0.9869625568389893,
+          0.15989600121974945,
+          -33.98958969116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4805,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_983081817",
+      "mask_path": "../../mask/hdr_front_04805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04806.png",
+      "transform_matrix": [
+        [
+          0.3931276202201843,
+          -0.13699734210968018,
+          -0.909220814704895,
+          110.21910858154297
+        ],
+        [
+          0.9191178679466248,
+          0.08644647896289825,
+          0.38438162207603455,
+          9.082691192626953
+        ],
+        [
+          0.025939669460058212,
+          -0.9867921471595764,
+          0.1599012166261673,
+          -34.00240707397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4806,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_83081960",
+      "mask_path": "../../mask/hdr_front_04806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04807.png",
+      "transform_matrix": [
+        [
+          0.3944181799888611,
+          -0.14107878506183624,
+          -0.9080369472503662,
+          110.28734588623047
+        ],
+        [
+          0.918437123298645,
+          0.09291540831327438,
+          0.38449960947036743,
+          9.071993827819824
+        ],
+        [
+          0.030125878751277924,
+          -0.9856285452842712,
+          0.1662195324897766,
+          -34.01692581176758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4807,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_183082818",
+      "mask_path": "../../mask/hdr_front_04807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04808.png",
+      "transform_matrix": [
+        [
+          0.4007267653942108,
+          -0.14479482173919678,
+          -0.9046837091445923,
+          110.3492660522461
+        ],
+        [
+          0.9157673716545105,
+          0.09355895966291428,
+          0.39066213369369507,
+          9.0579833984375
+        ],
+        [
+          0.028075404465198517,
+          -0.9850285053253174,
+          0.1700899600982666,
+          -34.024837493896484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4808,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_283081769",
+      "mask_path": "../../mask/hdr_front_04808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04809.png",
+      "transform_matrix": [
+        [
+          0.41067105531692505,
+          -0.14181829988956451,
+          -0.9006868600845337,
+          110.40019226074219
+        ],
+        [
+          0.9114735722541809,
+          0.08961348980665207,
+          0.4014791250228882,
+          9.037919998168945
+        ],
+        [
+          0.02377660945057869,
+          -0.9858281016349792,
+          0.1660652756690979,
+          -34.033836364746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4809,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_383080720",
+      "mask_path": "../../mask/hdr_front_04809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04810.png",
+      "transform_matrix": [
+        [
+          0.418502539396286,
+          -0.14885790646076202,
+          -0.8959335684776306,
+          110.47349548339844
+        ],
+        [
+          0.9081776738166809,
+          0.07760652899742126,
+          0.4113277494907379,
+          9.009931564331055
+        ],
+        [
+          0.008300895802676678,
+          -0.9858086109161377,
+          0.16766797006130219,
+          -34.052085876464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4810,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_483082532",
+      "mask_path": "../../mask/hdr_front_04810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04811.png",
+      "transform_matrix": [
+        [
+          0.4192366600036621,
+          -0.17279848456382751,
+          -0.8912807106971741,
+          110.55607604980469
+        ],
+        [
+          0.9078336358070374,
+          0.07020001113414764,
+          0.4134126603603363,
+          8.980435371398926
+        ],
+        [
+          -0.008869164623320103,
+          -0.982452392578125,
+          0.18630269169807434,
+          -34.092464447021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4811,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_583081483",
+      "mask_path": "../../mask/hdr_front_04811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04812.png",
+      "transform_matrix": [
+        [
+          0.42057549953460693,
+          -0.1944046914577484,
+          -0.886184573173523,
+          110.60912322998047
+        ],
+        [
+          0.9071133732795715,
+          0.07269508391618729,
+          0.41456085443496704,
+          8.95819091796875
+        ],
+        [
+          -0.01617131009697914,
+          -0.9782240986824036,
+          0.20692087709903717,
+          -34.13349151611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4812,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_683081388",
+      "mask_path": "../../mask/hdr_front_04812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04813.png",
+      "transform_matrix": [
+        [
+          0.42234811186790466,
+          -0.2046009600162506,
+          -0.8830405473709106,
+          110.65556335449219
+        ],
+        [
+          0.9062485098838806,
+          0.07562558352947235,
+          0.4159258306026459,
+          8.934568405151367
+        ],
+        [
+          -0.018318355083465576,
+          -0.9759196639060974,
+          0.21735966205596924,
+          -34.16159439086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4813,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_783081293",
+      "mask_path": "../../mask/hdr_front_04813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04814.png",
+      "transform_matrix": [
+        [
+          0.4233400821685791,
+          -0.2130044847726822,
+          -0.8805750012397766,
+          110.73146057128906
+        ],
+        [
+          0.9058557748794556,
+          0.08402706682682037,
+          0.415168434381485,
+          8.887181282043457
+        ],
+        [
+          -0.014440597966313362,
+          -0.9734313488006592,
+          0.2285233438014984,
+          -34.18928527832031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4814,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_883081674",
+      "mask_path": "../../mask/hdr_front_04814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04815.png",
+      "transform_matrix": [
+        [
+          0.42919668555259705,
+          -0.22230549156665802,
+          -0.8754259347915649,
+          110.80094146728516
+        ],
+        [
+          0.9030879139900208,
+          0.08962031453847885,
+          0.42000043392181396,
+          8.83798599243164
+        ],
+        [
+          -0.014912460930645466,
+          -0.9708493947982788,
+          0.23922614753246307,
+          -34.21063995361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4815,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_983080863",
+      "mask_path": "../../mask/hdr_front_04815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04816.png",
+      "transform_matrix": [
+        [
+          0.4407695531845093,
+          -0.22526253759860992,
+          -0.8688953518867493,
+          110.84953308105469
+        ],
+        [
+          0.8973996639251709,
+          0.08912576735019684,
+          0.4321230947971344,
+          8.804390907287598
+        ],
+        [
+          -0.019900189712643623,
+          -0.9702131152153015,
+          0.24143442511558533,
+          -34.229671478271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4816,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_83082199",
+      "mask_path": "../../mask/hdr_front_04816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04817.png",
+      "transform_matrix": [
+        [
+          0.45233163237571716,
+          -0.22573766112327576,
+          -0.8628085255622864,
+          110.90999603271484
+        ],
+        [
+          0.8914283514022827,
+          0.0846959799528122,
+          0.4451766014099121,
+          8.763998031616211
+        ],
+        [
+          -0.02741669863462448,
+          -0.9704994559288025,
+          0.23953962326049805,
+          -34.25566482543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4817,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_183082342",
+      "mask_path": "../../mask/hdr_front_04817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04818.png",
+      "transform_matrix": [
+        [
+          0.4581332504749298,
+          -0.24119789898395538,
+          -0.8555334806442261,
+          110.99234771728516
+        ],
+        [
+          0.8882107138633728,
+          0.08677972853183746,
+          0.4511662423610687,
+          8.710827827453613
+        ],
+        [
+          -0.0345773883163929,
+          -0.9665882587432861,
+          0.2539912760257721,
+          -34.287269592285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4818,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_283082008",
+      "mask_path": "../../mask/hdr_front_04818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04819.png",
+      "transform_matrix": [
+        [
+          0.4607554078102112,
+          -0.254759818315506,
+          -0.8501775860786438,
+          111.06230926513672
+        ],
+        [
+          0.8868724703788757,
+          0.09537295997142792,
+          0.45206335186958313,
+          8.669135093688965
+        ],
+        [
+          -0.03408361226320267,
+          -0.9622896909713745,
+          0.26988306641578674,
+          -34.3156852722168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4819,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_383081912",
+      "mask_path": "../../mask/hdr_front_04819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04820.png",
+      "transform_matrix": [
+        [
+          0.4626549780368805,
+          -0.2596224248409271,
+          -0.8476712703704834,
+          111.12896728515625
+        ],
+        [
+          0.8857917189598083,
+          0.09613945335149765,
+          0.4540156424045563,
+          8.640296936035156
+        ],
+        [
+          -0.03637798875570297,
+          -0.960912823677063,
+          0.27445077896118164,
+          -34.34033966064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4820,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_483082294",
+      "mask_path": "../../mask/hdr_front_04820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04821.png",
+      "transform_matrix": [
+        [
+          0.4677567481994629,
+          -0.26908209919929504,
+          -0.8419017195701599,
+          111.20576477050781
+        ],
+        [
+          0.8833921551704407,
+          0.1114363968372345,
+          0.45519232749938965,
+          8.590152740478516
+        ],
+        [
+          -0.028665605932474136,
+          -0.9566487669944763,
+          0.28983011841773987,
+          -34.38063430786133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4821,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_583082675",
+      "mask_path": "../../mask/hdr_front_04821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04822.png",
+      "transform_matrix": [
+        [
+          0.4850921034812927,
+          -0.2766347825527191,
+          -0.8295534253120422,
+          111.26908111572266
+        ],
+        [
+          0.8744578957557678,
+          0.1502121388912201,
+          0.46125876903533936,
+          8.549030303955078
+        ],
+        [
+          -0.002991217188537121,
+          -0.9491625428199768,
+          0.31477221846580505,
+          -34.40202331542969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4822,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_683082103",
+      "mask_path": "../../mask/hdr_front_04822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04824.png",
+      "transform_matrix": [
+        [
+          0.5075283646583557,
+          -0.26950904726982117,
+          -0.8184008598327637,
+          111.37175750732422
+        ],
+        [
+          0.8616248965263367,
+          0.15413428843021393,
+          0.48357540369033813,
+          8.484313011169434
+        ],
+        [
+          -0.004184323828667402,
+          -0.9505826830863953,
+          0.310443252325058,
+          -34.430816650390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4824,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_883082389",
+      "mask_path": "../../mask/hdr_front_04824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04825.png",
+      "transform_matrix": [
+        [
+          0.5086588859558105,
+          -0.2571367919445038,
+          -0.8216732144355774,
+          111.44966125488281
+        ],
+        [
+          0.8609616160392761,
+          0.14821812510490417,
+          0.4865967333316803,
+          8.443575859069824
+        ],
+        [
+          -0.003335079411044717,
+          -0.954940915107727,
+          0.2967773675918579,
+          -34.450077056884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4825,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_983081579",
+      "mask_path": "../../mask/hdr_front_04825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04826.png",
+      "transform_matrix": [
+        [
+          0.50730961561203,
+          -0.24014505743980408,
+          -0.8276275396347046,
+          111.50927734375
+        ],
+        [
+          0.8617570996284485,
+          0.1451592892408371,
+          0.48611050844192505,
+          8.417007446289062
+        ],
+        [
+          0.003400813089683652,
+          -0.9598225355148315,
+          0.28058740496635437,
+          -34.462127685546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4826,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_83081722",
+      "mask_path": "../../mask/hdr_front_04826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04827.png",
+      "transform_matrix": [
+        [
+          0.5069658756256104,
+          -0.22337864339351654,
+          -0.8325188755989075,
+          111.56853485107422
+        ],
+        [
+          0.8618505597114563,
+          0.14717620611190796,
+          0.4853377044200897,
+          8.390443801879883
+        ],
+        [
+          0.014112892560660839,
+          -0.9635565280914307,
+          0.26713234186172485,
+          -34.4842643737793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4827,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_183083534",
+      "mask_path": "../../mask/hdr_front_04827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04828.png",
+      "transform_matrix": [
+        [
+          0.5061648488044739,
+          -0.2050039917230606,
+          -0.8377174735069275,
+          111.63748168945312
+        ],
+        [
+          0.8622801303863525,
+          0.13880136609077454,
+          0.48703914880752563,
+          8.35051441192627
+        ],
+        [
+          0.016431355848908424,
+          -0.9688692688941956,
+          0.24702726304531097,
+          -34.50300216674805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4828,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_283082246",
+      "mask_path": "../../mask/hdr_front_04828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04829.png",
+      "transform_matrix": [
+        [
+          0.510352611541748,
+          -0.19335919618606567,
+          -0.8379453420639038,
+          111.70484161376953
+        ],
+        [
+          0.8597809672355652,
+          0.13489259779453278,
+          0.49252474308013916,
+          8.289840698242188
+        ],
+        [
+          0.01779845543205738,
+          -0.9718108177185059,
+          0.23508936166763306,
+          -34.50343322753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4829,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_383083105",
+      "mask_path": "../../mask/hdr_front_04829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04831.png",
+      "transform_matrix": [
+        [
+          0.5072337985038757,
+          -0.1657070368528366,
+          -0.8457275629043579,
+          111.7651596069336
+        ],
+        [
+          0.8617664575576782,
+          0.1072225272655487,
+          0.4958447813987732,
+          8.255870819091797
+        ],
+        [
+          0.008516088128089905,
+          -0.9803287982940674,
+          0.1971876621246338,
+          -34.479488372802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4831,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_583082199",
+      "mask_path": "../../mask/hdr_front_04831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04832.png",
+      "transform_matrix": [
+        [
+          0.50831538438797,
+          -0.14693978428840637,
+          -0.8485423922538757,
+          111.81694793701172
+        ],
+        [
+          0.861158549785614,
+          0.0920242965221405,
+          0.499937504529953,
+          8.221898078918457
+        ],
+        [
+          0.004625803790986538,
+          -0.9848554134368896,
+          0.1733158379793167,
+          -34.485939025878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4832,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_683081388",
+      "mask_path": "../../mask/hdr_front_04832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04833.png",
+      "transform_matrix": [
+        [
+          0.5094155073165894,
+          -0.13240589201450348,
+          -0.8502731919288635,
+          111.8891372680664
+        ],
+        [
+          0.8605068922042847,
+          0.08396433293819427,
+          0.5024717450141907,
+          8.188104629516602
+        ],
+        [
+          0.004862391855567694,
+          -0.9876328706741333,
+          0.15670892596244812,
+          -34.49868392944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4833,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_783080339",
+      "mask_path": "../../mask/hdr_front_04833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04835.png",
+      "transform_matrix": [
+        [
+          0.5106346607208252,
+          -0.10627395659685135,
+          -0.8532046675682068,
+          111.9779052734375
+        ],
+        [
+          0.8594666123390198,
+          0.09063279628753662,
+          0.5030933618545532,
+          8.164288520812988
+        ],
+        [
+          0.02386261150240898,
+          -0.9901977777481079,
+          0.13761916756629944,
+          -34.50065231323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4835,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_983082056",
+      "mask_path": "../../mask/hdr_front_04835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04836.png",
+      "transform_matrix": [
+        [
+          0.5091058611869812,
+          -0.09689146280288696,
+          -0.8552328944206238,
+          112.03834533691406
+        ],
+        [
+          0.860363781452179,
+          0.08521969616413116,
+          0.5025055408477783,
+          8.14444351196289
+        ],
+        [
+          0.02419419027864933,
+          -0.9916398525238037,
+          0.1267477571964264,
+          -34.512142181396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4836,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_83082199",
+      "mask_path": "../../mask/hdr_front_04836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04837.png",
+      "transform_matrix": [
+        [
+          0.5124126672744751,
+          -0.08587688207626343,
+          -0.8544345498085022,
+          112.09871673583984
+        ],
+        [
+          0.858526885509491,
+          0.07335630804300308,
+          0.5074941515922546,
+          8.113627433776855
+        ],
+        [
+          0.01909615471959114,
+          -0.9936015605926514,
+          0.11131631582975388,
+          -34.50691223144531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4837,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_183082103",
+      "mask_path": "../../mask/hdr_front_04837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04839.png",
+      "transform_matrix": [
+        [
+          0.5334504246711731,
+          -0.06957250088453293,
+          -0.8429651260375977,
+          112.19168853759766
+        ],
+        [
+          0.8458139300346375,
+          0.050251882523298264,
+          0.5311059355735779,
+          8.035443305969238
+        ],
+        [
+          0.005410218145698309,
+          -0.9963104128837585,
+          0.08565229177474976,
+          -34.50016403198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4839,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_383082151",
+      "mask_path": "../../mask/hdr_front_04839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04840.png",
+      "transform_matrix": [
+        [
+          0.5384729504585266,
+          -0.0754394680261612,
+          -0.8392590284347534,
+          112.26042938232422
+        ],
+        [
+          0.8426081538200378,
+          0.03917291760444641,
+          0.537100613117218,
+          7.982666015625
+        ],
+        [
+          -0.00764235807582736,
+          -0.9963806867599487,
+          0.08465947210788727,
+          -34.513614654541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4840,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_483081817",
+      "mask_path": "../../mask/hdr_front_04840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04841.png",
+      "transform_matrix": [
+        [
+          0.5369755625724792,
+          -0.08221499621868134,
+          -0.8395819664001465,
+          112.30889129638672
+        ],
+        [
+          0.8434028029441833,
+          0.030926654115319252,
+          0.536391019821167,
+          7.94520902633667
+        ],
+        [
+          -0.018133917823433876,
+          -0.9961346983909607,
+          0.08594720810651779,
+          -34.52671432495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4841,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_583081722",
+      "mask_path": "../../mask/hdr_front_04841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04842.png",
+      "transform_matrix": [
+        [
+          0.5354017615318298,
+          -0.08245311677455902,
+          -0.8405631184577942,
+          112.36312866210938
+        ],
+        [
+          0.8443902730941772,
+          0.030213061720132828,
+          0.5348758697509766,
+          7.911457061767578
+        ],
+        [
+          -0.01870618760585785,
+          -0.9961369037628174,
+          0.08579874038696289,
+          -34.54124069213867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4842,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_683082103",
+      "mask_path": "../../mask/hdr_front_04842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04843.png",
+      "transform_matrix": [
+        [
+          0.5387763381004333,
+          -0.09078056365251541,
+          -0.8375434279441833,
+          112.43439483642578
+        ],
+        [
+          0.8423766493797302,
+          0.04503496736288071,
+          0.5370041131973267,
+          7.854325294494629
+        ],
+        [
+          -0.011030790396034718,
+          -0.9948521256446838,
+          0.10073519498109818,
+          -34.569583892822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4843,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_783082246",
+      "mask_path": "../../mask/hdr_front_04843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04845.png",
+      "transform_matrix": [
+        [
+          0.5538548231124878,
+          -0.11004161834716797,
+          -0.8253094553947449,
+          112.51398468017578
+        ],
+        [
+          0.8318538069725037,
+          0.030807634815573692,
+          0.5541390180587769,
+          7.7812957763671875
+        ],
+        [
+          -0.03555252030491829,
+          -0.9934493899345398,
+          0.10860149562358856,
+          -34.58408737182617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4845,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_983080387",
+      "mask_path": "../../mask/hdr_front_04845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04846.png",
+      "transform_matrix": [
+        [
+          0.5588436126708984,
+          -0.10955192148685455,
+          -0.8220049738883972,
+          112.57048034667969
+        ],
+        [
+          0.8279789686203003,
+          0.018356308341026306,
+          0.5604587197303772,
+          7.7384257316589355
+        ],
+        [
+          -0.04631035402417183,
+          -0.9938116073608398,
+          0.1009649932384491,
+          -34.57463073730469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4846,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_83081007",
+      "mask_path": "../../mask/hdr_front_04846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04847.png",
+      "transform_matrix": [
+        [
+          0.5562182664871216,
+          -0.12571190297603607,
+          -0.8214729428291321,
+          112.6466064453125
+        ],
+        [
+          0.829723060131073,
+          0.02845867909491062,
+          0.5574492812156677,
+          7.701537609100342
+        ],
+        [
+          -0.046699974685907364,
+          -0.9916585683822632,
+          0.12013529986143112,
+          -34.6052360534668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4847,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_183082818",
+      "mask_path": "../../mask/hdr_front_04847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04848.png",
+      "transform_matrix": [
+        [
+          0.5484825968742371,
+          -0.13879334926605225,
+          -0.8245625495910645,
+          112.71121215820312
+        ],
+        [
+          0.835004985332489,
+          0.039058856666088104,
+          0.5488541722297668,
+          7.6701436042785645
+        ],
+        [
+          -0.04397084563970566,
+          -0.9895508885383606,
+          0.1373162567615509,
+          -34.644981384277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4848,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_283081054",
+      "mask_path": "../../mask/hdr_front_04848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04849.png",
+      "transform_matrix": [
+        [
+          0.5383659601211548,
+          -0.14081904292106628,
+          -0.830862283706665,
+          112.76243591308594
+        ],
+        [
+          0.84174644947052,
+          0.04269588366150856,
+          0.5381821393966675,
+          7.656950950622559
+        ],
+        [
+          -0.04031188786029816,
+          -0.9891143441200256,
+          0.1415199488401413,
+          -34.66543197631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4849,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_383081436",
+      "mask_path": "../../mask/hdr_front_04849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04850.png",
+      "transform_matrix": [
+        [
+          0.524099588394165,
+          -0.14215296506881714,
+          -0.8397096395492554,
+          112.83255767822266
+        ],
+        [
+          0.8512352705001831,
+          0.056406743824481964,
+          0.5217441320419312,
+          7.625467300415039
+        ],
+        [
+          -0.02680218778550625,
+          -0.9882362484931946,
+          0.15056835114955902,
+          -34.685054779052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4850,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_483080625",
+      "mask_path": "../../mask/hdr_front_04850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04851.png",
+      "transform_matrix": [
+        [
+          0.5061914920806885,
+          -0.15035580098628998,
+          -0.8492133021354675,
+          112.89261627197266
+        ],
+        [
+          0.8623194098472595,
+          0.07311762124300003,
+          0.501058042049408,
+          7.606678485870361
+        ],
+        [
+          -0.013244519010186195,
+          -0.985924482345581,
+          0.16666623950004578,
+          -34.696197509765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4851,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_583078622",
+      "mask_path": "../../mask/hdr_front_04851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04852.png",
+      "transform_matrix": [
+        [
+          0.4907885193824768,
+          -0.15598206222057343,
+          -0.8572025895118713,
+          112.93981170654297
+        ],
+        [
+          0.8712586164474487,
+          0.08118493109941483,
+          0.48406338691711426,
+          7.585917949676514
+        ],
+        [
+          -0.005913267843425274,
+          -0.9844179153442383,
+          0.17574533820152283,
+          -34.700077056884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4852,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_683082103",
+      "mask_path": "../../mask/hdr_front_04852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04855.png",
+      "transform_matrix": [
+        [
+          0.4983205795288086,
+          -0.1678028106689453,
+          -0.8505991101264954,
+          113.07501983642578
+        ],
+        [
+          0.8669138550758362,
+          0.08319593220949173,
+          0.4914659857749939,
+          7.48411226272583
+        ],
+        [
+          -0.011702978052198887,
+          -0.9823037981987,
+          0.18692883849143982,
+          -34.733280181884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4855,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_983082056",
+      "mask_path": "../../mask/hdr_front_04855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04857.png",
+      "transform_matrix": [
+        [
+          0.4946784973144531,
+          -0.1896093636751175,
+          -0.8481400609016418,
+          113.18450164794922
+        ],
+        [
+          0.8687850832939148,
+          0.08263697475194931,
+          0.48824551701545715,
+          7.423807144165039
+        ],
+        [
+          -0.02248820848762989,
+          -0.978376030921936,
+          0.205608531832695,
+          -34.76583480834961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4857,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_183082818",
+      "mask_path": "../../mask/hdr_front_04857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04860.png",
+      "transform_matrix": [
+        [
+          0.498134046792984,
+          -0.1695059835910797,
+          -0.8503707647323608,
+          113.32777404785156
+        ],
+        [
+          0.8667303323745728,
+          0.06870051473379135,
+          0.49402308464050293,
+          7.329224109649658
+        ],
+        [
+          -0.02531895972788334,
+          -0.9831317663192749,
+          0.18113800883293152,
+          -34.79288864135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4860,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_483082056",
+      "mask_path": "../../mask/hdr_front_04860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04862.png",
+      "transform_matrix": [
+        [
+          0.4935719072818756,
+          -0.1449122428894043,
+          -0.8575472831726074,
+          113.42758178710938
+        ],
+        [
+          0.8694575428962708,
+          0.058696500957012177,
+          0.4905082583427429,
+          7.28239107131958
+        ],
+        [
+          -0.020745621994137764,
+          -0.9877020120620728,
+          0.15496596693992615,
+          -34.79869842529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4862,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_683081150",
+      "mask_path": "../../mask/hdr_front_04862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04863.png",
+      "transform_matrix": [
+        [
+          0.4779575765132904,
+          -0.13759839534759521,
+          -0.8675386309623718,
+          113.50637817382812
+        ],
+        [
+          0.8782529234886169,
+          0.05788017436861992,
+          0.4746803343296051,
+          7.255098342895508
+        ],
+        [
+          -0.015101969242095947,
+          -0.9887955188751221,
+          0.14851050078868866,
+          -34.81648254394531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4863,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_783083915",
+      "mask_path": "../../mask/hdr_front_04863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04864.png",
+      "transform_matrix": [
+        [
+          0.4540172219276428,
+          -0.13540911674499512,
+          -0.880643367767334,
+          113.56787872314453
+        ],
+        [
+          0.8909055590629578,
+          0.055154748260974884,
+          0.4508272707462311,
+          7.243161678314209
+        ],
+        [
+          -0.012474465183913708,
+          -0.9892535209655762,
+          0.14567796885967255,
+          -34.82843780517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4864,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_883081912",
+      "mask_path": "../../mask/hdr_front_04864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04866.png",
+      "transform_matrix": [
+        [
+          0.4088395833969116,
+          -0.12816143035888672,
+          -0.9035623073577881,
+          113.68578338623047
+        ],
+        [
+          0.9125441312789917,
+          0.06895635277032852,
+          0.4031229019165039,
+          7.217162132263184
+        ],
+        [
+          0.01064155250787735,
+          -0.9893531799316406,
+          0.14514505863189697,
+          -34.850032806396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4866,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_83081483",
+      "mask_path": "../../mask/hdr_front_04866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04867.png",
+      "transform_matrix": [
+        [
+          0.3994361162185669,
+          -0.13430584967136383,
+          -0.9068698287010193,
+          113.74610137939453
+        ],
+        [
+          0.9167211055755615,
+          0.06775166839361191,
+          0.39374130964279175,
+          7.190144062042236
+        ],
+        [
+          0.008560176007449627,
+          -0.9886211156845093,
+          0.15018348395824432,
+          -34.86098098754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4867,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_183081626",
+      "mask_path": "../../mask/hdr_front_04867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04869.png",
+      "transform_matrix": [
+        [
+          0.41237908601760864,
+          -0.12772607803344727,
+          -0.9020141959190369,
+          113.82293701171875
+        ],
+        [
+          0.9109887480735779,
+          0.06495688110589981,
+          0.40728405117988586,
+          7.138241291046143
+        ],
+        [
+          0.006571217905730009,
+          -0.9896801114082336,
+          0.14314387738704681,
+          -34.86833953857422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4869,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_383080959",
+      "mask_path": "../../mask/hdr_front_04869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04870.png",
+      "transform_matrix": [
+        [
+          0.41830840706825256,
+          -0.1360509991645813,
+          -0.8980580568313599,
+          113.89250183105469
+        ],
+        [
+          0.9083043336868286,
+          0.06142769753932953,
+          0.41377514600753784,
+          7.102304935455322
+        ],
+        [
+          -0.0011288784444332123,
+          -0.9887955784797668,
+          0.1492714136838913,
+          -34.894195556640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4870,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_483081817",
+      "mask_path": "../../mask/hdr_front_04870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04871.png",
+      "transform_matrix": [
+        [
+          0.4180871844291687,
+          -0.1543789654970169,
+          -0.8951928615570068,
+          113.95288848876953
+        ],
+        [
+          0.9083579182624817,
+          0.060811951756477356,
+          0.41374850273132324,
+          7.071268081665039
+        ],
+        [
+          -0.00943564809858799,
+          -0.9861384630203247,
+          0.16565605998039246,
+          -34.92969512939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4871,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_583081722",
+      "mask_path": "../../mask/hdr_front_04871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04872.png",
+      "transform_matrix": [
+        [
+          0.41866442561149597,
+          -0.16273966431617737,
+          -0.8934405446052551,
+          113.99478912353516
+        ],
+        [
+          0.9080944657325745,
+          0.06505578011274338,
+          0.41368138790130615,
+          7.048441410064697
+        ],
+        [
+          -0.00919889472424984,
+          -0.9845219850540161,
+          0.1750195324420929,
+          -34.95843505859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4872,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_683081865",
+      "mask_path": "../../mask/hdr_front_04872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04873.png",
+      "transform_matrix": [
+        [
+          0.4174177348613739,
+          -0.16717655956745148,
+          -0.8932046890258789,
+          114.04232025146484
+        ],
+        [
+          0.9086695909500122,
+          0.06698949635028839,
+          0.41210684180259705,
+          7.017263412475586
+        ],
+        [
+          -0.009059278294444084,
+          -0.9836485385894775,
+          0.1798708587884903,
+          -34.97895050048828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4873,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_783081531",
+      "mask_path": "../../mask/hdr_front_04873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04874.png",
+      "transform_matrix": [
+        [
+          0.4156552851200104,
+          -0.17268410325050354,
+          -0.8929787278175354,
+          114.110107421875
+        ],
+        [
+          0.9094745516777039,
+          0.06886832416057587,
+          0.41001591086387634,
+          6.9731574058532715
+        ],
+        [
+          -0.009305278770625591,
+          -0.982566773891449,
+          0.18567730486392975,
+          -34.987483978271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4874,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_883082389",
+      "mask_path": "../../mask/hdr_front_04874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04875.png",
+      "transform_matrix": [
+        [
+          0.41728705167770386,
+          -0.17765557765960693,
+          -0.8912407159805298,
+          114.1709976196289
+        ],
+        [
+          0.9087229371070862,
+          0.07110074907541275,
+          0.41129952669143677,
+          6.931874752044678
+        ],
+        [
+          -0.009701764211058617,
+          -0.9815208911895752,
+          0.19110912084579468,
+          -34.997314453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4875,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_983081340",
+      "mask_path": "../../mask/hdr_front_04875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04876.png",
+      "transform_matrix": [
+        [
+          0.4226319491863251,
+          -0.1792682260274887,
+          -0.8883947134017944,
+          114.20913696289062
+        ],
+        [
+          0.9062363505363464,
+          0.0718541219830513,
+          0.4166203737258911,
+          6.897610664367676
+        ],
+        [
+          -0.010851957835257053,
+          -0.9811726808547974,
+          0.1928272247314453,
+          -35.00017166137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4876,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_83082199",
+      "mask_path": "../../mask/hdr_front_04876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04877.png",
+      "transform_matrix": [
+        [
+          0.42854782938957214,
+          -0.1781185120344162,
+          -0.8857880234718323,
+          114.27656555175781
+        ],
+        [
+          0.9033854603767395,
+          0.06760849803686142,
+          0.4234665036201477,
+          6.85767936706543
+        ],
+        [
+          -0.015540418215095997,
+          -0.9816837310791016,
+          0.18988314270973206,
+          -35.018577575683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4877,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_183080196",
+      "mask_path": "../../mask/hdr_front_04877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04878.png",
+      "transform_matrix": [
+        [
+          0.41835057735443115,
+          -0.19010306894779205,
+          -0.8881686925888062,
+          114.35625457763672
+        ],
+        [
+          0.9079409241676331,
+          0.060589030385017395,
+          0.4146953523159027,
+          6.82298469543457
+        ],
+        [
+          -0.025021575391292572,
+          -0.9798927307128906,
+          0.19794978201389313,
+          -35.03498077392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4878,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_283080339",
+      "mask_path": "../../mask/hdr_front_04878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04879.png",
+      "transform_matrix": [
+        [
+          0.39212170243263245,
+          -0.2004757523536682,
+          -0.8978029489517212,
+          114.41983032226562
+        ],
+        [
+          0.91948401927948,
+          0.05560322105884552,
+          0.3891751170158386,
+          6.804766654968262
+        ],
+        [
+          -0.028099430724978447,
+          -0.9781195521354675,
+          0.2061374932527542,
+          -35.04214096069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4879,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_383082866",
+      "mask_path": "../../mask/hdr_front_04879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04880.png",
+      "transform_matrix": [
+        [
+          0.3565906882286072,
+          -0.20044556260108948,
+          -0.9125046133995056,
+          114.48567199707031
+        ],
+        [
+          0.9340452551841736,
+          0.055514272302389145,
+          0.3528137803077698,
+          6.807368278503418
+        ],
+        [
+          -0.020062925294041634,
+          -0.9781308174133301,
+          0.2070210874080658,
+          -35.05674743652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4880,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_483080863",
+      "mask_path": "../../mask/hdr_front_04880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04881.png",
+      "transform_matrix": [
+        [
+          0.3207797408103943,
+          -0.2160397171974182,
+          -0.9221861958503723,
+          114.58084106445312
+        ],
+        [
+          0.9471538066864014,
+          0.07283896952867508,
+          0.31240078806877136,
+          6.784249305725098
+        ],
+        [
+          -0.00031988805858418345,
+          -0.9736639261245728,
+          0.2279880940914154,
+          -35.09362030029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4881,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_583081483",
+      "mask_path": "../../mask/hdr_front_04881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04884.png",
+      "transform_matrix": [
+        [
+          0.2891671657562256,
+          -0.25753915309906006,
+          -0.921984851360321,
+          114.68299102783203
+        ],
+        [
+          0.9562602639198303,
+          0.12212475389242172,
+          0.2658039629459381,
+          6.792987823486328
+        ],
+        [
+          0.04414224252104759,
+          -0.9585192799568176,
+          0.28158894181251526,
+          -35.144500732421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4884,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_883082389",
+      "mask_path": "../../mask/hdr_front_04884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04885.png",
+      "transform_matrix": [
+        [
+          0.2895815968513489,
+          -0.25221458077430725,
+          -0.9233257174491882,
+          114.78089904785156
+        ],
+        [
+          0.9564263820648193,
+          0.11383815109729767,
+          0.26886704564094543,
+          6.771397113800049
+        ],
+        [
+          0.037297505885362625,
+          -0.9609520435333252,
+          0.27419012784957886,
+          -35.178550720214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4885,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_983081817",
+      "mask_path": "../../mask/hdr_front_04885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04886.png",
+      "transform_matrix": [
+        [
+          0.2905823886394501,
+          -0.24779747426509857,
+          -0.9242069125175476,
+          114.84856414794922
+        ],
+        [
+          0.9558833837509155,
+          0.11858098208904266,
+          0.26874810457229614,
+          6.753023147583008
+        ],
+        [
+          0.042998261749744415,
+          -0.961527407169342,
+          0.27132299542427063,
+          -35.20717239379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4886,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_83081483",
+      "mask_path": "../../mask/hdr_front_04886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04887.png",
+      "transform_matrix": [
+        [
+          0.29019737243652344,
+          -0.23792782425880432,
+          -0.926917314529419,
+          114.92224884033203
+        ],
+        [
+          0.955250084400177,
+          0.13001318275928497,
+          0.2656949758529663,
+          6.735433578491211
+        ],
+        [
+          0.05729525163769722,
+          -0.962541937828064,
+          0.2650100886821747,
+          -35.23696517944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4887,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_183081388",
+      "mask_path": "../../mask/hdr_front_04887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04888.png",
+      "transform_matrix": [
+        [
+          0.2876836955547333,
+          -0.23058287799358368,
+          -0.9295534491539001,
+          115.01898956298828
+        ],
+        [
+          0.9561821818351746,
+          0.1242290660738945,
+          0.26510900259017944,
+          6.710550785064697
+        ],
+        [
+          0.05434795469045639,
+          -0.9650900363922119,
+          0.25621792674064636,
+          -35.268775939941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4888,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_283082246",
+      "mask_path": "../../mask/hdr_front_04888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04889.png",
+      "transform_matrix": [
+        [
+          0.28992724418640137,
+          -0.22403520345687866,
+          -0.9304571747779846,
+          115.10859680175781
+        ],
+        [
+          0.9558652639389038,
+          0.11611799150705338,
+          0.26988545060157776,
+          6.686506271362305
+        ],
+        [
+          0.047578971832990646,
+          -0.9676388502120972,
+          0.24781322479248047,
+          -35.268646240234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4889,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_383082151",
+      "mask_path": "../../mask/hdr_front_04889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04890.png",
+      "transform_matrix": [
+        [
+          0.2957756221294403,
+          -0.21474426984786987,
+          -0.9308070540428162,
+          115.1749038696289
+        ],
+        [
+          0.954325795173645,
+          0.10944955796003342,
+          0.2779982089996338,
+          6.6675190925598145
+        ],
+        [
+          0.04217788949608803,
+          -0.9705182909965515,
+          0.2373085469007492,
+          -35.2716064453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4890,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_483082056",
+      "mask_path": "../../mask/hdr_front_04890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04891.png",
+      "transform_matrix": [
+        [
+          0.30516499280929565,
+          -0.2026553899049759,
+          -0.9304865598678589,
+          115.24813079833984
+        ],
+        [
+          0.9520193934440613,
+          0.08861885219812393,
+          0.29292622208595276,
+          6.64152717590332
+        ],
+        [
+          0.023095576092600822,
+          -0.9752320051193237,
+          0.21997521817684174,
+          -35.29716873168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4891,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_583081483",
+      "mask_path": "../../mask/hdr_front_04891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04892.png",
+      "transform_matrix": [
+        [
+          0.3119737207889557,
+          -0.19997350871562958,
+          -0.9288073182106018,
+          115.3730239868164
+        ],
+        [
+          0.9500802755355835,
+          0.0702509954571724,
+          0.30399391055107117,
+          6.597908973693848
+        ],
+        [
+          0.004458911716938019,
+          -0.9772796034812927,
+          0.21190734207630157,
+          -35.30557632446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4892,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_683081626",
+      "mask_path": "../../mask/hdr_front_04892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04893.png",
+      "transform_matrix": [
+        [
+          0.3134244382381439,
+          -0.19876962900161743,
+          -0.9285773038864136,
+          115.45783233642578
+        ],
+        [
+          0.9496045112609863,
+          0.06141001358628273,
+          0.3073764443397522,
+          6.571081638336182
+        ],
+        [
+          -0.00407316442579031,
+          -0.9781203866004944,
+          0.20799994468688965,
+          -35.31171798706055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4893,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_783082246",
+      "mask_path": "../../mask/hdr_front_04893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04894.png",
+      "transform_matrix": [
+        [
+          0.3158119320869446,
+          -0.18847517669200897,
+          -0.9299139380455017,
+          115.51727294921875
+        ],
+        [
+          0.9487923383712769,
+          0.055000148713588715,
+          0.3110758364200592,
+          6.559257507324219
+        ],
+        [
+          -0.007484673522412777,
+          -0.9805366396903992,
+          0.19619350135326385,
+          -35.32676315307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4894,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_883081912",
+      "mask_path": "../../mask/hdr_front_04894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04895.png",
+      "transform_matrix": [
+        [
+          0.32163944840431213,
+          -0.17924945056438446,
+          -0.9297406673431396,
+          115.61819458007812
+        ],
+        [
+          0.9467218518257141,
+          0.0439719557762146,
+          0.31903642416000366,
+          6.526419639587402
+        ],
+        [
+          -0.016304589807987213,
+          -0.9828205108642578,
+          0.1838424652814865,
+          -35.35132598876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4895,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_983082294",
+      "mask_path": "../../mask/hdr_front_04895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04896.png",
+      "transform_matrix": [
+        [
+          0.33521196246147156,
+          -0.16643664240837097,
+          -0.9273250699043274,
+          115.72017669677734
+        ],
+        [
+          0.9418706893920898,
+          0.035551026463508606,
+          0.3340892791748047,
+          6.478431701660156
+        ],
+        [
+          -0.022637341171503067,
+          -0.9854111075401306,
+          0.16867892444133759,
+          -35.35823440551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4896,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_83081483",
+      "mask_path": "../../mask/hdr_front_04896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04897.png",
+      "transform_matrix": [
+        [
+          0.35446593165397644,
+          -0.15069018304347992,
+          -0.9228469133377075,
+          115.79369354248047
+        ],
+        [
+          0.9347076416015625,
+          0.02966841496527195,
+          0.3541771173477173,
+          6.443395614624023
+        ],
+        [
+          -0.025991618633270264,
+          -0.9881357550621033,
+          0.15136770904064178,
+          -35.35745620727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4897,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_183082103",
+      "mask_path": "../../mask/hdr_front_04897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04898.png",
+      "transform_matrix": [
+        [
+          0.3738822937011719,
+          -0.13821002840995789,
+          -0.9171205163002014,
+          115.89114379882812
+        ],
+        [
+          0.9269418120384216,
+          0.022122321650385857,
+          0.37455233931541443,
+          6.412835597991943
+        ],
+        [
+          -0.03147805482149124,
+          -0.9901558756828308,
+          0.1363838016986847,
+          -35.375396728515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4898,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_283081769",
+      "mask_path": "../../mask/hdr_front_04898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04899.png",
+      "transform_matrix": [
+        [
+          0.390000581741333,
+          -0.129519522190094,
+          -0.9116601943969727,
+          116.00323486328125
+        ],
+        [
+          0.9200466871261597,
+          0.014386097900569439,
+          0.3915444612503052,
+          6.370517730712891
+        ],
+        [
+          -0.0375974141061306,
+          -0.9914725422859192,
+          0.12477459013462067,
+          -35.39081573486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4899,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_383080720",
+      "mask_path": "../../mask/hdr_front_04899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04900.png",
+      "transform_matrix": [
+        [
+          0.4043426811695099,
+          -0.11965404450893402,
+          -0.9067469835281372,
+          116.09220886230469
+        ],
+        [
+          0.9135823249816895,
+          0.005909386556595564,
+          0.40661096572875977,
+          6.3253583908081055
+        ],
+        [
+          -0.043294329196214676,
+          -0.9927980899810791,
+          0.11170324683189392,
+          -35.39424133300781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4900,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_483082294",
+      "mask_path": "../../mask/hdr_front_04900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04901.png",
+      "transform_matrix": [
+        [
+          0.4171997308731079,
+          -0.10709448903799057,
+          -0.902482807636261,
+          116.18061828613281
+        ],
+        [
+          0.9077451825141907,
+          0.0009400082053616643,
+          0.41952088475227356,
+          6.278093338012695
+        ],
+        [
+          -0.04408003017306328,
+          -0.9942484498023987,
+          0.09760667383670807,
+          -35.39473342895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4901,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_583082199",
+      "mask_path": "../../mask/hdr_front_04901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04902.png",
+      "transform_matrix": [
+        [
+          0.4305424094200134,
+          -0.09533808380365372,
+          -0.8975210189819336,
+          116.26209259033203
+        ],
+        [
+          0.9015968441963196,
+          -0.0007439738838002086,
+          0.43257665634155273,
+          6.2298197746276855
+        ],
+        [
+          -0.04190875589847565,
+          -0.9954447746276855,
+          0.085636205971241,
+          -35.38287353515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4902,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_683079957",
+      "mask_path": "../../mask/hdr_front_04902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04903.png",
+      "transform_matrix": [
+        [
+          0.4418638050556183,
+          -0.08476139605045319,
+          -0.8930689096450806,
+          116.32482147216797
+        ],
+        [
+          0.8961296081542969,
+          -0.004159689415246248,
+          0.44377297163009644,
+          6.1999897956848145
+        ],
+        [
+          -0.041329704225063324,
+          -0.9963926076889038,
+          0.0741191878914833,
+          -35.3749885559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4903,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_783082008",
+      "mask_path": "../../mask/hdr_front_04903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04904.png",
+      "transform_matrix": [
+        [
+          0.4505241811275482,
+          -0.07465267181396484,
+          -0.8896375894546509,
+          116.39608001708984
+        ],
+        [
+          0.8918439149856567,
+          -0.007600279059261084,
+          0.45227932929992676,
+          6.163395881652832
+        ],
+        [
+          -0.04052535071969032,
+          -0.9971806406974792,
+          0.0631544291973114,
+          -35.37675857543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4904,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_883082151",
+      "mask_path": "../../mask/hdr_front_04904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04905.png",
+      "transform_matrix": [
+        [
+          0.45269471406936646,
+          -0.06596029549837112,
+          -0.8892226219177246,
+          116.49700164794922
+        ],
+        [
+          0.8906109929084778,
+          -0.015039642341434956,
+          0.4545171558856964,
+          6.112139701843262
+        ],
+        [
+          -0.04335367679595947,
+          -0.9977089166641235,
+          0.05193660408258438,
+          -35.36979675292969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4905,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_983081579",
+      "mask_path": "../../mask/hdr_front_04905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04906.png",
+      "transform_matrix": [
+        [
+          0.44795480370521545,
+          -0.058482278138399124,
+          -0.8921414613723755,
+          116.58556365966797
+        ],
+        [
+          0.8926609754562378,
+          -0.026470275595784187,
+          0.4499508738517761,
+          6.0753912925720215
+        ],
+        [
+          -0.04992937669157982,
+          -0.9979375004768372,
+          0.04034736007452011,
+          -35.36024475097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4906,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_83082199",
+      "mask_path": "../../mask/hdr_front_04906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04907.png",
+      "transform_matrix": [
+        [
+          0.4421330392360687,
+          -0.04958837851881981,
+          -0.8955777287483215,
+          116.6522445678711
+        ],
+        [
+          0.8956001996994019,
+          -0.030338261276483536,
+          0.44382405281066895,
+          6.050831317901611
+        ],
+        [
+          -0.04917877912521362,
+          -0.9983088970184326,
+          0.03099781461060047,
+          -35.35673141479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4907,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_183081150",
+      "mask_path": "../../mask/hdr_front_04907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04908.png",
+      "transform_matrix": [
+        [
+          0.4419880509376526,
+          -0.04001108929514885,
+          -0.8961281776428223,
+          116.74066162109375
+        ],
+        [
+          0.8958259224891663,
+          -0.03186163306236267,
+          0.44326162338256836,
+          6.014512062072754
+        ],
+        [
+          -0.04628748446702957,
+          -0.9986911416053772,
+          0.021760502830147743,
+          -35.35143280029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4908,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_283082008",
+      "mask_path": "../../mask/hdr_front_04908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04909.png",
+      "transform_matrix": [
+        [
+          0.4505186378955841,
+          -0.027976440265774727,
+          -0.8923285603523254,
+          116.836669921875
+        ],
+        [
+          0.891843855381012,
+          -0.031338922679424286,
+          0.45125648379325867,
+          5.9630937576293945
+        ],
+        [
+          -0.040589164942502975,
+          -0.9991172552108765,
+          0.010831848718225956,
+          -35.33552169799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4909,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_383082866",
+      "mask_path": "../../mask/hdr_front_04909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04910.png",
+      "transform_matrix": [
+        [
+          0.4607546925544739,
+          -0.017530757933855057,
+          -0.8873543739318848,
+          116.92095184326172
+        ],
+        [
+          0.8868693113327026,
+          -0.0294042956084013,
+          0.4610837697982788,
+          5.913235664367676
+        ],
+        [
+          -0.03417517617344856,
+          -0.9994139075279236,
+          0.001999324420467019,
+          -35.32540512084961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4910,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_483082294",
+      "mask_path": "../../mask/hdr_front_04910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04911.png",
+      "transform_matrix": [
+        [
+          0.4667900502681732,
+          -0.014189569279551506,
+          -0.8842542767524719,
+          117.0192642211914
+        ],
+        [
+          0.88374924659729,
+          -0.029916169121861458,
+          0.46700355410575867,
+          5.8684797286987305
+        ],
+        [
+          -0.033080074936151505,
+          -0.9994516968727112,
+          -0.0014245499623939395,
+          -35.32810974121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4911,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_583081960",
+      "mask_path": "../../mask/hdr_front_04911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04912.png",
+      "transform_matrix": [
+        [
+          0.4677404761314392,
+          -0.01999843493103981,
+          -0.8836395740509033,
+          117.10059356689453
+        ],
+        [
+          0.882925808429718,
+          -0.03552296385169029,
+          0.46816664934158325,
+          5.835425853729248
+        ],
+        [
+          -0.040752094238996506,
+          -0.9991687536239624,
+          0.0010416075820103288,
+          -35.33243179321289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4912,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_683079957",
+      "mask_path": "../../mask/hdr_front_04912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04913.png",
+      "transform_matrix": [
+        [
+          0.4662247598171234,
+          -0.022281615063548088,
+          -0.8843857049942017,
+          117.18206024169922
+        ],
+        [
+          0.8835808634757996,
+          -0.03777601197361946,
+          0.466752290725708,
+          5.788564205169678
+        ],
+        [
+          -0.04380856081843376,
+          -0.9990378022193909,
+          0.002075497293844819,
+          -35.33739471435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4913,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_783081531",
+      "mask_path": "../../mask/hdr_front_04913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04914.png",
+      "transform_matrix": [
+        [
+          0.46871280670166016,
+          -0.023747887462377548,
+          -0.8830313086509705,
+          117.281982421875
+        ],
+        [
+          0.882508397102356,
+          -0.031054042279720306,
+          0.46927037835121155,
+          5.729679584503174
+        ],
+        [
+          -0.03856587037444115,
+          -0.9992355108261108,
+          0.006402282044291496,
+          -35.34028244018555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4914,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_883081912",
+      "mask_path": "../../mask/hdr_front_04914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04915.png",
+      "transform_matrix": [
+        [
+          0.48024511337280273,
+          -0.02593742124736309,
+          -0.8767507672309875,
+          117.36929321289062
+        ],
+        [
+          0.8765113353729248,
+          -0.02347590960562229,
+          0.48080843687057495,
+          5.673526763916016
+        ],
+        [
+          -0.033053454011678696,
+          -0.9993879199028015,
+          0.011460253037512302,
+          -35.33001708984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4915,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_983080863",
+      "mask_path": "../../mask/hdr_front_04915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04916.png",
+      "transform_matrix": [
+        [
+          0.4948468804359436,
+          -0.023952864110469818,
+          -0.8686500787734985,
+          117.42755889892578
+        ],
+        [
+          0.8685102462768555,
+          -0.019237259402871132,
+          0.49529778957366943,
+          5.632036209106445
+        ],
+        [
+          -0.02857424132525921,
+          -0.9995280504226685,
+          0.011283810250461102,
+          -35.32545852661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4916,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_83082199",
+      "mask_path": "../../mask/hdr_front_04916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04917.png",
+      "transform_matrix": [
+        [
+          0.5083972215652466,
+          -0.02138005569577217,
+          -0.8608572483062744,
+          117.50018310546875
+        ],
+        [
+          0.860683798789978,
+          -0.019297070801258087,
+          0.5087740421295166,
+          5.5845465660095215
+        ],
+        [
+          -0.027489636093378067,
+          -0.9995851516723633,
+          0.008590889163315296,
+          -35.32860565185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4917,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_183081626",
+      "mask_path": "../../mask/hdr_front_04917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04918.png",
+      "transform_matrix": [
+        [
+          0.5132462382316589,
+          -0.028568049892783165,
+          -0.8577658534049988,
+          117.60530090332031
+        ],
+        [
+          0.85755854845047,
+          -0.022789299488067627,
+          0.5138812065124512,
+          5.523914337158203
+        ],
+        [
+          -0.03422847017645836,
+          -0.9993321299552917,
+          0.01280225720256567,
+          -35.329891204833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4918,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_283083200",
+      "mask_path": "../../mask/hdr_front_04918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04919.png",
+      "transform_matrix": [
+        [
+          0.509982168674469,
+          -0.036026593297719955,
+          -0.859430193901062,
+          117.69580841064453
+        ],
+        [
+          0.859190046787262,
+          -0.026704225689172745,
+          0.510959267616272,
+          5.480086803436279
+        ],
+        [
+          -0.04135853052139282,
+          -0.9989940524101257,
+          0.017335006967186928,
+          -35.33406066894531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4919,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_383081912",
+      "mask_path": "../../mask/hdr_front_04919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04920.png",
+      "transform_matrix": [
+        [
+          0.5068811774253845,
+          -0.03422524407505989,
+          -0.8613362908363342,
+          117.7635726928711
+        ],
+        [
+          0.8610831499099731,
+          -0.02636840008199215,
+          0.5077799558639526,
+          5.448291301727295
+        ],
+        [
+          -0.040090952068567276,
+          -0.9990662932395935,
+          0.016105134040117264,
+          -35.3391227722168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4920,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_483083009",
+      "mask_path": "../../mask/hdr_front_04920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04921.png",
+      "transform_matrix": [
+        [
+          0.5105211734771729,
+          -0.03653169050812721,
+          -0.8590888381004333,
+          117.84905242919922
+        ],
+        [
+          0.8590056300163269,
+          -0.022993719205260277,
+          0.5114495754241943,
+          5.398758888244629
+        ],
+        [
+          -0.03843776136636734,
+          -0.9990679025650024,
+          0.019642148166894913,
+          -35.341312408447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4921,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_583081960",
+      "mask_path": "../../mask/hdr_front_04921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04922.png",
+      "transform_matrix": [
+        [
+          0.5218660235404968,
+          -0.036384858191013336,
+          -0.8522511720657349,
+          117.93653869628906
+        ],
+        [
+          0.8522791266441345,
+          -0.01960008032619953,
+          0.5227199196815491,
+          5.340621471405029
+        ],
+        [
+          -0.035723280161619186,
+          -0.9991456866264343,
+          0.020781436935067177,
+          -35.33498001098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4922,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_683083534",
+      "mask_path": "../../mask/hdr_front_04922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04923.png",
+      "transform_matrix": [
+        [
+          0.5351346135139465,
+          -0.03079022839665413,
+          -0.8442056179046631,
+          117.99273681640625
+        ],
+        [
+          0.844183623790741,
+          -0.017637047916650772,
+          0.5357639789581299,
+          5.295681953430176
+        ],
+        [
+          -0.03138558566570282,
+          -0.999370276927948,
+          0.016554413363337517,
+          -35.332679748535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4923,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_783082962",
+      "mask_path": "../../mask/hdr_front_04923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04924.png",
+      "transform_matrix": [
+        [
+          0.5446518659591675,
+          -0.034504830837249756,
+          -0.8379522562026978,
+          118.07203674316406
+        ],
+        [
+          0.8378968834877014,
+          -0.020288141444325447,
+          0.5454514622688293,
+          5.244299411773682
+        ],
+        [
+          -0.03582119941711426,
+          -0.9991986751556396,
+          0.017861513420939445,
+          -35.33872604370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4924,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_883084058",
+      "mask_path": "../../mask/hdr_front_04924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04925.png",
+      "transform_matrix": [
+        [
+          0.5467402338981628,
+          -0.0477922223508358,
+          -0.8359372019767761,
+          118.17420959472656
+        ],
+        [
+          0.8359692692756653,
+          -0.025154201313853264,
+          0.5481993556022644,
+          5.184454441070557
+        ],
+        [
+          -0.04722699522972107,
+          -0.9985405206680298,
+          0.02620001882314682,
+          -35.34968185424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4925,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_983081579",
+      "mask_path": "../../mask/hdr_front_04925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04926.png",
+      "transform_matrix": [
+        [
+          0.5451539158821106,
+          -0.05600094422698021,
+          -0.8364633917808533,
+          118.24990844726562
+        ],
+        [
+          0.8365029692649841,
+          -0.029607560485601425,
+          0.5471619367599487,
+          5.140739440917969
+        ],
+        [
+          -0.05540722608566284,
+          -0.9979916214942932,
+          0.030704272910952568,
+          -35.36119079589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4926,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_83083152",
+      "mask_path": "../../mask/hdr_front_04926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04927.png",
+      "transform_matrix": [
+        [
+          0.5458002686500549,
+          -0.05650746449828148,
+          -0.8360077142715454,
+          118.31256866455078
+        ],
+        [
+          0.8358699083328247,
+          -0.032952722162008286,
+          0.5479376912117004,
+          5.105613708496094
+        ],
+        [
+          -0.058511294424533844,
+          -0.9978582262992859,
+          0.029247283935546875,
+          -35.37199783325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4927,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_183081388",
+      "mask_path": "../../mask/hdr_front_04927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04928.png",
+      "transform_matrix": [
+        [
+          0.5514197945594788,
+          -0.058282896876335144,
+          -0.8321895003318787,
+          118.394287109375
+        ],
+        [
+          0.8321484327316284,
+          -0.03196136653423309,
+          0.553631067276001,
+          5.041986465454102
+        ],
+        [
+          -0.05886513367295265,
+          -0.9977883100509644,
+          0.030875898897647858,
+          -35.365234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4928,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_283081054",
+      "mask_path": "../../mask/hdr_front_04928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04929.png",
+      "transform_matrix": [
+        [
+          0.5601367950439453,
+          -0.056216947734355927,
+          -0.8264905214309692,
+          118.46791076660156
+        ],
+        [
+          0.8266304135322571,
+          -0.027248863130807877,
+          0.562084972858429,
+          4.985057353973389
+        ],
+        [
+          -0.05411963164806366,
+          -0.9980466961860657,
+          0.031207552179694176,
+          -35.356536865234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4929,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_383081674",
+      "mask_path": "../../mask/hdr_front_04929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04930.png",
+      "transform_matrix": [
+        [
+          0.5684016942977905,
+          -0.04880168288946152,
+          -0.8213024735450745,
+          118.52096557617188
+        ],
+        [
+          0.8213282823562622,
+          -0.02502572163939476,
+          0.5699067115783691,
+          4.9503254890441895
+        ],
+        [
+          -0.048366088420152664,
+          -0.9984949231147766,
+          0.025857537984848022,
+          -35.3593635559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4930,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_483082294",
+      "mask_path": "../../mask/hdr_front_04930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04931.png",
+      "transform_matrix": [
+        [
+          0.5746487975120544,
+          -0.04384171962738037,
+          -0.81722491979599,
+          118.59690856933594
+        ],
+        [
+          0.817036509513855,
+          -0.02688738889992237,
+          0.5759587287902832,
+          4.902846813201904
+        ],
+        [
+          -0.04722405597567558,
+          -0.9986766576766968,
+          0.020369473844766617,
+          -35.36299514770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4931,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_583082914",
+      "mask_path": "../../mask/hdr_front_04931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04932.png",
+      "transform_matrix": [
+        [
+          0.5751990079879761,
+          -0.047419045120477676,
+          -0.8166378736495972,
+          118.69102478027344
+        ],
+        [
+          0.8162172436714172,
+          -0.03285187482833862,
+          0.5768104791641235,
+          4.84121036529541
+        ],
+        [
+          -0.054179877042770386,
+          -0.9983347058296204,
+          0.01980787329375744,
+          -35.3614616394043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4932,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_683084011",
+      "mask_path": "../../mask/hdr_front_04932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05357.png",
+      "transform_matrix": [
+        [
+          -0.5754023790359497,
+          -0.026158278807997704,
+          0.8174521327018738,
+          118.280029296875
+        ],
+        [
+          -0.8175577521324158,
+          -0.009240839630365372,
+          -0.5757724046707153,
+          5.1918416023254395
+        ],
+        [
+          0.022615158930420876,
+          -0.9996151328086853,
+          -0.016068704426288605,
+          -35.344608306884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5357,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_183081865",
+      "mask_path": "../../mask/hdr_front_05357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05358.png",
+      "transform_matrix": [
+        [
+          -0.5411772727966309,
+          -0.027139589190483093,
+          0.8404704928398132,
+          118.20775604248047
+        ],
+        [
+          -0.8405671715736389,
+          -0.011016283184289932,
+          -0.5415952801704407,
+          5.215620040893555
+        ],
+        [
+          0.02395753748714924,
+          -0.9995709657669067,
+          -0.01685088314116001,
+          -35.34797668457031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5358,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_283082723",
+      "mask_path": "../../mask/hdr_front_05358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05360.png",
+      "transform_matrix": [
+        [
+          -0.49121370911598206,
+          -0.027851438149809837,
+          0.8705936670303345,
+          118.10586547851562
+        ],
+        [
+          -0.8701098561286926,
+          -0.030466223135590553,
+          -0.49191537499427795,
+          5.2416229248046875
+        ],
+        [
+          0.04022424668073654,
+          -0.9991477131843567,
+          -0.009268381632864475,
+          -35.35416030883789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5360,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_483080863",
+      "mask_path": "../../mask/hdr_front_05360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05361.png",
+      "transform_matrix": [
+        [
+          -0.4921087920665741,
+          -0.02885671705007553,
+          0.8700552582740784,
+          118.05180358886719
+        ],
+        [
+          -0.8693650364875793,
+          -0.035480402410030365,
+          -0.4928951561450958,
+          5.283010959625244
+        ],
+        [
+          0.045093245804309845,
+          -0.9989537000656128,
+          -0.007626799400895834,
+          -35.339263916015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5361,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_583082914",
+      "mask_path": "../../mask/hdr_front_05361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05363.png",
+      "transform_matrix": [
+        [
+          -0.49991458654403687,
+          -0.03947160392999649,
+          0.8651747703552246,
+          117.9471206665039
+        ],
+        [
+          -0.8640657663345337,
+          -0.045270007103681564,
+          -0.5013390779495239,
+          5.338658332824707
+        ],
+        [
+          0.058955125510692596,
+          -0.998194694519043,
+          -0.011474927887320518,
+          -35.332847595214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5363,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_783082008",
+      "mask_path": "../../mask/hdr_front_05363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05364.png",
+      "transform_matrix": [
+        [
+          -0.5011733770370483,
+          -0.03692249953746796,
+          0.8645588755607605,
+          117.86959838867188
+        ],
+        [
+          -0.8634436130523682,
+          -0.04488931596279144,
+          -0.5024440288543701,
+          5.3806939125061035
+        ],
+        [
+          0.057360947132110596,
+          -0.9983094334602356,
+          -0.009383167140185833,
+          -35.32986068725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5364,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_883081197",
+      "mask_path": "../../mask/hdr_front_05364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05366.png",
+      "transform_matrix": [
+        [
+          -0.49988484382629395,
+          -0.030976714566349983,
+          0.8655377626419067,
+          117.80239868164062
+        ],
+        [
+          -0.8646577596664429,
+          -0.039636656641960144,
+          -0.5007951855659485,
+          5.3933000564575195
+        ],
+        [
+          0.04982001334428787,
+          -0.9987339973449707,
+          -0.006970491260290146,
+          -35.3392448425293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5366,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_83080530",
+      "mask_path": "../../mask/hdr_front_05366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05367.png",
+      "transform_matrix": [
+        [
+          -0.5012032389640808,
+          -0.024524567648768425,
+          0.8649820685386658,
+          117.74789428710938
+        ],
+        [
+          -0.864021360874176,
+          -0.04076423868536949,
+          -0.5018023252487183,
+          5.407097816467285
+        ],
+        [
+          0.047566816210746765,
+          -0.9988678693771362,
+          -0.0007585804560221732,
+          -35.33781814575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5367,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_183080673",
+      "mask_path": "../../mask/hdr_front_05367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05368.png",
+      "transform_matrix": [
+        [
+          -0.5052326321601868,
+          -0.02253194898366928,
+          0.8626890182495117,
+          117.68797302246094
+        ],
+        [
+          -0.8615196347236633,
+          -0.04502520710229874,
+          -0.505723774433136,
+          5.4218034744262695
+        ],
+        [
+          0.05023769661784172,
+          -0.998731791973114,
+          0.003336487337946892,
+          -35.327178955078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5368,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_283080339",
+      "mask_path": "../../mask/hdr_front_05368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05369.png",
+      "transform_matrix": [
+        [
+          -0.5098512768745422,
+          -0.028478624299168587,
+          0.8597910404205322,
+          117.63449096679688
+        ],
+        [
+          -0.8584566712379456,
+          -0.04788173735141754,
+          -0.5106461644172668,
+          5.4479241371154785
+        ],
+        [
+          0.05571078881621361,
+          -0.9984469413757324,
+          -3.5098310036119074e-05,
+          -35.31764602661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5369,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_383079767",
+      "mask_path": "../../mask/hdr_front_05369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05370.png",
+      "transform_matrix": [
+        [
+          -0.5131565928459167,
+          -0.036564312875270844,
+          0.857515811920166,
+          117.57791900634766
+        ],
+        [
+          -0.8562250733375549,
+          -0.04753832519054413,
+          -0.5144111514091492,
+          5.4820356369018555
+        ],
+        [
+          0.059573955833911896,
+          -0.998199999332428,
+          -0.006912672892212868,
+          -35.316436767578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5370,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_483082771",
+      "mask_path": "../../mask/hdr_front_05370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05371.png",
+      "transform_matrix": [
+        [
+          -0.5062744617462158,
+          -0.036377545446157455,
+          0.8616048097610474,
+          117.49851989746094
+        ],
+        [
+          -0.8605222702026367,
+          -0.04409988969564438,
+          -0.507500410079956,
+          5.5127716064453125
+        ],
+        [
+          0.05645828694105148,
+          -0.9983646869659424,
+          -0.008977040648460388,
+          -35.308589935302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5371,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_583079814",
+      "mask_path": "../../mask/hdr_front_05371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05372.png",
+      "transform_matrix": [
+        [
+          -0.49172893166542053,
+          -0.030965393409132957,
+          0.8701976537704468,
+          117.42848205566406
+        ],
+        [
+          -0.8694401979446411,
+          -0.0372975617647171,
+          -0.49262818694114685,
+          5.5368428230285645
+        ],
+        [
+          0.04771067947149277,
+          -0.9988243579864502,
+          -0.008582266978919506,
+          -35.30805969238281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5372,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_683079004",
+      "mask_path": "../../mask/hdr_front_05372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05373.png",
+      "transform_matrix": [
+        [
+          -0.4754835367202759,
+          -0.02841053530573845,
+          0.8792657852172852,
+          117.36799621582031
+        ],
+        [
+          -0.8786556720733643,
+          -0.03392012417316437,
+          -0.4762496054172516,
+          5.555678367614746
+        ],
+        [
+          0.0433553047478199,
+          -0.9990206956863403,
+          -0.008834615349769592,
+          -35.30946350097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5373,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_783081054",
+      "mask_path": "../../mask/hdr_front_05373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05374.png",
+      "transform_matrix": [
+        [
+          -0.4585457146167755,
+          -0.02565898559987545,
+          0.8883002996444702,
+          117.2890625
+        ],
+        [
+          -0.8876821398735046,
+          -0.03391234949231148,
+          -0.4592061936855316,
+          5.589354991912842
+        ],
+        [
+          0.041907113045454025,
+          -0.9990953803062439,
+          -0.007226662710309029,
+          -35.31190490722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5374,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_883081674",
+      "mask_path": "../../mask/hdr_front_05374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05375.png",
+      "transform_matrix": [
+        [
+          -0.4456963837146759,
+          -0.026887716725468636,
+          0.8947803378105164,
+          117.20597839355469
+        ],
+        [
+          -0.8942526578903198,
+          -0.0322134755551815,
+          -0.44640159606933594,
+          5.628748893737793
+        ],
+        [
+          0.040826696902513504,
+          -0.9991194009780884,
+          -0.009686985984444618,
+          -35.30044174194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5375,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_983081102",
+      "mask_path": "../../mask/hdr_front_05375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05376.png",
+      "transform_matrix": [
+        [
+          -0.43624770641326904,
+          -0.03050827980041504,
+          0.8993093371391296,
+          117.13140106201172
+        ],
+        [
+          -0.89876788854599,
+          -0.03369307518005371,
+          -0.43712809681892395,
+          5.659060478210449
+        ],
+        [
+          0.04363652318716049,
+          -0.9989665150642395,
+          -0.012721337378025055,
+          -35.29097366333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5376,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_83080291",
+      "mask_path": "../../mask/hdr_front_05376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05377.png",
+      "transform_matrix": [
+        [
+          -0.43924909830093384,
+          -0.03688497841358185,
+          0.8976078033447266,
+          117.06299591064453
+        ],
+        [
+          -0.8970740437507629,
+          -0.03554307296872139,
+          -0.44044846296310425,
+          5.682672500610352
+        ],
+        [
+          0.04814966768026352,
+          -0.9986873269081116,
+          -0.017476292327046394,
+          -35.287384033203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5377,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_183081150",
+      "mask_path": "../../mask/hdr_front_05377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05378.png",
+      "transform_matrix": [
+        [
+          -0.4435192942619324,
+          -0.03407958149909973,
+          0.8956166505813599,
+          116.96923828125
+        ],
+        [
+          -0.895433783531189,
+          -0.02617148868739605,
+          -0.4444246292114258,
+          5.728666305541992
+        ],
+        [
+          0.03858543187379837,
+          -0.9990764260292053,
+          -0.01890845224261284,
+          -35.28475570678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5378,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_283081054",
+      "mask_path": "../../mask/hdr_front_05378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05379.png",
+      "transform_matrix": [
+        [
+          -0.4413963258266449,
+          -0.02750767581164837,
+          0.8968905210494995,
+          116.88664245605469
+        ],
+        [
+          -0.8969367146492004,
+          -0.015389244072139263,
+          -0.44189104437828064,
+          5.770331382751465
+        ],
+        [
+          0.0259578637778759,
+          -0.9995031356811523,
+          -0.017879890277981758,
+          -35.29098129272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5379,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_383081197",
+      "mask_path": "../../mask/hdr_front_05379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05380.png",
+      "transform_matrix": [
+        [
+          -0.4397234320640564,
+          -0.02808644436299801,
+          0.8976939916610718,
+          116.83111572265625
+        ],
+        [
+          -0.8978416919708252,
+          -0.011717329733073711,
+          -0.44016242027282715,
+          5.785488605499268
+        ],
+        [
+          0.022881174460053444,
+          -0.9995368719100952,
+          -0.02006479911506176,
+          -35.28864669799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5380,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_483080863",
+      "mask_path": "../../mask/hdr_front_05380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05381.png",
+      "transform_matrix": [
+        [
+          -0.4422242045402527,
+          -0.026064693927764893,
+          0.8965256810188293,
+          116.75491333007812
+        ],
+        [
+          -0.8964125514030457,
+          -0.020258910953998566,
+          -0.44275736808776855,
+          5.816486835479736
+        ],
+        [
+          0.02970297262072563,
+          -0.9994549751281738,
+          -0.014405738562345505,
+          -35.291988372802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5381,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_583082675",
+      "mask_path": "../../mask/hdr_front_05381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05382.png",
+      "transform_matrix": [
+        [
+          -0.45156049728393555,
+          -0.02432258240878582,
+          0.8919089436531067,
+          116.67204284667969
+        ],
+        [
+          -0.8915939331054688,
+          -0.025748373940587044,
+          -0.45210322737693787,
+          5.862512111663818
+        ],
+        [
+          0.033961519598960876,
+          -0.9993725419044495,
+          -0.010058917105197906,
+          -35.28873825073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5382,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_683081626",
+      "mask_path": "../../mask/hdr_front_05382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05383.png",
+      "transform_matrix": [
+        [
+          -0.4628784954547882,
+          -0.02645956538617611,
+          0.8860267400741577,
+          116.5985336303711
+        ],
+        [
+          -0.8857342004776001,
+          -0.025555310770869255,
+          -0.463488906621933,
+          5.904083728790283
+        ],
+        [
+          0.034906405955553055,
+          -0.9993231296539307,
+          -0.011607133783400059,
+          -35.28066635131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5383,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_783081531",
+      "mask_path": "../../mask/hdr_front_05383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05384.png",
+      "transform_matrix": [
+        [
+          -0.4756822884082794,
+          -0.025424549356102943,
+          0.8792496919631958,
+          116.5212173461914
+        ],
+        [
+          -0.8790604472160339,
+          -0.021818093955516815,
+          -0.4762108623981476,
+          5.93848180770874
+        ],
+        [
+          0.03129099681973457,
+          -0.9994386434555054,
+          -0.01197123434394598,
+          -35.275508880615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5384,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_883081912",
+      "mask_path": "../../mask/hdr_front_05384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05385.png",
+      "transform_matrix": [
+        [
+          -0.4821871221065521,
+          -0.016864778473973274,
+          0.8759059309959412,
+          116.43682098388672
+        ],
+        [
+          -0.8758132457733154,
+          -0.014844865538179874,
+          -0.482421875,
+          5.979751110076904
+        ],
+        [
+          0.021138645708560944,
+          -0.9997475743293762,
+          -0.0076123932376503944,
+          -35.283748626708984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5385,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_983082056",
+      "mask_path": "../../mask/hdr_front_05385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05386.png",
+      "transform_matrix": [
+        [
+          -0.4826827943325043,
+          -0.006152315065264702,
+          0.8757736086845398,
+          116.36509704589844
+        ],
+        [
+          -0.8757310509681702,
+          -0.008719437755644321,
+          -0.48272061347961426,
+          6.015573024749756
+        ],
+        [
+          0.010606103576719761,
+          -0.9999430775642395,
+          -0.001179050887003541,
+          -35.29909133911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5386,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_83081722",
+      "mask_path": "../../mask/hdr_front_05386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05387.png",
+      "transform_matrix": [
+        [
+          -0.48373329639434814,
+          -0.0018376967636868358,
+          0.8752135634422302,
+          116.30510711669922
+        ],
+        [
+          -0.8751939535140991,
+          -0.005997577682137489,
+          -0.4837350845336914,
+          6.042181015014648
+        ],
+        [
+          0.0061381203122437,
+          -0.9999803304672241,
+          0.0012928865617141128,
+          -35.30757522583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5387,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_183081865",
+      "mask_path": "../../mask/hdr_front_05387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05388.png",
+      "transform_matrix": [
+        [
+          -0.48860135674476624,
+          0.0042486186139285564,
+          0.8724967837333679,
+          116.24153900146484
+        ],
+        [
+          -0.872465193271637,
+          -0.012190740555524826,
+          -0.48852431774139404,
+          6.076097011566162
+        ],
+        [
+          0.008560830727219582,
+          -0.999916672706604,
+          0.00966318417340517,
+          -35.31113052368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5388,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_283081054",
+      "mask_path": "../../mask/hdr_front_05388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05389.png",
+      "transform_matrix": [
+        [
+          -0.49796873331069946,
+          0.009090379811823368,
+          0.8671473860740662,
+          116.1773452758789
+        ],
+        [
+          -0.8671346306800842,
+          -0.01702519692480564,
+          -0.49778297543525696,
+          6.118034362792969
+        ],
+        [
+          0.010238317772746086,
+          -0.9998137354850769,
+          0.01636059582233429,
+          -35.30491256713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5389,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_383080959",
+      "mask_path": "../../mask/hdr_front_05389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05390.png",
+      "transform_matrix": [
+        [
+          -0.5074560642242432,
+          0.007366668898612261,
+          0.8616462349891663,
+          116.12798309326172
+        ],
+        [
+          -0.8616004586219788,
+          -0.01772618666291237,
+          -0.5072775483131409,
+          6.152334690093994
+        ],
+        [
+          0.011536754667758942,
+          -0.9998157620429993,
+          0.015342384576797485,
+          -35.30084228515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5390,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_483081340",
+      "mask_path": "../../mask/hdr_front_05390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05391.png",
+      "transform_matrix": [
+        [
+          -0.5172706842422485,
+          0.00417596148326993,
+          0.8558117151260376,
+          116.0699462890625
+        ],
+        [
+          -0.8556818962097168,
+          -0.02060616947710514,
+          -0.5170917510986328,
+          6.191056728363037
+        ],
+        [
+          0.01547564473003149,
+          -0.9997789263725281,
+          0.01423226110637188,
+          -35.301692962646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5391,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_583081960",
+      "mask_path": "../../mask/hdr_front_05391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05392.png",
+      "transform_matrix": [
+        [
+          -0.5216675996780396,
+          0.012075105682015419,
+          0.8530634045600891,
+          115.9827880859375
+        ],
+        [
+          -0.8530817627906799,
+          -0.019926510751247406,
+          -0.5213966965675354,
+          6.242327690124512
+        ],
+        [
+          0.010702654719352722,
+          -0.9997285604476929,
+          0.020696066319942474,
+          -35.3068962097168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5392,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_683081865",
+      "mask_path": "../../mask/hdr_front_05392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05393.png",
+      "transform_matrix": [
+        [
+          -0.5217268466949463,
+          0.023176532238721848,
+          0.8527977466583252,
+          115.91817474365234
+        ],
+        [
+          -0.853112518787384,
+          -0.01430620439350605,
+          -0.5215306282043457,
+          6.276585578918457
+        ],
+        [
+          0.00011302682833047584,
+          -0.9996291399002075,
+          0.027236120775341988,
+          -35.320762634277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5393,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_783081293",
+      "mask_path": "../../mask/hdr_front_05393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05394.png",
+      "transform_matrix": [
+        [
+          -0.5219228267669678,
+          0.026409119367599487,
+          0.8525838851928711,
+          115.87184143066406
+        ],
+        [
+          -0.8529772162437439,
+          -0.010135206393897533,
+          -0.5218496918678284,
+          6.299172401428223
+        ],
+        [
+          -0.005140476394444704,
+          -0.999599814414978,
+          0.027816176414489746,
+          -35.324913024902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5394,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_883081436",
+      "mask_path": "../../mask/hdr_front_05394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05395.png",
+      "transform_matrix": [
+        [
+          -0.5225345492362976,
+          0.025997472926974297,
+          0.852221667766571,
+          115.81346130371094
+        ],
+        [
+          -0.8526049256324768,
+          -0.010361664928495884,
+          -0.5224533677101135,
+          6.331179141998291
+        ],
+        [
+          -0.004752030596137047,
+          -0.9996083378791809,
+          0.0275798998773098,
+          -35.32738494873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5395,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_983079433",
+      "mask_path": "../../mask/hdr_front_05395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05396.png",
+      "transform_matrix": [
+        [
+          -0.5265385508537292,
+          0.026498429477214813,
+          0.8497381806373596,
+          115.74795532226562
+        ],
+        [
+          -0.8501367568969727,
+          -0.010587221942842007,
+          -0.5264554619789124,
+          6.375296592712402
+        ],
+        [
+          -0.004953873343765736,
+          -0.9995928406715393,
+          0.02810187079012394,
+          -35.31938171386719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5396,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_83081483",
+      "mask_path": "../../mask/hdr_front_05396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05399.png",
+      "transform_matrix": [
+        [
+          -0.5527982711791992,
+          0.013544180430471897,
+          0.833204984664917,
+          115.62622833251953
+        ],
+        [
+          -0.8333103060722351,
+          -0.012359559535980225,
+          -0.5526673197746277,
+          6.45928955078125
+        ],
+        [
+          0.0028126223478466272,
+          -0.9998319149017334,
+          0.01811884716153145,
+          -35.32158660888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5399,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_383082389",
+      "mask_path": "../../mask/hdr_front_05399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05400.png",
+      "transform_matrix": [
+        [
+          -0.5559625625610352,
+          0.016251273453235626,
+          0.8310486078262329,
+          115.55123138427734
+        ],
+        [
+          -0.8312072157859802,
+          -0.010158121585845947,
+          -0.5558700561523438,
+          6.499387264251709
+        ],
+        [
+          -0.0005917046219110489,
+          -0.9998164176940918,
+          0.019155709072947502,
+          -35.316837310791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5400,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_483081817",
+      "mask_path": "../../mask/hdr_front_05400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05401.png",
+      "transform_matrix": [
+        [
+          -0.5541414618492126,
+          0.02070806175470352,
+          0.8321649432182312,
+          115.49577331542969
+        ],
+        [
+          -0.8323721289634705,
+          -0.0027905285824090242,
+          -0.5542100667953491,
+          6.529773235321045
+        ],
+        [
+          -0.00915443617850542,
+          -0.9997817277908325,
+          0.01878316141664982,
+          -35.32052993774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5401,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_583081483",
+      "mask_path": "../../mask/hdr_front_05401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05403.png",
+      "transform_matrix": [
+        [
+          -0.5375393629074097,
+          0.019763492047786713,
+          0.84300696849823,
+          115.41305541992188
+        ],
+        [
+          -0.843172013759613,
+          -3.002426092280075e-05,
+          -0.5376439094543457,
+          6.565262794494629
+        ],
+        [
+          -0.010600409470498562,
+          -0.999804675579071,
+          0.016680162400007248,
+          -35.32478713989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5403,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_783083200",
+      "mask_path": "../../mask/hdr_front_05403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05404.png",
+      "transform_matrix": [
+        [
+          -0.5396968126296997,
+          0.015599151141941547,
+          0.8417149782180786,
+          115.36125183105469
+        ],
+        [
+          -0.841823160648346,
+          -0.0007176371291279793,
+          -0.5397529006004333,
+          6.598637104034424
+        ],
+        [
+          -0.007815641351044178,
+          -0.9998781085014343,
+          0.013519033789634705,
+          -35.306541442871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5404,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_883081912",
+      "mask_path": "../../mask/hdr_front_05404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05406.png",
+      "transform_matrix": [
+        [
+          -0.551781177520752,
+          0.002159349387511611,
+          0.8339861631393433,
+          115.27899169921875
+        ],
+        [
+          -0.8339888453483582,
+          -0.0010339920409023762,
+          -0.5517804026603699,
+          6.669541358947754
+        ],
+        [
+          -0.000329150992911309,
+          -0.9999971985816956,
+          0.0023714108392596245,
+          -35.30331039428711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5406,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_83082199",
+      "mask_path": "../../mask/hdr_front_05406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05407.png",
+      "transform_matrix": [
+        [
+          -0.5521422624588013,
+          -0.0087128272280097,
+          0.83370441198349,
+          115.2156982421875
+        ],
+        [
+          -0.8337144255638123,
+          -0.0034722599666565657,
+          -0.55218505859375,
+          6.709402561187744
+        ],
+        [
+          0.007705931551754475,
+          -0.9999560713768005,
+          -0.005346826743334532,
+          -35.292991638183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5407,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_183080911",
+      "mask_path": "../../mask/hdr_front_05407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05408.png",
+      "transform_matrix": [
+        [
+          -0.5400864481925964,
+          -0.012130821123719215,
+          0.8415221571922302,
+          115.16022491455078
+        ],
+        [
+          -0.8415884375572205,
+          0.0006968640373088419,
+          -0.540118932723999,
+          6.732640266418457
+        ],
+        [
+          0.005965659394860268,
+          -0.9999262094497681,
+          -0.010585524141788483,
+          -35.29056930541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5408,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_283081531",
+      "mask_path": "../../mask/hdr_front_05408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05410.png",
+      "transform_matrix": [
+        [
+          -0.49364471435546875,
+          -0.012499993667006493,
+          0.8695737719535828,
+          115.0864028930664
+        ],
+        [
+          -0.8696613907814026,
+          0.00939186941832304,
+          -0.4935593903064728,
+          6.747254371643066
+        ],
+        [
+          -0.001997433602809906,
+          -0.9998777508735657,
+          -0.01550700981169939,
+          -35.296104431152344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5410,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_483082056",
+      "mask_path": "../../mask/hdr_front_05410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05411.png",
+      "transform_matrix": [
+        [
+          -0.4667593240737915,
+          -0.017717745155096054,
+          0.8842069506645203,
+          115.01727294921875
+        ],
+        [
+          -0.8843802213668823,
+          0.006283498834818602,
+          -0.4667249023914337,
+          6.773885250091553
+        ],
+        [
+          0.002713400637730956,
+          -0.999823272228241,
+          -0.018602104857563972,
+          -35.2847900390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5411,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_583083629",
+      "mask_path": "../../mask/hdr_front_05411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05413.png",
+      "transform_matrix": [
+        [
+          -0.4398486912250519,
+          -0.03242397680878639,
+          0.8974863290786743,
+          114.94412994384766
+        ],
+        [
+          -0.8979597091674805,
+          8.939524559536949e-05,
+          -0.4400775730609894,
+          6.793706893920898
+        ],
+        [
+          0.014188830740749836,
+          -0.9994742274284363,
+          -0.029154745861887932,
+          -35.26353454589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5413,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_783082485",
+      "mask_path": "../../mask/hdr_front_05413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05415.png",
+      "transform_matrix": [
+        [
+          -0.42904460430145264,
+          -0.04238121584057808,
+          0.902288556098938,
+          114.86543273925781
+        ],
+        [
+          -0.9030466675758362,
+          -0.002734957030043006,
+          -0.4295336604118347,
+          6.8202128410339355
+        ],
+        [
+          0.02067187801003456,
+          -0.9990977644920349,
+          -0.03709879890084267,
+          -35.25004959106445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5415,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_983082532",
+      "mask_path": "../../mask/hdr_front_05415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05416.png",
+      "transform_matrix": [
+        [
+          -0.4167715609073639,
+          -0.041298944503068924,
+          0.9080725908279419,
+          114.80530548095703
+        ],
+        [
+          -0.9088808298110962,
+          0.00201194710098207,
+          -0.4170510172843933,
+          6.846463680267334
+        ],
+        [
+          0.01539677008986473,
+          -0.9991449117660522,
+          -0.038374338299036026,
+          -35.24900817871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5416,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_83081960",
+      "mask_path": "../../mask/hdr_front_05416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05418.png",
+      "transform_matrix": [
+        [
+          -0.39544153213500977,
+          -0.04651070386171341,
+          0.9173128604888916,
+          114.72148132324219
+        ],
+        [
+          -0.9184876680374146,
+          0.017312269657850266,
+          -0.39507028460502625,
+          6.866462707519531
+        ],
+        [
+          0.002494232030585408,
+          -0.9987678527832031,
+          -0.04956549406051636,
+          -35.245365142822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5418,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_283082246",
+      "mask_path": "../../mask/hdr_front_05418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05420.png",
+      "transform_matrix": [
+        [
+          -0.39045196771621704,
+          -0.06057411804795265,
+          0.9186283349990845,
+          114.64462280273438
+        ],
+        [
+          -0.920621395111084,
+          0.027704013511538506,
+          -0.3894723057746887,
+          6.891152381896973
+        ],
+        [
+          -0.0018577470909804106,
+          -0.9977791905403137,
+          -0.06658292561769485,
+          -35.20594787597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5420,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_483082771",
+      "mask_path": "../../mask/hdr_front_05420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05421.png",
+      "transform_matrix": [
+        [
+          -0.3959941864013672,
+          -0.07324501127004623,
+          0.9153271913528442,
+          114.56634521484375
+        ],
+        [
+          -0.9182522892951965,
+          0.03279412165284157,
+          -0.39463549852371216,
+          6.929031848907471
+        ],
+        [
+          -0.0011122673749923706,
+          -0.9967746734619141,
+          -0.08024369180202484,
+          -35.17772674560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5421,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_583081722",
+      "mask_path": "../../mask/hdr_front_05421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05422.png",
+      "transform_matrix": [
+        [
+          -0.40230053663253784,
+          -0.08876867592334747,
+          0.9111939668655396,
+          114.51290893554688
+        ],
+        [
+          -0.9154936671257019,
+          0.03350640460848808,
+          -0.40093475580215454,
+          6.9543681144714355
+        ],
+        [
+          0.0050596147775650024,
+          -0.9954885840415955,
+          -0.09474680572748184,
+          -35.157405853271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5422,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_683081865",
+      "mask_path": "../../mask/hdr_front_05422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05423.png",
+      "transform_matrix": [
+        [
+          -0.40771445631980896,
+          -0.10765115916728973,
+          0.9067416191101074,
+          114.45738220214844
+        ],
+        [
+          -0.9129431247711182,
+          0.029101507738232613,
+          -0.40704795718193054,
+          6.9753289222717285
+        ],
+        [
+          0.01743164099752903,
+          -0.993762731552124,
+          -0.1101444810628891,
+          -35.14168167114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5423,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_783082485",
+      "mask_path": "../../mask/hdr_front_05423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05424.png",
+      "transform_matrix": [
+        [
+          -0.40839359164237976,
+          -0.11883210390806198,
+          0.9050378799438477,
+          114.38031768798828
+        ],
+        [
+          -0.9124689102172852,
+          0.0262068510055542,
+          -0.4083057641983032,
+          7.002252578735352
+        ],
+        [
+          0.02480163611471653,
+          -0.9925684928894043,
+          -0.11913330852985382,
+          -35.11827087402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5424,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_883082389",
+      "mask_path": "../../mask/hdr_front_05424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05425.png",
+      "transform_matrix": [
+        [
+          -0.40553173422813416,
+          -0.12350217998027802,
+          0.9056993722915649,
+          114.3202133178711
+        ],
+        [
+          -0.9137739539146423,
+          0.029094867408275604,
+          -0.40517982840538025,
+          7.018275260925293
+        ],
+        [
+          0.02368939109146595,
+          -0.9919176697731018,
+          -0.12465197592973709,
+          -35.10097122192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5425,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_983081817",
+      "mask_path": "../../mask/hdr_front_05425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05426.png",
+      "transform_matrix": [
+        [
+          -0.39966440200805664,
+          -0.1264524757862091,
+          0.9078977108001709,
+          114.2650375366211
+        ],
+        [
+          -0.916337251663208,
+          0.02877342887222767,
+          -0.39937204122543335,
+          7.033034801483154
+        ],
+        [
+          0.024378251284360886,
+          -0.9915552735328674,
+          -0.1273728460073471,
+          -35.092105865478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5426,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_83079814",
+      "mask_path": "../../mask/hdr_front_05426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05427.png",
+      "transform_matrix": [
+        [
+          -0.3940218389034271,
+          -0.12955591082572937,
+          0.9099242091178894,
+          114.20120239257812
+        ],
+        [
+          -0.9187445640563965,
+          0.027947843074798584,
+          -0.3938620686531067,
+          7.044069290161133
+        ],
+        [
+          0.02559674344956875,
+          -0.9911782145500183,
+          -0.13004085421562195,
+          -35.07754135131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5427,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_183082103",
+      "mask_path": "../../mask/hdr_front_05427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05428.png",
+      "transform_matrix": [
+        [
+          -0.3927091062068939,
+          -0.13832063972949982,
+          0.9092012643814087,
+          114.12873840332031
+        ],
+        [
+          -0.9191930890083313,
+          0.02744167484343052,
+          -0.39285001158714294,
+          7.065506458282471
+        ],
+        [
+          0.029389258474111557,
+          -0.9900073409080505,
+          -0.13791994750499725,
+          -35.04899597167969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5428,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_283082246",
+      "mask_path": "../../mask/hdr_front_05428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05429.png",
+      "transform_matrix": [
+        [
+          -0.3925740122795105,
+          -0.14875450730323792,
+          0.907611072063446,
+          114.06895446777344
+        ],
+        [
+          -0.9190571904182434,
+          0.02598009817302227,
+          -0.39326685667037964,
+          7.08925199508667
+        ],
+        [
+          0.034920401871204376,
+          -0.9885328412055969,
+          -0.14691303670406342,
+          -35.0254020690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5429,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_383081197",
+      "mask_path": "../../mask/hdr_front_05429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05430.png",
+      "transform_matrix": [
+        [
+          -0.3893469572067261,
+          -0.14942361414432526,
+          0.9088903069496155,
+          114.00851440429688
+        ],
+        [
+          -0.9204795956611633,
+          0.027166007086634636,
+          -0.3898453712463379,
+          7.107874393463135
+        ],
+        [
+          0.033561188727617264,
+          -0.9884000420570374,
+          -0.14811837673187256,
+          -35.01612091064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5430,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_483081817",
+      "mask_path": "../../mask/hdr_front_05430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05431.png",
+      "transform_matrix": [
+        [
+          -0.3876086473464966,
+          -0.14633247256278992,
+          0.9101353883743286,
+          113.93490600585938
+        ],
+        [
+          -0.9214233160018921,
+          0.0323949009180069,
+          -0.3872074782848358,
+          7.129463195800781
+        ],
+        [
+          0.02717728540301323,
+          -0.9887049198150635,
+          -0.1473907083272934,
+          -35.00944137573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5431,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_583081007",
+      "mask_path": "../../mask/hdr_front_05431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05433.png",
+      "transform_matrix": [
+        [
+          -0.39599162340164185,
+          -0.149029940366745,
+          0.906079888343811,
+          113.83677673339844
+        ],
+        [
+          -0.917998194694519,
+          0.04095839336514473,
+          -0.3944636881351471,
+          7.164886474609375
+        ],
+        [
+          0.021675320342183113,
+          -0.9879840612411499,
+          -0.15302839875221252,
+          -34.99543380737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5433,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_783080816",
+      "mask_path": "../../mask/hdr_front_05433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05434.png",
+      "transform_matrix": [
+        [
+          -0.40611371397972107,
+          -0.15026897192001343,
+          0.9013828039169312,
+          113.76148223876953
+        ],
+        [
+          -0.9138222336769104,
+          0.06747521460056305,
+          -0.400469571352005,
+          7.19024133682251
+        ],
+        [
+          -0.0006428443011827767,
+          -0.9863399267196655,
+          -0.16472172737121582,
+          -34.940696716308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5434,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_883081197",
+      "mask_path": "../../mask/hdr_front_05434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05435.png",
+      "transform_matrix": [
+        [
+          -0.42177528142929077,
+          -0.15718574821949005,
+          0.8929715752601624,
+          113.69348907470703
+        ],
+        [
+          -0.9066504240036011,
+          0.08344683796167374,
+          -0.4135475158691406,
+          7.235974311828613
+        ],
+        [
+          -0.009511877782642841,
+          -0.9840372800827026,
+          -0.17770835757255554,
+          -34.89546203613281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5435,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_983080625",
+      "mask_path": "../../mask/hdr_front_05435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05436.png",
+      "transform_matrix": [
+        [
+          -0.43038496375083923,
+          -0.16371802985668182,
+          0.8876739740371704,
+          113.64730072021484
+        ],
+        [
+          -0.9026393294334412,
+          0.08165562152862549,
+          -0.422580748796463,
+          7.2828216552734375
+        ],
+        [
+          -0.0032994861248880625,
+          -0.9831219911575317,
+          -0.18292170763015747,
+          -34.882659912109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5436,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_83080291",
+      "mask_path": "../../mask/hdr_front_05436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05437.png",
+      "transform_matrix": [
+        [
+          -0.43538203835487366,
+          -0.1725052446126938,
+          0.8835635185241699,
+          113.59517669677734
+        ],
+        [
+          -0.9002326726913452,
+          0.07811492681503296,
+          -0.42834484577178955,
+          7.3178791999816895
+        ],
+        [
+          0.0048722331412136555,
+          -0.9819063544273376,
+          -0.18930469453334808,
+          -34.872215270996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5437,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_183080434",
+      "mask_path": "../../mask/hdr_front_05437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05438.png",
+      "transform_matrix": [
+        [
+          -0.43804970383644104,
+          -0.17439225316047668,
+          0.8818729519844055,
+          113.51444244384766
+        ],
+        [
+          -0.8989505767822266,
+          0.08569073677062988,
+          -0.42958709597587585,
+          7.356995105743408
+        ],
+        [
+          -0.0006516900029964745,
+          -0.9809406399726868,
+          -0.19430679082870483,
+          -34.83961868286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5438,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_283080101",
+      "mask_path": "../../mask/hdr_front_05438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05439.png",
+      "transform_matrix": [
+        [
+          -0.4383901059627533,
+          -0.1718665510416031,
+          0.8821995854377747,
+          113.44657135009766
+        ],
+        [
+          -0.8987240195274353,
+          0.09524558484554291,
+          -0.4280461072921753,
+          7.382752895355225
+        ],
+        [
+          -0.010458802804350853,
+          -0.9805051684379578,
+          -0.19621530175209045,
+          -34.81697082519531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5439,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_383080482",
+      "mask_path": "../../mask/hdr_front_05439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05440.png",
+      "transform_matrix": [
+        [
+          -0.43852999806404114,
+          -0.1682547926902771,
+          0.8828260898590088,
+          113.39552307128906
+        ],
+        [
+          -0.8986158967018127,
+          0.09679338335990906,
+          -0.42792585492134094,
+          7.404417991638184
+        ],
+        [
+          -0.013451130129396915,
+          -0.980979859828949,
+          -0.1936432421207428,
+          -34.81291198730469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5440,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_483081102",
+      "mask_path": "../../mask/hdr_front_05440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05441.png",
+      "transform_matrix": [
+        [
+          -0.44270041584968567,
+          -0.16562588512897491,
+          0.8812403082847595,
+          113.3079833984375
+        ],
+        [
+          -0.896600604057312,
+          0.09395658224821091,
+          -0.432758092880249,
+          7.439388275146484
+        ],
+        [
+          -0.011122376658022404,
+          -0.9817027449607849,
+          -0.19009488821029663,
+          -34.79539108276367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5441,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_583080530",
+      "mask_path": "../../mask/hdr_front_05441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05442.png",
+      "transform_matrix": [
+        [
+          -0.4489569664001465,
+          -0.16870424151420593,
+          0.8774831295013428,
+          113.23197174072266
+        ],
+        [
+          -0.893548846244812,
+          0.08788587152957916,
+          -0.440280020236969,
+          7.474140644073486
+        ],
+        [
+          -0.0028412598185241222,
+          -0.9817407727241516,
+          -0.19020244479179382,
+          -34.76993942260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5442,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_683080434",
+      "mask_path": "../../mask/hdr_front_05442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05443.png",
+      "transform_matrix": [
+        [
+          -0.454569935798645,
+          -0.1733161211013794,
+          0.8736862540245056,
+          113.18685150146484
+        ],
+        [
+          -0.8906857967376709,
+          0.08105914294719696,
+          -0.4473346471786499,
+          7.495235443115234
+        ],
+        [
+          0.00671004131436348,
+          -0.9815248250961304,
+          -0.19121727347373962,
+          -34.74903869628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5443,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_783080339",
+      "mask_path": "../../mask/hdr_front_05443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05444.png",
+      "transform_matrix": [
+        [
+          -0.457249253988266,
+          -0.17729702591896057,
+          0.8714866042137146,
+          113.10453796386719
+        ],
+        [
+          -0.8892327547073364,
+          0.0760279968380928,
+          -0.45109301805496216,
+          7.52844762802124
+        ],
+        [
+          0.013720065355300903,
+          -0.9812163710594177,
+          -0.1924220770597458,
+          -34.73837661743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5444,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_883080482",
+      "mask_path": "../../mask/hdr_front_05444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05445.png",
+      "transform_matrix": [
+        [
+          -0.4584064483642578,
+          -0.17305313050746918,
+          0.871731698513031,
+          113.01683044433594
+        ],
+        [
+          -0.8886432647705078,
+          0.07457991689443588,
+          -0.45249417424201965,
+          7.566166877746582
+        ],
+        [
+          0.013291855342686176,
+          -0.9820847511291504,
+          -0.18797039985656738,
+          -34.73585510253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5445,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_983080863",
+      "mask_path": "../../mask/hdr_front_05445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05446.png",
+      "transform_matrix": [
+        [
+          -0.4592173993587494,
+          -0.16477924585342407,
+          0.8729073405265808,
+          112.95289611816406
+        ],
+        [
+          -0.8882493376731873,
+          0.07244214415550232,
+          -0.4536135494709015,
+          7.585312366485596
+        ],
+        [
+          0.011510823853313923,
+          -0.9836665987968445,
+          -0.17963172495365143,
+          -34.734619140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5446,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_83080291",
+      "mask_path": "../../mask/hdr_front_05446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05447.png",
+      "transform_matrix": [
+        [
+          -0.46461620926856995,
+          -0.1380566507577896,
+          0.8746839761734009,
+          112.89688110351562
+        ],
+        [
+          -0.8854614496231079,
+          0.06186338886618614,
+          -0.46057674288749695,
+          7.622058391571045
+        ],
+        [
+          0.009474755264818668,
+          -0.9884904026985168,
+          -0.15098656713962555,
+          -34.73569107055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5447,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_183080673",
+      "mask_path": "../../mask/hdr_front_05447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05448.png",
+      "transform_matrix": [
+        [
+          -0.4746968150138855,
+          -0.11710027605295181,
+          0.8723248243331909,
+          112.84220123291016
+        ],
+        [
+          -0.8801224827766418,
+          0.05541851371526718,
+          -0.4715009331703186,
+          7.674930095672607
+        ],
+        [
+          0.006869946140795946,
+          -0.9915726780891418,
+          -0.1293695867061615,
+          -34.70909118652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5448,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_283081054",
+      "mask_path": "../../mask/hdr_front_05448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05449.png",
+      "transform_matrix": [
+        [
+          -0.4824434816837311,
+          -0.11435440182685852,
+          0.8684304356575012,
+          112.78881072998047
+        ],
+        [
+          -0.8758695125579834,
+          0.05160956457257271,
+          -0.4797801673412323,
+          7.7140350341796875
+        ],
+        [
+          0.010045662522315979,
+          -0.9920985698699951,
+          -0.12505824863910675,
+          -34.694557189941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5449,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_383080482",
+      "mask_path": "../../mask/hdr_front_05449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05450.png",
+      "transform_matrix": [
+        [
+          -0.4891659617424011,
+          -0.11325429379940033,
+          0.8648064136505127,
+          112.73541259765625
+        ],
+        [
+          -0.871961236000061,
+          0.040757156908512115,
+          -0.48787549138069153,
+          7.750973701477051
+        ],
+        [
+          0.02000693790614605,
+          -0.9927297830581665,
+          -0.1186903715133667,
+          -34.70204162597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5450,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_483080387",
+      "mask_path": "../../mask/hdr_front_05450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05451.png",
+      "transform_matrix": [
+        [
+          -0.4906215965747833,
+          -0.10800385475158691,
+          0.8646535873413086,
+          112.6544418334961
+        ],
+        [
+          -0.8710774779319763,
+          0.03496447205543518,
+          -0.48989933729171753,
+          7.799088478088379
+        ],
+        [
+          0.022678861394524574,
+          -0.9935354590415955,
+          -0.11123406141996384,
+          -34.69070053100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5451,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_583082437",
+      "mask_path": "../../mask/hdr_front_05451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05452.png",
+      "transform_matrix": [
+        [
+          -0.48789146542549133,
+          -0.10076439380645752,
+          0.867068886756897,
+          112.58455657958984
+        ],
+        [
+          -0.8727208971977234,
+          0.0359485037624836,
+          -0.4868941307067871,
+          7.831854820251465
+        ],
+        [
+          0.017891768366098404,
+          -0.9942606687545776,
+          -0.10547816753387451,
+          -34.683597564697266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5452,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_683081626",
+      "mask_path": "../../mask/hdr_front_05452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05453.png",
+      "transform_matrix": [
+        [
+          -0.48850521445274353,
+          -0.0982363298535347,
+          0.8670133948326111,
+          112.5325698852539
+        ],
+        [
+          -0.8724253177642822,
+          0.03747173026204109,
+          -0.4873088598251343,
+          7.855913162231445
+        ],
+        [
+          0.015382940880954266,
+          -0.9944573640823364,
+          -0.1040089949965477,
+          -34.683143615722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5453,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_783081293",
+      "mask_path": "../../mask/hdr_front_05453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05454.png",
+      "transform_matrix": [
+        [
+          -0.4922626316547394,
+          -0.10153407603502274,
+          0.8645047545433044,
+          112.47650146484375
+        ],
+        [
+          -0.8704178929328918,
+          0.04933826997876167,
+          -0.48983505368232727,
+          7.893896579742432
+        ],
+        [
+          0.0070817917585372925,
+          -0.9936078786849976,
+          -0.11266446858644485,
+          -34.6681022644043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5454,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_883081912",
+      "mask_path": "../../mask/hdr_front_05454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05455.png",
+      "transform_matrix": [
+        [
+          -0.501348614692688,
+          -0.11416594684123993,
+          0.8576803803443909,
+          112.41373443603516
+        ],
+        [
+          -0.86524498462677,
+          0.06530293077230453,
+          -0.4970780313014984,
+          7.950342655181885
+        ],
+        [
+          0.0007403476047329605,
+          -0.991313099861145,
+          -0.1315210461616516,
+          -34.60464859008789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5455,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_983082532",
+      "mask_path": "../../mask/hdr_front_05455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05456.png",
+      "transform_matrix": [
+        [
+          -0.5117217898368835,
+          -0.1297699511051178,
+          0.849294126033783,
+          112.35580444335938
+        ],
+        [
+          -0.8590920567512512,
+          0.06568995863199234,
+          -0.5075880289077759,
+          7.998598098754883
+        ],
+        [
+          0.010079571977257729,
+          -0.989365816116333,
+          -0.14509929716587067,
+          -34.57195281982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5456,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_83081245",
+      "mask_path": "../../mask/hdr_front_05456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05458.png",
+      "transform_matrix": [
+        [
+          -0.5232041478157043,
+          -0.14719398319721222,
+          0.8393993973731995,
+          112.2555923461914
+        ],
+        [
+          -0.8517802357673645,
+          0.05914275348186493,
+          -0.5205502510070801,
+          8.04781723022461
+        ],
+        [
+          0.02697747014462948,
+          -0.9873379468917847,
+          -0.15632067620754242,
+          -34.552677154541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5458,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_283082723",
+      "mask_path": "../../mask/hdr_front_05458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05459.png",
+      "transform_matrix": [
+        [
+          -0.5242334604263306,
+          -0.14791597425937653,
+          0.8386298418045044,
+          112.18675231933594
+        ],
+        [
+          -0.851161777973175,
+          0.060357190668582916,
+          -0.5214216709136963,
+          8.079902648925781
+        ],
+        [
+          0.026509232819080353,
+          -0.9871564507484436,
+          -0.1575416922569275,
+          -34.53785705566406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5459,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_383082151",
+      "mask_path": "../../mask/hdr_front_05459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05460.png",
+      "transform_matrix": [
+        [
+          -0.5256445407867432,
+          -0.14980214834213257,
+          0.8374110460281372,
+          112.13666534423828
+        ],
+        [
+          -0.8502054810523987,
+          0.058804962784051895,
+          -0.5231562852859497,
+          8.10148811340332
+        ],
+        [
+          0.029126020148396492,
+          -0.9869657754898071,
+          -0.1582731306552887,
+          -34.52983474731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5460,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_483081579",
+      "mask_path": "../../mask/hdr_front_05460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05462.png",
+      "transform_matrix": [
+        [
+          -0.5308711528778076,
+          -0.14729659259319305,
+          0.8345535397529602,
+          112.03125
+        ],
+        [
+          -0.8467193841934204,
+          0.05123818293213844,
+          -0.5295667052268982,
+          8.147438049316406
+        ],
+        [
+          0.035242367535829544,
+          -0.9877644181251526,
+          -0.15191975235939026,
+          -34.51510238647461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5462,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_683082342",
+      "mask_path": "../../mask/hdr_front_05462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05463.png",
+      "transform_matrix": [
+        [
+          -0.5347428321838379,
+          -0.15178708732128143,
+          0.8312705159187317,
+          111.97179412841797
+        ],
+        [
+          -0.8441417217254639,
+          0.05124520882964134,
+          -0.5336653590202332,
+          8.18388557434082
+        ],
+        [
+          0.038404885679483414,
+          -0.987083911895752,
+          -0.1555328369140625,
+          -34.494529724121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5463,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_783080339",
+      "mask_path": "../../mask/hdr_front_05463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05464.png",
+      "transform_matrix": [
+        [
+          -0.5383879542350769,
+          -0.15634270012378693,
+          0.8280673027038574,
+          111.91779327392578
+        ],
+        [
+          -0.8415515422821045,
+          0.048529595136642456,
+          -0.5379924774169922,
+          8.218236923217773
+        ],
+        [
+          0.04392542690038681,
+          -0.9865099787712097,
+          -0.15769819915294647,
+          -34.478275299072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5464,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_883080244",
+      "mask_path": "../../mask/hdr_front_05464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05465.png",
+      "transform_matrix": [
+        [
+          -0.5415740609169006,
+          -0.14799216389656067,
+          0.827523946762085,
+          111.85790252685547
+        ],
+        [
+          -0.8398436307907104,
+          0.05206293985247612,
+          -0.540325939655304,
+          8.255106925964355
+        ],
+        [
+          0.03688066452741623,
+          -0.9876172542572021,
+          -0.15248622000217438,
+          -34.471561431884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5465,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_983081817",
+      "mask_path": "../../mask/hdr_front_05465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05466.png",
+      "transform_matrix": [
+        [
+          -0.544829249382019,
+          -0.13643594086170197,
+          0.8273731470108032,
+          111.80565643310547
+        ],
+        [
+          -0.8381087779998779,
+          0.056700699031353,
+          -0.5425484776496887,
+          8.287353515625
+        ],
+        [
+          0.027110466733574867,
+          -0.9890250563621521,
+          -0.14524035155773163,
+          -34.47509002685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5466,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_83083152",
+      "mask_path": "../../mask/hdr_front_05466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05467.png",
+      "transform_matrix": [
+        [
+          -0.5482154488563538,
+          -0.1311299204826355,
+          0.8259931802749634,
+          111.7529296875
+        ],
+        [
+          -0.8359276652336121,
+          0.05501400679349899,
+          -0.5460753440856934,
+          8.317954063415527
+        ],
+        [
+          0.026165632531046867,
+          -0.9898375868797302,
+          -0.13977466523647308,
+          -34.473934173583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5467,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_183082103",
+      "mask_path": "../../mask/hdr_front_05467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05468.png",
+      "transform_matrix": [
+        [
+          -0.5514644980430603,
+          -0.12294213473796844,
+          0.8250892162322998,
+          111.68672943115234
+        ],
+        [
+          -0.8336282968521118,
+          0.0446573831140995,
+          -0.5505174994468689,
+          8.362476348876953
+        ],
+        [
+          0.030835473909974098,
+          -0.9914085268974304,
+          -0.12711498141288757,
+          -34.470252990722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5468,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_283079147",
+      "mask_path": "../../mask/hdr_front_05468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05469.png",
+      "transform_matrix": [
+        [
+          -0.5590944886207581,
+          -0.11864954233169556,
+          0.8205702304840088,
+          111.61459350585938
+        ],
+        [
+          -0.8283098936080933,
+          0.03663007915019989,
+          -0.5590714812278748,
+          8.407536506652832
+        ],
+        [
+          0.03627602010965347,
+          -0.9922603964805603,
+          -0.11875826865434647,
+          -34.4453010559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5469,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_383080720",
+      "mask_path": "../../mask/hdr_front_05469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05470.png",
+      "transform_matrix": [
+        [
+          -0.5658068656921387,
+          -0.11906050145626068,
+          0.8158966302871704,
+          111.5586166381836
+        ],
+        [
+          -0.8235448598861694,
+          0.03305349871516228,
+          -0.5662873387336731,
+          8.443506240844727
+        ],
+        [
+          0.04045422002673149,
+          -0.9923366904258728,
+          -0.11675356328487396,
+          -34.434715270996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5470,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_483081579",
+      "mask_path": "../../mask/hdr_front_05470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05471.png",
+      "transform_matrix": [
+        [
+          -0.5689049363136292,
+          -0.11358298361301422,
+          0.8145219683647156,
+          111.48802947998047
+        ],
+        [
+          -0.8212706446647644,
+          0.026503361761569977,
+          -0.5699228644371033,
+          8.487037658691406
+        ],
+        [
+          0.04314596578478813,
+          -0.9931749105453491,
+          -0.10836027562618256,
+          -34.426815032958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5471,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_583079576",
+      "mask_path": "../../mask/hdr_front_05471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05472.png",
+      "transform_matrix": [
+        [
+          -0.567836344242096,
+          -0.09860847890377045,
+          0.8172137141227722,
+          111.408203125
+        ],
+        [
+          -0.8223611116409302,
+          0.024738997220993042,
+          -0.5684279203414917,
+          8.541008949279785
+        ],
+        [
+          0.03583476319909096,
+          -0.9948188066482544,
+          -0.09513947367668152,
+          -34.420677185058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5472,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_683082103",
+      "mask_path": "../../mask/hdr_front_05472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05473.png",
+      "transform_matrix": [
+        [
+          -0.564143180847168,
+          -0.08314333856105804,
+          0.8214801549911499,
+          111.34765625
+        ],
+        [
+          -0.8253076076507568,
+          0.027031388133764267,
+          -0.5640358924865723,
+          8.581787109375
+        ],
+        [
+          0.024690082296729088,
+          -0.9961709976196289,
+          -0.08386841416358948,
+          -34.4319953918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5473,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_783081769",
+      "mask_path": "../../mask/hdr_front_05473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05474.png",
+      "transform_matrix": [
+        [
+          -0.5623894333839417,
+          -0.07386511564254761,
+          0.8235667943954468,
+          111.2881088256836
+        ],
+        [
+          -0.8266234397888184,
+          0.025782451033592224,
+          -0.5621644258499146,
+          8.612409591674805
+        ],
+        [
+          0.020290767773985863,
+          -0.9969348907470703,
+          -0.07555841654539108,
+          -34.43410110473633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5474,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_883082389",
+      "mask_path": "../../mask/hdr_front_05474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05475.png",
+      "transform_matrix": [
+        [
+          -0.5643690824508667,
+          -0.06958498805761337,
+          0.8225846290588379,
+          111.22698211669922
+        ],
+        [
+          -0.8253501057624817,
+          0.02719847299158573,
+          -0.5639657378196716,
+          8.658979415893555
+        ],
+        [
+          0.016870496794581413,
+          -0.9972051978111267,
+          -0.07278194278478622,
+          -34.42567443847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5475,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_983082056",
+      "mask_path": "../../mask/hdr_front_05475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05476.png",
+      "transform_matrix": [
+        [
+          -0.5672309398651123,
+          -0.0718245878815651,
+          0.8204208016395569,
+          111.16480255126953
+        ],
+        [
+          -0.8233497142791748,
+          0.027008894830942154,
+          -0.5668914318084717,
+          8.7103853225708
+        ],
+        [
+          0.018558084964752197,
+          -0.9970515966415405,
+          -0.07445702701807022,
+          -34.40702819824219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5476,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_83082675",
+      "mask_path": "../../mask/hdr_front_05476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05477.png",
+      "transform_matrix": [
+        [
+          -0.5644574761390686,
+          -0.07896379381418228,
+          0.8216765522956848,
+          111.11479949951172
+        ],
+        [
+          -0.8249122500419617,
+          0.01763320341706276,
+          -0.5649857521057129,
+          8.736963272094727
+        ],
+        [
+          0.03012462705373764,
+          -0.9967215061187744,
+          -0.0750913918018341,
+          -34.38953399658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5477,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_183081150",
+      "mask_path": "../../mask/hdr_front_05477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05478.png",
+      "transform_matrix": [
+        [
+          -0.5563614964485168,
+          -0.10842160135507584,
+          0.8238365650177002,
+          111.04390716552734
+        ],
+        [
+          -0.8293417692184448,
+          0.01098668947815895,
+          -0.55863356590271,
+          8.756806373596191
+        ],
+        [
+          0.05151670053601265,
+          -0.994044303894043,
+          -0.09603115171194077,
+          -34.384273529052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5478,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_283082962",
+      "mask_path": "../../mask/hdr_front_05478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05479.png",
+      "transform_matrix": [
+        [
+          -0.5399582386016846,
+          -0.13068707287311554,
+          0.8314841985702515,
+          110.94625091552734
+        ],
+        [
+          -0.8397614359855652,
+          0.016780385747551918,
+          -0.5426962375640869,
+          8.779583930969238
+        ],
+        [
+          0.056970734149217606,
+          -0.9912816882133484,
+          -0.11880666762590408,
+          -34.3226318359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5479,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_383081197",
+      "mask_path": "../../mask/hdr_front_05479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05482.png",
+      "transform_matrix": [
+        [
+          -0.4913884103298187,
+          -0.13687631487846375,
+          0.8601176142692566,
+          110.80586242675781
+        ],
+        [
+          -0.8698768019676208,
+          0.028335630893707275,
+          -0.4924546480178833,
+          8.837897300720215
+        ],
+        [
+          0.043033406138420105,
+          -0.9901828765869141,
+          -0.13298934698104858,
+          -34.29271697998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5482,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_683084011",
+      "mask_path": "../../mask/hdr_front_05482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05484.png",
+      "transform_matrix": [
+        [
+          -0.4926319420337677,
+          -0.1535996049642563,
+          0.8565751314163208,
+          110.73477172851562
+        ],
+        [
+          -0.8690476417541504,
+          0.03537250682711601,
+          -0.4934622645378113,
+          8.887948036193848
+        ],
+        [
+          0.04549640417098999,
+          -0.9874998927116394,
+          -0.15091103315353394,
+          -34.251312255859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5484,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_883082151",
+      "mask_path": "../../mask/hdr_front_05484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05485.png",
+      "transform_matrix": [
+        [
+          -0.4976728856563568,
+          -0.1617812216281891,
+          0.8521435260772705,
+          110.6911392211914
+        ],
+        [
+          -0.8660494685173035,
+          0.03860105201601982,
+          -0.4984658658504486,
+          8.914443016052246
+        ],
+        [
+          0.04774877801537514,
+          -0.9860714077949524,
+          -0.15932123363018036,
+          -34.22129821777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5485,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_983080387",
+      "mask_path": "../../mask/hdr_front_05485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05486.png",
+      "transform_matrix": [
+        [
+          -0.49894413352012634,
+          -0.16279804706573486,
+          0.8512058854103088,
+          110.63427734375
+        ],
+        [
+          -0.8654440641403198,
+          0.042143404483795166,
+          -0.49922990798950195,
+          8.947854042053223
+        ],
+        [
+          0.04540093615651131,
+          -0.9857589602470398,
+          -0.16191981732845306,
+          -34.207733154296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5486,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_83080768",
+      "mask_path": "../../mask/hdr_front_05486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05489.png",
+      "transform_matrix": [
+        [
+          -0.4978513717651367,
+          -0.17087459564208984,
+          0.8502622842788696,
+          110.4886474609375
+        ],
+        [
+          -0.866689920425415,
+          0.0624118335545063,
+          -0.4949275851249695,
+          9.015035629272461
+        ],
+        [
+          0.03150411322712898,
+          -0.9833141565322876,
+          -0.17916710674762726,
+          -34.18046951293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5489,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_383081674",
+      "mask_path": "../../mask/hdr_front_05489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05490.png",
+      "transform_matrix": [
+        [
+          -0.5011668801307678,
+          -0.17841315269470215,
+          0.8467589020729065,
+          110.43424987792969
+        ],
+        [
+          -0.8651842474937439,
+          0.08411654829978943,
+          -0.4943487048149109,
+          9.050140380859375
+        ],
+        [
+          0.016971882432699203,
+          -0.9803536534309387,
+          -0.19651667773723602,
+          -34.13058090209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5490,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_483083963",
+      "mask_path": "../../mask/hdr_front_05490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05491.png",
+      "transform_matrix": [
+        [
+          -0.5041743516921997,
+          -0.1875866800546646,
+          0.8429824113845825,
+          110.38726806640625
+        ],
+        [
+          -0.8634528517723083,
+          0.09136641770601273,
+          -0.49608588218688965,
+          9.085657119750977
+        ],
+        [
+          0.016038822010159492,
+          -0.9779894948005676,
+          -0.2080368846654892,
+          -34.10081100463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5491,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_583081722",
+      "mask_path": "../../mask/hdr_front_05491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05492.png",
+      "transform_matrix": [
+        [
+          -0.5081256628036499,
+          -0.20057280361652374,
+          0.8376030325889587,
+          110.3302230834961
+        ],
+        [
+          -0.8608536720275879,
+          0.08757247030735016,
+          -0.5012603998184204,
+          9.110030174255371
+        ],
+        [
+          0.027188220992684364,
+          -0.9757570028305054,
+          -0.2171616405248642,
+          -34.07998275756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5492,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_683083057",
+      "mask_path": "../../mask/hdr_front_05492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05493.png",
+      "transform_matrix": [
+        [
+          -0.5152584910392761,
+          -0.20244872570037842,
+          0.8327804803848267,
+          110.26950073242188
+        ],
+        [
+          -0.8566733598709106,
+          0.09344754368066788,
+          -0.5073246359825134,
+          9.148298263549805
+        ],
+        [
+          0.02488594315946102,
+          -0.9748241305351257,
+          -0.2215820699930191,
+          -34.05915069580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5493,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_783082008",
+      "mask_path": "../../mask/hdr_front_05493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05495.png",
+      "transform_matrix": [
+        [
+          -0.527431070804596,
+          -0.1978304386138916,
+          0.8262444138526917,
+          110.1809310913086
+        ],
+        [
+          -0.8494476079940796,
+          0.10450819879770279,
+          -0.5172200798988342,
+          9.214459419250488
+        ],
+        [
+          0.01597258262336254,
+          -0.9746493101119995,
+          -0.22316749393939972,
+          -34.04914474487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5495,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_983082294",
+      "mask_path": "../../mask/hdr_front_05495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05496.png",
+      "transform_matrix": [
+        [
+          -0.5334208607673645,
+          -0.19190968573093414,
+          0.8237918615341187,
+          110.11272430419922
+        ],
+        [
+          -0.8457782864570618,
+          0.10833124071359634,
+          -0.5224207639694214,
+          9.254192352294922
+        ],
+        [
+          0.011015203781425953,
+          -0.9754152894020081,
+          -0.22009916603565216,
+          -34.027137756347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5496,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_83081960",
+      "mask_path": "../../mask/hdr_front_05496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05497.png",
+      "transform_matrix": [
+        [
+          -0.5403093695640564,
+          -0.19297440350055695,
+          0.8190401196479797,
+          110.06007385253906
+        ],
+        [
+          -0.841349184513092,
+          0.10764629393815994,
+          -0.5296638011932373,
+          9.293978691101074
+        ],
+        [
+          0.014044912531971931,
+          -0.9752811193466187,
+          -0.22052116692066193,
+          -33.994834899902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5497,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_183082342",
+      "mask_path": "../../mask/hdr_front_05497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05498.png",
+      "transform_matrix": [
+        [
+          -0.544123649597168,
+          -0.19817887246608734,
+          0.8152636289596558,
+          110.01494598388672
+        ],
+        [
+          -0.8386157751083374,
+          0.09887029975652695,
+          -0.5356754064559937,
+          9.328614234924316
+        ],
+        [
+          0.025554198771715164,
+          -0.9751665592193604,
+          -0.21999362111091614,
+          -33.97854995727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5498,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_283081531",
+      "mask_path": "../../mask/hdr_front_05498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05499.png",
+      "transform_matrix": [
+        [
+          -0.545900285243988,
+          -0.20025204122066498,
+          0.8135673999786377,
+          109.9566421508789
+        ],
+        [
+          -0.837114155292511,
+          0.08966899663209915,
+          -0.5396288633346558,
+          9.362607955932617
+        ],
+        [
+          0.035109974443912506,
+          -0.9756324291229248,
+          -0.21658414602279663,
+          -33.96434783935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5499,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_383078098",
+      "mask_path": "../../mask/hdr_front_05499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05500.png",
+      "transform_matrix": [
+        [
+          -0.5446528792381287,
+          -0.19970650970935822,
+          0.8145370483398438,
+          109.89125061035156
+        ],
+        [
+          -0.83793705701828,
+          0.0892193615436554,
+          -0.5384249687194824,
+          9.39682674407959
+        ],
+        [
+          0.03485448658466339,
+          -0.9757854342460632,
+          -0.21593506634235382,
+          -33.942970275878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5500,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_483080625",
+      "mask_path": "../../mask/hdr_front_05500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05501.png",
+      "transform_matrix": [
+        [
+          -0.5335478186607361,
+          -0.1981288343667984,
+          0.8222358226776123,
+          109.83474731445312
+        ],
+        [
+          -0.8453025221824646,
+          0.09260676801204681,
+          -0.5262008905410767,
+          9.422000885009766
+        ],
+        [
+          0.028110971674323082,
+          -0.9757914543151855,
+          -0.21688894927501678,
+          -33.92856979370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5501,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_583078145",
+      "mask_path": "../../mask/hdr_front_05501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05503.png",
+      "transform_matrix": [
+        [
+          -0.45910343527793884,
+          -0.1922202706336975,
+          0.8673381209373474,
+          109.72457122802734
+        ],
+        [
+          -0.8882765769958496,
+          0.08422376960515976,
+          -0.4515208899974823,
+          9.430191993713379
+        ],
+        [
+          0.013740974478423595,
+          -0.977730929851532,
+          -0.20941218733787537,
+          -33.90168762207031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5503,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_783080339",
+      "mask_path": "../../mask/hdr_front_05503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05504.png",
+      "transform_matrix": [
+        [
+          -0.4171575903892517,
+          -0.19069649279117584,
+          0.8886024951934814,
+          109.66773986816406
+        ],
+        [
+          -0.9087351560592651,
+          0.07308755069971085,
+          -0.41092416644096375,
+          9.431514739990234
+        ],
+        [
+          0.013416009955108166,
+          -0.9789244532585144,
+          -0.2037816196680069,
+          -33.882328033447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5504,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_883079290",
+      "mask_path": "../../mask/hdr_front_05504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05506.png",
+      "transform_matrix": [
+        [
+          -0.3789781630039215,
+          -0.1928904950618744,
+          0.9050795435905457,
+          109.56437683105469
+        ],
+        [
+          -0.9248514771461487,
+          0.045104291290044785,
+          -0.37764453887939453,
+          9.453816413879395
+        ],
+        [
+          0.03202107548713684,
+          -0.9801831245422363,
+          -0.1954885721206665,
+          -33.86366653442383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5506,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_83078622",
+      "mask_path": "../../mask/hdr_front_05506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05507.png",
+      "transform_matrix": [
+        [
+          -0.3752823770046234,
+          -0.18127281963825226,
+          0.9090123772621155,
+          109.50637817382812
+        ],
+        [
+          -0.9263435006141663,
+          0.039050739258527756,
+          -0.37465012073516846,
+          9.485013961791992
+        ],
+        [
+          0.03241628408432007,
+          -0.982657253742218,
+          -0.18257595598697662,
+          -33.858741760253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5507,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_183078289",
+      "mask_path": "../../mask/hdr_front_05507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05508.png",
+      "transform_matrix": [
+        [
+          -0.3720627427101135,
+          -0.1723790168762207,
+          0.9120607376098633,
+          109.44281005859375
+        ],
+        [
+          -0.927635669708252,
+          0.03456705063581467,
+          -0.37188321352005005,
+          9.504325866699219
+        ],
+        [
+          0.03257760778069496,
+          -0.9844239950180054,
+          -0.1727660596370697,
+          -33.851837158203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5508,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_283078670",
+      "mask_path": "../../mask/hdr_front_05508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05509.png",
+      "transform_matrix": [
+        [
+          -0.36943697929382324,
+          -0.1666204184293747,
+          0.9141958355903625,
+          109.3871078491211
+        ],
+        [
+          -0.9285738468170166,
+          0.02851140685379505,
+          -0.370050847530365,
+          9.513825416564941
+        ],
+        [
+          0.03559302166104317,
+          -0.9856088161468506,
+          -0.16525253653526306,
+          -33.84788131713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5509,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_383080482",
+      "mask_path": "../../mask/hdr_front_05509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05510.png",
+      "transform_matrix": [
+        [
+          -0.3713437020778656,
+          -0.15713489055633545,
+          0.915102481842041,
+          109.32787322998047
+        ],
+        [
+          -0.9275989532470703,
+          0.01948382705450058,
+          -0.3730691075325012,
+          9.531621932983398
+        ],
+        [
+          0.04079248011112213,
+          -0.9873849153518677,
+          -0.1529933661222458,
+          -33.84125518798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5510,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_483081102",
+      "mask_path": "../../mask/hdr_front_05510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05511.png",
+      "transform_matrix": [
+        [
+          -0.37719741463661194,
+          -0.15718194842338562,
+          0.9126971364021301,
+          109.26799774169922
+        ],
+        [
+          -0.9246403574943542,
+          0.00798755045980215,
+          -0.38075777888298035,
+          9.556796073913574
+        ],
+        [
+          0.05255802720785141,
+          -0.9875374436378479,
+          -0.14834965765476227,
+          -33.822235107421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5511,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_583082199",
+      "mask_path": "../../mask/hdr_front_05511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05512.png",
+      "transform_matrix": [
+        [
+          -0.3841785490512848,
+          -0.16513954102993011,
+          0.9083698987960815,
+          109.21662139892578
+        ],
+        [
+          -0.9208374619483948,
+          -0.0026731875259429216,
+          -0.38993749022483826,
+          9.573288917541504
+        ],
+        [
+          0.06682233512401581,
+          -0.9862666130065918,
+          -0.1510397046804428,
+          -33.80579376220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5512,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_683082580",
+      "mask_path": "../../mask/hdr_front_05512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05513.png",
+      "transform_matrix": [
+        [
+          -0.3904712200164795,
+          -0.15889622271060944,
+          0.9067988991737366,
+          109.15402221679688
+        ],
+        [
+          -0.9178370237350464,
+          -0.009272180497646332,
+          -0.39684903621673584,
+          9.589865684509277
+        ],
+        [
+          0.07146582007408142,
+          -0.9872517585754395,
+          -0.14222031831741333,
+          -33.791690826416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5513,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_783081769",
+      "mask_path": "../../mask/hdr_front_05513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05514.png",
+      "transform_matrix": [
+        [
+          -0.39673927426338196,
+          -0.14869481325149536,
+          0.9058077931404114,
+          109.09454345703125
+        ],
+        [
+          -0.9155185222625732,
+          -0.007402574643492699,
+          -0.40220776200294495,
+          9.608210563659668
+        ],
+        [
+          0.06651150435209274,
+          -0.9888554215431213,
+          -0.13319595158100128,
+          -33.78374099731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5514,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_883082151",
+      "mask_path": "../../mask/hdr_front_05514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05516.png",
+      "transform_matrix": [
+        [
+          -0.41018933057785034,
+          -0.13889454305171967,
+          0.9013618230819702,
+          108.9959716796875
+        ],
+        [
+          -0.9106007218360901,
+          0.007638916373252869,
+          -0.41321665048599243,
+          9.636924743652344
+        ],
+        [
+          0.050508104264736176,
+          -0.9902777671813965,
+          -0.12961086630821228,
+          -33.777366638183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5516,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_83082199",
+      "mask_path": "../../mask/hdr_front_05516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05517.png",
+      "transform_matrix": [
+        [
+          -0.4228953421115875,
+          -0.13700801134109497,
+          0.8957613706588745,
+          108.9336166381836
+        ],
+        [
+          -0.9051761627197266,
+          0.01738903671503067,
+          -0.42468053102493286,
+          9.661376953125
+        ],
+        [
+          0.04260820522904396,
+          -0.9904173016548157,
+          -0.13137012720108032,
+          -33.75569152832031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5517,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_183081150",
+      "mask_path": "../../mask/hdr_front_05517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05519.png",
+      "transform_matrix": [
+        [
+          -0.46812817454338074,
+          -0.15035578608512878,
+          0.8707751035690308,
+          108.86102294921875
+        ],
+        [
+          -0.8821829557418823,
+          0.022557003423571587,
+          -0.4703662097454071,
+          9.716238975524902
+        ],
+        [
+          0.05108020827174187,
+          -0.9883745908737183,
+          -0.14320088922977448,
+          -33.725826263427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5519,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_383080244",
+      "mask_path": "../../mask/hdr_front_05519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05520.png",
+      "transform_matrix": [
+        [
+          -0.49139997363090515,
+          -0.15830209851264954,
+          0.8564265370368958,
+          108.81257629394531
+        ],
+        [
+          -0.8688189387321472,
+          0.020610900595784187,
+          -0.49470075964927673,
+          9.74433422088623
+        ],
+        [
+          0.060660433024168015,
+          -0.9871755838394165,
+          -0.14766405522823334,
+          -33.7214241027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5520,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_483080387",
+      "mask_path": "../../mask/hdr_front_05520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05521.png",
+      "transform_matrix": [
+        [
+          -0.5047648549079895,
+          -0.16662947833538055,
+          0.8470224738121033,
+          108.7462387084961
+        ],
+        [
+          -0.8610081076622009,
+          0.02640114538371563,
+          -0.5079055428504944,
+          9.768535614013672
+        ],
+        [
+          0.06226968392729759,
+          -0.9856661558151245,
+          -0.1567956805229187,
+          -33.68223190307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5521,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_583080768",
+      "mask_path": "../../mask/hdr_front_05521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05524.png",
+      "transform_matrix": [
+        [
+          -0.5098108649253845,
+          -0.14971928298473358,
+          0.8471583127975464,
+          108.6143798828125
+        ],
+        [
+          -0.8601101040840149,
+          0.06876357644796371,
+          -0.5054525136947632,
+          9.84581184387207
+        ],
+        [
+          0.01742236688733101,
+          -0.986334502696991,
+          -0.16383148729801178,
+          -33.65450668334961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5524,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_883080720",
+      "mask_path": "../../mask/hdr_front_05524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05525.png",
+      "transform_matrix": [
+        [
+          -0.5163301825523376,
+          -0.14526735246181488,
+          0.8439790606498718,
+          108.546875
+        ],
+        [
+          -0.8563200831413269,
+          0.07501141726970673,
+          -0.5109689831733704,
+          9.899115562438965
+        ],
+        [
+          0.010919050313532352,
+          -0.9865449070930481,
+          -0.16312599182128906,
+          -33.63237762451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5525,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_983079910",
+      "mask_path": "../../mask/hdr_front_05525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05526.png",
+      "transform_matrix": [
+        [
+          -0.5215713977813721,
+          -0.14504240453243256,
+          0.8407889008522034,
+          108.49024200439453
+        ],
+        [
+          -0.8531197309494019,
+          0.07450880110263824,
+          -0.5163673758506775,
+          9.944238662719727
+        ],
+        [
+          0.012248986400663853,
+          -0.9866160750389099,
+          -0.16260017454624176,
+          -33.61848068237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5526,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_83081007",
+      "mask_path": "../../mask/hdr_front_05526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05527.png",
+      "transform_matrix": [
+        [
+          -0.5253123044967651,
+          -0.14707614481449127,
+          0.8381024599075317,
+          108.44281005859375
+        ],
+        [
+          -0.8507459163665771,
+          0.07146883010864258,
+          -0.5206952691078186,
+          9.979207038879395
+        ],
+        [
+          0.01668364927172661,
+          -0.9865398406982422,
+          -0.1626678854227066,
+          -33.604835510253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5527,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_183080673",
+      "mask_path": "../../mask/hdr_front_05527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05528.png",
+      "transform_matrix": [
+        [
+          -0.5276229381561279,
+          -0.15500742197036743,
+          0.8352165222167969,
+          108.38146209716797
+        ],
+        [
+          -0.8490687012672424,
+          0.06568579375743866,
+          -0.5241830348968506,
+          10.014801025390625
+        ],
+        [
+          0.026390397921204567,
+          -0.9857271909713745,
+          -0.16626927256584167,
+          -33.58270263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5528,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_283080339",
+      "mask_path": "../../mask/hdr_front_05528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05529.png",
+      "transform_matrix": [
+        [
+          -0.5279622077941895,
+          -0.1604778915643692,
+          0.8339681029319763,
+          108.31413269042969
+        ],
+        [
+          -0.8487473130226135,
+          0.06532413512468338,
+          -0.5247483849525452,
+          10.04943561553955
+        ],
+        [
+          0.029732244089245796,
+          -0.9848754405975342,
+          -0.17069384455680847,
+          -33.564231872558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5529,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_383079051",
+      "mask_path": "../../mask/hdr_front_05529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05530.png",
+      "transform_matrix": [
+        [
+          -0.5288172960281372,
+          -0.16111133992671967,
+          0.8333039879798889,
+          108.25910949707031
+        ],
+        [
+          -0.8482111096382141,
+          0.06581064313650131,
+          -0.5255537033081055,
+          10.072824478149414
+        ],
+        [
+          0.029832400381565094,
+          -0.9847396612167358,
+          -0.17145822942256927,
+          -33.55056381225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5530,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_483081817",
+      "mask_path": "../../mask/hdr_front_05530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05531.png",
+      "transform_matrix": [
+        [
+          -0.5313920974731445,
+          -0.15644723176956177,
+          0.8325543999671936,
+          108.20562744140625
+        ],
+        [
+          -0.8469170928001404,
+          0.07629136741161346,
+          -0.5262234210968018,
+          10.101593017578125
+        ],
+        [
+          0.018809489905834198,
+          -0.9847354888916016,
+          -0.17303846776485443,
+          -33.543556213378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5531,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_583081007",
+      "mask_path": "../../mask/hdr_front_05531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05532.png",
+      "transform_matrix": [
+        [
+          -0.5370470285415649,
+          -0.15561267733573914,
+          0.8290748596191406,
+          108.13363647460938
+        ],
+        [
+          -0.8434416651725769,
+          0.08314864337444305,
+          -0.5307468771934509,
+          10.152929306030273
+        ],
+        [
+          0.013654503971338272,
+          -0.9843124747276306,
+          -0.17590497434139252,
+          -33.52263259887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5532,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_683082103",
+      "mask_path": "../../mask/hdr_front_05532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05533.png",
+      "transform_matrix": [
+        [
+          -0.5432420372962952,
+          -0.16110524535179138,
+          0.823974072933197,
+          108.07955932617188
+        ],
+        [
+          -0.8393769264221191,
+          0.08283692598342896,
+          -0.5372006297111511,
+          10.18456745147705
+        ],
+        [
+          0.01829036884009838,
+          -0.983454704284668,
+          -0.18022854626178741,
+          -33.500423431396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5533,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_783082008",
+      "mask_path": "../../mask/hdr_front_05533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05534.png",
+      "transform_matrix": [
+        [
+          -0.5485945343971252,
+          -0.16100305318832397,
+          0.8204401135444641,
+          108.02461242675781
+        ],
+        [
+          -0.8358442783355713,
+          0.0818898007273674,
+          -0.5428245663642883,
+          10.216045379638672
+        ],
+        [
+          0.020210733637213707,
+          -0.9835507869720459,
+          -0.17949776351451874,
+          -33.4886589050293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5534,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_883082628",
+      "mask_path": "../../mask/hdr_front_05534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05535.png",
+      "transform_matrix": [
+        [
+          -0.5496503710746765,
+          -0.14267170429229736,
+          0.8231216669082642,
+          107.94605255126953
+        ],
+        [
+          -0.8353485465049744,
+          0.08349168300628662,
+          -0.5433433651924133,
+          10.258377075195312
+        ],
+        [
+          0.0087959049269557,
+          -0.9862423539161682,
+          -0.16507183015346527,
+          -33.481727600097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5535,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_983082056",
+      "mask_path": "../../mask/hdr_front_05535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05536.png",
+      "transform_matrix": [
+        [
+          -0.5487174391746521,
+          -0.1255168914794922,
+          0.8265317678451538,
+          107.88188171386719
+        ],
+        [
+          -0.8359899520874023,
+          0.08885890990495682,
+          -0.5415024161338806,
+          10.287117958068848
+        ],
+        [
+          -0.005477010738104582,
+          -0.9881040453910828,
+          -0.15368928015232086,
+          -33.47317886352539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5536,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_83082675",
+      "mask_path": "../../mask/hdr_front_05536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05537.png",
+      "transform_matrix": [
+        [
+          -0.5512939095497131,
+          -0.11977747827768326,
+          0.825668454170227,
+          107.83411407470703
+        ],
+        [
+          -0.8342264294624329,
+          0.09323444962501526,
+          -0.5434827208518982,
+          10.3119535446167
+        ],
+        [
+          -0.011883752420544624,
+          -0.9884132742881775,
+          -0.15132112801074982,
+          -33.463253021240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5537,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_183082103",
+      "mask_path": "../../mask/hdr_front_05537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05538.png",
+      "transform_matrix": [
+        [
+          -0.5552632212638855,
+          -0.11675218492746353,
+          0.8234389424324036,
+          107.78304290771484
+        ],
+        [
+          -0.831667959690094,
+          0.08190296590328217,
+          -0.549199640750885,
+          10.352426528930664
+        ],
+        [
+          -0.0033218259923160076,
+          -0.9897782206535339,
+          -0.14257678389549255,
+          -33.46019744873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5538,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_283082246",
+      "mask_path": "../../mask/hdr_front_05538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05539.png",
+      "transform_matrix": [
+        [
+          -0.5617202520370483,
+          -0.11272202432155609,
+          0.8196122646331787,
+          107.72323608398438
+        ],
+        [
+          -0.8273097276687622,
+          0.0700824037194252,
+          -0.5573571920394897,
+          10.394756317138672
+        ],
+        [
+          0.005386033095419407,
+          -0.9911519289016724,
+          -0.13262273371219635,
+          -33.445594787597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5539,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_383082151",
+      "mask_path": "../../mask/hdr_front_05539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05540.png",
+      "transform_matrix": [
+        [
+          -0.5691259503364563,
+          -0.11095348000526428,
+          0.8147299885749817,
+          107.67359924316406
+        ],
+        [
+          -0.8222059607505798,
+          0.06650221347808838,
+          -0.5652918219566345,
+          10.427251815795898
+        ],
+        [
+          0.008539754897356033,
+          -0.9915981292724609,
+          -0.12907476723194122,
+          -33.4337158203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5540,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_483080863",
+      "mask_path": "../../mask/hdr_front_05540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05541.png",
+      "transform_matrix": [
+        [
+          -0.5740386843681335,
+          -0.10718245059251785,
+          0.811782956123352,
+          107.6031265258789
+        ],
+        [
+          -0.8187384605407715,
+          0.06045317277312279,
+          -0.5709752440452576,
+          10.470261573791504
+        ],
+        [
+          0.012123672291636467,
+          -0.9923998117446899,
+          -0.12245684117078781,
+          -33.42511749267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5541,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_583082437",
+      "mask_path": "../../mask/hdr_front_05541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05542.png",
+      "transform_matrix": [
+        [
+          -0.5735511779785156,
+          -0.09960217773914337,
+          0.8130919337272644,
+          107.51953887939453
+        ],
+        [
+          -0.8191275596618652,
+          0.05966270714998245,
+          -0.5705001950263977,
+          10.515914916992188
+        ],
+        [
+          0.008311796002089977,
+          -0.9932370781898499,
+          -0.11580650508403778,
+          -33.416744232177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5542,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_683081626",
+      "mask_path": "../../mask/hdr_front_05542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05543.png",
+      "transform_matrix": [
+        [
+          -0.5702109336853027,
+          -0.09241783618927002,
+          0.8162832856178284,
+          107.45642852783203
+        ],
+        [
+          -0.8214961290359497,
+          0.06190129369497299,
+          -0.5668441653251648,
+          10.546154975891113
+        ],
+        [
+          0.0018575136782601476,
+          -0.993794322013855,
+          -0.11121769994497299,
+          -33.41334915161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5543,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_783082008",
+      "mask_path": "../../mask/hdr_front_05543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05544.png",
+      "transform_matrix": [
+        [
+          -0.5681836009025574,
+          -0.08767659962177277,
+          0.8182176351547241,
+          107.40153503417969
+        ],
+        [
+          -0.8229017853736877,
+          0.06024361029267311,
+          -0.5649809241294861,
+          10.579145431518555
+        ],
+        [
+          0.0002432175970170647,
+          -0.9943256974220276,
+          -0.10637867450714111,
+          -33.41073226928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5544,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_883081197",
+      "mask_path": "../../mask/hdr_front_05544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05545.png",
+      "transform_matrix": [
+        [
+          -0.5713061094284058,
+          -0.08353244513273239,
+          0.8164752125740051,
+          107.34190368652344
+        ],
+        [
+          -0.8207288980484009,
+          0.053699277341365814,
+          -0.5687885284423828,
+          10.618343353271484
+        ],
+        [
+          0.003668180899694562,
+          -0.995057225227356,
+          -0.09923621267080307,
+          -33.40584182739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5545,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_983081579",
+      "mask_path": "../../mask/hdr_front_05545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05546.png",
+      "transform_matrix": [
+        [
+          -0.5787141919136047,
+          -0.08377664536237717,
+          0.8112159371376038,
+          107.29139709472656
+        ],
+        [
+          -0.8154982924461365,
+          0.0506238229572773,
+          -0.5765411853790283,
+          10.652396202087402
+        ],
+        [
+          0.007233832031488419,
+          -0.9951977729797363,
+          -0.09761643409729004,
+          -33.394954681396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5546,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_83081960",
+      "mask_path": "../../mask/hdr_front_05546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05547.png",
+      "transform_matrix": [
+        [
+          -0.5863643884658813,
+          -0.08954530209302902,
+          0.8050828576087952,
+          107.24826049804688
+        ],
+        [
+          -0.8098874688148499,
+          0.04505261778831482,
+          -0.5848526954650879,
+          10.684613227844238
+        ],
+        [
+          0.016099710017442703,
+          -0.9949632883071899,
+          -0.09893885999917984,
+          -33.384521484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5547,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_183082342",
+      "mask_path": "../../mask/hdr_front_05547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05548.png",
+      "transform_matrix": [
+        [
+          -0.591210126876831,
+          -0.10521230846643448,
+          0.7996255159378052,
+          107.18531036376953
+        ],
+        [
+          -0.8058724403381348,
+          0.037417758256196976,
+          -0.5909056663513184,
+          10.728494644165039
+        ],
+        [
+          0.03225034847855568,
+          -0.9937456250190735,
+          -0.10690946877002716,
+          -33.384334564208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5548,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_283081531",
+      "mask_path": "../../mask/hdr_front_05548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05549.png",
+      "transform_matrix": [
+        [
+          -0.5900490283966064,
+          -0.11459433287382126,
+          0.7991936206817627,
+          107.08109283447266
+        ],
+        [
+          -0.8065891265869141,
+          0.04021408036351204,
+          -0.5897430777549744,
+          10.77212905883789
+        ],
+        [
+          0.03544235974550247,
+          -0.9925981163978577,
+          -0.11615882068872452,
+          -33.34858703613281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5549,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_383082389",
+      "mask_path": "../../mask/hdr_front_05549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05550.png",
+      "transform_matrix": [
+        [
+          -0.5878284573554993,
+          -0.11229337006807327,
+          0.8011540770530701,
+          107.01394653320312
+        ],
+        [
+          -0.8086348176002502,
+          0.05239742249250412,
+          -0.5859729647636414,
+          10.802775382995605
+        ],
+        [
+          0.023822473362088203,
+          -0.9922927021980286,
+          -0.12160501629114151,
+          -33.324668884277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5550,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_483083248",
+      "mask_path": "../../mask/hdr_front_05550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05552.png",
+      "transform_matrix": [
+        [
+          -0.5885967016220093,
+          -0.11043364554643631,
+          0.8008484840393066,
+          106.9228286743164
+        ],
+        [
+          -0.8083416223526001,
+          0.06601417064666748,
+          -0.5850008726119995,
+          10.8734130859375
+        ],
+        [
+          0.011736428365111351,
+          -0.9916887879371643,
+          -0.12812381982803345,
+          -33.31090545654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5552,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_683083057",
+      "mask_path": "../../mask/hdr_front_05552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05553.png",
+      "transform_matrix": [
+        [
+          -0.5957065224647522,
+          -0.1149616464972496,
+          0.79493248462677,
+          106.85831451416016
+        ],
+        [
+          -0.8030822277069092,
+          0.06814904510974884,
+          -0.591958224773407,
+          10.924613952636719
+        ],
+        [
+          0.013878613710403442,
+          -0.9910295009613037,
+          -0.13292048871517181,
+          -33.28935623168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5553,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_783082723",
+      "mask_path": "../../mask/hdr_front_05553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05554.png",
+      "transform_matrix": [
+        [
+          -0.6026663184165955,
+          -0.11862695962190628,
+          0.7891266942024231,
+          106.79976654052734
+        ],
+        [
+          -0.7977851033210754,
+          0.0669805258512497,
+          -0.5992099642753601,
+          10.971817970275879
+        ],
+        [
+          0.018226321786642075,
+          -0.9906772971153259,
+          -0.13500572741031647,
+          -33.27333450317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5554,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_883083105",
+      "mask_path": "../../mask/hdr_front_05554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05555.png",
+      "transform_matrix": [
+        [
+          -0.6088566780090332,
+          -0.12439464032649994,
+          0.7834663391113281,
+          106.72225189208984
+        ],
+        [
+          -0.7928795218467712,
+          0.06403696537017822,
+          -0.606004536151886,
+          11.026168823242188
+        ],
+        [
+          0.02521289512515068,
+          -0.9901642799377441,
+          -0.137619286775589,
+          -33.25837707519531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5555,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_983081817",
+      "mask_path": "../../mask/hdr_front_05555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05556.png",
+      "transform_matrix": [
+        [
+          -0.6107319593429565,
+          -0.12341738492250443,
+          0.782160222530365,
+          106.63980865478516
+        ],
+        [
+          -0.7915768027305603,
+          0.06982187926769257,
+          -0.6070675849914551,
+          11.087783813476562
+        ],
+        [
+          0.02031080238521099,
+          -0.9898955225944519,
+          -0.1403367966413498,
+          -33.23756790161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5556,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_83082914",
+      "mask_path": "../../mask/hdr_front_05556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05557.png",
+      "transform_matrix": [
+        [
+          -0.6092671751976013,
+          -0.11895924806594849,
+          0.783991277217865,
+          106.58018493652344
+        ],
+        [
+          -0.7928661704063416,
+          0.07577744871377945,
+          -0.6046661138534546,
+          11.13280200958252
+        ],
+        [
+          0.012521760538220406,
+          -0.9900032877922058,
+          -0.14048749208450317,
+          -33.23175048828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5557,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_183082342",
+      "mask_path": "../../mask/hdr_front_05557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05558.png",
+      "transform_matrix": [
+        [
+          -0.60898357629776,
+          -0.11586252599954605,
+          0.7846750617027283,
+          106.5157470703125
+        ],
+        [
+          -0.7931188941001892,
+          0.07637950778007507,
+          -0.6042587757110596,
+          11.178252220153809
+        ],
+        [
+          0.010077858343720436,
+          -0.9903243184089661,
+          -0.13840660452842712,
+          -33.23014831542969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5558,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_283081054",
+      "mask_path": "../../mask/hdr_front_05558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05559.png",
+      "transform_matrix": [
+        [
+          -0.6137973070144653,
+          -0.11181467771530151,
+          0.7815052270889282,
+          106.4396743774414
+        ],
+        [
+          -0.7893104553222656,
+          0.06741724908351898,
+          -0.6102818250656128,
+          11.237961769104004
+        ],
+        [
+          0.015551538206636906,
+          -0.9914395809173584,
+          -0.1296370029449463,
+          -33.20888137817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5559,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_383082389",
+      "mask_path": "../../mask/hdr_front_05559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05560.png",
+      "transform_matrix": [
+        [
+          -0.6225863695144653,
+          -0.10984756797552109,
+          0.7748030424118042,
+          106.3766098022461
+        ],
+        [
+          -0.782215416431427,
+          0.05835779011249542,
+          -0.6202688813209534,
+          11.294530868530273
+        ],
+        [
+          0.02291923016309738,
+          -0.9922338128089905,
+          -0.12225721776485443,
+          -33.186832427978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5560,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_483082532",
+      "mask_path": "../../mask/hdr_front_05560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05561.png",
+      "transform_matrix": [
+        [
+          -0.6298081874847412,
+          -0.11135584861040115,
+          0.7687272429466248,
+          106.33186340332031
+        ],
+        [
+          -0.7762740254402161,
+          0.05557190626859665,
+          -0.6279413104057312,
+          11.3388032913208
+        ],
+        [
+          0.027205299586057663,
+          -0.9922255873680115,
+          -0.12144230306148529,
+          -33.17884063720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5561,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_583082675",
+      "mask_path": "../../mask/hdr_front_05561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05562.png",
+      "transform_matrix": [
+        [
+          -0.6347993612289429,
+          -0.10825641453266144,
+          0.7650557160377502,
+          106.25917053222656
+        ],
+        [
+          -0.7722042798995972,
+          0.05425895005464554,
+          -0.6330532431602478,
+          11.396604537963867
+        ],
+        [
+          0.02702096290886402,
+          -0.9926412105560303,
+          -0.11803963035345078,
+          -33.16988754272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5562,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_683081150",
+      "mask_path": "../../mask/hdr_front_05562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05563.png",
+      "transform_matrix": [
+        [
+          -0.6356455683708191,
+          -0.0970083698630333,
+          0.7658616900444031,
+          106.17568969726562
+        ],
+        [
+          -0.7717908024787903,
+          0.057833798229694366,
+          -0.6332410573959351,
+          11.459165573120117
+        ],
+        [
+          0.017136989161372185,
+          -0.99360191822052,
+          -0.11163195222616196,
+          -33.16214370727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5563,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_783082723",
+      "mask_path": "../../mask/hdr_front_05563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05564.png",
+      "transform_matrix": [
+        [
+          -0.6339390873908997,
+          -0.08663361519575119,
+          0.7685153484344482,
+          106.11808013916016
+        ],
+        [
+          -0.773350179195404,
+          0.061875119805336,
+          -0.6309523582458496,
+          11.503705024719238
+        ],
+        [
+          0.007109701167792082,
+          -0.9943168759346008,
+          -0.10622318834066391,
+          -33.15727233886719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5564,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_883082389",
+      "mask_path": "../../mask/hdr_front_05564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05565.png",
+      "transform_matrix": [
+        [
+          -0.6336737871170044,
+          -0.08099206537008286,
+          0.7693490386009216,
+          106.04881286621094
+        ],
+        [
+          -0.7735806107521057,
+          0.05920347198843956,
+          -0.6309264302253723,
+          11.558335304260254
+        ],
+        [
+          0.005551894195377827,
+          -0.9949549436569214,
+          -0.10016956180334091,
+          -33.15280532836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5565,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_983081579",
+      "mask_path": "../../mask/hdr_front_05565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05566.png",
+      "transform_matrix": [
+        [
+          -0.6386653780937195,
+          -0.07613586634397507,
+          0.7657088041305542,
+          105.9837646484375
+        ],
+        [
+          -0.7694326043128967,
+          0.051624853163957596,
+          -0.6366382241249084,
+          11.615860939025879
+        ],
+        [
+          0.008941409178078175,
+          -0.9957602024078369,
+          -0.09155243635177612,
+          -33.14348602294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5566,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_83081722",
+      "mask_path": "../../mask/hdr_front_05566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05567.png",
+      "transform_matrix": [
+        [
+          -0.6459599733352661,
+          -0.07587336003780365,
+          0.7595914006233215,
+          105.9386215209961
+        ],
+        [
+          -0.7632325887680054,
+          0.045219071209430695,
+          -0.6445396542549133,
+          11.661860466003418
+        ],
+        [
+          0.014555374160408974,
+          -0.9960916042327881,
+          -0.0871187224984169,
+          -33.1287841796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5567,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_183081388",
+      "mask_path": "../../mask/hdr_front_05567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05568.png",
+      "transform_matrix": [
+        [
+          -0.6525750756263733,
+          -0.08122607320547104,
+          0.7533579468727112,
+          105.89116668701172
+        ],
+        [
+          -0.7573795914649963,
+          0.03994788974523544,
+          -0.6517515778541565,
+          11.70857048034668
+        ],
+        [
+          0.022844163700938225,
+          -0.9958948493003845,
+          -0.08758797496557236,
+          -33.123695373535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5568,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_283082008",
+      "mask_path": "../../mask/hdr_front_05568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05569.png",
+      "transform_matrix": [
+        [
+          -0.6567354798316956,
+          -0.08215406537055969,
+          0.7496327757835388,
+          105.81622314453125
+        ],
+        [
+          -0.7535921931266785,
+          0.034275855869054794,
+          -0.6564480066299438,
+          11.766486167907715
+        ],
+        [
+          0.028235558420419693,
+          -0.9960300922393799,
+          -0.0844208374619484,
+          -33.1141242980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5569,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_383082151",
+      "mask_path": "../../mask/hdr_front_05569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05570.png",
+      "transform_matrix": [
+        [
+          -0.6549991369247437,
+          -0.0755256786942482,
+          0.7518458366394043,
+          105.73643493652344
+        ],
+        [
+          -0.7552300691604614,
+          0.03307611495256424,
+          -0.654624879360199,
+          11.825810432434082
+        ],
+        [
+          0.024572843685746193,
+          -0.9965951442718506,
+          -0.07870407402515411,
+          -33.107261657714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5570,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_483082056",
+      "mask_path": "../../mask/hdr_front_05570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05571.png",
+      "transform_matrix": [
+        [
+          -0.6464822292327881,
+          -0.07040883600711823,
+          0.7596731781959534,
+          105.671142578125
+        ],
+        [
+          -0.7626057863235474,
+          0.030653763562440872,
+          -0.6461368203163147,
+          11.868293762207031
+        ],
+        [
+          0.022206900641322136,
+          -0.9970471262931824,
+          -0.07351130247116089,
+          -33.10429763793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5571,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_583083629",
+      "mask_path": "../../mask/hdr_front_05571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05572.png",
+      "transform_matrix": [
+        [
+          -0.6367411613464355,
+          -0.06814112514257431,
+          0.7680608034133911,
+          105.6084976196289
+        ],
+        [
+          -0.7707350850105286,
+          0.026560621336102486,
+          -0.636601984500885,
+          11.910820960998535
+        ],
+        [
+          0.02297860011458397,
+          -0.997322142124176,
+          -0.06943099945783615,
+          -33.10676956176758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5572,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_683081150",
+      "mask_path": "../../mask/hdr_front_05572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05573.png",
+      "transform_matrix": [
+        [
+          -0.6320077180862427,
+          -0.07021209597587585,
+          0.7717748880386353,
+          105.53771209716797
+        ],
+        [
+          -0.774592399597168,
+          0.02647152729332447,
+          -0.6319066882133484,
+          11.965534210205078
+        ],
+        [
+          0.023937426507472992,
+          -0.9971808791160583,
+          -0.07111595571041107,
+          -33.088340759277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5573,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_783082485",
+      "mask_path": "../../mask/hdr_front_05573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05574.png",
+      "transform_matrix": [
+        [
+          -0.6287998557090759,
+          -0.07583608478307724,
+          0.7738602757453918,
+          105.4734878540039
+        ],
+        [
+          -0.7770265936851501,
+          0.02417839504778385,
+          -0.6290032267570496,
+          12.01490592956543
+        ],
+        [
+          0.02899044379591942,
+          -0.9968271851539612,
+          -0.07413003593683243,
+          -33.06978988647461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5574,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_883082389",
+      "mask_path": "../../mask/hdr_front_05574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05575.png",
+      "transform_matrix": [
+        [
+          -0.626213014125824,
+          -0.08004733920097351,
+          0.7755318284034729,
+          105.41291809082031
+        ],
+        [
+          -0.7788310050964355,
+          0.018590062856674194,
+          -0.6269582509994507,
+          12.06060791015625
+        ],
+        [
+          0.035769153386354446,
+          -0.9966177344322205,
+          -0.07398469746112823,
+          -33.0618896484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5575,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_983081579",
+      "mask_path": "../../mask/hdr_front_05575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05576.png",
+      "transform_matrix": [
+        [
+          -0.6221408843994141,
+          -0.07584666460752487,
+          0.779222846031189,
+          105.33370208740234
+        ],
+        [
+          -0.7821630835533142,
+          0.01688399165868759,
+          -0.6228450536727905,
+          12.117377281188965
+        ],
+        [
+          0.03408432379364967,
+          -0.9969764947891235,
+          -0.06982867419719696,
+          -33.06406784057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5576,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_83082675",
+      "mask_path": "../../mask/hdr_front_05576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05577.png",
+      "transform_matrix": [
+        [
+          -0.6183721423149109,
+          -0.07091943919658661,
+          0.7826789021492004,
+          105.26628112792969
+        ],
+        [
+          -0.7853397727012634,
+          0.018657943233847618,
+          -0.6187837719917297,
+          12.162113189697266
+        ],
+        [
+          0.029280617833137512,
+          -0.997307538986206,
+          -0.06723339855670929,
+          -33.070011138916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5577,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_183081626",
+      "mask_path": "../../mask/hdr_front_05577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05578.png",
+      "transform_matrix": [
+        [
+          -0.617699384689331,
+          -0.07101202011108398,
+          0.7832016348838806,
+          105.21819305419922
+        ],
+        [
+          -0.7858241200447083,
+          0.01715935952961445,
+          -0.6182119846343994,
+          12.193248748779297
+        ],
+        [
+          0.030461231246590614,
+          -0.9973278641700745,
+          -0.06640227138996124,
+          -33.06695556640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5578,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_283082246",
+      "mask_path": "../../mask/hdr_front_05578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05579.png",
+      "transform_matrix": [
+        [
+          -0.6197421550750732,
+          -0.06955237686634064,
+          0.7817174792289734,
+          105.1783218383789
+        ],
+        [
+          -0.7841943502426147,
+          0.015580091625452042,
+          -0.620319664478302,
+          12.22919750213623
+        ],
+        [
+          0.03096548095345497,
+          -0.9974566698074341,
+          -0.06419821828603745,
+          -33.06571960449219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5579,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_383082389",
+      "mask_path": "../../mask/hdr_front_05579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05580.png",
+      "transform_matrix": [
+        [
+          -0.6255216002464294,
+          -0.07322225719690323,
+          0.7767632603645325,
+          105.11443328857422
+        ],
+        [
+          -0.7795401811599731,
+          0.01750948466360569,
+          -0.6261074542999268,
+          12.284313201904297
+        ],
+        [
+          0.032244279980659485,
+          -0.9971619248390198,
+          -0.06803225725889206,
+          -33.042213439941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5580,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_483083009",
+      "mask_path": "../../mask/hdr_front_05580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05581.png",
+      "transform_matrix": [
+        [
+          -0.6318828463554382,
+          -0.08194640278816223,
+          0.7707196474075317,
+          105.0613021850586
+        ],
+        [
+          -0.7741490602493286,
+          0.01843215711414814,
+          -0.6327349543571472,
+          12.332884788513184
+        ],
+        [
+          0.037644315510988235,
+          -0.9964662790298462,
+          -0.07508569210767746,
+          -33.026790618896484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5581,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_583083868",
+      "mask_path": "../../mask/hdr_front_05581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05582.png",
+      "transform_matrix": [
+        [
+          -0.6378141641616821,
+          -0.08647127449512482,
+          0.7653207182884216,
+          105.00493621826172
+        ],
+        [
+          -0.7689715623855591,
+          0.015617317520081997,
+          -0.639092206954956,
+          12.37541389465332
+        ],
+        [
+          0.04331085458397865,
+          -0.9961320161819458,
+          -0.07645489275455475,
+          -33.0137939453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5582,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_683081626",
+      "mask_path": "../../mask/hdr_front_05582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05583.png",
+      "transform_matrix": [
+        [
+          -0.6398277282714844,
+          -0.0826260969042778,
+          0.764063835144043,
+          104.93148803710938
+        ],
+        [
+          -0.7674452066421509,
+          0.016171256080269814,
+          -0.6409105658531189,
+          12.4306001663208
+        ],
+        [
+          0.04060007259249687,
+          -0.9964494109153748,
+          -0.07375781983137131,
+          -33.00090789794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5583,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_783081769",
+      "mask_path": "../../mask/hdr_front_05583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05584.png",
+      "transform_matrix": [
+        [
+          -0.6378788352012634,
+          -0.07635006308555603,
+          0.7663426995277405,
+          104.88087463378906
+        ],
+        [
+          -0.7693814039230347,
+          0.019118238240480423,
+          -0.6385035514831543,
+          12.475483894348145
+        ],
+        [
+          0.034098654985427856,
+          -0.9968977570533752,
+          -0.07093744724988937,
+          -33.00276565551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5584,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_883081197",
+      "mask_path": "../../mask/hdr_front_05584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05585.png",
+      "transform_matrix": [
+        [
+          -0.6305361390113831,
+          -0.0740646943449974,
+          0.7726180553436279,
+          104.83744049072266
+        ],
+        [
+          -0.7755799889564514,
+          0.021652720868587494,
+          -0.6308778524398804,
+          12.5133638381958
+        ],
+        [
+          0.029996488243341446,
+          -0.9970183372497559,
+          -0.07109592109918594,
+          -33.006778717041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5585,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_983081340",
+      "mask_path": "../../mask/hdr_front_05585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05586.png",
+      "transform_matrix": [
+        [
+          -0.6208017468452454,
+          -0.07493289560079575,
+          0.7803782820701599,
+          104.77788543701172
+        ],
+        [
+          -0.7835733294487,
+          0.027745481580495834,
+          -0.6206793785095215,
+          12.567954063415527
+        ],
+        [
+          0.024857331067323685,
+          -0.996802568435669,
+          -0.07593987137079239,
+          -32.99261474609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5586,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_83082199",
+      "mask_path": "../../mask/hdr_front_05586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04740.png",
+      "transform_matrix": [
+        [
+          0.7332788109779358,
+          -0.06988922506570816,
+          0.67632657289505,
+          105.11485290527344
+        ],
+        [
+          -0.67045658826828,
+          0.09112662822008133,
+          0.7363313436508179,
+          11.842194557189941
+        ],
+        [
+          -0.11309296637773514,
+          -0.9933838844299316,
+          0.01996353454887867,
+          -33.04484176635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4740,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_383082628",
+      "mask_path": "../../mask/hdr_left_04740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04741.png",
+      "transform_matrix": [
+        [
+          0.7249565720558167,
+          -0.0647808164358139,
+          0.6857414841651917,
+          105.1756362915039
+        ],
+        [
+          -0.6804462671279907,
+          0.08717668801546097,
+          0.7275940179824829,
+          11.80576229095459
+        ],
+        [
+          -0.10691480338573456,
+          -0.994084358215332,
+          0.01911945454776287,
+          -33.05453109741211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4741,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_483081579",
+      "mask_path": "../../mask/hdr_left_04741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04742.png",
+      "transform_matrix": [
+        [
+          0.7224019169807434,
+          -0.06898698955774307,
+          0.6880234479904175,
+          105.24286651611328
+        ],
+        [
+          -0.6835293173789978,
+          0.07914698868989944,
+          0.7256193161010742,
+          11.767266273498535
+        ],
+        [
+          -0.10451328009366989,
+          -0.9944730401039124,
+          0.010021312162280083,
+          -33.06081771850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4742,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_583081245",
+      "mask_path": "../../mask/hdr_left_04742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04744.png",
+      "transform_matrix": [
+        [
+          0.7251207828521729,
+          -0.07161250710487366,
+          0.6848878860473633,
+          105.33808898925781
+        ],
+        [
+          -0.6811345219612122,
+          0.07167529314756393,
+          0.7286414504051208,
+          11.7100191116333
+        ],
+        [
+          -0.10126937925815582,
+          -0.9948539733886719,
+          0.0031954930163919926,
+          -33.073795318603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4744,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_783081531",
+      "mask_path": "../../mask/hdr_left_04744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04745.png",
+      "transform_matrix": [
+        [
+          0.7239872813224792,
+          -0.06840920448303223,
+          0.6864128112792969,
+          105.3984603881836
+        ],
+        [
+          -0.6827675104141235,
+          0.07079365849494934,
+          0.7271978855133057,
+          11.669431686401367
+        ],
+        [
+          -0.09834069758653641,
+          -0.9951424598693848,
+          0.004546125885099173,
+          -33.08308029174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4745,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_883081197",
+      "mask_path": "../../mask/hdr_left_04745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04746.png",
+      "transform_matrix": [
+        [
+          0.7181090116500854,
+          -0.06554761528968811,
+          0.6928367614746094,
+          105.45912170410156
+        ],
+        [
+          -0.6894130110740662,
+          0.0689285472035408,
+          0.7210814952850342,
+          11.61778450012207
+        ],
+        [
+          -0.09502139687538147,
+          -0.9954659938812256,
+          0.004308839328587055,
+          -33.08143997192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4746,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_983082056",
+      "mask_path": "../../mask/hdr_left_04746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04749.png",
+      "transform_matrix": [
+        [
+          0.6971263885498047,
+          -0.050953350961208344,
+          0.7151352763175964,
+          105.5919418334961
+        ],
+        [
+          -0.7112464308738708,
+          0.07639801502227783,
+          0.6987788081169128,
+          11.522903442382812
+        ],
+        [
+          -0.09024003893136978,
+          -0.9957746863365173,
+          0.01701868511736393,
+          -33.09791946411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4749,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_283079624",
+      "mask_path": "../../mask/hdr_left_04749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04750.png",
+      "transform_matrix": [
+        [
+          0.6954320073127747,
+          -0.05991107597947121,
+          0.7160901427268982,
+          105.65247344970703
+        ],
+        [
+          -0.7127547264099121,
+          0.06924975663423538,
+          0.6979866027832031,
+          11.491497993469238
+        ],
+        [
+          -0.09140618145465851,
+          -0.9957987666130066,
+          0.005456599406898022,
+          -33.103981018066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4750,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_383081436",
+      "mask_path": "../../mask/hdr_left_04750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04751.png",
+      "transform_matrix": [
+        [
+          0.6952804923057556,
+          -0.06492786109447479,
+          0.7157997488975525,
+          105.699951171875
+        ],
+        [
+          -0.7127717137336731,
+          0.06577238440513611,
+          0.6983053088188171,
+          11.469642639160156
+        ],
+        [
+          -0.09241931885480881,
+          -0.9957200884819031,
+          -0.000548491720110178,
+          -33.113128662109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4751,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_483080625",
+      "mask_path": "../../mask/hdr_left_04751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04753.png",
+      "transform_matrix": [
+        [
+          0.6904757022857666,
+          -0.06825001537799835,
+          0.7201286554336548,
+          105.78646850585938
+        ],
+        [
+          -0.7167495489120483,
+          0.06968419253826141,
+          0.6938400864601135,
+          11.430970191955566
+        ],
+        [
+          -0.09753616899251938,
+          -0.9952317476272583,
+          -0.0008029283490031958,
+          -33.12928009033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4753,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_683081865",
+      "mask_path": "../../mask/hdr_left_04753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04757.png",
+      "transform_matrix": [
+        [
+          0.6681843400001526,
+          -0.06199483945965767,
+          0.7414082288742065,
+          105.93991088867188
+        ],
+        [
+          -0.7384469509124756,
+          0.06621681898832321,
+          0.6710524559020996,
+          11.308128356933594
+        ],
+        [
+          -0.09069548547267914,
+          -0.9958775639533997,
+          -0.0015348566230386496,
+          -33.13043212890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4757,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_83081245",
+      "mask_path": "../../mask/hdr_left_04757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04761.png",
+      "transform_matrix": [
+        [
+          0.6731157898902893,
+          -0.07565107196569443,
+          0.7356574535369873,
+          106.0909194946289
+        ],
+        [
+          -0.7335858941078186,
+          0.05764026194810867,
+          0.6771478652954102,
+          11.20281982421875
+        ],
+        [
+          -0.09363044798374176,
+          -0.9954670667648315,
+          -0.016697993502020836,
+          -33.15730285644531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4761,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_483082532",
+      "mask_path": "../../mask/hdr_left_04761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04763.png",
+      "transform_matrix": [
+        [
+          0.6843551993370056,
+          -0.06790469586849213,
+          0.7259799242019653,
+          106.15922546386719
+        ],
+        [
+          -0.7239112854003906,
+          0.0558469183743,
+          0.6876289248466492,
+          11.15162467956543
+        ],
+        [
+          -0.08723696321249008,
+          -0.9961275458335876,
+          -0.010937848128378391,
+          -33.1523323059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4763,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_683080673",
+      "mask_path": "../../mask/hdr_left_04763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04765.png",
+      "transform_matrix": [
+        [
+          0.7011900544166565,
+          -0.05833820626139641,
+          0.7105836272239685,
+          106.25328826904297
+        ],
+        [
+          -0.7080504298210144,
+          0.059951551258563995,
+          0.7036123275756836,
+          11.099377632141113
+        ],
+        [
+          -0.08364807069301605,
+          -0.9964951872825623,
+          0.0007310401415452361,
+          -33.16572189331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4765,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_883080720",
+      "mask_path": "../../mask/hdr_left_04765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04766.png",
+      "transform_matrix": [
+        [
+          0.709416389465332,
+          -0.06497735530138016,
+          0.7017878890037537,
+          106.30301666259766
+        ],
+        [
+          -0.699626624584198,
+          0.055378954857587814,
+          0.7123591899871826,
+          11.072179794311523
+        ],
+        [
+          -0.08515149354934692,
+          -0.9963489174842834,
+          -0.006173147354274988,
+          -33.17089080810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4766,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_983081579",
+      "mask_path": "../../mask/hdr_left_04766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04768.png",
+      "transform_matrix": [
+        [
+          0.7285982370376587,
+          -0.06595346331596375,
+          0.6817585229873657,
+          106.3918228149414
+        ],
+        [
+          -0.679898202419281,
+          0.050922494381666183,
+          0.731536328792572,
+          11.042587280273438
+        ],
+        [
+          -0.08296418190002441,
+          -0.9965224862098694,
+          -0.007739595137536526,
+          -33.18990707397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4768,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_183081388",
+      "mask_path": "../../mask/hdr_left_04768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04769.png",
+      "transform_matrix": [
+        [
+          0.7352080941200256,
+          -0.0652170330286026,
+          0.6746967434883118,
+          106.45637512207031
+        ],
+        [
+          -0.6726710796356201,
+          0.05250784754753113,
+          0.7380762696266174,
+          11.021615028381348
+        ],
+        [
+          -0.08356201648712158,
+          -0.9964887499809265,
+          -0.005265410989522934,
+          -33.20306396484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4769,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_283082008",
+      "mask_path": "../../mask/hdr_left_04769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04770.png",
+      "transform_matrix": [
+        [
+          0.7356709837913513,
+          -0.06221238151192665,
+          0.674475908279419,
+          106.53278350830078
+        ],
+        [
+          -0.6723592877388,
+          0.05345078185200691,
+          0.7382926940917969,
+          10.984177589416504
+        ],
+        [
+          -0.08198219537734985,
+          -0.9966306686401367,
+          -0.002506877528503537,
+          -33.202999114990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4770,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_383081912",
+      "mask_path": "../../mask/hdr_left_04770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04771.png",
+      "transform_matrix": [
+        [
+          0.7297443747520447,
+          -0.054031722247600555,
+          0.6815817356109619,
+          106.6063232421875
+        ],
+        [
+          -0.6794740557670593,
+          0.05361480638384819,
+          0.7317380309104919,
+          10.942715644836426
+        ],
+        [
+          -0.07607994228601456,
+          -0.9970988035202026,
+          0.002411954803392291,
+          -33.20195388793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4771,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_483081817",
+      "mask_path": "../../mask/hdr_left_04771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04772.png",
+      "transform_matrix": [
+        [
+          0.722438395023346,
+          -0.04911498352885246,
+          0.6896886229515076,
+          106.6829605102539
+        ],
+        [
+          -0.6879013776779175,
+          0.04966465011239052,
+          0.7241030335426331,
+          10.90035343170166
+        ],
+        [
+          -0.0698174461722374,
+          -0.9975576400756836,
+          0.0020933886989951134,
+          -33.21453857421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4772,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_583082437",
+      "mask_path": "../../mask/hdr_left_04772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04773.png",
+      "transform_matrix": [
+        [
+          0.7208226323127747,
+          -0.05312410742044449,
+          0.6910805702209473,
+          106.76139831542969
+        ],
+        [
+          -0.6896698474884033,
+          0.044378612190485,
+          0.7227627038955688,
+          10.858970642089844
+        ],
+        [
+          -0.06906532496213913,
+          -0.9976013898849487,
+          -0.004648980684578419,
+          -33.23042678833008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4773,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_683082103",
+      "mask_path": "../../mask/hdr_left_04773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04774.png",
+      "transform_matrix": [
+        [
+          0.7220533490180969,
+          -0.059176404029130936,
+          0.6893017292022705,
+          106.82252502441406
+        ],
+        [
+          -0.6881954669952393,
+          0.04065908491611481,
+          0.724385142326355,
+          10.825677871704102
+        ],
+        [
+          -0.07089287042617798,
+          -0.9974192976951599,
+          -0.011366897262632847,
+          -33.2449951171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4774,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_783082246",
+      "mask_path": "../../mask/hdr_left_04774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04775.png",
+      "transform_matrix": [
+        [
+          0.7214505672454834,
+          -0.06137629598379135,
+          0.6897405385971069,
+          106.87733459472656
+        ],
+        [
+          -0.6884754300117493,
+          0.043203018605709076,
+          0.7239716053009033,
+          10.789104461669922
+        ],
+        [
+          -0.07423356920480728,
+          -0.9971792101860046,
+          -0.011087233200669289,
+          -33.26121139526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4775,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_883081912",
+      "mask_path": "../../mask/hdr_left_04775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04776.png",
+      "transform_matrix": [
+        [
+          0.7164011001586914,
+          -0.06703715771436691,
+          0.6944605112075806,
+          106.93871307373047
+        ],
+        [
+          -0.6930403709411621,
+          0.046331025660037994,
+          0.7194084525108337,
+          10.744308471679688
+        ],
+        [
+          -0.08040215820074081,
+          -0.9966742396354675,
+          -0.01326785422861576,
+          -33.27182388305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4776,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_983082294",
+      "mask_path": "../../mask/hdr_left_04776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04777.png",
+      "transform_matrix": [
+        [
+          0.709309995174408,
+          -0.07384144514799118,
+          0.7010183930397034,
+          106.98937225341797
+        ],
+        [
+          -0.6995545625686646,
+          0.04846366122364998,
+          0.7129337787628174,
+          10.703232765197754
+        ],
+        [
+          -0.08661797642707825,
+          -0.9960917830467224,
+          -0.01728036068379879,
+          -33.2760009765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4777,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_83083629",
+      "mask_path": "../../mask/hdr_left_04777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04778.png",
+      "transform_matrix": [
+        [
+          0.7003714442253113,
+          -0.07380428165197372,
+          0.7099525928497314,
+          107.03025817871094
+        ],
+        [
+          -0.707733690738678,
+          0.05736684054136276,
+          0.7041462659835815,
+          10.667853355407715
+        ],
+        [
+          -0.09269674122333527,
+          -0.9956214427947998,
+          -0.012055675499141216,
+          -33.2841911315918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4778,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_183081626",
+      "mask_path": "../../mask/hdr_left_04778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04779.png",
+      "transform_matrix": [
+        [
+          0.6898805499076843,
+          -0.08218463510274887,
+          0.719243049621582,
+          107.08478546142578
+        ],
+        [
+          -0.7166956067085266,
+          0.0625062808394432,
+          0.6945794820785522,
+          10.629693984985352
+        ],
+        [
+          -0.10204094648361206,
+          -0.9946550726890564,
+          -0.015779493376612663,
+          -33.305355072021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4779,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_283081531",
+      "mask_path": "../../mask/hdr_left_04779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04780.png",
+      "transform_matrix": [
+        [
+          0.68487149477005,
+          -0.10222407430410385,
+          0.7214576601982117,
+          107.1552734375
+        ],
+        [
+          -0.7185891270637512,
+          0.06932348757982254,
+          0.6919710040092468,
+          10.582252502441406
+        ],
+        [
+          -0.1207500472664833,
+          -0.992343008518219,
+          -0.025979431346058846,
+          -33.33420944213867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4780,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_383081912",
+      "mask_path": "../../mask/hdr_left_04780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04781.png",
+      "transform_matrix": [
+        [
+          0.6832156777381897,
+          -0.114595428109169,
+          0.7211686372756958,
+          107.21240997314453
+        ],
+        [
+          -0.7174583673477173,
+          0.0784611701965332,
+          0.6921684741973877,
+          10.54167366027832
+        ],
+        [
+          -0.13590306043624878,
+          -0.990308940410614,
+          -0.028611546382308006,
+          -33.36005401611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4781,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_483082056",
+      "mask_path": "../../mask/hdr_left_04781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04782.png",
+      "transform_matrix": [
+        [
+          0.6828776597976685,
+          -0.11885339021682739,
+          0.7207996249198914,
+          107.25460052490234
+        ],
+        [
+          -0.7168188095092773,
+          0.08127018809318542,
+          0.6925070285797119,
+          10.50523853302002
+        ],
+        [
+          -0.1408863216638565,
+          -0.9895802736282349,
+          -0.029698746278882027,
+          -33.37348937988281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4782,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_583081245",
+      "mask_path": "../../mask/hdr_left_04782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04783.png",
+      "transform_matrix": [
+        [
+          0.6895042657852173,
+          -0.1214137077331543,
+          0.7140325307846069,
+          107.32134246826172
+        ],
+        [
+          -0.7090914249420166,
+          0.08768615126609802,
+          0.6996431350708008,
+          10.45030689239502
+        ],
+        [
+          -0.14755703508853912,
+          -0.9887213706970215,
+          -0.02563343197107315,
+          -33.38746643066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4783,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_683079957",
+      "mask_path": "../../mask/hdr_left_04783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04784.png",
+      "transform_matrix": [
+        [
+          0.7007448077201843,
+          -0.12629584968090057,
+          0.7021438479423523,
+          107.38562774658203
+        ],
+        [
+          -0.6964917182922363,
+          0.09196924418210983,
+          0.7116466164588928,
+          10.397590637207031
+        ],
+        [
+          -0.15445363521575928,
+          -0.9877201914787292,
+          -0.02351704053580761,
+          -33.398353576660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4784,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_783081293",
+      "mask_path": "../../mask/hdr_left_04784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04785.png",
+      "transform_matrix": [
+        [
+          0.7139103412628174,
+          -0.1272442489862442,
+          0.6885789036750793,
+          107.43008422851562
+        ],
+        [
+          -0.6826949715614319,
+          0.0922490805387497,
+          0.7248569130897522,
+          10.365377426147461
+        ],
+        [
+          -0.15575462579727173,
+          -0.9875723123550415,
+          -0.021011432632803917,
+          -33.403900146484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4785,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_883080720",
+      "mask_path": "../../mask/hdr_left_04785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04786.png",
+      "transform_matrix": [
+        [
+          0.7288111448287964,
+          -0.12145934253931046,
+          0.6738561391830444,
+          107.47728729248047
+        ],
+        [
+          -0.6668524146080017,
+          0.09741644561290741,
+          0.7387949824333191,
+          10.338395118713379
+        ],
+        [
+          -0.15537819266319275,
+          -0.9878044724464417,
+          -0.009997249580919743,
+          -33.41375732421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4786,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_983081340",
+      "mask_path": "../../mask/hdr_left_04786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04787.png",
+      "transform_matrix": [
+        [
+          0.7453604340553284,
+          -0.11317870765924454,
+          0.6569842100143433,
+          107.54545593261719
+        ],
+        [
+          -0.6499857902526855,
+          0.0956658124923706,
+          0.753900945186615,
+          10.308954238891602
+        ],
+        [
+          -0.14817644655704498,
+          -0.9889584183692932,
+          -0.0022590281441807747,
+          -33.43266296386719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4787,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_83077669",
+      "mask_path": "../../mask/hdr_left_04787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04788.png",
+      "transform_matrix": [
+        [
+          0.7603782415390015,
+          -0.12172800302505493,
+          0.6379711031913757,
+          107.62122344970703
+        ],
+        [
+          -0.6314250826835632,
+          0.09145043045282364,
+          0.7700254321098328,
+          10.268600463867188
+        ],
+        [
+          -0.1520763784646988,
+          -0.9883416891098022,
+          -0.007325190119445324,
+          -33.44364547729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4788,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_183081865",
+      "mask_path": "../../mask/hdr_left_04788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04789.png",
+      "transform_matrix": [
+        [
+          0.7685030102729797,
+          -0.13257554173469543,
+          0.6259607076644897,
+          107.68262481689453
+        ],
+        [
+          -0.6192891001701355,
+          0.09187015891075134,
+          0.7797698378562927,
+          10.237081527709961
+        ],
+        [
+          -0.1608855128288269,
+          -0.9869060516357422,
+          -0.011500105261802673,
+          -33.455509185791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4789,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_283082008",
+      "mask_path": "../../mask/hdr_left_04789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04790.png",
+      "transform_matrix": [
+        [
+          0.7717341184616089,
+          -0.1321863979101181,
+          0.6220555305480957,
+          107.73948669433594
+        ],
+        [
+          -0.6144559383392334,
+          0.09713969379663467,
+          0.7829481363296509,
+          10.214059829711914
+        ],
+        [
+          -0.16392137110233307,
+          -0.9864535927772522,
+          -0.006256707012653351,
+          -33.472476959228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4790,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_383082151",
+      "mask_path": "../../mask/hdr_left_04790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04791.png",
+      "transform_matrix": [
+        [
+          0.7728285789489746,
+          -0.13324138522148132,
+          0.6204696893692017,
+          107.7994155883789
+        ],
+        [
+          -0.6128175854682922,
+          0.09735714644193649,
+          0.7842041254043579,
+          10.193305969238281
+        ],
+        [
+          -0.16489562392234802,
+          -0.9862902164459229,
+          -0.006412283051759005,
+          -33.491355895996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4791,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_483081102",
+      "mask_path": "../../mask/hdr_left_04791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04792.png",
+      "transform_matrix": [
+        [
+          0.7726626992225647,
+          -0.1263662874698639,
+          0.6221123933792114,
+          107.87846374511719
+        ],
+        [
+          -0.6150954961776733,
+          0.09334195405244827,
+          0.7829078435897827,
+          10.154611587524414
+        ],
+        [
+          -0.15700232982635498,
+          -0.9875823855400085,
+          -0.005605486687272787,
+          -33.504695892333984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4792,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_583081245",
+      "mask_path": "../../mask/hdr_left_04792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04793.png",
+      "transform_matrix": [
+        [
+          0.7709215879440308,
+          -0.11197025328874588,
+          0.6270107626914978,
+          107.94488525390625
+        ],
+        [
+          -0.6204758882522583,
+          0.09029002487659454,
+          0.7790105938911438,
+          10.121443748474121
+        ],
+        [
+          -0.1438388079404831,
+          -0.989601194858551,
+          0.00013169819430913776,
+          -33.504608154296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4793,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_683082103",
+      "mask_path": "../../mask/hdr_left_04793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04794.png",
+      "transform_matrix": [
+        [
+          0.7673214077949524,
+          -0.11315904557704926,
+          0.6311995983123779,
+          108.02564239501953
+        ],
+        [
+          -0.626610517501831,
+          0.0769006684422493,
+          0.7755292057991028,
+          10.087000846862793
+        ],
+        [
+          -0.136297807097435,
+          -0.9905964732170105,
+          -0.011899122968316078,
+          -33.51226043701172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4794,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_783082246",
+      "mask_path": "../../mask/hdr_left_04794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04795.png",
+      "transform_matrix": [
+        [
+          0.7661207318305969,
+          -0.11974727362394333,
+          0.6314424872398376,
+          108.11941528320312
+        ],
+        [
+          -0.6278557181358337,
+          0.0704699456691742,
+          0.7751330733299255,
+          10.050764083862305
+        ],
+        [
+          -0.1373177468776703,
+          -0.9903002977371216,
+          -0.021195515990257263,
+          -33.53945541381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4795,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_883082151",
+      "mask_path": "../../mask/hdr_left_04795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04796.png",
+      "transform_matrix": [
+        [
+          0.7674719095230103,
+          -0.11887270212173462,
+          0.6299651861190796,
+          108.18484497070312
+        ],
+        [
+          -0.6264049410820007,
+          0.07001810520887375,
+          0.776346743106842,
+          10.031087875366211
+        ],
+        [
+          -0.1363953948020935,
+          -0.9904376864433289,
+          -0.020725516602396965,
+          -33.56074142456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4796,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_983081340",
+      "mask_path": "../../mask/hdr_left_04796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04797.png",
+      "transform_matrix": [
+        [
+          0.7690834999084473,
+          -0.11418769508600235,
+          0.6288653612136841,
+          108.24568176269531
+        ],
+        [
+          -0.6254094839096069,
+          0.06845943629741669,
+          0.7772877812385559,
+          10.005316734313965
+        ],
+        [
+          -0.13180847465991974,
+          -0.991097629070282,
+          -0.018763050436973572,
+          -33.57299041748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4797,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_83081245",
+      "mask_path": "../../mask/hdr_left_04797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04798.png",
+      "transform_matrix": [
+        [
+          0.7671422362327576,
+          -0.11237230896949768,
+          0.6315577626228333,
+          108.32122802734375
+        ],
+        [
+          -0.6284353733062744,
+          0.06586244702339172,
+          0.775068461894989,
+          9.967083930969238
+        ],
+        [
+          -0.128692165017128,
+          -0.9914810657501221,
+          -0.02009287104010582,
+          -33.580501556396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4798,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_183081626",
+      "mask_path": "../../mask/hdr_left_04798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04799.png",
+      "transform_matrix": [
+        [
+          0.7622222304344177,
+          -0.11095932126045227,
+          0.637734591960907,
+          108.39141845703125
+        ],
+        [
+          -0.6351709365844727,
+          0.06173909828066826,
+          0.7699000239372253,
+          9.922155380249023
+        ],
+        [
+          -0.12480075657367706,
+          -0.9919053912162781,
+          -0.023419225588440895,
+          -33.58015823364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4799,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_283081531",
+      "mask_path": "../../mask/hdr_left_04799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04800.png",
+      "transform_matrix": [
+        [
+          0.7571802139282227,
+          -0.10590040683746338,
+          0.6445643901824951,
+          108.44796752929688
+        ],
+        [
+          -0.6424921154975891,
+          0.05724480748176575,
+          0.7641511559486389,
+          9.88222599029541
+        ],
+        [
+          -0.11782187223434448,
+          -0.9927276372909546,
+          -0.024695532396435738,
+          -33.58309555053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4800,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_383081436",
+      "mask_path": "../../mask/hdr_left_04800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04801.png",
+      "transform_matrix": [
+        [
+          0.7519580721855164,
+          -0.107439324259758,
+          0.6503965854644775,
+          108.51622772216797
+        ],
+        [
+          -0.6493000984191895,
+          0.04972754418849945,
+          0.7589048743247986,
+          9.837018013000488
+        ],
+        [
+          -0.11387884616851807,
+          -0.9929673075675964,
+          -0.03236733004450798,
+          -33.59189987182617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4801,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_483083009",
+      "mask_path": "../../mask/hdr_left_04801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04802.png",
+      "transform_matrix": [
+        [
+          0.7520967721939087,
+          -0.12089025229215622,
+          0.6478703618049622,
+          108.60330200195312
+        ],
+        [
+          -0.64825439453125,
+          0.0415240079164505,
+          0.7602906823158264,
+          9.783448219299316
+        ],
+        [
+          -0.1188139095902443,
+          -0.9917970895767212,
+          -0.0471375547349453,
+          -33.60363006591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4802,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_583080768",
+      "mask_path": "../../mask/hdr_left_04802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04803.png",
+      "transform_matrix": [
+        [
+          0.757588267326355,
+          -0.12843960523605347,
+          0.6399713158607483,
+          108.6767807006836
+        ],
+        [
+          -0.6413583755493164,
+          0.03576160967350006,
+          0.7664074897766113,
+          9.744457244873047
+        ],
+        [
+          -0.12132346630096436,
+          -0.9910723567008972,
+          -0.055283233523368835,
+          -33.62118148803711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4803,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_683082818",
+      "mask_path": "../../mask/hdr_left_04803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04804.png",
+      "transform_matrix": [
+        [
+          0.7640392184257507,
+          -0.12527258694171906,
+          0.6328909397125244,
+          108.73482513427734
+        ],
+        [
+          -0.6340155601501465,
+          0.03583284467458725,
+          0.772489607334137,
+          9.717531204223633
+        ],
+        [
+          -0.11945004016160965,
+          -0.9914751052856445,
+          -0.052047066390514374,
+          -33.638912200927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4804,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_783081054",
+      "mask_path": "../../mask/hdr_left_04804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04805.png",
+      "transform_matrix": [
+        [
+          0.7666825652122498,
+          -0.13430647552013397,
+          0.6278212666511536,
+          108.81273651123047
+        ],
+        [
+          -0.6289085745811462,
+          0.03955529257655144,
+          0.776472270488739,
+          9.667134284973145
+        ],
+        [
+          -0.1291189193725586,
+          -0.9901500940322876,
+          -0.05414014682173729,
+          -33.660438537597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4805,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_883081674",
+      "mask_path": "../../mask/hdr_left_04805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04806.png",
+      "transform_matrix": [
+        [
+          0.7664774060249329,
+          -0.15245194733142853,
+          0.6239156723022461,
+          108.88520812988281
+        ],
+        [
+          -0.6250618100166321,
+          0.046307358890771866,
+          0.7792003750801086,
+          9.616381645202637
+        ],
+        [
+          -0.14768251776695251,
+          -0.9872254133224487,
+          -0.05979834124445915,
+          -33.682125091552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4806,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_983081817",
+      "mask_path": "../../mask/hdr_left_04806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04807.png",
+      "transform_matrix": [
+        [
+          0.7670013904571533,
+          -0.16006913781166077,
+          0.6213586926460266,
+          108.93562316894531
+        ],
+        [
+          -0.6213820576667786,
+          0.05614371970295906,
+          0.7814935445785522,
+          9.59055233001709
+        ],
+        [
+          -0.15997837483882904,
+          -0.9855079054832458,
+          -0.05640177056193352,
+          -33.70298767089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4807,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_83082914",
+      "mask_path": "../../mask/hdr_left_04807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04808.png",
+      "transform_matrix": [
+        [
+          0.7681407928466797,
+          -0.15559737384319305,
+          0.6210870146751404,
+          108.98831176757812
+        ],
+        [
+          -0.6193779706954956,
+          0.06525866687297821,
+          0.7823759317398071,
+          9.566539764404297
+        ],
+        [
+          -0.16226693987846375,
+          -0.9856626391410828,
+          -0.046245746314525604,
+          -33.725189208984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4808,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_183081388",
+      "mask_path": "../../mask/hdr_left_04808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04809.png",
+      "transform_matrix": [
+        [
+          0.7674403786659241,
+          -0.1623222678899765,
+          0.6202311515808105,
+          109.06970977783203
+        ],
+        [
+          -0.6187330484390259,
+          0.06589634716510773,
+          0.7828327417373657,
+          9.528363227844238
+        ],
+        [
+          -0.16794215142726898,
+          -0.9845350384712219,
+          -0.049862638115882874,
+          -33.74407958984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4809,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_283082485",
+      "mask_path": "../../mask/hdr_left_04809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04810.png",
+      "transform_matrix": [
+        [
+          0.7668187618255615,
+          -0.17536115646362305,
+          0.6174441576004028,
+          109.14535522460938
+        ],
+        [
+          -0.6170713305473328,
+          0.06336408108472824,
+          0.7843519449234009,
+          9.494187355041504
+        ],
+        [
+          -0.17666862905025482,
+          -0.9824629426002502,
+          -0.059621553868055344,
+          -33.76081466674805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4810,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_383081436",
+      "mask_path": "../../mask/hdr_left_04810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04811.png",
+      "transform_matrix": [
+        [
+          0.7678390741348267,
+          -0.181278795003891,
+          0.6144599318504333,
+          109.19705200195312
+        ],
+        [
+          -0.6147229671478271,
+          0.06158116087317467,
+          0.7863354682922363,
+          9.46983814239502
+        ],
+        [
+          -0.18038508296012878,
+          -0.9815018773078918,
+          -0.06415179371833801,
+          -33.779727935791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4811,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_483082771",
+      "mask_path": "../../mask/hdr_left_04811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04812.png",
+      "transform_matrix": [
+        [
+          0.769722044467926,
+          -0.18301886320114136,
+          0.611581563949585,
+          109.24663543701172
+        ],
+        [
+          -0.6122153997421265,
+          0.059829626232385635,
+          0.7884241938591003,
+          9.447331428527832
+        ],
+        [
+          -0.18088717758655548,
+          -0.9812872409820557,
+          -0.06599476933479309,
+          -33.798736572265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4812,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_583081722",
+      "mask_path": "../../mask/hdr_left_04812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04813.png",
+      "transform_matrix": [
+        [
+          0.7663675546646118,
+          -0.19157664477825165,
+          0.613171398639679,
+          109.31611633300781
+        ],
+        [
+          -0.6125325560569763,
+          0.06975095719099045,
+          0.7873618006706238,
+          9.402327537536621
+        ],
+        [
+          -0.19360941648483276,
+          -0.9789960384368896,
+          -0.06389205902814865,
+          -33.815574645996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4813,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_683082342",
+      "mask_path": "../../mask/hdr_left_04813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04814.png",
+      "transform_matrix": [
+        [
+          0.7588284611701965,
+          -0.20097249746322632,
+          0.619507372379303,
+          109.36791229248047
+        ],
+        [
+          -0.6177214980125427,
+          0.07935159653425217,
+          0.782383143901825,
+          9.362573623657227
+        ],
+        [
+          -0.20639640092849731,
+          -0.9763777852058411,
+          -0.06393077224493027,
+          -33.82307052612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4814,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_783082008",
+      "mask_path": "../../mask/hdr_left_04814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04816.png",
+      "transform_matrix": [
+        [
+          0.7473664879798889,
+          -0.2022799253463745,
+          0.6328713893890381,
+          109.44178771972656
+        ],
+        [
+          -0.6313127279281616,
+          0.08069746196269989,
+          0.7713184952735901,
+          9.304590225219727
+        ],
+        [
+          -0.20709334313869476,
+          -0.9759973883628845,
+          -0.0673913061618805,
+          -33.838233947753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4816,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_983081817",
+      "mask_path": "../../mask/hdr_left_04816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04817.png",
+      "transform_matrix": [
+        [
+          0.7436156868934631,
+          -0.19761300086975098,
+          0.6387369632720947,
+          109.50553131103516
+        ],
+        [
+          -0.6364402174949646,
+          0.08354330062866211,
+          0.7667884230613708,
+          9.25880241394043
+        ],
+        [
+          -0.20488955080509186,
+          -0.9767137169837952,
+          -0.06364473700523376,
+          -33.85787582397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4817,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_83082199",
+      "mask_path": "../../mask/hdr_left_04817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04818.png",
+      "transform_matrix": [
+        [
+          0.746527373790741,
+          -0.1909503936767578,
+          0.637365460395813,
+          109.5686264038086
+        ],
+        [
+          -0.6336780786514282,
+          0.08800679445266724,
+          0.7685746550559998,
+          9.224910736083984
+        ],
+        [
+          -0.20285208523273468,
+          -0.9776465892791748,
+          -0.05530158430337906,
+          -33.88311767578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4818,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_183081388",
+      "mask_path": "../../mask/hdr_left_04818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04820.png",
+      "transform_matrix": [
+        [
+          0.765788197517395,
+          -0.17359375953674316,
+          0.6192201375961304,
+          109.66992950439453
+        ],
+        [
+          -0.6117839217185974,
+          0.1001284047961235,
+          0.7846622467041016,
+          9.192737579345703
+        ],
+        [
+          -0.19821394979953766,
+          -0.9797140955924988,
+          -0.029524702578783035,
+          -33.91753005981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4820,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_383081674",
+      "mask_path": "../../mask/hdr_left_04820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04821.png",
+      "transform_matrix": [
+        [
+          0.7798454761505127,
+          -0.17001503705978394,
+          0.6024415493011475,
+          109.7436294555664
+        ],
+        [
+          -0.5946769714355469,
+          0.09927774220705032,
+          0.7978115081787109,
+          9.155831336975098
+        ],
+        [
+          -0.19544897973537445,
+          -0.9804279208183289,
+          -0.02368270792067051,
+          -33.92707061767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4821,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_483082294",
+      "mask_path": "../../mask/hdr_left_04821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04822.png",
+      "transform_matrix": [
+        [
+          0.7931088209152222,
+          -0.16372530162334442,
+          0.5866620540618896,
+          109.80548858642578
+        ],
+        [
+          -0.5791049003601074,
+          0.09574081003665924,
+          0.8096117377281189,
+          9.120859146118164
+        ],
+        [
+          -0.1887214183807373,
+          -0.981849193572998,
+          -0.018881242722272873,
+          -33.93257141113281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4822,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_583080768",
+      "mask_path": "../../mask/hdr_left_04822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04824.png",
+      "transform_matrix": [
+        [
+          0.8111445307731628,
+          -0.14029276371002197,
+          0.5677697062492371,
+          109.91276550292969
+        ],
+        [
+          -0.5600965023040771,
+          0.0930795818567276,
+          0.823181688785553,
+          9.078522682189941
+        ],
+        [
+          -0.16833418607711792,
+          -0.9857252240180969,
+          -0.0030764935072511435,
+          -33.950706481933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4824,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_783083915",
+      "mask_path": "../../mask/hdr_left_04824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04825.png",
+      "transform_matrix": [
+        [
+          0.8169219493865967,
+          -0.13735708594322205,
+          0.5601531267166138,
+          109.98963165283203
+        ],
+        [
+          -0.5528373122215271,
+          0.09026223421096802,
+          0.828386127948761,
+          9.044800758361816
+        ],
+        [
+          -0.1643453687429428,
+          -0.9864004254341125,
+          -0.00219890964217484,
+          -33.9652214050293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4825,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_883081436",
+      "mask_path": "../../mask/hdr_left_04825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04826.png",
+      "transform_matrix": [
+        [
+          0.8199493288993835,
+          -0.1355837881565094,
+          0.5561475157737732,
+          110.05093383789062
+        ],
+        [
+          -0.5483629703521729,
+          0.09274111688137054,
+          0.8310818672180176,
+          9.028288841247559
+        ],
+        [
+          -0.1642589569091797,
+          -0.9864158034324646,
+          0.0016938867047429085,
+          -33.97995376586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4826,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_983081817",
+      "mask_path": "../../mask/hdr_left_04826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04827.png",
+      "transform_matrix": [
+        [
+          0.8225063681602478,
+          -0.13303470611572266,
+          0.5529782176017761,
+          110.10676574707031
+        ],
+        [
+          -0.5441045165061951,
+          0.09908700734376907,
+          0.8331458568572998,
+          9.018865585327148
+        ],
+        [
+          -0.1656302511692047,
+          -0.9861457943916321,
+          0.009114912711083889,
+          -33.99354553222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4827,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_83081960",
+      "mask_path": "../../mask/hdr_left_04827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04828.png",
+      "transform_matrix": [
+        [
+          0.8210932612419128,
+          -0.13709713518619537,
+          0.5540848970413208,
+          110.17496490478516
+        ],
+        [
+          -0.5440732836723328,
+          0.10554654896259308,
+          0.8323726654052734,
+          9.008255004882812
+        ],
+        [
+          -0.17259764671325684,
+          -0.984918475151062,
+          0.012072673998773098,
+          -34.007991790771484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4828,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_183082818",
+      "mask_path": "../../mask/hdr_left_04828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04829.png",
+      "transform_matrix": [
+        [
+          0.8166394829750061,
+          -0.1407250612974167,
+          0.5597288012504578,
+          110.23649597167969
+        ],
+        [
+          -0.5496481657028198,
+          0.10616319626569748,
+          0.8286231756210327,
+          8.995006561279297
+        ],
+        [
+          -0.17603063583374023,
+          -0.9843403100967407,
+          0.009347785264253616,
+          -34.01538848876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4829,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_283081769",
+      "mask_path": "../../mask/hdr_left_04829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04830.png",
+      "transform_matrix": [
+        [
+          0.8109195828437805,
+          -0.13761217892169952,
+          0.5687462687492371,
+          110.2867202758789
+        ],
+        [
+          -0.5595236420631409,
+          0.10217612236738205,
+          0.8224921822547913,
+          8.97623348236084
+        ],
+        [
+          -0.17129720747470856,
+          -0.9852020144462585,
+          0.00585935590788722,
+          -34.024261474609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4830,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_383080720",
+      "mask_path": "../../mask/hdr_left_04830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04831.png",
+      "transform_matrix": [
+        [
+          0.804800808429718,
+          -0.144541397690773,
+          0.5756765604019165,
+          110.35958862304688
+        ],
+        [
+          -0.5686574578285217,
+          0.09014012664556503,
+          0.8176205158233643,
+          8.949348449707031
+        ],
+        [
+          -0.1700715720653534,
+          -0.9853845238685608,
+          -0.009649715386331081,
+          -34.04079818725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4831,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_483082532",
+      "mask_path": "../../mask/hdr_left_04831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04832.png",
+      "transform_matrix": [
+        [
+          0.8000026941299438,
+          -0.16846385598182678,
+          0.5758606195449829,
+          110.44243621826172
+        ],
+        [
+          -0.5706732273101807,
+          0.08273255079984665,
+          0.8169989585876465,
+          8.9200439453125
+        ],
+        [
+          -0.18527720868587494,
+          -0.9822297692298889,
+          -0.029951540753245354,
+          -34.077938079833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4832,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_583081483",
+      "mask_path": "../../mask/hdr_left_04832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04833.png",
+      "transform_matrix": [
+        [
+          0.7946679592132568,
+          -0.19004356861114502,
+          0.5765295028686523,
+          110.4957275390625
+        ],
+        [
+          -0.5716627240180969,
+          0.08521946519613266,
+          0.8160510659217834,
+          8.897966384887695
+        ],
+        [
+          -0.20421679317951202,
+          -0.9780701398849487,
+          -0.040919654071331024,
+          -34.116580963134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4833,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_683081388",
+      "mask_path": "../../mask/hdr_left_04833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04834.png",
+      "transform_matrix": [
+        [
+          0.7912169694900513,
+          -0.2002112865447998,
+          0.5778331756591797,
+          110.54222106933594
+        ],
+        [
+          -0.5728376507759094,
+          0.08814015984535217,
+          0.8149160742759705,
+          8.874544143676758
+        ],
+        [
+          -0.21408569812774658,
+          -0.9757800698280334,
+          -0.044950567185878754,
+          -34.143638610839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4834,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_783081293",
+      "mask_path": "../../mask/hdr_left_04834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04835.png",
+      "transform_matrix": [
+        [
+          0.7885813117027283,
+          -0.20859763026237488,
+          0.5784691572189331,
+          110.61820220947266
+        ],
+        [
+          -0.5719903707504272,
+          0.09653468430042267,
+          0.814560055732727,
+          8.827147483825684
+        ],
+        [
+          -0.22575759887695312,
+          -0.9732256531715393,
+          -0.043190378695726395,
+          -34.170841217041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4835,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_883081674",
+      "mask_path": "../../mask/hdr_left_04835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04836.png",
+      "transform_matrix": [
+        [
+          0.7824223637580872,
+          -0.21781355142593384,
+          0.5834144949913025,
+          110.6874771118164
+        ],
+        [
+          -0.5762205719947815,
+          0.10209749639034271,
+          0.8108919858932495,
+          8.778623580932617
+        ],
+        [
+          -0.23618841171264648,
+          -0.9706355929374695,
+          -0.04562528803944588,
+          -34.19129943847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4836,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_983080863",
+      "mask_path": "../../mask/hdr_left_04836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04837.png",
+      "transform_matrix": [
+        [
+          0.7738935351371765,
+          -0.22060878574848175,
+          0.5936501622200012,
+          110.73539733886719
+        ],
+        [
+          -0.5871148705482483,
+          0.10154442489147186,
+          0.8031094074249268,
+          8.746569633483887
+        ],
+        [
+          -0.2374548465013504,
+          -0.9700621962547302,
+          -0.05093812197446823,
+          -34.20964431762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4837,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_83082199",
+      "mask_path": "../../mask/hdr_left_04837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04838.png",
+      "transform_matrix": [
+        [
+          0.7658123970031738,
+          -0.2209230661392212,
+          0.603924036026001,
+          110.79515075683594
+        ],
+        [
+          -0.5988880395889282,
+          0.09705398976802826,
+          0.7949300408363342,
+          8.707816123962402
+        ],
+        [
+          -0.2342315912246704,
+          -0.970450222492218,
+          -0.05798300355672836,
+          -34.235015869140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4838,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_183082342",
+      "mask_path": "../../mask/hdr_left_04838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04839.png",
+      "transform_matrix": [
+        [
+          0.7575496435165405,
+          -0.23629550635814667,
+          0.6085087060928345,
+          110.8774642944336
+        ],
+        [
+          -0.6041883230209351,
+          0.09910324960947037,
+          0.7906547784805298,
+          8.655451774597168
+        ],
+        [
+          -0.24713337421417236,
+          -0.9666141867637634,
+          -0.0676913633942604,
+          -34.264739990234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4839,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_283082008",
+      "mask_path": "../../mask/hdr_left_04839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04840.png",
+      "transform_matrix": [
+        [
+          0.7517571449279785,
+          -0.24981436133384705,
+          0.6102901101112366,
+          110.94756317138672
+        ],
+        [
+          -0.604796290397644,
+          0.10767929255962372,
+          0.7890669107437134,
+          8.61397647857666
+        ],
+        [
+          -0.26283586025238037,
+          -0.9622879028320312,
+          -0.0701381266117096,
+          -34.29194641113281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4840,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_383081912",
+      "mask_path": "../../mask/hdr_left_04840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04841.png",
+      "transform_matrix": [
+        [
+          0.7489302158355713,
+          -0.2546480596065521,
+          0.6117661595344543,
+          111.01422119140625
+        ],
+        [
+          -0.6065177917480469,
+          0.10843411087989807,
+          0.7876408696174622,
+          8.585405349731445
+        ],
+        [
+          -0.2669075131416321,
+          -0.9609352350234985,
+          -0.07323901355266571,
+          -34.316001892089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4841,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_483082294",
+      "mask_path": "../../mask/hdr_left_04841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04842.png",
+      "transform_matrix": [
+        [
+          0.7422971129417419,
+          -0.2640317678451538,
+          0.6158588528633118,
+          111.0909423828125
+        ],
+        [
+          -0.6071836352348328,
+          0.12369965016841888,
+          0.7848734259605408,
+          8.535616874694824
+        ],
+        [
+          -0.28341302275657654,
+          -0.9565488696098328,
+          -0.06849385797977448,
+          -34.355865478515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4842,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_583082675",
+      "mask_path": "../../mask/hdr_left_04842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04843.png",
+      "transform_matrix": [
+        [
+          0.7269864678382874,
+          -0.2713383138179779,
+          0.6307663917541504,
+          111.1534423828125
+        ],
+        [
+          -0.6113877892494202,
+          0.16236236691474915,
+          0.7744954824447632,
+          8.49593448638916
+        ],
+        [
+          -0.31256303191185,
+          -0.94869065284729,
+          -0.047857705503702164,
+          -34.37791061401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4843,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_683082103",
+      "mask_path": "../../mask/hdr_left_04843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04845.png",
+      "transform_matrix": [
+        [
+          0.7119828462600708,
+          -0.26390203833580017,
+          0.6507198214530945,
+          111.25470733642578
+        ],
+        [
+          -0.6309975981712341,
+          0.1661451905965805,
+          0.7577847838401794,
+          8.434301376342773
+        ],
+        [
+          -0.30809488892555237,
+          -0.9501323699951172,
+          -0.04822903499007225,
+          -34.406925201416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4845,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_883082389",
+      "mask_path": "../../mask/hdr_left_04845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04846.png",
+      "transform_matrix": [
+        [
+          0.7150424718856812,
+          -0.25152042508125305,
+          0.6522665619850159,
+          111.3322525024414
+        ],
+        [
+          -0.6338709592819214,
+          0.16022491455078125,
+          0.7566607594490051,
+          8.393864631652832
+        ],
+        [
+          -0.2948249578475952,
+          -0.9544975757598877,
+          -0.04486387223005295,
+          -34.42736053466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4846,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_983081579",
+      "mask_path": "../../mask/hdr_left_04846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04847.png",
+      "transform_matrix": [
+        [
+          0.7212060689926147,
+          -0.23455606400966644,
+          0.651801586151123,
+          111.39155578613281
+        ],
+        [
+          -0.6335481405258179,
+          0.1571761816740036,
+          0.7575699687004089,
+          8.367172241210938
+        ],
+        [
+          -0.28014031052589417,
+          -0.959311842918396,
+          -0.035246144980192184,
+          -34.441383361816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4847,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_83081722",
+      "mask_path": "../../mask/hdr_left_04847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04848.png",
+      "transform_matrix": [
+        [
+          0.7261412143707275,
+          -0.21780230104923248,
+          0.6521358489990234,
+          111.45047760009766
+        ],
+        [
+          -0.6327975392341614,
+          0.15919309854507446,
+          0.757776141166687,
+          8.340539932250977
+        ],
+        [
+          -0.26886090636253357,
+          -0.9629225134849548,
+          -0.02222810685634613,
+          -34.4656867980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4848,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_183083534",
+      "mask_path": "../../mask/hdr_left_04848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04849.png",
+      "transform_matrix": [
+        [
+          0.7314672470092773,
+          -0.1994469165802002,
+          0.6520556211471558,
+          111.51911926269531
+        ],
+        [
+          -0.6345798373222351,
+          0.15082697570323944,
+          0.7579970955848694,
+          8.300692558288574
+        ],
+        [
+          -0.2495277374982834,
+          -0.9682315587997437,
+          -0.016239989548921585,
+          -34.48625564575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4849,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_283082246",
+      "mask_path": "../../mask/hdr_left_04849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04850.png",
+      "transform_matrix": [
+        [
+          0.7309766411781311,
+          -0.18774819374084473,
+          0.6560668349266052,
+          111.58604431152344
+        ],
+        [
+          -0.6395369172096252,
+          0.14689303934574127,
+          0.7545958757400513,
+          8.240704536437988
+        ],
+        [
+          -0.23804566264152527,
+          -0.9711710214614868,
+          -0.012696496210992336,
+          -34.48777770996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4850,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_383083105",
+      "mask_path": "../../mask/hdr_left_04850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04852.png",
+      "transform_matrix": [
+        [
+          0.7392978072166443,
+          -0.1601502001285553,
+          0.6540570259094238,
+          111.6460952758789
+        ],
+        [
+          -0.6432645320892334,
+          0.11925610154867172,
+          0.7562993764877319,
+          8.206761360168457
+        ],
+        [
+          -0.19912177324295044,
+          -0.9798622131347656,
+          -0.01485314778983593,
+          -34.465885162353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4852,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_583082199",
+      "mask_path": "../../mask/hdr_left_04852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04853.png",
+      "transform_matrix": [
+        [
+          0.7419402003288269,
+          -0.1413741558790207,
+          0.6553913950920105,
+          111.69757080078125
+        ],
+        [
+          -0.647236168384552,
+          0.10405675321817398,
+          0.7551539540290833,
+          8.173157691955566
+        ],
+        [
+          -0.17495717108249664,
+          -0.9844722151756287,
+          -0.0142985749989748,
+          -34.47382736206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4853,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_683081388",
+      "mask_path": "../../mask/hdr_left_04853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04854.png",
+      "transform_matrix": [
+        [
+          0.7434973120689392,
+          -0.1268293708562851,
+          0.6566017866134644,
+          111.76953125
+        ],
+        [
+          -0.6496405601501465,
+          0.09599234163761139,
+          0.7541568279266357,
+          8.13962173461914
+        ],
+        [
+          -0.15867798030376434,
+          -0.98726886510849,
+          -0.011023454368114471,
+          -34.4879150390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4854,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_783080339",
+      "mask_path": "../../mask/hdr_left_04854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04856.png",
+      "transform_matrix": [
+        [
+          0.7462570071220398,
+          -0.10068763047456741,
+          0.6579988598823547,
+          111.85797119140625
+        ],
+        [
+          -0.6500386595726013,
+          0.1026473417878151,
+          0.7529363632202148,
+          8.11596965789795
+        ],
+        [
+          -0.1433531939983368,
+          -0.9896088242530823,
+          0.011150453239679337,
+          -34.493343353271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4856,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_983082056",
+      "mask_path": "../../mask/hdr_left_04856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04857.png",
+      "transform_matrix": [
+        [
+          0.7485634684562683,
+          -0.09132888913154602,
+          0.6567432880401611,
+          111.91841888427734
+        ],
+        [
+          -0.6496431827545166,
+          0.09724576026201248,
+          0.7539939880371094,
+          8.095979690551758
+        ],
+        [
+          -0.13272692263126373,
+          -0.9910612106323242,
+          0.013463429175317287,
+          -34.5057258605957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4857,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_83082199",
+      "mask_path": "../../mask/hdr_left_04857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04858.png",
+      "transform_matrix": [
+        [
+          0.7472206354141235,
+          -0.08027056604623795,
+          0.6597103476524353,
+          111.97852325439453
+        ],
+        [
+          -0.6542609930038452,
+          0.08536595851182938,
+          0.7514353394508362,
+          8.065732955932617
+        ],
+        [
+          -0.11663495004177094,
+          -0.9931109547615051,
+          0.01126931793987751,
+          -34.50119400024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4858,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_183082103",
+      "mask_path": "../../mask/hdr_left_04858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04860.png",
+      "transform_matrix": [
+        [
+          0.732192873954773,
+          -0.06367448717355728,
+          0.6781143546104431,
+          112.07025909423828
+        ],
+        [
+          -0.6752669215202332,
+          0.062127940356731415,
+          0.7349520921707153,
+          7.990693092346191
+        ],
+        [
+          -0.08892754465341568,
+          -0.9960349798202515,
+          0.002492364961653948,
+          -34.49507522583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4860,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_383082151",
+      "mask_path": "../../mask/hdr_left_04860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04861.png",
+      "transform_matrix": [
+        [
+          0.7276169657707214,
+          -0.0694696381688118,
+          0.6824569702148438,
+          112.13877868652344
+        ],
+        [
+          -0.6806234121322632,
+          0.05101580545306206,
+          0.7308551669120789,
+          7.938705921173096
+        ],
+        [
+          -0.08558833599090576,
+          -0.9962788224220276,
+          -0.01016269437968731,
+          -34.50726318359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4861,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_483081817",
+      "mask_path": "../../mask/hdr_left_04861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04862.png",
+      "transform_matrix": [
+        [
+          0.7281803488731384,
+          -0.07626476138830185,
+          0.6811291575431824,
+          112.1873550415039
+        ],
+        [
+          -0.68010014295578,
+          0.04277978837490082,
+          0.7318699955940247,
+          7.901102066040039
+        ],
+        [
+          -0.08495444059371948,
+          -0.9961695075035095,
+          -0.020716266706585884,
+          -34.51918411254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4862,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_583081722",
+      "mask_path": "../../mask/hdr_left_04862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04863.png",
+      "transform_matrix": [
+        [
+          0.7294293642044067,
+          -0.07652495801448822,
+          0.6797621846199036,
+          112.2416763305664
+        ],
+        [
+          -0.6787914633750916,
+          0.04207722470164299,
+          0.7331245541572571,
+          7.867128372192383
+        ],
+        [
+          -0.08470483124256134,
+          -0.9961795210838318,
+          -0.021252119913697243,
+          -34.53366470336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4863,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_683082103",
+      "mask_path": "../../mask/hdr_left_04863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04864.png",
+      "transform_matrix": [
+        [
+          0.7258176207542419,
+          -0.08480305224657059,
+          0.6826398968696594,
+          112.31282806396484
+        ],
+        [
+          -0.6804648041725159,
+          0.05687415599822998,
+          0.730570375919342,
+          7.81038761138916
+        ],
+        [
+          -0.10077913850545883,
+          -0.994773268699646,
+          -0.01642521657049656,
+          -34.561614990234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4864,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_783082246",
+      "mask_path": "../../mask/hdr_left_04864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04866.png",
+      "transform_matrix": [
+        [
+          0.7109842896461487,
+          -0.10384685546159744,
+          0.6954978108406067,
+          112.39181518554688
+        ],
+        [
+          -0.6954642534255981,
+          0.0425325371325016,
+          0.7173007130622864,
+          7.739776134490967
+        ],
+        [
+          -0.10407070815563202,
+          -0.9936834573745728,
+          -0.04198182001709938,
+          -34.572975158691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4866,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_983080387",
+      "mask_path": "../../mask/hdr_left_04866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04867.png",
+      "transform_matrix": [
+        [
+          0.706833004951477,
+          -0.10328689217567444,
+          0.699799120426178,
+          112.44805908203125
+        ],
+        [
+          -0.7010244131088257,
+          0.030039776116609573,
+          0.7125043869018555,
+          7.697788715362549
+        ],
+        [
+          -0.09461416304111481,
+          -0.9941979050636292,
+          -0.05117352679371834,
+          -34.56302261352539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4867,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_83081007",
+      "mask_path": "../../mask/hdr_left_04867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04868.png",
+      "transform_matrix": [
+        [
+          0.7067249417304993,
+          -0.11947936564683914,
+          0.6973267197608948,
+          112.52447509765625
+        ],
+        [
+          -0.6983428597450256,
+          0.040160179138183594,
+          0.7146358489990234,
+          7.660495281219482
+        ],
+        [
+          -0.11338899284601212,
+          -0.9920241832733154,
+          -0.05505536124110222,
+          -34.59206771850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4868,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_183082818",
+      "mask_path": "../../mask/hdr_left_04868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04869.png",
+      "transform_matrix": [
+        [
+          0.7111151814460754,
+          -0.13266591727733612,
+          0.6904454827308655,
+          112.58961486816406
+        ],
+        [
+          -0.6908066272735596,
+          0.050817422568798065,
+          0.7212514281272888,
+          7.627892017364502
+        ],
+        [
+          -0.13077214360237122,
+          -0.9898573160171509,
+          -0.055509455502033234,
+          -34.6307373046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4869,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_283081054",
+      "mask_path": "../../mask/hdr_left_04869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04870.png",
+      "transform_matrix": [
+        [
+          0.7191347479820251,
+          -0.1348334699869156,
+          0.681663453578949,
+          112.6413803100586
+        ],
+        [
+          -0.6815178990364075,
+          0.05452856421470642,
+          0.7297670245170593,
+          7.613168716430664
+        ],
+        [
+          -0.13556714355945587,
+          -0.9893668293952942,
+          -0.05267803370952606,
+          -34.65122604370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4870,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_383081436",
+      "mask_path": "../../mask/hdr_left_04870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04871.png",
+      "transform_matrix": [
+        [
+          0.7304136753082275,
+          -0.13636749982833862,
+          0.6692531108856201,
+          112.71227264404297
+        ],
+        [
+          -0.6670184135437012,
+          0.06834105402231216,
+          0.7419002056121826,
+          7.579427719116211
+        ],
+        [
+          -0.14690852165222168,
+          -0.9882982969284058,
+          -0.04104239493608475,
+          -34.6715202331543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4871,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_483080625",
+      "mask_path": "../../mask/hdr_left_04871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04872.png",
+      "transform_matrix": [
+        [
+          0.7429718971252441,
+          -0.14481879770755768,
+          0.6534678936004639,
+          112.77339935302734
+        ],
+        [
+          -0.648618757724762,
+          0.08516857773065567,
+          0.7563332319259644,
+          7.557886123657227
+        ],
+        [
+          -0.16518618166446686,
+          -0.985785961151123,
+          -0.03065432421863079,
+          -34.682777404785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4872,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_583078622",
+      "mask_path": "../../mask/hdr_left_04872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04873.png",
+      "transform_matrix": [
+        [
+          0.7535966634750366,
+          -0.15065862238407135,
+          0.6398390531539917,
+          112.82154083251953
+        ],
+        [
+          -0.6334934234619141,
+          0.0933300107717514,
+          0.7680986523628235,
+          7.534873962402344
+        ],
+        [
+          -0.175436869263649,
+          -0.9841704964637756,
+          -0.025108052417635918,
+          -34.68669128417969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4873,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_683082103",
+      "mask_path": "../../mask/hdr_left_04873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04876.png",
+      "transform_matrix": [
+        [
+          0.7456946969032288,
+          -0.1623699963092804,
+          0.6462007164955139,
+          112.95648193359375
+        ],
+        [
+          -0.6399796009063721,
+          0.09529358148574829,
+          0.7624600529670715,
+          7.434101581573486
+        ],
+        [
+          -0.18537938594818115,
+          -0.9821177124977112,
+          -0.032853543758392334,
+          -34.718414306640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4876,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_983082056",
+      "mask_path": "../../mask/hdr_left_04876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04878.png",
+      "transform_matrix": [
+        [
+          0.7438544034957886,
+          -0.1842193454504013,
+          0.6424514651298523,
+          113.0665054321289
+        ],
+        [
+          -0.637153148651123,
+          0.09475497901439667,
+          0.7648904323577881,
+          7.373349189758301
+        ],
+        [
+          -0.20178306102752686,
+          -0.9783071875572205,
+          -0.04689203202724457,
+          -34.748382568359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4878,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_183082818",
+      "mask_path": "../../mask/hdr_left_04878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04881.png",
+      "transform_matrix": [
+        [
+          0.7454975247383118,
+          -0.16407516598701477,
+          0.6459975838661194,
+          113.20927429199219
+        ],
+        [
+          -0.6425151228904724,
+          0.08080048859119415,
+          0.7620009779930115,
+          7.279417991638184
+        ],
+        [
+          -0.177222341299057,
+          -0.9831331372261047,
+          -0.04518420621752739,
+          -34.77708435058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4881,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_483082056",
+      "mask_path": "../../mask/hdr_left_04881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04883.png",
+      "transform_matrix": [
+        [
+          0.7534729242324829,
+          -0.13955353200435638,
+          0.642497718334198,
+          113.30900573730469
+        ],
+        [
+          -0.6395894289016724,
+          0.07082855701446533,
+          0.7654467821121216,
+          7.232016086578369
+        ],
+        [
+          -0.15232795476913452,
+          -0.9876782298088074,
+          -0.03588955104351044,
+          -34.785438537597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4883,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_683081150",
+      "mask_path": "../../mask/hdr_left_04883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04884.png",
+      "transform_matrix": [
+        [
+          0.7661532759666443,
+          -0.13245990872383118,
+          0.6288588643074036,
+          113.38863372802734
+        ],
+        [
+          -0.625618577003479,
+          0.07010682672262192,
+          0.7769724726676941,
+          7.202569484710693
+        ],
+        [
+          -0.14700500667095184,
+          -0.9887059330940247,
+          -0.02915680781006813,
+          -34.80431365966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4884,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_783083915",
+      "mask_path": "../../mask/hdr_left_04884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04885.png",
+      "transform_matrix": [
+        [
+          0.7833837270736694,
+          -0.13060447573661804,
+          0.6076613664627075,
+          113.45155334472656
+        ],
+        [
+          -0.6044606566429138,
+          0.06751614063978195,
+          0.7937687635421753,
+          7.187446594238281
+        ],
+        [
+          -0.1446966826915741,
+          -0.9891330599784851,
+          -0.026054218411445618,
+          -34.8167610168457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4885,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_883081912",
+      "mask_path": "../../mask/hdr_left_04885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04887.png",
+      "transform_matrix": [
+        [
+          0.8141298890113831,
+          -0.12398458272218704,
+          0.5672920346260071,
+          113.5722885131836
+        ],
+        [
+          -0.5614110827445984,
+          0.081537164747715,
+          0.8235103487968445,
+          7.155472755432129
+        ],
+        [
+          -0.14835797250270844,
+          -0.988928496837616,
+          -0.003224468557164073,
+          -34.84077072143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4887,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_83081483",
+      "mask_path": "../../mask/hdr_left_04887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04888.png",
+      "transform_matrix": [
+        [
+          0.8190621733665466,
+          -0.1302570104598999,
+          0.5587219595909119,
+          113.63330841064453
+        ],
+        [
+          -0.5529452562332153,
+          0.08037494122982025,
+          0.8293319940567017,
+          7.127283096313477
+        ],
+        [
+          -0.15293355286121368,
+          -0.9882171154022217,
+          -0.006192922592163086,
+          -34.851104736328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4888,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_183081626",
+      "mask_path": "../../mask/hdr_left_04888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04890.png",
+      "transform_matrix": [
+        [
+          0.8119681477546692,
+          -0.12350047379732132,
+          0.570486843585968,
+          113.70919799804688
+        ],
+        [
+          -0.5652366876602173,
+          0.07752317935228348,
+          0.8212781548500061,
+          7.077035903930664
+        ],
+        [
+          -0.14565418660640717,
+          -0.9893118143081665,
+          -0.006860656198114157,
+          -34.85881805419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4890,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_383080959",
+      "mask_path": "../../mask/hdr_left_04890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04891.png",
+      "transform_matrix": [
+        [
+          0.8069729804992676,
+          -0.13174106180667877,
+          0.5757073163986206,
+          113.77845764160156
+        ],
+        [
+          -0.5711475610733032,
+          0.07396771013736725,
+          0.8175079226493835,
+          7.04188346862793
+        ],
+        [
+          -0.150283083319664,
+          -0.988520622253418,
+          -0.01555363554507494,
+          -34.883399963378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4891,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_483081817",
+      "mask_path": "../../mask/hdr_left_04891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04892.png",
+      "transform_matrix": [
+        [
+          0.8041269183158875,
+          -0.15006643533706665,
+          0.5752041935920715,
+          113.83907318115234
+        ],
+        [
+          -0.5711334347724915,
+          0.07335269451141357,
+          0.8175731897354126,
+          7.010838508605957
+        ],
+        [
+          -0.1648830622434616,
+          -0.9859510660171509,
+          -0.026723090559244156,
+          -34.916744232177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4892,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_583081722",
+      "mask_path": "../../mask/hdr_left_04892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04893.png",
+      "transform_matrix": [
+        [
+          0.802267849445343,
+          -0.15841640532016754,
+          0.575560986995697,
+          113.88104248046875
+        ],
+        [
+          -0.5710039734840393,
+          0.07759258151054382,
+          0.8172723054885864,
+          6.988038539886475
+        ],
+        [
+          -0.17412857711315155,
+          -0.9843189120292664,
+          -0.028206339105963707,
+          -34.94477081298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4893,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_683081865",
+      "mask_path": "../../mask/hdr_left_04893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04894.png",
+      "transform_matrix": [
+        [
+          0.8022450804710388,
+          -0.16286903619766235,
+          0.5743487477302551,
+          113.92871856689453
+        ],
+        [
+          -0.5695523023605347,
+          0.07953157275915146,
+          0.8180983662605286,
+          6.956679344177246
+        ],
+        [
+          -0.17892174422740936,
+          -0.9834370613098145,
+          -0.028958620503544807,
+          -34.96491622924805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4894,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_783081531",
+      "mask_path": "../../mask/hdr_left_04894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04895.png",
+      "transform_matrix": [
+        [
+          0.8023213744163513,
+          -0.16839903593063354,
+          0.5726447701454163,
+          113.99669647216797
+        ],
+        [
+          -0.567634642124176,
+          0.08141801506280899,
+          0.8192446827888489,
+          6.912327289581299
+        ],
+        [
+          -0.1845836192369461,
+          -0.982350766658783,
+          -0.03026570752263069,
+          -34.972965240478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4895,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_883082389",
+      "mask_path": "../../mask/hdr_left_04895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04896.png",
+      "transform_matrix": [
+        [
+          0.800298273563385,
+          -0.17334619164466858,
+          0.5739980340003967,
+          114.05755615234375
+        ],
+        [
+          -0.568752646446228,
+          0.08364208042621613,
+          0.8182446956634521,
+          6.871225833892822
+        ],
+        [
+          -0.18984998762607574,
+          -0.981302797794342,
+          -0.03165249526500702,
+          -34.98232650756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4896,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_983081340",
+      "mask_path": "../../mask/hdr_left_04896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04897.png",
+      "transform_matrix": [
+        [
+          0.7965256571769714,
+          -0.17488430440425873,
+          0.5787593126296997,
+          114.09536743164062
+        ],
+        [
+          -0.5735325813293457,
+          0.08436980843544006,
+          0.8148263692855835,
+          6.837637901306152
+        ],
+        [
+          -0.19133014976978302,
+          -0.9809675216674805,
+          -0.03309911862015724,
+          -34.98492431640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4897,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_83082199",
+      "mask_path": "../../mask/hdr_left_04897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04898.png",
+      "transform_matrix": [
+        [
+          0.7928953170776367,
+          -0.17365311086177826,
+          0.5840902328491211,
+          114.16239929199219
+        ],
+        [
+          -0.5797652006149292,
+          0.08009625226259232,
+          0.8108371496200562,
+          6.7985358238220215
+        ],
+        [
+          -0.18758782744407654,
+          -0.9815443754196167,
+          -0.03717007860541344,
+          -35.00308609008789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4898,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_183080196",
+      "mask_path": "../../mask/hdr_left_04898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04899.png",
+      "transform_matrix": [
+        [
+          0.7970381379127502,
+          -0.18577438592910767,
+          0.5746460556983948,
+          114.24293518066406
+        ],
+        [
+          -0.5719899535179138,
+          0.07312557846307755,
+          0.8169945478439331,
+          6.762672424316406
+        ],
+        [
+          -0.19379794597625732,
+          -0.9798676371574402,
+          -0.04797719791531563,
+          -35.01787567138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4899,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_283080339",
+      "mask_path": "../../mask/hdr_left_04899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04900.png",
+      "transform_matrix": [
+        [
+          0.8112229108810425,
+          -0.19650527834892273,
+          0.550729513168335,
+          114.30842590332031
+        ],
+        [
+          -0.5490000247955322,
+          0.06825780868530273,
+          0.8330304622650146,
+          6.74124813079834
+        ],
+        [
+          -0.2012864500284195,
+          -0.9781240820884705,
+          -0.05250908434391022,
+          -35.024070739746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4900,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_383082866",
+      "mask_path": "../../mask/hdr_left_04900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04901.png",
+      "transform_matrix": [
+        [
+          0.8321143388748169,
+          -0.1969638168811798,
+          0.5184504985809326,
+          114.37674713134766
+        ],
+        [
+          -0.5158763527870178,
+          0.06831154227256775,
+          0.8539350628852844,
+          6.7394819259643555
+        ],
+        [
+          -0.20361045002937317,
+          -0.9780281186103821,
+          -0.04476594924926758,
+          -35.039432525634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4901,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_483080863",
+      "mask_path": "../../mask/hdr_left_04901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04902.png",
+      "transform_matrix": [
+        [
+          0.8480610251426697,
+          -0.213042214512825,
+          0.48518604040145874,
+          114.47480773925781
+        ],
+        [
+          -0.4784400463104248,
+          0.08575272560119629,
+          0.8739230632781982,
+          6.711843967437744
+        ],
+        [
+          -0.227788507938385,
+          -0.9732726216316223,
+          -0.02920437976717949,
+          -35.07666778564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4902,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_583081483",
+      "mask_path": "../../mask/hdr_left_04902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04905.png",
+      "transform_matrix": [
+        [
+          0.8534316420555115,
+          -0.2549547851085663,
+          0.45459043979644775,
+          114.58016967773438
+        ],
+        [
+          -0.4340786337852478,
+          0.13509097695350647,
+          0.8906884789466858,
+          6.7160210609436035
+        ],
+        [
+          -0.28849634528160095,
+          -0.9574698805809021,
+          0.004620500840246677,
+          -35.12785720825195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4905,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_883082389",
+      "mask_path": "../../mask/hdr_left_04905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04906.png",
+      "transform_matrix": [
+        [
+          0.854695200920105,
+          -0.2496270388364792,
+          0.4551730453968048,
+          114.67794036865234
+        ],
+        [
+          -0.4371519982814789,
+          0.1268114596605301,
+          0.8904027342796326,
+          6.69464635848999
+        ],
+        [
+          -0.27998974919319153,
+          -0.9600027799606323,
+          -0.00073980912566185,
+          -35.16179275512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4906,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_983081817",
+      "mask_path": "../../mask/hdr_left_04906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04907.png",
+      "transform_matrix": [
+        [
+          0.85539710521698,
+          -0.2451982945203781,
+          0.4562605321407318,
+          114.74543762207031
+        ],
+        [
+          -0.43691903352737427,
+          0.13154655694961548,
+          0.8898298740386963,
+          6.676323890686035
+        ],
+        [
+          -0.2782042324542999,
+          -0.960506796836853,
+          0.005392731633037329,
+          -35.191226959228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4907,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_83081483",
+      "mask_path": "../../mask/hdr_left_04907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04908.png",
+      "transform_matrix": [
+        [
+          0.8581691980361938,
+          -0.23533828556537628,
+          0.45624709129333496,
+          114.81895446777344
+        ],
+        [
+          -0.4337592124938965,
+          0.14296524226665497,
+          0.8896144032478333,
+          6.658570766448975
+        ],
+        [
+          -0.27458781003952026,
+          -0.9613412022590637,
+          0.02060823328793049,
+          -35.222984313964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4908,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_183081388",
+      "mask_path": "../../mask/hdr_left_04908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04909.png",
+      "transform_matrix": [
+        [
+          0.8612441420555115,
+          -0.228030726313591,
+          0.45415905117988586,
+          114.91575622558594
+        ],
+        [
+          -0.43337318301200867,
+          0.13719312846660614,
+          0.8907107710838318,
+          6.63353967666626
+        ],
+        [
+          -0.2654169499874115,
+          -0.963939905166626,
+          0.019334373995661736,
+          -35.255191802978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4909,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_283082246",
+      "mask_path": "../../mask/hdr_left_04909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04910.png",
+      "transform_matrix": [
+        [
+          0.8617510795593262,
+          -0.22145526111125946,
+          0.456445574760437,
+          115.00506591796875
+        ],
+        [
+          -0.4380435049533844,
+          0.12908507883548737,
+          0.8896374702453613,
+          6.609896183013916
+        ],
+        [
+          -0.2559351921081543,
+          -0.9665892124176025,
+          0.014232184737920761,
+          -35.255035400390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4910,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_383082151",
+      "mask_path": "../../mask/hdr_left_04910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04911.png",
+      "transform_matrix": [
+        [
+          0.8610710501670837,
+          -0.2120884656906128,
+          0.46214190125465393,
+          115.07076263427734
+        ],
+        [
+          -0.4457682967185974,
+          0.1224079504609108,
+          0.8867394328117371,
+          6.591700553894043
+        ],
+        [
+          -0.24463705718517303,
+          -0.9695539474487305,
+          0.010859624482691288,
+          -35.25827407836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4911,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_483082056",
+      "mask_path": "../../mask/hdr_left_04911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04912.png",
+      "transform_matrix": [
+        [
+          0.8591009974479675,
+          -0.1998763382434845,
+          0.47116339206695557,
+          115.14306640625
+        ],
+        [
+          -0.4601095914840698,
+          0.10156894475221634,
+          0.8820334076881409,
+          6.567101001739502
+        ],
+        [
+          -0.22415314614772797,
+          -0.9745425581932068,
+          -0.004707026295363903,
+          -35.28325271606445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4912,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_583081483",
+      "mask_path": "../../mask/hdr_left_04912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04913.png",
+      "transform_matrix": [
+        [
+          0.8562268018722534,
+          -0.19710257649421692,
+          0.47752079367637634,
+          115.26738739013672
+        ],
+        [
+          -0.4707116186618805,
+          0.08319215476512909,
+          0.8783562183380127,
+          6.5245361328125
+        ],
+        [
+          -0.21285223960876465,
+          -0.9768468141555786,
+          -0.021547114476561546,
+          -35.29038619995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4913,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_683081626",
+      "mask_path": "../../mask/hdr_left_04913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04914.png",
+      "transform_matrix": [
+        [
+          0.8557424545288086,
+          -0.19587936997413635,
+          0.47889041900634766,
+          115.3520736694336
+        ],
+        [
+          -0.47398507595062256,
+          0.0743502750992775,
+          0.8773883581161499,
+          6.4980149269104
+        ],
+        [
+          -0.20746789872646332,
+          -0.9778053760528564,
+          -0.029219206422567368,
+          -35.29596710205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4914,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_783082246",
+      "mask_path": "../../mask/hdr_left_04914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04915.png",
+      "transform_matrix": [
+        [
+          0.8566631078720093,
+          -0.18555614352226257,
+          0.48134925961494446,
+          115.41117095947266
+        ],
+        [
+          -0.47750014066696167,
+          0.0679352879524231,
+          0.8760014176368713,
+          6.48655891418457
+        ],
+        [
+          -0.19524800777435303,
+          -0.9802824854850769,
+          -0.030405424535274506,
+          -35.31159591674805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4915,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_883081912",
+      "mask_path": "../../mask/hdr_left_04915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04916.png",
+      "transform_matrix": [
+        [
+          0.8554720878601074,
+          -0.17625409364700317,
+          0.4869311451911926,
+          115.51152038574219
+        ],
+        [
+          -0.48499536514282227,
+          0.05689156800508499,
+          0.872664213180542,
+          6.454550266265869
+        ],
+        [
+          -0.18151289224624634,
+          -0.9826992750167847,
+          -0.036813266575336456,
+          -35.33623504638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4916,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_983082294",
+      "mask_path": "../../mask/hdr_left_04916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04917.png",
+      "transform_matrix": [
+        [
+          0.8506869673728943,
+          -0.1632600873708725,
+          0.4996776878833771,
+          115.61231231689453
+        ],
+        [
+          -0.4989524483680725,
+          0.04842784255743027,
+          0.8652751445770264,
+          6.40824031829834
+        ],
+        [
+          -0.16546319425106049,
+          -0.9853938221931458,
+          -0.04026208445429802,
+          -35.343692779541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4917,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_83081483",
+      "mask_path": "../../mask/hdr_left_04917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04918.png",
+      "transform_matrix": [
+        [
+          0.8428556323051453,
+          -0.14725489914417267,
+          0.517600417137146,
+          115.6842269897461
+        ],
+        [
+          -0.5174333453178406,
+          0.04247855022549629,
+          0.8546685576438904,
+          6.375519752502441
+        ],
+        [
+          -0.14784105122089386,
+          -0.9881860017776489,
+          -0.040391311049461365,
+          -35.34394073486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4918,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_183082103",
+      "mask_path": "../../mask/hdr_left_04918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04919.png",
+      "transform_matrix": [
+        [
+          0.8337552547454834,
+          -0.13451191782951355,
+          0.5354985594749451,
+          115.7801513671875
+        ],
+        [
+          -0.5360938310623169,
+          0.03485836088657379,
+          0.8434383273124695,
+          6.347358703613281
+        ],
+        [
+          -0.1321191042661667,
+          -0.9902986884117126,
+          -0.04304766282439232,
+          -35.36250686645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4919,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_283081769",
+      "mask_path": "../../mask/hdr_left_04919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04920.png",
+      "transform_matrix": [
+        [
+          0.8254995346069336,
+          -0.1256021112203598,
+          0.5502496957778931,
+          115.89102935791016
+        ],
+        [
+          -0.5515856146812439,
+          0.02705494873225689,
+          0.8336794376373291,
+          6.307082176208496
+        ],
+        [
+          -0.11959884315729141,
+          -0.9917117953300476,
+          -0.046946458518505096,
+          -35.37821578979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4920,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_383080720",
+      "mask_path": "../../mask/hdr_left_04920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04921.png",
+      "transform_matrix": [
+        [
+          0.8181076645851135,
+          -0.11554159969091415,
+          0.5633382201194763,
+          115.97893524169922
+        ],
+        [
+          -0.5652642250061035,
+          0.018514180555939674,
+          0.8247020840644836,
+          6.263767242431641
+        ],
+        [
+          -0.10571713745594025,
+          -0.993130087852478,
+          -0.05016494169831276,
+          -35.3820915222168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4921,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_483082294",
+      "mask_path": "../../mask/hdr_left_04921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04922.png",
+      "transform_matrix": [
+        [
+          0.8116331696510315,
+          -0.10280773788690567,
+          0.5750496983528137,
+          116.06637573242188
+        ],
+        [
+          -0.5769225358963013,
+          0.013485778123140335,
+          0.8166875243186951,
+          6.218115329742432
+        ],
+        [
+          -0.09171677380800247,
+          -0.9946098923683167,
+          -0.04836658388376236,
+          -35.38361740112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4922,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_583082199",
+      "mask_path": "../../mask/hdr_left_04922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04923.png",
+      "transform_matrix": [
+        [
+          0.8043816089630127,
+          -0.09086959064006805,
+          0.5871225595474243,
+          116.14688110351562
+        ],
+        [
+          -0.5886555910110474,
+          0.011738575994968414,
+          0.8082987070083618,
+          6.171502590179443
+        ],
+        [
+          -0.08034175634384155,
+          -0.9957937598228455,
+          -0.04404859244823456,
+          -35.372928619384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4923,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_683079957",
+      "mask_path": "../../mask/hdr_left_04923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04924.png",
+      "transform_matrix": [
+        [
+          0.7979928255081177,
+          -0.0801384225487709,
+          0.5973150730133057,
+          116.20881652832031
+        ],
+        [
+          -0.5986897349357605,
+          0.008266251534223557,
+          0.8009383082389832,
+          6.14311408996582
+        ],
+        [
+          -0.06912349164485931,
+          -0.9967495203018188,
+          -0.04138164222240448,
+          -35.36601257324219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4924,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_783082008",
+      "mask_path": "../../mask/hdr_left_04924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04925.png",
+      "transform_matrix": [
+        [
+          0.7930880188941956,
+          -0.0699116662144661,
+          0.6050816178321838,
+          116.27946472167969
+        ],
+        [
+          -0.6062924265861511,
+          0.004780986811965704,
+          0.7952273488044739,
+          6.107628345489502
+        ],
+        [
+          -0.05848856270313263,
+          -0.9975417256355286,
+          -0.03859516605734825,
+          -35.36873245239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4925,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_883082151",
+      "mask_path": "../../mask/hdr_left_04925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04926.png",
+      "transform_matrix": [
+        [
+          0.7923192381858826,
+          -0.06119086220860481,
+          0.6070303320884705,
+          116.38021087646484
+        ],
+        [
+          -0.6082977652549744,
+          -0.0026709469966590405,
+          0.7937044501304626,
+          6.056667327880859
+        ],
+        [
+          -0.04694611206650734,
+          -0.9981225728988647,
+          -0.039338503032922745,
+          -35.362369537353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4926,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_983081579",
+      "mask_path": "../../mask/hdr_left_04926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04927.png",
+      "transform_matrix": [
+        [
+          0.7960759401321411,
+          -0.05377999693155289,
+          0.6028025150299072,
+          116.46903991699219
+        ],
+        [
+          -0.6042206287384033,
+          -0.014079736545681953,
+          0.7966926693916321,
+          6.01933479309082
+        ],
+        [
+          -0.034358832985162735,
+          -0.9984535574913025,
+          -0.04370352253317833,
+          -35.35306167602539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4927,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_83082199",
+      "mask_path": "../../mask/hdr_left_04927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04928.png",
+      "transform_matrix": [
+        [
+          0.8005424737930298,
+          -0.04496835544705391,
+          0.5975865125656128,
+          116.53604888916016
+        ],
+        [
+          -0.5987416505813599,
+          -0.017916932702064514,
+          0.8007417917251587,
+          5.993984699249268
+        ],
+        [
+          -0.025301121175289154,
+          -0.9988277554512024,
+          -0.04126769304275513,
+          -35.35036087036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4928,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_183081150",
+      "mask_path": "../../mask/hdr_left_04928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04929.png",
+      "transform_matrix": [
+        [
+          0.8011457920074463,
+          -0.0353945717215538,
+          0.5974216461181641,
+          116.62445068359375
+        ],
+        [
+          -0.5982350707054138,
+          -0.01943795755505562,
+          0.8010849356651306,
+          5.957596302032471
+        ],
+        [
+          -0.016741393133997917,
+          -0.9991843700408936,
+          -0.036746907979249954,
+          -35.34608840942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4929,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_283082008",
+      "mask_path": "../../mask/hdr_left_04929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04930.png",
+      "transform_matrix": [
+        [
+          0.7959094047546387,
+          -0.02324327640235424,
+          0.604969322681427,
+          116.71990203857422
+        ],
+        [
+          -0.6053748726844788,
+          -0.01895695924758911,
+          0.7957146763801575,
+          5.907218933105469
+        ],
+        [
+          -0.007026635576039553,
+          -0.9995501637458801,
+          -0.02915892004966736,
+          -35.331626892089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4930,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_383082866",
+      "mask_path": "../../mask/hdr_left_04930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04931.png",
+      "transform_matrix": [
+        [
+          0.7892032265663147,
+          -0.012656709179282188,
+          0.6140016913414001,
+          116.80354309082031
+        ],
+        [
+          -0.6141319274902344,
+          -0.01707477495074272,
+          0.7890186905860901,
+          5.858649730682373
+        ],
+        [
+          0.000497559318318963,
+          -0.999774158000946,
+          -0.0212483499199152,
+          -35.32286834716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4931,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_483082294",
+      "mask_path": "../../mask/hdr_left_04931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04932.png",
+      "transform_matrix": [
+        [
+          0.7850741744041443,
+          -0.00923197716474533,
+          0.6193328499794006,
+          116.90148162841797
+        ],
+        [
+          -0.6193908452987671,
+          -0.017619719728827477,
+          0.784885048866272,
+          5.814681053161621
+        ],
+        [
+          0.003666430013254285,
+          -0.9998021721839905,
+          -0.01955098658800125,
+          -35.32595443725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4932,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_583081960",
+      "mask_path": "../../mask/hdr_left_04932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04933.png",
+      "transform_matrix": [
+        [
+          0.7842759490013123,
+          -0.015026958659291267,
+          0.6202301383018494,
+          116.98274993896484
+        ],
+        [
+          -0.6204065680503845,
+          -0.023235302418470383,
+          0.7839360237121582,
+          5.781797409057617
+        ],
+        [
+          0.002631059382110834,
+          -0.9996170997619629,
+          -0.027545707300305367,
+          -35.32929229736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4933,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_683079957",
+      "mask_path": "../../mask/hdr_left_04933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04934.png",
+      "transform_matrix": [
+        [
+          0.7852755784988403,
+          -0.017330948263406754,
+          0.6189037561416626,
+          117.06431579589844
+        ],
+        [
+          -0.6191425323486328,
+          -0.025481436401605606,
+          0.7848650217056274,
+          5.73475456237793
+        ],
+        [
+          0.0021681005600839853,
+          -0.9995250701904297,
+          -0.030740275979042053,
+          -35.3338623046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4934,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_783081531",
+      "mask_path": "../../mask/hdr_left_04934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04935.png",
+      "transform_matrix": [
+        [
+          0.7834876775741577,
+          -0.01876242645084858,
+          0.6211239099502563,
+          117.16407775878906
+        ],
+        [
+          -0.6213998198509216,
+          -0.01877078041434288,
+          0.7832688093185425,
+          5.676186561584473
+        ],
+        [
+          -0.003037041053175926,
+          -0.9996477365493774,
+          -0.026365645229816437,
+          -35.336944580078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4935,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_883081912",
+      "mask_path": "../../mask/hdr_left_04935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04936.png",
+      "transform_matrix": [
+        [
+          0.7752150297164917,
+          -0.02079108916223049,
+          0.6313552260398865,
+          117.2507095336914
+        ],
+        [
+          -0.6316332221031189,
+          -0.011256750673055649,
+          0.7751855850219727,
+          5.62156867980957
+        ],
+        [
+          -0.009009944275021553,
+          -0.9997205138206482,
+          -0.021858740597963333,
+          -35.326847076416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4936,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_983080863",
+      "mask_path": "../../mask/hdr_left_04936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04937.png",
+      "transform_matrix": [
+        [
+          0.7646120190620422,
+          -0.01860305666923523,
+          0.6442223191261292,
+          117.30811309814453
+        ],
+        [
+          -0.6444186568260193,
+          -0.007104333024471998,
+          0.7646398544311523,
+          5.5820488929748535
+        ],
+        [
+          -0.009647869504988194,
+          -0.9998018145561218,
+          -0.0174202099442482,
+          -35.32276153564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4937,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_83082199",
+      "mask_path": "../../mask/hdr_left_04937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04938.png",
+      "transform_matrix": [
+        [
+          0.7545044422149658,
+          -0.01584111712872982,
+          0.6561037302017212,
+          117.37996673583984
+        ],
+        [
+          -0.6562554240226746,
+          -0.007249075919389725,
+          0.7545039057731628,
+          5.5364274978637695
+        ],
+        [
+          -0.007196040358394384,
+          -0.9998482465744019,
+          -0.015865275636315346,
+          -35.32623291015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4938,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_183081626",
+      "mask_path": "../../mask/hdr_left_04938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04939.png",
+      "transform_matrix": [
+        [
+          0.7505595088005066,
+          -0.022960307076573372,
+          0.6604039072990417,
+          117.48482513427734
+        ],
+        [
+          -0.6607252955436707,
+          -0.01077528577297926,
+          0.7505502700805664,
+          5.476515769958496
+        ],
+        [
+          -0.010116827674210072,
+          -0.9996784329414368,
+          -0.023257950320839882,
+          -35.32649612426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4939,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_283083200",
+      "mask_path": "../../mask/hdr_left_04939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04940.png",
+      "transform_matrix": [
+        [
+          0.7527594566345215,
+          -0.03046351671218872,
+          0.657590389251709,
+          117.57553100585938
+        ],
+        [
+          -0.6581616401672363,
+          -0.014672315679490566,
+          0.7527336478233337,
+          5.432285308837891
+        ],
+        [
+          -0.013282537460327148,
+          -0.9994282722473145,
+          -0.031094636768102646,
+          -35.32957458496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4940,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_383081912",
+      "mask_path": "../../mask/hdr_left_04940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04941.png",
+      "transform_matrix": [
+        [
+          0.7552021741867065,
+          -0.02870582789182663,
+          0.6548630595207214,
+          117.64346313476562
+        ],
+        [
+          -0.6553764343261719,
+          -0.014315865002572536,
+          0.7551667094230652,
+          5.400044918060303
+        ],
+        [
+          -0.012302753515541553,
+          -0.999485433101654,
+          -0.029624493792653084,
+          -35.334861755371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4941,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_483083009",
+      "mask_path": "../../mask/hdr_left_04941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04942.png",
+      "transform_matrix": [
+        [
+          0.7523242831230164,
+          -0.030960997566580772,
+          0.6580650210380554,
+          117.72874450683594
+        ],
+        [
+          -0.6585966348648071,
+          -0.010963902808725834,
+          0.75241619348526,
+          5.351018905639648
+        ],
+        [
+          -0.016080595552921295,
+          -0.9994604587554932,
+          -0.028639215975999832,
+          -35.336944580078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4942,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_583081960",
+      "mask_path": "../../mask/hdr_left_04942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04943.png",
+      "transform_matrix": [
+        [
+          0.7435463666915894,
+          -0.030655212700366974,
+          0.6679813861846924,
+          117.81560516357422
+        ],
+        [
+          -0.6684502363204956,
+          -0.0076439836993813515,
+          0.7437175512313843,
+          5.294466495513916
+        ],
+        [
+          -0.017692776396870613,
+          -0.9995008707046509,
+          -0.026175137609243393,
+          -35.3307991027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4943,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_683083534",
+      "mask_path": "../../mask/hdr_left_04943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04944.png",
+      "transform_matrix": [
+        [
+          0.7332524061203003,
+          -0.024875091388821602,
+          0.6795014142990112,
+          117.87108612060547
+        ],
+        [
+          -0.6798056960105896,
+          -0.005770196672528982,
+          0.7333695292472839,
+          5.25139045715332
+        ],
+        [
+          -0.014321778900921345,
+          -0.9996739625930786,
+          -0.021141236647963524,
+          -35.32927703857422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4944,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_783082962",
+      "mask_path": "../../mask/hdr_left_04944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04945.png",
+      "transform_matrix": [
+        [
+          0.7253655195236206,
+          -0.028455305844545364,
+          0.6877755522727966,
+          117.94989776611328
+        ],
+        [
+          -0.6882047057151794,
+          -0.008490828797221184,
+          0.7254668474197388,
+          5.201415538787842
+        ],
+        [
+          -0.014803594909608364,
+          -0.9995591044425964,
+          -0.025742026045918465,
+          -35.33476257324219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4945,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_883084058",
+      "mask_path": "../../mask/hdr_left_04945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04946.png",
+      "transform_matrix": [
+        [
+          0.7229562997817993,
+          -0.041711244732141495,
+          0.6896334290504456,
+          118.052001953125
+        ],
+        [
+          -0.690576434135437,
+          -0.01337815634906292,
+          0.7231355905532837,
+          5.141979694366455
+        ],
+        [
+          -0.020936861634254456,
+          -0.9990401268005371,
+          -0.0384766161441803,
+          -35.34389114379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4946,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_983081579",
+      "mask_path": "../../mask/hdr_left_04946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04947.png",
+      "transform_matrix": [
+        [
+          0.7237304449081421,
+          -0.04994088411331177,
+          0.6882733106613159,
+          118.1278076171875
+        ],
+        [
+          -0.6896693706512451,
+          -0.017825491726398468,
+          0.7239049673080444,
+          5.098123550415039
+        ],
+        [
+          -0.0238836370408535,
+          -0.9985930919647217,
+          -0.04734354466199875,
+          -35.35420608520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4947,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_83083152",
+      "mask_path": "../../mask/hdr_left_04947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04948.png",
+      "transform_matrix": [
+        [
+          0.7231634259223938,
+          -0.05043821409344673,
+          0.6888328790664673,
+          118.19044494628906
+        ],
+        [
+          -0.6903300881385803,
+          -0.021177658811211586,
+          0.7231845259666443,
+          5.063119888305664
+        ],
+        [
+          -0.02188826911151409,
+          -0.9985026717185974,
+          -0.05013392120599747,
+          -35.36480712890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4948,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_183081388",
+      "mask_path": "../../mask/hdr_left_04948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04949.png",
+      "transform_matrix": [
+        [
+          0.7183842658996582,
+          -0.05213416367769241,
+          0.6936901807785034,
+          118.27188110351562
+        ],
+        [
+          -0.6952518820762634,
+          -0.020227745175361633,
+          0.7184813618659973,
+          5.000325679779053
+        ],
+        [
+          -0.023425640538334846,
+          -0.9984351992607117,
+          -0.05077766627073288,
+          -35.357879638671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4949,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_283081054",
+      "mask_path": "../../mask/hdr_left_04949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04950.png",
+      "transform_matrix": [
+        [
+          0.7112089991569519,
+          -0.0499456487596035,
+          0.7012040615081787,
+          118.34506225585938
+        ],
+        [
+          -0.7025495767593384,
+          -0.015576965175569057,
+          0.7114642262458801,
+          4.94463586807251
+        ],
+        [
+          -0.024611912667751312,
+          -0.9986305236816406,
+          -0.0461677722632885,
+          -35.349639892578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4950,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_383081674",
+      "mask_path": "../../mask/hdr_left_04950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04951.png",
+      "transform_matrix": [
+        [
+          0.7046380639076233,
+          -0.04241494461894035,
+          0.7082979083061218,
+          118.39768981933594
+        ],
+        [
+          -0.7092736959457397,
+          -0.013413336127996445,
+          0.7048055529594421,
+          4.911068916320801
+        ],
+        [
+          -0.020393647253513336,
+          -0.9990100860595703,
+          -0.03953535109758377,
+          -35.353485107421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4951,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_483082294",
+      "mask_path": "../../mask/hdr_left_04951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04952.png",
+      "transform_matrix": [
+        [
+          0.6995154023170471,
+          -0.03736746311187744,
+          0.7136397361755371,
+          118.47332000732422
+        ],
+        [
+          -0.7144556641578674,
+          -0.015323235653340816,
+          0.6995128989219666,
+          4.864506721496582
+        ],
+        [
+          -0.015203747898340225,
+          -0.9991841316223145,
+          -0.03741622343659401,
+          -35.357666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4952,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_583082914",
+      "mask_path": "../../mask/hdr_left_04952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04953.png",
+      "transform_matrix": [
+        [
+          0.6988251805305481,
+          -0.0409364178776741,
+          0.7141200304031372,
+          118.56742095947266
+        ],
+        [
+          -0.715167224407196,
+          -0.021296845749020576,
+          0.6986289620399475,
+          4.803014755249023
+        ],
+        [
+          -0.013390856795012951,
+          -0.9989347457885742,
+          -0.04415914788842201,
+          -35.35546112060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4953,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_683084011",
+      "mask_path": "../../mask/hdr_left_04953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05378.png",
+      "transform_matrix": [
+        [
+          -0.6998631954193115,
+          -0.03263601288199425,
+          -0.7135308980941772,
+          118.40364074707031
+        ],
+        [
+          0.7142322659492493,
+          -0.020808439701795578,
+          -0.6995993256568909,
+          5.2302093505859375
+        ],
+        [
+          0.007984668016433716,
+          -0.9992507100105286,
+          0.03787275403738022,
+          -35.34932327270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5378,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_183081865",
+      "mask_path": "../../mask/hdr_left_05378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05379.png",
+      "transform_matrix": [
+        [
+          -0.7287008762359619,
+          -0.03313443064689636,
+          -0.6840299963951111,
+          118.32966613769531
+        ],
+        [
+          0.684779167175293,
+          -0.02284083142876625,
+          -0.7283926010131836,
+          5.259047508239746
+        ],
+        [
+          0.008511054329574108,
+          -0.9991899132728577,
+          0.03933390602469444,
+          -35.3528938293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5379,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_283082723",
+      "mask_path": "../../mask/hdr_left_05379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05381.png",
+      "transform_matrix": [
+        [
+          -0.7673743367195129,
+          -0.03314611315727234,
+          -0.6403420567512512,
+          118.22502899169922
+        ],
+        [
+          0.641196608543396,
+          -0.04261128604412079,
+          -0.7661927342414856,
+          5.291985511779785
+        ],
+        [
+          -0.0018894871463999152,
+          -0.9985417723655701,
+          0.05395197868347168,
+          -35.360145568847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5381,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_483080863",
+      "mask_path": "../../mask/hdr_left_05381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05382.png",
+      "transform_matrix": [
+        [
+          -0.7666864395141602,
+          -0.03416384756565094,
+          -0.6411119103431702,
+          118.17101287841797
+        ],
+        [
+          0.6420065760612488,
+          -0.04761652648448944,
+          -0.7652190327644348,
+          5.333213806152344
+        ],
+        [
+          -0.004384704399853945,
+          -0.9982813000679016,
+          0.05844036489725113,
+          -35.345619201660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5382,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_583082914",
+      "mask_path": "../../mask/hdr_left_05382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05384.png",
+      "transform_matrix": [
+        [
+          -0.7605130672454834,
+          -0.04488741233944893,
+          -0.6477692127227783,
+          118.06673431396484
+        ],
+        [
+          0.6493151187896729,
+          -0.05734683573246002,
+          -0.7583541870117188,
+          5.38763952255249
+        ],
+        [
+          -0.003106955671682954,
+          -0.9973447322845459,
+          0.07275909185409546,
+          -35.3409309387207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5384,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_783082008",
+      "mask_path": "../../mask/hdr_left_05384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05385.png",
+      "transform_matrix": [
+        [
+          -0.759669840335846,
+          -0.042355976998806,
+          -0.6489280462265015,
+          117.98929595947266
+        ],
+        [
+          0.6502906084060669,
+          -0.05695946887135506,
+          -0.75754714012146,
+          5.429523944854736
+        ],
+        [
+          -0.004875948652625084,
+          -0.997477650642395,
+          0.0708140954375267,
+          -35.33761215209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5385,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_883081197",
+      "mask_path": "../../mask/hdr_left_05385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05387.png",
+      "transform_matrix": [
+        [
+          -0.760843813419342,
+          -0.03639238327741623,
+          -0.6479138731956482,
+          117.92205047607422
+        ],
+        [
+          0.6489083170890808,
+          -0.051721055060625076,
+          -0.7591065764427185,
+          5.442391395568848
+        ],
+        [
+          -0.005885089747607708,
+          -0.9979983568191528,
+          0.0629669651389122,
+          -35.34603500366211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5387,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_83080530",
+      "mask_path": "../../mask/hdr_left_05387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05388.png",
+      "transform_matrix": [
+        [
+          -0.7600345015525818,
+          -0.029958954080939293,
+          -0.6491917967796326,
+          117.86763763427734
+        ],
+        [
+          0.6497794389724731,
+          -0.05284150689840317,
+          -0.7582839727401733,
+          5.456042766571045
+        ],
+        [
+          -0.011586879380047321,
+          -0.9981535077095032,
+          0.05962807685136795,
+          -35.3438835144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5388,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_183080673",
+      "mask_path": "../../mask/hdr_left_05388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05389.png",
+      "transform_matrix": [
+        [
+          -0.7570424675941467,
+          -0.028022784739732742,
+          -0.6527644395828247,
+          117.8079605102539
+        ],
+        [
+          0.6531672477722168,
+          -0.05707442760467529,
+          -0.755059540271759,
+          5.470176696777344
+        ],
+        [
+          -0.016097284853458405,
+          -0.9979766607284546,
+          0.061511337757110596,
+          -35.333194732666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5389,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_283080339",
+      "mask_path": "../../mask/hdr_left_05389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05390.png",
+      "transform_matrix": [
+        [
+          -0.7533783912658691,
+          -0.03403381258249283,
+          -0.656705915927887,
+          117.75471496582031
+        ],
+        [
+          0.657443106174469,
+          -0.059896986931562424,
+          -0.7511197924613953,
+          5.495591163635254
+        ],
+        [
+          -0.01377124059945345,
+          -0.9976242184638977,
+          0.06750039011240005,
+          -35.32448959350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5390,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_383079767",
+      "mask_path": "../../mask/hdr_left_05390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05391.png",
+      "transform_matrix": [
+        [
+          -0.7505724430084229,
+          -0.04216548427939415,
+          -0.659441351890564,
+          117.69829559326172
+        ],
+        [
+          0.6607431769371033,
+          -0.05952928215265274,
+          -0.7482478022575378,
+          5.529176712036133
+        ],
+        [
+          -0.007705841679126024,
+          -0.99733567237854,
+          0.07254159450531006,
+          -35.32421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5391,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_483082771",
+      "mask_path": "../../mask/hdr_left_05391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05392.png",
+      "transform_matrix": [
+        [
+          -0.7558391690254211,
+          -0.041882384568452835,
+          -0.6534163951873779,
+          117.6185073852539
+        ],
+        [
+          0.6547373533248901,
+          -0.05613844841718674,
+          -0.7537688612937927,
+          5.560903549194336
+        ],
+        [
+          -0.00511214742437005,
+          -0.9975442290306091,
+          0.06985359638929367,
+          -35.31621551513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5392,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_583079814",
+      "mask_path": "../../mask/hdr_left_05392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05393.png",
+      "transform_matrix": [
+        [
+          -0.7669030427932739,
+          -0.03626713156700134,
+          -0.6407373547554016,
+          117.54766082763672
+        ],
+        [
+          0.6417508721351624,
+          -0.049434155225753784,
+          -0.7653181552886963,
+          5.587072372436523
+        ],
+        [
+          -0.003918417263776064,
+          -0.9981187582015991,
+          0.061185676604509354,
+          -35.31475830078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5393,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_683079004",
+      "mask_path": "../../mask/hdr_left_05393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05394.png",
+      "transform_matrix": [
+        [
+          -0.7787529230117798,
+          -0.03348585218191147,
+          -0.6264363527297974,
+          117.4862289428711
+        ],
+        [
+          0.627324104309082,
+          -0.04615633189678192,
+          -0.7773892879486084,
+          5.608151912689209
+        ],
+        [
+          -0.002882464090362191,
+          -0.9983729124069214,
+          0.05695085600018501,
+          -35.31573486328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5394,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_783081054",
+      "mask_path": "../../mask/hdr_left_05394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05395.png",
+      "transform_matrix": [
+        [
+          -0.7906942963600159,
+          -0.0304988082498312,
+          -0.6114509701728821,
+          117.40628051757812
+        ],
+        [
+          0.612196683883667,
+          -0.04624447226524353,
+          -0.7893520593643188,
+          5.644101142883301
+        ],
+        [
+          -0.004201927222311497,
+          -0.9984644651412964,
+          0.05523650720715523,
+          -35.317901611328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5395,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_883081674",
+      "mask_path": "../../mask/hdr_left_05395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05396.png",
+      "transform_matrix": [
+        [
+          -0.7993981242179871,
+          -0.031549107283353806,
+          -0.5999727845191956,
+          117.3223876953125
+        ],
+        [
+          0.600799560546875,
+          -0.04461502656340599,
+          -0.7981536388397217,
+          5.685183048248291
+        ],
+        [
+          -0.0015867659822106361,
+          -0.9985060691833496,
+          0.05461985617876053,
+          -35.306522369384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5396,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_983081102",
+      "mask_path": "../../mask/hdr_left_05396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05397.png",
+      "transform_matrix": [
+        [
+          -0.8055763244628906,
+          -0.0350385420024395,
+          -0.5914551019668579,
+          117.2471923828125
+        ],
+        [
+          0.5924913287162781,
+          -0.04614146053791046,
+          -0.8042542338371277,
+          5.716689109802246
+        ],
+        [
+          0.0008892920450307429,
+          -0.9983202219009399,
+          0.05793050304055214,
+          -35.29758071899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5397,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_83080291",
+      "mask_path": "../../mask/hdr_left_05397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05398.png",
+      "transform_matrix": [
+        [
+          -0.8033832311630249,
+          -0.04145658761262894,
+          -0.5940173864364624,
+          117.178955078125
+        ],
+        [
+          0.5954432487487793,
+          -0.04797346517443657,
+          -0.801963746547699,
+          5.73986291885376
+        ],
+        [
+          0.004749609157443047,
+          -0.9979880452156067,
+          0.0632261261343956,
+          -35.294830322265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5398,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_183081150",
+      "mask_path": "../../mask/hdr_left_05398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05399.png",
+      "transform_matrix": [
+        [
+          -0.8006415367126465,
+          -0.03871047869324684,
+          -0.5978918075561523,
+          117.08547973632812
+        ],
+        [
+          0.599091649055481,
+          -0.03858646750450134,
+          -0.799750030040741,
+          5.785384654998779
+        ],
+        [
+          0.007888175547122955,
+          -0.9985052347183228,
+          0.05408506467938423,
+          -35.29133605957031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5399,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_283081054",
+      "mask_path": "../../mask/hdr_left_05399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05400.png",
+      "transform_matrix": [
+        [
+          -0.8022540807723999,
+          -0.03210941329598427,
+          -0.5961183905601501,
+          117.00277709960938
+        ],
+        [
+          0.5969122052192688,
+          -0.027821555733680725,
+          -0.8018240332603455,
+          5.82741641998291
+        ],
+        [
+          0.009161158464848995,
+          -0.9990971088409424,
+          0.0414864644408226,
+          -35.29618453979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5400,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_383081197",
+      "mask_path": "../../mask/hdr_left_05400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05401.png",
+      "transform_matrix": [
+        [
+          -0.8033493757247925,
+          -0.03266496956348419,
+          -0.594611406326294,
+          116.94713592529297
+        ],
+        [
+          0.595389723777771,
+          -0.02415955439209938,
+          -0.8030737042427063,
+          5.842806816101074
+        ],
+        [
+          0.011866831220686436,
+          -0.9991744160652161,
+          0.038856953382492065,
+          -35.29370880126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5401,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_483080863",
+      "mask_path": "../../mask/hdr_left_05401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05402.png",
+      "transform_matrix": [
+        [
+          -0.8017401099205017,
+          -0.030677977949380875,
+          -0.5968848466873169,
+          116.87110137939453
+        ],
+        [
+          0.5976512432098389,
+          -0.0326850563287735,
+          -0.8010897040367126,
+          5.873444080352783
+        ],
+        [
+          0.0050665950402617455,
+          -0.998994767665863,
+          0.04453965649008751,
+          -35.29730224609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5402,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_583082675",
+      "mask_path": "../../mask/hdr_left_05402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05403.png",
+      "transform_matrix": [
+        [
+          -0.7955029606819153,
+          -0.029065463691949844,
+          -0.605252206325531,
+          116.78882598876953
+        ],
+        [
+          0.6059496998786926,
+          -0.03812317177653313,
+          -0.7945889234542847,
+          5.918230056762695
+        ],
+        [
+          2.096329626510851e-05,
+          -0.9988502860069275,
+          0.047939300537109375,
+          -35.29414367675781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5403,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_683081626",
+      "mask_path": "../../mask/hdr_left_05403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05404.png",
+      "transform_matrix": [
+        [
+          -0.7876768708229065,
+          -0.03135956823825836,
+          -0.6152898669242859,
+          116.71601104736328
+        ],
+        [
+          0.616087019443512,
+          -0.03786829486489296,
+          -0.786767303943634,
+          5.958301067352295
+        ],
+        [
+          0.0013727042824029922,
+          -0.9987905621528625,
+          0.049148205667734146,
+          -35.286293029785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5404,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_783081531",
+      "mask_path": "../../mask/hdr_left_05404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05405.png",
+      "transform_matrix": [
+        [
+          -0.778689980506897,
+          -0.030502773821353912,
+          -0.6266669034957886,
+          116.63948059082031
+        ],
+        [
+          0.6274043917655945,
+          -0.03406064957380295,
+          -0.7779484391212463,
+          5.991013050079346
+        ],
+        [
+          0.002384898252785206,
+          -0.9989542365074158,
+          0.04566026106476784,
+          -35.280792236328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5405,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_883081912",
+      "mask_path": "../../mask/hdr_left_05405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05406.png",
+      "transform_matrix": [
+        [
+          -0.7741919159889221,
+          -0.022034116089344025,
+          -0.6325671672821045,
+          116.55549621582031
+        ],
+        [
+          0.6329507827758789,
+          -0.02705363929271698,
+          -0.7737192511558533,
+          6.031466484069824
+        ],
+        [
+          -6.502619362436235e-05,
+          -0.9993911385536194,
+          0.03489122539758682,
+          -35.28764724731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5406,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_983082056",
+      "mask_path": "../../mask/hdr_left_05406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05407.png",
+      "transform_matrix": [
+        [
+          -0.7739322185516357,
+          -0.01132931374013424,
+          -0.6331669688224792,
+          116.48382568359375
+        ],
+        [
+          0.6332525014877319,
+          -0.020928071811795235,
+          -0.7736623287200928,
+          6.067263126373291
+        ],
+        [
+          -0.004485901910811663,
+          -0.9997168183326721,
+          0.023371227085590363,
+          -35.30139923095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5407,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_83081722",
+      "mask_path": "../../mask/hdr_left_05407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05408.png",
+      "transform_matrix": [
+        [
+          -0.7731751203536987,
+          -0.0070296949706971645,
+          -0.6341536045074463,
+          116.42389678955078
+        ],
+        [
+          0.6341630816459656,
+          -0.018200742080807686,
+          -0.77298504114151,
+          6.093739032745361
+        ],
+        [
+          -0.006108216941356659,
+          -0.9998096823692322,
+          0.018530337139964104,
+          -35.309226989746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5408,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_183081865",
+      "mask_path": "../../mask/hdr_left_05408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05409.png",
+      "transform_matrix": [
+        [
+          -0.7695992588996887,
+          -0.0010118307545781136,
+          -0.6385263204574585,
+          116.36062622070312
+        ],
+        [
+          0.6383560299873352,
+          -0.024363871663808823,
+          -0.7693555355072021,
+          6.126989841461182
+        ],
+        [
+          -0.014778515323996544,
+          -0.9997026920318604,
+          0.019396329298615456,
+          -35.312374114990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5409,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_283081054",
+      "mask_path": "../../mask/hdr_left_05409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05410.png",
+      "transform_matrix": [
+        [
+          -0.7626243829727173,
+          0.0036986523773521185,
+          -0.6468310356140137,
+          116.2969741821289
+        ],
+        [
+          0.646478533744812,
+          -0.029140163213014603,
+          -0.7623754739761353,
+          6.167643070220947
+        ],
+        [
+          -0.02166851982474327,
+          -0.999568521976471,
+          0.01983189769089222,
+          -35.30579376220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5410,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_383080959",
+      "mask_path": "../../mask/hdr_left_05410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05411.png",
+      "transform_matrix": [
+        [
+          -0.7555029988288879,
+          0.0018424513982608914,
+          -0.6551426649093628,
+          116.2481460571289
+        ],
+        [
+          0.654811680316925,
+          -0.029780983924865723,
+          -0.7552050948143005,
+          6.200624465942383
+        ],
+        [
+          -0.020902222022414207,
+          -0.9995547533035278,
+          0.021293163299560547,
+          -35.30194091796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5411,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_483081340",
+      "mask_path": "../../mask/hdr_left_05411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05412.png",
+      "transform_matrix": [
+        [
+          -0.747999906539917,
+          -0.0014853865141049027,
+          -0.6636971235275269,
+          116.19065856933594
+        ],
+        [
+          0.6633813977241516,
+          -0.03259596973657608,
+          -0.7475711703300476,
+          6.2379608154296875
+        ],
+        [
+          -0.020523419603705406,
+          -0.9994674921035767,
+          0.025367164984345436,
+          -35.30328369140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5412,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_583081960",
+      "mask_path": "../../mask/hdr_left_05412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05413.png",
+      "transform_matrix": [
+        [
+          -0.7444716095924377,
+          0.006351320073008537,
+          -0.6676238775253296,
+          116.1037368774414
+        ],
+        [
+          0.6671470403671265,
+          -0.03188792243599892,
+          -0.7442432641983032,
+          6.288625240325928
+        ],
+        [
+          -0.02601606398820877,
+          -0.9994713068008423,
+          0.019502388313412666,
+          -35.30748748779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5413,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_683081865",
+      "mask_path": "../../mask/hdr_left_05413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05414.png",
+      "transform_matrix": [
+        [
+          -0.7441582679748535,
+          0.01745062693953514,
+          -0.6677753329277039,
+          116.03911590576172
+        ],
+        [
+          0.6673052310943604,
+          -0.026268698275089264,
+          -0.7443208694458008,
+          6.322881698608398
+        ],
+        [
+          -0.030530456453561783,
+          -0.9995027184486389,
+          0.007903176359832287,
+          -35.31974792480469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5414,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_783081293",
+      "mask_path": "../../mask/hdr_left_05414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05415.png",
+      "transform_matrix": [
+        [
+          -0.7439003586769104,
+          0.020680055022239685,
+          -0.6679704785346985,
+          115.99279022216797
+        ],
+        [
+          0.6676100492477417,
+          -0.02209671586751938,
+          -0.7441831231117249,
+          6.345434188842773
+        ],
+        [
+          -0.030149701982736588,
+          -0.9995419383049011,
+          0.0026315448340028524,
+          -35.32331466674805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5415,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_883081436",
+      "mask_path": "../../mask/hdr_left_05415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05416.png",
+      "transform_matrix": [
+        [
+          -0.7434349060058594,
+          0.020259879529476166,
+          -0.6685013175010681,
+          115.93445587158203
+        ],
+        [
+          0.668135404586792,
+          -0.022319061681628227,
+          -0.7437048554420471,
+          6.377355098724365
+        ],
+        [
+          -0.02998768910765648,
+          -0.9995456337928772,
+          0.003056428860872984,
+          -35.325843811035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5416,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_983079433",
+      "mask_path": "../../mask/hdr_left_05416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05417.png",
+      "transform_matrix": [
+        [
+          -0.7402657866477966,
+          0.020704593509435654,
+          -0.6719954609870911,
+          115.8691635131836
+        ],
+        [
+          0.671623706817627,
+          -0.022517479956150055,
+          -0.7405501008033752,
+          6.420902729034424
+        ],
+        [
+          -0.030464431270956993,
+          -0.9995321035385132,
+          0.0027632254641503096,
+          -35.31777572631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5417,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_83081483",
+      "mask_path": "../../mask/hdr_left_05417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05420.png",
+      "transform_matrix": [
+        [
+          -0.7193000912666321,
+          0.007382575888186693,
+          -0.6946601867675781,
+          115.7488021850586
+        ],
+        [
+          0.6943493485450745,
+          -0.024103300645947456,
+          -0.7192343473434448,
+          6.501095771789551
+        ],
+        [
+          -0.02205340377986431,
+          -0.9996823072433472,
+          0.012211422435939312,
+          -35.321571350097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5420,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_383082389",
+      "mask_path": "../../mask/hdr_left_05420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05421.png",
+      "transform_matrix": [
+        [
+          -0.716596245765686,
+          0.010044754482805729,
+          -0.6974158883094788,
+          115.67395782470703
+        ],
+        [
+          0.697126567363739,
+          -0.021878663450479507,
+          -0.7166141867637634,
+          6.540727138519287
+        ],
+        [
+          -0.022456737235188484,
+          -0.9997102618217468,
+          0.008675703778862953,
+          -35.31638717651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5421,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_483081817",
+      "mask_path": "../../mask/hdr_left_05421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05422.png",
+      "transform_matrix": [
+        [
+          -0.7180073261260986,
+          0.01452669221907854,
+          -0.6958839893341064,
+          115.618408203125
+        ],
+        [
+          0.6957323551177979,
+          -0.014524830505251884,
+          -0.7181541919708252,
+          6.571372032165527
+        ],
+        [
+          -0.02054000087082386,
+          -0.9997889995574951,
+          0.00032224503229372203,
+          -35.31923294067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5422,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_583081483",
+      "mask_path": "../../mask/hdr_left_05422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05424.png",
+      "transform_matrix": [
+        [
+          -0.7316793203353882,
+          0.013815969228744507,
+          -0.6815088987350464,
+          115.53484344482422
+        ],
+        [
+          0.6814056038856506,
+          -0.011884532868862152,
+          -0.7318094968795776,
+          6.60928201675415
+        ],
+        [
+          -0.018210070207715034,
+          -0.9998339414596558,
+          -0.0007186115253716707,
+          -35.32350540161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5424,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_783083200",
+      "mask_path": "../../mask/hdr_left_05424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05425.png",
+      "transform_matrix": [
+        [
+          -0.7300335764884949,
+          0.009621775709092617,
+          -0.6833434700965881,
+          115.483154296875
+        ],
+        [
+          0.6832329630851746,
+          -0.012557155452668667,
+          -0.7300924062728882,
+          6.642350673675537
+        ],
+        [
+          -0.015605635941028595,
+          -0.9998749494552612,
+          0.0025932318530976772,
+          -35.3057975769043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5425,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_883081912",
+      "mask_path": "../../mask/hdr_left_05425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05427.png",
+      "transform_matrix": [
+        [
+          -0.7202948927879333,
+          -0.003986774478107691,
+          -0.6936565637588501,
+          115.4015121459961
+        ],
+        [
+          0.6936420798301697,
+          -0.012786475010216236,
+          -0.7202063202857971,
+          6.71150016784668
+        ],
+        [
+          -0.005998122505843639,
+          -0.9999103546142578,
+          0.011975428089499474,
+          -35.30421447753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5427,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_83082199",
+      "mask_path": "../../mask/hdr_left_05427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05428.png",
+      "transform_matrix": [
+        [
+          -0.7199929356575012,
+          -0.014863140881061554,
+          -0.6938222646713257,
+          115.33821868896484
+        ],
+        [
+          0.6939813494682312,
+          -0.015221457928419113,
+          -0.7198320627212524,
+          6.751298427581787
+        ],
+        [
+          0.00013797923747915775,
+          -0.9997737407684326,
+          0.021274086087942123,
+          -35.29533386230469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5428,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_183080911",
+      "mask_path": "../../mask/hdr_left_05428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05429.png",
+      "transform_matrix": [
+        [
+          -0.7298767566680908,
+          -0.018111160025000572,
+          -0.6833388805389404,
+          115.2821273803711
+        ],
+        [
+          0.6835557818412781,
+          -0.011140178889036179,
+          -0.729813277721405,
+          6.776302337646484
+        ],
+        [
+          0.005605245940387249,
+          -0.9997739195823669,
+          0.020510947331786156,
+          -35.29314422607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5429,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_283081531",
+      "mask_path": "../../mask/hdr_left_05429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05431.png",
+      "transform_matrix": [
+        [
+          -0.765873908996582,
+          -0.017829477787017822,
+          -0.6427434086799622,
+          115.20575714111328
+        ],
+        [
+          0.6428806781768799,
+          -0.002753014210611582,
+          -0.7659613490104675,
+          6.797485828399658
+        ],
+        [
+          0.011887210421264172,
+          -0.9998372793197632,
+          0.013570692390203476,
+          -35.29825210571289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5431,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_483082056",
+      "mask_path": "../../mask/hdr_left_05431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05432.png",
+      "transform_matrix": [
+        [
+          -0.785152018070221,
+          -0.022672191262245178,
+          -0.6188879609107971,
+          115.13501739501953
+        ],
+        [
+          0.6191430687904358,
+          -0.0060188183560967445,
+          -0.7852551937103271,
+          6.8277435302734375
+        ],
+        [
+          0.014078478328883648,
+          -0.9997248649597168,
+          0.018763016909360886,
+          -35.287662506103516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5432,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_583083629",
+      "mask_path": "../../mask/hdr_left_05432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05434.png",
+      "transform_matrix": [
+        [
+          -0.8031386733055115,
+          -0.037004053592681885,
+          -0.5946418046951294,
+          115.06014251708984
+        ],
+        [
+          0.5953715443611145,
+          -0.012355309911072254,
+          -0.8033553957939148,
+          6.851057529449463
+        ],
+        [
+          0.022380422800779343,
+          -0.9992387890815735,
+          0.03195418789982796,
+          -35.2684211730957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5434,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_783082485",
+      "mask_path": "../../mask/hdr_left_05434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05436.png",
+      "transform_matrix": [
+        [
+          -0.8098545074462891,
+          -0.04681135714054108,
+          -0.5847600102424622,
+          114.980712890625
+        ],
+        [
+          0.5859124660491943,
+          -0.015232192352414131,
+          -0.8102311491966248,
+          6.878915309906006
+        ],
+        [
+          0.029020844027400017,
+          -0.9987876415252686,
+          0.03976321592926979,
+          -35.256229400634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5436,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_983082532",
+      "mask_path": "../../mask/hdr_left_05436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05437.png",
+      "transform_matrix": [
+        [
+          -0.8177609443664551,
+          -0.04555940255522728,
+          -0.5737520456314087,
+          114.9197769165039
+        ],
+        [
+          0.5747100710868835,
+          -0.010545706376433372,
+          -0.8182891011238098,
+          6.90675687789917
+        ],
+        [
+          0.0312301367521286,
+          -0.9989060759544373,
+          0.034807316958904266,
+          -35.25474548339844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5437,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_83081960",
+      "mask_path": "../../mask/hdr_left_05437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05439.png",
+      "transform_matrix": [
+        [
+          -0.8307294249534607,
+          -0.050476741045713425,
+          -0.5543831586837769,
+          114.83448791503906
+        ],
+        [
+          0.5548890233039856,
+          0.004656406119465828,
+          -0.8319113254547119,
+          6.929495334625244
+        ],
+        [
+          0.044573597609996796,
+          -0.9987145066261292,
+          0.024140777066349983,
+          -35.25066375732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5439,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_283082246",
+      "mask_path": "../../mask/hdr_left_05439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05441.png",
+      "transform_matrix": [
+        [
+          -0.8329789638519287,
+          -0.0644713044166565,
+          -0.5495356917381287,
+          114.75720977783203
+        ],
+        [
+          0.5498085618019104,
+          0.015026695095002651,
+          -0.8351554870605469,
+          6.954858303070068
+        ],
+        [
+          0.06210126727819443,
+          -0.9978064298629761,
+          0.022929958999156952,
+          -35.21214294433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5441,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_483082771",
+      "mask_path": "../../mask/hdr_left_05441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05442.png",
+      "transform_matrix": [
+        [
+          -0.8287761807441711,
+          -0.0772186890244484,
+          -0.554226815700531,
+          114.6792221069336
+        ],
+        [
+          0.5544764399528503,
+          0.020140593871474266,
+          -0.83195561170578,
+          6.992092609405518
+        ],
+        [
+          0.07540497928857803,
+          -0.996810793876648,
+          0.026123905554413795,
+          -35.18507766723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5442,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_583081722",
+      "mask_path": "../../mask/hdr_left_05442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05443.png",
+      "transform_matrix": [
+        [
+          -0.8236274123191833,
+          -0.09282980859279633,
+          -0.5594823360443115,
+          114.62609100341797
+        ],
+        [
+          0.5601747632026672,
+          0.020880647003650665,
+          -0.8281112313270569,
+          7.016648769378662
+        ],
+        [
+          0.08855574578046799,
+          -0.9954630732536316,
+          0.03480304405093193,
+          -35.166534423828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5443,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_683081865",
+      "mask_path": "../../mask/hdr_left_05443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05444.png",
+      "transform_matrix": [
+        [
+          -0.8183387517929077,
+          -0.11178810149431229,
+          -0.5637597441673279,
+          114.57074737548828
+        ],
+        [
+          0.5657087564468384,
+          0.016501473262906075,
+          -0.8244400024414062,
+          7.03685998916626
+        ],
+        [
+          0.10146544128656387,
+          -0.9935950636863708,
+          0.04973571002483368,
+          -35.153297424316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5444,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_783082485",
+      "mask_path": "../../mask/hdr_left_05444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05445.png",
+      "transform_matrix": [
+        [
+          -0.8165819644927979,
+          -0.12297934293746948,
+          -0.5639768242835999,
+          114.49359893798828
+        ],
+        [
+          0.5668491125106812,
+          0.013611620292067528,
+          -0.8237091302871704,
+          7.063632011413574
+        ],
+        [
+          0.10897582769393921,
+          -0.9923158884048462,
+          0.058595724403858185,
+          -35.13134765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5445,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_883082389",
+      "mask_path": "../../mask/hdr_left_05445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05446.png",
+      "transform_matrix": [
+        [
+          -0.8177680373191833,
+          -0.12761035561561584,
+          -0.5612228512763977,
+          114.43325805664062
+        ],
+        [
+          0.56402188539505,
+          0.016486413776874542,
+          -0.8255952596664429,
+          7.080039024353027
+        ],
+        [
+          0.11460705101490021,
+          -0.9916873574256897,
+          0.05849296972155571,
+          -35.11437225341797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5446,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_983081817",
+      "mask_path": "../../mask/hdr_left_05446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05447.png",
+      "transform_matrix": [
+        [
+          -0.821003258228302,
+          -0.13047999143600464,
+          -0.5558134317398071,
+          114.37763977050781
+        ],
+        [
+          0.5587730407714844,
+          0.016139080747961998,
+          -0.8291635513305664,
+          7.09552001953125
+        ],
+        [
+          0.11715956777334213,
+          -0.9913195967674255,
+          0.05965845659375191,
+          -35.10578918457031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5447,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_83079814",
+      "mask_path": "../../mask/hdr_left_05447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05448.png",
+      "transform_matrix": [
+        [
+          -0.8240294456481934,
+          -0.1335059553384781,
+          -0.5505921244621277,
+          114.31338500976562
+        ],
+        [
+          0.5537868142127991,
+          0.01528929639607668,
+          -0.8325180411338806,
+          7.107236385345459
+        ],
+        [
+          0.11956429481506348,
+          -0.9909301400184631,
+          0.06133502349257469,
+          -35.0915641784668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5448,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_183082103",
+      "mask_path": "../../mask/hdr_left_05448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05449.png",
+      "transform_matrix": [
+        [
+          -0.8235887885093689,
+          -0.142253577709198,
+          -0.5490586757659912,
+          114.24072265625
+        ],
+        [
+          0.5528708696365356,
+          0.014778632670640945,
+          -0.8331359624862671,
+          7.128798961639404
+        ],
+        [
+          0.12663088738918304,
+          -0.9897199869155884,
+          0.06647634506225586,
+          -35.064029693603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5449,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_283082246",
+      "mask_path": "../../mask/hdr_left_05449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05450.png",
+      "transform_matrix": [
+        [
+          -0.8220881819725037,
+          -0.15268690884113312,
+          -0.5485050678253174,
+          114.1807861328125
+        ],
+        [
+          0.5532507300376892,
+          0.013318409211933613,
+          -0.8329082727432251,
+          7.152495384216309
+        ],
+        [
+          0.13447941839694977,
+          -0.9881848692893982,
+          0.07352525740861893,
+          -35.041709899902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5450,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_383081197",
+      "mask_path": "../../mask/hdr_left_05450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05451.png",
+      "transform_matrix": [
+        [
+          -0.823932945728302,
+          -0.15331165492534637,
+          -0.5455548167228699,
+          114.1201171875
+        ],
+        [
+          0.5501477718353271,
+          0.014490100555121899,
+          -0.8349416255950928,
+          7.171535491943359
+        ],
+        [
+          0.13591140508651733,
+          -0.9880716800689697,
+          0.07240518927574158,
+          -35.032386779785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5451,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_483081817",
+      "mask_path": "../../mask/hdr_left_05451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05452.png",
+      "transform_matrix": [
+        [
+          -0.8254606127738953,
+          -0.1501961499452591,
+          -0.544110119342804,
+          114.04643249511719
+        ],
+        [
+          0.5477437973022461,
+          0.019709667190909386,
+          -0.8364138603210449,
+          7.1934356689453125
+        ],
+        [
+          0.1363503783941269,
+          -0.9884597659111023,
+          0.06599946320056915,
+          -35.02499008178711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5452,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_583081007",
+      "mask_path": "../../mask/hdr_left_05452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05454.png",
+      "transform_matrix": [
+        [
+          -0.8199645280838013,
+          -0.15300948917865753,
+          -0.5515851378440857,
+          113.94883728027344
+        ],
+        [
+          0.554291844367981,
+          0.028307732194662094,
+          -0.8318407535552979,
+          7.2279438972473145
+        ],
+        [
+          0.14289365708827972,
+          -0.9878191947937012,
+          0.06160058081150055,
+          -35.0108642578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5454,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_783080816",
+      "mask_path": "../../mask/hdr_left_05454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05455.png",
+      "transform_matrix": [
+        [
+          -0.8135172128677368,
+          -0.15438832342624664,
+          -0.5606728196144104,
+          113.87420654296875
+        ],
+        [
+          0.5595412254333496,
+          0.0548691488802433,
+          -0.826984167098999,
+          7.252425670623779
+        ],
+        [
+          0.15844033658504486,
+          -0.9864855408668518,
+          0.04174964502453804,
+          -34.95476150512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5455,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_883081197",
+      "mask_path": "../../mask/hdr_left_05455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05456.png",
+      "transform_matrix": [
+        [
+          -0.8024353981018066,
+          -0.16152255237102509,
+          -0.5744631290435791,
+          113.8071517944336
+        ],
+        [
+          0.571164071559906,
+          0.07091620564460754,
+          -0.8177667260169983,
+          7.296407222747803
+        ],
+        [
+          0.17282651364803314,
+          -0.9843177795410156,
+          0.03535020723938942,
+          -34.909637451171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5456,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_983080625",
+      "mask_path": "../../mask/hdr_left_05456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05457.png",
+      "transform_matrix": [
+        [
+          -0.7956910133361816,
+          -0.16817504167556763,
+          -0.5818873047828674,
+          113.76142120361328
+        ],
+        [
+          0.5793151259422302,
+          0.06916578859090805,
+          -0.812163770198822,
+          7.342127323150635
+        ],
+        [
+          0.1768323928117752,
+          -0.9833276867866516,
+          0.04239175468683243,
+          -34.89788818359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5457,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_83080291",
+      "mask_path": "../../mask/hdr_left_05457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05458.png",
+      "transform_matrix": [
+        [
+          -0.7907764911651611,
+          -0.17703300714492798,
+          -0.585945188999176,
+          113.70948028564453
+        ],
+        [
+          0.5845350027084351,
+          0.06564932316541672,
+          -0.8087081909179688,
+          7.37647819519043
+        ],
+        [
+          0.18163493275642395,
+          -0.9820129871368408,
+          0.05156804248690605,
+          -34.8887825012207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5458,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_183080434",
+      "mask_path": "../../mask/hdr_left_05458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05459.png",
+      "transform_matrix": [
+        [
+          -0.7886379957199097,
+          -0.17895732820034027,
+          -0.5882384181022644,
+          113.62887573242188
+        ],
+        [
+          0.5855528712272644,
+          0.07323969155550003,
+          -0.8073189854621887,
+          7.415372848510742
+        ],
+        [
+          0.18755801022052765,
+          -0.9811270833015442,
+          0.04702935740351677,
+          -34.85601043701172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5459,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_283080101",
+      "mask_path": "../../mask/hdr_left_05459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05460.png",
+      "transform_matrix": [
+        [
+          -0.7888882160186768,
+          -0.1764359027147293,
+          -0.5886644721031189,
+          113.56107330322266
+        ],
+        [
+          0.5840319395065308,
+          0.0827987864613533,
+          -0.8074968457221985,
+          7.441239833831787
+        ],
+        [
+          0.19121210277080536,
+          -0.9808235764503479,
+          0.037725213915109634,
+          -34.83251190185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5460,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_383080482",
+      "mask_path": "../../mask/hdr_left_05460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05461.png",
+      "transform_matrix": [
+        [
+          -0.7894654870033264,
+          -0.17282545566558838,
+          -0.5889614820480347,
+          113.51008605957031
+        ],
+        [
+          0.5838998556137085,
+          0.08434803783893585,
+          -0.8074319958686829,
+          7.462905406951904
+        ],
+        [
+          0.1892225444316864,
+          -0.9813342690467834,
+          0.03432290628552437,
+          -34.827938079833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5461,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_483081102",
+      "mask_path": "../../mask/hdr_left_05461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05462.png",
+      "transform_matrix": [
+        [
+          -0.7871411442756653,
+          -0.1702539622783661,
+          -0.5928089022636414,
+          113.4228515625
+        ],
+        [
+          0.5882768034934998,
+          0.08153150975704193,
+          -0.8045390844345093,
+          7.497283458709717
+        ],
+        [
+          0.1853085458278656,
+          -0.9820215106010437,
+          0.03597965091466904,
+          -34.81037902832031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5462,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_583080530",
+      "mask_path": "../../mask/hdr_left_05462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05463.png",
+      "transform_matrix": [
+        [
+          -0.7823248505592346,
+          -0.17341968417167664,
+          -0.598241925239563,
+          113.34718322753906
+        ],
+        [
+          0.5950992107391357,
+          0.07549136877059937,
+          -0.800098717212677,
+          7.531121730804443
+        ],
+        [
+          0.18391495943069458,
+          -0.9819504618644714,
+          0.04414315149188042,
+          -34.78578567504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5463,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_683080434",
+      "mask_path": "../../mask/hdr_left_05463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05464.png",
+      "transform_matrix": [
+        [
+          -0.7775917649269104,
+          -0.17811037600040436,
+          -0.6030154824256897,
+          113.30233764648438
+        ],
+        [
+          0.6014934182167053,
+          0.06869342178106308,
+          -0.795918881893158,
+          7.551357746124268
+        ],
+        [
+          0.18318460881710052,
+          -0.9816098809242249,
+          0.053716786205768585,
+          -34.76594543457031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5464,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_783080339",
+      "mask_path": "../../mask/hdr_left_05464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05465.png",
+      "transform_matrix": [
+        [
+          -0.7749581933021545,
+          -0.18212926387786865,
+          -0.6052013039588928,
+          113.22012329101562
+        ],
+        [
+          0.6049078702926636,
+          0.06367678195238113,
+          -0.7937453389167786,
+          7.584117889404297
+        ],
+        [
+          0.18310153484344482,
+          -0.9812105894088745,
+          0.06082458794116974,
+          -34.75609588623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5465,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_883080482",
+      "mask_path": "../../mask/hdr_left_05465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05466.png",
+      "transform_matrix": [
+        [
+          -0.77497398853302,
+          -0.17790067195892334,
+          -0.6064376831054688,
+          113.13256072998047
+        ],
+        [
+          0.6061738133430481,
+          0.06223469227552414,
+          -0.7928935289382935,
+          7.621664524078369
+        ],
+        [
+          0.17879773676395416,
+          -0.9820785522460938,
+          0.05960845574736595,
+          -34.75318145751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5466,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_983080863",
+      "mask_path": "../../mask/hdr_left_05466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05467.png",
+      "transform_matrix": [
+        [
+          -0.7759524583816528,
+          -0.16963662207126617,
+          -0.6075533032417297,
+          113.06880950927734
+        ],
+        [
+          0.6071953773498535,
+          0.06010078638792038,
+          -0.7922762632369995,
+          7.640678882598877
+        ],
+        [
+          0.1709134578704834,
+          -0.9836724400520325,
+          0.056367214769124985,
+          -34.75110626220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5467,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_83080291",
+      "mask_path": "../../mask/hdr_left_05467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05468.png",
+      "transform_matrix": [
+        [
+          -0.7766228318214417,
+          -0.14298518002033234,
+          -0.613524317741394,
+          113.01351928710938
+        ],
+        [
+          0.6134993433952332,
+          0.04955027624964714,
+          -0.7881391644477844,
+          7.676576614379883
+        ],
+        [
+          0.14309251308441162,
+          -0.988483726978302,
+          0.049239423125982285,
+          -34.74971008300781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5468,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_183080673",
+      "mask_path": "../../mask/hdr_left_05468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05469.png",
+      "transform_matrix": [
+        [
+          -0.7723994851112366,
+          -0.12216684967279434,
+          -0.6232770085334778,
+          112.95970916748047
+        ],
+        [
+          0.623252272605896,
+          0.043161556124687195,
+          -0.7808287739753723,
+          7.728029727935791
+        ],
+        [
+          0.12229298800230026,
+          -0.9915707111358643,
+          0.042802803218364716,
+          -34.72113800048828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5469,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_283081054",
+      "mask_path": "../../mask/hdr_left_05469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05470.png",
+      "transform_matrix": [
+        [
+          -0.7671568989753723,
+          -0.11952871084213257,
+          -0.6302247643470764,
+          112.90681457519531
+        ],
+        [
+          0.6306105256080627,
+          0.039397794753313065,
+          -0.7750988006591797,
+          7.766040325164795
+        ],
+        [
+          0.11747602373361588,
+          -0.9920487403869629,
+          0.04515177756547928,
+          -34.70658874511719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5470,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_383080482",
+      "mask_path": "../../mask/hdr_left_05470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05471.png",
+      "transform_matrix": [
+        [
+          -0.7623716592788696,
+          -0.11852230876684189,
+          -0.6361933350563049,
+          112.85381317138672
+        ],
+        [
+          0.6378239989280701,
+          0.028586897999048233,
+          -0.769651472568512,
+          7.8019256591796875
+        ],
+        [
+          0.10940765589475632,
+          -0.9925398230552673,
+          0.05380253121256828,
+          -34.71459197998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5471,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_483080387",
+      "mask_path": "../../mask/hdr_left_05471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05472.png",
+      "transform_matrix": [
+        [
+          -0.7619381546974182,
+          -0.11329174041748047,
+          -0.6376639008522034,
+          112.77297973632812
+        ],
+        [
+          0.6396328806877136,
+          0.02280363067984581,
+          -0.7683421969413757,
+          7.849783420562744
+        ],
+        [
+          0.10158787667751312,
+          -0.9933000802993774,
+          0.05509016290307045,
+          -34.702938079833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5472,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_583082437",
+      "mask_path": "../../mask/hdr_left_05472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05473.png",
+      "transform_matrix": [
+        [
+          -0.7647808790206909,
+          -0.10601362586021423,
+          -0.63550865650177,
+          112.70301818847656
+        ],
+        [
+          0.6369785070419312,
+          0.023769980296492577,
+          -0.7705150246620178,
+          7.8829569816589355
+        ],
+        [
+          0.096791110932827,
+          -0.9940805435180664,
+          0.049349576234817505,
+          -34.694889068603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5473,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_683081626",
+      "mask_path": "../../mask/hdr_left_05473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05474.png",
+      "transform_matrix": [
+        [
+          -0.7646058201789856,
+          -0.10349395871162415,
+          -0.6361343860626221,
+          112.6511001586914
+        ],
+        [
+          0.6373385190963745,
+          0.0252964086830616,
+          -0.7701686024665833,
+          7.906953811645508
+        ],
+        [
+          0.09579969197511673,
+          -0.994308352470398,
+          0.04661890119314194,
+          -34.69406509399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5474,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_783081293",
+      "mask_path": "../../mask/hdr_left_05474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05475.png",
+      "transform_matrix": [
+        [
+          -0.7614705562591553,
+          -0.10684438794851303,
+          -0.6393331289291382,
+          112.59520721435547
+        ],
+        [
+          0.6395037770271301,
+          0.037184957414865494,
+          -0.7678881287574768,
+          7.944544792175293
+        ],
+        [
+          0.10581810772418976,
+          -0.993580162525177,
+          0.040012143552303314,
+          -34.67885208129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5475,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_883081912",
+      "mask_path": "../../mask/hdr_left_05475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05476.png",
+      "transform_matrix": [
+        [
+          -0.7531611323356628,
+          -0.11960429698228836,
+          -0.6468716859817505,
+          112.53282165527344
+        ],
+        [
+          0.6457499861717224,
+          0.053206611424684525,
+          -0.7616928219795227,
+          7.999906063079834
+        ],
+        [
+          0.12551958858966827,
+          -0.9913949370384216,
+          0.037161316722631454,
+          -34.61623764038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5476,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_983082532",
+      "mask_path": "../../mask/hdr_left_05476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05477.png",
+      "transform_matrix": [
+        [
+          -0.7430937886238098,
+          -0.1353551745414734,
+          -0.6553552746772766,
+          112.47527313232422
+        ],
+        [
+          0.6549736857414246,
+          0.05366049334406853,
+          -0.7537439465522766,
+          8.046699523925781
+        ],
+        [
+          0.1371898204088211,
+          -0.9893430471420288,
+          0.04877929389476776,
+          -34.585567474365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5477,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_83081245",
+      "mask_path": "../../mask/hdr_left_05477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05479.png",
+      "transform_matrix": [
+        [
+          -0.7313486337661743,
+          -0.15294259786605835,
+          -0.6646334528923035,
+          112.37543487548828
+        ],
+        [
+          0.6663734316825867,
+          0.047192711383104324,
+          -0.7441231608390808,
+          8.094137191772461
+        ],
+        [
+          0.14517399668693542,
+          -0.9871076941490173,
+          0.06740256398916245,
+          -34.56890869140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5479,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_283082723",
+      "mask_path": "../../mask/hdr_left_05479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05480.png",
+      "transform_matrix": [
+        [
+          -0.7304081916809082,
+          -0.15367914736270905,
+          -0.6654971241950989,
+          112.306640625
+        ],
+        [
+          0.667123019695282,
+          0.048414018005132675,
+          -0.7433726191520691,
+          8.126091957092285
+        ],
+        [
+          0.14646025002002716,
+          -0.9869340658187866,
+          0.06716089695692062,
+          -34.554141998291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5480,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_383082151",
+      "mask_path": "../../mask/hdr_left_05480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05481.png",
+      "transform_matrix": [
+        [
+          -0.7289610505104065,
+          -0.15558545291423798,
+          -0.666640043258667,
+          112.25660705566406
+        ],
+        [
+          0.6686500906944275,
+          0.046872179955244064,
+          -0.7420983910560608,
+          8.147439956665039
+        ],
+        [
+          0.14670658111572266,
+          -0.9867098331451416,
+          0.06986422836780548,
+          -34.546443939208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5481,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_483081579",
+      "mask_path": "../../mask/hdr_left_05481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05483.png",
+      "transform_matrix": [
+        [
+          -0.7251952290534973,
+          -0.1531529426574707,
+          -0.6712943315505981,
+          112.15150451660156
+        ],
+        [
+          0.67429518699646,
+          0.039343345910310745,
+          -0.7374131083488464,
+          8.192517280578613
+        ],
+        [
+          0.13934792578220367,
+          -0.9874191284179688,
+          0.07473868876695633,
+          -34.531837463378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5483,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_683082342",
+      "mask_path": "../../mask/hdr_left_05483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05484.png",
+      "transform_matrix": [
+        [
+          -0.7212823629379272,
+          -0.1576985865831375,
+          -0.6744500398635864,
+          112.09217834472656
+        ],
+        [
+          0.6778594255447388,
+          0.039378806948661804,
+          -0.7341361045837402,
+          8.228376388549805
+        ],
+        [
+          0.14233127236366272,
+          -0.9867018461227417,
+          0.07849424332380295,
+          -34.511871337890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5484,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_783080339",
+      "mask_path": "../../mask/hdr_left_05484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05485.png",
+      "transform_matrix": [
+        [
+          -0.7174890637397766,
+          -0.16230623424053192,
+          -0.6773965954780579,
+          112.03829193115234
+        ],
+        [
+          0.6816359758377075,
+          0.03669172525405884,
+          -0.7307708263397217,
+          8.262116432189941
+        ],
+        [
+          0.14346350729465485,
+          -0.9860580563545227,
+          0.08430785685777664,
+          -34.49635696411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5485,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_883080244",
+      "mask_path": "../../mask/hdr_left_05485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05486.png",
+      "transform_matrix": [
+        [
+          -0.716346800327301,
+          -0.1539992094039917,
+          -0.6805377006530762,
+          111.97869873046875
+        ],
+        [
+          0.6836348176002502,
+          0.04024411737918854,
+          -0.7287138104438782,
+          8.298630714416504
+        ],
+        [
+          0.1396089792251587,
+          -0.9872511029243469,
+          0.07645046710968018,
+          -34.48851013183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5486,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_983081817",
+      "mask_path": "../../mask/hdr_left_05486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05487.png",
+      "transform_matrix": [
+        [
+          -0.7155661582946777,
+          -0.14248713850975037,
+          -0.6838585734367371,
+          111.9267807006836
+        ],
+        [
+          0.6855238080024719,
+          0.04490133747458458,
+          -0.7266643047332764,
+          8.330530166625977
+        ],
+        [
+          0.13424648344516754,
+          -0.9887778162956238,
+          0.06554844975471497,
+          -34.4904670715332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5487,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_83083152",
+      "mask_path": "../../mask/hdr_left_05487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05488.png",
+      "transform_matrix": [
+        [
+          -0.713576078414917,
+          -0.13722814619541168,
+          -0.6870061755180359,
+          111.87430572509766
+        ],
+        [
+          0.6885913014411926,
+          0.043238770216703415,
+          -0.7238593697547913,
+          8.360626220703125
+        ],
+        [
+          0.12903916835784912,
+          -0.9895952939987183,
+          0.06363995373249054,
+          -34.48877716064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5488,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_183082103",
+      "mask_path": "../../mask/hdr_left_05488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05489.png",
+      "transform_matrix": [
+        [
+          -0.7120683789253235,
+          -0.12908516824245453,
+          -0.6901417374610901,
+          111.8083724975586
+        ],
+        [
+          0.6925050616264343,
+          0.032907355576753616,
+          -0.7206620573997498,
+          8.404549598693848
+        ],
+        [
+          0.11573750525712967,
+          -0.9910873174667358,
+          0.06595984846353531,
+          -34.484580993652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5489,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_283079147",
+      "mask_path": "../../mask/hdr_left_05489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05490.png",
+      "transform_matrix": [
+        [
+          -0.7062267661094666,
+          -0.12489975988864899,
+          -0.6968812942504883,
+          111.73666381835938
+        ],
+        [
+          0.699924886226654,
+          0.024939293041825294,
+          -0.7137808799743652,
+          8.448378562927246
+        ],
+        [
+          0.10653078556060791,
+          -0.9918559789657593,
+          0.06980764865875244,
+          -34.45952606201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5490,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_383080720",
+      "mask_path": "../../mask/hdr_left_05490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05491.png",
+      "transform_matrix": [
+        [
+          -0.7004167437553406,
+          -0.12540559470653534,
+          -0.7026306390762329,
+          111.6810073852539
+        ],
+        [
+          0.7061454057693481,
+          0.021416086703538895,
+          -0.7077428698539734,
+          8.483285903930664
+        ],
+        [
+          0.10380250215530396,
+          -0.9918743968009949,
+          0.07355440407991409,
+          -34.44921112060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5491,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_483081579",
+      "mask_path": "../../mask/hdr_left_05491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05492.png",
+      "transform_matrix": [
+        [
+          -0.6984835267066956,
+          -0.11997129023075104,
+          -0.7054980993270874,
+          111.61064147949219
+        ],
+        [
+          0.7092847228050232,
+          0.014891586266458035,
+          -0.704764723777771,
+          8.526288986206055
+        ],
+        [
+          0.09505753219127655,
+          -0.9926656484603882,
+          0.07469227910041809,
+          -34.44092559814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5492,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_583079576",
+      "mask_path": "../../mask/hdr_left_05492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05493.png",
+      "transform_matrix": [
+        [
+          -0.7012684345245361,
+          -0.10498034954071045,
+          -0.7051252722740173,
+          111.53093719482422
+        ],
+        [
+          0.7080052495002747,
+          0.013115023262798786,
+          -0.7060853242874146,
+          8.580488204956055
+        ],
+        [
+          0.0833728089928627,
+          -0.9943878650665283,
+          0.06512949615716934,
+          -34.43299102783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5493,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_683082103",
+      "mask_path": "../../mask/hdr_left_05493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05494.png",
+      "transform_matrix": [
+        [
+          -0.7060753107070923,
+          -0.0894620418548584,
+          -0.702462911605835,
+          111.4703598022461
+        ],
+        [
+          0.7042279839515686,
+          0.015374308452010155,
+          -0.7098073363304138,
+          8.621918678283691
+        ],
+        [
+          0.07430070638656616,
+          -0.9958716630935669,
+          0.05214625969529152,
+          -34.44227981567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5494,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_783081769",
+      "mask_path": "../../mask/hdr_left_05494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05495.png",
+      "transform_matrix": [
+        [
+          -0.7084103226661682,
+          -0.08015866577625275,
+          -0.7012341618537903,
+          111.41080474853516
+        ],
+        [
+          0.7026209831237793,
+          0.014110665768384933,
+          -0.7114243507385254,
+          8.652822494506836
+        ],
+        [
+          0.06692170351743698,
+          -0.9966822862625122,
+          0.04632501304149628,
+          -34.44327926635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5495,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_883082389",
+      "mask_path": "../../mask/hdr_left_05495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05496.png",
+      "transform_matrix": [
+        [
+          -0.7070701718330383,
+          -0.07590636610984802,
+          -0.703057587146759,
+          111.34981536865234
+        ],
+        [
+          0.7041672468185425,
+          0.015540913678705692,
+          -0.7098639607429504,
+          8.69912052154541
+        ],
+        [
+          0.06480935215950012,
+          -0.996993899345398,
+          0.04246225580573082,
+          -34.43428039550781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5496,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_983082056",
+      "mask_path": "../../mask/hdr_left_05496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05497.png",
+      "transform_matrix": [
+        [
+          -0.7044323682785034,
+          -0.07818647474050522,
+          -0.7054515480995178,
+          111.28775787353516
+        ],
+        [
+          0.7066816687583923,
+          0.015373767353594303,
+          -0.7073646187782288,
+          8.750089645385742
+        ],
+        [
+          0.06615178287029266,
+          -0.9968202710151672,
+          0.044423170387744904,
+          -34.41594314575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5497,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_83082675",
+      "mask_path": "../../mask/hdr_left_05497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05498.png",
+      "transform_matrix": [
+        [
+          -0.7061960101127625,
+          -0.08528675138950348,
+          -0.7028607130050659,
+          111.23755645751953
+        ],
+        [
+          0.7050554752349854,
+          0.005980875343084335,
+          -0.7091270089149475,
+          8.776968002319336
+        ],
+        [
+          0.06468285620212555,
+          -0.9963384866714478,
+          0.055908218026161194,
+          -34.399681091308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5498,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_183081150",
+      "mask_path": "../../mask/hdr_left_05498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05499.png",
+      "transform_matrix": [
+        [
+          -0.7098957896232605,
+          -0.11463222652673721,
+          -0.6949153542518616,
+          111.16596984863281
+        ],
+        [
+          0.6995854377746582,
+          -0.0007148579461500049,
+          -0.7145485281944275,
+          8.797760009765625
+        ],
+        [
+          0.08141352981328964,
+          -0.9934077858924866,
+          0.08070250600576401,
+          -34.39826965332031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5499,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_283082962",
+      "mask_path": "../../mask/hdr_left_05499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05500.png",
+      "transform_matrix": [
+        [
+          -0.7204696536064148,
+          -0.13666893541812897,
+          -0.6798860430717468,
+          111.06721496582031
+        ],
+        [
+          0.6858195662498474,
+          0.00496252765879035,
+          -0.7277547121047974,
+          8.82287311553955
+        ],
+        [
+          0.10283540934324265,
+          -0.9906044006347656,
+          0.09015486389398575,
+          -34.33898162841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5500,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_383081197",
+      "mask_path": "../../mask/hdr_left_05500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05503.png",
+      "transform_matrix": [
+        [
+          -0.7574459314346313,
+          -0.14217795431613922,
+          -0.6372291445732117,
+          110.9240951538086
+        ],
+        [
+          0.641903817653656,
+          0.016187742352485657,
+          -0.7666143178939819,
+          8.888259887695312
+        ],
+        [
+          0.11931095272302628,
+          -0.9897087812423706,
+          0.0790032297372818,
+          -34.30875778198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5503,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_683084011",
+      "mask_path": "../../mask/hdr_left_05503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05505.png",
+      "transform_matrix": [
+        [
+          -0.7537992000579834,
+          -0.1589209884405136,
+          -0.6375977396965027,
+          110.85282897949219
+        ],
+        [
+          0.6427708864212036,
+          0.023233570158481598,
+          -0.7657060623168945,
+          8.938153266906738
+        ],
+        [
+          0.13650044798851013,
+          -0.9870179295539856,
+          0.08463635295629501,
+          -34.26901626586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5505,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_883082151",
+      "mask_path": "../../mask/hdr_left_05505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05506.png",
+      "transform_matrix": [
+        [
+          -0.7485586404800415,
+          -0.16717441380023956,
+          -0.6416482925415039,
+          110.80936431884766
+        ],
+        [
+          0.6471610069274902,
+          0.026494581252336502,
+          -0.7618927955627441,
+          8.963949203491211
+        ],
+        [
+          0.14436915516853333,
+          -0.9855713248252869,
+          0.08835600316524506,
+          -34.239898681640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5506,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_983080387",
+      "mask_path": "../../mask/hdr_left_05506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05507.png",
+      "transform_matrix": [
+        [
+          -0.7474101781845093,
+          -0.16820919513702393,
+          -0.6427156925201416,
+          110.75254821777344
+        ],
+        [
+          0.647816002368927,
+          0.030043572187423706,
+          -0.7612042427062988,
+          8.997241973876953
+        ],
+        [
+          0.14735101163387299,
+          -0.9852933883666992,
+          0.08651372790336609,
+          -34.226295471191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5507,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_83080768",
+      "mask_path": "../../mask/hdr_left_05507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05510.png",
+      "transform_matrix": [
+        [
+          -0.7467101216316223,
+          -0.17627188563346863,
+          -0.6413673758506775,
+          110.60672760009766
+        ],
+        [
+          0.6438858509063721,
+          0.05029962956905365,
+          -0.7634663581848145,
+          9.064913749694824
+        ],
+        [
+          0.16683821380138397,
+          -0.983055591583252,
+          0.07593972980976105,
+          -34.19896697998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5510,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_383081674",
+      "mask_path": "../../mask/hdr_left_05510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05511.png",
+      "transform_matrix": [
+        [
+          -0.7426925897598267,
+          -0.18385830521583557,
+          -0.6438974738121033,
+          110.55238342285156
+        ],
+        [
+          0.6431248784065247,
+          0.07202308624982834,
+          -0.7623668313026428,
+          9.099934577941895
+        ],
+        [
+          0.18654292821884155,
+          -0.9803106784820557,
+          0.06475283205509186,
+          -34.148956298828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5511,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_483083963",
+      "mask_path": "../../mask/hdr_left_05511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05512.png",
+      "transform_matrix": [
+        [
+          -0.7384681701660156,
+          -0.19307583570480347,
+          -0.6460544466972351,
+          110.50540161132812
+        ],
+        [
+          0.6445468664169312,
+          0.07929279655218124,
+          -0.7604418992996216,
+          9.135144233703613
+        ],
+        [
+          0.19805040955543518,
+          -0.9779746532440186,
+          0.06589120626449585,
+          -34.119998931884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5512,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_583081722",
+      "mask_path": "../../mask/hdr_left_05512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05513.png",
+      "transform_matrix": [
+        [
+          -0.7325107455253601,
+          -0.20612023770809174,
+          -0.6488007307052612,
+          110.44832611083984
+        ],
+        [
+          0.6491511464118958,
+          0.07552644610404968,
+          -0.7569006085395813,
+          9.158838272094727
+        ],
+        [
+          0.20501413941383362,
+          -0.975607693195343,
+          0.07847923785448074,
+          -34.10103225708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5513,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_683083057",
+      "mask_path": "../../mask/hdr_left_05513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05514.png",
+      "transform_matrix": [
+        [
+          -0.7264834642410278,
+          -0.20809665322303772,
+          -0.6549179553985596,
+          110.38794708251953
+        ],
+        [
+          0.6543801426887512,
+          0.08144790679216385,
+          -0.7517664432525635,
+          9.19620418548584
+        ],
+        [
+          0.20978176593780518,
+          -0.9747112989425659,
+          0.07700376957654953,
+          -34.08031463623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5514,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_783082008",
+      "mask_path": "../../mask/hdr_left_05514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05516.png",
+      "transform_matrix": [
+        [
+          -0.7178345322608948,
+          -0.20364825427532196,
+          -0.6657634973526001,
+          110.30011749267578
+        ],
+        [
+          0.6628450751304626,
+          0.09258946031332016,
+          -0.7430097460746765,
+          9.260854721069336
+        ],
+        [
+          0.21295534074306488,
+          -0.9746561646461487,
+          0.0685233473777771,
+          -34.06951904296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5516,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_983082294",
+      "mask_path": "../../mask/hdr_left_05516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05517.png",
+      "transform_matrix": [
+        [
+          -0.7143160700798035,
+          -0.19781038165092468,
+          -0.6712850332260132,
+          110.23233795166016
+        ],
+        [
+          0.6673097014427185,
+          0.09645351022481918,
+          -0.7385083436965942,
+          9.299803733825684
+        ],
+        [
+          0.2108323723077774,
+          -0.9754833579063416,
+          0.06310247629880905,
+          -34.04676055908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5517,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_83081960",
+      "mask_path": "../../mask/hdr_left_05517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05518.png",
+      "transform_matrix": [
+        [
+          -0.708399772644043,
+          -0.19897234439849854,
+          -0.6771851181983948,
+          110.18001556396484
+        ],
+        [
+          0.6736286282539368,
+          0.0958172157406807,
+          -0.7328325510025024,
+          9.338562965393066
+        ],
+        [
+          0.2106993943452835,
+          -0.9753097891807556,
+          0.0661565512418747,
+          -34.014801025390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5518,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_183082342",
+      "mask_path": "../../mask/hdr_left_05518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05519.png",
+      "transform_matrix": [
+        [
+          -0.7040145397186279,
+          -0.20423181354999542,
+          -0.6801860332489014,
+          110.13497924804688
+        ],
+        [
+          0.6790132522583008,
+          0.08706987649202347,
+          -0.7289441823959351,
+          9.372432708740234
+        ],
+        [
+          0.20809729397296906,
+          -0.9750426411628723,
+          0.07737764716148376,
+          -33.999656677246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5519,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_283081531",
+      "mask_path": "../../mask/hdr_left_05519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05520.png",
+      "transform_matrix": [
+        [
+          -0.7020324468612671,
+          -0.2063305377960205,
+          -0.6815996170043945,
+          110.07671356201172
+        ],
+        [
+          0.6825952529907227,
+          0.07788382470607758,
+          -0.7266346216201782,
+          9.405949592590332
+        ],
+        [
+          0.20301246643066406,
+          -0.9753778576850891,
+          0.086163230240345,
+          -33.98616409301758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5520,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_383078098",
+      "mask_path": "../../mask/hdr_left_05520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05521.png",
+      "transform_matrix": [
+        [
+          -0.7032098174095154,
+          -0.20576727390289307,
+          -0.6805554032325745,
+          110.01126861572266
+        ],
+        [
+          0.6815584897994995,
+          0.07742501050233841,
+          -0.7276560664176941,
+          9.440347671508789
+        ],
+        [
+          0.20241980254650116,
+          -0.9755333065986633,
+          0.08579640835523605,
+          -33.9647102355957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5521,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_483080625",
+      "mask_path": "../../mask/hdr_left_05521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05522.png",
+      "transform_matrix": [
+        [
+          -0.7127860188484192,
+          -0.204032763838768,
+          -0.6710489988327026,
+          109.9542465209961
+        ],
+        [
+          0.6708826422691345,
+          0.08073156327009201,
+          -0.7371557950973511,
+          9.467247009277344
+        ],
+        [
+          0.20457877218723297,
+          -0.9756295680999756,
+          0.0793377235531807,
+          -33.9496955871582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5522,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_583078145",
+      "mask_path": "../../mask/hdr_left_05522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05524.png",
+      "transform_matrix": [
+        [
+          -0.7705982327461243,
+          -0.1970812976360321,
+          -0.6060835719108582,
+          109.83999633789062
+        ],
+        [
+          0.6051861047744751,
+          0.07188386470079422,
+          -0.7928318977355957,
+          9.485739707946777
+        ],
+        [
+          0.19981996715068817,
+          -0.9777482748031616,
+          0.06387728452682495,
+          -33.920745849609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5524,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_783080339",
+      "mask_path": "../../mask/hdr_left_05524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05525.png",
+      "transform_matrix": [
+        [
+          -0.7990993857383728,
+          -0.1949753761291504,
+          -0.56870436668396,
+          109.78054809570312
+        ],
+        [
+          0.5689229369163513,
+          0.06053389981389046,
+          -0.820159912109375,
+          9.49235725402832
+        ],
+        [
+          0.1943368762731552,
+          -0.9789384007453918,
+          0.06255335360765457,
+          -33.90091323852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5525,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_883079290",
+      "mask_path": "../../mask/hdr_left_05525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05527.png",
+      "transform_matrix": [
+        [
+          -0.8222242593765259,
+          -0.19664309918880463,
+          -0.5341148972511292,
+          109.67456817626953
+        ],
+        [
+          0.5390069484710693,
+          0.03238571435213089,
+          -0.8416784405708313,
+          9.51891040802002
+        ],
+        [
+          0.18280792236328125,
+          -0.9799401760101318,
+          0.07936367392539978,
+          -33.883506774902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5527,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_83078622",
+      "mask_path": "../../mask/hdr_left_05527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05528.png",
+      "transform_matrix": [
+        [
+          -0.8267178535461426,
+          -0.18497234582901,
+          -0.5313405394554138,
+          109.61650848388672
+        ],
+        [
+          0.5363096594810486,
+          0.02631707862019539,
+          -0.843610942363739,
+          9.550490379333496
+        ],
+        [
+          0.17002800107002258,
+          -0.9823912978172302,
+          0.07744564861059189,
+          -33.87760543823242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5528,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_183078289",
+      "mask_path": "../../mask/hdr_left_05528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05529.png",
+      "transform_matrix": [
+        [
+          -0.8302656412124634,
+          -0.17603269219398499,
+          -0.528839647769928,
+          109.55286407470703
+        ],
+        [
+          0.5338056683540344,
+          0.021820498630404472,
+          -0.8453255295753479,
+          9.570149421691895
+        ],
+        [
+          0.16034449636936188,
+          -0.9841424822807312,
+          0.07585044205188751,
+          -33.86994171142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5529,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_283078670",
+      "mask_path": "../../mask/hdr_left_05529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05530.png",
+      "transform_matrix": [
+        [
+          -0.8328193426132202,
+          -0.17023706436157227,
+          -0.5267173647880554,
+          109.49706268310547
+        ],
+        [
+          0.5321508646011353,
+          0.01575549878180027,
+          -0.8465028405189514,
+          9.579883575439453
+        ],
+        [
+          0.15240482985973358,
+          -0.9852771759033203,
+          0.0774703249335289,
+          -33.86570358276367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5530,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_383080482",
+      "mask_path": "../../mask/hdr_left_05530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05531.png",
+      "transform_matrix": [
+        [
+          -0.8333304524421692,
+          -0.160776287317276,
+          -0.528877317905426,
+          109.4381103515625
+        ],
+        [
+          0.5349091291427612,
+          0.006737474352121353,
+          -0.8448827266693115,
+          9.597331047058105
+        ],
+        [
+          0.1394004076719284,
+          -0.9869678616523743,
+          0.08038616925477982,
+          -33.858642578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5531,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_483081102",
+      "mask_path": "../../mask/hdr_left_05531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05532.png",
+      "transform_matrix": [
+        [
+          -0.8299052119255066,
+          -0.16090384125709534,
+          -0.5341976881027222,
+          109.37864685058594
+        ],
+        [
+          0.5418922305107117,
+          -0.004729211330413818,
+          -0.840434730052948,
+          9.621581077575684
+        ],
+        [
+          0.13270282745361328,
+          -0.9869588613510132,
+          0.09111732989549637,
+          -33.8404655456543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5532,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_583082199",
+      "mask_path": "../../mask/hdr_left_05532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05533.png",
+      "transform_matrix": [
+        [
+          -0.824415385723114,
+          -0.16895870864391327,
+          -0.5401779413223267,
+          109.32763671875
+        ],
+        [
+          0.5501919984817505,
+          -0.015351317822933197,
+          -0.8348970413208008,
+          9.636946678161621
+        ],
+        [
+          0.13277067244052887,
+          -0.985503613948822,
+          0.10561558604240417,
+          -33.8256950378418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5533,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_683082580",
+      "mask_path": "../../mask/hdr_left_05533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05534.png",
+      "transform_matrix": [
+        [
+          -0.8217077851295471,
+          -0.1628011018037796,
+          -0.5461610555648804,
+          109.26556396484375
+        ],
+        [
+          0.5564215183258057,
+          -0.02191953919827938,
+          -0.830610990524292,
+          9.652661323547363
+        ],
+        [
+          0.12325277924537659,
+          -0.9864153861999512,
+          0.10859750211238861,
+          -33.81137466430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5534,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_783081769",
+      "mask_path": "../../mask/hdr_left_05534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05535.png",
+      "transform_matrix": [
+        [
+          -0.8195603489875793,
+          -0.15268462896347046,
+          -0.5522754192352295,
+          109.2066650390625
+        ],
+        [
+          0.5612788796424866,
+          -0.020026795566082,
+          -0.8273844122886658,
+          9.6703462600708
+        ],
+        [
+          0.11526855081319809,
+          -0.9880720376968384,
+          0.1021118089556694,
+          -33.802207946777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5535,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_883082151",
+      "mask_path": "../../mask/hdr_left_05535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05537.png",
+      "transform_matrix": [
+        [
+          -0.8127163052558899,
+          -0.14306870102882385,
+          -0.5648216605186462,
+          109.109130859375
+        ],
+        [
+          0.5712714791297913,
+          -0.004936711862683296,
+          -0.8207463622093201,
+          9.69770336151123
+        ],
+        [
+          0.11463472992181778,
+          -0.9897004961967468,
+          0.08574319630861282,
+          -33.793907165527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5537,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_83082199",
+      "mask_path": "../../mask/hdr_left_05537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05538.png",
+      "transform_matrix": [
+        [
+          -0.804901123046875,
+          -0.14135757088661194,
+          -0.5763264894485474,
+          109.04763793945312
+        ],
+        [
+          0.5816000699996948,
+          0.004868535790592432,
+          -0.8134602308273315,
+          9.720704078674316
+        ],
+        [
+          0.11779461055994034,
+          -0.9899466633796692,
+          0.07829488068819046,
+          -33.77156066894531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5538,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_183081150",
+      "mask_path": "../../mask/hdr_left_05538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05540.png",
+      "transform_matrix": [
+        [
+          -0.7721885442733765,
+          -0.15533488988876343,
+          -0.616113543510437,
+          108.97769927978516
+        ],
+        [
+          0.6223869919776917,
+          0.010277293622493744,
+          -0.7826421856880188,
+          9.76960277557373
+        ],
+        [
+          0.12790362536907196,
+          -0.9878084063529968,
+          0.08874240517616272,
+          -33.743499755859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5540,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_383080244",
+      "mask_path": "../../mask/hdr_left_05540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05541.png",
+      "transform_matrix": [
+        [
+          -0.7538936734199524,
+          -0.16360701620578766,
+          -0.6362994909286499,
+          108.93048858642578
+        ],
+        [
+          0.6438924670219421,
+          0.008474593982100487,
+          -0.7650690078735352,
+          9.794402122497559
+        ],
+        [
+          0.13056302070617676,
+          -0.9864892363548279,
+          0.09895637631416321,
+          -33.74042892456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5541,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_483080387",
+      "mask_path": "../../mask/hdr_left_05541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05542.png",
+      "transform_matrix": [
+        [
+          -0.7422564029693604,
+          -0.1721227616071701,
+          -0.64763343334198,
+          108.8647689819336
+        ],
+        [
+          0.6554864645004272,
+          0.014349428936839104,
+          -0.7550705671310425,
+          9.816764831542969
+        ],
+        [
+          0.13925796747207642,
+          -0.9849711060523987,
+          0.10217320173978806,
+          -33.70212173461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5542,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_583080768",
+      "mask_path": "../../mask/hdr_left_05542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05545.png",
+      "transform_matrix": [
+        [
+          -0.7414134740829468,
+          -0.1552804410457611,
+          -0.6528354287147522,
+          108.73346710205078
+        ],
+        [
+          0.6530691981315613,
+          0.05672331526875496,
+          -0.7551708817481995,
+          9.894189834594727
+        ],
+        [
+          0.15429425239562988,
+          -0.986240565776825,
+          0.059353459626436234,
+          -33.67034912109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5545,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_883080720",
+      "mask_path": "../../mask/hdr_left_05545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05546.png",
+      "transform_matrix": [
+        [
+          -0.737089991569519,
+          -0.15091922879219055,
+          -0.6587274670600891,
+          108.6663818359375
+        ],
+        [
+          0.657831609249115,
+          0.06301311403512955,
+          -0.7505244016647339,
+          9.946676254272461
+        ],
+        [
+          0.15477700531482697,
+          -0.9865357875823975,
+          0.05283311381936073,
+          -33.647499084472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5546,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_983079910",
+      "mask_path": "../../mask/hdr_left_05546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05547.png",
+      "transform_matrix": [
+        [
+          -0.733002781867981,
+          -0.15076778829097748,
+          -0.6633068323135376,
+          108.61003112792969
+        ],
+        [
+          0.662559449672699,
+          0.06254541873931885,
+          -0.7463933825492859,
+          9.991044044494629
+        ],
+        [
+          0.15401886403560638,
+          -0.986588716506958,
+          0.05404665321111679,
+          -33.633697509765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5547,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_83081007",
+      "mask_path": "../../mask/hdr_left_05547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05548.png",
+      "transform_matrix": [
+        [
+          -0.7296910285949707,
+          -0.15285435318946838,
+          -0.6664732098579407,
+          108.56277465820312
+        ],
+        [
+          0.6663747429847717,
+          0.05953114852309227,
+          -0.7432366013526917,
+          10.025423049926758
+        ],
+        [
+          0.15328285098075867,
+          -0.9864540696144104,
+          0.05841892957687378,
+          -33.620513916015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5548,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_183080673",
+      "mask_path": "../../mask/hdr_left_05548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05549.png",
+      "transform_matrix": [
+        [
+          -0.7264640927314758,
+          -0.16081933677196503,
+          -0.6681219935417175,
+          108.50142669677734
+        ],
+        [
+          0.6694796681404114,
+          0.05376600846648216,
+          -0.7408820390701294,
+          10.060563087463379
+        ],
+        [
+          0.15507039427757263,
+          -0.9855183362960815,
+          0.06860619783401489,
+          -33.59965896606445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5549,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_283080339",
+      "mask_path": "../../mask/hdr_left_05549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05550.png",
+      "transform_matrix": [
+        [
+          -0.7251952886581421,
+          -0.16629549860954285,
+          -0.6681599020957947,
+          108.43402099609375
+        ],
+        [
+          0.6699761152267456,
+          0.053407855331897736,
+          -0.740459144115448,
+          10.09511947631836
+        ],
+        [
+          0.1588199883699417,
+          -0.9846286177635193,
+          0.07268286496400833,
+          -33.581878662109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5550,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_383079051",
+      "mask_path": "../../mask/hdr_left_05550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05551.png",
+      "transform_matrix": [
+        [
+          -0.7243896126747131,
+          -0.1669410765171051,
+          -0.6688724756240845,
+          108.37903594970703
+        ],
+        [
+          0.6706729531288147,
+          0.053900301456451416,
+          -0.7397921085357666,
+          10.118390083312988
+        ],
+        [
+          0.1595541089773178,
+          -0.9844925999641418,
+          0.07291804254055023,
+          -33.56828308105469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5551,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_483081817",
+      "mask_path": "../../mask/hdr_left_05551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05552.png",
+      "transform_matrix": [
+        [
+          -0.7231689691543579,
+          -0.1623123735189438,
+          -0.6713281273841858,
+          108.32576751708984
+        ],
+        [
+          0.6711363196372986,
+          0.06439626216888428,
+          -0.738531768321991,
+          10.146985054016113
+        ],
+        [
+          0.163103848695755,
+          -0.9846358895301819,
+          0.06236434355378151,
+          -33.560272216796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5552,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_583081007",
+      "mask_path": "../../mask/hdr_left_05552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05553.png",
+      "transform_matrix": [
+        [
+          -0.7187200784683228,
+          -0.16155721247196198,
+          -0.6762696504592896,
+          108.25408172607422
+        ],
+        [
+          0.6749813556671143,
+          0.07129263877868652,
+          -0.7343822717666626,
+          10.197615623474121
+        ],
+        [
+          0.16685780882835388,
+          -0.9842848777770996,
+          0.05780867114663124,
+          -33.53904342651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5553,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_683082103",
+      "mask_path": "../../mask/hdr_left_05553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05554.png",
+      "transform_matrix": [
+        [
+          -0.7126024961471558,
+          -0.1671379804611206,
+          -0.6813681721687317,
+          108.20022583007812
+        ],
+        [
+          0.680591344833374,
+          0.0710258036851883,
+          -0.7292124629020691,
+          10.228325843811035
+        ],
+        [
+          0.1702738106250763,
+          -0.9833718538284302,
+          0.06313949823379517,
+          -33.51765060424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5554,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_783082008",
+      "mask_path": "../../mask/hdr_left_05554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05555.png",
+      "transform_matrix": [
+        [
+          -0.7081575393676758,
+          -0.16711120307445526,
+          -0.6859931945800781,
+          108.14555358886719
+        ],
+        [
+          0.6854791641235352,
+          0.07011771947145462,
+          -0.724708080291748,
+          10.25899600982666
+        ],
+        [
+          0.16920708119869232,
+          -0.9834415912628174,
+          0.0648968517780304,
+          -33.50602722167969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5555,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_883082628",
+      "mask_path": "../../mask/hdr_left_05555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05556.png",
+      "transform_matrix": [
+        [
+          -0.7105352878570557,
+          -0.14879174530506134,
+          -0.6877502799034119,
+          108.06732940673828
+        ],
+        [
+          0.6859055757522583,
+          0.07172529399394989,
+          -0.7241470813751221,
+          10.301238059997559
+        ],
+        [
+          0.15707619488239288,
+          -0.9862639307975769,
+          0.05109373480081558,
+          -33.49678421020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5556,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_983082056",
+      "mask_path": "../../mask/hdr_left_05556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05557.png",
+      "transform_matrix": [
+        [
+          -0.7139939665794373,
+          -0.13162149488925934,
+          -0.6876687407493591,
+          108.00335693359375
+        ],
+        [
+          0.6842312812805176,
+          0.07708609104156494,
+          -0.7251794934272766,
+          10.330196380615234
+        ],
+        [
+          0.14845888316631317,
+          -0.9882982969284058,
+          0.035020533949136734,
+          -33.485877990722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5557,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_83082675",
+      "mask_path": "../../mask/hdr_left_05557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05558.png",
+      "transform_matrix": [
+        [
+          -0.71265709400177,
+          -0.12591776251792908,
+          -0.6901191473007202,
+          107.9557876586914
+        ],
+        [
+          0.6858757734298706,
+          0.08148182183504105,
+          -0.7231423854827881,
+          10.35469913482666
+        ],
+        [
+          0.14728862047195435,
+          -0.9886888265609741,
+          0.028295345604419708,
+          -33.47510528564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5558,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_183082103",
+      "mask_path": "../../mask/hdr_left_05558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05559.png",
+      "transform_matrix": [
+        [
+          -0.7097346782684326,
+          -0.12294812500476837,
+          -0.6936573386192322,
+          107.90495300292969
+        ],
+        [
+          0.6909928321838379,
+          0.07017731666564941,
+          -0.7194469571113586,
+          10.394444465637207
+        ],
+        [
+          0.1371336728334427,
+          -0.9899287819862366,
+          0.03514901548624039,
+          -33.47224044799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5559,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_283082246",
+      "mask_path": "../../mask/hdr_left_05559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05560.png",
+      "transform_matrix": [
+        [
+          -0.7047871947288513,
+          -0.11900870501995087,
+          -0.6993653774261475,
+          107.84550476074219
+        ],
+        [
+          0.6981824636459351,
+          0.05840420350432396,
+          -0.7135335206985474,
+          10.4356689453125
+        ],
+        [
+          0.12576256692409515,
+          -0.9911739826202393,
+          0.04192725569009781,
+          -33.45774459838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5560,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_383082151",
+      "mask_path": "../../mask/hdr_left_05560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05561.png",
+      "transform_matrix": [
+        [
+          -0.6986383199691772,
+          -0.11734465509653091,
+          -0.7057865858078003,
+          107.79624938964844
+        ],
+        [
+          0.705048680305481,
+          0.05488087236881256,
+          -0.7070322036743164,
+          10.467010498046875
+        ],
+        [
+          0.12170065194368362,
+          -0.991573691368103,
+          0.04439181461930275,
+          -33.4459114074707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5561,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_483080863",
+      "mask_path": "../../mask/hdr_left_05561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05562.png",
+      "transform_matrix": [
+        [
+          -0.6948364973068237,
+          -0.11364277452230453,
+          -0.7101320624351501,
+          107.7260513305664
+        ],
+        [
+          0.7099878191947937,
+          0.04887038469314575,
+          -0.7025161981582642,
+          10.509208679199219
+        ],
+        [
+          0.11454029381275177,
+          -0.9923190474510193,
+          0.04672804847359657,
+          -33.437156677246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5562,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_583082437",
+      "mask_path": "../../mask/hdr_left_05562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05563.png",
+      "transform_matrix": [
+        [
+          -0.6961838603019714,
+          -0.10605495423078537,
+          -0.70998615026474,
+          107.64252471923828
+        ],
+        [
+          0.7095880508422852,
+          0.04807550087571144,
+          -0.702974796295166,
+          10.554938316345215
+        ],
+        [
+          0.1086868941783905,
+          -0.9931974411010742,
+          0.041785940527915955,
+          -33.4278678894043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5563,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_683081626",
+      "mask_path": "../../mask/hdr_left_05563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05564.png",
+      "transform_matrix": [
+        [
+          -0.6999003887176514,
+          -0.09882283955812454,
+          -0.7073707580566406,
+          107.57933044433594
+        ],
+        [
+          0.706429660320282,
+          0.05028761178255081,
+          -0.7059945464134216,
+          10.585712432861328
+        ],
+        [
+          0.1053403690457344,
+          -0.993833601474762,
+          0.03461505472660065,
+          -33.4234504699707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5564,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_783082008",
+      "mask_path": "../../mask/hdr_left_05564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05565.png",
+      "transform_matrix": [
+        [
+          -0.7021521925926208,
+          -0.09405265003442764,
+          -0.705787718296051,
+          107.5243911743164
+        ],
+        [
+          0.7048454880714417,
+          0.04861406609416008,
+          -0.7076930999755859,
+          10.618992805480957
+        ],
+        [
+          0.10087162256240845,
+          -0.9943796396255493,
+          0.03215811029076576,
+          -33.420284271240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5565,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_883081197",
+      "mask_path": "../../mask/hdr_left_05565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05566.png",
+      "transform_matrix": [
+        [
+          -0.6998578310012817,
+          -0.08995242416858673,
+          -0.7085955142974854,
+          107.4649429321289
+        ],
+        [
+          0.7081724405288696,
+          0.04209379851818085,
+          -0.70478355884552,
+          10.657658576965332
+        ],
+        [
+          0.09322445839643478,
+          -0.99505615234375,
+          0.034242160618305206,
+          -33.41518020629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5566,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_983081579",
+      "mask_path": "../../mask/hdr_left_05566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05567.png",
+      "transform_matrix": [
+        [
+          -0.6933451890945435,
+          -0.09030148386955261,
+          -0.7149251699447632,
+          107.41477966308594
+        ],
+        [
+          0.714838445186615,
+          0.03907708451151848,
+          -0.6981968879699707,
+          10.690559387207031
+        ],
+        [
+          0.09098539501428604,
+          -0.9951475262641907,
+          0.03745706006884575,
+          -33.40453338623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5567,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_83081960",
+      "mask_path": "../../mask/hdr_left_05567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05568.png",
+      "transform_matrix": [
+        [
+          -0.685949981212616,
+          -0.09617889672517776,
+          -0.7212642431259155,
+          107.37194061279297
+        ],
+        [
+          0.7219759821891785,
+          0.0335690937936306,
+          -0.6911033391952515,
+          10.721537590026855
+        ],
+        [
+          0.09068173170089722,
+          -0.9947978854179382,
+          0.04641212150454521,
+          -33.395111083984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5568,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_183082342",
+      "mask_path": "../../mask/hdr_left_05568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05569.png",
+      "transform_matrix": [
+        [
+          -0.679763913154602,
+          -0.11191586405038834,
+          -0.7248419523239136,
+          107.30903625488281
+        ],
+        [
+          0.7271735668182373,
+          0.025979647412896156,
+          -0.6859618425369263,
+          10.764520645141602
+        ],
+        [
+          0.0956011489033699,
+          -0.9933780431747437,
+          0.06372223049402237,
+          -33.397212982177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5569,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_283081531",
+      "mask_path": "../../mask/hdr_left_05569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05570.png",
+      "transform_matrix": [
+        [
+          -0.6795843243598938,
+          -0.12128233909606934,
+          -0.7235023975372314,
+          107.20465850830078
+        ],
+        [
+          0.7261703610420227,
+          0.028767850250005722,
+          -0.6869127154350281,
+          10.80832290649414
+        ],
+        [
+          0.10412397980690002,
+          -0.9922010898590088,
+          0.06852144002914429,
+          -33.36252212524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5570,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_383082389",
+      "mask_path": "../../mask/hdr_left_05570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05571.png",
+      "transform_matrix": [
+        [
+          -0.6819058656692505,
+          -0.11894962191581726,
+          -0.721703052520752,
+          107.13744354248047
+        ],
+        [
+          0.7228782773017883,
+          0.04092825576663017,
+          -0.6897621154785156,
+          10.839491844177246
+        ],
+        [
+          0.11158497631549835,
+          -0.9920564293861389,
+          0.0580768845975399,
+          -33.33784103393555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5571,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_483083248",
+      "mask_path": "../../mask/hdr_left_05571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05573.png",
+      "transform_matrix": [
+        [
+          -0.6814592480659485,
+          -0.11710060387849808,
+          -0.7224268913269043,
+          107.04638671875
+        ],
+        [
+          0.7219199538230896,
+          0.054548993706703186,
+          -0.6898231506347656,
+          10.91019058227539
+        ],
+        [
+          0.12018634378910065,
+          -0.9916208982467651,
+          0.04736434295773506,
+          -33.3233528137207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5573,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_683083057",
+      "mask_path": "../../mask/hdr_left_05573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05574.png",
+      "transform_matrix": [
+        [
+          -0.6743707656860352,
+          -0.12173004448413849,
+          -0.7282896637916565,
+          106.98212432861328
+        ],
+        [
+          0.7278181314468384,
+          0.05674361437559128,
+          -0.6834185719490051,
+          10.960305213928223
+        ],
+        [
+          0.12451835721731186,
+          -0.9909399151802063,
+          0.05033110827207565,
+          -33.30240249633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5574,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_783082723",
+      "mask_path": "../../mask/hdr_left_05574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05575.png",
+      "transform_matrix": [
+        [
+          -0.6674146056175232,
+          -0.12549474835395813,
+          -0.7340359091758728,
+          106.923828125
+        ],
+        [
+          0.7339865565299988,
+          0.05563522130250931,
+          -0.6768814325332642,
+          11.006391525268555
+        ],
+        [
+          0.125783309340477,
+          -0.9905332326889038,
+          0.05497968569397926,
+          -33.286991119384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5575,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_883083105",
+      "mask_path": "../../mask/hdr_left_05575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05576.png",
+      "transform_matrix": [
+        [
+          -0.6607486009597778,
+          -0.1313512772321701,
+          -0.7390249967575073,
+          106.84649658203125
+        ],
+        [
+          0.7397696375846863,
+          0.05274740234017372,
+          -0.6707895398139954,
+          11.059698104858398
+        ],
+        [
+          0.1270907074213028,
+          -0.9899316430091858,
+          0.06231691315770149,
+          -33.27295684814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5576,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_983081817",
+      "mask_path": "../../mask/hdr_left_05576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05577.png",
+      "transform_matrix": [
+        [
+          -0.6591209173202515,
+          -0.1304006278514862,
+          -0.740645170211792,
+          106.76414489746094
+        ],
+        [
+          0.7406008839607239,
+          0.05854754522442818,
+          -0.6693896055221558,
+          11.121102333068848
+        ],
+        [
+          0.1306517869234085,
+          -0.9897312521934509,
+          0.057984914630651474,
+          -33.25185775756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5577,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_83082914",
+      "mask_path": "../../mask/hdr_left_05577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05578.png",
+      "transform_matrix": [
+        [
+          -0.661170244216919,
+          -0.1259210705757141,
+          -0.739592969417572,
+          106.70451354980469
+        ],
+        [
+          0.7384947538375854,
+          0.06448884308338165,
+          -0.6711682081222534,
+          11.166448593139648
+        ],
+        [
+          0.13220971822738647,
+          -0.9899419546127319,
+          0.05035393312573433,
+          -33.24525451660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5578,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_183082342",
+      "mask_path": "../../mask/hdr_left_05578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05579.png",
+      "transform_matrix": [
+        [
+          -0.6618825793266296,
+          -0.12281995266675949,
+          -0.7394773364067078,
+          106.64010620117188
+        ],
+        [
+          0.738142192363739,
+          0.06508807837963104,
+          -0.67149817943573,
+          11.211957931518555
+        ],
+        [
+          0.13060450553894043,
+          -0.9902923703193665,
+          0.04757792130112648,
+          -33.24323654174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5579,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_283081054",
+      "mask_path": "../../mask/hdr_left_05579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05580.png",
+      "transform_matrix": [
+        [
+          -0.6578785181045532,
+          -0.11884026974439621,
+          -0.7436886429786682,
+          106.56427764892578
+        ],
+        [
+          0.7433426976203918,
+          0.05616866052150726,
+          -0.6665482521057129,
+          11.270791053771973
+        ],
+        [
+          0.1209847554564476,
+          -0.9913234710693359,
+          0.05138690024614334,
+          -33.221839904785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5580,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_383082389",
+      "mask_path": "../../mask/hdr_left_05580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05581.png",
+      "transform_matrix": [
+        [
+          -0.6496886610984802,
+          -0.11699839681386948,
+          -0.7511431574821472,
+          106.5015869140625
+        ],
+        [
+          0.7518463730812073,
+          0.04719002917408943,
+          -0.6576473712921143,
+          11.32583236694336
+        ],
+        [
+          0.11239013820886612,
+          -0.9920103549957275,
+          0.05730599910020828,
+          -33.1999626159668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5581,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_483082532",
+      "mask_path": "../../mask/hdr_left_05581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05582.png",
+      "transform_matrix": [
+        [
+          -0.642411470413208,
+          -0.11861007660627365,
+          -0.7571256160736084,
+          106.45709991455078
+        ],
+        [
+          0.7583060264587402,
+          0.0444723442196846,
+          -0.6503799557685852,
+          11.36888599395752
+        ],
+        [
+          0.11081276088953018,
+          -0.9919444918632507,
+          0.06137319281697273,
+          -33.19234848022461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5582,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_583082675",
+      "mask_path": "../../mask/hdr_left_05582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05583.png",
+      "transform_matrix": [
+        [
+          -0.6378854513168335,
+          -0.11558175832033157,
+          -0.7614084482192993,
+          106.38463592529297
+        ],
+        [
+          0.7625917196273804,
+          0.043206244707107544,
+          -0.6454354524612427,
+          11.425864219665527
+        ],
+        [
+          0.1074981689453125,
+          -0.9923579096794128,
+          0.06058106943964958,
+          -33.18310546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5583,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_683081150",
+      "mask_path": "../../mask/hdr_left_05583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05584.png",
+      "transform_matrix": [
+        [
+          -0.6384829878807068,
+          -0.10434477031230927,
+          -0.7625296711921692,
+          106.30131530761719
+        ],
+        [
+          0.7627149820327759,
+          0.046785976737737656,
+          -0.6450403332710266,
+          11.488371849060059
+        ],
+        [
+          0.10298226773738861,
+          -0.9934402108192444,
+          0.04971325770020485,
+          -33.17384338378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5584,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_783082723",
+      "mask_path": "../../mask/hdr_left_05584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05585.png",
+      "transform_matrix": [
+        [
+          -0.6413630843162537,
+          -0.09394481033086777,
+          -0.7614641785621643,
+          106.2437515258789
+        ],
+        [
+          0.7607614398002625,
+          0.05080948397517204,
+          -0.6470396518707275,
+          11.533256530761719
+        ],
+        [
+          0.09947561472654343,
+          -0.9942800402641296,
+          0.03888225555419922,
+          -33.167518615722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5585,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_883082389",
+      "mask_path": "../../mask/hdr_left_05585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05586.png",
+      "transform_matrix": [
+        [
+          -0.642210066318512,
+          -0.08829912543296814,
+          -0.7614260315895081,
+          106.17453002929688
+        ],
+        [
+          0.7607676982879639,
+          0.04813506454229355,
+          -0.6472370028495789,
+          11.587909698486328
+        ],
+        [
+          0.09380172938108444,
+          -0.9949303269386292,
+          0.036262284964323044,
+          -33.16241455078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5586,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_983081579",
+      "mask_path": "../../mask/hdr_left_05586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05587.png",
+      "transform_matrix": [
+        [
+          -0.6377081871032715,
+          -0.08351414650678635,
+          -0.7657372951507568,
+          106.1097183227539
+        ],
+        [
+          0.7656058669090271,
+          0.04060407355427742,
+          -0.6420270800590515,
+          11.644550323486328
+        ],
+        [
+          0.08471040427684784,
+          -0.9956790804862976,
+          0.038045383989810944,
+          -33.15276336669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5587,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_83081722",
+      "mask_path": "../../mask/hdr_left_05587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05588.png",
+      "transform_matrix": [
+        [
+          -0.6303703784942627,
+          -0.08335621654987335,
+          -0.7718063592910767,
+          106.06483459472656
+        ],
+        [
+          0.7722302675247192,
+          0.03426991030573845,
+          -0.6344178318977356,
+          11.689281463623047
+        ],
+        [
+          0.0793323889374733,
+          -0.9959304332733154,
+          0.04276746138930321,
+          -33.138282775878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5588,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_183081388",
+      "mask_path": "../../mask/hdr_left_05588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05589.png",
+      "transform_matrix": [
+        [
+          -0.623062252998352,
+          -0.0888042077422142,
+          -0.7771146893501282,
+          106.01756286621094
+        ],
+        [
+          0.7782437205314636,
+          0.029066605493426323,
+          -0.6272891163825989,
+          11.73481559753418
+        ],
+        [
+          0.07829399406909943,
+          -0.9956249594688416,
+          0.051001016050577164,
+          -33.13408279418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5589,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_283082008",
+      "mask_path": "../../mask/hdr_left_05589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05590.png",
+      "transform_matrix": [
+        [
+          -0.6186489462852478,
+          -0.08979205787181854,
+          -0.7805196642875671,
+          105.9427490234375
+        ],
+        [
+          0.7821556925773621,
+          0.023438652977347374,
+          -0.6226419806480408,
+          11.791964530944824
+        ],
+        [
+          0.07420263439416885,
+          -0.9956847429275513,
+          0.05573107302188873,
+          -33.12481689453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5590,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_383082151",
+      "mask_path": "../../mask/hdr_left_05590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05591.png",
+      "transform_matrix": [
+        [
+          -0.62111496925354,
+          -0.0831383466720581,
+          -0.7792972326278687,
+          105.86296081542969
+        ],
+        [
+          0.780654788017273,
+          0.022219885140657425,
+          -0.6245675086975098,
+          11.851600646972656
+        ],
+        [
+          0.06924138963222504,
+          -0.9962903261184692,
+          0.05110123008489609,
+          -33.11712646484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5591,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_483082056",
+      "mask_path": "../../mask/hdr_left_05591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05592.png",
+      "transform_matrix": [
+        [
+          -0.6303358674049377,
+          -0.07789894938468933,
+          -0.7724043726921082,
+          105.79742431640625
+        ],
+        [
+          0.7736333608627319,
+          0.01971198059618473,
+          -0.6333268284797668,
+          11.8955078125
+        ],
+        [
+          0.06456110626459122,
+          -0.9967664480209351,
+          0.04784005880355835,
+          -33.11351013183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5592,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_583083629",
+      "mask_path": "../../mask/hdr_left_05592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05593.png",
+      "transform_matrix": [
+        [
+          -0.6403398513793945,
+          -0.0754915326833725,
+          -0.7643727660179138,
+          105.73444366455078
+        ],
+        [
+          0.7657126188278198,
+          0.01552491169422865,
+          -0.6429954767227173,
+          11.939618110656738
+        ],
+        [
+          0.06040753051638603,
+          -0.9970256090164185,
+          0.04786359518766403,
+          -33.11573791503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5593,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_683081150",
+      "mask_path": "../../mask/hdr_left_05593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05594.png",
+      "transform_matrix": [
+        [
+          -0.6448572874069214,
+          -0.07749481499195099,
+          -0.7603641152381897,
+          105.66345977783203
+        ],
+        [
+          0.7617929577827454,
+          0.015391319058835506,
+          -0.6476377844810486,
+          11.995098114013672
+        ],
+        [
+          0.061891574412584305,
+          -0.9968740940093994,
+          0.0491098016500473,
+          -33.097537994384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5594,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_783082485",
+      "mask_path": "../../mask/hdr_left_05594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05595.png",
+      "transform_matrix": [
+        [
+          -0.6475098729133606,
+          -0.08307315409183502,
+          -0.757515549659729,
+          105.59907531738281
+        ],
+        [
+          0.7593696117401123,
+          0.01307022012770176,
+          -0.6505281329154968,
+          12.044946670532227
+        ],
+        [
+          0.0639423131942749,
+          -0.9964578151702881,
+          0.05462014302611351,
+          -33.07974624633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5595,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_883082389",
+      "mask_path": "../../mask/hdr_left_05595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05596.png",
+      "transform_matrix": [
+        [
+          -0.6496379375457764,
+          -0.08724764734506607,
+          -0.7552207708358765,
+          105.53836059570312
+        ],
+        [
+          0.7576643228530884,
+          0.007461354602128267,
+          -0.6526017189025879,
+          12.090988159179688
+        ],
+        [
+          0.06257293373346329,
+          -0.9961587190628052,
+          0.061257254332304,
+          -33.07252883911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5596,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_983081579",
+      "mask_path": "../../mask/hdr_left_05596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05597.png",
+      "transform_matrix": [
+        [
+          -0.6539893746376038,
+          -0.08298859745264053,
+          -0.7519381046295166,
+          105.45902252197266
+        ],
+        [
+          0.7542160153388977,
+          0.005717064719647169,
+          -0.6566014885902405,
+          12.148423194885254
+        ],
+        [
+          0.058789316564798355,
+          -0.9965341091156006,
+          0.0588524304330349,
+          -33.0742073059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5597,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_83082675",
+      "mask_path": "../../mask/hdr_left_05597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05598.png",
+      "transform_matrix": [
+        [
+          -0.6580522656440735,
+          -0.07800739258527756,
+          -0.7489205598831177,
+          105.39149475097656
+        ],
+        [
+          0.7508036494255066,
+          0.007454470731317997,
+          -0.6604834198951721,
+          12.193808555603027
+        ],
+        [
+          0.057105377316474915,
+          -0.9969249367713928,
+          0.053662799298763275,
+          -33.07945251464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5598,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_183081626",
+      "mask_path": "../../mask/hdr_left_05598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05599.png",
+      "transform_matrix": [
+        [
+          -0.6586884260177612,
+          -0.0780903771519661,
+          -0.7483524084091187,
+          105.34337615966797
+        ],
+        [
+          0.7503233551979065,
+          0.005950406193733215,
+          -0.661044180393219,
+          12.22503662109375
+        ],
+        [
+          0.05607417970895767,
+          -0.9969285130500793,
+          0.054673559963703156,
+          -33.07645034790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5599,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_283082246",
+      "mask_path": "../../mask/hdr_left_05599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05600.png",
+      "transform_matrix": [
+        [
+          -0.6568536162376404,
+          -0.07665982842445374,
+          -0.7501111030578613,
+          105.30360412597656
+        ],
+        [
+          0.7520952224731445,
+          0.004389912821352482,
+          -0.6590396761894226,
+          12.260649681091309
+        ],
+        [
+          0.05381479114294052,
+          -0.9970477223396301,
+          0.054771970957517624,
+          -33.07509231567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5600,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_383082389",
+      "mask_path": "../../mask/hdr_left_05600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05601.png",
+      "transform_matrix": [
+        [
+          -0.6509485840797424,
+          -0.0804123654961586,
+          -0.7548507452011108,
+          105.23990631103516
+        ],
+        [
+          0.7569519281387329,
+          0.00637267017737031,
+          -0.653439462184906,
+          12.31483268737793
+        ],
+        [
+          0.05735503137111664,
+          -0.9967412948608398,
+          0.05672002211213112,
+          -33.05202102661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5601,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_483083009",
+      "mask_path": "../../mask/hdr_left_05601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05602.png",
+      "transform_matrix": [
+        [
+          -0.6438857913017273,
+          -0.08922788500785828,
+          -0.7599009275436401,
+          105.18694305419922
+        ],
+        [
+          0.7624973654747009,
+          0.0073573775589466095,
+          -0.6469495892524719,
+          12.36232852935791
+        ],
+        [
+          0.06331681460142136,
+          -0.9959840774536133,
+          0.06329870223999023,
+          -33.03771209716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5602,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_583083868",
+      "mask_path": "../../mask/hdr_left_05602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05603.png",
+      "transform_matrix": [
+        [
+          -0.637519121170044,
+          -0.09383793920278549,
+          -0.7646984457969666,
+          105.1307601928711
+        ],
+        [
+          0.7678017020225525,
+          0.004602450877428055,
+          -0.6406710147857666,
+          12.403820991516113
+        ],
+        [
+          0.06363873183727264,
+          -0.9955769181251526,
+          0.06911477446556091,
+          -33.0254020690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5603,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_683081626",
+      "mask_path": "../../mask/hdr_left_05603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05604.png",
+      "transform_matrix": [
+        [
+          -0.6359041333198547,
+          -0.09002137929201126,
+          -0.766499936580658,
+          105.05741882324219
+        ],
+        [
+          0.7693157196044922,
+          0.0051740058697760105,
+          -0.6388478875160217,
+          12.458707809448242
+        ],
+        [
+          0.06147583946585655,
+          -0.9959264397621155,
+          0.06596469134092331,
+          -33.01202392578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5604,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_783081769",
+      "mask_path": "../../mask/hdr_left_05604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05605.png",
+      "transform_matrix": [
+        [
+          -0.6384747624397278,
+          -0.08371708542108536,
+          -0.7650759816169739,
+          105.00679016113281
+        ],
+        [
+          0.7673099040985107,
+          0.00809845607727766,
+          -0.641225278377533,
+          12.503983497619629
+        ],
+        [
+          0.05987745150923729,
+          -0.9964566826820374,
+          0.0590662844479084,
+          -33.012996673583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5605,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_883081197",
+      "mask_path": "../../mask/hdr_left_05605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05606.png",
+      "transform_matrix": [
+        [
+          -0.6459671258926392,
+          -0.08132652193307877,
+          -0.7590205669403076,
+          104.9631118774414
+        ],
+        [
+          0.7609420418739319,
+          0.010561304166913033,
+          -0.6487339735031128,
+          12.543105125427246
+        ],
+        [
+          0.060775525867938995,
+          -0.9966315627098083,
+          0.05506250262260437,
+          -33.016597747802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5606,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_983081340",
+      "mask_path": "../../mask/hdr_left_05606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05607.png",
+      "transform_matrix": [
+        [
+          -0.6553647518157959,
+          -0.08205568045377731,
+          -0.7508420944213867,
+          104.90316009521484
+        ],
+        [
+          0.7523819208145142,
+          0.01656193844974041,
+          -0.6585187315940857,
+          12.59932804107666
+        ],
+        [
+          0.06647060811519623,
+          -0.9964901804924011,
+          0.05088309943675995,
+          -33.00229263305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5607,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_83082199",
+      "mask_path": "../../mask/hdr_left_05607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04729.png",
+      "transform_matrix": [
+        [
+          -0.9202441573143005,
+          -0.07097611576318741,
+          -0.3848549723625183,
+          105.22721099853516
+        ],
+        [
+          0.3792863190174103,
+          0.08048619329929352,
+          -0.9217721819877625,
+          12.016061782836914
+        ],
+        [
+          0.09639931470155716,
+          -0.9942255020141602,
+          -0.047146670520305634,
+          -33.037841796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4729,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_383082628",
+      "mask_path": "../../mask/hdr_right_04729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04730.png",
+      "transform_matrix": [
+        [
+          -0.9156174659729004,
+          -0.06600238382816315,
+          -0.3965960741043091,
+          105.29021453857422
+        ],
+        [
+          0.3916451930999756,
+          0.07654725760221481,
+          -0.9169267416000366,
+          11.978190422058105
+        ],
+        [
+          0.09087768942117691,
+          -0.9948790073394775,
+          -0.04423849284648895,
+          -33.04792022705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4730,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_483081579",
+      "mask_path": "../../mask/hdr_right_04730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04731.png",
+      "transform_matrix": [
+        [
+          -0.9140077233314514,
+          -0.07024433463811874,
+          -0.3995692729949951,
+          105.35799407958984
+        ],
+        [
+          0.3951919972896576,
+          0.06851515173912048,
+          -0.9160398244857788,
+          11.939391136169434
+        ],
+        [
+          0.09172316640615463,
+          -0.9951740503311157,
+          -0.03486338257789612,
+          -33.056148529052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4731,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_583081245",
+      "mask_path": "../../mask/hdr_right_04731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04733.png",
+      "transform_matrix": [
+        [
+          -0.9155018329620361,
+          -0.07282529771327972,
+          -0.39566755294799805,
+          105.45247650146484
+        ],
+        [
+          0.39188647270202637,
+          0.06103333830833435,
+          -0.9179868698120117,
+          11.882669448852539
+        ],
+        [
+          0.09100157767534256,
+          -0.9954754710197449,
+          -0.027336882427334785,
+          -33.07063293457031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4733,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_783081531",
+      "mask_path": "../../mask/hdr_right_04733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04734.png",
+      "transform_matrix": [
+        [
+          -0.9149466156959534,
+          -0.0696425586938858,
+          -0.3975204527378082,
+          105.5132064819336
+        ],
+        [
+          0.3939112424850464,
+          0.06015364080667496,
+          -0.9171780347824097,
+          11.84184455871582
+        ],
+        [
+          0.08778692781925201,
+          -0.9957567453384399,
+          -0.02760438434779644,
+          -33.07974624633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4734,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_883081197",
+      "mask_path": "../../mask/hdr_right_04734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04735.png",
+      "transform_matrix": [
+        [
+          -0.9116039872169495,
+          -0.06687410920858383,
+          -0.4055933952331543,
+          105.57537841796875
+        ],
+        [
+          0.40223896503448486,
+          0.058298416435718536,
+          -0.9136767983436584,
+          11.789178848266602
+        ],
+        [
+          0.08474677056074142,
+          -0.9960567951202393,
+          -0.02624570019543171,
+          -33.078269958496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4735,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323736_983082056",
+      "mask_path": "../../mask/hdr_right_04735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04738.png",
+      "transform_matrix": [
+        [
+          -0.8994427919387817,
+          -0.05260711535811424,
+          -0.4338608384132385,
+          105.71350860595703
+        ],
+        [
+          0.4303947389125824,
+          0.06581852585077286,
+          -0.9002379179000854,
+          11.690515518188477
+        ],
+        [
+          0.07591500878334045,
+          -0.9964438676834106,
+          -0.03655817359685898,
+          -33.09231948852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4738,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_283079624",
+      "mask_path": "../../mask/hdr_right_04738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04739.png",
+      "transform_matrix": [
+        [
+          -0.8982038497924805,
+          -0.061583422124385834,
+          -0.4352443516254425,
+          105.77428436279297
+        ],
+        [
+          0.43206050992012024,
+          0.058667782694101334,
+          -0.8999344706535339,
+          11.6589937210083
+        ],
+        [
+          0.08095584809780121,
+          -0.9963762164115906,
+          -0.02608785219490528,
+          -33.100704193115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4739,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_383081436",
+      "mask_path": "../../mask/hdr_right_04739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04740.png",
+      "transform_matrix": [
+        [
+          -0.897977888584137,
+          -0.06659840792417526,
+          -0.4349716305732727,
+          105.82170104980469
+        ],
+        [
+          0.4319569170475006,
+          0.055187761783599854,
+          -0.9002041220664978,
+          11.637200355529785
+        ],
+        [
+          0.08395726978778839,
+          -0.9962524771690369,
+          -0.020789742469787598,
+          -33.11104202270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4740,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_483080625",
+      "mask_path": "../../mask/hdr_right_04740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04742.png",
+      "transform_matrix": [
+        [
+          -0.8949487209320068,
+          -0.0699884444475174,
+          -0.44064557552337646,
+          105.90926361083984
+        ],
+        [
+          0.4372316896915436,
+          0.05911209434270859,
+          -0.897404134273529,
+          11.597760200500488
+        ],
+        [
+          0.08885538578033447,
+          -0.9957948923110962,
+          -0.022301126271486282,
+          -33.1270637512207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4742,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323737_683081865",
+      "mask_path": "../../mask/hdr_right_04742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04746.png",
+      "transform_matrix": [
+        [
+          -0.8812357187271118,
+          -0.06405972689390182,
+          -0.46831607818603516,
+          106.06784057617188
+        ],
+        [
+          0.46539101004600525,
+          0.05570103973150253,
+          -0.8833508491516113,
+          11.471020698547363
+        ],
+        [
+          0.08267290890216827,
+          -0.9963903427124023,
+          -0.019272923469543457,
+          -33.12860870361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4746,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_83081245",
+      "mask_path": "../../mask/hdr_right_04746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04750.png",
+      "transform_matrix": [
+        [
+          -0.883951723575592,
+          -0.07763407379388809,
+          -0.4610881209373474,
+          106.21749114990234
+        ],
+        [
+          0.4587153196334839,
+          0.04710390046238899,
+          -0.8873339295387268,
+          11.366778373718262
+        ],
+        [
+          0.09060639888048172,
+          -0.9958685636520386,
+          -0.006025633774697781,
+          -33.15847396850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4750,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_483082532",
+      "mask_path": "../../mask/hdr_right_04750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04752.png",
+      "transform_matrix": [
+        [
+          -0.8911907076835632,
+          -0.06973275542259216,
+          -0.44823697209358215,
+          106.28343200683594
+        ],
+        [
+          0.44603970646858215,
+          0.045282892882823944,
+          -0.8938669562339783,
+          11.3173828125
+        ],
+        [
+          0.0826292634010315,
+          -0.9965373873710632,
+          -0.009252115152776241,
+          -33.15254592895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4752,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_683080673",
+      "mask_path": "../../mask/hdr_right_04752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04754.png",
+      "transform_matrix": [
+        [
+          -0.9017326831817627,
+          -0.05992632359266281,
+          -0.4281204044818878,
+          106.373779296875
+        ],
+        [
+          0.4256901741027832,
+          0.04935206100344658,
+          -0.9035221934318542,
+          11.267848014831543
+        ],
+        [
+          0.07527337968349457,
+          -0.9969821572303772,
+          -0.018992315977811813,
+          -33.16368103027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4754,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_883080720",
+      "mask_path": "../../mask/hdr_right_04754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04755.png",
+      "transform_matrix": [
+        [
+          -0.9064851999282837,
+          -0.06643665581941605,
+          -0.41697826981544495,
+          106.4214096069336
+        ],
+        [
+          0.4147733747959137,
+          0.04475880414247513,
+          -0.9088232517242432,
+          11.242136001586914
+        ],
+        [
+          0.07904262840747833,
+          -0.9967862367630005,
+          -0.013017037883400917,
+          -33.17020797729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4755,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323738_983081579",
+      "mask_path": "../../mask/hdr_right_04755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04757.png",
+      "transform_matrix": [
+        [
+          -0.917685329914093,
+          -0.06711733341217041,
+          -0.3915979564189911,
+          106.50545501708984
+        ],
+        [
+          0.3896719813346863,
+          0.04026482254266739,
+          -0.9200731515884399,
+          11.215764045715332
+        ],
+        [
+          0.0775204673409462,
+          -0.9969322681427002,
+          -0.010796692222356796,
+          -33.18962097167969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4757,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_183081388",
+      "mask_path": "../../mask/hdr_right_04757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04758.png",
+      "transform_matrix": [
+        [
+          -0.9214868545532227,
+          -0.06627779453992844,
+          -0.38271284103393555,
+          106.5683364868164
+        ],
+        [
+          0.38065215945243835,
+          0.04184041544795036,
+          -0.9237712621688843,
+          11.195876121520996
+        ],
+        [
+          0.07723838835954666,
+          -0.9969236254692078,
+          -0.013326611369848251,
+          -33.202247619628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4758,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_283082008",
+      "mask_path": "../../mask/hdr_right_04758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04759.png",
+      "transform_matrix": [
+        [
+          -0.921837329864502,
+          -0.06326844543218613,
+          -0.3823781907558441,
+          106.64468383789062
+        ],
+        [
+          0.3802882134914398,
+          0.04278344288468361,
+          -0.923878014087677,
+          11.158473014831543
+        ],
+        [
+          0.07481176406145096,
+          -0.997079074382782,
+          -0.015379129908978939,
+          -33.20167541503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4759,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_383081912",
+      "mask_path": "../../mask/hdr_right_04759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04760.png",
+      "transform_matrix": [
+        [
+          -0.9186652302742004,
+          -0.05518738925457001,
+          -0.3911631107330322,
+          106.71989440917969
+        ],
+        [
+          0.38921284675598145,
+          0.04295798018574715,
+          -0.9201456904411316,
+          11.115921020507812
+        ],
+        [
+          0.06758401542901993,
+          -0.997551441192627,
+          -0.017984360456466675,
+          -33.199832916259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4760,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_483081817",
+      "mask_path": "../../mask/hdr_right_04760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04761.png",
+      "transform_matrix": [
+        [
+          -0.9145482182502747,
+          -0.05038754269480705,
+          -0.40132609009742737,
+          106.79844665527344
+        ],
+        [
+          0.39972713589668274,
+          0.039019402116537094,
+          -0.9158034324645996,
+          11.072291374206543
+        ],
+        [
+          0.061804577708244324,
+          -0.9979672431945801,
+          -0.01554386131465435,
+          -33.21270751953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4761,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_583082437",
+      "mask_path": "../../mask/hdr_right_04761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04762.png",
+      "transform_matrix": [
+        [
+          -0.9135168790817261,
+          -0.05441877990961075,
+          -0.4031444489955902,
+          106.8772201538086
+        ],
+        [
+          0.4018303453922272,
+          0.033733803778886795,
+          -0.9150926470756531,
+          11.030691146850586
+        ],
+        [
+          0.06339781731367111,
+          -0.9979482293128967,
+          -0.00894929002970457,
+          -33.22999572753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4762,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_683082103",
+      "mask_path": "../../mask/hdr_right_04762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04763.png",
+      "transform_matrix": [
+        [
+          -0.9140857458114624,
+          -0.060447536408901215,
+          -0.40099045634269714,
+          106.93793487548828
+        ],
+        [
+          0.39987921714782715,
+          0.03001004084944725,
+          -0.9160765409469604,
+          10.997674942016602
+        ],
+        [
+          0.06740830093622208,
+          -0.9977202415466309,
+          -0.0032600376289337873,
+          -33.245872497558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4763,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_783082246",
+      "mask_path": "../../mask/hdr_right_04763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04764.png",
+      "transform_matrix": [
+        [
+          -0.9136756062507629,
+          -0.06265494227409363,
+          -0.40158602595329285,
+          106.99285125732422
+        ],
+        [
+          0.40029141306877136,
+          0.032555580139160156,
+          -0.9158093333244324,
+          10.961029052734375
+        ],
+        [
+          0.07045385986566544,
+          -0.9975040555000305,
+          -0.004665000829845667,
+          -33.26191711425781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4764,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_883081912",
+      "mask_path": "../../mask/hdr_right_04764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04765.png",
+      "transform_matrix": [
+        [
+          -0.910557210445404,
+          -0.06838848441839218,
+          -0.4076869785785675,
+          107.05536651611328
+        ],
+        [
+          0.4061490297317505,
+          0.035693228244781494,
+          -0.9131096005439758,
+          10.915464401245117
+        ],
+        [
+          0.07699784636497498,
+          -0.9970200657844543,
+          -0.004724808502942324,
+          -33.27275466918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4765,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323739_983082294",
+      "mask_path": "../../mask/hdr_right_04765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04766.png",
+      "transform_matrix": [
+        [
+          -0.9061501622200012,
+          -0.07529430836439133,
+          -0.41620030999183655,
+          107.10760498046875
+        ],
+        [
+          0.4144879877567291,
+          0.037839435040950775,
+          -0.909267783164978,
+          10.873297691345215
+        ],
+        [
+          0.08421147614717484,
+          -0.9964431524276733,
+          -0.0030796255450695753,
+          -33.277530670166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4766,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_83083629",
+      "mask_path": "../../mask/hdr_right_04766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04767.png",
+      "transform_matrix": [
+        [
+          -0.9007960557937622,
+          -0.07539135217666626,
+          -0.4276477098464966,
+          107.15062713623047
+        ],
+        [
+          0.4252021908760071,
+          0.04676495119929314,
+          -0.9038894772529602,
+          10.836419105529785
+        ],
+        [
+          0.08814437687397003,
+          -0.9960567951202393,
+          -0.01006911601871252,
+          -33.28444290161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4767,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_183081626",
+      "mask_path": "../../mask/hdr_right_04767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04768.png",
+      "transform_matrix": [
+        [
+          -0.8941305875778198,
+          -0.0839184820652008,
+          -0.4398730993270874,
+          107.20741271972656
+        ],
+        [
+          0.4369063377380371,
+          0.051928598433732986,
+          -0.8980069756507874,
+          10.796625137329102
+        ],
+        [
+          0.09820136427879333,
+          -0.9951186180114746,
+          -0.009766428731381893,
+          -33.3060417175293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4768,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_283081531",
+      "mask_path": "../../mask/hdr_right_04768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04769.png",
+      "transform_matrix": [
+        [
+          -0.8902401328086853,
+          -0.10400799661874771,
+          -0.44345784187316895,
+          107.27850341796875
+        ],
+        [
+          0.439597487449646,
+          0.058755628764629364,
+          -0.8962711095809937,
+          10.748724937438965
+        ],
+        [
+          0.11927501112222672,
+          -0.9928394556045532,
+          -0.006584961898624897,
+          -33.33632278442383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4769,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_383081912",
+      "mask_path": "../../mask/hdr_right_04769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04770.png",
+      "transform_matrix": [
+        [
+          -0.8886236548423767,
+          -0.11638680845499039,
+          -0.44362396001815796,
+          107.33562469482422
+        ],
+        [
+          0.4384957253932953,
+          0.06789836287498474,
+          -0.8961647748947144,
+          10.708155632019043
+        ],
+        [
+          0.13442309200763702,
+          -0.9908803701400757,
+          -0.009300973266363144,
+          -33.3621711730957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4770,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_483082056",
+      "mask_path": "../../mask/hdr_right_04770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04771.png",
+      "transform_matrix": [
+        [
+          -0.8881932497024536,
+          -0.12064353376626968,
+          -0.4433487355709076,
+          107.37775421142578
+        ],
+        [
+          0.4377876818180084,
+          0.07070843130350113,
+          -0.8962936401367188,
+          10.671771049499512
+        ],
+        [
+          0.13948051631450653,
+          -0.990174412727356,
+          -0.009986493736505508,
+          -33.37565231323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4771,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_583081245",
+      "mask_path": "../../mask/hdr_right_04771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04772.png",
+      "transform_matrix": [
+        [
+          -0.8921214938163757,
+          -0.12310297042131424,
+          -0.4347010850906372,
+          107.44287109375
+        ],
+        [
+          0.4281093180179596,
+          0.07711245119571686,
+          -0.9004310965538025,
+          10.61803150177002
+        ],
+        [
+          0.14436662197113037,
+          -0.989393413066864,
+          -0.016092143952846527,
+          -33.38856506347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4772,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_683079957",
+      "mask_path": "../../mask/hdr_right_04772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04773.png",
+      "transform_matrix": [
+        [
+          -0.8986464738845825,
+          -0.12781044840812683,
+          -0.41964155435562134,
+          107.50433349609375
+        ],
+        [
+          0.4121837317943573,
+          0.08137326687574387,
+          -0.9074596166610718,
+          10.567329406738281
+        ],
+        [
+          0.15013042092323303,
+          -0.9884548187255859,
+          -0.020444409921765327,
+          -33.39877700805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4773,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_783081293",
+      "mask_path": "../../mask/hdr_right_04773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04774.png",
+      "transform_matrix": [
+        [
+          -0.9063968658447266,
+          -0.12855762243270874,
+          -0.40239018201828003,
+          107.54556274414062
+        ],
+        [
+          0.39470866322517395,
+          0.08162839710712433,
+          -0.9151731133460999,
+          10.537331581115723
+        ],
+        [
+          0.15049892663955688,
+          -0.9883368611335754,
+          -0.023244906216859818,
+          -33.40376663208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4774,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_883080720",
+      "mask_path": "../../mask/hdr_right_04774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04775.png",
+      "transform_matrix": [
+        [
+          -0.9153622388839722,
+          -0.12255078554153442,
+          -0.3835275173187256,
+          107.58924102783203
+        ],
+        [
+          0.37507739663124084,
+          0.08677767962217331,
+          -0.9229229092597961,
+          10.512645721435547
+        ],
+        [
+          0.1463865488767624,
+          -0.9886611700057983,
+          -0.03346698731184006,
+          -33.41139221191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4775,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323740_983081340",
+      "mask_path": "../../mask/hdr_right_04775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04776.png",
+      "transform_matrix": [
+        [
+          -0.925136387348175,
+          -0.11401931196451187,
+          -0.36210811138153076,
+          107.65339660644531
+        ],
+        [
+          0.35406363010406494,
+          0.08500592410564423,
+          -0.9313501119613647,
+          10.485697746276855
+        ],
+        [
+          0.13697321712970734,
+          -0.9898351430892944,
+          -0.038271982222795486,
+          -33.4289665222168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4776,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_83077669",
+      "mask_path": "../../mask/hdr_right_04776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04777.png",
+      "transform_matrix": [
+        [
+          -0.9327927231788635,
+          -0.12230825424194336,
+          -0.33902573585510254,
+          107.72474670410156
+        ],
+        [
+          0.3311022222042084,
+          0.08077171444892883,
+          -0.9401315450668335,
+          10.447981834411621
+        ],
+        [
+          0.14236952364444733,
+          -0.9892000555992126,
+          -0.03484673425555229,
+          -33.44084930419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4777,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_183081865",
+      "mask_path": "../../mask/hdr_right_04777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04778.png",
+      "transform_matrix": [
+        [
+          -0.9363660216331482,
+          -0.13299977779388428,
+          -0.32485345005989075,
+          107.78340911865234
+        ],
+        [
+          0.3163711726665497,
+          0.08118580281734467,
+          -0.9451552033424377,
+          10.418027877807617
+        ],
+        [
+          0.15207892656326294,
+          -0.9877853393554688,
+          -0.0339423231780529,
+          -33.453250885009766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4778,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_283082008",
+      "mask_path": "../../mask/hdr_right_04778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04779.png",
+      "transform_matrix": [
+        [
+          -0.9380697011947632,
+          -0.13255634903907776,
+          -0.32008451223373413,
+          107.83935546875
+        ],
+        [
+          0.31076011061668396,
+          0.08645883947610855,
+          -0.9465479850769043,
+          10.395492553710938
+        ],
+        [
+          0.15314507484436035,
+          -0.9873974323272705,
+          -0.0399111807346344,
+          -33.46904754638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4779,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_383082151",
+      "mask_path": "../../mask/hdr_right_04779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04780.png",
+      "transform_matrix": [
+        [
+          -0.9385606646537781,
+          -0.13359062373638153,
+          -0.318209707736969,
+          107.89891815185547
+        ],
+        [
+          0.3087921440601349,
+          0.08667603135108948,
+          -0.9471719264984131,
+          10.374937057495117
+        ],
+        [
+          0.15411445498466492,
+          -0.9872389435768127,
+          -0.040098972618579865,
+          -33.48792266845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4780,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_483081102",
+      "mask_path": "../../mask/hdr_right_04780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04781.png",
+      "transform_matrix": [
+        [
+          -0.9389438033103943,
+          -0.12673108279705048,
+          -0.3198809325695038,
+          107.97831726074219
+        ],
+        [
+          0.31136322021484375,
+          0.08265754580497742,
+          -0.9466893076896667,
+          10.336053848266602
+        ],
+        [
+          0.14641554653644562,
+          -0.9884872436523438,
+          -0.038151394575834274,
+          -33.50137710571289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4781,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_583081245",
+      "mask_path": "../../mask/hdr_right_04781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04782.png",
+      "transform_matrix": [
+        [
+          -0.9389335513114929,
+          -0.11238913983106613,
+          -0.32522696256637573,
+          108.04581451416016
+        ],
+        [
+          0.3177408277988434,
+          0.07960464805364609,
+          -0.9448301792144775,
+          10.302274703979492
+        ],
+        [
+          0.13207821547985077,
+          -0.9904705286026001,
+          -0.03903285413980484,
+          -33.500579833984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4782,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_683082103",
+      "mask_path": "../../mask/hdr_right_04782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04783.png",
+      "transform_matrix": [
+        [
+          -0.9369822144508362,
+          -0.11363699287176132,
+          -0.3303802013397217,
+          108.12755584716797
+        ],
+        [
+          0.3246534466743469,
+          0.06620649993419647,
+          -0.943513035774231,
+          10.267322540283203
+        ],
+        [
+          0.129091277718544,
+          -0.9913139343261719,
+          -0.02514166384935379,
+          -33.51095199584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4783,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_783082246",
+      "mask_path": "../../mask/hdr_right_04783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04784.png",
+      "transform_matrix": [
+        [
+          -0.9359569549560547,
+          -0.12023463845252991,
+          -0.33095040917396545,
+          108.2214126586914
+        ],
+        [
+          0.32593896985054016,
+          0.05977153778076172,
+          -0.9434995055198669,
+          10.23104190826416
+        ],
+        [
+          0.13322271406650543,
+          -0.990944504737854,
+          -0.016754424199461937,
+          -33.540008544921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4784,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_883082151",
+      "mask_path": "../../mask/hdr_right_04784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04785.png",
+      "transform_matrix": [
+        [
+          -0.9367204308509827,
+          -0.1193387433886528,
+          -0.32910990715026855,
+          108.28649139404297
+        ],
+        [
+          0.32415977120399475,
+          0.05931863188743591,
+          -0.9441407322883606,
+          10.211562156677246
+        ],
+        [
+          0.1321949064731598,
+          -0.9910799860954285,
+          -0.016880137845873833,
+          -33.56122970581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4785,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323741_983081340",
+      "mask_path": "../../mask/hdr_right_04785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04786.png",
+      "transform_matrix": [
+        [
+          -0.9378454089164734,
+          -0.1146342009305954,
+          -0.3275744616985321,
+          108.34705352783203
+        ],
+        [
+          0.32289817929267883,
+          0.057758379727602005,
+          -0.9446697235107422,
+          10.185946464538574
+        ],
+        [
+          0.12721164524555206,
+          -0.9917272329330444,
+          -0.01715325377881527,
+          -33.573238372802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4786,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_83081245",
+      "mask_path": "../../mask/hdr_right_04786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04787.png",
+      "transform_matrix": [
+        [
+          -0.9369335174560547,
+          -0.11285452544689178,
+          -0.3307860493659973,
+          108.4232177734375
+        ],
+        [
+          0.3264915943145752,
+          0.05516113340854645,
+          -0.9435892105102539,
+          10.147363662719727
+        ],
+        [
+          0.12473484873771667,
+          -0.9920791983604431,
+          -0.014836262911558151,
+          -33.58113098144531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4787,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_183081626",
+      "mask_path": "../../mask/hdr_right_04787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04788.png",
+      "transform_matrix": [
+        [
+          -0.9344117641448975,
+          -0.11152630299329758,
+          -0.3382849097251892,
+          108.49484252929688
+        ],
+        [
+          0.3345734477043152,
+          0.05103907361626625,
+          -0.9409865140914917,
+          10.101611137390137
+        ],
+        [
+          0.12221051007509232,
+          -0.992449939250946,
+          -0.010377773083746433,
+          -33.58160400390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4788,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_283081531",
+      "mask_path": "../../mask/hdr_right_04788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04789.png",
+      "transform_matrix": [
+        [
+          -0.9319868087768555,
+          -0.10655875504016876,
+          -0.34647655487060547,
+          108.55297088623047
+        ],
+        [
+          0.3434027135372162,
+          0.04654731974005699,
+          -0.9380341172218323,
+          10.060759544372559
+        ],
+        [
+          0.1160833016037941,
+          -0.9932162761688232,
+          -0.006788920611143112,
+          -33.585044860839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4789,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_383081436",
+      "mask_path": "../../mask/hdr_right_04789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04790.png",
+      "transform_matrix": [
+        [
+          -0.9290726184844971,
+          -0.10818126052618027,
+          -0.35372430086135864,
+          108.62260437011719
+        ],
+        [
+          0.35156866908073425,
+          0.0390317440032959,
+          -0.9353481531143188,
+          10.014711380004883
+        ],
+        [
+          0.1149936094880104,
+          -0.9933646321296692,
+          0.0017698160372674465,
+          -33.595558166503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4790,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_483083009",
+      "mask_path": "../../mask/hdr_right_04790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04791.png",
+      "transform_matrix": [
+        [
+          -0.9283829927444458,
+          -0.12160882353782654,
+          -0.3511642813682556,
+          108.70913696289062
+        ],
+        [
+          0.35008731484413147,
+          0.030823510140180588,
+          -0.9362097978591919,
+          9.961379051208496
+        ],
+        [
+          0.12467548996210098,
+          -0.9920994639396667,
+          0.013957682996988297,
+          -33.61012649536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4791,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_583080768",
+      "mask_path": "../../mask/hdr_right_04791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04792.png",
+      "transform_matrix": [
+        [
+          -0.9308735132217407,
+          -0.12905459105968475,
+          -0.3417886197566986,
+          108.78080749511719
+        ],
+        [
+          0.3415002226829529,
+          0.025053275749087334,
+          -0.9395477771759033,
+          9.923389434814453
+        ],
+        [
+          0.12981587648391724,
+          -0.9913209676742554,
+          0.02075074426829815,
+          -33.62925338745117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4792,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_683082818",
+      "mask_path": "../../mask/hdr_right_04792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04793.png",
+      "transform_matrix": [
+        [
+          -0.9345117807388306,
+          -0.1257854551076889,
+          -0.33296528458595276,
+          108.8371810913086
+        ],
+        [
+          0.3325231969356537,
+          0.025119513273239136,
+          -0.9427605271339417,
+          9.897448539733887
+        ],
+        [
+          0.1269494891166687,
+          -0.9917393922805786,
+          0.018352102488279343,
+          -33.64638900756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4793,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_783081054",
+      "mask_path": "../../mask/hdr_right_04793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04794.png",
+      "transform_matrix": [
+        [
+          -0.9352949857711792,
+          -0.13475829362869263,
+          -0.3272055685520172,
+          108.91395568847656
+        ],
+        [
+          0.32637545466423035,
+          0.02884039655327797,
+          -0.9448001384735107,
+          9.847689628601074
+        ],
+        [
+          0.13675640523433685,
+          -0.9904586672782898,
+          0.017007526010274887,
+          -33.66800308227539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4794,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_883081674",
+      "mask_path": "../../mask/hdr_right_04794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04795.png",
+      "transform_matrix": [
+        [
+          -0.933826208114624,
+          -0.15287050604820251,
+          -0.32341820001602173,
+          108.9856185913086
+        ],
+        [
+          0.3218497335910797,
+          0.035593386739492416,
+          -0.9461214542388916,
+          9.797367095947266
+        ],
+        [
+          0.1561456322669983,
+          -0.9876050353050232,
+          0.015963295474648476,
+          -33.69019317626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4795,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323742_983081817",
+      "mask_path": "../../mask/hdr_right_04795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04796.png",
+      "transform_matrix": [
+        [
+          -0.9334701895713806,
+          -0.1604619324207306,
+          -0.3207577168941498,
+          109.03548431396484
+        ],
+        [
+          0.3176390826702118,
+          0.045433159917593,
+          -0.9471226334571838,
+          9.771886825561523
+        ],
+        [
+          0.1665501594543457,
+          -0.9859958291053772,
+          0.008558490313589573,
+          -33.709930419921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4796,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_83082914",
+      "mask_path": "../../mask/hdr_right_04796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04797.png",
+      "transform_matrix": [
+        [
+          -0.9344345331192017,
+          -0.15598076581954956,
+          -0.3201596140861511,
+          109.08808135986328
+        ],
+        [
+          0.31548264622688293,
+          0.054552894085645676,
+          -0.947361946105957,
+          9.747994422912598
+        ],
+        [
+          0.16523589193820953,
+          -0.98625248670578,
+          -0.001766879460774362,
+          -33.729976654052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4797,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_183081388",
+      "mask_path": "../../mask/hdr_right_04797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04798.png",
+      "transform_matrix": [
+        [
+          -0.9335049986839294,
+          -0.16270242631435394,
+          -0.3195250332355499,
+          109.16932678222656
+        ],
+        [
+          0.31472256779670715,
+          0.05519076809287071,
+          -0.9475778937339783,
+          9.70988941192627
+        ],
+        [
+          0.17180804908275604,
+          -0.9851303696632385,
+          -0.00031472774571739137,
+          -33.74940490722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4798,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_283082485",
+      "mask_path": "../../mask/hdr_right_04798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04799.png",
+      "transform_matrix": [
+        [
+          -0.9320105314254761,
+          -0.17572063207626343,
+          -0.31698355078697205,
+          109.2444076538086
+        ],
+        [
+          0.31263428926467896,
+          0.05265628919005394,
+          -0.9484129548072815,
+          9.675963401794434
+        ],
+        [
+          0.1833469122648239,
+          -0.9830307960510254,
+          0.005860068369656801,
+          -33.767826080322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4799,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_383081436",
+      "mask_path": "../../mask/hdr_right_04799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04800.png",
+      "transform_matrix": [
+        [
+          -0.931969940662384,
+          -0.1816057413816452,
+          -0.31376969814300537,
+          109.29545593261719
+        ],
+        [
+          0.30974453687667847,
+          0.05087154731154442,
+          -0.9494580030441284,
+          9.651934623718262
+        ],
+        [
+          0.18838895857334137,
+          -0.9820547103881836,
+          0.008840635418891907,
+          -33.78753662109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4800,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_483082771",
+      "mask_path": "../../mask/hdr_right_04800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04801.png",
+      "transform_matrix": [
+        [
+          -0.9327632784843445,
+          -0.18330888450145721,
+          -0.3104039132595062,
+          109.3443832397461
+        ],
+        [
+          0.3066694140434265,
+          0.04911830648779869,
+          -0.9505479335784912,
+          9.629764556884766
+        ],
+        [
+          0.18949037790298462,
+          -0.9818274974822998,
+          0.010399469174444675,
+          -33.80690383911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4801,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_583081722",
+      "mask_path": "../../mask/hdr_right_04801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04802.png",
+      "transform_matrix": [
+        [
+          -0.9301791787147522,
+          -0.19190140068531036,
+          -0.31295478343963623,
+          109.41429901123047
+        ],
+        [
+          0.3073608875274658,
+          0.059046145528554916,
+          -0.9497593641281128,
+          9.584565162658691
+        ],
+        [
+          0.20073892176151276,
+          -0.9796363711357117,
+          0.004059502389281988,
+          -33.8228645324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4802,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_683082342",
+      "mask_path": "../../mask/hdr_right_04802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04803.png",
+      "transform_matrix": [
+        [
+          -0.9252834320068359,
+          -0.20139960944652557,
+          -0.3213857114315033,
+          109.46764373779297
+        ],
+        [
+          0.3139669895172119,
+          0.06865561008453369,
+          -0.9469483494758606,
+          9.543986320495605
+        ],
+        [
+          0.2127799540758133,
+          -0.977100133895874,
+          -0.0002930693153757602,
+          -33.829917907714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4803,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_783082008",
+      "mask_path": "../../mask/hdr_right_04803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04805.png",
+      "transform_matrix": [
+        [
+          -0.9190728664398193,
+          -0.20289543271064758,
+          -0.33784404397010803,
+          109.54464721679688
+        ],
+        [
+          0.3305218815803528,
+          0.07000898569822311,
+          -0.9411982297897339,
+          9.484220504760742
+        ],
+        [
+          0.21461693942546844,
+          -0.9766945838928223,
+          0.0027180365286767483,
+          -33.84576416015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4805,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323743_983081817",
+      "mask_path": "../../mask/hdr_right_04805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04806.png",
+      "transform_matrix": [
+        [
+          -0.9175338745117188,
+          -0.19830328226089478,
+          -0.344684898853302,
+          109.60972595214844
+        ],
+        [
+          0.3368961215019226,
+          0.07286058366298676,
+          -0.9387185573577881,
+          9.437689781188965
+        ],
+        [
+          0.21126489341259003,
+          -0.9774288535118103,
+          -4.444248043000698e-05,
+          -33.864715576171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4806,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_83082199",
+      "mask_path": "../../mask/hdr_right_04806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04807.png",
+      "transform_matrix": [
+        [
+          -0.9197821021080017,
+          -0.19161055982112885,
+          -0.34247082471847534,
+          109.67243957519531
+        ],
+        [
+          0.3337042033672333,
+          0.07732624560594559,
+          -0.9395010471343994,
+          9.404071807861328
+        ],
+        [
+          0.20650029182434082,
+          -0.9784201979637146,
+          -0.00718203978613019,
+          -33.88832473754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4807,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_183081388",
+      "mask_path": "../../mask/hdr_right_04807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04809.png",
+      "transform_matrix": [
+        [
+          -0.9316422343254089,
+          -0.17397521436214447,
+          -0.31902259588241577,
+          109.7693862915039
+        ],
+        [
+          0.307672917842865,
+          0.08944983780384064,
+          -0.9472783803939819,
+          9.374429702758789
+        ],
+        [
+          0.19333943724632263,
+          -0.9806790351867676,
+          -0.029807789251208305,
+          -33.917640686035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4809,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_383081674",
+      "mask_path": "../../mask/hdr_right_04809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04810.png",
+      "transform_matrix": [
+        [
+          -0.9391202926635742,
+          -0.17016220092773438,
+          -0.29849278926849365,
+          109.83917236328125
+        ],
+        [
+          0.287103533744812,
+          0.08859635144472122,
+          -0.9537936449050903,
+          9.339608192443848
+        ],
+        [
+          0.18874499201774597,
+          -0.9814252257347107,
+          -0.034348465502262115,
+          -33.92608642578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4810,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_483082294",
+      "mask_path": "../../mask/hdr_right_04810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04811.png",
+      "transform_matrix": [
+        [
+          -0.9461844563484192,
+          -0.16365203261375427,
+          -0.27920064330101013,
+          109.89735412597656
+        ],
+        [
+          0.2684289216995239,
+          0.08505845814943314,
+          -0.9595368504524231,
+          9.306496620178223
+        ],
+        [
+          0.18077854812145233,
+          -0.9828444123268127,
+          -0.036552056670188904,
+          -33.930843353271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4811,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_583080768",
+      "mask_path": "../../mask/hdr_right_04811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04813.png",
+      "transform_matrix": [
+        [
+          -0.9566190838813782,
+          -0.13994260132312775,
+          -0.25553062558174133,
+          110.00016784667969
+        ],
+        [
+          0.24592305719852448,
+          0.08240312337875366,
+          -0.9657803773880005,
+          9.266263008117676
+        ],
+        [
+          0.15621034801006317,
+          -0.9867247939109802,
+          -0.04441329091787338,
+          -33.946468353271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4813,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_783083915",
+      "mask_path": "../../mask/hdr_right_04813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04814.png",
+      "transform_matrix": [
+        [
+          -0.9594420790672302,
+          -0.1369045376777649,
+          -0.24643059074878693,
+          110.07527923583984
+        ],
+        [
+          0.23731498420238495,
+          0.07958794385194778,
+          -0.9681670069694519,
+          9.233346939086914
+        ],
+        [
+          0.15215936303138733,
+          -0.9873818159103394,
+          -0.04387052729725838,
+          -33.9609489440918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4814,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_883081436",
+      "mask_path": "../../mask/hdr_right_04814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04815.png",
+      "transform_matrix": [
+        [
+          -0.9609156250953674,
+          -0.13507746160030365,
+          -0.24165095388889313,
+          110.13565826416016
+        ],
+        [
+          0.23219722509384155,
+          0.08207231760025024,
+          -0.9692000150680542,
+          9.217231750488281
+        ],
+        [
+          0.15074993669986725,
+          -0.9874300956726074,
+          -0.04749995842576027,
+          -33.97488784790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4815,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323744_983081817",
+      "mask_path": "../../mask/hdr_right_04815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04816.png",
+      "transform_matrix": [
+        [
+          -0.9622300267219543,
+          -0.13248486816883087,
+          -0.23782581090927124,
+          110.19075775146484
+        ],
+        [
+          0.22750988602638245,
+          0.08842750638723373,
+          -0.9697524309158325,
+          9.208087921142578
+        ],
+        [
+          0.14950786530971527,
+          -0.9872326254844666,
+          -0.05494598299264908,
+          -33.986915588378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4816,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_83081960",
+      "mask_path": "../../mask/hdr_right_04816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04817.png",
+      "transform_matrix": [
+        [
+          -0.9612919688224792,
+          -0.1365656703710556,
+          -0.23930640518665314,
+          110.25922393798828
+        ],
+        [
+          0.22776441276073456,
+          0.09489351511001587,
+          -0.9690813422203064,
+          9.197324752807617
+        ],
+        [
+          0.15505187213420868,
+          -0.9860755801200867,
+          -0.060115572065114975,
+          -34.00051498413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4817,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_183082818",
+      "mask_path": "../../mask/hdr_right_04817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04818.png",
+      "transform_matrix": [
+        [
+          -0.9590423107147217,
+          -0.14027050137519836,
+          -0.2460935264825821,
+          110.32205963134766
+        ],
+        [
+          0.23428593575954437,
+          0.0955064669251442,
+          -0.9674651026725769,
+          9.18350601196289
+        ],
+        [
+          0.15921032428741455,
+          -0.9854961633682251,
+          -0.058731332421302795,
+          -34.00834274291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4818,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_283081769",
+      "mask_path": "../../mask/hdr_right_04818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04819.png",
+      "transform_matrix": [
+        [
+          -0.9567325115203857,
+          -0.13727201521396637,
+          -0.2565528154373169,
+          110.37433624267578
+        ],
+        [
+          0.24564817547798157,
+          0.09150874614715576,
+          -0.9650301933288574,
+          9.163823127746582
+        ],
+        [
+          0.1559484452009201,
+          -0.9862973690032959,
+          -0.053828779608011246,
+          -34.018096923828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4819,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_383080720",
+      "mask_path": "../../mask/hdr_right_04819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04820.png",
+      "transform_matrix": [
+        [
+          -0.9533669948577881,
+          -0.1442997008562088,
+          -0.2650831639766693,
+          110.44882202148438
+        ],
+        [
+          0.25585851073265076,
+          0.07945653051137924,
+          -0.963443398475647,
+          9.136249542236328
+        ],
+        [
+          0.16008718311786652,
+          -0.9863387942314148,
+          -0.03883091360330582,
+          -34.037841796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4820,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_483082532",
+      "mask_path": "../../mask/hdr_right_04820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04821.png",
+      "transform_matrix": [
+        [
+          -0.9489942193031311,
+          -0.16825321316719055,
+          -0.26664742827415466,
+          110.53184509277344
+        ],
+        [
+          0.257942259311676,
+          0.07204174995422363,
+          -0.9634706974029541,
+          9.106881141662598
+        ],
+        [
+          0.1813167929649353,
+          -0.9831077456474304,
+          -0.024967586621642113,
+          -34.07859420776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4821,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_583081483",
+      "mask_path": "../../mask/hdr_right_04821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04822.png",
+      "transform_matrix": [
+        [
+          -0.9442750215530396,
+          -0.18987174332141876,
+          -0.2688744366168976,
+          110.58543395996094
+        ],
+        [
+          0.25920355319976807,
+          0.07453029602766037,
+          -0.9629427790641785,
+          9.084648132324219
+        ],
+        [
+          0.20287492871284485,
+          -0.9789760112762451,
+          -0.021161656826734543,
+          -34.11880874633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4822,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_683081388",
+      "mask_path": "../../mask/hdr_right_04822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04823.png",
+      "transform_matrix": [
+        [
+          -0.9415076375007629,
+          -0.2000722736120224,
+          -0.2711726725101471,
+          110.63230895996094
+        ],
+        [
+          0.26070430874824524,
+          0.07745300978422165,
+          -0.9623067378997803,
+          9.06103801727295
+        ],
+        [
+          0.21353402733802795,
+          -0.9767149090766907,
+          -0.020762894302606583,
+          -34.14634323120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4823,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_783081293",
+      "mask_path": "../../mask/hdr_right_04823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04824.png",
+      "transform_matrix": [
+        [
+          -0.9392732381820679,
+          -0.20848053693771362,
+          -0.2725835144519806,
+          110.70850372314453
+        ],
+        [
+          0.2600555121898651,
+          0.08585555851459503,
+          -0.9617692232131958,
+          9.01354694366455
+        ],
+        [
+          0.22391296923160553,
+          -0.9742507934570312,
+          -0.026425305753946304,
+          -34.17277526855469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4824,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_883081674",
+      "mask_path": "../../mask/hdr_right_04824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04825.png",
+      "transform_matrix": [
+        [
+          -0.9351997971534729,
+          -0.2177780121564865,
+          -0.2792383134365082,
+          110.77899169921875
+        ],
+        [
+          0.2653006613254547,
+          0.09142234176397324,
+          -0.9598215818405151,
+          8.964428901672363
+        ],
+        [
+          0.2345566600561142,
+          -0.9717071056365967,
+          -0.027721496298909187,
+          -34.193359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4825,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323745_983080863",
+      "mask_path": "../../mask/hdr_right_04825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04826.png",
+      "transform_matrix": [
+        [
+          -0.9306837320327759,
+          -0.22071583569049835,
+          -0.2917402386665344,
+          110.82929992675781
+        ],
+        [
+          0.278194785118103,
+          0.09086605161428452,
+          -0.9562170505523682,
+          8.93116569519043
+        ],
+        [
+          0.23756152391433716,
+          -0.9710962176322937,
+          -0.02316555380821228,
+          -34.212745666503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4826,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_83082199",
+      "mask_path": "../../mask/hdr_right_04826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04827.png",
+      "transform_matrix": [
+        [
+          -0.9265937209129333,
+          -0.2211703062057495,
+          -0.30415078997612,
+          110.89143371582031
+        ],
+        [
+          0.29203811287879944,
+          0.08637037873268127,
+          -0.9524988532066345,
+          8.891149520874023
+        ],
+        [
+          0.23693405091762543,
+          -0.9714030027389526,
+          -0.015440116636455059,
+          -34.23966979980469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4827,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_183082342",
+      "mask_path": "../../mask/hdr_right_04827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04828.png",
+      "transform_matrix": [
+        [
+          -0.9204388856887817,
+          -0.23663437366485596,
+          -0.3111210763454437,
+          110.97496032714844
+        ],
+        [
+          0.2984853684902191,
+          0.08842214196920395,
+          -0.9503095149993896,
+          8.83810043334961
+        ],
+        [
+          0.2523859143257141,
+          -0.9675668478012085,
+          -0.010755281895399094,
+          -34.27091598510742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4828,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_283082008",
+      "mask_path": "../../mask/hdr_right_04828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04829.png",
+      "transform_matrix": [
+        [
+          -0.9156438708305359,
+          -0.25020501017570496,
+          -0.314632773399353,
+          111.04560852050781
+        ],
+        [
+          0.29962533712387085,
+          0.09700741618871689,
+          -0.9491123557090759,
+          8.796331405639648
+        ],
+        [
+          0.26799437403678894,
+          -0.963320791721344,
+          -0.013856487348675728,
+          -34.298072814941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4829,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_383081912",
+      "mask_path": "../../mask/hdr_right_04829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04830.png",
+      "transform_matrix": [
+        [
+          -0.9135052561759949,
+          -0.2550692856311798,
+          -0.3169349431991577,
+          111.11266326904297
+        ],
+        [
+          0.30173248052597046,
+          0.09776335954666138,
+          -0.9483669400215149,
+          8.767529487609863
+        ],
+        [
+          0.2728838622570038,
+          -0.9619677662849426,
+          -0.012344658374786377,
+          -34.32261657714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4830,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_483082294",
+      "mask_path": "../../mask/hdr_right_04830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04831.png",
+      "transform_matrix": [
+        [
+          -0.9086958169937134,
+          -0.2645302414894104,
+          -0.3229483366012573,
+          111.19043731689453
+        ],
+        [
+          0.3033500909805298,
+          0.1130475103855133,
+          -0.946149468421936,
+          8.717215538024902
+        ],
+        [
+          0.28679364919662476,
+          -0.9577285647392273,
+          -0.022480523213744164,
+          -34.360931396484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4831,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_583082675",
+      "mask_path": "../../mask/hdr_right_04831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04832.png",
+      "transform_matrix": [
+        [
+          -0.8994128108024597,
+          -0.27206286787986755,
+          -0.342108815908432,
+          111.25650787353516
+        ],
+        [
+          0.3109632432460785,
+          0.15177005529403687,
+          -0.9382258057594299,
+          8.675601959228516
+        ],
+        [
+          0.3071782886981964,
+          -0.9502355456352234,
+          -0.05190239101648331,
+          -34.37773513793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4832,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_683082103",
+      "mask_path": "../../mask/hdr_right_04832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04834.png",
+      "transform_matrix": [
+        [
+          -0.892094075679779,
+          -0.26489487290382385,
+          -0.36605873703956604,
+          111.36238098144531
+        ],
+        [
+          0.3351094722747803,
+          0.15557003021240234,
+          -0.9292467832565308,
+          8.611247062683105
+        ],
+        [
+          0.30310049653053284,
+          -0.9516451954841614,
+          -0.05001432076096535,
+          -34.406982421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4834,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_883082389",
+      "mask_path": "../../mask/hdr_right_04834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04835.png",
+      "transform_matrix": [
+        [
+          -0.8954592347145081,
+          -0.2525075674057007,
+          -0.366595983505249,
+          111.44014739990234
+        ],
+        [
+          0.3381754159927368,
+          0.1496412605047226,
+          -0.9291097521781921,
+          8.570674896240234
+        ],
+        [
+          0.2894650995731354,
+          -0.9559537172317505,
+          -0.048605795949697495,
+          -34.42719650268555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4835,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323746_983081579",
+      "mask_path": "../../mask/hdr_right_04835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04836.png",
+      "transform_matrix": [
+        [
+          -0.9010414481163025,
+          -0.2355005294084549,
+          -0.36423054337501526,
+          111.49915313720703
+        ],
+        [
+          0.3375522792339325,
+          0.14658698439598083,
+          -0.9298229217529297,
+          8.544153213500977
+        ],
+        [
+          0.2723652720451355,
+          -0.9607558846473694,
+          -0.05258720740675926,
+          -34.43977737426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4836,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_83081722",
+      "mask_path": "../../mask/hdr_right_04836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04837.png",
+      "transform_matrix": [
+        [
+          -0.9057422280311584,
+          -0.21871887147426605,
+          -0.36303314566612244,
+          111.55799102783203
+        ],
+        [
+          0.33678266406059265,
+          0.14860683679580688,
+          -0.9297813773155212,
+          8.517539024353027
+        ],
+        [
+          0.2573099434375763,
+          -0.9644055366516113,
+          -0.060938768088817596,
+          -34.461822509765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4837,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_183083534",
+      "mask_path": "../../mask/hdr_right_04837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04838.png",
+      "transform_matrix": [
+        [
+          -0.9106642007827759,
+          -0.20032958686351776,
+          -0.36132925748825073,
+          111.62644958496094
+        ],
+        [
+          0.33835655450820923,
+          0.14022783935070038,
+          -0.9305111169815063,
+          8.477789878845215
+        ],
+        [
+          0.23707734048366547,
+          -0.9696413278579712,
+          -0.0599176399409771,
+          -34.481849670410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4838,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_283082246",
+      "mask_path": "../../mask/hdr_right_04838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04839.png",
+      "transform_matrix": [
+        [
+          -0.9115350842475891,
+          -0.1886691451072693,
+          -0.36538711190223694,
+          111.69422912597656
+        ],
+        [
+          0.34416425228118896,
+          0.13629144430160522,
+          -0.9289648532867432,
+          8.417277336120605
+        ],
+        [
+          0.225066140294075,
+          -0.9725372195243835,
+          -0.05930127203464508,
+          -34.48305130004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4839,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_383083105",
+      "mask_path": "../../mask/hdr_right_04839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04841.png",
+      "transform_matrix": [
+        [
+          -0.9185851812362671,
+          -0.16100195050239563,
+          -0.36094266176223755,
+          111.75360870361328
+        ],
+        [
+          0.34700092673301697,
+          0.10861749947071075,
+          -0.9315539002418518,
+          8.383783340454102
+        ],
+        [
+          0.189186692237854,
+          -0.9809589982032776,
+          -0.04390661045908928,
+          -34.46297073364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4841,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_583082199",
+      "mask_path": "../../mask/hdr_right_04841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04842.png",
+      "transform_matrix": [
+        [
+          -0.9214658141136169,
+          -0.14222145080566406,
+          -0.3614882826805115,
+          111.8052749633789
+        ],
+        [
+          0.3510776460170746,
+          0.09340331703424454,
+          -0.9316760897636414,
+          8.350069046020508
+        ],
+        [
+          0.16626854240894318,
+          -0.9854180812835693,
+          -0.036137182265520096,
+          -34.471649169921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4842,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_683081388",
+      "mask_path": "../../mask/hdr_right_04842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04843.png",
+      "transform_matrix": [
+        [
+          -0.923297107219696,
+          -0.12767788767814636,
+          -0.3622440695762634,
+          111.87744903564453
+        ],
+        [
+          0.3536527752876282,
+          0.0853324681520462,
+          -0.9314762949943542,
+          8.31640625
+        ],
+        [
+          0.1498401015996933,
+          -0.98813796043396,
+          -0.03363356366753578,
+          -34.48563766479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4843,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_783080339",
+      "mask_path": "../../mask/hdr_right_04843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04845.png",
+      "transform_matrix": [
+        [
+          -0.9262863993644714,
+          -0.10153190046548843,
+          -0.3628842234611511,
+          111.96610260009766
+        ],
+        [
+          0.35446423292160034,
+          0.0919950008392334,
+          -0.9305332899093628,
+          8.292524337768555
+        ],
+        [
+          0.1278623342514038,
+          -0.9905695915222168,
+          -0.04922429099678993,
+          -34.48707962036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4845,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323747_983082056",
+      "mask_path": "../../mask/hdr_right_04845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04846.png",
+      "transform_matrix": [
+        [
+          -0.9279968738555908,
+          -0.0921480804681778,
+          -0.3610132932662964,
+          112.0262222290039
+        ],
+        [
+          0.3537147343158722,
+          0.08658718317747116,
+          -0.9313369989395142,
+          8.27273178100586
+        ],
+        [
+          0.11708004027605057,
+          -0.9919734597206116,
+          -0.047758493572473526,
+          -34.499366760253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4846,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_83082199",
+      "mask_path": "../../mask/hdr_right_04846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04847.png",
+      "transform_matrix": [
+        [
+          -0.9277125597000122,
+          -0.08112450689077377,
+          -0.3643738329410553,
+          112.08699035644531
+        ],
+        [
+          0.35889142751693726,
+          0.07470034062862396,
+          -0.9303852319717407,
+          8.242111206054688
+        ],
+        [
+          0.10269589722156525,
+          -0.993900716304779,
+          -0.040185555815696716,
+          -34.495845794677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4847,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_183082103",
+      "mask_path": "../../mask/hdr_right_04847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04849.png",
+      "transform_matrix": [
+        [
+          -0.919813871383667,
+          -0.06478407979011536,
+          -0.386969655752182,
+          112.18302917480469
+        ],
+        [
+          0.38418814539909363,
+          0.0514700822532177,
+          -0.9218190312385559,
+          8.164417266845703
+        ],
+        [
+          0.07963655889034271,
+          -0.9965710043907166,
+          -0.02245362289249897,
+          -34.492488861083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4849,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_383082151",
+      "mask_path": "../../mask/hdr_right_04849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04850.png",
+      "transform_matrix": [
+        [
+          -0.9170121550559998,
+          -0.07064562290906906,
+          -0.3925531208515167,
+          112.2525863647461
+        ],
+        [
+          0.39058637619018555,
+          0.040359314531087875,
+          -0.919681191444397,
+          8.11176872253418
+        ],
+        [
+          0.08081461489200592,
+          -0.9966846704483032,
+          -0.00941676739603281,
+          -34.50737762451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4850,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_483081817",
+      "mask_path": "../../mask/hdr_right_04850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04851.png",
+      "transform_matrix": [
+        [
+          -0.9171099066734314,
+          -0.07742532342672348,
+          -0.3910430371761322,
+          112.30086517333984
+        ],
+        [
+          0.3897225558757782,
+          0.03211842104792595,
+          -0.9203720688819885,
+          8.074345588684082
+        ],
+        [
+          0.08381979167461395,
+          -0.9964806437492371,
+          0.000718271650839597,
+          -34.52147674560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4851,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_583081722",
+      "mask_path": "../../mask/hdr_right_04851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04852.png",
+      "transform_matrix": [
+        [
+          -0.9178184270858765,
+          -0.07766573131084442,
+          -0.3893294334411621,
+          112.35486602783203
+        ],
+        [
+          0.3880622088909149,
+          0.031413547694683075,
+          -0.9210976362228394,
+          8.040581703186035
+        ],
+        [
+          0.08376794308423996,
+          -0.9964844584465027,
+          0.0013072022702544928,
+          -34.536075592041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4852,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_683082103",
+      "mask_path": "../../mask/hdr_right_04852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04853.png",
+      "transform_matrix": [
+        [
+          -0.915431022644043,
+          -0.08599129319190979,
+          -0.3931814432144165,
+          112.42671966552734
+        ],
+        [
+          0.39055272936820984,
+          0.046220794320106506,
+          -0.919419527053833,
+          7.983393669128418
+        ],
+        [
+          0.09723521769046783,
+          -0.9952231645584106,
+          -0.008727818727493286,
+          -34.56247329711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4853,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_783082246",
+      "mask_path": "../../mask/hdr_right_04853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04855.png",
+      "transform_matrix": [
+        [
+          -0.9059339761734009,
+          -0.10523981600999832,
+          -0.4101320207118988,
+          112.50883483886719
+        ],
+        [
+          0.40913474559783936,
+          0.031897466629743576,
+          -0.9119162559509277,
+          7.910582542419434
+        ],
+        [
+          0.10905206948518753,
+          -0.9939351081848145,
+          0.014160276390612125,
+          -34.57893753051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4855,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323748_983080387",
+      "mask_path": "../../mask/hdr_right_04855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04856.png",
+      "transform_matrix": [
+        [
+          -0.903497576713562,
+          -0.10474352538585663,
+          -0.4155969023704529,
+          112.56610107421875
+        ],
+        [
+          0.4159587323665619,
+          0.01941084675490856,
+          -0.9091763496398926,
+          7.867797374725342
+        ],
+        [
+          0.10329741984605789,
+          -0.9943098425865173,
+          0.026031330227851868,
+          -34.571189880371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4856,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_83081007",
+      "mask_path": "../../mask/hdr_right_04856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04857.png",
+      "transform_matrix": [
+        [
+          -0.9026029706001282,
+          -0.120914526283741,
+          -0.4131436347961426,
+          112.64199829101562
+        ],
+        [
+          0.41274240612983704,
+          0.02952961064875126,
+          -0.9103690385818481,
+          7.830855846405029
+        ],
+        [
+          0.12227681279182434,
+          -0.9922236204147339,
+          0.023253044113516808,
+          -34.600372314453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4857,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_183082818",
+      "mask_path": "../../mask/hdr_right_04857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04858.png",
+      "transform_matrix": [
+        [
+          -0.9044231176376343,
+          -0.13401298224925995,
+          -0.40504252910614014,
+          112.70556640625
+        ],
+        [
+          0.40343448519706726,
+          0.04017791152000427,
+          -0.914125919342041,
+          7.799350738525391
+        ],
+        [
+          0.13877852261066437,
+          -0.9901647567749023,
+          0.01772763952612877,
+          -34.63852310180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4858,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_283081054",
+      "mask_path": "../../mask/hdr_right_04858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04859.png",
+      "transform_matrix": [
+        [
+          -0.9089719653129578,
+          -0.1360534280538559,
+          -0.39402976632118225,
+          112.75525665283203
+        ],
+        [
+          0.3918094038963318,
+          0.04387545958161354,
+          -0.9189996123313904,
+          7.786044597625732
+        ],
+        [
+          0.14232128858566284,
+          -0.9897294640541077,
+          0.013425443321466446,
+          -34.65826416015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4859,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_383081436",
+      "mask_path": "../../mask/hdr_right_04859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04860.png",
+      "transform_matrix": [
+        [
+          -0.9153446555137634,
+          -0.13740825653076172,
+          -0.37850114703178406,
+          112.8232192993164
+        ],
+        [
+          0.3740834593772888,
+          0.05767623707652092,
+          -0.9255998730659485,
+          7.754288196563721
+        ],
+        [
+          0.14901559054851532,
+          -0.9888339042663574,
+          -0.00139147462323308,
+          -34.67578887939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4860,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_483080625",
+      "mask_path": "../../mask/hdr_right_04860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04861.png",
+      "transform_matrix": [
+        [
+          -0.9217900633811951,
+          -0.1456427425146103,
+          -0.3592929244041443,
+          112.88067626953125
+        ],
+        [
+          0.3519160747528076,
+          0.07449720054864883,
+          -0.9330623149871826,
+          7.735066890716553
+        ],
+        [
+          0.16266006231307983,
+          -0.9865284562110901,
+          -0.017416754737496376,
+          -34.68428421020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4861,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_583078622",
+      "mask_path": "../../mask/hdr_right_04861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04862.png",
+      "transform_matrix": [
+        [
+          -0.9271455407142639,
+          -0.15129686892032623,
+          -0.3427979350090027,
+          112.92565155029297
+        ],
+        [
+          0.3337096571922302,
+          0.0826544314622879,
+          -0.939045250415802,
+          7.713936805725098
+        ],
+        [
+          0.17040836811065674,
+          -0.9850266575813293,
+          -0.02614346332848072,
+          -34.686702728271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4862,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_683082103",
+      "mask_path": "../../mask/hdr_right_04862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04865.png",
+      "transform_matrix": [
+        [
+          -0.9219247698783875,
+          -0.16311301290988922,
+          -0.3513530194759369,
+          113.0621566772461
+        ],
+        [
+          0.34173649549484253,
+          0.08462458103895187,
+          -0.93597811460495,
+          7.612241744995117
+        ],
+        [
+          0.1824032962322235,
+          -0.9829714298248291,
+          -0.022275829687714577,
+          -34.71965789794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4865,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323749_983082056",
+      "mask_path": "../../mask/hdr_right_04865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04867.png",
+      "transform_matrix": [
+        [
+          -0.9189837574958801,
+          -0.18494074046611786,
+          -0.34823232889175415,
+          113.17146301269531
+        ],
+        [
+          0.3382488489151001,
+          0.08408332616090775,
+          -0.9372928738594055,
+          7.551886081695557
+        ],
+        [
+          0.20262417197227478,
+          -0.9791460633277893,
+          -0.014715205878019333,
+          -34.75191116333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4867,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_183082818",
+      "mask_path": "../../mask/hdr_right_04867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04870.png",
+      "transform_matrix": [
+        [
+          -0.9216753840446472,
+          -0.16481761634349823,
+          -0.35121187567710876,
+          113.31491088867188
+        ],
+        [
+          0.34423139691352844,
+          0.0701199620962143,
+          -0.9362627863883972,
+          7.45753812789917
+        ],
+        [
+          0.17893953621387482,
+          -0.9838284254074097,
+          -0.007892443798482418,
+          -34.781131744384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4870,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_483082056",
+      "mask_path": "../../mask/hdr_right_04870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04872.png",
+      "transform_matrix": [
+        [
+          -0.9279017448425293,
+          -0.14021603763103485,
+          -0.345453143119812,
+          113.41368103027344
+        ],
+        [
+          0.34027454257011414,
+          0.06013783439993858,
+          -0.9384012222290039,
+          7.410727024078369
+        ],
+        [
+          0.1523536890745163,
+          -0.988292932510376,
+          -0.008090052753686905,
+          -34.7884635925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4872,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_683081150",
+      "mask_path": "../../mask/hdr_right_04872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04873.png",
+      "transform_matrix": [
+        [
+          -0.9351457357406616,
+          -0.1329241544008255,
+          -0.3283803462982178,
+          113.49008178710938
+        ],
+        [
+          0.32320743799209595,
+          0.05940703675150871,
+          -0.9444615840911865,
+          7.383143901824951
+        ],
+        [
+          0.14504987001419067,
+          -0.9893441796302795,
+          -0.012592165730893612,
+          -34.806148529052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4873,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_783083915",
+      "mask_path": "../../mask/hdr_right_04873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04874.png",
+      "transform_matrix": [
+        [
+          -0.9441042542457581,
+          -0.13077597320079803,
+          -0.30259668827056885,
+          113.5480728149414
+        ],
+        [
+          0.2975804805755615,
+          0.056808363646268845,
+          -0.9530051350593567,
+          7.3707075119018555
+        ],
+        [
+          0.14182020723819733,
+          -0.9897831082344055,
+          -0.014716635458171368,
+          -34.81804656982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4874,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323750_883081912",
+      "mask_path": "../../mask/hdr_right_04874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04876.png",
+      "transform_matrix": [
+        [
+          -0.9592115879058838,
+          -0.12361206114292145,
+          -0.25423064827919006,
+          113.65950012207031
+        ],
+        [
+          0.24701061844825745,
+          0.07085009664297104,
+          -0.9664191603660583,
+          7.3433146476745605
+        ],
+        [
+          0.13747332990169525,
+          -0.9897981286048889,
+          -0.03742673993110657,
+          -34.83726501464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4876,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_83081483",
+      "mask_path": "../../mask/hdr_right_04876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04877.png",
+      "transform_matrix": [
+        [
+          -0.9609435200691223,
+          -0.12977881729602814,
+          -0.2444281131029129,
+          113.71858978271484
+        ],
+        [
+          0.2370629608631134,
+          0.06969240307807922,
+          -0.9689913392066956,
+          7.31601619720459
+        ],
+        [
+          0.1427893489599228,
+          -0.9890907406806946,
+          -0.036204706877470016,
+          -34.848045349121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4877,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_183081626",
+      "mask_path": "../../mask/hdr_right_04877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04879.png",
+      "transform_matrix": [
+        [
+          -0.9582680463790894,
+          -0.12316931784152985,
+          -0.25797605514526367,
+          113.7971420288086
+        ],
+        [
+          0.25135576725006104,
+          0.06683090329170227,
+          -0.9655848741531372,
+          7.264551639556885
+        ],
+        [
+          0.13617120683193207,
+          -0.9901328086853027,
+          -0.033082589507102966,
+          -34.85615158081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4879,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_383080959",
+      "mask_path": "../../mask/hdr_right_04879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04880.png",
+      "transform_matrix": [
+        [
+          -0.9553793668746948,
+          -0.13148638606071472,
+          -0.26450249552726746,
+          113.86763763427734
+        ],
+        [
+          0.2581872045993805,
+          0.06326999515295029,
+          -0.964020848274231,
+          7.228832721710205
+        ],
+        [
+          0.14349067211151123,
+          -0.9892967939376831,
+          -0.026498744264245033,
+          -34.88234329223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4880,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_483081817",
+      "mask_path": "../../mask/hdr_right_04880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04881.png",
+      "transform_matrix": [
+        [
+          -0.9525895714759827,
+          -0.14982469379901886,
+          -0.2648123502731323,
+          113.92822265625
+        ],
+        [
+          0.2581496834754944,
+          0.0626545399427414,
+          -0.9640711545944214,
+          7.1977996826171875
+        ],
+        [
+          0.16103336215019226,
+          -0.9867253303527832,
+          -0.021006859838962555,
+          -34.917457580566406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4881,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_583081722",
+      "mask_path": "../../mask/hdr_right_04881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04882.png",
+      "transform_matrix": [
+        [
+          -0.9509899020195007,
+          -0.15818920731544495,
+          -0.2656961679458618,
+          113.97032928466797
+        ],
+        [
+          0.2581438720226288,
+          0.06689760088920593,
+          -0.9637876749038696,
+          7.174938201904297
+        ],
+        [
+          0.17023523151874542,
+          -0.9851400256156921,
+          -0.022783376276493073,
+          -34.94546127319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4882,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_683081865",
+      "mask_path": "../../mask/hdr_right_04882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04883.png",
+      "transform_matrix": [
+        [
+          -0.9505687952041626,
+          -0.1626313179731369,
+          -0.2645187973976135,
+          114.01775360107422
+        ],
+        [
+          0.2565035820007324,
+          0.06883872300386429,
+          -0.9640888571739197,
+          7.143698692321777
+        ],
+        [
+          0.1750001609325409,
+          -0.9842826128005981,
+          -0.023720424622297287,
+          -34.96559143066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4883,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_783081531",
+      "mask_path": "../../mask/hdr_right_04883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04884.png",
+      "transform_matrix": [
+        [
+          -0.9500763416290283,
+          -0.16814588010311127,
+          -0.2628343403339386,
+          114.08537292480469
+        ],
+        [
+          0.2543157637119293,
+          0.07072754949331284,
+          -0.9645315408706665,
+          7.099515914916992
+        ],
+        [
+          0.1807716339826584,
+          -0.9832215309143066,
+          -0.02443443238735199,
+          -34.97370910644531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4884,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_883082389",
+      "mask_path": "../../mask/hdr_right_04884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04885.png",
+      "transform_matrix": [
+        [
+          -0.9486517906188965,
+          -0.17311736941337585,
+          -0.26474568247795105,
+          114.14656829833984
+        ],
+        [
+          0.2557148039340973,
+          0.07295288145542145,
+          -0.9639957547187805,
+          7.05825138092041
+        ],
+        [
+          0.1861983835697174,
+          -0.9821956157684326,
+          -0.024938205257058144,
+          -34.9831657409668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4885,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323751_983081340",
+      "mask_path": "../../mask/hdr_right_04885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04886.png",
+      "transform_matrix": [
+        [
+          -0.9467347264289856,
+          -0.17472055554389954,
+          -0.270492285490036,
+          114.18548583984375
+        ],
+        [
+          0.26137641072273254,
+          0.07367917895317078,
+          -0.9624208211898804,
+          7.024134159088135
+        ],
+        [
+          0.18808433413505554,
+          -0.981857419013977,
+          -0.024086816236376762,
+          -34.98600769042969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4886,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_83082199",
+      "mask_path": "../../mask/hdr_right_04886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04887.png",
+      "transform_matrix": [
+        [
+          -0.9451372623443604,
+          -0.1735585480928421,
+          -0.2767542600631714,
+          114.25373077392578
+        ],
+        [
+          0.2685827314853668,
+          0.06940002739429474,
+          -0.9607533812522888,
+          6.984430313110352
+        ],
+        [
+          0.18595370650291443,
+          -0.9823752641677856,
+          -0.01897772215306759,
+          -35.005130767822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4887,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_183080196",
+      "mask_path": "../../mask/hdr_right_04887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04888.png",
+      "transform_matrix": [
+        [
+          -0.9458470940589905,
+          -0.18557138741016388,
+          -0.26633936166763306,
+          114.33218383789062
+        ],
+        [
+          0.25915154814720154,
+          0.06242689862847328,
+          -0.9638171195983887,
+          6.949545383453369
+        ],
+        [
+          0.19548359513282776,
+          -0.9806457161903381,
+          -0.01095518097281456,
+          -35.02191162109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4888,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_283080339",
+      "mask_path": "../../mask/hdr_right_04888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04889.png",
+      "transform_matrix": [
+        [
+          -0.9510542750358582,
+          -0.19600506126880646,
+          -0.23890966176986694,
+          114.39228057861328
+        ],
+        [
+          0.23205482959747314,
+          0.057569585740566254,
+          -0.9709975719451904,
+          6.9305853843688965
+        ],
+        [
+          0.20407433807849884,
+          -0.9789115786552429,
+          -0.009267881512641907,
+          -35.02876281738281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4889,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_383082866",
+      "mask_path": "../../mask/hdr_right_04889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04890.png",
+      "transform_matrix": [
+        [
+          -0.9596804976463318,
+          -0.19605202972888947,
+          -0.20143729448318481,
+          114.45329284667969
+        ],
+        [
+          0.19378674030303955,
+          0.057656869292259216,
+          -0.9793479442596436,
+          6.931928634643555
+        ],
+        [
+          0.2036173939704895,
+          -0.9788970351219177,
+          -0.017339887097477913,
+          -35.04246520996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4890,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_483080863",
+      "mask_path": "../../mask/hdr_right_04890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04891.png",
+      "transform_matrix": [
+        [
+          -0.963371217250824,
+          -0.21174128353595734,
+          -0.1645650714635849,
+          114.54398345947266
+        ],
+        [
+          0.15183177590370178,
+          0.07516621053218842,
+          -0.9855441451072693,
+          6.907080173492432
+        ],
+        [
+          0.22105011343955994,
+          -0.9744309782981873,
+          -0.04026390239596367,
+          -35.07567596435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4891,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_583081483",
+      "mask_path": "../../mask/hdr_right_04891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04894.png",
+      "transform_matrix": [
+        [
+          -0.958111584186554,
+          -0.25335416197776794,
+          -0.13354411721229553,
+          114.64286804199219
+        ],
+        [
+          0.10456611216068268,
+          0.1246429979801178,
+          -0.9866762161254883,
+          6.913180351257324
+        ],
+        [
+          0.2666238844394684,
+          -0.9593100547790527,
+          -0.09292963892221451,
+          -35.117820739746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4894,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_883082389",
+      "mask_path": "../../mask/hdr_right_04894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04895.png",
+      "transform_matrix": [
+        [
+          -0.959481418132782,
+          -0.2480236142873764,
+          -0.13371534645557404,
+          114.74071502685547
+        ],
+        [
+          0.1075267419219017,
+          0.11634664237499237,
+          -0.987371027469635,
+          6.891845703125
+        ],
+        [
+          0.2604486644268036,
+          -0.9617420434951782,
+          -0.08496326953172684,
+          -35.15314865112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4895,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323752_983081817",
+      "mask_path": "../../mask/hdr_right_04895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04896.png",
+      "transform_matrix": [
+        [
+          -0.9604983925819397,
+          -0.24359995126724243,
+          -0.13454358279705048,
+          114.80841827392578
+        ],
+        [
+          0.10751795023679733,
+          0.12108787894248962,
+          -0.9868017435073853,
+          6.873403549194336
+        ],
+        [
+          0.25667643547058105,
+          -0.9622872471809387,
+          -0.0901133343577385,
+          -35.181392669677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4896,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_83081483",
+      "mask_path": "../../mask/hdr_right_04896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04897.png",
+      "transform_matrix": [
+        [
+          -0.9630688428878784,
+          -0.23372256755828857,
+          -0.13368651270866394,
+          114.88184356689453
+        ],
+        [
+          0.10465683043003082,
+          0.13252809643745422,
+          -0.9856384992599487,
+          6.8555073738098145
+        ],
+        [
+          0.2480832040309906,
+          -0.9632290005683899,
+          -0.10317302495241165,
+          -35.210174560546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4897,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_183081388",
+      "mask_path": "../../mask/hdr_right_04897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04898.png",
+      "transform_matrix": [
+        [
+          -0.9652241468429565,
+          -0.2263777256011963,
+          -0.1307498663663864,
+          114.97811889648438
+        ],
+        [
+          0.1039019227027893,
+          0.12674938142299652,
+          -0.9864781498908997,
+          6.830680847167969
+        ],
+        [
+          0.23988915979862213,
+          -0.9657576084136963,
+          -0.09882047772407532,
+          -35.24296188354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4898,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_283082246",
+      "mask_path": "../../mask/hdr_right_04898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04899.png",
+      "transform_matrix": [
+        [
+          -0.9664602875709534,
+          -0.21981900930404663,
+          -0.13279369473457336,
+          115.06788635253906
+        ],
+        [
+          0.10863293707370758,
+          0.11862097680568695,
+          -0.9869791865348816,
+          6.806972980499268
+        ],
+        [
+          0.2327088713645935,
+          -0.9683019518852234,
+          -0.09076287597417831,
+          -35.244178771972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4899,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_383082151",
+      "mask_path": "../../mask/hdr_right_04899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04900.png",
+      "transform_matrix": [
+        [
+          -0.9677352905273438,
+          -0.21050603687763214,
+          -0.1384761482477188,
+          115.13477325439453
+        ],
+        [
+          0.11686211079359055,
+          0.11191942542791367,
+          -0.9868218302726746,
+          6.788448810577393
+        ],
+        [
+          0.22323013842105865,
+          -0.971164882183075,
+          -0.08370819687843323,
+          -35.24850845336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4900,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_483082056",
+      "mask_path": "../../mask/hdr_right_04900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04901.png",
+      "transform_matrix": [
+        [
+          -0.9689233899116516,
+          -0.19838474690914154,
+          -0.14775338768959045,
+          115.20899963378906
+        ],
+        [
+          0.13188347220420837,
+          0.09102977812290192,
+          -0.9870766997337341,
+          6.763368606567383
+        ],
+        [
+          0.2092709094285965,
+          -0.9758877754211426,
+          -0.06203721836209297,
+          -35.27738571166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4901,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_583081483",
+      "mask_path": "../../mask/hdr_right_04901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04902.png",
+      "transform_matrix": [
+        [
+          -0.9683820605278015,
+          -0.19568423926830292,
+          -0.15473805367946625,
+          115.33472442626953
+        ],
+        [
+          0.14304664731025696,
+          0.07261743396520615,
+          -0.987048327922821,
+          6.720404624938965
+        ],
+        [
+          0.20438648760318756,
+          -0.9779745936393738,
+          -0.04232945293188095,
+          -35.28835678100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4902,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_683081626",
+      "mask_path": "../../mask/hdr_right_04902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04903.png",
+      "transform_matrix": [
+        [
+          -0.9683902859687805,
+          -0.1944759637117386,
+          -0.1562032401561737,
+          115.41970825195312
+        ],
+        [
+          0.146426260471344,
+          0.0637633204460144,
+          -0.9871644973754883,
+          6.693790912628174
+        ],
+        [
+          0.20193980634212494,
+          -0.9788326025009155,
+          -0.03327137604355812,
+          -35.295692443847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4903,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_783082246",
+      "mask_path": "../../mask/hdr_right_04903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04904.png",
+      "transform_matrix": [
+        [
+          -0.9700624346733093,
+          -0.1841685175895691,
+          -0.1583063304424286,
+          115.47928619384766
+        ],
+        [
+          0.15018369257450104,
+          0.05733799934387207,
+          -0.9869940876960754,
+          6.682168483734131
+        ],
+        [
+          0.19085019826889038,
+          -0.9812208414077759,
+          -0.02796233259141445,
+          -35.31199264526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4904,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_883081912",
+      "mask_path": "../../mask/hdr_right_04904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04905.png",
+      "transform_matrix": [
+        [
+          -0.970818281173706,
+          -0.1749226152896881,
+          -0.16405488550662994,
+          115.5808334350586
+        ],
+        [
+          0.15833327174186707,
+          0.046275362372398376,
+          -0.9863007664680481,
+          6.649729251861572
+        ],
+        [
+          0.18011799454689026,
+          -0.9834941029548645,
+          -0.01722889207303524,
+          -35.33842086791992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4905,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323753_983082294",
+      "mask_path": "../../mask/hdr_right_04905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04906.png",
+      "transform_matrix": [
+        [
+          -0.9706286787986755,
+          -0.16206957399845123,
+          -0.17780186235904694,
+          115.68440246582031
+        ],
+        [
+          0.17394746840000153,
+          0.03778579831123352,
+          -0.9840297102928162,
+          6.602389812469482
+        ],
+        [
+          0.1661996692419052,
+          -0.9860556125640869,
+          -0.008484382182359695,
+          -35.34714889526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4906,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_83081483",
+      "mask_path": "../../mask/hdr_right_04906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04907.png",
+      "transform_matrix": [
+        [
+          -0.9693322777748108,
+          -0.14626958966255188,
+          -0.19748437404632568,
+          115.76026916503906
+        ],
+        [
+          0.19491954147815704,
+          0.03180905431509018,
+          -0.9803033471107483,
+          6.56814432144165
+        ],
+        [
+          0.14967036247253418,
+          -0.988733172416687,
+          -0.0023227303754538298,
+          -35.34804153442383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4907,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_183082103",
+      "mask_path": "../../mask/hdr_right_04907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04908.png",
+      "transform_matrix": [
+        [
+          -0.9668447375297546,
+          -0.13373954594135284,
+          -0.21754306554794312,
+          115.86018371582031
+        ],
+        [
+          0.21626810729503632,
+          0.02416570857167244,
+          -0.976034939289093,
+          6.538334846496582
+        ],
+        [
+          0.1357915699481964,
+          -0.9907218217849731,
+          0.005559112876653671,
+          -35.36770248413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4908,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_283081769",
+      "mask_path": "../../mask/hdr_right_04908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04909.png",
+      "transform_matrix": [
+        [
+          -0.9640895128250122,
+          -0.12501002848148346,
+          -0.23431633412837982,
+          115.974365234375
+        ],
+        [
+          0.2341354787349701,
+          0.016346897929906845,
+          -0.9720665812492371,
+          6.4965996742248535
+        ],
+        [
+          0.12534840404987335,
+          -0.992020845413208,
+          0.013509409502148628,
+          -35.384647369384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4909,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_383080720",
+      "mask_path": "../../mask/hdr_right_04909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04910.png",
+      "transform_matrix": [
+        [
+          -0.9615753293037415,
+          -0.11511002480983734,
+          -0.24924392998218536,
+          116.0652084350586
+        ],
+        [
+          0.2500295639038086,
+          0.007795723155140877,
+          -0.9682068824768066,
+          6.451921463012695
+        ],
+        [
+          0.11339336633682251,
+          -0.9933221340179443,
+          0.021284740418195724,
+          -35.38966751098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4910,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_483082294",
+      "mask_path": "../../mask/hdr_right_04910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04911.png",
+      "transform_matrix": [
+        [
+          -0.9594454169273376,
+          -0.10251910984516144,
+          -0.2625916302204132,
+          116.15528106689453
+        ],
+        [
+          0.2637069821357727,
+          0.002761443145573139,
+          -0.9645988941192627,
+          6.405035972595215
+        ],
+        [
+          0.0996149405837059,
+          -0.9947271943092346,
+          0.02438555285334587,
+          -35.39131546020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4911,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_583082199",
+      "mask_path": "../../mask/hdr_right_04911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04912.png",
+      "transform_matrix": [
+        [
+          -0.9567108154296875,
+          -0.09073196351528168,
+          -0.2765359580516815,
+          116.23851776123047
+        ],
+        [
+          0.27759262919425964,
+          0.0010109065333381295,
+          -0.9606983065605164,
+          6.357119083404541
+        ],
+        [
+          0.08744560182094574,
+          -0.9958749413490295,
+          0.02421938255429268,
+          -35.38014602661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4912,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_683079957",
+      "mask_path": "../../mask/hdr_right_04912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04913.png",
+      "transform_matrix": [
+        [
+          -0.9541494846343994,
+          -0.08013002574443817,
+          -0.288406103849411,
+          116.30277252197266
+        ],
+        [
+          0.2895250618457794,
+          -0.0024625579826533794,
+          -0.9571672081947327,
+          6.32757568359375
+        ],
+        [
+          0.07598762959241867,
+          -0.9967813491821289,
+          0.025549303740262985,
+          -35.37308120727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4913,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_783082008",
+      "mask_path": "../../mask/hdr_right_04913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04914.png",
+      "transform_matrix": [
+        [
+          -0.9521569013595581,
+          -0.07000209391117096,
+          -0.29748448729515076,
+          116.37519073486328
+        ],
+        [
+          0.2986091077327728,
+          -0.005947484634816647,
+          -0.9543569684028625,
+          6.291186332702637
+        ],
+        [
+          0.06503770500421524,
+          -0.9975290894508362,
+          0.026566199958324432,
+          -35.37560272216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4914,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_883082151",
+      "mask_path": "../../mask/hdr_right_04914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04915.png",
+      "transform_matrix": [
+        [
+          -0.9520719647407532,
+          -0.06130347028374672,
+          -0.29966792464256287,
+          116.47636413574219
+        ],
+        [
+          0.300990492105484,
+          -0.013398809358477592,
+          -0.9535329937934875,
+          6.239976406097412
+        ],
+        [
+          0.054439693689346313,
+          -0.9980292320251465,
+          0.031208397820591927,
+          -35.36979293823242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4915,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323754_983081579",
+      "mask_path": "../../mask/hdr_right_04915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04916.png",
+      "transform_matrix": [
+        [
+          -0.9541376829147339,
+          -0.05383256822824478,
+          -0.2944885790348053,
+          116.564208984375
+        ],
+        [
+          0.29610297083854675,
+          -0.024806376546621323,
+          -0.9548339247703552,
+          6.203099727630615
+        ],
+        [
+          0.0440959669649601,
+          -0.9982417821884155,
+          0.039608679711818695,
+          -35.36181640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4916,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_83082199",
+      "mask_path": "../../mask/hdr_right_04916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04917.png",
+      "transform_matrix": [
+        [
+          -0.9565290808677673,
+          -0.04494791477918625,
+          -0.28815245628356934,
+          116.6300048828125
+        ],
+        [
+          0.28955933451652527,
+          -0.02864287979900837,
+          -0.9567314386367798,
+          6.178380489349365
+        ],
+        [
+          0.03474956750869751,
+          -0.9985786080360413,
+          0.04041283577680588,
+          -35.35893630981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4917,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_183081150",
+      "mask_path": "../../mask/hdr_right_04917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04918.png",
+      "transform_matrix": [
+        [
+          -0.9570100903511047,
+          -0.0353693850338459,
+          -0.2878900170326233,
+          116.7183609008789
+        ],
+        [
+          0.28896135091781616,
+          -0.03016350418329239,
+          -0.9568655490875244,
+          6.142042636871338
+        ],
+        [
+          0.025159968063235283,
+          -0.9989190101623535,
+          0.039087168872356415,
+          -35.354042053222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4918,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_283082008",
+      "mask_path": "../../mask/hdr_right_04918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04919.png",
+      "transform_matrix": [
+        [
+          -0.9546252489089966,
+          -0.023317281156778336,
+          -0.2968955636024475,
+          116.81554412841797
+        ],
+        [
+          0.2975064218044281,
+          -0.029682347550988197,
+          -0.9542583227157593,
+          6.090819358825684
+        ],
+        [
+          0.013438154943287373,
+          -0.9992873668670654,
+          0.035272564738988876,
+          -35.33837127685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4919,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_383082866",
+      "mask_path": "../../mask/hdr_right_04919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04920.png",
+      "transform_matrix": [
+        [
+          -0.951370120048523,
+          -0.01285201869904995,
+          -0.30778202414512634,
+          116.90127563476562
+        ],
+        [
+          0.30802834033966064,
+          -0.027799097821116447,
+          -0.9509710073471069,
+          6.041191577911377
+        ],
+        [
+          0.0036658355966210365,
+          -0.9995309114456177,
+          0.030406013131141663,
+          -35.32826232910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4920,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_483082294",
+      "mask_path": "../../mask/hdr_right_04920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04921.png",
+      "transform_matrix": [
+        [
+          -0.9492971301078796,
+          -0.00949982088059187,
+          -0.3142368197441101,
+          117.00045013427734
+        ],
+        [
+          0.31438034772872925,
+          -0.028342343866825104,
+          -0.9488739371299744,
+          5.9965620040893555
+        ],
+        [
+          0.00010792425746330991,
+          -0.9995531439781189,
+          0.029891859740018845,
+          -35.331111907958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4921,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_583081960",
+      "mask_path": "../../mask/hdr_right_04921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04922.png",
+      "transform_matrix": [
+        [
+          -0.9488709568977356,
+          -0.015307307243347168,
+          -0.3152930438518524,
+          117.08192443847656
+        ],
+        [
+          0.3156413733959198,
+          -0.03395598754286766,
+          -0.9482707381248474,
+          5.96351432800293
+        ],
+        [
+          0.003809386631473899,
+          -0.9993060827255249,
+          0.03705146908760071,
+          -35.3360481262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4922,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_683079957",
+      "mask_path": "../../mask/hdr_right_04922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04923.png",
+      "transform_matrix": [
+        [
+          -0.9493652582168579,
+          -0.017593342810869217,
+          -0.31368160247802734,
+          117.1631851196289
+        ],
+        [
+          0.3141292929649353,
+          -0.0362018384039402,
+          -0.9486896991729736,
+          5.916614532470703
+        ],
+        [
+          0.005334776360541582,
+          -0.9991896152496338,
+          0.039895351976156235,
+          -35.34124755859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4923,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_783081531",
+      "mask_path": "../../mask/hdr_right_04923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04924.png",
+      "transform_matrix": [
+        [
+          -0.9484465718269348,
+          -0.019055305048823357,
+          -0.3163636326789856,
+          117.26346588134766
+        ],
+        [
+          0.3168165683746338,
+          -0.02949238196015358,
+          -0.9480282664299011,
+          5.85780668258667
+        ],
+        [
+          0.008734649047255516,
+          -0.9993833303451538,
+          0.03400898724794388,
+          -35.343257904052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4924,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_883081912",
+      "mask_path": "../../mask/hdr_right_04924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04925.png",
+      "transform_matrix": [
+        [
+          -0.9441673159599304,
+          -0.021224914118647575,
+          -0.32878196239471436,
+          117.35247039794922
+        ],
+        [
+          0.32921716570854187,
+          -0.02197519689798355,
+          -0.9439984560012817,
+          5.801904678344727
+        ],
+        [
+          0.012811240740120411,
+          -0.9995331764221191,
+          0.027735872194170952,
+          -35.33203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4925,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323755_983080863",
+      "mask_path": "../../mask/hdr_right_04925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04926.png",
+      "transform_matrix": [
+        [
+          -0.9385837912559509,
+          -0.019215695559978485,
+          -0.34451597929000854,
+          117.41287231445312
+        ],
+        [
+          0.34484633803367615,
+          -0.01781470514833927,
+          -0.9384901523590088,
+          5.760683059692383
+        ],
+        [
+          0.011896288953721523,
+          -0.9996566772460938,
+          0.023347051814198494,
+          -35.32701873779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4926,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_83082199",
+      "mask_path": "../../mask/hdr_right_04926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04927.png",
+      "transform_matrix": [
+        [
+          -0.9331278800964355,
+          -0.016620952636003494,
+          -0.3591603934764862,
+          117.48751068115234
+        ],
+        [
+          0.3594305217266083,
+          -0.017948538064956665,
+          -0.9329991936683655,
+          5.713406085968018
+        ],
+        [
+          0.009060929529368877,
+          -0.9997007250785828,
+          0.022722357884049416,
+          -35.33026123046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4927,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_183081626",
+      "mask_path": "../../mask/hdr_right_04927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04928.png",
+      "transform_matrix": [
+        [
+          -0.9309089779853821,
+          -0.023802028968930244,
+          -0.3644750416278839,
+          117.59337615966797
+        ],
+        [
+          0.3649701178073883,
+          -0.021469349041581154,
+          -0.9307716488838196,
+          5.652839660644531
+        ],
+        [
+          0.014329216443002224,
+          -0.9994862079620361,
+          0.028673041611909866,
+          -35.33192825317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4928,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_283083200",
+      "mask_path": "../../mask/hdr_right_04928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04929.png",
+      "transform_matrix": [
+        [
+          -0.9320403933525085,
+          -0.03126649931073189,
+          -0.36100295186042786,
+          117.68341827392578
+        ],
+        [
+          0.36180323362350464,
+          -0.02536841109395027,
+          -0.9319093227386475,
+          5.60896110534668
+        ],
+        [
+          0.019979465752840042,
+          -0.9991891384124756,
+          0.03495670482516289,
+          -35.33649444580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4929,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_383081912",
+      "mask_path": "../../mask/hdr_right_04929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04930.png",
+      "transform_matrix": [
+        [
+          -0.9334005117416382,
+          -0.02946978062391281,
+          -0.3576241433620453,
+          117.7507095336914
+        ],
+        [
+          0.3583561182022095,
+          -0.025014959275722504,
+          -0.9332497715950012,
+          5.577120780944824
+        ],
+        [
+          0.018556712195277214,
+          -0.9992526173591614,
+          0.03390965610742569,
+          -35.34151840209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4930,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_483083009",
+      "mask_path": "../../mask/hdr_right_04930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04931.png",
+      "transform_matrix": [
+        [
+          -0.9317947626113892,
+          -0.03177082538604736,
+          -0.36159247159957886,
+          117.83674621582031
+        ],
+        [
+          0.36233195662498474,
+          -0.02166028320789337,
+          -0.9317973852157593,
+          5.527649402618408
+        ],
+        [
+          0.02177177555859089,
+          -0.999260425567627,
+          0.031694523990154266,
+          -35.343265533447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4931,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_583081960",
+      "mask_path": "../../mask/hdr_right_04931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04932.png",
+      "transform_matrix": [
+        [
+          -0.9269259572029114,
+          -0.03160667046904564,
+          -0.3739110231399536,
+          117.92594146728516
+        ],
+        [
+          0.3745724856853485,
+          -0.01832924224436283,
+          -0.9270164966583252,
+          5.469669342041016
+        ],
+        [
+          0.022446395829319954,
+          -0.9993323087692261,
+          0.02882883884012699,
+          -35.3365592956543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4932,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_683083534",
+      "mask_path": "../../mask/hdr_right_04932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04933.png",
+      "transform_matrix": [
+        [
+          -0.9211621284484863,
+          -0.02599201165139675,
+          -0.38831037282943726,
+          117.98413848876953
+        ],
+        [
+          0.38878291845321655,
+          -0.01643974706530571,
+          -0.9211828112602234,
+          5.424879550933838
+        ],
+        [
+          0.017559673637151718,
+          -0.9995269775390625,
+          0.025248920544981956,
+          -35.334129333496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4933,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_783082962",
+      "mask_path": "../../mask/hdr_right_04933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04934.png",
+      "transform_matrix": [
+        [
+          -0.9165826439857483,
+          -0.02969379909336567,
+          -0.3987414240837097,
+          118.0649185180664
+        ],
+        [
+          0.39936569333076477,
+          -0.0191463865339756,
+          -0.9165918231010437,
+          5.373582363128662
+        ],
+        [
+          0.019582632929086685,
+          -0.9993757009506226,
+          0.029407929629087448,
+          -35.340538024902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4934,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_883084058",
+      "mask_path": "../../mask/hdr_right_04934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04935.png",
+      "transform_matrix": [
+        [
+          -0.914993166923523,
+          -0.04298042133450508,
+          -0.40117359161376953,
+          118.16746520996094
+        ],
+        [
+          0.40237516164779663,
+          -0.02402867004275322,
+          -0.9151594638824463,
+          5.313748359680176
+        ],
+        [
+          0.029694272205233574,
+          -0.9987868666648865,
+          0.03928032144904137,
+          -35.35205078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4935,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323756_983081579",
+      "mask_path": "../../mask/hdr_right_04935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04936.png",
+      "transform_matrix": [
+        [
+          -0.9152823686599731,
+          -0.05119292810559273,
+          -0.3995465040206909,
+          118.24296569824219
+        ],
+        [
+          0.40124624967575073,
+          -0.028476523235440254,
+          -0.9155275821685791,
+          5.270012855529785
+        ],
+        [
+          0.03549083694815636,
+          -0.9982826709747314,
+          0.046605031937360764,
+          -35.364070892333984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4936,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_83083152",
+      "mask_path": "../../mask/hdr_right_04936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04937.png",
+      "transform_matrix": [
+        [
+          -0.9149418473243713,
+          -0.051698680967092514,
+          -0.4002608060836792,
+          118.30573272705078
+        ],
+        [
+          0.40210267901420593,
+          -0.03182655945420265,
+          -0.9150413274765015,
+          5.23488187789917
+        ],
+        [
+          0.03456750884652138,
+          -0.9981554746627808,
+          0.0499076284468174,
+          -35.37531280517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4937,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_183081388",
+      "mask_path": "../../mask/hdr_right_04937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04938.png",
+      "transform_matrix": [
+        [
+          -0.9121121168136597,
+          -0.05346698686480522,
+          -0.4064394235610962,
+          118.3883285522461
+        ],
+        [
+          0.40833666920661926,
+          -0.03086797334253788,
+          -0.9123092889785767,
+          5.171300411224365
+        ],
+        [
+          0.03623247146606445,
+          -0.9980923533439636,
+          0.04998758062720299,
+          -35.368465423583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4938,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_283081054",
+      "mask_path": "../../mask/hdr_right_04938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04939.png",
+      "transform_matrix": [
+        [
+          -0.9079241156578064,
+          -0.05138926953077316,
+          -0.4159723222255707,
+          118.46329498291016
+        ],
+        [
+          0.41760504245758057,
+          -0.026204146444797516,
+          -0.9082506895065308,
+          5.114438056945801
+        ],
+        [
+          0.03577414155006409,
+          -0.9983348846435547,
+          0.04525180160999298,
+          -35.3592414855957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4939,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_383081674",
+      "mask_path": "../../mask/hdr_right_04939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04940.png",
+      "transform_matrix": [
+        [
+          -0.9041443467140198,
+          -0.04396217688918114,
+          -0.4249591529369354,
+          118.5176010131836
+        ],
+        [
+          0.42620426416397095,
+          -0.024026716127991676,
+          -0.9043079018592834,
+          5.07974910736084
+        ],
+        [
+          0.029544968158006668,
+          -0.9987442493438721,
+          0.0404604896903038,
+          -35.361881256103516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4940,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_483082294",
+      "mask_path": "../../mask/hdr_right_04940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04941.png",
+      "transform_matrix": [
+        [
+          -0.9011358618736267,
+          -0.038993801921606064,
+          -0.43177956342697144,
+          118.5945053100586
+        ],
+        [
+          0.4328750669956207,
+          -0.02592438831925392,
+          -0.9010810852050781,
+          5.032285690307617
+        ],
+        [
+          0.02394295297563076,
+          -0.9989030957221985,
+          0.04024083539843559,
+          -35.36581039428711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4941,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_583082914",
+      "mask_path": "../../mask/hdr_right_04941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04942.png",
+      "transform_matrix": [
+        [
+          -0.9006620049476624,
+          -0.042571116238832474,
+          -0.43242987990379333,
+          118.68872833251953
+        ],
+        [
+          0.43382686376571655,
+          -0.03189464285969734,
+          -0.9004316329956055,
+          4.970632076263428
+        ],
+        [
+          0.02454018034040928,
+          -0.9985841512680054,
+          0.04719478264451027,
+          -35.36504364013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4942,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323757_683084011",
+      "mask_path": "../../mask/hdr_right_04942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05367.png",
+      "transform_matrix": [
+        [
+          0.9012073874473572,
+          -0.03100881166756153,
+          0.43227729201316833,
+          118.28240966796875
+        ],
+        [
+          -0.43274813890457153,
+          -0.010205899365246296,
+          0.9014570713043213,
+          5.06238317489624
+        ],
+        [
+          -0.02354133501648903,
+          -0.9994670152664185,
+          -0.022616639733314514,
+          -35.3429069519043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5367,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_183081865",
+      "mask_path": "../../mask/hdr_right_05367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05368.png",
+      "transform_matrix": [
+        [
+          0.9182479977607727,
+          -0.031946003437042236,
+          0.39471524953842163,
+          118.21546936035156
+        ],
+        [
+          -0.39524513483047485,
+          -0.012180378660559654,
+          0.9184949398040771,
+          5.086370468139648
+        ],
+        [
+          -0.02453446201980114,
+          -0.9994153380393982,
+          -0.023811116814613342,
+          -35.34619903564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5368,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_283082723",
+      "mask_path": "../../mask/hdr_right_05368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05370.png",
+      "transform_matrix": [
+        [
+          0.9396951794624329,
+          -0.03258158266544342,
+          0.3404576778411865,
+          118.12110137939453
+        ],
+        [
+          -0.341442734003067,
+          -0.031905438750982285,
+          0.9393609762191772,
+          5.113095283508301
+        ],
+        [
+          -0.019743412733078003,
+          -0.9989597201347351,
+          -0.04110613092780113,
+          -35.350101470947266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5370,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_483080863",
+      "mask_path": "../../mask/hdr_right_05370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05371.png",
+      "transform_matrix": [
+        [
+          0.9393081068992615,
+          -0.0335882194340229,
+          0.34142643213272095,
+          118.06690979003906
+        ],
+        [
+          -0.3425520062446594,
+          -0.036913543939590454,
+          0.9387733936309814,
+          5.154489040374756
+        ],
+        [
+          -0.018928464502096176,
+          -0.9987538456916809,
+          -0.0461789071559906,
+          -35.33456802368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5371,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_583082914",
+      "mask_path": "../../mask/hdr_right_05371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05373.png",
+      "transform_matrix": [
+        [
+          0.9357430934906006,
+          -0.044214293360710144,
+          0.3499000370502472,
+          117.9610366821289
+        ],
+        [
+          -0.35179439187049866,
+          -0.04665523022413254,
+          0.9349138736724854,
+          5.210050582885742
+        ],
+        [
+          -0.02501189336180687,
+          -0.9979320168495178,
+          -0.05921165272593498,
+          -35.327003479003906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5373,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_783082008",
+      "mask_path": "../../mask/hdr_right_05373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05374.png",
+      "transform_matrix": [
+        [
+          0.935353696346283,
+          -0.0416676327586174,
+          0.35125094652175903,
+          117.88333892822266
+        ],
+        [
+          -0.3529854714870453,
+          -0.04626854509115219,
+          0.93448406457901,
+          5.252066135406494
+        ],
+        [
+          -0.02268587052822113,
+          -0.9980596303939819,
+          -0.05798553302884102,
+          -35.32402038574219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5374,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323800_883081197",
+      "mask_path": "../../mask/hdr_right_05374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05376.png",
+      "transform_matrix": [
+        [
+          0.9361297488212585,
+          -0.035720642656087875,
+          0.34983593225479126,
+          117.81634521484375
+        ],
+        [
+          -0.35113781690597534,
+          -0.041025929152965546,
+          0.9354245066642761,
+          5.2646684646606445
+        ],
+        [
+          -0.0190616212785244,
+          -0.9985194206237793,
+          -0.05094846710562706,
+          -35.334007263183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5376,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_83080530",
+      "mask_path": "../../mask/hdr_right_05376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05377.png",
+      "transform_matrix": [
+        [
+          0.9358251094818115,
+          -0.029271401464939117,
+          0.35124722123146057,
+          117.76165771484375
+        ],
+        [
+          -0.3522407114505768,
+          -0.04214777797460556,
+          0.9349600076675415,
+          5.278456211090088
+        ],
+        [
+          -0.012563299387693405,
+          -0.9986825585365295,
+          -0.04975352808833122,
+          -35.33234405517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5377,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_183080673",
+      "mask_path": "../../mask/hdr_right_05377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05378.png",
+      "transform_matrix": [
+        [
+          0.934237539768219,
+          -0.027285423129796982,
+          0.3556061387062073,
+          117.70114135742188
+        ],
+        [
+          -0.3565386235713959,
+          -0.04638635367155075,
+          0.933128297328949,
+          5.293126106262207
+        ],
+        [
+          -0.008965532295405865,
+          -0.9985508918762207,
+          -0.05306418612599373,
+          -35.321109771728516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5378,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_283080339",
+      "mask_path": "../../mask/hdr_right_05378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05379.png",
+      "transform_matrix": [
+        [
+          0.9321194291114807,
+          -0.033238690346479416,
+          0.3606226444244385,
+          117.64695739746094
+        ],
+        [
+          -0.3619108498096466,
+          -0.04921507462859154,
+          0.9309127330780029,
+          5.319191932678223
+        ],
+        [
+          -0.013194248080253601,
+          -0.9982349276542664,
+          -0.057903774082660675,
+          -35.31126403808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5379,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_383079767",
+      "mask_path": "../../mask/hdr_right_05379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05380.png",
+      "transform_matrix": [
+        [
+          0.9303897619247437,
+          -0.04132835939526558,
+          0.36423447728157043,
+          117.5898666381836
+        ],
+        [
+          -0.36599159240722656,
+          -0.04885082691907883,
+          0.9293351769447327,
+          5.3532490730285645
+        ],
+        [
+          -0.020614739507436752,
+          -0.9979506731033325,
+          -0.060576144605875015,
+          -35.310176849365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5380,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_483082771",
+      "mask_path": "../../mask/hdr_right_05380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05381.png",
+      "transform_matrix": [
+        [
+          0.9332857131958008,
+          -0.04113088548183441,
+          0.3567717373371124,
+          117.51150512695312
+        ],
+        [
+          -0.3584519922733307,
+          -0.04545141011476517,
+          0.9324411153793335,
+          5.38406229019165
+        ],
+        [
+          -0.022136351093649864,
+          -0.9981194734573364,
+          -0.05716259405016899,
+          -35.30281066894531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5381,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_583079814",
+      "mask_path": "../../mask/hdr_right_05381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05382.png",
+      "transform_matrix": [
+        [
+          0.9393773674964905,
+          -0.03569599241018295,
+          0.3410220146179199,
+          117.44364166259766
+        ],
+        [
+          -0.3422834873199463,
+          -0.03873186185956001,
+          0.9387980699539185,
+          5.408334255218506
+        ],
+        [
+          -0.02030291222035885,
+          -0.9986118674278259,
+          -0.048601992428302765,
+          -35.303165435791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5382,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_683079004",
+      "mask_path": "../../mask/hdr_right_05382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05383.png",
+      "transform_matrix": [
+        [
+          0.9456455707550049,
+          -0.03311389312148094,
+          0.32350876927375793,
+          117.38553619384766
+        ],
+        [
+          -0.324593722820282,
+          -0.035443369299173355,
+          0.9451892971992493,
+          5.427457332611084
+        ],
+        [
+          -0.019832653924822807,
+          -0.9988229274749756,
+          -0.04426543042063713,
+          -35.3050422668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5383,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_783081054",
+      "mask_path": "../../mask/hdr_right_05383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05384.png",
+      "transform_matrix": [
+        [
+          0.9517669677734375,
+          -0.03033250756561756,
+          0.30531880259513855,
+          117.30906677246094
+        ],
+        [
+          -0.3062928318977356,
+          -0.0355260893702507,
+          0.9512742161750793,
+          5.461493492126465
+        ],
+        [
+          -0.018007751554250717,
+          -0.998908281326294,
+          -0.043103188276290894,
+          -35.30751419067383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5384,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_883081674",
+      "mask_path": "../../mask/hdr_right_05384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05385.png",
+      "transform_matrix": [
+        [
+          0.9560290575027466,
+          -0.031537286937236786,
+          0.2915714383125305,
+          117.22782897949219
+        ],
+        [
+          -0.29257166385650635,
+          -0.03389446437358856,
+          0.9556427001953125,
+          5.501178741455078
+        ],
+        [
+          -0.02025572396814823,
+          -0.9989277720451355,
+          -0.04163101315498352,
+          -35.29635238647461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5385,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323801_983081102",
+      "mask_path": "../../mask/hdr_right_05385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05386.png",
+      "transform_matrix": [
+        [
+          0.9589195847511292,
+          -0.03513940051198006,
+          0.28149333596229553,
+          117.15457916259766
+        ],
+        [
+          -0.2826853394508362,
+          -0.03542186692357063,
+          0.9585584402084351,
+          5.531728267669678
+        ],
+        [
+          -0.023712150752544403,
+          -0.9987544417381287,
+          -0.04390012100338936,
+          -35.28681945800781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5386,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_83080291",
+      "mask_path": "../../mask/hdr_right_05386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05387.png",
+      "transform_matrix": [
+        [
+          0.9577123522758484,
+          -0.041520971804857254,
+          0.28471580147743225,
+          117.08573913574219
+        ],
+        [
+          -0.2862473130226135,
+          -0.037254445254802704,
+          0.9574312567710876,
+          5.555264472961426
+        ],
+        [
+          -0.029146546497941017,
+          -0.9984428882598877,
+          -0.0475643090903759,
+          -35.28312683105469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5387,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_183081150",
+      "mask_path": "../../mask/hdr_right_05387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05388.png",
+      "transform_matrix": [
+        [
+          0.9564655423164368,
+          -0.03872411325573921,
+          0.2892647087574005,
+          116.99137878417969
+        ],
+        [
+          -0.2904027998447418,
+          -0.027863530442118645,
+          0.9564987421035767,
+          5.601120471954346
+        ],
+        [
+          -0.02897963672876358,
+          -0.9988613724708557,
+          -0.037896107882261276,
+          -35.2816047668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5388,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_283081054",
+      "mask_path": "../../mask/hdr_right_05388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05389.png",
+      "transform_matrix": [
+        [
+          0.957396924495697,
+          -0.03214903175830841,
+          0.28697991371154785,
+          116.90910339355469
+        ],
+        [
+          -0.2876129448413849,
+          -0.017095448449254036,
+          0.9575941562652588,
+          5.642816066741943
+        ],
+        [
+          -0.025879675522446632,
+          -0.999336838722229,
+          -0.025613613426685333,
+          -35.28907012939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5389,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_383081197",
+      "mask_path": "../../mask/hdr_right_05389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05390.png",
+      "transform_matrix": [
+        [
+          0.9579105377197266,
+          -0.0327245369553566,
+          0.2851954698562622,
+          116.85380554199219
+        ],
+        [
+          -0.2857440412044525,
+          -0.013432719744741917,
+          0.9582118391990662,
+          5.658008575439453
+        ],
+        [
+          -0.027526091784238815,
+          -0.9993741512298584,
+          -0.022218190133571625,
+          -35.287227630615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5390,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_483080863",
+      "mask_path": "../../mask/hdr_right_05390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05391.png",
+      "transform_matrix": [
+        [
+          0.9571797847747803,
+          -0.030707789584994316,
+          0.2878609597682953,
+          116.77725219726562
+        ],
+        [
+          -0.28857332468032837,
+          -0.021960221230983734,
+          0.9572059512138367,
+          5.688962936401367
+        ],
+        [
+          -0.02307218872010708,
+          -0.9992871284484863,
+          -0.02988133393228054,
+          -35.28942108154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5391,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_583082675",
+      "mask_path": "../../mask/hdr_right_05391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05392.png",
+      "transform_matrix": [
+        [
+          0.954176664352417,
+          -0.028983401134610176,
+          0.29783710837364197,
+          116.69305419921875
+        ],
+        [
+          -0.2986087501049042,
+          -0.027400465682148933,
+          0.9539822340011597,
+          5.734780311584473
+        ],
+        [
+          -0.019488776102662086,
+          -0.9992042779922485,
+          -0.03479957953095436,
+          -35.28539276123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5392,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_683081626",
+      "mask_path": "../../mask/hdr_right_05392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05393.png",
+      "transform_matrix": [
+        [
+          0.9502376914024353,
+          -0.031140845268964767,
+          0.3099653720855713,
+          116.61791229248047
+        ],
+        [
+          -0.3108054995536804,
+          -0.027147561311721802,
+          0.9500858187675476,
+          5.776093482971191
+        ],
+        [
+          -0.02117166854441166,
+          -0.9991462230682373,
+          -0.035475388169288635,
+          -35.27734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5393,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_783081531",
+      "mask_path": "../../mask/hdr_right_05393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05394.png",
+      "transform_matrix": [
+        [
+          0.9456744194030762,
+          -0.0301286019384861,
+          0.32371631264686584,
+          116.53874206542969
+        ],
+        [
+          -0.32444068789482117,
+          -0.023343069478869438,
+          0.9456180334091187,
+          5.810214519500732
+        ],
+        [
+          -0.020933615043759346,
+          -0.999273419380188,
+          -0.03184989094734192,
+          -35.27259063720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5394,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_883081912",
+      "mask_path": "../../mask/hdr_right_05394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05395.png",
+      "transform_matrix": [
+        [
+          0.9434856176376343,
+          -0.021580835804343224,
+          0.3307097852230072,
+          116.45340728759766
+        ],
+        [
+          -0.33107540011405945,
+          -0.01633710041642189,
+          0.9434629678726196,
+          5.851344108581543
+        ],
+        [
+          -0.014957880601286888,
+          -0.9996336102485657,
+          -0.022558709606528282,
+          -35.281558990478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5395,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323802_983082056",
+      "mask_path": "../../mask/hdr_right_05395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05396.png",
+      "transform_matrix": [
+        [
+          0.9434795379638672,
+          -0.01086982898414135,
+          0.3312523365020752,
+          116.3816146850586
+        ],
+        [
+          -0.3313593566417694,
+          -0.010210433974862099,
+          0.9434494376182556,
+          5.887148380279541
+        ],
+        [
+          -0.006872904486954212,
+          -0.9998887777328491,
+          -0.013235158286988735,
+          -35.297508239746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5396,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_83081722",
+      "mask_path": "../../mask/hdr_right_05396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05397.png",
+      "transform_matrix": [
+        [
+          0.9431179761886597,
+          -0.006557117681950331,
+          0.3323937654495239,
+          116.32146453857422
+        ],
+        [
+          -0.3324378728866577,
+          -0.007483221590518951,
+          0.9430954456329346,
+          5.91373348236084
+        ],
+        [
+          -0.003696611849591136,
+          -0.9999504685401917,
+          -0.009237396530807018,
+          -35.306270599365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5397,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_183081865",
+      "mask_path": "../../mask/hdr_right_05397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05398.png",
+      "transform_matrix": [
+        [
+          0.9412673115730286,
+          -0.0004790513194166124,
+          0.337662011384964,
+          116.2571792602539
+        ],
+        [
+          -0.33763670921325684,
+          -0.013650191016495228,
+          0.9411776065826416,
+          5.947572231292725
+        ],
+        [
+          0.004158278461545706,
+          -0.9999067187309265,
+          -0.013010227121412754,
+          -35.30893325805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5398,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_283081054",
+      "mask_path": "../../mask/hdr_right_05398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05399.png",
+      "transform_matrix": [
+        [
+          0.9375590682029724,
+          0.004347334615886211,
+          0.3477991223335266,
+          116.19159698486328
+        ],
+        [
+          -0.3476681709289551,
+          -0.01843389868736267,
+          0.9374365210533142,
+          5.98936128616333
+        ],
+        [
+          0.010486643761396408,
+          -0.9998206496238708,
+          -0.01577143743634224,
+          -35.302024841308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5399,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_383080959",
+      "mask_path": "../../mask/hdr_right_05399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05400.png",
+      "transform_matrix": [
+        [
+          0.9336949586868286,
+          0.0026084177661687136,
+          0.35806018114089966,
+          116.14082336425781
+        ],
+        [
+          -0.3579496145248413,
+          -0.019082654267549515,
+          0.9335459470748901,
+          6.023514270782471
+        ],
+        [
+          0.009267814457416534,
+          -0.999814510345459,
+          -0.016883695498108864,
+          -35.29790115356445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5400,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_483081340",
+      "mask_path": "../../mask/hdr_right_05400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05401.png",
+      "transform_matrix": [
+        [
+          0.9295504093170166,
+          -0.0005975137464702129,
+          0.3686946928501129,
+          116.08131408691406
+        ],
+        [
+          -0.3686184287071228,
+          -0.021907908841967583,
+          0.9293226003646851,
+          6.062106609344482
+        ],
+        [
+          0.007522045634686947,
+          -0.9997597932815552,
+          -0.02058476209640503,
+          -35.298423767089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5401,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_583081960",
+      "mask_path": "../../mask/hdr_right_05401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05402.png",
+      "transform_matrix": [
+        [
+          0.9275979995727539,
+          0.007295155432075262,
+          0.37350887060165405,
+          115.99348449707031
+        ],
+        [
+          -0.3732912838459015,
+          -0.021204255521297455,
+          0.9274718761444092,
+          6.1133198738098145
+        ],
+        [
+          0.014686026610434055,
+          -0.9997485280036926,
+          -0.01694580353796482,
+          -35.30363464355469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5402,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_683081865",
+      "mask_path": "../../mask/hdr_right_05402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05403.png",
+      "transform_matrix": [
+        [
+          0.9273896813392639,
+          0.01839713752269745,
+          0.3736441731452942,
+          115.9288330078125
+        ],
+        [
+          -0.37339603900909424,
+          -0.015583669766783714,
+          0.9275411367416382,
+          6.147561073303223
+        ],
+        [
+          0.022886848077178,
+          -0.9997093677520752,
+          -0.0075827171094715595,
+          -35.3181037902832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5403,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_783081293",
+      "mask_path": "../../mask/hdr_right_05403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05404.png",
+      "transform_matrix": [
+        [
+          0.9272239208221436,
+          0.021629713475704193,
+          0.3738824427127838,
+          115.88246154785156
+        ],
+        [
+          -0.3737165331840515,
+          -0.011411149986088276,
+          0.9274728298187256,
+          6.170135021209717
+        ],
+        [
+          0.02432739920914173,
+          -0.9997009038925171,
+          -0.002497310983017087,
+          -35.32276153564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5404,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_883081436",
+      "mask_path": "../../mask/hdr_right_05404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05405.png",
+      "transform_matrix": [
+        [
+          0.9269661903381348,
+          0.021217115223407745,
+          0.3745444416999817,
+          115.8239974975586
+        ],
+        [
+          -0.37437430024147034,
+          -0.011634211987257004,
+          0.9272046685218811,
+          6.20213508605957
+        ],
+        [
+          0.024030137807130814,
+          -0.9997071623802185,
+          -0.0028413787949830294,
+          -35.32521057128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5405,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323803_983079433",
+      "mask_path": "../../mask/hdr_right_05405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05406.png",
+      "transform_matrix": [
+        [
+          0.9251806735992432,
+          0.02171219140291214,
+          0.37890535593032837,
+          115.75788116455078
+        ],
+        [
+          -0.3787302076816559,
+          -0.011837268248200417,
+          0.9254314303398132,
+          6.246204376220703
+        ],
+        [
+          0.02457834966480732,
+          -0.9996941685676575,
+          -0.0027285516262054443,
+          -35.31718444824219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5406,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_83081483",
+      "mask_path": "../../mask/hdr_right_05406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05409.png",
+      "transform_matrix": [
+        [
+          0.9131643772125244,
+          0.00872041191905737,
+          0.40749818086624146,
+          115.63214874267578
+        ],
+        [
+          -0.40736958384513855,
+          -0.013459858484566212,
+          0.9131642580032349,
+          6.329952716827393
+        ],
+        [
+          0.013448032550513744,
+          -0.9998714327812195,
+          -0.008738634176552296,
+          -35.31934356689453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5409,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_383082389",
+      "mask_path": "../../mask/hdr_right_05409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05410.png",
+      "transform_matrix": [
+        [
+          0.9115713238716125,
+          0.01142349187284708,
+          0.41098344326019287,
+          115.55664825439453
+        ],
+        [
+          -0.4108671247959137,
+          -0.011239984072744846,
+          0.9116260409355164,
+          6.37002420425415
+        ],
+        [
+          0.015033396892249584,
+          -0.9998716115951538,
+          -0.0055525097995996475,
+          -35.31486892700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5410,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_483081817",
+      "mask_path": "../../mask/hdr_right_05410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05411.png",
+      "transform_matrix": [
+        [
+          0.9123889803886414,
+          0.015882940962910652,
+          0.40901610255241394,
+          115.50147247314453
+        ],
+        [
+          -0.40900832414627075,
+          -0.003882319899275899,
+          0.9125224351882935,
+          6.400411128997803
+        ],
+        [
+          0.016081470996141434,
+          -0.9998663067817688,
+          0.002954069059342146,
+          -35.319488525390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5411,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_583081483",
+      "mask_path": "../../mask/hdr_right_05411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05413.png",
+      "transform_matrix": [
+        [
+          0.9203339219093323,
+          0.014960883185267448,
+          0.39084741473197937,
+          115.42131042480469
+        ],
+        [
+          -0.39087408781051636,
+          -0.001217069337144494,
+          0.9204434156417847,
+          6.436037063598633
+        ],
+        [
+          0.014246334321796894,
+          -0.9998872876167297,
+          0.004727710969746113,
+          -35.32405471801758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5413,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_783083200",
+      "mask_path": "../../mask/hdr_right_05413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05414.png",
+      "transform_matrix": [
+        [
+          0.9193997383117676,
+          0.010793270543217659,
+          0.3931763768196106,
+          115.36919403076172
+        ],
+        [
+          -0.3931797444820404,
+          -0.001892644795589149,
+          0.9194597005844116,
+          6.469391345977783
+        ],
+        [
+          0.010668120346963406,
+          -0.9999399781227112,
+          0.0025035985745489597,
+          -35.30575942993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5414,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323804_883081912",
+      "mask_path": "../../mask/hdr_right_05414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05416.png",
+      "transform_matrix": [
+        [
+          0.9137216806411743,
+          -0.0026632999069988728,
+          0.4063321053981781,
+          115.28507995605469
+        ],
+        [
+          -0.40633782744407654,
+          -0.0021398880053311586,
+          0.913720428943634,
+          6.540194988250732
+        ],
+        [
+          -0.0015640060883015394,
+          -0.999994158744812,
+          -0.0030374624766409397,
+          -35.30259704589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5416,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_83082199",
+      "mask_path": "../../mask/hdr_right_05416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05417.png",
+      "transform_matrix": [
+        [
+          0.9134604930877686,
+          -0.013535675592720509,
+          0.40670254826545715,
+          115.22174072265625
+        ],
+        [
+          -0.4067919850349426,
+          -0.004575761966407299,
+          0.9135094285011292,
+          6.580055236816406
+        ],
+        [
+          -0.01050399150699377,
+          -0.9998979568481445,
+          -0.009685982950031757,
+          -35.29203414916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5417,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_183080911",
+      "mask_path": "../../mask/hdr_right_05417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05418.png",
+      "transform_matrix": [
+        [
+          0.9191642999649048,
+          -0.016937099397182465,
+          0.39351019263267517,
+          115.16812896728516
+        ],
+        [
+          -0.39357393980026245,
+          -0.0004760711162816733,
+          0.9192928671836853,
+          6.603390693664551
+        ],
+        [
+          -0.015382816083729267,
+          -0.9998564124107361,
+          -0.007103589829057455,
+          -35.290191650390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5418,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_283081531",
+      "mask_path": "../../mask/hdr_right_05418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05420.png",
+      "transform_matrix": [
+        [
+          0.9391518831253052,
+          -0.01723555661737919,
+          0.3430693745613098,
+          115.10130310058594
+        ],
+        [
+          -0.3429805338382721,
+          0.007959379814565182,
+          0.9393088221549988,
+          6.618625640869141
+        ],
+        [
+          -0.018920131027698517,
+          -0.9998197555541992,
+          0.0015636046882718801,
+          -35.29693603515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5420,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_483082056",
+      "mask_path": "../../mask/hdr_right_05420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05421.png",
+      "transform_matrix": [
+        [
+          0.9491190314292908,
+          -0.02240683138370514,
+          0.3141195476055145,
+          115.03610229492188
+        ],
+        [
+          -0.31409478187561035,
+          0.004706751089543104,
+          0.9493799805641174,
+          6.645771026611328
+        ],
+        [
+          -0.022751079872250557,
+          -0.9997378587722778,
+          -0.002570603508502245,
+          -35.285362243652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5421,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_583083629",
+      "mask_path": "../../mask/hdr_right_05421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05423.png",
+      "transform_matrix": [
+        [
+          0.9577093124389648,
+          -0.03706175833940506,
+          0.28534045815467834,
+          114.966796875
+        ],
+        [
+          -0.28559410572052,
+          -0.001626852317713201,
+          0.9583492875099182,
+          6.666214466094971
+        ],
+        [
+          -0.03505390137434006,
+          -0.9993116855621338,
+          -0.012142670340836048,
+          -35.26371765136719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5423,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_783082485",
+      "mask_path": "../../mask/hdr_right_05423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05425.png",
+      "transform_matrix": [
+        [
+          0.9606201648712158,
+          -0.04699654504656792,
+          0.27386167645454407,
+          114.88960266113281
+        ],
+        [
+          -0.27436569333076477,
+          -0.004505372140556574,
+          0.9616149067878723,
+          6.692996501922607
+        ],
+        [
+          -0.04395873472094536,
+          -0.9988848567008972,
+          -0.017222190275788307,
+          -35.25016403198242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5425,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323805_983082532",
+      "mask_path": "../../mask/hdr_right_05425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05426.png",
+      "transform_matrix": [
+        [
+          0.964300274848938,
+          -0.04589004069566727,
+          0.2608046233654022,
+          114.8311996459961
+        ],
+        [
+          -0.26107168197631836,
+          0.00017797980399336666,
+          0.9653194546699524,
+          6.719589710235596
+        ],
+        [
+          -0.044344961643218994,
+          -0.9989465475082397,
+          -0.011808966286480427,
+          -35.2497673034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5426,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_83081960",
+      "mask_path": "../../mask/hdr_right_05426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05428.png",
+      "transform_matrix": [
+        [
+          0.9698670506477356,
+          -0.05105682834982872,
+          0.23822516202926636,
+          114.75031280517578
+        ],
+        [
+          -0.23774504661560059,
+          0.015368695370852947,
+          0.97120600938797,
+          6.740255832672119
+        ],
+        [
+          -0.053247902542352676,
+          -0.9985775351524353,
+          0.0027670799754559994,
+          -35.248329162597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5428,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_283082246",
+      "mask_path": "../../mask/hdr_right_05428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05430.png",
+      "transform_matrix": [
+        [
+          0.9702840447425842,
+          -0.06510668247938156,
+          0.2330450415611267,
+          114.67407989501953
+        ],
+        [
+          -0.23183029890060425,
+          0.025733567774295807,
+          0.9724158048629761,
+          6.765145301818848
+        ],
+        [
+          -0.0693078488111496,
+          -0.9975464344024658,
+          0.009875165298581123,
+          -35.210670471191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5430,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_483082771",
+      "mask_path": "../../mask/hdr_right_05430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05431.png",
+      "transform_matrix": [
+        [
+          0.9678942561149597,
+          -0.07778601348400116,
+          0.23901905119419098,
+          114.59497833251953
+        ],
+        [
+          -0.23729386925697327,
+          0.030849719420075417,
+          0.9709479212760925,
+          6.802874565124512
+        ],
+        [
+          -0.08289985358715057,
+          -0.9964926838874817,
+          0.011401119641959667,
+          -35.18341827392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5431,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_583081722",
+      "mask_path": "../../mask/hdr_right_05431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05432.png",
+      "transform_matrix": [
+        [
+          0.9647988677024841,
+          -0.09331798553466797,
+          0.245875746011734,
+          114.54058074951172
+        ],
+        [
+          -0.24395956099033356,
+          0.03159337118268013,
+          0.969270646572113,
+          6.828017234802246
+        ],
+        [
+          -0.09821843355894089,
+          -0.9951350092887878,
+          0.007715426851063967,
+          -35.1635627746582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5432,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_683081865",
+      "mask_path": "../../mask/hdr_right_05432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05433.png",
+      "transform_matrix": [
+        [
+          0.9612278938293457,
+          -0.11220444738864899,
+          0.25189509987831116,
+          114.48416137695312
+        ],
+        [
+          -0.2504276931285858,
+          0.027218522503972054,
+          0.9677526354789734,
+          6.848779678344727
+        ],
+        [
+          -0.11544235050678253,
+          -0.9933122992515564,
+          -0.0019358996069058776,
+          -35.14772033691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5433,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_783082485",
+      "mask_path": "../../mask/hdr_right_05433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05434.png",
+      "transform_matrix": [
+        [
+          0.9596157670021057,
+          -0.12338187545537949,
+          0.25281327962875366,
+          114.40689086914062
+        ],
+        [
+          -0.25175797939300537,
+          0.02432989329099655,
+          0.9674843549728394,
+          6.87565803527832
+        ],
+        [
+          -0.12552094459533691,
+          -0.9920609593391418,
+          -0.007715026382356882,
+          -35.12422561645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5434,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_883082389",
+      "mask_path": "../../mask/hdr_right_05434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05435.png",
+      "transform_matrix": [
+        [
+          0.9597765803337097,
+          -0.12804390490055084,
+          0.24986760318279266,
+          114.3471450805664
+        ],
+        [
+          -0.24844792485237122,
+          0.027202531695365906,
+          0.9682633280754089,
+          6.891782283782959
+        ],
+        [
+          -0.1307772397994995,
+          -0.9913952946662903,
+          -0.00570389349013567,
+          -35.10746765136719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5435,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323806_983081817",
+      "mask_path": "../../mask/hdr_right_05435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05436.png",
+      "transform_matrix": [
+        [
+          0.9609631299972534,
+          -0.13098062574863434,
+          0.24370886385440826,
+          114.2927474975586
+        ],
+        [
+          -0.24229766428470612,
+          0.026852097362279892,
+          0.969830334186554,
+          6.906717777252197
+        ],
+        [
+          -0.13357308506965637,
+          -0.9910212159156799,
+          -0.005932425614446402,
+          -35.09873580932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5436,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_83079814",
+      "mask_path": "../../mask/hdr_right_05436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05437.png",
+      "transform_matrix": [
+        [
+          0.9620168209075928,
+          -0.1340707242488861,
+          0.237799733877182,
+          114.22966003417969
+        ],
+        [
+          -0.23646889626979828,
+          0.025999095290899277,
+          0.9712911248207092,
+          6.917922496795654
+        ],
+        [
+          -0.13640430569648743,
+          -0.9906306266784668,
+          -0.006691991817206144,
+          -35.084251403808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5437,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_183082103",
+      "mask_path": "../../mask/hdr_right_05437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05438.png",
+      "transform_matrix": [
+        [
+          0.9610521793365479,
+          -0.14282816648483276,
+          0.23659852147102356,
+          114.15728759765625
+        ],
+        [
+          -0.23539863526821136,
+          0.025487875565886497,
+          0.971564769744873,
+          6.939390659332275
+        ],
+        [
+          -0.1447971910238266,
+          -0.9894192814826965,
+          -0.009126385673880577,
+          -35.055912017822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5438,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_283082246",
+      "mask_path": "../../mask/hdr_right_05438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05439.png",
+      "transform_matrix": [
+        [
+          0.9594202041625977,
+          -0.15325599908828735,
+          0.23669719696044922,
+          114.09740447998047
+        ],
+        [
+          -0.23583798110485077,
+          0.024028224870562553,
+          0.9714952707290649,
+          6.963119029998779
+        ],
+        [
+          -0.154574915766716,
+          -0.9878942966461182,
+          -0.013090431690216064,
+          -35.03242492675781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5439,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_383081197",
+      "mask_path": "../../mask/hdr_right_05439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05440.png",
+      "transform_matrix": [
+        [
+          0.9601457715034485,
+          -0.15391790866851807,
+          0.2333011031150818,
+          114.03739166259766
+        ],
+        [
+          -0.232223778963089,
+          0.0251973494887352,
+          0.9723360538482666,
+          6.981853485107422
+        ],
+        [
+          -0.15553848445415497,
+          -0.9877622723579407,
+          -0.011550277471542358,
+          -35.023380279541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5440,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_483081817",
+      "mask_path": "../../mask/hdr_right_05440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05441.png",
+      "transform_matrix": [
+        [
+          0.9610986113548279,
+          -0.15082482993602753,
+          0.2313900589942932,
+          113.96405792236328
+        ],
+        [
+          -0.22944550216197968,
+          0.03041379526257515,
+          0.9728462100028992,
+          7.003542423248291
+        ],
+        [
+          -0.15376681089401245,
+          -0.9880925416946411,
+          -0.005375425331294537,
+          -35.017311096191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5441,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_583081007",
+      "mask_path": "../../mask/hdr_right_05441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05443.png",
+      "transform_matrix": [
+        [
+          0.9584739208221436,
+          -0.15353845059871674,
+          0.24032007157802582,
+          113.86474609375
+        ],
+        [
+          -0.23713412880897522,
+          0.03901421278715134,
+          0.9706931710243225,
+          7.038764476776123
+        ],
+        [
+          -0.15841463208198547,
+          -0.9873721599578857,
+          0.0009849030757322907,
+          -35.004310607910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5443,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_783080816",
+      "mask_path": "../../mask/hdr_right_05443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05444.png",
+      "transform_matrix": [
+        [
+          0.9555096626281738,
+          -0.15479770302772522,
+          0.2510756254196167,
+          113.78804016113281
+        ],
+        [
+          -0.243642657995224,
+          0.06556616723537445,
+          0.9676462411880493,
+          7.06408166885376
+        ],
+        [
+          -0.16625148057937622,
+          -0.9857680797576904,
+          0.024933772161602974,
+          -34.95280075073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5444,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_883081197",
+      "mask_path": "../../mask/hdr_right_05444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05445.png",
+      "transform_matrix": [
+        [
+          0.9497755765914917,
+          -0.16174183785915375,
+          0.2678915560245514,
+          113.7177734375
+        ],
+        [
+          -0.257662832736969,
+          0.08160790801048279,
+          0.9627824425697327,
+          7.109555244445801
+        ],
+        [
+          -0.17758427560329437,
+          -0.9834529757499695,
+          0.03583434224128723,
+          -34.90948486328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5445,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323807_983080625",
+      "mask_path": "../../mask/hdr_right_05445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05446.png",
+      "transform_matrix": [
+        [
+          0.9459482431411743,
+          -0.16828681528568268,
+          0.27723902463912964,
+          113.67028045654297
+        ],
+        [
+          -0.26724180579185486,
+          0.07986190915107727,
+          0.9603144526481628,
+          7.156132221221924
+        ],
+        [
+          -0.18374910950660706,
+          -0.9824976325035095,
+          0.0305719543248415,
+          -34.89643859863281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5446,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_83080291",
+      "mask_path": "../../mask/hdr_right_05446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05447.png",
+      "transform_matrix": [
+        [
+          0.9426854252815247,
+          -0.17707780003547668,
+          0.2828207314014435,
+          113.61732482910156
+        ],
+        [
+          -0.2733384370803833,
+          0.07634954899549484,
+          0.9588831663131714,
+          7.191002368927002
+        ],
+        [
+          -0.19139015674591064,
+          -0.9812309741973877,
+          0.0235714390873909,
+          -34.885623931884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5447,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_183080434",
+      "mask_path": "../../mask/hdr_right_05447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05448.png",
+      "transform_matrix": [
+        [
+          0.9414516091346741,
+          -0.17896856367588043,
+          0.28572556376457214,
+          113.53617858886719
+        ],
+        [
+          -0.27474552392959595,
+          0.08393409848213196,
+          0.9578465819358826,
+          7.2301530838012695
+        ],
+        [
+          -0.19540652632713318,
+          -0.9802680015563965,
+          0.029849085956811905,
+          -34.85398864746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5448,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_283080101",
+      "mask_path": "../../mask/hdr_right_05448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05449.png",
+      "transform_matrix": [
+        [
+          0.9418400526046753,
+          -0.17644524574279785,
+          0.28601473569869995,
+          113.46829986572266
+        ],
+        [
+          -0.27322542667388916,
+          0.09348437935113907,
+          0.9573968052864075,
+          7.256046772003174
+        ],
+        [
+          -0.19566600024700165,
+          -0.9798611402511597,
+          0.03983801230788231,
+          -34.832515716552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5449,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_383080482",
+      "mask_path": "../../mask/hdr_right_05449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05450.png",
+      "transform_matrix": [
+        [
+          0.9424954056739807,
+          -0.17283616960048676,
+          0.2860598862171173,
+          113.41728210449219
+        ],
+        [
+          -0.2731185257434845,
+          0.09503214061260223,
+          0.9572749733924866,
+          7.277731895446777
+        ],
+        [
+          -0.1926366239786148,
+          -0.9803553223609924,
+          0.042362574487924576,
+          -34.82856750488281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5450,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_483081102",
+      "mask_path": "../../mask/hdr_right_05450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05451.png",
+      "transform_matrix": [
+        [
+          0.9416311383247375,
+          -0.17021682858467102,
+          0.29044288396835327,
+          113.32917785644531
+        ],
+        [
+          -0.2782285809516907,
+          0.09221908450126648,
+          0.9560777544975281,
+          7.312544345855713
+        ],
+        [
+          -0.18952488899230957,
+          -0.9810819625854492,
+          0.039477165788412094,
+          -34.8105354309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5451,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_583080530",
+      "mask_path": "../../mask/hdr_right_05451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05452.png",
+      "transform_matrix": [
+        [
+          0.9389476776123047,
+          -0.1733047366142273,
+          0.2972252368927002,
+          113.25222778320312
+        ],
+        [
+          -0.2861754596233368,
+          0.0861850455403328,
+          0.9542933106422424,
+          7.347044467926025
+        ],
+        [
+          -0.19099991023540497,
+          -0.9810900092124939,
+          0.03132767602801323,
+          -34.78422164916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5452,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_683080434",
+      "mask_path": "../../mask/hdr_right_05452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05453.png",
+      "transform_matrix": [
+        [
+          0.936112642288208,
+          -0.17792372405529022,
+          0.30337491631507874,
+          113.20623779296875
+        ],
+        [
+          -0.29363322257995605,
+          0.07939272373914719,
+          0.9526155591011047,
+          7.367902755737305
+        ],
+        [
+          -0.19357869029045105,
+          -0.9808363318443298,
+          0.022076215595006943,
+          -34.76240539550781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5453,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_783080339",
+      "mask_path": "../../mask/hdr_right_05453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05454.png",
+      "transform_matrix": [
+        [
+          0.9343703389167786,
+          -0.18190668523311615,
+          0.3063691556453705,
+          113.12348175048828
+        ],
+        [
+          -0.2975999414920807,
+          0.07437967509031296,
+          0.9517888426780701,
+          7.40098237991333
+        ],
+        [
+          -0.19592437148094177,
+          -0.9804986715316772,
+          0.015362739562988281,
+          -34.751102447509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5454,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_883080482",
+      "mask_path": "../../mask/hdr_right_05454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05455.png",
+      "transform_matrix": [
+        [
+          0.9348201155662537,
+          -0.17766781151294708,
+          0.30748251080513,
+          113.0356674194336
+        ],
+        [
+          -0.29908499121665955,
+          0.07293850183486938,
+          0.9514347910881042,
+          7.438657283782959
+        ],
+        [
+          -0.19146664440631866,
+          -0.9813838005065918,
+          0.01504659652709961,
+          -34.74828338623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5455,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323808_983080863",
+      "mask_path": "../../mask/hdr_right_05455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05456.png",
+      "transform_matrix": [
+        [
+          0.9361463189125061,
+          -0.16940094530582428,
+          0.3081125319004059,
+          112.97173309326172
+        ],
+        [
+          -0.30026254057884216,
+          0.07080598920583725,
+          0.9512249827384949,
+          7.457759380340576
+        ],
+        [
+          -0.1829545944929123,
+          -0.9830004572868347,
+          0.015419996343553066,
+          -34.7465934753418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5456,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_83080291",
+      "mask_path": "../../mask/hdr_right_05456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05457.png",
+      "transform_matrix": [
+        [
+          0.9388967156410217,
+          -0.1427040845155716,
+          0.313222736120224,
+          112.91527557373047
+        ],
+        [
+          -0.30763256549835205,
+          0.06026110798120499,
+          0.9495951533317566,
+          7.494270324707031
+        ],
+        [
+          -0.1543862372636795,
+          -0.9879292249679565,
+          0.012678534723818302,
+          -34.74568557739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5457,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_183080673",
+      "mask_path": "../../mask/hdr_right_05457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05458.png",
+      "transform_matrix": [
+        [
+          0.9383191466331482,
+          -0.1217760443687439,
+          0.3236168622970581,
+          112.85934448242188
+        ],
+        [
+          -0.3193143606185913,
+          0.053872715681791306,
+          0.9461162686347961,
+          7.546868324279785
+        ],
+        [
+          -0.13264842331409454,
+          -0.9910945296287537,
+          0.011664952151477337,
+          -34.71770477294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5458,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_283081054",
+      "mask_path": "../../mask/hdr_right_05458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05459.png",
+      "transform_matrix": [
+        [
+          0.9357696771621704,
+          -0.11904467642307281,
+          0.33190879225730896,
+          112.80485534667969
+        ],
+        [
+          -0.32819780707359314,
+          0.05010730028152466,
+          0.9432791471481323,
+          7.585787296295166
+        ],
+        [
+          -0.1289234161376953,
+          -0.9916236996650696,
+          0.007818690501153469,
+          -34.70250701904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5459,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_383080482",
+      "mask_path": "../../mask/hdr_right_05459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05460.png",
+      "transform_matrix": [
+        [
+          0.9333111643791199,
+          -0.11795630306005478,
+          0.3391411006450653,
+          112.7504653930664
+        ],
+        [
+          -0.33687061071395874,
+          0.039296649396419525,
+          0.9407305717468262,
+          7.62252140045166
+        ],
+        [
+          -0.12429221719503403,
+          -0.9922409057617188,
+          -0.003060012822970748,
+          -34.70846176147461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5460,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_483080387",
+      "mask_path": "../../mask/hdr_right_05460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05461.png",
+      "transform_matrix": [
+        [
+          0.9334217309951782,
+          -0.1127106249332428,
+          0.3406175673007965,
+          112.66932678222656
+        ],
+        [
+          -0.33903560042381287,
+          0.033514104783535004,
+          0.9401764273643494,
+          7.670577049255371
+        ],
+        [
+          -0.11738336831331253,
+          -0.9930624961853027,
+          -0.006930122617632151,
+          -34.6962776184082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5461,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_583082437",
+      "mask_path": "../../mask/hdr_right_05461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05462.png",
+      "transform_matrix": [
+        [
+          0.9353812336921692,
+          -0.1054697185754776,
+          0.337547242641449,
+          112.59991455078125
+        ],
+        [
+          -0.3357962369918823,
+          0.03448198363184929,
+          0.9413033127784729,
+          7.703400611877441
+        ],
+        [
+          -0.11091829091310501,
+          -0.9938244819641113,
+          -0.0031625372357666492,
+          -34.689231872558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5462,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_683081626",
+      "mask_path": "../../mask/hdr_right_05462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05463.png",
+      "transform_matrix": [
+        [
+          0.9354379773139954,
+          -0.10294369608163834,
+          0.33816924691200256,
+          112.54785919189453
+        ],
+        [
+          -0.3362480401992798,
+          0.03600766509771347,
+          0.9410849213600159,
+          7.727457523345947
+        ],
+        [
+          -0.10905542969703674,
+          -0.9940351843833923,
+          -0.0009316835785284638,
+          -34.68893051147461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5463,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_783081293",
+      "mask_path": "../../mask/hdr_right_05463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05464.png",
+      "transform_matrix": [
+        [
+          0.9335718154907227,
+          -0.10624630004167557,
+          0.3422798216342926,
+          112.49120330810547
+        ],
+        [
+          -0.3390243947505951,
+          0.04788987338542938,
+          0.9395579099655151,
+          7.765450477600098
+        ],
+        [
+          -0.11621628701686859,
+          -0.9931858777999878,
+          0.008688541129231453,
+          -34.6754150390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5464,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_883081912",
+      "mask_path": "../../mask/hdr_right_05464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05465.png",
+      "transform_matrix": [
+        [
+          0.9282932877540588,
+          -0.1188872903585434,
+          0.35233139991760254,
+          112.4269790649414
+        ],
+        [
+          -0.34695953130722046,
+          0.06389758735895157,
+          0.9357009530067444,
+          7.821875095367432
+        ],
+        [
+          -0.13375605642795563,
+          -0.9908495545387268,
+          0.018066614866256714,
+          -34.614070892333984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5465,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323809_983082532",
+      "mask_path": "../../mask/hdr_right_05465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05466.png",
+      "transform_matrix": [
+        [
+          0.9216753244400024,
+          -0.134499654173851,
+          0.36390170454978943,
+          112.3673324584961
+        ],
+        [
+          -0.35834041237831116,
+          0.06434251368045807,
+          0.9313711524009705,
+          7.869969367980957
+        ],
+        [
+          -0.14868344366550446,
+          -0.9888224601745605,
+          0.011106248944997787,
+          -34.58143615722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5466,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_83081245",
+      "mask_path": "../../mask/hdr_right_05466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05468.png",
+      "transform_matrix": [
+        [
+          0.9137457013130188,
+          -0.15193086862564087,
+          0.3768100142478943,
+          112.26516723632812
+        ],
+        [
+          -0.37235862016677856,
+          0.05786581709980965,
+          0.9262832403182983,
+          7.918965816497803
+        ],
+        [
+          -0.1625354290008545,
+          -0.9866958260536194,
+          -0.003698133397847414,
+          -34.56125259399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5468,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_283082723",
+      "mask_path": "../../mask/hdr_right_05468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05469.png",
+      "transform_matrix": [
+        [
+          0.913154125213623,
+          -0.15265390276908875,
+          0.37795016169548035,
+          112.1961669921875
+        ],
+        [
+          -0.3733155429363251,
+          0.0590854287147522,
+          0.9258209466934204,
+          7.951048374176025
+        ],
+        [
+          -0.16366153955459595,
+          -0.9865118861198425,
+          -0.0030339607037603855,
+          -34.54657745361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5469,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_383082151",
+      "mask_path": "../../mask/hdr_right_05469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05470.png",
+      "transform_matrix": [
+        [
+          0.9121778011322021,
+          -0.15454097092151642,
+          0.3795377314090729,
+          112.14584350585938
+        ],
+        [
+          -0.3751904368400574,
+          0.05754256248474121,
+          0.9251599907875061,
+          7.972601413726807
+        ],
+        [
+          -0.16481469571590424,
+          -0.986309289932251,
+          -0.0054932585917413235,
+          -34.538333892822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5470,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_483081579",
+      "mask_path": "../../mask/hdr_right_05470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05472.png",
+      "transform_matrix": [
+        [
+          0.9102334380149841,
+          -0.152044415473938,
+          0.3851722180843353,
+          112.03965759277344
+        ],
+        [
+          -0.3821188509464264,
+          0.05001024156808853,
+          0.9227590560913086,
+          8.018430709838867
+        ],
+        [
+          -0.15956290066242218,
+          -0.9871076941490173,
+          -0.012578052468597889,
+          -34.52247619628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5472,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_683082342",
+      "mask_path": "../../mask/hdr_right_05472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05473.png",
+      "transform_matrix": [
+        [
+          0.9076179265975952,
+          -0.15653753280639648,
+          0.38951992988586426,
+          111.97954559326172
+        ],
+        [
+          -0.38658711314201355,
+          0.050040483474731445,
+          0.9208943247795105,
+          8.05483341217041
+        ],
+        [
+          -0.16364631056785583,
+          -0.9864035248756409,
+          -0.015097765251994133,
+          -34.50185012817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5473,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_783080339",
+      "mask_path": "../../mask/hdr_right_05473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05474.png",
+      "transform_matrix": [
+        [
+          0.9050431847572327,
+          -0.16109521687030792,
+          0.39363089203834534,
+          111.92491912841797
+        ],
+        [
+          -0.39129361510276794,
+          0.04734895005822182,
+          0.9190470576286316,
+          8.089126586914062
+        ],
+        [
+          -0.1666921079158783,
+          -0.985802412033081,
+          -0.020182684063911438,
+          -34.48518753051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5474,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_883080244",
+      "mask_path": "../../mask/hdr_right_05474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05475.png",
+      "transform_matrix": [
+        [
+          0.9050670266151428,
+          -0.15275435149669647,
+          0.39688777923583984,
+          111.86465454101562
+        ],
+        [
+          -0.3938632309436798,
+          0.050896331667900085,
+          0.9177588820457458,
+          8.125994682312012
+        ],
+        [
+          -0.16039180755615234,
+          -0.9869527220726013,
+          -0.014099723659455776,
+          -34.47880935668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5475,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323810_983081817",
+      "mask_path": "../../mask/hdr_right_05475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05476.png",
+      "transform_matrix": [
+        [
+          0.9055021405220032,
+          -0.1412094086408615,
+          0.4001574218273163,
+          111.81204986572266
+        ],
+        [
+          -0.39632362127304077,
+          0.05554783716797829,
+          0.9164290428161621,
+          8.158249855041504
+        ],
+        [
+          -0.1516362726688385,
+          -0.9884202480316162,
+          -0.005665942095220089,
+          -34.48280334472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5476,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_83083152",
+      "mask_path": "../../mask/hdr_right_05476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05477.png",
+      "transform_matrix": [
+        [
+          0.9047217965126038,
+          -0.13591088354587555,
+          0.40374091267585754,
+          111.75886535644531
+        ],
+        [
+          -0.40016916394233704,
+          0.05388101190328598,
+          0.9148560166358948,
+          8.188810348510742
+        ],
+        [
+          -0.14609284698963165,
+          -0.9892547726631165,
+          -0.0056400299072265625,
+          -34.481327056884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5477,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_183082103",
+      "mask_path": "../../mask/hdr_right_05477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05478.png",
+      "transform_matrix": [
+        [
+          0.9043996930122375,
+          -0.12773175537586212,
+          0.40711894631385803,
+          111.69224548339844
+        ],
+        [
+          -0.4049711227416992,
+          0.04354790970683098,
+          0.913291871547699,
+          8.23323917388916
+        ],
+        [
+          -0.13438554108142853,
+          -0.9908521771430969,
+          -0.012342971749603748,
+          -34.47618865966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5478,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_283079147",
+      "mask_path": "../../mask/hdr_right_05478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05479.png",
+      "transform_matrix": [
+        [
+          0.9012211561203003,
+          -0.12345114350318909,
+          0.41540369391441345,
+          111.61896514892578
+        ],
+        [
+          -0.4143182933330536,
+          0.03556894510984421,
+          0.9094367623329163,
+          8.278204917907715
+        ],
+        [
+          -0.12704648077487946,
+          -0.9917130470275879,
+          -0.019092584028840065,
+          -34.45002746582031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5479,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_383080720",
+      "mask_path": "../../mask/hdr_right_05479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05480.png",
+      "transform_matrix": [
+        [
+          0.89771968126297,
+          -0.12387020140886307,
+          0.42279502749443054,
+          111.56192779541016
+        ],
+        [
+          -0.4222366213798523,
+          0.03203410655260086,
+          0.9059194922447205,
+          8.314123153686523
+        ],
+        [
+          -0.1257603019475937,
+          -0.9917812347412109,
+          -0.02354489639401436,
+          -34.4388542175293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5480,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_483081579",
+      "mask_path": "../../mask/hdr_right_05480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05481.png",
+      "transform_matrix": [
+        [
+          0.8968976736068726,
+          -0.11839916557073593,
+          0.4260939955711365,
+          111.49091339111328
+        ],
+        [
+          -0.42622390389442444,
+          0.02550460211932659,
+          0.9042580723762512,
+          8.35761833190918
+        ],
+        [
+          -0.11793076992034912,
+          -0.9926384091377258,
+          -0.02758953720331192,
+          -34.430030822753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5481,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_583079576",
+      "mask_path": "../../mask/hdr_right_05481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05482.png",
+      "transform_matrix": [
+        [
+          0.8994350433349609,
+          -0.10343019664287567,
+          0.42463964223861694,
+          111.41139221191406
+        ],
+        [
+          -0.4245762526988983,
+          0.023731250315904617,
+          0.9050811529159546,
+          8.411590576171875
+        ],
+        [
+          -0.10368994623422623,
+          -0.9943535923957825,
+          -0.02256930060684681,
+          -34.42364501953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5482,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_683082103",
+      "mask_path": "../../mask/hdr_right_05482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05483.png",
+      "transform_matrix": [
+        [
+          0.9030935168266296,
+          -0.08796656876802444,
+          0.4203380048274994,
+          111.35154724121094
+        ],
+        [
+          -0.4197486340999603,
+          0.02599806897342205,
+          0.9072679877281189,
+          8.45239543914795
+        ],
+        [
+          -0.0907372236251831,
+          -0.9957841038703918,
+          -0.013445164076983929,
+          -34.435264587402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5483,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_783081769",
+      "mask_path": "../../mask/hdr_right_05483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05484.png",
+      "transform_matrix": [
+        [
+          0.9048982262611389,
+          -0.07868929207324982,
+          0.41829097270965576,
+          111.2923355102539
+        ],
+        [
+          -0.4176903963088989,
+          0.024738047271966934,
+          0.9082525968551636,
+          8.483023643493652
+        ],
+        [
+          -0.08181745558977127,
+          -0.9965921640396118,
+          -0.010482342913746834,
+          -34.43719482421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5484,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_883082389",
+      "mask_path": "../../mask/hdr_right_05484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05485.png",
+      "transform_matrix": [
+        [
+          0.9042738080024719,
+          -0.07441296428442001,
+          0.4204184412956238,
+          111.2309341430664
+        ],
+        [
+          -0.41967177391052246,
+          0.026164760813117027,
+          0.907298743724823,
+          8.52958869934082
+        ],
+        [
+          -0.07851492613554001,
+          -0.9968842267990112,
+          -0.007568907458335161,
+          -34.42891311645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5485,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323811_983082056",
+      "mask_path": "../../mask/hdr_right_05485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05486.png",
+      "transform_matrix": [
+        [
+          0.9026039838790894,
+          -0.07665541023015976,
+          0.4235919713973999,
+          111.16828918457031
+        ],
+        [
+          -0.4228886067867279,
+          0.025992335751652718,
+          0.9058089256286621,
+          8.580979347229004
+        ],
+        [
+          -0.0804452896118164,
+          -0.9967188239097595,
+          -0.00895591638982296,
+          -34.410221099853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5486,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_83082675",
+      "mask_path": "../../mask/hdr_right_05486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05487.png",
+      "transform_matrix": [
+        [
+          0.9033556580543518,
+          -0.08378887176513672,
+          0.4206278920173645,
+          111.1186752319336
+        ],
+        [
+          -0.42078790068626404,
+          0.016604656353592873,
+          0.9070071578025818,
+          8.607545852661133
+        ],
+        [
+          -0.08298148959875107,
+          -0.9963451623916626,
+          -0.020257437601685524,
+          -34.391563415527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5487,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_183081150",
+      "mask_path": "../../mask/hdr_right_05487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05488.png",
+      "transform_matrix": [
+        [
+          0.9040312170982361,
+          -0.11322467774152756,
+          0.4121987521648407,
+          111.04881286621094
+        ],
+        [
+          -0.41381731629371643,
+          0.009920680895447731,
+          0.910305917263031,
+          8.62741470336914
+        ],
+        [
+          -0.10715839266777039,
+          -0.9935198426246643,
+          -0.037885721772909164,
+          -34.38566970825195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5488,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_283082962",
+      "mask_path": "../../mask/hdr_right_05488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05489.png",
+      "transform_matrix": [
+        [
+          0.9087740778923035,
+          -0.13545718789100647,
+          0.39469099044799805,
+          110.9534683227539
+        ],
+        [
+          -0.396354079246521,
+          0.015622593462467194,
+          0.9179648756980896,
+          8.65031909942627
+        ],
+        [
+          -0.13051101565361023,
+          -0.9906600117683411,
+          -0.03949159011244774,
+          -34.32520294189453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5489,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_383081197",
+      "mask_path": "../../mask/hdr_right_05489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05492.png",
+      "transform_matrix": [
+        [
+          0.9289607405662537,
+          -0.14157000184059143,
+          0.3420378863811493,
+          110.82034301757812
+        ],
+        [
+          -0.341780424118042,
+          0.026898367330431938,
+          0.9393948912620544,
+          8.709320068359375
+        ],
+        [
+          -0.14219041168689728,
+          -0.9895627498626709,
+          -0.02339833602309227,
+          -34.297828674316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5492,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_683084011",
+      "mask_path": "../../mask/hdr_right_05492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05494.png",
+      "transform_matrix": [
+        [
+          0.925606369972229,
+          -0.1582854688167572,
+          0.34380024671554565,
+          110.74886322021484
+        ],
+        [
+          -0.3428834080696106,
+          0.033941566944122314,
+          0.9387645721435547,
+          8.75937557220459
+        ],
+        [
+          -0.16026194393634796,
+          -0.9868098497390747,
+          -0.022856932133436203,
+          -34.257537841796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5494,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_883082151",
+      "mask_path": "../../mask/hdr_right_05494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05495.png",
+      "transform_matrix": [
+        [
+          0.9220365881919861,
+          -0.16646991670131683,
+          0.3494800925254822,
+          110.7043685913086
+        ],
+        [
+          -0.348300963640213,
+          0.037197887897491455,
+          0.936644434928894,
+          8.785799980163574
+        ],
+        [
+          -0.1689230352640152,
+          -0.985344648361206,
+          -0.02368382178246975,
+          -34.22793197631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5495,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323812_983080387",
+      "mask_path": "../../mask/hdr_right_05495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05496.png",
+      "transform_matrix": [
+        [
+          0.921317994594574,
+          -0.16748809814453125,
+          0.350885808467865,
+          110.64730072021484
+        ],
+        [
+          -0.3491404950618744,
+          0.04074497148394585,
+          0.9361841678619385,
+          8.8192138671875
+        ],
+        [
+          -0.171096533536911,
+          -0.98503178358078,
+          -0.020937802270054817,
+          -34.21480941772461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5496,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_83080768",
+      "mask_path": "../../mask/hdr_right_05496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05499.png",
+      "transform_matrix": [
+        [
+          0.920174777507782,
+          -0.17555738985538483,
+          0.34994006156921387,
+          110.50172424316406
+        ],
+        [
+          -0.344611257314682,
+          0.06099401041865349,
+          0.9367619156837463,
+          8.886582374572754
+        ],
+        [
+          -0.1857997179031372,
+          -0.982577919960022,
+          -0.004373906645923853,
+          -34.1903190612793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5499,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_383081674",
+      "mask_path": "../../mask/hdr_right_05499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05500.png",
+      "transform_matrix": [
+        [
+          0.9172378182411194,
+          -0.1830957978963852,
+          0.35376664996147156,
+          110.44671630859375
+        ],
+        [
+          -0.34420332312583923,
+          0.08270187675952911,
+          0.9352457523345947,
+          8.921876907348633
+        ],
+        [
+          -0.20049671828746796,
+          -0.9796103239059448,
+          0.012835092842578888,
+          -34.143280029296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5500,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_483083963",
+      "mask_path": "../../mask/hdr_right_05500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05501.png",
+      "transform_matrix": [
+        [
+          0.9139741659164429,
+          -0.19226710498332977,
+          0.357329785823822,
+          110.39913177490234
+        ],
+        [
+          -0.3461741507053375,
+          0.08996378630399704,
+          0.9338468313217163,
+          8.957437515258789
+        ],
+        [
+          -0.21169477701187134,
+          -0.9772102236747742,
+          0.015666678547859192,
+          -34.11448669433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5501,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_583081722",
+      "mask_path": "../../mask/hdr_right_05501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05502.png",
+      "transform_matrix": [
+        [
+          0.9092705249786377,
+          -0.2052488625049591,
+          0.36207738518714905,
+          110.34127044677734
+        ],
+        [
+          -0.3517220914363861,
+          0.08619686216115952,
+          0.9321275353431702,
+          8.981689453125
+        ],
+        [
+          -0.22252804040908813,
+          -0.9749066829681396,
+          0.0061857146210968494,
+          -34.09319305419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5502,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_683083057",
+      "mask_path": "../../mask/hdr_right_05502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05503.png",
+      "transform_matrix": [
+        [
+          0.9056859016418457,
+          -0.20713387429714203,
+          0.36990371346473694,
+          110.27943420410156
+        ],
+        [
+          -0.3583705723285675,
+          0.09210752695798874,
+          0.9290246367454529,
+          9.019927024841309
+        ],
+        [
+          -0.2265034019947052,
+          -0.9739670157432556,
+          0.00918979849666357,
+          -34.072940826416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5503,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_783082008",
+      "mask_path": "../../mask/hdr_right_05503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05505.png",
+      "transform_matrix": [
+        [
+          0.9012700319290161,
+          -0.20253697037696838,
+          0.383002907037735,
+          110.18909454345703
+        ],
+        [
+          -0.3692803680896759,
+          0.10322769731283188,
+          0.9235669374465942,
+          9.086080551147461
+        ],
+        [
+          -0.2265929877758026,
+          -0.9738187193870544,
+          0.01824308931827545,
+          -34.063987731933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5505,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323813_983082294",
+      "mask_path": "../../mask/hdr_right_05505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05506.png",
+      "transform_matrix": [
+        [
+          0.8998647928237915,
+          -0.1966293752193451,
+          0.38933321833610535,
+          110.12007141113281
+        ],
+        [
+          -0.37500083446502686,
+          0.1070815846323967,
+          0.9208192229270935,
+          9.125797271728516
+        ],
+        [
+          -0.2227504998445511,
+          -0.9746129512786865,
+          0.022622760385274887,
+          -34.04226303100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5506,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_83081960",
+      "mask_path": "../../mask/hdr_right_05506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05507.png",
+      "transform_matrix": [
+        [
+          0.8963128924369812,
+          -0.197702556848526,
+          0.39690926671028137,
+          110.06633758544922
+        ],
+        [
+          -0.38287898898124695,
+          0.10643723607063293,
+          0.9176463484764099,
+          9.16549301147461
+        ],
+        [
+          -0.2236669361591339,
+          -0.9744664430618286,
+          0.019704902544617653,
+          -34.00967788696289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5507,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_183082342",
+      "mask_path": "../../mask/hdr_right_05507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05508.png",
+      "transform_matrix": [
+        [
+          0.8931982517242432,
+          -0.2029077559709549,
+          0.40127989649772644,
+          110.02052307128906
+        ],
+        [
+          -0.38929447531700134,
+          0.09769164770841599,
+          0.9159181714057922,
+          9.199959754943848
+        ],
+        [
+          -0.22504858672618866,
+          -0.974312424659729,
+          0.008267139084637165,
+          -33.992149353027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5508,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_283081531",
+      "mask_path": "../../mask/hdr_right_05508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05509.png",
+      "transform_matrix": [
+        [
+          0.8918108344078064,
+          -0.2049814611673355,
+          0.4033063054084778,
+          109.96189880371094
+        ],
+        [
+          -0.39347806572914124,
+          0.08850933611392975,
+          0.9150634407997131,
+          9.23381233215332
+        ],
+        [
+          -0.22326740622520447,
+          -0.9747557044029236,
+          -0.0017221106681972742,
+          -33.9766845703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5509,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_383078098",
+      "mask_path": "../../mask/hdr_right_05509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05510.png",
+      "transform_matrix": [
+        [
+          0.8925631046295166,
+          -0.20443478226661682,
+          0.40191739797592163,
+          109.89671325683594
+        ],
+        [
+          -0.3921565115451813,
+          0.0880526453256607,
+          0.9156746864318848,
+          9.268037796020508
+        ],
+        [
+          -0.22258563339710236,
+          -0.9749118089675903,
+          -0.0015778947854414582,
+          -33.95528793334961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5510,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_483080625",
+      "mask_path": "../../mask/hdr_right_05510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05511.png",
+      "transform_matrix": [
+        [
+          0.8983266353607178,
+          -0.2028435915708542,
+          0.38969722390174866,
+          109.84196472167969
+        ],
+        [
+          -0.3788698613643646,
+          0.09137190878391266,
+          0.9209281206130981,
+          9.293375015258789
+        ],
+        [
+          -0.22241176664829254,
+          -0.9749387502670288,
+          0.005230484530329704,
+          -33.94166564941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5511,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_583078145",
+      "mask_path": "../../mask/hdr_right_05511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05513.png",
+      "transform_matrix": [
+        [
+          0.9305263757705688,
+          -0.19682222604751587,
+          0.30883923172950745,
+          109.74301147460938
+        ],
+        [
+          -0.298147588968277,
+          0.08258023113012314,
+          0.9509409666061401,
+          9.302789688110352
+        ],
+        [
+          -0.21267032623291016,
+          -0.9769551753997803,
+          0.018161015585064888,
+          -33.91571044921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5513,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_783080339",
+      "mask_path": "../../mask/hdr_right_05513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05514.png",
+      "transform_matrix": [
+        [
+          0.944570779800415,
+          -0.1952207088470459,
+          0.263960063457489,
+          109.69219207763672
+        ],
+        [
+          -0.25477197766304016,
+          0.07123233377933502,
+          0.9643740057945251,
+          9.305084228515625
+        ],
+        [
+          -0.2070682793855667,
+          -0.9781691431999207,
+          0.017547205090522766,
+          -33.89595413208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5514,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323814_883079290",
+      "mask_path": "../../mask/hdr_right_05514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05516.png",
+      "transform_matrix": [
+        [
+          0.9545015692710876,
+          -0.19733409583568573,
+          0.22357583045959473,
+          109.59407806396484
+        ],
+        [
+          -0.21939726173877716,
+          0.04307812079787254,
+          0.9746841192245483,
+          9.328261375427246
+        ],
+        [
+          -0.20196963846683502,
+          -0.9793893694877625,
+          -0.00217643566429615,
+          -33.87471389770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5516,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_83078622",
+      "mask_path": "../../mask/hdr_right_05516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05517.png",
+      "transform_matrix": [
+        [
+          0.9578152298927307,
+          -0.18571673333644867,
+          0.219315305352211,
+          109.53675842285156
+        ],
+        [
+          -0.21622136235237122,
+          0.03700907900929451,
+          0.975642740726471,
+          9.359535217285156
+        ],
+        [
+          -0.18930983543395996,
+          -0.9819061160087585,
+          -0.004708075430244207,
+          -33.86875915527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5517,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_183078289",
+      "mask_path": "../../mask/hdr_right_05517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05518.png",
+      "transform_matrix": [
+        [
+          0.960324764251709,
+          -0.17682190239429474,
+          0.21566246449947357,
+          109.4737548828125
+        ],
+        [
+          -0.21329671144485474,
+          0.03251137584447861,
+          0.9764463901519775,
+          9.378926277160645
+        ],
+        [
+          -0.1796686053276062,
+          -0.9837057590484619,
+          -0.006494047585874796,
+          -33.861087799072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5518,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_283078670",
+      "mask_path": "../../mask/hdr_right_05518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05519.png",
+      "transform_matrix": [
+        [
+          0.9620192646980286,
+          -0.17106126248836517,
+          0.21273700892925262,
+          109.4184799194336
+        ],
+        [
+          -0.211358442902565,
+          0.02644619159400463,
+          0.9770507216453552,
+          9.388471603393555
+        ],
+        [
+          -0.17276160418987274,
+          -0.9849053621292114,
+          -0.010713505558669567,
+          -33.856239318847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5519,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_383080482",
+      "mask_path": "../../mask/hdr_right_05519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05520.png",
+      "transform_matrix": [
+        [
+          0.963266134262085,
+          -0.1615857630968094,
+          0.21449580788612366,
+          109.35911560058594
+        ],
+        [
+          -0.21453207731246948,
+          0.01743251457810402,
+          0.976561427116394,
+          9.406144142150879
+        ],
+        [
+          -0.16153761744499207,
+          -0.9867046475410461,
+          -0.017873184755444527,
+          -33.84812927246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5520,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_483081102",
+      "mask_path": "../../mask/hdr_right_05520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05521.png",
+      "transform_matrix": [
+        [
+          0.9618611931800842,
+          -0.16164559125900269,
+          0.22066643834114075,
+          109.29844665527344
+        ],
+        [
+          -0.22264939546585083,
+          0.005973211955279112,
+          0.9748803377151489,
+          9.431046485900879
+        ],
+        [
+          -0.15890319645404816,
+          -0.9868308305740356,
+          -0.030244892463088036,
+          -33.8275260925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5521,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_583082199",
+      "mask_path": "../../mask/hdr_right_05521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05522.png",
+      "transform_matrix": [
+        [
+          0.958716094493866,
+          -0.16961334645748138,
+          0.2282431572675705,
+          109.24600982666016
+        ],
+        [
+          -0.23237355053424835,
+          -0.004642448388040066,
+          0.9726155400276184,
+          9.447240829467773
+        ],
+        [
+          -0.1639089584350586,
+          -0.9854997396469116,
+          -0.04386444389820099,
+          -33.80979919433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5522,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_683082580",
+      "mask_path": "../../mask/hdr_right_05522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05523.png",
+      "transform_matrix": [
+        [
+          0.9582314491271973,
+          -0.16338728368282318,
+          0.23472745716571808,
+          109.18263244628906
+        ],
+        [
+          -0.23971205949783325,
+          -0.011207027360796928,
+          0.9707793593406677,
+          9.463605880737305
+        ],
+        [
+          -0.15598243474960327,
+          -0.9864982962608337,
+          -0.04990484192967415,
+          -33.79453659057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5523,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_783081769",
+      "mask_path": "../../mask/hdr_right_05523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05524.png",
+      "transform_matrix": [
+        [
+          0.9583304524421692,
+          -0.15320508182048798,
+          0.2411034107208252,
+          109.1224136352539
+        ],
+        [
+          -0.24537284672260284,
+          -0.00931085366755724,
+          0.9693841338157654,
+          9.481781959533691
+        ],
+        [
+          -0.14626967906951904,
+          -0.9881505370140076,
+          -0.046515241265296936,
+          -33.786415100097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5524,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323815_883082151",
+      "mask_path": "../../mask/hdr_right_05524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05526.png",
+      "transform_matrix": [
+        [
+          0.9562076330184937,
+          -0.1434379667043686,
+          0.25513240694999695,
+          109.0220947265625
+        ],
+        [
+          -0.25698357820510864,
+          0.005785635206848383,
+          0.9663985371589661,
+          9.510160446166992
+        ],
+        [
+          -0.1400943249464035,
+          -0.9896423816680908,
+          -0.03132893517613411,
+          -33.78144073486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5526,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_83082199",
+      "mask_path": "../../mask/hdr_right_05526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05527.png",
+      "transform_matrix": [
+        [
+          0.9527919888496399,
+          -0.14157786965370178,
+          0.2685949504375458,
+          108.95797729492188
+        ],
+        [
+          -0.26914772391319275,
+          0.015594187192618847,
+          0.9629726409912109,
+          9.534296989440918
+        ],
+        [
+          -0.14052411913871765,
+          -0.9898042678833008,
+          -0.02324735000729561,
+          -33.76072311401367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5527,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_183081150",
+      "mask_path": "../../mask/hdr_right_05527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05529.png",
+      "transform_matrix": [
+        [
+          0.9355734586715698,
+          -0.15500232577323914,
+          0.31729599833488464,
+          108.8787612915039
+        ],
+        [
+          -0.31798475980758667,
+          0.021000351756811142,
+          0.9478632211685181,
+          9.588067054748535
+        ],
+        [
+          -0.1535843312740326,
+          -0.9876908659934998,
+          -0.029641013592481613,
+          -33.73088073730469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5529,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_383080244",
+      "mask_path": "../../mask/hdr_right_05529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05530.png",
+      "transform_matrix": [
+        [
+          0.9252376556396484,
+          -0.1629829704761505,
+          0.34259581565856934,
+          108.8267822265625
+        ],
+        [
+          -0.34420108795166016,
+          0.019185185432434082,
+          0.9386999607086182,
+          9.615699768066406
+        ],
+        [
+          -0.15956486761569977,
+          -0.9864423274993896,
+          -0.03834805637598038,
+          -33.7258186340332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5530,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_483080387",
+      "mask_path": "../../mask/hdr_right_05530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05531.png",
+      "transform_matrix": [
+        [
+          0.9181391000747681,
+          -0.17132605612277985,
+          0.357306569814682,
+          108.75833129882812
+        ],
+        [
+          -0.35849228501319885,
+          0.025048401206731796,
+          0.9331966638565063,
+          9.639703750610352
+        ],
+        [
+          -0.16883084177970886,
+          -0.9848959445953369,
+          -0.03842117264866829,
+          -33.687156677246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5531,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_583080768",
+      "mask_path": "../../mask/hdr_right_05531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05534.png",
+      "transform_matrix": [
+        [
+          0.9191740155220032,
+          -0.15443462133407593,
+          0.36231091618537903,
+          108.6259536743164
+        ],
+        [
+          -0.35605379939079285,
+          0.06740515679121017,
+          0.9320312738418579,
+          9.717238426208496
+        ],
+        [
+          -0.16835951805114746,
+          -0.9857009649276733,
+          0.006970027461647987,
+          -33.66465377807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5534,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_883080720",
+      "mask_path": "../../mask/hdr_right_05534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05535.png",
+      "transform_matrix": [
+        [
+          0.9171338081359863,
+          -0.14999525249004364,
+          0.36927929520606995,
+          108.55752563476562
+        ],
+        [
+          -0.36209601163864136,
+          0.07368532568216324,
+          0.929223895072937,
+          9.770512580871582
+        ],
+        [
+          -0.166589617729187,
+          -0.9859371185302734,
+          0.013266599737107754,
+          -33.643150329589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5535,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323816_983079910",
+      "mask_path": "../../mask/hdr_right_05535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05536.png",
+      "transform_matrix": [
+        [
+          0.9148547649383545,
+          -0.14977820217609406,
+          0.37497639656066895,
+          108.50009155273438
+        ],
+        [
+          -0.3679511845111847,
+          0.07321260124444962,
+          0.9269585013389587,
+          9.815558433532715
+        ],
+        [
+          -0.16629114747047424,
+          -0.9860053062438965,
+          0.011867833323776722,
+          -33.62907409667969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5536,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_83081007",
+      "mask_path": "../../mask/hdr_right_05536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05537.png",
+      "transform_matrix": [
+        [
+          0.912815511226654,
+          -0.15181615948677063,
+          0.37910380959510803,
+          108.45207214355469
+        ],
+        [
+          -0.37262389063835144,
+          0.07019593566656113,
+          0.9253236651420593,
+          9.850445747375488
+        ],
+        [
+          -0.16709062457084656,
+          -0.9859129190444946,
+          0.007505619432777166,
+          -33.61497116088867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5537,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_183080673",
+      "mask_path": "../../mask/hdr_right_05537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05538.png",
+      "transform_matrix": [
+        [
+          0.910319983959198,
+          -0.15974576771259308,
+          0.3818362057209015,
+          108.39026641845703
+        ],
+        [
+          -0.3763637840747833,
+          0.06443088501691818,
+          0.9242289066314697,
+          9.885951042175293
+        ],
+        [
+          -0.17224369943141937,
+          -0.9850532412528992,
+          -0.0014698071172460914,
+          -33.592098236083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5538,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_283080339",
+      "mask_path": "../../mask/hdr_right_05538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05539.png",
+      "transform_matrix": [
+        [
+          0.9091230630874634,
+          -0.16521312296390533,
+          0.38236090540885925,
+          108.32279968261719
+        ],
+        [
+          -0.3769758343696594,
+          0.06407231092453003,
+          0.9240043759346008,
+          9.920576095581055
+        ],
+        [
+          -0.17715638875961304,
+          -0.9841744303703308,
+          -0.004031728953123093,
+          -33.57361602783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5539,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_383079051",
+      "mask_path": "../../mask/hdr_right_05539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05540.png",
+      "transform_matrix": [
+        [
+          0.9086069464683533,
+          -0.16584737598896027,
+          0.3833121657371521,
+          108.26763916015625
+        ],
+        [
+          -0.3778568506240845,
+          0.06456348299980164,
+          0.9236101508140564,
+          9.94395923614502
+        ],
+        [
+          -0.17792628705501556,
+          -0.9840357303619385,
+          -0.004003745038062334,
+          -33.55999755859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5540,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_483081817",
+      "mask_path": "../../mask/hdr_right_05540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05541.png",
+      "transform_matrix": [
+        [
+          0.908311665058136,
+          -0.1611899882555008,
+          0.3859892785549164,
+          108.21383666992188
+        ],
+        [
+          -0.3786897659301758,
+          0.07505099475383759,
+          0.9224757552146912,
+          9.972805976867676
+        ],
+        [
+          -0.17766273021697998,
+          -0.984065592288971,
+          0.007128698285669088,
+          -33.554264068603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5541,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_583081007",
+      "mask_path": "../../mask/hdr_right_05541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05542.png",
+      "transform_matrix": [
+        [
+          0.9058181643486023,
+          -0.1603638231754303,
+          0.3921440541744232,
+          108.14098358154297
+        ],
+        [
+          -0.38369831442832947,
+          0.08193608373403549,
+          0.9198163151741028,
+          10.02415657043457
+        ],
+        [
+          -0.17963601648807526,
+          -0.9836512804031372,
+          0.012687847018241882,
+          -33.534095764160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5542,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_683082103",
+      "mask_path": "../../mask/hdr_right_05542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05543.png",
+      "transform_matrix": [
+        [
+          0.9017897844314575,
+          -0.16586114466190338,
+          0.39908063411712646,
+          108.08586883544922
+        ],
+        [
+          -0.39073631167411804,
+          0.08166094869375229,
+          0.9168733358383179,
+          10.05572509765625
+        ],
+        [
+          -0.18466296792030334,
+          -0.9827621579170227,
+          0.00883303489536047,
+          -33.51173782348633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5543,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_783082008",
+      "mask_path": "../../mask/hdr_right_05543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05544.png",
+      "transform_matrix": [
+        [
+          0.8991896510124207,
+          -0.16576606035232544,
+          0.40494397282600403,
+          108.03009796142578
+        ],
+        [
+          -0.3968704640865326,
+          0.08074568212032318,
+          0.9143161773681641,
+          10.087143898010254
+        ],
+        [
+          -0.1842600405216217,
+          -0.982853889465332,
+          0.006818010471761227,
+          -33.499717712402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5544,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_883082628",
+      "mask_path": "../../mask/hdr_right_05544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05545.png",
+      "transform_matrix": [
+        [
+          0.902081310749054,
+          -0.147447869181633,
+          0.40559640526771545,
+          107.95162200927734
+        ],
+        [
+          -0.39745771884918213,
+          0.08235108852386475,
+          0.9139177799224854,
+          10.129486083984375
+        ],
+        [
+          -0.16815653443336487,
+          -0.98563551902771,
+          0.01568307913839817,
+          -33.49287033081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5545,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323817_983082056",
+      "mask_path": "../../mask/hdr_right_05545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05546.png",
+      "transform_matrix": [
+        [
+          0.9053581357002258,
+          -0.1303015649318695,
+          0.40416356921195984,
+          107.8877944946289
+        ],
+        [
+          -0.39551490545272827,
+          0.08770967274904251,
+          0.914262056350708,
+          10.15829849243164
+        ],
+        [
+          -0.1545788049697876,
+          -0.9875872135162354,
+          0.02787245437502861,
+          -33.48494338989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5546,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_83082675",
+      "mask_path": "../../mask/hdr_right_05546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05547.png",
+      "transform_matrix": [
+        [
+          0.904955267906189,
+          -0.12456850707530975,
+          0.40686437487602234,
+          107.83969116210938
+        ],
+        [
+          -0.3977421224117279,
+          0.09209823608398438,
+          0.9128630757331848,
+          10.1831636428833
+        ],
+        [
+          -0.15118548274040222,
+          -0.9879274368286133,
+          0.033798638731241226,
+          -33.47550582885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5547,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_183082103",
+      "mask_path": "../../mask/hdr_right_05547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05548.png",
+      "transform_matrix": [
+        [
+          0.9034246206283569,
+          -0.12154986709356308,
+          0.41115662455558777,
+          107.78803253173828
+        ],
+        [
+          -0.40384814143180847,
+          0.08079556375741959,
+          0.9112512469291687,
+          10.223472595214844
+        ],
+        [
+          -0.14398209750652313,
+          -0.9892915487289429,
+          0.023905005306005478,
+          -33.47088623046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5548,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_283082246",
+      "mask_path": "../../mask/hdr_right_05548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05549.png",
+      "transform_matrix": [
+        [
+          0.9007337689399719,
+          -0.11752983927726746,
+          0.418169230222702,
+          107.72725677490234
+        ],
+        [
+          -0.41266050934791565,
+          0.06901859492063522,
+          0.9082663059234619,
+          10.265641212463379
+        ],
+        [
+          -0.13560985028743744,
+          -0.990667998790741,
+          0.013667453080415726,
+          -33.454612731933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5549,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_383082151",
+      "mask_path": "../../mask/hdr_right_05549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05550.png",
+      "transform_matrix": [
+        [
+          0.8971498012542725,
+          -0.11577118933200836,
+          0.42628541588783264,
+          107.67647552490234
+        ],
+        [
+          -0.42134377360343933,
+          0.06548380851745605,
+          0.9045338034629822,
+          10.298066139221191
+        ],
+        [
+          -0.132633775472641,
+          -0.9911149740219116,
+          0.009969312697649002,
+          -33.442134857177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5550,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_483080863",
+      "mask_path": "../../mask/hdr_right_05550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05551.png",
+      "transform_matrix": [
+        [
+          0.8950703144073486,
+          -0.1120077595114708,
+          0.43162888288497925,
+          107.60525512695312
+        ],
+        [
+          -0.42754605412483215,
+          0.0594666562974453,
+          0.9020355939865112,
+          10.341007232666016
+        ],
+        [
+          -0.12670250236988068,
+          -0.991926372051239,
+          0.00533836055546999,
+          -33.43265151977539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5551,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_583082437",
+      "mask_path": "../../mask/hdr_right_05551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05552.png",
+      "transform_matrix": [
+        [
+          0.8963106274604797,
+          -0.10443030297756195,
+          0.430954247713089,
+          107.52181243896484
+        ],
+        [
+          -0.4270162880420685,
+          0.0586731880903244,
+          0.902338445186615,
+          10.386656761169434
+        ],
+        [
+          -0.11951693147420883,
+          -0.9927999377250671,
+          0.007995960302650928,
+          -33.42416763305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5552,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_683081626",
+      "mask_path": "../../mask/hdr_right_05552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05553.png",
+      "transform_matrix": [
+        [
+          0.8989344239234924,
+          -0.09724496304988861,
+          0.4271537661552429,
+          107.45929718017578
+        ],
+        [
+          -0.4230102300643921,
+          0.06089078634977341,
+          0.9040766954421997,
+          10.416927337646484
+        ],
+        [
+          -0.11392663419246674,
+          -0.9933960437774658,
+          0.013601209968328476,
+          -33.42109680175781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5553,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_783082008",
+      "mask_path": "../../mask/hdr_right_05553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05554.png",
+      "transform_matrix": [
+        [
+          0.9005258679389954,
+          -0.092503122985363,
+          0.42484861612319946,
+          107.40475463867188
+        ],
+        [
+          -0.4209468364715576,
+          0.05922172963619232,
+          0.9051500558853149,
+          10.44991397857666
+        ],
+        [
+          -0.10888948291540146,
+          -0.9939496517181396,
+          0.01439179852604866,
+          -33.418277740478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5554,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_883081197",
+      "mask_path": "../../mask/hdr_right_05554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05555.png",
+      "transform_matrix": [
+        [
+          0.8993399143218994,
+          -0.08836426585912704,
+          0.428228497505188,
+          107.34466552734375
+        ],
+        [
+          -0.42508718371391296,
+          0.052698250859975815,
+          0.9036170840263367,
+          10.489051818847656
+        ],
+        [
+          -0.10241434723138809,
+          -0.9946932792663574,
+          0.009831114672124386,
+          -33.41248321533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5555,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323818_983081579",
+      "mask_path": "../../mask/hdr_right_05555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05556.png",
+      "transform_matrix": [
+        [
+          0.8953765630722046,
+          -0.08861706405878067,
+          0.4364032447338104,
+          107.29298400878906
+        ],
+        [
+          -0.43360987305641174,
+          0.04966802895069122,
+          0.8997308611869812,
+          10.523059844970703
+        ],
+        [
+          -0.10140679776668549,
+          -0.99482661485672,
+          0.006046357098966837,
+          -33.401100158691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5556,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_83081960",
+      "mask_path": "../../mask/hdr_right_05556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05557.png",
+      "transform_matrix": [
+        [
+          0.8905695676803589,
+          -0.09439213573932648,
+          0.4449448883533478,
+          107.24858093261719
+        ],
+        [
+          -0.44275644421577454,
+          0.044145356863737106,
+          0.8955546021461487,
+          10.555231094360352
+        ],
+        [
+          -0.10417556017637253,
+          -0.9945558309555054,
+          -0.0024782069958746433,
+          -33.38983917236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5557,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_183082342",
+      "mask_path": "../../mask/hdr_right_05557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05558.png",
+      "transform_matrix": [
+        [
+          0.8859263062477112,
+          -0.11005769670009613,
+          0.45057958364486694,
+          107.1847152709961
+        ],
+        [
+          -0.44941994547843933,
+          0.03654563054442406,
+          0.8925727605819702,
+          10.599074363708496
+        ],
+        [
+          -0.11470121890306473,
+          -0.9932531118392944,
+          -0.01708538830280304,
+          -33.38857650756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5558,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_283081531",
+      "mask_path": "../../mask/hdr_right_05558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05559.png",
+      "transform_matrix": [
+        [
+          0.8852711915969849,
+          -0.11943396925926208,
+          0.4494779109954834,
+          107.0805892944336
+        ],
+        [
+          -0.4481438100337982,
+          0.03933538496494293,
+          0.8930957317352295,
+          10.642721176147461
+        ],
+        [
+          -0.12434634566307068,
+          -0.9920626282691956,
+          -0.0187011007219553,
+          -33.35320281982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5559,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_383082389",
+      "mask_path": "../../mask/hdr_right_05559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05560.png",
+      "transform_matrix": [
+        [
+          0.8868468403816223,
+          -0.11713176965713501,
+          0.44697070121765137,
+          107.01382446289062
+        ],
+        [
+          -0.4440392851829529,
+          0.05149838328361511,
+          0.8945262432098389,
+          10.67343521118164
+        ],
+        [
+          -0.12779569625854492,
+          -0.9917802810668945,
+          -0.006339934188872576,
+          -33.33091354370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5560,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_483083248",
+      "mask_path": "../../mask/hdr_right_05560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05562.png",
+      "transform_matrix": [
+        [
+          0.8866798281669617,
+          -0.11527377367019653,
+          0.4477844536304474,
+          106.922607421875
+        ],
+        [
+          -0.4430750906467438,
+          0.06511269509792328,
+          0.8941167593002319,
+          10.744169235229492
+        ],
+        [
+          -0.1322246640920639,
+          -0.991197407245636,
+          0.006659166421741247,
+          -33.318912506103516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5562,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_683083057",
+      "mask_path": "../../mask/hdr_right_05562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05563.png",
+      "transform_matrix": [
+        [
+          0.8820024132728577,
+          -0.11980701237916946,
+          0.4557608664035797,
+          106.85689544677734
+        ],
+        [
+          -0.4507976472377777,
+          0.06729013472795486,
+          0.8900862336158752,
+          10.795387268066406
+        ],
+        [
+          -0.137306809425354,
+          -0.9905141592025757,
+          0.005341333337128162,
+          -33.297508239746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5563,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_783082723",
+      "mask_path": "../../mask/hdr_right_05563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05564.png",
+      "transform_matrix": [
+        [
+          0.8774125576019287,
+          -0.12347741425037384,
+          0.46357372403144836,
+          106.79718017578125
+        ],
+        [
+          -0.45882973074913025,
+          0.06616534292697906,
+          0.8860572576522827,
+          10.842591285705566
+        ],
+        [
+          -0.14008057117462158,
+          -0.9901391863822937,
+          0.00139920215588063,
+          -33.281192779541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5564,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_883083105",
+      "mask_path": "../../mask/hdr_right_05564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05565.png",
+      "transform_matrix": [
+        [
+          0.8728304505348206,
+          -0.12924788892269135,
+          0.47059744596481323,
+          106.71858978271484
+        ],
+        [
+          -0.46635326743125916,
+          0.06326258182525635,
+          0.8823336362838745,
+          10.896936416625977
+        ],
+        [
+          -0.14381097257137299,
+          -0.9895922541618347,
+          -0.005057663191109896,
+          -33.26570510864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5565,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323819_983081817",
+      "mask_path": "../../mask/hdr_right_05565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05566.png",
+      "transform_matrix": [
+        [
+          0.8718562126159668,
+          -0.1282729059457779,
+          0.4726657569408417,
+          106.63584899902344
+        ],
+        [
+          -0.4675941467285156,
+          0.0690557211637497,
+          0.8812417984008789,
+          10.958603858947754
+        ],
+        [
+          -0.14567972719669342,
+          -0.9893317818641663,
+          0.00022698221437167376,
+          -33.2456169128418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5566,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_83082914",
+      "mask_path": "../../mask/hdr_right_05566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05567.png",
+      "transform_matrix": [
+        [
+          0.8734375238418579,
+          -0.12381583452224731,
+          0.47093167901039124,
+          106.5765151977539
+        ],
+        [
+          -0.46498903632164,
+          0.0749984011054039,
+          0.8821340203285217,
+          11.003666877746582
+        ],
+        [
+          -0.14454129338264465,
+          -0.9894669055938721,
+          0.007933419197797775,
+          -33.240623474121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5567,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_183082342",
+      "mask_path": "../../mask/hdr_right_05567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05568.png",
+      "transform_matrix": [
+        [
+          0.874077320098877,
+          -0.12072046846151352,
+          0.47054818272590637,
+          106.51215362548828
+        ],
+        [
+          -0.4645431637763977,
+          0.07559816539287567,
+          0.8823177814483643,
+          11.049121856689453
+        ],
+        [
+          -0.14208635687828064,
+          -0.9898037910461426,
+          0.00999875646084547,
+          -33.23911666870117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5568,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_283081054",
+      "mask_path": "../../mask/hdr_right_05568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05569.png",
+      "transform_matrix": [
+        [
+          0.8717626929283142,
+          -0.11667909473180771,
+          0.47583165764808655,
+          106.43534088134766
+        ],
+        [
+          -0.4711483120918274,
+          0.06667020171880722,
+          0.8795307278633118,
+          11.108774185180664
+        ],
+        [
+          -0.1343466341495514,
+          -0.9909294247627258,
+          0.0031474349088966846,
+          -33.216609954833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5569,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_383082389",
+      "mask_path": "../../mask/hdr_right_05569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05570.png",
+      "transform_matrix": [
+        [
+          0.8666133284568787,
+          -0.11472064256668091,
+          0.48561352491378784,
+          106.37084197998047
+        ],
+        [
+          -0.48220646381378174,
+          0.05767035856842995,
+          0.8741573691368103,
+          11.165326118469238
+        ],
+        [
+          -0.12828940153121948,
+          -0.9917224049568176,
+          -0.005341134965419769,
+          -33.19322204589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5570,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_483082532",
+      "mask_path": "../../mask/hdr_right_05570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05571.png",
+      "transform_matrix": [
+        [
+          0.8618089556694031,
+          -0.11623404920101166,
+          0.49373582005500793,
+          106.32487487792969
+        ],
+        [
+          -0.49076640605926514,
+          0.05493197590112686,
+          0.869557797908783,
+          11.209634780883789
+        ],
+        [
+          -0.12819410860538483,
+          -0.991701602935791,
+          -0.009702906012535095,
+          -33.184722900390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5571,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_583082675",
+      "mask_path": "../../mask/hdr_right_05571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05572.png",
+      "transform_matrix": [
+        [
+          0.859025239944458,
+          -0.11314001679420471,
+          0.49927443265914917,
+          106.25138092041016
+        ],
+        [
+          -0.4964858591556549,
+          0.05365106090903282,
+          0.8663851618766785,
+          11.267470359802246
+        ],
+        [
+          -0.12480944395065308,
+          -0.9921295046806335,
+          -0.010084819048643112,
+          -33.17552947998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5572,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_683081150",
+      "mask_path": "../../mask/hdr_right_05572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05573.png",
+      "transform_matrix": [
+        [
+          0.8600044250488281,
+          -0.10189788788557053,
+          0.5000091791152954,
+          106.1678695678711
+        ],
+        [
+          -0.49672532081604004,
+          0.05722798407077789,
+          0.8660190105438232,
+          11.330059051513672
+        ],
+        [
+          -0.11686002463102341,
+          -0.9931474328041077,
+          -0.0013989406870678067,
+          -33.16832733154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5573,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_783082723",
+      "mask_path": "../../mask/hdr_right_05573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05574.png",
+      "transform_matrix": [
+        [
+          0.8623806238174438,
+          -0.09152620285749435,
+          0.49791833758354187,
+          106.11063385009766
+        ],
+        [
+          -0.4941943883895874,
+          0.061255861073732376,
+          0.8671906590461731,
+          11.374608039855957
+        ],
+        [
+          -0.10987108945846558,
+          -0.9939168095588684,
+          0.007594135124236345,
+          -33.16408920288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5574,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_883082389",
+      "mask_path": "../../mask/hdr_right_05574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05575.png",
+      "transform_matrix": [
+        [
+          0.8631813526153564,
+          -0.08588661998510361,
+          0.4975355863571167,
+          106.04145050048828
+        ],
+        [
+          -0.49414125084877014,
+          0.0585833340883255,
+          0.8674056529998779,
+          11.429217338562012
+        ],
+        [
+          -0.10364580899477005,
+          -0.9945811033248901,
+          0.008127915672957897,
+          -33.15932083129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5575,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323820_983081579",
+      "mask_path": "../../mask/hdr_right_05575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05576.png",
+      "transform_matrix": [
+        [
+          0.860435426235199,
+          -0.08103594183921814,
+          0.503074586391449,
+          105.97560119628906
+        ],
+        [
+          -0.500490128993988,
+          0.051039159297943115,
+          0.8642364144325256,
+          11.48674488067627
+        ],
+        [
+          -0.09571073204278946,
+          -0.9954035878181458,
+          0.0033582013566046953,
+          -33.148990631103516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5576,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_83081722",
+      "mask_path": "../../mask/hdr_right_05576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05577.png",
+      "transform_matrix": [
+        [
+          0.8556090593338013,
+          -0.08077871054410934,
+          0.51128089427948,
+          105.92922973632812
+        ],
+        [
+          -0.5093328952789307,
+          0.04468262940645218,
+          0.8594087958335876,
+          11.532791137695312
+        ],
+        [
+          -0.09226730465888977,
+          -0.9957299828529358,
+          -0.0029124002903699875,
+          -33.13336181640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5577,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_183081388",
+      "mask_path": "../../mask/hdr_right_05577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05578.png",
+      "transform_matrix": [
+        [
+          0.8505336046218872,
+          -0.08613379299640656,
+          0.5188194513320923,
+          105.88060760498047
+        ],
+        [
+          -0.5174339413642883,
+          0.03945709019899368,
+          0.8548129796981812,
+          11.579564094543457
+        ],
+        [
+          -0.09409939497709274,
+          -0.9955019354820251,
+          -0.011008966714143753,
+          -33.12744140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5578,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_283082008",
+      "mask_path": "../../mask/hdr_right_05578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05579.png",
+      "transform_matrix": [
+        [
+          0.8475437164306641,
+          -0.08706396818161011,
+          0.5235356688499451,
+          105.80494689941406
+        ],
+        [
+          -0.5227141380310059,
+          0.033814720809459686,
+          0.851837158203125,
+          11.637519836425781
+        ],
+        [
+          -0.09186754375696182,
+          -0.9956286549568176,
+          -0.01685011200606823,
+          -33.1170654296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5579,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_383082151",
+      "mask_path": "../../mask/hdr_right_05579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05580.png",
+      "transform_matrix": [
+        [
+          0.8494654893875122,
+          -0.08043699711561203,
+          0.5214770436286926,
+          105.72550201416016
+        ],
+        [
+          -0.5206501483917236,
+          0.03260290250182152,
+          0.8531475067138672,
+          11.696813583374023
+        ],
+        [
+          -0.0856262743473053,
+          -0.9962263107299805,
+          -0.01418448705226183,
+          -33.11014938354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5580,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_483082056",
+      "mask_path": "../../mask/hdr_right_05580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05581.png",
+      "transform_matrix": [
+        [
+          0.8557976484298706,
+          -0.0753163993358612,
+          0.5117987394332886,
+          105.66169738769531
+        ],
+        [
+          -0.5110693573951721,
+          0.030125195160508156,
+          0.8590114116668701,
+          11.739175796508789
+        ],
+        [
+          -0.08011568337678909,
+          -0.9967045187950134,
+          -0.012710838578641415,
+          -33.10703659057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5581,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_583083629",
+      "mask_path": "../../mask/hdr_right_05581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05582.png",
+      "transform_matrix": [
+        [
+          0.8624686002731323,
+          -0.07304242998361588,
+          0.5008119940757751,
+          105.6007080078125
+        ],
+        [
+          -0.5003382563591003,
+          0.025970442220568657,
+          0.8654404878616333,
+          11.781584739685059
+        ],
+        [
+          -0.07622018456459045,
+          -0.9969906806945801,
+          -0.014147226698696613,
+          -33.10911178588867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5582,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_683081150",
+      "mask_path": "../../mask/hdr_right_05582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05583.png",
+      "transform_matrix": [
+        [
+          0.8653410077095032,
+          -0.0751090794801712,
+          0.49552348256111145,
+          105.53070068359375
+        ],
+        [
+          -0.49507033824920654,
+          0.025851508602499962,
+          0.8684683442115784,
+          11.836254119873047
+        ],
+        [
+          -0.07803988456726074,
+          -0.996840238571167,
+          -0.01481390930712223,
+          -33.09071350097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5583,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_783082485",
+      "mask_path": "../../mask/hdr_right_05583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05584.png",
+      "transform_matrix": [
+        [
+          0.8668452501296997,
+          -0.08072862029075623,
+          0.4919983148574829,
+          105.46697998046875
+        ],
+        [
+          -0.4918135404586792,
+          0.023539774119853973,
+          0.8703822493553162,
+          11.885595321655273
+        ],
+        [
+          -0.08184629678726196,
+          -0.996458113193512,
+          -0.019298095256090164,
+          -33.07186508178711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5584,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_883082389",
+      "mask_path": "../../mask/hdr_right_05584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05585.png",
+      "transform_matrix": [
+        [
+          0.8680496215820312,
+          -0.08493626117706299,
+          0.4891582429409027,
+          105.40680694580078
+        ],
+        [
+          -0.4895205497741699,
+          0.017938068136572838,
+          0.8718072175979614,
+          11.931266784667969
+        ],
+        [
+          -0.08282261341810226,
+          -0.9962248802185059,
+          -0.026006916537880898,
+          -33.06324768066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5585,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323821_983081579",
+      "mask_path": "../../mask/hdr_right_05585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05586.png",
+      "transform_matrix": [
+        [
+          0.871033251285553,
+          -0.08073363453149796,
+          0.4845444858074188,
+          105.32829284667969
+        ],
+        [
+          -0.484919935464859,
+          0.016206044703722,
+          0.8744084239006042,
+          11.988003730773926
+        ],
+        [
+          -0.07844671607017517,
+          -0.9966039061546326,
+          -0.02503335289657116,
+          -33.065284729003906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5586,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_83082675",
+      "mask_path": "../../mask/hdr_right_05586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05587.png",
+      "transform_matrix": [
+        [
+          0.8738383650779724,
+          -0.07580475509166718,
+          0.48027098178863525,
+          105.26153564453125
+        ],
+        [
+          -0.48038250207901,
+          0.017954735085368156,
+          0.8768753409385681,
+          12.03271770477295
+        ],
+        [
+          -0.07509445399045944,
+          -0.9969609975814819,
+          -0.02072574943304062,
+          -33.071529388427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5587,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_183081626",
+      "mask_path": "../../mask/hdr_right_05587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05588.png",
+      "transform_matrix": [
+        [
+          0.8742421865463257,
+          -0.07589671015739441,
+          0.4795207679271698,
+          105.21355438232422
+        ],
+        [
+          -0.47974446415901184,
+          0.01645248383283615,
+          0.8772540092468262,
+          12.063846588134766
+        ],
+        [
+          -0.07446999102830887,
+          -0.9969798922538757,
+          -0.02202756330370903,
+          -33.06828308105469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5588,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_283082246",
+      "mask_path": "../../mask/hdr_right_05588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05589.png",
+      "transform_matrix": [
+        [
+          0.8731219172477722,
+          -0.07443934679031372,
+          0.4817850887775421,
+          105.17335510253906
+        ],
+        [
+          -0.4820987582206726,
+          0.014886265620589256,
+          0.8759903907775879,
+          12.09980583190918
+        ],
+        [
+          -0.07238013297319412,
+          -0.9971144199371338,
+          -0.022889597341418266,
+          -33.066829681396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5589,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_383082389",
+      "mask_path": "../../mask/hdr_right_05589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05590.png",
+      "transform_matrix": [
+        [
+          0.8691767454147339,
+          -0.07811298221349716,
+          0.4882931113243103,
+          105.10848236083984
+        ],
+        [
+          -0.488568514585495,
+          0.016852058470249176,
+          0.8723627924919128,
+          12.154964447021484
+        ],
+        [
+          -0.07637162506580353,
+          -0.996802031993866,
+          -0.023516133427619934,
+          -33.04348373413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5590,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_483083009",
+      "mask_path": "../../mask/hdr_right_05590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05591.png",
+      "transform_matrix": [
+        [
+          0.8642332553863525,
+          -0.08683919906616211,
+          0.49553996324539185,
+          105.05423736572266
+        ],
+        [
+          -0.4959922432899475,
+          0.01781664974987507,
+          0.868144154548645,
+          12.203592300415039
+        ],
+        [
+          -0.08421780169010162,
+          -0.9960629940032959,
+          -0.02767382748425007,
+          -33.028038024902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5591,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_583083868",
+      "mask_path": "../../mask/hdr_right_05591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05592.png",
+      "transform_matrix": [
+        [
+          0.8598711490631104,
+          -0.09136684983968735,
+          0.5022686719894409,
+          104.99684143066406
+        ],
+        [
+          -0.5031290054321289,
+          0.01504208892583847,
+          0.8640804290771484,
+          12.24617862701416
+        ],
+        [
+          -0.08650347590446472,
+          -0.9957037568092346,
+          -0.03303505480289459,
+          -33.014549255371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5592,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_683081626",
+      "mask_path": "../../mask/hdr_right_05592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05593.png",
+      "transform_matrix": [
+        [
+          0.8589795827865601,
+          -0.0875246450304985,
+          0.5044736862182617,
+          104.92308044433594
+        ],
+        [
+          -0.5051724314689636,
+          0.015607694163918495,
+          0.8628773093223572,
+          12.301384925842285
+        ],
+        [
+          -0.08339670300483704,
+          -0.9960400462150574,
+          -0.030808357521891594,
+          -33.001739501953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5593,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_783081769",
+      "mask_path": "../../mask/hdr_right_05593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05594.png",
+      "transform_matrix": [
+        [
+          0.8609297275543213,
+          -0.08124947547912598,
+          0.5021935701370239,
+          104.87284088134766
+        ],
+        [
+          -0.5024667978286743,
+          0.018539490178227425,
+          0.8643977046012878,
+          12.346247673034668
+        ],
+        [
+          -0.07954227924346924,
+          -0.9965213537216187,
+          -0.024863965809345245,
+          -33.00406265258789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5594,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_883081197",
+      "mask_path": "../../mask/hdr_right_05594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05595.png",
+      "transform_matrix": [
+        [
+          0.8659140467643738,
+          -0.07895924150943756,
+          0.49392127990722656,
+          104.83065795898438
+        ],
+        [
+          -0.4939115345478058,
+          0.021025709807872772,
+          0.8692580461502075,
+          12.384061813354492
+        ],
+        [
+          -0.07902099937200546,
+          -0.996656060218811,
+          -0.020792415365576744,
+          -33.008514404296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5595,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323822_983081340",
+      "mask_path": "../../mask/hdr_right_05595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05596.png",
+      "transform_matrix": [
+        [
+          0.8719550967216492,
+          -0.07981902360916138,
+          0.48303550481796265,
+          104.77271270751953
+        ],
+        [
+          -0.48250800371170044,
+          0.027054959908127785,
+          0.8754735589027405,
+          12.438592910766602
+        ],
+        [
+          -0.08294795453548431,
+          -0.9964421391487122,
+          -0.014922612346708775,
+          -32.995262145996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5596,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323823_83082199",
+      "mask_path": "../../mask/hdr_right_05596.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/acd14982/mesh.ply b/2024-11-11-12-07-40/splats/acd14982/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0d817b0d0fd23d84720909f97f92c6486eca2341
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/acd14982/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca0c10d21a68810454a623e2b5c9febba494f74c25721a8c662f42b7f48e1903
+size 100671648
diff --git a/2024-11-11-12-07-40/splats/acd14982/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/acd14982/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5415e62831b35288c9412e83aa506b594b2d6d8c
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/acd14982/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:677f80c991e658601f10e56ad6df6fc2cc7f2c2d9c3ae304555d856f77fc9653
+size 1594575
diff --git a/2024-11-11-12-07-40/splats/acd14982/splatfacto/config.yml b/2024-11-11-12-07-40/splats/acd14982/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..274133ff8c14451cba0716794505d56fa4785ea8
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/acd14982/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_acd14982
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_acd14982
+      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/2024-11-11-12-07-40/splats/acd14982/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/acd14982/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..eff8be451946893d76177e386b90c729fb194abf
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/acd14982/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.8826831579208374,
+            -0.44172564148902893,
+            0.16046424210071564,
+            11.238489151000977
+        ],
+        [
+            -0.44172564148902893,
+            0.8963598608970642,
+            0.037649016827344894,
+            -17.461591720581055
+        ],
+        [
+            -0.16046424210071564,
+            -0.037649016827344894,
+            -0.986323356628418,
+            -13.8624849319458
+        ]
+    ],
+    "scale": 0.18578089825330776
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/acd14982/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/acd14982/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..93b0332266ea6c4ce611c4d5dccac036f1272477
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/acd14982/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d76b0853b4b20b56e3fd834f63ab7db262be578d8a9ef14f3a4539b452f0ed01
+size 181843873
diff --git a/2024-11-11-12-07-40/splats/acd14982/transforms.json b/2024-11-11-12-07-40/splats/acd14982/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aaff1b15984d32055e738d2dcd321eb3d7c72c8
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/acd14982/transforms.json
@@ -0,0 +1,33774 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_02375.png",
+      "transform_matrix": [
+        [
+          -0.21414686739444733,
+          -0.06342562288045883,
+          -0.9747401475906372,
+          -4.69790506362915
+        ],
+        [
+          0.9766320586204529,
+          0.004683785606175661,
+          -0.21486729383468628,
+          18.684377670288086
+        ],
+        [
+          0.01819356344640255,
+          -0.9979756474494934,
+          0.06094047427177429,
+          -13.955806732177734
+        ],
+        [
+          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": "1731323501_983081579",
+      "mask_path": "../../mask/hdr_front_02375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02377.png",
+      "transform_matrix": [
+        [
+          -0.21324898302555084,
+          -0.07114598900079727,
+          -0.974403977394104,
+          -4.639553546905518
+        ],
+        [
+          0.9767740368843079,
+          0.005824307911098003,
+          -0.2141929566860199,
+          18.739234924316406
+        ],
+        [
+          0.020914196968078613,
+          -0.9974489212036133,
+          0.06825153529644012,
+          -13.96951675415039
+        ],
+        [
+          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": "1731323502_183079481",
+      "mask_path": "../../mask/hdr_front_02377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02379.png",
+      "transform_matrix": [
+        [
+          -0.20208722352981567,
+          -0.06277787685394287,
+          -0.9773534536361694,
+          -4.5558180809021
+        ],
+        [
+          0.9790962338447571,
+          0.010533439926803112,
+          -0.20312422513961792,
+          18.750747680664062
+        ],
+        [
+          0.023046601563692093,
+          -0.9979720115661621,
+          0.05933690443634987,
+          -13.952542304992676
+        ],
+        [
+          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": "1731323502_383082151",
+      "mask_path": "../../mask/hdr_front_02379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02380.png",
+      "transform_matrix": [
+        [
+          -0.19857972860336304,
+          -0.06097180396318436,
+          -0.978186309337616,
+          -4.485835075378418
+        ],
+        [
+          0.9799510836601257,
+          0.004130289889872074,
+          -0.19919545948505402,
+          18.76697540283203
+        ],
+        [
+          0.016185497865080833,
+          -0.9981309175491333,
+          0.058929193764925,
+          -13.953374862670898
+        ],
+        [
+          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": "1731323502_483082056",
+      "mask_path": "../../mask/hdr_front_02380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02383.png",
+      "transform_matrix": [
+        [
+          -0.19257955253124237,
+          -0.06169057637453079,
+          -0.9793403744697571,
+          -4.345856189727783
+        ],
+        [
+          0.9811772704124451,
+          0.002429981715977192,
+          -0.19309385120868683,
+          18.794002532958984
+        ],
+        [
+          0.014291849918663502,
+          -0.9980923533439636,
+          0.060061417520046234,
+          -13.984254837036133
+        ],
+        [
+          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": "1731323502_783082246",
+      "mask_path": "../../mask/hdr_front_02383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02598.png",
+      "transform_matrix": [
+        [
+          -0.2200789451599121,
+          -0.03532426059246063,
+          -0.9748423099517822,
+          -3.9171767234802246
+        ],
+        [
+          0.9754714369773865,
+          -0.01264133956283331,
+          -0.2197629064321518,
+          18.79267120361328
+        ],
+        [
+          -0.004560348577797413,
+          -0.9992959499359131,
+          0.03723990172147751,
+          -13.983646392822266
+        ],
+        [
+          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": "1731323524_283082962",
+      "mask_path": "../../mask/hdr_front_02598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02600.png",
+      "transform_matrix": [
+        [
+          -0.22915394604206085,
+          -0.03588452190160751,
+          -0.9727285504341125,
+          -3.8583309650421143
+        ],
+        [
+          0.9733211994171143,
+          -0.0203444492071867,
+          -0.22854308784008026,
+          18.82010269165039
+        ],
+        [
+          -0.011588463559746742,
+          -0.9991489052772522,
+          0.039589181542396545,
+          -13.99377727508545
+        ],
+        [
+          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": "1731323524_483081579",
+      "mask_path": "../../mask/hdr_front_02600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02602.png",
+      "transform_matrix": [
+        [
+          -0.23633691668510437,
+          -0.04103501886129379,
+          -0.9708043336868286,
+          -3.8081815242767334
+        ],
+        [
+          0.9716488718986511,
+          -0.016741104423999786,
+          -0.23583491146564484,
+          18.83952522277832
+        ],
+        [
+          -0.006574844475835562,
+          -0.9990174770355225,
+          0.043828174471855164,
+          -13.998640060424805
+        ],
+        [
+          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": "1731323524_683081388",
+      "mask_path": "../../mask/hdr_front_02602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02605.png",
+      "transform_matrix": [
+        [
+          -0.21579763293266296,
+          -0.0421086847782135,
+          -0.9755297899246216,
+          -3.7328288555145264
+        ],
+        [
+          0.9764159917831421,
+          -0.0025854073464870453,
+          -0.2158821076154709,
+          18.868906021118164
+        ],
+        [
+          0.006568369921296835,
+          -0.99910968542099,
+          0.04167351499199867,
+          -13.998504638671875
+        ],
+        [
+          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": "1731323524_983080148",
+      "mask_path": "../../mask/hdr_front_02605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02625.png",
+      "transform_matrix": [
+        [
+          -0.1798066794872284,
+          -0.049231044948101044,
+          -0.9824692606925964,
+          -3.4720001220703125
+        ],
+        [
+          0.9835494756698608,
+          0.008591263554990292,
+          -0.18043488264083862,
+          18.978160858154297
+        ],
+        [
+          0.017323648557066917,
+          -0.9987505078315735,
+          0.046876393258571625,
+          -14.02647876739502
+        ],
+        [
+          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": "1731323526_983083248",
+      "mask_path": "../../mask/hdr_front_02625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02626.png",
+      "transform_matrix": [
+        [
+          -0.17974095046520233,
+          -0.053141411393880844,
+          -0.982277512550354,
+          -3.413943290710449
+        ],
+        [
+          0.9836670756340027,
+          4.377864388516173e-05,
+          -0.17999759316444397,
+          18.991647720336914
+        ],
+        [
+          0.009608329273760319,
+          -0.9985870122909546,
+          0.05226558446884155,
+          -14.029894828796387
+        ],
+        [
+          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": "1731323527_83081722",
+      "mask_path": "../../mask/hdr_front_02626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02633.png",
+      "transform_matrix": [
+        [
+          -0.15384237468242645,
+          -0.05467670038342476,
+          -0.9865814447402954,
+          -3.3013947010040283
+        ],
+        [
+          0.9880924820899963,
+          -0.010911156423389912,
+          -0.15347331762313843,
+          19.020017623901367
+        ],
+        [
+          -0.0023733293637633324,
+          -0.9984444975852966,
+          0.05570424348115921,
+          -14.055591583251953
+        ],
+        [
+          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": "1731323527_783080577",
+      "mask_path": "../../mask/hdr_front_02633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02635.png",
+      "transform_matrix": [
+        [
+          -0.15085303783416748,
+          -0.05266407132148743,
+          -0.9871523976325989,
+          -3.247704029083252
+        ],
+        [
+          0.9885174036026001,
+          -0.016876699402928352,
+          -0.15016131103038788,
+          19.02206802368164
+        ],
+        [
+          -0.008751770481467247,
+          -0.9984697103500366,
+          0.05460525304079056,
+          -14.037302017211914
+        ],
+        [
+          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": "1731323527_983082771",
+      "mask_path": "../../mask/hdr_front_02635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02637.png",
+      "transform_matrix": [
+        [
+          -0.15911884605884552,
+          -0.05177133530378342,
+          -0.9859010577201843,
+          -3.204817771911621
+        ],
+        [
+          0.9872412085533142,
+          -0.014413109049201012,
+          -0.1585782915353775,
+          19.046398162841797
+        ],
+        [
+          -0.006000089459121227,
+          -0.9985550045967102,
+          0.053404178470373154,
+          -14.05499267578125
+        ],
+        [
+          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": "1731323528_183080911",
+      "mask_path": "../../mask/hdr_front_02637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02639.png",
+      "transform_matrix": [
+        [
+          -0.14889170229434967,
+          -0.05921128764748573,
+          -0.9870791435241699,
+          -3.151571750640869
+        ],
+        [
+          0.9888533353805542,
+          -0.009362725540995598,
+          -0.14859770238399506,
+          19.064186096191406
+        ],
+        [
+          -0.0004430895496625453,
+          -0.9982015490531921,
+          0.05994531884789467,
+          -14.056684494018555
+        ],
+        [
+          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": "1731323528_383082389",
+      "mask_path": "../../mask/hdr_front_02639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02641.png",
+      "transform_matrix": [
+        [
+          -0.12269529700279236,
+          -0.05484585836529732,
+          -0.9909278154373169,
+          -3.0795111656188965
+        ],
+        [
+          0.9924346208572388,
+          -0.0023409181740134954,
+          -0.12275230884552002,
+          19.07474708557129
+        ],
+        [
+          0.004412774462252855,
+          -0.9984921216964722,
+          0.054718147963285446,
+          -14.063724517822266
+        ],
+        [
+          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": "1731323528_583082675",
+      "mask_path": "../../mask/hdr_front_02641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02642.png",
+      "transform_matrix": [
+        [
+          -0.1194196492433548,
+          -0.055410005152225494,
+          -0.9912964701652527,
+          -3.0230770111083984
+        ],
+        [
+          0.9928407073020935,
+          -0.004163631238043308,
+          -0.11937295645475388,
+          19.088159561157227
+        ],
+        [
+          0.0024870617780834436,
+          -0.9984549880027771,
+          0.05551053211092949,
+          -14.063885688781738
+        ],
+        [
+          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": "1731323528_683081865",
+      "mask_path": "../../mask/hdr_front_02642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02644.png",
+      "transform_matrix": [
+        [
+          -0.12370868027210236,
+          -0.05380496755242348,
+          -0.9908588528633118,
+          -2.969939708709717
+        ],
+        [
+          0.992313802242279,
+          -0.0036249354016035795,
+          -0.12369351089000702,
+          19.108657836914062
+        ],
+        [
+          0.003063526935875416,
+          -0.9985448718070984,
+          0.053839847445487976,
+          -14.07839298248291
+        ],
+        [
+          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": "1731323528_883082389",
+      "mask_path": "../../mask/hdr_front_02644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02646.png",
+      "transform_matrix": [
+        [
+          -0.11479606479406357,
+          -0.055582474917173386,
+          -0.9918328523635864,
+          -2.9065053462982178
+        ],
+        [
+          0.9933657050132751,
+          0.000437947572208941,
+          -0.11499800533056259,
+          19.119579315185547
+        ],
+        [
+          0.006826245225965977,
+          -0.9984540343284607,
+          0.055163443088531494,
+          -14.07176685333252
+        ],
+        [
+          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": "1731323529_83081722",
+      "mask_path": "../../mask/hdr_front_02646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02648.png",
+      "transform_matrix": [
+        [
+          -0.09325382858514786,
+          -0.044062793254852295,
+          -0.9946668744087219,
+          -2.8447461128234863
+        ],
+        [
+          0.9956053495407104,
+          0.004488310776650906,
+          -0.09354064613580704,
+          19.118547439575195
+        ],
+        [
+          0.0085860351100564,
+          -0.9990187287330627,
+          0.043450597673654556,
+          -14.063007354736328
+        ],
+        [
+          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": "1731323529_283082246",
+      "mask_path": "../../mask/hdr_front_02648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02650.png",
+      "transform_matrix": [
+        [
+          -0.08919467031955719,
+          -0.0421375036239624,
+          -0.9951225519180298,
+          -2.768092632293701
+        ],
+        [
+          0.9960140585899353,
+          -0.003052657935768366,
+          -0.08914530277252197,
+          19.11386489868164
+        ],
+        [
+          0.0007185920258052647,
+          -0.9991071820259094,
+          0.042241815477609634,
+          -14.058032035827637
+        ],
+        [
+          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": "1731323529_483081102",
+      "mask_path": "../../mask/hdr_front_02650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02652.png",
+      "transform_matrix": [
+        [
+          -0.11008895933628082,
+          -0.03930661454796791,
+          -0.9931442141532898,
+          -2.697582244873047
+        ],
+        [
+          0.9939103126525879,
+          -0.009135730564594269,
+          -0.10981231182813644,
+          19.132694244384766
+        ],
+        [
+          -0.0047567468136549,
+          -0.9991854429244995,
+          0.04007299244403839,
+          -14.07349681854248
+        ],
+        [
+          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": "1731323529_683081150",
+      "mask_path": "../../mask/hdr_front_02652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02654.png",
+      "transform_matrix": [
+        [
+          -0.11203158646821976,
+          -0.03252518177032471,
+          -0.993172287940979,
+          -2.628997325897217
+        ],
+        [
+          0.9937043786048889,
+          -0.004411801695823669,
+          -0.11194713413715363,
+          19.14112091064453
+        ],
+        [
+          -0.000740577990654856,
+          -0.9994612336158752,
+          0.03281467780470848,
+          -14.065381050109863
+        ],
+        [
+          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": "1731323529_883082151",
+      "mask_path": "../../mask/hdr_front_02654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02656.png",
+      "transform_matrix": [
+        [
+          -0.10571862757205963,
+          -0.02436850219964981,
+          -0.9940975308418274,
+          -2.54988956451416
+        ],
+        [
+          0.9943784475326538,
+          0.0033648309763520956,
+          -0.10583098977804184,
+          19.159889221191406
+        ],
+        [
+          0.005923911929130554,
+          -0.9996973872184753,
+          0.02387578785419464,
+          -14.063350677490234
+        ],
+        [
+          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": "1731323530_83081722",
+      "mask_path": "../../mask/hdr_front_02656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02658.png",
+      "transform_matrix": [
+        [
+          -0.11305848509073257,
+          -0.022529147565364838,
+          -0.9933329820632935,
+          -2.4929380416870117
+        ],
+        [
+          0.9935778975486755,
+          0.0020150982309132814,
+          -0.11313208192586899,
+          19.18985366821289
+        ],
+        [
+          0.004550433252006769,
+          -0.9997442364692688,
+          0.022156640887260437,
+          -14.084071159362793
+        ],
+        [
+          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": "1731323530_283081769",
+      "mask_path": "../../mask/hdr_front_02658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02661.png",
+      "transform_matrix": [
+        [
+          -0.16607515513896942,
+          -0.017447423189878464,
+          -0.9859587550163269,
+          -2.430948257446289
+        ],
+        [
+          0.9860565066337585,
+          0.007771264761686325,
+          -0.16622914373874664,
+          19.229494094848633
+        ],
+        [
+          0.010562418028712273,
+          -0.9998176097869873,
+          0.01591353304684162,
+          -14.065975189208984
+        ],
+        [
+          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": "1731323530_583080768",
+      "mask_path": "../../mask/hdr_front_02661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02663.png",
+      "transform_matrix": [
+        [
+          -0.22940853238105774,
+          -0.014940707944333553,
+          -0.9732155203819275,
+          -2.3812060356140137
+        ],
+        [
+          0.973174512386322,
+          0.0143596725538373,
+          -0.2296193391084671,
+          19.27541160583496
+        ],
+        [
+          0.017405729740858078,
+          -0.9997852444648743,
+          0.011245684698224068,
+          -14.055505752563477
+        ],
+        [
+          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": "1731323530_783078193",
+      "mask_path": "../../mask/hdr_front_02663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02666.png",
+      "transform_matrix": [
+        [
+          -0.30356258153915405,
+          -0.0213964581489563,
+          -0.9525712728500366,
+          -2.341942310333252
+        ],
+        [
+          0.9526735544204712,
+          0.010195235721766949,
+          -0.30382418632507324,
+          19.33857536315918
+        ],
+        [
+          0.016212448477745056,
+          -0.9997190833091736,
+          0.017288949340581894,
+          -14.058310508728027
+        ],
+        [
+          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": "1731323531_83081007",
+      "mask_path": "../../mask/hdr_front_02666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02669.png",
+      "transform_matrix": [
+        [
+          -0.2959887981414795,
+          -0.01669059507548809,
+          -0.9550455212593079,
+          -2.284451723098755
+        ],
+        [
+          0.9551539421081543,
+          0.0036816911306232214,
+          -0.29608669877052307,
+          19.364524841308594
+        ],
+        [
+          0.008458047173917294,
+          -0.9998539686203003,
+          0.014852349646389484,
+          -14.055288314819336
+        ],
+        [
+          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": "1731323531_383082151",
+      "mask_path": "../../mask/hdr_front_02669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02694.png",
+      "transform_matrix": [
+        [
+          -0.22267797589302063,
+          -0.018821420148015022,
+          -0.9747104048728943,
+          -2.2281289100646973
+        ],
+        [
+          0.974736213684082,
+          0.013576158322393894,
+          -0.22294604778289795,
+          19.307476043701172
+        ],
+        [
+          0.017428983002901077,
+          -0.9997307062149048,
+          0.015322808176279068,
+          -14.064249992370605
+        ],
+        [
+          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": "1731323533_883079290",
+      "mask_path": "../../mask/hdr_front_02694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02695.png",
+      "transform_matrix": [
+        [
+          -0.21562299132347107,
+          -0.021763937547802925,
+          -0.9762341976165771,
+          -2.179744005203247
+        ],
+        [
+          0.9763380885124207,
+          0.0120397312566638,
+          -0.21591436862945557,
+          19.3220157623291
+        ],
+        [
+          0.016452742740511894,
+          -0.9996907114982605,
+          0.018652919679880142,
+          -14.074430465698242
+        ],
+        [
+          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": "1731323533_983079671",
+      "mask_path": "../../mask/hdr_front_02695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02696.png",
+      "transform_matrix": [
+        [
+          -0.2180272340774536,
+          -0.030410075560212135,
+          -0.9754688143730164,
+          -2.125370979309082
+        ],
+        [
+          0.9758784174919128,
+          0.004671402741223574,
+          -0.21826444566249847,
+          19.331897735595703
+        ],
+        [
+          0.01119424682110548,
+          -0.9995266199111938,
+          0.02865804359316826,
+          -14.091440200805664
+        ],
+        [
+          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": "1731323534_83081007",
+      "mask_path": "../../mask/hdr_front_02696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02697.png",
+      "transform_matrix": [
+        [
+          -0.22516408562660217,
+          -0.035291917622089386,
+          -0.9736814498901367,
+          -2.075967311859131
+        ],
+        [
+          0.9743177890777588,
+          -0.005664546974003315,
+          -0.22510598599910736,
+          19.34039878845215
+        ],
+        [
+          0.002428957959637046,
+          -0.9993610978126526,
+          0.0356609970331192,
+          -14.107221603393555
+        ],
+        [
+          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": "1731323534_183080434",
+      "mask_path": "../../mask/hdr_front_02697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02699.png",
+      "transform_matrix": [
+        [
+          -0.23118822276592255,
+          -0.03527730330824852,
+          -0.9722692966461182,
+          -1.9806040525436401
+        ],
+        [
+          0.9728920459747314,
+          -0.014293653890490532,
+          -0.23081767559051514,
+          19.357473373413086
+        ],
+        [
+          -0.005754654761403799,
+          -0.9992754459381104,
+          0.03762552887201309,
+          -14.138668060302734
+        ],
+        [
+          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": "1731323534_383080720",
+      "mask_path": "../../mask/hdr_front_02699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02700.png",
+      "transform_matrix": [
+        [
+          -0.21959438920021057,
+          -0.03395673632621765,
+          -0.9750001430511475,
+          -1.904361605644226
+        ],
+        [
+          0.9755783081054688,
+          -0.012806768529117107,
+          -0.21927855908870697,
+          19.3535099029541
+        ],
+        [
+          -0.005040616262704134,
+          -0.9993412494659424,
+          0.035939741879701614,
+          -14.113368034362793
+        ],
+        [
+          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": "1731323534_483081817",
+      "mask_path": "../../mask/hdr_front_02700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02702.png",
+      "transform_matrix": [
+        [
+          -0.2076261341571808,
+          -0.05610508471727371,
+          -0.9765980839729309,
+          -1.8324837684631348
+        ],
+        [
+          0.9781810641288757,
+          -0.019346250221133232,
+          -0.2068512886762619,
+          19.395225524902344
+        ],
+        [
+          -0.007288099732249975,
+          -0.9982374310493469,
+          0.0588977187871933,
+          -14.148364067077637
+        ],
+        [
+          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": "1731323534_683082818",
+      "mask_path": "../../mask/hdr_front_02702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02704.png",
+      "transform_matrix": [
+        [
+          -0.2544880509376526,
+          -0.09154333919286728,
+          -0.9627334475517273,
+          -1.7589350938796997
+        ],
+        [
+          0.966651201248169,
+          -0.053580768406391144,
+          -0.2504289150238037,
+          19.424728393554688
+        ],
+        [
+          -0.028658894822001457,
+          -0.9943585395812988,
+          0.10212615132331848,
+          -14.186640739440918
+        ],
+        [
+          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": "1731323534_883081436",
+      "mask_path": "../../mask/hdr_front_02704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02706.png",
+      "transform_matrix": [
+        [
+          -0.3165147006511688,
+          -0.12625697255134583,
+          -0.9401476979255676,
+          -1.683002233505249
+        ],
+        [
+          0.948460578918457,
+          -0.058338314294815063,
+          -0.311478853225708,
+          19.4503231048584
+        ],
+        [
+          -0.015520247630774975,
+          -0.9902807474136353,
+          0.13821469247341156,
+          -14.22921085357666
+        ],
+        [
+          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": "1731323535_83080530",
+      "mask_path": "../../mask/hdr_front_02706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02708.png",
+      "transform_matrix": [
+        [
+          -0.3279682993888855,
+          -0.17853128910064697,
+          -0.927665650844574,
+          -1.6286603212356567
+        ],
+        [
+          0.9446588754653931,
+          -0.06977909058332443,
+          -0.32054704427719116,
+          19.467456817626953
+        ],
+        [
+          -0.007503983099013567,
+          -0.9814568161964417,
+          0.19153650104999542,
+          -14.28214168548584
+        ],
+        [
+          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": "1731323535_283083200",
+      "mask_path": "../../mask/hdr_front_02708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02710.png",
+      "transform_matrix": [
+        [
+          -0.31924256682395935,
+          -0.2022179216146469,
+          -0.9258466958999634,
+          -1.5633740425109863
+        ],
+        [
+          0.9476395845413208,
+          -0.07633580267429352,
+          -0.31008416414260864,
+          19.483022689819336
+        ],
+        [
+          -0.007970672100782394,
+          -0.9763609766960144,
+          0.2159993201494217,
+          -14.308035850524902
+        ],
+        [
+          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": "1731323535_483081579",
+      "mask_path": "../../mask/hdr_front_02710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02711.png",
+      "transform_matrix": [
+        [
+          -0.32272371649742126,
+          -0.21080465614795685,
+          -0.9227192997932434,
+          -1.500483512878418
+        ],
+        [
+          0.946286678314209,
+          -0.09222531318664551,
+          -0.30989670753479004,
+          19.502511978149414
+        ],
+        [
+          -0.019770408049225807,
+          -0.9731679558753967,
+          0.22924493253231049,
+          -14.31396484375
+        ],
+        [
+          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": "1731323535_583081245",
+      "mask_path": "../../mask/hdr_front_02711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02713.png",
+      "transform_matrix": [
+        [
+          -0.32315900921821594,
+          -0.2183341085910797,
+          -0.9208139777183533,
+          -1.412432312965393
+        ],
+        [
+          0.9460281133651733,
+          -0.09969811886548996,
+          -0.308368444442749,
+          19.52983283996582
+        ],
+        [
+          -0.02447606809437275,
+          -0.9707679748535156,
+          0.2387685626745224,
+          -14.358903884887695
+        ],
+        [
+          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": "1731323535_783081769",
+      "mask_path": "../../mask/hdr_front_02713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02714.png",
+      "transform_matrix": [
+        [
+          -0.3138289451599121,
+          -0.24030742049217224,
+          -0.9185662269592285,
+          -1.3540098667144775
+        ],
+        [
+          0.9494689702987671,
+          -0.08399156481027603,
+          -0.30241382122039795,
+          19.54224967956543
+        ],
+        [
+          -0.004479524679481983,
+          -0.9670562744140625,
+          0.2545234262943268,
+          -14.374234199523926
+        ],
+        [
+          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": "1731323535_883081912",
+      "mask_path": "../../mask/hdr_front_02714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02716.png",
+      "transform_matrix": [
+        [
+          -0.2931203842163086,
+          -0.2597172260284424,
+          -0.9201236367225647,
+          -1.2971712350845337
+        ],
+        [
+          0.9560565948486328,
+          -0.07357780635356903,
+          -0.2837991416454315,
+          19.545927047729492
+        ],
+        [
+          0.0060068536549806595,
+          -0.962877631187439,
+          0.2698715031147003,
+          -14.377108573913574
+        ],
+        [
+          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": "1731323536_83081960",
+      "mask_path": "../../mask/hdr_front_02716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02717.png",
+      "transform_matrix": [
+        [
+          -0.28789037466049194,
+          -0.25794607400894165,
+          -0.9222705364227295,
+          -1.2453150749206543
+        ],
+        [
+          0.9576461911201477,
+          -0.07177235931158066,
+          -0.27885931730270386,
+          19.560943603515625
+        ],
+        [
+          0.005737127736210823,
+          -0.963489830493927,
+          0.2676836848258972,
+          -14.402766227722168
+        ],
+        [
+          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": "1731323536_183081150",
+      "mask_path": "../../mask/hdr_front_02717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02718.png",
+      "transform_matrix": [
+        [
+          -0.2886072099208832,
+          -0.24700398743152618,
+          -0.9250378608703613,
+          -1.1762079000473022
+        ],
+        [
+          0.9574319124221802,
+          -0.06892699003219604,
+          -0.28030911087989807,
+          19.58867835998535
+        ],
+        [
+          0.005477400496602058,
+          -0.9665599465370178,
+          0.2563823461532593,
+          -14.412331581115723
+        ],
+        [
+          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": "1731323536_283081293",
+      "mask_path": "../../mask/hdr_front_02718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02720.png",
+      "transform_matrix": [
+        [
+          -0.29297125339508057,
+          -0.23321938514709473,
+          -0.9272413849830627,
+          -1.1058717966079712
+        ],
+        [
+          0.9558022618293762,
+          -0.04638984799385071,
+          -0.29032739996910095,
+          19.625219345092773
+        ],
+        [
+          0.024695390835404396,
+          -0.9713169932365417,
+          0.2365024983882904,
+          -14.440085411071777
+        ],
+        [
+          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": "1731323536_483080863",
+      "mask_path": "../../mask/hdr_front_02720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02722.png",
+      "transform_matrix": [
+        [
+          -0.2886029779911041,
+          -0.23297648131847382,
+          -0.9286713004112244,
+          -1.006079077720642
+        ],
+        [
+          0.95651775598526,
+          -0.02739107981324196,
+          -0.29038527607917786,
+          19.657915115356445
+        ],
+        [
+          0.04221562668681145,
+          -0.9720966219902039,
+          0.23075127601623535,
+          -14.468595504760742
+        ],
+        [
+          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": "1731323536_683080673",
+      "mask_path": "../../mask/hdr_front_02722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02723.png",
+      "transform_matrix": [
+        [
+          -0.2893942892551422,
+          -0.2227601408958435,
+          -0.9309290647506714,
+          -0.9458154439926147
+        ],
+        [
+          0.9566043615341187,
+          -0.03271453082561493,
+          -0.2895476520061493,
+          19.668777465820312
+        ],
+        [
+          0.034044764935970306,
+          -0.9743242263793945,
+          0.22256071865558624,
+          -14.462933540344238
+        ],
+        [
+          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": "1731323536_783081531",
+      "mask_path": "../../mask/hdr_front_02723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02725.png",
+      "transform_matrix": [
+        [
+          -0.30547815561294556,
+          -0.17892278730869293,
+          -0.9352378845214844,
+          -0.875285267829895
+        ],
+        [
+          0.9521451592445374,
+          -0.04694843292236328,
+          -0.30201879143714905,
+          19.684492111206055
+        ],
+        [
+          0.010130094364285469,
+          -0.982742428779602,
+          0.18470218777656555,
+          -14.45748519897461
+        ],
+        [
+          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": "1731323536_983080863",
+      "mask_path": "../../mask/hdr_front_02725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02726.png",
+      "transform_matrix": [
+        [
+          -0.3058215081691742,
+          -0.16920317709445953,
+          -0.9369330406188965,
+          -0.822769045829773
+        ],
+        [
+          0.952019214630127,
+          -0.04244902357459068,
+          -0.30307984352111816,
+          19.69905662536621
+        ],
+        [
+          0.011510180309414864,
+          -0.9846667647361755,
+          0.17406651377677917,
+          -14.467992782592773
+        ],
+        [
+          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": "1731323537_83081007",
+      "mask_path": "../../mask/hdr_front_02726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02728.png",
+      "transform_matrix": [
+        [
+          -0.2996441721916199,
+          -0.16796569526195526,
+          -0.9391490817070007,
+          -0.7528103590011597
+        ],
+        [
+          0.9532627463340759,
+          -0.01270202174782753,
+          -0.3018755316734314,
+          19.74722671508789
+        ],
+        [
+          0.03877564147114754,
+          -0.9857110381126404,
+          0.1639215350151062,
+          -14.498148918151855
+        ],
+        [
+          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": "1731323537_283081769",
+      "mask_path": "../../mask/hdr_front_02728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02730.png",
+      "transform_matrix": [
+        [
+          -0.29549551010131836,
+          -0.17547725141048431,
+          -0.9390900731086731,
+          -0.6987881660461426
+        ],
+        [
+          0.9535549283027649,
+          0.005959090311080217,
+          -0.3011605441570282,
+          19.79521942138672
+        ],
+        [
+          0.05844294652342796,
+          -0.9844654202461243,
+          0.1655663102865219,
+          -14.527639389038086
+        ],
+        [
+          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": "1731323537_483083248",
+      "mask_path": "../../mask/hdr_front_02730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02732.png",
+      "transform_matrix": [
+        [
+          -0.28084301948547363,
+          -0.19442418217658997,
+          -0.9398545622825623,
+          -0.6218083500862122
+        ],
+        [
+          0.9584013223648071,
+          -0.004844336770474911,
+          -0.2853829860687256,
+          19.820646286010742
+        ],
+        [
+          0.0509323813021183,
+          -0.9809056520462036,
+          0.18769687414169312,
+          -14.558134078979492
+        ],
+        [
+          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": "1731323537_683082580",
+      "mask_path": "../../mask/hdr_front_02732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02733.png",
+      "transform_matrix": [
+        [
+          -0.2719545066356659,
+          -0.1919563263654709,
+          -0.9429705739021301,
+          -0.5696762800216675
+        ],
+        [
+          0.9610357284545898,
+          -0.003764856606721878,
+          -0.2763981521129608,
+          19.837724685668945
+        ],
+        [
+          0.04950622469186783,
+          -0.9813961982727051,
+          0.18550078570842743,
+          -14.577838897705078
+        ],
+        [
+          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": "1731323537_783081054",
+      "mask_path": "../../mask/hdr_front_02733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02734.png",
+      "transform_matrix": [
+        [
+          -0.26696130633354187,
+          -0.19377191364765167,
+          -0.944025456905365,
+          -0.5063928365707397
+        ],
+        [
+          0.9627370238304138,
+          -0.009678227826952934,
+          -0.27026617527008057,
+          19.867198944091797
+        ],
+        [
+          0.04323350265622139,
+          -0.9809988737106323,
+          0.1891351044178009,
+          -14.594320297241211
+        ],
+        [
+          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": "1731323537_883081436",
+      "mask_path": "../../mask/hdr_front_02734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02739.png",
+      "transform_matrix": [
+        [
+          -0.2519063353538513,
+          -0.23941582441329956,
+          -0.9376690983772278,
+          -0.3245961666107178
+        ],
+        [
+          0.9671419858932495,
+          -0.02789570391178131,
+          -0.25270166993141174,
+          19.9561767578125
+        ],
+        [
+          0.03434383124113083,
+          -0.9705163240432739,
+          0.23857618868350983,
+          -14.688606262207031
+        ],
+        [
+          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": "1731323538_383081674",
+      "mask_path": "../../mask/hdr_front_02739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02741.png",
+      "transform_matrix": [
+        [
+          -0.23738107085227966,
+          -0.24833381175994873,
+          -0.9391382336616516,
+          -0.22497117519378662
+        ],
+        [
+          0.9711949229240417,
+          -0.040014732629060745,
+          -0.23490288853645325,
+          19.972003936767578
+        ],
+        [
+          0.020754961296916008,
+          -0.9678477644920349,
+          0.25067928433418274,
+          -14.713762283325195
+        ],
+        [
+          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": "1731323538_583082675",
+      "mask_path": "../../mask/hdr_front_02741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02742.png",
+      "transform_matrix": [
+        [
+          -0.23765607178211212,
+          -0.2598912715911865,
+          -0.9359360337257385,
+          -0.16208943724632263
+        ],
+        [
+          0.971340537071228,
+          -0.06768736243247986,
+          -0.22785067558288574,
+          19.982065200805664
+        ],
+        [
+          -0.00413463544100523,
+          -0.963262677192688,
+          0.2685292661190033,
+          -14.731081008911133
+        ],
+        [
+          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": "1731323538_683081865",
+      "mask_path": "../../mask/hdr_front_02742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02744.png",
+      "transform_matrix": [
+        [
+          -0.2400963008403778,
+          -0.27202513813972473,
+          -0.9318562150001526,
+          -0.08528932929039001
+        ],
+        [
+          0.9703035950660706,
+          -0.09632597863674164,
+          -0.22188317775726318,
+          19.99607276916504
+        ],
+        [
+          -0.029404161497950554,
+          -0.9574568271636963,
+          0.2870745360851288,
+          -14.77354907989502
+        ],
+        [
+          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": "1731323538_883080720",
+      "mask_path": "../../mask/hdr_front_02744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02745.png",
+      "transform_matrix": [
+        [
+          -0.2393648624420166,
+          -0.28089842200279236,
+          -0.9294087886810303,
+          -0.043205708265304565
+        ],
+        [
+          0.9704116582870483,
+          -0.1004769578576088,
+          -0.2195574939250946,
+          20.000200271606445
+        ],
+        [
+          -0.031710799783468246,
+          -0.9544634819030762,
+          0.29663777351379395,
+          -14.806563377380371
+        ],
+        [
+          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": "1731323538_983080625",
+      "mask_path": "../../mask/hdr_front_02745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02746.png",
+      "transform_matrix": [
+        [
+          -0.22270508110523224,
+          -0.3230127990245819,
+          -0.9198180437088013,
+          0.0024541616439819336
+        ],
+        [
+          0.974846363067627,
+          -0.08227875083684921,
+          -0.2071346640586853,
+          20.014652252197266
+        ],
+        [
+          -0.008774328045547009,
+          -0.9428111910820007,
+          0.333211749792099,
+          -14.823436737060547
+        ],
+        [
+          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": "1731323539_83079338",
+      "mask_path": "../../mask/hdr_front_02746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02748.png",
+      "transform_matrix": [
+        [
+          -0.20458076894283295,
+          -0.35257428884506226,
+          -0.9131473898887634,
+          0.07977709174156189
+        ],
+        [
+          0.9788482189178467,
+          -0.07532716542482376,
+          -0.19021587073802948,
+          20.025184631347656
+        ],
+        [
+          -0.0017195806140080094,
+          -0.9327471256256104,
+          0.3605271875858307,
+          -14.84209156036377
+        ],
+        [
+          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": "1731323539_283082246",
+      "mask_path": "../../mask/hdr_front_02748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02749.png",
+      "transform_matrix": [
+        [
+          -0.20141054689884186,
+          -0.34446191787719727,
+          -0.9169405102729797,
+          0.15786947309970856
+        ],
+        [
+          0.979491651058197,
+          -0.07607239484786987,
+          -0.18657249212265015,
+          20.046890258789062
+        ],
+        [
+          -0.005486746318638325,
+          -0.9357131123542786,
+          0.3527193069458008,
+          -14.870697975158691
+        ],
+        [
+          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": "1731323539_383081197",
+      "mask_path": "../../mask/hdr_front_02749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02750.png",
+      "transform_matrix": [
+        [
+          -0.19535470008850098,
+          -0.3377898931503296,
+          -0.9207249879837036,
+          0.2300136834383011
+        ],
+        [
+          0.9807314276695251,
+          -0.06876640021800995,
+          -0.18285797536373138,
+          20.065038681030273
+        ],
+        [
+          -0.0015473648672923446,
+          -0.93870609998703,
+          0.3447149991989136,
+          -14.894840240478516
+        ],
+        [
+          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": "1731323539_483080625",
+      "mask_path": "../../mask/hdr_front_02750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02751.png",
+      "transform_matrix": [
+        [
+          -0.18913805484771729,
+          -0.33466780185699463,
+          -0.9231599569320679,
+          0.28466981649398804
+        ],
+        [
+          0.9819051623344421,
+          -0.05542627349495888,
+          -0.18108049035072327,
+          20.07767105102539
+        ],
+        [
+          0.009434493258595467,
+          -0.9407047629356384,
+          0.33909523487091064,
+          -14.919102668762207
+        ],
+        [
+          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": "1731323539_583080053",
+      "mask_path": "../../mask/hdr_front_02751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02752.png",
+      "transform_matrix": [
+        [
+          -0.18626606464385986,
+          -0.32120877504348755,
+          -0.9285094738006592,
+          0.33777058124542236
+        ],
+        [
+          0.9823969602584839,
+          -0.047249261289834976,
+          -0.1807309240102768,
+          20.09079933166504
+        ],
+        [
+          0.014180969446897507,
+          -0.9458289742469788,
+          0.32435542345046997,
+          -14.952759742736816
+        ],
+        [
+          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": "1731323539_683080434",
+      "mask_path": "../../mask/hdr_front_02752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02753.png",
+      "transform_matrix": [
+        [
+          -0.17955763638019562,
+          -0.3270667493343353,
+          -0.9277858138084412,
+          0.395319402217865
+        ],
+        [
+          0.9833703637123108,
+          -0.033564578741788864,
+          -0.178482785820961,
+          20.090974807739258
+        ],
+        [
+          0.02723504789173603,
+          -0.9444049596786499,
+          0.32765451073646545,
+          -14.966583251953125
+        ],
+        [
+          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": "1731323539_783079862",
+      "mask_path": "../../mask/hdr_front_02753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02755.png",
+      "transform_matrix": [
+        [
+          -0.18636693060398102,
+          -0.3005185127258301,
+          -0.935390830039978,
+          0.4678547978401184
+        ],
+        [
+          0.9823903441429138,
+          -0.04412373527884483,
+          -0.18155522644519806,
+          20.094566345214844
+        ],
+        [
+          0.013287770561873913,
+          -0.9527547955513,
+          0.30344972014427185,
+          -14.934640884399414
+        ],
+        [
+          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": "1731323539_983081102",
+      "mask_path": "../../mask/hdr_front_02755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02756.png",
+      "transform_matrix": [
+        [
+          -0.18843050301074982,
+          -0.2811344563961029,
+          -0.9409875273704529,
+          0.5313897132873535
+        ],
+        [
+          0.982063889503479,
+          -0.04743065685033798,
+          -0.18248531222343445,
+          20.10517120361328
+        ],
+        [
+          0.006671258248388767,
+          -0.958495557308197,
+          0.2850293815135956,
+          -14.952371597290039
+        ],
+        [
+          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": "1731323540_83080768",
+      "mask_path": "../../mask/hdr_front_02756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02758.png",
+      "transform_matrix": [
+        [
+          -0.1855284869670868,
+          -0.26157501339912415,
+          -0.9471840262413025,
+          0.6124211549758911
+        ],
+        [
+          0.9823955297470093,
+          -0.027924271300435066,
+          -0.18471390008926392,
+          20.137285232543945
+        ],
+        [
+          0.021867111325263977,
+          -0.9647791385650635,
+          0.2621508240699768,
+          -14.979506492614746
+        ],
+        [
+          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": "1731323540_283081293",
+      "mask_path": "../../mask/hdr_front_02758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02759.png",
+      "transform_matrix": [
+        [
+          -0.19298936426639557,
+          -0.25394684076309204,
+          -0.947769045829773,
+          0.6650831699371338
+        ],
+        [
+          0.9805433750152588,
+          -0.014560560695827007,
+          -0.19576169550418854,
+          20.162160873413086
+        ],
+        [
+          0.03591301664710045,
+          -0.9671085476875305,
+          0.25181594491004944,
+          -14.998072624206543
+        ],
+        [
+          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": "1731323540_383081912",
+      "mask_path": "../../mask/hdr_front_02759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02760.png",
+      "transform_matrix": [
+        [
+          -0.19389449059963226,
+          -0.24716609716415405,
+          -0.949375569820404,
+          0.7158145904541016
+        ],
+        [
+          0.9800870418548584,
+          -0.006556476466357708,
+          -0.19845987856388092,
+          20.172943115234375
+        ],
+        [
+          0.042827993631362915,
+          -0.9689509868621826,
+          0.24351558089256287,
+          -15.020970344543457
+        ],
+        [
+          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": "1731323540_483079195",
+      "mask_path": "../../mask/hdr_front_02760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02761.png",
+      "transform_matrix": [
+        [
+          -0.19782958924770355,
+          -0.23452678322792053,
+          -0.9517672061920166,
+          0.7827177047729492
+        ],
+        [
+          0.9796702861785889,
+          -0.014309003949165344,
+          -0.2001034915447235,
+          20.173006057739258
+        ],
+        [
+          0.033310793340206146,
+          -0.9720043540000916,
+          0.23258966207504272,
+          -15.013025283813477
+        ],
+        [
+          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": "1731323540_583080053",
+      "mask_path": "../../mask/hdr_front_02761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02764.png",
+      "transform_matrix": [
+        [
+          -0.2588523030281067,
+          -0.1708712875843048,
+          -0.9506831765174866,
+          0.8541368842124939
+        ],
+        [
+          0.9659150242805481,
+          -0.04385954141616821,
+          -0.2551165521144867,
+          20.20543670654297
+        ],
+        [
+          0.0018955620471388102,
+          -0.9843168258666992,
+          0.1764003038406372,
+          -15.00610065460205
+        ],
+        [
+          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": "1731323540_883081436",
+      "mask_path": "../../mask/hdr_front_02764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02766.png",
+      "transform_matrix": [
+        [
+          -0.2999876141548157,
+          -0.1898772418498993,
+          -0.9348551034927368,
+          0.8949071764945984
+        ],
+        [
+          0.9539380073547363,
+          -0.06289367377758026,
+          -0.2933369576931,
+          20.218303680419922
+        ],
+        [
+          -0.0030984608456492424,
+          -0.9797912836074829,
+          0.19999843835830688,
+          -14.994735717773438
+        ],
+        [
+          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": "1731323541_83082199",
+      "mask_path": "../../mask/hdr_front_02766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02768.png",
+      "transform_matrix": [
+        [
+          -0.3175804615020752,
+          -0.18769247829914093,
+          -0.9294698238372803,
+          0.9357743263244629
+        ],
+        [
+          0.9478496313095093,
+          -0.03502657637000084,
+          -0.31678736209869385,
+          20.27788543701172
+        ],
+        [
+          0.026902463287115097,
+          -0.9816031455993652,
+          0.18902799487113953,
+          -15.030157089233398
+        ],
+        [
+          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": "1731323541_283082246",
+      "mask_path": "../../mask/hdr_front_02768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02770.png",
+      "transform_matrix": [
+        [
+          -0.32250651717185974,
+          -0.17813406884670258,
+          -0.9296546578407288,
+          1.0067235231399536
+        ],
+        [
+          0.946514368057251,
+          -0.05031620338559151,
+          -0.3187141418457031,
+          20.29202651977539
+        ],
+        [
+          0.009997148998081684,
+          -0.9827190041542053,
+          0.18483377993106842,
+          -15.049420356750488
+        ],
+        [
+          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": "1731323541_483081817",
+      "mask_path": "../../mask/hdr_front_02770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02772.png",
+      "transform_matrix": [
+        [
+          -0.3084426820278168,
+          -0.15558475255966187,
+          -0.9384329915046692,
+          1.1290439367294312
+        ],
+        [
+          0.9512419104576111,
+          -0.0518425814807415,
+          -0.30405765771865845,
+          20.312963485717773
+        ],
+        [
+          -0.0013440579641610384,
+          -0.9864612221717834,
+          0.16398918628692627,
+          -15.065492630004883
+        ],
+        [
+          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": "1731323541_683079957",
+      "mask_path": "../../mask/hdr_front_02772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02773.png",
+      "transform_matrix": [
+        [
+          -0.3066037595272064,
+          -0.1622997671365738,
+          -0.9378982186317444,
+          1.2141227722167969
+        ],
+        [
+          0.9518367052078247,
+          -0.053299158811569214,
+          -0.30193716287612915,
+          20.339153289794922
+        ],
+        [
+          -0.000984853133559227,
+          -0.9853010177612305,
+          0.17082460224628448,
+          -15.097206115722656
+        ],
+        [
+          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": "1731323541_783081531",
+      "mask_path": "../../mask/hdr_front_02773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02774.png",
+      "transform_matrix": [
+        [
+          -0.3045489490032196,
+          -0.17061416804790497,
+          -0.9370916485786438,
+          1.2740235328674316
+        ],
+        [
+          0.9524692893028259,
+          -0.047082651406526566,
+          -0.3009743094444275,
+          20.3662166595459
+        ],
+        [
+          0.007229728624224663,
+          -0.9842123985290527,
+          0.17684371769428253,
+          -15.135918617248535
+        ],
+        [
+          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": "1731323541_883079051",
+      "mask_path": "../../mask/hdr_front_02774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02775.png",
+      "transform_matrix": [
+        [
+          -0.30108386278152466,
+          -0.17397278547286987,
+          -0.9375936985015869,
+          1.3308286666870117
+        ],
+        [
+          0.9534723162651062,
+          -0.03898071125149727,
+          -0.2989498972892761,
+          20.38863754272461
+        ],
+        [
+          0.015461076982319355,
+          -0.9839786291122437,
+          0.1776147037744522,
+          -15.16133975982666
+        ],
+        [
+          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": "1731323541_983079910",
+      "mask_path": "../../mask/hdr_front_02775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02776.png",
+      "transform_matrix": [
+        [
+          -0.2986255884170532,
+          -0.18595679104328156,
+          -0.9360784292221069,
+          1.4066860675811768
+        ],
+        [
+          0.9542407989501953,
+          -0.042015355080366135,
+          -0.29607319831848145,
+          20.40562629699707
+        ],
+        [
+          0.015727145597338676,
+          -0.9816591739654541,
+          0.18999439477920532,
+          -15.185614585876465
+        ],
+        [
+          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": "1731323542_83080768",
+      "mask_path": "../../mask/hdr_front_02776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02777.png",
+      "transform_matrix": [
+        [
+          -0.29211878776550293,
+          -0.20365092158317566,
+          -0.9344479441642761,
+          1.4741039276123047
+        ],
+        [
+          0.9562602043151855,
+          -0.04659983515739441,
+          -0.28878170251846313,
+          20.420595169067383
+        ],
+        [
+          0.01526554673910141,
+          -0.977933943271637,
+          0.20835596323013306,
+          -15.209890365600586
+        ],
+        [
+          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": "1731323542_183081626",
+      "mask_path": "../../mask/hdr_front_02777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02778.png",
+      "transform_matrix": [
+        [
+          -0.2832036316394806,
+          -0.21500615775585175,
+          -0.9346486330032349,
+          1.5288794040679932
+        ],
+        [
+          0.9588755965232849,
+          -0.04437670484185219,
+          -0.2803361117839813,
+          20.433712005615234
+        ],
+        [
+          0.018797369673848152,
+          -0.9756039977073669,
+          0.2187318056821823,
+          -15.230669021606445
+        ],
+        [
+          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": "1731323542_283081054",
+      "mask_path": "../../mask/hdr_front_02778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02779.png",
+      "transform_matrix": [
+        [
+          -0.2755311131477356,
+          -0.2160143405199051,
+          -0.9367072582244873,
+          1.6009232997894287
+        ],
+        [
+          0.961020290851593,
+          -0.038722820580005646,
+          -0.27375292778015137,
+          20.441312789916992
+        ],
+        [
+          0.022862611338496208,
+          -0.9756220579147339,
+          0.21826350688934326,
+          -15.229769706726074
+        ],
+        [
+          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": "1731323542_383081674",
+      "mask_path": "../../mask/hdr_front_02779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02780.png",
+      "transform_matrix": [
+        [
+          -0.2753402590751648,
+          -0.22406016290187836,
+          -0.9348715543746948,
+          1.6875641345977783
+        ],
+        [
+          0.9613447189331055,
+          -0.06213508918881416,
+          -0.2682453393936157,
+          20.47603416442871
+        ],
+        [
+          0.0020147613249719143,
+          -0.9725925922393799,
+          0.2325073629617691,
+          -15.265654563903809
+        ],
+        [
+          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": "1731323542_483077764",
+      "mask_path": "../../mask/hdr_front_02780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02781.png",
+      "transform_matrix": [
+        [
+          -0.28067511320114136,
+          -0.23879073560237885,
+          -0.9296238422393799,
+          1.7470866441726685
+        ],
+        [
+          0.9596909880638123,
+          -0.08460768312215805,
+          -0.26802006363868713,
+          20.505090713500977
+        ],
+        [
+          -0.014652608893811703,
+          -0.9673781991004944,
+          0.25291261076927185,
+          -15.289909362792969
+        ],
+        [
+          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": "1731323542_583081245",
+      "mask_path": "../../mask/hdr_front_02781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02782.png",
+      "transform_matrix": [
+        [
+          -0.2809617817401886,
+          -0.24541670083999634,
+          -0.9278098344802856,
+          1.8080943822860718
+        ],
+        [
+          0.9596436619758606,
+          -0.08394362777471542,
+          -0.2683976888656616,
+          20.52460479736328
+        ],
+        [
+          -0.012014441192150116,
+          -0.9657765030860901,
+          0.25909754633903503,
+          -15.291598320007324
+        ],
+        [
+          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": "1731323542_683078527",
+      "mask_path": "../../mask/hdr_front_02782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02783.png",
+      "transform_matrix": [
+        [
+          -0.27595773339271545,
+          -0.2451070100069046,
+          -0.9293922185897827,
+          1.8856918811798096
+        ],
+        [
+          0.9610583782196045,
+          -0.08508249372243881,
+          -0.2629214823246002,
+          20.54947280883789
+        ],
+        [
+          -0.014631093479692936,
+          -0.9657554030418396,
+          0.25904133915901184,
+          -15.322413444519043
+        ],
+        [
+          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": "1731323542_783079862",
+      "mask_path": "../../mask/hdr_front_02783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02784.png",
+      "transform_matrix": [
+        [
+          -0.2688398063182831,
+          -0.23958951234817505,
+          -0.9329106211662292,
+          1.962365746498108
+        ],
+        [
+          0.9630523920059204,
+          -0.08292343467473984,
+          -0.25622957944869995,
+          20.563879013061523
+        ],
+        [
+          -0.015970228239893913,
+          -0.9673265218734741,
+          0.253030389547348,
+          -15.343283653259277
+        ],
+        [
+          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": "1731323542_883078098",
+      "mask_path": "../../mask/hdr_front_02784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02785.png",
+      "transform_matrix": [
+        [
+          -0.26218172907829285,
+          -0.2320498377084732,
+          -0.936703622341156,
+          2.028756856918335
+        ],
+        [
+          0.9648910164833069,
+          -0.07881693542003632,
+          -0.2505459487438202,
+          20.57662010192871
+        ],
+        [
+          -0.015688950195908546,
+          -0.9695054292678833,
+          0.2445671558380127,
+          -15.352433204650879
+        ],
+        [
+          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": "1731323542_983081579",
+      "mask_path": "../../mask/hdr_front_02785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02786.png",
+      "transform_matrix": [
+        [
+          -0.253952294588089,
+          -0.22085364162921906,
+          -0.9416645169258118,
+          2.1039557456970215
+        ],
+        [
+          0.967097282409668,
+          -0.07328066974878311,
+          -0.2436242550611496,
+          20.590579986572266
+        ],
+        [
+          -0.015200495719909668,
+          -0.9725500345230103,
+          0.23219674825668335,
+          -15.351950645446777
+        ],
+        [
+          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": "1731323543_83079814",
+      "mask_path": "../../mask/hdr_front_02786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02787.png",
+      "transform_matrix": [
+        [
+          -0.2492891252040863,
+          -0.20862291753292084,
+          -0.945690929889679,
+          2.204402446746826
+        ],
+        [
+          0.9682499766349792,
+          -0.07247645407915115,
+          -0.2392471879720688,
+          20.62679100036621
+        ],
+        [
+          -0.018627889454364777,
+          -0.9753069877624512,
+          0.22006671130657196,
+          -15.369970321655273
+        ],
+        [
+          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": "1731323543_183081626",
+      "mask_path": "../../mask/hdr_front_02787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02788.png",
+      "transform_matrix": [
+        [
+          -0.2502157986164093,
+          -0.20054928958415985,
+          -0.9471916556358337,
+          2.2808310985565186
+        ],
+        [
+          0.9680578112602234,
+          -0.06798990070819855,
+          -0.24133242666721344,
+          20.662067413330078
+        ],
+        [
+          -0.016000427305698395,
+          -0.9773215651512146,
+          0.2111554592847824,
+          -15.396879196166992
+        ],
+        [
+          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": "1731323543_283082246",
+      "mask_path": "../../mask/hdr_front_02788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02790.png",
+      "transform_matrix": [
+        [
+          -0.2532556354999542,
+          -0.19011901319026947,
+          -0.948533833026886,
+          2.391306161880493
+        ],
+        [
+          0.9672994017601013,
+          -0.03567203879356384,
+          -0.2511160671710968,
+          20.718698501586914
+        ],
+        [
+          0.013905806466937065,
+          -0.9811128377914429,
+          0.19293616712093353,
+          -15.42696475982666
+        ],
+        [
+          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": "1731323543_483080148",
+      "mask_path": "../../mask/hdr_front_02790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02791.png",
+      "transform_matrix": [
+        [
+          -0.24780558049678802,
+          -0.19416429102420807,
+          -0.94915372133255,
+          2.478268623352051
+        ],
+        [
+          0.9685893058776855,
+          -0.028751453384757042,
+          -0.24699831008911133,
+          20.744672775268555
+        ],
+        [
+          0.02066870592534542,
+          -0.9805476069450378,
+          0.19519023597240448,
+          -15.451025009155273
+        ],
+        [
+          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": "1731323543_583081483",
+      "mask_path": "../../mask/hdr_front_02791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02792.png",
+      "transform_matrix": [
+        [
+          -0.23934553563594818,
+          -0.19670294225215912,
+          -0.9508004784584045,
+          2.542962074279785
+        ],
+        [
+          0.9706389904022217,
+          -0.02431502193212509,
+          -0.23930911719799042,
+          20.755279541015625
+        ],
+        [
+          0.02395407296717167,
+          -0.9801616072654724,
+          0.19674722850322723,
+          -15.462183952331543
+        ],
+        [
+          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": "1731323543_683082580",
+      "mask_path": "../../mask/hdr_front_02792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02793.png",
+      "transform_matrix": [
+        [
+          -0.2318381369113922,
+          -0.19110265374183655,
+          -0.9537981748580933,
+          2.5985107421875
+        ],
+        [
+          0.9723667502403259,
+          -0.017851781100034714,
+          -0.23277482390403748,
+          20.76675033569336
+        ],
+        [
+          0.027456892654299736,
+          -0.9814077019691467,
+          0.18996058404445648,
+          -15.467730522155762
+        ],
+        [
+          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": "1731323543_783082246",
+      "mask_path": "../../mask/hdr_front_02793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02794.png",
+      "transform_matrix": [
+        [
+          -0.22515136003494263,
+          -0.18079906702041626,
+          -0.9574019908905029,
+          2.6772561073303223
+        ],
+        [
+          0.9739936590194702,
+          -0.01618625596165657,
+          -0.22599652409553528,
+          20.792417526245117
+        ],
+        [
+          0.02536320686340332,
+          -0.9833868741989136,
+          0.1797415018081665,
+          -15.484619140625
+        ],
+        [
+          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": "1731323543_883082151",
+      "mask_path": "../../mask/hdr_front_02794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02795.png",
+      "transform_matrix": [
+        [
+          -0.22168144583702087,
+          -0.17407403886318207,
+          -0.9594558477401733,
+          2.766101360321045
+        ],
+        [
+          0.9749345183372498,
+          -0.02042289264500141,
+          -0.22155247628688812,
+          20.81844139099121
+        ],
+        [
+          0.018971668556332588,
+          -0.9845208525657654,
+          0.1742381900548935,
+          -15.504528045654297
+        ],
+        [
+          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": "1731323543_983081102",
+      "mask_path": "../../mask/hdr_front_02795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02796.png",
+      "transform_matrix": [
+        [
+          -0.22180011868476868,
+          -0.16868095099925995,
+          -0.9603913426399231,
+          2.8366456031799316
+        ],
+        [
+          0.9749664664268494,
+          -0.022550124675035477,
+          -0.22120557725429535,
+          20.837617874145508
+        ],
+        [
+          0.01565621979534626,
+          -0.9854127168655396,
+          0.16945989429950714,
+          -15.514370918273926
+        ],
+        [
+          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": "1731323544_83082199",
+      "mask_path": "../../mask/hdr_front_02796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02797.png",
+      "transform_matrix": [
+        [
+          -0.22195188701152802,
+          -0.16249503195285797,
+          -0.9614222049713135,
+          2.9008049964904785
+        ],
+        [
+          0.9749051928520203,
+          -0.019553998485207558,
+          -0.2217596471309662,
+          20.86150360107422
+        ],
+        [
+          0.01723519153892994,
+          -0.9865156412124634,
+          0.1627572923898697,
+          -15.540942192077637
+        ],
+        [
+          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": "1731323544_183081388",
+      "mask_path": "../../mask/hdr_front_02797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02798.png",
+      "transform_matrix": [
+        [
+          -0.21506382524967194,
+          -0.16465196013450623,
+          -0.9626200199127197,
+          2.984560012817383
+        ],
+        [
+          0.9764255285263062,
+          -0.017622940242290497,
+          -0.21513386070728302,
+          20.873815536499023
+        ],
+        [
+          0.018458014354109764,
+          -0.9861943125724792,
+          0.1645604372024536,
+          -15.54359245300293
+        ],
+        [
+          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": "1731323544_283082246",
+      "mask_path": "../../mask/hdr_front_02798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02799.png",
+      "transform_matrix": [
+        [
+          -0.2036285549402237,
+          -0.16328060626983643,
+          -0.9653366804122925,
+          3.053662061691284
+        ],
+        [
+          0.9788674712181091,
+          -0.015007899142801762,
+          -0.20394428074359894,
+          20.875720977783203
+        ],
+        [
+          0.018812472000718117,
+          -0.9864655137062073,
+          0.1628861278295517,
+          -15.52804946899414
+        ],
+        [
+          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": "1731323544_383081912",
+      "mask_path": "../../mask/hdr_front_02799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02800.png",
+      "transform_matrix": [
+        [
+          -0.1920398622751236,
+          -0.1540440320968628,
+          -0.9692219495773315,
+          3.1058390140533447
+        ],
+        [
+          0.9812432527542114,
+          -0.013230997137725353,
+          -0.1923188716173172,
+          20.880035400390625
+        ],
+        [
+          0.016801800578832626,
+          -0.9879754185676575,
+          0.15369553864002228,
+          -15.52362060546875
+        ],
+        [
+          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": "1731323544_483082056",
+      "mask_path": "../../mask/hdr_front_02800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02801.png",
+      "transform_matrix": [
+        [
+          -0.1795470118522644,
+          -0.14214089512825012,
+          -0.973426342010498,
+          3.181614875793457
+        ],
+        [
+          0.9837260842323303,
+          -0.019131895154714584,
+          -0.17865312099456787,
+          20.887720108032227
+        ],
+        [
+          0.00677042780444026,
+          -0.9896615147590637,
+          0.1432628035545349,
+          -15.533797264099121
+        ],
+        [
+          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": "1731323544_583082199",
+      "mask_path": "../../mask/hdr_front_02801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02802.png",
+      "transform_matrix": [
+        [
+          -0.17568232119083405,
+          -0.1363987773656845,
+          -0.9749519228935242,
+          3.268380880355835
+        ],
+        [
+          0.9844171404838562,
+          -0.03203880041837692,
+          -0.17290560901165009,
+          20.89572525024414
+        ],
+        [
+          -0.00765217375010252,
+          -0.9901357889175415,
+          0.13990195095539093,
+          -15.536025047302246
+        ],
+        [
+          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": "1731323544_683081150",
+      "mask_path": "../../mask/hdr_front_02802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02803.png",
+      "transform_matrix": [
+        [
+          -0.17958955466747284,
+          -0.13434185087680817,
+          -0.974525511264801,
+          3.342319965362549
+        ],
+        [
+          0.9835534691810608,
+          -0.043896470218896866,
+          -0.17520198225975037,
+          20.905479431152344
+        ],
+        [
+          -0.019241267815232277,
+          -0.9899623990058899,
+          0.14001572132110596,
+          -15.536267280578613
+        ],
+        [
+          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": "1731323544_783082485",
+      "mask_path": "../../mask/hdr_front_02803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02804.png",
+      "transform_matrix": [
+        [
+          -0.18443095684051514,
+          -0.13005028665065765,
+          -0.97420334815979,
+          3.4035933017730713
+        ],
+        [
+          0.9826670289039612,
+          -0.04329238086938858,
+          -0.18025395274162292,
+          20.920494079589844
+        ],
+        [
+          -0.018733499571681023,
+          -0.990561842918396,
+          0.13578057289123535,
+          -15.55133056640625
+        ],
+        [
+          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": "1731323544_883082389",
+      "mask_path": "../../mask/hdr_front_02804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02805.png",
+      "transform_matrix": [
+        [
+          -0.18413160741329193,
+          -0.13120141625404358,
+          -0.9741056561470032,
+          3.474472999572754
+        ],
+        [
+          0.9827861189842224,
+          -0.03976447880268097,
+          -0.18041664361953735,
+          20.931955337524414
+        ],
+        [
+          -0.015063884668052197,
+          -0.9905579090118408,
+          0.13626481592655182,
+          -15.5638427734375
+        ],
+        [
+          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": "1731323544_983083009",
+      "mask_path": "../../mask/hdr_front_02805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02806.png",
+      "transform_matrix": [
+        [
+          -0.17773787677288055,
+          -0.13387225568294525,
+          -0.9749295115470886,
+          3.5560173988342285
+        ],
+        [
+          0.9839737415313721,
+          -0.03858211264014244,
+          -0.17408885061740875,
+          20.936922073364258
+        ],
+        [
+          -0.014309162274003029,
+          -0.9902473092079163,
+          0.13858430087566376,
+          -15.569358825683594
+        ],
+        [
+          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": "1731323545_83081483",
+      "mask_path": "../../mask/hdr_front_02806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02808.png",
+      "transform_matrix": [
+        [
+          -0.18320482969284058,
+          -0.1359403133392334,
+          -0.973630428314209,
+          3.660386800765991
+        ],
+        [
+          0.9830405712127686,
+          -0.03359135612845421,
+          -0.18028542399406433,
+          20.964916229248047
+        ],
+        [
+          -0.008197507821023464,
+          -0.9901474118232727,
+          0.1397889405488968,
+          -15.594985008239746
+        ],
+        [
+          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": "1731323545_283082008",
+      "mask_path": "../../mask/hdr_front_02808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02809.png",
+      "transform_matrix": [
+        [
+          -0.195919007062912,
+          -0.14995820820331573,
+          -0.9690864086151123,
+          3.7357242107391357
+        ],
+        [
+          0.9805637001991272,
+          -0.040559280663728714,
+          -0.19196315109729767,
+          20.999286651611328
+        ],
+        [
+          -0.010518994182348251,
+          -0.9878600835800171,
+          0.15498988330364227,
+          -15.63994026184082
+        ],
+        [
+          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": "1731323545_383081674",
+      "mask_path": "../../mask/hdr_front_02809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02812.png",
+      "transform_matrix": [
+        [
+          -0.23532015085220337,
+          -0.17454005777835846,
+          -0.9561173319816589,
+          3.8786814212799072
+        ],
+        [
+          0.9719175696372986,
+          -0.04148241505026817,
+          -0.23163630068302155,
+          21.04291343688965
+        ],
+        [
+          0.0007677573012188077,
+          -0.9837759137153625,
+          0.17940019071102142,
+          -15.69845962524414
+        ],
+        [
+          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": "1731323545_683079957",
+      "mask_path": "../../mask/hdr_front_02812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02813.png",
+      "transform_matrix": [
+        [
+          -0.2405463457107544,
+          -0.19544661045074463,
+          -0.9507566094398499,
+          3.9286348819732666
+        ],
+        [
+          0.9705884456634521,
+          -0.03856927901506424,
+          -0.23763522505760193,
+          21.060138702392578
+        ],
+        [
+          0.009775006212294102,
+          -0.9799556136131287,
+          0.19897592067718506,
+          -15.727276802062988
+        ],
+        [
+          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": "1731323545_783079624",
+      "mask_path": "../../mask/hdr_front_02813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02817.png",
+      "transform_matrix": [
+        [
+          -0.238236665725708,
+          -0.23740820586681366,
+          -0.9417433738708496,
+          4.132833957672119
+        ],
+        [
+          0.9712035059928894,
+          -0.05559087172150612,
+          -0.2316751927137375,
+          21.11030387878418
+        ],
+        [
+          0.0026492534670978785,
+          -0.9698180556297302,
+          0.24381548166275024,
+          -15.797091484069824
+        ],
+        [
+          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": "1731323546_183078289",
+      "mask_path": "../../mask/hdr_front_02817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02818.png",
+      "transform_matrix": [
+        [
+          -0.24142968654632568,
+          -0.2455737590789795,
+          -0.9388318061828613,
+          4.20612096786499
+        ],
+        [
+          0.9703683257102966,
+          -0.07092312723398209,
+          -0.23098796606063843,
+          21.125999450683594
+        ],
+        [
+          -0.009860309772193432,
+          -0.9667800068855286,
+          0.25541993975639343,
+          -15.804621696472168
+        ],
+        [
+          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": "1731323546_283082008",
+      "mask_path": "../../mask/hdr_front_02818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02819.png",
+      "transform_matrix": [
+        [
+          -0.24330487847328186,
+          -0.24951231479644775,
+          -0.9373080134391785,
+          4.257535934448242
+        ],
+        [
+          0.9698861837387085,
+          -0.07365462183952332,
+          -0.23215456306934357,
+          21.14449119567871
+        ],
+        [
+          -0.011111653409898281,
+          -0.9655664563179016,
+          0.25991907715797424,
+          -15.81730842590332
+        ],
+        [
+          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": "1731323546_383081436",
+      "mask_path": "../../mask/hdr_front_02819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02820.png",
+      "transform_matrix": [
+        [
+          -0.241689994931221,
+          -0.26289939880371094,
+          -0.9340609312057495,
+          4.328080654144287
+        ],
+        [
+          0.970341682434082,
+          -0.070230633020401,
+          -0.23131074011325836,
+          21.16888427734375
+        ],
+        [
+          -0.0047882357612252235,
+          -0.9622637629508972,
+          0.2720763087272644,
+          -15.854769706726074
+        ],
+        [
+          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": "1731323546_483082294",
+      "mask_path": "../../mask/hdr_front_02820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02822.png",
+      "transform_matrix": [
+        [
+          -0.2260957509279251,
+          -0.2948433458805084,
+          -0.9284116625785828,
+          4.387492656707764
+        ],
+        [
+          0.9740710854530334,
+          -0.06046312302350998,
+          -0.21801340579986572,
+          21.169418334960938
+        ],
+        [
+          0.00814514234662056,
+          -0.953630805015564,
+          0.30086883902549744,
+          -15.84340763092041
+        ],
+        [
+          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": "1731323546_683082342",
+      "mask_path": "../../mask/hdr_front_02822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02823.png",
+      "transform_matrix": [
+        [
+          -0.22553309798240662,
+          -0.28958338499069214,
+          -0.9302022457122803,
+          4.449387550354004
+        ],
+        [
+          0.9742354154586792,
+          -0.06671345978975296,
+          -0.21544049680233002,
+          21.170738220214844
+        ],
+        [
+          0.0003309673920739442,
+          -0.9548250436782837,
+          0.29716846346855164,
+          -15.856311798095703
+        ],
+        [
+          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": "1731323546_783082723",
+      "mask_path": "../../mask/hdr_front_02823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02824.png",
+      "transform_matrix": [
+        [
+          -0.22694474458694458,
+          -0.2819361090660095,
+          -0.9322059750556946,
+          4.527628421783447
+        ],
+        [
+          0.9739071130752563,
+          -0.06471425294876099,
+          -0.2175246924161911,
+          21.191740036010742
+        ],
+        [
+          0.0010010508121922612,
+          -0.9572482109069824,
+          0.2892661392688751,
+          -15.885549545288086
+        ],
+        [
+          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": "1731323546_883082866",
+      "mask_path": "../../mask/hdr_front_02824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02825.png",
+      "transform_matrix": [
+        [
+          -0.23104213178157806,
+          -0.2712737023830414,
+          -0.9343608617782593,
+          4.5909857749938965
+        ],
+        [
+          0.9729337692260742,
+          -0.0600765235722065,
+          -0.22313812375068665,
+          21.2166805267334
+        ],
+        [
+          0.004398351535201073,
+          -0.9606255292892456,
+          0.27781155705451965,
+          -15.919185638427734
+        ],
+        [
+          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": "1731323546_983081340",
+      "mask_path": "../../mask/hdr_front_02825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02826.png",
+      "transform_matrix": [
+        [
+          -0.236420676112175,
+          -0.26305267214775085,
+          -0.9353654980659485,
+          4.649035930633545
+        ],
+        [
+          0.9715757369995117,
+          -0.05203593894839287,
+          -0.23093904554843903,
+          21.23649787902832
+        ],
+        [
+          0.012076521292328835,
+          -0.9633772373199463,
+          0.267877995967865,
+          -15.939810752868652
+        ],
+        [
+          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": "1731323547_83082199",
+      "mask_path": "../../mask/hdr_front_02826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02827.png",
+      "transform_matrix": [
+        [
+          -0.24375203251838684,
+          -0.25149357318878174,
+          -0.9366620779037476,
+          4.709840297698975
+        ],
+        [
+          0.9695647358894348,
+          -0.04028380662202835,
+          -0.24149824678897858,
+          21.256662368774414
+        ],
+        [
+          0.02300293557345867,
+          -0.9670202732086182,
+          0.25365856289863586,
+          -15.946218490600586
+        ],
+        [
+          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": "1731323547_183082342",
+      "mask_path": "../../mask/hdr_front_02827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02828.png",
+      "transform_matrix": [
+        [
+          -0.2556200623512268,
+          -0.22563016414642334,
+          -0.9400794506072998,
+          4.803194046020508
+        ],
+        [
+          0.9665852189064026,
+          -0.04026413708925247,
+          -0.2531634569168091,
+          21.274137496948242
+        ],
+        [
+          0.019269820302724838,
+          -0.9733806848526001,
+          0.22838309407234192,
+          -15.963712692260742
+        ],
+        [
+          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": "1731323547_283081531",
+      "mask_path": "../../mask/hdr_front_02828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02829.png",
+      "transform_matrix": [
+        [
+          -0.2650490701198578,
+          -0.19858460128307343,
+          -0.9435641169548035,
+          4.886780738830566
+        ],
+        [
+          0.9641842842102051,
+          -0.044561855494976044,
+          -0.2614628076553345,
+          21.28682518005371
+        ],
+        [
+          0.009875504299998283,
+          -0.979070246219635,
+          0.20328322052955627,
+          -15.973075866699219
+        ],
+        [
+          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": "1731323547_383082151",
+      "mask_path": "../../mask/hdr_front_02829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02830.png",
+      "transform_matrix": [
+        [
+          -0.2648873031139374,
+          -0.17783322930335999,
+          -0.9477394223213196,
+          4.947502136230469
+        ],
+        [
+          0.9642624258995056,
+          -0.043011151254177094,
+          -0.26143479347229004,
+          21.298614501953125
+        ],
+        [
+          0.005728423595428467,
+          -0.9831202626228333,
+          0.1828709840774536,
+          -15.96986198425293
+        ],
+        [
+          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": "1731323547_483083486",
+      "mask_path": "../../mask/hdr_front_02830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02831.png",
+      "transform_matrix": [
+        [
+          -0.2606002986431122,
+          -0.1639484167098999,
+          -0.9514244794845581,
+          5.035500526428223
+        ],
+        [
+          0.9654454588890076,
+          -0.0426611490547657,
+          -0.2570894658565521,
+          21.323097229003906
+        ],
+        [
+          0.0015605518128722906,
+          -0.9855460524559021,
+          0.16940076649188995,
+          -15.982723236083984
+        ],
+        [
+          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": "1731323547_583083391",
+      "mask_path": "../../mask/hdr_front_02831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02832.png",
+      "transform_matrix": [
+        [
+          -0.2607802450656891,
+          -0.15457014739513397,
+          -0.9529438018798828,
+          5.113729953765869
+        ],
+        [
+          0.9653975963592529,
+          -0.04065157473087311,
+          -0.2575944662094116,
+          21.347312927246094
+        ],
+        [
+          0.0010777569841593504,
+          -0.987145185470581,
+          0.15982277691364288,
+          -15.995882034301758
+        ],
+        [
+          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": "1731323547_683083295",
+      "mask_path": "../../mask/hdr_front_02832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02834.png",
+      "transform_matrix": [
+        [
+          -0.26700806617736816,
+          -0.1391373872756958,
+          -0.9535971283912659,
+          5.2141947746276855
+        ],
+        [
+          0.9636304974555969,
+          -0.027157865464687347,
+          -0.2658548653125763,
+          21.389902114868164
+        ],
+        [
+          0.011092684231698513,
+          -0.9899005889892578,
+          0.14132840931415558,
+          -16.017423629760742
+        ],
+        [
+          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": "1731323547_883081436",
+      "mask_path": "../../mask/hdr_front_02834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07247.png",
+      "transform_matrix": [
+        [
+          0.20110845565795898,
+          -0.15478309988975525,
+          0.9672630429267883,
+          4.6897430419921875
+        ],
+        [
+          -0.9794756770133972,
+          -0.01814841665327549,
+          0.20074354112148285,
+          21.320106506347656
+        ],
+        [
+          -0.013517418876290321,
+          -0.9877817630767822,
+          -0.15525609254837036,
+          -15.930718421936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7247,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_183081865",
+      "mask_path": "../../mask/hdr_front_07247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07248.png",
+      "transform_matrix": [
+        [
+          0.19853176176548004,
+          -0.1492811143398285,
+          0.9686590433120728,
+          4.619481563568115
+        ],
+        [
+          -0.9798576235771179,
+          -0.008508939296007156,
+          0.1995156854391098,
+          21.293699264526367
+        ],
+        [
+          -0.021541662514209747,
+          -0.9887582063674927,
+          -0.14796355366706848,
+          -15.927151679992676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7248,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_283083677",
+      "mask_path": "../../mask/hdr_front_07248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07249.png",
+      "transform_matrix": [
+        [
+          0.19526611268520355,
+          -0.14648504555225372,
+          0.9697490334510803,
+          4.555070400238037
+        ],
+        [
+          -0.9804880023002625,
+          -0.006293346639722586,
+          0.19647786021232605,
+          21.265514373779297
+        ],
+        [
+          -0.02267809584736824,
+          -0.9891929030418396,
+          -0.14485570788383484,
+          -15.916023254394531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7249,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_383082389",
+      "mask_path": "../../mask/hdr_front_07249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07250.png",
+      "transform_matrix": [
+        [
+          0.19047708809375763,
+          -0.12986944615840912,
+          0.9730634093284607,
+          4.471027851104736
+        ],
+        [
+          -0.9816216230392456,
+          -0.013355130329728127,
+          0.1903698891401291,
+          21.245458602905273
+        ],
+        [
+          -0.011727847158908844,
+          -0.9914411902427673,
+          -0.13002650439739227,
+          -15.913192749023438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7250,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_483082056",
+      "mask_path": "../../mask/hdr_front_07250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07251.png",
+      "transform_matrix": [
+        [
+          0.18239547312259674,
+          -0.11838413774967194,
+          0.976072371006012,
+          4.384268760681152
+        ],
+        [
+          -0.9832239151000977,
+          -0.02030460350215435,
+          0.18126921355724335,
+          21.22576332092285
+        ],
+        [
+          -0.0016406357754021883,
+          -0.9927603006362915,
+          -0.12010157108306885,
+          -15.89746379852295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7251,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_583081960",
+      "mask_path": "../../mask/hdr_front_07251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07252.png",
+      "transform_matrix": [
+        [
+          0.17494599521160126,
+          -0.11665121465921402,
+          0.9776433706283569,
+          4.316123008728027
+        ],
+        [
+          -0.9845751523971558,
+          -0.023127684369683266,
+          0.17342686653137207,
+          21.211332321166992
+        ],
+        [
+          0.002380172023549676,
+          -0.9929035902023315,
+          -0.11889798194169998,
+          -15.879426002502441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7252,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_683081388",
+      "mask_path": "../../mask/hdr_front_07252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07253.png",
+      "transform_matrix": [
+        [
+          0.16940170526504517,
+          -0.1117260530591011,
+          0.9791937470436096,
+          4.238492012023926
+        ],
+        [
+          -0.9855395555496216,
+          -0.023089207708835602,
+          0.1678650677204132,
+          21.208492279052734
+        ],
+        [
+          0.0038539066445082426,
+          -0.9934708476066589,
+          -0.11402180045843124,
+          -15.88407039642334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7253,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_783081769",
+      "mask_path": "../../mask/hdr_front_07253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07254.png",
+      "transform_matrix": [
+        [
+          0.17018048465251923,
+          -0.10647715628147125,
+          0.9796434044837952,
+          4.149660110473633
+        ],
+        [
+          -0.9854112267494202,
+          -0.016515444964170456,
+          0.16938741505146027,
+          21.19120216369629
+        ],
+        [
+          -0.001856640912592411,
+          -0.9941779971122742,
+          -0.10773436725139618,
+          -15.873866081237793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7254,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_883081912",
+      "mask_path": "../../mask/hdr_front_07254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07255.png",
+      "transform_matrix": [
+        [
+          0.17422129213809967,
+          -0.10341186821460724,
+          0.9792614579200745,
+          4.073328018188477
+        ],
+        [
+          -0.9846218228340149,
+          -0.005253746639937162,
+          0.1746201515197754,
+          21.17308807373047
+        ],
+        [
+          -0.01291300356388092,
+          -0.9946247935295105,
+          -0.10273689776659012,
+          -15.869400024414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7255,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_983081340",
+      "mask_path": "../../mask/hdr_front_07255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07256.png",
+      "transform_matrix": [
+        [
+          0.1727103590965271,
+          -0.10456526279449463,
+          0.9794065952301025,
+          4.004136085510254
+        ],
+        [
+          -0.9846859574317932,
+          0.0056602866388857365,
+          0.1742456704378128,
+          21.159711837768555
+        ],
+        [
+          -0.023763764649629593,
+          -0.9945018887519836,
+          -0.101986363530159,
+          -15.855813026428223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7256,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_83082675",
+      "mask_path": "../../mask/hdr_front_07256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07257.png",
+      "transform_matrix": [
+        [
+          0.16573075950145721,
+          -0.11735547333955765,
+          0.9791634678840637,
+          3.917724132537842
+        ],
+        [
+          -0.9857632517814636,
+          0.008836086839437485,
+          0.16790688037872314,
+          21.16326904296875
+        ],
+        [
+          -0.02835676446557045,
+          -0.9930506944656372,
+          -0.11422029137611389,
+          -15.811306953430176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7257,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_183083295",
+      "mask_path": "../../mask/hdr_front_07257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07258.png",
+      "transform_matrix": [
+        [
+          0.1533563882112503,
+          -0.1319534182548523,
+          0.9793213605880737,
+          3.832519054412842
+        ],
+        [
+          -0.9878561496734619,
+          0.0045458474196493626,
+          0.1553054004907608,
+          21.172039031982422
+        ],
+        [
+          -0.02494492381811142,
+          -0.9912455081939697,
+          -0.12965387105941772,
+          -15.783561706542969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7258,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_283081769",
+      "mask_path": "../../mask/hdr_front_07258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07259.png",
+      "transform_matrix": [
+        [
+          0.14306285977363586,
+          -0.14087994396686554,
+          0.9796356558799744,
+          3.771599531173706
+        ],
+        [
+          -0.9895510673522949,
+          -0.002422889694571495,
+          0.14416249096393585,
+          21.169336318969727
+        ],
+        [
+          -0.01793605275452137,
+          -0.9900237917900085,
+          -0.139754518866539,
+          -15.774397850036621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7259,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_383083105",
+      "mask_path": "../../mask/hdr_front_07259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07260.png",
+      "transform_matrix": [
+        [
+          0.144267737865448,
+          -0.1525307595729828,
+          0.9777122735977173,
+          3.7011051177978516
+        ],
+        [
+          -0.9894213080406189,
+          -0.0070159244351089,
+          0.14490096271038055,
+          21.149747848510742
+        ],
+        [
+          -0.015242294408380985,
+          -0.9882737994194031,
+          -0.1519293636083603,
+          -15.750164031982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7260,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_483082532",
+      "mask_path": "../../mask/hdr_front_07260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07261.png",
+      "transform_matrix": [
+        [
+          0.15391123294830322,
+          -0.1640262007713318,
+          0.9743750691413879,
+          3.6344358921051025
+        ],
+        [
+          -0.9878849983215332,
+          -0.005722078029066324,
+          0.15508200228214264,
+          21.123498916625977
+        ],
+        [
+          -0.019862059503793716,
+          -0.9864394664764404,
+          -0.16291970014572144,
+          -15.727307319641113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7261,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_583082675",
+      "mask_path": "../../mask/hdr_front_07261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07262.png",
+      "transform_matrix": [
+        [
+          0.16740183532238007,
+          -0.1702481210231781,
+          0.9710779190063477,
+          3.5828301906585693
+        ],
+        [
+          -0.9856213927268982,
+          -0.005963214207440615,
+          0.16886352002620697,
+          21.101285934448242
+        ],
+        [
+          -0.022957948967814445,
+          -0.9853832721710205,
+          -0.16879843175411224,
+          -15.716567039489746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7262,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_683082818",
+      "mask_path": "../../mask/hdr_front_07262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07263.png",
+      "transform_matrix": [
+        [
+          0.18167375028133392,
+          -0.17463752627372742,
+          0.9677274823188782,
+          3.5265004634857178
+        ],
+        [
+          -0.9830299019813538,
+          -0.006800402421504259,
+          0.1833193302154541,
+          21.076486587524414
+        ],
+        [
+          -0.02543349377810955,
+          -0.9846093058586121,
+          -0.17290937900543213,
+          -15.707646369934082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7263,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_783082485",
+      "mask_path": "../../mask/hdr_front_07263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07264.png",
+      "transform_matrix": [
+        [
+          0.19044286012649536,
+          -0.19768700003623962,
+          0.9615879058837891,
+          3.472339153289795
+        ],
+        [
+          -0.9811914563179016,
+          -0.006862787064164877,
+          0.19291450083255768,
+          21.056774139404297
+        ],
+        [
+          -0.031537506729364395,
+          -0.9802411794662476,
+          -0.19527576863765717,
+          -15.657007217407227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7264,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_883081436",
+      "mask_path": "../../mask/hdr_front_07264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07265.png",
+      "transform_matrix": [
+        [
+          0.19617854058742523,
+          -0.2190752476453781,
+          0.9557824730873108,
+          3.4068808555603027
+        ],
+        [
+          -0.9801719784736633,
+          -0.016106588765978813,
+          0.1974928230047226,
+          21.04241943359375
+        ],
+        [
+          -0.0278713908046484,
+          -0.9755750894546509,
+          -0.21789118647575378,
+          -15.604732513427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7265,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_983081579",
+      "mask_path": "../../mask/hdr_front_07265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07268.png",
+      "transform_matrix": [
+        [
+          0.20303203165531158,
+          -0.22731953859329224,
+          0.9524199366569519,
+          3.249633312225342
+        ],
+        [
+          -0.9790889620780945,
+          -0.034457217901945114,
+          0.20049308240413666,
+          21.000211715698242
+        ],
+        [
+          -0.012758254073560238,
+          -0.9732104539871216,
+          -0.2295619696378708,
+          -15.56020736694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7268,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_283079385",
+      "mask_path": "../../mask/hdr_front_07268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07269.png",
+      "transform_matrix": [
+        [
+          0.2004391849040985,
+          -0.23159608244895935,
+          0.951938807964325,
+          3.1987862586975098
+        ],
+        [
+          -0.9796556830406189,
+          -0.037521250545978546,
+          0.19714674353599548,
+          20.98093032836914
+        ],
+        [
+          -0.009940476156771183,
+          -0.9720882177352905,
+          -0.23440515995025635,
+          -15.545153617858887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7269,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_383081197",
+      "mask_path": "../../mask/hdr_front_07269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07271.png",
+      "transform_matrix": [
+        [
+          0.19377176463603973,
+          -0.2141135036945343,
+          0.9573965072631836,
+          3.096348524093628
+        ],
+        [
+          -0.9810410737991333,
+          -0.045567587018013,
+          0.18836650252342224,
+          20.94771385192871
+        ],
+        [
+          0.0032944336999207735,
+          -0.9757453799247742,
+          -0.21888387203216553,
+          -15.536301612854004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7271,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_583082199",
+      "mask_path": "../../mask/hdr_front_07271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07272.png",
+      "transform_matrix": [
+        [
+          0.18601104617118835,
+          -0.20759670436382294,
+          0.9603663086891174,
+          3.03529953956604
+        ],
+        [
+          -0.9824568033218384,
+          -0.0525912344455719,
+          0.17892135679721832,
+          20.931917190551758
+        ],
+        [
+          0.0133633678779006,
+          -0.9767997860908508,
+          -0.21373732388019562,
+          -15.510100364685059
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7272,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_683079004",
+      "mask_path": "../../mask/hdr_front_07272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07273.png",
+      "transform_matrix": [
+        [
+          0.1784500777721405,
+          -0.20487341284751892,
+          0.9623836874961853,
+          2.969853401184082
+        ],
+        [
+          -0.9837417006492615,
+          -0.057222649455070496,
+          0.1702287644147873,
+          20.921415328979492
+        ],
+        [
+          0.020194800570607185,
+          -0.9771143198013306,
+          -0.21175387501716614,
+          -15.485170364379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7273,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_783081531",
+      "mask_path": "../../mask/hdr_front_07273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07274.png",
+      "transform_matrix": [
+        [
+          0.17487497627735138,
+          -0.19883106648921967,
+          0.9643054604530334,
+          2.883835792541504
+        ],
+        [
+          -0.984393835067749,
+          -0.05489075556397438,
+          0.1671999841928482,
+          20.907533645629883
+        ],
+        [
+          0.019686905667185783,
+          -0.9784954190254211,
+          -0.2053270936012268,
+          -15.474481582641602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7274,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_883079290",
+      "mask_path": "../../mask/hdr_front_07274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07275.png",
+      "transform_matrix": [
+        [
+          0.17245404422283173,
+          -0.19267061352729797,
+          0.9659905433654785,
+          2.798776149749756
+        ],
+        [
+          -0.9849958419799805,
+          -0.04023664817214012,
+          0.16782164573669434,
+          20.896146774291992
+        ],
+        [
+          0.006533919367939234,
+          -0.9804381728172302,
+          -0.1967187374830246,
+          -15.471488952636719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7275,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_983081817",
+      "mask_path": "../../mask/hdr_front_07275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07276.png",
+      "transform_matrix": [
+        [
+          0.167799174785614,
+          -0.18727169930934906,
+          0.9678702354431152,
+          2.7301437854766846
+        ],
+        [
+          -0.9858044385910034,
+          -0.026165375486016273,
+          0.16584573686122894,
+          20.88774299621582
+        ],
+        [
+          -0.005733523517847061,
+          -0.9819597005844116,
+          -0.1890038102865219,
+          -15.460638046264648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7276,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_83081245",
+      "mask_path": "../../mask/hdr_front_07276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07277.png",
+      "transform_matrix": [
+        [
+          0.16303452849388123,
+          -0.17147459089756012,
+          0.9716049432754517,
+          2.6404709815979004
+        ],
+        [
+          -0.9866103529930115,
+          -0.023888440802693367,
+          0.16133645176887512,
+          20.88346290588379
+        ],
+        [
+          -0.00445497315376997,
+          -0.9848989248275757,
+          -0.17307323217391968,
+          -15.450149536132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7277,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_183080673",
+      "mask_path": "../../mask/hdr_front_07277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07278.png",
+      "transform_matrix": [
+        [
+          0.15471743047237396,
+          -0.16112564504146576,
+          0.9747313261032104,
+          2.55352783203125
+        ],
+        [
+          -0.9879587888717651,
+          -0.025286931544542313,
+          0.15263701975345612,
+          20.875804901123047
+        ],
+        [
+          5.422579852165654e-05,
+          -0.986609935760498,
+          -0.1630978137254715,
+          -15.433564186096191
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7278,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_283079147",
+      "mask_path": "../../mask/hdr_front_07278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07279.png",
+      "transform_matrix": [
+        [
+          0.14632444083690643,
+          -0.15794797241687775,
+          0.9765457510948181,
+          2.4793381690979004
+        ],
+        [
+          -0.9891864061355591,
+          -0.03331184387207031,
+          0.14283064007759094,
+          20.864002227783203
+        ],
+        [
+          0.009970731101930141,
+          -0.9868854284286499,
+          -0.16111433506011963,
+          -15.412738800048828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7279,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_383079767",
+      "mask_path": "../../mask/hdr_front_07279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07280.png",
+      "transform_matrix": [
+        [
+          0.14271928369998932,
+          -0.15100552141666412,
+          0.9781761765480042,
+          2.389186143875122
+        ],
+        [
+          -0.9895724654197693,
+          -0.041173070669174194,
+          0.13802596926689148,
+          20.844745635986328
+        ],
+        [
+          0.01943182945251465,
+          -0.987675130367279,
+          -0.1553070992231369,
+          -15.398260116577148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7280,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_483082294",
+      "mask_path": "../../mask/hdr_front_07280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07281.png",
+      "transform_matrix": [
+        [
+          0.14827953279018402,
+          -0.14110133051872253,
+          0.978827714920044,
+          2.3019609451293945
+        ],
+        [
+          -0.988764762878418,
+          -0.04007234424352646,
+          0.1440083235502243,
+          20.816511154174805
+        ],
+        [
+          0.018904156982898712,
+          -0.9891839027404785,
+          -0.1454579383134842,
+          -15.386675834655762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7281,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_583081245",
+      "mask_path": "../../mask/hdr_front_07281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07282.png",
+      "transform_matrix": [
+        [
+          0.15728777647018433,
+          -0.13816311955451965,
+          0.97784024477005,
+          2.2269299030303955
+        ],
+        [
+          -0.987497091293335,
+          -0.03252546116709709,
+          0.15424545109272003,
+          20.791597366333008
+        ],
+        [
+          0.010493672452867031,
+          -0.9898752570152283,
+          -0.14155153930187225,
+          -15.374584197998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7282,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_683081626",
+      "mask_path": "../../mask/hdr_front_07282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07283.png",
+      "transform_matrix": [
+        [
+          0.1626581996679306,
+          -0.13822364807128906,
+          0.9769527316093445,
+          2.1541783809661865
+        ],
+        [
+          -0.9866723418235779,
+          -0.027258556336164474,
+          0.16041982173919678,
+          20.77554702758789
+        ],
+        [
+          0.004456510301679373,
+          -0.9900258779525757,
+          -0.14081527292728424,
+          -15.370797157287598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7283,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_783081293",
+      "mask_path": "../../mask/hdr_front_07283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07284.png",
+      "transform_matrix": [
+        [
+          0.1618286669254303,
+          -0.1342644840478897,
+          0.977642297744751,
+          2.071685791015625
+        ],
+        [
+          -0.9867861270904541,
+          -0.03008298948407173,
+          0.15921084582805634,
+          20.756088256835938
+        ],
+        [
+          0.00803404487669468,
+          -0.9904888272285461,
+          -0.137358620762825,
+          -15.355743408203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7284,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_883081912",
+      "mask_path": "../../mask/hdr_front_07284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07285.png",
+      "transform_matrix": [
+        [
+          0.1564953625202179,
+          -0.1310766041278839,
+          0.9789423942565918,
+          1.9891555309295654
+        ],
+        [
+          -0.9875540733337402,
+          -0.03651357814669609,
+          0.15298305451869965,
+          20.739974975585938
+        ],
+        [
+          0.015692194923758507,
+          -0.9906996488571167,
+          -0.135159432888031,
+          -15.338615417480469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7285,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_983082056",
+      "mask_path": "../../mask/hdr_front_07285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07286.png",
+      "transform_matrix": [
+        [
+          0.1509828418493271,
+          -0.1299852430820465,
+          0.9799531102180481,
+          1.9156827926635742
+        ],
+        [
+          -0.9883132576942444,
+          -0.040911879390478134,
+          0.14684417843818665,
+          20.720870971679688
+        ],
+        [
+          0.021004151552915573,
+          -0.9906715154647827,
+          -0.134643092751503,
+          -15.319141387939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7286,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_83081960",
+      "mask_path": "../../mask/hdr_front_07286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07287.png",
+      "transform_matrix": [
+        [
+          0.14956189692020416,
+          -0.12704195082187653,
+          0.9805567860603333,
+          1.828171730041504
+        ],
+        [
+          -0.9886230826377869,
+          -0.03524656221270561,
+          0.1462256908416748,
+          20.699228286743164
+        ],
+        [
+          0.015984460711479187,
+          -0.991270899772644,
+          -0.13086815178394318,
+          -15.309432983398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7287,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_183080434",
+      "mask_path": "../../mask/hdr_front_07287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07288.png",
+      "transform_matrix": [
+        [
+          0.1502896249294281,
+          -0.12137293070554733,
+          0.9811633825302124,
+          1.7443134784698486
+        ],
+        [
+          -0.9886024594306946,
+          -0.027321424335241318,
+          0.14804938435554504,
+          20.68454933166504
+        ],
+        [
+          0.008837593719363213,
+          -0.9922309517860413,
+          -0.12409570813179016,
+          -15.317741394042969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7288,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_283081293",
+      "mask_path": "../../mask/hdr_front_07288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07289.png",
+      "transform_matrix": [
+        [
+          0.1490906924009323,
+          -0.11632637679576874,
+          0.9819573163986206,
+          1.6767442226409912
+        ],
+        [
+          -0.9887958765029907,
+          -0.02495766431093216,
+          0.14717240631580353,
+          20.673141479492188
+        ],
+        [
+          0.007387327495962381,
+          -0.9928974509239197,
+          -0.11874400079250336,
+          -15.32762622833252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7289,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_383081197",
+      "mask_path": "../../mask/hdr_front_07289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07290.png",
+      "transform_matrix": [
+        [
+          0.1443253457546234,
+          -0.11011979728937149,
+          0.9833838939666748,
+          1.5925476551055908
+        ],
+        [
+          -0.9895110726356506,
+          -0.02227254956960678,
+          0.1427304893732071,
+          20.657821655273438
+        ],
+        [
+          0.006185014732182026,
+          -0.993668794631958,
+          -0.1121792271733284,
+          -15.304157257080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7290,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_483079671",
+      "mask_path": "../../mask/hdr_front_07290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07291.png",
+      "transform_matrix": [
+        [
+          0.13532094657421112,
+          -0.11152723431587219,
+          0.9845048785209656,
+          1.5071898698806763
+        ],
+        [
+          -0.990777313709259,
+          -0.02221859246492386,
+          0.13366612792015076,
+          20.652555465698242
+        ],
+        [
+          0.006966900546103716,
+          -0.9935129880905151,
+          -0.1135052964091301,
+          -15.275041580200195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7291,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_583081483",
+      "mask_path": "../../mask/hdr_front_07291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07292.png",
+      "transform_matrix": [
+        [
+          0.1266748011112213,
+          -0.1147804781794548,
+          0.9852811694145203,
+          1.4417524337768555
+        ],
+        [
+          -0.9918511509895325,
+          -0.02826693467795849,
+          0.12422652542591095,
+          20.655519485473633
+        ],
+        [
+          0.013592096045613289,
+          -0.992988646030426,
+          -0.11742585152387619,
+          -15.276996612548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7292,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_683081865",
+      "mask_path": "../../mask/hdr_front_07292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07293.png",
+      "transform_matrix": [
+        [
+          0.12178774178028107,
+          -0.12349551171064377,
+          0.9848434329032898,
+          1.3536012172698975
+        ],
+        [
+          -0.9919512271881104,
+          -0.04978281259536743,
+          0.11642412841320038,
+          20.638978958129883
+        ],
+        [
+          0.034650418907403946,
+          -0.9910956621170044,
+          -0.12856444716453552,
+          -15.256978988647461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7293,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_783082723",
+      "mask_path": "../../mask/hdr_front_07293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07294.png",
+      "transform_matrix": [
+        [
+          0.12449392676353455,
+          -0.1332196593284607,
+          0.9832363724708557,
+          1.257946252822876
+        ],
+        [
+          -0.991672158241272,
+          -0.04964389279484749,
+          0.11883572489023209,
+          20.615375518798828
+        ],
+        [
+          0.032980430871248245,
+          -0.989842414855957,
+          -0.13829058408737183,
+          -15.20966911315918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7294,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_883083343",
+      "mask_path": "../../mask/hdr_front_07294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07295.png",
+      "transform_matrix": [
+        [
+          0.13656683266162872,
+          -0.1406077891588211,
+          0.9806013703346252,
+          1.1819417476654053
+        ],
+        [
+          -0.9905431866645813,
+          -0.032543011009693146,
+          0.13328510522842407,
+          20.603199005126953
+        ],
+        [
+          0.013170798309147358,
+          -0.9895303845405579,
+          -0.14372240006923676,
+          -15.195550918579102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7295,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_983082294",
+      "mask_path": "../../mask/hdr_front_07295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07296.png",
+      "transform_matrix": [
+        [
+          0.1525765359401703,
+          -0.15100809931755066,
+          0.9766867160797119,
+          1.104685664176941
+        ],
+        [
+          -0.9882709980010986,
+          -0.029706787317991257,
+          0.14979319274425507,
+          20.585678100585938
+        ],
+        [
+          0.006394238211214542,
+          -0.9880861043930054,
+          -0.15376947820186615,
+          -15.19374942779541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7296,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_83083391",
+      "mask_path": "../../mask/hdr_front_07296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07297.png",
+      "transform_matrix": [
+        [
+          0.15976198017597198,
+          -0.19003893435001373,
+          0.9686905741691589,
+          1.0147334337234497
+        ],
+        [
+          -0.9871249198913574,
+          -0.02302342653274536,
+          0.15828551352024078,
+          20.57851791381836
+        ],
+        [
+          -0.007777832914143801,
+          -0.9815065860748291,
+          -0.19127041101455688,
+          -15.123153686523438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7297,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_183082103",
+      "mask_path": "../../mask/hdr_front_07297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07298.png",
+      "transform_matrix": [
+        [
+          0.1584778130054474,
+          -0.2215086668729782,
+          0.9621946811676025,
+          0.9303805232048035
+        ],
+        [
+          -0.9872474074363708,
+          -0.02067086473107338,
+          0.1578454226255417,
+          20.575946807861328
+        ],
+        [
+          -0.015074730850756168,
+          -0.9749392867088318,
+          -0.22195973992347717,
+          -15.058378219604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7298,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_283083915",
+      "mask_path": "../../mask/hdr_front_07298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07299.png",
+      "transform_matrix": [
+        [
+          0.16495981812477112,
+          -0.22401048243045807,
+          0.9605246782302856,
+          0.8642781972885132
+        ],
+        [
+          -0.9862332344055176,
+          -0.02611071802675724,
+          0.1632855236530304,
+          20.56325340270996
+        ],
+        [
+          -0.011497680097818375,
+          -0.9742369651794434,
+          -0.22523380815982819,
+          -15.044258117675781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7299,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_383081674",
+      "mask_path": "../../mask/hdr_front_07299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07300.png",
+      "transform_matrix": [
+        [
+          0.17658574879169464,
+          -0.2153255194425583,
+          0.960443913936615,
+          0.7994986772537231
+        ],
+        [
+          -0.9841501712799072,
+          -0.022458719089627266,
+          0.17590928077697754,
+          20.543712615966797
+        ],
+        [
+          -0.016307413578033447,
+          -0.9762840867042542,
+          -0.21587853133678436,
+          -15.037036895751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7300,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_483083009",
+      "mask_path": "../../mask/hdr_front_07300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07301.png",
+      "transform_matrix": [
+        [
+          0.18778465688228607,
+          -0.2114647626876831,
+          0.9591765403747559,
+          0.7427623271942139
+        ],
+        [
+          -0.981941282749176,
+          -0.01756703108549118,
+          0.1883685439825058,
+          20.524627685546875
+        ],
+        [
+          -0.022983422502875328,
+          -0.9772277474403381,
+          -0.2109447866678238,
+          -15.035399436950684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7301,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_583081483",
+      "mask_path": "../../mask/hdr_front_07301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07302.png",
+      "transform_matrix": [
+        [
+          0.20088714361190796,
+          -0.2117585986852646,
+          0.956453263759613,
+          0.6918280124664307
+        ],
+        [
+          -0.9794114828109741,
+          -0.023546559736132622,
+          0.20049594342708588,
+          20.503034591674805
+        ],
+        [
+          -0.01993556134402752,
+          -0.9770383834838867,
+          -0.21212901175022125,
+          -15.030600547790527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7302,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_683082580",
+      "mask_path": "../../mask/hdr_front_07302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07303.png",
+      "transform_matrix": [
+        [
+          0.2154918760061264,
+          -0.2058136761188507,
+          0.9545699954032898,
+          0.6272693276405334
+        ],
+        [
+          -0.9763616323471069,
+          -0.028620518743991852,
+          0.2142404168844223,
+          20.47728729248047
+        ],
+        [
+          -0.016773320734500885,
+          -0.9781725406646729,
+          -0.2071160525083542,
+          -15.028990745544434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7303,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_783082723",
+      "mask_path": "../../mask/hdr_front_07303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07304.png",
+      "transform_matrix": [
+        [
+          0.22548207640647888,
+          -0.2001732587814331,
+          0.9534613490104675,
+          0.5550898313522339
+        ],
+        [
+          -0.9741863012313843,
+          -0.035371262580156326,
+          0.2229572832584381,
+          20.450767517089844
+        ],
+        [
+          -0.010904957540333271,
+          -0.9791218638420105,
+          -0.202981635928154,
+          -15.019242286682129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7304,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_883082866",
+      "mask_path": "../../mask/hdr_front_07304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07305.png",
+      "transform_matrix": [
+        [
+          0.2299557477235794,
+          -0.19899193942546844,
+          0.9526398181915283,
+          0.4920196831226349
+        ],
+        [
+          -0.9731979370117188,
+          -0.04448382928967476,
+          0.22562621533870697,
+          20.430910110473633
+        ],
+        [
+          -0.002520727925002575,
+          -0.9789910316467285,
+          -0.20388783514499664,
+          -14.995716094970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7305,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_983081579",
+      "mask_path": "../../mask/hdr_front_07305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07306.png",
+      "transform_matrix": [
+        [
+          0.22946615517139435,
+          -0.19134987890720367,
+          0.9543220400810242,
+          0.422059565782547
+        ],
+        [
+          -0.9733165502548218,
+          -0.045179497450590134,
+          0.22497454285621643,
+          20.420204162597656
+        ],
+        [
+          6.693878822261468e-05,
+          -0.9804815053939819,
+          -0.1966111958026886,
+          -14.98792552947998
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7306,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_83083391",
+      "mask_path": "../../mask/hdr_front_07306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07307.png",
+      "transform_matrix": [
+        [
+          0.2306416928768158,
+          -0.1835440844297409,
+          0.9555711150169373,
+          0.34655120968818665
+        ],
+        [
+          -0.973006010055542,
+          -0.03544369339942932,
+          0.22804193198680878,
+          20.404565811157227
+        ],
+        [
+          -0.007986786775290966,
+          -0.9823723435401917,
+          -0.18676429986953735,
+          -14.981385231018066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7307,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_183081388",
+      "mask_path": "../../mask/hdr_front_07307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07308.png",
+      "transform_matrix": [
+        [
+          0.23188510537147522,
+          -0.17836065590381622,
+          0.9562515020370483,
+          0.28019264340400696
+        ],
+        [
+          -0.9726192355155945,
+          -0.026820769533514977,
+          0.23085157573223114,
+          20.38458824157715
+        ],
+        [
+          -0.015527432784438133,
+          -0.9835996031761169,
+          -0.17969633638858795,
+          -14.970117568969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7308,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_283082008",
+      "mask_path": "../../mask/hdr_front_07308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07309.png",
+      "transform_matrix": [
+        [
+          0.22969907522201538,
+          -0.17057926952838898,
+          0.9581968188285828,
+          0.21124976873397827
+        ],
+        [
+          -0.9730965495109558,
+          -0.022113218903541565,
+          0.22933423519134521,
+          20.36805534362793
+        ],
+        [
+          -0.01793084666132927,
+          -0.9850957989692688,
+          -0.17106947302818298,
+          -14.959498405456543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7309,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_383081436",
+      "mask_path": "../../mask/hdr_front_07309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07310.png",
+      "transform_matrix": [
+        [
+          0.22479961812496185,
+          -0.15416918694972992,
+          0.9621314406394958,
+          0.1341676414012909
+        ],
+        [
+          -0.9743197560310364,
+          -0.022497083991765976,
+          0.22404251992702484,
+          20.355756759643555
+        ],
+        [
+          -0.012895294465124607,
+          -0.9877883791923523,
+          -0.1552674025297165,
+          -14.94662094116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7310,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_483079910",
+      "mask_path": "../../mask/hdr_front_07310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07311.png",
+      "transform_matrix": [
+        [
+          0.21613462269306183,
+          -0.14508245885372162,
+          0.9655242562294006,
+          0.07005682587623596
+        ],
+        [
+          -0.9763582348823547,
+          -0.028842002153396606,
+          0.21422599256038666,
+          20.33972930908203
+        ],
+        [
+          -0.0032327810768038034,
+          -0.98899906873703,
+          -0.14788620173931122,
+          -14.921343803405762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7311,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_583080530",
+      "mask_path": "../../mask/hdr_front_07311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07312.png",
+      "transform_matrix": [
+        [
+          0.20712056756019592,
+          -0.14415325224399567,
+          0.9676368236541748,
+          -0.0021628141403198242
+        ],
+        [
+          -0.9782918691635132,
+          -0.037382423877716064,
+          0.2038322538137436,
+          20.324642181396484
+        ],
+        [
+          0.006789525039494038,
+          -0.9888490438461304,
+          -0.1487666219472885,
+          -14.907876014709473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7312,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_683084011",
+      "mask_path": "../../mask/hdr_front_07312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07313.png",
+      "transform_matrix": [
+        [
+          0.20180366933345795,
+          -0.15070393681526184,
+          0.9677622318267822,
+          -0.09387040138244629
+        ],
+        [
+          -0.9792436361312866,
+          -0.050114214420318604,
+          0.19639386236667633,
+          20.296659469604492
+        ],
+        [
+          0.018901316449046135,
+          -0.9873079061508179,
+          -0.15768907964229584,
+          -14.883069038391113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7313,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_783081769",
+      "mask_path": "../../mask/hdr_front_07313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07314.png",
+      "transform_matrix": [
+        [
+          0.20663771033287048,
+          -0.15787172317504883,
+          0.9655969738960266,
+          -0.1759374439716339
+        ],
+        [
+          -0.9782496690750122,
+          -0.051613111048936844,
+          0.2009068727493286,
+          20.26389503479004
+        ],
+        [
+          0.018119949847459793,
+          -0.9861098527908325,
+          -0.16510316729545593,
+          -14.848071098327637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7314,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_883082151",
+      "mask_path": "../../mask/hdr_front_07314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07315.png",
+      "transform_matrix": [
+        [
+          0.21416503190994263,
+          -0.16104008257389069,
+          0.9634311199188232,
+          -0.24372011423110962
+        ],
+        [
+          -0.9767499566078186,
+          -0.045040104538202286,
+          0.2095971554517746,
+          20.24509048461914
+        ],
+        [
+          0.00963949877768755,
+          -0.9859195947647095,
+          -0.16694188117980957,
+          -14.83658218383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7315,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_983082056",
+      "mask_path": "../../mask/hdr_front_07315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07316.png",
+      "transform_matrix": [
+        [
+          0.21332161128520966,
+          -0.16564114391803741,
+          0.9628379344940186,
+          -0.3148888945579529
+        ],
+        [
+          -0.9769327044487,
+          -0.04606768116354942,
+          0.20851916074752808,
+          20.230783462524414
+        ],
+        [
+          0.009816360659897327,
+          -0.9851095676422119,
+          -0.17164750397205353,
+          -14.820086479187012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7316,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_83082437",
+      "mask_path": "../../mask/hdr_front_07316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07317.png",
+      "transform_matrix": [
+        [
+          0.2046482414007187,
+          -0.17341770231723785,
+          0.9633511304855347,
+          -0.3892068862915039
+        ],
+        [
+          -0.9786661267280579,
+          -0.05455867573618889,
+          0.19808031618595123,
+          20.222909927368164
+        ],
+        [
+          0.018208526074886322,
+          -0.9833360314369202,
+          -0.18088339269161224,
+          -14.789979934692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7317,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_183082342",
+      "mask_path": "../../mask/hdr_front_07317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07318.png",
+      "transform_matrix": [
+        [
+          0.19621209800243378,
+          -0.18247371912002563,
+          0.963433563709259,
+          -0.45849260687828064
+        ],
+        [
+          -0.9801723957061768,
+          -0.06417585909366608,
+          0.18746626377105713,
+          20.215303421020508
+        ],
+        [
+          0.02762151136994362,
+          -0.9811140894889832,
+          -0.19144777953624725,
+          -14.766393661499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7318,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_283082246",
+      "mask_path": "../../mask/hdr_front_07318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07319.png",
+      "transform_matrix": [
+        [
+          0.1923375427722931,
+          -0.19219747185707092,
+          0.9623233675956726,
+          -0.5384584665298462
+        ],
+        [
+          -0.9804252982139587,
+          -0.07970671355724335,
+          0.18003633618354797,
+          20.182415008544922
+        ],
+        [
+          0.042101118713617325,
+          -0.9781140089035034,
+          -0.2037658393383026,
+          -14.726037979125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7319,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_383081912",
+      "mask_path": "../../mask/hdr_front_07319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07320.png",
+      "transform_matrix": [
+        [
+          0.19298399984836578,
+          -0.20358417928218842,
+          0.9598493576049805,
+          -0.6092743873596191
+        ],
+        [
+          -0.9804796576499939,
+          -0.07753792405128479,
+          0.18068605661392212,
+          20.158048629760742
+        ],
+        [
+          0.03763990104198456,
+          -0.9759822487831116,
+          -0.21457374095916748,
+          -14.684229850769043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7320,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_483083724",
+      "mask_path": "../../mask/hdr_front_07320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07321.png",
+      "transform_matrix": [
+        [
+          0.1942937970161438,
+          -0.21401771903038025,
+          0.9573120474815369,
+          -0.6743620038032532
+        ],
+        [
+          -0.9806446433067322,
+          -0.06645948439836502,
+          0.18417157232761383,
+          20.148868560791016
+        ],
+        [
+          0.024206487461924553,
+          -0.9745664596557617,
+          -0.222788006067276,
+          -14.672896385192871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7321,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_583081483",
+      "mask_path": "../../mask/hdr_front_07321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07322.png",
+      "transform_matrix": [
+        [
+          0.19560088217258453,
+          -0.21852633357048035,
+          0.9560264945030212,
+          -0.7439860701560974
+        ],
+        [
+          -0.9804134964942932,
+          -0.06645072251558304,
+          0.18540126085281372,
+          20.136653900146484
+        ],
+        [
+          0.02301359362900257,
+          -0.9735658764839172,
+          -0.22724400460720062,
+          -14.673473358154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7322,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_683078765",
+      "mask_path": "../../mask/hdr_front_07322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07323.png",
+      "transform_matrix": [
+        [
+          0.18943805992603302,
+          -0.24903106689453125,
+          0.9497877955436707,
+          -0.8227635622024536
+        ],
+        [
+          -0.9818851351737976,
+          -0.04426315426826477,
+          0.1842343509197235,
+          20.131885528564453
+        ],
+        [
+          -0.0038394758012145758,
+          -0.9674835801124573,
+          -0.252905011177063,
+          -14.63497257232666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7323,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_783081293",
+      "mask_path": "../../mask/hdr_front_07323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07324.png",
+      "transform_matrix": [
+        [
+          0.17823247611522675,
+          -0.2854602336883545,
+          0.9416717290878296,
+          -0.8953602313995361
+        ],
+        [
+          -0.9838599562644958,
+          -0.03623713552951813,
+          0.17523255944252014,
+          20.13050079345703
+        ],
+        [
+          -0.015898436307907104,
+          -0.9577051997184753,
+          -0.2873115837574005,
+          -14.52968978881836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7324,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_883081436",
+      "mask_path": "../../mask/hdr_front_07324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07326.png",
+      "transform_matrix": [
+        [
+          0.18241912126541138,
+          -0.2877233028411865,
+          0.9401800632476807,
+          -0.993417501449585
+        ],
+        [
+          -0.9831663370132446,
+          -0.06345460563898087,
+          0.17134054005146027,
+          20.1016902923584
+        ],
+        [
+          0.010360090993344784,
+          -0.955609142780304,
+          -0.29445523023605347,
+          -14.501733779907227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7326,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_83081722",
+      "mask_path": "../../mask/hdr_front_07326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07327.png",
+      "transform_matrix": [
+        [
+          0.1840866357088089,
+          -0.2754269540309906,
+          0.9435316920280457,
+          -1.058652639389038
+        ],
+        [
+          -0.9828948974609375,
+          -0.05690324306488037,
+          0.1751558631658554,
+          20.087543487548828
+        ],
+        [
+          0.005447373725473881,
+          -0.9596364498138428,
+          -0.2811908423900604,
+          -14.497114181518555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7327,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_183081865",
+      "mask_path": "../../mask/hdr_front_07327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07328.png",
+      "transform_matrix": [
+        [
+          0.1889854520559311,
+          -0.2673676013946533,
+          0.944880485534668,
+          -1.121564269065857
+        ],
+        [
+          -0.9819724559783936,
+          -0.05518969148397446,
+          0.18078750371932983,
+          20.0694522857666
+        ],
+        [
+          0.0038109426386654377,
+          -0.9620128273963928,
+          -0.27297767996788025,
+          -14.486968994140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7328,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_283082962",
+      "mask_path": "../../mask/hdr_front_07328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07329.png",
+      "transform_matrix": [
+        [
+          0.19622352719306946,
+          -0.26091352105140686,
+          0.9452093243598938,
+          -1.1691383123397827
+        ],
+        [
+          -0.9805501699447632,
+          -0.05635029077529907,
+          0.18800540268421173,
+          20.046733856201172
+        ],
+        [
+          0.004209656734019518,
+          -0.9637160897254944,
+          -0.2668960392475128,
+          -14.470160484313965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7329,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_383081674",
+      "mask_path": "../../mask/hdr_front_07329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07330.png",
+      "transform_matrix": [
+        [
+          0.20844712853431702,
+          -0.256081759929657,
+          0.9439131021499634,
+          -1.2276196479797363
+        ],
+        [
+          -0.9779993891716003,
+          -0.06264538317918777,
+          0.198978990316391,
+          20.02448272705078
+        ],
+        [
+          0.008176914416253567,
+          -0.9646230936050415,
+          -0.26350608468055725,
+          -14.456636428833008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7330,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_483083724",
+      "mask_path": "../../mask/hdr_front_07330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07331.png",
+      "transform_matrix": [
+        [
+          0.2230197936296463,
+          -0.2521227300167084,
+          0.9416455030441284,
+          -1.2887858152389526
+        ],
+        [
+          -0.9746503233909607,
+          -0.0753665640950203,
+          0.2106574922800064,
+          20.00239372253418
+        ],
+        [
+          0.01785704866051674,
+          -0.9647559523582458,
+          -0.26253974437713623,
+          -14.438889503479004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7331,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_583082914",
+      "mask_path": "../../mask/hdr_front_07331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07332.png",
+      "transform_matrix": [
+        [
+          0.23695333302021027,
+          -0.2440681755542755,
+          0.9403637051582336,
+          -1.353101372718811
+        ],
+        [
+          -0.9711167216300964,
+          -0.0874258354306221,
+          0.22201140224933624,
+          19.973590850830078
+        ],
+        [
+          0.02802615612745285,
+          -0.9658092260360718,
+          -0.2577345371246338,
+          -14.419048309326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7332,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_683082580",
+      "mask_path": "../../mask/hdr_front_07332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07333.png",
+      "transform_matrix": [
+        [
+          0.2550137937068939,
+          -0.22777874767780304,
+          0.939725935459137,
+          -1.4295973777770996
+        ],
+        [
+          -0.9666613936424255,
+          -0.08327577263116837,
+          0.24213820695877075,
+          19.94482421875
+        ],
+        [
+          0.023102471604943275,
+          -0.9701453447341919,
+          -0.2414213865995407,
+          -14.412464141845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7333,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_783081769",
+      "mask_path": "../../mask/hdr_front_07333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07334.png",
+      "transform_matrix": [
+        [
+          0.27475154399871826,
+          -0.21225087344646454,
+          0.9377959370613098,
+          -1.493499994277954
+        ],
+        [
+          -0.9614414572715759,
+          -0.07272840291261673,
+          0.2652185261249542,
+          19.917211532592773
+        ],
+        [
+          0.011911531910300255,
+          -0.9745051264762878,
+          -0.22404901683330536,
+          -14.409167289733887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7334,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_883082151",
+      "mask_path": "../../mask/hdr_front_07334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07335.png",
+      "transform_matrix": [
+        [
+          0.293340802192688,
+          -0.20158755779266357,
+          0.9345125555992126,
+          -1.546159029006958
+        ],
+        [
+          -0.9559789896011353,
+          -0.06945312023162842,
+          0.2850970923900604,
+          19.884248733520508
+        ],
+        [
+          0.007432778365910053,
+          -0.9770050048828125,
+          -0.21308691799640656,
+          -14.395069122314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7335,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_983081102",
+      "mask_path": "../../mask/hdr_front_07335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07336.png",
+      "transform_matrix": [
+        [
+          0.30947181582450867,
+          -0.1812400221824646,
+          0.933476984500885,
+          -1.6116745471954346
+        ],
+        [
+          -0.9508053660392761,
+          -0.0734444409608841,
+          0.30095693469047546,
+          19.85382080078125
+        ],
+        [
+          0.014013256877660751,
+          -0.9806926846504211,
+          -0.19505295157432556,
+          -14.390649795532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7336,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_83080291",
+      "mask_path": "../../mask/hdr_front_07336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07337.png",
+      "transform_matrix": [
+        [
+          0.3120414912700653,
+          -0.16111263632774353,
+          0.9363080859184265,
+          -1.6669472455978394
+        ],
+        [
+          -0.9496122002601624,
+          -0.08343023806810379,
+          0.3021192252635956,
+          19.8255615234375
+        ],
+        [
+          0.02944117598235607,
+          -0.9834033846855164,
+          -0.1790282279253006,
+          -14.3729887008667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7337,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_183080434",
+      "mask_path": "../../mask/hdr_front_07337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07338.png",
+      "transform_matrix": [
+        [
+          0.30701735615730286,
+          -0.15130743384361267,
+          0.9395990967750549,
+          -1.7196862697601318
+        ],
+        [
+          -0.9506998062133789,
+          -0.09410004317760468,
+          0.29549121856689453,
+          19.80304718017578
+        ],
+        [
+          0.04370628669857979,
+          -0.983997642993927,
+          -0.17273828387260437,
+          -14.352804183959961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7338,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_283080101",
+      "mask_path": "../../mask/hdr_front_07338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07339.png",
+      "transform_matrix": [
+        [
+          0.303198903799057,
+          -0.15448102355003357,
+          0.9403223395347595,
+          -1.7787442207336426
+        ],
+        [
+          -0.9509066939353943,
+          -0.11327409744262695,
+          0.28800255060195923,
+          19.775150299072266
+        ],
+        [
+          0.06202322989702225,
+          -0.9814808368682861,
+          -0.18124163150787354,
+          -14.341337203979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7339,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_383079767",
+      "mask_path": "../../mask/hdr_front_07339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07340.png",
+      "transform_matrix": [
+        [
+          0.30540379881858826,
+          -0.16135011613368988,
+          0.9384533166885376,
+          -1.857926607131958
+        ],
+        [
+          -0.9502936005592346,
+          -0.11435054242610931,
+          0.28959643840789795,
+          19.730756759643555
+        ],
+        [
+          0.06058622524142265,
+          -0.9802500605583191,
+          -0.18825305998325348,
+          -14.291522026062012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7340,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_483080863",
+      "mask_path": "../../mask/hdr_front_07340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07341.png",
+      "transform_matrix": [
+        [
+          0.31113681197166443,
+          -0.16220694780349731,
+          0.936420202255249,
+          -1.9370393753051758
+        ],
+        [
+          -0.9492658376693726,
+          -0.10042060911655426,
+          0.29801005125045776,
+          19.70211410522461
+        ],
+        [
+          0.04569656774401665,
+          -0.9816336631774902,
+          -0.1852221041917801,
+          -14.274215698242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7341,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_583079814",
+      "mask_path": "../../mask/hdr_front_07341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07342.png",
+      "transform_matrix": [
+        [
+          0.3139481842517853,
+          -0.16668955981731415,
+          0.9346931576728821,
+          -2.010880470275879
+        ],
+        [
+          -0.948907732963562,
+          -0.08805227279663086,
+          0.30301976203918457,
+          19.682697296142578
+        ],
+        [
+          0.031791623681783676,
+          -0.9820699691772461,
+          -0.18581683933734894,
+          -14.280783653259277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7342,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_683079957",
+      "mask_path": "../../mask/hdr_front_07342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07343.png",
+      "transform_matrix": [
+        [
+          0.306613951921463,
+          -0.203020378947258,
+          0.9299304485321045,
+          -2.0986316204071045
+        ],
+        [
+          -0.9517110586166382,
+          -0.08109037578105927,
+          0.2960919439792633,
+          19.664026260375977
+        ],
+        [
+          0.015295707620680332,
+          -0.9758110046386719,
+          -0.21808017790317535,
+          -14.222095489501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7343,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_783080816",
+      "mask_path": "../../mask/hdr_front_07343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07344.png",
+      "transform_matrix": [
+        [
+          0.2922896146774292,
+          -0.22968928515911102,
+          0.9283370971679688,
+          -2.184765338897705
+        ],
+        [
+          -0.9561500549316406,
+          -0.08900738507509232,
+          0.2790244221687317,
+          19.650142669677734
+        ],
+        [
+          0.018539929762482643,
+          -0.969185471534729,
+          -0.24563337862491608,
+          -14.151178359985352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7344,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_883078813",
+      "mask_path": "../../mask/hdr_front_07344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07345.png",
+      "transform_matrix": [
+        [
+          0.2856252193450928,
+          -0.22868850827217102,
+          0.9306557178497314,
+          -2.2665929794311523
+        ],
+        [
+          -0.9576761722564697,
+          -0.10428858548402786,
+          0.26829132437705994,
+          19.630887985229492
+        ],
+        [
+          0.03570159897208214,
+          -0.9678974747657776,
+          -0.2487969845533371,
+          -14.132270812988281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7345,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_983082056",
+      "mask_path": "../../mask/hdr_front_07345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07346.png",
+      "transform_matrix": [
+        [
+          0.28583768010139465,
+          -0.22899778187274933,
+          0.9305143356323242,
+          -2.3489761352539062
+        ],
+        [
+          -0.9577673673629761,
+          -0.09996570646762848,
+          0.2696080207824707,
+          19.594654083251953
+        ],
+        [
+          0.03127988800406456,
+          -0.9682803750038147,
+          -0.2479005604982376,
+          -14.116863250732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7346,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_83079576",
+      "mask_path": "../../mask/hdr_front_07346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07347.png",
+      "transform_matrix": [
+        [
+          0.286126971244812,
+          -0.2289714366197586,
+          0.9304318428039551,
+          -2.4254963397979736
+        ],
+        [
+          -0.9579739570617676,
+          -0.08906086534261703,
+          0.2726796865463257,
+          19.566137313842773
+        ],
+        [
+          0.020429207012057304,
+          -0.9693504571914673,
+          -0.244831383228302,
+          -14.102982521057129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7347,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_183081388",
+      "mask_path": "../../mask/hdr_front_07347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07348.png",
+      "transform_matrix": [
+        [
+          0.2861715257167816,
+          -0.22938399016857147,
+          0.9303165078163147,
+          -2.496297836303711
+        ],
+        [
+          -0.9580680727958679,
+          -0.08323521167039871,
+          0.2741851508617401,
+          19.54895782470703
+        ],
+        [
+          0.014541401527822018,
+          -0.9697704911231995,
+          -0.243585005402565,
+          -14.100804328918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7348,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_283080577",
+      "mask_path": "../../mask/hdr_front_07348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07349.png",
+      "transform_matrix": [
+        [
+          0.28377801179885864,
+          -0.22888891398906708,
+          0.9311712980270386,
+          -2.580613613128662
+        ],
+        [
+          -0.9587246179580688,
+          -0.08576378226280212,
+          0.2710936665534973,
+          19.52865982055664
+        ],
+        [
+          0.017810437828302383,
+          -0.9696671962738037,
+          -0.24377931654453278,
+          -14.078387260437012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7349,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_383079767",
+      "mask_path": "../../mask/hdr_front_07349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07350.png",
+      "transform_matrix": [
+        [
+          0.2808259427547455,
+          -0.2274305522441864,
+          0.9324227571487427,
+          -2.660402774810791
+        ],
+        [
+          -0.9593819975852966,
+          -0.09373839199542999,
+          0.26608148217201233,
+          19.5103816986084
+        ],
+        [
+          0.02688874863088131,
+          -0.9692721366882324,
+          -0.24451695382595062,
+          -14.052335739135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7350,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_483080387",
+      "mask_path": "../../mask/hdr_front_07350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07351.png",
+      "transform_matrix": [
+        [
+          0.2819104492664337,
+          -0.21446824073791504,
+          0.9351630806922913,
+          -2.731956958770752
+        ],
+        [
+          -0.959270715713501,
+          -0.08135564625263214,
+          0.270519882440567,
+          19.484207153320312
+        ],
+        [
+          0.018062857910990715,
+          -0.9733368754386902,
+          -0.22866809368133545,
+          -14.039738655090332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7351,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_583078861",
+      "mask_path": "../../mask/hdr_front_07351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07352.png",
+      "transform_matrix": [
+        [
+          0.28219783306121826,
+          -0.20069022476673126,
+          0.9381299018859863,
+          -2.8042736053466797
+        ],
+        [
+          -0.9593473076820374,
+          -0.06325383484363556,
+          0.27504852414131165,
+          19.465133666992188
+        ],
+        [
+          0.004140770994126797,
+          -0.9776106476783752,
+          -0.21038171648979187,
+          -14.044099807739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7352,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_683077812",
+      "mask_path": "../../mask/hdr_front_07352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07353.png",
+      "transform_matrix": [
+        [
+          0.27896854281425476,
+          -0.19375404715538025,
+          0.9405508041381836,
+          -2.8775665760040283
+        ],
+        [
+          -0.9602988362312317,
+          -0.05461246892809868,
+          0.27357566356658936,
+          19.449552536010742
+        ],
+        [
+          -0.0016405800124630332,
+          -0.9795289635658264,
+          -0.20129695534706116,
+          -14.043413162231445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7353,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_783080816",
+      "mask_path": "../../mask/hdr_front_07353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07354.png",
+      "transform_matrix": [
+        [
+          0.2759157717227936,
+          -0.18118904531002045,
+          0.9439496994018555,
+          -2.958400249481201
+        ],
+        [
+          -0.9611817002296448,
+          -0.05264461785554886,
+          0.2708476483821869,
+          19.43953514099121
+        ],
+        [
+          0.000619240163359791,
+          -0.9820382595062256,
+          -0.18868105113506317,
+          -14.037303924560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7354,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_883080244",
+      "mask_path": "../../mask/hdr_front_07354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07355.png",
+      "transform_matrix": [
+        [
+          0.2679898142814636,
+          -0.15447624027729034,
+          0.9509567022323608,
+          -3.0331249237060547
+        ],
+        [
+          -0.9632588624954224,
+          -0.06111062690615654,
+          0.26152974367141724,
+          19.419179916381836
+        ],
+        [
+          0.017713429406285286,
+          -0.9861047863960266,
+          -0.16517764329910278,
+          -14.021015167236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7355,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_983079433",
+      "mask_path": "../../mask/hdr_front_07355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07356.png",
+      "transform_matrix": [
+        [
+          0.25772228837013245,
+          -0.1346004158258438,
+          0.9567977786064148,
+          -3.099175453186035
+        ],
+        [
+          -0.9654926061630249,
+          -0.07426579296588898,
+          0.24961677193641663,
+          19.388002395629883
+        ],
+        [
+          0.03745881840586662,
+          -0.9881131649017334,
+          -0.14909566938877106,
+          -13.995123863220215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7356,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_83078384",
+      "mask_path": "../../mask/hdr_front_07356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07357.png",
+      "transform_matrix": [
+        [
+          0.25245049595832825,
+          -0.11586987972259521,
+          0.9606472253799438,
+          -3.1888513565063477
+        ],
+        [
+          -0.9669795036315918,
+          -0.06603995710611343,
+          0.24614910781383514,
+          19.360122680664062
+        ],
+        [
+          0.03491983190178871,
+          -0.9910665154457092,
+          -0.1287156194448471,
+          -13.993500709533691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7357,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_183081150",
+      "mask_path": "../../mask/hdr_front_07357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07358.png",
+      "transform_matrix": [
+        [
+          0.2510216236114502,
+          -0.09676828235387802,
+          0.9631324410438538,
+          -3.272918224334717
+        ],
+        [
+          -0.9677072167396545,
+          -0.048769742250442505,
+          0.2473139613866806,
+          19.3393611907959
+        ],
+        [
+          0.023039570078253746,
+          -0.9941113591194153,
+          -0.10588562488555908,
+          -14.012843132019043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7358,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_283082008",
+      "mask_path": "../../mask/hdr_front_07358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07359.png",
+      "transform_matrix": [
+        [
+          0.25111496448516846,
+          -0.0867966040968895,
+          0.9640579223632812,
+          -3.3461387157440186
+        ],
+        [
+          -0.9678537845611572,
+          -0.03708368539810181,
+          0.24876493215560913,
+          19.319734573364258
+        ],
+        [
+          0.014158859848976135,
+          -0.995535671710968,
+          -0.09331869333982468,
+          -14.021037101745605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7359,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_383081912",
+      "mask_path": "../../mask/hdr_front_07359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07360.png",
+      "transform_matrix": [
+        [
+          0.25026601552963257,
+          -0.08186274766921997,
+          0.9647100567817688,
+          -3.433854103088379
+        ],
+        [
+          -0.9681520462036133,
+          -0.02832465060055256,
+          0.24875542521476746,
+          19.299264907836914
+        ],
+        [
+          0.006961274892091751,
+          -0.99624103307724,
+          -0.08634428679943085,
+          -14.019365310668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7360,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_483081579",
+      "mask_path": "../../mask/hdr_front_07360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07361.png",
+      "transform_matrix": [
+        [
+          0.24353648722171783,
+          -0.08030002564191818,
+          0.9665619134902954,
+          -3.52415132522583
+        ],
+        [
+          -0.9698836803436279,
+          -0.024219835177063942,
+          0.24236130714416504,
+          19.281553268432617
+        ],
+        [
+          0.003948349505662918,
+          -0.9964765310287476,
+          -0.08378010243177414,
+          -14.007038116455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7361,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_583082437",
+      "mask_path": "../../mask/hdr_front_07361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07362.png",
+      "transform_matrix": [
+        [
+          0.23538725078105927,
+          -0.07678487151861191,
+          0.9688637256622314,
+          -3.6012182235717773
+        ],
+        [
+          -0.9718726277351379,
+          -0.026297608390450478,
+          0.23403412103652954,
+          19.265127182006836
+        ],
+        [
+          0.007508514914661646,
+          -0.9967008829116821,
+          -0.08081524074077606,
+          -13.997097969055176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7362,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_683081865",
+      "mask_path": "../../mask/hdr_front_07362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07363.png",
+      "transform_matrix": [
+        [
+          0.22990719974040985,
+          -0.06974215805530548,
+          0.9707103967666626,
+          -3.683685779571533
+        ],
+        [
+          -0.9731703996658325,
+          -0.025757646188139915,
+          0.22863924503326416,
+          19.245195388793945
+        ],
+        [
+          0.009057416580617428,
+          -0.9972325563430786,
+          -0.07379286736249924,
+          -13.998678207397461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7363,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_783082008",
+      "mask_path": "../../mask/hdr_front_07363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07364.png",
+      "transform_matrix": [
+        [
+          0.2315210998058319,
+          -0.06420673429965973,
+          0.9707087874412537,
+          -3.7753822803497314
+        ],
+        [
+          -0.9728149175643921,
+          -0.020815685391426086,
+          0.23064661026000977,
+          19.21660804748535
+        ],
+        [
+          0.005396904423832893,
+          -0.9977195858955383,
+          -0.06728053838014603,
+          -14.003769874572754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7364,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_883082389",
+      "mask_path": "../../mask/hdr_front_07364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07365.png",
+      "transform_matrix": [
+        [
+          0.23607520759105682,
+          -0.06049342826008797,
+          0.9698500633239746,
+          -3.8501243591308594
+        ],
+        [
+          -0.9717346429824829,
+          -0.014388053677976131,
+          0.23563651740550995,
+          19.194177627563477
+        ],
+        [
+          -0.00030020534177310765,
+          -0.9980648756027222,
+          -0.062180228531360626,
+          -14.006339073181152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7365,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_983081579",
+      "mask_path": "../../mask/hdr_front_07365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07366.png",
+      "transform_matrix": [
+        [
+          0.23901590704917908,
+          -0.05813093110918999,
+          0.96927410364151,
+          -3.927232503890991
+        ],
+        [
+          -0.9710082411766052,
+          -0.010406657122075558,
+          0.238819420337677,
+          19.180952072143555
+        ],
+        [
+          -0.0037958926986902952,
+          -0.9982547760009766,
+          -0.058932967483997345,
+          -14.005794525146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7366,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_83082437",
+      "mask_path": "../../mask/hdr_front_07366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07367.png",
+      "transform_matrix": [
+        [
+          0.23864257335662842,
+          -0.05912414938211441,
+          0.9693060517311096,
+          -4.01058292388916
+        ],
+        [
+          -0.9710803031921387,
+          -0.007065413054078817,
+          0.23864847421646118,
+          19.170621871948242
+        ],
+        [
+          -0.007261339109390974,
+          -0.9982256889343262,
+          -0.059100404381752014,
+          -13.998186111450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7367,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_183082103",
+      "mask_path": "../../mask/hdr_front_07367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07368.png",
+      "transform_matrix": [
+        [
+          0.237708181142807,
+          -0.05833401158452034,
+          0.9695833921432495,
+          -4.075617790222168
+        ],
+        [
+          -0.971306562423706,
+          -0.006415225565433502,
+          0.23774465918540955,
+          19.1638240814209
+        ],
+        [
+          -0.007648501079529524,
+          -0.9982765316963196,
+          -0.0581851489841938,
+          -13.995163917541504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7368,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_283081293",
+      "mask_path": "../../mask/hdr_front_07368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07369.png",
+      "transform_matrix": [
+        [
+          0.23962122201919556,
+          -0.0550832562148571,
+          0.9693026542663574,
+          -4.125131607055664
+        ],
+        [
+          -0.9708657264709473,
+          -0.012358113192021847,
+          0.23930534720420837,
+          19.152368545532227
+        ],
+        [
+          -0.0012029680656269193,
+          -0.9984052777290344,
+          -0.05643971264362335,
+          -13.992654800415039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7369,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_383081436",
+      "mask_path": "../../mask/hdr_front_07369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07370.png",
+      "transform_matrix": [
+        [
+          0.24533455073833466,
+          -0.0505930595099926,
+          0.9681174159049988,
+          -4.185821056365967
+        ],
+        [
+          -0.9694361090660095,
+          -0.015014543198049068,
+          0.24488410353660583,
+          19.13028907775879
+        ],
+        [
+          0.002146406564861536,
+          -0.9986065030097961,
+          -0.05273032188415527,
+          -13.987068176269531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7370,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_483082294",
+      "mask_path": "../../mask/hdr_front_07370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07371.png",
+      "transform_matrix": [
+        [
+          0.25716882944107056,
+          -0.047489799559116364,
+          0.9651989340782166,
+          -4.24680757522583
+        ],
+        [
+          -0.9663534760475159,
+          -0.0074777910485863686,
+          0.25710856914520264,
+          19.106393814086914
+        ],
+        [
+          -0.004992475267499685,
+          -0.998843789100647,
+          -0.0478149875998497,
+          -13.98717212677002
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7371,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_583081722",
+      "mask_path": "../../mask/hdr_front_07371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07373.png",
+      "transform_matrix": [
+        [
+          0.292999267578125,
+          -0.03893483057618141,
+          0.9553196430206299,
+          -4.337384223937988
+        ],
+        [
+          -0.9560835361480713,
+          -0.004136871546506882,
+          0.29306501150131226,
+          19.056732177734375
+        ],
+        [
+          -0.007458399049937725,
+          -0.9992331862449646,
+          -0.03843705356121063,
+          -13.993390083312988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7373,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_783082246",
+      "mask_path": "../../mask/hdr_front_07373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07374.png",
+      "transform_matrix": [
+        [
+          0.3079582452774048,
+          -0.038290899246931076,
+          0.9506290555000305,
+          -4.398140907287598
+        ],
+        [
+          -0.9513806700706482,
+          -0.0060331798158586025,
+          0.3079586923122406,
+          19.03047752380371
+        ],
+        [
+          -0.00605669803917408,
+          -0.9992484450340271,
+          -0.03828718885779381,
+          -13.988389015197754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7374,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_883082389",
+      "mask_path": "../../mask/hdr_front_07374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07375.png",
+      "transform_matrix": [
+        [
+          0.31887686252593994,
+          -0.04227913171052933,
+          0.9468528032302856,
+          -4.45851993560791
+        ],
+        [
+          -0.9477826356887817,
+          -0.008908616378903389,
+          0.31879231333732605,
+          19.003942489624023
+        ],
+        [
+          -0.005043110344558954,
+          -0.999066174030304,
+          -0.042912185192108154,
+          -13.971423149108887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7375,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_983082056",
+      "mask_path": "../../mask/hdr_front_07375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07376.png",
+      "transform_matrix": [
+        [
+          0.3281238377094269,
+          -0.043829258531332016,
+          0.9436174035072327,
+          -4.509653091430664
+        ],
+        [
+          -0.9446325898170471,
+          -0.017313992604613304,
+          0.32767269015312195,
+          18.984025955200195
+        ],
+        [
+          0.0019761337898671627,
+          -0.9988890290260315,
+          -0.04708368331193924,
+          -13.965456008911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7376,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_83082199",
+      "mask_path": "../../mask/hdr_front_07376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07377.png",
+      "transform_matrix": [
+        [
+          0.33691316843032837,
+          -0.04396521672606468,
+          0.9405086040496826,
+          -4.570838928222656
+        ],
+        [
+          -0.9414749145507812,
+          -0.02708454802632332,
+          0.3359932005405426,
+          18.964542388916016
+        ],
+        [
+          0.010701239109039307,
+          -0.9986659288406372,
+          -0.05051729083061218,
+          -13.96927261352539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7377,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_183083295",
+      "mask_path": "../../mask/hdr_front_07377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07378.png",
+      "transform_matrix": [
+        [
+          0.34257569909095764,
+          -0.04443775862455368,
+          0.9384386539459229,
+          -4.641091346740723
+        ],
+        [
+          -0.9394364356994629,
+          -0.026887034997344017,
+          0.34166672825813293,
+          18.93132209777832
+        ],
+        [
+          0.010048928670585155,
+          -0.9986502528190613,
+          -0.050957296043634415,
+          -13.965493202209473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7378,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_283081531",
+      "mask_path": "../../mask/hdr_front_07378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07379.png",
+      "transform_matrix": [
+        [
+          0.34500840306282043,
+          -0.04660269618034363,
+          0.9374420046806335,
+          -4.699625492095947
+        ],
+        [
+          -0.9385956525802612,
+          -0.020038144662976265,
+          0.3444368839263916,
+          18.89952850341797
+        ],
+        [
+          0.0027329123113304377,
+          -0.9987125396728516,
+          -0.05065441131591797,
+          -13.9617338180542
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7379,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_383082389",
+      "mask_path": "../../mask/hdr_front_07379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07380.png",
+      "transform_matrix": [
+        [
+          0.34530410170555115,
+          -0.047276996076107025,
+          0.937299370765686,
+          -4.754261016845703
+        ],
+        [
+          -0.9384907484054565,
+          -0.017656924203038216,
+          0.3448525071144104,
+          18.873003005981445
+        ],
+        [
+          0.0002462352567818016,
+          -0.9987257719039917,
+          -0.050466034561395645,
+          -13.96119213104248
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7380,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_483080863",
+      "mask_path": "../../mask/hdr_front_07380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07381.png",
+      "transform_matrix": [
+        [
+          0.34215086698532104,
+          -0.043946780264377594,
+          0.9386168122291565,
+          -4.819735527038574
+        ],
+        [
+          -0.9396417140960693,
+          -0.01867830939590931,
+          0.3416498899459839,
+          18.842002868652344
+        ],
+        [
+          0.0025173595640808344,
+          -0.9988593459129333,
+          -0.04768502712249756,
+          -13.95664119720459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7381,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_583082675",
+      "mask_path": "../../mask/hdr_front_07381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07382.png",
+      "transform_matrix": [
+        [
+          0.33529701828956604,
+          -0.04555496200919151,
+          0.9410104751586914,
+          -4.885031700134277
+        ],
+        [
+          -0.9420976042747498,
+          -0.021824359893798828,
+          0.33462783694267273,
+          18.81580924987793
+        ],
+        [
+          0.005292992107570171,
+          -0.9987234473228455,
+          -0.05023486912250519,
+          -13.94420051574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7382,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_683082342",
+      "mask_path": "../../mask/hdr_front_07382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07383.png",
+      "transform_matrix": [
+        [
+          0.32733991742134094,
+          -0.0496094636619091,
+          0.9436033964157104,
+          -4.944348335266113
+        ],
+        [
+          -0.9448678493499756,
+          -0.026228196918964386,
+          0.32639962434768677,
+          18.793502807617188
+        ],
+        [
+          0.008556509390473366,
+          -0.998424232006073,
+          -0.055459920316934586,
+          -13.933582305908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7383,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_783081531",
+      "mask_path": "../../mask/hdr_front_07383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07384.png",
+      "transform_matrix": [
+        [
+          0.3188023865222931,
+          -0.050675056874752045,
+          0.9464656114578247,
+          -5.015976428985596
+        ],
+        [
+          -0.9477612972259521,
+          -0.028264211490750313,
+          0.3177255392074585,
+          18.764360427856445
+        ],
+        [
+          0.01065034605562687,
+          -0.9983152747154236,
+          -0.0570385605096817,
+          -13.926493644714355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7384,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_883082151",
+      "mask_path": "../../mask/hdr_front_07384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07385.png",
+      "transform_matrix": [
+        [
+          0.31794095039367676,
+          -0.049304328858852386,
+          0.9468277096748352,
+          -5.094291687011719
+        ],
+        [
+          -0.9481101632118225,
+          -0.017439620569348335,
+          0.3174635171890259,
+          18.727710723876953
+        ],
+        [
+          0.0008599938009865582,
+          -0.9986315369606018,
+          -0.05229070782661438,
+          -13.922670364379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7385,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_983084201",
+      "mask_path": "../../mask/hdr_front_07385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07386.png",
+      "transform_matrix": [
+        [
+          0.32215508818626404,
+          -0.048748768866062164,
+          0.9454309940338135,
+          -5.164216995239258
+        ],
+        [
+          -0.9466003775596619,
+          -0.0030853822827339172,
+          0.3223944306373596,
+          18.70095443725586
+        ],
+        [
+          -0.01279931329190731,
+          -0.998806357383728,
+          -0.047139573842287064,
+          -13.929410934448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7386,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_83081722",
+      "mask_path": "../../mask/hdr_front_07386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07387.png",
+      "transform_matrix": [
+        [
+          0.32472339272499084,
+          -0.05069723725318909,
+          0.9444494247436523,
+          -5.2348456382751465
+        ],
+        [
+          -0.9455992579460144,
+          0.003629716346040368,
+          0.32531359791755676,
+          18.68247413635254
+        ],
+        [
+          -0.019920581951737404,
+          -0.9987074136734009,
+          -0.04676061496138573,
+          -13.940444946289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7387,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_183082580",
+      "mask_path": "../../mask/hdr_front_07387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02396.png",
+      "transform_matrix": [
+        [
+          0.9971592426300049,
+          -0.06757010519504547,
+          -0.033279985189437866,
+          -4.753035068511963
+        ],
+        [
+          0.03452054411172867,
+          0.01727576181292534,
+          0.9992546439170837,
+          18.567203521728516
+        ],
+        [
+          -0.06694480031728745,
+          -0.9975650310516357,
+          0.01955924555659294,
+          -13.95398235321045
+        ],
+        [
+          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": "1731323501_983081579",
+      "mask_path": "../../mask/hdr_left_02396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02398.png",
+      "transform_matrix": [
+        [
+          0.9966373443603516,
+          -0.07527749240398407,
+          -0.03235961124300957,
+          -4.69475793838501
+        ],
+        [
+          0.03383588790893555,
+          0.018418975174427032,
+          0.9992577433586121,
+          18.622100830078125
+        ],
+        [
+          -0.07462558150291443,
+          -0.9969925284385681,
+          0.020904120057821274,
+          -13.967392921447754
+        ],
+        [
+          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": "1731323502_183079481",
+      "mask_path": "../../mask/hdr_left_02398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02400.png",
+      "transform_matrix": [
+        [
+          0.9975485801696777,
+          -0.06676686555147171,
+          -0.020955728366971016,
+          -4.612390995025635
+        ],
+        [
+          0.022547278553247452,
+          0.0231733750551939,
+          0.9994770884513855,
+          18.634254455566406
+        ],
+        [
+          -0.06624633073806763,
+          -0.9974995255470276,
+          0.024621980264782906,
+          -13.951342582702637
+        ],
+        [
+          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": "1731323502_383082151",
+      "mask_path": "../../mask/hdr_left_02400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02401.png",
+      "transform_matrix": [
+        [
+          0.9977393746376038,
+          -0.06491581350564957,
+          -0.017378682270646095,
+          -4.542831897735596
+        ],
+        [
+          0.01850484497845173,
+          0.01678740605711937,
+          0.9996878504753113,
+          18.650697708129883
+        ],
+        [
+          -0.06460379809141159,
+          -0.9977495074272156,
+          0.017950711771845818,
+          -13.95150375366211
+        ],
+        [
+          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": "1731323502_483082056",
+      "mask_path": "../../mask/hdr_left_02401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02404.png",
+      "transform_matrix": [
+        [
+          0.9977852702140808,
+          -0.06555692851543427,
+          -0.01126006431877613,
+          -4.403560638427734
+        ],
+        [
+          0.012275797314941883,
+          0.015111716464161873,
+          0.9998104572296143,
+          18.678081512451172
+        ],
+        [
+          -0.06537433713674545,
+          -0.9977344274520874,
+          0.015883013606071472,
+          -13.982100486755371
+        ],
+        [
+          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": "1731323502_783082246",
+      "mask_path": "../../mask/hdr_left_02404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02619.png",
+      "transform_matrix": [
+        [
+          0.9984384179115295,
+          -0.03954961150884628,
+          -0.03945266827940941,
+          -3.9716744422912598
+        ],
+        [
+          0.03948081657290459,
+          -6.980383477639407e-05,
+          0.9992203712463379,
+          18.675209045410156
+        ],
+        [
+          -0.03952153027057648,
+          -0.9992176294326782,
+          0.0014917581574991345,
+          -13.981362342834473
+        ],
+        [
+          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": "1731323524_283082962",
+      "mask_path": "../../mask/hdr_left_02619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02621.png",
+      "transform_matrix": [
+        [
+          0.9980005025863647,
+          -0.04022667929530144,
+          -0.0487525537610054,
+          -3.911731243133545
+        ],
+        [
+          0.04847639054059982,
+          -0.00781253818422556,
+          0.9987938404083252,
+          18.702159881591797
+        ],
+        [
+          -0.040559038519859314,
+          -0.99916011095047,
+          -0.005846865940839052,
+          -13.990586280822754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2621,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323524_483081579",
+      "mask_path": "../../mask/hdr_left_02621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02623.png",
+      "transform_matrix": [
+        [
+          0.9973892569541931,
+          -0.04546886682510376,
+          -0.056099068373441696,
+          -3.860698699951172
+        ],
+        [
+          0.055963873863220215,
+          -0.004241482354700565,
+          0.9984237551689148,
+          18.721181869506836
+        ],
+        [
+          -0.04563514143228531,
+          -0.9989567995071411,
+          -0.001685792813077569,
+          -13.995628356933594
+        ],
+        [
+          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": "1731323524_683081388",
+      "mask_path": "../../mask/hdr_left_02623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02626.png",
+      "transform_matrix": [
+        [
+          0.9983141422271729,
+          -0.04627789556980133,
+          -0.03503166884183884,
+          -3.787827968597412
+        ],
+        [
+          0.03553061932325363,
+          0.010002979077398777,
+          0.9993184804916382,
+          18.751665115356445
+        ],
+        [
+          -0.04589592665433884,
+          -0.998878538608551,
+          0.011630401015281677,
+          -13.9970121383667
+        ],
+        [
+          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": "1731323524_983080148",
+      "mask_path": "../../mask/hdr_left_02626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02646.png",
+      "transform_matrix": [
+        [
+          0.9985964298248291,
+          -0.05293424054980278,
+          0.0017085806466639042,
+          -3.5312483310699463
+        ],
+        [
+          -0.0005804355023428798,
+          0.02132095769047737,
+          0.9997725486755371,
+          18.86300277709961
+        ],
+        [
+          -0.05295862257480621,
+          -0.9983704090118408,
+          0.02126031182706356,
+          -14.025677680969238
+        ],
+        [
+          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": "1731323526_983083248",
+      "mask_path": "../../mask/hdr_left_02646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02647.png",
+      "transform_matrix": [
+        [
+          0.998381495475769,
+          -0.05684313550591469,
+          0.0017882921965792775,
+          -3.4731874465942383
+        ],
+        [
+          -0.0010636326624080539,
+          0.012776371091604233,
+          0.9999178051948547,
+          18.876502990722656
+        ],
+        [
+          -0.05686130374670029,
+          -0.9983013868331909,
+          0.012695236131548882,
+          -14.027875900268555
+        ],
+        [
+          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": "1731323527_83081722",
+      "mask_path": "../../mask/hdr_left_02647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02654.png",
+      "transform_matrix": [
+        [
+          0.9979197978973389,
+          -0.05804246664047241,
+          0.028055483475327492,
+          -3.363637924194336
+        ],
+        [
+          -0.027991406619548798,
+          0.0019168345024809241,
+          0.9996063113212585,
+          18.90650177001953
+        ],
+        [
+          -0.05807339400053024,
+          -0.9983122944831848,
+          0.00028815996483899653,
+          -14.052071571350098
+        ],
+        [
+          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": "1731323527_783080577",
+      "mask_path": "../../mask/hdr_left_02654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02656.png",
+      "transform_matrix": [
+        [
+          0.9979475736618042,
+          -0.05599135160446167,
+          0.031072918325662613,
+          -3.3102967739105225
+        ],
+        [
+          -0.031347811222076416,
+          -0.004038075916469097,
+          0.9995003938674927,
+          18.908763885498047
+        ],
+        [
+          -0.05583789572119713,
+          -0.998423159122467,
+          -0.005784993525594473,
+          -14.03321361541748
+        ],
+        [
+          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": "1731323527_983082771",
+      "mask_path": "../../mask/hdr_left_02656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02658.png",
+      "transform_matrix": [
+        [
+          0.9982166290283203,
+          -0.055206041783094406,
+          0.022706469520926476,
+          -3.2664623260498047
+        ],
+        [
+          -0.02282976545393467,
+          -0.0016029791440814734,
+          0.9997380971908569,
+          18.93256378173828
+        ],
+        [
+          -0.05515516921877861,
+          -0.9984737634658813,
+          -0.0028604569379240274,
+          -14.051281929016113
+        ],
+        [
+          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": "1731323528_183080911",
+      "mask_path": "../../mask/hdr_left_02658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02660.png",
+      "transform_matrix": [
+        [
+          0.9974961280822754,
+          -0.06251201778650284,
+          0.033071767538785934,
+          -3.214367151260376
+        ],
+        [
+          -0.03291838988661766,
+          0.003481793450191617,
+          0.9994518756866455,
+          18.950979232788086
+        ],
+        [
+          -0.06259290874004364,
+          -0.9980381727218628,
+          0.0014152821386232972,
+          -14.053027153015137
+        ],
+        [
+          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": "1731323528_383082389",
+      "mask_path": "../../mask/hdr_left_02660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02662.png",
+      "transform_matrix": [
+        [
+          0.9965546131134033,
+          -0.057806599885225296,
+          0.05947427824139595,
+          -3.145293712615967
+        ],
+        [
+          -0.05895872414112091,
+          0.01058536022901535,
+          0.9982043504714966,
+          18.96322250366211
+        ],
+        [
+          -0.058332353830337524,
+          -0.9982717037200928,
+          0.007140688598155975,
+          -14.060978889465332
+        ],
+        [
+          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": "1731323528_583082675",
+      "mask_path": "../../mask/hdr_left_02662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02663.png",
+      "transform_matrix": [
+        [
+          0.9963220953941345,
+          -0.05832798406481743,
+          0.06276945024728775,
+          -3.0892252922058105
+        ],
+        [
+          -0.062362510710954666,
+          0.008772757835686207,
+          0.9980149865150452,
+          18.976858139038086
+        ],
+        [
+          -0.05876286327838898,
+          -0.9982589483261108,
+          0.005103013943880796,
+          -14.06087875366211
+        ],
+        [
+          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": "1731323528_683081865",
+      "mask_path": "../../mask/hdr_left_02663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02665.png",
+      "transform_matrix": [
+        [
+          0.9966741800308228,
+          -0.05677907541394234,
+          0.05845198407769203,
+          -3.035611391067505
+        ],
+        [
+          -0.058015987277030945,
+          0.009298582561314106,
+          0.9982722997665405,
+          18.9970703125
+        ],
+        [
+          -0.05722450092434883,
+          -0.9983434677124023,
+          0.005973566323518753,
+          -14.075578689575195
+        ],
+        [
+          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": "1731323528_883082389",
+      "mask_path": "../../mask/hdr_left_02665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02667.png",
+      "transform_matrix": [
+        [
+          0.9960119724273682,
+          -0.05844017118215561,
+          0.06741555035114288,
+          -2.973170518875122
+        ],
+        [
+          -0.06674303114414215,
+          0.013386804610490799,
+          0.9976804256439209,
+          19.008575439453125
+        ],
+        [
+          -0.059207089245319366,
+          -0.9982011914253235,
+          0.00943294633179903,
+          -14.069233894348145
+        ],
+        [
+          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": "1731323529_83081722",
+      "mask_path": "../../mask/hdr_left_02667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02669.png",
+      "transform_matrix": [
+        [
+          0.9949419498443604,
+          -0.04664115235209465,
+          0.08896643668413162,
+          -2.913832187652588
+        ],
+        [
+          -0.08823605626821518,
+          0.017495522275567055,
+          0.995945930480957,
+          19.009014129638672
+        ],
+        [
+          -0.04800857976078987,
+          -0.9987585544586182,
+          0.013291602022945881,
+          -14.061580657958984
+        ],
+        [
+          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": "1731323529_283082246",
+      "mask_path": "../../mask/hdr_left_02669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02671.png",
+      "transform_matrix": [
+        [
+          0.9946624040603638,
+          -0.04466310143470764,
+          0.09301616996526718,
+          -2.8376290798187256
+        ],
+        [
+          -0.0926608219742775,
+          0.009966582991182804,
+          0.9956479668617249,
+          19.004629135131836
+        ],
+        [
+          -0.04539576545357704,
+          -0.9989524483680725,
+          0.005774869117885828,
+          -14.055893898010254
+        ],
+        [
+          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": "1731323529_483081102",
+      "mask_path": "../../mask/hdr_left_02671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02673.png",
+      "transform_matrix": [
+        [
+          0.9965100288391113,
+          -0.04210542514920235,
+          0.07207471877336502,
+          -2.7648158073425293
+        ],
+        [
+          -0.07197727262973785,
+          0.0038282028399407864,
+          0.9973989129066467,
+          19.02203369140625
+        ],
+        [
+          -0.04227181524038315,
+          -0.9991058707237244,
+          0.0007842116756364703,
+          -14.070968627929688
+        ],
+        [
+          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": "1731323529_683081150",
+      "mask_path": "../../mask/hdr_left_02673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02675.png",
+      "transform_matrix": [
+        [
+          0.9969145655632019,
+          -0.0353502556681633,
+          0.0700831264257431,
+          -2.696025848388672
+        ],
+        [
+          -0.06982284784317017,
+          0.008546097204089165,
+          0.99752277135849,
+          19.030317306518555
+        ],
+        [
+          -0.03586162254214287,
+          -0.9993385076522827,
+          0.006051473785191774,
+          -14.063838005065918
+        ],
+        [
+          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": "1731323529_883082151",
+      "mask_path": "../../mask/hdr_left_02675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02677.png",
+      "transform_matrix": [
+        [
+          0.9967120885848999,
+          -0.027112266048789024,
+          0.07635493576526642,
+          -2.6176297664642334
+        ],
+        [
+          -0.07593094557523727,
+          0.016339249908924103,
+          0.9969791173934937,
+          19.049509048461914
+        ],
+        [
+          -0.028277946636080742,
+          -0.9994988441467285,
+          0.014226867817342281,
+          -14.063199043273926
+        ],
+        [
+          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": "1731323530_83081722",
+      "mask_path": "../../mask/hdr_left_02677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02679.png",
+      "transform_matrix": [
+        [
+          0.9972957968711853,
+          -0.025368867442011833,
+          0.06897516548633575,
+          -2.5598626136779785
+        ],
+        [
+          -0.06861066818237305,
+          0.014969151467084885,
+          0.9975312352180481,
+          19.078977584838867
+        ],
+        [
+          -0.026338737457990646,
+          -0.9995661377906799,
+          0.01318809948861599,
+          -14.083913803100586
+        ],
+        [
+          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": "1731323530_283081769",
+      "mask_path": "../../mask/hdr_left_02679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02682.png",
+      "transform_matrix": [
+        [
+          0.9996607303619385,
+          -0.020976999774575233,
+          0.015439299866557121,
+          -2.49184513092041
+        ],
+        [
+          -0.01500824373215437,
+          0.02055341564118862,
+          0.9996760487556458,
+          19.11520004272461
+        ],
+        [
+          -0.02128753624856472,
+          -0.9995687007904053,
+          0.020231615751981735,
+          -14.06692886352539
+        ],
+        [
+          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": "1731323530_583080768",
+      "mask_path": "../../mask/hdr_left_02682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02684.png",
+      "transform_matrix": [
+        [
+          0.9986035227775574,
+          -0.019288724288344383,
+          -0.04918130859732628,
+          -2.4345951080322266
+        ],
+        [
+          0.049690719693899155,
+          0.0268851350992918,
+          0.9984027147293091,
+          19.157438278198242
+        ],
+        [
+          -0.01793566904962063,
+          -0.9994524121284485,
+          0.027806062251329422,
+          -14.057530403137207
+        ],
+        [
+          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": "1731323530_783078193",
+      "mask_path": "../../mask/hdr_left_02684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02687.png",
+      "transform_matrix": [
+        [
+          0.9917015433311462,
+          -0.02669414132833481,
+          -0.12575942277908325,
+          -2.386099338531494
+        ],
+        [
+          0.12636485695838928,
+          0.02234973944723606,
+          0.9917320609092712,
+          19.216835021972656
+        ],
+        [
+          -0.023662744089961052,
+          -0.9993938207626343,
+          0.02553747221827507,
+          -14.059734344482422
+        ],
+        [
+          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": "1731323531_83081007",
+      "mask_path": "../../mask/hdr_left_02687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02690.png",
+      "transform_matrix": [
+        [
+          0.9927812814712524,
+          -0.021892135962843895,
+          -0.117923304438591,
+          -2.329576015472412
+        ],
+        [
+          0.11828193813562393,
+          0.015880007296800613,
+          0.992853045463562,
+          19.243133544921875
+        ],
+        [
+          -0.019863052293658257,
+          -0.9996342658996582,
+          0.01835482195019722,
+          -14.056109428405762
+        ],
+        [
+          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": "1731323531_383082151",
+      "mask_path": "../../mask/hdr_left_02690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02715.png",
+      "transform_matrix": [
+        [
+          0.9988406896591187,
+          -0.02308233268558979,
+          -0.042242493480443954,
+          -2.2823312282562256
+        ],
+        [
+          0.04284209758043289,
+          0.026131363585591316,
+          0.998740017414093,
+          19.18986701965332
+        ],
+        [
+          -0.021949395537376404,
+          -0.999392032623291,
+          0.027089964598417282,
+          -14.065954208374023
+        ],
+        [
+          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": "1731323533_883079290",
+      "mask_path": "../../mask/hdr_left_02715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02716.png",
+      "transform_matrix": [
+        [
+          0.9990510940551758,
+          -0.025933589786291122,
+          -0.034991346299648285,
+          -2.2347939014434814
+        ],
+        [
+          0.03563094511628151,
+          0.024625759571790695,
+          0.9990615844726562,
+          19.204797744750977
+        ],
+        [
+          -0.025047563016414642,
+          -0.9993603825569153,
+          0.02552643045783043,
+          -14.07577133178711
+        ],
+        [
+          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": "1731323533_983079671",
+      "mask_path": "../../mask/hdr_left_02716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02717.png",
+      "transform_matrix": [
+        [
+          0.9987013936042786,
+          -0.03460964560508728,
+          -0.03738417476415634,
+          -2.1801233291625977
+        ],
+        [
+          0.03799792006611824,
+          0.017248820513486862,
+          0.9991289377212524,
+          19.21453094482422
+        ],
+        [
+          -0.033934663981199265,
+          -0.9992520809173584,
+          0.018541520461440086,
+          -14.091450691223145
+        ],
+        [
+          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": "1731323534_83081007",
+      "mask_path": "../../mask/hdr_left_02717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02718.png",
+      "transform_matrix": [
+        [
+          0.9982175230979919,
+          -0.03958278149366379,
+          -0.04466396942734718,
+          -2.129851818084717
+        ],
+        [
+          0.04497038200497627,
+          0.0068838931620121,
+          0.9989645481109619,
+          19.222640991210938
+        ],
+        [
+          -0.039234329015016556,
+          -0.9991926550865173,
+          0.008651679381728172,
+          -14.105779647827148
+        ],
+        [
+          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": "1731323534_183080434",
+      "mask_path": "../../mask/hdr_left_02718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02720.png",
+      "transform_matrix": [
+        [
+          0.9979193210601807,
+          -0.0396457239985466,
+          -0.05084390938282013,
+          -2.0337588787078857
+        ],
+        [
+          0.050813641399145126,
+          -0.001771028502844274,
+          0.9987065196037292,
+          19.23940086364746
+        ],
+        [
+          -0.039684493094682693,
+          -0.999212384223938,
+          0.00024720371584407985,
+          -14.13623046875
+        ],
+        [
+          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": "1731323534_383080720",
+      "mask_path": "../../mask/hdr_left_02720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02721.png",
+      "transform_matrix": [
+        [
+          0.998511016368866,
+          -0.038176029920578,
+          -0.038964997977018356,
+          -1.9589201211929321
+        ],
+        [
+          0.0389845073223114,
+          -0.00023314975260291249,
+          0.9992398619651794,
+          19.236074447631836
+        ],
+        [
+          -0.038156088441610336,
+          -0.999271035194397,
+          0.0012554720742627978,
+          -14.111136436462402
+        ],
+        [
+          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": "1731323534_483081817",
+      "mask_path": "../../mask/hdr_left_02721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02723.png",
+      "transform_matrix": [
+        [
+          0.9978331923484802,
+          -0.06016670912504196,
+          -0.02662433683872223,
+          -1.8884215354919434
+        ],
+        [
+          0.02626711316406727,
+          -0.006720828358083963,
+          0.9996322989463806,
+          19.27849769592285
+        ],
+        [
+          -0.06032352149486542,
+          -0.9981657266616821,
+          -0.005125856958329678,
+          -14.144086837768555
+        ],
+        [
+          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": "1731323534_683082818",
+      "mask_path": "../../mask/hdr_left_02723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02725.png",
+      "transform_matrix": [
+        [
+          0.9925498366355896,
+          -0.09620124101638794,
+          -0.07476721704006195,
+          -1.809009075164795
+        ],
+        [
+          0.0710841566324234,
+          -0.04116367921233177,
+          0.9966205954551697,
+          19.305702209472656
+        ],
+        [
+          -0.09895382821559906,
+          -0.9945103526115417,
+          -0.034018609672784805,
+          -14.176751136779785
+        ],
+        [
+          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": "1731323534_883081436",
+      "mask_path": "../../mask/hdr_left_02725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02727.png",
+      "transform_matrix": [
+        [
+          0.9814375638961792,
+          -0.13169942796230316,
+          -0.13941125571727753,
+          -1.7249668836593628
+        ],
+        [
+          0.1344004124403,
+          -0.04624376818537712,
+          0.9898474812507629,
+          19.328332901000977
+        ],
+        [
+          -0.13680921494960785,
+          -0.9902105927467346,
+          -0.027684908360242844,
+          -14.217811584472656
+        ],
+        [
+          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": "1731323535_83080530",
+      "mask_path": "../../mask/hdr_left_02727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02729.png",
+      "transform_matrix": [
+        [
+          0.971040666103363,
+          -0.18410328030586243,
+          -0.1522693783044815,
+          -1.6685223579406738
+        ],
+        [
+          0.14396429061889648,
+          -0.05774601921439171,
+          0.9878965616226196,
+          19.34512710571289
+        ],
+        [
+          -0.19066795706748962,
+          -0.9812091588973999,
+          -0.029569430276751518,
+          -14.267341613769531
+        ],
+        [
+          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": "1731323535_283083200",
+      "mask_path": "../../mask/hdr_left_02729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02731.png",
+      "transform_matrix": [
+        [
+          0.9675838947296143,
+          -0.20767024159431458,
+          -0.143716499209404,
+          -1.604014277458191
+        ],
+        [
+          0.13311034440994263,
+          -0.06424861401319504,
+          0.989016592502594,
+          19.361207962036133
+        ],
+        [
+          -0.2146228849887848,
+          -0.9760866761207581,
+          -0.034522853791713715,
+          -14.29124927520752
+        ],
+        [
+          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": "1731323535_483081579",
+      "mask_path": "../../mask/hdr_left_02731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02732.png",
+      "transform_matrix": [
+        [
+          0.9651064276695251,
+          -0.21629789471626282,
+          -0.1475967913866043,
+          -1.5405291318893433
+        ],
+        [
+          0.13311171531677246,
+          -0.08015432208776474,
+          0.987854540348053,
+          19.380830764770508
+        ],
+        [
+          -0.22550134360790253,
+          -0.9730316400527954,
+          -0.048565659672021866,
+          -14.294917106628418
+        ],
+        [
+          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": "1731323535_583081245",
+      "mask_path": "../../mask/hdr_left_02732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02734.png",
+      "transform_matrix": [
+        [
+          0.9632834196090698,
+          -0.22382985055446625,
+          -0.1482740193605423,
+          -1.4522912502288818
+        ],
+        [
+          0.13162767887115479,
+          -0.08762780576944351,
+          0.9874186515808105,
+          19.408292770385742
+        ],
+        [
+          -0.23400665819644928,
+          -0.9706810116767883,
+          -0.05494818836450577,
+          -14.338618278503418
+        ],
+        [
+          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": "1731323535_783081769",
+      "mask_path": "../../mask/hdr_left_02734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02735.png",
+      "transform_matrix": [
+        [
+          0.959301769733429,
+          -0.24567507207393646,
+          -0.1392263025045395,
+          -1.3946731090545654
+        ],
+        [
+          0.1252070963382721,
+          -0.0718691349029541,
+          0.9895241260528564,
+          19.42084503173828
+        ],
+        [
+          -0.2531074583530426,
+          -0.9666844010353088,
+          -0.038183923810720444,
+          -14.354750633239746
+        ],
+        [
+          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": "1731323535_883081912",
+      "mask_path": "../../mask/hdr_left_02735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02737.png",
+      "transform_matrix": [
+        [
+          0.9570119976997375,
+          -0.26481208205223083,
+          -0.11833269894123077,
+          -1.340104103088379
+        ],
+        [
+          0.10574629157781601,
+          -0.06134408339858055,
+          0.9924991130828857,
+          19.425329208374023
+        ],
+        [
+          -0.2700847387313843,
+          -0.9623469114303589,
+          -0.030704114586114883,
+          -14.357483863830566
+        ],
+        [
+          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": "1731323536_83081960",
+      "mask_path": "../../mask/hdr_left_02737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02738.png",
+      "transform_matrix": [
+        [
+          0.9581831693649292,
+          -0.2629750072956085,
+          -0.11282337456941605,
+          -1.2889522314071655
+        ],
+        [
+          0.10060705989599228,
+          -0.05951111763715744,
+          0.9931448698043823,
+          19.440574645996094
+        ],
+        [
+          -0.26788651943206787,
+          -0.9629655480384827,
+          -0.030565401539206505,
+          -14.38328742980957
+        ],
+        [
+          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": "1731323536_183081150",
+      "mask_path": "../../mask/hdr_left_02738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02739.png",
+      "transform_matrix": [
+        [
+          0.9610752463340759,
+          -0.2520470917224884,
+          -0.11316648125648499,
+          -1.2199777364730835
+        ],
+        [
+          0.10208229720592499,
+          -0.056670792400836945,
+          0.9931604266166687,
+          19.468219757080078
+        ],
+        [
+          -0.2567364275455475,
+          -0.9660542011260986,
+          -0.028735334053635597,
+          -14.393722534179688
+        ],
+        [
+          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": "1731323536_283081293",
+      "mask_path": "../../mask/hdr_left_02739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02741.png",
+      "transform_matrix": [
+        [
+          0.9640837907791138,
+          -0.23832428455352783,
+          -0.11723446846008301,
+          -1.1493525505065918
+        ],
+        [
+          0.11231395602226257,
+          -0.03417074680328369,
+          0.9930850863456726,
+          19.504161834716797
+        ],
+        [
+          -0.24068224430084229,
+          -0.9705843329429626,
+          -0.006176311522722244,
+          -14.42502498626709
+        ],
+        [
+          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": "1731323536_483080863",
+      "mask_path": "../../mask/hdr_left_02741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02743.png",
+      "transform_matrix": [
+        [
+          0.9647001624107361,
+          -0.2380257248878479,
+          -0.11268295347690582,
+          -1.0501207113265991
+        ],
+        [
+          0.11231212317943573,
+          -0.015164289623498917,
+          0.9935572743415833,
+          19.536800384521484
+        ],
+        [
+          -0.23820093274116516,
+          -0.9711405634880066,
+          0.012104187160730362,
+          -14.455787658691406
+        ],
+        [
+          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": "1731323536_683080673",
+      "mask_path": "../../mask/hdr_left_02743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02744.png",
+      "transform_matrix": [
+        [
+          0.9671018123626709,
+          -0.22782377898693085,
+          -0.11318232119083405,
+          -0.9899427890777588
+        ],
+        [
+          0.11145284026861191,
+          -0.020484991371631622,
+          0.9935585856437683,
+          19.547714233398438
+        ],
+        [
+          -0.2286747843027115,
+          -0.9734869003295898,
+          0.005580534692853689,
+          -14.449936866760254
+        ],
+        [
+          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": "1731323536_783081531",
+      "mask_path": "../../mask/hdr_left_02744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02746.png",
+      "transform_matrix": [
+        [
+          0.9744146466255188,
+          -0.18420831859111786,
+          -0.12877672910690308,
+          -0.9180535674095154
+        ],
+        [
+          0.12447208166122437,
+          -0.034793421626091,
+          0.9916128516197205,
+          19.562885284423828
+        ],
+        [
+          -0.18714392185211182,
+          -0.9822713136672974,
+          -0.010974417440593243,
+          -14.445035934448242
+        ],
+        [
+          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": "1731323536_983080863",
+      "mask_path": "../../mask/hdr_left_02746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02747.png",
+      "transform_matrix": [
+        [
+          0.9761801362037659,
+          -0.17449641227722168,
+          -0.12893114984035492,
+          -0.8656250238418579
+        ],
+        [
+          0.125555157661438,
+          -0.03029750846326351,
+          0.9916238188743591,
+          19.577383041381836
+        ],
+        [
+          -0.17694109678268433,
+          -0.9841917157173157,
+          -0.007666901219636202,
+          -14.456528663635254
+        ],
+        [
+          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": "1731323537_83081007",
+      "mask_path": "../../mask/hdr_left_02747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02749.png",
+      "transform_matrix": [
+        [
+          0.9772458076477051,
+          -0.17318055033683777,
+          -0.12247094511985779,
+          -0.7964738607406616
+        ],
+        [
+          0.1242564246058464,
+          -0.0005350837600417435,
+          0.9922499656677246,
+          19.62555503845215
+        ],
+        [
+          -0.17190393805503845,
+          -0.9848899841308594,
+          0.020995894446969032,
+          -14.49028491973877
+        ],
+        [
+          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": "1731323537_283081769",
+      "mask_path": "../../mask/hdr_left_02749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02751.png",
+      "transform_matrix": [
+        [
+          0.9764086604118347,
+          -0.18063662946224213,
+          -0.11830625683069229,
+          -0.742881178855896
+        ],
+        [
+          0.12356989830732346,
+          0.018129214644432068,
+          0.9921702742576599,
+          19.673595428466797
+        ],
+        [
+          -0.1770774871110916,
+          -0.9833828210830688,
+          0.04002278298139572,
+          -14.521660804748535
+        ],
+        [
+          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": "1731323537_483083248",
+      "mask_path": "../../mask/hdr_left_02751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02753.png",
+      "transform_matrix": [
+        [
+          0.9744372963905334,
+          -0.19938963651657104,
+          -0.10351760685443878,
+          -0.6674864292144775
+        ],
+        [
+          0.10713555663824081,
+          0.007412118371576071,
+          0.994216799736023,
+          19.699758529663086
+        ],
+        [
+          -0.19746920466423035,
+          -0.9798923134803772,
+          0.028584366664290428,
+          -14.54963207244873
+        ],
+        [
+          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": "1731323537_683082580",
+      "mask_path": "../../mask/hdr_left_02753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02754.png",
+      "transform_matrix": [
+        [
+          0.9759017825126648,
+          -0.19680896401405334,
+          -0.09424392879009247,
+          -0.616509735584259
+        ],
+        [
+          0.09782631695270538,
+          0.008538472466170788,
+          0.9951667785644531,
+          19.71727752685547
+        ],
+        [
+          -0.19505305588245392,
+          -0.9804046750068665,
+          0.02758580446243286,
+          -14.569365501403809
+        ],
+        [
+          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": "1731323537_783081054",
+      "mask_path": "../../mask/hdr_left_02754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02755.png",
+      "transform_matrix": [
+        [
+          0.9760284423828125,
+          -0.1985599547624588,
+          -0.0891195610165596,
+          -0.5538240075111389
+        ],
+        [
+          0.09146567434072495,
+          0.0026564011350274086,
+          0.9958047270774841,
+          19.74705696105957
+        ],
+        [
+          -0.19749018549919128,
+          -0.9800851345062256,
+          0.020754149183630943,
+          -14.584915161132812
+        ],
+        [
+          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": "1731323537_883081436",
+      "mask_path": "../../mask/hdr_left_02755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02760.png",
+      "transform_matrix": [
+        [
+          0.966881513595581,
+          -0.24399258196353912,
+          -0.07488470524549484,
+          -0.37312111258506775
+        ],
+        [
+          0.07332617789506912,
+          -0.015477485954761505,
+          0.9971879124641418,
+          19.836950302124023
+        ],
+        [
+          -0.24446545541286469,
+          -0.9696536064147949,
+          0.002926148707047105,
+          -14.674369812011719
+        ],
+        [
+          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": "1731323538_383081674",
+      "mask_path": "../../mask/hdr_left_02760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02762.png",
+      "transform_matrix": [
+        [
+          0.9656633734703064,
+          -0.2527201771736145,
+          -0.06022122874855995,
+          -0.27511245012283325
+        ],
+        [
+          0.05504273995757103,
+          -0.027517788112163544,
+          0.9981047511100769,
+          19.8537540435791
+        ],
+        [
+          -0.2538983225822449,
+          -0.9671480655670166,
+          -0.012662502937018871,
+          -14.697172164916992
+        ],
+        [
+          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": "1731323538_583082675",
+      "mask_path": "../../mask/hdr_left_02762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02763.png",
+      "transform_matrix": [
+        [
+          0.9625208973884583,
+          -0.2642758786678314,
+          -0.060924381017684937,
+          -0.2119625210762024
+        ],
+        [
+          0.04797767102718353,
+          -0.055176474153995514,
+          0.9973231554031372,
+          19.86432456970215
+        ],
+        [
+          -0.26693007349967957,
+          -0.9628674983978271,
+          -0.040429167449474335,
+          -14.710521697998047
+        ],
+        [
+          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": "1731323538_683081865",
+      "mask_path": "../../mask/hdr_left_02763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02765.png",
+      "transform_matrix": [
+        [
+          0.9589051604270935,
+          -0.27643531560897827,
+          -0.06390836089849472,
+          -0.1346033215522766
+        ],
+        [
+          0.04218986630439758,
+          -0.08381814509630203,
+          0.9955874681472778,
+          19.87887954711914
+        ],
+        [
+          -0.2805722653865814,
+          -0.957370400428772,
+          -0.06871088594198227,
+          -14.74892520904541
+        ],
+        [
+          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": "1731323538_883080720",
+      "mask_path": "../../mask/hdr_left_02765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02766.png",
+      "transform_matrix": [
+        [
+          0.9563326239585876,
+          -0.28529486060142517,
+          -0.06351932883262634,
+          -0.09241130948066711
+        ],
+        [
+          0.0398675873875618,
+          -0.08796416968107224,
+          0.99532550573349,
+          19.883174896240234
+        ],
+        [
+          -0.2895486652851105,
+          -0.9543946981430054,
+          -0.07274898141622543,
+          -14.780943870544434
+        ],
+        [
+          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": "1731323538_983080625",
+      "mask_path": "../../mask/hdr_left_02766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02767.png",
+      "transform_matrix": [
+        [
+          0.943727433681488,
+          -0.32717272639274597,
+          -0.04833691567182541,
+          -0.04775029420852661
+        ],
+        [
+          0.0269150473177433,
+          -0.06969217211008072,
+          0.997205376625061,
+          19.898174285888672
+        ],
+        [
+          -0.3296270966529846,
+          -0.9423911571502686,
+          -0.056964535266160965,
+          -14.797266960144043
+        ],
+        [
+          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": "1731323539_83079338",
+      "mask_path": "../../mask/hdr_left_02767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02769.png",
+      "transform_matrix": [
+        [
+          0.9337757229804993,
+          -0.35648342967033386,
+          -0.03134532272815704,
+          0.028206974267959595
+        ],
+        [
+          0.009577346965670586,
+          -0.06266540288925171,
+          0.9979886412620544,
+          19.90964126586914
+        ],
+        [
+          -0.3577306568622589,
+          -0.9321977496147156,
+          -0.05510125681757927,
+          -14.814475059509277
+        ],
+        [
+          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": "1731323539_283082246",
+      "mask_path": "../../mask/hdr_left_02769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02770.png",
+      "transform_matrix": [
+        [
+          0.9369623064994812,
+          -0.3483350872993469,
+          -0.027644172310829163,
+          0.10568349063396454
+        ],
+        [
+          0.005874945782124996,
+          -0.0633971318602562,
+          0.9979711771011353,
+          19.93156623840332
+        ],
+        [
+          -0.3493809103965759,
+          -0.9352238178253174,
+          -0.05735427141189575,
+          -14.843316078186035
+        ],
+        [
+          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": "1731323539_383081197",
+      "mask_path": "../../mask/hdr_left_02770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02771.png",
+      "transform_matrix": [
+        [
+          0.9396127462387085,
+          -0.34158891439437866,
+          -0.021088581532239914,
+          0.17691485583782196
+        ],
+        [
+          0.002024597255513072,
+          -0.056070372462272644,
+          0.9984248280525208,
+          19.94989013671875
+        ],
+        [
+          -0.342233270406723,
+          -0.9381754398345947,
+          -0.051992855966091156,
+          -14.868498802185059
+        ],
+        [
+          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": "1731323539_483080625",
+      "mask_path": "../../mask/hdr_left_02771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02772.png",
+      "transform_matrix": [
+        [
+          0.9408936500549316,
+          -0.3383883833885193,
+          -0.014574035070836544,
+          0.23074427247047424
+        ],
+        [
+          0.00011369620187906548,
+          -0.04271351918578148,
+          0.999087393283844,
+          19.96255874633789
+        ],
+        [
+          -0.3387020528316498,
+          -0.9400366544723511,
+          -0.04015040025115013,
+          -14.894333839416504
+        ],
+        [
+          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": "1731323539_583080053",
+      "mask_path": "../../mask/hdr_left_02772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02773.png",
+      "transform_matrix": [
+        [
+          0.9456849694252014,
+          -0.32489994168281555,
+          -0.010952413082122803,
+          0.2831428050994873
+        ],
+        [
+          -0.0002886700676754117,
+          -0.034530263394117355,
+          0.9994035959243774,
+          19.97567367553711
+        ],
+        [
+          -0.3250843286514282,
+          -0.9451178312301636,
+          -0.03274852782487869,
+          -14.929648399353027
+        ],
+        [
+          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": "1731323539_683080434",
+      "mask_path": "../../mask/hdr_left_02773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02774.png",
+      "transform_matrix": [
+        [
+          0.9437369108200073,
+          -0.3306679129600525,
+          -0.004411905538290739,
+          0.3400539457798004
+        ],
+        [
+          -0.00262487237341702,
+          -0.02083088830113411,
+          0.9997795820236206,
+          19.975942611694336
+        ],
+        [
+          -0.33068689703941345,
+          -0.94351726770401,
+          -0.020526830106973648,
+          -14.944548606872559
+        ],
+        [
+          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": "1731323539_783079862",
+      "mask_path": "../../mask/hdr_left_02774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02776.png",
+      "transform_matrix": [
+        [
+          0.9525479078292847,
+          -0.3042221665382385,
+          -0.010068925097584724,
+          0.41271689534187317
+        ],
+        [
+          0.0005348589620552957,
+          -0.031406220048666,
+          0.9995065927505493,
+          19.979379653930664
+        ],
+        [
+          -0.30438828468322754,
+          -0.9520832300186157,
+          -0.02975321188569069,
+          -14.913098335266113
+        ],
+        [
+          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": "1731323539_983081102",
+      "mask_path": "../../mask/hdr_left_02776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02777.png",
+      "transform_matrix": [
+        [
+          0.9584977626800537,
+          -0.28487464785575867,
+          -0.011331516318023205,
+          0.47604310512542725
+        ],
+        [
+          0.0014963721623644233,
+          -0.03471842408180237,
+          0.9993959665298462,
+          19.989940643310547
+        ],
+        [
+          -0.2850959897041321,
+          -0.9579358696937561,
+          -0.03285124897956848,
+          -14.931612014770508
+        ],
+        [
+          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": "1731323540_83080768",
+      "mask_path": "../../mask/hdr_left_02777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02779.png",
+      "transform_matrix": [
+        [
+          0.9641394019126892,
+          -0.2652870714664459,
+          -0.007604620419442654,
+          0.5563091039657593
+        ],
+        [
+          0.003700732486322522,
+          -0.015212404541671276,
+          0.9998774528503418,
+          20.021865844726562
+        ],
+        [
+          -0.2653701901435852,
+          -0.9640495181083679,
+          -0.013685118407011032,
+          -14.96212100982666
+        ],
+        [
+          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": "1731323540_283081293",
+      "mask_path": "../../mask/hdr_left_02779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02780.png",
+      "transform_matrix": [
+        [
+          0.9660938382148743,
+          -0.2577587962150574,
+          -0.014932732097804546,
+          0.609699010848999
+        ],
+        [
+          0.014950972981750965,
+          -0.001889320439659059,
+          0.9998864531517029,
+          20.04607391357422
+        ],
+        [
+          -0.2577577233314514,
+          -0.9662074446678162,
+          0.0020284883212298155,
+          -14.982948303222656
+        ],
+        [
+          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": "1731323540_383081912",
+      "mask_path": "../../mask/hdr_left_02780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02781.png",
+      "transform_matrix": [
+        [
+          0.9678629636764526,
+          -0.2509927749633789,
+          -0.015618211589753628,
+          0.6604040265083313
+        ],
+        [
+          0.017716992646455765,
+          0.006104371510446072,
+          0.9998244047164917,
+          20.056697845458984
+        ],
+        [
+          -0.2508533298969269,
+          -0.9679697751998901,
+          0.010355033911764622,
+          -15.00721263885498
+        ],
+        [
+          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": "1731323540_483079195",
+      "mask_path": "../../mask/hdr_left_02781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02782.png",
+      "transform_matrix": [
+        [
+          0.9709745645523071,
+          -0.23840972781181335,
+          -0.019215764477849007,
+          0.7275360822677612
+        ],
+        [
+          0.019380005076527596,
+          -0.0016552064334973693,
+          0.9998108148574829,
+          20.056665420532227
+        ],
+        [
+          -0.23839642107486725,
+          -0.971163272857666,
+          0.0030132271349430084,
+          -14.999157905578613
+        ],
+        [
+          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": "1731323540_583080053",
+      "mask_path": "../../mask/hdr_left_02782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02785.png",
+      "transform_matrix": [
+        [
+          0.9811933636665344,
+          -0.17556340992450714,
+          -0.08023122698068619,
+          0.8053734302520752
+        ],
+        [
+          0.0758638083934784,
+          -0.03145938739180565,
+          0.9966217875480652,
+          20.08612632751465
+        ],
+        [
+          -0.1774943470954895,
+          -0.9839654564857483,
+          -0.017548834905028343,
+          -14.993464469909668
+        ],
+        [
+          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": "1731323540_883081436",
+      "mask_path": "../../mask/hdr_left_02785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02787.png",
+      "transform_matrix": [
+        [
+          0.9730033874511719,
+          -0.19508886337280273,
+          -0.12330731004476547,
+          0.8515934944152832
+        ],
+        [
+          0.11554979532957077,
+          -0.0507018081843853,
+          0.9920068383216858,
+          20.09718132019043
+        ],
+        [
+          -0.1997813880443573,
+          -0.9794741868972778,
+          -0.026790553703904152,
+          -14.979717254638672
+        ],
+        [
+          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": "1731323541_83082199",
+      "mask_path": "../../mask/hdr_left_02787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02789.png",
+      "transform_matrix": [
+        [
+          0.970900297164917,
+          -0.19312907755374908,
+          -0.14161084592342377,
+          0.8946936130523682
+        ],
+        [
+          0.13981859385967255,
+          -0.022949358448386192,
+          0.9899111986160278,
+          20.155563354492188
+        ],
+        [
+          -0.19443048536777496,
+          -0.9809049367904663,
+          0.004721506964415312,
+          -15.019085884094238
+        ],
+        [
+          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": "1731323541_283082246",
+      "mask_path": "../../mask/hdr_left_02789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02791.png",
+      "transform_matrix": [
+        [
+          0.972009539604187,
+          -0.18363673985004425,
+          -0.1465432494878769,
+          0.9661444425582886
+        ],
+        [
+          0.1418982744216919,
+          -0.03825787454843521,
+          0.989141583442688,
+          20.1696720123291
+        ],
+        [
+          -0.18724918365478516,
+          -0.9822494387626648,
+          -0.011129279620945454,
+          -15.036947250366211
+        ],
+        [
+          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": "1731323541_483081817",
+      "mask_path": "../../mask/hdr_left_02791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02793.png",
+      "transform_matrix": [
+        [
+          0.9781806468963623,
+          -0.1609157919883728,
+          -0.13141050934791565,
+          1.0863536596298218
+        ],
+        [
+          0.1266225278377533,
+          -0.03970182314515114,
+          0.9911561012268066,
+          20.191280364990234
+        ],
+        [
+          -0.1647098958492279,
+          -0.9861693382263184,
+          -0.01845998875796795,
+          -15.053507804870605
+        ],
+        [
+          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": "1731323541_683079957",
+      "mask_path": "../../mask/hdr_left_02793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02794.png",
+      "transform_matrix": [
+        [
+          0.9772966504096985,
+          -0.1676052361726761,
+          -0.12961353361606598,
+          1.171278476715088
+        ],
+        [
+          0.12442396581172943,
+          -0.04114754498004913,
+          0.9913755655288696,
+          20.21757698059082
+        ],
+        [
+          -0.17149299383163452,
+          -0.9849951863288879,
+          -0.019359244033694267,
+          -15.084716796875
+        ],
+        [
+          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": "1731323541_783081531",
+      "mask_path": "../../mask/hdr_left_02794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02795.png",
+      "transform_matrix": [
+        [
+          0.976100504398346,
+          -0.1758906990289688,
+          -0.12763306498527527,
+          1.231022834777832
+        ],
+        [
+          0.1233857125043869,
+          -0.034921932965517044,
+          0.9917441010475159,
+          20.244657516479492
+        ],
+        [
+          -0.1788957566022873,
+          -0.9837900996208191,
+          -0.012384910136461258,
+          -15.123794555664062
+        ],
+        [
+          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": "1731323541_883079051",
+      "mask_path": "../../mask/hdr_left_02795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02796.png",
+      "transform_matrix": [
+        [
+          0.9759544134140015,
+          -0.17920398712158203,
+          -0.12409190833568573,
+          1.2874289751052856
+        ],
+        [
+          0.12124335765838623,
+          -0.026804722845554352,
+          0.9922608137130737,
+          20.26714515686035
+        ],
+        [
+          -0.18114334344863892,
+          -0.9834467172622681,
+          -0.004432891495525837,
+          -15.149998664855957
+        ],
+        [
+          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": "1731323541_983079910",
+      "mask_path": "../../mask/hdr_left_02796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02797.png",
+      "transform_matrix": [
+        [
+          0.9739745259284973,
+          -0.1911524534225464,
+          -0.12179629504680634,
+          1.363140344619751
+        ],
+        [
+          0.11826374381780624,
+          -0.02982505038380623,
+          0.9925342202186584,
+          20.284278869628906
+        ],
+        [
+          -0.193357914686203,
+          -0.9811071157455444,
+          -0.006442429032176733,
+          -15.173319816589355
+        ],
+        [
+          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": "1731323542_83080768",
+      "mask_path": "../../mask/hdr_left_02797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02798.png",
+      "transform_matrix": [
+        [
+          0.9711270332336426,
+          -0.2087569683790207,
+          -0.1154676154255867,
+          1.429999589920044
+        ],
+        [
+          0.11071013659238815,
+          -0.03437257185578346,
+          0.9932581782341003,
+          20.299612045288086
+        ],
+        [
+          -0.2113184779882431,
+          -0.9773633480072021,
+          -0.010268613696098328,
+          -15.19609260559082
+        ],
+        [
+          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": "1731323542_183081626",
+      "mask_path": "../../mask/hdr_left_02798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02799.png",
+      "transform_matrix": [
+        [
+          0.9696680307388306,
+          -0.21999385952949524,
+          -0.1065196767449379,
+          1.483831763267517
+        ],
+        [
+          0.10193894058465958,
+          -0.032103653997182846,
+          0.9942725300788879,
+          20.31313133239746
+        ],
+        [
+          -0.22215349972248077,
+          -0.9749729037284851,
+          -0.008703934960067272,
+          -15.216412544250488
+        ],
+        [
+          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": "1731323542_283081054",
+      "mask_path": "../../mask/hdr_left_02799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02800.png",
+      "transform_matrix": [
+        [
+          0.9702998399734497,
+          -0.22090353071689606,
+          -0.09858901798725128,
+          1.5549246072769165
+        ],
+        [
+          0.0950973704457283,
+          -0.026413025334477425,
+          0.9951174855232239,
+          20.3210391998291
+        ],
+        [
+          -0.22242900729179382,
+          -0.9749379754066467,
+          -0.004621204454451799,
+          -15.215967178344727
+        ],
+        [
+          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": "1731323542_383081674",
+      "mask_path": "../../mask/hdr_left_02800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02801.png",
+      "transform_matrix": [
+        [
+          0.9684299230575562,
+          -0.2289436310529709,
+          -0.09863131493330002,
+          1.6416819095611572
+        ],
+        [
+          0.08953486382961273,
+          -0.0498114712536335,
+          0.9947372674942017,
+          20.35613441467285
+        ],
+        [
+          -0.2326517254114151,
+          -0.9721644520759583,
+          -0.0277404822409153,
+          -15.248583793640137
+        ],
+        [
+          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": "1731323542_483077764",
+      "mask_path": "../../mask/hdr_left_02801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02802.png",
+      "transform_matrix": [
+        [
+          0.9641799926757812,
+          -0.2437361627817154,
+          -0.10464030504226685,
+          1.702149748802185
+        ],
+        [
+          0.08952900022268295,
+          -0.07230360060930252,
+          0.9933562874794006,
+          20.385353088378906
+        ],
+        [
+          -0.2496827095746994,
+          -0.967142641544342,
+          -0.04789222031831741,
+          -15.269509315490723
+        ],
+        [
+          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": "1731323542_583081245",
+      "mask_path": "../../mask/hdr_left_02802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02803.png",
+      "transform_matrix": [
+        [
+          0.9624232053756714,
+          -0.2503628730773926,
+          -0.10516631603240967,
+          1.7633228302001953
+        ],
+        [
+          0.08991145342588425,
+          -0.0716407373547554,
+          0.9933696985244751,
+          20.404844284057617
+        ],
+        [
+          -0.25623708963394165,
+          -0.9654979109764099,
+          -0.046438220888376236,
+          -15.270978927612305
+        ],
+        [
+          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": "1731323542_683078527",
+      "mask_path": "../../mask/hdr_left_02803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02804.png",
+      "transform_matrix": [
+        [
+          0.9630746245384216,
+          -0.2499893307685852,
+          -0.09996283054351807,
+          1.8402822017669678
+        ],
+        [
+          0.08426540344953537,
+          -0.07275339215993881,
+          0.9937837719917297,
+          20.429996490478516
+        ],
+        [
+          -0.2557080090045929,
+          -0.9655114412307739,
+          -0.04900148883461952,
+          -15.301529884338379
+        ],
+        [
+          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": "1731323542_783079862",
+      "mask_path": "../../mask/hdr_left_02804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02805.png",
+      "transform_matrix": [
+        [
+          0.9652667045593262,
+          -0.24438318610191345,
+          -0.09239628911018372,
+          1.9159539937973022
+        ],
+        [
+          0.07733114808797836,
+          -0.07055912166833878,
+          0.9945054650306702,
+          20.444730758666992
+        ],
+        [
+          -0.24955981969833374,
+          -0.9671082496643066,
+          -0.04920993745326996,
+          -15.322739601135254
+        ],
+        [
+          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": "1731323542_883078098",
+      "mask_path": "../../mask/hdr_left_02805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02806.png",
+      "transform_matrix": [
+        [
+          0.9678198099136353,
+          -0.23676149547100067,
+          -0.08525796234607697,
+          1.9813708066940308
+        ],
+        [
+          0.07142392545938492,
+          -0.0664210096001625,
+          0.995232105255127,
+          20.45773696899414
+        ],
+        [
+          -0.24129551649093628,
+          -0.9692947268486023,
+          -0.04737311229109764,
+          -15.332589149475098
+        ],
+        [
+          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": "1731323542_983081579",
+      "mask_path": "../../mask/hdr_left_02806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02807.png",
+      "transform_matrix": [
+        [
+          0.9712504148483276,
+          -0.22546446323394775,
+          -0.0764094740152359,
+          2.0553460121154785
+        ],
+        [
+          0.06423784047365189,
+          -0.0608467161655426,
+          0.9960778951644897,
+          20.47202491760254
+        ],
+        [
+          -0.2292294204235077,
+          -0.9723494648933411,
+          -0.0446140356361866,
+          -15.333138465881348
+        ],
+        [
+          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": "1731323543_83079814",
+      "mask_path": "../../mask/hdr_left_02807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02808.png",
+      "transform_matrix": [
+        [
+          0.9744117259979248,
+          -0.21317876875400543,
+          -0.07125034183263779,
+          2.1550097465515137
+        ],
+        [
+          0.05972743779420853,
+          -0.06002141162753105,
+          0.9964085817337036,
+          20.508464813232422
+        ],
+        [
+          -0.21668967604637146,
+          -0.9751678705215454,
+          -0.04575293883681297,
+          -15.351768493652344
+        ],
+        [
+          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": "1731323543_183081626",
+      "mask_path": "../../mask/hdr_left_02808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02809.png",
+      "transform_matrix": [
+        [
+          0.976085364818573,
+          -0.20512011647224426,
+          -0.07199268043041229,
+          2.23142409324646
+        ],
+        [
+          0.06182970106601715,
+          -0.055540625005960464,
+          0.9965401291847229,
+          20.54360008239746
+        ],
+        [
+          -0.20840893685817719,
+          -0.9771596789360046,
+          -0.04152987524867058,
+          -15.379652976989746
+        ],
+        [
+          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": "1731323543_283082246",
+      "mask_path": "../../mask/hdr_left_02809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02811.png",
+      "transform_matrix": [
+        [
+          0.9779945611953735,
+          -0.1947326809167862,
+          -0.07487170398235321,
+          2.342116594314575
+        ],
+        [
+          0.07170932739973068,
+          -0.023248905315995216,
+          0.9971545338630676,
+          20.599571228027344
+        ],
+        [
+          -0.19591927528381348,
+          -0.9805808663368225,
+          -0.008773147128522396,
+          -15.414251327514648
+        ],
+        [
+          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": "1731323543_483080148",
+      "mask_path": "../../mask/hdr_left_02811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02812.png",
+      "transform_matrix": [
+        [
+          0.9776023626327515,
+          -0.19870655238628387,
+          -0.06934847682714462,
+          2.428466558456421
+        ],
+        [
+          0.06745187938213348,
+          -0.0163063146173954,
+          0.9975892901420593,
+          20.625747680664062
+        ],
+        [
+          -0.19935832917690277,
+          -0.97992342710495,
+          -0.002537953667342663,
+          -15.438825607299805
+        ],
+        [
+          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": "1731323543_583081483",
+      "mask_path": "../../mask/hdr_left_02812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02813.png",
+      "transform_matrix": [
+        [
+          0.9776809811592102,
+          -0.20113560557365417,
+          -0.06069847568869591,
+          2.492158889770508
+        ],
+        [
+          0.05953529477119446,
+          -0.011832782067358494,
+          0.9981560707092285,
+          20.636754989624023
+        ],
+        [
+          -0.20148293673992157,
+          -0.9794920086860657,
+          0.00040598775376565754,
+          -15.45019817352295
+        ],
+        [
+          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": "1731323543_683082580",
+      "mask_path": "../../mask/hdr_left_02813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02814.png",
+      "transform_matrix": [
+        [
+          0.9792907238006592,
+          -0.1954408437013626,
+          -0.052844274789094925,
+          2.5467069149017334
+        ],
+        [
+          0.05282026529312134,
+          -0.0053384327329695225,
+          0.9985896944999695,
+          20.64857292175293
+        ],
+        [
+          -0.19544731080532074,
+          -0.9807009696960449,
+          0.005095367785543203,
+          -15.456642150878906
+        ],
+        [
+          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": "1731323543_783082246",
+      "mask_path": "../../mask/hdr_left_02814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02815.png",
+      "transform_matrix": [
+        [
+          0.9816628098487854,
+          -0.18505485355854034,
+          -0.04574716463685036,
+          2.624492883682251
+        ],
+        [
+          0.04586571455001831,
+          -0.00364237604662776,
+          0.9989410042762756,
+          20.674610137939453
+        ],
+        [
+          -0.18502548336982727,
+          -0.9827215075492859,
+          0.004912087228149176,
+          -15.474125862121582
+        ],
+        [
+          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": "1731323543_883082151",
+      "mask_path": "../../mask/hdr_left_02815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02816.png",
+      "transform_matrix": [
+        [
+          0.9830795526504517,
+          -0.17828741669654846,
+          -0.04204859584569931,
+          2.712827205657959
+        ],
+        [
+          0.04130900278687477,
+          -0.007860190235078335,
+          0.9991154074668884,
+          20.700885772705078
+        ],
+        [
+          -0.1784602254629135,
+          -0.9839471578598022,
+          -0.00036231649573892355,
+          -15.493815422058105
+        ],
+        [
+          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": "1731323543_983081102",
+      "mask_path": "../../mask/hdr_left_02816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02817.png",
+      "transform_matrix": [
+        [
+          0.9840410947799683,
+          -0.17289763689041138,
+          -0.04206456243991852,
+          2.783315896987915
+        ],
+        [
+          0.0409541092813015,
+          -0.009986340068280697,
+          0.9991111755371094,
+          20.720083236694336
+        ],
+        [
+          -0.1731640249490738,
+          -0.9848891496658325,
+          -0.0027460972778499126,
+          -15.503695487976074
+        ],
+        [
+          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": "1731323544_83082199",
+      "mask_path": "../../mask/hdr_left_02817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02818.png",
+      "transform_matrix": [
+        [
+          0.9851055145263672,
+          -0.16671566665172577,
+          -0.042105868458747864,
+          2.847416400909424
+        ],
+        [
+          0.04152129217982292,
+          -0.006992038805037737,
+          0.999113142490387,
+          20.743934631347656
+        ],
+        [
+          -0.16686220467090607,
+          -0.9859802722930908,
+          3.435652979533188e-05,
+          -15.530961036682129
+        ],
+        [
+          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": "1731323544_183081388",
+      "mask_path": "../../mask/hdr_left_02818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02819.png",
+      "transform_matrix": [
+        [
+          0.9850284457206726,
+          -0.16878315806388855,
+          -0.035087890923023224,
+          2.9303677082061768
+        ],
+        [
+          0.034736987203359604,
+          -0.00503208814188838,
+          0.9993837475776672,
+          20.756616592407227
+        ],
+        [
+          -0.1688557267189026,
+          -0.9856404066085815,
+          0.0009062691242434084,
+          -15.533594131469727
+        ],
+        [
+          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": "1731323544_283082246",
+      "mask_path": "../../mask/hdr_left_02819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02820.png",
+      "transform_matrix": [
+        [
+          0.9856350421905518,
+          -0.16726475954055786,
+          -0.023368127644062042,
+          2.9980833530426025
+        ],
+        [
+          0.023300034925341606,
+          -0.002369852736592293,
+          0.9997256994247437,
+          20.759157180786133
+        ],
+        [
+          -0.16727426648139954,
+          -0.9859091639518738,
+          0.001561469747684896,
+          -15.518218994140625
+        ],
+        [
+          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": "1731323544_383081912",
+      "mask_path": "../../mask/hdr_left_02820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02821.png",
+      "transform_matrix": [
+        [
+          0.9873924255371094,
+          -0.15788139402866364,
+          -0.011386007070541382,
+          3.0487747192382812
+        ],
+        [
+          0.011443331837654114,
+          -0.0005459614912979305,
+          0.9999343156814575,
+          20.764148712158203
+        ],
+        [
+          -0.15787722170352936,
+          -0.9874579906463623,
+          0.0012676161713898182,
+          -15.514312744140625
+        ],
+        [
+          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": "1731323544_483082056",
+      "mask_path": "../../mask/hdr_left_02821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02822.png",
+      "transform_matrix": [
+        [
+          0.9893099069595337,
+          -0.14582021534442902,
+          0.0015090946108102798,
+          3.1229500770568848
+        ],
+        [
+          -0.0024679810740053654,
+          -0.006395010277628899,
+          0.9999764561653137,
+          20.772653579711914
+        ],
+        [
+          -0.14580711722373962,
+          -0.9892904758453369,
+          -0.0066865249536931515,
+          -15.524286270141602
+        ],
+        [
+          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": "1731323544_583082199",
+      "mask_path": "../../mask/hdr_left_02822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02823.png",
+      "transform_matrix": [
+        [
+          0.9901319742202759,
+          -0.1400296688079834,
+          0.005512736737728119,
+          3.209205389022827
+        ],
+        [
+          -0.008293675258755684,
+          -0.019283851608633995,
+          0.9997795820236206,
+          20.78102684020996
+        ],
+        [
+          -0.13989251852035522,
+          -0.9899595379829407,
+          -0.020254917442798615,
+          -15.525300025939941
+        ],
+        [
+          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": "1731323544_683081150",
+      "mask_path": "../../mask/hdr_left_02823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02824.png",
+      "transform_matrix": [
+        [
+          0.9904276132583618,
+          -0.13802389800548553,
+          0.001567017869092524,
+          3.283581495285034
+        ],
+        [
+          -0.00592308072373271,
+          -0.031154993921518326,
+          0.9994970560073853,
+          20.790674209594727
+        ],
+        [
+          -0.13790562748908997,
+          -0.9899389147758484,
+          -0.03167428448796272,
+          -15.524343490600586
+        ],
+        [
+          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": "1731323544_783082485",
+      "mask_path": "../../mask/hdr_left_02824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02825.png",
+      "transform_matrix": [
+        [
+          0.9910032749176025,
+          -0.13379615545272827,
+          -0.003306908532977104,
+          3.345381736755371
+        ],
+        [
+          -0.0007918800693005323,
+          -0.030569517984986305,
+          0.9995323419570923,
+          20.805381774902344
+        ],
+        [
+          -0.13383464515209198,
+          -0.9905372858047485,
+          -0.030400441959500313,
+          -15.539794921875
+        ],
+        [
+          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": "1731323544_883082389",
+      "mask_path": "../../mask/hdr_left_02825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02826.png",
+      "transform_matrix": [
+        [
+          0.9908487796783447,
+          -0.13494309782981873,
+          -0.0030155715066939592,
+          3.4162371158599854
+        ],
+        [
+          -0.0006403294974006712,
+          -0.027040576562285423,
+          0.9996340870857239,
+          20.816822052001953
+        ],
+        [
+          -0.13497523963451385,
+          -0.9904842972755432,
+          -0.02687952294945717,
+          -15.552645683288574
+        ],
+        [
+          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": "1731323544_983083009",
+      "mask_path": "../../mask/hdr_left_02826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02827.png",
+      "transform_matrix": [
+        [
+          0.9904914498329163,
+          -0.13753047585487366,
+          0.0034550942946225405,
+          3.4970574378967285
+        ],
+        [
+          -0.007074087858200073,
+          -0.025834044441580772,
+          0.9996411204338074,
+          20.822168350219727
+        ],
+        [
+          -0.1373918652534485,
+          -0.9901606440544128,
+          -0.026561297476291656,
+          -15.55805492401123
+        ],
+        [
+          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": "1731323545_83081483",
+      "mask_path": "../../mask/hdr_left_02827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02829.png",
+      "transform_matrix": [
+        [
+          0.9901959896087646,
+          -0.13966870307922363,
+          -0.0021299137733876705,
+          3.602088212966919
+        ],
+        [
+          -0.0007924326346255839,
+          -0.020864464342594147,
+          0.9997819662094116,
+          20.849775314331055
+        ],
+        [
+          -0.13968269526958466,
+          -0.9899784922599792,
+          -0.02077058143913746,
+          -15.584213256835938
+        ],
+        [
+          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": "1731323545_283082008",
+      "mask_path": "../../mask/hdr_left_02829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02830.png",
+      "transform_matrix": [
+        [
+          0.987976610660553,
+          -0.15384691953659058,
+          -0.015277257189154625,
+          3.6790733337402344
+        ],
+        [
+          0.01111472025513649,
+          -0.027880322188138962,
+          0.9995494484901428,
+          20.883468627929688
+        ],
+        [
+          -0.15420351922512054,
+          -0.9877013564109802,
+          -0.02583513781428337,
+          -15.627725601196289
+        ],
+        [
+          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": "1731323545_383081674",
+      "mask_path": "../../mask/hdr_left_02830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02833.png",
+      "transform_matrix": [
+        [
+          0.9822636246681213,
+          -0.17892877757549286,
+          -0.056059323251247406,
+          3.8270702362060547
+        ],
+        [
+          0.05169385299086571,
+          -0.028971366584300995,
+          0.9982426166534424,
+          20.924846649169922
+        ],
+        [
+          -0.18023845553398132,
+          -0.9834354519844055,
+          -0.019207997247576714,
+          -15.685469627380371
+        ],
+        [
+          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": "1731323545_683079957",
+      "mask_path": "../../mask/hdr_left_02833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02834.png",
+      "transform_matrix": [
+        [
+          0.9778597950935364,
+          -0.19989517331123352,
+          -0.06190328672528267,
+          3.877959966659546
+        ],
+        [
+          0.0578450970351696,
+          -0.02608417347073555,
+          0.997984766960144,
+          20.941736221313477
+        ],
+        [
+          -0.20110701024532318,
+          -0.9794700145721436,
+          -0.013943705707788467,
+          -15.71366024017334
+        ],
+        [
+          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": "1731323545_783079624",
+      "mask_path": "../../mask/hdr_left_02834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02838.png",
+      "transform_matrix": [
+        [
+          0.9684211611747742,
+          -0.24181035161018372,
+          -0.06072993203997612,
+          4.082586765289307
+        ],
+        [
+          0.051808834075927734,
+          -0.04308805614709854,
+          0.9977270364761353,
+          20.992290496826172
+        ],
+        [
+          -0.24387745559215546,
+          -0.9693664312362671,
+          -0.029199475422501564,
+          -15.77918815612793
+        ],
+        [
+          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": "1731323546_183078289",
+      "mask_path": "../../mask/hdr_left_02838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02839.png",
+      "transform_matrix": [
+        [
+          0.9661054015159607,
+          -0.2500133514404297,
+          -0.06429318338632584,
+          4.1564226150512695
+        ],
+        [
+          0.05122704431414604,
+          -0.0584290474653244,
+          0.996976375579834,
+          21.008108139038086
+        ],
+        [
+          -0.2530139982700348,
+          -0.9664778709411621,
+          -0.043641168624162674,
+          -15.784515380859375
+        ],
+        [
+          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": "1731323546_283082008",
+      "mask_path": "../../mask/hdr_left_02839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02840.png",
+      "transform_matrix": [
+        [
+          0.9649315476417542,
+          -0.25397422909736633,
+          -0.06636302173137665,
+          4.208145618438721
+        ],
+        [
+          0.05245146527886391,
+          -0.06116824597120285,
+          0.9967483282089233,
+          21.02655601501465
+        ],
+        [
+          -0.2572076618671417,
+          -0.9652748703956604,
+          -0.045701850205659866,
+          -15.79671573638916
+        ],
+        [
+          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": "1731323546_383081436",
+      "mask_path": "../../mask/hdr_left_02840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02841.png",
+      "transform_matrix": [
+        [
+          0.9613959789276123,
+          -0.2673344314098358,
+          -0.06519252061843872,
+          4.27876615524292
+        ],
+        [
+          0.051551882177591324,
+          -0.057737406343221664,
+          0.9969999194145203,
+          21.05097198486328
+        ],
+        [
+          -0.2702964246273041,
+          -0.9618725180625916,
+          -0.04172690585255623,
+          -15.833861351013184
+        ],
+        [
+          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": "1731323546_483082294",
+      "mask_path": "../../mask/hdr_left_02841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02843.png",
+      "transform_matrix": [
+        [
+          0.9528977870941162,
+          -0.2990621328353882,
+          -0.05047370120882988,
+          4.336988925933838
+        ],
+        [
+          0.037835583090782166,
+          -0.047903478145599365,
+          0.9981352090835571,
+          21.05218505859375
+        ],
+        [
+          -0.3009222745895386,
+          -0.953030526638031,
+          -0.03433191776275635,
+          -15.821541786193848
+        ],
+        [
+          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": "1731323546_683082342",
+      "mask_path": "../../mask/hdr_left_02843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02844.png",
+      "transform_matrix": [
+        [
+          0.9545766115188599,
+          -0.29379764199256897,
+          -0.04966312274336815,
+          4.398690223693848
+        ],
+        [
+          0.035252172499895096,
+          -0.05414760485291481,
+          0.9979104399681091,
+          21.05368423461914
+        ],
+        [
+          -0.29587283730506897,
+          -0.9543327689170837,
+          -0.04133101925253868,
+          -15.833937644958496
+        ],
+        [
+          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": "1731323546_783082723",
+      "mask_path": "../../mask/hdr_left_02844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02845.png",
+      "transform_matrix": [
+        [
+          0.9568312764167786,
+          -0.28617241978645325,
+          -0.050785813480615616,
+          4.476926326751709
+        ],
+        [
+          0.03736880421638489,
+          -0.052155736833810806,
+          0.9979394674301147,
+          21.07455825805664
+        ],
+        [
+          -0.2882314920425415,
+          -0.956757664680481,
+          -0.03921030834317207,
+          -15.863871574401855
+        ],
+        [
+          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": "1731323546_883082866",
+      "mask_path": "../../mask/hdr_left_02845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02846.png",
+      "transform_matrix": [
+        [
+          0.959731936454773,
+          -0.2755679190158844,
+          -0.05456065386533737,
+          4.54054594039917
+        ],
+        [
+          0.04308293014764786,
+          -0.0475388802587986,
+          0.9979398250579834,
+          21.099157333374023
+        ],
+        [
+          -0.2775939106941223,
+          -0.9601054191589355,
+          -0.033752307295799255,
+          -15.898765563964844
+        ],
+        [
+          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": "1731323546_983081340",
+      "mask_path": "../../mask/hdr_left_02846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02847.png",
+      "transform_matrix": [
+        [
+          0.9617244005203247,
+          -0.2674199342727661,
+          -0.05977258458733559,
+          4.5990777015686035
+        ],
+        [
+          0.051030710339546204,
+          -0.0395275242626667,
+          0.9979145526885986,
+          21.118507385253906
+        ],
+        [
+          -0.26922494173049927,
+          -0.962769091129303,
+          -0.02436795085668564,
+          -15.920967102050781
+        ],
+        [
+          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": "1731323547_83082199",
+      "mask_path": "../../mask/hdr_left_02847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02848.png",
+      "transform_matrix": [
+        [
+          0.9643698930740356,
+          -0.2559603452682495,
+          -0.06689447164535522,
+          4.6605448722839355
+        ],
+        [
+          0.061823200434446335,
+          -0.02781730890274048,
+          0.9976993203163147,
+          21.138059616088867
+        ],
+        [
+          -0.2572322487831116,
+          -0.9662869572639465,
+          -0.011001886799931526,
+          -15.929622650146484
+        ],
+        [
+          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": "1731323547_183082342",
+      "mask_path": "../../mask/hdr_left_02848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02849.png",
+      "transform_matrix": [
+        [
+          0.9699757695198059,
+          -0.23026041686534882,
+          -0.07827574759721756,
+          4.754875183105469
+        ],
+        [
+          0.07383506000041962,
+          -0.027852805331349373,
+          0.9968814253807068,
+          21.154916763305664
+        ],
+        [
+          -0.23172248899936676,
+          -0.9727303981781006,
+          -0.010015247389674187,
+          -15.948739051818848
+        ],
+        [
+          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": "1731323547_283081531",
+      "mask_path": "../../mask/hdr_left_02849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02850.png",
+      "transform_matrix": [
+        [
+          0.9752106666564941,
+          -0.2033463567495346,
+          -0.0872613862156868,
+          4.839184284210205
+        ],
+        [
+          0.08241581916809082,
+          -0.03219309821724892,
+          0.9960778951644897,
+          21.16718864440918
+        ],
+        [
+          -0.20535799860954285,
+          -0.9785775542259216,
+          -0.014636095613241196,
+          -15.959127426147461
+        ],
+        [
+          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": "1731323547_383082151",
+      "mask_path": "../../mask/hdr_left_02850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02851.png",
+      "transform_matrix": [
+        [
+          0.9793649315834045,
+          -0.18260036408901215,
+          -0.08661036938428879,
+          4.899582386016846
+        ],
+        [
+          0.08237994462251663,
+          -0.03064146637916565,
+          0.9961298704147339,
+          21.178974151611328
+        ],
+        [
+          -0.1845475137233734,
+          -0.9827097058296204,
+          -0.014966566115617752,
+          -15.957106590270996
+        ],
+        [
+          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": "1731323547_483083486",
+      "mask_path": "../../mask/hdr_left_02851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02852.png",
+      "transform_matrix": [
+        [
+          0.9822646379470825,
+          -0.16866521537303925,
+          -0.08190406113862991,
+          4.986865997314453
+        ],
+        [
+          0.07789356261491776,
+          -0.03026997670531273,
+          0.9965019822120667,
+          21.20368194580078
+        ],
+        [
+          -0.17055445909500122,
+          -0.9852085113525391,
+          -0.01659519039094448,
+          -15.970606803894043
+        ],
+        [
+          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": "1731323547_583083391",
+      "mask_path": "../../mask/hdr_left_02852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02853.png",
+      "transform_matrix": [
+        [
+          0.9838263392448425,
+          -0.15929220616817474,
+          -0.08192524313926697,
+          5.065003871917725
+        ],
+        [
+          0.07840638607740402,
+          -0.028261898085474968,
+          0.9965208172798157,
+          21.227863311767578
+        ],
+        [
+          -0.1610533595085144,
+          -0.9868268966674805,
+          -0.015315263532102108,
+          -15.984475135803223
+        ],
+        [
+          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": "1731323547_683083295",
+      "mask_path": "../../mask/hdr_left_02853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02855.png",
+      "transform_matrix": [
+        [
+          0.9856538772583008,
+          -0.14394384622573853,
+          -0.08812776952981949,
+          5.166073322296143
+        ],
+        [
+          0.08690040558576584,
+          -0.014803916215896606,
+          0.9961069822311401,
+          21.269996643066406
+        ],
+        [
+          -0.14468812942504883,
+          -0.9894751310348511,
+          -0.0020827583502978086,
+          -16.008508682250977
+        ],
+        [
+          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": "1731323547_883081436",
+      "mask_path": "../../mask/hdr_left_02855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07268.png",
+      "transform_matrix": [
+        [
+          -0.9882581830024719,
+          -0.1508016139268875,
+          0.024589601904153824,
+          4.745373725891113
+        ],
+        [
+          -0.020165633410215378,
+          -0.030795922502875328,
+          -0.999322235584259,
+          21.43644142150879
+        ],
+        [
+          0.15145666897296906,
+          -0.9880842566490173,
+          0.027393313124775887,
+          -15.94271469116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7268,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_183081865",
+      "mask_path": "../../mask/hdr_left_07268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07269.png",
+      "transform_matrix": [
+        [
+          -0.9891441464424133,
+          -0.1453322023153305,
+          0.021732890978455544,
+          4.675493240356445
+        ],
+        [
+          -0.01885300688445568,
+          -0.021164000034332275,
+          -0.9995981454849243,
+          21.40998649597168
+        ],
+        [
+          0.1457337588071823,
+          -0.9891566038131714,
+          0.018194302916526794,
+          -15.937748908996582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7269,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_283083677",
+      "mask_path": "../../mask/hdr_left_07269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07270.png",
+      "transform_matrix": [
+        [
+          -0.9896145462989807,
+          -0.14257797598838806,
+          0.018288500607013702,
+          4.611506462097168
+        ],
+        [
+          -0.015743032097816467,
+          -0.018961047753691673,
+          -0.9996961951255798,
+          21.381629943847656
+        ],
+        [
+          0.14288142323493958,
+          -0.9896019697189331,
+          0.01651952415704727,
+          -15.92625904083252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7270,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_383082389",
+      "mask_path": "../../mask/hdr_left_07270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07271.png",
+      "transform_matrix": [
+        [
+          -0.991945207118988,
+          -0.12602251768112183,
+          0.012767400592565536,
+          4.528235912322998
+        ],
+        [
+          -0.009557126089930534,
+          -0.02604546770453453,
+          -0.9996151328086853,
+          21.3612003326416
+        ],
+        [
+          0.12630653381347656,
+          -0.9916854500770569,
+          0.024631259962916374,
+          -15.923382759094238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7271,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_483082056",
+      "mask_path": "../../mask/hdr_left_07271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07272.png",
+      "transform_matrix": [
+        [
+          -0.9933984279632568,
+          -0.1146407425403595,
+          0.004129012580960989,
+          4.442556858062744
+        ],
+        [
+          -0.00034269297611899674,
+          -0.03302783891558647,
+          -0.9994543194770813,
+          21.3409423828125
+        ],
+        [
+          0.11471454799175262,
+          -0.9928578734397888,
+          0.032770514488220215,
+          -15.907905578613281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7272,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_583081960",
+      "mask_path": "../../mask/hdr_left_07272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07273.png",
+      "transform_matrix": [
+        [
+          -0.993588387966156,
+          -0.11300411820411682,
+          -0.0035032385494560003,
+          4.375301361083984
+        ],
+        [
+          0.007604119833558798,
+          -0.03587915748357773,
+          -0.9993271827697754,
+          21.326026916503906
+        ],
+        [
+          0.11280238628387451,
+          -0.9929465055465698,
+          0.036508407443761826,
+          -15.890185356140137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7273,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_683081388",
+      "mask_path": "../../mask/hdr_left_07273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07274.png",
+      "transform_matrix": [
+        [
+          -0.9940910339355469,
+          -0.1081504300236702,
+          -0.009298832155764103,
+          4.298367023468018
+        ],
+        [
+          0.013248720206320286,
+          -0.03586096689105034,
+          -0.9992690086364746,
+          21.322845458984375
+        ],
+        [
+          0.10773789882659912,
+          -0.9934875965118408,
+          0.037081923335790634,
+          -15.894596099853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7274,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_783081769",
+      "mask_path": "../../mask/hdr_left_07274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07275.png",
+      "transform_matrix": [
+        [
+          -0.994654655456543,
+          -0.10289110243320465,
+          -0.008681229315698147,
+          4.209497451782227
+        ],
+        [
+          0.01175279263406992,
+          -0.029284019023180008,
+          -0.9995020627975464,
+          21.3056697845459
+        ],
+        [
+          0.10258562117815018,
+          -0.9942615032196045,
+          0.030336743220686913,
+          -15.883310317993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7275,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_883081912",
+      "mask_path": "../../mask/hdr_left_07275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07276.png",
+      "transform_matrix": [
+        [
+          -0.9949992299079895,
+          -0.09977329522371292,
+          -0.004677408374845982,
+          4.132723808288574
+        ],
+        [
+          0.006505599711090326,
+          -0.01800578460097313,
+          -0.9998167157173157,
+          21.287900924682617
+        ],
+        [
+          0.09967079013586044,
+          -0.9948473572731018,
+          0.018564829602837563,
+          -15.877314567565918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7276,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_983081340",
+      "mask_path": "../../mask/hdr_left_07276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07277.png",
+      "transform_matrix": [
+        [
+          -0.9948725700378418,
+          -0.1009463220834732,
+          -0.006174820475280285,
+          4.06369686126709
+        ],
+        [
+          0.006926173344254494,
+          -0.007094067055732012,
+          -0.9999508857727051,
+          21.274513244628906
+        ],
+        [
+          0.10089755803346634,
+          -0.9948666095733643,
+          0.007756865117698908,
+          -15.862555503845215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7277,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_83082675",
+      "mask_path": "../../mask/hdr_left_07277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07278.png",
+      "transform_matrix": [
+        [
+          -0.9934176206588745,
+          -0.11382782459259033,
+          -0.012831650674343109,
+          3.9779675006866455
+        ],
+        [
+          0.01336702425032854,
+          -0.0039413743652403355,
+          -0.9999028444290161,
+          21.27768325805664
+        ],
+        [
+          0.11376617848873138,
+          -0.9934927225112915,
+          0.005436968058347702,
+          -15.818543434143066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7278,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_183083295",
+      "mask_path": "../../mask/hdr_left_07278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07279.png",
+      "transform_matrix": [
+        [
+          -0.9913869500160217,
+          -0.1285875290632248,
+          -0.024843236431479454,
+          3.8940279483795166
+        ],
+        [
+          0.02612312138080597,
+          -0.008275976404547691,
+          -0.9996246099472046,
+          21.285667419433594
+        ],
+        [
+          0.12833362817764282,
+          -0.9916636347770691,
+          0.011563797481358051,
+          -15.792365074157715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7279,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_283081769",
+      "mask_path": "../../mask/hdr_left_07279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07280.png",
+      "transform_matrix": [
+        [
+          -0.9898657202720642,
+          -0.13764862716197968,
+          -0.03490902855992317,
+          3.834179162979126
+        ],
+        [
+          0.03736270219087601,
+          -0.015281605534255505,
+          -0.9991849064826965,
+          21.282251358032227
+        ],
+        [
+          0.13700295984745026,
+          -0.9903632998466492,
+          0.020269664004445076,
+          -15.784717559814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7280,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_383083105",
+      "mask_path": "../../mask/hdr_left_07280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07281.png",
+      "transform_matrix": [
+        [
+          -0.9882357120513916,
+          -0.14928513765335083,
+          -0.03322760388255119,
+          3.7633960247039795
+        ],
+        [
+          0.036595817655324936,
+          -0.01987152174115181,
+          -0.999132513999939,
+          21.26270294189453
+        ],
+        [
+          0.14849534630775452,
+          -0.9885944724082947,
+          0.025100961327552795,
+          -15.761720657348633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7281,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_483082532",
+      "mask_path": "../../mask/hdr_left_07281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07282.png",
+      "transform_matrix": [
+        [
+          -0.9867424368858337,
+          -0.1606568843126297,
+          -0.02299371175467968,
+          3.695460796356201
+        ],
+        [
+          0.026309784501791,
+          -0.018543682992458344,
+          -0.9994817972183228,
+          21.237102508544922
+        ],
+        [
+          0.16014723479747772,
+          -0.9868361949920654,
+          0.02252468653023243,
+          -15.739256858825684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7282,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_583082675",
+      "mask_path": "../../mask/hdr_left_07282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07283.png",
+      "transform_matrix": [
+        [
+          -0.985965371131897,
+          -0.16670475900173187,
+          -0.009050993248820305,
+          3.6422033309936523
+        ],
+        [
+          0.012345371767878532,
+          -0.018736202269792557,
+          -0.9997482299804688,
+          21.21574592590332
+        ],
+        [
+          0.16649319231510162,
+          -0.9858289361000061,
+          0.02053128182888031,
+          -15.72866153717041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7283,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_683082818",
+      "mask_path": "../../mask/hdr_left_07283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07284.png",
+      "transform_matrix": [
+        [
+          -0.9852704405784607,
+          -0.17091004550457,
+          0.005646371748298407,
+          3.584139823913574
+        ],
+        [
+          -0.0023437337949872017,
+          -0.01951947994530201,
+          -0.9998067617416382,
+          21.191822052001953
+        ],
+        [
+          0.17098723351955414,
+          -0.9850932955741882,
+          0.018831400200724602,
+          -15.71981143951416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7284,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_783082485",
+      "mask_path": "../../mask/hdr_left_07284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07285.png",
+      "transform_matrix": [
+        [
+          -0.9809058308601379,
+          -0.19385014474391937,
+          0.015674898400902748,
+          3.5285675525665283
+        ],
+        [
+          -0.012113334611058235,
+          -0.019544562324881554,
+          -0.9997354745864868,
+          21.172677993774414
+        ],
+        [
+          0.19410520792007446,
+          -0.9808365106582642,
+          0.016823209822177887,
+          -15.670308113098145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7285,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_883081436",
+      "mask_path": "../../mask/hdr_left_07285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07286.png",
+      "transform_matrix": [
+        [
+          -0.9763144254684448,
+          -0.21516872942447662,
+          0.022638775408267975,
+          3.462038040161133
+        ],
+        [
+          -0.016834966838359833,
+          -0.02876787818968296,
+          -0.999444305896759,
+          21.158571243286133
+        ],
+        [
+          0.2157004326581955,
+          -0.9761531352996826,
+          0.024464134126901627,
+          -15.620192527770996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7286,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_983081579",
+      "mask_path": "../../mask/hdr_left_07286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07289.png",
+      "transform_matrix": [
+        [
+          -0.9742790460586548,
+          -0.22332645952701569,
+          0.03009219281375408,
+          3.303812026977539
+        ],
+        [
+          -0.020050087943673134,
+          -0.04709852486848831,
+          -0.9986889958381653,
+          21.11646842956543
+        ],
+        [
+          0.2244509607553482,
+          -0.973605215549469,
+          0.04140939190983772,
+          -15.578136444091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7289,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_283079385",
+      "mask_path": "../../mask/hdr_left_07289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07290.png",
+      "transform_matrix": [
+        [
+          -0.973352313041687,
+          -0.22763748466968536,
+          0.027683982625603676,
+          3.253188371658325
+        ],
+        [
+          -0.016667870804667473,
+          -0.05017431825399399,
+          -0.9986013174057007,
+          21.09697723388672
+        ],
+        [
+          0.22870811820030212,
+          -0.9724524617195129,
+          0.04504305496811867,
+          -15.563753128051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7290,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_383081197",
+      "mask_path": "../../mask/hdr_left_07290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07292.png",
+      "transform_matrix": [
+        [
+          -0.9774475693702698,
+          -0.21023699641227722,
+          0.019916556775569916,
+          3.151885509490967
+        ],
+        [
+          -0.007811942137777805,
+          -0.05825015529990196,
+          -0.9982714056968689,
+          21.063199996948242
+        ],
+        [
+          0.21103371679782867,
+          -0.9759135842323303,
+          0.055294107645750046,
+          -15.555037498474121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7292,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_583082199",
+      "mask_path": "../../mask/hdr_left_07292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07293.png",
+      "transform_matrix": [
+        [
+          -0.9789390563964844,
+          -0.20381911098957062,
+          0.01166405901312828,
+          3.091874837875366
+        ],
+        [
+          0.0017071872716769576,
+          -0.0653047040104866,
+          -0.9978639483451843,
+          21.046794891357422
+        ],
+        [
+          0.20414544641971588,
+          -0.9768280982971191,
+          0.0642772763967514,
+          -15.529462814331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7293,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_683079004",
+      "mask_path": "../../mask/hdr_left_07293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07294.png",
+      "transform_matrix": [
+        [
+          -0.9795440435409546,
+          -0.20119306445121765,
+          0.003828737186267972,
+          3.027366876602173
+        ],
+        [
+          0.010471440851688385,
+          -0.06996447592973709,
+          -0.9974945783615112,
+          21.03573226928711
+        ],
+        [
+          0.2009568214416504,
+          -0.9770498275756836,
+          0.07064006477594376,
+          -15.505078315734863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7294,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_783081531",
+      "mask_path": "../../mask/hdr_left_07294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07295.png",
+      "transform_matrix": [
+        [
+          -0.9807642698287964,
+          -0.19519580900669098,
+          -0.00011187053314642981,
+          2.9418749809265137
+        ],
+        [
+          0.01357689592987299,
+          -0.06764550507068634,
+          -0.9976170659065247,
+          21.02168083190918
+        ],
+        [
+          0.19472308456897736,
+          -0.9784287214279175,
+          0.0689944475889206,
+          -15.493830680847168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7295,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_883079290",
+      "mask_path": "../../mask/hdr_left_07295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07296.png",
+      "transform_matrix": [
+        [
+          -0.9819602370262146,
+          -0.18906554579734802,
+          -0.0028761234134435654,
+          2.857203722000122
+        ],
+        [
+          0.013129102997481823,
+          -0.05299978330731392,
+          -0.9985082149505615,
+          21.010421752929688
+        ],
+        [
+          0.1886310577392578,
+          -0.9805331826210022,
+          0.054525941610336304,
+          -15.488810539245605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7296,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_983081817",
+      "mask_path": "../../mask/hdr_left_07296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07297.png",
+      "transform_matrix": [
+        [
+          -0.98294597864151,
+          -0.183725968003273,
+          -0.007862735539674759,
+          2.789203643798828
+        ],
+        [
+          0.015271155163645744,
+          -0.038943104445934296,
+          -0.9991246461868286,
+          21.00196075439453
+        ],
+        [
+          0.18325892090797424,
+          -0.982205867767334,
+          0.04108468070626259,
+          -15.476092338562012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7297,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_83081245",
+      "mask_path": "../../mask/hdr_left_07297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07298.png",
+      "transform_matrix": [
+        [
+          -0.9856975674629211,
+          -0.16798803210258484,
+          -0.013425588607788086,
+          2.7003326416015625
+        ],
+        [
+          0.019860288128256798,
+          -0.036683131009340286,
+          -0.999129593372345,
+          20.99740982055664
+        ],
+        [
+          0.16734930872917175,
+          -0.985106348991394,
+          0.03949476033449173,
+          -15.46448040008545
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7298,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_183080673",
+      "mask_path": "../../mask/hdr_left_07298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07299.png",
+      "transform_matrix": [
+        [
+          -0.9872278571128845,
+          -0.15774546563625336,
+          -0.022302325814962387,
+          2.614501476287842
+        ],
+        [
+          0.02865479327738285,
+          -0.03811110928654671,
+          -0.9988625645637512,
+          20.989200592041016
+        ],
+        [
+          0.15671604871749878,
+          -0.9867441058158875,
+          0.04214451462030411,
+          -15.44757080078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7299,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_283079147",
+      "mask_path": "../../mask/hdr_left_07299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07300.png",
+      "transform_matrix": [
+        [
+          -0.9874809980392456,
+          -0.15467633306980133,
+          -0.030924882739782333,
+          2.5413198471069336
+        ],
+        [
+          0.038491424173116684,
+          -0.04616484045982361,
+          -0.9981919527053833,
+          20.97673797607422
+        ],
+        [
+          0.15296901762485504,
+          -0.9868861436843872,
+          0.05154062435030937,
+          -15.427606582641602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7300,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_383079767",
+      "mask_path": "../../mask/hdr_left_07300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07301.png",
+      "transform_matrix": [
+        [
+          -0.9884059429168701,
+          -0.14777983725070953,
+          -0.034853748977184296,
+          2.451674222946167
+        ],
+        [
+          0.04325726628303528,
+          -0.054037004709243774,
+          -0.9976015686988831,
+          20.957134246826172
+        ],
+        [
+          0.1455419808626175,
+          -0.987542986869812,
+          0.05980304256081581,
+          -15.413640022277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7301,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_483082294",
+      "mask_path": "../../mask/hdr_left_07301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07302.png",
+      "transform_matrix": [
+        [
+          -0.9900164604187012,
+          -0.13780227303504944,
+          -0.029629912227392197,
+          2.3639414310455322
+        ],
+        [
+          0.0372316874563694,
+          -0.05291758477687836,
+          -0.9979045391082764,
+          20.929290771484375
+        ],
+        [
+          0.13594557344913483,
+          -0.9890452027320862,
+          0.05751989781856537,
+          -15.401225090026855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7302,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_583081245",
+      "mask_path": "../../mask/hdr_left_07302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07303.png",
+      "transform_matrix": [
+        [
+          -0.9906652569770813,
+          -0.13474681973457336,
+          -0.02062993124127388,
+          2.2879114151000977
+        ],
+        [
+          0.026962408795952797,
+          -0.045340728014707565,
+          -0.9986076951026917,
+          20.905065536499023
+        ],
+        [
+          0.13362382352352142,
+          -0.9898421764373779,
+          0.04855058342218399,
+          -15.387962341308594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7303,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_683081626",
+      "mask_path": "../../mask/hdr_left_07303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07304.png",
+      "transform_matrix": [
+        [
+          -0.9907649159431458,
+          -0.13473770022392273,
+          -0.015187233686447144,
+          2.21453857421875
+        ],
+        [
+          0.02076042629778385,
+          -0.040055014193058014,
+          -0.998981773853302,
+          20.889423370361328
+        ],
+        [
+          0.13399216532707214,
+          -0.9900714159011841,
+          0.04248231649398804,
+          -15.383499145507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7304,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_783081293",
+      "mask_path": "../../mask/hdr_left_07304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07305.png",
+      "transform_matrix": [
+        [
+          -0.9912781715393066,
+          -0.1307888925075531,
+          -0.016178254038095474,
+          2.132190227508545
+        ],
+        [
+          0.02195950783789158,
+          -0.042882341891527176,
+          -0.9988387227058411,
+          20.8698787689209
+        ],
+        [
+          0.12994323670864105,
+          -0.9904824495315552,
+          0.04538039118051529,
+          -15.368538856506348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7305,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_883081912",
+      "mask_path": "../../mask/hdr_left_07305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07306.png",
+      "transform_matrix": [
+        [
+          -0.9915793538093567,
+          -0.12766988575458527,
+          -0.021698951721191406,
+          2.0503132343292236
+        ],
+        [
+          0.028199389576911926,
+          -0.04933096095919609,
+          -0.9983842968940735,
+          20.853343963623047
+        ],
+        [
+          0.1263931691646576,
+          -0.9905892014503479,
+          0.052515774965286255,
+          -15.35202407836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7306,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_983082056",
+      "mask_path": "../../mask/hdr_left_07306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07307.png",
+      "transform_matrix": [
+        [
+          -0.9915712475776672,
+          -0.12664997577667236,
+          -0.027316799387335777,
+          1.9774872064590454
+        ],
+        [
+          0.03435785695910454,
+          -0.053747233003377914,
+          -0.9979633092880249,
+          20.83382797241211
+        ],
+        [
+          0.12492378801107407,
+          -0.9904903173446655,
+          0.05764563009142876,
+          -15.333052635192871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7307,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_83081960",
+      "mask_path": "../../mask/hdr_left_07307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07308.png",
+      "transform_matrix": [
+        [
+          -0.9918966889381409,
+          -0.12372486293315887,
+          -0.028860898688435555,
+          1.8901729583740234
+        ],
+        [
+          0.035043325275182724,
+          -0.04808734729886055,
+          -0.998228132724762,
+          20.81217384338379
+        ],
+        [
+          0.1221177875995636,
+          -0.9911507368087769,
+          0.05203340947628021,
+          -15.322532653808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7308,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_183080434",
+      "mask_path": "../../mask/hdr_left_07308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07309.png",
+      "transform_matrix": [
+        [
+          -0.9926039576530457,
+          -0.11804591119289398,
+          -0.028327269479632378,
+          1.8062944412231445
+        ],
+        [
+          0.0332755520939827,
+          -0.040160153061151505,
+          -0.9986389875411987,
+          20.79764747619629
+        ],
+        [
+          0.11674762517213821,
+          -0.9921957850456238,
+          0.04379117488861084,
+          -15.329572677612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7309,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_283081293",
+      "mask_path": "../../mask/hdr_left_07309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07310.png",
+      "transform_matrix": [
+        [
+          -0.9931488633155823,
+          -0.11301454901695251,
+          -0.02971429005265236,
+          1.7389166355133057
+        ],
+        [
+          0.0341818630695343,
+          -0.037800345569849014,
+          -0.9987004399299622,
+          20.786190032958984
+        ],
+        [
+          0.1117444708943367,
+          -0.9928740859031677,
+          0.041404418647289276,
+          -15.338887214660645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7310,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_383081197",
+      "mask_path": "../../mask/hdr_left_07310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07311.png",
+      "transform_matrix": [
+        [
+          -0.9936660528182983,
+          -0.10686944425106049,
+          -0.03473776951432228,
+          1.6553287506103516
+        ],
+        [
+          0.038689833134412766,
+          -0.03513093665242195,
+          -0.998633623123169,
+          20.770597457885742
+        ],
+        [
+          0.10550303012132645,
+          -0.9936522841453552,
+          0.03904317691922188,
+          -15.314777374267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7311,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_483079671",
+      "mask_path": "../../mask/hdr_left_07311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07312.png",
+      "transform_matrix": [
+        [
+          -0.9931435585021973,
+          -0.10839402675628662,
+          -0.043777648359537125,
+          1.570981740951538
+        ],
+        [
+          0.04783379286527634,
+          -0.03510601073503494,
+          -0.998238205909729,
+          20.76474380493164
+        ],
+        [
+          0.1066661849617958,
+          -0.9934880137443542,
+          0.040050208568573,
+          -15.285845756530762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7312,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_583081483",
+      "mask_path": "../../mask/hdr_left_07312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07313.png",
+      "transform_matrix": [
+        [
+          -0.9923537969589233,
+          -0.11175999045372009,
+          -0.05237932875752449,
+          1.5064890384674072
+        ],
+        [
+          0.05728919804096222,
+          -0.041180819272994995,
+          -0.9975078701972961,
+          20.767065048217773
+        ],
+        [
+          0.10932444781064987,
+          -0.9928815960884094,
+          0.0472685806453228,
+          -15.288789749145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7313,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_683081865",
+      "mask_path": "../../mask/hdr_left_07313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07314.png",
+      "transform_matrix": [
+        [
+          -0.9910709857940674,
+          -0.12053932994604111,
+          -0.05699499323964119,
+          1.418794870376587
+        ],
+        [
+          0.06490057706832886,
+          -0.06270673125982285,
+          -0.9959195852279663,
+          20.749895095825195
+        ],
+        [
+          0.116473488509655,
+          -0.990726113319397,
+          0.06996989250183105,
+          -15.271810531616211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7314,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_783082723",
+      "mask_path": "../../mask/hdr_left_07314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07315.png",
+      "transform_matrix": [
+        [
+          -0.9900166392326355,
+          -0.13022910058498383,
+          -0.0539189875125885,
+          1.3227242231369019
+        ],
+        [
+          0.06247883662581444,
+          -0.06256086379289627,
+          -0.9960836172103882,
+          20.72645378112793
+        ],
+        [
+          0.12634584307670593,
+          -0.9895082712173462,
+          0.07007286697626114,
+          -15.22509765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7315,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_883083343",
+      "mask_path": "../../mask/hdr_left_07315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07316.png",
+      "transform_matrix": [
+        [
+          -0.9896384477615356,
+          -0.1374608874320984,
+          -0.041475486010313034,
+          1.2452645301818848
+        ],
+        [
+          0.0481276661157608,
+          -0.045426953583955765,
+          -0.9978076219558716,
+          20.715322494506836
+        ],
+        [
+          0.13527542352676392,
+          -0.9894649386405945,
+          0.051571935415267944,
+          -15.209375381469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7316,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_983082294",
+      "mask_path": "../../mask/hdr_left_07316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07317.png",
+      "transform_matrix": [
+        [
+          -0.9887256622314453,
+          -0.14765439927577972,
+          -0.02489052340388298,
+          1.1660447120666504
+        ],
+        [
+          0.031491681933403015,
+          -0.042538564652204514,
+          -0.9985984563827515,
+          20.698875427246094
+        ],
+        [
+          0.14638862013816833,
+          -0.9881238341331482,
+          0.0467088557779789,
+          -15.207671165466309
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7317,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_83083391",
+      "mask_path": "../../mask/hdr_left_07317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07318.png",
+      "transform_matrix": [
+        [
+          -0.982308030128479,
+          -0.18659786880016327,
+          -0.015879739075899124,
+          1.0746793746948242
+        ],
+        [
+          0.022957151755690575,
+          -0.035829126834869385,
+          -0.9990941882133484,
+          20.692276000976562
+        ],
+        [
+          0.18585987389087677,
+          -0.981782853603363,
+          0.03947899490594864,
+          -15.138577461242676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7318,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_183082103",
+      "mask_path": "../../mask/hdr_left_07318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07319.png",
+      "transform_matrix": [
+        [
+          -0.9758042693138123,
+          -0.21809060871601105,
+          -0.015565762296319008,
+          0.9899095296859741
+        ],
+        [
+          0.02342090755701065,
+          -0.0334789864718914,
+          -0.999164879322052,
+          20.689685821533203
+        ],
+        [
+          0.2173873484134674,
+          -0.9753541350364685,
+          0.037776824086904526,
+          -15.075470924377441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7319,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_283083915",
+      "mask_path": "../../mask/hdr_left_07319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07320.png",
+      "transform_matrix": [
+        [
+          -0.9753447771072388,
+          -0.22050896286964417,
+          -0.008857200853526592,
+          0.9230073690414429
+        ],
+        [
+          0.017866866663098335,
+          -0.03889758884906769,
+          -0.999083399772644,
+          20.67731285095215
+        ],
+        [
+          0.21996231377124786,
+          -0.9746091365814209,
+          0.041878364980220795,
+          -15.061975479125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7320,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_383081674",
+      "mask_path": "../../mask/hdr_left_07320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07321.png",
+      "transform_matrix": [
+        [
+          -0.9773377180099487,
+          -0.21167148649692535,
+          0.0024796747602522373,
+          0.8570383787155151
+        ],
+        [
+          0.005088279955089092,
+          -0.03520127013325691,
+          -0.9993672370910645,
+          20.658559799194336
+        ],
+        [
+          0.21162481606006622,
+          -0.9767068028450012,
+          0.03548057749867439,
+          -15.053524017333984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7321,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_483083009",
+      "mask_path": "../../mask/hdr_left_07321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07322.png",
+      "transform_matrix": [
+        [
+          -0.9781044125556946,
+          -0.20766505599021912,
+          0.01367286778986454,
+          0.7990573644638062
+        ],
+        [
+          -0.007546660490334034,
+          -0.030263936147093773,
+          -0.9995134472846985,
+          20.64023780822754
+        ],
+        [
+          0.2079777866601944,
+          -0.9777317643165588,
+          0.028034111484885216,
+          -15.050812721252441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7322,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_583081483",
+      "mask_path": "../../mask/hdr_left_07322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07323.png",
+      "transform_matrix": [
+        [
+          -0.9777992963790894,
+          -0.20778970420360565,
+          0.0270545557141304,
+          0.746563196182251
+        ],
+        [
+          -0.019953878596425056,
+          -0.03619308024644852,
+          -0.9991455674171448,
+          20.61933708190918
+        ],
+        [
+          0.20859134197235107,
+          -0.977503776550293,
+          0.03124335967004299,
+          -15.046420097351074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7323,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_683082580",
+      "mask_path": "../../mask/hdr_left_07323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07324.png",
+      "transform_matrix": [
+        [
+          -0.9785691499710083,
+          -0.20165519416332245,
+          0.041681982576847076,
+          0.6803640127182007
+        ],
+        [
+          -0.034042179584503174,
+          -0.04120767489075661,
+          -0.9985705614089966,
+          20.594356536865234
+        ],
+        [
+          0.2030845433473587,
+          -0.9785893559455872,
+          0.033459775149822235,
+          -15.044740676879883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7324,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_783082723",
+      "mask_path": "../../mask/hdr_left_07324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07325.png",
+      "transform_matrix": [
+        [
+          -0.9792664647102356,
+          -0.19588498771190643,
+          0.05163516849279404,
+          0.6070782542228699
+        ],
+        [
+          -0.04303392395377159,
+          -0.04791728034615517,
+          -0.9979238510131836,
+          20.568294525146484
+        ],
+        [
+          0.1979524791240692,
+          -0.9794554710388184,
+          0.038494084030389786,
+          -15.035268783569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7325,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_883082866",
+      "mask_path": "../../mask/hdr_left_07325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07326.png",
+      "transform_matrix": [
+        [
+          -0.9792640209197998,
+          -0.19464585185050964,
+          0.05616823211312294,
+          0.5434855222702026
+        ],
+        [
+          -0.04587159305810928,
+          -0.05701237916946411,
+          -0.9973191618919373,
+          20.548538208007812
+        ],
+        [
+          0.19732631742954254,
+          -0.9792153239250183,
+          0.04690144956111908,
+          -15.012673377990723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7326,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_983081579",
+      "mask_path": "../../mask/hdr_left_07326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07327.png",
+      "transform_matrix": [
+        [
+          -0.9808014035224915,
+          -0.18700863420963287,
+          0.055284902453422546,
+          0.4737171530723572
+        ],
+        [
+          -0.045211803168058395,
+          -0.0577104352414608,
+          -0.9973090291023254,
+          20.537792205810547
+        ],
+        [
+          0.18969592452049255,
+          -0.9806616306304932,
+          0.048147477209568024,
+          -15.0045747756958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7327,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_83083391",
+      "mask_path": "../../mask/hdr_left_07327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07328.png",
+      "transform_matrix": [
+        [
+          -0.9822134375572205,
+          -0.17918632924556732,
+          0.056115396320819855,
+          0.39819571375846863
+        ],
+        [
+          -0.048248451203107834,
+          -0.04796722158789635,
+          -0.9976829886436462,
+          20.522375106811523
+        ],
+        [
+          0.181462824344635,
+          -0.9826452136039734,
+          0.038468580693006516,
+          -14.996432304382324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7328,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_183081388",
+      "mask_path": "../../mask/hdr_left_07328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07329.png",
+      "transform_matrix": [
+        [
+          -0.9830883741378784,
+          -0.1739860326051712,
+          0.05714896693825722,
+          0.3317692279815674
+        ],
+        [
+          -0.05104953795671463,
+          -0.03933613374829292,
+          -0.9979211688041687,
+          20.502588272094727
+        ],
+        [
+          0.1758723258972168,
+          -0.9839622378349304,
+          0.029788995161652565,
+          -14.983834266662598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7329,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_283082008",
+      "mask_path": "../../mask/hdr_left_07329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07330.png",
+      "transform_matrix": [
+        [
+          -0.9845768213272095,
+          -0.16623151302337646,
+          0.054547958076000214,
+          0.2632131278514862
+        ],
+        [
+          -0.04945334047079086,
+          -0.03463735431432724,
+          -0.9981756210327148,
+          20.485990524291992
+        ],
+        [
+          0.1678176373243332,
+          -0.9854782223701477,
+          0.025882435962557793,
+          -14.972288131713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7330,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_383081436",
+      "mask_path": "../../mask/hdr_left_07330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07331.png",
+      "transform_matrix": [
+        [
+          -0.9874983429908752,
+          -0.14988216757774353,
+          0.04880852997303009,
+          0.18696308135986328
+        ],
+        [
+          -0.04402906075119972,
+          -0.03504451736807823,
+          -0.998415470123291,
+          20.473398208618164
+        ],
+        [
+          0.15135511755943298,
+          -0.9880827069282532,
+          0.028007227927446365,
+          -14.958681106567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7331,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_483079910",
+      "mask_path": "../../mask/hdr_left_07331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07332.png",
+      "transform_matrix": [
+        [
+          -0.9892324209213257,
+          -0.1409059315919876,
+          0.039557501673698425,
+          0.12401968240737915
+        ],
+        [
+          -0.03402940556406975,
+          -0.04142911732196808,
+          -0.9985618591308594,
+          20.456798553466797
+        ],
+        [
+          0.14234210550785065,
+          -0.9891557693481445,
+          0.036188073456287384,
+          -14.93381404876709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7332,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_583080530",
+      "mask_path": "../../mask/hdr_left_07332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07333.png",
+      "transform_matrix": [
+        [
+          -0.9896746873855591,
+          -0.1400928646326065,
+          0.03029882162809372,
+          0.052892863750457764
+        ],
+        [
+          -0.023489249870181084,
+          -0.050008419901132584,
+          -0.9984725117683411,
+          20.441078186035156
+        ],
+        [
+          0.14139404892921448,
+          -0.9888747334480286,
+          0.04620138555765152,
+          -14.921443939208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7333,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_683084011",
+      "mask_path": "../../mask/hdr_left_07333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07334.png",
+      "transform_matrix": [
+        [
+          -0.9888597130775452,
+          -0.14671294391155243,
+          0.025130944326519966,
+          -0.03826671838760376
+        ],
+        [
+          -0.016048958525061607,
+          -0.06276176124811172,
+          -0.9978995323181152,
+          20.4125919342041
+        ],
+        [
+          0.14798200130462646,
+          -0.9871860146522522,
+          0.05970798805356026,
+          -14.89858341217041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7334,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_783081769",
+      "mask_path": "../../mask/hdr_left_07334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07335.png",
+      "transform_matrix": [
+        [
+          -0.9876322746276855,
+          -0.153819277882576,
+          0.030367963016033173,
+          -0.12100893259048462
+        ],
+        [
+          -0.02067287266254425,
+          -0.06424127519130707,
+          -0.9977201819419861,
+          20.38007926940918
+        ],
+        [
+          0.1554194539785385,
+          -0.9860084652900696,
+          0.06026686355471611,
+          -14.864089012145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7335,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_883082151",
+      "mask_path": "../../mask/hdr_left_07335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07336.png",
+      "transform_matrix": [
+        [
+          -0.9868767261505127,
+          -0.15689098834991455,
+          0.03820275515317917,
+          -0.18973860144615173
+        ],
+        [
+          -0.0294665340334177,
+          -0.057637251913547516,
+          -0.9979026317596436,
+          20.361814498901367
+        ],
+        [
+          0.1587638109922409,
+          -0.9859326481819153,
+          0.052257828414440155,
+          -14.851875305175781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7336,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_983082056",
+      "mask_path": "../../mask/hdr_left_07336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07337.png",
+      "transform_matrix": [
+        [
+          -0.9861578345298767,
+          -0.16150358319282532,
+          0.03753931075334549,
+          -0.26087290048599243
+        ],
+        [
+          -0.0283771101385355,
+          -0.05866861343383789,
+          -0.9978740811347961,
+          20.347440719604492
+        ],
+        [
+          0.16336263716220856,
+          -0.9851267337799072,
+          0.0532735139131546,
+          -14.835768699645996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7337,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_83082437",
+      "mask_path": "../../mask/hdr_left_07337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07338.png",
+      "transform_matrix": [
+        [
+          -0.9851213097572327,
+          -0.16939319670200348,
+          0.029016098007559776,
+          -0.334269255399704
+        ],
+        [
+          -0.01782863587141037,
+          -0.06719592213630676,
+          -0.9975804686546326,
+          20.338909149169922
+        ],
+        [
+          0.1709330976009369,
+          -0.9832552075386047,
+          0.06317608058452606,
+          -14.8072509765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7338,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_183082342",
+      "mask_path": "../../mask/hdr_left_07338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07339.png",
+      "transform_matrix": [
+        [
+          -0.9837087988853455,
+          -0.1785595864057541,
+          0.020820442587137222,
+          -0.40269312262535095
+        ],
+        [
+          -0.007153200451284647,
+          -0.07684655487537384,
+          -0.9970173239707947,
+          20.330610275268555
+        ],
+        [
+          0.1796269565820694,
+          -0.980923593044281,
+          0.07431735843420029,
+          -14.785463333129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7339,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_283082246",
+      "mask_path": "../../mask/hdr_left_07339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07340.png",
+      "transform_matrix": [
+        [
+          -0.9819517731666565,
+          -0.1883351057767868,
+          0.01733504794538021,
+          -0.48236021399497986
+        ],
+        [
+          0.00014184039901010692,
+          -0.09238947927951813,
+          -0.9957228899002075,
+          20.29714012145996
+        ],
+        [
+          0.18913114070892334,
+          -0.9777495265007019,
+          0.09074872732162476,
+          -14.747563362121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7340,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_383081912",
+      "mask_path": "../../mask/hdr_left_07340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07341.png",
+      "transform_matrix": [
+        [
+          -0.9796780347824097,
+          -0.19971565902233124,
+          0.01856369897723198,
+          -0.5534507036209106
+        ],
+        [
+          -0.00047922064550220966,
+          -0.09022071957588196,
+          -0.9959216713905334,
+          20.27283477783203
+        ],
+        [
+          0.20057596266269684,
+          -0.9756914973258972,
+          0.08829154819250107,
+          -14.706149101257324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7341,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_483083724",
+      "mask_path": "../../mask/hdr_left_07341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07342.png",
+      "transform_matrix": [
+        [
+          -0.9774587154388428,
+          -0.21013444662094116,
+          0.020443977788090706,
+          -0.6188850402832031
+        ],
+        [
+          -0.0038359861355274916,
+          -0.07914069294929504,
+          -0.9968560338020325,
+          20.263959884643555
+        ],
+        [
+          0.21109174191951752,
+          -0.9744641780853271,
+          0.0765506848692894,
+          -14.694084167480469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7342,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_583081483",
+      "mask_path": "../../mask/hdr_left_07342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07343.png",
+      "transform_matrix": [
+        [
+          -0.9764477610588074,
+          -0.21462716162204742,
+          0.0220195222645998,
+          -0.6887499094009399
+        ],
+        [
+          -0.005087163764983416,
+          -0.07912720739841461,
+          -0.9968515038490295,
+          20.25181770324707
+        ],
+        [
+          0.21569375693798065,
+          -0.97348552942276,
+          0.07617174834012985,
+          -14.694890022277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7343,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_683078765",
+      "mask_path": "../../mask/hdr_left_07343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07344.png",
+      "transform_matrix": [
+        [
+          -0.9693101048469543,
+          -0.24521900713443756,
+          0.01747705787420273,
+          -0.7674225568771362
+        ],
+        [
+          -0.0035904499236494303,
+          -0.05696259066462517,
+          -0.9983698129653931,
+          20.247133255004883
+        ],
+        [
+          0.2458147555589676,
+          -0.9677928686141968,
+          0.054333966225385666,
+          -14.655655860900879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7344,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_783081293",
+      "mask_path": "../../mask/hdr_left_07344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07345.png",
+      "transform_matrix": [
+        [
+          -0.9594353437423706,
+          -0.28180381655693054,
+          0.00839092954993248,
+          -0.8395519256591797
+        ],
+        [
+          0.005649956874549389,
+          -0.048975564539432526,
+          -0.9987839460372925,
+          20.245248794555664
+        ],
+        [
+          0.28187209367752075,
+          -0.9582212567329407,
+          0.0485810711979866,
+          -14.55184268951416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7345,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_883081436",
+      "mask_path": "../../mask/hdr_left_07345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07347.png",
+      "transform_matrix": [
+        [
+          -0.9587346911430359,
+          -0.2840135097503662,
+          0.012806958518922329,
+          -0.9381592273712158
+        ],
+        [
+          0.009250666946172714,
+          -0.07618678361177444,
+          -0.9970506429672241,
+          20.21603012084961
+        ],
+        [
+          0.2841515839099884,
+          -0.9557886719703674,
+          0.07567022740840912,
+          -14.527143478393555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7347,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_83081722",
+      "mask_path": "../../mask/hdr_left_07347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07348.png",
+      "transform_matrix": [
+        [
+          -0.9622870087623596,
+          -0.2716916501522064,
+          0.013683331198990345,
+          -1.0032867193222046
+        ],
+        [
+          0.00547369010746479,
+          -0.06962723284959793,
+          -0.9975579977035522,
+          20.20216178894043
+        ],
+        [
+          0.271980881690979,
+          -0.9598624110221863,
+          0.06848853081464767,
+          -14.520976066589355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7348,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_183081865",
+      "mask_path": "../../mask/hdr_left_07348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07349.png",
+      "transform_matrix": [
+        [
+          -0.9644703269004822,
+          -0.2635665535926819,
+          0.01815393753349781,
+          -1.0665853023529053
+        ],
+        [
+          -0.00022547571279574186,
+          -0.06789400428533554,
+          -0.9976925253868103,
+          20.184423446655273
+        ],
+        [
+          0.2641909122467041,
+          -0.9622489809989929,
+          0.06542232632637024,
+          -14.510016441345215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7349,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_283082962",
+      "mask_path": "../../mask/hdr_left_07349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07350.png",
+      "transform_matrix": [
+        [
+          -0.9660800099372864,
+          -0.2570171058177948,
+          0.025130094960331917,
+          -1.1148686408996582
+        ],
+        [
+          -0.007585874292999506,
+          -0.0690259262919426,
+          -0.9975860118865967,
+          20.162128448486328
+        ],
+        [
+          0.2581312954425812,
+          -0.9639385938644409,
+          0.06473485380411148,
+          -14.49277114868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7350,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_383081674",
+      "mask_path": "../../mask/hdr_left_07350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07351.png",
+      "transform_matrix": [
+        [
+          -0.9670003056526184,
+          -0.2520262897014618,
+          0.03732383996248245,
+          -1.1747009754180908
+        ],
+        [
+          -0.018863284960389137,
+          -0.07527189701795578,
+          -0.9969845414161682,
+          20.14047622680664
+        ],
+        [
+          0.2540757358074188,
+          -0.964788556098938,
+          0.06803391128778458,
+          -14.479386329650879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7351,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_483083724",
+      "mask_path": "../../mask/hdr_left_07351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07352.png",
+      "transform_matrix": [
+        [
+          -0.9673937559127808,
+          -0.24787843227386475,
+          0.05201458930969238,
+          -1.2375370264053345
+        ],
+        [
+          -0.031002458184957504,
+          -0.08793190121650696,
+          -0.9956439137458801,
+          20.11895179748535
+        ],
+        [
+          0.251372367143631,
+          -0.9647923707962036,
+          0.07737993448972702,
+          -14.462556838989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7352,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_583082914",
+      "mask_path": "../../mask/hdr_left_07352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07353.png",
+      "transform_matrix": [
+        [
+          -0.9686257243156433,
+          -0.23964250087738037,
+          0.06584622710943222,
+          -1.3033744096755981
+        ],
+        [
+          -0.04285333305597305,
+          -0.09992805868387222,
+          -0.9940714240074158,
+          20.09067153930664
+        ],
+        [
+          0.24480165541172028,
+          -0.9657048583030701,
+          0.08652340620756149,
+          -14.443379402160645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7353,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_683082580",
+      "mask_path": "../../mask/hdr_left_07353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07354.png",
+      "transform_matrix": [
+        [
+          -0.9712074398994446,
+          -0.22311709821224213,
+          0.08351479470729828,
+          -1.3817554712295532
+        ],
+        [
+          -0.0634385198354721,
+          -0.0956922248005867,
+          -0.9933874011039734,
+          20.06304168701172
+        ],
+        [
+          0.2296334058046341,
+          -0.9700834155082703,
+          0.07878279685974121,
+          -14.435006141662598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7354,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_783081769",
+      "mask_path": "../../mask/hdr_left_07354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07355.png",
+      "transform_matrix": [
+        [
+          -0.9728248715400696,
+          -0.2073328197002411,
+          0.1030764952301979,
+          -1.4478180408477783
+        ],
+        [
+          -0.08704302459955215,
+          -0.08504554629325867,
+          -0.992567777633667,
+          20.03672981262207
+        ],
+        [
+          0.21455805003643036,
+          -0.9745668172836304,
+          0.06468755006790161,
+          -14.429193496704102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7355,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_883082151",
+      "mask_path": "../../mask/hdr_left_07355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07356.png",
+      "transform_matrix": [
+        [
+          -0.9729214310646057,
+          -0.19642965495586395,
+          0.12181572616100311,
+          -1.5026317834854126
+        ],
+        [
+          -0.10756969451904297,
+          -0.08167147636413574,
+          -0.9908372759819031,
+          20.00478172302246
+        ],
+        [
+          0.2045786827802658,
+          -0.9771106839179993,
+          0.058330047875642776,
+          -14.413772583007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7356,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_983081102",
+      "mask_path": "../../mask/hdr_left_07356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07357.png",
+      "transform_matrix": [
+        [
+          -0.9747476577758789,
+          -0.17587250471115112,
+          0.13760724663734436,
+          -1.5698611736297607
+        ],
+        [
+          -0.12411890178918839,
+          -0.08557263761758804,
+          -0.9885705709457397,
+          19.97507095336914
+        ],
+        [
+          0.18563778698444366,
+          -0.9806866645812988,
+          0.06158262863755226,
+          -14.40860652923584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7357,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_83080291",
+      "mask_path": "../../mask/hdr_left_07357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07358.png",
+      "transform_matrix": [
+        [
+          -0.9779223203659058,
+          -0.1557091623544693,
+          0.13936538994312286,
+          -1.6251510381698608
+        ],
+        [
+          -0.1255151629447937,
+          -0.09554022550582886,
+          -0.987480640411377,
+          19.94676971435547
+        ],
+        [
+          0.1670747548341751,
+          -0.983171820640564,
+          0.07388705760240555,
+          -14.391265869140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7358,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_183080434",
+      "mask_path": "../../mask/hdr_left_07358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07359.png",
+      "transform_matrix": [
+        [
+          -0.9802126884460449,
+          -0.14596661925315857,
+          0.1337040364742279,
+          -1.6771035194396973
+        ],
+        [
+          -0.1188395619392395,
+          -0.10623244941234589,
+          -0.9872141480445862,
+          19.923831939697266
+        ],
+        [
+          0.15830399096012115,
+          -0.983569324016571,
+          0.08678378164768219,
+          -14.372048377990723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7359,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_283080101",
+      "mask_path": "../../mask/hdr_left_07359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07360.png",
+      "transform_matrix": [
+        [
+          -0.980244517326355,
+          -0.1491893231868744,
+          0.12985843420028687,
+          -1.7357161045074463
+        ],
+        [
+          -0.11150868982076645,
+          -0.12541772425174713,
+          -0.985817551612854,
+          19.895341873168945
+        ],
+        [
+          0.16335999965667725,
+          -0.9808226227760315,
+          0.10630413144826889,
+          -14.363129615783691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7360,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_383079767",
+      "mask_path": "../../mask/hdr_left_07360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07361.png",
+      "transform_matrix": [
+        [
+          -0.9788311719894409,
+          -0.1560312658548355,
+          0.13245253264904022,
+          -1.8152801990509033
+        ],
+        [
+          -0.11319121718406677,
+          -0.12648382782936096,
+          -0.985489547252655,
+          19.851011276245117
+        ],
+        [
+          0.17052026093006134,
+          -0.9796203970909119,
+          0.10614494234323502,
+          -14.313719749450684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7361,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_483080863",
+      "mask_path": "../../mask/hdr_left_07361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07362.png",
+      "transform_matrix": [
+        [
+          -0.9778727293014526,
+          -0.15681515634059906,
+          0.1384693831205368,
+          -1.8951427936553955
+        ],
+        [
+          -0.12159992754459381,
+          -0.11253012716770172,
+          -0.9861797094345093,
+          19.82294273376465
+        ],
+        [
+          0.17022989690303802,
+          -0.9811962246894836,
+          0.09097142517566681,
+          -14.294648170471191
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7362,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_583079814",
+      "mask_path": "../../mask/hdr_left_07362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07363.png",
+      "transform_matrix": [
+        [
+          -0.976699948310852,
+          -0.1612626314163208,
+          0.14160382747650146,
+          -1.9694137573242188
+        ],
+        [
+          -0.12654554843902588,
+          -0.10015134513378143,
+          -0.98689204454422,
+          19.80389976501465
+        ],
+        [
+          0.17333060503005981,
+          -0.9818167686462402,
+          0.0774107351899147,
+          -14.299836158752441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7363,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_683079957",
+      "mask_path": "../../mask/hdr_left_07363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07364.png",
+      "transform_matrix": [
+        [
+          -0.9708235263824463,
+          -0.19769348204135895,
+          0.1357163041830063,
+          -2.0568296909332275
+        ],
+        [
+          -0.11919880658388138,
+          -0.09323645383119583,
+          -0.9884829521179199,
+          19.784976959228516
+        ],
+        [
+          0.20807033777236938,
+          -0.9758198261260986,
+          0.06695131212472916,
+          -14.241998672485352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7364,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_783080816",
+      "mask_path": "../../mask/hdr_left_07364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07365.png",
+      "transform_matrix": [
+        [
+          -0.9667624831199646,
+          -0.22455118596553802,
+          0.12225791811943054,
+          -2.1416497230529785
+        ],
+        [
+          -0.1016392856836319,
+          -0.10123453289270401,
+          -0.9896570444107056,
+          19.770191192626953
+        ],
+        [
+          0.2346053570508957,
+          -0.9691895246505737,
+          0.07504652440547943,
+          -14.173584938049316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7365,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_883078813",
+      "mask_path": "../../mask/hdr_left_07365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07366.png",
+      "transform_matrix": [
+        [
+          -0.9678325057029724,
+          -0.22363527119159698,
+          0.115271657705307,
+          -2.222609281539917
+        ],
+        [
+          -0.09086429327726364,
+          -0.11654910445213318,
+          -0.9890196919441223,
+          19.750226974487305
+        ],
+        [
+          0.23461447656154633,
+          -0.967679500579834,
+          0.09247953444719315,
+          -14.156686782836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7366,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_983082056",
+      "mask_path": "../../mask/hdr_left_07366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07367.png",
+      "transform_matrix": [
+        [
+          -0.9677331447601318,
+          -0.22394190728664398,
+          0.11551013588905334,
+          -2.305026054382324
+        ],
+        [
+          -0.09212660044431686,
+          -0.11222602427005768,
+          -0.9894028306007385,
+          19.714111328125
+        ],
+        [
+          0.234531968832016,
+          -0.9681195020675659,
+          0.08797384053468704,
+          -14.140754699707031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7367,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_83079576",
+      "mask_path": "../../mask/hdr_left_07367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07368.png",
+      "transform_matrix": [
+        [
+          -0.9677042961120605,
+          -0.223911851644516,
+          0.11580922454595566,
+          -2.381582260131836
+        ],
+        [
+          -0.09506941586732864,
+          -0.10132069885730743,
+          -0.9903009533882141,
+          19.685871124267578
+        ],
+        [
+          0.2334739863872528,
+          -0.9693284630775452,
+          0.07676129043102264,
+          -14.125518798828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7368,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_183081388",
+      "mask_path": "../../mask/hdr_left_07368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07369.png",
+      "transform_matrix": [
+        [
+          -0.9676004648208618,
+          -0.22432394325733185,
+          0.11587914079427719,
+          -2.4523980617523193
+        ],
+        [
+          -0.09651128947734833,
+          -0.09549474716186523,
+          -0.9907402992248535,
+          19.668827056884766
+        ],
+        [
+          0.23331259191036224,
+          -0.969824492931366,
+          0.07075095921754837,
+          -14.122639656066895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7369,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_283080577",
+      "mask_path": "../../mask/hdr_left_07369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07370.png",
+      "transform_matrix": [
+        [
+          -0.968005895614624,
+          -0.22385931015014648,
+          0.11336436122655869,
+          -2.536400079727173
+        ],
+        [
+          -0.09336145967245102,
+          -0.09803595393896103,
+          -0.9907939434051514,
+          19.64834976196289
+        ],
+        [
+          0.23291221261024475,
+          -0.9696782827377319,
+          0.0739995539188385,
+          -14.10057258605957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7370,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_383079767",
+      "mask_path": "../../mask/hdr_left_07370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07371.png",
+      "transform_matrix": [
+        [
+          -0.9686968326568604,
+          -0.22243833541870117,
+          0.11021614819765091,
+          -2.615785598754883
+        ],
+        [
+          -0.08834283798933029,
+          -0.10602535307407379,
+          -0.9904313683509827,
+          19.62973403930664
+        ],
+        [
+          0.2319955825805664,
+          -0.9691645503044128,
+          0.08305559307336807,
+          -14.07551097869873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7371,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_483080387",
+      "mask_path": "../../mask/hdr_left_07371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07372.png",
+      "transform_matrix": [
+        [
+          -0.9715399146080017,
+          -0.209459125995636,
+          0.11062141507863998,
+          -2.6872200965881348
+        ],
+        [
+          -0.092681884765625,
+          -0.09363619238138199,
+          -0.9912831783294678,
+          19.603910446166992
+        ],
+        [
+          0.21799145638942719,
+          -0.9733237624168396,
+          0.07155821472406387,
+          -14.060759544372559
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7372,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_583078861",
+      "mask_path": "../../mask/hdr_left_07372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07373.png",
+      "transform_matrix": [
+        [
+          -0.9744584560394287,
+          -0.19567449390888214,
+          0.11019141227006912,
+          -2.7593164443969727
+        ],
+        [
+          -0.09705434739589691,
+          -0.07553082704544067,
+          -0.9924089312553406,
+          19.585224151611328
+        ],
+        [
+          0.20251193642616272,
+          -0.9777559638023376,
+          0.054610591381788254,
+          -14.062252044677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7373,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_683077812",
+      "mask_path": "../../mask/hdr_left_07373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07374.png",
+      "transform_matrix": [
+        [
+          -0.9762288331985474,
+          -0.18877825140953064,
+          0.10648912936449051,
+          -2.8320789337158203
+        ],
+        [
+          -0.0954013541340828,
+          -0.06690477579832077,
+          -0.9931879639625549,
+          19.56963539123535
+        ],
+        [
+          0.19461689889431,
+          -0.9797380566596985,
+          0.047304678708314896,
+          -14.060256004333496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7374,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_783080816",
+      "mask_path": "../../mask/hdr_left_07374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07375.png",
+      "transform_matrix": [
+        [
+          -0.9789719581604004,
+          -0.17625001072883606,
+          0.10271170735359192,
+          -2.9123165607452393
+        ],
+        [
+          -0.0925513207912445,
+          -0.06495245546102524,
+          -0.9935871958732605,
+          19.559494018554688
+        ],
+        [
+          0.18179111182689667,
+          -0.9822002053260803,
+          0.04727446660399437,
+          -14.053385734558105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7375,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_883080244",
+      "mask_path": "../../mask/hdr_left_07375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07376.png",
+      "transform_matrix": [
+        [
+          -0.9843287467956543,
+          -0.14963458478450775,
+          0.09330858290195465,
+          -2.9856441020965576
+        ],
+        [
+          -0.08304288983345032,
+          -0.07345778495073318,
+          -0.993834912776947,
+          19.538604736328125
+        ],
+        [
+          0.15556630492210388,
+          -0.986008882522583,
+          0.05988052114844322,
+          -14.03699779510498
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7376,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_983079433",
+      "mask_path": "../../mask/hdr_left_07376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07377.png",
+      "transform_matrix": [
+        [
+          -0.988140344619751,
+          -0.12988802790641785,
+          0.08190099149942398,
+          -3.050157070159912
+        ],
+        [
+          -0.07097148895263672,
+          -0.08665745705366135,
+          -0.9937069416046143,
+          19.50670051574707
+        ],
+        [
+          0.1361679583787918,
+          -0.9877347350120544,
+          0.07641138136386871,
+          -14.011863708496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7377,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_83078384",
+      "mask_path": "../../mask/hdr_left_07377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07378.png",
+      "transform_matrix": [
+        [
+          -0.9909018874168396,
+          -0.11122345179319382,
+          0.07578134536743164,
+          -3.1389670372009277
+        ],
+        [
+          -0.06726133823394775,
+          -0.07845667749643326,
+          -0.994645893573761,
+          19.478708267211914
+        ],
+        [
+          0.11657349765300751,
+          -0.9906936287879944,
+          0.07026183605194092,
+          -14.00837230682373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7378,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_183081150",
+      "mask_path": "../../mask/hdr_left_07378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07379.png",
+      "transform_matrix": [
+        [
+          -0.9930161833763123,
+          -0.09213901311159134,
+          0.07368304580450058,
+          -3.2226691246032715
+        ],
+        [
+          -0.06821083277463913,
+          -0.06119599565863609,
+          -0.9957922697067261,
+          19.4581356048584
+        ],
+        [
+          0.09626041352748871,
+          -0.9938639402389526,
+          0.05448373779654503,
+          -14.02469539642334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7379,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_283082008",
+      "mask_path": "../../mask/hdr_left_07379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07380.png",
+      "transform_matrix": [
+        [
+          -0.9939061403274536,
+          -0.08216572552919388,
+          0.07348033040761948,
+          -3.2958147525787354
+        ],
+        [
+          -0.06956775486469269,
+          -0.049510929733514786,
+          -0.9963479042053223,
+          19.438650131225586
+        ],
+        [
+          0.0855037197470665,
+          -0.9953881502151489,
+          0.0434931255877018,
+          -14.030986785888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7380,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_383081912",
+      "mask_path": "../../mask/hdr_left_07380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07381.png",
+      "transform_matrix": [
+        [
+          -0.9943754076957703,
+          -0.07724260538816452,
+          0.07246457785367966,
+          -3.3833861351013184
+        ],
+        [
+          -0.06947176158428192,
+          -0.04075661674141884,
+          -0.9967509508132935,
+          19.41822052001953
+        ],
+        [
+          0.07994505763053894,
+          -0.996178925037384,
+          0.03516119718551636,
+          -14.028026580810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7381,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_483081579",
+      "mask_path": "../../mask/hdr_left_07381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07382.png",
+      "transform_matrix": [
+        [
+          -0.9949724674224854,
+          -0.07576629519462585,
+          0.06549164652824402,
+          -3.4728446006774902
+        ],
+        [
+          -0.06285455822944641,
+          -0.036683693528175354,
+          -0.9973483085632324,
+          19.40018653869629
+        ],
+        [
+          0.07796784490346909,
+          -0.996450662612915,
+          0.031737010926008224,
+          -14.01518726348877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7382,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_583082437",
+      "mask_path": "../../mask/hdr_left_07382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07383.png",
+      "transform_matrix": [
+        [
+          -0.9957478046417236,
+          -0.07235582917928696,
+          0.05701623484492302,
+          -3.548889636993408
+        ],
+        [
+          -0.05431268364191055,
+          -0.03879884257912636,
+          -0.9977698922157288,
+          19.383302688598633
+        ],
+        [
+          0.07440663874149323,
+          -0.9966240525245667,
+          0.034704022109508514,
+          -14.005378723144531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7383,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_683081865",
+      "mask_path": "../../mask/hdr_left_07383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07384.png",
+      "transform_matrix": [
+        [
+          -0.9965456128120422,
+          -0.06538351625204086,
+          0.051203202456235886,
+          -3.630640983581543
+        ],
+        [
+          -0.04877005144953728,
+          -0.03828338161110878,
+          -0.9980760216712952,
+          19.363079071044922
+        ],
+        [
+          0.06721795350313187,
+          -0.9971256256103516,
+          0.034962378442287445,
+          -14.006563186645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7384,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_783082008",
+      "mask_path": "../../mask/hdr_left_07384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07385.png",
+      "transform_matrix": [
+        [
+          -0.9968156218528748,
+          -0.0598272942006588,
+          0.05272011086344719,
+          -3.72249698638916
+        ],
+        [
+          -0.050790153443813324,
+          -0.033334437757730484,
+          -0.9981528520584106,
+          19.334619522094727
+        ],
+        [
+          0.06147418171167374,
+          -0.9976520538330078,
+          0.030189651995897293,
+          -14.010765075683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7385,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_883082389",
+      "mask_path": "../../mask/hdr_left_07385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07386.png",
+      "transform_matrix": [
+        [
+          -0.9967816472053528,
+          -0.056055400520563126,
+          0.05730680748820305,
+          -3.7977700233459473
+        ],
+        [
+          -0.0558692030608654,
+          -0.026886338368058205,
+          -0.9980759620666504,
+          19.31247901916504
+        ],
+        [
+          0.05748831480741501,
+          -0.9980655908584595,
+          0.023668041452765465,
+          -14.012347221374512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7386,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_983081579",
+      "mask_path": "../../mask/hdr_left_07386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07387.png",
+      "transform_matrix": [
+        [
+          -0.9967387318611145,
+          -0.053655099123716354,
+          0.06027286872267723,
+          -3.87522292137146
+        ],
+        [
+          -0.059116169810295105,
+          -0.02289138175547123,
+          -0.9979886412620544,
+          19.299436569213867
+        ],
+        [
+          0.054926905781030655,
+          -0.9982971549034119,
+          0.019644845277071,
+          -14.011187553405762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7387,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_83082437",
+      "mask_path": "../../mask/hdr_left_07387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07388.png",
+      "transform_matrix": [
+        [
+          -0.9967063665390015,
+          -0.0546531118452549,
+          0.059912603348493576,
+          -3.958533525466919
+        ],
+        [
+          -0.05892254784703255,
+          -0.019551614299416542,
+          -0.998071014881134,
+          19.289104461669922
+        ],
+        [
+          0.05571907386183739,
+          -0.9983140230178833,
+          0.016266919672489166,
+          -14.003236770629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7388,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_183082103",
+      "mask_path": "../../mask/hdr_left_07388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07389.png",
+      "transform_matrix": [
+        [
+          -0.9968070387840271,
+          -0.053874991834163666,
+          0.058933451771736145,
+          -4.023449897766113
+        ],
+        [
+          -0.05799030140042305,
+          -0.018905699253082275,
+          -0.9981381297111511,
+          19.282257080078125
+        ],
+        [
+          0.05488884821534157,
+          -0.9983687400817871,
+          0.01572110690176487,
+          -14.000102996826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7389,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_283081293",
+      "mask_path": "../../mask/hdr_left_07389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07390.png",
+      "transform_matrix": [
+        [
+          -0.9968650937080383,
+          -0.05059966444969177,
+          0.060824163258075714,
+          -4.073178291320801
+        ],
+        [
+          -0.05962713435292244,
+          -0.02484012581408024,
+          -0.9979116320610046,
+          19.2708740234375
+        ],
+        [
+          0.052004873752593994,
+          -0.9984100461006165,
+          0.021745139732956886,
+          -13.998116493225098
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7390,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_383081436",
+      "mask_path": "../../mask/hdr_left_07390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07391.png",
+      "transform_matrix": [
+        [
+          -0.9967171549797058,
+          -0.04603609815239906,
+          0.06660003960132599,
+          -4.134542465209961
+        ],
+        [
+          -0.06538236886262894,
+          -0.027469880878925323,
+          -0.9974821209907532,
+          19.24908447265625
+        ],
+        [
+          0.04774967581033707,
+          -0.9985620379447937,
+          0.024369750171899796,
+          -13.992581367492676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7391,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_483082294",
+      "mask_path": "../../mask/hdr_left_07391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07392.png",
+      "transform_matrix": [
+        [
+          -0.9959778189659119,
+          -0.042780954390764236,
+          0.07872668653726578,
+          -4.196970462799072
+        ],
+        [
+          -0.07793475687503815,
+          -0.01987650617957115,
+          -0.9967602491378784,
+          19.225849151611328
+        ],
+        [
+          0.04420716315507889,
+          -0.99888676404953,
+          0.01646244153380394,
+          -13.991564750671387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7392,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_583081722",
+      "mask_path": "../../mask/hdr_left_07392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07394.png",
+      "transform_matrix": [
+        [
+          -0.9927168488502502,
+          -0.0337674655020237,
+          0.11564186960458755,
+          -4.291994094848633
+        ],
+        [
+          -0.11514362692832947,
+          -0.016351519152522087,
+          -0.9932142496109009,
+          19.177978515625
+        ],
+        [
+          0.035429246723651886,
+          -0.9992960095405579,
+          0.01234432216733694,
+          -13.99678897857666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7394,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_783082246",
+      "mask_path": "../../mask/hdr_left_07394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07395.png",
+      "transform_matrix": [
+        [
+          -0.9908095598220825,
+          -0.03293261677026749,
+          0.13119347393512726,
+          -4.354655742645264
+        ],
+        [
+          -0.1306496113538742,
+          -0.01816537231206894,
+          -0.9912622570991516,
+          19.152416229248047
+        ],
+        [
+          0.03502803295850754,
+          -0.9992925524711609,
+          0.01369579415768385,
+          -13.99191951751709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7395,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_883082389",
+      "mask_path": "../../mask/hdr_left_07395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07396.png",
+      "transform_matrix": [
+        [
+          -0.9890872836112976,
+          -0.036781586706638336,
+          0.14266526699066162,
+          -4.416457653045654
+        ],
+        [
+          -0.14196619391441345,
+          -0.02097836509346962,
+          -0.9896491169929504,
+          19.126365661621094
+        ],
+        [
+          0.039393745362758636,
+          -0.9991031885147095,
+          0.015527697280049324,
+          -13.975422859191895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7396,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_983082056",
+      "mask_path": "../../mask/hdr_left_07396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07397.png",
+      "transform_matrix": [
+        [
+          -0.9875853061676025,
+          -0.038213979452848434,
+          0.15236420929431915,
+          -4.468797206878662
+        ],
+        [
+          -0.15130138397216797,
+          -0.029329374432563782,
+          -0.9880524277687073,
+          19.1068172454834
+        ],
+        [
+          0.0422261580824852,
+          -0.9988391399383545,
+          0.023183433338999748,
+          -13.970504760742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7397,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_83082199",
+      "mask_path": "../../mask/hdr_left_07397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07398.png",
+      "transform_matrix": [
+        [
+          -0.9861197471618652,
+          -0.038238197565078735,
+          0.1615721434354782,
+          -4.531130313873291
+        ],
+        [
+          -0.16009239852428436,
+          -0.03904610127210617,
+          -0.9863294959068298,
+          19.087656021118164
+        ],
+        [
+          0.04402422159910202,
+          -0.9985055923461914,
+          0.03238248825073242,
+          -13.97548770904541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7398,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_183083295",
+      "mask_path": "../../mask/hdr_left_07398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07399.png",
+      "transform_matrix": [
+        [
+          -0.9851109385490417,
+          -0.03863880783319473,
+          0.16752144694328308,
+          -4.602128028869629
+        ],
+        [
+          -0.16604046523571014,
+          -0.0388140007853508,
+          -0.9853546619415283,
+          19.054676055908203
+        ],
+        [
+          0.044575102627277374,
+          -0.9984990954399109,
+          0.03182049095630646,
+          -13.97167682647705
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7399,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_283081531",
+      "mask_path": "../../mask/hdr_left_07399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07400.png",
+      "transform_matrix": [
+        [
+          -0.9845792055130005,
+          -0.04077281430363655,
+          0.17012177407741547,
+          -4.6609930992126465
+        ],
+        [
+          -0.16889150440692902,
+          -0.031950853765010834,
+          -0.9851166605949402,
+          19.02302360534668
+        ],
+        [
+          0.045601505786180496,
+          -0.9986575245857239,
+          0.024571966379880905,
+          -13.967143058776855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7400,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_383082389",
+      "mask_path": "../../mask/hdr_left_07400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07401.png",
+      "transform_matrix": [
+        [
+          -0.9844949245452881,
+          -0.0414433479309082,
+          0.17044697701931,
+          -4.715671062469482
+        ],
+        [
+          -0.16931037604808807,
+          -0.029567893594503403,
+          -0.9851190447807312,
+          18.99652099609375
+        ],
+        [
+          0.045866385102272034,
+          -0.9987033009529114,
+          0.022092657163739204,
+          -13.966331481933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7401,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_483080863",
+      "mask_path": "../../mask/hdr_left_07401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07402.png",
+      "transform_matrix": [
+        [
+          -0.9852073788642883,
+          -0.038153234869241714,
+          0.16706517338752747,
+          -4.78071403503418
+        ],
+        [
+          -0.16595619916915894,
+          -0.030608726665377617,
+          -0.9856580495834351,
+          18.96538543701172
+        ],
+        [
+          0.04271969199180603,
+          -0.9988031387329102,
+          0.0238241795450449,
+          -13.961793899536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7402,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_583082675",
+      "mask_path": "../../mask/hdr_left_07402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07403.png",
+      "transform_matrix": [
+        [
+          -0.9863265752792358,
+          -0.039848443120718,
+          0.15991221368312836,
+          -4.845119476318359
+        ],
+        [
+          -0.1586172878742218,
+          -0.03379644826054573,
+          -0.9867615103721619,
+          18.938884735107422
+        ],
+        [
+          0.04472537711262703,
+          -0.9986340999603271,
+          0.027013683691620827,
+          -13.949838638305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7403,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_683082342",
+      "mask_path": "../../mask/hdr_left_07403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07404.png",
+      "transform_matrix": [
+        [
+          -0.9874511957168579,
+          -0.044004037976264954,
+          0.15166941285133362,
+          -4.903419494628906
+        ],
+        [
+          -0.15003997087478638,
+          -0.03824763000011444,
+          -0.9879397749900818,
+          18.916208267211914
+        ],
+        [
+          0.049274325370788574,
+          -0.9982989430427551,
+          0.03116530552506447,
+          -13.93996810913086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7404,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_783081531",
+      "mask_path": "../../mask/hdr_left_07404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07405.png",
+      "transform_matrix": [
+        [
+          -0.9887243509292603,
+          -0.04517827928066254,
+          0.142768993973732,
+          -4.973946571350098
+        ],
+        [
+          -0.14099302887916565,
+          -0.040333423763513565,
+          -0.989188551902771,
+          18.886672973632812
+        ],
+        [
+          0.05044819787144661,
+          -0.9981644749641418,
+          0.033508822321891785,
+          -13.933218955993652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7405,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_883082151",
+      "mask_path": "../../mask/hdr_left_07405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07406.png",
+      "transform_matrix": [
+        [
+          -0.9889193773269653,
+          -0.04381854459643364,
+          0.14183887839317322,
+          -5.052143573760986
+        ],
+        [
+          -0.14063183963298798,
+          -0.029514744877815247,
+          -0.9896219372749329,
+          18.850051879882812
+        ],
+        [
+          0.047550130635499954,
+          -0.9986034631729126,
+          0.023025425150990486,
+          -13.928016662597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7406,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_983084201",
+      "mask_path": "../../mask/hdr_left_07406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07407.png",
+      "transform_matrix": [
+        [
+          -0.9883067011833191,
+          -0.04320933669805527,
+          0.1462288200855255,
+          -5.122611045837402
+        ],
+        [
+          -0.14570112526416779,
+          -0.015135148540139198,
+          -0.9892128109931946,
+          18.82354736328125
+        ],
+        [
+          0.044956423342227936,
+          -0.9989514350891113,
+          0.008662520907819271,
+          -13.932948112487793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7407,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_83081722",
+      "mask_path": "../../mask/hdr_left_07407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07408.png",
+      "transform_matrix": [
+        [
+          -0.9878135323524475,
+          -0.0451250821352005,
+          0.1489569991827011,
+          -5.193583011627197
+        ],
+        [
+          -0.14872826635837555,
+          -0.008403465151786804,
+          -0.9888423681259155,
+          18.80520248413086
+        ],
+        [
+          0.04587334766983986,
+          -0.998945951461792,
+          0.0015896828845143318,
+          -13.943222045898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7408,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_183082580",
+      "mask_path": "../../mask/hdr_left_07408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02385.png",
+      "transform_matrix": [
+        [
+          -0.926178514957428,
+          -0.0608665831387043,
+          0.3721406161785126,
+          -4.794772624969482
+        ],
+        [
+          -0.3733215630054474,
+          0.008916428312659264,
+          -0.9276592135429382,
+          18.770017623901367
+        ],
+        [
+          0.053145281970500946,
+          -0.9981061220169067,
+          -0.03098100982606411,
+          -13.948683738708496
+        ],
+        [
+          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": "1731323501_983081579",
+      "mask_path": "../../mask/hdr_right_02385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02387.png",
+      "transform_matrix": [
+        [
+          -0.9260259866714478,
+          -0.06858478486537933,
+          0.3711766004562378,
+          -4.736297607421875
+        ],
+        [
+          -0.37267544865608215,
+          0.01005514431744814,
+          -0.927907407283783,
+          18.82493782043457
+        ],
+        [
+          0.059908099472522736,
+          -0.9975945949554443,
+          -0.034871190786361694,
+          -13.961549758911133
+        ],
+        [
+          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": "1731323502_183079481",
+      "mask_path": "../../mask/hdr_right_02387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02389.png",
+      "transform_matrix": [
+        [
+          -0.9307466149330139,
+          -0.06016671285033226,
+          0.36068087816238403,
+          -4.651625633239746
+        ],
+        [
+          -0.3621242642402649,
+          0.014734775759279728,
+          -0.9320133328437805,
+          18.83753776550293
+        ],
+        [
+          0.050761621445417404,
+          -0.9980795979499817,
+          -0.035502173006534576,
+          -13.94503402709961
+        ],
+        [
+          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": "1731323502_383082151",
+      "mask_path": "../../mask/hdr_right_02389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02390.png",
+      "transform_matrix": [
+        [
+          -0.9321407079696655,
+          -0.0583452545106411,
+          0.357364684343338,
+          -4.581340789794922
+        ],
+        [
+          -0.35841622948646545,
+          0.008321363478899002,
+          -0.9335249066352844,
+          18.854158401489258
+        ],
+        [
+          0.05149298533797264,
+          -0.9982617497444153,
+          -0.028668567538261414,
+          -13.946615219116211
+        ],
+        [
+          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": "1731323502_483082056",
+      "mask_path": "../../mask/hdr_right_02390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02393.png",
+      "transform_matrix": [
+        [
+          -0.9342734813690186,
+          -0.05903858318924904,
+          0.3516356945037842,
+          -4.440822601318359
+        ],
+        [
+          -0.35260799527168274,
+          0.006604652386158705,
+          -0.9357478618621826,
+          18.88178253173828
+        ],
+        [
+          0.05292278900742531,
+          -0.9982337951660156,
+          -0.02698802575469017,
+          -13.977606773376465
+        ],
+        [
+          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": "1731323502_783082246",
+      "mask_path": "../../mask/hdr_right_02393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02608.png",
+      "transform_matrix": [
+        [
+          -0.9251875877380371,
+          -0.032786477357149124,
+          0.37809139490127563,
+          -4.014688014984131
+        ],
+        [
+          -0.3780265152454376,
+          -0.008395940996706486,
+          -0.9257567524909973,
+          18.877822875976562
+        ],
+        [
+          0.03352673351764679,
+          -0.999427080154419,
+          -0.004626339301466942,
+          -13.980712890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2608,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323524_283082962",
+      "mask_path": "../../mask/hdr_right_02608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02610.png",
+      "transform_matrix": [
+        [
+          -0.9216050505638123,
+          -0.033386461436748505,
+          0.3866904675960541,
+          -3.9566287994384766
+        ],
+        [
+          -0.38636088371276855,
+          -0.01607670448720455,
+          -0.9222076535224915,
+          18.90436363220215
+        ],
+        [
+          0.0370059609413147,
+          -0.999313235282898,
+          0.001917144632898271,
+          -13.991398811340332
+        ],
+        [
+          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": "1731323524_483081579",
+      "mask_path": "../../mask/hdr_right_02610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02612.png",
+      "transform_matrix": [
+        [
+          -0.9185404181480408,
+          -0.03856919705867767,
+          0.39344120025634766,
+          -3.9070801734924316
+        ],
+        [
+          -0.3932616710662842,
+          -0.012454516254365444,
+          -0.9193422794342041,
+          18.923051834106445
+        ],
+        [
+          0.04035841301083565,
+          -0.9991782903671265,
+          -0.0037278130184859037,
+          -13.995412826538086
+        ],
+        [
+          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": "1731323524_683081388",
+      "mask_path": "../../mask/hdr_right_02612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02615.png",
+      "transform_matrix": [
+        [
+          -0.9266000986099243,
+          -0.03955313190817833,
+          0.37396252155303955,
+          -3.829941511154175
+        ],
+        [
+          -0.37431544065475464,
+          0.0016500126803293824,
+          -0.927299976348877,
+          18.954448699951172
+        ],
+        [
+          0.03606057167053223,
+          -0.9992160797119141,
+          -0.016334250569343567,
+          -13.99406909942627
+        ],
+        [
+          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": "1731323524_983080148",
+      "mask_path": "../../mask/hdr_right_02615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02635.png",
+      "transform_matrix": [
+        [
+          -0.9394211769104004,
+          -0.04652275890111923,
+          0.339592844247818,
+          -3.565877914428711
+        ],
+        [
+          -0.3404909670352936,
+          0.01273116935044527,
+          -0.9401617050170898,
+          19.067153930664062
+        ],
+        [
+          0.03941549360752106,
+          -0.998836100101471,
+          -0.027800509706139565,
+          -14.02052116394043
+        ],
+        [
+          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": "1731323526_983083248",
+      "mask_path": "../../mask/hdr_right_02635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02636.png",
+      "transform_matrix": [
+        [
+          -0.9392585158348083,
+          -0.05043349415063858,
+          0.33948469161987305,
+          -3.5077972412109375
+        ],
+        [
+          -0.34011295437812805,
+          0.004182718228548765,
+          -0.9403753876686096,
+          19.080690383911133
+        ],
+        [
+          0.04600644111633301,
+          -0.9987186193466187,
+          -0.02108174003660679,
+          -14.024332046508789
+        ],
+        [
+          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": "1731323527_83081722",
+      "mask_path": "../../mask/hdr_right_02636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02643.png",
+      "transform_matrix": [
+        [
+          -0.9477901458740234,
+          -0.05186127871274948,
+          0.31464943289756775,
+          -3.3928701877593994
+        ],
+        [
+          -0.31472861766815186,
+          -0.006846719421446323,
+          -0.9491569995880127,
+          19.111555099487305
+        ],
+        [
+          0.05137881636619568,
+          -0.9986308217048645,
+          -0.009832976385951042,
+          -14.051017761230469
+        ],
+        [
+          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": "1731323527_783080577",
+      "mask_path": "../../mask/hdr_right_02643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02645.png",
+      "transform_matrix": [
+        [
+          -0.9488393664360046,
+          -0.049836013466119766,
+          0.31180161237716675,
+          -3.338912010192871
+        ],
+        [
+          -0.31155604124069214,
+          -0.012821967713534832,
+          -0.9501413702964783,
+          19.113908767700195
+        ],
+        [
+          0.05134916678071022,
+          -0.9986751079559326,
+          -0.0033607210498303175,
+          -14.033478736877441
+        ],
+        [
+          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": "1731323527_983082771",
+      "mask_path": "../../mask/hdr_right_02645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02647.png",
+      "transform_matrix": [
+        [
+          -0.9462354183197021,
+          -0.04897717759013176,
+          0.3197494447231293,
+          -3.2967944145202637
+        ],
+        [
+          -0.3196364641189575,
+          -0.010334262624382973,
+          -0.947484016418457,
+          19.137460708618164
+        ],
+        [
+          0.04970945417881012,
+          -0.9987464547157288,
+          -0.0058762445114552975,
+          -14.050973892211914
+        ],
+        [
+          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": "1731323528_183080911",
+      "mask_path": "../../mask/hdr_right_02647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02649.png",
+      "transform_matrix": [
+        [
+          -0.9491172432899475,
+          -0.056376371532678604,
+          0.3098357021808624,
+          -3.242565393447876
+        ],
+        [
+          -0.3100397288799286,
+          -0.0053122155368328094,
+          -0.9507087469100952,
+          19.15617561340332
+        ],
+        [
+          0.05524342879652977,
+          -0.9983954429626465,
+          -0.012437000870704651,
+          -14.05158519744873
+        ],
+        [
+          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": "1731323528_383082389",
+      "mask_path": "../../mask/hdr_right_02649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02651.png",
+      "transform_matrix": [
+        [
+          -0.9572257399559021,
+          -0.051903992891311646,
+          0.28464898467063904,
+          -3.1680636405944824
+        ],
+        [
+          -0.28511422872543335,
+          0.001634158892557025,
+          -0.9584922790527344,
+          19.169084548950195
+        ],
+        [
+          0.04928440973162651,
+          -0.9986507296562195,
+          -0.01636282540857792,
+          -14.058517456054688
+        ],
+        [
+          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": "1731323528_583082675",
+      "mask_path": "../../mask/hdr_right_02651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02652.png",
+      "transform_matrix": [
+        [
+          -0.9581329822540283,
+          -0.05245513841509819,
+          0.2814776599407196,
+          -3.1113152503967285
+        ],
+        [
+          -0.2818557322025299,
+          -0.00019860621250700206,
+          -0.9594568014144897,
+          19.182798385620117
+        ],
+        [
+          0.050384342670440674,
+          -0.998623251914978,
+          -0.01459448877722025,
+          -14.058817863464355
+        ],
+        [
+          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": "1731323528_683081865",
+      "mask_path": "../../mask/hdr_right_02652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02654.png",
+      "transform_matrix": [
+        [
+          -0.9569860696792603,
+          -0.050866980105638504,
+          0.2856401205062866,
+          -3.058593273162842
+        ],
+        [
+          -0.28602758049964905,
+          0.00035293528344482183,
+          -0.9582213163375854,
+          19.202909469604492
+        ],
+        [
+          0.048641011118888855,
+          -0.9987053275108337,
+          -0.01488711591809988,
+          -14.073393821716309
+        ],
+        [
+          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": "1731323528_883082389",
+      "mask_path": "../../mask/hdr_right_02654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02656.png",
+      "transform_matrix": [
+        [
+          -0.9594268798828125,
+          -0.05260920897126198,
+          0.2770058810710907,
+          -2.9943010807037354
+        ],
+        [
+          -0.27760955691337585,
+          0.0043898699805140495,
+          -0.9606840014457703,
+          19.2146053314209
+        ],
+        [
+          0.04932480305433273,
+          -0.998605489730835,
+          -0.01881657913327217,
+          -14.066272735595703
+        ],
+        [
+          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": "1731323529_83081722",
+      "mask_path": "../../mask/hdr_right_02656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02658.png",
+      "transform_matrix": [
+        [
+          -0.9657371640205383,
+          -0.041002802550792694,
+          0.25626277923583984,
+          -2.930513620376587
+        ],
+        [
+          -0.25680169463157654,
+          0.008375001139938831,
+          -0.9664279222488403,
+          19.215444564819336
+        ],
+        [
+          0.037480052560567856,
+          -0.9991239309310913,
+          -0.01861763745546341,
+          -14.058223724365234
+        ],
+        [
+          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": "1731323529_283082246",
+      "mask_path": "../../mask/hdr_right_02658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02660.png",
+      "transform_matrix": [
+        [
+          -0.9668498039245605,
+          -0.03906143829226494,
+          0.25234052538871765,
+          -2.8534717559814453
+        ],
+        [
+          -0.2525642216205597,
+          0.0008205939666368067,
+          -0.9675799012184143,
+          19.211145401000977
+        ],
+        [
+          0.03758798539638519,
+          -0.9992364645004272,
+          -0.010658911429345608,
+          -14.054163932800293
+        ],
+        [
+          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": "1731323529_483081102",
+      "mask_path": "../../mask/hdr_right_02660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02662.png",
+      "transform_matrix": [
+        [
+          -0.9614338278770447,
+          -0.036312203854322433,
+          0.27262866497039795,
+          -2.7849955558776855
+        ],
+        [
+          -0.2726231515407562,
+          -0.005199430976063013,
+          -0.9621069431304932,
+          19.228178024291992
+        ],
+        [
+          0.03635373339056969,
+          -0.9993269443511963,
+          -0.004900638479739428,
+          -14.070366859436035
+        ],
+        [
+          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": "1731323529_683081150",
+      "mask_path": "../../mask/hdr_right_02662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02664.png",
+      "transform_matrix": [
+        [
+          -0.9611135721206665,
+          -0.02953772060573101,
+          0.2745693325996399,
+          -2.7166194915771484
+        ],
+        [
+          -0.27467581629753113,
+          -0.00046901474706828594,
+          -0.9615368247032166,
+          19.23641586303711
+        ],
+        [
+          0.028530387207865715,
+          -0.9995635747909546,
+          -0.0076625230722129345,
+          -14.062385559082031
+        ],
+        [
+          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": "1731323529_883082151",
+      "mask_path": "../../mask/hdr_right_02664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02666.png",
+      "transform_matrix": [
+        [
+          -0.9630373120307922,
+          -0.021355364471673965,
+          0.26852044463157654,
+          -2.636927366256714
+        ],
+        [
+          -0.2687245309352875,
+          0.007289071101695299,
+          -0.9631894826889038,
+          19.255720138549805
+        ],
+        [
+          0.018612001091241837,
+          -0.9997453093528748,
+          -0.012758356519043446,
+          -14.060342788696289
+        ],
+        [
+          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": "1731323530_83081722",
+      "mask_path": "../../mask/hdr_right_02666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02668.png",
+      "transform_matrix": [
+        [
+          -0.9610627889633179,
+          -0.019544942304491997,
+          0.2756383419036865,
+          -2.5806853771209717
+        ],
+        [
+          -0.27579814195632935,
+          0.005961396265774965,
+          -0.9611971378326416,
+          19.28504180908203
+        ],
+        [
+          0.017143355682492256,
+          -0.9997912645339966,
+          -0.011119735427200794,
+          -14.081337928771973
+        ],
+        [
+          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": "1731323530_283081769",
+      "mask_path": "../../mask/hdr_right_02668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02671.png",
+      "transform_matrix": [
+        [
+          -0.9450066089630127,
+          -0.014678417704999447,
+          0.32672151923179626,
+          -2.5236756801605225
+        ],
+        [
+          -0.32689839601516724,
+          0.011871697381138802,
+          -0.9449849128723145,
+          19.319833755493164
+        ],
+        [
+          0.0099921440705657,
+          -0.9998217821121216,
+          -0.016017187386751175,
+          -14.063091278076172
+        ],
+        [
+          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": "1731323530_583080768",
+      "mask_path": "../../mask/hdr_right_02671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02673.png",
+      "transform_matrix": [
+        [
+          -0.9219604134559631,
+          -0.012442154809832573,
+          0.3870842456817627,
+          -2.479579448699951
+        ],
+        [
+          -0.387260764837265,
+          0.0186301376670599,
+          -0.9217819571495056,
+          19.359556198120117
+        ],
+        [
+          0.00425752205774188,
+          -0.9997490048408508,
+          -0.021994609385728836,
+          -14.052263259887695
+        ],
+        [
+          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": "1731323530_783078193",
+      "mask_path": "../../mask/hdr_right_02673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02676.png",
+      "transform_matrix": [
+        [
+          -0.8893687129020691,
+          -0.019233981147408485,
+          0.45678600668907166,
+          -2.446483850479126
+        ],
+        [
+          -0.4570721387863159,
+          0.014645462855696678,
+          -0.8893091082572937,
+          19.414905548095703
+        ],
+        [
+          0.010415112599730492,
+          -0.9997076988220215,
+          -0.02181653305888176,
+          -14.054730415344238
+        ],
+        [
+          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": "1731323531_83081007",
+      "mask_path": "../../mask/hdr_right_02676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02679.png",
+      "transform_matrix": [
+        [
+          -0.8930422067642212,
+          -0.014492593705654144,
+          0.4497394263744354,
+          -2.3883934020996094
+        ],
+        [
+          -0.44987690448760986,
+          0.008114487864077091,
+          -0.8930537700653076,
+          19.441709518432617
+        ],
+        [
+          0.009293260052800179,
+          -0.999862015247345,
+          -0.013766464777290821,
+          -14.052704811096191
+        ],
+        [
+          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": "1731323531_383082151",
+      "mask_path": "../../mask/hdr_right_02679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02704.png",
+      "transform_matrix": [
+        [
+          -0.9245625138282776,
+          -0.0162936020642519,
+          0.3806818723678589,
+          -2.325911045074463
+        ],
+        [
+          -0.3809405267238617,
+          0.01782946288585663,
+          -0.9244276285171509,
+          19.39229393005371
+        ],
+        [
+          0.008274901658296585,
+          -0.9997082352638245,
+          -0.02269134670495987,
+          -14.060693740844727
+        ],
+        [
+          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": "1731323533_883079290",
+      "mask_path": "../../mask/hdr_right_02704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02705.png",
+      "transform_matrix": [
+        [
+          -0.9272430539131165,
+          -0.019205603748559952,
+          0.37396714091300964,
+          -2.2769036293029785
+        ],
+        [
+          -0.3742765188217163,
+          0.01627480238676071,
+          -0.9271743297576904,
+          19.40753936767578
+        ],
+        [
+          0.011720702983438969,
+          -0.999683141708374,
+          -0.022278906777501106,
+          -14.070721626281738
+        ],
+        [
+          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": "1731323533_983079671",
+      "mask_path": "../../mask/hdr_right_02705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02706.png",
+      "transform_matrix": [
+        [
+          -0.9261250495910645,
+          -0.02786286175251007,
+          0.3761861026287079,
+          -2.2227184772491455
+        ],
+        [
+          -0.3765474259853363,
+          0.008912935853004456,
+          -0.9263544678688049,
+          19.417198181152344
+        ],
+        [
+          0.022457962855696678,
+          -0.9995720386505127,
+          -0.018746184185147285,
+          -14.087515830993652
+        ],
+        [
+          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": "1731323534_83081007",
+      "mask_path": "../../mask/hdr_right_02706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02707.png",
+      "transform_matrix": [
+        [
+          -0.9232020378112793,
+          -0.03277631476521492,
+          0.38291481137275696,
+          -2.1739213466644287
+        ],
+        [
+          -0.3830777406692505,
+          -0.0014051380567252636,
+          -0.9237151145935059,
+          19.425018310546875
+        ],
+        [
+          0.030814023688435555,
+          -0.9994617700576782,
+          -0.011258652433753014,
+          -14.103677749633789
+        ],
+        [
+          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": "1731323534_183080434",
+      "mask_path": "../../mask/hdr_right_02707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02709.png",
+      "transform_matrix": [
+        [
+          -0.9208134412765503,
+          -0.03278810530900955,
+          0.3886226415634155,
+          -2.0790798664093018
+        ],
+        [
+          -0.3885093033313751,
+          -0.010019760578870773,
+          -0.9213903546333313,
+          19.441513061523438
+        ],
+        [
+          0.03410454839468002,
+          -0.9994121789932251,
+          -0.0035121541004627943,
+          -14.135828971862793
+        ],
+        [
+          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": "1731323534_383080720",
+      "mask_path": "../../mask/hdr_right_02709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02710.png",
+      "transform_matrix": [
+        [
+          -0.9254179000854492,
+          -0.031416695564985275,
+          0.3776436746120453,
+          -2.0018351078033447
+        ],
+        [
+          -0.3775671720504761,
+          -0.008562635630369186,
+          -0.9259427189826965,
+          19.438711166381836
+        ],
+        [
+          0.0323236808180809,
+          -0.9994696974754333,
+          -0.00393789354711771,
+          -14.110583305358887
+        ],
+        [
+          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": "1731323534_483081817",
+      "mask_path": "../../mask/hdr_right_02710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02712.png",
+      "transform_matrix": [
+        [
+          -0.9290597438812256,
+          -0.05351643264293671,
+          0.3660385012626648,
+          -1.9288161993026733
+        ],
+        [
+          -0.3657670021057129,
+          -0.015135111287236214,
+          -0.9305833578109741,
+          19.481651306152344
+        ],
+        [
+          0.055341534316539764,
+          -0.9984522461891174,
+          -0.005513124167919159,
+          -14.144060134887695
+        ],
+        [
+          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": "1731323534_683082818",
+      "mask_path": "../../mask/hdr_right_02712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02714.png",
+      "transform_matrix": [
+        [
+          -0.9077802300453186,
+          -0.08916947990655899,
+          0.409858375787735,
+          -1.8590850830078125
+        ],
+        [
+          -0.40697452425956726,
+          -0.04926184564828873,
+          -0.9121102690696716,
+          19.506637573242188
+        ],
+        [
+          0.1015227809548378,
+          -0.9947974681854248,
+          0.008429222740232944,
+          -14.181267738342285
+        ],
+        [
+          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": "1731323534_883081436",
+      "mask_path": "../../mask/hdr_right_02714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02716.png",
+      "transform_matrix": [
+        [
+          -0.8753901720046997,
+          -0.12418201565742493,
+          0.4671947658061981,
+          -1.7878884077072144
+        ],
+        [
+          -0.46419626474380493,
+          -0.053876228630542755,
+          -0.8840923309326172,
+          19.525667190551758
+        ],
+        [
+          0.13495902717113495,
+          -0.9907957911491394,
+          -0.010482109151780605,
+          -14.219706535339355
+        ],
+        [
+          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": "1731323535_83080530",
+      "mask_path": "../../mask/hdr_right_02716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02718.png",
+      "transform_matrix": [
+        [
+          -0.8613935708999634,
+          -0.1765393167734146,
+          0.4762721061706543,
+          -1.7337596416473389
+        ],
+        [
+          -0.47255653142929077,
+          -0.06529954820871353,
+          -0.8788778185844421,
+          19.541715621948242
+        ],
+        [
+          0.18625685572624207,
+          -0.9821251034736633,
+          -0.02717619761824608,
+          -14.267728805541992
+        ],
+        [
+          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": "1731323535_283083200",
+      "mask_path": "../../mask/hdr_right_02718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02720.png",
+      "transform_matrix": [
+        [
+          -0.8611356616020203,
+          -0.20020058751106262,
+          0.46729546785354614,
+          -1.6674089431762695
+        ],
+        [
+          -0.46275627613067627,
+          -0.07188118994235992,
+          -0.8835665583610535,
+          19.55839729309082
+        ],
+        [
+          0.21048028767108917,
+          -0.9771144986152649,
+          -0.03074461594223976,
+          -14.291804313659668
+        ],
+        [
+          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": "1731323535_483081579",
+      "mask_path": "../../mask/hdr_right_02720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02721.png",
+      "transform_matrix": [
+        [
+          -0.8575099110603333,
+          -0.20881035923957825,
+          0.4701862037181854,
+          -1.6046384572982788
+        ],
+        [
+          -0.46241065859794617,
+          -0.08777599781751633,
+          -0.8823105096817017,
+          19.577768325805664
+        ],
+        [
+          0.22550663352012634,
+          -0.9740089774131775,
+          -0.02128734439611435,
+          -14.297955513000488
+        ],
+        [
+          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": "1731323535_583081245",
+      "mask_path": "../../mask/hdr_right_02721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02723.png",
+      "transform_matrix": [
+        [
+          -0.8555886745452881,
+          -0.216347798705101,
+          0.47027820348739624,
+          -1.5164828300476074
+        ],
+        [
+          -0.4608902931213379,
+          -0.09525485336780548,
+          -0.8823303580284119,
+          19.60518455505371
+        ],
+        [
+          0.23568648099899292,
+          -0.9716584086418152,
+          -0.01821361854672432,
+          -14.342658996582031
+        ],
+        [
+          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": "1731323535_783081769",
+      "mask_path": "../../mask/hdr_right_02723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02724.png",
+      "transform_matrix": [
+        [
+          -0.855000913143158,
+          -0.2382950633764267,
+          0.46063971519470215,
+          -1.4569008350372314
+        ],
+        [
+          -0.45552417635917664,
+          -0.07955647259950638,
+          -0.8866614699363708,
+          19.618406295776367
+        ],
+        [
+          0.24793390929698944,
+          -0.9679288268089294,
+          -0.040528297424316406,
+          -14.354697227478027
+        ],
+        [
+          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": "1731323535_883081912",
+      "mask_path": "../../mask/hdr_right_02724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02726.png",
+      "transform_matrix": [
+        [
+          -0.8600366711616516,
+          -0.25762510299682617,
+          0.4404159188270569,
+          -1.3980062007904053
+        ],
+        [
+          -0.43821340799331665,
+          -0.06918274611234665,
+          -0.8962045907974243,
+          19.624189376831055
+        ],
+        [
+          0.2613539695739746,
+          -0.9637650847434998,
+          -0.053395066410303116,
+          -14.355304718017578
+        ],
+        [
+          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": "1731323536_83081960",
+      "mask_path": "../../mask/hdr_right_02726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02727.png",
+      "transform_matrix": [
+        [
+          -0.8630115985870361,
+          -0.2558279037475586,
+          0.4356180429458618,
+          -1.3457685708999634
+        ],
+        [
+          -0.4335971474647522,
+          -0.06738848984241486,
+          -0.8985835313796997,
+          19.63974952697754
+        ],
+        [
+          0.2592383921146393,
+          -0.9643707275390625,
+          -0.05276921018958092,
+          -14.381157875061035
+        ],
+        [
+          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": "1731323536_183081150",
+      "mask_path": "../../mask/hdr_right_02727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02728.png",
+      "transform_matrix": [
+        [
+          -0.8655790090560913,
+          -0.2448790818452835,
+          0.43681496381759644,
+          -1.2769540548324585
+        ],
+        [
+          -0.4349803030490875,
+          -0.06453897058963776,
+          -0.898124098777771,
+          19.667348861694336
+        ],
+        [
+          0.2481234073638916,
+          -0.9674031734466553,
+          -0.050654008984565735,
+          -14.391613006591797
+        ],
+        [
+          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": "1731323536_283081293",
+      "mask_path": "../../mask/hdr_right_02728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02730.png",
+      "transform_matrix": [
+        [
+          -0.8669763207435608,
+          -0.23110277950763702,
+          0.4415241479873657,
+          -1.2072502374649048
+        ],
+        [
+          -0.44450217485427856,
+          -0.04197376221418381,
+          -0.8947939276695251,
+          19.702939987182617
+        ],
+        [
+          0.22532175481319427,
+          -0.9720234870910645,
+          -0.06633542478084564,
+          -14.418875694274902
+        ],
+        [
+          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": "1731323536_483080863",
+      "mask_path": "../../mask/hdr_right_02730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02732.png",
+      "transform_matrix": [
+        [
+          -0.8691076040267944,
+          -0.230839341878891,
+          0.43745312094688416,
+          -1.1071105003356934
+        ],
+        [
+          -0.4446023106575012,
+          -0.0229724682867527,
+          -0.8954334855079651,
+          19.735694885253906
+        ],
+        [
+          0.21675065159797668,
+          -0.9727206826210022,
+          -0.08266616612672806,
+          -14.445993423461914
+        ],
+        [
+          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": "1731323536_683080673",
+      "mask_path": "../../mask/hdr_right_02732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02733.png",
+      "transform_matrix": [
+        [
+          -0.871163010597229,
+          -0.22061824798583984,
+          0.43863704800605774,
+          -1.0471079349517822
+        ],
+        [
+          -0.4438116252422333,
+          -0.028298400342464447,
+          -0.8956732749938965,
+          19.74663543701172
+        ],
+        [
+          0.21001459658145905,
+          -0.9749496579170227,
+          -0.07326041907072067,
+          -14.441810607910156
+        ],
+        [
+          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": "1731323536_783081531",
+      "mask_path": "../../mask/hdr_right_02733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02735.png",
+      "transform_matrix": [
+        [
+          -0.8725805878639221,
+          -0.17682437598705292,
+          0.45534205436706543,
+          -0.9786128997802734
+        ],
+        [
+          -0.45543035864830017,
+          -0.04250555858016014,
+          -0.8892561197280884,
+          19.76093864440918
+        ],
+        [
+          0.1765967160463333,
+          -0.9833242297172546,
+          -0.04344166815280914,
+          -14.441751480102539
+        ],
+        [
+          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": "1731323536_983080863",
+      "mask_path": "../../mask/hdr_right_02735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02736.png",
+      "transform_matrix": [
+        [
+          -0.8741572499275208,
+          -0.16710034012794495,
+          0.4559897780418396,
+          -0.9262675642967224
+        ],
+        [
+          -0.45643818378448486,
+          -0.03800303488969803,
+          -0.8889431953430176,
+          19.775405883789062
+        ],
+        [
+          0.16587170958518982,
+          -0.9852072596549988,
+          -0.04305034875869751,
+          -14.452926635742188
+        ],
+        [
+          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": "1731323537_83081007",
+      "mask_path": "../../mask/hdr_right_02736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02738.png",
+      "transform_matrix": [
+        [
+          -0.8773589134216309,
+          -0.16583317518234253,
+          0.4502674639225006,
+          -0.8558334112167358
+        ],
+        [
+          -0.4553382694721222,
+          -0.008256051689386368,
+          -0.8902803063392639,
+          19.823780059814453
+        ],
+        [
+          0.15135543048381805,
+          -0.986119270324707,
+          -0.06826667487621307,
+          -14.481008529663086
+        ],
+        [
+          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": "1731323537_283081769",
+      "mask_path": "../../mask/hdr_right_02738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02740.png",
+      "transform_matrix": [
+        [
+          -0.8780161738395691,
+          -0.17332997918128967,
+          0.4461438059806824,
+          -0.8013689517974854
+        ],
+        [
+          -0.4546075463294983,
+          0.010403439402580261,
+          -0.8906311392784119,
+          19.87184715270996
+        ],
+        [
+          0.1497316211462021,
+          -0.9848088026046753,
+          -0.08793150633573532,
+          -14.508317947387695
+        ],
+        [
+          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": "1731323537_483083248",
+      "mask_path": "../../mask/hdr_right_02740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02742.png",
+      "transform_matrix": [
+        [
+          -0.8812671303749084,
+          -0.19222156703472137,
+          0.43176308274269104,
+          -0.7229055166244507
+        ],
+        [
+          -0.4398910105228424,
+          -0.000436319358414039,
+          -0.8980510830879211,
+          19.89899444580078
+        ],
+        [
+          0.17281316220760345,
+          -0.9813514947891235,
+          -0.08417201787233353,
+          -14.537907600402832
+        ],
+        [
+          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": "1731323537_683082580",
+      "mask_path": "../../mask/hdr_right_02742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02743.png",
+      "transform_matrix": [
+        [
+          -0.8857996463775635,
+          -0.18971124291419983,
+          0.4235193133354187,
+          -0.6700841188430786
+        ],
+        [
+          -0.43146100640296936,
+          0.0006219339556992054,
+          -0.9021313190460205,
+          19.91703224182129
+        ],
+        [
+          0.17088107764720917,
+          -0.981839656829834,
+          -0.08240392059087753,
+          -14.557929039001465
+        ],
+        [
+          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": "1731323537_783081054",
+      "mask_path": "../../mask/hdr_right_02743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02744.png",
+      "transform_matrix": [
+        [
+          -0.8876725435256958,
+          -0.1915053278207779,
+          0.41876378655433655,
+          -0.6063584685325623
+        ],
+        [
+          -0.4257180094718933,
+          -0.00530618941411376,
+          -0.9048404693603516,
+          19.947158813476562
+        ],
+        [
+          0.17550379037857056,
+          -0.9814772009849548,
+          -0.0768171101808548,
+          -14.574789047241211
+        ],
+        [
+          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": "1731323537_883081436",
+      "mask_path": "../../mask/hdr_right_02744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02749.png",
+      "transform_matrix": [
+        [
+          -0.8840727210044861,
+          -0.23711641132831573,
+          0.40272974967956543,
+          -0.42247673869132996
+        ],
+        [
+          -0.4091954529285431,
+          -0.02356758527457714,
+          -0.9121423363685608,
+          20.037948608398438
+        ],
+        [
+          0.22577527165412903,
+          -0.9711953401565552,
+          -0.0761914923787117,
+          -14.666229248046875
+        ],
+        [
+          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": "1731323538_383081674",
+      "mask_path": "../../mask/hdr_right_02749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02751.png",
+      "transform_matrix": [
+        [
+          -0.8879578113555908,
+          -0.2459772378206253,
+          0.3886207342147827,
+          -0.3214409053325653
+        ],
+        [
+          -0.39235955476760864,
+          -0.03573266789317131,
+          -0.9191176891326904,
+          20.055566787719727
+        ],
+        [
+          0.2399684488773346,
+          -0.968616783618927,
+          -0.06478240340948105,
+          -14.691882133483887
+        ],
+        [
+          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": "1731323538_583082675",
+      "mask_path": "../../mask/hdr_right_02751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02752.png",
+      "transform_matrix": [
+        [
+          -0.8848000168800354,
+          -0.25754645466804504,
+          0.3883282542228699,
+          -0.25833660364151
+        ],
+        [
+          -0.3855379521846771,
+          -0.06342849135398865,
+          -0.9205092787742615,
+          20.066198348999023
+        ],
+        [
+          0.2617049813270569,
+          -0.9641818404197693,
+          -0.043172407895326614,
+          -14.710439682006836
+        ],
+        [
+          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": "1731323538_683081865",
+      "mask_path": "../../mask/hdr_right_02752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02754.png",
+      "transform_matrix": [
+        [
+          -0.8804210424423218,
+          -0.26970282196998596,
+          0.39002445340156555,
+          -0.1814727485179901
+        ],
+        [
+          -0.3795945644378662,
+          -0.09209083765745163,
+          -0.9205581545829773,
+          20.0805721282959
+        ],
+        [
+          0.28419485688209534,
+          -0.9585298895835876,
+          -0.021299008280038834,
+          -14.754134178161621
+        ],
+        [
+          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": "1731323538_883080720",
+      "mask_path": "../../mask/hdr_right_02754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02755.png",
+      "transform_matrix": [
+        [
+          -0.87816321849823,
+          -0.27858173847198486,
+          0.3888721764087677,
+          -0.13912054896354675
+        ],
+        [
+          -0.37733516097068787,
+          -0.09624931216239929,
+          -0.9210615158081055,
+          20.084890365600586
+        ],
+        [
+          0.2940196096897125,
+          -0.9555774331092834,
+          -0.020596081390976906,
+          -14.786659240722656
+        ],
+        [
+          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": "1731323538_983080625",
+      "mask_path": "../../mask/hdr_right_02755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02756.png",
+      "transform_matrix": [
+        [
+          -0.8716249465942383,
+          -0.32066863775253296,
+          0.3707311749458313,
+          -0.09096255898475647
+        ],
+        [
+          -0.36574429273605347,
+          -0.07807782292366028,
+          -0.9274346828460693,
+          20.100744247436523
+        ],
+        [
+          0.3263450562953949,
+          -0.9439679384231567,
+          -0.04922815039753914,
+          -14.798346519470215
+        ],
+        [
+          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": "1731323539_83079338",
+      "mask_path": "../../mask/hdr_right_02756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02758.png",
+      "transform_matrix": [
+        [
+          -0.8681589365005493,
+          -0.3501875698566437,
+          0.35166579484939575,
+          -0.011218756437301636
+        ],
+        [
+          -0.34969234466552734,
+          -0.07116970419883728,
+          -0.9341575503349304,
+          20.112985610961914
+        ],
+        [
+          0.3521582782268524,
+          -0.9339719414710999,
+          -0.06067128852009773,
+          -14.814181327819824
+        ],
+        [
+          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": "1731323539_283082246",
+      "mask_path": "../../mask/hdr_right_02758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02759.png",
+      "transform_matrix": [
+        [
+          -0.8723917007446289,
+          -0.3420509696006775,
+          0.3491903245449066,
+          0.06691031157970428
+        ],
+        [
+          -0.3462084233760834,
+          -0.07192505151033401,
+          -0.9353966116905212,
+          20.13503646850586
+        ],
+        [
+          0.3450688421726227,
+          -0.9369246959686279,
+          -0.055674098432064056,
+          -14.84377670288086
+        ],
+        [
+          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": "1731323539_383081197",
+      "mask_path": "../../mask/hdr_right_02759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02760.png",
+      "transform_matrix": [
+        [
+          -0.8770986795425415,
+          -0.33534443378448486,
+          0.34386321902275085,
+          0.1393943578004837
+        ],
+        [
+          -0.34272104501724243,
+          -0.06462737172842026,
+          -0.9372116327285767,
+          20.153594970703125
+        ],
+        [
+          0.3365117013454437,
+          -0.9398762583732605,
+          -0.05824500694870949,
+          -14.868118286132812
+        ],
+        [
+          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": "1731323539_483080625",
+      "mask_path": "../../mask/hdr_right_02760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02761.png",
+      "transform_matrix": [
+        [
+          -0.8805153965950012,
+          -0.3321917951107025,
+          0.338143914937973,
+          0.1945122480392456
+        ],
+        [
+          -0.3411092460155487,
+          -0.05128927156329155,
+          -0.9386234283447266,
+          20.16647720336914
+        ],
+        [
+          0.329146146774292,
+          -0.9418163299560547,
+          -0.06815269589424133,
+          -14.891660690307617
+        ],
+        [
+          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": "1731323539_583080053",
+      "mask_path": "../../mask/hdr_right_02761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02762.png",
+      "transform_matrix": [
+        [
+          -0.8862127661705017,
+          -0.31870439648628235,
+          0.33623573184013367,
+          0.2474966198205948
+        ],
+        [
+          -0.34081342816352844,
+          -0.04311178997159004,
+          -0.9391419291496277,
+          20.17967987060547
+        ],
+        [
+          0.31380438804626465,
+          -0.9468731880187988,
+          -0.07041250914335251,
+          -14.925946235656738
+        ],
+        [
+          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": "1731323539_683080434",
+      "mask_path": "../../mask/hdr_right_02762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02763.png",
+      "transform_matrix": [
+        [
+          -0.8866310715675354,
+          -0.32454073429107666,
+          0.3294825851917267,
+          0.3058052062988281
+        ],
+        [
+          -0.3387029767036438,
+          -0.029431458562612534,
+          -0.9404329657554626,
+          20.18012237548828
+        ],
+        [
+          0.31490597128868103,
+          -0.9454137086868286,
+          -0.08382806926965714,
+          -14.938153266906738
+        ],
+        [
+          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": "1731323539_783079862",
+      "mask_path": "../../mask/hdr_right_02763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02765.png",
+      "transform_matrix": [
+        [
+          -0.892900824546814,
+          -0.2979912757873535,
+          0.33753418922424316,
+          0.37703248858451843
+        ],
+        [
+          -0.34161290526390076,
+          -0.039983514696359634,
+          -0.9389899373054504,
+          20.183382034301758
+        ],
+        [
+          0.2933066189289093,
+          -0.9537307620048523,
+          -0.06609635800123215,
+          -14.909515380859375
+        ],
+        [
+          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": "1731323539_983081102",
+      "mask_path": "../../mask/hdr_right_02765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02766.png",
+      "transform_matrix": [
+        [
+          -0.8980026245117188,
+          -0.27859577536582947,
+          0.34055209159851074,
+          0.43991291522979736
+        ],
+        [
+          -0.3424893319606781,
+          -0.043288394808769226,
+          -0.9385239481925964,
+          20.19388198852539
+        ],
+        [
+          0.276210755109787,
+          -0.9594323635101318,
+          -0.05654298514127731,
+          -14.929342269897461
+        ],
+        [
+          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": "1731323540_83080768",
+      "mask_path": "../../mask/hdr_right_02766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02768.png",
+      "transform_matrix": [
+        [
+          -0.9045162200927734,
+          -0.25900501012802124,
+          0.33877238631248474,
+          0.5207629203796387
+        ],
+        [
+          -0.34466487169265747,
+          -0.023773452267050743,
+          -0.9384247660636902,
+          20.22585105895996
+        ],
+        [
+          0.2511104941368103,
+          -0.9655833840370178,
+          -0.06776644289493561,
+          -14.956634521484375
+        ],
+        [
+          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": "1731323540_283081293",
+      "mask_path": "../../mask/hdr_right_02768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02769.png",
+      "transform_matrix": [
+        [
+          -0.9038297533988953,
+          -0.2514016628265381,
+          0.3462499678134918,
+          0.5725961923599243
+        ],
+        [
+          -0.3552015721797943,
+          -0.010378850623965263,
+          -0.9347321391105652,
+          20.249679565429688
+        ],
+        [
+          0.2385869026184082,
+          -0.9678271412849426,
+          -0.0799175500869751,
+          -14.97452163696289
+        ],
+        [
+          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": "1731323540_383081912",
+      "mask_path": "../../mask/hdr_right_02769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02770.png",
+      "transform_matrix": [
+        [
+          -0.9052377343177795,
+          -0.24461877346038818,
+          0.3474283516407013,
+          0.6231063604354858
+        ],
+        [
+          -0.35775551199913025,
+          -0.0023672946263104677,
+          -0.9338123202323914,
+          20.260204315185547
+        ],
+        [
+          0.22925050556659698,
+          -0.9696164727210999,
+          -0.0853707566857338,
+          -14.997329711914062
+        ],
+        [
+          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": "1731323540_483079195",
+      "mask_path": "../../mask/hdr_right_02770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02771.png",
+      "transform_matrix": [
+        [
+          -0.9068959355354309,
+          -0.23198555409908295,
+          0.3517421782016754,
+          0.6894081830978394
+        ],
+        [
+          -0.35933831334114075,
+          -0.010115612298250198,
+          -0.9331526160240173,
+          20.260101318359375
+        ],
+        [
+          0.22003601491451263,
+          -0.9726666212081909,
+          -0.0741874948143959,
+          -14.99121379852295
+        ],
+        [
+          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": "1731323540_583080053",
+      "mask_path": "../../mask/hdr_right_02771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02774.png",
+      "transform_matrix": [
+        [
+          -0.8954883217811584,
+          -0.1685532033443451,
+          0.4119349718093872,
+          0.7544968128204346
+        ],
+        [
+          -0.4114375114440918,
+          -0.03952738270163536,
+          -0.9105804562568665,
+          20.28690528869629
+        ],
+        [
+          0.16976398229599,
+          -0.9848997592926025,
+          -0.03395279496908188,
+          -14.991861343383789
+        ],
+        [
+          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": "1731323540_883081436",
+      "mask_path": "../../mask/hdr_right_02774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02776.png",
+      "transform_matrix": [
+        [
+          -0.8731539845466614,
+          -0.1877603381872177,
+          0.4498313069343567,
+          0.7921888828277588
+        ],
+        [
+          -0.44722747802734375,
+          -0.05847380310297012,
+          -0.8925068378448486,
+          20.295610427856445
+        ],
+        [
+          0.19388073682785034,
+          -0.9804727435112,
+          -0.03291494399309158,
+          -14.979216575622559
+        ],
+        [
+          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": "1731323541_83082199",
+      "mask_path": "../../mask/hdr_right_02776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02778.png",
+      "transform_matrix": [
+        [
+          -0.8649262189865112,
+          -0.18565700948238373,
+          0.46629831194877625,
+          0.8316278457641602
+        ],
+        [
+          -0.4692385196685791,
+          -0.030548853799700737,
+          -0.8825429677963257,
+          20.352745056152344
+        ],
+        [
+          0.17809517681598663,
+          -0.9821395874023438,
+          -0.06069491058588028,
+          -15.012340545654297
+        ],
+        [
+          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": "1731323541_283082246",
+      "mask_path": "../../mask/hdr_right_02778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02780.png",
+      "transform_matrix": [
+        [
+          -0.8642564415931702,
+          -0.1761157363653183,
+          0.47121551632881165,
+          0.9020427465438843
+        ],
+        [
+          -0.4709785282611847,
+          -0.04583650454878807,
+          -0.8809530138969421,
+          20.366607666015625
+        ],
+        [
+          0.17674857378005981,
+          -0.9833016991615295,
+          -0.043332234025001526,
+          -15.033689498901367
+        ],
+        [
+          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": "1731323541_483081817",
+      "mask_path": "../../mask/hdr_right_02780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02782.png",
+      "transform_matrix": [
+        [
+          -0.8751493692398071,
+          -0.15348635613918304,
+          0.4588632881641388,
+          1.0251491069793701
+        ],
+        [
+          -0.4573112428188324,
+          -0.04739592596888542,
+          -0.8880428671836853,
+          20.38916015625
+        ],
+        [
+          0.15805068612098694,
+          -0.9870134592056274,
+          -0.02871251106262207,
+          -15.052538871765137
+        ],
+        [
+          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": "1731323541_683079957",
+      "mask_path": "../../mask/hdr_right_02782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02783.png",
+      "transform_matrix": [
+        [
+          -0.8749524354934692,
+          -0.16019651293754578,
+          0.4569413363933563,
+          1.1104646921157837
+        ],
+        [
+          -0.4553239941596985,
+          -0.048857588320970535,
+          -0.8889842629432678,
+          20.415576934814453
+        ],
+        [
+          0.16473723948001862,
+          -0.9858753085136414,
+          -0.030193250626325607,
+          -15.083693504333496
+        ],
+        [
+          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": "1731323541_783081531",
+      "mask_path": "../../mask/hdr_right_02783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02784.png",
+      "transform_matrix": [
+        [
+          -0.8745294809341431,
+          -0.1685062050819397,
+          0.4547567665576935,
+          1.1706466674804688
+        ],
+        [
+          -0.4544543921947479,
+          -0.04264217987656593,
+          -0.8897488713264465,
+          20.44277572631836
+        ],
+        [
+          0.1693200021982193,
+          -0.9847778081893921,
+          -0.0392865426838398,
+          -15.121087074279785
+        ],
+        [
+          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": "1731323541_883079051",
+      "mask_path": "../../mask/hdr_right_02784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02785.png",
+      "transform_matrix": [
+        [
+          -0.8756107091903687,
+          -0.17185065150260925,
+          0.4514124095439911,
+          1.2277774810791016
+        ],
+        [
+          -0.45259153842926025,
+          -0.03454364836215973,
+          -0.8910486698150635,
+          20.465452194213867
+        ],
+        [
+          0.16872072219848633,
+          -0.9845171570777893,
+          -0.0475313626229763,
+          -15.145589828491211
+        ],
+        [
+          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": "1731323541_983079910",
+      "mask_path": "../../mask/hdr_right_02785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02786.png",
+      "transform_matrix": [
+        [
+          -0.8745700716972351,
+          -0.1838308721780777,
+          0.4487018883228302,
+          1.3040143251419067
+        ],
+        [
+          -0.44989344477653503,
+          -0.037585318088531494,
+          -0.8922911286354065,
+          20.482742309570312
+        ],
+        [
+          0.18089523911476135,
+          -0.9822390079498291,
+          -0.04983330890536308,
+          -15.168890953063965
+        ],
+        [
+          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": "1731323542_83080768",
+      "mask_path": "../../mask/hdr_right_02786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02787.png",
+      "transform_matrix": [
+        [
+          -0.8741075396537781,
+          -0.20150703191757202,
+          0.44196251034736633,
+          1.3722468614578247
+        ],
+        [
+          -0.4430542588233948,
+          -0.04218737781047821,
+          -0.8955016732215881,
+          20.498483657836914
+        ],
+        [
+          0.19909511506557465,
+          -0.9785780906677246,
+          -0.05240224674344063,
+          -15.191813468933105
+        ],
+        [
+          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": "1731323542_183081626",
+      "mask_path": "../../mask/hdr_right_02787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02788.png",
+      "transform_matrix": [
+        [
+          -0.8758240342140198,
+          -0.21282950043678284,
+          0.43316951394081116,
+          1.4279451370239258
+        ],
+        [
+          -0.4351484179496765,
+          -0.03998371958732605,
+          -0.8994705677032471,
+          20.51251792907715
+        ],
+        [
+          0.2087535858154297,
+          -0.9762709140777588,
+          -0.05759371817111969,
+          -15.211431503295898
+        ],
+        [
+          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": "1731323542_283081054",
+      "mask_path": "../../mask/hdr_right_02788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02789.png",
+      "transform_matrix": [
+        [
+          -0.8791265487670898,
+          -0.21380315721035004,
+          0.4259398579597473,
+          1.5006340742111206
+        ],
+        [
+          -0.42898795008659363,
+          -0.03434468060731888,
+          -0.902657151222229,
+          20.520843505859375
+        ],
+        [
+          0.20761972665786743,
+          -0.9762728214263916,
+          -0.06152566149830818,
+          -15.210143089294434
+        ],
+        [
+          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": "1731323542_383081674",
+      "mask_path": "../../mask/hdr_right_02789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02790.png",
+      "transform_matrix": [
+        [
+          -0.8773794770240784,
+          -0.22185444831848145,
+          0.4254242777824402,
+          1.587439775466919
+        ],
+        [
+          -0.4237024486064911,
+          -0.057774290442466736,
+          -0.9039570689201355,
+          20.556032180786133
+        ],
+        [
+          0.2251254916191101,
+          -0.9733666777610779,
+          -0.043310292065143585,
+          -15.247118949890137
+        ],
+        [
+          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": "1731323542_483077764",
+      "mask_path": "../../mask/hdr_right_02790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02791.png",
+      "transform_matrix": [
+        [
+          -0.8713805079460144,
+          -0.23662187159061432,
+          0.42977455258369446,
+          1.6468141078948975
+        ],
+        [
+          -0.42329585552215576,
+          -0.08025331050157547,
+          -0.9024301171302795,
+          20.584945678710938
+        ],
+        [
+          0.24802550673484802,
+          -0.9682816863059998,
+          -0.03022989071905613,
+          -15.27155876159668
+        ],
+        [
+          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": "1731323542_583081245",
+      "mask_path": "../../mask/hdr_right_02791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02792.png",
+      "transform_matrix": [
+        [
+          -0.8695703148841858,
+          -0.24325497448444366,
+          0.4297376871109009,
+          1.7079343795776367
+        ],
+        [
+          -0.4236578643321991,
+          -0.0795881375670433,
+          -0.902319073677063,
+          20.60442543029785
+        ],
+        [
+          0.25369563698768616,
+          -0.9666916728019714,
+          -0.033849406987428665,
+          -15.272500038146973
+        ],
+        [
+          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": "1731323542_683078527",
+      "mask_path": "../../mask/hdr_right_02792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02793.png",
+      "transform_matrix": [
+        [
+          -0.8719568252563477,
+          -0.24292194843292236,
+          0.4250650405883789,
+          1.7859337329864502
+        ],
+        [
+          -0.4184953570365906,
+          -0.08074060082435608,
+          -0.9046229720115662,
+          20.629859924316406
+        ],
+        [
+          0.25407281517982483,
+          -0.9666798114776611,
+          -0.031259406358003616,
+          -15.303592681884766
+        ],
+        [
+          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": "1731323542_783079862",
+      "mask_path": "../../mask/hdr_right_02793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02794.png",
+      "transform_matrix": [
+        [
+          -0.8765813708305359,
+          -0.23736700415611267,
+          0.4186430275440216,
+          1.8630794286727905
+        ],
+        [
+          -0.4122166037559509,
+          -0.07859725505113602,
+          -0.9076892733573914,
+          20.64498519897461
+        ],
+        [
+          0.24835969507694244,
+          -0.968235194683075,
+          -0.02894972637295723,
+          -15.325061798095703
+        ],
+        [
+          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": "1731323542_883078098",
+      "mask_path": "../../mask/hdr_right_02794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02795.png",
+      "transform_matrix": [
+        [
+          -0.8813929557800293,
+          -0.22979062795639038,
+          0.4127259850502014,
+          1.9298721551895142
+        ],
+        [
+          -0.4068988859653473,
+          -0.07450361549854279,
+          -0.9104299545288086,
+          20.658349990844727
+        ],
+        [
+          0.23995782434940338,
+          -0.9703841805458069,
+          -0.027834592387080193,
+          -15.334827423095703
+        ],
+        [
+          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": "1731323542_983081579",
+      "mask_path": "../../mask/hdr_right_02795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02796.png",
+      "transform_matrix": [
+        [
+          -0.8876014947891235,
+          -0.21854816377162933,
+          0.4054630994796753,
+          2.0055453777313232
+        ],
+        [
+          -0.40041518211364746,
+          -0.06898313015699387,
+          -0.9137335419654846,
+          20.67306900024414
+        ],
+        [
+          0.22766491770744324,
+          -0.9733847975730896,
+          -0.0262804813683033,
+          -15.335238456726074
+        ],
+        [
+          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": "1731323543_83079814",
+      "mask_path": "../../mask/hdr_right_02796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02797.png",
+      "transform_matrix": [
+        [
+          -0.8922949433326721,
+          -0.20628713071346283,
+          0.4015660285949707,
+          2.1061649322509766
+        ],
+        [
+          -0.3962857127189636,
+          -0.06818972527980804,
+          -0.9155915379524231,
+          20.709733963012695
+        ],
+        [
+          0.21625740826129913,
+          -0.9761126041412354,
+          -0.020903287455439568,
+          -15.35454273223877
+        ],
+        [
+          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": "1731323543_183081626",
+      "mask_path": "../../mask/hdr_right_02797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02798.png",
+      "transform_matrix": [
+        [
+          -0.8935898542404175,
+          -0.19821180403232574,
+          0.40275201201438904,
+          2.182377338409424
+        ],
+        [
+          -0.39829277992248535,
+          -0.06369680166244507,
+          -0.9150440096855164,
+          20.744827270507812
+        ],
+        [
+          0.20702655613422394,
+          -0.978087306022644,
+          -0.022027505561709404,
+          -15.381856918334961
+        ],
+        [
+          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": "1731323543_283082246",
+      "mask_path": "../../mask/hdr_right_02798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02800.png",
+      "transform_matrix": [
+        [
+          -0.8943698406219482,
+          -0.1877879649400711,
+          0.40600281953811646,
+          2.292426109313965
+        ],
+        [
+          -0.4076884984970093,
+          -0.03134866803884506,
+          -0.9125827550888062,
+          20.800613403320312
+        ],
+        [
+          0.1840997189283371,
+          -0.9817092418670654,
+          -0.04852169379591942,
+          -15.410207748413086
+        ],
+        [
+          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": "1731323543_483080148",
+      "mask_path": "../../mask/hdr_right_02800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02801.png",
+      "transform_matrix": [
+        [
+          -0.8958979845046997,
+          -0.19181156158447266,
+          0.40071824193000793,
+          2.379913091659546
+        ],
+        [
+          -0.4038132429122925,
+          -0.024437595158815384,
+          -0.9145150780677795,
+          20.82703399658203
+        ],
+        [
+          0.18520715832710266,
+          -0.9811275005340576,
+          -0.05556245520710945,
+          -15.433388710021973
+        ],
+        [
+          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": "1731323543_583081483",
+      "mask_path": "../../mask/hdr_right_02801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02802.png",
+      "transform_matrix": [
+        [
+          -0.8989306688308716,
+          -0.19431424140930176,
+          0.3926393389701843,
+          2.445366144180298
+        ],
+        [
+          -0.39655110239982605,
+          -0.02002010866999626,
+          -0.917794406414032,
+          20.838438034057617
+        ],
+        [
+          0.18620119988918304,
+          -0.9807350039482117,
+          -0.059058837592601776,
+          -15.444086074829102
+        ],
+        [
+          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": "1731323543_683082580",
+      "mask_path": "../../mask/hdr_right_02802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02803.png",
+      "transform_matrix": [
+        [
+          -0.9031057357788086,
+          -0.1886768937110901,
+          0.38574740290641785,
+          2.501467227935791
+        ],
+        [
+          -0.3903667628765106,
+          -0.013573049567639828,
+          -0.9205593466758728,
+          20.850587844848633
+        ],
+        [
+          0.17892403900623322,
+          -0.9819453954696655,
+          -0.06139528751373291,
+          -15.449784278869629
+        ],
+        [
+          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": "1731323543_783082246",
+      "mask_path": "../../mask/hdr_right_02803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02804.png",
+      "transform_matrix": [
+        [
+          -0.9077244997024536,
+          -0.1783371865749359,
+          0.37977901101112366,
+          2.58063006401062
+        ],
+        [
+          -0.3839440643787384,
+          -0.01192484050989151,
+          -0.9232794046401978,
+          20.876941680908203
+        ],
+        [
+          0.16918383538722992,
+          -0.9838972091674805,
+          -0.05764703452587128,
+          -15.467672348022461
+        ],
+        [
+          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": "1731323543_883082151",
+      "mask_path": "../../mask/hdr_right_02804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02805.png",
+      "transform_matrix": [
+        [
+          -0.9102970957756042,
+          -0.17159278690814972,
+          0.3767163157463074,
+          2.6696770191192627
+        ],
+        [
+          -0.37973347306251526,
+          -0.016173217445611954,
+          -0.9249545335769653,
+          20.903406143188477
+        ],
+        [
+          0.1648082584142685,
+          -0.985035240650177,
+          -0.05043710023164749,
+          -15.488668441772461
+        ],
+        [
+          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": "1731323543_983081102",
+      "mask_path": "../../mask/hdr_right_02805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02806.png",
+      "transform_matrix": [
+        [
+          -0.911178708076477,
+          -0.1661970019340515,
+          0.3770039975643158,
+          2.7401342391967773
+        ],
+        [
+          -0.37940505146980286,
+          -0.01830149069428444,
+          -0.9250497221946716,
+          20.9226131439209
+        ],
+        [
+          0.16064020991325378,
+          -0.985922634601593,
+          -0.04638005420565605,
+          -15.499222755432129
+        ],
+        [
+          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": "1731323544_83082199",
+      "mask_path": "../../mask/hdr_right_02806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02807.png",
+      "transform_matrix": [
+        [
+          -0.9121457934379578,
+          -0.16000817716121674,
+          0.37734249234199524,
+          2.8041956424713135
+        ],
+        [
+          -0.3799295425415039,
+          -0.01530373003333807,
+          -0.9248888492584229,
+          20.946449279785156
+        ],
+        [
+          0.1537645310163498,
+          -0.9869970679283142,
+          -0.046832598745822906,
+          -15.526141166687012
+        ],
+        [
+          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": "1731323544_183081388",
+      "mask_path": "../../mask/hdr_right_02807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02808.png",
+      "transform_matrix": [
+        [
+          -0.9144741892814636,
+          -0.16213631629943848,
+          0.37074077129364014,
+          2.888580322265625
+        ],
+        [
+          -0.3736386001110077,
+          -0.013389854691922665,
+          -0.9274777173995972,
+          20.95942497253418
+        ],
+        [
+          0.1553420126438141,
+          -0.9866775274276733,
+          -0.04833570495247841,
+          -15.528526306152344
+        ],
+        [
+          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": "1731323544_283082246",
+      "mask_path": "../../mask/hdr_right_02808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02809.png",
+      "transform_matrix": [
+        [
+          -0.9190382361412048,
+          -0.1607147455215454,
+          0.3599160313606262,
+          2.9586689472198486
+        ],
+        [
+          -0.36299630999565125,
+          -0.010804272256791592,
+          -0.9317280650138855,
+          20.962438583374023
+        ],
+        [
+          0.1536310613155365,
+          -0.9869416952133179,
+          -0.048409320414066315,
+          -15.513073921203613
+        ],
+        [
+          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": "1731323544_383081912",
+      "mask_path": "../../mask/hdr_right_02809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02810.png",
+      "transform_matrix": [
+        [
+          -0.9247490167617798,
+          -0.15142348408699036,
+          0.34915652871131897,
+          3.0117547512054443
+        ],
+        [
+          -0.3519165813922882,
+          -0.009058541618287563,
+          -0.9359875917434692,
+          20.9678897857666
+        ],
+        [
+          0.1448933333158493,
+          -0.988427460193634,
+          -0.04491155594587326,
+          -15.509556770324707
+        ],
+        [
+          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": "1731323544_483082056",
+      "mask_path": "../../mask/hdr_right_02810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02811.png",
+      "transform_matrix": [
+        [
+          -0.9309133291244507,
+          -0.13946139812469482,
+          0.33756595849990845,
+          3.088508129119873
+        ],
+        [
+          -0.33887264132499695,
+          -0.014997094869613647,
+          -0.9407127499580383,
+          20.976882934570312
+        ],
+        [
+          0.1362556368112564,
+          -0.9901139140129089,
+          -0.033298660069704056,
+          -15.521578788757324
+        ],
+        [
+          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": "1731323544_583082199",
+      "mask_path": "../../mask/hdr_right_02811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02812.png",
+      "transform_matrix": [
+        [
+          -0.9330340623855591,
+          -0.13370028138160706,
+          0.33402368426322937,
+          3.175558090209961
+        ],
+        [
+          -0.33336955308914185,
+          -0.027920974418520927,
+          -0.9423827528953552,
+          20.98540687561035
+        ],
+        [
+          0.13532310724258423,
+          -0.9906283617019653,
+          -0.018520383164286613,
+          -15.525569915771484
+        ],
+        [
+          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": "1731323544_683081150",
+      "mask_path": "../../mask/hdr_right_02812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02813.png",
+      "transform_matrix": [
+        [
+          -0.9319595098495483,
+          -0.13165883719921112,
+          0.33781278133392334,
+          3.2491202354431152
+        ],
+        [
+          -0.33553844690322876,
+          -0.03977375850081444,
+          -0.9411865472793579,
+          20.99489974975586
+        ],
+        [
+          0.13735158741474152,
+          -0.9904969334602356,
+          -0.0071090697310864925,
+          -15.52701473236084
+        ],
+        [
+          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": "1731323544_783082485",
+      "mask_path": "../../mask/hdr_right_02813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02814.png",
+      "transform_matrix": [
+        [
+          -0.9308245778083801,
+          -0.12738578021526337,
+          0.3425470292568207,
+          3.3099098205566406
+        ],
+        [
+          -0.3403719663619995,
+          -0.039155617356300354,
+          -0.9394753575325012,
+          21.009435653686523
+        ],
+        [
+          0.13308843970298767,
+          -0.9910800457000732,
+          -0.006911539472639561,
+          -15.542348861694336
+        ],
+        [
+          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": "1731323544_883082389",
+      "mask_path": "../../mask/hdr_right_02814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02815.png",
+      "transform_matrix": [
+        [
+          -0.9307821989059448,
+          -0.1285361498594284,
+          0.34223225712776184,
+          3.380828857421875
+        ],
+        [
+          -0.3405381739139557,
+          -0.03562677651643753,
+          -0.9395555257797241,
+          21.02089500427246
+        ],
+        [
+          0.13295947015285492,
+          -0.9910646677017212,
+          -0.010610691271722317,
+          -15.55444049835205
+        ],
+        [
+          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": "1731323544_983083009",
+      "mask_path": "../../mask/hdr_right_02815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02816.png",
+      "transform_matrix": [
+        [
+          -0.9326621294021606,
+          -0.1311812549829483,
+          0.3360547721385956,
+          3.462980031967163
+        ],
+        [
+          -0.334489107131958,
+          -0.03446175903081894,
+          -0.9417692422866821,
+          21.026470184326172
+        ],
+        [
+          0.13512350618839264,
+          -0.9907592535018921,
+          -0.011737527325749397,
+          -15.559700012207031
+        ],
+        [
+          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": "1731323545_83081483",
+      "mask_path": "../../mask/hdr_right_02816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02818.png",
+      "transform_matrix": [
+        [
+          -0.9304855465888977,
+          -0.13327330350875854,
+          0.34122559428215027,
+          3.5668787956237793
+        ],
+        [
+          -0.34042638540267944,
+          -0.02945326641201973,
+          -0.9398097991943359,
+          21.053890228271484
+        ],
+        [
+          0.13530176877975464,
+          -0.9906415343284607,
+          -0.017963910475373268,
+          -15.584595680236816
+        ],
+        [
+          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": "1731323545_283082008",
+      "mask_path": "../../mask/hdr_right_02818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02819.png",
+      "transform_matrix": [
+        [
+          -0.9239580035209656,
+          -0.14735208451747894,
+          0.35297200083732605,
+          3.641242504119873
+        ],
+        [
+          -0.351561576128006,
+          -0.03639013692736626,
+          -0.9354572892189026,
+          21.087114334106445
+        ],
+        [
+          0.15068627893924713,
+          -0.988414466381073,
+          -0.01818036660552025,
+          -15.628632545471191
+        ],
+        [
+          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": "1731323545_383081674",
+      "mask_path": "../../mask/hdr_right_02819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02822.png",
+      "transform_matrix": [
+        [
+          -0.9047518968582153,
+          -0.17211906611919403,
+          0.389614075422287,
+          3.7810873985290527
+        ],
+        [
+          -0.38926318287849426,
+          -0.03720888867974281,
+          -0.9203748106956482,
+          21.12680435180664
+        ],
+        [
+          0.172911137342453,
+          -0.984373152256012,
+          -0.03333480283617973,
+          -15.68410873413086
+        ],
+        [
+          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": "1731323545_683079957",
+      "mask_path": "../../mask/hdr_right_02822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02823.png",
+      "transform_matrix": [
+        [
+          -0.8986838459968567,
+          -0.19306237995624542,
+          0.3938200771808624,
+          3.830916404724121
+        ],
+        [
+          -0.3949483335018158,
+          -0.03428008034825325,
+          -0.9180636405944824,
+          21.143428802490234
+        ],
+        [
+          0.19074372947216034,
+          -0.9805874228477478,
+          -0.04544270411133766,
+          -15.710490226745605
+        ],
+        [
+          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": "1731323545_783079624",
+      "mask_path": "../../mask/hdr_right_02823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02827.png",
+      "transform_matrix": [
+        [
+          -0.8903425335884094,
+          -0.23504593968391418,
+          0.38992762565612793,
+          4.036069393157959
+        ],
+        [
+          -0.3892393410205841,
+          -0.05131959542632103,
+          -0.9197059869766235,
+          21.194124221801758
+        ],
+        [
+          0.23618409037590027,
+          -0.9706284999847412,
+          -0.04579710215330124,
+          -15.777626991271973
+        ],
+        [
+          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": "1731323546_183078289",
+      "mask_path": "../../mask/hdr_right_02827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02828.png",
+      "transform_matrix": [
+        [
+          -0.8869755268096924,
+          -0.24323275685310364,
+          0.39257118105888367,
+          4.109250068664551
+        ],
+        [
+          -0.3884841799736023,
+          -0.06665699928998947,
+          -0.9190414547920227,
+          21.209793090820312
+        ],
+        [
+          0.24970857799053192,
+          -0.9676749110221863,
+          -0.035368941724300385,
+          -15.785578727722168
+        ],
+        [
+          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": "1731323546_283082008",
+      "mask_path": "../../mask/hdr_right_02828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02829.png",
+      "transform_matrix": [
+        [
+          -0.8851783275604248,
+          -0.2471831887960434,
+          0.39415696263313293,
+          4.160587787628174
+        ],
+        [
+          -0.3895658254623413,
+          -0.06938620656728745,
+          -0.9183812141418457,
+          21.228147506713867
+        ],
+        [
+          0.2543574273586273,
+          -0.9664812088012695,
+          -0.034874945878982544,
+          -15.798052787780762
+        ],
+        [
+          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": "1731323546_383081436",
+      "mask_path": "../../mask/hdr_right_02829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02830.png",
+      "transform_matrix": [
+        [
+          -0.8822959661483765,
+          -0.26057541370391846,
+          0.39198777079582214,
+          4.2315568923950195
+        ],
+        [
+          -0.3887953460216522,
+          -0.065963514149189,
+          -0.9189597964286804,
+          21.25265121459961
+        ],
+        [
+          0.2653152048587799,
+          -0.9631974101066589,
+          -0.043111179023981094,
+          -15.833925247192383
+        ],
+        [
+          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": "1731323546_483082294",
+      "mask_path": "../../mask/hdr_right_02830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02832.png",
+      "transform_matrix": [
+        [
+          -0.8794283866882324,
+          -0.2924823462963104,
+          0.3755794167518616,
+          4.293048858642578
+        ],
+        [
+          -0.37625885009765625,
+          -0.05622812360525131,
+          -0.9248070120811462,
+          21.254587173461914
+        ],
+        [
+          0.2916078269481659,
+          -0.9546164274215698,
+          -0.06060047075152397,
+          -15.819015502929688
+        ],
+        [
+          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": "1731323546_683082342",
+      "mask_path": "../../mask/hdr_right_02832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02833.png",
+      "transform_matrix": [
+        [
+          -0.8812665343284607,
+          -0.2872143089771271,
+          0.3753361403942108,
+          4.354862213134766
+        ],
+        [
+          -0.3737732470035553,
+          -0.06248657777905464,
+          -0.9254128932952881,
+          21.256122589111328
+        ],
+        [
+          0.28924524784088135,
+          -0.9558259844779968,
+          -0.05228568986058235,
+          -15.833019256591797
+        ],
+        [
+          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": "1731323546_783082723",
+      "mask_path": "../../mask/hdr_right_02833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02834.png",
+      "transform_matrix": [
+        [
+          -0.8829790353775024,
+          -0.27956536412239075,
+          0.37708228826522827,
+          4.432798385620117
+        ],
+        [
+          -0.3757665753364563,
+          -0.06048145890235901,
+          -0.9247385859489441,
+          21.27692985534668
+        ],
+        [
+          0.2813313603401184,
+          -0.9582198262214661,
+          -0.05164745822548866,
+          -15.862789154052734
+        ],
+        [
+          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": "1731323546_883082866",
+      "mask_path": "../../mask/hdr_right_02834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02835.png",
+      "transform_matrix": [
+        [
+          -0.8843847513198853,
+          -0.26891040802001953,
+          0.3815111517906189,
+          4.495556831359863
+        ],
+        [
+          -0.38112351298332214,
+          -0.055828120559453964,
+          -0.9228370189666748,
+          21.30133628845215
+        ],
+        [
+          0.2694595158100128,
+          -0.9615457653999329,
+          -0.05311453714966774,
+          -15.896944046020508
+        ],
+        [
+          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": "1731323546_983081340",
+      "mask_path": "../../mask/hdr_right_02835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02836.png",
+      "transform_matrix": [
+        [
+          -0.884454071521759,
+          -0.2607053518295288,
+          0.3870061933994293,
+          4.5529632568359375
+        ],
+        [
+          -0.38856077194213867,
+          -0.047765884548425674,
+          -0.9201841950416565,
+          21.320411682128906
+        ],
+        [
+          0.258382648229599,
+          -0.9642360806465149,
+          -0.059053149074316025,
+          -15.917525291442871
+        ],
+        [
+          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": "1731323547_83082199",
+      "mask_path": "../../mask/hdr_right_02836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02837.png",
+      "transform_matrix": [
+        [
+          -0.8844752311706543,
+          -0.24916823208332062,
+          0.3944852948188782,
+          4.612895965576172
+        ],
+        [
+          -0.3985957205295563,
+          -0.035985078662633896,
+          -0.9164204597473145,
+          21.33955192565918
+        ],
+        [
+          0.2425384521484375,
+          -0.9677913784980774,
+          -0.06748947501182556,
+          -15.92387580871582
+        ],
+        [
+          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": "1731323547_183082342",
+      "mask_path": "../../mask/hdr_right_02837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02838.png",
+      "transform_matrix": [
+        [
+          -0.8857815265655518,
+          -0.22333599627017975,
+          0.4068317413330078,
+          4.704733371734619
+        ],
+        [
+          -0.40960782766342163,
+          -0.03593628853559494,
+          -0.9115536212921143,
+          21.355823516845703
+        ],
+        [
+          0.21820273995399475,
+          -0.9740788340568542,
+          -0.05964847281575203,
+          -15.943689346313477
+        ],
+        [
+          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": "1731323547_283081531",
+      "mask_path": "../../mask/hdr_right_02838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02839.png",
+      "transform_matrix": [
+        [
+          -0.8875526785850525,
+          -0.19631266593933105,
+          0.41678735613822937,
+          4.787052631378174
+        ],
+        [
+          -0.4174130856990814,
+          -0.040214236825704575,
+          -0.9078266620635986,
+          21.36762809753418
+        ],
+        [
+          0.19497863948345184,
+          -0.979716420173645,
+          -0.04625121131539345,
+          -15.955949783325195
+        ],
+        [
+          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": "1731323547_383082151",
+      "mask_path": "../../mask/hdr_right_02839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02840.png",
+      "transform_matrix": [
+        [
+          -0.8916151523590088,
+          -0.17554673552513123,
+          0.4173796474933624,
+          4.8474602699279785
+        ],
+        [
+          -0.4173922538757324,
+          -0.03866336867213249,
+          -0.9079036116600037,
+          21.379426956176758
+        ],
+        [
+          0.17551679909229279,
+          -0.9837116003036499,
+          -0.038798987865448,
+          -15.954727172851562
+        ],
+        [
+          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": "1731323547_483083486",
+      "mask_path": "../../mask/hdr_right_02840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02841.png",
+      "transform_matrix": [
+        [
+          -0.8959030508995056,
+          -0.1616341471672058,
+          0.41380199790000916,
+          4.935617446899414
+        ],
+        [
+          -0.41330090165138245,
+          -0.03832395747303963,
+          -0.9097877144813538,
+          21.40436553955078
+        ],
+        [
+          0.1629113107919693,
+          -0.986106276512146,
+          -0.03246898949146271,
+          -15.9690523147583
+        ],
+        [
+          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": "1731323547_583083391",
+      "mask_path": "../../mask/hdr_right_02841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02842.png",
+      "transform_matrix": [
+        [
+          -0.8973346948623657,
+          -0.1522514671087265,
+          0.4142584800720215,
+          5.013706207275391
+        ],
+        [
+          -0.41378310322761536,
+          -0.036312855780124664,
+          -0.9096510410308838,
+          21.428537368774414
+        ],
+        [
+          0.15353859961032867,
+          -0.9876744747161865,
+          -0.03041430003941059,
+          -15.982993125915527
+        ],
+        [
+          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": "1731323547_683083295",
+      "mask_path": "../../mask/hdr_right_02842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02844.png",
+      "transform_matrix": [
+        [
+          -0.8968884944915771,
+          -0.13683897256851196,
+          0.42055442929267883,
+          5.113461494445801
+        ],
+        [
+          -0.4215843081474304,
+          -0.022797461599111557,
+          -0.9065026640892029,
+          21.470300674438477
+        ],
+        [
+          0.13363246619701385,
+          -0.9903308749198914,
+          -0.03724237531423569,
+          -16.004899978637695
+        ],
+        [
+          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": "1731323547_883081436",
+      "mask_path": "../../mask/hdr_right_02844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07257.png",
+      "transform_matrix": [
+        [
+          0.9200959205627441,
+          -0.15736067295074463,
+          -0.3586937487125397,
+          4.784799575805664
+        ],
+        [
+          0.35980892181396484,
+          -0.022342897951602936,
+          0.9327584505081177,
+          21.23309898376465
+        ],
+        [
+          -0.15479375422000885,
+          -0.9872884154319763,
+          0.036062173545360565,
+          -15.94344425201416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7257,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_183081865",
+      "mask_path": "../../mask/hdr_right_07257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07258.png",
+      "transform_matrix": [
+        [
+          0.9219204187393188,
+          -0.15187275409698486,
+          -0.35636693239212036,
+          4.714372158050537
+        ],
+        [
+          0.3586992621421814,
+          -0.012700716964900494,
+          0.9333667755126953,
+          21.20655059814453
+        ],
+        [
+          -0.14627911150455475,
+          -0.9883184432983398,
+          0.042767591774463654,
+          -15.940157890319824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7258,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_283083677",
+      "mask_path": "../../mask/hdr_right_07258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07259.png",
+      "transform_matrix": [
+        [
+          0.923546314239502,
+          -0.14909213781356812,
+          -0.35331809520721436,
+          4.6497015953063965
+        ],
+        [
+          0.35581621527671814,
+          -0.010477045550942421,
+          0.9344972372055054,
+          21.178068161010742
+        ],
+        [
+          -0.1430279016494751,
+          -0.9887678027153015,
+          0.04337335750460625,
+          -15.928910255432129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7259,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_383082389",
+      "mask_path": "../../mask/hdr_right_07259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07260.png",
+      "transform_matrix": [
+        [
+          0.9276723861694336,
+          -0.13250520825386047,
+          -0.349093496799469,
+          4.565402507781982
+        ],
+        [
+          0.34995174407958984,
+          -0.017521966248750687,
+          0.9366039633750916,
+          21.15743064880371
+        ],
+        [
+          -0.13022169470787048,
+          -0.9910274147987366,
+          0.03011578693985939,
+          -15.923800468444824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7260,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_483082056",
+      "mask_path": "../../mask/hdr_right_07260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07261.png",
+      "transform_matrix": [
+        [
+          0.9320212006568909,
+          -0.12105926871299744,
+          -0.3415863811969757,
+          4.478022575378418
+        ],
+        [
+          0.3412136435508728,
+          -0.024446044117212296,
+          0.939667820930481,
+          21.136877059936523
+        ],
+        [
+          -0.1221059262752533,
+          -0.9923442006111145,
+          0.0185228381305933,
+          -15.906257629394531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7261,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_583081960",
+      "mask_path": "../../mask/hdr_right_07261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07262.png",
+      "transform_matrix": [
+        [
+          0.9348087906837463,
+          -0.11935841292142868,
+          -0.3344939947128296,
+          4.409217357635498
+        ],
+        [
+          0.33369144797325134,
+          -0.027247175574302673,
+          0.9422885775566101,
+          21.121706008911133
+        ],
+        [
+          -0.12158408761024475,
+          -0.9924772381782532,
+          0.014357980340719223,
+          -15.887707710266113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7262,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_683081388",
+      "mask_path": "../../mask/hdr_right_07262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07263.png",
+      "transform_matrix": [
+        [
+          0.9372737407684326,
+          -0.11445847153663635,
+          -0.329267680644989,
+          4.331122398376465
+        ],
+        [
+          0.3283657729625702,
+          -0.027193181216716766,
+          0.944159209728241,
+          21.11833953857422
+        ],
+        [
+          -0.1170208528637886,
+          -0.9930558204650879,
+          0.012096784077584743,
+          -15.891824722290039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7263,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_783081769",
+      "mask_path": "../../mask/hdr_right_07263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07264.png",
+      "transform_matrix": [
+        [
+          0.9376091957092285,
+          -0.10920838266611099,
+          -0.33009445667266846,
+          4.242403984069824
+        ],
+        [
+          0.32987192273139954,
+          -0.020624233409762383,
+          0.9438005089759827,
+          21.10117530822754
+        ],
+        [
+          -0.10987884551286697,
+          -0.9938048720359802,
+          0.0166873037815094,
+          -15.881736755371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7264,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_883081912",
+      "mask_path": "../../mask/hdr_right_07264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07265.png",
+      "transform_matrix": [
+        [
+          0.936576783657074,
+          -0.10612735152244568,
+          -0.3340074121952057,
+          4.1664628982543945
+        ],
+        [
+          0.33494675159454346,
+          -0.009377697482705116,
+          0.942190408706665,
+          21.083538055419922
+        ],
+        [
+          -0.10312439501285553,
+          -0.994308352470398,
+          0.026764078065752983,
+          -15.878043174743652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7265,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_983081340",
+      "mask_path": "../../mask/hdr_right_07265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07266.png",
+      "transform_matrix": [
+        [
+          0.9369650483131409,
+          -0.10728663951158524,
+          -0.3325446844100952,
+          4.097125053405762
+        ],
+        [
+          0.33463120460510254,
+          0.001537250354886055,
+          0.9423480033874512,
+          21.070119857788086
+        ],
+        [
+          -0.10059013962745667,
+          -0.99422687292099,
+          0.037341807037591934,
+          -15.865532875061035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7266,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_83082675",
+      "mask_path": "../../mask/hdr_right_07266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07267.png",
+      "transform_matrix": [
+        [
+          0.9378283619880676,
+          -0.12010087817907333,
+          -0.3256589472293854,
+          4.009972095489502
+        ],
+        [
+          0.32857030630111694,
+          0.004730777814984322,
+          0.9444676637649536,
+          21.073078155517578
+        ],
+        [
+          -0.1118907704949379,
+          -0.9927504062652588,
+          0.04389823600649834,
+          -15.822443008422852
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7267,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_183083295",
+      "mask_path": "../../mask/hdr_right_07267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07268.png",
+      "transform_matrix": [
+        [
+          0.9399717450141907,
+          -0.13474352657794952,
+          -0.3135243356227875,
+          3.9234938621520996
+        ],
+        [
+          0.3164712190628052,
+          0.00047608523163944483,
+          0.9486021399497986,
+          21.08066749572754
+        ],
+        [
+          -0.12766873836517334,
+          -0.9908803701400757,
+          0.04308995604515076,
+          -15.79552173614502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7268,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_283081769",
+      "mask_path": "../../mask/hdr_right_07268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07269.png",
+      "transform_matrix": [
+        [
+          0.9419477581977844,
+          -0.14370790123939514,
+          -0.30345094203948975,
+          3.861527681350708
+        ],
+        [
+          0.305734246969223,
+          -0.006460622884333134,
+          0.9520949721336365,
+          21.076940536499023
+        ],
+        [
+          -0.13878405094146729,
+          -0.9895991086959839,
+          0.03785085305571556,
+          -15.786398887634277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7269,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_383083105",
+      "mask_path": "../../mask/hdr_right_07269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07270.png",
+      "transform_matrix": [
+        [
+          0.9398056268692017,
+          -0.15534768998622894,
+          -0.3043558597564697,
+          3.7910187244415283
+        ],
+        [
+          0.3064229190349579,
+          -0.011055654846131802,
+          0.9518312811851501,
+          21.057424545288086
+        ],
+        [
+          -0.1512296497821808,
+          -0.9877979755401611,
+          0.03721192106604576,
+          -15.762815475463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7270,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_483082532",
+      "mask_path": "../../mask/hdr_right_07270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07271.png",
+      "transform_matrix": [
+        [
+          0.934874951839447,
+          -0.16679704189300537,
+          -0.3133491575717926,
+          3.7251088619232178
+        ],
+        [
+          0.31621503829956055,
+          -0.00979105569422245,
+          0.9486370086669922,
+          21.032114028930664
+        ],
+        [
+          -0.16129787266254425,
+          -0.9859426617622375,
+          0.04359031841158867,
+          -15.74128246307373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7271,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_583082675",
+      "mask_path": "../../mask/hdr_right_07271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07272.png",
+      "transform_matrix": [
+        [
+          0.9293686151504517,
+          -0.17295929789543152,
+          -0.3261275291442871,
+          3.674664258956909
+        ],
+        [
+          0.3294317424297333,
+          -0.010071097873151302,
+          0.9441256523132324,
+          21.01119041442871
+        ],
+        [
+          -0.16657976806163788,
+          -0.9848775267601013,
+          0.04761851951479912,
+          -15.731315612792969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7272,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_683082818",
+      "mask_path": "../../mask/hdr_right_07272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07273.png",
+      "transform_matrix": [
+        [
+          0.9236878752708435,
+          -0.1772860735654831,
+          -0.33966222405433655,
+          3.619572639465332
+        ],
+        [
+          0.3432569205760956,
+          -0.010948309674859047,
+          0.9391778111457825,
+          20.987768173217773
+        ],
+        [
+          -0.17022186517715454,
+          -0.9840984344482422,
+          0.05074185132980347,
+          -15.722969055175781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7273,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_783082485",
+      "mask_path": "../../mask/hdr_right_07273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07274.png",
+      "transform_matrix": [
+        [
+          0.9160920977592468,
+          -0.20028288662433624,
+          -0.34736424684524536,
+          3.565871238708496
+        ],
+        [
+          0.35241588950157166,
+          -0.011036843061447144,
+          0.9357783794403076,
+          20.96898078918457
+        ],
+        [
+          -0.19125418365001678,
+          -0.9796759486198425,
+          0.06047210469841957,
+          -15.67467975616455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7274,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_883081436",
+      "mask_path": "../../mask/hdr_right_07274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07275.png",
+      "transform_matrix": [
+        [
+          0.9093338251113892,
+          -0.2216305136680603,
+          -0.3521248400211334,
+          3.5005807876586914
+        ],
+        [
+          0.35672610998153687,
+          -0.0202924981713295,
+          0.9339885711669922,
+          20.955089569091797
+        ],
+        [
+          -0.21414586901664734,
+          -0.9749195575714111,
+          0.06060874089598656,
+          -15.623754501342773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7275,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323990_983081579",
+      "mask_path": "../../mask/hdr_right_07275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07278.png",
+      "transform_matrix": [
+        [
+          0.9048522114753723,
+          -0.22983868420124054,
+          -0.3583526611328125,
+          3.343796730041504
+        ],
+        [
+          0.35943347215652466,
+          -0.03864925727248192,
+          0.9323700666427612,
+          20.91323471069336
+        ],
+        [
+          -0.22814476490020752,
+          -0.9724609851837158,
+          0.04763984680175781,
+          -15.578542709350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7278,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_283079385",
+      "mask_path": "../../mask/hdr_right_07278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07279.png",
+      "transform_matrix": [
+        [
+          0.9047892689704895,
+          -0.23412282764911652,
+          -0.3557286262512207,
+          3.292644500732422
+        ],
+        [
+          0.3562147319316864,
+          -0.04170386865735054,
+          0.9334729909896851,
+          20.893640518188477
+        ],
+        [
+          -0.23338259756565094,
+          -0.9713121652603149,
+          0.04566478356719017,
+          -15.563565254211426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7279,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_383081197",
+      "mask_path": "../../mask/hdr_right_07279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07281.png",
+      "transform_matrix": [
+        [
+          0.9113432168960571,
+          -0.21668297052383423,
+          -0.3500032424926758,
+          3.1899173259735107
+        ],
+        [
+          0.34775248169898987,
+          -0.049725111573934555,
+          0.9362668395042419,
+          20.85961151123047
+        ],
+        [
+          -0.22027702629566193,
+          -0.9749748110771179,
+          0.03003540448844433,
+          -15.552142143249512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7281,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_583082199",
+      "mask_path": "../../mask/hdr_right_07281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07282.png",
+      "transform_matrix": [
+        [
+          0.9155806303024292,
+          -0.21020419895648956,
+          -0.3428209125995636,
+          3.1282806396484375
+        ],
+        [
+          0.33864355087280273,
+          -0.0567215196788311,
+          0.9392035603523254,
+          20.84294891357422
+        ],
+        [
+          -0.21686983108520508,
+          -0.9760106801986694,
+          0.019251160323619843,
+          -15.524494171142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7282,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_683079004",
+      "mask_path": "../../mask/hdr_right_07282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07283.png",
+      "transform_matrix": [
+        [
+          0.9188308715820312,
+          -0.2075149118900299,
+          -0.33568936586380005,
+          3.062196969985962
+        ],
+        [
+          0.3302646577358246,
+          -0.061327822506427765,
+          0.941893994808197,
+          20.83165168762207
+        ],
+        [
+          -0.2160441279411316,
+          -0.9763075113296509,
+          0.012184930965304375,
+          -15.498698234558105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7283,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_783081531",
+      "mask_path": "../../mask/hdr_right_07283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07284.png",
+      "transform_matrix": [
+        [
+          0.9213409423828125,
+          -0.20149201154708862,
+          -0.33246320486068726,
+          2.975949287414551
+        ],
+        [
+          0.3273945748806,
+          -0.05898796021938324,
+          0.9430447220802307,
+          20.817468643188477
+        ],
+        [
+          -0.20962730050086975,
+          -0.9777123332023621,
+          0.011619356460869312,
+          -15.487570762634277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7284,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_883079290",
+      "mask_path": "../../mask/hdr_right_07284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07285.png",
+      "transform_matrix": [
+        [
+          0.9234273433685303,
+          -0.19534605741500854,
+          -0.3303358256816864,
+          2.8907618522644043
+        ],
+        [
+          0.328165203332901,
+          -0.04433831200003624,
+          0.9435791969299316,
+          20.806058883666992
+        ],
+        [
+          -0.19897101819515228,
+          -0.979731559753418,
+          0.023162558674812317,
+          -15.485292434692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7285,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323991_983081817",
+      "mask_path": "../../mask/hdr_right_07285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07286.png",
+      "transform_matrix": [
+        [
+          0.9260720014572144,
+          -0.18997029960155487,
+          -0.32603973150253296,
+          2.8217837810516357
+        ],
+        [
+          0.326405793428421,
+          -0.030263369902968407,
+          0.9447451233863831,
+          20.797409057617188
+        ],
+        [
+          -0.18934057652950287,
+          -0.9813233017921448,
+          0.03398134559392929,
+          -15.475132942199707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7286,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_83081245",
+      "mask_path": "../../mask/hdr_right_07286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07287.png",
+      "transform_matrix": [
+        [
+          0.9306054711341858,
+          -0.17420320212841034,
+          -0.321911096572876,
+          2.7318897247314453
+        ],
+        [
+          0.32210078835487366,
+          -0.027973966673016548,
+          0.9462921023368835,
+          20.792699813842773
+        ],
+        [
+          -0.17385223507881165,
+          -0.9843122959136963,
+          0.030078260228037834,
+          -15.463292121887207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7287,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_183080673",
+      "mask_path": "../../mask/hdr_right_07287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07288.png",
+      "transform_matrix": [
+        [
+          0.9351044297218323,
+          -0.16389484703540802,
+          -0.3141945004463196,
+          2.644310474395752
+        ],
+        [
+          0.31373849511146545,
+          -0.02934759110212326,
+          0.9490559101104736,
+          20.784236907958984
+        ],
+        [
+          -0.16476620733737946,
+          -0.9860411286354065,
+          0.023977050557732582,
+          -15.445470809936523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7288,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_283079147",
+      "mask_path": "../../mask/hdr_right_07288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07289.png",
+      "transform_matrix": [
+        [
+          0.9382938146591187,
+          -0.16075348854064941,
+          -0.3062075078487396,
+          2.569380521774292
+        ],
+        [
+          0.3042382299900055,
+          -0.0373433455824852,
+          0.9518637657165527,
+          20.77155876159668
+        ],
+        [
+          -0.16445022821426392,
+          -0.9862879514694214,
+          0.013868317939341068,
+          -15.423458099365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7289,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_383079767",
+      "mask_path": "../../mask/hdr_right_07289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07290.png",
+      "transform_matrix": [
+        [
+          0.9405251741409302,
+          -0.15382958948612213,
+          -0.30290088057518005,
+          2.4789724349975586
+        ],
+        [
+          0.299532413482666,
+          -0.045189470052719116,
+          0.9530154466629028,
+          20.751901626586914
+        ],
+        [
+          -0.1602899134159088,
+          -0.987063467502594,
+          0.003575113834813237,
+          -15.407546043395996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7290,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_483082294",
+      "mask_path": "../../mask/hdr_right_07290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07291.png",
+      "transform_matrix": [
+        [
+          0.9402878284454346,
+          -0.1439078152179718,
+          -0.308462917804718,
+          2.3923728466033936
+        ],
+        [
+          0.3053032457828522,
+          -0.044106271117925644,
+          0.9512332081794739,
+          20.724206924438477
+        ],
+        [
+          -0.15049505233764648,
+          -0.9886077642440796,
+          0.0024629307445138693,
+          -15.395263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7291,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_583081245",
+      "mask_path": "../../mask/hdr_right_07291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07292.png",
+      "transform_matrix": [
+        [
+          0.9378365874290466,
+          -0.14093400537967682,
+          -0.3171752095222473,
+          2.3182060718536377
+        ],
+        [
+          0.31521978974342346,
+          -0.036589864641427994,
+          0.9483131170272827,
+          20.700204849243164
+        ],
+        [
+          -0.1452549695968628,
+          -0.9893425703048706,
+          0.010109871625900269,
+          -15.383750915527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7292,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_683081626",
+      "mask_path": "../../mask/hdr_right_07292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07293.png",
+      "transform_matrix": [
+        [
+          0.936073362827301,
+          -0.14097225666046143,
+          -0.3223252296447754,
+          2.24594783782959
+        ],
+        [
+          0.32119372487068176,
+          -0.03134113550186157,
+          0.9464947581291199,
+          20.684709548950195
+        ],
+        [
+          -0.14353154599666595,
+          -0.989517331123352,
+          0.015941793099045753,
+          -15.380538940429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7293,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_783081293",
+      "mask_path": "../../mask/hdr_right_07293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07294.png",
+      "transform_matrix": [
+        [
+          0.9369062781333923,
+          -0.13701847195625305,
+          -0.3216093182563782,
+          2.163419246673584
+        ],
+        [
+          0.3200089931488037,
+          -0.03416181728243828,
+          0.9467984437942505,
+          20.66514778137207
+        ],
+        [
+          -0.14071564376354218,
+          -0.9899792671203613,
+          0.011840717867016792,
+          -15.364847183227539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7294,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_883081912",
+      "mask_path": "../../mask/hdr_right_07294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07295.png",
+      "transform_matrix": [
+        [
+          0.9390826225280762,
+          -0.13385418057441711,
+          -0.31655484437942505,
+          2.0804290771484375
+        ],
+        [
+          0.31396839022636414,
+          -0.040573831647634506,
+          0.9485661387443542,
+          20.648481369018555
+        ],
+        [
+          -0.1398133635520935,
+          -0.9901701211929321,
+          0.003923796117305756,
+          -15.346750259399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7295,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323992_983082056",
+      "mask_path": "../../mask/hdr_right_07295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07296.png",
+      "transform_matrix": [
+        [
+          0.9409949779510498,
+          -0.13278603553771973,
+          -0.31128203868865967,
+          2.0064568519592285
+        ],
+        [
+          0.30802208185195923,
+          -0.044953852891922,
+          0.9503166079521179,
+          20.62883186340332
+        ],
+        [
+          -0.14018207788467407,
+          -0.9901247024536133,
+          -0.0014003290561959147,
+          -15.326681137084961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7296,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_83081960",
+      "mask_path": "../../mask/hdr_right_07296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07297.png",
+      "transform_matrix": [
+        [
+          0.9418367743492126,
+          -0.12984992563724518,
+          -0.3099716901779175,
+          1.9188417196273804
+        ],
+        [
+          0.30748575925827026,
+          -0.03928760811686516,
+          0.9507412910461426,
+          20.607107162475586
+        ],
+        [
+          -0.13563172519207,
+          -0.9907549619674683,
+          0.002924486296251416,
+          -15.317209243774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7297,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_183080434",
+      "mask_path": "../../mask/hdr_right_07297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07298.png",
+      "transform_matrix": [
+        [
+          0.9423372149467468,
+          -0.12418043613433838,
+          -0.3107728660106659,
+          1.8351026773452759
+        ],
+        [
+          0.3093123435974121,
+          -0.031368713825941086,
+          0.9504429697990417,
+          20.592565536499023
+        ],
+        [
+          -0.12777496874332428,
+          -0.991763710975647,
+          0.00885063037276268,
+          -15.325745582580566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7298,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_283081293",
+      "mask_path": "../../mask/hdr_right_07298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07299.png",
+      "transform_matrix": [
+        [
+          0.9433383345603943,
+          -0.11914095282554626,
+          -0.3097066581249237,
+          1.7674659490585327
+        ],
+        [
+          0.30848872661590576,
+          -0.029002685099840164,
+          0.950785756111145,
+          20.581066131591797
+        ],
+        [
+          -0.12225984781980515,
+          -0.9924536347389221,
+          0.009394295513629913,
+          -15.335372924804688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7299,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_383081197",
+      "mask_path": "../../mask/hdr_right_07299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07300.png",
+      "transform_matrix": [
+        [
+          0.9455575346946716,
+          -0.11295638978481293,
+          -0.30522429943084717,
+          1.6828770637512207
+        ],
+        [
+          0.3042367696762085,
+          -0.02630501054227352,
+          0.9522333145141602,
+          20.565332412719727
+        ],
+        [
+          -0.11558975279331207,
+          -0.9932517409324646,
+          0.009492584504187107,
+          -15.311527252197266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7300,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_483079671",
+      "mask_path": "../../mask/hdr_right_07300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07301.png",
+      "transform_matrix": [
+        [
+          0.948145866394043,
+          -0.11439990252256393,
+          -0.2965332865715027,
+          1.5966646671295166
+        ],
+        [
+          0.29550671577453613,
+          -0.026224665343761444,
+          0.954980731010437,
+          20.559240341186523
+        ],
+        [
+          -0.1170261800289154,
+          -0.9930886030197144,
+          0.008941124193370342,
+          -15.282430648803711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7301,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_583081483",
+      "mask_path": "../../mask/hdr_right_07301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07302.png",
+      "transform_matrix": [
+        [
+          0.9503277540206909,
+          -0.11768673360347748,
+          -0.2881440818309784,
+          1.5303847789764404
+        ],
+        [
+          0.2863505780696869,
+          -0.03224457427859306,
+          0.9575821757316589,
+          20.561372756958008
+        ],
+        [
+          -0.12198580801486969,
+          -0.9925271272659302,
+          0.00305675039999187,
+          -15.2839937210083
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7302,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_683081865",
+      "mask_path": "../../mask/hdr_right_07302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07303.png",
+      "transform_matrix": [
+        [
+          0.9506693482398987,
+          -0.12641768157482147,
+          -0.28327780961990356,
+          1.4416943788528442
+        ],
+        [
+          0.2785869538784027,
+          -0.05373392626643181,
+          0.9589067697525024,
+          20.544239044189453
+        ],
+        [
+          -0.13644438982009888,
+          -0.990520715713501,
+          -0.015864886343479156,
+          -15.262627601623535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7303,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_783082723",
+      "mask_path": "../../mask/hdr_right_07303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07304.png",
+      "transform_matrix": [
+        [
+          0.9485986232757568,
+          -0.13612651824951172,
+          -0.28571000695228577,
+          1.3462047576904297
+        ],
+        [
+          0.28091979026794434,
+          -0.05360223725438118,
+          0.9582332968711853,
+          20.520849227905273
+        ],
+        [
+          -0.14575564861297607,
+          -0.989240288734436,
+          -0.012606380507349968,
+          -15.21623706817627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7304,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_883083343",
+      "mask_path": "../../mask/hdr_right_07304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07305.png",
+      "transform_matrix": [
+        [
+          0.943975031375885,
+          -0.14346231520175934,
+          -0.2972031235694885,
+          1.2712645530700684
+        ],
+        [
+          0.2950513958930969,
+          -0.036546818912029266,
+          0.9547821283340454,
+          20.509885787963867
+        ],
+        [
+          -0.1478371024131775,
+          -0.9889807105064392,
+          0.00782946590334177,
+          -15.204604148864746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7305,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323993_983082294",
+      "mask_path": "../../mask/hdr_right_07305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07306.png",
+      "transform_matrix": [
+        [
+          0.9374268054962158,
+          -0.15379178524017334,
+          -0.3123762905597687,
+          1.1953883171081543
+        ],
+        [
+          0.31096789240837097,
+          -0.03375880792737007,
+          0.9498207569122314,
+          20.49386215209961
+        ],
+        [
+          -0.1566200703382492,
+          -0.9875264167785645,
+          0.016177887097001076,
+          -15.204279899597168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7306,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_83083391",
+      "mask_path": "../../mask/hdr_right_07306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07307.png",
+      "transform_matrix": [
+        [
+          0.9281985759735107,
+          -0.1927690953016281,
+          -0.3182569444179535,
+          1.105597734451294
+        ],
+        [
+          0.31918033957481384,
+          -0.027100397273898125,
+          0.9473064541816711,
+          20.48746681213379
+        ],
+        [
+          -0.19123630225658417,
+          -0.9808698296546936,
+          0.036373548209667206,
+          -15.138036727905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7307,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_183082103",
+      "mask_path": "../../mask/hdr_right_07307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07308.png",
+      "transform_matrix": [
+        [
+          0.9218798875808716,
+          -0.2242208868265152,
+          -0.31601011753082275,
+          1.0206317901611328
+        ],
+        [
+          0.31877589225769043,
+          -0.02474680170416832,
+          0.9475070238113403,
+          20.484848022460938
+        ],
+        [
+          -0.22027109563350677,
+          -0.9742240905761719,
+          0.04866262525320053,
+          -15.076373100280762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7308,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_283083915",
+      "mask_path": "../../mask/hdr_right_07308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07309.png",
+      "transform_matrix": [
+        [
+          0.9191514849662781,
+          -0.2266937494277954,
+          -0.3221342861652374,
+          0.9550806283950806
+        ],
+        [
+          0.32395195960998535,
+          -0.030201515182852745,
+          0.945591390132904,
+          20.472681045532227
+        ],
+        [
+          -0.2240886092185974,
+          -0.973497748374939,
+          0.04567810520529747,
+          -15.062129974365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7309,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_383081674",
+      "mask_path": "../../mask/hdr_right_07309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07310.png",
+      "transform_matrix": [
+        [
+          0.917184591293335,
+          -0.2179669439792633,
+          -0.33356109261512756,
+          0.8915050029754639
+        ],
+        [
+          0.33607208728790283,
+          -0.026585165411233902,
+          0.9414610266685486,
+          20.45431900024414
+        ],
+        [
+          -0.21407516300678253,
+          -0.9755939841270447,
+          0.048869095742702484,
+          -15.054695129394531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7310,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_483083009",
+      "mask_path": "../../mask/hdr_right_07310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07311.png",
+      "transform_matrix": [
+        [
+          0.9140987992286682,
+          -0.21406179666519165,
+          -0.34438493847846985,
+          0.8358400464057922
+        ],
+        [
+          0.34801408648490906,
+          -0.02172813192009926,
+          0.9372375011444092,
+          20.43641471862793
+        ],
+        [
+          -0.20810957252979279,
+          -0.976578414440155,
+          0.054634857922792435,
+          -15.053378105163574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7311,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_583081483",
+      "mask_path": "../../mask/hdr_right_07311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07312.png",
+      "transform_matrix": [
+        [
+          0.9092460870742798,
+          -0.21429938077926636,
+          -0.3568577468395233,
+          0.786067008972168
+        ],
+        [
+          0.35953280329704285,
+          -0.02773989737033844,
+          0.9327200651168823,
+          20.416017532348633
+        ],
+        [
+          -0.20978054404258728,
+          -0.976374089717865,
+          0.05182525888085365,
+          -15.048351287841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7312,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_683082580",
+      "mask_path": "../../mask/hdr_right_07312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07313.png",
+      "transform_matrix": [
+        [
+          0.9049983024597168,
+          -0.2082957774400711,
+          -0.37093257904052734,
+          0.722887396812439
+        ],
+        [
+          0.372563898563385,
+          -0.0328497588634491,
+          0.9274250268936157,
+          20.39164161682129
+        ],
+        [
+          -0.20536373555660248,
+          -0.9775140285491943,
+          0.04787450283765793,
+          -15.046027183532715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7313,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_783082723",
+      "mask_path": "../../mask/hdr_right_07313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07314.png",
+      "transform_matrix": [
+        [
+          0.9022758603096008,
+          -0.20261584222316742,
+          -0.380585253238678,
+          0.6516640186309814
+        ],
+        [
+          0.38077449798583984,
+          -0.039622366428375244,
+          0.9238186478614807,
+          20.36602020263672
+        ],
+        [
+          -0.20225997269153595,
+          -0.9784563779830933,
+          0.041400641202926636,
+          -15.035348892211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7314,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_883082866",
+      "mask_path": "../../mask/hdr_right_07314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07315.png",
+      "transform_matrix": [
+        [
+          0.9007308483123779,
+          -0.20141570270061493,
+          -0.38485804200172424,
+          0.5889979600906372
+        ],
+        [
+          0.3832072615623474,
+          -0.048740386962890625,
+          0.9223756194114685,
+          20.34647560119629
+        ],
+        [
+          -0.20453906059265137,
+          -0.9782924056053162,
+          0.03328198194503784,
+          -15.011014938354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7315,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323994_983081579",
+      "mask_path": "../../mask/hdr_right_07315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07316.png",
+      "transform_matrix": [
+        [
+          0.902501106262207,
+          -0.19378122687339783,
+          -0.38463056087493896,
+          0.519110918045044
+        ],
+        [
+          0.3825814127922058,
+          -0.049434248358011246,
+          0.9225983023643494,
+          20.33570671081543
+        ],
+        [
+          -0.19779619574546814,
+          -0.979798436164856,
+          0.029522636905312538,
+          -15.002397537231445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7316,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_83083391",
+      "mask_path": "../../mask/hdr_right_07316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07317.png",
+      "transform_matrix": [
+        [
+          0.9035695195198059,
+          -0.1859755963087082,
+          -0.3859732151031494,
+          0.44381651282310486
+        ],
+        [
+          0.3855937719345093,
+          -0.039707913994789124,
+          0.9218139052391052,
+          20.320331573486328
+        ],
+        [
+          -0.1867610663175583,
+          -0.9817517399787903,
+          0.03583217039704323,
+          -14.99594497680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7317,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_183081388",
+      "mask_path": "../../mask/hdr_right_07317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07318.png",
+      "transform_matrix": [
+        [
+          0.9040554761886597,
+          -0.18079008162021637,
+          -0.387296587228775,
+          0.37763702869415283
+        ],
+        [
+          0.3883349299430847,
+          -0.03109329752624035,
+          0.9209936261177063,
+          20.30060386657715
+        ],
+        [
+          -0.17854882776737213,
+          -0.9830300807952881,
+          0.04209703207015991,
+          -14.98492431640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7318,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_283082008",
+      "mask_path": "../../mask/hdr_right_07318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07319.png",
+      "transform_matrix": [
+        [
+          0.9063661694526672,
+          -0.1730232685804367,
+          -0.3854391276836395,
+          0.3086099922657013
+        ],
+        [
+          0.3869360089302063,
+          -0.026382336392998695,
+          0.9217291474342346,
+          20.28390121459961
+        ],
+        [
+          -0.16964934766292572,
+          -0.9845643043518066,
+          0.04303686320781708,
+          -14.973896026611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7319,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_383081436",
+      "mask_path": "../../mask/hdr_right_07319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07320.png",
+      "transform_matrix": [
+        [
+          0.9111214876174927,
+          -0.15664435923099518,
+          -0.38120877742767334,
+          0.23130744695663452
+        ],
+        [
+          0.3819177448749542,
+          -0.026752525940537453,
+          0.9238091111183167,
+          20.271072387695312
+        ],
+        [
+          -0.15490777790546417,
+          -0.9872927069664001,
+          0.03545045480132103,
+          -14.959281921386719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7320,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_483079910",
+      "mask_path": "../../mask/hdr_right_07320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07321.png",
+      "transform_matrix": [
+        [
+          0.915935754776001,
+          -0.14760036766529083,
+          -0.37319689989089966,
+          0.1665453016757965
+        ],
+        [
+          0.3725482225418091,
+          -0.03307117894291878,
+          0.9274234771728516,
+          20.25408363342285
+        ],
+        [
+          -0.14923010766506195,
+          -0.9884939789772034,
+          0.02469717338681221,
+          -14.932430267333984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7321,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_583080530",
+      "mask_path": "../../mask/hdr_right_07321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07322.png",
+      "transform_matrix": [
+        [
+          0.9195128679275513,
+          -0.14671067893505096,
+          -0.3646532893180847,
+          0.093544602394104
+        ],
+        [
+          0.36258333921432495,
+          -0.04158296063542366,
+          0.9310232400894165,
+          20.238004684448242
+        ],
+        [
+          -0.15175442397594452,
+          -0.9883050322532654,
+          0.014958778396248817,
+          -14.91798210144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7322,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_683084011",
+      "mask_path": "../../mask/hdr_right_07322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07323.png",
+      "transform_matrix": [
+        [
+          0.920489490032196,
+          -0.15328076481819153,
+          -0.3594497740268707,
+          0.0012946128845214844
+        ],
+        [
+          0.35535427927970886,
+          -0.05429263040423393,
+          0.9331537485122681,
+          20.209362030029297
+        ],
+        [
+          -0.1625499725341797,
+          -0.9866900444030762,
+          0.0044931694865226746,
+          -14.892593383789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7323,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_783081769",
+      "mask_path": "../../mask/hdr_right_07323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07324.png",
+      "transform_matrix": [
+        [
+          0.9175266623497009,
+          -0.16042377054691315,
+          -0.3638806641101837,
+          -0.08042874932289124
+        ],
+        [
+          0.35963496565818787,
+          -0.055803343653678894,
+          0.9314229488372803,
+          20.177047729492188
+        ],
+        [
+          -0.1697281152009964,
+          -0.9854695200920105,
+          0.006492925342172384,
+          -14.858243942260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7324,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_883082151",
+      "mask_path": "../../mask/hdr_right_07324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07325.png",
+      "transform_matrix": [
+        [
+          0.9141338467597961,
+          -0.16355770826339722,
+          -0.37095576524734497,
+          -0.14758852124214172
+        ],
+        [
+          0.36798372864723206,
+          -0.04925469309091568,
+          0.9285268187522888,
+          20.159059524536133
+        ],
+        [
+          -0.17013901472091675,
+          -0.9853034019470215,
+          0.015161183662712574,
+          -14.847782135009766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7325,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323995_983082056",
+      "mask_path": "../../mask/hdr_right_07325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07326.png",
+      "transform_matrix": [
+        [
+          0.9136701226234436,
+          -0.16815972328186035,
+          -0.37003955245018005,
+          -0.21888816356658936
+        ],
+        [
+          0.3669467568397522,
+          -0.05027923360466957,
+          0.9288821816444397,
+          20.144651412963867
+        ],
+        [
+          -0.1748058944940567,
+          -0.9844766855239868,
+          0.015767022967338562,
+          -14.83162784576416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7326,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_83082437",
+      "mask_path": "../../mask/hdr_right_07326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07327.png",
+      "transform_matrix": [
+        [
+          0.915579080581665,
+          -0.17596901953220367,
+          -0.3615935146808624,
+          -0.29406899213790894
+        ],
+        [
+          0.3569044768810272,
+          -0.05874072015285492,
+          0.9322921633720398,
+          20.13580322265625
+        ],
+        [
+          -0.18529480695724487,
+          -0.9826415777206421,
+          0.009022352285683155,
+          -14.801351547241211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7327,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_183082342",
+      "mask_path": "../../mask/hdr_right_07327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07328.png",
+      "transform_matrix": [
+        [
+          0.9170188903808594,
+          -0.1850554198026657,
+          -0.35331395268440247,
+          -0.36422502994537354
+        ],
+        [
+          0.3466474115848541,
+          -0.06832697242498398,
+          0.9355036616325378,
+          20.127233505249023
+        ],
+        [
+          -0.19726091623306274,
+          -0.9803498983383179,
+          0.001491852686740458,
+          -14.77759075164795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7328,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_283082246",
+      "mask_path": "../../mask/hdr_right_07328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07329.png",
+      "transform_matrix": [
+        [
+          0.9165260195732117,
+          -0.19478915631771088,
+          -0.3493381142616272,
+          -0.4446752071380615
+        ],
+        [
+          0.3393000662326813,
+          -0.08383318781852722,
+          0.9369351863861084,
+          20.09375762939453
+        ],
+        [
+          -0.21179093420505524,
+          -0.9772559404373169,
+          -0.0107433395460248,
+          -14.736665725708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7329,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_383081912",
+      "mask_path": "../../mask/hdr_right_07329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07330.png",
+      "transform_matrix": [
+        [
+          0.9139341115951538,
+          -0.20616497099399567,
+          -0.34960055351257324,
+          -0.5156062841415405
+        ],
+        [
+          0.33995845913887024,
+          -0.08166684210300446,
+          0.9368878602981567,
+          20.06943702697754
+        ],
+        [
+          -0.22170422971248627,
+          -0.9751033186912537,
+          -0.004550587851554155,
+          -14.696150779724121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7330,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_483083724",
+      "mask_path": "../../mask/hdr_right_07330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07331.png",
+      "transform_matrix": [
+        [
+          0.911173939704895,
+          -0.21658502519130707,
+          -0.3505038619041443,
+          -0.5807451009750366
+        ],
+        [
+          0.343467116355896,
+          -0.07060102373361588,
+          0.9365072846412659,
+          20.06049919128418
+        ],
+        [
+          -0.22757938504219055,
+          -0.9737076163291931,
+          0.010060014203190804,
+          -14.686849594116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7331,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_583081483",
+      "mask_path": "../../mask/hdr_right_07331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07332.png",
+      "transform_matrix": [
+        [
+          0.909672200679779,
+          -0.22108452022075653,
+          -0.3515937924385071,
+          -0.6503283381462097
+        ],
+        [
+          0.34464168548583984,
+          -0.0705956295132637,
+          0.9360760450363159,
+          20.048402786254883
+        ],
+        [
+          -0.23177291452884674,
+          -0.9726961851119995,
+          0.011976060457527637,
+          -14.68789291381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7332,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_683078765",
+      "mask_path": "../../mask/hdr_right_07332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07333.png",
+      "transform_matrix": [
+        [
+          0.9044172763824463,
+          -0.25158968567848206,
+          -0.3445751368999481,
+          -0.7302097082138062
+        ],
+        [
+          0.3438219130039215,
+          -0.04840962216258049,
+          0.9377862215042114,
+          20.043378829956055
+        ],
+        [
+          -0.25261807441711426,
+          -0.9666225910186768,
+          0.04271953925490379,
+          -14.65416431427002
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7333,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_783081293",
+      "mask_path": "../../mask/hdr_right_07333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07334.png",
+      "transform_matrix": [
+        [
+          0.8981209993362427,
+          -0.28803086280822754,
+          -0.33229032158851624,
+          -0.8045773506164551
+        ],
+        [
+          0.3353022038936615,
+          -0.040360063314437866,
+          0.9412457346916199,
+          20.041095733642578
+        ],
+        [
+          -0.2845190763473511,
+          -0.9567701816558838,
+          0.060329146683216095,
+          -14.552777290344238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7334,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323996_883081436",
+      "mask_path": "../../mask/hdr_right_07334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07336.png",
+      "transform_matrix": [
+        [
+          0.8959488868713379,
+          -0.2902738153934479,
+          -0.3361794948577881,
+          -0.9023098945617676
+        ],
+        [
+          0.3312413692474365,
+          -0.06756144016981125,
+          0.9411242008209229,
+          20.012075424194336
+        ],
+        [
+          -0.2958965301513672,
+          -0.9545556902885437,
+          0.0356190986931324,
+          -14.522624969482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7336,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_83081722",
+      "mask_path": "../../mask/hdr_right_07336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07337.png",
+      "transform_matrix": [
+        [
+          0.8990274667739868,
+          -0.27798306941986084,
+          -0.3383415937423706,
+          -0.9671214818954468
+        ],
+        [
+          0.33498525619506836,
+          -0.06102219969034195,
+          0.9402452707290649,
+          19.99824333190918
+        ],
+        [
+          -0.28201860189437866,
+          -0.958645761013031,
+          0.03825957700610161,
+          -14.517501831054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7337,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_183081865",
+      "mask_path": "../../mask/hdr_right_07337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07338.png",
+      "transform_matrix": [
+        [
+          0.8995798230171204,
+          -0.26991087198257446,
+          -0.34337201714515686,
+          -1.0294225215911865
+        ],
+        [
+          0.34039369225502014,
+          -0.05932457745075226,
+          0.9384097456932068,
+          19.98067855834961
+        ],
+        [
+          -0.2736573815345764,
+          -0.9610560536384583,
+          0.038508761674165726,
+          -14.506897926330566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7338,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_283082962",
+      "mask_path": "../../mask/hdr_right_07338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07339.png",
+      "transform_matrix": [
+        [
+          0.8987331986427307,
+          -0.26343202590942383,
+          -0.3505456745624542,
+          -1.076218605041504
+        ],
+        [
+          0.3472725450992584,
+          -0.06050468981266022,
+          0.9358104467391968,
+          19.958660125732422
+        ],
+        [
+          -0.26773205399513245,
+          -0.962778627872467,
+          0.037105146795511246,
+          -14.489583015441895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7339,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_383081674",
+      "mask_path": "../../mask/hdr_right_07339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07340.png",
+      "transform_matrix": [
+        [
+          0.8954534530639648,
+          -0.2585521340370178,
+          -0.36237242817878723,
+          -1.1335241794586182
+        ],
+        [
+          0.3576485514640808,
+          -0.06682800501585007,
+          0.9314620494842529,
+          19.937519073486328
+        ],
+        [
+          -0.2650481164455414,
+          -0.9636829495429993,
+          0.03262941166758537,
+          -14.475383758544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7340,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_483083724",
+      "mask_path": "../../mask/hdr_right_07340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07341.png",
+      "transform_matrix": [
+        [
+          0.8908240795135498,
+          -0.25453320145606995,
+          -0.37635791301727295,
+          -1.1933430433273315
+        ],
+        [
+          0.3685624301433563,
+          -0.07957687228918076,
+          0.9261907339096069,
+          19.91667938232422
+        ],
+        [
+          -0.2656956911087036,
+          -0.963784396648407,
+          0.022922363132238388,
+          -14.456551551818848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7341,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_583082914",
+      "mask_path": "../../mask/hdr_right_07341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07342.png",
+      "transform_matrix": [
+        [
+          0.8872886896133423,
+          -0.24642443656921387,
+          -0.3898639380931854,
+          -1.2563048601150513
+        ],
+        [
+          0.37912827730178833,
+          -0.09166207164525986,
+          0.9207931160926819,
+          19.889122009277344
+        ],
+        [
+          -0.26264166831970215,
+          -0.9648175835609436,
+          0.012095749378204346,
+          -14.43527889251709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7342,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_683082580",
+      "mask_path": "../../mask/hdr_right_07342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07343.png",
+      "transform_matrix": [
+        [
+          0.8837388753890991,
+          -0.23006831109523773,
+          -0.4075220227241516,
+          -1.3309714794158936
+        ],
+        [
+          0.3982580602169037,
+          -0.08756476640701294,
+          0.9130843281745911,
+          19.86235809326172
+        ],
+        [
+          -0.2457563430070877,
+          -0.9692270159721375,
+          0.014242155477404594,
+          -14.427960395812988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7343,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_783081769",
+      "mask_path": "../../mask/hdr_right_07343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07344.png",
+      "transform_matrix": [
+        [
+          0.8786343336105347,
+          -0.21446330845355988,
+          -0.42662298679351807,
+          -1.3929674625396729
+        ],
+        [
+          0.4201996326446533,
+          -0.07707756012678146,
+          0.9041523337364197,
+          19.837047576904297
+        ],
+        [
+          -0.22679054737091064,
+          -0.9736860394477844,
+          0.02239440381526947,
+          -14.4245023727417
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7344,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_883082151",
+      "mask_path": "../../mask/hdr_right_07344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07345.png",
+      "transform_matrix": [
+        [
+          0.8723656535148621,
+          -0.20372231304645538,
+          -0.444381982088089,
+          -1.4439407587051392
+        ],
+        [
+          0.4389146566390991,
+          -0.07385057210922241,
+          0.8954887390136719,
+          19.806175231933594
+        ],
+        [
+          -0.21524889767169952,
+          -0.9762393832206726,
+          0.02499200403690338,
+          -14.410032272338867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7345,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323997_983081102",
+      "mask_path": "../../mask/hdr_right_07345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07346.png",
+      "transform_matrix": [
+        [
+          0.8687585592269897,
+          -0.18331368267536163,
+          -0.46005940437316895,
+          -1.5078611373901367
+        ],
+        [
+          0.4536852538585663,
+          -0.07787741720676422,
+          0.8877527117729187,
+          19.777502059936523
+        ],
+        [
+          -0.19856545329093933,
+          -0.9799649715423584,
+          0.015510035678744316,
+          -14.403544425964355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7346,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_83080291",
+      "mask_path": "../../mask/hdr_right_07346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07347.png",
+      "transform_matrix": [
+        [
+          0.8712056279182434,
+          -0.16318701207637787,
+          -0.46300193667411804,
+          -1.5626600980758667
+        ],
+        [
+          0.45459479093551636,
+          -0.0878627747297287,
+          0.8863542079925537,
+          19.749462127685547
+        ],
+        [
+          -0.1853221207857132,
+          -0.9826750159263611,
+          -0.0023625825997442007,
+          -14.383045196533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7347,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_183080434",
+      "mask_path": "../../mask/hdr_right_07347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07348.png",
+      "transform_matrix": [
+        [
+          0.875320553779602,
+          -0.1534111499786377,
+          -0.45856180787086487,
+          -1.615678071975708
+        ],
+        [
+          0.44819557666778564,
+          -0.09851373732089996,
+          0.8884907960891724,
+          19.726333618164062
+        ],
+        [
+          -0.18147902190685272,
+          -0.9832395911216736,
+          -0.017472898587584496,
+          -14.360888481140137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7348,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_283080101",
+      "mask_path": "../../mask/hdr_right_07348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07349.png",
+      "transform_matrix": [
+        [
+          0.8766524791717529,
+          -0.15660086274147034,
+          -0.45492488145828247,
+          -1.67507803440094
+        ],
+        [
+          0.440768301486969,
+          -0.11766274273395538,
+          0.8898757696151733,
+          19.697853088378906
+        ],
+        [
+          -0.19288302958011627,
+          -0.9806281924247742,
+          -0.034124646335840225,
+          -14.34815788269043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7349,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_383079767",
+      "mask_path": "../../mask/hdr_right_07349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07350.png",
+      "transform_matrix": [
+        [
+          0.8744176030158997,
+          -0.16345559060573578,
+          -0.456810861825943,
+          -1.75416898727417
+        ],
+        [
+          0.4422346353530884,
+          -0.11874242126941681,
+          0.8890044689178467,
+          19.65364646911621
+        ],
+        [
+          -0.19955556094646454,
+          -0.9793786406517029,
+          -0.03154474124312401,
+          -14.299030303955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7350,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_483080863",
+      "mask_path": "../../mask/hdr_right_07350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07351.png",
+      "transform_matrix": [
+        [
+          0.8714613914489746,
+          -0.16428492963314056,
+          -0.46213147044181824,
+          -1.8328375816345215
+        ],
+        [
+          0.45041772723197937,
+          -0.10483768582344055,
+          0.8866414427757263,
+          19.62574577331543
+        ],
+        [
+          -0.19411063194274902,
+          -0.9808259010314941,
+          -0.01736513525247574,
+          -14.283047676086426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7351,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_583079814",
+      "mask_path": "../../mask/hdr_right_07351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07352.png",
+      "transform_matrix": [
+        [
+          0.8692756295204163,
+          -0.168751522898674,
+          -0.46463197469711304,
+          -1.906514286994934
+        ],
+        [
+          0.4553481638431549,
+          -0.09248530864715576,
+          0.8854967355728149,
+          19.60674285888672
+        ],
+        [
+          -0.19240055978298187,
+          -0.9813100099563599,
+          -0.003554531140252948,
+          -14.29111385345459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7352,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_683079957",
+      "mask_path": "../../mask/hdr_right_07352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07353.png",
+      "transform_matrix": [
+        [
+          0.86564701795578,
+          -0.2050919234752655,
+          -0.4567192792892456,
+          -1.995375633239746
+        ],
+        [
+          0.4490066170692444,
+          -0.08550990372896194,
+          0.8894274830818176,
+          19.58724594116211
+        ],
+        [
+          -0.22146840393543243,
+          -0.9750002026557922,
+          0.018066246062517166,
+          -14.23661994934082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7353,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_783080816",
+      "mask_path": "../../mask/hdr_right_07353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07354.png",
+      "transform_matrix": [
+        [
+          0.866337776184082,
+          -0.23180639743804932,
+          -0.44240790605545044,
+          -2.083113193511963
+        ],
+        [
+          0.43287643790245056,
+          -0.09338448941707611,
+          0.8966032266616821,
+          19.571598052978516
+        ],
+        [
+          -0.24915240705013275,
+          -0.9682691097259521,
+          0.019441021606326103,
+          -14.167473793029785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7354,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_883078813",
+      "mask_path": "../../mask/hdr_right_07354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07355.png",
+      "transform_matrix": [
+        [
+          0.8697299957275391,
+          -0.23083743453025818,
+          -0.43621551990509033,
+          -2.1654605865478516
+        ],
+        [
+          0.4224828779697418,
+          -0.108634352684021,
+          0.8998371362686157,
+          19.55137062072754
+        ],
+        [
+          -0.25510406494140625,
+          -0.9669088125228882,
+          0.0030423118732869625,
+          -14.147015571594238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7355,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323998_983082056",
+      "mask_path": "../../mask/hdr_right_07355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07356.png",
+      "transform_matrix": [
+        [
+          0.8695542812347412,
+          -0.2311454564332962,
+          -0.43640264868736267,
+          -2.2478322982788086
+        ],
+        [
+          0.4238136112689972,
+          -0.104316346347332,
+          0.8997222781181335,
+          19.515226364135742
+        ],
+        [
+          -0.2534906268119812,
+          -0.9673106074333191,
+          0.007253856863826513,
+          -14.132000923156738
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7356,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_83079576",
+      "mask_path": "../../mask/hdr_right_07356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07357.png",
+      "transform_matrix": [
+        [
+          0.8694251775741577,
+          -0.23111778497695923,
+          -0.43667420744895935,
+          -2.3243284225463867
+        ],
+        [
+          0.4269202649593353,
+          -0.09342285990715027,
+          0.8994506597518921,
+          19.486915588378906
+        ],
+        [
+          -0.2486743927001953,
+          -0.9684300422668457,
+          0.017444679513573647,
+          -14.1190185546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7357,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_183081388",
+      "mask_path": "../../mask/hdr_right_07357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07358.png",
+      "transform_matrix": [
+        [
+          0.8693024516105652,
+          -0.23152978718280792,
+          -0.4367002844810486,
+          -2.3951339721679688
+        ],
+        [
+          0.42844367027282715,
+          -0.08760274946689606,
+          0.899311900138855,
+          19.469839096069336
+        ],
+        [
+          -0.24647361040115356,
+          -0.9688754677772522,
+          0.023044180124998093,
+          -14.117361068725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7358,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_283080577",
+      "mask_path": "../../mask/hdr_right_07358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07359.png",
+      "transform_matrix": [
+        [
+          0.8705430626869202,
+          -0.23104619979858398,
+          -0.43447959423065186,
+          -2.4796347618103027
+        ],
+        [
+          0.4254932403564453,
+          -0.09012309461832047,
+          0.9004628658294678,
+          19.449237823486328
+        ],
+        [
+          -0.24720518290996552,
+          -0.9687597751617432,
+          0.01985255815088749,
+          -14.094616889953613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7359,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_383079767",
+      "mask_path": "../../mask/hdr_right_07359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07360.png",
+      "transform_matrix": [
+        [
+          0.8722710013389587,
+          -0.22960270941257477,
+          -0.4317706823348999,
+          -2.5596375465393066
+        ],
+        [
+          0.4206271469593048,
+          -0.09808286279439926,
+          0.9019161462783813,
+          19.430511474609375
+        ],
+        [
+          -0.24943168461322784,
+          -0.968329668045044,
+          0.011022292077541351,
+          -14.067673683166504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7360,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_483080387",
+      "mask_path": "../../mask/hdr_right_07360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07361.png",
+      "transform_matrix": [
+        [
+          0.8748456835746765,
+          -0.2166460156440735,
+          -0.4332547187805176,
+          -2.630876302719116
+        ],
+        [
+          0.4250350892543793,
+          -0.08571501076221466,
+          0.9011094570159912,
+          19.404680252075195
+        ],
+        [
+          -0.2323581874370575,
+          -0.9724799990653992,
+          0.017094755545258522,
+          -14.054784774780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7361,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_583078861",
+      "mask_path": "../../mask/hdr_right_07361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07362.png",
+      "transform_matrix": [
+        [
+          0.8777787685394287,
+          -0.2028772532939911,
+          -0.43398764729499817,
+          -2.702944040298462
+        ],
+        [
+          0.42958563566207886,
+          -0.0676291435956955,
+          0.9004901647567749,
+          19.385934829711914
+        ],
+        [
+          -0.21203918755054474,
+          -0.9768660068511963,
+          0.027789726853370667,
+          -14.059200286865234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7362,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_683077812",
+      "mask_path": "../../mask/hdr_right_07362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07363.png",
+      "transform_matrix": [
+        [
+          0.8807275295257568,
+          -0.19596099853515625,
+          -0.4311824142932892,
+          -2.776393175125122
+        ],
+        [
+          0.42832455039024353,
+          -0.058986272662878036,
+          0.9016976952552795,
+          19.37013816833496
+        ],
+        [
+          -0.20213143527507782,
+          -0.9788360595703125,
+          0.03198406472802162,
+          -14.058422088623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7363,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_783080816",
+      "mask_path": "../../mask/hdr_right_07363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07364.png",
+      "transform_matrix": [
+        [
+          0.8846338987350464,
+          -0.18341869115829468,
+          -0.4286961853504181,
+          -2.857293128967285
+        ],
+        [
+          0.4257878065109253,
+          -0.057012300938367844,
+          0.903025209903717,
+          19.359817504882812
+        ],
+        [
+          -0.1900726556777954,
+          -0.98138028383255,
+          0.027662424370646477,
+          -14.051111221313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7364,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_883080244",
+      "mask_path": "../../mask/hdr_right_07364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07365.png",
+      "transform_matrix": [
+        [
+          0.8929603099822998,
+          -0.15675851702690125,
+          -0.4219582676887512,
+          -2.9323253631591797
+        ],
+        [
+          0.4169079661369324,
+          -0.06545385718345642,
+          0.9065890312194824,
+          19.338537216186523
+        ],
+        [
+          -0.16973434388637543,
+          -0.9854656457901001,
+          0.006906177848577499,
+          -14.03123664855957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7365,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323999_983079433",
+      "mask_path": "../../mask/hdr_right_07365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07366.png",
+      "transform_matrix": [
+        [
+          0.900496780872345,
+          -0.1369396597146988,
+          -0.412738561630249,
+          -2.999013662338257
+        ],
+        [
+          0.4054761528968811,
+          -0.0785762220621109,
+          0.9107222557067871,
+          19.306222915649414
+        ],
+        [
+          -0.1571454107761383,
+          -0.9874581098556519,
+          -0.015231870114803314,
+          -14.002050399780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7366,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_83078384",
+      "mask_path": "../../mask/hdr_right_07366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07367.png",
+      "transform_matrix": [
+        [
+          0.9052386283874512,
+          -0.11824137717485428,
+          -0.4081200063228607,
+          -3.088956832885742
+        ],
+        [
+          0.4023345112800598,
+          -0.0703439861536026,
+          0.9127862453460693,
+          19.277917861938477
+        ],
+        [
+          -0.13663789629936218,
+          -0.9904900789260864,
+          -0.016105514019727707,
+          -13.999133110046387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7367,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_183081150",
+      "mask_path": "../../mask/hdr_right_07367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07368.png",
+      "transform_matrix": [
+        [
+          0.9080014824867249,
+          -0.09915361553430557,
+          -0.40706488490104675,
+          -3.1729936599731445
+        ],
+        [
+          0.4036720097064972,
+          -0.05308056250214577,
+          0.9133626818656921,
+          19.25716209411621
+        ],
+        [
+          -0.11217044293880463,
+          -0.9936553835868835,
+          -0.008171699941158295,
+          -14.017970085144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7368,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_283082008",
+      "mask_path": "../../mask/hdr_right_07368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07369.png",
+      "transform_matrix": [
+        [
+          0.9089382886886597,
+          -0.08918488770723343,
+          -0.4072803556919098,
+          -3.2461392879486084
+        ],
+        [
+          0.4051734507083893,
+          -0.04140012711286545,
+          0.9133020639419556,
+          19.23762321472168
+        ],
+        [
+          -0.09831419587135315,
+          -0.9951543211936951,
+          -0.0014948091702535748,
+          -14.026130676269531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7369,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_383081912",
+      "mask_path": "../../mask/hdr_right_07369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07370.png",
+      "transform_matrix": [
+        [
+          0.9097413420677185,
+          -0.08425635099411011,
+          -0.4065362215042114,
+          -3.3338966369628906
+        ],
+        [
+          0.4052480459213257,
+          -0.03264223784208298,
+          0.9136238694190979,
+          19.217117309570312
+        ],
+        [
+          -0.09024886786937714,
+          -0.9959092736244202,
+          0.004448727238923311,
+          -14.024677276611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7370,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_483081579",
+      "mask_path": "../../mask/hdr_right_07370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07371.png",
+      "transform_matrix": [
+        [
+          0.9126862287521362,
+          -0.08272408694028854,
+          -0.400200754404068,
+          -3.4247560501098633
+        ],
+        [
+          0.39924439787864685,
+          -0.028521860018372536,
+          0.9164007902145386,
+          19.198732376098633
+        ],
+        [
+          -0.0872228816151619,
+          -0.9961643218994141,
+          0.006995616480708122,
+          -14.012468338012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7371,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_583082437",
+      "mask_path": "../../mask/hdr_right_07371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07372.png",
+      "transform_matrix": [
+        [
+          0.9163172841072083,
+          -0.07924602925777435,
+          -0.39253371953964233,
+          -3.5025007724761963
+        ],
+        [
+          0.3913523554801941,
+          -0.03057832457125187,
+          0.9197328090667725,
+          19.18146324157715
+        ],
+        [
+          -0.08488819748163223,
+          -0.9963860511779785,
+          0.0029936754144728184,
+          -14.001930236816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7372,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_683081865",
+      "mask_path": "../../mask/hdr_right_07372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07373.png",
+      "transform_matrix": [
+        [
+          0.9190722107887268,
+          -0.07222933322191238,
+          -0.38741347193717957,
+          -3.5854039192199707
+        ],
+        [
+          0.3862484097480774,
+          -0.030024612322449684,
+          0.921906054019928,
+          19.160982131958008
+        ],
+        [
+          -0.07822059839963913,
+          -0.9969360828399658,
+          0.00030367844738066196,
+          -14.00281047821045
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7373,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_783082008",
+      "mask_path": "../../mask/hdr_right_07373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07374.png",
+      "transform_matrix": [
+        [
+          0.9188258051872253,
+          -0.06668819487094879,
+          -0.3889884352684021,
+          -3.6769349575042725
+        ],
+        [
+          0.388188898563385,
+          -0.025088287889957428,
+          0.921238362789154,
+          19.132583618164062
+        ],
+        [
+          -0.07119477540254593,
+          -0.9974583983421326,
+          0.00283584906719625,
+          -14.007786750793457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7374,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_883082389",
+      "mask_path": "../../mask/hdr_right_07374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07375.png",
+      "transform_matrix": [
+        [
+          0.9172406792640686,
+          -0.06295568495988846,
+          -0.39332687854766846,
+          -3.7512688636779785
+        ],
+        [
+          0.39295703172683716,
+          -0.018673889338970184,
+          0.9193671941757202,
+          19.11064338684082
+        ],
+        [
+          -0.06522433459758759,
+          -0.9978415369987488,
+          0.007610423024743795,
+          -14.010560989379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7375,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324000_983081579",
+      "mask_path": "../../mask/hdr_right_07375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07376.png",
+      "transform_matrix": [
+        [
+          0.9161959886550903,
+          -0.06058071553707123,
+          -0.39612486958503723,
+          -3.8281149864196777
+        ],
+        [
+          0.3959917724132538,
+          -0.014700797386467457,
+          0.9181364178657532,
+          19.097736358642578
+        ],
+        [
+          -0.061444710940122604,
+          -0.9980550408363342,
+          0.010520652867853642,
+          -14.010133743286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7376,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_83082437",
+      "mask_path": "../../mask/hdr_right_07376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07377.png",
+      "transform_matrix": [
+        [
+          0.9162852764129639,
+          -0.06157536432147026,
+          -0.39576494693756104,
+          -3.911501407623291
+        ],
+        [
+          0.3958483040332794,
+          -0.011359268799424171,
+          0.9182456731796265,
+          19.087383270263672
+        ],
+        [
+          -0.061036910861730576,
+          -0.9980378150939941,
+          0.013966172002255917,
+          -14.002900123596191
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7377,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_183082103",
+      "mask_path": "../../mask/hdr_right_07377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07378.png",
+      "transform_matrix": [
+        [
+          0.9167163968086243,
+          -0.060789529234170914,
+          -0.39488688111305237,
+          -3.9766132831573486
+        ],
+        [
+          0.3949969410896301,
+          -0.010706816799938679,
+          0.9186201095581055,
+          19.08049201965332
+        ],
+        [
+          -0.0600704587996006,
+          -0.9980931878089905,
+          0.014196558855473995,
+          -13.999849319458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7378,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_283081293",
+      "mask_path": "../../mask/hdr_right_07378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07379.png",
+      "transform_matrix": [
+        [
+          0.9161362051963806,
+          -0.057531002908945084,
+          -0.39671751856803894,
+          -4.0259504318237305
+        ],
+        [
+          0.3964397609233856,
+          -0.016653375700116158,
+          0.9179097414016724,
+          19.06920623779297
+        ],
+        [
+          -0.05941495671868324,
+          -0.99820476770401,
+          0.0075508165173232555,
+          -13.996532440185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7379,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_383081436",
+      "mask_path": "../../mask/hdr_right_07379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07380.png",
+      "transform_matrix": [
+        [
+          0.9140406847000122,
+          -0.05301634222269058,
+          -0.4021430015563965,
+          -4.0861358642578125
+        ],
+        [
+          0.4016948938369751,
+          -0.0193236842751503,
+          0.9155697226524353,
+          19.04770278930664
+        ],
+        [
+          -0.05631104111671448,
+          -0.9984066486358643,
+          0.0036337582860141993,
+          -13.990312576293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7380,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_483082294",
+      "mask_path": "../../mask/hdr_right_07380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07381.png",
+      "transform_matrix": [
+        [
+          0.909218430519104,
+          -0.04986076056957245,
+          -0.4133227467536926,
+          -4.146110534667969
+        ],
+        [
+          0.413271427154541,
+          -0.011817686259746552,
+          0.910531222820282,
+          19.025060653686523
+        ],
+        [
+          -0.05028429627418518,
+          -0.9986862540245056,
+          0.009861164726316929,
+          -13.9907865524292
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7381,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_583081722",
+      "mask_path": "../../mask/hdr_right_07381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07383.png",
+      "transform_matrix": [
+        [
+          0.8935865163803101,
+          -0.04114379733800888,
+          -0.4470016062259674,
+          -4.233702659606934
+        ],
+        [
+          0.4470486342906952,
+          -0.008562683127820492,
+          0.8944686651229858,
+          18.979219436645508
+        ],
+        [
+          -0.040629368275403976,
+          -0.9991165399551392,
+          0.010741776786744595,
+          -13.99654483795166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7383,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_783082246",
+      "mask_path": "../../mask/hdr_right_07383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07384.png",
+      "transform_matrix": [
+        [
+          0.8864904046058655,
+          -0.04043026641011238,
+          -0.4609774053096771,
+          -4.293254852294922
+        ],
+        [
+          0.4609525203704834,
+          -0.010492931120097637,
+          0.8873628973960876,
+          18.9545955657959
+        ],
+        [
+          -0.040713317692279816,
+          -0.9991272687911987,
+          0.009334546513855457,
+          -13.991385459899902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7384,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_883082389",
+      "mask_path": "../../mask/hdr_right_07384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07385.png",
+      "transform_matrix": [
+        [
+          0.8809455037117004,
+          -0.044366441667079926,
+          -0.47113335132598877,
+          -4.352779388427734
+        ],
+        [
+          0.47103092074394226,
+          -0.013392401859164238,
+          0.88201504945755,
+          18.92926788330078
+        ],
+        [
+          -0.04544147849082947,
+          -0.9989255666732788,
+          0.009099983610212803,
+          -13.9746675491333
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7385,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324001_983082056",
+      "mask_path": "../../mask/hdr_right_07385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07386.png",
+      "transform_matrix": [
+        [
+          0.876220166683197,
+          -0.04587237536907196,
+          -0.47972288727760315,
+          -4.403192520141602
+        ],
+        [
+          0.47923511266708374,
+          -0.021816685795783997,
+          0.8774154186248779,
+          18.910364151000977
+        ],
+        [
+          -0.050715092569589615,
+          -0.9987090826034546,
+          0.0028674323111772537,
+          -13.96828556060791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7386,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_83082199",
+      "mask_path": "../../mask/hdr_right_07386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07387.png",
+      "transform_matrix": [
+        [
+          0.8717008233070374,
+          -0.04596623033285141,
+          -0.4878777265548706,
+          -4.4636969566345215
+        ],
+        [
+          0.48688051104545593,
+          -0.03160419315099716,
+          0.8728967308998108,
+          18.8918514251709
+        ],
+        [
+          -0.055542755872011185,
+          -0.9984429478645325,
+          -0.005169343203306198,
+          -13.971452713012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7387,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_183083295",
+      "mask_path": "../../mask/hdr_right_07387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07388.png",
+      "transform_matrix": [
+        [
+          0.8687215447425842,
+          -0.046411413699388504,
+          -0.49312159419059753,
+          -4.533515930175781
+        ],
+        [
+          0.4921397566795349,
+          -0.03141873702406883,
+          0.8699489831924438,
+          18.859277725219727
+        ],
+        [
+          -0.05586881563067436,
+          -0.9984281063079834,
+          -0.0044532292522490025,
+          -13.967775344848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7388,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_283081531",
+      "mask_path": "../../mask/hdr_right_07388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07389.png",
+      "transform_matrix": [
+        [
+          0.867327868938446,
+          -0.048564206808805466,
+          -0.4953625202178955,
+          -4.5918707847595215
+        ],
+        [
+          0.4947598874568939,
+          -0.024576367810368538,
+          0.8686822056770325,
+          18.827781677246094
+        ],
+        [
+          -0.054361067712306976,
+          -0.9985176920890808,
+          0.0027118518482893705,
+          -13.964757919311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7389,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_383082389",
+      "mask_path": "../../mask/hdr_right_07389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07390.png",
+      "transform_matrix": [
+        [
+          0.8671355843544006,
+          -0.049236953258514404,
+          -0.495632529258728,
+          -4.646486282348633
+        ],
+        [
+          0.49516189098358154,
+          -0.022196216508746147,
+          0.8685171604156494,
+          18.80129623413086
+        ],
+        [
+          -0.05376430228352547,
+          -0.998540461063385,
+          0.005133127328008413,
+          -13.964461326599121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7390,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_483080863",
+      "mask_path": "../../mask/hdr_right_07390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07391.png",
+      "transform_matrix": [
+        [
+          0.8689693212509155,
+          -0.045922569930553436,
+          -0.49273058772087097,
+          -4.712191104888916
+        ],
+        [
+          0.49218958616256714,
+          -0.023210788145661354,
+          0.8701786398887634,
+          18.76993179321289
+        ],
+        [
+          -0.051397502422332764,
+          -0.9986754059791565,
+          0.002433149144053459,
+          -13.959461212158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7391,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_583082675",
+      "mask_path": "../../mask/hdr_right_07391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07392.png",
+      "transform_matrix": [
+        [
+          0.8724566102027893,
+          -0.04756345972418785,
+          -0.4863715171813965,
+          -4.778019428253174
+        ],
+        [
+          0.485657662153244,
+          -0.026341643184423447,
+          0.8737521767616272,
+          18.742944717407227
+        ],
+        [
+          -0.05437050387263298,
+          -0.9985208511352539,
+          0.00011761851055780426,
+          -13.946924209594727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7392,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_683082342",
+      "mask_path": "../../mask/hdr_right_07392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07393.png",
+      "transform_matrix": [
+        [
+          0.8763130307197571,
+          -0.051655273884534836,
+          -0.47896459698677063,
+          -4.837967395782471
+        ],
+        [
+          0.4779832065105438,
+          -0.03072728030383587,
+          0.8778313994407654,
+          18.719722747802734
+        ],
+        [
+          -0.06006189435720444,
+          -0.9981921315193176,
+          -0.0022363727912306786,
+          -13.936365127563477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7393,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_783081531",
+      "mask_path": "../../mask/hdr_right_07393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07394.png",
+      "transform_matrix": [
+        [
+          0.8805428147315979,
+          -0.05276120826601982,
+          -0.4710208475589752,
+          -4.910268306732178
+        ],
+        [
+          0.46989867091178894,
+          -0.032744042575359344,
+          0.8821128010749817,
+          18.68961524963379
+        ],
+        [
+          -0.06196446344256401,
+          -0.998070240020752,
+          -0.0040401131846010685,
+          -13.929178237915039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7394,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_883082151",
+      "mask_path": "../../mask/hdr_right_07394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07395.png",
+      "transform_matrix": [
+        [
+          0.8810477256774902,
+          -0.05139482021331787,
+          -0.47022706270217896,
+          -4.988646984100342
+        ],
+        [
+          0.46974074840545654,
+          -0.021919941529631615,
+          0.8825323581695557,
+          18.652902603149414
+        ],
+        [
+          -0.05566493794322014,
+          -0.9984378218650818,
+          0.004829722922295332,
+          -13.92601490020752
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7395,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324002_983084201",
+      "mask_path": "../../mask/hdr_right_07395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07396.png",
+      "transform_matrix": [
+        [
+          0.8789758682250977,
+          -0.05081940069794655,
+          -0.474150687456131,
+          -5.058238983154297
+        ],
+        [
+          0.4744110405445099,
+          -0.007577292155474424,
+          0.880270779132843,
+          18.62667465209961
+        ],
+        [
+          -0.04832761362195015,
+          -0.9986791014671326,
+          0.01744902692735195,
+          -13.933789253234863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7396,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_83081722",
+      "mask_path": "../../mask/hdr_right_07396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07397.png",
+      "transform_matrix": [
+        [
+          0.8775755167007446,
+          -0.052755292505025864,
+          -0.4765271544456482,
+          -5.128673076629639
+        ],
+        [
+          0.477151095867157,
+          -0.0008686481160111725,
+          0.8788208365440369,
+          18.608518600463867
+        ],
+        [
+          -0.046776384115219116,
+          -0.9986070394515991,
+          0.024409940466284752,
+          -13.945538520812988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7397,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_183082580",
+      "mask_path": "../../mask/hdr_right_07397.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/ae495a2e/mesh.ply b/2024-11-11-12-07-40/splats/ae495a2e/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e0f986b26065318d2c60a8921752ee576591d3c8
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae495a2e/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e5489461339233315802492bc90c840fbfaff9ce134013519919e24b5c06f8d
+size 79615314
diff --git a/2024-11-11-12-07-40/splats/ae495a2e/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/ae495a2e/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5b8a4b8e7ba2d515600c952aed0f3b902f4bb80a
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae495a2e/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d600c722e6b79ed916395a5eeb7b876fbf3a4ed5eb615479dae7517653f47c00
+size 1581787
diff --git a/2024-11-11-12-07-40/splats/ae495a2e/splatfacto/config.yml b/2024-11-11-12-07-40/splats/ae495a2e/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..6243712f459341b7055423fcfe6a4393787cb687
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae495a2e/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_ae495a2e
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_ae495a2e
+      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/2024-11-11-12-07-40/splats/ae495a2e/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/ae495a2e/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..e93110556d464a28d5e1c4d6efb016ce675071a5
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae495a2e/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.7004714012145996,
+            -0.7130085825920105,
+            0.03096160851418972,
+            45.2359733581543
+        ],
+        [
+            -0.7130085825920105,
+            0.7010351419448853,
+            0.012982219457626343,
+            12.604421615600586
+        ],
+        [
+            -0.03096160851418972,
+            -0.012982219457626343,
+            -0.9994362592697144,
+            -20.743459701538086
+        ]
+    ],
+    "scale": 0.2218851570964247
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/ae495a2e/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/ae495a2e/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..438e436c9c38271b8eedcb04d5acb943f308fc32
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae495a2e/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a2e50a2f12fc54690c86269b62e0afd4889d93d6bd60008c514f7f9e00895e
+size 156958313
diff --git a/2024-11-11-12-07-40/splats/ae495a2e/transforms.json b/2024-11-11-12-07-40/splats/ae495a2e/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a77ab0713a699022576761102fd73baecd0b565
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae495a2e/transforms.json
@@ -0,0 +1,32640 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_03266.png",
+      "transform_matrix": [
+        [
+          0.1594696044921875,
+          -0.3488282263278961,
+          -0.923519492149353,
+          35.215797424316406
+        ],
+        [
+          0.9872027635574341,
+          0.05606461688876152,
+          0.14928966760635376,
+          24.037532806396484
+        ],
+        [
+          -0.00029968368471600115,
+          -0.9355082511901855,
+          0.35330483317375183,
+          -22.007352828979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3266,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_83081960",
+      "mask_path": "../../mask/hdr_front_03266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03267.png",
+      "transform_matrix": [
+        [
+          0.16021643579006195,
+          -0.3421867787837982,
+          -0.9258719682693481,
+          35.28565216064453
+        ],
+        [
+          0.9870796799659729,
+          0.05357646197080612,
+          0.15100710093975067,
+          24.03426170349121
+        ],
+        [
+          -0.0020676839631050825,
+          -0.9381033182144165,
+          0.3463495075702667,
+          -22.03759002685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3267,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_183081150",
+      "mask_path": "../../mask/hdr_front_03267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03268.png",
+      "transform_matrix": [
+        [
+          0.16386404633522034,
+          -0.3326322138309479,
+          -0.9287111759185791,
+          35.34945297241211
+        ],
+        [
+          0.9864630103111267,
+          0.06123986467719078,
+          0.15211991965770721,
+          24.02885627746582
+        ],
+        [
+          0.0062741623260080814,
+          -0.9410662055015564,
+          0.338164359331131,
+          -22.071073532104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3268,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_283082485",
+      "mask_path": "../../mask/hdr_front_03268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03269.png",
+      "transform_matrix": [
+        [
+          0.16659237444400787,
+          -0.3222004473209381,
+          -0.9318979978561401,
+          35.428192138671875
+        ],
+        [
+          0.9859976172447205,
+          0.061596836894750595,
+          0.15496669709682465,
+          24.011638641357422
+        ],
+        [
+          0.007471626624464989,
+          -0.9446654319763184,
+          0.3279504179954529,
+          -22.098983764648438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3269,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_383081912",
+      "mask_path": "../../mask/hdr_front_03269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03270.png",
+      "transform_matrix": [
+        [
+          0.1672268658876419,
+          -0.31592461466789246,
+          -0.9339308738708496,
+          35.50993347167969
+        ],
+        [
+          0.9858856201171875,
+          0.06131989136338234,
+          0.15578681230545044,
+          23.992177963256836
+        ],
+        [
+          0.00805165059864521,
+          -0.9468006491661072,
+          0.32171982526779175,
+          -22.13812828063965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3270,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_483082294",
+      "mask_path": "../../mask/hdr_front_03270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03271.png",
+      "transform_matrix": [
+        [
+          0.16813839972019196,
+          -0.3124820291996002,
+          -0.934924840927124,
+          35.58074188232422
+        ],
+        [
+          0.9857195615768433,
+          0.06223464757204056,
+          0.1564726084470749,
+          23.975698471069336
+        ],
+        [
+          0.00928984023630619,
+          -0.9478828310966492,
+          0.31848371028900146,
+          -22.163188934326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3271,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_583081960",
+      "mask_path": "../../mask/hdr_front_03271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03273.png",
+      "transform_matrix": [
+        [
+          0.1748872846364975,
+          -0.2973878085613251,
+          -0.9386026263237,
+          35.72911071777344
+        ],
+        [
+          0.9845074415206909,
+          0.0405932292342186,
+          0.17057901620864868,
+          23.959035873413086
+        ],
+        [
+          -0.012627210468053818,
+          -0.9538934230804443,
+          0.2998797297477722,
+          -22.20695686340332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3273,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_783082246",
+      "mask_path": "../../mask/hdr_front_03273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03274.png",
+      "transform_matrix": [
+        [
+          0.17227303981781006,
+          -0.29931506514549255,
+          -0.9384735226631165,
+          35.83354568481445
+        ],
+        [
+          0.98451828956604,
+          0.021040866151452065,
+          0.17401458323001862,
+          23.959047317504883
+        ],
+        [
+          -0.03233889117836952,
+          -0.9539223313331604,
+          0.2983059287071228,
+          -22.23577117919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3274,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_883082151",
+      "mask_path": "../../mask/hdr_front_03274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03275.png",
+      "transform_matrix": [
+        [
+          0.17295536398887634,
+          -0.29285678267478943,
+          -0.9403836131095886,
+          35.9019660949707
+        ],
+        [
+          0.9843522906303406,
+          0.01870899647474289,
+          0.1752156764268875,
+          23.9503173828125
+        ],
+        [
+          -0.03371946141123772,
+          -0.9559732675552368,
+          0.29151007533073425,
+          -22.242206573486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3275,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_983081579",
+      "mask_path": "../../mask/hdr_front_03275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03276.png",
+      "transform_matrix": [
+        [
+          0.1772179901599884,
+          -0.2827601730823517,
+          -0.9426772594451904,
+          35.98789596557617
+        ],
+        [
+          0.9837788343429565,
+          0.023836251348257065,
+          0.17779506742954254,
+          23.949729919433594
+        ],
+        [
+          -0.027803469449281693,
+          -0.9588944911956787,
+          0.28239771723747253,
+          -22.27626609802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3276,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_83081722",
+      "mask_path": "../../mask/hdr_front_03276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03277.png",
+      "transform_matrix": [
+        [
+          0.17922599613666534,
+          -0.272835373878479,
+          -0.9452189803123474,
+          36.071834564208984
+        ],
+        [
+          0.9833639860153198,
+          0.020818417891860008,
+          0.18044960498809814,
+          23.941415786743164
+        ],
+        [
+          -0.029555071145296097,
+          -0.961835503578186,
+          0.2720277011394501,
+          -22.30060386657715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3277,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_183082342",
+      "mask_path": "../../mask/hdr_front_03277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03278.png",
+      "transform_matrix": [
+        [
+          0.18138769268989563,
+          -0.2600005567073822,
+          -0.9484187960624695,
+          36.151187896728516
+        ],
+        [
+          0.9827405214309692,
+          0.012300609610974789,
+          0.1845797449350357,
+          23.92424201965332
+        ],
+        [
+          -0.03632470592856407,
+          -0.9655302166938782,
+          0.2577442526817322,
+          -22.302928924560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3278,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_283081531",
+      "mask_path": "../../mask/hdr_front_03278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03279.png",
+      "transform_matrix": [
+        [
+          0.18689580261707306,
+          -0.24309276044368744,
+          -0.9518277049064636,
+          36.23450469970703
+        ],
+        [
+          0.9815009832382202,
+          0.005233200266957283,
+          0.19138579070568085,
+          23.913639068603516
+        ],
+        [
+          -0.0415433906018734,
+          -0.9699889421463013,
+          0.23957385122776031,
+          -22.31917953491211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3279,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_383081436",
+      "mask_path": "../../mask/hdr_front_03279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03280.png",
+      "transform_matrix": [
+        [
+          0.19026046991348267,
+          -0.23064768314361572,
+          -0.9542551040649414,
+          36.324363708496094
+        ],
+        [
+          0.980289876461029,
+          -0.008061692118644714,
+          0.19739989936351776,
+          23.904521942138672
+        ],
+        [
+          -0.05322273075580597,
+          -0.9730039238929749,
+          0.22456775605678558,
+          -22.335357666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3280,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_483079910",
+      "mask_path": "../../mask/hdr_front_03280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03281.png",
+      "transform_matrix": [
+        [
+          0.1846858263015747,
+          -0.220786452293396,
+          -0.9576765894889832,
+          36.41608810424805
+        ],
+        [
+          0.9808152318000793,
+          -0.020452158525586128,
+          0.19386321306228638,
+          23.88789176940918
+        ],
+        [
+          -0.06238891929388046,
+          -0.975107729434967,
+          0.21277351677417755,
+          -22.326778411865234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3281,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_583080768",
+      "mask_path": "../../mask/hdr_front_03281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03282.png",
+      "transform_matrix": [
+        [
+          0.18298554420471191,
+          -0.20124554634094238,
+          -0.9622975587844849,
+          36.49153137207031
+        ],
+        [
+          0.9813258051872253,
+          -0.02164653316140175,
+          0.1911308467388153,
+          23.87448501586914
+        ],
+        [
+          -0.059294626116752625,
+          -0.9793016314506531,
+          0.1935264617204666,
+          -22.322540283203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3282,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_683081626",
+      "mask_path": "../../mask/hdr_front_03282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03283.png",
+      "transform_matrix": [
+        [
+          0.19078879058361053,
+          -0.17403976619243622,
+          -0.966079592704773,
+          36.58161926269531
+        ],
+        [
+          0.9802731871604919,
+          -0.017968839034438133,
+          0.19682897627353668,
+          23.86434555053711
+        ],
+        [
+          -0.0516153946518898,
+          -0.9845747351646423,
+          0.16717825829982758,
+          -22.342012405395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3283,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_783081769",
+      "mask_path": "../../mask/hdr_front_03283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03284.png",
+      "transform_matrix": [
+        [
+          0.19758190214633942,
+          -0.15530389547348022,
+          -0.96790611743927,
+          36.67201232910156
+        ],
+        [
+          0.9788891673088074,
+          -0.021440906450152397,
+          0.20326419174671173,
+          23.83936882019043
+        ],
+        [
+          -0.05232049897313118,
+          -0.9876340627670288,
+          0.14778897166252136,
+          -22.345083236694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3284,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_883081436",
+      "mask_path": "../../mask/hdr_front_03284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03285.png",
+      "transform_matrix": [
+        [
+          0.20290060341358185,
+          -0.14347434043884277,
+          -0.9686312675476074,
+          36.73992919921875
+        ],
+        [
+          0.977770209312439,
+          -0.02373814955353737,
+          0.20833106338977814,
+          23.817611694335938
+        ],
+        [
+          -0.05288367718458176,
+          -0.9893693327903748,
+          0.13546845316886902,
+          -22.334909439086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3285,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_983082056",
+      "mask_path": "../../mask/hdr_front_03285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03286.png",
+      "transform_matrix": [
+        [
+          0.20958296954631805,
+          -0.12968184053897858,
+          -0.9691530466079712,
+          36.79420471191406
+        ],
+        [
+          0.9765678644180298,
+          -0.021797914057970047,
+          0.21410322189331055,
+          23.801538467407227
+        ],
+        [
+          -0.04889080673456192,
+          -0.991316020488739,
+          0.12207463383674622,
+          -22.327011108398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3286,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_83081483",
+      "mask_path": "../../mask/hdr_front_03286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03287.png",
+      "transform_matrix": [
+        [
+          0.2144344449043274,
+          -0.12302965670824051,
+          -0.9689590930938721,
+          36.86013412475586
+        ],
+        [
+          0.9752605557441711,
+          -0.027581263333559036,
+          0.2193310260772705,
+          23.796274185180664
+        ],
+        [
+          -0.05370933935046196,
+          -0.9920195937156677,
+          0.11407160013914108,
+          -22.342529296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3287,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_183081626",
+      "mask_path": "../../mask/hdr_front_03287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03288.png",
+      "transform_matrix": [
+        [
+          0.2142830193042755,
+          -0.11996299773454666,
+          -0.9693769216537476,
+          36.956180572509766
+        ],
+        [
+          0.9751007556915283,
+          -0.03175141662359238,
+          0.21947763860225677,
+          23.79061508178711
+        ],
+        [
+          -0.057108283042907715,
+          -0.9922705292701721,
+          0.11017221212387085,
+          -22.36440086364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3288,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_283082008",
+      "mask_path": "../../mask/hdr_front_03288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03289.png",
+      "transform_matrix": [
+        [
+          0.21088172495365143,
+          -0.10981370508670807,
+          -0.9713237881660461,
+          37.04218673706055
+        ],
+        [
+          0.9761838912963867,
+          -0.028113551437854767,
+          0.2151152789592743,
+          23.77460289001465
+        ],
+        [
+          -0.0509299635887146,
+          -0.9935545325279236,
+          0.10126973688602448,
+          -22.36238670349121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3289,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_383081436",
+      "mask_path": "../../mask/hdr_front_03289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03291.png",
+      "transform_matrix": [
+        [
+          0.20971038937568665,
+          -0.08947202563285828,
+          -0.9736613035202026,
+          37.160797119140625
+        ],
+        [
+          0.9772071838378906,
+          -0.014410760253667831,
+          0.21179834008216858,
+          23.771852493286133
+        ],
+        [
+          -0.03298122063279152,
+          -0.9958851933479309,
+          0.08441062271595001,
+          -22.369489669799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3291,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_583082199",
+      "mask_path": "../../mask/hdr_front_03291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03292.png",
+      "transform_matrix": [
+        [
+          0.21833282709121704,
+          -0.0823383778333664,
+          -0.972394585609436,
+          37.26345443725586
+        ],
+        [
+          0.9754464626312256,
+          -0.011089236475527287,
+          0.21995709836483002,
+          23.749656677246094
+        ],
+        [
+          -0.02889402024447918,
+          -0.996542751789093,
+          0.07789553701877594,
+          -22.364160537719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3292,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_683081388",
+      "mask_path": "../../mask/hdr_front_03292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03293.png",
+      "transform_matrix": [
+        [
+          0.23002244532108307,
+          -0.07118330895900726,
+          -0.9705785512924194,
+          37.349266052246094
+        ],
+        [
+          0.972854733467102,
+          -0.00917735230177641,
+          0.23123498260974884,
+          23.731548309326172
+        ],
+        [
+          -0.025367408990859985,
+          -0.9974210858345032,
+          0.06714001297950745,
+          -22.357219696044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3293,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_783081293",
+      "mask_path": "../../mask/hdr_front_03293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03294.png",
+      "transform_matrix": [
+        [
+          0.2409079670906067,
+          -0.05923357233405113,
+          -0.9687387347221375,
+          37.41919708251953
+        ],
+        [
+          0.9701149463653564,
+          -0.0151132857427001,
+          0.24217431247234344,
+          23.725139617919922
+        ],
+        [
+          -0.028985673561692238,
+          -0.9981297850608826,
+          0.05382246896624565,
+          -22.354568481445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3294,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_883081674",
+      "mask_path": "../../mask/hdr_front_03294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03295.png",
+      "transform_matrix": [
+        [
+          0.2420542985200882,
+          -0.05404374748468399,
+          -0.9687564969062805,
+          37.5054931640625
+        ],
+        [
+          0.9695296883583069,
+          -0.02533121220767498,
+          0.24366065859794617,
+          23.710063934326172
+        ],
+        [
+          -0.0377081073820591,
+          -0.9982172846794128,
+          0.046265486627817154,
+          -22.350902557373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3295,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_983080863",
+      "mask_path": "../../mask/hdr_front_03295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03296.png",
+      "transform_matrix": [
+        [
+          0.23826047778129578,
+          -0.049267690628767014,
+          -0.9699509143829346,
+          37.58774948120117
+        ],
+        [
+          0.9700865149497986,
+          -0.03576475754380226,
+          0.24011047184467316,
+          23.69929313659668
+        ],
+        [
+          -0.04651973769068718,
+          -0.9981451034545898,
+          0.03927259519696236,
+          -22.352642059326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3296,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_83081007",
+      "mask_path": "../../mask/hdr_front_03296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03297.png",
+      "transform_matrix": [
+        [
+          0.2364681363105774,
+          -0.04372263699769974,
+          -0.970655083656311,
+          37.65603256225586
+        ],
+        [
+          0.9703540802001953,
+          -0.04073787108063698,
+          0.23822982609272003,
+          23.686553955078125
+        ],
+        [
+          -0.049958448857069016,
+          -0.9982127547264099,
+          0.032793231308460236,
+          -22.348365783691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3297,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_183081388",
+      "mask_path": "../../mask/hdr_front_03297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03298.png",
+      "transform_matrix": [
+        [
+          0.23845607042312622,
+          -0.04719284921884537,
+          -0.970005989074707,
+          37.71304702758789
+        ],
+        [
+          0.9699418544769287,
+          -0.0383005253970623,
+          0.24030372500419617,
+          23.67323875427246
+        ],
+        [
+          -0.04849235340952873,
+          -0.9981512427330017,
+          0.03664132580161095,
+          -22.351282119750977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3298,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_283081293",
+      "mask_path": "../../mask/hdr_front_03298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03300.png",
+      "transform_matrix": [
+        [
+          0.2565040588378906,
+          -0.041876330971717834,
+          -0.9656355381011963,
+          37.814571380615234
+        ],
+        [
+          0.9654219746589661,
+          -0.0370061919093132,
+          0.25805220007896423,
+          23.63445472717285
+        ],
+        [
+          -0.046540774405002594,
+          -0.9984372854232788,
+          0.030936095863580704,
+          -22.335824966430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3300,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_483079433",
+      "mask_path": "../../mask/hdr_front_03300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03301.png",
+      "transform_matrix": [
+        [
+          0.2654248774051666,
+          -0.035218533128499985,
+          -0.9634881019592285,
+          37.89362335205078
+        ],
+        [
+          0.9631678462028503,
+          -0.03498370572924614,
+          0.26661545038223267,
+          23.611684799194336
+        ],
+        [
+          -0.043096188455820084,
+          -0.9987671971321106,
+          0.024635814130306244,
+          -22.3430233001709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3301,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_583078861",
+      "mask_path": "../../mask/hdr_front_03301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03302.png",
+      "transform_matrix": [
+        [
+          0.2697414755821228,
+          -0.030629465356469154,
+          -0.9624455571174622,
+          37.976226806640625
+        ],
+        [
+          0.9617973566055298,
+          -0.039953894913196564,
+          0.27083131670951843,
+          23.592697143554688
+        ],
+        [
+          -0.046748869121074677,
+          -0.9987319707870483,
+          0.01868211291730404,
+          -22.34600257873535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3302,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_683078050",
+      "mask_path": "../../mask/hdr_front_03302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03303.png",
+      "transform_matrix": [
+        [
+          0.2695968449115753,
+          -0.030474312603473663,
+          -0.962490975856781,
+          38.03040313720703
+        ],
+        [
+          0.9614961743354797,
+          -0.04682091251015663,
+          0.2708006501197815,
+          23.579124450683594
+        ],
+        [
+          -0.05331717059016228,
+          -0.9984383583068848,
+          0.016678158193826675,
+          -22.35036849975586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3303,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_783080577",
+      "mask_path": "../../mask/hdr_front_03303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03305.png",
+      "transform_matrix": [
+        [
+          0.2683074176311493,
+          -0.031011218205094337,
+          -0.9628341197967529,
+          38.11819839477539
+        ],
+        [
+          0.9617686867713928,
+          -0.04832007735967636,
+          0.2695668339729309,
+          23.54935073852539
+        ],
+        [
+          -0.05488381162285805,
+          -0.9983503818511963,
+          0.01686098240315914,
+          -22.352487564086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3305,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_983078002",
+      "mask_path": "../../mask/hdr_front_03305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03307.png",
+      "transform_matrix": [
+        [
+          0.2822438180446625,
+          -0.04107730835676193,
+          -0.9584628939628601,
+          38.19635772705078
+        ],
+        [
+          0.9581403136253357,
+          -0.037934064865112305,
+          0.28377461433410645,
+          23.511737823486328
+        ],
+        [
+          -0.048015087842941284,
+          -0.9984356164932251,
+          0.028651170432567596,
+          -22.33696937561035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3307,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_183080673",
+      "mask_path": "../../mask/hdr_front_03307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03309.png",
+      "transform_matrix": [
+        [
+          0.3012620806694031,
+          -0.037068430334329605,
+          -0.9528205990791321,
+          38.29973602294922
+        ],
+        [
+          0.9525504112243652,
+          -0.033846091479063034,
+          0.3024934232234955,
+          23.463010787963867
+        ],
+        [
+          -0.043462205678224564,
+          -0.9987394213676453,
+          0.025113005191087723,
+          -22.337615966796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3309,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_383079051",
+      "mask_path": "../../mask/hdr_front_03309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03310.png",
+      "transform_matrix": [
+        [
+          0.3072498142719269,
+          -0.03520806133747101,
+          -0.9509773850440979,
+          38.35787582397461
+        ],
+        [
+          0.9504457712173462,
+          -0.038462404161691666,
+          0.3085021376609802,
+          23.446044921875
+        ],
+        [
+          -0.04743863269686699,
+          -0.9986396431922913,
+          0.02164577879011631,
+          -22.345552444458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3310,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_483081340",
+      "mask_path": "../../mask/hdr_front_03310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03312.png",
+      "transform_matrix": [
+        [
+          0.31146737933158875,
+          -0.03128053620457649,
+          -0.9497418999671936,
+          38.477386474609375
+        ],
+        [
+          0.9488019347190857,
+          -0.045049991458654404,
+          0.3126428425312042,
+          23.39909553527832
+        ],
+        [
+          -0.052565496414899826,
+          -0.9984948635101318,
+          0.01564742997288704,
+          -22.345726013183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3312,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_683081865",
+      "mask_path": "../../mask/hdr_front_03312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03313.png",
+      "transform_matrix": [
+        [
+          0.31390851736068726,
+          -0.032419390976428986,
+          -0.9488995671272278,
+          38.54341125488281
+        ],
+        [
+          0.948430597782135,
+          -0.035665735602378845,
+          0.3149718940258026,
+          23.376157760620117
+        ],
+        [
+          -0.04405439645051956,
+          -0.9988378286361694,
+          0.01955176703631878,
+          -22.351896286010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3313,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_783083438",
+      "mask_path": "../../mask/hdr_front_03313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03314.png",
+      "transform_matrix": [
+        [
+          0.3204617500305176,
+          -0.033669207245111465,
+          -0.946662962436676,
+          38.59674072265625
+        ],
+        [
+          0.9465308785438538,
+          -0.02786150574684143,
+          0.3214080035686493,
+          23.345718383789062
+        ],
+        [
+          -0.03719700500369072,
+          -0.9990445971488953,
+          0.022940397262573242,
+          -22.3448429107666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3314,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_883081912",
+      "mask_path": "../../mask/hdr_front_03314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03315.png",
+      "transform_matrix": [
+        [
+          0.3300738036632538,
+          -0.03215377777814865,
+          -0.943407416343689,
+          38.64844512939453
+        ],
+        [
+          0.9434974193572998,
+          -0.019879991188645363,
+          0.3307829201221466,
+          23.318349838256836
+        ],
+        [
+          -0.02939085103571415,
+          -0.9992852210998535,
+          0.023775143548846245,
+          -22.339418411254883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3315,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_983083486",
+      "mask_path": "../../mask/hdr_front_03315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03316.png",
+      "transform_matrix": [
+        [
+          0.3413200378417969,
+          -0.026527849957346916,
+          -0.9395727515220642,
+          38.709320068359375
+        ],
+        [
+          0.9397303462028503,
+          -0.011835177429020405,
+          0.34171146154403687,
+          23.296737670898438
+        ],
+        [
+          -0.02018488198518753,
+          -0.9995779991149902,
+          0.020889444276690483,
+          -22.343156814575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3316,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_83081960",
+      "mask_path": "../../mask/hdr_front_03316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03317.png",
+      "transform_matrix": [
+        [
+          0.3467021882534027,
+          -0.02821136638522148,
+          -0.937550961971283,
+          38.813079833984375
+        ],
+        [
+          0.9377214908599854,
+          -0.012824822217226028,
+          0.3471511900424957,
+          23.27154541015625
+        ],
+        [
+          -0.021817531436681747,
+          -0.9995197057723999,
+          0.022008009254932404,
+          -22.348461151123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3317,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_183086156",
+      "mask_path": "../../mask/hdr_front_03317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03318.png",
+      "transform_matrix": [
+        [
+          0.34470218420028687,
+          -0.031930528581142426,
+          -0.9381688833236694,
+          38.89936447143555
+        ],
+        [
+          0.9383285045623779,
+          -0.01684977486729622,
+          0.3453342914581299,
+          23.250715255737305
+        ],
+        [
+          -0.02683463878929615,
+          -0.9993480443954468,
+          0.024153167381882668,
+          -22.354019165039062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3318,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_283082723",
+      "mask_path": "../../mask/hdr_front_03318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03319.png",
+      "transform_matrix": [
+        [
+          0.3412892520427704,
+          -0.03171466290950775,
+          -0.939423143863678,
+          38.97268295288086
+        ],
+        [
+          0.9396135807037354,
+          -0.015553166158497334,
+          0.3418835997581482,
+          23.230026245117188
+        ],
+        [
+          -0.025453723967075348,
+          -0.9993759393692017,
+          0.02449139766395092,
+          -22.359264373779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3319,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_383083343",
+      "mask_path": "../../mask/hdr_front_03319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03320.png",
+      "transform_matrix": [
+        [
+          0.341677188873291,
+          -0.02993619814515114,
+          -0.9393405318260193,
+          39.040775299072266
+        ],
+        [
+          0.939657986164093,
+          -0.007523548323661089,
+          0.3420324921607971,
+          23.216445922851562
+        ],
+        [
+          -0.01730632223188877,
+          -0.9995235204696655,
+          0.025559162721037865,
+          -22.3772029876709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3320,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_483082294",
+      "mask_path": "../../mask/hdr_front_03320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03321.png",
+      "transform_matrix": [
+        [
+          0.34730264544487,
+          -0.03296749293804169,
+          -0.9371734857559204,
+          39.09316635131836
+        ],
+        [
+          0.9375960826873779,
+          -0.006076772231608629,
+          0.34767308831214905,
+          23.20030403137207
+        ],
+        [
+          -0.017156897112727165,
+          -0.9994379878044128,
+          0.028799714520573616,
+          -22.380924224853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3321,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_583082914",
+      "mask_path": "../../mask/hdr_front_03321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03322.png",
+      "transform_matrix": [
+        [
+          0.3563900589942932,
+          -0.033352214843034744,
+          -0.9337418079376221,
+          39.15504837036133
+        ],
+        [
+          0.9341719150543213,
+          -0.006080544553697109,
+          0.35677140951156616,
+          23.17104721069336
+        ],
+        [
+          -0.017576774582266808,
+          -0.9994252324104309,
+          0.028989657759666443,
+          -22.366777420043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3322,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_683081388",
+      "mask_path": "../../mask/hdr_front_03322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03323.png",
+      "transform_matrix": [
+        [
+          0.3686494529247284,
+          -0.024641603231430054,
+          -0.9292418360710144,
+          39.209388732910156
+        ],
+        [
+          0.9295267462730408,
+          0.0003024874022230506,
+          0.36875444650650024,
+          23.142702102661133
+        ],
+        [
+          -0.00880561675876379,
+          -0.9996963739395142,
+          0.023016540333628654,
+          -22.35738754272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3323,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_783083200",
+      "mask_path": "../../mask/hdr_front_03323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03324.png",
+      "transform_matrix": [
+        [
+          0.3784599304199219,
+          -0.02255513146519661,
+          -0.925342857837677,
+          39.29285430908203
+        ],
+        [
+          0.9255974888801575,
+          0.002617399673908949,
+          0.3785002827644348,
+          23.1075439453125
+        ],
+        [
+          -0.006115129683166742,
+          -0.9997422099113464,
+          0.021867552772164345,
+          -22.350439071655273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3324,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_883081674",
+      "mask_path": "../../mask/hdr_front_03324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03325.png",
+      "transform_matrix": [
+        [
+          0.38157472014427185,
+          -0.025938808917999268,
+          -0.9239739179611206,
+          39.37214660644531
+        ],
+        [
+          0.924268364906311,
+          -0.0015611752169206738,
+          0.38174015283584595,
+          23.0881290435791
+        ],
+        [
+          -0.011344365775585175,
+          -0.9996623396873474,
+          0.02337871678173542,
+          -22.35942840576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3325,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_983081579",
+      "mask_path": "../../mask/hdr_front_03325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03327.png",
+      "transform_matrix": [
+        [
+          0.38492801785469055,
+          -0.026358341798186302,
+          -0.9225702285766602,
+          39.47400665283203
+        ],
+        [
+          0.9228729009628296,
+          -0.0016443042550235987,
+          0.3851012587547302,
+          23.050334930419922
+        ],
+        [
+          -0.011667613871395588,
+          -0.9996511936187744,
+          0.023692460730671883,
+          -22.38051986694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3327,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_183081150",
+      "mask_path": "../../mask/hdr_front_03327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03328.png",
+      "transform_matrix": [
+        [
+          0.3889552354812622,
+          -0.02738174796104431,
+          -0.9208496809005737,
+          39.529754638671875
+        ],
+        [
+          0.9212155342102051,
+          0.0021199407055974007,
+          0.3890467584133148,
+          23.03356170654297
+        ],
+        [
+          -0.008700632490217686,
+          -0.9996227622032166,
+          0.02604905515909195,
+          -22.381629943847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3328,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_283082008",
+      "mask_path": "../../mask/hdr_front_03328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03330.png",
+      "transform_matrix": [
+        [
+          0.3836759924888611,
+          -0.02074231207370758,
+          -0.9232348203659058,
+          39.60202407836914
+        ],
+        [
+          0.9234454035758972,
+          0.001660052454099059,
+          0.38372620940208435,
+          23.008342742919922
+        ],
+        [
+          -0.006426749285310507,
+          -0.999783456325531,
+          0.019791312515735626,
+          -22.376121520996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3330,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_483082532",
+      "mask_path": "../../mask/hdr_front_03330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03332.png",
+      "transform_matrix": [
+        [
+          0.36997559666633606,
+          -0.01575935259461403,
+          -0.9289078712463379,
+          39.69371795654297
+        ],
+        [
+          0.9290344715118408,
+          0.010157184675335884,
+          0.3698537349700928,
+          22.97745132446289
+        ],
+        [
+          0.0036064311861991882,
+          -0.9998242855072021,
+          0.018398892134428024,
+          -22.37164306640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3332,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_683082342",
+      "mask_path": "../../mask/hdr_front_03332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03334.png",
+      "transform_matrix": [
+        [
+          0.3414191007614136,
+          -0.021952001377940178,
+          -0.9396548271179199,
+          39.77490234375
+        ],
+        [
+          0.9398932456970215,
+          0.0017890555318444967,
+          0.3414638936519623,
+          22.949987411499023
+        ],
+        [
+          -0.005814720410853624,
+          -0.9997574090957642,
+          0.021243354305624962,
+          -22.37945556640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3334,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_883081912",
+      "mask_path": "../../mask/hdr_front_03334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03336.png",
+      "transform_matrix": [
+        [
+          0.30773454904556274,
+          -0.01938377320766449,
+          -0.9512748122215271,
+          39.83258819580078
+        ],
+        [
+          0.95143061876297,
+          -0.0030745628755539656,
+          0.30784764885902405,
+          22.963884353637695
+        ],
+        [
+          -0.008892000652849674,
+          -0.9998074769973755,
+          0.01749616675078869,
+          -22.413999557495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3336,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_83081722",
+      "mask_path": "../../mask/hdr_front_03336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03337.png",
+      "transform_matrix": [
+        [
+          0.292387992143631,
+          -0.018011411651968956,
+          -0.9561301469802856,
+          39.897274017333984
+        ],
+        [
+          0.9562624096870422,
+          -0.0033319639042019844,
+          0.29249119758605957,
+          22.95960807800293
+        ],
+        [
+          -0.008453968912363052,
+          -0.999832272529602,
+          0.016249410808086395,
+          -22.400814056396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3337,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_183082580",
+      "mask_path": "../../mask/hdr_front_03337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03338.png",
+      "transform_matrix": [
+        [
+          0.2826418876647949,
+          -0.014678776264190674,
+          -0.9591132402420044,
+          39.958560943603516
+        ],
+        [
+          0.9592034220695496,
+          -0.002461480675265193,
+          0.2827061414718628,
+          22.950071334838867
+        ],
+        [
+          -0.006510618142783642,
+          -0.9998892545700073,
+          0.013384215533733368,
+          -22.376785278320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3338,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_283082008",
+      "mask_path": "../../mask/hdr_front_03338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03340.png",
+      "transform_matrix": [
+        [
+          0.2636168897151947,
+          -0.0014473953051492572,
+          -0.9646264314651489,
+          40.04529571533203
+        ],
+        [
+          0.9646026492118835,
+          0.007565800566226244,
+          0.26359906792640686,
+          22.936891555786133
+        ],
+        [
+          0.0069166384637355804,
+          -0.9999703764915466,
+          0.0033906346652656794,
+          -22.376522064208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3340,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_483081579",
+      "mask_path": "../../mask/hdr_front_03340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03730.png",
+      "transform_matrix": [
+        [
+          0.20477764308452606,
+          0.03849126771092415,
+          -0.9780513644218445,
+          40.503089904785156
+        ],
+        [
+          0.9785562753677368,
+          0.014634731225669384,
+          0.20545928180217743,
+          22.920955657958984
+        ],
+        [
+          0.02222190797328949,
+          -0.9991517663002014,
+          -0.03466900438070297,
+          -22.344770431518555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3730,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_483082771",
+      "mask_path": "../../mask/hdr_front_03730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03732.png",
+      "transform_matrix": [
+        [
+          0.20528173446655273,
+          0.04158206284046173,
+          -0.9778192043304443,
+          40.580421447753906
+        ],
+        [
+          0.9785997867584229,
+          0.005782733671367168,
+          0.20569153130054474,
+          22.888872146606445
+        ],
+        [
+          0.014207545667886734,
+          -0.999118447303772,
+          -0.03950510546565056,
+          -22.344585418701172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3732,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_683082103",
+      "mask_path": "../../mask/hdr_front_03732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03733.png",
+      "transform_matrix": [
+        [
+          0.19728624820709229,
+          0.03510129451751709,
+          -0.9797173738479614,
+          40.633201599121094
+        ],
+        [
+          0.9803256392478943,
+          -0.0006396100507117808,
+          0.19738584756851196,
+          22.872234344482422
+        ],
+        [
+          0.00630186265334487,
+          -0.9993835687637329,
+          -0.03453688696026802,
+          -22.33527946472168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3733,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_783080339",
+      "mask_path": "../../mask/hdr_front_03733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03735.png",
+      "transform_matrix": [
+        [
+          0.18190933763980865,
+          0.029857482761144638,
+          -0.9828618764877319,
+          40.70372009277344
+        ],
+        [
+          0.9833090901374817,
+          -0.00906080286949873,
+          0.1817168891429901,
+          22.846879959106445
+        ],
+        [
+          -0.0034799084533005953,
+          -0.9995131492614746,
+          -0.03100738115608692,
+          -22.345909118652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3735,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_983081102",
+      "mask_path": "../../mask/hdr_front_03735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03736.png",
+      "transform_matrix": [
+        [
+          0.1841815710067749,
+          0.028551530092954636,
+          -0.9824774265289307,
+          40.756248474121094
+        ],
+        [
+          0.9828863739967346,
+          -0.008815864101052284,
+          0.18400202691555023,
+          22.821250915527344
+        ],
+        [
+          -0.0034078487660735846,
+          -0.9995535016059875,
+          -0.02968662418425083,
+          -22.336570739746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3736,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_83080768",
+      "mask_path": "../../mask/hdr_front_03736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03738.png",
+      "transform_matrix": [
+        [
+          0.19583885371685028,
+          0.03512001410126686,
+          -0.980006992816925,
+          40.83758544921875
+        ],
+        [
+          0.9806326627731323,
+          -0.00964108482003212,
+          0.1956183761358261,
+          22.793258666992188
+        ],
+        [
+          -0.002578209387138486,
+          -0.9993366599082947,
+          -0.03632793948054314,
+          -22.32793426513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3738,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_283081293",
+      "mask_path": "../../mask/hdr_front_03738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03739.png",
+      "transform_matrix": [
+        [
+          0.19817513227462769,
+          0.03304288163781166,
+          -0.9796095490455627,
+          40.89242935180664
+        ],
+        [
+          0.9801625609397888,
+          -0.009556244127452374,
+          0.19796468317508698,
+          22.781219482421875
+        ],
+        [
+          -0.0028200638480484486,
+          -0.9994082450866699,
+          -0.03428120166063309,
+          -22.325443267822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3739,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_383081436",
+      "mask_path": "../../mask/hdr_front_03739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03742.png",
+      "transform_matrix": [
+        [
+          0.18504492938518524,
+          0.02183426171541214,
+          -0.9824874997138977,
+          41.02311325073242
+        ],
+        [
+          0.9826204180717468,
+          -0.019042687490582466,
+          0.18464677035808563,
+          22.77040672302246
+        ],
+        [
+          -0.014677573926746845,
+          -0.9995802640914917,
+          -0.02497854270040989,
+          -22.339923858642578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3742,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_683079004",
+      "mask_path": "../../mask/hdr_front_03742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03744.png",
+      "transform_matrix": [
+        [
+          0.18660803139209747,
+          0.013799825683236122,
+          -0.9823375344276428,
+          41.094181060791016
+        ],
+        [
+          0.9823794364929199,
+          -0.013198968954384327,
+          0.18643061816692352,
+          22.753957748413086
+        ],
+        [
+          -0.010393131524324417,
+          -0.9998176693916321,
+          -0.016019698232412338,
+          -22.33306121826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3744,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_883079528",
+      "mask_path": "../../mask/hdr_front_03744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03746.png",
+      "transform_matrix": [
+        [
+          0.17487914860248566,
+          0.022863877937197685,
+          -0.9843244552612305,
+          41.17012405395508
+        ],
+        [
+          0.984545886516571,
+          -0.01351738628000021,
+          0.17460452020168304,
+          22.739362716674805
+        ],
+        [
+          -0.009313356131315231,
+          -0.9996472597122192,
+          -0.02487444505095482,
+          -22.320510864257812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3746,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_83079099",
+      "mask_path": "../../mask/hdr_front_03746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03747.png",
+      "transform_matrix": [
+        [
+          0.16949482262134552,
+          0.024145476520061493,
+          -0.9852352738380432,
+          41.22128677368164
+        ],
+        [
+          0.9855150580406189,
+          -0.009854351170361042,
+          0.16930143535137177,
+          22.730953216552734
+        ],
+        [
+          -0.005620988551527262,
+          -0.9996598958969116,
+          -0.02546599507331848,
+          -22.319137573242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3747,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_183078289",
+      "mask_path": "../../mask/hdr_front_03747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03749.png",
+      "transform_matrix": [
+        [
+          0.14928142726421356,
+          0.018008310347795486,
+          -0.9886307716369629,
+          41.304744720458984
+        ],
+        [
+          0.9885789155960083,
+          -0.023603904992341995,
+          0.1488436907529831,
+          22.72402000427246
+        ],
+        [
+          -0.02065511979162693,
+          -0.999559223651886,
+          -0.021326260641217232,
+          -22.315725326538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3749,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_383081912",
+      "mask_path": "../../mask/hdr_front_03749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03751.png",
+      "transform_matrix": [
+        [
+          0.13391785323619843,
+          0.015716249123215675,
+          -0.9908678531646729,
+          41.38826370239258
+        ],
+        [
+          0.9907587766647339,
+          -0.023835474625229836,
+          0.1335250735282898,
+          22.718990325927734
+        ],
+        [
+          -0.021519290283322334,
+          -0.9995923638343811,
+          -0.01876300387084484,
+          -22.322696685791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3751,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_583079814",
+      "mask_path": "../../mask/hdr_front_03751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03753.png",
+      "transform_matrix": [
+        [
+          0.1340482383966446,
+          0.02138490602374077,
+          -0.9907440543174744,
+          41.47549057006836
+        ],
+        [
+          0.9908203482627869,
+          -0.020543569698929787,
+          0.1336151361465454,
+          22.7089786529541
+        ],
+        [
+          -0.017496071755886078,
+          -0.9995602369308472,
+          -0.023942427709698677,
+          -22.31008529663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3753,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_783078908",
+      "mask_path": "../../mask/hdr_front_03753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03755.png",
+      "transform_matrix": [
+        [
+          0.14135608077049255,
+          0.02734357677400112,
+          -0.9895811080932617,
+          41.5417366027832
+        ],
+        [
+          0.989926815032959,
+          -0.011932289227843285,
+          0.14107578992843628,
+          22.70561981201172
+        ],
+        [
+          -0.007950450293719769,
+          -0.9995549321174622,
+          -0.028754841536283493,
+          -22.306602478027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3755,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_983078002",
+      "mask_path": "../../mask/hdr_front_03755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03757.png",
+      "transform_matrix": [
+        [
+          0.127173513174057,
+          0.013370251283049583,
+          -0.9917904734611511,
+          41.60994338989258
+        ],
+        [
+          0.9916503429412842,
+          -0.02325347252190113,
+          0.12684208154678345,
+          22.70540428161621
+        ],
+        [
+          -0.021366657689213753,
+          -0.999640166759491,
+          -0.016215842217206955,
+          -22.30768394470215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3757,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_183081626",
+      "mask_path": "../../mask/hdr_front_03757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03759.png",
+      "transform_matrix": [
+        [
+          0.11771588772535324,
+          0.011389783583581448,
+          -0.992982029914856,
+          41.6636962890625
+        ],
+        [
+          0.9928385615348816,
+          -0.021851100027561188,
+          0.11744825541973114,
+          22.705894470214844
+        ],
+        [
+          -0.020360039547085762,
+          -0.9996963739395142,
+          -0.013880438171327114,
+          -22.32342529296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3759,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_383082628",
+      "mask_path": "../../mask/hdr_front_03759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03760.png",
+      "transform_matrix": [
+        [
+          0.12112221121788025,
+          0.011869966983795166,
+          -0.992566704750061,
+          41.71492004394531
+        ],
+        [
+          0.9924523234367371,
+          -0.020764388144016266,
+          0.12085992842912674,
+          22.6946964263916
+        ],
+        [
+          -0.019175436347723007,
+          -0.9997139573097229,
+          -0.014295404776930809,
+          -22.311351776123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3760,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_483082532",
+      "mask_path": "../../mask/hdr_front_03760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03762.png",
+      "transform_matrix": [
+        [
+          0.13424883782863617,
+          0.01786806434392929,
+          -0.990786612033844,
+          41.80110168457031
+        ],
+        [
+          0.9908314347267151,
+          -0.017733313143253326,
+          0.1339351385831833,
+          22.682519912719727
+        ],
+        [
+          -0.015176765620708466,
+          -0.9996830821037292,
+          -0.020084915682673454,
+          -22.309371948242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3762,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_683080911",
+      "mask_path": "../../mask/hdr_front_03762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03764.png",
+      "transform_matrix": [
+        [
+          0.13218452036380768,
+          0.02143154665827751,
+          -0.9909933805465698,
+          41.881919860839844
+        ],
+        [
+          0.991169273853302,
+          -0.013461349532008171,
+          0.1319168657064438,
+          22.676313400268555
+        ],
+        [
+          -0.010512925684452057,
+          -0.999679684638977,
+          -0.023021673783659935,
+          -22.28585433959961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3764,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_883081674",
+      "mask_path": "../../mask/hdr_front_03764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03796.png",
+      "transform_matrix": [
+        [
+          0.10179919004440308,
+          0.02512713149189949,
+          -0.9944876432418823,
+          41.9883918762207
+        ],
+        [
+          0.9947221875190735,
+          -0.01546173170208931,
+          0.10143255442380905,
+          22.699352264404297
+        ],
+        [
+          -0.012827791273593903,
+          -0.9995647072792053,
+          -0.02656850963830948,
+          -22.283288955688477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3796,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_83081483",
+      "mask_path": "../../mask/hdr_front_03796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03798.png",
+      "transform_matrix": [
+        [
+          0.09807876497507095,
+          0.02252492494881153,
+          -0.9949237704277039,
+          42.073219299316406
+        ],
+        [
+          0.9950624108314514,
+          -0.017494292929768562,
+          0.09769638627767563,
+          22.71151351928711
+        ],
+        [
+          -0.015204881317913532,
+          -0.9995932579040527,
+          -0.024129526689648628,
+          -22.291290283203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3798,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_283081769",
+      "mask_path": "../../mask/hdr_front_03798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03799.png",
+      "transform_matrix": [
+        [
+          0.10391060262918472,
+          0.025120198726654053,
+          -0.9942694306373596,
+          42.12617874145508
+        ],
+        [
+          0.9945099949836731,
+          -0.01503395102918148,
+          0.10355591773986816,
+          22.70725440979004
+        ],
+        [
+          -0.012346451170742512,
+          -0.9995713829994202,
+          -0.026544472202658653,
+          -22.27952766418457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3799,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_383079528",
+      "mask_path": "../../mask/hdr_front_03799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03800.png",
+      "transform_matrix": [
+        [
+          0.1147754117846489,
+          0.03263987600803375,
+          -0.9928551912307739,
+          42.17787551879883
+        ],
+        [
+          0.9933382272720337,
+          -0.01410633884370327,
+          0.1143675297498703,
+          22.70124626159668
+        ],
+        [
+          -0.010272607207298279,
+          -0.9993676543235779,
+          -0.03404150903224945,
+          -22.267959594726562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3800,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_483078718",
+      "mask_path": "../../mask/hdr_front_03800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03802.png",
+      "transform_matrix": [
+        [
+          0.1264573186635971,
+          0.03935742378234863,
+          -0.9911909699440002,
+          42.28289031982422
+        ],
+        [
+          0.9918544292449951,
+          -0.020401697605848312,
+          0.12573188543319702,
+          22.705387115478516
+        ],
+        [
+          -0.015273493714630604,
+          -0.9990170001983643,
+          -0.041616786271333694,
+          -22.267627716064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3802,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_683081388",
+      "mask_path": "../../mask/hdr_front_03802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03804.png",
+      "transform_matrix": [
+        [
+          0.12036016583442688,
+          0.03053477220237255,
+          -0.9922605752944946,
+          42.386146545410156
+        ],
+        [
+          0.9923622012138367,
+          -0.030916675925254822,
+          0.11942112445831299,
+          22.703109741210938
+        ],
+        [
+          -0.02703090012073517,
+          -0.9990555047988892,
+          -0.03402269259095192,
+          -22.28183364868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3804,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_883081436",
+      "mask_path": "../../mask/hdr_front_03804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03806.png",
+      "transform_matrix": [
+        [
+          0.13225993514060974,
+          0.021711619570851326,
+          -0.9909772872924805,
+          42.461143493652344
+        ],
+        [
+          0.9908158183097839,
+          -0.03126983344554901,
+          0.1315532922744751,
+          22.679086685180664
+        ],
+        [
+          -0.028131453320384026,
+          -0.9992751479148865,
+          -0.0256479624658823,
+          -22.276575088500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3806,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323645_83080768",
+      "mask_path": "../../mask/hdr_front_03806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03809.png",
+      "transform_matrix": [
+        [
+          0.1576833426952362,
+          0.026723045855760574,
+          -0.9871281385421753,
+          42.5286865234375
+        ],
+        [
+          0.9872267246246338,
+          -0.027335382997989655,
+          0.15695910155773163,
+          22.650028228759766
+        ],
+        [
+          -0.02278909832239151,
+          -0.9992690682411194,
+          -0.03069203905761242,
+          -22.265365600585938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3809,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323645_383079528",
+      "mask_path": "../../mask/hdr_front_03809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03816.png",
+      "transform_matrix": [
+        [
+          0.18954779207706451,
+          0.03378644958138466,
+          -0.9812901020050049,
+          42.585113525390625
+        ],
+        [
+          0.9810705184936523,
+          -0.04687713086605072,
+          0.1878913789987564,
+          22.60736846923828
+        ],
+        [
+          -0.03965187445282936,
+          -0.9983291625976562,
+          -0.04203233867883682,
+          -22.245859146118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3816,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_83079338",
+      "mask_path": "../../mask/hdr_front_03816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03818.png",
+      "transform_matrix": [
+        [
+          0.19883526861667633,
+          0.031257979571819305,
+          -0.979534387588501,
+          42.66584777832031
+        ],
+        [
+          0.9791692495346069,
+          -0.048289705067873,
+          0.19722019135951996,
+          22.574270248413086
+        ],
+        [
+          -0.0411367230117321,
+          -0.9983441829681396,
+          -0.040208544582128525,
+          -22.245332717895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3818,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_283079862",
+      "mask_path": "../../mask/hdr_front_03818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03820.png",
+      "transform_matrix": [
+        [
+          0.1920386105775833,
+          0.023909807205200195,
+          -0.981096088886261,
+          42.75147247314453
+        ],
+        [
+          0.9799631237983704,
+          -0.05851002037525177,
+          0.1903909593820572,
+          22.568574905395508
+        ],
+        [
+          -0.05285174399614334,
+          -0.9980005025863647,
+          -0.03466691076755524,
+          -22.271482467651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3820,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_483079910",
+      "mask_path": "../../mask/hdr_front_03820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03822.png",
+      "transform_matrix": [
+        [
+          0.1977963149547577,
+          0.015849024057388306,
+          -0.9801150560379028,
+          42.840213775634766
+        ],
+        [
+          0.9791536331176758,
+          -0.05032281205058098,
+          0.19678856432437897,
+          22.529783248901367
+        ],
+        [
+          -0.04620322585105896,
+          -0.9986072182655334,
+          -0.02547229826450348,
+          -22.256898880004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3822,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_683079957",
+      "mask_path": "../../mask/hdr_front_03822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03824.png",
+      "transform_matrix": [
+        [
+          0.21244198083877563,
+          0.023522311821579933,
+          -0.9768905639648438,
+          42.92238998413086
+        ],
+        [
+          0.9767611026763916,
+          -0.03415893390774727,
+          0.21159136295318604,
+          22.5141544342041
+        ],
+        [
+          -0.02839241363108158,
+          -0.9991395473480225,
+          -0.030232470482587814,
+          -22.252155303955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3824,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_883080005",
+      "mask_path": "../../mask/hdr_front_03824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03825.png",
+      "transform_matrix": [
+        [
+          0.21132974326610565,
+          0.023519646376371384,
+          -0.9771318435668945,
+          42.99147033691406
+        ],
+        [
+          0.9771273136138916,
+          -0.029327260330319405,
+          0.2106228768825531,
+          22.506053924560547
+        ],
+        [
+          -0.023702822625637054,
+          -0.9992931485176086,
+          -0.029179412871599197,
+          -22.244422912597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3825,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_983079433",
+      "mask_path": "../../mask/hdr_front_03825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03826.png",
+      "transform_matrix": [
+        [
+          0.19930849969387054,
+          0.02163858339190483,
+          -0.9796978831291199,
+          43.04612731933594
+        ],
+        [
+          0.9796040654182434,
+          -0.03044968843460083,
+          0.1986168920993805,
+          22.51117515563965
+        ],
+        [
+          -0.025533704087138176,
+          -0.999302089214325,
+          -0.02726612612605095,
+          -22.25204849243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3826,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_83083152",
+      "mask_path": "../../mask/hdr_front_03826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03828.png",
+      "transform_matrix": [
+        [
+          0.15409259498119354,
+          0.014379708096385002,
+          -0.9879517555236816,
+          43.09879684448242
+        ],
+        [
+          0.9879231452941895,
+          -0.018662558868527412,
+          0.15381650626659393,
+          22.53413200378418
+        ],
+        [
+          -0.016225872561335564,
+          -0.9997224807739258,
+          -0.017081810161471367,
+          -22.262083053588867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3828,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_283081293",
+      "mask_path": "../../mask/hdr_front_03828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03830.png",
+      "transform_matrix": [
+        [
+          0.12353041023015976,
+          0.013763204216957092,
+          -0.9922453761100769,
+          43.1569709777832
+        ],
+        [
+          0.9922775030136108,
+          -0.013000141829252243,
+          0.12335410714149475,
+          22.545604705810547
+        ],
+        [
+          -0.011201582849025726,
+          -0.9998207688331604,
+          -0.01526283286511898,
+          -22.24954605102539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3830,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_483081579",
+      "mask_path": "../../mask/hdr_front_03830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03832.png",
+      "transform_matrix": [
+        [
+          0.12862420082092285,
+          0.016125280410051346,
+          -0.9915622472763062,
+          43.24516296386719
+        ],
+        [
+          0.9916926622390747,
+          -0.003302735509350896,
+          0.12858740985393524,
+          22.539506912231445
+        ],
+        [
+          -0.0012013587402179837,
+          -0.9998645186424255,
+          -0.016416136175394058,
+          -22.251745223999023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3832,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_683082342",
+      "mask_path": "../../mask/hdr_front_03832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03834.png",
+      "transform_matrix": [
+        [
+          0.12629027664661407,
+          0.0031411037780344486,
+          -0.9919884204864502,
+          43.34571838378906
+        ],
+        [
+          0.991855263710022,
+          -0.017081087455153465,
+          0.126219242811203,
+          22.53294563293457
+        ],
+        [
+          -0.01654777117073536,
+          -0.9998492002487183,
+          -0.005272695329040289,
+          -22.259044647216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3834,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_883083581",
+      "mask_path": "../../mask/hdr_front_03834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03836.png",
+      "transform_matrix": [
+        [
+          0.12332718819379807,
+          -0.006365265231579542,
+          -0.9923456311225891,
+          43.4476203918457
+        ],
+        [
+          0.9922323822975159,
+          -0.015620492398738861,
+          0.12341329455375671,
+          22.523555755615234
+        ],
+        [
+          -0.016286486759781837,
+          -0.9998577237129211,
+          0.00438939081504941,
+          -22.271413803100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3836,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_83081245",
+      "mask_path": "../../mask/hdr_front_03836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03837.png",
+      "transform_matrix": [
+        [
+          0.12817800045013428,
+          -0.008817356079816818,
+          -0.9917120337486267,
+          43.52035140991211
+        ],
+        [
+          0.9916219711303711,
+          -0.014998160302639008,
+          0.12829972803592682,
+          22.513355255126953
+        ],
+        [
+          -0.016005119308829308,
+          -0.9998486638069153,
+          0.006821050774306059,
+          -22.27030372619629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3837,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_183079481",
+      "mask_path": "../../mask/hdr_front_03837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03838.png",
+      "transform_matrix": [
+        [
+          0.13821819424629211,
+          -0.00848380196839571,
+          -0.9903655052185059,
+          43.57694625854492
+        ],
+        [
+          0.9901929497718811,
+          -0.019346434623003006,
+          0.13835985958576202,
+          22.500473022460938
+        ],
+        [
+          -0.020333856344223022,
+          -0.9997768998146057,
+          0.0057265725918114185,
+          -22.2669677734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3838,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_283081769",
+      "mask_path": "../../mask/hdr_front_03838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03839.png",
+      "transform_matrix": [
+        [
+          0.1518418788909912,
+          -0.007042825222015381,
+          -0.9883797764778137,
+          43.645843505859375
+        ],
+        [
+          0.9881266355514526,
+          -0.02263972908258438,
+          0.15196433663368225,
+          22.487934112548828
+        ],
+        [
+          -0.023446904495358467,
+          -0.9997189044952393,
+          0.0035215436946600676,
+          -22.280611038208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3839,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_383082151",
+      "mask_path": "../../mask/hdr_front_03839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03840.png",
+      "transform_matrix": [
+        [
+          0.161320760846138,
+          -0.004117244854569435,
+          -0.9868934750556946,
+          43.73841094970703
+        ],
+        [
+          0.9866677522659302,
+          -0.02111385203897953,
+          0.16137194633483887,
+          22.47080421447754
+        ],
+        [
+          -0.021501528099179268,
+          -0.9997686147689819,
+          0.000656250340398401,
+          -22.28367805480957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3840,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_483082294",
+      "mask_path": "../../mask/hdr_front_03840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03841.png",
+      "transform_matrix": [
+        [
+          0.16148978471755981,
+          -0.004589464981108904,
+          -0.9868637919425964,
+          43.82133102416992
+        ],
+        [
+          0.9865960478782654,
+          -0.02300068363547325,
+          0.16155293583869934,
+          22.457122802734375
+        ],
+        [
+          -0.023439979180693626,
+          -0.9997249245643616,
+          0.0008135723765008152,
+          -22.272544860839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3841,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_583081960",
+      "mask_path": "../../mask/hdr_front_03841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03842.png",
+      "transform_matrix": [
+        [
+          0.1582517772912979,
+          -0.005082476418465376,
+          -0.9873857498168945,
+          43.88835906982422
+        ],
+        [
+          0.9870055317878723,
+          -0.027406951412558556,
+          0.15833191573619843,
+          22.456409454345703
+        ],
+        [
+          -0.027865948155522346,
+          -0.999611496925354,
+          0.000679232703987509,
+          -22.274776458740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3842,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_683082818",
+      "mask_path": "../../mask/hdr_front_03842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03843.png",
+      "transform_matrix": [
+        [
+          0.15517577528953552,
+          -0.005401540081948042,
+          -0.9878721833229065,
+          43.97055435180664
+        ],
+        [
+          0.9876925349235535,
+          -0.01898760348558426,
+          0.1552513986825943,
+          22.44868278503418
+        ],
+        [
+          -0.01959591545164585,
+          -0.9998051524162292,
+          0.002388644963502884,
+          -22.28466033935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3843,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_783082962",
+      "mask_path": "../../mask/hdr_front_03843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03844.png",
+      "transform_matrix": [
+        [
+          0.15204371511936188,
+          -0.008361155167222023,
+          -0.9883384108543396,
+          44.06462097167969
+        ],
+        [
+          0.9882579445838928,
+          -0.014020930044353008,
+          0.1521499752998352,
+          22.42569351196289
+        ],
+        [
+          -0.015129572711884975,
+          -0.9998667240142822,
+          0.006131183356046677,
+          -22.28091812133789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3844,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_883081197",
+      "mask_path": "../../mask/hdr_front_03844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03845.png",
+      "transform_matrix": [
+        [
+          0.14698383212089539,
+          -0.009221742860972881,
+          -0.9890958666801453,
+          44.13074493408203
+        ],
+        [
+          0.9890052676200867,
+          -0.015070939436554909,
+          0.14711084961891174,
+          22.4116268157959
+        ],
+        [
+          -0.016263224184513092,
+          -0.999843955039978,
+          0.006905167363584042,
+          -22.280057907104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3845,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_983081102",
+      "mask_path": "../../mask/hdr_front_03845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03846.png",
+      "transform_matrix": [
+        [
+          0.13989098370075226,
+          -0.005470873322337866,
+          -0.9901518225669861,
+          44.18828201293945
+        ],
+        [
+          0.9900765419006348,
+          -0.012739195488393307,
+          0.13995075225830078,
+          22.400636672973633
+        ],
+        [
+          -0.01337938942015171,
+          -0.9999039173126221,
+          0.0036344840191304684,
+          -22.27935218811035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3846,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_83080291",
+      "mask_path": "../../mask/hdr_front_03846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03847.png",
+      "transform_matrix": [
+        [
+          0.12279052287340164,
+          -0.00780198909342289,
+          -0.9924019575119019,
+          44.26443099975586
+        ],
+        [
+          0.9923344850540161,
+          -0.013094421476125717,
+          0.12288512289524078,
+          22.399612426757812
+        ],
+        [
+          -0.0139536764472723,
+          -0.9998838305473328,
+          0.006134312599897385,
+          -22.278200149536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3847,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_183080673",
+      "mask_path": "../../mask/hdr_front_03847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03848.png",
+      "transform_matrix": [
+        [
+          0.0924392119050026,
+          -0.012479153461754322,
+          -0.9956401586532593,
+          44.34666442871094
+        ],
+        [
+          0.9954949617385864,
+          -0.020022571086883545,
+          0.09267669171094894,
+          22.411727905273438
+        ],
+        [
+          -0.021091800183057785,
+          -0.9997216463088989,
+          0.010572060942649841,
+          -22.272205352783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3848,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_283081293",
+      "mask_path": "../../mask/hdr_front_03848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03849.png",
+      "transform_matrix": [
+        [
+          0.05970427393913269,
+          -0.01399158127605915,
+          -0.9981181025505066,
+          44.413002014160156
+        ],
+        [
+          0.9979369640350342,
+          -0.022805487737059593,
+          0.06001314893364906,
+          22.426795959472656
+        ],
+        [
+          -0.02360224723815918,
+          -0.9996420741081238,
+          0.01260113064199686,
+          -22.27659797668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3849,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_383080959",
+      "mask_path": "../../mask/hdr_front_03849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03850.png",
+      "transform_matrix": [
+        [
+          0.030071398243308067,
+          -0.01558972243219614,
+          -0.9994262456893921,
+          44.47480773925781
+        ],
+        [
+          0.9993913769721985,
+          -0.017220543697476387,
+          0.030338963493704796,
+          22.44090461730957
+        ],
+        [
+          -0.017683636397123337,
+          -0.9997301697731018,
+          0.01506238803267479,
+          -22.29134750366211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3850,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_483081102",
+      "mask_path": "../../mask/hdr_front_03850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03851.png",
+      "transform_matrix": [
+        [
+          0.0072752260603010654,
+          -0.02162909135222435,
+          -0.9997395873069763,
+          44.54307174682617
+        ],
+        [
+          0.9999249577522278,
+          -0.009693929925560951,
+          0.0074863010086119175,
+          22.445844650268555
+        ],
+        [
+          -0.009853326715528965,
+          -0.9997190833091736,
+          0.021556943655014038,
+          -22.28396987915039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3851,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_583081483",
+      "mask_path": "../../mask/hdr_front_03851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03852.png",
+      "transform_matrix": [
+        [
+          -0.0035272655077278614,
+          -0.02329402044415474,
+          -0.9997224807739258,
+          44.60438919067383
+        ],
+        [
+          0.999978244304657,
+          -0.005649198777973652,
+          -0.0033965385518968105,
+          22.452394485473633
+        ],
+        [
+          -0.005568510852754116,
+          -0.9997127652168274,
+          0.023313436657190323,
+          -22.272335052490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3852,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_683081388",
+      "mask_path": "../../mask/hdr_front_03852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03853.png",
+      "transform_matrix": [
+        [
+          -0.00017455329361837357,
+          -0.018758274614810944,
+          -0.9998239874839783,
+          44.662742614746094
+        ],
+        [
+          0.9999999403953552,
+          0.0003595125162974,
+          -0.00018132876721210778,
+          22.45468521118164
+        ],
+        [
+          0.000362851977115497,
+          -0.999824047088623,
+          0.01875820942223072,
+          -22.275678634643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3853,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_783080339",
+      "mask_path": "../../mask/hdr_front_03853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03854.png",
+      "transform_matrix": [
+        [
+          0.010301352478563786,
+          -0.014408907853066921,
+          -0.9998431205749512,
+          44.72395324707031
+        ],
+        [
+          0.9999403953552246,
+          0.0037562688812613487,
+          0.010248224250972271,
+          22.4495792388916
+        ],
+        [
+          0.003608014667406678,
+          -0.9998891353607178,
+          0.014446742832660675,
+          -22.279155731201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3854,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_883079290",
+      "mask_path": "../../mask/hdr_front_03854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03855.png",
+      "transform_matrix": [
+        [
+          0.01347004808485508,
+          -0.018592527136206627,
+          -0.999736487865448,
+          44.80208206176758
+        ],
+        [
+          0.9998893141746521,
+          -0.0060644433833658695,
+          0.013584892265498638,
+          22.44965362548828
+        ],
+        [
+          -0.006315420847386122,
+          -0.9998087882995605,
+          0.018508782610297203,
+          -22.276762008666992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3855,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_983079910",
+      "mask_path": "../../mask/hdr_front_03855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03856.png",
+      "transform_matrix": [
+        [
+          0.011913052760064602,
+          -0.023703785613179207,
+          -0.9996480345726013,
+          44.87507629394531
+        ],
+        [
+          0.9997652173042297,
+          -0.017810435965657234,
+          0.012336773797869682,
+          22.459787368774414
+        ],
+        [
+          -0.018096596002578735,
+          -0.9995604157447815,
+          0.02348604053258896,
+          -22.290050506591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3856,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_83078861",
+      "mask_path": "../../mask/hdr_front_03856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03858.png",
+      "transform_matrix": [
+        [
+          0.01222539134323597,
+          -0.03057011216878891,
+          -0.9994578957557678,
+          45.00937271118164
+        ],
+        [
+          0.9996817111968994,
+          -0.021690290421247482,
+          0.012891563586890697,
+          22.47437858581543
+        ],
+        [
+          -0.022072626277804375,
+          -0.9992973208427429,
+          0.030295206233859062,
+          -22.307193756103516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3858,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_283081293",
+      "mask_path": "../../mask/hdr_front_03858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03859.png",
+      "transform_matrix": [
+        [
+          0.018803240731358528,
+          -0.0340726412832737,
+          -0.9992424845695496,
+          45.104576110839844
+        ],
+        [
+          0.9995847344398499,
+          -0.021183863282203674,
+          0.01953202113509178,
+          22.469135284423828
+        ],
+        [
+          -0.02183331735432148,
+          -0.999194860458374,
+          0.0336601696908474,
+          -22.30588150024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3859,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_383080959",
+      "mask_path": "../../mask/hdr_front_03859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03860.png",
+      "transform_matrix": [
+        [
+          0.029392806813120842,
+          -0.031412672251462936,
+          -0.9990742206573486,
+          45.18137741088867
+        ],
+        [
+          0.9993271827697754,
+          -0.02101152203977108,
+          0.030060887336730957,
+          22.459810256958008
+        ],
+        [
+          -0.021936364471912384,
+          -0.9992856979370117,
+          0.03077394887804985,
+          -22.29973602294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3860,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_483081817",
+      "mask_path": "../../mask/hdr_front_03860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03861.png",
+      "transform_matrix": [
+        [
+          0.04226827993988991,
+          -0.027161341160535812,
+          -0.998737096786499,
+          45.263545989990234
+        ],
+        [
+          0.9987993240356445,
+          -0.023630291223526,
+          0.04291355982422829,
+          22.45952796936035
+        ],
+        [
+          -0.02476603351533413,
+          -0.9993517994880676,
+          0.026129916310310364,
+          -22.310266494750977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3861,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_583082675",
+      "mask_path": "../../mask/hdr_front_03861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06597.png",
+      "transform_matrix": [
+        [
+          -0.23887310922145844,
+          -0.0011396977351978421,
+          0.9710502624511719,
+          44.72772216796875
+        ],
+        [
+          -0.9709888100624084,
+          -0.011014054529368877,
+          -0.23887094855308533,
+          22.39307975769043
+        ],
+        [
+          0.010967439971864223,
+          -0.9999387264251709,
+          0.0015243272064253688,
+          -22.295732498168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6597,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_183082342",
+      "mask_path": "../../mask/hdr_front_06597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06598.png",
+      "transform_matrix": [
+        [
+          -0.23917175829410553,
+          -0.006649133749306202,
+          0.9709544777870178,
+          44.63427734375
+        ],
+        [
+          -0.9709753394126892,
+          -0.00037097904714755714,
+          -0.23917943239212036,
+          22.402748107910156
+        ],
+        [
+          0.0019505411619320512,
+          -0.9999778866767883,
+          -0.006367416586726904,
+          -22.296672821044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6598,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_283085823",
+      "mask_path": "../../mask/hdr_front_06598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06599.png",
+      "transform_matrix": [
+        [
+          -0.23710142076015472,
+          -0.009689302183687687,
+          0.971436619758606,
+          44.5740852355957
+        ],
+        [
+          -0.9714539051055908,
+          0.010359511710703373,
+          -0.23700232803821564,
+          22.404373168945312
+        ],
+        [
+          -0.007767222356051207,
+          -0.9998993873596191,
+          -0.01186896488070488,
+          -22.302043914794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6599,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_383082389",
+      "mask_path": "../../mask/hdr_front_06599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06600.png",
+      "transform_matrix": [
+        [
+          -0.2376287579536438,
+          -0.012053524143993855,
+          0.9712812304496765,
+          44.5130729675293
+        ],
+        [
+          -0.9712626338005066,
+          0.01681077852845192,
+          -0.237415611743927,
+          22.411733627319336
+        ],
+        [
+          -0.013466297648847103,
+          -0.9997860193252563,
+          -0.015701862052083015,
+          -22.304719924926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6600,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_483080148",
+      "mask_path": "../../mask/hdr_front_06600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06601.png",
+      "transform_matrix": [
+        [
+          -0.24262860417366028,
+          -0.005657268222421408,
+          0.9701027274131775,
+          44.44588088989258
+        ],
+        [
+          -0.9701046943664551,
+          0.006894548889249563,
+          -0.24258889257907867,
+          22.42056655883789
+        ],
+        [
+          -0.00531602930277586,
+          -0.9999603033065796,
+          -0.007160957902669907,
+          -22.309175491333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6601,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_583079814",
+      "mask_path": "../../mask/hdr_front_06601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06602.png",
+      "transform_matrix": [
+        [
+          -0.25251007080078125,
+          -0.0005330776330083609,
+          0.9675940871238708,
+          44.37517547607422
+        ],
+        [
+          -0.9675893187522888,
+          0.003324018558487296,
+          -0.2525070309638977,
+          22.4360408782959
+        ],
+        [
+          -0.003081692848354578,
+          -0.9999944567680359,
+          -0.0013551483862102032,
+          -22.29857635498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6602,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_683082342",
+      "mask_path": "../../mask/hdr_front_06602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06603.png",
+      "transform_matrix": [
+        [
+          -0.2604263424873352,
+          -0.000659436802379787,
+          0.9654935002326965,
+          44.30939865112305
+        ],
+        [
+          -0.965467631816864,
+          0.007519987877458334,
+          -0.2604142129421234,
+          22.452802658081055
+        ],
+        [
+          -0.007088771555572748,
+          -0.9999715089797974,
+          -0.002595067722722888,
+          -22.2911376953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6603,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_783082008",
+      "mask_path": "../../mask/hdr_front_06603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06604.png",
+      "transform_matrix": [
+        [
+          -0.26819512248039246,
+          -0.00512482225894928,
+          0.9633510112762451,
+          44.24774932861328
+        ],
+        [
+          -0.9633623361587524,
+          0.0035868948325514793,
+          -0.26817914843559265,
+          22.4659366607666
+        ],
+        [
+          -0.002081066370010376,
+          -0.9999804496765137,
+          -0.0058990479446947575,
+          -22.291893005371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6604,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_883080959",
+      "mask_path": "../../mask/hdr_front_06604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06605.png",
+      "transform_matrix": [
+        [
+          -0.27186834812164307,
+          -0.013016468845307827,
+          0.9622464776039124,
+          44.154541015625
+        ],
+        [
+          -0.9623340368270874,
+          0.004565901588648558,
+          -0.27183133363723755,
+          22.480920791625977
+        ],
+        [
+          -0.0008552375948056579,
+          -0.9999049305915833,
+          -0.013767515309154987,
+          -22.287546157836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6605,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_983080863",
+      "mask_path": "../../mask/hdr_front_06605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06606.png",
+      "transform_matrix": [
+        [
+          -0.26658517122268677,
+          -0.01657644659280777,
+          0.9636688828468323,
+          44.0621452331543
+        ],
+        [
+          -0.9637585878372192,
+          0.015045452862977982,
+          -0.2663511633872986,
+          22.498674392700195
+        ],
+        [
+          -0.010083676315844059,
+          -0.999749481678009,
+          -0.019986586645245552,
+          -22.289928436279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6606,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_83078145",
+      "mask_path": "../../mask/hdr_front_06606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06607.png",
+      "transform_matrix": [
+        [
+          -0.25706854462623596,
+          -0.016198011115193367,
+          0.9662574529647827,
+          44.00525665283203
+        ],
+        [
+          -0.966231644153595,
+          0.0225883349776268,
+          -0.25668299198150635,
+          22.50687599182129
+        ],
+        [
+          -0.01766839064657688,
+          -0.9996135830879211,
+          -0.02145778015255928,
+          -22.29270362854004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6607,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_183081150",
+      "mask_path": "../../mask/hdr_front_06607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06608.png",
+      "transform_matrix": [
+        [
+          -0.2444314956665039,
+          -0.016253134235739708,
+          0.9695303440093994,
+          43.9431266784668
+        ],
+        [
+          -0.9695166349411011,
+          0.021677227690815926,
+          -0.24406470358371735,
+          22.518348693847656
+        ],
+        [
+          -0.017049914225935936,
+          -0.9996329545974731,
+          -0.0210562814027071,
+          -22.296545028686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6608,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_283081293",
+      "mask_path": "../../mask/hdr_front_06608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06609.png",
+      "transform_matrix": [
+        [
+          -0.23434224724769592,
+          -0.008792021311819553,
+          0.9721143841743469,
+          43.87473678588867
+        ],
+        [
+          -0.9720787405967712,
+          0.014568093232810497,
+          -0.23420192301273346,
+          22.52569580078125
+        ],
+        [
+          -0.012102743610739708,
+          -0.9998553395271301,
+          -0.011960456147789955,
+          -22.293739318847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6609,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_383080959",
+      "mask_path": "../../mask/hdr_front_06609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06610.png",
+      "transform_matrix": [
+        [
+          -0.22805693745613098,
+          -0.0033156839199364185,
+          0.9736422300338745,
+          43.81982421875
+        ],
+        [
+          -0.9736126661300659,
+          0.009272582828998566,
+          -0.22801844775676727,
+          22.529312133789062
+        ],
+        [
+          -0.008272142149508,
+          -0.9999514818191528,
+          -0.005342869088053703,
+          -22.28143310546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6610,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_483079671",
+      "mask_path": "../../mask/hdr_front_06610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06611.png",
+      "transform_matrix": [
+        [
+          -0.22348423302173615,
+          -0.006085773464292288,
+          0.9746885895729065,
+          43.76752471923828
+        ],
+        [
+          -0.9747059941291809,
+          0.0031628122087568045,
+          -0.22346851229667664,
+          22.5361328125
+        ],
+        [
+          -0.0017227769130840898,
+          -0.9999765157699585,
+          -0.006638678722083569,
+          -22.27741813659668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6611,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_583081007",
+      "mask_path": "../../mask/hdr_front_06611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06612.png",
+      "transform_matrix": [
+        [
+          -0.22086650133132935,
+          -0.010180403478443623,
+          0.9752508997917175,
+          43.71342086791992
+        ],
+        [
+          -0.9752776622772217,
+          -0.005059598945081234,
+          -0.22092536091804504,
+          22.542282104492188
+        ],
+        [
+          0.00718348752707243,
+          -0.9999353885650635,
+          -0.00881122425198555,
+          -22.279634475708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6612,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_683081865",
+      "mask_path": "../../mask/hdr_front_06612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06613.png",
+      "transform_matrix": [
+        [
+          -0.21733994781970978,
+          -0.010863928124308586,
+          0.9760355353355408,
+          43.65111541748047
+        ],
+        [
+          -0.9760822653770447,
+          -0.0028582941740751266,
+          -0.21738222241401672,
+          22.54537582397461
+        ],
+        [
+          0.0051514217630028725,
+          -0.9999369382858276,
+          -0.009982866235077381,
+          -22.27390480041504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6613,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_783079385",
+      "mask_path": "../../mask/hdr_front_06613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06615.png",
+      "transform_matrix": [
+        [
+          -0.2117975503206253,
+          -0.012321624904870987,
+          0.9772359132766724,
+          43.55961227416992
+        ],
+        [
+          -0.9772817492485046,
+          0.010731001384556293,
+          -0.21167220175266266,
+          22.5614013671875
+        ],
+        [
+          -0.00787857361137867,
+          -0.9998664855957031,
+          -0.0143145015463233,
+          -22.28849220275879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6615,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_983080148",
+      "mask_path": "../../mask/hdr_front_06615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06617.png",
+      "transform_matrix": [
+        [
+          -0.21735824644565582,
+          -0.0035648257471621037,
+          0.9760853052139282,
+          43.46705627441406
+        ],
+        [
+          -0.9760647416114807,
+          0.008245748467743397,
+          -0.21732357144355774,
+          22.566007614135742
+        ],
+        [
+          -0.007273832801729441,
+          -0.9999597072601318,
+          -0.0052717821672558784,
+          -22.28371810913086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6617,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_183079004",
+      "mask_path": "../../mask/hdr_front_06617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06618.png",
+      "transform_matrix": [
+        [
+          -0.22735796868801117,
+          -0.0032811416313052177,
+          0.9738057851791382,
+          43.415252685546875
+        ],
+        [
+          -0.9738056659698486,
+          0.004142210818827152,
+          -0.22734400629997253,
+          22.57282257080078
+        ],
+        [
+          -0.0032877589110285044,
+          -0.9999861121177673,
+          -0.004136959556490183,
+          -22.267681121826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6618,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_283082246",
+      "mask_path": "../../mask/hdr_front_06618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06620.png",
+      "transform_matrix": [
+        [
+          -0.2458149641752243,
+          -0.011157150380313396,
+          0.9692525267601013,
+          43.33103561401367
+        ],
+        [
+          -0.969265341758728,
+          -0.00747758150100708,
+          -0.24590428173542023,
+          22.609718322753906
+        ],
+        [
+          0.009991257451474667,
+          -0.9999098181724548,
+          -0.008976138196885586,
+          -22.2702579498291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6620,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_483080863",
+      "mask_path": "../../mask/hdr_front_06620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06621.png",
+      "transform_matrix": [
+        [
+          -0.2441704273223877,
+          -0.007466333918273449,
+          0.9697035551071167,
+          43.27162551879883
+        ],
+        [
+          -0.9696991443634033,
+          -0.006397185381501913,
+          -0.24421855807304382,
+          22.62128257751465
+        ],
+        [
+          0.008026791736483574,
+          -0.9999517202377319,
+          -0.005678094457834959,
+          -22.261707305908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6621,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_583081245",
+      "mask_path": "../../mask/hdr_front_06621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06623.png",
+      "transform_matrix": [
+        [
+          -0.21970148384571075,
+          -0.003625698620453477,
+          0.9755604267120361,
+          43.19194793701172
+        ],
+        [
+          -0.9755668640136719,
+          0.0015723740216344595,
+          -0.21969707310199738,
+          22.62237548828125
+        ],
+        [
+          -0.0007373893167823553,
+          -0.9999921917915344,
+          -0.0038825643714517355,
+          -22.269502639770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6623,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_783080339",
+      "mask_path": "../../mask/hdr_front_06623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06625.png",
+      "transform_matrix": [
+        [
+          -0.18077528476715088,
+          0.0030415342189371586,
+          0.9835197925567627,
+          43.09526824951172
+        ],
+        [
+          -0.98350590467453,
+          -0.0066934977658092976,
+          -0.18075203895568848,
+          22.61286735534668
+        ],
+        [
+          0.0060334233567118645,
+          -0.9999729990959167,
+          0.0042013865895569324,
+          -22.26912498474121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6625,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_983081340",
+      "mask_path": "../../mask/hdr_front_06625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06626.png",
+      "transform_matrix": [
+        [
+          -0.16780701279640198,
+          0.0021747928112745285,
+          0.985817551612854,
+          43.03677749633789
+        ],
+        [
+          -0.9857176542282104,
+          -0.014767728745937347,
+          -0.16775743663311005,
+          22.617422103881836
+        ],
+        [
+          0.01419344637542963,
+          -0.9998885989189148,
+          0.004621860105544329,
+          -22.265356063842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6626,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_83082675",
+      "mask_path": "../../mask/hdr_front_06626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06627.png",
+      "transform_matrix": [
+        [
+          -0.1600445955991745,
+          -0.0027894109953194857,
+          0.9871059060096741,
+          42.97706985473633
+        ],
+        [
+          -0.9868404865264893,
+          -0.022903256118297577,
+          -0.16006633639335632,
+          22.624101638793945
+        ],
+        [
+          0.02305442839860916,
+          -0.9997338056564331,
+          0.0009128387901000679,
+          -22.27749252319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6627,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_183079004",
+      "mask_path": "../../mask/hdr_front_06627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06628.png",
+      "transform_matrix": [
+        [
+          -0.15792754292488098,
+          0.00019569539290387183,
+          0.9874506592750549,
+          42.91145324707031
+        ],
+        [
+          -0.9872324466705322,
+          -0.02105444297194481,
+          -0.1578884869813919,
+          22.623632431030273
+        ],
+        [
+          0.020759323611855507,
+          -0.9997783899307251,
+          0.003518273588269949,
+          -22.27605628967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6628,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_283082008",
+      "mask_path": "../../mask/hdr_front_06628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06629.png",
+      "transform_matrix": [
+        [
+          -0.15511052310466766,
+          0.004378574900329113,
+          0.9878875017166138,
+          42.85192108154297
+        ],
+        [
+          -0.9878200888633728,
+          -0.013177136890590191,
+          -0.15504156053066254,
+          22.62200164794922
+        ],
+        [
+          0.01233866810798645,
+          -0.9999036192893982,
+          0.006369156762957573,
+          -22.275463104248047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6629,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_383082389",
+      "mask_path": "../../mask/hdr_front_06629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06631.png",
+      "transform_matrix": [
+        [
+          -0.1498185396194458,
+          0.002627795562148094,
+          0.9887099862098694,
+          42.74502944946289
+        ],
+        [
+          -0.9887096285820007,
+          -0.0031834726687520742,
+          -0.1498100459575653,
+          22.603635787963867
+        ],
+        [
+          0.0027538612484931946,
+          -0.9999914765357971,
+          0.0030750699806958437,
+          -22.291770935058594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6631,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_583083152",
+      "mask_path": "../../mask/hdr_front_06631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06632.png",
+      "transform_matrix": [
+        [
+          -0.1535281240940094,
+          0.008674265816807747,
+          0.9881062507629395,
+          42.67988586425781
+        ],
+        [
+          -0.988143801689148,
+          -0.00040208364953286946,
+          -0.15353041887283325,
+          22.587541580200195
+        ],
+        [
+          -0.0009344626450911164,
+          -0.999962329864502,
+          0.008633153513073921,
+          -22.29144287109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6632,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_683081865",
+      "mask_path": "../../mask/hdr_front_06632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06633.png",
+      "transform_matrix": [
+        [
+          -0.160925954580307,
+          0.013929473236203194,
+          0.986868143081665,
+          42.60361862182617
+        ],
+        [
+          -0.9869651794433594,
+          -0.0006994678406044841,
+          -0.16093191504478455,
+          22.582204818725586
+        ],
+        [
+          -0.0015514135593548417,
+          -0.9999027848243713,
+          0.013860468752682209,
+          -22.28174591064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6633,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_783081054",
+      "mask_path": "../../mask/hdr_front_06633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06634.png",
+      "transform_matrix": [
+        [
+          -0.17035174369812012,
+          0.014850788749754429,
+          0.9852713942527771,
+          42.52286911010742
+        ],
+        [
+          -0.9853818416595459,
+          -0.004290596581995487,
+          -0.17030617594718933,
+          22.592283248901367
+        ],
+        [
+          0.0016982222441583872,
+          -0.9998804926872253,
+          0.015364606864750385,
+          -22.28261375427246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6634,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_883082389",
+      "mask_path": "../../mask/hdr_front_06634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06635.png",
+      "transform_matrix": [
+        [
+          -0.17637082934379578,
+          0.011728310026228428,
+          0.9842539429664612,
+          42.4107780456543
+        ],
+        [
+          -0.9843199849128723,
+          -0.004878918174654245,
+          -0.1763245314359665,
+          22.601816177368164
+        ],
+        [
+          0.002734106034040451,
+          -0.9999192953109741,
+          0.01240490935742855,
+          -22.291501998901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6635,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_983081817",
+      "mask_path": "../../mask/hdr_front_06635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06636.png",
+      "transform_matrix": [
+        [
+          -0.17317664623260498,
+          0.012871677055954933,
+          0.9848065972328186,
+          42.301307678222656
+        ],
+        [
+          -0.9848827719688416,
+          0.0017776685999706388,
+          -0.17321327328681946,
+          22.608531951904297
+        ],
+        [
+          -0.003980203531682491,
+          -0.9999155402183533,
+          0.012369243428111076,
+          -22.29513168334961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6636,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_83080768",
+      "mask_path": "../../mask/hdr_front_06636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06637.png",
+      "transform_matrix": [
+        [
+          -0.16602787375450134,
+          0.014993339776992798,
+          0.9860070943832397,
+          42.23393249511719
+        ],
+        [
+          -0.9860615730285645,
+          0.008455600589513779,
+          -0.16616562008857727,
+          22.613309860229492
+        ],
+        [
+          -0.010828658007085323,
+          -0.9998518228530884,
+          0.013380490243434906,
+          -22.305288314819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6637,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_183082342",
+      "mask_path": "../../mask/hdr_front_06637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06638.png",
+      "transform_matrix": [
+        [
+          -0.1605929732322693,
+          0.012204653583467007,
+          0.9869452714920044,
+          42.16127395629883
+        ],
+        [
+          -0.9869481921195984,
+          0.01013676356524229,
+          -0.16071881353855133,
+          22.6240291595459
+        ],
+        [
+          -0.011965949088335037,
+          -0.9998741745948792,
+          0.010417467914521694,
+          -22.32318115234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6638,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_283082246",
+      "mask_path": "../../mask/hdr_front_06638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06639.png",
+      "transform_matrix": [
+        [
+          -0.16577455401420593,
+          0.022772014141082764,
+          0.9859007596969604,
+          42.06789779663086
+        ],
+        [
+          -0.9861093759536743,
+          0.00666348310187459,
+          -0.1659635603427887,
+          22.650123596191406
+        ],
+        [
+          -0.010348856449127197,
+          -0.9997185468673706,
+          0.021351059898734093,
+          -22.3232421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6639,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_383080244",
+      "mask_path": "../../mask/hdr_front_06639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06640.png",
+      "transform_matrix": [
+        [
+          -0.1757221668958664,
+          0.034338194876909256,
+          0.9838407635688782,
+          41.99529266357422
+        ],
+        [
+          -0.984379231929779,
+          0.0049595097079873085,
+          -0.17599143087863922,
+          22.665037155151367
+        ],
+        [
+          -0.01092259306460619,
+          -0.9993980526924133,
+          0.03293030709028244,
+          -22.312416076660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6640,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_483082532",
+      "mask_path": "../../mask/hdr_front_06640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06641.png",
+      "transform_matrix": [
+        [
+          -0.18317273259162903,
+          0.03235749900341034,
+          0.9825481176376343,
+          41.94398498535156
+        ],
+        [
+          -0.9830625653266907,
+          4.722964149550535e-05,
+          -0.18327021598815918,
+          22.67141342163086
+        ],
+        [
+          -0.005976568907499313,
+          -0.9994763731956482,
+          0.03180079534649849,
+          -22.307701110839844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6641,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_583081960",
+      "mask_path": "../../mask/hdr_front_06641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06642.png",
+      "transform_matrix": [
+        [
+          -0.19184714555740356,
+          0.025914153084158897,
+          0.9810826778411865,
+          41.86835479736328
+        ],
+        [
+          -0.9814215302467346,
+          -0.00761911878362298,
+          -0.19171220064163208,
+          22.67912483215332
+        ],
+        [
+          0.002506926190108061,
+          -0.9996351599693298,
+          0.02689441479742527,
+          -22.305644989013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6642,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_683082580",
+      "mask_path": "../../mask/hdr_front_06642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06643.png",
+      "transform_matrix": [
+        [
+          -0.19464880228042603,
+          0.0235048308968544,
+          0.9805912971496582,
+          41.76250457763672
+        ],
+        [
+          -0.9808698892593384,
+          -0.00720025273039937,
+          -0.19453151524066925,
+          22.693073272705078
+        ],
+        [
+          0.0024880759883672,
+          -0.999697744846344,
+          0.024456700310111046,
+          -22.30469512939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6643,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_783082246",
+      "mask_path": "../../mask/hdr_front_06643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06644.png",
+      "transform_matrix": [
+        [
+          -0.19039565324783325,
+          0.029537374153733253,
+          0.9812630414962769,
+          41.70292663574219
+        ],
+        [
+          -0.9817022085189819,
+          -0.008989312686026096,
+          -0.1902102679014206,
+          22.707345962524414
+        ],
+        [
+          0.003202567109838128,
+          -0.9995232820510864,
+          0.03070843406021595,
+          -22.322402954101562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6644,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_883082151",
+      "mask_path": "../../mask/hdr_front_06644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06645.png",
+      "transform_matrix": [
+        [
+          -0.18672259151935577,
+          0.02875734120607376,
+          0.9819917678833008,
+          41.64913558959961
+        ],
+        [
+          -0.9823535680770874,
+          -0.016422629356384277,
+          -0.18631049990653992,
+          22.711088180541992
+        ],
+        [
+          0.010769089683890343,
+          -0.9994515180587769,
+          0.03131634742021561,
+          -22.337919235229492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6645,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_983081817",
+      "mask_path": "../../mask/hdr_front_06645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06646.png",
+      "transform_matrix": [
+        [
+          -0.18561993539333344,
+          0.024454662576317787,
+          0.982317328453064,
+          41.570106506347656
+        ],
+        [
+          -0.9824841022491455,
+          -0.021345099434256554,
+          -0.18512003123760223,
+          22.715354919433594
+        ],
+        [
+          0.01644061505794525,
+          -0.9994730353355408,
+          0.027988392859697342,
+          -22.33888816833496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6646,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_83081483",
+      "mask_path": "../../mask/hdr_front_06646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06647.png",
+      "transform_matrix": [
+        [
+          -0.19215397536754608,
+          0.02634819783270359,
+          0.9810110926628113,
+          41.49417495727539
+        ],
+        [
+          -0.981228232383728,
+          -0.02183285541832447,
+          -0.19161014258861542,
+          22.727336883544922
+        ],
+        [
+          0.016369691118597984,
+          -0.9994143843650818,
+          0.03004886768758297,
+          -22.32316017150879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6647,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_183080911",
+      "mask_path": "../../mask/hdr_front_06647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06648.png",
+      "transform_matrix": [
+        [
+          -0.2020256370306015,
+          0.02556794509291649,
+          0.9790464043617249,
+          41.436824798583984
+        ],
+        [
+          -0.9792381525039673,
+          -0.0222981758415699,
+          -0.2014828771352768,
+          22.741008758544922
+        ],
+        [
+          0.016679447144269943,
+          -0.9994244575500488,
+          0.02954190969467163,
+          -22.31482696533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6648,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_283081769",
+      "mask_path": "../../mask/hdr_front_06648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06649.png",
+      "transform_matrix": [
+        [
+          -0.21186630427837372,
+          0.02010573446750641,
+          0.9770918488502502,
+          41.381168365478516
+        ],
+        [
+          -0.9770850539207458,
+          -0.025260796770453453,
+          -0.21134503185749054,
+          22.747661590576172
+        ],
+        [
+          0.020432867109775543,
+          -0.9994786977767944,
+          0.02499692142009735,
+          -22.308137893676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6649,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_383081912",
+      "mask_path": "../../mask/hdr_front_06649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06650.png",
+      "transform_matrix": [
+        [
+          -0.22012639045715332,
+          0.01661795936524868,
+          0.9753298163414001,
+          41.295021057128906
+        ],
+        [
+          -0.9752776622772217,
+          -0.023677505552768707,
+          -0.21971116960048676,
+          22.766172409057617
+        ],
+        [
+          0.019442224875092506,
+          -0.9995815753936768,
+          0.021419169381260872,
+          -22.30699348449707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6650,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_483080863",
+      "mask_path": "../../mask/hdr_front_06650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06651.png",
+      "transform_matrix": [
+        [
+          -0.21946066617965698,
+          0.019428927451372147,
+          0.9754279851913452,
+          41.22043991088867
+        ],
+        [
+          -0.9755761623382568,
+          -0.013994491659104824,
+          -0.2192152887582779,
+          22.783660888671875
+        ],
+        [
+          0.009391500614583492,
+          -0.9997133016586304,
+          0.022025635465979576,
+          -22.31511116027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6651,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_583081722",
+      "mask_path": "../../mask/hdr_front_06651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06652.png",
+      "transform_matrix": [
+        [
+          -0.21559783816337585,
+          0.02158457599580288,
+          0.9762436151504517,
+          41.16613006591797
+        ],
+        [
+          -0.9764792323112488,
+          -0.0072505590505898,
+          -0.21548958122730255,
+          22.793136596679688
+        ],
+        [
+          0.002427060855552554,
+          -0.9997407793998718,
+          0.02264009416103363,
+          -22.322956085205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6652,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_683082103",
+      "mask_path": "../../mask/hdr_front_06652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06653.png",
+      "transform_matrix": [
+        [
+          -0.21370355784893036,
+          0.02230587974190712,
+          0.9766438603401184,
+          41.09713363647461
+        ],
+        [
+          -0.9768955707550049,
+          -0.007328920532017946,
+          -0.21359127759933472,
+          22.798786163330078
+        ],
+        [
+          0.0023934051860123873,
+          -0.9997243285179138,
+          0.023356733843684196,
+          -22.32044219970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6653,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_783082008",
+      "mask_path": "../../mask/hdr_front_06653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06654.png",
+      "transform_matrix": [
+        [
+          -0.21607188880443573,
+          0.028602387756109238,
+          0.9759584665298462,
+          41.01704788208008
+        ],
+        [
+          -0.9763196706771851,
+          -0.017196763306856155,
+          -0.215647891163826,
+          22.8082332611084
+        ],
+        [
+          0.010615278035402298,
+          -0.9994429349899292,
+          0.03164081647992134,
+          -22.3271541595459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6654,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_883081436",
+      "mask_path": "../../mask/hdr_front_06654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06655.png",
+      "transform_matrix": [
+        [
+          -0.2273084670305252,
+          0.034465640783309937,
+          0.9732127785682678,
+          40.94990539550781
+        ],
+        [
+          -0.9737290143966675,
+          -0.02191036194562912,
+          -0.22665314376354218,
+          22.83268165588379
+        ],
+        [
+          0.013511698693037033,
+          -0.9991656541824341,
+          0.03854060173034668,
+          -22.327613830566406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6655,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_983081817",
+      "mask_path": "../../mask/hdr_front_06655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06656.png",
+      "transform_matrix": [
+        [
+          -0.24076306819915771,
+          0.033484626561403275,
+          0.9700061678886414,
+          40.90071105957031
+        ],
+        [
+          -0.9704535603523254,
+          -0.024684974923729897,
+          -0.2400219887495041,
+          22.856422424316406
+        ],
+        [
+          0.01590752974152565,
+          -0.999134361743927,
+          0.03843850642442703,
+          -22.325416564941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6656,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_83082675",
+      "mask_path": "../../mask/hdr_front_06656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06658.png",
+      "transform_matrix": [
+        [
+          -0.26776644587516785,
+          0.03265516459941864,
+          0.9629303216934204,
+          40.79290771484375
+        ],
+        [
+          -0.963339626789093,
+          -0.026364272460341454,
+          -0.2669861912727356,
+          22.883642196655273
+        ],
+        [
+          0.016668476164340973,
+          -0.9991189241409302,
+          0.038517486304044724,
+          -22.321027755737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6658,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_283081531",
+      "mask_path": "../../mask/hdr_front_06658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06659.png",
+      "transform_matrix": [
+        [
+          -0.26908063888549805,
+          0.03641647472977638,
+          0.9624289870262146,
+          40.72202682495117
+        ],
+        [
+          -0.9630844593048096,
+          -0.01846497505903244,
+          -0.26856526732444763,
+          22.905990600585938
+        ],
+        [
+          0.007991026155650616,
+          -0.9991661310195923,
+          0.04004070535302162,
+          -22.339038848876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6659,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_383081912",
+      "mask_path": "../../mask/hdr_front_06659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06660.png",
+      "transform_matrix": [
+        [
+          -0.26890724897384644,
+          0.036767203360795975,
+          0.9624641537666321,
+          40.65982437133789
+        ],
+        [
+          -0.9631657004356384,
+          -0.011113299056887627,
+          -0.26867878437042236,
+          22.917997360229492
+        ],
+        [
+          0.0008175845723599195,
+          -0.9992620348930359,
+          0.03840135782957077,
+          -22.34573745727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6660,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_483082056",
+      "mask_path": "../../mask/hdr_front_06660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06662.png",
+      "transform_matrix": [
+        [
+          -0.27504828572273254,
+          0.04223064333200455,
+          0.9605025053024292,
+          40.54839324951172
+        ],
+        [
+          -0.9614282250404358,
+          -0.009930753149092197,
+          -0.2748767137527466,
+          22.94041633605957
+        ],
+        [
+          -0.002069707028567791,
+          -0.9990586042404175,
+          0.04333316907286644,
+          -22.351587295532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6662,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_683082342",
+      "mask_path": "../../mask/hdr_front_06662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06663.png",
+      "transform_matrix": [
+        [
+          -0.2833869755268097,
+          0.04515272378921509,
+          0.9579421281814575,
+          40.475284576416016
+        ],
+        [
+          -0.9589774012565613,
+          -0.005680660717189312,
+          -0.2834254801273346,
+          22.97344398498535
+        ],
+        [
+          -0.007355687208473682,
+          -0.9989640116691589,
+          0.04491027072072029,
+          -22.354171752929688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6663,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_783082008",
+      "mask_path": "../../mask/hdr_front_06663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06664.png",
+      "transform_matrix": [
+        [
+          -0.2932932376861572,
+          0.04119236022233963,
+          0.9551347494125366,
+          40.409210205078125
+        ],
+        [
+          -0.9560188055038452,
+          -0.009845791384577751,
+          -0.29314008355140686,
+          23.003829956054688
+        ],
+        [
+          -0.002671075752004981,
+          -0.9991027116775513,
+          0.04226837679743767,
+          -22.359695434570312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6664,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_883082389",
+      "mask_path": "../../mask/hdr_front_06664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06665.png",
+      "transform_matrix": [
+        [
+          -0.3049759268760681,
+          0.033596258610486984,
+          0.9517672657966614,
+          40.331058502197266
+        ],
+        [
+          -0.9523518085479736,
+          -0.014897065237164497,
+          -0.30463746190071106,
+          23.026399612426758
+        ],
+        [
+          0.003943862859159708,
+          -0.9993245005607605,
+          0.036538708955049515,
+          -22.359268188476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6665,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_983084917",
+      "mask_path": "../../mask/hdr_front_06665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06666.png",
+      "transform_matrix": [
+        [
+          -0.30820247530937195,
+          0.03645734488964081,
+          0.9506219625473022,
+          40.251216888427734
+        ],
+        [
+          -0.9513207674026489,
+          -0.011926206760108471,
+          -0.30797168612480164,
+          23.052316665649414
+        ],
+        [
+          0.00010948475392069668,
+          -0.9992640614509583,
+          0.03835831582546234,
+          -22.368989944458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6666,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_83081960",
+      "mask_path": "../../mask/hdr_front_06666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06669.png",
+      "transform_matrix": [
+        [
+          -0.3056255877017975,
+          0.042059604078531265,
+          0.9512224793434143,
+          40.091670989990234
+        ],
+        [
+          -0.9521517157554626,
+          -0.012984714470803738,
+          -0.3053499758243561,
+          23.088054656982422
+        ],
+        [
+          -0.000491549086291343,
+          -0.9990307688713074,
+          0.04401557892560959,
+          -22.377517700195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6669,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_383082151",
+      "mask_path": "../../mask/hdr_front_06669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06670.png",
+      "transform_matrix": [
+        [
+          -0.30852219462394714,
+          0.052950773388147354,
+          0.9497421979904175,
+          40.03902816772461
+        ],
+        [
+          -0.9512171745300293,
+          -0.016709331423044205,
+          -0.30806973576545715,
+          23.112567901611328
+        ],
+        [
+          -0.0004429698165040463,
+          -0.9984573721885681,
+          0.05552287772297859,
+          -22.387025833129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6670,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_483081817",
+      "mask_path": "../../mask/hdr_front_06670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06672.png",
+      "transform_matrix": [
+        [
+          -0.3103850781917572,
+          0.05796172842383385,
+          0.9488422870635986,
+          39.95214080810547
+        ],
+        [
+          -0.950609028339386,
+          -0.02091962844133377,
+          -0.3096851408481598,
+          23.137554168701172
+        ],
+        [
+          0.0018995432183146477,
+          -0.9980996251106262,
+          0.06159207969903946,
+          -22.38528823852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6672,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_683082580",
+      "mask_path": "../../mask/hdr_front_06672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06674.png",
+      "transform_matrix": [
+        [
+          -0.29955050349235535,
+          0.05023101717233658,
+          0.9527572989463806,
+          39.82887268066406
+        ],
+        [
+          -0.9540115594863892,
+          -0.02776695229113102,
+          -0.29848095774650574,
+          23.164100646972656
+        ],
+        [
+          0.01146216131746769,
+          -0.9983516335487366,
+          0.0562385730445385,
+          -22.38825225830078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6674,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_883082389",
+      "mask_path": "../../mask/hdr_front_06674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06675.png",
+      "transform_matrix": [
+        [
+          -0.28089481592178345,
+          0.04548153281211853,
+          0.9586603045463562,
+          39.7552604675293
+        ],
+        [
+          -0.9597174525260925,
+          -0.019930895417928696,
+          -0.28025904297828674,
+          23.174427032470703
+        ],
+        [
+          0.006360347382724285,
+          -0.9987663626670837,
+          0.04924790561199188,
+          -22.3897762298584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6675,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_983081817",
+      "mask_path": "../../mask/hdr_front_06675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06676.png",
+      "transform_matrix": [
+        [
+          -0.2626122534275055,
+          0.04165182635188103,
+          0.9640020728111267,
+          39.696739196777344
+        ],
+        [
+          -0.9648804068565369,
+          -0.01793232001364231,
+          -0.262076735496521,
+          23.1751708984375
+        ],
+        [
+          0.006370818708091974,
+          -0.9989712834358215,
+          0.04489827901124954,
+          -22.39385986328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6676,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_83082437",
+      "mask_path": "../../mask/hdr_front_06676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06677.png",
+      "transform_matrix": [
+        [
+          -0.24809294939041138,
+          0.03965834900736809,
+          0.9679241180419922,
+          39.61786651611328
+        ],
+        [
+          -0.9686614871025085,
+          -0.022569788619875908,
+          -0.24735723435878754,
+          23.18924903869629
+        ],
+        [
+          0.012036063708364964,
+          -0.9989583492279053,
+          0.04401492327451706,
+          -22.400985717773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6677,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_183080196",
+      "mask_path": "../../mask/hdr_front_06677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06678.png",
+      "transform_matrix": [
+        [
+          -0.24362319707870483,
+          0.039663683623075485,
+          0.9690586924552917,
+          39.527793884277344
+        ],
+        [
+          -0.9697465896606445,
+          -0.025893446058034897,
+          -0.24273636937141418,
+          23.211082458496094
+        ],
+        [
+          0.015464444644749165,
+          -0.9988775849342346,
+          0.04477197676897049,
+          -22.39740753173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6678,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_283081293",
+      "mask_path": "../../mask/hdr_front_06678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06679.png",
+      "transform_matrix": [
+        [
+          -0.24933511018753052,
+          0.03656349703669548,
+          0.9677268266677856,
+          39.44758224487305
+        ],
+        [
+          -0.9682205319404602,
+          -0.029549837112426758,
+          -0.24834585189819336,
+          23.233840942382812
+        ],
+        [
+          0.01951577328145504,
+          -0.9988943934440613,
+          0.04276934638619423,
+          -22.391847610473633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6679,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_383078813",
+      "mask_path": "../../mask/hdr_front_06679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06680.png",
+      "transform_matrix": [
+        [
+          -0.2593339681625366,
+          0.02748567797243595,
+          0.9653964638710022,
+          39.37404251098633
+        ],
+        [
+          -0.965517520904541,
+          -0.03102065809071064,
+          -0.25848329067230225,
+          23.247032165527344
+        ],
+        [
+          0.022842643782496452,
+          -0.9991408586502075,
+          0.03458261489868164,
+          -22.38322639465332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6680,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_483081102",
+      "mask_path": "../../mask/hdr_front_06680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06681.png",
+      "transform_matrix": [
+        [
+          -0.26385048031806946,
+          0.020197542384266853,
+          0.9643521308898926,
+          39.27280044555664
+        ],
+        [
+          -0.9643852114677429,
+          -0.024752484634518623,
+          -0.26334109902381897,
+          23.27458381652832
+        ],
+        [
+          0.018551267683506012,
+          -0.9994895458221436,
+          0.02600916661322117,
+          -22.38266372680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6681,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_583080530",
+      "mask_path": "../../mask/hdr_front_06681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06682.png",
+      "transform_matrix": [
+        [
+          -0.26082828640937805,
+          0.01834222860634327,
+          0.9652109146118164,
+          39.17918014526367
+        ],
+        [
+          -0.9653234481811523,
+          -0.0162595696747303,
+          -0.26054972410202026,
+          23.298608779907227
+        ],
+        [
+          0.010914851911365986,
+          -0.999699592590332,
+          0.021947141736745834,
+          -22.388885498046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6682,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_683081150",
+      "mask_path": "../../mask/hdr_front_06682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06683.png",
+      "transform_matrix": [
+        [
+          -0.2576276957988739,
+          0.016133835539221764,
+          0.966109573841095,
+          39.101627349853516
+        ],
+        [
+          -0.9662107825279236,
+          -0.01261442992836237,
+          -0.25744402408599854,
+          23.311933517456055
+        ],
+        [
+          0.00803336314857006,
+          -0.9997903108596802,
+          0.018838515505194664,
+          -22.39189910888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6683,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_783081054",
+      "mask_path": "../../mask/hdr_front_06683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06684.png",
+      "transform_matrix": [
+        [
+          -0.25919198989868164,
+          0.01598186045885086,
+          0.9656935334205627,
+          39.01097869873047
+        ],
+        [
+          -0.9657794237136841,
+          -0.014087055809795856,
+          -0.2589819133281708,
+          23.337242126464844
+        ],
+        [
+          0.009464768692851067,
+          -0.9997730851173401,
+          0.019086206331849098,
+          -22.393823623657227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6684,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_883080482",
+      "mask_path": "../../mask/hdr_front_06684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06685.png",
+      "transform_matrix": [
+        [
+          -0.26946669816970825,
+          0.014543361961841583,
+          0.9628998637199402,
+          38.92866516113281
+        ],
+        [
+          -0.9629151821136475,
+          -0.018074393272399902,
+          -0.2691980302333832,
+          23.3670654296875
+        ],
+        [
+          0.013488787226378918,
+          -0.9997309446334839,
+          0.018874473869800568,
+          -22.386873245239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6685,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_983080863",
+      "mask_path": "../../mask/hdr_front_06685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06686.png",
+      "transform_matrix": [
+        [
+          -0.2818599045276642,
+          0.009169088676571846,
+          0.9594117999076843,
+          38.86316680908203
+        ],
+        [
+          -0.9592770338058472,
+          -0.021984003484249115,
+          -0.28161025047302246,
+          23.38856315612793
+        ],
+        [
+          0.018509602174162865,
+          -0.9997162818908691,
+          0.014992106705904007,
+          -22.38121795654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6686,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_83081245",
+      "mask_path": "../../mask/hdr_front_06686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06687.png",
+      "transform_matrix": [
+        [
+          -0.291490375995636,
+          0.001602472853846848,
+          0.956572413444519,
+          38.79996109008789
+        ],
+        [
+          -0.9563255310058594,
+          -0.023269323632121086,
+          -0.2913762032985687,
+          23.405189514160156
+        ],
+        [
+          0.021791871637105942,
+          -0.9997280240058899,
+          0.008315270766615868,
+          -22.376115798950195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6687,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_183082103",
+      "mask_path": "../../mask/hdr_front_06687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06688.png",
+      "transform_matrix": [
+        [
+          -0.29486870765686035,
+          0.001420042710378766,
+          0.9555367827415466,
+          38.70173263549805
+        ],
+        [
+          -0.9553497433662415,
+          -0.020273134112358093,
+          -0.2947809398174286,
+          23.43280029296875
+        ],
+        [
+          0.018953122198581696,
+          -0.999793529510498,
+          0.007334550842642784,
+          -22.370059967041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6688,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_283080816",
+      "mask_path": "../../mask/hdr_front_06688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06689.png",
+      "transform_matrix": [
+        [
+          -0.29321950674057007,
+          0.0039735231548547745,
+          0.9560368657112122,
+          38.60219192504883
+        ],
+        [
+          -0.9559499025344849,
+          -0.015338798984885216,
+          -0.2931290566921234,
+          23.46397590637207
+        ],
+        [
+          0.013499703258275986,
+          -0.999874472618103,
+          0.008296123705804348,
+          -22.378368377685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6689,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_383080959",
+      "mask_path": "../../mask/hdr_front_06689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06690.png",
+      "transform_matrix": [
+        [
+          -0.2909936010837555,
+          0.00250103697180748,
+          0.9567217230796814,
+          38.51570129394531
+        ],
+        [
+          -0.956662118434906,
+          -0.012226988561451435,
+          -0.29094353318214417,
+          23.481630325317383
+        ],
+        [
+          0.010970165953040123,
+          -0.9999221563339233,
+          0.005950623191893101,
+          -22.37599754333496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6690,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_483081817",
+      "mask_path": "../../mask/hdr_front_06690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06691.png",
+      "transform_matrix": [
+        [
+          -0.29053786396980286,
+          0.0007424252689816058,
+          0.956863284111023,
+          38.43187713623047
+        ],
+        [
+          -0.9568175673484802,
+          -0.010019659996032715,
+          -0.290516197681427,
+          23.501758575439453
+        ],
+        [
+          0.00937175564467907,
+          -0.99994957447052,
+          0.003621455980464816,
+          -22.370704650878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6691,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_583082199",
+      "mask_path": "../../mask/hdr_front_06691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06692.png",
+      "transform_matrix": [
+        [
+          -0.29656389355659485,
+          -0.0013129054568707943,
+          0.9550120830535889,
+          38.360137939453125
+        ],
+        [
+          -0.954975962638855,
+          -0.008406896144151688,
+          -0.2965642213821411,
+          23.526216506958008
+        ],
+        [
+          0.008418049663305283,
+          -0.9999637603759766,
+          0.0012393889483064413,
+          -22.35737419128418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6692,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_683082103",
+      "mask_path": "../../mask/hdr_front_06692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06693.png",
+      "transform_matrix": [
+        [
+          -0.3045487701892853,
+          -0.004344710148870945,
+          0.9524868726730347,
+          38.30133819580078
+        ],
+        [
+          -0.952448844909668,
+          -0.008628442883491516,
+          -0.30457603931427,
+          23.55316925048828
+        ],
+        [
+          0.009541773237287998,
+          -0.9999533295631409,
+          -0.0015103325713425875,
+          -22.352108001708984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6693,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_783082008",
+      "mask_path": "../../mask/hdr_front_06693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06694.png",
+      "transform_matrix": [
+        [
+          -0.3116852939128876,
+          -0.009220661595463753,
+          0.950140655040741,
+          38.23753356933594
+        ],
+        [
+          -0.9500953555107117,
+          -0.01074951607733965,
+          -0.31177473068237305,
+          23.584529876708984
+        ],
+        [
+          0.013088321313261986,
+          -0.999899685382843,
+          -0.00541003979742527,
+          -22.355932235717773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6694,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_883082151",
+      "mask_path": "../../mask/hdr_front_06694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06695.png",
+      "transform_matrix": [
+        [
+          -0.31823670864105225,
+          -0.01533469744026661,
+          0.9478872418403625,
+          38.143341064453125
+        ],
+        [
+          -0.9479240775108337,
+          -0.008411371149122715,
+          -0.31838521361351013,
+          23.613937377929688
+        ],
+        [
+          0.01285537425428629,
+          -0.9998470544815063,
+          -0.011859321966767311,
+          -22.3433895111084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6695,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_983082532",
+      "mask_path": "../../mask/hdr_front_06695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06696.png",
+      "transform_matrix": [
+        [
+          -0.3195151090621948,
+          -0.01620282605290413,
+          0.9474425911903381,
+          38.0578727722168
+        ],
+        [
+          -0.9475719928741455,
+          0.0010660976404324174,
+          -0.31954047083854675,
+          23.63532829284668
+        ],
+        [
+          0.0041673919185996056,
+          -0.9998681545257568,
+          -0.01569398120045662,
+          -22.330041885375977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6696,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_83081722",
+      "mask_path": "../../mask/hdr_front_06696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06697.png",
+      "transform_matrix": [
+        [
+          -0.31536978483200073,
+          -0.01596713811159134,
+          0.9488345384597778,
+          37.99079132080078
+        ],
+        [
+          -0.9489669799804688,
+          0.00728429201990366,
+          -0.31529122591018677,
+          23.656322479248047
+        ],
+        [
+          -0.0018772879848256707,
+          -0.9998459815979004,
+          -0.017449531704187393,
+          -22.33228302001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6697,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_183082103",
+      "mask_path": "../../mask/hdr_front_06697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06698.png",
+      "transform_matrix": [
+        [
+          -0.30800068378448486,
+          -0.018522951751947403,
+          0.9512059092521667,
+          37.90209197998047
+        ],
+        [
+          -0.9513801336288452,
+          0.009519035927951336,
+          -0.30787181854248047,
+          23.68620491027832
+        ],
+        [
+          -0.0033518678974360228,
+          -0.9997831583023071,
+          -0.020554237067699432,
+          -22.34183120727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6698,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_283082723",
+      "mask_path": "../../mask/hdr_front_06698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06699.png",
+      "transform_matrix": [
+        [
+          -0.300292044878006,
+          -0.023609301075339317,
+          0.953555166721344,
+          37.830284118652344
+        ],
+        [
+          -0.9538376927375793,
+          0.011904529295861721,
+          -0.30008628964424133,
+          23.704301834106445
+        ],
+        [
+          -0.004266795236617327,
+          -0.9996504187583923,
+          -0.026094278320670128,
+          -22.326034545898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6699,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_383081912",
+      "mask_path": "../../mask/hdr_front_06699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06700.png",
+      "transform_matrix": [
+        [
+          -0.29181522130966187,
+          -0.029623378068208694,
+          0.9560158252716064,
+          37.77949523925781
+        ],
+        [
+          -0.9564734697341919,
+          0.010683956556022167,
+          -0.2916238307952881,
+          23.720495223999023
+        ],
+        [
+          -0.0015751468017697334,
+          -0.999504029750824,
+          -0.031451720744371414,
+          -22.31276512145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6700,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_483080863",
+      "mask_path": "../../mask/hdr_front_06700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06701.png",
+      "transform_matrix": [
+        [
+          -0.2781755328178406,
+          -0.036279331892728806,
+          0.9598448872566223,
+          37.7157096862793
+        ],
+        [
+          -0.9605137705802917,
+          0.004658505320549011,
+          -0.27819332480430603,
+          23.73175048828125
+        ],
+        [
+          0.005621226970106363,
+          -0.9993308782577515,
+          -0.03614267706871033,
+          -22.301753997802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6701,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_583082437",
+      "mask_path": "../../mask/hdr_front_06701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06702.png",
+      "transform_matrix": [
+        [
+          -0.256578654050827,
+          -0.03521241620182991,
+          0.9658817648887634,
+          37.62847137451172
+        ],
+        [
+          -0.9664560556411743,
+          -0.002448787447065115,
+          -0.2568204700946808,
+          23.742435455322266
+        ],
+        [
+          0.011408510617911816,
+          -0.9993768930435181,
+          -0.0334029421210289,
+          -22.296754837036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6702,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_683081865",
+      "mask_path": "../../mask/hdr_front_06702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06703.png",
+      "transform_matrix": [
+        [
+          -0.22798225283622742,
+          -0.03170469030737877,
+          0.9731490015983582,
+          37.547420501708984
+        ],
+        [
+          -0.9736372828483582,
+          -0.00015550524403806776,
+          -0.2281017303466797,
+          23.747169494628906
+        ],
+        [
+          0.007383224554359913,
+          -0.9994973540306091,
+          -0.030833417549729347,
+          -22.298646926879883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6703,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_783081293",
+      "mask_path": "../../mask/hdr_front_06703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06705.png",
+      "transform_matrix": [
+        [
+          -0.17463329434394836,
+          -0.03125419840216637,
+          0.9841374158859253,
+          37.450965881347656
+        ],
+        [
+          -0.9845390319824219,
+          -0.0083108339458704,
+          -0.17496849596500397,
+          23.740171432495117
+        ],
+        [
+          0.013647500425577164,
+          -0.999476969242096,
+          -0.029319630935788155,
+          -22.314985275268555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6705,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_983081579",
+      "mask_path": "../../mask/hdr_front_06705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06706.png",
+      "transform_matrix": [
+        [
+          -0.167047381401062,
+          -0.025476478040218353,
+          0.9856197237968445,
+          37.388214111328125
+        ],
+        [
+          -0.9858159422874451,
+          -0.012101143598556519,
+          -0.16739343106746674,
+          23.745586395263672
+        ],
+        [
+          0.016191719099879265,
+          -0.999602198600769,
+          -0.023093651980161667,
+          -22.313039779663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6706,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_83083629",
+      "mask_path": "../../mask/hdr_front_06706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06707.png",
+      "transform_matrix": [
+        [
+          -0.17368178069591522,
+          -0.02664450742304325,
+          0.9844412803649902,
+          37.3300666809082
+        ],
+        [
+          -0.9845832586288452,
+          -0.016360240057110786,
+          -0.17414963245391846,
+          23.764554977416992
+        ],
+        [
+          0.02074582502245903,
+          -0.9995111227035522,
+          -0.023392263799905777,
+          -22.30247688293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6707,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_183081388",
+      "mask_path": "../../mask/hdr_front_06707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06708.png",
+      "transform_matrix": [
+        [
+          -0.1826399862766266,
+          -0.03467707708477974,
+          0.9825681447982788,
+          37.23524856567383
+        ],
+        [
+          -0.9827103614807129,
+          -0.02444440871477127,
+          -0.1835291087627411,
+          23.785032272338867
+        ],
+        [
+          0.0303825493901968,
+          -0.999099612236023,
+          -0.029612993821501732,
+          -22.280162811279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6708,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_283082485",
+      "mask_path": "../../mask/hdr_front_06708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06709.png",
+      "transform_matrix": [
+        [
+          -0.18543806672096252,
+          -0.02704673819243908,
+          0.9822836518287659,
+          37.13508987426758
+        ],
+        [
+          -0.9822891354560852,
+          -0.02220863103866577,
+          -0.1860506236553192,
+          23.804882049560547
+        ],
+        [
+          0.02684723772108555,
+          -0.9993875026702881,
+          -0.022449389100074768,
+          -22.276247024536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6709,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_383080959",
+      "mask_path": "../../mask/hdr_front_06709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06710.png",
+      "transform_matrix": [
+        [
+          -0.183899387717247,
+          -0.01607074961066246,
+          0.9828137159347534,
+          37.062191009521484
+        ],
+        [
+          -0.9827889204025269,
+          -0.014811892062425613,
+          -0.18413694202899933,
+          23.81475830078125
+        ],
+        [
+          0.017516547814011574,
+          -0.999761164188385,
+          -0.013070255517959595,
+          -22.28626251220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6710,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_483081340",
+      "mask_path": "../../mask/hdr_front_06710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06711.png",
+      "transform_matrix": [
+        [
+          -0.1842927187681198,
+          -0.013193623162806034,
+          0.982782781124115,
+          36.99203109741211
+        ],
+        [
+          -0.9827359318733215,
+          -0.01412435807287693,
+          -0.18447352945804596,
+          23.82032585144043
+        ],
+        [
+          0.016315052285790443,
+          -0.9998131990432739,
+          -0.010362831875681877,
+          -22.287580490112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6711,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_583082199",
+      "mask_path": "../../mask/hdr_front_06711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06712.png",
+      "transform_matrix": [
+        [
+          -0.18822059035301208,
+          -0.010977561585605145,
+          0.9820654392242432,
+          36.91688919067383
+        ],
+        [
+          -0.981921911239624,
+          -0.0183224156498909,
+          -0.18839788436889648,
+          23.837190628051758
+        ],
+        [
+          0.02006196230649948,
+          -0.9997718930244446,
+          -0.007330452091991901,
+          -22.295841217041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6712,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_683081150",
+      "mask_path": "../../mask/hdr_front_06712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06713.png",
+      "transform_matrix": [
+        [
+          -0.1960851550102234,
+          -0.010981274768710136,
+          0.9805253744125366,
+          36.82680892944336
+        ],
+        [
+          -0.9802350401878357,
+          -0.024589061737060547,
+          -0.19630250334739685,
+          23.85978126525879
+        ],
+        [
+          0.026265854015946388,
+          -0.9996373653411865,
+          -0.005942679941654205,
+          -22.288942337036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6713,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_783080577",
+      "mask_path": "../../mask/hdr_front_06713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06714.png",
+      "transform_matrix": [
+        [
+          -0.2051146775484085,
+          -0.01360142882913351,
+          0.9786433577537537,
+          36.7464599609375
+        ],
+        [
+          -0.9780378341674805,
+          -0.034964192658662796,
+          -0.20547372102737427,
+          23.872617721557617
+        ],
+        [
+          0.03701220825314522,
+          -0.9992960095405579,
+          -0.00613104272633791,
+          -22.278980255126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6714,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_883081436",
+      "mask_path": "../../mask/hdr_front_06714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06715.png",
+      "transform_matrix": [
+        [
+          -0.21367797255516052,
+          -0.014396032318472862,
+          0.9767980575561523,
+          36.648616790771484
+        ],
+        [
+          -0.9760028719902039,
+          -0.039795711636543274,
+          -0.2140905261039734,
+          23.875308990478516
+        ],
+        [
+          0.04195443168282509,
+          -0.9991041421890259,
+          -0.005547099281102419,
+          -22.265487670898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6715,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_983082532",
+      "mask_path": "../../mask/hdr_front_06715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06716.png",
+      "transform_matrix": [
+        [
+          -0.21590377390384674,
+          -0.010910306125879288,
+          0.9763537049293518,
+          36.539276123046875
+        ],
+        [
+          -0.9756348729133606,
+          -0.03754262998700142,
+          -0.21616435050964355,
+          23.885845184326172
+        ],
+        [
+          0.03901330381631851,
+          -0.9992354512214661,
+          -0.002538880333304405,
+          -22.26787567138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6716,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_83081245",
+      "mask_path": "../../mask/hdr_front_06716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06717.png",
+      "transform_matrix": [
+        [
+          -0.2142762690782547,
+          -0.00801925454288721,
+          0.9767402410507202,
+          36.46840286254883
+        ],
+        [
+          -0.9760729074478149,
+          -0.03609966114163399,
+          -0.21442627906799316,
+          23.903339385986328
+        ],
+        [
+          0.03697953000664711,
+          -0.9993160367012024,
+          -9.207429684465751e-05,
+          -22.28927993774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6717,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_183081865",
+      "mask_path": "../../mask/hdr_front_06717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06718.png",
+      "transform_matrix": [
+        [
+          -0.21575690805912018,
+          -0.007690279744565487,
+          0.976416826248169,
+          36.399986267089844
+        ],
+        [
+          -0.9755759239196777,
+          -0.0405331626534462,
+          -0.2158903330564499,
+          23.922758102416992
+        ],
+        [
+          0.041237521916627884,
+          -0.9991486668586731,
+          0.0012428578920662403,
+          -22.307878494262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6718,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_283081769",
+      "mask_path": "../../mask/hdr_front_06718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06719.png",
+      "transform_matrix": [
+        [
+          -0.22257676720619202,
+          -0.005562156438827515,
+          0.9748992919921875,
+          36.318153381347656
+        ],
+        [
+          -0.9740237593650818,
+          -0.041483618319034576,
+          -0.22261357307434082,
+          23.931983947753906
+        ],
+        [
+          0.041680559515953064,
+          -0.9991236925125122,
+          0.0038156171794980764,
+          -22.303224563598633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6719,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_383082866",
+      "mask_path": "../../mask/hdr_front_06719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06720.png",
+      "transform_matrix": [
+        [
+          -0.23151104152202606,
+          -0.007313724607229233,
+          0.972804844379425,
+          36.25067138671875
+        ],
+        [
+          -0.9719697833061218,
+          -0.04036170616745949,
+          -0.23161575198173523,
+          23.94215202331543
+        ],
+        [
+          0.04095802828669548,
+          -0.9991584420204163,
+          0.0022354614920914173,
+          -22.282922744750977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6720,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_483082056",
+      "mask_path": "../../mask/hdr_front_06720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06721.png",
+      "transform_matrix": [
+        [
+          -0.24155952036380768,
+          -0.013349045999348164,
+          0.9702942371368408,
+          36.19243240356445
+        ],
+        [
+          -0.969353199005127,
+          -0.04280088469386101,
+          -0.24191412329673767,
+          23.95953369140625
+        ],
+        [
+          0.04475877434015274,
+          -0.9989944696426392,
+          -0.0026009788271039724,
+          -22.275310516357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6721,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_583081960",
+      "mask_path": "../../mask/hdr_front_06721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06722.png",
+      "transform_matrix": [
+        [
+          -0.252176433801651,
+          -0.018573978915810585,
+          0.967503011226654,
+          36.13273620605469
+        ],
+        [
+          -0.9664598703384399,
+          -0.04538339748978615,
+          -0.2527758777141571,
+          23.98103904724121
+        ],
+        [
+          0.04860362410545349,
+          -0.9987969994544983,
+          -0.006506380625069141,
+          -22.280250549316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6722,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_683080196",
+      "mask_path": "../../mask/hdr_front_06722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06723.png",
+      "transform_matrix": [
+        [
+          -0.25291144847869873,
+          -0.019465569406747818,
+          0.9672936201095581,
+          36.04021072387695
+        ],
+        [
+          -0.9662772417068481,
+          -0.04495123028755188,
+          -0.253550261259079,
+          23.989736557006836
+        ],
+        [
+          0.04841653257608414,
+          -0.9987995624542236,
+          -0.007440454326570034,
+          -22.26961898803711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6723,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_783081769",
+      "mask_path": "../../mask/hdr_front_06723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06724.png",
+      "transform_matrix": [
+        [
+          -0.24746552109718323,
+          -0.017811475321650505,
+          0.968733012676239,
+          35.96401596069336
+        ],
+        [
+          -0.9678778648376465,
+          -0.041296012699604034,
+          -0.24800635874271393,
+          23.990568161010742
+        ],
+        [
+          0.04442216828465462,
+          -0.998988151550293,
+          -0.007019992917776108,
+          -22.261171340942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6724,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_883081674",
+      "mask_path": "../../mask/hdr_front_06724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06725.png",
+      "transform_matrix": [
+        [
+          -0.2440415471792221,
+          -0.01659441366791725,
+          0.969622790813446,
+          35.912498474121094
+        ],
+        [
+          -0.968792200088501,
+          -0.04059651494026184,
+          -0.24452729523181915,
+          23.99831199645996
+        ],
+        [
+          0.04342109337449074,
+          -0.9990378022193909,
+          -0.006169301923364401,
+          -22.26698875427246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6725,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_983081817",
+      "mask_path": "../../mask/hdr_front_06725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06726.png",
+      "transform_matrix": [
+        [
+          -0.2454310804605484,
+          -0.01910002902150154,
+          0.9692258238792419,
+          35.862945556640625
+        ],
+        [
+          -0.9685302972793579,
+          -0.037849970161914825,
+          -0.24600078165531158,
+          24.018095016479492
+        ],
+        [
+          0.041383787989616394,
+          -0.999100923538208,
+          -0.009209399111568928,
+          -22.267311096191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6726,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_83081245",
+      "mask_path": "../../mask/hdr_front_06726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06727.png",
+      "transform_matrix": [
+        [
+          -0.24939824640750885,
+          -0.029273394495248795,
+          0.9679584503173828,
+          35.80495834350586
+        ],
+        [
+          -0.9675329923629761,
+          -0.03477838262915611,
+          -0.25034040212631226,
+          24.0382080078125
+        ],
+        [
+          0.04099234193563461,
+          -0.9989662170410156,
+          -0.019649310037493706,
+          -22.247997283935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6727,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_183081388",
+      "mask_path": "../../mask/hdr_front_06727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06728.png",
+      "transform_matrix": [
+        [
+          -0.2533556818962097,
+          -0.041190117597579956,
+          0.966495931148529,
+          35.746124267578125
+        ],
+        [
+          -0.966337263584137,
+          -0.03544909134507179,
+          -0.2548249065876007,
+          24.057701110839844
+        ],
+        [
+          0.0447576642036438,
+          -0.9985222816467285,
+          -0.030822308734059334,
+          -22.231643676757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6728,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_283081293",
+      "mask_path": "../../mask/hdr_front_06728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06729.png",
+      "transform_matrix": [
+        [
+          -0.25844916701316833,
+          -0.05293452739715576,
+          0.9645734429359436,
+          35.70045852661133
+        ],
+        [
+          -0.9647507667541504,
+          -0.037122249603271484,
+          -0.2605338990688324,
+          24.087465286254883
+        ],
+        [
+          0.04959837719798088,
+          -0.9979077577590942,
+          -0.04147440567612648,
+          -22.231143951416016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6729,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_383080720",
+      "mask_path": "../../mask/hdr_front_06729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06730.png",
+      "transform_matrix": [
+        [
+          -0.26176559925079346,
+          -0.07548423856496811,
+          0.9621751308441162,
+          35.620670318603516
+        ],
+        [
+          -0.9634254574775696,
+          -0.03881247341632843,
+          -0.26515069603919983,
+          24.108736038208008
+        ],
+        [
+          0.05735909193754196,
+          -0.9963913559913635,
+          -0.06256366521120071,
+          -22.19935417175293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6730,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_483081817",
+      "mask_path": "../../mask/hdr_front_06730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06731.png",
+      "transform_matrix": [
+        [
+          -0.2549617290496826,
+          -0.09192954003810883,
+          0.9625712633132935,
+          35.55012512207031
+        ],
+        [
+          -0.9653071761131287,
+          -0.03382476791739464,
+          -0.25891679525375366,
+          24.118791580200195
+        ],
+        [
+          0.05636084824800491,
+          -0.9951908588409424,
+          -0.08011620491743088,
+          -22.163461685180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6731,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_583081483",
+      "mask_path": "../../mask/hdr_front_06731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06733.png",
+      "transform_matrix": [
+        [
+          -0.22908055782318115,
+          -0.10747333616018295,
+          0.9674562811851501,
+          35.44520950317383
+        ],
+        [
+          -0.972477912902832,
+          -0.018156105652451515,
+          -0.23228657245635986,
+          24.118885040283203
+        ],
+        [
+          0.04252984747290611,
+          -0.994042158126831,
+          -0.10035623610019684,
+          -22.14569091796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6733,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_783080816",
+      "mask_path": "../../mask/hdr_front_06733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06734.png",
+      "transform_matrix": [
+        [
+          -0.2218553125858307,
+          -0.11682970076799393,
+          0.9680553078651428,
+          35.3706169128418
+        ],
+        [
+          -0.9743327498435974,
+          -0.012288140133023262,
+          -0.22477693855762482,
+          24.132749557495117
+        ],
+        [
+          0.03815622255206108,
+          -0.993075966835022,
+          -0.111104816198349,
+          -22.12189483642578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6734,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_883082151",
+      "mask_path": "../../mask/hdr_front_06734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06735.png",
+      "transform_matrix": [
+        [
+          -0.2160038948059082,
+          -0.13003948330879211,
+          0.9676942229270935,
+          35.30937576293945
+        ],
+        [
+          -0.9755840301513672,
+          -0.011578978970646858,
+          -0.21932101249694824,
+          24.150285720825195
+        ],
+        [
+          0.03972529619932175,
+          -0.9914411902427673,
+          -0.12436332553625107,
+          -22.100889205932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6735,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_983081340",
+      "mask_path": "../../mask/hdr_front_06735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06736.png",
+      "transform_matrix": [
+        [
+          -0.21104225516319275,
+          -0.14304311573505402,
+          0.9669538736343384,
+          35.25203323364258
+        ],
+        [
+          -0.9764443635940552,
+          -0.014605368487536907,
+          -0.21527422964572906,
+          24.169050216674805
+        ],
+        [
+          0.04491621255874634,
+          -0.9896087050437927,
+          -0.13659128546714783,
+          -22.095138549804688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6736,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_83084344",
+      "mask_path": "../../mask/hdr_front_06736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06737.png",
+      "transform_matrix": [
+        [
+          -0.2059163749217987,
+          -0.17350614070892334,
+          0.9630649089813232,
+          35.16933059692383
+        ],
+        [
+          -0.9764879941940308,
+          -0.027724863961338997,
+          -0.21378135681152344,
+          24.1694278717041
+        ],
+        [
+          0.06379321962594986,
+          -0.984442412853241,
+          -0.16371767222881317,
+          -22.05558967590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6737,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_183082342",
+      "mask_path": "../../mask/hdr_front_06737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06738.png",
+      "transform_matrix": [
+        [
+          -0.20072759687900543,
+          -0.19273295998573303,
+          0.9605011940002441,
+          35.08249282836914
+        ],
+        [
+          -0.9776011109352112,
+          -0.02392430789768696,
+          -0.2091018557548523,
+          24.16379737854004
+        ],
+        [
+          0.0632801353931427,
+          -0.9809595942497253,
+          -0.18361370265483856,
+          -21.98990249633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6738,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_283081293",
+      "mask_path": "../../mask/hdr_front_06738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06739.png",
+      "transform_matrix": [
+        [
+          -0.19759827852249146,
+          -0.19757412374019623,
+          0.960166335105896,
+          35.0222282409668
+        ],
+        [
+          -0.9787584543228149,
+          -0.01484210230410099,
+          -0.20447851717472076,
+          24.16901969909668
+        ],
+        [
+          0.054650552570819855,
+          -0.9801756143569946,
+          -0.19044460356235504,
+          -21.973421096801758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6739,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_383081197",
+      "mask_path": "../../mask/hdr_front_06739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06740.png",
+      "transform_matrix": [
+        [
+          -0.1947614848613739,
+          -0.2060147523880005,
+          0.9589713215827942,
+          34.9696159362793
+        ],
+        [
+          -0.9794442057609558,
+          -0.01148934569209814,
+          -0.2013876885175705,
+          24.180299758911133
+        ],
+        [
+          0.05250677838921547,
+          -0.9784815311431885,
+          -0.19954226911067963,
+          -21.981504440307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6740,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_483079910",
+      "mask_path": "../../mask/hdr_front_06740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06741.png",
+      "transform_matrix": [
+        [
+          -0.19738565385341644,
+          -0.21722069382667542,
+          0.9559571743011475,
+          34.90128707885742
+        ],
+        [
+          -0.9786975979804993,
+          -0.012515010312199593,
+          -0.20492491126060486,
+          24.189327239990234
+        ],
+        [
+          0.05647773668169975,
+          -0.9760422706604004,
+          -0.21012312173843384,
+          -21.948585510253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6741,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_583081483",
+      "mask_path": "../../mask/hdr_front_06741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06742.png",
+      "transform_matrix": [
+        [
+          -0.20142877101898193,
+          -0.22709669172763824,
+          0.9528135061264038,
+          34.836097717285156
+        ],
+        [
+          -0.9775835871696472,
+          -0.014260250143706799,
+          -0.2100641280412674,
+          24.20490074157715
+        ],
+        [
+          0.061292219907045364,
+          -0.9737678170204163,
+          -0.21913357079029083,
+          -21.91556167602539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6742,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_683081626",
+      "mask_path": "../../mask/hdr_front_06742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06743.png",
+      "transform_matrix": [
+        [
+          -0.20449717342853546,
+          -0.235617533326149,
+          0.9500870108604431,
+          34.77899932861328
+        ],
+        [
+          -0.9768584370613098,
+          -0.01302670780569315,
+          -0.21349003911018372,
+          24.22772216796875
+        ],
+        [
+          0.0626784935593605,
+          -0.9717585444450378,
+          -0.2275010496377945,
+          -21.902585983276367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6743,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_783080339",
+      "mask_path": "../../mask/hdr_front_06743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03287.png",
+      "transform_matrix": [
+        [
+          0.8780816793441772,
+          -0.34794896841049194,
+          0.32848745584487915,
+          35.126060485839844
+        ],
+        [
+          -0.32533857226371765,
+          0.06928649544715881,
+          0.9430557489395142,
+          23.948108673095703
+        ],
+        [
+          -0.3508950173854828,
+          -0.9349496960639954,
+          -0.05236200988292694,
+          -21.98045539855957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3287,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_83081960",
+      "mask_path": "../../mask/hdr_left_03287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03288.png",
+      "transform_matrix": [
+        [
+          0.8802847862243652,
+          -0.34130147099494934,
+          0.32956331968307495,
+          35.19566345214844
+        ],
+        [
+          -0.3270145654678345,
+          0.06679927557706833,
+          0.9426554441452026,
+          23.944984436035156
+        ],
+        [
+          -0.34374427795410156,
+          -0.9375773072242737,
+          -0.052808161824941635,
+          -22.011066436767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3288,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_183081150",
+      "mask_path": "../../mask/hdr_left_03288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03289.png",
+      "transform_matrix": [
+        [
+          0.8824523091316223,
+          -0.33170345425605774,
+          0.3335428237915039,
+          35.25887680053711
+        ],
+        [
+          -0.3279688060283661,
+          0.0744553804397583,
+          0.9417498707771301,
+          23.93973731994629
+        ],
+        [
+          -0.33721572160720825,
+          -0.9404410123825073,
+          -0.04308506101369858,
+          -22.046052932739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3289,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_283082485",
+      "mask_path": "../../mask/hdr_left_03289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03290.png",
+      "transform_matrix": [
+        [
+          0.885131299495697,
+          -0.32124096155166626,
+          0.3366701006889343,
+          35.337093353271484
+        ],
+        [
+          -0.3306829333305359,
+          0.07481005042791367,
+          0.9407722353935242,
+          23.922794342041016
+        ],
+        [
+          -0.3274008333683014,
+          -0.9440380334854126,
+          -0.0400121808052063,
+          -22.07489776611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3290,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_383081912",
+      "mask_path": "../../mask/hdr_left_03290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03291.png",
+      "transform_matrix": [
+        [
+          0.887039065361023,
+          -0.3149600625038147,
+          0.3375822901725769,
+          35.41861343383789
+        ],
+        [
+          -0.331470251083374,
+          0.07453276216983795,
+          0.9405170679092407,
+          23.903409957885742
+        ],
+        [
+          -0.3213861882686615,
+          -0.946173906326294,
+          -0.03828640282154083,
+          -22.11459732055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3291,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_483082294",
+      "mask_path": "../../mask/hdr_left_03291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03292.png",
+      "transform_matrix": [
+        [
+          0.8878644704818726,
+          -0.31150710582733154,
+          0.3386148512363434,
+          35.489253997802734
+        ],
+        [
+          -0.3321112394332886,
+          0.07544618099927902,
+          0.9402179718017578,
+          23.88700294494629
+        ],
+        [
+          -0.3184317946434021,
+          -0.9472439885139465,
+          -0.036469027400016785,
+          -22.140043258666992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3292,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_583081960",
+      "mask_path": "../../mask/hdr_left_03292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03294.png",
+      "transform_matrix": [
+        [
+          0.89031583070755,
+          -0.29633018374443054,
+          0.3457254469394684,
+          35.63665771484375
+        ],
+        [
+          -0.34584560990333557,
+          0.05380984768271446,
+          0.9367471933364868,
+          23.871553421020508
+        ],
+        [
+          -0.2961898446083069,
+          -0.9535685181617737,
+          -0.05457673221826553,
+          -22.18303871154785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3294,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_783082246",
+      "mask_path": "../../mask/hdr_left_03294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03295.png",
+      "transform_matrix": [
+        [
+          0.890654981136322,
+          -0.2982915937900543,
+          0.34315577149391174,
+          35.741371154785156
+        ],
+        [
+          -0.34929919242858887,
+          0.03426402062177658,
+          0.9363845586776733,
+          23.871814727783203
+        ],
+        [
+          -0.2910734713077545,
+          -0.9538596272468567,
+          -0.07367558032274246,
+          -22.2099552154541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3295,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_883082151",
+      "mask_path": "../../mask/hdr_left_03295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03296.png",
+      "transform_matrix": [
+        [
+          0.8924340009689331,
+          -0.2918274402618408,
+          0.34409040212631226,
+          35.80957794189453
+        ],
+        [
+          -0.3504590392112732,
+          0.0319317989051342,
+          0.9360335469245911,
+          23.86319351196289
+        ],
+        [
+          -0.284147709608078,
+          -0.9559378027915955,
+          -0.07377654314041138,
+          -22.216787338256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3296,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_983081579",
+      "mask_path": "../../mask/hdr_left_03296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03297.png",
+      "transform_matrix": [
+        [
+          0.893955647945404,
+          -0.28167861700057983,
+          0.3485690653324127,
+          35.8948974609375
+        ],
+        [
+          -0.3528728783130646,
+          0.03705454245209694,
+          0.9349372982978821,
+          23.862873077392578
+        ],
+        [
+          -0.2762678861618042,
+          -0.9587931036949158,
+          -0.06627162545919418,
+          -22.252178192138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3297,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_83081722",
+      "mask_path": "../../mask/hdr_left_03297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03298.png",
+      "transform_matrix": [
+        [
+          0.8961287140846252,
+          -0.2717316746711731,
+          0.350877583026886,
+          35.97844314575195
+        ],
+        [
+          -0.35541966557502747,
+          0.034035105258226395,
+          0.9340870380401611,
+          23.854808807373047
+        ],
+        [
+          -0.26576319336891174,
+          -0.9617711305618286,
+          -0.06607894599437714,
+          -22.277156829833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3298,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_183082342",
+      "mask_path": "../../mask/hdr_left_03298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03299.png",
+      "transform_matrix": [
+        [
+          0.898932158946991,
+          -0.2588737905025482,
+          0.3534194529056549,
+          36.057334899902344
+        ],
+        [
+          -0.3594004213809967,
+          0.025515437126159668,
+          0.9328344464302063,
+          23.838016510009766
+        ],
+        [
+          -0.2505040466785431,
+          -0.9655742049217224,
+          -0.07010269165039062,
+          -22.279922485351562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3299,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_283081531",
+      "mask_path": "../../mask/hdr_left_03299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03300.png",
+      "transform_matrix": [
+        [
+          0.9013503789901733,
+          -0.24189944565296173,
+          0.3592380881309509,
+          36.139835357666016
+        ],
+        [
+          -0.3658958375453949,
+          0.018441548570990562,
+          0.9304730892181396,
+          23.82806968688965
+        ],
+        [
+          -0.23170582950115204,
+          -0.9701260924339294,
+          -0.07188770174980164,
+          -22.29707908630371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3300,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_383081436",
+      "mask_path": "../../mask/hdr_left_03300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03301.png",
+      "transform_matrix": [
+        [
+          0.903174877166748,
+          -0.22941437363624573,
+          0.36282798647880554,
+          36.22917556762695
+        ],
+        [
+          -0.37164080142974854,
+          0.005140021443367004,
+          0.9283623695373535,
+          23.819538116455078
+        ],
+        [
+          -0.21484458446502686,
+          -0.9733152985572815,
+          -0.08061739802360535,
+          -22.313247680664062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3301,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_483079910",
+      "mask_path": "../../mask/hdr_left_03301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03302.png",
+      "transform_matrix": [
+        [
+          0.9075859189033508,
+          -0.21963220834732056,
+          0.357839971780777,
+          36.32120895385742
+        ],
+        [
+          -0.3683038651943207,
+          -0.007247232366353273,
+          0.9296771287918091,
+          23.80255889892578
+        ],
+        [
+          -0.20159371197223663,
+          -0.9755558371543884,
+          -0.08746887743473053,
+          -22.304662704467773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3302,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_583080768",
+      "mask_path": "../../mask/hdr_left_03302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03303.png",
+      "transform_matrix": [
+        [
+          0.9125111103057861,
+          -0.20012173056602478,
+          0.35675597190856934,
+          36.396484375
+        ],
+        [
+          -0.36571356654167175,
+          -0.008438479155302048,
+          0.9306891560554504,
+          23.788883209228516
+        ],
+        [
+          -0.18324066698551178,
+          -0.9797347187995911,
+          -0.08088742941617966,
+          -22.30226707458496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3303,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_683081626",
+      "mask_path": "../../mask/hdr_left_03303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03304.png",
+      "transform_matrix": [
+        [
+          0.9149191975593567,
+          -0.1728205531835556,
+          0.3647681474685669,
+          36.48550033569336
+        ],
+        [
+          -0.3711131811141968,
+          -0.0047672507353127,
+          0.9285753965377808,
+          23.779306411743164
+        ],
+        [
+          -0.1587379425764084,
+          -0.984941840171814,
+          -0.06849762797355652,
+          -22.324613571166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3304,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_783081769",
+      "mask_path": "../../mask/hdr_left_03304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03305.png",
+      "transform_matrix": [
+        [
+          0.915555477142334,
+          -0.1539991796016693,
+          0.3715406358242035,
+          36.575077056884766
+        ],
+        [
+          -0.37720438838005066,
+          -0.008248524740338326,
+          0.9260932803153992,
+          23.754976272583008
+        ],
+        [
+          -0.13955295085906982,
+          -0.9880366325378418,
+          -0.0656411424279213,
+          -22.32914924621582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3305,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_883081436",
+      "mask_path": "../../mask/hdr_left_03305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03306.png",
+      "transform_matrix": [
+        [
+          0.9153498411178589,
+          -0.1421014815568924,
+          0.37675169110298157,
+          36.64240264892578
+        ],
+        [
+          -0.38199350237846375,
+          -0.01055344007909298,
+          0.9241047501564026,
+          23.733732223510742
+        ],
+        [
+          -0.127340629696846,
+          -0.9897958636283875,
+          -0.06394192576408386,
+          -22.31989288330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3306,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_983082056",
+      "mask_path": "../../mask/hdr_left_03306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03307.png",
+      "transform_matrix": [
+        [
+          0.9147046208381653,
+          -0.1282227486371994,
+          0.38324201107025146,
+          36.69596862792969
+        ],
+        [
+          -0.387445330619812,
+          -0.008621390908956528,
+          0.9218524098396301,
+          23.71824073791504
+        ],
+        [
+          -0.11489836126565933,
+          -0.9917079210281372,
+          -0.05756532400846481,
+          -22.313465118408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3307,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_83081483",
+      "mask_path": "../../mask/hdr_left_03307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03308.png",
+      "transform_matrix": [
+        [
+          0.9136602282524109,
+          -0.12150688469409943,
+          0.38789308071136475,
+          36.76142120361328
+        ],
+        [
+          -0.3923715651035309,
+          -0.014414375647902489,
+          0.9196938276290894,
+          23.713518142700195
+        ],
+        [
+          -0.10615789145231247,
+          -0.9924858808517456,
+          -0.06084568798542023,
+          -22.32912254333496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3308,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_183081626",
+      "mask_path": "../../mask/hdr_left_03308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03309.png",
+      "transform_matrix": [
+        [
+          0.9141101241111755,
+          -0.118443064391613,
+          0.3877808153629303,
+          36.85745620727539
+        ],
+        [
+          -0.3925023376941681,
+          -0.018586071208119392,
+          0.9195631742477417,
+          23.7078800201416
+        ],
+        [
+          -0.1017085537314415,
+          -0.9927869439125061,
+          -0.06347889453172684,
+          -22.350954055786133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3309,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_283082008",
+      "mask_path": "../../mask/hdr_left_03309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03310.png",
+      "transform_matrix": [
+        [
+          0.9166783094406128,
+          -0.10834217816591263,
+          0.3846593499183655,
+          36.943668365478516
+        ],
+        [
+          -0.38839468359947205,
+          -0.014940165914595127,
+          0.9213719964027405,
+          23.691415786743164
+        ],
+        [
+          -0.09407656639814377,
+          -0.9940014481544495,
+          -0.05577484890818596,
+          -22.350278854370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3310,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_383081436",
+      "mask_path": "../../mask/hdr_left_03310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03312.png",
+      "transform_matrix": [
+        [
+          0.9192650318145752,
+          -0.088020920753479,
+          0.3836718201637268,
+          37.06223678588867
+        ],
+        [
+          -0.3852667808532715,
+          -0.0012295865453779697,
+          0.9228044748306274,
+          23.688316345214844
+        ],
+        [
+          -0.0807543396949768,
+          -0.9961179494857788,
+          -0.035041846334934235,
+          -22.360557556152344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3312,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_583082199",
+      "mask_path": "../../mask/hdr_left_03312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03313.png",
+      "transform_matrix": [
+        [
+          0.9164847731590271,
+          -0.08077242225408554,
+          0.3918308615684509,
+          37.16411590576172
+        ],
+        [
+          -0.39295950531959534,
+          0.002079505007714033,
+          0.9195533394813538,
+          23.666948318481445
+        ],
+        [
+          -0.07508936524391174,
+          -0.9967304468154907,
+          -0.0298344474285841,
+          -22.356164932250977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3313,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_683081388",
+      "mask_path": "../../mask/hdr_left_03313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03314.png",
+      "transform_matrix": [
+        [
+          0.9126240015029907,
+          -0.0694616436958313,
+          0.40285542607307434,
+          37.24888610839844
+        ],
+        [
+          -0.4035745859146118,
+          0.003972357604652643,
+          0.91493821144104,
+          23.649999618530273
+        ],
+        [
+          -0.06515339016914368,
+          -0.9975767731666565,
+          -0.024407682940363884,
+          -22.350435256958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3314,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_783081293",
+      "mask_path": "../../mask/hdr_left_03314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03315.png",
+      "transform_matrix": [
+        [
+          0.9088883996009827,
+          -0.05736685171723366,
+          0.4130748510360718,
+          37.3178596496582
+        ],
+        [
+          -0.41385921835899353,
+          -0.001984328031539917,
+          0.9103386402130127,
+          23.644729614257812
+        ],
+        [
+          -0.05140358954668045,
+          -0.9983512163162231,
+          -0.025545328855514526,
+          -22.348466873168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3315,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_883081674",
+      "mask_path": "../../mask/hdr_left_03315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03316.png",
+      "transform_matrix": [
+        [
+          0.9087176322937012,
+          -0.05216238275170326,
+          0.4141393005847931,
+          37.4040412902832
+        ],
+        [
+          -0.41525307297706604,
+          -0.01220705732703209,
+          0.9096240401268005,
+          23.629819869995117
+        ],
+        [
+          -0.042392730712890625,
+          -0.9985640645027161,
+          -0.0327533558011055,
+          -22.34450340270996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3316,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_983080863",
+      "mask_path": "../../mask/hdr_left_03316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03317.png",
+      "transform_matrix": [
+        [
+          0.9105969071388245,
+          -0.04743842035531998,
+          0.41056397557258606,
+          37.48659896850586
+        ],
+        [
+          -0.4119012653827667,
+          -0.02263716422021389,
+          0.9109472632408142,
+          23.618698120117188
+        ],
+        [
+          -0.03391989320516586,
+          -0.9986176490783691,
+          -0.040153272449970245,
+          -22.345890045166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3317,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_83081007",
+      "mask_path": "../../mask/hdr_left_03317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03318.png",
+      "transform_matrix": [
+        [
+          0.911634624004364,
+          -0.04191846027970314,
+          0.4088583290576935,
+          37.555015563964844
+        ],
+        [
+          -0.4101186692714691,
+          -0.02760886587202549,
+          0.9116142392158508,
+          23.60577964782715
+        ],
+        [
+          -0.0269253458827734,
+          -0.99873948097229,
+          -0.042360737919807434,
+          -22.341773986816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3318,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_183081388",
+      "mask_path": "../../mask/hdr_left_03318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03319.png",
+      "transform_matrix": [
+        [
+          0.9106234312057495,
+          -0.04536125808954239,
+          0.4107398986816406,
+          37.611873626708984
+        ],
+        [
+          -0.41207456588745117,
+          -0.025174355134367943,
+          0.9108022451400757,
+          23.59267234802246
+        ],
+        [
+          -0.030975021421909332,
+          -0.9986534118652344,
+          -0.04161657765507698,
+          -22.34453582763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3319,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_283081293",
+      "mask_path": "../../mask/hdr_left_03319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03321.png",
+      "transform_matrix": [
+        [
+          0.9030776023864746,
+          -0.03980116546154022,
+          0.4276289641857147,
+          37.71189880371094
+        ],
+        [
+          -0.4287065267562866,
+          -0.023915641009807587,
+          0.9031271934509277,
+          23.555757522583008
+        ],
+        [
+          -0.02571849338710308,
+          -0.9989214539527893,
+          -0.03866070136427879,
+          -22.329729080200195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3321,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_483079433",
+      "mask_path": "../../mask/hdr_left_03321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03322.png",
+      "transform_matrix": [
+        [
+          0.8993754386901855,
+          -0.03302334249019623,
+          0.43592801690101624,
+          37.79021072387695
+        ],
+        [
+          -0.4367125332355499,
+          -0.021911432966589928,
+          0.899334192276001,
+          23.53389549255371
+        ],
+        [
+          -0.020147215574979782,
+          -0.9992144703865051,
+          -0.03412831202149391,
+          -22.33778190612793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3322,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_583078861",
+      "mask_path": "../../mask/hdr_left_03322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03323.png",
+      "transform_matrix": [
+        [
+          0.8975856900215149,
+          -0.02837631292641163,
+          0.4399257004261017,
+          37.872459411621094
+        ],
+        [
+          -0.44062912464141846,
+          -0.026893535628914833,
+          0.8972862958908081,
+          23.515377044677734
+        ],
+        [
+          -0.013630518689751625,
+          -0.9992355108261108,
+          -0.036642685532569885,
+          -22.340856552124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3323,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_683078050",
+      "mask_path": "../../mask/hdr_left_03323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03324.png",
+      "transform_matrix": [
+        [
+          0.8976571559906006,
+          -0.028223145753145218,
+          0.439789742231369,
+          37.9266471862793
+        ],
+        [
+          -0.44057005643844604,
+          -0.03376396372914314,
+          0.8970831036567688,
+          23.5018253326416
+        ],
+        [
+          -0.010469455271959305,
+          -0.9990313053131104,
+          -0.042742736637592316,
+          -22.344707489013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3324,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_783080577",
+      "mask_path": "../../mask/hdr_left_03324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03326.png",
+      "transform_matrix": [
+        [
+          0.8982260227203369,
+          -0.028777480125427246,
+          0.4385907053947449,
+          38.014549255371094
+        ],
+        [
+          -0.43941155076026917,
+          -0.03526107594370842,
+          0.8975935578346252,
+          23.471923828125
+        ],
+        [
+          -0.010365298017859459,
+          -0.9989637136459351,
+          -0.044317577034235,
+          -22.346649169921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3326,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_983078002",
+      "mask_path": "../../mask/hdr_left_03326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03328.png",
+      "transform_matrix": [
+        [
+          0.8913664817810059,
+          -0.03865288570523262,
+          0.45163220167160034,
+          38.091609954833984
+        ],
+        [
+          -0.45268890261650085,
+          -0.024904536083340645,
+          0.8913206458091736,
+          23.43581771850586
+        ],
+        [
+          -0.023204421624541283,
+          -0.9989423155784607,
+          -0.03969679772853851,
+          -22.330904006958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3328,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_183080673",
+      "mask_path": "../../mask/hdr_left_03328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03330.png",
+      "transform_matrix": [
+        [
+          0.8823893666267395,
+          -0.034385789185762405,
+          0.4692617654800415,
+          38.19348907470703
+        ],
+        [
+          -0.4700709879398346,
+          -0.020865224301815033,
+          0.8823819756507874,
+          23.38914680480957
+        ],
+        [
+          -0.02055014669895172,
+          -0.9991908073425293,
+          -0.03457501158118248,
+          -22.332298278808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3330,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_383079051",
+      "mask_path": "../../mask/hdr_left_03330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03331.png",
+      "transform_matrix": [
+        [
+          0.8794994950294495,
+          -0.03244408220052719,
+          0.47479256987571716,
+          38.251163482666016
+        ],
+        [
+          -0.4756164848804474,
+          -0.02550073154270649,
+          0.8792830109596252,
+          23.372867584228516
+        ],
+        [
+          -0.016419967636466026,
+          -0.9991482496261597,
+          -0.037858810275793076,
+          -22.34010124206543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3331,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_483081340",
+      "mask_path": "../../mask/hdr_left_03331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03333.png",
+      "transform_matrix": [
+        [
+          0.8775354623794556,
+          -0.02845958061516285,
+          0.47866639494895935,
+          38.37034225463867
+        ],
+        [
+          -0.4794157147407532,
+          -0.03210379555821419,
+          0.8770005702972412,
+          23.326406478881836
+        ],
+        [
+          -0.009592059999704361,
+          -0.9990792870521545,
+          -0.041816189885139465,
+          -22.340221405029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3333,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_683081865",
+      "mask_path": "../../mask/hdr_left_03333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03334.png",
+      "transform_matrix": [
+        [
+          0.8762608766555786,
+          -0.029564986005425453,
+          0.480928897857666,
+          38.43618392944336
+        ],
+        [
+          -0.48160406947135925,
+          -0.022722098976373672,
+          0.8760942220687866,
+          23.30370330810547
+        ],
+        [
+          -0.014974002726376057,
+          -0.9993045926094055,
+          -0.034149106591939926,
+          -22.34695816040039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3334,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_783083438",
+      "mask_path": "../../mask/hdr_left_03334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03335.png",
+      "transform_matrix": [
+        [
+          0.8728702068328857,
+          -0.030725199729204178,
+          0.4869842231273651,
+          38.489013671875
+        ],
+        [
+          -0.48756077885627747,
+          -0.014934872277081013,
+          0.8729612827301025,
+          23.273975372314453
+        ],
+        [
+          -0.019548863172531128,
+          -0.9994162917137146,
+          -0.028016604483127594,
+          -22.34033966064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3335,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_883081912",
+      "mask_path": "../../mask/hdr_left_03335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03336.png",
+      "transform_matrix": [
+        [
+          0.8679338693618774,
+          -0.029078667983412743,
+          0.4958277940750122,
+          38.53998947143555
+        ],
+        [
+          -0.4962017834186554,
+          -0.006981334649026394,
+          0.8681791424751282,
+          23.247669219970703
+        ],
+        [
+          -0.02178395539522171,
+          -0.9995527863502502,
+          -0.020488223060965538,
+          -22.335651397705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3336,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_983083486",
+      "mask_path": "../../mask/hdr_left_03336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03337.png",
+      "transform_matrix": [
+        [
+          0.8621475696563721,
+          -0.023299653083086014,
+          0.5061212182044983,
+          38.60002136230469
+        ],
+        [
+          -0.5062376856803894,
+          0.0010279275011271238,
+          0.862393319606781,
+          23.22731590270996
+        ],
+        [
+          -0.020613722503185272,
+          -0.9997279644012451,
+          -0.010908938944339752,
+          -22.34056282043457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3337,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_83081960",
+      "mask_path": "../../mask/hdr_left_03337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03338.png",
+      "transform_matrix": [
+        [
+          0.8591784834861755,
+          -0.02490926906466484,
+          0.5110692977905273,
+          38.70338439941406
+        ],
+        [
+          -0.5112274885177612,
+          1.9261642592027783e-05,
+          0.8594455122947693,
+          23.202756881713867
+        ],
+        [
+          -0.021417999640107155,
+          -0.9996897578239441,
+          -0.01271775271743536,
+          -22.345609664916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3338,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_183086156",
+      "mask_path": "../../mask/hdr_left_03338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03339.png",
+      "transform_matrix": [
+        [
+          0.8601344227790833,
+          -0.02865532785654068,
+          0.5092616677284241,
+          38.789825439453125
+        ],
+        [
+          -0.5095654726028442,
+          -0.003999799024313688,
+          0.8604226112365723,
+          23.181716918945312
+        ],
+        [
+          -0.022618742659687996,
+          -0.9995813369750977,
+          -0.018042128533124924,
+          -22.350482940673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3339,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_283082723",
+      "mask_path": "../../mask/hdr_left_03339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03340.png",
+      "transform_matrix": [
+        [
+          0.8619866967201233,
+          -0.028486212715506554,
+          0.5061298608779907,
+          38.8633918762207
+        ],
+        [
+          -0.5063996911048889,
+          -0.0026910402812063694,
+          0.8622946739196777,
+          23.16062355041504
+        ],
+        [
+          -0.023201491683721542,
+          -0.9995905756950378,
+          -0.01674504764378071,
+          -22.355844497680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3340,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_383083343",
+      "mask_path": "../../mask/hdr_left_03340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03341.png",
+      "transform_matrix": [
+        [
+          0.8618417978286743,
+          -0.026702675968408585,
+          0.5064737796783447,
+          38.931453704833984
+        ],
+        [
+          -0.5065242052078247,
+          0.005338659975677729,
+          0.8622092008590698,
+          23.14706039428711
+        ],
+        [
+          -0.025727180764079094,
+          -0.9996291995048523,
+          -0.008924468420445919,
+          -22.374534606933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3341,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_483082294",
+      "mask_path": "../../mask/hdr_left_03341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03342.png",
+      "transform_matrix": [
+        [
+          0.858680784702301,
+          -0.02965654246509075,
+          0.5116519331932068,
+          38.983436584472656
+        ],
+        [
+          -0.5116929411888123,
+          0.006765772122889757,
+          0.8591417074203491,
+          23.13157844543457
+        ],
+        [
+          -0.028940893709659576,
+          -0.9995372891426086,
+          -0.009365398436784744,
+          -22.378015518188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3342,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_583082914",
+      "mask_path": "../../mask/hdr_left_03342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03343.png",
+      "transform_matrix": [
+        [
+          0.8536592721939087,
+          -0.029916679486632347,
+          0.5199719071388245,
+          39.044654846191406
+        ],
+        [
+          -0.5200209617614746,
+          0.006729193963110447,
+          0.8541269898414612,
+          23.103389739990234
+        ],
+        [
+          -0.029051635414361954,
+          -0.9995297789573669,
+          -0.009812858887016773,
+          -22.36380958557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3343,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_683081388",
+      "mask_path": "../../mask/hdr_left_03343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03344.png",
+      "transform_matrix": [
+        [
+          0.8470466732978821,
+          -0.021038981154561043,
+          0.5311018824577332,
+          39.09810256958008
+        ],
+        [
+          -0.5309411287307739,
+          0.01306666899472475,
+          0.8473079800605774,
+          23.07647705078125
+        ],
+        [
+          -0.02476622723042965,
+          -0.9996933341026306,
+          -0.0001023782606353052,
+          -22.355792999267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3344,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_783083200",
+      "mask_path": "../../mask/hdr_left_03344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03345.png",
+      "transform_matrix": [
+        [
+          0.8414438366889954,
+          -0.018817966803908348,
+          0.5400168299674988,
+          39.18087387084961
+        ],
+        [
+          -0.5398058295249939,
+          0.015342785976827145,
+          0.8416497111320496,
+          23.042495727539062
+        ],
+        [
+          -0.024123497307300568,
+          -0.9997052550315857,
+          0.0027520477306097746,
+          -22.34920883178711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3345,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_883081674",
+      "mask_path": "../../mask/hdr_left_03345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03346.png",
+      "transform_matrix": [
+        [
+          0.8395209908485413,
+          -0.022158393636345863,
+          0.5428750514984131,
+          39.259952545166016
+        ],
+        [
+          -0.5427670478820801,
+          0.011151447892189026,
+          0.8398091793060303,
+          23.023468017578125
+        ],
+        [
+          -0.024662666022777557,
+          -0.9996923208236694,
+          -0.0026649674400687218,
+          -22.3575439453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3346,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_983081579",
+      "mask_path": "../../mask/hdr_left_03346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03348.png",
+      "transform_matrix": [
+        [
+          0.8375318050384521,
+          -0.022531742230057716,
+          0.5459237694740295,
+          39.361576080322266
+        ],
+        [
+          -0.5458203554153442,
+          0.01105448417365551,
+          0.8378293514251709,
+          22.986082077026367
+        ],
+        [
+          -0.02491266094148159,
+          -0.9996850490570068,
+          -0.0030397961381822824,
+          -22.378578186035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3348,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_183081150",
+      "mask_path": "../../mask/hdr_left_03348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03349.png",
+      "transform_matrix": [
+        [
+          0.8351067900657654,
+          -0.023499589413404465,
+          0.5495856404304504,
+          39.41704559326172
+        ],
+        [
+          -0.5493864417076111,
+          0.01480189710855484,
+          0.8354371786117554,
+          22.96979331970215
+        ],
+        [
+          -0.02776734158396721,
+          -0.9996142387390137,
+          -0.0005491913761943579,
+          -22.379804611206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3349,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_283082008",
+      "mask_path": "../../mask/hdr_left_03349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03351.png",
+      "transform_matrix": [
+        [
+          0.838433027267456,
+          -0.016933629289269447,
+          0.5447414517402649,
+          39.48967742919922
+        ],
+        [
+          -0.5445592999458313,
+          0.014364234171807766,
+          0.8385993242263794,
+          22.943925857543945
+        ],
+        [
+          -0.022025322541594505,
+          -0.999753475189209,
+          0.0028220866806805134,
+          -22.37502670288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3351,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_483082532",
+      "mask_path": "../../mask/hdr_left_03351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03353.png",
+      "transform_matrix": [
+        [
+          0.84651118516922,
+          -0.012139563448727131,
+          0.5322324633598328,
+          39.58233642578125
+        ],
+        [
+          -0.5318963527679443,
+          0.022915499284863472,
+          0.8464992642402649,
+          22.911373138427734
+        ],
+        [
+          -0.022472504526376724,
+          -0.999663770198822,
+          0.012941237539052963,
+          -22.371686935424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3353,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_683082342",
+      "mask_path": "../../mask/hdr_left_03353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03355.png",
+      "transform_matrix": [
+        [
+          0.8622273206710815,
+          -0.018723012879490852,
+          0.5061752200126648,
+          39.665592193603516
+        ],
+        [
+          -0.5059729814529419,
+          0.014652775600552559,
+          0.862424910068512,
+          22.880542755126953
+        ],
+        [
+          -0.023564064875245094,
+          -0.9997173547744751,
+          0.003160686930641532,
+          -22.378305435180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3355,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_883081912",
+      "mask_path": "../../mask/hdr_left_03355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03357.png",
+      "transform_matrix": [
+        [
+          0.879763126373291,
+          -0.01661519519984722,
+          0.4751216471195221,
+          39.7258186340332
+        ],
+        [
+          -0.47501933574676514,
+          0.00989610143005848,
+          0.8799196481704712,
+          22.890594482421875
+        ],
+        [
+          -0.01932189054787159,
+          -0.9998130798339844,
+          0.0008136911201290786,
+          -22.412832260131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3357,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_83081722",
+      "mask_path": "../../mask/hdr_left_03357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03358.png",
+      "transform_matrix": [
+        [
+          0.8873216509819031,
+          -0.015452016144990921,
+          0.46089181303977966,
+          39.79169464111328
+        ],
+        [
+          -0.4607924818992615,
+          0.009681596420705318,
+          0.8874551653862,
+          22.88460922241211
+        ],
+        [
+          -0.018175140023231506,
+          -0.9998337626457214,
+          0.0014705201610922813,
+          -22.399789810180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3358,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_183082580",
+      "mask_path": "../../mask/hdr_left_03358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03359.png",
+      "transform_matrix": [
+        [
+          0.8920323848724365,
+          -0.012252307496964931,
+          0.45180538296699524,
+          39.85375213623047
+        ],
+        [
+          -0.451698362827301,
+          0.010577501729130745,
+          0.8921080231666565,
+          22.87399673461914
+        ],
+        [
+          -0.015709353610873222,
+          -0.9998690485954285,
+          0.0039011293556541204,
+          -22.37618637084961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3359,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_283082008",
+      "mask_path": "../../mask/hdr_left_03359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03361.png",
+      "transform_matrix": [
+        [
+          0.9009481072425842,
+          0.0007194256177172065,
+          0.4339263439178467,
+          39.942020416259766
+        ],
+        [
+          -0.4338473379611969,
+          0.02064916118979454,
+          0.9007497429847717,
+          22.858766555786133
+        ],
+        [
+          -0.008312192745506763,
+          -0.9997866153717041,
+          0.018915943801403046,
+          -22.378089904785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3361,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_483081579",
+      "mask_path": "../../mask/hdr_left_03361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03751.png",
+      "transform_matrix": [
+        [
+          0.9249523282051086,
+          0.0398600809276104,
+          0.3779871463775635,
+          40.40483474731445
+        ],
+        [
+          -0.3791685700416565,
+          0.027822531759738922,
+          0.9249092936515808,
+          22.83681297302246
+        ],
+        [
+          0.026350392028689384,
+          -0.9988178610801697,
+          0.04084820672869682,
+          -22.35091781616211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3751,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_483082771",
+      "mask_path": "../../mask/hdr_left_03751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03753.png",
+      "transform_matrix": [
+        [
+          0.9246442317962646,
+          0.04295756667852402,
+          0.378401517868042,
+          40.48213577270508
+        ],
+        [
+          -0.37943780422210693,
+          0.018972201272845268,
+          0.9250227212905884,
+          22.804733276367188
+        ],
+        [
+          0.03255761042237282,
+          -0.9988968372344971,
+          0.033842261880636215,
+          -22.350290298461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3753,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_683082103",
+      "mask_path": "../../mask/hdr_left_03753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03754.png",
+      "transform_matrix": [
+        [
+          0.9279343485832214,
+          0.036369308829307556,
+          0.37096506357192993,
+          40.53557586669922
+        ],
+        [
+          -0.3716058135032654,
+          0.012561904266476631,
+          0.9283056259155273,
+          22.787254333496094
+        ],
+        [
+          0.02910180203616619,
+          -0.9992595314979553,
+          0.0251716710627079,
+          -22.339780807495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3754,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_783080339",
+      "mask_path": "../../mask/hdr_left_03754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03756.png",
+      "transform_matrix": [
+        [
+          0.9337912797927856,
+          0.030918819829821587,
+          0.3564797341823578,
+          40.607418060302734
+        ],
+        [
+          -0.3567674160003662,
+          0.004159513860940933,
+          0.9341839551925659,
+          22.760345458984375
+        ],
+        [
+          0.02740108221769333,
+          -0.9995133280754089,
+          0.01491494756191969,
+          -22.34912872314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3756,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_983081102",
+      "mask_path": "../../mask/hdr_left_03756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03757.png",
+      "transform_matrix": [
+        [
+          0.932996928691864,
+          0.029643479734659195,
+          0.3586612343788147,
+          40.65974426269531
+        ],
+        [
+          -0.3589373230934143,
+          0.004401960410177708,
+          0.9333513379096985,
+          22.734939575195312
+        ],
+        [
+          0.026088962331414223,
+          -0.9995508790016174,
+          0.014747166074812412,
+          -22.339693069458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3757,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_83080768",
+      "mask_path": "../../mask/hdr_left_03757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03759.png",
+      "transform_matrix": [
+        [
+          0.9284813404083252,
+          0.036368537694215775,
+          0.36959391832351685,
+          40.74008560180664
+        ],
+        [
+          -0.36995670199394226,
+          0.003562868107110262,
+          0.9290421605110168,
+          22.70809555053711
+        ],
+        [
+          0.03247109428048134,
+          -0.9993321895599365,
+          0.01676284521818161,
+          -22.331666946411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3759,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_283081293",
+      "mask_path": "../../mask/hdr_left_03759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03760.png",
+      "transform_matrix": [
+        [
+          0.9276596903800964,
+          0.03432294726371765,
+          0.3718458414077759,
+          40.79471969604492
+        ],
+        [
+          -0.3721787631511688,
+          0.003644689219072461,
+          0.9281538724899292,
+          22.696290969848633
+        ],
+        [
+          0.03050171211361885,
+          -0.9994041323661804,
+          0.0161553043872118,
+          -22.328989028930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3760,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_383081436",
+      "mask_path": "../../mask/hdr_left_03760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03763.png",
+      "transform_matrix": [
+        [
+          0.93282550573349,
+          0.022938180714845657,
+          0.3595975935459137,
+          40.926509857177734
+        ],
+        [
+          -0.35956135392189026,
+          -0.005826596636325121,
+          0.9331032633781433,
+          22.68416404724121
+        ],
+        [
+          0.023498915135860443,
+          -0.9997199773788452,
+          0.00281248870305717,
+          -22.34151840209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3763,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_683079004",
+      "mask_path": "../../mask/hdr_left_03763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03765.png",
+      "transform_matrix": [
+        [
+          0.9323650598526001,
+          0.014925275929272175,
+          0.36120980978012085,
+          40.99742126464844
+        ],
+        [
+          -0.3612503111362457,
+          1.585412428539712e-05,
+          0.9324688911437988,
+          22.66788673400879
+        ],
+        [
+          0.013911626301705837,
+          -0.9998885989189148,
+          0.005406543612480164,
+          -22.334388732910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3765,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_883079528",
+      "mask_path": "../../mask/hdr_left_03765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03767.png",
+      "transform_matrix": [
+        [
+          0.9364763498306274,
+          0.023831095546483994,
+          0.3499201834201813,
+          41.07442092895508
+        ],
+        [
+          -0.3500131070613861,
+          -0.00029002828523516655,
+          0.936744749546051,
+          22.65213394165039
+        ],
+        [
+          0.022425135597586632,
+          -0.9997159838676453,
+          0.008069592528045177,
+          -22.322649002075195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3767,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_83079099",
+      "mask_path": "../../mask/hdr_left_03767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03768.png",
+      "transform_matrix": [
+        [
+          0.9383516907691956,
+          0.025040308013558388,
+          0.34477394819259644,
+          41.12606430053711
+        ],
+        [
+          -0.3449595272541046,
+          0.0033782620448619127,
+          0.9386115074157715,
+          22.643211364746094
+        ],
+        [
+          0.0223383828997612,
+          -0.999680757522583,
+          0.011807894334197044,
+          -22.321699142456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3768,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_183078289",
+      "mask_path": "../../mask/hdr_left_03768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03770.png",
+      "transform_matrix": [
+        [
+          0.9453275799751282,
+          0.018632397055625916,
+          0.32558929920196533,
+          41.21132278442383
+        ],
+        [
+          -0.32544586062431335,
+          -0.010357467457652092,
+          0.9455038905143738,
+          22.63433074951172
+        ],
+        [
+          0.020989282056689262,
+          -0.9997727870941162,
+          -0.0037273596972227097,
+          -22.31641960144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3770,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_383081912",
+      "mask_path": "../../mask/hdr_left_03770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03772.png",
+      "transform_matrix": [
+        [
+          0.9503006935119629,
+          0.01613480970263481,
+          0.3109152317047119,
+          41.29623794555664
+        ],
+        [
+          -0.310776025056839,
+          -0.010581078939139843,
+          0.9504242539405823,
+          22.627866744995117
+        ],
+        [
+          0.01862473227083683,
+          -0.9998138546943665,
+          -0.005040894728153944,
+          -22.32309913635254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3772,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_583079814",
+      "mask_path": "../../mask/hdr_left_03772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03774.png",
+      "transform_matrix": [
+        [
+          0.950176477432251,
+          0.02180485613644123,
+          0.31094890832901,
+          41.38346481323242
+        ],
+        [
+          -0.31086352467536926,
+          -0.007288529071956873,
+          0.9504266381263733,
+          22.61785888671875
+        ],
+        [
+          0.0229902733117342,
+          -0.9997357130050659,
+          -0.00014705352077726275,
+          -22.311309814453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3774,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_783078908",
+      "mask_path": "../../mask/hdr_left_03774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03776.png",
+      "transform_matrix": [
+        [
+          0.9477318525314331,
+          0.027860991656780243,
+          0.31784889101982117,
+          41.44906234741211
+        ],
+        [
+          -0.3180069327354431,
+          0.0013203454436734319,
+          0.9480873942375183,
+          22.615190505981445
+        ],
+        [
+          0.025994982570409775,
+          -0.9996110200881958,
+          0.010111327283084393,
+          -22.309185028076172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3776,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_983078002",
+      "mask_path": "../../mask/hdr_left_03776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03778.png",
+      "transform_matrix": [
+        [
+          0.9524203538894653,
+          0.013698786497116089,
+          0.3044798672199249,
+          41.51853561401367
+        ],
+        [
+          -0.30436277389526367,
+          -0.009996450506150723,
+          0.9525037407875061,
+          22.61366081237793
+        ],
+        [
+          0.016091862693428993,
+          -0.999856173992157,
+          -0.005351417697966099,
+          -22.30790138244629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3778,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_183081626",
+      "mask_path": "../../mask/hdr_left_03778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03780.png",
+      "transform_matrix": [
+        [
+          0.95529705286026,
+          0.011592102237045765,
+          0.2954203188419342,
+          41.573158264160156
+        ],
+        [
+          -0.2953341603279114,
+          -0.008591294288635254,
+          0.9553553462028503,
+          22.61328887939453
+        ],
+        [
+          0.013612618669867516,
+          -0.9998959302902222,
+          -0.0047836932353675365,
+          -22.32356071472168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3780,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_383082628",
+      "mask_path": "../../mask/hdr_left_03780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03781.png",
+      "transform_matrix": [
+        [
+          0.9542736411094666,
+          0.012117746286094189,
+          0.29868873953819275,
+          41.62406921386719
+        ],
+        [
+          -0.298615425825119,
+          -0.007505136076360941,
+          0.9543439149856567,
+          22.602401733398438
+        ],
+        [
+          0.013806196860969067,
+          -0.9998984336853027,
+          -0.003543405793607235,
+          -22.3116397857666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3781,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_483082532",
+      "mask_path": "../../mask/hdr_left_03781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03783.png",
+      "transform_matrix": [
+        [
+          0.950168788433075,
+          0.018290910869836807,
+          0.3111986219882965,
+          41.709049224853516
+        ],
+        [
+          -0.31116971373558044,
+          -0.004477938637137413,
+          0.9503437876701355,
+          22.591428756713867
+        ],
+        [
+          0.0187761802226305,
+          -0.9998226761817932,
+          0.0014367817202582955,
+          -22.310529708862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3783,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_683080911",
+      "mask_path": "../../mask/hdr_left_03783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03785.png",
+      "transform_matrix": [
+        [
+          0.95075923204422,
+          0.021826565265655518,
+          0.30916067957878113,
+          41.790069580078125
+        ],
+        [
+          -0.30923008918762207,
+          -0.00020463594410102814,
+          0.9509871602058411,
+          22.585031509399414
+        ],
+        [
+          0.020820047706365585,
+          -0.9997617602348328,
+          0.006554872263222933,
+          -22.287721633911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3785,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_883081674",
+      "mask_path": "../../mask/hdr_left_03785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03817.png",
+      "transform_matrix": [
+        [
+          0.9597104787826538,
+          0.02511621080338955,
+          0.2798658311367035,
+          41.89938735961914
+        ],
+        [
+          -0.2799004018306732,
+          -0.00219940603710711,
+          0.9600264430046082,
+          22.605295181274414
+        ],
+        [
+          0.02472776360809803,
+          -0.9996821880340576,
+          0.004919247701764107,
+          -22.285198211669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3817,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_83081483",
+      "mask_path": "../../mask/hdr_left_03817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03819.png",
+      "transform_matrix": [
+        [
+          0.9608033299446106,
+          0.022464558482170105,
+          0.27631932497024536,
+          41.984554290771484
+        ],
+        [
+          -0.27629518508911133,
+          -0.004232377279549837,
+          0.9610634446144104,
+          22.617122650146484
+        ],
+        [
+          0.02275935187935829,
+          -0.9997387528419495,
+          0.002140371361747384,
+          -22.29276466369629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3819,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_283081769",
+      "mask_path": "../../mask/hdr_left_03819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03820.png",
+      "transform_matrix": [
+        [
+          0.9591136574745178,
+          0.02513743005692959,
+          0.2819027602672577,
+          42.0369758605957
+        ],
+        [
+          -0.28194868564605713,
+          -0.0017715753056108952,
+          0.9594278931617737,
+          22.613386154174805
+        ],
+        [
+          0.02461695857346058,
+          -0.9996824860572815,
+          0.005388323683291674,
+          -22.28148651123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3820,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_383079528",
+      "mask_path": "../../mask/hdr_left_03820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03821.png",
+      "transform_matrix": [
+        [
+          0.9557837247848511,
+          0.032801706343889236,
+          0.29223525524139404,
+          42.087677001953125
+        ],
+        [
+          -0.2923659682273865,
+          -0.0008448085281997919,
+          0.9563060998916626,
+          22.608354568481445
+        ],
+        [
+          0.03161535784602165,
+          -0.9994615912437439,
+          0.008782653138041496,
+          -22.270723342895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3821,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_483078718",
+      "mask_path": "../../mask/hdr_left_03821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03823.png",
+      "transform_matrix": [
+        [
+          0.9520572423934937,
+          0.039675042033195496,
+          0.3033362329006195,
+          42.19163131713867
+        ],
+        [
+          -0.3032972812652588,
+          -0.007143742870539427,
+          0.952869176864624,
+          22.61353874206543
+        ],
+        [
+          0.039972081780433655,
+          -0.9991872310638428,
+          0.005232083145529032,
+          -22.270475387573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3823,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_683081388",
+      "mask_path": "../../mask/hdr_left_03823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03825.png",
+      "transform_matrix": [
+        [
+          0.954180121421814,
+          0.030771272256970406,
+          0.29764634370803833,
+          42.2954216003418
+        ],
+        [
+          -0.2972218990325928,
+          -0.01765967532992363,
+          0.9546450972557068,
+          22.610698699951172
+        ],
+        [
+          0.03463197872042656,
+          -0.9993705153465271,
+          -0.007704609073698521,
+          -22.282875061035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3825,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_883081436",
+      "mask_path": "../../mask/hdr_left_03825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03827.png",
+      "transform_matrix": [
+        [
+          0.9507307410240173,
+          0.022107630968093872,
+          0.30922839045524597,
+          42.369285583496094
+        ],
+        [
+          -0.3088749051094055,
+          -0.018016710877418518,
+          0.9509320855140686,
+          22.587793350219727
+        ],
+        [
+          0.0265941321849823,
+          -0.9995932579040527,
+          -0.010300546884536743,
+          -22.27684211730957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3827,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323645_83080768",
+      "mask_path": "../../mask/hdr_left_03827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03830.png",
+      "transform_matrix": [
+        [
+          0.9423611760139465,
+          0.02745925262570381,
+          0.33346864581108093,
+          42.434532165527344
+        ],
+        [
+          -0.3331962525844574,
+          -0.014095425605773926,
+          0.9427521228790283,
+          22.561113357543945
+        ],
+        [
+          0.03058764897286892,
+          -0.9995235800743103,
+          -0.004133662208914757,
+          -22.266578674316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3830,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323645_383079528",
+      "mask_path": "../../mask/hdr_left_03830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03837.png",
+      "transform_matrix": [
+        [
+          0.930877149105072,
+          0.03495034575462341,
+          0.3636566698551178,
+          42.488155364990234
+        ],
+        [
+          -0.3625754117965698,
+          -0.033674631267786026,
+          0.9313458204269409,
+          22.521509170532227
+        ],
+        [
+          0.04479685798287392,
+          -0.9988216161727905,
+          -0.018674803897738457,
+          -22.246238708496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3837,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_83079338",
+      "mask_path": "../../mask/hdr_left_03837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03839.png",
+      "transform_matrix": [
+        [
+          0.9274596571922302,
+          0.032547011971473694,
+          0.3725041151046753,
+          42.568077087402344
+        ],
+        [
+          -0.3714110553264618,
+          -0.03509948030114174,
+          0.9278049468994141,
+          22.489341735839844
+        ],
+        [
+          0.043271973729133606,
+          -0.9988537430763245,
+          -0.020465034991502762,
+          -22.24541473388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3839,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_283079862",
+      "mask_path": "../../mask/hdr_left_03839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03841.png",
+      "transform_matrix": [
+        [
+          0.930198609828949,
+          0.025107698515057564,
+          0.3661966919898987,
+          42.65426254272461
+        ],
+        [
+          -0.36487653851509094,
+          -0.04531770944595337,
+          0.9299523234367371,
+          22.483013153076172
+        ],
+        [
+          0.039944157004356384,
+          -0.9986571073532104,
+          -0.03299326449632645,
+          -22.269926071166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3841,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_483079910",
+      "mask_path": "../../mask/hdr_left_03841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03843.png",
+      "transform_matrix": [
+        [
+          0.9281614422798157,
+          0.017124919220805168,
+          0.3717837333679199,
+          42.74248504638672
+        ],
+        [
+          -0.3709913194179535,
+          -0.03713320195674896,
+          0.9278935790061951,
+          22.4448184967041
+        ],
+        [
+          0.029695618897676468,
+          -0.9991635680198669,
+          -0.028112396597862244,
+          -22.255298614501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3843,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_683079957",
+      "mask_path": "../../mask/hdr_left_03843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03845.png",
+      "transform_matrix": [
+        [
+          0.9223672747612,
+          0.02499512955546379,
+          0.38550451397895813,
+          42.823421478271484
+        ],
+        [
+          -0.3850560188293457,
+          -0.02098219096660614,
+          0.9226546287536621,
+          22.43062400817871
+        ],
+        [
+          0.03115059807896614,
+          -0.9994673728942871,
+          -0.009728752076625824,
+          -22.252758026123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3845,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_883080005",
+      "mask_path": "../../mask/hdr_left_03845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03846.png",
+      "transform_matrix": [
+        [
+          0.9228060245513916,
+          0.024977462366223335,
+          0.38445448875427246,
+          42.89259719848633
+        ],
+        [
+          -0.3841518461704254,
+          -0.016147427260875702,
+          0.9231286644935608,
+          22.422414779663086
+        ],
+        [
+          0.02926536090672016,
+          -0.999557614326477,
+          -0.005305799655616283,
+          -22.245424270629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3846,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_983079433",
+      "mask_path": "../../mask/hdr_left_03846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03847.png",
+      "transform_matrix": [
+        [
+          0.9274988770484924,
+          0.022934485226869583,
+          0.37312155961990356,
+          42.94828414916992
+        ],
+        [
+          -0.3727969527244568,
+          -0.01725340075790882,
+          0.9277525544166565,
+          22.426332473754883
+        ],
+        [
+          0.02771514095366001,
+          -0.999588131904602,
+          -0.007452602498233318,
+          -22.252710342407227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3847,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_83083152",
+      "mask_path": "../../mask/hdr_left_03847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03849.png",
+      "transform_matrix": [
+        [
+          0.9437752962112427,
+          0.015068509615957737,
+          0.3302437961101532,
+          43.00493240356445
+        ],
+        [
+          -0.33019939064979553,
+          -0.005418448243290186,
+          0.9438956379890442,
+          22.444908142089844
+        ],
+        [
+          0.016012508422136307,
+          -0.9998718500137329,
+          -0.00013818388106301427,
+          -22.262893676757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3849,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_283081293",
+      "mask_path": "../../mask/hdr_left_03849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03851.png",
+      "transform_matrix": [
+        [
+          0.9535287618637085,
+          0.014043024741113186,
+          0.30097466707229614,
+          43.06589889526367
+        ],
+        [
+          -0.30100780725479126,
+          0.0002595124242361635,
+          0.9536216259002686,
+          22.453533172607422
+        ],
+        [
+          0.013313625939190388,
+          -0.9999014139175415,
+          0.004474513698369265,
+          -22.250730514526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3851,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_483081579",
+      "mask_path": "../../mask/hdr_left_03851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03853.png",
+      "transform_matrix": [
+        [
+          0.951943576335907,
+          0.01647302322089672,
+          0.30583006143569946,
+          43.153629302978516
+        ],
+        [
+          -0.3060126006603241,
+          0.009955462999641895,
+          0.951975405216217,
+          22.447919845581055
+        ],
+        [
+          0.01263723149895668,
+          -0.9998147487640381,
+          0.014517993666231632,
+          -22.254045486450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3853,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_683082342",
+      "mask_path": "../../mask/hdr_left_03853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03855.png",
+      "transform_matrix": [
+        [
+          0.9527367949485779,
+          0.0034586177207529545,
+          0.3037773370742798,
+          43.254371643066406
+        ],
+        [
+          -0.30376434326171875,
+          -0.0038227529730647802,
+          0.9527394771575928,
+          22.441139221191406
+        ],
+        [
+          0.004456425551325083,
+          -0.9999867677688599,
+          -0.00259146885946393,
+          -22.25889015197754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3855,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_883083581",
+      "mask_path": "../../mask/hdr_left_03855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03857.png",
+      "transform_matrix": [
+        [
+          0.953589141368866,
+          -0.006086491979658604,
+          0.3010491728782654,
+          43.356536865234375
+        ],
+        [
+          -0.301067590713501,
+          -0.0023611222859472036,
+          0.9535998702049255,
+          22.431489944458008
+        ],
+        [
+          -0.005093263927847147,
+          -0.9999787211418152,
+          -0.004083987325429916,
+          -22.270523071289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3857,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_83081245",
+      "mask_path": "../../mask/hdr_left_03857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03858.png",
+      "transform_matrix": [
+        [
+          0.952078640460968,
+          -0.008473510853946209,
+          0.30573588609695435,
+          43.4288215637207
+        ],
+        [
+          -0.3057604432106018,
+          -0.0017402563244104385,
+          0.9521068930625916,
+          22.42173957824707
+        ],
+        [
+          -0.007535629440099001,
+          -0.9999626278877258,
+          -0.004247723612934351,
+          -22.269248962402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3858,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_183079481",
+      "mask_path": "../../mask/hdr_left_03858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03859.png",
+      "transform_matrix": [
+        [
+          0.9489378929138184,
+          -0.008005698211491108,
+          0.3153612017631531,
+          43.484493255615234
+        ],
+        [
+          -0.3154117465019226,
+          -0.006093326956033707,
+          0.948935329914093,
+          22.409793853759766
+        ],
+        [
+          -0.005675291642546654,
+          -0.9999494552612305,
+          -0.008307276293635368,
+          -22.26555633544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3859,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_283081769",
+      "mask_path": "../../mask/hdr_left_03859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03860.png",
+      "transform_matrix": [
+        [
+          0.9445238709449768,
+          -0.006382415071129799,
+          0.32838067412376404,
+          43.552146911621094
+        ],
+        [
+          -0.3284294903278351,
+          -0.009395102970302105,
+          0.9444817900657654,
+          22.39853858947754
+        ],
+        [
+          -0.0029429050628095865,
+          -0.999935507774353,
+          -0.010970067232847214,
+          -22.279052734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3860,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_383082151",
+      "mask_path": "../../mask/hdr_left_03860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03861.png",
+      "transform_matrix": [
+        [
+          0.9413570165634155,
+          -0.0033300197683274746,
+          0.33739569783210754,
+          43.643863677978516
+        ],
+        [
+          -0.3374117612838745,
+          -0.007875816896557808,
+          0.9413242340087891,
+          22.38230323791504
+        ],
+        [
+          -0.00047736201668158174,
+          -0.9999634623527527,
+          -0.008537542074918747,
+          -22.282546997070312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3861,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_483082294",
+      "mask_path": "../../mask/hdr_left_03861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03862.png",
+      "transform_matrix": [
+        [
+          0.9412953853607178,
+          -0.003799928119406104,
+          0.33756253123283386,
+          43.72677230834961
+        ],
+        [
+          -0.3375837802886963,
+          -0.009763184934854507,
+          0.9412448406219482,
+          22.368640899658203
+        ],
+        [
+          -0.0002809780999086797,
+          -0.9999451637268066,
+          -0.01047283224761486,
+          -22.271202087402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3862,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_583081960",
+      "mask_path": "../../mask/hdr_left_03862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03863.png",
+      "transform_matrix": [
+        [
+          0.9423931837081909,
+          -0.004336323589086533,
+          0.33447912335395813,
+          43.794090270996094
+        ],
+        [
+          -0.3345065712928772,
+          -0.014168040826916695,
+          0.9422869086265564,
+          22.36762809753418
+        ],
+        [
+          0.0006528525264002383,
+          -0.9998902678489685,
+          -0.014802391640841961,
+          -22.272991180419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3863,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_683082818",
+      "mask_path": "../../mask/hdr_left_03863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03864.png",
+      "transform_matrix": [
+        [
+          0.9434272646903992,
+          -0.004696601536124945,
+          0.3315463364124298,
+          43.87656021118164
+        ],
+        [
+          -0.33156999945640564,
+          -0.005744556430727243,
+          0.9434131979942322,
+          22.359596252441406
+        ],
+        [
+          -0.0025262499693781137,
+          -0.9999725222587585,
+          -0.006976819131523371,
+          -22.283588409423828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3864,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_783082962",
+      "mask_path": "../../mask/hdr_left_03864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03865.png",
+      "transform_matrix": [
+        [
+          0.9444417953491211,
+          -0.007697911001741886,
+          0.32858842611312866,
+          43.970909118652344
+        ],
+        [
+          -0.32860368490219116,
+          -0.0007750751101411879,
+          0.9444675445556641,
+          22.3363094329834
+        ],
+        [
+          -0.007015745621174574,
+          -0.9999700784683228,
+          -0.0032615745440125465,
+          -22.28000831604004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3865,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_883081197",
+      "mask_path": "../../mask/hdr_left_03865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03866.png",
+      "transform_matrix": [
+        [
+          0.946099579334259,
+          -0.008626204915344715,
+          0.3237607181072235,
+          44.03749084472656
+        ],
+        [
+          -0.3237870931625366,
+          -0.001821983838453889,
+          0.946128249168396,
+          22.321765899658203
+        ],
+        [
+          -0.007571609690785408,
+          -0.9999611973762512,
+          -0.004516832530498505,
+          -22.27897071838379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3866,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_983081102",
+      "mask_path": "../../mask/hdr_left_03866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03867.png",
+      "transform_matrix": [
+        [
+          0.9484361410140991,
+          -0.0049706753343343735,
+          0.3169291615486145,
+          44.09567642211914
+        ],
+        [
+          -0.3169306218624115,
+          0.000513957638759166,
+          0.9484485983848572,
+          22.310104370117188
+        ],
+        [
+          -0.004877317231148481,
+          -0.9999875426292419,
+          -0.0010879022302106023,
+          -22.278818130493164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3867,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_83080291",
+      "mask_path": "../../mask/hdr_left_03867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03868.png",
+      "transform_matrix": [
+        [
+          0.9537363052368164,
+          -0.007530245929956436,
+          0.3005498945713043,
+          44.173397064208984
+        ],
+        [
+          -0.3005572557449341,
+          0.00016535418399143964,
+          0.9537637233734131,
+          22.307498931884766
+        ],
+        [
+          -0.007231774274259806,
+          -0.9999716877937317,
+          -0.0021055617835372686,
+          -22.27741050720215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3868,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_183080673",
+      "mask_path": "../../mask/hdr_left_03868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03869.png",
+      "transform_matrix": [
+        [
+          0.9623984694480896,
+          -0.012611817568540573,
+          0.2713487446308136,
+          44.25848388671875
+        ],
+        [
+          -0.27144619822502136,
+          -0.006761549971997738,
+          0.962429940700531,
+          22.31689453125
+        ],
+        [
+          -0.010303249582648277,
+          -0.9998976588249207,
+          -0.00993073359131813,
+          -22.27033233642578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3869,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_283081293",
+      "mask_path": "../../mask/hdr_left_03869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03870.png",
+      "transform_matrix": [
+        [
+          0.9707562327384949,
+          -0.014559343457221985,
+          0.23962557315826416,
+          44.32798385620117
+        ],
+        [
+          -0.23977512121200562,
+          -0.009556402452290058,
+          0.9707813858985901,
+          22.329126358032227
+        ],
+        [
+          -0.01184398028999567,
+          -0.9998483657836914,
+          -0.01276790164411068,
+          -22.274307250976562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3870,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_383080959",
+      "mask_path": "../../mask/hdr_left_03870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03871.png",
+      "transform_matrix": [
+        [
+          0.977401614189148,
+          -0.016550060361623764,
+          0.21074220538139343,
+          44.392723083496094
+        ],
+        [
+          -0.21083401143550873,
+          -0.003993095830082893,
+          0.9775137901306152,
+          22.340749740600586
+        ],
+        [
+          -0.015336397103965282,
+          -0.999855101108551,
+          -0.007392170839011669,
+          -22.289470672607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3871,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_483081102",
+      "mask_path": "../../mask/hdr_left_03871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03872.png",
+      "transform_matrix": [
+        [
+          0.9818143248558044,
+          -0.02289006859064102,
+          0.1884583681821823,
+          44.463294982910156
+        ],
+        [
+          -0.18842771649360657,
+          0.003508834633976221,
+          0.9820807576179504,
+          22.34383773803711
+        ],
+        [
+          -0.02314116433262825,
+          -0.9997318387031555,
+          -0.000868096190970391,
+          -22.28238296508789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3872,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_583081483",
+      "mask_path": "../../mask/hdr_left_03872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03873.png",
+      "transform_matrix": [
+        [
+          0.9837469458580017,
+          -0.02469734102487564,
+          0.17785342037677765,
+          44.52572250366211
+        ],
+        [
+          -0.1777193546295166,
+          0.007539121434092522,
+          0.984052300453186,
+          22.349525451660156
+        ],
+        [
+          -0.02564433217048645,
+          -0.9996666312217712,
+          0.0030273939482867718,
+          -22.271047592163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3873,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_683081388",
+      "mask_path": "../../mask/hdr_left_03873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03874.png",
+      "transform_matrix": [
+        [
+          0.9832567572593689,
+          -0.020117901265621185,
+          0.18111109733581543,
+          44.5837287902832
+        ],
+        [
+          -0.18086294829845428,
+          0.013551958836615086,
+          0.9834149479866028,
+          22.352073669433594
+        ],
+        [
+          -0.022238653153181076,
+          -0.9997057914733887,
+          0.009686477482318878,
+          -22.275362014770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3874,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_783080339",
+      "mask_path": "../../mask/hdr_left_03874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03875.png",
+      "transform_matrix": [
+        [
+          0.9813952445983887,
+          -0.01563073694705963,
+          0.19136105477809906,
+          44.64386749267578
+        ],
+        [
+          -0.19109664857387543,
+          0.016961807385087013,
+          0.9814245700836182,
+          22.347803115844727
+        ],
+        [
+          -0.01858622021973133,
+          -0.9997339844703674,
+          0.013659258373081684,
+          -22.279510498046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3875,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_883079290",
+      "mask_path": "../../mask/hdr_left_03875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03876.png",
+      "transform_matrix": [
+        [
+          0.9807010293006897,
+          -0.019772039726376534,
+          0.1945110559463501,
+          44.721675872802734
+        ],
+        [
+          -0.19440551102161407,
+          0.007145822048187256,
+          0.9808952808380127,
+          22.348134994506836
+        ],
+        [
+          -0.02078424021601677,
+          -0.9997790455818176,
+          0.003164124209433794,
+          -22.27577781677246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3876,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_983079910",
+      "mask_path": "../../mask/hdr_left_03876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03877.png",
+      "transform_matrix": [
+        [
+          0.9808768630027771,
+          -0.024903269484639168,
+          0.19302897155284882,
+          44.794830322265625
+        ],
+        [
+          -0.1931993067264557,
+          -0.00460247416049242,
+          0.9811487197875977,
+          22.358169555664062
+        ],
+        [
+          -0.02354539930820465,
+          -0.9996793270111084,
+          -0.009325751103460789,
+          -22.287464141845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3877,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_83078861",
+      "mask_path": "../../mask/hdr_left_03877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03879.png",
+      "transform_matrix": [
+        [
+          0.980607807636261,
+          -0.03176461160182953,
+          0.19338910281658173,
+          44.929100036621094
+        ],
+        [
+          -0.1937442570924759,
+          -0.008482333272695541,
+          0.9810154438018799,
+          22.3728084564209
+        ],
+        [
+          -0.02952118217945099,
+          -0.999459445476532,
+          -0.014472050592303276,
+          -22.303661346435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3879,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_283081293",
+      "mask_path": "../../mask/hdr_left_03879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03880.png",
+      "transform_matrix": [
+        [
+          0.9791920185089111,
+          -0.03517976030707359,
+          0.1998632401227951,
+          45.023643493652344
+        ],
+        [
+          -0.20025549829006195,
+          -0.007968202233314514,
+          0.9797112941741943,
+          22.368101119995117
+        ],
+        [
+          -0.03287345916032791,
+          -0.9993492960929871,
+          -0.014847335405647755,
+          -22.302106857299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3880,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_383080959",
+      "mask_path": "../../mask/hdr_left_03880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03881.png",
+      "transform_matrix": [
+        [
+          0.9771192669868469,
+          -0.03238009288907051,
+          0.21021254360675812,
+          45.09937286376953
+        ],
+        [
+          -0.2105630338191986,
+          -0.007784964982420206,
+          0.9775493144989014,
+          22.359634399414062
+        ],
+        [
+          -0.030016638338565826,
+          -0.999445378780365,
+          -0.014424891211092472,
+          -22.296180725097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3881,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_483081817",
+      "mask_path": "../../mask/hdr_left_03881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03882.png",
+      "transform_matrix": [
+        [
+          0.9744725227355957,
+          -0.027958814054727554,
+          0.2227589637041092,
+          45.18025588989258
+        ],
+        [
+          -0.2231174260377884,
+          -0.010392998345196247,
+          0.974736213684082,
+          22.36041831970215
+        ],
+        [
+          -0.024937331676483154,
+          -0.9995551109313965,
+          -0.016365785151720047,
+          -22.306787490844727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3882,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_583082675",
+      "mask_path": "../../mask/hdr_left_03882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06618.png",
+      "transform_matrix": [
+        [
+          -0.9117549657821655,
+          -0.0029711215756833553,
+          -0.41072386503219604,
+          44.82896423339844
+        ],
+        [
+          0.41067129373550415,
+          -0.024147750809788704,
+          -0.9114635586738586,
+          22.473812103271484
+        ],
+        [
+          -0.007209989242255688,
+          -0.9997040033340454,
+          0.023236988112330437,
+          -22.297863006591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6618,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_183082342",
+      "mask_path": "../../mask/hdr_left_06618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06619.png",
+      "transform_matrix": [
+        [
+          -0.9116272926330566,
+          -0.00848414283245802,
+          -0.4109300971031189,
+          44.735538482666016
+        ],
+        [
+          0.41101187467575073,
+          -0.013505853712558746,
+          -0.9115298986434937,
+          22.48346519470215
+        ],
+        [
+          0.002183586359024048,
+          -0.9998728632926941,
+          0.015799392014741898,
+          -22.298503875732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6619,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_283085823",
+      "mask_path": "../../mask/hdr_left_06619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06620.png",
+      "transform_matrix": [
+        [
+          -0.9124876856803894,
+          -0.011496076360344887,
+          -0.4089427590370178,
+          44.6751708984375
+        ],
+        [
+          0.40899738669395447,
+          -0.00277966121211648,
+          -0.912531316280365,
+          22.485322952270508
+        ],
+        [
+          0.009353806264698505,
+          -0.9999300837516785,
+          0.007238272111862898,
+          -22.303312301635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6620,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_383082389",
+      "mask_path": "../../mask/hdr_left_06620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06621.png",
+      "transform_matrix": [
+        [
+          -0.9122481346130371,
+          -0.013867258094251156,
+          -0.40940314531326294,
+          44.61419677734375
+        ],
+        [
+          0.4093932509422302,
+          0.003672997932881117,
+          -0.912350594997406,
+          22.492639541625977
+        ],
+        [
+          0.014155535027384758,
+          -0.9998971223831177,
+          0.002326478250324726,
+          -22.305706024169922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6621,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_483080148",
+      "mask_path": "../../mask/hdr_left_06621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06622.png",
+      "transform_matrix": [
+        [
+          -0.9101601243019104,
+          -0.007539127953350544,
+          -0.4141879081726074,
+          44.54743194580078
+        ],
+        [
+          0.4142344295978546,
+          -0.006234113592654467,
+          -0.9101488590240479,
+          22.500932693481445
+        ],
+        [
+          0.004279633983969688,
+          -0.9999522566795349,
+          0.008797010406851768,
+          -22.31032371520996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6622,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_583079814",
+      "mask_path": "../../mask/hdr_left_06622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06623.png",
+      "transform_matrix": [
+        [
+          -0.905884861946106,
+          -0.0025491612032055855,
+          -0.4235162138938904,
+          44.47754669189453
+        ],
+        [
+          0.42351990938186646,
+          -0.009784625843167305,
+          -0.9058339595794678,
+          22.515361785888672
+        ],
+        [
+          -0.0018348322482779622,
+          -0.9999489784240723,
+          0.009943369776010513,
+          -22.29949378967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6623,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_683082342",
+      "mask_path": "../../mask/hdr_left_06623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06624.png",
+      "transform_matrix": [
+        [
+          -0.9023863077163696,
+          -0.0027828013990074396,
+          -0.43091893196105957,
+          44.41241455078125
+        ],
+        [
+          0.43092793226242065,
+          -0.00557178258895874,
+          -0.9023691415786743,
+          22.53128433227539
+        ],
+        [
+          0.00011012655158992857,
+          -0.999980628490448,
+          0.006227089557796717,
+          -22.2917423248291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6624,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_783082008",
+      "mask_path": "../../mask/hdr_left_06624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06625.png",
+      "transform_matrix": [
+        [
+          -0.8988893628120422,
+          -0.007353197783231735,
+          -0.43811389803886414,
+          44.35139083862305
+        ],
+        [
+          0.4381686747074127,
+          -0.00948730856180191,
+          -0.8988426923751831,
+          22.5435848236084
+        ],
+        [
+          0.0024528445210307837,
+          -0.9999279379844666,
+          0.011749984696507454,
+          -22.29327392578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6625,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_883080959",
+      "mask_path": "../../mask/hdr_left_06625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06626.png",
+      "transform_matrix": [
+        [
+          -0.897167444229126,
+          -0.015294111333787441,
+          -0.4414256513118744,
+          44.25846481323242
+        ],
+        [
+          0.4415779709815979,
+          -0.00849978718906641,
+          -0.8971825838088989,
+          22.558176040649414
+        ],
+        [
+          0.009969585575163364,
+          -0.9998469948768616,
+          0.014379276894032955,
+          -22.289674758911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6626,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_983080863",
+      "mask_path": "../../mask/hdr_left_06626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06627.png",
+      "transform_matrix": [
+        [
+          -0.8995361328125,
+          -0.01878214441239834,
+          -0.43644246459007263,
+          44.16563034057617
+        ],
+        [
+          0.4364853501319885,
+          0.0019674987997859716,
+          -0.899709165096283,
+          22.576520919799805
+        ],
+        [
+          0.017757166177034378,
+          -0.9998217225074768,
+          0.006428298074752092,
+          -22.29159927368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6627,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_83078145",
+      "mask_path": "../../mask/hdr_left_06627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06628.png",
+      "transform_matrix": [
+        [
+          -0.9038034081459045,
+          -0.018274672329425812,
+          -0.42755749821662903,
+          44.107975006103516
+        ],
+        [
+          0.42745286226272583,
+          0.009490231052041054,
+          -0.9039878249168396,
+          22.585750579833984
+        ],
+        [
+          0.020577698945999146,
+          -0.9997879266738892,
+          -0.0007657409878447652,
+          -22.293712615966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6628,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_183081150",
+      "mask_path": "../../mask/hdr_left_06628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06629.png",
+      "transform_matrix": [
+        [
+          -0.9093101620674133,
+          -0.018158625811338425,
+          -0.4157223701477051,
+          44.044803619384766
+        ],
+        [
+          0.4156344532966614,
+          0.008553016930818558,
+          -0.9094915390014648,
+          22.598554611206055
+        ],
+        [
+          0.020070796832442284,
+          -0.999798595905304,
+          -0.0002299954794580117,
+          -22.29758644104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6629,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_283081293",
+      "mask_path": "../../mask/hdr_left_06629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06630.png",
+      "transform_matrix": [
+        [
+          -0.913650393486023,
+          -0.01056155189871788,
+          -0.4063636064529419,
+          43.975589752197266
+        ],
+        [
+          0.4063721299171448,
+          0.0014241135213524103,
+          -0.9137064814567566,
+          22.606935501098633
+        ],
+        [
+          0.01022886298596859,
+          -0.9999433159828186,
+          0.0029907834250479937,
+          -22.29456901550293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6630,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_383080959",
+      "mask_path": "../../mask/hdr_left_06630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06631.png",
+      "transform_matrix": [
+        [
+          -0.9162704348564148,
+          -0.005000698380172253,
+          -0.40052905678749084,
+          43.92015838623047
+        ],
+        [
+          0.4005488157272339,
+          -0.003882764605805278,
+          -0.9162672162055969,
+          22.61119270324707
+        ],
+        [
+          0.00302681652829051,
+          -0.9999799728393555,
+          0.0055606854148209095,
+          -22.282133102416992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6631,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_483079671",
+      "mask_path": "../../mask/hdr_left_06631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06632.png",
+      "transform_matrix": [
+        [
+          -0.9181376695632935,
+          -0.007708796299993992,
+          -0.3961865305900574,
+          43.867469787597656
+        ],
+        [
+          0.39624926447868347,
+          -0.010000236332416534,
+          -0.918088436126709,
+          22.618478775024414
+        ],
+        [
+          0.003115396946668625,
+          -0.9999203085899353,
+          0.012236202135682106,
+          -22.278892517089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6632,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_583081007",
+      "mask_path": "../../mask/hdr_left_06632.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06633.png",
+      "transform_matrix": [
+        [
+          -0.9191798567771912,
+          -0.011767766438424587,
+          -0.3936619758605957,
+          43.81313705444336
+        ],
+        [
+          0.39382103085517883,
+          -0.018226010724902153,
+          -0.9190064668655396,
+          22.6248779296875
+        ],
+        [
+          0.003639764152467251,
+          -0.9997646808624268,
+          0.02138737589120865,
+          -22.282194137573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6633,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_683081865",
+      "mask_path": "../../mask/hdr_left_06633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06634.png",
+      "transform_matrix": [
+        [
+          -0.9205926060676575,
+          -0.012403639033436775,
+          -0.39032742381095886,
+          43.75053405761719
+        ],
+        [
+          0.3904903531074524,
+          -0.016030697152018547,
+          -0.9204673171043396,
+          22.628337860107422
+        ],
+        [
+          0.005159922409802675,
+          -0.9997946619987488,
+          0.01960124634206295,
+          -22.276348114013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6634,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_783079385",
+      "mask_path": "../../mask/hdr_left_06634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06636.png",
+      "transform_matrix": [
+        [
+          -0.9227819442749023,
+          -0.013786457479000092,
+          -0.3850758969783783,
+          43.65855407714844
+        ],
+        [
+          0.3851425051689148,
+          -0.0024506612680852413,
+          -0.9228538274765015,
+          22.64495086669922
+        ],
+        [
+          0.011779195629060268,
+          -0.9999019503593445,
+          0.007571178022772074,
+          -22.28994369506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6636,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_983080148",
+      "mask_path": "../../mask/hdr_left_06636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06638.png",
+      "transform_matrix": [
+        [
+          -0.9206110239028931,
+          -0.005105352960526943,
+          -0.39044734835624695,
+          43.566490173339844
+        ],
+        [
+          0.39047086238861084,
+          -0.004927320871502161,
+          -0.9206020832061768,
+          22.648984909057617
+        ],
+        [
+          0.002776138251647353,
+          -0.9999749064445496,
+          0.00652964087203145,
+          -22.284515380859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6638,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_183079004",
+      "mask_path": "../../mask/hdr_left_06638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06639.png",
+      "transform_matrix": [
+        [
+          -0.9165576696395874,
+          -0.004956715740263462,
+          -0.3998717665672302,
+          43.51552963256836
+        ],
+        [
+          0.3999013602733612,
+          -0.009014314971864223,
+          -0.9165138006210327,
+          22.654769897460938
+        ],
+        [
+          0.0009383276919834316,
+          -0.9999471306800842,
+          0.01024433970451355,
+          -22.268796920776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6639,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_283082246",
+      "mask_path": "../../mask/hdr_left_06639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06641.png",
+      "transform_matrix": [
+        [
+          -0.908767580986023,
+          -0.013081719167530537,
+          -0.41709738969802856,
+          43.432838439941406
+        ],
+        [
+          0.41728952527046204,
+          -0.020598413422703743,
+          -0.9085401296615601,
+          22.689722061157227
+        ],
+        [
+          0.0032937219366431236,
+          -0.9997022747993469,
+          0.0241780374199152,
+          -22.27311897277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6641,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_483080863",
+      "mask_path": "../../mask/hdr_left_06641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06642.png",
+      "transform_matrix": [
+        [
+          -0.9094951748847961,
+          -0.009368917904794216,
+          -0.41560885310173035,
+          43.37329864501953
+        ],
+        [
+          0.41571423411369324,
+          -0.019521543756127357,
+          -0.9092857837677002,
+          22.70146369934082
+        ],
+        [
+          0.0004056973266415298,
+          -0.9997655749320984,
+          0.021649545058608055,
+          -22.26410675048828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6642,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_583081245",
+      "mask_path": "../../mask/hdr_left_06642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06644.png",
+      "transform_matrix": [
+        [
+          -0.9196707606315613,
+          -0.005197847727686167,
+          -0.39265578985214233,
+          43.29158020019531
+        ],
+        [
+          0.39269012212753296,
+          -0.01159676630049944,
+          -0.9195976853370667,
+          22.70510482788086
+        ],
+        [
+          0.0002263906062580645,
+          -0.9999192357063293,
+          0.012706352397799492,
+          -22.27086067199707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6644,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_783080339",
+      "mask_path": "../../mask/hdr_left_06644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06646.png",
+      "transform_matrix": [
+        [
+          -0.9345210194587708,
+          0.001993160229176283,
+          -0.35590243339538574,
+          43.1915397644043
+        ],
+        [
+          0.3557954430580139,
+          -0.01991371437907219,
+          -0.9343516826629639,
+          22.699480056762695
+        ],
+        [
+          -0.008949651382863522,
+          -0.9997997879981995,
+          0.017900627106428146,
+          -22.270538330078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6646,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_983081340",
+      "mask_path": "../../mask/hdr_left_06646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06647.png",
+      "transform_matrix": [
+        [
+          -0.9391317367553711,
+          0.001300704781897366,
+          -0.34355461597442627,
+          43.131900787353516
+        ],
+        [
+          0.3433859944343567,
+          -0.027998752892017365,
+          -0.9387768507003784,
+          22.705280303955078
+        ],
+        [
+          -0.010840171948075294,
+          -0.9996071457862854,
+          0.025847872719168663,
+          -22.267574310302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6647,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_83082675",
+      "mask_path": "../../mask/hdr_left_06647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06648.png",
+      "transform_matrix": [
+        [
+          -0.9418227076530457,
+          -0.003558903932571411,
+          -0.3360912799835205,
+          43.07149124145508
+        ],
+        [
+          0.33599501848220825,
+          -0.03613792359828949,
+          -0.9411702752113342,
+          22.712675094604492
+        ],
+        [
+          -0.008796106092631817,
+          -0.9993405342102051,
+          0.03523128852248192,
+          -22.280912399291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6648,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_183079004",
+      "mask_path": "../../mask/hdr_left_06648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06649.png",
+      "transform_matrix": [
+        [
+          -0.9425339102745056,
+          -0.0005456617218442261,
+          -0.3341098129749298,
+          43.00569152832031
+        ],
+        [
+          0.333931028842926,
+          -0.03429148346185684,
+          -0.9419735074043274,
+          22.712419509887695
+        ],
+        [
+          -0.010943123139441013,
+          -0.9994117617607117,
+          0.03250310197472572,
+          -22.279033660888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6649,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_283082008",
+      "mask_path": "../../mask/hdr_left_06649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06650.png",
+      "transform_matrix": [
+        [
+          -0.9434579014778137,
+          0.0036746079567819834,
+          -0.3314719498157501,
+          42.9459114074707
+        ],
+        [
+          0.3312668800354004,
+          -0.02641875296831131,
+          -0.9431671500205994,
+          22.711082458496094
+        ],
+        [
+          -0.012222844175994396,
+          -0.9996442794799805,
+          0.023707708343863487,
+          -22.277353286743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6650,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_383082389",
+      "mask_path": "../../mask/hdr_left_06650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06652.png",
+      "transform_matrix": [
+        [
+          -0.9452314376831055,
+          0.0019949162378907204,
+          -0.32639452815055847,
+          42.83853530883789
+        ],
+        [
+          0.3263201415538788,
+          -0.01643059216439724,
+          -0.9451164603233337,
+          22.6932315826416
+        ],
+        [
+          -0.007248283829540014,
+          -0.9998630285263062,
+          0.014879733324050903,
+          -22.292938232421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6652,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_583083152",
+      "mask_path": "../../mask/hdr_left_06652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06653.png",
+      "transform_matrix": [
+        [
+          -0.9439435601234436,
+          0.007991094142198563,
+          -0.3300101161003113,
+          42.77373504638672
+        ],
+        [
+          0.32988694310188293,
+          -0.013647040352225304,
+          -0.9439217448234558,
+          22.676788330078125
+        ],
+        [
+          -0.012046629562973976,
+          -0.9998749494552612,
+          0.01024587918072939,
+          -22.291791915893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6653,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_683081865",
+      "mask_path": "../../mask/hdr_left_06653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06654.png",
+      "transform_matrix": [
+        [
+          -0.9413670301437378,
+          0.013146559707820415,
+          -0.3371277451515198,
+          42.69813537597656
+        ],
+        [
+          0.3369516134262085,
+          -0.013938908465206623,
+          -0.9414187073707581,
+          22.670745849609375
+        ],
+        [
+          -0.017075611278414726,
+          -0.9998164772987366,
+          0.008691878989338875,
+          -22.281620025634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6654,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_783081054",
+      "mask_path": "../../mask/hdr_left_06654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06655.png",
+      "transform_matrix": [
+        [
+          -0.938086748123169,
+          0.013941271230578423,
+          -0.3461195230484009,
+          42.61822509765625
+        ],
+        [
+          0.34587085247039795,
+          -0.017521575093269348,
+          -0.9381185173988342,
+          22.67991828918457
+        ],
+        [
+          -0.019143121317029,
+          -0.9997493028640747,
+          0.011614881455898285,
+          -22.28270149230957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6655,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_883082389",
+      "mask_path": "../../mask/hdr_left_06655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06656.png",
+      "transform_matrix": [
+        [
+          -0.9360080361366272,
+          0.01073827687650919,
+          -0.3518146276473999,
+          42.50666427612305
+        ],
+        [
+          0.35159528255462646,
+          -0.018104014918208122,
+          -0.935977041721344,
+          22.688865661621094
+        ],
+        [
+          -0.016420038416981697,
+          -0.9997784495353699,
+          0.013169979676604271,
+          -22.291929244995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6656,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_983081817",
+      "mask_path": "../../mask/hdr_left_06656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06657.png",
+      "transform_matrix": [
+        [
+          -0.9371256232261658,
+          0.011924434453248978,
+          -0.34878817200660706,
+          42.39691162109375
+        ],
+        [
+          0.3486621379852295,
+          -0.01145121082663536,
+          -0.9371785521507263,
+          22.695890426635742
+        ],
+        [
+          -0.015169370919466019,
+          -0.99986332654953,
+          0.006573626771569252,
+          -22.29487419128418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6657,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_83080768",
+      "mask_path": "../../mask/hdr_left_06657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06658.png",
+      "transform_matrix": [
+        [
+          -0.9395925402641296,
+          0.014141853898763657,
+          -0.3420025408267975,
+          42.32890319824219
+        ],
+        [
+          0.3419692814350128,
+          -0.004779837094247341,
+          -0.9396988749504089,
+          22.70135498046875
+        ],
+        [
+          -0.014923800714313984,
+          -0.99988853931427,
+          -0.0003449756477493793,
+          -22.30424690246582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6658,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_183082342",
+      "mask_path": "../../mask/hdr_left_06658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06659.png",
+      "transform_matrix": [
+        [
+          -0.9415095448493958,
+          0.011426389217376709,
+          -0.3367922902107239,
+          42.255760192871094
+        ],
+        [
+          0.33677932620048523,
+          -0.0031031169928610325,
+          -0.9415785074234009,
+          22.71259880065918
+        ],
+        [
+          -0.011803947389125824,
+          -0.9999299645423889,
+          -0.000926557055208832,
+          -22.32225799560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6659,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_283082246",
+      "mask_path": "../../mask/hdr_left_06659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06660.png",
+      "transform_matrix": [
+        [
+          -0.939504861831665,
+          0.021923042833805084,
+          -0.3418331742286682,
+          42.162841796875
+        ],
+        [
+          0.34177255630493164,
+          -0.006572154816240072,
+          -0.9397597312927246,
+          22.738187789916992
+        ],
+        [
+          -0.02284897118806839,
+          -0.9997381567955017,
+          -0.0013181190006434917,
+          -22.32162094116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6660,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_383080244",
+      "mask_path": "../../mask/hdr_left_06660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06661.png",
+      "transform_matrix": [
+        [
+          -0.9356348514556885,
+          0.03335417062044144,
+          -0.35138973593711853,
+          42.09110641479492
+        ],
+        [
+          0.35131508111953735,
+          -0.008266783319413662,
+          -0.9362208247184753,
+          22.75212860107422
+        ],
+        [
+          -0.0341317281126976,
+          -0.9994094967842102,
+          -0.003983127418905497,
+          -22.3098201751709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6661,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_483082532",
+      "mask_path": "../../mask/hdr_left_06661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06662.png",
+      "transform_matrix": [
+        [
+          -0.933022141456604,
+          0.03127359598875046,
+          -0.3584572374820709,
+          42.04045867919922
+        ],
+        [
+          0.3582168221473694,
+          -0.013171153143048286,
+          -0.9335455298423767,
+          22.757789611816406
+        ],
+        [
+          -0.033916622400283813,
+          -0.9994240999221802,
+          0.0010862522758543491,
+          -22.305702209472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6662,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_583081960",
+      "mask_path": "../../mask/hdr_left_06662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06663.png",
+      "transform_matrix": [
+        [
+          -0.9300344586372375,
+          0.024714386090636253,
+          -0.36664018034935,
+          41.965599060058594
+        ],
+        [
+          0.36619359254837036,
+          -0.02082665264606476,
+          -0.930305540561676,
+          22.76465606689453
+        ],
+        [
+          -0.030627816915512085,
+          -0.9994776248931885,
+          0.010319257155060768,
+          -22.304903030395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6663,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_683082580",
+      "mask_path": "../../mask/hdr_left_06663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06664.png",
+      "transform_matrix": [
+        [
+          -0.929053008556366,
+          0.022267647087574005,
+          -0.36927565932273865,
+          41.85999298095703
+        ],
+        [
+          0.36886799335479736,
+          -0.020404377952218056,
+          -0.929257869720459,
+          22.7783260345459
+        ],
+        [
+          -0.028227224946022034,
+          -0.9995437860488892,
+          0.010742928832769394,
+          -22.30414581298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6664,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_783082246",
+      "mask_path": "../../mask/hdr_left_06664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06665.png",
+      "transform_matrix": [
+        [
+          -0.9304611682891846,
+          0.028356684371829033,
+          -0.365291565656662,
+          41.8000373840332
+        ],
+        [
+          0.36476221680641174,
+          -0.02219838835299015,
+          -0.9308360815048218,
+          22.79302406311035
+        ],
+        [
+          -0.03450430557131767,
+          -0.9993513822555542,
+          0.010311290621757507,
+          -22.32143211364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6665,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_883082151",
+      "mask_path": "../../mask/hdr_left_06665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06666.png",
+      "transform_matrix": [
+        [
+          -0.9318457245826721,
+          0.027626167982816696,
+          -0.3618015944957733,
+          41.74592590332031
+        ],
+        [
+          0.3610171377658844,
+          -0.029634343460202217,
+          -0.9320881366729736,
+          22.79713249206543
+        ],
+        [
+          -0.03647177293896675,
+          -0.999178946018219,
+          0.017641115933656693,
+          -22.337675094604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6666,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_983081817",
+      "mask_path": "../../mask/hdr_left_06666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06667.png",
+      "transform_matrix": [
+        [
+          -0.9323815107345581,
+          0.023338856175541878,
+          -0.3607214093208313,
+          41.66680908203125
+        ],
+        [
+          0.3598516583442688,
+          -0.03455648571252823,
+          -0.9323694109916687,
+          22.801502227783203
+        ],
+        [
+          -0.034225694835186005,
+          -0.9991301894187927,
+          0.023821303620934486,
+          -22.339488983154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6667,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_83081483",
+      "mask_path": "../../mask/hdr_left_06667.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06668.png",
+      "transform_matrix": [
+        [
+          -0.929906964302063,
+          0.025144247338175774,
+          -0.3669344484806061,
+          41.59144592285156
+        ],
+        [
+          0.3660052716732025,
+          -0.03503644838929176,
+          -0.9299529790878296,
+          22.812841415405273
+        ],
+        [
+          -0.03623904660344124,
+          -0.9990696907043457,
+          0.023377710953354836,
+          -22.323591232299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6668,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_183080911",
+      "mask_path": "../../mask/hdr_left_06668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06669.png",
+      "transform_matrix": [
+        [
+          -0.9261904358863831,
+          0.024231160059571266,
+          -0.3762764632701874,
+          41.534950256347656
+        ],
+        [
+          0.37535279989242554,
+          -0.03548889234662056,
+          -0.9262022972106934,
+          22.825529098510742
+        ],
+        [
+          -0.03579659014940262,
+          -0.9990763664245605,
+          0.023774245753884315,
+          -22.315330505371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6669,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_283081769",
+      "mask_path": "../../mask/hdr_left_06669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06670.png",
+      "transform_matrix": [
+        [
+          -0.9225069284439087,
+          0.018636947497725487,
+          -0.38553017377853394,
+          41.48014450073242
+        ],
+        [
+          0.3846510648727417,
+          -0.03843625262379646,
+          -0.9222614765167236,
+          22.8311767578125
+        ],
+        [
+          -0.03200646862387657,
+          -0.9990872740745544,
+          0.028288990259170532,
+          -22.309385299682617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6670,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_383081912",
+      "mask_path": "../../mask/hdr_left_06670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06671.png",
+      "transform_matrix": [
+        [
+          -0.919291615486145,
+          0.015038111247122288,
+          -0.39328956604003906,
+          41.39470291137695
+        ],
+        [
+          0.3925575613975525,
+          -0.03684062883257866,
+          -0.918989360332489,
+          22.848844528198242
+        ],
+        [
+          -0.028308898210525513,
+          -0.9992080330848694,
+          0.02796396054327488,
+          -22.30842399597168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6671,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_483080863",
+      "mask_path": "../../mask/hdr_left_06671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06672.png",
+      "transform_matrix": [
+        [
+          -0.9194982051849365,
+          0.0178577471524477,
+          -0.39268845319747925,
+          41.32006072998047
+        ],
+        [
+          0.39215999841690063,
+          -0.027161730453372,
+          -0.9194959402084351,
+          22.866413116455078
+        ],
+        [
+          -0.027086220681667328,
+          -0.9994715452194214,
+          0.0179720688611269,
+          -22.315460205078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6672,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_583081722",
+      "mask_path": "../../mask/hdr_left_06672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06673.png",
+      "transform_matrix": [
+        [
+          -0.9209917187690735,
+          0.020065275952219963,
+          -0.3890649378299713,
+          41.265419006347656
+        ],
+        [
+          0.3886845111846924,
+          -0.02042524144053459,
+          -0.9211444854736328,
+          22.87628173828125
+        ],
+        [
+          -0.026429763063788414,
+          -0.9995900392532349,
+          0.011012417264282703,
+          -22.322542190551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6673,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_683082103",
+      "mask_path": "../../mask/hdr_left_06673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06674.png",
+      "transform_matrix": [
+        [
+          -0.9217255711555481,
+          0.020812051370739937,
+          -0.3872837722301483,
+          41.196266174316406
+        ],
+        [
+          0.3868926763534546,
+          -0.02050650864839554,
+          -0.9218966364860535,
+          22.882125854492188
+        ],
+        [
+          -0.027128402143716812,
+          -0.9995731115341187,
+          0.010849345475435257,
+          -22.31996726989746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6674,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_783082008",
+      "mask_path": "../../mask/hdr_left_06674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06675.png",
+      "transform_matrix": [
+        [
+          -0.9205992817878723,
+          0.027075830847024918,
+          -0.38956883549690247,
+          41.11637496948242
+        ],
+        [
+          0.3887742757797241,
+          -0.030368681997060776,
+          -0.9208323359489441,
+          22.891338348388672
+        ],
+        [
+          -0.03676299378275871,
+          -0.9991719722747803,
+          0.017430998384952545,
+          -22.32686996459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6675,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_883081436",
+      "mask_path": "../../mask/hdr_left_06675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06676.png",
+      "transform_matrix": [
+        [
+          -0.9158427715301514,
+          0.032786592841148376,
+          -0.4001961648464203,
+          41.050174713134766
+        ],
+        [
+          0.3991110026836395,
+          -0.03506264463067055,
+          -0.9162319302558899,
+          22.91464614868164
+        ],
+        [
+          -0.04407205805182457,
+          -0.9988471865653992,
+          0.019026385620236397,
+          -22.32708168029785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6676,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_983081817",
+      "mask_path": "../../mask/hdr_left_06676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06677.png",
+      "transform_matrix": [
+        [
+          -0.9102570414543152,
+          0.031623803079128265,
+          -0.41283413767814636,
+          41.002105712890625
+        ],
+        [
+          0.4116555154323578,
+          -0.037811972200870514,
+          -0.910554826259613,
+          22.936992645263672
+        ],
+        [
+          -0.04440527781844139,
+          -0.9987844228744507,
+          0.02140050195157528,
+          -22.325136184692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6677,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_83082675",
+      "mask_path": "../../mask/hdr_left_06677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06679.png",
+      "transform_matrix": [
+        [
+          -0.8984125256538391,
+          0.030428551137447357,
+          -0.4380970895290375,
+          40.896514892578125
+        ],
+        [
+          0.4368797242641449,
+          -0.03943391889333725,
+          -0.898655116558075,
+          22.961349487304688
+        ],
+        [
+          -0.044620659202337265,
+          -0.9987587928771973,
+          0.022134309634566307,
+          -22.320819854736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6679,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_283081531",
+      "mask_path": "../../mask/hdr_left_06679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06680.png",
+      "transform_matrix": [
+        [
+          -0.8976674675941467,
+          0.034171510487794876,
+          -0.4393464922904968,
+          40.82573318481445
+        ],
+        [
+          0.4384159445762634,
+          -0.0315340980887413,
+          -0.8982188105583191,
+          22.983556747436523
+        ],
+        [
+          -0.04454788565635681,
+          -0.9989184141159058,
+          0.01332580205053091,
+          -22.337820053100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6680,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_383081912",
+      "mask_path": "../../mask/hdr_left_06680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06681.png",
+      "transform_matrix": [
+        [
+          -0.897732138633728,
+          0.034524545073509216,
+          -0.43918684124946594,
+          40.76351547241211
+        ],
+        [
+          0.43856966495513916,
+          -0.024184295907616615,
+          -0.8983717560768127,
+          22.995569229125977
+        ],
+        [
+          -0.041637297719717026,
+          -0.9991111755371094,
+          0.006569601595401764,
+          -22.343914031982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6681,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_483082056",
+      "mask_path": "../../mask/hdr_left_06681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06683.png",
+      "transform_matrix": [
+        [
+          -0.894670844078064,
+          0.03990381956100464,
+          -0.4449402093887329,
+          40.652565002441406
+        ],
+        [
+          0.4443550109863281,
+          -0.022987356409430504,
+          -0.8955557942390442,
+          23.017322540283203
+        ],
+        [
+          -0.04596409201622009,
+          -0.9989391565322876,
+          0.002834656508639455,
+          -22.349075317382812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6683,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_683082342",
+      "mask_path": "../../mask/hdr_left_06683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06684.png",
+      "transform_matrix": [
+        [
+          -0.8906322121620178,
+          0.04271215572953224,
+          -0.45271390676498413,
+          40.58011245727539
+        ],
+        [
+          0.45233455300331116,
+          -0.018716922029852867,
+          -0.8916518688201904,
+          23.049427032470703
+        ],
+        [
+          -0.04655778035521507,
+          -0.9989121556282043,
+          -0.0026502860710024834,
+          -22.350994110107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6684,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_783082008",
+      "mask_path": "../../mask/hdr_left_06684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06685.png",
+      "transform_matrix": [
+        [
+          -0.8860926032066345,
+          0.03861762955784798,
+          -0.4618968665599823,
+          40.514827728271484
+        ],
+        [
+          0.4613374173641205,
+          -0.022855859249830246,
+          -0.8869302868843079,
+          23.078737258911133
+        ],
+        [
+          -0.044808197766542435,
+          -0.9989926815032959,
+          0.002436648588627577,
+          -22.357206344604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6685,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_883082389",
+      "mask_path": "../../mask/hdr_left_06685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06686.png",
+      "transform_matrix": [
+        [
+          -0.8806940317153931,
+          0.03086349554359913,
+          -0.4726789891719818,
+          40.437599182128906
+        ],
+        [
+          0.471962034702301,
+          -0.027873940765857697,
+          -0.8811781406402588,
+          23.100017547607422
+        ],
+        [
+          -0.04037166014313698,
+          -0.99913489818573,
+          0.009982018731534481,
+          -22.357912063598633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6686,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_983084917",
+      "mask_path": "../../mask/hdr_left_06686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06687.png",
+      "transform_matrix": [
+        [
+          -0.8789727687835693,
+          0.033680204302072525,
+          -0.47568097710609436,
+          40.358001708984375
+        ],
+        [
+          0.4750654995441437,
+          -0.024894271045923233,
+          -0.8795982003211975,
+          23.125568389892578
+        ],
+        [
+          -0.04146677628159523,
+          -0.9991226196289062,
+          0.005881085526198149,
+          -22.367095947265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6687,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_83081960",
+      "mask_path": "../../mask/hdr_left_06687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06690.png",
+      "transform_matrix": [
+        [
+          -0.8800089955329895,
+          0.03931678459048271,
+          -0.4733269214630127,
+          40.198246002197266
+        ],
+        [
+          0.4726336896419525,
+          -0.025960084050893784,
+          -0.8808766007423401,
+          23.161598205566406
+        ],
+        [
+          -0.04692083224654198,
+          -0.9988896250724792,
+          0.0042626745998859406,
+          -22.3751163482666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6690,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_383082151",
+      "mask_path": "../../mask/hdr_left_06690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06691.png",
+      "transform_matrix": [
+        [
+          -0.8779882192611694,
+          0.050166770815849304,
+          -0.47604599595069885,
+          40.14579772949219
+        ],
+        [
+          0.47512537240982056,
+          -0.029675742611289024,
+          -0.8794176578521729,
+          23.185794830322266
+        ],
+        [
+          -0.058244552463293076,
+          -0.9982999563217163,
+          0.0022194539196789265,
+          -22.383718490600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6691,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_483081817",
+      "mask_path": "../../mask/hdr_left_06691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06693.png",
+      "transform_matrix": [
+        [
+          -0.8767473101615906,
+          0.05515148118138313,
+          -0.47777876257896423,
+          40.05903244018555
+        ],
+        [
+          0.47658827900886536,
+          -0.0338798426091671,
+          -0.8784735202789307,
+          23.210586547851562
+        ],
+        [
+          -0.06463618576526642,
+          -0.9979031085968018,
+          0.0034195103216916323,
+          -22.38174057006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6693,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_683082580",
+      "mask_path": "../../mask/hdr_left_06693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06695.png",
+      "transform_matrix": [
+        [
+          -0.8825879096984863,
+          0.04756971076130867,
+          -0.4677347242832184,
+          39.93495559692383
+        ],
+        [
+          0.466159850358963,
+          -0.0407562218606472,
+          -0.8837611675262451,
+          23.238361358642578
+        ],
+        [
+          -0.06110336631536484,
+          -0.9980361461639404,
+          0.013795861043035984,
+          -22.386110305786133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6695,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_883082389",
+      "mask_path": "../../mask/hdr_left_06695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06696.png",
+      "transform_matrix": [
+        [
+          -0.8917884230613708,
+          0.04307478666305542,
+          -0.45039740204811096,
+          39.85988998413086
+        ],
+        [
+          0.4493013620376587,
+          -0.03297136351466179,
+          -0.8927715420722961,
+          23.250720977783203
+        ],
+        [
+          -0.05330616235733032,
+          -0.9985276460647583,
+          0.01004992425441742,
+          -22.387662887573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6696,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_983081817",
+      "mask_path": "../../mask/hdr_left_06696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06697.png",
+      "transform_matrix": [
+        [
+          -0.9003661274909973,
+          0.039493873715400696,
+          -0.4333370625972748,
+          39.79990768432617
+        ],
+        [
+          0.43236181139945984,
+          -0.031016364693641663,
+          -0.901166558265686,
+          23.253433227539062
+        ],
+        [
+          -0.049031101167201996,
+          -0.9987383484840393,
+          0.010850442573428154,
+          -22.392091751098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6697,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_83082437",
+      "mask_path": "../../mask/hdr_left_06697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06698.png",
+      "transform_matrix": [
+        [
+          -0.9068593382835388,
+          0.037697453051805496,
+          -0.41974377632141113,
+          39.719852447509766
+        ],
+        [
+          0.4185529053211212,
+          -0.03568330034613609,
+          -0.907491147518158,
+          23.269058227539062
+        ],
+        [
+          -0.049187950789928436,
+          -0.998651921749115,
+          0.016581358388066292,
+          -22.39986801147461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6698,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_183080196",
+      "mask_path": "../../mask/hdr_left_06698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06699.png",
+      "transform_matrix": [
+        [
+          -0.9087842702865601,
+          0.03776329755783081,
+          -0.4155538082122803,
+          39.62941360473633
+        ],
+        [
+          0.4141924977302551,
+          -0.039014700800180435,
+          -0.909352719783783,
+          23.291364669799805
+        ],
+        [
+          -0.050552867352962494,
+          -0.9985248446464539,
+          0.01981467194855213,
+          -22.396581649780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6699,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_283081293",
+      "mask_path": "../../mask/hdr_left_06699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06700.png",
+      "transform_matrix": [
+        [
+          -0.9064520001411438,
+          0.03458621725440025,
+          -0.420890212059021,
+          39.549678802490234
+        ],
+        [
+          0.4194193482398987,
+          -0.04265826195478439,
+          -0.9067896604537964,
+          23.313518524169922
+        ],
+        [
+          -0.049316875636577606,
+          -0.9984909296035767,
+          0.024161536246538162,
+          -22.3915958404541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6700,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_383078813",
+      "mask_path": "../../mask/hdr_left_06700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06701.png",
+      "transform_matrix": [
+        [
+          -0.9023837447166443,
+          0.025374118238687515,
+          -0.4301854372024536,
+          39.47697067260742
+        ],
+        [
+          0.42889437079429626,
+          -0.04410707205533981,
+          -0.9022771716117859,
+          23.32563018798828
+        ],
+        [
+          -0.04186871275305748,
+          -0.9987046122550964,
+          0.028918692842125893,
+          -22.383962631225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6701,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_483081102",
+      "mask_path": "../../mask/hdr_left_06701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06702.png",
+      "transform_matrix": [
+        [
+          -0.9005661010742188,
+          0.01802561990916729,
+          -0.4343450367450714,
+          39.376102447509766
+        ],
+        [
+          0.43349021673202515,
+          -0.03783111274242401,
+          -0.9003638625144958,
+          23.35268783569336
+        ],
+        [
+          -0.03266137093305588,
+          -0.9991216063499451,
+          0.026255493983626366,
+          -22.383638381958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6702,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_583080530",
+      "mask_path": "../../mask/hdr_left_06702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06703.png",
+      "transform_matrix": [
+        [
+          -0.9019648432731628,
+          0.016211505979299545,
+          -0.4315049648284912,
+          39.2822380065918
+        ],
+        [
+          0.4309464693069458,
+          -0.029347531497478485,
+          -0.901900053024292,
+          23.37704086303711
+        ],
+        [
+          -0.027284763753414154,
+          -0.9994378089904785,
+          0.019484151154756546,
+          -22.3893985748291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6703,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_683081150",
+      "mask_path": "../../mask/hdr_left_06703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06704.png",
+      "transform_matrix": [
+        [
+          -0.9034362435340881,
+          0.014046753756701946,
+          -0.42849209904670715,
+          39.20442581176758
+        ],
+        [
+          0.42806634306907654,
+          -0.025710197165608406,
+          -0.9033814072608948,
+          23.390705108642578
+        ],
+        [
+          -0.02370619587600231,
+          -0.9995707869529724,
+          0.017214585095643997,
+          -22.392362594604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6704,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_783081054",
+      "mask_path": "../../mask/hdr_left_06704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06705.png",
+      "transform_matrix": [
+        [
+          -0.902744472026825,
+          0.013873590156435966,
+          -0.4299531579017639,
+          39.11390686035156
+        ],
+        [
+          0.4294952154159546,
+          -0.027179092168807983,
+          -0.902660071849823,
+          23.41584587097168
+        ],
+        [
+          -0.02420887164771557,
+          -0.9995343089103699,
+          0.01857713982462883,
+          -22.3944149017334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6705,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_883080482",
+      "mask_path": "../../mask/hdr_left_06705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06706.png",
+      "transform_matrix": [
+        [
+          -0.8981422781944275,
+          0.012295868247747421,
+          -0.4395330250263214,
+          39.03242111206055
+        ],
+        [
+          0.43900904059410095,
+          -0.031142178922891617,
+          -0.8979427218437195,
+          23.444564819335938
+        ],
+        [
+          -0.02472900226712227,
+          -0.9994394183158875,
+          0.02257210947573185,
+          -22.38789176940918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6706,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_983080863",
+      "mask_path": "../../mask/hdr_left_06706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06707.png",
+      "transform_matrix": [
+        [
+          -0.8924880623817444,
+          0.006753825582563877,
+          -0.45102033019065857,
+          38.96791076660156
+        ],
+        [
+          0.4505428373813629,
+          -0.03502031788229942,
+          -0.8920676708221436,
+          23.464702606201172
+        ],
+        [
+          -0.021819744259119034,
+          -0.9993637800216675,
+          0.028212331235408783,
+          -22.383060455322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6707,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_83081245",
+      "mask_path": "../../mask/hdr_left_06707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06708.png",
+      "transform_matrix": [
+        [
+          -0.8879804015159607,
+          -0.0009430358768440783,
+          -0.45988035202026367,
+          38.90546417236328
+        ],
+        [
+          0.4596082270145416,
+          -0.03627986088395119,
+          -0.8873804211616516,
+          23.480253219604492
+        ],
+        [
+          -0.015847565606236458,
+          -0.9993413090705872,
+          0.03264923393726349,
+          -22.378822326660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6708,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_183082103",
+      "mask_path": "../../mask/hdr_left_06708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06709.png",
+      "transform_matrix": [
+        [
+          -0.8863508701324463,
+          -0.0011714270804077387,
+          -0.4630126953125,
+          38.807498931884766
+        ],
+        [
+          0.4627911448478699,
+          -0.03327568992972374,
+          -0.8858425617218018,
+          23.507497787475586
+        ],
+        [
+          -0.014369367621839046,
+          -0.9994455575942993,
+          0.030036063864827156,
+          -22.37255096435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6709,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_283080816",
+      "mask_path": "../../mask/hdr_left_06709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06710.png",
+      "transform_matrix": [
+        [
+          -0.8871318101882935,
+          0.001404265989549458,
+          -0.4615139365196228,
+          38.70783233642578
+        ],
+        [
+          0.46129360795021057,
+          -0.02834746055305004,
+          -0.8867946267127991,
+          23.53887176513672
+        ],
+        [
+          -0.014328042976558208,
+          -0.9995971322059631,
+          0.024500155821442604,
+          -22.380226135253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6710,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_383080959",
+      "mask_path": "../../mask/hdr_left_06710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06711.png",
+      "transform_matrix": [
+        [
+          -0.8882138133049011,
+          -3.779400503844954e-05,
+          -0.4594303071498871,
+          38.62116622924805
+        ],
+        [
+          0.4592847526073456,
+          -0.02524234913289547,
+          -0.8879303336143494,
+          23.55677604675293
+        ],
+        [
+          -0.011563541367650032,
+          -0.9996814131736755,
+          0.022437963634729385,
+          -22.377779006958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6711,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_483081817",
+      "mask_path": "../../mask/hdr_left_06711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06712.png",
+      "transform_matrix": [
+        [
+          -0.8884420394897461,
+          -0.0017900461098179221,
+          -0.4589853286743164,
+          38.53730392456055
+        ],
+        [
+          0.45890089869499207,
+          -0.023036684840917587,
+          -0.8881887197494507,
+          23.576955795288086
+        ],
+        [
+          -0.008983601815998554,
+          -0.9997330904006958,
+          0.02128821238875389,
+          -22.372507095336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6712,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_583082199",
+      "mask_path": "../../mask/hdr_left_06712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06713.png",
+      "transform_matrix": [
+        [
+          -0.8855381608009338,
+          -0.003927212208509445,
+          -0.4645499289035797,
+          38.466033935546875
+        ],
+        [
+          0.46452152729034424,
+          -0.02140798792243004,
+          -0.8853030800819397,
+          23.60074806213379
+        ],
+        [
+          -0.006468306295573711,
+          -0.9997631311416626,
+          0.02078186720609665,
+          -22.35926628112793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6713,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_683082103",
+      "mask_path": "../../mask/hdr_left_06713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06714.png",
+      "transform_matrix": [
+        [
+          -0.8816202878952026,
+          -0.007067525293678045,
+          -0.47190630435943604,
+          38.4078483581543
+        ],
+        [
+          0.47194257378578186,
+          -0.021607065573334694,
+          -0.8813644051551819,
+          23.626808166503906
+        ],
+        [
+          -0.003967445809394121,
+          -0.9997416138648987,
+          0.02238469570875168,
+          -22.354333877563477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6714,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_783082008",
+      "mask_path": "../../mask/hdr_left_06714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06715.png",
+      "transform_matrix": [
+        [
+          -0.8780390620231628,
+          -0.012040386907756329,
+          -0.4784373641014099,
+          38.34458541870117
+        ],
+        [
+          0.47858819365501404,
+          -0.02370668575167656,
+          -0.8777194619178772,
+          23.65735626220703
+        ],
+        [
+          -0.0007740841247141361,
+          -0.9996464848518372,
+          0.02657778561115265,
+          -22.358829498291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6715,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_883082151",
+      "mask_path": "../../mask/hdr_left_06715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06716.png",
+      "transform_matrix": [
+        [
+          -0.8746595978736877,
+          -0.018243378028273582,
+          -0.4843940734863281,
+          38.25088119506836
+        ],
+        [
+          0.48470503091812134,
+          -0.021349089220166206,
+          -0.8744170665740967,
+          23.68602180480957
+        ],
+        [
+          0.005610948894172907,
+          -0.999605655670166,
+          0.027515847235918045,
+          -22.346773147583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6716,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_983082532",
+      "mask_path": "../../mask/hdr_left_06716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06717.png",
+      "transform_matrix": [
+        [
+          -0.8739941716194153,
+          -0.01912890188395977,
+          -0.4855596721172333,
+          38.16550827026367
+        ],
+        [
+          0.4858127534389496,
+          -0.011869377456605434,
+          -0.8739821910858154,
+          23.707294464111328
+        ],
+        [
+          0.010955029167234898,
+          -0.999746561050415,
+          0.01966683380305767,
+          -22.332836151123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6717,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_83081722",
+      "mask_path": "../../mask/hdr_left_06717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06718.png",
+      "transform_matrix": [
+        [
+          -0.8761125802993774,
+          -0.018836654722690582,
+          -0.48173826932907104,
+          38.09811019897461
+        ],
+        [
+          0.48190948367118835,
+          -0.005664357449859381,
+          -0.8762025833129883,
+          23.728776931762695
+        ],
+        [
+          0.013775988481938839,
+          -0.9998065233230591,
+          0.01404018048197031,
+          -22.334596633911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6718,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_183082103",
+      "mask_path": "../../mask/hdr_left_06718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06719.png",
+      "transform_matrix": [
+        [
+          -0.8797883987426758,
+          -0.02129180170595646,
+          -0.4748884439468384,
+          38.00883865356445
+        ],
+        [
+          0.4750579595565796,
+          -0.003451563650742173,
+          -0.8799476623535156,
+          23.75949478149414
+        ],
+        [
+          0.017096560448408127,
+          -0.9997673630714417,
+          0.013151486404240131,
+          -22.34423828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6719,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_283082723",
+      "mask_path": "../../mask/hdr_left_06719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06720.png",
+      "transform_matrix": [
+        [
+          -0.8835133910179138,
+          -0.026272812858223915,
+          -0.4676685333251953,
+          37.93642044067383
+        ],
+        [
+          0.46785497665405273,
+          -0.0010881180642172694,
+          -0.8838045001029968,
+          23.778461456298828
+        ],
+        [
+          0.022711148485541344,
+          -0.999654233455658,
+          0.013253236189484596,
+          -22.328784942626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6720,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_383081912",
+      "mask_path": "../../mask/hdr_left_06720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06721.png",
+      "transform_matrix": [
+        [
+          -0.8874905109405518,
+          -0.032171182334423065,
+          -0.4597015678882599,
+          37.884952545166016
+        ],
+        [
+          0.4600050449371338,
+          -0.002331855008378625,
+          -0.8879132866859436,
+          23.79559326171875
+        ],
+        [
+          0.027493268251419067,
+          -0.9994796514511108,
+          0.016868408769369125,
+          -22.31621551513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6721,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_483080863",
+      "mask_path": "../../mask/hdr_left_06721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06722.png",
+      "transform_matrix": [
+        [
+          -0.8937504291534424,
+          -0.03864140436053276,
+          -0.44689708948135376,
+          37.82006072998047
+        ],
+        [
+          0.4475055932998657,
+          -0.008391824550926685,
+          -0.8942417502403259,
+          23.808317184448242
+        ],
+        [
+          0.03080446831882,
+          -0.9992179870605469,
+          0.024792442098259926,
+          -22.306312561035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6722,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_583082437",
+      "mask_path": "../../mask/hdr_left_06722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06723.png",
+      "transform_matrix": [
+        [
+          -0.9035934805870056,
+          -0.03728145360946655,
+          -0.42676571011543274,
+          37.73108673095703
+        ],
+        [
+          0.42753538489341736,
+          -0.015547837130725384,
+          -0.9038649201393127,
+          23.821292877197266
+        ],
+        [
+          0.027062108740210533,
+          -0.9991838932037354,
+          0.029988067224621773,
+          -22.301692962646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6723,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_683081865",
+      "mask_path": "../../mask/hdr_left_06723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06724.png",
+      "transform_matrix": [
+        [
+          -0.9159046411514282,
+          -0.033386893570423126,
+          -0.40000495314598083,
+          37.64767837524414
+        ],
+        [
+          0.4006000757217407,
+          -0.01331046037375927,
+          -0.9161563515663147,
+          23.82903480529785
+        ],
+        [
+          0.025263361632823944,
+          -0.9993539452552795,
+          0.02556590735912323,
+          -22.302967071533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6724,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_783081293",
+      "mask_path": "../../mask/hdr_left_06724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06726.png",
+      "transform_matrix": [
+        [
+          -0.9363681077957153,
+          -0.032217688858509064,
+          -0.34953778982162476,
+          37.5466194152832
+        ],
+        [
+          0.3502885103225708,
+          -0.021536676213145256,
+          -0.9363942742347717,
+          23.827346801757812
+        ],
+        [
+          0.02264057658612728,
+          -0.9992488622665405,
+          0.031451743096113205,
+          -22.3198299407959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6726,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_983081579",
+      "mask_path": "../../mask/hdr_left_06726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06727.png",
+      "transform_matrix": [
+        [
+          -0.9391778111457825,
+          -0.026338381692767143,
+          -0.34241983294487,
+          37.483211517333984
+        ],
+        [
+          0.34305575489997864,
+          -0.02533320151269436,
+          -0.9389733672142029,
+          23.833484649658203
+        ],
+        [
+          0.016056444495916367,
+          -0.999332070350647,
+          0.032827913761138916,
+          -22.31765365600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6727,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_83083629",
+      "mask_path": "../../mask/hdr_left_06727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06728.png",
+      "transform_matrix": [
+        [
+          -0.9368221759796143,
+          -0.027595434337854385,
+          -0.34871575236320496,
+          37.42565155029297
+        ],
+        [
+          0.3494611978530884,
+          -0.029584843665361404,
+          -0.9364835619926453,
+          23.851789474487305
+        ],
+        [
+          0.015525972470641136,
+          -0.99918133020401,
+          0.03735927492380142,
+          -22.307580947875977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6728,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_183081388",
+      "mask_path": "../../mask/hdr_left_06728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06729.png",
+      "transform_matrix": [
+        [
+          -0.9333880543708801,
+          -0.03574803099036217,
+          -0.3570837080478668,
+          37.33159637451172
+        ],
+        [
+          0.35831642150878906,
+          -0.03765634447336197,
+          -0.9328404664993286,
+          23.87132453918457
+        ],
+        [
+          0.019900737330317497,
+          -0.9986511468887329,
+          0.04795708507299423,
+          -22.286746978759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6729,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_283082485",
+      "mask_path": "../../mask/hdr_left_06729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06730.png",
+      "transform_matrix": [
+        [
+          -0.9325733184814453,
+          -0.02815566025674343,
+          -0.3598809242248535,
+          37.231712341308594
+        ],
+        [
+          0.36072832345962524,
+          -0.03541863337159157,
+          -0.9319981336593628,
+          23.890933990478516
+        ],
+        [
+          0.013494531624019146,
+          -0.998975932598114,
+          0.043187014758586884,
+          -22.281902313232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6730,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_383080959",
+      "mask_path": "../../mask/hdr_left_06730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06731.png",
+      "transform_matrix": [
+        [
+          -0.9333322048187256,
+          -0.017159616574645042,
+          -0.35860347747802734,
+          37.15870666503906
+        ],
+        [
+          0.35896432399749756,
+          -0.028026536107063293,
+          -0.9329302906990051,
+          23.901020050048828
+        ],
+        [
+          0.005958311725407839,
+          -0.9994599223136902,
+          0.032317761331796646,
+          -22.290218353271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6731,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_483081340",
+      "mask_path": "../../mask/hdr_left_06731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06732.png",
+      "transform_matrix": [
+        [
+          -0.9332199096679688,
+          -0.014287975616753101,
+          -0.35902130603790283,
+          37.08858871459961
+        ],
+        [
+          0.3592883348464966,
+          -0.027338821440935135,
+          -0.9328259825706482,
+          23.906558990478516
+        ],
+        [
+          0.0035129741299897432,
+          -0.9995241165161133,
+          0.030646640807390213,
+          -22.291200637817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6732,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_583082199",
+      "mask_path": "../../mask/hdr_left_06732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06733.png",
+      "transform_matrix": [
+        [
+          -0.931795060634613,
+          -0.012124903500080109,
+          -0.36278223991394043,
+          37.0137939453125
+        ],
+        [
+          0.3629847764968872,
+          -0.03153110295534134,
+          -0.9312614798545837,
+          23.923023223876953
+        ],
+        [
+          -0.0001474702439736575,
+          -0.9994292259216309,
+          0.033781684935092926,
+          -22.299606323242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6733,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_683081150",
+      "mask_path": "../../mask/hdr_left_06733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06734.png",
+      "transform_matrix": [
+        [
+          -0.9288565516471863,
+          -0.012234465219080448,
+          -0.37023723125457764,
+          36.924400329589844
+        ],
+        [
+          0.37042996287345886,
+          -0.037785690277814865,
+          -0.9280915260314941,
+          23.94481086730957
+        ],
+        [
+          -0.002634968375787139,
+          -0.9992110133171082,
+          0.0396295040845871,
+          -22.29323387145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6734,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_783080577",
+      "mask_path": "../../mask/hdr_left_06734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06735.png",
+      "transform_matrix": [
+        [
+          -0.9253807663917542,
+          -0.014976071193814278,
+          -0.37874260544776917,
+          36.844825744628906
+        ],
+        [
+          0.37901315093040466,
+          -0.04814338684082031,
+          -0.9241381287574768,
+          23.956684112548828
+        ],
+        [
+          -0.004393995739519596,
+          -0.9987281560897827,
+          0.050227090716362,
+          -22.284387588500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6735,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_883081436",
+      "mask_path": "../../mask/hdr_left_06735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06736.png",
+      "transform_matrix": [
+        [
+          -0.9220186471939087,
+          -0.015886085107922554,
+          -0.38681939244270325,
+          36.74771499633789
+        ],
+        [
+          0.38710108399391174,
+          -0.05295934900641441,
+          -0.9205151200294495,
+          23.958480834960938
+        ],
+        [
+          -0.005862323567271233,
+          -0.9984703660011292,
+          0.05497902259230614,
+          -22.2713565826416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6736,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_983082532",
+      "mask_path": "../../mask/hdr_left_06736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06737.png",
+      "transform_matrix": [
+        [
+          -0.9211655855178833,
+          -0.01243063434958458,
+          -0.38897213339805603,
+          36.63856887817383
+        ],
+        [
+          0.3890824019908905,
+          -0.05070442706346512,
+          -0.9198064208030701,
+          23.96881675720215
+        ],
+        [
+          -0.008288831450045109,
+          -0.9986363649368286,
+          0.051543716341257095,
+          -22.273204803466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6737,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_83081245",
+      "mask_path": "../../mask/hdr_left_06737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06738.png",
+      "transform_matrix": [
+        [
+          -0.9218295812606812,
+          -0.00951784010976553,
+          -0.38747847080230713,
+          36.56756591796875
+        ],
+        [
+          0.3874577283859253,
+          -0.049265000969171524,
+          -0.9205702543258667,
+          23.986495971679688
+        ],
+        [
+          -0.010327287018299103,
+          -0.9987404346466064,
+          0.04910169541835785,
+          -22.294206619262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6738,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_183081865",
+      "mask_path": "../../mask/hdr_left_06738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06739.png",
+      "transform_matrix": [
+        [
+          -0.921242356300354,
+          -0.009208867326378822,
+          -0.3888801038265228,
+          36.49927520751953
+        ],
+        [
+          0.38879111409187317,
+          -0.05369354411959648,
+          -0.91975998878479,
+          24.0057430267334
+        ],
+        [
+          -0.012410405091941357,
+          -0.9985150694847107,
+          0.05304509773850441,
+          -22.31313705444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6739,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_283081769",
+      "mask_path": "../../mask/hdr_left_06739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06740.png",
+      "transform_matrix": [
+        [
+          -0.9185072183609009,
+          -0.007172966841608286,
+          -0.3953389525413513,
+          36.418025970458984
+        ],
+        [
+          0.3951186239719391,
+          -0.054632578045129776,
+          -0.9170040488243103,
+          24.0142765045166
+        ],
+        [
+          -0.015020747669041157,
+          -0.9984807968139648,
+          0.053014591336250305,
+          -22.308324813842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6740,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_383082866",
+      "mask_path": "../../mask/hdr_left_06740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06741.png",
+      "transform_matrix": [
+        [
+          -0.9148364067077637,
+          -0.009045095182955265,
+          -0.40372326970100403,
+          36.35129165649414
+        ],
+        [
+          0.40360432863235474,
+          -0.05349590256810188,
+          -0.9133683443069458,
+          24.02352523803711
+        ],
+        [
+          -0.01333603449165821,
+          -0.9985271692276001,
+          0.05259063467383385,
+          -22.288074493408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6741,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_483082056",
+      "mask_path": "../../mask/hdr_left_06741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06742.png",
+      "transform_matrix": [
+        [
+          -0.9105705618858337,
+          -0.015215865336358547,
+          -0.4130733609199524,
+          36.293880462646484
+        ],
+        [
+          0.4132496118545532,
+          -0.055914346128702164,
+          -0.9088995456695557,
+          24.03982162475586
+        ],
+        [
+          -0.00926703680306673,
+          -0.998319685459137,
+          0.05720191448926926,
+          -22.281232833862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6742,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_583081960",
+      "mask_path": "../../mask/hdr_left_06742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06743.png",
+      "transform_matrix": [
+        [
+          -0.9059229493141174,
+          -0.020584197714924812,
+          -0.42294201254844666,
+          36.23504638671875
+        ],
+        [
+          0.42339834570884705,
+          -0.05847322195768356,
+          -0.904054582118988,
+          24.06016731262207
+        ],
+        [
+          -0.006121544167399406,
+          -0.9980767965316772,
+          0.06168754771351814,
+          -22.286876678466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6743,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_683080196",
+      "mask_path": "../../mask/hdr_left_06743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06744.png",
+      "transform_matrix": [
+        [
+          -0.9055872559547424,
+          -0.021485690027475357,
+          -0.4236154854297638,
+          36.142578125
+        ],
+        [
+          0.42412853240966797,
+          -0.05803973600268364,
+          -0.9037402272224426,
+          24.06878662109375
+        ],
+        [
+          -0.005169050768017769,
+          -0.9980831146240234,
+          0.06167273595929146,
+          -22.27630043029785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6744,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_783081769",
+      "mask_path": "../../mask/hdr_left_06744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06745.png",
+      "transform_matrix": [
+        [
+          -0.9079826474189758,
+          -0.019757939502596855,
+          -0.4185417592525482,
+          36.065940856933594
+        ],
+        [
+          0.4189796447753906,
+          -0.054398421198129654,
+          -0.9063646793365479,
+          24.07022476196289
+        ],
+        [
+          -0.004860113840550184,
+          -0.9983237981796265,
+          0.057670995593070984,
+          -22.267410278320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6745,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_883081674",
+      "mask_path": "../../mask/hdr_left_06745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06746.png",
+      "transform_matrix": [
+        [
+          -0.9094730615615845,
+          -0.018494604155421257,
+          -0.4153513014316559,
+          36.01414489746094
+        ],
+        [
+          0.41572627425193787,
+          -0.05370631814002991,
+          -0.9079026579856873,
+          24.078338623046875
+        ],
+        [
+          -0.005515688564628363,
+          -0.998385488986969,
+          0.05653314292430878,
+          -22.273056030273438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6746,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_983081817",
+      "mask_path": "../../mask/hdr_left_06746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06747.png",
+      "transform_matrix": [
+        [
+          -0.9088404178619385,
+          -0.021018870174884796,
+          -0.41661396622657776,
+          35.964698791503906
+        ],
+        [
+          0.4171381890773773,
+          -0.05095856264233589,
+          -0.9074133038520813,
+          24.097980499267578
+        ],
+        [
+          -0.0021572462283074856,
+          -0.9984796047210693,
+          0.05508097633719444,
+          -22.27341079711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6747,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_83081245",
+      "mask_path": "../../mask/hdr_left_06747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06748.png",
+      "transform_matrix": [
+        [
+          -0.9069136381149292,
+          -0.031245402991771698,
+          -0.42015621066093445,
+          35.907005310058594
+        ],
+        [
+          0.42123696208000183,
+          -0.047879986464977264,
+          -0.9056858420372009,
+          24.117650985717773
+        ],
+        [
+          0.008181445300579071,
+          -0.998364269733429,
+          0.056584738194942474,
+          -22.2548828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6748,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_183081388",
+      "mask_path": "../../mask/hdr_left_06748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06749.png",
+      "transform_matrix": [
+        [
+          -0.9048031568527222,
+          -0.043215274810791016,
+          -0.4236313998699188,
+          35.84844970703125
+        ],
+        [
+          0.4254283607006073,
+          -0.048540957272052765,
+          -0.903689444065094,
+          24.136667251586914
+        ],
+        [
+          0.01848970353603363,
+          -0.9978858828544617,
+          0.062305014580488205,
+          -22.239797592163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6749,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_283081293",
+      "mask_path": "../../mask/hdr_left_06749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06750.png",
+      "transform_matrix": [
+        [
+          -0.9020341038703918,
+          -0.055028464645147324,
+          -0.4281426668167114,
+          35.80314254760742
+        ],
+        [
+          0.4307495057582855,
+          -0.050200801342725754,
+          -0.901074230670929,
+          24.165815353393555
+        ],
+        [
+          0.028091616928577423,
+          -0.9972220659255981,
+          0.06898632645606995,
+          -22.24063491821289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6750,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_383080720",
+      "mask_path": "../../mask/hdr_left_06750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06751.png",
+      "transform_matrix": [
+        [
+          -0.8991590142250061,
+          -0.07762320339679718,
+          -0.4306827187538147,
+          35.723480224609375
+        ],
+        [
+          0.4350437521934509,
+          -0.05187966674566269,
+          -0.8989134430885315,
+          24.186582565307617
+        ],
+        [
+          0.04743285849690437,
+          -0.9956320524215698,
+          0.08041755855083466,
+          -22.211305618286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6751,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_483081817",
+      "mask_path": "../../mask/hdr_left_06751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06752.png",
+      "transform_matrix": [
+        [
+          -0.9008417725563049,
+          -0.09397675096988678,
+          -0.4238542914390564,
+          35.65224838256836
+        ],
+        [
+          0.4292721748352051,
+          -0.046908751130104065,
+          -0.9019561409950256,
+          24.197328567504883
+        ],
+        [
+          0.06488042324781418,
+          -0.9944686889648438,
+          0.0825989693403244,
+          -22.17669677734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6752,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_583081483",
+      "mask_path": "../../mask/hdr_left_06752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06754.png",
+      "transform_matrix": [
+        [
+          -0.9103895425796509,
+          -0.10917109996080399,
+          -0.3990897834300995,
+          35.5450439453125
+        ],
+        [
+          0.4044387638568878,
+          -0.03129987046122551,
+          -0.9140293002128601,
+          24.200281143188477
+        ],
+        [
+          0.08729412406682968,
+          -0.9935300350189209,
+          0.07264810055494308,
+          -22.15910530090332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6754,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_783080816",
+      "mask_path": "../../mask/hdr_left_06754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06755.png",
+      "transform_matrix": [
+        [
+          -0.9123215675354004,
+          -0.11843051016330719,
+          -0.39197394251823425,
+          35.469749450683594
+        ],
+        [
+          0.39741095900535583,
+          -0.025446685031056404,
+          -0.9172878265380859,
+          24.214935302734375
+        ],
+        [
+          0.0986604243516922,
+          -0.9926362633705139,
+          0.07028114050626755,
+          -22.135709762573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6755,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_883082151",
+      "mask_path": "../../mask/hdr_left_06755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06756.png",
+      "transform_matrix": [
+        [
+          -0.9130749702453613,
+          -0.13156242668628693,
+          -0.38598620891571045,
+          35.40786361694336
+        ],
+        [
+          0.3922743797302246,
+          -0.02474667876958847,
+          -0.9195153117179871,
+          24.2330322265625
+        ],
+        [
+          0.11142177879810333,
+          -0.9909989833831787,
+          0.07420413941144943,
+          -22.11591148376465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6756,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_983081340",
+      "mask_path": "../../mask/hdr_left_06756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06757.png",
+      "transform_matrix": [
+        [
+          -0.9132936000823975,
+          -0.14450044929981232,
+          -0.38080742955207825,
+          35.349937438964844
+        ],
+        [
+          0.38843899965286255,
+          -0.02777864970266819,
+          -0.9210556149482727,
+          24.252201080322266
+        ],
+        [
+          0.12251462787389755,
+          -0.9891147613525391,
+          0.08149967342615128,
+          -22.111656188964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6757,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_83084344",
+      "mask_path": "../../mask/hdr_left_06757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06758.png",
+      "transform_matrix": [
+        [
+          -0.9105104207992554,
+          -0.17489846050739288,
+          -0.3746747672557831,
+          35.2663688659668
+        ],
+        [
+          0.38692983984947205,
+          -0.04089554026722908,
+          -0.9212018251419067,
+          24.252687454223633
+        ],
+        [
+          0.14579428732395172,
+          -0.9837368130683899,
+          0.104909248650074,
+          -22.076181411743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6758,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_183082342",
+      "mask_path": "../../mask/hdr_left_06758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06759.png",
+      "transform_matrix": [
+        [
+          -0.9090000987052917,
+          -0.1940586268901825,
+          -0.36886322498321533,
+          35.17877197265625
+        ],
+        [
+          0.3825433552265167,
+          -0.03710364177823067,
+          -0.9231921434402466,
+          24.24754524230957
+        ],
+        [
+          0.1654672473669052,
+          -0.980288028717041,
+          0.10796305537223816,
+          -22.01201057434082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6759,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_283081293",
+      "mask_path": "../../mask/hdr_left_06759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06760.png",
+      "transform_matrix": [
+        [
+          -0.9092553853988647,
+          -0.19885852932929993,
+          -0.36566364765167236,
+          35.11815643310547
+        ],
+        [
+          0.37823981046676636,
+          -0.02803122065961361,
+          -0.9252830147743225,
+          24.25326156616211
+        ],
+        [
+          0.17375044524669647,
+          -0.9796273112297058,
+          0.10070376098155975,
+          -21.995182037353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6760,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_383081197",
+      "mask_path": "../../mask/hdr_left_06760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06761.png",
+      "transform_matrix": [
+        [
+          -0.9086251258850098,
+          -0.20726262032985687,
+          -0.36255013942718506,
+          35.06515121459961
+        ],
+        [
+          0.37533673644065857,
+          -0.024683602154254913,
+          -0.9265598058700562,
+          24.264860153198242
+        ],
+        [
+          0.1830921620130539,
+          -0.977973997592926,
+          0.10022140294313431,
+          -22.00376319885254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6761,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_483079910",
+      "mask_path": "../../mask/hdr_left_06761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06762.png",
+      "transform_matrix": [
+        [
+          -0.9052274823188782,
+          -0.21850629150867462,
+          -0.36444228887557983,
+          34.99684143066406
+        ],
+        [
+          0.37867650389671326,
+          -0.02570413611829281,
+          -0.9251720309257507,
+          24.273529052734375
+        ],
+        [
+          0.1927882581949234,
+          -0.9754969477653503,
+          0.1060112863779068,
+          -21.97208595275879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6762,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_583081483",
+      "mask_path": "../../mask/hdr_left_06762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06763.png",
+      "transform_matrix": [
+        [
+          -0.9014405608177185,
+          -0.22843903303146362,
+          -0.367723286151886,
+          34.93180465698242
+        ],
+        [
+          0.38352257013320923,
+          -0.027441510930657387,
+          -0.9231236577033997,
+          24.28858184814453
+        ],
+        [
+          0.20078659057617188,
+          -0.9731714129447937,
+          0.11234841495752335,
+          -21.940265655517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6763,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_683081626",
+      "mask_path": "../../mask/hdr_left_06763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06764.png",
+      "transform_matrix": [
+        [
+          -0.8982354402542114,
+          -0.23700331151485443,
+          -0.370138555765152,
+          34.874794006347656
+        ],
+        [
+          0.38676515221595764,
+          -0.02620316669344902,
+          -0.9218059182167053,
+          24.311058044433594
+        ],
+        [
+          0.20877224206924438,
+          -0.9711554050445557,
+          0.11520122736692429,
+          -21.928091049194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6764,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_783080339",
+      "mask_path": "../../mask/hdr_left_06764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03276.png",
+      "transform_matrix": [
+        [
+          -0.9385483264923096,
+          -0.34510165452957153,
+          -0.005648864898830652,
+          35.16205596923828
+        ],
+        [
+          -0.0157205518335104,
+          0.05909207463264465,
+          -0.9981287717819214,
+          24.152088165283203
+        ],
+        [
+          0.3447897136211395,
+          -0.9367032647132874,
+          -0.0608859583735466,
+          -21.97984504699707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3276,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_83081960",
+      "mask_path": "../../mask/hdr_right_03276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03277.png",
+      "transform_matrix": [
+        [
+          -0.9409655928611755,
+          -0.3384495675563812,
+          -0.005976804066449404,
+          35.23180389404297
+        ],
+        [
+          -0.014016267843544483,
+          0.05659765005111694,
+          -0.998298704624176,
+          24.148937225341797
+        ],
+        [
+          0.33821210265159607,
+          -0.9392808675765991,
+          -0.058000244200229645,
+          -22.01079750061035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3277,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_183081150",
+      "mask_path": "../../mask/hdr_right_03277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03278.png",
+      "transform_matrix": [
+        [
+          -0.9443308115005493,
+          -0.32887235283851624,
+          -0.009076510556042194,
+          35.2957649230957
+        ],
+        [
+          -0.012786492705345154,
+          0.06425495445728302,
+          -0.9978516697883606,
+          24.14354705810547
+        ],
+        [
+          0.32874900102615356,
+          -0.9421859383583069,
+          -0.06488305330276489,
+          -22.04403305053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3278,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_283082485",
+      "mask_path": "../../mask/hdr_right_03278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03279.png",
+      "transform_matrix": [
+        [
+          -0.9478834271430969,
+          -0.31842008233070374,
+          -0.011209518648684025,
+          35.37453842163086
+        ],
+        [
+          -0.009900578297674656,
+          0.06460054218769073,
+          -0.9978622198104858,
+          24.12649917602539
+        ],
+        [
+          0.3184634745121002,
+          -0.9457459449768066,
+          -0.06438630819320679,
+          -22.072595596313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3279,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_383081912",
+      "mask_path": "../../mask/hdr_right_03279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03280.png",
+      "transform_matrix": [
+        [
+          -0.9499683976173401,
+          -0.31213510036468506,
+          -0.011480610817670822,
+          35.45618438720703
+        ],
+        [
+          -0.00907431822270155,
+          0.0643204003572464,
+          -0.9978881478309631,
+          24.10708999633789
+        ],
+        [
+          0.31221431493759155,
+          -0.9478578567504883,
+          -0.06393475085496902,
+          -22.11215591430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3280,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_483082294",
+      "mask_path": "../../mask/hdr_right_03280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03281.png",
+      "transform_matrix": [
+        [
+          -0.9510857462882996,
+          -0.30868589878082275,
+          -0.012205047532916069,
+          35.52701187133789
+        ],
+        [
+          -0.008366890251636505,
+          0.06523220986127853,
+          -0.9978349804878235,
+          24.09064483642578
+        ],
+        [
+          0.30881378054618835,
+          -0.9489244818687439,
+          -0.06462416797876358,
+          -22.1373348236084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3281,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_583081960",
+      "mask_path": "../../mask/hdr_right_03281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03283.png",
+      "transform_matrix": [
+        [
+          -0.9557687044143677,
+          -0.2935551404953003,
+          -0.018208274617791176,
+          35.67579650878906
+        ],
+        [
+          0.005660064052790403,
+          0.04353858530521393,
+          -0.9990357160568237,
+          24.0749454498291
+        ],
+        [
+          0.29406484961509705,
+          -0.9549500942230225,
+          -0.03995126858353615,
+          -22.184810638427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3283,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_783082246",
+      "mask_path": "../../mask/hdr_right_03283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03284.png",
+      "transform_matrix": [
+        [
+          -0.9552168846130371,
+          -0.2954922020435333,
+          -0.015657072886824608,
+          35.77996826171875
+        ],
+        [
+          0.008969196118414402,
+          0.02397477813065052,
+          -0.9996724128723145,
+          24.075233459472656
+        ],
+        [
+          0.29577070474624634,
+          -0.9550442695617676,
+          -0.020250774919986725,
+          -22.21580696105957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3284,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_883082151",
+      "mask_path": "../../mask/hdr_right_03284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03285.png",
+      "transform_matrix": [
+        [
+          -0.9571878910064697,
+          -0.2890250086784363,
+          -0.015995072200894356,
+          35.84831237792969
+        ],
+        [
+          0.010171963833272457,
+          0.02163824439048767,
+          -0.9997141361236572,
+          24.066577911376953
+        ],
+        [
+          0.2892884910106659,
+          -0.957076907157898,
+          -0.01777191087603569,
+          -22.222904205322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3285,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323591_983081579",
+      "mask_path": "../../mask/hdr_right_03285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03286.png",
+      "transform_matrix": [
+        [
+          -0.960114598274231,
+          -0.2789054214954376,
+          -0.01978992111980915,
+          35.934505462646484
+        ],
+        [
+          0.012830931693315506,
+          0.026754582300782204,
+          -0.9995597004890442,
+          24.066123962402344
+        ],
+        [
+          0.2793121337890625,
+          -0.959945797920227,
+          -0.02210884727537632,
+          -22.25704002380371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3286,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_83081722",
+      "mask_path": "../../mask/hdr_right_03286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03287.png",
+      "transform_matrix": [
+        [
+          -0.962913990020752,
+          -0.2689649164676666,
+          -0.02132064290344715,
+          36.01845169067383
+        ],
+        [
+          0.015505563467741013,
+          0.023726241663098335,
+          -0.9995983242988586,
+          24.057971954345703
+        ],
+        [
+          0.26936274766921997,
+          -0.962857723236084,
+          -0.018675876781344414,
+          -22.282352447509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3287,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_183082342",
+      "mask_path": "../../mask/hdr_right_03287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03288.png",
+      "transform_matrix": [
+        [
+          -0.9663763046264648,
+          -0.2561115622520447,
+          -0.022885514423251152,
+          36.097782135009766
+        ],
+        [
+          0.01964820735156536,
+          0.015192212536931038,
+          -0.9996914863586426,
+          24.041053771972656
+        ],
+        [
+          0.25638023018836975,
+          -0.9665278792381287,
+          -0.00964925717562437,
+          -22.286476135253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3288,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_283081531",
+      "mask_path": "../../mask/hdr_right_03288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03289.png",
+      "transform_matrix": [
+        [
+          -0.9705817699432373,
+          -0.23917260766029358,
+          -0.02770411968231201,
+          36.181400299072266
+        ],
+        [
+          0.02653750404715538,
+          0.008097227662801743,
+          -0.9996150732040405,
+          24.030845642089844
+        ],
+        [
+          0.23930488526821136,
+          -0.9709432721138,
+          -0.0015119763556867838,
+          -22.304656982421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3289,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_383081436",
+      "mask_path": "../../mask/hdr_right_03289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03290.png",
+      "transform_matrix": [
+        [
+          -0.973482608795166,
+          -0.2267073541879654,
+          -0.03058425337076187,
+          36.27142333984375
+        ],
+        [
+          0.032616399228572845,
+          -0.005222359672188759,
+          -0.9994543194770813,
+          24.022069931030273
+        ],
+        [
+          0.22642390429973602,
+          -0.9739488959312439,
+          0.012478256598114967,
+          -22.32320213317871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3290,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_483079910",
+      "mask_path": "../../mask/hdr_right_03290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03291.png",
+      "transform_matrix": [
+        [
+          -0.9758967161178589,
+          -0.2168545424938202,
+          -0.024491438642144203,
+          36.3622932434082
+        ],
+        [
+          0.02899252437055111,
+          -0.017598727717995644,
+          -0.9994246363639832,
+          24.005229949951172
+        ],
+        [
+          0.21629878878593445,
+          -0.9760452508926392,
+          0.02346169762313366,
+          -22.31648063659668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3291,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_583080768",
+      "mask_path": "../../mask/hdr_right_03291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03292.png",
+      "transform_matrix": [
+        [
+          -0.980095624923706,
+          -0.19730420410633087,
+          -0.0219926405698061,
+          36.43719482421875
+        ],
+        [
+          0.026208635419607162,
+          -0.018781933933496475,
+          -0.9994800686836243,
+          23.991668701171875
+        ],
+        [
+          0.19678856432437897,
+          -0.9801623821258545,
+          0.02357916161417961,
+          -22.31338882446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3292,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_683081626",
+      "mask_path": "../../mask/hdr_right_03292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03293.png",
+      "transform_matrix": [
+        [
+          -0.9850077629089355,
+          -0.17005789279937744,
+          -0.028982527554035187,
+          36.527793884277344
+        ],
+        [
+          0.03201688826084137,
+          -0.015127498656511307,
+          -0.9993728995323181,
+          23.981853485107422
+        ],
+        [
+          0.1695128083229065,
+          -0.9853180050849915,
+          0.020345432683825493,
+          -22.334068298339844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3293,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_783081769",
+      "mask_path": "../../mask/hdr_right_03293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03294.png",
+      "transform_matrix": [
+        [
+          -0.9878578186035156,
+          -0.15129166841506958,
+          -0.035324566066265106,
+          36.618751525878906
+        ],
+        [
+          0.038578566163778305,
+          -0.018626436591148376,
+          -0.9990819692611694,
+          23.957225799560547
+        ],
+        [
+          0.15049482882022858,
+          -0.9883136749267578,
+          0.02423689141869545,
+          -22.338695526123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3294,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_883081436",
+      "mask_path": "../../mask/hdr_right_03294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03295.png",
+      "transform_matrix": [
+        [
+          -0.9894053339958191,
+          -0.13944074511528015,
+          -0.04041505232453346,
+          36.68716049194336
+        ],
+        [
+          0.04375157505273819,
+          -0.020944949239492416,
+          -0.9988228678703308,
+          23.935739517211914
+        ],
+        [
+          0.13843010365962982,
+          -0.9900088906288147,
+          0.026823801919817924,
+          -22.32952117919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3295,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323592_983082056",
+      "mask_path": "../../mask/hdr_right_03295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03296.png",
+      "transform_matrix": [
+        [
+          -0.9909700155258179,
+          -0.1256226748228073,
+          -0.046878233551979065,
+          36.74208450317383
+        ],
+        [
+          0.04965069144964218,
+          -0.019028738141059875,
+          -0.9985854625701904,
+          23.91998291015625
+        ],
+        [
+          0.12455294281244278,
+          -0.9918954968452454,
+          0.025094162672758102,
+          -22.322229385375977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3296,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_83081483",
+      "mask_path": "../../mask/hdr_right_03296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03297.png",
+      "transform_matrix": [
+        [
+          -0.9915542006492615,
+          -0.11895386129617691,
+          -0.051675256341695786,
+          36.80853271484375
+        ],
+        [
+          0.05499976873397827,
+          -0.024834537878632545,
+          -0.9981774687767029,
+          23.91498374938965
+        ],
+        [
+          0.11745373904705048,
+          -0.9925891160964966,
+          0.03116723522543907,
+          -22.3388614654541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3297,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_183081626",
+      "mask_path": "../../mask/hdr_right_03297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03298.png",
+      "transform_matrix": [
+        [
+          -0.9919291734695435,
+          -0.11588635295629501,
+          -0.05144772678613663,
+          36.9045295715332
+        ],
+        [
+          0.05515425279736519,
+          -0.029005715623497963,
+          -0.9980564713478088,
+          23.909320831298828
+        ],
+        [
+          0.11416885256767273,
+          -0.9928388595581055,
+          0.035163238644599915,
+          -22.361387252807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3298,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_283082008",
+      "mask_path": "../../mask/hdr_right_03298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03299.png",
+      "transform_matrix": [
+        [
+          -0.9932469129562378,
+          -0.10574273020029068,
+          -0.04774129018187523,
+          36.990028381347656
+        ],
+        [
+          0.050687309354543686,
+          -0.025349128991365433,
+          -0.9983928799629211,
+          23.893085479736328
+        ],
+        [
+          0.10436258465051651,
+          -0.9940703511238098,
+          0.03053775429725647,
+          -22.359407424926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3299,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_383081436",
+      "mask_path": "../../mask/hdr_right_03299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03301.png",
+      "transform_matrix": [
+        [
+          -0.9952780604362488,
+          -0.08539751917123795,
+          -0.046139251440763474,
+          37.10832595825195
+        ],
+        [
+          0.04730110615491867,
+          -0.01163152139633894,
+          -0.9988130331039429,
+          23.890182495117188
+        ],
+        [
+          0.08475948125123978,
+          -0.9962791204452515,
+          0.015615995973348618,
+          -22.365921020507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3301,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_583082199",
+      "mask_path": "../../mask/hdr_right_03301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03302.png",
+      "transform_matrix": [
+        [
+          -0.9954257607460022,
+          -0.078237384557724,
+          -0.05483124032616615,
+          37.21197509765625
+        ],
+        [
+          0.05565173551440239,
+          -0.00834418460726738,
+          -0.9984153509140015,
+          23.868425369262695
+        ],
+        [
+          0.07765588164329529,
+          -0.9968998432159424,
+          0.012660061940550804,
+          -22.36066436767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3302,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_683081388",
+      "mask_path": "../../mask/hdr_right_03302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03303.png",
+      "transform_matrix": [
+        [
+          -0.9955227971076965,
+          -0.06704676151275635,
+          -0.06662704795598984,
+          37.29914093017578
+        ],
+        [
+          0.067210353910923,
+          -0.006480088923126459,
+          -0.9977178573608398,
+          23.850906372070312
+        ],
+        [
+          0.06646200269460678,
+          -0.9977287650108337,
+          0.010957312770187855,
+          -22.354175567626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3303,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_783081293",
+      "mask_path": "../../mask/hdr_right_03303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03304.png",
+      "transform_matrix": [
+        [
+          -0.9954603314399719,
+          -0.05506444349884987,
+          -0.0776313915848732,
+          37.37034225463867
+        ],
+        [
+          0.07842851430177689,
+          -0.01246308907866478,
+          -0.9968417882919312,
+          23.845050811767578
+        ],
+        [
+          0.05392301082611084,
+          -0.9984050393104553,
+          0.01672513224184513,
+          -22.352920532226562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3304,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_883081674",
+      "mask_path": "../../mask/hdr_right_03304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03305.png",
+      "transform_matrix": [
+        [
+          -0.9956467151641846,
+          -0.049870509654283524,
+          -0.07874360680580139,
+          37.456756591796875
+        ],
+        [
+          0.07995070517063141,
+          -0.022688059136271477,
+          -0.9965406656265259,
+          23.830034255981445
+        ],
+        [
+          0.047911450266838074,
+          -0.9984979629516602,
+          0.02657647430896759,
+          -22.350744247436523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3305,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323593_983080863",
+      "mask_path": "../../mask/hdr_right_03305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03306.png",
+      "transform_matrix": [
+        [
+          -0.9961788058280945,
+          -0.04510403424501419,
+          -0.07479036599397659,
+          37.53852081298828
+        ],
+        [
+          0.07631603628396988,
+          -0.033107366412878036,
+          -0.9965339303016663,
+          23.819055557250977
+        ],
+        [
+          0.04247158765792847,
+          -0.998433530330658,
+          0.03642301261425018,
+          -22.35393714904785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3306,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_83081007",
+      "mask_path": "../../mask/hdr_right_03306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03307.png",
+      "transform_matrix": [
+        [
+          -0.996554970741272,
+          -0.03956306725740433,
+          -0.07288981229066849,
+          37.60655975341797
+        ],
+        [
+          0.07439740002155304,
+          -0.03807304427027702,
+          -0.9965016841888428,
+          23.806203842163086
+        ],
+        [
+          0.03664952144026756,
+          -0.9984914064407349,
+          0.04088527336716652,
+          -22.350515365600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3307,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_183081388",
+      "mask_path": "../../mask/hdr_right_03307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03308.png",
+      "transform_matrix": [
+        [
+          -0.9962571859359741,
+          -0.0430283285677433,
+          -0.07496801018714905,
+          37.66383361816406
+        ],
+        [
+          0.07652052491903305,
+          -0.03564428165555,
+          -0.9964306354522705,
+          23.793001174926758
+        ],
+        [
+          0.04020256549119949,
+          -0.998437762260437,
+          0.038803424686193466,
+          -22.352985382080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3308,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_283081293",
+      "mask_path": "../../mask/hdr_right_03308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03310.png",
+      "transform_matrix": [
+        [
+          -0.9949091076850891,
+          -0.037662114948034286,
+          -0.09347426891326904,
+          37.767574310302734
+        ],
+        [
+          0.0947769433259964,
+          -0.03442671522498131,
+          -0.9949031472206116,
+          23.755102157592773
+        ],
+        [
+          0.034252144396305084,
+          -0.9986973404884338,
+          0.037820953875780106,
+          -22.337759017944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3310,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_483079433",
+      "mask_path": "../../mask/hdr_right_03310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03311.png",
+      "transform_matrix": [
+        [
+          -0.9942393898963928,
+          -0.030979758128523827,
+          -0.10260754823684692,
+          37.84771728515625
+        ],
+        [
+          0.10360290855169296,
+          -0.03244154900312424,
+          -0.9940895438194275,
+          23.732749938964844
+        ],
+        [
+          0.027467908337712288,
+          -0.998993456363678,
+          0.03546425700187683,
+          -22.345081329345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3311,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_583078861",
+      "mask_path": "../../mask/hdr_right_03311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03312.png",
+      "transform_matrix": [
+        [
+          -0.9939064979553223,
+          -0.02637883462011814,
+          -0.10702343285083771,
+          37.93085479736328
+        ],
+        [
+          0.10796765238046646,
+          -0.03743097186088562,
+          -0.9934495091438293,
+          23.713943481445312
+        ],
+        [
+          0.022200051695108414,
+          -0.9989509582519531,
+          0.04005095362663269,
+          -22.348896026611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3312,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_683078050",
+      "mask_path": "../../mask/hdr_right_03312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03313.png",
+      "transform_matrix": [
+        [
+          -0.9939268231391907,
+          -0.02622404880821705,
+          -0.10687284916639328,
+          37.98501205444336
+        ],
+        [
+          0.10796000063419342,
+          -0.04429887980222702,
+          -0.9931678771972656,
+          23.700342178344727
+        ],
+        [
+          0.021310530602931976,
+          -0.9986740946769714,
+          0.04686099663376808,
+          -22.354103088378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3313,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_783080577",
+      "mask_path": "../../mask/hdr_right_03313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03315.png",
+      "transform_matrix": [
+        [
+          -0.9940542578697205,
+          -0.0267643965780735,
+          -0.1055460274219513,
+          38.07264709472656
+        ],
+        [
+          0.10669221729040146,
+          -0.0457928366959095,
+          -0.9932370781898499,
+          23.670501708984375
+        ],
+        [
+          0.02175014093518257,
+          -0.9985923171043396,
+          0.04837612062692642,
+          -22.35637092590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3315,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323594_983078002",
+      "mask_path": "../../mask/hdr_right_03315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03317.png",
+      "transform_matrix": [
+        [
+          -0.9920865297317505,
+          -0.03679534047842026,
+          -0.12004312872886658,
+          38.1525993347168
+        ],
+        [
+          0.12134525179862976,
+          -0.03546842932701111,
+          -0.9919765591621399,
+          23.633590698242188
+        ],
+        [
+          0.032242368906736374,
+          -0.9986931681632996,
+          0.03965269401669502,
+          -22.3392333984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3317,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_183080673",
+      "mask_path": "../../mask/hdr_right_03317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03319.png",
+      "transform_matrix": [
+        [
+          -0.9896496534347534,
+          -0.0327376127243042,
+          -0.13972043991088867,
+          38.25839614868164
+        ],
+        [
+          0.1407465636730194,
+          -0.03146440163254738,
+          -0.9895455837249756,
+          23.585708618164062
+        ],
+        [
+          0.027999140322208405,
+          -0.9989686012268066,
+          0.03574644401669502,
+          -22.339675903320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3319,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_383079051",
+      "mask_path": "../../mask/hdr_right_03319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03320.png",
+      "transform_matrix": [
+        [
+          -0.9888141751289368,
+          -0.030862094834446907,
+          -0.14592492580413818,
+          38.317298889160156
+        ],
+        [
+          0.1470022052526474,
+          -0.036108702421188354,
+          -0.9884768724441528,
+          23.56898307800293
+        ],
+        [
+          0.025237305089831352,
+          -0.9988712072372437,
+          0.04024158790707588,
+          -22.34829330444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3320,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_483081340",
+      "mask_path": "../../mask/hdr_right_03320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03322.png",
+      "transform_matrix": [
+        [
+          -0.9882771968841553,
+          -0.02692372165620327,
+          -0.1502770185470581,
+          38.43734359741211
+        ],
+        [
+          0.1513315588235855,
+          -0.04271622374653816,
+          -0.9875597953796387,
+          23.52218246459961
+        ],
+        [
+          0.020169517025351524,
+          -0.9987243413925171,
+          0.04628988727927208,
+          -22.34946060180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3322,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_683081865",
+      "mask_path": "../../mask/hdr_right_03322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03323.png",
+      "transform_matrix": [
+        [
+          -0.987854540348053,
+          -0.028056690469384193,
+          -0.152827188372612,
+          38.50368881225586
+        ],
+        [
+          0.15372709929943085,
+          -0.033341359347105026,
+          -0.987550675868988,
+          23.499380111694336
+        ],
+        [
+          0.022611940279603004,
+          -0.9990501403808594,
+          0.03724949061870575,
+          -22.354442596435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3323,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_783083438",
+      "mask_path": "../../mask/hdr_right_03323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03324.png",
+      "transform_matrix": [
+        [
+          -0.9867368340492249,
+          -0.029290640726685524,
+          -0.15966367721557617,
+          38.55787658691406
+        ],
+        [
+          0.1604195237159729,
+          -0.025565993040800095,
+          -0.9867178201675415,
+          23.469228744506836
+        ],
+        [
+          0.024819636717438698,
+          -0.9992439150810242,
+          0.029925698414444923,
+          -22.346412658691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3324,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_883081912",
+      "mask_path": "../../mask/hdr_right_03324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03325.png",
+      "transform_matrix": [
+        [
+          -0.9851089119911194,
+          -0.027751892805099487,
+          -0.16967713832855225,
+          38.61083221435547
+        ],
+        [
+          0.17019839584827423,
+          -0.017627431079745293,
+          -0.9852521419525146,
+          23.442256927490234
+        ],
+        [
+          0.02435164339840412,
+          -0.9994593858718872,
+          0.022088266909122467,
+          -22.34010887145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3325,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323595_983083486",
+      "mask_path": "../../mask/hdr_right_03325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03326.png",
+      "transform_matrix": [
+        [
+          -0.9831637740135193,
+          -0.02209881693124771,
+          -0.18138574063777924,
+          38.67317199707031
+        ],
+        [
+          0.18163102865219116,
+          -0.009633501060307026,
+          -0.9833195805549622,
+          23.42108154296875
+        ],
+        [
+          0.019982820376753807,
+          -0.9997093081474304,
+          0.013485142029821873,
+          -22.34310531616211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3326,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_83081960",
+      "mask_path": "../../mask/hdr_right_03326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03327.png",
+      "transform_matrix": [
+        [
+          -0.9820660352706909,
+          -0.0237699244171381,
+          -0.1870330423116684,
+          38.77764892578125
+        ],
+        [
+          0.18732401728630066,
+          -0.010648890398442745,
+          -0.9822405576705933,
+          23.396095275878906
+        ],
+        [
+          0.021356085315346718,
+          -0.9996607303619385,
+          0.014910593628883362,
+          -22.348493576049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3327,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_183086156",
+      "mask_path": "../../mask/hdr_right_03327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03328.png",
+      "transform_matrix": [
+        [
+          -0.9823595881462097,
+          -0.027494098991155624,
+          -0.1849694550037384,
+          38.86368179321289
+        ],
+        [
+          0.1854158490896225,
+          -0.014665421098470688,
+          -0.9825507402420044,
+          23.375192642211914
+        ],
+        [
+          0.024301689118146896,
+          -0.9995143413543701,
+          0.01950455829501152,
+          -22.354413986206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3328,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_283082723",
+      "mask_path": "../../mask/hdr_right_03328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03329.png",
+      "transform_matrix": [
+        [
+          -0.9830316305160522,
+          -0.027286184951663017,
+          -0.1813955307006836,
+          38.936546325683594
+        ],
+        [
+          0.1818053424358368,
+          -0.013352449983358383,
+          -0.9832438826560974,
+          23.354372024536133
+        ],
+        [
+          0.024406902492046356,
+          -0.9995384216308594,
+          0.01808665506541729,
+          -22.359487533569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3329,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_383083343",
+      "mask_path": "../../mask/hdr_right_03329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03330.png",
+      "transform_matrix": [
+        [
+          -0.9830071330070496,
+          -0.02550663612782955,
+          -0.18178650736808777,
+          39.00468444824219
+        ],
+        [
+          0.18197666108608246,
+          -0.005323279183357954,
+          -0.9832884669303894,
+          23.340803146362305
+        ],
+        [
+          0.024112680926918983,
+          -0.9996604919433594,
+          0.009874431416392326,
+          -22.376495361328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3330,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_483082294",
+      "mask_path": "../../mask/hdr_right_03330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03331.png",
+      "transform_matrix": [
+        [
+          -0.9818117618560791,
+          -0.028525128960609436,
+          -0.1877017468214035,
+          39.057830810546875
+        ],
+        [
+          0.18788611888885498,
+          -0.003903154283761978,
+          -0.982183039188385,
+          23.32487678527832
+        ],
+        [
+          0.02728426828980446,
+          -0.9995854496955872,
+          0.009191636927425861,
+          -22.37995147705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3331,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_583082914",
+      "mask_path": "../../mask/hdr_right_03331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03332.png",
+      "transform_matrix": [
+        [
+          -0.9799309968948364,
+          -0.028888991102576256,
+          -0.19723254442214966,
+          39.12092590332031
+        ],
+        [
+          0.1974252164363861,
+          -0.003950238227844238,
+          -0.9803100228309631,
+          23.295957565307617
+        ],
+        [
+          0.02754105255007744,
+          -0.9995748400688171,
+          0.009574376977980137,
+          -22.365833282470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3332,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_683081388",
+      "mask_path": "../../mask/hdr_right_03332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03333.png",
+      "transform_matrix": [
+        [
+          -0.977484941482544,
+          -0.02014991082251072,
+          -0.21004119515419006,
+          39.176883697509766
+        ],
+        [
+          0.21003641188144684,
+          0.002375186188146472,
+          -0.9776906967163086,
+          23.268041610717773
+        ],
+        [
+          0.020199265331029892,
+          -0.9997941851615906,
+          0.0019105056999251246,
+          -22.355985641479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3333,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_783083200",
+      "mask_path": "../../mask/hdr_right_03333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03334.png",
+      "transform_matrix": [
+        [
+          -0.9752529263496399,
+          -0.018041612580418587,
+          -0.22035500407218933,
+          39.26167297363281
+        ],
+        [
+          0.22030672430992126,
+          0.004642739426344633,
+          -0.9754196405410767,
+          23.23321533203125
+        ],
+        [
+          0.018621191382408142,
+          -0.9998264908790588,
+          -0.0005531578790396452,
+          -22.348840713500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3334,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_883081674",
+      "mask_path": "../../mask/hdr_right_03334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03335.png",
+      "transform_matrix": [
+        [
+          -0.974431037902832,
+          -0.021418757736682892,
+          -0.22366327047348022,
+          39.341400146484375
+        ],
+        [
+          0.22370517253875732,
+          0.0004483990487642586,
+          -0.9746567010879517,
+          23.213911056518555
+        ],
+        [
+          0.020976226776838303,
+          -0.99977046251297,
+          0.004354550503194332,
+          -22.35826301574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3335,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323596_983081579",
+      "mask_path": "../../mask/hdr_right_03335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03337.png",
+      "transform_matrix": [
+        [
+          -0.9736025929450989,
+          -0.021831057965755463,
+          -0.22720368206501007,
+          39.44371795654297
+        ],
+        [
+          0.2272503674030304,
+          0.00034880326711572707,
+          -0.973836362361908,
+          23.17622947692871
+        ],
+        [
+          0.02133912779390812,
+          -0.9997615814208984,
+          0.004621518310159445,
+          -22.379364013671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3337,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_183081150",
+      "mask_path": "../../mask/hdr_right_03337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03338.png",
+      "transform_matrix": [
+        [
+          -0.9725754261016846,
+          -0.022845890372991562,
+          -0.23146295547485352,
+          39.50001525878906
+        ],
+        [
+          0.23143042623996735,
+          0.004093602299690247,
+          -0.9728428721427917,
+          23.15958023071289
+        ],
+        [
+          0.023172980174422264,
+          -0.9997305870056152,
+          0.0013058960903435946,
+          -22.37998390197754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3338,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_283082008",
+      "mask_path": "../../mask/hdr_right_03338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03340.png",
+      "transform_matrix": [
+        [
+          -0.9740288853645325,
+          -0.016217315569519997,
+          -0.22584234178066254,
+          39.57154846191406
+        ],
+        [
+          0.22581267356872559,
+          0.003659862093627453,
+          -0.9741638898849487,
+          23.13418960571289
+        ],
+        [
+          0.016624873504042625,
+          -0.9998617768287659,
+          9.726326970849186e-05,
+          -22.374717712402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3340,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_483082532",
+      "mask_path": "../../mask/hdr_right_03340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03342.png",
+      "transform_matrix": [
+        [
+          -0.977339506149292,
+          -0.011264156550168991,
+          -0.21137793362140656,
+          39.661376953125
+        ],
+        [
+          0.2112409621477127,
+          0.012224248610436916,
+          -0.9773576259613037,
+          23.102815628051758
+        ],
+        [
+          0.013593045063316822,
+          -0.9998618364334106,
+          -0.009567788802087307,
+          -22.369295120239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3342,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_683082342",
+      "mask_path": "../../mask/hdr_right_03342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03344.png",
+      "transform_matrix": [
+        [
+          -0.983242928981781,
+          -0.017522389069199562,
+          -0.1814562827348709,
+          39.73875427246094
+        ],
+        [
+          0.18141384422779083,
+          0.003991992678493261,
+          -0.9833988547325134,
+          23.074321746826172
+        ],
+        [
+          0.017955869436264038,
+          -0.9998384714126587,
+          -0.000746294972486794,
+          -22.37787437438965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3344,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323597_883081912",
+      "mask_path": "../../mask/hdr_right_03344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03346.png",
+      "transform_matrix": [
+        [
+          -0.9891249537467957,
+          -0.015035253018140793,
+          -0.1463068276643753,
+          39.79203414916992
+        ],
+        [
+          0.1463339477777481,
+          -0.0007155310013331473,
+          -0.9892349243164062,
+          23.086856842041016
+        ],
+        [
+          0.014768708497285843,
+          -0.9998867511749268,
+          0.0029079162050038576,
+          -22.413028717041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3346,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_83081722",
+      "mask_path": "../../mask/hdr_right_03346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03347.png",
+      "transform_matrix": [
+        [
+          -0.9913713932037354,
+          -0.013701333664357662,
+          -0.1303648054599762,
+          39.854740142822266
+        ],
+        [
+          0.1303892284631729,
+          -0.0009032218367792666,
+          -0.9914625287055969,
+          23.081911087036133
+        ],
+        [
+          0.013466611504554749,
+          -0.9999057054519653,
+          0.0026819338090717793,
+          -22.399890899658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3347,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_183082580",
+      "mask_path": "../../mask/hdr_right_03347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03348.png",
+      "transform_matrix": [
+        [
+          -0.992689311504364,
+          -0.010393485426902771,
+          -0.12024979293346405,
+          39.91477966308594
+        ],
+        [
+          0.12025612592697144,
+          1.1173760867677629e-05,
+          -0.9927429556846619,
+          23.07193374633789
+        ],
+        [
+          0.010319402441382408,
+          -0.9999459981918335,
+          0.0012387878959998488,
+          -22.375879287719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3348,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_283082008",
+      "mask_path": "../../mask/hdr_right_03348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03350.png",
+      "transform_matrix": [
+        [
+          -0.9949294924736023,
+          0.002788370009511709,
+          -0.10053597390651703,
+          39.99909973144531
+        ],
+        [
+          0.1005592942237854,
+          0.010122869163751602,
+          -0.9948796033859253,
+          23.057851791381836
+        ],
+        [
+          -0.0017563800793141127,
+          -0.9999449253082275,
+          -0.0103519381955266,
+          -22.374975204467773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3350,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323598_483081579",
+      "mask_path": "../../mask/hdr_right_03350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03740.png",
+      "transform_matrix": [
+        [
+          -0.9982860088348389,
+          0.04256150498986244,
+          -0.04016862064599991,
+          40.4496955871582
+        ],
+        [
+          0.040941230952739716,
+          0.017440075054764748,
+          -0.9990094304084778,
+          23.038925170898438
+        ],
+        [
+          -0.04181879758834839,
+          -0.9989416003227234,
+          -0.019152706488966942,
+          -22.34453582763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3740,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_483082771",
+      "mask_path": "../../mask/hdr_right_03740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03742.png",
+      "transform_matrix": [
+        [
+          -0.9981281161308289,
+          0.04565327614545822,
+          -0.04069497808814049,
+          40.527095794677734
+        ],
+        [
+          0.041128065437078476,
+          0.008587549440562725,
+          -0.9991170167922974,
+          23.00687026977539
+        ],
+        [
+          -0.04526349529623985,
+          -0.9989204406738281,
+          -0.010449107736349106,
+          -22.345556259155273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3742,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_683082103",
+      "mask_path": "../../mask/hdr_right_03742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03743.png",
+      "transform_matrix": [
+        [
+          -0.998704195022583,
+          0.0391504131257534,
+          -0.0325150229036808,
+          40.578895568847656
+        ],
+        [
+          0.03262600302696228,
+          0.0021998067386448383,
+          -0.9994652271270752,
+          22.98978042602539
+        ],
+        [
+          -0.03905795142054558,
+          -0.9992309212684631,
+          -0.0034742795396596193,
+          -22.33669662475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3743,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_783080339",
+      "mask_path": "../../mask/hdr_right_03743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03745.png",
+      "transform_matrix": [
+        [
+          -0.999284565448761,
+          0.033862292766571045,
+          -0.0168454609811306,
+          40.64756774902344
+        ],
+        [
+          0.01664622686803341,
+          -0.006157132796943188,
+          -0.9998425245285034,
+          22.963544845581055
+        ],
+        [
+          -0.03396068140864372,
+          -0.9994075894355774,
+          0.005589046515524387,
+          -22.348079681396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3745,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323637_983081102",
+      "mask_path": "../../mask/hdr_right_03745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03746.png",
+      "transform_matrix": [
+        [
+          -0.9992861151695251,
+          0.032563187181949615,
+          -0.019153853878378868,
+          40.70036697387695
+        ],
+        [
+          0.01897076703608036,
+          -0.005921507719904184,
+          -0.9998025298118591,
+          22.938045501708984
+        ],
+        [
+          -0.03267017379403114,
+          -0.9994521141052246,
+          0.005299531389027834,
+          -22.338632583618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3746,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_83080768",
+      "mask_path": "../../mask/hdr_right_03746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03748.png",
+      "transform_matrix": [
+        [
+          -0.9987505674362183,
+          0.03916493430733681,
+          -0.031039584428071976,
+          40.78310775756836
+        ],
+        [
+          0.030796492472290993,
+          -0.0067944275215268135,
+          -0.9995025992393494,
+          22.91070556640625
+        ],
+        [
+          -0.03935635834932327,
+          -0.9992097020149231,
+          0.005579793825745583,
+          -22.330415725708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3748,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_283081293",
+      "mask_path": "../../mask/hdr_right_03748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03749.png",
+      "transform_matrix": [
+        [
+          -0.9987528920173645,
+          0.0370948426425457,
+          -0.033415596932172775,
+          40.838226318359375
+        ],
+        [
+          0.03318854048848152,
+          -0.006719276774674654,
+          -0.999426543712616,
+          22.8987979888916
+        ],
+        [
+          -0.03729809820652008,
+          -0.9992890954017639,
+          0.005479772575199604,
+          -22.327795028686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3749,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_383081436",
+      "mask_path": "../../mask/hdr_right_03749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03752.png",
+      "transform_matrix": [
+        [
+          -0.9994653463363647,
+          0.025849130004644394,
+          -0.020023616030812263,
+          40.967323303222656
+        ],
+        [
+          0.019610131159424782,
+          -0.01615135930478573,
+          -0.9996772408485413,
+          22.887229919433594
+        ],
+        [
+          -0.026164192706346512,
+          -0.9995353817939758,
+          0.015635816380381584,
+          -22.342803955078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3752,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_683079004",
+      "mask_path": "../../mask/hdr_right_03752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03754.png",
+      "transform_matrix": [
+        [
+          -0.9996075630187988,
+          0.017819881439208984,
+          -0.021613886579871178,
+          41.03857421875
+        ],
+        [
+          0.02143237739801407,
+          -0.01031466107815504,
+          -0.999717116355896,
+          22.870887756347656
+        ],
+        [
+          -0.01803777925670147,
+          -0.9997879862785339,
+          0.009928691200911999,
+          -22.334808349609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3754,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323638_883079528",
+      "mask_path": "../../mask/hdr_right_03754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03756.png",
+      "transform_matrix": [
+        [
+          -0.9995925426483154,
+          0.026848573237657547,
+          -0.009691035374999046,
+          41.11313247680664
+        ],
+        [
+          0.009409697726368904,
+          -0.010584963485598564,
+          -0.9998997449874878,
+          22.855613708496094
+        ],
+        [
+          -0.026948457583785057,
+          -0.9995834827423096,
+          0.010328012518584728,
+          -22.32282257080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3756,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_83079099",
+      "mask_path": "../../mask/hdr_right_03756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03757.png",
+      "transform_matrix": [
+        [
+          -0.9995958209037781,
+          0.028113970533013344,
+          -0.004226426128298044,
+          41.16366195678711
+        ],
+        [
+          0.004033899400383234,
+          -0.006900407373905182,
+          -0.9999681115150452,
+          22.846900939941406
+        ],
+        [
+          -0.028142238035798073,
+          -0.9995809197425842,
+          0.006784207187592983,
+          -22.321107864379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3757,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_183078289",
+      "mask_path": "../../mask/hdr_right_03757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03759.png",
+      "transform_matrix": [
+        [
+          -0.9996277093887329,
+          0.02191603183746338,
+          0.016251832246780396,
+          41.2447509765625
+        ],
+        [
+          -0.016703132539987564,
+          -0.02056901529431343,
+          -0.9996488690376282,
+          22.83873176574707
+        ],
+        [
+          -0.021574052050709724,
+          -0.9995481967926025,
+          0.020927423611283302,
+          -22.318952560424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3759,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_383081912",
+      "mask_path": "../../mask/hdr_right_03759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03761.png",
+      "transform_matrix": [
+        [
+          -0.9993036389350891,
+          0.019576577469706535,
+          0.031766992062330246,
+          41.32649612426758
+        ],
+        [
+          -0.03217214345932007,
+          -0.020740507170557976,
+          -0.9992671012878418,
+          22.8327579498291
+        ],
+        [
+          -0.018903367221355438,
+          -0.999593198299408,
+          0.0213558841496706,
+          -22.325817108154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3761,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_583079814",
+      "mask_path": "../../mask/hdr_right_03761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03763.png",
+      "transform_matrix": [
+        [
+          -0.9991806149482727,
+          0.02524521015584469,
+          0.03163476288318634,
+          41.41374206542969
+        ],
+        [
+          -0.032080452889204025,
+          -0.017448728904128075,
+          -0.9993330240249634,
+          22.822755813598633
+        ],
+        [
+          -0.024676386266946793,
+          -0.9995290040969849,
+          0.018244311213493347,
+          -22.313180923461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3763,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_783078908",
+      "mask_path": "../../mask/hdr_right_03763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03765.png",
+      "transform_matrix": [
+        [
+          -0.9992180466651917,
+          0.03122602589428425,
+          0.02425295114517212,
+          41.4808349609375
+        ],
+        [
+          -0.024540729820728302,
+          -0.008866210468113422,
+          -0.9996594786643982,
+          22.819869995117188
+        ],
+        [
+          -0.03100036084651947,
+          -0.9994730949401855,
+          0.009625584818422794,
+          -22.309066772460938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3765,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323639_983078002",
+      "mask_path": "../../mask/hdr_right_03765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03767.png",
+      "transform_matrix": [
+        [
+          -0.9991080164909363,
+          0.01720958948135376,
+          0.0385640412569046,
+          41.547401428222656
+        ],
+        [
+          -0.0389082208275795,
+          -0.02013251557946205,
+          -0.9990400075912476,
+          22.818754196166992
+        ],
+        [
+          -0.016416678205132484,
+          -0.999649167060852,
+          0.020784150809049606,
+          -22.31059455871582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3767,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_183081626",
+      "mask_path": "../../mask/hdr_right_03767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03769.png",
+      "transform_matrix": [
+        [
+          -0.9987277984619141,
+          0.015199320390820503,
+          0.04808260500431061,
+          41.600074768066406
+        ],
+        [
+          -0.04836360365152359,
+          -0.01869385316967964,
+          -0.9986549019813538,
+          22.818649291992188
+        ],
+        [
+          -0.014280025847256184,
+          -0.9997097253799438,
+          0.019405163824558258,
+          -22.3260498046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3769,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_383082628",
+      "mask_path": "../../mask/hdr_right_03769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03770.png",
+      "transform_matrix": [
+        [
+          -0.9988792538642883,
+          0.015690287575125694,
+          0.0446559339761734,
+          41.65168762207031
+        ],
+        [
+          -0.04493075609207153,
+          -0.017620179802179337,
+          -0.9988346695899963,
+          22.80767059326172
+        ],
+        [
+          -0.014885157346725464,
+          -0.9997216463088989,
+          0.018305407837033272,
+          -22.313884735107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3770,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_483082532",
+      "mask_path": "../../mask/hdr_right_03770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03772.png",
+      "transform_matrix": [
+        [
+          -0.9992696642875671,
+          0.021729273721575737,
+          0.03143349662423134,
+          41.73937225341797
+        ],
+        [
+          -0.03175559267401695,
+          -0.01463955920189619,
+          -0.9993884563446045,
+          22.796321868896484
+        ],
+        [
+          -0.021255813539028168,
+          -0.9996566772460938,
+          0.01531889196485281,
+          -22.31192970275879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3772,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_683080911",
+      "mask_path": "../../mask/hdr_right_03772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03774.png",
+      "transform_matrix": [
+        [
+          -0.9991183280944824,
+          0.02528602071106434,
+          0.03351418673992157,
+          41.8199577331543
+        ],
+        [
+          -0.03378501906991005,
+          -0.010359551757574081,
+          -0.9993754029273987,
+          22.789995193481445
+        ],
+        [
+          -0.024923035874962807,
+          -0.9996265769004822,
+          0.011204706504940987,
+          -22.288148880004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3774,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323640_883081674",
+      "mask_path": "../../mask/hdr_right_03774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03806.png",
+      "transform_matrix": [
+        [
+          -0.9975273013114929,
+          0.02888460084795952,
+          0.06406993418931961,
+          41.9229850769043
+        ],
+        [
+          -0.06444495171308517,
+          -0.012243171222507954,
+          -0.9978461265563965,
+          22.81107521057129
+        ],
+        [
+          -0.028037970885634422,
+          -0.9995077848434448,
+          0.014074363745748997,
+          -22.286096572875977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3806,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_83081483",
+      "mask_path": "../../mask/hdr_right_03806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03808.png",
+      "transform_matrix": [
+        [
+          -0.9973528385162354,
+          0.026270585134625435,
+          0.0678035244345665,
+          42.007389068603516
+        ],
+        [
+          -0.06819397956132889,
+          -0.014261742122471333,
+          -0.9975701570510864,
+          22.822986602783203
+        ],
+        [
+          -0.02523975446820259,
+          -0.9995531439781189,
+          0.01601548120379448,
+          -22.294160842895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3808,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_283081769",
+      "mask_path": "../../mask/hdr_right_03808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03809.png",
+      "transform_matrix": [
+        [
+          -0.9976611733436584,
+          0.028884490951895714,
+          0.061951495707035065,
+          42.06100845336914
+        ],
+        [
+          -0.06231404095888138,
+          -0.011823400855064392,
+          -0.9979866147041321,
+          22.819116592407227
+        ],
+        [
+          -0.0280938521027565,
+          -0.999512791633606,
+          0.01359565556049347,
+          -22.282283782958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3809,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_383079528",
+      "mask_path": "../../mask/hdr_right_03809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03810.png",
+      "transform_matrix": [
+        [
+          -0.9980324506759644,
+          0.03643818572163582,
+          0.051024749875068665,
+          42.11394500732422
+        ],
+        [
+          -0.05145387724041939,
+          -0.010936886072158813,
+          -0.9986154437065125,
+          22.813812255859375
+        ],
+        [
+          -0.03582968935370445,
+          -0.9992761015892029,
+          0.012790251523256302,
+          -22.271072387695312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3810,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_483078718",
+      "mask_path": "../../mask/hdr_right_03810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03812.png",
+      "transform_matrix": [
+        [
+          -0.9982956647872925,
+          0.043191831558942795,
+          0.03924848884344101,
+          42.22030258178711
+        ],
+        [
+          -0.04002558812499046,
+          -0.017276257276535034,
+          -0.9990493059158325,
+          22.81867027282715
+        ],
+        [
+          -0.042472705245018005,
+          -0.9989174604415894,
+          0.01897558756172657,
+          -22.27184295654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3812,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_683081388",
+      "mask_path": "../../mask/hdr_right_03812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03814.png",
+      "transform_matrix": [
+        [
+          -0.9983775019645691,
+          0.03435108810663223,
+          0.045412320643663406,
+          42.32284927368164
+        ],
+        [
+          -0.046375032514333725,
+          -0.027767756953835487,
+          -0.9985381364822388,
+          22.815969467163086
+        ],
+        [
+          -0.033039871603250504,
+          -0.9990240335464478,
+          0.029315736144781113,
+          -22.28669548034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3814,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323644_883081436",
+      "mask_path": "../../mask/hdr_right_03814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03816.png",
+      "transform_matrix": [
+        [
+          -0.9991137385368347,
+          0.025566307827830315,
+          0.033437978476285934,
+          42.39918899536133
+        ],
+        [
+          -0.03415562957525253,
+          -0.0281678419560194,
+          -0.9990195631980896,
+          22.792713165283203
+        ],
+        [
+          -0.024599365890026093,
+          -0.9992762207984924,
+          0.02901611104607582,
+          -22.280912399291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3816,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323645_83080768",
+      "mask_path": "../../mask/hdr_right_03816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03819.png",
+      "transform_matrix": [
+        [
+          -0.999500036239624,
+          0.030655639246106148,
+          0.0077430373057723045,
+          42.46968078613281
+        ],
+        [
+          -0.00849068071693182,
+          -0.024332981556653976,
+          -0.9996679425239563,
+          22.76521873474121
+        ],
+        [
+          -0.030457045882940292,
+          -0.9992337226867676,
+          0.024581100791692734,
+          -22.269529342651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3819,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323645_383079528",
+      "mask_path": "../../mask/hdr_right_03819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03826.png",
+      "transform_matrix": [
+        [
+          -0.9989813566207886,
+          0.0378132201731205,
+          -0.024626966565847397,
+          42.52988052368164
+        ],
+        [
+          0.022956131026148796,
+          -0.04400208592414856,
+          -0.9987676739692688,
+          22.724292755126953
+        ],
+        [
+          -0.03885025531053543,
+          -0.9983155727386475,
+          0.04308921471238136,
+          -22.252655029296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3826,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_83079338",
+      "mask_path": "../../mask/hdr_right_03826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03828.png",
+      "transform_matrix": [
+        [
+          -0.9987949728965759,
+          0.035312071442604065,
+          -0.03408436104655266,
+          42.61172103881836
+        ],
+        [
+          0.032465193420648575,
+          -0.045453283935785294,
+          -0.9984388947486877,
+          22.691709518432617
+        ],
+        [
+          -0.03680618107318878,
+          -0.9983421564102173,
+          0.044252101331949234,
+          -22.25214385986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3828,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_283079862",
+      "mask_path": "../../mask/hdr_right_03828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03830.png",
+      "transform_matrix": [
+        [
+          -0.9992407560348511,
+          0.027944961562752724,
+          -0.02714492380619049,
+          42.69651794433594
+        ],
+        [
+          0.02555830031633377,
+          -0.05564732849597931,
+          -0.998123288154602,
+          22.68558120727539
+        ],
+        [
+          -0.02940305508673191,
+          -0.9980593919754028,
+          0.05489085987210274,
+          -22.279094696044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3830,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_483079910",
+      "mask_path": "../../mask/hdr_right_03830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03832.png",
+      "transform_matrix": [
+        [
+          -0.9992569088935852,
+          0.019901564344763756,
+          -0.03300949186086655,
+          42.78594207763672
+        ],
+        [
+          0.03203406557440758,
+          -0.04748494550585747,
+          -0.9983581900596619,
+          22.647188186645508
+        ],
+        [
+          -0.02143634296953678,
+          -0.9986736178398132,
+          0.04681212455034256,
+          -22.263113021850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3832,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_683079957",
+      "mask_path": "../../mask/hdr_right_03832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03834.png",
+      "transform_matrix": [
+        [
+          -0.9984672665596008,
+          0.027616234496235847,
+          -0.04796383157372475,
+          42.86989212036133
+        ],
+        [
+          0.047092556953430176,
+          -0.031380344182252884,
+          -0.9983975291252136,
+          22.63243293762207
+        ],
+        [
+          -0.029077105224132538,
+          -0.9991258978843689,
+          0.03003172017633915,
+          -22.25687026977539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3834,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_883080005",
+      "mask_path": "../../mask/hdr_right_03834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03835.png",
+      "transform_matrix": [
+        [
+          -0.9985213875770569,
+          0.027610408142209053,
+          -0.04682701826095581,
+          42.93883514404297
+        ],
+        [
+          0.04609599709510803,
+          -0.02654411457479,
+          -0.9985842704772949,
+          22.62429428100586
+        ],
+        [
+          -0.028814299032092094,
+          -0.9992662668228149,
+          0.025232134386897087,
+          -22.248567581176758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3835,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323646_983079433",
+      "mask_path": "../../mask/hdr_right_03835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03836.png",
+      "transform_matrix": [
+        [
+          -0.9990724921226501,
+          0.02569504640996456,
+          -0.03455263748764992,
+          42.992042541503906
+        ],
+        [
+          0.03384141996502876,
+          -0.02761669270694256,
+          -0.9990455508232117,
+          22.62875747680664
+        ],
+        [
+          -0.026624752208590508,
+          -0.9992882609367371,
+          0.026721520349383354,
+          -22.256237030029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3836,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_83083152",
+      "mask_path": "../../mask/hdr_right_03836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03838.png",
+      "transform_matrix": [
+        [
+          -0.9997676610946655,
+          0.018302397802472115,
+          0.011383865028619766,
+          43.03936004638672
+        ],
+        [
+          -0.01167081668972969,
+          -0.015647046267986298,
+          -0.9998095035552979,
+          22.649150848388672
+        ],
+        [
+          -0.018120786175131798,
+          -0.9997100830078125,
+          0.015857014805078506,
+          -22.2645206451416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3838,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_283081293",
+      "mask_path": "../../mask/hdr_right_03838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03840.png",
+      "transform_matrix": [
+        [
+          -0.9989529252052307,
+          0.01759103499352932,
+          0.04223338142037392,
+          43.09401321411133
+        ],
+        [
+          -0.04241127893328667,
+          -0.009865163825452328,
+          -0.999051570892334,
+          22.65874671936035
+        ],
+        [
+          -0.01715771295130253,
+          -0.9997965693473816,
+          0.010600892826914787,
+          -22.251319885253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3840,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_483081579",
+      "mask_path": "../../mask/hdr_right_03840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03842.png",
+      "transform_matrix": [
+        [
+          -0.9991118311882019,
+          0.01996900513768196,
+          0.0371037982404232,
+          43.18278884887695
+        ],
+        [
+          -0.0371149443089962,
+          -0.00018782766710501164,
+          -0.9993110299110413,
+          22.65298080444336
+        ],
+        [
+          -0.01994827762246132,
+          -0.9998005628585815,
+          0.0009288075380027294,
+          -22.252561569213867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3842,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_683082342",
+      "mask_path": "../../mask/hdr_right_03842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03844.png",
+      "transform_matrix": [
+        [
+          -0.999197781085968,
+          0.006978077348321676,
+          0.039437469094991684,
+          43.28307342529297
+        ],
+        [
+          -0.03953192010521889,
+          -0.01395734865218401,
+          -0.999120831489563,
+          22.646265029907227
+        ],
+        [
+          -0.006421498954296112,
+          -0.9998782873153687,
+          0.014222006313502789,
+          -22.26061248779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3844,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323647_883083581",
+      "mask_path": "../../mask/hdr_right_03844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03846.png",
+      "transform_matrix": [
+        [
+          -0.9990978837013245,
+          -0.002537574153393507,
+          0.04239059239625931,
+          43.3846435546875
+        ],
+        [
+          -0.04235582426190376,
+          -0.012485845945775509,
+          -0.9990245699882507,
+          22.63669776916504
+        ],
+        [
+          0.003064381889998913,
+          -0.9999188184738159,
+          0.012367102317512035,
+          -22.272214889526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3846,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_83081245",
+      "mask_path": "../../mask/hdr_right_03846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03847.png",
+      "transform_matrix": [
+        [
+          -0.9992844462394714,
+          -0.004974415060132742,
+          0.037494514137506485,
+          43.45793151855469
+        ],
+        [
+          -0.037433281540870667,
+          -0.011882380582392216,
+          -0.9992285370826721,
+          22.626806259155273
+        ],
+        [
+          0.005416101776063442,
+          -0.9999170303344727,
+          0.011687668971717358,
+          -22.270891189575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3847,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_183079481",
+      "mask_path": "../../mask/hdr_right_03847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03848.png",
+      "transform_matrix": [
+        [
+          -0.9996147155761719,
+          -0.0046094805002212524,
+          0.02737089991569519,
+          43.51567840576172
+        ],
+        [
+          -0.027292607352137566,
+          -0.016270045191049576,
+          -0.9994950890541077,
+          22.614547729492188
+        ],
+        [
+          0.005052479449659586,
+          -0.9998570084571838,
+          0.016137970611453056,
+          -22.268091201782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3848,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_283081769",
+      "mask_path": "../../mask/hdr_right_03848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03849.png",
+      "transform_matrix": [
+        [
+          -0.9999024868011475,
+          -0.0031264780554920435,
+          0.01361070852726698,
+          43.58614730834961
+        ],
+        [
+          -0.013546844944357872,
+          -0.019617119804024696,
+          -0.9997158050537109,
+          22.602834701538086
+        ],
+        [
+          0.003392592305317521,
+          -0.9998026490211487,
+          0.019572852179408073,
+          -22.282228469848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3849,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_383082151",
+      "mask_path": "../../mask/hdr_right_03849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03850.png",
+      "transform_matrix": [
+        [
+          -0.9999919533729553,
+          -0.00017203838797286153,
+          0.004025300033390522,
+          43.6798210144043
+        ],
+        [
+          -0.004021541681140661,
+          -0.018128585070371628,
+          -0.9998276233673096,
+          22.586271286010742
+        ],
+        [
+          0.00024498216225765646,
+          -0.9998356699943542,
+          0.018127745017409325,
+          -22.285310745239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3850,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_483082294",
+      "mask_path": "../../mask/hdr_right_03850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03851.png",
+      "transform_matrix": [
+        [
+          -0.9999924302101135,
+          -0.0006437487318180501,
+          0.003852284047752619,
+          43.76276397705078
+        ],
+        [
+          -0.003838656237348914,
+          -0.020016267895698547,
+          -0.9997923374176025,
+          22.572595596313477
+        ],
+        [
+          0.0007207233575172722,
+          -0.9997994303703308,
+          0.02001364342868328,
+          -22.274368286132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3851,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_583081960",
+      "mask_path": "../../mask/hdr_right_03851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03852.png",
+      "transform_matrix": [
+        [
+          -0.9999740123748779,
+          -0.001146575785242021,
+          0.0071305506862699986,
+          43.829410552978516
+        ],
+        [
+          -0.007100471295416355,
+          -0.024410026147961617,
+          -0.9996768832206726,
+          22.571683883666992
+        ],
+        [
+          0.0013202620903030038,
+          -0.9997013807296753,
+          0.024401245638728142,
+          -22.27707290649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3852,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_683082818",
+      "mask_path": "../../mask/hdr_right_03852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03853.png",
+      "transform_matrix": [
+        [
+          -0.9999464750289917,
+          -0.0014749984256923199,
+          0.010243682190775871,
+          43.91124725341797
+        ],
+        [
+          -0.010218821465969086,
+          -0.015977809205651283,
+          -0.9998201727867126,
+          22.56378936767578
+        ],
+        [
+          0.0016384051414206624,
+          -0.9998712539672852,
+          0.01596187800168991,
+          -22.28596305847168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3853,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_783082962",
+      "mask_path": "../../mask/hdr_right_03853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03854.png",
+      "transform_matrix": [
+        [
+          -0.9999003410339355,
+          -0.004444210324436426,
+          0.013400919735431671,
+          44.00495529174805
+        ],
+        [
+          -0.01335136964917183,
+          -0.010998588986694813,
+          -0.9998503923416138,
+          22.540616989135742
+        ],
+        [
+          0.004590936005115509,
+          -0.9999296069145203,
+          0.010938155464828014,
+          -22.281465530395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3854,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_883081197",
+      "mask_path": "../../mask/hdr_right_03854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03855.png",
+      "transform_matrix": [
+        [
+          -0.9998143911361694,
+          -0.005320333410054445,
+          0.01851382665336132,
+          44.070491790771484
+        ],
+        [
+          -0.01844881847500801,
+          -0.012028715573251247,
+          -0.9997575879096985,
+          22.5262451171875
+        ],
+        [
+          0.005541741847991943,
+          -0.9999135136604309,
+          0.011928330175578594,
+          -22.28066635131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3855,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323648_983081102",
+      "mask_path": "../../mask/hdr_right_03855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03856.png",
+      "transform_matrix": [
+        [
+          -0.9996685981750488,
+          -0.0015913238748908043,
+          0.025694753974676132,
+          44.12720489501953
+        ],
+        [
+          -0.02567821927368641,
+          -0.009668732061982155,
+          -0.9996235370635986,
+          22.51481819152832
+        ],
+        [
+          0.0018391602206975222,
+          -0.999951958656311,
+          0.009624664671719074,
+          -22.279909133911133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3856,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_83080291",
+      "mask_path": "../../mask/hdr_right_03856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03857.png",
+      "transform_matrix": [
+        [
+          -0.999070405960083,
+          -0.00397601118311286,
+          0.042924914509058,
+          44.201393127441406
+        ],
+        [
+          -0.04288359731435776,
+          -0.009957637637853622,
+          -0.9990304708480835,
+          22.512723922729492
+        ],
+        [
+          0.004399587400257587,
+          -0.9999425411224365,
+          0.009777873754501343,
+          -22.27862548828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3857,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_183080673",
+      "mask_path": "../../mask/hdr_right_03857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03858.png",
+      "transform_matrix": [
+        [
+          -0.9972657561302185,
+          -0.008750829845666885,
+          0.07337994873523712,
+          44.28021240234375
+        ],
+        [
+          -0.07322607934474945,
+          -0.016771312803030014,
+          -0.9971743822097778,
+          22.522865295410156
+        ],
+        [
+          0.009956779889762402,
+          -0.9998210668563843,
+          0.016084667295217514,
+          -22.27303695678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3858,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_283081293",
+      "mask_path": "../../mask/hdr_right_03858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03859.png",
+      "transform_matrix": [
+        [
+          -0.9943047165870667,
+          -0.010372085496783257,
+          0.10606950521469116,
+          44.34293746948242
+        ],
+        [
+          -0.10585472732782364,
+          -0.0194340031594038,
+          -0.9941917061805725,
+          22.53569221496582
+        ],
+        [
+          0.012373195961117744,
+          -0.9997573494911194,
+          0.01822538487613201,
+          -22.277536392211914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3859,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_383080959",
+      "mask_path": "../../mask/hdr_right_03859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03860.png",
+      "transform_matrix": [
+        [
+          -0.9907030463218689,
+          -0.012071928940713406,
+          0.13550607860088348,
+          44.40155029296875
+        ],
+        [
+          -0.13533878326416016,
+          -0.013742673210799694,
+          -0.9907041788101196,
+          22.54768180847168
+        ],
+        [
+          0.013821925036609173,
+          -0.9998326897621155,
+          0.011981106363236904,
+          -22.291481018066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3860,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_483081102",
+      "mask_path": "../../mask/hdr_right_03860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03861.png",
+      "transform_matrix": [
+        [
+          -0.9872679114341736,
+          -0.01819184236228466,
+          0.15802238881587982,
+          44.467411041259766
+        ],
+        [
+          -0.15793533623218536,
+          -0.006136270705610514,
+          -0.9874303936958313,
+          22.550926208496094
+        ],
+        [
+          0.018932845443487167,
+          -0.9998157024383545,
+          0.0031850088853389025,
+          -22.282787322998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3861,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_583081483",
+      "mask_path": "../../mask/hdr_right_03861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03862.png",
+      "transform_matrix": [
+        [
+          -0.9854720234870911,
+          -0.019895516335964203,
+          0.1686684489250183,
+          44.52760314941406
+        ],
+        [
+          -0.1686611920595169,
+          -0.00205426849424839,
+          -0.9856719374656677,
+          22.5566463470459
+        ],
+        [
+          0.01995694264769554,
+          -0.9997999668121338,
+          -0.0013311774237081409,
+          -22.270570755004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3862,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_683081388",
+      "mask_path": "../../mask/hdr_right_03862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03863.png",
+      "transform_matrix": [
+        [
+          -0.9861084222793579,
+          -0.015347466804087162,
+          0.16539213061332703,
+          44.58629608154297
+        ],
+        [
+          -0.16547003388404846,
+          0.003943477291613817,
+          -0.9862069487571716,
+          22.559181213378906
+        ],
+        [
+          0.014483558014035225,
+          -0.999874472618103,
+          -0.006428243592381477,
+          -22.273643493652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3863,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_783080339",
+      "mask_path": "../../mask/hdr_right_03863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03864.png",
+      "transform_matrix": [
+        [
+          -0.9878416657447815,
+          -0.010960550047457218,
+          0.15507647395133972,
+          44.648597717285156
+        ],
+        [
+          -0.15516074001789093,
+          0.007304395083338022,
+          -0.987862229347229,
+          22.55486488342285
+        ],
+        [
+          0.009694772772490978,
+          -0.999913215637207,
+          -0.008916234597563744,
+          -22.277109146118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3864,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_883079290",
+      "mask_path": "../../mask/hdr_right_03864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03865.png",
+      "transform_matrix": [
+        [
+          -0.9882767796516418,
+          -0.015133126638829708,
+          0.1519213318824768,
+          44.72706604003906
+        ],
+        [
+          -0.15190044045448303,
+          -0.002527763834223151,
+          -0.9883926510810852,
+          22.555194854736328
+        ],
+        [
+          0.015341492369771004,
+          -0.9998822808265686,
+          0.0001993999321712181,
+          -22.275442123413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3865,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323649_983079910",
+      "mask_path": "../../mask/hdr_right_03865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03866.png",
+      "transform_matrix": [
+        [
+          -0.9879524111747742,
+          -0.02025020308792591,
+          0.15342707931995392,
+          44.79990768432617
+        ],
+        [
+          -0.1531573385000229,
+          -0.014269799925386906,
+          -0.9880988001823425,
+          22.565227508544922
+        ],
+        [
+          0.022198570892214775,
+          -0.9996931552886963,
+          0.010996416211128235,
+          -22.289583206176758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3866,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_83078861",
+      "mask_path": "../../mask/hdr_right_03866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03868.png",
+      "transform_matrix": [
+        [
+          -0.9878437519073486,
+          -0.027115974575281143,
+          0.1530672162771225,
+          44.93425369262695
+        ],
+        [
+          -0.15261171758174896,
+          -0.018151797354221344,
+          -0.9881196022033691,
+          22.579853057861328
+        ],
+        [
+          0.029572268947958946,
+          -0.9994674921035767,
+          0.013792924582958221,
+          -22.30661964416504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3868,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_283081293",
+      "mask_path": "../../mask/hdr_right_03868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03869.png",
+      "transform_matrix": [
+        [
+          -0.9887323975563049,
+          -0.030595626682043076,
+          0.14653387665748596,
+          45.03016662597656
+        ],
+        [
+          -0.14604462683200836,
+          -0.017668379470705986,
+          -0.9891202449798584,
+          22.575109481811523
+        ],
+        [
+          0.03285176679491997,
+          -0.9993757009506226,
+          0.013000969775021076,
+          -22.305025100708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3869,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_383080959",
+      "mask_path": "../../mask/hdr_right_03869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03870.png",
+      "transform_matrix": [
+        [
+          -0.9903063178062439,
+          -0.02789831906557083,
+          0.1360701322555542,
+          45.10808181762695
+        ],
+        [
+          -0.1356174349784851,
+          -0.01753288507461548,
+          -0.9906061887741089,
+          22.566560745239258
+        ],
+        [
+          0.030021946877241135,
+          -0.999457061290741,
+          0.013579433783888817,
+          -22.29911231994629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3870,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_483081817",
+      "mask_path": "../../mask/hdr_right_03870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03871.png",
+      "transform_matrix": [
+        [
+          -0.9920851588249207,
+          -0.02360204979777336,
+          0.12332875281572342,
+          45.19162368774414
+        ],
+        [
+          -0.12286476045846939,
+          -0.020197365432977676,
+          -0.9922179579734802,
+          22.56720733642578
+        ],
+        [
+          0.025909291580319405,
+          -0.9995173811912537,
+          0.017137644812464714,
+          -22.310293197631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3871,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323650_583082675",
+      "mask_path": "../../mask/hdr_right_03871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06607.png",
+      "transform_matrix": [
+        [
+          0.9971647262573242,
+          -0.005308682564646006,
+          0.07506313174962997,
+          44.77699661254883
+        ],
+        [
+          -0.07512956112623215,
+          -0.013678331859409809,
+          0.9970799088478088,
+          22.273344039916992
+        ],
+        [
+          -0.004266443196684122,
+          -0.9998923540115356,
+          -0.014038389548659325,
+          -22.29390525817871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6607,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_183082342",
+      "mask_path": "../../mask/hdr_right_06607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06608.png",
+      "transform_matrix": [
+        [
+          0.9970978498458862,
+          -0.01081879436969757,
+          0.07535713911056519,
+          44.68352127075195
+        ],
+        [
+          -0.07539388537406921,
+          -0.0030342864338308573,
+          0.9971492886543274,
+          22.282983779907227
+        ],
+        [
+          -0.01055929809808731,
+          -0.9999368786811829,
+          -0.003841154044494033,
+          -22.2963924407959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6608,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_283085823",
+      "mask_path": "../../mask/hdr_right_06608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06609.png",
+      "transform_matrix": [
+        [
+          0.9972191452980042,
+          -0.01385315228253603,
+          0.07322656363248825,
+          44.62358474731445
+        ],
+        [
+          -0.0731251910328865,
+          0.007686929777264595,
+          0.9972931742668152,
+          22.284719467163086
+        ],
+        [
+          -0.014378540217876434,
+          -0.999874472618103,
+          0.006652539130300283,
+          -22.303199768066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6609,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_383082389",
+      "mask_path": "../../mask/hdr_right_06609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06610.png",
+      "transform_matrix": [
+        [
+          0.9971437454223633,
+          -0.016218705102801323,
+          0.07376530766487122,
+          44.562503814697266
+        ],
+        [
+          -0.0735388845205307,
+          0.01414021197706461,
+          0.9971920847892761,
+          22.29206657409668
+        ],
+        [
+          -0.017216220498085022,
+          -0.9997684359550476,
+          0.012907116673886776,
+          -22.306764602661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6610,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_483080148",
+      "mask_path": "../../mask/hdr_right_06610.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06611.png",
+      "transform_matrix": [
+        [
+          0.9968332052230835,
+          -0.00983642227947712,
+          0.07891015708446503,
+          44.494693756103516
+        ],
+        [
+          -0.07887160032987595,
+          0.004245904739946127,
+          0.9968757629394531,
+          22.300628662109375
+        ],
+        [
+          -0.010140737518668175,
+          -0.9999426603317261,
+          0.003456643084064126,
+          -22.309715270996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6611,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_583079814",
+      "mask_path": "../../mask/hdr_right_06611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06612.png",
+      "transform_matrix": [
+        [
+          0.9960126876831055,
+          -0.00473914435133338,
+          0.08908552676439285,
+          44.42276382446289
+        ],
+        [
+          -0.08908310532569885,
+          0.0007182706031017005,
+          0.996023952960968,
+          22.315608978271484
+        ],
+        [
+          -0.0047842892818152905,
+          -0.9999885559082031,
+          0.0002932258939836174,
+          -22.298437118530273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6612,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_683082342",
+      "mask_path": "../../mask/hdr_right_06612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06613.png",
+      "transform_matrix": [
+        [
+          0.9952489733695984,
+          -0.004886701703071594,
+          0.09723971039056778,
+          44.35599899291992
+        ],
+        [
+          -0.09721557050943375,
+          0.004948768764734268,
+          0.9952510595321655,
+          22.331985473632812
+        ],
+        [
+          -0.005344712175428867,
+          -0.9999758005142212,
+          0.004450192674994469,
+          -22.29151153564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6613,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_783082008",
+      "mask_path": "../../mask/hdr_right_06613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06614.png",
+      "transform_matrix": [
+        [
+          0.9944024682044983,
+          -0.009372561238706112,
+          0.10524250566959381,
+          44.29337692260742
+        ],
+        [
+          -0.1052371934056282,
+          0.0010497603798285127,
+          0.9944465756416321,
+          22.344749450683594
+        ],
+        [
+          -0.009430989623069763,
+          -0.9999554753303528,
+          5.753978985012509e-05,
+          -22.2919979095459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6614,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_883080959",
+      "mask_path": "../../mask/hdr_right_06614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06615.png",
+      "transform_matrix": [
+        [
+          0.9938890337944031,
+          -0.01727350428700447,
+          0.10902433097362518,
+          44.199703216552734
+        ],
+        [
+          -0.10900522768497467,
+          0.0020449000876396894,
+          0.9940391182899475,
+          22.359560012817383
+        ],
+        [
+          -0.017393482849001884,
+          -0.9998487234115601,
+          0.00014950026525184512,
+          -22.288124084472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6615,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323924_983080863",
+      "mask_path": "../../mask/hdr_right_06615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06616.png",
+      "transform_matrix": [
+        [
+          0.9944044351577759,
+          -0.02081936039030552,
+          0.10356814414262772,
+          44.107967376708984
+        ],
+        [
+          -0.10332352668046951,
+          0.012500520795583725,
+          0.9945692420005798,
+          22.377578735351562
+        ],
+        [
+          -0.022000951692461967,
+          -0.9997051358222961,
+          0.010279442183673382,
+          -22.291946411132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6616,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_83078145",
+      "mask_path": "../../mask/hdr_right_06616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06617.png",
+      "transform_matrix": [
+        [
+          0.9953859448432922,
+          -0.020415659993886948,
+          0.09375569224357605,
+          44.052276611328125
+        ],
+        [
+          -0.09334980696439743,
+          0.02000146172940731,
+          0.9954324960708618,
+          22.38625717163086
+        ],
+        [
+          -0.0221976600587368,
+          -0.9995914101600647,
+          0.018003374338150024,
+          -22.295625686645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6617,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_183081150",
+      "mask_path": "../../mask/hdr_right_06617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06618.png",
+      "transform_matrix": [
+        [
+          0.9965248107910156,
+          -0.020436665043234825,
+          0.08075139671564102,
+          43.99171447753906
+        ],
+        [
+          -0.08036579191684723,
+          0.019035544246435165,
+          0.9965837001800537,
+          22.398351669311523
+        ],
+        [
+          -0.02190399542450905,
+          -0.9996099472045898,
+          0.01732698269188404,
+          -22.299373626708984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6618,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_283081293",
+      "mask_path": "../../mask/hdr_right_06618.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06619.png",
+      "transform_matrix": [
+        [
+          0.9974350929260254,
+          -0.01294830720871687,
+          0.07039598375558853,
+          43.9245719909668
+        ],
+        [
+          -0.07024341076612473,
+          0.01188366673886776,
+          0.9974590539932251,
+          22.40618896484375
+        ],
+        [
+          -0.013751968741416931,
+          -0.9998456239700317,
+          0.010943650268018246,
+          -22.295352935791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6619,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_383080959",
+      "mask_path": "../../mask/hdr_right_06619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06620.png",
+      "transform_matrix": [
+        [
+          0.9979246258735657,
+          -0.007454726845026016,
+          0.06396088004112244,
+          43.87042999267578
+        ],
+        [
+          -0.06391242891550064,
+          0.006561627611517906,
+          0.9979340434074402,
+          22.410120010375977
+        ],
+        [
+          -0.00785901304334402,
+          -0.999950647354126,
+          0.006071560550481081,
+          -22.282140731811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6620,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_483079671",
+      "mask_path": "../../mask/hdr_right_06620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06621.png",
+      "transform_matrix": [
+        [
+          0.9981898069381714,
+          -0.01021196786314249,
+          0.05926990881562233,
+          43.81869125366211
+        ],
+        [
+          -0.05926860496401787,
+          0.0004324908659327775,
+          0.9982419610023499,
+          22.417179107666016
+        ],
+        [
+          -0.010219648480415344,
+          -0.999947726726532,
+          -0.00017354277952108532,
+          -22.27754020690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6621,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_583081007",
+      "mask_path": "../../mask/hdr_right_06621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06622.png",
+      "transform_matrix": [
+        [
+          0.9982954859733582,
+          -0.01429908536374569,
+          0.056583091616630554,
+          43.7649040222168
+        ],
+        [
+          -0.05669848993420601,
+          -0.007800545077770948,
+          0.9983609914779663,
+          22.423465728759766
+        ],
+        [
+          -0.013834268786013126,
+          -0.99986732006073,
+          -0.008597985841333866,
+          -22.278993606567383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6622,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_683081865",
+      "mask_path": "../../mask/hdr_right_06622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06623.png",
+      "transform_matrix": [
+        [
+          0.9984837174415588,
+          -0.014972642064094543,
+          0.05297331511974335,
+          43.70302963256836
+        ],
+        [
+          -0.053062405437231064,
+          -0.005614238791167736,
+          0.9985753893852234,
+          22.426746368408203
+        ],
+        [
+          -0.014653907157480717,
+          -0.9998721480369568,
+          -0.006400212179869413,
+          -22.2735652923584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6623,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_783079385",
+      "mask_path": "../../mask/hdr_right_06623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06625.png",
+      "transform_matrix": [
+        [
+          0.9987456798553467,
+          -0.01641455665230751,
+          0.047304458916187286,
+          43.61219787597656
+        ],
+        [
+          -0.04717892408370972,
+          0.007951110601425171,
+          0.9988548159599304,
+          22.44307518005371
+        ],
+        [
+          -0.01677188277244568,
+          -0.9998336434364319,
+          0.007166714873164892,
+          -22.289846420288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6625,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323925_983080148",
+      "mask_path": "../../mask/hdr_right_06625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06627.png",
+      "transform_matrix": [
+        [
+          0.9985647797584534,
+          -0.007673864718526602,
+          0.05300484225153923,
+          43.51896667480469
+        ],
+        [
+          -0.05296351760625839,
+          0.005489530507475138,
+          0.9985813498497009,
+          22.447378158569336
+        ],
+        [
+          -0.007953949272632599,
+          -0.9999554753303528,
+          0.005075215827673674,
+          -22.284317016601562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6627,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_183079004",
+      "mask_path": "../../mask/hdr_right_06627.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06628.png",
+      "transform_matrix": [
+        [
+          0.9979705214500427,
+          -0.007418238557875156,
+          0.06324460357427597,
+          43.4659423828125
+        ],
+        [
+          -0.06323568522930145,
+          0.0014283257769420743,
+          0.9979976415634155,
+          22.453664779663086
+        ],
+        [
+          -0.00749371899291873,
+          -0.9999715089797974,
+          0.0009563274215906858,
+          -22.267776489257812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6628,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_283082246",
+      "mask_path": "../../mask/hdr_right_06628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06630.png",
+      "transform_matrix": [
+        [
+          0.9964995980262756,
+          -0.015344754792749882,
+          0.08217686414718628,
+          43.37945556640625
+        ],
+        [
+          -0.08233698457479477,
+          -0.010111729614436626,
+          0.9965533018112183,
+          22.4896240234375
+        ],
+        [
+          -0.014460915699601173,
+          -0.9998311400413513,
+          -0.011339779011905193,
+          -22.26933479309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6630,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_483080863",
+      "mask_path": "../../mask/hdr_right_06630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06631.png",
+      "transform_matrix": [
+        [
+          0.9966872334480286,
+          -0.011649629101157188,
+          0.08049138635396957,
+          43.320247650146484
+        ],
+        [
+          -0.08059847354888916,
+          -0.00903865322470665,
+          0.9967057704925537,
+          22.501270294189453
+        ],
+        [
+          -0.010883718729019165,
+          -0.9998912811279297,
+          -0.009947654791176319,
+          -22.260738372802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6631,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_583081245",
+      "mask_path": "../../mask/hdr_right_06631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06633.png",
+      "transform_matrix": [
+        [
+          0.9984340667724609,
+          -0.007741342298686504,
+          0.05540240928530693,
+          43.24357604980469
+        ],
+        [
+          -0.05541306361556053,
+          -0.0011738799512386322,
+          0.9984628558158875,
+          22.503620147705078
+        ],
+        [
+          -0.007664407137781382,
+          -0.9999693036079407,
+          -0.0016010154504328966,
+          -22.26931381225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6633,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_783080339",
+      "mask_path": "../../mask/hdr_right_06633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06635.png",
+      "transform_matrix": [
+        [
+          0.999876081943512,
+          -0.0009618608746677637,
+          0.015715990215539932,
+          43.15156555175781
+        ],
+        [
+          -0.015724483877420425,
+          -0.009600971825420856,
+          0.9998303055763245,
+          22.49626350402832
+        ],
+        [
+          -0.0008108085603453219,
+          -0.9999534487724304,
+          -0.009614907205104828,
+          -22.267608642578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6635,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323926_983081340",
+      "mask_path": "../../mask/hdr_right_06635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06636.png",
+      "transform_matrix": [
+        [
+          0.999995231628418,
+          -0.0017899611266329885,
+          0.0025437886361032724,
+          43.094608306884766
+        ],
+        [
+          -0.002575100399553776,
+          -0.017727363854646683,
+          0.9998395442962646,
+          22.5015869140625
+        ],
+        [
+          -0.0017445790581405163,
+          -0.9998412132263184,
+          -0.017731888219714165,
+          -22.262954711914062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6636,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_83082675",
+      "mask_path": "../../mask/hdr_right_06636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06637.png",
+      "transform_matrix": [
+        [
+          0.9999631643295288,
+          -0.006730684544891119,
+          -0.005339518655091524,
+          43.03581237792969
+        ],
+        [
+          0.005163583438843489,
+          -0.02589305490255356,
+          0.9996513724327087,
+          22.50874137878418
+        ],
+        [
+          -0.006866594776511192,
+          -0.9996420741081238,
+          -0.02585734613239765,
+          -22.27444839477539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6637,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_183079004",
+      "mask_path": "../../mask/hdr_right_06637.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06638.png",
+      "transform_matrix": [
+        [
+          0.9999650716781616,
+          -0.003739204490557313,
+          -0.007475570309907198,
+          42.97044372558594
+        ],
+        [
+          0.007383537478744984,
+          -0.024053098633885384,
+          0.9996834397315979,
+          22.50839614868164
+        ],
+        [
+          -0.003917831927537918,
+          -0.9997037053108215,
+          -0.02402465045452118,
+          -22.273052215576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6638,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_283082008",
+      "mask_path": "../../mask/hdr_right_06638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06639.png",
+      "transform_matrix": [
+        [
+          0.9999467730522156,
+          0.0004522274830378592,
+          -0.010313612408936024,
+          42.91123580932617
+        ],
+        [
+          0.010319585911929607,
+          -0.01618770882487297,
+          0.999815821647644,
+          22.50691795349121
+        ],
+        [
+          0.0002851903554983437,
+          -0.9998688697814941,
+          -0.016191516071558,
+          -22.273122787475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6639,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_383082389",
+      "mask_path": "../../mask/hdr_right_06639.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06641.png",
+      "transform_matrix": [
+        [
+          0.9998762607574463,
+          -0.0012823735596612096,
+          -0.015673931688070297,
+          42.804962158203125
+        ],
+        [
+          0.015665683895349503,
+          -0.006215204484760761,
+          0.9998579621315002,
+          22.488853454589844
+        ],
+        [
+          -0.0013796084094792604,
+          -0.9999798536300659,
+          -0.006194347515702248,
+          -22.29068374633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6641,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_583083152",
+      "mask_path": "../../mask/hdr_right_06641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06642.png",
+      "transform_matrix": [
+        [
+          0.9999179244041443,
+          0.004752789158374071,
+          -0.01189764030277729,
+          42.7393798828125
+        ],
+        [
+          0.011913971975445747,
+          -0.0034191289450973272,
+          0.9999231696128845,
+          22.472532272338867
+        ],
+        [
+          0.004711746238172054,
+          -0.9999828338623047,
+          -0.0034754732623696327,
+          -22.290315628051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6642,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_683081865",
+      "mask_path": "../../mask/hdr_right_06642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06643.png",
+      "transform_matrix": [
+        [
+          0.9999405145645142,
+          0.009985648095607758,
+          -0.004381354432553053,
+          42.6622428894043
+        ],
+        [
+          0.004418360535055399,
+          -0.003687033662572503,
+          0.9999834299087524,
+          22.466753005981445
+        ],
+        [
+          0.00996932853013277,
+          -0.9999433755874634,
+          -0.0037309362087398767,
+          -22.280284881591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6643,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_783081054",
+      "mask_path": "../../mask/hdr_right_06643.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06644.png",
+      "transform_matrix": [
+        [
+          0.9999273419380188,
+          0.010878623463213444,
+          0.005181423854082823,
+          42.58038330078125
+        ],
+        [
+          -0.005102801602333784,
+          -0.007240461651235819,
+          0.9999607801437378,
+          22.476282119750977
+        ],
+        [
+          0.010915711522102356,
+          -0.9999145865440369,
+          -0.007184425834566355,
+          -22.280698776245117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6644,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_883082389",
+      "mask_path": "../../mask/hdr_right_06644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06645.png",
+      "transform_matrix": [
+        [
+          0.9999064803123474,
+          0.007738086860626936,
+          0.01127659622579813,
+          42.467586517333984
+        ],
+        [
+          -0.011216172948479652,
+          -0.0078044370748102665,
+          0.9999067187309265,
+          22.48546600341797
+        ],
+        [
+          0.00782537180930376,
+          -0.9999395608901978,
+          -0.0077169169671833515,
+          -22.289705276489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6645,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323927_983081817",
+      "mask_path": "../../mask/hdr_right_06645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06646.png",
+      "transform_matrix": [
+        [
+          0.9999281764030457,
+          0.008890999481081963,
+          0.008038396015763283,
+          42.35849380493164
+        ],
+        [
+          -0.008028358221054077,
+          -0.00116056390106678,
+          0.9999671578407288,
+          22.492355346679688
+        ],
+        [
+          0.008900036104023457,
+          -0.9999597668647766,
+          -0.0010891023557633162,
+          -22.294038772583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6646,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_83080768",
+      "mask_path": "../../mask/hdr_right_06646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06647.png",
+      "transform_matrix": [
+        [
+          0.9999387860298157,
+          0.011034157127141953,
+          0.00079585105413571,
+          42.291954040527344
+        ],
+        [
+          -0.0008564394083805382,
+          0.005489016883075237,
+          0.9999845623970032,
+          22.497547149658203
+        ],
+        [
+          0.011029617860913277,
+          -0.9999240040779114,
+          0.005498128943145275,
+          -22.304832458496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6647,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_183082342",
+      "mask_path": "../../mask/hdr_right_06647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06648.png",
+      "transform_matrix": [
+        [
+          0.9999546408653259,
+          0.008261779323220253,
+          -0.004727611318230629,
+          42.219940185546875
+        ],
+        [
+          0.004668598063290119,
+          0.007148399017751217,
+          0.9999635815620422,
+          22.508588790893555
+        ],
+        [
+          0.008295273408293724,
+          -0.9999403357505798,
+          0.007109504658728838,
+          -22.32307243347168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6648,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_283082246",
+      "mask_path": "../../mask/hdr_right_06648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06649.png",
+      "transform_matrix": [
+        [
+          0.9998228549957275,
+          0.018814006820321083,
+          0.0005867178551852703,
+          42.12593460083008
+        ],
+        [
+          -0.0006563518545590341,
+          0.003696060972288251,
+          0.9999930262565613,
+          22.534372329711914
+        ],
+        [
+          0.018811704590916634,
+          -0.9998162388801575,
+          0.0037077534943819046,
+          -22.322128295898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6649,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_383080244",
+      "mask_path": "../../mask/hdr_right_06649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06650.png",
+      "transform_matrix": [
+        [
+          0.999481201171875,
+          0.03035142831504345,
+          0.010772306472063065,
+          42.052127838134766
+        ],
+        [
+          -0.010838941670954227,
+          0.0020325209479779005,
+          0.9999392628669739,
+          22.5487003326416
+        ],
+        [
+          0.03032768703997135,
+          -0.9995372295379639,
+          0.0023604428861290216,
+          -22.310476303100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6650,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_483082532",
+      "mask_path": "../../mask/hdr_right_06650.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06651.png",
+      "transform_matrix": [
+        [
+          0.9994301199913025,
+          0.028348468244075775,
+          0.01832812838256359,
+          41.999942779541016
+        ],
+        [
+          -0.018254591152071953,
+          -0.002850146731361747,
+          0.9998294115066528,
+          22.55466079711914
+        ],
+        [
+          0.028395868837833405,
+          -0.9995940327644348,
+          -0.0023310345131903887,
+          -22.30533218383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6651,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_583081960",
+      "mask_path": "../../mask/hdr_right_06651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06652.png",
+      "transform_matrix": [
+        [
+          0.999393105506897,
+          0.02187911793589592,
+          0.02710627391934395,
+          41.92329788208008
+        ],
+        [
+          -0.02688196487724781,
+          -0.010481718927621841,
+          0.9995836615562439,
+          22.56190299987793
+        ],
+        [
+          0.022154128178954124,
+          -0.9997056722640991,
+          -0.009887204505503178,
+          -22.302762985229492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6652,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_683082580",
+      "mask_path": "../../mask/hdr_right_06652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06653.png",
+      "transform_matrix": [
+        [
+          0.9993621110916138,
+          0.019461462274193764,
+          0.029943451285362244,
+          41.81711959838867
+        ],
+        [
+          -0.029752008616924286,
+          -0.010051261633634567,
+          0.9995068907737732,
+          22.575693130493164
+        ],
+        [
+          0.019752832129597664,
+          -0.9997600317001343,
+          -0.009465833194553852,
+          -22.302001953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6653,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_783082246",
+      "mask_path": "../../mask/hdr_right_06653.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06654.png",
+      "transform_matrix": [
+        [
+          0.9993454813957214,
+          0.0255068801343441,
+          0.025655705481767654,
+          41.758033752441406
+        ],
+        [
+          -0.02535976842045784,
+          -0.011858024634420872,
+          0.9996080994606018,
+          22.5902099609375
+        ],
+        [
+          0.02580111101269722,
+          -0.9996042847633362,
+          -0.011203414760529995,
+          -22.319156646728516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6654,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_883082151",
+      "mask_path": "../../mask/hdr_right_06654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06655.png",
+      "transform_matrix": [
+        [
+          0.9994539022445679,
+          0.024737533181905746,
+          0.021910419687628746,
+          41.704681396484375
+        ],
+        [
+          -0.021435406059026718,
+          -0.019306890666484833,
+          0.9995837807655334,
+          22.594186782836914
+        ],
+        [
+          0.025150256231427193,
+          -0.999507486820221,
+          -0.018766086548566818,
+          -22.33383560180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6655,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323928_983081817",
+      "mask_path": "../../mask/hdr_right_06655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06656.png",
+      "transform_matrix": [
+        [
+          0.999575674533844,
+          0.02043774724006653,
+          0.02075633406639099,
+          41.625797271728516
+        ],
+        [
+          -0.020259233191609383,
+          -0.024233829230070114,
+          0.9995010495185852,
+          22.598533630371094
+        ],
+        [
+          0.02093055471777916,
+          -0.9994973540306091,
+          -0.02380949631333351,
+          -22.3344669342041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6656,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_83081483",
+      "mask_path": "../../mask/hdr_right_06656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06657.png",
+      "transform_matrix": [
+        [
+          0.9993748664855957,
+          0.022312302142381668,
+          0.027422014623880386,
+          41.5490837097168
+        ],
+        [
+          -0.026869527995586395,
+          -0.024694934487342834,
+          0.9993338584899902,
+          22.610151290893555
+        ],
+        [
+          0.02297462336719036,
+          -0.9994459748268127,
+          -0.024079980328679085,
+          -22.318588256835938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6657,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_183080911",
+      "mask_path": "../../mask/hdr_right_06657.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06658.png",
+      "transform_matrix": [
+        [
+          0.9990659356117249,
+          0.02150338888168335,
+          0.037480276077985764,
+          41.49054718017578
+        ],
+        [
+          -0.0369371734559536,
+          -0.025119436904788017,
+          0.9990018606185913,
+          22.623275756835938
+        ],
+        [
+          0.022423407062888145,
+          -0.9994531869888306,
+          -0.024301700294017792,
+          -22.31026268005371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6658,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_283081769",
+      "mask_path": "../../mask/hdr_right_06658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06659.png",
+      "transform_matrix": [
+        [
+          0.9987432360649109,
+          0.01601264998316765,
+          0.04749240726232529,
+          41.4337158203125
+        ],
+        [
+          -0.0470312163233757,
+          -0.028040656819939613,
+          0.9984998106956482,
+          22.6294002532959
+        ],
+        [
+          0.017320342361927032,
+          -0.9994784593582153,
+          -0.02725232020020485,
+          -22.30352783203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6659,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_383081912",
+      "mask_path": "../../mask/hdr_right_06659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06660.png",
+      "transform_matrix": [
+        [
+          0.9983569383621216,
+          0.01250133104622364,
+          0.055919717997312546,
+          41.34657669067383
+        ],
+        [
+          -0.0555746927857399,
+          -0.02642236463725567,
+          0.9981049299240112,
+          22.6474609375
+        ],
+        [
+          0.013955170288681984,
+          -0.9995726943016052,
+          -0.02568419836461544,
+          -22.30276107788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6660,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_483080863",
+      "mask_path": "../../mask/hdr_right_06660.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06661.png",
+      "transform_matrix": [
+        [
+          0.9983548521995544,
+          0.01531431544572115,
+          0.05525526404380798,
+          41.27206802368164
+        ],
+        [
+          -0.05499795824289322,
+          -0.01674223132431507,
+          0.9983461499214172,
+          22.664949417114258
+        ],
+        [
+          0.01621408201754093,
+          -0.9997425675392151,
+          -0.01587243191897869,
+          -22.31188201904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6661,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_583081722",
+      "mask_path": "../../mask/hdr_right_06661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06662.png",
+      "transform_matrix": [
+        [
+          0.9985293745994568,
+          0.017480995506048203,
+          0.051317162811756134,
+          41.21821975708008
+        ],
+        [
+          -0.05114756152033806,
+          -0.010014329105615616,
+          0.9986409544944763,
+          22.674612045288086
+        ],
+        [
+          0.01797114685177803,
+          -0.9997970461845398,
+          -0.009105492383241653,
+          -22.32040786743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6662,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_683082103",
+      "mask_path": "../../mask/hdr_right_06662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06663.png",
+      "transform_matrix": [
+        [
+          0.9986138939857483,
+          0.018207713961601257,
+          0.049384936690330505,
+          41.14945602416992
+        ],
+        [
+          -0.049206893891096115,
+          -0.010100658051669598,
+          0.9987375140190125,
+          22.68036460876465
+        ],
+        [
+          0.018683547154068947,
+          -0.9997831583023071,
+          -0.009190713986754417,
+          -22.317842483520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6663,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_783082008",
+      "mask_path": "../../mask/hdr_right_06663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06664.png",
+      "transform_matrix": [
+        [
+          0.9983543157577515,
+          0.024497997015714645,
+          0.05185268819332123,
+          41.06906509399414
+        ],
+        [
+          -0.051369450986385345,
+          -0.019959300756454468,
+          0.9984802603721619,
+          22.68971824645996
+        ],
+        [
+          0.025495709851384163,
+          -0.999500572681427,
+          -0.018668001517653465,
+          -22.323062896728516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6664,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_883081436",
+      "mask_path": "../../mask/hdr_right_06664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06665.png",
+      "transform_matrix": [
+        [
+          0.9975268840789795,
+          0.03033028170466423,
+          0.06340593099594116,
+          41.00053787231445
+        ],
+        [
+          -0.06267010420560837,
+          -0.024626009166240692,
+          0.9977304339408875,
+          22.713600158691406
+        ],
+        [
+          0.03182287514209747,
+          -0.9992364645004272,
+          -0.022664304822683334,
+          -22.322690963745117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6665,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323929_983081817",
+      "mask_path": "../../mask/hdr_right_06665.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06666.png",
+      "transform_matrix": [
+        [
+          0.996584415435791,
+          0.029312005266547203,
+          0.07720250636339188,
+          40.94968795776367
+        ],
+        [
+          -0.07640733569860458,
+          -0.02734323777258396,
+          0.9967017769813538,
+          22.736663818359375
+        ],
+        [
+          0.0313262939453125,
+          -0.9991962909698486,
+          -0.02501019462943077,
+          -22.32025146484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6666,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_83082675",
+      "mask_path": "../../mask/hdr_right_06666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06668.png",
+      "transform_matrix": [
+        [
+          0.9940661787986755,
+          0.028409935534000397,
+          0.10500148683786392,
+          40.838523864746094
+        ],
+        [
+          -0.10418292135000229,
+          -0.028905028477311134,
+          0.9941380620002747,
+          22.76256561279297
+        ],
+        [
+          0.031278468668460846,
+          -0.9991783499717712,
+          -0.025773679837584496,
+          -22.315778732299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6668,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_283081531",
+      "mask_path": "../../mask/hdr_right_06668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06669.png",
+      "transform_matrix": [
+        [
+          0.993803858757019,
+          0.032168198376894,
+          0.10639161616563797,
+          40.7674674987793
+        ],
+        [
+          -0.10575120151042938,
+          -0.020999524742364883,
+          0.9941708445549011,
+          22.784814834594727
+        ],
+        [
+          0.03421485796570778,
+          -0.9992618560791016,
+          -0.01746758446097374,
+          -22.334577560424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6669,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_383081912",
+      "mask_path": "../../mask/hdr_right_06669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06670.png",
+      "transform_matrix": [
+        [
+          0.9938112497329712,
+          0.03251942619681358,
+          0.10621587187051773,
+          40.705284118652344
+        ],
+        [
+          -0.10582061111927032,
+          -0.013647845014929771,
+          0.9942916035652161,
+          22.79680061340332
+        ],
+        [
+          0.03378341346979141,
+          -0.9993778467178345,
+          -0.010122155770659447,
+          -22.342153549194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6670,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_483082056",
+      "mask_path": "../../mask/hdr_right_06670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06672.png",
+      "transform_matrix": [
+        [
+          0.9929133057594299,
+          0.037967484444379807,
+          0.11261288076639175,
+          40.59305953979492
+        ],
+        [
+          -0.1122157946228981,
+          -0.012437940575182438,
+          0.9936060905456543,
+          22.818925857543945
+        ],
+        [
+          0.03912539407610893,
+          -0.9992015957832336,
+          -0.008089246228337288,
+          -22.34792709350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6672,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_683082342",
+      "mask_path": "../../mask/hdr_right_06672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06673.png",
+      "transform_matrix": [
+        [
+          0.9917780160903931,
+          0.04086838662624359,
+          0.12126871943473816,
+          40.518882751464844
+        ],
+        [
+          -0.1210351437330246,
+          -0.008149951696395874,
+          0.9926148056983948,
+          22.85155487060547
+        ],
+        [
+          0.04155489802360535,
+          -0.9991313219070435,
+          -0.0031364320311695337,
+          -22.35094451904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6673,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_783082008",
+      "mask_path": "../../mask/hdr_right_06673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06674.png",
+      "transform_matrix": [
+        [
+          0.990631103515625,
+          0.036882150918245316,
+          0.13149099051952362,
+          40.451560974121094
+        ],
+        [
+          -0.13112156093120575,
+          -0.012271285057067871,
+          0.9912903904914856,
+          22.88150978088379
+        ],
+        [
+          0.03817448392510414,
+          -0.9992442727088928,
+          -0.007320269476622343,
+          -22.35618019104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6674,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_883082389",
+      "mask_path": "../../mask/hdr_right_06674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06675.png",
+      "transform_matrix": [
+        [
+          0.9892109632492065,
+          0.029255768284201622,
+          0.14354698359966278,
+          40.37193298339844
+        ],
+        [
+          -0.14308680593967438,
+          -0.017270131036639214,
+          0.9895594716072083,
+          22.903587341308594
+        ],
+        [
+          0.03142939880490303,
+          -0.9994227886199951,
+          -0.012897690758109093,
+          -22.355499267578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6675,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323930_983084917",
+      "mask_path": "../../mask/hdr_right_06675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06676.png",
+      "transform_matrix": [
+        [
+          0.9886260032653809,
+          0.03210916370153427,
+          0.14692696928977966,
+          40.291664123535156
+        ],
+        [
+          -0.14653380215168,
+          -0.014284237287938595,
+          0.9891026020050049,
+          22.92935562133789
+        ],
+        [
+          0.03385799750685692,
+          -0.9993822574615479,
+          -0.009416691958904266,
+          -22.365482330322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6676,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_83081960",
+      "mask_path": "../../mask/hdr_right_06676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06679.png",
+      "transform_matrix": [
+        [
+          0.9888145327568054,
+          0.03771854192018509,
+          0.14430288970470428,
+          40.13243103027344
+        ],
+        [
+          -0.1438150703907013,
+          -0.01535465382039547,
+          0.9894855618476868,
+          22.965206146240234
+        ],
+        [
+          0.039537668228149414,
+          -0.9991704821586609,
+          -0.009758408181369305,
+          -22.373641967773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6679,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_383082151",
+      "mask_path": "../../mask/hdr_right_06679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06680.png",
+      "transform_matrix": [
+        [
+          0.9878765344619751,
+          0.048604246228933334,
+          0.14743667840957642,
+          40.079368591308594
+        ],
+        [
+          -0.14666655659675598,
+          -0.019066598266363144,
+          0.9890023469924927,
+          22.98961067199707
+        ],
+        [
+          0.05088082328438759,
+          -0.9986361265182495,
+          -0.011706827208399773,
+          -22.382265090942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6680,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_483081817",
+      "mask_path": "../../mask/hdr_right_06680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06682.png",
+      "transform_matrix": [
+        [
+          0.9873167276382446,
+          0.05361153185367584,
+          0.1494375765323639,
+          39.99221420288086
+        ],
+        [
+          -0.14837689697742462,
+          -0.023269154131412506,
+          0.9886571168899536,
+          23.01453971862793
+        ],
+        [
+          0.056480709463357925,
+          -0.9982907176017761,
+          -0.015019308775663376,
+          -22.379817962646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6682,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_683082580",
+      "mask_path": "../../mask/hdr_right_06682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06684.png",
+      "transform_matrix": [
+        [
+          0.9893563985824585,
+          0.04590638354420662,
+          0.13808199763298035,
+          39.87038040161133
+        ],
+        [
+          -0.1367916613817215,
+          -0.030166810378432274,
+          0.9901403784751892,
+          23.04159164428711
+        ],
+        [
+          0.04961925745010376,
+          -0.9984901547431946,
+          -0.023566115647554398,
+          -22.382192611694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6684,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_883082389",
+      "mask_path": "../../mask/hdr_right_06684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06685.png",
+      "transform_matrix": [
+        [
+          0.9920757412910461,
+          0.04120367020368576,
+          0.11869314312934875,
+          39.799171447753906
+        ],
+        [
+          -0.11784636229276657,
+          -0.0224134661257267,
+          0.9927788972854614,
+          23.052709579467773
+        ],
+        [
+          0.04356646165251732,
+          -0.9988993406295776,
+          -0.017380153760313988,
+          -22.384782791137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6685,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323931_983081817",
+      "mask_path": "../../mask/hdr_right_06685.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06686.png",
+      "transform_matrix": [
+        [
+          0.9943068027496338,
+          0.037421297281980515,
+          0.09976775199174881,
+          39.74296951293945
+        ],
+        [
+          -0.0990530252456665,
+          -0.020495450124144554,
+          0.9948710799217224,
+          23.054304122924805
+        ],
+        [
+          0.039274152368307114,
+          -0.9990893602371216,
+          -0.016672074794769287,
+          -22.389198303222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6686,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_83082437",
+      "mask_path": "../../mask/hdr_right_06686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06687.png",
+      "transform_matrix": [
+        [
+          0.9957670569419861,
+          0.03546648845076561,
+          0.08479402214288712,
+          39.665916442871094
+        ],
+        [
+          -0.08392947167158127,
+          -0.025196630507707596,
+          0.9961531758308411,
+          23.069114685058594
+        ],
+        [
+          0.03746657818555832,
+          -0.9990531802177429,
+          -0.022113293409347534,
+          -22.39579963684082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6687,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_183080196",
+      "mask_path": "../../mask/hdr_right_06687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06688.png",
+      "transform_matrix": [
+        [
+          0.9961471557617188,
+          0.03548397123813629,
+          0.0801982656121254,
+          39.57639694213867
+        ],
+        [
+          -0.07920600473880768,
+          -0.028539901599287987,
+          0.9964495897293091,
+          23.091190338134766
+        ],
+        [
+          0.03764684870839119,
+          -0.9989626407623291,
+          -0.025619398802518845,
+          -22.391803741455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6688,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_283081293",
+      "mask_path": "../../mask/hdr_right_06688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06689.png",
+      "transform_matrix": [
+        [
+          0.9957656264305115,
+          0.03236789628863335,
+          0.08604250103235245,
+          39.49549102783203
+        ],
+        [
+          -0.08500495553016663,
+          -0.032171640545129776,
+          0.9958609342575073,
+          23.11368179321289
+        ],
+        [
+          0.03500205650925636,
+          -0.9989581108093262,
+          -0.029283978044986725,
+          -22.385974884033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6689,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_383078813",
+      "mask_path": "../../mask/hdr_right_06689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06690.png",
+      "transform_matrix": [
+        [
+          0.9950841665267944,
+          0.02326231263577938,
+          0.09626201540231705,
+          39.42073059082031
+        ],
+        [
+          -0.09545550495386124,
+          -0.033598169684410095,
+          0.9948665499687195,
+          23.126380920410156
+        ],
+        [
+          0.026377126574516296,
+          -0.9991647005081177,
+          -0.031212491914629936,
+          -22.37763214111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6690,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_483081102",
+      "mask_path": "../../mask/hdr_right_06690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06691.png",
+      "transform_matrix": [
+        [
+          0.9947718381881714,
+          0.015961647033691406,
+          0.1008673757314682,
+          39.31894302368164
+        ],
+        [
+          -0.10040882229804993,
+          -0.027309441938996315,
+          0.9945714473724365,
+          23.153675079345703
+        ],
+        [
+          0.01862962916493416,
+          -0.9994995594024658,
+          -0.025563977658748627,
+          -22.378173828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6691,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_583080530",
+      "mask_path": "../../mask/hdr_right_06691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06692.png",
+      "transform_matrix": [
+        [
+          0.9951119422912598,
+          0.014114255085587502,
+          0.09773928672075272,
+          39.225704193115234
+        ],
+        [
+          -0.09746716171503067,
+          -0.01882951892912388,
+          0.9950606226921082,
+          23.177810668945312
+        ],
+        [
+          0.015884920954704285,
+          -0.9997230768203735,
+          -0.017361802980303764,
+          -22.3855037689209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6692,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_683081150",
+      "mask_path": "../../mask/hdr_right_06692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06693.png",
+      "transform_matrix": [
+        [
+          0.9954604506492615,
+          0.01191429141908884,
+          0.09442763030529022,
+          39.148555755615234
+        ],
+        [
+          -0.094243124127388,
+          -0.015198199078440666,
+          0.9954331517219543,
+          23.1912784576416
+        ],
+        [
+          0.013295012526214123,
+          -0.9998135566711426,
+          -0.014006368815898895,
+          -22.389055252075195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6693,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_783081054",
+      "mask_path": "../../mask/hdr_right_06693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06694.png",
+      "transform_matrix": [
+        [
+          0.9953081607818604,
+          0.011758132837712765,
+          0.09603872150182724,
+          39.05771255493164
+        ],
+        [
+          -0.09583696722984314,
+          -0.016664015129208565,
+          0.9952576160430908,
+          23.216516494750977
+        ],
+        [
+          0.013302759267389774,
+          -0.9997919797897339,
+          -0.015458968468010426,
+          -22.390811920166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6694,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_883080482",
+      "mask_path": "../../mask/hdr_right_06694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06695.png",
+      "transform_matrix": [
+        [
+          0.9942455291748047,
+          0.010292364284396172,
+          0.10662954300642014,
+          38.97411346435547
+        ],
+        [
+          -0.10640165954828262,
+          -0.020606184378266335,
+          0.9941096305847168,
+          23.245859146118164
+        ],
+        [
+          0.012428969144821167,
+          -0.9997346997261047,
+          -0.019392482936382294,
+          -22.383455276489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6695,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323932_983080863",
+      "mask_path": "../../mask/hdr_right_06695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06696.png",
+      "transform_matrix": [
+        [
+          0.9928326606750488,
+          0.004885648377239704,
+          0.119412861764431,
+          38.90705490112305
+        ],
+        [
+          -0.11925987899303436,
+          -0.024460362270474434,
+          0.9925617575645447,
+          23.26679039001465
+        ],
+        [
+          0.0077701895497739315,
+          -0.9996888637542725,
+          -0.023702386766672134,
+          -22.377573013305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6696,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_83081245",
+      "mask_path": "../../mask/hdr_right_06696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06697.png",
+      "transform_matrix": [
+        [
+          0.9915943741798401,
+          -0.002705696504563093,
+          0.12935768067836761,
+          38.84263229370117
+        ],
+        [
+          -0.12938441336154938,
+          -0.025701768696308136,
+          0.9912614226341248,
+          23.28297996520996
+        ],
+        [
+          0.0006426691543310881,
+          -0.9996660351753235,
+          -0.025835806503891945,
+          -22.372638702392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6697,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_183082103",
+      "mask_path": "../../mask/hdr_right_06697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06698.png",
+      "transform_matrix": [
+        [
+          0.991130530834198,
+          -0.002896696561947465,
+          0.1328601986169815,
+          38.74397277832031
+        ],
+        [
+          -0.1328916847705841,
+          -0.022690502926707268,
+          0.9908707737922668,
+          23.3104305267334
+        ],
+        [
+          0.0001444116933271289,
+          -0.999738335609436,
+          -0.022874202579259872,
+          -22.366954803466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6698,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_283080816",
+      "mask_path": "../../mask/hdr_right_06698.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06699.png",
+      "transform_matrix": [
+        [
+          0.9913613796234131,
+          -0.00033904422889463603,
+          0.13115856051445007,
+          38.64463806152344
+        ],
+        [
+          -0.13114383816719055,
+          -0.0177640151232481,
+          0.9912043213844299,
+          23.34166717529297
+        ],
+        [
+          0.001993840327486396,
+          -0.99984210729599,
+          -0.017655024304986,
+          -22.37575912475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6699,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_383080959",
+      "mask_path": "../../mask/hdr_right_06699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06700.png",
+      "transform_matrix": [
+        [
+          0.9916629791259766,
+          -0.001805872772820294,
+          0.12884575128555298,
+          38.558433532714844
+        ],
+        [
+          -0.12885834276676178,
+          -0.014662251807749271,
+          0.9915546774864197,
+          23.359413146972656
+        ],
+        [
+          9.85470978775993e-05,
+          -0.9998908638954163,
+          -0.014772716909646988,
+          -22.373830795288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6700,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_483081817",
+      "mask_path": "../../mask/hdr_right_06700.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06701.png",
+      "transform_matrix": [
+        [
+          0.9917203187942505,
+          -0.003563312580808997,
+          0.12836763262748718,
+          38.47467041015625
+        ],
+        [
+          -0.1284024566411972,
+          -0.012456965632736683,
+          0.9916439056396484,
+          23.379554748535156
+        ],
+        [
+          -0.0019344657193869352,
+          -0.9999160766601562,
+          -0.012811362743377686,
+          -22.36888313293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6701,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_583082199",
+      "mask_path": "../../mask/hdr_right_06701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06702.png",
+      "transform_matrix": [
+        [
+          0.9908825755119324,
+          -0.005633895751088858,
+          0.13461065292358398,
+          38.40216064453125
+        ],
+        [
+          -0.13466529548168182,
+          -0.010816987603902817,
+          0.9908321499824524,
+          23.40374183654785
+        ],
+        [
+          -0.00412616366520524,
+          -0.9999255537986755,
+          -0.01147705689072609,
+          -22.3558349609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6702,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_683082103",
+      "mask_path": "../../mask/hdr_right_06702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06703.png",
+      "transform_matrix": [
+        [
+          0.9896999001502991,
+          -0.008685659617185593,
+          0.14289408922195435,
+          38.34233093261719
+        ],
+        [
+          -0.14298541843891144,
+          -0.011002141050994396,
+          0.9896636009216309,
+          23.43034553527832
+        ],
+        [
+          -0.007023741491138935,
+          -0.9999017119407654,
+          -0.012130742892622948,
+          -22.350662231445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6703,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_783082008",
+      "mask_path": "../../mask/hdr_right_06703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06704.png",
+      "transform_matrix": [
+        [
+          0.9885463118553162,
+          -0.013579119928181171,
+          0.15030573308467865,
+          38.27760696411133
+        ],
+        [
+          -0.1504824012517929,
+          -0.013090195134282112,
+          0.9885261654853821,
+          23.46140480041504
+        ],
+        [
+          -0.011455781757831573,
+          -0.9998220801353455,
+          -0.014983683824539185,
+          -22.354413986206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6704,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_883082151",
+      "mask_path": "../../mask/hdr_right_06704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06705.png",
+      "transform_matrix": [
+        [
+          0.9873826503753662,
+          -0.019708868116140366,
+          0.15712133049964905,
+          38.182559967041016
+        ],
+        [
+          -0.157351553440094,
+          -0.01072174496948719,
+          0.9874845147132874,
+          23.49053192138672
+        ],
+        [
+          -0.017777588218450546,
+          -0.9997482299804688,
+          -0.01368768885731697,
+          -22.342390060424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6705,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323933_983082532",
+      "mask_path": "../../mask/hdr_right_06705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06706.png",
+      "transform_matrix": [
+        [
+          0.9871519804000854,
+          -0.020580051466822624,
+          0.1584530621767044,
+          38.096927642822266
+        ],
+        [
+          -0.15851159393787384,
+          -0.0012391888303682208,
+          0.9873563051223755,
+          23.511865615844727
+        ],
+        [
+          -0.020123491063714027,
+          -0.9997873902320862,
+          -0.004485445562750101,
+          -22.330242156982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6706,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_83081722",
+      "mask_path": "../../mask/hdr_right_06706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06707.png",
+      "transform_matrix": [
+        [
+          0.987840473651886,
+          -0.020334260538220406,
+          0.15413540601730347,
+          38.03038024902344
+        ],
+        [
+          -0.15406568348407745,
+          0.004959432873874903,
+          0.9880481362342834,
+          23.533035278320312
+        ],
+        [
+          -0.020855654031038284,
+          -0.9997808933258057,
+          0.0017663154285401106,
+          -22.333248138427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6707,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_183082103",
+      "mask_path": "../../mask/hdr_right_06707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06708.png",
+      "transform_matrix": [
+        [
+          0.9889510273933411,
+          -0.022871727123856544,
+          0.1464681327342987,
+          37.94263458251953
+        ],
+        [
+          -0.14634063839912415,
+          0.007160188164561987,
+          0.9892082810401917,
+          23.563232421875
+        ],
+        [
+          -0.023673640564084053,
+          -0.9997127652168274,
+          0.0037340105045586824,
+          -22.343189239501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6708,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_283082723",
+      "mask_path": "../../mask/hdr_right_06708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06709.png",
+      "transform_matrix": [
+        [
+          0.9899736046791077,
+          -0.02793840691447258,
+          0.1384621262550354,
+          37.8718147277832
+        ],
+        [
+          -0.13824662566184998,
+          0.009510284289717674,
+          0.990352213382721,
+          23.5816650390625
+        ],
+        [
+          -0.028985677286982536,
+          -0.9995644092559814,
+          0.005552537273615599,
+          -22.327911376953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6709,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_383081912",
+      "mask_path": "../../mask/hdr_right_06709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06710.png",
+      "transform_matrix": [
+        [
+          0.9909756183624268,
+          -0.03393042832612991,
+          0.12967734038829803,
+          37.822105407714844
+        ],
+        [
+          -0.12946979701519012,
+          0.00825140904635191,
+          0.9915490746498108,
+          23.59823226928711
+        ],
+        [
+          -0.034713711589574814,
+          -0.9993901252746582,
+          0.0037839761935174465,
+          -22.314769744873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6710,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_483080863",
+      "mask_path": "../../mask/hdr_right_06710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06711.png",
+      "transform_matrix": [
+        [
+          0.9924709796905518,
+          -0.040550488978624344,
+          0.11557260155677795,
+          37.760040283203125
+        ],
+        [
+          -0.11558015644550323,
+          0.00216573104262352,
+          0.9932957887649536,
+          23.610095977783203
+        ],
+        [
+          -0.040528930723667145,
+          -0.9991751909255981,
+          -0.0025374093092978,
+          -22.30336570739746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6711,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_583082437",
+      "mask_path": "../../mask/hdr_right_06711.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06712.png",
+      "transform_matrix": [
+        [
+          0.9948592185974121,
+          -0.03942679613828659,
+          0.0932781919836998,
+          37.67552185058594
+        ],
+        [
+          -0.09354736655950546,
+          -0.005035687703639269,
+          0.9956021308898926,
+          23.621797561645508
+        ],
+        [
+          -0.03878368064761162,
+          -0.9992097616195679,
+          -0.008698077872395515,
+          -22.29755401611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6712,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_683081865",
+      "mask_path": "../../mask/hdr_right_06712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06713.png",
+      "transform_matrix": [
+        [
+          0.9973134994506836,
+          -0.0358414351940155,
+          0.0638844445347786,
+          37.5980110168457
+        ],
+        [
+          -0.0640278235077858,
+          -0.00286614871583879,
+          0.9979440569877625,
+          23.627973556518555
+        ],
+        [
+          -0.035584643483161926,
+          -0.9993534088134766,
+          -0.005153299309313297,
+          -22.29966926574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6713,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_783081293",
+      "mask_path": "../../mask/hdr_right_06713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06715.png",
+      "transform_matrix": [
+        [
+          0.9993342757225037,
+          -0.03523727133870125,
+          0.009454574435949326,
+          37.50797653198242
+        ],
+        [
+          -0.009856173768639565,
+          -0.011241722851991653,
+          0.9998883008956909,
+          23.623905181884766
+        ],
+        [
+          -0.035127051174640656,
+          -0.9993157386779785,
+          -0.01158154383301735,
+          -22.315237045288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6715,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323934_983081579",
+      "mask_path": "../../mask/hdr_right_06715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06716.png",
+      "transform_matrix": [
+        [
+          0.9995651841163635,
+          -0.02943749539554119,
+          0.001745183253660798,
+          37.44612503051758
+        ],
+        [
+          -0.0021892953664064407,
+          -0.015062405727803707,
+          0.9998841881752014,
+          23.6297664642334
+        ],
+        [
+          -0.029407797381281853,
+          -0.9994531273841858,
+          -0.015120304189622402,
+          -22.312549591064453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6716,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_83083629",
+      "mask_path": "../../mask/hdr_right_06716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06717.png",
+      "transform_matrix": [
+        [
+          0.9994949698448181,
+          -0.03062526322901249,
+          0.008479595184326172,
+          37.38719177246094
+        ],
+        [
+          -0.009073114953935146,
+          -0.019293980672955513,
+          0.9997726678848267,
+          23.64834976196289
+        ],
+        [
+          -0.03045469895005226,
+          -0.9993447065353394,
+          -0.01956210285425186,
+          -22.301532745361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6717,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_183081388",
+      "mask_path": "../../mask/hdr_right_06717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06718.png",
+      "transform_matrix": [
+        [
+          0.9990964531898499,
+          -0.0386834442615509,
+          0.017600320279598236,
+          37.29130172729492
+        ],
+        [
+          -0.018665075302124023,
+          -0.02733933925628662,
+          0.9994519948959351,
+          23.668310165405273
+        ],
+        [
+          -0.038181062787771225,
+          -0.9988774061203003,
+          -0.02803667075932026,
+          -22.278688430786133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6718,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_283082485",
+      "mask_path": "../../mask/hdr_right_06718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06719.png",
+      "transform_matrix": [
+        [
+          0.9993086457252502,
+          -0.031062254682183266,
+          0.020429562777280807,
+          37.190826416015625
+        ],
+        [
+          -0.02121265046298504,
+          -0.025093477219343185,
+          0.9994600415229797,
+          23.688011169433594
+        ],
+        [
+          -0.0305328331887722,
+          -0.9992024302482605,
+          -0.025735042989253998,
+          -22.274593353271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6719,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_383080959",
+      "mask_path": "../../mask/hdr_right_06719.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06720.png",
+      "transform_matrix": [
+        [
+          0.9996204376220703,
+          -0.02008269540965557,
+          0.018857046961784363,
+          37.11811828613281
+        ],
+        [
+          -0.019213438034057617,
+          -0.017705148085951805,
+          0.9996586441993713,
+          23.697975158691406
+        ],
+        [
+          -0.019741971045732498,
+          -0.9996415376663208,
+          -0.018084287643432617,
+          -22.284866333007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6720,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_483081340",
+      "mask_path": "../../mask/hdr_right_06720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06721.png",
+      "transform_matrix": [
+        [
+          0.9996663928031921,
+          -0.017206909134984016,
+          0.019258616492152214,
+          37.047916412353516
+        ],
+        [
+          -0.019551441073417664,
+          -0.01701628416776657,
+          0.9996640086174011,
+          23.703523635864258
+        ],
+        [
+          -0.016873419284820557,
+          -0.9997071027755737,
+          -0.017347032204270363,
+          -22.286102294921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6721,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_583082199",
+      "mask_path": "../../mask/hdr_right_06721.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06722.png",
+      "transform_matrix": [
+        [
+          0.9996169209480286,
+          -0.015002502128481865,
+          0.023257602006196976,
+          36.97230529785156
+        ],
+        [
+          -0.023572934791445732,
+          -0.021197985857725143,
+          0.9994974732398987,
+          23.72017478942871
+        ],
+        [
+          -0.014501948840916157,
+          -0.9996626973152161,
+          -0.02154352143406868,
+          -22.29374122619629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6722,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_683081150",
+      "mask_path": "../../mask/hdr_right_06722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06723.png",
+      "transform_matrix": [
+        [
+          0.9993979930877686,
+          -0.01502914261072874,
+          0.03126850724220276,
+          36.88128662109375
+        ],
+        [
+          -0.03167237341403961,
+          -0.027431540191173553,
+          0.9991218447685242,
+          23.742341995239258
+        ],
+        [
+          -0.014158201403915882,
+          -0.9995107054710388,
+          -0.027891041710972786,
+          -22.286088943481445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6723,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_783080577",
+      "mask_path": "../../mask/hdr_right_06723.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06724.png",
+      "transform_matrix": [
+        [
+          0.9990240931510925,
+          -0.01767519861459732,
+          0.04047708958387375,
+          36.79985046386719
+        ],
+        [
+          -0.04112160578370094,
+          -0.037767380475997925,
+          0.998440146446228,
+          23.75471305847168
+        ],
+        [
+          -0.016118913888931274,
+          -0.9991301894187927,
+          -0.03845735266804695,
+          -22.27501678466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6724,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_883081436",
+      "mask_path": "../../mask/hdr_right_06724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06725.png",
+      "transform_matrix": [
+        [
+          0.9986164569854736,
+          -0.01849418133497238,
+          0.04922519251704216,
+          36.70097351074219
+        ],
+        [
+          -0.04997530207037926,
+          -0.042562149465084076,
+          0.9978432059288025,
+          23.756961822509766
+        ],
+        [
+          -0.01635916158556938,
+          -0.9989226460456848,
+          -0.04342752322554588,
+          -22.260963439941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6725,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323935_983082532",
+      "mask_path": "../../mask/hdr_right_06725.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06726.png",
+      "transform_matrix": [
+        [
+          0.9985598921775818,
+          -0.015014958567917347,
+          0.05150420218706131,
+          36.59136199951172
+        ],
+        [
+          -0.05207251384854317,
+          -0.040300700813531876,
+          0.9978297352790833,
+          23.767375946044922
+        ],
+        [
+          -0.01290671993046999,
+          -0.9990746974945068,
+          -0.04102453216910362,
+          -22.263429641723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6726,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_83081245",
+      "mask_path": "../../mask/hdr_right_06726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06727.png",
+      "transform_matrix": [
+        [
+          0.9986834526062012,
+          -0.012119428254663944,
+          0.04984378442168236,
+          36.520687103271484
+        ],
+        [
+          -0.050280243158340454,
+          -0.03886524960398674,
+          0.997978687286377,
+          23.784955978393555
+        ],
+        [
+          -0.01015774067491293,
+          -0.9991709589958191,
+          -0.03942345455288887,
+          -22.28485870361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6727,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_183081865",
+      "mask_path": "../../mask/hdr_right_06727.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06728.png",
+      "transform_matrix": [
+        [
+          0.9986105561256409,
+          -0.011794660240411758,
+          0.05135847255587578,
+          36.452091217041016
+        ],
+        [
+          -0.05182383209466934,
+          -0.04329191893339157,
+          0.9977174401283264,
+          23.8043155670166
+        ],
+        [
+          -0.009544333443045616,
+          -0.9989928603172302,
+          -0.043843019753694534,
+          -22.30290985107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6728,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_283081769",
+      "mask_path": "../../mask/hdr_right_06728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06729.png",
+      "transform_matrix": [
+        [
+          0.9982497096061707,
+          -0.009685823693871498,
+          0.05834166333079338,
+          36.36943054199219
+        ],
+        [
+          -0.058714859187603,
+          -0.04421386495232582,
+          0.9972952008247375,
+          23.81319236755371
+        ],
+        [
+          -0.0070801167748868465,
+          -0.9989750981330872,
+          -0.04470518231391907,
+          -22.29801368713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6729,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_383082866",
+      "mask_path": "../../mask/hdr_right_06729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06730.png",
+      "transform_matrix": [
+        [
+          0.9976539015769958,
+          -0.011462239548563957,
+          0.06749401241540909,
+          36.30085372924805
+        ],
+        [
+          -0.06792821735143661,
+          -0.04305389150977135,
+          0.996760904788971,
+          23.822885513305664
+        ],
+        [
+          -0.008519232273101807,
+          -0.9990070462226868,
+          -0.04373148828744888,
+          -22.277908325195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6730,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_483082056",
+      "mask_path": "../../mask/hdr_right_06730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06731.png",
+      "transform_matrix": [
+        [
+          0.9968148469924927,
+          -0.017524927854537964,
+          0.07780129462480545,
+          36.24137878417969
+        ],
+        [
+          -0.07852697372436523,
+          -0.045448530465364456,
+          0.9958755373954773,
+          23.83975601196289
+        ],
+        [
+          -0.013916692696511745,
+          -0.9988129734992981,
+          -0.04667995497584343,
+          -22.270267486572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6731,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_583081960",
+      "mask_path": "../../mask/hdr_right_06731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06732.png",
+      "transform_matrix": [
+        [
+          0.9957963228225708,
+          -0.02277831733226776,
+          0.088717982172966,
+          36.18035888671875
+        ],
+        [
+          -0.08972768485546112,
+          -0.04798358306288719,
+          0.9948098063468933,
+          23.860733032226562
+        ],
+        [
+          -0.018403086811304092,
+          -0.9985883235931396,
+          -0.049825720489025116,
+          -22.275104522705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6732,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_683080196",
+      "mask_path": "../../mask/hdr_right_06732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06733.png",
+      "transform_matrix": [
+        [
+          0.9957077503204346,
+          -0.023671817034482956,
+          0.08947480469942093,
+          36.087745666503906
+        ],
+        [
+          -0.09051993489265442,
+          -0.04754812642931938,
+          0.9947589635848999,
+          23.8693904876709
+        ],
+        [
+          -0.019293390214443207,
+          -0.9985884428024292,
+          -0.049486804753541946,
+          -22.264564514160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6733,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_783081769",
+      "mask_path": "../../mask/hdr_right_06733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06734.png",
+      "transform_matrix": [
+        [
+          0.9962337017059326,
+          -0.022003138437867165,
+          0.08387082815170288,
+          36.012229919433594
+        ],
+        [
+          -0.08477328717708588,
+          -0.04391760006546974,
+          0.9954319596290588,
+          23.8704776763916
+        ],
+        [
+          -0.018219223245978355,
+          -0.9987927675247192,
+          -0.0456174798309803,
+          -22.256502151489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6734,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_883081674",
+      "mask_path": "../../mask/hdr_right_06734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06735.png",
+      "transform_matrix": [
+        [
+          0.9965501427650452,
+          -0.020776858553290367,
+          0.08035049587488174,
+          35.96113586425781
+        ],
+        [
+          -0.08118822425603867,
+          -0.04323325678706169,
+          0.9957606792449951,
+          23.87839126586914
+        ],
+        [
+          -0.01721496693789959,
+          -0.9988489151000977,
+          -0.04477095231413841,
+          -22.262357711791992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6735,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323936_983081817",
+      "mask_path": "../../mask/hdr_right_06735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06736.png",
+      "transform_matrix": [
+        [
+          0.9963784217834473,
+          -0.023286068812012672,
+          0.08177908509969711,
+          35.911407470703125
+        ],
+        [
+          -0.08267384767532349,
+          -0.040480781346559525,
+          0.9957541823387146,
+          23.898086547851562
+        ],
+        [
+          -0.019876720383763313,
+          -0.9989089369773865,
+          -0.042259324342012405,
+          -22.263126373291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6736,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_83081245",
+      "mask_path": "../../mask/hdr_right_06736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06737.png",
+      "transform_matrix": [
+        [
+          0.9957438111305237,
+          -0.033469200134277344,
+          0.08587095141410828,
+          35.85291290283203
+        ],
+        [
+          -0.08710639923810959,
+          -0.037390854209661484,
+          0.9954970479011536,
+          23.917970657348633
+        ],
+        [
+          -0.030107708647847176,
+          -0.998740017414093,
+          -0.04014710336923599,
+          -22.244651794433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6737,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_183081388",
+      "mask_path": "../../mask/hdr_right_06737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06738.png",
+      "transform_matrix": [
+        [
+          0.9949085116386414,
+          -0.04539496824145317,
+          0.08998030424118042,
+          35.79356002807617
+        ],
+        [
+          -0.09172948449850082,
+          -0.038041967898607254,
+          0.9950571060180664,
+          23.937246322631836
+        ],
+        [
+          -0.041747551411390305,
+          -0.9982444643974304,
+          -0.04201233759522438,
+          -22.228759765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6738,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_283081293",
+      "mask_path": "../../mask/hdr_right_06738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06739.png",
+      "transform_matrix": [
+        [
+          0.9938079118728638,
+          -0.05715092644095421,
+          0.09528661519289017,
+          35.747222900390625
+        ],
+        [
+          -0.09762877970933914,
+          -0.03968994319438934,
+          0.99443119764328,
+          23.96674156188965
+        ],
+        [
+          -0.05305073782801628,
+          -0.9975762963294983,
+          -0.04502376168966293,
+          -22.22856903076172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6739,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_383080720",
+      "mask_path": "../../mask/hdr_right_06739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06740.png",
+      "transform_matrix": [
+        [
+          0.9919015169143677,
+          -0.07970406115055084,
+          0.09888685494661331,
+          35.66691970825195
+        ],
+        [
+          -0.10240776091814041,
+          -0.04135964810848236,
+          0.9938822984695435,
+          23.987796783447266
+        ],
+        [
+          -0.0751265287399292,
+          -0.9959601163864136,
+          -0.04918701574206352,
+          -22.197580337524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6740,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_483081817",
+      "mask_path": "../../mask/hdr_right_06740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06741.png",
+      "transform_matrix": [
+        [
+          0.9911026358604431,
+          -0.09612613171339035,
+          0.09206229448318481,
+          35.59712219238281
+        ],
+        [
+          -0.09592891484498978,
+          -0.03640001639723778,
+          0.9947224259376526,
+          23.99812889099121
+        ],
+        [
+          -0.09226773679256439,
+          -0.9947033524513245,
+          -0.04529742896556854,
+          -22.163135528564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6741,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_583081483",
+      "mask_path": "../../mask/hdr_right_06741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06743.png",
+      "transform_matrix": [
+        [
+          0.9915809035301208,
+          -0.11159366369247437,
+          0.06568361818790436,
+          35.49529266357422
+        ],
+        [
+          -0.06841791421175003,
+          -0.020848097279667854,
+          0.9974389672279358,
+          23.999502182006836
+        ],
+        [
+          -0.10993848741054535,
+          -0.9935351610183716,
+          -0.028307583183050156,
+          -22.148357391357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6743,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_783080816",
+      "mask_path": "../../mask/hdr_right_06743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06744.png",
+      "transform_matrix": [
+        [
+          0.9909403324127197,
+          -0.12092606723308563,
+          0.0584309846162796,
+          35.4215087890625
+        ],
+        [
+          -0.060681842267513275,
+          -0.015012471005320549,
+          0.9980443120002747,
+          24.013742446899414
+        ],
+        [
+          -0.11981237679719925,
+          -0.9925479888916016,
+          -0.022214485332369804,
+          -22.12584114074707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6744,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_883082151",
+      "mask_path": "../../mask/hdr_right_06744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06745.png",
+      "transform_matrix": [
+        [
+          0.9895647168159485,
+          -0.13411349058151245,
+          0.05268057435750961,
+          35.36085891723633
+        ],
+        [
+          -0.05509137362241745,
+          -0.01432641688734293,
+          0.998378574848175,
+          24.031564712524414
+        ],
+        [
+          -0.13314129412174225,
+          -0.9908623695373535,
+          -0.02156541496515274,
+          -22.10568618774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6745,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323937_983081340",
+      "mask_path": "../../mask/hdr_right_06745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06746.png",
+      "transform_matrix": [
+        [
+          0.9879630208015442,
+          -0.147096648812294,
+          0.047870952636003494,
+          35.30398178100586
+        ],
+        [
+          -0.05097005143761635,
+          -0.01736965961754322,
+          0.9985491037368774,
+          24.05055046081543
+        ],
+        [
+          -0.14605171978473663,
+          -0.988969624042511,
+          -0.024658111855387688,
+          -22.100330352783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6746,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_83084344",
+      "mask_path": "../../mask/hdr_right_06746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06747.png",
+      "transform_matrix": [
+        [
+          0.9831597805023193,
+          -0.17752766609191895,
+          0.04336802288889885,
+          35.22153854370117
+        ],
+        [
+          -0.04954243078827858,
+          -0.030494242906570435,
+          0.998306393623352,
+          24.05104637145996
+        ],
+        [
+          -0.1759045422077179,
+          -0.9836431741714478,
+          -0.03877586871385574,
+          -22.060884475708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6747,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_183082342",
+      "mask_path": "../../mask/hdr_right_06747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06748.png",
+      "transform_matrix": [
+        [
+          0.9796975255012512,
+          -0.19672691822052002,
+          0.0386173278093338,
+          35.13505554199219
+        ],
+        [
+          -0.04472828656435013,
+          -0.026713687926530838,
+          0.9986419677734375,
+          24.045654296875
+        ],
+        [
+          -0.19542814791202545,
+          -0.980094313621521,
+          -0.034970592707395554,
+          -21.99677276611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6748,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_283081293",
+      "mask_path": "../../mask/hdr_right_06748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06749.png",
+      "transform_matrix": [
+        [
+          0.9788309931755066,
+          -0.20155565440654755,
+          0.035572052001953125,
+          35.075096130371094
+        ],
+        [
+          -0.03994137793779373,
+          -0.01765151508152485,
+          0.9990460872650146,
+          24.051103591918945
+        ],
+        [
+          -0.20073550939559937,
+          -0.9793180227279663,
+          -0.025328267365694046,
+          -21.98171615600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6749,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_383081197",
+      "mask_path": "../../mask/hdr_right_06749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06750.png",
+      "transform_matrix": [
+        [
+          0.977150022983551,
+          -0.20998193323612213,
+          0.03294678404927254,
+          35.02269744873047
+        ],
+        [
+          -0.03676644712686539,
+          -0.01431180164217949,
+          0.9992213845252991,
+          24.06254768371582
+        ],
+        [
+          -0.2093469351530075,
+          -0.9776005744934082,
+          -0.021705064922571182,
+          -21.990720748901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6750,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_483079910",
+      "mask_path": "../../mask/hdr_right_06750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06751.png",
+      "transform_matrix": [
+        [
+          0.9745668172836304,
+          -0.22118686139583588,
+          0.03599980100989342,
+          34.9538688659668
+        ],
+        [
+          -0.04038245230913162,
+          -0.015322710387408733,
+          0.9990667700767517,
+          24.071380615234375
+        ],
+        [
+          -0.22042883932590485,
+          -0.9751110076904297,
+          -0.023865072056651115,
+          -21.95819664001465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6751,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_583081483",
+      "mask_path": "../../mask/hdr_right_06751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06752.png",
+      "transform_matrix": [
+        [
+          0.9720955491065979,
+          -0.2310665100812912,
+          0.04047761857509613,
+          34.88801956176758
+        ],
+        [
+          -0.04564199596643448,
+          -0.017046401277184486,
+          0.9988123774528503,
+          24.086681365966797
+        ],
+        [
+          -0.23010209202766418,
+          -0.9727886319160461,
+          -0.02711707353591919,
+          -21.92536163330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6752,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_683081626",
+      "mask_path": "../../mask/hdr_right_06752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06753.png",
+      "transform_matrix": [
+        [
+          0.9698801636695862,
+          -0.2395889312028885,
+          0.04392916336655617,
+          34.83039474487305
+        ],
+        [
+          -0.04913574829697609,
+          -0.01579858921468258,
+          0.9986672401428223,
+          24.10931396484375
+        ],
+        [
+          -0.23857559263706207,
+          -0.970745861530304,
+          -0.027095120400190353,
+          -21.912879943847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6753,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_783080339",
+      "mask_path": "../../mask/hdr_right_06753.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/ae8caac3/mesh.ply b/2024-11-11-12-07-40/splats/ae8caac3/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fbc9b1b42d9f9860f91ebfcd7c530b498d613d6e
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae8caac3/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ca1110c225d0c0121ae70cf15c2f3113d88eae866f4770c71e30c52b9053015
+size 87336389
diff --git a/2024-11-11-12-07-40/splats/ae8caac3/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/ae8caac3/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..22c440f32105d13e0f00aa3458705d12ca318b43
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae8caac3/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d2f67713139a88f5445316af34144e2257436107b6506dade95b7fbbf5e0640
+size 1612387
diff --git a/2024-11-11-12-07-40/splats/ae8caac3/splatfacto/config.yml b/2024-11-11-12-07-40/splats/ae8caac3/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..755279a128d07e968bfbe2730068b523447ba74e
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae8caac3/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_ae8caac3
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_ae8caac3
+      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/2024-11-11-12-07-40/splats/ae8caac3/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/ae8caac3/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfed5b5ef26899948c2ffb8a7629363fbb7308f9
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae8caac3/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.9678565263748169,
+            -0.19794824719429016,
+            0.15514518320560455,
+            85.96487426757812
+        ],
+        [
+            -0.19794824719429016,
+            0.9800882339477539,
+            0.015606177039444447,
+            -4.581659317016602
+        ],
+        [
+            -0.15514518320560455,
+            -0.015606177039444447,
+            -0.987768292427063,
+            -15.00475025177002
+        ]
+    ],
+    "scale": 0.202686047860208
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/ae8caac3/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/ae8caac3/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..08f01c433c38c47fc8b63d2e8dcd7335657164b5
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae8caac3/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba39cc5f68ef9b3d42700cc88cb20f1f8013667adf5e33672eb6855fb09f1fc5
+size 189403409
diff --git a/2024-11-11-12-07-40/splats/ae8caac3/transforms.json b/2024-11-11-12-07-40/splats/ae8caac3/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e545c11bb40189086ec4283eb1c0d05a42b6b3c
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/ae8caac3/transforms.json
@@ -0,0 +1,32010 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_04228.png",
+      "transform_matrix": [
+        [
+          0.2145577222108841,
+          -0.1495893895626068,
+          -0.9651880264282227,
+          75.26598358154297
+        ],
+        [
+          0.9726497530937195,
+          -0.057302117347717285,
+          0.2250974178314209,
+          22.43480682373047
+        ],
+        [
+          -0.08897949755191803,
+          -0.9870863556861877,
+          0.1332034468650818,
+          -27.225475311279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4228,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_283082246",
+      "mask_path": "../../mask/hdr_front_04228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04229.png",
+      "transform_matrix": [
+        [
+          0.2059086114168167,
+          -0.14123934507369995,
+          -0.9683249592781067,
+          75.32212829589844
+        ],
+        [
+          0.9752548336982727,
+          -0.05177890136837959,
+          0.21493467688560486,
+          22.431224822998047
+        ],
+        [
+          -0.08049602806568146,
+          -0.9886204600334167,
+          0.12708264589309692,
+          -27.225893020629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4229,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_383081436",
+      "mask_path": "../../mask/hdr_front_04229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04230.png",
+      "transform_matrix": [
+        [
+          0.2004539668560028,
+          -0.15109656751155853,
+          -0.9679814577102661,
+          75.38714599609375
+        ],
+        [
+          0.9780221581459045,
+          -0.026990776881575584,
+          0.20674636960029602,
+          22.423831939697266
+        ],
+        [
+          -0.05736523121595383,
+          -0.9881504774093628,
+          0.14236536622047424,
+          -27.238569259643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4230,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_483081817",
+      "mask_path": "../../mask/hdr_front_04230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04234.png",
+      "transform_matrix": [
+        [
+          0.19883795082569122,
+          -0.17468050122261047,
+          -0.9643392562866211,
+          75.59412384033203
+        ],
+        [
+          0.9789174199104309,
+          -0.011522502638399601,
+          0.2039310485124588,
+          22.398483276367188
+        ],
+        [
+          -0.04673437029123306,
+          -0.9845577478408813,
+          0.16870667040348053,
+          -27.27998161315918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4234,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_883082628",
+      "mask_path": "../../mask/hdr_front_04234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04235.png",
+      "transform_matrix": [
+        [
+          0.19171519577503204,
+          -0.17691673338413239,
+          -0.9653734564781189,
+          75.66657257080078
+        ],
+        [
+          0.9802098870277405,
+          -0.014928252436220646,
+          0.1973974108695984,
+          22.398569107055664
+        ],
+        [
+          -0.04933423548936844,
+          -0.9841126203536987,
+          0.1705535650253296,
+          -27.31320571899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4235,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_983080863",
+      "mask_path": "../../mask/hdr_front_04235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04237.png",
+      "transform_matrix": [
+        [
+          0.1815689206123352,
+          -0.1696959286928177,
+          -0.9686258435249329,
+          75.75399780273438
+        ],
+        [
+          0.9820942878723145,
+          -0.019024843350052834,
+          0.1874265968799591,
+          22.404605865478516
+        ],
+        [
+          -0.05023349076509476,
+          -0.9853128790855408,
+          0.16320309042930603,
+          -27.35506820678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4237,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_183079481",
+      "mask_path": "../../mask/hdr_front_04237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04238.png",
+      "transform_matrix": [
+        [
+          0.17958159744739532,
+          -0.17273209989070892,
+          -0.9684596657752991,
+          75.812255859375
+        ],
+        [
+          0.9819996356964111,
+          -0.02710927650332451,
+          0.18692746758460999,
+          22.391807556152344
+        ],
+        [
+          -0.05854261294007301,
+          -0.9845958352088928,
+          0.16475450992584229,
+          -27.365951538085938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4238,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_283080577",
+      "mask_path": "../../mask/hdr_front_04238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04239.png",
+      "transform_matrix": [
+        [
+          0.1845722198486328,
+          -0.17469391226768494,
+          -0.9671686291694641,
+          75.8673095703125
+        ],
+        [
+          0.9806548953056335,
+          -0.032532256096601486,
+          0.19302202761173248,
+          22.3668270111084
+        ],
+        [
+          -0.06518394500017166,
+          -0.984085202217102,
+          0.16530990600585938,
+          -27.36329460144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4239,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_383081674",
+      "mask_path": "../../mask/hdr_front_04239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04241.png",
+      "transform_matrix": [
+        [
+          0.20813782513141632,
+          -0.16543342173099518,
+          -0.964007556438446,
+          75.95355224609375
+        ],
+        [
+          0.9757770895957947,
+          -0.03275810927152634,
+          0.2163006216287613,
+          22.319059371948242
+        ],
+        [
+          -0.06736241281032562,
+          -0.9856767654418945,
+          0.15460795164108276,
+          -27.36122703552246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4241,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_583080530",
+      "mask_path": "../../mask/hdr_front_04241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04242.png",
+      "transform_matrix": [
+        [
+          0.21499720215797424,
+          -0.16280528903007507,
+          -0.9629489183425903,
+          76.01004791259766
+        ],
+        [
+          0.9740362167358398,
+          -0.03585588186979294,
+          0.22353479266166687,
+          22.29372215270996
+        ],
+        [
+          -0.07092002779245377,
+          -0.9860065579414368,
+          0.15086932480335236,
+          -27.36223602294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4242,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_683081150",
+      "mask_path": "../../mask/hdr_front_04242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04243.png",
+      "transform_matrix": [
+        [
+          0.21587520837783813,
+          -0.15824076533317566,
+          -0.9635132551193237,
+          76.07299041748047
+        ],
+        [
+          0.9734688997268677,
+          -0.04179449379444122,
+          0.22496983408927917,
+          22.281064987182617
+        ],
+        [
+          -0.07586894929409027,
+          -0.9865156412124634,
+          0.14502008259296417,
+          -27.373985290527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4243,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_783082008",
+      "mask_path": "../../mask/hdr_front_04243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04245.png",
+      "transform_matrix": [
+        [
+          0.20976166427135468,
+          -0.14584141969680786,
+          -0.9668145179748535,
+          76.17790985107422
+        ],
+        [
+          0.9745762348175049,
+          -0.048452384769916534,
+          0.2187546044588089,
+          22.265155792236328
+        ],
+        [
+          -0.0787479504942894,
+          -0.9881207942962646,
+          0.1319701075553894,
+          -27.388486862182617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4245,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_983081340",
+      "mask_path": "../../mask/hdr_front_04245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04246.png",
+      "transform_matrix": [
+        [
+          0.21027185022830963,
+          -0.14794355630874634,
+          -0.96638423204422,
+          76.24542236328125
+        ],
+        [
+          0.9747774600982666,
+          -0.043900277465581894,
+          0.2188188135623932,
+          22.251373291015625
+        ],
+        [
+          -0.0747973695397377,
+          -0.9880210161209106,
+          0.13498105108737946,
+          -27.405921936035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4246,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_83081245",
+      "mask_path": "../../mask/hdr_front_04246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04247.png",
+      "transform_matrix": [
+        [
+          0.2201501578092575,
+          -0.1593918353319168,
+          -0.9623555541038513,
+          76.31794738769531
+        ],
+        [
+          0.9732781052589417,
+          -0.03014715015888214,
+          0.2276420295238495,
+          22.227127075195312
+        ],
+        [
+          -0.06529655307531357,
+          -0.9867550134658813,
+          0.1484956592321396,
+          -27.41530418395996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4247,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_183081626",
+      "mask_path": "../../mask/hdr_front_04247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04248.png",
+      "transform_matrix": [
+        [
+          0.2330397516489029,
+          -0.16974464058876038,
+          -0.9575381875038147,
+          76.36983489990234
+        ],
+        [
+          0.9702579379081726,
+          -0.02574937418103218,
+          0.24070008099079132,
+          22.194133758544922
+        ],
+        [
+          -0.06551355123519897,
+          -0.9851516485214233,
+          0.15869544446468353,
+          -27.413564682006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4248,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_283082485",
+      "mask_path": "../../mask/hdr_front_04248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04250.png",
+      "transform_matrix": [
+        [
+          0.2486591786146164,
+          -0.17702554166316986,
+          -0.9522765278816223,
+          76.4848403930664
+        ],
+        [
+          0.9658166766166687,
+          -0.029043981805443764,
+          0.2575939893722534,
+          22.168581008911133
+        ],
+        [
+          -0.07325860112905502,
+          -0.9837775826454163,
+          0.16375215351581573,
+          -27.455486297607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4250,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_483082056",
+      "mask_path": "../../mask/hdr_front_04250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04251.png",
+      "transform_matrix": [
+        [
+          0.246885746717453,
+          -0.17671336233615875,
+          -0.9527958035469055,
+          76.56006622314453
+        ],
+        [
+          0.9658422470092773,
+          -0.03499438241124153,
+          0.2567566931247711,
+          22.157825469970703
+        ],
+        [
+          -0.07871483266353607,
+          -0.9836400747299194,
+          0.16203764081001282,
+          -27.482845306396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4251,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_583081245",
+      "mask_path": "../../mask/hdr_front_04251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04252.png",
+      "transform_matrix": [
+        [
+          0.24451595544815063,
+          -0.17117366194725037,
+          -0.9544169306755066,
+          76.6180648803711
+        ],
+        [
+          0.9663617610931396,
+          -0.03791685402393341,
+          0.25437644124031067,
+          22.140661239624023
+        ],
+        [
+          -0.0797310322523117,
+          -0.9845110177993774,
+          0.156144380569458,
+          -27.49398422241211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4252,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_683081865",
+      "mask_path": "../../mask/hdr_front_04252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04253.png",
+      "transform_matrix": [
+        [
+          0.24194742739200592,
+          -0.16440826654434204,
+          -0.95625901222229,
+          76.67639923095703
+        ],
+        [
+          0.9668623805046082,
+          -0.04190690070390701,
+          0.25183525681495667,
+          22.128843307495117
+        ],
+        [
+          -0.08147764205932617,
+          -0.9855018258094788,
+          0.1488209068775177,
+          -27.510526657104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4253,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_783081769",
+      "mask_path": "../../mask/hdr_front_04253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04254.png",
+      "transform_matrix": [
+        [
+          0.24327804148197174,
+          -0.1652408093214035,
+          -0.9557778239250183,
+          76.75395202636719
+        ],
+        [
+          0.9666293263435364,
+          -0.040245119482278824,
+          0.2529979646205902,
+          22.1024112701416
+        ],
+        [
+          -0.08027097582817078,
+          -0.9854317903518677,
+          0.14993585646152496,
+          -27.52322006225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4254,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_883082628",
+      "mask_path": "../../mask/hdr_front_04254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04255.png",
+      "transform_matrix": [
+        [
+          0.25285768508911133,
+          -0.16623970866203308,
+          -0.9531146287918091,
+          76.82950592041016
+        ],
+        [
+          0.9643363952636719,
+          -0.036339785903692245,
+          0.2621730864048004,
+          22.07111167907715
+        ],
+        [
+          -0.07821954786777496,
+          -0.9854155778884888,
+          0.15112221240997314,
+          -27.524198532104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4255,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_983082056",
+      "mask_path": "../../mask/hdr_front_04255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04256.png",
+      "transform_matrix": [
+        [
+          0.2675115168094635,
+          -0.16150692105293274,
+          -0.9499227404594421,
+          76.88790893554688
+        ],
+        [
+          0.9606052041053772,
+          -0.032375797629356384,
+          0.27602440118789673,
+          22.048751831054688
+        ],
+        [
+          -0.07533437758684158,
+          -0.9863404035568237,
+          0.14648348093032837,
+          -27.5257568359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4256,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_83082675",
+      "mask_path": "../../mask/hdr_front_04256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04257.png",
+      "transform_matrix": [
+        [
+          0.28148311376571655,
+          -0.15126661956310272,
+          -0.9475682973861694,
+          76.94706726074219
+        ],
+        [
+          0.9566202759742737,
+          -0.033083174377679825,
+          0.2894533574581146,
+          22.021800994873047
+        ],
+        [
+          -0.07513320446014404,
+          -0.9879392981529236,
+          0.13539235293865204,
+          -27.527633666992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4257,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_183081626",
+      "mask_path": "../../mask/hdr_front_04257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04258.png",
+      "transform_matrix": [
+        [
+          0.2879408299922943,
+          -0.13930463790893555,
+          -0.9474619626998901,
+          77.0425796508789
+        ],
+        [
+          0.9541674256324768,
+          -0.04254383221268654,
+          0.2962338328361511,
+          21.998571395874023
+        ],
+        [
+          -0.0815754160284996,
+          -0.989335298538208,
+          0.12066985666751862,
+          -27.52948760986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4258,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_283082246",
+      "mask_path": "../../mask/hdr_front_04258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04259.png",
+      "transform_matrix": [
+        [
+          0.28140679001808167,
+          -0.13373926281929016,
+          -0.9502232074737549,
+          77.12232208251953
+        ],
+        [
+          0.9553353786468506,
+          -0.05408383905887604,
+          0.29053279757499695,
+          21.993633270263672
+        ],
+        [
+          -0.09024735540151596,
+          -0.9895397424697876,
+          0.11254629492759705,
+          -27.537582397460938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4259,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_383079051",
+      "mask_path": "../../mask/hdr_front_04259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04261.png",
+      "transform_matrix": [
+        [
+          0.2566821277141571,
+          -0.12249791622161865,
+          -0.9587015509605408,
+          77.21915435791016
+        ],
+        [
+          0.9617254137992859,
+          -0.06606081873178482,
+          0.2659326493740082,
+          22.00689125061035
+        ],
+        [
+          -0.09590879082679749,
+          -0.9902677536010742,
+          0.10085272043943405,
+          -27.55799674987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4261,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_583080530",
+      "mask_path": "../../mask/hdr_front_04261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04262.png",
+      "transform_matrix": [
+        [
+          0.25623002648353577,
+          -0.13467887043952942,
+          -0.9571874737739563,
+          77.29646301269531
+        ],
+        [
+          0.9631205797195435,
+          -0.04856298491358757,
+          0.26465120911598206,
+          21.999736785888672
+        ],
+        [
+          -0.08212680369615555,
+          -0.989698588848114,
+          0.11726872622966766,
+          -27.57221221923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4262,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_683083295",
+      "mask_path": "../../mask/hdr_front_04262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04265.png",
+      "transform_matrix": [
+        [
+          0.2756575345993042,
+          -0.15540334582328796,
+          -0.9486110806465149,
+          77.42840576171875
+        ],
+        [
+          0.9576461911201477,
+          -0.0410446971654892,
+          0.2850070595741272,
+          21.97665023803711
+        ],
+        [
+          -0.08322649449110031,
+          -0.9869980812072754,
+          0.13750715553760529,
+          -27.598379135131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4265,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_983082532",
+      "mask_path": "../../mask/hdr_front_04265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04266.png",
+      "transform_matrix": [
+        [
+          0.28414300084114075,
+          -0.1376436948776245,
+          -0.9488503336906433,
+          77.48755645751953
+        ],
+        [
+          0.955863893032074,
+          -0.03648402541875839,
+          0.29153579473495483,
+          21.96406364440918
+        ],
+        [
+          -0.07474594563245773,
+          -0.9898096919059753,
+          0.12120196968317032,
+          -27.61380958557129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4266,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_83082437",
+      "mask_path": "../../mask/hdr_front_04266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04267.png",
+      "transform_matrix": [
+        [
+          0.28696832060813904,
+          -0.12352398782968521,
+          -0.9499427080154419,
+          77.56112670898438
+        ],
+        [
+          0.955128014087677,
+          -0.03903229907155037,
+          0.29361024498939514,
+          21.956701278686523
+        ],
+        [
+          -0.073346346616745,
+          -0.991573691368103,
+          0.10678018629550934,
+          -27.614994049072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4267,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_183081150",
+      "mask_path": "../../mask/hdr_front_04267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04269.png",
+      "transform_matrix": [
+        [
+          0.2874196171760559,
+          -0.10870949178934097,
+          -0.951615571975708,
+          77.65008544921875
+        ],
+        [
+          0.9551936388015747,
+          -0.0407794825732708,
+          0.2931588590145111,
+          21.938644409179688
+        ],
+        [
+          -0.07067553699016571,
+          -0.993236780166626,
+          0.0921177864074707,
+          -27.63446617126465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4269,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_383081197",
+      "mask_path": "../../mask/hdr_front_04269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04270.png",
+      "transform_matrix": [
+        [
+          0.28802454471588135,
+          -0.10175690054893494,
+          -0.9522013664245605,
+          77.71016693115234
+        ],
+        [
+          0.9553784132003784,
+          -0.03750656172633171,
+          0.2929936945438385,
+          21.917198181152344
+        ],
+        [
+          -0.06552792340517044,
+          -0.9941020011901855,
+          0.08641353249549866,
+          -27.6536808013916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4270,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_483081817",
+      "mask_path": "../../mask/hdr_front_04270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04271.png",
+      "transform_matrix": [
+        [
+          0.2988133132457733,
+          -0.1145443543791771,
+          -0.9474123120307922,
+          77.76348114013672
+        ],
+        [
+          0.9531556367874146,
+          -0.013028622604906559,
+          0.30219992995262146,
+          21.885862350463867
+        ],
+        [
+          -0.046958766877651215,
+          -0.9933326840400696,
+          0.10528545081615448,
+          -27.665054321289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4271,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_583081245",
+      "mask_path": "../../mask/hdr_front_04271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04273.png",
+      "transform_matrix": [
+        [
+          0.3235539197921753,
+          -0.13796506822109222,
+          -0.9360975027084351,
+          77.83146667480469
+        ],
+        [
+          0.9451976418495178,
+          0.0013803711626678705,
+          0.32649585604667664,
+          21.854887008666992
+        ],
+        [
+          -0.04375285282731056,
+          -0.9904361963272095,
+          0.1308508813381195,
+          -27.68846893310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4273,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_783080816",
+      "mask_path": "../../mask/hdr_front_04273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04274.png",
+      "transform_matrix": [
+        [
+          0.3374880254268646,
+          -0.13152724504470825,
+          -0.9320957064628601,
+          77.88773345947266
+        ],
+        [
+          0.9404271245002747,
+          0.0037567433901131153,
+          0.339974582195282,
+          21.841156005859375
+        ],
+        [
+          -0.04121426120400429,
+          -0.9913054704666138,
+          0.12495965510606766,
+          -27.7022762298584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4274,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_883080005",
+      "mask_path": "../../mask/hdr_front_04274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04275.png",
+      "transform_matrix": [
+        [
+          0.3444979786872864,
+          -0.12969021499156952,
+          -0.9297858476638794,
+          77.95314025878906
+        ],
+        [
+          0.9374697804450989,
+          -0.004926428198814392,
+          0.348032146692276,
+          21.81744384765625
+        ],
+        [
+          -0.049716878682374954,
+          -0.9915423393249512,
+          0.11988350003957748,
+          -27.691423416137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4275,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_983080148",
+      "mask_path": "../../mask/hdr_front_04275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04277.png",
+      "transform_matrix": [
+        [
+          0.3423449695110321,
+          -0.12783919274806976,
+          -0.9308367967605591,
+          78.03684997558594
+        ],
+        [
+          0.9371348023414612,
+          -0.024885933846235275,
+          0.348079115152359,
+          21.793079376220703
+        ],
+        [
+          -0.06766288727521896,
+          -0.991482675075531,
+          0.11128298938274384,
+          -27.700775146484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4277,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_183079481",
+      "mask_path": "../../mask/hdr_front_04277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04279.png",
+      "transform_matrix": [
+        [
+          0.3333260118961334,
+          -0.13061900436878204,
+          -0.9337196350097656,
+          78.1383285522461
+        ],
+        [
+          0.9407494068145752,
+          -0.01938818022608757,
+          0.3385477364063263,
+          21.780866622924805
+        ],
+        [
+          -0.06232389807701111,
+          -0.9912430644035339,
+          0.11641716212034225,
+          -27.73076820373535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4279,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_383079767",
+      "mask_path": "../../mask/hdr_front_04279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04281.png",
+      "transform_matrix": [
+        [
+          0.3313170373439789,
+          -0.16702023148536682,
+          -0.9286190867424011,
+          78.19062042236328
+        ],
+        [
+          0.9423273205757141,
+          0.009115084074437618,
+          0.3345685601234436,
+          21.77801513671875
+        ],
+        [
+          -0.04741526395082474,
+          -0.9859114289283752,
+          0.16040772199630737,
+          -27.735475540161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4281,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_583079338",
+      "mask_path": "../../mask/hdr_front_04281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04282.png",
+      "transform_matrix": [
+        [
+          0.32439887523651123,
+          -0.17498691380023956,
+          -0.9295939803123474,
+          78.2337875366211
+        ],
+        [
+          0.9440578818321228,
+          -0.0017480846727266908,
+          0.3297753930091858,
+          21.76087760925293
+        ],
+        [
+          -0.05933137610554695,
+          -0.984569251537323,
+          0.16463066637516022,
+          -27.76283836364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4282,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_683079957",
+      "mask_path": "../../mask/hdr_front_04282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04284.png",
+      "transform_matrix": [
+        [
+          0.3042885363101959,
+          -0.19255834817886353,
+          -0.9329147338867188,
+          78.3263931274414
+        ],
+        [
+          0.9495242834091187,
+          -0.01706785522401333,
+          0.313228964805603,
+          21.731969833374023
+        ],
+        [
+          -0.07623770833015442,
+          -0.9811371564865112,
+          0.17764528095722198,
+          -27.80410385131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4284,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_883078813",
+      "mask_path": "../../mask/hdr_front_04284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04285.png",
+      "transform_matrix": [
+        [
+          0.2947719693183899,
+          -0.18228253722190857,
+          -0.9380205273628235,
+          78.38409423828125
+        ],
+        [
+          0.9531792998313904,
+          -0.01327129453420639,
+          0.3021145462989807,
+          21.724504470825195
+        ],
+        [
+          -0.0675189420580864,
+          -0.983156681060791,
+          0.1698359102010727,
+          -27.78238868713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4285,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_983080148",
+      "mask_path": "../../mask/hdr_front_04285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04287.png",
+      "transform_matrix": [
+        [
+          0.26556992530822754,
+          -0.17601516842842102,
+          -0.9478878378868103,
+          78.45610809326172
+        ],
+        [
+          0.9608500003814697,
+          -0.032235756516456604,
+          0.27518749237060547,
+          21.730417251586914
+        ],
+        [
+          -0.078993059694767,
+          -0.9838595390319824,
+          0.16056331992149353,
+          -27.791414260864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4287,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_183079719",
+      "mask_path": "../../mask/hdr_front_04287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04289.png",
+      "transform_matrix": [
+        [
+          0.2620794177055359,
+          -0.20939475297927856,
+          -0.9420554041862488,
+          78.53616333007812
+        ],
+        [
+          0.9626951217651367,
+          -0.011372442357242107,
+          0.2703492045402527,
+          21.735179901123047
+        ],
+        [
+          -0.06732317805290222,
+          -0.9777651429176331,
+          0.1986028403043747,
+          -27.843748092651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4289,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_383081197",
+      "mask_path": "../../mask/hdr_front_04289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04291.png",
+      "transform_matrix": [
+        [
+          0.2687467932701111,
+          -0.24151384830474854,
+          -0.9324410557746887,
+          78.58228302001953
+        ],
+        [
+          0.9604062438011169,
+          -0.006631063763052225,
+          0.2785244584083557,
+          21.730056762695312
+        ],
+        [
+          -0.07345058023929596,
+          -0.9703747630119324,
+          0.23016932606697083,
+          -27.888036727905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4291,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_583081007",
+      "mask_path": "../../mask/hdr_front_04291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04293.png",
+      "transform_matrix": [
+        [
+          0.2785699665546417,
+          -0.2042996734380722,
+          -0.9384351372718811,
+          78.6962661743164
+        ],
+        [
+          0.9575228691101074,
+          -0.016707370057702065,
+          0.2878732979297638,
+          21.6964054107666
+        ],
+        [
+          -0.07449119538068771,
+          -0.9787658452987671,
+          0.1909673810005188,
+          -27.884618759155273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4293,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_783081293",
+      "mask_path": "../../mask/hdr_front_04293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04294.png",
+      "transform_matrix": [
+        [
+          0.27509427070617676,
+          -0.18787363171577454,
+          -0.9428821206092834,
+          78.77362060546875
+        ],
+        [
+          0.9581931233406067,
+          -0.026674099266529083,
+          0.28487634658813477,
+          21.685827255249023
+        ],
+        [
+          -0.07867127656936646,
+          -0.9818309545516968,
+          0.1726813167333603,
+          -27.881954193115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4294,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_883080482",
+      "mask_path": "../../mask/hdr_front_04294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04295.png",
+      "transform_matrix": [
+        [
+          0.2698691785335541,
+          -0.1750328540802002,
+          -0.946854829788208,
+          78.82665252685547
+        ],
+        [
+          0.959918200969696,
+          -0.02838328294456005,
+          0.2788392901420593,
+          21.678211212158203
+        ],
+        [
+          -0.07568086683750153,
+          -0.9841534495353699,
+          0.16035746037960052,
+          -27.897348403930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4295,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_983081102",
+      "mask_path": "../../mask/hdr_front_04295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04296.png",
+      "transform_matrix": [
+        [
+          0.2658393085002899,
+          -0.16000543534755707,
+          -0.9506459832191467,
+          78.88969421386719
+        ],
+        [
+          0.9614683985710144,
+          -0.027657564729452133,
+          0.2735207676887512,
+          21.66366195678711
+        ],
+        [
+          -0.07005736231803894,
+          -0.9867286682128906,
+          0.14648769795894623,
+          -27.897994995117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4296,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_83079338",
+      "mask_path": "../../mask/hdr_front_04296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04297.png",
+      "transform_matrix": [
+        [
+          0.26878100633621216,
+          -0.1532917618751526,
+          -0.9509251117706299,
+          78.98970794677734
+        ],
+        [
+          0.960893452167511,
+          -0.02562815509736538,
+          0.2757299542427063,
+          21.624174118041992
+        ],
+        [
+          -0.0666375681757927,
+          -0.9878486394882202,
+          0.1404086947441101,
+          -27.924081802368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4297,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_183081626",
+      "mask_path": "../../mask/hdr_front_04297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04298.png",
+      "transform_matrix": [
+        [
+          0.2902083098888397,
+          -0.18159209191799164,
+          -0.939576268196106,
+          79.06635284423828
+        ],
+        [
+          0.9565123319625854,
+          0.024899108335375786,
+          0.290627121925354,
+          21.597591400146484
+        ],
+        [
+          -0.029380979016423225,
+          -0.983058750629425,
+          0.18092100322246552,
+          -27.944971084594727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4298,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_283081054",
+      "mask_path": "../../mask/hdr_front_04298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04300.png",
+      "transform_matrix": [
+        [
+          0.3131268322467804,
+          -0.21147094666957855,
+          -0.9258680939674377,
+          79.13339233398438
+        ],
+        [
+          0.9492568969726562,
+          0.03953590989112854,
+          0.31200674176216125,
+          21.5848445892334
+        ],
+        [
+          -0.029375331476330757,
+          -0.9765843152999878,
+          0.2131200134754181,
+          -27.942724227905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4300,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_483080387",
+      "mask_path": "../../mask/hdr_front_04300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04301.png",
+      "transform_matrix": [
+        [
+          0.30754145979881287,
+          -0.20965175330638885,
+          -0.9281511306762695,
+          79.25267028808594
+        ],
+        [
+          0.9498311281204224,
+          0.009296964854001999,
+          0.31262508034706116,
+          21.553390502929688
+        ],
+        [
+          -0.05691341310739517,
+          -0.9777320027351379,
+          0.2019929736852646,
+          -27.95789337158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4301,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_583080291",
+      "mask_path": "../../mask/hdr_front_04301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04304.png",
+      "transform_matrix": [
+        [
+          0.2809106111526489,
+          -0.18763184547424316,
+          -0.941213846206665,
+          79.41370391845703
+        ],
+        [
+          0.9547456502914429,
+          -0.04522550478577614,
+          0.29396501183509827,
+          21.514183044433594
+        ],
+        [
+          -0.0977240651845932,
+          -0.981197714805603,
+          0.1664363443851471,
+          -27.988126754760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4304,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_883080720",
+      "mask_path": "../../mask/hdr_front_04304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04305.png",
+      "transform_matrix": [
+        [
+          0.2965259253978729,
+          -0.19744789600372314,
+          -0.9343911409378052,
+          79.4938735961914
+        ],
+        [
+          0.9516661763191223,
+          -0.02089233510196209,
+          0.3064229190349579,
+          21.47947120666504
+        ],
+        [
+          -0.08002417534589767,
+          -0.9800907969474792,
+          0.18170936405658722,
+          -28.002023696899414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4305,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_983081102",
+      "mask_path": "../../mask/hdr_front_04305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04307.png",
+      "transform_matrix": [
+        [
+          0.3319542109966278,
+          -0.19875802099704742,
+          -0.9221180081367493,
+          79.55958557128906
+        ],
+        [
+          0.9400949478149414,
+          -0.010750689543783665,
+          0.34074297547340393,
+          21.45058250427246
+        ],
+        [
+          -0.07763880491256714,
+          -0.9799896478652954,
+          0.18328268826007843,
+          -27.996490478515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4307,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_183078527",
+      "mask_path": "../../mask/hdr_front_04307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04308.png",
+      "transform_matrix": [
+        [
+          0.34343454241752625,
+          -0.18178582191467285,
+          -0.9214155673980713,
+          79.61449432373047
+        ],
+        [
+          0.9358060956001282,
+          -0.01680760085582733,
+          0.3521142303943634,
+          21.425975799560547
+        ],
+        [
+          -0.07949616014957428,
+          -0.9831945300102234,
+          0.1643439680337906,
+          -28.019119262695312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4308,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_283079147",
+      "mask_path": "../../mask/hdr_front_04308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04309.png",
+      "transform_matrix": [
+        [
+          0.3491177558898926,
+          -0.16281503438949585,
+          -0.9228261113166809,
+          79.7026138305664
+        ],
+        [
+          0.9335457682609558,
+          -0.025005703791975975,
+          0.3575848639011383,
+          21.413511276245117
+        ],
+        [
+          -0.08129610866308212,
+          -0.9863397479057312,
+          0.14326535165309906,
+          -28.023880004882812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4309,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_383080244",
+      "mask_path": "../../mask/hdr_front_04309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04310.png",
+      "transform_matrix": [
+        [
+          0.3475797772407532,
+          -0.15059585869312286,
+          -0.9254778623580933,
+          79.76957702636719
+        ],
+        [
+          0.933838427066803,
+          -0.03331303969025612,
+          0.3561404347419739,
+          21.405275344848633
+        ],
+        [
+          -0.08446375280618668,
+          -0.9880340099334717,
+          0.1290532499551773,
+          -28.02344512939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4310,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_483078241",
+      "mask_path": "../../mask/hdr_front_04310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04311.png",
+      "transform_matrix": [
+        [
+          0.346118688583374,
+          -0.13928410410881042,
+          -0.9277940392494202,
+          79.82535552978516
+        ],
+        [
+          0.9344561100006104,
+          -0.036969687789678574,
+          0.3541540205478668,
+          21.388145446777344
+        ],
+        [
+          -0.08362828195095062,
+          -0.9895620942115784,
+          0.1173589751124382,
+          -28.035526275634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4311,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_583080768",
+      "mask_path": "../../mask/hdr_front_04311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04313.png",
+      "transform_matrix": [
+        [
+          0.3556765615940094,
+          -0.12936407327651978,
+          -0.9256128668785095,
+          79.94933319091797
+        ],
+        [
+          0.9325436353683472,
+          -0.01668364927172661,
+          0.3606715500354767,
+          21.36147689819336
+        ],
+        [
+          -0.06210053712129593,
+          -0.9914568066596985,
+          0.11470366269350052,
+          -28.05916976928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4313,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_783080816",
+      "mask_path": "../../mask/hdr_front_04313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04316.png",
+      "transform_matrix": [
+        [
+          0.3959157168865204,
+          -0.13818101584911346,
+          -0.9078307747840881,
+          80.07609558105469
+        ],
+        [
+          0.9170255064964294,
+          0.007697076071053743,
+          0.3987541198730469,
+          21.30215072631836
+        ],
+        [
+          -0.048112593591213226,
+          -0.9903770685195923,
+          0.1297629028558731,
+          -28.077991485595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4316,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_83081007",
+      "mask_path": "../../mask/hdr_front_04316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04317.png",
+      "transform_matrix": [
+        [
+          0.4016484022140503,
+          -0.13861660659313202,
+          -0.9052426218986511,
+          80.1477279663086
+        ],
+        [
+          0.9145150780677795,
+          0.00848997663706541,
+          0.404462605714798,
+          21.27500343322754
+        ],
+        [
+          -0.04837973415851593,
+          -0.9903097748756409,
+          0.13017697632312775,
+          -28.081754684448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4317,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_183080434",
+      "mask_path": "../../mask/hdr_front_04317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04319.png",
+      "transform_matrix": [
+        [
+          0.3941498398780823,
+          -0.139156311750412,
+          -0.9084500670433044,
+          80.22132873535156
+        ],
+        [
+          0.9173535108566284,
+          -0.0003960822068620473,
+          0.3980734348297119,
+          21.262699127197266
+        ],
+        [
+          -0.055754248052835464,
+          -0.9902704954147339,
+          0.12749941647052765,
+          -28.100374221801758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4319,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_383081197",
+      "mask_path": "../../mask/hdr_front_04319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04321.png",
+      "transform_matrix": [
+        [
+          0.3829518258571625,
+          -0.13750989735126495,
+          -0.9134764075279236,
+          80.33174133300781
+        ],
+        [
+          0.9228799939155579,
+          0.013593541458249092,
+          0.3848477900028229,
+          21.23027801513672
+        ],
+        [
+          -0.04050299897789955,
+          -0.9904071092605591,
+          0.1321108192205429,
+          -28.122169494628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4321,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_583080053",
+      "mask_path": "../../mask/hdr_front_04321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04325.png",
+      "transform_matrix": [
+        [
+          0.3659901022911072,
+          -0.17837515473365784,
+          -0.9133638143539429,
+          80.4848861694336
+        ],
+        [
+          0.9303058981895447,
+          0.04468150436878204,
+          0.36405283212661743,
+          21.2009220123291
+        ],
+        [
+          -0.02412750944495201,
+          -0.9829476475715637,
+          0.18229645490646362,
+          -28.167604446411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4325,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_983082294",
+      "mask_path": "../../mask/hdr_front_04325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04326.png",
+      "transform_matrix": [
+        [
+          0.36727121472358704,
+          -0.1774531751871109,
+          -0.9130291938781738,
+          80.55427551269531
+        ],
+        [
+          0.9293236136436462,
+          0.02955514006316662,
+          0.36808156967163086,
+          21.179086685180664
+        ],
+        [
+          -0.038332533091306686,
+          -0.9836854338645935,
+          0.1757661998271942,
+          -28.174713134765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4326,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_83082199",
+      "mask_path": "../../mask/hdr_front_04326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04328.png",
+      "transform_matrix": [
+        [
+          0.3764919340610504,
+          -0.17222820222377777,
+          -0.9102699160575867,
+          80.63284301757812
+        ],
+        [
+          0.9245390295982361,
+          0.007270562928169966,
+          0.3810180723667145,
+          21.14231300354004
+        ],
+        [
+          -0.059003885835409164,
+          -0.9850302934646606,
+          0.16196899116039276,
+          -28.19410514831543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4328,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_283083200",
+      "mask_path": "../../mask/hdr_front_04328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04329.png",
+      "transform_matrix": [
+        [
+          0.38334453105926514,
+          -0.16537421941757202,
+          -0.9086794257164001,
+          80.68991088867188
+        ],
+        [
+          0.9213126301765442,
+          -0.0008122751605696976,
+          0.38882187008857727,
+          21.096370697021484
+        ],
+        [
+          -0.06503920257091522,
+          -0.9862305521965027,
+          0.1520499736070633,
+          -28.19999885559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4329,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_383082389",
+      "mask_path": "../../mask/hdr_front_04329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04330.png",
+      "transform_matrix": [
+        [
+          0.39070481061935425,
+          -0.16247130930423737,
+          -0.906064510345459,
+          80.73948669433594
+        ],
+        [
+          0.9180310964584351,
+          -0.0035025763791054487,
+          0.39649301767349243,
+          21.063364028930664
+        ],
+        [
+          -0.06759229302406311,
+          -0.9867070913314819,
+          0.1477852463722229,
+          -28.196449279785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4330,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_483081817",
+      "mask_path": "../../mask/hdr_front_04330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04332.png",
+      "transform_matrix": [
+        [
+          0.40171706676483154,
+          -0.16585655510425568,
+          -0.9006191492080688,
+          80.79315185546875
+        ],
+        [
+          0.9128257632255554,
+          -0.006193302571773529,
+          0.40830227732658386,
+          21.033601760864258
+        ],
+        [
+          -0.0732974112033844,
+          -0.9861304759979248,
+          0.14891019463539124,
+          -28.20342445373535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4332,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_683083057",
+      "mask_path": "../../mask/hdr_front_04332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04334.png",
+      "transform_matrix": [
+        [
+          0.4124276638031006,
+          -0.1646277904510498,
+          -0.8959916830062866,
+          80.87037658691406
+        ],
+        [
+          0.9083663821220398,
+          -0.0002783825621008873,
+          0.41817501187324524,
+          20.993770599365234
+        ],
+        [
+          -0.06909265369176865,
+          -0.986355721950531,
+          0.14942756295204163,
+          -28.221641540527344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4334,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_883082151",
+      "mask_path": "../../mask/hdr_front_04334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04335.png",
+      "transform_matrix": [
+        [
+          0.4098062217235565,
+          -0.17475727200508118,
+          -0.8952758312225342,
+          80.91793823242188
+        ],
+        [
+          0.9089309573173523,
+          -0.004438251722604036,
+          0.4169231057167053,
+          20.9672908782959
+        ],
+        [
+          -0.0768337994813919,
+          -0.9846015572547913,
+          0.15702347457408905,
+          -28.235082626342773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4335,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_983081579",
+      "mask_path": "../../mask/hdr_front_04335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04337.png",
+      "transform_matrix": [
+        [
+          0.4050321578979492,
+          -0.2081647515296936,
+          -0.8902900815010071,
+          80.97543334960938
+        ],
+        [
+          0.909317135810852,
+          -0.009833712130784988,
+          0.41598770022392273,
+          20.923786163330078
+        ],
+        [
+          -0.09534881263971329,
+          -0.978044331073761,
+          0.18530482053756714,
+          -28.268695831298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4337,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_183082342",
+      "mask_path": "../../mask/hdr_front_04337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04339.png",
+      "transform_matrix": [
+        [
+          0.383026123046875,
+          -0.21846893429756165,
+          -0.8975313305854797,
+          81.06192016601562
+        ],
+        [
+          0.9191319346427917,
+          -0.006768105085939169,
+          0.39389175176620483,
+          20.8994140625
+        ],
+        [
+          -0.09212769567966461,
+          -0.9758204817771912,
+          0.19820940494537354,
+          -28.313474655151367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4339,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_383081674",
+      "mask_path": "../../mask/hdr_front_04339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04340.png",
+      "transform_matrix": [
+        [
+          0.36344900727272034,
+          -0.21583744883537292,
+          -0.9062666893005371,
+          81.12322235107422
+        ],
+        [
+          0.9280495643615723,
+          -0.0011338768526911736,
+          0.3724549412727356,
+          20.880441665649414
+        ],
+        [
+          -0.08141729980707169,
+          -0.976428747177124,
+          0.19989575445652008,
+          -28.329801559448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4340,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_483081817",
+      "mask_path": "../../mask/hdr_front_04340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04343.png",
+      "transform_matrix": [
+        [
+          0.3087657392024994,
+          -0.1932162493467331,
+          -0.9313062429428101,
+          81.19991302490234
+        ],
+        [
+          0.9507173299789429,
+          0.033573221415281296,
+          0.30823591351509094,
+          20.884098052978516
+        ],
+        [
+          -0.028289232403039932,
+          -0.9805816411972046,
+          0.194060280919075,
+          -28.3546142578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4343,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_783082485",
+      "mask_path": "../../mask/hdr_front_04343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04350.png",
+      "transform_matrix": [
+        [
+          0.24935485422611237,
+          -0.17082536220550537,
+          -0.9532265663146973,
+          81.47856140136719
+        ],
+        [
+          0.9682939648628235,
+          0.0593605600297451,
+          0.24265846610069275,
+          20.898054122924805
+        ],
+        [
+          0.015131840482354164,
+          -0.9835116267204285,
+          0.18021099269390106,
+          -28.3903751373291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4350,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_483081817",
+      "mask_path": "../../mask/hdr_front_04350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04351.png",
+      "transform_matrix": [
+        [
+          0.25610819458961487,
+          -0.17654486000537872,
+          -0.9503897428512573,
+          81.5388412475586
+        ],
+        [
+          0.9666385054588318,
+          0.05117594450712204,
+          0.2509803771972656,
+          20.88018035888672
+        ],
+        [
+          0.004327795002609491,
+          -0.9829613566398621,
+          0.1837616115808487,
+          -28.391075134277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4351,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_583082199",
+      "mask_path": "../../mask/hdr_front_04351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04352.png",
+      "transform_matrix": [
+        [
+          0.2523849904537201,
+          -0.18422278761863708,
+          -0.949928343296051,
+          81.60299682617188
+        ],
+        [
+          0.9675780534744263,
+          0.038180164992809296,
+          0.2496698945760727,
+          20.86834716796875
+        ],
+        [
+          -0.009726462885737419,
+          -0.9821427464485168,
+          0.18788601458072662,
+          -28.395483016967773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4352,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_683082103",
+      "mask_path": "../../mask/hdr_front_04352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04354.png",
+      "transform_matrix": [
+        [
+          0.24030084908008575,
+          -0.17637763917446136,
+          -0.954539954662323,
+          81.70722198486328
+        ],
+        [
+          0.9702709317207336,
+          0.01446391362696886,
+          0.24158845841884613,
+          20.867271423339844
+        ],
+        [
+          -0.028804421424865723,
+          -0.9842163324356079,
+          0.17460982501506805,
+          -28.41099739074707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4354,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_883081674",
+      "mask_path": "../../mask/hdr_front_04354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04355.png",
+      "transform_matrix": [
+        [
+          0.24684149026870728,
+          -0.18850350379943848,
+          -0.9505450129508972,
+          81.80790710449219
+        ],
+        [
+          0.9687960743904114,
+          0.02529083751142025,
+          0.2465655505657196,
+          20.84882354736328
+        ],
+        [
+          -0.02243838645517826,
+          -0.9817467927932739,
+          0.18886426091194153,
+          -28.43349838256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4355,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_983081817",
+      "mask_path": "../../mask/hdr_front_04355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04358.png",
+      "transform_matrix": [
+        [
+          0.26774993538856506,
+          -0.2045852392911911,
+          -0.9415173530578613,
+          81.9345474243164
+        ],
+        [
+          0.9624320864677429,
+          0.011045950464904308,
+          0.27129748463630676,
+          20.794002532958984
+        ],
+        [
+          -0.04510350525379181,
+          -0.9787864685058594,
+          0.1998569667339325,
+          -28.441539764404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4358,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_283082723",
+      "mask_path": "../../mask/hdr_front_04358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04359.png",
+      "transform_matrix": [
+        [
+          0.26352694630622864,
+          -0.19202716648578644,
+          -0.9453461170196533,
+          82.01521301269531
+        ],
+        [
+          0.9631331562995911,
+          -0.0025956768076866865,
+          0.26901257038116455,
+          20.76927375793457
+        ],
+        [
+          -0.0541115328669548,
+          -0.9813861846923828,
+          0.1842636913061142,
+          -28.4610652923584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4359,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_383081674",
+      "mask_path": "../../mask/hdr_front_04359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04360.png",
+      "transform_matrix": [
+        [
+          0.2615204155445099,
+          -0.17752134799957275,
+          -0.9487324357032776,
+          82.10389709472656
+        ],
+        [
+          0.9636427760124207,
+          -0.007754981517791748,
+          0.26708152890205383,
+          20.750837326049805
+        ],
+        [
+          -0.054770078510046005,
+          -0.9840864539146423,
+          0.1690390706062317,
+          -28.48082733154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4360,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_483081817",
+      "mask_path": "../../mask/hdr_front_04360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04361.png",
+      "transform_matrix": [
+        [
+          0.260722815990448,
+          -0.1612064689397812,
+          -0.9518592953681946,
+          82.17908477783203
+        ],
+        [
+          0.9642233848571777,
+          -0.005463363137096167,
+          0.2650347352027893,
+          20.739437103271484
+        ],
+        [
+          -0.047925665974617004,
+          -0.9869056344032288,
+          0.15401461720466614,
+          -28.489961624145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4361,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_583083152",
+      "mask_path": "../../mask/hdr_front_04361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04362.png",
+      "transform_matrix": [
+        [
+          0.2607075870037079,
+          -0.14819221198558807,
+          -0.9539761543273926,
+          82.24083709716797
+        ],
+        [
+          0.9645261764526367,
+          -0.002477581612765789,
+          0.2639756202697754,
+          20.735122680664062
+        ],
+        [
+          -0.04148268327116966,
+          -0.9889554977416992,
+          0.14228934049606323,
+          -28.502809524536133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4362,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_683081865",
+      "mask_path": "../../mask/hdr_front_04362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04363.png",
+      "transform_matrix": [
+        [
+          0.2657715976238251,
+          -0.14001108705997467,
+          -0.9538146257400513,
+          82.32073211669922
+        ],
+        [
+          0.963102400302887,
+          -0.004971678834408522,
+          0.26908931136131287,
+          20.706737518310547
+        ],
+        [
+          -0.04241754859685898,
+          -0.9901374578475952,
+          0.13352368772029877,
+          -28.505481719970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4363,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_783082008",
+      "mask_path": "../../mask/hdr_front_04363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04364.png",
+      "transform_matrix": [
+        [
+          0.27427515387535095,
+          -0.13587893545627594,
+          -0.9520031213760376,
+          82.39916229248047
+        ],
+        [
+          0.9606322050094604,
+          -0.006849697325378656,
+          0.2777388393878937,
+          20.67365264892578
+        ],
+        [
+          -0.04425979405641556,
+          -0.9907018542289734,
+          0.128650963306427,
+          -28.50257682800293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4364,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_883082389",
+      "mask_path": "../../mask/hdr_front_04364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04366.png",
+      "transform_matrix": [
+        [
+          0.2928949296474457,
+          -0.1248946562409401,
+          -0.9479524493217468,
+          82.52689361572266
+        ],
+        [
+          0.9548428058624268,
+          -0.013510649092495441,
+          0.29680395126342773,
+          20.647525787353516
+        ],
+        [
+          -0.049876678735017776,
+          -0.9920781254768372,
+          0.11529757082462311,
+          -28.52226448059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4366,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_83083391",
+      "mask_path": "../../mask/hdr_front_04366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04367.png",
+      "transform_matrix": [
+        [
+          0.29262441396713257,
+          -0.13137130439281464,
+          -0.9471603035926819,
+          82.62895965576172
+        ],
+        [
+          0.9536564350128174,
+          -0.03249312564730644,
+          0.29913821816444397,
+          20.619033813476562
+        ],
+        [
+          -0.07007436454296112,
+          -0.9908006191253662,
+          0.11577481031417847,
+          -28.53335952758789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4367,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_183082818",
+      "mask_path": "../../mask/hdr_front_04367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04368.png",
+      "transform_matrix": [
+        [
+          0.28842970728874207,
+          -0.13596905767917633,
+          -0.9477978348731995,
+          82.69083404541016
+        ],
+        [
+          0.9537156820297241,
+          -0.0471360869705677,
+          0.29699259996414185,
+          20.602489471435547
+        ],
+        [
+          -0.08505728095769882,
+          -0.989591121673584,
+          0.11608036607503891,
+          -28.54991912841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4368,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_283082485",
+      "mask_path": "../../mask/hdr_front_04368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04369.png",
+      "transform_matrix": [
+        [
+          0.2870463728904724,
+          -0.13216188549995422,
+          -0.9487558603286743,
+          82.75113677978516
+        ],
+        [
+          0.953653872013092,
+          -0.053907692432403564,
+          0.2960376441478729,
+          20.587417602539062
+        ],
+        [
+          -0.09027012437582016,
+          -0.9897611737251282,
+          0.11056267470121384,
+          -28.56962776184082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4369,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_383081912",
+      "mask_path": "../../mask/hdr_front_04369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04370.png",
+      "transform_matrix": [
+        [
+          0.29164615273475647,
+          -0.13776428997516632,
+          -0.9465535879135132,
+          82.84649658203125
+        ],
+        [
+          0.9521602988243103,
+          -0.052627868950366974,
+          0.3010333478450775,
+          20.554248809814453
+        ],
+        [
+          -0.09128674119710922,
+          -0.9890658855438232,
+          0.11582498252391815,
+          -28.571367263793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4370,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_483082532",
+      "mask_path": "../../mask/hdr_front_04370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04371.png",
+      "transform_matrix": [
+        [
+          0.29808855056762695,
+          -0.14548413455486298,
+          -0.9433863162994385,
+          82.91567993164062
+        ],
+        [
+          0.9500804543495178,
+          -0.050183165818452835,
+          0.30794277787208557,
+          20.52654457092285
+        ],
+        [
+          -0.09214289486408234,
+          -0.9880870580673218,
+          0.12326261401176453,
+          -28.565404891967773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4371,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_583081722",
+      "mask_path": "../../mask/hdr_front_04371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04373.png",
+      "transform_matrix": [
+        [
+          0.3113369941711426,
+          -0.14497283101081848,
+          -0.9391763210296631,
+          83.0220718383789
+        ],
+        [
+          0.9460878968238831,
+          -0.04565691575407982,
+          0.32067587971687317,
+          20.48676300048828
+        ],
+        [
+          -0.08936917036771774,
+          -0.9883818030357361,
+          0.12294235825538635,
+          -28.582904815673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4373,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_783081531",
+      "mask_path": "../../mask/hdr_front_04373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04374.png",
+      "transform_matrix": [
+        [
+          0.31619763374328613,
+          -0.146974116563797,
+          -0.937239408493042,
+          83.10689544677734
+        ],
+        [
+          0.9444776773452759,
+          -0.044262852519750595,
+          0.32558074593544006,
+          20.458209991455078
+        ],
+        [
+          -0.0893368199467659,
+          -0.9881495833396912,
+          0.12481794506311417,
+          -28.59247589111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4374,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_883084058",
+      "mask_path": "../../mask/hdr_front_04374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04375.png",
+      "transform_matrix": [
+        [
+          0.31269118189811707,
+          -0.15587599575519562,
+          -0.9369775652885437,
+          83.18152618408203
+        ],
+        [
+          0.9445191621780396,
+          -0.053383588790893555,
+          0.3240889310836792,
+          20.432422637939453
+        ],
+        [
+          -0.10053689777851105,
+          -0.9863331317901611,
+          0.1305353045463562,
+          -28.598752975463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4375,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_983081579",
+      "mask_path": "../../mask/hdr_front_04375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04376.png",
+      "transform_matrix": [
+        [
+          0.3071576654911041,
+          -0.15974438190460205,
+          -0.9381555914878845,
+          83.24153900146484
+        ],
+        [
+          0.9452324509620667,
+          -0.06315861642360687,
+          0.32022905349731445,
+          20.420236587524414
+        ],
+        [
+          -0.11040739715099335,
+          -0.9851359128952026,
+          0.1315959244966507,
+          -28.61420249938965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4376,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_83082914",
+      "mask_path": "../../mask/hdr_front_04376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04377.png",
+      "transform_matrix": [
+        [
+          0.30344027280807495,
+          -0.15485599637031555,
+          -0.9401828050613403,
+          83.30038452148438
+        ],
+        [
+          0.946645975112915,
+          -0.06342407315969467,
+          0.31597277522087097,
+          20.409282684326172
+        ],
+        [
+          -0.1085604876279831,
+          -0.9858990907669067,
+          0.1273483783006668,
+          -28.632070541381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4377,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_183082103",
+      "mask_path": "../../mask/hdr_front_04377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04378.png",
+      "transform_matrix": [
+        [
+          0.30413541197776794,
+          -0.16299602389335632,
+          -0.9385808706283569,
+          83.38416290283203
+        ],
+        [
+          0.9464452266693115,
+          -0.06037653982639313,
+          0.3171689212322235,
+          20.38408088684082
+        ],
+        [
+          -0.10836554318666458,
+          -0.9847776293754578,
+          0.13590414822101593,
+          -28.646451950073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4378,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_283082723",
+      "mask_path": "../../mask/hdr_front_04378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04379.png",
+      "transform_matrix": [
+        [
+          0.3101758360862732,
+          -0.17720246315002441,
+          -0.9340183734893799,
+          83.45945739746094
+        ],
+        [
+          0.9444025158882141,
+          -0.05527765303850174,
+          0.3241115212440491,
+          20.35913848876953
+        ],
+        [
+          -0.10906369984149933,
+          -0.9826208353042603,
+          0.1502046436071396,
+          -28.671876907348633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4379,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_383081436",
+      "mask_path": "../../mask/hdr_front_04379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04380.png",
+      "transform_matrix": [
+        [
+          0.31881678104400635,
+          -0.17917102575302124,
+          -0.930727481842041,
+          83.51130676269531
+        ],
+        [
+          0.9420415759086609,
+          -0.048332177102565765,
+          0.3319966197013855,
+          20.333805084228516
+        ],
+        [
+          -0.10446825623512268,
+          -0.9826300740242004,
+          0.15337742865085602,
+          -28.69034767150879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4380,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_483081579",
+      "mask_path": "../../mask/hdr_front_04380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04381.png",
+      "transform_matrix": [
+        [
+          0.3279520273208618,
+          -0.17159345746040344,
+          -0.9289796352386475,
+          83.58604431152344
+        ],
+        [
+          0.9395139813423157,
+          -0.0436004139482975,
+          0.3397243916988373,
+          20.318525314331055
+        ],
+        [
+          -0.09879837185144424,
+          -0.9842025637626648,
+          0.14691562950611115,
+          -28.710256576538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4381,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_583081245",
+      "mask_path": "../../mask/hdr_front_04381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04382.png",
+      "transform_matrix": [
+        [
+          0.3312617540359497,
+          -0.1778506338596344,
+          -0.9266256093978882,
+          83.69171142578125
+        ],
+        [
+          0.9375916719436646,
+          -0.048043783754110336,
+          0.34440329670906067,
+          20.292818069458008
+        ],
+        [
+          -0.10577093064785004,
+          -0.9828840494155884,
+          0.15083622932434082,
+          -28.73206329345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4382,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_683082342",
+      "mask_path": "../../mask/hdr_front_04382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04383.png",
+      "transform_matrix": [
+        [
+          0.3294663429260254,
+          -0.19160985946655273,
+          -0.9245202541351318,
+          83.76679229736328
+        ],
+        [
+          0.9363427758216858,
+          -0.05949373543262482,
+          0.3460097312927246,
+          20.26285743713379
+        ],
+        [
+          -0.1213020458817482,
+          -0.9796664118766785,
+          0.15981131792068481,
+          -28.746417999267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4383,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_783081293",
+      "mask_path": "../../mask/hdr_front_04383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04385.png",
+      "transform_matrix": [
+        [
+          0.32680386304855347,
+          -0.20138618350028992,
+          -0.9233866930007935,
+          83.84953308105469
+        ],
+        [
+          0.934626042842865,
+          -0.07613632082939148,
+          0.3473866581916809,
+          20.225637435913086
+        ],
+        [
+          -0.14026212692260742,
+          -0.9765484929084778,
+          0.16333910822868347,
+          -28.772972106933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4385,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_983081817",
+      "mask_path": "../../mask/hdr_front_04385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04386.png",
+      "transform_matrix": [
+        [
+          0.3309323787689209,
+          -0.2156146913766861,
+          -0.9186915159225464,
+          83.93462371826172
+        ],
+        [
+          0.9350802898406982,
+          -0.05601277947425842,
+          0.34998205304145813,
+          20.168548583984375
+        ],
+        [
+          -0.1269197314977646,
+          -0.9748708009719849,
+          0.18308061361312866,
+          -28.791452407836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4386,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_83083152",
+      "mask_path": "../../mask/hdr_front_04386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04389.png",
+      "transform_matrix": [
+        [
+          0.364113986492157,
+          -0.2538203299045563,
+          -0.8961005806922913,
+          84.0574951171875
+        ],
+        [
+          0.9257336854934692,
+          -0.006913334131240845,
+          0.3781130313873291,
+          20.09971046447754
+        ],
+        [
+          -0.10216780006885529,
+          -0.9672266840934753,
+          0.23245276510715485,
+          -28.82485008239746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4389,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_383081197",
+      "mask_path": "../../mask/hdr_front_04389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04390.png",
+      "transform_matrix": [
+        [
+          0.3753148913383484,
+          -0.2396526336669922,
+          -0.8953800797462463,
+          84.13871765136719
+        ],
+        [
+          0.9219201803207397,
+          -0.003454970894381404,
+          0.3873644769191742,
+          20.06380271911621
+        ],
+        [
+          -0.09592641144990921,
+          -0.9708526134490967,
+          0.21964390575885773,
+          -28.846214294433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4390,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_483081579",
+      "mask_path": "../../mask/hdr_front_04390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04391.png",
+      "transform_matrix": [
+        [
+          0.37819963693618774,
+          -0.2253076434135437,
+          -0.8978872895240784,
+          84.22028350830078
+        ],
+        [
+          0.921311616897583,
+          -0.002977919764816761,
+          0.3888135254383087,
+          20.03082275390625
+        ],
+        [
+          -0.09027647972106934,
+          -0.9742832183837891,
+          0.20645232498645782,
+          -28.864412307739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4391,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_583081245",
+      "mask_path": "../../mask/hdr_front_04391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04394.png",
+      "transform_matrix": [
+        [
+          0.363065630197525,
+          -0.2001679390668869,
+          -0.9100089073181152,
+          84.37480926513672
+        ],
+        [
+          0.9300667643547058,
+          0.018940284848213196,
+          0.3669019341468811,
+          20.001827239990234
+        ],
+        [
+          -0.05620618164539337,
+          -0.9795785546302795,
+          0.19304609298706055,
+          -28.915699005126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4394,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_883081674",
+      "mask_path": "../../mask/hdr_front_04394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04395.png",
+      "transform_matrix": [
+        [
+          0.36363527178764343,
+          -0.21549105644226074,
+          -0.9062741994857788,
+          84.44779968261719
+        ],
+        [
+          0.9309390783309937,
+          0.04908471554517746,
+          0.3618606626987457,
+          19.98408317565918
+        ],
+        [
+          -0.0334935188293457,
+          -0.9752714037895203,
+          0.21845795214176178,
+          -28.937454223632812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4395,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_983081102",
+      "mask_path": "../../mask/hdr_front_04395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04397.png",
+      "transform_matrix": [
+        [
+          0.361293226480484,
+          -0.23603136837482452,
+          -0.902084469795227,
+          84.5195541381836
+        ],
+        [
+          0.9323402643203735,
+          0.0764494463801384,
+          0.35340791940689087,
+          19.972537994384766
+        ],
+        [
+          -0.01445147953927517,
+          -0.9687336087226868,
+          0.24768221378326416,
+          -28.966907501220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4397,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_183083772",
+      "mask_path": "../../mask/hdr_front_04397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04398.png",
+      "transform_matrix": [
+        [
+          0.35471808910369873,
+          -0.22850918769836426,
+          -0.9066194295883179,
+          84.57660675048828
+        ],
+        [
+          0.934934139251709,
+          0.07781478017568588,
+          0.34618353843688965,
+          19.964378356933594
+        ],
+        [
+          -0.008557732217013836,
+          -0.9704269766807556,
+          0.24124331772327423,
+          -28.977821350097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4398,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_283082485",
+      "mask_path": "../../mask/hdr_front_04398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04399.png",
+      "transform_matrix": [
+        [
+          0.3502524197101593,
+          -0.22390641272068024,
+          -0.9094993472099304,
+          84.63469696044922
+        ],
+        [
+          0.9366051554679871,
+          0.07367482781410217,
+          0.3425532281398773,
+          19.948261260986328
+        ],
+        [
+          -0.00969264842569828,
+          -0.9718220829963684,
+          0.23551668226718903,
+          -28.990041732788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4399,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_383081436",
+      "mask_path": "../../mask/hdr_front_04399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04401.png",
+      "transform_matrix": [
+        [
+          0.35092785954475403,
+          -0.2139103263616562,
+          -0.9116424322128296,
+          84.71028900146484
+        ],
+        [
+          0.9363945126533508,
+          0.07617158442735672,
+          0.3425828516483307,
+          19.921855926513672
+        ],
+        [
+          -0.0038407647516578436,
+          -0.9738789796829224,
+          0.22703520953655243,
+          -29.020627975463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4401,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_583081245",
+      "mask_path": "../../mask/hdr_front_04401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04402.png",
+      "transform_matrix": [
+        [
+          0.35086238384246826,
+          -0.2099885642528534,
+          -0.9125789403915405,
+          84.75260925292969
+        ],
+        [
+          0.9364243745803833,
+          0.08099576085805893,
+          0.34139284491539,
+          19.900880813598633
+        ],
+        [
+          0.0022264437284320593,
+          -0.9743431806564331,
+          0.22505679726600647,
+          -29.040063858032227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4402,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_683081388",
+      "mask_path": "../../mask/hdr_front_04402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04403.png",
+      "transform_matrix": [
+        [
+          0.3539627492427826,
+          -0.21111704409122467,
+          -0.9111202955245972,
+          84.79706573486328
+        ],
+        [
+          0.9352594614028931,
+          0.08027718216180801,
+          0.34473955631256104,
+          19.872386932373047
+        ],
+        [
+          0.0003617709444370121,
+          -0.9741587042808533,
+          0.22586435079574585,
+          -29.041881561279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4403,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_783078670",
+      "mask_path": "../../mask/hdr_front_04403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04405.png",
+      "transform_matrix": [
+        [
+          0.3636719882488251,
+          -0.20957878232002258,
+          -0.907645046710968,
+          84.8534164428711
+        ],
+        [
+          0.9314954876899719,
+          0.07379839569330215,
+          0.35618799924850464,
+          19.83708953857422
+        ],
+        [
+          -0.007666706573218107,
+          -0.9750028252601624,
+          0.22206009924411774,
+          -29.052412033081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4405,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_983081579",
+      "mask_path": "../../mask/hdr_front_04405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04406.png",
+      "transform_matrix": [
+        [
+          0.35668331384658813,
+          -0.21032528579235077,
+          -0.9102419018745422,
+          84.90619659423828
+        ],
+        [
+          0.9340966939926147,
+          0.06412549316883087,
+          0.35121384263038635,
+          19.82392692565918
+        ],
+        [
+          -0.015499426983296871,
+          -0.9755261540412903,
+          0.2193366438150406,
+          -29.073959350585938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4406,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_83082675",
+      "mask_path": "../../mask/hdr_front_04406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04407.png",
+      "transform_matrix": [
+        [
+          0.3364749550819397,
+          -0.21712134778499603,
+          -0.9163203239440918,
+          84.97937774658203
+        ],
+        [
+          0.9415047764778137,
+          0.058140236884355545,
+          0.331946462392807,
+          19.813106536865234
+        ],
+        [
+          -0.018797587603330612,
+          -0.97441166639328,
+          0.2239835262298584,
+          -29.097633361816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4407,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_183082342",
+      "mask_path": "../../mask/hdr_front_04407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04409.png",
+      "transform_matrix": [
+        [
+          0.28582558035850525,
+          -0.22711503505706787,
+          -0.9309793710708618,
+          85.06686401367188
+        ],
+        [
+          0.9582144021987915,
+          0.0562223345041275,
+          0.2804715931415558,
+          19.81226348876953
+        ],
+        [
+          -0.011357489041984081,
+          -0.9722437262535095,
+          0.23369468748569489,
+          -29.126995086669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4409,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_383081912",
+      "mask_path": "../../mask/hdr_front_04409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04410.png",
+      "transform_matrix": [
+        [
+          0.27501678466796875,
+          -0.22317416965961456,
+          -0.9351786971092224,
+          85.11677551269531
+        ],
+        [
+          0.9614236354827881,
+          0.0582612045109272,
+          0.2688312828540802,
+          19.81092643737793
+        ],
+        [
+          -0.005511557217687368,
+          -0.973035991191864,
+          0.23058775067329407,
+          -29.14795684814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4410,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_483082532",
+      "mask_path": "../../mask/hdr_front_04410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04411.png",
+      "transform_matrix": [
+        [
+          0.27559801936149597,
+          -0.21749737858772278,
+          -0.9363442659378052,
+          85.17259979248047
+        ],
+        [
+          0.9612521529197693,
+          0.05595611780881882,
+          0.2699315845966339,
+          19.79204750061035
+        ],
+        [
+          -0.006315228063613176,
+          -0.9744556546211243,
+          0.22449123859405518,
+          -29.154460906982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4411,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_583082199",
+      "mask_path": "../../mask/hdr_front_04411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05948.png",
+      "transform_matrix": [
+        [
+          -0.29832762479782104,
+          -0.15198957920074463,
+          0.9422844648361206,
+          84.691650390625
+        ],
+        [
+          -0.9527356624603271,
+          -0.011956621892750263,
+          -0.30356520414352417,
+          19.9794921875
+        ],
+        [
+          0.057405274361371994,
+          -0.9883098006248474,
+          -0.14123889803886414,
+          -29.058013916015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5948,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_283081054",
+      "mask_path": "../../mask/hdr_front_05948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05950.png",
+      "transform_matrix": [
+        [
+          -0.29160431027412415,
+          -0.16322346031665802,
+          0.9425100088119507,
+          84.6115951538086
+        ],
+        [
+          -0.9550779461860657,
+          -0.004755758680403233,
+          -0.29631635546684265,
+          20.005022048950195
+        ],
+        [
+          0.05284811928868294,
+          -0.9865777492523193,
+          -0.15450428426265717,
+          -29.018327713012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5950,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_483080387",
+      "mask_path": "../../mask/hdr_front_05950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05951.png",
+      "transform_matrix": [
+        [
+          -0.28901198506355286,
+          -0.16152143478393555,
+          0.9436010718345642,
+          84.55443572998047
+        ],
+        [
+          -0.9560002684593201,
+          -0.003149776253849268,
+          -0.29334884881973267,
+          20.0225887298584
+        ],
+        [
+          0.050354260951280594,
+          -0.9868642091751099,
+          -0.15350420773029327,
+          -29.00534439086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5951,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_583082199",
+      "mask_path": "../../mask/hdr_front_05951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05952.png",
+      "transform_matrix": [
+        [
+          -0.2861554026603699,
+          -0.1575648933649063,
+          0.9451393485069275,
+          84.49913787841797
+        ],
+        [
+          -0.9572389721870422,
+          0.00322952913120389,
+          -0.28928035497665405,
+          20.037004470825195
+        ],
+        [
+          0.042528074234724045,
+          -0.9875034093856812,
+          -0.15175141394138336,
+          -28.998083114624023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5952,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_683082580",
+      "mask_path": "../../mask/hdr_front_05952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05954.png",
+      "transform_matrix": [
+        [
+          -0.2866612672805786,
+          -0.1588047444820404,
+          0.9447784423828125,
+          84.41313934326172
+        ],
+        [
+          -0.9570932388305664,
+          0.0038246777839958668,
+          -0.2897549271583557,
+          20.05781364440918
+        ],
+        [
+          0.04240097850561142,
+          -0.9873026609420776,
+          -0.153087317943573,
+          -29.00377655029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5954,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_883080959",
+      "mask_path": "../../mask/hdr_front_05954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05955.png",
+      "transform_matrix": [
+        [
+          -0.2889307141304016,
+          -0.1693594753742218,
+          0.9422507882118225,
+          84.34117889404297
+        ],
+        [
+          -0.9571102261543274,
+          0.029073441401124,
+          -0.2882615625858307,
+          20.07288360595703
+        ],
+        [
+          0.021425362676382065,
+          -0.9851254224777222,
+          -0.1704959124326706,
+          -28.959941864013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5955,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_983080387",
+      "mask_path": "../../mask/hdr_front_05955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05956.png",
+      "transform_matrix": [
+        [
+          -0.29719212651252747,
+          -0.19024482369422913,
+          0.9356728792190552,
+          84.28182220458984
+        ],
+        [
+          -0.954673171043396,
+          0.04216092824935913,
+          -0.29465481638908386,
+          20.10015869140625
+        ],
+        [
+          0.01660771295428276,
+          -0.9808309674263,
+          -0.19415153563022614,
+          -28.876171112060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5956,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_83081483",
+      "mask_path": "../../mask/hdr_front_05956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05958.png",
+      "transform_matrix": [
+        [
+          -0.3097653090953827,
+          -0.21006722748279572,
+          0.9273172616958618,
+          84.21459197998047
+        ],
+        [
+          -0.9501989483833313,
+          0.033346619457006454,
+          -0.30985474586486816,
+          20.149171829223633
+        ],
+        [
+          0.03416743502020836,
+          -0.9771181344985962,
+          -0.209935262799263,
+          -28.873491287231445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5958,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_283080339",
+      "mask_path": "../../mask/hdr_front_05958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05960.png",
+      "transform_matrix": [
+        [
+          -0.3202607333660126,
+          -0.20191362500190735,
+          0.9255614876747131,
+          84.12632751464844
+        ],
+        [
+          -0.947020411491394,
+          0.04328338801860809,
+          -0.31824353337287903,
+          20.20113182067871
+        ],
+        [
+          0.02419627457857132,
+          -0.9784464836120605,
+          -0.20507830381393433,
+          -28.872737884521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5960,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_483081102",
+      "mask_path": "../../mask/hdr_front_05960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05961.png",
+      "transform_matrix": [
+        [
+          -0.3244040906429291,
+          -0.2024267166852951,
+          0.9240051507949829,
+          84.06912994384766
+        ],
+        [
+          -0.9455454349517822,
+          0.04195993393659592,
+          -0.322774201631546,
+          20.211883544921875
+        ],
+        [
+          0.026566920801997185,
+          -0.9783980846405029,
+          -0.205015629529953,
+          -28.857728958129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5961,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_583081722",
+      "mask_path": "../../mask/hdr_front_05961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05962.png",
+      "transform_matrix": [
+        [
+          -0.3272366225719452,
+          -0.1936485916376114,
+          0.9248872995376587,
+          84.01763153076172
+        ],
+        [
+          -0.9444901943206787,
+          0.03675098344683647,
+          -0.32647767663002014,
+          20.228322982788086
+        ],
+        [
+          0.029231419786810875,
+          -0.9803823232650757,
+          -0.194925457239151,
+          -28.850584030151367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5962,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_683082103",
+      "mask_path": "../../mask/hdr_front_05962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05963.png",
+      "transform_matrix": [
+        [
+          -0.3342639207839966,
+          -0.19357162714004517,
+          0.922386884689331,
+          83.9680404663086
+        ],
+        [
+          -0.9418037533760071,
+          0.031549688428640366,
+          -0.33467936515808105,
+          20.25189208984375
+        ],
+        [
+          0.035683415830135345,
+          -0.9805788397789001,
+          -0.19285239279270172,
+          -28.829965591430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5963,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_783082246",
+      "mask_path": "../../mask/hdr_front_05963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05964.png",
+      "transform_matrix": [
+        [
+          -0.3403756618499756,
+          -0.20156413316726685,
+          0.9184314608573914,
+          83.9156723022461
+        ],
+        [
+          -0.9390431642532349,
+          0.022592613473534584,
+          -0.3430561423301697,
+          20.27117347717285
+        ],
+        [
+          0.048398055136203766,
+          -0.9792147278785706,
+          -0.19696742296218872,
+          -28.810102462768555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5964,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_883081674",
+      "mask_path": "../../mask/hdr_front_05964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05965.png",
+      "transform_matrix": [
+        [
+          -0.34240302443504333,
+          -0.21012377738952637,
+          0.9157555103302002,
+          83.85494232177734
+        ],
+        [
+          -0.9372346997261047,
+          0.007956537418067455,
+          -0.34860846400260925,
+          20.283493041992188
+        ],
+        [
+          0.06596469134092331,
+          -0.9776424169540405,
+          -0.19965963065624237,
+          -28.799999237060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5965,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_983080863",
+      "mask_path": "../../mask/hdr_front_05965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05966.png",
+      "transform_matrix": [
+        [
+          -0.33982065320014954,
+          -0.21355019509792328,
+          0.9159247279167175,
+          83.78495025634766
+        ],
+        [
+          -0.9379025101661682,
+          0.004753866232931614,
+          -0.3468663692474365,
+          20.294029235839844
+        ],
+        [
+          0.06971918791532516,
+          -0.9769205451011658,
+          -0.20190472900867462,
+          -28.759435653686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5966,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_83082199",
+      "mask_path": "../../mask/hdr_front_05966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05970.png",
+      "transform_matrix": [
+        [
+          -0.33435899019241333,
+          -0.1978914439678192,
+          0.9214352965354919,
+          83.59650421142578
+        ],
+        [
+          -0.9397687315940857,
+          -0.0036325440742075443,
+          -0.3417917490005493,
+          20.354833602905273
+        ],
+        [
+          0.07098481059074402,
+          -0.9802172183990479,
+          -0.18475762009620667,
+          -28.72284698486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5970,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_483081340",
+      "mask_path": "../../mask/hdr_front_05970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05973.png",
+      "transform_matrix": [
+        [
+          -0.34976983070373535,
+          -0.20369769632816315,
+          0.9144223928451538,
+          83.43407440185547
+        ],
+        [
+          -0.9317856431007385,
+          -0.02557014673948288,
+          -0.36210736632347107,
+          20.406612396240234
+        ],
+        [
+          0.09714234620332718,
+          -0.9786999225616455,
+          -0.18085892498493195,
+          -28.675825119018555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5973,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_783083200",
+      "mask_path": "../../mask/hdr_front_05973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05974.png",
+      "transform_matrix": [
+        [
+          -0.3494592010974884,
+          -0.21557973325252533,
+          0.9118133187294006,
+          83.34716796875
+        ],
+        [
+          -0.9310024976730347,
+          -0.029596403241157532,
+          -0.36381107568740845,
+          20.425851821899414
+        ],
+        [
+          0.1054166778922081,
+          -0.9760376214981079,
+          -0.19036252796649933,
+          -28.631338119506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5974,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_883083343",
+      "mask_path": "../../mask/hdr_front_05974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05984.png",
+      "transform_matrix": [
+        [
+          -0.3546013832092285,
+          -0.20172031223773956,
+          0.9129987955093384,
+          83.0576400756836
+        ],
+        [
+          -0.928866446018219,
+          -0.03582105413079262,
+          -0.3686786890029907,
+          20.464035034179688
+        ],
+        [
+          0.10707457363605499,
+          -0.9787879586219788,
+          -0.1746690571308136,
+          -28.581281661987305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5984,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323862_883080959",
+      "mask_path": "../../mask/hdr_front_05984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_05997.png",
+      "transform_matrix": [
+        [
+          -0.380329966545105,
+          -0.1916385293006897,
+          0.9047783017158508,
+          83.15138244628906
+        ],
+        [
+          -0.9209762811660767,
+          -0.010977554135024548,
+          -0.38946399092674255,
+          20.470022201538086
+        ],
+        [
+          0.084568552672863,
+          -0.9814042448997498,
+          -0.1723194420337677,
+          -28.591449737548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5997,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323864_183081865",
+      "mask_path": "../../mask/hdr_front_05997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06000.png",
+      "transform_matrix": [
+        [
+          -0.3976122736930847,
+          -0.2020343691110611,
+          0.8950344324111938,
+          83.14167022705078
+        ],
+        [
+          -0.9137610793113708,
+          -0.0014090846525505185,
+          -0.4062495231628418,
+          20.535884857177734
+        ],
+        [
+          0.08333754539489746,
+          -0.9793775081634521,
+          -0.18405087292194366,
+          -28.60211181640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6000,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323864_483082056",
+      "mask_path": "../../mask/hdr_front_06000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06021.png",
+      "transform_matrix": [
+        [
+          -0.46062472462654114,
+          -0.1706378310918808,
+          0.8710382580757141,
+          83.11729431152344
+        ],
+        [
+          -0.8863620758056641,
+          0.036724358797073364,
+          -0.46153396368026733,
+          20.59242057800293
+        ],
+        [
+          0.04676683247089386,
+          -0.9846492409706116,
+          -0.16816304624080658,
+          -28.600419998168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6021,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_583081007",
+      "mask_path": "../../mask/hdr_front_06021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06023.png",
+      "transform_matrix": [
+        [
+          -0.42995285987854004,
+          -0.1655884087085724,
+          0.8875364661216736,
+          83.04004669189453
+        ],
+        [
+          -0.9018118381500244,
+          0.0316065214574337,
+          -0.4309714138507843,
+          20.584259033203125
+        ],
+        [
+          0.04331192746758461,
+          -0.9856884479522705,
+          -0.16291888058185577,
+          -28.589725494384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6023,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_783081293",
+      "mask_path": "../../mask/hdr_front_06023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06025.png",
+      "transform_matrix": [
+        [
+          -0.40551140904426575,
+          -0.15449750423431396,
+          0.9009389877319336,
+          82.97093963623047
+        ],
+        [
+          -0.9133572578430176,
+          0.029027048498392105,
+          -0.40612316131591797,
+          20.594648361206055
+        ],
+        [
+          0.03659340739250183,
+          -0.9875667095184326,
+          -0.15288221836090088,
+          -28.586868286132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6025,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_983082056",
+      "mask_path": "../../mask/hdr_front_06025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06037.png",
+      "transform_matrix": [
+        [
+          -0.43266671895980835,
+          -0.11796468496322632,
+          0.893803060054779,
+          82.68286895751953
+        ],
+        [
+          -0.8991866111755371,
+          -0.015334312804043293,
+          -0.437296599149704,
+          20.67234992980957
+        ],
+        [
+          0.0652914047241211,
+          -0.9928993582725525,
+          -0.09943760931491852,
+          -28.558452606201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6037,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_183082342",
+      "mask_path": "../../mask/hdr_front_06037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06039.png",
+      "transform_matrix": [
+        [
+          -0.4301852583885193,
+          -0.10870666056871414,
+          0.8961715698242188,
+          82.61261749267578
+        ],
+        [
+          -0.9008840918540955,
+          -0.011937852017581463,
+          -0.4338955283164978,
+          20.702068328857422
+        ],
+        [
+          0.0578656941652298,
+          -0.9940022230148315,
+          -0.09279661625623703,
+          -28.56404685974121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6039,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_383082389",
+      "mask_path": "../../mask/hdr_front_06039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06041.png",
+      "transform_matrix": [
+        [
+          -0.4339955449104309,
+          -0.10462112724781036,
+          0.8948197364807129,
+          82.54528045654297
+        ],
+        [
+          -0.8994069695472717,
+          -0.007129052188247442,
+          -0.43705400824546814,
+          20.736316680908203
+        ],
+        [
+          0.05210430175065994,
+          -0.9944866895675659,
+          -0.09100300073623657,
+          -28.554027557373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6041,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_583080530",
+      "mask_path": "../../mask/hdr_front_06041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06042.png",
+      "transform_matrix": [
+        [
+          -0.43788206577301025,
+          -0.11191317439079285,
+          0.8920396566390991,
+          82.50546264648438
+        ],
+        [
+          -0.8976430296897888,
+          -0.0007195196812972426,
+          -0.44072288274765015,
+          20.768720626831055
+        ],
+        [
+          0.049964532256126404,
+          -0.9937177300453186,
+          -0.10014300048351288,
+          -28.506845474243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6042,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_683082342",
+      "mask_path": "../../mask/hdr_front_06042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06044.png",
+      "transform_matrix": [
+        [
+          -0.4369826018810272,
+          -0.12938398122787476,
+          0.8901157379150391,
+          82.43961334228516
+        ],
+        [
+          -0.8959348797798157,
+          -0.02503988891839981,
+          -0.44347912073135376,
+          20.778535842895508
+        ],
+        [
+          0.07966749370098114,
+          -0.991278350353241,
+          -0.10497762262821198,
+          -28.492692947387695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6044,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_883082151",
+      "mask_path": "../../mask/hdr_front_06044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06045.png",
+      "transform_matrix": [
+        [
+          -0.4339087903499603,
+          -0.13955365121364594,
+          0.8900831937789917,
+          82.3879165649414
+        ],
+        [
+          -0.895238995552063,
+          -0.044341474771499634,
+          -0.4433744549751282,
+          20.782411575317383
+        ],
+        [
+          0.101342111825943,
+          -0.9892212152481079,
+          -0.10569370537996292,
+          -28.486417770385742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6045,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_983082532",
+      "mask_path": "../../mask/hdr_front_06045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06046.png",
+      "transform_matrix": [
+        [
+          -0.4312970042228699,
+          -0.12362222373485565,
+          0.8937004208564758,
+          82.33766174316406
+        ],
+        [
+          -0.8971325159072876,
+          -0.04618029296398163,
+          -0.4393412172794342,
+          20.796987533569336
+        ],
+        [
+          0.09558367729187012,
+          -0.9912542700767517,
+          -0.09098808467388153,
+          -28.486703872680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6046,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_83082199",
+      "mask_path": "../../mask/hdr_front_06046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06048.png",
+      "transform_matrix": [
+        [
+          -0.4051976203918457,
+          -0.10492876917123795,
+          0.9081876873970032,
+          82.27593231201172
+        ],
+        [
+          -0.9107199311256409,
+          -0.04062797129154205,
+          -0.4110214412212372,
+          20.792821884155273
+        ],
+        [
+          0.08002579212188721,
+          -0.9936495423316956,
+          -0.07909835129976273,
+          -28.476831436157227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6048,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_283082723",
+      "mask_path": "../../mask/hdr_front_06048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06050.png",
+      "transform_matrix": [
+        [
+          -0.3774908483028412,
+          -0.0992976650595665,
+          0.9206740260124207,
+          82.19486999511719
+        ],
+        [
+          -0.9221100211143494,
+          -0.05088278651237488,
+          -0.3835675120353699,
+          20.77712059020996
+        ],
+        [
+          0.0849338173866272,
+          -0.9937560558319092,
+          -0.07235559076070786,
+          -28.471097946166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6050,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_483083486",
+      "mask_path": "../../mask/hdr_front_06050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06052.png",
+      "transform_matrix": [
+        [
+          -0.367814302444458,
+          -0.10875324159860611,
+          0.9235179424285889,
+          82.1034164428711
+        ],
+        [
+          -0.925451397895813,
+          -0.05420903116464615,
+          -0.374968022108078,
+          20.8055477142334
+        ],
+        [
+          0.09084200114011765,
+          -0.9925896525382996,
+          -0.08070698380470276,
+          -28.44379234313965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6052,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_683081865",
+      "mask_path": "../../mask/hdr_front_06052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06053.png",
+      "transform_matrix": [
+        [
+          -0.36388981342315674,
+          -0.10720854997634888,
+          0.9252516031265259,
+          82.05387878417969
+        ],
+        [
+          -0.9264654517173767,
+          -0.06088722497224808,
+          -0.3714222013950348,
+          20.81627655029297
+        ],
+        [
+          0.09615562111139297,
+          -0.9923704862594604,
+          -0.077168770134449,
+          -28.436573028564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6053,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_783081293",
+      "mask_path": "../../mask/hdr_front_06053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06054.png",
+      "transform_matrix": [
+        [
+          -0.35968947410583496,
+          -0.10088368505239487,
+          0.927602231502533,
+          82.0073013305664
+        ],
+        [
+          -0.9285776019096375,
+          -0.058755721896886826,
+          -0.36645784974098206,
+          20.83304214477539
+        ],
+        [
+          0.09147156029939651,
+          -0.9931617379188538,
+          -0.07254452258348465,
+          -28.43268585205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6054,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_883081674",
+      "mask_path": "../../mask/hdr_front_06054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06056.png",
+      "transform_matrix": [
+        [
+          -0.35801684856414795,
+          -0.09489481896162033,
+          0.928880512714386,
+          81.9227294921875
+        ],
+        [
+          -0.9295926094055176,
+          -0.05715550109744072,
+          -0.36413031816482544,
+          20.851091384887695
+        ],
+        [
+          0.08764471113681793,
+          -0.9938451647758484,
+          -0.06775089353322983,
+          -28.441875457763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6056,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_83083629",
+      "mask_path": "../../mask/hdr_front_06056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06058.png",
+      "transform_matrix": [
+        [
+          -0.36310794949531555,
+          -0.09228983521461487,
+          0.9271652102470398,
+          81.8517837524414
+        ],
+        [
+          -0.928281307220459,
+          -0.049915194511413574,
+          -0.36851367354393005,
+          20.871679306030273
+        ],
+        [
+          0.08028969168663025,
+          -0.994480311870575,
+          -0.06754633039236069,
+          -28.42595863342285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6058,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_283082008",
+      "mask_path": "../../mask/hdr_front_06058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06060.png",
+      "transform_matrix": [
+        [
+          -0.3741716742515564,
+          -0.09735342860221863,
+          0.9222353100776672,
+          81.76431274414062
+        ],
+        [
+          -0.9231951236724854,
+          -0.05503480136394501,
+          -0.3803707957267761,
+          20.902992248535156
+        ],
+        [
+          0.08778542280197144,
+          -0.9937271475791931,
+          -0.06928373128175735,
+          -28.402509689331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6060,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_483081579",
+      "mask_path": "../../mask/hdr_front_06060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06061.png",
+      "transform_matrix": [
+        [
+          -0.3764190375804901,
+          -0.09169276803731918,
+          0.9219008088111877,
+          81.70941162109375
+        ],
+        [
+          -0.9225497841835022,
+          -0.054109394550323486,
+          -0.3820657432079315,
+          20.923498153686523
+        ],
+        [
+          0.08491615206003189,
+          -0.9943161010742188,
+          -0.06422331929206848,
+          -28.408111572265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6061,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_583081960",
+      "mask_path": "../../mask/hdr_front_06061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06063.png",
+      "transform_matrix": [
+        [
+          -0.3802952170372009,
+          -0.08461719006299973,
+          0.9209861159324646,
+          81.63663482666016
+        ],
+        [
+          -0.9212208390235901,
+          -0.05365775153040886,
+          -0.38532209396362305,
+          20.935274124145508
+        ],
+        [
+          0.08202290534973145,
+          -0.9949677586555481,
+          -0.05754533037543297,
+          -28.41335678100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6063,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_783081531",
+      "mask_path": "../../mask/hdr_front_06063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06065.png",
+      "transform_matrix": [
+        [
+          -0.3852751851081848,
+          -0.07811193913221359,
+          0.9194898009300232,
+          81.5517807006836
+        ],
+        [
+          -0.9194981455802917,
+          -0.05174097418785095,
+          -0.3896741569042206,
+          20.956275939941406
+        ],
+        [
+          0.07801349461078644,
+          -0.9956009984016418,
+          -0.05188927799463272,
+          -28.390445709228516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6065,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_983081340",
+      "mask_path": "../../mask/hdr_front_06065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06067.png",
+      "transform_matrix": [
+        [
+          -0.3920779526233673,
+          -0.08924169838428497,
+          0.915593147277832,
+          81.47718811035156
+        ],
+        [
+          -0.9154565334320068,
+          -0.060206230729818344,
+          -0.3978877067565918,
+          20.982723236083984
+        ],
+        [
+          0.09063258767127991,
+          -0.9941887259483337,
+          -0.058091361075639725,
+          -28.380409240722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6067,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_183081150",
+      "mask_path": "../../mask/hdr_front_06067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06068.png",
+      "transform_matrix": [
+        [
+          -0.3917872905731201,
+          -0.0836237445473671,
+          0.9162476658821106,
+          81.42623901367188
+        ],
+        [
+          -0.9156221747398376,
+          -0.06220940127968788,
+          -0.3971976041793823,
+          20.996498107910156
+        ],
+        [
+          0.09021435678005219,
+          -0.9945537447929382,
+          -0.052194900810718536,
+          -28.374296188354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6068,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_283083200",
+      "mask_path": "../../mask/hdr_front_06068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06069.png",
+      "transform_matrix": [
+        [
+          -0.3847777545452118,
+          -0.07501953095197678,
+          0.9199555516242981,
+          81.3790283203125
+        ],
+        [
+          -0.9195295572280884,
+          -0.05530820041894913,
+          -0.3891098201274872,
+          21.016633987426758
+        ],
+        [
+          0.08007191121578217,
+          -0.9956470727920532,
+          -0.047701314091682434,
+          -28.37918472290039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6069,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_383082151",
+      "mask_path": "../../mask/hdr_front_06069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06071.png",
+      "transform_matrix": [
+        [
+          -0.36944064497947693,
+          -0.06767158210277557,
+          0.9267871379852295,
+          81.28958129882812
+        ],
+        [
+          -0.9265109300613403,
+          -0.04975654557347298,
+          -0.37296363711357117,
+          21.027584075927734
+        ],
+        [
+          0.0713527575135231,
+          -0.9964662790298462,
+          -0.0443163737654686,
+          -28.384010314941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6071,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_583082437",
+      "mask_path": "../../mask/hdr_front_06071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06073.png",
+      "transform_matrix": [
+        [
+          -0.36453279852867126,
+          -0.06815781444311142,
+          0.9286928772926331,
+          81.19049072265625
+        ],
+        [
+          -0.9285696148872375,
+          -0.0481669157743454,
+          -0.3680194914340973,
+          21.050609588623047
+        ],
+        [
+          0.06981568038463593,
+          -0.9965111613273621,
+          -0.04573086276650429,
+          -28.35835838317871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6073,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_783081531",
+      "mask_path": "../../mask/hdr_front_06073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06075.png",
+      "transform_matrix": [
+        [
+          -0.3644680380821228,
+          -0.09127316623926163,
+          0.926732063293457,
+          81.07453155517578
+        ],
+        [
+          -0.9269887208938599,
+          -0.05915527045726776,
+          -0.37039512395858765,
+          21.096086502075195
+        ],
+        [
+          0.08862822502851486,
+          -0.994067370891571,
+          -0.06304898113012314,
+          -28.362567901611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6075,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_983081102",
+      "mask_path": "../../mask/hdr_front_06075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06076.png",
+      "transform_matrix": [
+        [
+          -0.3548392355442047,
+          -0.1129893809556961,
+          0.9280746579170227,
+          80.9649887084961
+        ],
+        [
+          -0.9297294616699219,
+          -0.06188410148024559,
+          -0.3630061447620392,
+          21.109134674072266
+        ],
+        [
+          0.09844890236854553,
+          -0.9916672110557556,
+          -0.0830906555056572,
+          -28.307241439819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6076,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_83081245",
+      "mask_path": "../../mask/hdr_front_06076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06077.png",
+      "transform_matrix": [
+        [
+          -0.3407936096191406,
+          -0.12399983406066895,
+          0.9319248199462891,
+          80.89512634277344
+        ],
+        [
+          -0.9351987838745117,
+          -0.05676507577300072,
+          -0.34954389929771423,
+          21.109298706054688
+        ],
+        [
+          0.09624416381120682,
+          -0.9906572699546814,
+          -0.09661933034658432,
+          -28.271635055541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6077,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_183081865",
+      "mask_path": "../../mask/hdr_front_06077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06079.png",
+      "transform_matrix": [
+        [
+          -0.3225248456001282,
+          -0.13101798295974731,
+          0.9374498128890991,
+          80.78857421875
+        ],
+        [
+          -0.9429203867912292,
+          -0.04230634495615959,
+          -0.3303197920322418,
+          21.13245391845703
+        ],
+        [
+          0.08293790370225906,
+          -0.9904769062995911,
+          -0.10989469289779663,
+          -28.26865577697754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6079,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_383080244",
+      "mask_path": "../../mask/hdr_front_06079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06080.png",
+      "transform_matrix": [
+        [
+          -0.3213157057762146,
+          -0.14444610476493835,
+          0.9358907341957092,
+          80.71324157714844
+        ],
+        [
+          -0.9436724185943604,
+          -0.03359133377671242,
+          -0.32917189598083496,
+          21.158222198486328
+        ],
+        [
+          0.07898540794849396,
+          -0.9889423251152039,
+          -0.1255163699388504,
+          -28.23069953918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6080,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_483082294",
+      "mask_path": "../../mask/hdr_front_06080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06081.png",
+      "transform_matrix": [
+        [
+          -0.3192947208881378,
+          -0.15188004076480865,
+          0.935405433177948,
+          80.65035247802734
+        ],
+        [
+          -0.9440973997116089,
+          -0.03447378799319267,
+          -0.32785913348197937,
+          21.180362701416016
+        ],
+        [
+          0.08204222470521927,
+          -0.9877975583076477,
+          -0.13238224387168884,
+          -28.209943771362305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6081,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_583081722",
+      "mask_path": "../../mask/hdr_front_06081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06082.png",
+      "transform_matrix": [
+        [
+          -0.3141707181930542,
+          -0.15884113311767578,
+          0.9359840750694275,
+          80.5817642211914
+        ],
+        [
+          -0.9453645944595337,
+          -0.038085900247097015,
+          -0.32378268241882324,
+          21.19437026977539
+        ],
+        [
+          0.08707781136035919,
+          -0.9865692853927612,
+          -0.13819730281829834,
+          -28.196760177612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6082,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_683081865",
+      "mask_path": "../../mask/hdr_front_06082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06083.png",
+      "transform_matrix": [
+        [
+          -0.302234411239624,
+          -0.16226841509342194,
+          0.9393207430839539,
+          80.50182342529297
+        ],
+        [
+          -0.9497486352920532,
+          -0.03292274475097656,
+          -0.3112771213054657,
+          21.214157104492188
+        ],
+        [
+          0.08143544942140579,
+          -0.986197292804718,
+          -0.1441638320684433,
+          -28.180145263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6083,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_783080816",
+      "mask_path": "../../mask/hdr_front_06083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06085.png",
+      "transform_matrix": [
+        [
+          -0.26816341280937195,
+          -0.1576015204191208,
+          0.9503947496414185,
+          80.38552856445312
+        ],
+        [
+          -0.9613233804702759,
+          -0.020548811182379723,
+          -0.2746545672416687,
+          21.23334503173828
+        ],
+        [
+          0.06281545013189316,
+          -0.9872890114784241,
+          -0.14599555730819702,
+          -28.177139282226562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6085,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_983081579",
+      "mask_path": "../../mask/hdr_front_06085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06086.png",
+      "transform_matrix": [
+        [
+          -0.2510545253753662,
+          -0.17058496177196503,
+          0.9528233408927917,
+          80.31192779541016
+        ],
+        [
+          -0.966940701007843,
+          -0.0012520941672846675,
+          -0.2549983859062195,
+          21.2653865814209
+        ],
+        [
+          0.04469190537929535,
+          -0.9853422045707703,
+          -0.1646311730146408,
+          -28.143234252929688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6086,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_83082199",
+      "mask_path": "../../mask/hdr_front_06086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06087.png",
+      "transform_matrix": [
+        [
+          -0.23443852365016937,
+          -0.1853531301021576,
+          0.9542970657348633,
+          80.25108337402344
+        ],
+        [
+          -0.971346378326416,
+          0.005233709700405598,
+          -0.23761044442653656,
+          21.286909103393555
+        ],
+        [
+          0.039047326892614365,
+          -0.9826580286026001,
+          -0.1812690943479538,
+          -28.097965240478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6087,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_183080434",
+      "mask_path": "../../mask/hdr_front_06087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06089.png",
+      "transform_matrix": [
+        [
+          -0.21969330310821533,
+          -0.20073877274990082,
+          0.9546931385993958,
+          80.1210708618164
+        ],
+        [
+          -0.9739048480987549,
+          -0.012006749399006367,
+          -0.22663892805576324,
+          21.297683715820312
+        ],
+        [
+          0.05695797875523567,
+          -0.9795712232589722,
+          -0.1928626298904419,
+          -28.083879470825195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6089,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_383080720",
+      "mask_path": "../../mask/hdr_front_06089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06090.png",
+      "transform_matrix": [
+        [
+          -0.22029460966587067,
+          -0.19157342612743378,
+          0.956436038017273,
+          80.03567504882812
+        ],
+        [
+          -0.9742001295089722,
+          -0.006079399958252907,
+          -0.22560390830039978,
+          21.318525314331055
+        ],
+        [
+          0.04903426766395569,
+          -0.9814594984054565,
+          -0.1852916181087494,
+          -28.048954010009766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6090,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_483082294",
+      "mask_path": "../../mask/hdr_front_06090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06092.png",
+      "transform_matrix": [
+        [
+          -0.21835049986839294,
+          -0.18300139904022217,
+          0.9585580229759216,
+          79.92514038085938
+        ],
+        [
+          -0.9749755263328552,
+          -0.0011462108232080936,
+          -0.22230911254882812,
+          21.331527709960938
+        ],
+        [
+          0.04178158566355705,
+          -0.9831119775772095,
+          -0.17817161977291107,
+          -28.02050018310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6092,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_683081626",
+      "mask_path": "../../mask/hdr_front_06092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06093.png",
+      "transform_matrix": [
+        [
+          -0.22030065953731537,
+          -0.17761337757110596,
+          0.9591252207756042,
+          79.84735870361328
+        ],
+        [
+          -0.9740394353866577,
+          -0.012467279098927975,
+          -0.2260349988937378,
+          21.34925079345703
+        ],
+        [
+          0.05210452154278755,
+          -0.9840214252471924,
+          -0.1702558547258377,
+          -28.009540557861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6093,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_783081531",
+      "mask_path": "../../mask/hdr_front_06093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06094.png",
+      "transform_matrix": [
+        [
+          -0.22689314186573029,
+          -0.1744798868894577,
+          0.9581629633903503,
+          79.77240753173828
+        ],
+        [
+          -0.9721394181251526,
+          -0.018882859498262405,
+          -0.23364132642745972,
+          21.3696231842041
+        ],
+        [
+          0.05885856971144676,
+          -0.9844796657562256,
+          -0.16533437371253967,
+          -27.994808197021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6094,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_883081674",
+      "mask_path": "../../mask/hdr_front_06094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06095.png",
+      "transform_matrix": [
+        [
+          -0.23448100686073303,
+          -0.17795059084892273,
+          0.9556946754455566,
+          79.70442199707031
+        ],
+        [
+          -0.9701122045516968,
+          -0.020329078659415245,
+          -0.24180366098880768,
+          21.382234573364258
+        ],
+        [
+          0.06245749071240425,
+          -0.9838294386863708,
+          -0.16786524653434753,
+          -27.970468521118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6095,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_983081579",
+      "mask_path": "../../mask/hdr_front_06095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06096.png",
+      "transform_matrix": [
+        [
+          -0.2392936497926712,
+          -0.17724168300628662,
+          0.9546329379081726,
+          79.6241683959961
+        ],
+        [
+          -0.9685683250427246,
+          -0.025209059938788414,
+          -0.24746721982955933,
+          21.400737762451172
+        ],
+        [
+          0.06792689114809036,
+          -0.9838444590568542,
+          -0.1656382977962494,
+          -27.955612182617188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6096,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_83081007",
+      "mask_path": "../../mask/hdr_front_06096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06097.png",
+      "transform_matrix": [
+        [
+          -0.24260611832141876,
+          -0.16822759807109833,
+          0.9554275870323181,
+          79.53218078613281
+        ],
+        [
+          -0.9682381749153137,
+          -0.019403008744120598,
+          -0.24927546083927155,
+          21.42298698425293
+        ],
+        [
+          0.060473181307315826,
+          -0.9855573177337646,
+          -0.15817707777023315,
+          -27.951383590698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6097,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_183079719",
+      "mask_path": "../../mask/hdr_front_06097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06098.png",
+      "transform_matrix": [
+        [
+          -0.24525810778141022,
+          -0.16024483740329742,
+          0.9561223983764648,
+          79.4599380493164
+        ],
+        [
+          -0.9680963158607483,
+          -0.01176807377487421,
+          -0.25030189752578735,
+          21.433151245117188
+        ],
+        [
+          0.05136130750179291,
+          -0.987007200717926,
+          -0.15224622189998627,
+          -27.942123413085938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6098,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_283082008",
+      "mask_path": "../../mask/hdr_front_06098.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06099.png",
+      "transform_matrix": [
+        [
+          -0.24651475250720978,
+          -0.15233676135540009,
+          0.9570914506912231,
+          79.39861297607422
+        ],
+        [
+          -0.9676263928413391,
+          -0.0164661705493927,
+          -0.25184908509254456,
+          21.45101547241211
+        ],
+        [
+          0.05412549525499344,
+          -0.9881914854049683,
+          -0.1433459222316742,
+          -27.943296432495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6099,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_383080959",
+      "mask_path": "../../mask/hdr_front_06099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06100.png",
+      "transform_matrix": [
+        [
+          -0.25422802567481995,
+          -0.14576420187950134,
+          0.9560967683792114,
+          79.31139373779297
+        ],
+        [
+          -0.9652717113494873,
+          -0.023246081545948982,
+          -0.2602117359638214,
+          21.471588134765625
+        ],
+        [
+          0.06015506014227867,
+          -0.9890462160110474,
+          -0.1347922533750534,
+          -27.932151794433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6100,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_483081102",
+      "mask_path": "../../mask/hdr_front_06100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06101.png",
+      "transform_matrix": [
+        [
+          -0.26344794034957886,
+          -0.14294417202472687,
+          0.9540241360664368,
+          79.23450469970703
+        ],
+        [
+          -0.9625222682952881,
+          -0.027060579508543015,
+          -0.2698492109775543,
+          21.492639541625977
+        ],
+        [
+          0.06438983231782913,
+          -0.9893607497215271,
+          -0.13045790791511536,
+          -27.914480209350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6101,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_583081960",
+      "mask_path": "../../mask/hdr_front_06101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06102.png",
+      "transform_matrix": [
+        [
+          -0.2698001563549042,
+          -0.1433311253786087,
+          0.9521890878677368,
+          79.15904235839844
+        ],
+        [
+          -0.9601992964744568,
+          -0.03418663516640663,
+          -0.277215838432312,
+          21.522327423095703
+        ],
+        [
+          0.07228580117225647,
+          -0.9890841245651245,
+          -0.12840288877487183,
+          -27.905973434448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6102,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_683080673",
+      "mask_path": "../../mask/hdr_front_06102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06103.png",
+      "transform_matrix": [
+        [
+          -0.2716330289840698,
+          -0.13279606401920319,
+          0.9531950950622559,
+          79.06108856201172
+        ],
+        [
+          -0.9598553776741028,
+          -0.03460686281323433,
+          -0.27835237979888916,
+          21.546321868896484
+        ],
+        [
+          0.06995118409395218,
+          -0.990539014339447,
+          -0.11806464940309525,
+          -27.893295288085938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6103,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_783082008",
+      "mask_path": "../../mask/hdr_front_06103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06104.png",
+      "transform_matrix": [
+        [
+          -0.26887792348861694,
+          -0.11763172596693039,
+          0.955964207649231,
+          78.97593688964844
+        ],
+        [
+          -0.961486279964447,
+          -0.02595590054988861,
+          -0.2736249268054962,
+          21.565086364746094
+        ],
+        [
+          0.05699988082051277,
+          -0.9927180409431458,
+          -0.10612231492996216,
+          -27.890949249267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6104,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_883081912",
+      "mask_path": "../../mask/hdr_front_06104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06105.png",
+      "transform_matrix": [
+        [
+          -0.26709607243537903,
+          -0.10889492928981781,
+          0.9574975967407227,
+          78.912841796875
+        ],
+        [
+          -0.9623965620994568,
+          -0.020918238908052444,
+          -0.27084165811538696,
+          21.57939910888672
+        ],
+        [
+          0.04952244460582733,
+          -0.9938331246376038,
+          -0.09921292960643768,
+          -27.89330291748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6105,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_983082056",
+      "mask_path": "../../mask/hdr_front_06105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06106.png",
+      "transform_matrix": [
+        [
+          -0.2702917158603668,
+          -0.10095951706171036,
+          0.9574704170227051,
+          78.84101104736328
+        ],
+        [
+          -0.9614949226379395,
+          -0.023027991876006126,
+          -0.2738560140132904,
+          21.61099624633789
+        ],
+        [
+          0.04969699680805206,
+          -0.9946239590644836,
+          -0.09084779024124146,
+          -27.88922119140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6106,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_83081722",
+      "mask_path": "../../mask/hdr_front_06106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06107.png",
+      "transform_matrix": [
+        [
+          -0.27748796343803406,
+          -0.09884025156497955,
+          0.9556313753128052,
+          78.77841186523438
+        ],
+        [
+          -0.9593439102172852,
+          -0.024889184162020683,
+          -0.2811402678489685,
+          21.64527702331543
+        ],
+        [
+          0.05157285928726196,
+          -0.994792103767395,
+          -0.08791533857584,
+          -27.874521255493164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6107,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_183084249",
+      "mask_path": "../../mask/hdr_front_06107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06108.png",
+      "transform_matrix": [
+        [
+          -0.28169748187065125,
+          -0.10039620101451874,
+          0.9542364478111267,
+          78.72875213623047
+        ],
+        [
+          -0.9578635096549988,
+          -0.028692690655589104,
+          -0.28578704595565796,
+          21.66106414794922
+        ],
+        [
+          0.05607154592871666,
+          -0.9945337772369385,
+          -0.0880831927061081,
+          -27.867856979370117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6108,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_283081769",
+      "mask_path": "../../mask/hdr_front_06108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06109.png",
+      "transform_matrix": [
+        [
+          -0.2867032587528229,
+          -0.10575485229492188,
+          0.9521644115447998,
+          78.66374206542969
+        ],
+        [
+          -0.9557176828384399,
+          -0.03728198632597923,
+          -0.29191404581069946,
+          21.681108474731445
+        ],
+        [
+          0.0663699060678482,
+          -0.9936931133270264,
+          -0.0903829038143158,
+          -27.858905792236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6109,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_383083105",
+      "mask_path": "../../mask/hdr_front_06109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06110.png",
+      "transform_matrix": [
+        [
+          -0.2894231379032135,
+          -0.1336134672164917,
+          0.9478299617767334,
+          78.57719421386719
+        ],
+        [
+          -0.952671229839325,
+          -0.05601397156715393,
+          -0.2987975478172302,
+          21.70967674255371
+        ],
+        [
+          0.09301508963108063,
+          -0.9894492626190186,
+          -0.11107796430587769,
+          -27.82803726196289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6110,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_483082294",
+      "mask_path": "../../mask/hdr_front_06110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06111.png",
+      "transform_matrix": [
+        [
+          -0.282504677772522,
+          -0.15260115265846252,
+          0.947050154209137,
+          78.50141143798828
+        ],
+        [
+          -0.9536283612251282,
+          -0.062201306223869324,
+          -0.29448962211608887,
+          21.729244232177734
+        ],
+        [
+          0.1038471981883049,
+          -0.9863284826278687,
+          -0.12795259058475494,
+          -27.792125701904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6111,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_583082675",
+      "mask_path": "../../mask/hdr_front_06111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06113.png",
+      "transform_matrix": [
+        [
+          -0.24936410784721375,
+          -0.14502331614494324,
+          0.9574893712997437,
+          78.40440368652344
+        ],
+        [
+          -0.9639010429382324,
+          -0.058128442615270615,
+          -0.2598382234573364,
+          21.717153549194336
+        ],
+        [
+          0.0933399498462677,
+          -0.9877192378044128,
+          -0.12529297173023224,
+          -27.78877830505371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6113,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_783081531",
+      "mask_path": "../../mask/hdr_front_06113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06114.png",
+      "transform_matrix": [
+        [
+          -0.21778294444084167,
+          -0.13843488693237305,
+          0.9661296010017395,
+          78.34078216552734
+        ],
+        [
+          -0.9717321991920471,
+          -0.061686232686042786,
+          -0.22788476943969727,
+          21.69852638244629
+        ],
+        [
+          0.09114409238100052,
+          -0.9884485602378845,
+          -0.12108743190765381,
+          -27.793155670166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6114,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_883081674",
+      "mask_path": "../../mask/hdr_front_06114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06115.png",
+      "transform_matrix": [
+        [
+          -0.19397638738155365,
+          -0.14495375752449036,
+          0.9702379107475281,
+          78.28240966796875
+        ],
+        [
+          -0.9771443009376526,
+          -0.05912213400006294,
+          -0.20419003069400787,
+          21.704660415649414
+        ],
+        [
+          0.08696062862873077,
+          -0.9876704812049866,
+          -0.130172461271286,
+          -27.768095016479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6115,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_983082532",
+      "mask_path": "../../mask/hdr_front_06115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06116.png",
+      "transform_matrix": [
+        [
+          -0.18306946754455566,
+          -0.15680399537086487,
+          0.9705144166946411,
+          78.2228775024414
+        ],
+        [
+          -0.9789539575576782,
+          -0.06149198114871979,
+          -0.1945965737104416,
+          21.72217559814453
+        ],
+        [
+          0.09019237011671066,
+          -0.9857136607170105,
+          -0.14224658906459808,
+          -27.73362922668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6116,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_83080291",
+      "mask_path": "../../mask/hdr_front_06116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06117.png",
+      "transform_matrix": [
+        [
+          -0.18258242309093475,
+          -0.16412779688835144,
+          0.9693946242332458,
+          78.15663146972656
+        ],
+        [
+          -0.9780469536781311,
+          -0.07040206342935562,
+          -0.19613182544708252,
+          21.748241424560547
+        ],
+        [
+          0.10043805092573166,
+          -0.983923614025116,
+          -0.14767049252986908,
+          -27.72557830810547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6117,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_183082342",
+      "mask_path": "../../mask/hdr_front_06117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06118.png",
+      "transform_matrix": [
+        [
+          -0.186880424618721,
+          -0.1523042470216751,
+          0.9705045819282532,
+          78.10137176513672
+        ],
+        [
+          -0.9775617122650146,
+          -0.06892028450965881,
+          -0.1990552544593811,
+          21.749975204467773
+        ],
+        [
+          0.09720439463853836,
+          -0.9859277009963989,
+          -0.13600698113441467,
+          -27.725191116333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6118,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_283082723",
+      "mask_path": "../../mask/hdr_front_06118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06119.png",
+      "transform_matrix": [
+        [
+          -0.18615715205669403,
+          -0.13524098694324493,
+          0.9731676578521729,
+          78.0399169921875
+        ],
+        [
+          -0.9785706996917725,
+          -0.0631970688700676,
+          -0.1959732174873352,
+          21.7421932220459
+        ],
+        [
+          0.0880049616098404,
+          -0.9887953400611877,
+          -0.12057826668024063,
+          -27.72271728515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6119,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_383082628",
+      "mask_path": "../../mask/hdr_front_06119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06120.png",
+      "transform_matrix": [
+        [
+          -0.18358555436134338,
+          -0.13252617418766022,
+          0.9740294218063354,
+          77.96923065185547
+        ],
+        [
+          -0.979360044002533,
+          -0.06057678908109665,
+          -0.192832350730896,
+          21.741361618041992
+        ],
+        [
+          0.0845588967204094,
+          -0.9893267154693604,
+          -0.11866982281208038,
+          -27.71965980529785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6120,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_483080148",
+      "mask_path": "../../mask/hdr_front_06120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06121.png",
+      "transform_matrix": [
+        [
+          -0.18326710164546967,
+          -0.13127243518829346,
+          0.9742591381072998,
+          77.89826965332031
+        ],
+        [
+          -0.9794607162475586,
+          -0.06038164347410202,
+          -0.19238148629665375,
+          21.74736213684082
+        ],
+        [
+          0.0840817466378212,
+          -0.9895057678222656,
+          -0.11751022189855576,
+          -27.714696884155273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6121,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_583082199",
+      "mask_path": "../../mask/hdr_front_06121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06122.png",
+      "transform_matrix": [
+        [
+          -0.185211643576622,
+          -0.13258014619350433,
+          0.9737141132354736,
+          77.82939147949219
+        ],
+        [
+          -0.9792978167533875,
+          -0.05746087431907654,
+          -0.1940975934267044,
+          21.748741149902344
+        ],
+        [
+          0.08168394863605499,
+          -0.989505410194397,
+          -0.11919303238391876,
+          -27.709962844848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6122,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_683082103",
+      "mask_path": "../../mask/hdr_front_06122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06123.png",
+      "transform_matrix": [
+        [
+          -0.19004268944263458,
+          -0.14130541682243347,
+          0.9715536832809448,
+          77.7642593383789
+        ],
+        [
+          -0.978273868560791,
+          -0.056253790855407715,
+          -0.199538916349411,
+          21.756250381469727
+        ],
+        [
+          0.08284950256347656,
+          -0.9883664846420288,
+          -0.12754474580287933,
+          -27.695775985717773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6123,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_783082485",
+      "mask_path": "../../mask/hdr_front_06123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06124.png",
+      "transform_matrix": [
+        [
+          -0.19467398524284363,
+          -0.15288406610488892,
+          0.9688799977302551,
+          77.69976043701172
+        ],
+        [
+          -0.9767189025878906,
+          -0.060542043298482895,
+          -0.2058023065328598,
+          21.771902084350586
+        ],
+        [
+          0.09012185782194138,
+          -0.9863879680633545,
+          -0.13753880560398102,
+          -27.6730899810791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6124,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_883081674",
+      "mask_path": "../../mask/hdr_front_06124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06125.png",
+      "transform_matrix": [
+        [
+          -0.19637490808963776,
+          -0.16683071851730347,
+          0.9662321209907532,
+          77.61316680908203
+        ],
+        [
+          -0.9758339524269104,
+          -0.063064806163311,
+          -0.20921523869037628,
+          21.76397132873535
+        ],
+        [
+          0.0958387702703476,
+          -0.9839666485786438,
+          -0.15041474997997284,
+          -27.641277313232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6125,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_983081817",
+      "mask_path": "../../mask/hdr_front_06125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06126.png",
+      "transform_matrix": [
+        [
+          -0.19659194350242615,
+          -0.15906788408756256,
+          0.9674963355064392,
+          77.54351043701172
+        ],
+        [
+          -0.9768311381340027,
+          -0.05333893373608589,
+          -0.20725831389427185,
+          21.773365020751953
+        ],
+        [
+          0.08457335829734802,
+          -0.9858257174491882,
+          -0.1448964625597,
+          -27.61951446533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6126,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_83081483",
+      "mask_path": "../../mask/hdr_front_06126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06128.png",
+      "transform_matrix": [
+        [
+          -0.20095406472682953,
+          -0.14139699935913086,
+          0.9693422317504883,
+          77.46305084228516
+        ],
+        [
+          -0.977210283279419,
+          -0.04014943912625313,
+          -0.20844176411628723,
+          21.78505516052246
+        ],
+        [
+          0.0683915838599205,
+          -0.9891384840011597,
+          -0.13010641932487488,
+          -27.612064361572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6128,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_283081769",
+      "mask_path": "../../mask/hdr_front_06128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06130.png",
+      "transform_matrix": [
+        [
+          -0.214731365442276,
+          -0.14438983798027039,
+          0.9659410119056702,
+          77.36002349853516
+        ],
+        [
+          -0.9743122458457947,
+          -0.03705568611621857,
+          -0.22213144600391388,
+          21.811704635620117
+        ],
+        [
+          0.06786712259054184,
+          -0.9888268709182739,
+          -0.13272376358509064,
+          -27.59009552001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6130,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_483081817",
+      "mask_path": "../../mask/hdr_front_06130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06132.png",
+      "transform_matrix": [
+        [
+          -0.2318362295627594,
+          -0.14691928029060364,
+          0.9615959525108337,
+          77.26143646240234
+        ],
+        [
+          -0.9699509143829346,
+          -0.04008675739169121,
+          -0.23997533321380615,
+          21.8519344329834
+        ],
+        [
+          0.07380425930023193,
+          -0.9883358478546143,
+          -0.1332109570503235,
+          -27.56930160522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6132,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_683081626",
+      "mask_path": "../../mask/hdr_front_06132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06133.png",
+      "transform_matrix": [
+        [
+          -0.23861925303936005,
+          -0.1384851634502411,
+          0.9611881971359253,
+          77.1990966796875
+        ],
+        [
+          -0.9684298038482666,
+          -0.039594508707523346,
+          -0.24612168967723846,
+          21.868114471435547
+        ],
+        [
+          0.07214196771383286,
+          -0.9895727038383484,
+          -0.12466515600681305,
+          -27.565519332885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6133,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_783082962",
+      "mask_path": "../../mask/hdr_front_06133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06134.png",
+      "transform_matrix": [
+        [
+          -0.2418440729379654,
+          -0.12688304483890533,
+          0.9619834423065186,
+          77.14501953125
+        ],
+        [
+          -0.9685556888580322,
+          -0.028108589351177216,
+          -0.24720382690429688,
+          21.889192581176758
+        ],
+        [
+          0.05840596184134483,
+          -0.9915193319320679,
+          -0.1160954087972641,
+          -27.568281173706055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6134,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_883082628",
+      "mask_path": "../../mask/hdr_front_06134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06136.png",
+      "transform_matrix": [
+        [
+          -0.2454904466867447,
+          -0.11641513556241989,
+          0.9623834490776062,
+          77.03213500976562
+        ],
+        [
+          -0.9683539271354675,
+          -0.016636120155453682,
+          -0.2490258365869522,
+          21.908832550048828
+        ],
+        [
+          0.04500070586800575,
+          -0.993061363697052,
+          -0.10864706337451935,
+          -27.565528869628906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6136,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_83081960",
+      "mask_path": "../../mask/hdr_front_06136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06137.png",
+      "transform_matrix": [
+        [
+          -0.25075027346611023,
+          -0.11530307680368423,
+          0.9611604809761047,
+          76.9472885131836
+        ],
+        [
+          -0.9669918417930603,
+          -0.016618827357888222,
+          -0.254265159368515,
+          21.938106536865234
+        ],
+        [
+          0.04529091343283653,
+          -0.9931914210319519,
+          -0.10732996463775635,
+          -27.55536460876465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6137,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_183081150",
+      "mask_path": "../../mask/hdr_front_06137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06138.png",
+      "transform_matrix": [
+        [
+          -0.2561049163341522,
+          -0.1172223761677742,
+          0.9595150947570801,
+          76.87075805664062
+        ],
+        [
+          -0.9653383493423462,
+          -0.020656529814004898,
+          -0.26018282771110535,
+          21.968080520629883
+        ],
+        [
+          0.050319500267505646,
+          -0.9928908944129944,
+          -0.10786902904510498,
+          -27.548032760620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6138,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_283081531",
+      "mask_path": "../../mask/hdr_front_06138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06139.png",
+      "transform_matrix": [
+        [
+          -0.2608420252799988,
+          -0.12167924642562866,
+          0.9576824307441711,
+          76.7908935546875
+        ],
+        [
+          -0.9638080596923828,
+          -0.02379225380718708,
+          -0.265533447265625,
+          21.986507415771484
+        ],
+        [
+          0.05509532615542412,
+          -0.99228435754776,
+          -0.11106939613819122,
+          -27.53622055053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6139,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_383081197",
+      "mask_path": "../../mask/hdr_front_06139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06140.png",
+      "transform_matrix": [
+        [
+          -0.2628341317176819,
+          -0.10066749900579453,
+          0.9595750570297241,
+          76.69596862792969
+        ],
+        [
+          -0.9638949036598206,
+          -0.016636427491903305,
+          -0.2657626271247864,
+          22.007556915283203
+        ],
+        [
+          0.04271756112575531,
+          -0.9947810173034668,
+          -0.09266027808189392,
+          -27.53120994567871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6140,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_483081817",
+      "mask_path": "../../mask/hdr_front_06140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06141.png",
+      "transform_matrix": [
+        [
+          -0.2607167065143585,
+          -0.08050694316625595,
+          0.9620527029037476,
+          76.62184143066406
+        ],
+        [
+          -0.9650272130966187,
+          -0.006522544659674168,
+          -0.26206862926483154,
+          22.024595260620117
+        ],
+        [
+          0.027373377233743668,
+          -0.996732771396637,
+          -0.07599085569381714,
+          -27.5277042388916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6141,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_583081722",
+      "mask_path": "../../mask/hdr_front_06141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06142.png",
+      "transform_matrix": [
+        [
+          -0.26064011454582214,
+          -0.07690241932868958,
+          0.962368369102478,
+          76.5628890991211
+        ],
+        [
+          -0.9651287198066711,
+          -0.004394753836095333,
+          -0.26173892617225647,
+          22.032751083374023
+        ],
+        [
+          0.02435772493481636,
+          -0.9970290064811707,
+          -0.07307527214288712,
+          -27.526891708374023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6142,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_683080911",
+      "mask_path": "../../mask/hdr_front_06142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06143.png",
+      "transform_matrix": [
+        [
+          -0.2638448476791382,
+          -0.07752455025911331,
+          0.9614447951316833,
+          76.47736358642578
+        ],
+        [
+          -0.9641882181167603,
+          -0.0066631571389734745,
+          -0.2651350200176239,
+          22.04376983642578
+        ],
+        [
+          0.02696073241531849,
+          -0.9969682693481445,
+          -0.07299020886421204,
+          -27.523887634277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6143,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_783081293",
+      "mask_path": "../../mask/hdr_front_06143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06144.png",
+      "transform_matrix": [
+        [
+          -0.2701621949672699,
+          -0.09293995797634125,
+          0.9583186507225037,
+          76.37725067138672
+        ],
+        [
+          -0.9623631834983826,
+          -0.004416327923536301,
+          -0.27173078060150146,
+          22.084819793701172
+        ],
+        [
+          0.029486892744898796,
+          -0.9956619739532471,
+          -0.08824887126684189,
+          -27.489343643188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6144,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_883082151",
+      "mask_path": "../../mask/hdr_front_06144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06145.png",
+      "transform_matrix": [
+        [
+          -0.2789706289768219,
+          -0.10762722790241241,
+          0.9542492628097534,
+          76.30381774902344
+        ],
+        [
+          -0.9596052765846252,
+          -0.006538332439959049,
+          -0.28127390146255493,
+          22.118484497070312
+        ],
+        [
+          0.036511924117803574,
+          -0.9941698908805847,
+          -0.10145564377307892,
+          -27.45770263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6145,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_983081102",
+      "mask_path": "../../mask/hdr_front_06145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06146.png",
+      "transform_matrix": [
+        [
+          -0.28572553396224976,
+          -0.118243508040905,
+          0.9509886503219604,
+          76.22490692138672
+        ],
+        [
+          -0.9570856690406799,
+          -0.01496718730777502,
+          -0.28941839933395386,
+          22.124916076660156
+        ],
+        [
+          0.04845547303557396,
+          -0.9928718209266663,
+          -0.10889265686273575,
+          -27.444299697875977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6146,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_83082675",
+      "mask_path": "../../mask/hdr_front_06146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06147.png",
+      "transform_matrix": [
+        [
+          -0.2871629297733307,
+          -0.1195596307516098,
+          0.9503909945487976,
+          76.10991668701172
+        ],
+        [
+          -0.9565301537513733,
+          -0.016896655783057213,
+          -0.2911434769630432,
+          22.142480850219727
+        ],
+        [
+          0.05086744204163551,
+          -0.9926832318305969,
+          -0.10951029509305954,
+          -27.42839813232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6147,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_183082342",
+      "mask_path": "../../mask/hdr_front_06147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06148.png",
+      "transform_matrix": [
+        [
+          -0.28493547439575195,
+          -0.11568783223628998,
+          0.9515398740768433,
+          76.0277099609375
+        ],
+        [
+          -0.9576103091239929,
+          -0.009512342512607574,
+          -0.28790974617004395,
+          22.152929306030273
+        ],
+        [
+          0.04235902801156044,
+          -0.9932401180267334,
+          -0.10807345807552338,
+          -27.414846420288086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6148,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_283081769",
+      "mask_path": "../../mask/hdr_front_06148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06149.png",
+      "transform_matrix": [
+        [
+          -0.2840300500392914,
+          -0.11404317617416382,
+          0.9520090222358704,
+          75.97718048095703
+        ],
+        [
+          -0.9580923914909363,
+          -0.00479383347555995,
+          -0.2864193320274353,
+          22.156890869140625
+        ],
+        [
+          0.037227943539619446,
+          -0.9934642910957336,
+          -0.10790230333805084,
+          -27.40686798095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6149,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_383081912",
+      "mask_path": "../../mask/hdr_front_06149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06150.png",
+      "transform_matrix": [
+        [
+          -0.2846226692199707,
+          -0.1160716637969017,
+          0.9515867233276367,
+          75.90257263183594
+        ],
+        [
+          -0.9580279588699341,
+          -0.001014209701679647,
+          -0.28667300939559937,
+          22.17125701904297
+        ],
+        [
+          0.034239716827869415,
+          -0.9932402968406677,
+          -0.11091124266386032,
+          -27.403959274291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6150,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_483082771",
+      "mask_path": "../../mask/hdr_front_06150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06151.png",
+      "transform_matrix": [
+        [
+          -0.2887554466724396,
+          -0.12376461178064346,
+          0.9493695497512817,
+          75.81475830078125
+        ],
+        [
+          -0.9567298889160156,
+          0.00012787221930921078,
+          -0.29097750782966614,
+          22.18507194519043
+        ],
+        [
+          0.035891320556402206,
+          -0.9923115968704224,
+          -0.1184462308883667,
+          -27.3796443939209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6151,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_583083152",
+      "mask_path": "../../mask/hdr_front_06151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06152.png",
+      "transform_matrix": [
+        [
+          -0.2954254746437073,
+          -0.13010530173778534,
+          0.9464651942253113,
+          75.75205993652344
+        ],
+        [
+          -0.9545308947563171,
+          -0.001209329697303474,
+          -0.29810938239097595,
+          22.205673217773438
+        ],
+        [
+          0.03993019089102745,
+          -0.9914994835853577,
+          -0.12383226305246353,
+          -27.362720489501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6152,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_683082342",
+      "mask_path": "../../mask/hdr_front_06152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06153.png",
+      "transform_matrix": [
+        [
+          -0.3007231652736664,
+          -0.14706672728061676,
+          0.9423041343688965,
+          75.6463394165039
+        ],
+        [
+          -0.9524543285369873,
+          -0.004402166232466698,
+          -0.30464959144592285,
+          22.22293472290039
+        ],
+        [
+          0.04895198717713356,
+          -0.9891167879104614,
+          -0.13875050842761993,
+          -27.335430145263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6153,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_783081769",
+      "mask_path": "../../mask/hdr_front_06153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06154.png",
+      "transform_matrix": [
+        [
+          -0.3036819100379944,
+          -0.1533982902765274,
+          0.9403436779975891,
+          75.52983856201172
+        ],
+        [
+          -0.9520549774169922,
+          0.010536077432334423,
+          -0.30574527382850647,
+          22.245576858520508
+        ],
+        [
+          0.03699326515197754,
+          -0.9881082773208618,
+          -0.14924323558807373,
+          -27.292600631713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6154,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_883080959",
+      "mask_path": "../../mask/hdr_front_06154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06155.png",
+      "transform_matrix": [
+        [
+          -0.3077195882797241,
+          -0.14838090538978577,
+          0.9398360252380371,
+          75.4731216430664
+        ],
+        [
+          -0.9512935280799866,
+          0.028578637167811394,
+          -0.30695897340774536,
+          22.27054214477539
+        ],
+        [
+          0.018687615171074867,
+          -0.9885172843933105,
+          -0.14994798600673676,
+          -27.29292106628418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6155,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_983081817",
+      "mask_path": "../../mask/hdr_front_06155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06156.png",
+      "transform_matrix": [
+        [
+          -0.31300169229507446,
+          -0.14652100205421448,
+          0.9383824467658997,
+          75.41344451904297
+        ],
+        [
+          -0.9496626853942871,
+          0.034687526524066925,
+          -0.3113481104373932,
+          22.300464630126953
+        ],
+        [
+          0.013068867847323418,
+          -0.9885991811752319,
+          -0.15000279247760773,
+          -27.29963493347168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6156,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_83083868",
+      "mask_path": "../../mask/hdr_front_06156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06157.png",
+      "transform_matrix": [
+        [
+          -0.322940468788147,
+          -0.13762801885604858,
+          0.9363588690757751,
+          75.32322692871094
+        ],
+        [
+          -0.9462829828262329,
+          0.030162962153553963,
+          -0.32192981243133545,
+          22.336435317993164
+        ],
+        [
+          0.01606319658458233,
+          -0.9900246262550354,
+          -0.1399758905172348,
+          -27.27545928955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6157,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_183081388",
+      "mask_path": "../../mask/hdr_front_06157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06158.png",
+      "transform_matrix": [
+        [
+          -0.33302319049835205,
+          -0.13098639249801636,
+          0.933776319026947,
+          75.25602722167969
+        ],
+        [
+          -0.9426676034927368,
+          0.02340271882712841,
+          -0.3329113721847534,
+          22.36540985107422
+        ],
+        [
+          0.021753959357738495,
+          -0.9911079406738281,
+          -0.13127027451992035,
+          -27.262409210205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6158,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_283081054",
+      "mask_path": "../../mask/hdr_front_06158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06159.png",
+      "transform_matrix": [
+        [
+          -0.34094247221946716,
+          -0.13111047446727753,
+          0.930896520614624,
+          75.20320129394531
+        ],
+        [
+          -0.9397718906402588,
+          0.022010600194334984,
+          -0.3410930037498474,
+          22.396333694458008
+        ],
+        [
+          0.024231279268860817,
+          -0.9911234974861145,
+          -0.13071829080581665,
+          -27.251495361328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6159,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_383080005",
+      "mask_path": "../../mask/hdr_front_06159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06160.png",
+      "transform_matrix": [
+        [
+          -0.35026413202285767,
+          -0.12684781849384308,
+          0.9280219078063965,
+          75.13748168945312
+        ],
+        [
+          -0.9362599849700928,
+          0.018792256712913513,
+          -0.3508048355579376,
+          22.43393898010254
+        ],
+        [
+          0.027059193700551987,
+          -0.9917442202568054,
+          -0.12534478306770325,
+          -27.237089157104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6160,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_483080863",
+      "mask_path": "../../mask/hdr_front_06160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06161.png",
+      "transform_matrix": [
+        [
+          -0.3539585769176483,
+          -0.11953326314687729,
+          0.92759108543396,
+          75.05774688720703
+        ],
+        [
+          -0.9350689053535461,
+          0.025125917047262192,
+          -0.35357430577278137,
+          22.476757049560547
+        ],
+        [
+          0.018957315012812614,
+          -0.9925122261047363,
+          -0.12066537886857986,
+          -27.221586227416992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6161,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_583080530",
+      "mask_path": "../../mask/hdr_front_06161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06162.png",
+      "transform_matrix": [
+        [
+          -0.35297268629074097,
+          -0.11489122360944748,
+          0.9285528063774109,
+          74.98424530029297
+        ],
+        [
+          -0.9355850219726562,
+          0.03322147578001022,
+          -0.3515353500843048,
+          22.507808685302734
+        ],
+        [
+          0.009540429338812828,
+          -0.9928224682807922,
+          -0.11921676993370056,
+          -27.214889526367188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6162,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_683080434",
+      "mask_path": "../../mask/hdr_front_06162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06163.png",
+      "transform_matrix": [
+        [
+          -0.3516707420349121,
+          -0.11089582741260529,
+          0.9295321106910706,
+          74.91351318359375
+        ],
+        [
+          -0.9361047744750977,
+          0.03532867133617401,
+          -0.3499425947666168,
+          22.52955436706543
+        ],
+        [
+          0.005968042183667421,
+          -0.9932039380073547,
+          -0.11623416095972061,
+          -27.213287353515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6163,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_783080339",
+      "mask_path": "../../mask/hdr_front_06163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06164.png",
+      "transform_matrix": [
+        [
+          -0.35351040959358215,
+          -0.10248687118291855,
+          0.9297993779182434,
+          74.8248519897461
+        ],
+        [
+          -0.935383677482605,
+          0.028767280280590057,
+          -0.3524627387523651,
+          22.5650577545166
+        ],
+        [
+          0.009375004097819328,
+          -0.9943183064460754,
+          -0.10603407770395279,
+          -27.206867218017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6164,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_883080720",
+      "mask_path": "../../mask/hdr_front_06164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06165.png",
+      "transform_matrix": [
+        [
+          -0.35890039801597595,
+          -0.10477367788553238,
+          0.9274766445159912,
+          74.74375915527344
+        ],
+        [
+          -0.9332455992698669,
+          0.02368335612118244,
+          -0.35845741629600525,
+          22.59752082824707
+        ],
+        [
+          0.01559113897383213,
+          -0.9942140579223633,
+          -0.10627953708171844,
+          -27.179473876953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6165,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_983080625",
+      "mask_path": "../../mask/hdr_front_06165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04249.png",
+      "transform_matrix": [
+        [
+          0.9098303318023682,
+          -0.14805752038955688,
+          0.38766953349113464,
+          75.16752624511719
+        ],
+        [
+          -0.3976806700229645,
+          -0.04415921866893768,
+          0.9164605736732483,
+          22.352739334106445
+        ],
+        [
+          -0.11856967210769653,
+          -0.9879924058914185,
+          -0.09905700385570526,
+          -27.206933975219727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4249,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_283082246",
+      "mask_path": "../../mask/hdr_left_04249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04250.png",
+      "transform_matrix": [
+        [
+          0.9145122766494751,
+          -0.13982659578323364,
+          0.3796258270740509,
+          75.22431945800781
+        ],
+        [
+          -0.38813701272010803,
+          -0.038615934550762177,
+          0.920792281627655,
+          22.348093032836914
+        ],
+        [
+          -0.11409162729978561,
+          -0.9894227385520935,
+          -0.08958662301301956,
+          -27.20870590209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4250,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_383081436",
+      "mask_path": "../../mask/hdr_left_04250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04251.png",
+      "transform_matrix": [
+        [
+          0.91512531042099,
+          -0.14975443482398987,
+          0.37432506680488586,
+          75.28990936279297
+        ],
+        [
+          -0.3804927468299866,
+          -0.013804611749947071,
+          0.9246808886528015,
+          22.339797973632812
+        ],
+        [
+          -0.13330762088298798,
+          -0.9886268377304077,
+          -0.06961341202259064,
+          -27.22254753112793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4251,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_483081817",
+      "mask_path": "../../mask/hdr_left_04251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04255.png",
+      "transform_matrix": [
+        [
+          0.9117479920387268,
+          -0.1733526587486267,
+          0.37237659096717834,
+          75.497314453125
+        ],
+        [
+          -0.3778284192085266,
+          0.0016702860593795776,
+          0.9258740544319153,
+          22.314151763916016
+        ],
+        [
+          -0.16112470626831055,
+          -0.9848584532737732,
+          -0.06397467106580734,
+          -27.262964248657227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4255,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_883082628",
+      "mask_path": "../../mask/hdr_left_04255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04256.png",
+      "transform_matrix": [
+        [
+          0.9140462875366211,
+          -0.17568407952785492,
+          0.36558789014816284,
+          75.5704116821289
+        ],
+        [
+          -0.37164944410324097,
+          -0.001726992428302765,
+          0.9283715486526489,
+          22.31358528137207
+        ],
+        [
+          -0.16246870160102844,
+          -0.9844450950622559,
+          -0.06687143445014954,
+          -27.295774459838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4256,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_983080863",
+      "mask_path": "../../mask/hdr_left_04256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04258.png",
+      "transform_matrix": [
+        [
+          0.9191086888313293,
+          -0.16860218346118927,
+          0.3561072051525116,
+          75.65863800048828
+        ],
+        [
+          -0.36219990253448486,
+          -0.005811914801597595,
+          0.9320822954177856,
+          22.318635940551758
+        ],
+        [
+          -0.15508143603801727,
+          -0.9856671094894409,
+          -0.06640948355197906,
+          -27.3381290435791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4258,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_183079481",
+      "mask_path": "../../mask/hdr_left_04258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04259.png",
+      "transform_matrix": [
+        [
+          0.9192937612533569,
+          -0.1716640740633011,
+          0.35416144132614136,
+          75.71710205078125
+        ],
+        [
+          -0.3617219924926758,
+          -0.013897567056119442,
+          0.9321823716163635,
+          22.30579948425293
+        ],
+        [
+          -0.1551002413034439,
+          -0.9850576519966125,
+          -0.07487060874700546,
+          -27.348033905029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4259,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_283080577",
+      "mask_path": "../../mask/hdr_left_04259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04260.png",
+      "transform_matrix": [
+        [
+          0.9171133637428284,
+          -0.17355813086032867,
+          0.3588603734970093,
+          75.77174377441406
+        ],
+        [
+          -0.36749252676963806,
+          -0.019329525530338287,
+          0.9298255443572998,
+          22.281431198120117
+        ],
+        [
+          -0.15444216132164001,
+          -0.9846339225769043,
+          -0.08150868117809296,
+          -27.34465217590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4260,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_383081674",
+      "mask_path": "../../mask/hdr_left_04260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04262.png",
+      "transform_matrix": [
+        [
+          0.909772515296936,
+          -0.16398325562477112,
+          0.381344199180603,
+          75.85582733154297
+        ],
+        [
+          -0.389504075050354,
+          -0.01958806999027729,
+          0.9208163619041443,
+          22.236003875732422
+        ],
+        [
+          -0.14352867007255554,
+          -0.9862686395645142,
+          -0.08169283717870712,
+          -27.343210220336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4262,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_583080530",
+      "mask_path": "../../mask/hdr_left_04262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04263.png",
+      "transform_matrix": [
+        [
+          0.907499372959137,
+          -0.16126342117786407,
+          0.38786447048187256,
+          75.91170501708984
+        ],
+        [
+          -0.3963150084018707,
+          -0.02269870415329933,
+          0.9178339838981628,
+          22.211414337158203
+        ],
+        [
+          -0.13920900225639343,
+          -0.9866504073143005,
+          -0.08451016992330551,
+          -27.344148635864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4263,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_683081150",
+      "mask_path": "../../mask/hdr_left_04263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04264.png",
+      "transform_matrix": [
+        [
+          0.9079124331474304,
+          -0.15668849647045135,
+          0.38877198100090027,
+          75.97452545166016
+        ],
+        [
+          -0.3976457417011261,
+          -0.028642326593399048,
+          0.9170917868614197,
+          22.19892120361328
+        ],
+        [
+          -0.13256238400936127,
+          -0.9872326850891113,
+          -0.08831124007701874,
+          -27.355854034423828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4264,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_783082008",
+      "mask_path": "../../mask/hdr_left_04264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04266.png",
+      "transform_matrix": [
+        [
+          0.9123122096061707,
+          -0.14437536895275116,
+          0.3831999599933624,
+          76.07981872558594
+        ],
+        [
+          -0.391758531332016,
+          -0.03529347479343414,
+          0.919390857219696,
+          22.18239974975586
+        ],
+        [
+          -0.11921291053295135,
+          -0.9888933897018433,
+          -0.08875894546508789,
+          -27.37109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4266,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_983081340",
+      "mask_path": "../../mask/hdr_left_04266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04267.png",
+      "transform_matrix": [
+        [
+          0.9117887616157532,
+          -0.14647001028060913,
+          0.3836505115032196,
+          76.14730834960938
+        ],
+        [
+          -0.3918411433696747,
+          -0.03073902241885662,
+          0.9195191860198975,
+          22.168607711791992
+        ],
+        [
+          -0.1228889599442482,
+          -0.9887374639511108,
+          -0.08542047441005707,
+          -27.388694763183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4267,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_83081245",
+      "mask_path": "../../mask/hdr_left_04267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04268.png",
+      "transform_matrix": [
+        [
+          0.9059956669807434,
+          -0.15778149664402008,
+          0.39278092980384827,
+          76.21913146972656
+        ],
+        [
+          -0.40019580721855164,
+          -0.016994893550872803,
+          0.9162720441818237,
+          22.145227432250977
+        ],
+        [
+          -0.13789547979831696,
+          -0.9873278737068176,
+          -0.07854077965021133,
+          -27.39798355102539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4268,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_183081626",
+      "mask_path": "../../mask/hdr_left_04268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04269.png",
+      "transform_matrix": [
+        [
+          0.8988857269287109,
+          -0.16795678436756134,
+          0.4047158360481262,
+          76.27006530761719
+        ],
+        [
+          -0.4124748408794403,
+          -0.012619600631296635,
+          0.9108815789222717,
+          22.11358070373535
+        ],
+        [
+          -0.1478813737630844,
+          -0.9857136011123657,
+          -0.08062151819467545,
+          -27.39541244506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4269,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_283082485",
+      "mask_path": "../../mask/hdr_left_04269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04271.png",
+      "transform_matrix": [
+        [
+          0.8908562064170837,
+          -0.17502383887767792,
+          0.41921570897102356,
+          76.38387298583984
+        ],
+        [
+          -0.42829763889312744,
+          -0.015949547290802002,
+          0.9034969210624695,
+          22.089815139770508
+        ],
+        [
+          -0.15144717693328857,
+          -0.984434962272644,
+          -0.08917103707790375,
+          -27.436138153076172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4271,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_483082056",
+      "mask_path": "../../mask/hdr_left_04271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04272.png",
+      "transform_matrix": [
+        [
+          0.891689121723175,
+          -0.17473576962947845,
+          0.417561799287796,
+          76.45924377441406
+        ],
+        [
+          -0.42750099301338196,
+          -0.021900227293372154,
+          0.9037494659423828,
+          22.078983306884766
+        ],
+        [
+          -0.1487726867198944,
+          -0.9843717813491821,
+          -0.09422791749238968,
+          -27.463071823120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4272,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_583081245",
+      "mask_path": "../../mask/hdr_left_04272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04273.png",
+      "transform_matrix": [
+        [
+          0.8937331438064575,
+          -0.16923002898693085,
+          0.4154544174671173,
+          76.5173568725586
+        ],
+        [
+          -0.4252650737762451,
+          -0.024818824604153633,
+          0.9047284722328186,
+          22.061574935913086
+        ],
+        [
+          -0.1427961140871048,
+          -0.9852640628814697,
+          -0.09414901584386826,
+          -27.47457504272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4273,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_683081865",
+      "mask_path": "../../mask/hdr_left_04273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04274.png",
+      "transform_matrix": [
+        [
+          0.8960350155830383,
+          -0.16250161826610565,
+          0.4131760001182556,
+          76.57582092285156
+        ],
+        [
+          -0.42287135124206543,
+          -0.028805367648601532,
+          0.9057317972183228,
+          22.04949951171875
+        ],
+        [
+          -0.13528120517730713,
+          -0.9862877726554871,
+          -0.09452790021896362,
+          -27.491518020629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4274,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_783081769",
+      "mask_path": "../../mask/hdr_left_04274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04275.png",
+      "transform_matrix": [
+        [
+          0.8953177332878113,
+          -0.16331587731838226,
+          0.41440796852111816,
+          76.65327453613281
+        ],
+        [
+          -0.42396649718284607,
+          -0.027145225554704666,
+          0.9052709341049194,
+          22.02318572998047
+        ],
+        [
+          -0.13659590482711792,
+          -0.9862003326416016,
+          -0.09354405850172043,
+          -27.50424575805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4275,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_883082628",
+      "mask_path": "../../mask/hdr_left_04275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04276.png",
+      "transform_matrix": [
+        [
+          0.8909605145454407,
+          -0.16418470442295074,
+          0.4233589172363281,
+          76.72805786132812
+        ],
+        [
+          -0.4325602650642395,
+          -0.023258013650774956,
+          0.9013049602508545,
+          21.99285125732422
+        ],
+        [
+          -0.13813400268554688,
+          -0.9861554503440857,
+          -0.09174174070358276,
+          -27.505342483520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4276,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_983082056",
+      "mask_path": "../../mask/hdr_left_04276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04277.png",
+      "transform_matrix": [
+        [
+          0.8851860165596008,
+          -0.15925465524196625,
+          0.4371311068534851,
+          76.78520965576172
+        ],
+        [
+          -0.44549235701560974,
+          -0.01932477205991745,
+          0.895077109336853,
+          21.971973419189453
+        ],
+        [
+          -0.13409775495529175,
+          -0.9870484471321106,
+          -0.08805275708436966,
+          -27.5075626373291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4277,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_83082675",
+      "mask_path": "../../mask/hdr_left_04277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04278.png",
+      "transform_matrix": [
+        [
+          0.8803792595863342,
+          -0.14882773160934448,
+          0.450313925743103,
+          76.84313201904297
+        ],
+        [
+          -0.4579804539680481,
+          -0.020066406577825546,
+          0.8887357711791992,
+          21.946491241455078
+        ],
+        [
+          -0.12323232740163803,
+          -0.9886596202850342,
+          -0.08582624047994614,
+          -27.510339736938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4278,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_183081626",
+      "mask_path": "../../mask/hdr_left_04278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04279.png",
+      "transform_matrix": [
+        [
+          0.8791500926017761,
+          -0.1367814689874649,
+          0.4564928710460663,
+          76.9380111694336
+        ],
+        [
+          -0.46424004435539246,
+          -0.029549378901720047,
+          0.8852163553237915,
+          21.924039840698242
+        ],
+        [
+          -0.10759212076663971,
+          -0.9901604652404785,
+          -0.0894777774810791,
+          -27.512697219848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4279,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_283082246",
+      "mask_path": "../../mask/hdr_left_04279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04280.png",
+      "transform_matrix": [
+        [
+          0.8830693364143372,
+          -0.13130652904510498,
+          0.45049649477005005,
+          77.0182113647461
+        ],
+        [
+          -0.4588876962661743,
+          -0.04108070954680443,
+          0.8875440359115601,
+          21.918516159057617
+        ],
+        [
+          -0.0980336144566536,
+          -0.9904903173446655,
+          -0.09653206169605255,
+          -27.520544052124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4280,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_383079051",
+      "mask_path": "../../mask/hdr_left_04280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04282.png",
+      "transform_matrix": [
+        [
+          0.8959256410598755,
+          -0.12040388584136963,
+          0.4275747239589691,
+          77.1169204711914
+        ],
+        [
+          -0.435895711183548,
+          -0.05300576984882355,
+          0.8984348773956299,
+          21.929161071777344
+        ],
+        [
+          -0.08551111817359924,
+          -0.991308867931366,
+          -0.09997275471687317,
+          -27.541303634643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4282,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_583080530",
+      "mask_path": "../../mask/hdr_left_04282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04283.png",
+      "transform_matrix": [
+        [
+          0.8944730162620544,
+          -0.13258768618106842,
+          0.42701101303100586,
+          77.19437408447266
+        ],
+        [
+          -0.4348228871822357,
+          -0.03549281135201454,
+          0.8998162746429443,
+          21.921783447265625
+        ],
+        [
+          -0.1041487455368042,
+          -0.9905356168746948,
+          -0.08939951658248901,
+          -27.555635452270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4283,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_683083295",
+      "mask_path": "../../mask/hdr_left_04283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04286.png",
+      "transform_matrix": [
+        [
+          0.8824439644813538,
+          -0.15304237604141235,
+          0.444826602935791,
+          77.32498168945312
+        ],
+        [
+          -0.453823059797287,
+          -0.02801973931491375,
+          0.8906511068344116,
+          21.900875091552734
+        ],
+        [
+          -0.12384344637393951,
+          -0.987822413444519,
+          -0.09418000280857086,
+          -27.58008575439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4286,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_983082532",
+      "mask_path": "../../mask/hdr_left_04286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04287.png",
+      "transform_matrix": [
+        [
+          0.8812092542648315,
+          -0.13517266511917114,
+          0.45298832654953003,
+          77.38326263427734
+        ],
+        [
+          -0.45990419387817383,
+          -0.023474108427762985,
+          0.8876581192016602,
+          21.888992309570312
+        ],
+        [
+          -0.10935361683368683,
+          -0.9905439615249634,
+          -0.0828520730137825,
+          -27.597679138183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4287,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_83082437",
+      "mask_path": "../../mask/hdr_left_04287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04288.png",
+      "transform_matrix": [
+        [
+          0.8818246722221375,
+          -0.12101840227842331,
+          0.4557848274707794,
+          77.45647430419922
+        ],
+        [
+          -0.4618206322193146,
+          -0.02602904476225376,
+          0.886591374874115,
+          21.881866455078125
+        ],
+        [
+          -0.09543021768331528,
+          -0.9923089742660522,
+          -0.07884185016155243,
+          -27.600149154663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4288,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_183081150",
+      "mask_path": "../../mask/hdr_left_04288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04290.png",
+      "transform_matrix": [
+        [
+          0.8834434747695923,
+          -0.10620152950286865,
+          0.45634299516677856,
+          77.54527282714844
+        ],
+        [
+          -0.46139514446258545,
+          -0.027775824069976807,
+          0.886759877204895,
+          21.863765716552734
+        ],
+        [
+          -0.08149994164705276,
+          -0.9939566254615784,
+          -0.07353921979665756,
+          -27.62105369567871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4290,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_383081197",
+      "mask_path": "../../mask/hdr_left_04290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04291.png",
+      "transform_matrix": [
+        [
+          0.8839359283447266,
+          -0.09924236685037613,
+          0.4569554328918457,
+          77.60525512695312
+        ],
+        [
+          -0.46125394105911255,
+          -0.024500973522663116,
+          0.8869298696517944,
+          21.8422908782959
+        ],
+        [
+          -0.07682515680789948,
+          -0.9947616457939148,
+          -0.06743321567773819,
+          -27.641250610351562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4291,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_483081817",
+      "mask_path": "../../mask/hdr_left_04291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04292.png",
+      "transform_matrix": [
+        [
+          0.8772251605987549,
+          -0.1118798553943634,
+          0.4668605327606201,
+          77.65782928466797
+        ],
+        [
+          -0.46981433033943176,
+          -4.200120019959286e-05,
+          0.8827653527259827,
+          21.81193733215332
+        ],
+        [
+          -0.09874403476715088,
+          -0.9937217235565186,
+          -0.052599601447582245,
+          -27.65303611755371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4292,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_583081245",
+      "mask_path": "../../mask/hdr_left_04292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04294.png",
+      "transform_matrix": [
+        [
+          0.8615310192108154,
+          -0.1349567323923111,
+          0.48943936824798584,
+          77.7241439819336
+        ],
+        [
+          -0.4922142028808594,
+          0.014293761923909187,
+          0.8703567385673523,
+          21.783716201782227
+        ],
+        [
+          -0.12445642799139023,
+          -0.9907484650611877,
+          -0.05411309003829956,
+          -27.674755096435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4294,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_783080816",
+      "mask_path": "../../mask/hdr_left_04294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04295.png",
+      "transform_matrix": [
+        [
+          0.8550967574119568,
+          -0.12833021581172943,
+          0.5023354291915894,
+          77.779296875
+        ],
+        [
+          -0.504597544670105,
+          0.016625309363007545,
+          0.8631945848464966,
+          21.771543502807617
+        ],
+        [
+          -0.11912541836500168,
+          -0.9915921688079834,
+          -0.05053884908556938,
+          -27.68929100036621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4295,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_883080005",
+      "mask_path": "../../mask/hdr_left_04295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04296.png",
+      "transform_matrix": [
+        [
+          0.8515627980232239,
+          -0.12639771401882172,
+          0.5087872743606567,
+          77.84416961669922
+        ],
+        [
+          -0.5120188593864441,
+          0.007914835587143898,
+          0.8589378595352173,
+          21.748760223388672
+        ],
+        [
+          -0.11259473115205765,
+          -0.9919480681419373,
+          -0.05797802656888962,
+          -27.677967071533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4296,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_983080148",
+      "mask_path": "../../mask/hdr_left_04296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04298.png",
+      "transform_matrix": [
+        [
+          0.8529930114746094,
+          -0.12457669526338577,
+          0.5068368315696716,
+          77.92802429199219
+        ],
+        [
+          -0.5120787620544434,
+          -0.012047268450260162,
+          0.8588539958000183,
+          21.724411010742188
+        ],
+        [
+          -0.10088718682527542,
+          -0.9921368956565857,
+          -0.0740693062543869,
+          -27.6861572265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4298,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_183079481",
+      "mask_path": "../../mask/hdr_left_04298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04300.png",
+      "transform_matrix": [
+        [
+          0.8574507236480713,
+          -0.12747915089130402,
+          0.49852508306503296,
+          78.03019714355469
+        ],
+        [
+          -0.5033388733863831,
+          -0.006515266839414835,
+          0.8640644550323486,
+          21.71108055114746
+        ],
+        [
+          -0.10690218210220337,
+          -0.9918199181556702,
+          -0.06975173950195312,
+          -27.716291427612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4300,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_383079767",
+      "mask_path": "../../mask/hdr_left_04300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04302.png",
+      "transform_matrix": [
+        [
+          0.8526624441146851,
+          -0.16389675438404083,
+          0.4960891902446747,
+          78.08305358886719
+        ],
+        [
+          -0.4996049404144287,
+          0.02200089767575264,
+          0.8659738898277283,
+          21.70778465270996
+        ],
+        [
+          -0.15284472703933716,
+          -0.9862322211265564,
+          -0.06312428414821625,
+          -27.719045639038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4302,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_583079338",
+      "mask_path": "../../mask/hdr_left_04302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04303.png",
+      "transform_matrix": [
+        [
+          0.8548441529273987,
+          -0.17195533215999603,
+          0.489563912153244,
+          78.12684631347656
+        ],
+        [
+          -0.4952448308467865,
+          0.011155001819133759,
+          0.8686819076538086,
+          21.690078735351562
+        ],
+        [
+          -0.1548355370759964,
+          -0.985041618347168,
+          -0.07562419027090073,
+          -27.744850158691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4303,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_683079957",
+      "mask_path": "../../mask/hdr_left_04303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04305.png",
+      "transform_matrix": [
+        [
+          0.8616853356361389,
+          -0.18979506194591522,
+          0.47061261534690857,
+          78.22123718261719
+        ],
+        [
+          -0.48001864552497864,
+          -0.004113796632736921,
+          0.8772485852241516,
+          21.659286499023438
+        ],
+        [
+          -0.1645614504814148,
+          -0.9818152189254761,
+          -0.09464996308088303,
+          -27.783349990844727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4305,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_883078813",
+      "mask_path": "../../mask/hdr_left_04305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04306.png",
+      "transform_matrix": [
+        [
+          0.8684679865837097,
+          -0.1796526312828064,
+          0.46204790472984314,
+          78.2795181274414
+        ],
+        [
+          -0.46973559260368347,
+          -0.0002844561531674117,
+          0.8828071355819702,
+          21.650569915771484
+        ],
+        [
+          -0.1584671586751938,
+          -0.983730137348175,
+          -0.08463624864816666,
+          -27.76314926147461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4306,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_983080148",
+      "mask_path": "../../mask/hdr_left_04306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04308.png",
+      "transform_matrix": [
+        [
+          0.8834822773933411,
+          -0.17378447949886322,
+          0.4350379705429077,
+          78.353759765625
+        ],
+        [
+          -0.4447130560874939,
+          -0.019182652235031128,
+          0.8954675793647766,
+          21.653547286987305
+        ],
+        [
+          -0.14727318286895752,
+          -0.9845969080924988,
+          -0.0942317545413971,
+          -27.771730422973633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4308,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_183079719",
+      "mask_path": "../../mask/hdr_left_04308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04310.png",
+      "transform_matrix": [
+        [
+          0.8782538175582886,
+          -0.20719926059246063,
+          0.43097421526908875,
+          78.4345932006836
+        ],
+        [
+          -0.44021105766296387,
+          0.0016965942922979593,
+          0.8978927135467529,
+          21.65776252746582
+        ],
+        [
+          -0.186773881316185,
+          -0.9782973527908325,
+          -0.08972136676311493,
+          -27.822248458862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4310,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_383081197",
+      "mask_path": "../../mask/hdr_left_04310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04312.png",
+      "transform_matrix": [
+        [
+          0.8674716949462891,
+          -0.23921449482440948,
+          0.43619871139526367,
+          78.48075103759766
+        ],
+        [
+          -0.4478190839290619,
+          0.006418469827622175,
+          0.8941011428833008,
+          21.65352439880371
+        ],
+        [
+          -0.21668164432048798,
+          -0.9709455966949463,
+          -0.10155697166919708,
+          -27.863407135009766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4312,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_583081007",
+      "mask_path": "../../mask/hdr_left_04312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04314.png",
+      "transform_matrix": [
+        [
+          0.8717268705368042,
+          -0.20188213884830475,
+          0.4464704096317291,
+          78.59329223632812
+        ],
+        [
+          -0.4565289318561554,
+          -0.003682284150272608,
+          0.8897010684013367,
+          21.62089729309082
+        ],
+        [
+          -0.17797067761421204,
+          -0.9794028997421265,
+          -0.09537497162818909,
+          -27.86298942565918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4314,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_783081293",
+      "mask_path": "../../mask/hdr_left_04314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04315.png",
+      "transform_matrix": [
+        [
+          0.8767908215522766,
+          -0.18550944328308105,
+          0.44364863634109497,
+          78.67066955566406
+        ],
+        [
+          -0.4537399709224701,
+          -0.013643368147313595,
+          0.8910296559333801,
+          21.610000610351562
+        ],
+        [
+          -0.15924154222011566,
+          -0.9825478196144104,
+          -0.09613542258739471,
+          -27.861343383789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4315,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_883080482",
+      "mask_path": "../../mask/hdr_left_04315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04316.png",
+      "transform_matrix": [
+        [
+          0.8816916942596436,
+          -0.17274412512779236,
+          0.43906623125076294,
+          78.72393798828125
+        ],
+        [
+          -0.44812139868736267,
+          -0.015337847173213959,
+          0.893841028213501,
+          21.601728439331055
+        ],
+        [
+          -0.14767146110534668,
+          -0.9848474264144897,
+          -0.09093356877565384,
+          -27.878019332885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4316,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_983081102",
+      "mask_path": "../../mask/hdr_left_04316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04317.png",
+      "transform_matrix": [
+        [
+          0.8862056136131287,
+          -0.1577763557434082,
+          0.4355985224246979,
+          78.78711700439453
+        ],
+        [
+          -0.4431687891483307,
+          -0.014598969370126724,
+          0.8963193297386169,
+          21.58660125732422
+        ],
+        [
+          -0.1350587010383606,
+          -0.9873670339584351,
+          -0.08285924047231674,
+          -27.88034439086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4317,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_83079338",
+      "mask_path": "../../mask/hdr_left_04317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04318.png",
+      "transform_matrix": [
+        [
+          0.8859726190567017,
+          -0.15102484822273254,
+          0.4384564459323883,
+          78.88681030273438
+        ],
+        [
+          -0.44522979855537415,
+          -0.01257432159036398,
+          0.8953280448913574,
+          21.547351837158203
+        ],
+        [
+          -0.12970349192619324,
+          -0.9884500503540039,
+          -0.07838124781847,
+          -27.907262802124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4318,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_183081626",
+      "mask_path": "../../mask/hdr_left_04318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04319.png",
+      "transform_matrix": [
+        [
+          0.8708267211914062,
+          -0.1790245622396469,
+          0.4578329920768738,
+          78.96212005615234
+        ],
+        [
+          -0.45889928936958313,
+          0.03791094943881035,
+          0.8876791000366211,
+          21.522451400756836
+        ],
+        [
+          -0.17627324163913727,
+          -0.9831140637397766,
+          -0.04914037883281708,
+          -27.92876625061035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4319,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_283081054",
+      "mask_path": "../../mask/hdr_left_04319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04321.png",
+      "transform_matrix": [
+        [
+          0.8530845642089844,
+          -0.20857980847358704,
+          0.4782688617706299,
+          79.02786254882812
+        ],
+        [
+          -0.47855740785598755,
+          0.05247980356216431,
+          0.8764865398406982,
+          21.512155532836914
+        ],
+        [
+          -0.20791684091091156,
+          -0.9765962958335876,
+          -0.055047690868377686,
+          -27.923969268798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4321,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_483080387",
+      "mask_path": "../../mask/hdr_left_04321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04322.png",
+      "transform_matrix": [
+        [
+          0.8563478589057922,
+          -0.20683756470680237,
+          0.4731665253639221,
+          79.14753723144531
+        ],
+        [
+          -0.47938212752342224,
+          0.022251933813095093,
+          0.8773242235183716,
+          21.48065757751465
+        ],
+        [
+          -0.19199244678020477,
+          -0.9781222939491272,
+          -0.08009883761405945,
+          -27.93719482421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4322,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_583080291",
+      "mask_path": "../../mask/hdr_left_04322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04325.png",
+      "transform_matrix": [
+        [
+          0.874098002910614,
+          -0.1851886659860611,
+          0.44906315207481384,
+          79.31028747558594
+        ],
+        [
+          -0.46212342381477356,
+          -0.03222626820206642,
+          0.8862298727035522,
+          21.439409255981445
+        ],
+        [
+          -0.14964808523654938,
+          -0.9821744561195374,
+          -0.11374892294406891,
+          -27.966053009033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4325,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_883080720",
+      "mask_path": "../../mask/hdr_left_04325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04326.png",
+      "transform_matrix": [
+        [
+          0.8645244240760803,
+          -0.19478857517242432,
+          0.46330854296684265,
+          79.38938903808594
+        ],
+        [
+          -0.47372719645500183,
+          -0.007918931543827057,
+          0.8806360363960266,
+          21.406024932861328
+        ],
+        [
+          -0.16786891222000122,
+          -0.9808133840560913,
+          -0.09912275522947311,
+          -27.980558395385742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4326,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_983081102",
+      "mask_path": "../../mask/hdr_left_04326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04328.png",
+      "transform_matrix": [
+        [
+          0.8460353016853333,
+          -0.1956145167350769,
+          0.4959425628185272,
+          79.45243072509766
+        ],
+        [
+          -0.5053471922874451,
+          0.0021158147137612104,
+          0.8629134893417358,
+          21.38104820251465
+        ],
+        [
+          -0.16984771192073822,
+          -0.9806786179542542,
+          -0.09706318378448486,
+          -27.97514533996582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4328,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_183078527",
+      "mask_path": "../../mask/hdr_left_04328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04329.png",
+      "transform_matrix": [
+        [
+          0.8433293104171753,
+          -0.17849139869213104,
+          0.5068889260292053,
+          79.50624084472656
+        ],
+        [
+          -0.515776515007019,
+          -0.003981691785156727,
+          0.8567138910293579,
+          21.357772827148438
+        ],
+        [
+          -0.1508977711200714,
+          -0.9839334487915039,
+          -0.09541954845190048,
+          -27.99908447265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4329,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_283079147",
+      "mask_path": "../../mask/hdr_left_04329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04330.png",
+      "transform_matrix": [
+        [
+          0.8437583446502686,
+          -0.15944921970367432,
+          0.5124917030334473,
+          79.59368133544922
+        ],
+        [
+          -0.5207780599594116,
+          -0.012201456353068352,
+          0.8536048531532288,
+          21.345962524414062
+        ],
+        [
+          -0.12985345721244812,
+          -0.9871307611465454,
+          -0.09333273768424988,
+          -28.00533103942871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4330,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_383080244",
+      "mask_path": "../../mask/hdr_left_04330.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04331.png",
+      "transform_matrix": [
+        [
+          0.8466901779174805,
+          -0.14725501835346222,
+          0.5113039016723633,
+          79.66061401367188
+        ],
+        [
+          -0.519441545009613,
+          -0.02050616592168808,
+          0.8542600274085999,
+          21.337574005126953
+        ],
+        [
+          -0.11530914902687073,
+          -0.9888859987258911,
+          -0.09385272115468979,
+          -28.005695343017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4331,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_483078241",
+      "mask_path": "../../mask/hdr_left_04331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04332.png",
+      "transform_matrix": [
+        [
+          0.849274754524231,
+          -0.13596667349338531,
+          0.5101425647735596,
+          79.71636962890625
+        ],
+        [
+          -0.5176133513450623,
+          -0.024157041683793068,
+          0.8552736043930054,
+          21.320219039916992
+        ],
+        [
+          -0.1039651483297348,
+          -0.9904188513755798,
+          -0.09089412540197372,
+          -28.018787384033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4332,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_583080768",
+      "mask_path": "../../mask/hdr_left_04332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04334.png",
+      "transform_matrix": [
+        [
+          0.8454362154006958,
+          -0.1259184628725052,
+          0.5190203785896301,
+          79.83955383300781
+        ],
+        [
+          -0.5236012935638428,
+          -0.003889158135280013,
+          0.8519545793533325,
+          21.29428482055664
+        ],
+        [
+          -0.10525824129581451,
+          -0.9920330047607422,
+          -0.06921909749507904,
+          -28.044851303100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4334,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_783080816",
+      "mask_path": "../../mask/hdr_left_04334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04337.png",
+      "transform_matrix": [
+        [
+          0.8206302523612976,
+          -0.13417959213256836,
+          0.555483341217041,
+          79.96357727050781
+        ],
+        [
+          -0.5581539869308472,
+          0.020336458459496498,
+          0.8294880390167236,
+          21.239585876464844
+        ],
+        [
+          -0.12259692698717117,
+          -0.9907483458518982,
+          -0.05820414796471596,
+          -28.06391716003418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4337,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_83081007",
+      "mask_path": "../../mask/hdr_left_04337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04338.png",
+      "transform_matrix": [
+        [
+          0.8170453906059265,
+          -0.1345359981060028,
+          0.5606577396392822,
+          80.03482818603516
+        ],
+        [
+          -0.5633106827735901,
+          0.021103927865624428,
+          0.8259755373001099,
+          21.21314811706543
+        ],
+        [
+          -0.12295551598072052,
+          -0.9906840324401855,
+          -0.058542683720588684,
+          -28.06761932373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4338,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_183080434",
+      "mask_path": "../../mask/hdr_left_04338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04340.png",
+      "transform_matrix": [
+        [
+          0.8215553164482117,
+          -0.13517893850803375,
+          0.5538713335990906,
+          80.10894012451172
+        ],
+        [
+          -0.5575740933418274,
+          0.012247413396835327,
+          0.8300368189811707,
+          21.20003890991211
+        ],
+        [
+          -0.11898697912693024,
+          -0.9907456636428833,
+          -0.06531034409999847,
+          -28.085693359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4340,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_383081197",
+      "mask_path": "../../mask/hdr_left_04340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04342.png",
+      "transform_matrix": [
+        [
+          0.8285319805145264,
+          -0.13368722796440125,
+          0.5437485575675964,
+          80.22010803222656
+        ],
+        [
+          -0.5455155372619629,
+          0.026290740817785263,
+          0.8376883268356323,
+          21.1660213470459
+        ],
+        [
+          -0.12628377974033356,
+          -0.9906747937202454,
+          -0.05114573985338211,
+          -28.10869026184082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4342,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_583080053",
+      "mask_path": "../../mask/hdr_left_04342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04346.png",
+      "transform_matrix": [
+        [
+          0.8313398957252502,
+          -0.17477253079414368,
+          0.5275683999061584,
+          80.37495422363281
+        ],
+        [
+          -0.5262929201126099,
+          0.057445671409368515,
+          0.848360538482666,
+          21.134296417236328
+        ],
+        [
+          -0.17857663333415985,
+          -0.9829317331314087,
+          -0.044224657118320465,
+          -28.151830673217773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4346,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_983082294",
+      "mask_path": "../../mask/hdr_left_04346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04347.png",
+      "transform_matrix": [
+        [
+          0.8307822346687317,
+          -0.17383326590061188,
+          0.5287559628486633,
+          80.44424438476562
+        ],
+        [
+          -0.5301336050033569,
+          0.04231315478682518,
+          0.8468577265739441,
+          21.11286163330078
+        ],
+        [
+          -0.16958536207675934,
+          -0.9838657379150391,
+          -0.05700182914733887,
+          -28.15799903869629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4347,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_83082199",
+      "mask_path": "../../mask/hdr_left_04347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04349.png",
+      "transform_matrix": [
+        [
+          0.8264186978340149,
+          -0.16848336160182953,
+          0.5372572541236877,
+          80.52208709716797
+        ],
+        [
+          -0.5420730710029602,
+          0.019984999671578407,
+          0.8400936722755432,
+          21.07757568359375
+        ],
+        [
+          -0.152278870344162,
+          -0.9855019450187683,
+          -0.07481430470943451,
+          -28.176362991333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4349,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_283083200",
+      "mask_path": "../../mask/hdr_left_04349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04350.png",
+      "transform_matrix": [
+        [
+          0.823639452457428,
+          -0.16153740882873535,
+          0.5436208248138428,
+          80.57858276367188
+        ],
+        [
+          -0.549193799495697,
+          0.011870913207530975,
+          0.8356107473373413,
+          21.03257179260254
+        ],
+        [
+          -0.1414356529712677,
+          -0.98679518699646,
+          -0.07893798500299454,
+          -28.182422637939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4350,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_383082389",
+      "mask_path": "../../mask/hdr_left_04350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04351.png",
+      "transform_matrix": [
+        [
+          0.8197460174560547,
+          -0.15853409469127655,
+          0.5503483414649963,
+          80.62761688232422
+        ],
+        [
+          -0.5561540722846985,
+          0.009147983975708485,
+          0.8310288190841675,
+          21.000505447387695
+        ],
+        [
+          -0.1367809772491455,
+          -0.9873111844062805,
+          -0.08067034929990768,
+          -28.17894744873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4351,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_483081817",
+      "mask_path": "../../mask/hdr_left_04351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04353.png",
+      "transform_matrix": [
+        [
+          0.8123844861984253,
+          -0.16176636517047882,
+          0.5602347254753113,
+          80.68057250976562
+        ],
+        [
+          -0.5668357610702515,
+          0.006404872052371502,
+          0.8238059282302856,
+          20.972206115722656
+        ],
+        [
+          -0.13685230910778046,
+          -0.9868083596229553,
+          -0.08649172633886337,
+          -28.18524932861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4353,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_683083057",
+      "mask_path": "../../mask/hdr_left_04353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04355.png",
+      "transform_matrix": [
+        [
+          0.8058989644050598,
+          -0.16039010882377625,
+          0.5699138045310974,
+          80.75707244873047
+        ],
+        [
+          -0.5757158398628235,
+          0.012273860163986683,
+          0.8175575733184814,
+          20.933622360229492
+        ],
+        [
+          -0.13812321424484253,
+          -0.9869773983955383,
+          -0.08244763314723969,
+          -28.203855514526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4355,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_883082151",
+      "mask_path": "../../mask/hdr_left_04355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04356.png",
+      "transform_matrix": [
+        [
+          0.805631697177887,
+          -0.1705523133277893,
+          0.5673352479934692,
+          80.80494689941406
+        ],
+        [
+          -0.5746024250984192,
+          0.008120102807879448,
+          0.8183924555778503,
+          20.906978607177734
+        ],
+        [
+          -0.14418554306030273,
+          -0.985315203666687,
+          -0.09145795553922653,
+          -28.215900421142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4356,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_983081579",
+      "mask_path": "../../mask/hdr_left_04356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04358.png",
+      "transform_matrix": [
+        [
+          0.8014683127403259,
+          -0.20401306450366974,
+          0.5621629357337952,
+          80.86328887939453
+        ],
+        [
+          -0.5737724304199219,
+          0.0027289402205497026,
+          0.8190102577209473,
+          20.86335563659668
+        ],
+        [
+          -0.16862289607524872,
+          -0.9789643883705139,
+          -0.11486990749835968,
+          -28.245372772216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4358,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_183082342",
+      "mask_path": "../../mask/hdr_left_04358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04360.png",
+      "transform_matrix": [
+        [
+          0.8125355243682861,
+          -0.21461649239063263,
+          0.5419648289680481,
+          80.95144653320312
+        ],
+        [
+          -0.5538073182106018,
+          0.005893729627132416,
+          0.832624077796936,
+          20.836233139038086
+        ],
+        [
+          -0.18188904225826263,
+          -0.9766806960105896,
+          -0.11406731605529785,
+          -28.289459228515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4360,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_383081674",
+      "mask_path": "../../mask/hdr_left_04360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04361.png",
+      "transform_matrix": [
+        [
+          0.824680507183075,
+          -0.21225538849830627,
+          0.5242612361907959,
+          81.01407623291016
+        ],
+        [
+          -0.5343183279037476,
+          0.011615973897278309,
+          0.8452035188674927,
+          20.814659118652344
+        ],
+        [
+          -0.18548879027366638,
+          -0.9771453142166138,
+          -0.10383246839046478,
+          -28.306753158569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4361,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_483081817",
+      "mask_path": "../../mask/hdr_left_04361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04364.png",
+      "transform_matrix": [
+        [
+          0.8592904210090637,
+          -0.1903916448354721,
+          0.47473254799842834,
+          81.09442138671875
+        ],
+        [
+          -0.47513547539711,
+          0.04653178155422211,
+          0.8786814212799072,
+          20.81095314025879
+        ],
+        [
+          -0.18938374519348145,
+          -0.980604887008667,
+          -0.05047750100493431,
+          -28.337480545043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4364,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_783082485",
+      "mask_path": "../../mask/hdr_left_04364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04371.png",
+      "transform_matrix": [
+        [
+          0.8916876912117004,
+          -0.16881629824638367,
+          0.41999292373657227,
+          81.37745666503906
+        ],
+        [
+          -0.4137282073497772,
+          0.07245960086584091,
+          0.9075123071670532,
+          20.81795310974121
+        ],
+        [
+          -0.18363536894321442,
+          -0.9829805493354797,
+          -0.0052327318117022514,
+          -28.378795623779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4371,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_483081817",
+      "mask_path": "../../mask/hdr_left_04371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04372.png",
+      "transform_matrix": [
+        [
+          0.8876537680625916,
+          -0.1744423508644104,
+          0.4261931777000427,
+          81.437255859375
+        ],
+        [
+          -0.42164334654808044,
+          0.064265176653862,
+          0.9044815897941589,
+          20.8008975982666
+        ],
+        [
+          -0.1851692497730255,
+          -0.982568085193634,
+          -0.016507219523191452,
+          -28.37810707092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4372,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_583082199",
+      "mask_path": "../../mask/hdr_left_04372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04373.png",
+      "transform_matrix": [
+        [
+          0.887845516204834,
+          -0.18216809630393982,
+          0.42254602909088135,
+          81.5018310546875
+        ],
+        [
+          -0.42057302594184875,
+          0.0512811541557312,
+          0.9058082699775696,
+          20.788850784301758
+        ],
+        [
+          -0.1866779923439026,
+          -0.981929361820221,
+          -0.031085239723324776,
+          -28.38074493408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4373,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_683082103",
+      "mask_path": "../../mask/hdr_left_04373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04375.png",
+      "transform_matrix": [
+        [
+          0.8945977687835693,
+          -0.1744893342256546,
+          0.41139787435531616,
+          81.60694122314453
+        ],
+        [
+          -0.41320109367370605,
+          0.027591530233621597,
+          0.9102216958999634,
+          20.786832809448242
+        ],
+        [
+          -0.17017506062984467,
+          -0.9842724204063416,
+          -0.04741585999727249,
+          -28.395353317260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4375,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_883081674",
+      "mask_path": "../../mask/hdr_left_04375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04376.png",
+      "transform_matrix": [
+        [
+          0.889439582824707,
+          -0.18652240931987762,
+          0.4172607660293579,
+          81.7072525024414
+        ],
+        [
+          -0.4177885353565216,
+          0.038404811173677444,
+          0.9077322483062744,
+          20.76894187927246
+        ],
+        [
+          -0.18533718585968018,
+          -0.9816998243331909,
+          -0.043768156319856644,
+          -28.417377471923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4376,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_983081817",
+      "mask_path": "../../mask/hdr_left_04376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04379.png",
+      "transform_matrix": [
+        [
+          0.8767160177230835,
+          -0.20231463015079498,
+          0.4363918602466583,
+          81.83244323730469
+        ],
+        [
+          -0.44101253151893616,
+          0.024110835045576096,
+          0.89717698097229,
+          20.716712951660156
+        ],
+        [
+          -0.1920337975025177,
+          -0.9790237545967102,
+          -0.06808492541313171,
+          -28.422222137451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4379,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_283082723",
+      "mask_path": "../../mask/hdr_left_04379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04380.png",
+      "transform_matrix": [
+        [
+          0.8812927603721619,
+          -0.18981856107711792,
+          0.4327724874019623,
+          81.91325378417969
+        ],
+        [
+          -0.43894314765930176,
+          0.010476548224687576,
+          0.8984537720680237,
+          20.691715240478516
+        ],
+        [
+          -0.17507712543010712,
+          -0.9817633032798767,
+          -0.07408664375543594,
+          -28.442058563232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4380,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_383081674",
+      "mask_path": "../../mask/hdr_left_04380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04381.png",
+      "transform_matrix": [
+        [
+          0.8850403428077698,
+          -0.17534509301185608,
+          0.43122783303260803,
+          82.00189208984375
+        ],
+        [
+          -0.437155544757843,
+          0.0053217969834804535,
+          0.8993702530860901,
+          20.67306900024414
+        ],
+        [
+          -0.15999506413936615,
+          -0.9844927191734314,
+          -0.07194306701421738,
+          -28.46295928955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4381,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_483081817",
+      "mask_path": "../../mask/hdr_left_04381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04382.png",
+      "transform_matrix": [
+        [
+          0.8883207440376282,
+          -0.15904642641544342,
+          0.43080201745033264,
+          82.0769271850586
+        ],
+        [
+          -0.43523916602134705,
+          0.007618091069161892,
+          0.9002826809883118,
+          20.661449432373047
+        ],
+        [
+          -0.1464686244726181,
+          -0.9872417449951172,
+          -0.062455914914608,
+          -28.47398567199707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4382,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_583083152",
+      "mask_path": "../../mask/hdr_left_04382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04383.png",
+      "transform_matrix": [
+        [
+          0.8904538750648499,
+          -0.14603640139102936,
+          0.43100473284721375,
+          82.13853454589844
+        ],
+        [
+          -0.4342412054538727,
+          0.01060616597533226,
+          0.9007342457771301,
+          20.65702247619629
+        ],
+        [
+          -0.1361112743616104,
+          -0.9892224073410034,
+          -0.053970709443092346,
+          -28.48842430114746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4383,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_683081865",
+      "mask_path": "../../mask/hdr_left_04383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04384.png",
+      "transform_matrix": [
+        [
+          0.8894086480140686,
+          -0.13778896629810333,
+          0.43585118651390076,
+          82.21792602539062
+        ],
+        [
+          -0.43902188539505005,
+          0.008100454695522785,
+          0.8984398245811462,
+          20.629186630249023
+        ],
+        [
+          -0.12732566893100739,
+          -0.9904285073280334,
+          -0.05328775569796562,
+          -28.491695404052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4384,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_783082008",
+      "mask_path": "../../mask/hdr_left_04384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04385.png",
+      "transform_matrix": [
+        [
+          0.8861031532287598,
+          -0.1335425227880478,
+          0.4438329041004181,
+          82.29563903808594
+        ],
+        [
+          -0.44708821177482605,
+          0.006201769690960646,
+          0.8944684267044067,
+          20.597034454345703
+        ],
+        [
+          -0.12220209091901779,
+          -0.9910237789154053,
+          -0.0542098805308342,
+          -28.488985061645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4385,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_883082389",
+      "mask_path": "../../mask/hdr_left_04385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04387.png",
+      "transform_matrix": [
+        [
+          0.8787892460823059,
+          -0.12230806052684784,
+          0.4612700343132019,
+          82.42179107666016
+        ],
+        [
+          -0.46481484174728394,
+          -0.0005090605118311942,
+          0.8854077458381653,
+          20.573001861572266
+        ],
+        [
+          -0.10805768519639969,
+          -0.992492139339447,
+          -0.057297952473163605,
+          -28.5091552734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4387,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_83083391",
+      "mask_path": "../../mask/hdr_left_04387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04388.png",
+      "transform_matrix": [
+        [
+          0.8780350685119629,
+          -0.1287866234779358,
+          0.46094298362731934,
+          82.52394104003906
+        ],
+        [
+          -0.466966450214386,
+          -0.019502349197864532,
+          0.8840599656105042,
+          20.5447940826416
+        ],
+        [
+          -0.10486562550067902,
+          -0.9914805889129639,
+          -0.0772627666592598,
+          -28.518138885498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4388,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_183082818",
+      "mask_path": "../../mask/hdr_left_04388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04389.png",
+      "transform_matrix": [
+        [
+          0.8794043064117432,
+          -0.13344018161296844,
+          0.45699194073677063,
+          82.58618927001953
+        ],
+        [
+          -0.4649215638637543,
+          -0.034146152436733246,
+          0.8846931457519531,
+          20.528059005737305
+        ],
+        [
+          -0.10244908928871155,
+          -0.9904685020446777,
+          -0.09206749498844147,
+          -28.53313446044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4389,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_283082485",
+      "mask_path": "../../mask/hdr_left_04389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04390.png",
+      "transform_matrix": [
+        [
+          0.8806111216545105,
+          -0.12965290248394012,
+          0.45575660467147827,
+          82.64656066894531
+        ],
+        [
+          -0.46399644017219543,
+          -0.04091927781701088,
+          0.8848915100097656,
+          20.512908935546875
+        ],
+        [
+          -0.0960794985294342,
+          -0.9907147884368896,
+          -0.09619244933128357,
+          -28.552745819091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4390,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_383081912",
+      "mask_path": "../../mask/hdr_left_04390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04391.png",
+      "transform_matrix": [
+        [
+          0.877591609954834,
+          -0.1351911425590515,
+          0.4599525034427643,
+          82.74161529541016
+        ],
+        [
+          -0.46863439679145813,
+          -0.03965248540043831,
+          0.8825018405914307,
+          20.480289459228516
+        ],
+        [
+          -0.1010681614279747,
+          -0.9900258183479309,
+          -0.09815390408039093,
+          -28.55396270751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4391,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_483082532",
+      "mask_path": "../../mask/hdr_left_04391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04392.png",
+      "transform_matrix": [
+        [
+          0.873281717300415,
+          -0.14282099902629852,
+          0.465812623500824,
+          82.81037902832031
+        ],
+        [
+          -0.475043922662735,
+          -0.03722603991627693,
+          0.8791742324829102,
+          20.45334815979004
+        ],
+        [
+          -0.10822419822216034,
+          -0.9890482425689697,
+          -0.10035506635904312,
+          -28.54732322692871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4392,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_583081722",
+      "mask_path": "../../mask/hdr_left_04392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04394.png",
+      "transform_matrix": [
+        [
+          0.8667446374893188,
+          -0.14212924242019653,
+          0.4780721068382263,
+          82.9157485961914
+        ],
+        [
+          -0.4868268072605133,
+          -0.03273555263876915,
+          0.8728848099708557,
+          20.414987564086914
+        ],
+        [
+          -0.1084124967455864,
+          -0.9893068075180054,
+          -0.0975656807422638,
+          -28.565134048461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4394,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_783081531",
+      "mask_path": "../../mask/hdr_left_04394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04395.png",
+      "transform_matrix": [
+        [
+          0.8639522790908813,
+          -0.14406359195709229,
+          0.4825267493724823,
+          83.0002212524414
+        ],
+        [
+          -0.49135392904281616,
+          -0.03135618939995766,
+          0.8703954219818115,
+          20.38698959350586
+        ],
+        [
+          -0.11026206612586975,
+          -0.9890716075897217,
+          -0.09787644445896149,
+          -28.574560165405273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4395,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_883084058",
+      "mask_path": "../../mask/hdr_left_04395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04396.png",
+      "transform_matrix": [
+        [
+          0.8642964363098145,
+          -0.15301059186458588,
+          0.47914445400238037,
+          83.07522583007812
+        ],
+        [
+          -0.489928275346756,
+          -0.040477603673934937,
+          0.8708224296569824,
+          20.361068725585938
+        ],
+        [
+          -0.11385045200586319,
+          -0.9873952865600586,
+          -0.10994885861873627,
+          -28.579235076904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4396,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_983081579",
+      "mask_path": "../../mask/hdr_left_04396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04397.png",
+      "transform_matrix": [
+        [
+          0.8664424419403076,
+          -0.15695324540138245,
+          0.47396543622016907,
+          83.13571166992188
+        ],
+        [
+          -0.48629775643348694,
+          -0.050247613340616226,
+          0.8723472356796265,
+          20.348493576049805
+        ],
+        [
+          -0.11310209333896637,
+          -0.9863269925117493,
+          -0.11986266076564789,
+          -28.593585968017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4397,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_83082914",
+      "mask_path": "../../mask/hdr_left_04397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04398.png",
+      "transform_matrix": [
+        [
+          0.8691272735595703,
+          -0.15211708843708038,
+          0.47061464190483093,
+          83.19477844238281
+        ],
+        [
+          -0.48236873745918274,
+          -0.05050018057227135,
+          0.8745113611221313,
+          20.337059020996094
+        ],
+        [
+          -0.10926198959350586,
+          -0.9870715141296387,
+          -0.11726759374141693,
+          -28.611980438232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4398,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_183082103",
+      "mask_path": "../../mask/hdr_left_04398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04399.png",
+      "transform_matrix": [
+        [
+          0.8673956394195557,
+          -0.16024504601955414,
+          0.4711117744445801,
+          83.27860260009766
+        ],
+        [
+          -0.48349738121032715,
+          -0.04745393618941307,
+          0.8740585446357727,
+          20.311975479125977
+        ],
+        [
+          -0.11770743131637573,
+          -0.9859359264373779,
+          -0.11863939464092255,
+          -28.625703811645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4399,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_283082723",
+      "mask_path": "../../mask/hdr_left_04399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04400.png",
+      "transform_matrix": [
+        [
+          0.8617621064186096,
+          -0.1743643432855606,
+          0.4764065146446228,
+          83.35362243652344
+        ],
+        [
+          -0.4899364113807678,
+          -0.042373012751340866,
+          0.8707277178764343,
+          20.287796020507812
+        ],
+        [
+          -0.1316370666027069,
+          -0.9837691187858582,
+          -0.12194289267063141,
+          -28.649925231933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4400,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_383081436",
+      "mask_path": "../../mask/hdr_left_04400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04401.png",
+      "transform_matrix": [
+        [
+          0.8569538593292236,
+          -0.17621426284313202,
+          0.4843330681324005,
+          83.40484619140625
+        ],
+        [
+          -0.4972378611564636,
+          -0.035448573529720306,
+          0.8668898344039917,
+          20.263336181640625
+        ],
+        [
+          -0.13558942079544067,
+          -0.9837133884429932,
+          -0.11799819022417068,
+          -28.668615341186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4401,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_483081579",
+      "mask_path": "../../mask/hdr_left_04401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04402.png",
+      "transform_matrix": [
+        [
+          0.8536093235015869,
+          -0.1685144603252411,
+          0.49290362000465393,
+          83.47879028320312
+        ],
+        [
+          -0.5043626427650452,
+          -0.030740072950720787,
+          0.8629446029663086,
+          20.248931884765625
+        ],
+        [
+          -0.13026675581932068,
+          -0.9852197766304016,
+          -0.11123239994049072,
+          -28.689619064331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4402,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_583081245",
+      "mask_path": "../../mask/hdr_left_04402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04403.png",
+      "transform_matrix": [
+        [
+          0.850671648979187,
+          -0.17472423613071442,
+          0.49581173062324524,
+          83.58429718017578
+        ],
+        [
+          -0.5086327195167542,
+          -0.03520204871892929,
+          0.8602636456489563,
+          20.223785400390625
+        ],
+        [
+          -0.13285532593727112,
+          -0.9839880466461182,
+          -0.1188158318400383,
+          -28.710399627685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4403,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_683082342",
+      "mask_path": "../../mask/hdr_left_04403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04404.png",
+      "transform_matrix": [
+        [
+          0.8488748669624329,
+          -0.18850307166576385,
+          0.4938400387763977,
+          83.65970611572266
+        ],
+        [
+          -0.5100291967391968,
+          -0.046665288507938385,
+          0.8588903546333313,
+          20.194068908691406
+        ],
+        [
+          -0.13885827362537384,
+          -0.9809633493423462,
+          -0.13575506210327148,
+          -28.722448348999023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4404,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_783081293",
+      "mask_path": "../../mask/hdr_left_04404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04406.png",
+      "transform_matrix": [
+        [
+          0.8482056260108948,
+          -0.19831211864948273,
+          0.4911409616470337,
+          83.74280548095703
+        ],
+        [
+          -0.5111345648765564,
+          -0.06332718580961227,
+          0.8571646213531494,
+          20.157114028930664
+        ],
+        [
+          -0.13888351619243622,
+          -0.9780910611152649,
+          -0.15507864952087402,
+          -28.746774673461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4406,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_983081817",
+      "mask_path": "../../mask/hdr_left_04406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04407.png",
+      "transform_matrix": [
+        [
+          0.8427876830101013,
+          -0.21247853338718414,
+          0.4945318400859833,
+          83.82782745361328
+        ],
+        [
+          -0.5136942267417908,
+          -0.04319589585065842,
+          0.8568851947784424,
+          20.10020637512207
+        ],
+        [
+          -0.1607079654932022,
+          -0.9762106537818909,
+          -0.14555396139621735,
+          -28.76506233215332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4407,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_83083152",
+      "mask_path": "../../mask/hdr_left_04407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04410.png",
+      "transform_matrix": [
+        [
+          0.8144206404685974,
+          -0.25021234154701233,
+          0.5235578417778015,
+          83.94903564453125
+        ],
+        [
+          -0.5394850969314575,
+          0.005814160220324993,
+          0.8419750928878784,
+          20.034605026245117
+        ],
+        [
+          -0.21371658146381378,
+          -0.9681735634803772,
+          -0.13025064766407013,
+          -28.797088623046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4410,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_383081197",
+      "mask_path": "../../mask/hdr_left_04410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04411.png",
+      "transform_matrix": [
+        [
+          0.8117369413375854,
+          -0.23589713871479034,
+          0.5342618227005005,
+          84.02918243408203
+        ],
+        [
+          -0.5478803515434265,
+          0.009234484285116196,
+          0.8365057706832886,
+          19.99982452392578
+        ],
+        [
+          -0.20226293802261353,
+          -0.9717342257499695,
+          -0.12174741923809052,
+          -28.820110321044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4411,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_483081579",
+      "mask_path": "../../mask/hdr_left_04411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04412.png",
+      "transform_matrix": [
+        [
+          0.8137339353561401,
+          -0.22151876986026764,
+          0.5373700857162476,
+          84.11026763916016
+        ],
+        [
+          -0.5491935014724731,
+          0.00970543548464775,
+          0.8356388211250305,
+          19.967021942138672
+        ],
+        [
+          -0.19032509624958038,
+          -0.9751079082489014,
+          -0.11375900357961655,
+          -28.839933395385742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4412,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_583081245",
+      "mask_path": "../../mask/hdr_left_04412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04415.png",
+      "transform_matrix": [
+        [
+          0.8284886479377747,
+          -0.1965973973274231,
+          0.5243623852729797,
+          84.26541900634766
+        ],
+        [
+          -0.5291475653648376,
+          0.031707435846328735,
+          0.8479371666908264,
+          19.935420989990234
+        ],
+        [
+          -0.18332841992378235,
+          -0.9799715280532837,
+          -0.07775978744029999,
+          -28.895780563354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4415,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_883081674",
+      "mask_path": "../../mask/hdr_left_04415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04416.png",
+      "transform_matrix": [
+        [
+          0.8246555328369141,
+          -0.2119065821170807,
+          0.5244414210319519,
+          84.33863067626953
+        ],
+        [
+          -0.5242352485656738,
+          0.06185387074947357,
+          0.8493241667747498,
+          19.91722297668457
+        ],
+        [
+          -0.21241606771945953,
+          -0.9753305912017822,
+          -0.06008075550198555,
+          -28.91785430908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4416,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_983081102",
+      "mask_path": "../../mask/hdr_left_04416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04418.png",
+      "transform_matrix": [
+        [
+          0.8208825588226318,
+          -0.2324702888727188,
+          0.5216410160064697,
+          84.41092681884766
+        ],
+        [
+          -0.5160739421844482,
+          0.08922319114208221,
+          0.8518843054771423,
+          19.904897689819336
+        ],
+        [
+          -0.2445802539587021,
+          -0.968502402305603,
+          -0.04673008248209953,
+          -28.946943283081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4418,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_183083772",
+      "mask_path": "../../mask/hdr_left_04418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04419.png",
+      "transform_matrix": [
+        [
+          0.8265607953071594,
+          -0.22504167258739471,
+          0.5159005522727966,
+          84.46831512451172
+        ],
+        [
+          -0.5094335079193115,
+          0.09061279892921448,
+          0.855725884437561,
+          19.895902633666992
+        ],
+        [
+          -0.23932115733623505,
+          -0.9701266288757324,
+          -0.03974677622318268,
+          -28.958972930908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4419,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_283082485",
+      "mask_path": "../../mask/hdr_left_04419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04420.png",
+      "transform_matrix": [
+        [
+          0.8302189111709595,
+          -0.22050213813781738,
+          0.5119720101356506,
+          84.5266342163086
+        ],
+        [
+          -0.5061812400817871,
+          0.08649033308029175,
+          0.858079195022583,
+          19.879322052001953
+        ],
+        [
+          -0.23348891735076904,
+          -0.9715443849563599,
+          -0.03980811685323715,
+          -28.97153091430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4420,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_383081436",
+      "mask_path": "../../mask/hdr_left_04420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04422.png",
+      "transform_matrix": [
+        [
+          0.8322415351867676,
+          -0.21050092577934265,
+          0.5128970146179199,
+          84.60199737548828
+        ],
+        [
+          -0.5061628818511963,
+          0.08898412436246872,
+          0.8578349351882935,
+          19.852943420410156
+        ],
+        [
+          -0.22621475160121918,
+          -0.973535418510437,
+          -0.03249148279428482,
+          -29.003389358520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4422,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_583081245",
+      "mask_path": "../../mask/hdr_left_04422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04423.png",
+      "transform_matrix": [
+        [
+          0.8331889510154724,
+          -0.20658165216445923,
+          0.5129523277282715,
+          84.64425659179688
+        ],
+        [
+          -0.5049799680709839,
+          0.09380665421485901,
+          0.8580183982849121,
+          19.831876754760742
+        ],
+        [
+          -0.22536920011043549,
+          -0.9739221930503845,
+          -0.026160916313529015,
+          -29.023605346679688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4423,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_683081388",
+      "mask_path": "../../mask/hdr_left_04423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04424.png",
+      "transform_matrix": [
+        [
+          0.8311888575553894,
+          -0.20766715705394745,
+          0.5157513618469238,
+          84.68850708007812
+        ],
+        [
+          -0.5080631375312805,
+          0.09307731688022614,
+          0.8562759757041931,
+          19.80376625061035
+        ],
+        [
+          -0.22582514584064484,
+          -0.973761260509491,
+          -0.02814318984746933,
+          -29.02516746520996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4424,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_783078670",
+      "mask_path": "../../mask/hdr_left_04424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04426.png",
+      "transform_matrix": [
+        [
+          0.8260189890861511,
+          -0.20599621534347534,
+          0.5246504545211792,
+          84.744140625
+        ],
+        [
+          -0.518665075302124,
+          0.08656501024961472,
+          0.8505839705467224,
+          19.769752502441406
+        ],
+        [
+          -0.22063341736793518,
+          -0.9747164249420166,
+          -0.03533868491649628,
+          -29.035175323486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4426,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_983081579",
+      "mask_path": "../../mask/hdr_left_04426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04427.png",
+      "transform_matrix": [
+        [
+          0.8298354744911194,
+          -0.20683836936950684,
+          0.5182576179504395,
+          84.79743194580078
+        ],
+        [
+          -0.5142800807952881,
+          0.0769205093383789,
+          0.8541657328605652,
+          19.755918502807617
+        ],
+        [
+          -0.21653889119625092,
+          -0.9753467440605164,
+          -0.04254146292805672,
+          -29.056135177612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4427,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_83082675",
+      "mask_path": "../../mask/hdr_left_04427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04428.png",
+      "transform_matrix": [
+        [
+          0.8394466638565063,
+          -0.21390871703624725,
+          0.49957218766212463,
+          84.87220001220703
+        ],
+        [
+          -0.4966946840286255,
+          0.07100732624530792,
+          0.8650158047676086,
+          19.742807388305664
+        ],
+        [
+          -0.2205076962709427,
+          -0.9742695093154907,
+          -0.04664045572280884,
+          -29.079103469848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4428,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_183082342",
+      "mask_path": "../../mask/hdr_left_04428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04430.png",
+      "transform_matrix": [
+        [
+          0.8629958033561707,
+          -0.22458964586257935,
+          0.4525458514690399,
+          84.96371459960938
+        ],
+        [
+          -0.44910311698913574,
+          0.06924007087945938,
+          0.8907930850982666,
+          19.736181259155273
+        ],
+        [
+          -0.23139719665050507,
+          -0.9719904065132141,
+          -0.04111001640558243,
+          -29.108457565307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4430,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_383081912",
+      "mask_path": "../../mask/hdr_left_04430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04431.png",
+      "transform_matrix": [
+        [
+          0.8690972328186035,
+          -0.22079743444919586,
+          0.44262683391571045,
+          85.014404296875
+        ],
+        [
+          -0.4382286071777344,
+          0.0713052824139595,
+          0.896030843257904,
+          19.733596801757812
+        ],
+        [
+          -0.22940294444561005,
+          -0.9727097153663635,
+          -0.034788522869348526,
+          -29.130264282226562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4431,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_483082532",
+      "mask_path": "../../mask/hdr_left_04431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04432.png",
+      "transform_matrix": [
+        [
+          0.8701595067977905,
+          -0.21511505544185638,
+          0.44333720207214355,
+          85.07008361816406
+        ],
+        [
+          -0.43928825855255127,
+          0.06899962574243546,
+          0.8956922888755798,
+          19.714818954467773
+        ],
+        [
+          -0.22326701879501343,
+          -0.974148154258728,
+          -0.03445684164762497,
+          -29.137170791625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4432,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_583082199",
+      "mask_path": "../../mask/hdr_left_04432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05969.png",
+      "transform_matrix": [
+        [
+          -0.8732629418373108,
+          -0.15463119745254517,
+          -0.4620617926120758,
+          84.79655456542969
+        ],
+        [
+          0.4709879159927368,
+          -0.024937359616160393,
+          -0.881787121295929,
+          20.05323600769043
+        ],
+        [
+          0.12482918798923492,
+          -0.9876574873924255,
+          0.09460629522800446,
+          -29.07617950439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5969,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_283081054",
+      "mask_path": "../../mask/hdr_left_05969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05971.png",
+      "transform_matrix": [
+        [
+          -0.8747438788414001,
+          -0.1657750904560089,
+          -0.45534801483154297,
+          84.71581268310547
+        ],
+        [
+          0.46430984139442444,
+          -0.01775817945599556,
+          -0.8854947090148926,
+          20.079587936401367
+        ],
+        [
+          0.138706773519516,
+          -0.9860037565231323,
+          0.0925048440694809,
+          -29.037071228027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5971,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_483080387",
+      "mask_path": "../../mask/hdr_left_05971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05972.png",
+      "transform_matrix": [
+        [
+          -0.876279890537262,
+          -0.1640375405550003,
+          -0.4530179798603058,
+          84.6584701538086
+        ],
+        [
+          0.4615643322467804,
+          -0.016160473227500916,
+          -0.8869595527648926,
+          20.09748649597168
+        ],
+        [
+          0.1381736546754837,
+          -0.986321747303009,
+          0.08987497538328171,
+          -29.023754119873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5972,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_583082199",
+      "mask_path": "../../mask/hdr_left_05972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05973.png",
+      "transform_matrix": [
+        [
+          -0.8782951235771179,
+          -0.16004157066345215,
+          -0.450537770986557,
+          84.60301208496094
+        ],
+        [
+          0.4578111171722412,
+          -0.009792539291083813,
+          -0.8889954686164856,
+          20.112356185913086
+        ],
+        [
+          0.13786432147026062,
+          -0.9870617389678955,
+          0.08186955004930496,
+          -29.015552520751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5973,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_683082580",
+      "mask_path": "../../mask/hdr_left_05973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05975.png",
+      "transform_matrix": [
+        [
+          -0.877853274345398,
+          -0.16128847002983093,
+          -0.4509541094303131,
+          84.51703643798828
+        ],
+        [
+          0.4582536816596985,
+          -0.009196165017783642,
+          -0.8887738585472107,
+          20.133113861083984
+        ],
+        [
+          0.13920189440250397,
+          -0.9868645071983337,
+          0.08198390901088715,
+          -29.021337509155273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5975,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_883080959",
+      "mask_path": "../../mask/hdr_left_05975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05976.png",
+      "transform_matrix": [
+        [
+          -0.874995768070221,
+          -0.17187565565109253,
+          -0.45259377360343933,
+          84.44509887695312
+        ],
+        [
+          0.45688214898109436,
+          0.016052182763814926,
+          -0.8893823623657227,
+          20.148332595825195
+        ],
+        [
+          0.16012829542160034,
+          -0.9849878549575806,
+          0.06448133289813995,
+          -28.97672462463379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5976,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_983080387",
+      "mask_path": "../../mask/hdr_left_05976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05977.png",
+      "transform_matrix": [
+        [
+          -0.8671087622642517,
+          -0.19287708401679993,
+          -0.459261029958725,
+          84.38603973388672
+        ],
+        [
+          0.4627772271633148,
+          0.029161980375647545,
+          -0.8859947323799133,
+          20.174867630004883
+        ],
+        [
+          0.18428103625774384,
+          -0.9807894825935364,
+          0.06397251784801483,
+          -28.894323348999023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5977,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_83081483",
+      "mask_path": "../../mask/hdr_left_05977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05979.png",
+      "transform_matrix": [
+        [
+          -0.8566888570785522,
+          -0.21287497878074646,
+          -0.4698599874973297,
+          84.31941986083984
+        ],
+        [
+          0.47688302397727966,
+          0.02038681134581566,
+          -0.878730297088623,
+          20.222209930419922
+        ],
+        [
+          0.19663861393928528,
+          -0.9768667817115784,
+          0.08405131101608276,
+          -28.89468765258789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5979,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_283080339",
+      "mask_path": "../../mask/hdr_left_05979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05981.png",
+      "transform_matrix": [
+        [
+          -0.8530316352844238,
+          -0.20486293733119965,
+          -0.479966938495636,
+          84.23210144042969
+        ],
+        [
+          0.4845947325229645,
+          0.03035324066877365,
+          -0.8742120862007141,
+          20.273191452026367
+        ],
+        [
+          0.19366221129894257,
+          -0.9783199429512024,
+          0.07338323444128036,
+          -28.892528533935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5981,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_483081102",
+      "mask_path": "../../mask/hdr_left_05981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05982.png",
+      "transform_matrix": [
+        [
+          -0.8507528305053711,
+          -0.20543277263641357,
+          -0.4837530851364136,
+          84.17520141601562
+        ],
+        [
+          0.4887785017490387,
+          0.029043205082416534,
+          -0.8719243407249451,
+          20.28343391418457
+        ],
+        [
+          0.19317156076431274,
+          -0.9782402515411377,
+          0.07570253312587738,
+          -28.877758026123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5982,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_583081722",
+      "mask_path": "../../mask/hdr_left_05982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05983.png",
+      "transform_matrix": [
+        [
+          -0.8510748744010925,
+          -0.1966915875673294,
+          -0.4868100583553314,
+          84.12407684326172
+        ],
+        [
+          0.4922102689743042,
+          0.02384359762072563,
+          -0.8701497316360474,
+          20.29946517944336
+        ],
+        [
+          0.1827584058046341,
+          -0.9801754355430603,
+          0.07652093470096588,
+          -28.870092391967773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5983,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_683082103",
+      "mask_path": "../../mask/hdr_left_05983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05984.png",
+      "transform_matrix": [
+        [
+          -0.8473432660102844,
+          -0.1967107355594635,
+          -0.49326881766319275,
+          84.07501220703125
+        ],
+        [
+          0.4997706711292267,
+          0.018667055293917656,
+          -0.8659565448760986,
+          20.322105407714844
+        ],
+        [
+          0.17955081164836884,
+          -0.9802839756011963,
+          0.08249285817146301,
+          -28.849971771240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5984,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_783082246",
+      "mask_path": "../../mask/hdr_left_05984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05985.png",
+      "transform_matrix": [
+        [
+          -0.8423764705657959,
+          -0.20478855073451996,
+          -0.4984610676765442,
+          84.02294921875
+        ],
+        [
+          0.5074757933616638,
+          0.009735800325870514,
+          -0.861611008644104,
+          20.340431213378906
+        ],
+        [
+          0.18130098283290863,
+          -0.9787578582763672,
+          0.09572403877973557,
+          -28.831737518310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5985,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_883081674",
+      "mask_path": "../../mask/hdr_left_05985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05986.png",
+      "transform_matrix": [
+        [
+          -0.8394097089767456,
+          -0.21337783336639404,
+          -0.4998612701892853,
+          83.96220397949219
+        ],
+        [
+          0.512554407119751,
+          -0.004882676526904106,
+          -0.8586408495903015,
+          20.352109909057617
+        ],
+        [
+          0.1807742416858673,
+          -0.9769576191902161,
+          0.11346631497144699,
+          -28.823646545410156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5986,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_983080863",
+      "mask_path": "../../mask/hdr_left_05986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05987.png",
+      "transform_matrix": [
+        [
+          -0.8400564193725586,
+          -0.21676965057849884,
+          -0.49730879068374634,
+          83.89195251464844
+        ],
+        [
+          0.5109500288963318,
+          -0.008091508410871029,
+          -0.8595722913742065,
+          20.36284828186035
+        ],
+        [
+          0.18230518698692322,
+          -0.9761892557144165,
+          0.11755578219890594,
+          -28.78364372253418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5987,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_83082199",
+      "mask_path": "../../mask/hdr_left_05987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05991.png",
+      "transform_matrix": [
+        [
+          -0.8464062213897705,
+          -0.20103272795677185,
+          -0.493135005235672,
+          83.70340728759766
+        ],
+        [
+          0.5062659382820129,
+          -0.016494903713464737,
+          -0.8622196316719055,
+          20.424236297607422
+        ],
+        [
+          0.1652001291513443,
+          -0.9794456362724304,
+          0.11573740839958191,
+          -28.745834350585938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5991,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_483081340",
+      "mask_path": "../../mask/hdr_left_05991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05994.png",
+      "transform_matrix": [
+        [
+          -0.8367409110069275,
+          -0.20705130696296692,
+          -0.5069460868835449,
+          83.5419921875
+        ],
+        [
+          0.524718701839447,
+          -0.03835287317633629,
+          -0.8504113554954529,
+          20.47356605529785
+        ],
+        [
+          0.15663592517375946,
+          -0.9775781035423279,
+          0.14073511958122253,
+          -28.701187133789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5994,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_783083200",
+      "mask_path": "../../mask/hdr_left_05994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_05995.png",
+      "transform_matrix": [
+        [
+          -0.8342755436897278,
+          -0.21893174946308136,
+          -0.5060169696807861,
+          83.454833984375
+        ],
+        [
+          0.5262374877929688,
+          -0.0423707589507103,
+          -0.849281370639801,
+          20.492586135864258
+        ],
+        [
+          0.1644943207502365,
+          -0.9748198390007019,
+          0.1505589783191681,
+          -28.658296585083008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5995,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_883083343",
+      "mask_path": "../../mask/hdr_left_05995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06005.png",
+      "transform_matrix": [
+        [
+          -0.8344587683677673,
+          -0.20513978600502014,
+          -0.5114647746086121,
+          83.16594696044922
+        ],
+        [
+          0.5306147336959839,
+          -0.04857329651713371,
+          -0.8462201952934265,
+          20.53015899658203
+        ],
+        [
+          0.1487499177455902,
+          -0.9775266647338867,
+          0.1493826061487198,
+          -28.607173919677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6005,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323862_883080959",
+      "mask_path": "../../mask/hdr_left_06005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06018.png",
+      "transform_matrix": [
+        [
+          -0.8216786980628967,
+          -0.19540947675704956,
+          -0.535405695438385,
+          83.26168823242188
+        ],
+        [
+          0.5497204661369324,
+          -0.023656141012907028,
+          -0.8350136280059814,
+          20.533721923828125
+        ],
+        [
+          0.15050391852855682,
+          -0.9804364442825317,
+          0.12685833871364594,
+          -28.614850997924805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6018,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323864_183081865",
+      "mask_path": "../../mask/hdr_left_06018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06021.png",
+      "transform_matrix": [
+        [
+          -0.8090057373046875,
+          -0.20604565739631653,
+          -0.5505041480064392,
+          83.25296783447266
+        ],
+        [
+          0.5649579763412476,
+          -0.01401614025235176,
+          -0.8250006437301636,
+          20.5975284576416
+        ],
+        [
+          0.16227184236049652,
+          -0.9784421324729919,
+          0.12774626910686493,
+          -28.626310348510742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6021,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323864_483082056",
+      "mask_path": "../../mask/hdr_left_06021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06042.png",
+      "transform_matrix": [
+        [
+          -0.7738813757896423,
+          -0.1755158007144928,
+          -0.6085242629051208,
+          83.23319244384766
+        ],
+        [
+          0.6145101189613342,
+          0.024400273337960243,
+          -0.7885315418243408,
+          20.646926879882812
+        ],
+        [
+          0.1532478928565979,
+          -0.9841742515563965,
+          0.08897330611944199,
+          -28.619617462158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6042,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_583081007",
+      "mask_path": "../../mask/hdr_left_06042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06044.png",
+      "transform_matrix": [
+        [
+          -0.7956410050392151,
+          -0.17003974318504333,
+          -0.5814136862754822,
+          83.15410614013672
+        ],
+        [
+          0.5872308015823364,
+          0.019120601937174797,
+          -0.8091936111450195,
+          20.642759323120117
+        ],
+        [
+          0.14871203899383545,
+          -0.985251784324646,
+          0.08463943749666214,
+          -28.608154296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6044,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_783081293",
+      "mask_path": "../../mask/hdr_left_06044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06046.png",
+      "transform_matrix": [
+        [
+          -0.8132054805755615,
+          -0.15860913693904877,
+          -0.5599463582038879,
+          83.08357238769531
+        ],
+        [
+          0.5648739337921143,
+          0.0164228156208992,
+          -0.8250138163566589,
+          20.656295776367188
+        ],
+        [
+          0.14005061984062195,
+          -0.987204909324646,
+          0.07623904198408127,
+          -28.603818893432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6046,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_983082056",
+      "mask_path": "../../mask/hdr_left_06046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06058.png",
+      "transform_matrix": [
+        [
+          -0.801135241985321,
+          -0.12244749814271927,
+          -0.5858233571052551,
+          82.79776000976562
+        ],
+        [
+          0.5928012132644653,
+          -0.027790065854787827,
+          -0.8048691153526306,
+          20.730030059814453
+        ],
+        [
+          0.08227412402629852,
+          -0.992085874080658,
+          0.09485062211751938,
+          -28.574129104614258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6058,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_183082342",
+      "mask_path": "../../mask/hdr_left_06058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06060.png",
+      "transform_matrix": [
+        [
+          -0.8038793206214905,
+          -0.1131543293595314,
+          -0.5839298367500305,
+          82.72745513916016
+        ],
+        [
+          0.5897763967514038,
+          -0.024411676451563835,
+          -0.8071975708007812,
+          20.760194778442383
+        ],
+        [
+          0.07708318531513214,
+          -0.9932774901390076,
+          0.08635979145765305,
+          -28.57843780517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6060,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_383082389",
+      "mask_path": "../../mask/hdr_left_06060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06062.png",
+      "transform_matrix": [
+        [
+          -0.8018447756767273,
+          -0.10912126302719116,
+          -0.5874840617179871,
+          82.660400390625
+        ],
+        [
+          0.5926331877708435,
+          -0.019588105380535126,
+          -0.8052342534065247,
+          20.79404640197754
+        ],
+        [
+          0.07636047899723053,
+          -0.9938355088233948,
+          0.08037550002336502,
+          -28.567686080932617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6062,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_583080530",
+      "mask_path": "../../mask/hdr_left_06062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06063.png",
+      "transform_matrix": [
+        [
+          -0.7984342575073242,
+          -0.11646771430969238,
+          -0.5907098054885864,
+          82.62075805664062
+        ],
+        [
+          0.5959458947181702,
+          -0.013160851784050465,
+          -0.8029168248176575,
+          20.825986862182617
+        ],
+        [
+          0.0857396274805069,
+          -0.9931073188781738,
+          0.07991652935743332,
+          -28.521005630493164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6063,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_683082342",
+      "mask_path": "../../mask/hdr_left_06063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06065.png",
+      "transform_matrix": [
+        [
+          -0.7967700362205505,
+          -0.13392774760723114,
+          -0.5892544984817505,
+          82.55464172363281
+        ],
+        [
+          0.5982566475868225,
+          -0.037460293620824814,
+          -0.8004283905029297,
+          20.83538246154785
+        ],
+        [
+          0.08512590825557709,
+          -0.9902828335762024,
+          0.10997040569782257,
+          -28.510278701782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6065,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_883082151",
+      "mask_path": "../../mask/hdr_left_06065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06066.png",
+      "transform_matrix": [
+        [
+          -0.7973324060440063,
+          -0.14405600726604462,
+          -0.5860964059829712,
+          82.50261688232422
+        ],
+        [
+          0.5979559421539307,
+          -0.05675085633993149,
+          -0.7995173931121826,
+          20.83917236328125
+        ],
+        [
+          0.0819137915968895,
+          -0.9879409074783325,
+          0.13138842582702637,
+          -28.506282806396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6066,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_983082532",
+      "mask_path": "../../mask/hdr_left_06066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06067.png",
+      "transform_matrix": [
+        [
+          -0.8013033270835876,
+          -0.1280866116285324,
+          -0.5843858122825623,
+          82.45240020751953
+        ],
+        [
+          0.5943252444267273,
+          -0.0586090162396431,
+          -0.8020862936973572,
+          20.854259490966797
+        ],
+        [
+          0.06848622858524323,
+          -0.9900297522544861,
+          0.12308870255947113,
+          -28.504817962646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6067,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_83082199",
+      "mask_path": "../../mask/hdr_left_06067.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06069.png",
+      "transform_matrix": [
+        [
+          -0.8202065229415894,
+          -0.10903078317642212,
+          -0.5615812540054321,
+          82.38915252685547
+        ],
+        [
+          0.5689542293548584,
+          -0.053197942674160004,
+          -0.8206467032432556,
+          20.853731155395508
+        ],
+        [
+          0.059600770473480225,
+          -0.9926139116287231,
+          0.10566683113574982,
+          -28.492412567138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6069,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_283082723",
+      "mask_path": "../../mask/hdr_left_06069.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06071.png",
+      "transform_matrix": [
+        [
+          -0.8374816179275513,
+          -0.10301767289638519,
+          -0.5366674065589905,
+          82.30624389648438
+        ],
+        [
+          0.5439780950546265,
+          -0.06356480717658997,
+          -0.8366882801055908,
+          20.841358184814453
+        ],
+        [
+          0.05208052322268486,
+          -0.9926465153694153,
+          0.10927371680736542,
+          -28.486650466918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6071,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_483083486",
+      "mask_path": "../../mask/hdr_left_06071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06073.png",
+      "transform_matrix": [
+        [
+          -0.8420655131340027,
+          -0.11234089732170105,
+          -0.527546226978302,
+          82.2140121459961
+        ],
+        [
+          0.5361132621765137,
+          -0.06692314893007278,
+          -0.8414890170097351,
+          20.870803833007812
+        ],
+        [
+          0.0592285580933094,
+          -0.9914136528968811,
+          0.11658113449811935,
+          -28.460609436035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6073,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_683081865",
+      "mask_path": "../../mask/hdr_left_06073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06074.png",
+      "transform_matrix": [
+        [
+          -0.8444753885269165,
+          -0.11074220389127731,
+          -0.5240205526351929,
+          82.1642074584961
+        ],
+        [
+          0.5327848196029663,
+          -0.07360931485891342,
+          -0.8430432677268982,
+          20.881908416748047
+        ],
+        [
+          0.05478767305612564,
+          -0.9911195635795593,
+          0.121163010597229,
+          -28.453655242919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6074,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_783081293",
+      "mask_path": "../../mask/hdr_left_06074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06075.png",
+      "transform_matrix": [
+        [
+          -0.8475239276885986,
+          -0.10435928404331207,
+          -0.5203961133956909,
+          82.11739349365234
+        ],
+        [
+          0.5282928347587585,
+          -0.07149912416934967,
+          -0.8460463881492615,
+          20.8992862701416
+        ],
+        [
+          0.05108492821455002,
+          -0.9919662475585938,
+          0.11572948843240738,
+          -28.44892120361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6075,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_883081674",
+      "mask_path": "../../mask/hdr_left_06075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06077.png",
+      "transform_matrix": [
+        [
+          -0.8490615487098694,
+          -0.09834714233875275,
+          -0.5190590023994446,
+          82.03276062011719
+        ],
+        [
+          0.5261935591697693,
+          -0.06990926712751389,
+          -0.8474863171577454,
+          20.917625427246094
+        ],
+        [
+          0.04706082120537758,
+          -0.9926936030387878,
+          0.11110690981149673,
+          -28.45734214782715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6077,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_83083629",
+      "mask_path": "../../mask/hdr_left_06077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06079.png",
+      "transform_matrix": [
+        [
+          -0.846443235874176,
+          -0.0958118885755539,
+          -0.5237880945205688,
+          81.96220397949219
+        ],
+        [
+          0.5302939414978027,
+          -0.06265825778245926,
+          -0.8454952836036682,
+          20.937740325927734
+        ],
+        [
+          0.04818885028362274,
+          -0.9934254288673401,
+          0.10384512692689896,
+          -28.440654754638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6079,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_283082008",
+      "mask_path": "../../mask/hdr_left_06079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06081.png",
+      "transform_matrix": [
+        [
+          -0.8396106958389282,
+          -0.10102769732475281,
+          -0.5337108373641968,
+          81.87547302246094
+        ],
+        [
+          0.5410152077674866,
+          -0.06772642582654953,
+          -0.8382813930511475,
+          20.967588424682617
+        ],
+        [
+          0.0485433004796505,
+          -0.9925757646560669,
+          0.11152134090662003,
+          -28.41811180114746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6081,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_483081579",
+      "mask_path": "../../mask/hdr_left_06081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06082.png",
+      "transform_matrix": [
+        [
+          -0.8388538360595703,
+          -0.09539763629436493,
+          -0.5359323620796204,
+          81.82078552246094
+        ],
+        [
+          0.5425686836242676,
+          -0.06679489463567734,
+          -0.8373515605926514,
+          20.98789405822754
+        ],
+        [
+          0.04408381134271622,
+          -0.9931957125663757,
+          0.10779092460870743,
+          -28.423019409179688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6082,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_583081960",
+      "mask_path": "../../mask/hdr_left_06082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06084.png",
+      "transform_matrix": [
+        [
+          -0.837226152420044,
+          -0.08837506920099258,
+          -0.5396685600280762,
+          81.74833679199219
+        ],
+        [
+          0.5455323457717896,
+          -0.06633017957210541,
+          -0.8354608416557312,
+          20.999277114868164
+        ],
+        [
+          0.03803758695721626,
+          -0.9938763976097107,
+          0.10374481230974197,
+          -28.42744255065918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6084,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_783081531",
+      "mask_path": "../../mask/hdr_left_06084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06086.png",
+      "transform_matrix": [
+        [
+          -0.8348287343978882,
+          -0.08193811774253845,
+          -0.5443776249885559,
+          81.66387939453125
+        ],
+        [
+          0.549507737159729,
+          -0.06439676135778427,
+          -0.8330031037330627,
+          21.01976203918457
+        ],
+        [
+          0.03319855034351349,
+          -0.9945547580718994,
+          0.0987858921289444,
+          -28.403671264648438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6086,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_983081340",
+      "mask_path": "../../mask/hdr_left_06086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06088.png",
+      "transform_matrix": [
+        [
+          -0.8298063278198242,
+          -0.093161940574646,
+          -0.5502201318740845,
+          81.58966827392578
+        ],
+        [
+          0.5568221807479858,
+          -0.07281912118196487,
+          -0.8274335861206055,
+          21.045135498046875
+        ],
+        [
+          0.03701877221465111,
+          -0.9929845333099365,
+          0.11230041086673737,
+          -28.39542007446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6088,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_183081150",
+      "mask_path": "../../mask/hdr_left_06088.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06089.png",
+      "transform_matrix": [
+        [
+          -0.830481767654419,
+          -0.08753975480794907,
+          -0.5501243472099304,
+          81.53874969482422
+        ],
+        [
+          0.5561661124229431,
+          -0.07482335716485977,
+          -0.8276960253715515,
+          21.058979034423828
+        ],
+        [
+          0.03129415214061737,
+          -0.9933470487594604,
+          0.11082607507705688,
+          -28.388797760009766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6089,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_283083200",
+      "mask_path": "../../mask/hdr_left_06089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06090.png",
+      "transform_matrix": [
+        [
+          -0.8353652954101562,
+          -0.0788387879729271,
+          -0.544012188911438,
+          81.49112701416016
+        ],
+        [
+          0.5489451289176941,
+          -0.06796332448720932,
+          -0.8330908417701721,
+          21.080163955688477
+        ],
+        [
+          0.028706993907690048,
+          -0.9945679903030396,
+          0.1000523567199707,
+          -28.392292022705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6090,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_383082151",
+      "mask_path": "../../mask/hdr_left_06090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06092.png",
+      "transform_matrix": [
+        [
+          -0.8448331356048584,
+          -0.0712798610329628,
+          -0.530260443687439,
+          81.40064239501953
+        ],
+        [
+          0.5343503952026367,
+          -0.0624823123216629,
+          -0.8429504632949829,
+          21.093111038208008
+        ],
+        [
+          0.026953499764204025,
+          -0.9954975247383118,
+          0.09087555855512619,
+          -28.39595603942871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6092,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_583082437",
+      "mask_path": "../../mask/hdr_left_06092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06094.png",
+      "transform_matrix": [
+        [
+          -0.8475977778434753,
+          -0.07169871032238007,
+          -0.5257729887962341,
+          81.30120086669922
+        ],
+        [
+          0.529866635799408,
+          -0.06091326102614403,
+          -0.8458905220031738,
+          21.116741180419922
+        ],
+        [
+          0.028622714802622795,
+          -0.9955646395683289,
+          0.08962070941925049,
+          -28.370258331298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6094,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_783081531",
+      "mask_path": "../../mask/hdr_left_06094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06096.png",
+      "transform_matrix": [
+        [
+          -0.8457671999931335,
+          -0.09481383860111237,
+          -0.5250600576400757,
+          81.18505859375
+        ],
+        [
+          0.5318759083747864,
+          -0.07188302278518677,
+          -0.8437658548355103,
+          21.161855697631836
+        ],
+        [
+          0.04225776717066765,
+          -0.9928963780403137,
+          0.11122550815343857,
+          -28.377763748168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6096,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_983081102",
+      "mask_path": "../../mask/hdr_left_06096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06097.png",
+      "transform_matrix": [
+        [
+          -0.8489117622375488,
+          -0.11639928817749023,
+          -0.5155578851699829,
+          81.07461547851562
+        ],
+        [
+          0.5250951051712036,
+          -0.07463772594928741,
+          -0.8477643132209778,
+          21.175765991210938
+        ],
+        [
+          0.060199085623025894,
+          -0.990394115447998,
+          0.12448154389858246,
+          -28.325027465820312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6097,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_83081245",
+      "mask_path": "../../mask/hdr_left_06097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06098.png",
+      "transform_matrix": [
+        [
+          -0.8552821278572083,
+          -0.12721824645996094,
+          -0.5023026466369629,
+          81.00360107421875
+        ],
+        [
+          0.5128647089004517,
+          -0.06957301497459412,
+          -0.8556455969810486,
+          21.177560806274414
+        ],
+        [
+          0.0739070251584053,
+          -0.9894317388534546,
+          0.1247503012418747,
+          -28.290260314941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6098,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_183081865",
+      "mask_path": "../../mask/hdr_left_06098.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06100.png",
+      "transform_matrix": [
+        [
+          -0.8640493154525757,
+          -0.13398724794387817,
+          -0.48524853587150574,
+          80.89559936523438
+        ],
+        [
+          0.4954102039337158,
+          -0.0551912896335125,
+          -0.8669039607048035,
+          21.20304298400879
+        ],
+        [
+          0.08937259763479233,
+          -0.9894450306892395,
+          0.11406665295362473,
+          -28.28696632385254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6100,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_383080244",
+      "mask_path": "../../mask/hdr_left_06100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06101.png",
+      "transform_matrix": [
+        [
+          -0.8627849817276001,
+          -0.14740034937858582,
+          -0.4836062788963318,
+          80.81999969482422
+        ],
+        [
+          0.4944498836994171,
+          -0.046485405415296555,
+          -0.8679622411727905,
+          21.228988647460938
+        ],
+        [
+          0.10545729100704193,
+          -0.9879839420318604,
+          0.11298899352550507,
+          -28.24983787536621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6101,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_483082294",
+      "mask_path": "../../mask/hdr_left_06101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06102.png",
+      "transform_matrix": [
+        [
+          -0.8627012968063354,
+          -0.15480764210224152,
+          -0.4814363121986389,
+          80.75686645507812
+        ],
+        [
+          0.49323245882987976,
+          -0.047371603548526764,
+          -0.8686067461967468,
+          21.25127601623535
+        ],
+        [
+          0.11166052520275116,
+          -0.9868083000183105,
+          0.11722369492053986,
+          -28.229936599731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6102,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_583081722",
+      "mask_path": "../../mask/hdr_left_06102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06103.png",
+      "transform_matrix": [
+        [
+          -0.8642240762710571,
+          -0.16169972717761993,
+          -0.47641363739967346,
+          80.68778228759766
+        ],
+        [
+          0.48943936824798584,
+          -0.05099457874894142,
+          -0.8705450296401978,
+          21.265731811523438
+        ],
+        [
+          0.11647237092256546,
+          -0.9855216145515442,
+          0.12321295589208603,
+          -28.217727661132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6103,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_683081865",
+      "mask_path": "../../mask/hdr_left_06103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06104.png",
+      "transform_matrix": [
+        [
+          -0.8696791529655457,
+          -0.1649647057056427,
+          -0.4652361571788788,
+          80.60688018798828
+        ],
+        [
+          0.4779534935951233,
+          -0.04587271437048912,
+          -0.8771864175796509,
+          21.286962509155273
+        ],
+        [
+          0.12336315214633942,
+          -0.9852321743965149,
+          0.11873999238014221,
+          -28.201004028320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6104,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_783080816",
+      "mask_path": "../../mask/hdr_left_06104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06106.png",
+      "transform_matrix": [
+        [
+          -0.8867210745811462,
+          -0.15983366966247559,
+          -0.43379586935043335,
+          80.48796844482422
+        ],
+        [
+          0.4440779983997345,
+          -0.033602796494960785,
+          -0.8953578472137451,
+          21.310245513916016
+        ],
+        [
+          0.1285315454006195,
+          -0.9865719079971313,
+          0.10077491402626038,
+          -28.19623565673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6106,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_983081579",
+      "mask_path": "../../mask/hdr_left_06106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06107.png",
+      "transform_matrix": [
+        [
+          -0.8922553062438965,
+          -0.17258697748184204,
+          -0.41724568605422974,
+          80.41278839111328
+        ],
+        [
+          0.42583560943603516,
+          -0.01435516495257616,
+          -0.9046866297721863,
+          21.344440460205078
+        ],
+        [
+          0.1501474678516388,
+          -0.9848897457122803,
+          0.08630213886499405,
+          -28.16193962097168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6107,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_83082199",
+      "mask_path": "../../mask/hdr_left_06107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06108.png",
+      "transform_matrix": [
+        [
+          -0.8967679142951965,
+          -0.18713262677192688,
+          -0.40098464488983154,
+          80.350341796875
+        ],
+        [
+          0.40955692529678345,
+          -0.007904420606791973,
+          -0.9122502207756042,
+          21.367795944213867
+        ],
+        [
+          0.1675422340631485,
+          -0.9823028445243835,
+          0.08372989296913147,
+          -28.117403030395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6108,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_183080434",
+      "mask_path": "../../mask/hdr_left_06108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06110.png",
+      "transform_matrix": [
+        [
+          -0.8998842239379883,
+          -0.2023218423128128,
+          -0.3863602578639984,
+          80.21883392333984
+        ],
+        [
+          0.3991657495498657,
+          -0.02516220510005951,
+          -0.9165334701538086,
+          21.379680633544922
+        ],
+        [
+          0.17571301758289337,
+          -0.9789958000183105,
+          0.1034030169248581,
+          -28.106067657470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6110,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_383080720",
+      "mask_path": "../../mask/hdr_left_06110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06111.png",
+      "transform_matrix": [
+        [
+          -0.9014553427696228,
+          -0.19316285848617554,
+          -0.3873837888240814,
+          80.1336441040039
+        ],
+        [
+          0.398223340511322,
+          -0.019237864762544632,
+          -0.917086660861969,
+          21.4006404876709
+        ],
+        [
+          0.1696946620941162,
+          -0.9809781312942505,
+          0.09426404535770416,
+          -28.069732666015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6111,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_483082294",
+      "mask_path": "../../mask/hdr_left_06111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06113.png",
+      "transform_matrix": [
+        [
+          -0.9038622975349426,
+          -0.1845630556344986,
+          -0.38596534729003906,
+          80.0230941772461
+        ],
+        [
+          0.3951417803764343,
+          -0.014310861937701702,
+          -0.9185085892677307,
+          21.41398811340332
+        ],
+        [
+          0.1639992892742157,
+          -0.9827165007591248,
+          0.0858636274933815,
+          -28.039976119995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6113,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_683081626",
+      "mask_path": "../../mask/hdr_left_06113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06114.png",
+      "transform_matrix": [
+        [
+          -0.9040470123291016,
+          -0.17920047044754028,
+          -0.38805443048477173,
+          79.945556640625
+        ],
+        [
+          0.398594468832016,
+          -0.02562364935874939,
+          -0.9167693257331848,
+          21.431306838989258
+        ],
+        [
+          0.15434210002422333,
+          -0.9834789037704468,
+          0.09459328651428223,
+          -28.029451370239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6114,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_783081531",
+      "mask_path": "../../mask/hdr_left_06114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06115.png",
+      "transform_matrix": [
+        [
+          -0.9018954634666443,
+          -0.17615553736686707,
+          -0.39440301060676575,
+          79.87120819091797
+        ],
+        [
+          0.40570715069770813,
+          -0.03202393651008606,
+          -0.9134418964385986,
+          21.450876235961914
+        ],
+        [
+          0.14827749133110046,
+          -0.9838413000106812,
+          0.1003498062491417,
+          -28.01502227783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6115,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_883081674",
+      "mask_path": "../../mask/hdr_left_06115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06116.png",
+      "transform_matrix": [
+        [
+          -0.8981072306632996,
+          -0.1797293871641159,
+          -0.4013736844062805,
+          79.80380249023438
+        ],
+        [
+          0.41336214542388916,
+          -0.033454377204179764,
+          -0.9099519848823547,
+          21.46263313293457
+        ],
+        [
+          0.15011738240718842,
+          -0.9831470847129822,
+          0.10433893650770187,
+          -27.99125099182129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6116,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_983081579",
+      "mask_path": "../../mask/hdr_left_06116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06117.png",
+      "transform_matrix": [
+        [
+          -0.8961889743804932,
+          -0.17908547818660736,
+          -0.40592312812805176,
+          79.72395324707031
+        ],
+        [
+          0.4186343550682068,
+          -0.03832126036286354,
+          -0.9073460102081299,
+          21.480525970458984
+        ],
+        [
+          0.14693698287010193,
+          -0.9830869436264038,
+          0.10931441187858582,
+          -27.97677993774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6117,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_83081007",
+      "mask_path": "../../mask/hdr_left_06117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06118.png",
+      "transform_matrix": [
+        [
+          -0.8963372707366943,
+          -0.17011481523513794,
+          -0.40943920612335205,
+          79.63238525390625
+        ],
+        [
+          0.4203745722770691,
+          -0.0325138233602047,
+          -0.9067678451538086,
+          21.50260353088379
+        ],
+        [
+          0.14094217121601105,
+          -0.9848878383636475,
+          0.10065528750419617,
+          -27.97119903564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6118,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_183079719",
+      "mask_path": "../../mask/hdr_left_06118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06119.png",
+      "transform_matrix": [
+        [
+          -0.896510660648346,
+          -0.1621668040752411,
+          -0.412274569272995,
+          79.56047821044922
+        ],
+        [
+          0.42138680815696716,
+          -0.024879081174731255,
+          -0.9065396189689636,
+          21.51268196105957
+        ],
+        [
+          0.1367536187171936,
+          -0.9864497184753418,
+          0.09063931554555893,
+          -27.96053695678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6119,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_283082008",
+      "mask_path": "../../mask/hdr_left_06119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06120.png",
+      "transform_matrix": [
+        [
+          -0.8972067832946777,
+          -0.15427468717098236,
+          -0.41378647089004517,
+          79.4993667602539
+        ],
+        [
+          0.4228058159351349,
+          -0.02957266941666603,
+          -0.9057376384735107,
+          21.530370712280273
+        ],
+        [
+          0.12749560177326202,
+          -0.9875853657722473,
+          0.0917610302567482,
+          -27.961292266845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6120,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_383080959",
+      "mask_path": "../../mask/hdr_left_06120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06121.png",
+      "transform_matrix": [
+        [
+          -0.8948076963424683,
+          -0.1478058099746704,
+          -0.42127513885498047,
+          79.41287231445312
+        ],
+        [
+          0.43057867884635925,
+          -0.03633228689432144,
+          -0.9018214344978333,
+          21.550033569335938
+        ],
+        [
+          0.11798854917287827,
+          -0.9883488416671753,
+          0.09615243226289749,
+          -27.950090408325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6121,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_483081102",
+      "mask_path": "../../mask/hdr_left_06121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06122.png",
+      "transform_matrix": [
+        [
+          -0.8910896182060242,
+          -0.14511047303676605,
+          -0.43000245094299316,
+          79.33676147460938
+        ],
+        [
+          0.4395448565483093,
+          -0.04012327641248703,
+          -0.8973240256309509,
+          21.570035934448242
+        ],
+        [
+          0.11295801401138306,
+          -0.9886016249656677,
+          0.09953600913286209,
+          -27.932510375976562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6122,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_583081960",
+      "mask_path": "../../mask/hdr_left_06122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06123.png",
+      "transform_matrix": [
+        [
+          -0.8881362676620483,
+          -0.14558370411396027,
+          -0.43591198325157166,
+          79.26181030273438
+        ],
+        [
+          0.4463425874710083,
+          -0.047228071838617325,
+          -0.8936150074005127,
+          21.598896026611328
+        ],
+        [
+          0.10950848460197449,
+          -0.9882180094718933,
+          0.10692516714334488,
+          -27.924652099609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6123,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_683080673",
+      "mask_path": "../../mask/hdr_left_06123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06124.png",
+      "transform_matrix": [
+        [
+          -0.8887545466423035,
+          -0.13507238030433655,
+          -0.4380306303501129,
+          79.16413879394531
+        ],
+        [
+          0.44739651679992676,
+          -0.04764527082443237,
+          -0.8930656909942627,
+          21.622764587402344
+        ],
+        [
+          0.09975840151309967,
+          -0.9896895289421082,
+          0.10277585685253143,
+          -27.910917282104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6124,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_783082008",
+      "mask_path": "../../mask/hdr_left_06124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06125.png",
+      "transform_matrix": [
+        [
+          -0.891920268535614,
+          -0.11986925452947617,
+          -0.43601569533348083,
+          79.07894134521484
+        ],
+        [
+          0.4430747330188751,
+          -0.03901015967130661,
+          -0.8956356048583984,
+          21.642078399658203
+        ],
+        [
+          0.09035012125968933,
+          -0.9920229911804199,
+          0.08790497481822968,
+          -27.906301498413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6125,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_883081912",
+      "mask_path": "../../mask/hdr_left_06125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06126.png",
+      "transform_matrix": [
+        [
+          -0.8937183022499084,
+          -0.11110763996839523,
+          -0.43465232849121094,
+          79.01579284667969
+        ],
+        [
+          0.4405210018157959,
+          -0.033981166779994965,
+          -0.8970988988876343,
+          21.656709671020508
+        ],
+        [
+          0.08490453660488129,
+          -0.9932272434234619,
+          0.07931484282016754,
+          -27.907344818115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6126,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_983082056",
+      "mask_path": "../../mask/hdr_left_06126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06127.png",
+      "transform_matrix": [
+        [
+          -0.893083393573761,
+          -0.10321512073278427,
+          -0.4378909766674042,
+          78.94429016113281
+        ],
+        [
+          0.44331443309783936,
+          -0.03608293458819389,
+          -0.8956395387649536,
+          21.68797492980957
+        ],
+        [
+          0.07664314657449722,
+          -0.9940043687820435,
+          0.07798182964324951,
+          -27.902620315551758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6127,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_83081722",
+      "mask_path": "../../mask/hdr_left_06127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06128.png",
+      "transform_matrix": [
+        [
+          -0.8899640440940857,
+          -0.10119347274303436,
+          -0.4446616768836975,
+          78.88228607177734
+        ],
+        [
+          0.4500819444656372,
+          -0.03792548552155495,
+          -0.8921815752983093,
+          21.721458435058594
+        ],
+        [
+          0.07341893762350082,
+          -0.9941437244415283,
+          0.07929767668247223,
+          -27.887882232666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6128,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_183084249",
+      "mask_path": "../../mask/hdr_left_06128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06129.png",
+      "transform_matrix": [
+        [
+          -0.8878359198570251,
+          -0.10280671715736389,
+          -0.44852882623672485,
+          78.83294677734375
+        ],
+        [
+          0.4543696939945221,
+          -0.04171544313430786,
+          -0.8898359537124634,
+          21.73672103881836
+        ],
+        [
+          0.07277052104473114,
+          -0.9938263297080994,
+          0.08374873548746109,
+          -27.881690979003906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6129,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_283081769",
+      "mask_path": "../../mask/hdr_left_06129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06130.png",
+      "transform_matrix": [
+        [
+          -0.8849118947982788,
+          -0.1082337498664856,
+          -0.45300808548927307,
+          78.7682876586914
+        ],
+        [
+          0.45997491478919983,
+          -0.0502840019762516,
+          -0.8865069150924683,
+          21.756052017211914
+        ],
+        [
+          0.07317090034484863,
+          -0.9928529858589172,
+          0.09428172558546066,
+          -27.873977661132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6130,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_383083105",
+      "mask_path": "../../mask/hdr_left_06130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06131.png",
+      "transform_matrix": [
+        [
+          -0.8802604675292969,
+          -0.13613170385360718,
+          -0.4545432925224304,
+          78.681640625
+        ],
+        [
+          0.4661233127117157,
+          -0.06898350268602371,
+          -0.8820262551307678,
+          21.783742904663086
+        ],
+        [
+          0.08871573209762573,
+          -0.9882861375808716,
+          0.12417760491371155,
+          -27.84747314453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6131,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_483082294",
+      "mask_path": "../../mask/hdr_left_06131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06132.png",
+      "transform_matrix": [
+        [
+          -0.8808168172836304,
+          -0.15502749383449554,
+          -0.44735684990882874,
+          78.60506439208984
+        ],
+        [
+          0.4620368182659149,
+          -0.07517706602811813,
+          -0.8836687803268433,
+          21.803741455078125
+        ],
+        [
+          0.10336193442344666,
+          -0.9850456714630127,
+          0.13784562051296234,
+          -27.814002990722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6132,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_583082675",
+      "mask_path": "../../mask/hdr_left_06132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06134.png",
+      "transform_matrix": [
+        [
+          -0.8970550298690796,
+          -0.14699892699718475,
+          -0.4167536497116089,
+          78.5054931640625
+        ],
+        [
+          0.42983320355415344,
+          -0.07119298726320267,
+          -0.900097131729126,
+          21.795446395874023
+        ],
+        [
+          0.10264337062835693,
+          -0.9865712523460388,
+          0.1270490437746048,
+          -27.809370040893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6134,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_783081531",
+      "mask_path": "../../mask/hdr_left_06134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06135.png",
+      "transform_matrix": [
+        [
+          -0.9112454056739807,
+          -0.1399826854467392,
+          -0.3873455226421356,
+          78.43931579589844
+        ],
+        [
+          0.3998125493526459,
+          -0.07481034845113754,
+          -0.913538932800293,
+          21.78014373779297
+        ],
+        [
+          0.09890218079090118,
+          -0.9873238205909729,
+          0.12413741648197174,
+          -27.813190460205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6135,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_883081674",
+      "mask_path": "../../mask/hdr_left_06135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06136.png",
+      "transform_matrix": [
+        [
+          -0.9196200370788574,
+          -0.14618133008480072,
+          -0.3645953834056854,
+          78.37882232666016
+        ],
+        [
+          0.37749889492988586,
+          -0.07228566706180573,
+          -0.923184335231781,
+          21.78870964050293
+        ],
+        [
+          0.1085973009467125,
+          -0.9866133332252502,
+          0.12165863066911697,
+          -27.78841781616211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6136,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_983082532",
+      "mask_path": "../../mask/hdr_left_06136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06137.png",
+      "transform_matrix": [
+        [
+          -0.9219107627868652,
+          -0.15788625180721283,
+          -0.353768914937973,
+          78.31817626953125
+        ],
+        [
+          0.36838287115097046,
+          -0.07466614246368408,
+          -0.9266709089279175,
+          21.807165145874023
+        ],
+        [
+          0.11989402770996094,
+          -0.9846304059028625,
+          0.12699811160564423,
+          -27.75523567199707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6137,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_83080291",
+      "mask_path": "../../mask/hdr_left_06137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06138.png",
+      "transform_matrix": [
+        [
+          -0.920924961566925,
+          -0.1652045100927353,
+          -0.3529939651489258,
+          78.25178527832031
+        ],
+        [
+          0.3696953356266022,
+          -0.08356556296348572,
+          -0.9253875613212585,
+          21.8330078125
+        ],
+        [
+          0.12338003516197205,
+          -0.9827127456665039,
+          0.138032928109169,
+          -27.748661041259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6138,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_183082342",
+      "mask_path": "../../mask/hdr_left_06138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06139.png",
+      "transform_matrix": [
+        [
+          -0.9211944341659546,
+          -0.15343719720840454,
+          -0.357572078704834,
+          78.19706726074219
+        ],
+        [
+          0.3724880516529083,
+          -0.08208148926496506,
+          -0.9243999123573303,
+          21.834463119506836
+        ],
+        [
+          0.11248728632926941,
+          -0.9847434759140015,
+          0.13276652991771698,
+          -27.74702262878418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6139,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_283082723",
+      "mask_path": "../../mask/hdr_left_06139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06140.png",
+      "transform_matrix": [
+        [
+          -0.9238808751106262,
+          -0.13636226952075958,
+          -0.35756024718284607,
+          78.1357650756836
+        ],
+        [
+          0.36966100335121155,
+          -0.07636789977550507,
+          -0.9260230660438538,
+          21.8270320892334
+        ],
+        [
+          0.09896845370531082,
+          -0.9877112507820129,
+          0.12096266448497772,
+          -27.742389678955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6140,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_383082628",
+      "mask_path": "../../mask/hdr_left_06140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06141.png",
+      "transform_matrix": [
+        [
+          -0.9251837730407715,
+          -0.13361260294914246,
+          -0.3552219271659851,
+          78.06488800048828
+        ],
+        [
+          0.36672472953796387,
+          -0.07375399023294449,
+          -0.9274013638496399,
+          21.826534271240234
+        ],
+        [
+          0.09771347790956497,
+          -0.988285481929779,
+          0.11723503470420837,
+          -27.738828659057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6141,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_483080148",
+      "mask_path": "../../mask/hdr_left_06141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06142.png",
+      "transform_matrix": [
+        [
+          -0.9254626631736755,
+          -0.13235445320606232,
+          -0.3549663722515106,
+          77.9939193725586
+        ],
+        [
+          0.3663002550601959,
+          -0.07355958223342896,
+          -0.9275844693183899,
+          21.83258056640625
+        ],
+        [
+          0.09665876626968384,
+          -0.9884692430496216,
+          0.11655811965465546,
+          -27.73372459411621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6142,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_583082199",
+      "mask_path": "../../mask/hdr_left_06142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06143.png",
+      "transform_matrix": [
+        [
+          -0.9245795607566833,
+          -0.13368844985961914,
+          -0.35676324367523193,
+          77.9251937866211
+        ],
+        [
+          0.3679693937301636,
+          -0.07063925266265869,
+          -0.9271507859230042,
+          21.833810806274414
+        ],
+        [
+          0.0987478569149971,
+          -0.9885027408599854,
+          0.1145048663020134,
+          -27.728878021240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6143,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_683082103",
+      "mask_path": "../../mask/hdr_left_06143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06144.png",
+      "transform_matrix": [
+        [
+          -0.9216127395629883,
+          -0.14247962832450867,
+          -0.3610117733478546,
+          77.8603744506836
+        ],
+        [
+          0.373139888048172,
+          -0.06942615658044815,
+          -0.9251738786697388,
+          21.84078598022461
+        ],
+        [
+          0.10675472766160965,
+          -0.987359881401062,
+          0.11714884638786316,
+          -27.715471267700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6144,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_783082485",
+      "mask_path": "../../mask/hdr_left_06144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06145.png",
+      "transform_matrix": [
+        [
+          -0.9181879758834839,
+          -0.1541219800710678,
+          -0.36493462324142456,
+          77.79612731933594
+        ],
+        [
+          0.3790022134780884,
+          -0.07370202988386154,
+          -0.9224560856819153,
+          21.85577964782715
+        ],
+        [
+          0.1152743250131607,
+          -0.9852992296218872,
+          0.12608487904071808,
+          -27.694316864013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6145,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_883081674",
+      "mask_path": "../../mask/hdr_left_06145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06146.png",
+      "transform_matrix": [
+        [
+          -0.9153277277946472,
+          -0.1680934578180313,
+          -0.36595025658607483,
+          77.70948028564453
+        ],
+        [
+          0.3821891248226166,
+          -0.07621753960847855,
+          -0.9209356307983398,
+          21.847484588623047
+        ],
+        [
+          0.12691143155097961,
+          -0.9828202128410339,
+          0.134007528424263,
+          -27.664106369018555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6146,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_983081817",
+      "mask_path": "../../mask/hdr_left_06146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06147.png",
+      "transform_matrix": [
+        [
+          -0.9165028929710388,
+          -0.16033244132995605,
+          -0.3664914071559906,
+          77.63996124267578
+        ],
+        [
+          0.3804813325405121,
+          -0.06650301814079285,
+          -0.9223943948745728,
+          21.857145309448242
+        ],
+        [
+          0.12351695448160172,
+          -0.9848202466964722,
+          0.12195370346307755,
+          -27.6407527923584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6147,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_83081483",
+      "mask_path": "../../mask/hdr_left_06147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06149.png",
+      "transform_matrix": [
+        [
+          -0.9174627661705017,
+          -0.14271816611289978,
+          -0.37134024500846863,
+          77.56010437011719
+        ],
+        [
+          0.3817629814147949,
+          -0.053321294486522675,
+          -0.9227207899093628,
+          21.868797302246094
+        ],
+        [
+          0.11188867688179016,
+          -0.9883260726928711,
+          0.10340480506420135,
+          -27.630477905273438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6149,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_283081769",
+      "mask_path": "../../mask/hdr_left_06149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06151.png",
+      "transform_matrix": [
+        [
+          -0.9116346836090088,
+          -0.14589710533618927,
+          -0.3842346966266632,
+          77.45822143554688
+        ],
+        [
+          0.3947131931781769,
+          -0.050208188593387604,
+          -0.9174314737319946,
+          21.894071578979492
+        ],
+        [
+          0.11455885320901871,
+          -0.9880249500274658,
+          0.10335903614759445,
+          -27.608661651611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6151,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_483081817",
+      "mask_path": "../../mask/hdr_left_06151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06153.png",
+      "transform_matrix": [
+        [
+          -0.904274046421051,
+          -0.1486579030752182,
+          -0.40023642778396606,
+          77.36104583740234
+        ],
+        [
+          0.4114612340927124,
+          -0.053205706179142,
+          -0.9098728895187378,
+          21.93243980407715
+        ],
+        [
+          0.11396493762731552,
+          -0.9874563217163086,
+          0.10927950590848923,
+          -27.58851432800293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6153,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_683081626",
+      "mask_path": "../../mask/hdr_left_06153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06154.png",
+      "transform_matrix": [
+        [
+          -0.902613639831543,
+          -0.14031456410884857,
+          -0.4069402515888214,
+          77.29937744140625
+        ],
+        [
+          0.4172323942184448,
+          -0.052701786160469055,
+          -0.9072703719139099,
+          21.94797706604004
+        ],
+        [
+          0.1058567687869072,
+          -0.9887034296989441,
+          0.10611312836408615,
+          -27.58388900756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6154,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_783082962",
+      "mask_path": "../../mask/hdr_left_06154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06155.png",
+      "transform_matrix": [
+        [
+          -0.9027687311172485,
+          -0.12875492870807648,
+          -0.41040319204330444,
+          77.24571228027344
+        ],
+        [
+          0.41836223006248474,
+          -0.04122001305222511,
+          -0.9073444604873657,
+          21.968996047973633
+        ],
+        [
+          0.0999082401394844,
+          -0.9908193945884705,
+          0.09107833355665207,
+          -27.584566116333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6155,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_883082628",
+      "mask_path": "../../mask/hdr_left_06155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06157.png",
+      "transform_matrix": [
+        [
+          -0.9024630188941956,
+          -0.11833550781011581,
+          -0.41419467329978943,
+          77.13323974609375
+        ],
+        [
+          0.42016035318374634,
+          -0.02974836528301239,
+          -0.9069620370864868,
+          21.98848533630371
+        ],
+        [
+          0.09500420093536377,
+          -0.9925280213356018,
+          0.07656668871641159,
+          -27.579851150512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6157,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_83081960",
+      "mask_path": "../../mask/hdr_left_06157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06158.png",
+      "transform_matrix": [
+        [
+          -0.9003037810325623,
+          -0.11729459464550018,
+          -0.41915979981422424,
+          77.04883575439453
+        ],
+        [
+          0.4250665009021759,
+          -0.02972022444009781,
+          -0.9046741127967834,
+          22.01720428466797
+        ],
+        [
+          0.09365586936473846,
+          -0.9926524758338928,
+          0.07661523669958115,
+          -27.569612503051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6158,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_183081150",
+      "mask_path": "../../mask/hdr_left_06158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06159.png",
+      "transform_matrix": [
+        [
+          -0.8977233171463013,
+          -0.11928660422563553,
+          -0.42410314083099365,
+          76.97272491455078
+        ],
+        [
+          0.43057194352149963,
+          -0.03374380245804787,
+          -0.901925265789032,
+          22.04653549194336
+        ],
+        [
+          0.093276746571064,
+          -0.9922863245010376,
+          0.08165406435728073,
+          -27.56283950805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6159,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_283081531",
+      "mask_path": "../../mask/hdr_left_06159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06160.png",
+      "transform_matrix": [
+        [
+          -0.8950799703598022,
+          -0.12380807101726532,
+          -0.42837297916412354,
+          76.89319610595703
+        ],
+        [
+          0.4355453848838806,
+          -0.036866333335638046,
+          -0.8994114995002747,
+          22.064380645751953
+        ],
+        [
+          0.09556184709072113,
+          -0.991621196269989,
+          0.08692234754562378,
+          -27.551769256591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6160,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_383081197",
+      "mask_path": "../../mask/hdr_left_06160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06161.png",
+      "transform_matrix": [
+        [
+          -0.8965023159980774,
+          -0.10282187908887863,
+          -0.4309421181678772,
+          76.79865264892578
+        ],
+        [
+          0.43581321835517883,
+          -0.02971259504556656,
+          -0.8995465636253357,
+          22.08542823791504
+        ],
+        [
+          0.079688660800457,
+          -0.9942559003829956,
+          0.07144854217767715,
+          -27.544036865234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6161,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_483081817",
+      "mask_path": "../../mask/hdr_left_06161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06162.png",
+      "transform_matrix": [
+        [
+          -0.8992472290992737,
+          -0.08263179659843445,
+          -0.4295651316642761,
+          76.72452545166016
+        ],
+        [
+          0.432422935962677,
+          -0.019609518349170685,
+          -0.901457667350769,
+          22.102886199951172
+        ],
+        [
+          0.06606549769639969,
+          -0.996387243270874,
+          0.053365688771009445,
+          -27.537641525268555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6162,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_583081722",
+      "mask_path": "../../mask/hdr_left_06162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06163.png",
+      "transform_matrix": [
+        [
+          -0.8995581269264221,
+          -0.07902614772319794,
+          -0.4295928478240967,
+          76.66559600830078
+        ],
+        [
+          0.4321249723434448,
+          -0.017482805997133255,
+          -0.9016442894935608,
+          22.111082077026367
+        ],
+        [
+          0.0637429729104042,
+          -0.9967193007469177,
+          0.04987596720457077,
+          -27.53628921508789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6163,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_683080911",
+      "mask_path": "../../mask/hdr_left_06163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06164.png",
+      "transform_matrix": [
+        [
+          -0.8980719447135925,
+          -0.07969175279140472,
+          -0.4325691759586334,
+          76.580322265625
+        ],
+        [
+          0.4352862238883972,
+          -0.019743217155337334,
+          -0.9000755548477173,
+          22.121732711791992
+        ],
+        [
+          0.06318827718496323,
+          -0.9966241121292114,
+          0.05241955816745758,
+          -27.533546447753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6164,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_783081293",
+      "mask_path": "../../mask/hdr_left_06164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06165.png",
+      "transform_matrix": [
+        [
+          -0.8939111828804016,
+          -0.09519340097904205,
+          -0.4380193054676056,
+          76.4805908203125
+        ],
+        [
+          0.441450834274292,
+          -0.017481474205851555,
+          -0.8971151113510132,
+          22.162076950073242
+        ],
+        [
+          0.07774221152067184,
+          -0.9953053593635559,
+          0.05765009671449661,
+          -27.500465393066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6165,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_883082151",
+      "mask_path": "../../mask/hdr_left_06165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06166.png",
+      "transform_matrix": [
+        [
+          -0.8883691430091858,
+          -0.11000112444162369,
+          -0.44575759768486023,
+          76.40773010253906
+        ],
+        [
+          0.4503290355205536,
+          -0.019579878076910973,
+          -0.8926479816436768,
+          22.1947021484375
+        ],
+        [
+          0.08946438133716583,
+          -0.9937386512756348,
+          0.06693085283041,
+          -27.4705867767334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6166,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_983081102",
+      "mask_path": "../../mask/hdr_left_06166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06167.png",
+      "transform_matrix": [
+        [
+          -0.883979082107544,
+          -0.12071000784635544,
+          -0.4516747295856476,
+          76.32923889160156
+        ],
+        [
+          0.4578513205051422,
+          -0.027985822409391403,
+          -0.8885881900787354,
+          22.20022201538086
+        ],
+        [
+          0.09462099522352219,
+          -0.9922932982444763,
+          0.08000612258911133,
+          -27.458993911743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6167,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_83082675",
+      "mask_path": "../../mask/hdr_left_06167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06168.png",
+      "transform_matrix": [
+        [
+          -0.883135974407196,
+          -0.12204579263925552,
+          -0.4529632329940796,
+          76.21434783935547
+        ],
+        [
+          0.4594401717185974,
+          -0.029910137876868248,
+          -0.8877049684524536,
+          22.21759033203125
+        ],
+        [
+          0.0947924554347992,
+          -0.9920737147331238,
+          0.08248745650053024,
+          -27.443389892578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6168,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_183082342",
+      "mask_path": "../../mask/hdr_left_06168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06169.png",
+      "transform_matrix": [
+        [
+          -0.884654700756073,
+          -0.11814339458942413,
+          -0.4510301351547241,
+          76.13201141357422
+        ],
+        [
+          0.4564829170703888,
+          -0.022536326199769974,
+          -0.8894466757774353,
+          22.22841453552246
+        ],
+        [
+          0.0949176773428917,
+          -0.99274080991745,
+          0.0738673061132431,
+          -27.428852081298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6169,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_283081769",
+      "mask_path": "../../mask/hdr_left_06169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06170.png",
+      "transform_matrix": [
+        [
+          -0.885273814201355,
+          -0.11648629605770111,
+          -0.45024561882019043,
+          76.08142852783203
+        ],
+        [
+          0.4551219940185547,
+          -0.017822567373514175,
+          -0.8902507424354553,
+          22.232547760009766
+        ],
+        [
+          0.0956774652004242,
+          -0.9930324554443359,
+          0.06879332661628723,
+          -27.420333862304688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6170,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_383081912",
+      "mask_path": "../../mask/hdr_left_06170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06171.png",
+      "transform_matrix": [
+        [
+          -0.8847588300704956,
+          -0.1185230016708374,
+          -0.45072609186172485,
+          76.00684356689453
+        ],
+        [
+          0.4553739130496979,
+          -0.01404277142137289,
+          -0.8901895880699158,
+          22.246891021728516
+        ],
+        [
+          0.0991784930229187,
+          -0.9928520321846008,
+          0.06639674305915833,
+          -27.4173583984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6171,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_483082771",
+      "mask_path": "../../mask/hdr_left_06171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06172.png",
+      "transform_matrix": [
+        [
+          -0.8818588256835938,
+          -0.1262727975845337,
+          -0.45429086685180664,
+          75.91927337646484
+        ],
+        [
+          0.4593764841556549,
+          -0.012889514677226543,
+          -0.8881481289863586,
+          22.260234832763672
+        ],
+        [
+          0.10629336535930634,
+          -0.9919118285179138,
+          0.06937349587678909,
+          -27.3938045501709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6172,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_583083152",
+      "mask_path": "../../mask/hdr_left_06172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06173.png",
+      "transform_matrix": [
+        [
+          -0.8778184652328491,
+          -0.13270488381385803,
+          -0.46024346351623535,
+          75.85702514648438
+        ],
+        [
+          0.46598735451698303,
+          -0.014207283034920692,
+          -0.8846772313117981,
+          22.280044555664062
+        ],
+        [
+          0.11086217314004898,
+          -0.9910538196563721,
+          0.07431020587682724,
+          -27.377721786499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6173,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_683082342",
+      "mask_path": "../../mask/hdr_left_06173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06174.png",
+      "transform_matrix": [
+        [
+          -0.8728302121162415,
+          -0.14974036812782288,
+          -0.46448376774787903,
+          75.75149536132812
+        ],
+        [
+          0.4720315933227539,
+          -0.0173813309520483,
+          -0.8814102411270142,
+          22.296573638916016
+        ],
+        [
+          0.1239093467593193,
+          -0.9885725975036621,
+          0.08585312962532043,
+          -27.3525333404541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6174,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_783081769",
+      "mask_path": "../../mask/hdr_left_06174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06175.png",
+      "transform_matrix": [
+        [
+          -0.8703902363777161,
+          -0.15611307322978973,
+          -0.46695777773857117,
+          75.6351318359375
+        ],
+        [
+          0.47309255599975586,
+          -0.0024406237062066793,
+          -0.8810093402862549,
+          22.31910514831543
+        ],
+        [
+          0.13639740645885468,
+          -0.987736165523529,
+          0.07598022371530533,
+          -27.309303283691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6175,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_883080959",
+      "mask_path": "../../mask/hdr_left_06175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06176.png",
+      "transform_matrix": [
+        [
+          -0.8691412210464478,
+          -0.15115007758140564,
+          -0.4709002673625946,
+          75.57879638671875
+        ],
+        [
+          0.4742155373096466,
+          0.01560874655842781,
+          -0.8802703619003296,
+          22.343915939331055
+        ],
+        [
+          0.14040307700634003,
+          -0.9883876442909241,
+          0.05811150372028351,
+          -27.307802200317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6176,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_983081817",
+      "mask_path": "../../mask/hdr_left_06176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06177.png",
+      "transform_matrix": [
+        [
+          -0.8667484521865845,
+          -0.1493619978427887,
+          -0.47585514187812805,
+          75.5195541381836
+        ],
+        [
+          0.4782595932483673,
+          0.021732646971940994,
+          -0.877949595451355,
+          22.37333106994629
+        ],
+        [
+          0.1414738893508911,
+          -0.988543689250946,
+          0.05259706825017929,
+          -27.31394386291504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6177,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_83083868",
+      "mask_path": "../../mask/hdr_left_06177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06178.png",
+      "transform_matrix": [
+        [
+          -0.8629258871078491,
+          -0.1406036615371704,
+          -0.4853755831718445,
+          75.43020629882812
+        ],
+        [
+          0.488037645816803,
+          0.017238685861229897,
+          -0.8726523518562317,
+          22.408113479614258
+        ],
+        [
+          0.13106532394886017,
+          -0.9899159073829651,
+          0.05374416708946228,
+          -27.28928565979004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6178,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_183081388",
+      "mask_path": "../../mask/hdr_left_06178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06179.png",
+      "transform_matrix": [
+        [
+          -0.858535885810852,
+          -0.13409915566444397,
+          -0.4949076473712921,
+          75.36383819580078
+        ],
+        [
+          0.49815794825553894,
+          0.010511807166039944,
+          -0.8670225143432617,
+          22.435842514038086
+        ],
+        [
+          0.12146934121847153,
+          -0.9909122586250305,
+          0.057777803391218185,
+          -27.276132583618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6179,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_283081054",
+      "mask_path": "../../mask/hdr_left_06179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06180.png",
+      "transform_matrix": [
+        [
+          -0.8542703986167908,
+          -0.1343316286802292,
+          -0.5021723508834839,
+          75.31159973144531
+        ],
+        [
+          0.5056748986244202,
+          0.00914689153432846,
+          -0.862675666809082,
+          22.465822219848633
+        ],
+        [
+          0.12047793716192245,
+          -0.9908943176269531,
+          0.060114212334156036,
+          -27.26542854309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6180,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_383080005",
+      "mask_path": "../../mask/hdr_left_06180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06181.png",
+      "transform_matrix": [
+        [
+          -0.8497398495674133,
+          -0.1301962286233902,
+          -0.5108728408813477,
+          75.24661254882812
+        ],
+        [
+          0.5145783424377441,
+          0.005961963906884193,
+          -0.8574225306510925,
+          22.502294540405273
+        ],
+        [
+          0.11467897891998291,
+          -0.9914703965187073,
+          0.061930034309625626,
+          -27.25088882446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6181,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_483080863",
+      "mask_path": "../../mask/hdr_left_06181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06182.png",
+      "transform_matrix": [
+        [
+          -0.8486199975013733,
+          -0.12293163686990738,
+          -0.514521062374115,
+          75.167236328125
+        ],
+        [
+          0.5171099901199341,
+          0.012307016178965569,
+          -0.8558304905891418,
+          22.544780731201172
+        ],
+        [
+          0.11154085397720337,
+          -0.9923388957977295,
+          0.053125202655792236,
+          -27.23418617248535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6182,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_583080530",
+      "mask_path": "../../mask/hdr_left_06182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06183.png",
+      "transform_matrix": [
+        [
+          -0.8497270345687866,
+          -0.11827568709850311,
+          -0.5137847661972046,
+          75.09371185302734
+        ],
+        [
+          0.5152283906936646,
+          0.02039782516658306,
+          -0.8568102717399597,
+          22.5760555267334
+        ],
+        [
+          0.11181990057229996,
+          -0.992771327495575,
+          0.04360640421509743,
+          -27.226408004760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6183,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_683080434",
+      "mask_path": "../../mask/hdr_left_06183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06184.png",
+      "transform_matrix": [
+        [
+          -0.8509109616279602,
+          -0.11426214128732681,
+          -0.5127326250076294,
+          75.02291870117188
+        ],
+        [
+          0.5137639045715332,
+          0.022500144317746162,
+          -0.857636570930481,
+          22.597980499267578
+        ],
+        [
+          0.109531931579113,
+          -0.9931958913803101,
+          0.03955814242362976,
+          -27.224205017089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6184,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_783080339",
+      "mask_path": "../../mask/hdr_left_06184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06185.png",
+      "transform_matrix": [
+        [
+          -0.8508094549179077,
+          -0.1058778315782547,
+          -0.5146971940994263,
+          74.93448638916016
+        ],
+        [
+          0.5160872936248779,
+          0.015945417806506157,
+          -0.8563876152038574,
+          22.633203506469727
+        ],
+        [
+          0.09887951612472534,
+          -0.9942513108253479,
+          0.041075699031353,
+          -27.217329025268555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6185,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_883080720",
+      "mask_path": "../../mask/hdr_left_06185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06186.png",
+      "transform_matrix": [
+        [
+          -0.8475578427314758,
+          -0.10823870450258255,
+          -0.5195479393005371,
+          74.853759765625
+        ],
+        [
+          0.5215769410133362,
+          0.010882000438869,
+          -0.8531348705291748,
+          22.664968490600586
+        ],
+        [
+          0.09799592196941376,
+          -0.9940654039382935,
+          0.04723168537020683,
+          -27.19059181213379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6186,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_983080625",
+      "mask_path": "../../mask/hdr_left_06186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04238.png",
+      "transform_matrix": [
+        [
+          -0.9879605770111084,
+          -0.14552567899227142,
+          -0.05249909684062004,
+          75.2146987915039
+        ],
+        [
+          0.061000701040029526,
+          -0.05458405613899231,
+          -0.996644139289856,
+          22.553701400756836
+        ],
+        [
+          0.1421716958284378,
+          -0.9878475666046143,
+          0.06280406564474106,
+          -27.224035263061523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4238,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_283082246",
+      "mask_path": "../../mask/hdr_right_04238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04239.png",
+      "transform_matrix": [
+        [
+          -0.989591658115387,
+          -0.13719603419303894,
+          -0.043425675481557846,
+          75.26969909667969
+        ],
+        [
+          0.050569094717502594,
+          -0.04901690036058426,
+          -0.9975169897079468,
+          22.549612045288086
+        ],
+        [
+          0.13472677767276764,
+          -0.9893303513526917,
+          0.05544460192322731,
+          -27.224031448364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4239,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_383081436",
+      "mask_path": "../../mask/hdr_right_04239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04240.png",
+      "transform_matrix": [
+        [
+          -0.9883902668952942,
+          -0.14707385003566742,
+          -0.03813215345144272,
+          75.33417510986328
+        ],
+        [
+          0.04213415086269379,
+          -0.024191226810216904,
+          -0.9988190531730652,
+          22.541866302490234
+        ],
+        [
+          0.1459776908159256,
+          -0.9888296127319336,
+          0.03010721132159233,
+          -27.233123779296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4240,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_483081817",
+      "mask_path": "../../mask/hdr_right_04240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04244.png",
+      "transform_matrix": [
+        [
+          -0.9846243858337402,
+          -0.17067570984363556,
+          -0.03721050173044205,
+          75.54127502441406
+        ],
+        [
+          0.03927081450819969,
+          -0.008710330352187157,
+          -0.9991906881332397,
+          22.516389846801758
+        ],
+        [
+          0.17021344602108002,
+          -0.9852887392044067,
+          0.015278978273272514,
+          -27.271411895751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4244,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_883082628",
+      "mask_path": "../../mask/hdr_right_04244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04245.png",
+      "transform_matrix": [
+        [
+          -0.98447585105896,
+          -0.1729339063167572,
+          -0.03002144768834114,
+          75.61289978027344
+        ],
+        [
+          0.03259998559951782,
+          -0.012089114636182785,
+          -0.9993954300880432,
+          22.516111373901367
+        ],
+        [
+          0.17246641218662262,
+          -0.9848592281341553,
+          0.017539087682962418,
+          -27.304767608642578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4245,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323687_983080863",
+      "mask_path": "../../mask/hdr_right_04245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04247.png",
+      "transform_matrix": [
+        [
+          -0.9859777688980103,
+          -0.16573846340179443,
+          -0.01945573464035988,
+          75.69902038574219
+        ],
+        [
+          0.02243872545659542,
+          -0.016144884750247,
+          -0.999617874622345,
+          22.52158546447754
+        ],
+        [
+          0.16536101698875427,
+          -0.9860376119613647,
+          0.019637467339634895,
+          -27.347286224365234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4247,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_183079481",
+      "mask_path": "../../mask/hdr_right_04247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04248.png",
+      "transform_matrix": [
+        [
+          -0.9854974150657654,
+          -0.1687822788953781,
+          -0.0175322275608778,
+          75.757080078125
+        ],
+        [
+          0.021930115297436714,
+          -0.02422785386443138,
+          -0.9994659423828125,
+          22.508743286132812
+        ],
+        [
+          0.1682673692703247,
+          -0.9853556156158447,
+          0.027577904984354973,
+          -27.358917236328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4248,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_283080577",
+      "mask_path": "../../mask/hdr_right_04248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04249.png",
+      "transform_matrix": [
+        [
+          -0.9850569367408752,
+          -0.1707305908203125,
+          -0.022673405706882477,
+          75.81275177001953
+        ],
+        [
+          0.02814161591231823,
+          -0.02967637963593006,
+          -0.9991632699966431,
+          22.48409080505371
+        ],
+        [
+          0.16991488635540009,
+          -0.9848707318305969,
+          0.03403756022453308,
+          -27.356914520263672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4249,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_383081674",
+      "mask_path": "../../mask/hdr_right_04249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04251.png",
+      "transform_matrix": [
+        [
+          -0.9857978224754333,
+          -0.1613965481519699,
+          -0.046409763395786285,
+          75.90169525146484
+        ],
+        [
+          0.051905203610658646,
+          -0.029999131336808205,
+          -0.998201310634613,
+          22.437593460083008
+        ],
+        [
+          0.1597139984369278,
+          -0.9864335656166077,
+          0.03795040026307106,
+          -27.355892181396484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4251,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_583080530",
+      "mask_path": "../../mask/hdr_right_04251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04252.png",
+      "transform_matrix": [
+        [
+          -0.9858771562576294,
+          -0.15874747931957245,
+          -0.053341928869485855,
+          75.958984375
+        ],
+        [
+          0.05931530147790909,
+          -0.033127784729003906,
+          -0.9976894855499268,
+          22.412630081176758
+        ],
+        [
+          0.15661358833312988,
+          -0.9867632985115051,
+          0.04207608848810196,
+          -27.35755729675293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4252,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_683081150",
+      "mask_path": "../../mask/hdr_right_04252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04253.png",
+      "transform_matrix": [
+        [
+          -0.9865608215332031,
+          -0.1541779488325119,
+          -0.05410100147128105,
+          76.02198028564453
+        ],
+        [
+          0.06080085411667824,
+          -0.03907325491309166,
+          -0.9973848462104797,
+          22.400026321411133
+        ],
+        [
+          0.15166084468364716,
+          -0.987270176410675,
+          0.04792230203747749,
+          -27.370271682739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4253,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_783082008",
+      "mask_path": "../../mask/hdr_right_04253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04255.png",
+      "transform_matrix": [
+        [
+          -0.9887571334838867,
+          -0.14178939163684845,
+          -0.04748905822634697,
+          76.12599182128906
+        ],
+        [
+          0.05446178838610649,
+          -0.0457058921456337,
+          -0.9974693059921265,
+          22.38376235961914
+        ],
+        [
+          0.13926002383232117,
+          -0.9888411164283752,
+          0.05291413888335228,
+          -27.386070251464844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4255,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323688_983081340",
+      "mask_path": "../../mask/hdr_right_04255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04256.png",
+      "transform_matrix": [
+        [
+          -0.9884253144264221,
+          -0.14389115571975708,
+          -0.04806959256529808,
+          76.19359588623047
+        ],
+        [
+          0.05450984090566635,
+          -0.04115333408117294,
+          -0.9976648092269897,
+          22.37000274658203
+        ],
+        [
+          0.14157693088054657,
+          -0.9887374639511108,
+          0.048520490527153015,
+          -27.402860641479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4256,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_83081245",
+      "mask_path": "../../mask/hdr_right_04256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04257.png",
+      "transform_matrix": [
+        [
+          -0.9861302971839905,
+          -0.15531764924526215,
+          -0.05851190164685249,
+          76.26747131347656
+        ],
+        [
+          0.06351388245820999,
+          -0.027435852214694023,
+          -0.9976037740707397,
+          22.34626579284668
+        ],
+        [
+          0.15334011614322662,
+          -0.987483561038971,
+          0.036920152604579926,
+          -27.410219192504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4257,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_183081626",
+      "mask_path": "../../mask/hdr_right_04257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04258.png",
+      "transform_matrix": [
+        [
+          -0.9835506677627563,
+          -0.16564056277275085,
+          -0.07205121219158173,
+          76.32108306884766
+        ],
+        [
+          0.07690884917974472,
+          -0.023093506693840027,
+          -0.9967706799507141,
+          22.313953399658203
+        ],
+        [
+          0.1634417325258255,
+          -0.9859157800674438,
+          0.03545285761356354,
+          -27.40772247314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4258,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_283082485",
+      "mask_path": "../../mask/hdr_right_04258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04260.png",
+      "transform_matrix": [
+        [
+          -0.9809720516204834,
+          -0.17288336157798767,
+          -0.08834707736968994,
+          76.43811798095703
+        ],
+        [
+          0.09429128468036652,
+          -0.02646162547171116,
+          -0.9951930046081543,
+          22.289230346679688
+        ],
+        [
+          0.16971448063850403,
+          -0.9845867156982422,
+          0.04225950315594673,
+          -27.4500675201416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4260,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_483082056",
+      "mask_path": "../../mask/hdr_right_04260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04261.png",
+      "transform_matrix": [
+        [
+          -0.9811897873878479,
+          -0.17257575690746307,
+          -0.0865112915635109,
+          76.51312255859375
+        ],
+        [
+          0.09343774616718292,
+          -0.032409004867076874,
+          -0.9950974583625793,
+          22.27841567993164
+        ],
+        [
+          0.16892597079277039,
+          -0.9844628572463989,
+          0.047924481332302094,
+          -27.47812843322754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4261,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_583081245",
+      "mask_path": "../../mask/hdr_right_04261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04262.png",
+      "transform_matrix": [
+        [
+          -0.9823749661445618,
+          -0.16703908145427704,
+          -0.0838896632194519,
+          76.57074737548828
+        ],
+        [
+          0.09099284559488297,
+          -0.03532145917415619,
+          -0.9952250123023987,
+          22.261125564575195
+        ],
+        [
+          0.16327835619449615,
+          -0.9853174090385437,
+          0.04989829286932945,
+          -27.489824295043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4262,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_683081865",
+      "mask_path": "../../mask/hdr_right_04262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04263.png",
+      "transform_matrix": [
+        [
+          -0.9837403893470764,
+          -0.16027669608592987,
+          -0.08103189617395401,
+          76.62866973876953
+        ],
+        [
+          0.08838804811239243,
+          -0.03930099308490753,
+          -0.9953105449676514,
+          22.249168395996094
+        ],
+        [
+          0.15634045004844666,
+          -0.9862894415855408,
+          0.05282852426171303,
+          -27.507108688354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4263,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_783081769",
+      "mask_path": "../../mask/hdr_right_04263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04264.png",
+      "transform_matrix": [
+        [
+          -0.9834890961647034,
+          -0.16110609471797943,
+          -0.08242619782686234,
+          76.7063980102539
+        ],
+        [
+          0.08957988768815994,
+          -0.03764403238892555,
+          -0.9952680468559265,
+          22.22279930114746
+        ],
+        [
+          0.1572408825159073,
+          -0.9862188696861267,
+          0.051454365253448486,
+          -27.519590377807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4264,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_883082628",
+      "mask_path": "../../mask/hdr_right_04264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04265.png",
+      "transform_matrix": [
+        [
+          -0.9824498891830444,
+          -0.16207975149154663,
+          -0.09231723099946976,
+          76.78315734863281
+        ],
+        [
+          0.09902317076921463,
+          -0.033778268843889236,
+          -0.9945116639137268,
+          22.191959381103516
+        ],
+        [
+          0.15807190537452698,
+          -0.9861993789672852,
+          0.04923510551452637,
+          -27.520263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4265,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323689_983082056",
+      "mask_path": "../../mask/hdr_right_04265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04266.png",
+      "transform_matrix": [
+        [
+          -0.9817054271697998,
+          -0.15730540454387665,
+          -0.10728298127651215,
+          76.84333038330078
+        ],
+        [
+          0.11331630498170853,
+          -0.029874956235289574,
+          -0.9931097030639648,
+          22.17026710510254
+        ],
+        [
+          0.15301646292209625,
+          -0.9870980381965637,
+          0.047153692692518234,
+          -27.521873474121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4266,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_83082675",
+      "mask_path": "../../mask/hdr_right_04266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04267.png",
+      "transform_matrix": [
+        [
+          -0.9816522598266602,
+          -0.14702320098876953,
+          -0.12142109125852585,
+          76.90412139892578
+        ],
+        [
+          0.12721632421016693,
+          -0.030642421916127205,
+          -0.9914016127586365,
+          22.1439266204834
+        ],
+        [
+          0.14203839004039764,
+          -0.9886583685874939,
+          0.048783961683511734,
+          -27.524578094482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4267,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_183081626",
+      "mask_path": "../../mask/hdr_right_04267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04268.png",
+      "transform_matrix": [
+        [
+          -0.9825674295425415,
+          -0.1350385844707489,
+          -0.12777197360992432,
+          77.00031280517578
+        ],
+        [
+          0.13427147269248962,
+          -0.040134888142347336,
+          -0.9901314973831177,
+          22.1209659576416
+        ],
+        [
+          0.12857785820960999,
+          -0.9900271892547607,
+          0.05756707116961479,
+          -27.528230667114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4268,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_283082246",
+      "mask_path": "../../mask/hdr_right_04268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04269.png",
+      "transform_matrix": [
+        [
+          -0.9841885566711426,
+          -0.12948726117610931,
+          -0.12085487693548203,
+          77.07916259765625
+        ],
+        [
+          0.12841017544269562,
+          -0.05165111646056175,
+          -0.9903751611709595,
+          22.115718841552734
+        ],
+        [
+          0.12199869751930237,
+          -0.9902349710464478,
+          0.06746192276477814,
+          -27.537851333618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4269,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_383079051",
+      "mask_path": "../../mask/hdr_right_04269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04271.png",
+      "transform_matrix": [
+        [
+          -0.9884189963340759,
+          -0.11830572783946991,
+          -0.09503558278083801,
+          77.1727523803711
+        ],
+        [
+          0.10304498672485352,
+          -0.0635211169719696,
+          -0.9926463961601257,
+          22.127771377563477
+        ],
+        [
+          0.11139898002147675,
+          -0.9909433126449585,
+          0.07497628778219223,
+          -27.559751510620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4271,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_583080530",
+      "mask_path": "../../mask/hdr_right_04271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04272.png",
+      "transform_matrix": [
+        [
+          -0.986899197101593,
+          -0.13049332797527313,
+          -0.09487617015838623,
+          77.25013732910156
+        ],
+        [
+          0.10161983221769333,
+          -0.046014126390218735,
+          -0.9937585592269897,
+          22.120655059814453
+        ],
+        [
+          0.12531323730945587,
+          -0.9903808236122131,
+          0.05867201089859009,
+          -27.571271896362305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4272,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_683083295",
+      "mask_path": "../../mask/hdr_right_04272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04275.png",
+      "transform_matrix": [
+        [
+          -0.981734037399292,
+          -0.15117719769477844,
+          -0.11551560461521149,
+          77.38477325439453
+        ],
+        [
+          0.12263013422489166,
+          -0.03858499974012375,
+          -0.9917020797729492,
+          22.098546981811523
+        ],
+        [
+          0.14546558260917664,
+          -0.9877533912658691,
+          0.05641908571124077,
+          -27.59600830078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4275,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323690_983082532",
+      "mask_path": "../../mask/hdr_right_04275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04276.png",
+      "transform_matrix": [
+        [
+          -0.9833023548126221,
+          -0.1333865374326706,
+          -0.12379197031259537,
+          77.44478607177734
+        ],
+        [
+          0.12938164174556732,
+          -0.03405304625630379,
+          -0.9910099506378174,
+          22.086271286010742
+        ],
+        [
+          0.12797190248966217,
+          -0.9904788732528687,
+          0.05074221268296242,
+          -27.611797332763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4276,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_83082437",
+      "mask_path": "../../mask/hdr_right_04276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04277.png",
+      "transform_matrix": [
+        [
+          -0.9847908020019531,
+          -0.11925314366817474,
+          -0.12635591626167297,
+          77.51856231689453
+        ],
+        [
+          0.13153907656669617,
+          -0.03661100193858147,
+          -0.9906347393989563,
+          22.078990936279297
+        ],
+        [
+          0.11351029574871063,
+          -0.9921886324882507,
+          0.051740627735853195,
+          -27.613937377929688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4277,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_183081150",
+      "mask_path": "../../mask/hdr_right_04277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04279.png",
+      "transform_matrix": [
+        [
+          -0.9864566326141357,
+          -0.10443150252103806,
+          -0.12648044526576996,
+          77.60742950439453
+        ],
+        [
+          0.1310761719942093,
+          -0.038356389850378036,
+          -0.9906300902366638,
+          22.060909271240234
+        ],
+        [
+          0.09860164672136307,
+          -0.9937921166419983,
+          0.05152539163827896,
+          -27.634248733520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4279,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_383081197",
+      "mask_path": "../../mask/hdr_right_04279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04280.png",
+      "transform_matrix": [
+        [
+          -0.9871068596839905,
+          -0.0974748358130455,
+          -0.12695956230163574,
+          77.66752624511719
+        ],
+        [
+          0.13089565932750702,
+          -0.03508228063583374,
+          -0.9907752871513367,
+          22.03946876525879
+        ],
+        [
+          0.09212161600589752,
+          -0.9946194887161255,
+          0.04738900065422058,
+          -27.653362274169922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4280,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_483081817",
+      "mask_path": "../../mask/hdr_right_04280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04281.png",
+      "transform_matrix": [
+        [
+          -0.984217643737793,
+          -0.11023981124162674,
+          -0.13842950761318207,
+          77.72234344482422
+        ],
+        [
+          0.14043943583965302,
+          -0.010644018650054932,
+          -0.9900321960449219,
+          22.008588790893555
+        ],
+        [
+          0.10766749829053879,
+          -0.9938479661941528,
+          0.025958053767681122,
+          -27.661352157592773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4281,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_583081245",
+      "mask_path": "../../mask/hdr_right_04281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04283.png",
+      "transform_matrix": [
+        [
+          -0.9772406816482544,
+          -0.13361018896102905,
+          -0.16476956009864807,
+          77.79379272460938
+        ],
+        [
+          0.165773406624794,
+          0.0036533891689032316,
+          -0.9861571192741394,
+          21.9786319732666
+        ],
+        [
+          0.13236260414123535,
+          -0.9910272359848022,
+          0.018578775227069855,
+          -27.682479858398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4283,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_783080816",
+      "mask_path": "../../mask/hdr_right_04283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04284.png",
+      "transform_matrix": [
+        [
+          -0.9755716919898987,
+          -0.12713617086410522,
+          -0.17915432155132294,
+          77.85181427001953
+        ],
+        [
+          0.1798645406961441,
+          0.005966650787740946,
+          -0.9836733341217041,
+          21.965431213378906
+        ],
+        [
+          0.1261294037103653,
+          -0.9918673038482666,
+          0.017046388238668442,
+          -27.696470260620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4284,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_883080005",
+      "mask_path": "../../mask/hdr_right_04284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04285.png",
+      "transform_matrix": [
+        [
+          -0.9744449853897095,
+          -0.1252819150686264,
+          -0.18644417822360992,
+          77.91812896728516
+        ],
+        [
+          0.18826568126678467,
+          -0.0027545022312551737,
+          -0.9821144342422485,
+          21.94202995300293
+        ],
+        [
+          0.1225275993347168,
+          -0.9921173453330994,
+          0.026270397007465363,
+          -27.686893463134766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4285,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323691_983080148",
+      "mask_path": "../../mask/hdr_right_04285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04287.png",
+      "transform_matrix": [
+        [
+          -0.9751182794570923,
+          -0.12343505024909973,
+          -0.184141606092453,
+          78.00153350830078
+        ],
+        [
+          0.1882883906364441,
+          -0.022715123370289803,
+          -0.9818511009216309,
+          21.917646408081055
+        ],
+        [
+          0.11701203882694244,
+          -0.9920926094055176,
+          0.04539131745696068,
+          -27.698780059814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4287,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_183079481",
+      "mask_path": "../../mask/hdr_right_04287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04289.png",
+      "transform_matrix": [
+        [
+          -0.9764817357063293,
+          -0.12623730301856995,
+          -0.17477846145629883,
+          78.10185241699219
+        ],
+        [
+          0.1783125251531601,
+          -0.017171965911984444,
+          -0.9838240146636963,
+          21.905080795288086
+        ],
+        [
+          0.12119400501251221,
+          -0.9918514490127563,
+          0.0392778143286705,
+          -27.72782325744629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4289,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_383079767",
+      "mask_path": "../../mask/hdr_right_04289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04291.png",
+      "transform_matrix": [
+        [
+          -0.9712632894515991,
+          -0.16266268491744995,
+          -0.17374838888645172,
+          78.15434265136719
+        ],
+        [
+          0.17424003779888153,
+          0.011350179091095924,
+          -0.9846377968788147,
+          21.90207290649414
+        ],
+        [
+          0.16213591396808624,
+          -0.9866164922714233,
+          0.01731833629310131,
+          -27.727611541748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4291,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_583079338",
+      "mask_path": "../../mask/hdr_right_04291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04292.png",
+      "transform_matrix": [
+        [
+          -0.9711127877235413,
+          -0.17065073549747467,
+          -0.16678792238235474,
+          78.19671630859375
+        ],
+        [
+          0.16918379068374634,
+          0.0005096985842101276,
+          -0.9855844974517822,
+          21.884754180908203
+        ],
+        [
+          0.16827569901943207,
+          -0.9853314757347107,
+          0.028376370668411255,
+          -27.755897521972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4292,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_683079957",
+      "mask_path": "../../mask/hdr_right_04292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04294.png",
+      "transform_matrix": [
+        [
+          -0.971133291721344,
+          -0.18828269839286804,
+          -0.14645759761333466,
+          78.28697967529297
+        ],
+        [
+          0.15190096199512482,
+          -0.014733843505382538,
+          -0.9882859587669373,
+          21.85516357421875
+        ],
+        [
+          0.1839192658662796,
+          -0.9820044040679932,
+          0.04290885105729103,
+          -27.797937393188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4294,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_883078813",
+      "mask_path": "../../mask/hdr_right_04294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04295.png",
+      "transform_matrix": [
+        [
+          -0.9745551943778992,
+          -0.17802368104457855,
+          -0.13619746267795563,
+          78.34329223632812
+        ],
+        [
+          0.14035040140151978,
+          -0.010886311531066895,
+          -0.9900421500205994,
+          21.847227096557617
+        ],
+        [
+          0.17476823925971985,
+          -0.9839659929275513,
+          0.03559499979019165,
+          -27.775907516479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4295,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323692_983080148",
+      "mask_path": "../../mask/hdr_right_04295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04297.png",
+      "transform_matrix": [
+        [
+          -0.9794349670410156,
+          -0.17182737588882446,
+          -0.10574758797883987,
+          78.4114990234375
+        ],
+        [
+          0.1124509945511818,
+          -0.029731184244155884,
+          -0.9932123422622681,
+          21.851892471313477
+        ],
+        [
+          0.16751708090305328,
+          -0.984678328037262,
+          0.04844192788004875,
+          -27.786840438842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4297,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_183079719",
+      "mask_path": "../../mask/hdr_right_04297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04299.png",
+      "transform_matrix": [
+        [
+          -0.973237931728363,
+          -0.2052389532327652,
+          -0.10336838662624359,
+          78.49164581298828
+        ],
+        [
+          0.10745685547590256,
+          -0.008845007047057152,
+          -0.9941704273223877,
+          21.856468200683594
+        ],
+        [
+          0.20312820374965668,
+          -0.9786719679832458,
+          0.03066263720393181,
+          -27.83504867553711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4299,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_383081197",
+      "mask_path": "../../mask/hdr_right_04299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04301.png",
+      "transform_matrix": [
+        [
+          -0.9649851322174072,
+          -0.23736655712127686,
+          -0.11162866652011871,
+          78.53922271728516
+        ],
+        [
+          0.11591669172048569,
+          -0.004139780532568693,
+          -0.99325031042099,
+          21.851726531982422
+        ],
+        [
+          0.23530229926109314,
+          -0.9714113473892212,
+          0.03150957450270653,
+          -27.8775691986084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4301,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_583081007",
+      "mask_path": "../../mask/hdr_right_04301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04303.png",
+      "transform_matrix": [
+        [
+          -0.9723730683326721,
+          -0.2000971883535385,
+          -0.12021529674530029,
+          78.65374755859375
+        ],
+        [
+          0.12557362020015717,
+          -0.014258192852139473,
+          -0.9919819235801697,
+          21.81849479675293
+        ],
+        [
+          0.19677871465682983,
+          -0.9796722531318665,
+          0.03899121284484863,
+          -27.87725257873535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4303,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_783081293",
+      "mask_path": "../../mask/hdr_right_04303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04304.png",
+      "transform_matrix": [
+        [
+          -0.9761193990707397,
+          -0.18366862833499908,
+          -0.11600353568792343,
+          78.73038482666016
+        ],
+        [
+          0.12246766686439514,
+          -0.024212172254920006,
+          -0.9921771883964539,
+          21.807762145996094
+        ],
+        [
+          0.17942312359809875,
+          -0.9826899766921997,
+          0.04612744599580765,
+          -27.876420974731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4304,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_883080482",
+      "mask_path": "../../mask/hdr_right_04304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04305.png",
+      "transform_matrix": [
+        [
+          -0.9791229367256165,
+          -0.17083318531513214,
+          -0.11015547066926956,
+          78.78256225585938
+        ],
+        [
+          0.11622178554534912,
+          -0.02589455619454384,
+          -0.9928856492042542,
+          21.799867630004883
+        ],
+        [
+          0.16676539182662964,
+          -0.9849597215652466,
+          0.04520847648382187,
+          -27.89244270324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4305,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323693_983081102",
+      "mask_path": "../../mask/hdr_right_04305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04306.png",
+      "transform_matrix": [
+        [
+          -0.9821362495422363,
+          -0.1558074653148651,
+          -0.10550977289676666,
+          78.84488677978516
+        ],
+        [
+          0.11072312295436859,
+          -0.025145146995782852,
+          -0.993533194065094,
+          21.785072326660156
+        ],
+        [
+          0.15214680135250092,
+          -0.987467348575592,
+          0.04194745421409607,
+          -27.8935604095459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4306,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_83079338",
+      "mask_path": "../../mask/hdr_right_04306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04307.png",
+      "transform_matrix": [
+        [
+          -0.9828713536262512,
+          -0.14908237755298615,
+          -0.1083449050784111,
+          78.94518280029297
+        ],
+        [
+          0.11300493776798248,
+          -0.023125357925891876,
+          -0.9933253526687622,
+          21.74569320678711
+        ],
+        [
+          0.14558178186416626,
+          -0.9885543584823608,
+          0.03957629203796387,
+          -27.919754028320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4307,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_183081626",
+      "mask_path": "../../mask/hdr_right_04307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04308.png",
+      "transform_matrix": [
+        [
+          -0.9753323793411255,
+          -0.17734429240226746,
+          -0.13143740594387054,
+          79.02494812011719
+        ],
+        [
+          0.1286212056875229,
+          0.027334759011864662,
+          -0.9913170337677002,
+          21.719764709472656
+        ],
+        [
+          0.17939721047878265,
+          -0.9837692379951477,
+          -0.003850235603749752,
+          -27.93365478515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4308,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_283081054",
+      "mask_path": "../../mask/hdr_right_04308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04310.png",
+      "transform_matrix": [
+        [
+          -0.9657194018363953,
+          -0.20718742907047272,
+          -0.15639527142047882,
+          79.09545135498047
+        ],
+        [
+          0.15096376836299896,
+          0.04187244176864624,
+          -0.987652063369751,
+          21.707883834838867
+        ],
+        [
+          0.2111777365207672,
+          -0.9774047136306763,
+          -0.009159225039184093,
+          -27.9289493560791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4310,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_483080387",
+      "mask_path": "../../mask/hdr_right_04310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04311.png",
+      "transform_matrix": [
+        [
+          -0.9670405983924866,
+          -0.20538048446178436,
+          -0.1505039781332016,
+          79.21397399902344
+        ],
+        [
+          0.15135899186134338,
+          0.011633812449872494,
+          -0.988410472869873,
+          21.676555633544922
+        ],
+        [
+          0.2047511637210846,
+          -0.9786130785942078,
+          0.0198358241468668,
+          -27.947847366333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4311,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_583080291",
+      "mask_path": "../../mask/hdr_right_04311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04314.png",
+      "transform_matrix": [
+        [
+          -0.9754345417022705,
+          -0.18341170251369476,
+          -0.12201488763093948,
+          79.37120819091797
+        ],
+        [
+          0.1319276988506317,
+          -0.0428067147731781,
+          -0.990334689617157,
+          21.636465072631836
+        ],
+        [
+          0.17641589045524597,
+          -0.982103705406189,
+          0.06595223397016525,
+          -27.985061645507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4314,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_883080720",
+      "mask_path": "../../mask/hdr_right_04314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04315.png",
+      "transform_matrix": [
+        [
+          -0.9713256359100342,
+          -0.19319495558738708,
+          -0.13857227563858032,
+          79.45353698730469
+        ],
+        [
+          0.144819438457489,
+          -0.018527379259467125,
+          -0.9892846941947937,
+          21.60236930847168
+        ],
+        [
+          0.18855741620063782,
+          -0.9809855222702026,
+          0.04597451165318489,
+          -27.995943069458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4315,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323694_983081102",
+      "mask_path": "../../mask/hdr_right_04315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04317.png",
+      "transform_matrix": [
+        [
+          -0.9650827050209045,
+          -0.1944199949502945,
+          -0.17554569244384766,
+          79.52388763427734
+        ],
+        [
+          0.18061989545822144,
+          -0.008544416166841984,
+          -0.9835158586502075,
+          21.57489013671875
+        ],
+        [
+          0.1897152066230774,
+          -0.9808811545372009,
+          0.04336218908429146,
+          -27.99003791809082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4317,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_183078527",
+      "mask_path": "../../mask/hdr_right_04317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04318.png",
+      "transform_matrix": [
+        [
+          -0.9662203192710876,
+          -0.17740926146507263,
+          -0.1869337409734726,
+          79.58004760742188
+        ],
+        [
+          0.19251957535743713,
+          -0.014655417762696743,
+          -0.9811837077140808,
+          21.550708770751953
+        ],
+        [
+          0.1713314652442932,
+          -0.9840280413627625,
+          0.04831511899828911,
+          -28.01430892944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4318,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_283079147",
+      "mask_path": "../../mask/hdr_right_04318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04319.png",
+      "transform_matrix": [
+        [
+          -0.9684758186340332,
+          -0.15841351449489594,
+          -0.19224923849105835,
+          79.66864013671875
+        ],
+        [
+          0.19825606048107147,
+          -0.022880183532834053,
+          -0.9798831939697266,
+          21.53843116760254
+        ],
+        [
+          0.1508280485868454,
+          -0.9871077537536621,
+          0.05356535688042641,
+          -28.0208683013916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4319,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_383080244",
+      "mask_path": "../../mask/hdr_right_04319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04320.png",
+      "transform_matrix": [
+        [
+          -0.9707884788513184,
+          -0.14619095623493195,
+          -0.19025780260562897,
+          79.73523712158203
+        ],
+        [
+          0.19675031304359436,
+          -0.031181441619992256,
+          -0.9799577593803406,
+          21.530118942260742
+        ],
+        [
+          0.13732844591140747,
+          -0.9887648820877075,
+          0.05903370678424835,
+          -28.021848678588867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4320,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_483078241",
+      "mask_path": "../../mask/hdr_right_04320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04321.png",
+      "transform_matrix": [
+        [
+          -0.9727864861488342,
+          -0.13487666845321655,
+          -0.18840032815933228,
+          79.7906723022461
+        ],
+        [
+          0.19467468559741974,
+          -0.03482905402779579,
+          -0.9802494049072266,
+          21.51290512084961
+        ],
+        [
+          0.12565097212791443,
+          -0.9902500510215759,
+          0.060138314962387085,
+          -28.03473663330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4321,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_583080768",
+      "mask_path": "../../mask/hdr_right_04321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04323.png",
+      "transform_matrix": [
+        [
+          -0.9721759557723999,
+          -0.12492996454238892,
+          -0.19815777242183685,
+          79.91581726074219
+        ],
+        [
+          0.2014988660812378,
+          -0.014572353102266788,
+          -0.9793803691864014,
+          21.486522674560547
+        ],
+        [
+          0.11946631968021393,
+          -0.992058515548706,
+          0.03934013843536377,
+          -28.05632972717285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4323,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323695_783080816",
+      "mask_path": "../../mask/hdr_right_04323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04326.png",
+      "transform_matrix": [
+        [
+          -0.9613247513771057,
+          -0.13366326689720154,
+          -0.24080879986286163,
+          80.04814147949219
+        ],
+        [
+          0.24171876907348633,
+          0.009622534736990929,
+          -0.9702986478805542,
+          21.428470611572266
+        ],
+        [
+          0.13201047480106354,
+          -0.9909800887107849,
+          0.023058541119098663,
+          -28.072540283203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4326,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_83081007",
+      "mask_path": "../../mask/hdr_right_04326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04327.png",
+      "transform_matrix": [
+        [
+          -0.9597215056419373,
+          -0.13408714532852173,
+          -0.24689173698425293,
+          80.12057495117188
+        ],
+        [
+          0.24776680767536163,
+          0.010386954061686993,
+          -0.9687640070915222,
+          21.40149688720703
+        ],
+        [
+          0.1324632614850998,
+          -0.9909151196479797,
+          0.023253759369254112,
+          -28.0762996673584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4327,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_183080434",
+      "mask_path": "../../mask/hdr_right_04327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04329.png",
+      "transform_matrix": [
+        [
+          -0.9616473913192749,
+          -0.13464277982711792,
+          -0.23896774649620056,
+          80.19314575195312
+        ],
+        [
+          0.2409612387418747,
+          0.0015329740708693862,
+          -0.9705336093902588,
+          21.389005661010742
+        ],
+        [
+          0.13104167580604553,
+          -0.9908931255340576,
+          0.030969513580203056,
+          -28.09589385986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4329,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_383081197",
+      "mask_path": "../../mask/hdr_right_04329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04331.png",
+      "transform_matrix": [
+        [
+          -0.9647471308708191,
+          -0.133019357919693,
+          -0.2270880788564682,
+          80.302001953125
+        ],
+        [
+          0.2270595282316208,
+          0.015587352216243744,
+          -0.9737561941146851,
+          21.356143951416016
+        ],
+        [
+          0.13306812942028046,
+          -0.9909908175468445,
+          0.015165458433330059,
+          -28.11574363708496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4331,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_583080053",
+      "mask_path": "../../mask/hdr_right_04331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04335.png",
+      "transform_matrix": [
+        [
+          -0.9619942307472229,
+          -0.17394527792930603,
+          -0.21049977838993073,
+          80.45340728759766
+        ],
+        [
+          0.20544634759426117,
+          0.046772491186857224,
+          -0.9775500893592834,
+          21.325958251953125
+        ],
+        [
+          0.17988581955432892,
+          -0.9836440086364746,
+          -0.009258443489670753,
+          -28.1556339263916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4335,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323696_983082294",
+      "mask_path": "../../mask/hdr_right_04335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04336.png",
+      "transform_matrix": [
+        [
+          -0.9618722200393677,
+          -0.1730198711156845,
+          -0.21181583404541016,
+          80.52295684814453
+        ],
+        [
+          0.20952211320400238,
+          0.0316290482878685,
+          -0.9772922396659851,
+          21.30433464050293
+        ],
+        [
+          0.17579051852226257,
+          -0.9844104051589966,
+          0.005828383378684521,
+          -28.16472625732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4336,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_83082199",
+      "mask_path": "../../mask/hdr_right_04336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04338.png",
+      "transform_matrix": [
+        [
+          -0.9606543779373169,
+          -0.1677713245153427,
+          -0.2213502675294876,
+          80.60269165039062
+        ],
+        [
+          0.22298328578472137,
+          0.009283462539315224,
+          -0.9747781157493591,
+          21.268062591552734
+        ],
+        [
+          0.16559471189975739,
+          -0.985782265663147,
+          0.028492001816630363,
+          -28.187334060668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4338,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_283083200",
+      "mask_path": "../../mask/hdr_right_04338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04339.png",
+      "transform_matrix": [
+        [
+          -0.9601913690567017,
+          -0.16089829802513123,
+          -0.22835108637809753,
+          80.66059112548828
+        ],
+        [
+          0.23118095099925995,
+          0.0011625374900177121,
+          -0.9729101061820984,
+          21.22238540649414
+        ],
+        [
+          0.15680506825447083,
+          -0.9869703054428101,
+          0.036080364137887955,
+          -28.19461441040039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4339,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_383082389",
+      "mask_path": "../../mask/hdr_right_04339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04340.png",
+      "transform_matrix": [
+        [
+          -0.9588176012039185,
+          -0.15797796845436096,
+          -0.23603375256061554,
+          80.71114349365234
+        ],
+        [
+          0.23927828669548035,
+          -0.0015656622126698494,
+          -0.9709497690200806,
+          21.18962287902832
+        ],
+        [
+          0.15301914513111115,
+          -0.9874414205551147,
+          0.039301883429288864,
+          -28.19165802001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4340,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_483081817",
+      "mask_path": "../../mask/hdr_right_04340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04342.png",
+      "transform_matrix": [
+        [
+          -0.9552808403968811,
+          -0.1613422930240631,
+          -0.24780461192131042,
+          80.76637268066406
+        ],
+        [
+          0.25177475810050964,
+          -0.004315298981964588,
+          -0.9677762985229492,
+          21.160221099853516
+        ],
+        [
+          0.15507389605045319,
+          -0.9868890643119812,
+          0.04474424198269844,
+          -28.19914436340332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4342,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_683083057",
+      "mask_path": "../../mask/hdr_right_04342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04344.png",
+      "transform_matrix": [
+        [
+          -0.9524825215339661,
+          -0.16009093821048737,
+          -0.259129136800766,
+          80.8450698852539
+        ],
+        [
+          0.2622721195220947,
+          0.0015498852590098977,
+          -0.9649927020072937,
+          21.120676040649414
+        ],
+        [
+          0.15488822758197784,
+          -0.9871010184288025,
+          0.040511153638362885,
+          -28.216880798339844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4344,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_883082151",
+      "mask_path": "../../mask/hdr_right_04344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04345.png",
+      "transform_matrix": [
+        [
+          -0.9513832926750183,
+          -0.1702321469783783,
+          -0.25669217109680176,
+          80.89241790771484
+        ],
+        [
+          0.260927677154541,
+          -0.0026036386843770742,
+          -0.965354859828949,
+          21.094161987304688
+        ],
+        [
+          0.16366611421108246,
+          -0.9854005575180054,
+          0.0468953400850296,
+          -28.230552673339844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4345,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323697_983081579",
+      "mask_path": "../../mask/hdr_right_04345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04347.png",
+      "transform_matrix": [
+        [
+          -0.9458093047142029,
+          -0.2036733329296112,
+          -0.2529072165489197,
+          80.94981384277344
+        ],
+        [
+          0.2599199414253235,
+          -0.007994458079338074,
+          -0.9655971527099609,
+          21.050628662109375
+        ],
+        [
+          0.1946445256471634,
+          -0.9790062308311462,
+          0.06049999222159386,
+          -28.26394271850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4347,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_183082342",
+      "mask_path": "../../mask/hdr_right_04347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04349.png",
+      "transform_matrix": [
+        [
+          -0.9493541717529297,
+          -0.21403153240680695,
+          -0.2300375998020172,
+          81.03345489501953
+        ],
+        [
+          0.23651795089244843,
+          -0.00481833191588521,
+          -0.9716152548789978,
+          21.025590896606445
+        ],
+        [
+          0.2068478763103485,
+          -0.976814866065979,
+          0.0551966093480587,
+          -28.307397842407227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4349,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_383081674",
+      "mask_path": "../../mask/hdr_right_04349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04350.png",
+      "transform_matrix": [
+        [
+          -0.9547228813171387,
+          -0.21144042909145355,
+          -0.20927810668945312,
+          81.092041015625
+        ],
+        [
+          0.21392445266246796,
+          0.0009209209238179028,
+          -0.9768498539924622,
+          21.005908966064453
+        ],
+        [
+          0.20673824846744537,
+          -0.9773905277252197,
+          0.044353045523166656,
+          -28.322477340698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4350,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_483081817",
+      "mask_path": "../../mask/hdr_right_04350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04353.png",
+      "transform_matrix": [
+        [
+          -0.9702895879745483,
+          -0.18893003463745117,
+          -0.15114103257656097,
+          81.16108703613281
+        ],
+        [
+          0.14697982370853424,
+          0.03592792525887489,
+          -0.9884868264198303,
+          21.00700569152832
+        ],
+        [
+          0.19218501448631287,
+          -0.9813330769538879,
+          -0.007091584615409374,
+          -28.342180252075195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4353,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323698_783082485",
+      "mask_path": "../../mask/hdr_right_04353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04360.png",
+      "transform_matrix": [
+        [
+          -0.9819994568824768,
+          -0.16667751967906952,
+          -0.08885770291090012,
+          81.43183898925781
+        ],
+        [
+          0.0795016959309578,
+          0.06200166419148445,
+          -0.9949046969413757,
+          21.01776885986328
+        ],
+        [
+          0.1713375598192215,
+          -0.9840601682662964,
+          -0.04763444885611534,
+          -28.374462127685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4360,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_483081817",
+      "mask_path": "../../mask/hdr_right_04360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04361.png",
+      "transform_matrix": [
+        [
+          -0.9803405404090881,
+          -0.1723824292421341,
+          -0.09600405395030975,
+          81.4930419921875
+        ],
+        [
+          0.08795034885406494,
+          0.05378282442688942,
+          -0.9946719408035278,
+          21.000364303588867
+        ],
+        [
+          0.17662730813026428,
+          -0.9835607409477234,
+          -0.037564389407634735,
+          -28.376020431518555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4361,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_583082199",
+      "mask_path": "../../mask/hdr_right_04361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04362.png",
+      "transform_matrix": [
+        [
+          -0.9793004989624023,
+          -0.18007516860961914,
+          -0.09243115037679672,
+          81.55685424804688
+        ],
+        [
+          0.08645115792751312,
+          0.04079504311084747,
+          -0.9954205751419067,
+          20.988536834716797
+        ],
+        [
+          0.18302124738693237,
+          -0.9828065633773804,
+          -0.024382896721363068,
+          -28.381580352783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4362,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_683082103",
+      "mask_path": "../../mask/hdr_right_04362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04364.png",
+      "transform_matrix": [
+        [
+          -0.9818201065063477,
+          -0.1722576916217804,
+          -0.07972771674394608,
+          81.65946197509766
+        ],
+        [
+          0.07794197648763657,
+          0.017116304486989975,
+          -0.9968109726905823,
+          20.987136840820312
+        ],
+        [
+          0.17307300865650177,
+          -0.9849032163619995,
+          -0.00337902270257473,
+          -28.400102615356445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4364,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_883081674",
+      "mask_path": "../../mask/hdr_right_04364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04365.png",
+      "transform_matrix": [
+        [
+          -0.9790093302726746,
+          -0.18437360227108002,
+          -0.08687473088502884,
+          81.76113891601562
+        ],
+        [
+          0.08313719183206558,
+          0.027920830994844437,
+          -0.9961469173431396,
+          20.968910217285156
+        ],
+        [
+          0.18608878552913666,
+          -0.982459545135498,
+          -0.012006444856524467,
+          -28.42085075378418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4365,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323699_983081817",
+      "mask_path": "../../mask/hdr_right_04365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04368.png",
+      "transform_matrix": [
+        [
+          -0.9736255407333374,
+          -0.20041102170944214,
+          -0.10903549194335938,
+          81.89066314697266
+        ],
+        [
+          0.10852427780628204,
+          0.013568933121860027,
+          -0.9940012097358704,
+          20.91532325744629
+        ],
+        [
+          0.20068830251693726,
+          -0.9796179533004761,
+          0.008538404479622841,
+          -28.430421829223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4368,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_283082723",
+      "mask_path": "../../mask/hdr_right_04368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04369.png",
+      "transform_matrix": [
+        [
+          -0.9766539335250854,
+          -0.18785515427589417,
+          -0.10420041531324387,
+          81.97058868408203
+        ],
+        [
+          0.10610095411539078,
+          -6.22192383161746e-05,
+          -0.9943554401397705,
+          20.890501022338867
+        ],
+        [
+          0.18678829073905945,
+          -0.9821966886520386,
+          0.019992386922240257,
+          -28.45207977294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4369,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_383081674",
+      "mask_path": "../../mask/hdr_right_04369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04370.png",
+      "transform_matrix": [
+        [
+          -0.9796046018600464,
+          -0.173345148563385,
+          -0.10161866992712021,
+          82.05879974365234
+        ],
+        [
+          0.10409185290336609,
+          -0.005213046446442604,
+          -0.9945541024208069,
+          20.871973037719727
+        ],
+        [
+          0.1718713939189911,
+          -0.984847366809845,
+          0.023150548338890076,
+          -28.473072052001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4370,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_483081817",
+      "mask_path": "../../mask/hdr_right_04370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04371.png",
+      "transform_matrix": [
+        [
+          -0.9824919700622559,
+          -0.15702268481254578,
+          -0.1002667024731636,
+          82.13365173339844
+        ],
+        [
+          0.10198633372783661,
+          -0.0029123916756361723,
+          -0.9947816133499146,
+          20.860475540161133
+        ],
+        [
+          0.15591123700141907,
+          -0.9875907301902771,
+          0.018875565379858017,
+          -28.48263931274414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4371,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_583083152",
+      "mask_path": "../../mask/hdr_right_04371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04372.png",
+      "transform_matrix": [
+        [
+          -0.984525740146637,
+          -0.14400140941143036,
+          -0.09986309707164764,
+          82.19522857666016
+        ],
+        [
+          0.10090356320142746,
+          7.805110362824053e-05,
+          -0.9948962926864624,
+          20.856109619140625
+        ],
+        [
+          0.14327426254749298,
+          -0.9895774722099304,
+          0.014453410170972347,
+          -28.495708465576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4372,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_683081865",
+      "mask_path": "../../mask/hdr_right_04372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04373.png",
+      "transform_matrix": [
+        [
+          -0.9851710796356201,
+          -0.13580279052257538,
+          -0.10485980659723282,
+          82.27566528320312
+        ],
+        [
+          0.1061723381280899,
+          -0.0024385645519942045,
+          -0.9943447709083557,
+          20.82796859741211
+        ],
+        [
+          0.13477908074855804,
+          -0.9907328486442566,
+          0.016820907592773438,
+          -28.499149322509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4373,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_783082008",
+      "mask_path": "../../mask/hdr_right_04373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04374.png",
+      "transform_matrix": [
+        [
+          -0.9847738146781921,
+          -0.13164639472961426,
+          -0.11353351175785065,
+          82.3551254272461
+        ],
+        [
+          0.11510367691516876,
+          -0.004354921635240316,
+          -0.9933440089225769,
+          20.795286178588867
+        ],
+        [
+          0.13027572631835938,
+          -0.9912871718406677,
+          0.019441604614257812,
+          -28.496807098388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4374,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323700_883082389",
+      "mask_path": "../../mask/hdr_right_04374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04376.png",
+      "transform_matrix": [
+        [
+          -0.9838130474090576,
+          -0.120609350502491,
+          -0.13253401219844818,
+          82.48509979248047
+        ],
+        [
+          0.13483695685863495,
+          -0.011101583018898964,
+          -0.9908056259155273,
+          20.770015716552734
+        ],
+        [
+          0.11802908778190613,
+          -0.9926380515098572,
+          0.027184486389160156,
+          -28.518102645874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4376,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_83083391",
+      "mask_path": "../../mask/hdr_right_04376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04377.png",
+      "transform_matrix": [
+        [
+          -0.9830126762390137,
+          -0.12708958983421326,
+          -0.13241741061210632,
+          82.58720397949219
+        ],
+        [
+          0.1372600942850113,
+          -0.030096042901277542,
+          -0.990077793598175,
+          20.74159049987793
+        ],
+        [
+          0.12184334546327591,
+          -0.9914345741271973,
+          0.04702911898493767,
+          -28.531272888183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4377,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_183082818",
+      "mask_path": "../../mask/hdr_right_04377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04378.png",
+      "transform_matrix": [
+        [
+          -0.9829662442207336,
+          -0.13170014321804047,
+          -0.12818869948387146,
+          82.64859771728516
+        ],
+        [
+          0.13507625460624695,
+          -0.04473129287362099,
+          -0.9898250102996826,
+          20.724897384643555
+        ],
+        [
+          0.1246260553598404,
+          -0.9902798533439636,
+          0.061758920550346375,
+          -28.549375534057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4378,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_283082485",
+      "mask_path": "../../mask/hdr_right_04378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04379.png",
+      "transform_matrix": [
+        [
+          -0.9836674332618713,
+          -0.12789469957351685,
+          -0.1266547292470932,
+          82.70867919921875
+        ],
+        [
+          0.13411787152290344,
+          -0.05149977654218674,
+          -0.9896263480186462,
+          20.709749221801758
+        ],
+        [
+          0.1200452670454979,
+          -0.9904497265815735,
+          0.06781162321567535,
+          -28.570051193237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4379,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_383081912",
+      "mask_path": "../../mask/hdr_right_04379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04380.png",
+      "transform_matrix": [
+        [
+          -0.9822778701782227,
+          -0.13348807394504547,
+          -0.1315719187259674,
+          82.8046875
+        ],
+        [
+          0.139296755194664,
+          -0.05024236813187599,
+          -0.9889752864837646,
+          20.676803588867188
+        ],
+        [
+          0.1254059374332428,
+          -0.9897760152816772,
+          0.0679464265704155,
+          -28.57149314880371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4380,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_483082532",
+      "mask_path": "../../mask/hdr_right_04380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04381.png",
+      "transform_matrix": [
+        [
+          -0.9802497029304504,
+          -0.14119555056095123,
+          -0.13847212493419647,
+          82.87478637695312
+        ],
+        [
+          0.1464645266532898,
+          -0.04782871901988983,
+          -0.9880589842796326,
+          20.649410247802734
+        ],
+        [
+          0.1328865885734558,
+          -0.9888256788253784,
+          0.0675642341375351,
+          -28.565052032470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4381,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_583081722",
+      "mask_path": "../../mask/hdr_right_04381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04383.png",
+      "transform_matrix": [
+        [
+          -0.9782854914665222,
+          -0.140651136636734,
+          -0.15223264694213867,
+          82.9828872680664
+        ],
+        [
+          0.15970022976398468,
+          -0.04336027428507805,
+          -0.9862127900123596,
+          20.61018180847168
+        ],
+        [
+          0.1321111023426056,
+          -0.9891093373298645,
+          0.06488074362277985,
+          -28.58228874206543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4383,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_783081531",
+      "mask_path": "../../mask/hdr_right_04383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04384.png",
+      "transform_matrix": [
+        [
+          -0.9771865606307983,
+          -0.1426415890455246,
+          -0.1573525220155716,
+          83.06836700439453
+        ],
+        [
+          0.16480930149555206,
+          -0.04198873043060303,
+          -0.9854313731193542,
+          20.58183479309082
+        ],
+        [
+          0.1339564472436905,
+          -0.9888834357261658,
+          0.06453948467969894,
+          -28.591711044311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4384,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_883084058",
+      "mask_path": "../../mask/hdr_right_04384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04385.png",
+      "transform_matrix": [
+        [
+          -0.9763839244842529,
+          -0.1515568196773529,
+          -0.1539640724658966,
+          83.14266204833984
+        ],
+        [
+          0.16329507529735565,
+          -0.051104117184877396,
+          -0.9852527976036072,
+          20.55594253540039
+        ],
+        [
+          0.1414536088705063,
+          -0.9871266484260559,
+          0.07464572042226791,
+          -28.598724365234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4385,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323701_983081579",
+      "mask_path": "../../mask/hdr_right_04385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04386.png",
+      "transform_matrix": [
+        [
+          -0.9766464829444885,
+          -0.15544097125530243,
+          -0.14832346141338348,
+          83.20201110839844
+        ],
+        [
+          0.15933170914649963,
+          -0.060863301157951355,
+          -0.9853472113609314,
+          20.543540954589844
+        ],
+        [
+          0.14413587749004364,
+          -0.9859684705734253,
+          0.08420860767364502,
+          -28.615123748779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4386,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_83082914",
+      "mask_path": "../../mask/hdr_right_04386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04387.png",
+      "transform_matrix": [
+        [
+          -0.9780119061470032,
+          -0.15055903792381287,
+          -0.14430756866931915,
+          83.26030731201172
+        ],
+        [
+          0.15489931404590607,
+          -0.06110916659235954,
+          -0.9860385060310364,
+          20.532411575317383
+        ],
+        [
+          0.1396384984254837,
+          -0.9867104887962341,
+          0.08308698236942291,
+          -28.63312530517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4387,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_183082103",
+      "mask_path": "../../mask/hdr_right_04387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04388.png",
+      "transform_matrix": [
+        [
+          -0.9765791893005371,
+          -0.15870194137096405,
+          -0.14528214931488037,
+          83.34428405761719
+        ],
+        [
+          0.15612424910068512,
+          -0.0580664724111557,
+          -0.9860291481018066,
+          20.507278442382812
+        ],
+        [
+          0.14804871380329132,
+          -0.9856175184249878,
+          0.08148374408483505,
+          -28.646831512451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4388,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_283082723",
+      "mask_path": "../../mask/hdr_right_04388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04389.png",
+      "transform_matrix": [
+        [
+          -0.9731341600418091,
+          -0.17290212213993073,
+          -0.15203581750392914,
+          83.42057037353516
+        ],
+        [
+          0.1633291393518448,
+          -0.052998654544353485,
+          -0.9851470589637756,
+          20.482650756835938
+        ],
+        [
+          0.16227632761001587,
+          -0.9835121035575867,
+          0.07981476187705994,
+          -28.67123794555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4389,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_383081436",
+      "mask_path": "../../mask/hdr_right_04389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04390.png",
+      "transform_matrix": [
+        [
+          -0.971324622631073,
+          -0.1748509407043457,
+          -0.16110771894454956,
+          83.47357177734375
+        ],
+        [
+          0.17152342200279236,
+          -0.046088624745607376,
+          -0.9841014742851257,
+          20.45766830444336
+        ],
+        [
+          0.16464580595493317,
+          -0.9835156202316284,
+          0.07475805282592773,
+          -28.688983917236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4390,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_483081579",
+      "mask_path": "../../mask/hdr_right_04390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04391.png",
+      "transform_matrix": [
+        [
+          -0.9710808396339417,
+          -0.16724668443202972,
+          -0.17038367688655853,
+          83.54939270019531
+        ],
+        [
+          0.17958134412765503,
+          -0.04139234498143196,
+          -0.9828720092773438,
+          20.442712783813477
+        ],
+        [
+          0.1573295146226883,
+          -0.9850457906723022,
+          0.07022969424724579,
+          -28.70879364013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4391,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_583081245",
+      "mask_path": "../../mask/hdr_right_04391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04392.png",
+      "transform_matrix": [
+        [
+          -0.9693310260772705,
+          -0.1734999567270279,
+          -0.1740555763244629,
+          83.65558624267578
+        ],
+        [
+          0.18449601531028748,
+          -0.045858509838581085,
+          -0.9817628860473633,
+          20.417163848876953
+        ],
+        [
+          0.16235388815402985,
+          -0.9837656617164612,
+          0.07646211981773376,
+          -28.73103141784668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4392,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_683082342",
+      "mask_path": "../../mask/hdr_right_04392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04393.png",
+      "transform_matrix": [
+        [
+          -0.967012345790863,
+          -0.18727262318134308,
+          -0.17267374694347382,
+          83.73064422607422
+        ],
+        [
+          0.18624147772789001,
+          -0.05731827765703201,
+          -0.9808306694030762,
+          20.387203216552734
+        ],
+        [
+          0.17378538846969604,
+          -0.9806342720985413,
+          0.09030542522668839,
+          -28.74632453918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4393,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_783081293",
+      "mask_path": "../../mask/hdr_right_04393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04395.png",
+      "transform_matrix": [
+        [
+          -0.9654929041862488,
+          -0.19706225395202637,
+          -0.1702643185853958,
+          83.8132095336914
+        ],
+        [
+          0.18781737983226776,
+          -0.07397150993347168,
+          -0.9794145822525024,
+          20.349916458129883
+        ],
+        [
+          0.18041090667247772,
+          -0.9775964021682739,
+          0.10843069851398468,
+          -28.774593353271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4395,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323702_983081817",
+      "mask_path": "../../mask/hdr_right_04395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04396.png",
+      "transform_matrix": [
+        [
+          -0.9616011381149292,
+          -0.21129180490970612,
+          -0.1751544028520584,
+          83.89909362792969
+        ],
+        [
+          0.19038157165050507,
+          -0.05385544151067734,
+          -0.9802318811416626,
+          20.29306411743164
+        ],
+        [
+          0.19768193364143372,
+          -0.9759382605552673,
+          0.09201353043317795,
+          -28.790170669555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4396,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_83083152",
+      "mask_path": "../../mask/hdr_right_04396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04399.png",
+      "transform_matrix": [
+        [
+          -0.9449570178985596,
+          -0.24945515394210815,
+          -0.21172724664211273,
+          84.02718353271484
+        ],
+        [
+          0.2198645919561386,
+          -0.004886068869382143,
+          -0.9755182266235352,
+          20.225370407104492
+        ],
+        [
+          0.24231350421905518,
+          -0.9683740139007568,
+          0.059463486075401306,
+          -28.817211151123047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4399,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_383081197",
+      "mask_path": "../../mask/hdr_right_04399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04400.png",
+      "transform_matrix": [
+        [
+          -0.9460417628288269,
+          -0.23524993658065796,
+          -0.2228510081768036,
+          84.109619140625
+        ],
+        [
+          0.22963272035121918,
+          -0.001472976291552186,
+          -0.9732763171195984,
+          20.18977165222168
+        ],
+        [
+          0.22863492369651794,
+          -0.9719337821006775,
+          0.055414579808712006,
+          -28.838899612426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4400,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_483081579",
+      "mask_path": "../../mask/hdr_right_04400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04401.png",
+      "transform_matrix": [
+        [
+          -0.9489345550537109,
+          -0.2208862453699112,
+          -0.22523900866508484,
+          84.1912841796875
+        ],
+        [
+          0.23116430640220642,
+          -0.0010030557168647647,
+          -0.9729142189025879,
+          20.156837463378906
+        ],
+        [
+          0.21467743813991547,
+          -0.9752991199493408,
+          0.0520128458738327,
+          -28.857513427734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4401,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_583081245",
+      "mask_path": "../../mask/hdr_right_04401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04404.png",
+      "transform_matrix": [
+        [
+          -0.9582882523536682,
+          -0.19575971364974976,
+          -0.20823484659194946,
+          84.34329223632812
+        ],
+        [
+          0.20819389820098877,
+          0.021021010354161263,
+          -0.9778617024421692,
+          20.1270694732666
+        ],
+        [
+          0.1958032250404358,
+          -0.980426549911499,
+          0.020611798390746117,
+          -28.906261444091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4404,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_883081674",
+      "mask_path": "../../mask/hdr_right_04404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04405.png",
+      "transform_matrix": [
+        [
+          -0.9547598361968994,
+          -0.21109335124492645,
+          -0.20945954322814941,
+          84.41663360595703
+        ],
+        [
+          0.20319712162017822,
+          0.051185399293899536,
+          -0.977799117565155,
+          20.1090145111084
+        ],
+        [
+          0.21712812781333923,
+          -0.9761248230934143,
+          -0.0059761968441307545,
+          -28.923702239990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4405,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323703_983081102",
+      "mask_path": "../../mask/hdr_right_04405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04407.png",
+      "transform_matrix": [
+        [
+          -0.9503219127655029,
+          -0.23165608942508698,
+          -0.20790331065654755,
+          84.48847198486328
+        ],
+        [
+          0.19473734498023987,
+          0.07858365029096603,
+          -0.9777024388313293,
+          20.096954345703125
+        ],
+        [
+          0.24282851815223694,
+          -0.969618558883667,
+          -0.029567671939730644,
+          -28.948936462402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4407,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_183083772",
+      "mask_path": "../../mask/hdr_right_04407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04408.png",
+      "transform_matrix": [
+        [
+          -0.953677773475647,
+          -0.22414208948612213,
+          -0.20064668357372284,
+          84.54449462890625
+        ],
+        [
+          0.18718905746936798,
+          0.07998290657997131,
+          -0.9790623188018799,
+          20.088512420654297
+        ],
+        [
+          0.2354973703622818,
+          -0.9712688326835632,
+          -0.03432096540927887,
+          -28.95972442626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4408,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_283082485",
+      "mask_path": "../../mask/hdr_right_04408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04409.png",
+      "transform_matrix": [
+        [
+          -0.9557617902755737,
+          -0.21954554319381714,
+          -0.19575268030166626,
+          84.60189056396484
+        ],
+        [
+          0.1833161860704422,
+          0.0758613869547844,
+          -0.9801225662231445,
+          20.072294235229492
+        ],
+        [
+          0.23003162443637848,
+          -0.9726484417915344,
+          -0.03225916996598244,
+          -28.972501754760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4409,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_383081436",
+      "mask_path": "../../mask/hdr_right_04409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04411.png",
+      "transform_matrix": [
+        [
+          -0.9579474925994873,
+          -0.20953986048698425,
+          -0.19603489339351654,
+          84.67738342285156
+        ],
+        [
+          0.1833900511264801,
+          0.0783572569489479,
+          -0.9799123406410217,
+          20.045867919921875
+        ],
+        [
+          0.22069145739078522,
+          -0.9746553897857666,
+          -0.03663460165262222,
+          -29.003122329711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4411,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_583081245",
+      "mask_path": "../../mask/hdr_right_04411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04412.png",
+      "transform_matrix": [
+        [
+          -0.9588447213172913,
+          -0.20561517775058746,
+          -0.19580389559268951,
+          84.7196273803711
+        ],
+        [
+          0.18223057687282562,
+          0.08318553864955902,
+          -0.9797307252883911,
+          20.024803161621094
+        ],
+        [
+          0.21773557364940643,
+          -0.9750910997390747,
+          -0.04229264706373215,
+          -29.02207374572754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4412,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_683081388",
+      "mask_path": "../../mask/hdr_right_04412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04413.png",
+      "transform_matrix": [
+        [
+          -0.9579230546951294,
+          -0.20673751831054688,
+          -0.19910603761672974,
+          84.76451873779297
+        ],
+        [
+          0.18572093546390533,
+          0.08245137333869934,
+          -0.9791371822357178,
+          19.996442794799805
+        ],
+        [
+          0.21884095668792725,
+          -0.9749160408973694,
+          -0.04058658704161644,
+          -29.024024963378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4413,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_783078670",
+      "mask_path": "../../mask/hdr_right_04413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04415.png",
+      "transform_matrix": [
+        [
+          -0.9560943245887756,
+          -0.20517633855342865,
+          -0.20925159752368927,
+          84.82215118408203
+        ],
+        [
+          0.1976083517074585,
+          0.07592011988162994,
+          -0.9773367047309875,
+          19.961631774902344
+        ],
+        [
+          0.21641278266906738,
+          -0.975775957107544,
+          -0.0320422388613224,
+          -29.035686492919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4415,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323704_983081579",
+      "mask_path": "../../mask/hdr_right_04415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04416.png",
+      "transform_matrix": [
+        [
+          -0.9575033187866211,
+          -0.20593900978565216,
+          -0.20193202793598175,
+          84.8740005493164
+        ],
+        [
+          0.19223438203334808,
+          0.06627362966537476,
+          -0.9791086316108704,
+          19.9483642578125
+        ],
+        [
+          0.21501944959163666,
+          -0.9763180613517761,
+          -0.023868665099143982,
+          -29.058259963989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4416,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_83082675",
+      "mask_path": "../../mask/hdr_right_04416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04417.png",
+      "transform_matrix": [
+        [
+          -0.9601846933364868,
+          -0.21278667449951172,
+          -0.1810171753168106,
+          84.94461059570312
+        ],
+        [
+          0.17198403179645538,
+          0.0603807307779789,
+          -0.9832475185394287,
+          19.93684959411621
+        ],
+        [
+          0.22015193104743958,
+          -0.9752312302589417,
+          -0.02138073369860649,
+          -29.081924438476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4417,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_183082342",
+      "mask_path": "../../mask/hdr_right_04417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04419.png",
+      "transform_matrix": [
+        [
+          -0.9663095474243164,
+          -0.22291171550750732,
+          -0.1286713033914566,
+          85.02568817138672
+        ],
+        [
+          0.11844806373119354,
+          0.058698348701000214,
+          -0.9912238121032715,
+          19.933818817138672
+        ],
+        [
+          0.22850818932056427,
+          -0.9730697870254517,
+          -0.03031730465590954,
+          -29.109766006469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4419,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_383081912",
+      "mask_path": "../../mask/hdr_right_04419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04420.png",
+      "transform_matrix": [
+        [
+          -0.9686488509178162,
+          -0.21899531781673431,
+          -0.11730537563562393,
+          85.07414245605469
+        ],
+        [
+          0.10644552856683731,
+          0.06078840792179108,
+          -0.9924586415290833,
+          19.931926727294922
+        ],
+        [
+          0.22447460889816284,
+          -0.97383052110672,
+          -0.035571545362472534,
+          -29.130353927612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4420,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_483082532",
+      "mask_path": "../../mask/hdr_right_04420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04421.png",
+      "transform_matrix": [
+        [
+          -0.969871997833252,
+          -0.2133125215768814,
+          -0.11766907572746277,
+          85.12993621826172
+        ],
+        [
+          0.10754992067813873,
+          0.058478981256484985,
+          -0.9924783110618591,
+          19.913114547729492
+        ],
+        [
+          0.21858923137187958,
+          -0.9752322435379028,
+          -0.03377537429332733,
+          -29.137409210205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4421,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323705_583082199",
+      "mask_path": "../../mask/hdr_right_04421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05958.png",
+      "transform_matrix": [
+        [
+          0.9780253171920776,
+          -0.15627160668373108,
+          0.1380065530538559,
+          84.73259735107422
+        ],
+        [
+          -0.1419542133808136,
+          -0.014334755949676037,
+          0.9897695183753967,
+          19.856718063354492
+        ],
+        [
+          -0.15269458293914795,
+          -0.9876100420951843,
+          -0.03620316833257675,
+          -29.062255859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5958,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_283081054",
+      "mask_path": "../../mask/hdr_right_05958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05960.png",
+      "transform_matrix": [
+        [
+          0.9770919680595398,
+          -0.16748203337192535,
+          0.13130508363246918,
+          84.65326690673828
+        ],
+        [
+          -0.1343895047903061,
+          -0.007167106494307518,
+          0.9909026622772217,
+          19.882553100585938
+        ],
+        [
+          -0.1650172770023346,
+          -0.985849142074585,
+          -0.029510753229260445,
+          -29.02406120300293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5960,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_483080387",
+      "mask_path": "../../mask/hdr_right_05960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05961.png",
+      "transform_matrix": [
+        [
+          0.9777463674545288,
+          -0.16577446460723877,
+          0.12857311964035034,
+          84.59646606445312
+        ],
+        [
+          -0.131304070353508,
+          -0.0055745732970535755,
+          0.9913265109062195,
+          19.900249481201172
+        ],
+        [
+          -0.16361987590789795,
+          -0.986147940158844,
+          -0.027217384427785873,
+          -29.011260986328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5961,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_583082199",
+      "mask_path": "../../mask/hdr_right_05961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05962.png",
+      "transform_matrix": [
+        [
+          0.9788068532943726,
+          -0.16181299090385437,
+          0.12551333010196686,
+          84.54158020019531
+        ],
+        [
+          -0.12706154584884644,
+          0.0007863346254453063,
+          0.991894543170929,
+          19.914844512939453
+        ],
+        [
+          -0.16060012578964233,
+          -0.9868211150169373,
+          -0.019790546968579292,
+          -29.004684448242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5962,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_683082580",
+      "mask_path": "../../mask/hdr_right_05962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05964.png",
+      "transform_matrix": [
+        [
+          0.9785297513008118,
+          -0.16305339336395264,
+          0.12606820464134216,
+          84.45550537109375
+        ],
+        [
+          -0.12755133211612701,
+          0.001383617171086371,
+          0.9918310046195984,
+          19.935630798339844
+        ],
+        [
+          -0.16189582645893097,
+          -0.9866162538528442,
+          -0.019443770870566368,
+          -29.0104923248291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5964,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_883080959",
+      "mask_path": "../../mask/hdr_right_05964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05965.png",
+      "transform_matrix": [
+        [
+          0.976370096206665,
+          -0.17360751330852509,
+          0.12869291007518768,
+          84.38311767578125
+        ],
+        [
+          -0.12597578763961792,
+          0.026626914739608765,
+          0.9916759133338928,
+          19.9507999420166
+        ],
+        [
+          -0.17558908462524414,
+          -0.984454870223999,
+          0.004127371124923229,
+          -28.970182418823242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5965,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323859_983080387",
+      "mask_path": "../../mask/hdr_right_05965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05966.png",
+      "transform_matrix": [
+        [
+          0.971165657043457,
+          -0.19449976086616516,
+          0.13786596059799194,
+          84.32240295410156
+        ],
+        [
+          -0.1326320469379425,
+          0.0397447869181633,
+          0.990368127822876,
+          19.977834701538086
+        ],
+        [
+          -0.1981058269739151,
+          -0.9800969958305359,
+          0.012801863253116608,
+          -28.88872528076172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5966,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_83081483",
+      "mask_path": "../../mask/hdr_right_05966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05968.png",
+      "transform_matrix": [
+        [
+          0.9649248719215393,
+          -0.21433846652507782,
+          0.15158845484256744,
+          84.25323486328125
+        ],
+        [
+          -0.14839725196361542,
+          0.03099847584962845,
+          0.9884418845176697,
+          20.02615737915039
+        ],
+        [
+          -0.21656011044979095,
+          -0.9762674570083618,
+          -0.001896049128845334,
+          -28.885419845581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5968,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_283080339",
+      "mask_path": "../../mask/hdr_right_05968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05970.png",
+      "transform_matrix": [
+        [
+          0.9649602770805359,
+          -0.20621658861637115,
+          0.16225390136241913,
+          84.16373443603516
+        ],
+        [
+          -0.15715664625167847,
+          0.04097513481974602,
+          0.9867233633995056,
+          20.077802658081055
+        ],
+        [
+          -0.2101271003484726,
+          -0.9776480793952942,
+          0.007131065707653761,
+          -28.88533592224121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5970,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_483081102",
+      "mask_path": "../../mask/hdr_right_05970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05971.png",
+      "transform_matrix": [
+        [
+          0.9641082286834717,
+          -0.20673921704292297,
+          0.16659598052501678,
+          84.1059799194336
+        ],
+        [
+          -0.1618739813566208,
+          0.03967244178056717,
+          0.986013650894165,
+          20.088361740112305
+        ],
+        [
+          -0.2104569673538208,
+          -0.9775914549827576,
+          0.0047828275710344315,
+          -28.870073318481445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5971,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_583081722",
+      "mask_path": "../../mask/hdr_right_05971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05972.png",
+      "transform_matrix": [
+        [
+          0.9654812216758728,
+          -0.19797435402870178,
+          0.16926978528499603,
+          84.05425262451172
+        ],
+        [
+          -0.16572149097919464,
+          0.03447996824979782,
+          0.9855697154998779,
+          20.104631423950195
+        ],
+        [
+          -0.2009539157152176,
+          -0.9796005487442017,
+          0.0004811474063899368,
+          -28.86187744140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5972,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_683082103",
+      "mask_path": "../../mask/hdr_right_05972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05973.png",
+      "transform_matrix": [
+        [
+          0.964177131652832,
+          -0.1979140341281891,
+          0.1766139268875122,
+          84.00373840332031
+        ],
+        [
+          -0.1742750108242035,
+          0.02931634895503521,
+          0.9842605590820312,
+          20.127857208251953
+        ],
+        [
+          -0.19997665286064148,
+          -0.9797809720039368,
+          -0.00622532656416297,
+          -28.84042739868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5973,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_783082246",
+      "mask_path": "../../mask/hdr_right_05973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05974.png",
+      "transform_matrix": [
+        [
+          0.9612546563148499,
+          -0.20591485500335693,
+          0.1832716464996338,
+          83.95043182373047
+        ],
+        [
+          -0.1830282062292099,
+          0.02039785496890545,
+          0.9828960299491882,
+          20.146791458129883
+        ],
+        [
+          -0.206131249666214,
+          -0.9783573150634766,
+          -0.018080703914165497,
+          -28.819551467895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5974,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_883081674",
+      "mask_path": "../../mask/hdr_right_05974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05975.png",
+      "transform_matrix": [
+        [
+          0.9589169025421143,
+          -0.21447253227233887,
+          0.1856880635023117,
+          83.88928985595703
+        ],
+        [
+          -0.1888609677553177,
+          0.005787382833659649,
+          0.9819868206977844,
+          20.158884048461914
+        ],
+        [
+          -0.21168382465839386,
+          -0.9767128825187683,
+          -0.03495587781071663,
+          -28.807819366455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5975,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323860_983080863",
+      "mask_path": "../../mask/hdr_right_05975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05976.png",
+      "transform_matrix": [
+        [
+          0.95864337682724,
+          -0.21789023280143738,
+          0.1831030696630478,
+          83.819580078125
+        ],
+        [
+          -0.18704509735107422,
+          0.0025764142628759146,
+          0.9823480248451233,
+          20.16948699951172
+        ],
+        [
+          -0.21451576054096222,
+          -0.9759698510169983,
+          -0.03828543797135353,
+          -28.76703453063965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5976,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_83082199",
+      "mask_path": "../../mask/hdr_right_05976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05980.png",
+      "transform_matrix": [
+        [
+          0.9632372260093689,
+          -0.20223090052604675,
+          0.17685215175151825,
+          83.63211822509766
+        ],
+        [
+          -0.18176504969596863,
+          -0.005833894480019808,
+          0.9833247661590576,
+          20.230487823486328
+        ],
+        [
+          -0.19782690703868866,
+          -0.9793204665184021,
+          -0.042377933859825134,
+          -28.729000091552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5980,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_483081340",
+      "mask_path": "../../mask/hdr_right_05980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05983.png",
+      "transform_matrix": [
+        [
+          0.9588451981544495,
+          -0.2080683708190918,
+          0.1931929588317871,
+          83.46754455566406
+        ],
+        [
+          -0.20320744812488556,
+          -0.027673309668898582,
+          0.978744626045227,
+          20.28156089782715
+        ],
+        [
+          -0.19829951226711273,
+          -0.9777227640151978,
+          -0.06881546229124069,
+          -28.6789493560791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5983,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_783083200",
+      "mask_path": "../../mask/hdr_right_05983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05984.png",
+      "transform_matrix": [
+        [
+          0.9561736583709717,
+          -0.21994024515151978,
+          0.1932825893163681,
+          83.38047790527344
+        ],
+        [
+          -0.205033078789711,
+          -0.031690895557403564,
+          0.9782419204711914,
+          20.30075454711914
+        ],
+        [
+          -0.20902946591377258,
+          -0.9749984741210938,
+          -0.07539702951908112,
+          -28.634323120117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5984,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323861_883083343",
+      "mask_path": "../../mask/hdr_right_05984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_05994.png",
+      "transform_matrix": [
+        [
+          0.9582476019859314,
+          -0.20610347390174866,
+          0.19819921255111694,
+          83.09049987792969
+        ],
+        [
+          -0.21021141111850739,
+          -0.0378912091255188,
+          0.9769214391708374,
+          20.338790893554688
+        ],
+        [
+          -0.19383691251277924,
+          -0.9777963161468506,
+          -0.07963447272777557,
+          -28.58289337158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 5994,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323862_883080959",
+      "mask_path": "../../mask/hdr_right_05994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06007.png",
+      "transform_matrix": [
+        [
+          0.9544329643249512,
+          -0.19608595967292786,
+          0.224962517619133,
+          83.18091583251953
+        ],
+        [
+          -0.23191648721694946,
+          -0.012948825024068356,
+          0.9726495742797852,
+          20.3439998626709
+        ],
+        [
+          -0.18780989944934845,
+          -0.9805012345314026,
+          -0.057834357023239136,
+          -28.595232009887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6007,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323864_183081865",
+      "mask_path": "../../mask/hdr_right_06007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06010.png",
+      "transform_matrix": [
+        [
+          0.9476386308670044,
+          -0.20651035010814667,
+          0.24358686804771423,
+          83.16865539550781
+        ],
+        [
+          -0.24962574243545532,
+          -0.0032973499037325382,
+          0.968336820602417,
+          20.409326553344727
+        ],
+        [
+          -0.1991683840751648,
+          -0.9784389138221741,
+          -0.054675012826919556,
+          -28.60692024230957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6010,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323864_483082056",
+      "mask_path": "../../mask/hdr_right_06010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06031.png",
+      "transform_matrix": [
+        [
+          0.9345124363899231,
+          -0.17525812983512878,
+          0.30979207158088684,
+          83.1358413696289
+        ],
+        [
+          -0.30852723121643066,
+          0.035122424364089966,
+          0.9505669474601746,
+          20.464479446411133
+        ],
+        [
+          -0.1774752289056778,
+          -0.9838958382606506,
+          -0.021249566227197647,
+          -28.607833862304688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6031,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_583081007",
+      "mask_path": "../../mask/hdr_right_06031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06033.png",
+      "transform_matrix": [
+        [
+          0.9457337856292725,
+          -0.1701551377773285,
+          0.2768300473690033,
+          83.06305694580078
+        ],
+        [
+          -0.27585187554359436,
+          0.029845014214515686,
+          0.9607366919517517,
+          20.457042694091797
+        ],
+        [
+          -0.17173628509044647,
+          -0.9849653244018555,
+          -0.018712181597948074,
+          -28.59709930419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6033,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_783081293",
+      "mask_path": "../../mask/hdr_right_06033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06035.png",
+      "transform_matrix": [
+        [
+          0.9549556374549866,
+          -0.1590225100517273,
+          0.25054240226745605,
+          82.99752807617188
+        ],
+        [
+          -0.24944746494293213,
+          0.02713942527770996,
+          0.9680080413818359,
+          20.46812629699707
+        ],
+        [
+          -0.1607346534729004,
+          -0.9869018793106079,
+          -0.01375081017613411,
+          -28.594175338745117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6035,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323866_983082056",
+      "mask_path": "../../mask/hdr_right_06035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06047.png",
+      "transform_matrix": [
+        [
+          0.9525511264801025,
+          -0.12256311625242233,
+          0.2786121070384979,
+          82.70604705810547
+        ],
+        [
+          -0.28270962834358215,
+          -0.017064256593585014,
+          0.9590537548065186,
+          20.544952392578125
+        ],
+        [
+          -0.1127903014421463,
+          -0.9923139810562134,
+          -0.05090435594320297,
+          -28.558671951293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6047,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_183082342",
+      "mask_path": "../../mask/hdr_right_06047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06049.png",
+      "transform_matrix": [
+        [
+          0.9545135498046875,
+          -0.11330439150333405,
+          0.27580076456069946,
+          82.63623809814453
+        ],
+        [
+          -0.27906137704849243,
+          -0.013685522601008415,
+          0.9601757526397705,
+          20.574748992919922
+        ],
+        [
+          -0.10501766204833984,
+          -0.9934660196304321,
+          -0.04468189924955368,
+          -28.564533233642578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6049,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_383082389",
+      "mask_path": "../../mask/hdr_right_06049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06051.png",
+      "transform_matrix": [
+        [
+          0.9538262486457825,
+          -0.10922795534133911,
+          0.27979424595832825,
+          82.56839752197266
+        ],
+        [
+          -0.28240153193473816,
+          -0.008860712870955467,
+          0.9592553973197937,
+          20.60890769958496
+        ],
+        [
+          -0.1022983267903328,
+          -0.9939773082733154,
+          -0.03929772600531578,
+          -28.55497932434082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6051,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_583080530",
+      "mask_path": "../../mask/hdr_right_06051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06052.png",
+      "transform_matrix": [
+        [
+          0.9516980051994324,
+          -0.1165243461728096,
+          0.2840651571750641,
+          82.52796936035156
+        ],
+        [
+          -0.2862860858440399,
+          -0.0024324210826307535,
+          0.9581412076950073,
+          20.641212463378906
+        ],
+        [
+          -0.11095580458641052,
+          -0.9931848645210266,
+          -0.035674236714839935,
+          -28.50872039794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6052,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_683082342",
+      "mask_path": "../../mask/hdr_right_06052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06054.png",
+      "transform_matrix": [
+        [
+          0.9495826959609985,
+          -0.13398516178131104,
+          0.28344422578811646,
+          82.46207427978516
+        ],
+        [
+          -0.2893829643726349,
+          -0.026736965402960777,
+          0.956839919090271,
+          20.65100860595703
+        ],
+        [
+          -0.12062390893697739,
+          -0.9906225800514221,
+          -0.0641619935631752,
+          -28.491832733154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6054,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_883082151",
+      "mask_path": "../../mask/hdr_right_06054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06055.png",
+      "transform_matrix": [
+        [
+          0.9490022659301758,
+          -0.14414356648921967,
+          0.28038787841796875,
+          82.41069793701172
+        ],
+        [
+          -0.2894711494445801,
+          -0.04603617638349533,
+          0.9560790657997131,
+          20.65497589111328
+        ],
+        [
+          -0.12490465492010117,
+          -0.9884852766990662,
+          -0.0854138508439064,
+          -28.483348846435547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6055,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323868_983082532",
+      "mask_path": "../../mask/hdr_right_06055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06056.png",
+      "transform_matrix": [
+        [
+          0.9522011876106262,
+          -0.12821532785892487,
+          0.2772614061832428,
+          82.3609848022461
+        ],
+        [
+          -0.2851877212524414,
+          -0.04789552092552185,
+          0.9572742581367493,
+          20.66966438293457
+        ],
+        [
+          -0.10945764929056168,
+          -0.9905891418457031,
+          -0.08217161148786545,
+          -28.483112335205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6056,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_83082199",
+      "mask_path": "../../mask/hdr_right_06056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06058.png",
+      "transform_matrix": [
+        [
+          0.9622488617897034,
+          -0.10947800427675247,
+          0.24918194115161896,
+          82.3030776977539
+        ],
+        [
+          -0.2549898624420166,
+          -0.04248857498168945,
+          0.966009795665741,
+          20.66623878479004
+        ],
+        [
+          -0.09516943991184235,
+          -0.993080735206604,
+          -0.06880037486553192,
+          -28.473955154418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6058,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_283082723",
+      "mask_path": "../../mask/hdr_right_06058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06060.png",
+      "transform_matrix": [
+        [
+          0.970005989074707,
+          -0.1037902906537056,
+          0.2198091298341751,
+          82.22586059570312
+        ],
+        [
+          -0.22607168555259705,
+          -0.052877750247716904,
+          0.9726744294166565,
+          20.651453018188477
+        ],
+        [
+          -0.08933115750551224,
+          -0.9931926131248474,
+          -0.07475578784942627,
+          -28.467193603515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6060,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_483083486",
+      "mask_path": "../../mask/hdr_right_06060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06062.png",
+      "transform_matrix": [
+        [
+          0.9711738228797913,
+          -0.11322078108787537,
+          0.20976755023002625,
+          82.1356430053711
+        ],
+        [
+          -0.21705137193202972,
+          -0.056245263665914536,
+          0.9745383858680725,
+          20.680191040039062
+        ],
+        [
+          -0.0985395684838295,
+          -0.9919766187667847,
+          -0.0791986733675003,
+          -28.439908981323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6062,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_683081865",
+      "mask_path": "../../mask/hdr_right_06062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06063.png",
+      "transform_matrix": [
+        [
+          0.9722411632537842,
+          -0.11166795343160629,
+          0.2056150883436203,
+          82.0866470336914
+        ],
+        [
+          -0.21341317892074585,
+          -0.0629391074180603,
+          0.9749325513839722,
+          20.69108772277832
+        ],
+        [
+          -0.09592748433351517,
+          -0.9917504787445068,
+          -0.08502339571714401,
+          -28.43186378479004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6063,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_783081293",
+      "mask_path": "../../mask/hdr_right_06063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06064.png",
+      "transform_matrix": [
+        [
+          0.9738901257514954,
+          -0.10533613711595535,
+          0.20110277831554413,
+          82.04068756103516
+        ],
+        [
+          -0.20815962553024292,
+          -0.06083213910460472,
+          0.9762013554573059,
+          20.708011627197266
+        ],
+        [
+          -0.09059576690196991,
+          -0.9925742745399475,
+          -0.08117055892944336,
+          -28.428112030029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6064,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323869_883081674",
+      "mask_path": "../../mask/hdr_right_06064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06066.png",
+      "transform_matrix": [
+        [
+          0.9748979806900024,
+          -0.09934571385383606,
+          0.1992596536874771,
+          81.95638275146484
+        ],
+        [
+          -0.20569004118442535,
+          -0.05924351513385773,
+          0.9768223166465759,
+          20.726131439208984
+        ],
+        [
+          -0.0852382704615593,
+          -0.9932878017425537,
+          -0.07819081097841263,
+          -28.437334060668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6066,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_83083629",
+      "mask_path": "../../mask/hdr_right_06066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06068.png",
+      "transform_matrix": [
+        [
+          0.9740581512451172,
+          -0.09675315022468567,
+          0.20457197725772858,
+          81.88477325439453
+        ],
+        [
+          -0.21020111441612244,
+          -0.05198364332318306,
+          0.9762752652168274,
+          20.746517181396484
+        ],
+        [
+          -0.0838233083486557,
+          -0.9939499497413635,
+          -0.07097271829843521,
+          -28.422170639038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6068,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_283082008",
+      "mask_path": "../../mask/hdr_right_06068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06070.png",
+      "transform_matrix": [
+        [
+          0.9710047245025635,
+          -0.10183950513601303,
+          0.21628335118293762,
+          81.79576873779297
+        ],
+        [
+          -0.222756028175354,
+          -0.057044509798288345,
+          0.9732038974761963,
+          20.77745819091797
+        ],
+        [
+          -0.08677282184362411,
+          -0.9931640028953552,
+          -0.0780758485198021,
+          -28.3980712890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6070,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_483081579",
+      "mask_path": "../../mask/hdr_right_06070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06071.png",
+      "transform_matrix": [
+        [
+          0.9710687398910522,
+          -0.0961858257651329,
+          0.21857185661792755,
+          81.74060821533203
+        ],
+        [
+          -0.2245306521654129,
+          -0.05611101910471916,
+          0.9728503227233887,
+          20.797901153564453
+        ],
+        [
+          -0.08131011575460434,
+          -0.9937804937362671,
+          -0.07608433067798615,
+          -28.40358543395996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6071,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_583081960",
+      "mask_path": "../../mask/hdr_right_06071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06073.png",
+      "transform_matrix": [
+        [
+          0.9708353877067566,
+          -0.08912111073732376,
+          0.2225668877363205,
+          81.66734313964844
+        ],
+        [
+          -0.2279600352048874,
+          -0.05564350634813309,
+          0.9720792770385742,
+          20.809566497802734
+        ],
+        [
+          -0.07424837350845337,
+          -0.9944652915000916,
+          -0.07433674484491348,
+          -28.40862464904785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6073,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_783081531",
+      "mask_path": "../../mask/hdr_right_06073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06075.png",
+      "transform_matrix": [
+        [
+          0.9702085852622986,
+          -0.08262867480516434,
+          0.22774501144886017,
+          81.58185577392578
+        ],
+        [
+          -0.2325294017791748,
+          -0.05370573326945305,
+          0.9711053967475891,
+          20.830415725708008
+        ],
+        [
+          -0.06800995022058487,
+          -0.9951322078704834,
+          -0.07131935656070709,
+          -28.385696411132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6075,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323870_983081340",
+      "mask_path": "../../mask/hdr_right_06075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06077.png",
+      "transform_matrix": [
+        [
+          0.9674459099769592,
+          -0.0937693789601326,
+          0.2350652515888214,
+          81.50625610351562
+        ],
+        [
+          -0.24133144319057465,
+          -0.06212837994098663,
+          0.9684520363807678,
+          20.85666275024414
+        ],
+        [
+          -0.07620692253112793,
+          -0.9936535358428955,
+          -0.08273535221815109,
+          -28.37481689453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6077,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_183081150",
+      "mask_path": "../../mask/hdr_right_06077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06078.png",
+      "transform_matrix": [
+        [
+          0.968065619468689,
+          -0.0881526842713356,
+          0.23468706011772156,
+          81.45539093017578
+        ],
+        [
+          -0.24063138663768768,
+          -0.06413447111845016,
+          0.9684954285621643,
+          20.870473861694336
+        ],
+        [
+          -0.07032393664121628,
+          -0.9940401911735535,
+          -0.0832986831665039,
+          -28.368297576904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6078,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_283083200",
+      "mask_path": "../../mask/hdr_right_06078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06079.png",
+      "transform_matrix": [
+        [
+          0.9705978631973267,
+          -0.07953611016273499,
+          0.22718662023544312,
+          81.40919494628906
+        ],
+        [
+          -0.23198175430297852,
+          -0.0572749525308609,
+          0.9710325598716736,
+          20.89081573486328
+        ],
+        [
+          -0.06422004848718643,
+          -0.9951851963996887,
+          -0.07404187321662903,
+          -28.3739013671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6079,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_383082151",
+      "mask_path": "../../mask/hdr_right_06079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06081.png",
+      "transform_matrix": [
+        [
+          0.9748293161392212,
+          -0.07215660065412521,
+          0.21095311641693115,
+          81.32186126708984
+        ],
+        [
+          -0.21488183736801147,
+          -0.05180346965789795,
+          0.9752652645111084,
+          20.902267456054688
+        ],
+        [
+          -0.059443727135658264,
+          -0.9960471391677856,
+          -0.0660046860575676,
+          -28.379379272460938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6081,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_583082437",
+      "mask_path": "../../mask/hdr_right_06081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06083.png",
+      "transform_matrix": [
+        [
+          0.9758957624435425,
+          -0.07263174653053284,
+          0.20579630136489868,
+          81.22343444824219
+        ],
+        [
+          -0.2096591591835022,
+          -0.05023810267448425,
+          0.9764829874038696,
+          20.92545509338379
+        ],
+        [
+          -0.06058485805988312,
+          -0.9960927367210388,
+          -0.06425507366657257,
+          -28.35399627685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6083,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_783081531",
+      "mask_path": "../../mask/hdr_right_06083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06085.png",
+      "transform_matrix": [
+        [
+          0.9738597869873047,
+          -0.09573988616466522,
+          0.20598794519901276,
+          81.10734558105469
+        ],
+        [
+          -0.2123069167137146,
+          -0.061212554574012756,
+          0.9752839803695679,
+          20.97092056274414
+        ],
+        [
+          -0.0807645320892334,
+          -0.9935224652290344,
+          -0.07993869483470917,
+          -28.35756492614746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6085,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323871_983081102",
+      "mask_path": "../../mask/hdr_right_06085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06086.png",
+      "transform_matrix": [
+        [
+          0.9735063910484314,
+          -0.11742591857910156,
+          0.1962052285671234,
+          80.9989242553711
+        ],
+        [
+          -0.20457741618156433,
+          -0.06397638469934464,
+          0.9767575263977051,
+          20.984249114990234
+        ],
+        [
+          -0.10214414447546005,
+          -0.9910187721252441,
+          -0.08630411326885223,
+          -28.302745819091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6086,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_83081245",
+      "mask_path": "../../mask/hdr_right_06086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06087.png",
+      "transform_matrix": [
+        [
+          0.9749383330345154,
+          -0.1283990442752838,
+          0.1816837191581726,
+          80.93083190917969
+        ],
+        [
+          -0.1903761774301529,
+          -0.05892295017838478,
+          0.9799413681030273,
+          20.9848690032959
+        ],
+        [
+          -0.11511819809675217,
+          -0.9899705648422241,
+          -0.08189035952091217,
+          -28.268404006958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6087,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_183081865",
+      "mask_path": "../../mask/hdr_right_06087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06089.png",
+      "transform_matrix": [
+        [
+          0.9773398041725159,
+          -0.13537049293518066,
+          0.16273224353790283,
+          80.82661437988281
+        ],
+        [
+          -0.17008310556411743,
+          -0.04455765336751938,
+          0.9844218492507935,
+          21.008678436279297
+        ],
+        [
+          -0.1260107010602951,
+          -0.9897926449775696,
+          -0.06657220423221588,
+          -28.267831802368164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6089,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_383080244",
+      "mask_path": "../../mask/hdr_right_06089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06090.png",
+      "transform_matrix": [
+        [
+          0.9755492806434631,
+          -0.14878879487514496,
+          0.16175758838653564,
+          80.75128936767578
+        ],
+        [
+          -0.16879220306873322,
+          -0.03584936261177063,
+          0.9849995970726013,
+          21.03445053100586
+        ],
+        [
+          -0.1407579779624939,
+          -0.9882189035415649,
+          -0.060087211430072784,
+          -28.231483459472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6090,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_483082294",
+      "mask_path": "../../mask/hdr_right_06090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06091.png",
+      "transform_matrix": [
+        [
+          0.9747071266174316,
+          -0.15621374547481537,
+          0.15982253849506378,
+          80.68859100341797
+        ],
+        [
+          -0.16743072867393494,
+          -0.03673780336976051,
+          0.9851991534233093,
+          21.05664825439453
+        ],
+        [
+          -0.1480301022529602,
+          -0.9870398044586182,
+          -0.06196359172463417,
+          -28.210933685302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6091,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_583081722",
+      "mask_path": "../../mask/hdr_right_06091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06092.png",
+      "transform_matrix": [
+        [
+          0.9744033813476562,
+          -0.1631583571434021,
+          0.1546526998281479,
+          80.62057495117188
+        ],
+        [
+          -0.1632152795791626,
+          -0.040368322283029556,
+          0.9857643246650696,
+          21.07083511352539
+        ],
+        [
+          -0.1545926034450531,
+          -0.9857736825942993,
+          -0.06596497446298599,
+          -28.197669982910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6092,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_683081865",
+      "mask_path": "../../mask/hdr_right_06092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06093.png",
+      "transform_matrix": [
+        [
+          0.975707471370697,
+          -0.16655421257019043,
+          0.1423189342021942,
+          80.54214477539062
+        ],
+        [
+          -0.15013670921325684,
+          -0.035263605415821075,
+          0.9880361557006836,
+          21.09111976623535
+        ],
+        [
+          -0.15954290330410004,
+          -0.9854015707969666,
+          -0.059412866830825806,
+          -28.182100296020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6093,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_783080816",
+      "mask_path": "../../mask/hdr_right_06093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06095.png",
+      "transform_matrix": [
+        [
+          0.9810158610343933,
+          -0.16180306673049927,
+          0.10690007358789444,
+          80.43025207519531
+        ],
+        [
+          -0.11205603927373886,
+          -0.02305625006556511,
+          0.9934344291687012,
+          21.111888885498047
+        ],
+        [
+          -0.1582760065793991,
+          -0.9865536689758301,
+          -0.04074956476688385,
+          -28.181180953979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6095,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323872_983081579",
+      "mask_path": "../../mask/hdr_right_06095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06096.png",
+      "transform_matrix": [
+        [
+          0.9805316925048828,
+          -0.17473334074020386,
+          0.08958663791418076,
+          80.35863494873047
+        ],
+        [
+          -0.09166551381349564,
+          -0.0038469622377306223,
+          0.9957824945449829,
+          21.14483642578125
+        ],
+        [
+          -0.17365172505378723,
+          -0.9846082925796509,
+          -0.019789090380072594,
+          -28.15059471130371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6096,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_83082199",
+      "mask_path": "../../mask/hdr_right_06096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06097.png",
+      "transform_matrix": [
+        [
+          0.9791802167892456,
+          -0.1894468069076538,
+          0.0729118287563324,
+          80.29965209960938
+        ],
+        [
+          -0.07376299798488617,
+          0.002563650719821453,
+          0.9972724914550781,
+          21.167224884033203
+        ],
+        [
+          -0.18911701440811157,
+          -0.9818875789642334,
+          -0.011463891714811325,
+          -28.107187271118164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6097,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_183080434",
+      "mask_path": "../../mask/hdr_right_06097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06099.png",
+      "transform_matrix": [
+        [
+          0.9770725965499878,
+          -0.20478077232837677,
+          0.058258362114429474,
+          80.17121124267578
+        ],
+        [
+          -0.06258782744407654,
+          -0.014723196625709534,
+          0.9979308843612671,
+          21.178579330444336
+        ],
+        [
+          -0.20349928736686707,
+          -0.9786971211433411,
+          -0.0272024217993021,
+          -28.092119216918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6099,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_383080720",
+      "mask_path": "../../mask/hdr_right_06099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06100.png",
+      "transform_matrix": [
+        [
+          0.9789272546768188,
+          -0.19562363624572754,
+          0.058590494096279144,
+          80.08588409423828
+        ],
+        [
+          -0.06149479001760483,
+          -0.008800510317087173,
+          0.998068630695343,
+          21.199466705322266
+        ],
+        [
+          -0.19473020732402802,
+          -0.9806395173072815,
+          -0.0206448957324028,
+          -28.05744171142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6100,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_483082294",
+      "mask_path": "../../mask/hdr_right_06100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06102.png",
+      "transform_matrix": [
+        [
+          0.9807326197624207,
+          -0.18705198168754578,
+          0.056347817182540894,
+          79.97571563720703
+        ],
+        [
+          -0.05809762701392174,
+          -0.0038814011495560408,
+          0.9983034133911133,
+          21.212636947631836
+        ],
+        [
+          -0.1865159422159195,
+          -0.9823423027992249,
+          -0.014673897065222263,
+          -28.02920150756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6102,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_683081626",
+      "mask_path": "../../mask/hdr_right_06102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06103.png",
+      "transform_matrix": [
+        [
+          0.9816356897354126,
+          -0.18167296051979065,
+          0.058193378150463104,
+          79.89776611328125
+        ],
+        [
+          -0.06197177991271019,
+          -0.015186264179646969,
+          0.997962474822998,
+          21.230178833007812
+        ],
+        [
+          -0.18041902780532837,
+          -0.9832417368888855,
+          -0.026165984570980072,
+          -28.016557693481445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6103,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_783081531",
+      "mask_path": "../../mask/hdr_right_06103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06104.png",
+      "transform_matrix": [
+        [
+          0.9817887544631958,
+          -0.17855983972549438,
+          0.06486352533102036,
+          79.8220443725586
+        ],
+        [
+          -0.06981287151575089,
+          -0.021569006145000458,
+          0.9973268508911133,
+          21.250171661376953
+        ],
+        [
+          -0.1766834855079651,
+          -0.9836925864219666,
+          -0.0336419939994812,
+          -28.000741958618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6104,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_883081674",
+      "mask_path": "../../mask/hdr_right_06104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06105.png",
+      "transform_matrix": [
+        [
+          0.9805949330329895,
+          -0.18204927444458008,
+          0.07274467498064041,
+          79.75308227539062
+        ],
+        [
+          -0.07820365577936172,
+          -0.022980093955993652,
+          0.9966726303100586,
+          21.262371063232422
+        ],
+        [
+          -0.1797718107700348,
+          -0.9830208420753479,
+          -0.03677109256386757,
+          -27.976219177246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6105,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323873_983081579",
+      "mask_path": "../../mask/hdr_right_06105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06106.png",
+      "transform_matrix": [
+        [
+          0.9803460836410522,
+          -0.18135400116443634,
+          0.07766871899366379,
+          79.6722412109375
+        ],
+        [
+          -0.08406377583742142,
+          -0.027835160493850708,
+          0.9960716366767883,
+          21.280607223510742
+        ],
+        [
+          -0.1784796267747879,
+          -0.9830238819122314,
+          -0.04253338649868965,
+          -27.960622787475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6106,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_83081007",
+      "mask_path": "../../mask/hdr_right_06106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06107.png",
+      "transform_matrix": [
+        [
+          0.9817128777503967,
+          -0.17235460877418518,
+          0.08083100616931915,
+          79.57996368408203
+        ],
+        [
+          -0.08587872982025146,
+          -0.022021828219294548,
+          0.996062159538269,
+          21.30274772644043
+        ],
+        [
+          -0.16989584267139435,
+          -0.9847888350486755,
+          -0.03642072156071663,
+          -27.956602096557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6107,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_183079719",
+      "mask_path": "../../mask/hdr_right_06107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06108.png",
+      "transform_matrix": [
+        [
+          0.9828681945800781,
+          -0.16438382863998413,
+          0.08335534483194351,
+          79.50749969482422
+        ],
+        [
+          -0.08688424527645111,
+          -0.014382977038621902,
+          0.9961145520210266,
+          21.31284523010254
+        ],
+        [
+          -0.16254621744155884,
+          -0.9862915873527527,
+          -0.028418945148587227,
+          -27.947839736938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6108,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_283082008",
+      "mask_path": "../../mask/hdr_right_06108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06109.png",
+      "transform_matrix": [
+        [
+          0.9840629696846008,
+          -0.15648365020751953,
+          0.08445799350738525,
+          79.44610595703125
+        ],
+        [
+          -0.08850638568401337,
+          -0.019074054434895515,
+          0.9958929419517517,
+          21.330642700195312
+        ],
+        [
+          -0.1542300134897232,
+          -0.9874963760375977,
+          -0.03261987492442131,
+          -27.948041915893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6109,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_383080959",
+      "mask_path": "../../mask/hdr_right_06109.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06110.png",
+      "transform_matrix": [
+        [
+          0.9843828678131104,
+          -0.14993542432785034,
+          0.0922490656375885,
+          79.35800170898438
+        ],
+        [
+          -0.09717002511024475,
+          -0.025816911831498146,
+          0.9949329495429993,
+          21.350826263427734
+        ],
+        [
+          -0.14679411053657532,
+          -0.9883586168289185,
+          -0.039982955902814865,
+          -27.93561363220215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6110,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_483081102",
+      "mask_path": "../../mask/hdr_right_06110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06111.png",
+      "transform_matrix": [
+        [
+          0.9838739037513733,
+          -0.14714139699935913,
+          0.1016930639743805,
+          79.27999114990234
+        ],
+        [
+          -0.10714441537857056,
+          -0.02958862856030464,
+          0.9938031435012817,
+          21.371429443359375
+        ],
+        [
+          -0.14322061836719513,
+          -0.9886727929115295,
+          -0.04487687349319458,
+          -27.917165756225586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6111,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_583081960",
+      "mask_path": "../../mask/hdr_right_06111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06112.png",
+      "transform_matrix": [
+        [
+          0.9831125736236572,
+          -0.14754484593868256,
+          0.10826007276773453,
+          79.20372772216797
+        ],
+        [
+          -0.11482182145118713,
+          -0.03668113797903061,
+          0.9927087426185608,
+          21.400802612304688
+        ],
+        [
+          -0.1424979269504547,
+          -0.9883748888969421,
+          -0.053003065288066864,
+          -27.907676696777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6112,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_683080673",
+      "mask_path": "../../mask/hdr_right_06112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06113.png",
+      "transform_matrix": [
+        [
+          0.9844493269920349,
+          -0.13701991736888885,
+          0.10993272811174393,
+          79.10565185546875
+        ],
+        [
+          -0.11600123345851898,
+          -0.03709625452756882,
+          0.9925561547279358,
+          21.424745559692383
+        ],
+        [
+          -0.13192184269428253,
+          -0.9898734092712402,
+          -0.05241386219859123,
+          -27.894451141357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6113,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_783082008",
+      "mask_path": "../../mask/hdr_right_06113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06114.png",
+      "transform_matrix": [
+        [
+          0.9867849946022034,
+          -0.12185532599687576,
+          0.1068028062582016,
+          79.02098846435547
+        ],
+        [
+          -0.1110350638628006,
+          -0.028467370197176933,
+          0.9934087991714478,
+          21.443695068359375
+        ],
+        [
+          -0.11801175028085709,
+          -0.9921395182609558,
+          -0.041621387004852295,
+          -27.892545700073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6114,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_883081912",
+      "mask_path": "../../mask/hdr_right_06114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06115.png",
+      "transform_matrix": [
+        [
+          0.9880372285842896,
+          -0.11311748623847961,
+          0.1048179566860199,
+          78.95819091796875
+        ],
+        [
+          -0.10811964422464371,
+          -0.023442529141902924,
+          0.9938614964485168,
+          21.45812225341797
+        ],
+        [
+          -0.10996592044830322,
+          -0.993304967880249,
+          -0.03539232164621353,
+          -27.895151138305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6115,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323874_983082056",
+      "mask_path": "../../mask/hdr_right_06115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06116.png",
+      "transform_matrix": [
+        [
+          0.9885700345039368,
+          -0.10519353300333023,
+          0.10799770802259445,
+          78.88601684570312
+        ],
+        [
+          -0.11124992370605469,
+          -0.025538740679621696,
+          0.9934642314910889,
+          21.489585876464844
+        ],
+        [
+          -0.10174788534641266,
+          -0.9941236972808838,
+          -0.03694961592555046,
+          -27.890411376953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6116,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_83081722",
+      "mask_path": "../../mask/hdr_right_06116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06117.png",
+      "transform_matrix": [
+        [
+          0.9879541993141174,
+          -0.10309380292892456,
+          0.11540523171424866,
+          78.82252502441406
+        ],
+        [
+          -0.11879684031009674,
+          -0.027367347851395607,
+          0.9925414323806763,
+          21.523534774780273
+        ],
+        [
+          -0.09916651993989944,
+          -0.9942951202392578,
+          -0.03928491100668907,
+          -27.87529182434082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6117,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_183084249",
+      "mask_path": "../../mask/hdr_right_06117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06118.png",
+      "transform_matrix": [
+        [
+          0.9872680902481079,
+          -0.10466005653142929,
+          0.11978275328874588,
+          78.77232360839844
+        ],
+        [
+          -0.12363939732313156,
+          -0.031149649992585182,
+          0.991838276386261,
+          21.53912353515625
+        ],
+        [
+          -0.1000746488571167,
+          -0.9940201044082642,
+          -0.0436931736767292,
+          -27.8681697845459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6118,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_283081769",
+      "mask_path": "../../mask/hdr_right_06118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06119.png",
+      "transform_matrix": [
+        [
+          0.9860308766365051,
+          -0.11002951115369797,
+          0.1250462532043457,
+          78.70663452148438
+        ],
+        [
+          -0.130070760846138,
+          -0.03971024602651596,
+          0.9907092452049255,
+          21.558929443359375
+        ],
+        [
+          -0.10404162108898163,
+          -0.9931346774101257,
+          -0.05346716195344925,
+          -27.858318328857422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6119,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_383083105",
+      "mask_path": "../../mask/hdr_right_06119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06120.png",
+      "transform_matrix": [
+        [
+          0.9820954203605652,
+          -0.13788273930549622,
+          0.12836246192455292,
+          78.6194839477539
+        ],
+        [
+          -0.13743720948696136,
+          -0.05840759724378586,
+          0.9887869358062744,
+          21.587299346923828
+        ],
+        [
+          -0.12883931398391724,
+          -0.9887248873710632,
+          -0.07631205022335052,
+          -27.826250076293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6120,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_483082294",
+      "mask_path": "../../mask/hdr_right_06120.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06121.png",
+      "transform_matrix": [
+        [
+          0.9801076650619507,
+          -0.15684273838996887,
+          0.12161169946193695,
+          78.54438018798828
+        ],
+        [
+          -0.13305482268333435,
+          -0.0646129846572876,
+          0.9890004396438599,
+          21.607099533081055
+        ],
+        [
+          -0.14725980162620544,
+          -0.9855077266693115,
+          -0.08419637382030487,
+          -27.790498733520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6121,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_583082675",
+      "mask_path": "../../mask/hdr_right_06121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06123.png",
+      "transform_matrix": [
+        [
+          0.9849552512168884,
+          -0.14918187260627747,
+          0.0872240960597992,
+          78.45162963867188
+        ],
+        [
+          -0.09716623276472092,
+          -0.06069520488381386,
+          0.9934157133102417,
+          21.596582412719727
+        ],
+        [
+          -0.14290551841259003,
+          -0.9869451522827148,
+          -0.07427750527858734,
+          -27.78804588317871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6123,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_783081531",
+      "mask_path": "../../mask/hdr_right_06123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06124.png",
+      "transform_matrix": [
+        [
+          0.9882824420928955,
+          -0.1425098180770874,
+          0.05466882511973381,
+          78.39196014404297
+        ],
+        [
+          -0.0643722265958786,
+          -0.06439003348350525,
+          0.9958465099334717,
+          21.57958221435547
+        ],
+        [
+          -0.13839779794216156,
+          -0.9876967072486877,
+          -0.07280921936035156,
+          -27.79233169555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6124,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_883081674",
+      "mask_path": "../../mask/hdr_right_06124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06125.png",
+      "transform_matrix": [
+        [
+          0.9883733987808228,
+          -0.14895732700824738,
+          0.030491415411233902,
+          78.33639526367188
+        ],
+        [
+          -0.040098872035741806,
+          -0.06192620471119881,
+          0.9972749352455139,
+          21.58696174621582
+        ],
+        [
+          -0.14666318893432617,
+          -0.98690265417099,
+          -0.06717922538518906,
+          -27.768402099609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6125,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323875_983082532",
+      "mask_path": "../../mask/hdr_right_06125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06126.png",
+      "transform_matrix": [
+        [
+          0.9867963194847107,
+          -0.1607692688703537,
+          0.019653694704174995,
+          78.27803039550781
+        ],
+        [
+          -0.030347714200615883,
+          -0.06433523446321487,
+          0.9974668622016907,
+          21.60502052307129
+        ],
+        [
+          -0.1590975970029831,
+          -0.9848930239677429,
+          -0.06836476176977158,
+          -27.73452377319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6126,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_83080291",
+      "mask_path": "../../mask/hdr_right_06126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06127.png",
+      "transform_matrix": [
+        [
+          0.9855825304985046,
+          -0.1680874228477478,
+          0.019336707890033722,
+          78.21175384521484
+        ],
+        [
+          -0.03204701840877533,
+          -0.07323671877384186,
+          0.996799647808075,
+          21.631071090698242
+        ],
+        [
+          -0.16613329946994781,
+          -0.9830477833747864,
+          -0.07756753265857697,
+          -27.725814819335938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6127,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_183082342",
+      "mask_path": "../../mask/hdr_right_06127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06128.png",
+      "transform_matrix": [
+        [
+          0.9874343872070312,
+          -0.1562832146883011,
+          0.023427188396453857,
+          78.1561279296875
+        ],
+        [
+          -0.03500453755259514,
+          -0.07174324989318848,
+          0.9968087077140808,
+          21.63262939453125
+        ],
+        [
+          -0.15410372614860535,
+          -0.9851032495498657,
+          -0.07631237059831619,
+          -27.72487449645996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6128,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_283082723",
+      "mask_path": "../../mask/hdr_right_06128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06129.png",
+      "transform_matrix": [
+        [
+          0.9900088310241699,
+          -0.13922664523124695,
+          0.022324342280626297,
+          78.09494018554688
+        ],
+        [
+          -0.03177550435066223,
+          -0.066034235060215,
+          0.9973113536834717,
+          21.62497329711914
+        ],
+        [
+          -0.13737812638282776,
+          -0.9880564212799072,
+          -0.06979849189519882,
+          -27.722179412841797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6129,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_383082628",
+      "mask_path": "../../mask/hdr_right_06129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06130.png",
+      "transform_matrix": [
+        [
+          0.9904443621635437,
+          -0.1365056037902832,
+          0.01965373195707798,
+          78.02458953857422
+        ],
+        [
+          -0.028537025675177574,
+          -0.06342753022909164,
+          0.9975783824920654,
+          21.624300003051758
+        ],
+        [
+          -0.13492844998836517,
+          -0.9886066913604736,
+          -0.06671690195798874,
+          -27.719337463378906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6130,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_483080148",
+      "mask_path": "../../mask/hdr_right_06130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06131.png",
+      "transform_matrix": [
+        [
+          0.9906232357025146,
+          -0.1352515071630478,
+          0.01930542290210724,
+          77.95367431640625
+        ],
+        [
+          -0.028074946254491806,
+          -0.06323428452014923,
+          0.997603714466095,
+          21.63032341003418
+        ],
+        [
+          -0.13370665907859802,
+          -0.9887914061546326,
+          -0.06643854081630707,
+          -27.71433448791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6131,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_583082199",
+      "mask_path": "../../mask/hdr_right_06131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06132.png",
+      "transform_matrix": [
+        [
+          0.9904019832611084,
+          -0.13656431436538696,
+          0.021309414878487587,
+          77.88455963134766
+        ],
+        [
+          -0.029782811179757118,
+          -0.06030711159110069,
+          0.9977354407310486,
+          21.6315860748291
+        ],
+        [
+          -0.13496994972229004,
+          -0.9887939095497131,
+          -0.0637955591082573,
+          -27.70998191833496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6132,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_683082103",
+      "mask_path": "../../mask/hdr_right_06132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06133.png",
+      "transform_matrix": [
+        [
+          0.9890353679656982,
+          -0.14529941976070404,
+          0.026405183598399162,
+          77.81875610351562
+        ],
+        [
+          -0.03531371057033539,
+          -0.05907781049609184,
+          0.9976286292076111,
+          21.63878631591797
+        ],
+        [
+          -0.14339487254619598,
+          -0.9876222610473633,
+          -0.06356111913919449,
+          -27.696311950683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6133,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_783082485",
+      "mask_path": "../../mask/hdr_right_06133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06134.png",
+      "transform_matrix": [
+        [
+          0.9871181845664978,
+          -0.15688540041446686,
+          0.03138032555580139,
+          77.75357818603516
+        ],
+        [
+          -0.04176488146185875,
+          -0.06333906948566437,
+          0.9971177577972412,
+          21.654125213623047
+        ],
+        [
+          -0.1544456034898758,
+          -0.9855836629867554,
+          -0.06907544285058975,
+          -27.673629760742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6134,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_883081674",
+      "mask_path": "../../mask/hdr_right_06134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06135.png",
+      "transform_matrix": [
+        [
+          0.9847326278686523,
+          -0.1708289533853531,
+          0.03345414623618126,
+          77.66661071777344
+        ],
+        [
+          -0.0452871210873127,
+          -0.0658469870686531,
+          0.9968015551567078,
+          21.646024703979492
+        ],
+        [
+          -0.16807971894741058,
+          -0.9830979704856873,
+          -0.07257804274559021,
+          -27.6422061920166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6135,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323876_983081817",
+      "mask_path": "../../mask/hdr_right_06135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06136.png",
+      "transform_matrix": [
+        [
+          0.9860460162162781,
+          -0.16307128965854645,
+          0.03348225727677345,
+          77.5970230102539
+        ],
+        [
+          -0.043153807520866394,
+          -0.05613148212432861,
+          0.9974905252456665,
+          21.655460357666016
+        ],
+        [
+          -0.16078265011310577,
+          -0.9850162267684937,
+          -0.062385380268096924,
+          -27.621196746826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6136,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_83081483",
+      "mask_path": "../../mask/hdr_right_06136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06138.png",
+      "transform_matrix": [
+        [
+          0.9886574745178223,
+          -0.14542256295681,
+          0.03753167390823364,
+          77.5162353515625
+        ],
+        [
+          -0.044206101447343826,
+          -0.04293947294354439,
+          0.9980992078781128,
+          21.66701316833496
+        ],
+        [
+          -0.1435345560312271,
+          -0.9884373545646667,
+          -0.04888099431991577,
+          -27.614307403564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6138,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_283081769",
+      "mask_path": "../../mask/hdr_right_06138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06140.png",
+      "transform_matrix": [
+        [
+          0.9875685572624207,
+          -0.14845311641693115,
+          0.05167273059487343,
+          77.41151428222656
+        ],
+        [
+          -0.05817415192723274,
+          -0.03978866711258888,
+          0.9975131750106812,
+          21.692916870117188
+        ],
+        [
+          -0.14602795243263245,
+          -0.9881187081336975,
+          -0.047930169850587845,
+          -27.592592239379883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6140,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_483081817",
+      "mask_path": "../../mask/hdr_right_06140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06142.png",
+      "transform_matrix": [
+        [
+          0.9861005544662476,
+          -0.15102900564670563,
+          0.06925295293331146,
+          77.31080627441406
+        ],
+        [
+          -0.07650536298751831,
+          -0.04274319112300873,
+          0.9961525797843933,
+          21.73223876953125
+        ],
+        [
+          -0.1474878489971161,
+          -0.9876047968864441,
+          -0.053703613579273224,
+          -27.57121467590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6142,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_683081626",
+      "mask_path": "../../mask/hdr_right_06142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06143.png",
+      "transform_matrix": [
+        [
+          0.9868530035018921,
+          -0.14261791110038757,
+          0.07603507488965988,
+          77.24771881103516
+        ],
+        [
+          -0.08281658589839935,
+          -0.04222452640533447,
+          0.9956698417663574,
+          21.74810791015625
+        ],
+        [
+          -0.1387898027896881,
+          -0.9888767600059509,
+          -0.05348052456974983,
+          -27.566953659057617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6143,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_783082962",
+      "mask_path": "../../mask/hdr_right_06143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06144.png",
+      "transform_matrix": [
+        [
+          0.9882162809371948,
+          -0.13103020191192627,
+          0.0791185200214386,
+          77.19336700439453
+        ],
+        [
+          -0.08381756395101547,
+          -0.03073550947010517,
+          0.9960070848464966,
+          21.769084930419922
+        ],
+        [
+          -0.1280752569437027,
+          -0.99090176820755,
+          -0.041355960071086884,
+          -27.570493698120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6144,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323877_883082628",
+      "mask_path": "../../mask/hdr_right_06144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06146.png",
+      "transform_matrix": [
+        [
+          0.989254891872406,
+          -0.12057685106992722,
+          0.08267968147993088,
+          77.08012390136719
+        ],
+        [
+          -0.08560247719287872,
+          -0.019256239756941795,
+          0.9961432814598083,
+          21.78860092163086
+        ],
+        [
+          -0.11851972341537476,
+          -0.9925172328948975,
+          -0.029371008276939392,
+          -27.568572998046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6146,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_83081960",
+      "mask_path": "../../mask/hdr_right_06146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06147.png",
+      "transform_matrix": [
+        [
+          0.9889225959777832,
+          -0.11947948485612869,
+          0.08807257562875748,
+          76.99462890625
+        ],
+        [
+          -0.0909947082400322,
+          -0.01921619102358818,
+          0.9956660270690918,
+          21.817615509033203
+        ],
+        [
+          -0.11726924777030945,
+          -0.9926508069038391,
+          -0.02987533062696457,
+          -27.55827522277832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6147,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_183081150",
+      "mask_path": "../../mask/hdr_right_06147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06148.png",
+      "transform_matrix": [
+        [
+          0.9881772994995117,
+          -0.12141232937574387,
+          0.09361983090639114,
+          76.91741943359375
+        ],
+        [
+          -0.09712023288011551,
+          -0.02322772890329361,
+          0.9950016140937805,
+          21.84731101989746
+        ],
+        [
+          -0.11863088607788086,
+          -0.9923303723335266,
+          -0.034744713455438614,
+          -27.550460815429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6148,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_283081531",
+      "mask_path": "../../mask/hdr_right_06148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06149.png",
+      "transform_matrix": [
+        [
+          0.9871352314949036,
+          -0.12587986886501312,
+          0.0985814779996872,
+          76.83692169189453
+        ],
+        [
+          -0.10266255587339401,
+          -0.02633967623114586,
+          0.9943675398826599,
+          21.865489959716797
+        ],
+        [
+          -0.12257422506809235,
+          -0.9916958212852478,
+          -0.03892397880554199,
+          -27.538394927978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6149,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_383081197",
+      "mask_path": "../../mask/hdr_right_06149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06150.png",
+      "transform_matrix": [
+        [
+          0.9894142150878906,
+          -0.10488197207450867,
+          0.10029570013284683,
+          76.74191284179688
+        ],
+        [
+          -0.10284595191478729,
+          -0.01918346807360649,
+          0.9945123195648193,
+          21.88650894165039
+        ],
+        [
+          -0.10238239914178848,
+          -0.994299590587616,
+          -0.02976708486676216,
+          -27.533267974853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6150,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_483081817",
+      "mask_path": "../../mask/hdr_right_06150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06151.png",
+      "transform_matrix": [
+        [
+          0.9915875792503357,
+          -0.08472253382205963,
+          0.09785774350166321,
+          76.6681900024414
+        ],
+        [
+          -0.09897558391094208,
+          -0.009086369536817074,
+          0.995048463344574,
+          21.90370750427246
+        ],
+        [
+          -0.08341385424137115,
+          -0.9963631629943848,
+          -0.017395397648215294,
+          -27.53009033203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6151,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_583081722",
+      "mask_path": "../../mask/hdr_right_06151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06152.png",
+      "transform_matrix": [
+        [
+          0.9919005036354065,
+          -0.08111885190010071,
+          0.09774072468280792,
+          76.60926818847656
+        ],
+        [
+          -0.09862524271011353,
+          -0.006960092578083277,
+          0.9951003789901733,
+          21.911876678466797
+        ],
+        [
+          -0.08004110306501389,
+          -0.9966801404953003,
+          -0.014904085546731949,
+          -27.529369354248047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6152,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_683080911",
+      "mask_path": "../../mask/hdr_right_06152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06153.png",
+      "transform_matrix": [
+        [
+          0.9915168881416321,
+          -0.08174930512905121,
+          0.1010521724820137,
+          76.5233383178711
+        ],
+        [
+          -0.10213902592658997,
+          -0.009213510900735855,
+          0.9947274327278137,
+          21.9227352142334
+        ],
+        [
+          -0.08038721978664398,
+          -0.9966104030609131,
+          -0.017485152930021286,
+          -27.52608871459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6153,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_783081293",
+      "mask_path": "../../mask/hdr_right_06153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06154.png",
+      "transform_matrix": [
+        [
+          0.9894170165061951,
+          -0.09717649966478348,
+          0.10775358229875565,
+          76.42233276367188
+        ],
+        [
+          -0.10893674194812775,
+          -0.006937666796147823,
+          0.9940245151519775,
+          21.963470458984375
+        ],
+        [
+          -0.09584826231002808,
+          -0.9952430129051208,
+          -0.01745033822953701,
+          -27.492446899414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6154,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_883082151",
+      "mask_path": "../../mask/hdr_right_06154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06155.png",
+      "transform_matrix": [
+        [
+          0.9868015050888062,
+          -0.11188127100467682,
+          0.11706982553005219,
+          76.3476791381836
+        ],
+        [
+          -0.11881280690431595,
+          -0.009017203003168106,
+          0.9928757548332214,
+          21.996694564819336
+        ],
+        [
+          -0.11002855002880096,
+          -0.9936807155609131,
+          -0.022191118448972702,
+          -27.461082458496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6155,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323878_983081102",
+      "mask_path": "../../mask/hdr_right_06155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06156.png",
+      "transform_matrix": [
+        [
+          0.984660267829895,
+          -0.12251049280166626,
+          0.12423925846815109,
+          76.267822265625
+        ],
+        [
+          -0.12729504704475403,
+          -0.01740913838148117,
+          0.9917121529579163,
+          22.002771377563477
+        ],
+        [
+          -0.11933224648237228,
+          -0.9923145174980164,
+          -0.032737068831920624,
+          -27.44700050354004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6156,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_83082675",
+      "mask_path": "../../mask/hdr_right_06156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06157.png",
+      "transform_matrix": [
+        [
+          0.9843032360076904,
+          -0.12382971495389938,
+          0.12575173377990723,
+          76.15263366699219
+        ],
+        [
+          -0.12909582257270813,
+          -0.01933070831000805,
+          0.9914437532424927,
+          22.020261764526367
+        ],
+        [
+          -0.12033931165933609,
+          -0.9921151399612427,
+          -0.03501318767666817,
+          -27.43089485168457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6157,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_183082342",
+      "mask_path": "../../mask/hdr_right_06157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06158.png",
+      "transform_matrix": [
+        [
+          0.9850834012031555,
+          -0.11995390802621841,
+          0.12337654829025269,
+          76.07074737548828
+        ],
+        [
+          -0.12569881975650787,
+          -0.011961388401687145,
+          0.9919963479042053,
+          22.030841827392578
+        ],
+        [
+          -0.11751808226108551,
+          -0.992707371711731,
+          -0.02686103619635105,
+          -27.418121337890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6158,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_283081769",
+      "mask_path": "../../mask/hdr_right_06158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06159.png",
+      "transform_matrix": [
+        [
+          0.9854029417037964,
+          -0.11830762028694153,
+          0.12241090089082718,
+          76.02034759521484
+        ],
+        [
+          -0.12413056939840317,
+          -0.007249749265611172,
+          0.9922394752502441,
+          22.03486442565918
+        ],
+        [
+          -0.11650203168392181,
+          -0.9929505586624146,
+          -0.021829525008797646,
+          -27.41066551208496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6159,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_383081912",
+      "mask_path": "../../mask/hdr_right_06159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06160.png",
+      "transform_matrix": [
+        [
+          0.9850764274597168,
+          -0.12033677101135254,
+          0.12305913865566254,
+          75.94564056396484
+        ],
+        [
+          -0.12437644600868225,
+          -0.0034690755419433117,
+          0.9922291040420532,
+          22.04921531677246
+        ],
+        [
+          -0.11897474527359009,
+          -0.9927270412445068,
+          -0.01838436722755432,
+          -27.408300399780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6160,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_483082771",
+      "mask_path": "../../mask/hdr_right_06160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06161.png",
+      "transform_matrix": [
+        [
+          0.9835424423217773,
+          -0.12803687155246735,
+          0.1274787187576294,
+          75.85723114013672
+        ],
+        [
+          -0.12883177399635315,
+          -0.002307669958099723,
+          0.9916638135910034,
+          22.062835693359375
+        ],
+        [
+          -0.12667535245418549,
+          -0.9917666912078857,
+          -0.018764913082122803,
+          -27.384387969970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6161,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_583083152",
+      "mask_path": "../../mask/hdr_right_06161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06162.png",
+      "transform_matrix": [
+        [
+          0.9817554354667664,
+          -0.13439147174358368,
+          0.13451823592185974,
+          75.79362487792969
+        ],
+        [
+          -0.13623422384262085,
+          -0.0036126435734331608,
+          0.9906700253486633,
+          22.08312225341797
+        ],
+        [
+          -0.13265164196491241,
+          -0.9909217357635498,
+          -0.02185545116662979,
+          -27.367456436157227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6162,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_683082342",
+      "mask_path": "../../mask/hdr_right_06162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06163.png",
+      "transform_matrix": [
+        [
+          0.9784601926803589,
+          -0.1513574719429016,
+          0.14038047194480896,
+          75.6870346069336
+        ],
+        [
+          -0.14304029941558838,
+          -0.006775685120373964,
+          0.9896937012672424,
+          22.10010528564453
+        ],
+        [
+          -0.1488463580608368,
+          -0.9884558320045471,
+          -0.028279956430196762,
+          -27.340364456176758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6163,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_783081769",
+      "mask_path": "../../mask/hdr_right_06163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06164.png",
+      "transform_matrix": [
+        [
+          0.9769907593727112,
+          -0.15769287943840027,
+          0.14360375702381134,
+          75.57008361816406
+        ],
+        [
+          -0.14412783086299896,
+          0.00816754437983036,
+          0.9895253777503967,
+          22.122695922851562
+        ],
+        [
+          -0.1572140008211136,
+          -0.9874544143676758,
+          -0.014748314395546913,
+          -27.29958724975586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6164,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_883080959",
+      "mask_path": "../../mask/hdr_right_06164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06165.png",
+      "transform_matrix": [
+        [
+          0.9771773219108582,
+          -0.15268827974796295,
+          0.14768469333648682,
+          75.51289367675781
+        ],
+        [
+          -0.14537927508354187,
+          0.026216750964522362,
+          0.9890285730361938,
+          22.14763641357422
+        ],
+        [
+          -0.15488487482070923,
+          -0.9879266023635864,
+          0.0034206986892968416,
+          -27.3018741607666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6165,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323879_983081817",
+      "mask_path": "../../mask/hdr_right_06165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06166.png",
+      "transform_matrix": [
+        [
+          0.9766241908073425,
+          -0.15084238350391388,
+          0.15313991904258728,
+          75.45256042480469
+        ],
+        [
+          -0.14995338022708893,
+          0.03234638646245003,
+          0.9881638884544373,
+          22.177391052246094
+        ],
+        [
+          -0.15401051938533783,
+          -0.9880284070968628,
+          0.008970937691628933,
+          -27.309179306030273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6166,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_83083868",
+      "mask_path": "../../mask/hdr_right_06166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06167.png",
+      "transform_matrix": [
+        [
+          0.9763065576553345,
+          -0.1419782042503357,
+          0.16330285370349884,
+          75.36114501953125
+        ],
+        [
+          -0.16096597909927368,
+          0.027870090678334236,
+          0.9865664839744568,
+          22.212907791137695
+        ],
+        [
+          -0.14462217688560486,
+          -0.9894773364067078,
+          0.004356084857136011,
+          -27.283924102783203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6167,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_183081388",
+      "mask_path": "../../mask/hdr_right_06167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06168.png",
+      "transform_matrix": [
+        [
+          0.9754523634910583,
+          -0.13536398112773895,
+          0.1736934334039688,
+          75.29268646240234
+        ],
+        [
+          -0.17242078483104706,
+          0.021160351112484932,
+          0.9847960472106934,
+          22.241424560546875
+        ],
+        [
+          -0.1369813233613968,
+          -0.9905700087547302,
+          -0.002698655240237713,
+          -27.26961326599121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6168,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_283081054",
+      "mask_path": "../../mask/hdr_right_06168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06169.png",
+      "transform_matrix": [
+        [
+          0.9739206433296204,
+          -0.13550662994384766,
+          0.18197938799858093,
+          75.23881530761719
+        ],
+        [
+          -0.18097393214702606,
+          0.01980653963983059,
+          0.9832885265350342,
+          22.27202796936035
+        ],
+        [
+          -0.13684649765491486,
+          -0.9905784726142883,
+          -0.005233174189925194,
+          -27.258398056030273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6169,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_383080005",
+      "mask_path": "../../mask/hdr_right_06169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06170.png",
+      "transform_matrix": [
+        [
+          0.9726433157920837,
+          -0.13126760721206665,
+          0.19166062772274017,
+          75.1718978881836
+        ],
+        [
+          -0.19114531576633453,
+          0.016633955761790276,
+          0.9814207553863525,
+          22.30925941467285
+        ],
+        [
+          -0.1320168375968933,
+          -0.9912074208259583,
+          -0.008912281133234501,
+          -27.243284225463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6170,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_483080863",
+      "mask_path": "../../mask/hdr_right_06170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06171.png",
+      "transform_matrix": [
+        [
+          0.9728580117225647,
+          -0.12396491318941116,
+          0.19539718329906464,
+          75.09174346923828
+        ],
+        [
+          -0.19404847919940948,
+          0.022981254383921623,
+          0.9807227849960327,
+          22.351985931396484
+        ],
+        [
+          -0.1260656863451004,
+          -0.9920204281806946,
+          -0.0016977101331576705,
+          -27.228269577026367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6171,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_583080530",
+      "mask_path": "../../mask/hdr_right_06171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06172.png",
+      "transform_matrix": [
+        [
+          0.9736618995666504,
+          -0.11932267248630524,
+          0.19427968561649323,
+          75.0184097290039
+        ],
+        [
+          -0.1919202357530594,
+          0.03106790781021118,
+          0.9809187054634094,
+          22.383134841918945
+        ],
+        [
+          -0.12308170646429062,
+          -0.9923693537712097,
+          0.0073491972871124744,
+          -27.22244644165039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6172,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_683080434",
+      "mask_path": "../../mask/hdr_right_06172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06173.png",
+      "transform_matrix": [
+        [
+          0.9744282960891724,
+          -0.11532600224018097,
+          0.19284561276435852,
+          74.94788360595703
+        ],
+        [
+          -0.19025516510009766,
+          0.03316777944564819,
+          0.9811742901802063,
+          22.404945373535156
+        ],
+        [
+          -0.1195511594414711,
+          -0.9927738308906555,
+          0.010378249920904636,
+          -27.220989227294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6173,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_783080339",
+      "mask_path": "../../mask/hdr_right_06173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06174.png",
+      "transform_matrix": [
+        [
+          0.9750292897224426,
+          -0.10692466050386429,
+          0.19464075565338135,
+          74.85905456542969
+        ],
+        [
+          -0.19288578629493713,
+          0.02661765366792679,
+          0.9808602333068848,
+          22.440336227416992
+        ],
+        [
+          -0.11005902290344238,
+          -0.9939107298851013,
+          0.005328742321580648,
+          -27.21343421936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6174,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_883080720",
+      "mask_path": "../../mask/hdr_right_06174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06175.png",
+      "transform_matrix": [
+        [
+          0.9736204147338867,
+          -0.10922282934188843,
+          0.20033374428749084,
+          74.7772216796875
+        ],
+        [
+          -0.1991714984178543,
+          0.02156190574169159,
+          0.9797274470329285,
+          22.47256851196289
+        ],
+        [
+          -0.11132816970348358,
+          -0.9937834143638611,
+          -0.0007609608583152294,
+          -27.185409545898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6175,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323880_983080625",
+      "mask_path": "../../mask/hdr_right_06175.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/b34c6a96/mesh.ply b/2024-11-11-12-07-40/splats/b34c6a96/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..954492c6afd9ecf151aef9234b9ca7879e9f9bee
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b34c6a96/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43c913b67b87631624a610c5bb101972696feddd5cc6b797f33696cc3199bef3
+size 88370731
diff --git a/2024-11-11-12-07-40/splats/b34c6a96/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/b34c6a96/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..79311dcea7fad6205e444350427b5cf3f38b7636
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b34c6a96/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c053b7de7148833e5734001a927621b5f18f36d523ae5a5c45e713b93a1756e
+size 1574073
diff --git a/2024-11-11-12-07-40/splats/b34c6a96/splatfacto/config.yml b/2024-11-11-12-07-40/splats/b34c6a96/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..68cceedd2c1c90f8efe267b01bb5da0d17e40200
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b34c6a96/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_b34c6a96
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_b34c6a96
+      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/2024-11-11-12-07-40/splats/b34c6a96/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/b34c6a96/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..4761cc4eca0460ac2ef62f7525e286b371b0b6b3
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b34c6a96/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.941380500793457,
+            0.2240610271692276,
+            0.2521882951259613,
+            29.79482078552246
+        ],
+        [
+            0.2240610271692276,
+            0.9741404056549072,
+            -0.02910587005317211,
+            -31.621244430541992
+        ],
+        [
+            -0.2521882951259613,
+            0.02910587005317211,
+            -0.9672402143478394,
+            -12.816615104675293
+        ]
+    ],
+    "scale": 0.28671944000109373
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/b34c6a96/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/b34c6a96/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..42f4fb326834a46c2a034d3aa4538a6c5c385fb4
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b34c6a96/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d103977178a4727723c4f7ffc29b85602860dfc9c598aeac3107a61bc28622f
+size 204877617
diff --git a/2024-11-11-12-07-40/splats/b34c6a96/transforms.json b/2024-11-11-12-07-40/splats/b34c6a96/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa11a6ac0f4fac7e64c93da43b88ada3d21400b
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b34c6a96/transforms.json
@@ -0,0 +1,20166 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_03179.png",
+      "transform_matrix": [
+        [
+          0.35176458954811096,
+          -0.1383177638053894,
+          -0.9258131384849548,
+          28.636701583862305
+        ],
+        [
+          0.9359093308448792,
+          0.032621338963508606,
+          0.35072702169418335,
+          24.87632179260254
+        ],
+        [
+          -0.018310513347387314,
+          -0.9898505210876465,
+          0.14092791080474854,
+          -19.880277633666992
+        ],
+        [
+          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": "1731323582_383078813",
+      "mask_path": "../../mask/hdr_front_03179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03180.png",
+      "transform_matrix": [
+        [
+          0.3476933538913727,
+          -0.14820317924022675,
+          -0.9258213043212891,
+          28.734424591064453
+        ],
+        [
+          0.9373542070388794,
+          0.031953778117895126,
+          0.34690946340560913,
+          24.85163688659668
+        ],
+        [
+          -0.021829595789313316,
+          -0.9884406328201294,
+          0.15002897381782532,
+          -19.89792251586914
+        ],
+        [
+          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": "1731323582_483079433",
+      "mask_path": "../../mask/hdr_front_03180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03181.png",
+      "transform_matrix": [
+        [
+          0.33775055408477783,
+          -0.15703727304935455,
+          -0.928043007850647,
+          28.815269470214844
+        ],
+        [
+          0.9409050345420837,
+          0.03019927442073822,
+          0.3373214304447174,
+          24.83904266357422
+        ],
+        [
+          -0.024945814162492752,
+          -0.987130880355835,
+          0.15795698761940002,
+          -19.92156982421875
+        ],
+        [
+          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": "1731323582_583081483",
+      "mask_path": "../../mask/hdr_front_03181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03182.png",
+      "transform_matrix": [
+        [
+          0.32518190145492554,
+          -0.16389670968055725,
+          -0.9313401579856873,
+          28.887929916381836
+        ],
+        [
+          0.945229172706604,
+          0.026907529681921005,
+          0.32529619336128235,
+          24.823226928710938
+        ],
+        [
+          -0.028254901990294456,
+          -0.986110508441925,
+          0.16366977989673615,
+          -19.9454402923584
+        ],
+        [
+          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": "1731323582_683081626",
+      "mask_path": "../../mask/hdr_front_03182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03183.png",
+      "transform_matrix": [
+        [
+          0.3091917037963867,
+          -0.16967660188674927,
+          -0.9357404708862305,
+          28.962261199951172
+        ],
+        [
+          0.9507592916488647,
+          0.03302972391247749,
+          0.3081651031970978,
+          24.800256729125977
+        ],
+        [
+          -0.02138115093111992,
+          -0.9849461317062378,
+          0.17153412103652954,
+          -19.96894645690918
+        ],
+        [
+          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": "1731323582_783081054",
+      "mask_path": "../../mask/hdr_front_03183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03184.png",
+      "transform_matrix": [
+        [
+          0.29051288962364197,
+          -0.17428076267242432,
+          -0.9408658146858215,
+          29.044347763061523
+        ],
+        [
+          0.9567919373512268,
+          0.04026403650641441,
+          0.28797221183776855,
+          24.786264419555664
+        ],
+        [
+          -0.01230495423078537,
+          -0.9838725328445435,
+          0.1784476488828659,
+          -19.99200439453125
+        ],
+        [
+          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": "1731323582_883079767",
+      "mask_path": "../../mask/hdr_front_03184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03185.png",
+      "transform_matrix": [
+        [
+          0.2730245888233185,
+          -0.17125847935676575,
+          -0.9466404914855957,
+          29.117717742919922
+        ],
+        [
+          0.9619770646095276,
+          0.04083867743611336,
+          0.270059734582901,
+          24.780292510986328
+        ],
+        [
+          -0.007590475492179394,
+          -0.9843793511390686,
+          0.17589670419692993,
+          -20.00870132446289
+        ],
+        [
+          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": "1731323582_983081817",
+      "mask_path": "../../mask/hdr_front_03185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03186.png",
+      "transform_matrix": [
+        [
+          0.25855252146720886,
+          -0.16910524666309357,
+          -0.9510805010795593,
+          29.2205810546875
+        ],
+        [
+          0.9659383296966553,
+          0.034385208040475845,
+          0.25647783279418945,
+          24.767000198364258
+        ],
+        [
+          -0.010668642818927765,
+          -0.9849980473518372,
+          0.1722356081008911,
+          -20.0279483795166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3186,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323583_83081007",
+      "mask_path": "../../mask/hdr_front_03186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03187.png",
+      "transform_matrix": [
+        [
+          0.24487170577049255,
+          -0.16969287395477295,
+          -0.9545900821685791,
+          29.322473526000977
+        ],
+        [
+          0.9694212675094604,
+          0.026469670236110687,
+          0.24397078156471252,
+          24.754955291748047
+        ],
+        [
+          -0.0161324180662632,
+          -0.9851414561271667,
+          0.17098554968833923,
+          -20.050031661987305
+        ],
+        [
+          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": "1731323583_183080673",
+      "mask_path": "../../mask/hdr_front_03187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03188.png",
+      "transform_matrix": [
+        [
+          0.23668836057186127,
+          -0.16367091238498688,
+          -0.9577006697654724,
+          29.39246368408203
+        ],
+        [
+          0.9714607000350952,
+          0.024057500064373016,
+          0.23597761988639832,
+          24.74823760986328
+        ],
+        [
+          -0.015582791529595852,
+          -0.9862216114997864,
+          0.16469396650791168,
+          -20.060094833374023
+        ],
+        [
+          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": "1731323583_283081293",
+      "mask_path": "../../mask/hdr_front_03188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03189.png",
+      "transform_matrix": [
+        [
+          0.23288892209529877,
+          -0.15495255589485168,
+          -0.9600794315338135,
+          29.47397804260254
+        ],
+        [
+          0.9724750518798828,
+          0.029567375779151917,
+          0.23112371563911438,
+          24.737634658813477
+        ],
+        [
+          -0.007426182273775339,
+          -0.9874793887138367,
+          0.15757343173027039,
+          -20.072492599487305
+        ],
+        [
+          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": "1731323583_383081674",
+      "mask_path": "../../mask/hdr_front_03189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03190.png",
+      "transform_matrix": [
+        [
+          0.23463112115859985,
+          -0.15788793563842773,
+          -0.9591765999794006,
+          29.56066131591797
+        ],
+        [
+          0.9720604419708252,
+          0.03116976097226143,
+          0.2326519787311554,
+          24.721996307373047
+        ],
+        [
+          -0.0068356371484696865,
+          -0.986965000629425,
+          0.16079002618789673,
+          -20.083961486816406
+        ],
+        [
+          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": "1731323583_483080625",
+      "mask_path": "../../mask/hdr_front_03190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03191.png",
+      "transform_matrix": [
+        [
+          0.24134747684001923,
+          -0.16076567769050598,
+          -0.9570297002792358,
+          29.642118453979492
+        ],
+        [
+          0.9703626036643982,
+          0.027621082961559296,
+          0.2400698959827423,
+          24.700939178466797
+        ],
+        [
+          -0.01216080505400896,
+          -0.9866060614585876,
+          0.16266728937625885,
+          -20.086339950561523
+        ],
+        [
+          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": "1731323583_583081722",
+      "mask_path": "../../mask/hdr_front_03191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03192.png",
+      "transform_matrix": [
+        [
+          0.2532767057418823,
+          -0.15443392097949982,
+          -0.9549874663352966,
+          29.7229061126709
+        ],
+        [
+          0.9672998189926147,
+          0.02666597068309784,
+          0.2522298991680145,
+          24.677080154418945
+        ],
+        [
+          -0.013487188145518303,
+          -0.9876431822776794,
+          0.15613779425621033,
+          -20.09606170654297
+        ],
+        [
+          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": "1731323583_683081626",
+      "mask_path": "../../mask/hdr_front_03192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03193.png",
+      "transform_matrix": [
+        [
+          0.268280029296875,
+          -0.14624162018299103,
+          -0.9521760940551758,
+          29.811216354370117
+        ],
+        [
+          0.9631430506706238,
+          0.020684512332081795,
+          0.26819318532943726,
+          24.65371322631836
+        ],
+        [
+          -0.019525708630681038,
+          -0.9890326857566833,
+          0.14640086889266968,
+          -20.118486404418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3193,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323583_783081769",
+      "mask_path": "../../mask/hdr_front_03193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03194.png",
+      "transform_matrix": [
+        [
+          0.2739342451095581,
+          -0.14886754751205444,
+          -0.950157105922699,
+          29.90760040283203
+        ],
+        [
+          0.9613088965415955,
+          0.012515944428741932,
+          0.2751883864402771,
+          24.63035774230957
+        ],
+        [
+          -0.02907450497150421,
+          -0.9887779951095581,
+          0.14653624594211578,
+          -20.144752502441406
+        ],
+        [
+          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": "1731323583_883080720",
+      "mask_path": "../../mask/hdr_front_03194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03195.png",
+      "transform_matrix": [
+        [
+          0.27364394068717957,
+          -0.15323969721794128,
+          -0.9495455026626587,
+          29.995216369628906
+        ],
+        [
+          0.9613711833953857,
+          0.013048182241618633,
+          0.2749461233615875,
+          24.61050033569336
+        ],
+        [
+          -0.029742812737822533,
+          -0.988102912902832,
+          0.1508907824754715,
+          -20.1706600189209
+        ],
+        [
+          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": "1731323583_983081579",
+      "mask_path": "../../mask/hdr_front_03195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03196.png",
+      "transform_matrix": [
+        [
+          0.2701190710067749,
+          -0.1506628692150116,
+          -0.9509660005569458,
+          30.0716495513916
+        ],
+        [
+          0.9625254273414612,
+          0.017537834122776985,
+          0.27062395215034485,
+          24.590192794799805
+        ],
+        [
+          -0.024095095694065094,
+          -0.9884296655654907,
+          0.149754136800766,
+          -20.191347122192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3196,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323584_83082199",
+      "mask_path": "../../mask/hdr_front_03196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03197.png",
+      "transform_matrix": [
+        [
+          0.2649713456630707,
+          -0.15427573025226593,
+          -0.9518346786499023,
+          30.158979415893555
+        ],
+        [
+          0.9641699194908142,
+          0.029174944385886192,
+          0.2636764943599701,
+          24.56265640258789
+        ],
+        [
+          -0.012909158132970333,
+          -0.9875970482826233,
+          0.15647853910923004,
+          -20.20693588256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3197,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323584_183083057",
+      "mask_path": "../../mask/hdr_front_03197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03198.png",
+      "transform_matrix": [
+        [
+          0.26053979992866516,
+          -0.15959635376930237,
+          -0.9521807432174683,
+          30.217273712158203
+        ],
+        [
+          0.9654331207275391,
+          0.035291049629449844,
+          0.25825077295303345,
+          24.5413875579834
+        ],
+        [
+          -0.007612427696585655,
+          -0.9865514039993286,
+          0.16327431797981262,
+          -20.210636138916016
+        ],
+        [
+          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": "1731323584_283081769",
+      "mask_path": "../../mask/hdr_front_03198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03200.png",
+      "transform_matrix": [
+        [
+          0.2559417188167572,
+          -0.15449950098991394,
+          -0.9542660713195801,
+          30.3140926361084
+        ],
+        [
+          0.9666797518730164,
+          0.03590383380651474,
+          0.2534582018852234,
+          24.502857208251953
+        ],
+        [
+          -0.0048973639495670795,
+          -0.9873403310775757,
+          0.15854084491729736,
+          -20.224994659423828
+        ],
+        [
+          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": "1731323584_483081579",
+      "mask_path": "../../mask/hdr_front_03200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03201.png",
+      "transform_matrix": [
+        [
+          0.25059592723846436,
+          -0.15815424919128418,
+          -0.955085813999176,
+          30.398841857910156
+        ],
+        [
+          0.9680811762809753,
+          0.036317627876996994,
+          0.24799175560474396,
+          24.477153778076172
+        ],
+        [
+          -0.004534496925771236,
+          -0.9867463111877441,
+          0.16220717132091522,
+          -20.248458862304688
+        ],
+        [
+          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": "1731323584_583081245",
+      "mask_path": "../../mask/hdr_front_03201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03202.png",
+      "transform_matrix": [
+        [
+          0.2395474910736084,
+          -0.1719946414232254,
+          -0.9555284976959229,
+          30.478904724121094
+        ],
+        [
+          0.9708531498908997,
+          0.034498877823352814,
+          0.23717954754829407,
+          24.459564208984375
+        ],
+        [
+          -0.007828948087990284,
+          -0.9844936728477478,
+          0.17524562776088715,
+          -20.275943756103516
+        ],
+        [
+          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": "1731323584_683083057",
+      "mask_path": "../../mask/hdr_front_03202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03203.png",
+      "transform_matrix": [
+        [
+          0.2256128191947937,
+          -0.18007402122020721,
+          -0.9574300646781921,
+          30.545551300048828
+        ],
+        [
+          0.9741995930671692,
+          0.03582159802317619,
+          0.22282715141773224,
+          24.453584671020508
+        ],
+        [
+          -0.005828706547617912,
+          -0.983000636100769,
+          0.18350985646247864,
+          -20.3017635345459
+        ],
+        [
+          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": "1731323584_783082246",
+      "mask_path": "../../mask/hdr_front_03203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03204.png",
+      "transform_matrix": [
+        [
+          0.21067965030670166,
+          -0.18389557301998138,
+          -0.960102379322052,
+          30.604890823364258
+        ],
+        [
+          0.9775457382202148,
+          0.0439559668302536,
+          0.2060881108045578,
+          24.448925018310547
+        ],
+        [
+          0.004303532186895609,
+          -0.9819625020027161,
+          0.18902698159217834,
+          -20.32180404663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3204,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323584_883079767",
+      "mask_path": "../../mask/hdr_front_03204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03205.png",
+      "transform_matrix": [
+        [
+          0.1962222009897232,
+          -0.18747736513614655,
+          -0.9624703526496887,
+          30.67598533630371
+        ],
+        [
+          0.9805336594581604,
+          0.04463321343064308,
+          0.19121086597442627,
+          24.43022346496582
+        ],
+        [
+          0.007110441103577614,
+          -0.9812543392181396,
+          0.19258588552474976,
+          -20.338376998901367
+        ],
+        [
+          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": "1731323584_983080625",
+      "mask_path": "../../mask/hdr_front_03205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03206.png",
+      "transform_matrix": [
+        [
+          0.1857326179742813,
+          -0.18653810024261475,
+          -0.9647315740585327,
+          30.743833541870117
+        ],
+        [
+          0.9825963973999023,
+          0.03802505135536194,
+          0.1818196028470993,
+          24.41259002685547
+        ],
+        [
+          0.00276768347248435,
+          -0.9817116260528564,
+          0.1903541386127472,
+          -20.348081588745117
+        ],
+        [
+          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": "1731323585_83082437",
+      "mask_path": "../../mask/hdr_front_03206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03207.png",
+      "transform_matrix": [
+        [
+          0.18340454995632172,
+          -0.18303409218788147,
+          -0.9658474326133728,
+          30.798643112182617
+        ],
+        [
+          0.9830347895622253,
+          0.036463744938373566,
+          0.17975817620754242,
+          24.40401840209961
+        ],
+        [
+          0.002316537545993924,
+          -0.982430100440979,
+          0.18661651015281677,
+          -20.35822105407715
+        ],
+        [
+          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": "1731323585_183081626",
+      "mask_path": "../../mask/hdr_front_03207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03208.png",
+      "transform_matrix": [
+        [
+          0.1848299503326416,
+          -0.17865948379039764,
+          -0.9663947224617004,
+          30.862924575805664
+        ],
+        [
+          0.9827590584754944,
+          0.028845928609371185,
+          0.18262696266174316,
+          24.396156311035156
+        ],
+        [
+          -0.004751486703753471,
+          -0.9834880232810974,
+          0.18091082572937012,
+          -20.371623992919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3208,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323585_283080816",
+      "mask_path": "../../mask/hdr_front_03208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03209.png",
+      "transform_matrix": [
+        [
+          0.18343809247016907,
+          -0.18098820745944977,
+          -0.9662266373634338,
+          30.951841354370117
+        ],
+        [
+          0.983000636100769,
+          0.02601037360727787,
+          0.18175053596496582,
+          24.384227752685547
+        ],
+        [
+          -0.007762789726257324,
+          -0.9831413626670837,
+          0.1826828122138977,
+          -20.39446258544922
+        ],
+        [
+          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": "1731323585_383080482",
+      "mask_path": "../../mask/hdr_front_03209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03210.png",
+      "transform_matrix": [
+        [
+          0.18018469214439392,
+          -0.18800175189971924,
+          -0.9654992818832397,
+          31.037343978881836
+        ],
+        [
+          0.9836248755455017,
+          0.030511116608977318,
+          0.17762625217437744,
+          24.37586784362793
+        ],
+        [
+          -0.003935584332793951,
+          -0.9816946387290955,
+          0.19042083621025085,
+          -20.420581817626953
+        ],
+        [
+          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": "1731323585_483080625",
+      "mask_path": "../../mask/hdr_front_03210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03211.png",
+      "transform_matrix": [
+        [
+          0.1759992241859436,
+          -0.19391517341136932,
+          -0.9651016592979431,
+          31.103199005126953
+        ],
+        [
+          0.9843771457672119,
+          0.029595602303743362,
+          0.17356781661510468,
+          24.370162963867188
+        ],
+        [
+          -0.005094664636999369,
+          -0.9805718064308167,
+          0.19609443843364716,
+          -20.447547912597656
+        ],
+        [
+          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": "1731323585_583080768",
+      "mask_path": "../../mask/hdr_front_03211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03212.png",
+      "transform_matrix": [
+        [
+          0.17190594971179962,
+          -0.19594325125217438,
+          -0.9654297828674316,
+          31.179025650024414
+        ],
+        [
+          0.9851095676422119,
+          0.03148988261818886,
+          0.16901904344558716,
+          24.347097396850586
+        ],
+        [
+          -0.002716862130910158,
+          -0.9801095128059387,
+          0.1984388679265976,
+          -20.475435256958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3212,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323585_683081865",
+      "mask_path": "../../mask/hdr_front_03212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03213.png",
+      "transform_matrix": [
+        [
+          0.17286942899227142,
+          -0.20662721991539001,
+          -0.9630271792411804,
+          31.26486587524414
+        ],
+        [
+          0.9848629832267761,
+          0.04886086285114288,
+          0.16630549728870392,
+          24.309654235839844
+        ],
+        [
+          0.012691098265349865,
+          -0.9771990180015564,
+          0.2119460552930832,
+          -20.50080680847168
+        ],
+        [
+          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": "1731323585_783082246",
+      "mask_path": "../../mask/hdr_front_03213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03215.png",
+      "transform_matrix": [
+        [
+          0.1993023008108139,
+          -0.2486986666917801,
+          -0.947854220867157,
+          31.362756729125977
+        ],
+        [
+          0.9777216911315918,
+          0.11548420041799545,
+          0.17528162896633148,
+          24.30301284790039
+        ],
+        [
+          0.06586987525224686,
+          -0.9616717100143433,
+          0.2661743760108948,
+          -20.5146427154541
+        ],
+        [
+          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": "1731323585_983081579",
+      "mask_path": "../../mask/hdr_front_03215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03216.png",
+      "transform_matrix": [
+        [
+          0.20071931183338165,
+          -0.2515242397785187,
+          -0.9468089938163757,
+          31.467491149902344
+        ],
+        [
+          0.9782271981239319,
+          0.103506900370121,
+          0.1798827350139618,
+          24.285436630249023
+        ],
+        [
+          0.05275639519095421,
+          -0.9623003602027893,
+          0.2668237090110779,
+          -20.535045623779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3216,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_83081245",
+      "mask_path": "../../mask/hdr_front_03216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03217.png",
+      "transform_matrix": [
+        [
+          0.1958780735731125,
+          -0.25408175587654114,
+          -0.9471400380134583,
+          31.537012100219727
+        ],
+        [
+          0.9797257781028748,
+          0.09213506430387497,
+          0.1779007613658905,
+          24.281082153320312
+        ],
+        [
+          0.04206346720457077,
+          -0.9627842903137207,
+          0.2669776678085327,
+          -20.573434829711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3217,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_183081388",
+      "mask_path": "../../mask/hdr_front_03217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03218.png",
+      "transform_matrix": [
+        [
+          0.1896340250968933,
+          -0.2515098452568054,
+          -0.9490952491760254,
+          31.585779190063477
+        ],
+        [
+          0.9808946251869202,
+          0.09126820415258408,
+          0.17180168628692627,
+          24.277244567871094
+        ],
+        [
+          0.043412402272224426,
+          -0.9635419249534607,
+          0.2640122175216675,
+          -20.59907341003418
+        ],
+        [
+          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": "1731323586_283081054",
+      "mask_path": "../../mask/hdr_front_03218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03219.png",
+      "transform_matrix": [
+        [
+          0.18296343088150024,
+          -0.2479102909564972,
+          -0.9513489603996277,
+          31.639678955078125
+        ],
+        [
+          0.9820808172225952,
+          0.09056225419044495,
+          0.16527435183525085,
+          24.264856338500977
+        ],
+        [
+          0.04518309235572815,
+          -0.9645408391952515,
+          0.26003754138946533,
+          -20.623517990112305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3219,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_383081912",
+      "mask_path": "../../mask/hdr_front_03219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03221.png",
+      "transform_matrix": [
+        [
+          0.1709645688533783,
+          -0.28829890489578247,
+          -0.9421544075012207,
+          31.72695541381836
+        ],
+        [
+          0.9809194803237915,
+          0.1396390050649643,
+          0.13526947796344757,
+          24.266481399536133
+        ],
+        [
+          0.09256347268819809,
+          -0.9473039507865906,
+          0.3066713511943817,
+          -20.67030143737793
+        ],
+        [
+          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": "1731323586_583081960",
+      "mask_path": "../../mask/hdr_front_03221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03222.png",
+      "transform_matrix": [
+        [
+          0.1430351585149765,
+          -0.28079092502593994,
+          -0.9490507245063782,
+          31.812883377075195
+        ],
+        [
+          0.9862028956413269,
+          0.12117840349674225,
+          0.11278203874826431,
+          24.2695255279541
+        ],
+        [
+          0.08333630114793777,
+          -0.9520883560180664,
+          0.29424959421157837,
+          -20.68867301940918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3222,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_683081865",
+      "mask_path": "../../mask/hdr_front_03222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03223.png",
+      "transform_matrix": [
+        [
+          0.11383771151304245,
+          -0.28127774596214294,
+          -0.9528504014015198,
+          31.9072322845459
+        ],
+        [
+          0.9910537600517273,
+          0.09940396994352341,
+          0.08905822783708572,
+          24.281816482543945
+        ],
+        [
+          0.06966700404882431,
+          -0.9544640779495239,
+          0.29007723927497864,
+          -20.73040199279785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3223,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_783082008",
+      "mask_path": "../../mask/hdr_front_03223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03224.png",
+      "transform_matrix": [
+        [
+          0.08823618292808533,
+          -0.284760981798172,
+          -0.9545289874076843,
+          31.982229232788086
+        ],
+        [
+          0.9938713312149048,
+          0.08922974020242691,
+          0.06525339931249619,
+          24.292051315307617
+        ],
+        [
+          0.06659074872732162,
+          -0.9544366598129272,
+          0.29088911414146423,
+          -20.769027709960938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3224,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_883082151",
+      "mask_path": "../../mask/hdr_front_03224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03225.png",
+      "transform_matrix": [
+        [
+          0.06196875870227814,
+          -0.28484609723091125,
+          -0.9565681219100952,
+          32.043148040771484
+        ],
+        [
+          0.9952379465103149,
+          0.08988591283559799,
+          0.03770773112773895,
+          24.306447982788086
+        ],
+        [
+          0.0752410888671875,
+          -0.9543496966362,
+          0.28905975818634033,
+          -20.791231155395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3225,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_983083248",
+      "mask_path": "../../mask/hdr_front_03225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03226.png",
+      "transform_matrix": [
+        [
+          0.04582393169403076,
+          -0.28596147894859314,
+          -0.9571448564529419,
+          32.102783203125
+        ],
+        [
+          0.9956087470054626,
+          0.09136928617954254,
+          0.020367467775940895,
+          24.312702178955078
+        ],
+        [
+          0.08162932842969894,
+          -0.9538751244544983,
+          0.28889262676239014,
+          -20.805469512939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3226,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_83082437",
+      "mask_path": "../../mask/hdr_front_03226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03227.png",
+      "transform_matrix": [
+        [
+          0.039873264729976654,
+          -0.2933880090713501,
+          -0.9551615715026855,
+          32.17209243774414
+        ],
+        [
+          0.9962801933288574,
+          0.08475767821073532,
+          0.0155555484816432,
+          24.308822631835938
+        ],
+        [
+          0.07639346271753311,
+          -0.952228844165802,
+          0.29567623138427734,
+          -20.828893661499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3227,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_183082342",
+      "mask_path": "../../mask/hdr_front_03227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03228.png",
+      "transform_matrix": [
+        [
+          0.03825533390045166,
+          -0.2976011037826538,
+          -0.9539235830307007,
+          32.233055114746094
+        ],
+        [
+          0.997453510761261,
+          0.0688750222325325,
+          0.01851368322968483,
+          24.30054473876953
+        ],
+        [
+          0.060191817581653595,
+          -0.9522026181221008,
+          0.29947808384895325,
+          -20.849491119384766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3228,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_283082723",
+      "mask_path": "../../mask/hdr_front_03228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03229.png",
+      "transform_matrix": [
+        [
+          0.043451257050037384,
+          -0.2973800301551819,
+          -0.9537699818611145,
+          32.284263610839844
+        ],
+        [
+          0.9981693625450134,
+          0.05312354117631912,
+          0.02891036495566368,
+          24.29150390625
+        ],
+        [
+          0.04207027330994606,
+          -0.9532802104949951,
+          0.29914391040802,
+          -20.86842155456543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3229,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_383081436",
+      "mask_path": "../../mask/hdr_front_03229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03230.png",
+      "transform_matrix": [
+        [
+          0.050455160439014435,
+          -0.3034483790397644,
+          -0.9515112042427063,
+          32.36720275878906
+        ],
+        [
+          0.9983941316604614,
+          0.039896514266729355,
+          0.04021771252155304,
+          24.27849006652832
+        ],
+        [
+          0.02575797401368618,
+          -0.9520123600959778,
+          0.3049740195274353,
+          -20.91305160522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3230,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_483080148",
+      "mask_path": "../../mask/hdr_front_03230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03231.png",
+      "transform_matrix": [
+        [
+          0.05327186733484268,
+          -0.3159421384334564,
+          -0.9472817778587341,
+          32.457427978515625
+        ],
+        [
+          0.9984932541847229,
+          0.029358841478824615,
+          0.046359919011592865,
+          24.266075134277344
+        ],
+        [
+          0.013164042495191097,
+          -0.9483242034912109,
+          0.3170301020145416,
+          -20.96349334716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3231,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_583082199",
+      "mask_path": "../../mask/hdr_front_03231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03232.png",
+      "transform_matrix": [
+        [
+          0.05482983589172363,
+          -0.32426968216896057,
+          -0.9443743824958801,
+          32.52501678466797
+        ],
+        [
+          0.9984439015388489,
+          0.027446849271655083,
+          0.048544663935899734,
+          24.2650146484375
+        ],
+        [
+          0.010178538970649242,
+          -0.9455665349960327,
+          0.32526999711990356,
+          -21.00367546081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3232,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_683081150",
+      "mask_path": "../../mask/hdr_front_03232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03233.png",
+      "transform_matrix": [
+        [
+          0.05732058361172676,
+          -0.32370156049728394,
+          -0.9444214105606079,
+          32.6046028137207
+        ],
+        [
+          0.9982141852378845,
+          0.03451503813266754,
+          0.04875541850924492,
+          24.2618350982666
+        ],
+        [
+          0.01681453548371792,
+          -0.9455295205116272,
+          0.32510194182395935,
+          -21.04522132873535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3233,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_783080816",
+      "mask_path": "../../mask/hdr_front_03233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03234.png",
+      "transform_matrix": [
+        [
+          0.057381950318813324,
+          -0.3267971873283386,
+          -0.9433509111404419,
+          32.7058219909668
+        ],
+        [
+          0.9981862902641296,
+          0.03601139783859253,
+          0.048242341727018356,
+          24.239423751831055
+        ],
+        [
+          0.018205927684903145,
+          -0.9444082379341125,
+          0.328270822763443,
+          -21.085887908935547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3234,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_883081197",
+      "mask_path": "../../mask/hdr_front_03234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03235.png",
+      "transform_matrix": [
+        [
+          0.05660504475235939,
+          -0.3315665125846863,
+          -0.9417322278022766,
+          32.78550720214844
+        ],
+        [
+          0.9982742071151733,
+          0.033565446734428406,
+          0.04818587005138397,
+          24.22395133972168
+        ],
+        [
+          0.015632841736078262,
+          -0.9428345561027527,
+          0.33289429545402527,
+          -21.116788864135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3235,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_983079671",
+      "mask_path": "../../mask/hdr_front_03235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03236.png",
+      "transform_matrix": [
+        [
+          0.06035700440406799,
+          -0.32860174775123596,
+          -0.9425380825996399,
+          32.85628128051758
+        ],
+        [
+          0.998052716255188,
+          0.034757524728775024,
+          0.051794297993183136,
+          24.22538948059082
+        ],
+        [
+          0.015740593895316124,
+          -0.9438287615776062,
+          0.3300597667694092,
+          -21.15130043029785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3236,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_83079099",
+      "mask_path": "../../mask/hdr_front_03236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03237.png",
+      "transform_matrix": [
+        [
+          0.06676008552312851,
+          -0.31182989478111267,
+          -0.9477896690368652,
+          32.94498825073242
+        ],
+        [
+          0.9977409839630127,
+          0.0279830489307642,
+          0.061071909964084625,
+          24.233152389526367
+        ],
+        [
+          0.007477995008230209,
+          -0.9497258067131042,
+          0.3129936158657074,
+          -21.185102462768555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3237,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_183079481",
+      "mask_path": "../../mask/hdr_front_03237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03238.png",
+      "transform_matrix": [
+        [
+          0.06191893666982651,
+          -0.32589080929756165,
+          -0.9433776140213013,
+          33.05208206176758
+        ],
+        [
+          0.9978531002998352,
+          1.104688908526441e-05,
+          0.06549064069986343,
+          24.23779296875
+        ],
+        [
+          -0.021332375705242157,
+          -0.9454074501991272,
+          0.3251918852329254,
+          -21.20589256286621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3238,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_283080816",
+      "mask_path": "../../mask/hdr_front_03238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03239.png",
+      "transform_matrix": [
+        [
+          0.05056255683302879,
+          -0.35136014223098755,
+          -0.9348740577697754,
+          33.118408203125
+        ],
+        [
+          0.9979899525642395,
+          -0.0180289875715971,
+          0.06075213477015495,
+          24.242660522460938
+        ],
+        [
+          -0.038200706243515015,
+          -0.9360668063163757,
+          0.3497423231601715,
+          -21.222658157348633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3239,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_383081197",
+      "mask_path": "../../mask/hdr_front_03239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03240.png",
+      "transform_matrix": [
+        [
+          0.046266984194517136,
+          -0.3541682958602905,
+          -0.9340364933013916,
+          33.17053985595703
+        ],
+        [
+          0.9983999729156494,
+          -0.014036384411156178,
+          0.05477751046419144,
+          24.249509811401367
+        ],
+        [
+          -0.032510947436094284,
+          -0.9350764155387878,
+          0.35295218229293823,
+          -21.257753372192383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3240,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_483080625",
+      "mask_path": "../../mask/hdr_front_03240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03241.png",
+      "transform_matrix": [
+        [
+          0.043200332671403885,
+          -0.3511195778846741,
+          -0.9353336095809937,
+          33.27702713012695
+        ],
+        [
+          0.9984541535377502,
+          -0.01759742759168148,
+          0.05272167921066284,
+          24.244705200195312
+        ],
+        [
+          -0.034971073269844055,
+          -0.9361652731895447,
+          0.34981656074523926,
+          -21.309776306152344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3241,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_583081483",
+      "mask_path": "../../mask/hdr_front_03241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03242.png",
+      "transform_matrix": [
+        [
+          0.04179089516401291,
+          -0.33987176418304443,
+          -0.939542829990387,
+          33.360565185546875
+        ],
+        [
+          0.9983422160148621,
+          -0.023044025525450706,
+          0.05274228751659393,
+          24.237651824951172
+        ],
+        [
+          -0.0395764596760273,
+          -0.9401895403862,
+          0.33834531903266907,
+          -21.337080001831055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3242,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_683082580",
+      "mask_path": "../../mask/hdr_front_03242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03243.png",
+      "transform_matrix": [
+        [
+          0.04615095630288124,
+          -0.3238372206687927,
+          -0.9449865818023682,
+          33.42700958251953
+        ],
+        [
+          0.9982120394706726,
+          -0.021020932123064995,
+          0.05595402792096138,
+          24.23077392578125
+        ],
+        [
+          -0.03798449784517288,
+          -0.9458792805671692,
+          0.3222881257534027,
+          -21.347240447998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3243,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_783081293",
+      "mask_path": "../../mask/hdr_front_03243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03244.png",
+      "transform_matrix": [
+        [
+          0.052666764706373215,
+          -0.3002396523952484,
+          -0.9524087905883789,
+          33.520442962646484
+        ],
+        [
+          0.9978817701339722,
+          -0.0206459891051054,
+          0.06168985366821289,
+          24.236236572265625
+        ],
+        [
+          -0.038185156881809235,
+          -0.953640341758728,
+          0.29851633310317993,
+          -21.370969772338867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3244,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_883081912",
+      "mask_path": "../../mask/hdr_front_03244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03245.png",
+      "transform_matrix": [
+        [
+          0.05094018578529358,
+          -0.2822546660900116,
+          -0.9579861164093018,
+          33.62670135498047
+        ],
+        [
+          0.9978170990943909,
+          -0.02597985230386257,
+          0.06071269512176514,
+          24.24739646911621
+        ],
+        [
+          -0.042024776339530945,
+          -0.9589877128601074,
+          0.280315101146698,
+          -21.400278091430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3245,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_983082294",
+      "mask_path": "../../mask/hdr_front_03245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03246.png",
+      "transform_matrix": [
+        [
+          0.04584817215800285,
+          -0.27645158767700195,
+          -0.9599336385726929,
+          33.712825775146484
+        ],
+        [
+          0.9981744289398193,
+          -0.025143178179860115,
+          0.05491561442613602,
+          24.2495059967041
+        ],
+        [
+          -0.039317287504673004,
+          -0.9606989026069641,
+          0.27479416131973267,
+          -21.433509826660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3246,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_83082199",
+      "mask_path": "../../mask/hdr_front_03246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03247.png",
+      "transform_matrix": [
+        [
+          0.04403369501233101,
+          -0.26540401577949524,
+          -0.963131308555603,
+          33.76859664916992
+        ],
+        [
+          0.9986348748207092,
+          -0.015419692732393742,
+          0.04990600794553757,
+          24.259490966796875
+        ],
+        [
+          -0.02809644117951393,
+          -0.9640140533447266,
+          0.26436272263526917,
+          -21.452302932739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3247,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_183082818",
+      "mask_path": "../../mask/hdr_front_03247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03248.png",
+      "transform_matrix": [
+        [
+          0.04779177904129028,
+          -0.2657976746559143,
+          -0.9628434181213379,
+          33.847537994384766
+        ],
+        [
+          0.9987007975578308,
+          -0.004345669876784086,
+          0.05077124759554863,
+          24.25033950805664
+        ],
+        [
+          -0.01767907477915287,
+          -0.9640191197395325,
+          0.2652446925640106,
+          -21.4801082611084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3248,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_283082008",
+      "mask_path": "../../mask/hdr_front_03248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03249.png",
+      "transform_matrix": [
+        [
+          0.056004930287599564,
+          -0.2771558463573456,
+          -0.9591913223266602,
+          33.934120178222656
+        ],
+        [
+          0.9983252286911011,
+          0.0015924611361697316,
+          0.057829730212688446,
+          24.22906494140625
+        ],
+        [
+          -0.014500369317829609,
+          -0.9608237147331238,
+          0.2767808139324188,
+          -21.51061248779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3249,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_383081674",
+      "mask_path": "../../mask/hdr_front_03249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03250.png",
+      "transform_matrix": [
+        [
+          0.06327414512634277,
+          -0.2805657684803009,
+          -0.9577469825744629,
+          33.9951057434082
+        ],
+        [
+          0.9978943467140198,
+          0.004081770312041044,
+          0.06473078578710556,
+          24.221925735473633
+        ],
+        [
+          -0.014251938089728355,
+          -0.9598261713981628,
+          0.2802332937717438,
+          -21.529577255249023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3250,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_483082771",
+      "mask_path": "../../mask/hdr_front_03250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03251.png",
+      "transform_matrix": [
+        [
+          0.07079080492258072,
+          -0.2775878608226776,
+          -0.9580885171890259,
+          34.05269241333008
+        ],
+        [
+          0.997343122959137,
+          0.0031473273411393166,
+          0.0727793425321579,
+          24.216218948364258
+        ],
+        [
+          -0.017187243327498436,
+          -0.9606950879096985,
+          0.2770731449127197,
+          -21.536865234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3251,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_583081245",
+      "mask_path": "../../mask/hdr_front_03251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03252.png",
+      "transform_matrix": [
+        [
+          0.07427026331424713,
+          -0.28779110312461853,
+          -0.9548090100288391,
+          34.13114929199219
+        ],
+        [
+          0.9968231320381165,
+          -0.006193593610078096,
+          0.07940518856048584,
+          24.204174041748047
+        ],
+        [
+          -0.028765805065631866,
+          -0.9576732516288757,
+          0.2864168584346771,
+          -21.569185256958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3252,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_683082103",
+      "mask_path": "../../mask/hdr_front_03252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03253.png",
+      "transform_matrix": [
+        [
+          0.07573585212230682,
+          -0.2993875741958618,
+          -0.9511210322380066,
+          34.20983123779297
+        ],
+        [
+          0.9964813590049744,
+          -0.011617903597652912,
+          0.08300481736660004,
+          24.193479537963867
+        ],
+        [
+          -0.03590063750743866,
+          -0.9540608525276184,
+          0.29745426774024963,
+          -21.619659423828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3253,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_783082246",
+      "mask_path": "../../mask/hdr_front_03253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03254.png",
+      "transform_matrix": [
+        [
+          0.07773475348949432,
+          -0.29921767115592957,
+          -0.9510132074356079,
+          34.281009674072266
+        ],
+        [
+          0.996329665184021,
+          -0.010976267047226429,
+          0.08489234000444412,
+          24.186450958251953
+        ],
+        [
+          -0.035839855670928955,
+          -0.9541217684745789,
+          0.2972661852836609,
+          -21.654294967651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3254,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_883080244",
+      "mask_path": "../../mask/hdr_front_03254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03255.png",
+      "transform_matrix": [
+        [
+          0.08201757818460464,
+          -0.3014489412307739,
+          -0.9499483108520508,
+          34.378143310546875
+        ],
+        [
+          0.9963240027427673,
+          0.0011474993079900742,
+          0.08565748482942581,
+          24.17015266418457
+        ],
+        [
+          -0.024731291458010674,
+          -0.9534816145896912,
+          0.3004349172115326,
+          -21.68764877319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3255,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_983081817",
+      "mask_path": "../../mask/hdr_front_03255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03256.png",
+      "transform_matrix": [
+        [
+          0.09189609438180923,
+          -0.30837297439575195,
+          -0.9468163847923279,
+          34.46273422241211
+        ],
+        [
+          0.9956141710281372,
+          0.011709161102771759,
+          0.0928187146782875,
+          24.152721405029297
+        ],
+        [
+          -0.017536357045173645,
+          -0.9511934518814087,
+          0.3080965280532837,
+          -21.71304702758789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3256,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_83082675",
+      "mask_path": "../../mask/hdr_front_03256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03257.png",
+      "transform_matrix": [
+        [
+          0.10357531160116196,
+          -0.3111089766025543,
+          -0.9447134137153625,
+          34.527225494384766
+        ],
+        [
+          0.9944140315055847,
+          0.01298697479069233,
+          0.10474751144647598,
+          24.13541030883789
+        ],
+        [
+          -0.02031892165541649,
+          -0.9502855539321899,
+          0.3107162415981293,
+          -21.734237670898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3257,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_183082342",
+      "mask_path": "../../mask/hdr_front_03257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03258.png",
+      "transform_matrix": [
+        [
+          0.1159377321600914,
+          -0.30948126316070557,
+          -0.943811297416687,
+          34.60123825073242
+        ],
+        [
+          0.9928762316703796,
+          0.009819192811846733,
+          0.1187450960278511,
+          24.114849090576172
+        ],
+        [
+          -0.027481911703944206,
+          -0.9508548378944397,
+          0.3084149956703186,
+          -21.764673233032227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3258,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_283084392",
+      "mask_path": "../../mask/hdr_front_03258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03259.png",
+      "transform_matrix": [
+        [
+          0.11880648881196976,
+          -0.3140411078929901,
+          -0.9419465065002441,
+          34.68963623046875
+        ],
+        [
+          0.9922115802764893,
+          0.001785273663699627,
+          0.12455115467309952,
+          24.097597122192383
+        ],
+        [
+          -0.03743254765868187,
+          -0.949407696723938,
+          0.3118073046207428,
+          -21.797454833984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3259,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_383081912",
+      "mask_path": "../../mask/hdr_front_03259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03260.png",
+      "transform_matrix": [
+        [
+          0.11843802034854889,
+          -0.3154478073120117,
+          -0.9415228366851807,
+          34.76707077026367
+        ],
+        [
+          0.9923102855682373,
+          0.0032670011278241873,
+          0.12373220920562744,
+          24.08843994140625
+        ],
+        [
+          -0.035955093801021576,
+          -0.9489372968673706,
+          0.3134089708328247,
+          -21.832910537719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3260,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_483083009",
+      "mask_path": "../../mask/hdr_front_03260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03261.png",
+      "transform_matrix": [
+        [
+          0.1191524788737297,
+          -0.31014153361320496,
+          -0.9431940913200378,
+          34.84349822998047
+        ],
+        [
+          0.9924825429916382,
+          0.010464084334671497,
+          0.12193822115659714,
+          24.084890365600586
+        ],
+        [
+          -0.027948440983891487,
+          -0.9506328105926514,
+          0.3090568482875824,
+          -21.87074089050293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3261,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_583081722",
+      "mask_path": "../../mask/hdr_front_03261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03262.png",
+      "transform_matrix": [
+        [
+          0.12118817120790482,
+          -0.31120169162750244,
+          -0.9425852298736572,
+          34.947410583496094
+        ],
+        [
+          0.9924170970916748,
+          0.018342135474085808,
+          0.12153925746679306,
+          24.060632705688477
+        ],
+        [
+          -0.020534193143248558,
+          -0.9501668810844421,
+          0.3110646903514862,
+          -21.905174255371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3262,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_683082342",
+      "mask_path": "../../mask/hdr_front_03262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03263.png",
+      "transform_matrix": [
+        [
+          0.13793906569480896,
+          -0.33864259719848633,
+          -0.9307491183280945,
+          35.00988006591797
+        ],
+        [
+          0.9904096126556396,
+          0.05460524186491966,
+          0.12691336870193481,
+          24.05657196044922
+        ],
+        [
+          0.007845507003366947,
+          -0.9393292665481567,
+          0.34292706847190857,
+          -21.93566131591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3263,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_783082485",
+      "mask_path": "../../mask/hdr_front_03263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03265.png",
+      "transform_matrix": [
+        [
+          0.15931200981140137,
+          -0.3530975580215454,
+          -0.9219229221343994,
+          35.125667572021484
+        ],
+        [
+          0.9871389865875244,
+          0.06953553855419159,
+          0.14394941926002502,
+          24.051301956176758
+        ],
+        [
+          0.013278231024742126,
+          -0.9329989552497864,
+          0.3596341609954834,
+          -21.978805541992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3265,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_983081340",
+      "mask_path": "../../mask/hdr_front_03265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06744.png",
+      "transform_matrix": [
+        [
+          -0.2068524807691574,
+          -0.23586635291576385,
+          0.9495152235031128,
+          34.689170837402344
+        ],
+        [
+          -0.9767848253250122,
+          -0.005473604425787926,
+          -0.21415288746356964,
+          24.245563507080078
+        ],
+        [
+          0.05570872128009796,
+          -0.9717701077461243,
+          -0.2292584329843521,
+          -21.858875274658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6744,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_883080959",
+      "mask_path": "../../mask/hdr_front_06744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06745.png",
+      "transform_matrix": [
+        [
+          -0.20930296182632446,
+          -0.2325780689716339,
+          0.94978928565979,
+          34.61557388305664
+        ],
+        [
+          -0.9769163131713867,
+          0.007280273828655481,
+          -0.21349816024303436,
+          24.261119842529297
+        ],
+        [
+          0.04274026304483414,
+          -0.9725505113601685,
+          -0.2287331074476242,
+          -21.833894729614258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6745,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_983081817",
+      "mask_path": "../../mask/hdr_front_06745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06746.png",
+      "transform_matrix": [
+        [
+          -0.21266978979110718,
+          -0.23335134983062744,
+          0.9488512873649597,
+          34.55295181274414
+        ],
+        [
+          -0.9765266180038452,
+          0.016802409663796425,
+          -0.2147405594587326,
+          24.280517578125
+        ],
+        [
+          0.034167010337114334,
+          -0.9722473621368408,
+          -0.23144714534282684,
+          -21.823989868164062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6746,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_83080530",
+      "mask_path": "../../mask/hdr_front_06746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06747.png",
+      "transform_matrix": [
+        [
+          -0.21948334574699402,
+          -0.23840691149234772,
+          0.9460387229919434,
+          34.471431732177734
+        ],
+        [
+          -0.9751096963882446,
+          0.022362930700182915,
+          -0.22059233486652374,
+          24.30356788635254
+        ],
+        [
+          0.03143453970551491,
+          -0.9709078669548035,
+          -0.2373812049627304,
+          -21.790220260620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6747,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_183081150",
+      "mask_path": "../../mask/hdr_front_06747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06748.png",
+      "transform_matrix": [
+        [
+          -0.22695140540599823,
+          -0.2477876991033554,
+          0.941856861114502,
+          34.387325286865234
+        ],
+        [
+          -0.973186731338501,
+          0.0205377247184515,
+          -0.22909757494926453,
+          24.331565856933594
+        ],
+        [
+          0.037423960864543915,
+          -0.9685967564582825,
+          -0.2458047717809677,
+          -21.751745223999023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6748,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_283081531",
+      "mask_path": "../../mask/hdr_front_06748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06749.png",
+      "transform_matrix": [
+        [
+          -0.23147721588611603,
+          -0.2554190456867218,
+          0.9387115836143494,
+          34.315032958984375
+        ],
+        [
+          -0.9718320369720459,
+          0.016789039596915245,
+          -0.2350761741399765,
+          24.35825538635254
+        ],
+        [
+          0.04428286477923393,
+          -0.9666846394538879,
+          -0.25211066007614136,
+          -21.73013687133789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6749,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_383081674",
+      "mask_path": "../../mask/hdr_front_06749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06750.png",
+      "transform_matrix": [
+        [
+          -0.2328801453113556,
+          -0.26772117614746094,
+          0.9349290728569031,
+          34.2459831237793
+        ],
+        [
+          -0.9705644845962524,
+          0.0032718346919864416,
+          -0.24081964790821075,
+          24.351421356201172
+        ],
+        [
+          0.06141358241438866,
+          -0.963490903377533,
+          -0.26060259342193604,
+          -21.67019271850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6750,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_483082294",
+      "mask_path": "../../mask/hdr_front_06750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06751.png",
+      "transform_matrix": [
+        [
+          -0.23248887062072754,
+          -0.26904934644699097,
+          0.9346451163291931,
+          34.156429290771484
+        ],
+        [
+          -0.9711928367614746,
+          0.012562521733343601,
+          -0.2379636913537979,
+          24.35308265686035
+        ],
+        [
+          0.05228247493505478,
+          -0.9630444645881653,
+          -0.2642194330692291,
+          -21.61345100402832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6751,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_583081960",
+      "mask_path": "../../mask/hdr_front_06751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06752.png",
+      "transform_matrix": [
+        [
+          -0.2344222366809845,
+          -0.26238569617271423,
+          0.9360555410385132,
+          34.09646224975586
+        ],
+        [
+          -0.971714198589325,
+          0.03491928055882454,
+          -0.23356422781944275,
+          24.376665115356445
+        ],
+        [
+          0.028597518801689148,
+          -0.9643310904502869,
+          -0.2631497383117676,
+          -21.6204833984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6752,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_683081388",
+      "mask_path": "../../mask/hdr_front_06752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06753.png",
+      "transform_matrix": [
+        [
+          -0.2357480376958847,
+          -0.2578657567501068,
+          0.936978280544281,
+          34.041141510009766
+        ],
+        [
+          -0.97166508436203,
+          0.045654673129320145,
+          -0.2319108098745346,
+          24.395130157470703
+        ],
+        [
+          0.017024418339133263,
+          -0.9651015996932983,
+          -0.26132217049598694,
+          -21.616458892822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6753,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_783081769",
+      "mask_path": "../../mask/hdr_front_06753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06754.png",
+      "transform_matrix": [
+        [
+          -0.23976857960224152,
+          -0.2610540986061096,
+          0.93507319688797,
+          33.98353958129883
+        ],
+        [
+          -0.9707428812980652,
+          0.05155651271343231,
+          -0.23452135920524597,
+          24.412168502807617
+        ],
+        [
+          0.013013647869229317,
+          -0.9639464020729065,
+          -0.2657780349254608,
+          -21.596233367919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6754,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_883082628",
+      "mask_path": "../../mask/hdr_front_06754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06755.png",
+      "transform_matrix": [
+        [
+          -0.24808743596076965,
+          -0.26859307289123535,
+          0.9307579398155212,
+          33.92081069946289
+        ],
+        [
+          -0.9685606956481934,
+          0.05040768161416054,
+          -0.24361713230609894,
+          24.43603515625
+        ],
+        [
+          0.018516521900892258,
+          -0.9619339108467102,
+          -0.2726542055606842,
+          -21.568592071533203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6755,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_983082056",
+      "mask_path": "../../mask/hdr_front_06755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06756.png",
+      "transform_matrix": [
+        [
+          -0.2514830231666565,
+          -0.27264752984046936,
+          0.9286654591560364,
+          33.84518051147461
+        ],
+        [
+          -0.9676468372344971,
+          0.05061063915491104,
+          -0.24718038737773895,
+          24.45989990234375
+        ],
+        [
+          0.020392775535583496,
+          -0.9607819318771362,
+          -0.27655425667762756,
+          -21.535079956054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6756,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_83083868",
+      "mask_path": "../../mask/hdr_front_06756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06757.png",
+      "transform_matrix": [
+        [
+          -0.24722981452941895,
+          -0.26880863308906555,
+          0.9309238791465759,
+          33.78562545776367
+        ],
+        [
+          -0.9685470461845398,
+          0.04061830788850784,
+          -0.2454928606748581,
+          24.485013961791992
+        ],
+        [
+          0.02817804552614689,
+          -0.9623368382453918,
+          -0.2703958749771118,
+          -21.530900955200195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6757,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_183082103",
+      "mask_path": "../../mask/hdr_front_06757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06758.png",
+      "transform_matrix": [
+        [
+          -0.23896318674087524,
+          -0.2659371793270111,
+          0.9339025616645813,
+          33.717979431152344
+        ],
+        [
+          -0.9705783128738403,
+          0.036129239946603775,
+          -0.23805950582027435,
+          24.499526977539062
+        ],
+        [
+          0.02956767939031124,
+          -0.9633131623268127,
+          -0.2667464315891266,
+          -21.495115280151367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6758,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_283081769",
+      "mask_path": "../../mask/hdr_front_06758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06759.png",
+      "transform_matrix": [
+        [
+          -0.22402045130729675,
+          -0.2662956714630127,
+          0.9374974370002747,
+          33.64895248413086
+        ],
+        [
+          -0.9745126962661743,
+          0.04953407868742943,
+          -0.21879537403583527,
+          24.50555419921875
+        ],
+        [
+          0.011826190166175365,
+          -0.962617814540863,
+          -0.2706051468849182,
+          -21.44732093811035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6759,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_383082628",
+      "mask_path": "../../mask/hdr_front_06759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06760.png",
+      "transform_matrix": [
+        [
+          -0.2036648690700531,
+          -0.2636481821537018,
+          0.942873477935791,
+          33.58873748779297
+        ],
+        [
+          -0.9790188670158386,
+          0.061271727085113525,
+          -0.19433951377868652,
+          24.514568328857422
+        ],
+        [
+          -0.006534215994179249,
+          -0.9626709818840027,
+          -0.2705954611301422,
+          -21.41995620727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6760,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_483081102",
+      "mask_path": "../../mask/hdr_front_06760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06761.png",
+      "transform_matrix": [
+        [
+          -0.18912705779075623,
+          -0.2612026333808899,
+          0.9465749263763428,
+          33.52141189575195
+        ],
+        [
+          -0.9818280935287476,
+          0.06565315276384354,
+          -0.17805400490760803,
+          24.527812957763672
+        ],
+        [
+          -0.015637457370758057,
+          -0.9630488157272339,
+          -0.26887285709381104,
+          -21.4001407623291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6761,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_583082199",
+      "mask_path": "../../mask/hdr_front_06761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06762.png",
+      "transform_matrix": [
+        [
+          -0.1780291497707367,
+          -0.2635120451450348,
+          0.9480860233306885,
+          33.44706344604492
+        ],
+        [
+          -0.9839733242988586,
+          0.05757162347435951,
+          -0.16876645386219025,
+          24.541303634643555
+        ],
+        [
+          -0.010110847651958466,
+          -0.9629365801811218,
+          -0.2695382535457611,
+          -21.376888275146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6762,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_683082580",
+      "mask_path": "../../mask/hdr_front_06762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06763.png",
+      "transform_matrix": [
+        [
+          -0.17060275375843048,
+          -0.26718831062316895,
+          0.9484224319458008,
+          33.386695861816406
+        ],
+        [
+          -0.985339879989624,
+          0.04641690105199814,
+          -0.16416697204113007,
+          24.546266555786133
+        ],
+        [
+          -0.00015933634131215513,
+          -0.9625258445739746,
+          -0.27119016647338867,
+          -21.35860824584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6763,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_783081769",
+      "mask_path": "../../mask/hdr_front_06763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06764.png",
+      "transform_matrix": [
+        [
+          -0.16695934534072876,
+          -0.27118414640426636,
+          0.9479366540908813,
+          33.2984504699707
+        ],
+        [
+          -0.9859123826026917,
+          0.036107029765844345,
+          -0.16331854462623596,
+          24.557065963745117
+        ],
+        [
+          0.010062230750918388,
+          -0.9618500471115112,
+          -0.2733922600746155,
+          -21.3319149017334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6764,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_883082151",
+      "mask_path": "../../mask/hdr_front_06764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06765.png",
+      "transform_matrix": [
+        [
+          -0.16079655289649963,
+          -0.2708493173122406,
+          0.9490969777107239,
+          33.20309829711914
+        ],
+        [
+          -0.9869728088378906,
+          0.03886236995458603,
+          -0.1561231166124344,
+          24.56926727294922
+        ],
+        [
+          0.0054016755893826485,
+          -0.9618369936943054,
+          -0.27356982231140137,
+          -21.296865463256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6765,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_983081579",
+      "mask_path": "../../mask/hdr_front_06765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06766.png",
+      "transform_matrix": [
+        [
+          -0.15479056537151337,
+          -0.2667296826839447,
+          0.9512597918510437,
+          33.14495849609375
+        ],
+        [
+          -0.9879394173622131,
+          0.04563838616013527,
+          -0.1479623168706894,
+          24.565324783325195
+        ],
+        [
+          -0.00394801702350378,
+          -0.9626902341842651,
+          -0.2705771327018738,
+          -21.27516746520996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6766,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_83080530",
+      "mask_path": "../../mask/hdr_front_06766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06767.png",
+      "transform_matrix": [
+        [
+          -0.1479862928390503,
+          -0.26024526357650757,
+          0.954134464263916,
+          33.08680725097656
+        ],
+        [
+          -0.9889668822288513,
+          0.04544758051633835,
+          -0.14099276065826416,
+          24.566120147705078
+        ],
+        [
+          -0.006670408882200718,
+          -0.9644724726676941,
+          -0.2640995681285858,
+          -21.26543426513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6767,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_183081865",
+      "mask_path": "../../mask/hdr_front_06767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06768.png",
+      "transform_matrix": [
+        [
+          -0.1456952542066574,
+          -0.2562849819660187,
+          0.9555579423904419,
+          33.00647735595703
+        ],
+        [
+          -0.9893280863761902,
+          0.03937220945954323,
+          -0.1402844339609146,
+          24.575302124023438
+        ],
+        [
+          -0.001669639372266829,
+          -0.96579909324646,
+          -0.2592862546443939,
+          -21.245275497436523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6768,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_283082723",
+      "mask_path": "../../mask/hdr_front_06768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06769.png",
+      "transform_matrix": [
+        [
+          -0.14514224231243134,
+          -0.2587537169456482,
+          0.9549766182899475,
+          32.92572021484375
+        ],
+        [
+          -0.9893810749053955,
+          0.030476344749331474,
+          -0.1421135663986206,
+          24.577882766723633
+        ],
+        [
+          0.007668223697692156,
+          -0.9654624462127686,
+          -0.26042941212654114,
+          -21.21080207824707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6769,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_383082151",
+      "mask_path": "../../mask/hdr_front_06769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06770.png",
+      "transform_matrix": [
+        [
+          -0.14224977791309357,
+          -0.26463717222213745,
+          0.9537988305091858,
+          32.850624084472656
+        ],
+        [
+          -0.989600419998169,
+          0.017232783138751984,
+          -0.14280788600444794,
+          24.575176239013672
+        ],
+        [
+          0.02135566622018814,
+          -0.964194118976593,
+          -0.26433637738227844,
+          -21.185930252075195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6770,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_483082294",
+      "mask_path": "../../mask/hdr_front_06770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06771.png",
+      "transform_matrix": [
+        [
+          -0.1351480334997177,
+          -0.2702486515045166,
+          0.9532579183578491,
+          32.7602424621582
+        ],
+        [
+          -0.9906266927719116,
+          0.017586013302206993,
+          -0.13546033203601837,
+          24.573646545410156
+        ],
+        [
+          0.019843971356749535,
+          -0.9626299738883972,
+          -0.270092248916626,
+          -21.142127990722656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6771,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_583082199",
+      "mask_path": "../../mask/hdr_front_06771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06772.png",
+      "transform_matrix": [
+        [
+          -0.1258849948644638,
+          -0.27084922790527344,
+          0.9543551802635193,
+          32.68007278442383
+        ],
+        [
+          -0.9920127391815186,
+          0.026620108634233475,
+          -0.12329737842082977,
+          24.575618743896484
+        ],
+        [
+          0.00798996351659298,
+          -0.9622536897659302,
+          -0.27203691005706787,
+          -21.110872268676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6772,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_683081865",
+      "mask_path": "../../mask/hdr_front_06772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06773.png",
+      "transform_matrix": [
+        [
+          -0.11898715049028397,
+          -0.2688617408275604,
+          0.9558009505271912,
+          32.60776901245117
+        ],
+        [
+          -0.992895781993866,
+          0.032372139394283295,
+          -0.11449897289276123,
+          24.58159637451172
+        ],
+        [
+          -0.00015692939632572234,
+          -0.9626346230506897,
+          -0.2708035409450531,
+          -21.096633911132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6773,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_783081293",
+      "mask_path": "../../mask/hdr_front_06773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06774.png",
+      "transform_matrix": [
+        [
+          -0.11690962314605713,
+          -0.2683824598789215,
+          0.9561919569969177,
+          32.53145217895508
+        ],
+        [
+          -0.9931414127349854,
+          0.03304889425635338,
+          -0.11215119063854218,
+          24.59419059753418
+        ],
+        [
+          -0.0015016712713986635,
+          -0.9627454280853271,
+          -0.2704055607318878,
+          -21.069534301757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6774,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_883080244",
+      "mask_path": "../../mask/hdr_front_06774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06775.png",
+      "transform_matrix": [
+        [
+          -0.115574911236763,
+          -0.27333760261535645,
+          0.9549497365951538,
+          32.463314056396484
+        ],
+        [
+          -0.993285596370697,
+          0.02683762088418007,
+          -0.11253280192613602,
+          24.607908248901367
+        ],
+        [
+          0.005130862817168236,
+          -0.9615437984466553,
+          -0.27460402250289917,
+          -21.045873641967773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6775,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_983081817",
+      "mask_path": "../../mask/hdr_front_06775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06776.png",
+      "transform_matrix": [
+        [
+          -0.11300300806760788,
+          -0.2811755836009979,
+          0.9529798626899719,
+          32.40587615966797
+        ],
+        [
+          -0.9935193657875061,
+          0.020163943991065025,
+          -0.11186076700687408,
+          24.614784240722656
+        ],
+        [
+          0.01223668735474348,
+          -0.959444522857666,
+          -0.2816319763660431,
+          -21.016931533813477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6776,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_83081483",
+      "mask_path": "../../mask/hdr_front_06776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06777.png",
+      "transform_matrix": [
+        [
+          -0.10925359278917313,
+          -0.2881290316581726,
+          0.9513387680053711,
+          32.32382583618164
+        ],
+        [
+          -0.9939403533935547,
+          0.02001889981329441,
+          -0.10808297991752625,
+          24.611766815185547
+        ],
+        [
+          0.012097093276679516,
+          -0.957382321357727,
+          -0.28857019543647766,
+          -20.970699310302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6777,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_183081388",
+      "mask_path": "../../mask/hdr_front_06777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06778.png",
+      "transform_matrix": [
+        [
+          -0.10095900297164917,
+          -0.28517407178878784,
+          0.9531437158584595,
+          32.24283218383789
+        ],
+        [
+          -0.9948756098747253,
+          0.034192293882369995,
+          -0.09514924138784409,
+          24.605785369873047
+        ],
+        [
+          -0.005456076003611088,
+          -0.9578657150268555,
+          -0.2871647775173187,
+          -20.94184112548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6778,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_283082962",
+      "mask_path": "../../mask/hdr_front_06778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06779.png",
+      "transform_matrix": [
+        [
+          -0.09190284460783005,
+          -0.283000111579895,
+          0.9547066688537598,
+          32.179962158203125
+        ],
+        [
+          -0.9955613017082214,
+          0.045644812285900116,
+          -0.08230531960725784,
+          24.596233367919922
+        ],
+        [
+          -0.02028498612344265,
+          -0.9580331444740295,
+          -0.28593888878822327,
+          -20.926172256469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6779,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_383083343",
+      "mask_path": "../../mask/hdr_front_06779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06780.png",
+      "transform_matrix": [
+        [
+          -0.08416073769330978,
+          -0.2843305170536041,
+          0.9550251960754395,
+          32.108882904052734
+        ],
+        [
+          -0.9960722923278809,
+          0.050469204783439636,
+          -0.07275225222110748,
+          24.590042114257812
+        ],
+        [
+          -0.027513669803738594,
+          -0.9573970437049866,
+          -0.2874612808227539,
+          -20.903636932373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6780,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_483082532",
+      "mask_path": "../../mask/hdr_front_06780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06781.png",
+      "transform_matrix": [
+        [
+          -0.08169916272163391,
+          -0.28427833318710327,
+          0.9552544951438904,
+          32.036922454833984
+        ],
+        [
+          -0.996303379535675,
+          0.04882408306002617,
+          -0.0706801563501358,
+          24.594749450683594
+        ],
+        [
+          -0.02654659003019333,
+          -0.957497775554657,
+          -0.2872164249420166,
+          -20.8833065032959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6781,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_583081722",
+      "mask_path": "../../mask/hdr_front_06781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06782.png",
+      "transform_matrix": [
+        [
+          -0.08437343686819077,
+          -0.2870599329471588,
+          0.9541895985603333,
+          31.97218132019043
+        ],
+        [
+          -0.9963545799255371,
+          0.036408066749572754,
+          -0.07714878022670746,
+          24.60152244567871
+        ],
+        [
+          -0.012593875639140606,
+          -0.9572204947471619,
+          -0.289085328578949,
+          -20.857181549072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6782,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_683082103",
+      "mask_path": "../../mask/hdr_front_06782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06783.png",
+      "transform_matrix": [
+        [
+          -0.0893014445900917,
+          -0.2922854721546173,
+          0.9521526098251343,
+          31.906044006347656
+        ],
+        [
+          -0.9960046410560608,
+          0.02602311410009861,
+          -0.08542589098215103,
+          24.61254119873047
+        ],
+        [
+          0.000190772203495726,
+          -0.9559770226478577,
+          -0.2934415936470032,
+          -20.832195281982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6783,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_783081531",
+      "mask_path": "../../mask/hdr_front_06783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06784.png",
+      "transform_matrix": [
+        [
+          -0.09283556789159775,
+          -0.29000526666641235,
+          0.952511727809906,
+          31.831724166870117
+        ],
+        [
+          -0.9956763982772827,
+          0.023999148979783058,
+          -0.08973570168018341,
+          24.616296768188477
+        ],
+        [
+          0.003164357040077448,
+          -0.9567241072654724,
+          -0.29097938537597656,
+          -20.796846389770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6784,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_883081197",
+      "mask_path": "../../mask/hdr_front_06784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06785.png",
+      "transform_matrix": [
+        [
+          -0.0935174748301506,
+          -0.2873976230621338,
+          0.9532350897789001,
+          31.7559757232666
+        ],
+        [
+          -0.9956174492835999,
+          0.027681386098265648,
+          -0.0893295481801033,
+          24.614866256713867
+        ],
+        [
+          -0.0007137691136449575,
+          -0.9574113488197327,
+          -0.2887267470359802,
+          -20.764299392700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6785,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_983081102",
+      "mask_path": "../../mask/hdr_front_06785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06786.png",
+      "transform_matrix": [
+        [
+          -0.09471149742603302,
+          -0.2884826064109802,
+          0.9527893662452698,
+          31.688804626464844
+        ],
+        [
+          -0.9954999089241028,
+          0.030456053093075752,
+          -0.08973570913076401,
+          24.616146087646484
+        ],
+        [
+          -0.0031310112681239843,
+          -0.9570006728172302,
+          -0.2900688946247101,
+          -20.745718002319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6786,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_83080530",
+      "mask_path": "../../mask/hdr_front_06786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06787.png",
+      "transform_matrix": [
+        [
+          -0.09625428169965744,
+          -0.2874799966812134,
+          0.9529377818107605,
+          31.61859893798828
+        ],
+        [
+          -0.995348334312439,
+          0.03174035996198654,
+          -0.0909627377986908,
+          24.6186466217041
+        ],
+        [
+          -0.004096618387848139,
+          -0.9572606086730957,
+          -0.2891978919506073,
+          -20.729469299316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6787,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_183080911",
+      "mask_path": "../../mask/hdr_front_06787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06788.png",
+      "transform_matrix": [
+        [
+          -0.10720058530569077,
+          -0.29510805010795593,
+          0.9494311213493347,
+          31.531850814819336
+        ],
+        [
+          -0.9942050576210022,
+          0.03952144831418991,
+          -0.09997173398733139,
+          24.63127326965332
+        ],
+        [
+          -0.008020424284040928,
+          -0.9546461701393127,
+          -0.29763463139533997,
+          -20.652231216430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6788,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_283080577",
+      "mask_path": "../../mask/hdr_front_06788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06789.png",
+      "transform_matrix": [
+        [
+          -0.12196473032236099,
+          -0.3073521554470062,
+          0.9437474608421326,
+          31.450918197631836
+        ],
+        [
+          -0.9925339818000793,
+          0.03861577808856964,
+          -0.11569356173276901,
+          24.656667709350586
+        ],
+        [
+          -0.0008848775760270655,
+          -0.9508119821548462,
+          -0.3097672164440155,
+          -20.591068267822266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6789,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_383080959",
+      "mask_path": "../../mask/hdr_front_06789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06790.png",
+      "transform_matrix": [
+        [
+          -0.1267877072095871,
+          -0.31286752223968506,
+          0.9412963390350342,
+          31.3792781829834
+        ],
+        [
+          -0.9917803406715393,
+          0.023509256541728973,
+          -0.12577366828918457,
+          24.66098403930664
+        ],
+        [
+          0.017221320420503616,
+          -0.9495058655738831,
+          -0.3132765591144562,
+          -20.555585861206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6790,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_483080863",
+      "mask_path": "../../mask/hdr_front_06790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06791.png",
+      "transform_matrix": [
+        [
+          -0.12673524022102356,
+          -0.30170759558677673,
+          0.9449396133422852,
+          31.29271125793457
+        ],
+        [
+          -0.9917872548103333,
+          0.022010618820786476,
+          -0.12599071860313416,
+          24.656639099121094
+        ],
+        [
+          0.017213650047779083,
+          -0.9531464576721191,
+          -0.30201926827430725,
+          -20.533964157104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6791,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_583080530",
+      "mask_path": "../../mask/hdr_front_06791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06792.png",
+      "transform_matrix": [
+        [
+          -0.12453396618366241,
+          -0.28891289234161377,
+          0.949221134185791,
+          31.21584701538086
+        ],
+        [
+          -0.992191731929779,
+          0.02965405210852623,
+          -0.12114576995372772,
+          24.661361694335938
+        ],
+        [
+          0.006852320861071348,
+          -0.9568960070610046,
+          -0.2903498709201813,
+          -20.53655242919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6792,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_683080673",
+      "mask_path": "../../mask/hdr_front_06792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06793.png",
+      "transform_matrix": [
+        [
+          -0.12307126075029373,
+          -0.2829504609107971,
+          0.9512059092521667,
+          31.15083122253418
+        ],
+        [
+          -0.9923901557922363,
+          0.031340744346380234,
+          -0.11907709389925003,
+          24.662031173706055
+        ],
+        [
+          0.0038814214058220387,
+          -0.958622395992279,
+          -0.284654438495636,
+          -20.526723861694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6793,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_783080339",
+      "mask_path": "../../mask/hdr_front_06793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06794.png",
+      "transform_matrix": [
+        [
+          -0.1252475082874298,
+          -0.2724350094795227,
+          0.9539875984191895,
+          31.077808380126953
+        ],
+        [
+          -0.9920827746391296,
+          0.025454821065068245,
+          -0.12297970801591873,
+          24.67198944091797
+        ],
+        [
+          0.009220395237207413,
+          -0.9618374109268188,
+          -0.27346619963645935,
+          -20.511690139770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6794,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_883078575",
+      "mask_path": "../../mask/hdr_front_06794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06795.png",
+      "transform_matrix": [
+        [
+          -0.1295279711484909,
+          -0.26531901955604553,
+          0.9554204940795898,
+          31.005653381347656
+        ],
+        [
+          -0.9914058446884155,
+          0.016813844442367554,
+          -0.12973734736442566,
+          24.68675422668457
+        ],
+        [
+          0.018357498571276665,
+          -0.9640140533447266,
+          -0.2652166485786438,
+          -20.4966983795166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6795,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_983078479",
+      "mask_path": "../../mask/hdr_front_06795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06796.png",
+      "transform_matrix": [
+        [
+          -0.13317757844924927,
+          -0.26536884903907776,
+          0.9549047946929932,
+          30.94312286376953
+        ],
+        [
+          -0.9907627105712891,
+          0.01080409623682499,
+          -0.13517610728740692,
+          24.70035171508789
+        ],
+        [
+          0.02555464394390583,
+          -0.9640864729881287,
+          -0.2643563747406006,
+          -20.482994079589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6796,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_83080291",
+      "mask_path": "../../mask/hdr_front_06796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06797.png",
+      "transform_matrix": [
+        [
+          -0.132583349943161,
+          -0.2672550678253174,
+          0.954461395740509,
+          30.854169845581055
+        ],
+        [
+          -0.9907628893852234,
+          0.008075251244008541,
+          -0.13536487519741058,
+          24.707168579101562
+        ],
+        [
+          0.028469428420066833,
+          -0.963591992855072,
+          -0.265857070684433,
+          -20.452804565429688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6797,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_183081150",
+      "mask_path": "../../mask/hdr_front_06797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06798.png",
+      "transform_matrix": [
+        [
+          -0.13199031352996826,
+          -0.267289400100708,
+          0.9545339345932007,
+          30.749053955078125
+        ],
+        [
+          -0.9909827709197998,
+          0.013181397691369057,
+          -0.1333392858505249,
+          24.714069366455078
+        ],
+        [
+          0.02305809035897255,
+          -0.9635261297225952,
+          -0.2666189968585968,
+          -20.420772552490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6798,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_283080339",
+      "mask_path": "../../mask/hdr_front_06798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06799.png",
+      "transform_matrix": [
+        [
+          -0.13421830534934998,
+          -0.2634936571121216,
+          0.9552782773971558,
+          30.66653823852539
+        ],
+        [
+          -0.9908227324485779,
+          0.02012738026678562,
+          -0.13366064429283142,
+          24.728151321411133
+        ],
+        [
+          0.015991486608982086,
+          -0.9644511342048645,
+          -0.2637769877910614,
+          -20.3962345123291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6799,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_383080720",
+      "mask_path": "../../mask/hdr_front_06799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06800.png",
+      "transform_matrix": [
+        [
+          -0.14061079919338226,
+          -0.25013458728790283,
+          0.9579464197158813,
+          30.58868408203125
+        ],
+        [
+          -0.9899787902832031,
+          0.022752758115530014,
+          -0.13937151432037354,
+          24.74569320678711
+        ],
+        [
+          0.013065717183053493,
+          -0.9679436683654785,
+          -0.25082719326019287,
+          -20.377479553222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6800,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_483080387",
+      "mask_path": "../../mask/hdr_front_06800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06801.png",
+      "transform_matrix": [
+        [
+          -0.1501433551311493,
+          -0.2441217005252838,
+          0.9580509066581726,
+          30.505443572998047
+        ],
+        [
+          -0.9885043501853943,
+          0.01963958330452442,
+          -0.149911567568779,
+          24.763484954833984
+        ],
+        [
+          0.017780940979719162,
+          -0.9695457816123962,
+          -0.24426409602165222,
+          -20.352048873901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6801,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_583078622",
+      "mask_path": "../../mask/hdr_front_06801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06802.png",
+      "transform_matrix": [
+        [
+          -0.15871532261371613,
+          -0.24538284540176392,
+          0.9563455581665039,
+          30.433151245117188
+        ],
+        [
+          -0.9869068264961243,
+          0.011261897161602974,
+          -0.16089767217636108,
+          24.774940490722656
+        ],
+        [
+          0.028711261227726936,
+          -0.969360888004303,
+          -0.24395741522312164,
+          -20.325624465942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6802,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_683080434",
+      "mask_path": "../../mask/hdr_front_06802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06803.png",
+      "transform_matrix": [
+        [
+          -0.16271957755088806,
+          -0.25051799416542053,
+          0.9543391466140747,
+          30.33567237854004
+        ],
+        [
+          -0.9859958291053772,
+          0.005474863573908806,
+          -0.16668005287647247,
+          24.778400421142578
+        ],
+        [
+          0.036531466990709305,
+          -0.9680964946746826,
+          -0.24790059030056,
+          -20.29297637939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6803,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_783080339",
+      "mask_path": "../../mask/hdr_front_06803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06804.png",
+      "transform_matrix": [
+        [
+          -0.16093771159648895,
+          -0.2533823251724243,
+          0.9538849592208862,
+          30.244060516357422
+        ],
+        [
+          -0.9865142703056335,
+          0.012105771340429783,
+          -0.16322718560695648,
+          24.778406143188477
+        ],
+        [
+          0.029811367392539978,
+          -0.967290461063385,
+          -0.25191351771354675,
+          -20.261106491088867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6804,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_883080244",
+      "mask_path": "../../mask/hdr_front_06804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06805.png",
+      "transform_matrix": [
+        [
+          -0.1589483618736267,
+          -0.24885065853595734,
+          0.9554103016853333,
+          30.175453186035156
+        ],
+        [
+          -0.9871414303779602,
+          0.023451432585716248,
+          -0.1581191122531891,
+          24.783945083618164
+        ],
+        [
+          0.016942307353019714,
+          -0.9682579040527344,
+          -0.24937839806079865,
+          -20.243385314941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6805,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_983082532",
+      "mask_path": "../../mask/hdr_front_06805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06806.png",
+      "transform_matrix": [
+        [
+          -0.15993863344192505,
+          -0.23766212165355682,
+          0.9580899477005005,
+          30.10235595703125
+        ],
+        [
+          -0.9869974851608276,
+          0.02278059720993042,
+          -0.15911336243152618,
+          24.79805564880371
+        ],
+        [
+          0.015989355742931366,
+          -0.9710807204246521,
+          -0.2382154017686844,
+          -20.240310668945312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6806,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_83079814",
+      "mask_path": "../../mask/hdr_front_06806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06807.png",
+      "transform_matrix": [
+        [
+          -0.16832248866558075,
+          -0.22733977437019348,
+          0.9591581225395203,
+          30.025691986083984
+        ],
+        [
+          -0.985440731048584,
+          0.015157155692577362,
+          -0.1693423092365265,
+          24.814315795898438
+        ],
+        [
+          0.02396012842655182,
+          -0.9736975431442261,
+          -0.2265811562538147,
+          -20.212749481201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6807,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_183080434",
+      "mask_path": "../../mask/hdr_front_06807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06808.png",
+      "transform_matrix": [
+        [
+          -0.17799094319343567,
+          -0.2243872582912445,
+          0.9581072926521301,
+          29.95672607421875
+        ],
+        [
+          -0.9835429787635803,
+          0.009868406690657139,
+          -0.18040508031845093,
+          24.83278465270996
+        ],
+        [
+          0.03102559968829155,
+          -0.9744501113891602,
+          -0.22245097160339355,
+          -20.18242073059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6808,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_283083200",
+      "mask_path": "../../mask/hdr_front_06808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06809.png",
+      "transform_matrix": [
+        [
+          -0.18578611314296722,
+          -0.22618801891803741,
+          0.9562020897865295,
+          29.871315002441406
+        ],
+        [
+          -0.9817217588424683,
+          0.00182456080801785,
+          -0.19031287729740143,
+          24.848878860473633
+        ],
+        [
+          0.04130184277892113,
+          -0.9740819931030273,
+          -0.22239269316196442,
+          -20.161956787109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6809,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_383081674",
+      "mask_path": "../../mask/hdr_front_06809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06810.png",
+      "transform_matrix": [
+        [
+          -0.18804006278514862,
+          -0.23363779485225677,
+          0.9539677500724792,
+          29.775142669677734
+        ],
+        [
+          -0.9810912013053894,
+          -0.0006467999191954732,
+          -0.1935448944568634,
+          24.857608795166016
+        ],
+        [
+          0.0458364337682724,
+          -0.9723235368728638,
+          -0.2290983647108078,
+          -20.122272491455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6810,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_483082294",
+      "mask_path": "../../mask/hdr_front_06810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06811.png",
+      "transform_matrix": [
+        [
+          -0.18699079751968384,
+          -0.23798133432865143,
+          0.9530998468399048,
+          29.696945190429688
+        ],
+        [
+          -0.9816110730171204,
+          0.007343033328652382,
+          -0.19075095653533936,
+          24.872406005859375
+        ],
+        [
+          0.03839652240276337,
+          -0.9712419509887695,
+          -0.23497815430164337,
+          -20.099231719970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6811,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_583081960",
+      "mask_path": "../../mask/hdr_front_06811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06812.png",
+      "transform_matrix": [
+        [
+          -0.18701085448265076,
+          -0.23592665791511536,
+          0.9536066055297852,
+          29.6260929107666
+        ],
+        [
+          -0.9818981289863586,
+          0.01519973948597908,
+          -0.18879860639572144,
+          24.88890266418457
+        ],
+        [
+          0.030048051849007607,
+          -0.9716520309448242,
+          -0.23449847102165222,
+          -20.08780288696289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6812,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_683081626",
+      "mask_path": "../../mask/hdr_front_06812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06813.png",
+      "transform_matrix": [
+        [
+          -0.19110719859600067,
+          -0.22389911115169525,
+          0.9556920528411865,
+          29.549697875976562
+        ],
+        [
+          -0.9809097051620483,
+          0.007878908887505531,
+          -0.19430409371852875,
+          24.907695770263672
+        ],
+        [
+          0.035974692553281784,
+          -0.9745804667472839,
+          -0.22113053500652313,
+          -20.070465087890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6813,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_783081769",
+      "mask_path": "../../mask/hdr_front_06813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06814.png",
+      "transform_matrix": [
+        [
+          -0.19848136603832245,
+          -0.21591109037399292,
+          0.9560269713401794,
+          29.47781753540039
+        ],
+        [
+          -0.9791979789733887,
+          0.0017344700172543526,
+          -0.20290020108222961,
+          24.927976608276367
+        ],
+        [
+          0.04215020313858986,
+          -0.9764114618301392,
+          -0.21176396310329437,
+          -20.047252655029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6814,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_883081436",
+      "mask_path": "../../mask/hdr_front_06814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06815.png",
+      "transform_matrix": [
+        [
+          -0.20299121737480164,
+          -0.21596451103687286,
+          0.95506751537323,
+          29.40218162536621
+        ],
+        [
+          -0.978123664855957,
+          -0.0005825866828672588,
+          -0.20802336931228638,
+          24.946741104125977
+        ],
+        [
+          0.04548207297921181,
+          -0.9764010906219482,
+          -0.21112175285816193,
+          -20.031618118286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6815,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_983082056",
+      "mask_path": "../../mask/hdr_front_06815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06816.png",
+      "transform_matrix": [
+        [
+          -0.20531891286373138,
+          -0.20079810917377472,
+          0.9578748345375061,
+          29.316242218017578
+        ],
+        [
+          -0.9777290225028992,
+          -0.0013935898896306753,
+          -0.20986676216125488,
+          24.963428497314453
+        ],
+        [
+          0.04347572848200798,
+          -0.9796316623687744,
+          -0.19603998959064484,
+          -20.018484115600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6816,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_83081245",
+      "mask_path": "../../mask/hdr_front_06816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06817.png",
+      "transform_matrix": [
+        [
+          -0.20614156126976013,
+          -0.18013398349285126,
+          0.9617990851402283,
+          29.23401641845703
+        ],
+        [
+          -0.977906346321106,
+          0.003056792775169015,
+          -0.20902132987976074,
+          24.98578453063965
+        ],
+        [
+          0.03471182659268379,
+          -0.9836373925209045,
+          -0.17678430676460266,
+          -20.02496337890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6817,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_183081388",
+      "mask_path": "../../mask/hdr_front_06817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06818.png",
+      "transform_matrix": [
+        [
+          -0.20744772255420685,
+          -0.16672472655773163,
+          0.9639338254928589,
+          29.159732818603516
+        ],
+        [
+          -0.9778968095779419,
+          0.009016269817948341,
+          -0.20889322459697723,
+          25.007450103759766
+        ],
+        [
+          0.026136577129364014,
+          -0.9859622716903687,
+          -0.1649099886417389,
+          -20.034744262695312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6818,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_283081769",
+      "mask_path": "../../mask/hdr_front_06818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06819.png",
+      "transform_matrix": [
+        [
+          -0.21081021428108215,
+          -0.15892094373703003,
+          0.9645222425460815,
+          29.071603775024414
+        ],
+        [
+          -0.9774121642112732,
+          0.019140683114528656,
+          -0.21047373116016388,
+          25.034282684326172
+        ],
+        [
+          0.014987066388130188,
+          -0.9871057868003845,
+          -0.15936629474163055,
+          -20.027053833007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6819,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_383081197",
+      "mask_path": "../../mask/hdr_front_06819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06820.png",
+      "transform_matrix": [
+        [
+          -0.21714149415493011,
+          -0.1444823443889618,
+          0.9653882384300232,
+          28.974899291992188
+        ],
+        [
+          -0.9759736657142639,
+          0.013870726339519024,
+          -0.21744652092456818,
+          25.06039047241211
+        ],
+        [
+          0.018026549369096756,
+          -0.9894101619720459,
+          -0.1440228819847107,
+          -19.990337371826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6820,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_483081579",
+      "mask_path": "../../mask/hdr_front_06820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03200.png",
+      "transform_matrix": [
+        [
+          0.8463080525398254,
+          -0.13492323458194733,
+          0.5153236389160156,
+          28.527292251586914
+        ],
+        [
+          -0.5142468214035034,
+          0.045442380011081696,
+          0.8564374446868896,
+          24.808053970336914
+        ],
+        [
+          -0.13897083699703217,
+          -0.989813506603241,
+          -0.03092559613287449,
+          -19.868377685546875
+        ],
+        [
+          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": "1731323582_383078813",
+      "mask_path": "../../mask/hdr_left_03200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03201.png",
+      "transform_matrix": [
+        [
+          0.8470163345336914,
+          -0.14486151933670044,
+          0.5114473104476929,
+          28.62542152404785
+        ],
+        [
+          -0.5107564330101013,
+          0.044788748025894165,
+          0.8585580587387085,
+          24.782917022705078
+        ],
+        [
+          -0.14727908372879028,
+          -0.9884377717971802,
+          -0.03605214133858681,
+          -19.88494110107422
+        ],
+        [
+          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": "1731323582_483079433",
+      "mask_path": "../../mask/hdr_left_03201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03202.png",
+      "transform_matrix": [
+        [
+          0.8509684801101685,
+          -0.15382902324199677,
+          0.5021844506263733,
+          28.707101821899414
+        ],
+        [
+          -0.5019763112068176,
+          0.043068211525678635,
+          0.8638083934783936,
+          24.769201278686523
+        ],
+        [
+          -0.15450699627399445,
+          -0.987158477306366,
+          -0.04056883603334427,
+          -19.90764045715332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3202,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323582_583081483",
+      "mask_path": "../../mask/hdr_left_03202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03203.png",
+      "transform_matrix": [
+        [
+          0.8564609885215759,
+          -0.1608581393957138,
+          0.4905089735984802,
+          28.78078269958496
+        ],
+        [
+          -0.4909449815750122,
+          0.03981746360659599,
+          0.8702800869941711,
+          24.75198745727539
+        ],
+        [
+          -0.15952245891094208,
+          -0.9861741065979004,
+          -0.04487038403749466,
+          -19.93071937561035
+        ],
+        [
+          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": "1731323582_683081626",
+      "mask_path": "../../mask/hdr_left_03203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03204.png",
+      "transform_matrix": [
+        [
+          0.8636618852615356,
+          -0.16685447096824646,
+          0.4756547510623932,
+          28.856401443481445
+        ],
+        [
+          -0.47507545351982117,
+          0.0459887869656086,
+          0.8787423968315125,
+          24.727100372314453
+        ],
+        [
+          -0.16849689185619354,
+          -0.9849084615707397,
+          -0.03954969346523285,
+          -19.954307556152344
+        ],
+        [
+          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": "1731323582_783081054",
+      "mask_path": "../../mask/hdr_left_03204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03205.png",
+      "transform_matrix": [
+        [
+          0.8720670342445374,
+          -0.17171162366867065,
+          0.4582729637622833,
+          28.939992904663086
+        ],
+        [
+          -0.4562816321849823,
+          0.05327460542321205,
+          0.8882391452789307,
+          24.71090316772461
+        ],
+        [
+          -0.17693528532981873,
+          -0.9837057590484619,
+          -0.031889814883470535,
+          -19.97774887084961
+        ],
+        [
+          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": "1731323582_883079767",
+      "mask_path": "../../mask/hdr_left_03205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03206.png",
+      "transform_matrix": [
+        [
+          0.8809236288070679,
+          -0.16892817616462708,
+          0.44208237528800964,
+          29.01470375061035
+        ],
+        [
+          -0.439601868391037,
+          0.053893253207206726,
+          0.8965744376182556,
+          24.702985763549805
+        ],
+        [
+          -0.17528191208839417,
+          -0.9841538667678833,
+          -0.026785293594002724,
+          -19.995132446289062
+        ],
+        [
+          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": "1731323582_983081817",
+      "mask_path": "../../mask/hdr_left_03206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03207.png",
+      "transform_matrix": [
+        [
+          0.8879182934761047,
+          -0.1669720858335495,
+          0.42862728238105774,
+          29.118703842163086
+        ],
+        [
+          -0.4269856810569763,
+          0.047474153339862823,
+          0.9030113220214844,
+          24.68820571899414
+        ],
+        [
+          -0.1711263507604599,
+          -0.9848181009292603,
+          -0.029141511768102646,
+          -20.014352798461914
+        ],
+        [
+          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": "1731323583_83081007",
+      "mask_path": "../../mask/hdr_left_03207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03208.png",
+      "transform_matrix": [
+        [
+          0.8938445448875427,
+          -0.16774491965770721,
+          0.4158167541027069,
+          29.221721649169922
+        ],
+        [
+          -0.4153454601764679,
+          0.039588261395692825,
+          0.9088019728660583,
+          24.6748046875
+        ],
+        [
+          -0.16890835762023926,
+          -0.985035240650177,
+          -0.03428633511066437,
+          -20.035974502563477
+        ],
+        [
+          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": "1731323583_183080673",
+      "mask_path": "../../mask/hdr_left_03208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03209.png",
+      "transform_matrix": [
+        [
+          0.8984076380729675,
+          -0.1618356704711914,
+          0.4082559645175934,
+          29.292312622070312
+        ],
+        [
+          -0.40786266326904297,
+          0.037192344665527344,
+          0.9122855067253113,
+          24.66724395751953
+        ],
+        [
+          -0.16282430291175842,
+          -0.9861166477203369,
+          -0.03259284049272537,
+          -20.046592712402344
+        ],
+        [
+          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": "1731323583_283081293",
+      "mask_path": "../../mask/hdr_left_03209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03210.png",
+      "transform_matrix": [
+        [
+          0.9014674425125122,
+          -0.15317143499851227,
+          0.4048393964767456,
+          29.374038696289062
+        ],
+        [
+          -0.40325209498405457,
+          0.04270851984620094,
+          0.9140917658805847,
+          24.656160354614258
+        ],
+        [
+          -0.1573028564453125,
+          -0.9872763752937317,
+          -0.023266367614269257,
+          -20.06039047241211
+        ],
+        [
+          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": "1731323583_383081674",
+      "mask_path": "../../mask/hdr_left_03210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03211.png",
+      "transform_matrix": [
+        [
+          0.900253176689148,
+          -0.15608234703540802,
+          0.4064265489578247,
+          29.46061134338379
+        ],
+        [
+          -0.40467408299446106,
+          0.044307369738817215,
+          0.9133870005607605,
+          24.64068603515625
+        ],
+        [
+          -0.16057127714157104,
+          -0.9867498278617859,
+          -0.023274630308151245,
+          -20.071666717529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3211,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323583_483080625",
+      "mask_path": "../../mask/hdr_left_03211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03212.png",
+      "transform_matrix": [
+        [
+          0.896915078163147,
+          -0.15886831283569336,
+          0.41267919540405273,
+          29.541545867919922
+        ],
+        [
+          -0.41167518496513367,
+          0.04074668884277344,
+          0.9104192852973938,
+          24.620386123657227
+        ],
+        [
+          -0.16145208477973938,
+          -0.9864586591720581,
+          -0.0288558229804039,
+          -20.073348999023438
+        ],
+        [
+          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": "1731323583_583081722",
+      "mask_path": "../../mask/hdr_left_03212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03213.png",
+      "transform_matrix": [
+        [
+          0.8927704691886902,
+          -0.1523769646883011,
+          0.4239598512649536,
+          29.621278762817383
+        ],
+        [
+          -0.42308321595191956,
+          0.039767783135175705,
+          0.9052176475524902,
+          24.597801208496094
+        ],
+        [
+          -0.15479426085948944,
+          -0.9875220656394958,
+          -0.028964638710021973,
+          -20.083454132080078
+        ],
+        [
+          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": "1731323583_683081626",
+      "mask_path": "../../mask/hdr_left_03213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03214.png",
+      "transform_matrix": [
+        [
+          0.8873199224472046,
+          -0.1439836323261261,
+          0.43810057640075684,
+          29.708280563354492
+        ],
+        [
+          -0.43805235624313354,
+          0.03375370800495148,
+          0.8983155488967896,
+          24.576114654541016
+        ],
+        [
+          -0.14413024485111237,
+          -0.9890043139457703,
+          -0.033122025430202484,
+          -20.106029510498047
+        ],
+        [
+          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": "1731323583_783081769",
+      "mask_path": "../../mask/hdr_left_03214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03215.png",
+      "transform_matrix": [
+        [
+          0.8843008875846863,
+          -0.14653198421001434,
+          0.4433286786079407,
+          29.804241180419922
+        ],
+        [
+          -0.4446302652359009,
+          0.025571167469024658,
+          0.8953490853309631,
+          24.553491592407227
+        ],
+        [
+          -0.14253370463848114,
+          -0.9888754487037659,
+          -0.04253994673490524,
+          -20.131303787231445
+        ],
+        [
+          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": "1731323583_883080720",
+      "mask_path": "../../mask/hdr_left_03215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03216.png",
+      "transform_matrix": [
+        [
+          0.8837356567382812,
+          -0.1509067416191101,
+          0.4429880976676941,
+          29.891929626464844
+        ],
+        [
+          -0.444401353597641,
+          0.026103852316737175,
+          0.8954474925994873,
+          24.53360939025879
+        ],
+        [
+          -0.14669273793697357,
+          -0.9882032871246338,
+          -0.0439942441880703,
+          -20.156797409057617
+        ],
+        [
+          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": "1731323583_983081579",
+      "mask_path": "../../mask/hdr_left_03216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03217.png",
+      "transform_matrix": [
+        [
+          0.885780394077301,
+          -0.14837858080863953,
+          0.439746230840683,
+          29.968616485595703
+        ],
+        [
+          -0.44034284353256226,
+          0.030602462589740753,
+          0.8973080515861511,
+          24.512847900390625
+        ],
+        [
+          -0.14659859240055084,
+          -0.9884570837020874,
+          -0.038230378180742264,
+          -20.17815589904785
+        ],
+        [
+          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": "1731323584_83082199",
+      "mask_path": "../../mask/hdr_left_03217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03218.png",
+      "transform_matrix": [
+        [
+          0.8875532150268555,
+          -0.15206021070480347,
+          0.4348872900009155,
+          30.056400299072266
+        ],
+        [
+          -0.43376460671424866,
+          0.042250800877809525,
+          0.9000350832939148,
+          24.48460578918457
+        ],
+        [
+          -0.15523384511470795,
+          -0.9874678254127502,
+          -0.028458498418331146,
+          -20.194358825683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3218,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323584_183083057",
+      "mask_path": "../../mask/hdr_left_03218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03219.png",
+      "transform_matrix": [
+        [
+          0.8886760473251343,
+          -0.15743930637836456,
+          0.4306597113609314,
+          30.115116119384766
+        ],
+        [
+          -0.4286344647407532,
+          0.04837565869092941,
+          0.9021819233894348,
+          24.462785720825195
+        ],
+        [
+          -0.1628723442554474,
+          -0.9863431453704834,
+          -0.02449362725019455,
+          -20.19806480407715
+        ],
+        [
+          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": "1731323584_283081769",
+      "mask_path": "../../mask/hdr_left_03219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03221.png",
+      "transform_matrix": [
+        [
+          0.8915783166885376,
+          -0.15240639448165894,
+          0.42645078897476196,
+          30.212247848510742
+        ],
+        [
+          -0.42414459586143494,
+          0.04899832233786583,
+          0.9042678475379944,
+          24.423749923706055
+        ],
+        [
+          -0.15871159732341766,
+          -0.9871026277542114,
+          -0.020956506952643394,
+          -20.213075637817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3221,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323584_483081579",
+      "mask_path": "../../mask/hdr_left_03221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03222.png",
+      "transform_matrix": [
+        [
+          0.8933387398719788,
+          -0.15613245964050293,
+          0.42138877511024475,
+          30.297475814819336
+        ],
+        [
+          -0.4190206527709961,
+          0.049423135817050934,
+          0.9066306352615356,
+          24.397470474243164
+        ],
+        [
+          -0.16238078474998474,
+          -0.9864988923072815,
+          -0.02127111703157425,
+          -20.236286163330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3222,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323584_583081245",
+      "mask_path": "../../mask/hdr_left_03222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03223.png",
+      "transform_matrix": [
+        [
+          0.8957228064537048,
+          -0.17011798918247223,
+          0.41078025102615356,
+          30.37862205505371
+        ],
+        [
+          -0.4088958203792572,
+          0.047626424580812454,
+          0.9113375544548035,
+          24.378738403320312
+        ],
+        [
+          -0.17459887266159058,
+          -0.9842721819877625,
+          -0.026900455355644226,
+          -20.262401580810547
+        ],
+        [
+          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": "1731323584_683083057",
+      "mask_path": "../../mask/hdr_left_03223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03224.png",
+      "transform_matrix": [
+        [
+          0.9000855684280396,
+          -0.17838309705257416,
+          0.3975242078304291,
+          30.4465389251709
+        ],
+        [
+          -0.3953816294670105,
+          0.04897366464138031,
+          0.9172104001045227,
+          24.37128448486328
+        ],
+        [
+          -0.18308304250240326,
+          -0.98274165391922,
+          -0.026448901742696762,
+          -20.287771224975586
+        ],
+        [
+          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": "1731323584_783082246",
+      "mask_path": "../../mask/hdr_left_03224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03225.png",
+      "transform_matrix": [
+        [
+          0.9054030179977417,
+          -0.18240495026111603,
+          0.38337165117263794,
+          30.50719451904297
+        ],
+        [
+          -0.3794947862625122,
+          0.05712871253490448,
+          0.9234284162521362,
+          24.36496925354004
+        ],
+        [
+          -0.19033943116664886,
+          -0.9815624356269836,
+          -0.017497222870588303,
+          -20.308414459228516
+        ],
+        [
+          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": "1731323584_883079767",
+      "mask_path": "../../mask/hdr_left_03225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03226.png",
+      "transform_matrix": [
+        [
+          0.910335898399353,
+          -0.18618036806583405,
+          0.36962878704071045,
+          30.57958221435547
+        ],
+        [
+          -0.36540189385414124,
+          0.05782509967684746,
+          0.9290519952774048,
+          24.344785690307617
+        ],
+        [
+          -0.19434505701065063,
+          -0.9808124899864197,
+          -0.015390393324196339,
+          -20.324995040893555
+        ],
+        [
+          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": "1731323584_983080625",
+      "mask_path": "../../mask/hdr_left_03226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03227.png",
+      "transform_matrix": [
+        [
+          0.9144623875617981,
+          -0.1853826493024826,
+          0.3597109615802765,
+          30.64832878112793
+        ],
+        [
+          -0.3565639853477478,
+          0.05123196542263031,
+          0.9328652024269104,
+          24.326189041137695
+        ],
+        [
+          -0.19136570394039154,
+          -0.9813300371170044,
+          -0.01925107277929783,
+          -20.334428787231445
+        ],
+        [
+          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": "1731323585_83082437",
+      "mask_path": "../../mask/hdr_left_03227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03228.png",
+      "transform_matrix": [
+        [
+          0.9159942269325256,
+          -0.1819111853837967,
+          0.3575790226459503,
+          30.703292846679688
+        ],
+        [
+          -0.3546217679977417,
+          0.04967377707362175,
+          0.9336893558502197,
+          24.317407608032227
+        ],
+        [
+          -0.18761084973812103,
+          -0.9820594787597656,
+          -0.019008779898285866,
+          -20.344818115234375
+        ],
+        [
+          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": "1731323585_183081626",
+      "mask_path": "../../mask/hdr_left_03228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03229.png",
+      "transform_matrix": [
+        [
+          0.9162907004356384,
+          -0.17751888930797577,
+          0.35902413725852966,
+          30.767391204833984
+        ],
+        [
+          -0.3574216067790985,
+          0.042056892067193985,
+          0.9329957365989685,
+          24.30979347229004
+        ],
+        [
+          -0.18072380125522614,
+          -0.9832183122634888,
+          -0.024912750348448753,
+          -20.357948303222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3229,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323585_283080816",
+      "mask_path": "../../mask/hdr_left_03229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03230.png",
+      "transform_matrix": [
+        [
+          0.9163686037063599,
+          -0.17986555397510529,
+          0.3576546013355255,
+          30.856460571289062
+        ],
+        [
+          -0.35661396384239197,
+          0.03922358155250549,
+          0.9334281086921692,
+          24.297767639160156
+        ],
+        [
+          -0.18192003667354584,
+          -0.9829090237617493,
+          -0.02819930575788021,
+          -20.380338668823242
+        ],
+        [
+          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": "1731323585_383080482",
+      "mask_path": "../../mask/hdr_left_03230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03231.png",
+      "transform_matrix": [
+        [
+          0.9162161946296692,
+          -0.1869204044342041,
+          0.35441282391548157,
+          30.942346572875977
+        ],
+        [
+          -0.3526541292667389,
+          0.04372655972838402,
+          0.9347314834594727,
+          24.28902244567871
+        ],
+        [
+          -0.19021764397621155,
+          -0.9814014434814453,
+          -0.02585526742041111,
+          -20.40623664855957
+        ],
+        [
+          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": "1731323585_483080625",
+      "mask_path": "../../mask/hdr_left_03231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03232.png",
+      "transform_matrix": [
+        [
+          0.91656094789505,
+          -0.19288799166679382,
+          0.3503001630306244,
+          31.008655548095703
+        ],
+        [
+          -0.348802387714386,
+          0.04281553253531456,
+          0.9362177848815918,
+          24.28291893005371
+        ],
+        [
+          -0.19558343291282654,
+          -0.9802862405776978,
+          -0.028036735951900482,
+          -20.432634353637695
+        ],
+        [
+          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": "1731323585_583080768",
+      "mask_path": "../../mask/hdr_left_03232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03233.png",
+      "transform_matrix": [
+        [
+          0.9176170825958252,
+          -0.19497032463550568,
+          0.34636011719703674,
+          31.08487319946289
+        ],
+        [
+          -0.3444543480873108,
+          0.04471312835812569,
+          0.9377375841140747,
+          24.25942039489746
+        ],
+        [
+          -0.19831784069538116,
+          -0.9797894954681396,
+          -0.02612883783876896,
+          -20.46057891845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3233,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323585_683081865",
+      "mask_path": "../../mask/hdr_left_03233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03234.png",
+      "transform_matrix": [
+        [
+          0.9150400757789612,
+          -0.2056373953819275,
+          0.3470085561275482,
+          31.170793533325195
+        ],
+        [
+          -0.3416763246059418,
+          0.06207564100623131,
+          0.9377654194831848,
+          24.22180938720703
+        ],
+        [
+          -0.2143803983926773,
+          -0.9766575694084167,
+          -0.013459723442792892,
+          -20.486459732055664
+        ],
+        [
+          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": "1731323585_783082246",
+      "mask_path": "../../mask/hdr_left_03234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03236.png",
+      "transform_matrix": [
+        [
+          0.8951756358146667,
+          -0.2473357915878296,
+          0.3707903325557709,
+          31.267122268676758
+        ],
+        [
+          -0.3489629924297333,
+          0.12861110270023346,
+          0.9282693266868591,
+          24.216684341430664
+        ],
+        [
+          -0.2772819697856903,
+          -0.9603563547134399,
+          0.028818506747484207,
+          -20.501449584960938
+        ],
+        [
+          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": "1731323585_983081579",
+      "mask_path": "../../mask/hdr_left_03236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03237.png",
+      "transform_matrix": [
+        [
+          0.8938807249069214,
+          -0.2501409947872162,
+          0.37203049659729004,
+          31.37179183959961
+        ],
+        [
+          -0.353624165058136,
+          0.11664778739213943,
+          0.9280857443809509,
+          24.199405670166016
+        ],
+        [
+          -0.2755488455295563,
+          -0.9611570239067078,
+          0.015813296660780907,
+          -20.520456314086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3237,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_83081245",
+      "mask_path": "../../mask/hdr_left_03237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03238.png",
+      "transform_matrix": [
+        [
+          0.8950731754302979,
+          -0.2527625858783722,
+          0.36736220121383667,
+          31.441781997680664
+        ],
+        [
+          -0.35198864340782166,
+          0.10529402643442154,
+          0.930063009262085,
+          24.194726943969727
+        ],
+        [
+          -0.2737661898136139,
+          -0.9617817997932434,
+          0.0052763004787266254,
+          -20.557737350463867
+        ],
+        [
+          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": "1731323586_183081388",
+      "mask_path": "../../mask/hdr_left_03238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03239.png",
+      "transform_matrix": [
+        [
+          0.8981360197067261,
+          -0.25027596950531006,
+          0.3615431785583496,
+          31.49103546142578
+        ],
+        [
+          -0.3462052047252655,
+          0.10443437099456787,
+          0.932327926158905,
+          24.19028663635254
+        ],
+        [
+          -0.27109676599502563,
+          -0.9625256061553955,
+          0.0071494439616799355,
+          -20.583749771118164
+        ],
+        [
+          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": "1731323586_283081054",
+      "mask_path": "../../mask/hdr_left_03239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03240.png",
+      "transform_matrix": [
+        [
+          0.9015735983848572,
+          -0.2467677891254425,
+          0.3553456962108612,
+          31.545446395874023
+        ],
+        [
+          -0.34000319242477417,
+          0.10373526066541672,
+          0.9346854090690613,
+          24.177261352539062
+        ],
+        [
+          -0.26751211285591125,
+          -0.9635064601898193,
+          0.00962313637137413,
+          -20.608692169189453
+        ],
+        [
+          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": "1731323586_383081912",
+      "mask_path": "../../mask/hdr_left_03240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03242.png",
+      "transform_matrix": [
+        [
+          0.8945529460906982,
+          -0.28729864954948425,
+          0.3423953056335449,
+          31.63463592529297
+        ],
+        [
+          -0.3101012408733368,
+          0.1527515947818756,
+          0.9383517503738403,
+          24.17668914794922
+        ],
+        [
+          -0.32188862562179565,
+          -0.9455826878547668,
+          0.047552723437547684,
+          -20.656631469726562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3242,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_583081960",
+      "mask_path": "../../mask/hdr_left_03242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03243.png",
+      "transform_matrix": [
+        [
+          0.9064196348190308,
+          -0.28016918897628784,
+          0.3160831034183502,
+          31.72289276123047
+        ],
+        [
+          -0.2890108525753021,
+          0.13433174788951874,
+          0.9478542804718018,
+          24.177392959594727
+        ],
+        [
+          -0.3080195486545563,
+          -0.950505256652832,
+          0.04078902676701546,
+          -20.6750431060791
+        ],
+        [
+          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": "1731323586_683081865",
+      "mask_path": "../../mask/hdr_left_03243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03244.png",
+      "transform_matrix": [
+        [
+          0.9154406189918518,
+          -0.2810463011264801,
+          0.28806495666503906,
+          31.819936752319336
+        ],
+        [
+          -0.2666385769844055,
+          0.1125909760594368,
+          0.9571975469589233,
+          24.187286376953125
+        ],
+        [
+          -0.30145031213760376,
+          -0.9530667662620544,
+          0.028132567182183266,
+          -20.715702056884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3244,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_783082008",
+      "mask_path": "../../mask/hdr_left_03244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03245.png",
+      "transform_matrix": [
+        [
+          0.9217134714126587,
+          -0.2848692834377289,
+          0.26323702931404114,
+          31.897422790527344
+        ],
+        [
+          -0.24377529323101044,
+          0.10242246091365814,
+          0.964408278465271,
+          24.195341110229492
+        ],
+        [
+          -0.3016916811466217,
+          -0.9530788064002991,
+          0.024960067123174667,
+          -20.753948211669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3245,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_883082151",
+      "mask_path": "../../mask/hdr_left_03245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03246.png",
+      "transform_matrix": [
+        [
+          0.9284741282463074,
+          -0.2853037118911743,
+          0.23777632415294647,
+          31.96087646484375
+        ],
+        [
+          -0.21692998707294464,
+          0.10305915772914886,
+          0.9707316756248474,
+          24.207420349121094
+        ],
+        [
+          -0.30145835876464844,
+          -0.9528802037239075,
+          0.03379683569073677,
+          -20.77718162536621
+        ],
+        [
+          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": "1731323586_983083248",
+      "mask_path": "../../mask/hdr_left_03246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03247.png",
+      "transform_matrix": [
+        [
+          0.9319600462913513,
+          -0.2866327464580536,
+          0.22201834619045258,
+          32.022117614746094
+        ],
+        [
+          -0.19993798434734344,
+          0.10452372580766678,
+          0.974217414855957,
+          24.21226692199707
+        ],
+        [
+          -0.30244874954223633,
+          -0.9523216485977173,
+          0.04010317474603653,
+          -20.792089462280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3247,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_83082437",
+      "mask_path": "../../mask/hdr_left_03247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03248.png",
+      "transform_matrix": [
+        [
+          0.9310591816902161,
+          -0.2941344380378723,
+          0.2159019410610199,
+          32.09218978881836
+        ],
+        [
+          -0.19535180926322937,
+          0.09791502356529236,
+          0.9758332371711731,
+          24.207931518554688
+        ],
+        [
+          -0.30816614627838135,
+          -0.950735330581665,
+          0.03370498865842819,
+          -20.81443977355957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3248,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_183082342",
+      "mask_path": "../../mask/hdr_left_03248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03249.png",
+      "transform_matrix": [
+        [
+          0.9301187992095947,
+          -0.29836681485176086,
+          0.21414034068584442,
+          32.15340805053711
+        ],
+        [
+          -0.19853264093399048,
+          0.08205325901508331,
+          0.976653516292572,
+          24.199748992919922
+        ],
+        [
+          -0.3089718818664551,
+          -0.9509177803993225,
+          0.017083749175071716,
+          -20.833072662353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3249,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_283082723",
+      "mask_path": "../../mask/hdr_left_03249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03250.png",
+      "transform_matrix": [
+        [
+          0.9290279150009155,
+          -0.2980769872665405,
+          0.21921929717063904,
+          32.2041015625
+        ],
+        [
+          -0.20894572138786316,
+          0.06632673740386963,
+          0.9756753444671631,
+          24.191438674926758
+        ],
+        [
+          -0.3053664267063141,
+          -0.9522347450256348,
+          -0.0006625072564929724,
+          -20.850173950195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3250,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_383081436",
+      "mask_path": "../../mask/hdr_left_03250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03251.png",
+      "transform_matrix": [
+        [
+          0.9255158305168152,
+          -0.30404937267303467,
+          0.2257750779390335,
+          32.28649139404297
+        ],
+        [
+          -0.22015610337257385,
+          0.05311921238899231,
+          0.9740172624588013,
+          24.17928123474121
+        ],
+        [
+          -0.3081422746181488,
+          -0.951174259185791,
+          -0.0177756417542696,
+          -20.89266586303711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3251,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_483080148",
+      "mask_path": "../../mask/hdr_left_03251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03252.png",
+      "transform_matrix": [
+        [
+          0.9207999110221863,
+          -0.31649911403656006,
+          0.2279381901025772,
+          32.376747131347656
+        ],
+        [
+          -0.22625398635864258,
+          0.0425921194255352,
+          0.9731366634368896,
+          24.167327880859375
+        ],
+        [
+          -0.3177052140235901,
+          -0.9476362466812134,
+          -0.03239035606384277,
+          -20.940860748291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3252,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_583082199",
+      "mask_path": "../../mask/hdr_left_03252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03253.png",
+      "transform_matrix": [
+        [
+          0.9176274538040161,
+          -0.32480141520500183,
+          0.22904980182647705,
+          32.44439697265625
+        ],
+        [
+          -0.2284007966518402,
+          0.04068261384963989,
+          0.9727169275283813,
+          24.166444778442383
+        ],
+        [
+          -0.32525816559791565,
+          -0.944907009601593,
+          -0.03685340657830238,
+          -20.980079650878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3253,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_683081150",
+      "mask_path": "../../mask/hdr_left_03253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03254.png",
+      "transform_matrix": [
+        [
+          0.9172249436378479,
+          -0.3242005407810211,
+          0.23150046169757843,
+          32.52372360229492
+        ],
+        [
+          -0.22854013741016388,
+          0.04774744063615799,
+          0.9723628759384155,
+          24.163312911987305
+        ],
+        [
+          -0.3262941241264343,
+          -0.9447826743125916,
+          -0.030297696590423584,
+          -21.022321701049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3254,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_783080816",
+      "mask_path": "../../mask/hdr_left_03254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03255.png",
+      "transform_matrix": [
+        [
+          0.9161494970321655,
+          -0.32729363441467285,
+          0.23140639066696167,
+          32.62501907348633
+        ],
+        [
+          -0.2280249297618866,
+          0.04924260452389717,
+          0.9724093079566956,
+          24.140865325927734
+        ],
+        [
+          -0.3296583592891693,
+          -0.943638801574707,
+          -0.029517507180571556,
+          -21.062877655029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3255,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_883081197",
+      "mask_path": "../../mask/hdr_left_03255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03256.png",
+      "transform_matrix": [
+        [
+          0.9146803617477417,
+          -0.33207058906555176,
+          0.23040997982025146,
+          32.70490646362305
+        ],
+        [
+          -0.2279944270849228,
+          0.04679794982075691,
+          0.9725371599197388,
+          24.125377655029297
+        ],
+        [
+          -0.3337336778640747,
+          -0.9420929551124573,
+          -0.03290506824851036,
+          -21.093149185180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3256,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_983079671",
+      "mask_path": "../../mask/hdr_left_03256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03257.png",
+      "transform_matrix": [
+        [
+          0.9148046970367432,
+          -0.3290576636791229,
+          0.23420777916908264,
+          32.77523422241211
+        ],
+        [
+          -0.23149864375591278,
+          0.04799190163612366,
+          0.9716507196426392,
+          24.12712287902832
+        ],
+        [
+          -0.3309692442417145,
+          -0.943089485168457,
+          -0.03227318823337555,
+          -21.12789535522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3257,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_83079099",
+      "mask_path": "../../mask/hdr_left_03257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03258.png",
+      "transform_matrix": [
+        [
+          0.9188728332519531,
+          -0.31220999360084534,
+          0.2412419468164444,
+          32.862884521484375
+        ],
+        [
+          -0.24059170484542847,
+          0.041226521134376526,
+          0.9697505235671997,
+          24.135644912719727
+        ],
+        [
+          -0.31271132826805115,
+          -0.9491181969642639,
+          -0.03723319247364998,
+          -21.162206649780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3258,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_183079481",
+      "mask_path": "../../mask/hdr_left_03258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03259.png",
+      "transform_matrix": [
+        [
+          0.9153577089309692,
+          -0.32632753252983093,
+          0.23586128652095795,
+          32.97080993652344
+        ],
+        [
+          -0.24506188929080963,
+          0.013264465145766735,
+          0.969416618347168,
+          24.140592575073242
+        ],
+        [
+          -0.3194758892059326,
+          -0.9451637268066406,
+          -0.0678287073969841,
+          -21.1790714263916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3259,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_283080816",
+      "mask_path": "../../mask/hdr_left_03259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03260.png",
+      "transform_matrix": [
+        [
+          0.9089558720588684,
+          -0.3519328832626343,
+          0.22347795963287354,
+          33.03894805908203
+        ],
+        [
+          -0.24049371480941772,
+          -0.004778616596013308,
+          0.9706389307975769,
+          24.145050048828125
+        ],
+        [
+          -0.3405318260192871,
+          -0.9360131025314331,
+          -0.08898118883371353,
+          -21.192155838012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3260,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_383081197",
+      "mask_path": "../../mask/hdr_left_03260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03261.png",
+      "transform_matrix": [
+        [
+          0.9088994264602661,
+          -0.35479632019996643,
+          0.21913783252239227,
+          33.091583251953125
+        ],
+        [
+          -0.23467719554901123,
+          -0.0007890778942964971,
+          0.9720730781555176,
+          24.151390075683594
+        ],
+        [
+          -0.34471502900123596,
+          -0.9349433183670044,
+          -0.0839797854423523,
+          -21.22757911682129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3261,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_483080625",
+      "mask_path": "../../mask/hdr_left_03261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03262.png",
+      "transform_matrix": [
+        [
+          0.9107415676116943,
+          -0.35179007053375244,
+          0.21631821990013123,
+          33.198280334472656
+        ],
+        [
+          -0.23267841339111328,
+          -0.0043518878519535065,
+          0.9725439548492432,
+          24.146413803100586
+        ],
+        [
+          -0.3411898612976074,
+          -0.9360688328742981,
+          -0.08581738919019699,
+          -21.279598236083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3262,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_583081483",
+      "mask_path": "../../mask/hdr_left_03262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03263.png",
+      "transform_matrix": [
+        [
+          0.9151783585548401,
+          -0.34056758880615234,
+          0.2155512124300003,
+          33.281646728515625
+        ],
+        [
+          -0.2326987236738205,
+          -0.009799455292522907,
+          0.9724994897842407,
+          24.139366149902344
+        ],
+        [
+          -0.32908952236175537,
+          -0.940169095993042,
+          -0.08821787685155869,
+          -21.307342529296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3263,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_683082580",
+      "mask_path": "../../mask/hdr_left_03263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03264.png",
+      "transform_matrix": [
+        [
+          0.9198024868965149,
+          -0.32448431849479675,
+          0.22062046825885773,
+          33.347232818603516
+        ],
+        [
+          -0.2358262687921524,
+          -0.007773892022669315,
+          0.9717641472816467,
+          24.13275909423828
+        ],
+        [
+          -0.3136071562767029,
+          -0.9458591938018799,
+          -0.08367237448692322,
+          -21.318941116333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3264,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_783081293",
+      "mask_path": "../../mask/hdr_left_03264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03265.png",
+      "transform_matrix": [
+        [
+          0.9260101914405823,
+          -0.3008129596710205,
+          0.2280716598033905,
+          33.43943786621094
+        ],
+        [
+          -0.24140606820583344,
+          -0.007395543158054352,
+          0.9703959822654724,
+          24.138708114624023
+        ],
+        [
+          -0.2902209758758545,
+          -0.9536544680595398,
+          -0.07946640998125076,
+          -21.34453582763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3265,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_883081912",
+      "mask_path": "../../mask/hdr_left_03265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03266.png",
+      "transform_matrix": [
+        [
+          0.9318749308586121,
+          -0.2828598916530609,
+          0.22715474665164948,
+          33.54545211791992
+        ],
+        [
+          -0.24045322835445404,
+          -0.012731118127703667,
+          0.9705771803855896,
+          24.149791717529297
+        ],
+        [
+          -0.2716453969478607,
+          -0.9590768218040466,
+          -0.07987837493419647,
+          -21.374895095825195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3266,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_983082294",
+      "mask_path": "../../mask/hdr_left_03266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03267.png",
+      "transform_matrix": [
+        [
+          0.9347337484359741,
+          -0.2771271765232086,
+          0.22242610156536102,
+          33.63195037841797
+        ],
+        [
+          -0.23481357097625732,
+          -0.011897683143615723,
+          0.9719676971435547,
+          24.151409149169922
+        ],
+        [
+          -0.2667122781276703,
+          -0.9607595801353455,
+          -0.07619437575340271,
+          -21.408842086791992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3267,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_83082199",
+      "mask_path": "../../mask/hdr_left_03267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03268.png",
+      "transform_matrix": [
+        [
+          0.9382481575012207,
+          -0.2661088705062866,
+          0.22108018398284912,
+          33.68766784667969
+        ],
+        [
+          -0.22993390262126923,
+          -0.002175786066800356,
+          0.9732038378715515,
+          24.160961151123047
+        ],
+        [
+          -0.25849711894989014,
+          -0.9639406204223633,
+          -0.06322887539863586,
+          -21.429615020751953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3268,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_183082818",
+      "mask_path": "../../mask/hdr_left_03268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03269.png",
+      "transform_matrix": [
+        [
+          0.9372832775115967,
+          -0.26645249128341675,
+          0.22472871840000153,
+          33.7662467956543
+        ],
+        [
+          -0.2307555079460144,
+          0.008899307809770107,
+          0.9729710221290588,
+          24.151884078979492
+        ],
+        [
+          -0.26125049591064453,
+          -0.9638070464134216,
+          -0.05314420536160469,
+          -21.458419799804688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3269,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_283082008",
+      "mask_path": "../../mask/hdr_left_03269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03270.png",
+      "transform_matrix": [
+        [
+          0.932162344455719,
+          -0.2776963412761688,
+          0.23228870332241058,
+          33.85226058959961
+        ],
+        [
+          -0.2376071959733963,
+          0.014841556549072266,
+          0.9712479710578918,
+          24.13121223449707
+        ],
+        [
+          -0.2731594741344452,
+          -0.960554301738739,
+          -0.05214790254831314,
+          -21.48833465576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3270,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_383081674",
+      "mask_path": "../../mask/hdr_left_03270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03271.png",
+      "transform_matrix": [
+        [
+          0.9294130802154541,
+          -0.28100812435150146,
+          0.23921899497509003,
+          33.9126091003418
+        ],
+        [
+          -0.24430687725543976,
+          0.017334342002868652,
+          0.9695429801940918,
+          24.124664306640625
+        ],
+        [
+          -0.27659615874290466,
+          -0.9595488905906677,
+          -0.052541445940732956,
+          -21.507051467895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3271,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_483082771",
+      "mask_path": "../../mask/hdr_left_03271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03272.png",
+      "transform_matrix": [
+        [
+          0.9283992648124695,
+          -0.27793174982070923,
+          0.24663473665714264,
+          33.96940612792969
+        ],
+        [
+          -0.2521260678768158,
+          0.016403649002313614,
+          0.9675554037094116,
+          24.11964988708496
+        ],
+        [
+          -0.2729600965976715,
+          -0.9604607820510864,
+          -0.05484471097588539,
+          -21.51428985595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3272,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_583081245",
+      "mask_path": "../../mask/hdr_left_03272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03273.png",
+      "transform_matrix": [
+        [
+          0.9245060086250305,
+          -0.2880837619304657,
+          0.24959242343902588,
+          34.04774856567383
+        ],
+        [
+          -0.25858303904533386,
+          0.007065695710480213,
+          0.9659631848335266,
+          24.108171463012695
+        ],
+        [
+          -0.2800418734550476,
+          -0.9575792551040649,
+          -0.06796129792928696,
+          -21.544677734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3273,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_683082103",
+      "mask_path": "../../mask/hdr_left_03273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03274.png",
+      "transform_matrix": [
+        [
+          0.920570433139801,
+          -0.29965484142303467,
+          0.2505134642124176,
+          34.12656021118164
+        ],
+        [
+          -0.262081503868103,
+          0.0016422452172264457,
+          0.9650443196296692,
+          24.097789764404297
+        ],
+        [
+          -0.28959161043167114,
+          -0.9540463089942932,
+          -0.07702217996120453,
+          -21.59354591369629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3274,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_783082246",
+      "mask_path": "../../mask/hdr_left_03274.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03275.png",
+      "transform_matrix": [
+        [
+          0.9201031923294067,
+          -0.29945847392082214,
+          0.25245746970176697,
+          34.19754409790039
+        ],
+        [
+          -0.2639079689979553,
+          0.0022843910846859217,
+          0.9645451903343201,
+          24.090927124023438
+        ],
+        [
+          -0.28941789269447327,
+          -0.9541066288948059,
+          -0.07692757993936539,
+          -21.628202438354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3275,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_883080244",
+      "mask_path": "../../mask/hdr_left_03275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03276.png",
+      "transform_matrix": [
+        [
+          0.9182721376419067,
+          -0.3016315996646881,
+          0.25650471448898315,
+          34.29431915283203
+        ],
+        [
+          -0.2646142542362213,
+          0.014408055692911148,
+          0.9642466902732849,
+          24.074703216552734
+        ],
+        [
+          -0.29454293847084045,
+          -0.9533157348632812,
+          -0.0665854960680008,
+          -21.662443161010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3276,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_983081817",
+      "mask_path": "../../mask/hdr_left_03276.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03277.png",
+      "transform_matrix": [
+        [
+          0.9133778214454651,
+          -0.30842041969299316,
+          0.26574015617370605,
+          34.378135681152344
+        ],
+        [
+          -0.2714892327785492,
+          0.024969156831502914,
+          0.9621175527572632,
+          24.05792236328125
+        ],
+        [
+          -0.30337202548980713,
+          -0.9509223699569702,
+          -0.06092655286192894,
+          -21.687973022460938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3277,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_83082675",
+      "mask_path": "../../mask/hdr_left_03277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03278.png",
+      "transform_matrix": [
+        [
+          0.9091849327087402,
+          -0.3109992444515228,
+          0.27687931060791016,
+          34.44158935546875
+        ],
+        [
+          -0.28299880027770996,
+          0.026247238740324974,
+          0.9587610363960266,
+          24.041677474975586
+        ],
+        [
+          -0.3054412603378296,
+          -0.9500477313995361,
+          -0.06414880603551865,
+          -21.708669662475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3278,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_183082342",
+      "mask_path": "../../mask/hdr_left_03278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03279.png",
+      "transform_matrix": [
+        [
+          0.9060656428337097,
+          -0.30920735001564026,
+          0.2888523042201996,
+          34.514408111572266
+        ],
+        [
+          -0.2964983284473419,
+          0.023078473284840584,
+          0.9547544121742249,
+          24.022377014160156
+        ],
+        [
+          -0.30188336968421936,
+          -0.9507145881652832,
+          -0.07076884806156158,
+          -21.73855209350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3279,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_283084392",
+      "mask_path": "../../mask/hdr_left_03279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03280.png",
+      "transform_matrix": [
+        [
+          0.9036954045295715,
+          -0.31372639536857605,
+          0.29139378666877747,
+          34.60265350341797
+        ],
+        [
+          -0.3021180331707001,
+          0.015044384635984898,
+          0.9531517624855042,
+          24.005643844604492
+        ],
+        [
+          -0.30341267585754395,
+          -0.9493942856788635,
+          -0.08118685334920883,
+          -21.770044326782227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3280,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_383081912",
+      "mask_path": "../../mask/hdr_left_03280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03281.png",
+      "transform_matrix": [
+        [
+          0.903340220451355,
+          -0.31513726711273193,
+          0.29097265005111694,
+          34.68016052246094
+        ],
+        [
+          -0.3013249933719635,
+          0.016526170074939728,
+          0.9533782601356506,
+          23.99641227722168
+        ],
+        [
+          -0.3052535951137543,
+          -0.9489022493362427,
+          -0.08002995699644089,
+          -21.805524826049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3281,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_483083009",
+      "mask_path": "../../mask/hdr_left_03281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03282.png",
+      "transform_matrix": [
+        [
+          0.9048741459846497,
+          -0.3098243176937103,
+          0.2919102609157562,
+          34.756385803222656
+        ],
+        [
+          -0.29956501722335815,
+          0.02372245490550995,
+          0.9537809491157532,
+          23.992712020874023
+        ],
+        [
+          -0.30242928862571716,
+          -0.9504978656768799,
+          -0.07134668529033661,
+          -21.84452247619629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3282,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_583081722",
+      "mask_path": "../../mask/hdr_left_03282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03283.png",
+      "transform_matrix": [
+        [
+          0.9039029479026794,
+          -0.3108566999435425,
+          0.2938154339790344,
+          34.860137939453125
+        ],
+        [
+          -0.29913145303726196,
+          0.03159840777516365,
+          0.9536885619163513,
+          23.96843910217285
+        ],
+        [
+          -0.3057444989681244,
+          -0.9499314427375793,
+          -0.06442510336637497,
+          -21.87955665588379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3283,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_683082342",
+      "mask_path": "../../mask/hdr_left_03283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03284.png",
+      "transform_matrix": [
+        [
+          0.8891276717185974,
+          -0.33805808424949646,
+          0.30849406123161316,
+          34.92179489135742
+        ],
+        [
+          -0.30391818284988403,
+          0.06783914566040039,
+          0.950279712677002,
+          23.965049743652344
+        ],
+        [
+          -0.34217771887779236,
+          -0.9386770129203796,
+          -0.04242434725165367,
+          -21.910425186157227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3284,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_783082485",
+      "mask_path": "../../mask/hdr_left_03284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03286.png",
+      "transform_matrix": [
+        [
+          0.8765240907669067,
+          -0.35221782326698303,
+          0.32809770107269287,
+          35.036067962646484
+        ],
+        [
+          -0.32002487778663635,
+          0.08274813741445541,
+          0.9437885284423828,
+          23.96147918701172
+        ],
+        [
+          -0.3595685660839081,
+          -0.9322528839111328,
+          -0.04018770158290863,
+          -21.95279884338379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3286,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_983081340",
+      "mask_path": "../../mask/hdr_left_03286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06765.png",
+      "transform_matrix": [
+        [
+          -0.8972475528717041,
+          -0.23728395998477936,
+          -0.37234804034233093,
+          34.785160064697266
+        ],
+        [
+          0.3874318301677704,
+          -0.018650658428668976,
+          -0.9217096567153931,
+          24.32884979248047
+        ],
+        [
+          0.21176235377788544,
+          -0.9712613224983215,
+          0.10866561532020569,
+          -21.883804321289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6765,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_883080959",
+      "mask_path": "../../mask/hdr_left_06765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06766.png",
+      "transform_matrix": [
+        [
+          -0.8970612287521362,
+          -0.2340279221534729,
+          -0.3748492896556854,
+          34.71184539794922
+        ],
+        [
+          0.386859267950058,
+          -0.005898746196180582,
+          -0.9221198558807373,
+          24.344484329223633
+        ],
+        [
+          0.21359065175056458,
+          -0.972212016582489,
+          0.09582740813493729,
+          -21.857452392578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6766,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_983081817",
+      "mask_path": "../../mask/hdr_left_06766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06767.png",
+      "transform_matrix": [
+        [
+          -0.8955320119857788,
+          -0.234846830368042,
+          -0.37798047065734863,
+          34.64949035644531
+        ],
+        [
+          0.3880460262298584,
+          0.0036260054912418127,
+          -0.9216328263282776,
+          24.36375617980957
+        ],
+        [
+          0.21781305968761444,
+          -0.9720256924629211,
+          0.08788417279720306,
+          -21.846881866455078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6767,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_83080530",
+      "mask_path": "../../mask/hdr_left_06767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06768.png",
+      "transform_matrix": [
+        [
+          -0.8915513157844543,
+          -0.23999567329883575,
+          -0.38410720229148865,
+          34.56843948364258
+        ],
+        [
+          0.39356526732444763,
+          0.009196776896715164,
+          -0.9192507266998291,
+          24.386205673217773
+        ],
+        [
+          0.2241487354040146,
+          -0.9707304239273071,
+          0.08625456690788269,
+          -21.81329917907715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6768,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_183081150",
+      "mask_path": "../../mask/hdr_left_06768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06769.png",
+      "transform_matrix": [
+        [
+          -0.8861215114593506,
+          -0.24947983026504517,
+          -0.39057457447052,
+          34.48476028442383
+        ],
+        [
+          0.4015749394893646,
+          0.007385540287941694,
+          -0.9157962799072266,
+          24.413330078125
+        ],
+        [
+          0.23135730624198914,
+          -0.9683519601821899,
+          0.09364036470651627,
+          -21.77610206604004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6769,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_283081531",
+      "mask_path": "../../mask/hdr_left_06769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06770.png",
+      "transform_matrix": [
+        [
+          -0.8822372555732727,
+          -0.2571744918823242,
+          -0.3943585157394409,
+          34.41267395019531
+        ],
+        [
+          0.407195508480072,
+          0.003646931378170848,
+          -0.9133338332176208,
+          24.439403533935547
+        ],
+        [
+          0.23632434010505676,
+          -0.9663581252098083,
+          0.10150283575057983,
+          -21.755691528320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6770,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_383081674",
+      "mask_path": "../../mask/hdr_left_06770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06771.png",
+      "transform_matrix": [
+        [
+          -0.8783091306686401,
+          -0.26949918270111084,
+          -0.39489665627479553,
+          34.34345626831055
+        ],
+        [
+          0.4125641882419586,
+          -0.009860169142484665,
+          -0.9108752608299255,
+          24.43197250366211
+        ],
+        [
+          0.2415863424539566,
+          -0.9629501700401306,
+          0.11984598636627197,
+          -21.69817352294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6771,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_483082294",
+      "mask_path": "../../mask/hdr_left_06771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06772.png",
+      "transform_matrix": [
+        [
+          -0.878105640411377,
+          -0.2708224654197693,
+          -0.394443541765213,
+          34.253841400146484
+        ],
+        [
+          0.4099038243293762,
+          -0.0005747081013396382,
+          -0.9121285676956177,
+          24.43393325805664
+        ],
+        [
+          0.24679818749427795,
+          -0.9626291394233704,
+          0.1115158200263977,
+          -21.64078140258789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6772,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_583081960",
+      "mask_path": "../../mask/hdr_left_06772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06773.png",
+      "transform_matrix": [
+        [
+          -0.8791179060935974,
+          -0.264182984828949,
+          -0.39668500423431396,
+          34.19418716430664
+        ],
+        [
+          0.4057547450065613,
+          0.02177918702363968,
+          -0.9137225151062012,
+          24.45794105529785
+        ],
+        [
+          0.25002938508987427,
+          -0.9642266631126404,
+          0.08804702013731003,
+          -21.645299911499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6773,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_683081388",
+      "mask_path": "../../mask/hdr_left_06773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06774.png",
+      "transform_matrix": [
+        [
+          -0.879768431186676,
+          -0.2596796751022339,
+          -0.39821335673332214,
+          34.13908386230469
+        ],
+        [
+          0.404159814119339,
+          0.03251652792096138,
+          -0.9141102433204651,
+          24.476543426513672
+        ],
+        [
+          0.2503243386745453,
+          -0.9651473164558411,
+          0.0763450637459755,
+          -21.639944076538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6774,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_783081769",
+      "mask_path": "../../mask/hdr_left_06774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06775.png",
+      "transform_matrix": [
+        [
+          -0.8771788477897644,
+          -0.26292338967323303,
+          -0.4017815887928009,
+          34.08173751831055
+        ],
+        [
+          0.40658220648765564,
+          0.0384264700114727,
+          -0.9128057956695557,
+          24.493288040161133
+        ],
+        [
+          0.2554369568824768,
+          -0.9640511870384216,
+          0.07319307327270508,
+          -21.619659423828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6775,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_883082628",
+      "mask_path": "../../mask/hdr_left_06775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06776.png",
+      "transform_matrix": [
+        [
+          -0.8714570999145508,
+          -0.2705773115158081,
+          -0.40908491611480713,
+          34.01951599121094
+        ],
+        [
+          0.41512826085090637,
+          0.0372941680252552,
+          -0.9089981317520142,
+          24.516212463378906
+        ],
+        [
+          0.26121073961257935,
+          -0.961975634098053,
+          0.07982402294874191,
+          -21.593122482299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6776,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_983082056",
+      "mask_path": "../../mask/hdr_left_06776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06777.png",
+      "transform_matrix": [
+        [
+          -0.8687995076179504,
+          -0.2746790647506714,
+          -0.4119935631752014,
+          33.944061279296875
+        ],
+        [
+          0.4184679388999939,
+          0.03750431537628174,
+          -0.9074569344520569,
+          24.539701461791992
+        ],
+        [
+          0.264710932970047,
+          -0.960804283618927,
+          0.0823606476187706,
+          -21.560110092163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6777,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_83083868",
+      "mask_path": "../../mask/hdr_left_06777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06778.png",
+      "transform_matrix": [
+        [
+          -0.8717763423919678,
+          -0.2707813084125519,
+          -0.40826883912086487,
+          33.884254455566406
+        ],
+        [
+          0.4169340431690216,
+          0.027503283694386482,
+          -0.908520519733429,
+          24.56502914428711
+        ],
+        [
+          0.25723907351493835,
+          -0.9622479677200317,
+          0.08892123401165009,
+          -21.556243896484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6778,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_183082103",
+      "mask_path": "../../mask/hdr_left_06778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06779.png",
+      "transform_matrix": [
+        [
+          -0.8761916160583496,
+          -0.26779699325561523,
+          -0.4007154405117035,
+          33.816001892089844
+        ],
+        [
+          0.409974604845047,
+          0.022997913882136345,
+          -0.9118068814277649,
+          24.580333709716797
+        ],
+        [
+          0.25339475274086,
+          -0.9632009267807007,
+          0.08963938057422638,
+          -21.520313262939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6779,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_283081769",
+      "mask_path": "../../mask/hdr_left_06779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06780.png",
+      "transform_matrix": [
+        [
+          -0.8824337124824524,
+          -0.26795345544815063,
+          -0.3866673707962036,
+          33.74571990966797
+        ],
+        [
+          0.3917911648750305,
+          0.036375854164361954,
+          -0.9193348288536072,
+          24.588300704956055
+        ],
+        [
+          0.26040422916412354,
+          -0.962744951248169,
+          0.0728825107216835,
+          -21.471004486083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6780,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_383082628",
+      "mask_path": "../../mask/hdr_left_06780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06781.png",
+      "transform_matrix": [
+        [
+          -0.8913962244987488,
+          -0.2650303244590759,
+          -0.3676570951938629,
+          33.68384552001953
+        ],
+        [
+          0.36859914660453796,
+          0.0480862595140934,
+          -0.9283438324928284,
+          24.59972381591797
+        ],
+        [
+          0.26371854543685913,
+          -0.9630403518676758,
+          0.054826054722070694,
+          -21.441755294799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6781,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_483081102",
+      "mask_path": "../../mask/hdr_left_06781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06782.png",
+      "transform_matrix": [
+        [
+          -0.8976593613624573,
+          -0.2623881697654724,
+          -0.35406216979026794,
+          33.615325927734375
+        ],
+        [
+          0.3531078100204468,
+          0.05245237797498703,
+          -0.9341111779212952,
+          24.614547729492188
+        ],
+        [
+          0.26367107033729553,
+          -0.9635359048843384,
+          0.04556693509221077,
+          -21.420869827270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6782,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_583082199",
+      "mask_path": "../../mask/hdr_left_06782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06783.png",
+      "transform_matrix": [
+        [
+          -0.9011631608009338,
+          -0.2645488977432251,
+          -0.34339284896850586,
+          33.539955139160156
+        ],
+        [
+          0.3443320393562317,
+          0.044355880469083786,
+          -0.9377995133399963,
+          24.628984451293945
+        ],
+        [
+          0.2633253335952759,
+          -0.9633516669273376,
+          0.051120784133672714,
+          -21.398235321044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6783,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_683082580",
+      "mask_path": "../../mask/hdr_left_06783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06784.png",
+      "transform_matrix": [
+        [
+          -0.9028522968292236,
+          -0.26812639832496643,
+          -0.33610397577285767,
+          33.47884750366211
+        ],
+        [
+          0.34001442790031433,
+          0.03319036215543747,
+          -0.9398342967033386,
+          24.63443946838379
+        ],
+        [
+          0.26314982771873474,
+          -0.9628118872642517,
+          0.061200857162475586,
+          -21.3811092376709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6784,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_783081769",
+      "mask_path": "../../mask/hdr_left_06784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06785.png",
+      "transform_matrix": [
+        [
+          -0.9030489921569824,
+          -0.27207449078559875,
+          -0.3323822617530823,
+          33.39018249511719
+        ],
+        [
+          0.3392452597618103,
+          0.022874999791383743,
+          -0.9404197931289673,
+          24.645353317260742
+        ],
+        [
+          0.2634674906730652,
+          -0.9620043039321899,
+          0.07164275646209717,
+          -21.355634689331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6785,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_883082151",
+      "mask_path": "../../mask/hdr_left_06785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06786.png",
+      "transform_matrix": [
+        [
+          -0.9053046703338623,
+          -0.2716568112373352,
+          -0.32653623819351196,
+          33.29429244995117
+        ],
+        [
+          0.3323710262775421,
+          0.025625888258218765,
+          -0.9428004622459412,
+          24.658233642578125
+        ],
+        [
+          0.2644859254360199,
+          -0.9620530009269714,
+          0.06709161400794983,
+          -21.32012176513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6786,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_983081579",
+      "mask_path": "../../mask/hdr_left_06786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06787.png",
+      "transform_matrix": [
+        [
+          -0.9085037112236023,
+          -0.2674553692340851,
+          -0.32107409834861755,
+          33.23571014404297
+        ],
+        [
+          0.32454541325569153,
+          0.03239964693784714,
+          -0.9453150629997253,
+          24.65504264831543
+        ],
+        [
+          0.2632322609424591,
+          -0.9630254507064819,
+          0.05736621469259262,
+          -21.297229766845703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6787,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_83080530",
+      "mask_path": "../../mask/hdr_left_06787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06788.png",
+      "transform_matrix": [
+        [
+          -0.9125385880470276,
+          -0.2608778476715088,
+          -0.31498590111732483,
+          33.17709732055664
+        ],
+        [
+          0.3178763687610626,
+          0.032204777002334595,
+          -0.9475849866867065,
+          24.656494140625
+        ],
+        [
+          0.2573480010032654,
+          -0.9648346304893494,
+          0.05353879928588867,
+          -21.286706924438477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6788,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_183081865",
+      "mask_path": "../../mask/hdr_left_06788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06789.png",
+      "transform_matrix": [
+        [
+          -0.9143385291099548,
+          -0.25688573718070984,
+          -0.3130411207675934,
+          33.096649169921875
+        ],
+        [
+          0.3172225058078766,
+          0.026126133278012276,
+          -0.9479911923408508,
+          24.665761947631836
+        ],
+        [
+          0.25170397758483887,
+          -0.966088593006134,
+          0.05760180950164795,
+          -21.26668357849121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6789,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_283082723",
+      "mask_path": "../../mask/hdr_left_06789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06790.png",
+      "transform_matrix": [
+        [
+          -0.9138761162757874,
+          -0.2593477666378021,
+          -0.31236061453819275,
+          33.01578903198242
+        ],
+        [
+          0.318997859954834,
+          0.017227867618203163,
+          -0.9475988149642944,
+          24.668193817138672
+        ],
+        [
+          0.25113892555236816,
+          -0.9656303524971008,
+          0.06698724627494812,
+          -21.233257293701172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6790,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_383082151",
+      "mask_path": "../../mask/hdr_left_06790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06791.png",
+      "transform_matrix": [
+        [
+          -0.9132633805274963,
+          -0.2651941478252411,
+          -0.30922800302505493,
+          32.9402961730957
+        ],
+        [
+          0.319671094417572,
+          0.003981633111834526,
+          -0.9475202560424805,
+          24.665441513061523
+        ],
+        [
+          0.2525080144405365,
+          -0.9641868472099304,
+          0.08113861083984375,
+          -21.21009635925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6791,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_483082294",
+      "mask_path": "../../mask/hdr_left_06791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06792.png",
+      "transform_matrix": [
+        [
+          -0.9140380620956421,
+          -0.2707121670246124,
+          -0.3020749092102051,
+          32.84913635253906
+        ],
+        [
+          0.31263208389282227,
+          0.004331279080361128,
+          -0.9498644471168518,
+          24.664596557617188
+        ],
+        [
+          0.2584482431411743,
+          -0.9626505970954895,
+          0.08067436516284943,
+          -21.166593551635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6792,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_583082199",
+      "mask_path": "../../mask/hdr_left_06792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06793.png",
+      "transform_matrix": [
+        [
+          -0.9167963266372681,
+          -0.27118900418281555,
+          -0.29315680265426636,
+          32.76810073852539
+        ],
+        [
+          0.30095478892326355,
+          0.013362826779484749,
+          -0.9535447955131531,
+          24.667682647705078
+        ],
+        [
+          0.26250824332237244,
+          -0.962433397769928,
+          0.06936463713645935,
+          -21.134273529052734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6793,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_683081865",
+      "mask_path": "../../mask/hdr_left_06793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06794.png",
+      "transform_matrix": [
+        [
+          -0.9194597005844116,
+          -0.26910874247550964,
+          -0.28666064143180847,
+          32.69520568847656
+        ],
+        [
+          0.2924831807613373,
+          0.01911466382443905,
+          -0.9560796022415161,
+          24.674453735351562
+        ],
+        [
+          0.2627687454223633,
+          -0.9629201292991638,
+          0.06113460659980774,
+          -21.119104385375977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6794,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_783081293",
+      "mask_path": "../../mask/hdr_left_06794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06795.png",
+      "transform_matrix": [
+        [
+          -0.9202185869216919,
+          -0.26860156655311584,
+          -0.28469452261924744,
+          32.618709564208984
+        ],
+        [
+          0.2902211844921112,
+          0.01979130506515503,
+          -0.9567549228668213,
+          24.687257766723633
+        ],
+        [
+          0.26262035965919495,
+          -0.9630481004714966,
+          0.0597415454685688,
+          -21.091835021972656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6795,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_883080244",
+      "mask_path": "../../mask/hdr_left_06795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06796.png",
+      "transform_matrix": [
+        [
+          -0.9192570447921753,
+          -0.27354031801223755,
+          -0.28309398889541626,
+          32.550331115722656
+        ],
+        [
+          0.29059943556785583,
+          0.013578160665929317,
+          -0.9567484855651855,
+          24.70095443725586
+        ],
+        [
+          0.26555314660072327,
+          -0.9617647528648376,
+          0.067008838057518,
+          -21.069185256958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6796,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_983081817",
+      "mask_path": "../../mask/hdr_left_06796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06797.png",
+      "transform_matrix": [
+        [
+          -0.9178144931793213,
+          -0.2813463807106018,
+          -0.28010833263397217,
+          32.492462158203125
+        ],
+        [
+          0.2899560034275055,
+          0.006902898661792278,
+          -0.9570151567459106,
+          24.70789909362793
+        ],
+        [
+          0.27118629217147827,
+          -0.9595814943313599,
+          0.07524248212575912,
+          -21.04152488708496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6797,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_83081483",
+      "mask_path": "../../mask/hdr_left_06797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06798.png",
+      "transform_matrix": [
+        [
+          -0.9169052243232727,
+          -0.28825199604034424,
+          -0.2760355770587921,
+          32.40989303588867
+        ],
+        [
+          0.2863163352012634,
+          0.006757448893040419,
+          -0.9581113457679749,
+          24.705223083496094
+        ],
+        [
+          0.2780427634716034,
+          -0.9575307965278625,
+          0.07633530348539352,
+          -20.99582290649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6798,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_183081388",
+      "mask_path": "../../mask/hdr_left_06798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06799.png",
+      "transform_matrix": [
+        [
+          -0.9201710224151611,
+          -0.28518539667129517,
+          -0.2682432234287262,
+          32.328189849853516
+        ],
+        [
+          0.2738185226917267,
+          0.02093483693897724,
+          -0.9615535140037537,
+          24.700376510620117
+        ],
+        [
+          0.27983662486076355,
+          -0.9582437872886658,
+          0.05882542207837105,
+          -20.965055465698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6799,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_283082962",
+      "mask_path": "../../mask/hdr_left_06799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06800.png",
+      "transform_matrix": [
+        [
+          -0.9233395457267761,
+          -0.2828900218009949,
+          -0.2596482038497925,
+          32.26451873779297
+        ],
+        [
+          0.2613537609577179,
+          0.032394759356975555,
+          -0.9646992683410645,
+          24.69192123413086
+        ],
+        [
+          0.28131505846977234,
+          -0.9586051106452942,
+          0.04402301460504532,
+          -20.94776725769043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6800,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_383083343",
+      "mask_path": "../../mask/hdr_left_06800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06801.png",
+      "transform_matrix": [
+        [
+          -0.9250593781471252,
+          -0.28411775827407837,
+          -0.2520754337310791,
+          32.19266891479492
+        ],
+        [
+          0.2520690858364105,
+          0.03722497448325157,
+          -0.966992974281311,
+          24.68654441833496
+        ],
+        [
+          0.28412339091300964,
+          -0.9580665230751038,
+          0.03718199580907822,
+          -20.924610137939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6801,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_483082532",
+      "mask_path": "../../mask/hdr_left_06801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06802.png",
+      "transform_matrix": [
+        [
+          -0.9257303476333618,
+          -0.28403279185295105,
+          -0.24969694018363953,
+          32.12047576904297
+        ],
+        [
+          0.25006696581840515,
+          0.03557976335287094,
+          -0.9675744771957397,
+          24.691434860229492
+        ],
+        [
+          0.2837070822715759,
+          -0.9581542015075684,
+          0.03808995336294174,
+          -20.904359817504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6802,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_583081722",
+      "mask_path": "../../mask/hdr_left_06802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06803.png",
+      "transform_matrix": [
+        [
+          -0.9242092967033386,
+          -0.28685083985328674,
+          -0.25209856033325195,
+          32.0559196472168
+        ],
+        [
+          0.25639164447784424,
+          0.023155372589826584,
+          -0.9662954807281494,
+          24.697690963745117
+        ],
+        [
+          0.28302013874053955,
+          -0.9576954245567322,
+          0.05214575678110123,
+          -20.87981414794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6803,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_683082103",
+      "mask_path": "../../mask/hdr_left_06803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06804.png",
+      "transform_matrix": [
+        [
+          -0.9213333129882812,
+          -0.29214373230934143,
+          -0.25650930404663086,
+          31.99011993408203
+        ],
+        [
+          0.26442989706993103,
+          0.012764696963131428,
+          -0.9643204212188721,
+          24.708005905151367
+        ],
+        [
+          0.2849943935871124,
+          -0.9562892913818359,
+          0.06549099087715149,
+          -20.856481552124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6804,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_783081531",
+      "mask_path": "../../mask/hdr_left_06804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06805.png",
+      "transform_matrix": [
+        [
+          -0.9210382103919983,
+          -0.28990986943244934,
+          -0.2600788176059723,
+          31.916194915771484
+        ],
+        [
+          0.26860150694847107,
+          0.010739383287727833,
+          -0.9631914496421814,
+          24.71138572692871
+        ],
+        [
+          0.2820318043231964,
+          -0.9569936990737915,
+          0.06797884404659271,
+          -20.821245193481445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6805,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_883081197",
+      "mask_path": "../../mask/hdr_left_06805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06806.png",
+      "transform_matrix": [
+        [
+          -0.9216163754463196,
+          -0.2873104512691498,
+          -0.26091355085372925,
+          31.840576171875
+        ],
+        [
+          0.26820510625839233,
+          0.014422624371945858,
+          -0.963253915309906,
+          24.709985733032227
+        ],
+        [
+          0.2805159389972687,
+          -0.9577289819717407,
+          0.0637659952044487,
+          -20.788122177124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6806,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_983081102",
+      "mask_path": "../../mask/hdr_left_06806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06807.png",
+      "transform_matrix": [
+        [
+          -0.9209659695625305,
+          -0.2884116768836975,
+          -0.2619931995868683,
+          31.77349281311035
+        ],
+        [
+          0.26859360933303833,
+          0.017198046669363976,
+          -0.9631000757217407,
+          24.711225509643555
+        ],
+        [
+          0.2822750210762024,
+          -0.9573521018028259,
+          0.06162670999765396,
+          -20.769397735595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6807,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_83080530",
+      "mask_path": "../../mask/hdr_left_06807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06808.png",
+      "transform_matrix": [
+        [
+          -0.9208288192749023,
+          -0.2874293327331543,
+          -0.2635500133037567,
+          31.70345687866211
+        ],
+        [
+          0.26977768540382385,
+          0.018482571467757225,
+          -0.962745189666748,
+          24.713613510131836
+        ],
+        [
+          0.28159230947494507,
+          -0.9576235413551331,
+          0.060522738844156265,
+          -20.752981185913086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6808,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_183080911",
+      "mask_path": "../../mask/hdr_left_06808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06809.png",
+      "transform_matrix": [
+        [
+          -0.9154267311096191,
+          -0.29520589113235474,
+          -0.273582398891449,
+          31.61754608154297
+        ],
+        [
+          0.278459757566452,
+          0.026265813037753105,
+          -0.9600886702537537,
+          24.725419998168945
+        ],
+        [
+          0.2906096875667572,
+          -0.9550725817680359,
+          0.05815853551030159,
+          -20.676006317138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6809,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_283080577",
+      "mask_path": "../../mask/hdr_left_06809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06810.png",
+      "transform_matrix": [
+        [
+          -0.9072097539901733,
+          -0.3076514005661011,
+          -0.28691622614860535,
+          31.53766632080078
+        ],
+        [
+          0.29361578822135925,
+          0.025360899046063423,
+          -0.9555869698524475,
+          24.749399185180664
+        ],
+        [
+          0.3012641370296478,
+          -0.9511610865592957,
+          0.06732364743947983,
+          -20.61652946472168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6810,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_383080959",
+      "mask_path": "../../mask/hdr_left_06810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06811.png",
+      "transform_matrix": [
+        [
+          -0.903946578502655,
+          -0.31323325634002686,
+          -0.29114505648612976,
+          31.466320037841797
+        ],
+        [
+          0.3033365309238434,
+          0.010251949541270733,
+          -0.9528282880783081,
+          24.752824783325195
+        ],
+        [
+          0.30144229531288147,
+          -0.9496209621429443,
+          0.0857478678226471,
+          -20.583179473876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6811,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_483080863",
+      "mask_path": "../../mask/hdr_left_06811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06812.png",
+      "transform_matrix": [
+        [
+          -0.9074975252151489,
+          -0.30206868052482605,
+          -0.29189518094062805,
+          31.380048751831055
+        ],
+        [
+          0.30354562401771545,
+          0.008753057569265366,
+          -0.9527767300605774,
+          24.74846076965332
+        ],
+        [
+          0.2903589606285095,
+          -0.9532460570335388,
+          0.0837482437491417,
+          -20.560670852661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6812,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_583080530",
+      "mask_path": "../../mask/hdr_left_06812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06813.png",
+      "transform_matrix": [
+        [
+          -0.9120591282844543,
+          -0.2892402410507202,
+          -0.29066863656044006,
+          31.30331039428711
+        ],
+        [
+          0.29888248443603516,
+          0.01639706827700138,
+          -0.9541491270065308,
+          24.753616333007812
+        ],
+        [
+          0.280744343996048,
+          -0.9571161270141602,
+          0.0714937299489975,
+          -20.561279296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6813,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_683080673",
+      "mask_path": "../../mask/hdr_left_06813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06814.png",
+      "transform_matrix": [
+        [
+          -0.9142536520957947,
+          -0.28325632214546204,
+          -0.2896655201911926,
+          31.23830795288086
+        ],
+        [
+          0.2968902289867401,
+          0.018083807080984116,
+          -0.9547403454780579,
+          24.754472732543945
+        ],
+        [
+          0.2756744921207428,
+          -0.9588737487792969,
+          0.06756285578012466,
+          -20.55069923400879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6814,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_783080339",
+      "mask_path": "../../mask/hdr_left_06814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06815.png",
+      "transform_matrix": [
+        [
+          -0.9165562391281128,
+          -0.27276673913002014,
+          -0.292443186044693,
+          31.165739059448242
+        ],
+        [
+          0.3006507456302643,
+          0.012197151780128479,
+          -0.9536563754081726,
+          24.76408576965332
+        ],
+        [
+          0.2636926770210266,
+          -0.9620029330253601,
+          0.0708281397819519,
+          -20.535329818725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6815,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_883078575",
+      "mask_path": "../../mask/hdr_left_06815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06816.png",
+      "transform_matrix": [
+        [
+          -0.9171640276908875,
+          -0.2657058835029602,
+          -0.29700252413749695,
+          31.094146728515625
+        ],
+        [
+          0.3071419298648834,
+          0.003556680167093873,
+          -0.9516570568084717,
+          24.778236389160156
+        ],
+        [
+          0.2539171874523163,
+          -0.9640476107597351,
+          0.0783473551273346,
+          -20.520627975463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6816,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_983078479",
+      "mask_path": "../../mask/hdr_left_06816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06817.png",
+      "transform_matrix": [
+        [
+          -0.915996253490448,
+          -0.26580455899238586,
+          -0.30049750208854675,
+          31.031949996948242
+        ],
+        [
+          0.31235194206237793,
+          -0.0024514487013220787,
+          -0.9499632716178894,
+          24.791330337524414
+        ],
+        [
+          0.2517678737640381,
+          -0.9640238881111145,
+          0.08527008444070816,
+          -20.507593154907227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6817,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_83080291",
+      "mask_path": "../../mask/hdr_left_06817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06818.png",
+      "transform_matrix": [
+        [
+          -0.9156747460365295,
+          -0.26768338680267334,
+          -0.2998088300228119,
+          30.94289779663086
+        ],
+        [
+          0.31252744793891907,
+          -0.005180311854928732,
+          -0.9498946070671082,
+          24.79813003540039
+        ],
+        [
+          0.25271785259246826,
+          -0.9634930491447449,
+          0.08840188384056091,
+          -20.477821350097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6818,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_183081150",
+      "mask_path": "../../mask/hdr_left_06818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06819.png",
+      "transform_matrix": [
+        [
+          -0.9158536195755005,
+          -0.26770979166030884,
+          -0.2992383539676666,
+          30.83772850036621
+        ],
+        [
+          0.3105941712856293,
+          -7.476213795598596e-05,
+          -0.9505425691604614,
+          24.805217742919922
+        ],
+        [
+          0.25444716215133667,
+          -0.9634996056556702,
+          0.0832175761461258,
+          -20.445293426513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6819,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_283080339",
+      "mask_path": "../../mask/hdr_left_06819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06820.png",
+      "transform_matrix": [
+        [
+          -0.9161681532859802,
+          -0.26394277811050415,
+          -0.3016124367713928,
+          30.755502700805664
+        ],
+        [
+          0.31090715527534485,
+          0.006872283294796944,
+          -0.9504154324531555,
+          24.819265365600586
+        ],
+        [
+          0.2529280185699463,
+          -0.964513897895813,
+          0.07576552033424377,
+          -20.41980743408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6820,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_383080720",
+      "mask_path": "../../mask/hdr_left_06820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06821.png",
+      "transform_matrix": [
+        [
+          -0.9175850749015808,
+          -0.2506656050682068,
+          -0.3085519075393677,
+          30.678531646728516
+        ],
+        [
+          0.3163805603981018,
+          0.009500802494585514,
+          -0.948584794998169,
+          24.836275100708008
+        ],
+        [
+          0.24070902168750763,
+          -0.9680271148681641,
+          0.07058792561292648,
+          -20.39973258972168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6821,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_483080387",
+      "mask_path": "../../mask/hdr_left_06821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06822.png",
+      "transform_matrix": [
+        [
+          -0.9159396886825562,
+          -0.2447788268327713,
+          -0.3180215656757355,
+          30.596282958984375
+        ],
+        [
+          0.3264678418636322,
+          0.006393027491867542,
+          -0.9451866745948792,
+          24.853078842163086
+        ],
+        [
+          0.2333947867155075,
+          -0.9695579409599304,
+          0.07405678182840347,
+          -20.374267578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6822,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_583078622",
+      "mask_path": "../../mask/hdr_left_06822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06823.png",
+      "transform_matrix": [
+        [
+          -0.9127152562141418,
+          -0.2461552768945694,
+          -0.32612624764442444,
+          30.524734497070312
+        ],
+        [
+          0.3369519114494324,
+          -0.0019777799025177956,
+          -0.9415197968482971,
+          24.863492965698242
+        ],
+        [
+          0.23111501336097717,
+          -0.9692284464836121,
+          0.08474763482809067,
+          -20.348941802978516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6823,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_683080434",
+      "mask_path": "../../mask/hdr_left_06823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06824.png",
+      "transform_matrix": [
+        [
+          -0.9100362062454224,
+          -0.25134554505348206,
+          -0.32963529229164124,
+          30.427501678466797
+        ],
+        [
+          0.3424522280693054,
+          -0.007760145235806704,
+          -0.9395032525062561,
+          24.86639404296875
+        ],
+        [
+          0.23358190059661865,
+          -0.9678663611412048,
+          0.09313584119081497,
+          -20.317405700683594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6824,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_783080339",
+      "mask_path": "../../mask/hdr_left_06824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06825.png",
+      "transform_matrix": [
+        [
+          -0.9099228978157043,
+          -0.2541867196559906,
+          -0.3277643620967865,
+          30.335668563842773
+        ],
+        [
+          0.3391749858856201,
+          -0.0011319671757519245,
+          -0.9407227039337158,
+          24.86673355102539
+        ],
+        [
+          0.23874816298484802,
+          -0.9671545028686523,
+          0.08724376559257507,
+          -20.28516387939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6825,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_883080244",
+      "mask_path": "../../mask/hdr_left_06825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06826.png",
+      "transform_matrix": [
+        [
+          -0.9117662310600281,
+          -0.24962712824344635,
+          -0.32614192366600037,
+          30.266983032226562
+        ],
+        [
+          0.33430716395378113,
+          0.010211367160081863,
+          -0.9424087405204773,
+          24.872753143310547
+        ],
+        [
+          0.23858116567134857,
+          -0.9682881832122803,
+          0.07414177060127258,
+          -20.265920639038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6826,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_983082532",
+      "mask_path": "../../mask/hdr_left_06826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06827.png",
+      "transform_matrix": [
+        [
+          -0.9141806960105896,
+          -0.23844899237155914,
+          -0.32774341106414795,
+          30.194211959838867
+        ],
+        [
+          0.3352563977241516,
+          0.009541139006614685,
+          -0.9420785903930664,
+          24.886770248413086
+        ],
+        [
+          0.22776474058628082,
+          -0.9711081385612488,
+          0.07121923565864563,
+          -20.261871337890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6827,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_83079814",
+      "mask_path": "../../mask/hdr_left_06827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06828.png",
+      "transform_matrix": [
+        [
+          -0.9136748313903809,
+          -0.22823671996593475,
+          -0.33631277084350586,
+          30.118501663208008
+        ],
+        [
+          0.3450060188770294,
+          0.001925000105984509,
+          -0.9385984539985657,
+          24.902053833007812
+        ],
+        [
+          0.21487002074718475,
+          -0.9736037850379944,
+          0.0769842118024826,
+          -20.234210968017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6828,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_183080434",
+      "mask_path": "../../mask/hdr_left_06828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06829.png",
+      "transform_matrix": [
+        [
+          -0.9108800292015076,
+          -0.22541344165802002,
+          -0.34566792845726013,
+          30.05044937133789
+        ],
+        [
+          0.35552260279655457,
+          -0.0033532835077494383,
+          -0.9346617460250854,
+          24.91944694519043
+        ],
+        [
+          0.2095261514186859,
+          -0.9742574691772461,
+          0.08319400250911713,
+          -20.204280853271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6829,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_283083200",
+      "mask_path": "../../mask/hdr_left_06829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06830.png",
+      "transform_matrix": [
+        [
+          -0.9076017737388611,
+          -0.22731947898864746,
+          -0.35296568274497986,
+          29.96568489074707
+        ],
+        [
+          0.3649069368839264,
+          -0.011385862715542316,
+          -0.9309743046760559,
+          24.93456268310547
+        ],
+        [
+          0.20760975778102875,
+          -0.9737536907196045,
+          0.09328427910804749,
+          -20.184865951538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6830,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_383081674",
+      "mask_path": "../../mask/hdr_left_06830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06831.png",
+      "transform_matrix": [
+        [
+          -0.905023992061615,
+          -0.23480136692523956,
+          -0.3546827733516693,
+          29.86956024169922
+        ],
+        [
+          0.36796218156814575,
+          -0.01385307963937521,
+          -0.9297376275062561,
+          24.942970275878906
+        ],
+        [
+          0.21339017152786255,
+          -0.9719446897506714,
+          0.09893539547920227,
+          -20.146175384521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6831,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_483082294",
+      "mask_path": "../../mask/hdr_left_06831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06832.png",
+      "transform_matrix": [
+        [
+          -0.9043766856193542,
+          -0.2391318529844284,
+          -0.35343849658966064,
+          29.791179656982422
+        ],
+        [
+          0.3653382956981659,
+          -0.0058670081198215485,
+          -0.9308564066886902,
+          24.958049774169922
+        ],
+        [
+          0.22052375972270966,
+          -0.9709693789482117,
+          0.0926700085401535,
+          -20.122835159301758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6832,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_583081960",
+      "mask_path": "../../mask/hdr_left_06832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06833.png",
+      "transform_matrix": [
+        [
+          -0.904863715171814,
+          -0.23707693815231323,
+          -0.353576123714447,
+          29.720373153686523
+        ],
+        [
+          0.3634994626045227,
+          0.001987872179597616,
+          -0.9315922260284424,
+          24.97473907470703
+        ],
+        [
+          0.22156189382076263,
+          -0.971488893032074,
+          0.08437859266996384,
+          -20.110511779785156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6833,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_683081626",
+      "mask_path": "../../mask/hdr_left_06833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06834.png",
+      "transform_matrix": [
+        [
+          -0.9061282873153687,
+          -0.22510166466236115,
+          -0.3581351339817047,
+          29.644577026367188
+        ],
+        [
+          0.36870771646499634,
+          -0.00532675813883543,
+          -0.9295300841331482,
+          24.99298858642578
+        ],
+        [
+          0.2073310762643814,
+          -0.9743207097053528,
+          0.08782343566417694,
+          -20.092729568481445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6834,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_783081769",
+      "mask_path": "../../mask/hdr_left_06834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06835.png",
+      "transform_matrix": [
+        [
+          -0.9050928950309753,
+          -0.21721117198467255,
+          -0.36554911732673645,
+          29.573488235473633
+        ],
+        [
+          0.3768289089202881,
+          -0.011459757573902607,
+          -0.9262120723724365,
+          25.012407302856445
+        ],
+        [
+          0.19699448347091675,
+          -0.9760573506355286,
+          0.09222359955310822,
+          -20.069412231445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6835,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_883081436",
+      "mask_path": "../../mask/hdr_left_06835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06836.png",
+      "transform_matrix": [
+        [
+          -0.9033329486846924,
+          -0.2173253893852234,
+          -0.369809627532959,
+          29.498239517211914
+        ],
+        [
+          0.3816642761230469,
+          -0.013769402168691158,
+          -0.9241984486579895,
+          25.03065299987793
+        ],
+        [
+          0.19575971364974976,
+          -0.9760021567344666,
+          0.09538369625806808,
+          -20.054067611694336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6836,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_983082056",
+      "mask_path": "../../mask/hdr_left_06836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06837.png",
+      "transform_matrix": [
+        [
+          -0.905616044998169,
+          -0.2021872103214264,
+          -0.3728000521659851,
+          29.412778854370117
+        ],
+        [
+          0.3834027051925659,
+          -0.014577631838619709,
+          -0.9234662652015686,
+          25.047155380249023
+        ],
+        [
+          0.18127848207950592,
+          -0.9792384505271912,
+          0.09072085469961166,
+          -20.039541244506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6837,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_83081245",
+      "mask_path": "../../mask/hdr_left_06837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06838.png",
+      "transform_matrix": [
+        [
+          -0.9092493653297424,
+          -0.1815304309129715,
+          -0.3745826184749603,
+          29.330970764160156
+        ],
+        [
+          0.3826199769973755,
+          -0.01012883149087429,
+          -0.9238503575325012,
+          25.06960105895996
+        ],
+        [
+          0.16391286253929138,
+          -0.9833332300186157,
+          0.0786667987704277,
+          -20.043603897094727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6838,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_183081388",
+      "mask_path": "../../mask/hdr_left_06838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06839.png",
+      "transform_matrix": [
+        [
+          -0.911062479019165,
+          -0.16813667118549347,
+          -0.37642431259155273,
+          29.257003784179688
+        ],
+        [
+          0.38251444697380066,
+          -0.00416957912966609,
+          -0.9239400029182434,
+          25.09128189086914
+        ],
+        [
+          0.15377868711948395,
+          -0.9857549071311951,
+          0.06811345368623734,
+          -20.05156898498535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6839,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_283081769",
+      "mask_path": "../../mask/hdr_left_06839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06840.png",
+      "transform_matrix": [
+        [
+          -0.9110032916069031,
+          -0.1603771448135376,
+          -0.3799368143081665,
+          29.169275283813477
+        ],
+        [
+          0.38401877880096436,
+          0.00595818879082799,
+          -0.9233061075210571,
+          25.117950439453125
+        ],
+        [
+          0.15034091472625732,
+          -0.9870378971099854,
+          0.05615990236401558,
+          -20.042299270629883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6840,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_383081197",
+      "mask_path": "../../mask/hdr_left_06840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06841.png",
+      "transform_matrix": [
+        [
+          -0.9106549620628357,
+          -0.14602217078208923,
+          -0.38650351762771606,
+          29.073305130004883
+        ],
+        [
+          0.3905962407588959,
+          0.0006981967599131167,
+          -0.9205617308616638,
+          25.143354415893555
+        ],
+        [
+          0.1346922665834427,
+          -0.9892810583114624,
+          0.05639989301562309,
+          -20.004684448242188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6841,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_483081579",
+      "mask_path": "../../mask/hdr_left_06841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03189.png",
+      "transform_matrix": [
+        [
+          -0.9717622995376587,
+          -0.1338968724012375,
+          -0.19429312646389008,
+          28.602760314941406
+        ],
+        [
+          0.19133001565933228,
+          0.03477801755070686,
+          -0.9809094071388245,
+          25.000930786132812
+        ],
+        [
+          0.1380978375673294,
+          -0.9903848171234131,
+          -0.008177472278475761,
+          -19.87085723876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3189,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323582_383078813",
+      "mask_path": "../../mask/hdr_right_03189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03190.png",
+      "transform_matrix": [
+        [
+          -0.9711365103721619,
+          -0.14379674196243286,
+          -0.1903059035539627,
+          28.700063705444336
+        ],
+        [
+          0.18732352554798126,
+          0.034128665924072266,
+          -0.9817053079605103,
+          24.976104736328125
+        ],
+        [
+          0.14766088128089905,
+          -0.9890185594558716,
+          -0.006207082886248827,
+          -19.88817596435547
+        ],
+        [
+          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": "1731323582_483079433",
+      "mask_path": "../../mask/hdr_right_03190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03191.png",
+      "transform_matrix": [
+        [
+          -0.9717191457748413,
+          -0.15265877544879913,
+          -0.18015894293785095,
+          28.779705047607422
+        ],
+        [
+          0.17727360129356384,
+          0.03241962194442749,
+          -0.9836275577545166,
+          24.963151931762695
+        ],
+        [
+          0.1560000628232956,
+          -0.987747073173523,
+          -0.00444039748981595,
+          -19.911542892456055
+        ],
+        [
+          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": "1731323582_583081483",
+      "mask_path": "../../mask/hdr_right_03191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03192.png",
+      "transform_matrix": [
+        [
+          -0.9729205369949341,
+          -0.15955190360546112,
+          -0.16723862290382385,
+          28.85080337524414
+        ],
+        [
+          0.16468605399131775,
+          0.02918444201350212,
+          -0.9859141111373901,
+          24.946868896484375
+        ],
+        [
+          0.16218523681163788,
+          -0.9867580533027649,
+          -0.002118172589689493,
+          -19.93532371520996
+        ],
+        [
+          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": "1731323582_683081626",
+      "mask_path": "../../mask/hdr_right_03192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03193.png",
+      "transform_matrix": [
+        [
+          -0.9746400713920593,
+          -0.1653740108013153,
+          -0.15075822174549103,
+          28.92313003540039
+        ],
+        [
+          0.14690089225769043,
+          0.03538482263684273,
+          -0.9885181188583374,
+          24.92316246032715
+        ],
+        [
+          0.16880977153778076,
+          -0.9855959415435791,
+          -0.010193878784775734,
+          -19.95751190185547
+        ],
+        [
+          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": "1731323582_783081054",
+      "mask_path": "../../mask/hdr_right_03193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03194.png",
+      "transform_matrix": [
+        [
+          -0.9766255617141724,
+          -0.17002756893634796,
+          -0.1315029114484787,
+          29.00287437438965
+        ],
+        [
+          0.12601740658283234,
+          0.042709559202194214,
+          -0.991108238697052,
+          24.908252716064453
+        ],
+        [
+          0.17413215339183807,
+          -0.9845133423805237,
+          -0.02028482034802437,
+          -19.97909164428711
+        ],
+        [
+          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": "1731323582_883079767",
+      "mask_path": "../../mask/hdr_right_03194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03195.png",
+      "transform_matrix": [
+        [
+          -0.979418158531189,
+          -0.16704829037189484,
+          -0.11329171061515808,
+          29.073972702026367
+        ],
+        [
+          0.10749667137861252,
+          0.04336388409137726,
+          -0.9932593107223511,
+          24.90145492553711
+        ],
+        [
+          0.17083503305912018,
+          -0.9849945902824402,
+          -0.02451424114406109,
+          -19.99549102783203
+        ],
+        [
+          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": "1731323582_983081817",
+      "mask_path": "../../mask/hdr_right_03195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03196.png",
+      "transform_matrix": [
+        [
+          -0.9813963770866394,
+          -0.1649317890405655,
+          -0.09827843308448792,
+          29.174983978271484
+        ],
+        [
+          0.09342140704393387,
+          0.03697103261947632,
+          -0.9949400424957275,
+          24.887540817260742
+        ],
+        [
+          0.1677306741476059,
+          -0.9856118559837341,
+          -0.020875073969364166,
+          -20.015338897705078
+        ],
+        [
+          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": "1731323583_83081007",
+      "mask_path": "../../mask/hdr_right_03196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03197.png",
+      "transform_matrix": [
+        [
+          -0.9825986623764038,
+          -0.16555646061897278,
+          -0.08420749008655548,
+          29.275178909301758
+        ],
+        [
+          0.0804794430732727,
+          0.02911074087023735,
+          -0.9963311553001404,
+          24.874908447265625
+        ],
+        [
+          0.16740038990974426,
+          -0.9857705235481262,
+          -0.015280278399586678,
+          -20.038089752197266
+        ],
+        [
+          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": "1731323583_183080673",
+      "mask_path": "../../mask/hdr_right_03197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03198.png",
+      "transform_matrix": [
+        [
+          -0.9842899441719055,
+          -0.15955328941345215,
+          -0.07560470700263977,
+          29.344072341918945
+        ],
+        [
+          0.07224966585636139,
+          0.02673318050801754,
+          -0.9970282912254333,
+          24.867794036865234
+        ],
+        [
+          0.16110026836395264,
+          -0.9868272542953491,
+          -0.014785521663725376,
+          -20.04857635498047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3198,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323583_283081293",
+      "mask_path": "../../mask/hdr_right_03198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03199.png",
+      "transform_matrix": [
+        [
+          -0.9859735369682312,
+          -0.15084052085876465,
+          -0.07143842428922653,
+          29.425003051757812
+        ],
+        [
+          0.0673167034983635,
+          0.03226318210363388,
+          -0.9972099661827087,
+          24.856922149658203
+        ],
+        [
+          0.1527245044708252,
+          -0.9880315065383911,
+          -0.02165655419230461,
+          -20.060665130615234
+        ],
+        [
+          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": "1731323583_383081674",
+      "mask_path": "../../mask/hdr_right_03199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03200.png",
+      "transform_matrix": [
+        [
+          -0.9853826761245728,
+          -0.15377271175384521,
+          -0.0733146145939827,
+          29.511940002441406
+        ],
+        [
+          0.06889881938695908,
+          0.033858850598335266,
+          -0.9970489740371704,
+          24.84135627746582
+        ],
+        [
+          0.15580128133296967,
+          -0.987525999546051,
+          -0.02276916615664959,
+          -20.071826934814453
+        ],
+        [
+          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": "1731323583_483080625",
+      "mask_path": "../../mask/hdr_right_03200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03201.png",
+      "transform_matrix": [
+        [
+          -0.9843868017196655,
+          -0.1566336750984192,
+          -0.08030197769403458,
+          29.59426498413086
+        ],
+        [
+          0.07648123800754547,
+          0.030278822407126427,
+          -0.9966111779212952,
+          24.82069206237793
+        ],
+        [
+          0.15853433310985565,
+          -0.9871925115585327,
+          -0.017826536670327187,
+          -20.074617385864258
+        ],
+        [
+          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": "1731323583_583081722",
+      "mask_path": "../../mask/hdr_right_03201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03202.png",
+      "transform_matrix": [
+        [
+          -0.9843195080757141,
+          -0.15026621520519257,
+          -0.09238583594560623,
+          29.676450729370117
+        ],
+        [
+          0.08897636830806732,
+          0.029271259903907776,
+          -0.9956035614013672,
+          24.797443389892578
+        ],
+        [
+          0.1523098349571228,
+          -0.9882121086120605,
+          -0.015442128293216228,
+          -20.084978103637695
+        ],
+        [
+          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": "1731323583_683081626",
+      "mask_path": "../../mask/hdr_right_03202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03203.png",
+      "transform_matrix": [
+        [
+          -0.9839943647384644,
+          -0.14202985167503357,
+          -0.10762308537960052,
+          29.766538619995117
+        ],
+        [
+          0.10538333654403687,
+          0.023220516741275787,
+          -0.994160532951355,
+          24.774864196777344
+        ],
+        [
+          0.1436995416879654,
+          -0.989590048789978,
+          -0.00788127351552248,
+          -20.10877799987793
+        ],
+        [
+          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": "1731323583_783081769",
+      "mask_path": "../../mask/hdr_right_03203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03204.png",
+      "transform_matrix": [
+        [
+          -0.9829481840133667,
+          -0.14464236795902252,
+          -0.11354101449251175,
+          29.863670349121094
+        ],
+        [
+          0.11255309730768204,
+          0.015021608211100101,
+          -0.9935322403907776,
+          24.75185775756836
+        ],
+        [
+          0.145412415266037,
+          -0.9893699884414673,
+          0.001514487899839878,
+          -20.136030197143555
+        ],
+        [
+          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": "1731323583_883080720",
+      "mask_path": "../../mask/hdr_right_03204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03205.png",
+      "transform_matrix": [
+        [
+          -0.9823142290115356,
+          -0.1490175873041153,
+          -0.11336878687143326,
+          29.951305389404297
+        ],
+        [
+          0.11230601370334625,
+          0.015554890036582947,
+          -0.993552029132843,
+          24.73198699951172
+        ],
+        [
+          0.14982014894485474,
+          -0.9887121915817261,
+          0.001455780933611095,
+          -20.16167449951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3205,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323583_983081579",
+      "mask_path": "../../mask/hdr_right_03205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03206.png",
+      "transform_matrix": [
+        [
+          -0.9831224083900452,
+          -0.14644858241081238,
+          -0.10964999347925186,
+          30.027259826660156
+        ],
+        [
+          0.10787028074264526,
+          0.02006336860358715,
+          -0.9939625859260559,
+          24.711467742919922
+        ],
+        [
+          0.14776434004306793,
+          -0.9890148043632507,
+          -0.003927292767912149,
+          -20.18185806274414
+        ],
+        [
+          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": "1731323584_83082199",
+      "mask_path": "../../mask/hdr_right_03206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03207.png",
+      "transform_matrix": [
+        [
+          -0.9831425547599792,
+          -0.15007688105106354,
+          -0.10444021970033646,
+          30.11398696899414
+        ],
+        [
+          0.10079266875982285,
+          0.03172993287444115,
+          -0.9944014549255371,
+          24.68356704711914
+        ],
+        [
+          0.15255054831504822,
+          -0.988165020942688,
+          -0.016068395227193832,
+          -20.195764541625977
+        ],
+        [
+          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": "1731323584_183083057",
+      "mask_path": "../../mask/hdr_right_03207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03208.png",
+      "transform_matrix": [
+        [
+          -0.9827723503112793,
+          -0.15541213750839233,
+          -0.10002824664115906,
+          30.171794891357422
+        ],
+        [
+          0.09525705128908157,
+          0.03786899894475937,
+          -0.9947322010993958,
+          24.662010192871094
+        ],
+        [
+          0.15838143229484558,
+          -0.9871236085891724,
+          -0.022412503138184547,
+          -20.198392868041992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3208,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323584_283081769",
+      "mask_path": "../../mask/hdr_right_03208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03210.png",
+      "transform_matrix": [
+        [
+          -0.9840488433837891,
+          -0.15032470226287842,
+          -0.09513361006975174,
+          30.26797103881836
+        ],
+        [
+          0.09032680839300156,
+          0.03850259631872177,
+          -0.99516761302948,
+          24.62324333190918
+        ],
+        [
+          0.1532611846923828,
+          -0.9878866672515869,
+          -0.024310078471899033,
+          -20.212827682495117
+        ],
+        [
+          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": "1731323584_483081579",
+      "mask_path": "../../mask/hdr_right_03210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03211.png",
+      "transform_matrix": [
+        [
+          -0.9839881658554077,
+          -0.15399576723575592,
+          -0.08973672240972519,
+          30.352100372314453
+        ],
+        [
+          0.08470557630062103,
+          0.038940057158470154,
+          -0.9956449270248413,
+          24.597267150878906
+        ],
+        [
+          0.1568194329738617,
+          -0.9873039126396179,
+          -0.025272250175476074,
+          -20.23597526550293
+        ],
+        [
+          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": "1731323584_583081245",
+      "mask_path": "../../mask/hdr_right_03211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03212.png",
+      "transform_matrix": [
+        [
+          -0.9826533198356628,
+          -0.1678740680217743,
+          -0.07880827784538269,
+          30.43098258972168
+        ],
+        [
+          0.07357679307460785,
+          0.03716815263032913,
+          -0.9965968132019043,
+          24.57914161682129
+        ],
+        [
+          0.170231893658638,
+          -0.9851075410842896,
+          -0.02417176589369774,
+          -20.262807846069336
+        ],
+        [
+          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": "1731323584_683083057",
+      "mask_path": "../../mask/hdr_right_03212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03213.png",
+      "transform_matrix": [
+        [
+          -0.9822573065757751,
+          -0.175996795296669,
+          -0.06477504223585129,
+          30.49603271484375
+        ],
+        [
+          0.05887402594089508,
+          0.03855181485414505,
+          -0.9975207448005676,
+          24.57241439819336
+        ],
+        [
+          0.17805767059326172,
+          -0.9836355447769165,
+          -0.027506159618496895,
+          -20.28778839111328
+        ],
+        [
+          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": "1731323584_783082246",
+      "mask_path": "../../mask/hdr_right_03213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03214.png",
+      "transform_matrix": [
+        [
+          -0.9824396371841431,
+          -0.17986269295215607,
+          -0.049616988748311996,
+          30.553607940673828
+        ],
+        [
+          0.04184446483850479,
+          0.04675518348813057,
+          -0.9980296492576599,
+          24.566822052001953
+        ],
+        [
+          0.18182815611362457,
+          -0.9825799465179443,
+          -0.03840788081288338,
+          -20.30634880065918
+        ],
+        [
+          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": "1731323584_883079767",
+      "mask_path": "../../mask/hdr_right_03214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03215.png",
+      "transform_matrix": [
+        [
+          -0.9823995232582092,
+          -0.1834881603717804,
+          -0.03497770428657532,
+          30.623014450073242
+        ],
+        [
+          0.02668077126145363,
+          0.047493889927864075,
+          -0.9985151290893555,
+          24.54729461669922
+        ],
+        [
+          0.184876948595047,
+          -0.9818739295005798,
+          -0.04176236689090729,
+          -20.322357177734375
+        ],
+        [
+          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": "1731323584_983080625",
+      "mask_path": "../../mask/hdr_right_03215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03216.png",
+      "transform_matrix": [
+        [
+          -0.9828920960426331,
+          -0.18257878720760345,
+          -0.024255871772766113,
+          30.689592361450195
+        ],
+        [
+          0.01705167070031166,
+          0.04092523828148842,
+          -0.9990167021751404,
+          24.52916145324707
+        ],
+        [
+          0.18339192867279053,
+          -0.982339084148407,
+          -0.03711181506514549,
+          -20.332685470581055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3216,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323585_83082437",
+      "mask_path": "../../mask/hdr_right_03216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03217.png",
+      "transform_matrix": [
+        [
+          -0.9835938215255737,
+          -0.17907936871051788,
+          -0.02176499553024769,
+          30.74407196044922
+        ],
+        [
+          0.014939973130822182,
+          0.039372555911540985,
+          -0.9991129040718079,
+          24.520479202270508
+        ],
+        [
+          0.17977747321128845,
+          -0.9830464124679565,
+          -0.03605116158723831,
+          -20.343156814575195
+        ],
+        [
+          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": "1731323585_183081626",
+      "mask_path": "../../mask/hdr_right_03217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03218.png",
+      "transform_matrix": [
+        [
+          -0.9843518137931824,
+          -0.17469783127307892,
+          -0.023067327216267586,
+          30.80845832824707
+        ],
+        [
+          0.01778470166027546,
+          0.031744059175252914,
+          -0.9993378520011902,
+          24.5128116607666
+        ],
+        [
+          0.17531439661979675,
+          -0.9841102361679077,
+          -0.028140371665358543,
+          -20.35773468017578
+        ],
+        [
+          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": "1731323585_283080816",
+      "mask_path": "../../mask/hdr_right_03218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03219.png",
+      "transform_matrix": [
+        [
+          -0.9839651584625244,
+          -0.17703209817409515,
+          -0.02172931656241417,
+          30.89724349975586
+        ],
+        [
+          0.016869183629751205,
+          0.028912393376231194,
+          -0.9994396567344666,
+          24.500843048095703
+        ],
+        [
+          0.17756113409996033,
+          -0.9837803840637207,
+          -0.025462400168180466,
+          -20.380752563476562
+        ],
+        [
+          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": "1731323585_383080482",
+      "mask_path": "../../mask/hdr_right_03219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03220.png",
+      "transform_matrix": [
+        [
+          -0.9827378392219543,
+          -0.18405967950820923,
+          -0.018661754205822945,
+          30.982465744018555
+        ],
+        [
+          0.012716286815702915,
+          0.03342939168214798,
+          -0.999360203742981,
+          24.492231369018555
+        ],
+        [
+          0.18456578254699707,
+          -0.9823464155197144,
+          -0.030511770397424698,
+          -20.405881881713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3220,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323585_483080625",
+      "mask_path": "../../mask/hdr_right_03220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03221.png",
+      "transform_matrix": [
+        [
+          -0.9816773533821106,
+          -0.1899893879890442,
+          -0.01461717113852501,
+          31.047916412353516
+        ],
+        [
+          0.008585739880800247,
+          0.03253042697906494,
+          -0.9994339346885681,
+          24.486295700073242
+        ],
+        [
+          0.19035732746124268,
+          -0.981247067451477,
+          -0.03030317835509777,
+          -20.43253517150879
+        ],
+        [
+          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": "1731323585_583080768",
+      "mask_path": "../../mask/hdr_right_03221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03222.png",
+      "transform_matrix": [
+        [
+          -0.9813323616981506,
+          -0.19203098118305206,
+          -0.0105320168659091,
+          31.123291015625
+        ],
+        [
+          0.003986021038144827,
+          0.034442830830812454,
+          -0.9993987083435059,
+          24.46295738220215
+        ],
+        [
+          0.19227825105190277,
+          -0.9807842969894409,
+          -0.03303442895412445,
+          -20.45999526977539
+        ],
+        [
+          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": "1731323585_683081865",
+      "mask_path": "../../mask/hdr_right_03222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03223.png",
+      "transform_matrix": [
+        [
+          -0.9791644215583801,
+          -0.202719584107399,
+          -0.011911123059689999,
+          31.209423065185547
+        ],
+        [
+          0.0014193126698955894,
+          0.05182197317481041,
+          -0.998655378818512,
+          24.42527198791504
+        ],
+        [
+          0.20306424796581268,
+          -0.977864682674408,
+          -0.050454504787921906,
+          -20.482725143432617
+        ],
+        [
+          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": "1731323585_783082246",
+      "mask_path": "../../mask/hdr_right_03223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03225.png",
+      "transform_matrix": [
+        [
+          -0.9687358140945435,
+          -0.24474754929542542,
+          -0.040613334625959396,
+          31.31125831604004
+        ],
+        [
+          0.011715947650372982,
+          0.11838827282190323,
+          -0.9928982853889465,
+          24.41853141784668
+        ],
+        [
+          0.24781757593154907,
+          -0.962332010269165,
+          -0.11181952059268951,
+          -20.486865997314453
+        ],
+        [
+          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": "1731323585_983081579",
+      "mask_path": "../../mask/hdr_right_03225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03226.png",
+      "transform_matrix": [
+        [
+          -0.9679504632949829,
+          -0.24757158756256104,
+          -0.042192019522190094,
+          31.416221618652344
+        ],
+        [
+          0.016122780740261078,
+          0.10639724135398865,
+          -0.9941930174827576,
+          24.4013671875
+        ],
+        [
+          0.25062307715415955,
+          -0.9630098342895508,
+          -0.09899570792913437,
+          -20.508588790893555
+        ],
+        [
+          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": "1731323586_83081245",
+      "mask_path": "../../mask/hdr_right_03226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03227.png",
+      "transform_matrix": [
+        [
+          -0.9674868583679199,
+          -0.2501452565193176,
+          -0.03737027943134308,
+          31.485214233398438
+        ],
+        [
+          0.013875394128262997,
+          0.09503767639398575,
+          -0.9953770637512207,
+          24.397024154663086
+        ],
+        [
+          0.2525404393672943,
+          -0.9635326266288757,
+          -0.08847682923078537,
+          -20.548084259033203
+        ],
+        [
+          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": "1731323586_183081388",
+      "mask_path": "../../mask/hdr_right_03227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03228.png",
+      "transform_matrix": [
+        [
+          -0.9683728814125061,
+          -0.247589111328125,
+          -0.030881334096193314,
+          31.53317642211914
+        ],
+        [
+          0.007663605734705925,
+          0.09419582039117813,
+          -0.9955242276191711,
+          24.392841339111328
+        ],
+        [
+          0.24938981235027313,
+          -0.9642753005027771,
+          -0.08931924402713776,
+          -20.573808670043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3228,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_283081054",
+      "mask_path": "../../mask/hdr_right_03228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03229.png",
+      "transform_matrix": [
+        [
+          -0.9694787263870239,
+          -0.24400581419467926,
+          -0.023919299244880676,
+          31.586206436157227
+        ],
+        [
+          0.0010272524086758494,
+          0.09351640194654465,
+          -0.9956172108650208,
+          24.38007926940918
+        ],
+        [
+          0.24517326056957245,
+          -0.9652543067932129,
+          -0.09041149914264679,
+          -20.598371505737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3229,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_383081912",
+      "mask_path": "../../mask/hdr_right_03229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03231.png",
+      "transform_matrix": [
+        [
+          -0.9585872292518616,
+          -0.28446829319000244,
+          -0.01372541580349207,
+          31.672954559326172
+        ],
+        [
+          -0.028178486973047256,
+          0.1426907628774643,
+          -0.9893660545349121,
+          24.379261016845703
+        ],
+        [
+          0.2834017872810364,
+          -0.9480069279670715,
+          -0.1447974294424057,
+          -20.636648178100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3231,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_583081960",
+      "mask_path": "../../mask/hdr_right_03231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03232.png",
+      "transform_matrix": [
+        [
+          -0.9607424139976501,
+          -0.27703696489334106,
+          0.014981932938098907,
+          31.75543212890625
+        ],
+        [
+          -0.05130276829004288,
+          0.12432603538036346,
+          -0.9909143447875977,
+          24.381149291992188
+        ],
+        [
+          0.27265724539756775,
+          -0.9527819752693176,
+          -0.13365808129310608,
+          -20.656930923461914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3232,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_683081865",
+      "mask_path": "../../mask/hdr_right_03232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03233.png",
+      "transform_matrix": [
+        [
+          -0.9596655368804932,
+          -0.27761542797088623,
+          0.04440421983599663,
+          31.846439361572266
+        ],
+        [
+          -0.07558804750442505,
+          0.10265018790960312,
+          -0.9918414950370789,
+          24.39214515686035
+        ],
+        [
+          0.2707923650741577,
+          -0.9551924467086792,
+          -0.1194942519068718,
+          -20.70040512084961
+        ],
+        [
+          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": "1731323586_783082008",
+      "mask_path": "../../mask/hdr_right_03233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03234.png",
+      "transform_matrix": [
+        [
+          -0.9571030735969543,
+          -0.2811846435070038,
+          0.06992055475711823,
+          31.91863441467285
+        ],
+        [
+          -0.09957122057676315,
+          0.09256740659475327,
+          -0.9907154440879822,
+          24.400861740112305
+        ],
+        [
+          0.27210161089897156,
+          -0.9551787972450256,
+          -0.11659444868564606,
+          -20.739290237426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3234,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_883082151",
+      "mask_path": "../../mask/hdr_right_03234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03235.png",
+      "transform_matrix": [
+        [
+          -0.9547727108001709,
+          -0.28135693073272705,
+          0.096163310110569,
+          31.976652145385742
+        ],
+        [
+          -0.12696106731891632,
+          0.09332244098186493,
+          -0.9875078797340393,
+          24.413293838500977
+        ],
+        [
+          0.26886796951293945,
+          -0.9550545811653137,
+          -0.12482308596372604,
+          -20.76072883605957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3235,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323586_983083248",
+      "mask_path": "../../mask/hdr_right_03235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03236.png",
+      "transform_matrix": [
+        [
+          -0.9526772499084473,
+          -0.2825281620025635,
+          0.11217796802520752,
+          32.03455352783203
+        ],
+        [
+          -0.14411808550357819,
+          0.09486629068851471,
+          -0.9850026965141296,
+          24.418258666992188
+        ],
+        [
+          0.2676491141319275,
+          -0.9545565247535706,
+          -0.13109438121318817,
+          -20.77431297302246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3236,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_83082437",
+      "mask_path": "../../mask/hdr_right_03236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03237.png",
+      "transform_matrix": [
+        [
+          -0.9497670531272888,
+          -0.28998270630836487,
+          0.1176968589425087,
+          32.103397369384766
+        ],
+        [
+          -0.14900092780590057,
+          0.08827359229326248,
+          -0.9848892092704773,
+          24.414085388183594
+        ],
+        [
+          0.27521130442619324,
+          -0.9529522061347961,
+          -0.12704703211784363,
+          -20.797767639160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3237,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_183082342",
+      "mask_path": "../../mask/hdr_right_03237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03238.png",
+      "transform_matrix": [
+        [
+          -0.9482953548431396,
+          -0.29420575499534607,
+          0.11907535046339035,
+          32.16428756713867
+        ],
+        [
+          -0.1463402956724167,
+          0.07238523662090302,
+          -0.9865824580192566,
+          24.406166076660156
+        ],
+        [
+          0.2816389203071594,
+          -0.9529970288276672,
+          -0.1116967424750328,
+          -20.819766998291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3238,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_283082723",
+      "mask_path": "../../mask/hdr_right_03238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03239.png",
+      "transform_matrix": [
+        [
+          -0.9490018486976624,
+          -0.2939665913581848,
+          0.11392619460821152,
+          32.2160530090332
+        ],
+        [
+          -0.13626736402511597,
+          0.056601040065288544,
+          -0.9890539050102234,
+          24.39800262451172
+        ],
+        [
+          0.28430044651031494,
+          -0.9541383981704712,
+          -0.0937725380063057,
+          -20.840618133544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3239,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_383081436",
+      "mask_path": "../../mask/hdr_right_03239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03240.png",
+      "transform_matrix": [
+        [
+          -0.9479557871818542,
+          -0.30001750588417053,
+          0.10662726312875748,
+          32.29990005493164
+        ],
+        [
+          -0.1252051442861557,
+          0.0433364063501358,
+          -0.9911840558052063,
+          24.38588523864746
+        ],
+        [
+          0.292751669883728,
+          -0.9529488682746887,
+          -0.07864472270011902,
+          -20.886505126953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3240,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_483080148",
+      "mask_path": "../../mask/hdr_right_03240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03241.png",
+      "transform_matrix": [
+        [
+          -0.9442996382713318,
+          -0.31251540780067444,
+          0.1031130775809288,
+          32.390750885009766
+        ],
+        [
+          -0.11920555680990219,
+          0.032778263092041016,
+          -0.992328405380249,
+          24.37395477294922
+        ],
+        [
+          0.3067380487918854,
+          -0.9493470191955566,
+          -0.0682060718536377,
+          -20.937345504760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3241,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_583082199",
+      "mask_path": "../../mask/hdr_right_03241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03242.png",
+      "transform_matrix": [
+        [
+          -0.9417226910591125,
+          -0.32084721326828003,
+          0.10107120126485825,
+          32.4587287902832
+        ],
+        [
+          -0.11705029755830765,
+          0.030858661979436874,
+          -0.9926465749740601,
+          24.373058319091797
+        ],
+        [
+          0.3153689503669739,
+          -0.946628212928772,
+          -0.06661555916070938,
+          -20.977209091186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3242,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_683081150",
+      "mask_path": "../../mask/hdr_right_03242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03243.png",
+      "transform_matrix": [
+        [
+          -0.9421785473823547,
+          -0.32027000188827515,
+          0.09862419217824936,
+          32.538570404052734
+        ],
+        [
+          -0.1167764961719513,
+          0.037925224751234055,
+          -0.9924338459968567,
+          24.3698673248291
+        ],
+        [
+          0.3141064941883087,
+          -0.9465668797492981,
+          -0.07313234359025955,
+          -21.018075942993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3243,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_783080816",
+      "mask_path": "../../mask/hdr_right_03243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03244.png",
+      "transform_matrix": [
+        [
+          -0.9411451816558838,
+          -0.32336902618408203,
+          0.098377525806427,
+          32.6398811340332
+        ],
+        [
+          -0.11727198213338852,
+          0.03942321613430977,
+          -0.9923170804977417,
+          24.347414016723633
+        ],
+        [
+          0.3170062005519867,
+          -0.9454513788223267,
+          -0.07502509653568268,
+          -21.058353424072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3244,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_883081197",
+      "mask_path": "../../mask/hdr_right_03244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03245.png",
+      "transform_matrix": [
+        [
+          -0.9394392967224121,
+          -0.3281466066837311,
+          0.09886199235916138,
+          32.71961212158203
+        ],
+        [
+          -0.11735188961029053,
+          0.036977801471948624,
+          -0.9924017786979675,
+          24.331947326660156
+        ],
+        [
+          0.32199758291244507,
+          -0.9439027309417725,
+          -0.0732470154762268,
+          -21.08917236328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3245,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323587_983079671",
+      "mask_path": "../../mask/hdr_right_03245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03246.png",
+      "transform_matrix": [
+        [
+          -0.9408424496650696,
+          -0.32516565918922424,
+          0.09530367702245712,
+          32.790714263916016
+        ],
+        [
+          -0.11375179886817932,
+          0.03815675899386406,
+          -0.9927762746810913,
+          24.333635330200195
+        ],
+        [
+          0.31918027997016907,
+          -0.9448869228363037,
+          -0.07288768887519836,
+          -21.12388801574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3246,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_83079099",
+      "mask_path": "../../mask/hdr_right_03246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03247.png",
+      "transform_matrix": [
+        [
+          -0.947013795375824,
+          -0.3083531856536865,
+          0.08990666270256042,
+          32.879676818847656
+        ],
+        [
+          -0.10457716137170792,
+          0.03134959563612938,
+          -0.9940225481987,
+          24.342079162597656
+        ],
+        [
+          0.30369147658348083,
+          -0.95075523853302,
+          -0.061935193836688995,
+          -21.15985679626465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3247,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_183079481",
+      "mask_path": "../../mask/hdr_right_03247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03248.png",
+      "transform_matrix": [
+        [
+          -0.941917896270752,
+          -0.3224463164806366,
+          0.0939100831747055,
+          32.986610412597656
+        ],
+        [
+          -0.10034845769405365,
+          0.003363262629136443,
+          -0.9949465990066528,
+          24.34708595275879
+        ],
+        [
+          0.32050105929374695,
+          -0.9465817809104919,
+          -0.03552491217851639,
+          -21.182727813720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3248,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_283080816",
+      "mask_path": "../../mask/hdr_right_03248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03249.png",
+      "transform_matrix": [
+        [
+          -0.9317550659179688,
+          -0.34798505902290344,
+          0.10362885892391205,
+          33.05241775512695
+        ],
+        [
+          -0.10511577129364014,
+          -0.014659891836345196,
+          -0.9943519234657288,
+          24.35161590576172
+        ],
+        [
+          0.3475387990474701,
+          -0.9373854398727417,
+          -0.02291928604245186,
+          -21.199382781982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3249,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_383081197",
+      "mask_path": "../../mask/hdr_right_03249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03250.png",
+      "transform_matrix": [
+        [
+          -0.9302301406860352,
+          -0.3508114218711853,
+          0.10771852731704712,
+          33.104164123535156
+        ],
+        [
+          -0.11106011271476746,
+          -0.010645485483109951,
+          -0.9937567114830017,
+          24.358049392700195
+        ],
+        [
+          0.34976792335510254,
+          -0.9363856315612793,
+          -0.02905840426683426,
+          -21.233638763427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3250,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_483080625",
+      "mask_path": "../../mask/hdr_right_03250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03251.png",
+      "transform_matrix": [
+        [
+          -0.9309903979301453,
+          -0.34776929020881653,
+          0.11096643656492233,
+          33.210227966308594
+        ],
+        [
+          -0.11311070621013641,
+          -0.014199277386069298,
+          -0.993480920791626,
+          24.35309600830078
+        ],
+        [
+          0.34707778692245483,
+          -0.9374725818634033,
+          -0.02611703611910343,
+          -21.286157608032227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3251,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_583081483",
+      "mask_path": "../../mask/hdr_right_03251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03252.png",
+      "transform_matrix": [
+        [
+          -0.9348642230033875,
+          -0.33651232719421387,
+          0.11308569461107254,
+          33.29329299926758
+        ],
+        [
+          -0.11309344321489334,
+          -0.019646277651190758,
+          -0.9933901429176331,
+          24.34603500366211
+        ],
+        [
+          0.33650973439216614,
+          -0.9414741396903992,
+          -0.019690729677677155,
+          -21.3148193359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3252,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_683082580",
+      "mask_path": "../../mask/hdr_right_03252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03253.png",
+      "transform_matrix": [
+        [
+          -0.9408902525901794,
+          -0.3204437792301178,
+          0.10973314195871353,
+          33.35976791381836
+        ],
+        [
+          -0.10989638417959213,
+          -0.017634635791182518,
+          -0.9937866926193237,
+          24.339387893676758
+        ],
+        [
+          0.3203878402709961,
+          -0.9471033811569214,
+          -0.018623346462845802,
+          -21.32603645324707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3253,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_783081293",
+      "mask_path": "../../mask/hdr_right_03253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03254.png",
+      "transform_matrix": [
+        [
+          -0.9491939544677734,
+          -0.29679781198501587,
+          0.10460400581359863,
+          33.45330047607422
+        ],
+        [
+          -0.10418343544006348,
+          -0.017280450090765953,
+          -0.9944080114364624,
+          24.34525489807129
+        ],
+        [
+          0.296945720911026,
+          -0.9547839164733887,
+          -0.01451890915632248,
+          -21.351598739624023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3254,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_883081912",
+      "mask_path": "../../mask/hdr_right_03254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03255.png",
+      "transform_matrix": [
+        [
+          -0.9543378949165344,
+          -0.27880018949508667,
+          0.10728220641613007,
+          33.55894088745117
+        ],
+        [
+          -0.10515754669904709,
+          -0.022611144930124283,
+          -0.9941985607147217,
+          24.35633659362793
+        ],
+        [
+          0.27960848808288574,
+          -0.9600828886032104,
+          -0.007739259395748377,
+          -21.38269805908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3255,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323588_983082294",
+      "mask_path": "../../mask/hdr_right_03255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03256.png",
+      "transform_matrix": [
+        [
+          -0.9553940296173096,
+          -0.273008793592453,
+          0.112643301486969,
+          33.64438247680664
+        ],
+        [
+          -0.11093059927225113,
+          -0.021753422915935516,
+          -0.9935901165008545,
+          24.35803985595703
+        ],
+        [
+          0.2737092077732086,
+          -0.9617655277252197,
+          -0.00950193963944912,
+          -21.416067123413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3256,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_83082199",
+      "mask_path": "../../mask/hdr_right_03256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03257.png",
+      "transform_matrix": [
+        [
+          -0.9582040309906006,
+          -0.26195695996284485,
+          0.11499421298503876,
+          33.69971466064453
+        ],
+        [
+          -0.11590889096260071,
+          -0.012011313810944557,
+          -0.9931873083114624,
+          24.36768341064453
+        ],
+        [
+          0.2615535259246826,
+          -0.9650048613548279,
+          -0.018853845074772835,
+          -21.434484481811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3257,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_183082818",
+      "mask_path": "../../mask/hdr_right_03257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03258.png",
+      "transform_matrix": [
+        [
+          -0.9585428833961487,
+          -0.26233813166618347,
+          0.11123910546302795,
+          33.77907180786133
+        ],
+        [
+          -0.11502262949943542,
+          -0.0009401423740200698,
+          -0.9933624267578125,
+          24.358598709106445
+        ],
+        [
+          0.26070141792297363,
+          -0.9649755954742432,
+          -0.02927365154027939,
+          -21.461132049560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3258,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_283082008",
+      "mask_path": "../../mask/hdr_right_03258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03259.png",
+      "transform_matrix": [
+        [
+          -0.9563435912132263,
+          -0.2736791670322418,
+          0.1025015339255333,
+          33.86679458618164
+        ],
+        [
+          -0.10797571390867233,
+          0.004972487222403288,
+          -0.9941412210464478,
+          24.33782196044922
+        ],
+        [
+          0.2715660035610199,
+          -0.9618082046508789,
+          -0.034306105226278305,
+          -21.49042510986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3259,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_383081674",
+      "mask_path": "../../mask/hdr_right_03259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03260.png",
+      "transform_matrix": [
+        [
+          -0.9561341404914856,
+          -0.27706795930862427,
+          0.09508347511291504,
+          33.928653717041016
+        ],
+        [
+          -0.10108857601881027,
+          0.007436676882207394,
+          -0.994849681854248,
+          24.33116340637207
+        ],
+        [
+          0.2749338746070862,
+          -0.9608215689659119,
+          -0.035118862986564636,
+          -21.50910186767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3260,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_483082771",
+      "mask_path": "../../mask/hdr_right_03260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03261.png",
+      "transform_matrix": [
+        [
+          -0.9577016830444336,
+          -0.2740619480609894,
+          0.08773556351661682,
+          33.98699951171875
+        ],
+        [
+          -0.0930633619427681,
+          0.006472810171544552,
+          -0.9956392049789429,
+          24.32601547241211
+        ],
+        [
+          0.2722989618778229,
+          -0.9616902470588684,
+          -0.03170415014028549,
+          -21.516937255859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3261,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_583081245",
+      "mask_path": "../../mask/hdr_right_03261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03262.png",
+      "transform_matrix": [
+        [
+          -0.9550827741622925,
+          -0.28426381945610046,
+          0.08373156934976578,
+          34.06607437133789
+        ],
+        [
+          -0.08647973835468292,
+          -0.0028924657963216305,
+          -0.9962494373321533,
+          24.31442642211914
+        ],
+        [
+          0.28343984484672546,
+          -0.9587417840957642,
+          -0.021820515394210815,
+          -21.549753189086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3262,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_683082103",
+      "mask_path": "../../mask/hdr_right_03262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03263.png",
+      "transform_matrix": [
+        [
+          -0.9517337083816528,
+          -0.2958674728870392,
+          0.08164205402135849,
+          34.145198822021484
+        ],
+        [
+          -0.08289462327957153,
+          -0.008330214768648148,
+          -0.9965235590934753,
+          24.30397605895996
+        ],
+        [
+          0.29551899433135986,
+          -0.9551926255226135,
+          -0.016597673296928406,
+          -21.60013198852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3263,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_783082246",
+      "mask_path": "../../mask/hdr_right_03263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03264.png",
+      "transform_matrix": [
+        [
+          -0.951957106590271,
+          -0.29569077491760254,
+          0.07965335994958878,
+          34.21659469604492
+        ],
+        [
+          -0.08100546896457672,
+          -0.0076955691911280155,
+          -0.9966840147972107,
+          24.297075271606445
+        ],
+        [
+          0.2953232228755951,
+          -0.9552526473999023,
+          -0.016626713797450066,
+          -21.634775161743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3264,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_883080244",
+      "mask_path": "../../mask/hdr_right_03264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03265.png",
+      "transform_matrix": [
+        [
+          -0.9516236186027527,
+          -0.29791033267974854,
+          0.07524679601192474,
+          34.31425857543945
+        ],
+        [
+          -0.08020193874835968,
+          0.00442541716620326,
+          -0.9967688322067261,
+          24.28082847595215
+        ],
+        [
+          0.29661470651626587,
+          -0.9545835852622986,
+          -0.028104305267333984,
+          -21.666725158691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3265,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323589_983081817",
+      "mask_path": "../../mask/hdr_right_03265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03266.png",
+      "transform_matrix": [
+        [
+          -0.9501950740814209,
+          -0.3048095405101776,
+          0.06496594846248627,
+          34.40012741088867
+        ],
+        [
+          -0.07298014312982559,
+          0.014959973283112049,
+          -0.9972212314605713,
+          24.26386260986328
+        ],
+        [
+          0.3029906451702118,
+          -0.9522957801818848,
+          -0.03645993396639824,
+          -21.69078826904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3266,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_83082675",
+      "mask_path": "../../mask/hdr_right_03266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03267.png",
+      "transform_matrix": [
+        [
+          -0.9500622749328613,
+          -0.3075108230113983,
+          0.05309170112013817,
+          34.46599578857422
+        ],
+        [
+          -0.06101209297776222,
+          0.01619277149438858,
+          -0.9980056881904602,
+          24.247337341308594
+        ],
+        [
+          0.3060378432273865,
+          -0.9514067769050598,
+          -0.034146010875701904,
+          -21.71207046508789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3267,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_183082342",
+      "mask_path": "../../mask/hdr_right_03267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03268.png",
+      "transform_matrix": [
+        [
+          -0.9512096047401428,
+          -0.30584192276000977,
+          0.04075511917471886,
+          34.5413703918457
+        ],
+        [
+          -0.04696551710367203,
+          0.012971760705113411,
+          -0.9988122582435608,
+          24.22768783569336
+        ],
+        [
+          0.3049500286579132,
+          -0.9519938826560974,
+          -0.026702886447310448,
+          -21.74342918395996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3268,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_283084392",
+      "mask_path": "../../mask/hdr_right_03268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03269.png",
+      "transform_matrix": [
+        [
+          -0.9498626589775085,
+          -0.31039777398109436,
+          0.037604041397571564,
+          34.63021469116211
+        ],
+        [
+          -0.041161295026540756,
+          0.004915749654173851,
+          -0.9991404414176941,
+          24.2108154296875
+        ],
+        [
+          0.30994611978530884,
+          -0.9505940079689026,
+          -0.017445657402276993,
+          -21.776992797851562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3269,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_383081912",
+      "mask_path": "../../mask/hdr_right_03269.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03270.png",
+      "transform_matrix": [
+        [
+          -0.9493895173072815,
+          -0.31180721521377563,
+          0.03789322078227997,
+          34.707645416259766
+        ],
+        [
+          -0.04197942465543747,
+          0.006400606594979763,
+          -0.999098002910614,
+          24.20160484313965
+        ],
+        [
+          0.3112833797931671,
+          -0.9501237869262695,
+          -0.019166143611073494,
+          -21.812171936035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3270,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_483083009",
+      "mask_path": "../../mask/hdr_right_03270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03271.png",
+      "transform_matrix": [
+        [
+          -0.9511348009109497,
+          -0.30649277567863464,
+          0.03748062252998352,
+          34.78401565551758
+        ],
+        [
+          -0.04374871402978897,
+          0.013604340143501759,
+          -0.9989500045776367,
+          24.19793128967285
+        ],
+        [
+          0.30566102266311646,
+          -0.9517757296562195,
+          -0.026348214596509933,
+          -21.849496841430664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3271,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_583081722",
+      "mask_path": "../../mask/hdr_right_03271.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03272.png",
+      "transform_matrix": [
+        [
+          -0.9508751034736633,
+          -0.3075476884841919,
+          0.0353691540658474,
+          34.888187408447266
+        ],
+        [
+          -0.044100187718868256,
+          0.021483419463038445,
+          -0.9987961053848267,
+          24.17363166809082
+        ],
+        [
+          0.3064175546169281,
+          -0.9512900710105896,
+          -0.033990953117609024,
+          -21.88300132751465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3272,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_683082342",
+      "mask_path": "../../mask/hdr_right_03272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03273.png",
+      "transform_matrix": [
+        [
+          -0.9420792460441589,
+          -0.33496859669685364,
+          0.016810722649097443,
+          34.953330993652344
+        ],
+        [
+          -0.038324739784002304,
+          0.05772055312991142,
+          -0.9975969195365906,
+          24.169754028320312
+        ],
+        [
+          0.3331933319568634,
+          -0.9404596090316772,
+          -0.06721491366624832,
+          -21.90809440612793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3273,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_783082485",
+      "mask_path": "../../mask/hdr_right_03273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03275.png",
+      "transform_matrix": [
+        [
+          -0.9369645118713379,
+          -0.349376916885376,
+          -0.0057700276374816895,
+          35.07202911376953
+        ],
+        [
+          -0.02092345617711544,
+          0.07258082926273346,
+          -0.9971430897712708,
+          24.165435791015625
+        ],
+        [
+          0.3487975597381592,
+          -0.9341669082641602,
+          -0.07531583309173584,
+          -21.94939613342285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3275,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323590_983081340",
+      "mask_path": "../../mask/hdr_right_03275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06754.png",
+      "transform_matrix": [
+        [
+          0.9697045087814331,
+          -0.23984424769878387,
+          0.046345844864845276,
+          34.74027633666992
+        ],
+        [
+          -0.049771737307310104,
+          -0.008243052288889885,
+          0.9987266063690186,
+          24.12710952758789
+        ],
+        [
+          -0.2391567975282669,
+          -0.970776379108429,
+          -0.01993079110980034,
+          -21.870033264160156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6754,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_883080959",
+      "mask_path": "../../mask/hdr_right_06754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06755.png",
+      "transform_matrix": [
+        [
+          0.9703928828239441,
+          -0.2365657091140747,
+          0.048727065324783325,
+          34.666446685791016
+        ],
+        [
+          -0.04905381053686142,
+          0.004507964476943016,
+          0.9987859129905701,
+          24.1426944732666
+        ],
+        [
+          -0.236498162150383,
+          -0.9716050624847412,
+          -0.007229961920529604,
+          -21.84636688232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6755,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323938_983081817",
+      "mask_path": "../../mask/hdr_right_06755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06756.png",
+      "transform_matrix": [
+        [
+          0.9700211882591248,
+          -0.23734785616397858,
+          0.05220033973455429,
+          34.60340118408203
+        ],
+        [
+          -0.05030586197972298,
+          0.014035618863999844,
+          0.9986352920532227,
+          24.162033081054688
+        ],
+        [
+          -0.23775656521320343,
+          -0.9713233709335327,
+          0.0016748517518863082,
+          -21.83756446838379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6756,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_83080530",
+      "mask_path": "../../mask/hdr_right_06756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06757.png",
+      "transform_matrix": [
+        [
+          0.9683535695075989,
+          -0.24241816997528076,
+          0.05937003716826439,
+          34.52095413208008
+        ],
+        [
+          -0.05628927797079086,
+          0.019621113315224648,
+          0.998221755027771,
+          24.184782028198242
+        ],
+        [
+          -0.24315200746059418,
+          -0.9699734449386597,
+          0.005354626569896936,
+          -21.804534912109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6757,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_183081150",
+      "mask_path": "../../mask/hdr_right_06757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06758.png",
+      "transform_matrix": [
+        [
+          0.9654265642166138,
+          -0.25181132555007935,
+          0.06739873439073563,
+          34.43575668334961
+        ],
+        [
+          -0.06500253081321716,
+          0.017831839621067047,
+          0.997725784778595,
+          24.212329864501953
+        ],
+        [
+          -0.25244051218032837,
+          -0.967612087726593,
+          0.0008469534222967923,
+          -21.766080856323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6758,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_283081531",
+      "mask_path": "../../mask/hdr_right_06758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06759.png",
+      "transform_matrix": [
+        [
+          0.9630424380302429,
+          -0.2594480812549591,
+          0.07235952466726303,
+          34.36275100708008
+        ],
+        [
+          -0.07113761454820633,
+          0.014108452014625072,
+          0.9973668456077576,
+          24.238706588745117
+        ],
+        [
+          -0.2597857713699341,
+          -0.9656539559364319,
+          -0.004869483876973391,
+          -21.744237899780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6759,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_383081674",
+      "mask_path": "../../mask/hdr_right_06759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06760.png",
+      "transform_matrix": [
+        [
+          0.9594951868057251,
+          -0.27174216508865356,
+          0.07433187961578369,
+          34.29327392578125
+        ],
+        [
+          -0.07706505060195923,
+          0.0006155509036034346,
+          0.9970260262489319,
+          24.23157501220703
+        ],
+        [
+          -0.27097970247268677,
+          -0.9623699188232422,
+          -0.020351216197013855,
+          -21.683155059814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6760,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_483082294",
+      "mask_path": "../../mask/hdr_right_06760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06761.png",
+      "transform_matrix": [
+        [
+          0.9591452479362488,
+          -0.2730679512023926,
+          0.07398898899555206,
+          34.20374298095703
+        ],
+        [
+          -0.07410775870084763,
+          0.009894128888845444,
+          0.9972012042999268,
+          24.233381271362305
+        ],
+        [
+          -0.2730357348918915,
+          -0.9619438648223877,
+          -0.01074656005948782,
+          -21.62764549255371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6761,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_583081960",
+      "mask_path": "../../mask/hdr_right_06761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06762.png",
+      "transform_matrix": [
+        [
+          0.9608821868896484,
+          -0.26641613245010376,
+          0.0756823793053627,
+          34.1436767578125
+        ],
+        [
+          -0.06959419697523117,
+          0.03223373740911484,
+          0.9970545172691345,
+          24.257232666015625
+        ],
+        [
+          -0.26807090640068054,
+          -0.963318943977356,
+          0.012431799434125423,
+          -21.637069702148438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6762,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_683081388",
+      "mask_path": "../../mask/hdr_right_06762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06763.png",
+      "transform_matrix": [
+        [
+          0.962029218673706,
+          -0.26190415024757385,
+          0.07685083150863647,
+          34.088287353515625
+        ],
+        [
+          -0.06792917847633362,
+          0.042963530868291855,
+          0.9967646598815918,
+          24.27582359313965
+        ],
+        [
+          -0.2643585503101349,
+          -0.9641371369361877,
+          0.023541230708360672,
+          -21.634113311767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6763,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_783081769",
+      "mask_path": "../../mask/hdr_right_06763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06764.png",
+      "transform_matrix": [
+        [
+          0.9608023762702942,
+          -0.265100359916687,
+          0.08112150430679321,
+          34.03011703491211
+        ],
+        [
+          -0.07063288986682892,
+          0.04887751117348671,
+          0.9963042140007019,
+          24.292755126953125
+        ],
+        [
+          -0.2680855691432953,
+          -0.9629811644554138,
+          0.028236815705895424,
+          -21.61465072631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6764,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_883082628",
+      "mask_path": "../../mask/hdr_right_06764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06765.png",
+      "transform_matrix": [
+        [
+          0.9578917622566223,
+          -0.27265432476997375,
+          0.09001679718494415,
+          33.96619415283203
+        ],
+        [
+          -0.07996871322393417,
+          0.04776754602789879,
+          0.9956522583961487,
+          24.3161563873291
+        ],
+        [
+          -0.2757687568664551,
+          -0.9609255194664001,
+          0.023952316492795944,
+          -21.586959838867188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6765,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323939_983082056",
+      "mask_path": "../../mask/hdr_right_06765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06766.png",
+      "transform_matrix": [
+        [
+          0.9563733339309692,
+          -0.2767137587070465,
+          0.09369952231645584,
+          33.890052795410156
+        ],
+        [
+          -0.08363314718008041,
+          0.04798592999577522,
+          0.9953406453132629,
+          24.33984375
+        ],
+        [
+          -0.2799207270145416,
+          -0.9597535133361816,
+          0.02275000512599945,
+          -21.553550720214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6766,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_83083868",
+      "mask_path": "../../mask/hdr_right_06766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06767.png",
+      "transform_matrix": [
+        [
+          0.957912802696228,
+          -0.272867351770401,
+          0.08914291858673096,
+          33.831111907958984
+        ],
+        [
+          -0.08185962587594986,
+          0.03798473998904228,
+          0.9959197640419006,
+          24.36499786376953
+        ],
+        [
+          -0.27514007687568665,
+          -0.9613015055656433,
+          0.014049243181943893,
+          -21.548086166381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6767,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_183082103",
+      "mask_path": "../../mask/hdr_right_06767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06768.png",
+      "transform_matrix": [
+        [
+          0.9594953656196594,
+          -0.26997649669647217,
+          0.08050619065761566,
+          33.764556884765625
+        ],
+        [
+          -0.07421058416366577,
+          0.03346308693289757,
+          0.9966810345649719,
+          24.37986946105957
+        ],
+        [
+          -0.27177441120147705,
+          -0.9622852802276611,
+          0.012072564102709293,
+          -21.51187515258789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6768,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_283081769",
+      "mask_path": "../../mask/hdr_right_06768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06769.png",
+      "transform_matrix": [
+        [
+          0.9605695009231567,
+          -0.2702937126159668,
+          0.06517377495765686,
+          33.697364807128906
+        ],
+        [
+          -0.05450820177793503,
+          0.046787939965724945,
+          0.9974165558815002,
+          24.386951446533203
+        ],
+        [
+          -0.2726447582244873,
+          -0.9616403579711914,
+          0.030209830030798912,
+          -21.466232299804688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6769,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_383082628",
+      "mask_path": "../../mask/hdr_right_06769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06770.png",
+      "transform_matrix": [
+        [
+          0.9625173211097717,
+          -0.267591655254364,
+          0.04421750456094742,
+          33.639686584472656
+        ],
+        [
+          -0.02959766983985901,
+          0.05842585489153862,
+          0.9978529214859009,
+          24.397356033325195
+        ],
+        [
+          -0.2696005702018738,
+          -0.9617593884468079,
+          0.04831580072641373,
+          -21.440784454345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6770,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_483081102",
+      "mask_path": "../../mask/hdr_right_06770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06771.png",
+      "transform_matrix": [
+        [
+          0.963774561882019,
+          -0.2651066482067108,
+          0.02927515096962452,
+          33.57416534423828
+        ],
+        [
+          -0.013054628856480122,
+          0.06274159997701645,
+          0.9979444742202759,
+          24.411550521850586
+        ],
+        [
+          -0.26639848947525024,
+          -0.9621756672859192,
+          0.057007890194654465,
+          -21.421789169311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6771,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_583082199",
+      "mask_path": "../../mask/hdr_right_06771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06772.png",
+      "transform_matrix": [
+        [
+          0.9634212255477905,
+          -0.2673814296722412,
+          0.018073339015245438,
+          33.50109100341797
+        ],
+        [
+          -0.0035722919274121523,
+          0.05462079122662544,
+          0.9985008239746094,
+          24.4255313873291
+        ],
+        [
+          -0.2679677903652191,
+          -0.9620413780212402,
+          0.05166765674948692,
+          -21.398008346557617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6772,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_683082580",
+      "mask_path": "../../mask/hdr_right_06772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06773.png",
+      "transform_matrix": [
+        [
+          0.9625110626220703,
+          -0.2710321843624115,
+          0.010682600550353527,
+          33.4415283203125
+        ],
+        [
+          0.0011456271167844534,
+          0.04344562068581581,
+          0.9990551471710205,
+          24.43071174621582
+        ],
+        [
+          -0.2712402045726776,
+          -0.9615893363952637,
+          0.04212738201022148,
+          -21.378816604614258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6773,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_783081769",
+      "mask_path": "../../mask/hdr_right_06773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06774.png",
+      "transform_matrix": [
+        [
+          0.9614138007164001,
+          -0.275013267993927,
+          0.007157777436077595,
+          33.3536262512207
+        ],
+        [
+          0.0020362241193652153,
+          0.03313092887401581,
+          0.9994489550590515,
+          24.44152069091797
+        ],
+        [
+          -0.27509889006614685,
+          -0.9608694314956665,
+          0.032412514090538025,
+          -21.351221084594727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6774,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_883082151",
+      "mask_path": "../../mask/hdr_right_06774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06775.png",
+      "transform_matrix": [
+        [
+          0.961540937423706,
+          -0.27466028928756714,
+          0.0008889682358130813,
+          33.259010314941406
+        ],
+        [
+          0.009318784810602665,
+          0.03585788607597351,
+          0.9993135333061218,
+          24.454158782958984
+        ],
+        [
+          -0.27450358867645264,
+          -0.96087247133255,
+          0.03703831881284714,
+          -21.316673278808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6775,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323940_983081579",
+      "mask_path": "../../mask/hdr_right_06775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06776.png",
+      "transform_matrix": [
+        [
+          0.9626975059509277,
+          -0.27052658796310425,
+          -0.005379655864089727,
+          33.201656341552734
+        ],
+        [
+          0.01755385473370552,
+          0.04260251298546791,
+          0.9989379048347473,
+          24.45073699951172
+        ],
+        [
+          -0.2700100541114807,
+          -0.9617694020271301,
+          0.04576210677623749,
+          -21.29572296142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6776,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_83080530",
+      "mask_path": "../../mask/hdr_right_06776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06777.png",
+      "transform_matrix": [
+        [
+          0.9644335508346558,
+          -0.2640276849269867,
+          -0.01254622358828783,
+          33.14443588256836
+        ],
+        [
+          0.024596568197011948,
+          0.04238424822688103,
+          0.9987985491752625,
+          24.45195770263672
+        ],
+        [
+          -0.26317867636680603,
+          -0.9635834693908691,
+          0.04737096652388573,
+          -21.285778045654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6777,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_183081865",
+      "mask_path": "../../mask/hdr_right_06777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06778.png",
+      "transform_matrix": [
+        [
+          0.9654744267463684,
+          -0.2600640654563904,
+          -0.01502927765250206,
+          33.064449310302734
+        ],
+        [
+          0.02533082850277424,
+          0.03630523756146431,
+          0.9990196824073792,
+          24.461158752441406
+        ],
+        [
+          -0.2592635154724121,
+          -0.9649085998535156,
+          0.04163941368460655,
+          -21.264728546142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6778,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_283082723",
+      "mask_path": "../../mask/hdr_right_06778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06779.png",
+      "transform_matrix": [
+        [
+          0.9647999405860901,
+          -0.26252880692481995,
+          -0.015485910698771477,
+          32.98371124267578
+        ],
+        [
+          0.023500381037592888,
+          0.027415534481406212,
+          0.9993478655815125,
+          24.463598251342773
+        ],
+        [
+          -0.2619330585002899,
+          -0.96453458070755,
+          0.032620031386613846,
+          -21.229366302490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6779,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_383082151",
+      "mask_path": "../../mask/hdr_right_06779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06780.png",
+      "transform_matrix": [
+        [
+          0.9631369709968567,
+          -0.26839780807495117,
+          -0.018161345273256302,
+          32.90882873535156
+        ],
+        [
+          0.022799475118517876,
+          0.014173719100654125,
+          0.999639630317688,
+          24.460824966430664
+        ],
+        [
+          -0.2680436670780182,
+          -0.9632038474082947,
+          0.019770558923482895,
+          -21.2033634185791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6780,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_483082294",
+      "mask_path": "../../mask/hdr_right_06780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06781.png",
+      "transform_matrix": [
+        [
+          0.961407482624054,
+          -0.2739819586277008,
+          -0.025092624127864838,
+          32.819149017333984
+        ],
+        [
+          0.030216949060559273,
+          0.01449819840490818,
+          0.9994382262229919,
+          24.459749221801758
+        ],
+        [
+          -0.27346426248550415,
+          -0.9616255164146423,
+          0.022217566147446632,
+          -21.1601619720459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6781,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_583082199",
+      "mask_path": "../../mask/hdr_right_06781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06782.png",
+      "transform_matrix": [
+        [
+          0.9609560370445251,
+          -0.2745530605316162,
+          -0.03441132605075836,
+          32.74003219604492
+        ],
+        [
+          0.042477358132600784,
+          0.023485718294978142,
+          0.9988214373588562,
+          24.462501525878906
+        ],
+        [
+          -0.2734212875366211,
+          -0.9612851142883301,
+          0.034231022000312805,
+          -21.130292892456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6782,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_683081865",
+      "mask_path": "../../mask/hdr_right_06782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06783.png",
+      "transform_matrix": [
+        [
+          0.9612496495246887,
+          -0.27254581451416016,
+          -0.041447337716817856,
+          32.66856002807617
+        ],
+        [
+          0.051323387771844864,
+          0.02920449897646904,
+          0.9982550144195557,
+          24.469057083129883
+        ],
+        [
+          -0.2708597779273987,
+          -0.9616994261741638,
+          0.04206078127026558,
+          -21.116811752319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6783,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_783081293",
+      "mask_path": "../../mask/hdr_right_06783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06784.png",
+      "transform_matrix": [
+        [
+          0.9612937569618225,
+          -0.27206045389175415,
+          -0.043559495359659195,
+          32.592491149902344
+        ],
+        [
+          0.05368214100599289,
+          0.0298723503947258,
+          0.9981112480163574,
+          24.481801986694336
+        ],
+        [
+          -0.27024540305137634,
+          -0.9618164300918579,
+          0.04332089424133301,
+          -21.08982276916504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6784,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_883080244",
+      "mask_path": "../../mask/hdr_right_06784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06785.png",
+      "transform_matrix": [
+        [
+          0.9598284363746643,
+          -0.27700647711753845,
+          -0.04468521475791931,
+          32.52439880371094
+        ],
+        [
+          0.05330502986907959,
+          0.023661941289901733,
+          0.9982979893684387,
+          24.495479583740234
+        ],
+        [
+          -0.27547764778137207,
+          -0.9605767130851746,
+          0.03747723251581192,
+          -21.0657901763916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6785,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323941_983081817",
+      "mask_path": "../../mask/hdr_right_06785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06786.png",
+      "transform_matrix": [
+        [
+          0.9574295282363892,
+          -0.28482845425605774,
+          -0.04691936820745468,
+          32.46708297729492
+        ],
+        [
+          0.05398004129528999,
+          0.0169852152466774,
+          0.9983976483345032,
+          24.50238609313965
+        ],
+        [
+          -0.2835751175880432,
+          -0.9584280252456665,
+          0.03163719177246094,
+          -21.036643981933594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6786,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_83081483",
+      "mask_path": "../../mask/hdr_right_06786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06787.png",
+      "transform_matrix": [
+        [
+          0.9551637172698975,
+          -0.2917627990245819,
+          -0.050366561859846115,
+          32.38530731201172
+        ],
+        [
+          0.05777484551072121,
+          0.016825774684548378,
+          0.9981878995895386,
+          24.499614715576172
+        ],
+        [
+          -0.2903865873813629,
+          -0.9563426971435547,
+          0.03292791172862053,
+          -20.990957260131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6787,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_183081388",
+      "mask_path": "../../mask/hdr_right_06787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06788.png",
+      "transform_matrix": [
+        [
+          0.9555845856666565,
+          -0.28878429532051086,
+          -0.05883658304810524,
+          32.30531311035156
+        ],
+        [
+          0.07074125856161118,
+          0.030951518565416336,
+          0.9970144629478455,
+          24.494516372680664
+        ],
+        [
+          -0.2861010432243347,
+          -0.9568937420845032,
+          0.05000575631856918,
+          -20.96382713317871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6788,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_283082962",
+      "mask_path": "../../mask/hdr_right_06788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06789.png",
+      "transform_matrix": [
+        [
+          0.9556376338005066,
+          -0.2865832448005676,
+          -0.06802001595497131,
+          32.243507385253906
+        ],
+        [
+          0.0835670605301857,
+          0.04235761612653732,
+          0.9956015348434448,
+          24.48586654663086
+        ],
+        [
+          -0.28244155645370483,
+          -0.9571185111999512,
+          0.064427450299263,
+          -20.949613571166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6789,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_383083343",
+      "mask_path": "../../mask/hdr_right_06789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06790.png",
+      "transform_matrix": [
+        [
+          0.954666793346405,
+          -0.28788697719573975,
+          -0.075712189078331,
+          32.17326354980469
+        ],
+        [
+          0.093092180788517,
+          0.04714752733707428,
+          0.9945406317710876,
+          24.480350494384766
+        ],
+        [
+          -0.2827456593513489,
+          -0.9565030932426453,
+          0.07181020081043243,
+          -20.927949905395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6790,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_483082532",
+      "mask_path": "../../mask/hdr_right_06790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06791.png",
+      "transform_matrix": [
+        [
+          0.9544863104820251,
+          -0.2878267467021942,
+          -0.07817763090133667,
+          32.10157775878906
+        ],
+        [
+          0.09516746550798416,
+          0.045494526624679565,
+          0.994421124458313,
+          24.485193252563477
+        ],
+        [
+          -0.28266438841819763,
+          -0.9566012620925903,
+          0.07081565260887146,
+          -20.907499313354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6791,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_583081722",
+      "mask_path": "../../mask/hdr_right_06791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06792.png",
+      "transform_matrix": [
+        [
+          0.9538671374320984,
+          -0.2906142473220825,
+          -0.07537239044904709,
+          32.036476135253906
+        ],
+        [
+          0.08874719589948654,
+          0.03310054913163185,
+          0.9955040216445923,
+          24.491474151611328
+        ],
+        [
+          -0.28681278228759766,
+          -0.9562675952911377,
+          0.05736471712589264,
+          -20.88006019592285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6792,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_683082103",
+      "mask_path": "../../mask/hdr_right_06792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06793.png",
+      "transform_matrix": [
+        [
+          0.9526519775390625,
+          -0.2958504557609558,
+          -0.07019100338220596,
+          31.96967124938965
+        ],
+        [
+          0.08048507571220398,
+          0.022745218127965927,
+          0.9964962601661682,
+          24.501901626586914
+        ],
+        [
+          -0.29321739077568054,
+          -0.9549634456634521,
+          0.04547981545329094,
+          -20.85407066345215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6793,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_783081531",
+      "mask_path": "../../mask/hdr_right_06793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06794.png",
+      "transform_matrix": [
+        [
+          0.9535993933677673,
+          -0.2935841679573059,
+          -0.06675810366868973,
+          31.895008087158203
+        ],
+        [
+          0.07617230713367462,
+          0.02073715813457966,
+          0.996878981590271,
+          24.50536346435547
+        ],
+        [
+          -0.291283518075943,
+          -0.9557082653045654,
+          0.04213792458176613,
+          -20.818222045898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6794,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_883081197",
+      "mask_path": "../../mask/hdr_right_06794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06795.png",
+      "transform_matrix": [
+        [
+          0.9544357657432556,
+          -0.2909814715385437,
+          -0.06619741022586823,
+          31.819244384765625
+        ],
+        [
+          0.07657770812511444,
+          0.024418175220489502,
+          0.9967646598815918,
+          24.503969192504883
+        ],
+        [
+          -0.2884235978126526,
+          -0.9564170837402344,
+          0.04558826982975006,
+          -20.785907745361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6795,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323942_983081102",
+      "mask_path": "../../mask/hdr_right_06795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06796.png",
+      "transform_matrix": [
+        [
+          0.9541893005371094,
+          -0.2920691668987274,
+          -0.06494936347007751,
+          31.751914978027344
+        ],
+        [
+          0.07616867870092392,
+          0.027194613590836525,
+          0.9967241287231445,
+          24.50522804260254
+        ],
+        [
+          -0.2893460690975189,
+          -0.9560105204582214,
+          0.04819532111287117,
+          -20.767683029174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6796,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_83080530",
+      "mask_path": "../../mask/hdr_right_06796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06797.png",
+      "transform_matrix": [
+        [
+          0.954594612121582,
+          -0.29107263684272766,
+          -0.06344936043024063,
+          31.681556701660156
+        ],
+        [
+          0.0749385803937912,
+          0.028483634814620018,
+          0.9967812895774841,
+          24.50765037536621
+        ],
+        [
+          -0.28832846879959106,
+          -0.9562768340110779,
+          0.049002889543771744,
+          -20.751468658447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6797,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_183080911",
+      "mask_path": "../../mask/hdr_right_06797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06798.png",
+      "transform_matrix": [
+        [
+          0.952915370464325,
+          -0.2987278401851654,
+          -0.052096687257289886,
+          31.593402862548828
+        ],
+        [
+          0.06589538604021072,
+          0.036299459636211395,
+          0.9971660375595093,
+          24.51970100402832
+        ],
+        [
+          -0.2959901988506317,
+          -0.9536477327346802,
+          0.05427509546279907,
+          -20.6752872467041
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6798,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_283080577",
+      "mask_path": "../../mask/hdr_right_06798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06799.png",
+      "transform_matrix": [
+        [
+          0.9497019648551941,
+          -0.31100529432296753,
+          -0.036632560193538666,
+          31.510498046875
+        ],
+        [
+          0.05011015385389328,
+          0.0354534275829792,
+          0.998114287853241,
+          24.544069290161133
+        ],
+        [
+          -0.3091200888156891,
+          -0.9497466683387756,
+          0.049254707992076874,
+          -20.614307403564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6799,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_383080959",
+      "mask_path": "../../mask/hdr_right_06799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06800.png",
+      "transform_matrix": [
+        [
+          0.9480599164962769,
+          -0.3165295124053955,
+          -0.03148716688156128,
+          31.43817138671875
+        ],
+        [
+          0.03998442366719246,
+          0.020384185016155243,
+          0.998992383480072,
+          24.54770278930664
+        ],
+        [
+          -0.315568745136261,
+          -0.9483636617660522,
+          0.03198167309165001,
+          -20.57720184326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6800,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_483080863",
+      "mask_path": "../../mask/hdr_right_06800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06801.png",
+      "transform_matrix": [
+        [
+          0.9516885280609131,
+          -0.30538198351860046,
+          -0.03210800141096115,
+          31.35188102722168
+        ],
+        [
+          0.03976557403802872,
+          0.018886283040046692,
+          0.999030590057373,
+          24.5433406829834
+        ],
+        [
+          -0.30447953939437866,
+          -0.9520426392555237,
+          0.030117541551589966,
+          -20.554718017578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6801,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_583080530",
+      "mask_path": "../../mask/hdr_right_06801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06802.png",
+      "transform_matrix": [
+        [
+          0.9555978775024414,
+          -0.29259413480758667,
+          -0.03494875133037567,
+          31.27556610107422
+        ],
+        [
+          0.04464095085859299,
+          0.026511643081903458,
+          0.9986513257026672,
+          24.54838752746582
+        ],
+        [
+          -0.29127293825149536,
+          -0.9558691382408142,
+          0.03839613497257233,
+          -20.5574951171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6802,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_683080673",
+      "mask_path": "../../mask/hdr_right_06802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06803.png",
+      "transform_matrix": [
+        [
+          0.9573371410369873,
+          -0.28663331270217896,
+          -0.03670169785618782,
+          31.210851669311523
+        ],
+        [
+          0.04672061651945114,
+          0.028190547600388527,
+          0.9985101222991943,
+          24.5491943359375
+        ],
+        [
+          -0.28517165780067444,
+          -0.9576255083084106,
+          0.040379539132118225,
+          -20.54754066467285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6803,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_783080339",
+      "mask_path": "../../mask/hdr_right_06803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06804.png",
+      "transform_matrix": [
+        [
+          0.9604818820953369,
+          -0.27613529562950134,
+          -0.034983981400728226,
+          31.137807846069336
+        ],
+        [
+          0.04279760643839836,
+          0.022319110110402107,
+          0.9988345503807068,
+          24.558889389038086
+        ],
+        [
+          -0.2750326097011566,
+          -0.9608595967292786,
+          0.03325502574443817,
+          -20.531089782714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6804,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_883078575",
+      "mask_path": "../../mask/hdr_right_06804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06805.png",
+      "transform_matrix": [
+        [
+          0.9626308083534241,
+          -0.2690396010875702,
+          -0.030978180468082428,
+          31.065311431884766
+        ],
+        [
+          0.035986874252557755,
+          0.013703722506761551,
+          0.9992583394050598,
+          24.573213577270508
+        ],
+        [
+          -0.26841551065444946,
+          -0.9630315899848938,
+          0.02287350967526436,
+          -20.51451301574707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6805,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323943_983078479",
+      "mask_path": "../../mask/hdr_right_06805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06806.png",
+      "transform_matrix": [
+        [
+          0.9627252817153931,
+          -0.26910075545310974,
+          -0.027293696999549866,
+          31.002361297607422
+        ],
+        [
+          0.030492911115288734,
+          0.007714907638728619,
+          0.9995052218437195,
+          24.58646583557129
+        ],
+        [
+          -0.26875701546669006,
+          -0.9630811810493469,
+          0.01563299261033535,
+          -20.499990463256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6806,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_83080291",
+      "mask_path": "../../mask/hdr_right_06806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06807.png",
+      "transform_matrix": [
+        [
+          0.9621822237968445,
+          -0.2709833085536957,
+          -0.027812039479613304,
+          30.913434982299805
+        ],
+        [
+          0.030295975506305695,
+          0.0049867392517626286,
+          0.9995285272598267,
+          24.59326934814453
+        ],
+        [
+          -0.27071690559387207,
+          -0.9625710844993591,
+          0.01300785318017006,
+          -20.46961212158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6807,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_183081150",
+      "mask_path": "../../mask/hdr_right_06807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06808.png",
+      "transform_matrix": [
+        [
+          0.9621555805206299,
+          -0.2710157632827759,
+          -0.02840900979936123,
+          30.80838966369629
+        ],
+        [
+          0.03235022351145744,
+          0.010085124522447586,
+          0.9994257092475891,
+          24.600297927856445
+        ],
+        [
+          -0.27057361602783203,
+          -0.962522029876709,
+          0.018470870330929756,
+          -20.438203811645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6808,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_283080339",
+      "mask_path": "../../mask/hdr_right_06808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06809.png",
+      "transform_matrix": [
+        [
+          0.9632730484008789,
+          -0.2672306001186371,
+          -0.026323458179831505,
+          30.72569465637207
+        ],
+        [
+          0.032034315168857574,
+          0.017032692208886147,
+          0.9993416666984558,
+          24.614368438720703
+        ],
+        [
+          -0.26660630106925964,
+          -0.9634820222854614,
+          0.024967674165964127,
+          -20.414186477661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6809,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_383080720",
+      "mask_path": "../../mask/hdr_right_06809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06810.png",
+      "transform_matrix": [
+        [
+          0.9670138955116272,
+          -0.25390371680259705,
+          -0.020420309156179428,
+          30.647369384765625
+        ],
+        [
+          0.026272950693964958,
+          0.01968054659664631,
+          0.9994611144065857,
+          24.631561279296875
+        ],
+        [
+          -0.2533649802207947,
+          -0.9670292139053345,
+          0.025702152401208878,
+          -20.394744873046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6810,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_483080387",
+      "mask_path": "../../mask/hdr_right_06810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06811.png",
+      "transform_matrix": [
+        [
+          0.9687164425849915,
+          -0.24792540073394775,
+          -0.01101835910230875,
+          30.563135147094727
+        ],
+        [
+          0.015621937811374664,
+          0.016608653590083122,
+          0.9997400641441345,
+          24.64870262145996
+        ],
+        [
+          -0.24767793715000153,
+          -0.9686367511749268,
+          0.019962145015597343,
+          -20.368318557739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6811,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_583078622",
+      "mask_path": "../../mask/hdr_right_06811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06812.png",
+      "transform_matrix": [
+        [
+          0.9684464335441589,
+          -0.24921143054962158,
+          -0.002286202972754836,
+          30.489818572998047
+        ],
+        [
+          0.004489835351705551,
+          0.008274276740849018,
+          0.9999557733535767,
+          24.65949058532715
+        ],
+        [
+          -0.24918146431446075,
+          -0.968413770198822,
+          0.009132101200520992,
+          -20.340728759765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6812,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_683080434",
+      "mask_path": "../../mask/hdr_right_06812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06813.png",
+      "transform_matrix": [
+        [
+          0.9671091437339783,
+          -0.2543540298938751,
+          0.001979367109015584,
+          30.39177131652832
+        ],
+        [
+          -0.001386442338116467,
+          0.0025103071238845587,
+          0.9999958872795105,
+          24.66260528564453
+        ],
+        [
+          -0.2543579638004303,
+          -0.967107892036438,
+          0.0020750926341861486,
+          -20.307565689086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6813,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_783080339",
+      "mask_path": "../../mask/hdr_right_06813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06814.png",
+      "transform_matrix": [
+        [
+          0.9663554430007935,
+          -0.257210373878479,
+          0.00028859134181402624,
+          30.300312042236328
+        ],
+        [
+          0.0021308320574462414,
+          0.009127495810389519,
+          0.9999561905860901,
+          24.662818908691406
+        ],
+        [
+          -0.2572017312049866,
+          -0.9663122892379761,
+          0.009368468075990677,
+          -20.276704788208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6814,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_883080244",
+      "mask_path": "../../mask/hdr_right_06814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06815.png",
+      "transform_matrix": [
+        [
+          0.9675489068031311,
+          -0.2526768445968628,
+          -0.0019120634533464909,
+          30.232027053833008
+        ],
+        [
+          0.0073171439580619335,
+          0.02045334316790104,
+          0.9997639656066895,
+          24.668676376342773
+        ],
+        [
+          -0.25257813930511475,
+          -0.9673344492912292,
+          0.021638480946421623,
+          -20.260133743286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6815,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323944_983082532",
+      "mask_path": "../../mask/hdr_right_06815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06816.png",
+      "transform_matrix": [
+        [
+          0.9703996181488037,
+          -0.24150113761425018,
+          -0.0013451511040329933,
+          30.159025192260742
+        ],
+        [
+          0.006310123950242996,
+          0.019786423072218895,
+          0.9997843503952026,
+          24.68272590637207
+        ],
+        [
+          -0.24142242968082428,
+          -0.9701987504959106,
+          0.020724639296531677,
+          -20.256305694580078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6816,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_83079814",
+      "mask_path": "../../mask/hdr_right_06816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06817.png",
+      "transform_matrix": [
+        [
+          0.9728796482086182,
+          -0.23121260106563568,
+          0.006777421571314335,
+          30.081560134887695
+        ],
+        [
+          -0.00406551081687212,
+          0.012203551828861237,
+          0.9999173283576965,
+          24.69837188720703
+        ],
+        [
+          -0.23127616941928864,
+          -0.9728266596794128,
+          0.010932588949799538,
+          -20.227018356323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6817,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_183080434",
+      "mask_path": "../../mask/hdr_right_06817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06818.png",
+      "transform_matrix": [
+        [
+          0.9734531044960022,
+          -0.22829118371009827,
+          0.016495300456881523,
+          30.01150131225586
+        ],
+        [
+          -0.01531060878187418,
+          0.00695941224694252,
+          0.9998587369918823,
+          24.71619415283203
+        ],
+        [
+          -0.2283736765384674,
+          -0.9735680222511292,
+          0.0032793802674859762,
+          -20.195634841918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6818,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_283083200",
+      "mask_path": "../../mask/hdr_right_06818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06819.png",
+      "transform_matrix": [
+        [
+          0.9728555679321289,
+          -0.23011335730552673,
+          0.024492770433425903,
+          29.92513084411621
+        ],
+        [
+          -0.025414923205971718,
+          -0.0010440049227327108,
+          0.9996764659881592,
+          24.731727600097656
+        ],
+        [
+          -0.23001334071159363,
+          -0.9731632471084595,
+          -0.006863986607640982,
+          -20.17409324645996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6819,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_383081674",
+      "mask_path": "../../mask/hdr_right_06819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06820.png",
+      "transform_matrix": [
+        [
+          0.9709948897361755,
+          -0.23756349086761475,
+          0.027062945067882538,
+          29.828556060791016
+        ],
+        [
+          -0.028716472908854485,
+          -0.0035020485520362854,
+          0.999581515789032,
+          24.740278244018555
+        ],
+        [
+          -0.23736929893493652,
+          -0.9713656902313232,
+          -0.010222465731203556,
+          -20.134449005126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6820,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_483082294",
+      "mask_path": "../../mask/hdr_right_06820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06821.png",
+      "transform_matrix": [
+        [
+          0.9699485301971436,
+          -0.2419002503156662,
+          0.026158662512898445,
+          29.750404357910156
+        ],
+        [
+          -0.02584345079958439,
+          0.004476292058825493,
+          0.999656081199646,
+          24.75522804260254
+        ],
+        [
+          -0.241934135556221,
+          -0.9702907800674438,
+          -0.0019097739132121205,
+          -20.112634658813477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6821,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_583081960",
+      "mask_path": "../../mask/hdr_right_06821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06822.png",
+      "transform_matrix": [
+        [
+          0.9704596996307373,
+          -0.23984740674495697,
+          0.026100782677531242,
+          29.679588317871094
+        ],
+        [
+          -0.023839419707655907,
+          0.012325211428105831,
+          0.9996398091316223,
+          24.771839141845703
+        ],
+        [
+          -0.2400827258825302,
+          -0.9707323312759399,
+          0.006243295501917601,
+          -20.102041244506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6822,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_683081626",
+      "mask_path": "../../mask/hdr_right_06822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06823.png",
+      "transform_matrix": [
+        [
+          0.9732410907745361,
+          -0.2278417944908142,
+          0.029831750318408012,
+          29.602916717529297
+        ],
+        [
+          -0.029461484402418137,
+          0.005026796367019415,
+          0.9995533227920532,
+          24.790319442749023
+        ],
+        [
+          -0.2278899848461151,
+          -0.9736851453781128,
+          -0.0018202696228399873,
+          -20.08306121826172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6823,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_783081769",
+      "mask_path": "../../mask/hdr_right_06823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06824.png",
+      "transform_matrix": [
+        [
+          0.9748218655586243,
+          -0.21988144516944885,
+          0.03707278519868851,
+          29.530288696289062
+        ],
+        [
+          -0.0382465124130249,
+          -0.0010821052128449082,
+          0.9992678165435791,
+          24.81012725830078
+        ],
+        [
+          -0.21968033909797668,
+          -0.975525975227356,
+          -0.009464572183787823,
+          -20.058486938476562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6824,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_883081436",
+      "mask_path": "../../mask/hdr_right_06824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06825.png",
+      "transform_matrix": [
+        [
+          0.9746208786964417,
+          -0.21994775533676147,
+          0.0416790209710598,
+          29.4541072845459
+        ],
+        [
+          -0.04348592460155487,
+          -0.003377805231139064,
+          0.9990484118461609,
+          24.828611373901367
+        ],
+        [
+          -0.21959765255451202,
+          -0.9755058288574219,
+          -0.012856715358793736,
+          -20.04245376586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6825,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323945_983082056",
+      "mask_path": "../../mask/hdr_right_06825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06826.png",
+      "transform_matrix": [
+        [
+          0.9778344035148621,
+          -0.20479945838451385,
+          0.043555643409490585,
+          29.368131637573242
+        ],
+        [
+          -0.045372385531663895,
+          -0.004181094467639923,
+          0.9989614486694336,
+          24.84520149230957
+        ],
+        [
+          -0.20440462231636047,
+          -0.9787949919700623,
+          -0.013380664400756359,
+          -20.028377532958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6826,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_83081245",
+      "mask_path": "../../mask/hdr_right_06826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06827.png",
+      "transform_matrix": [
+        [
+          0.9819223284721375,
+          -0.18415191769599915,
+          0.04377966746687889,
+          29.286108016967773
+        ],
+        [
+          -0.04449167847633362,
+          0.0002657136938069016,
+          0.9990098476409912,
+          24.86760139465332
+        ],
+        [
+          -0.18398122489452362,
+          -0.9828977584838867,
+          -0.007932323031127453,
+          -20.0342960357666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6827,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_183081388",
+      "mask_path": "../../mask/hdr_right_06827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06828.png",
+      "transform_matrix": [
+        [
+          0.9842966198921204,
+          -0.1707547903060913,
+          0.04475479945540428,
+          29.211843490600586
+        ],
+        [
+          -0.044343333691358566,
+          0.006224714685231447,
+          0.998996913433075,
+          24.889272689819336
+        ],
+        [
+          -0.1708621084690094,
+          -0.9852938652038574,
+          -0.0014448693254962564,
+          -20.044065475463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6828,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_283081769",
+      "mask_path": "../../mask/hdr_right_06828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06829.png",
+      "transform_matrix": [
+        [
+          0.9854637384414673,
+          -0.16296516358852386,
+          0.04799690097570419,
+          29.123403549194336
+        ],
+        [
+          -0.045942120254039764,
+          0.016356132924556732,
+          0.9988102912902832,
+          24.91602897644043
+        ],
+        [
+          -0.163556307554245,
+          -0.9864962697029114,
+          0.008631406351923943,
+          -20.0371150970459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6829,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_383081197",
+      "mask_path": "../../mask/hdr_right_06829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06830.png",
+      "transform_matrix": [
+        [
+          0.9874213337898254,
+          -0.14855238795280457,
+          0.054140809923410416,
+          29.02609634399414
+        ],
+        [
+          -0.053077585995197296,
+          0.011115184985101223,
+          0.9985284805297852,
+          24.94175910949707
+        ],
+        [
+          -0.14893558621406555,
+          -0.9888420104980469,
+          0.003090568585321307,
+          -19.9989070892334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6830,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323946_483081579",
+      "mask_path": "../../mask/hdr_right_06830.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/b664e18f/mesh.ply b/2024-11-11-12-07-40/splats/b664e18f/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..99b1b0c13b89e50d1a04a6ba53c17e64f87a8f66
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b664e18f/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e21cb2a8741a3d4b83e5926b0d4e79897956ad35820643196e9aac0c8d82ac5
+size 39902129
diff --git a/2024-11-11-12-07-40/splats/b664e18f/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/b664e18f/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..76f3588d43fda1ab2b8ef489e76769df02af1e92
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b664e18f/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01038fd6772d41a9b7d983650e20b73d2a4d78e02463d8c305953f6d96521d29
+size 1575004
diff --git a/2024-11-11-12-07-40/splats/b664e18f/splatfacto/config.yml b/2024-11-11-12-07-40/splats/b664e18f/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..c789e9db4b6fc5b36c1472045ec3676693159010
--- /dev/null
+++ b/2024-11-11-12-07-40/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
+- 2024-11-11-12-07-40_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
+      - 2024-11-11-12-07-40_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/2024-11-11-12-07-40/splats/b664e18f/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/b664e18f/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..6badb13e5b33860df0210fd424952573ec0adf01
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b664e18f/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.9816983938217163,
+            -0.13162820041179657,
+            -0.13763359189033508,
+            -2.783282995223999
+        ],
+        [
+            -0.13162820041179657,
+            0.9912570118904114,
+            -0.009141886606812477,
+            0.8430436849594116
+        ],
+        [
+            0.13763359189033508,
+            0.009141886606812477,
+            -0.9904413223266602,
+            0.08041918277740479
+        ]
+    ],
+    "scale": 0.34342681715214834
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/b664e18f/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/b664e18f/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..934b0c4b7bee3b2260265edf2f008070207170b7
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b664e18f/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eba6f49011e0a3746b5c4b110600f199ce17925ac7e6d812934c0e1c9161318
+size 126342465
diff --git a/2024-11-11-12-07-40/splats/b664e18f/transforms.json b/2024-11-11-12-07-40/splats/b664e18f/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..370dead90f6939a41dfa5f096f409ab11f701649
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/b664e18f/transforms.json
@@ -0,0 +1,22182 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_00085.png",
+      "transform_matrix": [
+        [
+          -0.9981194138526917,
+          -0.06129799410700798,
+          -0.0005974735831841826,
+          0.010539475828409195
+        ],
+        [
+          -0.0020241483580321074,
+          0.0426974780857563,
+          -0.9990860223770142,
+          0.06290915608406067
+        ],
+        [
+          0.061267465353012085,
+          -0.9972058534622192,
+          -0.04274125397205353,
+          0.11809373646974564
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 85,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323272_983082056",
+      "mask_path": "../../mask/hdr_front_00085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00129.png",
+      "transform_matrix": [
+        [
+          -0.9999085664749146,
+          -0.013075198046863079,
+          -0.0034413847606629133,
+          0.024425789713859558
+        ],
+        [
+          0.0031715973746031523,
+          0.02059846930205822,
+          -0.9997828006744385,
+          0.04995936155319214
+        ],
+        [
+          0.013143246993422508,
+          -0.9997024536132812,
+          -0.02055511809885502,
+          0.06223692744970322
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 129,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323277_383084058",
+      "mask_path": "../../mask/hdr_front_00129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00164.png",
+      "transform_matrix": [
+        [
+          -0.7824185490608215,
+          -0.03292453661561012,
+          0.6218820214271545,
+          -0.28380706906318665
+        ],
+        [
+          -0.621100127696991,
+          -0.031451039016246796,
+          -0.7830999493598938,
+          -0.05286136269569397
+        ],
+        [
+          0.045342039316892624,
+          -0.998962938785553,
+          0.004158445633947849,
+          0.0669083520770073
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 164,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323280_883082151",
+      "mask_path": "../../mask/hdr_front_00164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00179.png",
+      "transform_matrix": [
+        [
+          -0.027939356863498688,
+          -0.012924382463097572,
+          0.9995260238647461,
+          -0.7814022302627563
+        ],
+        [
+          -0.9981191158294678,
+          -0.054223012179136276,
+          -0.028601163998246193,
+          -0.21861359477043152
+        ],
+        [
+          0.05456696078181267,
+          -0.9984452128410339,
+          -0.011385117657482624,
+          0.06969578564167023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 179,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_383080244",
+      "mask_path": "../../mask/hdr_front_00179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00181.png",
+      "transform_matrix": [
+        [
+          0.09515783190727234,
+          -0.0028535863384604454,
+          0.99545818567276,
+          -0.8611307144165039
+        ],
+        [
+          -0.9945326447486877,
+          -0.0434773787856102,
+          0.09494473040103912,
+          -0.2755269408226013
+        ],
+        [
+          0.04300897940993309,
+          -0.9990503787994385,
+          -0.0069751981645822525,
+          0.05888901650905609
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 181,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_583080530",
+      "mask_path": "../../mask/hdr_front_00181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00183.png",
+      "transform_matrix": [
+        [
+          0.193926602602005,
+          0.009815089404582977,
+          0.9809670448303223,
+          -0.9412070512771606
+        ],
+        [
+          -0.9796887636184692,
+          -0.05006111040711403,
+          0.19417481124401093,
+          -0.332597017288208
+        ],
+        [
+          0.05101413279771805,
+          -0.9986979961395264,
+          -9.244893590221182e-05,
+          0.07219649851322174
+        ],
+        [
+          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": "1731323282_783082485",
+      "mask_path": "../../mask/hdr_front_00183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00185.png",
+      "transform_matrix": [
+        [
+          0.26157450675964355,
+          0.006452486384660006,
+          0.9651617407798767,
+          -1.0153323411941528
+        ],
+        [
+          -0.9633694887161255,
+          -0.059530340135097504,
+          0.26148679852485657,
+          -0.38531672954559326
+        ],
+        [
+          0.05914364755153656,
+          -0.9982056617736816,
+          -0.00935549009591341,
+          0.0699690505862236
+        ],
+        [
+          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": "1731323282_983081102",
+      "mask_path": "../../mask/hdr_front_00185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00186.png",
+      "transform_matrix": [
+        [
+          0.2986167371273041,
+          0.008551182225346565,
+          0.9543347954750061,
+          -1.06407630443573
+        ],
+        [
+          -0.9525501728057861,
+          -0.05910656601190567,
+          0.2985878884792328,
+          -0.4240594506263733
+        ],
+        [
+          0.058960720896720886,
+          -0.9982150793075562,
+          -0.009504777379333973,
+          0.07300371676683426
+        ],
+        [
+          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": "1731323283_83081722",
+      "mask_path": "../../mask/hdr_front_00186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00187.png",
+      "transform_matrix": [
+        [
+          0.3359954357147217,
+          0.010906273499131203,
+          0.9418004751205444,
+          -1.1072402000427246
+        ],
+        [
+          -0.9404173493385315,
+          -0.05150575563311577,
+          0.33609849214553833,
+          -0.46734946966171265
+        ],
+        [
+          0.05217372998595238,
+          -0.998613178730011,
+          -0.007049251813441515,
+          0.07393434643745422
+        ],
+        [
+          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": "1731323283_183082103",
+      "mask_path": "../../mask/hdr_front_00187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00189.png",
+      "transform_matrix": [
+        [
+          0.3579650819301605,
+          0.019969915971159935,
+          0.9335213899612427,
+          -1.1761174201965332
+        ],
+        [
+          -0.9323632717132568,
+          -0.04652775451540947,
+          0.35851630568504333,
+          -0.5146194696426392
+        ],
+        [
+          0.05059419944882393,
+          -0.9987174272537231,
+          0.0019639041274785995,
+          0.06124212592840195
+        ],
+        [
+          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": "1731323283_383081674",
+      "mask_path": "../../mask/hdr_front_00189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00190.png",
+      "transform_matrix": [
+        [
+          0.35898539423942566,
+          0.0252689141780138,
+          0.9330010414123535,
+          -1.2295289039611816
+        ],
+        [
+          -0.932087242603302,
+          -0.04213583469390869,
+          0.35977497696876526,
+          -0.5496484637260437
+        ],
+        [
+          0.04840390011668205,
+          -0.9987924098968506,
+          0.008426681160926819,
+          0.06185276806354523
+        ],
+        [
+          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": "1731323283_483083248",
+      "mask_path": "../../mask/hdr_front_00190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00191.png",
+      "transform_matrix": [
+        [
+          0.35563597083091736,
+          0.024024203419685364,
+          0.9343157410621643,
+          -1.290866494178772
+        ],
+        [
+          -0.933564305305481,
+          -0.038470372557640076,
+          0.3563391864299774,
+          -0.577316164970398
+        ],
+        [
+          0.04450423642992973,
+          -0.9989709258079529,
+          0.008746691979467869,
+          0.0662752091884613
+        ],
+        [
+          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": "1731323283_583081960",
+      "mask_path": "../../mask/hdr_front_00191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00192.png",
+      "transform_matrix": [
+        [
+          0.34711024165153503,
+          0.015958260744810104,
+          0.9376885294914246,
+          -1.3585481643676758
+        ],
+        [
+          -0.936913788318634,
+          -0.038146909326314926,
+          0.3474727272987366,
+          -0.6005013585090637
+        ],
+        [
+          0.0413149856030941,
+          -0.9991447329521179,
+          0.0017103295540437102,
+          0.07536604255437851
+        ],
+        [
+          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": "1731323283_683081626",
+      "mask_path": "../../mask/hdr_front_00192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00193.png",
+      "transform_matrix": [
+        [
+          0.34186485409736633,
+          0.020754767581820488,
+          0.9395199418067932,
+          -1.4383636713027954
+        ],
+        [
+          -0.939208984375,
+          -0.02634449303150177,
+          0.34233373403549194,
+          -0.6305147409439087
+        ],
+        [
+          0.0318562313914299,
+          -0.9994374513626099,
+          0.01048680953681469,
+          0.07197535037994385
+        ],
+        [
+          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": "1731323283_783081531",
+      "mask_path": "../../mask/hdr_front_00193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00194.png",
+      "transform_matrix": [
+        [
+          0.34433114528656006,
+          0.03423997387290001,
+          0.9382237195968628,
+          -1.5079951286315918
+        ],
+        [
+          -0.9385060667991638,
+          -0.014424290508031845,
+          0.34496116638183594,
+          -0.6615261435508728
+        ],
+        [
+          0.02534467540681362,
+          -0.9993095397949219,
+          0.02716769278049469,
+          0.04371079057455063
+        ],
+        [
+          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": "1731323283_883081436",
+      "mask_path": "../../mask/hdr_front_00194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00195.png",
+      "transform_matrix": [
+        [
+          0.3486778736114502,
+          0.03895389661192894,
+          0.9364328384399414,
+          -1.56373929977417
+        ],
+        [
+          -0.9369443655014038,
+          -0.01071527786552906,
+          0.3493141233921051,
+          -0.6897381544113159
+        ],
+        [
+          0.023641280829906464,
+          -0.9991835951805115,
+          0.032761458307504654,
+          0.02317381650209427
+        ],
+        [
+          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": "1731323283_983082294",
+      "mask_path": "../../mask/hdr_front_00195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00196.png",
+      "transform_matrix": [
+        [
+          0.35044756531715393,
+          0.05037680268287659,
+          0.9352266192436218,
+          -1.6341094970703125
+        ],
+        [
+          -0.9361828565597534,
+          -0.010321013629436493,
+          0.3513619005680084,
+          -0.7165424227714539
+        ],
+        [
+          0.027352971956133842,
+          -0.9986770153045654,
+          0.04354492947459221,
+          0.010810397565364838
+        ],
+        [
+          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": "1731323284_83081483",
+      "mask_path": "../../mask/hdr_front_00196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00197.png",
+      "transform_matrix": [
+        [
+          0.3463449776172638,
+          0.0742686465382576,
+          0.9351627826690674,
+          -1.7088189125061035
+        ],
+        [
+          -0.937532901763916,
+          -0.007472116965800524,
+          0.34781622886657715,
+          -0.7345640659332275
+        ],
+        [
+          0.0328194834291935,
+          -0.9972103238105774,
+          0.06704137474298477,
+          -0.022729262709617615
+        ],
+        [
+          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": "1731323284_183079004",
+      "mask_path": "../../mask/hdr_front_00197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00198.png",
+      "transform_matrix": [
+        [
+          0.3400528132915497,
+          0.08265499025583267,
+          0.9367669820785522,
+          -1.772871732711792
+        ],
+        [
+          -0.939785361289978,
+          -0.006325074937194586,
+          0.34170663356781006,
+          -0.7617213726043701
+        ],
+        [
+          0.034168872982263565,
+          -0.9965581893920898,
+          0.07552708685398102,
+          -0.030888840556144714
+        ],
+        [
+          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": "1731323284_283082485",
+      "mask_path": "../../mask/hdr_front_00198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00199.png",
+      "transform_matrix": [
+        [
+          0.3333044946193695,
+          0.08671533316373825,
+          0.9388230443000793,
+          -1.8232266902923584
+        ],
+        [
+          -0.9421142339706421,
+          -0.007871996611356735,
+          0.3352000415325165,
+          -0.7894009351730347
+        ],
+        [
+          0.03645738586783409,
+          -0.9962020516395569,
+          0.07907196134328842,
+          -0.03594866394996643
+        ],
+        [
+          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": "1731323284_383082151",
+      "mask_path": "../../mask/hdr_front_00199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00200.png",
+      "transform_matrix": [
+        [
+          0.33117106556892395,
+          0.09566966444253922,
+          0.9387082457542419,
+          -1.892844796180725
+        ],
+        [
+          -0.9432443380355835,
+          0.007400972303003073,
+          0.33201709389686584,
+          -0.8275696039199829
+        ],
+        [
+          0.02481660805642605,
+          -0.9953857064247131,
+          0.0926908552646637,
+          -0.055883340537548065
+        ],
+        [
+          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": "1731323284_483081817",
+      "mask_path": "../../mask/hdr_front_00200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00201.png",
+      "transform_matrix": [
+        [
+          0.3330168128013611,
+          0.10090908408164978,
+          0.937505841255188,
+          -1.9689514636993408
+        ],
+        [
+          -0.9428481459617615,
+          0.023290833458304405,
+          0.3324076533317566,
+          -0.8706183433532715
+        ],
+        [
+          0.01170765608549118,
+          -0.9946230053901672,
+          0.10289817303419113,
+          -0.07422711700201035
+        ],
+        [
+          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": "1731323284_583081007",
+      "mask_path": "../../mask/hdr_front_00201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00202.png",
+      "transform_matrix": [
+        [
+          0.33401885628700256,
+          0.10426881909370422,
+          0.9367814660072327,
+          -2.0301427841186523
+        ],
+        [
+          -0.9425479769706726,
+          0.030743442475795746,
+          0.33265310525894165,
+          -0.8971272706985474
+        ],
+        [
+          0.005885460413992405,
+          -0.9940739274024963,
+          0.10854726284742355,
+          -0.09631520509719849
+        ],
+        [
+          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": "1731323284_683081388",
+      "mask_path": "../../mask/hdr_front_00202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00203.png",
+      "transform_matrix": [
+        [
+          0.33386552333831787,
+          0.1068110242486,
+          0.936549723148346,
+          -2.098379611968994
+        ],
+        [
+          -0.942620575428009,
+          0.0382889024913311,
+          0.33166301250457764,
+          -0.9234412908554077
+        ],
+        [
+          -0.00043419760186225176,
+          -0.9935418963432312,
+          0.11346562206745148,
+          -0.11230809986591339
+        ],
+        [
+          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": "1731323284_783081293",
+      "mask_path": "../../mask/hdr_front_00203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00204.png",
+      "transform_matrix": [
+        [
+          0.3152567446231842,
+          0.14536292850971222,
+          0.9378074407577515,
+          -2.183168649673462
+        ],
+        [
+          -0.9488630890846252,
+          0.031109008938074112,
+          0.3141513168811798,
+          -0.9403243064880371
+        ],
+        [
+          0.016491685062646866,
+          -0.988889217376709,
+          0.1477368324995041,
+          -0.13473528623580933
+        ],
+        [
+          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": "1731323284_883082389",
+      "mask_path": "../../mask/hdr_front_00204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00205.png",
+      "transform_matrix": [
+        [
+          0.277286171913147,
+          0.18121153116226196,
+          0.9435437321662903,
+          -2.2455947399139404
+        ],
+        [
+          -0.960539698600769,
+          0.02998325228691101,
+          0.2765224874019623,
+          -0.9369794130325317
+        ],
+        [
+          0.021818552166223526,
+          -0.9829869866371155,
+          0.18237479031085968,
+          -0.14400070905685425
+        ],
+        [
+          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": "1731323284_983082532",
+      "mask_path": "../../mask/hdr_front_00205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00207.png",
+      "transform_matrix": [
+        [
+          0.20170362293720245,
+          0.18687394261360168,
+          0.9614539742469788,
+          -2.3659987449645996
+        ],
+        [
+          -0.9794308543205261,
+          0.044064294546842575,
+          0.19691038131713867,
+          -0.9196849465370178
+        ],
+        [
+          -0.00556837348267436,
+          -0.9813951849937439,
+          0.1919180154800415,
+          -0.17717395722866058
+        ],
+        [
+          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": "1731323285_183080434",
+      "mask_path": "../../mask/hdr_front_00207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00208.png",
+      "transform_matrix": [
+        [
+          0.1673823595046997,
+          0.19747111201286316,
+          0.9659132957458496,
+          -2.442159414291382
+        ],
+        [
+          -0.9858210682868958,
+          0.045283153653144836,
+          0.16157448291778564,
+          -0.9210713505744934
+        ],
+        [
+          -0.011833307333290577,
+          -0.9792622923851013,
+          0.20225074887275696,
+          -0.22802861034870148
+        ],
+        [
+          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": "1731323285_283082723",
+      "mask_path": "../../mask/hdr_front_00208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00209.png",
+      "transform_matrix": [
+        [
+          0.12999378144741058,
+          0.20560449361801147,
+          0.9699631333351135,
+          -2.504117250442505
+        ],
+        [
+          -0.9914650917053223,
+          0.0367514006793499,
+          0.12508521974086761,
+          -0.923254132270813
+        ],
+        [
+          -0.009929420426487923,
+          -0.9779448509216309,
+          0.2086271345615387,
+          -0.2674485146999359
+        ],
+        [
+          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": "1731323285_383079528",
+      "mask_path": "../../mask/hdr_front_00209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00210.png",
+      "transform_matrix": [
+        [
+          0.09252924472093582,
+          0.20440179109573364,
+          0.9745041728019714,
+          -2.5705108642578125
+        ],
+        [
+          -0.9956709146499634,
+          0.027660872787237167,
+          0.08873717486858368,
+          -0.9312524199485779
+        ],
+        [
+          -0.008817595429718494,
+          -0.978496253490448,
+          0.20607636868953705,
+          -0.2893340289592743
+        ],
+        [
+          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": "1731323285_483081102",
+      "mask_path": "../../mask/hdr_front_00210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00211.png",
+      "transform_matrix": [
+        [
+          0.056211408227682114,
+          0.20562370121479034,
+          0.977015495300293,
+          -2.654404401779175
+        ],
+        [
+          -0.9982919692993164,
+          0.027180874720215797,
+          0.05171501263976097,
+          -0.9309818148612976
+        ],
+        [
+          -0.01592230051755905,
+          -0.9782536625862122,
+          0.20680034160614014,
+          -0.3040350079536438
+        ],
+        [
+          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": "1731323285_583079576",
+      "mask_path": "../../mask/hdr_front_00211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00212.png",
+      "transform_matrix": [
+        [
+          0.02265085279941559,
+          0.20458081364631653,
+          0.9785874485969543,
+          -2.7371339797973633
+        ],
+        [
+          -0.999494731426239,
+          0.02646261267364025,
+          0.017602581530809402,
+          -0.9194323420524597
+        ],
+        [
+          -0.022294828668236732,
+          -0.9784919619560242,
+          0.20507685840129852,
+          -0.3093685805797577
+        ],
+        [
+          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": "1731323285_683081388",
+      "mask_path": "../../mask/hdr_front_00212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00213.png",
+      "transform_matrix": [
+        [
+          0.003615189343690872,
+          0.19723275303840637,
+          0.9803500771522522,
+          -2.812575578689575
+        ],
+        [
+          -0.99969881772995,
+          0.024509942159056664,
+          -0.0012445179745554924,
+          -0.9120703935623169
+        ],
+        [
+          -0.02427377924323082,
+          -0.980050265789032,
+          0.1972619593143463,
+          -0.3175329864025116
+        ],
+        [
+          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": "1731323285_783079862",
+      "mask_path": "../../mask/hdr_front_00213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00214.png",
+      "transform_matrix": [
+        [
+          -0.00555449491366744,
+          0.188176229596138,
+          0.9821195602416992,
+          -2.8951573371887207
+        ],
+        [
+          -0.9996314644813538,
+          0.02505304105579853,
+          -0.010453754104673862,
+          -0.908397376537323
+        ],
+        [
+          -0.026572229340672493,
+          -0.9818156957626343,
+          0.1879677176475525,
+          -0.3349757194519043
+        ],
+        [
+          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": "1731323285_883081197",
+      "mask_path": "../../mask/hdr_front_00214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00215.png",
+      "transform_matrix": [
+        [
+          -0.006983011029660702,
+          0.19055403769016266,
+          0.9816519021987915,
+          -2.998093605041504
+        ],
+        [
+          -0.999539315700531,
+          0.027667555958032608,
+          -0.01248096115887165,
+          -0.9074904322624207
+        ],
+        [
+          -0.02953820675611496,
+          -0.9812867641448975,
+          0.19027303159236908,
+          -0.3453945815563202
+        ],
+        [
+          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": "1731323285_983081817",
+      "mask_path": "../../mask/hdr_front_00215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00216.png",
+      "transform_matrix": [
+        [
+          -0.0014561384450644255,
+          0.19574891030788422,
+          0.9806529879570007,
+          -3.0861291885375977
+        ],
+        [
+          -0.9995419979095459,
+          0.02935594879090786,
+          -0.0073439511470496655,
+          -0.9148743748664856
+        ],
+        [
+          -0.030225565657019615,
+          -0.980214536190033,
+          0.19561651349067688,
+          -0.35570773482322693
+        ],
+        [
+          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": "1731323286_83082437",
+      "mask_path": "../../mask/hdr_front_00216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00217.png",
+      "transform_matrix": [
+        [
+          0.004015755839645863,
+          0.19279180467128754,
+          0.9812314510345459,
+          -3.155041217803955
+        ],
+        [
+          -0.9995805621147156,
+          0.028916899114847183,
+          -0.001590725383721292,
+          -0.9240490198135376
+        ],
+        [
+          -0.028680844232439995,
+          -0.9808135032653809,
+          0.19282706081867218,
+          -0.3751407861709595
+        ],
+        [
+          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": "1731323286_183082580",
+      "mask_path": "../../mask/hdr_front_00217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00218.png",
+      "transform_matrix": [
+        [
+          0.004527830984443426,
+          0.19373174011707306,
+          0.9810441136360168,
+          -3.2347373962402344
+        ],
+        [
+          -0.9996616840362549,
+          0.026004604995250702,
+          -0.0005215042037889361,
+          -0.9264402985572815
+        ],
+        [
+          -0.025612695142626762,
+          -0.9807098507881165,
+          0.1937839388847351,
+          -0.39788562059402466
+        ],
+        [
+          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": "1731323286_283082008",
+      "mask_path": "../../mask/hdr_front_00218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00219.png",
+      "transform_matrix": [
+        [
+          0.0029853926971554756,
+          0.18962344527244568,
+          0.9818523526191711,
+          -3.321126699447632
+        ],
+        [
+          -0.9998286962509155,
+          0.018499549478292465,
+          -0.0005327337421476841,
+          -0.9285241961479187
+        ],
+        [
+          -0.01826484128832817,
+          -0.9816825985908508,
+          0.1896461844444275,
+          -0.4212789237499237
+        ],
+        [
+          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": "1731323286_383082628",
+      "mask_path": "../../mask/hdr_front_00219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00220.png",
+      "transform_matrix": [
+        [
+          0.0028049435932189226,
+          0.18188543617725372,
+          0.9833157062530518,
+          -3.4001238346099854
+        ],
+        [
+          -0.9997380971908569,
+          0.022842224687337875,
+          -0.001373372389934957,
+          -0.9345313310623169
+        ],
+        [
+          -0.02271091379225254,
+          -0.9830543398857117,
+          0.18190188705921173,
+          -0.4314279556274414
+        ],
+        [
+          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": "1731323286_483082056",
+      "mask_path": "../../mask/hdr_front_00220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00221.png",
+      "transform_matrix": [
+        [
+          -0.0003527253575157374,
+          0.17367799580097198,
+          0.9848023653030396,
+          -3.4796695709228516
+        ],
+        [
+          -0.9995979070663452,
+          0.02785625122487545,
+          -0.005270704627037048,
+          -0.9393471479415894
+        ],
+        [
+          -0.028348304331302643,
+          -0.984408438205719,
+          0.17359836399555206,
+          -0.4533166289329529
+        ],
+        [
+          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": "1731323286_583082437",
+      "mask_path": "../../mask/hdr_front_00221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00222.png",
+      "transform_matrix": [
+        [
+          -0.0026147176977247,
+          0.167902871966362,
+          0.9858000874519348,
+          -3.5869176387786865
+        ],
+        [
+          -0.9995513558387756,
+          0.02897489443421364,
+          -0.007586237508803606,
+          -0.9493275284767151
+        ],
+        [
+          -0.029837200418114662,
+          -0.9853776693344116,
+          0.16775177419185638,
+          -0.471604585647583
+        ],
+        [
+          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": "1731323286_683082342",
+      "mask_path": "../../mask/hdr_front_00222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00223.png",
+      "transform_matrix": [
+        [
+          -0.0017971850465983152,
+          0.16598908603191376,
+          0.9861260056495667,
+          -3.677976131439209
+        ],
+        [
+          -0.9994884133338928,
+          0.031190212815999985,
+          -0.00707161333411932,
+          -0.9609470963478088
+        ],
+        [
+          -0.03193128854036331,
+          -0.9856342077255249,
+          0.16584813594818115,
+          -0.48507577180862427
+        ],
+        [
+          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": "1731323286_783081531",
+      "mask_path": "../../mask/hdr_front_00223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00224.png",
+      "transform_matrix": [
+        [
+          0.00019447489466983825,
+          0.16055098176002502,
+          0.9870275259017944,
+          -3.752187967300415
+        ],
+        [
+          -0.9995943307876587,
+          0.028141403570771217,
+          -0.0043805609457194805,
+          -0.9719030261039734
+        ],
+        [
+          -0.028479639440774918,
+          -0.9866262674331665,
+          0.16049133241176605,
+          -0.5011059045791626
+        ],
+        [
+          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": "1731323286_883081912",
+      "mask_path": "../../mask/hdr_front_00224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00225.png",
+      "transform_matrix": [
+        [
+          -0.0003539634635671973,
+          0.16081538796424866,
+          0.9869845509529114,
+          -3.8415966033935547
+        ],
+        [
+          -0.9998356103897095,
+          0.01783718168735504,
+          -0.003264892613515258,
+          -0.9739072918891907
+        ],
+        [
+          -0.018130065873265266,
+          -0.986823320388794,
+          0.16078263521194458,
+          -0.5189350247383118
+        ],
+        [
+          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": "1731323286_983081579",
+      "mask_path": "../../mask/hdr_front_00225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00226.png",
+      "transform_matrix": [
+        [
+          -0.007561838254332542,
+          0.17972205579280853,
+          0.9836883544921875,
+          -3.925354480743408
+        ],
+        [
+          -0.9999167919158936,
+          0.008914964273571968,
+          -0.009315377101302147,
+          -0.9761368632316589
+        ],
+        [
+          -0.010443723760545254,
+          -0.983677089214325,
+          0.17963971197605133,
+          -0.5277235507965088
+        ],
+        [
+          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": "1731323287_83081722",
+      "mask_path": "../../mask/hdr_front_00226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00227.png",
+      "transform_matrix": [
+        [
+          -0.015495545230805874,
+          0.1931476593017578,
+          0.9810473918914795,
+          -3.990983247756958
+        ],
+        [
+          -0.9998006820678711,
+          0.009358294308185577,
+          -0.017634203657507896,
+          -0.9723204374313354
+        ],
+        [
+          -0.012586931698024273,
+          -0.9811250567436218,
+          0.1929641216993332,
+          -0.5350115299224854
+        ],
+        [
+          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": "1731323287_183082342",
+      "mask_path": "../../mask/hdr_front_00227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00228.png",
+      "transform_matrix": [
+        [
+          -0.022253649309277534,
+          0.19508463144302368,
+          0.9805338978767395,
+          -4.051083564758301
+        ],
+        [
+          -0.9996023178100586,
+          0.012649101205170155,
+          -0.025203052908182144,
+          -0.9605575203895569
+        ],
+        [
+          -0.01731960102915764,
+          -0.9807048439979553,
+          0.19472555816173553,
+          -0.5479435920715332
+        ],
+        [
+          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": "1731323287_283082008",
+      "mask_path": "../../mask/hdr_front_00228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00229.png",
+      "transform_matrix": [
+        [
+          -0.028351478278636932,
+          0.19469963014125824,
+          0.9804531335830688,
+          -4.138748645782471
+        ],
+        [
+          -0.9993958473205566,
+          0.01420624554157257,
+          -0.03172033652663231,
+          -0.9466698169708252
+        ],
+        [
+          -0.02010449394583702,
+          -0.9807600378990173,
+          0.1941792219877243,
+          -0.5765239596366882
+        ],
+        [
+          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": "1731323287_383082389",
+      "mask_path": "../../mask/hdr_front_00229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00230.png",
+      "transform_matrix": [
+        [
+          -0.027788275852799416,
+          0.18839891254901886,
+          0.9816993474960327,
+          -4.234230041503906
+        ],
+        [
+          -0.9992623925209045,
+          0.02080443687736988,
+          -0.03227802366018295,
+          -0.9355986714363098
+        ],
+        [
+          -0.026504840701818466,
+          -0.9818722605705261,
+          0.18768180906772614,
+          -0.6109883189201355
+        ],
+        [
+          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": "1731323287_483083724",
+      "mask_path": "../../mask/hdr_front_00230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00231.png",
+      "transform_matrix": [
+        [
+          -0.027012521401047707,
+          0.18268120288848877,
+          0.9828011393547058,
+          -4.315847396850586
+        ],
+        [
+          -0.9993070960044861,
+          0.020249200984835625,
+          -0.031230077147483826,
+          -0.9282984733581543
+        ],
+        [
+          -0.025606079027056694,
+          -0.9829636812210083,
+          0.18200765550136566,
+          -0.6310137510299683
+        ],
+        [
+          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": "1731323287_583083152",
+      "mask_path": "../../mask/hdr_front_00231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00232.png",
+      "transform_matrix": [
+        [
+          -0.028682075440883636,
+          0.18011543154716492,
+          0.9832273125648499,
+          -4.392971515655518
+        ],
+        [
+          -0.9994844794273376,
+          0.009031285531818867,
+          -0.030810749158263206,
+          -0.9211999177932739
+        ],
+        [
+          -0.014429294504225254,
+          -0.9836040139198303,
+          0.1797635406255722,
+          -0.6565988063812256
+        ],
+        [
+          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": "1731323287_683082580",
+      "mask_path": "../../mask/hdr_front_00232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00233.png",
+      "transform_matrix": [
+        [
+          -0.029571527615189552,
+          0.17981354892253876,
+          0.9832561612129211,
+          -4.489992618560791
+        ],
+        [
+          -0.9995453357696533,
+          0.0004684739396907389,
+          -0.03014710359275341,
+          -0.901908278465271
+        ],
+        [
+          -0.005881486460566521,
+          -0.9837006330490112,
+          0.17971792817115784,
+          -0.6732602119445801
+        ],
+        [
+          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": "1731323287_783082723",
+      "mask_path": "../../mask/hdr_front_00233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00234.png",
+      "transform_matrix": [
+        [
+          -0.032922592014074326,
+          0.18127374351024628,
+          0.9828814268112183,
+          -4.579061031341553
+        ],
+        [
+          -0.9994558691978455,
+          -0.004005162976682186,
+          -0.03273909538984299,
+          -0.8837717771530151
+        ],
+        [
+          -0.0019981381483376026,
+          -0.9834245443344116,
+          0.18130695819854736,
+          -0.6798659563064575
+        ],
+        [
+          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": "1731323287_883081197",
+      "mask_path": "../../mask/hdr_front_00234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00235.png",
+      "transform_matrix": [
+        [
+          -0.040899068117141724,
+          0.18006271123886108,
+          0.982804536819458,
+          -4.646319389343262
+        ],
+        [
+          -0.9991627931594849,
+          -0.0064352224580943584,
+          -0.040400803089141846,
+          -0.8754820227622986
+        ],
+        [
+          -0.0009501094464212656,
+          -0.9836341142654419,
+          0.18017515540122986,
+          -0.6902331709861755
+        ],
+        [
+          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": "1731323287_983082771",
+      "mask_path": "../../mask/hdr_front_00235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00236.png",
+      "transform_matrix": [
+        [
+          -0.04787927865982056,
+          0.17488448321819305,
+          0.9834242463111877,
+          -4.7252092361450195
+        ],
+        [
+          -0.9988081455230713,
+          0.0009619614575058222,
+          -0.048799339681863785,
+          -0.8667935729026794
+        ],
+        [
+          -0.009480263106524944,
+          -0.9845885038375854,
+          0.17462997138500214,
+          -0.7079724073410034
+        ],
+        [
+          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": "1731323288_83081245",
+      "mask_path": "../../mask/hdr_front_00236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00237.png",
+      "transform_matrix": [
+        [
+          -0.04122277349233627,
+          0.18075048923492432,
+          0.9826647043228149,
+          -4.819760799407959
+        ],
+        [
+          -0.998881995677948,
+          0.015322145074605942,
+          -0.04472143575549126,
+          -0.8610494136810303
+        ],
+        [
+          -0.02313995361328125,
+          -0.9834096431732178,
+          0.17991679906845093,
+          -0.7218424677848816
+        ],
+        [
+          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": "1731323288_183082580",
+      "mask_path": "../../mask/hdr_front_00237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00238.png",
+      "transform_matrix": [
+        [
+          -0.0277133509516716,
+          0.1886993944644928,
+          0.981643795967102,
+          -4.894758701324463
+        ],
+        [
+          -0.9992407560348511,
+          0.021676581352949142,
+          -0.032376982271671295,
+          -0.8712930679321289
+        ],
+        [
+          -0.0273881983011961,
+          -0.9817956686019897,
+          0.18795537948608398,
+          -0.7310469150543213
+        ],
+        [
+          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": "1731323288_283082246",
+      "mask_path": "../../mask/hdr_front_00238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00239.png",
+      "transform_matrix": [
+        [
+          -0.02045089565217495,
+          0.1888950765132904,
+          0.9817843437194824,
+          -4.955297946929932
+        ],
+        [
+          -0.9994829893112183,
+          0.020507248118519783,
+          -0.024765150621533394,
+          -0.881226658821106
+        ],
+        [
+          -0.02481170929968357,
+          -0.9817830920219421,
+          0.1883779913187027,
+          -0.751926064491272
+        ],
+        [
+          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": "1731323288_383082389",
+      "mask_path": "../../mask/hdr_front_00239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00240.png",
+      "transform_matrix": [
+        [
+          -0.019748961552977562,
+          0.19360044598579407,
+          0.9808818101882935,
+          -5.034211158752441
+        ],
+        [
+          -0.9995467066764832,
+          0.018474601209163666,
+          -0.023771168664097786,
+          -0.8793026804924011
+        ],
+        [
+          -0.022723505273461342,
+          -0.9809065461158752,
+          0.19314783811569214,
+          -0.7769954204559326
+        ],
+        [
+          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": "1731323288_483080387",
+      "mask_path": "../../mask/hdr_front_00240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00241.png",
+      "transform_matrix": [
+        [
+          -0.02133740298449993,
+          0.19099996984004974,
+          0.9813581109046936,
+          -5.1212568283081055
+        ],
+        [
+          -0.9996346831321716,
+          0.01221155934035778,
+          -0.02411150187253952,
+          -0.8765308260917664
+        ],
+        [
+          -0.016589205712080002,
+          -0.9815140962600708,
+          0.19066962599754333,
+          -0.795220136642456
+        ],
+        [
+          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": "1731323288_583083629",
+      "mask_path": "../../mask/hdr_front_00241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_00242.png",
+      "transform_matrix": [
+        [
+          -0.023780977353453636,
+          0.18366077542304993,
+          0.9827020168304443,
+          -5.197537422180176
+        ],
+        [
+          -0.9995976686477661,
+          0.010829770006239414,
+          -0.026213863864541054,
+          -0.87604820728302
+        ],
+        [
+          -0.015456894412636757,
+          -0.9829300045967102,
+          0.18332935869693756,
+          -0.809829831123352
+        ],
+        [
+          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": "1731323288_683079242",
+      "mask_path": "../../mask/hdr_front_00242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08728.png",
+      "transform_matrix": [
+        [
+          -0.3246019184589386,
+          0.18996235728263855,
+          -0.9265785813331604,
+          -4.700035572052002
+        ],
+        [
+          0.9443665146827698,
+          0.01023300364613533,
+          -0.3287355303764343,
+          -2.1981658935546875
+        ],
+        [
+          -0.052965693175792694,
+          -0.9817380905151367,
+          -0.1827157586812973,
+          -0.7466565370559692
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8728,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_283082246",
+      "mask_path": "../../mask/hdr_front_08728.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08729.png",
+      "transform_matrix": [
+        [
+          -0.32393878698349,
+          0.18610665202140808,
+          -0.9275926351547241,
+          -4.619948387145996
+        ],
+        [
+          0.9449089169502258,
+          0.014916920103132725,
+          -0.3269932270050049,
+          -2.1700193881988525
+        ],
+        [
+          -0.04701878875494003,
+          -0.9824163913726807,
+          -0.18068604171276093,
+          -0.7279152274131775
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8729,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_383081436",
+      "mask_path": "../../mask/hdr_front_08729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08730.png",
+      "transform_matrix": [
+        [
+          -0.32579872012138367,
+          0.18212230503559113,
+          -0.9277320504188538,
+          -4.560286521911621
+        ],
+        [
+          0.9442864060401917,
+          0.014238869771361351,
+          -0.3288169801235199,
+          -2.144304037094116
+        ],
+        [
+          -0.04667504131793976,
+          -0.9831728339195251,
+          -0.17661459743976593,
+          -0.7132899761199951
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8730,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_483082532",
+      "mask_path": "../../mask/hdr_front_08730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08731.png",
+      "transform_matrix": [
+        [
+          -0.3252409100532532,
+          0.171196848154068,
+          -0.9300054311752319,
+          -4.493783473968506
+        ],
+        [
+          0.9446168541908264,
+          0.013278735801577568,
+          -0.32790642976760864,
+          -2.1143910884857178
+        ],
+        [
+          -0.043787240982055664,
+          -0.9851474761962891,
+          -0.16603420674800873,
+          -0.7100218534469604
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8731,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_583082437",
+      "mask_path": "../../mask/hdr_front_08731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08732.png",
+      "transform_matrix": [
+        [
+          -0.31964248418807983,
+          0.16434384882450104,
+          -0.9331772923469543,
+          -4.404163837432861
+        ],
+        [
+          0.9468793272972107,
+          0.018680065870285034,
+          -0.3210460841655731,
+          -2.079010009765625
+        ],
+        [
+          -0.03533013537526131,
+          -0.9862262010574341,
+          -0.16158472001552582,
+          -0.6915555000305176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8732,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_683082818",
+      "mask_path": "../../mask/hdr_front_08732.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08733.png",
+      "transform_matrix": [
+        [
+          -0.3107093870639801,
+          0.16145676374435425,
+          -0.9366917014122009,
+          -4.326836109161377
+        ],
+        [
+          0.9502735137939453,
+          0.03101724199950695,
+          -0.30986812710762024,
+          -2.0508134365081787
+        ],
+        [
+          -0.020976707339286804,
+          -0.9863922595977783,
+          -0.16306540369987488,
+          -0.6718642711639404
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8733,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_783082723",
+      "mask_path": "../../mask/hdr_front_08733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08734.png",
+      "transform_matrix": [
+        [
+          -0.30424779653549194,
+          0.15979425609111786,
+          -0.9390948414802551,
+          -4.256651878356934
+        ],
+        [
+          0.9524966478347778,
+          0.03701464831829071,
+          -0.3022914230823517,
+          -2.0207276344299316
+        ],
+        [
+          -0.013544165529310703,
+          -0.9864561557769775,
+          -0.16346509754657745,
+          -0.6559938192367554
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8734,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_883083105",
+      "mask_path": "../../mask/hdr_front_08734.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08735.png",
+      "transform_matrix": [
+        [
+          -0.3007669448852539,
+          0.15758343040943146,
+          -0.9405884742736816,
+          -4.171230316162109
+        ],
+        [
+          0.9535539150238037,
+          0.032565563917160034,
+          -0.299456924200058,
+          -1.981340765953064
+        ],
+        [
+          -0.016558652743697166,
+          -0.9869685769081116,
+          -0.16005894541740417,
+          -0.6476719379425049
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8735,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_983080625",
+      "mask_path": "../../mask/hdr_front_08735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08736.png",
+      "transform_matrix": [
+        [
+          -0.2967011332511902,
+          0.15349024534225464,
+          -0.9425545334815979,
+          -4.104022026062012
+        ],
+        [
+          0.9547774791717529,
+          0.027841871604323387,
+          -0.29601484537124634,
+          -1.9542697668075562
+        ],
+        [
+          -0.019192900508642197,
+          -0.9877579212188721,
+          -0.15480975806713104,
+          -0.6492068767547607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8736,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_83080768",
+      "mask_path": "../../mask/hdr_front_08736.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08737.png",
+      "transform_matrix": [
+        [
+          -0.2929878532886505,
+          0.1536560207605362,
+          -0.9436885118484497,
+          -4.038562774658203
+        ],
+        [
+          0.9558333158493042,
+          0.023067625239491463,
+          -0.29300251603126526,
+          -1.9334704875946045
+        ],
+        [
+          -0.02325294353067875,
+          -0.9878551363945007,
+          -0.15362809598445892,
+          -0.642561137676239
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8737,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_183079719",
+      "mask_path": "../../mask/hdr_front_08737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08738.png",
+      "transform_matrix": [
+        [
+          -0.28270065784454346,
+          0.16510778665542603,
+          -0.9448915123939514,
+          -3.943774461746216
+        ],
+        [
+          0.9586989283561707,
+          0.016541525721549988,
+          -0.28394126892089844,
+          -1.9106941223144531
+        ],
+        [
+          -0.0312509685754776,
+          -0.9861368536949158,
+          -0.16296495497226715,
+          -0.5920404195785522
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8738,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_283081054",
+      "mask_path": "../../mask/hdr_front_08738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08739.png",
+      "transform_matrix": [
+        [
+          -0.2687399387359619,
+          0.1710447072982788,
+          -0.9479042291641235,
+          -3.863996744155884
+        ],
+        [
+          0.9629098176956177,
+          0.023023119196295738,
+          -0.2688397169113159,
+          -1.8967268466949463
+        ],
+        [
+          -0.02415989153087139,
+          -0.9849942922592163,
+          -0.1708878129720688,
+          -0.5506641864776611
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8739,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_383079528",
+      "mask_path": "../../mask/hdr_front_08739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08740.png",
+      "transform_matrix": [
+        [
+          -0.25962671637535095,
+          0.16854208707809448,
+          -0.9508877992630005,
+          -3.8126749992370605
+        ],
+        [
+          0.9656834006309509,
+          0.038125090301036835,
+          -0.2569088637828827,
+          -1.8837352991104126
+        ],
+        [
+          -0.007047275081276894,
+          -0.9849569201469421,
+          -0.1726565808057785,
+          -0.5425801277160645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8740,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_483082056",
+      "mask_path": "../../mask/hdr_front_08740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08741.png",
+      "transform_matrix": [
+        [
+          -0.2571156620979309,
+          0.1568334400653839,
+          -0.9535695314407349,
+          -3.7323994636535645
+        ],
+        [
+          0.9663712978363037,
+          0.0373913012444973,
+          -0.2544178068637848,
+          -1.8533908128738403
+        ],
+        [
+          -0.00424601323902607,
+          -0.9869170188903809,
+          -0.1611732393503189,
+          -0.5329492688179016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8741,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_583081722",
+      "mask_path": "../../mask/hdr_front_08741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08742.png",
+      "transform_matrix": [
+        [
+          -0.25979146361351013,
+          0.14971156418323517,
+          -0.9539889693260193,
+          -3.653595447540283
+        ],
+        [
+          0.9655762910842896,
+          0.02690291777253151,
+          -0.25872501730918884,
+          -1.8201191425323486
+        ],
+        [
+          -0.013069034554064274,
+          -0.9883636832237244,
+          -0.15154708921909332,
+          -0.5208051800727844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8742,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_683081626",
+      "mask_path": "../../mask/hdr_front_08742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08743.png",
+      "transform_matrix": [
+        [
+          -0.26098597049713135,
+          0.14724798500537872,
+          -0.9540463089942932,
+          -3.601083278656006
+        ],
+        [
+          0.9651539325714111,
+          0.020267140120267868,
+          -0.2608965039253235,
+          -1.7931132316589355
+        ],
+        [
+          -0.019080691039562225,
+          -0.9888920783996582,
+          -0.1474064290523529,
+          -0.5116597414016724
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8743,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_783081293",
+      "mask_path": "../../mask/hdr_front_08743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08744.png",
+      "transform_matrix": [
+        [
+          -0.25942057371139526,
+          0.13907121121883392,
+          -0.9556987881660461,
+          -3.536825180053711
+        ],
+        [
+          0.9655255079269409,
+          0.01533616241067648,
+          -0.25985637307167053,
+          -1.7616422176361084
+        ],
+        [
+          -0.021481787785887718,
+          -0.9901636242866516,
+          -0.13825532793998718,
+          -0.5091135501861572
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8744,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_883081674",
+      "mask_path": "../../mask/hdr_front_08744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08745.png",
+      "transform_matrix": [
+        [
+          -0.25519171357154846,
+          0.13411584496498108,
+          -0.9575438499450684,
+          -3.4597790241241455
+        ],
+        [
+          0.9667632579803467,
+          0.01932496950030327,
+          -0.2549420893192291,
+          -1.730239748954773
+        ],
+        [
+          -0.01568726636469364,
+          -0.9907771944999695,
+          -0.13458983600139618,
+          -0.4971330165863037
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8745,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_983081579",
+      "mask_path": "../../mask/hdr_front_08745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08746.png",
+      "transform_matrix": [
+        [
+          -0.25092947483062744,
+          0.1345681995153427,
+          -0.9586061835289001,
+          -3.397434711456299
+        ],
+        [
+          0.9679694771766663,
+          0.026360999792814255,
+          -0.24967995285987854,
+          -1.7077014446258545
+        ],
+        [
+          -0.008329160511493683,
+          -0.9905536770820618,
+          -0.13687266409397125,
+          -0.4873245358467102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8746,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_83078145",
+      "mask_path": "../../mask/hdr_front_08746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08747.png",
+      "transform_matrix": [
+        [
+          -0.24769321084022522,
+          0.13764342665672302,
+          -0.9590111374855042,
+          -3.3191559314727783
+        ],
+        [
+          0.9688211679458618,
+          0.02927287481725216,
+          -0.24602556228637695,
+          -1.6781085729599
+        ],
+        [
+          -0.00579078309237957,
+          -0.9900491833686829,
+          -0.14060255885124207,
+          -0.47418177127838135
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8747,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_183082103",
+      "mask_path": "../../mask/hdr_front_08747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08748.png",
+      "transform_matrix": [
+        [
+          -0.2443021535873413,
+          0.14352597296237946,
+          -0.9590185880661011,
+          -3.2326788902282715
+        ],
+        [
+          0.9696518182754517,
+          0.02638612873852253,
+          -0.24306194484233856,
+          -1.6454370021820068
+        ],
+        [
+          -0.00958090741187334,
+          -0.9892947673797607,
+          -0.14561641216278076,
+          -0.4619741439819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8748,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_283083200",
+      "mask_path": "../../mask/hdr_front_08748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08751.png",
+      "transform_matrix": [
+        [
+          -0.2278166264295578,
+          0.15539585053920746,
+          -0.9612240195274353,
+          -3.0572807788848877
+        ],
+        [
+          0.9734475612640381,
+          0.013693125918507576,
+          -0.22850000858306885,
+          -1.6157171726226807
+        ],
+        [
+          -0.022345788776874542,
+          -0.9877574443817139,
+          -0.15438923239707947,
+          -0.4123513698577881
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8751,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_583081245",
+      "mask_path": "../../mask/hdr_front_08751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08752.png",
+      "transform_matrix": [
+        [
+          -0.2168663591146469,
+          0.1598842591047287,
+          -0.9630192518234253,
+          -2.989485502243042
+        ],
+        [
+          0.9759839177131653,
+          0.014692233875393867,
+          -0.2173466831445694,
+          -1.6126075983047485
+        ],
+        [
+          -0.020601412281394005,
+          -0.9870264530181885,
+          -0.15923072397708893,
+          -0.3812485337257385
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8752,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_683081150",
+      "mask_path": "../../mask/hdr_front_08752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08754.png",
+      "transform_matrix": [
+        [
+          -0.19806396961212158,
+          0.156782329082489,
+          -0.9675690531730652,
+          -2.9013760089874268
+        ],
+        [
+          0.9801791906356812,
+          0.027238359674811363,
+          -0.1962316781282425,
+          -1.604950189590454
+        ],
+        [
+          -0.00441066175699234,
+          -0.9872575402259827,
+          -0.1590697169303894,
+          -0.36465662717819214
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8754,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_883080482",
+      "mask_path": "../../mask/hdr_front_08754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08755.png",
+      "transform_matrix": [
+        [
+          -0.1943952590227127,
+          0.1520429402589798,
+          -0.9690683484077454,
+          -2.828122138977051
+        ],
+        [
+          0.9809167385101318,
+          0.02652694843709469,
+          -0.19261008501052856,
+          -1.592718243598938
+        ],
+        [
+          -0.0035785790532827377,
+          -0.9880179166793823,
+          -0.15429820120334625,
+          -0.3494274616241455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8755,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_983080148",
+      "mask_path": "../../mask/hdr_front_08755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08758.png",
+      "transform_matrix": [
+        [
+          -0.21675151586532593,
+          0.1403990536928177,
+          -0.9660780429840088,
+          -2.66853928565979
+        ],
+        [
+          0.9761112928390503,
+          0.015943491831421852,
+          -0.21668553352355957,
+          -1.5410223007202148
+        ],
+        [
+          -0.015019785612821579,
+          -0.989966630935669,
+          -0.14050088822841644,
+          -0.32907527685165405
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8758,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_283081293",
+      "mask_path": "../../mask/hdr_front_08758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08759.png",
+      "transform_matrix": [
+        [
+          -0.2320333570241928,
+          0.1396951824426651,
+          -0.9626244306564331,
+          -2.6007018089294434
+        ],
+        [
+          0.9726229906082153,
+          0.020255252718925476,
+          -0.23150405287742615,
+          -1.5173391103744507
+        ],
+        [
+          -0.012841797433793545,
+          -0.9899874329566956,
+          -0.14057064056396484,
+          -0.3119755983352661
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8759,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_383082389",
+      "mask_path": "../../mask/hdr_front_08759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08760.png",
+      "transform_matrix": [
+        [
+          -0.24541154503822327,
+          0.1391083002090454,
+          -0.9593862891197205,
+          -2.547239303588867
+        ],
+        [
+          0.9694041609764099,
+          0.029748888686299324,
+          -0.24366064369678497,
+          -1.4981977939605713
+        ],
+        [
+          -0.005354541353881359,
+          -0.9898302555084229,
+          -0.14215289056301117,
+          -0.2982463836669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8760,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_483082532",
+      "mask_path": "../../mask/hdr_front_08760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08761.png",
+      "transform_matrix": [
+        [
+          -0.2614973187446594,
+          0.14048650860786438,
+          -0.9549254775047302,
+          -2.481417417526245
+        ],
+        [
+          0.9652040600776672,
+          0.037517763674259186,
+          -0.2587924897670746,
+          -1.472145676612854
+        ],
+        [
+          -0.0005301798228174448,
+          -0.9893715381622314,
+          -0.14540894329547882,
+          -0.2903684377670288
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8761,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_583082914",
+      "mask_path": "../../mask/hdr_front_08761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08762.png",
+      "transform_matrix": [
+        [
+          -0.2795228660106659,
+          0.1428050696849823,
+          -0.9494596123695374,
+          -2.4161555767059326
+        ],
+        [
+          0.9601141810417175,
+          0.03445848450064659,
+          -0.2774767577648163,
+          -1.440958857536316
+        ],
+        [
+          -0.0069081466645002365,
+          -0.9891508221626282,
+          -0.1467411071062088,
+          -0.2856537103652954
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8762,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_683081865",
+      "mask_path": "../../mask/hdr_front_08762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08764.png",
+      "transform_matrix": [
+        [
+          -0.3085607588291168,
+          0.14758166670799255,
+          -0.9396860599517822,
+          -2.319641351699829
+        ],
+        [
+          0.9510854482650757,
+          0.03222721815109253,
+          -0.3072425425052643,
+          -1.398435115814209
+        ],
+        [
+          -0.015059895813465118,
+          -0.9885247349739075,
+          -0.1503068059682846,
+          -0.2774984836578369
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8764,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_883081197",
+      "mask_path": "../../mask/hdr_front_08764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08765.png",
+      "transform_matrix": [
+        [
+          -0.30621805787086487,
+          0.15249207615852356,
+          -0.9396684169769287,
+          -2.2488677501678467
+        ],
+        [
+          0.9517354965209961,
+          0.027540484443306923,
+          -0.3056811988353729,
+          -1.3827934265136719
+        ],
+        [
+          -0.020735034719109535,
+          -0.9879209399223328,
+          -0.15356552600860596,
+          -0.22334185242652893
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8765,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_983080625",
+      "mask_path": "../../mask/hdr_front_08765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08766.png",
+      "transform_matrix": [
+        [
+          -0.2926066815853119,
+          0.15300726890563965,
+          -0.9439120888710022,
+          -2.189849615097046
+        ],
+        [
+          0.9560794830322266,
+          0.02913307398557663,
+          -0.2916560769081116,
+          -1.3778562545776367
+        ],
+        [
+          -0.017126433551311493,
+          -0.9877955913543701,
+          -0.15481165051460266,
+          -0.19889597594738007
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8766,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_83080530",
+      "mask_path": "../../mask/hdr_front_08766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08768.png",
+      "transform_matrix": [
+        [
+          -0.2731471359729767,
+          0.15202055871486664,
+          -0.9498844146728516,
+          -2.081861972808838
+        ],
+        [
+          0.9619693756103516,
+          0.04075854644179344,
+          -0.2700992524623871,
+          -1.3573057651519775
+        ],
+        [
+          -0.002344729844480753,
+          -0.9875366687774658,
+          -0.15737222135066986,
+          -0.17733167111873627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8768,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_283080577",
+      "mask_path": "../../mask/hdr_front_08768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08769.png",
+      "transform_matrix": [
+        [
+          -0.27165353298187256,
+          0.14596405625343323,
+          -0.9512618184089661,
+          -2.0054569244384766
+        ],
+        [
+          0.9623852968215942,
+          0.03672713413834572,
+          -0.269194632768631,
+          -1.3337931632995605
+        ],
+        [
+          -0.004355614073574543,
+          -0.9886080026626587,
+          -0.1504506915807724,
+          -0.16636496782302856
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8769,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_383079051",
+      "mask_path": "../../mask/hdr_front_08769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08770.png",
+      "transform_matrix": [
+        [
+          -0.274579793214798,
+          0.14298279583454132,
+          -0.950874388217926,
+          -1.9538235664367676
+        ],
+        [
+          0.961531400680542,
+          0.03264588117599487,
+          -0.27274826169013977,
+          -1.3116925954818726
+        ],
+        [
+          -0.007956183515489101,
+          -0.9891866445541382,
+          -0.1464463621377945,
+          -0.15896978974342346
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8770,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_483082056",
+      "mask_path": "../../mask/hdr_front_08770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08771.png",
+      "transform_matrix": [
+        [
+          -0.2754024565219879,
+          0.1369616836309433,
+          -0.9515224695205688,
+          -1.909879207611084
+        ],
+        [
+          0.9612818956375122,
+          0.029437387362122536,
+          -0.2739899456501007,
+          -1.2886128425598145
+        ],
+        [
+          -0.00951579213142395,
+          -0.9901388883590698,
+          -0.1397659182548523,
+          -0.15829798579216003
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8771,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_583081722",
+      "mask_path": "../../mask/hdr_front_08771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08772.png",
+      "transform_matrix": [
+        [
+          -0.2735206186771393,
+          0.12988746166229248,
+          -0.9530559778213501,
+          -1.8461183309555054
+        ],
+        [
+          0.9618450999259949,
+          0.030396895483136177,
+          -0.2719004154205322,
+          -1.2617570161819458
+        ],
+        [
+          -0.006346508394926786,
+          -0.9910627603530884,
+          -0.1332457959651947,
+          -0.14967747032642365
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8772,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_683077812",
+      "mask_path": "../../mask/hdr_front_08772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08773.png",
+      "transform_matrix": [
+        [
+          -0.2698572278022766,
+          0.12938232719898224,
+          -0.9541683793067932,
+          -1.7792658805847168
+        ],
+        [
+          0.962899386882782,
+          0.034775011241436005,
+          -0.2676111161708832,
+          -1.238402247428894
+        ],
+        [
+          -0.0014429298462346196,
+          -0.9909848570823669,
+          -0.13396646082401276,
+          -0.1306096315383911
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8773,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_783081054",
+      "mask_path": "../../mask/hdr_front_08773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08774.png",
+      "transform_matrix": [
+        [
+          -0.26694682240486145,
+          0.13150298595428467,
+          -0.9546970725059509,
+          -1.7171375751495361
+        ],
+        [
+          0.9637024998664856,
+          0.04065246507525444,
+          -0.26386529207229614,
+          -1.2186113595962524
+        ],
+        [
+          0.004111715126782656,
+          -0.990481972694397,
+          -0.13758181035518646,
+          -0.11133994162082672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8774,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_883077621",
+      "mask_path": "../../mask/hdr_front_08774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08775.png",
+      "transform_matrix": [
+        [
+          -0.26952606439590454,
+          0.13039281964302063,
+          -0.9541245102882385,
+          -1.6450271606445312
+        ],
+        [
+          0.9629909992218018,
+          0.038595009595155716,
+          -0.2667562663555145,
+          -1.1931705474853516
+        ],
+        [
+          0.002041345462203026,
+          -0.9907109141349792,
+          -0.13596944510936737,
+          -0.10574206709861755
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8775,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_983082771",
+      "mask_path": "../../mask/hdr_front_08775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08776.png",
+      "transform_matrix": [
+        [
+          -0.2750746011734009,
+          0.12882594764232635,
+          -0.9527527689933777,
+          -1.5825914144515991
+        ],
+        [
+          0.9613783359527588,
+          0.027310531586408615,
+          -0.2738721966743469,
+          -1.168975830078125
+        ],
+        [
+          -0.009261648170650005,
+          -0.9912911653518677,
+          -0.1313628852367401,
+          -0.10569518804550171
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8776,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_83081483",
+      "mask_path": "../../mask/hdr_front_08776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08777.png",
+      "transform_matrix": [
+        [
+          -0.28585243225097656,
+          0.1270085722208023,
+          -0.9498196244239807,
+          -1.5344666242599487
+        ],
+        [
+          0.9581403136253357,
+          0.02134384773671627,
+          -0.28550252318382263,
+          -1.1463021039962769
+        ],
+        [
+          -0.015988463535904884,
+          -0.9916719794273376,
+          -0.12779323756694794,
+          -0.10756726562976837
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8777,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_183082580",
+      "mask_path": "../../mask/hdr_front_08777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08778.png",
+      "transform_matrix": [
+        [
+          -0.3036031723022461,
+          0.14925923943519592,
+          -0.9410349726676941,
+          -1.4539599418640137
+        ],
+        [
+          0.9518059492111206,
+          0.0024416535161435604,
+          -0.3066909611225128,
+          -1.1219713687896729
+        ],
+        [
+          -0.043478772044181824,
+          -0.9887951016426086,
+          -0.14280712604522705,
+          -0.0816754400730133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8778,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_283082008",
+      "mask_path": "../../mask/hdr_front_08778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08779.png",
+      "transform_matrix": [
+        [
+          -0.3140651285648346,
+          0.1790989488363266,
+          -0.9323554635047913,
+          -1.356265664100647
+        ],
+        [
+          0.9473003149032593,
+          -0.006183817982673645,
+          -0.32028722763061523,
+          -1.1024291515350342
+        ],
+        [
+          -0.06312861293554306,
+          -0.9838116765022278,
+          -0.16771835088729858,
+          -0.026877641677856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8779,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_383082628",
+      "mask_path": "../../mask/hdr_front_08779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08782.png",
+      "transform_matrix": [
+        [
+          -0.3452126681804657,
+          0.18614719808101654,
+          -0.9198790192604065,
+          -1.2127456665039062
+        ],
+        [
+          0.9366405010223389,
+          0.006260488647967577,
+          -0.35023608803749084,
+          -1.0646954774856567
+        ],
+        [
+          -0.05943656340241432,
+          -0.9825019240379333,
+          -0.17651420831680298,
+          0.011349767446517944
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8782,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_683082342",
+      "mask_path": "../../mask/hdr_front_08782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08783.png",
+      "transform_matrix": [
+        [
+          -0.3515835404396057,
+          0.18403656780719757,
+          -0.9178887009620667,
+          -1.1518207788467407
+        ],
+        [
+          0.9337678551673889,
+          -0.0010568604338914156,
+          -0.35787779092788696,
+          -1.0418720245361328
+        ],
+        [
+          -0.06683267652988434,
+          -0.9829188585281372,
+          -0.17147588729858398,
+          0.02613493800163269
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8783,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_783082008",
+      "mask_path": "../../mask/hdr_front_08783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08784.png",
+      "transform_matrix": [
+        [
+          -0.35792994499206543,
+          0.17850062251091003,
+          -0.9165281057357788,
+          -1.1022017002105713
+        ],
+        [
+          0.9314825534820557,
+          -8.098223042907193e-05,
+          -0.36378589272499084,
+          -1.0134631395339966
+        ],
+        [
+          -0.06501022726297379,
+          -0.9839398860931396,
+          -0.16624121367931366,
+          0.04030553996562958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8784,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_883082628",
+      "mask_path": "../../mask/hdr_front_08784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08785.png",
+      "transform_matrix": [
+        [
+          -0.3580930531024933,
+          0.16517794132232666,
+          -0.9189589619636536,
+          -1.0442705154418945
+        ],
+        [
+          0.9318962097167969,
+          0.0023191701620817184,
+          -0.36271753907203674,
+          -0.9829099774360657
+        ],
+        [
+          -0.05778171122074127,
+          -0.9862610697746277,
+          -0.15475918352603912,
+          0.039498716592788696
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8785,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_983082771",
+      "mask_path": "../../mask/hdr_front_08785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08786.png",
+      "transform_matrix": [
+        [
+          -0.35313981771469116,
+          0.15415595471858978,
+          -0.9227828979492188,
+          -0.9759554862976074
+        ],
+        [
+          0.9344611167907715,
+          0.010098176077008247,
+          -0.35592204332351685,
+          -0.9498254656791687
+        ],
+        [
+          -0.04554907605051994,
+          -0.9879949688911438,
+          -0.14761880040168762,
+          0.04805070161819458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8786,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_83081722",
+      "mask_path": "../../mask/hdr_front_08786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08787.png",
+      "transform_matrix": [
+        [
+          -0.3464852571487427,
+          0.14686928689479828,
+          -0.9264865517616272,
+          -0.921818733215332
+        ],
+        [
+          0.9374831914901733,
+          0.019722729921340942,
+          -0.3474712371826172,
+          -0.9235022068023682
+        ],
+        [
+          -0.032760001718997955,
+          -0.9889593124389648,
+          -0.144521102309227,
+          0.061799898743629456
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8787,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_183082818",
+      "mask_path": "../../mask/hdr_front_08787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08788.png",
+      "transform_matrix": [
+        [
+          -0.343455046415329,
+          0.1402825117111206,
+          -0.9286332130432129,
+          -0.858483076095581
+        ],
+        [
+          0.9388250112533569,
+          0.024520307779312134,
+          -0.3435204029083252,
+          -0.8899084329605103
+        ],
+        [
+          -0.025419529527425766,
+          -0.9898079037666321,
+          -0.14012235403060913,
+          0.07061618566513062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8788,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_283082008",
+      "mask_path": "../../mask/hdr_front_08788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08789.png",
+      "transform_matrix": [
+        [
+          -0.34292465448379517,
+          0.1337607204914093,
+          -0.929790735244751,
+          -0.7954260110855103
+        ],
+        [
+          0.9390514492988586,
+          0.023328598588705063,
+          -0.342984139919281,
+          -0.8523905277252197
+        ],
+        [
+          -0.024187076836824417,
+          -0.990739107131958,
+          -0.1336081326007843,
+          0.06868107616901398
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8789,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_383081674",
+      "mask_path": "../../mask/hdr_front_08789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08791.png",
+      "transform_matrix": [
+        [
+          -0.340061217546463,
+          0.12112993001937866,
+          -0.9325695633888245,
+          -0.7106633186340332
+        ],
+        [
+          0.940220296382904,
+          0.02422977238893509,
+          -0.33970388770103455,
+          -0.8070739507675171
+        ],
+        [
+          -0.01855236291885376,
+          -0.9923408627510071,
+          -0.122128427028656,
+          0.06278957426548004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8791,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_583080053",
+      "mask_path": "../../mask/hdr_front_08791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08792.png",
+      "transform_matrix": [
+        [
+          -0.335331529378891,
+          0.11900503933429718,
+          -0.9345536828041077,
+          -0.6498796939849854
+        ],
+        [
+          0.9418973326683044,
+          0.021762719377875328,
+          -0.3351953327655792,
+          -0.7877097129821777
+        ],
+        [
+          -0.019551504403352737,
+          -0.9926550984382629,
+          -0.11938824504613876,
+          0.06750869750976562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8792,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_683081626",
+      "mask_path": "../../mask/hdr_front_08792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08794.png",
+      "transform_matrix": [
+        [
+          -0.3270881175994873,
+          0.1120111420750618,
+          -0.9383319616317749,
+          -0.5787258744239807
+        ],
+        [
+          0.9449371099472046,
+          0.027884352952241898,
+          -0.3260619044303894,
+          -0.760644257068634
+        ],
+        [
+          -0.010357790626585484,
+          -0.9933156371116638,
+          -0.11496412754058838,
+          0.0801347941160202
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8794,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_883081436",
+      "mask_path": "../../mask/hdr_front_08794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08795.png",
+      "transform_matrix": [
+        [
+          -0.32469266653060913,
+          0.09618669003248215,
+          -0.9409158825874329,
+          -0.5296369791030884
+        ],
+        [
+          0.945644736289978,
+          0.013887404464185238,
+          -0.32490479946136475,
+          -0.7418956756591797
+        ],
+        [
+          -0.018184639513492584,
+          -0.9952664375305176,
+          -0.09546756744384766,
+          0.07987891137599945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8795,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_983082294",
+      "mask_path": "../../mask/hdr_front_08795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08797.png",
+      "transform_matrix": [
+        [
+          -0.3209519684314728,
+          0.07406090945005417,
+          -0.9441953897476196,
+          -0.4650104343891144
+        ],
+        [
+          0.9462442398071289,
+          -0.017182912677526474,
+          -0.32299619913101196,
+          -0.7238796353340149
+        ],
+        [
+          -0.04014541953802109,
+          -0.9971056580543518,
+          -0.06456482410430908,
+          0.06665046513080597
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8797,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324144_183080673",
+      "mask_path": "../../mask/hdr_front_08797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08799.png",
+      "transform_matrix": [
+        [
+          -0.30983835458755493,
+          0.05344140902161598,
+          -0.9492862224578857,
+          -0.39924076199531555
+        ],
+        [
+          0.9501256942749023,
+          -0.019890734925866127,
+          -0.31123214960098267,
+          -0.7141819000244141
+        ],
+        [
+          -0.03551467880606651,
+          -0.9983729124069214,
+          -0.04461314529180527,
+          0.07340257614850998
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8799,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324144_383081674",
+      "mask_path": "../../mask/hdr_front_08799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09135.png",
+      "transform_matrix": [
+        [
+          -0.23418617248535156,
+          0.03897280618548393,
+          -0.97141033411026,
+          -0.4022471308708191
+        ],
+        [
+          0.9721735715866089,
+          0.003257791744545102,
+          -0.23423945903778076,
+          -0.7568138241767883
+        ],
+        [
+          -0.00596431503072381,
+          -0.9992350339889526,
+          -0.038651254028081894,
+          0.06401237845420837
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9135,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324177_983081817",
+      "mask_path": "../../mask/hdr_front_09135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09136.png",
+      "transform_matrix": [
+        [
+          -0.23375332355499268,
+          0.03081265464425087,
+          -0.971807599067688,
+          -0.4556916356086731
+        ],
+        [
+          0.9722610712051392,
+          -0.0010483921505510807,
+          -0.2338956594467163,
+          -0.7777310013771057
+        ],
+        [
+          -0.008225779980421066,
+          -0.9995246529579163,
+          -0.02971288003027439,
+          0.060889407992362976
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9136,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_83083391",
+      "mask_path": "../../mask/hdr_front_09136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09137.png",
+      "transform_matrix": [
+        [
+          -0.2407836616039276,
+          0.024883994832634926,
+          -0.9702597856521606,
+          -0.5108160972595215
+        ],
+        [
+          0.9705618023872375,
+          0.0002571594377513975,
+          -0.24085202813148499,
+          -0.794019877910614
+        ],
+        [
+          -0.005743849091231823,
+          -0.9996903538703918,
+          -0.02421337366104126,
+          0.06419944763183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9137,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_183082342",
+      "mask_path": "../../mask/hdr_front_09137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09139.png",
+      "transform_matrix": [
+        [
+          -0.2583625912666321,
+          0.018617648631334305,
+          -0.9658685326576233,
+          -0.5843682289123535
+        ],
+        [
+          0.9660016894340515,
+          -0.0048120273277163506,
+          -0.25849097967147827,
+          -0.807600736618042
+        ],
+        [
+          -0.009460278786718845,
+          -0.9998151063919067,
+          -0.016741430386900902,
+          0.04502297192811966
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9139,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_383081674",
+      "mask_path": "../../mask/hdr_front_09139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09140.png",
+      "transform_matrix": [
+        [
+          -0.2639714181423187,
+          0.024904867634177208,
+          -0.9642089009284973,
+          -0.6339929103851318
+        ],
+        [
+          0.9643314480781555,
+          -0.01349323894828558,
+          -0.26435351371765137,
+          -0.8189114332199097
+        ],
+        [
+          -0.019593987613916397,
+          -0.9995988607406616,
+          -0.020454715937376022,
+          0.04365377128124237
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9140,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_483082056",
+      "mask_path": "../../mask/hdr_front_09140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09142.png",
+      "transform_matrix": [
+        [
+          -0.258877694606781,
+          0.05845488980412483,
+          -0.9641397595405579,
+          -0.6995620727539062
+        ],
+        [
+          0.9651952981948853,
+          -0.022737817838788033,
+          -0.260539710521698,
+          -0.845791220664978
+        ],
+        [
+          -0.037152249366045,
+          -0.9980311393737793,
+          -0.050534069538116455,
+          0.047754570841789246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9142,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_683082342",
+      "mask_path": "../../mask/hdr_front_09142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09144.png",
+      "transform_matrix": [
+        [
+          -0.2451227307319641,
+          0.07596950232982635,
+          -0.9665109515190125,
+          -0.781640887260437
+        ],
+        [
+          0.968297004699707,
+          -0.030300049111247063,
+          -0.24795731902122498,
+          -0.8921226859092712
+        ],
+        [
+          -0.04812252148985863,
+          -0.9966496825218201,
+          -0.06613381206989288,
+          0.04203811287879944
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9144,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_883080720",
+      "mask_path": "../../mask/hdr_front_09144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09146.png",
+      "transform_matrix": [
+        [
+          -0.2420508712530136,
+          0.09014897793531418,
+          -0.9660665392875671,
+          -0.836389422416687
+        ],
+        [
+          0.9698460102081299,
+          -0.0067266132682561874,
+          -0.24362555146217346,
+          -0.9089462161064148
+        ],
+        [
+          -0.028460953384637833,
+          -0.9959056377410889,
+          -0.08580245822668076,
+          0.04242098331451416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9146,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_83081007",
+      "mask_path": "../../mask/hdr_front_09146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09148.png",
+      "transform_matrix": [
+        [
+          -0.24784398078918457,
+          0.09735020995140076,
+          -0.9638964533805847,
+          -0.9380375146865845
+        ],
+        [
+          0.9685440063476562,
+          0.002026660367846489,
+          -0.24883431196212769,
+          -0.9248216152191162
+        ],
+        [
+          -0.022270578891038895,
+          -0.9952481389045715,
+          -0.09479024261236191,
+          0.020044595003128052
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9148,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_283081054",
+      "mask_path": "../../mask/hdr_front_09148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09151.png",
+      "transform_matrix": [
+        [
+          -0.22891639173030853,
+          0.11788429319858551,
+          -0.9662818908691406,
+          -1.0651744604110718
+        ],
+        [
+          0.9728414416313171,
+          -0.007276076357811689,
+          -0.23135808110237122,
+          -0.9668226838111877
+        ],
+        [
+          -0.03430422022938728,
+          -0.9930007457733154,
+          -0.11301711946725845,
+          0.026288703083992004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9151,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_583081722",
+      "mask_path": "../../mask/hdr_front_09151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09152.png",
+      "transform_matrix": [
+        [
+          -0.2262869030237198,
+          0.12444041669368744,
+          -0.96607905626297,
+          -1.1378313302993774
+        ],
+        [
+          0.9735239148139954,
+          -0.004028795287013054,
+          -0.22854964435100555,
+          -0.9939435124397278
+        ],
+        [
+          -0.03233294561505318,
+          -0.9922189116477966,
+          -0.12023404985666275,
+          0.028153136372566223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9152,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_683081150",
+      "mask_path": "../../mask/hdr_front_09152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09155.png",
+      "transform_matrix": [
+        [
+          -0.2411547750234604,
+          0.14039817452430725,
+          -0.9602774381637573,
+          -1.2866089344024658
+        ],
+        [
+          0.9696414470672607,
+          -0.006428239867091179,
+          -0.24444620311260223,
+          -1.0449882745742798
+        ],
+        [
+          -0.04049268737435341,
+          -0.9900742769241333,
+          -0.1345856785774231,
+          -0.004232659935951233
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9155,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_983082056",
+      "mask_path": "../../mask/hdr_front_09155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09156.png",
+      "transform_matrix": [
+        [
+          -0.23784983158111572,
+          0.17137975990772247,
+          -0.9560630321502686,
+          -1.360167384147644
+        ],
+        [
+          0.9693897366523743,
+          -0.01984902285039425,
+          -0.2447233349084854,
+          -1.0734447240829468
+        ],
+        [
+          -0.06091754138469696,
+          -0.9850051999092102,
+          -0.16141270101070404,
+          -0.011381521821022034
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9156,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_83082199",
+      "mask_path": "../../mask/hdr_front_09156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09157.png",
+      "transform_matrix": [
+        [
+          -0.22629134356975555,
+          0.20997443795204163,
+          -0.9511588215827942,
+          -1.4012049436569214
+        ],
+        [
+          0.9716352820396423,
+          -0.020192785188555717,
+          -0.2356206476688385,
+          -1.0970970392227173
+        ],
+        [
+          -0.06868085265159607,
+          -0.9774984121322632,
+          -0.19944913685321808,
+          0.030298396944999695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9157,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_183081865",
+      "mask_path": "../../mask/hdr_front_09157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09159.png",
+      "transform_matrix": [
+        [
+          -0.22420036792755127,
+          0.20685802400112152,
+          -0.9523360729217529,
+          -1.5015897750854492
+        ],
+        [
+          0.9726844429969788,
+          -0.012827014550566673,
+          -0.23177699744701385,
+          -1.1257717609405518
+        ],
+        [
+          -0.0601605549454689,
+          -0.9782869219779968,
+          -0.19833175837993622,
+          -0.03487271070480347
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9159,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_383080720",
+      "mask_path": "../../mask/hdr_front_09159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09160.png",
+      "transform_matrix": [
+        [
+          -0.2174992710351944,
+          0.20040568709373474,
+          -0.9552651643753052,
+          -1.5770553350448608
+        ],
+        [
+          0.9743074178695679,
+          -0.014053545892238617,
+          -0.22478322684764862,
+          -1.1532330513000488
+        ],
+        [
+          -0.05847269296646118,
+          -0.9796122312545776,
+          -0.19220009446144104,
+          -0.07356603443622589
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9160,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_483082294",
+      "mask_path": "../../mask/hdr_front_09160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09163.png",
+      "transform_matrix": [
+        [
+          -0.2141934335231781,
+          0.20202533900737762,
+          -0.9556710124015808,
+          -1.7494487762451172
+        ],
+        [
+          0.9755271077156067,
+          -0.005516828037798405,
+          -0.21980997920036316,
+          -1.1951621770858765
+        ],
+        [
+          -0.049679454416036606,
+          -0.9793647527694702,
+          -0.19589953124523163,
+          -0.12135924398899078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9163,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_783082246",
+      "mask_path": "../../mask/hdr_front_09163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09164.png",
+      "transform_matrix": [
+        [
+          -0.2076912522315979,
+          0.18977759778499603,
+          -0.9596086740493774,
+          -1.8488380908966064
+        ],
+        [
+          0.9770836234092712,
+          -0.006490964442491531,
+          -0.21275711059570312,
+          -1.2160179615020752
+        ],
+        [
+          -0.04660531505942345,
+          -0.9818056225776672,
+          -0.18408048152923584,
+          -0.14517256617546082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9164,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_883082389",
+      "mask_path": "../../mask/hdr_front_09164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09166.png",
+      "transform_matrix": [
+        [
+          -0.18719899654388428,
+          0.18143698573112488,
+          -0.9654207825660706,
+          -1.9311093091964722
+        ],
+        [
+          0.9815942645072937,
+          -0.003272003959864378,
+          -0.19095005095005035,
+          -1.2434598207473755
+        ],
+        [
+          -0.0378042571246624,
+          -0.9833971858024597,
+          -0.17748498916625977,
+          -0.14977340400218964
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9166,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_83082437",
+      "mask_path": "../../mask/hdr_front_09166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09167.png",
+      "transform_matrix": [
+        [
+          -0.17674697935581207,
+          0.17211435735225677,
+          -0.9690909385681152,
+          -2.0098679065704346
+        ],
+        [
+          0.9837700128555298,
+          -5.401332236942835e-05,
+          -0.17943383753299713,
+          -1.2738255262374878
+        ],
+        [
+          -0.03093547932803631,
+          -0.9850770235061646,
+          -0.16931138932704926,
+          -0.15945367515087128
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9167,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_183082580",
+      "mask_path": "../../mask/hdr_front_09167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09168.png",
+      "transform_matrix": [
+        [
+          -0.17341503500938416,
+          0.16956567764282227,
+          -0.970141589641571,
+          -2.0828664302825928
+        ],
+        [
+          0.9843613505363464,
+          -0.0011476853396743536,
+          -0.17615745961666107,
+          -1.298606038093567
+        ],
+        [
+          -0.03098367527127266,
+          -0.985518217086792,
+          -0.1667148768901825,
+          -0.16361357271671295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9168,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_283083438",
+      "mask_path": "../../mask/hdr_front_09168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09170.png",
+      "transform_matrix": [
+        [
+          -0.17517903447151184,
+          0.17265543341636658,
+          -0.9692793488502502,
+          -2.160179853439331
+        ],
+        [
+          0.9836951494216919,
+          -0.009998750872910023,
+          -0.17956550419330597,
+          -1.3179197311401367
+        ],
+        [
+          -0.04069454222917557,
+          -0.9849315881729126,
+          -0.16808873414993286,
+          -0.1849137544631958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9170,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_483082532",
+      "mask_path": "../../mask/hdr_front_09170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09171.png",
+      "transform_matrix": [
+        [
+          -0.17727476358413696,
+          0.16561011970043182,
+          -0.9701273441314697,
+          -2.2219579219818115
+        ],
+        [
+          0.9832571744918823,
+          -0.012442473322153091,
+          -0.1817980706691742,
+          -1.336393117904663
+        ],
+        [
+          -0.042178377509117126,
+          -0.9861128926277161,
+          -0.16063158214092255,
+          -0.2112778276205063
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9171,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_583082437",
+      "mask_path": "../../mask/hdr_front_09171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09172.png",
+      "transform_matrix": [
+        [
+          -0.1714591681957245,
+          0.19105850160121918,
+          -0.96648770570755,
+          -2.290440320968628
+        ],
+        [
+          0.9837820529937744,
+          -0.019247587770223618,
+          -0.17833219468593597,
+          -1.3531914949417114
+        ],
+        [
+          -0.05267443507909775,
+          -0.9813899397850037,
+          -0.18465974926948547,
+          -0.22249720990657806
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9172,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_683081626",
+      "mask_path": "../../mask/hdr_front_09172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09173.png",
+      "transform_matrix": [
+        [
+          -0.17130067944526672,
+          0.21761596202850342,
+          -0.960884690284729,
+          -2.315300464630127
+        ],
+        [
+          0.9837494492530823,
+          -0.015464832074940205,
+          -0.1788792610168457,
+          -1.3535640239715576
+        ],
+        [
+          -0.053786903619766235,
+          -0.9759119749069214,
+          -0.21143046021461487,
+          -0.1712416261434555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9173,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_783082008",
+      "mask_path": "../../mask/hdr_front_09173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09175.png",
+      "transform_matrix": [
+        [
+          -0.16733695566654205,
+          0.21599248051643372,
+          -0.9619488716125488,
+          -2.3677315711975098
+        ],
+        [
+          0.9841195344924927,
+          -0.022013727575540543,
+          -0.1761365532875061,
+          -1.3422508239746094
+        ],
+        [
+          -0.059220246970653534,
+          -0.9761468768119812,
+          -0.20887869596481323,
+          -0.2247113138437271
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9175,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_983082532",
+      "mask_path": "../../mask/hdr_front_09175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09176.png",
+      "transform_matrix": [
+        [
+          -0.1614561378955841,
+          0.2131272852420807,
+          -0.9635915756225586,
+          -2.43471097946167
+        ],
+        [
+          0.9849306344985962,
+          -0.026538455858826637,
+          -0.17090143263339996,
+          -1.3545634746551514
+        ],
+        [
+          -0.061995979398489,
+          -0.9766640067100525,
+          -0.2056308090686798,
+          -0.24755050241947174
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9176,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_83081483",
+      "mask_path": "../../mask/hdr_front_09176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09178.png",
+      "transform_matrix": [
+        [
+          -0.1539980173110962,
+          0.21751917898654938,
+          -0.9638309478759766,
+          -2.519237756729126
+        ],
+        [
+          0.9866323471069336,
+          -0.01877102628350258,
+          -0.16187743842601776,
+          -1.3814610242843628
+        ],
+        [
+          -0.053303539752960205,
+          -0.9758755564689636,
+          -0.21172074973583221,
+          -0.2670252323150635
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9178,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_283081769",
+      "mask_path": "../../mask/hdr_front_09178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09179.png",
+      "transform_matrix": [
+        [
+          -0.1529759168624878,
+          0.21446119248867035,
+          -0.9646786451339722,
+          -2.569854974746704
+        ],
+        [
+          0.9865729212760925,
+          -0.02336360514163971,
+          -0.1616418957710266,
+          -1.4007538557052612
+        ],
+        [
+          -0.05720428004860878,
+          -0.9764530062675476,
+          -0.20800751447677612,
+          -0.29442885518074036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9179,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_383081674",
+      "mask_path": "../../mask/hdr_front_09179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09180.png",
+      "transform_matrix": [
+        [
+          -0.14859184622764587,
+          0.19895535707473755,
+          -0.9686780571937561,
+          -2.639538526535034
+        ],
+        [
+          0.9875676035881042,
+          -0.02095002308487892,
+          -0.15579234063625336,
+          -1.4226388931274414
+        ],
+        [
+          -0.05128954350948334,
+          -0.9797846674919128,
+          -0.1933688521385193,
+          -0.3188038468360901
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9180,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_483081817",
+      "mask_path": "../../mask/hdr_front_09180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09183.png",
+      "transform_matrix": [
+        [
+          -0.12015336006879807,
+          0.1706516146659851,
+          -0.9779780507087708,
+          -2.820462465286255
+        ],
+        [
+          0.9924964904785156,
+          -0.0018484583124518394,
+          -0.12225961685180664,
+          -1.473035454750061
+        ],
+        [
+          -0.022671550512313843,
+          -0.9853297472000122,
+          -0.1691490113735199,
+          -0.34521564841270447
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9183,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_783082008",
+      "mask_path": "../../mask/hdr_front_09183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09184.png",
+      "transform_matrix": [
+        [
+          -0.11714241653680801,
+          0.1670757681131363,
+          -0.978960394859314,
+          -2.901937246322632
+        ],
+        [
+          0.9929300546646118,
+          0.000669061962980777,
+          -0.11869984120130539,
+          -1.4930518865585327
+        ],
+        [
+          -0.01917688362300396,
+          -0.9859438538551331,
+          -0.16597293317317963,
+          -0.3475058078765869
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9184,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_883080005",
+      "mask_path": "../../mask/hdr_front_09184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09186.png",
+      "transform_matrix": [
+        [
+          -0.12176394462585449,
+          0.1627984344959259,
+          -0.9791170358657837,
+          -2.998246431350708
+        ],
+        [
+          0.992315948009491,
+          -0.0018681775545701385,
+          -0.12371600419282913,
+          -1.5069864988327026
+        ],
+        [
+          -0.021969933062791824,
+          -0.9866575598716736,
+          -0.16131998598575592,
+          -0.37256258726119995
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9186,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_83080768",
+      "mask_path": "../../mask/hdr_front_09186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09187.png",
+      "transform_matrix": [
+        [
+          -0.12571699917316437,
+          0.15609343349933624,
+          -0.9797092080116272,
+          -3.066326141357422
+        ],
+        [
+          0.991832435131073,
+          -0.0016555426409468055,
+          -0.12753644585609436,
+          -1.5175729990005493
+        ],
+        [
+          -0.0215295497328043,
+          -0.9877409338951111,
+          -0.15461041033267975,
+          -0.38622424006462097
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9187,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_183082580",
+      "mask_path": "../../mask/hdr_front_09187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09188.png",
+      "transform_matrix": [
+        [
+          -0.12457897514104843,
+          0.1545121818780899,
+          -0.9801051616668701,
+          -3.14495849609375
+        ],
+        [
+          0.9921121001243591,
+          0.005547992419451475,
+          -0.12523053586483002,
+          -1.5261131525039673
+        ],
+        [
+          -0.013912025839090347,
+          -0.9879753589630127,
+          -0.15398456156253815,
+          -0.4215298891067505
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9188,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_283079862",
+      "mask_path": "../../mask/hdr_front_09188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09189.png",
+      "transform_matrix": [
+        [
+          -0.11869265884160995,
+          0.15760400891304016,
+          -0.9803433418273926,
+          -3.2043838500976562
+        ],
+        [
+          0.9929035305976868,
+          0.01149258203804493,
+          -0.11836575716733932,
+          -1.530074954032898
+        ],
+        [
+          -0.007388239726424217,
+          -0.9874355792999268,
+          -0.15784966945648193,
+          -0.4449077248573303
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9189,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_383080959",
+      "mask_path": "../../mask/hdr_front_09189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09191.png",
+      "transform_matrix": [
+        [
+          -0.10432303696870804,
+          0.1546698957681656,
+          -0.9824428558349609,
+          -3.318199396133423
+        ],
+        [
+          0.9945352673530579,
+          0.012226107530295849,
+          -0.10368230193853378,
+          -1.549805998802185
+        ],
+        [
+          -0.0040250783786177635,
+          -0.9878906011581421,
+          -0.15510013699531555,
+          -0.47173255681991577
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9191,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_583082437",
+      "mask_path": "../../mask/hdr_front_09191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09192.png",
+      "transform_matrix": [
+        [
+          -0.09744322299957275,
+          0.15129585564136505,
+          -0.9836739301681519,
+          -3.4001212120056152
+        ],
+        [
+          0.9952236413955688,
+          0.008958960883319378,
+          -0.0972094014286995,
+          -1.5685724020004272
+        ],
+        [
+          -0.005894681438803673,
+          -0.9884480237960815,
+          -0.15144622325897217,
+          -0.49010348320007324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9192,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_683082342",
+      "mask_path": "../../mask/hdr_front_09192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09194.png",
+      "transform_matrix": [
+        [
+          -0.09674158692359924,
+          0.15961335599422455,
+          -0.9824278950691223,
+          -3.5058679580688477
+        ],
+        [
+          0.9951804280281067,
+          -0.0003834720700979233,
+          -0.09805966913700104,
+          -1.5774182081222534
+        ],
+        [
+          -0.01602836325764656,
+          -0.9871795773506165,
+          -0.15880697965621948,
+          -0.5133999586105347
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9194,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_883082389",
+      "mask_path": "../../mask/hdr_front_09194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09195.png",
+      "transform_matrix": [
+        [
+          -0.0973457619547844,
+          0.14950081706047058,
+          -0.9839580655097961,
+          -3.594305992126465
+        ],
+        [
+          0.9951024055480957,
+          -0.0024430735502392054,
+          -0.09881950169801712,
+          -1.584106683731079
+        ],
+        [
+          -0.017177477478981018,
+          -0.9887585639953613,
+          -0.14853079617023468,
+          -0.5363752841949463
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9195,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_983082294",
+      "mask_path": "../../mask/hdr_front_09195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09196.png",
+      "transform_matrix": [
+        [
+          -0.09218672662973404,
+          0.14162328839302063,
+          -0.9856187701225281,
+          -3.6840476989746094
+        ],
+        [
+          0.9956818222999573,
+          0.0022594279143959284,
+          -0.09280329197645187,
+          -1.5931897163391113
+        ],
+        [
+          -0.010916171595454216,
+          -0.989918053150177,
+          -0.14122004806995392,
+          -0.5416756868362427
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9196,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_83082437",
+      "mask_path": "../../mask/hdr_front_09196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09198.png",
+      "transform_matrix": [
+        [
+          -0.07331347465515137,
+          0.1406409591436386,
+          -0.9873424768447876,
+          -3.7920167446136475
+        ],
+        [
+          0.9972987771034241,
+          0.005866979714483023,
+          -0.07321704924106598,
+          -1.6084810495376587
+        ],
+        [
+          -0.0045045954175293446,
+          -0.9900433421134949,
+          -0.14069117605686188,
+          -0.5521383285522461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9198,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_283081769",
+      "mask_path": "../../mask/hdr_front_09198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09199.png",
+      "transform_matrix": [
+        [
+          -0.06762389838695526,
+          0.1429760903120041,
+          -0.987413227558136,
+          -3.8800084590911865
+        ],
+        [
+          0.9977089166641235,
+          0.007760388310998678,
+          -0.06720532476902008,
+          -1.6263656616210938
+        ],
+        [
+          -0.0019460436888039112,
+          -0.9896958470344543,
+          -0.14317330718040466,
+          -0.5552370548248291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9199,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_383082151",
+      "mask_path": "../../mask/hdr_front_09199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09202.png",
+      "transform_matrix": [
+        [
+          -0.0732860267162323,
+          0.14337697625160217,
+          -0.9869510531425476,
+          -4.039458274841309
+        ],
+        [
+          0.9971982836723328,
+          -0.004337566439062357,
+          -0.07467707246541977,
+          -1.6403437852859497
+        ],
+        [
+          -0.014987938106060028,
+          -0.9896587133407593,
+          -0.14265738427639008,
+          -0.5825711488723755
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9202,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_683081388",
+      "mask_path": "../../mask/hdr_front_09202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09203.png",
+      "transform_matrix": [
+        [
+          -0.07348798215389252,
+          0.14443717896938324,
+          -0.9867813587188721,
+          -4.103808403015137
+        ],
+        [
+          0.9972248673439026,
+          -0.0011820861836895347,
+          -0.07443876564502716,
+          -1.64390230178833
+        ],
+        [
+          -0.011918183416128159,
+          -0.9895132780075073,
+          -0.1439494788646698,
+          -0.6092891693115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9203,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_783081531",
+      "mask_path": "../../mask/hdr_front_09203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09217.png",
+      "transform_matrix": [
+        [
+          0.24054177105426788,
+          0.12645122408866882,
+          -0.9623667001724243,
+          -4.231137752532959
+        ],
+        [
+          0.9702485799789429,
+          -0.003214063122868538,
+          0.24208953976631165,
+          -1.8108556270599365
+        ],
+        [
+          0.027519408613443375,
+          -0.9919676184654236,
+          -0.1234622448682785,
+          -0.6793561577796936
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9217,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324186_183081150",
+      "mask_path": "../../mask/hdr_front_09217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09221.png",
+      "transform_matrix": [
+        [
+          0.5041549205780029,
+          0.1193884089589119,
+          -0.8553211688995361,
+          -4.278815269470215
+        ],
+        [
+          0.8630728721618652,
+          -0.03462372347712517,
+          0.5038912296295166,
+          -1.9095758199691772
+        ],
+        [
+          0.03054436668753624,
+          -0.9922437071800232,
+          -0.12049662321805954,
+          -0.6643519401550293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9221,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324186_583082199",
+      "mask_path": "../../mask/hdr_front_09221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09316.png",
+      "transform_matrix": [
+        [
+          0.6592814922332764,
+          0.14471907913684845,
+          -0.7378376126289368,
+          -4.325760841369629
+        ],
+        [
+          0.7481462359428406,
+          -0.028377680107951164,
+          0.6629267334938049,
+          -1.9979215860366821
+        ],
+        [
+          0.07500003278255463,
+          -0.9890657663345337,
+          -0.12697990238666534,
+          -0.682160496711731
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9316,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324196_83082675",
+      "mask_path": "../../mask/hdr_front_09316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09332.png",
+      "transform_matrix": [
+        [
+          0.7497649192810059,
+          0.10943637788295746,
+          -0.6525919437408447,
+          -4.330507278442383
+        ],
+        [
+          0.6575688719749451,
+          -0.013138161972165108,
+          0.7532799243927002,
+          -2.061507225036621
+        ],
+        [
+          0.07386235892772675,
+          -0.9939069747924805,
+          -0.08181250095367432,
+          -0.6680983901023865
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9332,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324197_683081865",
+      "mask_path": "../../mask/hdr_front_09332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09380.png",
+      "transform_matrix": [
+        [
+          0.9564207792282104,
+          0.11555895954370499,
+          -0.26815176010131836,
+          -4.498086929321289
+        ],
+        [
+          0.2737371027469635,
+          -0.035232581198215485,
+          0.9611591100692749,
+          -2.276226758956909
+        ],
+        [
+          0.10162284225225449,
+          -0.9926756024360657,
+          -0.06532995402812958,
+          -0.6741512417793274
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9380,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324202_483082294",
+      "mask_path": "../../mask/hdr_front_09380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09384.png",
+      "transform_matrix": [
+        [
+          0.997348427772522,
+          0.07207733392715454,
+          -0.01004456914961338,
+          -4.638836860656738
+        ],
+        [
+          0.011110058054327965,
+          -0.014396904036402702,
+          0.9998346567153931,
+          -2.2856106758117676
+        ],
+        [
+          0.07192081212997437,
+          -0.9972952008247375,
+          -0.015159512870013714,
+          -0.7050361037254333
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9384,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324202_883082866",
+      "mask_path": "../../mask/hdr_front_09384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09388.png",
+      "transform_matrix": [
+        [
+          0.963415265083313,
+          0.05487760901451111,
+          0.26233476400375366,
+          -4.763152122497559
+        ],
+        [
+          -0.263367235660553,
+          0.01238484587520361,
+          0.9646161794662476,
+          -2.2556397914886475
+        ],
+        [
+          0.04968685284256935,
+          -0.9984162449836731,
+          0.026384711265563965,
+          -0.7048677206039429
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9388,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324203_283082485",
+      "mask_path": "../../mask/hdr_front_09388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09393.png",
+      "transform_matrix": [
+        [
+          0.8508957028388977,
+          0.05548018589615822,
+          0.5223967432975769,
+          -4.831756114959717
+        ],
+        [
+          -0.5245767831802368,
+          0.03634093329310417,
+          0.8505871891975403,
+          -2.1818861961364746
+        ],
+        [
+          0.02820635586977005,
+          -0.9977982640266418,
+          0.06002596393227577,
+          -0.7250099182128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9393,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324203_783082246",
+      "mask_path": "../../mask/hdr_front_09393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09398.png",
+      "transform_matrix": [
+        [
+          0.6639522910118103,
+          0.07512965798377991,
+          0.7439911365509033,
+          -4.887659072875977
+        ],
+        [
+          -0.7477486729621887,
+          0.05837326496839523,
+          0.661410927772522,
+          -2.0894901752471924
+        ],
+        [
+          0.00626238202676177,
+          -0.9954637885093689,
+          0.09493517130613327,
+          -0.7265673279762268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9398,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324204_283083915",
+      "mask_path": "../../mask/hdr_front_09398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_09402.png",
+      "transform_matrix": [
+        [
+          0.5551548004150391,
+          0.20130117237567902,
+          0.807019829750061,
+          -4.821264743804932
+        ],
+        [
+          -0.8284154534339905,
+          0.04706481099128723,
+          0.5581333041191101,
+          -2.0728962421417236
+        ],
+        [
+          0.07437065243721008,
+          -0.9783980846405029,
+          0.1928892731666565,
+          -0.7505374550819397
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9402,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324204_683083534",
+      "mask_path": "../../mask/hdr_front_09402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00106.png",
+      "transform_matrix": [
+        [
+          0.18106138706207275,
+          -0.07446133345365524,
+          -0.9806489944458008,
+          0.11282724887132645
+        ],
+        [
+          0.9830947518348694,
+          0.04130904749035835,
+          0.17837634682655334,
+          -0.01578843593597412
+        ],
+        [
+          0.027227532118558884,
+          -0.9963679909706116,
+          0.08068201690912247,
+          0.1073061153292656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 106,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323272_983082056",
+      "mask_path": "../../mask/hdr_left_00106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00150.png",
+      "transform_matrix": [
+        [
+          0.18436186015605927,
+          -0.026270246133208275,
+          -0.9825072288513184,
+          0.12672674655914307
+        ],
+        [
+          0.982757031917572,
+          0.019279582425951958,
+          0.18389323353767395,
+          -0.02935129404067993
+        ],
+        [
+          0.014111407101154327,
+          -0.9994691014289856,
+          0.02937169559299946,
+          0.05813717097043991
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 150,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323277_383084058",
+      "mask_path": "../../mask/hdr_left_00150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00185.png",
+      "transform_matrix": [
+        [
+          -0.47007274627685547,
+          -0.0423986054956913,
+          -0.881608784198761,
+          -0.1544257402420044
+        ],
+        [
+          0.8824822902679443,
+          -0.04070667549967766,
+          -0.46858081221580505,
+          -0.05105873942375183
+        ],
+        [
+          -0.016020193696022034,
+          -0.9982712268829346,
+          0.056551121175289154,
+          0.06145893782377243
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 185,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323280_883082151",
+      "mask_path": "../../mask/hdr_left_00185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00200.png",
+      "transform_matrix": [
+        [
+          -0.9779919385910034,
+          -0.011933273635804653,
+          -0.20830072462558746,
+          -0.6995621919631958
+        ],
+        [
+          0.20862844586372375,
+          -0.06742502748966217,
+          -0.9756679534912109,
+          -0.11853086948394775
+        ],
+        [
+          -0.00240177009254694,
+          -0.9976529479026794,
+          0.06843075901269913,
+          0.06207216531038284
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 200,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_383080244",
+      "mask_path": "../../mask/hdr_left_00200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00202.png",
+      "transform_matrix": [
+        [
+          -0.9962396621704102,
+          -0.0002449051244184375,
+          -0.08664015680551529,
+          -0.7922301888465881
+        ],
+        [
+          0.08651571720838547,
+          -0.05646510049700737,
+          -0.9946490526199341,
+          -0.16603678464889526
+        ],
+        [
+          -0.004648552741855383,
+          -0.9984046220779419,
+          0.056273967027664185,
+          0.05279902368783951
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 202,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_583080530",
+      "mask_path": "../../mask/hdr_left_00202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00204.png",
+      "transform_matrix": [
+        [
+          -0.999822199344635,
+          0.013705989345908165,
+          0.012950481846928596,
+          -0.8835707306861877
+        ],
+        [
+          -0.013785815797746181,
+          -0.06271754950284958,
+          -0.9979360699653625,
+          -0.21679551899433136
+        ],
+        [
+          -0.012865477241575718,
+          -0.9979372620582581,
+          0.06289534270763397,
+          0.06582951545715332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 204,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_783082485",
+      "mask_path": "../../mask/hdr_left_00204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00206.png",
+      "transform_matrix": [
+        [
+          -0.9965379238128662,
+          0.011214660480618477,
+          0.0823792889714241,
+          -0.9658893942832947
+        ],
+        [
+          -0.08297476172447205,
+          -0.07187916338443756,
+          -0.9939560294151306,
+          -0.265880823135376
+        ],
+        [
+          -0.0052255261689424515,
+          -0.9973503351211548,
+          0.07256084680557251,
+          0.06203653663396835
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 206,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_983081102",
+      "mask_path": "../../mask/hdr_left_00206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00207.png",
+      "transform_matrix": [
+        [
+          -0.9925884008407593,
+          0.013787142932415009,
+          0.1207398846745491,
+          -1.0192869901657104
+        ],
+        [
+          -0.12141968309879303,
+          -0.07126225531101227,
+          -0.9900398850440979,
+          -0.3028011620044708
+        ],
+        [
+          -0.005045625381171703,
+          -0.9973623752593994,
+          0.07240810990333557,
+          0.06507816910743713
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 207,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323283_83081722",
+      "mask_path": "../../mask/hdr_left_00207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00208.png",
+      "transform_matrix": [
+        [
+          -0.9870196580886841,
+          0.016618117690086365,
+          0.15973733365535736,
+          -1.067273736000061
+        ],
+        [
+          -0.16047842800617218,
+          -0.06345106661319733,
+          -0.9849976897239685,
+          -0.34436312317848206
+        ],
+        [
+          -0.0062333038076758385,
+          -0.9978466033935547,
+          0.0652943029999733,
+          0.06689871847629547
+        ],
+        [
+          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": "1731323283_183082103",
+      "mask_path": "../../mask/hdr_left_00208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00210.png",
+      "transform_matrix": [
+        [
+          -0.9828211069107056,
+          0.025959549471735954,
+          0.182725727558136,
+          -1.1390489339828491
+        ],
+        [
+          -0.18396520614624023,
+          -0.0583367757499218,
+          -0.981200098991394,
+          -0.3906822204589844
+        ],
+        [
+          -0.014811881817877293,
+          -0.9979594945907593,
+          0.06211027130484581,
+          0.055080704391002655
+        ],
+        [
+          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": "1731323283_383081674",
+      "mask_path": "../../mask/hdr_left_00210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00211.png",
+      "transform_matrix": [
+        [
+          -0.9824743270874023,
+          0.0312708355486393,
+          0.18375591933727264,
+          -1.1926002502441406
+        ],
+        [
+          -0.18523667752742767,
+          -0.05393989011645317,
+          -0.9812124967575073,
+          -0.4256351590156555
+        ],
+        [
+          -0.020771557465195656,
+          -0.9980545043945312,
+          0.058787066489458084,
+          0.05642671138048172
+        ],
+        [
+          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": "1731323283_483083248",
+      "mask_path": "../../mask/hdr_left_00211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00212.png",
+      "transform_matrix": [
+        [
+          -0.9831655621528625,
+          0.02998383156955242,
+          0.18023987114429474,
+          -1.253491759300232
+        ],
+        [
+          -0.18157662451267242,
+          -0.05029891058802605,
+          -0.9820895195007324,
+          -0.45341867208480835
+        ],
+        [
+          -0.020380938425660133,
+          -0.998284101486206,
+          0.0548965185880661,
+          0.06127433478832245
+        ],
+        [
+          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": "1731323283_583081960",
+      "mask_path": "../../mask/hdr_left_00212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00213.png",
+      "transform_matrix": [
+        [
+          -0.9849691390991211,
+          0.021810704842209816,
+          0.17134776711463928,
+          -1.3200411796569824
+        ],
+        [
+          -0.17224912345409393,
+          -0.050031714141368866,
+          -0.9837819933891296,
+          -0.47696053981781006
+        ],
+        [
+          -0.012884157709777355,
+          -0.9985094666481018,
+          0.05303657427430153,
+          0.07013612240552902
+        ],
+        [
+          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": "1731323283_683081626",
+      "mask_path": "../../mask/hdr_left_00213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00214.png",
+      "transform_matrix": [
+        [
+          -0.9858026504516602,
+          0.026540080085396767,
+          0.16579684615135193,
+          -1.3991684913635254
+        ],
+        [
+          -0.16673557460308075,
+          -0.038267601281404495,
+          -0.9852586984634399,
+          -0.5071312189102173
+        ],
+        [
+          -0.019804198294878006,
+          -0.9989150762557983,
+          0.04214948043227196,
+          0.06840910762548447
+        ],
+        [
+          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": "1731323283_783081531",
+      "mask_path": "../../mask/hdr_left_00214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00215.png",
+      "transform_matrix": [
+        [
+          -0.9849241971969604,
+          0.04005487635731697,
+          0.16828517615795135,
+          -1.4691401720046997
+        ],
+        [
+          -0.16940243542194366,
+          -0.02633560076355934,
+          -0.9851949214935303,
+          -0.5379936695098877
+        ],
+        [
+          -0.03502997010946274,
+          -0.998850405216217,
+          0.03272396698594093,
+          0.0421309769153595
+        ],
+        [
+          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": "1731323283_883081436",
+      "mask_path": "../../mask/hdr_left_00215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00216.png",
+      "transform_matrix": [
+        [
+          -0.9839322566986084,
+          0.0448232963681221,
+          0.17282401025295258,
+          -1.5254665613174438
+        ],
+        [
+          -0.17395232617855072,
+          -0.02260039560496807,
+          -0.984494686126709,
+          -0.566017746925354
+        ],
+        [
+          -0.0402224063873291,
+          -0.9987393021583557,
+          0.030034374445676804,
+          0.02221095561981201
+        ],
+        [
+          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": "1731323283_983082294",
+      "mask_path": "../../mask/hdr_left_00216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00217.png",
+      "transform_matrix": [
+        [
+          -0.9830238223075867,
+          0.0562669038772583,
+          0.1746373176574707,
+          -1.5961008071899414
+        ],
+        [
+          -0.1761026531457901,
+          -0.022193336859345436,
+          -0.9841216206550598,
+          -0.5927378535270691
+        ],
+        [
+          -0.0514976903796196,
+          -0.9981691241264343,
+          0.03172532841563225,
+          0.01031947135925293
+        ],
+        [
+          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": "1731323284_83081483",
+      "mask_path": "../../mask/hdr_left_00217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00218.png",
+      "transform_matrix": [
+        [
+          -0.9821292757987976,
+          0.08010242879390717,
+          0.17031033337116241,
+          -1.6703673601150513
+        ],
+        [
+          -0.17236056923866272,
+          -0.019367320463061333,
+          -0.9848434329032898,
+          -0.6108980178833008
+        ],
+        [
+          -0.07558989524841309,
+          -0.9965985417366028,
+          0.0328277125954628,
+          -0.021922558546066284
+        ],
+        [
+          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": "1731323284_183079004",
+      "mask_path": "../../mask/hdr_left_00218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00219.png",
+      "transform_matrix": [
+        [
+          -0.9825366139411926,
+          0.08840721100568771,
+          0.16372546553611755,
+          -1.7336384057998657
+        ],
+        [
+          -0.16593991219997406,
+          -0.01825839839875698,
+          -0.9859668016433716,
+          -0.6383057236671448
+        ],
+        [
+          -0.08417720347642899,
+          -0.9959170818328857,
+          0.03260982781648636,
+          -0.029549263417720795
+        ],
+        [
+          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": "1731323284_283082485",
+      "mask_path": "../../mask/hdr_left_00219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00220.png",
+      "transform_matrix": [
+        [
+          -0.9833218455314636,
+          0.09238096326589584,
+          0.15666529536247253,
+          -1.7831339836120605
+        ],
+        [
+          -0.15912504494190216,
+          -0.019844749942421913,
+          -0.9870590567588806,
+          -0.6662622690200806
+        ],
+        [
+          -0.08807645738124847,
+          -0.9955259561538696,
+          0.034213896840810776,
+          -0.0345633402466774
+        ],
+        [
+          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": "1731323284_383082151",
+      "mask_path": "../../mask/hdr_left_00220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00221.png",
+      "transform_matrix": [
+        [
+          -0.9827892780303955,
+          0.10130620747804642,
+          0.15447407960891724,
+          -1.852532148361206
+        ],
+        [
+          -0.15573319792747498,
+          -0.004592361859977245,
+          -0.9877884984016418,
+          -0.7045493125915527
+        ],
+        [
+          -0.09935970604419708,
+          -0.9948447942733765,
+          0.020290065556764603,
+          -0.05222654342651367
+        ],
+        [
+          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": "1731323284_483081817",
+      "mask_path": "../../mask/hdr_left_00221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00222.png",
+      "transform_matrix": [
+        [
+          -0.9819214344024658,
+          0.1065678820014,
+          0.15644024312496185,
+          -1.9289171695709229
+        ],
+        [
+          -0.1561298370361328,
+          0.01130185928195715,
+          -0.9876718521118164,
+          -0.7475899457931519
+        ],
+        [
+          -0.10702215135097504,
+          -0.9942412376403809,
+          0.0055408901534974575,
+          -0.06841788440942764
+        ],
+        [
+          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": "1731323284_583081007",
+      "mask_path": "../../mask/hdr_left_00222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00223.png",
+      "transform_matrix": [
+        [
+          -0.9813778400421143,
+          0.10993955284357071,
+          0.15751402080059052,
+          -1.9902650117874146
+        ],
+        [
+          -0.15639784932136536,
+          0.018758105114102364,
+          -0.9875160455703735,
+          -0.7741018533706665
+        ],
+        [
+          -0.11152172088623047,
+          -0.9937613010406494,
+          -0.0012144810752943158,
+          -0.08946159482002258
+        ],
+        [
+          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": "1731323284_683081388",
+      "mask_path": "../../mask/hdr_left_00223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00224.png",
+      "transform_matrix": [
+        [
+          -0.9811127781867981,
+          0.11247920244932175,
+          0.15737284719944,
+          -2.0585014820098877
+        ],
+        [
+          -0.15538282692432404,
+          0.026300599798560143,
+          -0.9875041246414185,
+          -0.8004781603813171
+        ],
+        [
+          -0.11521267890930176,
+          -0.993306040763855,
+          -0.008326518349349499,
+          -0.10441682487726212
+        ],
+        [
+          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": "1731323284_783081293",
+      "mask_path": "../../mask/hdr_left_00224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00225.png",
+      "transform_matrix": [
+        [
+          -0.9788370728492737,
+          0.15078391134738922,
+          0.13835474848747253,
+          -2.1412384510040283
+        ],
+        [
+          -0.13705721497535706,
+          0.019015181809663773,
+          -0.990380585193634,
+          -0.8181126713752747
+        ],
+        [
+          -0.15196429193019867,
+          -0.9883838891983032,
+          0.002053258940577507,
+          -0.12586700916290283
+        ],
+        [
+          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": "1731323284_883082389",
+      "mask_path": "../../mask/hdr_left_00225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00226.png",
+      "transform_matrix": [
+        [
+          -0.9774706959724426,
+          0.18613623082637787,
+          0.09952002018690109,
+          -2.199275016784668
+        ],
+        [
+          -0.09794072806835175,
+          0.017684331163764,
+          -0.9950352311134338,
+          -0.8165447115898132
+        ],
+        [
+          -0.1869720220565796,
+          -0.98236483335495,
+          0.000944405619520694,
+          -0.13293500244617462
+        ],
+        [
+          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": "1731323284_983082532",
+      "mask_path": "../../mask/hdr_left_00226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00228.png",
+      "transform_matrix": [
+        [
+          -0.9813801646232605,
+          0.19082535803318024,
+          0.021877935156226158,
+          -2.310502767562866
+        ],
+        [
+          -0.016172174364328384,
+          0.0314067006111145,
+          -0.9993758797645569,
+          -0.8035876154899597
+        ],
+        [
+          -0.19139334559440613,
+          -0.9811214804649353,
+          -0.027735844254493713,
+          -0.16254249215126038
+        ],
+        [
+          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": "1731323285_183080434",
+      "mask_path": "../../mask/hdr_left_00228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00229.png",
+      "transform_matrix": [
+        [
+          -0.9795125722885132,
+          0.20097485184669495,
+          -0.012815491296350956,
+          -2.382777690887451
+        ],
+        [
+          0.0197409987449646,
+          0.032493118196725845,
+          -0.9992769956588745,
+          -0.8071094751358032
+        ],
+        [
+          -0.20041310787200928,
+          -0.9790573716163635,
+          -0.035794857889413834,
+          -0.21193543076515198
+        ],
+        [
+          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": "1731323285_283082723",
+      "mask_path": "../../mask/hdr_left_00229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00230.png",
+      "transform_matrix": [
+        [
+          -0.976696252822876,
+          0.20861977338790894,
+          -0.05041979253292084,
+          -2.440570592880249
+        ],
+        [
+          0.056617047637701035,
+          0.023838059976696968,
+          -0.998111367225647,
+          -0.8116063475608826
+        ],
+        [
+          -0.20702384412288666,
+          -0.9777063131332397,
+          -0.03509397432208061,
+          -0.251045286655426
+        ],
+        [
+          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": "1731323285_383079528",
+      "mask_path": "../../mask/hdr_left_00230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00231.png",
+      "transform_matrix": [
+        [
+          -0.9743840098381042,
+          0.20692908763885498,
+          -0.08806886523962021,
+          -2.502762794494629
+        ],
+        [
+          0.09309174865484238,
+          0.014643438160419464,
+          -0.9955498576164246,
+          -0.8220558166503906
+        ],
+        [
+          -0.20471857488155365,
+          -0.9782464504241943,
+          -0.03353171795606613,
+          -0.2732470631599426
+        ],
+        [
+          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": "1731323285_483081102",
+      "mask_path": "../../mask/hdr_left_00231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00232.png",
+      "transform_matrix": [
+        [
+          -0.9702742099761963,
+          0.20767515897750854,
+          -0.12425364553928375,
+          -2.582730531692505
+        ],
+        [
+          0.1299746036529541,
+          0.01407858356833458,
+          -0.991417407989502,
+          -0.8244425654411316
+        ],
+        [
+          -0.2041434347629547,
+          -0.978096604347229,
+          -0.040652573108673096,
+          -0.287161648273468
+        ],
+        [
+          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": "1731323285_583079576",
+      "mask_path": "../../mask/hdr_left_00232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00233.png",
+      "transform_matrix": [
+        [
+          -0.9657482504844666,
+          0.206191748380661,
+          -0.15752804279327393,
+          -2.661893606185913
+        ],
+        [
+          0.1637381762266159,
+          0.013298150151968002,
+          -0.9864141345024109,
+          -0.8154662251472473
+        ],
+        [
+          -0.2012956291437149,
+          -0.9784213304519653,
+          -0.04660411551594734,
+          -0.2919778525829315
+        ],
+        [
+          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": "1731323285_683081388",
+      "mask_path": "../../mask/hdr_left_00233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00234.png",
+      "transform_matrix": [
+        [
+          -0.9640627503395081,
+          0.19859561324119568,
+          -0.17647306621074677,
+          -2.7352514266967773
+        ],
+        [
+          0.18230336904525757,
+          0.011317342519760132,
+          -0.9831772446632385,
+          -0.8095749616622925
+        ],
+        [
+          -0.19325745105743408,
+          -0.9800162315368652,
+          -0.0471152663230896,
+          -0.30055856704711914
+        ],
+        [
+          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": "1731323285_783079862",
+      "mask_path": "../../mask/hdr_left_00234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00235.png",
+      "transform_matrix": [
+        [
+          -0.9641766548156738,
+          0.18942131102085114,
+          -0.1856955587863922,
+          -2.816762685775757
+        ],
+        [
+          0.19135017693042755,
+          0.011848765425384045,
+          -0.9814502596855164,
+          -0.8066360950469971
+        ],
+        [
+          -0.1837073266506195,
+          -0.9818244576454163,
+          -0.04767009988427162,
+          -0.3185019791126251
+        ],
+        [
+          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": "1731323285_883081197",
+      "mask_path": "../../mask/hdr_left_00235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00236.png",
+      "transform_matrix": [
+        [
+          -0.963449239730835,
+          0.19177943468093872,
+          -0.18704594671726227,
+          -2.919586658477783
+        ],
+        [
+          0.19333693385124207,
+          0.014461508952081203,
+          -0.9810259342193604,
+          -0.8058957457542419
+        ],
+        [
+          -0.18543557822704315,
+          -0.9813315272331238,
+          -0.05101097375154495,
+          -0.3284337520599365
+        ],
+        [
+          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": "1731323285_983081817",
+      "mask_path": "../../mask/hdr_left_00236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00237.png",
+      "transform_matrix": [
+        [
+          -0.9634481072425842,
+          0.19704540073871613,
+          -0.18149612843990326,
+          -3.0082623958587646
+        ],
+        [
+          0.18829162418842316,
+          0.016156701371073723,
+          -0.9819802045822144,
+          -0.8128715753555298
+        ],
+        [
+          -0.19056230783462524,
+          -0.9802612066268921,
+          -0.05266813933849335,
+          -0.3382529318332672
+        ],
+        [
+          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": "1731323286_83082437",
+      "mask_path": "../../mask/hdr_left_00237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00238.png",
+      "transform_matrix": [
+        [
+          -0.965018630027771,
+          0.1941615343093872,
+          -0.17618225514888763,
+          -3.077693462371826
+        ],
+        [
+          0.18263885378837585,
+          0.015724999830126762,
+          -0.9830542802810669,
+          -0.8215881586074829
+        ],
+        [
+          -0.18810085952281952,
+          -0.9808435440063477,
+          -0.050636354833841324,
+          -0.35806557536125183
+        ],
+        [
+          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": "1731323286_183082580",
+      "mask_path": "../../mask/hdr_left_00238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00239.png",
+      "transform_matrix": [
+        [
+          -0.9649235606193542,
+          0.19510789215564728,
+          -0.17565672099590302,
+          -3.1574559211730957
+        ],
+        [
+          0.18159113824367523,
+          0.012813346460461617,
+          -0.9832906126976013,
+          -0.8238898515701294
+        ],
+        [
+          -0.1895969808101654,
+          -0.9806981086730957,
+          -0.047793757170438766,
+          -0.38104942440986633
+        ],
+        [
+          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": "1731323286_283082008",
+      "mask_path": "../../mask/hdr_left_00239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00240.png",
+      "transform_matrix": [
+        [
+          -0.9654545783996582,
+          0.1909807026386261,
+          -0.17726759612560272,
+          -3.2436275482177734
+        ],
+        [
+          0.18160448968410492,
+          0.005306730978190899,
+          -0.9833573698997498,
+          -0.8259660005569458
+        ],
+        [
+          -0.1868615448474884,
+          -0.9815794825553894,
+          -0.03980635106563568,
+          -0.40552467107772827
+        ],
+        [
+          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": "1731323286_383082628",
+      "mask_path": "../../mask/hdr_left_00240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00241.png",
+      "transform_matrix": [
+        [
+          -0.9668898582458496,
+          0.18324297666549683,
+          -0.17761152982711792,
+          -3.3224995136260986
+        ],
+        [
+          0.18243098258972168,
+          0.009649078361690044,
+          -0.983171284198761,
+          -0.8320440053939819
+        ],
+        [
+          -0.17844544351100922,
+          -0.9830203056335449,
+          -0.04275878891348839,
+          -0.41583114862442017
+        ],
+        [
+          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": "1731323286_483082056",
+      "mask_path": "../../mask/hdr_left_00241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00242.png",
+      "transform_matrix": [
+        [
+          -0.967810869216919,
+          0.17499662935733795,
+          -0.18088147044181824,
+          -3.4016127586364746
+        ],
+        [
+          0.18625719845294952,
+          0.01465921476483345,
+          -0.9823915362358093,
+          -0.837176501750946
+        ],
+        [
+          -0.16926363110542297,
+          -0.9844598770141602,
+          -0.04678172618150711,
+          -0.4377991259098053
+        ],
+        [
+          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": "1731323286_583082437",
+      "mask_path": "../../mask/hdr_left_00242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00243.png",
+      "transform_matrix": [
+        [
+          -0.9684041142463684,
+          0.16919353604316711,
+          -0.1832130402326584,
+          -3.508556604385376
+        ],
+        [
+          0.18853017687797546,
+          0.015775226056575775,
+          -0.9819406867027283,
+          -0.8473433256149292
+        ],
+        [
+          -0.16324776411056519,
+          -0.985456645488739,
+          -0.04717487096786499,
+          -0.45639747381210327
+        ],
+        [
+          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": "1731323286_683082342",
+      "mask_path": "../../mask/hdr_left_00243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00244.png",
+      "transform_matrix": [
+        [
+          -0.968879759311676,
+          0.16729113459587097,
+          -0.1824437528848648,
+          -3.5996756553649902
+        ],
+        [
+          0.18802092969417572,
+          0.01799187995493412,
+          -0.9820002317428589,
+          -0.8589261770248413
+        ],
+        [
+          -0.1609974205493927,
+          -0.9857433438301086,
+          -0.04888620227575302,
+          -0.4698045253753662
+        ],
+        [
+          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": "1731323286_783081531",
+      "mask_path": "../../mask/hdr_left_00244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00245.png",
+      "transform_matrix": [
+        [
+          -0.9701471924781799,
+          0.1618809998035431,
+          -0.18057918548583984,
+          -3.6740264892578125
+        ],
+        [
+          0.1853821724653244,
+          0.014945599250495434,
+          -0.9825528264045715,
+          -0.8696620464324951
+        ],
+        [
+          -0.1563577651977539,
+          -0.9866970777511597,
+          -0.04450928047299385,
+          -0.4866132140159607
+        ],
+        [
+          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": "1731323286_883081912",
+      "mask_path": "../../mask/hdr_left_00245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00246.png",
+      "transform_matrix": [
+        [
+          -0.9700046181678772,
+          0.16213810443878174,
+          -0.1811140924692154,
+          -3.7633819580078125
+        ],
+        [
+          0.18429024517536163,
+          0.004640618339180946,
+          -0.9828609228134155,
+          -0.8715649843215942
+        ],
+        [
+          -0.1585187017917633,
+          -0.9867571592330933,
+          -0.034381888806819916,
+          -0.5054813623428345
+        ],
+        [
+          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": "1731323286_983081579",
+      "mask_path": "../../mask/hdr_left_00246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00247.png",
+      "transform_matrix": [
+        [
+          -0.9653876423835754,
+          0.1809435337781906,
+          -0.18784601986408234,
+          -3.846639394760132
+        ],
+        [
+          0.19022215902805328,
+          -0.004290109965950251,
+          -0.9817315936088562,
+          -0.874274492263794
+        ],
+        [
+          -0.17844386398792267,
+          -0.9834842085838318,
+          -0.030277850106358528,
+          -0.5135647654533386
+        ],
+        [
+          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": "1731323287_83081722",
+      "mask_path": "../../mask/hdr_left_00247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00248.png",
+      "transform_matrix": [
+        [
+          -0.9613038897514343,
+          0.19425968825817108,
+          -0.1953405886888504,
+          -3.9116477966308594
+        ],
+        [
+          0.1983841061592102,
+          -0.0038565946742892265,
+          -0.9801167249679565,
+          -0.8711268305778503
+        ],
+        [
+          -0.19115050137043,
+          -0.9809425473213196,
+          -0.034830667078495026,
+          -0.5195770263671875
+        ],
+        [
+          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": "1731323287_183082342",
+      "mask_path": "../../mask/hdr_left_00248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00249.png",
+      "transform_matrix": [
+        [
+          -0.959568202495575,
+          0.19610664248466492,
+          -0.2019180953502655,
+          -3.97109317779541
+        ],
+        [
+          0.20580416917800903,
+          -0.0005737490719184279,
+          -0.9785930514335632,
+          -0.8599787354469299
+        ],
+        [
+          -0.19202443957328796,
+          -0.9805824160575867,
+          -0.03980901092290878,
+          -0.5318838357925415
+        ],
+        [
+          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": "1731323287_283082008",
+      "mask_path": "../../mask/hdr_left_00249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00250.png",
+      "transform_matrix": [
+        [
+          -0.9583861827850342,
+          0.19564111530780792,
+          -0.20789508521556854,
+          -4.058139801025391
+        ],
+        [
+          0.21218211948871613,
+          0.0009771258337423205,
+          -0.977229654788971,
+          -0.8466254472732544
+        ],
+        [
+          -0.1909831464290619,
+          -0.9806751012802124,
+          -0.0424480065703392,
+          -0.5602217316627502
+        ],
+        [
+          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": "1731323287_383082389",
+      "mask_path": "../../mask/hdr_left_00250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00251.png",
+      "transform_matrix": [
+        [
+          -0.9597373604774475,
+          0.18935006856918335,
+          -0.20748671889305115,
+          -4.153587341308594
+        ],
+        [
+          0.2127310186624527,
+          0.00757573964074254,
+          -0.9770814180374146,
+          -0.8356046676635742
+        ],
+        [
+          -0.18343855440616608,
+          -0.9818804860115051,
+          -0.04755134508013725,
+          -0.5945441722869873
+        ],
+        [
+          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": "1731323287_483083724",
+      "mask_path": "../../mask/hdr_left_00251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00252.png",
+      "transform_matrix": [
+        [
+          -0.9609825611114502,
+          0.1836446076631546,
+          -0.2068505734205246,
+          -4.235203742980957
+        ],
+        [
+          0.21170641481876373,
+          0.00702138664200902,
+          -0.9773080945014954,
+          -0.828217625617981
+        ],
+        [
+          -0.1780249923467636,
+          -0.9829676747322083,
+          -0.04562617093324661,
+          -0.6151114106178284
+        ],
+        [
+          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": "1731323287_583083152",
+      "mask_path": "../../mask/hdr_left_00252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00253.png",
+      "transform_matrix": [
+        [
+          -0.9611089825630188,
+          0.1810576170682907,
+          -0.20853690803050995,
+          -4.3121256828308105
+        ],
+        [
+          0.2112843543291092,
+          -0.004197312984615564,
+          -0.9774156212806702,
+          -0.8210804462432861
+        ],
+        [
+          -0.17784383893013,
+          -0.9834635853767395,
+          -0.034220561385154724,
+          -0.6420212388038635
+        ],
+        [
+          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": "1731323287_683082580",
+      "mask_path": "../../mask/hdr_left_00253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00254.png",
+      "transform_matrix": [
+        [
+          -0.9609774351119995,
+          0.18074405193328857,
+          -0.20941294729709625,
+          -4.409053802490234
+        ],
+        [
+          0.2106107920408249,
+          -0.012759272940456867,
+          -0.9774867296218872,
+          -0.8017396926879883
+        ],
+        [
+          -0.17934684455394745,
+          -0.9834474325180054,
+          -0.025805268436670303,
+          -0.6595633625984192
+        ],
+        [
+          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": "1731323287_783082723",
+      "mask_path": "../../mask/hdr_left_00254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00255.png",
+      "transform_matrix": [
+        [
+          -0.9599968791007996,
+          0.1821594089269638,
+          -0.21265909075737,
+          -4.497806072235107
+        ],
+        [
+          0.21312706172466278,
+          -0.017234858125448227,
+          -0.9768725037574768,
+          -0.7838222980499268
+        ],
+        [
+          -0.18161162734031677,
+          -0.9831179976463318,
+          -0.02227768301963806,
+          -0.6664416790008545
+        ],
+        [
+          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": "1731323287_883081197",
+      "mask_path": "../../mask/hdr_left_00255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00256.png",
+      "transform_matrix": [
+        [
+          -0.9584816098213196,
+          0.18084314465522766,
+          -0.22047372162342072,
+          -4.564253807067871
+        ],
+        [
+          0.22059999406337738,
+          -0.019671251997351646,
+          -0.9751659035682678,
+          -0.7761708498001099
+        ],
+        [
+          -0.18068906664848328,
+          -0.9833152294158936,
+          -0.021039457991719246,
+          -0.6770060062408447
+        ],
+        [
+          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": "1731323287_983082771",
+      "mask_path": "../../mask/hdr_left_00256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00257.png",
+      "transform_matrix": [
+        [
+          -0.9578466415405273,
+          0.1755741387605667,
+          -0.22738425433635712,
+          -4.642384052276611
+        ],
+        [
+          0.22882303595542908,
+          -0.012281454168260098,
+          -0.9733905792236328,
+          -0.7681741714477539
+        ],
+        [
+          -0.17369478940963745,
+          -0.9843896627426147,
+          -0.02841164730489254,
+          -0.6943093538284302
+        ],
+        [
+          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": "1731323288_83081245",
+      "mask_path": "../../mask/hdr_left_00257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00258.png",
+      "transform_matrix": [
+        [
+          -0.958283007144928,
+          0.18152640759944916,
+          -0.22077547013759613,
+          -4.737672328948975
+        ],
+        [
+          0.2248794138431549,
+          0.0020820358768105507,
+          -0.9743844270706177,
+          -0.762083888053894
+        ],
+        [
+          -0.17641682922840118,
+          -0.9833838939666748,
+          -0.042816732078790665,
+          -0.7063589096069336
+        ],
+        [
+          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": "1731323288_183082580",
+      "mask_path": "../../mask/hdr_left_00258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00259.png",
+      "transform_matrix": [
+        [
+          -0.9596951007843018,
+          0.1896514594554901,
+          -0.20740680396556854,
+          -4.8141279220581055
+        ],
+        [
+          0.212827667593956,
+          0.008447958156466484,
+          -0.9770533442497253,
+          -0.7713080644607544
+        ],
+        [
+          -0.18354740738868713,
+          -0.9818151593208313,
+          -0.04847053065896034,
+          -0.7144904136657715
+        ],
+        [
+          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": "1731323288_283082246",
+      "mask_path": "../../mask/hdr_left_00259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00260.png",
+      "transform_matrix": [
+        [
+          -0.9611474275588989,
+          0.1899431049823761,
+          -0.2002929449081421,
+          -4.875400543212891
+        ],
+        [
+          0.20538116991519928,
+          0.007285877596586943,
+          -0.9786549806594849,
+          -0.7806166410446167
+        ],
+        [
+          -0.18442943692207336,
+          -0.9817680716514587,
+          -0.04601353779435158,
+          -0.735600471496582
+        ],
+        [
+          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": "1731323288_383082389",
+      "mask_path": "../../mask/hdr_left_00260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00261.png",
+      "transform_matrix": [
+        [
+          -0.9603692889213562,
+          0.194656103849411,
+          -0.19949911534786224,
+          -4.954451560974121
+        ],
+        [
+          0.20440757274627686,
+          0.005253918934613466,
+          -0.978871762752533,
+          -0.7786098718643188
+        ],
+        [
+          -0.18949519097805023,
+          -0.9808575510978699,
+          -0.04483487829566002,
+          -0.7605061531066895
+        ],
+        [
+          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": "1731323288_483080387",
+      "mask_path": "../../mask/hdr_left_00261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00262.png",
+      "transform_matrix": [
+        [
+          -0.9605598449707031,
+          0.19203554093837738,
+          -0.20111434161663055,
+          -5.041299819946289
+        ],
+        [
+          0.20473487675189972,
+          -0.0010101951193064451,
+          -0.9788169264793396,
+          -0.7758629322052002
+        ],
+        [
+          -0.18817077577114105,
+          -0.9813874959945679,
+          -0.03834601491689682,
+          -0.7795567512512207
+        ],
+        [
+          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": "1731323288_583083629",
+      "mask_path": "../../mask/hdr_left_00262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_00263.png",
+      "transform_matrix": [
+        [
+          -0.9614665508270264,
+          0.18466658890247345,
+          -0.20366723835468292,
+          -5.117231845855713
+        ],
+        [
+          0.20679062604904175,
+          -0.0023942317347973585,
+          -0.9783822298049927,
+          -0.7755517959594727
+        ],
+        [
+          -0.18116213381290436,
+          -0.9827982783317566,
+          -0.03588534891605377,
+          -0.794864296913147
+        ],
+        [
+          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": "1731323288_683079242",
+      "mask_path": "../../mask/hdr_left_00263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08749.png",
+      "transform_matrix": [
+        [
+          0.9707350730895996,
+          0.18440385162830353,
+          -0.1538461446762085,
+          -4.739741802215576
+        ],
+        [
+          0.152368426322937,
+          0.022244052961468697,
+          0.9880732893943787,
+          -2.3210220336914062
+        ],
+        [
+          0.18562668561935425,
+          -0.9825989007949829,
+          -0.006504244636744261,
+          -0.7567683458328247
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8749,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_283082246",
+      "mask_path": "../../mask/hdr_left_08749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08750.png",
+      "transform_matrix": [
+        [
+          0.9715979099273682,
+          0.18055586516857147,
+          -0.15296132862567902,
+          -4.659806728363037
+        ],
+        [
+          0.1505742073059082,
+          0.026937080547213554,
+          0.9882315993309021,
+          -2.29278826713562
+        ],
+        [
+          0.1825513392686844,
+          -0.9831958413124084,
+          -0.0010150376474484801,
+          -0.7384774684906006
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8750,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_383081436",
+      "mask_path": "../../mask/hdr_left_08750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08751.png",
+      "transform_matrix": [
+        [
+          0.9720568656921387,
+          0.1765471249818802,
+          -0.15471439063549042,
+          -4.599969863891602
+        ],
+        [
+          0.15247799456119537,
+          0.026248397305607796,
+          0.9879583120346069,
+          -2.2671539783477783
+        ],
+        [
+          0.17848215997219086,
+          -0.9839421510696411,
+          -0.0014046113938093185,
+          -0.7235665917396545
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8751,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_483082532",
+      "mask_path": "../../mask/hdr_left_08751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08752.png",
+      "transform_matrix": [
+        [
+          0.9741508960723877,
+          0.1656268984079361,
+          -0.15361516177654266,
+          -4.533716201782227
+        ],
+        [
+          0.15151908993721008,
+          0.025293944403529167,
+          0.9881305694580078,
+          -2.237204074859619
+        ],
+        [
+          0.16754651069641113,
+          -0.9858641624450684,
+          -0.0004555078048724681,
+          -0.7197608351707458
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8752,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_583082437",
+      "mask_path": "../../mask/hdr_left_08752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08753.png",
+      "transform_matrix": [
+        [
+          0.9762313365936279,
+          0.15884405374526978,
+          -0.14744816720485687,
+          -4.444929122924805
+        ],
+        [
+          0.14438267052173615,
+          0.030733972787857056,
+          0.9890445470809937,
+          -2.2015068531036377
+        ],
+        [
+          0.16163547337055206,
+          -0.9868252277374268,
+          0.007069133687764406,
+          -0.7018117904663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8753,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_683082818",
+      "mask_path": "../../mask/hdr_left_08753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08754.png",
+      "transform_matrix": [
+        [
+          0.9780595898628235,
+          0.1560702919960022,
+          -0.13799037039279938,
+          -4.368798732757568
+        ],
+        [
+          0.1328209787607193,
+          0.04313003644347191,
+          0.9902012348175049,
+          -2.1727614402770996
+        ],
+        [
+          0.16049249470233917,
+          -0.9868038892745972,
+          0.0214543379843235,
+          -0.6837103366851807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8754,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_783082723",
+      "mask_path": "../../mask/hdr_left_08754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08755.png",
+      "transform_matrix": [
+        [
+          0.979246973991394,
+          0.1544899195432663,
+          -0.13117985427379608,
+          -4.299469470977783
+        ],
+        [
+          0.12498939037322998,
+          0.049166541546583176,
+          0.9909390807151794,
+          -2.1422979831695557
+        ],
+        [
+          0.15953972935676575,
+          -0.9867702722549438,
+          0.02883659116923809,
+          -0.6686341166496277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8755,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_883083105",
+      "mask_path": "../../mask/hdr_left_08755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08756.png",
+      "transform_matrix": [
+        [
+          0.9800775051116943,
+          0.1523231714963913,
+          -0.12745817005634308,
+          -4.2145256996154785
+        ],
+        [
+          0.12199374288320541,
+          0.04473565146327019,
+          0.9915221929550171,
+          -2.1028006076812744
+        ],
+        [
+          0.15673373639583588,
+          -0.9873178005218506,
+          0.025261931121349335,
+          -0.6597343683242798
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8756,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_983080625",
+      "mask_path": "../../mask/hdr_left_08756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08757.png",
+      "transform_matrix": [
+        [
+          0.9812597632408142,
+          0.1482813060283661,
+          -0.12305180728435516,
+          -4.147894382476807
+        ],
+        [
+          0.1183694452047348,
+          0.04003319516777992,
+          0.99216228723526,
+          -2.0755884647369385
+        ],
+        [
+          0.15204527974128723,
+          -0.9881346821784973,
+          0.021730991080403328,
+          -0.6605851650238037
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8757,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_83080768",
+      "mask_path": "../../mask/hdr_left_08757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08758.png",
+      "transform_matrix": [
+        [
+          0.9817033410072327,
+          0.14849452674388885,
+          -0.11919697374105453,
+          -4.082905292510986
+        ],
+        [
+          0.11519797891378403,
+          0.03527739271521568,
+          0.9927158951759338,
+          -2.0546648502349854
+        ],
+        [
+          0.1516178399324417,
+          -0.9882838129997253,
+          0.01752566546201706,
+          -0.6534295678138733
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8758,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_183079719",
+      "mask_path": "../../mask/hdr_left_08758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08759.png",
+      "transform_matrix": [
+        [
+          0.9810666441917419,
+          0.16007937490940094,
+          -0.10900864005088806,
+          -3.9892547130584717
+        ],
+        [
+          0.10574343800544739,
+          0.028801986947655678,
+          0.9939761757850647,
+          -2.0314738750457764
+        ],
+        [
+          0.16225473582744598,
+          -0.9866839647293091,
+          0.01132932584732771,
+          -0.6028242111206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8759,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_283081054",
+      "mask_path": "../../mask/hdr_left_08759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08760.png",
+      "transform_matrix": [
+        [
+          0.9815242290496826,
+          0.1661958545446396,
+          -0.09480985254049301,
+          -3.9111409187316895
+        ],
+        [
+          0.09015333652496338,
+          0.03535909205675125,
+          0.9953000545501709,
+          -2.016737699508667
+        ],
+        [
+          0.1687670797109604,
+          -0.9854586720466614,
+          0.019722692668437958,
+          -0.5628002882003784
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8760,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_383079528",
+      "mask_path": "../../mask/hdr_left_08760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08761.png",
+      "transform_matrix": [
+        [
+          0.982799232006073,
+          0.1638096272945404,
+          -0.08527594804763794,
+          -3.860992431640625
+        ],
+        [
+          0.07797384262084961,
+          0.050512541085481644,
+          0.9956749081611633,
+          -2.003070831298828
+        ],
+        [
+          0.16740861535072327,
+          -0.9851979613304138,
+          0.036870814859867096,
+          -0.5566117167472839
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8761,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_483082056",
+      "mask_path": "../../mask/hdr_left_08761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08762.png",
+      "transform_matrix": [
+        [
+          0.984938383102417,
+          0.15213149785995483,
+          -0.08217201381921768,
+          -3.7811996936798096
+        ],
+        [
+          0.07539670169353485,
+          0.04979127645492554,
+          0.9959096908569336,
+          -1.972601056098938
+        ],
+        [
+          0.1556006819009781,
+          -0.9871053099632263,
+          0.03757113218307495,
+          -0.5463629961013794
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8762,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_583081722",
+      "mask_path": "../../mask/hdr_left_08762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08763.png",
+      "transform_matrix": [
+        [
+          0.985808789730072,
+          0.14497436583042145,
+          -0.08463671803474426,
+          -3.702162504196167
+        ],
+        [
+          0.07973754405975342,
+          0.03928747400641441,
+          0.9960413575172424,
+          -1.9395999908447266
+        ],
+        [
+          0.14772561192512512,
+          -0.988655149936676,
+          0.02717003971338272,
+          -0.532554566860199
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8763,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_683081626",
+      "mask_path": "../../mask/hdr_left_08763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08764.png",
+      "transform_matrix": [
+        [
+          0.986072301864624,
+          0.14249515533447266,
+          -0.0857696607708931,
+          -3.6495349407196045
+        ],
+        [
+          0.08192488551139832,
+          0.03264375776052475,
+          0.9961037039756775,
+          -1.9127298593521118
+        ],
+        [
+          0.14473982155323029,
+          -0.9892571568489075,
+          0.020515210926532745,
+          -0.5224657654762268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8764,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_783081293",
+      "mask_path": "../../mask/hdr_left_08764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08765.png",
+      "transform_matrix": [
+        [
+          0.9873836040496826,
+          0.13433752954006195,
+          -0.0838269591331482,
+          -3.5855774879455566
+        ],
+        [
+          0.08081629872322083,
+          0.02771952748298645,
+          0.9963435530662537,
+          -1.8812203407287598
+        ],
+        [
+          0.13616995513439178,
+          -0.9905478358268738,
+          0.016513146460056305,
+          -0.5189514756202698
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8765,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_883081674",
+      "mask_path": "../../mask/hdr_left_08765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08766.png",
+      "transform_matrix": [
+        [
+          0.9884141087532043,
+          0.12943586707115173,
+          -0.07927119731903076,
+          -3.5091164112091064
+        ],
+        [
+          0.07577405869960785,
+          0.03173099458217621,
+          0.9966200590133667,
+          -1.8495519161224365
+        ],
+        [
+          0.13151371479034424,
+          -0.9910799860954285,
+          0.021555477753281593,
+          -0.5072764158248901
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8766,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_983081579",
+      "mask_path": "../../mask/hdr_left_08766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08767.png",
+      "transform_matrix": [
+        [
+          0.9886889457702637,
+          0.12994296848773956,
+          -0.07489313930273056,
+          -3.4472930431365967
+        ],
+        [
+          0.07040674984455109,
+          0.03878946974873543,
+          0.9967638254165649,
+          -1.8267136812210083
+        ],
+        [
+          0.13242749869823456,
+          -0.99076247215271,
+          0.02920185774564743,
+          -0.49840301275253296
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8767,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_83078145",
+      "mask_path": "../../mask/hdr_left_08767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08768.png",
+      "transform_matrix": [
+        [
+          0.9885126948356628,
+          0.13306008279323578,
+          -0.07167647033929825,
+          -3.3693747520446777
+        ],
+        [
+          0.06666941195726395,
+          0.0417172908782959,
+          0.9969026446342468,
+          -1.796916127204895
+        ],
+        [
+          0.13563808798789978,
+          -0.990229606628418,
+          0.0323670469224453,
+          -0.4858148992061615
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8768,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_183082103",
+      "mask_path": "../../mask/hdr_left_08768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08769.png",
+      "transform_matrix": [
+        [
+          0.9879280924797058,
+          0.13898682594299316,
+          -0.06841526925563812,
+          -3.2832396030426025
+        ],
+        [
+          0.06359364092350006,
+          0.038845788687467575,
+          0.9972195625305176,
+          -1.7640987634658813
+        ],
+        [
+          0.14125801622867584,
+          -0.9895321130752563,
+          0.029538169503211975,
+          -0.47361379861831665
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8769,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_283083200",
+      "mask_path": "../../mask/hdr_left_08769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08772.png",
+      "transform_matrix": [
+        [
+          0.9871566891670227,
+          0.15107016265392303,
+          -0.05195535719394684,
+          -3.1096935272216797
+        ],
+        [
+          0.048537977039813995,
+          0.026223769411444664,
+          0.9984769821166992,
+          -1.73363196849823
+        ],
+        [
+          0.1522025316953659,
+          -0.9881752133369446,
+          0.018554333597421646,
+          -0.42337292432785034
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8772,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_583081245",
+      "mask_path": "../../mask/hdr_left_08772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08773.png",
+      "transform_matrix": [
+        [
+          0.9869564771652222,
+          0.1557001918554306,
+          -0.04091908410191536,
+          -3.043158531188965
+        ],
+        [
+          0.03711359202861786,
+          0.027271410450339317,
+          0.9989388585090637,
+          -1.7299001216888428
+        ],
+        [
+          0.15665090084075928,
+          -0.9874278903007507,
+          0.021137099713087082,
+          -0.3928307890892029
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8773,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_683081150",
+      "mask_path": "../../mask/hdr_left_08773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08775.png",
+      "transform_matrix": [
+        [
+          0.9880154728889465,
+          0.15284040570259094,
+          -0.021565716713666916,
+          -2.957341432571411
+        ],
+        [
+          0.015634847804903984,
+          0.03990048170089722,
+          0.9990813732147217,
+          -1.7209903001785278
+        ],
+        [
+          0.15356047451496124,
+          -0.9874451160430908,
+          0.037032656371593475,
+          -0.3778875470161438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8775,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_883080482",
+      "mask_path": "../../mask/hdr_left_08775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08776.png",
+      "transform_matrix": [
+        [
+          0.9888081550598145,
+          0.1481478065252304,
+          -0.017626142129302025,
+          -2.8845877647399902
+        ],
+        [
+          0.01193696353584528,
+          0.03920378535985947,
+          0.9991599321365356,
+          -1.708548665046692
+        ],
+        [
+          0.1487143486738205,
+          -0.9881879687309265,
+          0.03699658811092377,
+          -0.36236754059791565
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8776,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_983080148",
+      "mask_path": "../../mask/hdr_left_08776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08779.png",
+      "transform_matrix": [
+        [
+          0.9898713827133179,
+          0.13621406257152557,
+          -0.040004219859838486,
+          -2.7224879264831543
+        ],
+        [
+          0.036444954574108124,
+          0.028525136411190033,
+          0.998928427696228,
+          -1.6582741737365723
+        ],
+        [
+          0.1372092217206955,
+          -0.9902687072753906,
+          0.023271901533007622,
+          -0.3397533893585205
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8779,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_283081293",
+      "mask_path": "../../mask/hdr_left_08779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08780.png",
+      "transform_matrix": [
+        [
+          0.9892387986183167,
+          0.13531333208084106,
+          -0.055648624897003174,
+          -2.6528103351593018
+        ],
+        [
+          0.05166609212756157,
+          0.03277035802602768,
+          0.9981265664100647,
+          -1.6353992223739624
+        ],
+        [
+          0.1368834525346756,
+          -0.9902608394622803,
+          0.025426601991057396,
+          -0.3228827118873596
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8780,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_383082389",
+      "mask_path": "../../mask/hdr_left_08780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08781.png",
+      "transform_matrix": [
+        [
+          0.9884741306304932,
+          0.1345544159412384,
+          -0.06938342750072479,
+          -2.597720146179199
+        ],
+        [
+          0.06423982232809067,
+          0.04220417141914368,
+          0.997041642665863,
+          -1.6168776750564575
+        ],
+        [
+          0.13708461821079254,
+          -0.9900070428848267,
+          0.03307398036122322,
+          -0.3100464940071106
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8781,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_483082532",
+      "mask_path": "../../mask/hdr_left_08781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08782.png",
+      "transform_matrix": [
+        [
+          0.9870043396949768,
+          0.13572634756565094,
+          -0.08602722734212875,
+          -2.5298938751220703
+        ],
+        [
+          0.07991088181734085,
+          0.04989638179540634,
+          0.9955523610115051,
+          -1.5915817022323608
+        ],
+        [
+          0.13941513001918793,
+          -0.9894891381263733,
+          0.03840194270014763,
+          -0.3029203414916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8782,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_583082914",
+      "mask_path": "../../mask/hdr_left_08782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08783.png",
+      "transform_matrix": [
+        [
+          0.9849008917808533,
+          0.13781431317329407,
+          -0.10477253049612045,
+          -2.462347984313965
+        ],
+        [
+          0.09919632971286774,
+          0.046744827181100845,
+          0.9939693212509155,
+          -1.5613527297973633
+        ],
+        [
+          0.14188078045845032,
+          -0.9893544316291809,
+          0.03236835077404976,
+          -0.2976562976837158
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8783,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_683081865",
+      "mask_path": "../../mask/hdr_left_08783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08785.png",
+      "transform_matrix": [
+        [
+          0.980563759803772,
+          0.14222069084644318,
+          -0.13515862822532654,
+          -2.362076997756958
+        ],
+        [
+          0.13009631633758545,
+          0.044354185461997986,
+          0.9905087947845459,
+          -1.5202573537826538
+        ],
+        [
+          0.14686565101146698,
+          -0.9888407588005066,
+          0.024989718571305275,
+          -0.2889457643032074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8785,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_883081197",
+      "mask_path": "../../mask/hdr_left_08785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08786.png",
+      "transform_matrix": [
+        [
+          0.9801406264305115,
+          0.147161602973938,
+          -0.1329205185174942,
+          -2.291536569595337
+        ],
+        [
+          0.12842559814453125,
+          0.03967856243252754,
+          0.9909250140190125,
+          -1.5045642852783203
+        ],
+        [
+          0.15110021829605103,
+          -0.9883162975311279,
+          0.019991252571344376,
+          -0.23446375131607056
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8786,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_983080625",
+      "mask_path": "../../mask/hdr_left_08786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08787.png",
+      "transform_matrix": [
+        [
+          0.9818518161773682,
+          0.14785055816173553,
+          -0.11877341568470001,
+          -2.2342498302459717
+        ],
+        [
+          0.11385186016559601,
+          0.041347384452819824,
+          0.9926369786262512,
+          -1.498962640762329
+        ],
+        [
+          0.15167289972305298,
+          -0.9881450533866882,
+          0.023763950914144516,
+          -0.21048642694950104
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8787,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_83080530",
+      "mask_path": "../../mask/hdr_left_08787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08789.png",
+      "transform_matrix": [
+        [
+          0.9841987490653992,
+          0.14711254835128784,
+          -0.09854315221309662,
+          -2.1287317276000977
+        ],
+        [
+          0.09162838011980057,
+          0.05307883769273758,
+          0.994377613067627,
+          -1.4772998094558716
+        ],
+        [
+          0.15151597559452057,
+          -0.9876946210861206,
+          0.03876044601202011,
+          -0.19064074754714966
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8789,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_283080577",
+      "mask_path": "../../mask/hdr_left_08789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08790.png",
+      "transform_matrix": [
+        [
+          0.9852603077888489,
+          0.14107440412044525,
+          -0.09674786031246185,
+          -2.052595376968384
+        ],
+        [
+          0.09064839780330658,
+          0.04905449599027634,
+          0.9946741461753845,
+          -1.4537628889083862
+        ],
+        [
+          0.1450689285993576,
+          -0.9887830018997192,
+          0.035543281584978104,
+          -0.17892196774482727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8790,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_383079051",
+      "mask_path": "../../mask/hdr_left_08790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08791.png",
+      "transform_matrix": [
+        [
+          0.98539799451828,
+          0.13805532455444336,
+          -0.09965772181749344,
+          -2.0006349086761475
+        ],
+        [
+          0.09428266435861588,
+          0.04495750740170479,
+          0.9945298433303833,
+          -1.431860089302063
+        ],
+        [
+          0.14178049564361572,
+          -0.9894036650657654,
+          0.03128480538725853,
+          -0.17084158957004547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8791,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_483082056",
+      "mask_path": "../../mask/hdr_left_08791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08792.png",
+      "transform_matrix": [
+        [
+          0.9861618876457214,
+          0.13202300667762756,
+          -0.10027270764112473,
+          -1.956663966178894
+        ],
+        [
+          0.09553705900907516,
+          0.04174431785941124,
+          0.9945501685142517,
+          -1.4088566303253174
+        ],
+        [
+          0.1354893147945404,
+          -0.9903672933578491,
+          0.028553564101457596,
+          -0.16948290169239044
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8792,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_583081722",
+      "mask_path": "../../mask/hdr_left_08792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08793.png",
+      "transform_matrix": [
+        [
+          0.9873030185699463,
+          0.1249721422791481,
+          -0.09805440902709961,
+          -1.8932253122329712
+        ],
+        [
+          0.09338367730379105,
+          0.042714010924100876,
+          0.9947134852409363,
+          -1.3818923234939575
+        ],
+        [
+          0.12849977612495422,
+          -0.9912404417991638,
+          0.030501319095492363,
+          -0.1606733351945877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8793,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_683077812",
+      "mask_path": "../../mask/hdr_left_08793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08794.png",
+      "transform_matrix": [
+        [
+          0.98773193359375,
+          0.12451387941837311,
+          -0.09424398839473724,
+          -1.826837182044983
+        ],
+        [
+          0.0889907032251358,
+          0.04711148142814636,
+          0.9949177503585815,
+          -1.3583017587661743
+        ],
+        [
+          0.12832103669643402,
+          -0.9910988211631775,
+          0.03545293211936951,
+          -0.14216546714305878
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8794,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_783081054",
+      "mask_path": "../../mask/hdr_left_08794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08795.png",
+      "transform_matrix": [
+        [
+          0.9877328276634216,
+          0.12667202949523926,
+          -0.09131324291229248,
+          -1.7650468349456787
+        ],
+        [
+          0.08518333733081818,
+          0.053004104644060135,
+          0.9949544668197632,
+          -1.3382906913757324
+        ],
+        [
+          0.13087286055088043,
+          -0.9905276298522949,
+          0.041563548147678375,
+          -0.12375079095363617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8795,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_883077621",
+      "mask_path": "../../mask/hdr_left_08795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08796.png",
+      "transform_matrix": [
+        [
+          0.9876325130462646,
+          0.1255287081003189,
+          -0.0939391702413559,
+          -1.6926279067993164
+        ],
+        [
+          0.08814765512943268,
+          0.050933513790369034,
+          0.9948044419288635,
+          -1.3130075931549072
+        ],
+        [
+          0.12966115772724152,
+          -0.9907817244529724,
+          0.03923853486776352,
+          -0.1178133636713028
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8796,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_983082771",
+      "mask_path": "../../mask/hdr_left_08796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08797.png",
+      "transform_matrix": [
+        [
+          0.9872822165489197,
+          0.12389063090085983,
+          -0.09962397813796997,
+          -1.6295162439346313
+        ],
+        [
+          0.09539584070444107,
+          0.039619080722332,
+          0.9946507215499878,
+          -1.2892224788665771
+        ],
+        [
+          0.12717488408088684,
+          -0.9915047287940979,
+          0.02729656547307968,
+          -0.11624343693256378
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8797,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_83081483",
+      "mask_path": "../../mask/hdr_left_08797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08798.png",
+      "transform_matrix": [
+        [
+          0.9863419532775879,
+          0.12193522602319717,
+          -0.11073073744773865,
+          -1.5800559520721436
+        ],
+        [
+          0.1073978990316391,
+          0.03359439596533775,
+          0.9936484694480896,
+          -1.267142415046692
+        ],
+        [
+          0.12488067150115967,
+          -0.9919694066047668,
+          0.02003997564315796,
+          -0.11714369058609009
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8798,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_183082580",
+      "mask_path": "../../mask/hdr_left_08798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08799.png",
+      "transform_matrix": [
+        [
+          0.9809991121292114,
+          0.14396169781684875,
+          -0.13006047904491425,
+          -1.4970088005065918
+        ],
+        [
+          0.1293124258518219,
+          0.014581496827304363,
+          0.9914965629577637,
+          -1.243857502937317
+        ],
+        [
+          0.14463399350643158,
+          -0.9894758462905884,
+          -0.004311594180762768,
+          -0.08961468935012817
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8799,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_283082008",
+      "mask_path": "../../mask/hdr_left_08799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08800.png",
+      "transform_matrix": [
+        [
+          0.9744683504104614,
+          0.17367255687713623,
+          -0.14230011403560638,
+          -1.3975216150283813
+        ],
+        [
+          0.1434675008058548,
+          0.005878862459212542,
+          0.9896376132965088,
+          -1.2249372005462646
+        ],
+        [
+          0.1727094203233719,
+          -0.9847859740257263,
+          -0.019187599420547485,
+          -0.0347638875246048
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8800,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_383082628",
+      "mask_path": "../../mask/hdr_left_08800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08803.png",
+      "transform_matrix": [
+        [
+          0.9678633809089661,
+          0.18032622337341309,
+          -0.17527906596660614,
+          -1.2498120069503784
+        ],
+        [
+          0.17489749193191528,
+          0.01814073510468006,
+          0.9844194650650024,
+          -1.1884626150131226
+        ],
+        [
+          0.18069632351398468,
+          -0.9834396243095398,
+          -0.013980844058096409,
+          0.002391114830970764
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8803,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_683082342",
+      "mask_path": "../../mask/hdr_left_08803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08804.png",
+      "transform_matrix": [
+        [
+          0.9670515060424805,
+          0.17813444137573242,
+          -0.18187765777111053,
+          -1.1880786418914795
+        ],
+        [
+          0.1829056590795517,
+          0.01077574584633112,
+          0.9830714464187622,
+          -1.1659566164016724
+        ],
+        [
+          0.1770787388086319,
+          -0.983947217464447,
+          -0.022161098197102547,
+          0.018332794308662415
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8804,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_783082008",
+      "mask_path": "../../mask/hdr_left_08804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08805.png",
+      "transform_matrix": [
+        [
+          0.9668417572975159,
+          0.1725170910358429,
+          -0.18829450011253357,
+          -1.1377071142196655
+        ],
+        [
+          0.1891334503889084,
+          0.011713357642292976,
+          0.9818814992904663,
+          -1.1377789974212646
+        ],
+        [
+          0.17159688472747803,
+          -0.9849369525909424,
+          -0.021303793415427208,
+          0.03272894024848938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8805,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_883082628",
+      "mask_path": "../../mask/hdr_left_08805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08806.png",
+      "transform_matrix": [
+        [
+          0.9692123532295227,
+          0.1591901332139969,
+          -0.1878451704978943,
+          -1.079966425895691
+        ],
+        [
+          0.18801681697368622,
+          0.014120209030807018,
+          0.9820643067359924,
+          -1.107181191444397
+        ],
+        [
+          0.15898734331130981,
+          -0.9871469736099243,
+          -0.01624494045972824,
+          0.03208523988723755
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8806,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_983082771",
+      "mask_path": "../../mask/hdr_left_08806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08807.png",
+      "transform_matrix": [
+        [
+          0.97203528881073,
+          0.14822925627231598,
+          -0.1821414977312088,
+          -1.0124740600585938
+        ],
+        [
+          0.18089832365512848,
+          0.02194160409271717,
+          0.9832570552825928,
+          -1.0738139152526855
+        ],
+        [
+          0.1497439444065094,
+          -0.9887096285820007,
+          -0.005486411042511463,
+          0.03994451463222504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8807,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_83081722",
+      "mask_path": "../../mask/hdr_left_08807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08808.png",
+      "transform_matrix": [
+        [
+          0.9744457602500916,
+          0.14102599024772644,
+          -0.17483411729335785,
+          -0.9593210220336914
+        ],
+        [
+          0.17207595705986023,
+          0.03161666914820671,
+          0.9845761656761169,
+          -1.0471221208572388
+        ],
+        [
+          0.14437848329544067,
+          -0.9895009398460388,
+          0.006541549228131771,
+          0.052625298500061035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8808,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_183082818",
+      "mask_path": "../../mask/hdr_left_08808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08809.png",
+      "transform_matrix": [
+        [
+          0.9759837985038757,
+          0.13447685539722443,
+          -0.17138171195983887,
+          -0.8964732885360718
+        ],
+        [
+          0.1679653376340866,
+          0.03643689677119255,
+          0.9851192831993103,
+          -1.0133483409881592
+        ],
+        [
+          0.1387203484773636,
+          -0.9902467131614685,
+          0.012974366545677185,
+          0.06103512644767761
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8809,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_283082008",
+      "mask_path": "../../mask/hdr_left_08809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08810.png",
+      "transform_matrix": [
+        [
+          0.9770019054412842,
+          0.12796106934547424,
+          -0.17056749761104584,
+          -0.8335695266723633
+        ],
+        [
+          0.1673925518989563,
+          0.0352490060031414,
+          0.9852599501609802,
+          -0.9758126139640808
+        ],
+        [
+          0.13208723068237305,
+          -0.9911527037620544,
+          0.013018631376326084,
+          0.05948731303215027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8810,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_383081674",
+      "mask_path": "../../mask/hdr_left_08810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08812.png",
+      "transform_matrix": [
+        [
+          0.9791692495346069,
+          0.11536538600921631,
+          -0.16708768904209137,
+          -0.7493343353271484
+        ],
+        [
+          0.16395825147628784,
+          0.03616998344659805,
+          0.9858039617538452,
+          -0.9303557872772217
+        ],
+        [
+          0.11977120488882065,
+          -0.9926643371582031,
+          0.016501422971487045,
+          0.053923100233078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8812,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_583080053",
+      "mask_path": "../../mask/hdr_left_08812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08813.png",
+      "transform_matrix": [
+        [
+          0.9802564382553101,
+          0.1133003830909729,
+          -0.162050262093544,
+          -0.6891951560974121
+        ],
+        [
+          0.1592114269733429,
+          0.03373139724135399,
+          0.9866681098937988,
+          -0.910810112953186
+        ],
+        [
+          0.1172560378909111,
+          -0.9929880499839783,
+          0.015026701614260674,
+          0.058960914611816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8813,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_683081626",
+      "mask_path": "../../mask/hdr_left_08813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08815.png",
+      "transform_matrix": [
+        [
+          0.9824537038803101,
+          0.10641071200370789,
+          -0.1531706005334854,
+          -0.6191936135292053
+        ],
+        [
+          0.14970147609710693,
+          0.039905011653900146,
+          0.9879257082939148,
+          -0.883327841758728
+        ],
+        [
+          0.11123814433813095,
+          -0.9935211539268494,
+          0.0232749842107296,
+          0.07099264860153198
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8815,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_883081436",
+      "mask_path": "../../mask/hdr_left_08815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08816.png",
+      "transform_matrix": [
+        [
+          0.984502375125885,
+          0.09061574190855026,
+          -0.15014563500881195,
+          -0.5705724954605103
+        ],
+        [
+          0.148383229970932,
+          0.02592020109295845,
+          0.9885901808738708,
+          -0.8645762205123901
+        ],
+        [
+          0.09347362816333771,
+          -0.9955486059188843,
+          0.012072639539837837,
+          0.07307830452919006
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8816,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_983082294",
+      "mask_path": "../../mask/hdr_left_08816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08818.png",
+      "transform_matrix": [
+        [
+          0.986967921257019,
+          0.06853680312633514,
+          -0.1455916166305542,
+          -0.5066138505935669
+        ],
+        [
+          0.1462819129228592,
+          -0.005136881023645401,
+          0.9892295598983765,
+          -0.8465058207511902
+        ],
+        [
+          0.0670507475733757,
+          -0.9976353645324707,
+          -0.01509562786668539,
+          0.06454300880432129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8818,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324144_183080673",
+      "mask_path": "../../mask/hdr_left_08818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08820.png",
+      "transform_matrix": [
+        [
+          0.9898858070373535,
+          0.04805881530046463,
+          -0.13347838819026947,
+          -0.4424099922180176
+        ],
+        [
+          0.1339995414018631,
+          -0.00777726573869586,
+          0.990950882434845,
+          -0.8362797498703003
+        ],
+        [
+          0.046585824340581894,
+          -0.9988142848014832,
+          -0.014138462021946907,
+          0.07239528000354767
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8820,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324144_383081674",
+      "mask_path": "../../mask/hdr_left_08820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09156.png",
+      "transform_matrix": [
+        [
+          0.9978940486907959,
+          0.0345594696700573,
+          -0.05489269271492958,
+          -0.4549427330493927
+        ],
+        [
+          0.0543743371963501,
+          0.015764743089675903,
+          0.9983962178230286,
+          -0.8750631809234619
+        ],
+        [
+          0.03536940738558769,
+          -0.9992783665657043,
+          0.013852396048605442,
+          0.060443468391895294
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9156,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324177_983081817",
+      "mask_path": "../../mask/hdr_left_09156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09157.png",
+      "transform_matrix": [
+        [
+          0.998175859451294,
+          0.026405207812786102,
+          -0.054291244596242905,
+          -0.508472204208374
+        ],
+        [
+          0.054004326462745667,
+          0.0114605613052845,
+          0.9984748363494873,
+          -0.8959670662879944
+        ],
+        [
+          0.026987142860889435,
+          -0.9995856285095215,
+          0.010013663209974766,
+          0.058258555829524994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9157,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_83083391",
+      "mask_path": "../../mask/hdr_left_09157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09158.png",
+      "transform_matrix": [
+        [
+          0.997904360294342,
+          0.02038642391562462,
+          -0.06140957772731781,
+          -0.5627596974372864
+        ],
+        [
+          0.06115817278623581,
+          0.012734124436974525,
+          0.9980468153953552,
+          -0.9126298427581787
+        ],
+        [
+          0.02112860046327114,
+          -0.9997110962867737,
+          0.011460643261671066,
+          0.06174837052822113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9158,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_183082342",
+      "mask_path": "../../mask/hdr_left_09158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09160.png",
+      "transform_matrix": [
+        [
+          0.9967449903488159,
+          0.013894683681428432,
+          -0.07941186428070068,
+          -0.6341683864593506
+        ],
+        [
+          0.07931221276521683,
+          0.007581247948110104,
+          0.9968209862709045,
+          -0.9271425008773804
+        ],
+        [
+          0.014452548697590828,
+          -0.9998747706413269,
+          0.006454554386436939,
+          0.04354352504014969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9160,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_383081674",
+      "mask_path": "../../mask/hdr_left_09160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09161.png",
+      "transform_matrix": [
+        [
+          0.9961515665054321,
+          0.02010961063206196,
+          -0.0853080302476883,
+          -0.6830793619155884
+        ],
+        [
+          0.08534788340330124,
+          -0.0011292038252577186,
+          0.9963505268096924,
+          -0.9387549161911011
+        ],
+        [
+          0.019939886406064034,
+          -0.9997972846031189,
+          -0.0028411662206053734,
+          0.04292081296443939
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9161,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_483082056",
+      "mask_path": "../../mask/hdr_left_09161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09163.png",
+      "transform_matrix": [
+        [
+          0.9952864050865173,
+          0.05372397601604462,
+          -0.08073852211236954,
+          -0.7491278052330017
+        ],
+        [
+          0.08140630275011063,
+          -0.010356389917433262,
+          0.996627151966095,
+          -0.965432345867157
+        ],
+        [
+          0.05270661041140556,
+          -0.9985021948814392,
+          -0.01468103937804699,
+          0.0464477613568306
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9163,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_683082342",
+      "mask_path": "../../mask/hdr_left_09163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09165.png",
+      "transform_matrix": [
+        [
+          0.9951934218406677,
+          0.07141529023647308,
+          -0.06700561940670013,
+          -0.8327854871749878
+        ],
+        [
+          0.0684421956539154,
+          -0.017859933897852898,
+          0.997495174407959,
+          -1.0110962390899658
+        ],
+        [
+          0.07003968954086304,
+          -0.9972867965698242,
+          -0.022661905735731125,
+          0.04062560200691223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9165,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_883080720",
+      "mask_path": "../../mask/hdr_left_09165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09167.png",
+      "transform_matrix": [
+        [
+          0.9942530989646912,
+          0.08563464879989624,
+          -0.06424576789140701,
+          -0.8877981901168823
+        ],
+        [
+          0.06398943066596985,
+          0.005737752187997103,
+          0.9979340434074402,
+          -1.027709722518921
+        ],
+        [
+          0.08582636713981628,
+          -0.9963101744651794,
+          0.00022506681852973998,
+          0.037437766790390015
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9167,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_83081007",
+      "mask_path": "../../mask/hdr_left_09167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09169.png",
+      "transform_matrix": [
+        [
+          0.9931945204734802,
+          0.09276176989078522,
+          -0.07042723149061203,
+          -0.9886722564697266
+        ],
+        [
+          0.06938041001558304,
+          0.014465999789536,
+          0.9974854588508606,
+          -1.0438534021377563
+        ],
+        [
+          0.09354729950428009,
+          -0.9955832958221436,
+          0.007931699976325035,
+          0.013716742396354675
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9169,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_283081054",
+      "mask_path": "../../mask/hdr_left_09169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09172.png",
+      "transform_matrix": [
+        [
+          0.9921902418136597,
+          0.11354050785303116,
+          -0.05164352059364319,
+          -1.117916464805603
+        ],
+        [
+          0.051380421966314316,
+          0.005244529340416193,
+          0.9986653327941895,
+          -1.0849246978759766
+        ],
+        [
+          0.1136598140001297,
+          -0.9935196042060852,
+          -0.0006301826215349138,
+          0.01975761353969574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9172,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_583081722",
+      "mask_path": "../../mask/hdr_left_09172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09173.png",
+      "transform_matrix": [
+        [
+          0.9915391802787781,
+          0.12013102322816849,
+          -0.0491778701543808,
+          -1.1908197402954102
+        ],
+        [
+          0.048506952822208405,
+          0.008504346013069153,
+          0.9987866282463074,
+          -1.1118899583816528
+        ],
+        [
+          0.1204034760594368,
+          -0.992721676826477,
+          0.002605204237625003,
+          0.02085036039352417
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9173,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_683081150",
+      "mask_path": "../../mask/hdr_left_09173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09176.png",
+      "transform_matrix": [
+        [
+          0.9885846376419067,
+          0.1358991265296936,
+          -0.06505241990089417,
+          -1.3375954627990723
+        ],
+        [
+          0.06483465433120728,
+          0.006032287143170834,
+          0.9978777170181274,
+          -1.1637953519821167
+        ],
+        [
+          0.13600309193134308,
+          -0.990704357624054,
+          -0.0028475422877818346,
+          -0.011830002069473267
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9176,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_983082056",
+      "mask_path": "../../mask/hdr_left_09176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09177.png",
+      "transform_matrix": [
+        [
+          0.9839569926261902,
+          0.166927307844162,
+          -0.06295984983444214,
+          -1.4111249446868896
+        ],
+        [
+          0.06510279327630997,
+          -0.007391014602035284,
+          0.9978511929512024,
+          -1.1922630071640015
+        ],
+        [
+          0.16610325872898102,
+          -0.9859416484832764,
+          -0.018139872699975967,
+          -0.01899765431880951
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9177,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_83082199",
+      "mask_path": "../../mask/hdr_left_09177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09178.png",
+      "transform_matrix": [
+        [
+          0.9771850109100342,
+          0.20567774772644043,
+          -0.052972692996263504,
+          -1.4529173374176025
+        ],
+        [
+          0.055742766708135605,
+          -0.00769274914637208,
+          0.9984155297279358,
+          -1.2154268026351929
+        ],
+        [
+          0.20494434237480164,
+          -0.978589653968811,
+          -0.018982278183102608,
+          0.02048136293888092
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9178,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_183081865",
+      "mask_path": "../../mask/hdr_left_09178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09180.png",
+      "transform_matrix": [
+        [
+          0.9779526591300964,
+          0.20258758962154388,
+          -0.050663601607084274,
+          -1.553613305091858
+        ],
+        [
+          0.051800139248371124,
+          -0.0003085611679125577,
+          0.9986574649810791,
+          -1.2438970804214478
+        ],
+        [
+          0.20229995250701904,
+          -0.9792641401290894,
+          -0.010795828886330128,
+          -0.04547646641731262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9180,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_383080720",
+      "mask_path": "../../mask/hdr_left_09180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09181.png",
+      "transform_matrix": [
+        [
+          0.9795961380004883,
+          0.1962202489376068,
+          -0.04346131533384323,
+          -1.630005121231079
+        ],
+        [
+          0.04462360218167305,
+          -0.0015040673315525055,
+          0.9990027546882629,
+          -1.270973563194275
+        ],
+        [
+          0.1959591805934906,
+          -0.9805586934089661,
+          -0.010229427367448807,
+          -0.08385990560054779
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9181,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_483082294",
+      "mask_path": "../../mask/hdr_left_09181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09184.png",
+      "transform_matrix": [
+        [
+          0.9794028401374817,
+          0.19788281619548798,
+          -0.04015752673149109,
+          -1.8027678728103638
+        ],
+        [
+          0.039543572813272476,
+          0.007054750807583332,
+          0.9991929531097412,
+          -1.3126252889633179
+        ],
+        [
+          0.19800640642642975,
+          -0.9802002906799316,
+          -0.0009155500447377563,
+          -0.13284733891487122
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9184,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_783082246",
+      "mask_path": "../../mask/hdr_left_09184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09185.png",
+      "transform_matrix": [
+        [
+          0.9820525050163269,
+          0.18571658432483673,
+          -0.03289446607232094,
+          -1.9031492471694946
+        ],
+        [
+          0.03232186660170555,
+          0.006110821384936571,
+          0.999458909034729,
+          -1.3330844640731812
+        ],
+        [
+          0.18581709265708923,
+          -0.9825843572616577,
+          -1.558780013510841e-06,
+          -0.1560448259115219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9185,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_883082389",
+      "mask_path": "../../mask/hdr_left_09185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09187.png",
+      "transform_matrix": [
+        [
+          0.9840275645256042,
+          0.17763914167881012,
+          -0.011584054678678513,
+          -1.9879916906356812
+        ],
+        [
+          0.010070675052702427,
+          0.009418647736310959,
+          0.9999048709869385,
+          -1.3592621088027954
+        ],
+        [
+          0.17773135006427765,
+          -0.9840506911277771,
+          0.007479260675609112,
+          -0.16102920472621918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9187,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_83082437",
+      "mask_path": "../../mask/hdr_left_09187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09188.png",
+      "transform_matrix": [
+        [
+          0.9857100248336792,
+          0.1684502512216568,
+          -0.0005224402411840856,
+          -2.0681231021881104
+        ],
+        [
+          -0.001637073466554284,
+          0.012680712155997753,
+          0.9999182820320129,
+          -1.3889373540878296
+        ],
+        [
+          0.16844306886196136,
+          -0.9856286644935608,
+          0.012775270268321037,
+          -0.17077015340328217
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9188,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_183082580",
+      "mask_path": "../../mask/hdr_left_09188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09189.png",
+      "transform_matrix": [
+        [
+          0.9861305952072144,
+          0.16594432294368744,
+          0.0029768459498882294,
+          -2.141549587249756
+        ],
+        [
+          -0.0049704015254974365,
+          0.011599389836192131,
+          0.9999203681945801,
+          -1.4135208129882812
+        ],
+        [
+          0.16589657962322235,
+          -0.9860669374465942,
+          0.012263322249054909,
+          -0.1747204065322876
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9189,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_283083438",
+      "mask_path": "../../mask/hdr_left_09189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09191.png",
+      "transform_matrix": [
+        [
+          0.9856134653091431,
+          0.1690116971731186,
+          0.0010466808453202248,
+          -2.2186102867126465
+        ],
+        [
+          -0.001531057758256793,
+          0.0027356818318367004,
+          0.9999950528144836,
+          -1.4330453872680664
+        ],
+        [
+          0.16900800168514252,
+          -0.98561030626297,
+          0.0029550923500210047,
+          -0.19513219594955444
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9191,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_483082532",
+      "mask_path": "../../mask/hdr_left_09191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09192.png",
+      "transform_matrix": [
+        [
+          0.9868006110191345,
+          0.16193820536136627,
+          -0.0007709964411333203,
+          -2.2802484035491943
+        ],
+        [
+          0.0007347902865149081,
+          0.00028336161631159484,
+          0.9999997019767761,
+          -1.4516531229019165
+        ],
+        [
+          0.16193833947181702,
+          -0.9868009090423584,
+          0.00016063256771303713,
+          -0.22075605392456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9192,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_583082437",
+      "mask_path": "../../mask/hdr_left_09192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09193.png",
+      "transform_matrix": [
+        [
+          0.9822630882263184,
+          0.18746602535247803,
+          0.003965011332184076,
+          -2.349011182785034
+        ],
+        [
+          -0.0027941614389419556,
+          -0.006509518250823021,
+          0.9999749064445496,
+          -1.4682390689849854
+        ],
+        [
+          0.18748712539672852,
+          -0.9822495579719543,
+          -0.0058702463284134865,
+          -0.23279209434986115
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9193,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_683081626",
+      "mask_path": "../../mask/hdr_left_09193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09194.png",
+      "transform_matrix": [
+        [
+          0.9768229126930237,
+          0.21403086185455322,
+          0.0027682578656822443,
+          -2.3734147548675537
+        ],
+        [
+          -0.0022361641749739647,
+          -0.0027282685041427612,
+          0.9999938011169434,
+          -1.4686472415924072
+        ],
+        [
+          0.21403706073760986,
+          -0.9768231511116028,
+          -0.0021864287555217743,
+          -0.1835317760705948
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9194,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_783082008",
+      "mask_path": "../../mask/hdr_left_09194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09196.png",
+      "transform_matrix": [
+        [
+          0.9771459102630615,
+          0.21245837211608887,
+          0.006879483349621296,
+          -2.4263384342193604
+        ],
+        [
+          -0.005024927668273449,
+          -0.009267978370189667,
+          0.9999443888664246,
+          -1.457162618637085
+        ],
+        [
+          0.21251028776168823,
+          -0.9771262407302856,
+          -0.007988580502569675,
+          -0.2362426221370697
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9196,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_983082532",
+      "mask_path": "../../mask/hdr_left_09196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09197.png",
+      "transform_matrix": [
+        [
+          0.9776860475540161,
+          0.20966877043247223,
+          0.012996530160307884,
+          -2.494054079055786
+        ],
+        [
+          -0.010337191633880138,
+          -0.013774494640529156,
+          0.999851644039154,
+          -1.4691499471664429
+        ],
+        [
+          0.20981667935848236,
+          -0.9776754975318909,
+          -0.011299739591777325,
+          -0.25854095816612244
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9197,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_83081483",
+      "mask_path": "../../mask/hdr_left_09197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09199.png",
+      "transform_matrix": [
+        [
+          0.9765875935554504,
+          0.2141583412885666,
+          0.02031819522380829,
+          -2.579360008239746
+        ],
+        [
+          -0.019491152837872505,
+          -0.005973030813038349,
+          0.9997921586036682,
+          -1.4955002069473267
+        ],
+        [
+          0.21423517167568207,
+          -0.9767807126045227,
+          -0.0016589995939284563,
+          -0.27938786149024963
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9199,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_283081769",
+      "mask_path": "../../mask/hdr_left_09199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09200.png",
+      "transform_matrix": [
+        [
+          0.9772248864173889,
+          0.21111296117305756,
+          0.021515732631087303,
+          -2.630152702331543
+        ],
+        [
+          -0.0197291299700737,
+          -0.010565671138465405,
+          0.9997495412826538,
+          -1.5147734880447388
+        ],
+        [
+          0.21128739416599274,
+          -0.9774045348167419,
+          -0.006159959360957146,
+          -0.30609849095344543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9200,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_383081674",
+      "mask_path": "../../mask/hdr_left_09200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09201.png",
+      "transform_matrix": [
+        [
+          0.9803066849708557,
+          0.19566088914871216,
+          0.026748547330498695,
+          -2.7006194591522217
+        ],
+        [
+          -0.025653110817074776,
+          -0.008131224662065506,
+          0.9996378421783447,
+          -1.5362956523895264
+        ],
+        [
+          0.19580750167369843,
+          -0.9806379675865173,
+          -0.0029517870862036943,
+          -0.3299272656440735
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9201,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_483081817",
+      "mask_path": "../../mask/hdr_left_09201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09204.png",
+      "transform_matrix": [
+        [
+          0.9841989874839783,
+          0.1677221804857254,
+          0.05675883963704109,
+          -2.885227918624878
+        ],
+        [
+          -0.05945261940360069,
+          0.01107926107943058,
+          0.9981696605682373,
+          -1.5845263004302979
+        ],
+        [
+          0.1667863428592682,
+          -0.9857720732688904,
+          0.020875724032521248,
+          -0.35736745595932007
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9204,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_783082008",
+      "mask_path": "../../mask/hdr_left_09204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09205.png",
+      "transform_matrix": [
+        [
+          0.9846065640449524,
+          0.164185032248497,
+          0.059943150728940964,
+          -2.9670934677124023
+        ],
+        [
+          -0.0630226731300354,
+          0.013607119210064411,
+          0.9979193806648254,
+          -1.6043031215667725
+        ],
+        [
+          0.16302776336669922,
+          -0.9863357543945312,
+          0.023745033890008926,
+          -0.35976582765579224
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9205,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_883080005",
+      "mask_path": "../../mask/hdr_left_09205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09207.png",
+      "transform_matrix": [
+        [
+          0.9855813980102539,
+          0.15984688699245453,
+          0.05548121780157089,
+          -3.062945604324341
+        ],
+        [
+          -0.05798771232366562,
+          0.011055183596909046,
+          0.9982561469078064,
+          -1.6185740232467651
+        ],
+        [
+          0.15895476937294006,
+          -0.987079918384552,
+          0.020164934918284416,
+          -0.38416916131973267
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9207,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_83080768",
+      "mask_path": "../../mask/hdr_left_09207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09208.png",
+      "transform_matrix": [
+        [
+          0.9868544340133667,
+          0.1530895233154297,
+          0.0517863929271698,
+          -3.130674362182617
+        ],
+        [
+          -0.05414210259914398,
+          0.01125622820109129,
+          0.9984697103500366,
+          -1.6294125318527222
+        ],
+        [
+          0.15227234363555908,
+          -0.9881482124328613,
+          0.01939685270190239,
+          -0.39734697341918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9208,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_183082580",
+      "mask_path": "../../mask/hdr_left_09208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09209.png",
+      "transform_matrix": [
+        [
+          0.9870319962501526,
+          0.15152288973331451,
+          0.05299735069274902,
+          -3.209456443786621
+        ],
+        [
+          -0.056433696299791336,
+          0.018465954810380936,
+          0.9982355237007141,
+          -1.6377911567687988
+        ],
+        [
+          0.15027685463428497,
+          -0.9882813096046448,
+          0.0267774797976017,
+          -0.4333849549293518
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9209,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_283079862",
+      "mask_path": "../../mask/hdr_left_09209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09210.png",
+      "transform_matrix": [
+        [
+          0.9862120151519775,
+          0.15469177067279816,
+          0.05878965184092522,
+          -3.269500732421875
+        ],
+        [
+          -0.06330611556768417,
+          0.024429792538285255,
+          0.9976951479911804,
+          -1.6412849426269531
+        ],
+        [
+          0.15289898216724396,
+          -0.9876607656478882,
+          0.0338858887553215,
+          -0.4577369689941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9210,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_383080959",
+      "mask_path": "../../mask/hdr_left_09210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09212.png",
+      "transform_matrix": [
+        [
+          0.985664427280426,
+          0.15194463729858398,
+          0.07333805412054062,
+          -3.3849599361419678
+        ],
+        [
+          -0.0780394896864891,
+          0.02520473673939705,
+          0.9966315031051636,
+          -1.6600221395492554
+        ],
+        [
+          0.14958436787128448,
+          -0.988067626953125,
+          0.03670109808444977,
+          -0.4846900701522827
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9212,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_583082437",
+      "mask_path": "../../mask/hdr_left_09212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09213.png",
+      "transform_matrix": [
+        [
+          0.9856169819831848,
+          0.14865998923778534,
+          0.08036944270133972,
+          -3.46768856048584
+        ],
+        [
+          -0.0845421850681305,
+          0.021955758333206177,
+          0.9961780309677124,
+          -1.6783514022827148
+        ],
+        [
+          0.14632724225521088,
+          -0.9886447191238403,
+          0.034208014607429504,
+          -0.5025810599327087
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9213,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_683082342",
+      "mask_path": "../../mask/hdr_left_09213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09215.png",
+      "transform_matrix": [
+        [
+          0.9842956066131592,
+          0.15698771178722382,
+          0.0807279422879219,
+          -3.573399543762207
+        ],
+        [
+          -0.083732970058918,
+          0.012612421996891499,
+          0.9964084029197693,
+          -1.6872704029083252
+        ],
+        [
+          0.1554056704044342,
+          -0.9875200390815735,
+          0.02555939555168152,
+          -0.5254181027412415
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9215,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_883082389",
+      "mask_path": "../../mask/hdr_left_09215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09216.png",
+      "transform_matrix": [
+        [
+          0.9858720898628235,
+          0.14686600863933563,
+          0.08053958415985107,
+          -3.661907911300659
+        ],
+        [
+          -0.0829792246222496,
+          0.010550937615334988,
+          0.9964954257011414,
+          -1.694013237953186
+        ],
+        [
+          0.145501509308815,
+          -0.9891000986099243,
+          0.02258870005607605,
+          -0.5474652051925659
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9216,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_983082294",
+      "mask_path": "../../mask/hdr_left_09216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09217.png",
+      "transform_matrix": [
+        [
+          0.9865420460700989,
+          0.13905498385429382,
+          0.08601390570402145,
+          -3.752319097518921
+        ],
+        [
+          -0.08898337930440903,
+          0.015268848277628422,
+          0.9959160089492798,
+          -1.7026749849319458
+        ],
+        [
+          0.13717374205589294,
+          -0.990166962146759,
+          0.027436943724751472,
+          -0.5528316497802734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9217,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_83082437",
+      "mask_path": "../../mask/hdr_left_09217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09219.png",
+      "transform_matrix": [
+        [
+          0.9848166704177856,
+          0.13831938803195953,
+          0.10489822924137115,
+          -3.8623619079589844
+        ],
+        [
+          -0.1085251122713089,
+          0.018924035131931305,
+          0.9939135909080505,
+          -1.7165802717208862
+        ],
+        [
+          0.13549239933490753,
+          -0.9902068972587585,
+          0.03364783525466919,
+          -0.5639103651046753
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9219,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_283081769",
+      "mask_path": "../../mask/hdr_left_09219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09220.png",
+      "transform_matrix": [
+        [
+          0.983864963054657,
+          0.14072926342487335,
+          0.11047637462615967,
+          -3.9509401321411133
+        ],
+        [
+          -0.11450465768575668,
+          0.02083086222410202,
+          0.9932042360305786,
+          -1.734029769897461
+        ],
+        [
+          0.13747157156467438,
+          -0.9898291230201721,
+          0.03660891205072403,
+          -0.5674673914909363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9220,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_383082151",
+      "mask_path": "../../mask/hdr_left_09220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09223.png",
+      "transform_matrix": [
+        [
+          0.9844368696212769,
+          0.14105606079101562,
+          0.10481949895620346,
+          -4.109771728515625
+        ],
+        [
+          -0.10710904747247696,
+          0.008717077784240246,
+          0.9942089915275574,
+          -1.7485597133636475
+        ],
+        [
+          0.13932546973228455,
+          -0.9899632930755615,
+          0.023689791560173035,
+          -0.5934225916862488
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9223,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_683081388",
+      "mask_path": "../../mask/hdr_left_09223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09224.png",
+      "transform_matrix": [
+        [
+          0.9843105673789978,
+          0.14211371541023254,
+          0.1045767068862915,
+          -4.174087047576904
+        ],
+        [
+          -0.10733646899461746,
+          0.011872954666614532,
+          0.9941518306732178,
+          -1.752098560333252
+        ],
+        [
+          0.14004097878932953,
+          -0.9897791743278503,
+          0.026940662413835526,
+          -0.6205575466156006
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9224,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_783081531",
+      "mask_path": "../../mask/hdr_left_09224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09238.png",
+      "transform_matrix": [
+        [
+          0.9033797979354858,
+          0.12830545008182526,
+          0.4091974198818207,
+          -4.331725597381592
+        ],
+        [
+          -0.4137556850910187,
+          0.009915494360029697,
+          0.9103339314460754,
+          -1.8912726640701294
+        ],
+        [
+          0.11274340748786926,
+          -0.991685152053833,
+          0.06204456463456154,
+          -0.6930544376373291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9238,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324186_183081150",
+      "mask_path": "../../mask/hdr_left_09238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09242.png",
+      "transform_matrix": [
+        [
+          0.7503523230552673,
+          0.1248665302991867,
+          0.6491376757621765,
+          -4.397997856140137
+        ],
+        [
+          -0.6519429683685303,
+          -0.022549498826265335,
+          0.7579326033592224,
+          -1.958343267440796
+        ],
+        [
+          0.10927814245223999,
+          -0.9919172525405884,
+          0.06448578089475632,
+          -0.6781265139579773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9242,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324186_583082199",
+      "mask_path": "../../mask/hdr_left_09242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09337.png",
+      "transform_matrix": [
+        [
+          0.6068208813667297,
+          0.15240119397640228,
+          0.7800912261009216,
+          -4.4515461921691895
+        ],
+        [
+          -0.7875194549560547,
+          -0.017604036256670952,
+          0.6160383224487305,
+          -2.0223228931427
+        ],
+        [
+          0.10761772096157074,
+          -0.9881619215011597,
+          0.10933640599250793,
+          -0.7010048627853394
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9337,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324196_83082675",
+      "mask_path": "../../mask/hdr_left_09337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09353.png",
+      "transform_matrix": [
+        [
+          0.5064716339111328,
+          0.11843118816614151,
+          0.8540845513343811,
+          -4.458878993988037
+        ],
+        [
+          -0.8599237203598022,
+          -0.0034380133729428053,
+          0.5104109048843384,
+          -2.0694580078125
+        ],
+        [
+          0.06338493525981903,
+          -0.992956280708313,
+          0.10010053217411041,
+          -0.6832621097564697
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9353,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324197_683081865",
+      "mask_path": "../../mask/hdr_left_09353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09401.png",
+      "transform_matrix": [
+        [
+          0.09099625796079636,
+          0.12780211865901947,
+          0.9876164197921753,
+          -4.617273330688477
+        ],
+        [
+          -0.9949586987495422,
+          -0.030311724171042442,
+          0.09559520334005356,
+          -2.2283949851989746
+        ],
+        [
+          0.042153630405664444,
+          -0.991336464881897,
+          0.1243995651602745,
+          -0.6908591389656067
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9401,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324202_483082294",
+      "mask_path": "../../mask/hdr_left_09401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09405.png",
+      "transform_matrix": [
+        [
+          -0.17041555047035217,
+          0.08521509170532227,
+          0.981680691242218,
+          -4.741874694824219
+        ],
+        [
+          -0.9853705763816833,
+          -0.012890078127384186,
+          -0.16993717849254608,
+          -2.207754135131836
+        ],
+        [
+          -0.0018272742163389921,
+          -0.996279239654541,
+          0.08616512268781662,
+          -0.7147371768951416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9405,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324202_883082866",
+      "mask_path": "../../mask/hdr_left_09405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09409.png",
+      "transform_matrix": [
+        [
+          -0.4322126805782318,
+          0.06793942302465439,
+          0.8992087841033936,
+          -4.841202735900879
+        ],
+        [
+          -0.9009424448013306,
+          0.010220343247056007,
+          -0.43381819128990173,
+          -2.1523756980895996
+        ],
+        [
+          -0.038663581013679504,
+          -0.9976370930671692,
+          0.05679215118288994,
+          -0.7090058326721191
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9409,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324203_283082485",
+      "mask_path": "../../mask/hdr_left_09409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09414.png",
+      "transform_matrix": [
+        [
+          -0.6676023006439209,
+          0.06741099059581757,
+          0.7414599657058716,
+          -4.877710342407227
+        ],
+        [
+          -0.74141925573349,
+          0.030573269352316856,
+          -0.6703452467918396,
+          -2.0608069896698
+        ],
+        [
+          -0.06785748898983002,
+          -0.9972568154335022,
+          0.029569029808044434,
+          -0.7242849469184875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9414,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324203_783082246",
+      "mask_path": "../../mask/hdr_left_09414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09419.png",
+      "transform_matrix": [
+        [
+          -0.8516153693199158,
+          0.08489363640546799,
+          0.5172467827796936,
+          -4.896899223327637
+        ],
+        [
+          -0.5148847103118896,
+          0.04940228536725044,
+          -0.8558347225189209,
+          -1.9604392051696777
+        ],
+        [
+          -0.09820808470249176,
+          -0.9951645731925964,
+          0.0016386907082051039,
+          -0.7208296656608582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9419,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324204_283083915",
+      "mask_path": "../../mask/hdr_left_09419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_09423.png",
+      "transform_matrix": [
+        [
+          -0.893435001373291,
+          0.20970438420772552,
+          0.3972378075122833,
+          -4.814219951629639
+        ],
+        [
+          -0.39875248074531555,
+          0.03689023479819298,
+          -0.9163163304328918,
+          -1.9437434673309326
+        ],
+        [
+          -0.20680972933769226,
+          -0.9770687222480774,
+          0.0506611168384552,
+          -0.7440273761749268
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9423,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324204_683083534",
+      "mask_path": "../../mask/hdr_left_09423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00095.png",
+      "transform_matrix": [
+        [
+          0.16414998471736908,
+          -0.06487181782722473,
+          0.9843000769615173,
+          -0.09378597140312195
+        ],
+        [
+          -0.984831690788269,
+          0.046098385006189346,
+          0.1672767996788025,
+          -0.013710647821426392
+        ],
+        [
+          -0.05622618645429611,
+          -0.9968282580375671,
+          -0.05632076412439346,
+          0.1217915266752243
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 95,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323272_983082056",
+      "mask_path": "../../mask/hdr_right_00095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00139.png",
+      "transform_matrix": [
+        [
+          0.16183176636695862,
+          -0.01664632000029087,
+          0.9866779446601868,
+          -0.08033126592636108
+        ],
+        [
+          -0.9864651560783386,
+          0.024020643904805183,
+          0.16220210492610931,
+          -0.02615821361541748
+        ],
+        [
+          -0.02640070952475071,
+          -0.9995729327201843,
+          -0.012533714063465595,
+          0.06260284036397934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 139,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323277_383084058",
+      "mask_path": "../../mask/hdr_right_00139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00174.png",
+      "transform_matrix": [
+        [
+          0.7425206303596497,
+          -0.0378495492041111,
+          0.6687531471252441,
+          -0.31801438331604004
+        ],
+        [
+          -0.6697830557823181,
+          -0.031004490330815315,
+          0.7419093251228333,
+          -0.17762647569179535
+        ],
+        [
+          -0.00734658632427454,
+          -0.9988023638725281,
+          -0.04837246611714363,
+          0.0725284293293953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 174,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323280_883082151",
+      "mask_path": "../../mask/hdr_right_00174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00189.png",
+      "transform_matrix": [
+        [
+          0.9903362393379211,
+          -0.016434527933597565,
+          -0.13770997524261475,
+          -0.7078971862792969
+        ],
+        [
+          0.13655966520309448,
+          -0.05770137533545494,
+          0.9889499545097351,
+          -0.32508400082588196
+        ],
+        [
+          -0.024198979139328003,
+          -0.9981985688209534,
+          -0.05489947274327278,
+          0.07509130239486694
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 189,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_383080244",
+      "mask_path": "../../mask/hdr_right_00189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00191.png",
+      "transform_matrix": [
+        [
+          0.9660171270370483,
+          -0.0059088752605021,
+          -0.2584107220172882,
+          -0.7750773429870605
+        ],
+        [
+          0.2578548491001129,
+          -0.04736453667283058,
+          0.9650220274925232,
+          -0.3721829950809479
+        ],
+        [
+          -0.017941700294613838,
+          -0.998860239982605,
+          -0.04423132911324501,
+          0.06341409683227539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 191,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_583080530",
+      "mask_path": "../../mask/hdr_right_00191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00193.png",
+      "transform_matrix": [
+        [
+          0.9354498386383057,
+          0.00716300867497921,
+          -0.35338717699050903,
+          -0.845946192741394
+        ],
+        [
+          0.3532395362854004,
+          -0.054233551025390625,
+          0.9339596629142761,
+          -0.4201114773750305
+        ],
+        [
+          -0.012475480325520039,
+          -0.9985026121139526,
+          -0.053263016045093536,
+          0.07808422297239304
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 193,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323282_783082485",
+      "mask_path": "../../mask/hdr_right_00193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00195.png",
+      "transform_matrix": [
+        [
+          0.9086670279502869,
+          0.004096778109669685,
+          -0.41750144958496094,
+          -0.914208173751831
+        ],
+        [
+          0.41689014434814453,
+          -0.06387384235858917,
+          0.9067098498344421,
+          -0.46597403287887573
+        ],
+        [
+          -0.022952834144234657,
+          -0.9979495406150818,
+          -0.05974796786904335,
+          0.07599791884422302
+        ],
+        [
+          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": "1731323282_983081102",
+      "mask_path": "../../mask/hdr_right_00195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00196.png",
+      "transform_matrix": [
+        [
+          0.8918746709823608,
+          0.006365122739225626,
+          -0.45223790407180786,
+          -0.9599096775054932
+        ],
+        [
+          0.45169392228126526,
+          -0.06353788822889328,
+          0.8899076581001282,
+          -0.5007497072219849
+        ],
+        [
+          -0.02306986413896084,
+          -0.9979591369628906,
+          -0.059542909264564514,
+          0.07900205999612808
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 196,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323283_83081722",
+      "mask_path": "../../mask/hdr_right_00196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00197.png",
+      "transform_matrix": [
+        [
+          0.8733437061309814,
+          0.00889689102768898,
+          -0.4870232343673706,
+          -1.0001267194747925
+        ],
+        [
+          0.4867129325866699,
+          -0.05602167174220085,
+          0.8717637658119202,
+          -0.5399081707000732
+        ],
+        [
+          -0.019527871161699295,
+          -0.9983898997306824,
+          -0.05325641110539436,
+          0.0794113278388977
+        ],
+        [
+          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": "1731323283_183082103",
+      "mask_path": "../../mask/hdr_right_00197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00199.png",
+      "transform_matrix": [
+        [
+          0.8615830540657043,
+          0.018067393451929092,
+          -0.5072950720787048,
+          -1.0673458576202393
+        ],
+        [
+          0.5075106024742126,
+          -0.051091354340314865,
+          0.8601295351982117,
+          -0.5846253037452698
+        ],
+        [
+          -0.010378094390034676,
+          -0.9985306262969971,
+          -0.05318884551525116,
+          0.06724318861961365
+        ],
+        [
+          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": "1731323283_383081674",
+      "mask_path": "../../mask/hdr_right_00199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00200.png",
+      "transform_matrix": [
+        [
+          0.8609221577644348,
+          0.023371757939457893,
+          -0.5081995725631714,
+          -1.1206936836242676
+        ],
+        [
+          0.5087237358093262,
+          -0.0467027947306633,
+          0.8596622943878174,
+          -0.6195317506790161
+        ],
+        [
+          -0.0036425243597477674,
+          -0.9986354112625122,
+          -0.05209723860025406,
+          0.06811907142400742
+        ],
+        [
+          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": "1731323283_483083248",
+      "mask_path": "../../mask/hdr_right_00200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00201.png",
+      "transform_matrix": [
+        [
+          0.8627675175666809,
+          0.022110573947429657,
+          -0.5051171779632568,
+          -1.1822799444198608
+        ],
+        [
+          0.5055938363075256,
+          -0.04303095117211342,
+          0.8616978526115417,
+          -0.6476185321807861
+        ],
+        [
+          -0.002683038590475917,
+          -0.9988290667533875,
+          -0.04830466955900192,
+          0.07215852290391922
+        ],
+        [
+          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": "1731323283_583081960",
+      "mask_path": "../../mask/hdr_right_00201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00202.png",
+      "transform_matrix": [
+        [
+          0.8674711585044861,
+          0.014002673327922821,
+          -0.49729037284851074,
+          -1.2505903244018555
+        ],
+        [
+          0.4974043071269989,
+          -0.0426892414689064,
+          0.8664678931236267,
+          -0.6718318462371826
+        ],
+        [
+          -0.009096084162592888,
+          -0.9989902377128601,
+          -0.04399668425321579,
+          0.08037817478179932
+        ],
+        [
+          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": "1731323283_683081626",
+      "mask_path": "../../mask/hdr_right_00202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00203.png",
+      "transform_matrix": [
+        [
+          0.8701633214950562,
+          0.01877407729625702,
+          -0.49240565299987793,
+          -1.3308167457580566
+        ],
+        [
+          0.49276214838027954,
+          -0.03087766095995903,
+          0.8696160316467285,
+          -0.7024846076965332
+        ],
+        [
+          0.001121904468163848,
+          -0.9993468523025513,
+          -0.03611976280808449,
+          0.07667011022567749
+        ],
+        [
+          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": "1731323283_783081531",
+      "mask_path": "../../mask/hdr_right_00203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00204.png",
+      "transform_matrix": [
+        [
+          0.8685306906700134,
+          0.03227237984538078,
+          -0.4945836365222931,
+          -1.4002971649169922
+        ],
+        [
+          0.49528440833091736,
+          -0.018964050337672234,
+          0.8685238361358643,
+          -0.7332284450531006
+        ],
+        [
+          0.01865002140402794,
+          -0.999299168586731,
+          -0.03245486691594124,
+          0.049000270664691925
+        ],
+        [
+          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": "1731323283_883081436",
+      "mask_path": "../../mask/hdr_right_00204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00205.png",
+      "transform_matrix": [
+        [
+          0.8660646080970764,
+          0.037007931619882584,
+          -0.49856051802635193,
+          -1.4557266235351562
+        ],
+        [
+          0.4993339478969574,
+          -0.015264337882399559,
+          0.8662751913070679,
+          -0.76094651222229
+        ],
+        [
+          0.024448856711387634,
+          -0.9991983771324158,
+          -0.03169921785593033,
+          0.028712861239910126
+        ],
+        [
+          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": "1731323283_983082294",
+      "mask_path": "../../mask/hdr_right_00205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00206.png",
+      "transform_matrix": [
+        [
+          0.8646276593208313,
+          0.04844115301966667,
+          -0.5000725388526917,
+          -1.526010513305664
+        ],
+        [
+          0.5012292861938477,
+          -0.014874337241053581,
+          0.8651867508888245,
+          -0.787514865398407
+        ],
+        [
+          0.03447239473462105,
+          -0.9987152814865112,
+          -0.03714088350534439,
+          0.01756151020526886
+        ],
+        [
+          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": "1731323284_83081483",
+      "mask_path": "../../mask/hdr_right_00206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00207.png",
+      "transform_matrix": [
+        [
+          0.8653373122215271,
+          0.07231821864843369,
+          -0.49594491720199585,
+          -1.6011669635772705
+        ],
+        [
+          0.49796682596206665,
+          -0.012018215842545033,
+          0.8671128153800964,
+          -0.8059502840042114
+        ],
+        [
+          0.0567476786673069,
+          -0.9973092079162598,
+          -0.04641188308596611,
+          -0.013611264526844025
+        ],
+        [
+          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": "1731323284_183079004",
+      "mask_path": "../../mask/hdr_right_00207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00208.png",
+      "transform_matrix": [
+        [
+          0.8679927587509155,
+          0.08067643642425537,
+          -0.48997962474823,
+          -1.665759563446045
+        ],
+        [
+          0.49231818318367004,
+          -0.010858413763344288,
+          0.8703476786613464,
+          -0.8338107466697693
+        ],
+        [
+          0.06489614397287369,
+          -0.9966811537742615,
+          -0.04914349690079689,
+          -0.020981423556804657
+        ],
+        [
+          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": "1731323284_283082485",
+      "mask_path": "../../mask/hdr_right_00208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00209.png",
+      "transform_matrix": [
+        [
+          0.8711519837379456,
+          0.08470553904771805,
+          -0.4836519658565521,
+          -1.7166649103164673
+        ],
+        [
+          0.4862799048423767,
+          -0.012391461990773678,
+          0.873715341091156,
+          -0.8622303009033203
+        ],
+        [
+          0.06801535934209824,
+          -0.9963289499282837,
+          -0.05198544263839722,
+          -0.02553124725818634
+        ],
+        [
+          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": "1731323284_383082151",
+      "mask_path": "../../mask/hdr_right_00209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00210.png",
+      "transform_matrix": [
+        [
+          0.8714268803596497,
+          0.09365250915288925,
+          -0.4815022945404053,
+          -1.7865197658538818
+        ],
+        [
+          0.4833880662918091,
+          0.0028881283942610025,
+          0.875401496887207,
+          -0.9007689952850342
+        ],
+        [
+          0.08337418735027313,
+          -0.9956008195877075,
+          -0.042753707617521286,
+          -0.04564175754785538
+        ],
+        [
+          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": "1731323284_483081817",
+      "mask_path": "../../mask/hdr_right_00210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00211.png",
+      "transform_matrix": [
+        [
+          0.8699566721916199,
+          0.09890257567167282,
+          -0.48310837149620056,
+          -1.8625283241271973
+        ],
+        [
+          0.48377060890197754,
+          0.01877788081765175,
+          0.8749933838844299,
+          -0.9437554478645325
+        ],
+        [
+          0.0956108421087265,
+          -0.9949199557304382,
+          -0.031510211527347565,
+          -0.06457559764385223
+        ],
+        [
+          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": "1731323284_583081007",
+      "mask_path": "../../mask/hdr_right_00211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00212.png",
+      "transform_matrix": [
+        [
+          0.8690899014472961,
+          0.10226833075284958,
+          -0.4839669167995453,
+          -1.9236724376678467
+        ],
+        [
+          0.4839926064014435,
+          0.02623063698410988,
+          0.8746789693832397,
+          -0.9702184200286865
+        ],
+        [
+          0.1021467074751854,
+          -0.9944109916687012,
+          -0.026700329035520554,
+          -0.08684059232473373
+        ],
+        [
+          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": "1731323284_683081388",
+      "mask_path": "../../mask/hdr_right_00212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00213.png",
+      "transform_matrix": [
+        [
+          0.8688967823982239,
+          0.10481075197458267,
+          -0.4837697744369507,
+          -1.9919443130493164
+        ],
+        [
+          0.48305797576904297,
+          0.03377912566065788,
+          0.8749366402626038,
+          -0.9966199994087219
+        ],
+        [
+          0.10804407298564911,
+          -0.9939183592796326,
+          -0.021279091015458107,
+          -0.10311822593212128
+        ],
+        [
+          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": "1731323284_783081293",
+      "mask_path": "../../mask/hdr_right_00213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00214.png",
+      "transform_matrix": [
+        [
+          0.873365581035614,
+          0.14329120516777039,
+          -0.4655105173587799,
+          -2.078603744506836
+        ],
+        [
+          0.46679070591926575,
+          0.026636695489287376,
+          0.8839666247367859,
+          -1.015490174293518
+        ],
+        [
+          0.13906429708003998,
+          -0.9893220067024231,
+          -0.0436234176158905,
+          -0.12115892767906189
+        ],
+        [
+          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": "1731323284_883082389",
+      "mask_path": "../../mask/hdr_right_00214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00215.png",
+      "transform_matrix": [
+        [
+          0.8854411244392395,
+          0.17898373305797577,
+          -0.428904265165329,
+          -2.1445798873901367
+        ],
+        [
+          0.43160539865493774,
+          0.02559749223291874,
+          0.901699423789978,
+          -1.0162419080734253
+        ],
+        [
+          0.1723683774471283,
+          -0.9835190176963806,
+          -0.05458526685833931,
+          -0.12722274661064148
+        ],
+        [
+          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": "1731323284_983082532",
+      "mask_path": "../../mask/hdr_right_00215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00217.png",
+      "transform_matrix": [
+        [
+          0.9156205654144287,
+          0.18431413173675537,
+          -0.35730570554733276,
+          -2.271516799926758
+        ],
+        [
+          0.3562673032283783,
+          0.03988229110836983,
+          0.9335326552391052,
+          -1.0070164203643799
+        ],
+        [
+          0.1863134205341339,
+          -0.9820578694343567,
+          -0.029148051515221596,
+          -0.16252951323986053
+        ],
+        [
+          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": "1731323285_183080434",
+      "mask_path": "../../mask/hdr_right_00217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00218.png",
+      "transform_matrix": [
+        [
+          0.9257333874702454,
+          0.19477295875549316,
+          -0.32416239380836487,
+          -2.3509294986724854
+        ],
+        [
+          0.3224788308143616,
+          0.04119879752397537,
+          0.945679783821106,
+          -1.011772871017456
+        ],
+        [
+          0.19754794239997864,
+          -0.9799826741218567,
+          -0.024671051651239395,
+          -0.21325014531612396
+        ],
+        [
+          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": "1731323285_283082723",
+      "mask_path": "../../mask/hdr_right_00218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00219.png",
+      "transform_matrix": [
+        [
+          0.9359397888183594,
+          0.20275846123695374,
+          -0.28793370723724365,
+          -2.416489839553833
+        ],
+        [
+          0.28739094734191895,
+          0.03277141973376274,
+          0.957252562046051,
+          -1.0173304080963135
+        ],
+        [
+          0.2035270780324936,
+          -0.9786802530288696,
+          -0.027598870918154716,
+          -0.25198429822921753
+        ],
+        [
+          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": "1731323285_383079528",
+      "mask_path": "../../mask/hdr_right_00219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00220.png",
+      "transform_matrix": [
+        [
+          0.9466060996055603,
+          0.20140603184700012,
+          -0.25173893570899963,
+          -2.4864511489868164
+        ],
+        [
+          0.2522023916244507,
+          0.023789940401911736,
+          0.9673820734024048,
+          -1.028542160987854
+        ],
+        [
+          0.20082543790340424,
+          -0.9792189598083496,
+          -0.028275376185774803,
+          -0.2739483118057251
+        ],
+        [
+          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": "1731323285_483081102",
+      "mask_path": "../../mask/hdr_right_00220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00221.png",
+      "transform_matrix": [
+        [
+          0.9550907611846924,
+          0.2024892121553421,
+          -0.21633243560791016,
+          -2.573948860168457
+        ],
+        [
+          0.216121107339859,
+          0.02342686988413334,
+          0.9760855436325073,
+          -1.0313756465911865
+        ],
+        [
+          0.20271477103233337,
+          -0.9790042638778687,
+          -0.021387405693531036,
+          -0.289336621761322
+        ],
+        [
+          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": "1731323285_583079576",
+      "mask_path": "../../mask/hdr_right_00221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00222.png",
+      "transform_matrix": [
+        [
+          0.9621843695640564,
+          0.20132070779800415,
+          -0.18349669873714447,
+          -2.660065174102783
+        ],
+        [
+          0.18267415463924408,
+          0.022820690646767616,
+          0.9829085469245911,
+          -1.0225595235824585
+        ],
+        [
+          0.20206739008426666,
+          -0.9792595505714417,
+          -0.014818381518125534,
+          -0.2954677939414978
+        ],
+        [
+          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": "1731323285_683081388",
+      "mask_path": "../../mask/hdr_right_00222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00223.png",
+      "transform_matrix": [
+        [
+          0.9670400619506836,
+          0.1938985288143158,
+          -0.1650361716747284,
+          -2.7373573780059814
+        ],
+        [
+          0.16411246359348297,
+          0.02093161642551422,
+          0.986219584941864,
+          -1.0166587829589844
+        ],
+        [
+          0.19468098878860474,
+          -0.9807982444763184,
+          -0.011579453013837337,
+          -0.3044356405735016
+        ],
+        [
+          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": "1731323285_783079862",
+      "mask_path": "../../mask/hdr_right_00223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00224.png",
+      "transform_matrix": [
+        [
+          0.9702650308609009,
+          0.18480321764945984,
+          -0.15631209313869476,
+          -2.8207569122314453
+        ],
+        [
+          0.15502098202705383,
+          0.02150637097656727,
+          0.9876770377159119,
+          -1.0136830806732178
+        ],
+        [
+          0.18588760495185852,
+          -0.9825401902198792,
+          -0.007781494874507189,
+          -0.32282817363739014
+        ],
+        [
+          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": "1731323285_883081197",
+      "mask_path": "../../mask/hdr_right_00224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00225.png",
+      "transform_matrix": [
+        [
+          0.9700493812561035,
+          0.18717747926712036,
+          -0.15481887757778168,
+          -2.923879623413086
+        ],
+        [
+          0.15301679074764252,
+          0.024128099903464317,
+          0.987929105758667,
+          -1.012923002243042
+        ],
+        [
+          0.18865352869033813,
+          -0.9820297360420227,
+          -0.005235843826085329,
+          -0.3333810567855835
+        ],
+        [
+          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": "1731323285_983081817",
+      "mask_path": "../../mask/hdr_right_00225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00226.png",
+      "transform_matrix": [
+        [
+          0.968171238899231,
+          0.19239549338817596,
+          -0.16008912026882172,
+          -3.0114169120788574
+        ],
+        [
+          0.1580902338027954,
+          0.025798935443162918,
+          0.987087607383728,
+          -1.0199154615402222
+        ],
+        [
+          0.19404132664203644,
+          -0.98097825050354,
+          -0.005438062362372875,
+          -0.3433581590652466
+        ],
+        [
+          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": "1731323286_83082437",
+      "mask_path": "../../mask/hdr_right_00226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00227.png",
+      "transform_matrix": [
+        [
+          0.9678255319595337,
+          0.1894560605287552,
+          -0.16559013724327087,
+          -3.0797111988067627
+        ],
+        [
+          0.1637689173221588,
+          0.0253401231020689,
+          0.9861732721328735,
+          -1.0286539793014526
+        ],
+        [
+          0.19103258848190308,
+          -0.9815621376037598,
+          -0.006502192933112383,
+          -0.3628426790237427
+        ],
+        [
+          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": "1731323286_183082580",
+      "mask_path": "../../mask/hdr_right_00227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00228.png",
+      "transform_matrix": [
+        [
+          0.967559814453125,
+          0.1903984695672989,
+          -0.1660613864660263,
+          -3.1593687534332275
+        ],
+        [
+          0.16482530534267426,
+          0.02242392674088478,
+          0.9860679507255554,
+          -1.0309703350067139
+        ],
+        [
+          0.19146953523159027,
+          -0.9814507365226746,
+          -0.00968598760664463,
+          -0.38519373536109924
+        ],
+        [
+          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": "1731323286_283082008",
+      "mask_path": "../../mask/hdr_right_00228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00229.png",
+      "transform_matrix": [
+        [
+          0.9685957431793213,
+          0.1862819343805313,
+          -0.16468599438667297,
+          -3.2458548545837402
+        ],
+        [
+          0.1648121476173401,
+          0.014918402768671513,
+          0.9862122535705566,
+          -1.033068299293518
+        ],
+        [
+          0.18617033958435059,
+          -0.9823830723762512,
+          -0.016251621767878532,
+          -0.40813490748405457
+        ],
+        [
+          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": "1731323286_383082628",
+      "mask_path": "../../mask/hdr_right_00229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00230.png",
+      "transform_matrix": [
+        [
+          0.9700380563735962,
+          0.17853836715221405,
+          -0.1647728979587555,
+          -3.3247547149658203
+        ],
+        [
+          0.1639852672815323,
+          0.01926421746611595,
+          0.9862746596336365,
+          -1.0391327142715454
+        ],
+        [
+          0.17926210165023804,
+          -0.9837443232536316,
+          -0.010590638965368271,
+          -0.41933995485305786
+        ],
+        [
+          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": "1731323286_483082056",
+      "mask_path": "../../mask/hdr_right_00230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00231.png",
+      "transform_matrix": [
+        [
+          0.9719937443733215,
+          0.17031465470790863,
+          -0.16192881762981415,
+          -3.4045121669769287
+        ],
+        [
+          0.16013826429843903,
+          0.024291981011629105,
+          0.9867956042289734,
+          -1.0442347526550293
+        ],
+        [
+          0.17199933528900146,
+          -0.9850901961326599,
+          -0.003662238596007228,
+          -0.4424518346786499
+        ],
+        [
+          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": "1731323286_583082437",
+      "mask_path": "../../mask/hdr_right_00231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00232.png",
+      "transform_matrix": [
+        [
+          0.9733288288116455,
+          0.16452808678150177,
+          -0.15988004207611084,
+          -3.5119173526763916
+        ],
+        [
+          0.15785130858421326,
+          0.025418678298592567,
+          0.9871357083320618,
+          -1.0543878078460693
+        ],
+        [
+          0.16647547483444214,
+          -0.9860448241233826,
+          -0.0012302438262850046,
+          -0.46134185791015625
+        ],
+        [
+          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": "1731323286_683082342",
+      "mask_path": "../../mask/hdr_right_00232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00233.png",
+      "transform_matrix": [
+        [
+          0.9735074639320374,
+          0.16261613368988037,
+          -0.16074588894844055,
+          -3.6028645038604736
+        ],
+        [
+          0.15835723280906677,
+          0.027632437646389008,
+          0.9869951605796814,
+          -1.065962791442871
+        ],
+        [
+          0.1649431586265564,
+          -0.986302375793457,
+          0.0011489446042105556,
+          -0.4751772880554199
+        ],
+        [
+          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": "1731323286_783081531",
+      "mask_path": "../../mask/hdr_right_00233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00234.png",
+      "transform_matrix": [
+        [
+          0.9740458726882935,
+          0.15718215703964233,
+          -0.16287530958652496,
+          -3.6767959594726562
+        ],
+        [
+          0.16101668775081635,
+          0.02457410655915737,
+          0.9866456985473633,
+          -1.076722264289856
+        ],
+        [
+          0.15908561646938324,
+          -0.9872637987136841,
+          -0.0013726423494517803,
+          -0.49125567078590393
+        ],
+        [
+          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": "1731323286_883081912",
+      "mask_path": "../../mask/hdr_right_00234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00235.png",
+      "transform_matrix": [
+        [
+          0.9740951061248779,
+          0.15744474530220032,
+          -0.16232652962207794,
+          -3.766265392303467
+        ],
+        [
+          0.16211608052253723,
+          0.014265340752899647,
+          0.986668586730957,
+          -1.0786606073379517
+        ],
+        [
+          0.15766143798828125,
+          -0.9874247312545776,
+          -0.011628527194261551,
+          -0.5079807639122009
+        ],
+        [
+          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": "1731323286_983081579",
+      "mask_path": "../../mask/hdr_right_00235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00236.png",
+      "transform_matrix": [
+        [
+          0.9721106290817261,
+          0.1763366013765335,
+          -0.1546168178319931,
+          -3.851039171218872
+        ],
+        [
+          0.15612700581550598,
+          0.005363584496080875,
+          0.9877223968505859,
+          -1.0813562870025635
+        ],
+        [
+          0.17500093579292297,
+          -0.9843153357505798,
+          -0.022316910326480865,
+          -0.5145260691642761
+        ],
+        [
+          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": "1731323287_83081722",
+      "mask_path": "../../mask/hdr_right_00236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00237.png",
+      "transform_matrix": [
+        [
+          0.9708704352378845,
+          0.18974260985851288,
+          -0.14631585776805878,
+          -3.9177067279815674
+        ],
+        [
+          0.14790523052215576,
+          0.0058357068337500095,
+          0.9889843463897705,
+          -1.078163981437683
+        ],
+        [
+          0.1885063201189041,
+          -0.9818164706230164,
+          -0.0223982036113739,
+          -0.521020770072937
+        ],
+        [
+          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": "1731323287_183082342",
+      "mask_path": "../../mask/hdr_right_00237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00238.png",
+      "transform_matrix": [
+        [
+          0.9714888334274292,
+          0.19165711104869843,
+          -0.13956011831760406,
+          -3.9785537719726562
+        ],
+        [
+          0.1404207944869995,
+          0.009153008460998535,
+          0.9900496602058411,
+          -1.0669609308242798
+        ],
+        [
+          0.19102743268013,
+          -0.9814192056655884,
+          -0.018020590767264366,
+          -0.5343129634857178
+        ],
+        [
+          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": "1731323287_283082008",
+      "mask_path": "../../mask/hdr_right_00238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00239.png",
+      "transform_matrix": [
+        [
+          0.972415566444397,
+          0.1912505328655243,
+          -0.1335339993238449,
+          -4.066862106323242
+        ],
+        [
+          0.13396523892879486,
+          0.010733108967542648,
+          0.9909279942512512,
+          -1.0535507202148438
+        ],
+        [
+          0.1909487247467041,
+          -0.9814825654029846,
+          -0.015183876268565655,
+          -0.5632261633872986
+        ],
+        [
+          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": "1731323287_383082389",
+      "mask_path": "../../mask/hdr_right_00239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00240.png",
+      "transform_matrix": [
+        [
+          0.9735265970230103,
+          0.1849476546049118,
+          -0.1343141794204712,
+          -4.1621856689453125
+        ],
+        [
+          0.13341927528381348,
+          0.01733360067009926,
+          0.990908145904541,
+          -1.0425119400024414
+        ],
+        [
+          0.18559429049491882,
+          -0.9825955033302307,
+          -0.007800862658768892,
+          -0.5988555550575256
+        ],
+        [
+          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": "1731323287_483083724",
+      "mask_path": "../../mask/hdr_right_00240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00241.png",
+      "transform_matrix": [
+        [
+          0.9744622707366943,
+          0.17922905087471008,
+          -0.1352783590555191,
+          -4.2436347007751465
+        ],
+        [
+          0.13445799052715302,
+          0.016774635761976242,
+          0.990777313709259,
+          -1.0351359844207764
+        ],
+        [
+          0.17984533309936523,
+          -0.983664333820343,
+          -0.007752531673759222,
+          -0.6192202568054199
+        ],
+        [
+          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": "1731323287_583083152",
+      "mask_path": "../../mask/hdr_right_00241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00242.png",
+      "transform_matrix": [
+        [
+          0.9751484394073486,
+          0.1766558587551117,
+          -0.1337098479270935,
+          -4.32089900970459
+        ],
+        [
+          0.1348564773797989,
+          0.005554790608584881,
+          0.9908496737480164,
+          -1.0280176401138306
+        ],
+        [
+          0.17578211426734924,
+          -0.9842569828033447,
+          -0.018406441435217857,
+          -0.6438084244728088
+        ],
+        [
+          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": "1731323287_683082580",
+      "mask_path": "../../mask/hdr_right_00242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00243.png",
+      "transform_matrix": [
+        [
+          0.9753227233886719,
+          0.1763506978750229,
+          -0.13283829391002655,
+          -4.418010711669922
+        ],
+        [
+          0.1354871690273285,
+          -0.003010397544130683,
+          0.9907745718955994,
+          -1.0086767673492432
+        ],
+        [
+          0.17432387173175812,
+          -0.9843227863311768,
+          -0.02682936191558838,
+          -0.6595799326896667
+        ],
+        [
+          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": "1731323287_783082723",
+      "mask_path": "../../mask/hdr_right_00243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00244.png",
+      "transform_matrix": [
+        [
+          0.9755128622055054,
+          0.17780014872550964,
+          -0.12946708500385284,
+          -4.507458686828613
+        ],
+        [
+          0.13289836049079895,
+          -0.007474815472960472,
+          0.9911015033721924,
+          -0.9907265305519104
+        ],
+        [
+          0.17525024712085724,
+          -0.9840381741523743,
+          -0.030921125784516335,
+          -0.6656585335731506
+        ],
+        [
+          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": "1731323287_883081197",
+      "mask_path": "../../mask/hdr_right_00244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00245.png",
+      "transform_matrix": [
+        [
+          0.9767506718635559,
+          0.17656081914901733,
+          -0.12159126251935959,
+          -4.57555627822876
+        ],
+        [
+          0.12528403103351593,
+          -0.00987765472382307,
+          0.9920717477798462,
+          -0.982990562915802
+        ],
+        [
+          0.17395995557308197,
+          -0.9842401742935181,
+          -0.03176825866103172,
+          -0.676002562046051
+        ],
+        [
+          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": "1731323287_983082771",
+      "mask_path": "../../mask/hdr_right_00245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00246.png",
+      "transform_matrix": [
+        [
+          0.9784951210021973,
+          0.17135553061962128,
+          -0.11482492834329605,
+          -4.655124664306641
+        ],
+        [
+          0.11697175353765488,
+          -0.0024506361223757267,
+          0.9931322336196899,
+          -0.9749113321304321
+        ],
+        [
+          0.16989728808403015,
+          -0.9852061867713928,
+          -0.02244168519973755,
+          -0.6950567364692688
+        ],
+        [
+          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": "1731323288_83081245",
+      "mask_path": "../../mask/hdr_right_00246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00247.png",
+      "transform_matrix": [
+        [
+          0.9766690135002136,
+          0.17724789679050446,
+          -0.12124685943126678,
+          -4.749042510986328
+        ],
+        [
+          0.12106256186962128,
+          0.011895193718373775,
+          0.9925736784934998,
+          -0.9688711762428284
+        ],
+        [
+          0.17737385630607605,
+          -0.9840943217277527,
+          -0.009840413928031921,
+          -0.709950864315033
+        ],
+        [
+          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": "1731323288_183082580",
+      "mask_path": "../../mask/hdr_right_00247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00248.png",
+      "transform_matrix": [
+        [
+          0.9734605550765991,
+          0.18524859845638275,
+          -0.13437798619270325,
+          -4.822710990905762
+        ],
+        [
+          0.13332155346870422,
+          0.018206149339675903,
+          0.99090576171875,
+          -0.9782121181488037
+        ],
+        [
+          0.18601039052009583,
+          -0.9825230240821838,
+          -0.006974657066166401,
+          -0.7189856171607971
+        ],
+        [
+          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": "1731323288_283082246",
+      "mask_path": "../../mask/hdr_right_00248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00249.png",
+      "transform_matrix": [
+        [
+          0.9723995327949524,
+          0.18546980619430542,
+          -0.14156316220760345,
+          -4.882480144500732
+        ],
+        [
+          0.1408640295267105,
+          0.01700999215245247,
+          0.9898828864097595,
+          -0.9875884652137756
+        ],
+        [
+          0.18600137531757355,
+          -0.9825026988983154,
+          -0.009585512802004814,
+          -0.7395631670951843
+        ],
+        [
+          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": "1731323288_383082389",
+      "mask_path": "../../mask/hdr_right_00249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00250.png",
+      "transform_matrix": [
+        [
+          0.971411943435669,
+          0.1901807188987732,
+          -0.1420922428369522,
+          -4.961391925811768
+        ],
+        [
+          0.14184682071208954,
+          0.014973750337958336,
+          0.9897754192352295,
+          -0.9855940341949463
+        ],
+        [
+          0.19036385416984558,
+          -0.9816349148750305,
+          -0.012430849485099316,
+          -0.7640501260757446
+        ],
+        [
+          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": "1731323288_483080387",
+      "mask_path": "../../mask/hdr_right_00250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00251.png",
+      "transform_matrix": [
+        [
+          0.972133994102478,
+          0.18757297098636627,
+          -0.1406121551990509,
+          -5.04856538772583
+        ],
+        [
+          0.14150093495845795,
+          0.008711631409823895,
+          0.9898998141288757,
+          -0.9828538298606873
+        ],
+        [
+          0.18690337240695953,
+          -0.9822120666503906,
+          -0.01807287149131298,
+          -0.7818228602409363
+        ],
+        [
+          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": "1731323288_583083629",
+      "mask_path": "../../mask/hdr_right_00251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_00252.png",
+      "transform_matrix": [
+        [
+          0.973834216594696,
+          0.18022052943706512,
+          -0.1384461373090744,
+          -5.12499475479126
+        ],
+        [
+          0.1394159197807312,
+          0.00733716506510973,
+          0.9902067184448242,
+          -0.9825272560119629
+        ],
+        [
+          0.17947137355804443,
+          -0.9835988283157349,
+          -0.0179804265499115,
+          -0.7968745827674866
+        ],
+        [
+          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": "1731323288_683079242",
+      "mask_path": "../../mask/hdr_right_00252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08738.png",
+      "transform_matrix": [
+        [
+          -0.8594197630882263,
+          0.19195817410945892,
+          0.47386687994003296,
+          -4.80490779876709
+        ],
+        [
+          -0.48026734590530396,
+          0.014738455414772034,
+          -0.8769983053207397,
+          -2.124608278274536
+        ],
+        [
+          -0.17533107101917267,
+          -0.9812924861907959,
+          0.07952472567558289,
+          -0.7656077146530151
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8738,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_283082246",
+      "mask_path": "../../mask/hdr_right_08738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08739.png",
+      "transform_matrix": [
+        [
+          -0.8605446815490723,
+          0.18810835480690002,
+          0.4733690023422241,
+          -4.724826335906982
+        ],
+        [
+          -0.47862014174461365,
+          0.01941831409931183,
+          -0.8778073191642761,
+          -2.0962746143341064
+        ],
+        [
+          -0.17431491613388062,
+          -0.9819563031196594,
+          0.0733221247792244,
+          -0.7460892796516418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8739,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_383081436",
+      "mask_path": "../../mask/hdr_right_08739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08740.png",
+      "transform_matrix": [
+        [
+          -0.8603904843330383,
+          0.18411785364151,
+          0.47521454095840454,
+          -4.665367603302002
+        ],
+        [
+          -0.4803186058998108,
+          0.01874426379799843,
+          -0.8768938779830933,
+          -2.070763349533081
+        ],
+        [
+          -0.17035934329032898,
+          -0.9827254414558411,
+          0.07230782508850098,
+          -0.7311164140701294
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8740,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_483082532",
+      "mask_path": "../../mask/hdr_right_08740.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08741.png",
+      "transform_matrix": [
+        [
+          -0.8627680540084839,
+          0.1732022911310196,
+          0.4750077724456787,
+          -4.598973751068115
+        ],
+        [
+          -0.47947898507118225,
+          0.017782218754291534,
+          -0.8773731589317322,
+          -2.040745735168457
+        ],
+        [
+          -0.16040971875190735,
+          -0.9847257733345032,
+          0.06770492345094681,
+          -0.7267364263534546
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8741,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_583082437",
+      "mask_path": "../../mask/hdr_right_08741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08742.png",
+      "transform_matrix": [
+        [
+          -0.8668486475944519,
+          0.16638025641441345,
+          0.4699903428554535,
+          -4.509007453918457
+        ],
+        [
+          -0.47306567430496216,
+          0.023168182000517845,
+          -0.8807225227355957,
+          -2.0046064853668213
+        ],
+        [
+          -0.15742366015911102,
+          -0.98578941822052,
+          0.0586254745721817,
+          -0.7070454359054565
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8742,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_683082818",
+      "mask_path": "../../mask/hdr_right_08742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08743.png",
+      "transform_matrix": [
+        [
+          -0.871802806854248,
+          0.16353720426559448,
+          0.46175259351730347,
+          -4.431013107299805
+        ],
+        [
+          -0.4625537693500519,
+          0.03547923266887665,
+          -0.8858811259269714,
+          -1.975207805633545
+        ],
+        [
+          -0.16125713288784027,
+          -0.9858989715576172,
+          0.04471385106444359,
+          -0.685967206954956
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8743,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_783082723",
+      "mask_path": "../../mask/hdr_right_08743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08744.png",
+      "transform_matrix": [
+        [
+          -0.8752474188804626,
+          0.16190607845783234,
+          0.4557722508907318,
+          -4.360336780548096
+        ],
+        [
+          -0.45542511343955994,
+          0.04145868122577667,
+          -0.8893083333969116,
+          -1.9443135261535645
+        ],
+        [
+          -0.16288012266159058,
+          -0.985934853553772,
+          0.03744947537779808,
+          -0.6693505048751831
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8744,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_883083105",
+      "mask_path": "../../mask/hdr_right_08744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08745.png",
+      "transform_matrix": [
+        [
+          -0.8773046731948853,
+          0.15971285104751587,
+          0.4525796175003052,
+          -4.274664402008057
+        ],
+        [
+          -0.4528219401836395,
+          0.0370037704706192,
+          -0.890832781791687,
+          -1.9045970439910889
+        ],
+        [
+          -0.15902459621429443,
+          -0.9864696860313416,
+          0.0398579016327858,
+          -0.6610829830169678
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8745,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324137_983080625",
+      "mask_path": "../../mask/hdr_right_08745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08746.png",
+      "transform_matrix": [
+        [
+          -0.8799319267272949,
+          0.15564097464084625,
+          0.4488826394081116,
+          -4.207179069519043
+        ],
+        [
+          -0.4496481716632843,
+          0.03227277845144272,
+          -0.8926225900650024,
+          -1.8771322965621948
+        ],
+        [
+          -0.15341535210609436,
+          -0.987286388874054,
+          0.041585832834243774,
+          -0.662491500377655
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8746,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_83080768",
+      "mask_path": "../../mask/hdr_right_08746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08747.png",
+      "transform_matrix": [
+        [
+          -0.8816633820533752,
+          0.1558239459991455,
+          0.4454083740711212,
+          -4.14141845703125
+        ],
+        [
+          -0.44687071442604065,
+          0.027492094784975052,
+          -0.8941760063171387,
+          -1.855989694595337
+        ],
+        [
+          -0.15157923102378845,
+          -0.9874021410942078,
+          0.04539438337087631,
+          -0.656179666519165
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8747,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_183079719",
+      "mask_path": "../../mask/hdr_right_08747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08748.png",
+      "transform_matrix": [
+        [
+          -0.8845049142837524,
+          0.1673165261745453,
+          0.43549561500549316,
+          -4.045653820037842
+        ],
+        [
+          -0.4384336769580841,
+          0.020945429801940918,
+          -0.8985193967819214,
+          -1.8322174549102783
+        ],
+        [
+          -0.15945878624916077,
+          -0.9856807589530945,
+          0.05483086779713631,
+          -0.6072096824645996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8748,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_283081054",
+      "mask_path": "../../mask/hdr_right_08748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08749.png",
+      "transform_matrix": [
+        [
+          -0.8897603154182434,
+          0.1733136773109436,
+          0.422242671251297,
+          -3.9646506309509277
+        ],
+        [
+          -0.4242103099822998,
+          0.027390509843826294,
+          -0.9051494598388672,
+          -1.8166590929031372
+        ],
+        [
+          -0.16844019293785095,
+          -0.9844857454299927,
+          0.049150463193655014,
+          -0.5656986832618713
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8749,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_383079528",
+      "mask_path": "../../mask/hdr_right_08749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08750.png",
+      "transform_matrix": [
+        [
+          -0.8942189812660217,
+          0.17085392773151398,
+          0.4137406349182129,
+          -3.9126029014587402
+        ],
+        [
+          -0.41284242272377014,
+          0.04246152937412262,
+          -0.9098122715950012,
+          -1.802474021911621
+        ],
+        [
+          -0.17301304638385773,
+          -0.9843810200691223,
+          0.03256584331393242,
+          -0.5559614896774292
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8750,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_483082056",
+      "mask_path": "../../mask/hdr_right_08750.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08751.png",
+      "transform_matrix": [
+        [
+          -0.8973252177238464,
+          0.15916357934474945,
+          0.4116726815700531,
+          -3.832263469696045
+        ],
+        [
+          -0.41050222516059875,
+          0.04172171279788017,
+          -0.9109046459197998,
+          -1.7718669176101685
+        ],
+        [
+          -0.1621585339307785,
+          -0.9863702058792114,
+          0.027899058535695076,
+          -0.5451587438583374
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8751,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_583081722",
+      "mask_path": "../../mask/hdr_right_08751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08752.png",
+      "transform_matrix": [
+        [
+          -0.8973247408866882,
+          0.15203362703323364,
+          0.41435980796813965,
+          -3.753767251968384
+        ],
+        [
+          -0.4146602749824524,
+          0.03124530427157879,
+          -0.9094398021697998,
+          -1.7390016317367554
+        ],
+        [
+          -0.1512122005224228,
+          -0.9878813028335571,
+          0.0350051075220108,
+          -0.5331999659538269
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8752,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_683081626",
+      "mask_path": "../../mask/hdr_right_08752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08753.png",
+      "transform_matrix": [
+        [
+          -0.8971936702728271,
+          0.14956597983837128,
+          0.41554003953933716,
+          -3.701382637023926
+        ],
+        [
+          -0.41675832867622375,
+          0.02461550384759903,
+          -0.9086839556694031,
+          -1.7122021913528442
+        ],
+        [
+          -0.14613695442676544,
+          -0.9884454011917114,
+          0.040247995406389236,
+          -0.524366021156311
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8753,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_783081293",
+      "mask_path": "../../mask/hdr_right_08753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08754.png",
+      "transform_matrix": [
+        [
+          -0.8991144895553589,
+          0.14140057563781738,
+          0.414245069026947,
+          -3.637083053588867
+        ],
+        [
+          -0.4158134162425995,
+          0.019682370126247406,
+          -0.9092370271682739,
+          -1.680609941482544
+        ],
+        [
+          -0.1367199718952179,
+          -0.9897567629814148,
+          0.04109955206513405,
+          -0.5213704109191895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8754,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_883081674",
+      "mask_path": "../../mask/hdr_right_08754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08755.png",
+      "transform_matrix": [
+        [
+          -0.9016528129577637,
+          0.13646671175956726,
+          0.41036471724510193,
+          -3.5597331523895264
+        ],
+        [
+          -0.4111556112766266,
+          0.02365879714488983,
+          -0.9112581610679626,
+          -1.6487047672271729
+        ],
+        [
+          -0.13406512141227722,
+          -0.9903620481491089,
+          0.03477702662348747,
+          -0.5085036158561707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8755,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324138_983081579",
+      "mask_path": "../../mask/hdr_right_08755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08756.png",
+      "transform_matrix": [
+        [
+          -0.9034032821655273,
+          0.1369379609823227,
+          0.40633803606033325,
+          -3.4970247745513916
+        ],
+        [
+          -0.4061374366283417,
+          0.030681109055876732,
+          -0.9132968187332153,
+          -1.6256420612335205
+        ],
+        [
+          -0.13753189146518707,
+          -0.9901043772697449,
+          0.027898211032152176,
+          -0.49810081720352173
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8756,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_83078145",
+      "mask_path": "../../mask/hdr_right_08756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08757.png",
+      "transform_matrix": [
+        [
+          -0.9043253660202026,
+          0.14002612233161926,
+          0.4032224118709564,
+          -3.418440341949463
+        ],
+        [
+          -0.40266257524490356,
+          0.03358353301882744,
+          -0.9147322773933411,
+          -1.5956823825836182
+        ],
+        [
+          -0.14162804186344147,
+          -0.9895780682563782,
+          0.026012834161520004,
+          -0.48497825860977173
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8757,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_183082103",
+      "mask_path": "../../mask/hdr_right_08757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08758.png",
+      "transform_matrix": [
+        [
+          -0.9048700332641602,
+          0.1459207683801651,
+          0.3998967409133911,
+          -3.331613063812256
+        ],
+        [
+          -0.3998884856700897,
+          0.03068968839943409,
+          -0.9160498976707458,
+          -1.5626957416534424
+        ],
+        [
+          -0.14594343304634094,
+          -0.9888201355934143,
+          0.030581854283809662,
+          -0.4735504388809204
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8758,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_283083200",
+      "mask_path": "../../mask/hdr_right_08758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08761.png",
+      "transform_matrix": [
+        [
+          -0.9097230434417725,
+          0.15785710513591766,
+          0.38403791189193726,
+          -3.1546671390533447
+        ],
+        [
+          -0.3862045705318451,
+          0.01796075887978077,
+          -0.9222382307052612,
+          -1.531458854675293
+        ],
+        [
+          -0.15247948467731476,
+          -0.9872986674308777,
+          0.04462582617998123,
+          -0.4259333610534668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8761,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_583081245",
+      "mask_path": "../../mask/hdr_right_08761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08762.png",
+      "transform_matrix": [
+        [
+          -0.9132857322692871,
+          0.1623908281326294,
+          0.3735484480857849,
+          -3.085867404937744
+        ],
+        [
+          -0.3756200671195984,
+          0.018930891528725624,
+          -0.9265804290771484,
+          -1.527232050895691
+        ],
+        [
+          -0.15753977000713348,
+          -0.9865449070930481,
+          0.043707944452762604,
+          -0.3950187563896179
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8762,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_683081150",
+      "mask_path": "../../mask/hdr_right_08762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08764.png",
+      "transform_matrix": [
+        [
+          -0.9208930730819702,
+          0.15937182307243347,
+          0.35574766993522644,
+          -2.9961390495300293
+        ],
+        [
+          -0.35543951392173767,
+          0.03141985461115837,
+          -0.934171199798584,
+          -1.517528772354126
+        ],
+        [
+          -0.16005811095237732,
+          -0.986718475818634,
+          0.027712706476449966,
+          -0.3767222762107849
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8764,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_883080482",
+      "mask_path": "../../mask/hdr_right_08764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08765.png",
+      "transform_matrix": [
+        [
+          -0.9229969382286072,
+          0.1546507626771927,
+          0.3523632287979126,
+          -2.9226136207580566
+        ],
+        [
+          -0.3519924581050873,
+          0.030698740854859352,
+          -0.9354993104934692,
+          -1.5049426555633545
+        ],
+        [
+          -0.15549278259277344,
+          -0.9874921441078186,
+          0.026101060211658478,
+          -0.3610409200191498
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8765,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324139_983080148",
+      "mask_path": "../../mask/hdr_right_08765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08768.png",
+      "transform_matrix": [
+        [
+          -0.9163986444473267,
+          0.1429167091846466,
+          0.373882919549942,
+          -2.765131950378418
+        ],
+        [
+          -0.37498411536216736,
+          0.020180335268378258,
+          -0.9268115758895874,
+          -1.4555835723876953
+        ],
+        [
+          -0.14000195264816284,
+          -0.9895289540290833,
+          0.03509826585650444,
+          -0.340828537940979
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8768,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_283081293",
+      "mask_path": "../../mask/hdr_right_08768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08769.png",
+      "transform_matrix": [
+        [
+          -0.9104692339897156,
+          0.1421462893486023,
+          0.3883814513683319,
+          -2.698627233505249
+        ],
+        [
+          -0.38900506496429443,
+          0.02453009970486164,
+          -0.9209089875221252,
+          -1.433400273323059
+        ],
+        [
+          -0.14043082296848297,
+          -0.9895417094230652,
+          0.03296172246336937,
+          -0.32350653409957886
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8769,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_383082389",
+      "mask_path": "../../mask/hdr_right_08769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08770.png",
+      "transform_matrix": [
+        [
+          -0.9050666689872742,
+          0.14150042831897736,
+          0.4010385274887085,
+          -2.646315097808838
+        ],
+        [
+          -0.4004247188568115,
+          0.034053560346364975,
+          -0.9156967401504517,
+          -1.4155300855636597
+        ],
+        [
+          -0.14322827756404877,
+          -0.989352285861969,
+          0.02583952620625496,
+          -0.3091158866882324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8770,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_483082532",
+      "mask_path": "../../mask/hdr_right_08770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08771.png",
+      "transform_matrix": [
+        [
+          -0.8980030417442322,
+          0.1428057700395584,
+          0.4161696135997772,
+          -2.581833839416504
+        ],
+        [
+          -0.41462329030036926,
+          0.041858915239572525,
+          -0.9090299606323242,
+          -1.391078233718872
+        ],
+        [
+          -0.14723514020442963,
+          -0.9888651967048645,
+          0.021621156483888626,
+          -0.3009829521179199
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8771,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_583082914",
+      "mask_path": "../../mask/hdr_right_08771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08772.png",
+      "transform_matrix": [
+        [
+          -0.8896238207817078,
+          0.14504104852676392,
+          0.4330504238605499,
+          -2.5180392265319824
+        ],
+        [
+          -0.4322212040424347,
+          0.038845185190439224,
+          -0.9009305834770203,
+          -1.3618501424789429
+        ],
+        [
+          -0.1474938541650772,
+          -0.9886627793312073,
+          0.028132222592830658,
+          -0.2970367670059204
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8772,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_683081865",
+      "mask_path": "../../mask/hdr_right_08772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08774.png",
+      "transform_matrix": [
+        [
+          -0.8751659393310547,
+          0.14968019723892212,
+          0.4600873291492462,
+          -2.4238154888153076
+        ],
+        [
+          -0.46009373664855957,
+          0.03668314591050148,
+          -0.8871123194694519,
+          -1.3225444555282593
+        ],
+        [
+          -0.14966057240962982,
+          -0.9880537390708923,
+          0.03676307201385498,
+          -0.2900064289569855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8774,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_883081197",
+      "mask_path": "../../mask/hdr_right_08774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08775.png",
+      "transform_matrix": [
+        [
+          -0.8755163550376892,
+          0.1545988768339157,
+          0.45778849720954895,
+          -2.3527982234954834
+        ],
+        [
+          -0.4586798846721649,
+          0.03199347108602524,
+          -0.8880254030227661,
+          -1.3067128658294678
+        ],
+        [
+          -0.15193399786949158,
+          -0.9874591827392578,
+          0.04290058836340904,
+          -0.236692413687706
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8775,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324140_983080625",
+      "mask_path": "../../mask/hdr_right_08775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08776.png",
+      "transform_matrix": [
+        [
+          -0.8819494247436523,
+          0.15517732501029968,
+          0.44506749510765076,
+          -2.292682409286499
+        ],
+        [
+          -0.4455595314502716,
+          0.03355375677347183,
+          -0.894623339176178,
+          -1.3002502918243408
+        ],
+        [
+          -0.1537589430809021,
+          -0.9873166084289551,
+          0.039548009634017944,
+          -0.21196472644805908
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8776,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_83080530",
+      "mask_path": "../../mask/hdr_right_08776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08778.png",
+      "transform_matrix": [
+        [
+          -0.8910600543022156,
+          0.15428073704242706,
+          0.42686009407043457,
+          -2.183116912841797
+        ],
+        [
+          -0.42522695660591125,
+          0.045126646757125854,
+          -0.9039611220359802,
+          -1.2774426937103271
+        ],
+        [
+          -0.1587265580892563,
+          -0.9869959950447083,
+          0.02539377473294735,
+          -0.18905150890350342
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8778,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_283080577",
+      "mask_path": "../../mask/hdr_right_08778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08779.png",
+      "transform_matrix": [
+        [
+          -0.8926892876625061,
+          0.14823435246944427,
+          0.4255967140197754,
+          -2.1066577434539795
+        ],
+        [
+          -0.42441949248313904,
+          0.04109368473291397,
+          -0.9045328497886658,
+          -1.2538151741027832
+        ],
+        [
+          -0.15157213807106018,
+          -0.98809814453125,
+          0.02622963860630989,
+          -0.17776517570018768
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8779,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_383079051",
+      "mask_path": "../../mask/hdr_right_08779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08780.png",
+      "transform_matrix": [
+        [
+          -0.8918352723121643,
+          0.14524132013320923,
+          0.4284098148345947,
+          -2.0552990436553955
+        ],
+        [
+          -0.42779916524887085,
+          0.03702154755592346,
+          -0.9031153321266174,
+          -1.232073187828064
+        ],
+        [
+          -0.1470300704240799,
+          -0.9887033700942993,
+          0.029117001220583916,
+          -0.17043982446193695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8780,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_483082056",
+      "mask_path": "../../mask/hdr_right_08780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08781.png",
+      "transform_matrix": [
+        [
+          -0.8923622965812683,
+          0.13921953737735748,
+          0.4293104112148285,
+          -2.011486768722534
+        ],
+        [
+          -0.4289952516555786,
+          0.03381643816828728,
+          -0.9026735424995422,
+          -1.2091127634048462
+        ],
+        [
+          -0.14018754661083221,
+          -0.989683985710144,
+          0.02954801358282566,
+          -0.16941972076892853
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8781,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_583081722",
+      "mask_path": "../../mask/hdr_right_08781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08782.png",
+      "transform_matrix": [
+        [
+          -0.894213855266571,
+          0.13215738534927368,
+          0.4276869595050812,
+          -1.94764244556427
+        ],
+        [
+          -0.4270237684249878,
+          0.034770820289850235,
+          -0.9035715460777283,
+          -1.1820387840270996
+        ],
+        [
+          -0.13428469002246857,
+          -0.9906187653541565,
+          0.02534179575741291,
+          -0.15996897220611572
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8782,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_683077812",
+      "mask_path": "../../mask/hdr_right_08782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08783.png",
+      "transform_matrix": [
+        [
+          -0.8959184288978577,
+          0.13166917860507965,
+          0.4242563247680664,
+          -1.880491852760315
+        ],
+        [
+          -0.42295041680336,
+          0.03913802653551102,
+          -0.905307412147522,
+          -1.1582483053207397
+        ],
+        [
+          -0.1358056366443634,
+          -0.9905207753181458,
+          0.020625056698918343,
+          -0.1404438018798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8783,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_783081054",
+      "mask_path": "../../mask/hdr_right_08783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08784.png",
+      "transform_matrix": [
+        [
+          -0.8969125151634216,
+          0.13380205631256104,
+          0.4214797019958496,
+          -1.8181010484695435
+        ],
+        [
+          -0.41936567425727844,
+          0.04500550776720047,
+          -0.9067011475563049,
+          -1.1380904912948608
+        ],
+        [
+          -0.1402873545885086,
+          -0.9899856448173523,
+          0.0157459806650877,
+          -0.12087027728557587
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8784,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_883077621",
+      "mask_path": "../../mask/hdr_right_08784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08785.png",
+      "transform_matrix": [
+        [
+          -0.8959258198738098,
+          0.13268069922924042,
+          0.4239254891872406,
+          -1.7462158203125
+        ],
+        [
+          -0.42210736870765686,
+          0.04295538738369942,
+          -0.9055277109146118,
+          -1.1129438877105713
+        ],
+        [
+          -0.13835589587688446,
+          -0.9902275800704956,
+          0.01752065122127533,
+          -0.11536538600921631
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8785,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324141_983082771",
+      "mask_path": "../../mask/hdr_right_08785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08786.png",
+      "transform_matrix": [
+        [
+          -0.8936620354652405,
+          0.13108927011489868,
+          0.4291662573814392,
+          -1.6842541694641113
+        ],
+        [
+          -0.4289034605026245,
+          0.03168955072760582,
+          -0.9027944803237915,
+          -1.0894553661346436
+        ],
+        [
+          -0.13194672763347626,
+          -0.9908639788627625,
+          0.027904881164431572,
+          -0.11614727973937988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8786,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_83081483",
+      "mask_path": "../../mask/hdr_right_08786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08787.png",
+      "transform_matrix": [
+        [
+          -0.8889949917793274,
+          0.1292233020067215,
+          0.43930551409721375,
+          -1.6370304822921753
+        ],
+        [
+          -0.43986213207244873,
+          0.025751017034053802,
+          -0.8976961970329285,
+          -1.0680058002471924
+        ],
+        [
+          -0.12731583416461945,
+          -0.9912810921669006,
+          0.033947911113500595,
+          -0.11844924092292786
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8787,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_183082580",
+      "mask_path": "../../mask/hdr_right_08787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08788.png",
+      "transform_matrix": [
+        [
+          -0.8773091435432434,
+          0.15138012170791626,
+          0.455425888299942,
+          -1.5577199459075928
+        ],
+        [
+          -0.45978668332099915,
+          0.006898647174239159,
+          -0.8880025744438171,
+          -1.0459463596343994
+        ],
+        [
+          -0.13756775856018066,
+          -0.9884515404701233,
+          0.06355031579732895,
+          -0.09657995402812958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8788,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_283082008",
+      "mask_path": "../../mask/hdr_right_08788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08789.png",
+      "transform_matrix": [
+        [
+          -0.866901695728302,
+          0.1811523586511612,
+          0.4643977880477905,
+          -1.4604723453521729
+        ],
+        [
+          -0.4724852442741394,
+          -0.0016964760143309832,
+          -0.88133704662323,
+          -1.0279096364974976
+        ],
+        [
+          -0.1588684320449829,
+          -0.983453631401062,
+          0.08706248551607132,
+          -0.04574316740036011
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8789,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_383082628",
+      "mask_path": "../../mask/hdr_right_08789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08792.png",
+      "transform_matrix": [
+        [
+          -0.8494206070899963,
+          0.18804635107517242,
+          0.4930751621723175,
+          -1.3192576169967651
+        ],
+        [
+          -0.5002106428146362,
+          0.010811659507453442,
+          -0.8658362627029419,
+          -0.9935868382453918
+        ],
+        [
+          -0.16814830899238586,
+          -0.9821006655693054,
+          0.08487913012504578,
+          -0.007803097367286682
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8792,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_683082342",
+      "mask_path": "../../mask/hdr_right_08792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08793.png",
+      "transform_matrix": [
+        [
+          -0.8464129567146301,
+          0.18590612709522247,
+          0.49902307987213135,
+          -1.2588452100753784
+        ],
+        [
+          -0.5073012709617615,
+          0.0035101796966046095,
+          -0.8617616891860962,
+          -0.9716437458992004
+        ],
+        [
+          -0.16195842623710632,
+          -0.9825612306594849,
+          0.0913393646478653,
+          0.006594538688659668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8793,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_783082008",
+      "mask_path": "../../mask/hdr_right_08793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08794.png",
+      "transform_matrix": [
+        [
+          -0.8440439701080322,
+          0.18034285306930542,
+          0.5050407648086548,
+          -1.2097822427749634
+        ],
+        [
+          -0.5127464532852173,
+          0.004498013760894537,
+          -0.8585282564163208,
+          -0.9439259767532349
+        ],
+        [
+          -0.1571010947227478,
+          -0.9835935831069946,
+          0.08867363631725311,
+          0.021356403827667236
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8794,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_883082628",
+      "mask_path": "../../mask/hdr_right_08794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08795.png",
+      "transform_matrix": [
+        [
+          -0.8464671969413757,
+          0.1670280545949936,
+          0.5055639147758484,
+          -1.1520464420318604
+        ],
+        [
+          -0.5117517113685608,
+          0.006895973812788725,
+          -0.8591057658195496,
+          -0.9132491946220398
+        ],
+        [
+          -0.1469811052083969,
+          -0.9859279990196228,
+          0.07963968068361282,
+          0.022184163331985474
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8795,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324142_983082771",
+      "mask_path": "../../mask/hdr_right_08795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08796.png",
+      "transform_matrix": [
+        [
+          -0.8511008620262146,
+          0.15603698790073395,
+          0.5012782216072083,
+          -1.083499789237976
+        ],
+        [
+          -0.5054429173469543,
+          0.014660890214145184,
+          -0.8627355694770813,
+          -0.8793814778327942
+        ],
+        [
+          -0.14196784794330597,
+          -0.9876424074172974,
+          0.06638990342617035,
+          0.032561495900154114
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8796,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_83081722",
+      "mask_path": "../../mask/hdr_right_08796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08797.png",
+      "transform_matrix": [
+        [
+          -0.8558823466300964,
+          0.14878690242767334,
+          0.4953058362007141,
+          -1.0289466381072998
+        ],
+        [
+          -0.4975699186325073,
+          0.024267321452498436,
+          -0.8670843839645386,
+          -0.852101743221283
+        ],
+        [
+          -0.14103053510189056,
+          -0.9885714650154114,
+          0.053261898458004,
+          0.047884657979011536
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8797,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_183082818",
+      "mask_path": "../../mask/hdr_right_08797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08798.png",
+      "transform_matrix": [
+        [
+          -0.858526349067688,
+          0.14221838116645813,
+          0.49265262484550476,
+          -0.9654547572135925
+        ],
+        [
+          -0.49387621879577637,
+          0.02905617095530033,
+          -0.8690466284751892,
+          -0.8180683255195618
+        ],
+        [
+          -0.13790898025035858,
+          -0.9894087910652161,
+          0.04529278725385666,
+          0.057804882526397705
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8798,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_283082008",
+      "mask_path": "../../mask/hdr_right_08798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08799.png",
+      "transform_matrix": [
+        [
+          -0.8597814440727234,
+          0.13570252060890198,
+          0.49230149388313293,
+          -0.902427077293396
+        ],
+        [
+          -0.4933894872665405,
+          0.027863457798957825,
+          -0.8693621158599854,
+          -0.7804850935935974
+        ],
+        [
+          -0.1316918283700943,
+          -0.9903577566146851,
+          0.04299769550561905,
+          0.05649714171886444
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8799,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_383081674",
+      "mask_path": "../../mask/hdr_right_08799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08801.png",
+      "transform_matrix": [
+        [
+          -0.8630452156066895,
+          0.12309163063764572,
+          0.48989927768707275,
+          -0.8175703883171082
+        ],
+        [
+          -0.4903440475463867,
+          0.028757616877555847,
+          -0.871054470539093,
+          -0.7347961068153381
+        ],
+        [
+          -0.1213078498840332,
+          -0.9919784665107727,
+          0.035538122057914734,
+          0.05207310616970062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8801,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_583080053",
+      "mask_path": "../../mask/hdr_right_08801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08802.png",
+      "transform_matrix": [
+        [
+          -0.8657923340797424,
+          0.12099048495292664,
+          0.48555639386177063,
+          -0.7564429044723511
+        ],
+        [
+          -0.4861844778060913,
+          0.026281220838427544,
+          -0.8734609484672546,
+          -0.7149105072021484
+        ],
+        [
+          -0.11844146996736526,
+          -0.9923056960105896,
+          0.03606961667537689,
+          0.05689747631549835
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8802,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_683081626",
+      "mask_path": "../../mask/hdr_right_08802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08804.png",
+      "transform_matrix": [
+        [
+          -0.870908796787262,
+          0.1140391007065773,
+          0.4780302047729492,
+          -0.6847125887870789
+        ],
+        [
+          -0.47765499353408813,
+          0.03238251060247421,
+          -0.8779506087303162,
+          -0.6868325471878052
+        ],
+        [
+          -0.11560050398111343,
+          -0.9929482936859131,
+          0.026269134134054184,
+          0.07082304358482361
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8804,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_883081436",
+      "mask_path": "../../mask/hdr_right_08804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08805.png",
+      "transform_matrix": [
+        [
+          -0.8739157319068909,
+          0.09823223948478699,
+          0.4760478734970093,
+          -0.6355619430541992
+        ],
+        [
+          -0.4766862094402313,
+          0.01838432252407074,
+          -0.8788812756538391,
+          -0.6679136753082275
+        ],
+        [
+          -0.09508629143238068,
+          -0.9949936866760254,
+          0.030759602785110474,
+          0.0712408572435379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8805,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324143_983082294",
+      "mask_path": "../../mask/hdr_right_08805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08807.png",
+      "transform_matrix": [
+        [
+          -0.8778559565544128,
+          0.07613132894039154,
+          0.47283506393432617,
+          -0.5707826614379883
+        ],
+        [
+          -0.47502589225769043,
+          -0.012689976952970028,
+          -0.8798803091049194,
+          -0.6496714949607849
+        ],
+        [
+          -0.06098620221018791,
+          -0.9970170259475708,
+          0.04730432480573654,
+          0.05808095633983612
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8807,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324144_183080673",
+      "mask_path": "../../mask/hdr_right_08807.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08809.png",
+      "transform_matrix": [
+        [
+          -0.8847953081130981,
+          0.05556927248835564,
+          0.4626546800136566,
+          -0.5042291879653931
+        ],
+        [
+          -0.46407607197761536,
+          -0.015423992648720741,
+          -0.8856611251831055,
+          -0.6386671662330627
+        ],
+        [
+          -0.04207955673336983,
+          -0.9983357191085815,
+          0.03943544253706932,
+          0.06684312224388123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8809,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324144_383081674",
+      "mask_path": "../../mask/hdr_right_08809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09145.png",
+      "transform_matrix": [
+        [
+          -0.9191769957542419,
+          0.041447415947914124,
+          0.39165785908699036,
+          -0.50101238489151
+        ],
+        [
+          -0.3916957974433899,
+          0.007540570106357336,
+          -0.9200639724731445,
+          -0.6731215119361877
+        ],
+        [
+          -0.041087597608566284,
+          -0.9991122484207153,
+          0.00930365826934576,
+          0.060997553169727325
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9145,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324177_983081817",
+      "mask_path": "../../mask/hdr_right_09145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09146.png",
+      "transform_matrix": [
+        [
+          -0.9196725487709045,
+          0.03329027071595192,
+          0.3912723958492279,
+          -0.5544373989105225
+        ],
+        [
+          -0.3913882076740265,
+          0.0032335787545889616,
+          -0.920219898223877,
+          -0.6940008401870728
+        ],
+        [
+          -0.0318995825946331,
+          -0.9994404315948486,
+          0.010055583901703358,
+          0.05832177400588989
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9146,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_83083391",
+      "mask_path": "../../mask/hdr_right_09146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09147.png",
+      "transform_matrix": [
+        [
+          -0.9170074462890625,
+          0.027331212535500526,
+          0.3979324996471405,
+          -0.6101748943328857
+        ],
+        [
+          -0.3979627788066864,
+          0.004556759726256132,
+          -0.9173902273178101,
+          -0.7109998464584351
+        ],
+        [
+          -0.026886669918894768,
+          -0.9996160268783569,
+          0.0066982232965528965,
+          0.06231176108121872
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9147,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_183082342",
+      "mask_path": "../../mask/hdr_right_09147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09149.png",
+      "transform_matrix": [
+        [
+          -0.909795880317688,
+          0.020986970514059067,
+          0.41452503204345703,
+          -0.6852250099182129
+        ],
+        [
+          -0.41462525725364685,
+          -0.00046852458035573363,
+          -0.9099921584129333,
+          -0.726402997970581
+        ],
+        [
+          -0.018903762102127075,
+          -0.9997796416282654,
+          0.009127987548708916,
+          0.043318212032318115
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9149,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_383081674",
+      "mask_path": "../../mask/hdr_right_09149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09150.png",
+      "transform_matrix": [
+        [
+          -0.9072070717811584,
+          0.027248352766036987,
+          0.4198009669780731,
+          -0.7353125810623169
+        ],
+        [
+          -0.42016538977622986,
+          -0.009135613217949867,
+          -0.9074015617370605,
+          -0.7383316159248352
+        ],
+        [
+          -0.02089005708694458,
+          -0.9995869994163513,
+          0.019736705347895622,
+          0.04060591012239456
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9150,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_483082056",
+      "mask_path": "../../mask/hdr_right_09150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09152.png",
+      "transform_matrix": [
+        [
+          -0.907848060131073,
+          0.06081597879528999,
+          0.4148655831813812,
+          -0.8003629446029663
+        ],
+        [
+          -0.41658350825309753,
+          -0.018389996141195297,
+          -0.9089114665985107,
+          -0.7648243308067322
+        ],
+        [
+          -0.04764696583151817,
+          -0.9979795813560486,
+          0.042030248790979385,
+          0.040571101009845734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9152,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_683082342",
+      "mask_path": "../../mask/hdr_right_09152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09154.png",
+      "transform_matrix": [
+        [
+          -0.9123908877372742,
+          0.07838775962591171,
+          0.40174388885498047,
+          -0.8811954259872437
+        ],
+        [
+          -0.4047168493270874,
+          -0.02598394826054573,
+          -0.9140728116035461,
+          -0.8098653554916382
+        ],
+        [
+          -0.061213232576847076,
+          -0.9965842962265015,
+          0.05543236434459686,
+          0.032514698803424835
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9154,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324178_883080720",
+      "mask_path": "../../mask/hdr_right_09154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09156.png",
+      "transform_matrix": [
+        [
+          -0.9124042391777039,
+          0.09257654845714569,
+          0.39868295192718506,
+          -0.9355969429016113
+        ],
+        [
+          -0.40060746669769287,
+          -0.0024200298357754946,
+          -0.9162466526031494,
+          -0.8262091279029846
+        ],
+        [
+          -0.08385813236236572,
+          -0.9957026839256287,
+          0.039294905960559845,
+          0.033448249101638794
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9156,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_83081007",
+      "mask_path": "../../mask/hdr_right_09156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09158.png",
+      "transform_matrix": [
+        [
+          -0.9092779159545898,
+          0.09974952787160873,
+          0.4040589928627014,
+          -1.0376884937286377
+        ],
+        [
+          -0.40549466013908386,
+          0.006346242502331734,
+          -0.9140754342079163,
+          -0.8426237106323242
+        ],
+        [
+          -0.09374283999204636,
+          -0.9949923157691956,
+          0.034677401185035706,
+          0.011031299829483032
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9158,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_283081054",
+      "mask_path": "../../mask/hdr_right_09158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09161.png",
+      "transform_matrix": [
+        [
+          -0.9146778583526611,
+          0.12035932391881943,
+          0.38584721088409424,
+          -1.163041353225708
+        ],
+        [
+          -0.3890061378479004,
+          -0.003000607481226325,
+          -0.9212302565574646,
+          -0.8828343152999878
+        ],
+        [
+          -0.10972088575363159,
+          -0.9927259087562561,
+          0.04956509917974472,
+          0.014622971415519714
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9161,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_583081722",
+      "mask_path": "../../mask/hdr_right_09161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09162.png",
+      "transform_matrix": [
+        [
+          -0.9148865938186646,
+          0.12692409753799438,
+          0.38323983550071716,
+          -1.2354116439819336
+        ],
+        [
+          -0.3863362967967987,
+          0.00023949825845193118,
+          -0.922357976436615,
+          -0.9096709489822388
+        ],
+        [
+          -0.11716122180223465,
+          -0.9919124245643616,
+          0.048816267400979996,
+          0.016141220927238464
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9162,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_683081150",
+      "mask_path": "../../mask/hdr_right_09162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09165.png",
+      "transform_matrix": [
+        [
+          -0.9066441059112549,
+          0.14280858635902405,
+          0.39699146151542664,
+          -1.3853085041046143
+        ],
+        [
+          -0.40138185024261475,
+          -0.002119592856615782,
+          -0.9159083962440491,
+          -0.962335467338562
+        ],
+        [
+          -0.1299581080675125,
+          -0.9897480607032776,
+          0.05924248695373535,
+          -0.018195807933807373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9165,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324179_983082056",
+      "mask_path": "../../mask/hdr_right_09165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09166.png",
+      "transform_matrix": [
+        [
+          -0.9029114246368408,
+          0.17378725111484528,
+          0.39312735199928284,
+          -1.4582167863845825
+        ],
+        [
+          -0.40166664123535156,
+          -0.015540167689323425,
+          -0.9156541228294373,
+          -0.9908318519592285
+        ],
+        [
+          -0.1530197411775589,
+          -0.9846606850624084,
+          0.08383593708276749,
+          -0.02953319251537323
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9166,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_83082199",
+      "mask_path": "../../mask/hdr_right_09166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09167.png",
+      "transform_matrix": [
+        [
+          -0.8998324275016785,
+          0.21240615844726562,
+          0.38103187084198,
+          -1.4976931810379028
+        ],
+        [
+          -0.3930617868900299,
+          -0.015906935557723045,
+          -0.9193744659423828,
+          -1.0135533809661865
+        ],
+        [
+          -0.18921975791454315,
+          -0.9770520329475403,
+          0.09780231863260269,
+          0.008423104882240295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9167,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_183081865",
+      "mask_path": "../../mask/hdr_right_09167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09169.png",
+      "transform_matrix": [
+        [
+          -0.9013515114784241,
+          0.20930127799510956,
+          0.37915506958961487,
+          -1.5979478359222412
+        ],
+        [
+          -0.38941529393196106,
+          -0.008550611324608326,
+          -0.9210226535797119,
+          -1.0418287515640259
+        ],
+        [
+          -0.1895292103290558,
+          -0.9778138399124146,
+          0.08921222388744354,
+          -0.05577164888381958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9169,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_383080720",
+      "mask_path": "../../mask/hdr_right_09169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09170.png",
+      "transform_matrix": [
+        [
+          -0.9053734540939331,
+          0.2028830349445343,
+          0.37301117181777954,
+          -1.6729333400726318
+        ],
+        [
+          -0.3827909231185913,
+          -0.00979517214000225,
+          -0.9237831234931946,
+          -1.0685850381851196
+        ],
+        [
+          -0.1837662011384964,
+          -0.9791539907455444,
+          0.08653006702661514,
+          -0.0938190370798111
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9170,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_483082294",
+      "mask_path": "../../mask/hdr_right_09170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09173.png",
+      "transform_matrix": [
+        [
+          -0.9063136577606201,
+          0.20451588928699493,
+          0.36982274055480957,
+          -1.8450130224227905
+        ],
+        [
+          -0.3780539631843567,
+          -0.0012711554300040007,
+          -0.9257827401161194,
+          -1.1100112199783325
+        ],
+        [
+          -0.18886716663837433,
+          -0.9788624048233032,
+          0.07847009599208832,
+          -0.14097623527050018
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9173,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_783082246",
+      "mask_path": "../../mask/hdr_right_09173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09174.png",
+      "transform_matrix": [
+        [
+          -0.9113203883171082,
+          0.1923050433397293,
+          0.3640245795249939,
+          -1.9440170526504517
+        ],
+        [
+          -0.371359258890152,
+          -0.002263766247779131,
+          -0.9284865856170654,
+          -1.130164623260498
+        ],
+        [
+          -0.1777285784482956,
+          -0.981332540512085,
+          0.07347726821899414,
+          -0.1635632961988449
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9174,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324180_883082389",
+      "mask_path": "../../mask/hdr_right_09174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09176.png",
+      "transform_matrix": [
+        [
+          -0.9204726815223694,
+          0.18405777215957642,
+          0.344750314950943,
+          -2.0245862007141113
+        ],
+        [
+          -0.3505851924419403,
+          0.0008969169575721025,
+          -0.9365304708480835,
+          -1.1554696559906006
+        ],
+        [
+          -0.1726849228143692,
+          -0.9829150438308716,
+          0.06370234489440918,
+          -0.16673918068408966
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9176,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_83082437",
+      "mask_path": "../../mask/hdr_right_09176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09177.png",
+      "transform_matrix": [
+        [
+          -0.9258569478988647,
+          0.17478525638580322,
+          0.33502116799354553,
+          -2.1025278568267822
+        ],
+        [
+          -0.33957439661026,
+          0.0040833731181919575,
+          -0.9405703544616699,
+          -1.1847292184829712
+        ],
+        [
+          -0.16576583683490753,
+          -0.9845981001853943,
+          0.055571965873241425,
+          -0.1750757247209549
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9177,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_183082580",
+      "mask_path": "../../mask/hdr_right_09177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09178.png",
+      "transform_matrix": [
+        [
+          -0.927453875541687,
+          0.1722521334886551,
+          0.3319011628627777,
+          -2.1752569675445557
+        ],
+        [
+          -0.3364451825618744,
+          0.0029806550592184067,
+          -0.941698431968689,
+          -1.209196925163269
+        ],
+        [
+          -0.1631988137960434,
+          -0.9850483536720276,
+          0.055188972502946854,
+          -0.17904190719127655
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9178,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_283083438",
+      "mask_path": "../../mask/hdr_right_09178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09180.png",
+      "transform_matrix": [
+        [
+          -0.9262997508049011,
+          0.17533257603645325,
+          0.3335075378417969,
+          -2.2526907920837402
+        ],
+        [
+          -0.33973124623298645,
+          -0.005861061625182629,
+          -0.9405043125152588,
+          -1.2288357019424438
+        ],
+        [
+          -0.16294632852077484,
+          -0.9844918847084045,
+          0.06499504297971725,
+          -0.20146234333515167
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9180,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_483082532",
+      "mask_path": "../../mask/hdr_right_09180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09181.png",
+      "transform_matrix": [
+        [
+          -0.9268175363540649,
+          0.16828273236751556,
+          0.33569368720054626,
+          -2.314748764038086
+        ],
+        [
+          -0.34187033772468567,
+          -0.008298706263303757,
+          -0.9397105574607849,
+          -1.2475241422653198
+        ],
+        [
+          -0.1553512066602707,
+          -0.9857038855552673,
+          0.06522225588560104,
+          -0.227410688996315
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9181,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_583082437",
+      "mask_path": "../../mask/hdr_right_09181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09182.png",
+      "transform_matrix": [
+        [
+          -0.9240885972976685,
+          0.19373923540115356,
+          0.32943207025527954,
+          -2.382359504699707
+        ],
+        [
+          -0.3385658264160156,
+          -0.015113680623471737,
+          -0.9408212900161743,
+          -1.2639988660812378
+        ],
+        [
+          -0.17729507386684418,
+          -0.9809366464614868,
+          0.07955986261367798,
+          -0.2415667474269867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9182,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_683081626",
+      "mask_path": "../../mask/hdr_right_09182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09183.png",
+      "transform_matrix": [
+        [
+          -0.9184837341308594,
+          0.2202778160572052,
+          0.3284284174442291,
+          -2.406789541244507
+        ],
+        [
+          -0.33908501267433167,
+          -0.011329222470521927,
+          -0.9406875371932983,
+          -1.2644187211990356
+        ],
+        [
+          -0.20349176228046417,
+          -0.9753713607788086,
+          0.08509860932826996,
+          -0.1924772411584854
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9183,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_783082008",
+      "mask_path": "../../mask/hdr_right_09183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09185.png",
+      "transform_matrix": [
+        [
+          -0.9201949238777161,
+          0.21867218613624573,
+          0.3246903419494629,
+          -2.4588866233825684
+        ],
+        [
+          -0.3364671468734741,
+          -0.017886068671941757,
+          -0.9415252804756165,
+          -1.252853512763977
+        ],
+        [
+          -0.20007795095443726,
+          -0.9756344556808472,
+          0.09003467112779617,
+          -0.24631956219673157
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9185,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324181_983082532",
+      "mask_path": "../../mask/hdr_right_09185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09186.png",
+      "transform_matrix": [
+        [
+          -0.9227983951568604,
+          0.21583370864391327,
+          0.31915348768234253,
+          -2.5253753662109375
+        ],
+        [
+          -0.3314560651779175,
+          -0.0224256981164217,
+          -0.9432040452957153,
+          -1.2646785974502563
+        ],
+        [
+          -0.19641800224781036,
+          -0.9761726260185242,
+          0.09223377704620361,
+          -0.26920023560523987
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9186,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_83081483",
+      "mask_path": "../../mask/hdr_right_09186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09188.png",
+      "transform_matrix": [
+        [
+          -0.9242498278617859,
+          0.2202530801296234,
+          0.3118506371974945,
+          -2.6091437339782715
+        ],
+        [
+          -0.32280680537223816,
+          -0.014683051966130733,
+          -0.9463510513305664,
+          -1.290712833404541
+        ],
+        [
+          -0.20385779440402985,
+          -0.9753322005271912,
+          0.08466999977827072,
+          -0.28823256492614746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9188,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_283081769",
+      "mask_path": "../../mask/hdr_right_09188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09189.png",
+      "transform_matrix": [
+        [
+          -0.9252669215202332,
+          0.21720167994499207,
+          0.3109736144542694,
+          -2.659717321395874
+        ],
+        [
+          -0.322582870721817,
+          -0.019276592880487442,
+          -0.9463449716567993,
+          -1.3099912405014038
+        ],
+        [
+          -0.19955319166183472,
+          -0.9759363532066345,
+          0.0879015326499939,
+          -0.3157596290111542
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9189,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_383081674",
+      "mask_path": "../../mask/hdr_right_09189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09190.png",
+      "transform_matrix": [
+        [
+          -0.9299973845481873,
+          0.20172539353370667,
+          0.3072649836540222,
+          -2.7292394638061523
+        ],
+        [
+          -0.3169686794281006,
+          -0.016879431903362274,
+          -0.9482858777046204,
+          -1.3313264846801758
+        ],
+        [
+          -0.1861068606376648,
+          -0.9792966842651367,
+          0.07963845133781433,
+          -0.3383954167366028
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9190,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_483081817",
+      "mask_path": "../../mask/hdr_right_09190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09193.png",
+      "transform_matrix": [
+        [
+          -0.9439820647239685,
+          0.1735556423664093,
+          0.2806711494922638,
+          -2.907886266708374
+        ],
+        [
+          -0.28463658690452576,
+          0.002125152852386236,
+          -0.9586331844329834,
+          -1.378654956817627
+        ],
+        [
+          -0.16697266697883606,
+          -0.9848217964172363,
+          0.047394175082445145,
+          -0.35996147990226746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9193,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_783082008",
+      "mask_path": "../../mask/hdr_right_09193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09194.png",
+      "transform_matrix": [
+        [
+          -0.9454626441001892,
+          0.16999396681785583,
+          0.2778533697128296,
+          -2.989119529724121
+        ],
+        [
+          -0.281187504529953,
+          0.004632050171494484,
+          -0.9596417546272278,
+          -1.3983553647994995
+        ],
+        [
+          -0.16442035138607025,
+          -0.9854342341423035,
+          0.04342075437307358,
+          -0.3616432547569275
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9194,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324182_883080005",
+      "mask_path": "../../mask/hdr_right_09194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09196.png",
+      "transform_matrix": [
+        [
+          -0.9448701739311218,
+          0.16570065915584564,
+          0.2824245095252991,
+          -3.085921287536621
+        ],
+        [
+          -0.2860431671142578,
+          0.002109756227582693,
+          -0.958214521408081,
+          -1.4127362966537476
+        ],
+        [
+          -0.15937261283397675,
+          -0.9861738085746765,
+          0.045404091477394104,
+          -0.38663578033447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9196,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_83080768",
+      "mask_path": "../../mask/hdr_right_09196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09197.png",
+      "transform_matrix": [
+        [
+          -0.9448272585868835,
+          0.15898361802101135,
+          0.2864011228084564,
+          -3.1544556617736816
+        ],
+        [
+          -0.2897302508354187,
+          0.002333689946681261,
+          -0.9571054577827454,
+          -1.4236654043197632
+        ],
+        [
+          -0.15283246338367462,
+          -0.9872784614562988,
+          0.043857429176568985,
+          -0.3997378349304199
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9197,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_183082580",
+      "mask_path": "../../mask/hdr_right_09197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09198.png",
+      "transform_matrix": [
+        [
+          -0.9454121589660645,
+          0.15740780532360077,
+          0.28533950448036194,
+          -3.2329986095428467
+        ],
+        [
+          -0.28747379779815674,
+          0.009530272334814072,
+          -0.9577410817146301,
+          -1.4320042133331299
+        ],
+        [
+          -0.15347526967525482,
+          -0.9874877333641052,
+          0.036240581423044205,
+          -0.43419936299324036
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9198,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_283079862",
+      "mask_path": "../../mask/hdr_right_09198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09199.png",
+      "transform_matrix": [
+        [
+          -0.946607768535614,
+          0.1605214923620224,
+          0.27958276867866516,
+          -3.2918286323547363
+        ],
+        [
+          -0.28081080317497253,
+          0.015454202890396118,
+          -0.959638774394989,
+          -1.4353617429733276
+        ],
+        [
+          -0.15836337208747864,
+          -0.9869113564491272,
+          0.03044709749519825,
+          -0.45719122886657715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9199,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_383080959",
+      "mask_path": "../../mask/hdr_right_09199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09201.png",
+      "transform_matrix": [
+        [
+          -0.9510652422904968,
+          0.1576460748910904,
+          0.2657492458820343,
+          -3.404301166534424
+        ],
+        [
+          -0.266596257686615,
+          0.016143469139933586,
+          -0.9636730551719666,
+          -1.453800082206726
+        ],
+        [
+          -0.15620940923690796,
+          -0.9873637557029724,
+          0.026674360036849976,
+          -0.4834540784358978
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9201,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_583082437",
+      "mask_path": "../../mask/hdr_right_09201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09202.png",
+      "transform_matrix": [
+        [
+          -0.9534299373626709,
+          0.15430092811584473,
+          0.25915759801864624,
+          -3.485596179962158
+        ],
+        [
+          -0.2603391408920288,
+          0.012856746092438698,
+          -0.9654316902160645,
+          -1.471997857093811
+        ],
+        [
+          -0.1522989422082901,
+          -0.9879403114318848,
+          0.027912568300962448,
+          -0.5017407536506653
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9202,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_683082342",
+      "mask_path": "../../mask/hdr_right_09202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09204.png",
+      "transform_matrix": [
+        [
+          -0.9522841572761536,
+          0.16261659562587738,
+          0.258284330368042,
+          -3.591179132461548
+        ],
+        [
+          -0.26120755076408386,
+          0.0035171739291399717,
+          -0.965276300907135,
+          -1.4809077978134155
+        ],
+        [
+          -0.15787836909294128,
+          -0.9866830706596375,
+          0.039127327501773834,
+          -0.5266597867012024
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9204,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_883082389",
+      "mask_path": "../../mask/hdr_right_09204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09205.png",
+      "transform_matrix": [
+        [
+          -0.9537332653999329,
+          0.1525072306394577,
+          0.25910308957099915,
+          -3.6797914505004883
+        ],
+        [
+          -0.2619521915912628,
+          0.001459909719415009,
+          -0.9650798439979553,
+          -1.487661361694336
+        ],
+        [
+          -0.14755989611148834,
+          -0.9883012175559998,
+          0.038557231426239014,
+          -0.5489686131477356
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9205,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324183_983082294",
+      "mask_path": "../../mask/hdr_right_09205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09206.png",
+      "transform_matrix": [
+        [
+          -0.9562551379203796,
+          0.14465396106243134,
+          0.2542662024497986,
+          -3.7691166400909424
+        ],
+        [
+          -0.25609591603279114,
+          0.0061439042910933495,
+          -0.9666318297386169,
+          -1.4962265491485596
+        ],
+        [
+          -0.14138931035995483,
+          -0.989463210105896,
+          0.031170152127742767,
+          -0.5530551075935364
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9206,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_83082437",
+      "mask_path": "../../mask/hdr_right_09206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09208.png",
+      "transform_matrix": [
+        [
+          -0.9610786437988281,
+          0.14374515414237976,
+          0.23593470454216003,
+          -3.875244617462158
+        ],
+        [
+          -0.23703226447105408,
+          0.009690381586551666,
+          -0.9714534878730774,
+          -1.509853482246399
+        ],
+        [
+          -0.14192801713943481,
+          -0.9895672798156738,
+          0.024759015068411827,
+          -0.5628071427345276
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9208,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_283081769",
+      "mask_path": "../../mask/hdr_right_09208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09209.png",
+      "transform_matrix": [
+        [
+          -0.9620795845985413,
+          0.14610086381435394,
+          0.23034203052520752,
+          -3.9626481533050537
+        ],
+        [
+          -0.23116359114646912,
+          0.011564725078642368,
+          -0.9728461503982544,
+          -1.5272367000579834
+        ],
+        [
+          -0.14479751884937286,
+          -0.9892022013664246,
+          0.022647013887763023,
+          -0.5658284425735474
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9209,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_383082151",
+      "mask_path": "../../mask/hdr_right_09209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09212.png",
+      "transform_matrix": [
+        [
+          -0.960686206817627,
+          0.14647988975048065,
+          0.23585103452205658,
+          -4.122654438018799
+        ],
+        [
+          -0.23849597573280334,
+          -0.0005094182561151683,
+          -0.971143364906311,
+          -1.541832685470581
+        ],
+        [
+          -0.14213281869888306,
+          -0.9892135262489319,
+          0.03542425110936165,
+          -0.5944861173629761
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9212,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_683081388",
+      "mask_path": "../../mask/hdr_right_09212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09213.png",
+      "transform_matrix": [
+        [
+          -0.9604812860488892,
+          0.14753876626491547,
+          0.23602531850337982,
+          -4.187013626098633
+        ],
+        [
+          -0.23825284838676453,
+          0.002645305125042796,
+          -0.9711995720863342,
+          -1.5453718900680542
+        ],
+        [
+          -0.14391396939754486,
+          -0.9890527129173279,
+          0.03261076286435127,
+          -0.6209822297096252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9213,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324184_783081531",
+      "mask_path": "../../mask/hdr_right_09213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09227.png",
+      "transform_matrix": [
+        [
+          -0.9883807301521301,
+          0.13059502840042114,
+          -0.07777208089828491,
+          -4.279646396636963
+        ],
+        [
+          0.07836989313364029,
+          -0.00056324468459934,
+          -0.9969242215156555,
+          -1.6909435987472534
+        ],
+        [
+          -0.1302371472120285,
+          -0.9914356470108032,
+          -0.009678020142018795,
+          -0.6853598356246948
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9227,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324186_183081150",
+      "mask_path": "../../mask/hdr_right_09227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09231.png",
+      "transform_matrix": [
+        [
+          -0.9264096021652222,
+          0.12411169707775116,
+          -0.3554735481739044,
+          -4.291585445404053
+        ],
+        [
+          0.35415932536125183,
+          -0.033249784260988235,
+          -0.9345938563346863,
+          -1.7808313369750977
+        ],
+        [
+          -0.1278134435415268,
+          -0.9917109608650208,
+          -0.013152400963008404,
+          -0.6698125600814819
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9231,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324186_583082199",
+      "mask_path": "../../mask/hdr_right_09231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09326.png",
+      "transform_matrix": [
+        [
+          -0.836084246635437,
+          0.14959709346294403,
+          -0.5278106331825256,
+          -4.313351154327393
+        ],
+        [
+          0.5300273299217224,
+          -0.027958236634731293,
+          -0.84751957654953,
+          -1.8690327405929565
+        ],
+        [
+          -0.14154312014579773,
+          -0.9883516430854797,
+          -0.05591510608792305,
+          -0.6834725141525269
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9326,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324196_83082675",
+      "mask_path": "../../mask/hdr_right_09326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09342.png",
+      "transform_matrix": [
+        [
+          -0.7671076059341431,
+          0.11434821784496307,
+          -0.6312451362609863,
+          -4.302103519439697
+        ],
+        [
+          0.6341689825057983,
+          -0.013351744040846825,
+          -0.7730792760848999,
+          -1.9351853132247925
+        ],
+        [
+          -0.09682846814393997,
+          -0.9933509826660156,
+          -0.062273867428302765,
+          -0.6660733222961426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9342,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324197_683081865",
+      "mask_path": "../../mask/hdr_right_09342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09390.png",
+      "transform_matrix": [
+        [
+          -0.42209309339523315,
+          0.11989961564540863,
+          -0.8985885977745056,
+          -4.418696880340576
+        ],
+        [
+          0.9025441408157349,
+          -0.03753053769469261,
+          -0.42895880341529846,
+          -2.1741139888763428
+        ],
+        [
+          -0.08515651524066925,
+          -0.9920763969421387,
+          -0.0923733040690422,
+          -0.6679654121398926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9390,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324202_483082294",
+      "mask_path": "../../mask/hdr_right_09390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09394.png",
+      "transform_matrix": [
+        [
+          -0.17447544634342194,
+          0.0756845697760582,
+          -0.9817485809326172,
+          -4.535411834716797
+        ],
+        [
+          0.9841801524162292,
+          -0.01776815578341484,
+          -0.17627736926078796,
+          -2.2079999446868896
+        ],
+        [
+          -0.030785342678427696,
+          -0.9969735145568848,
+          -0.0713871642947197,
+          -0.6981161236763
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9394,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324202_883082866",
+      "mask_path": "../../mask/hdr_right_09394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09398.png",
+      "transform_matrix": [
+        [
+          0.09969589114189148,
+          0.05743415653705597,
+          -0.9933590292930603,
+          -4.642439365386963
+        ],
+        [
+          0.9949214458465576,
+          0.008149875327944756,
+          0.10032390803098679,
+          -2.2094228267669678
+        ],
+        [
+          0.013857768848538399,
+          -0.9983159899711609,
+          -0.05632996931672096,
+          -0.6970945596694946
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9398,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324203_283082485",
+      "mask_path": "../../mask/hdr_right_09398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09403.png",
+      "transform_matrix": [
+        [
+          0.37477952241897583,
+          0.05674624815583229,
+          -0.9253756999969482,
+          -4.702920436859131
+        ],
+        [
+          0.9257326722145081,
+          0.03155870735645294,
+          0.3768594264984131,
+          -2.1717000007629395
+        ],
+        [
+          0.05058901757001877,
+          -0.9978897571563721,
+          -0.040704309940338135,
+          -0.7169100642204285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9403,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324203_783082246",
+      "mask_path": "../../mask/hdr_right_09403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09408.png",
+      "transform_matrix": [
+        [
+          0.6243021488189697,
+          0.07496955990791321,
+          -0.7775772213935852,
+          -4.761429786682129
+        ],
+        [
+          0.776136040687561,
+          0.05343649908900261,
+          0.6282972097396851,
+          -2.117103338241577
+        ],
+        [
+          0.08865416049957275,
+          -0.9957530498504639,
+          -0.0248260498046875,
+          -0.71809321641922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9408,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324204_283083915",
+      "mask_path": "../../mask/hdr_right_09408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_09412.png",
+      "transform_matrix": [
+        [
+          0.7049461007118225,
+          0.2005346119403839,
+          -0.6803211569786072,
+          -4.701658725738525
+        ],
+        [
+          0.687568724155426,
+          0.04219149053096771,
+          0.7248925566673279,
+          -2.1168296337127686
+        ],
+        [
+          0.17406980693340302,
+          -0.9787777066230774,
+          -0.10813861340284348,
+          -0.7274659276008606
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 9412,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324204_683083534",
+      "mask_path": "../../mask/hdr_right_09412.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/e381fb25/mesh.ply b/2024-11-11-12-07-40/splats/e381fb25/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..482c4cc67f2486de5c5766882d913576b6629533
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e381fb25/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61c2e7865fb0f10d1d41a42f74c51df9f43a56b831ed9216fcd016599d573877
+size 58332589
diff --git a/2024-11-11-12-07-40/splats/e381fb25/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/e381fb25/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7373af5799fecaefad760774d425fe611c8a705f
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e381fb25/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9e4bbc0e5fc1b80132e760c4b5e0dab90639db3d27b319f2002f25f19650e0
+size 1570312
diff --git a/2024-11-11-12-07-40/splats/e381fb25/splatfacto/config.yml b/2024-11-11-12-07-40/splats/e381fb25/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..b616a799092b2c365d6c13e8aa6e1736a4a97c4e
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e381fb25/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_e381fb25
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_e381fb25
+      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/2024-11-11-12-07-40/splats/e381fb25/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/e381fb25/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4585977eb33703b6b6a9c14254d1bb7f464f2e3
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e381fb25/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.9683928489685059,
+            -0.23475639522075653,
+            0.08428961038589478,
+            63.25303649902344
+        ],
+        [
+            -0.23475639522075653,
+            0.9720022678375244,
+            0.010052629746496677,
+            -8.693085670471191
+        ],
+        [
+            -0.08428961038589478,
+            -0.010052629746496677,
+            -0.9963905811309814,
+            -19.739063262939453
+        ]
+    ],
+    "scale": 0.3568051090379993
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/e381fb25/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/e381fb25/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..29ea86d7de32a5caf3047b9783a706afd8d68365
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e381fb25/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9677942343acfe5154f30d47bc00a81e13807df0e9f3103f407f43fe84a51a60
+size 210204161
diff --git a/2024-11-11-12-07-40/splats/e381fb25/transforms.json b/2024-11-11-12-07-40/splats/e381fb25/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c569f7861b6f149d95b4b21c7561db955c03faa
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e381fb25/transforms.json
@@ -0,0 +1,15252 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_03987.png",
+      "transform_matrix": [
+        [
+          -0.05026325210928917,
+          -0.1703394055366516,
+          -0.984102725982666,
+          55.29495620727539
+        ],
+        [
+          0.9980360865592957,
+          -0.04544898867607117,
+          -0.04310809075832367,
+          23.077411651611328
+        ],
+        [
+          -0.03738345950841904,
+          -0.984336793422699,
+          0.17228928208351135,
+          -24.720989227294922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3987,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_183082818",
+      "mask_path": "../../mask/hdr_front_03987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03988.png",
+      "transform_matrix": [
+        [
+          -0.04594555124640465,
+          -0.17812246084213257,
+          -0.9829350709915161,
+          55.42207717895508
+        ],
+        [
+          0.9985705614089966,
+          -0.03509080410003662,
+          -0.040317438542842865,
+          23.07701873779297
+        ],
+        [
+          -0.02731054276227951,
+          -0.9833824634552002,
+          0.17948010563850403,
+          -24.7502384185791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3988,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_283082008",
+      "mask_path": "../../mask/hdr_front_03988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03989.png",
+      "transform_matrix": [
+        [
+          -0.029293598607182503,
+          -0.19732818007469177,
+          -0.9798997640609741,
+          55.518699645996094
+        ],
+        [
+          0.9994370937347412,
+          -0.021822772920131683,
+          -0.02548307739198208,
+          23.072948455810547
+        ],
+        [
+          -0.0163556020706892,
+          -0.9800945520401001,
+          0.1978563666343689,
+          -24.74306297302246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3989,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_383082151",
+      "mask_path": "../../mask/hdr_front_03989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03990.png",
+      "transform_matrix": [
+        [
+          -0.015087859705090523,
+          -0.19756928086280823,
+          -0.980172872543335,
+          55.571895599365234
+        ],
+        [
+          0.9997894167900085,
+          -0.016613738611340523,
+          -0.01204106118530035,
+          23.073528289794922
+        ],
+        [
+          -0.013905389234423637,
+          -0.9801481366157532,
+          0.1977783441543579,
+          -24.735225677490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3990,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_483082532",
+      "mask_path": "../../mask/hdr_front_03990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03991.png",
+      "transform_matrix": [
+        [
+          -0.004162950441241264,
+          -0.179046630859375,
+          -0.9838318228721619,
+          55.656227111816406
+        ],
+        [
+          0.999889612197876,
+          -0.01477554440498352,
+          -0.0015419099945574999,
+          23.078533172607422
+        ],
+        [
+          -0.014260574243962765,
+          -0.9837296605110168,
+          0.17908838391304016,
+          -24.761838912963867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3991,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_583081483",
+      "mask_path": "../../mask/hdr_front_03991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03992.png",
+      "transform_matrix": [
+        [
+          0.0019023866625502706,
+          -0.15841105580329895,
+          -0.9873715043067932,
+          55.77102279663086
+        ],
+        [
+          0.9999143481254578,
+          -0.012480760924518108,
+          0.003928931429982185,
+          23.082660675048828
+        ],
+        [
+          -0.01294553279876709,
+          -0.9872944355010986,
+          0.15837374329566956,
+          -24.764307022094727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3992,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_683079957",
+      "mask_path": "../../mask/hdr_front_03992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03993.png",
+      "transform_matrix": [
+        [
+          0.002136213704943657,
+          -0.1429436355829239,
+          -0.989728569984436,
+          55.87702941894531
+        ],
+        [
+          0.9999722838401794,
+          -0.006755223032087088,
+          0.0031339596025645733,
+          23.088375091552734
+        ],
+        [
+          -0.0071338159032166,
+          -0.9897078275680542,
+          0.1429252326488495,
+          -24.77421760559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3993,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_783081054",
+      "mask_path": "../../mask/hdr_front_03993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03994.png",
+      "transform_matrix": [
+        [
+          0.0009020252618938684,
+          -0.12976054847240448,
+          -0.9915450215339661,
+          55.96095275878906
+        ],
+        [
+          0.9999833106994629,
+          0.005782283842563629,
+          0.00015299240476451814,
+          23.107769012451172
+        ],
+        [
+          0.005713542457669973,
+          -0.9915284514427185,
+          0.12976358830928802,
+          -24.78983497619629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3994,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_883081436",
+      "mask_path": "../../mask/hdr_front_03994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03995.png",
+      "transform_matrix": [
+        [
+          0.0033423553686589003,
+          -0.11979802697896957,
+          -0.9927926063537598,
+          56.0648193359375
+        ],
+        [
+          0.999926745891571,
+          0.011942217126488686,
+          0.0019253332866355777,
+          23.110395431518555
+        ],
+        [
+          0.011625494807958603,
+          -0.9927264451980591,
+          0.11982917785644531,
+          -24.791717529296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3995,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_983081579",
+      "mask_path": "../../mask/hdr_front_03995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03996.png",
+      "transform_matrix": [
+        [
+          0.011466690339148045,
+          -0.10834286361932755,
+          -0.9940475225448608,
+          56.16978073120117
+        ],
+        [
+          0.999815046787262,
+          0.01659432053565979,
+          0.009724579751491547,
+          23.10504722595215
+        ],
+        [
+          0.0154419532045722,
+          -0.9939751625061035,
+          0.10851310193538666,
+          -24.788667678833008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3996,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_83081245",
+      "mask_path": "../../mask/hdr_front_03996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03997.png",
+      "transform_matrix": [
+        [
+          0.021635346114635468,
+          -0.09214139729738235,
+          -0.9955108761787415,
+          56.26068878173828
+        ],
+        [
+          0.999649703502655,
+          0.017178494483232498,
+          0.020135309547185898,
+          23.112197875976562
+        ],
+        [
+          0.015246082097291946,
+          -0.995597779750824,
+          0.09248076379299164,
+          -24.796812057495117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3997,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_183081865",
+      "mask_path": "../../mask/hdr_front_03997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03998.png",
+      "transform_matrix": [
+        [
+          0.025967856869101524,
+          -0.08235026895999908,
+          -0.9962651133537292,
+          56.37861633300781
+        ],
+        [
+          0.9996436238288879,
+          0.008309287019073963,
+          0.025369083508849144,
+          23.117366790771484
+        ],
+        [
+          0.006189101841300726,
+          -0.9965688586235046,
+          0.08253669738769531,
+          -24.803564071655273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3998,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_283082962",
+      "mask_path": "../../mask/hdr_front_03998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03999.png",
+      "transform_matrix": [
+        [
+          0.02263757772743702,
+          -0.07737044990062714,
+          -0.9967454671859741,
+          56.490055084228516
+        ],
+        [
+          0.9997366666793823,
+          -0.001986265880987048,
+          0.022859696298837662,
+          23.12259292602539
+        ],
+        [
+          -0.0037484653294086456,
+          -0.997000515460968,
+          0.07730510830879211,
+          -24.80730628967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3999,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_383081912",
+      "mask_path": "../../mask/hdr_front_03999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04000.png",
+      "transform_matrix": [
+        [
+          0.017022322863340378,
+          -0.07096867263317108,
+          -0.997333288192749,
+          56.564300537109375
+        ],
+        [
+          0.9998230338096619,
+          -0.006781274452805519,
+          0.0175473615527153,
+          23.13236427307129
+        ],
+        [
+          -0.00800850335508585,
+          -0.9974555373191833,
+          0.07084068655967712,
+          -24.806537628173828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4000,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_483082532",
+      "mask_path": "../../mask/hdr_front_04000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04001.png",
+      "transform_matrix": [
+        [
+          0.01713543012738228,
+          -0.07356053590774536,
+          -0.997143566608429,
+          56.642391204833984
+        ],
+        [
+          0.9998488426208496,
+          -0.0016835411079227924,
+          0.017306121066212654,
+          23.137380599975586
+        ],
+        [
+          -0.00295177916996181,
+          -0.9972893595695496,
+          0.07352057099342346,
+          -24.815078735351562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4001,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_583081722",
+      "mask_path": "../../mask/hdr_front_04001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04002.png",
+      "transform_matrix": [
+        [
+          0.02628675289452076,
+          -0.07970680296421051,
+          -0.9964717030525208,
+          56.72841262817383
+        ],
+        [
+          0.9996542930603027,
+          0.001539522665552795,
+          0.02624756097793579,
+          23.13260269165039
+        ],
+        [
+          -0.0005580192664638162,
+          -0.9968171715736389,
+          0.07971971482038498,
+          -24.8139705657959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4002,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_683082103",
+      "mask_path": "../../mask/hdr_front_04002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04003.png",
+      "transform_matrix": [
+        [
+          0.031196363270282745,
+          -0.07823815196752548,
+          -0.9964464902877808,
+          56.800296783447266
+        ],
+        [
+          0.9995124936103821,
+          0.0011747993994504213,
+          0.0312001071870327,
+          23.127277374267578
+        ],
+        [
+          -0.0012704129330813885,
+          -0.9969339966773987,
+          0.0782366618514061,
+          -24.80940818786621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4003,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_783081531",
+      "mask_path": "../../mask/hdr_front_04003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04004.png",
+      "transform_matrix": [
+        [
+          0.03811606764793396,
+          -0.07199295610189438,
+          -0.9966766238212585,
+          56.87002944946289
+        ],
+        [
+          0.9992731213569641,
+          0.0021958949510008097,
+          0.038056761026382446,
+          23.12727928161621
+        ],
+        [
+          -0.0005512202624231577,
+          -0.9974027276039124,
+          0.07202432304620743,
+          -24.811965942382812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4004,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_883081912",
+      "mask_path": "../../mask/hdr_front_04004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04005.png",
+      "transform_matrix": [
+        [
+          0.04515654593706131,
+          -0.07921183109283447,
+          -0.9958345890045166,
+          56.971466064453125
+        ],
+        [
+          0.9989467859268188,
+          -0.004540635738521814,
+          0.04565884545445442,
+          23.12145233154297
+        ],
+        [
+          -0.008138440549373627,
+          -0.9968475103378296,
+          0.07892336696386337,
+          -24.82901954650879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4005,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_983083724",
+      "mask_path": "../../mask/hdr_front_04005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04006.png",
+      "transform_matrix": [
+        [
+          0.04814642295241356,
+          -0.09550978988409042,
+          -0.9942635297775269,
+          57.05318832397461
+        ],
+        [
+          0.9986124634742737,
+          -0.016655372455716133,
+          0.049956947565078735,
+          23.11175537109375
+        ],
+        [
+          -0.02133120596408844,
+          -0.995289146900177,
+          0.09457537531852722,
+          -24.853822708129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4006,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_83081960",
+      "mask_path": "../../mask/hdr_front_04006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04007.png",
+      "transform_matrix": [
+        [
+          0.05077873915433884,
+          -0.10518418252468109,
+          -0.9931554794311523,
+          57.11366271972656
+        ],
+        [
+          0.998363733291626,
+          -0.02083604224026203,
+          0.053251758217811584,
+          23.104753494262695
+        ],
+        [
+          -0.02629467286169529,
+          -0.9942345023155212,
+          0.10395403951406479,
+          -24.86298370361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4007,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_183082103",
+      "mask_path": "../../mask/hdr_front_04007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04008.png",
+      "transform_matrix": [
+        [
+          0.054123226553201675,
+          -0.11221377551555634,
+          -0.9922090768814087,
+          57.20101547241211
+        ],
+        [
+          0.9982970952987671,
+          -0.015573565848171711,
+          0.056216612458229065,
+          23.094221115112305
+        ],
+        [
+          -0.02176050841808319,
+          -0.9935621023178101,
+          0.11117979884147644,
+          -24.87797737121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4008,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_283082008",
+      "mask_path": "../../mask/hdr_front_04008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04009.png",
+      "transform_matrix": [
+        [
+          0.061491288244724274,
+          -0.12211974710226059,
+          -0.9906087517738342,
+          57.31346893310547
+        ],
+        [
+          0.9978825449943542,
+          -0.013552030548453331,
+          0.06361346691846848,
+          23.082843780517578
+        ],
+        [
+          -0.021193217486143112,
+          -0.992422878742218,
+          0.12102784216403961,
+          -24.901546478271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4009,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_383082628",
+      "mask_path": "../../mask/hdr_front_04009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04010.png",
+      "transform_matrix": [
+        [
+          0.07313061505556107,
+          -0.12794311344623566,
+          -0.9890817403793335,
+          57.384124755859375
+        ],
+        [
+          0.9971544146537781,
+          -0.00881735235452652,
+          0.07486806809902191,
+          23.067909240722656
+        ],
+        [
+          -0.01829993538558483,
+          -0.9917423725128174,
+          0.1269342303276062,
+          -24.909160614013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4010,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_483083248",
+      "mask_path": "../../mask/hdr_front_04010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04011.png",
+      "transform_matrix": [
+        [
+          0.0892750695347786,
+          -0.12471995502710342,
+          -0.9881675243377686,
+          57.44166564941406
+        ],
+        [
+          0.9958217144012451,
+          -0.007959692738950253,
+          0.0909712016582489,
+          23.050077438354492
+        ],
+        [
+          -0.019211431965231895,
+          -0.9921600818634033,
+          0.12348823249340057,
+          -24.914518356323242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4011,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_583082675",
+      "mask_path": "../../mask/hdr_front_04011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04012.png",
+      "transform_matrix": [
+        [
+          0.09822313487529755,
+          -0.12208763509988785,
+          -0.9876471757888794,
+          57.55781555175781
+        ],
+        [
+          0.9948607683181763,
+          -0.012471351772546768,
+          0.10048218071460724,
+          23.044954299926758
+        ],
+        [
+          -0.024584926664829254,
+          -0.9924409985542297,
+          0.12023521959781647,
+          -24.926488876342773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4012,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_683082580",
+      "mask_path": "../../mask/hdr_front_04012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04013.png",
+      "transform_matrix": [
+        [
+          0.09255126118659973,
+          -0.12358207255601883,
+          -0.988008975982666,
+          57.67351150512695
+        ],
+        [
+          0.9952294230461121,
+          -0.019273657351732254,
+          0.09563841670751572,
+          23.04728126525879
+        ],
+        [
+          -0.030861742794513702,
+          -0.9921471476554871,
+          0.12120872735977173,
+          -24.936559677124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4013,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_783083438",
+      "mask_path": "../../mask/hdr_front_04013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04014.png",
+      "transform_matrix": [
+        [
+          0.08278889209032059,
+          -0.12223450094461441,
+          -0.9890424013137817,
+          57.75381088256836
+        ],
+        [
+          0.9960740804672241,
+          -0.021062668412923813,
+          0.0859806165099144,
+          23.049739837646484
+        ],
+        [
+          -0.031341664493083954,
+          -0.9922777414321899,
+          0.1200108602643013,
+          -24.945945739746094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4014,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_883081674",
+      "mask_path": "../../mask/hdr_front_04014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04015.png",
+      "transform_matrix": [
+        [
+          0.07490082830190659,
+          -0.11675021797418594,
+          -0.9903329610824585,
+          57.83351516723633
+        ],
+        [
+          0.9967924356460571,
+          -0.01930982433259487,
+          0.07766581326723099,
+          23.05609893798828
+        ],
+        [
+          -0.028190651908516884,
+          -0.9929736256599426,
+          0.11492940783500671,
+          -24.96174430847168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4015,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_983082771",
+      "mask_path": "../../mask/hdr_front_04015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04016.png",
+      "transform_matrix": [
+        [
+          0.06735186278820038,
+          -0.10820730030536652,
+          -0.9918441772460938,
+          57.9437141418457
+        ],
+        [
+          0.9974381327629089,
+          -0.01671278104186058,
+          0.06955503672361374,
+          23.05520248413086
+        ],
+        [
+          -0.024102838709950447,
+          -0.9939879179000854,
+          0.10680445283651352,
+          -24.971389770507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4016,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_83082199",
+      "mask_path": "../../mask/hdr_front_04016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04017.png",
+      "transform_matrix": [
+        [
+          0.06284866482019424,
+          -0.09949667006731033,
+          -0.9930510520935059,
+          58.02634811401367
+        ],
+        [
+          0.9978968501091003,
+          -0.009556205943226814,
+          0.06411281228065491,
+          23.050100326538086
+        ],
+        [
+          -0.015868812799453735,
+          -0.9949920177459717,
+          0.0986868292093277,
+          -24.96163558959961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4017,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_183083534",
+      "mask_path": "../../mask/hdr_front_04017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04018.png",
+      "transform_matrix": [
+        [
+          0.06304239481687546,
+          -0.08938275277614594,
+          -0.9940003156661987,
+          58.09798812866211
+        ],
+        [
+          0.9979295134544373,
+          -0.007072975859045982,
+          0.06392762064933777,
+          23.049734115600586
+        ],
+        [
+          -0.012744566425681114,
+          -0.9959722757339478,
+          0.08875179290771484,
+          -24.959850311279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4018,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_283082008",
+      "mask_path": "../../mask/hdr_front_04018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04019.png",
+      "transform_matrix": [
+        [
+          0.05845816060900688,
+          -0.08610240370035172,
+          -0.9945698380470276,
+          58.20697021484375
+        ],
+        [
+          0.9981719255447388,
+          -0.01027428638190031,
+          0.05955934524536133,
+          23.05811309814453
+        ],
+        [
+          -0.015346698462963104,
+          -0.996233344078064,
+          0.08534437417984009,
+          -24.98135757446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4019,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_383082866",
+      "mask_path": "../../mask/hdr_front_04019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04020.png",
+      "transform_matrix": [
+        [
+          0.05285850167274475,
+          -0.08493496477603912,
+          -0.9949834942817688,
+          58.30157470703125
+        ],
+        [
+          0.9984281659126282,
+          -0.014097900129854679,
+          0.05424494668841362,
+          23.067188262939453
+        ],
+        [
+          -0.01863446645438671,
+          -0.9962867498397827,
+          0.08405626565217972,
+          -25.003530502319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4020,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_483082532",
+      "mask_path": "../../mask/hdr_front_04020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04021.png",
+      "transform_matrix": [
+        [
+          0.050865016877651215,
+          -0.07803460955619812,
+          -0.9956521987915039,
+          58.371192932128906
+        ],
+        [
+          0.9985502362251282,
+          -0.013607930392026901,
+          0.05207959935069084,
+          23.071308135986328
+        ],
+        [
+          -0.017612775787711143,
+          -0.996857762336731,
+          0.07722930610179901,
+          -25.00656509399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4021,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_583081960",
+      "mask_path": "../../mask/hdr_front_04021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04022.png",
+      "transform_matrix": [
+        [
+          0.05323781073093414,
+          -0.08054883033037186,
+          -0.9953279495239258,
+          58.45499801635742
+        ],
+        [
+          0.9984861612319946,
+          -0.009501377120614052,
+          0.05417565628886223,
+          23.073711395263672
+        ],
+        [
+          -0.013820772059261799,
+          -0.9967054128646851,
+          0.07992106676101685,
+          -25.013586044311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4022,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_683081865",
+      "mask_path": "../../mask/hdr_front_04022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04023.png",
+      "transform_matrix": [
+        [
+          0.06342451274394989,
+          -0.08186373859643936,
+          -0.9946234226226807,
+          58.54521942138672
+        ],
+        [
+          0.9979287981987,
+          -0.005521787796169519,
+          0.06408978253602982,
+          23.06599235534668
+        ],
+        [
+          -0.010738725773990154,
+          -0.9966282248497009,
+          0.08134397119283676,
+          -25.016969680786133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4023,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_783082723",
+      "mask_path": "../../mask/hdr_front_04023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04024.png",
+      "transform_matrix": [
+        [
+          0.07586497068405151,
+          -0.0752277746796608,
+          -0.9942763447761536,
+          58.61445617675781
+        ],
+        [
+          0.9970846176147461,
+          -0.0024516968987882137,
+          0.07626473903656006,
+          23.05341339111328
+        ],
+        [
+          -0.008174888789653778,
+          -0.9971633553504944,
+          0.07482245564460754,
+          -25.007266998291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4024,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_883081436",
+      "mask_path": "../../mask/hdr_front_04024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04025.png",
+      "transform_matrix": [
+        [
+          0.08645538985729218,
+          -0.06815215200185776,
+          -0.9939219355583191,
+          58.688682556152344
+        ],
+        [
+          0.9961829781532288,
+          -0.006138745695352554,
+          0.08707299828529358,
+          23.049699783325195
+        ],
+        [
+          -0.012035643681883812,
+          -0.9976561069488525,
+          0.06736128777265549,
+          -25.01409149169922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4025,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_983083724",
+      "mask_path": "../../mask/hdr_front_04025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04026.png",
+      "transform_matrix": [
+        [
+          0.085556261241436,
+          -0.0664239227771759,
+          -0.9941167235374451,
+          58.79521560668945
+        ],
+        [
+          0.9961212873458862,
+          -0.014884132891893387,
+          0.08672329783439636,
+          23.049610137939453
+        ],
+        [
+          -0.020557062700390816,
+          -0.9976804852485657,
+          0.06489284336566925,
+          -25.018884658813477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4026,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_83081960",
+      "mask_path": "../../mask/hdr_front_04026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04027.png",
+      "transform_matrix": [
+        [
+          0.0745471715927124,
+          -0.0675365999341011,
+          -0.9949279427528381,
+          58.88420104980469
+        ],
+        [
+          0.9968461394309998,
+          -0.022178856655955315,
+          0.07619643211364746,
+          23.050893783569336
+        ],
+        [
+          -0.027212414890527725,
+          -0.9974702596664429,
+          0.06567022949457169,
+          -25.026992797851562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4027,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_183082818",
+      "mask_path": "../../mask/hdr_front_04027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04028.png",
+      "transform_matrix": [
+        [
+          0.05822761356830597,
+          -0.0653008297085762,
+          -0.9961652755737305,
+          58.957801818847656
+        ],
+        [
+          0.997952401638031,
+          -0.022649528458714485,
+          0.05981679633259773,
+          23.052642822265625
+        ],
+        [
+          -0.026468755677342415,
+          -0.9976086020469666,
+          0.06384828686714172,
+          -25.034780502319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4028,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_283081769",
+      "mask_path": "../../mask/hdr_front_04028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04029.png",
+      "transform_matrix": [
+        [
+          0.04017850384116173,
+          -0.06711260229349136,
+          -0.9969361424446106,
+          59.052268981933594
+        ],
+        [
+          0.9989835023880005,
+          -0.017710499465465546,
+          0.041453272104263306,
+          23.053133010864258
+        ],
+        [
+          -0.020438270643353462,
+          -0.9975882768630981,
+          0.06633280962705612,
+          -25.043569564819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4029,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_383083820",
+      "mask_path": "../../mask/hdr_front_04029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04030.png",
+      "transform_matrix": [
+        [
+          0.027678750455379486,
+          -0.0681944191455841,
+          -0.9972881078720093,
+          59.153404235839844
+        ],
+        [
+          0.9995002150535583,
+          -0.013352836482226849,
+          0.028653213754296303,
+          23.049652099609375
+        ],
+        [
+          -0.015270614065229893,
+          -0.997582733631134,
+          0.06779073923826218,
+          -25.046091079711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4030,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_483081817",
+      "mask_path": "../../mask/hdr_front_04030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04031.png",
+      "transform_matrix": [
+        [
+          0.01962275616824627,
+          -0.06503519415855408,
+          -0.9976900219917297,
+          59.22944259643555
+        ],
+        [
+          0.9997714161872864,
+          -0.007191083859652281,
+          0.020132452249526978,
+          23.047765731811523
+        ],
+        [
+          -0.00848378799855709,
+          -0.9978570938110352,
+          0.06487923115491867,
+          -25.043384552001953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4031,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_583083391",
+      "mask_path": "../../mask/hdr_front_04031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04032.png",
+      "transform_matrix": [
+        [
+          0.013552152551710606,
+          -0.0619712695479393,
+          -0.9979859590530396,
+          59.29366683959961
+        ],
+        [
+          0.9999009966850281,
+          -0.002921678824350238,
+          0.013759583234786987,
+          23.05351448059082
+        ],
+        [
+          -0.0037684915587306023,
+          -0.9980736970901489,
+          0.06192554160952568,
+          -25.05487823486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4032,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_683081150",
+      "mask_path": "../../mask/hdr_front_04032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04033.png",
+      "transform_matrix": [
+        [
+          0.0053477161563932896,
+          -0.06765840202569962,
+          -0.9976942539215088,
+          59.39717483520508
+        ],
+        [
+          0.9999358057975769,
+          -0.00960732065141201,
+          0.006011249031871557,
+          23.05767250061035
+        ],
+        [
+          -0.009991878643631935,
+          -0.997662365436554,
+          0.06760267168283463,
+          -25.065820693969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4033,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_783082246",
+      "mask_path": "../../mask/hdr_front_04033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04034.png",
+      "transform_matrix": [
+        [
+          -0.007175810635089874,
+          -0.07521557062864304,
+          -0.9971414804458618,
+          59.49339294433594
+        ],
+        [
+          0.9997814297676086,
+          -0.020120378583669662,
+          -0.005677105393260717,
+          23.062795639038086
+        ],
+        [
+          -0.01963585801422596,
+          -0.9969643354415894,
+          0.07534351199865341,
+          -25.078594207763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4034,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_883080720",
+      "mask_path": "../../mask/hdr_front_04034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04035.png",
+      "transform_matrix": [
+        [
+          -0.02082088403403759,
+          -0.07598801702260971,
+          -0.9968913793563843,
+          59.56564712524414
+        ],
+        [
+          0.9995716214179993,
+          -0.022093504667282104,
+          -0.019192785024642944,
+          23.073383331298828
+        ],
+        [
+          -0.02056639827787876,
+          -0.9968639612197876,
+          0.07641547918319702,
+          -25.090293884277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4035,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_983082056",
+      "mask_path": "../../mask/hdr_front_04035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04036.png",
+      "transform_matrix": [
+        [
+          -0.032450538128614426,
+          -0.08020941913127899,
+          -0.9962497353553772,
+          59.647239685058594
+        ],
+        [
+          0.9994134902954102,
+          -0.013518148101866245,
+          -0.031465232372283936,
+          23.08119010925293
+        ],
+        [
+          -0.010943641886115074,
+          -0.9966863393783569,
+          0.0806010439991951,
+          -25.100357055664062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4036,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_83082199",
+      "mask_path": "../../mask/hdr_front_04036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04037.png",
+      "transform_matrix": [
+        [
+          -0.03080560825765133,
+          -0.08686234802007675,
+          -0.9957440495491028,
+          59.74205780029297
+        ],
+        [
+          0.9994611144065857,
+          -0.013976777903735638,
+          -0.029701365157961845,
+          23.079479217529297
+        ],
+        [
+          -0.011337359435856342,
+          -0.9961223006248474,
+          0.08724609762430191,
+          -25.1081485748291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4037,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_183081626",
+      "mask_path": "../../mask/hdr_front_04037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04038.png",
+      "transform_matrix": [
+        [
+          -0.018960723653435707,
+          -0.08841407299041748,
+          -0.9959034323692322,
+          59.805912017822266
+        ],
+        [
+          0.9997265934944153,
+          -0.015305553562939167,
+          -0.017674721777439117,
+          23.073165893554688
+        ],
+        [
+          -0.013680154457688332,
+          -0.9959662556648254,
+          0.08868011087179184,
+          -25.108638763427734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4038,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_283082723",
+      "mask_path": "../../mask/hdr_front_04038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04039.png",
+      "transform_matrix": [
+        [
+          -0.0038325085770338774,
+          -0.0835847556591034,
+          -0.9964933395385742,
+          59.8575553894043
+        ],
+        [
+          0.9998441934585571,
+          -0.017493149265646935,
+          -0.0023780909832566977,
+          23.06781005859375
+        ],
+        [
+          -0.01723303273320198,
+          -0.9963471293449402,
+          0.08363877236843109,
+          -25.109249114990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4039,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_383082151",
+      "mask_path": "../../mask/hdr_front_04039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04040.png",
+      "transform_matrix": [
+        [
+          0.003857298754155636,
+          -0.08357871323823929,
+          -0.9964937567710876,
+          59.97723388671875
+        ],
+        [
+          0.9996592998504639,
+          -0.025403808802366257,
+          0.006000239867717028,
+          23.072795867919922
+        ],
+        [
+          -0.02581622637808323,
+          -0.9961773157119751,
+          0.0834522396326065,
+          -25.12067985534668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4040,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_483081817",
+      "mask_path": "../../mask/hdr_front_04040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04041.png",
+      "transform_matrix": [
+        [
+          0.004077204968780279,
+          -0.08883250504732132,
+          -0.9960382580757141,
+          60.09178161621094
+        ],
+        [
+          0.9995466470718384,
+          -0.029351163655519485,
+          0.006709275767207146,
+          23.08526611328125
+        ],
+        [
+          -0.029830878600478172,
+          -0.9956140518188477,
+          0.08867255598306656,
+          -25.14402198791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4041,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_583081483",
+      "mask_path": "../../mask/hdr_front_04041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04042.png",
+      "transform_matrix": [
+        [
+          0.0025997539050877094,
+          -0.08969766646623611,
+          -0.9959657192230225,
+          60.16152572631836
+        ],
+        [
+          0.9995450377464294,
+          -0.029693778604269028,
+          0.005283348727971315,
+          23.097702026367188
+        ],
+        [
+          -0.030047884210944176,
+          -0.9955263733863831,
+          0.08957965672016144,
+          -25.162364959716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4042,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_683079481",
+      "mask_path": "../../mask/hdr_front_04042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04043.png",
+      "transform_matrix": [
+        [
+          -0.0005951135535724461,
+          -0.0970233827829361,
+          -0.9952819347381592,
+          60.242889404296875
+        ],
+        [
+          0.9998096823692322,
+          -0.01946668140590191,
+          0.0012998566962778568,
+          23.10692024230957
+        ],
+        [
+          -0.01950094848871231,
+          -0.9950917959213257,
+          0.09701649844646454,
+          -25.174015045166016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4043,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_783080577",
+      "mask_path": "../../mask/hdr_front_04043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04044.png",
+      "transform_matrix": [
+        [
+          -0.003679959336295724,
+          -0.10402239859104156,
+          -0.9945681095123291,
+          60.34269332885742
+        ],
+        [
+          0.9998818635940552,
+          -0.015221524983644485,
+          -0.0021075939293950796,
+          23.110177993774414
+        ],
+        [
+          -0.014919609762728214,
+          -0.9944584369659424,
+          0.10406612604856491,
+          -25.18640899658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4044,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_883080005",
+      "mask_path": "../../mask/hdr_front_04044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_04045.png",
+      "transform_matrix": [
+        [
+          -0.004180849529802799,
+          -0.10406721383333206,
+          -0.994561493396759,
+          60.417240142822266
+        ],
+        [
+          0.9998669028282166,
+          -0.016118554398417473,
+          -0.0025165663100779057,
+          23.106956481933594
+        ],
+        [
+          -0.015768999233841896,
+          -0.9944397807121277,
+          0.10412075370550156,
+          -25.193574905395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4045,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_983081579",
+      "mask_path": "../../mask/hdr_front_04045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06341.png",
+      "transform_matrix": [
+        [
+          -0.0519123300909996,
+          -0.11043202131986618,
+          0.9925270676612854,
+          59.62881851196289
+        ],
+        [
+          -0.9984902143478394,
+          0.0236067958176136,
+          -0.04959765821695328,
+          23.02114486694336
+        ],
+        [
+          -0.017953211441636086,
+          -0.9936032891273499,
+          -0.11149077117443085,
+          -25.151412963867188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6341,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_583081245",
+      "mask_path": "../../mask/hdr_front_06341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06342.png",
+      "transform_matrix": [
+        [
+          -0.047849852591753006,
+          -0.09261178970336914,
+          0.994551956653595,
+          59.55649185180664
+        ],
+        [
+          -0.9982361197471619,
+          0.03946610167622566,
+          -0.044352054595947266,
+          23.009958267211914
+        ],
+        [
+          -0.03514356166124344,
+          -0.9949198961257935,
+          -0.0943368598818779,
+          -25.126705169677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6342,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_683082103",
+      "mask_path": "../../mask/hdr_front_06342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06343.png",
+      "transform_matrix": [
+        [
+          -0.044401273131370544,
+          -0.09224870800971985,
+          0.9947454929351807,
+          59.49633026123047
+        ],
+        [
+          -0.9983609318733215,
+          0.04008959233760834,
+          -0.040844906121492386,
+          23.005390167236328
+        ],
+        [
+          -0.036111053079366684,
+          -0.9949286580085754,
+          -0.09387752413749695,
+          -25.11441993713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6343,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_783081531",
+      "mask_path": "../../mask/hdr_front_06343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06344.png",
+      "transform_matrix": [
+        [
+          -0.04513678699731827,
+          -0.08739040046930313,
+          0.9951509833335876,
+          59.42113494873047
+        ],
+        [
+          -0.9986742734909058,
+          0.02862389385700226,
+          -0.042782947421073914,
+          23.01250648498535
+        ],
+        [
+          -0.024746274575591087,
+          -0.995762825012207,
+          -0.08856652677059174,
+          -25.117786407470703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6344,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_883081436",
+      "mask_path": "../../mask/hdr_front_06344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06345.png",
+      "transform_matrix": [
+        [
+          -0.053874775767326355,
+          -0.08421396464109421,
+          0.9949902296066284,
+          59.32221984863281
+        ],
+        [
+          -0.998431921005249,
+          0.019716130569577217,
+          -0.052392397075891495,
+          23.016077041625977
+        ],
+        [
+          -0.015205183997750282,
+          -0.9962526559829712,
+          -0.08514412492513657,
+          -25.103731155395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6345,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_983079910",
+      "mask_path": "../../mask/hdr_front_06345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06346.png",
+      "transform_matrix": [
+        [
+          -0.06385455280542374,
+          -0.08510034531354904,
+          0.9943241477012634,
+          59.22762680053711
+        ],
+        [
+          -0.9979093670845032,
+          0.015398552641272545,
+          -0.062766894698143,
+          23.02363395690918
+        ],
+        [
+          -0.009969666600227356,
+          -0.9962534308433533,
+          -0.08590570092201233,
+          -25.08852767944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6346,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_83081960",
+      "mask_path": "../../mask/hdr_front_06346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06347.png",
+      "transform_matrix": [
+        [
+          -0.0739942416548729,
+          -0.08736304193735123,
+          0.993424654006958,
+          59.1475944519043
+        ],
+        [
+          -0.9972583055496216,
+          0.005602405406534672,
+          -0.07378709316253662,
+          23.026077270507812
+        ],
+        [
+          0.0008806984988041222,
+          -0.9961608052253723,
+          -0.08753806352615356,
+          -25.07438087463379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6347,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_183080911",
+      "mask_path": "../../mask/hdr_front_06347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06348.png",
+      "transform_matrix": [
+        [
+          -0.07760002464056015,
+          -0.08703044056892395,
+          0.9931787252426147,
+          59.04646301269531
+        ],
+        [
+          -0.9969751238822937,
+          0.002426507417112589,
+          -0.07768401503562927,
+          23.023483276367188
+        ],
+        [
+          0.004350918345153332,
+          -0.9962027072906494,
+          -0.0869554802775383,
+          -25.055198669433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6348,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_283082246",
+      "mask_path": "../../mask/hdr_front_06348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06349.png",
+      "transform_matrix": [
+        [
+          -0.07467760890722275,
+          -0.08436954766511917,
+          0.9936322569847107,
+          58.95126724243164
+        ],
+        [
+          -0.997207522392273,
+          0.005690081976354122,
+          -0.07446316629648209,
+          23.029727935791016
+        ],
+        [
+          0.0006285753916017711,
+          -0.9964183568954468,
+          -0.08455885946750641,
+          -25.05301284790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6349,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_383081436",
+      "mask_path": "../../mask/hdr_front_06349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06350.png",
+      "transform_matrix": [
+        [
+          -0.07326474040746689,
+          -0.08255822211503983,
+          0.9938896298408508,
+          58.8792610168457
+        ],
+        [
+          -0.9973106384277344,
+          0.00796939991414547,
+          -0.07285494357347488,
+          23.02934455871582
+        ],
+        [
+          -0.0019059282494708896,
+          -0.9965543746948242,
+          -0.08292006701231003,
+          -25.045427322387695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6350,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_483081102",
+      "mask_path": "../../mask/hdr_front_06350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06351.png",
+      "transform_matrix": [
+        [
+          -0.0776776522397995,
+          -0.07738272845745087,
+          0.9939708709716797,
+          58.796993255615234
+        ],
+        [
+          -0.996978223323822,
+          0.005211046896874905,
+          -0.07750698924064636,
+          23.03919792175293
+        ],
+        [
+          0.0008180737495422363,
+          -0.9969879984855652,
+          -0.07755367457866669,
+          -25.03765296936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6351,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_583082199",
+      "mask_path": "../../mask/hdr_front_06351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06352.png",
+      "transform_matrix": [
+        [
+          -0.08890863507986069,
+          -0.0777735635638237,
+          0.9929987192153931,
+          58.70813751220703
+        ],
+        [
+          -0.9960325956344604,
+          0.003171009011566639,
+          -0.08893192559480667,
+          23.056148529052734
+        ],
+        [
+          0.0037677448708564043,
+          -0.9969661235809326,
+          -0.07774694263935089,
+          -25.020097732543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6352,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_683081626",
+      "mask_path": "../../mask/hdr_front_06352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06353.png",
+      "transform_matrix": [
+        [
+          -0.09947692602872849,
+          -0.08162727952003479,
+          0.9916860461235046,
+          58.64303970336914
+        ],
+        [
+          -0.9950045943260193,
+          -0.00023056392092257738,
+          -0.0998287945985794,
+          23.06279182434082
+        ],
+        [
+          0.008377397432923317,
+          -0.9966629147529602,
+          -0.08119657635688782,
+          -25.002216339111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6353,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_783081293",
+      "mask_path": "../../mask/hdr_front_06353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06354.png",
+      "transform_matrix": [
+        [
+          -0.10801512748003006,
+          -0.08287771046161652,
+          0.990688681602478,
+          58.574066162109375
+        ],
+        [
+          -0.994048535823822,
+          -0.0051827216520905495,
+          -0.1088150292634964,
+          23.07022476196289
+        ],
+        [
+          0.01415280345827341,
+          -0.9965462684631348,
+          -0.0818246528506279,
+          -24.998844146728516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6354,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_883081436",
+      "mask_path": "../../mask/hdr_front_06354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06355.png",
+      "transform_matrix": [
+        [
+          -0.11012844741344452,
+          -0.07872011512517929,
+          0.9907950162887573,
+          58.4703483581543
+        ],
+        [
+          -0.9938298463821411,
+          -0.004508317913860083,
+          -0.11082395911216736,
+          23.077226638793945
+        ],
+        [
+          0.013190895318984985,
+          -0.9968865513801575,
+          -0.07773791253566742,
+          -24.9969539642334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6355,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_983081340",
+      "mask_path": "../../mask/hdr_front_06355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06356.png",
+      "transform_matrix": [
+        [
+          -0.1084086149930954,
+          -0.0717625617980957,
+          0.9915128350257874,
+          58.389373779296875
+        ],
+        [
+          -0.9940625429153442,
+          -0.0015469228383153677,
+          -0.10879935324192047,
+          23.074352264404297
+        ],
+        [
+          0.009341512806713581,
+          -0.997420608997345,
+          -0.07116878032684326,
+          -24.991682052612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6356,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_83081960",
+      "mask_path": "../../mask/hdr_front_06356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06358.png",
+      "transform_matrix": [
+        [
+          -0.11264708638191223,
+          -0.060217566788196564,
+          0.9918086528778076,
+          58.28335189819336
+        ],
+        [
+          -0.9936083555221558,
+          -0.0004895831807516515,
+          -0.11288122087717056,
+          23.089092254638672
+        ],
+        [
+          0.007283004466444254,
+          -0.9981851577758789,
+          -0.059777528047561646,
+          -24.99675750732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6358,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_283082008",
+      "mask_path": "../../mask/hdr_front_06358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06359.png",
+      "transform_matrix": [
+        [
+          -0.11393433809280396,
+          -0.05914049595594406,
+          0.9917265176773071,
+          58.21255111694336
+        ],
+        [
+          -0.9934715032577515,
+          0.0009752535843290389,
+          -0.11407666653394699,
+          23.10002899169922
+        ],
+        [
+          0.0057793669402599335,
+          -0.9982491731643677,
+          -0.0588655062019825,
+          -24.97490119934082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6359,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_383080005",
+      "mask_path": "../../mask/hdr_front_06359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06360.png",
+      "transform_matrix": [
+        [
+          -0.1096343919634819,
+          -0.062314726412296295,
+          0.9920167326927185,
+          58.145782470703125
+        ],
+        [
+          -0.9939478039741516,
+          -8.454061025986448e-05,
+          -0.1098531186580658,
+          23.1076717376709
+        ],
+        [
+          0.006929334718734026,
+          -0.9980566501617432,
+          -0.06192832067608833,
+          -24.96278190612793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6360,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_483080863",
+      "mask_path": "../../mask/hdr_front_06360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06361.png",
+      "transform_matrix": [
+        [
+          -0.1019725576043129,
+          -0.06486841291189194,
+          0.9926700592041016,
+          58.080360412597656
+        ],
+        [
+          -0.9947024583816528,
+          -0.006376403849571943,
+          -0.10259804129600525,
+          23.11297607421875
+        ],
+        [
+          0.01298503577709198,
+          -0.9978734850883484,
+          -0.06387456506490707,
+          -24.962953567504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6361,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_583081960",
+      "mask_path": "../../mask/hdr_front_06361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06362.png",
+      "transform_matrix": [
+        [
+          -0.08495010435581207,
+          -0.0609285905957222,
+          0.9945206046104431,
+          58.008480072021484
+        ],
+        [
+          -0.9962766170501709,
+          -0.00954438280314207,
+          -0.08568483591079712,
+          23.112184524536133
+        ],
+        [
+          0.014712739735841751,
+          -0.9980965256690979,
+          -0.059890929609537125,
+          -24.952789306640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6362,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_683081865",
+      "mask_path": "../../mask/hdr_front_06362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06363.png",
+      "transform_matrix": [
+        [
+          -0.061918530613183975,
+          -0.05517876520752907,
+          0.9965547919273376,
+          57.93818664550781
+        ],
+        [
+          -0.9980576038360596,
+          -0.003447280963882804,
+          -0.062202777713537216,
+          23.105623245239258
+        ],
+        [
+          0.0068676769733428955,
+          -0.9984705448150635,
+          -0.05485813319683075,
+          -24.952239990234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6363,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_783082008",
+      "mask_path": "../../mask/hdr_front_06363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06364.png",
+      "transform_matrix": [
+        [
+          -0.041252825409173965,
+          -0.05232091620564461,
+          0.9977779388427734,
+          57.87825393676758
+        ],
+        [
+          -0.999146044254303,
+          -0.00012403381697367877,
+          -0.04131590202450752,
+          23.094690322875977
+        ],
+        [
+          0.00228544557467103,
+          -0.9986303448677063,
+          -0.05227112025022507,
+          -24.95353889465332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6364,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_883081912",
+      "mask_path": "../../mask/hdr_front_06364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06365.png",
+      "transform_matrix": [
+        [
+          -0.02708425000309944,
+          -0.04803497716784477,
+          0.9984784722328186,
+          57.813865661621094
+        ],
+        [
+          -0.9996153116226196,
+          -0.004669256508350372,
+          -0.027339722961187363,
+          23.090164184570312
+        ],
+        [
+          0.0059754131361842155,
+          -0.9988347887992859,
+          -0.04789004102349281,
+          -24.954668045043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6365,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_983082056",
+      "mask_path": "../../mask/hdr_front_06365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06366.png",
+      "transform_matrix": [
+        [
+          -0.0251524206250906,
+          -0.04882669821381569,
+          0.9984906315803528,
+          57.745548248291016
+        ],
+        [
+          -0.999639630317688,
+          -0.008143836632370949,
+          -0.025579607114195824,
+          23.09368896484375
+        ],
+        [
+          0.009380510076880455,
+          -0.9987741112709045,
+          -0.04860425740480423,
+          -24.94384002685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6366,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_83081960",
+      "mask_path": "../../mask/hdr_front_06366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06367.png",
+      "transform_matrix": [
+        [
+          -0.03242165967822075,
+          -0.051021672785282135,
+          0.9981712698936462,
+          57.68400192260742
+        ],
+        [
+          -0.9993764162063599,
+          -0.012319473549723625,
+          -0.03309052437543869,
+          23.099523544311523
+        ],
+        [
+          0.01398527529090643,
+          -0.9986215829849243,
+          -0.05059044063091278,
+          -24.933137893676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6367,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_183083057",
+      "mask_path": "../../mask/hdr_front_06367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06368.png",
+      "transform_matrix": [
+        [
+          -0.042966876178979874,
+          -0.05412471294403076,
+          0.9976093769073486,
+          57.621673583984375
+        ],
+        [
+          -0.9988896250724792,
+          -0.01698916219174862,
+          -0.04394375905394554,
+          23.10677719116211
+        ],
+        [
+          0.019326986744999886,
+          -0.9983896613121033,
+          -0.053334638476371765,
+          -24.9309139251709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6368,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_283082962",
+      "mask_path": "../../mask/hdr_front_06368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06369.png",
+      "transform_matrix": [
+        [
+          -0.0470128133893013,
+          -0.053996678441762924,
+          0.9974338412284851,
+          57.52820587158203
+        ],
+        [
+          -0.9987050890922546,
+          -0.016891812905669212,
+          -0.047987185418605804,
+          23.105167388916016
+        ],
+        [
+          0.019439617171883583,
+          -0.9983982443809509,
+          -0.05313263088464737,
+          -24.924346923828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6369,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_383082628",
+      "mask_path": "../../mask/hdr_front_06369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06370.png",
+      "transform_matrix": [
+        [
+          -0.045969460159540176,
+          -0.0492488294839859,
+          0.9977280497550964,
+          57.455692291259766
+        ],
+        [
+          -0.9988172650337219,
+          -0.013571714982390404,
+          -0.04668955132365227,
+          23.096145629882812
+        ],
+        [
+          0.015840288251638412,
+          -0.9986943602561951,
+          -0.04856669157743454,
+          -24.927474975585938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6370,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_483083009",
+      "mask_path": "../../mask/hdr_front_06370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06371.png",
+      "transform_matrix": [
+        [
+          -0.045619163662195206,
+          -0.04533900320529938,
+          0.9979295134544373,
+          57.39458084106445
+        ],
+        [
+          -0.9988524913787842,
+          -0.012508940882980824,
+          -0.04622967913746834,
+          23.098896026611328
+        ],
+        [
+          0.014579049311578274,
+          -0.9988933801651001,
+          -0.044716328382492065,
+          -24.935623168945312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6371,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_583082914",
+      "mask_path": "../../mask/hdr_front_06371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06372.png",
+      "transform_matrix": [
+        [
+          -0.04862663522362709,
+          -0.04156360402703285,
+          0.997951865196228,
+          57.32134246826172
+        ],
+        [
+          -0.9987333416938782,
+          -0.010910025797784328,
+          -0.04911909997463226,
+          23.105981826782227
+        ],
+        [
+          0.012929247692227364,
+          -0.9990763068199158,
+          -0.04098043963313103,
+          -24.93880844116211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6372,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_683082342",
+      "mask_path": "../../mask/hdr_front_06372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06373.png",
+      "transform_matrix": [
+        [
+          -0.05744558572769165,
+          -0.042138732969760895,
+          0.9974589943885803,
+          57.24962615966797
+        ],
+        [
+          -0.9982582330703735,
+          -0.01102799829095602,
+          -0.05795750021934509,
+          23.113332748413086
+        ],
+        [
+          0.013442229479551315,
+          -0.9990509152412415,
+          -0.04143182188272476,
+          -24.91863441467285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6373,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_783082246",
+      "mask_path": "../../mask/hdr_front_06373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06374.png",
+      "transform_matrix": [
+        [
+          -0.06723473966121674,
+          -0.045689117163419724,
+          0.996690571308136,
+          57.18925857543945
+        ],
+        [
+          -0.9975716471672058,
+          -0.015114916488528252,
+          -0.06798706203699112,
+          23.124197006225586
+        ],
+        [
+          0.018171163275837898,
+          -0.9988414645195007,
+          -0.044561926275491714,
+          -24.908203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6374,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_883082628",
+      "mask_path": "../../mask/hdr_front_06374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06376.png",
+      "transform_matrix": [
+        [
+          -0.08564898371696472,
+          -0.0687430128455162,
+          0.9939510822296143,
+          57.04778289794922
+        ],
+        [
+          -0.9955634474754333,
+          -0.033102959394454956,
+          -0.08807738125324249,
+          23.12249755859375
+        ],
+        [
+          0.03895742446184158,
+          -0.9970850944519043,
+          -0.06560278683900833,
+          -24.867324829101562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6376,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_83082675",
+      "mask_path": "../../mask/hdr_front_06376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06377.png",
+      "transform_matrix": [
+        [
+          -0.08041853457689285,
+          -0.08266377449035645,
+          0.9933274984359741,
+          56.9549446105957
+        ],
+        [
+          -0.995966911315918,
+          -0.03311300650238991,
+          -0.08338785916566849,
+          23.121173858642578
+        ],
+        [
+          0.03978521376848221,
+          -0.9960272312164307,
+          -0.07966748625040054,
+          -24.83712387084961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6377,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_183082103",
+      "mask_path": "../../mask/hdr_front_06377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06378.png",
+      "transform_matrix": [
+        [
+          -0.07378299534320831,
+          -0.08540051430463791,
+          0.9936110377311707,
+          56.89122009277344
+        ],
+        [
+          -0.9967324137687683,
+          -0.026525253430008888,
+          -0.07629463076591492,
+          23.12146759033203
+        ],
+        [
+          0.03287138044834137,
+          -0.9959936141967773,
+          -0.08316435664892197,
+          -24.830995559692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6378,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_283082246",
+      "mask_path": "../../mask/hdr_front_06378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06380.png",
+      "transform_matrix": [
+        [
+          -0.07862497866153717,
+          -0.09373556077480316,
+          0.9924877285957336,
+          56.762516021728516
+        ],
+        [
+          -0.9961341023445129,
+          -0.03173954412341118,
+          -0.08191148936748505,
+          23.135873794555664
+        ],
+        [
+          0.03917912393808365,
+          -0.9950910806655884,
+          -0.09087766706943512,
+          -24.81967544555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6380,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_483081340",
+      "mask_path": "../../mask/hdr_front_06380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06381.png",
+      "transform_matrix": [
+        [
+          -0.08729027211666107,
+          -0.10125800967216492,
+          0.9910233616828918,
+          56.68413162231445
+        ],
+        [
+          -0.9955011606216431,
+          -0.02792900986969471,
+          -0.09053835272789001,
+          23.149616241455078
+        ],
+        [
+          0.03684603422880173,
+          -0.9944681525230408,
+          -0.09836455434560776,
+          -24.799699783325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6381,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_583080768",
+      "mask_path": "../../mask/hdr_front_06381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06382.png",
+      "transform_matrix": [
+        [
+          -0.09586739540100098,
+          -0.10625356435775757,
+          0.9897068738937378,
+          56.633853912353516
+        ],
+        [
+          -0.9946034550666809,
+          -0.02939821593463421,
+          -0.09949786216020584,
+          23.14614486694336
+        ],
+        [
+          0.03966761380434036,
+          -0.9939044117927551,
+          -0.10286182165145874,
+          -24.777687072753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6382,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_683080673",
+      "mask_path": "../../mask/hdr_front_06382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06383.png",
+      "transform_matrix": [
+        [
+          -0.10128065943717957,
+          -0.10270074754953384,
+          0.9895427823066711,
+          56.56937789916992
+        ],
+        [
+          -0.9941565990447998,
+          -0.026891788467764854,
+          -0.10454390197992325,
+          23.144014358520508
+        ],
+        [
+          0.037347301840782166,
+          -0.9943488240242004,
+          -0.09937701374292374,
+          -24.76682472229004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6383,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_783081054",
+      "mask_path": "../../mask/hdr_front_06383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06384.png",
+      "transform_matrix": [
+        [
+          -0.10268356651067734,
+          -0.09633897989988327,
+          0.9900378584861755,
+          56.51377868652344
+        ],
+        [
+          -0.9941854476928711,
+          -0.02250528521835804,
+          -0.10530368238687515,
+          23.146751403808594
+        ],
+        [
+          0.032425928860902786,
+          -0.9950941205024719,
+          -0.09346786886453629,
+          -24.776798248291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6384,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_883079051",
+      "mask_path": "../../mask/hdr_front_06384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06386.png",
+      "transform_matrix": [
+        [
+          -0.09619805961847305,
+          -0.09063273668289185,
+          0.9912273287773132,
+          56.42054748535156
+        ],
+        [
+          -0.9950079321861267,
+          -0.01781279779970646,
+          -0.09819366037845612,
+          23.154233932495117
+        ],
+        [
+          0.026556091383099556,
+          -0.9957250952720642,
+          -0.08846674114465714,
+          -24.78445053100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6386,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_83079338",
+      "mask_path": "../../mask/hdr_front_06386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06387.png",
+      "transform_matrix": [
+        [
+          -0.09605346620082855,
+          -0.09012109786272049,
+          0.9912879467010498,
+          56.35503005981445
+        ],
+        [
+          -0.9951130747795105,
+          -0.014202533289790154,
+          -0.09771531075239182,
+          23.16194725036621
+        ],
+        [
+          0.02288500778377056,
+          -0.9958295822143555,
+          -0.08831647038459778,
+          -24.767261505126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6387,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_183080911",
+      "mask_path": "../../mask/hdr_front_06387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06389.png",
+      "transform_matrix": [
+        [
+          -0.1033230572938919,
+          -0.09541156888008118,
+          0.9900611639022827,
+          56.2685432434082
+        ],
+        [
+          -0.9943742752075195,
+          -0.013433386571705341,
+          -0.10506775230169296,
+          23.182878494262695
+        ],
+        [
+          0.023324549198150635,
+          -0.9953473210334778,
+          -0.09348683804273605,
+          -24.754810333251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6389,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_383079767",
+      "mask_path": "../../mask/hdr_front_06389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06390.png",
+      "transform_matrix": [
+        [
+          -0.10739526152610779,
+          -0.09269696474075317,
+          0.989885687828064,
+          56.21247482299805
+        ],
+        [
+          -0.9939858913421631,
+          -0.011424138210713863,
+          -0.10890992730855942,
+          23.198143005371094
+        ],
+        [
+          0.021404212340712547,
+          -0.995628833770752,
+          -0.0909125804901123,
+          -24.743671417236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6390,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_483080625",
+      "mask_path": "../../mask/hdr_front_06390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06393.png",
+      "transform_matrix": [
+        [
+          -0.1060832142829895,
+          -0.08277183026075363,
+          0.9909061789512634,
+          56.05996322631836
+        ],
+        [
+          -0.9942107796669006,
+          -0.00827441643923521,
+          -0.10712816566228867,
+          23.207780838012695
+        ],
+        [
+          0.017066365107893944,
+          -0.9965341687202454,
+          -0.08141487091779709,
+          -24.75918960571289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6393,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_783083677",
+      "mask_path": "../../mask/hdr_front_06393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06394.png",
+      "transform_matrix": [
+        [
+          -0.11278767138719559,
+          -0.07740870863199234,
+          0.9905992746353149,
+          55.9937744140625
+        ],
+        [
+          -0.9934868216514587,
+          -0.0074843852780759335,
+          -0.11370132118463516,
+          23.212121963500977
+        ],
+        [
+          0.016215497627854347,
+          -0.9969713687896729,
+          -0.07606038451194763,
+          -24.742021560668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6394,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_883082866",
+      "mask_path": "../../mask/hdr_front_06394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06397.png",
+      "transform_matrix": [
+        [
+          -0.10707487910985947,
+          -0.06979682296514511,
+          0.9917980432510376,
+          55.85602951049805
+        ],
+        [
+          -0.9938388466835022,
+          -0.02120685949921608,
+          -0.10878760367631912,
+          23.22178077697754
+        ],
+        [
+          0.02862595207989216,
+          -0.9973357915878296,
+          -0.06709607690572739,
+          -24.72745704650879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6397,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_183081865",
+      "mask_path": "../../mask/hdr_front_06397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06398.png",
+      "transform_matrix": [
+        [
+          -0.0803259089589119,
+          -0.06299206614494324,
+          0.9947763085365295,
+          55.79136657714844
+        ],
+        [
+          -0.9965093731880188,
+          -0.017685499042272568,
+          -0.08158574998378754,
+          23.208789825439453
+        ],
+        [
+          0.022732369601726532,
+          -0.9978573322296143,
+          -0.06135158613324165,
+          -24.725000381469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6398,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_283081769",
+      "mask_path": "../../mask/hdr_front_06398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06400.png",
+      "transform_matrix": [
+        [
+          -0.02136135846376419,
+          -0.051713913679122925,
+          0.9984334707260132,
+          55.684051513671875
+        ],
+        [
+          -0.9996213912963867,
+          -0.01621808111667633,
+          -0.022226791828870773,
+          23.18217658996582
+        ],
+        [
+          0.017342109233140945,
+          -0.9985302686691284,
+          -0.051347892731428146,
+          -24.73889923095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6400,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_483082056",
+      "mask_path": "../../mask/hdr_front_06400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06402.png",
+      "transform_matrix": [
+        [
+          -0.010358375497162342,
+          -0.04243645444512367,
+          0.9990454912185669,
+          55.60572052001953
+        ],
+        [
+          -0.9996069669723511,
+          -0.02558780647814274,
+          -0.01145109161734581,
+          23.16838836669922
+        ],
+        [
+          0.026049325242638588,
+          -0.9987714886665344,
+          -0.04215472936630249,
+          -24.70940399169922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6402,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_683081150",
+      "mask_path": "../../mask/hdr_front_06402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06404.png",
+      "transform_matrix": [
+        [
+          -0.030140092596411705,
+          -0.04152434691786766,
+          0.9986827969551086,
+          55.513248443603516
+        ],
+        [
+          -0.9988824725151062,
+          -0.0351368673145771,
+          -0.03160708397626877,
+          23.168359756469727
+        ],
+        [
+          0.03640304505825043,
+          -0.9985194802284241,
+          -0.040418919175863266,
+          -24.704137802124023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6404,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_883082866",
+      "mask_path": "../../mask/hdr_front_06404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06405.png",
+      "transform_matrix": [
+        [
+          -0.0306974109262228,
+          -0.038199376314878464,
+          0.9987985491752625,
+          55.447296142578125
+        ],
+        [
+          -0.9991370439529419,
+          -0.026799576357007027,
+          -0.031732771545648575,
+          23.169301986694336
+        ],
+        [
+          0.027979549020528793,
+          -0.9989107251167297,
+          -0.03734372928738594,
+          -24.706666946411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6405,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_983081817",
+      "mask_path": "../../mask/hdr_front_06405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06407.png",
+      "transform_matrix": [
+        [
+          -0.026069439947605133,
+          -0.03126031905412674,
+          0.999171257019043,
+          55.346435546875
+        ],
+        [
+          -0.999538779258728,
+          -0.014762754552066326,
+          -0.026540901511907578,
+          23.17529296875
+        ],
+        [
+          0.015580197796225548,
+          -0.9994022846221924,
+          -0.030861040577292442,
+          -24.728687286376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6407,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_183082103",
+      "mask_path": "../../mask/hdr_front_06407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06408.png",
+      "transform_matrix": [
+        [
+          -0.025971895083785057,
+          -0.030629174783825874,
+          0.9991933703422546,
+          55.27853012084961
+        ],
+        [
+          -0.9995800852775574,
+          -0.012051849626004696,
+          -0.026351381093263626,
+          23.184396743774414
+        ],
+        [
+          0.012849249877035618,
+          -0.9994581937789917,
+          -0.030303306877613068,
+          -24.716480255126953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6408,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_283080577",
+      "mask_path": "../../mask/hdr_front_06408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06409.png",
+      "transform_matrix": [
+        [
+          -0.028109652921557426,
+          -0.032612722367048264,
+          0.9990728497505188,
+          55.22520446777344
+        ],
+        [
+          -0.9995172023773193,
+          -0.012322512455284595,
+          -0.028524402529001236,
+          23.190719604492188
+        ],
+        [
+          0.01324134599417448,
+          -0.9993921518325806,
+          -0.03225058689713478,
+          -24.70241928100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6409,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_383081674",
+      "mask_path": "../../mask/hdr_front_06409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06411.png",
+      "transform_matrix": [
+        [
+          -0.03656632825732231,
+          -0.03972400352358818,
+          0.9985414147377014,
+          55.13883590698242
+        ],
+        [
+          -0.999160647392273,
+          -0.01701080985367298,
+          -0.03726573288440704,
+          23.196447372436523
+        ],
+        [
+          0.018466340377926826,
+          -0.9990659356117249,
+          -0.03906863182783127,
+          -24.69581413269043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6411,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_583082675",
+      "mask_path": "../../mask/hdr_front_06411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06412.png",
+      "transform_matrix": [
+        [
+          -0.03597414121031761,
+          -0.03854774683713913,
+          0.9986090660095215,
+          55.070377349853516
+        ],
+        [
+          -0.9992260336875916,
+          -0.014522690325975418,
+          -0.03655696660280228,
+          23.198537826538086
+        ],
+        [
+          0.015911677852272987,
+          -0.9991512298583984,
+          -0.03799546882510185,
+          -24.684585571289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6412,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_683082342",
+      "mask_path": "../../mask/hdr_front_06412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06414.png",
+      "transform_matrix": [
+        [
+          -0.03035406768321991,
+          -0.035237547010183334,
+          0.9989179372787476,
+          54.99647903442383
+        ],
+        [
+          -0.9995381832122803,
+          -0.00034909197711385787,
+          -0.030385233461856842,
+          23.19816780090332
+        ],
+        [
+          0.0014194146497175097,
+          -0.9993789196014404,
+          -0.03521068021655083,
+          -24.692304611206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6414,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_883079767",
+      "mask_path": "../../mask/hdr_front_06414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06416.png",
+      "transform_matrix": [
+        [
+          -0.040667273104190826,
+          -0.041871022433042526,
+          0.9982950687408447,
+          54.93791198730469
+        ],
+        [
+          -0.9991686344146729,
+          -0.0011546984314918518,
+          -0.040751293301582336,
+          23.227100372314453
+        ],
+        [
+          0.002859028521925211,
+          -0.9991223812103271,
+          -0.041789256036281586,
+          -24.679250717163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6416,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323906_83081960",
+      "mask_path": "../../mask/hdr_front_06416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06449.png",
+      "transform_matrix": [
+        [
+          -0.08977856487035751,
+          -0.08405154198408127,
+          0.9924088716506958,
+          54.81340408325195
+        ],
+        [
+          -0.9954923391342163,
+          -0.023012449964880943,
+          -0.09200656414031982,
+          23.25562858581543
+        ],
+        [
+          0.03057105466723442,
+          -0.9961957931518555,
+          -0.0816066563129425,
+          -24.674400329589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6449,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_383081674",
+      "mask_path": "../../mask/hdr_front_06449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06451.png",
+      "transform_matrix": [
+        [
+          -0.0923445001244545,
+          -0.1129782572388649,
+          0.9892969131469727,
+          54.72026443481445
+        ],
+        [
+          -0.9956501722335815,
+          -0.001874509733170271,
+          -0.09315161406993866,
+          23.249000549316406
+        ],
+        [
+          0.012378555722534657,
+          -0.9935957789421082,
+          -0.11231371760368347,
+          -24.600698471069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6451,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_583081245",
+      "mask_path": "../../mask/hdr_front_06451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04008.png",
+      "transform_matrix": [
+        [
+          0.9762988686561584,
+          -0.17232513427734375,
+          0.13093720376491547,
+          55.22215270996094
+        ],
+        [
+          -0.13846097886562347,
+          -0.0323367677628994,
+          0.9898398518562317,
+          22.9715576171875
+        ],
+        [
+          -0.1663401871919632,
+          -0.9845092296600342,
+          -0.05543064326047897,
+          -24.704647064208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4008,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_183082818",
+      "mask_path": "../../mask/hdr_left_04008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04009.png",
+      "transform_matrix": [
+        [
+          0.9743398427963257,
+          -0.18004895746707916,
+          0.13507080078125,
+          55.348915100097656
+        ],
+        [
+          -0.1412636786699295,
+          -0.021968649700284004,
+          0.9897282719612122,
+          22.971342086791992
+        ],
+        [
+          -0.1752321869134903,
+          -0.9834123849868774,
+          -0.04683930426836014,
+          -24.73436164855957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4009,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_283082008",
+      "mask_path": "../../mask/hdr_left_04009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04010.png",
+      "transform_matrix": [
+        [
+          0.9682684540748596,
+          -0.19902917742729187,
+          0.151140958070755,
+          55.44404602050781
+        ],
+        [
+          -0.15596023201942444,
+          -0.00867019034922123,
+          0.9877253174781799,
+          22.96837043762207
+        ],
+        [
+          -0.19527572393417358,
+          -0.9799551963806152,
+          -0.03943570703268051,
+          -24.72685432434082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4010,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_383082151",
+      "mask_path": "../../mask/hdr_left_04010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04011.png",
+      "transform_matrix": [
+        [
+          0.9659642577171326,
+          -0.19908320903778076,
+          0.16516320407390594,
+          55.49576187133789
+        ],
+        [
+          -0.16922441124916077,
+          -0.003438695101067424,
+          0.985571563243866,
+          22.96998405456543
+        ],
+        [
+          -0.19564278423786163,
+          -0.9799765944480896,
+          -0.037011392414569855,
+          -24.719274520874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4011,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_483082532",
+      "mask_path": "../../mask/hdr_left_04011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04012.png",
+      "transform_matrix": [
+        [
+          0.9676539301872253,
+          -0.18042303621768951,
+          0.17633339762687683,
+          55.578704833984375
+        ],
+        [
+          -0.1795612871646881,
+          -0.0015850707422941923,
+          0.9837454557418823,
+          22.97580909729004
+        ],
+        [
+          -0.17721083760261536,
+          -0.9835878610610962,
+          -0.03393078222870827,
+          -24.747331619262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4012,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_583081483",
+      "mask_path": "../../mask/hdr_left_04012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04013.png",
+      "transform_matrix": [
+        [
+          0.9701138138771057,
+          -0.15971407294273376,
+          0.1826762557029724,
+          55.69261932373047
+        ],
+        [
+          -0.18493762612342834,
+          0.0007172751356847584,
+          0.9827499985694885,
+          22.98036766052246
+        ],
+        [
+          -0.15709000825881958,
+          -0.9871631264686584,
+          -0.028841298073530197,
+          -24.751575469970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4013,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_683079957",
+      "mask_path": "../../mask/hdr_left_04013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04014.png",
+      "transform_matrix": [
+        [
+          0.9724472165107727,
+          -0.1442481279373169,
+          0.18313612043857574,
+          55.79843521118164
+        ],
+        [
+          -0.18414494395256042,
+          0.006441991310566664,
+          0.9828780293464661,
+          22.986021041870117
+        ],
+        [
+          -0.14295805990695953,
+          -0.9895206689834595,
+          -0.020298060029745102,
+          -24.763307571411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4014,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_783081054",
+      "mask_path": "../../mask/hdr_left_04014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04015.png",
+      "transform_matrix": [
+        [
+          0.9745061993598938,
+          -0.13108494877815247,
+          0.18208356201648712,
+          55.88235855102539
+        ],
+        [
+          -0.1811685413122177,
+          0.018974488601088524,
+          0.9832690358161926,
+          23.00519371032715
+        ],
+        [
+          -0.13234667479991913,
+          -0.9911895394325256,
+          -0.005257705692201853,
+          -24.78128433227539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4015,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_883081436",
+      "mask_path": "../../mask/hdr_left_04015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04016.png",
+      "transform_matrix": [
+        [
+          0.9753285050392151,
+          -0.12109281867742538,
+          0.18458245694637299,
+          55.98588180541992
+        ],
+        [
+          -0.18287838995456696,
+          0.025135545060038567,
+          0.9828140735626221,
+          23.007970809936523
+        ],
+        [
+          -0.12365131080150604,
+          -0.9923229217529297,
+          0.002370157279074192,
+          -24.78455924987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4016,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_983081579",
+      "mask_path": "../../mask/hdr_left_04016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04017.png",
+      "transform_matrix": [
+        [
+          0.9751344323158264,
+          -0.10953317582607269,
+          0.19265323877334595,
+          56.089927673339844
+        ],
+        [
+          -0.19051115214824677,
+          0.029796365648508072,
+          0.9812327027320862,
+          23.00325584411621
+        ],
+        [
+          -0.11321789771318436,
+          -0.9935365319252014,
+          0.008188175037503242,
+          -24.78279685974121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4017,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_83081245",
+      "mask_path": "../../mask/hdr_left_04017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04018.png",
+      "transform_matrix": [
+        [
+          0.974793016910553,
+          -0.09320098161697388,
+          0.20271171629428864,
+          56.17969512939453
+        ],
+        [
+          -0.20071764290332794,
+          0.03039245493710041,
+          0.9791775345802307,
+          23.011247634887695
+        ],
+        [
+          -0.09742119163274765,
+          -0.9951834082603455,
+          0.010919279418885708,
+          -24.792190551757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4018,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_183081865",
+      "mask_path": "../../mask/hdr_left_04018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04019.png",
+      "transform_matrix": [
+        [
+          0.9747868776321411,
+          -0.08335456997156143,
+          0.20698419213294983,
+          56.2971305847168
+        ],
+        [
+          -0.20589685440063477,
+          0.021531064063310623,
+          0.9783368110656738,
+          23.016820907592773
+        ],
+        [
+          -0.08600543439388275,
+          -0.9962874054908752,
+          0.0038257574196904898,
+          -24.798799514770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4019,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_283082962",
+      "mask_path": "../../mask/hdr_left_04019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04020.png",
+      "transform_matrix": [
+        [
+          0.9758808016777039,
+          -0.07841978222131729,
+          0.20373283326625824,
+          56.408878326416016
+        ],
+        [
+          -0.20348414778709412,
+          0.011234232224524021,
+          0.9790137410163879,
+          23.021827697753906
+        ],
+        [
+          -0.079062819480896,
+          -0.996857225894928,
+          -0.004993905778974295,
+          -24.801937103271484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4020,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_383081912",
+      "mask_path": "../../mask/hdr_left_04020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04021.png",
+      "transform_matrix": [
+        [
+          0.9774993658065796,
+          -0.07209344953298569,
+          0.19823583960533142,
+          56.48366165161133
+        ],
+        [
+          -0.19829313457012177,
+          0.0064335656352341175,
+          0.9801216721534729,
+          23.031164169311523
+        ],
+        [
+          -0.07193571329116821,
+          -0.9973772168159485,
+          -0.008006827905774117,
+          -24.80124282836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4021,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_483082532",
+      "mask_path": "../../mask/hdr_left_04021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04022.png",
+      "transform_matrix": [
+        [
+          0.9772825837135315,
+          -0.07468333840370178,
+          0.19834570586681366,
+          56.56174850463867
+        ],
+        [
+          -0.19804155826568604,
+          0.011530861258506775,
+          0.9801257848739624,
+          23.036165237426758
+        ],
+        [
+          -0.07548616081476212,
+          -0.997140645980835,
+          -0.00352149223908782,
+          -24.810089111328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4022,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_583081722",
+      "mask_path": "../../mask/hdr_left_04022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04023.png",
+      "transform_matrix": [
+        [
+          0.974942147731781,
+          -0.08070741593837738,
+          0.2073015570640564,
+          56.646881103515625
+        ],
+        [
+          -0.20678795874118805,
+          0.01476322952657938,
+          0.978274405002594,
+          23.032115936279297
+        ],
+        [
+          -0.08201442658901215,
+          -0.9966285228729248,
+          -0.0022960230708122253,
+          -24.80873680114746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4023,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_683082103",
+      "mask_path": "../../mask/hdr_left_04023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04024.png",
+      "transform_matrix": [
+        [
+          0.9740340113639832,
+          -0.07917408645153046,
+          0.2121063619852066,
+          56.71826171875
+        ],
+        [
+          -0.2116343080997467,
+          0.01440339908003807,
+          0.9772427678108215,
+          23.027196884155273
+        ],
+        [
+          -0.08042735606431961,
+          -0.9967567920684814,
+          -0.002726550679653883,
+          -24.804218292236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4024,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_783081531",
+      "mask_path": "../../mask/hdr_left_04024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04025.png",
+      "transform_matrix": [
+        [
+          0.9730308651924133,
+          -0.07283846288919449,
+          0.2188732624053955,
+          56.78727340698242
+        ],
+        [
+          -0.2183304727077484,
+          0.015430565923452377,
+          0.9757528305053711,
+          23.02776527404785
+        ],
+        [
+          -0.07444967329502106,
+          -0.9972244501113892,
+          -0.0008884355775080621,
+          -24.807342529296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4025,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_883081912",
+      "mask_path": "../../mask/hdr_left_04025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04026.png",
+      "transform_matrix": [
+        [
+          0.9709011912345886,
+          -0.07996267080307007,
+          0.22573620080947876,
+          56.88804626464844
+        ],
+        [
+          -0.2257729023694992,
+          0.008700655773282051,
+          0.9741411209106445,
+          23.022567749023438
+        ],
+        [
+          -0.07985897362232208,
+          -0.9967599511146545,
+          -0.009605925530195236,
+          -24.82307243347168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4026,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_983083724",
+      "mask_path": "../../mask/hdr_left_04026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04027.png",
+      "transform_matrix": [
+        [
+          0.9687540531158447,
+          -0.09621762484312057,
+          0.22859936952590942,
+          56.96957015991211
+        ],
+        [
+          -0.22998455166816711,
+          -0.0034115843009203672,
+          0.9731882810592651,
+          23.013229370117188
+        ],
+        [
+          -0.0928579792380333,
+          -0.9953545331954956,
+          -0.025433551520109177,
+          -24.84528160095215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4027,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_83081960",
+      "mask_path": "../../mask/hdr_left_04027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04028.png",
+      "transform_matrix": [
+        [
+          0.9671518206596375,
+          -0.10585493594408035,
+          0.23111046850681305,
+          57.029850006103516
+        ],
+        [
+          -0.23319542407989502,
+          -0.007590691093355417,
+          0.9724002480506897,
+          23.006507873535156
+        ],
+        [
+          -0.10117905586957932,
+          -0.9943526387214661,
+          -0.03202623128890991,
+          -24.853191375732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4028,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_183082103",
+      "mask_path": "../../mask/hdr_left_04028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04029.png",
+      "transform_matrix": [
+        [
+          0.9655893445014954,
+          -0.1128384992480278,
+          0.23431748151779175,
+          57.11692428588867
+        ],
+        [
+          -0.236079603433609,
+          -0.002325523877516389,
+          0.9717309474945068,
+          22.99622344970703
+        ],
+        [
+          -0.1091037467122078,
+          -0.993610680103302,
+          -0.028884366154670715,
+          -24.868078231811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4029,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_283082008",
+      "mask_path": "../../mask/hdr_left_04029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04030.png",
+      "transform_matrix": [
+        [
+          0.9626445770263672,
+          -0.12264422327280045,
+          0.24139945209026337,
+          57.228736877441406
+        ],
+        [
+          -0.243271604180336,
+          -0.0002995826362166554,
+          0.9699581265449524,
+          22.985475540161133
+        ],
+        [
+          -0.11888743191957474,
+          -0.9924507141113281,
+          -0.0301242433488369,
+          -24.890926361083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4030,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_383082628",
+      "mask_path": "../../mask/hdr_left_04030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04031.png",
+      "transform_matrix": [
+        [
+          0.9590139985084534,
+          -0.12831144034862518,
+          0.25264301896095276,
+          57.298316955566406
+        ],
+        [
+          -0.2541906535625458,
+          0.004440370015799999,
+          0.9671438932418823,
+          22.971511840820312
+        ],
+        [
+          -0.125217467546463,
+          -0.9917240142822266,
+          -0.028357192873954773,
+          -24.89836883544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4031,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_483083248",
+      "mask_path": "../../mask/hdr_left_04031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04032.png",
+      "transform_matrix": [
+        [
+          0.9552040100097656,
+          -0.12487433105707169,
+          0.2683126926422119,
+          57.35427474975586
+        ],
+        [
+          -0.2697831094264984,
+          0.005302258767187595,
+          0.9629064798355103,
+          22.955089569091797
+        ],
+        [
+          -0.12166497111320496,
+          -0.9921584725379944,
+          -0.028624244034290314,
+          -24.903907775878906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4032,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_583082675",
+      "mask_path": "../../mask/hdr_left_04032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04033.png",
+      "transform_matrix": [
+        [
+          0.9530820846557617,
+          -0.12212349474430084,
+          0.2769843637943268,
+          57.46955108642578
+        ],
+        [
+          -0.27897971868515015,
+          0.0007912488072179258,
+          0.9602967500686646,
+          22.9508113861084
+        ],
+        [
+          -0.11749394237995148,
+          -0.9925146698951721,
+          -0.03331584855914116,
+          -24.91558265686035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4033,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_683082580",
+      "mask_path": "../../mask/hdr_left_04033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04034.png",
+      "transform_matrix": [
+        [
+          0.9544592499732971,
+          -0.12369311600923538,
+          0.27149125933647156,
+          57.58579635620117
+        ],
+        [
+          -0.27430811524391174,
+          -0.006012177560478449,
+          0.961622953414917,
+          22.952709197998047
+        ],
+        [
+          -0.11731389164924622,
+          -0.9923022985458374,
+          -0.039668403565883636,
+          -24.9249324798584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4034,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_783083438",
+      "mask_path": "../../mask/hdr_left_04034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04035.png",
+      "transform_matrix": [
+        [
+          0.9572479128837585,
+          -0.12247586250305176,
+          0.26206105947494507,
+          57.66701889038086
+        ],
+        [
+          -0.2649695575237274,
+          -0.0078030177392065525,
+          0.964225172996521,
+          22.954315185546875
+        ],
+        [
+          -0.11604942381381989,
+          -0.9924408197402954,
+          -0.03992179036140442,
+          -24.934364318847656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4035,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_883081674",
+      "mask_path": "../../mask/hdr_left_04035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04036.png",
+      "transform_matrix": [
+        [
+          0.9599656462669373,
+          -0.1170978769659996,
+          0.2544679343700409,
+          57.7474365234375
+        ],
+        [
+          -0.25691571831703186,
+          -0.0060521517880260944,
+          0.9664148688316345,
+          22.959945678710938
+        ],
+        [
+          -0.11162503808736801,
+          -0.9931020140647888,
+          -0.035894136875867844,
+          -24.950889587402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4036,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_983082771",
+      "mask_path": "../../mask/hdr_left_04036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04037.png",
+      "transform_matrix": [
+        [
+          0.9628505706787109,
+          -0.1086573600769043,
+          0.24720928072929382,
+          57.858299255371094
+        ],
+        [
+          -0.24904626607894897,
+          -0.003457843093201518,
+          0.968485414981842,
+          22.95834732055664
+        ],
+        [
+          -0.10437824577093124,
+          -0.9940733313560486,
+          -0.030390089377760887,
+          -24.961597442626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4037,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_83082199",
+      "mask_path": "../../mask/hdr_left_04037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04038.png",
+      "transform_matrix": [
+        [
+          0.9648851752281189,
+          -0.10000854730606079,
+          0.24288856983184814,
+          57.94131088256836
+        ],
+        [
+          -0.24375039339065552,
+          0.0036967580672353506,
+          0.9698308706283569,
+          22.952774047851562
+        ],
+        [
+          -0.09788927435874939,
+          -0.994979739189148,
+          -0.020810173824429512,
+          -24.953330993652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4038,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_183083534",
+      "mask_path": "../../mask/hdr_left_04038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04039.png",
+      "transform_matrix": [
+        [
+          0.9658212065696716,
+          -0.08989425003528595,
+          0.24312222003936768,
+          58.01286697387695
+        ],
+        [
+          -0.2435649037361145,
+          0.00617994787171483,
+          0.9698649048805237,
+          22.952392578125
+        ],
+        [
+          -0.08868776261806488,
+          -0.9959321618080139,
+          -0.015926359221339226,
+          -24.952651977539062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4039,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_283082008",
+      "mask_path": "../../mask/hdr_left_04039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04040.png",
+      "transform_matrix": [
+        [
+          0.9672235250473022,
+          -0.08667544275522232,
+          0.23867551982402802,
+          58.122276306152344
+        ],
+        [
+          -0.2393246740102768,
+          0.0029761805199086666,
+          0.9709351062774658,
+          22.960397720336914
+        ],
+        [
+          -0.08486654609441757,
+          -0.9962322115898132,
+          -0.017864936962723732,
+          -24.97416114807129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4040,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_383082866",
+      "mask_path": "../../mask/hdr_left_04040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04041.png",
+      "transform_matrix": [
+        [
+          0.9686485528945923,
+          -0.08558253943920135,
+          0.23322893679141998,
+          58.21742630004883
+        ],
+        [
+          -0.23415876924991608,
+          -0.0008509412873536348,
+          0.9721980094909668,
+          22.969024658203125
+        ],
+        [
+          -0.08300469815731049,
+          -0.996330738067627,
+          -0.020864158868789673,
+          -24.9960994720459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4041,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_483082532",
+      "mask_path": "../../mask/hdr_left_04041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04042.png",
+      "transform_matrix": [
+        [
+          0.9696928262710571,
+          -0.07871000468730927,
+          0.23130182921886444,
+          58.28720474243164
+        ],
+        [
+          -0.23204949498176575,
+          -0.0003623476077336818,
+          0.9727038741111755,
+          22.972959518432617
+        ],
+        [
+          -0.07647770643234253,
+          -0.9968975186347961,
+          -0.018615974113345146,
+          -24.99977684020996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4042,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_583081960",
+      "mask_path": "../../mask/hdr_left_04042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04043.png",
+      "transform_matrix": [
+        [
+          0.968934953212738,
+          -0.0811922550201416,
+          0.23360849916934967,
+          58.370792388916016
+        ],
+        [
+          -0.23408399522304535,
+          0.003745850408449769,
+          0.9722091555595398,
+          22.975540161132812
+        ],
+        [
+          -0.07981090992689133,
+          -0.9966914653778076,
+          -0.015376320108771324,
+          -25.006975173950195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4043,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_683081865",
+      "mask_path": "../../mask/hdr_left_04043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04044.png",
+      "transform_matrix": [
+        [
+          0.9663928747177124,
+          -0.08237170428037643,
+          0.24351511895656586,
+          58.460018157958984
+        ],
+        [
+          -0.2437184900045395,
+          0.0077312118373811245,
+          0.9698151350021362,
+          22.968666076660156
+        ],
+        [
+          -0.0817679911851883,
+          -0.9965716600418091,
+          -0.012604115530848503,
+          -25.010562896728516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4044,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_783082723",
+      "mask_path": "../../mask/hdr_left_04044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04045.png",
+      "transform_matrix": [
+        [
+          0.9638239741325378,
+          -0.07557172328233719,
+          0.25560155510902405,
+          58.52801513671875
+        ],
+        [
+          -0.25552791357040405,
+          0.010806442238390446,
+          0.9667413234710693,
+          22.957138061523438
+        ],
+        [
+          -0.0758204460144043,
+          -0.9970818161964417,
+          -0.00889517180621624,
+          -25.00164031982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4045,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_883081436",
+      "mask_path": "../../mask/hdr_left_04045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04046.png",
+      "transform_matrix": [
+        [
+          0.9615845084190369,
+          -0.06835652887821198,
+          0.2658618092536926,
+          58.601192474365234
+        ],
+        [
+          -0.2660079598426819,
+          0.007122514769434929,
+          0.9639444947242737,
+          22.954368591308594
+        ],
+        [
+          -0.06778550148010254,
+          -0.9976356029510498,
+          -0.011334477923810482,
+          -25.00865936279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4046,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_983083724",
+      "mask_path": "../../mask/hdr_left_04046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04047.png",
+      "transform_matrix": [
+        [
+          0.9619452953338623,
+          -0.06664057821035385,
+          0.2649909257888794,
+          58.707801818847656
+        ],
+        [
+          -0.26568546891212463,
+          -0.0016233925707638264,
+          0.9640583992004395,
+          22.954248428344727
+        ],
+        [
+          -0.06381521373987198,
+          -0.9977757334709167,
+          -0.019267041236162186,
+          -25.012771606445312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4047,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_83081960",
+      "mask_path": "../../mask/hdr_left_04047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04048.png",
+      "transform_matrix": [
+        [
+          0.9647320508956909,
+          -0.06789950281381607,
+          0.2543257772922516,
+          58.7978515625
+        ],
+        [
+          -0.2554910480976105,
+          -0.008922219276428223,
+          0.9667702913284302,
+          22.95461654663086
+        ],
+        [
+          -0.06337406486272812,
+          -0.9976522922515869,
+          -0.02595526911318302,
+          -25.0201358795166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4048,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_183082818",
+      "mask_path": "../../mask/hdr_left_04048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04049.png",
+      "transform_matrix": [
+        [
+          0.96891188621521,
+          -0.0658809021115303,
+          0.23847292363643646,
+          58.87303161621094
+        ],
+        [
+          -0.23958422243595123,
+          -0.009400520473718643,
+          0.9708300828933716,
+          22.9549560546875
+        ],
+        [
+          -0.061717383563518524,
+          -0.9977832436561584,
+          -0.02489229291677475,
+          -25.02814292907715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4049,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_283081769",
+      "mask_path": "../../mask/hdr_left_04049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04050.png",
+      "transform_matrix": [
+        [
+          0.9729308485984802,
+          -0.06793168932199478,
+          0.22088630497455597,
+          58.96928405761719
+        ],
+        [
+          -0.22169256210327148,
+          -0.004473282024264336,
+          0.9751063585281372,
+          22.953895568847656
+        ],
+        [
+          -0.06525254249572754,
+          -0.9976800084114075,
+          -0.019412139430642128,
+          -25.037355422973633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4050,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_383083820",
+      "mask_path": "../../mask/hdr_left_04050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04051.png",
+      "transform_matrix": [
+        [
+          0.9755359888076782,
+          -0.06917878985404968,
+          0.2086717188358307,
+          59.071678161621094
+        ],
+        [
+          -0.20918142795562744,
+          -0.00012658367631956935,
+          0.9778768420219421,
+          22.94935417175293
+        ],
+        [
+          -0.06762191653251648,
+          -0.9976043701171875,
+          -0.01459440216422081,
+          -25.04029083251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4051,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_483081817",
+      "mask_path": "../../mask/hdr_left_04051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04052.png",
+      "transform_matrix": [
+        [
+          0.9774015545845032,
+          -0.06612667441368103,
+          0.20078213512897491,
+          59.14851379394531
+        ],
+        [
+          -0.2008276730775833,
+          0.006026623770594597,
+          0.9796079993247986,
+          22.946775436401367
+        ],
+        [
+          -0.06598825752735138,
+          -0.9977930784225464,
+          -0.0073896306566894054,
+          -25.038511276245117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4052,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_583083391",
+      "mask_path": "../../mask/hdr_left_04052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04053.png",
+      "transform_matrix": [
+        [
+          0.9788030385971069,
+          -0.06314350664615631,
+          0.19482697546482086,
+          59.213340759277344
+        ],
+        [
+          -0.1945677250623703,
+          0.010288701392710209,
+          0.9808350801467896,
+          22.95201301574707
+        ],
+        [
+          -0.06393788009881973,
+          -0.9979514479637146,
+          -0.0022150722797960043,
+          -25.050724029541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4053,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_683081150",
+      "mask_path": "../../mask/hdr_left_04053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04054.png",
+      "transform_matrix": [
+        [
+          0.9799802303314209,
+          -0.06893797963857651,
+          0.18677839636802673,
+          59.31770706176758
+        ],
+        [
+          -0.18697868287563324,
+          0.0035935756750404835,
+          0.9823574423789978,
+          22.955547332763672
+        ],
+        [
+          -0.06839292496442795,
+          -0.9976145625114441,
+          -0.009368294849991798,
+          -25.060577392578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4054,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_783082246",
+      "mask_path": "../../mask/hdr_left_04054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04055.png",
+      "transform_matrix": [
+        [
+          0.9816758036613464,
+          -0.0766589492559433,
+          0.1744590401649475,
+          59.415245056152344
+        ],
+        [
+          -0.17549476027488708,
+          -0.006936484016478062,
+          0.9844558835029602,
+          22.959749221801758
+        ],
+        [
+          -0.07425721734762192,
+          -0.9970333576202393,
+          -0.020262617617845535,
+          -25.07175064086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4055,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_883080720",
+      "mask_path": "../../mask/hdr_left_04055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04056.png",
+      "transform_matrix": [
+        [
+          0.98389732837677,
+          -0.07761100679636002,
+          0.1610051840543747,
+          59.48891830444336
+        ],
+        [
+          -0.16217190027236938,
+          -0.008930572308599949,
+          0.9867220520973206,
+          22.969287872314453
+        ],
+        [
+          -0.07514262199401855,
+          -0.9969437718391418,
+          -0.02137308567762375,
+          -25.083269119262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4056,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_983082056",
+      "mask_path": "../../mask/hdr_left_04056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04057.png",
+      "transform_matrix": [
+        [
+          0.9853559136390686,
+          -0.08198459446430206,
+          0.14950627088546753,
+          59.57175064086914
+        ],
+        [
+          -0.15004175901412964,
+          -0.00037473757402040064,
+          0.9886796474456787,
+          22.976150512695312
+        ],
+        [
+          -0.08100046217441559,
+          -0.9966335296630859,
+          -0.012670360505580902,
+          -25.0939884185791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4057,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_83082199",
+      "mask_path": "../../mask/hdr_left_04057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04058.png",
+      "transform_matrix": [
+        [
+          0.9845360517501831,
+          -0.0886145532131195,
+          0.1511169970035553,
+          59.66643142700195
+        ],
+        [
+          -0.15178680419921875,
+          -0.0008303021313622594,
+          0.9884129166603088,
+          22.974573135375977
+        ],
+        [
+          -0.08746228367090225,
+          -0.9960656762123108,
+          -0.014267977327108383,
+          -25.101213455200195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4058,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_183081626",
+      "mask_path": "../../mask/hdr_left_04058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04059.png",
+      "transform_matrix": [
+        [
+          0.9825425744056702,
+          -0.09001008421182632,
+          0.1628137081861496,
+          59.72905731201172
+        ],
+        [
+          -0.16366763412952423,
+          -0.002139110816642642,
+          0.9865131974220276,
+          22.96918296813965
+        ],
+        [
+          -0.08844786137342453,
+          -0.9959386587142944,
+          -0.01683349907398224,
+          -25.101350784301758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4059,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_283082723",
+      "mask_path": "../../mask/hdr_left_04059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04060.png",
+      "transform_matrix": [
+        [
+          0.980401873588562,
+          -0.08498241007328033,
+          0.17773595452308655,
+          59.77910614013672
+        ],
+        [
+          -0.17874081432819366,
+          -0.004304171539843082,
+          0.9838868379592896,
+          22.96502113342285
+        ],
+        [
+          -0.08284805715084076,
+          -0.996373176574707,
+          -0.01940963976085186,
+          -25.101993560791016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4060,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_383082151",
+      "mask_path": "../../mask/hdr_left_04060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04061.png",
+      "transform_matrix": [
+        [
+          0.9790101051330566,
+          -0.08487492054700851,
+          0.18529799580574036,
+          59.89799499511719
+        ],
+        [
+          -0.18697664141654968,
+          -0.012205185368657112,
+          0.9822885990142822,
+          22.970678329467773
+        ],
+        [
+          -0.08111006021499634,
+          -0.9963169097900391,
+          -0.027818627655506134,
+          -25.112558364868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4061,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_483081817",
+      "mask_path": "../../mask/hdr_left_04061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04062.png",
+      "transform_matrix": [
+        [
+          0.9785028100013733,
+          -0.09012473374605179,
+          0.1854986548423767,
+          60.012550354003906
+        ],
+        [
+          -0.18766826391220093,
+          -0.016152719035744667,
+          0.9820996522903442,
+          22.983213424682617
+        ],
+        [
+          -0.08551514893770218,
+          -0.9957995414733887,
+          -0.032719023525714874,
+          -25.13507652282715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4062,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_583081483",
+      "mask_path": "../../mask/hdr_left_04062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04063.png",
+      "transform_matrix": [
+        [
+          0.9786956310272217,
+          -0.09100920706987381,
+          0.18404361605644226,
+          60.08245086669922
+        ],
+        [
+          -0.18626689910888672,
+          -0.016497259959578514,
+          0.9823606014251709,
+          22.995534896850586
+        ],
+        [
+          -0.0863676369190216,
+          -0.995713472366333,
+          -0.03309779241681099,
+          -25.1533260345459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4063,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_683079481",
+      "mask_path": "../../mask/hdr_left_04063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04064.png",
+      "transform_matrix": [
+        [
+          0.9785743355751038,
+          -0.09837549924850464,
+          0.18087126314640045,
+          60.164188385009766
+        ],
+        [
+          -0.18235906958580017,
+          -0.006272986531257629,
+          0.9832119941711426,
+          23.004423141479492
+        ],
+        [
+          -0.09558936953544617,
+          -0.9951296448707581,
+          -0.024078240618109703,
+          -25.165468215942383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4064,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_783080577",
+      "mask_path": "../../mask/hdr_left_04064.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04065.png",
+      "transform_matrix": [
+        [
+          0.9784047603607178,
+          -0.10541362315416336,
+          0.17779749631881714,
+          60.26435852050781
+        ],
+        [
+          -0.1790052056312561,
+          -0.002031882992014289,
+          0.9838460087776184,
+          23.007410049438477
+        ],
+        [
+          -0.10334950685501099,
+          -0.9944263696670532,
+          -0.020857591181993484,
+          -25.17777442932129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4065,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_883080005",
+      "mask_path": "../../mask/hdr_left_04065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_04066.png",
+      "transform_matrix": [
+        [
+          0.9784888029098511,
+          -0.10546503961086273,
+          0.17730431258678436,
+          60.33895492553711
+        ],
+        [
+          -0.1786036342382431,
+          -0.0029295855201780796,
+          0.9839167594909668,
+          23.0041561126709
+        ],
+        [
+          -0.10324937850236893,
+          -0.9944187998771667,
+          -0.021703001111745834,
+          -25.18484878540039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4066,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_983081579",
+      "mask_path": "../../mask/hdr_left_04066.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06362.png",
+      "transform_matrix": [
+        [
+          -0.9671318531036377,
+          -0.10975811630487442,
+          -0.2293669581413269,
+          59.71245574951172
+        ],
+        [
+          0.22963497042655945,
+          0.010364496149122715,
+          -0.9732216000556946,
+          23.119693756103516
+        ],
+        [
+          0.109196238219738,
+          -0.9939043521881104,
+          0.015180468559265137,
+          -25.159502029418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6362,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_583081245",
+      "mask_path": "../../mask/hdr_left_06362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06363.png",
+      "transform_matrix": [
+        [
+          -0.9697922468185425,
+          -0.0918831080198288,
+          -0.2259654402732849,
+          59.639892578125
+        ],
+        [
+          0.22448915243148804,
+          0.026232890784740448,
+          -0.9741234183311462,
+          23.10891342163086
+        ],
+        [
+          0.09543319046497345,
+          -0.9954242706298828,
+          -0.004813692066818476,
+          -25.131677627563477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6363,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_683082103",
+      "mask_path": "../../mask/hdr_left_06363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06364.png",
+      "transform_matrix": [
+        [
+          -0.9706056714057922,
+          -0.09147429466247559,
+          -0.2226138412952423,
+          59.57939147949219
+        ],
+        [
+          0.22106491029262543,
+          0.026859447360038757,
+          -0.9748892188072205,
+          23.104637145996094
+        ],
+        [
+          0.09515657275915146,
+          -0.995445191860199,
+          -0.005848176311701536,
+          -25.1192569732666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6364,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_783081531",
+      "mask_path": "../../mask/hdr_left_06364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06365.png",
+      "transform_matrix": [
+        [
+          -0.9708532094955444,
+          -0.08662556856870651,
+          -0.22347238659858704,
+          59.504310607910156
+        ],
+        [
+          0.2229849249124527,
+          0.015387989580631256,
+          -0.9747004508972168,
+          23.111618041992188
+        ],
+        [
+          0.08787275850772858,
+          -0.9961221218109131,
+          0.004376720171421766,
+          -25.123369216918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6365,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_883081436",
+      "mask_path": "../../mask/hdr_left_06365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06366.png",
+      "transform_matrix": [
+        [
+          -0.9691013693809509,
+          -0.08356491476297379,
+          -0.23207654058933258,
+          59.40628433227539
+        ],
+        [
+          0.23235845565795898,
+          0.006471145898103714,
+          -0.9726086854934692,
+          23.114395141601562
+        ],
+        [
+          0.08277775347232819,
+          -0.9964813590049744,
+          0.01314582023769617,
+          -25.110021591186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6366,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_983079910",
+      "mask_path": "../../mask/hdr_left_06366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06367.png",
+      "transform_matrix": [
+        [
+          -0.9666427969932556,
+          -0.08458378165960312,
+          -0.24175859987735748,
+          59.312660217285156
+        ],
+        [
+          0.2424507439136505,
+          0.00214673881419003,
+          -0.9701613187789917,
+          23.121074676513672
+        ],
+        [
+          0.08257889002561569,
+          -0.9964141249656677,
+          0.01843227446079254,
+          -25.095417022705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6367,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_83081960",
+      "mask_path": "../../mask/hdr_left_06367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06368.png",
+      "transform_matrix": [
+        [
+          -0.9639308452606201,
+          -0.08698126673698425,
+          -0.2515381872653961,
+          59.23359298706055
+        ],
+        [
+          0.2531343996524811,
+          -0.007654935587197542,
+          -0.967400848865509,
+          23.122568130493164
+        ],
+        [
+          0.08222024142742157,
+          -0.996180534362793,
+          0.0293967816978693,
+          -25.08251190185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6368,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_183080911",
+      "mask_path": "../../mask/hdr_left_06368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06369.png",
+      "transform_matrix": [
+        [
+          -0.963034987449646,
+          -0.08669660240411758,
+          -0.25504374504089355,
+          59.1328125
+        ],
+        [
+          0.2569037973880768,
+          -0.01083211600780487,
+          -0.9663763046264648,
+          23.119632720947266
+        ],
+        [
+          0.08101887255907059,
+          -0.9961758852005005,
+          0.032704390585422516,
+          -25.06363868713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6369,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_283082246",
+      "mask_path": "../../mask/hdr_left_06369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06370.png",
+      "transform_matrix": [
+        [
+          -0.9640001654624939,
+          -0.08399677276611328,
+          -0.2522858679294586,
+          59.037357330322266
+        ],
+        [
+          0.2537904381752014,
+          -0.00756751699373126,
+          -0.9672296643257141,
+          23.126161575317383
+        ],
+        [
+          0.07933498173952103,
+          -0.9964373707771301,
+          0.028612663969397545,
+          -25.060882568359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6370,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_383081436",
+      "mask_path": "../../mask/hdr_left_06370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06371.png",
+      "transform_matrix": [
+        [
+          -0.9645022749900818,
+          -0.08216661214828491,
+          -0.2509661316871643,
+          58.96522903442383
+        ],
+        [
+          0.25223594903945923,
+          -0.005287573207169771,
+          -0.9676513075828552,
+          23.12591552734375
+        ],
+        [
+          0.07818160951137543,
+          -0.9966046214103699,
+          0.025825250893831253,
+          -25.052907943725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6371,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_483081102",
+      "mask_path": "../../mask/hdr_left_06371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06372.png",
+      "transform_matrix": [
+        [
+          -0.963763952255249,
+          -0.07704968750476837,
+          -0.2553863227367401,
+          58.8834228515625
+        ],
+        [
+          0.25674062967300415,
+          -0.008047619834542274,
+          -0.9664468169212341,
+          23.135366439819336
+        ],
+        [
+          0.07240916043519974,
+          -0.9969949126243591,
+          0.027537794783711433,
+          -25.04498863220215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6372,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_583082199",
+      "mask_path": "../../mask/hdr_left_06372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06373.png",
+      "transform_matrix": [
+        [
+          -0.960776150226593,
+          -0.0775899738073349,
+          -0.26624974608421326,
+          58.7956428527832
+        ],
+        [
+          0.26779788732528687,
+          -0.010090533643960953,
+          -0.9634222388267517,
+          23.151315689086914
+        ],
+        [
+          0.0720653086900711,
+          -0.9969344139099121,
+          0.03047317825257778,
+          -25.027751922607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6373,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_683081626",
+      "mask_path": "../../mask/hdr_left_06373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06374.png",
+      "transform_matrix": [
+        [
+          -0.9575862884521484,
+          -0.08158456534147263,
+          -0.27635571360588074,
+          58.73152160644531
+        ],
+        [
+          0.27831584215164185,
+          -0.01349305547773838,
+          -0.9603947997093201,
+          23.1569881439209
+        ],
+        [
+          0.07462449371814728,
+          -0.996575117111206,
+          0.03562703728675842,
+          -25.010616302490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6374,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_783081293",
+      "mask_path": "../../mask/hdr_left_06374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06375.png",
+      "transform_matrix": [
+        [
+          -0.9550641179084778,
+          -0.08294887840747833,
+          -0.2845555245876312,
+          58.66334533691406
+        ],
+        [
+          0.28696197271347046,
+          -0.018444379791617393,
+          -0.9577643871307373,
+          23.163604736328125
+        ],
+        [
+          0.07419702410697937,
+          -0.9963831305503845,
+          0.041418738663196564,
+          -25.007884979248047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6375,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_883081436",
+      "mask_path": "../../mask/hdr_left_06375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06376.png",
+      "transform_matrix": [
+        [
+          -0.9547706842422485,
+          -0.0788193866610527,
+          -0.28670594096183777,
+          58.55985641479492
+        ],
+        [
+          0.28890058398246765,
+          -0.01776988059282303,
+          -0.9571942090988159,
+          23.170427322387695
+        ],
+        [
+          0.07035072892904282,
+          -0.9967305064201355,
+          0.03973713144659996,
+          -25.00557518005371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6376,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_983081340",
+      "mask_path": "../../mask/hdr_left_06376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06377.png",
+      "transform_matrix": [
+        [
+          -0.9557620882987976,
+          -0.07183878123760223,
+          -0.28523319959640503,
+          58.4787712097168
+        ],
+        [
+          0.286962628364563,
+          -0.014809062704443932,
+          -0.9578272700309753,
+          23.167739868164062
+        ],
+        [
+          0.06458510458469391,
+          -0.9973064064979553,
+          0.03476898744702339,
+          -24.9993896484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6377,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_83081960",
+      "mask_path": "../../mask/hdr_left_06377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06379.png",
+      "transform_matrix": [
+        [
+          -0.9552426338195801,
+          -0.060350313782691956,
+          -0.28960177302360535,
+          58.37321853637695
+        ],
+        [
+          0.29089871048927307,
+          -0.013751373626291752,
+          -0.956654965877533,
+          23.182111740112305
+        ],
+        [
+          0.053752005100250244,
+          -0.9980825781822205,
+          0.030691727995872498,
+          -25.003353118896484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6379,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_283082008",
+      "mask_path": "../../mask/hdr_left_06379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06380.png",
+      "transform_matrix": [
+        [
+          -0.9549247622489929,
+          -0.059290435165166855,
+          -0.2908664643764496,
+          58.30254364013672
+        ],
+        [
+          0.2920551002025604,
+          -0.012286484241485596,
+          -0.9563225507736206,
+          23.192941665649414
+        ],
+        [
+          0.05312705039978027,
+          -0.9981651902198792,
+          0.02904874086380005,
+          -24.981271743774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6380,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_383080005",
+      "mask_path": "../../mask/hdr_left_06380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06381.png",
+      "transform_matrix": [
+        [
+          -0.956000566482544,
+          -0.06240726262331009,
+          -0.2866501212120056,
+          58.235355377197266
+        ],
+        [
+          0.28798365592956543,
+          -0.01334672886878252,
+          -0.9575423002243042,
+          23.20096778869629
+        ],
+        [
+          0.05593174695968628,
+          -0.9979616403579712,
+          0.03073175624012947,
+          -24.969512939453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6381,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_483080863",
+      "mask_path": "../../mask/hdr_left_06381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06382.png",
+      "transform_matrix": [
+        [
+          -0.9580395817756653,
+          -0.06485874950885773,
+          -0.27920132875442505,
+          58.16919708251953
+        ],
+        [
+          0.28096169233322144,
+          -0.01963813416659832,
+          -0.9595180749893188,
+          23.2069149017334
+        ],
+        [
+          0.05675015598535538,
+          -0.9977012276649475,
+          0.03703693673014641,
+          -24.970458984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6382,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_583081960",
+      "mask_path": "../../mask/hdr_left_06382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06383.png",
+      "transform_matrix": [
+        [
+          -0.9629267454147339,
+          -0.0606921911239624,
+          -0.2628469467163086,
+          58.09572219848633
+        ],
+        [
+          0.26460129022598267,
+          -0.022803612053394318,
+          -0.9640882611274719,
+          23.207618713378906
+        ],
+        [
+          0.05251876264810562,
+          -0.9978960752487183,
+          0.03801743686199188,
+          -24.96015739440918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6383,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_683081865",
+      "mask_path": "../../mask/hdr_left_06383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06384.png",
+      "transform_matrix": [
+        [
+          -0.9690755009651184,
+          -0.054636258631944656,
+          -0.24063952267169952,
+          58.023231506347656
+        ],
+        [
+          0.24185258150100708,
+          -0.016698624938726425,
+          -0.9701693058013916,
+          23.203100204467773
+        ],
+        [
+          0.048988062888383865,
+          -0.9983667135238647,
+          0.02939615026116371,
+          -24.958406448364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6384,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_783082008",
+      "mask_path": "../../mask/hdr_left_06384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06385.png",
+      "transform_matrix": [
+        [
+          -0.9740092158317566,
+          -0.051504362374544144,
+          -0.2205750048160553,
+          57.96127700805664
+        ],
+        [
+          0.22152045369148254,
+          -0.013361642137169838,
+          -0.9750641584396362,
+          23.19393539428711
+        ],
+        [
+          0.047272805124521255,
+          -0.9985834360122681,
+          0.02442363277077675,
+          -24.959030151367188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6385,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_883081912",
+      "mask_path": "../../mask/hdr_left_06385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06386.png",
+      "transform_matrix": [
+        [
+          -0.9772472977638245,
+          -0.04703092202544212,
+          -0.2068232148885727,
+          57.8954963684082
+        ],
+        [
+          0.2078433334827423,
+          -0.017893657088279724,
+          -0.9779984354972839,
+          23.190555572509766
+        ],
+        [
+          0.04229535162448883,
+          -0.9987332224845886,
+          0.02726159244775772,
+          -24.96019172668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6386,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_983082056",
+      "mask_path": "../../mask/hdr_left_06386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06387.png",
+      "transform_matrix": [
+        [
+          -0.9776119589805603,
+          -0.0477970726788044,
+          -0.2049155980348587,
+          57.82698059082031
+        ],
+        [
+          0.20610377192497253,
+          -0.021365860477089882,
+          -0.9782968759536743,
+          23.194217681884766
+        ],
+        [
+          0.042381517589092255,
+          -0.998628556728363,
+          0.030738675966858864,
+          -24.949769973754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6387,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_83081960",
+      "mask_path": "../../mask/hdr_left_06387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06388.png",
+      "transform_matrix": [
+        [
+          -0.9759899377822876,
+          -0.05008818954229355,
+          -0.21197828650474548,
+          57.766151428222656
+        ],
+        [
+          0.2134273201227188,
+          -0.025547867640852928,
+          -0.9766248464584351,
+          23.19942855834961
+        ],
+        [
+          0.043501775711774826,
+          -0.9984180331230164,
+          0.03562464937567711,
+          -24.939695358276367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6388,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_183083057",
+      "mask_path": "../../mask/hdr_left_06388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06389.png",
+      "transform_matrix": [
+        [
+          -0.9735398292541504,
+          -0.05333084240555763,
+          -0.22220709919929504,
+          57.704856872558594
+        ],
+        [
+          0.22399559617042542,
+          -0.030225472524762154,
+          -0.9741213917732239,
+          23.205768585205078
+        ],
+        [
+          0.04523439705371857,
+          -0.9981194138526917,
+          0.04137157276272774,
+          -24.9382381439209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6389,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_283082962",
+      "mask_path": "../../mask/hdr_left_06389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06390.png",
+      "transform_matrix": [
+        [
+          -0.9726342558860779,
+          -0.053256433457136154,
+          -0.22615566849708557,
+          57.611793518066406
+        ],
+        [
+          0.22793914377689362,
+          -0.030131196603178978,
+          -0.973209023475647,
+          23.203819274902344
+        ],
+        [
+          0.045015301555395126,
+          -0.998126208782196,
+          0.041445862501859665,
+          -24.931665420532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6390,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_383082628",
+      "mask_path": "../../mask/hdr_left_06390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06391.png",
+      "transform_matrix": [
+        [
+          -0.9730948209762573,
+          -0.048494838178157806,
+          -0.22524335980415344,
+          57.53919982910156
+        ],
+        [
+          0.22669564187526703,
+          -0.026811106130480766,
+          -0.9735965132713318,
+          23.194917678833008
+        ],
+        [
+          0.041175372898578644,
+          -0.9984635710716248,
+          0.03708331659436226,
+          -24.934062957763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6391,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_483083009",
+      "mask_path": "../../mask/hdr_left_06391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06392.png",
+      "transform_matrix": [
+        [
+          -0.9733417630195618,
+          -0.04458045959472656,
+          -0.22498512268066406,
+          57.47807312011719
+        ],
+        [
+          0.2262537032365799,
+          -0.02574826590716839,
+          -0.9737280607223511,
+          23.197708129882812
+        ],
+        [
+          0.03761626034975052,
+          -0.9986739754676819,
+          0.03514835610985756,
+          -24.94178009033203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6392,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_583082914",
+      "mask_path": "../../mask/hdr_left_06392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06393.png",
+      "transform_matrix": [
+        [
+          -0.9728052616119385,
+          -0.04084503650665283,
+          -0.22799474000930786,
+          57.405147552490234
+        ],
+        [
+          0.2290797382593155,
+          -0.024151844903826714,
+          -0.9731079339981079,
+          23.20455551147461
+        ],
+        [
+          0.03424013406038284,
+          -0.9988735914230347,
+          0.03285181522369385,
+          -24.944499969482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6393,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_683082342",
+      "mask_path": "../../mask/hdr_left_06393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06394.png",
+      "transform_matrix": [
+        [
+          -0.9707260131835938,
+          -0.04153713211417198,
+          -0.23657061159610748,
+          57.33429718017578
+        ],
+        [
+          0.23768557608127594,
+          -0.024275552481412888,
+          -0.9710388779640198,
+          23.211156845092773
+        ],
+        [
+          0.03459127992391586,
+          -0.9988420605659485,
+          0.033437684178352356,
+          -24.924413681030273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6394,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_783082246",
+      "mask_path": "../../mask/hdr_left_06394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06395.png",
+      "transform_matrix": [
+        [
+          -0.9682112336158752,
+          -0.04521739482879639,
+          -0.24601277709007263,
+          57.27486801147461
+        ],
+        [
+          0.24740980565547943,
+          -0.028366686776280403,
+          -0.9684956073760986,
+          23.221155166625977
+        ],
+        [
+          0.03681427985429764,
+          -0.9985744953155518,
+          0.038652174174785614,
+          -24.914714813232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6395,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_883082628",
+      "mask_path": "../../mask/hdr_left_06395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06397.png",
+      "transform_matrix": [
+        [
+          -0.962269127368927,
+          -0.06851591914892197,
+          -0.2633316218852997,
+          57.135040283203125
+        ],
+        [
+          0.2667374014854431,
+          -0.046353958547115326,
+          -0.9626538753509521,
+          23.217639923095703
+        ],
+        [
+          0.05375064164400101,
+          -0.9965726137161255,
+          0.062880739569664,
+          -24.87763023376465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6397,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_83082675",
+      "mask_path": "../../mask/hdr_left_06397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06398.png",
+      "transform_matrix": [
+        [
+          -0.962654709815979,
+          -0.08236730098724365,
+          -0.2578979730606079,
+          57.04159927368164
+        ],
+        [
+          0.26219841837882996,
+          -0.04636295512318611,
+          -0.9638996124267578,
+          23.21673011779785
+        ],
+        [
+          0.06743689626455307,
+          -0.9955230355262756,
+          0.06622809916734695,
+          -24.848623275756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6398,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_183082103",
+      "mask_path": "../../mask/hdr_left_06398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06399.png",
+      "transform_matrix": [
+        [
+          -0.9641450643539429,
+          -0.08501587063074112,
+          -0.25138917565345764,
+          56.97721481323242
+        ],
+        [
+          0.2553855776786804,
+          -0.039776239544153214,
+          -0.9660207033157349,
+          23.217670440673828
+        ],
+        [
+          0.07212778180837631,
+          -0.9955853819847107,
+          0.06006189435720444,
+          -24.842063903808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6399,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_283082246",
+      "mask_path": "../../mask/hdr_left_06399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06401.png",
+      "transform_matrix": [
+        [
+          -0.9621948003768921,
+          -0.09341559559106827,
+          -0.2558411955833435,
+          56.84891128540039
+        ],
+        [
+          0.26078182458877563,
+          -0.04498981311917305,
+          -0.9643489122390747,
+          23.231565475463867
+        ],
+        [
+          0.07857496291399002,
+          -0.9946102499961853,
+          0.06765005737543106,
+          -24.831998825073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6401,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_483081340",
+      "mask_path": "../../mask/hdr_left_06401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06402.png",
+      "transform_matrix": [
+        [
+          -0.9592137932777405,
+          -0.10105369240045547,
+          -0.26400160789489746,
+          56.77128982543945
+        ],
+        [
+          0.26916569471359253,
+          -0.041182991117239,
+          -0.962212860584259,
+          23.244565963745117
+        ],
+        [
+          0.0863628014922142,
+          -0.9940282702445984,
+          0.06670349091291428,
+          -24.812374114990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6402,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_583080768",
+      "mask_path": "../../mask/hdr_left_06402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06403.png",
+      "transform_matrix": [
+        [
+          -0.9563849568367004,
+          -0.10616375505924225,
+          -0.27213427424430847,
+          56.72178268432617
+        ],
+        [
+          0.2778090536594391,
+          -0.042652398347854614,
+          -0.9596890211105347,
+          23.240293502807617
+        ],
+        [
+          0.09027698636054993,
+          -0.9934334754943848,
+          0.070285364985466,
+          -24.791006088256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6403,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_683080673",
+      "mask_path": "../../mask/hdr_left_06403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06404.png",
+      "transform_matrix": [
+        [
+          -0.9552302360534668,
+          -0.10268288105726242,
+          -0.277473121881485,
+          56.65785217285156
+        ],
+        [
+          0.28270015120506287,
+          -0.04014715552330017,
+          -0.9583677053451538,
+          23.237720489501953
+        ],
+        [
+          0.08726821094751358,
+          -0.9939036965370178,
+          0.06737823784351349,
+          -24.779630661010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6404,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_783081054",
+      "mask_path": "../../mask/hdr_left_06404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06405.png",
+      "transform_matrix": [
+        [
+          -0.9554395079612732,
+          -0.09633950889110565,
+          -0.2790233790874481,
+          56.60244369506836
+        ],
+        [
+          0.28346893191337585,
+          -0.03576245158910751,
+          -0.9583143591880798,
+          23.240406036376953
+        ],
+        [
+          0.08234495669603348,
+          -0.994705855846405,
+          0.061478108167648315,
+          -24.788631439208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6405,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_883079051",
+      "mask_path": "../../mask/hdr_left_06405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06407.png",
+      "transform_matrix": [
+        [
+          -0.9577622413635254,
+          -0.09054659307003021,
+          -0.27293360233306885,
+          56.50864791870117
+        ],
+        [
+          0.2766428291797638,
+          -0.031071564182639122,
+          -0.9604703783988953,
+          23.248538970947266
+        ],
+        [
+          0.0784868448972702,
+          -0.9954074025154114,
+          0.05480823665857315,
+          -24.7952880859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6407,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_83079338",
+      "mask_path": "../../mask/hdr_left_06407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06408.png",
+      "transform_matrix": [
+        [
+          -0.9578461050987244,
+          -0.09003300219774246,
+          -0.27280890941619873,
+          56.443119049072266
+        ],
+        [
+          0.2762048840522766,
+          -0.02746235392987728,
+          -0.960706353187561,
+          23.256305694580078
+        ],
+        [
+          0.07900328934192657,
+          -0.9955601096153259,
+          0.05117226019501686,
+          -24.777711868286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6408,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_183080911",
+      "mask_path": "../../mask/hdr_left_06408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06410.png",
+      "transform_matrix": [
+        [
+          -0.9553431868553162,
+          -0.09542058408260345,
+          -0.27966824173927307,
+          56.357276916503906
+        ],
+        [
+          0.283304899930954,
+          -0.026693522930145264,
+          -0.9586583375930786,
+          23.276580810546875
+        ],
+        [
+          0.08401040732860565,
+          -0.9950791597366333,
+          0.052534591406583786,
+          -24.765714645385742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6410,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_383079767",
+      "mask_path": "../../mask/hdr_left_06410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06411.png",
+      "transform_matrix": [
+        [
+          -0.954423189163208,
+          -0.09276018291711807,
+          -0.28367555141448975,
+          56.301612854003906
+        ],
+        [
+          0.2870207130908966,
+          -0.024684550240635872,
+          -0.9576061964035034,
+          23.29150390625
+        ],
+        [
+          0.08182533085346222,
+          -0.9953824877738953,
+          0.05018360912799835,
+          -24.754173278808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6411,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_483080625",
+      "mask_path": "../../mask/hdr_left_06411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06414.png",
+      "transform_matrix": [
+        [
+          -0.95562744140625,
+          -0.08281722664833069,
+          -0.2826964557170868,
+          56.1490592956543
+        ],
+        [
+          0.28532087802886963,
+          -0.02153564803302288,
+          -0.9581900835037231,
+          23.301307678222656
+        ],
+        [
+          0.07326658070087433,
+          -0.996332049369812,
+          0.04420953989028931,
+          -24.768497467041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6414,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_783083677",
+      "mask_path": "../../mask/hdr_left_06414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06415.png",
+      "transform_matrix": [
+        [
+          -0.9540917873382568,
+          -0.07754344493150711,
+          -0.2893022298812866,
+          56.08354187011719
+        ],
+        [
+          0.2916572093963623,
+          -0.02074507065117359,
+          -0.9562978744506836,
+          23.305055618286133
+        ],
+        [
+          0.06815303862094879,
+          -0.9967731237411499,
+          0.04240880534052849,
+          -24.75082015991211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6415,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_883082866",
+      "mask_path": "../../mask/hdr_left_06415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06418.png",
+      "transform_matrix": [
+        [
+          -0.9562767148017883,
+          -0.069855235517025,
+          -0.2839982807636261,
+          55.945316314697266
+        ],
+        [
+          0.2868373394012451,
+          -0.03446430712938309,
+          -0.957359254360199,
+          23.31512451171875
+        ],
+        [
+          0.057088736444711685,
+          -0.9969616532325745,
+          0.0529945008456707,
+          -24.736820220947266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6418,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_183081865",
+      "mask_path": "../../mask/hdr_left_06418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06419.png",
+      "transform_matrix": [
+        [
+          -0.9640230536460876,
+          -0.06269413232803345,
+          -0.258319616317749,
+          55.878150939941406
+        ],
+        [
+          0.2605817914009094,
+          -0.030941510573029518,
+          -0.9649558067321777,
+          23.3045597076416
+        ],
+        [
+          0.052504267543554306,
+          -0.9975530505180359,
+          0.04616528004407883,
+          -24.733306884765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6419,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_283081769",
+      "mask_path": "../../mask/hdr_left_06419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06421.png",
+      "transform_matrix": [
+        [
+          -0.9782528281211853,
+          -0.050634097307920456,
+          -0.2011404186487198,
+          55.76508712768555
+        ],
+        [
+          0.20277300477027893,
+          -0.02943459525704384,
+          -0.9787831902503967,
+          23.282958984375
+        ],
+        [
+          0.04363932088017464,
+          -0.9982834458351135,
+          0.039061710238456726,
+          -24.74586296081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6421,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_483082056",
+      "mask_path": "../../mask/hdr_left_06421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06423.png",
+      "transform_matrix": [
+        [
+          -0.9808121919631958,
+          -0.04121146351099014,
+          -0.19054915010929108,
+          55.68568420410156
+        ],
+        [
+          0.1921379268169403,
+          -0.03878866136074066,
+          -0.9806010723114014,
+          23.27001190185547
+        ],
+        [
+          0.033020853996276855,
+          -0.9983972907066345,
+          0.04596267640590668,
+          -24.716533660888672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6423,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_683081150",
+      "mask_path": "../../mask/hdr_left_06423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06425.png",
+      "transform_matrix": [
+        [
+          -0.9768707156181335,
+          -0.04056090489029884,
+          -0.20994815230369568,
+          55.595218658447266
+        ],
+        [
+          0.21179398894309998,
+          -0.04835472255945206,
+          -0.9761173129081726,
+          23.2683048248291
+        ],
+        [
+          0.02944021113216877,
+          -0.9980063438415527,
+          0.05582686886191368,
+          -24.71219253540039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6425,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_883082866",
+      "mask_path": "../../mask/hdr_left_06425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06426.png",
+      "transform_matrix": [
+        [
+          -0.9768713116645813,
+          -0.03724341839551926,
+          -0.21055950224399567,
+          55.52933120727539
+        ],
+        [
+          0.2119947373867035,
+          -0.04002169519662857,
+          -0.9764509797096252,
+          23.269271850585938
+        ],
+        [
+          0.02793942019343376,
+          -0.9985045194625854,
+          0.04699145630002022,
+          -24.713613510131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6426,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_983081817",
+      "mask_path": "../../mask/hdr_left_06426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06428.png",
+      "transform_matrix": [
+        [
+          -0.9780499339103699,
+          -0.030243409797549248,
+          -0.20616424083709717,
+          55.428035736083984
+        ],
+        [
+          0.20700626075267792,
+          -0.027984172105789185,
+          -0.9779393672943115,
+          23.275728225708008
+        ],
+        [
+          0.023806879296898842,
+          -0.999150812625885,
+          0.03363049402832985,
+          -24.733850479125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6428,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_183082103",
+      "mask_path": "../../mask/hdr_left_06428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06429.png",
+      "transform_matrix": [
+        [
+          -0.9780870079994202,
+          -0.029611006379127502,
+          -0.2060803323984146,
+          55.36012268066406
+        ],
+        [
+          0.206837460398674,
+          -0.025273794308304787,
+          -0.9780488014221191,
+          23.284854888916016
+        ],
+        [
+          0.023752577602863312,
+          -0.9992420077323914,
+          0.030844634398818016,
+          -24.72132110595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6429,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_283080577",
+      "mask_path": "../../mask/hdr_left_06429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06430.png",
+      "transform_matrix": [
+        [
+          -0.9775887131690979,
+          -0.0316227450966835,
+          -0.20813550055027008,
+          55.307003021240234
+        ],
+        [
+          0.20896217226982117,
+          -0.02554655820131302,
+          -0.977590024471283,
+          23.290998458862305
+        ],
+        [
+          0.025596927851438522,
+          -0.9991734027862549,
+          0.03158198297023773,
+          -24.70745277404785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6430,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_383081674",
+      "mask_path": "../../mask/hdr_left_06430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06432.png",
+      "transform_matrix": [
+        [
+          -0.9755615592002869,
+          -0.03884568810462952,
+          -0.21626496315002441,
+          55.22145462036133
+        ],
+        [
+          0.2174769639968872,
+          -0.030241619795560837,
+          -0.9755969047546387,
+          23.29599380493164
+        ],
+        [
+          0.031357523053884506,
+          -0.9987875819206238,
+          0.037950605154037476,
+          -24.701923370361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6432,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_583082675",
+      "mask_path": "../../mask/hdr_left_06432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06433.png",
+      "transform_matrix": [
+        [
+          -0.9757308959960938,
+          -0.037661630660295486,
+          -0.21570982038974762,
+          55.1529426574707
+        ],
+        [
+          0.21680103242397308,
+          -0.027753617614507675,
+          -0.9758211970329285,
+          23.29815101623535
+        ],
+        [
+          0.03076428361237049,
+          -0.9989051222801208,
+          0.0352451428771019,
+          -24.69034767150879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6433,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_683082342",
+      "mask_path": "../../mask/hdr_left_06433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06435.png",
+      "transform_matrix": [
+        [
+          -0.9770398139953613,
+          -0.034277159720659256,
+          -0.21028117835521698,
+          55.078495025634766
+        ],
+        [
+          0.21084064245224,
+          -0.013576994650065899,
+          -0.9774261116981506,
+          23.298316955566406
+        ],
+        [
+          0.030648402869701385,
+          -0.9993201494216919,
+          0.02049228362739086,
+          -24.696359634399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6435,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_883079767",
+      "mask_path": "../../mask/hdr_left_06435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06437.png",
+      "transform_matrix": [
+        [
+          -0.9745848178863525,
+          -0.04104695841670036,
+          -0.22022582590579987,
+          55.02092742919922
+        ],
+        [
+          0.2209654152393341,
+          -0.014391743578016758,
+          -0.9751753807067871,
+          23.326391220092773
+        ],
+        [
+          0.03685855120420456,
+          -0.9990535974502563,
+          0.023095937445759773,
+          -24.683971405029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6437,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323906_83081960",
+      "mask_path": "../../mask/hdr_left_06437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06470.png",
+      "transform_matrix": [
+        [
+          -0.9600618481636047,
+          -0.08387967944145203,
+          -0.26691845059394836,
+          54.90094757080078
+        ],
+        [
+          0.27062636613845825,
+          -0.03626874089241028,
+          -0.9620009064674377,
+          23.350467681884766
+        ],
+        [
+          0.07101153582334518,
+          -0.9958157539367676,
+          0.057520296424627304,
+          -24.685110092163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6470,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_383081674",
+      "mask_path": "../../mask/hdr_left_06470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06472.png",
+      "transform_matrix": [
+        [
+          -0.9566447138786316,
+          -0.11284193396568298,
+          -0.268510103225708,
+          54.80778884887695
+        ],
+        [
+          0.2718597948551178,
+          -0.015136298723518848,
+          -0.9622178673744202,
+          23.343786239624023
+        ],
+        [
+          0.10451426357030869,
+          -0.9934977293014526,
+          0.04515724629163742,
+          -24.61196517944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6472,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_583081245",
+      "mask_path": "../../mask/hdr_left_06472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03997.png",
+      "transform_matrix": [
+        [
+          -0.962924063205719,
+          -0.16715985536575317,
+          0.21174249053001404,
+          55.214561462402344
+        ],
+        [
+          -0.2076626569032669,
+          -0.0417250394821167,
+          -0.977310299873352,
+          23.178447723388672
+        ],
+        [
+          0.172202005982399,
+          -0.9850465059280396,
+          0.0054651834070682526,
+          -24.71116828918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3997,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_183082818",
+      "mask_path": "../../mask/hdr_right_03997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03998.png",
+      "transform_matrix": [
+        [
+          -0.9625169634819031,
+          -0.1749313324689865,
+          0.20726807415485382,
+          55.342227935791016
+        ],
+        [
+          -0.2049577683210373,
+          -0.03137459233403206,
+          -0.9782679080963135,
+          23.178316116333008
+        ],
+        [
+          0.1776326298713684,
+          -0.9840806126594543,
+          -0.005654948763549328,
+          -24.738815307617188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3998,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_283082008",
+      "mask_path": "../../mask/hdr_right_03998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03999.png",
+      "transform_matrix": [
+        [
+          -0.9623518586158752,
+          -0.19408750534057617,
+          0.19028648734092712,
+          55.440834045410156
+        ],
+        [
+          -0.1904182881116867,
+          -0.01815422810614109,
+          -0.9815352559089661,
+          23.17546272277832
+        ],
+        [
+          0.19395823776721954,
+          -0.9808161854743958,
+          -0.01948704943060875,
+          -24.729093551635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 3999,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_383082151",
+      "mask_path": "../../mask/hdr_right_03999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04000.png",
+      "transform_matrix": [
+        [
+          -0.9649702310562134,
+          -0.19427676498889923,
+          0.17632067203521729,
+          55.49549102783203
+        ],
+        [
+          -0.17719893157482147,
+          -0.01298985630273819,
+          -0.9840893745422363,
+          23.177106857299805
+        ],
+        [
+          0.19347608089447021,
+          -0.980860710144043,
+          -0.021890807896852493,
+          -24.721006393432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4000,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_483082532",
+      "mask_path": "../../mask/hdr_right_04000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04001.png",
+      "transform_matrix": [
+        [
+          -0.9703114032745361,
+          -0.17570270597934723,
+          0.1662059724330902,
+          55.5806770324707
+        ],
+        [
+          -0.16685354709625244,
+          -0.011187147349119186,
+          -0.9859182238578796,
+          23.18292236328125
+        ],
+        [
+          0.1750878542661667,
+          -0.9843797087669373,
+          -0.018461603671312332,
+          -24.749082565307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4001,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_583081483",
+      "mask_path": "../../mask/hdr_right_04001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04002.png",
+      "transform_matrix": [
+        [
+          -0.974723219871521,
+          -0.15503357350826263,
+          0.1608705371618271,
+          55.695823669433594
+        ],
+        [
+          -0.1614530235528946,
+          -0.008910967968404293,
+          -0.9868402481079102,
+          23.187469482421875
+        ],
+        [
+          0.15442687273025513,
+          -0.9878690242767334,
+          -0.016344908624887466,
+          -24.752994537353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4002,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_683079957",
+      "mask_path": "../../mask/hdr_right_04002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04003.png",
+      "transform_matrix": [
+        [
+          -0.9770252704620361,
+          -0.13955746591091156,
+          0.16107548773288727,
+          55.801666259765625
+        ],
+        [
+          -0.1622239649295807,
+          -0.00318258092738688,
+          -0.9867489337921143,
+          23.193126678466797
+        ],
+        [
+          0.13822080194950104,
+          -0.9902088642120361,
+          -0.019530098885297775,
+          -24.763479232788086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4003,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_783081054",
+      "mask_path": "../../mask/hdr_right_04003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04004.png",
+      "transform_matrix": [
+        [
+          -0.9785605669021606,
+          -0.12637276947498322,
+          0.16263210773468018,
+          55.88531494140625
+        ],
+        [
+          -0.1651161164045334,
+          0.009364982135593891,
+          -0.9862297177314758,
+          23.21228790283203
+        ],
+        [
+          0.12310951203107834,
+          -0.991938591003418,
+          -0.030030377209186554,
+          -24.778757095336914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4004,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_883081436",
+      "mask_path": "../../mask/hdr_right_04004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04005.png",
+      "transform_matrix": [
+        [
+          -0.9801549911499023,
+          -0.11639737337827682,
+          0.1604612022638321,
+          55.98933029174805
+        ],
+        [
+          -0.1633344441652298,
+          0.015518590807914734,
+          -0.9864486455917358,
+          23.215038299560547
+        ],
+        [
+          0.11232990771532059,
+          -0.9930814504623413,
+          -0.0342223234474659,
+          -24.780780792236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4005,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323663_983081579",
+      "mask_path": "../../mask/hdr_right_04005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04006.png",
+      "transform_matrix": [
+        [
+          -0.982690155506134,
+          -0.10490894317626953,
+          0.152690127491951,
+          56.09504318237305
+        ],
+        [
+          -0.15560567378997803,
+          0.020143626257777214,
+          -0.9876139163970947,
+          23.21027183532715
+        ],
+        [
+          0.10053379833698273,
+          -0.994277834892273,
+          -0.03611936792731285,
+          -24.778196334838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4006,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_83081245",
+      "mask_path": "../../mask/hdr_right_04006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04007.png",
+      "transform_matrix": [
+        [
+          -0.985750138759613,
+          -0.08866625279188156,
+          0.14295142889022827,
+          56.186893463134766
+        ],
+        [
+          -0.14530856907367706,
+          0.020691681653261185,
+          -0.9891700148582458,
+          23.218202590942383
+        ],
+        [
+          0.08474807441234589,
+          -0.9958464503288269,
+          -0.033280789852142334,
+          -24.787586212158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4007,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_183081865",
+      "mask_path": "../../mask/hdr_right_04007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04008.png",
+      "transform_matrix": [
+        [
+          -0.9871712923049927,
+          -0.07885713875293732,
+          0.13883231580257416,
+          56.30521011352539
+        ],
+        [
+          -0.14018094539642334,
+          0.011804704554378986,
+          -0.9900556206703186,
+          23.22377586364746
+        ],
+        [
+          0.07643407583236694,
+          -0.9968160390853882,
+          -0.022707533091306686,
+          -24.796045303344727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4008,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_283082962",
+      "mask_path": "../../mask/hdr_right_04008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04009.png",
+      "transform_matrix": [
+        [
+          -0.9870747923851013,
+          -0.07388767600059509,
+          0.1422109454870224,
+          56.416259765625
+        ],
+        [
+          -0.14271190762519836,
+          0.0015181729104369879,
+          -0.9897631406784058,
+          23.22882652282715
+        ],
+        [
+          0.07291539758443832,
+          -0.9972654581069946,
+          -0.012043202295899391,
+          -24.801225662231445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4009,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_383081912",
+      "mask_path": "../../mask/hdr_right_04009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04010.png",
+      "transform_matrix": [
+        [
+          -0.9867011904716492,
+          -0.06750410050153732,
+          0.14786513149738312,
+          56.489871978759766
+        ],
+        [
+          -0.14798438549041748,
+          -0.0032583430875092745,
+          -0.9889844059944153,
+          23.238203048706055
+        ],
+        [
+          0.06724230200052261,
+          -0.9977136850357056,
+          -0.006774541921913624,
+          -24.801395416259766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4010,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_483082532",
+      "mask_path": "../../mask/hdr_right_04010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04011.png",
+      "transform_matrix": [
+        [
+          -0.9865429997444153,
+          -0.07009617239236832,
+          0.1477144956588745,
+          56.56798553466797
+        ],
+        [
+          -0.14820638298988342,
+          0.0018402431160211563,
+          -0.9889548420906067,
+          23.243200302124023
+        ],
+        [
+          0.06905011832714081,
+          -0.9975385069847107,
+          -0.012204179540276527,
+          -24.8092041015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4011,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_583081722",
+      "mask_path": "../../mask/hdr_right_04011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04012.png",
+      "transform_matrix": [
+        [
+          -0.9874172806739807,
+          -0.07621186226606369,
+          0.13855978846549988,
+          56.65502166748047
+        ],
+        [
+          -0.13934309780597687,
+          0.005032064393162727,
+          -0.990231454372406,
+          23.23908233642578
+        ],
+        [
+          0.07477013766765594,
+          -0.9970789551734924,
+          -0.015588343143463135,
+          -24.807373046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4012,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_683082103",
+      "mask_path": "../../mask/hdr_right_04012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04013.png",
+      "transform_matrix": [
+        [
+          -0.9881981015205383,
+          -0.07472572475671768,
+          0.13371795415878296,
+          56.7274169921875
+        ],
+        [
+          -0.1344367265701294,
+          0.00464994041249156,
+          -0.9909113049507141,
+          23.234121322631836
+        ],
+        [
+          0.07342478632926941,
+          -0.9971932768821716,
+          -0.014640944078564644,
+          -24.802997589111328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4013,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_783081531",
+      "mask_path": "../../mask/hdr_right_04013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04014.png",
+      "transform_matrix": [
+        [
+          -0.989544153213501,
+          -0.06845501810312271,
+          0.12695005536079407,
+          56.797855377197266
+        ],
+        [
+          -0.12763084471225739,
+          0.005646772217005491,
+          -0.9918056726455688,
+          23.234621047973633
+        ],
+        [
+          0.06717722862958908,
+          -0.9976382255554199,
+          -0.014324702322483063,
+          -24.805953979492188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4014,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_883081912",
+      "mask_path": "../../mask/hdr_right_04014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04015.png",
+      "transform_matrix": [
+        [
+          -0.9899060726165771,
+          -0.07565145194530487,
+          0.11984582990407944,
+          56.90009307861328
+        ],
+        [
+          -0.12010609358549118,
+          -0.0011167819611728191,
+          -0.9927605390548706,
+          23.229347229003906
+        ],
+        [
+          0.07523761689662933,
+          -0.997133731842041,
+          -0.007980691269040108,
+          -24.823274612426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4015,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323664_983083724",
+      "mask_path": "../../mask/hdr_right_04015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04016.png",
+      "transform_matrix": [
+        [
+          -0.9889152646064758,
+          -0.09194386005401611,
+          0.1165890023112297,
+          56.98225784301758
+        ],
+        [
+          -0.11585982143878937,
+          -0.013247232884168625,
+          -0.9931772351264954,
+          23.21994972229004
+        ],
+        [
+          0.09286102652549744,
+          -0.9956760406494141,
+          0.0024477920960634947,
+          -24.8482608795166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4016,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_83081960",
+      "mask_path": "../../mask/hdr_right_04016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04017.png",
+      "transform_matrix": [
+        [
+          -0.98829585313797,
+          -0.10161248594522476,
+          0.11378102004528046,
+          57.04309844970703
+        ],
+        [
+          -0.11258579045534134,
+          -0.017439985647797585,
+          -0.9934890270233154,
+          23.21317481994629
+        ],
+        [
+          0.10293521732091904,
+          -0.9946711659431458,
+          0.005795747507363558,
+          -24.857223510742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4017,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_183082103",
+      "mask_path": "../../mask/hdr_right_04017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04018.png",
+      "transform_matrix": [
+        [
+          -0.9879431128501892,
+          -0.10863323509693146,
+          0.11030521988868713,
+          57.13087463378906
+        ],
+        [
+          -0.10962992161512375,
+          -0.012187926098704338,
+          -0.9938977956771851,
+          23.20285987854004
+        ],
+        [
+          0.10931473225355148,
+          -0.9940071702003479,
+          0.00013152470637578517,
+          -24.871191024780273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4018,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_283082008",
+      "mask_path": "../../mask/hdr_right_04018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04019.png",
+      "transform_matrix": [
+        [
+          -0.9876219034194946,
+          -0.11851814389228821,
+          0.10274458676576614,
+          57.24422836303711
+        ],
+        [
+          -0.1022583395242691,
+          -0.01019313745200634,
+          -0.9947056770324707,
+          23.192005157470703
+        ],
+        [
+          0.11893795430660248,
+          -0.9928995370864868,
+          -0.0020525024738162756,
+          -24.893949508666992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4019,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_383082628",
+      "mask_path": "../../mask/hdr_right_04019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04020.png",
+      "transform_matrix": [
+        [
+          -0.9880629181861877,
+          -0.12430493533611298,
+          0.09099574387073517,
+          57.31622314453125
+        ],
+        [
+          -0.09101954847574234,
+          -0.005499525461345911,
+          -0.9958339333534241,
+          23.177852630615234
+        ],
+        [
+          0.12428751587867737,
+          -0.9922288060188293,
+          -0.00588030181825161,
+          -24.900808334350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4020,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_483083248",
+      "mask_path": "../../mask/hdr_right_04020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04021.png",
+      "transform_matrix": [
+        [
+          -0.9898170232772827,
+          -0.12102708965539932,
+          0.07493191212415695,
+          57.375518798828125
+        ],
+        [
+          -0.0749143585562706,
+          -0.004701592959463596,
+          -0.9971789121627808,
+          23.16111183166504
+        ],
+        [
+          0.12103796750307083,
+          -0.9926380515098572,
+          -0.004412950482219458,
+          -24.906524658203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4021,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_583082675",
+      "mask_path": "../../mask/hdr_right_04021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04022.png",
+      "transform_matrix": [
+        [
+          -0.9907724857330322,
+          -0.11836451292037964,
+          0.06602878868579865,
+          57.49264144897461
+        ],
+        [
+          -0.06539331376552582,
+          -0.009249088354408741,
+          -0.997816801071167,
+          23.1566162109375
+        ],
+        [
+          0.11871679872274399,
+          -0.9929271340370178,
+          0.001423500245437026,
+          -24.9193058013916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4022,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_683082580",
+      "mask_path": "../../mask/hdr_right_04022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04023.png",
+      "transform_matrix": [
+        [
+          -0.9901977181434631,
+          -0.11987802386283875,
+          0.07167798280715942,
+          57.60771560668945
+        ],
+        [
+          -0.0702582597732544,
+          -0.016033463180065155,
+          -0.9973999857902527,
+          23.158615112304688
+        ],
+        [
+          0.12071558088064194,
+          -0.9926591515541077,
+          0.007453882601112127,
+          -24.92995834350586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4023,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_783083438",
+      "mask_path": "../../mask/hdr_right_04023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04024.png",
+      "transform_matrix": [
+        [
+          -0.9895979166030884,
+          -0.11856192350387573,
+          0.08148081600666046,
+          57.68691635131836
+        ],
+        [
+          -0.07992983609437943,
+          -0.017786476761102676,
+          -0.9966418147087097,
+          23.160425186157227
+        ],
+        [
+          0.11961302161216736,
+          -0.9927873015403748,
+          0.008124824613332748,
+          -24.939485549926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4024,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_883081674",
+      "mask_path": "../../mask/hdr_right_04024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04025.png",
+      "transform_matrix": [
+        [
+          -0.9895451664924622,
+          -0.11310156434774399,
+          0.08948995918035507,
+          57.76569366455078
+        ],
+        [
+          -0.08824200183153152,
+          -0.016002710908651352,
+          -0.995970606803894,
+          23.166221618652344
+        ],
+        [
+          0.11407791078090668,
+          -0.9934545755386353,
+          0.005855096969753504,
+          -24.955345153808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4025,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323665_983082771",
+      "mask_path": "../../mask/hdr_right_04025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04026.png",
+      "transform_matrix": [
+        [
+          -0.9897540211677551,
+          -0.10458064824342728,
+          0.09721023589372635,
+          57.87498474121094
+        ],
+        [
+          -0.09633759409189224,
+          -0.013375713489949703,
+          -0.9952589273452759,
+          23.16477394104004
+        ],
+        [
+          0.10538507997989655,
+          -0.9944264888763428,
+          0.003163620363920927,
+          -24.96518325805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4026,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_83082199",
+      "mask_path": "../../mask/hdr_right_04026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04027.png",
+      "transform_matrix": [
+        [
+          -0.9901654720306396,
+          -0.09588214755058289,
+          0.10187682509422302,
+          57.95705032348633
+        ],
+        [
+          -0.10175241529941559,
+          -0.006199014838784933,
+          -0.9947904348373413,
+          23.159297943115234
+        ],
+        [
+          0.09601417928934097,
+          -0.9953734278678894,
+          -0.0036181886680424213,
+          -24.955188751220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4027,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_183083534",
+      "mask_path": "../../mask/hdr_right_04027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04028.png",
+      "transform_matrix": [
+        [
+          -0.9910935759544373,
+          -0.08576442301273346,
+          0.10187271237373352,
+          58.028629302978516
+        ],
+        [
+          -0.10193062573671341,
+          -0.003715066472068429,
+          -0.9947845935821533,
+          23.158920288085938
+        ],
+        [
+          0.08569559454917908,
+          -0.9963085055351257,
+          -0.0050600431859493256,
+          -24.95383644104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4028,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_283082008",
+      "mask_path": "../../mask/hdr_right_04028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04029.png",
+      "transform_matrix": [
+        [
+          -0.9908846020698547,
+          -0.08249859511852264,
+          0.10649774223566055,
+          58.137088775634766
+        ],
+        [
+          -0.1062915176153183,
+          -0.0069005656987428665,
+          -0.9943110942840576,
+          23.1669921875
+        ],
+        [
+          0.0827641487121582,
+          -0.9965673089027405,
+          -0.001931231701746583,
+          -24.975873947143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4029,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_383082866",
+      "mask_path": "../../mask/hdr_right_04029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04030.png",
+      "transform_matrix": [
+        [
+          -0.9903624057769775,
+          -0.08134981989860535,
+          0.11209219694137573,
+          58.231075286865234
+        ],
+        [
+          -0.11159025132656097,
+          -0.01070508174598217,
+          -0.9936966896057129,
+          23.175691604614258
+        ],
+        [
+          0.08203700184822083,
+          -0.9966281056404114,
+          0.001524063409306109,
+          -24.998489379882812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4030,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_483082532",
+      "mask_path": "../../mask/hdr_right_04030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04031.png",
+      "transform_matrix": [
+        [
+          -0.9906651377677917,
+          -0.0744544193148613,
+          0.11418928951025009,
+          58.30043029785156
+        ],
+        [
+          -0.11374403536319733,
+          -0.010207293555140495,
+          -0.9934576749801636,
+          23.179656982421875
+        ],
+        [
+          0.07513286918401718,
+          -0.9971721768379211,
+          0.0016432630363851786,
+          -25.001937866210938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4031,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_583081960",
+      "mask_path": "../../mask/hdr_right_04031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04032.png",
+      "transform_matrix": [
+        [
+          -0.9907474517822266,
+          -0.0769612118601799,
+          0.1117880716919899,
+          58.38451385498047
+        ],
+        [
+          -0.1116499975323677,
+          -0.006108171306550503,
+          -0.9937288165092468,
+          23.18221092224121
+        ],
+        [
+          0.07716139405965805,
+          -0.9970154166221619,
+          -0.002541062654927373,
+          -25.008358001708984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4032,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_683081865",
+      "mask_path": "../../mask/hdr_right_04032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04033.png",
+      "transform_matrix": [
+        [
+          -0.9917415380477905,
+          -0.07824200391769409,
+          0.10162117332220078,
+          58.47584915161133
+        ],
+        [
+          -0.10176445543766022,
+          -0.002164453035220504,
+          -0.994806170463562,
+          23.175189971923828
+        ],
+        [
+          0.07805558294057846,
+          -0.9969319701194763,
+          -0.005815678276121616,
+          -25.011310577392578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4033,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_783082723",
+      "mask_path": "../../mask/hdr_right_04033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04034.png",
+      "transform_matrix": [
+        [
+          -0.9934293627738953,
+          -0.07156272232532501,
+          0.08931426703929901,
+          58.54641342163086
+        ],
+        [
+          -0.08960537612438202,
+          0.0008610367658548057,
+          -0.9959770441055298,
+          23.163450241088867
+        ],
+        [
+          0.07119792699813843,
+          -0.9974356889724731,
+          -0.0072677843272686005,
+          -25.00183868408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4034,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_883081436",
+      "mask_path": "../../mask/hdr_right_04034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04035.png",
+      "transform_matrix": [
+        [
+          -0.9948023557662964,
+          -0.0644504502415657,
+          0.07883202284574509,
+          58.621768951416016
+        ],
+        [
+          -0.07881142944097519,
+          -0.0028660735115408897,
+          -0.9968854188919067,
+          23.160470962524414
+        ],
+        [
+          0.0644756481051445,
+          -0.9979168176651001,
+          -0.0022282570134848356,
+          -25.0096378326416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4035,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323666_983083724",
+      "mask_path": "../../mask/hdr_right_04035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04036.png",
+      "transform_matrix": [
+        [
+          -0.9948390126228333,
+          -0.06272479891777039,
+          0.07975611090660095,
+          58.72819137573242
+        ],
+        [
+          -0.07918071746826172,
+          -0.011610381305217743,
+          -0.996792733669281,
+          23.160354614257812
+        ],
+        [
+          0.06344961374998093,
+          -0.9979633092880249,
+          0.006583865731954575,
+          -25.0155086517334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4036,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_83081960",
+      "mask_path": "../../mask/hdr_right_04036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04037.png",
+      "transform_matrix": [
+        [
+          -0.9938237071037292,
+          -0.06387414783239365,
+          0.0907444879412651,
+          58.81596374511719
+        ],
+        [
+          -0.08971139043569565,
+          -0.01886650174856186,
+          -0.9957891702651978,
+          23.160913467407227
+        ],
+        [
+          0.06531720608472824,
+          -0.9977796077728271,
+          0.013019745238125324,
+          -25.024253845214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4037,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_183082818",
+      "mask_path": "../../mask/hdr_right_04037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04038.png",
+      "transform_matrix": [
+        [
+          -0.9923377633094788,
+          -0.061692655086517334,
+          0.10705064982175827,
+          58.88776397705078
+        ],
+        [
+          -0.1060502901673317,
+          -0.01927732117474079,
+          -0.9941739439964294,
+          23.16152572631836
+        ],
+        [
+          0.0633968710899353,
+          -0.9979090094566345,
+          0.012587085366249084,
+          -25.032102584838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4038,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_283081769",
+      "mask_path": "../../mask/hdr_right_04038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04039.png",
+      "transform_matrix": [
+        [
+          -0.9901217222213745,
+          -0.06356645375490189,
+          0.12497340142726898,
+          58.98028564453125
+        ],
+        [
+          -0.12431196868419647,
+          -0.014272003434598446,
+          -0.9921405911445618,
+          23.160715103149414
+        ],
+        [
+          0.06485049426555634,
+          -0.9978755712509155,
+          0.006228948011994362,
+          -25.040071487426758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4039,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_383083820",
+      "mask_path": "../../mask/hdr_right_04039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04040.png",
+      "transform_matrix": [
+        [
+          -0.9884070158004761,
+          -0.06469184905290604,
+          0.13735610246658325,
+          59.0800895690918
+        ],
+        [
+          -0.13700401782989502,
+          -0.009868872351944447,
+          -0.9905213713645935,
+          23.156307220458984
+        ],
+        [
+          0.06543420255184174,
+          -0.9978564977645874,
+          0.0008914199424907565,
+          -25.041940689086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4040,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_483081817",
+      "mask_path": "../../mask/hdr_right_04040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04041.png",
+      "transform_matrix": [
+        [
+          -0.9874593019485474,
+          -0.06156015768647194,
+          0.145377054810524,
+          59.15525436401367
+        ],
+        [
+          -0.14542795717716217,
+          -0.003677152330055833,
+          -0.9893620014190674,
+          23.153797149658203
+        ],
+        [
+          0.061439868062734604,
+          -0.9980965852737427,
+          -0.005321532022207975,
+          -25.038747787475586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4041,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_583083391",
+      "mask_path": "../../mask/hdr_right_04041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04042.png",
+      "transform_matrix": [
+        [
+          -0.9867355823516846,
+          -0.05851701274514198,
+          0.1514221429824829,
+          59.21881866455078
+        ],
+        [
+          -0.1517176330089569,
+          0.0006144085200503469,
+          -0.9884236454963684,
+          23.159069061279297
+        ],
+        [
+          0.05774656683206558,
+          -0.9982861876487732,
+          -0.009484322741627693,
+          -25.04997444152832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4042,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_683081150",
+      "mask_path": "../../mask/hdr_right_04042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04043.png",
+      "transform_matrix": [
+        [
+          -0.985114336013794,
+          -0.06423447281122208,
+          0.1594485640525818,
+          59.321495056152344
+        ],
+        [
+          -0.15939153730869293,
+          -0.006044591311365366,
+          -0.9871970415115356,
+          23.162641525268555
+        ],
+        [
+          0.0643758699297905,
+          -0.997916579246521,
+          -0.004283815156668425,
+          -25.061132431030273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4043,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_783082246",
+      "mask_path": "../../mask/hdr_right_04043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04044.png",
+      "transform_matrix": [
+        [
+          -0.9825289845466614,
+          -0.07183831185102463,
+          0.17168590426445007,
+          59.41645050048828
+        ],
+        [
+          -0.17093509435653687,
+          -0.01651819422841072,
+          -0.9851438403129578,
+          23.166860580444336
+        ],
+        [
+          0.07360700517892838,
+          -0.9972795248031616,
+          0.003949918318539858,
+          -25.074323654174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4044,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_883080720",
+      "mask_path": "../../mask/hdr_right_04044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04045.png",
+      "transform_matrix": [
+        [
+          -0.9800299406051636,
+          -0.07266049832105637,
+          0.1850995570421219,
+          59.48729705810547
+        ],
+        [
+          -0.18423789739608765,
+          -0.018445935100317,
+          -0.9827085733413696,
+          23.176393508911133
+        ],
+        [
+          0.07481842488050461,
+          -0.9971861243247986,
+          0.004690749570727348,
+          -25.08603858947754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4045,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323667_983082056",
+      "mask_path": "../../mask/hdr_right_04045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04046.png",
+      "transform_matrix": [
+        [
+          -0.9774914383888245,
+          -0.07692570984363556,
+          0.19645057618618011,
+          59.567726135253906
+        ],
+        [
+          -0.1962813436985016,
+          -0.009829379618167877,
+          -0.9804984927177429,
+          23.18324089050293
+        ],
+        [
+          0.07735652476549149,
+          -0.9969883561134338,
+          -0.005490945186465979,
+          -25.094776153564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4046,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_83082199",
+      "mask_path": "../../mask/hdr_right_04046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04047.png",
+      "transform_matrix": [
+        [
+          -0.9772910475730896,
+          -0.08357439190149307,
+          0.1947249174118042,
+          59.66276168823242
+        ],
+        [
+          -0.19455145299434662,
+          -0.010293851606547832,
+          -0.9808383584022522,
+          23.181669235229492
+        ],
+        [
+          0.08397742360830307,
+          -0.9964483380317688,
+          -0.006199429277330637,
+          -25.102100372314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4047,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_183081626",
+      "mask_path": "../../mask/hdr_right_04047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04048.png",
+      "transform_matrix": [
+        [
+          -0.9794121384620667,
+          -0.08508310467004776,
+          0.1830647885799408,
+          59.727840423583984
+        ],
+        [
+          -0.1827394813299179,
+          -0.011662691831588745,
+          -0.9830922484397888,
+          23.176305770874023
+        ],
+        [
+          0.085779570043087,
+          -0.9963056445121765,
+          -0.004125462379306555,
+          -25.10272789001465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4048,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_283082723",
+      "mask_path": "../../mask/hdr_right_04048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04049.png",
+      "transform_matrix": [
+        [
+          -0.9824755191802979,
+          -0.08019761741161346,
+          0.16825661063194275,
+          59.78101348876953
+        ],
+        [
+          -0.1676814705133438,
+          -0.013902029022574425,
+          -0.9857432842254639,
+          23.17213249206543
+        ],
+        [
+          0.08139337599277496,
+          -0.9966819882392883,
+          0.0002107486070599407,
+          -25.104093551635742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4049,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_383082151",
+      "mask_path": "../../mask/hdr_right_04049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04050.png",
+      "transform_matrix": [
+        [
+          -0.9837469458580017,
+          -0.08016402274370193,
+          0.16067272424697876,
+          59.90149688720703
+        ],
+        [
+          -0.1594191938638687,
+          -0.02184183895587921,
+          -0.9869694709777832,
+          23.177743911743164
+        ],
+        [
+          0.08262881636619568,
+          -0.9965423345565796,
+          0.008707160130143166,
+          -25.116436004638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4050,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_483081817",
+      "mask_path": "../../mask/hdr_right_04050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04051.png",
+      "transform_matrix": [
+        [
+          -0.9833548665046692,
+          -0.08541851490736008,
+          0.16036494076251984,
+          60.01610565185547
+        ],
+        [
+          -0.15871691703796387,
+          -0.025791969150304794,
+          -0.9869872331619263,
+          23.19025993347168
+        ],
+        [
+          0.08844310790300369,
+          -0.9960112571716309,
+          0.011805294081568718,
+          -25.139799118041992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4051,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_583081483",
+      "mask_path": "../../mask/hdr_right_04051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04052.png",
+      "transform_matrix": [
+        [
+          -0.9830424189567566,
+          -0.08628920465707779,
+          0.16180749237537384,
+          60.08570098876953
+        ],
+        [
+          -0.16012431681156158,
+          -0.026129718869924545,
+          -0.9867509603500366,
+          23.202585220336914
+        ],
+        [
+          0.08937393128871918,
+          -0.9959274530410767,
+          0.011869622394442558,
+          -25.15809440612793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4052,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_683079481",
+      "mask_path": "../../mask/hdr_right_04052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04053.png",
+      "transform_matrix": [
+        [
+          -0.9818690419197083,
+          -0.09362861514091492,
+          0.16482362151145935,
+          60.166786193847656
+        ],
+        [
+          -0.16405624151229858,
+          -0.015888208523392677,
+          -0.9863231182098389,
+          23.21152114868164
+        ],
+        [
+          0.0949668139219284,
+          -0.9954804182052612,
+          0.0002397794887656346,
+          -25.168073654174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4053,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_783080577",
+      "mask_path": "../../mask/hdr_right_04053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04054.png",
+      "transform_matrix": [
+        [
+          -0.980682909488678,
+          -0.10064103454351425,
+          0.16772721707820892,
+          60.26633071899414
+        ],
+        [
+          -0.1674119383096695,
+          -0.011631220579147339,
+          -0.9858184456825256,
+          23.214523315429688
+        ],
+        [
+          0.10116466134786606,
+          -0.994854748249054,
+          -0.005441969260573387,
+          -25.17945098876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4054,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_883080005",
+      "mask_path": "../../mask/hdr_right_04054.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_04055.png",
+      "transform_matrix": [
+        [
+          -0.980593740940094,
+          -0.1006876677274704,
+          0.16821999847888947,
+          60.340824127197266
+        ],
+        [
+          -0.16781635582447052,
+          -0.012526895850896835,
+          -0.9857387542724609,
+          23.21126937866211
+        ],
+        [
+          0.10135900229215622,
+          -0.9948393106460571,
+          -0.0046132407151162624,
+          -25.18670082092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 4055,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323668_983081579",
+      "mask_path": "../../mask/hdr_right_04055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06351.png",
+      "transform_matrix": [
+        [
+          0.9870103001594543,
+          -0.11400298774242401,
+          -0.11319953948259354,
+          59.699337005615234
+        ],
+        [
+          0.11622148007154465,
+          0.020197782665491104,
+          0.9930179119110107,
+          22.912986755371094
+        ],
+        [
+          -0.11092063039541245,
+          -0.9932750463485718,
+          0.03318501263856888,
+          -25.161252975463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6351,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_583081245",
+      "mask_path": "../../mask/hdr_right_06351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06352.png",
+      "transform_matrix": [
+        [
+          0.9884063005447388,
+          -0.09617532789707184,
+          -0.11748789995908737,
+          59.62757873535156
+        ],
+        [
+          0.1214156299829483,
+          0.03603990748524666,
+          0.9919472932815552,
+          22.902217864990234
+        ],
+        [
+          -0.09116659313440323,
+          -0.9947117567062378,
+          0.047299254685640335,
+          -25.13702964782715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6352,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_683082103",
+      "mask_path": "../../mask/hdr_right_06352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06353.png",
+      "transform_matrix": [
+        [
+          0.9880285859107971,
+          -0.09580055624246597,
+          -0.12091994285583496,
+          59.56779098510742
+        ],
+        [
+          0.12489762157201767,
+          0.03665097802877426,
+          0.991492509841919,
+          22.897905349731445
+        ],
+        [
+          -0.09055368602275848,
+          -0.9947255849838257,
+          0.04817747697234154,
+          -25.12481117248535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6353,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_783081531",
+      "mask_path": "../../mask/hdr_right_06353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06354.png",
+      "transform_matrix": [
+        [
+          0.9885693192481995,
+          -0.09094632416963577,
+          -0.12024715542793274,
+          59.492549896240234
+        ],
+        [
+          0.12299266457557678,
+          0.02519090846180916,
+          0.9920879006385803,
+          22.90484619140625
+        ],
+        [
+          -0.08719760924577713,
+          -0.9955371022224426,
+          0.03608869016170502,
+          -25.1265811920166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6354,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_883081436",
+      "mask_path": "../../mask/hdr_right_06354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06355.png",
+      "transform_matrix": [
+        [
+          0.9898676872253418,
+          -0.08780069649219513,
+          -0.11159340292215347,
+          59.39270782470703
+        ],
+        [
+          0.11344016343355179,
+          0.016316909343004227,
+          0.9934108853340149,
+          22.907712936401367
+        ],
+        [
+          -0.08540131151676178,
+          -0.9960044026374817,
+          0.026111705228686333,
+          -25.11126708984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6355,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323898_983079910",
+      "mask_path": "../../mask/hdr_right_06355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06356.png",
+      "transform_matrix": [
+        [
+          0.9908568263053894,
+          -0.08872055262327194,
+          -0.10164350271224976,
+          59.29702377319336
+        ],
+        [
+          0.10310500115156174,
+          0.01203665230423212,
+          0.9945976734161377,
+          22.914533615112305
+        ],
+        [
+          -0.08701780438423157,
+          -0.9959838390350342,
+          0.02107412926852703,
+          -25.0955753326416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6356,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_83081960",
+      "mask_path": "../../mask/hdr_right_06356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06357.png",
+      "transform_matrix": [
+        [
+          0.9916368126869202,
+          -0.091016486287117,
+          -0.0915013775229454,
+          59.21586227416992
+        ],
+        [
+          0.09209009259939194,
+          0.0022805568296462297,
+          0.9957481026649475,
+          22.916208267211914
+        ],
+        [
+          -0.09042081981897354,
+          -0.9958467483520508,
+          0.01064319908618927,
+          -25.080419540405273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6357,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_183080911",
+      "mask_path": "../../mask/hdr_right_06357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06358.png",
+      "transform_matrix": [
+        [
+          0.9919915199279785,
+          -0.09069596976041794,
+          -0.08790358155965805,
+          59.11433410644531
+        ],
+        [
+          0.08818743377923965,
+          -0.0008809916325844824,
+          0.9961035847663879,
+          22.913347244262695
+        ],
+        [
+          -0.09042001515626907,
+          -0.9958782196044922,
+          0.007124306168407202,
+          -25.060829162597656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6358,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_283082246",
+      "mask_path": "../../mask/hdr_right_06358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06359.png",
+      "transform_matrix": [
+        [
+          0.9919663071632385,
+          -0.08802618831396103,
+          -0.09085284173488617,
+          59.01947784423828
+        ],
+        [
+          0.09141528606414795,
+          0.0023707211948931217,
+          0.9958100914955139,
+          22.91981315612793
+        ],
+        [
+          -0.08744196593761444,
+          -0.9961153268814087,
+          0.010398609563708305,
+          -25.058849334716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6359,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_383081436",
+      "mask_path": "../../mask/hdr_right_06359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06360.png",
+      "transform_matrix": [
+        [
+          0.99199378490448,
+          -0.086210697889328,
+          -0.09228342771530151,
+          58.94763946533203
+        ],
+        [
+          0.09302742779254913,
+          0.004644155502319336,
+          0.9956527352333069,
+          22.919538497924805
+        ],
+        [
+          -0.0854073315858841,
+          -0.9962660670280457,
+          0.012626929208636284,
+          -25.05140495300293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6360,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_483081102",
+      "mask_path": "../../mask/hdr_right_06360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06361.png",
+      "transform_matrix": [
+        [
+          0.9928238391876221,
+          -0.08105135709047318,
+          -0.08792930841445923,
+          58.86491012573242
+        ],
+        [
+          0.08837354928255081,
+          0.0019028993556275964,
+          0.9960856437683105,
+          22.929075241088867
+        ],
+        [
+          -0.08056677132844925,
+          -0.9967082142829895,
+          0.009052036330103874,
+          -25.04293441772461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6361,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_583082199",
+      "mask_path": "../../mask/hdr_right_06361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06362.png",
+      "transform_matrix": [
+        [
+          0.9937199354171753,
+          -0.08147911727428436,
+          -0.0766933485865593,
+          58.77480697631836
+        ],
+        [
+          0.07694148272275925,
+          -9.474536636844277e-05,
+          0.9970356225967407,
+          22.94525146484375
+        ],
+        [
+          -0.08124485611915588,
+          -0.9966750741004944,
+          0.006174972280859947,
+          -25.02508544921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6362,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_683081626",
+      "mask_path": "../../mask/hdr_right_06362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06363.png",
+      "transform_matrix": [
+        [
+          0.9941569566726685,
+          -0.08536617457866669,
+          -0.06606496870517731,
+          58.7085075378418
+        ],
+        [
+          0.0660112202167511,
+          -0.0034554151352494955,
+          0.9978129267692566,
+          22.951171875
+        ],
+        [
+          -0.08540774881839752,
+          -0.9963436126708984,
+          0.002199899172410369,
+          -25.006986618041992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6363,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_783081293",
+      "mask_path": "../../mask/hdr_right_06363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06364.png",
+      "transform_matrix": [
+        [
+          0.994579553604126,
+          -0.08664378523826599,
+          -0.05748309940099716,
+          58.63856506347656
+        ],
+        [
+          0.056971028447151184,
+          -0.008373427204787731,
+          0.9983407855033875,
+          22.958019256591797
+        ],
+        [
+          -0.08698134869337082,
+          -0.996204137802124,
+          -0.0033918574918061495,
+          -25.00305938720703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6364,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_883081436",
+      "mask_path": "../../mask/hdr_right_06364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06365.png",
+      "transform_matrix": [
+        [
+          0.9950503706932068,
+          -0.08249416947364807,
+          -0.055404093116521835,
+          58.53463363647461
+        ],
+        [
+          0.05495626851916313,
+          -0.007691393606364727,
+          0.9984592199325562,
+          22.964889526367188
+        ],
+        [
+          -0.0827932059764862,
+          -0.9965618252754211,
+          -0.0031197546049952507,
+          -25.000957489013672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6365,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323899_983081340",
+      "mask_path": "../../mask/hdr_right_06365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06366.png",
+      "transform_matrix": [
+        [
+          0.9955013990402222,
+          -0.07553299516439438,
+          -0.05719824135303497,
+          58.453887939453125
+        ],
+        [
+          0.0570031963288784,
+          -0.00473777623847127,
+          0.9983627796173096,
+          22.96214485168457
+        ],
+        [
+          -0.07568032294511795,
+          -0.9971320629119873,
+          -0.0004108435532543808,
+          -24.99558448791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6366,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_83081960",
+      "mask_path": "../../mask/hdr_right_06366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06368.png",
+      "transform_matrix": [
+        [
+          0.9965394735336304,
+          -0.0640043392777443,
+          -0.05303271859884262,
+          58.34743881225586
+        ],
+        [
+          0.052906617522239685,
+          -0.0036648958921432495,
+          0.9985927939414978,
+          22.976619720458984
+        ],
+        [
+          -0.06410863250494003,
+          -0.9979428648948669,
+          -0.00026596180396154523,
+          -25.000003814697266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6368,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_283082008",
+      "mask_path": "../../mask/hdr_right_06368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06369.png",
+      "transform_matrix": [
+        [
+          0.996675431728363,
+          -0.0629316121339798,
+          -0.051746390759944916,
+          58.27649688720703
+        ],
+        [
+          0.051710791885852814,
+          -0.0021955082193017006,
+          0.9986597299575806,
+          22.987478256225586
+        ],
+        [
+          -0.06296087801456451,
+          -0.9980154037475586,
+          0.001066031982190907,
+          -24.978235244750977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6369,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_383080005",
+      "mask_path": "../../mask/hdr_right_06369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06370.png",
+      "transform_matrix": [
+        [
+          0.9962384104728699,
+          -0.066091388463974,
+          -0.056044578552246094,
+          58.210201263427734
+        ],
+        [
+          0.05595075711607933,
+          -0.0032714062836021185,
+          0.9984281659126282,
+          22.99539566040039
+        ],
+        [
+          -0.06617084890604019,
+          -0.9978082776069641,
+          0.00043875849223695695,
+          -24.966230392456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6370,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_483080863",
+      "mask_path": "../../mask/hdr_right_06370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06371.png",
+      "transform_matrix": [
+        [
+          0.9956061840057373,
+          -0.06861981004476547,
+          -0.06371653825044632,
+          58.145633697509766
+        ],
+        [
+          0.06320583075284958,
+          -0.009590649046003819,
+          0.9979544878005981,
+          23.001178741455078
+        ],
+        [
+          -0.06909053772687912,
+          -0.997596800327301,
+          -0.005211337935179472,
+          -24.965917587280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6371,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_583081960",
+      "mask_path": "../../mask/hdr_right_06371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06372.png",
+      "transform_matrix": [
+        [
+          0.9946330785751343,
+          -0.06462536007165909,
+          -0.08079893887042999,
+          58.0756721496582
+        ],
+        [
+          0.08013390749692917,
+          -0.012821934185922146,
+          0.996701717376709,
+          23.00151824951172
+        ],
+        [
+          -0.06544819474220276,
+          -0.9978272318840027,
+          -0.0075744399800896645,
+          -24.95526695251465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6372,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_683081865",
+      "mask_path": "../../mask/hdr_right_06372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06373.png",
+      "transform_matrix": [
+        [
+          0.9928550720214844,
+          -0.05880001187324524,
+          -0.10383272916078568,
+          58.007938385009766
+        ],
+        [
+          0.10361127555370331,
+          -0.006811405066400766,
+          0.9945945739746094,
+          22.99656105041504
+        ],
+        [
+          -0.05918942019343376,
+          -0.9982465505599976,
+          -0.0006703977123834193,
+          -24.955154418945312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6373,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_783082008",
+      "mask_path": "../../mask/hdr_right_06373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06374.png",
+      "transform_matrix": [
+        [
+          0.9906569123268127,
+          -0.055872321128845215,
+          -0.12440773844718933,
+          57.95025634765625
+        ],
+        [
+          0.12440374493598938,
+          -0.003563361708074808,
+          0.9922252893447876,
+          22.987110137939453
+        ],
+        [
+          -0.05588123947381973,
+          -0.9984315633773804,
+          0.00342065398581326,
+          -24.95673370361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6374,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_883081912",
+      "mask_path": "../../mask/hdr_right_06374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06375.png",
+      "transform_matrix": [
+        [
+          0.9890227913856506,
+          -0.051538050174713135,
+          -0.1384844034910202,
+          57.88740158081055
+        ],
+        [
+          0.13824714720249176,
+          -0.008157894015312195,
+          0.9903641939163208,
+          22.983604431152344
+        ],
+        [
+          -0.052171189337968826,
+          -0.9986377358436584,
+          -0.0009433525847271085,
+          -24.957141876220703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6375,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323900_983082056",
+      "mask_path": "../../mask/hdr_right_06375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06376.png",
+      "transform_matrix": [
+        [
+          0.9887122511863708,
+          -0.052322883158922195,
+          -0.14039401710033417,
+          57.81928253173828
+        ],
+        [
+          0.13997331261634827,
+          -0.011638523079454899,
+          0.9900869727134705,
+          22.98726463317871
+        ],
+        [
+          -0.05343817546963692,
+          -0.9985623955726624,
+          -0.004183345939964056,
+          -24.946012496948242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6376,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_83081960",
+      "mask_path": "../../mask/hdr_right_06376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06377.png",
+      "transform_matrix": [
+        [
+          0.9895901679992676,
+          -0.05454279109835625,
+          -0.13317853212356567,
+          57.756954193115234
+        ],
+        [
+          0.13250572979450226,
+          -0.01578754000365734,
+          0.991056501865387,
+          22.992555618286133
+        ],
+        [
+          -0.05615755170583725,
+          -0.9983866214752197,
+          -0.008395961485803127,
+          -24.934980392456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6377,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_183083057",
+      "mask_path": "../../mask/hdr_right_06377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06378.png",
+      "transform_matrix": [
+        [
+          0.9907668828964233,
+          -0.05768166109919548,
+          -0.12269477546215057,
+          57.6934814453125
+        ],
+        [
+          0.12170293182134628,
+          -0.020418398082256317,
+          0.9923565983772278,
+          22.999032974243164
+        ],
+        [
+          -0.05974600836634636,
+          -0.998126208782196,
+          -0.013209843076765537,
+          -24.932409286499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6378,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_283082962",
+      "mask_path": "../../mask/hdr_right_06378.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06379.png",
+      "transform_matrix": [
+        [
+          0.9912630319595337,
+          -0.0575675293803215,
+          -0.1186751276254654,
+          57.59958267211914
+        ],
+        [
+          0.11768504232168198,
+          -0.020306594669818878,
+          0.9928433895111084,
+          22.99713134765625
+        ],
+        [
+          -0.059565428644418716,
+          -0.9981350302696228,
+          -0.013354342430830002,
+          -24.925813674926758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6379,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_383082628",
+      "mask_path": "../../mask/hdr_right_06379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06380.png",
+      "transform_matrix": [
+        [
+          0.9913995265960693,
+          -0.052817001938819885,
+          -0.11973866820335388,
+          57.52719497680664
+        ],
+        [
+          0.11899649351835251,
+          -0.01699136570096016,
+          0.9927493333816528,
+          22.988197326660156
+        ],
+        [
+          -0.054468560963869095,
+          -0.9984596371650696,
+          -0.01056019775569439,
+          -24.92896842956543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6380,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_483083009",
+      "mask_path": "../../mask/hdr_right_06380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06381.png",
+      "transform_matrix": [
+        [
+          0.9915556907653809,
+          -0.04890665411949158,
+          -0.1201058104634285,
+          57.46613693237305
+        ],
+        [
+          0.1194600760936737,
+          -0.01593029871582985,
+          0.9927112460136414,
+          22.990978240966797
+        ],
+        [
+          -0.05046350508928299,
+          -0.9986763000488281,
+          -0.009953390806913376,
+          -24.93695640563965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6381,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_583082914",
+      "mask_path": "../../mask/hdr_right_06381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06382.png",
+      "transform_matrix": [
+        [
+          0.9920898675918579,
+          -0.04514215514063835,
+          -0.11713222414255142,
+          57.392578125
+        ],
+        [
+          0.11659703403711319,
+          -0.014321118593215942,
+          0.9930760860443115,
+          22.997854232788086
+        ],
+        [
+          -0.046507056802511215,
+          -0.9988778829574585,
+          -0.008944397792220116,
+          -24.940027236938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6382,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_683082342",
+      "mask_path": "../../mask/hdr_right_06382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06383.png",
+      "transform_matrix": [
+        [
+          0.9930591583251953,
+          -0.04574719816446304,
+          -0.10835485905408859,
+          57.31990432739258
+        ],
+        [
+          0.10780128836631775,
+          -0.014407232403755188,
+          0.9940682053565979,
+          23.00457763671875
+        ],
+        [
+          -0.047036923468112946,
+          -0.9988491535186768,
+          -0.009375629015266895,
+          -24.91983413696289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6383,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_783082246",
+      "mask_path": "../../mask/hdr_right_06383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06384.png",
+      "transform_matrix": [
+        [
+          0.9939053058624268,
+          -0.04932999238371849,
+          -0.09858393669128418,
+          57.25845718383789
+        ],
+        [
+          0.09778011590242386,
+          -0.01845742203295231,
+          0.9950368404388428,
+          23.014751434326172
+        ],
+        [
+          -0.0509047769010067,
+          -0.9986120462417603,
+          -0.013521439395844936,
+          -24.909147262573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6384,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323901_883082628",
+      "mask_path": "../../mask/hdr_right_06384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06386.png",
+      "transform_matrix": [
+        [
+          0.994156002998352,
+          -0.0724402442574501,
+          -0.08003873378038406,
+          57.11486053466797
+        ],
+        [
+          0.07756318151950836,
+          -0.036369502544403076,
+          0.9963238835334778,
+          23.011734008789062
+        ],
+        [
+          -0.07508490979671478,
+          -0.996709406375885,
+          -0.030538268387317657,
+          -24.867708206176758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6386,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_83082675",
+      "mask_path": "../../mask/hdr_right_06386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06387.png",
+      "transform_matrix": [
+        [
+          0.9926214218139648,
+          -0.08633996546268463,
+          -0.08513548225164413,
+          57.02252960205078
+        ],
+        [
+          0.0822548046708107,
+          -0.036396995186805725,
+          0.9959465265274048,
+          23.01072883605957
+        ],
+        [
+          -0.08908867090940475,
+          -0.9956006407737732,
+          -0.029026564210653305,
+          -24.83849334716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6387,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_183082103",
+      "mask_path": "../../mask/hdr_right_06387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06388.png",
+      "transform_matrix": [
+        [
+          0.9917934536933899,
+          -0.08905386179685593,
+          -0.09173469245433807,
+          56.95952224731445
+        ],
+        [
+          0.08940301835536957,
+          -0.029836265370249748,
+          0.9955486059188843,
+          23.0114803314209
+        ],
+        [
+          -0.09139446914196014,
+          -0.9955798387527466,
+          -0.021629732102155685,
+          -24.833356857299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6388,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_283082246",
+      "mask_path": "../../mask/hdr_right_06388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06390.png",
+      "transform_matrix": [
+        [
+          0.9914529323577881,
+          -0.09740232676267624,
+          -0.08679841458797455,
+          56.830230712890625
+        ],
+        [
+          0.08374392986297607,
+          -0.03502918779850006,
+          0.9958714842796326,
+          23.025522232055664
+        ],
+        [
+          -0.10004067420959473,
+          -0.9946284294128418,
+          -0.0265729408711195,
+          -24.82196807861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6390,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_483081340",
+      "mask_path": "../../mask/hdr_right_06390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06391.png",
+      "transform_matrix": [
+        [
+          0.9914112091064453,
+          -0.10495074093341827,
+          -0.07803265750408173,
+          56.75083541870117
+        ],
+        [
+          0.07514625787734985,
+          -0.031186997890472412,
+          0.9966846704483032,
+          23.03866958618164
+        ],
+        [
+          -0.10703640431165695,
+          -0.9939883351325989,
+          -0.02303248830139637,
+          -24.80280876159668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6391,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_583080768",
+      "mask_path": "../../mask/hdr_right_06391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06392.png",
+      "transform_matrix": [
+        [
+          0.991510808467865,
+          -0.10997246950864792,
+          -0.06937078386545181,
+          56.699562072753906
+        ],
+        [
+          0.06615585833787918,
+          -0.03262240067124367,
+          0.9972758889198303,
+          23.034608840942383
+        ],
+        [
+          -0.11193593591451645,
+          -0.9933991432189941,
+          -0.02507014013826847,
+          -24.78084373474121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6392,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_683080673",
+      "mask_path": "../../mask/hdr_right_06392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06393.png",
+      "transform_matrix": [
+        [
+          0.992257833480835,
+          -0.1064385324716568,
+          -0.06399431824684143,
+          56.63450622558594
+        ],
+        [
+          0.0611153282225132,
+          -0.03009718656539917,
+          0.9976768493652344,
+          23.032136917114258
+        ],
+        [
+          -0.10811731964349747,
+          -0.9938637018203735,
+          -0.023359140381217003,
+          -24.76995849609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6393,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_783081054",
+      "mask_path": "../../mask/hdr_right_06393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06394.png",
+      "transform_matrix": [
+        [
+          0.993003249168396,
+          -0.10008355975151062,
+          -0.06267368048429489,
+          56.57879638671875
+        ],
+        [
+          0.060388121753931046,
+          -0.02570824883878231,
+          0.9978439211845398,
+          23.03481101989746
+        ],
+        [
+          -0.10147898644208908,
+          -0.9946467876434326,
+          -0.019484512507915497,
+          -24.779993057250977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6394,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323902_883079051",
+      "mask_path": "../../mask/hdr_right_06394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06396.png",
+      "transform_matrix": [
+        [
+          0.9931269288063049,
+          -0.09435820579528809,
+          -0.06924960762262344,
+          56.486328125
+        ],
+        [
+          0.06755481660366058,
+          -0.021043023094534874,
+          0.9974937438964844,
+          23.042747497558594
+        ],
+        [
+          -0.09557893872261047,
+          -0.9953158497810364,
+          -0.014524043537676334,
+          -24.78787612915039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6396,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_83079338",
+      "mask_path": "../../mask/hdr_right_06396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06397.png",
+      "transform_matrix": [
+        [
+          0.9931647777557373,
+          -0.09384626150131226,
+          -0.06940071284770966,
+          56.42082977294922
+        ],
+        [
+          0.06805824488401413,
+          -0.01743481308221817,
+          0.9975290298461914,
+          23.05048370361328
+        ],
+        [
+          -0.09482435137033463,
+          -0.995434045791626,
+          -0.010928632691502571,
+          -24.771060943603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6397,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_183080911",
+      "mask_path": "../../mask/hdr_right_06397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06399.png",
+      "transform_matrix": [
+        [
+          0.9931355118751526,
+          -0.09915853291749954,
+          -0.06204407289624214,
+          56.333492279052734
+        ],
+        [
+          0.06068793311715126,
+          -0.01663794368505478,
+          0.9980181455612183,
+          23.07093048095703
+        ],
+        [
+          -0.09999430924654007,
+          -0.9949325323104858,
+          -0.010506005957722664,
+          -24.75895881652832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6399,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_383079767",
+      "mask_path": "../../mask/hdr_right_06399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06400.png",
+      "transform_matrix": [
+        [
+          0.9936463236808777,
+          -0.09645795822143555,
+          -0.05799085646867752,
+          56.276981353759766
+        ],
+        [
+          0.056842390447854996,
+          -0.014614218845963478,
+          0.9982761740684509,
+          23.085941314697266
+        ],
+        [
+          -0.09713917970657349,
+          -0.9952297806739807,
+          -0.009038467891514301,
+          -24.74782371520996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6400,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_483080625",
+      "mask_path": "../../mask/hdr_right_06400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06403.png",
+      "transform_matrix": [
+        [
+          0.994475245475769,
+          -0.08653172105550766,
+          -0.05942406877875328,
+          56.12467956542969
+        ],
+        [
+          0.05864926800131798,
+          -0.011471420526504517,
+          0.9982128143310547,
+          23.09568977355957
+        ],
+        [
+          -0.08705875277519226,
+          -0.9961829781532288,
+          -0.006333023775368929,
+          -24.76306915283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6403,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_783083677",
+      "mask_path": "../../mask/hdr_right_06403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06404.png",
+      "transform_matrix": [
+        [
+          0.9953019618988037,
+          -0.08119164407253265,
+          -0.052745211869478226,
+          56.05776596069336
+        ],
+        [
+          0.05205002799630165,
+          -0.010656378231942654,
+          0.9985876679420471,
+          23.09960174560547
+        ],
+        [
+          -0.08163905143737793,
+          -0.9966415166854858,
+          -0.00638028746470809,
+          -24.745580673217773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6404,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323903_883082866",
+      "mask_path": "../../mask/hdr_right_06404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06407.png",
+      "transform_matrix": [
+        [
+          0.9955700635910034,
+          -0.07356347888708115,
+          -0.05855494365096092,
+          55.92070770263672
+        ],
+        [
+          0.056900013238191605,
+          -0.024396710097789764,
+          0.9980818629264832,
+          23.109607696533203
+        ],
+        [
+          -0.07485091686248779,
+          -0.9969921112060547,
+          -0.02010287716984749,
+          -24.729032516479492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6407,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_183081865",
+      "mask_path": "../../mask/hdr_right_06407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06408.png",
+      "transform_matrix": [
+        [
+          0.9941127896308899,
+          -0.06667310744524002,
+          -0.08540789783000946,
+          55.85906219482422
+        ],
+        [
+          0.08418282121419907,
+          -0.020977769047021866,
+          0.9962294697761536,
+          23.09841537475586
+        ],
+        [
+          -0.06821338087320328,
+          -0.9975543022155762,
+          -0.015241541899740696,
+          -24.72675323486328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6408,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_283081769",
+      "mask_path": "../../mask/hdr_right_06408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06410.png",
+      "transform_matrix": [
+        [
+          0.9880177974700928,
+          -0.055196285247802734,
+          -0.14413201808929443,
+          55.758182525634766
+        ],
+        [
+          0.14324499666690826,
+          -0.019724041223526,
+          0.9894906878471375,
+          23.076013565063477
+        ],
+        [
+          -0.05745907872915268,
+          -0.9982806444168091,
+          -0.011581117287278175,
+          -24.740449905395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6410,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_483082056",
+      "mask_path": "../../mask/hdr_right_06410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06412.png",
+      "transform_matrix": [
+        [
+          0.9868394732475281,
+          -0.04588159918785095,
+          -0.15505720674991608,
+          55.6810417175293
+        ],
+        [
+          0.15383292734622955,
+          -0.029130367562174797,
+          0.987667441368103,
+          23.06305694580078
+        ],
+        [
+          -0.04983263090252876,
+          -0.9985220432281494,
+          -0.02168889530003071,
+          -24.709341049194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6412,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_683081150",
+      "mask_path": "../../mask/hdr_right_06412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06414.png",
+      "transform_matrix": [
+        [
+          0.9897551536560059,
+          -0.04503915086388588,
+          -0.13548505306243896,
+          55.58647537231445
+        ],
+        [
+          0.133796826004982,
+          -0.038607943803071976,
+          0.9902564287185669,
+          23.061569213867188
+        ],
+        [
+          -0.04983110725879669,
+          -0.9982388615608215,
+          -0.032186321914196014,
+          -24.70285987854004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6414,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_883082866",
+      "mask_path": "../../mask/hdr_right_06414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06415.png",
+      "transform_matrix": [
+        [
+          0.9899745583534241,
+          -0.04171660915017128,
+          -0.13494467735290527,
+          55.520469665527344
+        ],
+        [
+          0.1337479203939438,
+          -0.030271239578723907,
+          0.9905530214309692,
+          23.062469482421875
+        ],
+        [
+          -0.045407455414533615,
+          -0.9986708164215088,
+          -0.024388251826167107,
+          -24.70603370666504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6415,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323904_983081817",
+      "mask_path": "../../mask/hdr_right_06415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06417.png",
+      "transform_matrix": [
+        [
+          0.989604651927948,
+          -0.03476232662796974,
+          -0.13954995572566986,
+          55.42012023925781
+        ],
+        [
+          0.1389823704957962,
+          -0.018253719434142113,
+          0.9901267290115356,
+          23.068809509277344
+        ],
+        [
+          -0.03696640953421593,
+          -0.9992288947105408,
+          -0.013232618570327759,
+          -24.72885513305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6417,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_183082103",
+      "mask_path": "../../mask/hdr_right_06417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06418.png",
+      "transform_matrix": [
+        [
+          0.9896129369735718,
+          -0.03413091599941254,
+          -0.1396479308605194,
+          55.35222625732422
+        ],
+        [
+          0.13918684422969818,
+          -0.015543642453849316,
+          0.9901441931724548,
+          23.077922821044922
+        ],
+        [
+          -0.035965170711278915,
+          -0.9992964863777161,
+          -0.010631615296006203,
+          -24.71689224243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6418,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_283080577",
+      "mask_path": "../../mask/hdr_right_06418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06419.png",
+      "transform_matrix": [
+        [
+          0.9898394346237183,
+          -0.03612168878316879,
+          -0.13752557337284088,
+          55.298667907714844
+        ],
+        [
+          0.13703225553035736,
+          -0.015806661918759346,
+          0.9904405474662781,
+          23.08408546447754
+        ],
+        [
+          -0.03795019909739494,
+          -0.9992223978042603,
+          -0.010696224868297577,
+          -24.702938079833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6419,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_383081674",
+      "mask_path": "../../mask/hdr_right_06419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06421.png",
+      "transform_matrix": [
+        [
+          0.9906851053237915,
+          -0.04326137155294418,
+          -0.12911854684352875,
+          55.21138000488281
+        ],
+        [
+          0.12833376228809357,
+          -0.02046380192041397,
+          0.9915199875831604,
+          23.08918571472168
+        ],
+        [
+          -0.04553676396608353,
+          -0.9988542199134827,
+          -0.014721289277076721,
+          -24.696308135986328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6421,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_583082675",
+      "mask_path": "../../mask/hdr_right_06421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06422.png",
+      "transform_matrix": [
+        [
+          0.9906585216522217,
+          -0.04208323732018471,
+          -0.12971025705337524,
+          55.14299011230469
+        ],
+        [
+          0.12905342876911163,
+          -0.0179783646017313,
+          0.9914746880531311,
+          23.09132194519043
+        ],
+        [
+          -0.044056445360183716,
+          -0.998952329158783,
+          -0.012379435822367668,
+          -24.685264587402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6422,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_683082342",
+      "mask_path": "../../mask/hdr_right_06422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06424.png",
+      "transform_matrix": [
+        [
+          0.99004727602005,
+          -0.038753997534513474,
+          -0.13529422879219055,
+          55.069698333740234
+        ],
+        [
+          0.13524790108203888,
+          -0.003827114822342992,
+          0.9908043742179871,
+          23.09138298034668
+        ],
+        [
+          -0.03891541808843613,
+          -0.9992414712905884,
+          0.0014523710124194622,
+          -24.694284439086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6424,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323905_883079767",
+      "mask_path": "../../mask/hdr_right_06424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06426.png",
+      "transform_matrix": [
+        [
+          0.9911113977432251,
+          -0.04542222246527672,
+          -0.12503968179225922,
+          55.010009765625
+        ],
+        [
+          0.12496022880077362,
+          -0.004596020560711622,
+          0.9921510815620422,
+          23.11956214904785
+        ],
+        [
+          -0.04564039409160614,
+          -0.9989572763442993,
+          0.0011208015494048595,
+          -24.681583404541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6426,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323906_83081960",
+      "mask_path": "../../mask/hdr_right_06426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06459.png",
+      "transform_matrix": [
+        [
+          0.9932570457458496,
+          -0.0877581238746643,
+          -0.07575652748346329,
+          54.87994384765625
+        ],
+        [
+          0.07371625304222107,
+          -0.026265457272529602,
+          0.9969332814216614,
+          23.144567489624023
+        ],
+        [
+          -0.08947877585887909,
+          -0.9957955479621887,
+          -0.019619157537817955,
+          -24.676883697509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6459,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_383081674",
+      "mask_path": "../../mask/hdr_right_06459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06461.png",
+      "transform_matrix": [
+        [
+          0.9904976487159729,
+          -0.11668306589126587,
+          -0.07279740273952484,
+          54.786312103271484
+        ],
+        [
+          0.07269670069217682,
+          -0.005124435294419527,
+          0.997340977191925,
+          23.1378231048584
+        ],
+        [
+          -0.11674584448337555,
+          -0.9931560158729553,
+          0.003406727220863104,
+          -24.607431411743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6461,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323909_583081245",
+      "mask_path": "../../mask/hdr_right_06461.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/e549bca6/mesh.ply b/2024-11-11-12-07-40/splats/e549bca6/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..98555ebe51b9e1139ff16b676432513d5ced60a9
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e549bca6/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a51a128b5e0613c92917edf58659f3ecfa63b0cfebcea10e24bbfa6e09b07b3
+size 131485249
diff --git a/2024-11-11-12-07-40/splats/e549bca6/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/e549bca6/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..c7ac35b8ed7c66406bb7d893f4417d60ad778d0b
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e549bca6/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f844ee53d3cfbb1cc0af916fc38b4ba97331de51fc3dcbb22e198790c6475d3
+size 1595748
diff --git a/2024-11-11-12-07-40/splats/e549bca6/splatfacto/config.yml b/2024-11-11-12-07-40/splats/e549bca6/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..802b9b0cff63c684f29e664304e0f27c268a2287
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e549bca6/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_e549bca6
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_e549bca6
+      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/2024-11-11-12-07-40/splats/e549bca6/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/e549bca6/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f467dfe43941f46bf2b0eda9ecc79988912e1ee
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e549bca6/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.800668478012085,
+            -0.5903505086898804,
+            0.10206147283315659,
+            3.354886770248413
+        ],
+        [
+            -0.5903505086898804,
+            0.8064531683921814,
+            0.03346092998981476,
+            -19.063058853149414
+        ],
+        [
+            -0.10206147283315659,
+            -0.03346092998981476,
+            -0.9942152500152588,
+            -13.705694198608398
+        ]
+    ],
+    "scale": 0.1895954279804307
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/e549bca6/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/e549bca6/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2a8087a5537da6d38546851f3b3fef350c5726b4
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e549bca6/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20134f4cd8bc1b0bccc78bf725837311dbe8382bfe8c3d51708bd9893c78435d
+size 188992473
diff --git a/2024-11-11-12-07-40/splats/e549bca6/transforms.json b/2024-11-11-12-07-40/splats/e549bca6/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..c499057935e3f114bdf2e14a2b6cdd3e8f2c0c55
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e549bca6/transforms.json
@@ -0,0 +1,34782 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_02122.png",
+      "transform_matrix": [
+        [
+          -0.32155781984329224,
+          -0.08309698849916458,
+          -0.9432367086410522,
+          -14.801976203918457
+        ],
+        [
+          0.946236789226532,
+          0.008794328197836876,
+          -0.3233553171157837,
+          15.100838661193848
+        ],
+        [
+          0.03516498580574989,
+          -0.996502697467804,
+          0.0758015364408493,
+          -12.546907424926758
+        ],
+        [
+          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": "1731323476_683082103",
+      "mask_path": "../../mask/hdr_front_02122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02123.png",
+      "transform_matrix": [
+        [
+          -0.3129298985004425,
+          -0.07304488122463226,
+          -0.9469633102416992,
+          -14.737217903137207
+        ],
+        [
+          0.9493604302406311,
+          0.005444209557026625,
+          -0.31414201855659485,
+          15.111717224121094
+        ],
+        [
+          0.028101926669478416,
+          -0.9973138570785522,
+          0.06764225661754608,
+          -12.534883499145508
+        ],
+        [
+          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": "1731323476_783081531",
+      "mask_path": "../../mask/hdr_front_02123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02125.png",
+      "transform_matrix": [
+        [
+          -0.29240748286247253,
+          -0.06145971640944481,
+          -0.9543167948722839,
+          -14.635836601257324
+        ],
+        [
+          0.9558743238449097,
+          0.010771178640425205,
+          -0.2935783863067627,
+          15.138144493103027
+        ],
+        [
+          0.028322365134954453,
+          -0.9980515241622925,
+          0.055598195642232895,
+          -12.531241416931152
+        ],
+        [
+          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": "1731323476_983080863",
+      "mask_path": "../../mask/hdr_front_02125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02126.png",
+      "transform_matrix": [
+        [
+          -0.2886795699596405,
+          -0.0600762777030468,
+          -0.9555391073226929,
+          -14.56739616394043
+        ],
+        [
+          0.9571627974510193,
+          0.005280124489217997,
+          -0.2895021438598633,
+          15.156405448913574
+        ],
+        [
+          0.022437576204538345,
+          -0.9981799125671387,
+          0.05597851797938347,
+          -12.534636497497559
+        ],
+        [
+          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": "1731323477_83081960",
+      "mask_path": "../../mask/hdr_front_02126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02127.png",
+      "transform_matrix": [
+        [
+          -0.28995493054389954,
+          -0.055043574422597885,
+          -0.9554560780525208,
+          -14.508936882019043
+        ],
+        [
+          0.9569202065467834,
+          -0.0008624912588857114,
+          -0.290349543094635,
+          15.178704261779785
+        ],
+        [
+          0.015157804824411869,
+          -0.9984836578369141,
+          0.05292239785194397,
+          -12.53987979888916
+        ],
+        [
+          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": "1731323477_183081388",
+      "mask_path": "../../mask/hdr_front_02127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02129.png",
+      "transform_matrix": [
+        [
+          -0.2909746766090393,
+          -0.0464349202811718,
+          -0.9556032419204712,
+          -14.412796020507812
+        ],
+        [
+          0.9566226005554199,
+          0.0009026647894643247,
+          -0.29132896661758423,
+          15.217384338378906
+        ],
+        [
+          0.014390424825251102,
+          -0.9989210367202759,
+          0.04415803775191307,
+          -12.550909996032715
+        ],
+        [
+          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": "1731323477_383083343",
+      "mask_path": "../../mask/hdr_front_02129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02130.png",
+      "transform_matrix": [
+        [
+          -0.2826687693595886,
+          -0.04563039168715477,
+          -0.958131730556488,
+          -14.355504035949707
+        ],
+        [
+          0.9591132402420044,
+          0.001290558953769505,
+          -0.2830197811126709,
+          15.227416038513184
+        ],
+        [
+          0.014150829054415226,
+          -0.9989575743675232,
+          0.04339991509914398,
+          -12.536617279052734
+        ],
+        [
+          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": "1731323477_483082056",
+      "mask_path": "../../mask/hdr_front_02130.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02132.png",
+      "transform_matrix": [
+        [
+          -0.26336002349853516,
+          -0.04110921546816826,
+          -0.9638213515281677,
+          -14.291155815124512
+        ],
+        [
+          0.9644970297813416,
+          0.009149487130343914,
+          -0.2639349102973938,
+          15.228696823120117
+        ],
+        [
+          0.01966862939298153,
+          -0.9991128444671631,
+          0.03724011033773422,
+          -12.521491050720215
+        ],
+        [
+          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": "1731323477_683082580",
+      "mask_path": "../../mask/hdr_front_02132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02134.png",
+      "transform_matrix": [
+        [
+          -0.25042423605918884,
+          -0.036309823393821716,
+          -0.9674550890922546,
+          -14.192635536193848
+        ],
+        [
+          0.9679269790649414,
+          0.011383798904716969,
+          -0.250973641872406,
+          15.24844741821289
+        ],
+        [
+          0.02012612111866474,
+          -0.9992757439613342,
+          0.03229448199272156,
+          -12.513519287109375
+        ],
+        [
+          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": "1731323477_883082866",
+      "mask_path": "../../mask/hdr_front_02134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02135.png",
+      "transform_matrix": [
+        [
+          -0.25159913301467896,
+          -0.034230925142765045,
+          -0.9672260284423828,
+          -14.138357162475586
+        ],
+        [
+          0.9677301049232483,
+          0.0055671678856015205,
+          -0.25192728638648987,
+          15.270848274230957
+        ],
+        [
+          0.014008414931595325,
+          -0.9993984699249268,
+          0.031725604087114334,
+          -12.520397186279297
+        ],
+        [
+          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": "1731323477_983082771",
+      "mask_path": "../../mask/hdr_front_02135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02136.png",
+      "transform_matrix": [
+        [
+          -0.25313177704811096,
+          -0.03538299351930618,
+          -0.9667845368385315,
+          -14.094765663146973
+        ],
+        [
+          0.9673230051994324,
+          0.005723795387893915,
+          -0.25348228216171265,
+          15.291399955749512
+        ],
+        [
+          0.014502638950943947,
+          -0.9993574619293213,
+          0.03277791664004326,
+          -12.53780746459961
+        ],
+        [
+          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": "1731323478_83081960",
+      "mask_path": "../../mask/hdr_front_02136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02138.png",
+      "transform_matrix": [
+        [
+          -0.24891535937786102,
+          -0.04020412266254425,
+          -0.9676904678344727,
+          -14.016278266906738
+        ],
+        [
+          0.9684774279594421,
+          -0.0004080890794284642,
+          -0.24910084903240204,
+          15.292662620544434
+        ],
+        [
+          0.00961997639387846,
+          -0.999191403388977,
+          0.03903836011886597,
+          -12.527868270874023
+        ],
+        [
+          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": "1731323478_283082008",
+      "mask_path": "../../mask/hdr_front_02138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02139.png",
+      "transform_matrix": [
+        [
+          -0.2426188588142395,
+          -0.044287048280239105,
+          -0.9691103100776672,
+          -13.962865829467773
+        ],
+        [
+          0.970075249671936,
+          -0.0013010571710765362,
+          -0.2428009957075119,
+          15.30828857421875
+        ],
+        [
+          0.009492072276771069,
+          -0.9990180134773254,
+          0.043277427554130554,
+          -12.529169082641602
+        ],
+        [
+          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": "1731323478_383081912",
+      "mask_path": "../../mask/hdr_front_02139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02141.png",
+      "transform_matrix": [
+        [
+          -0.25489264726638794,
+          -0.06454979628324509,
+          -0.9648125171661377,
+          -13.910249710083008
+        ],
+        [
+          0.9668980836868286,
+          -0.004908371716737747,
+          -0.2551153004169464,
+          15.33790397644043
+        ],
+        [
+          0.011731983162462711,
+          -0.9979024529457092,
+          0.06366419792175293,
+          -12.562854766845703
+        ],
+        [
+          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": "1731323478_583081960",
+      "mask_path": "../../mask/hdr_front_02141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02150.png",
+      "transform_matrix": [
+        [
+          -0.3054809272289276,
+          -0.17554663121700287,
+          -0.9358764290809631,
+          -13.58077621459961
+        ],
+        [
+          0.9521424770355225,
+          -0.045672427862882614,
+          -0.3022232949733734,
+          15.46744441986084
+        ],
+        [
+          0.010310526937246323,
+          -0.9834111332893372,
+          0.18109744787216187,
+          -12.715858459472656
+        ],
+        [
+          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": "1731323479_483081579",
+      "mask_path": "../../mask/hdr_front_02150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02151.png",
+      "transform_matrix": [
+        [
+          -0.3062977194786072,
+          -0.19644255936145782,
+          -0.9314461946487427,
+          -13.529813766479492
+        ],
+        [
+          0.9519349932670593,
+          -0.06442315131425858,
+          -0.2994484305381775,
+          15.471200942993164
+        ],
+        [
+          -0.0011822821106761694,
+          -0.9783966541290283,
+          0.20673319697380066,
+          -12.735235214233398
+        ],
+        [
+          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": "1731323479_583081960",
+      "mask_path": "../../mask/hdr_front_02151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02153.png",
+      "transform_matrix": [
+        [
+          -0.30077704787254333,
+          -0.2101709544658661,
+          -0.930247962474823,
+          -13.464095115661621
+        ],
+        [
+          0.9536792635917664,
+          -0.07178960740566254,
+          -0.2921336591243744,
+          15.491195678710938
+        ],
+        [
+          -0.005384128540754318,
+          -0.9750253558158875,
+          0.22202834486961365,
+          -12.779526710510254
+        ],
+        [
+          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": "1731323479_783082008",
+      "mask_path": "../../mask/hdr_front_02153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02154.png",
+      "transform_matrix": [
+        [
+          -0.29221731424331665,
+          -0.22349773347377777,
+          -0.9298697710037231,
+          -13.412519454956055
+        ],
+        [
+          0.95631343126297,
+          -0.05956701189279556,
+          -0.2862103283405304,
+          15.49950122833252
+        ],
+        [
+          0.008577783592045307,
+          -0.9728826284408569,
+          0.2311404049396515,
+          -12.787805557250977
+        ],
+        [
+          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": "1731323479_883082151",
+      "mask_path": "../../mask/hdr_front_02154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02156.png",
+      "transform_matrix": [
+        [
+          -0.2735714614391327,
+          -0.2501489818096161,
+          -0.9287541508674622,
+          -13.361227989196777
+        ],
+        [
+          0.9615707993507385,
+          -0.047791995108127594,
+          -0.2703656256198883,
+          15.513325691223145
+        ],
+        [
+          0.023244673386216164,
+          -0.9670271277427673,
+          0.2536104917526245,
+          -12.801220893859863
+        ],
+        [
+          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": "1731323480_83081722",
+      "mask_path": "../../mask/hdr_front_02156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02158.png",
+      "transform_matrix": [
+        [
+          -0.2717669606208801,
+          -0.2602306306362152,
+          -0.9265111088752747,
+          -13.274230003356934
+        ],
+        [
+          0.9623376727104187,
+          -0.06648596376180649,
+          -0.26360175013542175,
+          15.542767524719238
+        ],
+        [
+          0.006997260265052319,
+          -0.9632547497749329,
+          0.2684984505176544,
+          -12.805648803710938
+        ],
+        [
+          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": "1731323480_283081054",
+      "mask_path": "../../mask/hdr_front_02158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02160.png",
+      "transform_matrix": [
+        [
+          -0.2944698929786682,
+          -0.293258935213089,
+          -0.9095529913902283,
+          -13.246503829956055
+        ],
+        [
+          0.9556593298912048,
+          -0.09197349846363068,
+          -0.27974268794059753,
+          15.575551986694336
+        ],
+        [
+          -0.001617714879103005,
+          -0.9515987038612366,
+          0.307339072227478,
+          -12.825838088989258
+        ],
+        [
+          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": "1731323480_483080863",
+      "mask_path": "../../mask/hdr_front_02160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02162.png",
+      "transform_matrix": [
+        [
+          -0.30042287707328796,
+          -0.28844788670539856,
+          -0.9091446399688721,
+          -13.210733413696289
+        ],
+        [
+          0.9536522030830383,
+          -0.07371393591165543,
+          -0.29174262285232544,
+          15.631601333618164
+        ],
+        [
+          0.01713593117892742,
+          -0.9546539187431335,
+          0.29722434282302856,
+          -12.86276912689209
+        ],
+        [
+          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": "1731323480_683080911",
+      "mask_path": "../../mask/hdr_front_02162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02166.png",
+      "transform_matrix": [
+        [
+          -0.2854292392730713,
+          -0.22952508926391602,
+          -0.9305097460746765,
+          -13.024236679077148
+        ],
+        [
+          0.9583934545516968,
+          -0.06482189148664474,
+          -0.2779930830001831,
+          15.691539764404297
+        ],
+        [
+          0.0034889858216047287,
+          -0.9711418151855469,
+          0.23847739398479462,
+          -12.867173194885254
+        ],
+        [
+          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": "1731323481_83079099",
+      "mask_path": "../../mask/hdr_front_02166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02168.png",
+      "transform_matrix": [
+        [
+          -0.288036048412323,
+          -0.21805335581302643,
+          -0.9324634671211243,
+          -12.966014862060547
+        ],
+        [
+          0.9576177597045898,
+          -0.06372594088315964,
+          -0.2809041142463684,
+          15.74135971069336
+        ],
+        [
+          0.0018299755174666643,
+          -0.973854124546051,
+          0.22716712951660156,
+          -12.884831428527832
+        ],
+        [
+          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": "1731323481_283081054",
+      "mask_path": "../../mask/hdr_front_02168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02170.png",
+      "transform_matrix": [
+        [
+          -0.29249218106269836,
+          -0.2167637050151825,
+          -0.9313762784004211,
+          -12.912473678588867
+        ],
+        [
+          0.9559991955757141,
+          -0.04319635406136513,
+          -0.2901715934276581,
+          15.795165061950684
+        ],
+        [
+          0.02266659401357174,
+          -0.9752680063247681,
+          0.2198605239391327,
+          -12.908080101013184
+        ],
+        [
+          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": "1731323481_483080387",
+      "mask_path": "../../mask/hdr_front_02170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02172.png",
+      "transform_matrix": [
+        [
+          -0.2971031963825226,
+          -0.2139103263616562,
+          -0.9305762052536011,
+          -12.862129211425781
+        ],
+        [
+          0.9542657136917114,
+          -0.0325666144490242,
+          -0.29718050360679626,
+          15.840462684631348
+        ],
+        [
+          0.03326425701379776,
+          -0.9763103127479553,
+          0.21380293369293213,
+          -12.897292137145996
+        ],
+        [
+          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": "1731323481_683080911",
+      "mask_path": "../../mask/hdr_front_02172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02174.png",
+      "transform_matrix": [
+        [
+          -0.3015916347503662,
+          -0.1791401356458664,
+          -0.9364567399024963,
+          -12.779533386230469
+        ],
+        [
+          0.9530898332595825,
+          -0.030135221779346466,
+          -0.3011837601661682,
+          15.866717338562012
+        ],
+        [
+          0.02573375776410103,
+          -0.9833620190620422,
+          0.17982517182826996,
+          -12.906131744384766
+        ],
+        [
+          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": "1731323481_883081197",
+      "mask_path": "../../mask/hdr_front_02174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02179.png",
+      "transform_matrix": [
+        [
+          -0.30724790692329407,
+          -0.13674093782901764,
+          -0.9417540431022644,
+          -12.691629409790039
+        ],
+        [
+          0.9516277313232422,
+          -0.04605499655008316,
+          -0.3037821054458618,
+          15.896212577819824
+        ],
+        [
+          -0.001833030255511403,
+          -0.9895356893539429,
+          0.14427676796913147,
+          -12.857232093811035
+        ],
+        [
+          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": "1731323482_383081674",
+      "mask_path": "../../mask/hdr_front_02179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02181.png",
+      "transform_matrix": [
+        [
+          -0.287185937166214,
+          -0.1048133447766304,
+          -0.9521231651306152,
+          -12.57857608795166
+        ],
+        [
+          0.9576039910316467,
+          -0.055056460201740265,
+          -0.282778263092041,
+          15.875008583068848
+        ],
+        [
+          -0.02278159372508526,
+          -0.9929667711257935,
+          0.11618111282587051,
+          -12.868219375610352
+        ],
+        [
+          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": "1731323482_583081483",
+      "mask_path": "../../mask/hdr_front_02181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02182.png",
+      "transform_matrix": [
+        [
+          -0.27567771077156067,
+          -0.09846926480531693,
+          -0.9561933279037476,
+          -12.498875617980957
+        ],
+        [
+          0.9611055254936218,
+          -0.045490529388189316,
+          -0.2724092900753021,
+          15.879870414733887
+        ],
+        [
+          -0.016673794016242027,
+          -0.9940997958183289,
+          0.10718007385730743,
+          -12.890196800231934
+        ],
+        [
+          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": "1731323482_683083534",
+      "mask_path": "../../mask/hdr_front_02182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02183.png",
+      "transform_matrix": [
+        [
+          -0.27232447266578674,
+          -0.09350324422121048,
+          -0.9576516151428223,
+          -12.43271255493164
+        ],
+        [
+          0.9621707797050476,
+          -0.03491343930363655,
+          -0.2702007293701172,
+          15.90368366241455
+        ],
+        [
+          -0.008170265704393387,
+          -0.9950066208839417,
+          0.09947387874126434,
+          -12.907547950744629
+        ],
+        [
+          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": "1731323482_783082246",
+      "mask_path": "../../mask/hdr_front_02183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02184.png",
+      "transform_matrix": [
+        [
+          -0.26963290572166443,
+          -0.08878584206104279,
+          -0.9588614702224731,
+          -12.369240760803223
+        ],
+        [
+          0.9629603028297424,
+          -0.022432774305343628,
+          -0.26870837807655334,
+          15.93830680847168
+        ],
+        [
+          0.002347582019865513,
+          -0.9957981109619141,
+          0.09154586493968964,
+          -12.925199508666992
+        ],
+        [
+          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": "1731323482_883081912",
+      "mask_path": "../../mask/hdr_front_02184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02185.png",
+      "transform_matrix": [
+        [
+          -0.26746752858161926,
+          -0.07128169387578964,
+          -0.9609267115592957,
+          -12.293384552001953
+        ],
+        [
+          0.9635626077651978,
+          -0.022750383242964745,
+          -0.26651355624198914,
+          15.964001655578613
+        ],
+        [
+          -0.002863907255232334,
+          -0.9971967935562134,
+          0.07476936280727386,
+          -12.9318208694458
+        ],
+        [
+          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": "1731323482_983082294",
+      "mask_path": "../../mask/hdr_front_02185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02186.png",
+      "transform_matrix": [
+        [
+          -0.2617509663105011,
+          -0.058578118681907654,
+          -0.9633561372756958,
+          -12.22623062133789
+        ],
+        [
+          0.9651048183441162,
+          -0.023846354335546494,
+          -0.2607761025428772,
+          15.979046821594238
+        ],
+        [
+          -0.007696760818362236,
+          -0.9979979991912842,
+          0.06277582049369812,
+          -12.928662300109863
+        ],
+        [
+          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": "1731323483_83081960",
+      "mask_path": "../../mask/hdr_front_02186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02188.png",
+      "transform_matrix": [
+        [
+          -0.244648739695549,
+          -0.05928594246506691,
+          -0.9677976369857788,
+          -12.158522605895996
+        ],
+        [
+          0.9695907831192017,
+          -0.021524770185351372,
+          -0.24378348886966705,
+          15.993277549743652
+        ],
+        [
+          -0.0063786860555410385,
+          -0.9980089068412781,
+          0.06274911016225815,
+          -12.934890747070312
+        ],
+        [
+          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": "1731323483_283082246",
+      "mask_path": "../../mask/hdr_front_02188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02189.png",
+      "transform_matrix": [
+        [
+          -0.23260220885276794,
+          -0.05124172940850258,
+          -0.9712211489677429,
+          -12.107919692993164
+        ],
+        [
+          0.9725717306137085,
+          -0.011560237035155296,
+          -0.23231574892997742,
+          16.01714515686035
+        ],
+        [
+          0.0006767149898223579,
+          -0.9986193776130676,
+          0.05252519249916077,
+          -12.945231437683105
+        ],
+        [
+          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": "1731323483_383080959",
+      "mask_path": "../../mask/hdr_front_02189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02190.png",
+      "transform_matrix": [
+        [
+          -0.22989532351493835,
+          -0.046484410762786865,
+          -0.9721046686172485,
+          -12.042614936828613
+        ],
+        [
+          0.9732138514518738,
+          -0.012786107137799263,
+          -0.2295462191104889,
+          16.047626495361328
+        ],
+        [
+          -0.0017591121140867472,
+          -0.9988372325897217,
+          0.04817873612046242,
+          -12.9481201171875
+        ],
+        [
+          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": "1731323483_483082771",
+      "mask_path": "../../mask/hdr_front_02190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02192.png",
+      "transform_matrix": [
+        [
+          -0.2315702736377716,
+          -0.048533156514167786,
+          -0.9716067314147949,
+          -11.974655151367188
+        ],
+        [
+          0.9727742671966553,
+          -0.021039346233010292,
+          -0.23079761862754822,
+          16.066823959350586
+        ],
+        [
+          -0.009240632876753807,
+          -0.9985999464988708,
+          0.05208389088511467,
+          -12.968748092651367
+        ],
+        [
+          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": "1731323483_683081626",
+      "mask_path": "../../mask/hdr_front_02192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02194.png",
+      "transform_matrix": [
+        [
+          -0.2344936728477478,
+          -0.06605921685695648,
+          -0.9698705673217773,
+          -11.884045600891113
+        ],
+        [
+          0.9721176624298096,
+          -0.01583266630768776,
+          -0.23395857214927673,
+          16.093273162841797
+        ],
+        [
+          9.948376100510359e-05,
+          -0.9976901412010193,
+          0.06792997568845749,
+          -12.98330020904541
+        ],
+        [
+          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": "1731323483_883081674",
+      "mask_path": "../../mask/hdr_front_02194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02197.png",
+      "transform_matrix": [
+        [
+          -0.21508194506168365,
+          -0.08134210109710693,
+          -0.9732025861740112,
+          -11.764802932739258
+        ],
+        [
+          0.9765557050704956,
+          -0.00885994266718626,
+          -0.21508243680000305,
+          16.121797561645508
+        ],
+        [
+          0.008872738108038902,
+          -0.9966468811035156,
+          0.08134070038795471,
+          -12.978026390075684
+        ],
+        [
+          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": "1731323484_183082103",
+      "mask_path": "../../mask/hdr_front_02197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02198.png",
+      "transform_matrix": [
+        [
+          -0.21789510548114777,
+          -0.08750223368406296,
+          -0.9720417261123657,
+          -11.714986801147461
+        ],
+        [
+          0.9759469032287598,
+          -0.012359094806015491,
+          -0.21765796840190887,
+          16.146831512451172
+        ],
+        [
+          0.007032002788037062,
+          -0.9960876703262329,
+          0.08809050172567368,
+          -12.989937782287598
+        ],
+        [
+          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": "1731323484_283080577",
+      "mask_path": "../../mask/hdr_front_02198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02200.png",
+      "transform_matrix": [
+        [
+          -0.23974743485450745,
+          -0.09110511094331741,
+          -0.9665511250495911,
+          -11.65772819519043
+        ],
+        [
+          0.970729649066925,
+          -0.0078119379468262196,
+          -0.24004755914211273,
+          16.19474220275879
+        ],
+        [
+          0.014318923465907574,
+          -0.9958106279373169,
+          0.09031132608652115,
+          -13.016728401184082
+        ],
+        [
+          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": "1731323484_483081102",
+      "mask_path": "../../mask/hdr_front_02200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02202.png",
+      "transform_matrix": [
+        [
+          -0.2524154484272003,
+          -0.10239598900079727,
+          -0.962185800075531,
+          -11.605026245117188
+        ],
+        [
+          0.9674481749534607,
+          -0.008027111180126667,
+          -0.25294169783592224,
+          16.243337631225586
+        ],
+        [
+          0.018176648765802383,
+          -0.9947113990783691,
+          0.1010889858007431,
+          -13.02110481262207
+        ],
+        [
+          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": "1731323484_683081150",
+      "mask_path": "../../mask/hdr_front_02202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02204.png",
+      "transform_matrix": [
+        [
+          -0.24140667915344238,
+          -0.09921778738498688,
+          -0.9653386473655701,
+          -11.536828994750977
+        ],
+        [
+          0.9702712297439575,
+          -0.007023243699222803,
+          -0.24191835522651672,
+          16.244915008544922
+        ],
+        [
+          0.017222793772816658,
+          -0.9950409531593323,
+          0.09796362370252609,
+          -13.015252113342285
+        ],
+        [
+          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": "1731323484_883081674",
+      "mask_path": "../../mask/hdr_front_02204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02205.png",
+      "transform_matrix": [
+        [
+          -0.23273907601833344,
+          -0.09952768683433533,
+          -0.9674330949783325,
+          -11.48550033569336
+        ],
+        [
+          0.9723194241523743,
+          -0.0026675225235521793,
+          -0.2336401790380478,
+          16.252796173095703
+        ],
+        [
+          0.02067301608622074,
+          -0.9950312972068787,
+          0.09739354252815247,
+          -13.021224975585938
+        ],
+        [
+          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": "1731323484_983081817",
+      "mask_path": "../../mask/hdr_front_02205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02210.png",
+      "transform_matrix": [
+        [
+          -0.2362314760684967,
+          -0.10234314948320389,
+          -0.9662922024726868,
+          -11.291439056396484
+        ],
+        [
+          0.9714778661727905,
+          -0.003765970002859831,
+          -0.23710034787654877,
+          16.323400497436523
+        ],
+        [
+          0.020626569166779518,
+          -0.9947420358657837,
+          0.10031374543905258,
+          -13.05868148803711
+        ],
+        [
+          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": "1731323485_483081340",
+      "mask_path": "../../mask/hdr_front_02210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02212.png",
+      "transform_matrix": [
+        [
+          -0.22080324590206146,
+          -0.1019412949681282,
+          -0.9699762463569641,
+          -11.217223167419434
+        ],
+        [
+          0.974910318851471,
+          0.005693773273378611,
+          -0.22252486646175385,
+          16.336950302124023
+        ],
+        [
+          0.028207294642925262,
+          -0.9947741627693176,
+          0.09812642633914948,
+          -13.047751426696777
+        ],
+        [
+          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": "1731323485_683082342",
+      "mask_path": "../../mask/hdr_front_02212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02214.png",
+      "transform_matrix": [
+        [
+          -0.21085315942764282,
+          -0.09983592480421066,
+          -0.972406268119812,
+          -11.116901397705078
+        ],
+        [
+          0.977258563041687,
+          0.0013769834768027067,
+          -0.21204674243927002,
+          16.37091636657715
+        ],
+        [
+          0.02250886708498001,
+          -0.9950029850006104,
+          0.09727516025304794,
+          -13.060315132141113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2214,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323485_883081436",
+      "mask_path": "../../mask/hdr_front_02214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02216.png",
+      "transform_matrix": [
+        [
+          -0.21469739079475403,
+          -0.09728448837995529,
+          -0.9718234539031982,
+          -11.053152084350586
+        ],
+        [
+          0.9766280055046082,
+          -0.011057055555284023,
+          -0.21465197205543518,
+          16.399982452392578
+        ],
+        [
+          0.01013680174946785,
+          -0.995195209980011,
+          0.09738468378782272,
+          -13.095020294189453
+        ],
+        [
+          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": "1731323486_83080768",
+      "mask_path": "../../mask/hdr_front_02216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02218.png",
+      "transform_matrix": [
+        [
+          -0.21543660759925842,
+          -0.09451284259557724,
+          -0.9719333648681641,
+          -10.971531867980957
+        ],
+        [
+          0.9765162467956543,
+          -0.019060052931308746,
+          -0.21459902822971344,
+          16.427419662475586
+        ],
+        [
+          0.0017572640208527446,
+          -0.9953411817550659,
+          0.09639956802129745,
+          -13.107558250427246
+        ],
+        [
+          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": "1731323486_283081054",
+      "mask_path": "../../mask/hdr_front_02218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02220.png",
+      "transform_matrix": [
+        [
+          -0.19935928285121918,
+          -0.08939102292060852,
+          -0.9758407473564148,
+          -10.895862579345703
+        ],
+        [
+          0.97988361120224,
+          -0.027500610798597336,
+          -0.19766603410243988,
+          16.43269157409668
+        ],
+        [
+          -0.009166644886136055,
+          -0.9956169128417969,
+          0.09307529777288437,
+          -13.095746994018555
+        ],
+        [
+          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": "1731323486_483081340",
+      "mask_path": "../../mask/hdr_front_02220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02222.png",
+      "transform_matrix": [
+        [
+          -0.18648052215576172,
+          -0.09356199949979782,
+          -0.9779934883117676,
+          -10.806575775146484
+        ],
+        [
+          0.9824051856994629,
+          -0.02814667299389839,
+          -0.18462902307510376,
+          16.441804885864258
+        ],
+        [
+          -0.0102530000731349,
+          -0.9952155351638794,
+          0.0971645936369896,
+          -13.10820198059082
+        ],
+        [
+          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": "1731323486_683079957",
+      "mask_path": "../../mask/hdr_front_02222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02254.png",
+      "transform_matrix": [
+        [
+          -0.1695583015680313,
+          -0.07671504467725754,
+          -0.9825298190116882,
+          -10.604898452758789
+        ],
+        [
+          0.9837731719017029,
+          -0.07251011580228806,
+          -0.16411136090755463,
+          16.462499618530273
+        ],
+        [
+          -0.05865353345870972,
+          -0.9944129586219788,
+          0.08776490390300751,
+          -13.108092308044434
+        ],
+        [
+          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": "1731323489_883081674",
+      "mask_path": "../../mask/hdr_front_02254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02256.png",
+      "transform_matrix": [
+        [
+          -0.19016727805137634,
+          -0.07599472999572754,
+          -0.9788060188293457,
+          -10.531667709350586
+        ],
+        [
+          0.9798826575279236,
+          -0.07618219405412674,
+          -0.18446166813373566,
+          16.474328994750977
+        ],
+        [
+          -0.06054946407675743,
+          -0.9941937923431396,
+          0.08895329385995865,
+          -13.130353927612305
+        ],
+        [
+          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": "1731323490_83082199",
+      "mask_path": "../../mask/hdr_front_02256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02257.png",
+      "transform_matrix": [
+        [
+          -0.20764611661434174,
+          -0.07895006239414215,
+          -0.9750127792358398,
+          -10.474828720092773
+        ],
+        [
+          0.9769616723060608,
+          -0.06695625931024551,
+          -0.20263952016830444,
+          16.494853973388672
+        ],
+        [
+          -0.049284808337688446,
+          -0.9946275353431702,
+          0.09103439003229141,
+          -13.143695831298828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2257,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323490_183081626",
+      "mask_path": "../../mask/hdr_front_02257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02258.png",
+      "transform_matrix": [
+        [
+          -0.21853706240653992,
+          -0.08194223046302795,
+          -0.9723821878433228,
+          -10.408620834350586
+        ],
+        [
+          0.9749346375465393,
+          -0.06097816675901413,
+          -0.21397212147712708,
+          16.511754989624023
+        ],
+        [
+          -0.04176072031259537,
+          -0.9947698712348938,
+          0.09321429580450058,
+          -13.13955307006836
+        ],
+        [
+          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": "1731323490_283081769",
+      "mask_path": "../../mask/hdr_front_02258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02260.png",
+      "transform_matrix": [
+        [
+          -0.2364695966243744,
+          -0.08169884979724884,
+          -0.9681980609893799,
+          -10.345966339111328
+        ],
+        [
+          0.971092164516449,
+          -0.053293824195861816,
+          -0.23267938196659088,
+          16.53188705444336
+        ],
+        [
+          -0.03258933871984482,
+          -0.9952312111854553,
+          0.09193948656320572,
+          -13.145853042602539
+        ],
+        [
+          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": "1731323490_483081817",
+      "mask_path": "../../mask/hdr_front_02260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02272.png",
+      "transform_matrix": [
+        [
+          -0.4124757945537567,
+          -0.10374327003955841,
+          -0.9050419926643372,
+          -9.980009078979492
+        ],
+        [
+          0.9109434485435486,
+          -0.0543457493185997,
+          -0.40893593430519104,
+          16.84721565246582
+        ],
+        [
+          -0.006760838907212019,
+          -0.9931182861328125,
+          0.11692056059837341,
+          -13.242152214050293
+        ],
+        [
+          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": "1731323491_683083534",
+      "mask_path": "../../mask/hdr_front_02272.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02273.png",
+      "transform_matrix": [
+        [
+          -0.42839479446411133,
+          -0.10385237634181976,
+          -0.8976038098335266,
+          -9.929340362548828
+        ],
+        [
+          0.9035760760307312,
+          -0.055071260780096054,
+          -0.4248734414577484,
+          16.87600326538086
+        ],
+        [
+          -0.005308054853230715,
+          -0.9930669069290161,
+          0.11743076145648956,
+          -13.24372673034668
+        ],
+        [
+          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": "1731323491_783080816",
+      "mask_path": "../../mask/hdr_front_02273.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02275.png",
+      "transform_matrix": [
+        [
+          -0.44589748978614807,
+          -0.11336758732795715,
+          -0.8878756165504456,
+          -9.865118980407715
+        ],
+        [
+          0.8950840830802917,
+          -0.05654236301779747,
+          -0.4422980546951294,
+          16.915830612182617
+        ],
+        [
+          -6.0323538491502404e-05,
+          -0.9919429421424866,
+          0.12668561935424805,
+          -13.247688293457031
+        ],
+        [
+          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": "1731323491_983081102",
+      "mask_path": "../../mask/hdr_front_02275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02277.png",
+      "transform_matrix": [
+        [
+          -0.4545208215713501,
+          -0.1374785453081131,
+          -0.8800628185272217,
+          -9.793514251708984
+        ],
+        [
+          0.890699565410614,
+          -0.06120558828115463,
+          -0.4504531919956207,
+          16.948280334472656
+        ],
+        [
+          0.008062884211540222,
+          -0.9886119365692139,
+          0.15027128159999847,
+          -13.290879249572754
+        ],
+        [
+          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": "1731323492_183080673",
+      "mask_path": "../../mask/hdr_front_02277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02278.png",
+      "transform_matrix": [
+        [
+          -0.4706670045852661,
+          -0.15448059141635895,
+          -0.8686819672584534,
+          -9.74045181274414
+        ],
+        [
+          0.882301390171051,
+          -0.0778215155005455,
+          -0.4642069637775421,
+          16.97751808166504
+        ],
+        [
+          0.004108810797333717,
+          -0.9849262833595276,
+          0.17292644083499908,
+          -13.325949668884277
+        ],
+        [
+          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": "1731323492_283081769",
+      "mask_path": "../../mask/hdr_front_02278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02280.png",
+      "transform_matrix": [
+        [
+          -0.49023985862731934,
+          -0.17399166524410248,
+          -0.8540443778038025,
+          -9.65588665008545
+        ],
+        [
+          0.8715844750404358,
+          -0.0952821746468544,
+          -0.48089680075645447,
+          17.03839683532715
+        ],
+        [
+          0.002296820981428027,
+          -0.980126678943634,
+          0.19835956394672394,
+          -13.376420021057129
+        ],
+        [
+          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": "1731323492_483082532",
+      "mask_path": "../../mask/hdr_front_02280.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02281.png",
+      "transform_matrix": [
+        [
+          -0.4878593385219574,
+          -0.19152292609214783,
+          -0.8516526818275452,
+          -9.596773147583008
+        ],
+        [
+          0.8729179501533508,
+          -0.11008012294769287,
+          -0.47528576850891113,
+          17.067991256713867
+        ],
+        [
+          -0.0027219157200306654,
+          -0.9752955436706543,
+          0.2208874225616455,
+          -13.404086112976074
+        ],
+        [
+          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": "1731323492_583083391",
+      "mask_path": "../../mask/hdr_front_02281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02282.png",
+      "transform_matrix": [
+        [
+          -0.4785010814666748,
+          -0.215437650680542,
+          -0.8512481451034546,
+          -9.543715476989746
+        ],
+        [
+          0.878083348274231,
+          -0.12014857679605484,
+          -0.46317797899246216,
+          17.084932327270508
+        ],
+        [
+          -0.002490271581336856,
+          -0.9690980315208435,
+          0.24666348099708557,
+          -13.432634353637695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2282,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323492_683081626",
+      "mask_path": "../../mask/hdr_front_02282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02283.png",
+      "transform_matrix": [
+        [
+          -0.4682563245296478,
+          -0.230649933218956,
+          -0.852957546710968,
+          -9.501423835754395
+        ],
+        [
+          0.8835828304290771,
+          -0.11768241226673126,
+          -0.45324626564979553,
+          17.107887268066406
+        ],
+        [
+          0.0041631171479821205,
+          -0.9658941030502319,
+          0.2589038610458374,
+          -13.458518981933594
+        ],
+        [
+          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": "1731323492_783080816",
+      "mask_path": "../../mask/hdr_front_02283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02284.png",
+      "transform_matrix": [
+        [
+          -0.45932167768478394,
+          -0.235053151845932,
+          -0.8566058874130249,
+          -9.45116901397705
+        ],
+        [
+          0.8882684111595154,
+          -0.11976918578147888,
+          -0.44343483448028564,
+          17.16665267944336
+        ],
+        [
+          0.001635768567211926,
+          -0.9645752906799316,
+          0.2638029158115387,
+          -13.517072677612305
+        ],
+        [
+          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": "1731323492_883081912",
+      "mask_path": "../../mask/hdr_front_02284.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02285.png",
+      "transform_matrix": [
+        [
+          -0.4547654688358307,
+          -0.24767543375492096,
+          -0.8554795980453491,
+          -9.37505054473877
+        ],
+        [
+          0.8904014825820923,
+          -0.14728371798992157,
+          -0.43068861961364746,
+          17.201292037963867
+        ],
+        [
+          -0.019327225163578987,
+          -0.9575825929641724,
+          0.28751012682914734,
+          -13.544727325439453
+        ],
+        [
+          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": "1731323492_983081817",
+      "mask_path": "../../mask/hdr_front_02285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02286.png",
+      "transform_matrix": [
+        [
+          -0.4548693895339966,
+          -0.26102322340011597,
+          -0.851446270942688,
+          -9.31916332244873
+        ],
+        [
+          0.8899961709976196,
+          -0.167201966047287,
+          -0.4242057204246521,
+          17.206205368041992
+        ],
+        [
+          -0.031635936349630356,
+          -0.9507420063018799,
+          0.3083646595478058,
+          -13.537386894226074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2286,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323493_83083391",
+      "mask_path": "../../mask/hdr_front_02286.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02288.png",
+      "transform_matrix": [
+        [
+          -0.4431326389312744,
+          -0.2722551226615906,
+          -0.8541138768196106,
+          -9.235837936401367
+        ],
+        [
+          0.8957303762435913,
+          -0.17279794812202454,
+          -0.40964362025260925,
+          17.266948699951172
+        ],
+        [
+          -0.036061566323041916,
+          -0.9465823173522949,
+          0.3204396069049835,
+          -13.60147762298584
+        ],
+        [
+          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": "1731323493_283081769",
+      "mask_path": "../../mask/hdr_front_02288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02289.png",
+      "transform_matrix": [
+        [
+          -0.43541836738586426,
+          -0.27607956528663635,
+          -0.8568494319915771,
+          -9.172514915466309
+        ],
+        [
+          0.8994818925857544,
+          -0.17217321693897247,
+          -0.4016077220439911,
+          17.29666519165039
+        ],
+        [
+          -0.03665084391832352,
+          -0.9455878734588623,
+          0.323295921087265,
+          -13.61951732635498
+        ],
+        [
+          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": "1731323493_383081436",
+      "mask_path": "../../mask/hdr_front_02289.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02291.png",
+      "transform_matrix": [
+        [
+          -0.4191492795944214,
+          -0.2824409008026123,
+          -0.8628678917884827,
+          -9.094049453735352
+        ],
+        [
+          0.9072734713554382,
+          -0.16608569025993347,
+          -0.38635537028312683,
+          17.33251953125
+        ],
+        [
+          -0.03418745845556259,
+          -0.9447977542877197,
+          0.32586580514907837,
+          -13.65693187713623
+        ],
+        [
+          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": "1731323493_583081960",
+      "mask_path": "../../mask/hdr_front_02291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02292.png",
+      "transform_matrix": [
+        [
+          -0.41195496916770935,
+          -0.2800360918045044,
+          -0.8671061396598816,
+          -9.036070823669434
+        ],
+        [
+          0.9107664823532104,
+          -0.15603727102279663,
+          -0.38230466842651367,
+          17.350387573242188
+        ],
+        [
+          -0.028241770341992378,
+          -0.947223424911499,
+          0.31932777166366577,
+          -13.686874389648438
+        ],
+        [
+          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": "1731323493_683084011",
+      "mask_path": "../../mask/hdr_front_02292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02293.png",
+      "transform_matrix": [
+        [
+          -0.4077828526496887,
+          -0.27353912591934204,
+          -0.8711426854133606,
+          -8.943432807922363
+        ],
+        [
+          0.9128285646438599,
+          -0.1444699764251709,
+          -0.38193246722221375,
+          17.3852596282959
+        ],
+        [
+          -0.021380508318543434,
+          -0.9509494304656982,
+          0.30860668420791626,
+          -13.70358657836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2293,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323493_783080577",
+      "mask_path": "../../mask/hdr_front_02293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02294.png",
+      "transform_matrix": [
+        [
+          -0.4057254195213318,
+          -0.26844510436058044,
+          -0.8736842274665833,
+          -8.881845474243164
+        ],
+        [
+          0.9139379858970642,
+          -0.12983563542366028,
+          -0.3845258057117462,
+          17.41752052307129
+        ],
+        [
+          -0.01021128986030817,
+          -0.9545050859451294,
+          0.29801976680755615,
+          -13.715463638305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2294,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323493_883082628",
+      "mask_path": "../../mask/hdr_front_02294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02295.png",
+      "transform_matrix": [
+        [
+          -0.4018958806991577,
+          -0.2655898630619049,
+          -0.8763228058815002,
+          -8.824058532714844
+        ],
+        [
+          0.9156333208084106,
+          -0.106361523270607,
+          -0.3876890242099762,
+          17.44748878479004
+        ],
+        [
+          0.009759237989783287,
+          -0.9582010507583618,
+          0.28592920303344727,
+          -13.732854843139648
+        ],
+        [
+          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": "1731323493_983080863",
+      "mask_path": "../../mask/hdr_front_02295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02296.png",
+      "transform_matrix": [
+        [
+          -0.39980968832969666,
+          -0.25444263219833374,
+          -0.8805743455886841,
+          -8.754684448242188
+        ],
+        [
+          0.9164178967475891,
+          -0.09191139042377472,
+          -0.3895260691642761,
+          17.48649787902832
+        ],
+        [
+          0.018177233636379242,
+          -0.9627103805541992,
+          0.2699228823184967,
+          -13.767773628234863
+        ],
+        [
+          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": "1731323494_83081245",
+      "mask_path": "../../mask/hdr_front_02296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02297.png",
+      "transform_matrix": [
+        [
+          -0.39425989985466003,
+          -0.25456660985946655,
+          -0.8830374479293823,
+          -8.666415214538574
+        ],
+        [
+          0.9185154438018799,
+          -0.07798825949430466,
+          -0.38761740922927856,
+          17.51495361328125
+        ],
+        [
+          0.02980789728462696,
+          -0.9639054536819458,
+          0.26457101106643677,
+          -13.765609741210938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2297,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323494_183082342",
+      "mask_path": "../../mask/hdr_front_02297.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02300.png",
+      "transform_matrix": [
+        [
+          -0.3826964497566223,
+          -0.19753912091255188,
+          -0.902508556842804,
+          -8.506612777709961
+        ],
+        [
+          0.9235061407089233,
+          -0.05422680452466011,
+          -0.37973111867904663,
+          17.576248168945312
+        ],
+        [
+          0.026071598753333092,
+          -0.9787940382957458,
+          0.20318101346492767,
+          -13.765554428100586
+        ],
+        [
+          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": "1731323494_483082056",
+      "mask_path": "../../mask/hdr_front_02300.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02303.png",
+      "transform_matrix": [
+        [
+          -0.3570408225059509,
+          -0.16633766889572144,
+          -0.9191592931747437,
+          -8.377372741699219
+        ],
+        [
+          0.9335136413574219,
+          -0.029016613960266113,
+          -0.3573656976222992,
+          17.655838012695312
+        ],
+        [
+          0.0327724851667881,
+          -0.9856417775154114,
+          0.16563861072063446,
+          -13.783548355102539
+        ],
+        [
+          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": "1731323494_783081054",
+      "mask_path": "../../mask/hdr_front_02303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02304.png",
+      "transform_matrix": [
+        [
+          -0.3426476716995239,
+          -0.14705029129981995,
+          -0.927884042263031,
+          -8.309433937072754
+        ],
+        [
+          0.9390997886657715,
+          -0.02611244097352028,
+          -0.3426511287689209,
+          17.675086975097656
+        ],
+        [
+          0.026157626882195473,
+          -0.9887843132019043,
+          0.14704224467277527,
+          -13.771713256835938
+        ],
+        [
+          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": "1731323494_883080959",
+      "mask_path": "../../mask/hdr_front_02304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02306.png",
+      "transform_matrix": [
+        [
+          -0.29571399092674255,
+          -0.11431215703487396,
+          -0.9484123587608337,
+          -8.223777770996094
+        ],
+        [
+          0.9552296996116638,
+          -0.02554609440267086,
+          -0.2947605550289154,
+          17.675939559936523
+        ],
+        [
+          0.009466486051678658,
+          -0.9931164383888245,
+          0.11674869060516357,
+          -13.745783805847168
+        ],
+        [
+          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": "1731323495_83082675",
+      "mask_path": "../../mask/hdr_front_02306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02307.png",
+      "transform_matrix": [
+        [
+          -0.28025904297828674,
+          -0.10023543238639832,
+          -0.9546768069267273,
+          -8.162787437438965
+        ],
+        [
+          0.9599213600158691,
+          -0.03178396821022034,
+          -0.2784615159034729,
+          17.682449340820312
+        ],
+        [
+          -0.0024317081551998854,
+          -0.9944559931755066,
+          0.10512587428092957,
+          -13.73806095123291
+        ],
+        [
+          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": "1731323495_183081150",
+      "mask_path": "../../mask/hdr_front_02307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02308.png",
+      "transform_matrix": [
+        [
+          -0.2769852578639984,
+          -0.09043096005916595,
+          -0.956609308719635,
+          -8.108545303344727
+        ],
+        [
+          0.9608412384986877,
+          -0.03430957719683647,
+          -0.2749672830104828,
+          17.70151138305664
+        ],
+        [
+          -0.007955306209623814,
+          -0.9953116178512573,
+          0.09639304131269455,
+          -13.749547958374023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2308,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323495_283081531",
+      "mask_path": "../../mask/hdr_front_02308.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02310.png",
+      "transform_matrix": [
+        [
+          -0.28087717294692993,
+          -0.08360929787158966,
+          -0.9560949206352234,
+          -8.020703315734863
+        ],
+        [
+          0.9597246646881104,
+          -0.030769601464271545,
+          -0.27925270795822144,
+          17.74332618713379
+        ],
+        [
+          -0.006070537492632866,
+          -0.9960234761238098,
+          0.0888843685388565,
+          -13.76900577545166
+        ],
+        [
+          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": "1731323495_483081817",
+      "mask_path": "../../mask/hdr_front_02310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02311.png",
+      "transform_matrix": [
+        [
+          -0.2770567536354065,
+          -0.07944926619529724,
+          -0.9575633406639099,
+          -7.96068000793457
+        ],
+        [
+          0.9608335494995117,
+          -0.029329312965273857,
+          -0.27556952834129333,
+          17.756103515625
+        ],
+        [
+          -0.006190872751176357,
+          -0.9964073896408081,
+          0.08446341007947922,
+          -13.767512321472168
+        ],
+        [
+          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": "1731323495_583080768",
+      "mask_path": "../../mask/hdr_front_02311.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02313.png",
+      "transform_matrix": [
+        [
+          -0.25305306911468506,
+          -0.06546054780483246,
+          -0.9652352929115295,
+          -7.870085716247559
+        ],
+        [
+          0.9674456119537354,
+          -0.02086167223751545,
+          -0.2522177994251251,
+          17.771085739135742
+        ],
+        [
+          -0.003626107471063733,
+          -0.9976370930671692,
+          0.06860862672328949,
+          -13.758882522583008
+        ],
+        [
+          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": "1731323495_783080101",
+      "mask_path": "../../mask/hdr_front_02313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02314.png",
+      "transform_matrix": [
+        [
+          -0.24878518283367157,
+          -0.05968427285552025,
+          -0.9667180180549622,
+          -7.803860664367676
+        ],
+        [
+          0.9685360789299011,
+          -0.022151388227939606,
+          -0.24788546562194824,
+          17.791784286499023
+        ],
+        [
+          -0.0066192797385156155,
+          -0.9979715347290039,
+          0.06331730633974075,
+          -13.760815620422363
+        ],
+        [
+          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": "1731323495_883081197",
+      "mask_path": "../../mask/hdr_front_02314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02315.png",
+      "transform_matrix": [
+        [
+          -0.25078481435775757,
+          -0.05537570267915726,
+          -0.966457724571228,
+          -7.748930931091309
+        ],
+        [
+          0.9679614305496216,
+          -0.027295954525470734,
+          -0.249611034989357,
+          17.81544303894043
+        ],
+        [
+          -0.012557999230921268,
+          -0.9980924725532532,
+          0.06044695898890495,
+          -13.770500183105469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2315,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323495_983080148",
+      "mask_path": "../../mask/hdr_front_02315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02317.png",
+      "transform_matrix": [
+        [
+          -0.25403648614883423,
+          -0.053026799112558365,
+          -0.9657400250434875,
+          -7.667219161987305
+        ],
+        [
+          0.9671512842178345,
+          -0.02338431216776371,
+          -0.2531237304210663,
+          17.85659408569336
+        ],
+        [
+          -0.009160824120044708,
+          -0.9983192682266235,
+          0.05722540244460106,
+          -13.789092063903809
+        ],
+        [
+          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": "1731323496_183080673",
+      "mask_path": "../../mask/hdr_front_02317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02318.png",
+      "transform_matrix": [
+        [
+          -0.2502189576625824,
+          -0.05463744327425957,
+          -0.9666464328765869,
+          -7.60731840133667
+        ],
+        [
+          0.9681246280670166,
+          -0.025650594383478165,
+          -0.2491518259048462,
+          17.87820053100586
+        ],
+        [
+          -0.011182030662894249,
+          -0.9981768131256104,
+          0.059314120560884476,
+          -13.792570114135742
+        ],
+        [
+          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": "1731323496_283079624",
+      "mask_path": "../../mask/hdr_front_02318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02319.png",
+      "transform_matrix": [
+        [
+          -0.24023929238319397,
+          -0.052091121673583984,
+          -0.9693150520324707,
+          -7.551064491271973
+        ],
+        [
+          0.9706329107284546,
+          -0.025771327316761017,
+          -0.2391810119152069,
+          17.883665084838867
+        ],
+        [
+          -0.012521326541900635,
+          -0.9983097910881042,
+          0.05675264820456505,
+          -13.780056953430176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2319,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_383080244",
+      "mask_path": "../../mask/hdr_front_02319.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02321.png",
+      "transform_matrix": [
+        [
+          -0.21458661556243896,
+          -0.04247443005442619,
+          -0.9757809638977051,
+          -7.449059009552002
+        ],
+        [
+          0.9765825867652893,
+          -0.025144681334495544,
+          -0.21366840600967407,
+          17.89873695373535
+        ],
+        [
+          -0.015460255555808544,
+          -0.9987810850143433,
+          0.046875495463609695,
+          -13.778437614440918
+        ],
+        [
+          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": "1731323496_583081007",
+      "mask_path": "../../mask/hdr_front_02321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02322.png",
+      "transform_matrix": [
+        [
+          -0.21215151250362396,
+          -0.04301430284976959,
+          -0.976289689540863,
+          -7.374287128448486
+        ],
+        [
+          0.976915180683136,
+          -0.034963276237249374,
+          -0.21074698865413666,
+          17.92102813720703
+        ],
+        [
+          -0.02506914921104908,
+          -0.9984626173973083,
+          0.04943883791565895,
+          -13.786642074584961
+        ],
+        [
+          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": "1731323496_683081150",
+      "mask_path": "../../mask/hdr_front_02322.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02323.png",
+      "transform_matrix": [
+        [
+          -0.21598272025585175,
+          -0.04510859027504921,
+          -0.9753546714782715,
+          -7.312576770782471
+        ],
+        [
+          0.9759635925292969,
+          -0.03974170982837677,
+          -0.21427959203720093,
+          17.936613082885742
+        ],
+        [
+          -0.02909640595316887,
+          -0.9981912970542908,
+          0.052607860416173935,
+          -13.791980743408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2323,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_783080339",
+      "mask_path": "../../mask/hdr_front_02323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02324.png",
+      "transform_matrix": [
+        [
+          -0.2179195135831833,
+          -0.04782814905047417,
+          -0.9747940897941589,
+          -7.257669925689697
+        ],
+        [
+          0.9756442904472351,
+          -0.03634703904390335,
+          -0.21632620692253113,
+          17.95330047607422
+        ],
+        [
+          -0.025084396824240685,
+          -0.9981940984725952,
+          0.05458398908376694,
+          -13.80274486541748
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2324,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_883079528",
+      "mask_path": "../../mask/hdr_front_02324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02325.png",
+      "transform_matrix": [
+        [
+          -0.215265691280365,
+          -0.048668548464775085,
+          -0.9753420352935791,
+          -7.1796770095825195
+        ],
+        [
+          0.9762555360794067,
+          -0.035479914397001266,
+          -0.2136968970298767,
+          17.96957778930664
+        ],
+        [
+          -0.024204736575484276,
+          -0.9981846213340759,
+          0.05515054240822792,
+          -13.808694839477539
+        ],
+        [
+          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": "1731323496_983080148",
+      "mask_path": "../../mask/hdr_front_02325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02326.png",
+      "transform_matrix": [
+        [
+          -0.2069520354270935,
+          -0.047183457762002945,
+          -0.9772126078605652,
+          -7.111767768859863
+        ],
+        [
+          0.978111982345581,
+          -0.032054487615823746,
+          -0.20559482276439667,
+          17.980077743530273
+        ],
+        [
+          -0.02162337489426136,
+          -0.9983717799186707,
+          0.05278445780277252,
+          -13.810680389404297
+        ],
+        [
+          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": "1731323497_83079338",
+      "mask_path": "../../mask/hdr_front_02326.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02328.png",
+      "transform_matrix": [
+        [
+          -0.1840985119342804,
+          -0.044388093054294586,
+          -0.9819049835205078,
+          -7.006502628326416
+        ],
+        [
+          0.9828563928604126,
+          -0.018527979031205177,
+          -0.18343931436538696,
+          18.005281448364258
+        ],
+        [
+          -0.010050192475318909,
+          -0.9988425970077515,
+          0.04703809693455696,
+          -13.81904125213623
+        ],
+        [
+          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": "1731323497_283080577",
+      "mask_path": "../../mask/hdr_front_02328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02329.png",
+      "transform_matrix": [
+        [
+          -0.18126314878463745,
+          -0.04534434527158737,
+          -0.9823886752128601,
+          -6.926212787628174
+        ],
+        [
+          0.9833211302757263,
+          -0.02353355474770069,
+          -0.1803489774465561,
+          18.02888298034668
+        ],
+        [
+          -0.014941293746232986,
+          -0.9986941814422607,
+          0.04885381460189819,
+          -13.824522018432617
+        ],
+        [
+          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": "1731323497_383078813",
+      "mask_path": "../../mask/hdr_front_02329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02331.png",
+      "transform_matrix": [
+        [
+          -0.18229854106903076,
+          -0.04846525937318802,
+          -0.9820480942726135,
+          -6.856048583984375
+        ],
+        [
+          0.9831224083900452,
+          -0.024640057235956192,
+          -0.18128196895122528,
+          18.053354263305664
+        ],
+        [
+          -0.015411841683089733,
+          -0.9985209107398987,
+          0.05213913321495056,
+          -13.84104061126709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2331,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323497_583080291",
+      "mask_path": "../../mask/hdr_front_02331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02333.png",
+      "transform_matrix": [
+        [
+          -0.17357930541038513,
+          -0.05495132505893707,
+          -0.9832857251167297,
+          -6.767833232879639
+        ],
+        [
+          0.984693169593811,
+          -0.025697635486721992,
+          -0.17239168286323547,
+          18.072532653808594
+        ],
+        [
+          -0.015794962644577026,
+          -0.99815833568573,
+          0.058570776134729385,
+          -13.835627555847168
+        ],
+        [
+          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": "1731323497_783080816",
+      "mask_path": "../../mask/hdr_front_02333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02335.png",
+      "transform_matrix": [
+        [
+          -0.16531898081302643,
+          -0.05248799920082092,
+          -0.9848424196243286,
+          -6.700559616088867
+        ],
+        [
+          0.9861235618591309,
+          -0.024146784096956253,
+          -0.16424714028835297,
+          18.074464797973633
+        ],
+        [
+          -0.015159773640334606,
+          -0.9983296394348145,
+          0.055751580744981766,
+          -13.8384370803833
+        ],
+        [
+          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": "1731323497_983081817",
+      "mask_path": "../../mask/hdr_front_02335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02336.png",
+      "transform_matrix": [
+        [
+          -0.1625719517469406,
+          -0.05222379043698311,
+          -0.9853136539459229,
+          -6.648416042327881
+        ],
+        [
+          0.9865865707397461,
+          -0.02352210134267807,
+          -0.16153524816036224,
+          18.075092315673828
+        ],
+        [
+          -0.014740663580596447,
+          -0.9983583688735962,
+          0.055347319692373276,
+          -13.83619213104248
+        ],
+        [
+          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": "1731323498_83080530",
+      "mask_path": "../../mask/hdr_front_02336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02337.png",
+      "transform_matrix": [
+        [
+          -0.16913948953151703,
+          -0.05050041899085045,
+          -0.9842974543571472,
+          -6.593947410583496
+        ],
+        [
+          0.9853432774543762,
+          -0.031104670837521553,
+          -0.16772334277629852,
+          18.0828800201416
+        ],
+        [
+          -0.02214614674448967,
+          -0.9982395172119141,
+          0.05502127483487129,
+          -13.834575653076172
+        ],
+        [
+          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": "1731323498_183080673",
+      "mask_path": "../../mask/hdr_front_02337.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02339.png",
+      "transform_matrix": [
+        [
+          -0.2143736034631729,
+          -0.05107817426323891,
+          -0.9754152894020081,
+          -6.518149375915527
+        ],
+        [
+          0.9765618443489075,
+          -0.030899707227945328,
+          -0.21300749480724335,
+          18.115772247314453
+        ],
+        [
+          -0.019260013476014137,
+          -0.9982165694236755,
+          0.05650508031249046,
+          -13.85338020324707
+        ],
+        [
+          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": "1731323498_383081197",
+      "mask_path": "../../mask/hdr_front_02339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02340.png",
+      "transform_matrix": [
+        [
+          -0.24060873687267303,
+          -0.05150769278407097,
+          -0.9692545533180237,
+          -6.464272975921631
+        ],
+        [
+          0.9705464839935303,
+          -0.02523384802043438,
+          -0.23958849906921387,
+          18.13418197631836
+        ],
+        [
+          -0.01211736910045147,
+          -0.9983538389205933,
+          0.05606210231781006,
+          -13.852837562561035
+        ],
+        [
+          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": "1731323498_483080625",
+      "mask_path": "../../mask/hdr_front_02340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02342.png",
+      "transform_matrix": [
+        [
+          -0.2669540345668793,
+          -0.05284938961267471,
+          -0.9622591733932495,
+          -6.387568473815918
+        ],
+        [
+          0.9636877775192261,
+          -0.007969614118337631,
+          -0.26691266894340515,
+          18.16635513305664
+        ],
+        [
+          0.00643733749166131,
+          -0.9985707402229309,
+          0.053057823330163956,
+          -13.851144790649414
+        ],
+        [
+          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": "1731323498_683082580",
+      "mask_path": "../../mask/hdr_front_02342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02343.png",
+      "transform_matrix": [
+        [
+          -0.2620834708213806,
+          -0.055517055094242096,
+          -0.9634470343589783,
+          -6.332286357879639
+        ],
+        [
+          0.9649865031242371,
+          -0.00406739953905344,
+          -0.2622678577899933,
+          18.17327308654785
+        ],
+        [
+          0.010641614906489849,
+          -0.9984495043754578,
+          0.05463920906186104,
+          -13.847787857055664
+        ],
+        [
+          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": "1731323498_783080339",
+      "mask_path": "../../mask/hdr_front_02343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02344.png",
+      "transform_matrix": [
+        [
+          -0.2616559565067291,
+          -0.05779493600130081,
+          -0.9634292125701904,
+          -6.2713303565979
+        ],
+        [
+          0.9651445150375366,
+          -0.009786799550056458,
+          -0.261534720659256,
+          18.18831443786621
+        ],
+        [
+          0.005686491262167692,
+          -0.9982805252075195,
+          0.058341238647699356,
+          -13.853331565856934
+        ],
+        [
+          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": "1731323498_883079528",
+      "mask_path": "../../mask/hdr_front_02344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02345.png",
+      "transform_matrix": [
+        [
+          -0.2646445035934448,
+          -0.05925503000617027,
+          -0.9625238180160522,
+          -6.227144718170166
+        ],
+        [
+          0.964338481426239,
+          -0.01231545489281416,
+          -0.26438525319099426,
+          18.21464729309082
+        ],
+        [
+          0.0038122355472296476,
+          -0.9981669187545776,
+          0.06040111556649208,
+          -13.865962028503418
+        ],
+        [
+          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": "1731323498_983080625",
+      "mask_path": "../../mask/hdr_front_02345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02346.png",
+      "transform_matrix": [
+        [
+          -0.26671597361564636,
+          -0.062153469771146774,
+          -0.9617689251899719,
+          -6.183197021484375
+        ],
+        [
+          0.963722288608551,
+          -0.00675067538395524,
+          -0.2668214440345764,
+          18.245519638061523
+        ],
+        [
+          0.010091287083923817,
+          -0.9980437755584717,
+          0.06169920042157173,
+          -13.874120712280273
+        ],
+        [
+          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": "1731323499_83081007",
+      "mask_path": "../../mask/hdr_front_02346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02347.png",
+      "transform_matrix": [
+        [
+          -0.26600489020347595,
+          -0.06304658949375153,
+          -0.9619077444076538,
+          -6.119054317474365
+        ],
+        [
+          0.9639151096343994,
+          -0.006583161186426878,
+          -0.2661284804344177,
+          18.281415939331055
+        ],
+        [
+          0.010446100495755672,
+          -0.9979888796806335,
+          0.06252270191907883,
+          -13.878122329711914
+        ],
+        [
+          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": "1731323499_183079957",
+      "mask_path": "../../mask/hdr_front_02347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02348.png",
+      "transform_matrix": [
+        [
+          -0.2601522207260132,
+          -0.06004142388701439,
+          -0.9636990427970886,
+          -6.049214839935303
+        ],
+        [
+          0.9655181765556335,
+          -0.006079445593059063,
+          -0.2602645456790924,
+          18.30605697631836
+        ],
+        [
+          0.009767900221049786,
+          -0.9981774091720581,
+          0.059552669525146484,
+          -13.874831199645996
+        ],
+        [
+          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": "1731323499_283082008",
+      "mask_path": "../../mask/hdr_front_02348.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02349.png",
+      "transform_matrix": [
+        [
+          -0.2504764497280121,
+          -0.05441644787788391,
+          -0.9665921330451965,
+          -5.993821620941162
+        ],
+        [
+          0.9680135846138,
+          0.0009102817857638001,
+          -0.25089603662490845,
+          18.32343864440918
+        ],
+        [
+          0.014532743953168392,
+          -0.9985179305076599,
+          0.0524478517472744,
+          -13.874493598937988
+        ],
+        [
+          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": "1731323499_383082628",
+      "mask_path": "../../mask/hdr_front_02349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02350.png",
+      "transform_matrix": [
+        [
+          -0.2415974736213684,
+          -0.048509497195482254,
+          -0.9691632986068726,
+          -5.9229960441589355
+        ],
+        [
+          0.9702553749084473,
+          0.0037047481164336205,
+          -0.24205516278743744,
+          18.355440139770508
+        ],
+        [
+          0.015332479029893875,
+          -0.9988158941268921,
+          0.04617154225707054,
+          -13.878518104553223
+        ],
+        [
+          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": "1731323499_483080863",
+      "mask_path": "../../mask/hdr_front_02350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02351.png",
+      "transform_matrix": [
+        [
+          -0.24092015624046326,
+          -0.04691729322075844,
+          -0.9694103002548218,
+          -5.852031707763672
+        ],
+        [
+          0.9705076813697815,
+          -0.00289133470505476,
+          -0.24105295538902283,
+          18.387680053710938
+        ],
+        [
+          0.008506663143634796,
+          -0.9988946318626404,
+          0.04623017460107803,
+          -13.883378028869629
+        ],
+        [
+          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": "1731323499_583081483",
+      "mask_path": "../../mask/hdr_front_02351.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02353.png",
+      "transform_matrix": [
+        [
+          -0.2424505352973938,
+          -0.052028506994247437,
+          -0.9687677025794983,
+          -5.768110275268555
+        ],
+        [
+          0.9701520800590515,
+          -0.008089284412562847,
+          -0.24236254394054413,
+          18.42941665649414
+        ],
+        [
+          0.004773125052452087,
+          -0.9986128807067871,
+          0.052436817437410355,
+          -13.901142120361328
+        ],
+        [
+          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": "1731323499_783081769",
+      "mask_path": "../../mask/hdr_front_02353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02354.png",
+      "transform_matrix": [
+        [
+          -0.23938818275928497,
+          -0.05681120976805687,
+          -0.9692604541778564,
+          -5.717679500579834
+        ],
+        [
+          0.9709169864654541,
+          -0.010230262763798237,
+          -0.2391977161169052,
+          18.451555252075195
+        ],
+        [
+          0.003673320170491934,
+          -0.9983325004577637,
+          0.05760796740651131,
+          -13.903289794921875
+        ],
+        [
+          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": "1731323499_883081912",
+      "mask_path": "../../mask/hdr_front_02354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02356.png",
+      "transform_matrix": [
+        [
+          -0.22621896862983704,
+          -0.05375858396291733,
+          -0.9725919365882874,
+          -5.639788627624512
+        ],
+        [
+          0.9740425944328308,
+          -0.00415397435426712,
+          -0.22632677853107452,
+          18.45479393005371
+        ],
+        [
+          0.008126885630190372,
+          -0.9985453486442566,
+          0.05330285429954529,
+          -13.890623092651367
+        ],
+        [
+          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": "1731323500_83081007",
+      "mask_path": "../../mask/hdr_front_02356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02358.png",
+      "transform_matrix": [
+        [
+          -0.2127707600593567,
+          -0.052751682698726654,
+          -0.9756771326065063,
+          -5.551297187805176
+        ],
+        [
+          0.9770622253417969,
+          -0.0024673177395015955,
+          -0.21293941140174866,
+          18.479265213012695
+        ],
+        [
+          0.008825606666505337,
+          -0.9986046552658081,
+          0.05206665024161339,
+          -13.894754409790039
+        ],
+        [
+          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": "1731323500_283082246",
+      "mask_path": "../../mask/hdr_front_02358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02359.png",
+      "transform_matrix": [
+        [
+          -0.21293231844902039,
+          -0.052809786051511765,
+          -0.9756386876106262,
+          -5.501850128173828
+        ],
+        [
+          0.977066159248352,
+          -0.0127511415630579,
+          -0.2125536948442459,
+          18.4934139251709
+        ],
+        [
+          -0.001215592143125832,
+          -0.9985232949256897,
+          0.0543137826025486,
+          -13.902682304382324
+        ],
+        [
+          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": "1731323500_383081674",
+      "mask_path": "../../mask/hdr_front_02359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02362.png",
+      "transform_matrix": [
+        [
+          -0.21207745373249054,
+          -0.055436864495277405,
+          -0.9756792187690735,
+          -5.357927322387695
+        ],
+        [
+          0.9772521257400513,
+          -0.013223126530647278,
+          -0.21166804432868958,
+          18.54064178466797
+        ],
+        [
+          -0.0011673178523778915,
+          -0.9983747601509094,
+          0.05698012188076973,
+          -13.922479629516602
+        ],
+        [
+          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": "1731323500_683082580",
+      "mask_path": "../../mask/hdr_front_02362.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02363.png",
+      "transform_matrix": [
+        [
+          -0.20447541773319244,
+          -0.05313152074813843,
+          -0.977428674697876,
+          -5.301064968109131
+        ],
+        [
+          0.9788715839385986,
+          -0.011591477319598198,
+          -0.20414717495441437,
+          18.547922134399414
+        ],
+        [
+          -0.0004831934638787061,
+          -0.9985202550888062,
+          0.05437910929322243,
+          -13.916082382202148
+        ],
+        [
+          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": "1731323500_783081531",
+      "mask_path": "../../mask/hdr_front_02363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02364.png",
+      "transform_matrix": [
+        [
+          -0.1951296031475067,
+          -0.04890425130724907,
+          -0.979557454586029,
+          -5.2475666999816895
+        ],
+        [
+          0.9807683825492859,
+          -0.005429206416010857,
+          -0.19509975612163544,
+          18.5562801361084
+        ],
+        [
+          0.004222987685352564,
+          -0.9987887740135193,
+          0.04902314767241478,
+          -13.917769432067871
+        ],
+        [
+          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": "1731323500_883080005",
+      "mask_path": "../../mask/hdr_front_02364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02365.png",
+      "transform_matrix": [
+        [
+          -0.18784888088703156,
+          -0.04732999578118324,
+          -0.9810570478439331,
+          -5.179239273071289
+        ],
+        [
+          0.9821903109550476,
+          -0.005098229274153709,
+          -0.1878199577331543,
+          18.5733642578125
+        ],
+        [
+          0.0038878649938851595,
+          -0.9988663196563721,
+          0.04744475707411766,
+          -13.925076484680176
+        ],
+        [
+          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": "1731323500_983083248",
+      "mask_path": "../../mask/hdr_front_02365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02366.png",
+      "transform_matrix": [
+        [
+          -0.1882551908493042,
+          -0.05014219507575035,
+          -0.9808393120765686,
+          -5.112637519836426
+        ],
+        [
+          0.9821180701255798,
+          -0.011668529361486435,
+          -0.18790413439273834,
+          18.583831787109375
+        ],
+        [
+          -0.002023025881499052,
+          -0.9986739158630371,
+          0.0514422208070755,
+          -13.92912483215332
+        ],
+        [
+          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": "1731323501_83082199",
+      "mask_path": "../../mask/hdr_front_02366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02367.png",
+      "transform_matrix": [
+        [
+          -0.19433312118053436,
+          -0.054065778851509094,
+          -0.9794444441795349,
+          -5.057979583740234
+        ],
+        [
+          0.9809273481369019,
+          -0.01480263751000166,
+          -0.19381020963191986,
+          18.593055725097656
+        ],
+        [
+          -0.00401986064389348,
+          -0.99842768907547,
+          0.055911242961883545,
+          -13.937785148620605
+        ],
+        [
+          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": "1731323501_183083534",
+      "mask_path": "../../mask/hdr_front_02367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02369.png",
+      "transform_matrix": [
+        [
+          -0.20299293100833893,
+          -0.06317543983459473,
+          -0.9771400690078735,
+          -4.955131530761719
+        ],
+        [
+          0.9791485071182251,
+          -0.005074214655905962,
+          -0.2030821144580841,
+          18.613218307495117
+        ],
+        [
+          0.007871583104133606,
+          -0.9979895353317261,
+          0.06288817524909973,
+          -13.94870662689209
+        ],
+        [
+          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": "1731323501_383082628",
+      "mask_path": "../../mask/hdr_front_02369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02371.png",
+      "transform_matrix": [
+        [
+          -0.1993895024061203,
+          -0.06425958126783371,
+          -0.9778110384941101,
+          -4.879915237426758
+        ],
+        [
+          0.9796003699302673,
+          0.01242554746568203,
+          -0.2005709409713745,
+          18.62994956970215
+        ],
+        [
+          0.025038443505764008,
+          -0.9978558421134949,
+          0.06047118827700615,
+          -13.944063186645508
+        ],
+        [
+          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": "1731323501_583081483",
+      "mask_path": "../../mask/hdr_front_02371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02372.png",
+      "transform_matrix": [
+        [
+          -0.195694699883461,
+          -0.0653887465596199,
+          -0.9784824252128601,
+          -4.831589221954346
+        ],
+        [
+          0.980291485786438,
+          0.0144868865609169,
+          -0.1970246583223343,
+          18.641756057739258
+        ],
+        [
+          0.027058353647589684,
+          -0.9977547526359558,
+          0.0612650141119957,
+          -13.9464750289917
+        ],
+        [
+          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": "1731323501_683082103",
+      "mask_path": "../../mask/hdr_front_02372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02373.png",
+      "transform_matrix": [
+        [
+          -0.20075392723083496,
+          -0.06647693365812302,
+          -0.977383553981781,
+          -4.773706436157227
+        ],
+        [
+          0.9793736338615417,
+          0.009721263311803341,
+          -0.2018238753080368,
+          18.65129280090332
+        ],
+        [
+          0.022918038070201874,
+          -0.997740626335144,
+          0.06315416842699051,
+          -13.948945045471191
+        ],
+        [
+          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": "1731323501_783081769",
+      "mask_path": "../../mask/hdr_front_02373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07388.png",
+      "transform_matrix": [
+        [
+          0.32354700565338135,
+          -0.045464396476745605,
+          0.9451191425323486,
+          -5.3147993087768555
+        ],
+        [
+          -0.945982038974762,
+          0.0064850556664168835,
+          0.32415440678596497,
+          18.660449981689453
+        ],
+        [
+          -0.020866630598902702,
+          -0.9989449381828308,
+          -0.040910277515649796,
+          -13.934907913208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7388,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_283081531",
+      "mask_path": "../../mask/hdr_front_07388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07389.png",
+      "transform_matrix": [
+        [
+          0.3178810775279999,
+          -0.04158932343125343,
+          0.9472179412841797,
+          -5.3946099281311035
+        ],
+        [
+          -0.9479832649230957,
+          0.0036694698501378298,
+          0.3182990252971649,
+          18.640439987182617
+        ],
+        [
+          -0.016713624820113182,
+          -0.9991281628608704,
+          -0.03825952112674713,
+          -13.920111656188965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7389,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_383083343",
+      "mask_path": "../../mask/hdr_front_07389.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07390.png",
+      "transform_matrix": [
+        [
+          0.31275835633277893,
+          -0.04270993545651436,
+          0.9488720297813416,
+          -5.460905075073242
+        ],
+        [
+          -0.9497696161270142,
+          -0.0025488126557320356,
+          0.31293952465057373,
+          18.6246337890625
+        ],
+        [
+          -0.010947129689157009,
+          -0.9990842938423157,
+          -0.041361767798662186,
+          -13.916923522949219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7390,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_483081579",
+      "mask_path": "../../mask/hdr_front_07390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07391.png",
+      "transform_matrix": [
+        [
+          0.30773302912712097,
+          -0.04487856477499008,
+          0.950413703918457,
+          -5.539078235626221
+        ],
+        [
+          -0.9514467120170593,
+          -0.007125117816030979,
+          0.307731032371521,
+          18.60432243347168
+        ],
+        [
+          -0.007038716692477465,
+          -0.9989670515060425,
+          -0.044892195612192154,
+          -13.917466163635254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7391,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_583083868",
+      "mask_path": "../../mask/hdr_front_07391.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07392.png",
+      "transform_matrix": [
+        [
+          0.3097769021987915,
+          -0.04677831381559372,
+          0.9496578574180603,
+          -5.61922550201416
+        ],
+        [
+          -0.9507333040237427,
+          -0.0026078857481479645,
+          0.3099991977214813,
+          18.56895637512207
+        ],
+        [
+          -0.012024641036987305,
+          -0.998901903629303,
+          -0.045281555503606796,
+          -13.906648635864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7392,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_683082580",
+      "mask_path": "../../mask/hdr_front_07392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07393.png",
+      "transform_matrix": [
+        [
+          0.3168974220752716,
+          -0.0482444241642952,
+          0.9472320675849915,
+          -5.679064750671387
+        ],
+        [
+          -0.9482791423797607,
+          0.003371242666617036,
+          0.3174195885658264,
+          18.541948318481445
+        ],
+        [
+          -0.01850706897675991,
+          -0.9988299012184143,
+          -0.044680848717689514,
+          -13.899808883666992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7393,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_783081769",
+      "mask_path": "../../mask/hdr_front_07393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07394.png",
+      "transform_matrix": [
+        [
+          0.3261130750179291,
+          -0.049392662942409515,
+          0.9440395832061768,
+          -5.737611293792725
+        ],
+        [
+          -0.9450615644454956,
+          0.006795778404921293,
+          0.32682177424430847,
+          18.52657127380371
+        ],
+        [
+          -0.022558078169822693,
+          -0.9987564086914062,
+          -0.044462911784648895,
+          -13.902059555053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7394,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_883082628",
+      "mask_path": "../../mask/hdr_front_07394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07395.png",
+      "transform_matrix": [
+        [
+          0.33762767910957336,
+          -0.0474369153380394,
+          0.9400836229324341,
+          -5.805496692657471
+        ],
+        [
+          -0.9409902095794678,
+          0.007759397849440575,
+          0.33834484219551086,
+          18.501665115356445
+        ],
+        [
+          -0.02334451861679554,
+          -0.9988441467285156,
+          -0.04201788082718849,
+          -13.895476341247559
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7395,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_983081817",
+      "mask_path": "../../mask/hdr_front_07395.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07396.png",
+      "transform_matrix": [
+        [
+          0.3473663032054901,
+          -0.048577722162008286,
+          0.9364704489707947,
+          -5.862666130065918
+        ],
+        [
+          -0.9375330209732056,
+          0.0024514205288141966,
+          0.3478875756263733,
+          18.4792537689209
+        ],
+        [
+          -0.01919526606798172,
+          -0.9988164305686951,
+          -0.04469167813658714,
+          -13.883883476257324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7396,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_83084344",
+      "mask_path": "../../mask/hdr_front_07396.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07397.png",
+      "transform_matrix": [
+        [
+          0.3572213649749756,
+          -0.049554333090782166,
+          0.9327042698860168,
+          -5.908232688903809
+        ],
+        [
+          -0.9339332580566406,
+          -0.005365744233131409,
+          0.35740700364112854,
+          18.455873489379883
+        ],
+        [
+          -0.012706412933766842,
+          -0.998757004737854,
+          -0.04819720238447189,
+          -13.876432418823242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7397,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_183082342",
+      "mask_path": "../../mask/hdr_front_07397.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07398.png",
+      "transform_matrix": [
+        [
+          0.36876723170280457,
+          -0.04721657186746597,
+          0.9283217787742615,
+          -5.956181049346924
+        ],
+        [
+          -0.9295050501823425,
+          -0.012741516344249249,
+          0.36858922243118286,
+          18.42725944519043
+        ],
+        [
+          -0.005575290881097317,
+          -0.998803436756134,
+          -0.04858669638633728,
+          -13.872336387634277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7398,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_283082485",
+      "mask_path": "../../mask/hdr_front_07398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07399.png",
+      "transform_matrix": [
+        [
+          0.38451769948005676,
+          -0.04774194583296776,
+          0.9218822121620178,
+          -6.0278472900390625
+        ],
+        [
+          -0.9230856895446777,
+          -0.011570408008992672,
+          0.3844204545021057,
+          18.39440155029297
+        ],
+        [
+          -0.00768642732873559,
+          -0.9987927079200745,
+          -0.04851892963051796,
+          -13.869839668273926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7399,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_383082389",
+      "mask_path": "../../mask/hdr_front_07399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07400.png",
+      "transform_matrix": [
+        [
+          0.4045361876487732,
+          -0.051481328904628754,
+          0.9130718111991882,
+          -6.097353458404541
+        ],
+        [
+          -0.9143576622009277,
+          -0.003839696990326047,
+          0.4048893451690674,
+          18.360149383544922
+        ],
+        [
+          -0.01733832061290741,
+          -0.9986665844917297,
+          -0.0486256405711174,
+          -13.871376991271973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7400,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_483082056",
+      "mask_path": "../../mask/hdr_front_07400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07401.png",
+      "transform_matrix": [
+        [
+          0.4251038432121277,
+          -0.05045101419091225,
+          0.903737485408783,
+          -6.153733253479004
+        ],
+        [
+          -0.9049501419067383,
+          -0.002998802810907364,
+          0.4255068898200989,
+          18.32879066467285
+        ],
+        [
+          -0.01875711977481842,
+          -0.9987220764160156,
+          -0.046930450946092606,
+          -13.876578330993652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7401,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_583081007",
+      "mask_path": "../../mask/hdr_front_07401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07402.png",
+      "transform_matrix": [
+        [
+          0.44225162267684937,
+          -0.04485446587204933,
+          0.8957687020301819,
+          -6.214974880218506
+        ],
+        [
+          -0.8967302441596985,
+          -0.0032053946051746607,
+          0.4425658881664276,
+          18.293838500976562
+        ],
+        [
+          -0.0169797632843256,
+          -0.9989884495735168,
+          -0.041639942675828934,
+          -13.87818431854248
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7402,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_683080196",
+      "mask_path": "../../mask/hdr_front_07402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07403.png",
+      "transform_matrix": [
+        [
+          0.45160630345344543,
+          -0.04442943260073662,
+          0.8911104202270508,
+          -6.2784905433654785
+        ],
+        [
+          -0.8920809626579285,
+          -0.0050244140438735485,
+          0.451847642660141,
+          18.260713577270508
+        ],
+        [
+          -0.015598024241626263,
+          -0.9989998936653137,
+          -0.04190371185541153,
+          -13.864779472351074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7403,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_783080577",
+      "mask_path": "../../mask/hdr_front_07403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07404.png",
+      "transform_matrix": [
+        [
+          0.45215994119644165,
+          -0.043355006724596024,
+          0.8908826112747192,
+          -6.335546970367432
+        ],
+        [
+          -0.8918948769569397,
+          -0.012288002297282219,
+          0.4520757496356964,
+          18.23250961303711
+        ],
+        [
+          -0.008652578108012676,
+          -0.9989842176437378,
+          -0.04422425106167793,
+          -13.855375289916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7404,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_883081436",
+      "mask_path": "../../mask/hdr_front_07404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07405.png",
+      "transform_matrix": [
+        [
+          0.44446250796318054,
+          -0.04189818352460861,
+          0.894817054271698,
+          -6.406332492828369
+        ],
+        [
+          -0.8957915902137756,
+          -0.017191870138049126,
+          0.44414159655570984,
+          18.196922302246094
+        ],
+        [
+          -0.0032251477241516113,
+          -0.9989740252494812,
+          -0.04517318680882454,
+          -13.851846694946289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7405,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_983081817",
+      "mask_path": "../../mask/hdr_front_07405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07406.png",
+      "transform_matrix": [
+        [
+          0.4424722492694855,
+          -0.04366132244467735,
+          0.8957186937332153,
+          -6.480566501617432
+        ],
+        [
+          -0.8967499136924744,
+          -0.013065693899989128,
+          0.4423447549343109,
+          18.15369987487793
+        ],
+        [
+          -0.007610170170664787,
+          -0.9989609122276306,
+          -0.04493449255824089,
+          -13.843864440917969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7406,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_83081722",
+      "mask_path": "../../mask/hdr_front_07406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07407.png",
+      "transform_matrix": [
+        [
+          0.44645607471466064,
+          -0.0458679236471653,
+          0.893629252910614,
+          -6.5362772941589355
+        ],
+        [
+          -0.8946722149848938,
+          -0.005638142116367817,
+          0.446687787771225,
+          18.117700576782227
+        ],
+        [
+          -0.015450228936970234,
+          -0.9989316463470459,
+          -0.04355393722653389,
+          -13.844080924987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7407,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_183083772",
+      "mask_path": "../../mask/hdr_front_07407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07408.png",
+      "transform_matrix": [
+        [
+          0.4484759271144867,
+          -0.04568812623620033,
+          0.8926265239715576,
+          -6.5899176597595215
+        ],
+        [
+          -0.893650233745575,
+          -0.0049539594911038876,
+          0.4487367570400238,
+          18.08665657043457
+        ],
+        [
+          -0.01607990637421608,
+          -0.9989435076713562,
+          -0.04305093735456467,
+          -13.851351737976074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7408,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_283082485",
+      "mask_path": "../../mask/hdr_front_07408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07409.png",
+      "transform_matrix": [
+        [
+          0.4462246894836426,
+          -0.04134140536189079,
+          0.8939656615257263,
+          -6.658927917480469
+        ],
+        [
+          -0.8947926759719849,
+          -0.0036945724859833717,
+          0.44646668434143066,
+          18.05051040649414
+        ],
+        [
+          -0.015154737047851086,
+          -0.9991382956504822,
+          -0.038640595972537994,
+          -13.847742080688477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7409,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_383081912",
+      "mask_path": "../../mask/hdr_front_07409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07410.png",
+      "transform_matrix": [
+        [
+          0.4392549693584442,
+          -0.039406418800354004,
+          0.8974977731704712,
+          -6.729402542114258
+        ],
+        [
+          -0.8982707858085632,
+          -0.005000939592719078,
+          0.43941381573677063,
+          18.016191482543945
+        ],
+        [
+          -0.012827390804886818,
+          -0.9992107152938843,
+          -0.03759431838989258,
+          -13.831534385681152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7410,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_483080863",
+      "mask_path": "../../mask/hdr_front_07410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07411.png",
+      "transform_matrix": [
+        [
+          0.4319118559360504,
+          -0.040136683732271194,
+          0.9010223746299744,
+          -6.799998760223389
+        ],
+        [
+          -0.9018951058387756,
+          -0.01245131529867649,
+          0.43177559971809387,
+          17.995391845703125
+        ],
+        [
+          -0.006111128255724907,
+          -0.9991165995597839,
+          -0.04157694801688194,
+          -13.829094886779785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7411,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_583079338",
+      "mask_path": "../../mask/hdr_front_07411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07412.png",
+      "transform_matrix": [
+        [
+          0.42593222856521606,
+          -0.037949077785015106,
+          0.9039589166641235,
+          -6.8669753074646
+        ],
+        [
+          -0.9047549366950989,
+          -0.018394755199551582,
+          0.4255351424217224,
+          17.963285446166992
+        ],
+        [
+          0.00047943746903911233,
+          -0.9991104006767273,
+          -0.04216952621936798,
+          -13.83104133605957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7412,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_683081865",
+      "mask_path": "../../mask/hdr_front_07412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07413.png",
+      "transform_matrix": [
+        [
+          0.42674720287323,
+          -0.0384402722120285,
+          0.9035535454750061,
+          -6.925023555755615
+        ],
+        [
+          -0.9043629765510559,
+          -0.01396523043513298,
+          0.426535427570343,
+          17.918119430541992
+        ],
+        [
+          -0.003777802689000964,
+          -0.9991633296012878,
+          -0.040723588317632675,
+          -13.825531959533691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7413,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_783082008",
+      "mask_path": "../../mask/hdr_front_07413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07414.png",
+      "transform_matrix": [
+        [
+          0.43073195219039917,
+          -0.039659302681684494,
+          0.9016080498695374,
+          -6.975167274475098
+        ],
+        [
+          -0.9023925065994263,
+          -0.005027206148952246,
+          0.43088558316230774,
+          17.88799476623535
+        ],
+        [
+          -0.012556052766740322,
+          -0.9992006421089172,
+          -0.03795364126563072,
+          -13.825348854064941
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7414,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_883080720",
+      "mask_path": "../../mask/hdr_front_07414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07416.png",
+      "transform_matrix": [
+        [
+          0.4264554977416992,
+          -0.03330640867352486,
+          0.9038951396942139,
+          -7.076651573181152
+        ],
+        [
+          -0.9043653011322021,
+          0.0020801955834031105,
+          0.42675408720970154,
+          17.848054885864258
+        ],
+        [
+          -0.016093920916318893,
+          -0.9994430541992188,
+          -0.02923405170440674,
+          -13.822999954223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7416,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_83082437",
+      "mask_path": "../../mask/hdr_front_07416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07419.png",
+      "transform_matrix": [
+        [
+          0.37823012471199036,
+          -0.02640148624777794,
+          0.9253350496292114,
+          -7.229312896728516
+        ],
+        [
+          -0.9257098436355591,
+          -0.012712736614048481,
+          0.37802064418792725,
+          17.807514190673828
+        ],
+        [
+          0.001783234067261219,
+          -0.9995706081390381,
+          -0.02924845553934574,
+          -13.807950019836426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7419,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_383081197",
+      "mask_path": "../../mask/hdr_front_07419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07420.png",
+      "transform_matrix": [
+        [
+          0.3621246814727783,
+          -0.0254982840269804,
+          0.9317808151245117,
+          -7.281834602355957
+        ],
+        [
+          -0.9321284890174866,
+          -0.011453180573880672,
+          0.36194634437561035,
+          17.792659759521484
+        ],
+        [
+          0.0014428430004045367,
+          -0.9996092319488525,
+          -0.02791515737771988,
+          -13.805122375488281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7420,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_483083248",
+      "mask_path": "../../mask/hdr_front_07420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07422.png",
+      "transform_matrix": [
+        [
+          0.35571572184562683,
+          -0.028061985969543457,
+          0.9341728091239929,
+          -7.377583980560303
+        ],
+        [
+          -0.9345481395721436,
+          -0.0007523553795181215,
+          0.35583600401878357,
+          17.749418258666992
+        ],
+        [
+          -0.00928263459354639,
+          -0.9996058940887451,
+          -0.026492903009057045,
+          -13.811896324157715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7422,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_683081626",
+      "mask_path": "../../mask/hdr_front_07422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07423.png",
+      "transform_matrix": [
+        [
+          0.3534558117389679,
+          -0.024407079443335533,
+          0.9351328015327454,
+          -7.444765090942383
+        ],
+        [
+          -0.9353669285774231,
+          0.0042047142051160336,
+          0.3536539673805237,
+          17.711580276489258
+        ],
+        [
+          -0.012563624419271946,
+          -0.9996932744979858,
+          -0.02134338952600956,
+          -13.811884880065918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7423,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_783082246",
+      "mask_path": "../../mask/hdr_front_07423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07424.png",
+      "transform_matrix": [
+        [
+          0.3467939496040344,
+          -0.022529246285557747,
+          0.9376707077026367,
+          -7.517335891723633
+        ],
+        [
+          -0.9378823041915894,
+          0.002883628709241748,
+          0.3469415009021759,
+          17.681440353393555
+        ],
+        [
+          -0.01052022259682417,
+          -0.9997420907020569,
+          -0.02012975513935089,
+          -13.800432205200195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7424,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_883081674",
+      "mask_path": "../../mask/hdr_front_07424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07425.png",
+      "transform_matrix": [
+        [
+          0.3385157585144043,
+          -0.023362690582871437,
+          0.9406706094741821,
+          -7.584348678588867
+        ],
+        [
+          -0.9409412741661072,
+          -0.001972074620425701,
+          0.3385641574859619,
+          17.660051345825195
+        ],
+        [
+          -0.006054695695638657,
+          -0.9997251033782959,
+          -0.022650497034192085,
+          -13.794291496276855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7425,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_983081579",
+      "mask_path": "../../mask/hdr_front_07425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07426.png",
+      "transform_matrix": [
+        [
+          0.33029699325561523,
+          -0.022063668817281723,
+          0.9436191320419312,
+          -7.655911922454834
+        ],
+        [
+          -0.9438742995262146,
+          -0.005319194868206978,
+          0.3302619159221649,
+          17.638111114501953
+        ],
+        [
+          -0.002267496194690466,
+          -0.9997424483299255,
+          -0.022582244127988815,
+          -13.79980182647705
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7426,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_83082437",
+      "mask_path": "../../mask/hdr_front_07426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07427.png",
+      "transform_matrix": [
+        [
+          0.3259156346321106,
+          -0.025420470163226128,
+          0.9450570344924927,
+          -7.741263389587402
+        ],
+        [
+          -0.945396363735199,
+          -0.006448526866734028,
+          0.3258591890335083,
+          17.598390579223633
+        ],
+        [
+          -0.0021892692893743515,
+          -0.9996560215950012,
+          -0.02613409422338009,
+          -13.794692993164062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7427,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_183082342",
+      "mask_path": "../../mask/hdr_front_07427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07428.png",
+      "transform_matrix": [
+        [
+          0.32781073451042175,
+          -0.030688796192407608,
+          0.9442448019981384,
+          -7.820391654968262
+        ],
+        [
+          -0.9447099566459656,
+          -0.002230118727311492,
+          0.3278997838497162,
+          17.562057495117188
+        ],
+        [
+          -0.007957070134580135,
+          -0.9995265007019043,
+          -0.029723061248660088,
+          -13.789419174194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7428,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_283081054",
+      "mask_path": "../../mask/hdr_front_07428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07429.png",
+      "transform_matrix": [
+        [
+          0.33092936873435974,
+          -0.030848870053887367,
+          0.9431511759757996,
+          -7.884586334228516
+        ],
+        [
+          -0.9436119794845581,
+          -0.001212185830809176,
+          0.33105137944221497,
+          17.537311553955078
+        ],
+        [
+          -0.009069284424185753,
+          -0.9995233416557312,
+          -0.029510507360100746,
+          -13.794702529907227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7429,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_383080959",
+      "mask_path": "../../mask/hdr_front_07429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07430.png",
+      "transform_matrix": [
+        [
+          0.33173760771751404,
+          -0.029369067400693893,
+          0.9429143667221069,
+          -7.9495368003845215
+        ],
+        [
+          -0.9433538913726807,
+          -0.004178947303444147,
+          0.33176207542419434,
+          17.5118350982666
+        ],
+        [
+          -0.005803151987493038,
+          -0.9995599389076233,
+          -0.029091736301779747,
+          -13.802879333496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7430,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_483082294",
+      "mask_path": "../../mask/hdr_front_07430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07431.png",
+      "transform_matrix": [
+        [
+          0.3234010934829712,
+          -0.01457555964589119,
+          0.9461497068405151,
+          -8.022870063781738
+        ],
+        [
+          -0.9462611079216003,
+          -0.006331135053187609,
+          0.3233416676521301,
+          17.487197875976562
+        ],
+        [
+          0.0012773165944963694,
+          -0.9998738169670105,
+          -0.01583978161215782,
+          -13.796724319458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7431,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_583081960",
+      "mask_path": "../../mask/hdr_front_07431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07432.png",
+      "transform_matrix": [
+        [
+          0.31187036633491516,
+          -0.0034034154377877712,
+          0.9501186013221741,
+          -8.084307670593262
+        ],
+        [
+          -0.9500972628593445,
+          -0.008715923875570297,
+          0.31183212995529175,
+          17.471630096435547
+        ],
+        [
+          0.007219866383820772,
+          -0.9999562501907349,
+          -0.005951813887804747,
+          -13.7924165725708
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7432,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_683082103",
+      "mask_path": "../../mask/hdr_front_07432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07433.png",
+      "transform_matrix": [
+        [
+          0.3019746243953705,
+          -0.00383582292124629,
+          0.9533083438873291,
+          -8.13983154296875
+        ],
+        [
+          -0.9532577395439148,
+          -0.012266922742128372,
+          0.30190929770469666,
+          17.459270477294922
+        ],
+        [
+          0.010536088608205318,
+          -0.9999174475669861,
+          -0.00736082810908556,
+          -13.791653633117676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7433,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_783081769",
+      "mask_path": "../../mask/hdr_front_07433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07434.png",
+      "transform_matrix": [
+        [
+          0.29065996408462524,
+          -0.0038808463141322136,
+          0.9568185210227966,
+          -8.216404914855957
+        ],
+        [
+          -0.9565854668617249,
+          -0.02362140826880932,
+          0.2904933989048004,
+          17.433134078979492
+        ],
+        [
+          0.021474041044712067,
+          -0.9997134804725647,
+          -0.010578159242868423,
+          -13.80410385131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7434,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_883083105",
+      "mask_path": "../../mask/hdr_front_07434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07435.png",
+      "transform_matrix": [
+        [
+          0.2872748374938965,
+          -0.009685332886874676,
+          0.9577992558479309,
+          -8.31845474243164
+        ],
+        [
+          -0.957554817199707,
+          -0.02765301987528801,
+          0.2869219183921814,
+          17.39491844177246
+        ],
+        [
+          0.023707108572125435,
+          -0.9995707273483276,
+          -0.017218254506587982,
+          -13.786190032958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7435,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_983082294",
+      "mask_path": "../../mask/hdr_front_07435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07436.png",
+      "transform_matrix": [
+        [
+          0.2900867164134979,
+          -0.018162589520215988,
+          0.9568280577659607,
+          -8.395345687866211
+        ],
+        [
+          -0.9568383693695068,
+          -0.023901566863059998,
+          0.28963616490364075,
+          17.366682052612305
+        ],
+        [
+          0.017609145492315292,
+          -0.9995494484901428,
+          -0.02431218884885311,
+          -13.771883010864258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7436,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_83081722",
+      "mask_path": "../../mask/hdr_front_07436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07437.png",
+      "transform_matrix": [
+        [
+          0.29369354248046875,
+          -0.02360539510846138,
+          0.9556081295013428,
+          -8.449773788452148
+        ],
+        [
+          -0.9558467864990234,
+          -0.017754219472408295,
+          0.29332831501960754,
+          17.342802047729492
+        ],
+        [
+          0.010041946545243263,
+          -0.9995637536048889,
+          -0.02777744084596634,
+          -13.771971702575684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7437,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_183082818",
+      "mask_path": "../../mask/hdr_front_07437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07438.png",
+      "transform_matrix": [
+        [
+          0.2922585606575012,
+          -0.013275589793920517,
+          0.9562471508979797,
+          -8.518922805786133
+        ],
+        [
+          -0.9561826586723328,
+          -0.022154705598950386,
+          0.2919313311576843,
+          17.304189682006836
+        ],
+        [
+          0.01730981469154358,
+          -0.9996663928031921,
+          -0.0191687922924757,
+          -13.760515213012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7438,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_283082008",
+      "mask_path": "../../mask/hdr_front_07438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07439.png",
+      "transform_matrix": [
+        [
+          0.2820717990398407,
+          -0.007533153053373098,
+          0.9593638181686401,
+          -8.589676856994629
+        ],
+        [
+          -0.9592108726501465,
+          -0.021710645407438278,
+          0.28185638785362244,
+          17.272720336914062
+        ],
+        [
+          0.018705138936638832,
+          -0.999735951423645,
+          -0.013349845074117184,
+          -13.751845359802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7439,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_383081912",
+      "mask_path": "../../mask/hdr_front_07439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07440.png",
+      "transform_matrix": [
+        [
+          0.27314072847366333,
+          -0.010723176412284374,
+          0.9619143009185791,
+          -8.655511856079102
+        ],
+        [
+          -0.9618626236915588,
+          -0.01826607808470726,
+          0.27292242646217346,
+          17.25827407836914
+        ],
+        [
+          0.014643805101513863,
+          -0.9997757077217102,
+          -0.015303431078791618,
+          -13.75406551361084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7440,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_483082056",
+      "mask_path": "../../mask/hdr_front_07440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07441.png",
+      "transform_matrix": [
+        [
+          0.26411065459251404,
+          -0.011188475415110588,
+          0.9644275307655334,
+          -8.727815628051758
+        ],
+        [
+          -0.9643097519874573,
+          -0.022519782185554504,
+          0.2638172209262848,
+          17.244884490966797
+        ],
+        [
+          0.0187669824808836,
+          -0.9996837973594666,
+          -0.016736872494220734,
+          -13.765456199645996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7441,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_583081960",
+      "mask_path": "../../mask/hdr_front_07441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07442.png",
+      "transform_matrix": [
+        [
+          0.25645264983177185,
+          -0.02402970939874649,
+          0.9662581086158752,
+          -8.820101737976074
+        ],
+        [
+          -0.9664452075958252,
+          -0.021564645692706108,
+          0.2559660077095032,
+          17.22097396850586
+        ],
+        [
+          0.014686222188174725,
+          -0.9994786381721497,
+          -0.02875370904803276,
+          -13.755766868591309
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7442,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_683082342",
+      "mask_path": "../../mask/hdr_front_07442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07443.png",
+      "transform_matrix": [
+        [
+          0.25580984354019165,
+          -0.02915002405643463,
+          0.9662875533103943,
+          -8.905269622802734
+        ],
+        [
+          -0.9666599631309509,
+          -0.019497638568282127,
+          0.2553202509880066,
+          17.194625854492188
+        ],
+        [
+          0.01139773242175579,
+          -0.9993848204612732,
+          -0.03316584974527359,
+          -13.74018383026123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7443,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_783080816",
+      "mask_path": "../../mask/hdr_front_07443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07444.png",
+      "transform_matrix": [
+        [
+          0.25880444049835205,
+          -0.024854520335793495,
+          0.9656099677085876,
+          -8.971769332885742
+        ],
+        [
+          -0.9658546447753906,
+          -0.019123142585158348,
+          0.2583777606487274,
+          17.171560287475586
+        ],
+        [
+          0.01204364001750946,
+          -0.9995082020759583,
+          -0.02895500883460045,
+          -13.740689277648926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7444,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_883079767",
+      "mask_path": "../../mask/hdr_front_07444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07445.png",
+      "transform_matrix": [
+        [
+          0.25857022404670715,
+          -0.028819328173995018,
+          0.9655625224113464,
+          -9.038870811462402
+        ],
+        [
+          -0.9659214615821838,
+          -0.0198251623660326,
+          0.25807464122772217,
+          17.14768409729004
+        ],
+        [
+          0.011704894714057446,
+          -0.9993880987167358,
+          -0.032963402569293976,
+          -13.732824325561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7445,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_983082771",
+      "mask_path": "../../mask/hdr_front_07445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07446.png",
+      "transform_matrix": [
+        [
+          0.24850614368915558,
+          -0.03467573598027229,
+          0.968009352684021,
+          -9.117853164672852
+        ],
+        [
+          -0.9685884118080139,
+          -0.018199972808361053,
+          0.2480028122663498,
+          17.132030487060547
+        ],
+        [
+          0.009018066339194775,
+          -0.9992328882217407,
+          -0.038109321147203445,
+          -13.708356857299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7446,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_83082199",
+      "mask_path": "../../mask/hdr_front_07446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07447.png",
+      "transform_matrix": [
+        [
+          0.23770646750926971,
+          -0.036526162177324295,
+          0.9706499576568604,
+          -9.188448905944824
+        ],
+        [
+          -0.9713015556335449,
+          -0.017478756606578827,
+          0.237208291888237,
+          17.127084732055664
+        ],
+        [
+          0.008301448076963425,
+          -0.9991798400878906,
+          -0.039632733911275864,
+          -13.707804679870605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7447,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_183082103",
+      "mask_path": "../../mask/hdr_front_07447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07448.png",
+      "transform_matrix": [
+        [
+          0.22962045669555664,
+          -0.04152791574597359,
+          0.9723939299583435,
+          -9.258399963378906
+        ],
+        [
+          -0.9732275605201721,
+          -0.0201889481395483,
+          0.22895514965057373,
+          17.121850967407227
+        ],
+        [
+          0.010123581625521183,
+          -0.9989333748817444,
+          -0.04505190998315811,
+          -13.711665153503418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7448,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_283083915",
+      "mask_path": "../../mask/hdr_front_07448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07449.png",
+      "transform_matrix": [
+        [
+          0.21981020271778107,
+          -0.06860408931970596,
+          0.9731274247169495,
+          -9.338144302368164
+        ],
+        [
+          -0.9749682545661926,
+          -0.04967580363154411,
+          0.2167239636182785,
+          17.098934173583984
+        ],
+        [
+          0.033472731709480286,
+          -0.9964064359664917,
+          -0.07780605554580688,
+          -13.703847885131836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7449,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_383081912",
+      "mask_path": "../../mask/hdr_front_07449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07450.png",
+      "transform_matrix": [
+        [
+          0.2191454917192459,
+          -0.1021052747964859,
+          0.9703348278999329,
+          -9.41791820526123
+        ],
+        [
+          -0.9750530123710632,
+          -0.058908719569444656,
+          0.21401232481002808,
+          17.074687957763672
+        ],
+        [
+          0.035309404134750366,
+          -0.9930278658866882,
+          -0.11246763169765472,
+          -13.62673282623291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7450,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_483082532",
+      "mask_path": "../../mask/hdr_front_07450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07451.png",
+      "transform_matrix": [
+        [
+          0.22312606871128082,
+          -0.12059545516967773,
+          0.9673012495040894,
+          -9.496232032775879
+        ],
+        [
+          -0.9746253490447998,
+          -0.04581691697239876,
+          0.21910345554351807,
+          17.058549880981445
+        ],
+        [
+          0.01789587363600731,
+          -0.9916439056396484,
+          -0.12775835394859314,
+          -13.584906578063965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7451,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_583081722",
+      "mask_path": "../../mask/hdr_front_07451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07452.png",
+      "transform_matrix": [
+        [
+          0.22178247570991516,
+          -0.1367608606815338,
+          0.9654579758644104,
+          -9.573266983032227
+        ],
+        [
+          -0.9750772714614868,
+          -0.03726480156183243,
+          0.21871352195739746,
+          17.0567626953125
+        ],
+        [
+          0.0060661486349999905,
+          -0.989902913570404,
+          -0.14161710441112518,
+          -13.585829734802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7452,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_683082103",
+      "mask_path": "../../mask/hdr_front_07452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07453.png",
+      "transform_matrix": [
+        [
+          0.20891393721103668,
+          -0.14219172298908234,
+          0.967541515827179,
+          -9.64853572845459
+        ],
+        [
+          -0.9778594374656677,
+          -0.042593251913785934,
+          0.20488221943378448,
+          17.057987213134766
+        ],
+        [
+          0.012078181840479374,
+          -0.9889223575592041,
+          -0.14794184267520905,
+          -13.553886413574219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7453,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_783081769",
+      "mask_path": "../../mask/hdr_front_07453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07454.png",
+      "transform_matrix": [
+        [
+          0.19425912201404572,
+          -0.14908665418624878,
+          0.9695549011230469,
+          -9.718144416809082
+        ],
+        [
+          -0.9804962277412415,
+          -0.05957662686705589,
+          0.18729038536548615,
+          17.05316925048828
+        ],
+        [
+          0.02984030731022358,
+          -0.9870278239250183,
+          -0.15775220096111298,
+          -13.52985954284668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7454,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_883083820",
+      "mask_path": "../../mask/hdr_front_07454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07455.png",
+      "transform_matrix": [
+        [
+          0.18348544836044312,
+          -0.16423627734184265,
+          0.9692056775093079,
+          -9.77997875213623
+        ],
+        [
+          -0.9822142124176025,
+          -0.07060401886701584,
+          0.17398397624492645,
+          17.043468475341797
+        ],
+        [
+          0.03985532373189926,
+          -0.9838910102844238,
+          -0.17427003383636475,
+          -13.504315376281738
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7455,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_983082056",
+      "mask_path": "../../mask/hdr_front_07455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07456.png",
+      "transform_matrix": [
+        [
+          0.18071800470352173,
+          -0.1964511126279831,
+          0.963715672492981,
+          -9.846153259277344
+        ],
+        [
+          -0.9813917279243469,
+          -0.10066909343004227,
+          0.1635115146636963,
+          17.017213821411133
+        ],
+        [
+          0.06489437073469162,
+          -0.9753321409225464,
+          -0.21098822355270386,
+          -13.453094482421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7456,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_83083629",
+      "mask_path": "../../mask/hdr_front_07456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07457.png",
+      "transform_matrix": [
+        [
+          0.18095391988754272,
+          -0.21676352620124817,
+          0.9593066573143005,
+          -9.9036865234375
+        ],
+        [
+          -0.9816203117370605,
+          -0.09994903951883316,
+          0.16257859766483307,
+          16.99093246459961
+        ],
+        [
+          0.06064065918326378,
+          -0.9710941910743713,
+          -0.23086562752723694,
+          -13.401405334472656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7457,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_183082342",
+      "mask_path": "../../mask/hdr_front_07457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07459.png",
+      "transform_matrix": [
+        [
+          0.17543327808380127,
+          -0.21895502507686615,
+          0.9598342180252075,
+          -9.99227523803711
+        ],
+        [
+          -0.9838554859161377,
+          -0.07402580976486206,
+          0.16293713450431824,
+          16.97934913635254
+        ],
+        [
+          0.03537660092115402,
+          -0.9729229807853699,
+          -0.22840669751167297,
+          -13.415417671203613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7459,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_383082866",
+      "mask_path": "../../mask/hdr_front_07459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07460.png",
+      "transform_matrix": [
+        [
+          0.16549120843410492,
+          -0.24890828132629395,
+          0.9542837142944336,
+          -10.048186302185059
+        ],
+        [
+          -0.9862073063850403,
+          -0.044544316828250885,
+          0.15940874814987183,
+          16.97730255126953
+        ],
+        [
+          0.002829749835655093,
+          -0.967502236366272,
+          -0.2528468370437622,
+          -13.374797821044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7460,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_483083009",
+      "mask_path": "../../mask/hdr_front_07460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07461.png",
+      "transform_matrix": [
+        [
+          0.15147703886032104,
+          -0.27822446823120117,
+          0.9484966397285461,
+          -10.1017427444458
+        ],
+        [
+          -0.9884433746337891,
+          -0.036932479590177536,
+          0.14702314138412476,
+          16.98981285095215
+        ],
+        [
+          -0.005875099916011095,
+          -0.9598057866096497,
+          -0.2806035876274109,
+          -13.299286842346191
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7461,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_583081960",
+      "mask_path": "../../mask/hdr_front_07461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07463.png",
+      "transform_matrix": [
+        [
+          0.14711244404315948,
+          -0.2834083139896393,
+          0.9476485252380371,
+          -10.17108154296875
+        ],
+        [
+          -0.9890010952949524,
+          -0.056989699602127075,
+          0.13648837804794312,
+          16.987266540527344
+        ],
+        [
+          0.015324261970818043,
+          -0.9573044776916504,
+          -0.2886750400066376,
+          -13.2763032913208
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7463,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_783081293",
+      "mask_path": "../../mask/hdr_front_07463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07465.png",
+      "transform_matrix": [
+        [
+          0.14210648834705353,
+          -0.27853327989578247,
+          0.9498552680015564,
+          -10.2459716796875
+        ],
+        [
+          -0.9898326992988586,
+          -0.045878902077674866,
+          0.13463403284549713,
+          16.97022247314453
+        ],
+        [
+          0.006078258156776428,
+          -0.9593302011489868,
+          -0.2822210192680359,
+          -13.247321128845215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7465,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_983082294",
+      "mask_path": "../../mask/hdr_front_07465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07467.png",
+      "transform_matrix": [
+        [
+          0.1458788812160492,
+          -0.2715441584587097,
+          0.9513059854507446,
+          -10.329652786254883
+        ],
+        [
+          -0.9893002510070801,
+          -0.04206413775682449,
+          0.13969822227954865,
+          16.946714401245117
+        ],
+        [
+          0.002081637503579259,
+          -0.9615063071250916,
+          -0.2747749984264374,
+          -13.236316680908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7467,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_183081626",
+      "mask_path": "../../mask/hdr_front_07467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07468.png",
+      "transform_matrix": [
+        [
+          0.14937137067317963,
+          -0.27123746275901794,
+          0.9508514404296875,
+          -10.372976303100586
+        ],
+        [
+          -0.9887792468070984,
+          -0.04285629466176033,
+          0.1431044489145279,
+          16.93716812133789
+        ],
+        [
+          0.001934677828103304,
+          -0.9615578651428223,
+          -0.2745954990386963,
+          -13.212120056152344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7468,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_283082246",
+      "mask_path": "../../mask/hdr_front_07468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07470.png",
+      "transform_matrix": [
+        [
+          0.16954827308654785,
+          -0.2714410722255707,
+          0.9474034309387207,
+          -10.450993537902832
+        ],
+        [
+          -0.9853930473327637,
+          -0.06223762780427933,
+          0.15851520001888275,
+          16.917573928833008
+        ],
+        [
+          0.015936607494950294,
+          -0.9604406952857971,
+          -0.2780283987522125,
+          -13.173168182373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7470,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_483083724",
+      "mask_path": "../../mask/hdr_front_07470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07472.png",
+      "transform_matrix": [
+        [
+          0.20646396279335022,
+          -0.2531864643096924,
+          0.9451292157173157,
+          -10.503626823425293
+        ],
+        [
+          -0.97844398021698,
+          -0.05783979967236519,
+          0.19824716448783875,
+          16.877269744873047
+        ],
+        [
+          0.00447258772328496,
+          -0.9656869173049927,
+          -0.25967058539390564,
+          -13.165017127990723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7472,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_683081626",
+      "mask_path": "../../mask/hdr_front_07472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07473.png",
+      "transform_matrix": [
+        [
+          0.23263370990753174,
+          -0.2504286468029022,
+          0.9397696852684021,
+          -10.561308860778809
+        ],
+        [
+          -0.9725644588470459,
+          -0.059859056025743484,
+          0.22480067610740662,
+          16.838430404663086
+        ],
+        [
+          -4.2792886233655736e-05,
+          -0.966282844543457,
+          -0.25748318433761597,
+          -13.16106128692627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7473,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_783082485",
+      "mask_path": "../../mask/hdr_front_07473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07475.png",
+      "transform_matrix": [
+        [
+          0.27109742164611816,
+          -0.22200897336006165,
+          0.9365993142127991,
+          -10.621627807617188
+        ],
+        [
+          -0.9625309705734253,
+          -0.06894052028656006,
+          0.26226189732551575,
+          16.77765655517578
+        ],
+        [
+          0.0063451556488871574,
+          -0.9726043939590454,
+          -0.23238009214401245,
+          -13.139162063598633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7475,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_983081579",
+      "mask_path": "../../mask/hdr_front_07475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07477.png",
+      "transform_matrix": [
+        [
+          0.27584150433540344,
+          -0.2075037956237793,
+          0.9385380148887634,
+          -10.718235969543457
+        ],
+        [
+          -0.9610240459442139,
+          -0.0783814787864685,
+          0.2651207745075226,
+          16.726173400878906
+        ],
+        [
+          0.018550442531704903,
+          -0.9750890135765076,
+          -0.22103703022003174,
+          -13.120298385620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7477,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_183082580",
+      "mask_path": "../../mask/hdr_front_07477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07478.png",
+      "transform_matrix": [
+        [
+          0.2750292420387268,
+          -0.18852169811725616,
+          0.9427716732025146,
+          -10.78006649017334
+        ],
+        [
+          -0.9614270329475403,
+          -0.04972371086478233,
+          0.2705284655094147,
+          16.70765495300293
+        ],
+        [
+          -0.004122371319681406,
+          -0.9808094501495361,
+          -0.19492532312870026,
+          -13.117066383361816
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7478,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_283082246",
+      "mask_path": "../../mask/hdr_front_07478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07479.png",
+      "transform_matrix": [
+        [
+          0.27883145213127136,
+          -0.1721722036600113,
+          0.9447804093360901,
+          -10.845964431762695
+        ],
+        [
+          -0.9602016806602478,
+          -0.03327428922057152,
+          0.27731892466545105,
+          16.686216354370117
+        ],
+        [
+          -0.0163097120821476,
+          -0.9845048189163208,
+          -0.17459794878959656,
+          -13.115239143371582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7479,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_383082628",
+      "mask_path": "../../mask/hdr_front_07479.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07480.png",
+      "transform_matrix": [
+        [
+          0.28421512246131897,
+          -0.16412974894046783,
+          0.9446074366569519,
+          -10.912595748901367
+        ],
+        [
+          -0.9585549831390381,
+          -0.02824426256120205,
+          0.2835041284561157,
+          16.65697479248047
+        ],
+        [
+          -0.019851716235280037,
+          -0.9860343337059021,
+          -0.16535483300685883,
+          -13.109010696411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7480,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_483082294",
+      "mask_path": "../../mask/hdr_front_07480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07481.png",
+      "transform_matrix": [
+        [
+          0.28492438793182373,
+          -0.14806398749351501,
+          0.9470455646514893,
+          -10.990750312805176
+        ],
+        [
+          -0.9584181904792786,
+          -0.02762814797461033,
+          0.28402650356292725,
+          16.636159896850586
+        ],
+        [
+          -0.015888985246419907,
+          -0.9885917901992798,
+          -0.14977917075157166,
+          -13.103703498840332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7481,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_583082199",
+      "mask_path": "../../mask/hdr_front_07481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07482.png",
+      "transform_matrix": [
+        [
+          0.2799389362335205,
+          -0.13690043985843658,
+          0.9502065181732178,
+          -11.062801361083984
+        ],
+        [
+          -0.9599789381027222,
+          -0.031018821522593498,
+          0.2783489227294922,
+          16.6174373626709
+        ],
+        [
+          -0.008631800301373005,
+          -0.9900990724563599,
+          -0.14010493457317352,
+          -13.091214179992676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7482,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_683082342",
+      "mask_path": "../../mask/hdr_front_07482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07483.png",
+      "transform_matrix": [
+        [
+          0.2748394310474396,
+          -0.1340503990650177,
+          0.952099621295929,
+          -11.122977256774902
+        ],
+        [
+          -0.9614902138710022,
+          -0.03854554891586304,
+          0.27212315797805786,
+          16.595521926879883
+        ],
+        [
+          0.00022098356566857547,
+          -0.9902245998382568,
+          -0.13948194682598114,
+          -13.080543518066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7483,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_783082008",
+      "mask_path": "../../mask/hdr_front_07483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07484.png",
+      "transform_matrix": [
+        [
+          0.2731311619281769,
+          -0.13060921430587769,
+          0.9530690908432007,
+          -11.197362899780273
+        ],
+        [
+          -0.9619116187095642,
+          -0.04860737919807434,
+          0.2690041661262512,
+          16.570249557495117
+        ],
+        [
+          0.011191773228347301,
+          -0.9902417063713074,
+          -0.1389106959104538,
+          -13.077542304992676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7484,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_883082151",
+      "mask_path": "../../mask/hdr_front_07484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07485.png",
+      "transform_matrix": [
+        [
+          0.27745702862739563,
+          -0.12582921981811523,
+          0.952462375164032,
+          -11.283004760742188
+        ],
+        [
+          -0.9606919288635254,
+          -0.046044837683439255,
+          0.2737714350223541,
+          16.529460906982422
+        ],
+        [
+          0.009407531470060349,
+          -0.9909827709197998,
+          -0.13365858793258667,
+          -13.069009780883789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7485,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_983082056",
+      "mask_path": "../../mask/hdr_front_07485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07488.png",
+      "transform_matrix": [
+        [
+          0.28276681900024414,
+          -0.10570210963487625,
+          0.9533467888832092,
+          -11.436132431030273
+        ],
+        [
+          -0.9591864943504333,
+          -0.033295951783657074,
+          0.2808071970939636,
+          16.4414005279541
+        ],
+        [
+          0.002060675760731101,
+          -0.9938403367996216,
+          -0.1108030155301094,
+          -13.047650337219238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7488,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_283082008",
+      "mask_path": "../../mask/hdr_front_07488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07489.png",
+      "transform_matrix": [
+        [
+          0.27617502212524414,
+          -0.09895659983158112,
+          0.955999493598938,
+          -11.494185447692871
+        ],
+        [
+          -0.9610947370529175,
+          -0.033544935286045074,
+          0.27417469024658203,
+          16.417865753173828
+        ],
+        [
+          0.004937548656016588,
+          -0.994526207447052,
+          -0.10437093675136566,
+          -13.032506942749023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7489,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_383081674",
+      "mask_path": "../../mask/hdr_front_07489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07490.png",
+      "transform_matrix": [
+        [
+          0.2695046663284302,
+          -0.09664511680603027,
+          0.9581372141838074,
+          -11.550840377807617
+        ],
+        [
+          -0.9629185199737549,
+          -0.03992035984992981,
+          0.26682281494140625,
+          16.404184341430664
+        ],
+        [
+          0.012462062761187553,
+          -0.9945180416107178,
+          -0.1038200780749321,
+          -13.02999496459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7490,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_483082056",
+      "mask_path": "../../mask/hdr_front_07490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07491.png",
+      "transform_matrix": [
+        [
+          0.2640143632888794,
+          -0.09398353099822998,
+          0.9599289298057556,
+          -11.618331909179688
+        ],
+        [
+          -0.9643192291259766,
+          -0.04596472904086113,
+          0.2607216536998749,
+          16.381193161010742
+        ],
+        [
+          0.019619330763816833,
+          -0.994512140750885,
+          -0.10276547074317932,
+          -13.027544975280762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7491,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_583082199",
+      "mask_path": "../../mask/hdr_front_07491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07492.png",
+      "transform_matrix": [
+        [
+          0.26557984948158264,
+          -0.09254556149244308,
+          0.9596367478370667,
+          -11.693157196044922
+        ],
+        [
+          -0.9639882445335388,
+          -0.03986964374780655,
+          0.2629391551017761,
+          16.35191535949707
+        ],
+        [
+          0.013926520943641663,
+          -0.994909942150116,
+          -0.09980139881372452,
+          -13.023294448852539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7492,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_683081388",
+      "mask_path": "../../mask/hdr_front_07492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07493.png",
+      "transform_matrix": [
+        [
+          0.270334929227829,
+          -0.09082390367984772,
+          0.9584728479385376,
+          -11.7571382522583
+        ],
+        [
+          -0.9627493619918823,
+          -0.03142545744776726,
+          0.26856324076652527,
+          16.32883644104004
+        ],
+        [
+          0.005728482268750668,
+          -0.9953710436820984,
+          -0.09593605995178223,
+          -13.024666786193848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7493,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_783080816",
+      "mask_path": "../../mask/hdr_front_07493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07494.png",
+      "transform_matrix": [
+        [
+          0.2703111171722412,
+          -0.08649561554193497,
+          0.9588797688484192,
+          -11.81367015838623
+        ],
+        [
+          -0.9627663493156433,
+          -0.027997605502605438,
+          0.26888129115104675,
+          16.31235694885254
+        ],
+        [
+          0.003589288331568241,
+          -0.9958587884902954,
+          -0.09084313362836838,
+          -13.026053428649902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7494,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_883082151",
+      "mask_path": "../../mask/hdr_front_07494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07495.png",
+      "transform_matrix": [
+        [
+          0.2635859251022339,
+          -0.07302264124155045,
+          0.9618680477142334,
+          -11.87342643737793
+        ],
+        [
+          -0.9646168351173401,
+          -0.026221944019198418,
+          0.2623485028743744,
+          16.300161361694336
+        ],
+        [
+          0.0060646687634289265,
+          -0.9969855546951294,
+          -0.07735060155391693,
+          -13.01823616027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7495,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_983082532",
+      "mask_path": "../../mask/hdr_front_07495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07497.png",
+      "transform_matrix": [
+        [
+          0.24653880298137665,
+          -0.061244409531354904,
+          0.9671958684921265,
+          -11.972719192504883
+        ],
+        [
+          -0.9689260125160217,
+          -0.03620147332549095,
+          0.2446874976158142,
+          16.276371002197266
+        ],
+        [
+          0.020028168335556984,
+          -0.9974660873413086,
+          -0.0682663694024086,
+          -12.999617576599121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7497,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_183081865",
+      "mask_path": "../../mask/hdr_front_07497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07498.png",
+      "transform_matrix": [
+        [
+          0.24027453362941742,
+          -0.05992152541875839,
+          0.968853771686554,
+          -12.03954029083252
+        ],
+        [
+          -0.9702000617980957,
+          -0.047011516988277435,
+          0.2377009093761444,
+          16.257570266723633
+        ],
+        [
+          0.03130388259887695,
+          -0.9970954656600952,
+          -0.06943152844905853,
+          -12.990124702453613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7498,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_283082246",
+      "mask_path": "../../mask/hdr_front_07498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07499.png",
+      "transform_matrix": [
+        [
+          0.24591666460037231,
+          -0.059781551361083984,
+          0.9674456715583801,
+          -12.102409362792969
+        ],
+        [
+          -0.9688289165496826,
+          -0.045975543558597565,
+          0.2434273213148117,
+          16.236421585083008
+        ],
+        [
+          0.029926378279924393,
+          -0.9971522688865662,
+          -0.06922424584627151,
+          -12.97957706451416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7499,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_383084297",
+      "mask_path": "../../mask/hdr_front_07499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07500.png",
+      "transform_matrix": [
+        [
+          0.2591119110584259,
+          -0.06269858032464981,
+          0.9638100862503052,
+          -12.151812553405762
+        ],
+        [
+          -0.9655632376670837,
+          -0.04101715236902237,
+          0.2569149434566498,
+          16.207046508789062
+        ],
+        [
+          0.023424547165632248,
+          -0.9971893429756165,
+          -0.0711674764752388,
+          -12.977351188659668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7500,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_483082294",
+      "mask_path": "../../mask/hdr_front_07500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07501.png",
+      "transform_matrix": [
+        [
+          0.2768953740596771,
+          -0.06357923895120621,
+          0.9587944149971008,
+          -12.193907737731934
+        ],
+        [
+          -0.9607134461402893,
+          -0.03798142448067665,
+          0.27493104338645935,
+          16.174537658691406
+        ],
+        [
+          0.018936466425657272,
+          -0.9972537755966187,
+          -0.07159830629825592,
+          -12.972750663757324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7501,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_583080530",
+      "mask_path": "../../mask/hdr_front_07501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07502.png",
+      "transform_matrix": [
+        [
+          0.2949119508266449,
+          -0.0652923434972763,
+          0.9532910585403442,
+          -12.245153427124023
+        ],
+        [
+          -0.9554439187049866,
+          -0.03309524059295654,
+          0.2933112680912018,
+          16.144058227539062
+        ],
+        [
+          0.012398415245115757,
+          -0.9973172545433044,
+          -0.07214336097240448,
+          -12.964314460754395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7502,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_683081388",
+      "mask_path": "../../mask/hdr_front_07502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07503.png",
+      "transform_matrix": [
+        [
+          0.3063705861568451,
+          -0.06909764558076859,
+          0.9494011998176575,
+          -12.297721862792969
+        ],
+        [
+          -0.9518067240715027,
+          -0.037085242569446564,
+          0.30444779992103577,
+          16.116077423095703
+        ],
+        [
+          0.014172147959470749,
+          -0.9969204068183899,
+          -0.07712943106889725,
+          -12.952889442443848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7503,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_783081293",
+      "mask_path": "../../mask/hdr_front_07503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07504.png",
+      "transform_matrix": [
+        [
+          0.31080204248428345,
+          -0.07048753648996353,
+          0.9478574395179749,
+          -12.360103607177734
+        ],
+        [
+          -0.9501569271087646,
+          -0.04882415384054184,
+          0.307925283908844,
+          16.100109100341797
+        ],
+        [
+          0.024573441594839096,
+          -0.9963170886039734,
+          -0.08214886486530304,
+          -12.946795463562012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7504,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_883080959",
+      "mask_path": "../../mask/hdr_front_07504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07505.png",
+      "transform_matrix": [
+        [
+          0.3090779483318329,
+          -0.07069558650255203,
+          0.9484055042266846,
+          -12.426037788391113
+        ],
+        [
+          -0.9504129886627197,
+          -0.059070881456136703,
+          0.30532899498939514,
+          16.07598876953125
+        ],
+        [
+          0.034437742084264755,
+          -0.9957473278045654,
+          -0.0854475200176239,
+          -12.940671920776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7505,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_983081340",
+      "mask_path": "../../mask/hdr_front_07505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07506.png",
+      "transform_matrix": [
+        [
+          0.30726033449172974,
+          -0.07005108892917633,
+          0.9490436911582947,
+          -12.481423377990723
+        ],
+        [
+          -0.9512550234794617,
+          -0.05043427273631096,
+          0.30425357818603516,
+          16.04453468322754
+        ],
+        [
+          0.02655104175209999,
+          -0.9962676763534546,
+          -0.08213289827108383,
+          -12.92265796661377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7506,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_83081245",
+      "mask_path": "../../mask/hdr_front_07506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07507.png",
+      "transform_matrix": [
+        [
+          0.3078868091106415,
+          -0.07187806814908981,
+          0.9487040042877197,
+          -12.54850959777832
+        ],
+        [
+          -0.9513207674026489,
+          -0.03787287324666977,
+          0.30586662888526917,
+          16.02162742614746
+        ],
+        [
+          0.01394504215568304,
+          -0.9966941475868225,
+          -0.08003966510295868,
+          -12.921309471130371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7507,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_183080911",
+      "mask_path": "../../mask/hdr_front_07507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07508.png",
+      "transform_matrix": [
+        [
+          0.3090265691280365,
+          -0.07321522384881973,
+          0.948231041431427,
+          -12.617441177368164
+        ],
+        [
+          -0.9509923458099365,
+          -0.035082969814538956,
+          0.30721768736839294,
+          15.996846199035645
+        ],
+        [
+          0.010773751884698868,
+          -0.9966989159584045,
+          -0.08046867698431015,
+          -12.924723625183105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7508,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_283081769",
+      "mask_path": "../../mask/hdr_front_07508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07509.png",
+      "transform_matrix": [
+        [
+          0.3080270290374756,
+          -0.07050464302301407,
+          0.9487615823745728,
+          -12.687359809875488
+        ],
+        [
+          -0.9512712359428406,
+          -0.037737928330898285,
+          0.30603742599487305,
+          15.970113754272461
+        ],
+        [
+          0.01422723475843668,
+          -0.9967974424362183,
+          -0.07869334518909454,
+          -12.916492462158203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7509,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_383082151",
+      "mask_path": "../../mask/hdr_front_07509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07510.png",
+      "transform_matrix": [
+        [
+          0.3017493486404419,
+          -0.06874268501996994,
+          0.9509057998657227,
+          -12.766361236572266
+        ],
+        [
+          -0.9531984925270081,
+          -0.04159960895776749,
+          0.29946964979171753,
+          15.94571590423584
+        ],
+        [
+          0.01897096075117588,
+          -0.9967668056488037,
+          -0.07807807624340057,
+          -12.90690803527832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7510,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_483081102",
+      "mask_path": "../../mask/hdr_front_07510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07511.png",
+      "transform_matrix": [
+        [
+          0.2959308922290802,
+          -0.06730092316865921,
+          0.9528355598449707,
+          -12.841692924499512
+        ],
+        [
+          -0.9548283219337463,
+          -0.04901525378227234,
+          0.2930877208709717,
+          15.918931007385254
+        ],
+        [
+          0.026978394016623497,
+          -0.9965280294418335,
+          -0.07876595854759216,
+          -12.899635314941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7511,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_583081722",
+      "mask_path": "../../mask/hdr_front_07511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07512.png",
+      "transform_matrix": [
+        [
+          0.2929231822490692,
+          -0.06783220171928406,
+          0.9537268280982971,
+          -12.909504890441895
+        ],
+        [
+          -0.9553512930870056,
+          -0.061167776584625244,
+          0.2890716791152954,
+          15.887956619262695
+        ],
+        [
+          0.0387289859354496,
+          -0.9958199858665466,
+          -0.0827210396528244,
+          -12.888711929321289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7512,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_683081388",
+      "mask_path": "../../mask/hdr_front_07512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07513.png",
+      "transform_matrix": [
+        [
+          0.2954101264476776,
+          -0.06408381462097168,
+          0.9532188177108765,
+          -12.98320198059082
+        ],
+        [
+          -0.9546993970870972,
+          -0.05719142034649849,
+          0.29202407598495483,
+          15.851677894592285
+        ],
+        [
+          0.03580192103981972,
+          -0.996304452419281,
+          -0.07807570695877075,
+          -12.882810592651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7513,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_783082008",
+      "mask_path": "../../mask/hdr_front_07513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07514.png",
+      "transform_matrix": [
+        [
+          0.30601680278778076,
+          -0.06117914989590645,
+          0.9500583410263062,
+          -13.048665046691895
+        ],
+        [
+          -0.9517350792884827,
+          -0.044333316385746,
+          0.30370205640792847,
+          15.81713581085205
+        ],
+        [
+          0.02353900671005249,
+          -0.9971417784690857,
+          -0.0717930793762207,
+          -12.885054588317871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7514,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_883081436",
+      "mask_path": "../../mask/hdr_front_07514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07515.png",
+      "transform_matrix": [
+        [
+          0.3166995942592621,
+          -0.05813538283109665,
+          0.9467426538467407,
+          -13.093093872070312
+        ],
+        [
+          -0.9483351707458496,
+          -0.03942159190773964,
+          0.314811646938324,
+          15.783126831054688
+        ],
+        [
+          0.019020410254597664,
+          -0.9975300431251526,
+          -0.06761662662029266,
+          -12.88631820678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7515,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_983082532",
+      "mask_path": "../../mask/hdr_front_07515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07516.png",
+      "transform_matrix": [
+        [
+          0.32321709394454956,
+          -0.04962753877043724,
+          0.9450225830078125,
+          -13.143688201904297
+        ],
+        [
+          -0.9461517333984375,
+          -0.036046579480171204,
+          0.3217103183269501,
+          15.74841022491455
+        ],
+        [
+          0.018099147826433182,
+          -0.998117208480835,
+          -0.05860605463385582,
+          -12.881673812866211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7516,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_83081960",
+      "mask_path": "../../mask/hdr_front_07516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07517.png",
+      "transform_matrix": [
+        [
+          0.3240725100040436,
+          -0.04749981686472893,
+          0.9448390007019043,
+          -13.199987411499023
+        ],
+        [
+          -0.9459111094474792,
+          -0.03224701061844826,
+          0.3228190839290619,
+          15.717585563659668
+        ],
+        [
+          0.015134387649595737,
+          -0.9983506202697754,
+          -0.05538098141551018,
+          -12.868958473205566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7517,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_183083057",
+      "mask_path": "../../mask/hdr_front_07517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07518.png",
+      "transform_matrix": [
+        [
+          0.321205198764801,
+          -0.04916628822684288,
+          0.9457325339317322,
+          -13.249305725097656
+        ],
+        [
+          -0.9468908309936523,
+          -0.032496001571416855,
+          0.3199092149734497,
+          15.699638366699219
+        ],
+        [
+          0.015003775246441364,
+          -0.9982618689537048,
+          -0.056992992758750916,
+          -12.86510944366455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7518,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_283081769",
+      "mask_path": "../../mask/hdr_front_07518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07519.png",
+      "transform_matrix": [
+        [
+          0.31644749641418457,
+          -0.0503539964556694,
+          0.9472726583480835,
+          -13.31261157989502
+        ],
+        [
+          -0.948373019695282,
+          -0.03911770507693291,
+          0.31473565101623535,
+          15.678577423095703
+        ],
+        [
+          0.0212069321423769,
+          -0.9979650974273682,
+          -0.06013306975364685,
+          -12.866119384765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7519,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_383083581",
+      "mask_path": "../../mask/hdr_front_07519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07520.png",
+      "transform_matrix": [
+        [
+          0.3133991062641144,
+          -0.048567939549684525,
+          0.9483787417411804,
+          -13.38951587677002
+        ],
+        [
+          -0.9494773745536804,
+          -0.03342419117689133,
+          0.3120504915714264,
+          15.652702331542969
+        ],
+        [
+          0.01654314063489437,
+          -0.9982604384422302,
+          -0.0565892718732357,
+          -12.8613862991333
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7520,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_483080863",
+      "mask_path": "../../mask/hdr_front_07520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07521.png",
+      "transform_matrix": [
+        [
+          0.315284788608551,
+          -0.049157317727804184,
+          0.9477231502532959,
+          -13.461629867553711
+        ],
+        [
+          -0.9489970207214355,
+          -0.01616773009300232,
+          0.3148699998855591,
+          15.63110065460205
+        ],
+        [
+          -0.00015563127817586064,
+          -0.998660147190094,
+          -0.05174759030342102,
+          -12.858733177185059
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7521,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_583083629",
+      "mask_path": "../../mask/hdr_front_07521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07522.png",
+      "transform_matrix": [
+        [
+          0.31829458475112915,
+          -0.05347010865807533,
+          0.9464827179908752,
+          -13.532336235046387
+        ],
+        [
+          -0.9479019641876221,
+          -0.004197323229163885,
+          0.3185347318649292,
+          15.603560447692871
+        ],
+        [
+          -0.013059391640126705,
+          -0.9985606670379639,
+          -0.05202040076255798,
+          -12.85229778289795
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7522,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_683080196",
+      "mask_path": "../../mask/hdr_front_07522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07523.png",
+      "transform_matrix": [
+        [
+          0.3180217742919922,
+          -0.05666853114962578,
+          0.9463883638381958,
+          -13.598082542419434
+        ],
+        [
+          -0.9479430317878723,
+          -0.001830950495786965,
+          0.31843459606170654,
+          15.584023475646973
+        ],
+        [
+          -0.016312427818775177,
+          -0.9983913898468018,
+          -0.05430082231760025,
+          -12.845279693603516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7523,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_783083915",
+      "mask_path": "../../mask/hdr_front_07523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07524.png",
+      "transform_matrix": [
+        [
+          0.3119187355041504,
+          -0.09866972267627716,
+          0.9449713826179504,
+          -13.654948234558105
+        ],
+        [
+          -0.9490285515785217,
+          0.015057642012834549,
+          0.3148302137851715,
+          15.57705307006836
+        ],
+        [
+          -0.04529324918985367,
+          -0.9950063824653625,
+          -0.08894361555576324,
+          -12.808064460754395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7524,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_883081912",
+      "mask_path": "../../mask/hdr_front_07524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07525.png",
+      "transform_matrix": [
+        [
+          0.30072301626205444,
+          -0.14099618792533875,
+          0.9432315230369568,
+          -13.721571922302246
+        ],
+        [
+          -0.951919674873352,
+          0.016223466023802757,
+          0.3059180676937103,
+          15.5686616897583
+        ],
+        [
+          -0.05843575671315193,
+          -0.9898772835731506,
+          -0.12933826446533203,
+          -12.737390518188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7525,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_983081579",
+      "mask_path": "../../mask/hdr_front_07525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07526.png",
+      "transform_matrix": [
+        [
+          0.2932625412940979,
+          -0.1483546644449234,
+          0.9444511532783508,
+          -13.790470123291016
+        ],
+        [
+          -0.9550228714942932,
+          -8.282501948997378e-05,
+          0.29653218388557434,
+          15.552200317382812
+        ],
+        [
+          -0.04391370341181755,
+          -0.9889342188835144,
+          -0.14170639216899872,
+          -12.716797828674316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7526,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_83082675",
+      "mask_path": "../../mask/hdr_front_07526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07527.png",
+      "transform_matrix": [
+        [
+          0.28794196248054504,
+          -0.14693687856197357,
+          0.9463081359863281,
+          -13.847563743591309
+        ],
+        [
+          -0.9571568369865417,
+          -0.01252259872853756,
+          0.2892986834049225,
+          15.53825855255127
+        ],
+        [
+          -0.030658401548862457,
+          -0.9890666007995605,
+          -0.14424742758274078,
+          -12.720874786376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7527,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_183080434",
+      "mask_path": "../../mask/hdr_front_07527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07528.png",
+      "transform_matrix": [
+        [
+          0.28949758410453796,
+          -0.17752540111541748,
+          0.9405720829963684,
+          -13.936920166015625
+        ],
+        [
+          -0.9571738243103027,
+          -0.05685419961810112,
+          0.2838766872882843,
+          15.494250297546387
+        ],
+        [
+          0.0030801636166870594,
+          -0.9824725985527039,
+          -0.18638180196285248,
+          -12.722343444824219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7528,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_283080339",
+      "mask_path": "../../mask/hdr_front_07528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07529.png",
+      "transform_matrix": [
+        [
+          0.3039090037345886,
+          -0.21179603040218353,
+          0.9288605451583862,
+          -14.007806777954102
+        ],
+        [
+          -0.9526070952415466,
+          -0.08124933391809464,
+          0.2931522727012634,
+          15.435735702514648
+        ],
+        [
+          0.01338080782443285,
+          -0.9739306569099426,
+          -0.22645078599452972,
+          -12.617722511291504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7529,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_383080005",
+      "mask_path": "../../mask/hdr_front_07529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07531.png",
+      "transform_matrix": [
+        [
+          0.3169826567173004,
+          -0.22427122294902802,
+          0.9215337634086609,
+          -14.086777687072754
+        ],
+        [
+          -0.948340117931366,
+          -0.061482783406972885,
+          0.3112405240535736,
+          15.410889625549316
+        ],
+        [
+          -0.013143842108547688,
+          -0.9725853800773621,
+          -0.23217441141605377,
+          -12.594024658203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7531,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_583081960",
+      "mask_path": "../../mask/hdr_front_07531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07532.png",
+      "transform_matrix": [
+        [
+          0.30781280994415283,
+          -0.23433053493499756,
+          0.9221391081809998,
+          -14.157917022705078
+        ],
+        [
+          -0.9512625932693481,
+          -0.05671462044119835,
+          0.3031221628189087,
+          15.425156593322754
+        ],
+        [
+          -0.018732009455561638,
+          -0.9705012440681458,
+          -0.2403673529624939,
+          -12.563970565795898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7532,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_683082342",
+      "mask_path": "../../mask/hdr_front_07532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07534.png",
+      "transform_matrix": [
+        [
+          0.3021298944950104,
+          -0.21941569447517395,
+          0.9276714324951172,
+          -14.228940963745117
+        ],
+        [
+          -0.9532665610313416,
+          -0.07003343105316162,
+          0.29390138387680054,
+          15.397441864013672
+        ],
+        [
+          0.000481436523841694,
+          -0.9731146693229675,
+          -0.23032084107398987,
+          -12.561415672302246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7534,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_883080959",
+      "mask_path": "../../mask/hdr_front_07534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07535.png",
+      "transform_matrix": [
+        [
+          0.3035655617713928,
+          -0.20842623710632324,
+          0.9297345876693726,
+          -14.277243614196777
+        ],
+        [
+          -0.9528088569641113,
+          -0.0682673305273056,
+          0.29579538106918335,
+          15.374680519104004
+        ],
+        [
+          0.001818977645598352,
+          -0.9756526947021484,
+          -0.21931394934654236,
+          -12.558408737182617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7535,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_983081340",
+      "mask_path": "../../mask/hdr_front_07535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07536.png",
+      "transform_matrix": [
+        [
+          0.30721232295036316,
+          -0.20665399730205536,
+          0.9289320111274719,
+          -14.321248054504395
+        ],
+        [
+          -0.9516401290893555,
+          -0.06541430205106735,
+          0.3001699447631836,
+          15.34541130065918
+        ],
+        [
+          -0.0012658730847761035,
+          -0.9762248992919922,
+          -0.21675631403923035,
+          -12.547589302062988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7536,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_83081722",
+      "mask_path": "../../mask/hdr_front_07536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07538.png",
+      "transform_matrix": [
+        [
+          0.31961581110954285,
+          -0.21039266884326935,
+          0.9238944053649902,
+          -14.399048805236816
+        ],
+        [
+          -0.9475089907646179,
+          -0.06221338361501694,
+          0.3136177361011505,
+          15.296420097351074
+        ],
+        [
+          -0.008504272438585758,
+          -0.9756354689598083,
+          -0.21923334896564484,
+          -12.540558815002441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7538,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_283080816",
+      "mask_path": "../../mask/hdr_front_07538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07539.png",
+      "transform_matrix": [
+        [
+          0.32627713680267334,
+          -0.20883195102214813,
+          0.9219178557395935,
+          -14.445722579956055
+        ],
+        [
+          -0.9451991319656372,
+          -0.05978285148739815,
+          0.3209747076034546,
+          15.275420188903809
+        ],
+        [
+          -0.011914904229342937,
+          -0.9761225581169128,
+          -0.21689355373382568,
+          -12.530662536621094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7539,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_383081436",
+      "mask_path": "../../mask/hdr_front_07539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07540.png",
+      "transform_matrix": [
+        [
+          0.33352839946746826,
+          -0.2097347229719162,
+          0.91911381483078,
+          -14.493276596069336
+        ],
+        [
+          -0.9426536560058594,
+          -0.06099827215075493,
+          0.32815125584602356,
+          15.260093688964844
+        ],
+        [
+          -0.012760357931256294,
+          -0.9758538007736206,
+          -0.21805185079574585,
+          -12.520370483398438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7540,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_483081579",
+      "mask_path": "../../mask/hdr_front_07540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07542.png",
+      "transform_matrix": [
+        [
+          0.34274014830589294,
+          -0.19819194078445435,
+          0.9182859659194946,
+          -14.577917098999023
+        ],
+        [
+          -0.9390376806259155,
+          -0.0440206453204155,
+          0.34098461270332336,
+          15.21372127532959
+        ],
+        [
+          -0.027156854048371315,
+          -0.9791742563247681,
+          -0.2011973261833191,
+          -12.507769584655762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7542,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_683080673",
+      "mask_path": "../../mask/hdr_front_07542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07543.png",
+      "transform_matrix": [
+        [
+          0.3485363721847534,
+          -0.1924196034669876,
+          0.9173315167427063,
+          -14.629764556884766
+        ],
+        [
+          -0.9360283017158508,
+          -0.020586317405104637,
+          0.3513220250606537,
+          15.198908805847168
+        ],
+        [
+          -0.04871675372123718,
+          -0.9810968041419983,
+          -0.18728527426719666,
+          -12.50559139251709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7543,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_783080816",
+      "mask_path": "../../mask/hdr_front_07543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07544.png",
+      "transform_matrix": [
+        [
+          0.35685428977012634,
+          -0.19251775741577148,
+          0.9141072034835815,
+          -14.673993110656738
+        ],
+        [
+          -0.9325161576271057,
+          -0.01538790576159954,
+          0.3608001172542572,
+          15.164819717407227
+        ],
+        [
+          -0.055394235998392105,
+          -0.9811728596687317,
+          -0.1850171983242035,
+          -12.490052223205566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7544,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_883080244",
+      "mask_path": "../../mask/hdr_front_07544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07545.png",
+      "transform_matrix": [
+        [
+          0.3645424544811249,
+          -0.18460538983345032,
+          0.9127045273780823,
+          -14.723758697509766
+        ],
+        [
+          -0.9296402335166931,
+          -0.01568266935646534,
+          0.3681347072124481,
+          15.13223648071289
+        ],
+        [
+          -0.05364600941538811,
+          -0.9826875925064087,
+          -0.17733357846736908,
+          -12.479055404663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7545,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_983080387",
+      "mask_path": "../../mask/hdr_front_07545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07546.png",
+      "transform_matrix": [
+        [
+          0.37444791197776794,
+          -0.1463385671377182,
+          0.9156275391578674,
+          -14.779559135437012
+        ],
+        [
+          -0.9269156455993652,
+          -0.03264057636260986,
+          0.37384745478630066,
+          15.113916397094727
+        ],
+        [
+          -0.0248216912150383,
+          -0.9886959195137024,
+          -0.14786569774150848,
+          -12.47903060913086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7546,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_83080291",
+      "mask_path": "../../mask/hdr_front_07546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07547.png",
+      "transform_matrix": [
+        [
+          0.3807106018066406,
+          -0.1231120228767395,
+          0.9164621829986572,
+          -14.828296661376953
+        ],
+        [
+          -0.924666166305542,
+          -0.042961835861206055,
+          0.3783474266529083,
+          15.084168434143066
+        ],
+        [
+          -0.007206215523183346,
+          -0.9914624691009521,
+          -0.1301935613155365,
+          -12.468155860900879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7547,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_183080673",
+      "mask_path": "../../mask/hdr_front_07547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07548.png",
+      "transform_matrix": [
+        [
+          0.38284292817115784,
+          -0.11733157932758331,
+          0.9163321852684021,
+          -14.872488021850586
+        ],
+        [
+          -0.9238107800483704,
+          -0.04620841518044472,
+          0.3800506889820099,
+          15.053560256958008
+        ],
+        [
+          -0.002249689307063818,
+          -0.9920172095298767,
+          -0.12608273327350616,
+          -12.461810111999512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7548,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_283082008",
+      "mask_path": "../../mask/hdr_front_07548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07549.png",
+      "transform_matrix": [
+        [
+          0.38371890783309937,
+          -0.10724682360887527,
+          0.9172011017799377,
+          -14.933849334716797
+        ],
+        [
+          -0.9234498143196106,
+          -0.04488949477672577,
+          0.38108429312705994,
+          15.004769325256348
+        ],
+        [
+          0.00030261793290264904,
+          -0.9932185411453247,
+          -0.11626201122999191,
+          -12.45124340057373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7549,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_383082628",
+      "mask_path": "../../mask/hdr_front_07549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07550.png",
+      "transform_matrix": [
+        [
+          0.3896888792514801,
+          -0.10084130614995956,
+          0.9154089689254761,
+          -15.010089874267578
+        ],
+        [
+          -0.9209175109863281,
+          -0.03477075695991516,
+          0.388203501701355,
+          14.954200744628906
+        ],
+        [
+          -0.007317486219108105,
+          -0.9942947626113892,
+          -0.10641629993915558,
+          -12.447235107421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7550,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_483080863",
+      "mask_path": "../../mask/hdr_front_07550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02143.png",
+      "transform_matrix": [
+        [
+          0.9855493307113647,
+          -0.08861396461725235,
+          -0.14436060190200806,
+          -14.843619346618652
+        ],
+        [
+          0.14673322439193726,
+          0.020837489515542984,
+          0.9889566898345947,
+          14.978214263916016
+        ],
+        [
+          -0.08462723344564438,
+          -0.9958481192588806,
+          0.03353899344801903,
+          -12.545648574829102
+        ],
+        [
+          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": "1731323476_683082103",
+      "mask_path": "../../mask/hdr_left_02143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02144.png",
+      "transform_matrix": [
+        [
+          0.987689733505249,
+          -0.07845398038625717,
+          -0.13532917201519012,
+          -14.780028343200684
+        ],
+        [
+          0.13709422945976257,
+          0.017541397362947464,
+          0.9904027581214905,
+          14.989496231079102
+        ],
+        [
+          -0.07532715797424316,
+          -0.9967634677886963,
+          0.02808104269206524,
+          -12.53354549407959
+        ],
+        [
+          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": "1731323476_783081531",
+      "mask_path": "../../mask/hdr_left_02144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02146.png",
+      "transform_matrix": [
+        [
+          0.9912494421005249,
+          -0.06660908460617065,
+          -0.11396361142396927,
+          -14.681321144104004
+        ],
+        [
+          0.11571113765239716,
+          0.022981783375144005,
+          0.9930170178413391,
+          15.016886711120605
+        ],
+        [
+          -0.06352486461400986,
+          -0.997514545917511,
+          0.03048809804022312,
+          -12.530879020690918
+        ],
+        [
+          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": "1731323476_983080863",
+      "mask_path": "../../mask/hdr_left_02146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02147.png",
+      "transform_matrix": [
+        [
+          0.9917817711830139,
+          -0.06517824530601501,
+          -0.11009391397237778,
+          -14.613358497619629
+        ],
+        [
+          0.11144853383302689,
+          0.017513751983642578,
+          0.9936158657073975,
+          15.035331726074219
+        ],
+        [
+          -0.06283397972583771,
+          -0.9977200031280518,
+          0.024633843451738358,
+          -12.533639907836914
+        ],
+        [
+          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": "1731323477_83081960",
+      "mask_path": "../../mask/hdr_left_02147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02148.png",
+      "transform_matrix": [
+        [
+          0.991949737071991,
+          -0.06016269698739052,
+          -0.1114271804690361,
+          -14.554756164550781
+        ],
+        [
+          0.11230297386646271,
+          0.01136732567101717,
+          0.9936089515686035,
+          15.057580947875977
+        ],
+        [
+          -0.05851156637072563,
+          -0.9981239438056946,
+          0.018032267689704895,
+          -12.53837776184082
+        ],
+        [
+          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": "1731323477_183081388",
+      "mask_path": "../../mask/hdr_left_02148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02150.png",
+      "transform_matrix": [
+        [
+          0.9923111796379089,
+          -0.05156845226883888,
+          -0.11251293867826462,
+          -14.458512306213379
+        ],
+        [
+          0.11332665383815765,
+          0.013127068057656288,
+          0.993471086025238,
+          15.096216201782227
+        ],
+        [
+          -0.049754798412323,
+          -0.9985833168029785,
+          0.018870217725634575,
+          -12.550023078918457
+        ],
+        [
+          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": "1731323477_383083343",
+      "mask_path": "../../mask/hdr_left_02150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02151.png",
+      "transform_matrix": [
+        [
+          0.9932971000671387,
+          -0.050657857209444046,
+          -0.10389740020036697,
+          -14.402271270751953
+        ],
+        [
+          0.10470537096261978,
+          0.01355908066034317,
+          0.9944108724594116,
+          15.106650352478027
+        ],
+        [
+          -0.04896596819162369,
+          -0.9986240267753601,
+          0.018772345036268234,
+          -12.535764694213867
+        ],
+        [
+          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": "1731323477_483082056",
+      "mask_path": "../../mask/hdr_left_02151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02153.png",
+      "transform_matrix": [
+        [
+          0.9954138398170471,
+          -0.04589007422327995,
+          -0.08393672853708267,
+          -14.340349197387695
+        ],
+        [
+          0.08499060571193695,
+          0.0215142834931612,
+          0.9961493611335754,
+          15.108895301818848
+        ],
+        [
+          -0.043907530605793,
+          -0.9987148642539978,
+          0.025315845385193825,
+          -12.521692276000977
+        ],
+        [
+          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": "1731323477_683082580",
+      "mask_path": "../../mask/hdr_left_02153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02155.png",
+      "transform_matrix": [
+        [
+          0.9966633915901184,
+          -0.04092538356781006,
+          -0.07061895728111267,
+          -14.243436813354492
+        ],
+        [
+          0.07163094729185104,
+          0.02381126768887043,
+          0.9971469640731812,
+          15.12932014465332
+        ],
+        [
+          -0.03912709653377533,
+          -0.9988784790039062,
+          0.026663344353437424,
+          -12.514159202575684
+        ],
+        [
+          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": "1731323477_883082866",
+      "mask_path": "../../mask/hdr_left_02155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02156.png",
+      "transform_matrix": [
+        [
+          0.9966586232185364,
+          -0.03886185958981514,
+          -0.07184229046106339,
+          -14.189018249511719
+        ],
+        [
+          0.07258278876543045,
+          0.01799125410616398,
+          0.997200071811676,
+          15.151659965515137
+        ],
+        [
+          -0.03746051713824272,
+          -0.999082624912262,
+          0.020751843228936195,
+          -12.520453453063965
+        ],
+        [
+          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": "1731323477_983082771",
+      "mask_path": "../../mask/hdr_left_02156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02157.png",
+      "transform_matrix": [
+        [
+          0.996497631072998,
+          -0.04003344476222992,
+          -0.07341474294662476,
+          -14.145236015319824
+        ],
+        [
+          0.07418635487556458,
+          0.018140384927392006,
+          0.9970793128013611,
+          15.172130584716797
+        ],
+        [
+          -0.03858475387096405,
+          -0.9990336894989014,
+          0.02104678750038147,
+          -12.53783130645752
+        ],
+        [
+          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": "1731323478_83081960",
+      "mask_path": "../../mask/hdr_left_02157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02159.png",
+      "transform_matrix": [
+        [
+          0.99660724401474,
+          -0.04479975625872612,
+          -0.06904295086860657,
+          -14.06725788116455
+        ],
+        [
+          0.06964551657438278,
+          0.01203022338449955,
+          0.9974992275238037,
+          15.173614501953125
+        ],
+        [
+          -0.043857112526893616,
+          -0.9989235401153564,
+          0.015109512954950333,
+          -12.526896476745605
+        ],
+        [
+          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": "1731323478_283082008",
+      "mask_path": "../../mask/hdr_left_02159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02160.png",
+      "transform_matrix": [
+        [
+          0.9968485236167908,
+          -0.04880118370056152,
+          -0.06254198402166367,
+          -14.014608383178711
+        ],
+        [
+          0.06315721571445465,
+          0.01116697583347559,
+          0.9979410767555237,
+          15.189573287963867
+        ],
+        [
+          -0.04800230264663696,
+          -0.9987460970878601,
+          0.014213933609426022,
+          -12.527849197387695
+        ],
+        [
+          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": "1731323478_383081912",
+      "mask_path": "../../mask/hdr_left_02160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02162.png",
+      "transform_matrix": [
+        [
+          0.9947682619094849,
+          -0.0692182332277298,
+          -0.07513217628002167,
+          -13.960416793823242
+        ],
+        [
+          0.07582970708608627,
+          0.007501326035708189,
+          0.9970924854278564,
+          15.218537330627441
+        ],
+        [
+          -0.06845340132713318,
+          -0.9975733757019043,
+          0.012710881419479847,
+          -12.560152053833008
+        ],
+        [
+          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": "1731323478_583081960",
+      "mask_path": "../../mask/hdr_left_02162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02171.png",
+      "transform_matrix": [
+        [
+          0.9750557541847229,
+          -0.1808333843946457,
+          -0.12870679795742035,
+          -13.623590469360352
+        ],
+        [
+          0.12467842549085617,
+          -0.03351784124970436,
+          0.9916309118270874,
+          15.34582233428955
+        ],
+        [
+          -0.1836339235305786,
+          -0.982942521572113,
+          -0.010135739110410213,
+          -12.703713417053223
+        ],
+        [
+          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": "1731323479_483081579",
+      "mask_path": "../../mask/hdr_left_02171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02172.png",
+      "transform_matrix": [
+        [
+          0.9707687497138977,
+          -0.20173221826553345,
+          -0.1300462931394577,
+          -13.572218894958496
+        ],
+        [
+          0.12191718071699142,
+          -0.05226588621735573,
+          0.9911631345748901,
+          15.349798202514648
+        ],
+        [
+          -0.20674651861190796,
+          -0.9780452251434326,
+          -0.026143457740545273,
+          -12.719880104064941
+        ],
+        [
+          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": "1731323479_583081960",
+      "mask_path": "../../mask/hdr_left_02172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02174.png",
+      "transform_matrix": [
+        [
+          0.9685397148132324,
+          -0.21538494527339935,
+          -0.12465957552194595,
+          -13.506986618041992
+        ],
+        [
+          0.11438010632991791,
+          -0.059598736464977264,
+          0.9916476607322693,
+          15.370183944702148
+        ],
+        [
+          -0.22101552784442902,
+          -0.9747088551521301,
+          -0.033087994903326035,
+          -12.762527465820312
+        ],
+        [
+          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": "1731323479_783082008",
+      "mask_path": "../../mask/hdr_left_02174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02175.png",
+      "transform_matrix": [
+        [
+          0.9665684103965759,
+          -0.22859711945056915,
+          -0.11614087969064713,
+          -13.456274032592773
+        ],
+        [
+          0.108123280107975,
+          -0.04733441397547722,
+          0.9930099248886108,
+          15.378701210021973
+        ],
+        [
+          -0.23249664902687073,
+          -0.9723697304725647,
+          -0.02103528007864952,
+          -12.771516799926758
+        ],
+        [
+          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": "1731323479_883082151",
+      "mask_path": "../../mask/hdr_left_02175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02177.png",
+      "transform_matrix": [
+        [
+          0.9619961977005005,
+          -0.25499850511550903,
+          -0.09766755998134613,
+          -13.406837463378906
+        ],
+        [
+          0.09163260459899902,
+          -0.03546953573822975,
+          0.9951609969139099,
+          15.393251419067383
+        ],
+        [
+          -0.2572287619113922,
+          -0.9662907123565674,
+          -0.010755375027656555,
+          -12.784653663635254
+        ],
+        [
+          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": "1731323480_83081722",
+      "mask_path": "../../mask/hdr_left_02177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02179.png",
+      "transform_matrix": [
+        [
+          0.9594260454177856,
+          -0.2650524079799652,
+          -0.09617090225219727,
+          -13.31985855102539
+        ],
+        [
+          0.08477207273244858,
+          -0.0541425496339798,
+          0.9949283599853516,
+          15.423128128051758
+        ],
+        [
+          -0.2689150869846344,
+          -0.9627127647399902,
+          -0.02947673201560974,
+          -12.786233901977539
+        ],
+        [
+          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": "1731323480_283081054",
+      "mask_path": "../../mask/hdr_left_02179.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02181.png",
+      "transform_matrix": [
+        [
+          0.9467355012893677,
+          -0.29835426807403564,
+          -0.12114694714546204,
+          -13.28849983215332
+        ],
+        [
+          0.10176031291484833,
+          -0.07973788678646088,
+          0.9916080832481384,
+          15.455293655395508
+        ],
+        [
+          -0.3055105209350586,
+          -0.9511186480522156,
+          -0.04513005167245865,
+          -12.802456855773926
+        ],
+        [
+          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": "1731323480_483080863",
+      "mask_path": "../../mask/hdr_left_02181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02183.png",
+      "transform_matrix": [
+        [
+          0.9474295377731323,
+          -0.29362162947654724,
+          -0.1271362006664276,
+          -13.252080917358398
+        ],
+        [
+          0.11399323493242264,
+          -0.0615227185189724,
+          0.991574764251709,
+          15.510621070861816
+        ],
+        [
+          -0.2989695370197296,
+          -0.9539398550987244,
+          -0.024817539379000664,
+          -12.84211540222168
+        ],
+        [
+          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": "1731323480_683080911",
+      "mask_path": "../../mask/hdr_left_02183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02187.png",
+      "transform_matrix": [
+        [
+          0.9659464955329895,
+          -0.23453526198863983,
+          -0.10927296429872513,
+          -13.068745613098145
+        ],
+        [
+          0.09964574873447418,
+          -0.052550218999385834,
+          0.9936343431472778,
+          15.57116985321045
+        ],
+        [
+          -0.2387845814228058,
+          -0.9706862568855286,
+          -0.0273902490735054,
+          -12.849780082702637
+        ],
+        [
+          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": "1731323481_83079099",
+      "mask_path": "../../mask/hdr_left_02187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02189.png",
+      "transform_matrix": [
+        [
+          0.9683824777603149,
+          -0.22310157120227814,
+          -0.11162873357534409,
+          -13.010396957397461
+        ],
+        [
+          0.10265320539474487,
+          -0.05146855488419533,
+          0.9933847784996033,
+          15.620841026306152
+        ],
+        [
+          -0.22737103700637817,
+          -0.9734355807304382,
+          -0.026939155533909798,
+          -12.868165016174316
+        ],
+        [
+          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": "1731323481_283081054",
+      "mask_path": "../../mask/hdr_left_02189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02191.png",
+      "transform_matrix": [
+        [
+          0.9681249260902405,
+          -0.2218693494796753,
+          -0.11622408777475357,
+          -12.956311225891113
+        ],
+        [
+          0.11213694512844086,
+          -0.030974725261330605,
+          0.9932098388671875,
+          15.674102783203125
+        ],
+        [
+          -0.22396281361579895,
+          -0.9745843410491943,
+          -0.005107654258608818,
+          -12.89413070678711
+        ],
+        [
+          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": "1731323481_483080387",
+      "mask_path": "../../mask/hdr_left_02191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02193.png",
+      "transform_matrix": [
+        [
+          0.9681834578514099,
+          -0.21907596290111542,
+          -0.12093968689441681,
+          -12.905427932739258
+        ],
+        [
+          0.11938342452049255,
+          -0.020378313958644867,
+          0.9926390647888184,
+          15.719036102294922
+        ],
+        [
+          -0.21992790699005127,
+          -0.9754950404167175,
+          0.006424094084650278,
+          -12.884909629821777
+        ],
+        [
+          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": "1731323481_683080911",
+      "mask_path": "../../mask/hdr_left_02193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02195.png",
+      "transform_matrix": [
+        [
+          0.9749090075492859,
+          -0.1843760460615158,
+          -0.12473132461309433,
+          -12.822796821594238
+        ],
+        [
+          0.12354246526956558,
+          -0.017968090251088142,
+          0.9921765923500061,
+          15.745098114013672
+        ],
+        [
+          -0.18517476320266724,
+          -0.9826916456222534,
+          0.005261017940938473,
+          -12.895669937133789
+        ],
+        [
+          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": "1731323481_883081197",
+      "mask_path": "../../mask/hdr_left_02195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02200.png",
+      "transform_matrix": [
+        [
+          0.9813006520271301,
+          -0.14206239581108093,
+          -0.12987405061721802,
+          -12.734683990478516
+        ],
+        [
+          0.12630325555801392,
+          -0.03390928730368614,
+          0.9914118647575378,
+          15.774519920349121
+        ],
+        [
+          -0.14524628221988678,
+          -0.9892767667770386,
+          -0.015332259237766266,
+          -12.846757888793945
+        ],
+        [
+          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": "1731323482_383081674",
+      "mask_path": "../../mask/hdr_left_02200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02202.png",
+      "transform_matrix": [
+        [
+          0.9879851937294006,
+          -0.1098870262503624,
+          -0.10867419838905334,
+          -12.624471664428711
+        ],
+        [
+          0.10453115403652191,
+          -0.04280256852507591,
+          0.9936001300811768,
+          15.754352569580078
+        ],
+        [
+          -0.11383530497550964,
+          -0.993022084236145,
+          -0.0308016836643219,
+          -12.857820510864258
+        ],
+        [
+          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": "1731323482_583081483",
+      "mask_path": "../../mask/hdr_left_02202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02203.png",
+      "transform_matrix": [
+        [
+          0.9899281859397888,
+          -0.10339721292257309,
+          -0.09670090675354004,
+          -12.546266555786133
+        ],
+        [
+          0.09373529255390167,
+          -0.03317718580365181,
+          0.9950442314147949,
+          15.759685516357422
+        ],
+        [
+          -0.10609304904937744,
+          -0.9940866827964783,
+          -0.023151060566306114,
+          -12.881136894226074
+        ],
+        [
+          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": "1731323482_683083534",
+      "mask_path": "../../mask/hdr_left_02203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02204.png",
+      "transform_matrix": [
+        [
+          0.9907737970352173,
+          -0.09838937222957611,
+          -0.09320255368947983,
+          -12.480557441711426
+        ],
+        [
+          0.09140981733798981,
+          -0.02258397452533245,
+          0.9955571293830872,
+          15.783576011657715
+        ],
+        [
+          -0.10005714744329453,
+          -0.9948917031288147,
+          -0.013381854631006718,
+          -12.899971008300781
+        ],
+        [
+          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": "1731323482_783082246",
+      "mask_path": "../../mask/hdr_left_02204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02205.png",
+      "transform_matrix": [
+        [
+          0.9914939999580383,
+          -0.09363852441310883,
+          -0.09039667248725891,
+          -12.417451858520508
+        ],
+        [
+          0.08984566479921341,
+          -0.010091961361467838,
+          0.9959045648574829,
+          15.818249702453613
+        ],
+        [
+          -0.0941673144698143,
+          -0.9955551624298096,
+          -0.0015930961817502975,
+          -12.919327735900879
+        ],
+        [
+          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": "1731323482_883081912",
+      "mask_path": "../../mask/hdr_left_02205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02206.png",
+      "transform_matrix": [
+        [
+          0.9931982755661011,
+          -0.07611015439033508,
+          -0.08811608701944351,
+          -12.341960906982422
+        ],
+        [
+          0.08757693320512772,
+          -0.010398613288998604,
+          0.9961034655570984,
+          15.84405517578125
+        ],
+        [
+          -0.07672987133264542,
+          -0.9970452189445496,
+          -0.003662382485345006,
+          -12.926742553710938
+        ],
+        [
+          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": "1731323482_983082294",
+      "mask_path": "../../mask/hdr_left_02206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02207.png",
+      "transform_matrix": [
+        [
+          0.9945999383926392,
+          -0.06333558261394501,
+          -0.082216277718544,
+          -12.275571823120117
+        ],
+        [
+          0.08165102452039719,
+          -0.011466343887150288,
+          0.996595025062561,
+          15.859395027160645
+        ],
+        [
+          -0.06406264007091522,
+          -0.9979264140129089,
+          -0.006233008578419685,
+          -12.924036026000977
+        ],
+        [
+          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": "1731323483_83081960",
+      "mask_path": "../../mask/hdr_left_02207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02209.png",
+      "transform_matrix": [
+        [
+          0.9958691596984863,
+          -0.06382375210523605,
+          -0.06458492577075958,
+          -12.209969520568848
+        ],
+        [
+          0.06413581967353821,
+          -0.009062685072422028,
+          0.9979000091552734,
+          15.874510765075684
+        ],
+        [
+          -0.06427503377199173,
+          -0.997920036315918,
+          -0.0049318536184728146,
+          -12.930402755737305
+        ],
+        [
+          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": "1731323483_283082246",
+      "mask_path": "../../mask/hdr_left_02209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02210.png",
+      "transform_matrix": [
+        [
+          0.9970850348472595,
+          -0.055625975131988525,
+          -0.05222099646925926,
+          -12.16086483001709
+        ],
+        [
+          0.05235510319471359,
+          0.0009558852179907262,
+          0.9986280798912048,
+          15.898990631103516
+        ],
+        [
+          -0.055499739944934845,
+          -0.998451292514801,
+          0.0038654082454741,
+          -12.942276000976562
+        ],
+        [
+          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": "1731323483_383080959",
+      "mask_path": "../../mask/hdr_left_02210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02211.png",
+      "transform_matrix": [
+        [
+          0.997481644153595,
+          -0.05083456635475159,
+          -0.049459658563137054,
+          -12.095902442932129
+        ],
+        [
+          0.049510564655065536,
+          -0.0002576408442109823,
+          0.9987735748291016,
+          15.929622650146484
+        ],
+        [
+          -0.050784964114427567,
+          -0.998707115650177,
+          0.002259858651086688,
+          -12.945258140563965
+        ],
+        [
+          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": "1731323483_483082771",
+      "mask_path": "../../mask/hdr_left_02211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02213.png",
+      "transform_matrix": [
+        [
+          0.9972875714302063,
+          -0.05290455371141434,
+          -0.051170866936445236,
+          -12.02773380279541
+        ],
+        [
+          0.05079009383916855,
+          -0.008517653681337833,
+          0.9986730217933655,
+          15.94875717163086
+        ],
+        [
+          -0.05327020213007927,
+          -0.998563289642334,
+          -0.00580751895904541,
+          -12.964810371398926
+        ],
+        [
+          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": "1731323483_683081626",
+      "mask_path": "../../mask/hdr_left_02213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02215.png",
+      "transform_matrix": [
+        [
+          0.9960440397262573,
+          -0.07046527415513992,
+          -0.05413699150085449,
+          -11.936705589294434
+        ],
+        [
+          0.05403706431388855,
+          -0.003324389224871993,
+          0.9985334277153015,
+          15.975029945373535
+        ],
+        [
+          -0.07054189592599869,
+          -0.9975087642669678,
+          0.0004965034313499928,
+          -12.979066848754883
+        ],
+        [
+          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": "1731323483_883081674",
+      "mask_path": "../../mask/hdr_left_02215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02218.png",
+      "transform_matrix": [
+        [
+          0.9957497119903564,
+          -0.0854952484369278,
+          -0.034249864518642426,
+          -11.819735527038574
+        ],
+        [
+          0.03469550982117653,
+          0.0037319257389754057,
+          0.9993909597396851,
+          16.00459861755371
+        ],
+        [
+          -0.08531536161899567,
+          -0.9963316321372986,
+          0.006682369392365217,
+          -12.973631858825684
+        ],
+        [
+          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": "1731323484_183082103",
+      "mask_path": "../../mask/hdr_left_02218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02219.png",
+      "transform_matrix": [
+        [
+          0.9950944185256958,
+          -0.09169037640094757,
+          -0.0371481217443943,
+          -11.769545555114746
+        ],
+        [
+          0.03732564300298691,
+          0.00022154880571179092,
+          0.9993031620979309,
+          16.02948760986328
+        ],
+        [
+          -0.09161823242902756,
+          -0.9957875609397888,
+          0.0036428694147616625,
+          -12.984821319580078
+        ],
+        [
+          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": "1731323484_283080577",
+      "mask_path": "../../mask/hdr_left_02219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02221.png",
+      "transform_matrix": [
+        [
+          0.9936373233795166,
+          -0.0955737754702568,
+          -0.059585750102996826,
+          -11.709615707397461
+        ],
+        [
+          0.060306571424007416,
+          0.004669045098125935,
+          0.9981689453125,
+          16.076168060302734
+        ],
+        [
+          -0.09512055665254593,
+          -0.9954114556312561,
+          0.010403066873550415,
+          -13.01218318939209
+        ],
+        [
+          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": "1731323484_483081102",
+      "mask_path": "../../mask/hdr_left_02221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02223.png",
+      "transform_matrix": [
+        [
+          0.9915955662727356,
+          -0.10702484846115112,
+          -0.07269003242254257,
+          -11.655281066894531
+        ],
+        [
+          0.07358082383871078,
+          0.004393073730170727,
+          0.9972795248031616,
+          16.124082565307617
+        ],
+        [
+          -0.10641435533761978,
+          -0.9942467212677002,
+          0.012231136672198772,
+          -13.016101837158203
+        ],
+        [
+          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": "1731323484_683081150",
+      "mask_path": "../../mask/hdr_left_02223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02225.png",
+      "transform_matrix": [
+        [
+          0.9927150011062622,
+          -0.10370597243309021,
+          -0.06133371219038963,
+          -11.588459014892578
+        ],
+        [
+          0.062232375144958496,
+          0.005449078045785427,
+          0.9980468153953552,
+          16.12624168395996
+        ],
+        [
+          -0.10316919535398483,
+          -0.99459308385849,
+          0.011863252148032188,
+          -13.010398864746094
+        ],
+        [
+          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": "1731323484_883081674",
+      "mask_path": "../../mask/hdr_left_02225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02226.png",
+      "transform_matrix": [
+        [
+          0.9932045340538025,
+          -0.1039043441414833,
+          -0.05242691561579704,
+          -11.538186073303223
+        ],
+        [
+          0.053736452013254166,
+          0.009842690080404282,
+          0.9985066056251526,
+          16.134572982788086
+        ],
+        [
+          -0.10323313623666763,
+          -0.9945386648178101,
+          0.015359259210526943,
+          -13.01677131652832
+        ],
+        [
+          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": "1731323484_983081817",
+      "mask_path": "../../mask/hdr_left_02226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02231.png",
+      "transform_matrix": [
+        [
+          0.9927043318748474,
+          -0.10676407814025879,
+          -0.05603203922510147,
+          -11.343679428100586
+        ],
+        [
+          0.05728770047426224,
+          0.008728533051908016,
+          0.9983195662498474,
+          16.204988479614258
+        ],
+        [
+          -0.10609558969736099,
+          -0.9942461252212524,
+          0.014781123027205467,
+          -13.05399227142334
+        ],
+        [
+          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": "1731323485_483081340",
+      "mask_path": "../../mask/hdr_left_02231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02233.png",
+      "transform_matrix": [
+        [
+          0.9935357570648193,
+          -0.10616373270750046,
+          -0.040198154747486115,
+          -11.271337509155273
+        ],
+        [
+          0.04236699268221855,
+          0.01825254037976265,
+          0.998935341835022,
+          16.219348907470703
+        ],
+        [
+          -0.10531698167324066,
+          -0.9941811561584473,
+          0.022632388398051262,
+          -13.044012069702148
+        ],
+        [
+          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": "1731323485_683082342",
+      "mask_path": "../../mask/hdr_left_02233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02235.png",
+      "transform_matrix": [
+        [
+          0.9941320419311523,
+          -0.10393057763576508,
+          -0.03000015579164028,
+          -11.172225952148438
+        ],
+        [
+          0.03162086382508278,
+          0.013981351628899574,
+          0.9994021654129028,
+          16.253896713256836
+        ],
+        [
+          -0.10344898700714111,
+          -0.9944863319396973,
+          0.01718568429350853,
+          -13.056058883666992
+        ],
+        [
+          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": "1731323485_883081436",
+      "mask_path": "../../mask/hdr_left_02235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02237.png",
+      "transform_matrix": [
+        [
+          0.9942643642425537,
+          -0.1014292910695076,
+          -0.033918511122465134,
+          -11.108033180236816
+        ],
+        [
+          0.03425087407231331,
+          0.0015365459257736802,
+          0.9994120001792908,
+          16.282808303833008
+        ],
+        [
+          -0.10131753981113434,
+          -0.9948416352272034,
+          0.00500177638605237,
+          -13.089486122131348
+        ],
+        [
+          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": "1731323486_83080768",
+      "mask_path": "../../mask/hdr_left_02237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02239.png",
+      "transform_matrix": [
+        [
+          0.9945165514945984,
+          -0.09866779297590256,
+          -0.03466084226965904,
+          -11.02634334564209
+        ],
+        [
+          0.03418922424316406,
+          -0.006467151455581188,
+          0.999394416809082,
+          16.310253143310547
+        ],
+        [
+          -0.09883219748735428,
+          -0.9950994253158569,
+          -0.003058310365304351,
+          -13.101243019104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2239,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323486_283081054",
+      "mask_path": "../../mask/hdr_left_02239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02241.png",
+      "transform_matrix": [
+        [
+          0.9954678416252136,
+          -0.09333962947130203,
+          -0.018208255991339684,
+          -10.95262622833252
+        ],
+        [
+          0.016895094886422157,
+          -0.014839526265859604,
+          0.999747097492218,
+          16.316505432128906
+        ],
+        [
+          -0.09358622133731842,
+          -0.9955237507820129,
+          -0.013195285573601723,
+          -13.088573455810547
+        ],
+        [
+          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": "1731323486_483081340",
+      "mask_path": "../../mask/hdr_left_02241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02243.png",
+      "transform_matrix": [
+        [
+          0.9952377676963806,
+          -0.09734325855970383,
+          -0.00510054687038064,
+          -10.864835739135742
+        ],
+        [
+          0.003614658722653985,
+          -0.01543454360216856,
+          0.9998744130134583,
+          16.326391220092773
+        ],
+        [
+          -0.09740974754095078,
+          -0.9951311945915222,
+          -0.01500917598605156,
+          -13.100593566894531
+        ],
+        [
+          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": "1731323486_683079957",
+      "mask_path": "../../mask/hdr_left_02243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02275.png",
+      "transform_matrix": [
+        [
+          0.9966982007026672,
+          -0.08028069883584976,
+          0.012147490866482258,
+          -10.665233612060547
+        ],
+        [
+          -0.01697673089802265,
+          -0.05974815413355827,
+          0.9980690479278564,
+          16.34851837158203
+        ],
+        [
+          -0.07939989119768143,
+          -0.994979977607727,
+          -0.060913778841495514,
+          -13.096260070800781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2275,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323489_883081674",
+      "mask_path": "../../mask/hdr_left_02275.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02277.png",
+      "transform_matrix": [
+        [
+          0.9967697858810425,
+          -0.07982727885246277,
+          -0.00880253966897726,
+          -10.589593887329102
+        ],
+        [
+          0.0037278099916875362,
+          -0.06349889189004898,
+          0.9979748725891113,
+          16.359132766723633
+        ],
+        [
+          -0.08022457361221313,
+          -0.9947842955589294,
+          -0.06299618631601334,
+          -13.118233680725098
+        ],
+        [
+          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": "1731323490_83082199",
+      "mask_path": "../../mask/hdr_left_02277.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02278.png",
+      "transform_matrix": [
+        [
+          0.9961927533149719,
+          -0.08300778269767761,
+          -0.026640262454748154,
+          -10.530665397644043
+        ],
+        [
+          0.022168327122926712,
+          -0.05433701351284981,
+          0.9982765316963196,
+          16.378530502319336
+        ],
+        [
+          -0.08431227505207062,
+          -0.9950665235519409,
+          -0.05228998884558678,
+          -13.132566452026367
+        ],
+        [
+          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": "1731323490_183081626",
+      "mask_path": "../../mask/hdr_left_02278.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02279.png",
+      "transform_matrix": [
+        [
+          0.995566189289093,
+          -0.08613979816436768,
+          -0.037788502871990204,
+          -10.463134765625
+        ],
+        [
+          0.03370285779237747,
+          -0.048401590436697006,
+          0.9982591867446899,
+          16.394750595092773
+        ],
+        [
+          -0.08781885355710983,
+          -0.9951066374778748,
+          -0.04528381675481796,
+          -13.129023551940918
+        ],
+        [
+          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": "1731323490_283081769",
+      "mask_path": "../../mask/hdr_left_02279.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02281.png",
+      "transform_matrix": [
+        [
+          0.994698703289032,
+          -0.08612733334302902,
+          -0.056183867156505585,
+          -10.398309707641602
+        ],
+        [
+          0.05282513052225113,
+          -0.04079404100775719,
+          0.9977701306343079,
+          16.413806915283203
+        ],
+        [
+          -0.08822724968194962,
+          -0.9954487085342407,
+          -0.03602809086441994,
+          -13.13636589050293
+        ],
+        [
+          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": "1731323490_483081817",
+      "mask_path": "../../mask/hdr_left_02281.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02293.png",
+      "transform_matrix": [
+        [
+          0.9643691778182983,
+          -0.11040597409009933,
+          -0.24042147397994995,
+          -10.009328842163086
+        ],
+        [
+          0.23705336451530457,
+          -0.04287897050380707,
+          0.9705498814582825,
+          16.721376419067383
+        ],
+        [
+          -0.11746352910995483,
+          -0.9929612278938293,
+          -0.015179052017629147,
+          -13.233338356018066
+        ],
+        [
+          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": "1731323491_683083534",
+      "mask_path": "../../mask/hdr_left_02293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02294.png",
+      "transform_matrix": [
+        [
+          0.9599355459213257,
+          -0.11071497201919556,
+          -0.25742149353027344,
+          -9.956439018249512
+        ],
+        [
+          0.2540585398674011,
+          -0.04372328147292137,
+          0.966200053691864,
+          16.74966049194336
+        ],
+        [
+          -0.11822812259197235,
+          -0.9928900003433228,
+          -0.013843443244695663,
+          -13.235021591186523
+        ],
+        [
+          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": "1731323491_783080816",
+      "mask_path": "../../mask/hdr_left_02294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02296.png",
+      "transform_matrix": [
+        [
+          0.9535015821456909,
+          -0.12044703960418701,
+          -0.27627384662628174,
+          -9.889663696289062
+        ],
+        [
+          0.27272701263427734,
+          -0.04532996937632561,
+          0.9610230326652527,
+          16.78898048400879
+        ],
+        [
+          -0.12827585637569427,
+          -0.9916843175888062,
+          -0.01037303265184164,
+          -13.238789558410645
+        ],
+        [
+          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": "1731323491_983081102",
+      "mask_path": "../../mask/hdr_left_02296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02298.png",
+      "transform_matrix": [
+        [
+          0.9472891092300415,
+          -0.14465901255607605,
+          -0.28586170077323914,
+          -9.816584587097168
+        ],
+        [
+          0.281523734331131,
+          -0.05006171017885208,
+          0.9582474231719971,
+          16.821231842041016
+        ],
+        [
+          -0.1529298573732376,
+          -0.988214373588562,
+          -0.006697969511151314,
+          -13.280945777893066
+        ],
+        [
+          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": "1731323492_183080673",
+      "mask_path": "../../mask/hdr_left_02298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02299.png",
+      "transform_matrix": [
+        [
+          0.9389563202857971,
+          -0.16185709834098816,
+          -0.3035840690135956,
+          -9.760985374450684
+        ],
+        [
+          0.29650869965553284,
+          -0.06680566072463989,
+          0.9526906609535217,
+          16.850223541259766
+        ],
+        [
+          -0.1744808852672577,
+          -0.984550416469574,
+          -0.014735566452145576,
+          -13.313815116882324
+        ],
+        [
+          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": "1731323492_283081769",
+      "mask_path": "../../mask/hdr_left_02299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02301.png",
+      "transform_matrix": [
+        [
+          0.9280315041542053,
+          -0.18160480260849,
+          -0.32523390650749207,
+          -9.673276901245117
+        ],
+        [
+          0.3147977292537689,
+          -0.08442886173725128,
+          0.9453961849212646,
+          16.910863876342773
+        ],
+        [
+          -0.19914762675762177,
+          -0.9797406196594238,
+          -0.02118387073278427,
+          -13.362085342407227
+        ],
+        [
+          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": "1731323492_483082532",
+      "mask_path": "../../mask/hdr_left_02301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02302.png",
+      "transform_matrix": [
+        [
+          0.9251830577850342,
+          -0.1990998536348343,
+          -0.3231028616428375,
+          -9.614238739013672
+        ],
+        [
+          0.3089829087257385,
+          -0.0992002934217453,
+          0.9458798766136169,
+          16.94074821472168
+        ],
+        [
+          -0.22037644684314728,
+          -0.9749454259872437,
+          -0.03025997243821621,
+          -13.387450218200684
+        ],
+        [
+          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": "1731323492_583083391",
+      "mask_path": "../../mask/hdr_left_02302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02303.png",
+      "transform_matrix": [
+        [
+          0.9230019450187683,
+          -0.22288846969604492,
+          -0.3136689364910126,
+          -9.562135696411133
+        ],
+        [
+          0.2961026132106781,
+          -0.10918325185775757,
+          0.9488952159881592,
+          16.958105087280273
+        ],
+        [
+          -0.2457451969385147,
+          -0.9687103629112244,
+          -0.03477848321199417,
+          -13.413978576660156
+        ],
+        [
+          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": "1731323492_683081626",
+      "mask_path": "../../mask/hdr_left_02303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02304.png",
+      "transform_matrix": [
+        [
+          0.9227716326713562,
+          -0.23796658217906952,
+          -0.30309122800827026,
+          -9.521047592163086
+        ],
+        [
+          0.28534865379333496,
+          -0.10663124918937683,
+          0.952473521232605,
+          16.98128318786621
+        ],
+        [
+          -0.2589758634567261,
+          -0.965402364730835,
+          -0.03049284964799881,
+          -13.439574241638184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2304,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323492_783080816",
+      "mask_path": "../../mask/hdr_left_02304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02305.png",
+      "transform_matrix": [
+        [
+          0.9247257113456726,
+          -0.2422565072774887,
+          -0.2935883104801178,
+          -9.472002029418945
+        ],
+        [
+          0.27484333515167236,
+          -0.10864268988370895,
+          0.9553312063217163,
+          17.040342330932617
+        ],
+        [
+          -0.26333141326904297,
+          -0.9641103148460388,
+          -0.03388209640979767,
+          -13.497480392456055
+        ],
+        [
+          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": "1731323492_883081912",
+      "mask_path": "../../mask/hdr_left_02305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02306.png",
+      "transform_matrix": [
+        [
+          0.9227461218833923,
+          -0.2548160254955292,
+          -0.28915107250213623,
+          -9.396276473999023
+        ],
+        [
+          0.26181918382644653,
+          -0.1361093372106552,
+          0.9554710388183594,
+          17.07573890686035
+        ],
+        [
+          -0.2828254699707031,
+          -0.9573625922203064,
+          -0.058878641575574875,
+          -13.521102905273438
+        ],
+        [
+          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": "1731323492_983081817",
+      "mask_path": "../../mask/hdr_left_02306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02307.png",
+      "transform_matrix": [
+        [
+          0.9187486171722412,
+          -0.26815852522850037,
+          -0.28981372714042664,
+          -9.340075492858887
+        ],
+        [
+          0.25544267892837524,
+          -0.15602236986160278,
+          0.9541520476341248,
+          17.0811824798584
+        ],
+        [
+          -0.3010813891887665,
+          -0.9506566524505615,
+          -0.07484618574380875,
+          -13.510844230651855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2307,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323493_83083391",
+      "mask_path": "../../mask/hdr_left_02307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02309.png",
+      "transform_matrix": [
+        [
+          0.9192054867744446,
+          -0.279238224029541,
+          -0.27764594554901123,
+          -9.258177757263184
+        ],
+        [
+          0.24006228148937225,
+          -0.16152241826057434,
+          0.9572254419326782,
+          17.14248275756836
+        ],
+        [
+          -0.31213998794555664,
+          -0.9465392827987671,
+          -0.08143772929906845,
+          -13.573521614074707
+        ],
+        [
+          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": "1731323493_283081769",
+      "mask_path": "../../mask/hdr_left_02309.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02310.png",
+      "transform_matrix": [
+        [
+          0.9204848408699036,
+          -0.282964289188385,
+          -0.2695158123970032,
+          -9.195866584777832
+        ],
+        [
+          0.23148241639137268,
+          -0.1608373373746872,
+          0.9594515562057495,
+          17.172449111938477
+        ],
+        [
+          -0.3148386478424072,
+          -0.9455488324165344,
+          -0.08254706859588623,
+          -13.59127426147461
+        ],
+        [
+          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": "1731323493_383081436",
+      "mask_path": "../../mask/hdr_left_02310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02312.png",
+      "transform_matrix": [
+        [
+          0.9234347343444824,
+          -0.28911861777305603,
+          -0.2523462474346161,
+          -9.119552612304688
+        ],
+        [
+          0.21509425342082977,
+          -0.15462681651115417,
+          0.9642744064331055,
+          17.208717346191406
+        ],
+        [
+          -0.3178091049194336,
+          -0.9447227716445923,
+          -0.08060001581907272,
+          -13.628737449645996
+        ],
+        [
+          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": "1731323493_583081960",
+      "mask_path": "../../mask/hdr_left_02312.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02313.png",
+      "transform_matrix": [
+        [
+          0.92630934715271,
+          -0.28662484884262085,
+          -0.24453464150428772,
+          -9.062644958496094
+        ],
+        [
+          0.2105156034231186,
+          -0.14452768862247467,
+          0.9668479561805725,
+          17.226558685302734
+        ],
+        [
+          -0.3124646544456482,
+          -0.9470786452293396,
+          -0.07353835552930832,
+          -13.659809112548828
+        ],
+        [
+          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": "1731323493_683084011",
+      "mask_path": "../../mask/hdr_left_02313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02314.png",
+      "transform_matrix": [
+        [
+          0.9295480847358704,
+          -0.2800789177417755,
+          -0.23978357017040253,
+          -8.970746994018555
+        ],
+        [
+          0.2098192721605301,
+          -0.13293370604515076,
+          0.9686611890792847,
+          17.261259078979492
+        ],
+        [
+          -0.3031768500804901,
+          -0.9507284164428711,
+          -0.06480231881141663,
+          -13.67807674407959
+        ],
+        [
+          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": "1731323493_783080577",
+      "mask_path": "../../mask/hdr_left_02314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02315.png",
+      "transform_matrix": [
+        [
+          0.9316940903663635,
+          -0.2749616503715515,
+          -0.2373649775981903,
+          -8.909564971923828
+        ],
+        [
+          0.21222344040870667,
+          -0.1182895377278328,
+          0.9700354337692261,
+          17.2932186126709
+        ],
+        [
+          -0.2948002815246582,
+          -0.9541507959365845,
+          -0.05185636505484581,
+          -13.691941261291504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2315,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323493_883082628",
+      "mask_path": "../../mask/hdr_left_02315.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02316.png",
+      "transform_matrix": [
+        [
+          0.9336063861846924,
+          -0.27205973863601685,
+          -0.23315760493278503,
+          -8.852376937866211
+        ],
+        [
+          0.21511487662792206,
+          -0.09479942172765732,
+          0.971976637840271,
+          17.322792053222656
+        ],
+        [
+          -0.28653889894485474,
+          -0.957599401473999,
+          -0.029981257393956184,
+          -13.712340354919434
+        ],
+        [
+          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": "1731323493_983080863",
+      "mask_path": "../../mask/hdr_left_02316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02317.png",
+      "transform_matrix": [
+        [
+          0.9374514818191528,
+          -0.26089170575141907,
+          -0.23047815263271332,
+          -8.783540725708008
+        ],
+        [
+          0.21683336794376373,
+          -0.08034270256757736,
+          0.9728968739509583,
+          17.361591339111328
+        ],
+        [
+          -0.27233797311782837,
+          -0.9620190262794495,
+          -0.018747350201010704,
+          -13.749393463134766
+        ],
+        [
+          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": "1731323494_83081245",
+      "mask_path": "../../mask/hdr_left_02317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02318.png",
+      "transform_matrix": [
+        [
+          0.9388685822486877,
+          -0.2609458267688751,
+          -0.22457297146320343,
+          -8.69603443145752
+        ],
+        [
+          0.21462836861610413,
+          -0.06639053672552109,
+          0.9744367003440857,
+          17.389997482299805
+        ],
+        [
+          -0.2691847085952759,
+          -0.9630678296089172,
+          -0.00632561044767499,
+          -13.748847007751465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2318,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323494_183082342",
+      "mask_path": "../../mask/hdr_left_02318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02321.png",
+      "transform_matrix": [
+        [
+          0.9561368823051453,
+          -0.20379725098609924,
+          -0.210401713848114,
+          -8.53889274597168
+        ],
+        [
+          0.20605742931365967,
+          -0.04255460575222969,
+          0.9776141047477722,
+          17.45142936706543
+        ],
+        [
+          -0.20818863809108734,
+          -0.978087842464447,
+          0.00130591937340796,
+          -13.753275871276855
+        ],
+        [
+          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": "1731323494_483082056",
+      "mask_path": "../../mask/hdr_left_02321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02324.png",
+      "transform_matrix": [
+        [
+          0.9679837226867676,
+          -0.17228271067142487,
+          -0.1825544238090515,
+          -8.413565635681152
+        ],
+        [
+          0.18234388530254364,
+          -0.01718420721590519,
+          0.9830846190452576,
+          17.531787872314453
+        ],
+        [
+          -0.17250552773475647,
+          -0.9848976135253906,
+          0.01478066761046648,
+          -13.774931907653809
+        ],
+        [
+          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": "1731323494_783081054",
+      "mask_path": "../../mask/hdr_left_02324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02325.png",
+      "transform_matrix": [
+        [
+          0.9740303158760071,
+          -0.15281900763511658,
+          -0.1670660823583603,
+          -8.347771644592285
+        ],
+        [
+          0.16687209904193878,
+          -0.014186592772603035,
+          0.9858765006065369,
+          17.5516300201416
+        ],
+        [
+          -0.15303073823451996,
+          -0.9881523847579956,
+          0.011683057062327862,
+          -13.76389217376709
+        ],
+        [
+          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": "1731323494_883080959",
+      "mask_path": "../../mask/hdr_left_02325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02327.png",
+      "transform_matrix": [
+        [
+          0.9858443140983582,
+          -0.11949247121810913,
+          -0.11761163175106049,
+          -8.268516540527344
+        ],
+        [
+          0.11685514450073242,
+          -0.01334240473806858,
+          0.9930593967437744,
+          17.55461311340332
+        ],
+        [
+          -0.12023233622312546,
+          -0.9927455186843872,
+          0.0008097834070213139,
+          -13.738648414611816
+        ],
+        [
+          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": "1731323495_83082675",
+      "mask_path": "../../mask/hdr_left_02327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02328.png",
+      "transform_matrix": [
+        [
+          0.989259660243988,
+          -0.10522160679101944,
+          -0.10145825892686844,
+          -8.209590911865234
+        ],
+        [
+          0.09995292127132416,
+          -0.019495680928230286,
+          0.9948012232780457,
+          17.561922073364258
+        ],
+        [
+          -0.10665256530046463,
+          -0.9942577481269836,
+          -0.008769080974161625,
+          -13.73062515258789
+        ],
+        [
+          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": "1731323495_183081150",
+      "mask_path": "../../mask/hdr_left_02328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02329.png",
+      "transform_matrix": [
+        [
+          0.990604043006897,
+          -0.09537743031978607,
+          -0.09801375865936279,
+          -8.1558256149292
+        ],
+        [
+          0.09634049981832504,
+          -0.022004185244441032,
+          0.9951051473617554,
+          17.58116340637207
+        ],
+        [
+          -0.09706728160381317,
+          -0.9951980113983154,
+          -0.012608718127012253,
+          -13.742236137390137
+        ],
+        [
+          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": "1731323495_283081531",
+      "mask_path": "../../mask/hdr_left_02329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02331.png",
+      "transform_matrix": [
+        [
+          0.9908281564712524,
+          -0.08860701322555542,
+          -0.10202097147703171,
+          -8.067536354064941
+        ],
+        [
+          0.10077042132616043,
+          -0.01848507486283779,
+          0.9947380423545837,
+          17.622758865356445
+        ],
+        [
+          -0.0900266095995903,
+          -0.9958951473236084,
+          -0.009386560879647732,
+          -13.762481689453125
+        ],
+        [
+          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": "1731323495_483081817",
+      "mask_path": "../../mask/hdr_left_02331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02332.png",
+      "transform_matrix": [
+        [
+          0.9915961027145386,
+          -0.08439894765615463,
+          -0.09805107116699219,
+          -8.008016586303711
+        ],
+        [
+          0.09695272892713547,
+          -0.01702527515590191,
+          0.9951432943344116,
+          17.63571548461914
+        ],
+        [
+          -0.08565839380025864,
+          -0.9962866902351379,
+          -0.008699482306838036,
+          -13.76132583618164
+        ],
+        [
+          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": "1731323495_583080768",
+      "mask_path": "../../mask/hdr_left_02332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02334.png",
+      "transform_matrix": [
+        [
+          0.9948476552963257,
+          -0.07010520994663239,
+          -0.07323503494262695,
+          -7.920475006103516
+        ],
+        [
+          0.07282153517007828,
+          -0.008439410477876663,
+          0.9973092675209045,
+          17.651874542236328
+        ],
+        [
+          -0.07053462415933609,
+          -0.997503936290741,
+          -0.0032907554414123297,
+          -13.754213333129883
+        ],
+        [
+          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": "1731323495_783080101",
+      "mask_path": "../../mask/hdr_left_02334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02335.png",
+      "transform_matrix": [
+        [
+          0.9955547451972961,
+          -0.06427515298128128,
+          -0.0688430592417717,
+          -7.854798793792725
+        ],
+        [
+          0.06835861504077911,
+          -0.009708737954497337,
+          0.9976135492324829,
+          17.672800064086914
+        ],
+        [
+          -0.06479014456272125,
+          -0.9978850483894348,
+          -0.005271813832223415,
+          -13.756257057189941
+        ],
+        [
+          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": "1731323495_883081197",
+      "mask_path": "../../mask/hdr_left_02335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02336.png",
+      "transform_matrix": [
+        [
+          0.9956768751144409,
+          -0.059992991387844086,
+          -0.0709114596247673,
+          -7.799638271331787
+        ],
+        [
+          0.0701405256986618,
+          -0.014862778596580029,
+          0.997426450252533,
+          17.696374893188477
+        ],
+        [
+          -0.060892533510923386,
+          -0.9980881810188293,
+          -0.01059058215469122,
+          -13.765560150146484
+        ],
+        [
+          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": "1731323495_983080148",
+      "mask_path": "../../mask/hdr_left_02336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02338.png",
+      "transform_matrix": [
+        [
+          0.9955683946609497,
+          -0.0576862134039402,
+          -0.07426895201206207,
+          -7.717534065246582
+        ],
+        [
+          0.0737563744187355,
+          -0.010966941714286804,
+          0.997215986251831,
+          17.73733901977539
+        ],
+        [
+          -0.05834011361002922,
+          -0.998274564743042,
+          -0.006663613021373749,
+          -13.784754753112793
+        ],
+        [
+          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": "1731323496_183080673",
+      "mask_path": "../../mask/hdr_left_02338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02339.png",
+      "transform_matrix": [
+        [
+          0.9957626461982727,
+          -0.059247586876153946,
+          -0.07033023983240128,
+          -7.658098220825195
+        ],
+        [
+          0.06966546922922134,
+          -0.013214784674346447,
+          0.9974827766418457,
+          17.7591552734375
+        ],
+        [
+          -0.060027845203876495,
+          -0.9981558918952942,
+          -0.009031270630657673,
+          -13.787860870361328
+        ],
+        [
+          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": "1731323496_283079624",
+      "mask_path": "../../mask/hdr_left_02339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02340.png",
+      "transform_matrix": [
+        [
+          0.9965900182723999,
+          -0.05657345801591873,
+          -0.06006554514169693,
+          -7.603075981140137
+        ],
+        [
+          0.05940493941307068,
+          -0.013288863934576511,
+          0.9981454610824585,
+          17.765151977539062
+        ],
+        [
+          -0.05726674199104309,
+          -0.9983100295066833,
+          -0.009882801212370396,
+          -13.775412559509277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2340,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_383080244",
+      "mask_path": "../../mask/hdr_left_02340.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02342.png",
+      "transform_matrix": [
+        [
+          0.9983405470848083,
+          -0.046627968549728394,
+          -0.033790625631809235,
+          -7.504202842712402
+        ],
+        [
+          0.03323931246995926,
+          -0.012549103237688541,
+          0.9993686079978943,
+          17.781627655029297
+        ],
+        [
+          -0.04702256992459297,
+          -0.9988335371017456,
+          -0.01097839418798685,
+          -13.774272918701172
+        ],
+        [
+          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": "1731323496_583081007",
+      "mask_path": "../../mask/hdr_left_02342.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02343.png",
+      "transform_matrix": [
+        [
+          0.9983980059623718,
+          -0.04713636264204979,
+          -0.0312969833612442,
+          -7.429721355438232
+        ],
+        [
+          0.030269412323832512,
+          -0.022358477115631104,
+          0.9992916584014893,
+          17.804105758666992
+        ],
+        [
+          -0.047802723944187164,
+          -0.9986383318901062,
+          -0.020895864814519882,
+          -13.781289100646973
+        ],
+        [
+          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": "1731323496_683081150",
+      "mask_path": "../../mask/hdr_left_02343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02344.png",
+      "transform_matrix": [
+        [
+          0.9981642961502075,
+          -0.04927973821759224,
+          -0.03520721569657326,
+          -7.367546081542969
+        ],
+        [
+          0.03389807790517807,
+          -0.027153844013810158,
+          0.999056339263916,
+          17.819503784179688
+        ],
+        [
+          -0.050189241766929626,
+          -0.9984158873558044,
+          -0.025433503091335297,
+          -13.78596305847168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2344,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_783080339",
+      "mask_path": "../../mask/hdr_left_02344.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02345.png",
+      "transform_matrix": [
+        [
+          0.9979535341262817,
+          -0.05202384665608406,
+          -0.037178684026002884,
+          -7.312399387359619
+        ],
+        [
+          0.035981301218271255,
+          -0.023766469210386276,
+          0.9990697503089905,
+          17.8360652923584
+        ],
+        [
+          -0.05285905301570892,
+          -0.9983630776405334,
+          -0.021845942363142967,
+          -13.796982765197754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2345,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_883079528",
+      "mask_path": "../../mask/hdr_left_02345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02346.png",
+      "transform_matrix": [
+        [
+          0.9980088472366333,
+          -0.05282990634441376,
+          -0.03445904701948166,
+          -7.2347235679626465
+        ],
+        [
+          0.03328803554177284,
+          -0.022887779399752617,
+          0.9991836547851562,
+          17.852487564086914
+        ],
+        [
+          -0.05357546731829643,
+          -0.9983412027359009,
+          -0.02108360268175602,
+          -13.802978515625
+        ],
+        [
+          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": "1731323496_983080148",
+      "mask_path": "../../mask/hdr_left_02346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02347.png",
+      "transform_matrix": [
+        [
+          0.9983488917350769,
+          -0.0512378104031086,
+          -0.025963712483644485,
+          -7.167813301086426
+        ],
+        [
+          0.024996569380164146,
+          -0.01942715235054493,
+          0.9994986653327942,
+          17.86344337463379
+        ],
+        [
+          -0.051716532558202744,
+          -0.9984975457191467,
+          -0.018114306032657623,
+          -13.805416107177734
+        ],
+        [
+          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": "1731323497_83079338",
+      "mask_path": "../../mask/hdr_left_02347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02349.png",
+      "transform_matrix": [
+        [
+          0.9988365769386292,
+          -0.048147570341825485,
+          -0.0026757484301924706,
+          -7.065260410308838
+        ],
+        [
+          0.0023987803142517805,
+          -0.005809127353131771,
+          0.9999801516532898,
+          17.88992691040039
+        ],
+        [
+          -0.04816215857863426,
+          -0.9988234043121338,
+          -0.005686869844794273,
+          -13.815418243408203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2349,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323497_283080577",
+      "mask_path": "../../mask/hdr_left_02349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02350.png",
+      "transform_matrix": [
+        [
+          0.9987954497337341,
+          -0.04906698688864708,
+          0.00021225627278909087,
+          -6.985300540924072
+        ],
+        [
+          -0.0007432607235386968,
+          -0.010803932324051857,
+          0.999941349029541,
+          17.913719177246094
+        ],
+        [
+          -0.049061812460422516,
+          -0.998737096786499,
+          -0.010827384889125824,
+          -13.820253372192383
+        ],
+        [
+          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": "1731323497_383078813",
+      "mask_path": "../../mask/hdr_left_02350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02352.png",
+      "transform_matrix": [
+        [
+          0.9986362457275391,
+          -0.05220082402229309,
+          -0.0008278908208012581,
+          -6.915006637573242
+        ],
+        [
+          0.00020617023983504623,
+          -0.011914225295186043,
+          0.9999289512634277,
+          17.938135147094727
+        ],
+        [
+          -0.05220697820186615,
+          -0.9985655546188354,
+          -0.011887213215231895,
+          -13.836464881896973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2352,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323497_583080291",
+      "mask_path": "../../mask/hdr_left_02352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02354.png",
+      "transform_matrix": [
+        [
+          0.9982506632804871,
+          -0.05857297405600548,
+          0.008053148165345192,
+          -6.827791213989258
+        ],
+        [
+          -0.0088254539296031,
+          -0.012938904576003551,
+          0.9998772740364075,
+          17.957853317260742
+        ],
+        [
+          -0.05846158787608147,
+          -0.9981992840766907,
+          -0.013433201238512993,
+          -13.830504417419434
+        ],
+        [
+          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": "1731323497_783080816",
+      "mask_path": "../../mask/hdr_left_02354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02356.png",
+      "transform_matrix": [
+        [
+          0.9982954263687134,
+          -0.05600300431251526,
+          0.01642679236829281,
+          -6.761485576629639
+        ],
+        [
+          -0.017088551074266434,
+          -0.011358249932527542,
+          0.9997893571853638,
+          17.960285186767578
+        ],
+        [
+          -0.05580463260412216,
+          -0.9983660578727722,
+          -0.01229589432477951,
+          -13.833600997924805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2356,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323497_983081817",
+      "mask_path": "../../mask/hdr_left_02356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02357.png",
+      "transform_matrix": [
+        [
+          0.9982624650001526,
+          -0.055703215301036835,
+          0.01921013928949833,
+          -6.709660530090332
+        ],
+        [
+          -0.01983708329498768,
+          -0.01072382926940918,
+          0.9997456669807434,
+          17.96108055114746
+        ],
+        [
+          -0.05548304319381714,
+          -0.9983898401260376,
+          -0.011810180731117725,
+          -13.83143138885498
+        ],
+        [
+          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": "1731323498_83080530",
+      "mask_path": "../../mask/hdr_left_02357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02358.png",
+      "transform_matrix": [
+        [
+          0.9984585642814636,
+          -0.05406526103615761,
+          0.012545776553452015,
+          -6.654436111450195
+        ],
+        [
+          -0.013554469682276249,
+          -0.018330544233322144,
+          0.9997400641441345,
+          17.968496322631836
+        ],
+        [
+          -0.05382123589515686,
+          -0.9983690977096558,
+          -0.019035108387470245,
+          -13.829080581665039
+        ],
+        [
+          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": "1731323498_183080673",
+      "mask_path": "../../mask/hdr_left_02358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02360.png",
+      "transform_matrix": [
+        [
+          0.9979103207588196,
+          -0.055227652192115784,
+          -0.033537857234478,
+          -6.573295593261719
+        ],
+        [
+          0.03257163614034653,
+          -0.018302999436855316,
+          0.9993017911911011,
+          17.99871253967285
+        ],
+        [
+          -0.05580293387174606,
+          -0.9983060956001282,
+          -0.016465894877910614,
+          -13.848063468933105
+        ],
+        [
+          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": "1731323498_383081197",
+      "mask_path": "../../mask/hdr_left_02360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02361.png",
+      "transform_matrix": [
+        [
+          0.9965994954109192,
+          -0.05599486827850342,
+          -0.06044721230864525,
+          -6.516241073608398
+        ],
+        [
+          0.05982334539294243,
+          -0.01275312528014183,
+          0.9981274008750916,
+          18.01564598083496
+        ],
+        [
+          -0.056660909205675125,
+          -0.998349666595459,
+          -0.009359955787658691,
+          -13.848289489746094
+        ],
+        [
+          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": "1731323498_483080625",
+      "mask_path": "../../mask/hdr_left_02361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02363.png",
+      "transform_matrix": [
+        [
+          0.9944844245910645,
+          -0.057674504816532135,
+          -0.08760445564985275,
+          -6.436282634735107
+        ],
+        [
+          0.08800184726715088,
+          0.004381965380162001,
+          0.9961106777191162,
+          18.0463809967041
+        ],
+        [
+          -0.057066306471824646,
+          -0.9983258843421936,
+          0.00943326111882925,
+          -13.848737716674805
+        ],
+        [
+          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": "1731323498_683082580",
+      "mask_path": "../../mask/hdr_left_02363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02364.png",
+      "transform_matrix": [
+        [
+          0.9947608709335327,
+          -0.060279298573732376,
+          -0.08256576955318451,
+          -6.38159704208374
+        ],
+        [
+          0.08321324735879898,
+          0.008307283744215965,
+          0.9964970946311951,
+          18.053537368774414
+        ],
+        [
+          -0.05938224494457245,
+          -0.9981470108032227,
+          0.013279798440635204,
+          -13.845687866210938
+        ],
+        [
+          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": "1731323498_783080339",
+      "mask_path": "../../mask/hdr_left_02364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02365.png",
+      "transform_matrix": [
+        [
+          0.994657576084137,
+          -0.06255131214857101,
+          -0.08211959153413773,
+          -6.320685863494873
+        ],
+        [
+          0.0824422836303711,
+          0.002591466996818781,
+          0.9965925216674805,
+          18.068614959716797
+        ],
+        [
+          -0.06212535873055458,
+          -0.9980384111404419,
+          0.007734495680779219,
+          -13.85042953491211
+        ],
+        [
+          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": "1731323498_883079528",
+      "mask_path": "../../mask/hdr_left_02365.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02366.png",
+      "transform_matrix": [
+        [
+          0.9943026900291443,
+          -0.06404947489500046,
+          -0.08520382642745972,
+          -6.276124000549316
+        ],
+        [
+          0.08538220077753067,
+          4.852469282923266e-05,
+          0.9963482022285461,
+          18.094802856445312
+        ],
+        [
+          -0.06381143629550934,
+          -0.9979467988014221,
+          0.005516938399523497,
+          -13.86270523071289
+        ],
+        [
+          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": "1731323498_983080625",
+      "mask_path": "../../mask/hdr_left_02366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02367.png",
+      "transform_matrix": [
+        [
+          0.9939245581626892,
+          -0.0669739618897438,
+          -0.08734069764614105,
+          -6.231906890869141
+        ],
+        [
+          0.08791042119264603,
+          0.005601375829428434,
+          0.996112585067749,
+          18.125551223754883
+        ],
+        [
+          -0.06622438132762909,
+          -0.9977390170097351,
+          0.011455055326223373,
+          -13.871404647827148
+        ],
+        [
+          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": "1731323499_83081007",
+      "mask_path": "../../mask/hdr_left_02367.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02368.png",
+      "transform_matrix": [
+        [
+          0.9939289689064026,
+          -0.06785781681537628,
+          -0.08660491555929184,
+          -6.167849063873291
+        ],
+        [
+          0.08719463646411896,
+          0.005772361531853676,
+          0.9961745738983154,
+          18.161483764648438
+        ],
+        [
+          -0.06709830462932587,
+          -0.9976783394813538,
+          0.011654157191514969,
+          -13.875377655029297
+        ],
+        [
+          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": "1731323499_183079957",
+      "mask_path": "../../mask/hdr_left_02368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02369.png",
+      "transform_matrix": [
+        [
+          0.9946423172950745,
+          -0.06477813422679901,
+          -0.08056338131427765,
+          -6.098748683929443
+        ],
+        [
+          0.08113929629325867,
+          0.006305151619017124,
+          0.9966827034950256,
+          18.186424255371094
+        ],
+        [
+          -0.06405528634786606,
+          -0.9978798031806946,
+          0.011527426540851593,
+          -13.872252464294434
+        ],
+        [
+          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": "1731323499_283082008",
+      "mask_path": "../../mask/hdr_left_02369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02370.png",
+      "transform_matrix": [
+        [
+          0.9957566857337952,
+          -0.05902993306517601,
+          -0.0705961063504219,
+          -6.044570446014404
+        ],
+        [
+          0.07149994373321533,
+          0.013339919038116932,
+          0.997351348400116,
+          18.20429801940918
+        ],
+        [
+          -0.05793183669447899,
+          -0.998167097568512,
+          0.017503954470157623,
+          -13.872964859008789
+        ],
+        [
+          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": "1731323499_383082628",
+      "mask_path": "../../mask/hdr_left_02370.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02371.png",
+      "transform_matrix": [
+        [
+          0.9966999888420105,
+          -0.05300985649228096,
+          -0.06147423014044762,
+          -5.974852085113525
+        ],
+        [
+          0.06240974739193916,
+          0.016175732016563416,
+          0.997919499874115,
+          18.236770629882812
+        ],
+        [
+          -0.051905177533626556,
+          -0.998462975025177,
+          0.01943068578839302,
+          -13.877568244934082
+        ],
+        [
+          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": "1731323499_483080863",
+      "mask_path": "../../mask/hdr_left_02371.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02372.png",
+      "transform_matrix": [
+        [
+          0.996826171875,
+          -0.051409196108579636,
+          -0.06078369915485382,
+          -5.903975009918213
+        ],
+        [
+          0.061353862285614014,
+          0.009584919549524784,
+          0.9980700612068176,
+          18.269054412841797
+        ],
+        [
+          -0.05072736740112305,
+          -0.9986317157745361,
+          0.012708654627203941,
+          -13.881723403930664
+        ],
+        [
+          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": "1731323499_583081483",
+      "mask_path": "../../mask/hdr_left_02372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02374.png",
+      "transform_matrix": [
+        [
+          0.9964521527290344,
+          -0.056539278477430344,
+          -0.062339961528778076,
+          -5.819851875305176
+        ],
+        [
+          0.06268681585788727,
+          0.0043809558264911175,
+          0.9980236887931824,
+          18.310720443725586
+        ],
+        [
+          -0.05615442246198654,
+          -0.998390793800354,
+          0.00790968257933855,
+          -13.898613929748535
+        ],
+        [
+          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": "1731323499_783081769",
+      "mask_path": "../../mask/hdr_left_02374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02375.png",
+      "transform_matrix": [
+        [
+          0.9963645339012146,
+          -0.061281830072402954,
+          -0.05917838588356972,
+          -5.769779205322266
+        ],
+        [
+          0.05942784622311592,
+          0.0022545596584677696,
+          0.9982300400733948,
+          18.333026885986328
+        ],
+        [
+          -0.06103993207216263,
+          -0.9981179237365723,
+          0.00588820967823267,
+          -13.900239944458008
+        ],
+        [
+          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": "1731323499_883081912",
+      "mask_path": "../../mask/hdr_left_02375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02377.png",
+      "transform_matrix": [
+        [
+          0.9972681999206543,
+          -0.058060258626937866,
+          -0.04566354304552078,
+          -5.693499565124512
+        ],
+        [
+          0.04622646048665047,
+          0.008389042690396309,
+          0.9988957643508911,
+          18.33696937561035
+        ],
+        [
+          -0.0576130673289299,
+          -0.9982778429985046,
+          0.011050048284232616,
+          -13.888370513916016
+        ],
+        [
+          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": "1731323500_83081007",
+      "mask_path": "../../mask/hdr_left_02377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02379.png",
+      "transform_matrix": [
+        [
+          0.997871458530426,
+          -0.056880220770835876,
+          -0.031892914324998856,
+          -5.606630802154541
+        ],
+        [
+          0.032520003616809845,
+          0.010133584961295128,
+          0.9994196891784668,
+          18.36219024658203
+        ],
+        [
+          -0.05652402341365814,
+          -0.9983296394348145,
+          0.01196176279336214,
+          -13.892671585083008
+        ],
+        [
+          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": "1731323500_283082246",
+      "mask_path": "../../mask/hdr_left_02379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02380.png",
+      "transform_matrix": [
+        [
+          0.997862696647644,
+          -0.05694039911031723,
+          -0.03205801174044609,
+          -5.557164192199707
+        ],
+        [
+          0.03210163861513138,
+          -0.0001487595000071451,
+          0.9994844794273376,
+          18.376358032226562
+        ],
+        [
+          -0.05691581591963768,
+          -0.9983776807785034,
+          0.0016794437542557716,
+          -13.899391174316406
+        ],
+        [
+          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": "1731323500_383081674",
+      "mask_path": "../../mask/hdr_left_02380.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02383.png",
+      "transform_matrix": [
+        [
+          0.9977380037307739,
+          -0.0595560260117054,
+          -0.031176568940281868,
+          -5.413334846496582
+        ],
+        [
+          0.031195195391774178,
+          -0.0006170455017127097,
+          0.9995130896568298,
+          18.423635482788086
+        ],
+        [
+          -0.05954625830054283,
+          -0.9982249140739441,
+          0.001242217025719583,
+          -13.91898250579834
+        ],
+        [
+          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": "1731323500_683082580",
+      "mask_path": "../../mask/hdr_left_02383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02384.png",
+      "transform_matrix": [
+        [
+          0.9980907440185547,
+          -0.057152967900037766,
+          -0.023413391783833504,
+          -5.357388019561768
+        ],
+        [
+          0.02351156622171402,
+          0.0010460478952154517,
+          0.999722957611084,
+          18.431346893310547
+        ],
+        [
+          -0.057112645357847214,
+          -0.9983649253845215,
+          0.0023878084030002356,
+          -13.912860870361328
+        ],
+        [
+          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": "1731323500_783081531",
+      "mask_path": "../../mask/hdr_left_02384.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02385.png",
+      "transform_matrix": [
+        [
+          0.9985081553459167,
+          -0.052805669605731964,
+          -0.013891170732676983,
+          -5.305012226104736
+        ],
+        [
+          0.014293264597654343,
+          0.007245097775012255,
+          0.9998716115951538,
+          18.440231323242188
+        ],
+        [
+          -0.052698247134685516,
+          -0.9985786080360413,
+          0.007989057339727879,
+          -13.915453910827637
+        ],
+        [
+          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": "1731323500_883080005",
+      "mask_path": "../../mask/hdr_left_02385.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02386.png",
+      "transform_matrix": [
+        [
+          0.9986705780029297,
+          -0.051137540489435196,
+          -0.006479935254901648,
+          -5.237548351287842
+        ],
+        [
+          0.0068776169791817665,
+          0.007604700513184071,
+          0.9999474883079529,
+          18.457746505737305
+        ],
+        [
+          -0.051085568964481354,
+          -0.9986626505851746,
+          0.007946297526359558,
+          -13.922852516174316
+        ],
+        [
+          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": "1731323500_983083248",
+      "mask_path": "../../mask/hdr_left_02386.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02387.png",
+      "transform_matrix": [
+        [
+          0.9985195994377136,
+          -0.05395455285906792,
+          -0.006883108522742987,
+          -5.170891284942627
+        ],
+        [
+          0.006949012633413076,
+          0.0010339103173464537,
+          0.999975323677063,
+          18.46820640563965
+        ],
+        [
+          -0.053946103900671005,
+          -0.998542845249176,
+          0.0014073130441829562,
+          -13.92597770690918
+        ],
+        [
+          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": "1731323501_83082199",
+      "mask_path": "../../mask/hdr_left_02387.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02388.png",
+      "transform_matrix": [
+        [
+          0.9982336163520813,
+          -0.05795608460903168,
+          -0.013062690384685993,
+          -5.115503311157227
+        ],
+        [
+          0.012961342930793762,
+          -0.002123659709468484,
+          0.99991375207901,
+          18.477083206176758
+        ],
+        [
+          -0.05797882005572319,
+          -0.9983169436454773,
+          -0.0013687150785699487,
+          -13.93407917022705
+        ],
+        [
+          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": "1731323501_183083534",
+      "mask_path": "../../mask/hdr_left_02388.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02390.png",
+      "transform_matrix": [
+        [
+          0.9975011348724365,
+          -0.06717605888843536,
+          -0.021879950538277626,
+          -5.011595726013184
+        ],
+        [
+          0.022438254207372665,
+          0.0075678396970033646,
+          0.9997195601463318,
+          18.496706008911133
+        ],
+        [
+          -0.06699162721633911,
+          -0.9977124929428101,
+          0.009056243114173412,
+          -13.945670127868652
+        ],
+        [
+          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": "1731323501_383082628",
+      "mask_path": "../../mask/hdr_left_02390.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02392.png",
+      "transform_matrix": [
+        [
+          0.9975046515464783,
+          -0.06821347773075104,
+          -0.018201090395450592,
+          -4.936802864074707
+        ],
+        [
+          0.019951999187469482,
+          0.025075437501072884,
+          0.9994864463806152,
+          18.513608932495117
+        ],
+        [
+          -0.06772204488515854,
+          -0.997355580329895,
+          0.026373863220214844,
+          -13.942977905273438
+        ],
+        [
+          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": "1731323501_583081483",
+      "mask_path": "../../mask/hdr_left_02392.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02393.png",
+      "transform_matrix": [
+        [
+          0.9974917769432068,
+          -0.06929470598697662,
+          -0.014431721530854702,
+          -4.888910293579102
+        ],
+        [
+          0.01634686440229416,
+          0.027150532230734825,
+          0.999497652053833,
+          18.52562713623047
+        ],
+        [
+          -0.06886805593967438,
+          -0.9972267150878906,
+          0.028215184807777405,
+          -13.945534706115723
+        ],
+        [
+          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": "1731323501_683082103",
+      "mask_path": "../../mask/hdr_left_02393.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02394.png",
+      "transform_matrix": [
+        [
+          0.9973230361938477,
+          -0.07044804841279984,
+          -0.019592026248574257,
+          -4.830422878265381
+        ],
+        [
+          0.02121519111096859,
+          0.02236669510602951,
+          0.999524712562561,
+          18.534873962402344
+        ],
+        [
+          -0.06997635215520859,
+          -0.9972646832466125,
+          0.023801393806934357,
+          -13.947430610656738
+        ],
+        [
+          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": "1731323501_783081769",
+      "mask_path": "../../mask/hdr_left_02394.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07409.png",
+      "transform_matrix": [
+        [
+          -0.9882398247718811,
+          -0.039907313883304596,
+          0.14761227369308472,
+          -5.273356914520264
+        ],
+        [
+          -0.14750826358795166,
+          -0.005555002484470606,
+          -0.989045262336731,
+          18.78312873840332
+        ],
+        [
+          0.04029012471437454,
+          -0.9991880059242249,
+          -0.00039698180626146495,
+          -13.937126159667969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7409,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_283081531",
+      "mask_path": "../../mask/hdr_left_07409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07410.png",
+      "transform_matrix": [
+        [
+          -0.9892637133598328,
+          -0.0361044779419899,
+          0.14161112904548645,
+          -5.352416038513184
+        ],
+        [
+          -0.1413978785276413,
+          -0.008404701948165894,
+          -0.9899171590805054,
+          18.76285743713379
+        ],
+        [
+          0.0369306318461895,
+          -0.9993128180503845,
+          0.0032093736808747053,
+          -13.92254638671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7410,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_383083343",
+      "mask_path": "../../mask/hdr_left_07410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07411.png",
+      "transform_matrix": [
+        [
+          -0.9899670481681824,
+          -0.03729032725095749,
+          0.13628824055194855,
+          -5.418056011199951
+        ],
+        [
+          -0.13582675158977509,
+          -0.014653288759291172,
+          -0.9906242489814758,
+          18.74680519104004
+        ],
+        [
+          0.0389377735555172,
+          -0.9991970658302307,
+          0.009441250935196877,
+          -13.920194625854492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7411,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_483081579",
+      "mask_path": "../../mask/hdr_left_07411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07412.png",
+      "transform_matrix": [
+        [
+          -0.9905815720558167,
+          -0.03952296823263168,
+          0.131094828248024,
+          -5.495594024658203
+        ],
+        [
+          -0.1304178237915039,
+          -0.019258394837379456,
+          -0.9912720322608948,
+          18.72624969482422
+        ],
+        [
+          0.04170268401503563,
+          -0.9990330934524536,
+          0.013922516256570816,
+          -13.921417236328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7412,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_583083868",
+      "mask_path": "../../mask/hdr_left_07412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07413.png",
+      "transform_matrix": [
+        [
+          -0.9902153611183167,
+          -0.0413966104388237,
+          0.13326583802700043,
+          -5.576013088226318
+        ],
+        [
+          -0.13276082277297974,
+          -0.01472906582057476,
+          -0.9910387396812439,
+          18.69099235534668
+        ],
+        [
+          0.04298850893974304,
+          -0.9990342855453491,
+          0.009089097380638123,
+          -13.91011905670166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7413,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_683082580",
+      "mask_path": "../../mask/hdr_left_07413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07414.png",
+      "transform_matrix": [
+        [
+          -0.9891242384910583,
+          -0.042771950364112854,
+          0.1407259851694107,
+          -5.636776447296143
+        ],
+        [
+          -0.14048051834106445,
+          -0.008708001114428043,
+          -0.9900451302528381,
+          18.664325714111328
+        ],
+        [
+          0.0435715988278389,
+          -0.9990469813346863,
+          0.002604675479233265,
+          -13.902566909790039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7414,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_783081769",
+      "mask_path": "../../mask/hdr_left_07414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07415.png",
+      "transform_matrix": [
+        [
+          -0.9876572489738464,
+          -0.04380284622311592,
+          0.1503812074661255,
+          -5.696521759033203
+        ],
+        [
+          -0.15029703080654144,
+          -0.005228538531810045,
+          -0.988627016544342,
+          18.64936637878418
+        ],
+        [
+          0.04409094899892807,
+          -0.9990265965461731,
+          -0.0014194307150319219,
+          -13.90438461303711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7415,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_883082628",
+      "mask_path": "../../mask/hdr_left_07415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07416.png",
+      "transform_matrix": [
+        [
+          -0.985844075679779,
+          -0.04170073941349983,
+          0.16239593923091888,
+          -5.765899181365967
+        ],
+        [
+          -0.16236311197280884,
+          -0.004195627756416798,
+          -0.9867221117019653,
+          18.624954223632812
+        ],
+        [
+          0.04182839021086693,
+          -0.999121367931366,
+          -0.0026344279758632183,
+          -13.897527694702148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7416,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_983081817",
+      "mask_path": "../../mask/hdr_left_07416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07417.png",
+      "transform_matrix": [
+        [
+          -0.9840579032897949,
+          -0.04271787777543068,
+          0.1726415604352951,
+          -5.824354648590088
+        ],
+        [
+          -0.1723937690258026,
+          -0.009444558061659336,
+          -0.9849827885627747,
+          18.602937698364258
+        ],
+        [
+          0.04370689392089844,
+          -0.9990425705909729,
+          0.0019296994432806969,
+          -13.886571884155273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7417,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_83084344",
+      "mask_path": "../../mask/hdr_left_07417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07418.png",
+      "transform_matrix": [
+        [
+          -0.9821417927742004,
+          -0.04356950893998146,
+          0.18302731215953827,
+          -5.8712310791015625
+        ],
+        [
+          -0.18243667483329773,
+          -0.017200607806444168,
+          -0.9830670356750488,
+          18.579931259155273
+        ],
+        [
+          0.04597993195056915,
+          -0.9989023208618164,
+          0.00894476193934679,
+          -13.880064010620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7418,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_183082342",
+      "mask_path": "../../mask/hdr_left_07418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07419.png",
+      "transform_matrix": [
+        [
+          -0.9799134135246277,
+          -0.041085585951805115,
+          0.1951451599597931,
+          -5.9207072257995605
+        ],
+        [
+          -0.19426317512989044,
+          -0.024502111598849297,
+          -0.9806433916091919,
+          18.55173683166504
+        ],
+        [
+          0.04507177323102951,
+          -0.9988551735877991,
+          0.01602853275835514,
+          -13.876729965209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7419,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_283082485",
+      "mask_path": "../../mask/hdr_left_07419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07420.png",
+      "transform_matrix": [
+        [
+          -0.9764338135719299,
+          -0.0414118766784668,
+          0.21180668473243713,
+          -5.994499206542969
+        ],
+        [
+          -0.21099050343036652,
+          -0.02322489768266678,
+          -0.9772121906280518,
+          18.519474029541016
+        ],
+        [
+          0.04538737237453461,
+          -0.9988722205162048,
+          0.013940060511231422,
+          -13.874011039733887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7420,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_383082389",
+      "mask_path": "../../mask/hdr_left_07420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07421.png",
+      "transform_matrix": [
+        [
+          -0.9714071750640869,
+          -0.044898808002471924,
+          0.23313555121421814,
+          -6.0667595863342285
+        ],
+        [
+          -0.23267236351966858,
+          -0.015351899899542332,
+          -0.9724340438842773,
+          18.485952377319336
+        ],
+        [
+          0.04724019765853882,
+          -0.9988735914230347,
+          0.004466235637664795,
+          -13.874567031860352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7421,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_483082056",
+      "mask_path": "../../mask/hdr_left_07421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07422.png",
+      "transform_matrix": [
+        [
+          -0.9659468531608582,
+          -0.043609924614429474,
+          0.25503861904144287,
+          -6.125986099243164
+        ],
+        [
+          -0.2546491026878357,
+          -0.014358945190906525,
+          -0.9669268727302551,
+          18.455257415771484
+        ],
+        [
+          0.045829687267541885,
+          -0.9989454746246338,
+          0.0027647544629871845,
+          -13.879487991333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7422,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_583081007",
+      "mask_path": "../../mask/hdr_left_07422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07423.png",
+      "transform_matrix": [
+        [
+          -0.9611935019493103,
+          -0.037798475474119186,
+          0.2732732594013214,
+          -6.189610481262207
+        ],
+        [
+          -0.2729150056838989,
+          -0.014433888718485832,
+          -0.9619297981262207,
+          18.42081069946289
+        ],
+        [
+          0.04030387103557587,
+          -0.9991812109947205,
+          0.003557989839464426,
+          -13.880859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7423,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_683080196",
+      "mask_path": "../../mask/hdr_left_07423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07424.png",
+      "transform_matrix": [
+        [
+          -0.958304226398468,
+          -0.037256401032209396,
+          0.2833106219768524,
+          -6.254453659057617
+        ],
+        [
+          -0.28289180994033813,
+          -0.0161787960678339,
+          -0.9590153098106384,
+          18.387941360473633
+        ],
+        [
+          0.040313079953193665,
+          -0.9991747736930847,
+          0.004964680410921574,
+          -13.867616653442383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7424,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_783080577",
+      "mask_path": "../../mask/hdr_left_07424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07425.png",
+      "transform_matrix": [
+        [
+          -0.9581764340400696,
+          -0.03617507219314575,
+          0.28388264775276184,
+          -6.311583518981934
+        ],
+        [
+          -0.28317689895629883,
+          -0.02343898080289364,
+          -0.9587812423706055,
+          18.359725952148438
+        ],
+        [
+          0.04133789241313934,
+          -0.9990705847740173,
+          0.012214736081659794,
+          -13.859107971191406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7425,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_883081436",
+      "mask_path": "../../mask/hdr_left_07425.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07426.png",
+      "transform_matrix": [
+        [
+          -0.9606468081474304,
+          -0.03481458127498627,
+          0.27558210492134094,
+          -6.381267070770264
+        ],
+        [
+          -0.27468669414520264,
+          -0.028404610231518745,
+          -0.9611141085624695,
+          18.32390785217285
+        ],
+        [
+          0.0412885844707489,
+          -0.9989901185035706,
+          0.017723698168992996,
+          -13.856212615966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7426,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_983081817",
+      "mask_path": "../../mask/hdr_left_07426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07427.png",
+      "transform_matrix": [
+        [
+          -0.9611798524856567,
+          -0.03660259768366814,
+          0.2734840512275696,
+          -6.455227375030518
+        ],
+        [
+          -0.2727307081222534,
+          -0.02429388090968132,
+          -0.9617836475372314,
+          18.2806453704834
+        ],
+        [
+          0.04184776544570923,
+          -0.999034583568573,
+          0.013368138112127781,
+          -13.847760200500488
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7427,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_83081722",
+      "mask_path": "../../mask/hdr_left_07427.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07428.png",
+      "transform_matrix": [
+        [
+          -0.9598543643951416,
+          -0.03875928372144699,
+          0.27780812978744507,
+          -6.511514186859131
+        ],
+        [
+          -0.27735039591789246,
+          -0.01683366857469082,
+          -0.9606213569641113,
+          18.24478530883789
+        ],
+        [
+          0.04190952330827713,
+          -0.9991068243980408,
+          0.0054079690016806126,
+          -13.847064018249512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7428,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_183083772",
+      "mask_path": "../../mask/hdr_left_07428.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07429.png",
+      "transform_matrix": [
+        [
+          -0.9592331647872925,
+          -0.03855421766638756,
+          0.27997374534606934,
+          -6.565441131591797
+        ],
+        [
+          -0.2795479893684387,
+          -0.016133278608322144,
+          -0.9599961638450623,
+          18.21379852294922
+        ],
+        [
+          0.041528794914484024,
+          -0.9991263151168823,
+          0.004697824362665415,
+          -13.854229927062988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7429,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_283082485",
+      "mask_path": "../../mask/hdr_left_07429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07430.png",
+      "transform_matrix": [
+        [
+          -0.9601263999938965,
+          -0.03423576056957245,
+          0.27746206521987915,
+          -6.6341094970703125
+        ],
+        [
+          -0.2771039307117462,
+          -0.014892159961163998,
+          -0.9607245922088623,
+          18.17759132385254
+        ],
+        [
+          0.037023141980171204,
+          -0.999302864074707,
+          0.004811493679881096,
+          -13.850367546081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7430,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_383081912",
+      "mask_path": "../../mask/hdr_left_07430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07431.png",
+      "transform_matrix": [
+        [
+          -0.9623311758041382,
+          -0.03238809481263161,
+          0.2699439525604248,
+          -6.703587532043457
+        ],
+        [
+          -0.2695428133010864,
+          -0.0162538830190897,
+          -0.9628512263298035,
+          18.143070220947266
+        ],
+        [
+          0.03557254746556282,
+          -0.99934321641922,
+          0.006911642849445343,
+          -13.834315299987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7431,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_483080863",
+      "mask_path": "../../mask/hdr_left_07431.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07432.png",
+      "transform_matrix": [
+        [
+          -0.9644708037376404,
+          -0.033210378140211105,
+          0.2620938718318939,
+          -6.773152828216553
+        ],
+        [
+          -0.2614024877548218,
+          -0.023761801421642303,
+          -0.9649373292922974,
+          18.122032165527344
+        ],
+        [
+          0.038273755460977554,
+          -0.9991658926010132,
+          0.014236288145184517,
+          -13.832880020141602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7432,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_583079338",
+      "mask_path": "../../mask/hdr_left_07432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07433.png",
+      "transform_matrix": [
+        [
+          -0.9662680625915527,
+          -0.031097859144210815,
+          0.2556540071964264,
+          -6.8392815589904785
+        ],
+        [
+          -0.25476956367492676,
+          -0.029750928282737732,
+          -0.9665440320968628,
+          18.089717864990234
+        ],
+        [
+          0.03766338899731636,
+          -0.9990735054016113,
+          0.020824585109949112,
+          -13.835549354553223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7433,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_683081865",
+      "mask_path": "../../mask/hdr_left_07433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07434.png",
+      "transform_matrix": [
+        [
+          -0.966018795967102,
+          -0.03157880902290344,
+          0.2565351128578186,
+          -6.897446155548096
+        ],
+        [
+          -0.2558077871799469,
+          -0.025315264239907265,
+          -0.9663960933685303,
+          18.04459571838379
+        ],
+        [
+          0.037011899054050446,
+          -0.9991806745529175,
+          0.01637692004442215,
+          -13.829488754272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7434,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_783082008",
+      "mask_path": "../../mask/hdr_left_07434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07435.png",
+      "transform_matrix": [
+        [
+          -0.9648314714431763,
+          -0.03274780884385109,
+          0.2608214318752289,
+          -6.948153495788574
+        ],
+        [
+          -0.2604094445705414,
+          -0.016346117481589317,
+          -0.9653598666191101,
+          18.014623641967773
+        ],
+        [
+          0.035876840353012085,
+          -0.9993299841880798,
+          0.0072434102185070515,
+          -13.828186988830566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7435,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_883080720",
+      "mask_path": "../../mask/hdr_left_07435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07437.png",
+      "transform_matrix": [
+        [
+          -0.966282844543457,
+          -0.02644878253340721,
+          0.25612106919288635,
+          -7.04901123046875
+        ],
+        [
+          -0.2559625804424286,
+          -0.009270983748137951,
+          -0.9666422009468079,
+          17.974565505981445
+        ],
+        [
+          0.02794099971652031,
+          -0.9996072053909302,
+          0.002188494661822915,
+          -13.824785232543945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7437,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_83082437",
+      "mask_path": "../../mask/hdr_left_07437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07440.png",
+      "transform_matrix": [
+        [
+          -0.9786117076873779,
+          -0.020151551812887192,
+          0.2047267109155655,
+          -7.1950225830078125
+        ],
+        [
+          -0.20422565937042236,
+          -0.024410445243120193,
+          -0.978619396686554,
+          17.932348251342773
+        ],
+        [
+          0.024718167260289192,
+          -0.9994989633560181,
+          0.019772885367274284,
+          -13.81157112121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7440,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_383081197",
+      "mask_path": "../../mask/hdr_left_07440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07441.png",
+      "transform_matrix": [
+        [
+          -0.9820317625999451,
+          -0.019452141597867012,
+          0.18771015107631683,
+          -7.245381832122803
+        ],
+        [
+          -0.18725040555000305,
+          -0.023257527500391006,
+          -0.9820367693901062,
+          17.91688346862793
+        ],
+        [
+          0.023468390107154846,
+          -0.9995402693748474,
+          0.019197212532162666,
+          -13.808603286743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7441,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_483083248",
+      "mask_path": "../../mask/hdr_left_07441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07443.png",
+      "transform_matrix": [
+        [
+          -0.9832334518432617,
+          -0.022096918895840645,
+          0.18100717663764954,
+          -7.340287685394287
+        ],
+        [
+          -0.1807631105184555,
+          -0.012597871012985706,
+          -0.9834460020065308,
+          17.87342071533203
+        ],
+        [
+          0.024011429399251938,
+          -0.9996764659881592,
+          0.008392341434955597,
+          -13.814164161682129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7443,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_683081626",
+      "mask_path": "../../mask/hdr_left_07443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07444.png",
+      "transform_matrix": [
+        [
+          -0.9837548136711121,
+          -0.018470842391252518,
+          0.17856445908546448,
+          -7.407156467437744
+        ],
+        [
+          -0.17845043540000916,
+          -0.007655003573745489,
+          -0.9839192032814026,
+          17.835498809814453
+        ],
+        [
+          0.01954072155058384,
+          -0.9998000860214233,
+          0.004234517924487591,
+          -13.813409805297852
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7444,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_783082246",
+      "mask_path": "../../mask/hdr_left_07444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07445.png",
+      "transform_matrix": [
+        [
+          -0.9850376844406128,
+          -0.01667761243879795,
+          0.17152979969978333,
+          -7.478841304779053
+        ],
+        [
+          -0.17139844596385956,
+          -0.009018284268677235,
+          -0.9851605296134949,
+          17.805084228515625
+        ],
+        [
+          0.017977027222514153,
+          -0.9998202919960022,
+          0.006024834234267473,
+          -13.802070617675781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7445,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_883081674",
+      "mask_path": "../../mask/hdr_left_07445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07446.png",
+      "transform_matrix": [
+        [
+          -0.986492395401001,
+          -0.017616119235754013,
+          0.16285653412342072,
+          -7.544768810272217
+        ],
+        [
+          -0.16262391209602356,
+          -0.013925301842391491,
+          -0.9865899085998535,
+          17.783342361450195
+        ],
+        [
+          0.019647708162665367,
+          -0.9997478723526001,
+          0.010872403159737587,
+          -13.796586990356445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7446,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_983081579",
+      "mask_path": "../../mask/hdr_left_07446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07447.png",
+      "transform_matrix": [
+        [
+          -0.9878994226455688,
+          -0.01642163284122944,
+          0.15422387421131134,
+          -7.6152544021606445
+        ],
+        [
+          -0.15394040942192078,
+          -0.017322106286883354,
+          -0.9879282712936401,
+          17.761043548583984
+        ],
+        [
+          0.018894877284765244,
+          -0.9997150897979736,
+          0.014584546908736229,
+          -13.802480697631836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7447,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_83082437",
+      "mask_path": "../../mask/hdr_left_07447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07448.png",
+      "transform_matrix": [
+        [
+          -0.9885328412055969,
+          -0.019833985716104507,
+          0.1496976912021637,
+          -7.700046539306641
+        ],
+        [
+          -0.14933910965919495,
+          -0.01847740449011326,
+          -0.9886134266853333,
+          17.721128463745117
+        ],
+        [
+          0.022374164313077927,
+          -0.9996325373649597,
+          0.015303528867661953,
+          -13.797660827636719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7448,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_183082342",
+      "mask_path": "../../mask/hdr_left_07448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07449.png",
+      "transform_matrix": [
+        [
+          -0.9880967736244202,
+          -0.025077950209379196,
+          0.15177543461322784,
+          -7.7794389724731445
+        ],
+        [
+          -0.15145453810691833,
+          -0.014247536659240723,
+          -0.9883615970611572,
+          17.684892654418945
+        ],
+        [
+          0.02694850042462349,
+          -0.9995840191841125,
+          0.010279776528477669,
+          -13.792078971862793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7449,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_283081054",
+      "mask_path": "../../mask/hdr_left_07449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07450.png",
+      "transform_matrix": [
+        [
+          -0.9875863790512085,
+          -0.025198353454470634,
+          0.15504230558872223,
+          -7.844040393829346
+        ],
+        [
+          -0.15474900603294373,
+          -0.01321092527359724,
+          -0.9878655076026917,
+          17.6602840423584
+        ],
+        [
+          0.026940830051898956,
+          -0.9995952248573303,
+          0.00914751086384058,
+          -13.797231674194336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7450,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_383080959",
+      "mask_path": "../../mask/hdr_left_07450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07451.png",
+      "transform_matrix": [
+        [
+          -0.9874943494796753,
+          -0.023708339780569077,
+          0.15586115419864655,
+          -7.909090995788574
+        ],
+        [
+          -0.1555057018995285,
+          -0.01617305539548397,
+          -0.9877026677131653,
+          17.63483428955078
+        ],
+        [
+          0.025937534868717194,
+          -0.999588131904602,
+          0.012284018099308014,
+          -13.805709838867188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7451,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_483082294",
+      "mask_path": "../../mask/hdr_left_07451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07452.png",
+      "transform_matrix": [
+        [
+          -0.9891117811203003,
+          -0.009021717123687267,
+          0.14688901603221893,
+          -7.981296062469482
+        ],
+        [
+          -0.14670619368553162,
+          -0.01837485283613205,
+          -0.989009439945221,
+          17.609827041625977
+        ],
+        [
+          0.011621627025306225,
+          -0.9997905492782593,
+          0.016851244494318962,
+          -13.799233436584473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7452,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_583081960",
+      "mask_path": "../../mask/hdr_left_07452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07453.png",
+      "transform_matrix": [
+        [
+          -0.990885853767395,
+          0.0020027172286063433,
+          0.13468895852565765,
+          -8.041224479675293
+        ],
+        [
+          -0.13470134139060974,
+          -0.020825684070587158,
+          -0.9906674027442932,
+          17.593740463256836
+        ],
+        [
+          0.0008209627703763545,
+          -0.9997811317443848,
+          0.020905645564198494,
+          -13.794754981994629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7453,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_683082103",
+      "mask_path": "../../mask/hdr_left_07453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07454.png",
+      "transform_matrix": [
+        [
+          -0.9922329783439636,
+          0.0014441314851865172,
+          0.1243855431675911,
+          -8.095481872558594
+        ],
+        [
+          -0.12438353896141052,
+          -0.024431556463241577,
+          -0.9919334053993225,
+          17.580915451049805
+        ],
+        [
+          0.0016064499504864216,
+          -0.9997005462646484,
+          0.024421419948339462,
+          -13.79444408416748
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7454,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_783081769",
+      "mask_path": "../../mask/hdr_left_07454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07455.png",
+      "transform_matrix": [
+        [
+          -0.9936368465423584,
+          0.001254612347111106,
+          0.11262385547161102,
+          -8.17061710357666
+        ],
+        [
+          -0.11259625107049942,
+          -0.035844460129737854,
+          -0.9929941892623901,
+          17.55420684814453
+        ],
+        [
+          0.0027911169454455376,
+          -0.9993566274642944,
+          0.0357576422393322,
+          -13.808270454406738
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7455,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_883083105",
+      "mask_path": "../../mask/hdr_left_07455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07456.png",
+      "transform_matrix": [
+        [
+          -0.9940100908279419,
+          -0.00459268968552351,
+          0.10919126123189926,
+          -8.272248268127441
+        ],
+        [
+          -0.10892333835363388,
+          -0.03989335894584656,
+          -0.9932493567466736,
+          17.51580238342285
+        ],
+        [
+          0.008917691186070442,
+          -0.9991934299468994,
+          0.03915415331721306,
+          -13.791110038757324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7456,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_983082294",
+      "mask_path": "../../mask/hdr_left_07456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07457.png",
+      "transform_matrix": [
+        [
+          -0.9935956001281738,
+          -0.013033424504101276,
+          0.11224017292261124,
+          -8.34951400756836
+        ],
+        [
+          -0.11170841753482819,
+          -0.036129094660282135,
+          -0.9930840730667114,
+          17.487712860107422
+        ],
+        [
+          0.016998417675495148,
+          -0.999262273311615,
+          0.03444176912307739,
+          -13.776738166809082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7457,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_83081722",
+      "mask_path": "../../mask/hdr_left_07457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07458.png",
+      "transform_matrix": [
+        [
+          -0.9930691123008728,
+          -0.018429826945066452,
+          0.11607722193002701,
+          -8.404415130615234
+        ],
+        [
+          -0.1154962033033371,
+          -0.029964188113808632,
+          -0.9928557872772217,
+          17.46402931213379
+        ],
+        [
+          0.021776318550109863,
+          -0.9993811249732971,
+          0.027627939358353615,
+          -13.776324272155762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7458,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_183082818",
+      "mask_path": "../../mask/hdr_left_07458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07459.png",
+      "transform_matrix": [
+        [
+          -0.9933993220329285,
+          -0.008118992671370506,
+          0.11441892385482788,
+          -8.47335433959961
+        ],
+        [
+          -0.1140778511762619,
+          -0.03437061607837677,
+          -0.9928770661354065,
+          17.425334930419922
+        ],
+        [
+          0.011993806809186935,
+          -0.9993761777877808,
+          0.03321755677461624,
+          -13.764932632446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7459,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_283082008",
+      "mask_path": "../../mask/hdr_left_07459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07460.png",
+      "transform_matrix": [
+        [
+          -0.9945988059043884,
+          -0.0025072158314287663,
+          0.10376393795013428,
+          -8.542810440063477
+        ],
+        [
+          -0.10361961275339127,
+          -0.03398023918271065,
+          -0.9940362572669983,
+          17.393381118774414
+        ],
+        [
+          0.006018185988068581,
+          -0.9994193911552429,
+          0.033536914736032486,
+          -13.75594711303711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7460,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_383081912",
+      "mask_path": "../../mask/hdr_left_07460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07461.png",
+      "transform_matrix": [
+        [
+          -0.9955021739006042,
+          -0.005811316892504692,
+          0.09456000477075577,
+          -8.607531547546387
+        ],
+        [
+          -0.09434042125940323,
+          -0.030583102256059647,
+          -0.9950700998306274,
+          17.37850570678711
+        ],
+        [
+          0.008674603886902332,
+          -0.9995153546333313,
+          0.029897304251790047,
+          -13.757904052734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7461,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_483082056",
+      "mask_path": "../../mask/hdr_left_07461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07462.png",
+      "transform_matrix": [
+        [
+          -0.9963406920433044,
+          -0.006392290350049734,
+          0.08523079752922058,
+          -8.6787109375
+        ],
+        [
+          -0.08495856076478958,
+          -0.034881092607975006,
+          -0.9957737326622009,
+          17.364643096923828
+        ],
+        [
+          0.009338218718767166,
+          -0.9993710517883301,
+          0.03421037271618843,
+          -13.769830703735352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7462,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_583081960",
+      "mask_path": "../../mask/hdr_left_07462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07463.png",
+      "transform_matrix": [
+        [
+          -0.9968024492263794,
+          -0.019330937415361404,
+          0.07753197103738785,
+          -8.77008056640625
+        ],
+        [
+          -0.07684696465730667,
+          -0.03396488353610039,
+          -0.9964641332626343,
+          17.34033203125
+        ],
+        [
+          0.02189595066010952,
+          -0.9992360472679138,
+          0.03237075358629227,
+          -13.760672569274902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7463,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_683082342",
+      "mask_path": "../../mask/hdr_left_07463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07464.png",
+      "transform_matrix": [
+        [
+          -0.9967341423034668,
+          -0.024459240958094597,
+          0.07695970684289932,
+          -8.855185508728027
+        ],
+        [
+          -0.07616531103849411,
+          -0.0319017693400383,
+          -0.9965847730636597,
+          17.31395721435547
+        ],
+        [
+          0.026830855756998062,
+          -0.9991916418075562,
+          0.029934635385870934,
+          -13.745100975036621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7464,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_783080816",
+      "mask_path": "../../mask/hdr_left_07464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07465.png",
+      "transform_matrix": [
+        [
+          -0.9965939521789551,
+          -0.020125528797507286,
+          0.07997256517410278,
+          -8.922041893005371
+        ],
+        [
+          -0.07931666076183319,
+          -0.03151252865791321,
+          -0.9963512420654297,
+          17.291051864624023
+        ],
+        [
+          0.0225722324103117,
+          -0.9993007779121399,
+          0.029808901250362396,
+          -13.745339393615723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7465,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_883079767",
+      "mask_path": "../../mask/hdr_left_07465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07466.png",
+      "transform_matrix": [
+        [
+          -0.9965195655822754,
+          -0.0240931436419487,
+          0.07980131357908249,
+          -8.989128112792969
+        ],
+        [
+          -0.079009048640728,
+          -0.03221577778458595,
+          -0.9963530898094177,
+          17.26715850830078
+        ],
+        [
+          0.02657613717019558,
+          -0.9991905689239502,
+          0.030200079083442688,
+          -13.737756729125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7466,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_983082771",
+      "mask_path": "../../mask/hdr_left_07466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07467.png",
+      "transform_matrix": [
+        [
+          -0.9971258044242859,
+          -0.030078483745455742,
+          0.06953588873147964,
+          -9.066890716552734
+        ],
+        [
+          -0.06861487776041031,
+          -0.030639605596661568,
+          -0.9971726536750793,
+          17.25098419189453
+        ],
+        [
+          0.03212399035692215,
+          -0.9990778565406799,
+          0.028487712144851685,
+          -13.713420867919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7467,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_83082199",
+      "mask_path": "../../mask/hdr_left_07467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07468.png",
+      "transform_matrix": [
+        [
+          -0.9977744817733765,
+          -0.03206763416528702,
+          0.05846105143427849,
+          -9.1361722946167
+        ],
+        [
+          -0.05750492587685585,
+          -0.02996891736984253,
+          -0.9978953003883362,
+          17.245464324951172
+        ],
+        [
+          0.03375215455889702,
+          -0.9990363717079163,
+          0.02805817872285843,
+          -13.71291446685791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7468,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_183082103",
+      "mask_path": "../../mask/hdr_left_07468.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07469.png",
+      "transform_matrix": [
+        [
+          -0.9980443120002747,
+          -0.037173252552747726,
+          0.050257228314876556,
+          -9.205161094665527
+        ],
+        [
+          -0.04904961585998535,
+          -0.03271549940109253,
+          -0.9982603192329407,
+          17.239770889282227
+        ],
+        [
+          0.03875277563929558,
+          -0.9987732172012329,
+          0.030828185379505157,
+          -13.717390060424805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7469,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_283083915",
+      "mask_path": "../../mask/hdr_left_07469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07470.png",
+      "transform_matrix": [
+        [
+          -0.9970904588699341,
+          -0.06437547504901886,
+          0.04082179442048073,
+          -9.2838716506958
+        ],
+        [
+          -0.036815352737903595,
+          -0.06223934888839722,
+          -0.9973820447921753,
+          17.216032028198242
+        ],
+        [
+          0.06674765050411224,
+          -0.9959830045700073,
+          0.059688251465559006,
+          -13.714553833007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7470,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_383081912",
+      "mask_path": "../../mask/hdr_left_07470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07471.png",
+      "transform_matrix": [
+        [
+          -0.9943485260009766,
+          -0.09788627922534943,
+          0.041100215166807175,
+          -9.363836288452148
+        ],
+        [
+          -0.03416758030653,
+          -0.07147625833749771,
+          -0.9968568682670593,
+          17.191572189331055
+        ],
+        [
+          0.10051628202199936,
+          -0.9926275610923767,
+          0.06772778183221817,
+          -13.640362739562988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7471,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_483082532",
+      "mask_path": "../../mask/hdr_left_07471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07472.png",
+      "transform_matrix": [
+        [
+          -0.9921544790267944,
+          -0.11632644385099411,
+          0.04579934477806091,
+          -9.442818641662598
+        ],
+        [
+          -0.0392032228410244,
+          -0.058373045176267624,
+          -0.9975247979164124,
+          17.175806045532227
+        ],
+        [
+          0.11871196329593658,
+          -0.9914942383766174,
+          0.05335470661520958,
+          -13.597956657409668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7472,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_583081722",
+      "mask_path": "../../mask/hdr_left_07472.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07473.png",
+      "transform_matrix": [
+        [
+          -0.99015873670578,
+          -0.13251066207885742,
+          0.04501759633421898,
+          -9.519879341125488
+        ],
+        [
+          -0.038706060498952866,
+          -0.0498281754553318,
+          -0.9980074763298035,
+          17.17404556274414
+        ],
+        [
+          0.1344897747039795,
+          -0.9899283051490784,
+          0.044208839535713196,
+          -13.598758697509766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7473,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_683082103",
+      "mask_path": "../../mask/hdr_left_07473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07474.png",
+      "transform_matrix": [
+        [
+          -0.9898982644081116,
+          -0.13810798525810242,
+          0.03205469995737076,
+          -9.593668937683105
+        ],
+        [
+          -0.024619555100798607,
+          -0.05521165952086449,
+          -0.9981710910797119,
+          17.174455642700195
+        ],
+        [
+          0.1396251916885376,
+          -0.9888771176338196,
+          0.051253773272037506,
+          -13.56793212890625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7474,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_783081769",
+      "mask_path": "../../mask/hdr_left_07474.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07475.png",
+      "transform_matrix": [
+        [
+          -0.989250898361206,
+          -0.14519289135932922,
+          0.017366547137498856,
+          -9.661623001098633
+        ],
+        [
+          -0.006904446519911289,
+          -0.07225223630666733,
+          -0.9973624348640442,
+          17.168498992919922
+        ],
+        [
+          0.14606471359729767,
+          -0.986761748790741,
+          0.07047311216592789,
+          -13.546500205993652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7475,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_883083820",
+      "mask_path": "../../mask/hdr_left_07475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07476.png",
+      "transform_matrix": [
+        [
+          -0.9870134592056274,
+          -0.16048380732536316,
+          0.007027909159660339,
+          -9.722396850585938
+        ],
+        [
+          0.006451911758631468,
+          -0.08331941068172455,
+          -0.9965020418167114,
+          17.157909393310547
+        ],
+        [
+          0.16050800681114197,
+          -0.9835155606269836,
+          0.08327279984951019,
+          -13.523285865783691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7476,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_983082056",
+      "mask_path": "../../mask/hdr_left_07476.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07477.png",
+      "transform_matrix": [
+        [
+          -0.9812332391738892,
+          -0.19273978471755981,
+          0.00571060087531805,
+          -9.788758277893066
+        ],
+        [
+          0.016490349546074867,
+          -0.11338522285223007,
+          -0.9934142827987671,
+          17.13071060180664
+        ],
+        [
+          0.19211792945861816,
+          -0.9746770262718201,
+          0.11443570256233215,
+          -13.477524757385254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7477,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_83083629",
+      "mask_path": "../../mask/hdr_left_07477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07478.png",
+      "transform_matrix": [
+        [
+          -0.977015495300293,
+          -0.21305328607559204,
+          0.006999495439231396,
+          -9.846686363220215
+        ],
+        [
+          0.01745191030204296,
+          -0.11266952008008957,
+          -0.9934792518615723,
+          17.104379653930664
+        ],
+        [
+          0.21245260536670685,
+          -0.9705225825309753,
+          0.11379803717136383,
+          -13.426965713500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7478,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_183082342",
+      "mask_path": "../../mask/hdr_left_07478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07480.png",
+      "transform_matrix": [
+        [
+          -0.9765430092811584,
+          -0.21531671285629272,
+          0.00150293146725744,
+          -9.934669494628906
+        ],
+        [
+          0.017600519582629204,
+          -0.08677756786346436,
+          -0.9960722327232361,
+          17.093082427978516
+        ],
+        [
+          0.21460139751434326,
+          -0.9726811647415161,
+          0.08853171765804291,
+          -13.438194274902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7480,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_383082866",
+      "mask_path": "../../mask/hdr_left_07480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07481.png",
+      "transform_matrix": [
+        [
+          -0.9693958759307861,
+          -0.24540604650974274,
+          -0.006887645926326513,
+          -9.990033149719238
+        ],
+        [
+          0.021606188267469406,
+          -0.05733449012041092,
+          -0.9981213212013245,
+          17.091032028198242
+        ],
+        [
+          0.24455006420612335,
+          -0.9677234888076782,
+          0.060882098972797394,
+          -13.396160125732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7481,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_483083009",
+      "mask_path": "../../mask/hdr_left_07481.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07482.png",
+      "transform_matrix": [
+        [
+          -0.9612765312194824,
+          -0.27491238713264465,
+          -0.019247934222221375,
+          -10.042641639709473
+        ],
+        [
+          0.034220218658447266,
+          -0.04976965859532356,
+          -0.9981743693351746,
+          17.102802276611328
+        ],
+        [
+          0.2734525501728058,
+          -0.9601802825927734,
+          0.057249970734119415,
+          -13.321941375732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7482,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_583081960",
+      "mask_path": "../../mask/hdr_left_07482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07484.png",
+      "transform_matrix": [
+        [
+          -0.959671676158905,
+          -0.2801545262336731,
+          -0.02332047000527382,
+          -10.11160659790039
+        ],
+        [
+          0.04460707679390907,
+          -0.06984679400920868,
+          -0.9965599179267883,
+          17.099456787109375
+        ],
+        [
+          0.2775619328022003,
+          -0.9574105143547058,
+          0.0795268639922142,
+          -13.301767349243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7484,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_783081293",
+      "mask_path": "../../mask/hdr_left_07484.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07486.png",
+      "transform_matrix": [
+        [
+          -0.9609173536300659,
+          -0.2753429412841797,
+          -0.028704876080155373,
+          -10.185802459716797
+        ],
+        [
+          0.04662271961569786,
+          -0.0587504617869854,
+          -0.9971834421157837,
+          17.082365036010742
+        ],
+        [
+          0.2728809714317322,
+          -0.9595492482185364,
+          0.06929157674312592,
+          -13.271328926086426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7486,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_983082294",
+      "mask_path": "../../mask/hdr_left_07486.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07488.png",
+      "transform_matrix": [
+        [
+          -0.9630010724067688,
+          -0.26830270886421204,
+          -0.025346828624606133,
+          -10.26974868774414
+        ],
+        [
+          0.04156006872653961,
+          -0.05492212995886803,
+          -0.9976253509521484,
+          17.059206008911133
+        ],
+        [
+          0.26627349853515625,
+          -0.9617677927017212,
+          0.06404075026512146,
+          -13.259328842163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7488,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_183081626",
+      "mask_path": "../../mask/hdr_left_07488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07489.png",
+      "transform_matrix": [
+        [
+          -0.9631852507591248,
+          -0.2679505944252014,
+          -0.021833961829543114,
+          -10.31346607208252
+        ],
+        [
+          0.038112860172986984,
+          -0.055702708661556244,
+          -0.9977196455001831,
+          17.04987335205078
+        ],
+        [
+          0.26612335443496704,
+          -0.9618210196495056,
+          0.06386438757181168,
+          -13.235102653503418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7489,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_283082246",
+      "mask_path": "../../mask/hdr_left_07489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07491.png",
+      "transform_matrix": [
+        [
+          -0.9634478092193604,
+          -0.2678926885128021,
+          -0.0013653000351041555,
+          -10.39382553100586
+        ],
+        [
+          0.022271648049354553,
+          -0.07501672208309174,
+          -0.9969335198402405,
+          17.031129837036133
+        ],
+        [
+          0.2669687271118164,
+          -0.9605239033699036,
+          0.07824109494686127,
+          -13.197856903076172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7491,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_483083724",
+      "mask_path": "../../mask/hdr_left_07491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07493.png",
+      "transform_matrix": [
+        [
+          -0.9678264856338501,
+          -0.24915574491024017,
+          0.03511655703186989,
+          -10.45040512084961
+        ],
+        [
+          -0.018045181408524513,
+          -0.07047359645366669,
+          -0.9973503947257996,
+          16.993255615234375
+        ],
+        [
+          0.25097036361694336,
+          -0.9658958911895752,
+          0.06371016055345535,
+          -13.187085151672363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7493,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_683081626",
+      "mask_path": "../../mask/hdr_left_07493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07494.png",
+      "transform_matrix": [
+        [
+          -0.9672831892967224,
+          -0.24606019258499146,
+          0.06178690120577812,
+          -10.51119327545166
+        ],
+        [
+          -0.04523167386651039,
+          -0.07237901538610458,
+          -0.9963510632514954,
+          16.955909729003906
+        ],
+        [
+          0.24963437020778656,
+          -0.9665484428405762,
+          0.05888129025697708,
+          -13.182493209838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7494,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_783082485",
+      "mask_path": "../../mask/hdr_left_07494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07496.png",
+      "transform_matrix": [
+        [
+          -0.9710228443145752,
+          -0.21713989973068237,
+          0.09982394427061081,
+          -10.575676918029785
+        ],
+        [
+          -0.08392392843961716,
+          -0.08127639442682266,
+          -0.9931520223617554,
+          16.897056579589844
+        ],
+        [
+          0.22376622259616852,
+          -0.9727510213851929,
+          0.0606980137526989,
+          -13.159273147583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7496,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_983081579",
+      "mask_path": "../../mask/hdr_left_07496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07498.png",
+      "transform_matrix": [
+        [
+          -0.9737343788146973,
+          -0.20257078111171722,
+          0.10395354777574539,
+          -10.672601699829102
+        ],
+        [
+          -0.08704351633787155,
+          -0.09069275856018066,
+          -0.9920676350593567,
+          16.84563446044922
+        ],
+        [
+          0.21039174497127533,
+          -0.9750589728355408,
+          0.07067819684743881,
+          -13.140768051147461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7498,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_183082580",
+      "mask_path": "../../mask/hdr_left_07498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07499.png",
+      "transform_matrix": [
+        [
+          -0.9776803255081177,
+          -0.18359529972076416,
+          0.10214652121067047,
+          -10.733993530273438
+        ],
+        [
+          -0.09218207001686096,
+          -0.06203547492623329,
+          -0.993807852268219,
+          16.827617645263672
+        ],
+        [
+          0.18879514932632446,
+          -0.9810425043106079,
+          0.04372666776180267,
+          -13.133152961730957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7499,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_283082246",
+      "mask_path": "../../mask/hdr_left_07499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07500.png",
+      "transform_matrix": [
+        [
+          -0.9802831411361694,
+          -0.16719436645507812,
+          0.1053137555718422,
+          -10.800104141235352
+        ],
+        [
+          -0.09902084618806839,
+          -0.04556210711598396,
+          -0.9940418601036072,
+          16.806608200073242
+        ],
+        [
+          0.17099647223949432,
+          -0.9848707318305969,
+          0.028108039870858192,
+          -13.128473281860352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7500,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_383082628",
+      "mask_path": "../../mask/hdr_left_07500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07501.png",
+      "transform_matrix": [
+        [
+          -0.98105788230896,
+          -0.1590818166732788,
+          0.11053694039583206,
+          -10.867292404174805
+        ],
+        [
+          -0.10538316518068314,
+          -0.040502388030290604,
+          -0.9936065673828125,
+          16.777692794799805
+        ],
+        [
+          0.1625417172908783,
+          -0.986434280872345,
+          0.022970641031861305,
+          -13.121152877807617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7501,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_483082294",
+      "mask_path": "../../mask/hdr_left_07501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07502.png",
+      "transform_matrix": [
+        [
+          -0.9835241436958313,
+          -0.14300478994846344,
+          0.11058841645717621,
+          -10.945308685302734
+        ],
+        [
+          -0.10591939091682434,
+          -0.0398838147521019,
+          -0.9935744404792786,
+          16.75690460205078
+        ],
+        [
+          0.14649660885334015,
+          -0.9889180660247803,
+          0.024079715833067894,
+          -13.11502456665039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7502,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_583082199",
+      "mask_path": "../../mask/hdr_left_07502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07503.png",
+      "transform_matrix": [
+        [
+          -0.9856887459754944,
+          -0.13190370798110962,
+          0.10497130453586578,
+          -11.016586303710938
+        ],
+        [
+          -0.10006573051214218,
+          -0.0433024987578392,
+          -0.9940380454063416,
+          16.737890243530273
+        ],
+        [
+          0.13566280901432037,
+          -0.9903163313865662,
+          0.029483750462532043,
+          -13.102516174316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7503,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_683082342",
+      "mask_path": "../../mask/hdr_left_07503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07504.png",
+      "transform_matrix": [
+        [
+          -0.9866167306900024,
+          -0.12911862134933472,
+          0.09957745671272278,
+          -11.076085090637207
+        ],
+        [
+          -0.09369733929634094,
+          -0.05085696280002594,
+          -0.9943010807037354,
+          16.715627670288086
+        ],
+        [
+          0.13344693183898926,
+          -0.9903241991996765,
+          0.03807825222611427,
+          -13.092705726623535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7504,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_783082008",
+      "mask_path": "../../mask/hdr_left_07504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07505.png",
+      "transform_matrix": [
+        [
+          -0.9872480630874634,
+          -0.12569895386695862,
+          0.09767824411392212,
+          -11.150216102600098
+        ],
+        [
+          -0.09059108048677444,
+          -0.06092770770192146,
+          -0.9940226078033447,
+          16.690141677856445
+        ],
+        [
+          0.13089889287948608,
+          -0.9901957511901855,
+          0.04876355826854706,
+          -13.090784072875977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7505,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_883082151",
+      "mask_path": "../../mask/hdr_left_07505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07506.png",
+      "transform_matrix": [
+        [
+          -0.9874167442321777,
+          -0.12086313962936401,
+          0.1019812524318695,
+          -11.236344337463379
+        ],
+        [
+          -0.09549081325531006,
+          -0.0583428218960762,
+          -0.9937190413475037,
+          16.649608612060547
+        ],
+        [
+          0.12605386972427368,
+          -0.9909532070159912,
+          0.046067360788583755,
+          -13.08165454864502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7506,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_983082056",
+      "mask_path": "../../mask/hdr_left_07506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07509.png",
+      "transform_matrix": [
+        [
+          -0.9891728162765503,
+          -0.10066654533147812,
+          0.10678648203611374,
+          -11.389924049377441
+        ],
+        [
+          -0.10263531655073166,
+          -0.04556563124060631,
+          -0.9936748743057251,
+          16.56196403503418
+        ],
+        [
+          0.10489559918642044,
+          -0.9938763380050659,
+          0.03474033996462822,
+          -13.057738304138184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7509,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_283082008",
+      "mask_path": "../../mask/hdr_left_07509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07510.png",
+      "transform_matrix": [
+        [
+          -0.990563154220581,
+          -0.09400498867034912,
+          0.09973803162574768,
+          -11.447083473205566
+        ],
+        [
+          -0.09576792269945145,
+          -0.0458487868309021,
+          -0.9943472743034363,
+          16.53809928894043
+        ],
+        [
+          0.09804645925760269,
+          -0.9945154786109924,
+          0.03641345351934433,
+          -13.04238224029541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7510,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_383081674",
+      "mask_path": "../../mask/hdr_left_07510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07511.png",
+      "transform_matrix": [
+        [
+          -0.9914493560791016,
+          -0.09177880734205246,
+          0.09276193380355835,
+          -11.50288200378418
+        ],
+        [
+          -0.08823111653327942,
+          -0.05225770175457001,
+          -0.9947283267974854,
+          16.524017333984375
+        ],
+        [
+          0.0961424857378006,
+          -0.9944072961807251,
+          0.04371311143040657,
+          -13.040599822998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7511,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_483082056",
+      "mask_path": "../../mask/hdr_left_07511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07512.png",
+      "transform_matrix": [
+        [
+          -0.9922075271606445,
+          -0.08918745070695877,
+          0.08700456470251083,
+          -11.569665908813477
+        ],
+        [
+          -0.081999771296978,
+          -0.05832831189036369,
+          -0.9949240684509277,
+          16.500680923461914
+        ],
+        [
+          0.09380955994129181,
+          -0.9943055510520935,
+          0.05056043341755867,
+          -13.038800239562988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7512,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_583082199",
+      "mask_path": "../../mask/hdr_left_07512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07513.png",
+      "transform_matrix": [
+        [
+          -0.9921981692314148,
+          -0.08772934973239899,
+          0.08857862651348114,
+          -11.644673347473145
+        ],
+        [
+          -0.08421783149242401,
+          -0.05222637951374054,
+          -0.9950777292251587,
+          16.4715518951416
+        ],
+        [
+          0.09192365407943726,
+          -0.994774341583252,
+          0.04443054273724556,
+          -13.033732414245605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7513,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_683081388",
+      "mask_path": "../../mask/hdr_left_07513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07514.png",
+      "transform_matrix": [
+        [
+          -0.9919080138206482,
+          -0.0859466940164566,
+          0.09344357252120972,
+          -11.709232330322266
+        ],
+        [
+          -0.08994181454181671,
+          -0.043758951127529144,
+          -0.9949852228164673,
+          16.44879913330078
+        ],
+        [
+          0.0896046832203865,
+          -0.9953383207321167,
+          0.035674650222063065,
+          -13.033957481384277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7514,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_783080816",
+      "mask_path": "../../mask/hdr_left_07514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07515.png",
+      "transform_matrix": [
+        [
+          -0.9922877550125122,
+          -0.0816185474395752,
+          0.09329137951135635,
+          -11.765724182128906
+        ],
+        [
+          -0.09023869782686234,
+          -0.04033118858933449,
+          -0.9951031804084778,
+          16.432350158691406
+        ],
+        [
+          0.08498142659664154,
+          -0.9958473443984985,
+          0.03265499696135521,
+          -13.034723281860352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7515,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_883082151",
+      "mask_path": "../../mask/hdr_left_07515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07516.png",
+      "transform_matrix": [
+        [
+          -0.9939588904380798,
+          -0.06823142617940903,
+          0.08596528321504593,
+          -11.824540138244629
+        ],
+        [
+          -0.08347230404615402,
+          -0.038588978350162506,
+          -0.9957626461982727,
+          16.419830322265625
+        ],
+        [
+          0.07125961035490036,
+          -0.99692302942276,
+          0.03266042470932007,
+          -13.026094436645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7516,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_983082532",
+      "mask_path": "../../mask/hdr_left_07516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07518.png",
+      "transform_matrix": [
+        [
+          -0.9960684776306152,
+          -0.056671880185604095,
+          0.06808674335479736,
+          -11.921648979187012
+        ],
+        [
+          -0.06536031514406204,
+          -0.04864848405122757,
+          -0.9966751933097839,
+          16.395076751708984
+        ],
+        [
+          0.059795770794153214,
+          -0.9972069263458252,
+          0.04475312680006027,
+          -13.008191108703613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7518,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_183081865",
+      "mask_path": "../../mask/hdr_left_07518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07519.png",
+      "transform_matrix": [
+        [
+          -0.9965599775314331,
+          -0.055429499596357346,
+          0.06160948798060417,
+          -11.98769474029541
+        ],
+        [
+          -0.058298833668231964,
+          -0.059483882039785385,
+          -0.9965253472328186,
+          16.37584114074707
+        ],
+        [
+          0.058901671320199966,
+          -0.9966891407966614,
+          0.05604778230190277,
+          -12.999947547912598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7519,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_283082246",
+      "mask_path": "../../mask/hdr_left_07519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07520.png",
+      "transform_matrix": [
+        [
+          -0.9961960911750793,
+          -0.05521702021360397,
+          0.06741108000278473,
+          -12.051253318786621
+        ],
+        [
+          -0.06417495757341385,
+          -0.05842212587594986,
+          -0.9962270855903625,
+          16.355005264282227
+        ],
+        [
+          0.05894698202610016,
+          -0.9967638254165649,
+          0.05465634539723396,
+          -12.989242553710938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7520,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_383084297",
+      "mask_path": "../../mask/hdr_left_07520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07521.png",
+      "transform_matrix": [
+        [
+          -0.9950204491615295,
+          -0.05796465277671814,
+          0.0810825303196907,
+          -12.102302551269531
+        ],
+        [
+          -0.07801233232021332,
+          -0.05340275540947914,
+          -0.9955211281776428,
+          16.32636833190918
+        ],
+        [
+          0.06203506141901016,
+          -0.9968893527984619,
+          0.048614878207445145,
+          -12.986502647399902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7521,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_483082294",
+      "mask_path": "../../mask/hdr_left_07521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07522.png",
+      "transform_matrix": [
+        [
+          -0.9933104515075684,
+          -0.05861743912100792,
+          0.09949002414941788,
+          -12.146618843078613
+        ],
+        [
+          -0.09659731388092041,
+          -0.05027882382273674,
+          -0.9940528273582458,
+          16.294788360595703
+        ],
+        [
+          0.06327106803655624,
+          -0.9970135688781738,
+          0.044280193746089935,
+          -12.981475830078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7522,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_583080530",
+      "mask_path": "../../mask/hdr_left_07522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07523.png",
+      "transform_matrix": [
+        [
+          -0.9911662936210632,
+          -0.06010018661618233,
+          0.11822559684515,
+          -12.200149536132812
+        ],
+        [
+          -0.11560950428247452,
+          -0.04529856890439987,
+          -0.9922612309455872,
+          16.265226364135742
+        ],
+        [
+          0.06499052792787552,
+          -0.9971640110015869,
+          0.03795026242733002,
+          -12.972411155700684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7523,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_683081388",
+      "mask_path": "../../mask/hdr_left_07523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07524.png",
+      "transform_matrix": [
+        [
+          -0.9894294142723083,
+          -0.06375926733016968,
+          0.13024665415287018,
+          -12.254205703735352
+        ],
+        [
+          -0.1272352933883667,
+          -0.0492250993847847,
+          -0.9906502366065979,
+          16.237747192382812
+        ],
+        [
+          0.06957452744245529,
+          -0.9967505931854248,
+          0.04059233143925667,
+          -12.961562156677246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7524,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_783081293",
+      "mask_path": "../../mask/hdr_left_07524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07525.png",
+      "transform_matrix": [
+        [
+          -0.988718569278717,
+          -0.06509266793727875,
+          0.1349017471075058,
+          -12.31716537475586
+        ],
+        [
+          -0.1309977024793625,
+          -0.06093648448586464,
+          -0.9895080924034119,
+          16.221872329711914
+        ],
+        [
+          0.0726301521062851,
+          -0.9960169792175293,
+          0.05172204598784447,
+          -12.956931114196777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7525,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_883080959",
+      "mask_path": "../../mask/hdr_left_07525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07526.png",
+      "transform_matrix": [
+        [
+          -0.988946259021759,
+          -0.06532270461320877,
+          0.1331096738576889,
+          -12.382880210876465
+        ],
+        [
+          -0.1284361481666565,
+          -0.07118921726942062,
+          -0.989159345626831,
+          16.197559356689453
+        ],
+        [
+          0.07409053295850754,
+          -0.9953216314315796,
+          0.06201252341270447,
+          -12.952079772949219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7526,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_983081340",
+      "mask_path": "../../mask/hdr_left_07526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07527.png",
+      "transform_matrix": [
+        [
+          -0.9892423748970032,
+          -0.0647013708949089,
+          0.13119849562644958,
+          -12.438027381896973
+        ],
+        [
+          -0.127193883061409,
+          -0.06256593763828278,
+          -0.9899026155471802,
+          16.16611671447754
+        ],
+        [
+          0.07225661724805832,
+          -0.9959414005279541,
+          0.05366327613592148,
+          -12.932995796203613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7527,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_83081245",
+      "mask_path": "../../mask/hdr_left_07527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07528.png",
+      "transform_matrix": [
+        [
+          -0.9890285730361938,
+          -0.06652039289474487,
+          0.13189932703971863,
+          -12.505207061767578
+        ],
+        [
+          -0.12872156500816345,
+          -0.050004322081804276,
+          -0.9904192686080933,
+          16.14335823059082
+        ],
+        [
+          0.07247861474752426,
+          -0.9965313076972961,
+          0.04089309275150299,
+          -12.930188179016113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7528,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_183080911",
+      "mask_path": "../../mask/hdr_left_07528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07529.png",
+      "transform_matrix": [
+        [
+          -0.988774836063385,
+          -0.06784303486347198,
+          0.13312283158302307,
+          -12.574294090270996
+        ],
+        [
+          -0.1300993412733078,
+          -0.04720849171280861,
+          -0.9903764724731445,
+          16.118654251098633
+        ],
+        [
+          0.07347465306520462,
+          -0.9965785145759583,
+          0.03785223513841629,
+          -12.933311462402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7529,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_283081769",
+      "mask_path": "../../mask/hdr_left_07529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07530.png",
+      "transform_matrix": [
+        [
+          -0.9891054034233093,
+          -0.06514515727758408,
+          0.13200931251049042,
+          -12.644064903259277
+        ],
+        [
+          -0.128898024559021,
+          -0.04986850172281265,
+          -0.9904031753540039,
+          16.091854095458984
+        ],
+        [
+          0.07110307365655899,
+          -0.996628999710083,
+          0.040928129106760025,
+          -12.925294876098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7530,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_383082151",
+      "mask_path": "../../mask/hdr_left_07530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07531.png",
+      "transform_matrix": [
+        [
+          -0.9900712370872498,
+          -0.0634632557630539,
+          0.12542523443698883,
+          -12.722251892089844
+        ],
+        [
+          -0.12210424989461899,
+          -0.05376419425010681,
+          -0.9910599589347839,
+          16.06713104248047
+        ],
+        [
+          0.06963928043842316,
+          -0.9965349435806274,
+          0.04548124596476555,
+          -12.91614818572998
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7531,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_483081102",
+      "mask_path": "../../mask/hdr_left_07531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07532.png",
+      "transform_matrix": [
+        [
+          -0.9909102320671082,
+          -0.0620957650244236,
+          0.11933563649654388,
+          -12.796832084655762
+        ],
+        [
+          -0.11556044220924377,
+          -0.061209362000226974,
+          -0.9914127588272095,
+          16.03999900817871
+        ],
+        [
+          0.06886698305606842,
+          -0.9961915612220764,
+          0.05347716808319092,
+          -12.909750938415527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7532,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_583081722",
+      "mask_path": "../../mask/hdr_left_07532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07533.png",
+      "transform_matrix": [
+        [
+          -0.9912441968917847,
+          -0.06266546249389648,
+          0.1162232905626297,
+          -12.864265441894531
+        ],
+        [
+          -0.1115613654255867,
+          -0.07337317615747452,
+          -0.9910451173782349,
+          16.008747100830078
+        ],
+        [
+          0.0706319585442543,
+          -0.9953339099884033,
+          0.0657396987080574,
+          -12.900344848632812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7533,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_683081388",
+      "mask_path": "../../mask/hdr_left_07533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07534.png",
+      "transform_matrix": [
+        [
+          -0.991180956363678,
+          -0.05888528749346733,
+          0.11871320009231567,
+          -12.938253402709961
+        ],
+        [
+          -0.11456816643476486,
+          -0.06938455998897552,
+          -0.9909892678260803,
+          15.972640037536621
+        ],
+        [
+          0.0665915459394455,
+          -0.9958506226539612,
+          0.06202627345919609,
+          -12.893775939941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7534,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_783082008",
+      "mask_path": "../../mask/hdr_left_07534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07535.png",
+      "transform_matrix": [
+        [
+          -0.9899821877479553,
+          -0.055845241993665695,
+          0.12967896461486816,
+          -13.005051612854004
+        ],
+        [
+          -0.1265418380498886,
+          -0.05647260323166847,
+          -0.9903525114059448,
+          15.93873119354248
+        ],
+        [
+          0.06262977421283722,
+          -0.9968411326408386,
+          0.04884011298418045,
+          -12.894267082214355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7535,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_883081436",
+      "mask_path": "../../mask/hdr_left_07535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07536.png",
+      "transform_matrix": [
+        [
+          -0.988644003868103,
+          -0.05266531556844711,
+          0.14074596762657166,
+          -13.050834655761719
+        ],
+        [
+          -0.13806501030921936,
+          -0.051501356065273285,
+          -0.9890832901000977,
+          15.905256271362305
+        ],
+        [
+          0.059338971972465515,
+          -0.9972833395004272,
+          0.04364527016878128,
+          -12.894737243652344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7536,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_983082532",
+      "mask_path": "../../mask/hdr_left_07536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07537.png",
+      "transform_matrix": [
+        [
+          -0.9881005883216858,
+          -0.04407457262277603,
+          0.14735832810401917,
+          -13.102224349975586
+        ],
+        [
+          -0.14523231983184814,
+          -0.04808846116065979,
+          -0.9882282614707947,
+          15.870864868164062
+        ],
+        [
+          0.05064196512103081,
+          -0.9978703260421753,
+          0.04111519083380699,
+          -12.889286994934082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7537,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_83081960",
+      "mask_path": "../../mask/hdr_left_07537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07538.png",
+      "transform_matrix": [
+        [
+          -0.9880670309066772,
+          -0.0419360026717186,
+          0.1482056826353073,
+          -13.158622741699219
+        ],
+        [
+          -0.1463521420955658,
+          -0.04428454115986824,
+          -0.9882407784461975,
+          15.840107917785645
+        ],
+        [
+          0.0480060875415802,
+          -0.998138427734375,
+          0.037618670612573624,
+          -12.87601375579834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7538,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_183083057",
+      "mask_path": "../../mask/hdr_left_07538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07539.png",
+      "transform_matrix": [
+        [
+          -0.9884328246116638,
+          -0.043638940900564194,
+          0.14524541795253754,
+          -13.207578659057617
+        ],
+        [
+          -0.1433139443397522,
+          -0.044550392776727676,
+          -0.9886741042137146,
+          15.822031021118164
+        ],
+        [
+          0.04961542412638664,
+          -0.9980536103248596,
+          0.0377809964120388,
+          -12.872278213500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7539,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_283081769",
+      "mask_path": "../../mask/hdr_left_07539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07540.png",
+      "transform_matrix": [
+        [
+          -0.9890905618667603,
+          -0.04488721862435341,
+          0.14030300080776215,
+          -13.270276069641113
+        ],
+        [
+          -0.1379822939634323,
+          -0.05119809880852699,
+          -0.98911052942276,
+          15.800705909729004
+        ],
+        [
+          0.05158166214823723,
+          -0.9976792931556702,
+          0.044445913285017014,
+          -12.87417221069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7540,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_383083581",
+      "mask_path": "../../mask/hdr_left_07540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07541.png",
+      "transform_matrix": [
+        [
+          -0.9896197319030762,
+          -0.04314003139734268,
+          0.1370822638273239,
+          -13.34677791595459
+        ],
+        [
+          -0.13512033224105835,
+          -0.045523304492235184,
+          -0.9897828102111816,
+          15.774738311767578
+        ],
+        [
+          0.048939697444438934,
+          -0.9980313181877136,
+          0.039221666753292084,
+          -12.868680000305176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7541,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_483080863",
+      "mask_path": "../../mask/hdr_left_07541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07542.png",
+      "transform_matrix": [
+        [
+          -0.9893186688423157,
+          -0.04370537027716637,
+          0.1390628218650818,
+          -13.419137954711914
+        ],
+        [
+          -0.13791590929031372,
+          -0.028258193284273148,
+          -0.9900407195091248,
+          15.75333023071289
+        ],
+        [
+          0.047199755907058716,
+          -0.9986447691917419,
+          0.021928690373897552,
+          -12.863932609558105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7542,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_583083629",
+      "mask_path": "../../mask/hdr_left_07542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07543.png",
+      "transform_matrix": [
+        [
+          -0.988659679889679,
+          -0.04797976091504097,
+          0.14230209589004517,
+          -13.490256309509277
+        ],
+        [
+          -0.1416737139225006,
+          -0.016269410029053688,
+          -0.9897797703742981,
+          15.725979804992676
+        ],
+        [
+          0.04980456084012985,
+          -0.998715877532959,
+          0.009287439286708832,
+          -12.856194496154785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7543,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_683080196",
+      "mask_path": "../../mask/hdr_left_07543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07544.png",
+      "transform_matrix": [
+        [
+          -0.9885293841362,
+          -0.05118162930011749,
+          0.14209163188934326,
+          -13.555985450744629
+        ],
+        [
+          -0.14155897498130798,
+          -0.013903924264013767,
+          -0.9898321628570557,
+          15.706441879272461
+        ],
+        [
+          0.05263684689998627,
+          -0.9985926151275635,
+          0.006499218288809061,
+          -12.84902286529541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7544,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_783083915",
+      "mask_path": "../../mask/hdr_left_07544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07545.png",
+      "transform_matrix": [
+        [
+          -0.9861875176429749,
+          -0.09326156973838806,
+          0.13688117265701294,
+          -13.612383842468262
+        ],
+        [
+          -0.13775476813316345,
+          0.00296396529302001,
+          -0.9904618859291077,
+          15.69931697845459
+        ],
+        [
+          0.09196631610393524,
+          -0.9956372976303101,
+          -0.01577024906873703,
+          -12.811568260192871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7545,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_883081912",
+      "mask_path": "../../mask/hdr_left_07545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07546.png",
+      "transform_matrix": [
+        [
+          -0.9826070666313171,
+          -0.13573437929153442,
+          0.1267252415418625,
+          -13.678044319152832
+        ],
+        [
+          -0.12846216559410095,
+          0.0040794312953948975,
+          -0.9917060732841492,
+          15.690519332885742
+        ],
+        [
+          0.13409163057804108,
+          -0.9907369613647461,
+          -0.02144521102309227,
+          -12.742732048034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7546,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_983081579",
+      "mask_path": "../../mask/hdr_left_07546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07547.png",
+      "transform_matrix": [
+        [
+          -0.9824833273887634,
+          -0.1431889683008194,
+          0.11926154792308807,
+          -13.746089935302734
+        ],
+        [
+          -0.11873041838407516,
+          -0.01227912213653326,
+          -0.9928506016731262,
+          15.673616409301758
+        ],
+        [
+          0.14362968504428864,
+          -0.989619255065918,
+          -0.0049368455074727535,
+          -12.724605560302734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7547,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_83082675",
+      "mask_path": "../../mask/hdr_left_07547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07548.png",
+      "transform_matrix": [
+        [
+          -0.9833410978317261,
+          -0.14183898270130157,
+          0.11367505043745041,
+          -13.802489280700684
+        ],
+        [
+          -0.11127648502588272,
+          -0.02475578896701336,
+          -0.9934810400009155,
+          15.659308433532715
+        ],
+        [
+          0.14372846484184265,
+          -0.9895801544189453,
+          0.008560046553611755,
+          -12.730243682861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7548,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_183080434",
+      "mask_path": "../../mask/hdr_left_07548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07549.png",
+      "transform_matrix": [
+        [
+          -0.9780954718589783,
+          -0.17241208255290985,
+          0.11663283407688141,
+          -13.892492294311523
+        ],
+        [
+          -0.10610619932413101,
+          -0.0690910816192627,
+          -0.991951584815979,
+          15.614823341369629
+        ],
+        [
+          0.1790827214717865,
+          -0.9825989007949829,
+          0.04928369075059891,
+          -12.738495826721191
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7549,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_283080339",
+      "mask_path": "../../mask/hdr_left_07549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07550.png",
+      "transform_matrix": [
+        [
+          -0.9693142175674438,
+          -0.20650549232959747,
+          0.13336174190044403,
+          -13.965822219848633
+        ],
+        [
+          -0.11614613980054855,
+          -0.09341122210025787,
+          -0.9888298511505127,
+          15.55654525756836
+        ],
+        [
+          0.21665625274181366,
+          -0.9739763140678406,
+          0.06656000763177872,
+          -12.638089179992676
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7550,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_383080005",
+      "mask_path": "../../mask/hdr_left_07550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07552.png",
+      "transform_matrix": [
+        [
+          -0.9645220041275024,
+          -0.2188170850276947,
+          0.14770367741584778,
+          -14.046727180480957
+        ],
+        [
+          -0.13463419675827026,
+          -0.0735655277967453,
+          -0.9881606698036194,
+          15.532712936401367
+        ],
+        [
+          0.22709235548973083,
+          -0.9729888439178467,
+          0.04149530455470085,
+          -12.612120628356934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7552,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_583081960",
+      "mask_path": "../../mask/hdr_left_07552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07553.png",
+      "transform_matrix": [
+        [
+          -0.9634947180747986,
+          -0.2289956510066986,
+          0.1387045830488205,
+          -14.116888999938965
+        ],
+        [
+          -0.1261032074689865,
+          -0.06884737312793732,
+          -0.9896251559257507,
+          15.546643257141113
+        ],
+        [
+          0.23616929352283478,
+          -0.9709897041320801,
+          0.03745698928833008,
+          -12.582138061523438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7553,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_683082342",
+      "mask_path": "../../mask/hdr_left_07553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07555.png",
+      "transform_matrix": [
+        [
+          -0.9678510427474976,
+          -0.2141495794057846,
+          0.13192448019981384,
+          -14.18687629699707
+        ],
+        [
+          -0.11672165989875793,
+          -0.08220398426055908,
+          -0.9897567629814148,
+          15.518390655517578
+        ],
+        [
+          0.22280071675777435,
+          -0.9733358025550842,
+          0.05456532910466194,
+          -12.58076286315918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7555,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_883080959",
+      "mask_path": "../../mask/hdr_left_07555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07556.png",
+      "transform_matrix": [
+        [
+          -0.970099151134491,
+          -0.20313933491706848,
+          0.13282281160354614,
+          -14.235151290893555
+        ],
+        [
+          -0.11866064369678497,
+          -0.08042942732572556,
+          -0.989672064781189,
+          15.495734214782715
+        ],
+        [
+          0.2117241621017456,
+          -0.9758409857749939,
+          0.05391986668109894,
+          -12.5770263671875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7556,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_983081340",
+      "mask_path": "../../mask/hdr_left_07556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07557.png",
+      "transform_matrix": [
+        [
+          -0.9699634313583374,
+          -0.20132024586200714,
+          0.1365317702293396,
+          -14.279590606689453
+        ],
+        [
+          -0.12316384166479111,
+          -0.07755528390407562,
+          -0.989351212978363,
+          15.466693878173828
+        ],
+        [
+          0.20976516604423523,
+          -0.9764503836631775,
+          0.05043042078614235,
+          -12.565689086914062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7557,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_83081722",
+      "mask_path": "../../mask/hdr_left_07557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07559.png",
+      "transform_matrix": [
+        [
+          -0.9672685861587524,
+          -0.204901784658432,
+          0.1496889740228653,
+          -14.359066009521484
+        ],
+        [
+          -0.13712529838085175,
+          -0.07428186386823654,
+          -0.9877645373344421,
+          15.41834545135498
+        ],
+        [
+          0.21351389586925507,
+          -0.975959837436676,
+          0.043753303587436676,
+          -12.558111190795898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7559,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_283080816",
+      "mask_path": "../../mask/hdr_left_07559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07560.png",
+      "transform_matrix": [
+        [
+          -0.9665248990058899,
+          -0.2032560259103775,
+          0.1565776765346527,
+          -14.406578063964844
+        ],
+        [
+          -0.14476977288722992,
+          -0.07181107252836227,
+          -0.9868561029434204,
+          15.397692680358887
+        ],
+        [
+          0.21182844042778015,
+          -0.9764887094497681,
+          0.03998185694217682,
+          -12.547680854797363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7560,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_383081436",
+      "mask_path": "../../mask/hdr_left_07560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07561.png",
+      "transform_matrix": [
+        [
+          -0.9650833606719971,
+          -0.20406685769557953,
+          0.16422773897647858,
+          -14.455099105834961
+        ],
+        [
+          -0.15229305624961853,
+          -0.07298304885625839,
+          -0.9856369495391846,
+          15.382670402526855
+        ],
+        [
+          0.21312163770198822,
+          -0.9762327075004578,
+          0.039356764405965805,
+          -12.537393569946289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7561,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_483081579",
+      "mask_path": "../../mask/hdr_left_07561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07563.png",
+      "transform_matrix": [
+        [
+          -0.9658939242362976,
+          -0.19240468740463257,
+          0.17328940331935883,
+          -14.54073715209961
+        ],
+        [
+          -0.16550561785697937,
+          -0.05594177171587944,
+          -0.984620988368988,
+          15.336960792541504
+        ],
+        [
+          0.1991397887468338,
+          -0.979719877243042,
+          0.022189760580658913,
+          -12.521986961364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7563,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_683080673",
+      "mask_path": "../../mask/hdr_left_07563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07564.png",
+      "transform_matrix": [
+        [
+          -0.9659830927848816,
+          -0.18655768036842346,
+          0.17908871173858643,
+          -14.593247413635254
+        ],
+        [
+          -0.17612969875335693,
+          -0.032455749809741974,
+          -0.9838317036628723,
+          15.32268238067627
+        ],
+        [
+          0.189353808760643,
+          -0.9819077849388123,
+          -0.0015066297492012382,
+          -12.516499519348145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7564,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_783080816",
+      "mask_path": "../../mask/hdr_left_07564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07565.png",
+      "transform_matrix": [
+        [
+          -0.9643183946609497,
+          -0.18655048310756683,
+          0.18785351514816284,
+          -14.63858413696289
+        ],
+        [
+          -0.1860675811767578,
+          -0.027198579162359238,
+          -0.9821603894233704,
+          15.288989067077637
+        ],
+        [
+          0.18833184242248535,
+          -0.9820688366889954,
+          -0.008482901379466057,
+          -12.500096321105957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7565,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_883080244",
+      "mask_path": "../../mask/hdr_left_07565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07566.png",
+      "transform_matrix": [
+        [
+          -0.9643012881278992,
+          -0.17853929102420807,
+          0.19556723535060883,
+          -14.689240455627441
+        ],
+        [
+          -0.19380268454551697,
+          -0.02744540572166443,
+          -0.9806565046310425,
+          15.25669002532959
+        ],
+        [
+          0.1804531365633011,
+          -0.983549952507019,
+          -0.00813575554639101,
+          -12.488673210144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7566,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_983080387",
+      "mask_path": "../../mask/hdr_left_07566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07567.png",
+      "transform_matrix": [
+        [
+          -0.9688267111778259,
+          -0.14014117419719696,
+          0.20429173111915588,
+          -14.745782852172852
+        ],
+        [
+          -0.19997744262218475,
+          -0.044358111917972565,
+          -0.9787958264350891,
+          15.238521575927734
+        ],
+        [
+          0.14623159170150757,
+          -0.9891374111175537,
+          0.014950254932045937,
+          -12.489283561706543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7567,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_83080291",
+      "mask_path": "../../mask/hdr_left_07567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07568.png",
+      "transform_matrix": [
+        [
+          -0.9706948399543762,
+          -0.1168329194188118,
+          0.21000362932682037,
+          -14.79507064819336
+        ],
+        [
+          -0.20484870672225952,
+          -0.05464266985654831,
+          -0.9772671461105347,
+          15.208887100219727
+        ],
+        [
+          0.12565213441848755,
+          -0.9916473031044006,
+          0.02910829335451126,
+          -12.478822708129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7568,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_183080673",
+      "mask_path": "../../mask/hdr_left_07568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07569.png",
+      "transform_matrix": [
+        [
+          -0.9709314703941345,
+          -0.11102502793073654,
+          0.21205049753189087,
+          -14.839485168457031
+        ],
+        [
+          -0.2066907286643982,
+          -0.057875361293554306,
+          -0.9766930937767029,
+          15.178322792053223
+        ],
+        [
+          0.1207098662853241,
+          -0.9921309947967529,
+          0.03324516490101814,
+          -12.472661018371582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7569,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_283082008",
+      "mask_path": "../../mask/hdr_left_07569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07570.png",
+      "transform_matrix": [
+        [
+          -0.9719070792198181,
+          -0.1009284183382988,
+          0.21262620389461517,
+          -14.900856018066406
+        ],
+        [
+          -0.20776772499084473,
+          -0.056550394743680954,
+          -0.9765421152114868,
+          15.129576683044434
+        ],
+        [
+          0.11058495193719864,
+          -0.9932852387428284,
+          0.033992066979408264,
+          -12.46158218383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7570,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_383082628",
+      "mask_path": "../../mask/hdr_left_07570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07571.png",
+      "transform_matrix": [
+        [
+          -0.9712015986442566,
+          -0.09444714337587357,
+          0.21873997151851654,
+          -14.977843284606934
+        ],
+        [
+          -0.21519002318382263,
+          -0.04638946056365967,
+          -0.9754697680473328,
+          15.079322814941406
+        ],
+        [
+          0.10227755457162857,
+          -0.9944484829902649,
+          0.02472943812608719,
+          -12.456014633178711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7571,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_483080863",
+      "mask_path": "../../mask/hdr_left_07571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02132.png",
+      "transform_matrix": [
+        [
+          -0.8774322867393494,
+          -0.08103007823228836,
+          0.47280728816986084,
+          -14.907649993896484
+        ],
+        [
+          -0.47527605295181274,
+          0.013288143090903759,
+          -0.8797364830970764,
+          15.175004005432129
+        ],
+        [
+          0.06500238180160522,
+          -0.9966230392456055,
+          -0.050171103328466415,
+          -12.536874771118164
+        ],
+        [
+          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": "1731323476_683082103",
+      "mask_path": "../../mask/hdr_right_02132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02133.png",
+      "transform_matrix": [
+        [
+          -0.8824938535690308,
+          -0.0709344670176506,
+          0.4649439752101898,
+          -14.842280387878418
+        ],
+        [
+          -0.4667191207408905,
+          0.009917824529111385,
+          -0.8843501210212708,
+          15.186914443969727
+        ],
+        [
+          0.05811966210603714,
+          -0.9974316954612732,
+          -0.04185888543725014,
+          -12.526212692260742
+        ],
+        [
+          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": "1731323476_783081531",
+      "mask_path": "../../mask/hdr_right_02133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02135.png",
+      "transform_matrix": [
+        [
+          -0.8930925726890564,
+          -0.05925082042813301,
+          0.44595396518707275,
+          -14.739323616027832
+        ],
+        [
+          -0.44749414920806885,
+          0.015197910368442535,
+          -0.8941577672958374,
+          15.215592384338379
+        ],
+        [
+          0.04620201140642166,
+          -0.9981274604797363,
+          -0.040087539702653885,
+          -12.523468017578125
+        ],
+        [
+          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": "1731323476_983080863",
+      "mask_path": "../../mask/hdr_right_02135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02136.png",
+      "transform_matrix": [
+        [
+          -0.8949087858200073,
+          -0.05784986913204193,
+          0.4424835443496704,
+          -14.670587539672852
+        ],
+        [
+          -0.4437086582183838,
+          0.009697634726762772,
+          -0.896118700504303,
+          15.234302520751953
+        ],
+        [
+          0.047549303621053696,
+          -0.9982782006263733,
+          -0.034346986562013626,
+          -12.527448654174805
+        ],
+        [
+          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": "1731323477_83081960",
+      "mask_path": "../../mask/hdr_right_02136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02137.png",
+      "transform_matrix": [
+        [
+          -0.8945962190628052,
+          -0.05282208323478699,
+          0.4437425434589386,
+          -14.612257957458496
+        ],
+        [
+          -0.4445286691188812,
+          0.0035571155603975058,
+          -0.8957576155662537,
+          15.256514549255371
+        ],
+        [
+          0.045737333595752716,
+          -0.9985976815223694,
+          -0.02666311338543892,
+          -12.533686637878418
+        ],
+        [
+          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": "1731323477_183081388",
+      "mask_path": "../../mask/hdr_right_02137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02139.png",
+      "transform_matrix": [
+        [
+          -0.8945386409759521,
+          -0.04421668499708176,
+          0.44479820132255554,
+          -14.516239166259766
+        ],
+        [
+          -0.4454383850097656,
+          0.005324524827301502,
+          -0.8952968716621399,
+          15.295087814331055
+        ],
+        [
+          0.037218715995550156,
+          -0.9990078210830688,
+          -0.02445880137383938,
+          -12.545466423034668
+        ],
+        [
+          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": "1731323477_383083343",
+      "mask_path": "../../mask/hdr_right_02139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02140.png",
+      "transform_matrix": [
+        [
+          -0.8984020352363586,
+          -0.04337377846240997,
+          0.4370269477367401,
+          -14.458272933959961
+        ],
+        [
+          -0.4376537501811981,
+          0.005692990031093359,
+          -0.8991256356239319,
+          15.306015014648438
+        ],
+        [
+          0.03651048615574837,
+          -0.9990426898002625,
+          -0.024097289890050888,
+          -12.531256675720215
+        ],
+        [
+          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": "1731323477_483082056",
+      "mask_path": "../../mask/hdr_right_02140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02142.png",
+      "transform_matrix": [
+        [
+          -0.9071870446205139,
+          -0.03876405209302902,
+          0.4189378619194031,
+          -14.39234447479248
+        ],
+        [
+          -0.4196903705596924,
+          0.013506000861525536,
+          -0.9075668454170227,
+          15.309313774108887
+        ],
+        [
+          0.029522795230150223,
+          -0.9991571307182312,
+          -0.028521370142698288,
+          -12.516024589538574
+        ],
+        [
+          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": "1731323477_683082580",
+      "mask_path": "../../mask/hdr_right_02142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02144.png",
+      "transform_matrix": [
+        [
+          -0.9128899574279785,
+          -0.03390596807003021,
+          0.40679502487182617,
+          -14.292752265930176
+        ],
+        [
+          -0.4074655771255493,
+          0.015708353370428085,
+          -0.9130855202674866,
+          15.330411911010742
+        ],
+        [
+          0.024568971246480942,
+          -0.999301552772522,
+          -0.02815551497042179,
+          -12.508383750915527
+        ],
+        [
+          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": "1731323477_883082866",
+      "mask_path": "../../mask/hdr_right_02144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02145.png",
+      "transform_matrix": [
+        [
+          -0.9124616384506226,
+          -0.03183208778500557,
+          0.40792208909988403,
+          -14.238580703735352
+        ],
+        [
+          -0.40839654207229614,
+          0.009894343093037605,
+          -0.9127509593963623,
+          15.352723121643066
+        ],
+        [
+          0.02501865103840828,
+          -0.9994442462921143,
+          -0.022028325125575066,
+          -12.51594352722168
+        ],
+        [
+          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": "1731323477_983082771",
+      "mask_path": "../../mask/hdr_right_02145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02146.png",
+      "transform_matrix": [
+        [
+          -0.9117774963378906,
+          -0.03299114108085632,
+          0.4093572199344635,
+          -14.195115089416504
+        ],
+        [
+          -0.4098622500896454,
+          0.010054814629256725,
+          -0.9120919704437256,
+          15.373112678527832
+        ],
+        [
+          0.025974947959184647,
+          -0.999405026435852,
+          -0.0226895771920681,
+          -12.533222198486328
+        ],
+        [
+          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": "1731323478_83081960",
+      "mask_path": "../../mask/hdr_right_02146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02148.png",
+      "transform_matrix": [
+        [
+          -0.9133870005607605,
+          -0.03779400885105133,
+          0.4053342342376709,
+          -14.116253852844238
+        ],
+        [
+          -0.4057561755180359,
+          0.003912193700671196,
+          -0.9139729738235474,
+          15.374835014343262
+        ],
+        [
+          0.03295695409178734,
+          -0.9992778897285461,
+          -0.01890849880874157,
+          -12.523314476013184
+        ],
+        [
+          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": "1731323478_283082008",
+      "mask_path": "../../mask/hdr_right_02148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02149.png",
+      "transform_matrix": [
+        [
+          -0.9158442616462708,
+          -0.04184947907924652,
+          0.3993470072746277,
+          -14.06229019165039
+        ],
+        [
+          -0.39981070160865784,
+          0.003003467805683613,
+          -0.9165928363800049,
+          15.391109466552734
+        ],
+        [
+          0.0371595099568367,
+          -0.9991194009780884,
+          -0.019482579082250595,
+          -12.52430534362793
+        ],
+        [
+          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": "1731323478_383081912",
+      "mask_path": "../../mask/hdr_right_02149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02151.png",
+      "transform_matrix": [
+        [
+          -0.9096570014953613,
+          -0.06217062473297119,
+          0.41068121790885925,
+          -14.010616302490234
+        ],
+        [
+          -0.41144463419914246,
+          -0.000573173223529011,
+          -0.9114345908164978,
+          15.419453620910645
+        ],
+        [
+          0.05689985677599907,
+          -0.9980653524398804,
+          -0.025058381259441376,
+          -12.556198120117188
+        ],
+        [
+          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": "1731323478_583081960",
+      "mask_path": "../../mask/hdr_right_02151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02160.png",
+      "transform_matrix": [
+        [
+          -0.873196542263031,
+          -0.17344610393047333,
+          0.4554603695869446,
+          -13.684154510498047
+        ],
+        [
+          -0.45562657713890076,
+          -0.04122887924313545,
+          -0.889215886592865,
+          15.543872833251953
+        ],
+        [
+          0.17300912737846375,
+          -0.9839800000190735,
+          -0.043025724589824677,
+          -12.7003812789917
+        ],
+        [
+          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": "1731323479_483081579",
+      "mask_path": "../../mask/hdr_right_02160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02161.png",
+      "transform_matrix": [
+        [
+          -0.868774950504303,
+          -0.19435980916023254,
+          0.45547157526016235,
+          -13.632927894592285
+        ],
+        [
+          -0.4529297947883606,
+          -0.05998958647251129,
+          -0.8895256519317627,
+          15.547830581665039
+        ],
+        [
+          0.2002115696668625,
+          -0.9790942072868347,
+          -0.035913895815610886,
+          -12.719001770019531
+        ],
+        [
+          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": "1731323479_583081960",
+      "mask_path": "../../mask/hdr_right_02161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02163.png",
+      "transform_matrix": [
+        [
+          -0.8685600161552429,
+          -0.20807234942913055,
+          0.44978800415992737,
+          -13.566532135009766
+        ],
+        [
+          -0.44603317975997925,
+          -0.06737465411424637,
+          -0.8924769759178162,
+          15.568571090698242
+        ],
+        [
+          0.21600407361984253,
+          -0.9757902026176453,
+          -0.03428822010755539,
+          -12.762564659118652
+        ],
+        [
+          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": "1731323479_783082008",
+      "mask_path": "../../mask/hdr_right_02163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02164.png",
+      "transform_matrix": [
+        [
+          -0.869654655456543,
+          -0.22136957943439484,
+          0.441243976354599,
+          -13.514025688171387
+        ],
+        [
+          -0.4405783712863922,
+          -0.055162981152534485,
+          -0.8960177302360535,
+          15.577598571777344
+        ],
+        [
+          0.2226914018392563,
+          -0.9736285209655762,
+          -0.049557894468307495,
+          -12.768689155578613
+        ],
+        [
+          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": "1731323479_883082151",
+      "mask_path": "../../mask/hdr_right_02164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02166.png",
+      "transform_matrix": [
+        [
+          -0.8717418909072876,
+          -0.2479574978351593,
+          0.42259112000465393,
+          -13.460684776306152
+        ],
+        [
+          -0.4257741868495941,
+          -0.043423328548669815,
+          -0.9037869572639465,
+          15.59317684173584
+        ],
+        [
+          0.2424510419368744,
+          -0.9677972793579102,
+          -0.0677199587225914,
+          -12.77885627746582
+        ],
+        [
+          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": "1731323480_83081722",
+      "mask_path": "../../mask/hdr_right_02166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02168.png",
+      "transform_matrix": [
+        [
+          -0.8698679208755493,
+          -0.258040189743042,
+          0.42041075229644775,
+          -13.373321533203125
+        ],
+        [
+          -0.41930413246154785,
+          -0.06213739886879921,
+          -0.9057169556617737,
+          15.623226165771484
+        ],
+        [
+          0.2598346173763275,
+          -0.9641339182853699,
+          -0.054145991802215576,
+          -12.783846855163574
+        ],
+        [
+          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": "1731323480_283081054",
+      "mask_path": "../../mask/hdr_right_02168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02170.png",
+      "transform_matrix": [
+        [
+          -0.8495212197303772,
+          -0.29120731353759766,
+          0.43989986181259155,
+          -13.346652030944824
+        ],
+        [
+          -0.43421992659568787,
+          -0.08759348094463348,
+          -0.8965380787849426,
+          15.654093742370605
+        ],
+        [
+          0.29961079359054565,
+          -0.9526414275169373,
+          -0.05203549563884735,
+          -12.801973342895508
+        ],
+        [
+          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": "1731323480_483080863",
+      "mask_path": "../../mask/hdr_right_02170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02172.png",
+      "transform_matrix": [
+        [
+          -0.8481154441833496,
+          -0.2864190340042114,
+          0.4457177221775055,
+          -13.31147575378418
+        ],
+        [
+          -0.4456506669521332,
+          -0.06930039077997208,
+          -0.8925206065177917,
+          15.709004402160645
+        ],
+        [
+          0.28652331233024597,
+          -0.9555948376655579,
+          -0.06886811554431915,
+          -12.837716102600098
+        ],
+        [
+          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": "1731323480_683080911",
+      "mask_path": "../../mask/hdr_right_02172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02176.png",
+      "transform_matrix": [
+        [
+          -0.8714317083358765,
+          -0.22737035155296326,
+          0.434637188911438,
+          -13.125079154968262
+        ],
+        [
+          -0.4328388571739197,
+          -0.0604383759200573,
+          -0.8994430899620056,
+          15.770484924316406
+        ],
+        [
+          0.23077544569969177,
+          -0.9719310402870178,
+          -0.04574679955840111,
+          -12.848028182983398
+        ],
+        [
+          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": "1731323481_83079099",
+      "mask_path": "../../mask/hdr_right_02176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02178.png",
+      "transform_matrix": [
+        [
+          -0.8728822469711304,
+          -0.2159014195203781,
+          0.4375651478767395,
+          -13.06728458404541
+        ],
+        [
+          -0.43557727336883545,
+          -0.059335287660360336,
+          -0.8981936573982239,
+          15.820000648498535
+        ],
+        [
+          0.21988432109355927,
+          -0.9746106266975403,
+          -0.042249035090208054,
+          -12.86672306060791
+        ],
+        [
+          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": "1731323481_283081054",
+      "mask_path": "../../mask/hdr_right_02178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02180.png",
+      "transform_matrix": [
+        [
+          -0.8710683584213257,
+          -0.21463146805763245,
+          0.4417840838432312,
+          -13.014126777648926
+        ],
+        [
+          -0.4443683922290802,
+          -0.03878013789653778,
+          -0.895004391670227,
+          15.872917175292969
+        ],
+        [
+          0.2092285454273224,
+          -0.9759249091148376,
+          -0.061595283448696136,
+          -12.888351440429688
+        ],
+        [
+          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": "1731323481_483080387",
+      "mask_path": "../../mask/hdr_right_02180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02182.png",
+      "transform_matrix": [
+        [
+          -0.8695058822631836,
+          -0.21179737150669098,
+          0.4462078809738159,
+          -12.964205741882324
+        ],
+        [
+          -0.4509522616863251,
+          -0.02813282422721386,
+          -0.8921046257019043,
+          15.91749095916748
+        ],
+        [
+          0.20149850845336914,
+          -0.9769085645675659,
+          -0.07104885578155518,
+          -12.876919746398926
+        ],
+        [
+          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": "1731323481_683080911",
+      "mask_path": "../../mask/hdr_right_02182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02184.png",
+      "transform_matrix": [
+        [
+          -0.874426007270813,
+          -0.17702363431453705,
+          0.45170989632606506,
+          -12.882547378540039
+        ],
+        [
+          -0.454696387052536,
+          -0.025692017748951912,
+          -0.8902758955955505,
+          15.943316459655762
+        ],
+        [
+          0.1692052185535431,
+          -0.9838712811470032,
+          -0.05802624300122261,
+          -12.889139175415039
+        ],
+        [
+          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": "1731323481_883081197",
+      "mask_path": "../../mask/hdr_right_02184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02189.png",
+      "transform_matrix": [
+        [
+          -0.8785476684570312,
+          -0.13462714850902557,
+          0.45828989148139954,
+          -12.795663833618164
+        ],
+        [
+          -0.4570803642272949,
+          -0.041607972234487534,
+          -0.8884516358375549,
+          15.972468376159668
+        ],
+        [
+          0.13867822289466858,
+          -0.9900223612785339,
+          -0.02498084120452404,
+          -12.84583568572998
+        ],
+        [
+          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": "1731323482_383081674",
+      "mask_path": "../../mask/hdr_right_02189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02191.png",
+      "transform_matrix": [
+        [
+          -0.8919637203216553,
+          -0.10259268432855606,
+          0.4403128921985626,
+          -12.68132495880127
+        ],
+        [
+          -0.4373890459537506,
+          -0.05065957084298134,
+          -0.8978444337844849,
+          15.953499794006348
+        ],
+        [
+          0.11441833525896072,
+          -0.9934325814247131,
+          0.00031358475098386407,
+          -12.86115837097168
+        ],
+        [
+          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": "1731323482_583081483",
+      "mask_path": "../../mask/hdr_right_02191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02192.png",
+      "transform_matrix": [
+        [
+          -0.8978549838066101,
+          -0.09619355946779251,
+          0.42965471744537354,
+          -12.600735664367676
+        ],
+        [
+          -0.42770370841026306,
+          -0.041116584092378616,
+          -0.9029834270477295,
+          15.959515571594238
+        ],
+        [
+          0.10452711582183838,
+          -0.9945130348205566,
+          -0.004225609824061394,
+          -12.883184432983398
+        ],
+        [
+          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": "1731323482_683083534",
+      "mask_path": "../../mask/hdr_right_02192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02193.png",
+      "transform_matrix": [
+        [
+          -0.899827778339386,
+          -0.09121061116456985,
+          0.4266034662723541,
+          -12.534337043762207
+        ],
+        [
+          -0.42565977573394775,
+          -0.03054334595799446,
+          -0.9043676257133484,
+          15.983603477478027
+        ],
+        [
+          0.0955178365111351,
+          -0.9953631162643433,
+          -0.01134093664586544,
+          -12.900236129760742
+        ],
+        [
+          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": "1731323482_783082246",
+      "mask_path": "../../mask/hdr_right_02193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02194.png",
+      "transform_matrix": [
+        [
+          -0.9014472961425781,
+          -0.08647949993610382,
+          0.42416292428970337,
+          -12.47067928314209
+        ],
+        [
+          -0.42426908016204834,
+          -0.01806509494781494,
+          -0.9053559899330139,
+          16.018415451049805
+        ],
+        [
+          0.08595727384090424,
+          -0.9960898160934448,
+          -0.020405849441885948,
+          -12.917393684387207
+        ],
+        [
+          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": "1731323482_883081912",
+      "mask_path": "../../mask/hdr_right_02194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02195.png",
+      "transform_matrix": [
+        [
+          -0.9037727117538452,
+          -0.0689607560634613,
+          0.4224207401275635,
+          -12.394763946533203
+        ],
+        [
+          -0.42220526933670044,
+          -0.01838802918791771,
+          -0.9063137769699097,
+          16.044340133666992
+        ],
+        [
+          0.07026755809783936,
+          -0.9974498748779297,
+          -0.012496999464929104,
+          -12.925841331481934
+        ],
+        [
+          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": "1731323482_983082294",
+      "mask_path": "../../mask/hdr_right_02195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02196.png",
+      "transform_matrix": [
+        [
+          -0.9070634245872498,
+          -0.05622856318950653,
+          0.41722214221954346,
+          -12.3272066116333
+        ],
+        [
+          -0.41680601239204407,
+          -0.019498037174344063,
+          -0.9087863564491272,
+          16.059986114501953
+        ],
+        [
+          0.05923476070165634,
+          -0.9982274770736694,
+          -0.00575044471770525,
+          -12.924103736877441
+        ],
+        [
+          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": "1731323483_83081960",
+      "mask_path": "../../mask/hdr_right_02196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02198.png",
+      "transform_matrix": [
+        [
+          -0.9142733812332153,
+          -0.05685994029045105,
+          0.4010874032974243,
+          -12.258049011230469
+        ],
+        [
+          -0.4007796049118042,
+          -0.01721838116645813,
+          -0.916012704372406,
+          16.075984954833984
+        ],
+        [
+          0.05899050459265709,
+          -0.9982336163520813,
+          -0.007045996841043234,
+          -12.930196762084961
+        ],
+        [
+          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": "1731323483_283082246",
+      "mask_path": "../../mask/hdr_right_02198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02199.png",
+      "transform_matrix": [
+        [
+          -0.9196091890335083,
+          -0.04876098036766052,
+          0.3897964656352997,
+          -12.206454277038574
+        ],
+        [
+          -0.38992300629615784,
+          -0.007282414473593235,
+          -0.9208187460899353,
+          16.10103416442871
+        ],
+        [
+          0.04773867875337601,
+          -0.9987839460372925,
+          -0.012316053733229637,
+          -12.940582275390625
+        ],
+        [
+          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": "1731323483_383080959",
+      "mask_path": "../../mask/hdr_right_02199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02200.png",
+      "transform_matrix": [
+        [
+          -0.9209091663360596,
+          -0.043991006910800934,
+          0.3872869908809662,
+          -12.140936851501465
+        ],
+        [
+          -0.38730257749557495,
+          -0.008515417575836182,
+          -0.9219134449958801,
+          16.131793975830078
+        ],
+        [
+          0.04385380819439888,
+          -0.9989956617355347,
+          -0.009195905178785324,
+          -12.94405746459961
+        ],
+        [
+          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": "1731323483_483082771",
+      "mask_path": "../../mask/hdr_right_02200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02202.png",
+      "transform_matrix": [
+        [
+          -0.9201493859291077,
+          -0.046047426760196686,
+          0.38885053992271423,
+          -12.073113441467285
+        ],
+        [
+          -0.3884967267513275,
+          -0.016765858978033066,
+          -0.9212976098060608,
+          16.150856018066406
+        ],
+        [
+          0.048942793160676956,
+          -0.9987985491752625,
+          -0.002462180098518729,
+          -12.965168952941895
+        ],
+        [
+          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": "1731323483_683081626",
+      "mask_path": "../../mask/hdr_right_02202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02204.png",
+      "transform_matrix": [
+        [
+          -0.9180231690406799,
+          -0.0635896697640419,
+          0.39139464497566223,
+          -11.982666015625
+        ],
+        [
+          -0.3914850652217865,
+          -0.011550811119377613,
+          -0.9201120734214783,
+          16.176992416381836
+        ],
+        [
+          0.06303054094314575,
+          -0.9979093074798584,
+          -0.014290490187704563,
+          -12.977533340454102
+        ],
+        [
+          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": "1731323483_883081674",
+      "mask_path": "../../mask/hdr_right_02204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02207.png",
+      "transform_matrix": [
+        [
+          -0.9245784282684326,
+          -0.07879143953323364,
+          0.3727554380893707,
+          -11.861640930175781
+        ],
+        [
+          -0.37357470393180847,
+          -0.004626673646271229,
+          -0.9275885820388794,
+          16.207420349121094
+        ],
+        [
+          0.07481065392494202,
+          -0.9968804121017456,
+          -0.025156766176223755,
+          -12.970317840576172
+        ],
+        [
+          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": "1731323484_183082103",
+      "mask_path": "../../mask/hdr_right_02207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02208.png",
+      "transform_matrix": [
+        [
+          -0.9229928851127625,
+          -0.0849655345082283,
+          0.3753197193145752,
+          -11.812026023864746
+        ],
+        [
+          -0.37602800130844116,
+          -0.00811917707324028,
+          -0.9265727996826172,
+          16.232194900512695
+        ],
+        [
+          0.0817740261554718,
+          -0.9963507652282715,
+          -0.024455476552248,
+          -12.981905937194824
+        ],
+        [
+          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": "1731323484_283080577",
+      "mask_path": "../../mask/hdr_right_02208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02210.png",
+      "transform_matrix": [
+        [
+          -0.9139801263809204,
+          -0.08866541087627411,
+          0.3959529995918274,
+          -11.756629943847656
+        ],
+        [
+          -0.39722907543182373,
+          -0.003514382289722562,
+          -0.9177128076553345,
+          16.27784538269043
+        ],
+        [
+          0.08276090770959854,
+          -0.9960552453994751,
+          -0.03200840577483177,
+          -13.007765769958496
+        ],
+        [
+          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": "1731323484_483081102",
+      "mask_path": "../../mask/hdr_right_02210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02212.png",
+      "transform_matrix": [
+        [
+          -0.9076256155967712,
+          -0.10001643747091293,
+          0.40769150853157043,
+          -11.704911231994629
+        ],
+        [
+          -0.4094041883945465,
+          -0.0036973184905946255,
+          -0.9123456478118896,
+          16.325111389160156
+        ],
+        [
+          0.09275692701339722,
+          -0.9949789643287659,
+          -0.03759137541055679,
+          -13.01091480255127
+        ],
+        [
+          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": "1731323484_683081150",
+      "mask_path": "../../mask/hdr_right_02212.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02214.png",
+      "transform_matrix": [
+        [
+          -0.9125422239303589,
+          -0.09678806364536285,
+          0.39736485481262207,
+          -11.6358060836792
+        ],
+        [
+          -0.39899522066116333,
+          -0.0027209578547626734,
+          -0.9169490337371826,
+          16.32782745361328
+        ],
+        [
+          0.08983093500137329,
+          -0.9953012466430664,
+          -0.0361349880695343,
+          -13.005400657653809
+        ],
+        [
+          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": "1731323484_883081674",
+      "mask_path": "../../mask/hdr_right_02214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02215.png",
+      "transform_matrix": [
+        [
+          -0.9160417318344116,
+          -0.09705975651741028,
+          0.3891618549823761,
+          -11.583731651306152
+        ],
+        [
+          -0.3911522924900055,
+          0.001613806583918631,
+          -0.9203245043754578,
+          16.3365535736084
+        ],
+        [
+          0.08869844675064087,
+          -0.9952772855758667,
+          -0.03944346308708191,
+          -13.011056900024414
+        ],
+        [
+          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": "1731323484_983081817",
+      "mask_path": "../../mask/hdr_right_02215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02220.png",
+      "transform_matrix": [
+        [
+          -0.9143504500389099,
+          -0.09989159554243088,
+          0.3924092650413513,
+          -11.389946937561035
+        ],
+        [
+          -0.39443010091781616,
+          0.000524162664078176,
+          -0.9189258813858032,
+          16.40680503845215
+        ],
+        [
+          0.09158727526664734,
+          -0.9949981570243835,
+          -0.03987951949238777,
+          -13.048295974731445
+        ],
+        [
+          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": "1731323485_483081340",
+      "mask_path": "../../mask/hdr_right_02220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02222.png",
+      "transform_matrix": [
+        [
+          -0.9205323457717896,
+          -0.09942188858985901,
+          0.3778035044670105,
+          -11.314400672912598
+        ],
+        [
+          -0.3805851638317108,
+          0.009946360252797604,
+          -0.9246923923492432,
+          16.421823501586914
+        ],
+        [
+          0.0881768986582756,
+          -0.994995653629303,
+          -0.046994440257549286,
+          -13.036739349365234
+        ],
+        [
+          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": "1731323485_683082342",
+      "mask_path": "../../mask/hdr_right_02222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02224.png",
+      "transform_matrix": [
+        [
+          -0.9245651960372925,
+          -0.0972725972533226,
+          0.3683983087539673,
+          -11.213225364685059
+        ],
+        [
+          -0.37065646052360535,
+          0.0056022885255515575,
+          -0.9287532567977905,
+          16.456836700439453
+        ],
+        [
+          0.08827835321426392,
+          -0.9952419996261597,
+          -0.041234396398067474,
+          -13.049964904785156
+        ],
+        [
+          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": "1731323485_883081436",
+      "mask_path": "../../mask/hdr_right_02224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02226.png",
+      "transform_matrix": [
+        [
+          -0.9233449101448059,
+          -0.0947369635105133,
+          0.3721008598804474,
+          -11.149834632873535
+        ],
+        [
+          -0.37317079305648804,
+          -0.006824968848377466,
+          -0.9277375340461731,
+          16.485647201538086
+        ],
+        [
+          0.0904306173324585,
+          -0.9954789280891418,
+          -0.029051266610622406,
+          -13.085953712463379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2226,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323486_83080768",
+      "mask_path": "../../mask/hdr_right_02226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02228.png",
+      "transform_matrix": [
+        [
+          -0.9233201146125793,
+          -0.0919676274061203,
+          0.3728563189506531,
+          -11.068303108215332
+        ],
+        [
+          -0.37313181161880493,
+          -0.014828449115157127,
+          -0.9276598691940308,
+          16.513080596923828
+        ],
+        [
+          0.090843565762043,
+          -0.9956515431404114,
+          -0.020624637603759766,
+          -13.099443435668945
+        ],
+        [
+          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": "1731323486_283081054",
+      "mask_path": "../../mask/hdr_right_02228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02230.png",
+      "transform_matrix": [
+        [
+          -0.9298110008239746,
+          -0.08677492290735245,
+          0.3576613664627075,
+          -10.991254806518555
+        ],
+        [
+          -0.35702186822891235,
+          -0.02331460826098919,
+          -0.9338050484657288,
+          16.520002365112305
+        ],
+        [
+          0.08936959505081177,
+          -0.9959550499916077,
+          -0.009302365593612194,
+          -13.089027404785156
+        ],
+        [
+          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": "1731323486_483081340",
+      "mask_path": "../../mask/hdr_right_02230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02232.png",
+      "transform_matrix": [
+        [
+          -0.9340793490409851,
+          -0.09089235216379166,
+          0.3453032970428467,
+          -10.90078353881836
+        ],
+        [
+          -0.3445836305618286,
+          -0.023996107280254364,
+          -0.938448965549469,
+          16.530376434326172
+        ],
+        [
+          0.09358377009630203,
+          -0.9955715537071228,
+          -0.008905749768018723,
+          -13.10128402709961
+        ],
+        [
+          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": "1731323486_683079957",
+      "mask_path": "../../mask/hdr_right_02232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02264.png",
+      "transform_matrix": [
+        [
+          -0.9412837028503418,
+          -0.07396949082612991,
+          0.32941389083862305,
+          -10.697693824768066
+        ],
+        [
+          -0.32475003600120544,
+          -0.06842410564422607,
+          -0.9433215856552124,
+          16.55280876159668
+        ],
+        [
+          0.0923168733716011,
+          -0.9949103593826294,
+          0.04038489982485771,
+          -13.106951713562012
+        ],
+        [
+          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": "1731323489_883081674",
+      "mask_path": "../../mask/hdr_right_02264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02266.png",
+      "transform_matrix": [
+        [
+          -0.9342018365859985,
+          -0.07333573698997498,
+          0.34912583231925964,
+          -10.626333236694336
+        ],
+        [
+          -0.3441917300224304,
+          -0.07204064726829529,
+          -0.936131477355957,
+          16.56267738342285
+        ],
+        [
+          0.09380315989255905,
+          -0.9947020411491394,
+          0.04205893725156784,
+          -13.129321098327637
+        ],
+        [
+          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": "1731323490_83082199",
+      "mask_path": "../../mask/hdr_right_02266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02267.png",
+      "transform_matrix": [
+        [
+          -0.9275833368301392,
+          -0.0763666033744812,
+          0.36572831869125366,
+          -10.571029663085938
+        ],
+        [
+          -0.36160001158714294,
+          -0.0627632811665535,
+          -0.9302183985710144,
+          16.581501007080078
+        ],
+        [
+          0.09399192780256271,
+          -0.9951025247573853,
+          0.030604004859924316,
+          -13.141324996948242
+        ],
+        [
+          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": "1731323490_183081626",
+      "mask_path": "../../mask/hdr_right_02267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02268.png",
+      "transform_matrix": [
+        [
+          -0.9232006072998047,
+          -0.07940673828125,
+          0.37602561712265015,
+          -10.505756378173828
+        ],
+        [
+          -0.37241795659065247,
+          -0.05675385147333145,
+          -0.9263282418251038,
+          16.597320556640625
+        ],
+        [
+          0.09489759802818298,
+          -0.9952253699302673,
+          0.02282268926501274,
+          -13.136229515075684
+        ],
+        [
+          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": "1731323490_283081769",
+      "mask_path": "../../mask/hdr_right_02268.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02270.png",
+      "transform_matrix": [
+        [
+          -0.9161089658737183,
+          -0.07924190163612366,
+          0.3930204212665558,
+          -10.444656372070312
+        ],
+        [
+          -0.39020222425460815,
+          -0.049019549041986465,
+          -0.9194234013557434,
+          16.615617752075195
+        ],
+        [
+          0.09212253987789154,
+          -0.9956494569778442,
+          0.013986886478960514,
+          -13.141668319702148
+        ],
+        [
+          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": "1731323490_483081817",
+      "mask_path": "../../mask/hdr_right_02270.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02282.png",
+      "transform_matrix": [
+        [
+          -0.8248169422149658,
+          -0.10213221609592438,
+          0.556098997592926,
+          -10.092252731323242
+        ],
+        [
+          -0.5540948510169983,
+          -0.04968564212322235,
+          -0.830969512462616,
+          16.911184310913086
+        ],
+        [
+          0.11249889433383942,
+          -0.9935292601585388,
+          -0.015609378926455975,
+          -13.233359336853027
+        ],
+        [
+          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": "1731323491_683083534",
+      "mask_path": "../../mask/hdr_right_02282.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02283.png",
+      "transform_matrix": [
+        [
+          -0.8148501515388489,
+          -0.1023237481713295,
+          0.5705690383911133,
+          -10.042678833007812
+        ],
+        [
+          -0.5685981512069702,
+          -0.05038317292928696,
+          -0.8210710883140564,
+          16.937984466552734
+        ],
+        [
+          0.11276214569807053,
+          -0.9934743642807007,
+          -0.017126355320215225,
+          -13.234743118286133
+        ],
+        [
+          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": "1731323491_783080816",
+      "mask_path": "../../mask/hdr_right_02283.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02285.png",
+      "transform_matrix": [
+        [
+          -0.8024005889892578,
+          -0.11193475127220154,
+          0.5861944556236267,
+          -9.979537963867188
+        ],
+        [
+          -0.584385097026825,
+          -0.05182523652911186,
+          -0.8098199963569641,
+          16.97559356689453
+        ],
+        [
+          0.1210266575217247,
+          -0.9923632144927979,
+          -0.023828402161598206,
+          -13.237449645996094
+        ],
+        [
+          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": "1731323491_983081102",
+      "mask_path": "../../mask/hdr_right_02285.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02287.png",
+      "transform_matrix": [
+        [
+          -0.7933652400970459,
+          -0.13610295951366425,
+          0.5933359861373901,
+          -9.908224105834961
+        ],
+        [
+          -0.5917217135429382,
+          -0.05647628754377365,
+          -0.8041616082191467,
+          17.0069637298584
+        ],
+        [
+          0.14295817911624908,
+          -0.9890835881233215,
+          -0.03572874888777733,
+          -13.277990341186523
+        ],
+        [
+          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": "1731323492_183080673",
+      "mask_path": "../../mask/hdr_right_02287.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02288.png",
+      "transform_matrix": [
+        [
+          -0.7795394659042358,
+          -0.15320147573947906,
+          0.6073281764984131,
+          -9.855968475341797
+        ],
+        [
+          -0.6039637923240662,
+          -0.07307518273591995,
+          -0.7936546802520752,
+          17.03428077697754
+        ],
+        [
+          0.16596968472003937,
+          -0.9854894280433655,
+          -0.0355631485581398,
+          -13.31174373626709
+        ],
+        [
+          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": "1731323492_283081769",
+      "mask_path": "../../mask/hdr_right_02288.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02290.png",
+      "transform_matrix": [
+        [
+          -0.7619453072547913,
+          -0.1728323996067047,
+          0.6241540908813477,
+          -9.772319793701172
+        ],
+        [
+          -0.618721604347229,
+          -0.0905170887708664,
+          -0.7803782820701599,
+          17.0927734375
+        ],
+        [
+          0.19137127697467804,
+          -0.980783224105835,
+          -0.037966061383485794,
+          -13.360462188720703
+        ],
+        [
+          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": "1731323492_483082532",
+      "mask_path": "../../mask/hdr_right_02290.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02291.png",
+      "transform_matrix": [
+        [
+          -0.7600494027137756,
+          -0.1903630644083023,
+          0.6213588714599609,
+          -9.712763786315918
+        ],
+        [
+          -0.613466739654541,
+          -0.10532922297716141,
+          -0.7826648950576782,
+          17.122943878173828
+        ],
+        [
+          0.21443773806095123,
+          -0.9760469198226929,
+          -0.036726001650094986,
+          -13.386933326721191
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2291,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323492_583083391",
+      "mask_path": "../../mask/hdr_right_02291.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02292.png",
+      "transform_matrix": [
+        [
+          -0.7612918615341187,
+          -0.21424534916877747,
+          0.6119915843009949,
+          -9.658683776855469
+        ],
+        [
+          -0.6024192571640015,
+          -0.11542034894227982,
+          -0.7897906303405762,
+          17.141357421875
+        ],
+        [
+          0.23984524607658386,
+          -0.9699366092681885,
+          -0.041196953505277634,
+          -13.413490295410156
+        ],
+        [
+          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": "1731323492_683081626",
+      "mask_path": "../../mask/hdr_right_02292.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02293.png",
+      "transform_matrix": [
+        [
+          -0.7647314071655273,
+          -0.2294149100780487,
+          0.6021251678466797,
+          -9.61544418334961
+        ],
+        [
+          -0.5935235023498535,
+          -0.11296839267015457,
+          -0.7968488335609436,
+          17.165645599365234
+        ],
+        [
+          0.25083011388778687,
+          -0.9667506814002991,
+          -0.049772657454013824,
+          -13.437745094299316
+        ],
+        [
+          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": "1731323492_783080816",
+      "mask_path": "../../mask/hdr_right_02293.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02294.png",
+      "transform_matrix": [
+        [
+          -0.7698237895965576,
+          -0.2337736189365387,
+          0.5939034819602966,
+          -9.564531326293945
+        ],
+        [
+          -0.5846298336982727,
+          -0.11507182568311691,
+          -0.8030979633331299,
+          17.22565269470215
+        ],
+        [
+          0.256084680557251,
+          -0.9654576182365417,
+          -0.0480860099196434,
+          -13.496188163757324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2294,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323492_883081912",
+      "mask_path": "../../mask/hdr_right_02294.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02295.png",
+      "transform_matrix": [
+        [
+          -0.7695159912109375,
+          -0.24638324975967407,
+          0.5891862511634827,
+          -9.48784351348877
+        ],
+        [
+          -0.5725204944610596,
+          -0.14262185990810394,
+          -0.8073904514312744,
+          17.261503219604492
+        ],
+        [
+          0.28295832872390747,
+          -0.9586210250854492,
+          -0.03130965307354927,
+          -13.524226188659668
+        ],
+        [
+          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": "1731323492_983081817",
+      "mask_path": "../../mask/hdr_right_02295.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02296.png",
+      "transform_matrix": [
+        [
+          -0.7655738592147827,
+          -0.2597450017929077,
+          0.5885823965072632,
+          -9.431652069091797
+        ],
+        [
+          -0.5661386847496033,
+          -0.16256342828273773,
+          -0.8081214427947998,
+          17.266881942749023
+        ],
+        [
+          0.3055874705314636,
+          -0.9518958330154419,
+          -0.02259737253189087,
+          -13.516581535339355
+        ],
+        [
+          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": "1731323493_83083391",
+      "mask_path": "../../mask/hdr_right_02296.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02298.png",
+      "transform_matrix": [
+        [
+          -0.7701892256736755,
+          -0.2709256112575531,
+          0.5774148106575012,
+          -9.347297668457031
+        ],
+        [
+          -0.5527469515800476,
+          -0.16818848252296448,
+          -0.8162006139755249,
+          17.329341888427734
+        ],
+        [
+          0.31824421882629395,
+          -0.9477932453155518,
+          -0.020216338336467743,
+          -13.58021354675293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2298,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323493_283081769",
+      "mask_path": "../../mask/hdr_right_02298.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02299.png",
+      "transform_matrix": [
+        [
+          -0.7741773128509521,
+          -0.27471303939819336,
+          0.5702475309371948,
+          -9.283374786376953
+        ],
+        [
+          -0.5454393029212952,
+          -0.16757774353027344,
+          -0.8212270140647888,
+          17.360061645507812
+        ],
+        [
+          0.32116249203681946,
+          -0.9468106627464294,
+          -0.02010437659919262,
+          -13.59809684753418
+        ],
+        [
+          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": "1731323493_383081436",
+      "mask_path": "../../mask/hdr_right_02299.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02301.png",
+      "transform_matrix": [
+        [
+          -0.7828273177146912,
+          -0.2809954583644867,
+          0.5551782846450806,
+          -9.203665733337402
+        ],
+        [
+          -0.5316606760025024,
+          -0.16151440143585205,
+          -0.831414520740509,
+          17.39789390563965
+        ],
+        [
+          0.32329297065734863,
+          -0.9460204243659973,
+          -0.022956332191824913,
+          -13.635058403015137
+        ],
+        [
+          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": "1731323493_583081960",
+      "mask_path": "../../mask/hdr_right_02301.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02302.png",
+      "transform_matrix": [
+        [
+          -0.78818678855896,
+          -0.2785504162311554,
+          0.5487907528877258,
+          -9.14526081085205
+        ],
+        [
+          -0.5282033681869507,
+          -0.15146741271018982,
+          -0.8354992866516113,
+          17.416433334350586
+        ],
+        [
+          0.315852552652359,
+          -0.948402464389801,
+          -0.02774663083255291,
+          -13.664877891540527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2302,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323493_683084011",
+      "mask_path": "../../mask/hdr_right_02302.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02303.png",
+      "transform_matrix": [
+        [
+          -0.7928316593170166,
+          -0.27202484011650085,
+          0.5453625917434692,
+          -9.052498817443848
+        ],
+        [
+          -0.5281313061714172,
+          -0.13989414274692535,
+          -0.8375601768493652,
+          17.451539993286133
+        ],
+        [
+          0.3041301667690277,
+          -0.9520672559738159,
+          -0.03275229036808014,
+          -13.681690216064453
+        ],
+        [
+          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": "1731323493_783080577",
+      "mask_path": "../../mask/hdr_right_02303.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02304.png",
+      "transform_matrix": [
+        [
+          -0.7956582307815552,
+          -0.26691481471061707,
+          0.5437687635421753,
+          -8.990893363952637
+        ],
+        [
+          -0.5308144688606262,
+          -0.12524715065956116,
+          -0.8381820917129517,
+          17.48371124267578
+        ],
+        [
+          0.2918286919593811,
+          -0.9555467367172241,
+          -0.04202829301357269,
+          -13.693207740783691
+        ],
+        [
+          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": "1731323493_883082628",
+      "mask_path": "../../mask/hdr_right_02304.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02305.png",
+      "transform_matrix": [
+        [
+          -0.7988821864128113,
+          -0.2640368938446045,
+          0.5404365658760071,
+          -8.932909965515137
+        ],
+        [
+          -0.5341214537620544,
+          -0.10175646841526031,
+          -0.839261531829834,
+          17.51360321044922
+        ],
+        [
+          0.27658891677856445,
+          -0.9591298699378967,
+          -0.059736333787441254,
+          -13.709434509277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2305,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323493_983080863",
+      "mask_path": "../../mask/hdr_right_02305.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02306.png",
+      "transform_matrix": [
+        [
+          -0.8033758997917175,
+          -0.25286781787872314,
+          0.5391150116920471,
+          -8.863649368286133
+        ],
+        [
+          -0.5360056757926941,
+          -0.08729743212461472,
+          -0.8396886587142944,
+          17.55254554748535
+        ],
+        [
+          0.2593936026096344,
+          -0.963554322719574,
+          -0.0654059499502182,
+          -13.744694709777832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2306,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323494_83081245",
+      "mask_path": "../../mask/hdr_right_02306.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02307.png",
+      "transform_matrix": [
+        [
+          -0.8067229390144348,
+          -0.25296351313591003,
+          0.534048318862915,
+          -8.774988174438477
+        ],
+        [
+          -0.5344149470329285,
+          -0.0733734667301178,
+          -0.8420315384864807,
+          17.581357955932617
+        ],
+        [
+          0.2521882653236389,
+          -0.9646894931793213,
+          -0.07599542289972305,
+          -13.74172306060791
+        ],
+        [
+          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": "1731323494_183082342",
+      "mask_path": "../../mask/hdr_right_02307.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02310.png",
+      "transform_matrix": [
+        [
+          -0.8276118040084839,
+          -0.19582884013652802,
+          0.5260320901870728,
+          -8.615497589111328
+        ],
+        [
+          -0.5273681282997131,
+          -0.049621324986219406,
+          -0.8481866121292114,
+          17.643762588500977
+        ],
+        [
+          0.19220183789730072,
+          -0.9793818593025208,
+          -0.0622067004442215,
+          -13.746744155883789
+        ],
+        [
+          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": "1731323494_483082056",
+      "mask_path": "../../mask/hdr_right_02310.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02313.png",
+      "transform_matrix": [
+        [
+          -0.8481504917144775,
+          -0.16447903215885162,
+          0.5035746097564697,
+          -8.484867095947266
+        ],
+        [
+          -0.5068649053573608,
+          -0.024451889097690582,
+          -0.8616786599159241,
+          17.72609519958496
+        ],
+        [
+          0.15404142439365387,
+          -0.9860774278640747,
+          -0.06262976676225662,
+          -13.7669038772583
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2313,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323494_783081054",
+      "mask_path": "../../mask/hdr_right_02313.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02314.png",
+      "transform_matrix": [
+        [
+          -0.8590579628944397,
+          -0.14511054754257202,
+          0.4908791184425354,
+          -8.416101455688477
+        ],
+        [
+          -0.49326470494270325,
+          -0.02157793752849102,
+          -0.8696116805076599,
+          17.747051239013672
+        ],
+        [
+          0.1367819607257843,
+          -0.9891800880432129,
+          -0.053041208535432816,
+          -13.757180213928223
+        ],
+        [
+          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": "1731323494_883080959",
+      "mask_path": "../../mask/hdr_right_02314.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02316.png",
+      "transform_matrix": [
+        [
+          -0.8869319558143616,
+          -0.11213460564613342,
+          0.44808197021484375,
+          -8.327128410339355
+        ],
+        [
+          -0.44869720935821533,
+          -0.02111719362437725,
+          -0.893434464931488,
+          17.753250122070312
+        ],
+        [
+          0.10964714735746384,
+          -0.9934686422348022,
+          -0.0315849669277668,
+          -13.735308647155762
+        ],
+        [
+          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": "1731323495_83082675",
+      "mask_path": "../../mask/hdr_right_02316.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02317.png",
+      "transform_matrix": [
+        [
+          -0.8956091403961182,
+          -0.097981296479702,
+          0.4339170753955841,
+          -8.265009880065918
+        ],
+        [
+          -0.43342268466949463,
+          -0.02739378809928894,
+          -0.9007744193077087,
+          17.761499404907227
+        ],
+        [
+          0.10014567524194717,
+          -0.9948111772537231,
+          -0.017933186143636703,
+          -13.729717254638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2317,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323495_183081150",
+      "mask_path": "../../mask/hdr_right_02317.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02318.png",
+      "transform_matrix": [
+        [
+          -0.8980173468589783,
+          -0.08815862238407135,
+          0.43103694915771484,
+          -8.210578918457031
+        ],
+        [
+          -0.4301385283470154,
+          -0.029927991330623627,
+          -0.9022667407989502,
+          17.780927658081055
+        ],
+        [
+          0.09244266152381897,
+          -0.9956567883491516,
+          -0.01104456651955843,
+          -13.742447853088379
+        ],
+        [
+          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": "1731323495_283081531",
+      "mask_path": "../../mask/hdr_right_02318.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02320.png",
+      "transform_matrix": [
+        [
+          -0.8968397378921509,
+          -0.08135274797677994,
+          0.43481048941612244,
+          -8.123108863830566
+        ],
+        [
+          -0.43416643142700195,
+          -0.026377439498901367,
+          -0.9004465937614441,
+          17.822296142578125
+        ],
+        [
+          0.08472297340631485,
+          -0.9963362812995911,
+          -0.011664289981126785,
+          -13.762283325195312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2320,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323495_483081817",
+      "mask_path": "../../mask/hdr_right_02320.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02321.png",
+      "transform_matrix": [
+        [
+          -0.8989028930664062,
+          -0.07717406749725342,
+          0.43129774928092957,
+          -8.062800407409668
+        ],
+        [
+          -0.4307115375995636,
+          -0.024945760145783424,
+          -0.9021448493003845,
+          17.83547019958496
+        ],
+        [
+          0.08038124442100525,
+          -0.9967055320739746,
+          -0.010815947316586971,
+          -13.761139869689941
+        ],
+        [
+          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": "1731323495_583080768",
+      "mask_path": "../../mask/hdr_right_02321.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02323.png",
+      "transform_matrix": [
+        [
+          -0.910381555557251,
+          -0.06307332962751389,
+          0.4089341461658478,
+          -7.970291614532471
+        ],
+        [
+          -0.4087405800819397,
+          -0.01653420180082321,
+          -0.9125008583068848,
+          17.852924346923828
+        ],
+        [
+          0.06431586295366287,
+          -0.9978719353675842,
+          -0.010728196240961552,
+          -13.753454208374023
+        ],
+        [
+          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": "1731323495_783080101",
+      "mask_path": "../../mask/hdr_right_02323.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02324.png",
+      "transform_matrix": [
+        [
+          -0.912526547908783,
+          -0.05727677047252655,
+          0.40498727560043335,
+          -7.9037370681762695
+        ],
+        [
+          -0.40465325117111206,
+          -0.017834775149822235,
+          -0.9142963290214539,
+          17.874067306518555
+        ],
+        [
+          0.059590794146060944,
+          -0.9981990456581116,
+          -0.006902529392391443,
+          -13.756103515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2324,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323495_883081197",
+      "mask_path": "../../mask/hdr_right_02324.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02325.png",
+      "transform_matrix": [
+        [
+          -0.91192227602005,
+          -0.05297631025314331,
+          0.4069291651248932,
+          -7.8489990234375
+        ],
+        [
+          -0.4062804579734802,
+          -0.02297545038163662,
+          -0.9134596586227417,
+          17.897537231445312
+        ],
+        [
+          0.05774109810590744,
+          -0.9983314275741577,
+          -0.0005714144208468497,
+          -13.76662826538086
+        ],
+        [
+          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": "1731323495_983080148",
+      "mask_path": "../../mask/hdr_right_02325.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02327.png",
+      "transform_matrix": [
+        [
+          -0.9106675982475281,
+          -0.050641532987356186,
+          0.41002440452575684,
+          -7.767573833465576
+        ],
+        [
+          -0.40959542989730835,
+          -0.019054774194955826,
+          -0.9120683670043945,
+          17.93833351135254
+        ],
+        [
+          0.05400145798921585,
+          -0.9985350966453552,
+          -0.0033899724949151278,
+          -13.785110473632812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2327,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_183080673",
+      "mask_path": "../../mask/hdr_right_02327.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02328.png",
+      "transform_matrix": [
+        [
+          -0.9121989607810974,
+          -0.05223538726568222,
+          0.4064044654369354,
+          -7.707342147827148
+        ],
+        [
+          -0.40584802627563477,
+          -0.021331092342734337,
+          -0.9136916399002075,
+          17.960346221923828
+        ],
+        [
+          0.056396085768938065,
+          -0.9984069466590881,
+          -0.0017414328176528215,
+          -13.788640975952148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2328,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_283079624",
+      "mask_path": "../../mask/hdr_right_02328.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02329.png",
+      "transform_matrix": [
+        [
+          -0.9164703488349915,
+          -0.04964423179626465,
+          0.39701083302497864,
+          -7.6502509117126465
+        ],
+        [
+          -0.39642953872680664,
+          -0.021476855501532555,
+          -0.9178139567375183,
+          17.966835021972656
+        ],
+        [
+          0.054090715944767,
+          -0.9985360503196716,
+          2.4591877263446804e-06,
+          -13.776463508605957
+        ],
+        [
+          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": "1731323496_383080244",
+      "mask_path": "../../mask/hdr_right_02329.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02331.png",
+      "transform_matrix": [
+        [
+          -0.9270493984222412,
+          -0.03991367295384407,
+          0.372808575630188,
+          -7.546064376831055
+        ],
+        [
+          -0.372249037027359,
+          -0.020915940403938293,
+          -0.9278972148895264,
+          17.984477996826172
+        ],
+        [
+          0.04483342170715332,
+          -0.998984158039093,
+          0.004532283637672663,
+          -13.775906562805176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2331,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_583081007",
+      "mask_path": "../../mask/hdr_right_02331.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02332.png",
+      "transform_matrix": [
+        [
+          -0.9279557466506958,
+          -0.04044307768344879,
+          0.3704895079135895,
+          -7.471076011657715
+        ],
+        [
+          -0.36946162581443787,
+          -0.03074318915605545,
+          -0.9287373423576355,
+          18.007034301757812
+        ],
+        [
+          0.04895102232694626,
+          -0.9987088441848755,
+          0.013586154207587242,
+          -13.784919738769531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2332,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_683081150",
+      "mask_path": "../../mask/hdr_right_02332.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02333.png",
+      "transform_matrix": [
+        [
+          -0.9264086484909058,
+          -0.042554259300231934,
+          0.3741071820259094,
+          -7.409693717956543
+        ],
+        [
+          -0.37280723452568054,
+          -0.03551292046904564,
+          -0.9272290468215942,
+          18.022253036499023
+        ],
+        [
+          0.052743181586265564,
+          -0.9984627962112427,
+          0.01703494042158127,
+          -13.790435791015625
+        ],
+        [
+          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": "1731323496_783080339",
+      "mask_path": "../../mask/hdr_right_02333.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02334.png",
+      "transform_matrix": [
+        [
+          -0.9255464673042297,
+          -0.04528263583779335,
+          0.37591660022735596,
+          -7.354944705963135
+        ],
+        [
+          -0.3747594952583313,
+          -0.03211245685815811,
+          -0.9265657663345337,
+          18.038747787475586
+        ],
+        [
+          0.0540289469063282,
+          -0.9984579682350159,
+          0.012751472182571888,
+          -13.800630569458008
+        ],
+        [
+          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": "1731323496_883079528",
+      "mask_path": "../../mask/hdr_right_02334.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02335.png",
+      "transform_matrix": [
+        [
+          -0.926528811454773,
+          -0.04611164703965187,
+          0.3733873963356018,
+          -7.276716232299805
+        ],
+        [
+          -0.37226396799087524,
+          -0.031252119690179825,
+          -0.927600622177124,
+          18.055288314819336
+        ],
+        [
+          0.05444234237074852,
+          -0.9984472990036011,
+          0.011790289543569088,
+          -13.806445121765137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2335,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323496_983080148",
+      "mask_path": "../../mask/hdr_right_02335.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02336.png",
+      "transform_matrix": [
+        [
+          -0.9297419190406799,
+          -0.044590406119823456,
+          0.3655017912387848,
+          -7.2080817222595215
+        ],
+        [
+          -0.36456671357154846,
+          -0.02784772776067257,
+          -0.9307607412338257,
+          18.066600799560547
+        ],
+        [
+          0.05168139934539795,
+          -0.9986171126365662,
+          0.009635022841393948,
+          -13.808341979980469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2336,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323497_83079338",
+      "mask_path": "../../mask/hdr_right_02336.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02338.png",
+      "transform_matrix": [
+        [
+          -0.9381361603736877,
+          -0.041697170585393906,
+          0.34374672174453735,
+          -7.100788593292236
+        ],
+        [
+          -0.3434467911720276,
+          -0.014379973523318768,
+          -0.9390619993209839,
+          18.09398651123047
+        ],
+        [
+          0.04409930109977722,
+          -0.9990268349647522,
+          -0.0008303875802084804,
+          -13.81593132019043
+        ],
+        [
+          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": "1731323497_283080577",
+      "mask_path": "../../mask/hdr_right_02338.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02339.png",
+      "transform_matrix": [
+        [
+          -0.9390857219696045,
+          -0.04264159873127937,
+          0.34102746844291687,
+          -7.020238876342773
+        ],
+        [
+          -0.34049561619758606,
+          -0.019394367933273315,
+          -0.9400460720062256,
+          18.117876052856445
+        ],
+        [
+          0.04669908061623573,
+          -0.9989021420478821,
+          0.0036936956457793713,
+          -13.821784973144531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2339,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323497_383078813",
+      "mask_path": "../../mask/hdr_right_02339.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02341.png",
+      "transform_matrix": [
+        [
+          -0.9385910034179688,
+          -0.045767348259687424,
+          0.34198305010795593,
+          -6.950154781341553
+        ],
+        [
+          -0.3413873314857483,
+          -0.020498385652899742,
+          -0.9396991729736328,
+          18.142253875732422
+        ],
+        [
+          0.050017643719911575,
+          -0.9987417459487915,
+          0.0036152040120214224,
+          -13.838102340698242
+        ],
+        [
+          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": "1731323497_583080291",
+      "mask_path": "../../mask/hdr_right_02341.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02343.png",
+      "transform_matrix": [
+        [
+          -0.9412783980369568,
+          -0.05221787095069885,
+          0.33356913924217224,
+          -6.861119270324707
+        ],
+        [
+          -0.33288320899009705,
+          -0.0215806532651186,
+          -0.9427210688591003,
+          18.162277221679688
+        ],
+        [
+          0.05642552673816681,
+          -0.99840247631073,
+          0.0029309499077498913,
+          -13.83223819732666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 2343,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323497_783080816",
+      "mask_path": "../../mask/hdr_right_02343.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02345.png",
+      "transform_matrix": [
+        [
+          -0.9441693425178528,
+          -0.049719661474227905,
+          0.32568714022636414,
+          -6.793103218078613
+        ],
+        [
+          -0.3250810503959656,
+          -0.020052483305335045,
+          -0.9454734921455383,
+          18.164981842041016
+        ],
+        [
+          0.0535394623875618,
+          -0.9985619187355042,
+          0.0027700187638401985,
+          -13.835195541381836
+        ],
+        [
+          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": "1731323497_983081817",
+      "mask_path": "../../mask/hdr_right_02345.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02346.png",
+      "transform_matrix": [
+        [
+          -0.945087194442749,
+          -0.04944400489330292,
+          0.3230566084384918,
+          -6.740708351135254
+        ],
+        [
+          -0.32248052954673767,
+          -0.019435402005910873,
+          -0.9463765025138855,
+          18.165864944458008
+        ],
+        [
+          0.05307137593626976,
+          -0.9985877871513367,
+          0.0024234168231487274,
+          -13.832938194274902
+        ],
+        [
+          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": "1731323498_83080530",
+      "mask_path": "../../mask/hdr_right_02346.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02347.png",
+      "transform_matrix": [
+        [
+          -0.9429925680160522,
+          -0.0477476567029953,
+          0.3293708860874176,
+          -6.686849594116211
+        ],
+        [
+          -0.32840797305107117,
+          -0.027001220732927322,
+          -0.9441500306129456,
+          18.173053741455078
+        ],
+        [
+          0.05397436395287514,
+          -0.9984943270683289,
+          0.00978123676031828,
+          -13.832120895385742
+        ],
+        [
+          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": "1731323498_183080673",
+      "mask_path": "../../mask/hdr_right_02347.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02349.png",
+      "transform_matrix": [
+        [
+          -0.9267579913139343,
+          -0.048517800867557526,
+          0.37251248955726624,
+          -6.61509895324707
+        ],
+        [
+          -0.37161657214164734,
+          -0.026673225685954094,
+          -0.9280030727386475,
+          18.201566696166992
+        ],
+        [
+          0.05496077984571457,
+          -0.9984661340713501,
+          0.006689609494060278,
+          -13.850509643554688
+        ],
+        [
+          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": "1731323498_383081197",
+      "mask_path": "../../mask/hdr_right_02349.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02350.png",
+      "transform_matrix": [
+        [
+          -0.916347324848175,
+          -0.0490623377263546,
+          0.3973669111728668,
+          -6.563493728637695
+        ],
+        [
+          -0.3968150019645691,
+          -0.02093830145895481,
+          -0.9176597595214844,
+          18.21731185913086
+        ],
+        [
+          0.053342729806900024,
+          -0.998576283454895,
+          -0.00028191847377456725,
+          -13.849255561828613
+        ],
+        [
+          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": "1731323498_483080625",
+      "mask_path": "../../mask/hdr_right_02350.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02352.png",
+      "transform_matrix": [
+        [
+          -0.9050987958908081,
+          -0.05052229017019272,
+          0.42218929529190063,
+          -6.489006996154785
+        ],
+        [
+          -0.4225611090660095,
+          -0.0036056307144463062,
+          -0.9063273668289185,
+          18.246667861938477
+        ],
+        [
+          0.04731198772788048,
+          -0.998716413974762,
+          -0.0180853009223938,
+          -13.84585189819336
+        ],
+        [
+          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": "1731323498_683082580",
+      "mask_path": "../../mask/hdr_right_02352.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02353.png",
+      "transform_matrix": [
+        [
+          -0.9070859551429749,
+          -0.05316841974854469,
+          0.4175741970539093,
+          -6.433304786682129
+        ],
+        [
+          -0.4181794226169586,
+          0.0002853419282473624,
+          -0.9083644151687622,
+          18.25407600402832
+        ],
+        [
+          0.04817714914679527,
+          -0.9985855221748352,
+          -0.022492768242955208,
+          -13.841935157775879
+        ],
+        [
+          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": "1731323498_783080339",
+      "mask_path": "../../mask/hdr_right_02353.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02354.png",
+      "transform_matrix": [
+        [
+          -0.9071481227874756,
+          -0.05544479936361313,
+          0.4171428978443146,
+          -6.3723015785217285
+        ],
+        [
+          -0.41750508546829224,
+          -0.005435922183096409,
+          -0.9086584448814392,
+          18.269193649291992
+        ],
+        [
+          0.05264794081449509,
+          -0.9984469413757324,
+          -0.0182172991335392,
+          -13.847713470458984
+        ],
+        [
+          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": "1731323498_883079528",
+      "mask_path": "../../mask/hdr_right_02354.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02355.png",
+      "transform_matrix": [
+        [
+          -0.9057669639587402,
+          -0.0569186732172966,
+          0.41993626952171326,
+          -6.328358173370361
+        ],
+        [
+          -0.42019322514533997,
+          -0.00795771088451147,
+          -0.9073997735977173,
+          18.295225143432617
+        ],
+        [
+          0.05498971417546272,
+          -0.9983471035957336,
+          -0.01670900732278824,
+          -13.860383033752441
+        ],
+        [
+          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": "1731323498_983080625",
+      "mask_path": "../../mask/hdr_right_02355.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02356.png",
+      "transform_matrix": [
+        [
+          -0.9046915769577026,
+          -0.05982707813382149,
+          0.4218458831310272,
+          -6.284567832946777
+        ],
+        [
+          -0.4224719703197479,
+          -0.002386895241215825,
+          -0.9063729047775269,
+          18.325843811035156
+        ],
+        [
+          0.055232539772987366,
+          -0.9982059001922607,
+          -0.023115860298275948,
+          -13.867785453796387
+        ],
+        [
+          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": "1731323499_83081007",
+      "mask_path": "../../mask/hdr_right_02356.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02357.png",
+      "transform_matrix": [
+        [
+          -0.9049494862556458,
+          -0.06071716547012329,
+          0.4211648106575012,
+          -6.22036075592041
+        ],
+        [
+          -0.421819806098938,
+          -0.0022210569586604834,
+          -0.9066770076751709,
+          18.361812591552734
+        ],
+        [
+          0.05598628520965576,
+          -0.9981525540351868,
+          -0.023601757362484932,
+          -13.871686935424805
+        ],
+        [
+          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": "1731323499_183079957",
+      "mask_path": "../../mask/hdr_right_02357.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02358.png",
+      "transform_matrix": [
+        [
+          -0.9076716303825378,
+          -0.05768495425581932,
+          0.41569775342941284,
+          -6.15004825592041
+        ],
+        [
+          -0.4162995219230652,
+          -0.001731609576381743,
+          -0.9092258214950562,
+          18.387069702148438
+        ],
+        [
+          0.05316847935318947,
+          -0.9983333349227905,
+          -0.022442487999796867,
+          -13.868694305419922
+        ],
+        [
+          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": "1731323499_283082008",
+      "mask_path": "../../mask/hdr_right_02358.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02359.png",
+      "transform_matrix": [
+        [
+          -0.9121019244194031,
+          -0.052015502005815506,
+          0.4066501259803772,
+          -6.093868255615234
+        ],
+        [
+          -0.4074448049068451,
+          0.0052350107580423355,
+          -0.9132148623466492,
+          18.405424118041992
+        ],
+        [
+          0.045372504740953445,
+          -0.998632550239563,
+          -0.025968311354517937,
+          -13.868401527404785
+        ],
+        [
+          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": "1731323499_383082628",
+      "mask_path": "../../mask/hdr_right_02359.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02360.png",
+      "transform_matrix": [
+        [
+          -0.9160820245742798,
+          -0.04606803506612778,
+          0.39833587408065796,
+          -6.022314548492432
+        ],
+        [
+          -0.39908507466316223,
+          0.008007313124835491,
+          -0.9168789386749268,
+          18.438335418701172
+        ],
+        [
+          0.03904920816421509,
+          -0.9989061951637268,
+          -0.025720421224832535,
+          -13.872822761535645
+        ],
+        [
+          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": "1731323499_483080863",
+      "mask_path": "../../mask/hdr_right_02360.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02361.png",
+      "transform_matrix": [
+        [
+          -0.9164312481880188,
+          -0.0444725826382637,
+          0.39771342277526855,
+          -5.95129919052124
+        ],
+        [
+          -0.3981644809246063,
+          0.001408795011229813,
+          -0.9173130393028259,
+          18.470680236816406
+        ],
+        [
+          0.04023497924208641,
+          -0.9990096092224121,
+          -0.018998466432094574,
+          -13.87839126586914
+        ],
+        [
+          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": "1731323499_583081483",
+      "mask_path": "../../mask/hdr_right_02361.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02363.png",
+      "transform_matrix": [
+        [
+          -0.915564775466919,
+          -0.04959141090512276,
+          0.3991013765335083,
+          -5.867486000061035
+        ],
+        [
+          -0.39941784739494324,
+          -0.0037858972791582346,
+          -0.9167612791061401,
+          18.512283325195312
+        ],
+        [
+          0.046974435448646545,
+          -0.9987624287605286,
+          -0.01634145900607109,
+          -13.896071434020996
+        ],
+        [
+          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": "1731323499_783081769",
+      "mask_path": "../../mask/hdr_right_02363.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02364.png",
+      "transform_matrix": [
+        [
+          -0.9165758490562439,
+          -0.05436139926314354,
+          0.3961483836174011,
+          -5.816769599914551
+        ],
+        [
+          -0.39643144607543945,
+          -0.005934904795140028,
+          -0.918045163154602,
+          18.534744262695312
+        ],
+        [
+          0.052257318049669266,
+          -0.9985036253929138,
+          -0.016110774129629135,
+          -13.89793872833252
+        ],
+        [
+          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": "1731323499_883081912",
+      "mask_path": "../../mask/hdr_right_02364.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02366.png",
+      "transform_matrix": [
+        [
+          -0.9220261573791504,
+          -0.05125025287270546,
+          0.38372018933296204,
+          -5.737759113311768
+        ],
+        [
+          -0.38423025608062744,
+          0.00010859491158043966,
+          -0.9232373237609863,
+          18.539291381835938
+        ],
+        [
+          0.047274474054574966,
+          -0.9986858367919922,
+          -0.01979202590882778,
+          -13.885135650634766
+        ],
+        [
+          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": "1731323500_83081007",
+      "mask_path": "../../mask/hdr_right_02366.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02368.png",
+      "transform_matrix": [
+        [
+          -0.9272878766059875,
+          -0.05018464848399162,
+          0.3709700405597687,
+          -5.648098945617676
+        ],
+        [
+          -0.37151962518692017,
+          0.0017603770829737186,
+          -0.9284234642982483,
+          18.565099716186523
+        ],
+        [
+          0.04593955725431442,
+          -0.9987384080886841,
+          -0.020276958122849464,
+          -13.889288902282715
+        ],
+        [
+          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": "1731323500_283082246",
+      "mask_path": "../../mask/hdr_right_02368.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02369.png",
+      "transform_matrix": [
+        [
+          -0.9272235035896301,
+          -0.05024345964193344,
+          0.3711228668689728,
+          -5.598665714263916
+        ],
+        [
+          -0.37118053436279297,
+          -0.008524622768163681,
+          -0.9285216331481934,
+          18.57928466796875
+        ],
+        [
+          0.049815818667411804,
+          -0.9987006783485413,
+          -0.010745164938271046,
+          -13.898094177246094
+        ],
+        [
+          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": "1731323500_383081674",
+      "mask_path": "../../mask/hdr_right_02369.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02372.png",
+      "transform_matrix": [
+        [
+          -0.9274150729179382,
+          -0.052867308259010315,
+          0.37027862668037415,
+          -5.454655170440674
+        ],
+        [
+          -0.37033969163894653,
+          -0.00899895653128624,
+          -0.9288528561592102,
+          18.626598358154297
+        ],
+        [
+          0.05243806540966034,
+          -0.9985610842704773,
+          -0.011233091354370117,
+          -13.917681694030762
+        ],
+        [
+          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": "1731323500_683082580",
+      "mask_path": "../../mask/hdr_right_02372.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02373.png",
+      "transform_matrix": [
+        [
+          -0.9303879141807556,
+          -0.05052877962589264,
+          0.3630772829055786,
+          -5.397132873535156
+        ],
+        [
+          -0.36318355798721313,
+          -0.007387185003608465,
+          -0.9316883683204651,
+          18.63462257385254
+        ],
+        [
+          0.04975919798016548,
+          -0.9986952543258667,
+          -0.011478275060653687,
+          -13.911412239074707
+        ],
+        [
+          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": "1731323500_783081531",
+      "mask_path": "../../mask/hdr_right_02373.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02374.png",
+      "transform_matrix": [
+        [
+          -0.9340155720710754,
+          -0.046260811388492584,
+          0.3542245328426361,
+          -5.342823505401611
+        ],
+        [
+          -0.3545497953891754,
+          -0.001249060733243823,
+          -0.9350363612174988,
+          18.64386749267578
+        ],
+        [
+          0.043697990477085114,
+          -0.9989286661148071,
+          -0.015235120430588722,
+          -13.913016319274902
+        ],
+        [
+          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": "1731323500_883080005",
+      "mask_path": "../../mask/hdr_right_02374.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02375.png",
+      "transform_matrix": [
+        [
+          -0.9366915822029114,
+          -0.04465537145733833,
+          0.3472965657711029,
+          -5.273850440979004
+        ],
+        [
+          -0.3476039171218872,
+          -0.0009378298418596387,
+          -0.9376410841941833,
+          18.661657333374023
+        ],
+        [
+          0.04219641536474228,
+          -0.9990019798278809,
+          -0.014643925242125988,
+          -13.920479774475098
+        ],
+        [
+          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": "1731323500_983083248",
+      "mask_path": "../../mask/hdr_right_02375.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02376.png",
+      "transform_matrix": [
+        [
+          -0.9364209175109863,
+          -0.04746973142027855,
+          0.34765294194221497,
+          -5.207273006439209
+        ],
+        [
+          -0.34770098328590393,
+          -0.0075080213136971,
+          -0.9375753998756409,
+          18.6721134185791
+        ],
+        [
+          0.04711664840579033,
+          -0.9988444447517395,
+          -0.009474607184529305,
+          -13.924839973449707
+        ],
+        [
+          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": "1731323501_83082199",
+      "mask_path": "../../mask/hdr_right_02376.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02377.png",
+      "transform_matrix": [
+        [
+          -0.9340561628341675,
+          -0.051419809460639954,
+          0.3534049987792969,
+          -5.153141498565674
+        ],
+        [
+          -0.35334140062332153,
+          -0.01062620710581541,
+          -0.935434103012085,
+          18.68076515197754
+        ],
+        [
+          0.05185519531369209,
+          -0.9986206293106079,
+          -0.008243272081017494,
+          -13.933367729187012
+        ],
+        [
+          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": "1731323501_183083534",
+      "mask_path": "../../mask/hdr_right_02377.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02379.png",
+      "transform_matrix": [
+        [
+          -0.9303880929946899,
+          -0.060568250715732574,
+          0.3615376651287079,
+          -5.0510172843933105
+        ],
+        [
+          -0.36215314269065857,
+          -0.0008726433734409511,
+          -0.9321182370185852,
+          18.70002555847168
+        ],
+        [
+          0.05677226185798645,
+          -0.9981637001037598,
+          -0.021123085170984268,
+          -13.942513465881348
+        ],
+        [
+          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": "1731323501_383082628",
+      "mask_path": "../../mask/hdr_right_02379.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02381.png",
+      "transform_matrix": [
+        [
+          -0.9316498041152954,
+          -0.06163717806339264,
+          0.3580915033817291,
+          -4.975474834442139
+        ],
+        [
+          -0.35968199372291565,
+          0.016619954258203506,
+          -0.9329269528388977,
+          18.71698760986328
+        ],
+        [
+          0.051551517099142075,
+          -0.9979602098464966,
+          -0.037653759121894836,
+          -13.936260223388672
+        ],
+        [
+          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": "1731323501_583081483",
+      "mask_path": "../../mask/hdr_right_02381.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02382.png",
+      "transform_matrix": [
+        [
+          -0.9329270720481873,
+          -0.06275079399347305,
+          0.3545551598072052,
+          -4.92681360244751
+        ],
+        [
+          -0.3562905490398407,
+          0.01867164671421051,
+          -0.9341886639595032,
+          18.729135513305664
+        ],
+        [
+          0.05200094357132912,
+          -0.9978545308113098,
+          -0.039776794612407684,
+          -13.938400268554688
+        ],
+        [
+          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": "1731323501_683082103",
+      "mask_path": "../../mask/hdr_right_02382.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02383.png",
+      "transform_matrix": [
+        [
+          -0.9310113787651062,
+          -0.06386084854602814,
+          0.3593599200248718,
+          -4.869374752044678
+        ],
+        [
+          -0.36089086532592773,
+          0.013919167220592499,
+          -0.9325042366981506,
+          18.73821258544922
+        ],
+        [
+          0.054548513144254684,
+          -0.9978617429733276,
+          -0.03600570186972618,
+          -13.94115924835205
+        ],
+        [
+          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": "1731323501_783081769",
+      "mask_path": "../../mask/hdr_right_02383.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07398.png",
+      "transform_matrix": [
+        [
+          0.8784512877464294,
+          -0.04752901569008827,
+          -0.4754621386528015,
+          -5.208701133728027
+        ],
+        [
+          0.476082444190979,
+          0.0019892400596290827,
+          0.8793985247612,
+          18.586362838745117
+        ],
+        [
+          -0.040851134806871414,
+          -0.9988678693771362,
+          0.024375176057219505,
+          -13.939652442932129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7398,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_283081531",
+      "mask_path": "../../mask/hdr_right_07398.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07399.png",
+      "transform_matrix": [
+        [
+          0.8814730644226074,
+          -0.04368145391345024,
+          -0.47020962834358215,
+          -5.288946151733398
+        ],
+        [
+          0.4706273376941681,
+          -0.0008135056123137474,
+          0.8823317885398865,
+          18.565698623657227
+        ],
+        [
+          -0.03892404958605766,
+          -0.9990452527999878,
+          0.019840598106384277,
+          -13.924220085144043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7399,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_383083343",
+      "mask_path": "../../mask/hdr_right_07399.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07400.png",
+      "transform_matrix": [
+        [
+          0.8839466571807861,
+          -0.04482605680823326,
+          -0.46543413400650024,
+          -5.355649471282959
+        ],
+        [
+          0.4656122624874115,
+          -0.007019827142357826,
+          0.8849610090255737,
+          18.549299240112305
+        ],
+        [
+          -0.04293657839298248,
+          -0.998970091342926,
+          0.014666407369077206,
+          -13.920665740966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7400,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_483081579",
+      "mask_path": "../../mask/hdr_right_07400.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07401.png",
+      "transform_matrix": [
+        [
+          0.8862892985343933,
+          -0.04701792448759079,
+          -0.46073925495147705,
+          -5.434228420257568
+        ],
+        [
+          0.4607345759868622,
+          -0.011584315448999405,
+          0.8874623775482178,
+          18.528417587280273
+        ],
+        [
+          -0.04706398770213127,
+          -0.9988268613815308,
+          0.011395727284252644,
+          -13.921070098876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7401,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_583083868",
+      "mask_path": "../../mask/hdr_right_07401.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07402.png",
+      "transform_matrix": [
+        [
+          0.8851984143257141,
+          -0.048907745629549026,
+          -0.46263572573661804,
+          -5.514218807220459
+        ],
+        [
+          0.4628714621067047,
+          -0.00707232067361474,
+          0.8863973021507263,
+          18.493295669555664
+        ],
+        [
+          -0.0466235913336277,
+          -0.9987782835960388,
+          0.016377592459321022,
+          -13.91080379486084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7402,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_683082580",
+      "mask_path": "../../mask/hdr_right_07402.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07403.png",
+      "transform_matrix": [
+        [
+          0.8816232085227966,
+          -0.05034004524350166,
+          -0.46926161646842957,
+          -5.573498725891113
+        ],
+        [
+          0.4698076844215393,
+          -0.001109789009205997,
+          0.8827680945396423,
+          18.46710777282715
+        ],
+        [
+          -0.04495937004685402,
+          -0.9987315535545349,
+          0.022671721875667572,
+          -13.904595375061035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7403,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_783081769",
+      "mask_path": "../../mask/hdr_right_07403.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07404.png",
+      "transform_matrix": [
+        [
+          0.8769468069076538,
+          -0.05144435539841652,
+          -0.4778260886669159,
+          -5.631325721740723
+        ],
+        [
+          0.4785621762275696,
+          0.0022941564675420523,
+          0.878050684928894,
+          18.45278549194336
+        ],
+        [
+          -0.044074542820453644,
+          -0.9986732602119446,
+          0.026631172746419907,
+          -13.90725326538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7404,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_883082628",
+      "mask_path": "../../mask/hdr_right_07404.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07405.png",
+      "transform_matrix": [
+        [
+          0.8711498379707336,
+          -0.0494338758289814,
+          -0.4885225296020508,
+          -5.6983113288879395
+        ],
+        [
+          0.4892575442790985,
+          0.0032330388203263283,
+          0.8721333742141724,
+          18.42918586730957
+        ],
+        [
+          -0.041533518582582474,
+          -0.9987722039222717,
+          0.027002356946468353,
+          -13.900565147399902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7405,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324003_983081817",
+      "mask_path": "../../mask/hdr_right_07405.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07406.png",
+      "transform_matrix": [
+        [
+          0.865972101688385,
+          -0.05052744224667549,
+          -0.4975332021713257,
+          -5.7547383308410645
+        ],
+        [
+          0.498076468706131,
+          -0.0020950427278876305,
+          0.8671305775642395,
+          18.407867431640625
+        ],
+        [
+          -0.0448562391102314,
+          -0.9987204670906067,
+          0.023352278396487236,
+          -13.88874340057373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7406,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_83084344",
+      "mask_path": "../../mask/hdr_right_07406.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07407.png",
+      "transform_matrix": [
+        [
+          0.8606249094009399,
+          -0.05145588144659996,
+          -0.5066329836845398,
+          -5.799562454223633
+        ],
+        [
+          0.5068389773368835,
+          -0.009931690990924835,
+          0.8619835376739502,
+          18.385595321655273
+        ],
+        [
+          -0.04938584938645363,
+          -0.9986258745193481,
+          0.017532380297780037,
+          -13.880882263183594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7407,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_183082342",
+      "mask_path": "../../mask/hdr_right_07407.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07408.png",
+      "transform_matrix": [
+        [
+          0.854403555393219,
+          -0.04906181991100311,
+          -0.5172885656356812,
+          -5.846640110015869
+        ],
+        [
+          0.5171061158180237,
+          -0.017329657450318336,
+          0.8557459115982056,
+          18.35830307006836
+        ],
+        [
+          -0.05094888433814049,
+          -0.9986453652381897,
+          0.010563643649220467,
+          -13.876070022583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7408,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_283082485",
+      "mask_path": "../../mask/hdr_right_07408.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07409.png",
+      "transform_matrix": [
+        [
+          0.8454471826553345,
+          -0.04950878024101257,
+          -0.5317593216896057,
+          -5.917152404785156
+        ],
+        [
+          0.5316630005836487,
+          -0.01618957333266735,
+          0.8468012809753418,
+          18.32732582092285
+        ],
+        [
+          -0.050533052533864975,
+          -0.9986424446105957,
+          0.01263455767184496,
+          -13.87378978729248
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7409,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_383082389",
+      "mask_path": "../../mask/hdr_right_07409.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07410.png",
+      "transform_matrix": [
+        [
+          0.8334342837333679,
+          -0.053146325051784515,
+          -0.5500569939613342,
+          -5.985238075256348
+        ],
+        [
+          0.5504381060600281,
+          -0.008497517555952072,
+          0.8348327875137329,
+          18.295547485351562
+        ],
+        [
+          -0.049042414873838425,
+          -0.9985505938529968,
+          0.022171637043356895,
+          -13.876343727111816
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7410,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_483082056",
+      "mask_path": "../../mask/hdr_right_07410.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07411.png",
+      "transform_matrix": [
+        [
+          0.8208328485488892,
+          -0.05201047286391258,
+          -0.5687955617904663,
+          -6.040182113647461
+        ],
+        [
+          0.5692201852798462,
+          -0.0076932660304009914,
+          0.8221490383148193,
+          18.266746520996094
+        ],
+        [
+          -0.047136254608631134,
+          -0.9986169338226318,
+          0.023290522396564484,
+          -13.881563186645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7411,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_583081007",
+      "mask_path": "../../mask/hdr_right_07411.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07412.png",
+      "transform_matrix": [
+        [
+          0.8101614713668823,
+          -0.046325359493494034,
+          -0.5843734741210938,
+          -6.100244045257568
+        ],
+        [
+          0.5846849083900452,
+          -0.007928602397441864,
+          0.8112217783927917,
+          18.233957290649414
+        ],
+        [
+          -0.04221339896321297,
+          -0.9988949298858643,
+          0.02066228911280632,
+          -13.882579803466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7412,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_683080196",
+      "mask_path": "../../mask/hdr_right_07412.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07413.png",
+      "transform_matrix": [
+        [
+          0.8040227293968201,
+          -0.04585091769695282,
+          -0.592828094959259,
+          -6.163138389587402
+        ],
+        [
+          0.593063235282898,
+          -0.009762607514858246,
+          0.8050967454910278,
+          18.202030181884766
+        ],
+        [
+          -0.04270197078585625,
+          -0.9989005327224731,
+          0.01934313401579857,
+          -13.869050025939941
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7413,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_783080577",
+      "mask_path": "../../mask/hdr_right_07413.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07414.png",
+      "transform_matrix": [
+        [
+          0.8037108182907104,
+          -0.04477374255657196,
+          -0.5933333039283752,
+          -6.220155239105225
+        ],
+        [
+          0.5932287573814392,
+          -0.01702621765434742,
+          0.8048539161682129,
+          18.173866271972656
+        ],
+        [
+          -0.046138543635606766,
+          -0.9988520741462708,
+          0.012876912951469421,
+          -13.85909652709961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7414,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_883081436",
+      "mask_path": "../../mask/hdr_right_07414.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07415.png",
+      "transform_matrix": [
+        [
+          0.8088691830635071,
+          -0.04335794597864151,
+          -0.5863878726959229,
+          -6.291445732116699
+        ],
+        [
+          0.5860284566879272,
+          -0.021916918456554413,
+          0.8099939823150635,
+          18.13726806640625
+        ],
+        [
+          -0.04797149449586868,
+          -0.9988191723823547,
+          0.0076810684986412525,
+          -13.855074882507324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7415,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324004_983081817",
+      "mask_path": "../../mask/hdr_right_07415.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07416.png",
+      "transform_matrix": [
+        [
+          0.8100804090499878,
+          -0.045131269842386246,
+          -0.5845792889595032,
+          -6.365817070007324
+        ],
+        [
+          0.5844311118125916,
+          -0.017788095399737358,
+          0.8112484216690063,
+          18.09380531311035
+        ],
+        [
+          -0.04701122269034386,
+          -0.9988226294517517,
+          0.011966325342655182,
+          -13.84753131866455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7416,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_83081722",
+      "mask_path": "../../mask/hdr_right_07416.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07417.png",
+      "transform_matrix": [
+        [
+          0.8073524832725525,
+          -0.04731643944978714,
+          -0.5881693959236145,
+          -6.421270370483398
+        ],
+        [
+          0.5884002447128296,
+          -0.01036800816655159,
+          0.8085034489631653,
+          18.058351516723633
+        ],
+        [
+          -0.04435364156961441,
+          -0.9988261461257935,
+          0.01947036385536194,
+          -13.848462104797363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7417,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_183083772",
+      "mask_path": "../../mask/hdr_right_07417.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07418.png",
+      "transform_matrix": [
+        [
+          0.8060303926467896,
+          -0.047125983983278275,
+          -0.5899951457977295,
+          -6.474776268005371
+        ],
+        [
+          0.5902548432350159,
+          -0.00968716200441122,
+          0.8071588277816772,
+          18.027570724487305
+        ],
+        [
+          -0.04375353828072548,
+          -0.9988420009613037,
+          0.02000819332897663,
+          -13.855759620666504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7418,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_283082485",
+      "mask_path": "../../mask/hdr_right_07418.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07419.png",
+      "transform_matrix": [
+        [
+          0.807740330696106,
+          -0.042791951447725296,
+          -0.5879833698272705,
+          -6.543921947479248
+        ],
+        [
+          0.5882098078727722,
+          -0.008424139581620693,
+          0.8086645603179932,
+          17.991130828857422
+        ],
+        [
+          -0.03955759108066559,
+          -0.9990484714508057,
+          0.0183661300688982,
+          -13.851716995239258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7419,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_383081912",
+      "mask_path": "../../mask/hdr_right_07419.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07420.png",
+      "transform_matrix": [
+        [
+          0.8123836517333984,
+          -0.04089401662349701,
+          -0.5816876888275146,
+          -6.614855766296387
+        ],
+        [
+          0.5818237066268921,
+          -0.009718891233205795,
+          0.8132568597793579,
+          17.955909729003906
+        ],
+        [
+          -0.03891069069504738,
+          -0.9991161823272705,
+          0.015897640958428383,
+          -13.835185050964355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7420,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_483080863",
+      "mask_path": "../../mask/hdr_right_07420.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07421.png",
+      "transform_matrix": [
+        [
+          0.8170705437660217,
+          -0.041662611067295074,
+          -0.5750304460525513,
+          -6.685949802398682
+        ],
+        [
+          0.5748602151870728,
+          -0.017156101763248444,
+          0.818071722984314,
+          17.934152603149414
+        ],
+        [
+          -0.04394828900694847,
+          -0.9989843964576721,
+          0.009932433255016804,
+          -13.832348823547363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7421,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_583079338",
+      "mask_path": "../../mask/hdr_right_07421.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07422.png",
+      "transform_matrix": [
+        [
+          0.8209637999534607,
+          -0.03950647637248039,
+          -0.5696120262145996,
+          -6.753328323364258
+        ],
+        [
+          0.5691549181938171,
+          -0.023088425397872925,
+          0.8219061493873596,
+          17.901273727416992
+        ],
+        [
+          -0.04562205821275711,
+          -0.9989525079727173,
+          0.0035305412020534277,
+          -13.833651542663574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7422,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_683081865",
+      "mask_path": "../../mask/hdr_right_07422.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07423.png",
+      "transform_matrix": [
+        [
+          0.8204272985458374,
+          -0.03999336063861847,
+          -0.5703502893447876,
+          -6.81132173538208
+        ],
+        [
+          0.5700941681861877,
+          -0.01866096444427967,
+          0.8213674426078796,
+          17.85622215270996
+        ],
+        [
+          -0.04349253699183464,
+          -0.9990256428718567,
+          0.007490015588700771,
+          -13.828476905822754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7423,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_783082008",
+      "mask_path": "../../mask/hdr_right_07423.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07424.png",
+      "transform_matrix": [
+        [
+          0.8178451061248779,
+          -0.0411914624273777,
+          -0.5739621520042419,
+          -6.861196994781494
+        ],
+        [
+          0.5740941166877747,
+          -0.009730830788612366,
+          0.8187315464019775,
+          17.826631546020508
+        ],
+        [
+          -0.03930988162755966,
+          -0.999103844165802,
+          0.015689462423324585,
+          -13.828999519348145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7424,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324005_883080720",
+      "mask_path": "../../mask/hdr_right_07424.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07426.png",
+      "transform_matrix": [
+        [
+          0.8208327293395996,
+          -0.03486177325248718,
+          -0.5701037645339966,
+          -6.96295690536499
+        ],
+        [
+          0.5703736543655396,
+          -0.002616488840430975,
+          0.8213812112808228,
+          17.786163330078125
+        ],
+        [
+          -0.030126476660370827,
+          -0.9993886947631836,
+          0.017736533656716347,
+          -13.826353073120117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7426,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_83082437",
+      "mask_path": "../../mask/hdr_right_07426.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07429.png",
+      "transform_matrix": [
+        [
+          0.849976122379303,
+          -0.02820289321243763,
+          -0.5260656476020813,
+          -7.119023323059082
+        ],
+        [
+          0.5257804989814758,
+          -0.017319455742836,
+          0.8504438996315002,
+          17.739675521850586
+        ],
+        [
+          -0.033096153289079666,
+          -0.9994521737098694,
+          0.0001074053070624359,
+          -13.809435844421387
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7429,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_383081197",
+      "mask_path": "../../mask/hdr_right_07429.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07430.png",
+      "transform_matrix": [
+        [
+          0.8589988946914673,
+          -0.02737940475344658,
+          -0.5112446546554565,
+          -7.172735691070557
+        ],
+        [
+          0.5109934210777283,
+          -0.01602807454764843,
+          0.8594351410865784,
+          17.72292137145996
+        ],
+        [
+          -0.031725089997053146,
+          -0.999496579170227,
+          0.00022259641264099628,
+          -13.80654239654541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7430,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_483083248",
+      "mask_path": "../../mask/hdr_right_07430.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07432.png",
+      "transform_matrix": [
+        [
+          0.8624071478843689,
+          -0.029974201694130898,
+          -0.5053269863128662,
+          -7.268970966339111
+        ],
+        [
+          0.5054094195365906,
+          -0.005315202753990889,
+          0.8628633618354797,
+          17.678953170776367
+        ],
+        [
+          -0.0285495575517416,
+          -0.9995365142822266,
+          0.010565375909209251,
+          -13.81432819366455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7432,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_683081626",
+      "mask_path": "../../mask/hdr_right_07432.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07433.png",
+      "transform_matrix": [
+        [
+          0.863741934299469,
+          -0.02633071318268776,
+          -0.5032459497451782,
+          -7.3363165855407715
+        ],
+        [
+          0.5034124255180359,
+          -0.0003536831063684076,
+          0.8640462756156921,
+          17.64086151123047
+        ],
+        [
+          -0.022928940132260323,
+          -0.999653160572052,
+          0.012949716299772263,
+          -13.814266204833984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7433,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_783082246",
+      "mask_path": "../../mask/hdr_right_07433.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07434.png",
+      "transform_matrix": [
+        [
+          0.8673535585403442,
+          -0.024485433474183083,
+          -0.49708977341651917,
+          -7.409390926361084
+        ],
+        [
+          0.4972028434276581,
+          -0.0016608648002147675,
+          0.8676327466964722,
+          17.60994529724121
+        ],
+        [
+          -0.022069958969950676,
+          -0.99969881772995,
+          0.010733669623732567,
+          -13.802507400512695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7434,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_883081674",
+      "mask_path": "../../mask/hdr_right_07434.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07435.png",
+      "transform_matrix": [
+        [
+          0.8716772794723511,
+          -0.025358766317367554,
+          -0.48942387104034424,
+          -7.477038860321045
+        ],
+        [
+          0.48942720890045166,
+          -0.0064988876692950726,
+          0.8720200061798096,
+          17.58759880065918
+        ],
+        [
+          -0.02529406175017357,
+          -0.9996572732925415,
+          0.006746336817741394,
+          -13.79609203338623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7435,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324006_983081579",
+      "mask_path": "../../mask/hdr_right_07435.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07436.png",
+      "transform_matrix": [
+        [
+          0.8759487867355347,
+          -0.02409927174448967,
+          -0.48180174827575684,
+          -7.549236297607422
+        ],
+        [
+          0.48171085119247437,
+          -0.00982815120369196,
+          0.8762751817703247,
+          17.56471824645996
+        ],
+        [
+          -0.025852812454104424,
+          -0.9996612071990967,
+          0.0029999229591339827,
+          -13.801201820373535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7436,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_83082437",
+      "mask_path": "../../mask/hdr_right_07436.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07437.png",
+      "transform_matrix": [
+        [
+          0.8780778646469116,
+          -0.027476636692881584,
+          -0.47772836685180664,
+          -7.634933948516846
+        ],
+        [
+          0.4776158034801483,
+          -0.010947901755571365,
+          0.8785006999969482,
+          17.524503707885742
+        ],
+        [
+          -0.029368365183472633,
+          -0.9995624423027039,
+          0.003510166658088565,
+          -13.796356201171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7437,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_183082342",
+      "mask_path": "../../mask/hdr_right_07437.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07438.png",
+      "transform_matrix": [
+        [
+          0.8769426345825195,
+          -0.03273533657193184,
+          -0.47947877645492554,
+          -7.71392297744751
+        ],
+        [
+          0.47953155636787415,
+          -0.006734048016369343,
+          0.8774988651275635,
+          17.48839569091797
+        ],
+        [
+          -0.031954046338796616,
+          -0.9994413256645203,
+          0.009792249649763107,
+          -13.791959762573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7438,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_283081054",
+      "mask_path": "../../mask/hdr_right_07438.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07439.png",
+      "transform_matrix": [
+        [
+          0.8753479719161987,
+          -0.032880499958992004,
+          -0.4823741614818573,
+          -7.777875900268555
+        ],
+        [
+          0.4824622869491577,
+          -0.005722946021705866,
+          0.8758981227874756,
+          17.464004516601562
+        ],
+        [
+          -0.031560566276311874,
+          -0.9994428753852844,
+          0.010854030027985573,
+          -13.797343254089355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7439,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_383080959",
+      "mask_path": "../../mask/hdr_right_07439.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07440.png",
+      "transform_matrix": [
+        [
+          0.8749867081642151,
+          -0.0313970111310482,
+          -0.48312774300575256,
+          -7.8427605628967285
+        ],
+        [
+          0.4831088185310364,
+          -0.008691170252859592,
+          0.8755173087120056,
+          17.43861198425293
+        ],
+        [
+          -0.03168756887316704,
+          -0.9994692206382751,
+          0.007563513237982988,
+          -13.805146217346191
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7440,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_483082294",
+      "mask_path": "../../mask/hdr_right_07440.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07441.png",
+      "transform_matrix": [
+        [
+          0.879613995552063,
+          -0.01664459891617298,
+          -0.4753968417644501,
+          -7.9167256355285645
+        ],
+        [
+          0.47527632117271423,
+          -0.01082502119243145,
+          0.879770040512085,
+          17.413026809692383
+        ],
+        [
+          -0.019789600744843483,
+          -0.9998029470443726,
+          -0.0016110580181702971,
+          -13.797237396240234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7441,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_583081960",
+      "mask_path": "../../mask/hdr_right_07441.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07442.png",
+      "transform_matrix": [
+        [
+          0.8854783773422241,
+          -0.005527451168745756,
+          -0.46464768052101135,
+          -7.979071140289307
+        ],
+        [
+          0.46454983949661255,
+          -0.013184258714318275,
+          0.8854489326477051,
+          17.396181106567383
+        ],
+        [
+          -0.01102031022310257,
+          -0.9998977780342102,
+          -0.009106599725782871,
+          -13.791552543640137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7442,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_683082103",
+      "mask_path": "../../mask/hdr_right_07442.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07443.png",
+      "transform_matrix": [
+        [
+          0.8902581930160522,
+          -0.006006195675581694,
+          -0.4554166793823242,
+          -8.035385131835938
+        ],
+        [
+          0.4552719295024872,
+          -0.01671268418431282,
+          0.8901956677436829,
+          17.382732391357422
+        ],
+        [
+          -0.012957924976944923,
+          -0.9998422861099243,
+          -0.01214415393769741,
+          -13.790552139282227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7443,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_783081769",
+      "mask_path": "../../mask/hdr_right_07443.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07444.png",
+      "transform_matrix": [
+        [
+          0.8955901861190796,
+          -0.006103739142417908,
+          -0.44483816623687744,
+          -8.112873077392578
+        ],
+        [
+          0.4445182979106903,
+          -0.028040006756782532,
+          0.8953309655189514,
+          17.355382919311523
+        ],
+        [
+          -0.01793813146650791,
+          -0.9995881915092468,
+          -0.02239913120865822,
+          -13.802104949951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7444,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_883083105",
+      "mask_path": "../../mask/hdr_right_07444.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07445.png",
+      "transform_matrix": [
+        [
+          0.8970939517021179,
+          -0.011923630721867085,
+          -0.4416789710521698,
+          -8.215198516845703
+        ],
+        [
+          0.44114023447036743,
+          -0.03206285461783409,
+          0.8968653082847595,
+          17.316795349121094
+        ],
+        [
+          -0.02485537901520729,
+          -0.9994147419929504,
+          -0.02350340411067009,
+          -13.784464836120605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7445,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324007_983082294",
+      "mask_path": "../../mask/hdr_right_07445.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07446.png",
+      "transform_matrix": [
+        [
+          0.8956377506256104,
+          -0.02038739249110222,
+          -0.4443167448043823,
+          -8.291864395141602
+        ],
+        [
+          0.443713515996933,
+          -0.028318142518401146,
+          0.8957212567329407,
+          17.28883934020996
+        ],
+        [
+          -0.030843645334243774,
+          -0.9993911385536194,
+          -0.01631663739681244,
+          -13.771337509155273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7446,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_83081722",
+      "mask_path": "../../mask/hdr_right_07446.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07447.png",
+      "transform_matrix": [
+        [
+          0.8938169479370117,
+          -0.025813046842813492,
+          -0.44768843054771423,
+          -8.346006393432617
+        ],
+        [
+          0.44721537828445435,
+          -0.022179914638400078,
+          0.8941512703895569,
+          17.265342712402344
+        ],
+        [
+          -0.03301045671105385,
+          -0.999420702457428,
+          -0.008280796930193901,
+          -13.772481918334961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7447,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_183082818",
+      "mask_path": "../../mask/hdr_right_07447.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07448.png",
+      "transform_matrix": [
+        [
+          0.8947252035140991,
+          -0.015490689314901829,
+          -0.4463481903076172,
+          -8.415262222290039
+        ],
+        [
+          0.4458756148815155,
+          -0.026576783508062363,
+          0.8947003483772278,
+          17.22658920288086
+        ],
+        [
+          -0.025722024962306023,
+          -0.9995267391204834,
+          -0.016872001811861992,
+          -13.759608268737793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7448,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_283082008",
+      "mask_path": "../../mask/hdr_right_07448.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07449.png",
+      "transform_matrix": [
+        [
+          0.8995054960250854,
+          -0.009795459918677807,
+          -0.4367997646331787,
+          -8.486845970153809
+        ],
+        [
+          0.43644168972969055,
+          -0.026109205558896065,
+          0.8993536233901978,
+          17.194032669067383
+        ],
+        [
+          -0.020214078947901726,
+          -0.9996110796928406,
+          -0.01921023055911064,
+          -13.750347137451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7449,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_383081912",
+      "mask_path": "../../mask/hdr_right_07449.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07450.png",
+      "transform_matrix": [
+        [
+          0.9034845232963562,
+          -0.01302614901214838,
+          -0.4284226894378662,
+          -8.553417205810547
+        ],
+        [
+          0.4280826151371002,
+          -0.02264370396733284,
+          0.903455913066864,
+          17.178625106811523
+        ],
+        [
+          -0.02146962657570839,
+          -0.9996587634086609,
+          -0.01488196849822998,
+          -13.753140449523926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7450,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_483082056",
+      "mask_path": "../../mask/hdr_right_07450.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07451.png",
+      "transform_matrix": [
+        [
+          0.9074538350105286,
+          -0.013532374054193497,
+          -0.4199337065219879,
+          -8.626472473144531
+        ],
+        [
+          0.41949039697647095,
+          -0.026875058189034462,
+          0.9073619246482849,
+          17.16428565979004
+        ],
+        [
+          -0.023564506322145462,
+          -0.9995471835136414,
+          -0.01871117576956749,
+          -13.76421070098877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7451,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_583081960",
+      "mask_path": "../../mask/hdr_right_07451.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07452.png",
+      "transform_matrix": [
+        [
+          0.9104743003845215,
+          -0.026407139375805855,
+          -0.41272178292274475,
+          -8.719411849975586
+        ],
+        [
+          0.4121039807796478,
+          -0.02590079791843891,
+          0.9107685685157776,
+          17.139551162719727
+        ],
+        [
+          -0.034740615636110306,
+          -0.999315619468689,
+          -0.012699523940682411,
+          -13.755867004394531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7452,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_683082342",
+      "mask_path": "../../mask/hdr_right_07452.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07453.png",
+      "transform_matrix": [
+        [
+          0.9105893969535828,
+          -0.03152979165315628,
+          -0.4121079742908478,
+          -8.804640769958496
+        ],
+        [
+          0.41151079535484314,
+          -0.023832382634282112,
+          0.9110932946205139,
+          17.113130569458008
+        ],
+        [
+          -0.038548097014427185,
+          -0.9992185831069946,
+          -0.008726663887500763,
+          -13.740964889526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7453,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_783080816",
+      "mask_path": "../../mask/hdr_right_07453.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07454.png",
+      "transform_matrix": [
+        [
+          0.9094430804252625,
+          -0.027221299707889557,
+          -0.41493654251098633,
+          -8.870882987976074
+        ],
+        [
+          0.4143946170806885,
+          -0.023465437814593315,
+          0.909794807434082,
+          17.090383529663086
+        ],
+        [
+          -0.034502461552619934,
+          -0.9993540048599243,
+          -0.010060121305286884,
+          -13.741080284118652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7454,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_883079767",
+      "mask_path": "../../mask/hdr_right_07454.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07455.png",
+      "transform_matrix": [
+        [
+          0.9094192981719971,
+          -0.03118673712015152,
+          -0.41470950841903687,
+          -8.938010215759277
+        ],
+        [
+          0.4141038954257965,
+          -0.02416665479540825,
+          0.9099087119102478,
+          17.066476821899414
+        ],
+        [
+          -0.03839922323822975,
+          -0.9992213845252991,
+          -0.009063073433935642,
+          -13.733556747436523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7455,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324008_983082771",
+      "mask_path": "../../mask/hdr_right_07455.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07456.png",
+      "transform_matrix": [
+        [
+          0.9134728908538818,
+          -0.03708748519420624,
+          -0.4052058160305023,
+          -9.017853736877441
+        ],
+        [
+          0.40461796522140503,
+          -0.022516679018735886,
+          0.9142086505889893,
+          17.049774169921875
+        ],
+        [
+          -0.04302958771586418,
+          -0.9990583062171936,
+          -0.005562115460634232,
+          -13.70976448059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7456,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_83082199",
+      "mask_path": "../../mask/hdr_right_07456.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07457.png",
+      "transform_matrix": [
+        [
+          0.917854905128479,
+          -0.03898559510707855,
+          -0.3949967622756958,
+          -9.089375495910645
+        ],
+        [
+          0.39442336559295654,
+          -0.021768363192677498,
+          0.9186709523200989,
+          17.043718338012695
+        ],
+        [
+          -0.04441336914896965,
+          -0.9990026354789734,
+          -0.004603374283760786,
+          -13.709403991699219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7457,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_183082103",
+      "mask_path": "../../mask/hdr_right_07457.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07458.png",
+      "transform_matrix": [
+        [
+          0.9208915829658508,
+          -0.04402221366763115,
+          -0.38732513785362244,
+          -9.160035133361816
+        ],
+        [
+          0.3865914046764374,
+          -0.024457266554236412,
+          0.9219267964363098,
+          17.03765296936035
+        ],
+        [
+          -0.05005817115306854,
+          -0.9987311363220215,
+          -0.005503884516656399,
+          -13.71348762512207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7458,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_283083915",
+      "mask_path": "../../mask/hdr_right_07458.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07459.png",
+      "transform_matrix": [
+        [
+          0.9231294393539429,
+          -0.07113570719957352,
+          -0.37785157561302185,
+          -9.240734100341797
+        ],
+        [
+          0.3746996223926544,
+          -0.05390826612710953,
+          0.9255777597427368,
+          17.013635635375977
+        ],
+        [
+          -0.0862109512090683,
+          -0.9960088133811951,
+          -0.023109784349799156,
+          -13.70573616027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7459,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_383081912",
+      "mask_path": "../../mask/hdr_right_07459.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07460.png",
+      "transform_matrix": [
+        [
+          0.9203525185585022,
+          -0.10462933778762817,
+          -0.37683388590812683,
+          -9.320772171020508
+        ],
+        [
+          0.3720027804374695,
+          -0.06313212215900421,
+          0.9260822534561157,
+          16.989179611206055
+        ],
+        [
+          -0.12068568170070648,
+          -0.9925054311752319,
+          -0.019181421026587486,
+          -13.631081581115723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7460,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_483082532",
+      "mask_path": "../../mask/hdr_right_07460.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07461.png",
+      "transform_matrix": [
+        [
+          0.9166294932365417,
+          -0.12309467792510986,
+          -0.38031312823295593,
+          -9.398890495300293
+        ],
+        [
+          0.3770049214363098,
+          -0.05005631595849991,
+          0.9248576760292053,
+          16.973468780517578
+        ],
+        [
+          -0.13288214802742004,
+          -0.9911317229270935,
+          0.0005242035258561373,
+          -13.592245101928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7461,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_583081722",
+      "mask_path": "../../mask/hdr_right_07461.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07462.png",
+      "transform_matrix": [
+        [
+          0.914969801902771,
+          -0.13925841450691223,
+          -0.3787313401699066,
+          -9.476198196411133
+        ],
+        [
+          0.37672892212867737,
+          -0.041504595428705215,
+          0.925393283367157,
+          16.971599578857422
+        ],
+        [
+          -0.144587904214859,
+          -0.9893858432769775,
+          0.014487220905721188,
+          -13.595464706420898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7462,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_683082103",
+      "mask_path": "../../mask/hdr_right_07462.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07463.png",
+      "transform_matrix": [
+        [
+          0.919130265712738,
+          -0.1447424292564392,
+          -0.36640042066574097,
+          -9.55264949798584
+        ],
+        [
+          0.36352676153182983,
+          -0.04679575935006142,
+          0.930407702922821,
+          16.971477508544922
+        ],
+        [
+          -0.1518154740333557,
+          -0.988362193107605,
+          0.009606347419321537,
+          -13.563377380371094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7463,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_783081769",
+      "mask_path": "../../mask/hdr_right_07463.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07464.png",
+      "transform_matrix": [
+        [
+          0.9235109090805054,
+          -0.15169665217399597,
+          -0.35230058431625366,
+          -9.623631477355957
+        ],
+        [
+          0.3465456962585449,
+          -0.06372835487127304,
+          0.9358658194541931,
+          16.965049743652344
+        ],
+        [
+          -0.1644192487001419,
+          -0.9863705635070801,
+          -0.006284009665250778,
+          -13.53824520111084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7464,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_883083820",
+      "mask_path": "../../mask/hdr_right_07464.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07465.png",
+      "transform_matrix": [
+        [
+          0.9248874187469482,
+          -0.16688351333141327,
+          -0.3416624963283539,
+          -9.686610221862793
+        ],
+        [
+          0.333662748336792,
+          -0.07471637427806854,
+          0.9397270083427429,
+          16.954158782958984
+        ],
+        [
+          -0.1823527216911316,
+          -0.9831415414810181,
+          -0.013421411626040936,
+          -13.512919425964355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7465,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324009_983082056",
+      "mask_path": "../../mask/hdr_right_07465.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07466.png",
+      "transform_matrix": [
+        [
+          0.9198029637336731,
+          -0.1990891396999359,
+          -0.3381212651729584,
+          -9.7534761428833
+        ],
+        [
+          0.32307949662208557,
+          -0.1047423928976059,
+          0.9405577182769775,
+          16.92720603942871
+        ],
+        [
+          -0.22267045080661774,
+          -0.9743677377700806,
+          -0.03202076256275177,
+          -13.461893081665039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7466,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_83083629",
+      "mask_path": "../../mask/hdr_right_07466.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07467.png",
+      "transform_matrix": [
+        [
+          0.9153352379798889,
+          -0.21938540041446686,
+          -0.33768540620803833,
+          -9.811309814453125
+        ],
+        [
+          0.32220005989074707,
+          -0.10401998460292816,
+          0.9409394860267639,
+          16.900829315185547
+        ],
+        [
+          -0.241554394364357,
+          -0.9700772762298584,
+          -0.02452716790139675,
+          -13.412171363830566
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7467,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_183082342",
+      "mask_path": "../../mask/hdr_right_07467.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07469.png",
+      "transform_matrix": [
+        [
+          0.9167594313621521,
+          -0.22159846127033234,
+          -0.3323344886302948,
+          -9.900434494018555
+        ],
+        [
+          0.32302573323249817,
+          -0.07810630649328232,
+          0.9431616067886353,
+          16.88902473449707
+        ],
+        [
+          -0.23496060073375702,
+          -0.9720050096511841,
+          -2.2698272005072795e-05,
+          -13.428634643554688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7469,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_383082866",
+      "mask_path": "../../mask/hdr_right_07469.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07470.png",
+      "transform_matrix": [
+        [
+          0.9128100872039795,
+          -0.2515680491924286,
+          -0.32170066237449646,
+          -9.957791328430176
+        ],
+        [
+          0.32005128264427185,
+          -0.04862156882882118,
+          0.946151852607727,
+          16.886445999145508
+        ],
+        [
+          -0.25366315245628357,
+          -0.9666175842285156,
+          0.03613241761922836,
+          -13.393287658691406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7470,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_483083009",
+      "mask_path": "../../mask/hdr_right_07470.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07471.png",
+      "transform_matrix": [
+        [
+          0.9093030691146851,
+          -0.2809143364429474,
+          -0.3070097863674164,
+          -10.013238906860352
+        ],
+        [
+          0.30823588371276855,
+          -0.040975578129291534,
+          0.9504271745681763,
+          16.89777183532715
+        ],
+        [
+          -0.27956855297088623,
+          -0.9588576555252075,
+          0.049328651279211044,
+          -13.320813179016113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7471,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_583081960",
+      "mask_path": "../../mask/hdr_right_07471.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07473.png",
+      "transform_matrix": [
+        [
+          0.9091675877571106,
+          -0.28611087799072266,
+          -0.30258047580718994,
+          -10.08309555053711
+        ],
+        [
+          0.29785892367362976,
+          -0.06099861115217209,
+          0.9526590704917908,
+          16.894372940063477
+        ],
+        [
+          -0.2910231649875641,
+          -0.956252932548523,
+          0.029762720689177513,
+          -13.296232223510742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7473,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_783081293",
+      "mask_path": "../../mask/hdr_right_07473.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07475.png",
+      "transform_matrix": [
+        [
+          0.9121906161308289,
+          -0.2812613546848297,
+          -0.2979937195777893,
+          -10.158342361450195
+        ],
+        [
+          0.29621151089668274,
+          -0.049884602427482605,
+          0.9538187980651855,
+          16.877094268798828
+        ],
+        [
+          -0.28313764929771423,
+          -0.9583337903022766,
+          0.037808578461408615,
+          -13.267722129821777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7475,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324010_983082294",
+      "mask_path": "../../mask/hdr_right_07475.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07477.png",
+      "transform_matrix": [
+        [
+          0.9130255579948425,
+          -0.27426376938819885,
+          -0.30193325877189636,
+          -10.241522789001465
+        ],
+        [
+          0.30113309621810913,
+          -0.046085257083177567,
+          0.9524678587913513,
+          16.85402488708496
+        ],
+        [
+          -0.2751421332359314,
+          -0.9605495929718018,
+          0.040512874722480774,
+          -13.256564140319824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7477,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_183081626",
+      "mask_path": "../../mask/hdr_right_07477.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07478.png",
+      "transform_matrix": [
+        [
+          0.9120011925697327,
+          -0.2739430069923401,
+          -0.30530160665512085,
+          -10.284516334533691
+        ],
+        [
+          0.3044031858444214,
+          -0.04688715562224388,
+          0.9513885974884033,
+          16.84479522705078
+        ],
+        [
+          -0.27494099736213684,
+          -0.9606022834777832,
+          0.04062798246741295,
+          -13.232370376586914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7478,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_283082246",
+      "mask_path": "../../mask/hdr_right_07478.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07480.png",
+      "transform_matrix": [
+        [
+          0.9052647352218628,
+          -0.27406254410743713,
+          -0.3246314823627472,
+          -10.360687255859375
+        ],
+        [
+          0.3189654052257538,
+          -0.06630869954824448,
+          0.9454439878463745,
+          16.826744079589844
+        ],
+        [
+          -0.28063663840293884,
+          -0.9594232439994812,
+          0.027389543130993843,
+          -13.192216873168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7480,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_483083724",
+      "mask_path": "../../mask/hdr_right_07480.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07482.png",
+      "transform_matrix": [
+        [
+          0.8969921469688416,
+          -0.25566810369491577,
+          -0.3606089949607849,
+          -10.409647941589355
+        ],
+        [
+          0.3570193350315094,
+          -0.06202157586812973,
+          0.9320357441902161,
+          16.79020118713379
+        ],
+        [
+          -0.2606573700904846,
+          -0.9647730588912964,
+          0.035645585507154465,
+          -13.183857917785645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7482,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_683081626",
+      "mask_path": "../../mask/hdr_right_07482.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07483.png",
+      "transform_matrix": [
+        [
+          0.8873916268348694,
+          -0.25279825925827026,
+          -0.3855244517326355,
+          -10.465005874633789
+        ],
+        [
+          0.38222751021385193,
+          -0.06411033868789673,
+          0.9218417406082153,
+          16.75400733947754
+        ],
+        [
+          -0.2577560245990753,
+          -0.9653926491737366,
+          0.03973546251654625,
+          -13.180206298828125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7483,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_783082485",
+      "mask_path": "../../mask/hdr_right_07483.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07485.png",
+      "transform_matrix": [
+        [
+          0.8780196309089661,
+          -0.2242303043603897,
+          -0.4228503108024597,
+          -10.521563529968262
+        ],
+        [
+          0.4174787700176239,
+          -0.07328354567289352,
+          0.9057267904281616,
+          16.69715118408203
+        ],
+        [
+          -0.23407934606075287,
+          -0.9717769026756287,
+          0.02926698513329029,
+          -13.155716896057129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7485,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324011_983081579",
+      "mask_path": "../../mask/hdr_right_07485.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07487.png",
+      "transform_matrix": [
+        [
+          0.8792048096656799,
+          -0.20971491932868958,
+          -0.427806556224823,
+          -10.617535591125488
+        ],
+        [
+          0.42001184821128845,
+          -0.08272874355316162,
+          0.9037400484085083,
+          16.64604949951172
+        ],
+        [
+          -0.22491969168186188,
+          -0.9742563962936401,
+          0.015347224660217762,
+          -13.134708404541016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7487,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_183082580",
+      "mask_path": "../../mask/hdr_right_07487.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07488.png",
+      "transform_matrix": [
+        [
+          0.8835896849632263,
+          -0.19075040519237518,
+          -0.4276489019393921,
+          -10.67913818359375
+        ],
+        [
+          0.42552509903907776,
+          -0.05409121885895729,
+          0.9033286571502686,
+          16.627887725830078
+        ],
+        [
+          -0.1954423487186432,
+          -0.980147123336792,
+          0.033374637365341187,
+          -13.13184642791748
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7488,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_283082246",
+      "mask_path": "../../mask/hdr_right_07488.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07489.png",
+      "transform_matrix": [
+        [
+          0.885006844997406,
+          -0.17439433932304382,
+          -0.4316822588443756,
+          -10.74449348449707
+        ],
+        [
+          0.43208467960357666,
+          -0.03766078129410744,
+          0.9010465145111084,
+          16.607086181640625
+        ],
+        [
+          -0.17339488863945007,
+          -0.9839555025100708,
+          0.04202307015657425,
+          -13.12973690032959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7489,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_383082628",
+      "mask_path": "../../mask/hdr_right_07489.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07490.png",
+      "transform_matrix": [
+        [
+          0.8839782476425171,
+          -0.16633211076259613,
+          -0.43693941831588745,
+          -10.810580253601074
+        ],
+        [
+          0.43793246150016785,
+          -0.03264601528644562,
+          0.8984149694442749,
+          16.578487396240234
+        ],
+        [
+          -0.16369958221912384,
+          -0.9855291843414307,
+          0.04398385435342789,
+          -13.12317180633545
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7490,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_483082294",
+      "mask_path": "../../mask/hdr_right_07490.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07491.png",
+      "transform_matrix": [
+        [
+          0.8863291144371033,
+          -0.15027230978012085,
+          -0.43799418210983276,
+          -10.888484001159668
+        ],
+        [
+          0.43842747807502747,
+          -0.03203120082616806,
+          0.8981955647468567,
+          16.557723999023438
+        ],
+        [
+          -0.14900341629981995,
+          -0.9881256222724915,
+          0.03749333322048187,
+          -13.11625862121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7491,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_583082199",
+      "mask_path": "../../mask/hdr_right_07491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07492.png",
+      "transform_matrix": [
+        [
+          0.8903148770332336,
+          -0.13913755118846893,
+          -0.43356671929359436,
+          -10.960820198059082
+        ],
+        [
+          0.43307259678840637,
+          -0.035408053547143936,
+          0.9006633162498474,
+          16.538408279418945
+        ],
+        [
+          -0.1406678557395935,
+          -0.9896398782730103,
+          0.02873234450817108,
+          -13.102269172668457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7492,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_683082342",
+      "mask_path": "../../mask/hdr_right_07492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07493.png",
+      "transform_matrix": [
+        [
+          0.8930361270904541,
+          -0.13631229102611542,
+          -0.42884188890457153,
+          -11.02138614654541
+        ],
+        [
+          0.427152544260025,
+          -0.042918860912323,
+          0.9031605124473572,
+          16.51586151123047
+        ],
+        [
+          -0.1415172517299652,
+          -0.9897357821464539,
+          0.01989803835749626,
+          -13.09062671661377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7493,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_783082008",
+      "mask_path": "../../mask/hdr_right_07493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07494.png",
+      "transform_matrix": [
+        [
+          0.8942882418632507,
+          -0.1328805685043335,
+          -0.4273071587085724,
+          -11.095878601074219
+        ],
+        [
+          0.42410632967948914,
+          -0.05297144129872322,
+          0.9040618538856506,
+          16.490312576293945
+        ],
+        [
+          -0.14276732504367828,
+          -0.9897155165672302,
+          0.00898374617099762,
+          -13.086434364318848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7494,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_883082151",
+      "mask_path": "../../mask/hdr_right_07494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07495.png",
+      "transform_matrix": [
+        [
+          0.8929937481880188,
+          -0.12808306515216827,
+          -0.4314590394496918,
+          -11.181117057800293
+        ],
+        [
+          0.4286164939403534,
+          -0.05042082443833351,
+          0.9020785093307495,
+          16.450016021728516
+        ],
+        [
+          -0.13729549944400787,
+          -0.990480899810791,
+          0.00987303163856268,
+          -13.077686309814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7495,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324012_983082056",
+      "mask_path": "../../mask/hdr_right_07495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07498.png",
+      "transform_matrix": [
+        [
+          0.8930678963661194,
+          -0.1079401895403862,
+          -0.4367820918560028,
+          -11.333633422851562
+        ],
+        [
+          0.4353570342063904,
+          -0.03769070282578468,
+          0.8994686007499695,
+          16.362642288208008
+        ],
+        [
+          -0.11355143040418625,
+          -0.993442714214325,
+          0.013332159258425236,
+          -13.055346488952637
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7498,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_283082008",
+      "mask_path": "../../mask/hdr_right_07498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07499.png",
+      "transform_matrix": [
+        [
+          0.8968004584312439,
+          -0.10122743993997574,
+          -0.43069955706596375,
+          -11.392176628112793
+        ],
+        [
+          0.4291302263736725,
+          -0.037923894822597504,
+          0.9024462103843689,
+          16.338401794433594
+        ],
+        [
+          -0.1076861098408699,
+          -0.9941402077674866,
+          0.009429587982594967,
+          -13.039409637451172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7499,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_383081674",
+      "mask_path": "../../mask/hdr_right_07499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07500.png",
+      "transform_matrix": [
+        [
+          0.9000204205513,
+          -0.0989471822977066,
+          -0.42446744441986084,
+          -11.449366569519043
+        ],
+        [
+          0.42215579748153687,
+          -0.04428068920969963,
+          0.9054412841796875,
+          16.323970794677734
+        ],
+        [
+          -0.1083865612745285,
+          -0.9941069483757019,
+          0.001917590736411512,
+          -13.036069869995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7500,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_483082056",
+      "mask_path": "../../mask/hdr_right_07500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07501.png",
+      "transform_matrix": [
+        [
+          0.9027055501937866,
+          -0.09631141275167465,
+          -0.4193410277366638,
+          -11.517295837402344
+        ],
+        [
+          0.4163462221622467,
+          -0.0503091886639595,
+          0.907813310623169,
+          16.300369262695312
+        ],
+        [
+          -0.1085294783115387,
+          -0.994079053401947,
+          -0.005315495189279318,
+          -13.032791137695312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7501,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_583082199",
+      "mask_path": "../../mask/hdr_right_07501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07502.png",
+      "transform_matrix": [
+        [
+          0.9021643400192261,
+          -0.09486684948205948,
+          -0.4208323359489441,
+          -11.591980934143066
+        ],
+        [
+          0.4185026288032532,
+          -0.04422055929899216,
+          0.9071384072303772,
+          16.27129364013672
+        ],
+        [
+          -0.1046667993068695,
+          -0.9945073127746582,
+          -0.00019218635861761868,
+          -13.028908729553223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7502,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_683081388",
+      "mask_path": "../../mask/hdr_right_07502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07503.png",
+      "transform_matrix": [
+        [
+          0.9002372622489929,
+          -0.09312420338392258,
+          -0.4253244996070862,
+          -11.65555477142334
+        ],
+        [
+          0.4238779544830322,
+          -0.03579122573137283,
+          0.9050119519233704,
+          16.248767852783203
+        ],
+        [
+          -0.09950140118598938,
+          -0.9950109720230103,
+          0.007252702489495277,
+          -13.030840873718262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7503,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_783080816",
+      "mask_path": "../../mask/hdr_right_07503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07504.png",
+      "transform_matrix": [
+        [
+          0.9006596803665161,
+          -0.0887974426150322,
+          -0.4253554344177246,
+          -11.71205997467041
+        ],
+        [
+          0.4242079555988312,
+          -0.03236456215381622,
+          0.9049863219261169,
+          16.232309341430664
+        ],
+        [
+          -0.09412691742181778,
+          -0.9955237507820129,
+          0.008519123308360577,
+          -13.032061576843262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7504,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_883082151",
+      "mask_path": "../../mask/hdr_right_07504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07505.png",
+      "transform_matrix": [
+        [
+          0.9047716856002808,
+          -0.07535893470048904,
+          -0.41917675733566284,
+          -11.772298812866211
+        ],
+        [
+          0.4180780053138733,
+          -0.03057326376438141,
+          0.9078965783119202,
+          16.21942138671875
+        ],
+        [
+          -0.08123371750116348,
+          -0.9966877102851868,
+          0.003844084218144417,
+          -13.022953987121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7505,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324013_983082532",
+      "mask_path": "../../mask/hdr_right_07505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07507.png",
+      "transform_matrix": [
+        [
+          0.9128905534744263,
+          -0.06366010010242462,
+          -0.40320995450019836,
+          -11.87297248840332
+        ],
+        [
+          0.4013328552246094,
+          -0.040507856756448746,
+          0.9150362014770508,
+          16.193836212158203
+        ],
+        [
+          -0.0745844691991806,
+          -0.9971491694450378,
+          -0.011430347338318825,
+          -13.002181053161621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7507,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_183081865",
+      "mask_path": "../../mask/hdr_right_07507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07508.png",
+      "transform_matrix": [
+        [
+          0.9155662655830383,
+          -0.0623653382062912,
+          -0.3973020315170288,
+          -11.940321922302246
+        ],
+        [
+          0.394610196352005,
+          -0.05129849910736084,
+          0.9174155592918396,
+          16.174373626708984
+        ],
+        [
+          -0.07759592682123184,
+          -0.9967341423034668,
+          -0.02235717698931694,
+          -12.991599082946777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7508,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_283082246",
+      "mask_path": "../../mask/hdr_right_07508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07509.png",
+      "transform_matrix": [
+        [
+          0.9132455587387085,
+          -0.06220034882426262,
+          -0.40263333916664124,
+          -12.00270938873291
+        ],
+        [
+          0.4000352919101715,
+          -0.05027715861797333,
+          0.9151197075843811,
+          16.153804779052734
+        ],
+        [
+          -0.07716401666402817,
+          -0.9967966079711914,
+          -0.021033063530921936,
+          -12.981180191040039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7509,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_383084297",
+      "mask_path": "../../mask/hdr_right_07509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07510.png",
+      "transform_matrix": [
+        [
+          0.9074674248695374,
+          -0.0650576502084732,
+          -0.41505467891693115,
+          -12.051010131835938
+        ],
+        [
+          0.4128170907497406,
+          -0.04535314440727234,
+          0.9096841812133789,
+          16.12580108642578
+        ],
+        [
+          -0.07800595462322235,
+          -0.9968503713607788,
+          -0.014299595728516579,
+          -12.979782104492188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7510,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_483082294",
+      "mask_path": "../../mask/hdr_right_07510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07511.png",
+      "transform_matrix": [
+        [
+          0.899577796459198,
+          -0.06585746258497238,
+          -0.43176692724227905,
+          -12.091629981994629
+        ],
+        [
+          0.42979559302330017,
+          -0.0423615425825119,
+          0.9019319415092468,
+          16.095172882080078
+        ],
+        [
+          -0.0776892676949501,
+          -0.996929407119751,
+          -0.009802252054214478,
+          -12.975683212280273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7511,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_583080530",
+      "mask_path": "../../mask/hdr_right_07511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07512.png",
+      "transform_matrix": [
+        [
+          0.8911653757095337,
+          -0.0674872174859047,
+          -0.4486309289932251,
+          -12.141412734985352
+        ],
+        [
+          0.4470711946487427,
+          -0.037519246339797974,
+          0.8937112092971802,
+          16.066648483276367
+        ],
+        [
+          -0.07714636623859406,
+          -0.9970144033432007,
+          -0.0032642658334225416,
+          -12.967971801757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7512,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_683081388",
+      "mask_path": "../../mask/hdr_right_07512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07513.png",
+      "transform_matrix": [
+        [
+          0.8854199647903442,
+          -0.07123813778162003,
+          -0.45930013060569763,
+          -12.19307804107666
+        ],
+        [
+          0.45743751525878906,
+          -0.04153416305780411,
+          0.8882712125778198,
+          16.039901733398438
+        ],
+        [
+          -0.08235543221235275,
+          -0.9965941905975342,
+          -0.004188188351690769,
+          -12.956742286682129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7513,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_783081293",
+      "mask_path": "../../mask/hdr_right_07513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07514.png",
+      "transform_matrix": [
+        [
+          0.8831594586372375,
+          -0.07260686159133911,
+          -0.46341952681541443,
+          -12.255114555358887
+        ],
+        [
+          0.46054795384407043,
+          -0.053278882056474686,
+          0.886034369468689,
+          16.024377822875977
+        ],
+        [
+          -0.08902265876531601,
+          -0.9959365129470825,
+          -0.013614811934530735,
+          -12.949945449829102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7514,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_883080959",
+      "mask_path": "../../mask/hdr_right_07514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07515.png",
+      "transform_matrix": [
+        [
+          0.8839841485023499,
+          -0.0728229507803917,
+          -0.4618103802204132,
+          -12.321187019348145
+        ],
+        [
+          0.4579891562461853,
+          -0.06351754069328308,
+          0.8866857290267944,
+          16.000036239624023
+        ],
+        [
+          -0.09390413761138916,
+          -0.995320200920105,
+          -0.0227963849902153,
+          -12.94304370880127
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7515,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324014_983081340",
+      "mask_path": "../../mask/hdr_right_07515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07516.png",
+      "transform_matrix": [
+        [
+          0.8849166035652161,
+          -0.0721871554851532,
+          -0.46012136340141296,
+          -12.376713752746582
+        ],
+        [
+          0.4571019113063812,
+          -0.05488038808107376,
+          0.8877195715904236,
+          15.96840763092041
+        ],
+        [
+          -0.08933359384536743,
+          -0.9958800673484802,
+          -0.015567688271403313,
+          -12.9256010055542
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7516,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_83081245",
+      "mask_path": "../../mask/hdr_right_07516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07517.png",
+      "transform_matrix": [
+        [
+          0.8844707608222961,
+          -0.0740107074379921,
+          -0.4606884717941284,
+          -12.443758964538574
+        ],
+        [
+          0.4587533175945282,
+          -0.04232488200068474,
+          0.8875551223754883,
+          15.945610046386719
+        ],
+        [
+          -0.08518717437982559,
+          -0.9963588714599609,
+          -0.0034824598114937544,
+          -12.925409317016602
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7517,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_183080911",
+      "mask_path": "../../mask/hdr_right_07517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07518.png",
+      "transform_matrix": [
+        [
+          0.8838106393814087,
+          -0.07534214854240417,
+          -0.46173837780952454,
+          -12.512606620788574
+        ],
+        [
+          0.4600425362586975,
+          -0.039538443088531494,
+          0.8870161175727844,
+          15.920965194702148
+        ],
+        [
+          -0.08508610725402832,
+          -0.9963735342025757,
+          -0.00028391025261953473,
+          -12.929187774658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7518,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_283081769",
+      "mask_path": "../../mask/hdr_right_07518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07519.png",
+      "transform_matrix": [
+        [
+          0.8845097422599792,
+          -0.07263699918985367,
+          -0.4608322083950043,
+          -12.58259105682373
+        ],
+        [
+          0.4589141309261322,
+          -0.042190343141555786,
+          0.8874784111976624,
+          15.89411449432373
+        ],
+        [
+          -0.08390643447637558,
+          -0.9964657425880432,
+          -0.003983629401773214,
+          -12.920459747314453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7519,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_383082151",
+      "mask_path": "../../mask/hdr_right_07519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07520.png",
+      "transform_matrix": [
+        [
+          0.8876692056655884,
+          -0.07090486586093903,
+          -0.4549901783466339,
+          -12.662086486816406
+        ],
+        [
+          0.45273998379707336,
+          -0.04603647440671921,
+          0.8904533386230469,
+          15.86901569366455
+        ],
+        [
+          -0.08408362418413162,
+          -0.9964202046394348,
+          -0.008763688616454601,
+          -12.910332679748535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7520,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_483081102",
+      "mask_path": "../../mask/hdr_right_07520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07521.png",
+      "transform_matrix": [
+        [
+          0.8905397653579712,
+          -0.06949055939912796,
+          -0.44956645369529724,
+          -12.737878799438477
+        ],
+        [
+          0.4466859996318817,
+          -0.05343609303236008,
+          0.8930937051773071,
+          15.84157657623291
+        ],
+        [
+          -0.08608465641736984,
+          -0.9961504340171814,
+          -0.016546504572033882,
+          -12.902275085449219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7521,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_583081722",
+      "mask_path": "../../mask/hdr_right_07521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07522.png",
+      "transform_matrix": [
+        [
+          0.8919137716293335,
+          -0.0700356513261795,
+          -0.4467490613460541,
+          -12.805936813354492
+        ],
+        [
+          0.4427635669708252,
+          -0.06557664275169373,
+          0.894237220287323,
+          15.810246467590332
+        ],
+        [
+          -0.09192478656768799,
+          -0.9953867793083191,
+          -0.027479490265250206,
+          -12.890426635742188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7522,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_683081388",
+      "mask_path": "../../mask/hdr_right_07522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07523.png",
+      "transform_matrix": [
+        [
+          0.8910166025161743,
+          -0.0662766695022583,
+          -0.44910669326782227,
+          -12.879414558410645
+        ],
+        [
+          0.445583313703537,
+          -0.061608072370290756,
+          0.8931180834770203,
+          15.774259567260742
+        ],
+        [
+          -0.0868614912033081,
+          -0.9958975315093994,
+          -0.02536204271018505,
+          -12.884475708007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7523,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_783082008",
+      "mask_path": "../../mask/hdr_right_07523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07524.png",
+      "transform_matrix": [
+        [
+          0.8861579298973083,
+          -0.0633232444524765,
+          -0.45903632044792175,
+          -12.944012641906738
+        ],
+        [
+          0.45666149258613586,
+          -0.04877934604883194,
+          0.8883023858070374,
+          15.740913391113281
+        ],
+        [
+          -0.07864167541265488,
+          -0.9968003034591675,
+          -0.014308922924101353,
+          -12.887520790100098
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7524,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_883081436",
+      "mask_path": "../../mask/hdr_right_07524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07525.png",
+      "transform_matrix": [
+        [
+          0.8811340928077698,
+          -0.06022992357611656,
+          -0.469014972448349,
+          -12.987580299377441
+        ],
+        [
+          0.4670755863189697,
+          -0.04389340057969093,
+          0.8831273317337036,
+          15.70810604095459
+        ],
+        [
+          -0.07377734780311584,
+          -0.9972189664840698,
+          -0.01054405327886343,
+          -12.888937950134277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7525,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324015_983082532",
+      "mask_path": "../../mask/hdr_right_07525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07526.png",
+      "transform_matrix": [
+        [
+          0.8783941268920898,
+          -0.051692962646484375,
+          -0.47513318061828613,
+          -13.037630081176758
+        ],
+        [
+          0.4735317528247833,
+          -0.04053414613008499,
+          0.8798435926437378,
+          15.674142837524414
+        ],
+        [
+          -0.06474083662033081,
+          -0.997840166091919,
+          -0.011126702651381493,
+          -12.883700370788574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7526,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_83081960",
+      "mask_path": "../../mask/hdr_right_07526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07527.png",
+      "transform_matrix": [
+        [
+          0.8780801296234131,
+          -0.049561575055122375,
+          -0.47594013810157776,
+          -13.093854904174805
+        ],
+        [
+          0.47460052371025085,
+          -0.03673754259943962,
+          0.87943434715271,
+          15.643425941467285
+        ],
+        [
+          -0.06107102334499359,
+          -0.9980952143669128,
+          -0.008736557327210903,
+          -12.871047973632812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7527,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_183083057",
+      "mask_path": "../../mask/hdr_right_07527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07528.png",
+      "transform_matrix": [
+        [
+          0.8794286251068115,
+          -0.051241349428892136,
+          -0.4732649326324463,
+          -13.143403053283691
+        ],
+        [
+          0.4718916416168213,
+          -0.03698011115193367,
+          0.8808807730674744,
+          15.625154495239258
+        ],
+        [
+          -0.06263890862464905,
+          -0.9980013966560364,
+          -0.008341005071997643,
+          -12.867335319519043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7528,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_283081769",
+      "mask_path": "../../mask/hdr_right_07528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07529.png",
+      "transform_matrix": [
+        [
+          0.881729245185852,
+          -0.052451346069574356,
+          -0.46883082389831543,
+          -13.207087516784668
+        ],
+        [
+          0.467008113861084,
+          -0.04358939453959465,
+          0.8831781148910522,
+          15.603547096252441
+        ],
+        [
+          -0.06675992161035538,
+          -0.9976717233657837,
+          -0.0139388432726264,
+          -12.867937088012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7529,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_383083581",
+      "mask_path": "../../mask/hdr_right_07529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07530.png",
+      "transform_matrix": [
+        [
+          0.8833310604095459,
+          -0.0506800040602684,
+          -0.4660019278526306,
+          -13.28422737121582
+        ],
+        [
+          0.4645649790763855,
+          -0.03789074718952179,
+          0.8847280740737915,
+          15.577347755432129
+        ],
+        [
+          -0.06249517947435379,
+          -0.9979958534240723,
+          -0.009925918653607368,
+          -12.863420486450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7530,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_483080863",
+      "mask_path": "../../mask/hdr_right_07530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07531.png",
+      "transform_matrix": [
+        [
+          0.8823704719543457,
+          -0.05126038193702698,
+          -0.4677550196647644,
+          -13.356194496154785
+        ],
+        [
+          0.4673345685005188,
+          -0.020642396062612534,
+          0.88383948802948,
+          15.556002616882324
+        ],
+        [
+          -0.05496153607964516,
+          -0.9984719157218933,
+          0.005741506814956665,
+          -12.862142562866211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7531,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_583083629",
+      "mask_path": "../../mask/hdr_right_07531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07532.png",
+      "transform_matrix": [
+        [
+          0.8806325793266296,
+          -0.05555810406804085,
+          -0.4705311954021454,
+          -13.426678657531738
+        ],
+        [
+          0.4708152115345001,
+          -0.008680715225636959,
+          0.8821892738342285,
+          15.528850555419922
+        ],
+        [
+          -0.053097307682037354,
+          -0.9984177350997925,
+          0.01851307787001133,
+          -12.857076644897461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7532,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_683080196",
+      "mask_path": "../../mask/hdr_right_07532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07533.png",
+      "transform_matrix": [
+        [
+          0.8805719614028931,
+          -0.05875714495778084,
+          -0.4702560007572174,
+          -13.492459297180176
+        ],
+        [
+          0.47073259949684143,
+          -0.0063141766004264355,
+          0.8822534084320068,
+          15.509299278259277
+        ],
+        [
+          -0.054807960987091064,
+          -0.9982523322105408,
+          0.022098815068602562,
+          -12.850573539733887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7533,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_783083915",
+      "mask_path": "../../mask/hdr_right_07533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07534.png",
+      "transform_matrix": [
+        [
+          0.8800170421600342,
+          -0.1007748544216156,
+          -0.46412748098373413,
+          -13.55004596710205
+        ],
+        [
+          0.46742409467697144,
+          0.010582616552710533,
+          0.8839698433876038,
+          15.501930236816406
+        ],
+        [
+          -0.08417024463415146,
+          -0.9948530197143555,
+          0.05641748011112213,
+          -12.819037437438965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7534,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_883081912",
+      "mask_path": "../../mask/hdr_right_07534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07535.png",
+      "transform_matrix": [
+        [
+          0.8799842596054077,
+          -0.1431349813938141,
+          -0.4529239237308502,
+          -13.617949485778809
+        ],
+        [
+          0.4591170847415924,
+          0.01176847331225872,
+          0.8882979154586792,
+          15.492555618286133
+        ],
+        [
+          -0.12181627005338669,
+          -0.9896332621574402,
+          0.07607178390026093,
+          -12.752827644348145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7535,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324016_983081579",
+      "mask_path": "../../mask/hdr_right_07535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07536.png",
+      "transform_matrix": [
+        [
+          0.882391095161438,
+          -0.15052425861358643,
+          -0.4457896053791046,
+          -13.687530517578125
+        ],
+        [
+          0.4503088593482971,
+          -0.004516716115176678,
+          0.8928614854812622,
+          15.475061416625977
+        ],
+        [
+          -0.13641081750392914,
+          -0.9885959625244141,
+          0.06379689276218414,
+          -12.731663703918457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7536,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_83082675",
+      "mask_path": "../../mask/hdr_right_07536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07537.png",
+      "transform_matrix": [
+        [
+          0.8851076364517212,
+          -0.1491318941116333,
+          -0.4408450126647949,
+          -13.745038986206055
+        ],
+        [
+          0.44347837567329407,
+          -0.016939304769039154,
+          0.8961249589920044,
+          15.46035099029541
+        ],
+        [
+          -0.141108438372612,
+          -0.9886721968650818,
+          0.05114366486668587,
+          -12.734549522399902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7537,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_183080434",
+      "mask_path": "../../mask/hdr_right_07537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07538.png",
+      "transform_matrix": [
+        [
+          0.8790723085403442,
+          -0.17969489097595215,
+          -0.44152185320854187,
+          -13.834653854370117
+        ],
+        [
+          0.43795838952064514,
+          -0.0612519234418869,
+          0.8969062566757202,
+          15.415950775146484
+        ],
+        [
+          -0.1882135272026062,
+          -0.9818136096000671,
+          0.02485400065779686,
+          -12.735716819763184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7538,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_283080339",
+      "mask_path": "../../mask/hdr_right_07538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07539.png",
+      "transform_matrix": [
+        [
+          0.8650042414665222,
+          -0.2138735055923462,
+          -0.4539007842540741,
+          -13.90491008758545
+        ],
+        [
+          0.4462549388408661,
+          -0.08566204458475113,
+          0.8907966613769531,
+          15.358635902404785
+        ],
+        [
+          -0.22939984500408173,
+          -0.9730981588363647,
+          0.021344076842069626,
+          -12.633088111877441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7539,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_383080005",
+      "mask_path": "../../mask/hdr_right_07539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07541.png",
+      "transform_matrix": [
+        [
+          0.8555679321289062,
+          -0.2262767106294632,
+          -0.4656204283237457,
+          -13.983068466186523
+        ],
+        [
+          0.46346715092658997,
+          -0.06594215333461761,
+          0.8836570382118225,
+          15.33560848236084
+        ],
+        [
+          -0.23065504431724548,
+          -0.9718284606933594,
+          0.048453833907842636,
+          -12.612600326538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7541,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_583081960",
+      "mask_path": "../../mask/hdr_right_07541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07542.png",
+      "transform_matrix": [
+        [
+          0.8576409220695496,
+          -0.23637081682682037,
+          -0.4567066729068756,
+          -14.055113792419434
+        ],
+        [
+          0.4559624493122101,
+          -0.061156824231147766,
+          0.8878953456878662,
+          15.348945617675781
+        ],
+        [
+          -0.23780328035354614,
+          -0.9697363376617432,
+          0.055325619876384735,
+          -12.583758354187012
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7542,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_683082342",
+      "mask_path": "../../mask/hdr_right_07542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07544.png",
+      "transform_matrix": [
+        [
+          0.8640954494476318,
+          -0.2214953899383545,
+          -0.45197221636772156,
+          -14.126317024230957
+        ],
+        [
+          0.4471471309661865,
+          -0.07445119321346283,
+          0.8913565278053284,
+          15.320323944091797
+        ],
+        [
+          -0.23108124732971191,
+          -0.9723151922225952,
+          0.03470809385180473,
+          -12.578425407409668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7544,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_883080959",
+      "mask_path": "../../mask/hdr_right_07544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07545.png",
+      "transform_matrix": [
+        [
+          0.8659364581108093,
+          -0.21050795912742615,
+          -0.45369651913642883,
+          -14.174318313598633
+        ],
+        [
+          0.44894641637802124,
+          -0.07268993556499481,
+          0.8905972838401794,
+          15.297754287719727
+        ],
+        [
+          -0.22045695781707764,
+          -0.9748859405517578,
+          0.03156192600727081,
+          -12.574435234069824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7545,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324017_983081340",
+      "mask_path": "../../mask/hdr_right_07545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07546.png",
+      "transform_matrix": [
+        [
+          0.8645491003990173,
+          -0.20871995389461517,
+          -0.4571551978588104,
+          -14.218003273010254
+        ],
+        [
+          0.45307883620262146,
+          -0.06984768062829971,
+          0.8887299299240112,
+          15.268940925598145
+        ],
+        [
+          -0.21742689609527588,
+          -0.975477933883667,
+          0.03417983651161194,
+          -12.563742637634277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7546,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_83081722",
+      "mask_path": "../../mask/hdr_right_07546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07548.png",
+      "transform_matrix": [
+        [
+          0.8575157523155212,
+          -0.21239693462848663,
+          -0.46856629848480225,
+          -14.294891357421875
+        ],
+        [
+          0.4656713604927063,
+          -0.06667788326740265,
+          0.8824421763420105,
+          15.221407890319824
+        ],
+        [
+          -0.218671053647995,
+          -0.9749059677124023,
+          0.04172983393073082,
+          -12.557659149169922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7548,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_283080816",
+      "mask_path": "../../mask/hdr_right_07548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07549.png",
+      "transform_matrix": [
+        [
+          0.8544715046882629,
+          -0.21080562472343445,
+          -0.4748046100139618,
+          -14.341020584106445
+        ],
+        [
+          0.47255492210388184,
+          -0.0642642006278038,
+          0.8789551854133606,
+          15.201210021972656
+        ],
+        [
+          -0.21580162644386292,
+          -0.9754133224487305,
+          0.04470530524849892,
+          -12.54793930053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7549,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_383081436",
+      "mask_path": "../../mask/hdr_right_07549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07550.png",
+      "transform_matrix": [
+        [
+          0.8505038619041443,
+          -0.211672842502594,
+          -0.48149529099464417,
+          -14.388031005859375
+        ],
+        [
+          0.4792070984840393,
+          -0.06549496948719025,
+          0.8752548098564148,
+          15.186698913574219
+        ],
+        [
+          -0.2168031632900238,
+          -0.9751436114311218,
+          0.04573139175772667,
+          -12.537825584411621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7550,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_483081579",
+      "mask_path": "../../mask/hdr_right_07550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07552.png",
+      "transform_matrix": [
+        [
+          0.8482105731964111,
+          -0.20009437203407288,
+          -0.49040907621383667,
+          -14.471778869628906
+        ],
+        [
+          0.4913333058357239,
+          -0.0485483780503273,
+          0.8696176409721375,
+          15.14167594909668
+        ],
+        [
+          -0.19781413674354553,
+          -0.9785730838775635,
+          0.05713377147912979,
+          -12.52543830871582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7552,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_683080673",
+      "mask_path": "../../mask/hdr_right_07552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07553.png",
+      "transform_matrix": [
+        [
+          0.8463339805603027,
+          -0.19429805874824524,
+          -0.4959506690502167,
+          -14.523097038269043
+        ],
+        [
+          0.5011237263679504,
+          -0.025138825178146362,
+          0.8650103807449341,
+          15.127955436706543
+        ],
+        [
+          -0.18053744733333588,
+          -0.9806203842163086,
+          0.07609152793884277,
+          -12.524447441101074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7553,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_783080816",
+      "mask_path": "../../mask/hdr_right_07553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07554.png",
+      "transform_matrix": [
+        [
+          0.8417787551879883,
+          -0.19435541331768036,
+          -0.5036213994026184,
+          -14.566701889038086
+        ],
+        [
+          0.5099114775657654,
+          -0.019960228353738785,
+          0.8599953055381775,
+          15.094955444335938
+        ],
+        [
+          -0.1771971583366394,
+          -0.9807280898094177,
+          0.08230196684598923,
+          -12.50943374633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7554,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_883080244",
+      "mask_path": "../../mask/hdr_right_07554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07555.png",
+      "transform_matrix": [
+        [
+          0.8391559720039368,
+          -0.1864108145236969,
+          -0.5109484195709229,
+          -14.615776062011719
+        ],
+        [
+          0.5166685581207275,
+          -0.02026970684528351,
+          0.8559455871582031,
+          15.063233375549316
+        ],
+        [
+          -0.16991429030895233,
+          -0.9822627305984497,
+          0.07930316030979156,
+          -12.497666358947754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7555,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324018_983080387",
+      "mask_path": "../../mask/hdr_right_07555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07556.png",
+      "transform_matrix": [
+        [
+          0.8405528664588928,
+          -0.14811892807483673,
+          -0.5210870504379272,
+          -14.670339584350586
+        ],
+        [
+          0.5217851996421814,
+          -0.03723713383078575,
+          0.8522638082504272,
+          15.04564380645752
+        ],
+        [
+          -0.14564019441604614,
+          -0.988268256187439,
+          0.045986492186784744,
+          -12.492372512817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7556,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_83080291",
+      "mask_path": "../../mask/hdr_right_07556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07557.png",
+      "transform_matrix": [
+        [
+          0.8404327034950256,
+          -0.1248730793595314,
+          -0.5273324847221375,
+          -14.718371391296387
+        ],
+        [
+          0.5258105993270874,
+          -0.047565557062625885,
+          0.849270761013031,
+          15.016481399536133
+        ],
+        [
+          -0.13113392889499664,
+          -0.9910318851470947,
+          0.02568393386900425,
+          -12.478302955627441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7557,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_183080673",
+      "mask_path": "../../mask/hdr_right_07557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07558.png",
+      "transform_matrix": [
+        [
+          0.8399748802185059,
+          -0.11908461898565292,
+          -0.5293968319892883,
+          -14.76235294342041
+        ],
+        [
+          0.5273361206054688,
+          -0.05081484466791153,
+          0.8481358885765076,
+          14.98609447479248
+        ],
+        [
+          -0.12790115177631378,
+          -0.9915829300880432,
+          0.02011442929506302,
+          -12.471125602722168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7558,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_283082008",
+      "mask_path": "../../mask/hdr_right_07558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07559.png",
+      "transform_matrix": [
+        [
+          0.8407270312309265,
+          -0.1089998185634613,
+          -0.5303744673728943,
+          -14.823562622070312
+        ],
+        [
+          0.5283010601997375,
+          -0.04949817433953285,
+          0.8476129770278931,
+          14.937418937683105
+        ],
+        [
+          -0.11864223331212997,
+          -0.9928086400032043,
+          0.015970267355442047,
+          -12.459540367126465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7559,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_383082628",
+      "mask_path": "../../mask/hdr_right_07559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07560.png",
+      "transform_matrix": [
+        [
+          0.83799809217453,
+          -0.10256687551736832,
+          -0.5359470248222351,
+          -14.899319648742676
+        ],
+        [
+          0.5349438190460205,
+          -0.03939477354288101,
+          0.8439687490463257,
+          14.887654304504395
+        ],
+        [
+          -0.10767675191164017,
+          -0.9939457178115845,
+          0.021854765713214874,
+          -12.455574989318848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7560,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324019_483080863",
+      "mask_path": "../../mask/hdr_right_07560.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/e70f02ff/mesh.ply b/2024-11-11-12-07-40/splats/e70f02ff/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7aa292a964c592c3ed4e138f736527939a805980
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e70f02ff/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fe903dda6a3aabf3afede7e847ff4016201d613e9c21b8c3539a5e3608c464b
+size 149905794
diff --git a/2024-11-11-12-07-40/splats/e70f02ff/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/e70f02ff/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..df5eb39140e5288d4a6192cf009eb45c677dec82
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e70f02ff/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b264fc08274994f44cdffec98fdaade6632a9386d34ab27a795d3c66b0095e1c
+size 1597393
diff --git a/2024-11-11-12-07-40/splats/e70f02ff/splatfacto/config.yml b/2024-11-11-12-07-40/splats/e70f02ff/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..06e614a62d4f9d83b1f1823d6c939ddd6f9edb65
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e70f02ff/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_e70f02ff
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_e70f02ff
+      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/2024-11-11-12-07-40/splats/e70f02ff/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/e70f02ff/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5ec88a78bcec442c9dff39e2a68c131951cf7b5
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e70f02ff/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            0.9664886593818665,
+            -0.25539571046829224,
+            0.02593705989420414,
+            14.65564250946045
+        ],
+        [
+            -0.25539571046829224,
+            -0.9464138746261597,
+            0.19767071306705475,
+            7.157862663269043
+        ],
+        [
+            -0.02593705989420414,
+            -0.19767071306705475,
+            -0.979925274848938,
+            -6.808069705963135
+        ]
+    ],
+    "scale": 0.18682570674374102
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/e70f02ff/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/e70f02ff/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3249ca1df46abb171f0ed85303cdaece90505ab6
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e70f02ff/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf12bb92e522e49601c371b8c8b0cb600ec0e9795b6ef616bba29bb3596c4c1
+size 152278801
diff --git a/2024-11-11-12-07-40/splats/e70f02ff/transforms.json b/2024-11-11-12-07-40/splats/e70f02ff/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..856483f762ae02015f807c09a38d447e2b132652
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/e70f02ff/transforms.json
@@ -0,0 +1,40074 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_01491.png",
+      "transform_matrix": [
+        [
+          -0.6404526233673096,
+          -0.23668870329856873,
+          -0.7306153774261475,
+          -14.915143013000488
+        ],
+        [
+          0.7608752846717834,
+          -0.32481032609939575,
+          -0.561753511428833,
+          5.110579490661621
+        ],
+        [
+          -0.10435070842504501,
+          -0.9156837463378906,
+          0.3881162405014038,
+          -5.971932888031006
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1491,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_583081245",
+      "mask_path": "../../mask/hdr_front_01491.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01492.png",
+      "transform_matrix": [
+        [
+          -0.6398956179618835,
+          -0.2302778661251068,
+          -0.7331477999687195,
+          -14.857782363891602
+        ],
+        [
+          0.761244535446167,
+          -0.3203983008861542,
+          -0.5637833476066589,
+          5.160123825073242
+        ],
+        [
+          -0.1050725057721138,
+          -0.918867290019989,
+          0.3803192973136902,
+          -6.0131659507751465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1492,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_683080911",
+      "mask_path": "../../mask/hdr_front_01492.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01493.png",
+      "transform_matrix": [
+        [
+          -0.6397177577018738,
+          -0.2216266244649887,
+          -0.7359638810157776,
+          -14.79532241821289
+        ],
+        [
+          0.7607871890068054,
+          -0.31884831190109253,
+          -0.5652775168418884,
+          5.21209716796875
+        ],
+        [
+          -0.10938028991222382,
+          -0.9215299487113953,
+          0.37258362770080566,
+          -6.046174049377441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1493,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_783078908",
+      "mask_path": "../../mask/hdr_front_01493.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01494.png",
+      "transform_matrix": [
+        [
+          -0.6404281854629517,
+          -0.22123777866363525,
+          -0.7354627251625061,
+          -14.761778831481934
+        ],
+        [
+          0.7605319619178772,
+          -0.3160645365715027,
+          -0.5671811103820801,
+          5.248999118804932
+        ],
+        [
+          -0.10697179287672043,
+          -0.9225817918777466,
+          0.3706749975681305,
+          -6.076751232147217
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1494,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_883078575",
+      "mask_path": "../../mask/hdr_front_01494.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01495.png",
+      "transform_matrix": [
+        [
+          -0.6392558217048645,
+          -0.22511731088161469,
+          -0.7353054881095886,
+          -14.731800079345703
+        ],
+        [
+          0.7629788517951965,
+          -0.30503779649734497,
+          -0.5699256062507629,
+          5.283636093139648
+        ],
+        [
+          -0.09599586576223373,
+          -0.9253508448600769,
+          0.36675697565078735,
+          -6.107893466949463
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1495,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_983081340",
+      "mask_path": "../../mask/hdr_front_01495.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01496.png",
+      "transform_matrix": [
+        [
+          -0.639414370059967,
+          -0.22300076484680176,
+          -0.7358124256134033,
+          -14.68645191192627
+        ],
+        [
+          0.763648509979248,
+          -0.2954600751399994,
+          -0.5740593671798706,
+          5.323672771453857
+        ],
+        [
+          -0.08938747644424438,
+          -0.9289640188217163,
+          0.3592156171798706,
+          -6.135633945465088
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1496,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_83081007",
+      "mask_path": "../../mask/hdr_front_01496.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01497.png",
+      "transform_matrix": [
+        [
+          -0.6405271291732788,
+          -0.225778266787529,
+          -0.7339953780174255,
+          -14.626623153686523
+        ],
+        [
+          0.7632865309715271,
+          -0.2921929955482483,
+          -0.5762091279029846,
+          5.3680100440979
+        ],
+        [
+          -0.08437280356884003,
+          -0.9293263554573059,
+          0.3594910502433777,
+          -6.164128303527832
+        ],
+        [
+          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": "1731323414_183080196",
+      "mask_path": "../../mask/hdr_front_01497.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01498.png",
+      "transform_matrix": [
+        [
+          -0.6404483318328857,
+          -0.22438214719295502,
+          -0.7344921231269836,
+          -14.566086769104004
+        ],
+        [
+          0.762978732585907,
+          -0.2950897812843323,
+          -0.5751397013664246,
+          5.408447742462158
+        ],
+        [
+          -0.08769002556800842,
+          -0.9287490248680115,
+          0.3601885437965393,
+          -6.181051731109619
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1498,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_283081054",
+      "mask_path": "../../mask/hdr_front_01498.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01499.png",
+      "transform_matrix": [
+        [
+          -0.6395788192749023,
+          -0.21396443247795105,
+          -0.7383483052253723,
+          -14.518621444702148
+        ],
+        [
+          0.7623671889305115,
+          -0.29982471466064453,
+          -0.5734991431236267,
+          5.437692165374756
+        ],
+        [
+          -0.09866664558649063,
+          -0.929690420627594,
+          0.35488104820251465,
+          -6.198559284210205
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1499,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_383080959",
+      "mask_path": "../../mask/hdr_front_01499.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01500.png",
+      "transform_matrix": [
+        [
+          -0.6398419737815857,
+          -0.20363503694534302,
+          -0.7410365343093872,
+          -14.466952323913574
+        ],
+        [
+          0.7611562609672546,
+          -0.30096346139907837,
+          -0.5745102763175964,
+          5.470185279846191
+        ],
+        [
+          -0.10603448003530502,
+          -0.9316403865814209,
+          0.3475671410560608,
+          -6.220516681671143
+        ],
+        [
+          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": "1731323414_483080863",
+      "mask_path": "../../mask/hdr_front_01500.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01501.png",
+      "transform_matrix": [
+        [
+          -0.6457280516624451,
+          -0.19914613664150238,
+          -0.737140417098999,
+          -14.40341567993164
+        ],
+        [
+          0.754682183265686,
+          -0.31329822540283203,
+          -0.5764538049697876,
+          5.529194355010986
+        ],
+        [
+          -0.11614623665809631,
+          -0.9285392165184021,
+          0.35259753465652466,
+          -6.270144462585449
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1501,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_583080530",
+      "mask_path": "../../mask/hdr_front_01501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01502.png",
+      "transform_matrix": [
+        [
+          -0.6522745490074158,
+          -0.1900394707918167,
+          -0.7337730526924133,
+          -14.343079566955566
+        ],
+        [
+          0.7460371255874634,
+          -0.3321482241153717,
+          -0.5771535634994507,
+          5.575676918029785
+        ],
+        [
+          -0.1340394914150238,
+          -0.9238845109939575,
+          0.35842829942703247,
+          -6.2718825340271
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1502,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_683080434",
+      "mask_path": "../../mask/hdr_front_01502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01503.png",
+      "transform_matrix": [
+        [
+          -0.6556642055511475,
+          -0.18619853258132935,
+          -0.7317339777946472,
+          -14.304561614990234
+        ],
+        [
+          0.7426056265830994,
+          -0.33426472544670105,
+          -0.580348014831543,
+          5.610883712768555
+        ],
+        [
+          -0.13653293251991272,
+          -0.923903226852417,
+          0.35743749141693115,
+          -6.259474754333496
+        ],
+        [
+          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": "1731323414_783079147",
+      "mask_path": "../../mask/hdr_front_01503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01504.png",
+      "transform_matrix": [
+        [
+          -0.6589292883872986,
+          -0.19402559101581573,
+          -0.7267505526542664,
+          -14.28415298461914
+        ],
+        [
+          0.7417226433753967,
+          -0.32833045721054077,
+          -0.5848475098609924,
+          5.654261589050293
+        ],
+        [
+          -0.12513893842697144,
+          -0.9244205355644226,
+          0.3602597117424011,
+          -6.309230327606201
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1504,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_883080005",
+      "mask_path": "../../mask/hdr_front_01504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01505.png",
+      "transform_matrix": [
+        [
+          -0.6593050956726074,
+          -0.22254495322704315,
+          -0.7181856036186218,
+          -14.249195098876953
+        ],
+        [
+          0.7446385622024536,
+          -0.32547712326049805,
+          -0.5827333331108093,
+          5.700496196746826
+        ],
+        [
+          -0.10406859219074249,
+          -0.9189877510070801,
+          0.3803042471408844,
+          -6.364971160888672
+        ],
+        [
+          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": "1731323414_983078718",
+      "mask_path": "../../mask/hdr_front_01505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01506.png",
+      "transform_matrix": [
+        [
+          -0.6561993956565857,
+          -0.24449938535690308,
+          -0.713878333568573,
+          -14.208577156066895
+        ],
+        [
+          0.7496157288551331,
+          -0.3196394741535187,
+          -0.5795746445655823,
+          5.748870849609375
+        ],
+        [
+          -0.086478091776371,
+          -0.9154511094093323,
+          0.3930278718471527,
+          -6.391356468200684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1506,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_83080530",
+      "mask_path": "../../mask/hdr_front_01506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01507.png",
+      "transform_matrix": [
+        [
+          -0.6543921232223511,
+          -0.24668172001838684,
+          -0.7147860527038574,
+          -14.174616813659668
+        ],
+        [
+          0.7518510818481445,
+          -0.3129865825176239,
+          -0.5803096890449524,
+          5.791467189788818
+        ],
+        [
+          -0.0805666521191597,
+          -0.9171627759933472,
+          0.39028388261795044,
+          -6.419426918029785
+        ],
+        [
+          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": "1731323415_183080673",
+      "mask_path": "../../mask/hdr_front_01507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01508.png",
+      "transform_matrix": [
+        [
+          -0.6508845686912537,
+          -0.24087120592594147,
+          -0.7199516892433167,
+          -14.120549201965332
+        ],
+        [
+          0.7555318474769592,
+          -0.29833653569221497,
+          -0.5832383036613464,
+          5.84755802154541
+        ],
+        [
+          -0.07430258393287659,
+          -0.9235672950744629,
+          0.3761685788631439,
+          -6.459721088409424
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1508,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_283079862",
+      "mask_path": "../../mask/hdr_front_01508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01509.png",
+      "transform_matrix": [
+        [
+          -0.6510239243507385,
+          -0.22256354987621307,
+          -0.725695013999939,
+          -14.045974731445312
+        ],
+        [
+          0.7554511427879333,
+          -0.28306031227111816,
+          -0.59090656042099,
+          5.927297115325928
+        ],
+        [
+          -0.0739012137055397,
+          -0.9329214096069336,
+          0.35241490602493286,
+          -6.470623970031738
+        ],
+        [
+          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": "1731323415_383081197",
+      "mask_path": "../../mask/hdr_front_01509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01510.png",
+      "transform_matrix": [
+        [
+          -0.6531733870506287,
+          -0.21034863591194153,
+          -0.7274050712585449,
+          -14.000319480895996
+        ],
+        [
+          0.7541102170944214,
+          -0.26751789450645447,
+          -0.5997933149337769,
+          5.984617710113525
+        ],
+        [
+          -0.0684281587600708,
+          -0.9403125643730164,
+          0.33336159586906433,
+          -6.482644557952881
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1510,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_483080625",
+      "mask_path": "../../mask/hdr_front_01510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01511.png",
+      "transform_matrix": [
+        [
+          -0.6533870100975037,
+          -0.20686624944210052,
+          -0.7282113432884216,
+          -13.969097137451172
+        ],
+        [
+          0.7550627589225769,
+          -0.24728122353553772,
+          -0.6072331666946411,
+          6.026247501373291
+        ],
+        [
+          -0.054456938058137894,
+          -0.9466036558151245,
+          0.3177673816680908,
+          -6.50274658203125
+        ],
+        [
+          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": "1731323415_583079814",
+      "mask_path": "../../mask/hdr_front_01511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01512.png",
+      "transform_matrix": [
+        [
+          -0.6541553735733032,
+          -0.20068614184856415,
+          -0.7292501330375671,
+          -13.924327850341797
+        ],
+        [
+          0.7550652027130127,
+          -0.2296663224697113,
+          -0.6141091585159302,
+          6.075453758239746
+        ],
+        [
+          -0.04424101114273071,
+          -0.9523542523384094,
+          0.30176860094070435,
+          -6.503720760345459
+        ],
+        [
+          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": "1731323415_683080673",
+      "mask_path": "../../mask/hdr_front_01512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01513.png",
+      "transform_matrix": [
+        [
+          -0.6515584588050842,
+          -0.20806854963302612,
+          -0.7295060157775879,
+          -13.870405197143555
+        ],
+        [
+          0.7579231262207031,
+          -0.21912063658237457,
+          -0.6144418716430664,
+          6.129770278930664
+        ],
+        [
+          -0.032003793865442276,
+          -0.9532542824745178,
+          0.30046984553337097,
+          -6.5298848152160645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1513,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_783080577",
+      "mask_path": "../../mask/hdr_front_01513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01514.png",
+      "transform_matrix": [
+        [
+          -0.6494673490524292,
+          -0.21726059913635254,
+          -0.7286906242370605,
+          -13.823042869567871
+        ],
+        [
+          0.7598323225975037,
+          -0.2221100926399231,
+          -0.6110008358955383,
+          6.172895908355713
+        ],
+        [
+          -0.02910313382744789,
+          -0.9505077600479126,
+          0.3093348741531372,
+          -6.567124843597412
+        ],
+        [
+          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": "1731323415_883082151",
+      "mask_path": "../../mask/hdr_front_01514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01516.png",
+      "transform_matrix": [
+        [
+          -0.6487175226211548,
+          -0.21179018914699554,
+          -0.7309656143188477,
+          -13.740389823913574
+        ],
+        [
+          0.7599223852157593,
+          -0.23205874860286713,
+          -0.6071792244911194,
+          6.240034103393555
+        ],
+        [
+          -0.0410323441028595,
+          -0.9493649005889893,
+          0.311484694480896,
+          -6.61201286315918
+        ],
+        [
+          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": "1731323416_83081960",
+      "mask_path": "../../mask/hdr_front_01516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01517.png",
+      "transform_matrix": [
+        [
+          -0.6463454365730286,
+          -0.20201124250888824,
+          -0.73581862449646,
+          -13.67685604095459
+        ],
+        [
+          0.7616961002349854,
+          -0.22812652587890625,
+          -0.6064465641975403,
+          6.2920660972595215
+        ],
+        [
+          -0.04535071924328804,
+          -0.9524441361427307,
+          0.3013196885585785,
+          -6.6528730392456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1517,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_183082342",
+      "mask_path": "../../mask/hdr_front_01517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01518.png",
+      "transform_matrix": [
+        [
+          -0.6476401686668396,
+          -0.1882164180278778,
+          -0.7383338212966919,
+          -13.603070259094238
+        ],
+        [
+          0.7595920562744141,
+          -0.23560257256031036,
+          -0.6062272787094116,
+          6.350464820861816
+        ],
+        [
+          -0.059851422905921936,
+          -0.9534496068954468,
+          0.2955533564090729,
+          -6.687360763549805
+        ],
+        [
+          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": "1731323416_283082485",
+      "mask_path": "../../mask/hdr_front_01518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01519.png",
+      "transform_matrix": [
+        [
+          -0.6494767069816589,
+          -0.18049907684326172,
+          -0.7386475801467896,
+          -13.556676864624023
+        ],
+        [
+          0.7573079466819763,
+          -0.24080373346805573,
+          -0.6070405840873718,
+          6.392557144165039
+        ],
+        [
+          -0.0682988241314888,
+          -0.9536423683166504,
+          0.2930898070335388,
+          -6.70797061920166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1519,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_383082389",
+      "mask_path": "../../mask/hdr_front_01519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01520.png",
+      "transform_matrix": [
+        [
+          -0.6507431864738464,
+          -0.17806124687194824,
+          -0.7381243109703064,
+          -13.52251148223877
+        ],
+        [
+          0.7565616369247437,
+          -0.23450838029384613,
+          -0.6104263067245483,
+          6.4298415184021
+        ],
+        [
+          -0.06440305709838867,
+          -0.9556673765182495,
+          0.2873190641403198,
+          -6.732400417327881
+        ],
+        [
+          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": "1731323416_483082294",
+      "mask_path": "../../mask/hdr_front_01520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01521.png",
+      "transform_matrix": [
+        [
+          -0.6532583832740784,
+          -0.17439493536949158,
+          -0.7367767691612244,
+          -13.467229843139648
+        ],
+        [
+          0.7545868158340454,
+          -0.2297334372997284,
+          -0.6146717667579651,
+          6.476490497589111
+        ],
+        [
+          -0.06206661835312843,
+          -0.9575014114379883,
+          0.2816713750362396,
+          -6.766688823699951
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1521,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_583082437",
+      "mask_path": "../../mask/hdr_front_01521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01522.png",
+      "transform_matrix": [
+        [
+          -0.6513945460319519,
+          -0.1836278885602951,
+          -0.7361834049224854,
+          -13.391359329223633
+        ],
+        [
+          0.7566865682601929,
+          -0.22854478657245636,
+          -0.6125298142433167,
+          6.525523662567139
+        ],
+        [
+          -0.055773310363292694,
+          -0.9560586214065552,
+          0.28782162070274353,
+          -6.779846668243408
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1522,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_683082342",
+      "mask_path": "../../mask/hdr_front_01522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01523.png",
+      "transform_matrix": [
+        [
+          -0.6458041667938232,
+          -0.18944334983825684,
+          -0.7396270632743835,
+          -13.333063125610352
+        ],
+        [
+          0.7615790963172913,
+          -0.22856426239013672,
+          -0.6064286231994629,
+          6.556307792663574
+        ],
+        [
+          -0.0541684664785862,
+          -0.9549186825752258,
+          0.2918838560581207,
+          -6.7769670486450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1523,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_783082246",
+      "mask_path": "../../mask/hdr_front_01523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01525.png",
+      "transform_matrix": [
+        [
+          -0.6360743641853333,
+          -0.18333396315574646,
+          -0.7495318651199341,
+          -13.244526863098145
+        ],
+        [
+          0.7692150473594666,
+          -0.22741058468818665,
+          -0.597153902053833,
+          6.638579368591309
+        ],
+        [
+          -0.06097289174795151,
+          -0.9563854336738586,
+          0.28567326068878174,
+          -6.841968536376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1525,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_983080387",
+      "mask_path": "../../mask/hdr_front_01525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01526.png",
+      "transform_matrix": [
+        [
+          -0.6436871290206909,
+          -0.18558304011821747,
+          -0.7424458861351013,
+          -13.17857551574707
+        ],
+        [
+          0.7596752643585205,
+          -0.2722397446632385,
+          -0.5905752182006836,
+          6.686713695526123
+        ],
+        [
+          -0.0925225093960762,
+          -0.9441633820533752,
+          0.3162200152873993,
+          -6.856995105743408
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1526,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_83081245",
+      "mask_path": "../../mask/hdr_front_01526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01529.png",
+      "transform_matrix": [
+        [
+          -0.6736893653869629,
+          -0.20786798000335693,
+          -0.70917809009552,
+          -13.097572326660156
+        ],
+        [
+          0.7342596054077148,
+          -0.29695925116539,
+          -0.6104736924171448,
+          6.788514137268066
+        ],
+        [
+          -0.08369907736778259,
+          -0.9319904446601868,
+          0.35268735885620117,
+          -6.9137654304504395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1529,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_383082389",
+      "mask_path": "../../mask/hdr_front_01529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01533.png",
+      "transform_matrix": [
+        [
+          -0.7144291400909424,
+          -0.23339523375034332,
+          -0.659634530544281,
+          -12.997767448425293
+        ],
+        [
+          0.6984742283821106,
+          -0.29383930563926697,
+          -0.6525275707244873,
+          6.9328083992004395
+        ],
+        [
+          -0.041529715061187744,
+          -0.9269224405288696,
+          0.37294796109199524,
+          -7.013378143310547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1533,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_783082008",
+      "mask_path": "../../mask/hdr_front_01533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01534.png",
+      "transform_matrix": [
+        [
+          -0.7196135520935059,
+          -0.2356242686510086,
+          -0.6531749367713928,
+          -12.970972061157227
+        ],
+        [
+          0.6939311623573303,
+          -0.27765050530433655,
+          -0.6643567085266113,
+          6.994856357574463
+        ],
+        [
+          -0.024815790355205536,
+          -0.9313385486602783,
+          0.3633081018924713,
+          -7.0528564453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1534,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_883082151",
+      "mask_path": "../../mask/hdr_front_01534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01536.png",
+      "transform_matrix": [
+        [
+          -0.7318493723869324,
+          -0.2342916876077652,
+          -0.6399248838424683,
+          -12.94874382019043
+        ],
+        [
+          0.6814663410186768,
+          -0.25155168771743774,
+          -0.6872592568397522,
+          7.07686185836792
+        ],
+        [
+          4.493787491810508e-05,
+          -0.9390575885772705,
+          0.3437598943710327,
+          -7.068369388580322
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1536,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_83082437",
+      "mask_path": "../../mask/hdr_front_01536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01537.png",
+      "transform_matrix": [
+        [
+          -0.7332169413566589,
+          -0.24510352313518524,
+          -0.6342847943305969,
+          -12.940736770629883
+        ],
+        [
+          0.6797410845756531,
+          -0.23871077597141266,
+          -0.6935194730758667,
+          7.127023696899414
+        ],
+        [
+          0.01857345551252365,
+          -0.9396495819091797,
+          0.34163376688957214,
+          -7.091360092163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1537,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_183080673",
+      "mask_path": "../../mask/hdr_front_01537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01538.png",
+      "transform_matrix": [
+        [
+          -0.7298496961593628,
+          -0.25897765159606934,
+          -0.6326531767845154,
+          -12.941609382629395
+        ],
+        [
+          0.6831677556037903,
+          -0.243120014667511,
+          -0.688603401184082,
+          7.1732563972473145
+        ],
+        [
+          0.024522218853235245,
+          -0.9347851872444153,
+          0.3543662428855896,
+          -7.112113952636719
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1538,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_283082008",
+      "mask_path": "../../mask/hdr_front_01538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01540.png",
+      "transform_matrix": [
+        [
+          -0.7271949648857117,
+          -0.25642699003219604,
+          -0.6367360949516296,
+          -12.895122528076172
+        ],
+        [
+          0.6863667964935303,
+          -0.2589426040649414,
+          -0.6795950531959534,
+          7.236897945404053
+        ],
+        [
+          0.009388408623635769,
+          -0.9312325119972229,
+          0.36430469155311584,
+          -7.146215438842773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1540,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_483082294",
+      "mask_path": "../../mask/hdr_front_01540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01541.png",
+      "transform_matrix": [
+        [
+          -0.7281280159950256,
+          -0.24441030621528625,
+          -0.6403851509094238,
+          -12.848934173583984
+        ],
+        [
+          0.6854058504104614,
+          -0.2690902352333069,
+          -0.6766160130500793,
+          7.292064189910889
+        ],
+        [
+          -0.0069494363851845264,
+          -0.9315869212150574,
+          0.36345237493515015,
+          -7.178682327270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1541,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_583081960",
+      "mask_path": "../../mask/hdr_front_01541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01542.png",
+      "transform_matrix": [
+        [
+          -0.7279931306838989,
+          -0.23410086333751678,
+          -0.6443778872489929,
+          -12.795234680175781
+        ],
+        [
+          0.6851324439048767,
+          -0.28254449367523193,
+          -0.6713882684707642,
+          7.342782497406006
+        ],
+        [
+          -0.024892836809158325,
+          -0.9302502274513245,
+          0.36608052253723145,
+          -7.215758800506592
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1542,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_683082342",
+      "mask_path": "../../mask/hdr_front_01542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01543.png",
+      "transform_matrix": [
+        [
+          -0.727319598197937,
+          -0.23167407512664795,
+          -0.6460134983062744,
+          -12.761347770690918
+        ],
+        [
+          0.685615062713623,
+          -0.2872891426086426,
+          -0.6688774228096008,
+          7.377031326293945
+        ],
+        [
+          -0.03063109889626503,
+          -0.9294041991233826,
+          0.36779025197029114,
+          -7.251429557800293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1543,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_783081531",
+      "mask_path": "../../mask/hdr_front_01543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01544.png",
+      "transform_matrix": [
+        [
+          -0.7288252711296082,
+          -0.22602549195289612,
+          -0.6463173031806946,
+          -12.721796989440918
+        ],
+        [
+          0.6838446855545044,
+          -0.2874498665332794,
+          -0.6706184148788452,
+          7.416607856750488
+        ],
+        [
+          -0.03420696780085564,
+          -0.9307444095611572,
+          0.36406710743904114,
+          -7.276744365692139
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1544,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_883080482",
+      "mask_path": "../../mask/hdr_front_01544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01545.png",
+      "transform_matrix": [
+        [
+          -0.7328239679336548,
+          -0.21310263872146606,
+          -0.6461859345436096,
+          -12.646280288696289
+        ],
+        [
+          0.6789986491203308,
+          -0.29035428166389465,
+          -0.6742814183235168,
+          7.474630832672119
+        ],
+        [
+          -0.04393171891570091,
+          -0.9328889846801758,
+          0.3574749827384949,
+          -7.306849956512451
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1545,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_983079433",
+      "mask_path": "../../mask/hdr_front_01545.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01546.png",
+      "transform_matrix": [
+        [
+          -0.7349481582641602,
+          -0.20286516845226288,
+          -0.6470679044723511,
+          -12.574318885803223
+        ],
+        [
+          0.6759340763092041,
+          -0.2957673966884613,
+          -0.6750073432922363,
+          7.529721260070801
+        ],
+        [
+          -0.054446153342723846,
+          -0.9334706664085388,
+          0.35449716448783875,
+          -7.340731143951416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1546,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_83081960",
+      "mask_path": "../../mask/hdr_front_01546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01547.png",
+      "transform_matrix": [
+        [
+          -0.7331320643424988,
+          -0.19424116611480713,
+          -0.6517574787139893,
+          -12.527628898620605
+        ],
+        [
+          0.6769602298736572,
+          -0.30021148920059204,
+          -0.6720104813575745,
+          7.566935062408447
+        ],
+        [
+          -0.06513296812772751,
+          -0.9338862299919128,
+          0.3515881896018982,
+          -7.371171951293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1547,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_183083057",
+      "mask_path": "../../mask/hdr_front_01547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01548.png",
+      "transform_matrix": [
+        [
+          -0.7296833395957947,
+          -0.18233713507652283,
+          -0.6590261459350586,
+          -12.469717979431152
+        ],
+        [
+          0.6793084144592285,
+          -0.3034079372882843,
+          -0.6681943535804749,
+          7.60395622253418
+        ],
+        [
+          -0.07811712473630905,
+          -0.9352522492408752,
+          0.3452548682689667,
+          -7.395908832550049
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1548,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_283082246",
+      "mask_path": "../../mask/hdr_front_01548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01549.png",
+      "transform_matrix": [
+        [
+          -0.7277966141700745,
+          -0.17572882771492004,
+          -0.6628962755203247,
+          -12.401392936706543
+        ],
+        [
+          0.6802451610565186,
+          -0.3076857030391693,
+          -0.6652789115905762,
+          7.66609001159668
+        ],
+        [
+          -0.08705500513315201,
+          -0.9351197481155396,
+          0.3434712886810303,
+          -7.444338321685791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1549,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_383081912",
+      "mask_path": "../../mask/hdr_front_01549.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01550.png",
+      "transform_matrix": [
+        [
+          -0.7279453277587891,
+          -0.1763681024312973,
+          -0.662563145160675,
+          -12.333967208862305
+        ],
+        [
+          0.6795691847801208,
+          -0.3138551115989685,
+          -0.6630842089653015,
+          7.727003574371338
+        ],
+        [
+          -0.09100189805030823,
+          -0.9329465627670288,
+          0.34832364320755005,
+          -7.494643211364746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1550,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_483082532",
+      "mask_path": "../../mask/hdr_front_01550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01551.png",
+      "transform_matrix": [
+        [
+          -0.7276084423065186,
+          -0.17954184114933014,
+          -0.6620805859565735,
+          -12.297676086425781
+        ],
+        [
+          0.6801549792289734,
+          -0.31445762515068054,
+          -0.6621976494789124,
+          7.763144493103027
+        ],
+        [
+          -0.0893041267991066,
+          -0.9321380257606506,
+          0.3509182929992676,
+          -7.529163837432861
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1551,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_583081245",
+      "mask_path": "../../mask/hdr_front_01551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01552.png",
+      "transform_matrix": [
+        [
+          -0.7276256680488586,
+          -0.18053333461284637,
+          -0.6617920398712158,
+          -12.26355266571045
+        ],
+        [
+          0.6806570887565613,
+          -0.30989870429039,
+          -0.6638287901878357,
+          7.799662113189697
+        ],
+        [
+          -0.08524525910615921,
+          -0.9334722757339478,
+          0.34837156534194946,
+          -7.554690361022949
+        ],
+        [
+          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": "1731323419_683081388",
+      "mask_path": "../../mask/hdr_front_01552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01553.png",
+      "transform_matrix": [
+        [
+          -0.7289984822273254,
+          -0.18878865242004395,
+          -0.6579665541648865,
+          -12.190549850463867
+        ],
+        [
+          0.6805889010429382,
+          -0.30270957946777344,
+          -0.6672073602676392,
+          7.853097438812256
+        ],
+        [
+          -0.07321164011955261,
+          -0.9341979026794434,
+          0.3491622805595398,
+          -7.59979248046875
+        ],
+        [
+          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": "1731323419_783082008",
+      "mask_path": "../../mask/hdr_front_01553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01554.png",
+      "transform_matrix": [
+        [
+          -0.7210289239883423,
+          -0.22968989610671997,
+          -0.653727650642395,
+          -12.138561248779297
+        ],
+        [
+          0.691478967666626,
+          -0.29901665449142456,
+          -0.6576061248779297,
+          7.891476631164551
+        ],
+        [
+          -0.0444299690425396,
+          -0.9261919856071472,
+          0.37442541122436523,
+          -7.6116790771484375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1554,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_883081912",
+      "mask_path": "../../mask/hdr_front_01554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01556.png",
+      "transform_matrix": [
+        [
+          -0.719606339931488,
+          -0.2199864685535431,
+          -0.6586142182350159,
+          -12.07519245147705
+        ],
+        [
+          0.6927636861801147,
+          -0.2921683192253113,
+          -0.6593300700187683,
+          7.938303470611572
+        ],
+        [
+          -0.047382500022649765,
+          -0.9307221174240112,
+          0.36264482140541077,
+          -7.6150431632995605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1556,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_83082914",
+      "mask_path": "../../mask/hdr_front_01556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01557.png",
+      "transform_matrix": [
+        [
+          -0.7186692953109741,
+          -0.2249731421470642,
+          -0.6579524874687195,
+          -12.039379119873047
+        ],
+        [
+          0.6940250992774963,
+          -0.2905005216598511,
+          -0.6587401628494263,
+          7.984200477600098
+        ],
+        [
+          -0.04293671250343323,
+          -0.9300519227981567,
+          0.3649108111858368,
+          -7.653860092163086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1557,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_183082103",
+      "mask_path": "../../mask/hdr_front_01557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01558.png",
+      "transform_matrix": [
+        [
+          -0.7133546471595764,
+          -0.23875661194324493,
+          -0.6588781476020813,
+          -12.00690746307373
+        ],
+        [
+          0.6999941468238831,
+          -0.28791332244873047,
+          -0.6535395979881287,
+          8.021953582763672
+        ],
+        [
+          -0.03366290032863617,
+          -0.9274164438247681,
+          0.3725126087665558,
+          -7.680471897125244
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1558,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_283082008",
+      "mask_path": "../../mask/hdr_front_01558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01560.png",
+      "transform_matrix": [
+        [
+          -0.7066296935081482,
+          -0.2608972191810608,
+          -0.6577287912368774,
+          -11.963887214660645
+        ],
+        [
+          0.7075346112251282,
+          -0.2714616656303406,
+          -0.652459442615509,
+          8.096641540527344
+        ],
+        [
+          -0.008323262445628643,
+          -0.9264131188392639,
+          0.3764166831970215,
+          -7.730347156524658
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1560,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_483081579",
+      "mask_path": "../../mask/hdr_front_01560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01561.png",
+      "transform_matrix": [
+        [
+          -0.7138161659240723,
+          -0.2566028833389282,
+          -0.6516298651695251,
+          -11.939372062683105
+        ],
+        [
+          0.7003176808357239,
+          -0.2677014172077179,
+          -0.6617333292961121,
+          8.146469116210938
+        ],
+        [
+          -0.004639527294784784,
+          -0.9287039041519165,
+          0.3707931339740753,
+          -7.760242938995361
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1561,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_583082914",
+      "mask_path": "../../mask/hdr_front_01561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01562.png",
+      "transform_matrix": [
+        [
+          -0.7244673371315002,
+          -0.24826554954051971,
+          -0.6430484056472778,
+          -11.902976989746094
+        ],
+        [
+          0.6892982125282288,
+          -0.2661703824996948,
+          -0.6738110780715942,
+          8.19580364227295
+        ],
+        [
+          -0.0038763745687901974,
+          -0.9314062595367432,
+          0.36396077275276184,
+          -7.780158519744873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1562,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_683082103",
+      "mask_path": "../../mask/hdr_front_01562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01564.png",
+      "transform_matrix": [
+        [
+          -0.7390028834342957,
+          -0.2273951768875122,
+          -0.6341657638549805,
+          -11.836151123046875
+        ],
+        [
+          0.6736587882041931,
+          -0.26010605692863464,
+          -0.6917576193809509,
+          8.271256446838379
+        ],
+        [
+          -0.007647980935871601,
+          -0.9384222626686096,
+          0.3454059064388275,
+          -7.80944299697876
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1564,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_883082389",
+      "mask_path": "../../mask/hdr_front_01564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01565.png",
+      "transform_matrix": [
+        [
+          -0.7462242841720581,
+          -0.21764463186264038,
+          -0.6291106343269348,
+          -11.796916961669922
+        ],
+        [
+          0.6656292676925659,
+          -0.2571931779384613,
+          -0.7005636692047119,
+          8.342702865600586
+        ],
+        [
+          -0.009329046122729778,
+          -0.9415319561958313,
+          0.3367944359779358,
+          -7.865922451019287
+        ],
+        [
+          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": "1731323420_983080625",
+      "mask_path": "../../mask/hdr_front_01565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01566.png",
+      "transform_matrix": [
+        [
+          -0.7597814798355103,
+          -0.21345581114292145,
+          -0.6141405701637268,
+          -11.756041526794434
+        ],
+        [
+          0.6495119333267212,
+          -0.29194363951683044,
+          -0.7020706534385681,
+          8.399834632873535
+        ],
+        [
+          -0.0294333603233099,
+          -0.9323119521141052,
+          0.3604554831981659,
+          -7.896729469299316
+        ],
+        [
+          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": "1731323421_83081007",
+      "mask_path": "../../mask/hdr_front_01566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01568.png",
+      "transform_matrix": [
+        [
+          -0.7741708159446716,
+          -0.216531440615654,
+          -0.5947888493537903,
+          -11.724879264831543
+        ],
+        [
+          0.6318516731262207,
+          -0.32036423683166504,
+          -0.705783486366272,
+          8.44234561920166
+        ],
+        [
+          -0.03772475942969322,
+          -0.9222152233123779,
+          0.38483235239982605,
+          -7.916530132293701
+        ],
+        [
+          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": "1731323421_283086538",
+      "mask_path": "../../mask/hdr_front_01568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01569.png",
+      "transform_matrix": [
+        [
+          -0.7761971354484558,
+          -0.216813862323761,
+          -0.592038631439209,
+          -11.7066650390625
+        ],
+        [
+          0.6296818852424622,
+          -0.3141155242919922,
+          -0.7105154395103455,
+          8.482585906982422
+        ],
+        [
+          -0.03191893920302391,
+          -0.9242961406707764,
+          0.38033929467201233,
+          -7.943399429321289
+        ],
+        [
+          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": "1731323421_383081674",
+      "mask_path": "../../mask/hdr_front_01569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01570.png",
+      "transform_matrix": [
+        [
+          -0.778853178024292,
+          -0.22032766044139862,
+          -0.5872336626052856,
+          -11.676046371459961
+        ],
+        [
+          0.6263769865036011,
+          -0.32136785984039307,
+          -0.710193395614624,
+          8.526577949523926
+        ],
+        [
+          -0.0322427973151207,
+          -0.9209660887718201,
+          0.38830655813217163,
+          -7.979046821594238
+        ],
+        [
+          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": "1731323421_483082771",
+      "mask_path": "../../mask/hdr_front_01570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01572.png",
+      "transform_matrix": [
+        [
+          -0.7735127806663513,
+          -0.22615782916545868,
+          -0.592056155204773,
+          -11.620067596435547
+        ],
+        [
+          0.6328861117362976,
+          -0.3252461552619934,
+          -0.7026166319847107,
+          8.577439308166504
+        ],
+        [
+          -0.03366171196103096,
+          -0.918187141418457,
+          0.3947141766548157,
+          -8.02736759185791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1572,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323421_683084487",
+      "mask_path": "../../mask/hdr_front_01572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01573.png",
+      "transform_matrix": [
+        [
+          -0.7697600722312927,
+          -0.22499442100524902,
+          -0.5973667502403259,
+          -11.586305618286133
+        ],
+        [
+          0.6375842094421387,
+          -0.31632718443870544,
+          -0.7024410963058472,
+          8.617758750915527
+        ],
+        [
+          -0.03091800957918167,
+          -0.9215826988220215,
+          0.3869488835334778,
+          -8.062187194824219
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1573,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323421_783082008",
+      "mask_path": "../../mask/hdr_front_01573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01574.png",
+      "transform_matrix": [
+        [
+          -0.7681881189346313,
+          -0.22160395979881287,
+          -0.6006485223770142,
+          -11.539508819580078
+        ],
+        [
+          0.6395280361175537,
+          -0.30934709310531616,
+          -0.7037814259529114,
+          8.684514999389648
+        ],
+        [
+          -0.029848141595721245,
+          -0.9247681498527527,
+          0.37935870885849,
+          -8.090612411499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1574,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323421_883083105",
+      "mask_path": "../../mask/hdr_front_01574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01577.png",
+      "transform_matrix": [
+        [
+          -0.7682880163192749,
+          -0.22459419071674347,
+          -0.5994089245796204,
+          -11.476222038269043
+        ],
+        [
+          0.640057384967804,
+          -0.28088709712028503,
+          -0.7151426076889038,
+          8.819009780883789
+        ],
+        [
+          -0.007749357260763645,
+          -0.9330915808677673,
+          0.35955530405044556,
+          -8.147613525390625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1577,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_183082342",
+      "mask_path": "../../mask/hdr_front_01577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01578.png",
+      "transform_matrix": [
+        [
+          -0.7688455581665039,
+          -0.2232736349105835,
+          -0.5991873145103455,
+          -11.440407752990723
+        ],
+        [
+          0.6394267082214355,
+          -0.2730664014816284,
+          -0.7187267541885376,
+          8.865169525146484
+        ],
+        [
+          -0.0031451715622097254,
+          -0.9357262849807739,
+          0.352713018655777,
+          -8.177391052246094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1578,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_283082485",
+      "mask_path": "../../mask/hdr_front_01578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01579.png",
+      "transform_matrix": [
+        [
+          -0.7576369047164917,
+          -0.2590055465698242,
+          -0.5990846753120422,
+          -11.409551620483398
+        ],
+        [
+          0.6524100303649902,
+          -0.2743198573589325,
+          -0.7064769864082336,
+          8.911741256713867
+        ],
+        [
+          0.018640626221895218,
+          -0.9261019825935364,
+          0.3768126964569092,
+          -8.207005500793457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1579,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_383081674",
+      "mask_path": "../../mask/hdr_front_01579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01581.png",
+      "transform_matrix": [
+        [
+          -0.7431861162185669,
+          -0.28325849771499634,
+          -0.6061675548553467,
+          -11.377593994140625
+        ],
+        [
+          0.6688506603240967,
+          -0.29055556654930115,
+          -0.684263288974762,
+          8.965011596679688
+        ],
+        [
+          0.01769808866083622,
+          -0.9139705300331116,
+          0.4053945243358612,
+          -8.2168550491333
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1581,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_583081960",
+      "mask_path": "../../mask/hdr_front_01581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01582.png",
+      "transform_matrix": [
+        [
+          -0.7456673979759216,
+          -0.2667442858219147,
+          -0.6105961799621582,
+          -11.332225799560547
+        ],
+        [
+          0.6663098335266113,
+          -0.2938806116580963,
+          -0.6853214502334595,
+          9.020358085632324
+        ],
+        [
+          0.003363224444910884,
+          -0.9178680777549744,
+          0.39687150716781616,
+          -8.253379821777344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1582,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_683083295",
+      "mask_path": "../../mask/hdr_front_01582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01583.png",
+      "transform_matrix": [
+        [
+          -0.7464545965194702,
+          -0.2533499002456665,
+          -0.61532062292099,
+          -11.282517433166504
+        ],
+        [
+          0.6652993559837341,
+          -0.3029007911682129,
+          -0.6823693513870239,
+          9.075141906738281
+        ],
+        [
+          -0.013502861373126507,
+          -0.9187300801277161,
+          0.39465516805648804,
+          -8.286333084106445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1583,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_783082246",
+      "mask_path": "../../mask/hdr_front_01583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01585.png",
+      "transform_matrix": [
+        [
+          -0.7431318759918213,
+          -0.25065451860427856,
+          -0.6204251050949097,
+          -11.230073928833008
+        ],
+        [
+          0.6689214110374451,
+          -0.30224186182022095,
+          -0.6791127324104309,
+          9.132097244262695
+        ],
+        [
+          -0.017295757308602333,
+          -0.919685959815979,
+          0.3922737240791321,
+          -8.33748722076416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1585,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_983082294",
+      "mask_path": "../../mask/hdr_front_01585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01586.png",
+      "transform_matrix": [
+        [
+          -0.743398904800415,
+          -0.24358639121055603,
+          -0.6229155659675598,
+          -11.187137603759766
+        ],
+        [
+          0.6685602068901062,
+          -0.2979520261287689,
+          -0.6813603043556213,
+          9.166329383850098
+        ],
+        [
+          -0.019628867506980896,
+          -0.9229791164398193,
+          0.38434934616088867,
+          -8.363446235656738
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1586,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_83082437",
+      "mask_path": "../../mask/hdr_front_01586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01587.png",
+      "transform_matrix": [
+        [
+          -0.7452157735824585,
+          -0.2329024076461792,
+          -0.6248279809951782,
+          -11.115909576416016
+        ],
+        [
+          0.6663099527359009,
+          -0.296847403049469,
+          -0.6840415000915527,
+          9.212837219238281
+        ],
+        [
+          -0.026163659989833832,
+          -0.9260875582695007,
+          0.37640058994293213,
+          -8.389266967773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1587,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_183082342",
+      "mask_path": "../../mask/hdr_front_01587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01590.png",
+      "transform_matrix": [
+        [
+          -0.741752564907074,
+          -0.2012157291173935,
+          -0.6397776007652283,
+          -10.99685001373291
+        ],
+        [
+          0.6687224507331848,
+          -0.29460543394088745,
+          -0.6826549768447876,
+          9.284493446350098
+        ],
+        [
+          -0.05112103372812271,
+          -0.934194803237915,
+          0.3530818223953247,
+          -8.41450023651123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1590,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_483081579",
+      "mask_path": "../../mask/hdr_front_01590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01591.png",
+      "transform_matrix": [
+        [
+          -0.7448815703392029,
+          -0.19319117069244385,
+          -0.6386146545410156,
+          -10.957465171813965
+        ],
+        [
+          0.6642797589302063,
+          -0.3041473925113678,
+          -0.6828080415725708,
+          9.342143058776855
+        ],
+        [
+          -0.062320493161678314,
+          -0.9328299164772034,
+          0.3548867702484131,
+          -8.471292495727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1591,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_583081960",
+      "mask_path": "../../mask/hdr_front_01591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01592.png",
+      "transform_matrix": [
+        [
+          -0.7498791813850403,
+          -0.19243140518665314,
+          -0.6329703330993652,
+          -10.928790092468262
+        ],
+        [
+          0.6570114493370056,
+          -0.3287929594516754,
+          -0.678403377532959,
+          9.388084411621094
+        ],
+        [
+          -0.07757006585597992,
+          -0.9245893955230713,
+          0.3729846477508545,
+          -8.498188018798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1592,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_683081388",
+      "mask_path": "../../mask/hdr_front_01592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01594.png",
+      "transform_matrix": [
+        [
+          -0.7521862983703613,
+          -0.2035052627325058,
+          -0.6267387866973877,
+          -10.89500617980957
+        ],
+        [
+          0.6551935076713562,
+          -0.3323964774608612,
+          -0.6784056425094604,
+          9.437402725219727
+        ],
+        [
+          -0.07026666402816772,
+          -0.9209225177764893,
+          0.3833593726158142,
+          -8.513446807861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1594,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_883080720",
+      "mask_path": "../../mask/hdr_front_01594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01595.png",
+      "transform_matrix": [
+        [
+          -0.7507315874099731,
+          -0.21728266775608063,
+          -0.6238511800765991,
+          -10.86868667602539
+        ],
+        [
+          0.6582416892051697,
+          -0.32589033246040344,
+          -0.6786114573478699,
+          9.482484817504883
+        ],
+        [
+          -0.05585659295320511,
+          -0.9200998544692993,
+          0.38768067955970764,
+          -8.553176879882812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1595,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_983081102",
+      "mask_path": "../../mask/hdr_front_01595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01599.png",
+      "transform_matrix": [
+        [
+          -0.7359237670898438,
+          -0.23403239250183105,
+          -0.6353307962417603,
+          -10.75396728515625
+        ],
+        [
+          0.6763230562210083,
+          -0.2979986369609833,
+          -0.6736348867416382,
+          9.643280029296875
+        ],
+        [
+          -0.0316753014922142,
+          -0.9254326820373535,
+          0.37758582830429077,
+          -8.650551795959473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1599,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323424_383081674",
+      "mask_path": "../../mask/hdr_front_01599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01607.png",
+      "transform_matrix": [
+        [
+          -0.8037428855895996,
+          -0.18001000583171844,
+          -0.5670924186706543,
+          -10.592267990112305
+        ],
+        [
+          0.594413697719574,
+          -0.28440290689468384,
+          -0.7521884441375732,
+          9.960095405578613
+        ],
+        [
+          -0.025881268084049225,
+          -0.9416536092758179,
+          0.33558717370033264,
+          -8.760401725769043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1607,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_183082103",
+      "mask_path": "../../mask/hdr_front_01607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01612.png",
+      "transform_matrix": [
+        [
+          -0.8743761777877808,
+          -0.12923546135425568,
+          -0.46772274374961853,
+          -10.514471054077148
+        ],
+        [
+          0.4846339225769043,
+          -0.28108206391334534,
+          -0.8283253908157349,
+          10.145723342895508
+        ],
+        [
+          -0.02441946417093277,
+          -0.9509422779083252,
+          0.308403342962265,
+          -8.803510665893555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1612,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_683081388",
+      "mask_path": "../../mask/hdr_front_01612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01614.png",
+      "transform_matrix": [
+        [
+          -0.8757140636444092,
+          -0.12438994646072388,
+          -0.46653175354003906,
+          -10.497444152832031
+        ],
+        [
+          0.4822894334793091,
+          -0.27106013894081116,
+          -0.8330206274986267,
+          10.212258338928223
+        ],
+        [
+          -0.022838782519102097,
+          -0.9544912576675415,
+          0.29736313223838806,
+          -8.840871810913086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1614,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_883081197",
+      "mask_path": "../../mask/hdr_front_01614.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01619.png",
+      "transform_matrix": [
+        [
+          -0.9048805832862854,
+          -0.08943389356136322,
+          -0.4161643981933594,
+          -10.45041275024414
+        ],
+        [
+          0.4231046736240387,
+          -0.2960582673549652,
+          -0.8563480377197266,
+          10.363645553588867
+        ],
+        [
+          -0.04662235081195831,
+          -0.9509737491607666,
+          0.3057372272014618,
+          -8.925323486328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1619,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_383081197",
+      "mask_path": "../../mask/hdr_front_01619.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01621.png",
+      "transform_matrix": [
+        [
+          -0.9164785146713257,
+          -0.05666728317737579,
+          -0.396050363779068,
+          -10.409324645996094
+        ],
+        [
+          0.3948948085308075,
+          -0.28704169392585754,
+          -0.8727343082427979,
+          10.430856704711914
+        ],
+        [
+          -0.06422749161720276,
+          -0.9562405347824097,
+          0.2854451537132263,
+          -8.927363395690918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1621,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_583081960",
+      "mask_path": "../../mask/hdr_front_01621.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01623.png",
+      "transform_matrix": [
+        [
+          -0.9322787523269653,
+          -0.05677769333124161,
+          -0.3572569191455841,
+          -10.375195503234863
+        ],
+        [
+          0.3568362593650818,
+          -0.3064175248146057,
+          -0.8824830055236816,
+          10.49683666229248
+        ],
+        [
+          -0.0593644380569458,
+          -0.9502024054527283,
+          0.3059268593788147,
+          -8.990362167358398
+        ],
+        [
+          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": "1731323426_783081054",
+      "mask_path": "../../mask/hdr_front_01623.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01625.png",
+      "transform_matrix": [
+        [
+          -0.9488590359687805,
+          -0.07912284135818481,
+          -0.3056238889694214,
+          -10.387430191040039
+        ],
+        [
+          0.31478002667427063,
+          -0.31096184253692627,
+          -0.8967811465263367,
+          10.55260944366455
+        ],
+        [
+          -0.02408149465918541,
+          -0.9471232295036316,
+          0.31996527314186096,
+          -9.04727840423584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1625,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_983080625",
+      "mask_path": "../../mask/hdr_front_01625.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01626.png",
+      "transform_matrix": [
+        [
+          -0.9577236175537109,
+          -0.08944065868854523,
+          -0.2734334468841553,
+          -10.393707275390625
+        ],
+        [
+          0.28766930103302,
+          -0.30910199880599976,
+          -0.9064780473709106,
+          10.607915878295898
+        ],
+        [
+          -0.00344283040612936,
+          -0.9468138217926025,
+          0.32176363468170166,
+          -9.04871654510498
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1626,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_83081007",
+      "mask_path": "../../mask/hdr_front_01626.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01628.png",
+      "transform_matrix": [
+        [
+          -0.9702332615852356,
+          -0.0917772725224495,
+          -0.22410771250724792,
+          -10.393279075622559
+        ],
+        [
+          0.24147088825702667,
+          -0.2962566614151001,
+          -0.9240800142288208,
+          10.688803672790527
+        ],
+        [
+          0.018416136503219604,
+          -0.9506886601448059,
+          0.3095996379852295,
+          -9.038833618164062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1628,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_283080577",
+      "mask_path": "../../mask/hdr_front_01628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01630.png",
+      "transform_matrix": [
+        [
+          -0.9839268326759338,
+          -0.06729071587324142,
+          -0.16540849208831787,
+          -10.415472030639648
+        ],
+        [
+          0.17823633551597595,
+          -0.3132932484149933,
+          -0.9327802658081055,
+          10.810917854309082
+        ],
+        [
+          0.01094608474522829,
+          -0.9472694396972656,
+          0.32025131583213806,
+          -9.10215950012207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1630,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_483080863",
+      "mask_path": "../../mask/hdr_front_01630.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01634.png",
+      "transform_matrix": [
+        [
+          -0.9991729259490967,
+          -0.0003681908128783107,
+          -0.040662236511707306,
+          -10.384330749511719
+        ],
+        [
+          0.03764968737959862,
+          -0.38619154691696167,
+          -0.9216499328613281,
+          10.938300132751465
+        ],
+        [
+          -0.015364070422947407,
+          -0.9224185943603516,
+          0.385886013507843,
+          -9.159158706665039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1634,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_883079051",
+      "mask_path": "../../mask/hdr_front_01634.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01638.png",
+      "transform_matrix": [
+        [
+          -0.9934614896774292,
+          0.08934827893972397,
+          0.07107149064540863,
+          -10.424555778503418
+        ],
+        [
+          -0.1005050539970398,
+          -0.38914358615875244,
+          -0.9156779050827026,
+          11.077330589294434
+        ],
+        [
+          -0.05415722355246544,
+          -0.9168338179588318,
+          0.39557912945747375,
+          -9.260865211486816
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1638,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323428_283077955",
+      "mask_path": "../../mask/hdr_front_01638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01641.png",
+      "transform_matrix": [
+        [
+          -0.9770514369010925,
+          0.110858254134655,
+          0.18188200891017914,
+          -10.445413589477539
+        ],
+        [
+          -0.2107112556695938,
+          -0.37809276580810547,
+          -0.9014691710472107,
+          11.137552261352539
+        ],
+        [
+          -0.03116702102124691,
+          -0.9191062450408936,
+          0.39277511835098267,
+          -9.292999267578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1641,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323428_583078384",
+      "mask_path": "../../mask/hdr_front_01641.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01645.png",
+      "transform_matrix": [
+        [
+          -0.9179341197013855,
+          0.09485600888729095,
+          0.38522636890411377,
+          -10.580337524414062
+        ],
+        [
+          -0.3944280743598938,
+          -0.3227100968360901,
+          -0.8603980541229248,
+          11.169445037841797
+        ],
+        [
+          0.04270251840353012,
+          -0.9417327046394348,
+          0.3336404860019684,
+          -9.282170295715332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1645,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323428_983080863",
+      "mask_path": "../../mask/hdr_front_01645.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01649.png",
+      "transform_matrix": [
+        [
+          -0.8156560659408569,
+          0.13022370636463165,
+          0.5636906027793884,
+          -10.672867774963379
+        ],
+        [
+          -0.5725122690200806,
+          -0.32193368673324585,
+          -0.7540479898452759,
+          11.13228988647461
+        ],
+        [
+          0.08327607810497284,
+          -0.9377635717391968,
+          0.33714181184768677,
+          -9.32613754272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1649,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_383081197",
+      "mask_path": "../../mask/hdr_front_01649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01652.png",
+      "transform_matrix": [
+        [
+          -0.7355461716651917,
+          0.1326061636209488,
+          0.6643699407577515,
+          -10.760540962219238
+        ],
+        [
+          -0.6620391011238098,
+          -0.3488340377807617,
+          -0.663339376449585,
+          11.086589813232422
+        ],
+        [
+          0.14379195868968964,
+          -0.92775559425354,
+          0.34437400102615356,
+          -9.349065780639648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1652,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_683081388",
+      "mask_path": "../../mask/hdr_front_01652.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01654.png",
+      "transform_matrix": [
+        [
+          -0.7211541533470154,
+          0.16878557205200195,
+          0.6718990206718445,
+          -10.80367374420166
+        ],
+        [
+          -0.6814349293708801,
+          -0.347586452960968,
+          -0.6440730690956116,
+          11.131669998168945
+        ],
+        [
+          0.12483277171850204,
+          -0.9223313331604004,
+          0.3656797707080841,
+          -9.409687995910645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1654,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_883080005",
+      "mask_path": "../../mask/hdr_front_01654.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01656.png",
+      "transform_matrix": [
+        [
+          -0.7061424851417542,
+          0.27219563722610474,
+          0.6536607146263123,
+          -10.728731155395508
+        ],
+        [
+          -0.7046660780906677,
+          -0.36055681109428406,
+          -0.611100971698761,
+          11.130361557006836
+        ],
+        [
+          0.06934282928705215,
+          -0.8921369910240173,
+          0.4464115500450134,
+          -9.456351280212402
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1656,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_83082914",
+      "mask_path": "../../mask/hdr_front_01656.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01658.png",
+      "transform_matrix": [
+        [
+          -0.6979835033416748,
+          0.2812115550041199,
+          0.6585886478424072,
+          -10.78706169128418
+        ],
+        [
+          -0.7140803933143616,
+          -0.34256941080093384,
+          -0.610520601272583,
+          11.189831733703613
+        ],
+        [
+          0.05392684042453766,
+          -0.8964186310768127,
+          0.4399154782295227,
+          -9.525547981262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1658,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_283081769",
+      "mask_path": "../../mask/hdr_front_01658.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01659.png",
+      "transform_matrix": [
+        [
+          -0.6898550987243652,
+          0.2767990529537201,
+          0.6689411997795105,
+          -10.82341194152832
+        ],
+        [
+          -0.7231170535087585,
+          -0.30770576000213623,
+          -0.6184002757072449,
+          11.268572807312012
+        ],
+        [
+          0.03466448560357094,
+          -0.9103293418884277,
+          0.41243046522140503,
+          -9.507713317871094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1659,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_383080959",
+      "mask_path": "../../mask/hdr_front_01659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01661.png",
+      "transform_matrix": [
+        [
+          -0.6899020075798035,
+          0.2757549583911896,
+          0.6693239212036133,
+          -10.858047485351562
+        ],
+        [
+          -0.723619282245636,
+          -0.28857487440109253,
+          -0.6269766092300415,
+          11.328927040100098
+        ],
+        [
+          0.02025819942355156,
+          -0.9168881773948669,
+          0.39862993359565735,
+          -9.546613693237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1661,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_583084344",
+      "mask_path": "../../mask/hdr_front_01661.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01662.png",
+      "transform_matrix": [
+        [
+          -0.6852558851242065,
+          0.2836272418498993,
+          0.6708055138587952,
+          -10.900185585021973
+        ],
+        [
+          -0.7282488346099854,
+          -0.2780223786830902,
+          -0.6263842582702637,
+          11.351966857910156
+        ],
+        [
+          0.008839315734803677,
+          -0.9177468419075012,
+          0.3970676362514496,
+          -9.59282398223877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1662,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_683082103",
+      "mask_path": "../../mask/hdr_front_01662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01663.png",
+      "transform_matrix": [
+        [
+          -0.6699339151382446,
+          0.3374989330768585,
+          0.6612737774848938,
+          -10.93074893951416
+        ],
+        [
+          -0.7421566843986511,
+          -0.2806854546070099,
+          -0.6086207628250122,
+          11.380331039428711
+        ],
+        [
+          -0.019798923283815384,
+          -0.8985044360160828,
+          0.4385177791118622,
+          -9.62543773651123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1663,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_783081531",
+      "mask_path": "../../mask/hdr_front_01663.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01666.png",
+      "transform_matrix": [
+        [
+          -0.6177614331245422,
+          0.3656819760799408,
+          0.6961662769317627,
+          -10.996685981750488
+        ],
+        [
+          -0.7863182425498962,
+          -0.29697471857070923,
+          -0.5417653918266296,
+          11.388347625732422
+        ],
+        [
+          0.008629923686385155,
+          -0.8820899724960327,
+          0.4710019528865814,
+          -9.676095962524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1666,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_83083152",
+      "mask_path": "../../mask/hdr_front_01666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01670.png",
+      "transform_matrix": [
+        [
+          -0.4775215983390808,
+          0.30818668007850647,
+          0.8227965831756592,
+          -11.149519920349121
+        ],
+        [
+          -0.876774251461029,
+          -0.227814182639122,
+          -0.42351824045181274,
+          11.39806079864502
+        ],
+        [
+          0.05692203715443611,
+          -0.9236459136009216,
+          0.3789963126182556,
+          -9.660930633544922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1670,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_483082056",
+      "mask_path": "../../mask/hdr_front_01670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01671.png",
+      "transform_matrix": [
+        [
+          -0.46431607007980347,
+          0.3062303364276886,
+          0.8310437202453613,
+          -11.198939323425293
+        ],
+        [
+          -0.8839467763900757,
+          -0.2187272310256958,
+          -0.4132753014564514,
+          11.394533157348633
+        ],
+        [
+          0.055214472115039825,
+          -0.9264887571334839,
+          0.37224990129470825,
+          -9.687638282775879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1671,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_583081245",
+      "mask_path": "../../mask/hdr_front_01671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01674.png",
+      "transform_matrix": [
+        [
+          -0.4418831169605255,
+          0.3497195839881897,
+          0.8260966539382935,
+          -11.249834060668945
+        ],
+        [
+          -0.8962039947509766,
+          -0.21261443197727203,
+          -0.3893757462501526,
+          11.397228240966797
+        ],
+        [
+          0.039467718452215195,
+          -0.9124096632003784,
+          0.4073708653450012,
+          -9.716238021850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1674,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_883080959",
+      "mask_path": "../../mask/hdr_front_01674.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01676.png",
+      "transform_matrix": [
+        [
+          -0.42843759059906006,
+          0.331159383058548,
+          0.8406990766525269,
+          -11.320911407470703
+        ],
+        [
+          -0.9019151926040649,
+          -0.21304428577423096,
+          -0.37571439146995544,
+          11.411395072937012
+        ],
+        [
+          0.05468476563692093,
+          -0.9192093014717102,
+          0.3899537920951843,
+          -9.754866600036621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1676,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_83080768",
+      "mask_path": "../../mask/hdr_front_01676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01678.png",
+      "transform_matrix": [
+        [
+          -0.3752453327178955,
+          0.30830445885658264,
+          0.8741506934165955,
+          -11.410116195678711
+        ],
+        [
+          -0.9252287149429321,
+          -0.18161852657794952,
+          -0.33311644196510315,
+          11.435505867004395
+        ],
+        [
+          0.05606064945459366,
+          -0.9337896704673767,
+          0.35340365767478943,
+          -9.759517669677734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1678,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_283080816",
+      "mask_path": "../../mask/hdr_front_01678.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01680.png",
+      "transform_matrix": [
+        [
+          -0.30872029066085815,
+          0.2781115472316742,
+          0.9095855355262756,
+          -11.50217342376709
+        ],
+        [
+          -0.9475941061973572,
+          -0.1725764125585556,
+          -0.26885437965393066,
+          11.418732643127441
+        ],
+        [
+          0.08220147341489792,
+          -0.9449187517166138,
+          0.31681469082832336,
+          -9.784858703613281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1680,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_483081102",
+      "mask_path": "../../mask/hdr_front_01680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01681.png",
+      "transform_matrix": [
+        [
+          -0.26421210169792175,
+          0.28890129923820496,
+          0.920178234577179,
+          -11.5556640625
+        ],
+        [
+          -0.9616174697875977,
+          -0.15216535329818726,
+          -0.22833646833896637,
+          11.402498245239258
+        ],
+        [
+          0.07405254244804382,
+          -0.9451887607574463,
+          0.31801649928092957,
+          -9.789506912231445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1681,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_583081245",
+      "mask_path": "../../mask/hdr_front_01681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01686.png",
+      "transform_matrix": [
+        [
+          -0.11988437175750732,
+          0.2853761911392212,
+          0.9508881568908691,
+          -11.674921989440918
+        ],
+        [
+          -0.9880774021148682,
+          -0.12748835980892181,
+          -0.08631183952093124,
+          11.317895889282227
+        ],
+        [
+          0.09659580141305923,
+          -0.9498984813690186,
+          0.297257661819458,
+          -9.769402503967285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1686,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_83081245",
+      "mask_path": "../../mask/hdr_front_01686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01689.png",
+      "transform_matrix": [
+        [
+          -0.12286046892404556,
+          0.24871838092803955,
+          0.9607520699501038,
+          -11.773120880126953
+        ],
+        [
+          -0.9879844784736633,
+          -0.12211915105581284,
+          -0.09472887217998505,
+          11.307746887207031
+        ],
+        [
+          0.09376541525125504,
+          -0.9608466029167175,
+          0.2607335150241852,
+          -9.774920463562012
+        ],
+        [
+          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": "1731323433_383080959",
+      "mask_path": "../../mask/hdr_front_01689.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01691.png",
+      "transform_matrix": [
+        [
+          -0.11905191093683243,
+          0.22759832441806793,
+          0.9664500951766968,
+          -11.854482650756836
+        ],
+        [
+          -0.986929178237915,
+          -0.13360781967639923,
+          -0.09011008590459824,
+          11.281085014343262
+        ],
+        [
+          0.10861636698246002,
+          -0.964545488357544,
+          0.24052967131137848,
+          -9.802138328552246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1691,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_583081007",
+      "mask_path": "../../mask/hdr_front_01691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01693.png",
+      "transform_matrix": [
+        [
+          -0.1105441153049469,
+          0.2181963473558426,
+          0.9696238040924072,
+          -11.944184303283691
+        ],
+        [
+          -0.989372730255127,
+          -0.11687706410884857,
+          -0.0864945724606514,
+          11.253632545471191
+        ],
+        [
+          0.09445397555828094,
+          -0.9688808917999268,
+          0.22879761457443237,
+          -9.81956958770752
+        ],
+        [
+          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": "1731323433_783081054",
+      "mask_path": "../../mask/hdr_front_01693.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01694.png",
+      "transform_matrix": [
+        [
+          -0.10676570236682892,
+          0.20873792469501495,
+          0.9721263647079468,
+          -11.99884033203125
+        ],
+        [
+          -0.9911617636680603,
+          -0.09976878762245178,
+          -0.08743364363908768,
+          11.264606475830078
+        ],
+        [
+          0.07873714715242386,
+          -0.972869336605072,
+          0.21754491329193115,
+          -9.816119194030762
+        ],
+        [
+          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": "1731323433_883080959",
+      "mask_path": "../../mask/hdr_front_01694.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01695.png",
+      "transform_matrix": [
+        [
+          -0.10214465111494064,
+          0.19082742929458618,
+          0.9762946963310242,
+          -12.053094863891602
+        ],
+        [
+          -0.9927018880844116,
+          -0.08279910683631897,
+          -0.08767726272344589,
+          11.278260231018066
+        ],
+        [
+          0.06410510092973709,
+          -0.9781253933906555,
+          0.1978922337293625,
+          -9.817069053649902
+        ],
+        [
+          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": "1731323433_983082056",
+      "mask_path": "../../mask/hdr_front_01695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01696.png",
+      "transform_matrix": [
+        [
+          -0.09888626635074615,
+          0.16808347404003143,
+          0.980800449848175,
+          -12.122550964355469
+        ],
+        [
+          -0.9935582876205444,
+          -0.07149883359670639,
+          -0.08791951090097427,
+          11.286881446838379
+        ],
+        [
+          0.055348265916109085,
+          -0.9831764101982117,
+          0.17407098412513733,
+          -9.836786270141602
+        ],
+        [
+          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": "1731323434_83081245",
+      "mask_path": "../../mask/hdr_front_01696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01697.png",
+      "transform_matrix": [
+        [
+          -0.09485901892185211,
+          0.15879414975643158,
+          0.9827442765235901,
+          -12.19365119934082
+        ],
+        [
+          -0.9941778182983398,
+          -0.06579610705375671,
+          -0.08533116430044174,
+          11.291084289550781
+        ],
+        [
+          0.051110655069351196,
+          -0.9851168990135193,
+          0.1641109734773636,
+          -9.85648250579834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1697,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323434_183081865",
+      "mask_path": "../../mask/hdr_front_01697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01699.png",
+      "transform_matrix": [
+        [
+          -0.08662032335996628,
+          0.14791478216648102,
+          0.9851996302604675,
+          -12.271501541137695
+        ],
+        [
+          -0.9946771264076233,
+          -0.06823594123125076,
+          -0.07720888406038284,
+          11.284777641296387
+        ],
+        [
+          0.05580567941069603,
+          -0.986643373966217,
+          0.15303808450698853,
+          -9.8778715133667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1699,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323434_383082151",
+      "mask_path": "../../mask/hdr_front_01699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01703.png",
+      "transform_matrix": [
+        [
+          -0.09583985805511475,
+          0.11827236413955688,
+          0.9883453249931335,
+          -12.327585220336914
+        ],
+        [
+          -0.9951242208480835,
+          -0.034618306905031204,
+          -0.09235454350709915,
+          11.299566268920898
+        ],
+        [
+          0.023291844874620438,
+          -0.9923775792121887,
+          0.12101350724697113,
+          -9.855382919311523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1703,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323434_783081531",
+      "mask_path": "../../mask/hdr_front_01703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01705.png",
+      "transform_matrix": [
+        [
+          -0.1028045266866684,
+          0.1014275848865509,
+          0.9895169138908386,
+          -12.38745403289795
+        ],
+        [
+          -0.9946792125701904,
+          -0.017143089324235916,
+          -0.10158366709947586,
+          11.339958190917969
+        ],
+        [
+          0.006659992039203644,
+          -0.994695246219635,
+          0.10265029221773148,
+          -9.840627670288086
+        ],
+        [
+          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": "1731323434_983082294",
+      "mask_path": "../../mask/hdr_front_01705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01708.png",
+      "transform_matrix": [
+        [
+          -0.1021500676870346,
+          0.0867302194237709,
+          0.9909809827804565,
+          -12.379877090454102
+        ],
+        [
+          -0.9947637915611267,
+          -0.005681084003299475,
+          -0.1020428016781807,
+          11.399822235107422
+        ],
+        [
+          -0.003220347221940756,
+          -0.9962157011032104,
+          0.0868564024567604,
+          -9.854883193969727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1708,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323435_283082008",
+      "mask_path": "../../mask/hdr_front_01708.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01710.png",
+      "transform_matrix": [
+        [
+          -0.11673586815595627,
+          0.08321672677993774,
+          0.9896705746650696,
+          -12.39405632019043
+        ],
+        [
+          -0.9930262565612793,
+          0.006758176255971193,
+          -0.11769995838403702,
+          11.476200103759766
+        ],
+        [
+          -0.016482971608638763,
+          -0.9965085387229919,
+          0.08184748142957687,
+          -9.839471817016602
+        ],
+        [
+          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": "1731323435_483082294",
+      "mask_path": "../../mask/hdr_front_01710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01712.png",
+      "transform_matrix": [
+        [
+          -0.131835475564003,
+          0.06954604387283325,
+          0.9888289570808411,
+          -12.367201805114746
+        ],
+        [
+          -0.9906182289123535,
+          0.02697141468524933,
+          -0.1339709609746933,
+          11.536942481994629
+        ],
+        [
+          -0.03598726913332939,
+          -0.9972140789031982,
+          0.06533779203891754,
+          -9.817397117614746
+        ],
+        [
+          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": "1731323435_683081388",
+      "mask_path": "../../mask/hdr_front_01712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01720.png",
+      "transform_matrix": [
+        [
+          -0.15373246371746063,
+          0.04123484715819359,
+          0.9872517585754395,
+          -12.409621238708496
+        ],
+        [
+          -0.988050103187561,
+          -0.0176396481692791,
+          -0.15312005579471588,
+          11.564473152160645
+        ],
+        [
+          0.0111008919775486,
+          -0.9989937543869019,
+          0.0434538796544075,
+          -9.830865859985352
+        ],
+        [
+          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": "1731323436_483081102",
+      "mask_path": "../../mask/hdr_front_01720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01772.png",
+      "transform_matrix": [
+        [
+          -0.13872800767421722,
+          0.003257249016314745,
+          0.9903251528739929,
+          -12.66568660736084
+        ],
+        [
+          -0.9899738430976868,
+          -0.027293963357806206,
+          -0.1385890245437622,
+          11.619668006896973
+        ],
+        [
+          0.026578480377793312,
+          -0.9996221661567688,
+          0.0070110284723341465,
+          -9.813658714294434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1772,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323441_683081865",
+      "mask_path": "../../mask/hdr_front_01772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01774.png",
+      "transform_matrix": [
+        [
+          -0.12437349557876587,
+          0.011731651611626148,
+          0.9921661019325256,
+          -12.74906063079834
+        ],
+        [
+          -0.9920795559883118,
+          -0.019198354333639145,
+          -0.12413562089204788,
+          11.610658645629883
+        ],
+        [
+          0.01759164221584797,
+          -0.9997469186782837,
+          0.01402649562805891,
+          -9.826316833496094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1774,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323441_883082151",
+      "mask_path": "../../mask/hdr_front_01774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01776.png",
+      "transform_matrix": [
+        [
+          -0.11725211888551712,
+          0.026101842522621155,
+          0.992759108543396,
+          -12.818371772766113
+        ],
+        [
+          -0.9928163290023804,
+          -0.02706204168498516,
+          -0.1165473684668541,
+          11.600341796875
+        ],
+        [
+          0.02382398582994938,
+          -0.9992929697036743,
+          0.02908741869032383,
+          -9.840664863586426
+        ],
+        [
+          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": "1731323442_83080053",
+      "mask_path": "../../mask/hdr_front_01776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01778.png",
+      "transform_matrix": [
+        [
+          -0.13042765855789185,
+          0.04425382986664772,
+          0.9904698133468628,
+          -12.873645782470703
+        ],
+        [
+          -0.9913366436958313,
+          -0.021439293399453163,
+          -0.1295839548110962,
+          11.613652229309082
+        ],
+        [
+          0.01550038531422615,
+          -0.9987902641296387,
+          0.046666719019412994,
+          -9.852256774902344
+        ],
+        [
+          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": "1731323442_283080816",
+      "mask_path": "../../mask/hdr_front_01778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01781.png",
+      "transform_matrix": [
+        [
+          -0.14094938337802887,
+          0.07938822358846664,
+          0.986828625202179,
+          -12.932579040527344
+        ],
+        [
+          -0.9900163412094116,
+          -0.010366137139499187,
+          -0.1405707746744156,
+          11.623804092407227
+        ],
+        [
+          -0.0009300617966800928,
+          -0.9967898726463318,
+          0.08005674183368683,
+          -9.885908126831055
+        ],
+        [
+          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": "1731323442_583077907",
+      "mask_path": "../../mask/hdr_front_01781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01784.png",
+      "transform_matrix": [
+        [
+          -0.13324803113937378,
+          0.10420537739992142,
+          0.985589325428009,
+          -12.977801322937012
+        ],
+        [
+          -0.9909999966621399,
+          -0.0011579871643334627,
+          -0.1338571161031723,
+          11.649782180786133
+        ],
+        [
+          -0.0128073301166296,
+          -0.9945551753044128,
+          0.10342182964086533,
+          -9.923049926757812
+        ],
+        [
+          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": "1731323442_883080720",
+      "mask_path": "../../mask/hdr_front_01784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01787.png",
+      "transform_matrix": [
+        [
+          -0.14248132705688477,
+          0.13319779932498932,
+          0.9807942509651184,
+          -13.027902603149414
+        ],
+        [
+          -0.9897952675819397,
+          -0.021270660683512688,
+          -0.14090020954608917,
+          11.658655166625977
+        ],
+        [
+          0.002094545168802142,
+          -0.9908612966537476,
+          0.13486924767494202,
+          -9.940377235412598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1787,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323443_183081150",
+      "mask_path": "../../mask/hdr_front_01787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01794.png",
+      "transform_matrix": [
+        [
+          -0.14294858276844025,
+          0.14489704370498657,
+          0.9790661931037903,
+          -13.0743989944458
+        ],
+        [
+          -0.9896838665008545,
+          -0.011365663260221481,
+          -0.14281676709651947,
+          11.677701950073242
+        ],
+        [
+          -0.009565987624228,
+          -0.9893814921379089,
+          0.14502696692943573,
+          -9.96336555480957
+        ],
+        [
+          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": "1731323443_883082389",
+      "mask_path": "../../mask/hdr_front_01794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01796.png",
+      "transform_matrix": [
+        [
+          -0.13556119799613953,
+          0.15929639339447021,
+          0.9778792262077332,
+          -13.151416778564453
+        ],
+        [
+          -0.9907687902450562,
+          -0.022265322506427765,
+          -0.13372103869915009,
+          11.696908950805664
+        ],
+        [
+          0.000471521052531898,
+          -0.9869796633720398,
+          0.16084422171115875,
+          -10.000467300415039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1796,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323444_83082199",
+      "mask_path": "../../mask/hdr_front_01796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01798.png",
+      "transform_matrix": [
+        [
+          -0.14543968439102173,
+          0.20039644837379456,
+          0.9688594937324524,
+          -13.212560653686523
+        ],
+        [
+          -0.9893408417701721,
+          -0.03660456836223602,
+          -0.14094305038452148,
+          11.705927848815918
+        ],
+        [
+          0.007220198400318623,
+          -0.9790309071540833,
+          0.20358414947986603,
+          -10.040895462036133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1798,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323444_283080101",
+      "mask_path": "../../mask/hdr_front_01798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01800.png",
+      "transform_matrix": [
+        [
+          -0.1554323136806488,
+          0.22686050832271576,
+          0.9614442586898804,
+          -13.293800354003906
+        ],
+        [
+          -0.9878408908843994,
+          -0.038998596370220184,
+          -0.150497704744339,
+          11.707472801208496
+        ],
+        [
+          0.0033529989887028933,
+          -0.9731461405754089,
+          0.23016370832920074,
+          -10.085811614990234
+        ],
+        [
+          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": "1731323444_483082532",
+      "mask_path": "../../mask/hdr_front_01800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01808.png",
+      "transform_matrix": [
+        [
+          -0.15176653861999512,
+          0.32442963123321533,
+          0.9336554408073425,
+          -13.609092712402344
+        ],
+        [
+          -0.9883038997650146,
+          -0.06405949592590332,
+          -0.13839010894298553,
+          11.664109230041504
+        ],
+        [
+          0.014911639504134655,
+          -0.9437382221221924,
+          0.3303571343421936,
+          -10.221037864685059
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1808,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323445_283081531",
+      "mask_path": "../../mask/hdr_front_01808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01811.png",
+      "transform_matrix": [
+        [
+          -0.09822022914886475,
+          0.3742902874946594,
+          0.9220952391624451,
+          -13.671491622924805
+        ],
+        [
+          -0.9951308965682983,
+          -0.029298441484570503,
+          -0.09410727024078369,
+          11.65306568145752
+        ],
+        [
+          -0.00820748321712017,
+          -0.9268485903739929,
+          0.37534549832344055,
+          -10.249106407165527
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1811,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323445_583081722",
+      "mask_path": "../../mask/hdr_front_01811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01812.png",
+      "transform_matrix": [
+        [
+          -0.07905322313308716,
+          0.38016536831855774,
+          0.9215340614318848,
+          -13.716329574584961
+        ],
+        [
+          -0.9968639612197876,
+          -0.0334818996489048,
+          -0.07170288264751434,
+          11.649073600769043
+        ],
+        [
+          0.0035957559011876583,
+          -0.9243123531341553,
+          0.38161996006965637,
+          -10.284536361694336
+        ],
+        [
+          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": "1731323445_683081626",
+      "mask_path": "../../mask/hdr_front_01812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01814.png",
+      "transform_matrix": [
+        [
+          -0.046546995639801025,
+          0.3828875720500946,
+          0.922621488571167,
+          -13.793355941772461
+        ],
+        [
+          -0.9985799789428711,
+          -0.041794322431087494,
+          -0.03303453326225281,
+          11.626728057861328
+        ],
+        [
+          0.025911834090948105,
+          -0.9228490591049194,
+          0.3842892348766327,
+          -10.333085060119629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1814,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323445_883081912",
+      "mask_path": "../../mask/hdr_front_01814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01815.png",
+      "transform_matrix": [
+        [
+          -0.04488716647028923,
+          0.3719448447227478,
+          0.9271689653396606,
+          -13.846843719482422
+        ],
+        [
+          -0.9985260367393494,
+          -0.045051250606775284,
+          -0.030268948525190353,
+          11.61901569366455
+        ],
+        [
+          0.030511735007166862,
+          -0.9271609783172607,
+          0.3734188675880432,
+          -10.361696243286133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1815,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323445_983081340",
+      "mask_path": "../../mask/hdr_front_01815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01816.png",
+      "transform_matrix": [
+        [
+          -0.04782358184456825,
+          0.3637736141681671,
+          0.9302589893341064,
+          -13.932984352111816
+        ],
+        [
+          -0.9984205365180969,
+          -0.04490042105317116,
+          -0.03376958519220352,
+          11.605903625488281
+        ],
+        [
+          0.02948453463613987,
+          -0.9304046034812927,
+          0.3653463125228882,
+          -10.383596420288086
+        ],
+        [
+          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": "1731323446_83081960",
+      "mask_path": "../../mask/hdr_front_01816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01819.png",
+      "transform_matrix": [
+        [
+          -0.046425674110651016,
+          0.36193975806236267,
+          0.9310447573661804,
+          -14.077777862548828
+        ],
+        [
+          -0.9979017376899719,
+          -0.05891209468245506,
+          -0.026857608929276466,
+          11.57055377960205
+        ],
+        [
+          0.0451289564371109,
+          -0.9303380846977234,
+          0.363915354013443,
+          -10.45151138305664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1819,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_383082389",
+      "mask_path": "../../mask/hdr_front_01819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01820.png",
+      "transform_matrix": [
+        [
+          -0.055687591433525085,
+          0.3694559335708618,
+          0.9275782108306885,
+          -14.134519577026367
+        ],
+        [
+          -0.997218132019043,
+          -0.06668226420879364,
+          -0.03330881521105766,
+          11.561015129089355
+        ],
+        [
+          0.049546871334314346,
+          -0.9268526434898376,
+          0.3721415400505066,
+          -10.483513832092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1820,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_483082056",
+      "mask_path": "../../mask/hdr_front_01820.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01821.png",
+      "transform_matrix": [
+        [
+          -0.06324194371700287,
+          0.37218400835990906,
+          0.9260019659996033,
+          -14.2006254196167
+        ],
+        [
+          -0.9971563816070557,
+          -0.061668723821640015,
+          -0.04331523925065994,
+          11.554648399353027
+        ],
+        [
+          0.04098412021994591,
+          -0.9261081218719482,
+          0.3750256597995758,
+          -10.499831199645996
+        ],
+        [
+          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": "1731323446_583082437",
+      "mask_path": "../../mask/hdr_front_01821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01823.png",
+      "transform_matrix": [
+        [
+          -0.05717062950134277,
+          0.37075164914131165,
+          0.9269707798957825,
+          -14.319504737854004
+        ],
+        [
+          -0.9983325004577637,
+          -0.028653807938098907,
+          -0.05011146143078804,
+          11.546704292297363
+        ],
+        [
+          0.007982335984706879,
+          -0.9282899498939514,
+          0.37177154421806335,
+          -10.560063362121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1823,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_783082962",
+      "mask_path": "../../mask/hdr_front_01823.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01824.png",
+      "transform_matrix": [
+        [
+          -0.05492565780878067,
+          0.37566128373146057,
+          0.9251279830932617,
+          -14.398404121398926
+        ],
+        [
+          -0.998421311378479,
+          -0.009755996987223625,
+          -0.05531558021903038,
+          11.549931526184082
+        ],
+        [
+          -0.01175437681376934,
+          -0.9267057180404663,
+          0.3756040632724762,
+          -10.60112190246582
+        ],
+        [
+          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": "1731323446_883081674",
+      "mask_path": "../../mask/hdr_front_01824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01825.png",
+      "transform_matrix": [
+        [
+          -0.0573720820248127,
+          0.376677542924881,
+          0.9245661497116089,
+          -14.447134017944336
+        ],
+        [
+          -0.9982241988182068,
+          -0.006774230860173702,
+          -0.05918290093541145,
+          11.553424835205078
+        ],
+        [
+          -0.01602964475750923,
+          -0.9263197183609009,
+          0.3763972520828247,
+          -10.632770538330078
+        ],
+        [
+          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": "1731323446_983082532",
+      "mask_path": "../../mask/hdr_front_01825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01826.png",
+      "transform_matrix": [
+        [
+          -0.058099955320358276,
+          0.3680625855922699,
+          0.9279840588569641,
+          -14.504261016845703
+        ],
+        [
+          -0.9981387257575989,
+          -0.004159892443567514,
+          -0.06084233894944191,
+          11.563334465026855
+        ],
+        [
+          -0.01853347010910511,
+          -0.9297917485237122,
+          0.3676191568374634,
+          -10.6613187789917
+        ],
+        [
+          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": "1731323447_83081483",
+      "mask_path": "../../mask/hdr_front_01826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01827.png",
+      "transform_matrix": [
+        [
+          -0.05232726037502289,
+          0.35660070180892944,
+          0.9327903389930725,
+          -14.5916748046875
+        ],
+        [
+          -0.9980813264846802,
+          0.012283417396247387,
+          -0.06068580970168114,
+          11.593053817749023
+        ],
+        [
+          -0.03309845179319382,
+          -0.9341762065887451,
+          0.3552737236022949,
+          -10.686521530151367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1827,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_183082103",
+      "mask_path": "../../mask/hdr_front_01827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01828.png",
+      "transform_matrix": [
+        [
+          -0.048881180584430695,
+          0.3473385274410248,
+          0.9364649653434753,
+          -14.657024383544922
+        ],
+        [
+          -0.9975417852401733,
+          0.0301559716463089,
+          -0.06325419992208481,
+          11.616217613220215
+        ],
+        [
+          -0.050210632383823395,
+          -0.9372548460960388,
+          0.3450106084346771,
+          -10.698323249816895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1828,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_283081769",
+      "mask_path": "../../mask/hdr_front_01828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01830.png",
+      "transform_matrix": [
+        [
+          -0.05464979261159897,
+          0.32720986008644104,
+          0.9433701634407043,
+          -14.748238563537598
+        ],
+        [
+          -0.9962038397789001,
+          0.0462460033595562,
+          -0.07375099509954453,
+          11.647619247436523
+        ],
+        [
+          -0.06775915622711182,
+          -0.9438194632530212,
+          0.32344040274620056,
+          -10.716041564941406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1830,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_483082771",
+      "mask_path": "../../mask/hdr_front_01830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01831.png",
+      "transform_matrix": [
+        [
+          -0.055720504373311996,
+          0.3153253197669983,
+          0.9473464488983154,
+          -14.805827140808105
+        ],
+        [
+          -0.9956029057502747,
+          0.054009776562452316,
+          -0.07653604447841644,
+          11.657807350158691
+        ],
+        [
+          -0.0752997174859047,
+          -0.9474455118179321,
+          0.3109293282032013,
+          -10.734052658081055
+        ],
+        [
+          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": "1731323447_583083391",
+      "mask_path": "../../mask/hdr_front_01831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01832.png",
+      "transform_matrix": [
+        [
+          -0.05505988746881485,
+          0.3035371005535126,
+          0.9512274861335754,
+          -14.869800567626953
+        ],
+        [
+          -0.9956181049346924,
+          0.05542570725083351,
+          -0.07531572878360748,
+          11.665573120117188
+        ],
+        [
+          -0.0755835697054863,
+          -0.9512062668800354,
+          0.2991552948951721,
+          -10.728510856628418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1832,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_683081865",
+      "mask_path": "../../mask/hdr_front_01832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01834.png",
+      "transform_matrix": [
+        [
+          -0.057784419506788254,
+          0.2762315571308136,
+          0.9593524932861328,
+          -14.979727745056152
+        ],
+        [
+          -0.9966124892234802,
+          0.04036720097064972,
+          -0.07165183871984482,
+          11.663135528564453
+        ],
+        [
+          -0.05851886793971062,
+          -0.9602430462837219,
+          0.27296319603919983,
+          -10.738862991333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1834,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_883081912",
+      "mask_path": "../../mask/hdr_front_01834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01835.png",
+      "transform_matrix": [
+        [
+          -0.05887681990861893,
+          0.264859139919281,
+          0.9624881148338318,
+          -15.04654312133789
+        ],
+        [
+          -0.9969401955604553,
+          0.03405993431806564,
+          -0.07035698741674423,
+          11.662699699401855
+        ],
+        [
+          -0.05141696333885193,
+          -0.9636853933334351,
+          0.26204338669776917,
+          -10.756765365600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1835,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_983082056",
+      "mask_path": "../../mask/hdr_front_01835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01836.png",
+      "transform_matrix": [
+        [
+          -0.06239476427435875,
+          0.25480881333351135,
+          0.9649763703346252,
+          -15.122846603393555
+        ],
+        [
+          -0.9968529343605042,
+          0.031460706144571304,
+          -0.07276330143213272,
+          11.664689064025879
+        ],
+        [
+          -0.0488995723426342,
+          -0.9664795994758606,
+          0.2520439624786377,
+          -10.763795852661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1836,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_83082437",
+      "mask_path": "../../mask/hdr_front_01836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_01837.png",
+      "transform_matrix": [
+        [
+          -0.06903433054685593,
+          0.2410537302494049,
+          0.96805340051651,
+          -15.195425987243652
+        ],
+        [
+          -0.9964436888694763,
+          0.03033379837870598,
+          -0.07861229032278061,
+          11.668490409851074
+        ],
+        [
+          -0.04831451550126076,
+          -0.9700376391410828,
+          0.23810237646102905,
+          -10.762989044189453
+        ],
+        [
+          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": "1731323448_183081626",
+      "mask_path": "../../mask/hdr_front_01837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07735.png",
+      "transform_matrix": [
+        [
+          0.09145858138799667,
+          0.032700490206480026,
+          -0.9952718019485474,
+          -14.69533920288086
+        ],
+        [
+          0.9955976009368896,
+          -0.02359027974307537,
+          0.09071343392133713,
+          11.808368682861328
+        ],
+        [
+          -0.02051236480474472,
+          -0.9991867542266846,
+          -0.034714069217443466,
+          -10.698760986328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7735,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_983080148",
+      "mask_path": "../../mask/hdr_front_07735.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07737.png",
+      "transform_matrix": [
+        [
+          0.09053122252225876,
+          0.03647685423493385,
+          -0.9952253699302673,
+          -14.607529640197754
+        ],
+        [
+          0.9953703880310059,
+          -0.03570415824651718,
+          0.08923579007387161,
+          11.804608345031738
+        ],
+        [
+          -0.0322786420583725,
+          -0.998696506023407,
+          -0.03954032063484192,
+          -10.7050199508667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7737,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_183082818",
+      "mask_path": "../../mask/hdr_front_07737.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07738.png",
+      "transform_matrix": [
+        [
+          0.09365322440862656,
+          0.03738224506378174,
+          -0.9949028491973877,
+          -14.529229164123535
+        ],
+        [
+          0.9952470660209656,
+          -0.03030380792915821,
+          0.09254699945449829,
+          11.795872688293457
+        ],
+        [
+          -0.02668972685933113,
+          -0.9988414645195007,
+          -0.04004262015223503,
+          -10.690712928771973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7738,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_283081769",
+      "mask_path": "../../mask/hdr_front_07738.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07739.png",
+      "transform_matrix": [
+        [
+          0.10286515206098557,
+          0.040340226143598557,
+          -0.9938769936561584,
+          -14.460176467895508
+        ],
+        [
+          0.9945793747901917,
+          -0.019426146522164345,
+          0.10214937478303909,
+          11.787773132324219
+        ],
+        [
+          -0.015186470933258533,
+          -0.998997151851654,
+          -0.0421198308467865,
+          -10.678495407104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7739,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_383080959",
+      "mask_path": "../../mask/hdr_front_07739.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07741.png",
+      "transform_matrix": [
+        [
+          0.12156262248754501,
+          0.07600457221269608,
+          -0.9896696209907532,
+          -14.313490867614746
+        ],
+        [
+          0.9925434589385986,
+          -0.0003274412883911282,
+          0.12189048528671265,
+          11.781936645507812
+        ],
+        [
+          0.008940174244344234,
+          -0.9971075057983398,
+          -0.07547762989997864,
+          -10.646772384643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7741,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_583081483",
+      "mask_path": "../../mask/hdr_front_07741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07742.png",
+      "transform_matrix": [
+        [
+          0.12031954526901245,
+          0.0976620689034462,
+          -0.9879196882247925,
+          -14.208599090576172
+        ],
+        [
+          0.9927164316177368,
+          -0.005715714301913977,
+          0.12033868581056595,
+          11.788766860961914
+        ],
+        [
+          0.006105858366936445,
+          -0.9952032566070557,
+          -0.09763845801353455,
+          -10.627994537353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7742,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_683082342",
+      "mask_path": "../../mask/hdr_front_07742.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07743.png",
+      "transform_matrix": [
+        [
+          0.11623749881982803,
+          0.10575713217258453,
+          -0.9875749945640564,
+          -14.147868156433105
+        ],
+        [
+          0.9932047724723816,
+          -0.01814095675945282,
+          0.11495745927095413,
+          11.787459373474121
+        ],
+        [
+          -0.005757983308285475,
+          -0.9942265152931213,
+          -0.10714714229106903,
+          -10.610373497009277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7743,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_783082246",
+      "mask_path": "../../mask/hdr_front_07743.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07744.png",
+      "transform_matrix": [
+        [
+          0.11613933742046356,
+          0.11599583178758621,
+          -0.9864363074302673,
+          -14.093267440795898
+        ],
+        [
+          0.9931407570838928,
+          -0.027087368071079254,
+          0.11374347656965256,
+          11.787629127502441
+        ],
+        [
+          -0.0135261882096529,
+          -0.9928802847862244,
+          -0.11834610998630524,
+          -10.590874671936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7744,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_883083581",
+      "mask_path": "../../mask/hdr_front_07744.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07745.png",
+      "transform_matrix": [
+        [
+          0.1252460777759552,
+          0.14130276441574097,
+          -0.9820116758346558,
+          -14.011069297790527
+        ],
+        [
+          0.9919414520263672,
+          -0.03690942004323006,
+          0.12120158970355988,
+          11.7661771774292
+        ],
+        [
+          -0.01911935955286026,
+          -0.9892781972885132,
+          -0.14478683471679688,
+          -10.539497375488281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7745,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_983082294",
+      "mask_path": "../../mask/hdr_front_07745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07746.png",
+      "transform_matrix": [
+        [
+          0.14253126084804535,
+          0.16598251461982727,
+          -0.9757738709449768,
+          -13.930717468261719
+        ],
+        [
+          0.9896453022956848,
+          -0.04077247157692909,
+          0.1376219242811203,
+          11.736631393432617
+        ],
+        [
+          -0.01694188080728054,
+          -0.9852854609489441,
+          -0.17007514834403992,
+          -10.493416786193848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7746,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_83082199",
+      "mask_path": "../../mask/hdr_front_07746.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07747.png",
+      "transform_matrix": [
+        [
+          0.1550387591123581,
+          0.17648081481456757,
+          -0.972017228603363,
+          -13.87812328338623
+        ],
+        [
+          0.9878319501876831,
+          -0.039925467222929,
+          0.1503123641014099,
+          11.720537185668945
+        ],
+        [
+          -0.012280997820198536,
+          -0.983493983745575,
+          -0.18052339553833008,
+          -10.46431827545166
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7747,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_183084011",
+      "mask_path": "../../mask/hdr_front_07747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07748.png",
+      "transform_matrix": [
+        [
+          0.15711195766925812,
+          0.2135860025882721,
+          -0.9642078876495361,
+          -13.800025939941406
+        ],
+        [
+          0.9875200986862183,
+          -0.023149536922574043,
+          0.1557825803756714,
+          11.723054885864258
+        ],
+        [
+          0.010952012613415718,
+          -0.9766499996185303,
+          -0.21455752849578857,
+          -10.446972846984863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7748,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_283081769",
+      "mask_path": "../../mask/hdr_front_07748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07749.png",
+      "transform_matrix": [
+        [
+          0.1537095159292221,
+          0.2510499358177185,
+          -0.9556920528411865,
+          -13.697212219238281
+        ],
+        [
+          0.9879745841026306,
+          -0.022678488865494728,
+          0.15294429659843445,
+          11.72564697265625
+        ],
+        [
+          0.01672300137579441,
+          -0.9677084684371948,
+          -0.25151681900024414,
+          -10.395840644836426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7749,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_383082151",
+      "mask_path": "../../mask/hdr_front_07749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07751.png",
+      "transform_matrix": [
+        [
+          0.16186873614788055,
+          0.2535604238510132,
+          -0.9536800384521484,
+          -13.585450172424316
+        ],
+        [
+          0.986806333065033,
+          -0.03822483867406845,
+          0.15732820332050323,
+          11.695411682128906
+        ],
+        [
+          0.0034379451535642147,
+          -0.9665640592575073,
+          -0.2564024329185486,
+          -10.33991527557373
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7751,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_583083391",
+      "mask_path": "../../mask/hdr_front_07751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07752.png",
+      "transform_matrix": [
+        [
+          0.1714504212141037,
+          0.25627511739730835,
+          -0.951276957988739,
+          -13.50619888305664
+        ],
+        [
+          0.9851304292678833,
+          -0.03373828902840614,
+          0.16846276819705963,
+          11.666533470153809
+        ],
+        [
+          0.011078362353146076,
+          -0.9660149216651917,
+          -0.25824883580207825,
+          -10.304468154907227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7752,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_683081150",
+      "mask_path": "../../mask/hdr_front_07752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07753.png",
+      "transform_matrix": [
+        [
+          0.17760051786899567,
+          0.26457148790359497,
+          -0.9478713274002075,
+          -13.447059631347656
+        ],
+        [
+          0.983996570110321,
+          -0.033605415374040604,
+          0.174989253282547,
+          11.649455070495605
+        ],
+        [
+          0.014443561434745789,
+          -0.963780403137207,
+          -0.2663058042526245,
+          -10.27575397491455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7753,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_783081531",
+      "mask_path": "../../mask/hdr_front_07753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07754.png",
+      "transform_matrix": [
+        [
+          0.18149185180664062,
+          0.27352291345596313,
+          -0.944587767124176,
+          -13.38508129119873
+        ],
+        [
+          0.983077883720398,
+          -0.026170650497078896,
+          0.18130910396575928,
+          11.63862133026123
+        ],
+        [
+          0.024871721863746643,
+          -0.9615093469619751,
+          -0.2736440896987915,
+          -10.243764877319336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7754,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_883080244",
+      "mask_path": "../../mask/hdr_front_07754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07755.png",
+      "transform_matrix": [
+        [
+          0.18460668623447418,
+          0.28229185938835144,
+          -0.9413988590240479,
+          -13.302401542663574
+        ],
+        [
+          0.9824569225311279,
+          -0.027244392782449722,
+          0.18448852002620697,
+          11.635954856872559
+        ],
+        [
+          0.026431763544678688,
+          -0.958941638469696,
+          -0.28236910700798035,
+          -10.206620216369629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7755,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_983081579",
+      "mask_path": "../../mask/hdr_front_07755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07756.png",
+      "transform_matrix": [
+        [
+          0.1877327710390091,
+          0.28794142603874207,
+          -0.9390667080879211,
+          -13.237226486206055
+        ],
+        [
+          0.9821040630340576,
+          -0.040331415832042694,
+          0.18396994471549988,
+          11.635512351989746
+        ],
+        [
+          0.015098677948117256,
+          -0.9567984342575073,
+          -0.2903599739074707,
+          -10.17827320098877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7756,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_83081245",
+      "mask_path": "../../mask/hdr_front_07756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07758.png",
+      "transform_matrix": [
+        [
+          0.20037825405597687,
+          0.2909211814403534,
+          -0.9355284571647644,
+          -13.147197723388672
+        ],
+        [
+          0.9794900417327881,
+          -0.08011112362146378,
+          0.18488214910030365,
+          11.637322425842285
+        ],
+        [
+          -0.021160099655389786,
+          -0.9533871412277222,
+          -0.30100691318511963,
+          -10.14560604095459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7758,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_283077955",
+      "mask_path": "../../mask/hdr_front_07758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07759.png",
+      "transform_matrix": [
+        [
+          0.2145894467830658,
+          0.31862714886665344,
+          -0.9232703447341919,
+          -13.058323860168457
+        ],
+        [
+          0.976332426071167,
+          -0.09606415033340454,
+          0.1937698870897293,
+          11.600646018981934
+        ],
+        [
+          -0.02695283479988575,
+          -0.9429997205734253,
+          -0.3317003846168518,
+          -10.049524307250977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7759,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_383081197",
+      "mask_path": "../../mask/hdr_front_07759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07760.png",
+      "transform_matrix": [
+        [
+          0.22106388211250305,
+          0.34072890877723694,
+          -0.9138022661209106,
+          -12.989961624145508
+        ],
+        [
+          0.9752122163772583,
+          -0.08644190430641174,
+          0.20368842780590057,
+          11.573516845703125
+        ],
+        [
+          -0.009588276967406273,
+          -0.9361792802810669,
+          -0.3513922095298767,
+          -9.988414764404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7760,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_483080625",
+      "mask_path": "../../mask/hdr_front_07760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07762.png",
+      "transform_matrix": [
+        [
+          0.22212591767311096,
+          0.3381342887878418,
+          -0.9145082831382751,
+          -12.883282661437988
+        ],
+        [
+          0.9749835133552551,
+          -0.08492035418748856,
+          0.2054160088300705,
+          11.570430755615234
+        ],
+        [
+          -0.008202172815799713,
+          -0.9372586011886597,
+          -0.3485383689403534,
+          -9.958498001098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7762,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_683081388",
+      "mask_path": "../../mask/hdr_front_07762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07764.png",
+      "transform_matrix": [
+        [
+          0.22567138075828552,
+          0.3375484347343445,
+          -0.9138563871383667,
+          -12.784256935119629
+        ],
+        [
+          0.974151074886322,
+          -0.08791352808475494,
+          0.2080884426832199,
+          11.561047554016113
+        ],
+        [
+          -0.010100414976477623,
+          -0.9371938705444336,
+          -0.34866273403167725,
+          -9.918859481811523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7764,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_883079528",
+      "mask_path": "../../mask/hdr_front_07764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07765.png",
+      "transform_matrix": [
+        [
+          0.23320001363754272,
+          0.34455427527427673,
+          -0.909340500831604,
+          -12.72636604309082
+        ],
+        [
+          0.9722752571105957,
+          -0.0992308035492897,
+          0.21174049377441406,
+          11.539161682128906
+        ],
+        [
+          -0.01727849617600441,
+          -0.9335072040557861,
+          -0.3581421971321106,
+          -9.867900848388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7765,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_983078956",
+      "mask_path": "../../mask/hdr_front_07765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07766.png",
+      "transform_matrix": [
+        [
+          0.23867575824260712,
+          0.348233163356781,
+          -0.9065139889717102,
+          -12.677111625671387
+        ],
+        [
+          0.9709516167640686,
+          -0.10185631364583969,
+          0.21651390194892883,
+          11.509876251220703
+        ],
+        [
+          -0.016936831176280975,
+          -0.9318578243255615,
+          -0.3624281883239746,
+          -9.832889556884766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7766,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_83081483",
+      "mask_path": "../../mask/hdr_front_07766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07768.png",
+      "transform_matrix": [
+        [
+          0.23909319937229156,
+          0.33514249324798584,
+          -0.9113253951072693,
+          -12.594674110412598
+        ],
+        [
+          0.9709965586662292,
+          -0.08277538418769836,
+          0.22430752217769623,
+          11.51467514038086
+        ],
+        [
+          -0.0002603366447146982,
+          -0.9385243058204651,
+          -0.34521323442459106,
+          -9.836979866027832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7768,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_283081293",
+      "mask_path": "../../mask/hdr_front_07768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07769.png",
+      "transform_matrix": [
+        [
+          0.24382099509239197,
+          0.32520535588264465,
+          -0.9136700630187988,
+          -12.544872283935547
+        ],
+        [
+          0.9698144793510437,
+          -0.0850214883685112,
+          0.22854168713092804,
+          11.511612892150879
+        ],
+        [
+          -0.003358605783432722,
+          -0.9418136477470398,
+          -0.3361188471317291,
+          -9.82384204864502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7769,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_383082628",
+      "mask_path": "../../mask/hdr_front_07769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07771.png",
+      "transform_matrix": [
+        [
+          0.24755139648914337,
+          0.30209213495254517,
+          -0.9205751419067383,
+          -12.480486869812012
+        ],
+        [
+          0.9688385128974915,
+          -0.06896466016769409,
+          0.23789870738983154,
+          11.500470161437988
+        ],
+        [
+          0.008380178362131119,
+          -0.9507808089256287,
+          -0.3097507953643799,
+          -9.823914527893066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7771,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_583081960",
+      "mask_path": "../../mask/hdr_front_07771.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07773.png",
+      "transform_matrix": [
+        [
+          0.2549903988838196,
+          0.2844477593898773,
+          -0.9241587519645691,
+          -12.404244422912598
+        ],
+        [
+          0.9668177962303162,
+          -0.05958249419927597,
+          0.2484217882156372,
+          11.474034309387207
+        ],
+        [
+          0.015599336475133896,
+          -0.9568382501602173,
+          -0.2902021110057831,
+          -9.804221153259277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7773,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_783082008",
+      "mask_path": "../../mask/hdr_front_07773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07775.png",
+      "transform_matrix": [
+        [
+          0.2545456886291504,
+          0.2611428499221802,
+          -0.9311342239379883,
+          -12.31530475616455
+        ],
+        [
+          0.9668157696723938,
+          -0.04704650864005089,
+          0.2511054575443268,
+          11.459722518920898
+        ],
+        [
+          0.021767783910036087,
+          -0.9641531109809875,
+          -0.2644524872303009,
+          -9.792584419250488
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7775,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_983082056",
+      "mask_path": "../../mask/hdr_front_07775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07777.png",
+      "transform_matrix": [
+        [
+          0.2533312141895294,
+          0.23818765580654144,
+          -0.9375979900360107,
+          -12.226149559020996
+        ],
+        [
+          0.9672808051109314,
+          -0.04851887375116348,
+          0.24902558326721191,
+          11.446314811706543
+        ],
+        [
+          0.013823619112372398,
+          -0.97000652551651,
+          -0.24268566071987152,
+          -9.785894393920898
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7777,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_183081626",
+      "mask_path": "../../mask/hdr_front_07777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07779.png",
+      "transform_matrix": [
+        [
+          0.25132492184638977,
+          0.21017305552959442,
+          -0.9448084831237793,
+          -12.143941879272461
+        ],
+        [
+          0.9678106904029846,
+          -0.041106607764959335,
+          0.2482995092868805,
+          11.424147605895996
+        ],
+        [
+          0.013347988948225975,
+          -0.976799726486206,
+          -0.2137388437986374,
+          -9.770875930786133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7779,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_383082389",
+      "mask_path": "../../mask/hdr_front_07779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07781.png",
+      "transform_matrix": [
+        [
+          0.24588711559772491,
+          0.19274505972862244,
+          -0.9499415159225464,
+          -12.052894592285156
+        ],
+        [
+          0.9689154028892517,
+          -0.021323446184396744,
+          0.24647179245948792,
+          11.412875175476074
+        ],
+        [
+          0.027250200510025024,
+          -0.9810171723365784,
+          -0.19199679791927338,
+          -9.771066665649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7781,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_583082437",
+      "mask_path": "../../mask/hdr_front_07781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07783.png",
+      "transform_matrix": [
+        [
+          0.21534699201583862,
+          0.1637163907289505,
+          -0.962716281414032,
+          -11.973289489746094
+        ],
+        [
+          0.976525068283081,
+          -0.03110540471971035,
+          0.2131461650133133,
+          11.412588119506836
+        ],
+        [
+          0.004949844907969236,
+          -0.9860169291496277,
+          -0.16657161712646484,
+          -9.773877143859863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7783,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_783081531",
+      "mask_path": "../../mask/hdr_front_07783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07785.png",
+      "transform_matrix": [
+        [
+          0.16402557492256165,
+          0.13404566049575806,
+          -0.9773061871528625,
+          -11.883628845214844
+        ],
+        [
+          0.9864423871040344,
+          -0.01706012524664402,
+          0.16321900486946106,
+          11.420477867126465
+        ],
+        [
+          0.00520583800971508,
+          -0.9908283352851868,
+          -0.13502660393714905,
+          -9.777193069458008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7785,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_983081579",
+      "mask_path": "../../mask/hdr_front_07785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07787.png",
+      "transform_matrix": [
+        [
+          0.13630999624729156,
+          0.11771520972251892,
+          -0.9836477041244507,
+          -11.826647758483887
+        ],
+        [
+          0.9900980591773987,
+          0.017436353489756584,
+          0.13929049670696259,
+          11.429372787475586
+        ],
+        [
+          0.03354784473776817,
+          -0.9928943514823914,
+          -0.11417284607887268,
+          -9.778634071350098
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7787,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_183082580",
+      "mask_path": "../../mask/hdr_front_07787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07788.png",
+      "transform_matrix": [
+        [
+          0.13491374254226685,
+          0.10495694726705551,
+          -0.985282838344574,
+          -11.76308822631836
+        ],
+        [
+          0.9901264309883118,
+          0.02390589937567711,
+          0.13812355697155,
+          11.428204536437988
+        ],
+        [
+          0.03805110231041908,
+          -0.994189441204071,
+          -0.1006954088807106,
+          -9.784029006958008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7788,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_283082962",
+      "mask_path": "../../mask/hdr_front_07788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07789.png",
+      "transform_matrix": [
+        [
+          0.1297854334115982,
+          0.08847250789403915,
+          -0.9875871539115906,
+          -11.709249496459961
+        ],
+        [
+          0.9911137819290161,
+          0.017701709643006325,
+          0.13183467090129852,
+          11.4253568649292
+        ],
+        [
+          0.029145723208785057,
+          -0.9959213137626648,
+          -0.08538888394832611,
+          -9.789437294006348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7789,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_383081436",
+      "mask_path": "../../mask/hdr_front_07789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07791.png",
+      "transform_matrix": [
+        [
+          0.12215777486562729,
+          0.06410098075866699,
+          -0.9904386401176453,
+          -11.64474105834961
+        ],
+        [
+          0.9921773672103882,
+          0.017969556152820587,
+          0.12353523075580597,
+          11.41270637512207
+        ],
+        [
+          0.025716474279761314,
+          -0.9977816343307495,
+          -0.06140442565083504,
+          -9.783472061157227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7791,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_583082199",
+      "mask_path": "../../mask/hdr_front_07791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07793.png",
+      "transform_matrix": [
+        [
+          0.13126815855503082,
+          0.052935484796762466,
+          -0.9899325966835022,
+          -11.568174362182617
+        ],
+        [
+          0.9905708432197571,
+          0.03250020742416382,
+          0.13309071958065033,
+          11.39848804473877
+        ],
+        [
+          0.0392182357609272,
+          -0.9980689287185669,
+          -0.04817010089755058,
+          -9.771255493164062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7793,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_783081769",
+      "mask_path": "../../mask/hdr_front_07793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07795.png",
+      "transform_matrix": [
+        [
+          0.137923926115036,
+          0.045754142105579376,
+          -0.9893854856491089,
+          -11.47512435913086
+        ],
+        [
+          0.9893239736557007,
+          0.04110441356897354,
+          0.13981623947620392,
+          11.390327453613281
+        ],
+        [
+          0.04706528037786484,
+          -0.9981067776679993,
+          -0.039596378803253174,
+          -9.77908706665039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7795,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_983080863",
+      "mask_path": "../../mask/hdr_front_07795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07803.png",
+      "transform_matrix": [
+        [
+          0.1614879071712494,
+          0.05886583402752876,
+          -0.985117495059967,
+          -11.145940780639648
+        ],
+        [
+          0.986058235168457,
+          0.030973393470048904,
+          0.16349296271800995,
+          11.367466926574707
+        ],
+        [
+          0.04013657942414284,
+          -0.9977853298187256,
+          -0.05304330587387085,
+          -9.74276351928711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7803,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324044_783081531",
+      "mask_path": "../../mask/hdr_front_07803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07806.png",
+      "transform_matrix": [
+        [
+          0.19958850741386414,
+          0.07168913632631302,
+          -0.9772538542747498,
+          -11.09012222290039
+        ],
+        [
+          0.9798795580863953,
+          -0.015278030186891556,
+          0.19900403916835785,
+          11.325445175170898
+        ],
+        [
+          -0.0006640850333496928,
+          -0.9973101019859314,
+          -0.07329604029655457,
+          -9.706964492797852
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7806,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324045_83083391",
+      "mask_path": "../../mask/hdr_front_07806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07811.png",
+      "transform_matrix": [
+        [
+          0.39833611249923706,
+          0.0949004590511322,
+          -0.9123169779777527,
+          -11.0595703125
+        ],
+        [
+          0.9172363877296448,
+          -0.038585878908634186,
+          0.3964702785015106,
+          11.234491348266602
+        ],
+        [
+          0.002422656863927841,
+          -0.9947386980056763,
+          -0.10241629928350449,
+          -9.664219856262207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7811,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324045_583081960",
+      "mask_path": "../../mask/hdr_front_07811.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07818.png",
+      "transform_matrix": [
+        [
+          0.423462837934494,
+          0.13517390191555023,
+          -0.895771861076355,
+          -10.849327087402344
+        ],
+        [
+          0.9057660102844238,
+          -0.04533472657203674,
+          0.4213463366031647,
+          11.13383674621582
+        ],
+        [
+          0.016345452517271042,
+          -0.9897842407226562,
+          -0.1416335105895996,
+          -9.60851001739502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7818,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_283082246",
+      "mask_path": "../../mask/hdr_front_07818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07819.png",
+      "transform_matrix": [
+        [
+          0.42235127091407776,
+          0.14641493558883667,
+          -0.8945289850234985,
+          -10.797030448913574
+        ],
+        [
+          0.9063247442245483,
+          -0.053017519414424896,
+          0.41924285888671875,
+          11.109288215637207
+        ],
+        [
+          0.013957708142697811,
+          -0.9878015518188477,
+          -0.15509150922298431,
+          -9.583620071411133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7819,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_383082389",
+      "mask_path": "../../mask/hdr_front_07819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07821.png",
+      "transform_matrix": [
+        [
+          0.41969045996665955,
+          0.1578683704137802,
+          -0.8938330411911011,
+          -10.721302032470703
+        ],
+        [
+          0.9076671600341797,
+          -0.07248292863368988,
+          0.4133843183517456,
+          11.091604232788086
+        ],
+        [
+          0.0004726567422039807,
+          -0.9847963452339172,
+          -0.1737123280763626,
+          -9.569622993469238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7821,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_583081483",
+      "mask_path": "../../mask/hdr_front_07821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07826.png",
+      "transform_matrix": [
+        [
+          0.43433108925819397,
+          0.21181751787662506,
+          -0.8754940032958984,
+          -10.536828994750977
+        ],
+        [
+          0.9006520509719849,
+          -0.08755012601613998,
+          0.42563003301620483,
+          11.010896682739258
+        ],
+        [
+          0.013506288640201092,
+          -0.9733798503875732,
+          -0.22879962623119354,
+          -9.46335506439209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7826,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_83084821",
+      "mask_path": "../../mask/hdr_front_07826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07828.png",
+      "transform_matrix": [
+        [
+          0.44193604588508606,
+          0.22125038504600525,
+          -0.8693335652351379,
+          -10.465896606445312
+        ],
+        [
+          0.8970459699630737,
+          -0.11008644104003906,
+          0.42800644040107727,
+          11.002938270568848
+        ],
+        [
+          -0.001005259808152914,
+          -0.9689836502075195,
+          -0.24712291359901428,
+          -9.445775985717773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7828,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_283083200",
+      "mask_path": "../../mask/hdr_front_07828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07830.png",
+      "transform_matrix": [
+        [
+          0.4838734567165375,
+          0.2166055291891098,
+          -0.8479083776473999,
+          -10.416922569274902
+        ],
+        [
+          0.8721019625663757,
+          -0.1999824196100235,
+          0.446592777967453,
+          10.958537101745605
+        ],
+        [
+          -0.07283228635787964,
+          -0.9555569887161255,
+          -0.28566834330558777,
+          -9.375343322753906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7830,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_483081579",
+      "mask_path": "../../mask/hdr_front_07830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07831.png",
+      "transform_matrix": [
+        [
+          0.5178176760673523,
+          0.23658590018749237,
+          -0.8221264481544495,
+          -10.383410453796387
+        ],
+        [
+          0.8509173393249512,
+          -0.24167515337467194,
+          0.46640411019325256,
+          10.895002365112305
+        ],
+        [
+          -0.08834288269281387,
+          -0.9410740733146667,
+          -0.32645872235298157,
+          -9.264385223388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7831,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_583082437",
+      "mask_path": "../../mask/hdr_front_07831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07833.png",
+      "transform_matrix": [
+        [
+          0.5693883299827576,
+          0.25963276624679565,
+          -0.7799921035766602,
+          -10.32636833190918
+        ],
+        [
+          0.8216789960861206,
+          -0.2089536041021347,
+          0.5302659273147583,
+          10.8577241897583
+        ],
+        [
+          -0.025307778269052505,
+          -0.942830502986908,
+          -0.3323104977607727,
+          -9.26211166381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7833,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_783082723",
+      "mask_path": "../../mask/hdr_front_07833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07834.png",
+      "transform_matrix": [
+        [
+          0.5948304533958435,
+          0.2583064138889313,
+          -0.7612191438674927,
+          -10.293390274047852
+        ],
+        [
+          0.8037186861038208,
+          -0.2082986682653427,
+          0.5573579668998718,
+          10.825810432434082
+        ],
+        [
+          -0.014591764658689499,
+          -0.9433395266532898,
+          -0.3315081000328064,
+          -9.233285903930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7834,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_883081674",
+      "mask_path": "../../mask/hdr_front_07834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07837.png",
+      "transform_matrix": [
+        [
+          0.670710027217865,
+          0.21271242201328278,
+          -0.7105641961097717,
+          -10.256388664245605
+        ],
+        [
+          0.7414895296096802,
+          -0.21615198254585266,
+          0.6351941823959351,
+          10.775672912597656
+        ],
+        [
+          -0.018476171419024467,
+          -0.9529070854187012,
+          -0.30269935727119446,
+          -9.231025695800781
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7837,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_183081626",
+      "mask_path": "../../mask/hdr_front_07837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07839.png",
+      "transform_matrix": [
+        [
+          0.7287383675575256,
+          0.19653497636318207,
+          -0.655983567237854,
+          -10.22374439239502
+        ],
+        [
+          0.6847890019416809,
+          -0.20619820058345795,
+          0.6989609599113464,
+          10.725372314453125
+        ],
+        [
+          0.0021076069679111242,
+          -0.9585700035095215,
+          -0.28484952449798584,
+          -9.218658447265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7839,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_383080720",
+      "mask_path": "../../mask/hdr_front_07839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07841.png",
+      "transform_matrix": [
+        [
+          0.7873058319091797,
+          0.18330758810043335,
+          -0.5886831879615784,
+          -10.216376304626465
+        ],
+        [
+          0.6163407564163208,
+          -0.208370178937912,
+          0.759411633014679,
+          10.658814430236816
+        ],
+        [
+          0.016541868448257446,
+          -0.9607186317443848,
+          -0.2770310044288635,
+          -9.203782081604004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7841,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_583084583",
+      "mask_path": "../../mask/hdr_front_07841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07843.png",
+      "transform_matrix": [
+        [
+          0.8276836276054382,
+          0.22096332907676697,
+          -0.5158633589744568,
+          -10.185944557189941
+        ],
+        [
+          0.5581410527229309,
+          -0.22835029661655426,
+          0.797705888748169,
+          10.601580619812012
+        ],
+        [
+          0.05846619978547096,
+          -0.9481726884841919,
+          -0.3123305141925812,
+          -9.11181640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7843,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_783082485",
+      "mask_path": "../../mask/hdr_front_07843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07847.png",
+      "transform_matrix": [
+        [
+          0.9180123209953308,
+          0.12106034904718399,
+          -0.3776211738586426,
+          -10.208952903747559
+        ],
+        [
+          0.39604073762893677,
+          -0.23155710101127625,
+          0.8885567784309387,
+          10.515727996826172
+        ],
+        [
+          0.020128117874264717,
+          -0.9652594327926636,
+          -0.26051709055900574,
+          -9.094695091247559
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7847,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_183081865",
+      "mask_path": "../../mask/hdr_front_07847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07850.png",
+      "transform_matrix": [
+        [
+          0.9638041257858276,
+          0.10173122584819794,
+          -0.246439129114151,
+          -10.234500885009766
+        ],
+        [
+          0.2642248272895813,
+          -0.2410740852355957,
+          0.933846116065979,
+          10.441370964050293
+        ],
+        [
+          0.03559122607111931,
+          -0.9651601314544678,
+          -0.2592281401157379,
+          -9.086222648620605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7850,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_483081579",
+      "mask_path": "../../mask/hdr_front_07850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07853.png",
+      "transform_matrix": [
+        [
+          0.987926721572876,
+          0.06550758332014084,
+          -0.14039094746112823,
+          -10.260547637939453
+        ],
+        [
+          0.15282763540744781,
+          -0.2635824978351593,
+          0.9524537324905396,
+          10.362914085388184
+        ],
+        [
+          0.02538834884762764,
+          -0.962410032749176,
+          -0.27041158080101013,
+          -9.066003799438477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7853,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_783079862",
+      "mask_path": "../../mask/hdr_front_07853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07855.png",
+      "transform_matrix": [
+        [
+          0.9930296540260315,
+          0.06056546792387962,
+          -0.10111373662948608,
+          -10.265689849853516
+        ],
+        [
+          0.11340029537677765,
+          -0.25706344842910767,
+          0.9597181081771851,
+          10.308125495910645
+        ],
+        [
+          0.03213312849402428,
+          -0.9644947648048401,
+          -0.26213976740837097,
+          -9.043848037719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7855,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_983080625",
+      "mask_path": "../../mask/hdr_front_07855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07857.png",
+      "transform_matrix": [
+        [
+          0.9943898320198059,
+          0.06894034147262573,
+          -0.08022545278072357,
+          -10.270339965820312
+        ],
+        [
+          0.09585362672805786,
+          -0.2665538191795349,
+          0.9590418338775635,
+          10.237631797790527
+        ],
+        [
+          0.044732265174388885,
+          -0.9613513350486755,
+          -0.27166658639907837,
+          -9.020882606506348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7857,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_183081150",
+      "mask_path": "../../mask/hdr_front_07857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07858.png",
+      "transform_matrix": [
+        [
+          0.9948509335517883,
+          0.06525316834449768,
+          -0.07754706591367722,
+          -10.269064903259277
+        ],
+        [
+          0.09231351315975189,
+          -0.2676282525062561,
+          0.9590898752212524,
+          10.194025039672852
+        ],
+        [
+          0.04182986170053482,
+          -0.9613101482391357,
+          -0.272273987531662,
+          -8.994894981384277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7858,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_283080577",
+      "mask_path": "../../mask/hdr_front_07858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07861.png",
+      "transform_matrix": [
+        [
+          0.9980225563049316,
+          0.014015057124197483,
+          -0.06127500534057617,
+          -10.270024299621582
+        ],
+        [
+          0.06278912723064423,
+          -0.26769542694091797,
+          0.9614555239677429,
+          10.07349681854248
+        ],
+        [
+          -0.0029281831812113523,
+          -0.963401734828949,
+          -0.2680460810661316,
+          -8.931180953979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7861,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_583081722",
+      "mask_path": "../../mask/hdr_front_07861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07862.png",
+      "transform_matrix": [
+        [
+          0.9991108179092407,
+          -0.02511153183877468,
+          -0.03386642038822174,
+          -10.285788536071777
+        ],
+        [
+          0.024851607158780098,
+          -0.2981128394603729,
+          0.9542071223258972,
+          10.027636528015137
+        ],
+        [
+          -0.0340576134622097,
+          -0.9542003273963928,
+          -0.2972237169742584,
+          -8.854085922241211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7862,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_683082342",
+      "mask_path": "../../mask/hdr_front_07862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07864.png",
+      "transform_matrix": [
+        [
+          0.9976725578308105,
+          -0.05858954042196274,
+          0.034881945699453354,
+          -10.327606201171875
+        ],
+        [
+          -0.052294813096523285,
+          -0.32916441559791565,
+          0.9428234100341797,
+          9.96127986907959
+        ],
+        [
+          -0.04375768452882767,
+          -0.9424532651901245,
+          -0.33146220445632935,
+          -8.823622703552246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7864,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_883082389",
+      "mask_path": "../../mask/hdr_front_07864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07866.png",
+      "transform_matrix": [
+        [
+          0.9926648139953613,
+          -0.04601411893963814,
+          0.11179997026920319,
+          -10.361557006835938
+        ],
+        [
+          -0.12055402249097824,
+          -0.306938499212265,
+          0.9440632462501526,
+          9.909728050231934
+        ],
+        [
+          -0.00912452582269907,
+          -0.9506163597106934,
+          -0.3102342486381531,
+          -8.835497856140137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7866,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_83081960",
+      "mask_path": "../../mask/hdr_front_07866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07868.png",
+      "transform_matrix": [
+        [
+          0.9809955954551697,
+          -0.04800482466816902,
+          0.18799801170825958,
+          -10.39122200012207
+        ],
+        [
+          -0.19375190138816833,
+          -0.2942318022251129,
+          0.9358888268470764,
+          9.854808807373047
+        ],
+        [
+          0.010387808084487915,
+          -0.954527735710144,
+          -0.29794105887413025,
+          -8.792977333068848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7868,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_283083677",
+      "mask_path": "../../mask/hdr_front_07868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07870.png",
+      "transform_matrix": [
+        [
+          0.9626641273498535,
+          -0.06621130555868149,
+          0.2624761462211609,
+          -10.431058883666992
+        ],
+        [
+          -0.2705234885215759,
+          -0.27016812562942505,
+          0.9240272641181946,
+          9.807161331176758
+        ],
+        [
+          0.009731643833220005,
+          -0.960533857345581,
+          -0.2779928743839264,
+          -8.806198120117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7870,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_483081340",
+      "mask_path": "../../mask/hdr_front_07870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07872.png",
+      "transform_matrix": [
+        [
+          0.941666841506958,
+          -0.05860214680433273,
+          0.33140507340431213,
+          -10.478694915771484
+        ],
+        [
+          -0.3351005017757416,
+          -0.25445038080215454,
+          0.9071728587150574,
+          9.751324653625488
+        ],
+        [
+          0.031163878738880157,
+          -0.965308666229248,
+          -0.2592451274394989,
+          -8.768152236938477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7872,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_683082818",
+      "mask_path": "../../mask/hdr_front_07872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07874.png",
+      "transform_matrix": [
+        [
+          0.9139671921730042,
+          -0.054842252284288406,
+          0.4020650386810303,
+          -10.532683372497559
+        ],
+        [
+          -0.4020662009716034,
+          -0.25627800822257996,
+          0.8790132999420166,
+          9.70310115814209
+        ],
+        [
+          0.054833341389894485,
+          -0.9650461077690125,
+          -0.2562798857688904,
+          -8.74412727355957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7874,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_883082389",
+      "mask_path": "../../mask/hdr_front_07874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07876.png",
+      "transform_matrix": [
+        [
+          0.8781505227088928,
+          -0.08318527787923813,
+          0.4710964262485504,
+          -10.591303825378418
+        ],
+        [
+          -0.47721362113952637,
+          -0.22118018567562103,
+          0.850497841835022,
+          9.666555404663086
+        ],
+        [
+          0.03344828635454178,
+          -0.9716787934303284,
+          -0.23392663896083832,
+          -8.736639022827148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7876,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_83082675",
+      "mask_path": "../../mask/hdr_front_07876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07878.png",
+      "transform_matrix": [
+        [
+          0.8351839780807495,
+          -0.09871690720319748,
+          0.5410385131835938,
+          -10.65126895904541
+        ],
+        [
+          -0.5492970943450928,
+          -0.1983971893787384,
+          0.8117334842681885,
+          9.630916595458984
+        ],
+        [
+          0.027208702638745308,
+          -0.9751377701759338,
+          -0.21992307901382446,
+          -8.741037368774414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7878,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_283082008",
+      "mask_path": "../../mask/hdr_front_07878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07880.png",
+      "transform_matrix": [
+        [
+          0.7857152819633484,
+          -0.09106972068548203,
+          0.6118477582931519,
+          -10.721447944641113
+        ],
+        [
+          -0.6170111894607544,
+          -0.18596242368221283,
+          0.764666736125946,
+          9.610855102539062
+        ],
+        [
+          0.04414272680878639,
+          -0.9783273339271545,
+          -0.20230457186698914,
+          -8.708322525024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7880,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_483081817",
+      "mask_path": "../../mask/hdr_front_07880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07882.png",
+      "transform_matrix": [
+        [
+          0.7602541446685791,
+          -0.09506606310606003,
+          0.6426320672035217,
+          -10.787491798400879
+        ],
+        [
+          -0.6477124094963074,
+          -0.1867961585521698,
+          0.7386311292648315,
+          9.570743560791016
+        ],
+        [
+          0.04982246086001396,
+          -0.9777881503105164,
+          -0.20358800888061523,
+          -8.694186210632324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7882,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_683082103",
+      "mask_path": "../../mask/hdr_front_07882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07884.png",
+      "transform_matrix": [
+        [
+          0.756447970867157,
+          -0.09521712362766266,
+          0.6470859050750732,
+          -10.854254722595215
+        ],
+        [
+          -0.6521033644676208,
+          -0.18614348769187927,
+          0.7349229454994202,
+          9.505678176879883
+        ],
+        [
+          0.050473570823669434,
+          -0.9778980016708374,
+          -0.2028992623090744,
+          -8.657393455505371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7884,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_883082628",
+      "mask_path": "../../mask/hdr_front_07884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07886.png",
+      "transform_matrix": [
+        [
+          0.7552314400672913,
+          -0.11919669806957245,
+          0.6445289254188538,
+          -10.91530704498291
+        ],
+        [
+          -0.6551083922386169,
+          -0.16938970983028412,
+          0.7363017201423645,
+          9.433037757873535
+        ],
+        [
+          0.021411851048469543,
+          -0.9783146381378174,
+          -0.2060151994228363,
+          -8.640124320983887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7886,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_83081483",
+      "mask_path": "../../mask/hdr_front_07886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07887.png",
+      "transform_matrix": [
+        [
+          0.754818856716156,
+          -0.1271832138299942,
+          0.6434851288795471,
+          -10.955408096313477
+        ],
+        [
+          -0.655785083770752,
+          -0.1671757698059082,
+          0.7362051606178284,
+          9.389888763427734
+        ],
+        [
+          0.01394216250628233,
+          -0.9776895642280579,
+          -0.20959226787090302,
+          -8.622797966003418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7887,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_183082103",
+      "mask_path": "../../mask/hdr_front_07887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07888.png",
+      "transform_matrix": [
+        [
+          0.7512490153312683,
+          -0.1242898628115654,
+          0.6482105851173401,
+          -11.00160026550293
+        ],
+        [
+          -0.6597263813018799,
+          -0.1706479787826538,
+          0.7318746447563171,
+          9.342100143432617
+        ],
+        [
+          0.01965123787522316,
+          -0.9774616360664368,
+          -0.21019642055034637,
+          -8.600035667419434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7888,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_283082485",
+      "mask_path": "../../mask/hdr_front_07888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07889.png",
+      "transform_matrix": [
+        [
+          0.747003972530365,
+          -0.12097600102424622,
+          0.6537201404571533,
+          -11.040892601013184
+        ],
+        [
+          -0.6642580032348633,
+          -0.176223486661911,
+          0.7264341115951538,
+          9.300930976867676
+        ],
+        [
+          0.027319731190800667,
+          -0.9768880605697632,
+          -0.21199893951416016,
+          -8.57598876953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7889,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_383082389",
+      "mask_path": "../../mask/hdr_front_07889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07890.png",
+      "transform_matrix": [
+        [
+          0.7448363304138184,
+          -0.11909181624650955,
+          0.6565334796905518,
+          -11.074110984802246
+        ],
+        [
+          -0.6662318706512451,
+          -0.18700186908245087,
+          0.7219178676605225,
+          9.261240005493164
+        ],
+        [
+          0.03679845482110977,
+          -0.975114107131958,
+          -0.21862852573394775,
+          -8.55440902709961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7890,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_483082056",
+      "mask_path": "../../mask/hdr_front_07890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07891.png",
+      "transform_matrix": [
+        [
+          0.7443870902061462,
+          -0.125856414437294,
+          0.6557804942131042,
+          -11.111856460571289
+        ],
+        [
+          -0.6667513847351074,
+          -0.19373711943626404,
+          0.7196585536003113,
+          9.201338768005371
+        ],
+        [
+          0.03647536411881447,
+          -0.9729471802711487,
+          -0.22813035547733307,
+          -8.515403747558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7891,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_583081483",
+      "mask_path": "../../mask/hdr_front_07891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07892.png",
+      "transform_matrix": [
+        [
+          0.7458222508430481,
+          -0.13978321850299835,
+          0.6513140201568604,
+          -11.144403457641602
+        ],
+        [
+          -0.6656610369682312,
+          -0.1936550885438919,
+          0.7206893563270569,
+          9.144220352172852
+        ],
+        [
+          0.025389986112713814,
+          -0.9710604548454285,
+          -0.2374805063009262,
+          -8.4840726852417
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7892,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_683081388",
+      "mask_path": "../../mask/hdr_front_07892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07894.png",
+      "transform_matrix": [
+        [
+          0.7456303238868713,
+          -0.15463267266750336,
+          0.6481698155403137,
+          -11.18323040008545
+        ],
+        [
+          -0.6663346290588379,
+          -0.18147234618663788,
+          0.7232330441474915,
+          9.072361946105957
+        ],
+        [
+          0.005789439659565687,
+          -0.9711624979972839,
+          -0.23834837973117828,
+          -8.485315322875977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7894,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_883080720",
+      "mask_path": "../../mask/hdr_front_07894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07895.png",
+      "transform_matrix": [
+        [
+          0.740663468837738,
+          -0.1981012225151062,
+          0.6420075297355652,
+          -11.214820861816406
+        ],
+        [
+          -0.671211302280426,
+          -0.175665482878685,
+          0.7201506495475769,
+          9.03051471710205
+        ],
+        [
+          -0.02988417074084282,
+          -0.964311957359314,
+          -0.2630767822265625,
+          -8.433085441589355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7895,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_983079195",
+      "mask_path": "../../mask/hdr_front_07895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07896.png",
+      "transform_matrix": [
+        [
+          0.7321186661720276,
+          -0.22617857158184052,
+          0.6425305604934692,
+          -11.259748458862305
+        ],
+        [
+          -0.6802309155464172,
+          -0.1930556446313858,
+          0.7071177363395691,
+          8.994396209716797
+        ],
+        [
+          -0.035890720784664154,
+          -0.9547632336616516,
+          -0.29519325494766235,
+          -8.319058418273926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7896,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_83080768",
+      "mask_path": "../../mask/hdr_front_07896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07898.png",
+      "transform_matrix": [
+        [
+          0.724651038646698,
+          -0.22307844460010529,
+          0.6520098447799683,
+          -11.311989784240723
+        ],
+        [
+          -0.6888378262519836,
+          -0.20761193335056305,
+          0.6945499181747437,
+          8.922717094421387
+        ],
+        [
+          -0.019574102014303207,
+          -0.9524354338645935,
+          -0.304111123085022,
+          -8.304047584533691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7898,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_283080816",
+      "mask_path": "../../mask/hdr_front_07898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07901.png",
+      "transform_matrix": [
+        [
+          0.7113994359970093,
+          -0.22893863916397095,
+          0.6644532084465027,
+          -11.398341178894043
+        ],
+        [
+          -0.7022399306297302,
+          -0.19423560798168182,
+          0.684931755065918,
+          8.8046293258667
+        ],
+        [
+          -0.02774687297642231,
+          -0.953865647315979,
+          -0.2989489734172821,
+          -8.28078556060791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7901,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_583079814",
+      "mask_path": "../../mask/hdr_front_07901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07902.png",
+      "transform_matrix": [
+        [
+          0.7046929001808167,
+          -0.2500284016132355,
+          0.6639983057975769,
+          -11.436606407165527
+        ],
+        [
+          -0.7083725929260254,
+          -0.1949051469564438,
+          0.6783953905105591,
+          8.768610954284668
+        ],
+        [
+          -0.040201399475336075,
+          -0.9484186172485352,
+          -0.31446152925491333,
+          -8.226938247680664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7902,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_683080673",
+      "mask_path": "../../mask/hdr_front_07902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07903.png",
+      "transform_matrix": [
+        [
+          0.6985094547271729,
+          -0.26512083411216736,
+          0.6646770238876343,
+          -11.48169231414795
+        ],
+        [
+          -0.7144683003425598,
+          -0.20614205300807953,
+          0.6686109304428101,
+          8.743401527404785
+        ],
+        [
+          -0.040244754403829575,
+          -0.9419216513633728,
+          -0.3334125876426697,
+          -8.164152145385742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7903,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_783081293",
+      "mask_path": "../../mask/hdr_front_07903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07904.png",
+      "transform_matrix": [
+        [
+          0.6976488828659058,
+          -0.2602623403072357,
+          0.6674949526786804,
+          -11.52274227142334
+        ],
+        [
+          -0.7158390283584595,
+          -0.21507668495178223,
+          0.6643165349960327,
+          8.718154907226562
+        ],
+        [
+          -0.029333973303437233,
+          -0.9412786960601807,
+          -0.33635392785072327,
+          -8.143457412719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7904,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_883079767",
+      "mask_path": "../../mask/hdr_front_07904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07906.png",
+      "transform_matrix": [
+        [
+          0.6924319267272949,
+          -0.2538512945175171,
+          0.67535001039505,
+          -11.586970329284668
+        ],
+        [
+          -0.7207472324371338,
+          -0.20111332833766937,
+          0.6633828282356262,
+          8.665745735168457
+        ],
+        [
+          -0.032578691840171814,
+          -0.946104109287262,
+          -0.3222198784351349,
+          -8.126633644104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7906,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_83082199",
+      "mask_path": "../../mask/hdr_front_07906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07908.png",
+      "transform_matrix": [
+        [
+          0.6871693730354309,
+          -0.25356319546699524,
+          0.68081134557724,
+          -11.648848533630371
+        ],
+        [
+          -0.725890040397644,
+          -0.2013251632452011,
+          0.6576868295669556,
+          8.594408988952637
+        ],
+        [
+          -0.02970070019364357,
+          -0.9461362957954407,
+          -0.3224034607410431,
+          -8.102593421936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7908,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_283081769",
+      "mask_path": "../../mask/hdr_front_07908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07909.png",
+      "transform_matrix": [
+        [
+          0.6831409335136414,
+          -0.26909139752388,
+          0.678902268409729,
+          -11.688896179199219
+        ],
+        [
+          -0.7292446494102478,
+          -0.20172001421451569,
+          0.6538434624671936,
+          8.560547828674316
+        ],
+        [
+          -0.03899546340107918,
+          -0.941753089427948,
+          -0.3340366780757904,
+          -8.054434776306152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7909,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_383082389",
+      "mask_path": "../../mask/hdr_front_07909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07910.png",
+      "transform_matrix": [
+        [
+          0.6795406937599182,
+          -0.27987396717071533,
+          0.6781555414199829,
+          -11.732864379882812
+        ],
+        [
+          -0.7326133847236633,
+          -0.21004332602024078,
+          0.6474253535270691,
+          8.532177925109863
+        ],
+        [
+          -0.038755446672439575,
+          -0.936777651309967,
+          -0.3477724492549896,
+          -8.004759788513184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7910,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_483082294",
+      "mask_path": "../../mask/hdr_front_07910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07912.png",
+      "transform_matrix": [
+        [
+          0.6809096932411194,
+          -0.26464250683784485,
+          0.6828809380531311,
+          -11.797295570373535
+        ],
+        [
+          -0.732001006603241,
+          -0.2164320945739746,
+          0.6460120677947998,
+          8.471333503723145
+        ],
+        [
+          -0.023164888843894005,
+          -0.9397454857826233,
+          -0.34108927845954895,
+          -7.9736328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7912,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_683082342",
+      "mask_path": "../../mask/hdr_front_07912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07914.png",
+      "transform_matrix": [
+        [
+          0.6809908747673035,
+          -0.2570754885673523,
+          0.6856847405433655,
+          -11.845566749572754
+        ],
+        [
+          -0.7320273518562317,
+          -0.21381519734859467,
+          0.6468531489372253,
+          8.409070014953613
+        ],
+        [
+          -0.01968025229871273,
+          -0.9424411654472351,
+          -0.33379247784614563,
+          -7.955796718597412
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7914,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_883081674",
+      "mask_path": "../../mask/hdr_front_07914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07916.png",
+      "transform_matrix": [
+        [
+          0.6798312067985535,
+          -0.2612888813018799,
+          0.685242772102356,
+          -11.906473159790039
+        ],
+        [
+          -0.7330185174942017,
+          -0.21322759985923767,
+          0.6459240913391113,
+          8.327810287475586
+        ],
+        [
+          -0.022660139948129654,
+          -0.9414149522781372,
+          -0.3364883363246918,
+          -7.902879238128662
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7916,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_83081483",
+      "mask_path": "../../mask/hdr_front_07916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07917.png",
+      "transform_matrix": [
+        [
+          0.6788129210472107,
+          -0.2705005705356598,
+          0.6826729774475098,
+          -11.955530166625977
+        ],
+        [
+          -0.7340691089630127,
+          -0.2261052280664444,
+          0.6403272747993469,
+          8.298606872558594
+        ],
+        [
+          -0.018852924928069115,
+          -0.9357916116714478,
+          -0.3520492911338806,
+          -7.847772121429443
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7917,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_183082342",
+      "mask_path": "../../mask/hdr_front_07917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07923.png",
+      "transform_matrix": [
+        [
+          0.6781798601150513,
+          -0.27452316880226135,
+          0.6816956996917725,
+          -12.1475830078125
+        ],
+        [
+          -0.7346348166465759,
+          -0.2285207360982895,
+          0.6388192772865295,
+          8.101153373718262
+        ],
+        [
+          -0.019589059054851532,
+          -0.9340317249298096,
+          -0.3566524386405945,
+          -7.728851795196533
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7923,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_783082723",
+      "mask_path": "../../mask/hdr_front_07923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07924.png",
+      "transform_matrix": [
+        [
+          0.6798684597015381,
+          -0.28503987193107605,
+          0.6756708025932312,
+          -12.186857223510742
+        ],
+        [
+          -0.7331148982048035,
+          -0.2416580468416214,
+          0.6357231140136719,
+          8.073636054992676
+        ],
+        [
+          -0.017925119027495384,
+          -0.9275525212287903,
+          -0.3732626736164093,
+          -7.67061710357666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7924,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_883082389",
+      "mask_path": "../../mask/hdr_front_07924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07926.png",
+      "transform_matrix": [
+        [
+          0.6850757002830505,
+          -0.2644372284412384,
+          0.6787815093994141,
+          -12.231034278869629
+        ],
+        [
+          -0.7284613847732544,
+          -0.24366500973701477,
+          0.6402901411056519,
+          7.993927955627441
+        ],
+        [
+          -0.003921220079064369,
+          -0.9331132769584656,
+          -0.3595612347126007,
+          -7.656708240509033
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7926,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_83081960",
+      "mask_path": "../../mask/hdr_front_07926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07928.png",
+      "transform_matrix": [
+        [
+          0.6869892477989197,
+          -0.2587743401527405,
+          0.6790298819541931,
+          -12.266342163085938
+        ],
+        [
+          -0.7266092300415039,
+          -0.2327839434146881,
+          0.6464136838912964,
+          7.9401679039001465
+        ],
+        [
+          -0.009208030998706818,
+          -0.9374687075614929,
+          -0.3479478657245636,
+          -7.647004127502441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7928,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_283081769",
+      "mask_path": "../../mask/hdr_front_07928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07930.png",
+      "transform_matrix": [
+        [
+          0.685614287853241,
+          -0.23775234818458557,
+          0.6880456209182739,
+          -12.317309379577637
+        ],
+        [
+          -0.7279209494590759,
+          -0.23429472744464874,
+          0.6443888545036316,
+          7.8837127685546875
+        ],
+        [
+          0.00800049677491188,
+          -0.9426451325416565,
+          -0.3337007164955139,
+          -7.62385892868042
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7930,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_483081817",
+      "mask_path": "../../mask/hdr_front_07930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07932.png",
+      "transform_matrix": [
+        [
+          0.6879749894142151,
+          -0.22938169538974762,
+          0.6885307431221008,
+          -12.371415138244629
+        ],
+        [
+          -0.7251309752464294,
+          -0.25594958662986755,
+          0.6392768621444702,
+          7.819712162017822
+        ],
+        [
+          0.029590727761387825,
+          -0.9390813708305359,
+          -0.3424186408519745,
+          -7.576792240142822
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7932,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_683081865",
+      "mask_path": "../../mask/hdr_front_07932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07940.png",
+      "transform_matrix": [
+        [
+          0.6874104738235474,
+          -0.23083780705928802,
+          0.688607931137085,
+          -12.56203556060791
+        ],
+        [
+          -0.7254400849342346,
+          -0.2635287642478943,
+          0.6358374953269958,
+          7.590938568115234
+        ],
+        [
+          0.0346926674246788,
+          -0.936625063419342,
+          -0.348611444234848,
+          -7.412055969238281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7940,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_483081579",
+      "mask_path": "../../mask/hdr_front_07940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07942.png",
+      "transform_matrix": [
+        [
+          0.6870797872543335,
+          -0.24128495156764984,
+          0.6853487491607666,
+          -12.61280345916748
+        ],
+        [
+          -0.7264306545257568,
+          -0.24736768007278442,
+          0.6411768198013306,
+          7.538554668426514
+        ],
+        [
+          0.014826805330812931,
+          -0.938398003578186,
+          -0.3452381193637848,
+          -7.394312381744385
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7942,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_683081626",
+      "mask_path": "../../mask/hdr_front_07942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07944.png",
+      "transform_matrix": [
+        [
+          0.6822282671928406,
+          -0.22278271615505219,
+          0.6963709592819214,
+          -12.670781135559082
+        ],
+        [
+          -0.7307956218719482,
+          -0.23698174953460693,
+          0.640138566493988,
+          7.492007255554199
+        ],
+        [
+          0.022415410727262497,
+          -0.9456254839897156,
+          -0.32448428869247437,
+          -7.366253852844238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7944,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_883081436",
+      "mask_path": "../../mask/hdr_front_07944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07946.png",
+      "transform_matrix": [
+        [
+          0.6843327879905701,
+          -0.21768979728221893,
+          0.6959165334701538,
+          -12.71595287322998
+        ],
+        [
+          -0.7286055088043213,
+          -0.2416875958442688,
+          0.6408752799034119,
+          7.454457759857178
+        ],
+        [
+          0.02868238463997841,
+          -0.945620596408844,
+          -0.32400473952293396,
+          -7.332824230194092
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7946,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_83082914",
+      "mask_path": "../../mask/hdr_front_07946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07948.png",
+      "transform_matrix": [
+        [
+          0.6917809247970581,
+          -0.22312331199645996,
+          0.6867716312408447,
+          -12.771395683288574
+        ],
+        [
+          -0.7213707566261292,
+          -0.25648367404937744,
+          0.6433042883872986,
+          7.396667003631592
+        ],
+        [
+          0.0326094813644886,
+          -0.9404425621032715,
+          -0.3383851647377014,
+          -7.273298740386963
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7948,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_283082008",
+      "mask_path": "../../mask/hdr_front_07948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07950.png",
+      "transform_matrix": [
+        [
+          0.6984604001045227,
+          -0.232887864112854,
+          0.6766951680183411,
+          -12.813186645507812
+        ],
+        [
+          -0.7155433893203735,
+          -0.2434878796339035,
+          0.6547605991363525,
+          7.338335037231445
+        ],
+        [
+          0.01228125486522913,
+          -0.9415290355682373,
+          -0.3367079794406891,
+          -7.255069732666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7950,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_483080387",
+      "mask_path": "../../mask/hdr_front_07950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07952.png",
+      "transform_matrix": [
+        [
+          0.7079700827598572,
+          -0.2375813126564026,
+          0.6650815010070801,
+          -12.862637519836426
+        ],
+        [
+          -0.7062405347824097,
+          -0.24027329683303833,
+          0.6659526228904724,
+          7.291874885559082
+        ],
+        [
+          0.0015834416262805462,
+          -0.9411821961402893,
+          -0.3378959000110626,
+          -7.228445053100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7952,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_683082103",
+      "mask_path": "../../mask/hdr_front_07952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07954.png",
+      "transform_matrix": [
+        [
+          0.7246214747428894,
+          -0.23746663331985474,
+          0.6469415426254272,
+          -12.90372085571289
+        ],
+        [
+          -0.689146876335144,
+          -0.2489202320575714,
+          0.6805257797241211,
+          7.241236209869385
+        ],
+        [
+          -0.0005653302068822086,
+          -0.9389613270759583,
+          -0.34402233362197876,
+          -7.194293022155762
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7954,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_883082151",
+      "mask_path": "../../mask/hdr_front_07954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07956.png",
+      "transform_matrix": [
+        [
+          0.7418836951255798,
+          -0.2342514544725418,
+          0.6282792687416077,
+          -12.93671703338623
+        ],
+        [
+          -0.6703858971595764,
+          -0.23979820311069489,
+          0.7021962404251099,
+          7.193507671356201
+        ],
+        [
+          -0.013830255717039108,
+          -0.9421375393867493,
+          -0.33494120836257935,
+          -7.177749156951904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7956,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_83081722",
+      "mask_path": "../../mask/hdr_front_07956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07958.png",
+      "transform_matrix": [
+        [
+          0.7563274502754211,
+          -0.23845595121383667,
+          0.6091859936714172,
+          -12.980109214782715
+        ],
+        [
+          -0.6532699465751648,
+          -0.2258385270833969,
+          0.7226585745811462,
+          7.1364006996154785
+        ],
+        [
+          -0.034744564443826675,
+          -0.9445294737815857,
+          -0.32658401131629944,
+          -7.160275936126709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7958,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_283081769",
+      "mask_path": "../../mask/hdr_front_07958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07959.png",
+      "transform_matrix": [
+        [
+          0.7561914920806885,
+          -0.24601249396800995,
+          0.6063432693481445,
+          -13.015511512756348
+        ],
+        [
+          -0.6535431146621704,
+          -0.23793825507164001,
+          0.7185171246528625,
+          7.111412525177002
+        ],
+        [
+          -0.03249191492795944,
+          -0.9396080374717712,
+          -0.3407066762447357,
+          -7.108543395996094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7959,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_383082628",
+      "mask_path": "../../mask/hdr_front_07959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07961.png",
+      "transform_matrix": [
+        [
+          0.7554126381874084,
+          -0.23014569282531738,
+          0.6135020852088928,
+          -13.066962242126465
+        ],
+        [
+          -0.65522700548172,
+          -0.25758039951324463,
+          0.7101618647575378,
+          7.055374622344971
+        ],
+        [
+          -0.0054146358743309975,
+          -0.9384483695030212,
+          -0.3453771471977234,
+          -7.074933052062988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7961,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_583082437",
+      "mask_path": "../../mask/hdr_front_07961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07963.png",
+      "transform_matrix": [
+        [
+          0.7549363374710083,
+          -0.22412417829036713,
+          0.6163111925125122,
+          -13.113080024719238
+        ],
+        [
+          -0.6557954549789429,
+          -0.25533750653266907,
+          0.7104470729827881,
+          6.996891498565674
+        ],
+        [
+          -0.0018610017141327262,
+          -0.940516471862793,
+          -0.33974316716194153,
+          -7.05820369720459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7963,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_783082008",
+      "mask_path": "../../mask/hdr_front_07963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07965.png",
+      "transform_matrix": [
+        [
+          0.7518110871315002,
+          -0.2124166190624237,
+          0.6242269277572632,
+          -13.171862602233887
+        ],
+        [
+          -0.6593136787414551,
+          -0.2554555833339691,
+          0.7071407437324524,
+          6.934247970581055
+        ],
+        [
+          0.00925383996218443,
+          -0.9431975483894348,
+          -0.33210352063179016,
+          -7.039466857910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7965,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_983082056",
+      "mask_path": "../../mask/hdr_front_07965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07967.png",
+      "transform_matrix": [
+        [
+          0.7478037476539612,
+          -0.19627657532691956,
+          0.6342436671257019,
+          -13.218901634216309
+        ],
+        [
+          -0.6630054116249084,
+          -0.2708899676799774,
+          0.6978842616081238,
+          6.886735916137695
+        ],
+        [
+          0.0348319336771965,
+          -0.9423874616622925,
+          -0.33270496129989624,
+          -6.999752521514893
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7967,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_183081865",
+      "mask_path": "../../mask/hdr_front_07967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07968.png",
+      "transform_matrix": [
+        [
+          0.7495484352111816,
+          -0.19313573837280273,
+          0.6331475377082825,
+          -13.241365432739258
+        ],
+        [
+          -0.6606838703155518,
+          -0.2773961126804352,
+          0.6975301504135132,
+          6.846139907836914
+        ],
+        [
+          0.04091465845704079,
+          -0.9411429762840271,
+          -0.33552345633506775,
+          -6.972896575927734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7968,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_283082008",
+      "mask_path": "../../mask/hdr_front_07968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07975.png",
+      "transform_matrix": [
+        [
+          0.7515479922294617,
+          -0.16877120733261108,
+          0.6377240419387817,
+          -13.398677825927734
+        ],
+        [
+          -0.6557474732398987,
+          -0.29650741815567017,
+          0.6943188309669495,
+          6.6394453048706055
+        ],
+        [
+          0.07190888375043869,
+          -0.9399998188018799,
+          -0.3335108458995819,
+          -6.848783016204834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7975,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_983081102",
+      "mask_path": "../../mask/hdr_front_07975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07976.png",
+      "transform_matrix": [
+        [
+          0.752191424369812,
+          -0.1754581481218338,
+          0.6351555585861206,
+          -13.428098678588867
+        ],
+        [
+          -0.6556684374809265,
+          -0.29529061913490295,
+          0.694911777973175,
+          6.605306625366211
+        ],
+        [
+          0.06562750786542892,
+          -0.9391581416130066,
+          -0.33715739846229553,
+          -6.815074443817139
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7976,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_83081722",
+      "mask_path": "../../mask/hdr_front_07976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07978.png",
+      "transform_matrix": [
+        [
+          0.7530849575996399,
+          -0.18119476735591888,
+          0.6324804425239563,
+          -13.473423957824707
+        ],
+        [
+          -0.6559505462646484,
+          -0.28116777539253235,
+          0.7004809379577637,
+          6.546350955963135
+        ],
+        [
+          0.050909653306007385,
+          -0.9423975944519043,
+          -0.3305980861186981,
+          -6.802414894104004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7978,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_283080577",
+      "mask_path": "../../mask/hdr_front_07978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07979.png",
+      "transform_matrix": [
+        [
+          0.7528381943702698,
+          -0.1862717568874359,
+          0.6312983632087708,
+          -13.507375717163086
+        ],
+        [
+          -0.6564798951148987,
+          -0.2819031774997711,
+          0.6996890902519226,
+          6.515908718109131
+        ],
+        [
+          0.04763270169496536,
+          -0.9411872625350952,
+          -0.3345111608505249,
+          -6.779684066772461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7979,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_383082628",
+      "mask_path": "../../mask/hdr_front_07979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07980.png",
+      "transform_matrix": [
+        [
+          0.7513940334320068,
+          -0.18871892988681793,
+          0.6322911381721497,
+          -13.543716430664062
+        ],
+        [
+          -0.6578836441040039,
+          -0.28824958205223083,
+          0.6957738995552063,
+          6.486835479736328
+        ],
+        [
+          0.050951965153217316,
+          -0.9387744069099426,
+          -0.34074410796165466,
+          -6.749146461486816
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7980,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_483082532",
+      "mask_path": "../../mask/hdr_front_07980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07982.png",
+      "transform_matrix": [
+        [
+          0.7500677108764648,
+          -0.17346544563770294,
+          0.6382070183753967,
+          -13.601938247680664
+        ],
+        [
+          -0.6578249931335449,
+          -0.2953338027000427,
+          0.6928521990776062,
+          6.413706302642822
+        ],
+        [
+          0.06829814612865448,
+          -0.9395146369934082,
+          -0.33563023805618286,
+          -6.69032621383667
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7982,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_683082103",
+      "mask_path": "../../mask/hdr_front_07982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07983.png",
+      "transform_matrix": [
+        [
+          0.7510725259780884,
+          -0.18028879165649414,
+          0.6351267099380493,
+          -13.633939743041992
+        ],
+        [
+          -0.6571821570396423,
+          -0.2963266968727112,
+          0.6930384039878845,
+          6.374396324157715
+        ],
+        [
+          0.06325795501470566,
+          -0.9379160404205322,
+          -0.34104540944099426,
+          -6.650660037994385
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7983,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_783081293",
+      "mask_path": "../../mask/hdr_front_07983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07985.png",
+      "transform_matrix": [
+        [
+          0.7524901032447815,
+          -0.18998457491397858,
+          0.6306063532829285,
+          -13.705598831176758
+        ],
+        [
+          -0.6567386388778687,
+          -0.2884562611579895,
+          0.6967691779136658,
+          6.310321807861328
+        ],
+        [
+          0.049526967108249664,
+          -0.9384555816650391,
+          -0.3418307304382324,
+          -6.640914440155029
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7985,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_983081102",
+      "mask_path": "../../mask/hdr_front_07985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07986.png",
+      "transform_matrix": [
+        [
+          0.7501674294471741,
+          -0.1920272707939148,
+          0.63275146484375,
+          -13.747859001159668
+        ],
+        [
+          -0.6591311097145081,
+          -0.29365938901901245,
+          0.6923224329948425,
+          6.281350135803223
+        ],
+        [
+          0.05286861211061478,
+          -0.9364238977432251,
+          -0.34686481952667236,
+          -6.610632419586182
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7986,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_83081483",
+      "mask_path": "../../mask/hdr_front_07986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07988.png",
+      "transform_matrix": [
+        [
+          0.746388852596283,
+          -0.18836314976215363,
+          0.638296902179718,
+          -13.808734893798828
+        ],
+        [
+          -0.6622785329818726,
+          -0.3046285808086395,
+          0.6845352649688721,
+          6.219110012054443
+        ],
+        [
+          0.06550226360559464,
+          -0.9336599111557007,
+          -0.3521203398704529,
+          -6.563313961029053
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7988,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_283080577",
+      "mask_path": "../../mask/hdr_front_07988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07989.png",
+      "transform_matrix": [
+        [
+          0.7463054060935974,
+          -0.19492270052433014,
+          0.6364223957061768,
+          -13.838537216186523
+        ],
+        [
+          -0.66328364610672,
+          -0.29755955934524536,
+          0.6866682171821594,
+          6.180209636688232
+        ],
+        [
+          0.05552637204527855,
+          -0.9345927238464355,
+          -0.35135936737060547,
+          -6.5184125900268555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7989,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_383080244",
+      "mask_path": "../../mask/hdr_front_07989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07991.png",
+      "transform_matrix": [
+        [
+          0.7423269152641296,
+          -0.20817895233631134,
+          0.6368768811225891,
+          -13.912185668945312
+        ],
+        [
+          -0.6693958044052124,
+          -0.2720172703266144,
+          0.6913146376609802,
+          6.124525547027588
+        ],
+        [
+          0.029324395582079887,
+          -0.9395042061805725,
+          -0.34127989411354065,
+          -6.507615566253662
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7991,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_583081007",
+      "mask_path": "../../mask/hdr_front_07991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07992.png",
+      "transform_matrix": [
+        [
+          0.7399394512176514,
+          -0.21009811758995056,
+          0.6390214562416077,
+          -13.957420349121094
+        ],
+        [
+          -0.672064483165741,
+          -0.2713112235069275,
+          0.6889989376068115,
+          6.097023963928223
+        ],
+        [
+          0.028616303578019142,
+          -0.9392811059951782,
+          -0.3419533371925354,
+          -6.480196952819824
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7992,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_683078765",
+      "mask_path": "../../mask/hdr_front_07992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07994.png",
+      "transform_matrix": [
+        [
+          0.7393384575843811,
+          -0.20541688799858093,
+          0.6412351727485657,
+          -14.019357681274414
+        ],
+        [
+          -0.6722204685211182,
+          -0.27992576360702515,
+          0.6853913068771362,
+          6.041003704071045
+        ],
+        [
+          0.03870733454823494,
+          -0.9377875924110413,
+          -0.3450452983379364,
+          -6.4431586265563965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7994,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_883080244",
+      "mask_path": "../../mask/hdr_front_07994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07996.png",
+      "transform_matrix": [
+        [
+          0.7418375611305237,
+          -0.19706282019615173,
+          0.6409704685211182,
+          -14.067306518554688
+        ],
+        [
+          -0.670364499092102,
+          -0.24213404953479767,
+          0.7014146447181702,
+          5.989889144897461
+        ],
+        [
+          0.016978062689304352,
+          -0.9500196576118469,
+          -0.3117280900478363,
+          -6.444429397583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7996,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_83082675",
+      "mask_path": "../../mask/hdr_front_07996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07998.png",
+      "transform_matrix": [
+        [
+          0.747579038143158,
+          -0.1885596513748169,
+          0.6368443965911865,
+          -14.127761840820312
+        ],
+        [
+          -0.6640903353691101,
+          -0.22731994092464447,
+          0.7122567892074585,
+          5.932499885559082
+        ],
+        [
+          0.010464541614055634,
+          -0.955390453338623,
+          -0.29516032338142395,
+          -6.434385299682617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7998,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_283083200",
+      "mask_path": "../../mask/hdr_front_07998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08000.png",
+      "transform_matrix": [
+        [
+          0.7433977127075195,
+          -0.16725169122219086,
+          0.6476007699966431,
+          -14.191919326782227
+        ],
+        [
+          -0.6677807569503784,
+          -0.24031086266040802,
+          0.7044994831085205,
+          5.874982833862305
+        ],
+        [
+          0.03779676556587219,
+          -0.9561786651611328,
+          -0.29033398628234863,
+          -6.403964519500732
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8000,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_483081817",
+      "mask_path": "../../mask/hdr_front_08000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08005.png",
+      "transform_matrix": [
+        [
+          0.731168270111084,
+          -0.172428697347641,
+          0.6600463390350342,
+          -14.336079597473145
+        ],
+        [
+          -0.6819899082183838,
+          -0.16091091930866241,
+          0.713440477848053,
+          5.762832164764404
+        ],
+        [
+          -0.016808951273560524,
+          -0.9717901945114136,
+          -0.23524761199951172,
+          -6.384925842285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8005,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_983082294",
+      "mask_path": "../../mask/hdr_front_08005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08017.png",
+      "transform_matrix": [
+        [
+          0.7677948474884033,
+          -0.12036524713039398,
+          0.6292878985404968,
+          -14.529390335083008
+        ],
+        [
+          -0.6393178701400757,
+          -0.20831622183322906,
+          0.7401872873306274,
+          5.588345050811768
+        ],
+        [
+          0.04199804365634918,
+          -0.9706270098686218,
+          -0.23689575493335724,
+          -6.284790992736816
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8017,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_183081865",
+      "mask_path": "../../mask/hdr_front_08017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08018.png",
+      "transform_matrix": [
+        [
+          0.7681496739387512,
+          -0.12086547166109085,
+          0.6287589073181152,
+          -14.55860710144043
+        ],
+        [
+          -0.6391069293022156,
+          -0.20391632616519928,
+          0.7415932416915894,
+          5.549779891967773
+        ],
+        [
+          0.03858117386698723,
+          -0.9714987277984619,
+          -0.23388418555259705,
+          -6.247361183166504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8018,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_283082008",
+      "mask_path": "../../mask/hdr_front_08018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08020.png",
+      "transform_matrix": [
+        [
+          0.7672242522239685,
+          -0.1242682933807373,
+          0.6292251944541931,
+          -14.620691299438477
+        ],
+        [
+          -0.6407042741775513,
+          -0.19348087906837463,
+          0.7430095076560974,
+          5.4812774658203125
+        ],
+        [
+          0.02941051498055458,
+          -0.9732022881507874,
+          -0.2280624657869339,
+          -6.245835781097412
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8020,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_483081579",
+      "mask_path": "../../mask/hdr_front_08020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08021.png",
+      "transform_matrix": [
+        [
+          0.7649386525154114,
+          -0.12291773408651352,
+          0.6322659254074097,
+          -14.66076374053955
+        ],
+        [
+          -0.6433547139167786,
+          -0.19311663508415222,
+          0.7408108115196228,
+          5.44680643081665
+        ],
+        [
+          0.03104228712618351,
+          -0.9734460711479187,
+          -0.2268020659685135,
+          -6.235269546508789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8021,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_583081245",
+      "mask_path": "../../mask/hdr_front_08021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08022.png",
+      "transform_matrix": [
+        [
+          0.7614983916282654,
+          -0.11969658732414246,
+          0.637018620967865,
+          -14.699448585510254
+        ],
+        [
+          -0.6468515992164612,
+          -0.2029135525226593,
+          0.7351251244544983,
+          5.414109706878662
+        ],
+        [
+          0.0412677563726902,
+          -0.9718534350395203,
+          -0.23194429278373718,
+          -6.210580825805664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8022,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_683081150",
+      "mask_path": "../../mask/hdr_front_08022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08024.png",
+      "transform_matrix": [
+        [
+          0.7570176720619202,
+          -0.11427780985832214,
+          0.6433233022689819,
+          -14.747306823730469
+        ],
+        [
+          -0.6507090330123901,
+          -0.2210313230752945,
+          0.7264454364776611,
+          5.361547470092773
+        ],
+        [
+          0.05917802080512047,
+          -0.9685482978820801,
+          -0.24168621003627777,
+          -6.190014839172363
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8024,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_883083820",
+      "mask_path": "../../mask/hdr_front_08024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08025.png",
+      "transform_matrix": [
+        [
+          0.757602334022522,
+          -0.11555980145931244,
+          0.6424053311347961,
+          -14.77079963684082
+        ],
+        [
+          -0.6485913395881653,
+          -0.243755504488945,
+          0.7210496068000793,
+          5.319559574127197
+        ],
+        [
+          0.07326550036668777,
+          -0.9629274606704712,
+          -0.2596208453178406,
+          -6.137233257293701
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8025,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_983080387",
+      "mask_path": "../../mask/hdr_front_08025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08035.png",
+      "transform_matrix": [
+        [
+          0.7910054922103882,
+          -0.15216109156608582,
+          0.5925853848457336,
+          -14.978960990905762
+        ],
+        [
+          -0.6117595434188843,
+          -0.20904092490673065,
+          0.7629234790802002,
+          5.070499897003174
+        ],
+        [
+          0.007787331938743591,
+          -0.9659963250160217,
+          -0.25843849778175354,
+          -6.025402545928955
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8035,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324067_983082532",
+      "mask_path": "../../mask/hdr_front_08035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08036.png",
+      "transform_matrix": [
+        [
+          0.789515495300293,
+          -0.1745237559080124,
+          0.58839350938797,
+          -15.030656814575195
+        ],
+        [
+          -0.6136512756347656,
+          -0.20905648171901703,
+          0.761398434638977,
+          5.020025730133057
+        ],
+        [
+          -0.009874634444713593,
+          -0.9622042179107666,
+          -0.27215003967285156,
+          -5.994269371032715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8036,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_83081007",
+      "mask_path": "../../mask/hdr_front_08036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08037.png",
+      "transform_matrix": [
+        [
+          0.786710798740387,
+          -0.18446335196495056,
+          0.5891173481941223,
+          -15.08338737487793
+        ],
+        [
+          -0.6172707080841064,
+          -0.22278784215450287,
+          0.7545478940010071,
+          4.968785285949707
+        ],
+        [
+          -0.007938229478895664,
+          -0.9572558999061584,
+          -0.2891334295272827,
+          -5.9358229637146
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8037,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_183080911",
+      "mask_path": "../../mask/hdr_front_08037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08038.png",
+      "transform_matrix": [
+        [
+          0.7852969765663147,
+          -0.1802518218755722,
+          0.5922988057136536,
+          -15.123185157775879
+        ],
+        [
+          -0.6190780401229858,
+          -0.2396513670682907,
+          0.7478700876235962,
+          4.924192428588867
+        ],
+        [
+          0.007140300236642361,
+          -0.9539793729782104,
+          -0.2997874617576599,
+          -5.898074626922607
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8038,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_283081293",
+      "mask_path": "../../mask/hdr_front_08038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08039.png",
+      "transform_matrix": [
+        [
+          0.785370945930481,
+          -0.17908769845962524,
+          0.5925538539886475,
+          -15.168768882751465
+        ],
+        [
+          -0.6190096735954285,
+          -0.23402948677539825,
+          0.7497047781944275,
+          4.874342441558838
+        ],
+        [
+          0.004412181209772825,
+          -0.9555928707122803,
+          -0.2946569621562958,
+          -5.8959197998046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8039,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_383080720",
+      "mask_path": "../../mask/hdr_front_08039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08040.png",
+      "transform_matrix": [
+        [
+          0.7859126925468445,
+          -0.17295856773853302,
+          0.5936551690101624,
+          -15.206947326660156
+        ],
+        [
+          -0.61832594871521,
+          -0.21398288011550903,
+          0.7562302947044373,
+          4.833568572998047
+        ],
+        [
+          -0.003764474531635642,
+          -0.9614035487174988,
+          -0.2751166522502899,
+          -5.889780044555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8040,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_483081102",
+      "mask_path": "../../mask/hdr_front_08040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_08041.png",
+      "transform_matrix": [
+        [
+          0.7853492498397827,
+          -0.16484107077121735,
+          0.5967026948928833,
+          -15.23812484741211
+        ],
+        [
+          -0.6190529465675354,
+          -0.2092827707529068,
+          0.7569505572319031,
+          4.791224479675293
+        ],
+        [
+          0.00010304922761861235,
+          -0.9638611078262329,
+          -0.2664054036140442,
+          -5.881247520446777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8041,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_583081007",
+      "mask_path": "../../mask/hdr_front_08041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01512.png",
+      "transform_matrix": [
+        [
+          0.8336044549942017,
+          -0.24611027538776398,
+          -0.49450311064720154,
+          -14.907438278198242
+        ],
+        [
+          0.4135057032108307,
+          -0.31550726294517517,
+          0.854089081287384,
+          4.987757205963135
+        ],
+        [
+          -0.3662194013595581,
+          -0.9164524078369141,
+          -0.16124024987220764,
+          -5.9315876960754395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1512,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_583081245",
+      "mask_path": "../../mask/hdr_left_01512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01513.png",
+      "transform_matrix": [
+        [
+          0.8360179662704468,
+          -0.23969608545303345,
+          -0.49357840418815613,
+          -14.85032844543457
+        ],
+        [
+          0.4154515564441681,
+          -0.3110935091972351,
+          0.8547635674476624,
+          5.037107944488525
+        ],
+        [
+          -0.3584325313568115,
+          -0.9196557402610779,
+          -0.16049769520759583,
+          -5.973366737365723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1513,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_683080911",
+      "mask_path": "../../mask/hdr_left_01513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01514.png",
+      "transform_matrix": [
+        [
+          0.8387874960899353,
+          -0.23104709386825562,
+          -0.4930036962032318,
+          -14.78809928894043
+        ],
+        [
+          0.4170095920562744,
+          -0.30955174565315247,
+          0.8545646667480469,
+          5.0890116691589355
+        ],
+        [
+          -0.3500548005104065,
+          -0.9223855137825012,
+          -0.16329927742481232,
+          -6.006546974182129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1514,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_783078908",
+      "mask_path": "../../mask/hdr_left_01514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01515.png",
+      "transform_matrix": [
+        [
+          0.838424801826477,
+          -0.23066698014736176,
+          -0.49379801750183105,
+          -14.75444221496582
+        ],
+        [
+          0.41893836855888367,
+          -0.30677416920661926,
+          0.8546229004859924,
+          5.125792980194092
+        ],
+        [
+          -0.34861770272254944,
+          -0.923408031463623,
+          -0.16057181358337402,
+          -6.0375237464904785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1515,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_883078575",
+      "mask_path": "../../mask/hdr_left_01515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01516.png",
+      "transform_matrix": [
+        [
+          0.8380433917045593,
+          -0.2345304787158966,
+          -0.4926242232322693,
+          -14.724575996398926
+        ],
+        [
+          0.42123544216156006,
+          -0.29571986198425293,
+          0.8573857545852661,
+          5.159974098205566
+        ],
+        [
+          -0.3467618525028229,
+          -0.9260374307632446,
+          -0.14903351664543152,
+          -6.070104598999023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1516,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_983081340",
+      "mask_path": "../../mask/hdr_left_01516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01517.png",
+      "transform_matrix": [
+        [
+          0.8385785222053528,
+          -0.23241689801216125,
+          -0.4927152991294861,
+          -14.679248809814453
+        ],
+        [
+          0.4252154529094696,
+          -0.28613975644111633,
+          0.8586709499359131,
+          5.1996259689331055
+        ],
+        [
+          -0.3405550718307495,
+          -0.9295733571052551,
+          -0.14112336933612823,
+          -6.099123001098633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1517,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_83081007",
+      "mask_path": "../../mask/hdr_left_01517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01518.png",
+      "transform_matrix": [
+        [
+          0.8369826674461365,
+          -0.23520636558532715,
+          -0.49410322308540344,
+          -14.619166374206543
+        ],
+        [
+          0.4274073839187622,
+          -0.28288066387176514,
+          0.8586625456809998,
+          5.243834495544434
+        ],
+        [
+          -0.3417351245880127,
+          -0.9298691153526306,
+          -0.1362372636795044,
+          -6.128110408782959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1518,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_183080196",
+      "mask_path": "../../mask/hdr_left_01518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01519.png",
+      "transform_matrix": [
+        [
+          0.8374621272087097,
+          -0.23380999267101288,
+          -0.4939536452293396,
+          -14.558674812316895
+        ],
+        [
+          0.42640048265457153,
+          -0.28577980399131775,
+          0.8582031726837158,
+          5.2843852043151855
+        ],
+        [
+          -0.3418183922767639,
+          -0.9293346405029297,
+          -0.13963302969932556,
+          -6.1446380615234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1519,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_283081054",
+      "mask_path": "../../mask/hdr_left_01519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01520.png",
+      "transform_matrix": [
+        [
+          0.8411359190940857,
+          -0.2233869880437851,
+          -0.4925328493118286,
+          -14.511591911315918
+        ],
+        [
+          0.4248802065849304,
+          -0.29052016139030457,
+          0.8573649525642395,
+          5.313816547393799
+        ],
+        [
+          -0.33461490273475647,
+          -0.9304280281066895,
+          -0.1494542360305786,
+          -6.161439418792725
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1520,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_383080959",
+      "mask_path": "../../mask/hdr_left_01520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01521.png",
+      "transform_matrix": [
+        [
+          0.8438658714294434,
+          -0.21306562423706055,
+          -0.49243637919425964,
+          -14.460097312927246
+        ],
+        [
+          0.4260896146297455,
+          -0.2916761338710785,
+          0.8563717603683472,
+          5.346352577209473
+        ],
+        [
+          -0.3260952830314636,
+          -0.9324849247932434,
+          -0.1553504914045334,
+          -6.183221340179443
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1521,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_483080863",
+      "mask_path": "../../mask/hdr_left_01521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01522.png",
+      "transform_matrix": [
+        [
+          0.8411165475845337,
+          -0.20864947140216827,
+          -0.49898725748062134,
+          -14.395644187927246
+        ],
+        [
+          0.4291270673274994,
+          -0.30409789085388184,
+          0.8505141735076904,
+          5.405858039855957
+        ],
+        [
+          -0.32920029759407043,
+          -0.9295105934143066,
+          -0.16624459624290466,
+          -6.231410503387451
+        ],
+        [
+          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": "1731323414_583080530",
+      "mask_path": "../../mask/hdr_left_01522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01523.png",
+      "transform_matrix": [
+        [
+          0.8390238881111145,
+          -0.1996253877878189,
+          -0.5061506032943726,
+          -14.334359169006348
+        ],
+        [
+          0.43131014704704285,
+          -0.3230612277984619,
+          0.8423793911933899,
+          5.453151702880859
+        ],
+        [
+          -0.3316779136657715,
+          -0.9250844120979309,
+          -0.1849556416273117,
+          -6.230846881866455
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1523,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_683080434",
+      "mask_path": "../../mask/hdr_left_01523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01524.png",
+      "transform_matrix": [
+        [
+          0.837646484375,
+          -0.19582673907279968,
+          -0.5099021196365356,
+          -14.295328140258789
+        ],
+        [
+          0.43506523966789246,
+          -0.32522717118263245,
+          0.8396102786064148,
+          5.488455772399902
+        ],
+        [
+          -0.33025211095809937,
+          -0.9251374006271362,
+          -0.1872280240058899,
+          -6.21826171875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1524,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_783079147",
+      "mask_path": "../../mask/hdr_left_01524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01525.png",
+      "transform_matrix": [
+        [
+          0.8333075046539307,
+          -0.20368941128253937,
+          -0.5139156579971313,
+          -14.274199485778809
+        ],
+        [
+          0.4396723210811615,
+          -0.3193111717700958,
+          0.8394811749458313,
+          5.531574726104736
+        ],
+        [
+          -0.3350924551486969,
+          -0.9255004525184631,
+          -0.17652778327465057,
+          -6.268963813781738
+        ],
+        [
+          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": "1731323414_883080005",
+      "mask_path": "../../mask/hdr_left_01525.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01526.png",
+      "transform_matrix": [
+        [
+          0.8248458504676819,
+          -0.23219959437847137,
+          -0.5154731869697571,
+          -14.238558769226074
+        ],
+        [
+          0.43707576394081116,
+          -0.31641674041748047,
+          0.8419294953346252,
+          5.577681064605713
+        ],
+        [
+          -0.3585999608039856,
+          -0.9197629690170288,
+          -0.15950621664524078,
+          -6.325275897979736
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1526,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_983078718",
+      "mask_path": "../../mask/hdr_left_01526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01527.png",
+      "transform_matrix": [
+        [
+          0.8199657797813416,
+          -0.25410524010658264,
+          -0.512919545173645,
+          -14.197943687438965
+        ],
+        [
+          0.433089941740036,
+          -0.31050965189933777,
+          0.8461776971817017,
+          5.625800609588623
+        ],
+        [
+          -0.37428468465805054,
+          -0.9159772396087646,
+          -0.1445568948984146,
+          -6.352457046508789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1527,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_83080530",
+      "mask_path": "../../mask/hdr_left_01527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01528.png",
+      "transform_matrix": [
+        [
+          0.820523202419281,
+          -0.2562648057937622,
+          -0.5109501481056213,
+          -14.1642427444458
+        ],
+        [
+          0.4334329664707184,
+          -0.3038288652896881,
+          0.8484243154525757,
+          5.668117046356201
+        ],
+        [
+          -0.37266263365745544,
+          -0.9176145195960999,
+          -0.1382250040769577,
+          -6.381352424621582
+        ],
+        [
+          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": "1731323415_183080673",
+      "mask_path": "../../mask/hdr_left_01528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01529.png",
+      "transform_matrix": [
+        [
+          0.8249899744987488,
+          -0.25041553378105164,
+          -0.5066394805908203,
+          -14.110936164855957
+        ],
+        [
+          0.43570131063461304,
+          -0.28913551568984985,
+          0.8523877859115601,
+          5.723615646362305
+        ],
+        [
+          -0.3599386513233185,
+          -0.9239550232887268,
+          -0.12942753732204437,
+          -6.423412322998047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1529,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_283079862",
+      "mask_path": "../../mask/hdr_left_01529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01530.png",
+      "transform_matrix": [
+        [
+          0.8307318687438965,
+          -0.2321191281080246,
+          -0.5059695839881897,
+          -14.03678035736084
+        ],
+        [
+          0.4433143734931946,
+          -0.27387210726737976,
+          0.8535024523735046,
+          5.802774429321289
+        ],
+        [
+          -0.3366851806640625,
+          -0.9333353042602539,
+          -0.12461255490779877,
+          -6.436244010925293
+        ],
+        [
+          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": "1731323415_383081197",
+      "mask_path": "../../mask/hdr_left_01530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01531.png",
+      "transform_matrix": [
+        [
+          0.8328482508659363,
+          -0.21993596851825714,
+          -0.5079290866851807,
+          -13.991025924682617
+        ],
+        [
+          0.4523548185825348,
+          -0.2583608627319336,
+          0.8535951972007751,
+          5.8595476150512695
+        ],
+        [
+          -0.31896522641181946,
+          -0.9406794905662537,
+          -0.11568626761436462,
+          -6.4503397941589355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1531,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_483080625",
+      "mask_path": "../../mask/hdr_left_01531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01532.png",
+      "transform_matrix": [
+        [
+          0.8336928486824036,
+          -0.216457799077034,
+          -0.5080375671386719,
+          -13.95984172821045
+        ],
+        [
+          0.45957472920417786,
+          -0.23812349140644073,
+          0.8556215167045593,
+          5.900514602661133
+        ],
+        [
+          -0.3061816394329071,
+          -0.9468069076538086,
+          -0.0990433394908905,
+          -6.473114490509033
+        ],
+        [
+          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": "1731323415_583079814",
+      "mask_path": "../../mask/hdr_left_01532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01533.png",
+      "transform_matrix": [
+        [
+          0.8348766565322876,
+          -0.21028979122638702,
+          -0.5086836814880371,
+          -13.915069580078125
+        ],
+        [
+          0.46640220284461975,
+          -0.22051945328712463,
+          0.8566447496414185,
+          5.949196815490723
+        ],
+        [
+          -0.29231828451156616,
+          -0.9524439573287964,
+          -0.08602693676948547,
+          -6.476408004760742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1533,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_683080673",
+      "mask_path": "../../mask/hdr_left_01533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01534.png",
+      "transform_matrix": [
+        [
+          0.8346306681632996,
+          -0.21763764321804047,
+          -0.505989670753479,
+          -13.861441612243652
+        ],
+        [
+          0.4662512242794037,
+          -0.2099374532699585,
+          0.8593811988830566,
+          6.003206253051758
+        ],
+        [
+          -0.2932598292827606,
+          -0.9531842470169067,
+          -0.07374639809131622,
+          -6.503931045532227
+        ],
+        [
+          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": "1731323415_783080577",
+      "mask_path": "../../mask/hdr_left_01534.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01535.png",
+      "transform_matrix": [
+        [
+          0.8334158658981323,
+          -0.22680018842220306,
+          -0.5039638876914978,
+          -13.814240455627441
+        ],
+        [
+          0.46251028776168823,
+          -0.21289677917957306,
+          0.8606736660003662,
+          6.046403884887695
+        ],
+        [
+          -0.30249321460723877,
+          -0.9503876566886902,
+          -0.07253412902355194,
+          -6.540765285491943
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1535,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_883082151",
+      "mask_path": "../../mask/hdr_left_01535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01537.png",
+      "transform_matrix": [
+        [
+          0.8355379104614258,
+          -0.22132346034049988,
+          -0.5028841495513916,
+          -13.731837272644043
+        ],
+        [
+          0.458698570728302,
+          -0.22283817827701569,
+          0.8601968884468079,
+          6.113823890686035
+        ],
+        [
+          -0.30244356393814087,
+          -0.9493993520736694,
+          -0.08466898649930954,
+          -6.58425760269165
+        ],
+        [
+          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": "1731323416_83081960",
+      "mask_path": "../../mask/hdr_left_01537.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01538.png",
+      "transform_matrix": [
+        [
+          0.8399176597595215,
+          -0.21152067184448242,
+          -0.4997973144054413,
+          -13.668919563293457
+        ],
+        [
+          0.45767149329185486,
+          -0.21888190507888794,
+          0.8617583513259888,
+          6.165736675262451
+        ],
+        [
+          -0.29167628288269043,
+          -0.9525490999221802,
+          -0.08703578263521194,
+          -6.625481605529785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1538,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_183082342",
+      "mask_path": "../../mask/hdr_left_01538.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01539.png",
+      "transform_matrix": [
+        [
+          0.8426770567893982,
+          -0.19774755835533142,
+          -0.5007905960083008,
+          -13.595183372497559
+        ],
+        [
+          0.45780888199806213,
+          -0.2263847440481186,
+          0.8597447276115417,
+          6.22435998916626
+        ],
+        [
+          -0.2833837568759918,
+          -0.953753650188446,
+          -0.10023864358663559,
+          -6.658938884735107
+        ],
+        [
+          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": "1731323416_283082485",
+      "mask_path": "../../mask/hdr_left_01539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01540.png",
+      "transform_matrix": [
+        [
+          0.843346893787384,
+          -0.19005554914474487,
+          -0.502638041973114,
+          -13.54861831665039
+        ],
+        [
+          0.45900288224220276,
+          -0.23161670565605164,
+          0.8577120304107666,
+          6.266616344451904
+        ],
+        [
+          -0.2794322967529297,
+          -0.9540611505508423,
+          -0.10809715837240219,
+          -6.678876876831055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1540,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_383082389",
+      "mask_path": "../../mask/hdr_left_01540.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01541.png",
+      "transform_matrix": [
+        [
+          0.8430705666542053,
+          -0.1876339316368103,
+          -0.5040093064308167,
+          -13.514278411865234
+        ],
+        [
+          0.4624912738800049,
+          -0.22533635795116425,
+          0.8575111627578735,
+          6.303717136383057
+        ],
+        [
+          -0.274469792842865,
+          -0.956042468547821,
+          -0.10319539904594421,
+          -6.704164981842041
+        ],
+        [
+          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": "1731323416_483082294",
+      "mask_path": "../../mask/hdr_left_01541.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01542.png",
+      "transform_matrix": [
+        [
+          0.8422142863273621,
+          -0.18399930000305176,
+          -0.5067733526229858,
+          -13.45862865447998
+        ],
+        [
+          0.46704182028770447,
+          -0.2205936461687088,
+          0.8562771081924438,
+          6.35023832321167
+        ],
+        [
+          -0.26934531331062317,
+          -0.9578531980514526,
+          -0.09985176473855972,
+          -6.739141464233398
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1542,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_583082437",
+      "mask_path": "../../mask/hdr_left_01542.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01543.png",
+      "transform_matrix": [
+        [
+          0.8412589430809021,
+          -0.1932060420513153,
+          -0.5049303770065308,
+          -13.382912635803223
+        ],
+        [
+          0.4645596444606781,
+          -0.21937449276447296,
+          0.8579389452934265,
+          6.399226665496826
+        ],
+        [
+          -0.27652785181999207,
+          -0.9563191533088684,
+          -0.09479503333568573,
+          -6.7524566650390625
+        ],
+        [
+          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": "1731323416_683082342",
+      "mask_path": "../../mask/hdr_left_01543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01544.png",
+      "transform_matrix": [
+        [
+          0.843612015247345,
+          -0.19895191490650177,
+          -0.49873533844947815,
+          -13.325468063354492
+        ],
+        [
+          0.45767343044281006,
+          -0.2193211317062378,
+          0.8616456985473633,
+          6.429990768432617
+        ],
+        [
+          -0.2808092534542084,
+          -0.9551525712013245,
+          -0.09396693855524063,
+          -6.749419689178467
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1544,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_783082246",
+      "mask_path": "../../mask/hdr_left_01544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01546.png",
+      "transform_matrix": [
+        [
+          0.851614236831665,
+          -0.1927281767129898,
+          -0.4874514043331146,
+          -13.238706588745117
+        ],
+        [
+          0.44717392325401306,
+          -0.21805419027805328,
+          0.8674606084823608,
+          6.512213230133057
+        ],
+        [
+          -0.27347490191459656,
+          -0.9567174315452576,
+          -0.09951506555080414,
+          -6.814215660095215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1546,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_983080387",
+      "mask_path": "../../mask/hdr_left_01546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01547.png",
+      "transform_matrix": [
+        [
+          0.8460152745246887,
+          -0.1950678527355194,
+          -0.49619218707084656,
+          -13.171416282653809
+        ],
+        [
+          0.4422640800476074,
+          -0.2629963159561157,
+          0.857458770275116,
+          6.561795711517334
+        ],
+        [
+          -0.2977593243122101,
+          -0.944871187210083,
+          -0.13622738420963287,
+          -6.823577404022217
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1547,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_83081245",
+      "mask_path": "../../mask/hdr_left_01547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01550.png",
+      "transform_matrix": [
+        [
+          0.8186461329460144,
+          -0.21770142018795013,
+          -0.5314363241195679,
+          -13.084731101989746
+        ],
+        [
+          0.4663427770137787,
+          -0.2880760133266449,
+          0.8363829851150513,
+          6.6646037101745605
+        ],
+        [
+          -0.33517584204673767,
+          -0.932533323764801,
+          -0.1343088448047638,
+          -6.878357410430908
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1550,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_383082389",
+      "mask_path": "../../mask/hdr_left_01550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01554.png",
+      "transform_matrix": [
+        [
+          0.7772021293640137,
+          -0.24369655549526215,
+          -0.580145537853241,
+          -12.976860046386719
+        ],
+        [
+          0.5141918063163757,
+          -0.2854856252670288,
+          0.8087674379348755,
+          6.809249401092529
+        ],
+        [
+          -0.36271700263023376,
+          -0.9268819093704224,
+          -0.09657325595617294,
+          -6.980690002441406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1554,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_783082008",
+      "mask_path": "../../mask/hdr_left_01554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01555.png",
+      "transform_matrix": [
+        [
+          0.7717797160148621,
+          -0.2459850311279297,
+          -0.5863850712776184,
+          -12.94902515411377
+        ],
+        [
+          0.5267081260681152,
+          -0.26937422156333923,
+          0.8062357902526855,
+          6.870846748352051
+        ],
+        [
+          -0.3562789261341095,
+          -0.9310901761054993,
+          -0.07833525538444519,
+          -7.022649765014648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1555,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_883082151",
+      "mask_path": "../../mask/hdr_left_01555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01557.png",
+      "transform_matrix": [
+        [
+          0.7609688639640808,
+          -0.24479597806930542,
+          -0.6008338332176208,
+          -12.924491882324219
+        ],
+        [
+          0.5515859723091125,
+          -0.24347327649593353,
+          0.7977929711341858,
+          6.952351093292236
+        ],
+        [
+          -0.3415835201740265,
+          -0.9385071992874146,
+          -0.05024958401918411,
+          -7.042266845703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1557,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_83082437",
+      "mask_path": "../../mask/hdr_left_01557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01558.png",
+      "transform_matrix": [
+        [
+          0.755629301071167,
+          -0.2556172311306,
+          -0.6030623316764832,
+          -12.915912628173828
+        ],
+        [
+          0.5581028461456299,
+          -0.23066477477550507,
+          0.7970663905143738,
+          7.002209663391113
+        ],
+        [
+          -0.34284916520118713,
+          -0.9388576149940491,
+          -0.031636349856853485,
+          -7.06732702255249
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1558,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_183080673",
+      "mask_path": "../../mask/hdr_left_01558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01559.png",
+      "transform_matrix": [
+        [
+          0.753363311290741,
+          -0.26944348216056824,
+          -0.5998698472976685,
+          -12.917016983032227
+        ],
+        [
+          0.5526312589645386,
+          -0.23502175509929657,
+          0.7996020913124084,
+          7.048473834991455
+        ],
+        [
+          -0.3564299941062927,
+          -0.9338977932929993,
+          -0.028153879567980766,
+          -7.087679862976074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1559,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_283082008",
+      "mask_path": "../../mask/hdr_left_01559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01561.png",
+      "transform_matrix": [
+        [
+          0.75690758228302,
+          -0.2668635845184326,
+          -0.5965524315834045,
+          -12.871121406555176
+        ],
+        [
+          0.5431336760520935,
+          -0.25078848004341125,
+          0.8013182282447815,
+          7.112481594085693
+        ],
+        [
+          -0.36345112323760986,
+          -0.9305316209793091,
+          -0.04488111287355423,
+          -7.119439125061035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1561,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_483082294",
+      "mask_path": "../../mask/hdr_left_01561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01562.png",
+      "transform_matrix": [
+        [
+          0.7607100605964661,
+          -0.25486522912979126,
+          -0.5969622135162354,
+          -12.825112342834473
+        ],
+        [
+          0.5403401851654053,
+          -0.26094385981559753,
+          0.7999629974365234,
+          7.167970180511475
+        ],
+        [
+          -0.35965633392333984,
+          -0.9311026334762573,
+          -0.06078868359327316,
+          -7.15029764175415
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1562,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_583081960",
+      "mask_path": "../../mask/hdr_left_01562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01563.png",
+      "transform_matrix": [
+        [
+          0.7646507620811462,
+          -0.2445603460073471,
+          -0.5962377786636353,
+          -12.77173137664795
+        ],
+        [
+          0.5351981520652771,
+          -0.2743934392929077,
+          0.7989187240600586,
+          7.219114303588867
+        ],
+        [
+          -0.3589875102043152,
+          -0.9299992322921753,
+          -0.07892689108848572,
+          -7.185323715209961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1563,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_683082342",
+      "mask_path": "../../mask/hdr_left_01563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01564.png",
+      "transform_matrix": [
+        [
+          0.7661463618278503,
+          -0.24212710559368134,
+          -0.5953100919723511,
+          -12.73803997039795
+        ],
+        [
+          0.5326237678527832,
+          -0.2791278660297394,
+          0.798999011516571,
+          7.253507137298584
+        ],
+        [
+          -0.35962697863578796,
+          -0.9292266368865967,
+          -0.08489018678665161,
+          -7.220269680023193
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1564,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_783081531",
+      "mask_path": "../../mask/hdr_left_01564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01565.png",
+      "transform_matrix": [
+        [
+          0.7667388916015625,
+          -0.23649929463863373,
+          -0.5968076586723328,
+          -12.698351860046387
+        ],
+        [
+          0.5346558690071106,
+          -0.2793143093585968,
+          0.7975754141807556,
+          7.293127059936523
+        ],
+        [
+          -0.3553229570388794,
+          -0.9306190013885498,
+          -0.08771540969610214,
+          -7.245513439178467
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1565,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_883080482",
+      "mask_path": "../../mask/hdr_left_01565.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01566.png",
+      "transform_matrix": [
+        [
+          0.7673817873001099,
+          -0.2236301600933075,
+          -0.6009281873703003,
+          -12.622400283813477
+        ],
+        [
+          0.5391248464584351,
+          -0.2822874188423157,
+          0.7935101389884949,
+          7.351354598999023
+        ],
+        [
+          -0.34708723425865173,
+          -0.932900607585907,
+          -0.09605763852596283,
+          -7.275144577026367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1566,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_983079433",
+      "mask_path": "../../mask/hdr_left_01566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01567.png",
+      "transform_matrix": [
+        [
+          0.7686718106269836,
+          -0.21342280507087708,
+          -0.6029877662658691,
+          -12.550278663635254
+        ],
+        [
+          0.5403735041618347,
+          -0.28774145245552063,
+          0.7906967997550964,
+          7.406696319580078
+        ],
+        [
+          -0.34225723147392273,
+          -0.9336250424385071,
+          -0.10585077106952667,
+          -7.308183193206787
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1567,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_83081960",
+      "mask_path": "../../mask/hdr_left_01567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01568.png",
+      "transform_matrix": [
+        [
+          0.7729871869087219,
+          -0.20478197932243347,
+          -0.6004623770713806,
+          -12.504136085510254
+        ],
+        [
+          0.537223756313324,
+          -0.2921675145626068,
+          0.7912198305130005,
+          7.444036483764648
+        ],
+        [
+          -0.3374631404876709,
+          -0.9341855049133301,
+          -0.1158280000090599,
+          -7.337757587432861
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1568,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_183083057",
+      "mask_path": "../../mask/hdr_left_01568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01569.png",
+      "transform_matrix": [
+        [
+          0.7795556783676147,
+          -0.19284336268901825,
+          -0.5959063172340393,
+          -12.44714069366455
+        ],
+        [
+          0.5330337285995483,
+          -0.2953275442123413,
+          0.7928786873817444,
+          7.481114387512207
+        ],
+        [
+          -0.3288888931274414,
+          -0.9357312917709351,
+          -0.12743225693702698,
+          -7.361664772033691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1569,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_283082246",
+      "mask_path": "../../mask/hdr_left_01569.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01570.png",
+      "transform_matrix": [
+        [
+          0.7830449342727661,
+          -0.18621601164340973,
+          -0.5934342741966248,
+          -12.37930679321289
+        ],
+        [
+          0.5299809575080872,
+          -0.2995886206626892,
+          0.7933264374732971,
+          7.5433783531188965
+        ],
+        [
+          -0.3255162239074707,
+          -0.9357191324234009,
+          -0.1359003782272339,
+          -7.409317970275879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1570,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_383081912",
+      "mask_path": "../../mask/hdr_left_01570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01571.png",
+      "transform_matrix": [
+        [
+          0.7827418446540833,
+          -0.1868567317724228,
+          -0.5936326384544373,
+          -12.311841011047363
+        ],
+        [
+          0.5279219746589661,
+          -0.3057634234428406,
+          0.7923427820205688,
+          7.604527473449707
+        ],
+        [
+          -0.32956570386886597,
+          -0.9335916638374329,
+          -0.1406880021095276,
+          -7.458831787109375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1571,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_483082532",
+      "mask_path": "../../mask/hdr_left_01571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01572.png",
+      "transform_matrix": [
+        [
+          0.7821944952011108,
+          -0.19002509117126465,
+          -0.5933483242988586,
+          -12.275548934936523
+        ],
+        [
+          0.52694171667099,
+          -0.30635693669319153,
+          0.7927659749984741,
+          7.640677452087402
+        ],
+        [
+          -0.33242177963256836,
+          -0.9327571988105774,
+          -0.13949856162071228,
+          -7.493320465087891
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1572,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_583081245",
+      "mask_path": "../../mask/hdr_left_01572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01573.png",
+      "transform_matrix": [
+        [
+          0.7819100618362427,
+          -0.19101634621620178,
+          -0.5934049487113953,
+          -12.241402626037598
+        ],
+        [
+          0.5284719467163086,
+          -0.30179399251937866,
+          0.7934970855712891,
+          7.677020072937012
+        ],
+        [
+          -0.3306569755077362,
+          -0.9340413212776184,
+          -0.13502898812294006,
+          -7.519466400146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1573,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_683081388",
+      "mask_path": "../../mask/hdr_left_01573.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01574.png",
+      "transform_matrix": [
+        [
+          0.7783656716346741,
+          -0.19928385317325592,
+          -0.5953425765037537,
+          -12.16796588897705
+        ],
+        [
+          0.5318337678909302,
+          -0.29461100697517395,
+          0.7939502596855164,
+          7.730203151702881
+        ],
+        [
+          -0.33361589908599854,
+          -0.9346070289611816,
+          -0.12332922965288162,
+          -7.565741539001465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1574,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_783082008",
+      "mask_path": "../../mask/hdr_left_01574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01575.png",
+      "transform_matrix": [
+        [
+          0.7726015448570251,
+          -0.24007058143615723,
+          -0.5877524018287659,
+          -12.11650562286377
+        ],
+        [
+          0.5204334855079651,
+          -0.29076167941093445,
+          0.8028739094734192,
+          7.768228054046631
+        ],
+        [
+          -0.36364227533340454,
+          -0.9261878132820129,
+          -0.09970215708017349,
+          -7.578575611114502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1575,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_883081912",
+      "mask_path": "../../mask/hdr_left_01575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01577.png",
+      "transform_matrix": [
+        [
+          0.7771859765052795,
+          -0.2303558886051178,
+          -0.5855920910835266,
+          -12.053658485412598
+        ],
+        [
+          0.5219218730926514,
+          -0.28389933705329895,
+          0.8043622374534607,
+          7.814794540405273
+        ],
+        [
+          -0.35153883695602417,
+          -0.9307724833488464,
+          -0.10041480511426926,
+          -7.582572937011719
+        ],
+        [
+          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": "1731323420_83082914",
+      "mask_path": "../../mask/hdr_left_01577.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01578.png",
+      "transform_matrix": [
+        [
+          0.7763469815254211,
+          -0.23532886803150177,
+          -0.5847269892692566,
+          -12.017894744873047
+        ],
+        [
+          0.5211195945739746,
+          -0.2822142541408539,
+          0.8054746985435486,
+          7.860610485076904
+        ],
+        [
+          -0.3545697033405304,
+          -0.9300405979156494,
+          -0.0964617133140564,
+          -7.621665954589844
+        ],
+        [
+          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": "1731323420_183082103",
+      "mask_path": "../../mask/hdr_left_01578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01579.png",
+      "transform_matrix": [
+        [
+          0.7762437462806702,
+          -0.24904225766658783,
+          -0.5791575908660889,
+          -11.98605728149414
+        ],
+        [
+          0.5149339437484741,
+          -0.2795414626598358,
+          0.8103699088096619,
+          7.898165225982666
+        ],
+        [
+          -0.36371496319770813,
+          -0.9272726774215698,
+          -0.08875201642513275,
+          -7.648625373840332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1579,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_283082008",
+      "mask_path": "../../mask/hdr_left_01579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01581.png",
+      "transform_matrix": [
+        [
+          0.7738134264945984,
+          -0.27109065651893616,
+          -0.5724706053733826,
+          -11.943660736083984
+        ],
+        [
+          0.5125678181648254,
+          -0.2629903256893158,
+          0.8173801302909851,
+          7.972183704376221
+        ],
+        [
+          -0.3721383213996887,
+          -0.925929844379425,
+          -0.06455305963754654,
+          -7.700790882110596
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1581,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_483081579",
+      "mask_path": "../../mask/hdr_left_01581.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01582.png",
+      "transform_matrix": [
+        [
+          0.7691323161125183,
+          -0.2668831944465637,
+          -0.580696702003479,
+          -11.917922019958496
+        ],
+        [
+          0.5230090022087097,
+          -0.2593382000923157,
+          0.8119145631790161,
+          8.02202320098877
+        ],
+        [
+          -0.3672831952571869,
+          -0.9281794428825378,
+          -0.05988307669758797,
+          -7.73151159286499
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1582,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_583082914",
+      "mask_path": "../../mask/hdr_left_01582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01583.png",
+      "transform_matrix": [
+        [
+          0.7626521587371826,
+          -0.2586754560470581,
+          -0.5928309559822083,
+          -11.879745483398438
+        ],
+        [
+          0.5368877053260803,
+          -0.25796911120414734,
+          0.8032456636428833,
+          8.071535110473633
+        ],
+        [
+          -0.3607119917869568,
+          -0.9308807849884033,
+          -0.057861026376485825,
+          -7.752048492431641
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1583,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_683082103",
+      "mask_path": "../../mask/hdr_left_01583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01585.png",
+      "transform_matrix": [
+        [
+          0.7566257119178772,
+          -0.23798660933971405,
+          -0.6089990735054016,
+          -11.81070327758789
+        ],
+        [
+          0.5573915243148804,
+          -0.2521360218524933,
+          0.7910385131835938,
+          8.147180557250977
+        ],
+        [
+          -0.34180718660354614,
+          -0.9379711151123047,
+          -0.058120835572481155,
+          -7.782420635223389
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1585,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_883082389",
+      "mask_path": "../../mask/hdr_left_01585.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01586.png",
+      "transform_matrix": [
+        [
+          0.7529978156089783,
+          -0.22832532227039337,
+          -0.6171400547027588,
+          -11.770317077636719
+        ],
+        [
+          0.567516565322876,
+          -0.24934130907058716,
+          0.7846997976303101,
+          8.218758583068848
+        ],
+        [
+          -0.3330453336238861,
+          -0.9411144852638245,
+          -0.05817505717277527,
+          -7.83941125869751
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1586,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_983080625",
+      "mask_path": "../../mask/hdr_left_01586.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01587.png",
+      "transform_matrix": [
+        [
+          0.7407452464103699,
+          -0.22429537773132324,
+          -0.6332359910011292,
+          -11.726863861083984
+        ],
+        [
+          0.5717871189117432,
+          -0.2843033969402313,
+          0.7695654630661011,
+          8.277385711669922
+        ],
+        [
+          -0.35264110565185547,
+          -0.9321283102035522,
+          -0.08234716951847076,
+          -7.866275310516357
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1587,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323421_83081007",
+      "mask_path": "../../mask/hdr_left_01587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01589.png",
+      "transform_matrix": [
+        [
+          0.724307119846344,
+          -0.22753427922725677,
+          -0.6508512496948242,
+          -11.692699432373047
+        ],
+        [
+          0.5785300135612488,
+          -0.3129595220088959,
+          0.7532326579093933,
+          8.321382522583008
+        ],
+        [
+          -0.3750762939453125,
+          -0.9221087098121643,
+          -0.09504341334104538,
+          -7.88328742980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1589,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323421_283086538",
+      "mask_path": "../../mask/hdr_left_01589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01590.png",
+      "transform_matrix": [
+        [
+          0.7219682335853577,
+          -0.2278396487236023,
+          -0.6533383727073669,
+          -11.674059867858887
+        ],
+        [
+          0.5835998058319092,
+          -0.3067464232444763,
+          0.7518762350082397,
+          8.361479759216309
+        ],
+        [
+          -0.37171635031700134,
+          -0.9241189956665039,
+          -0.08849397301673889,
+          -7.911109924316406
+        ],
+        [
+          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": "1731323421_383081674",
+      "mask_path": "../../mask/hdr_left_01590.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01591.png",
+      "transform_matrix": [
+        [
+          0.7177104353904724,
+          -0.23138165473937988,
+          -0.6567756533622742,
+          -11.642793655395508
+        ],
+        [
+          0.5838543772697449,
+          -0.31404128670692444,
+          0.7486602663993835,
+          8.405827522277832
+        ],
+        [
+          -0.37948083877563477,
+          -0.9207826852798462,
+          -0.09029751271009445,
+          -7.946091175079346
+        ],
+        [
+          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": "1731323421_483082771",
+      "mask_path": "../../mask/hdr_left_01591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01593.png",
+      "transform_matrix": [
+        [
+          0.7214646339416504,
+          -0.23714740574359894,
+          -0.6505765318870544,
+          -11.587750434875488
+        ],
+        [
+          0.5752099752426147,
+          -0.31782305240631104,
+          0.7537386417388916,
+          8.456616401672363
+        ],
+        [
+          -0.38551533222198486,
+          -0.9180139899253845,
+          -0.0928884968161583,
+          -7.9937567710876465
+        ],
+        [
+          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": "1731323421_683084487",
+      "mask_path": "../../mask/hdr_left_01593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01594.png",
+      "transform_matrix": [
+        [
+          0.7260123491287231,
+          -0.2359418123960495,
+          -0.645939290523529,
+          -11.554791450500488
+        ],
+        [
+          0.5742200613021851,
+          -0.30884265899658203,
+          0.7582134008407593,
+          8.496477127075195
+        ],
+        [
+          -0.37838783860206604,
+          -0.9213836193084717,
+          -0.08874104917049408,
+          -8.029475212097168
+        ],
+        [
+          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": "1731323421_783082008",
+      "mask_path": "../../mask/hdr_left_01594.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01595.png",
+      "transform_matrix": [
+        [
+          0.7289679050445557,
+          -0.23253537714481354,
+          -0.6438423991203308,
+          -11.50841236114502
+        ],
+        [
+          0.575212299823761,
+          -0.3018393814563751,
+          0.7602787613868713,
+          8.562935829162598
+        ],
+        [
+          -0.371128648519516,
+          -0.9245649576187134,
+          -0.08627400547266006,
+          -8.058613777160645
+        ],
+        [
+          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": "1731323421_883083105",
+      "mask_path": "../../mask/hdr_left_01595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01598.png",
+      "transform_matrix": [
+        [
+          0.7277557253837585,
+          -0.2355249673128128,
+          -0.6441270112991333,
+          -11.445019721984863
+        ],
+        [
+          0.5863958597183228,
+          -0.2733903229236603,
+          0.7624943256378174,
+          8.696510314941406
+        ],
+        [
+          -0.3556844890117645,
+          -0.932623028755188,
+          -0.06085050106048584,
+          -8.11945629119873
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1598,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_183082342",
+      "mask_path": "../../mask/hdr_left_01598.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01599.png",
+      "transform_matrix": [
+        [
+          0.7276436686515808,
+          -0.23421159386634827,
+          -0.6447322368621826,
+          -11.40912914276123
+        ],
+        [
+          0.5900640487670898,
+          -0.26558351516723633,
+          0.762423574924469,
+          8.742461204528809
+        ],
+        [
+          -0.34979867935180664,
+          -0.9352060556411743,
+          -0.055050287395715714,
+          -8.150249481201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1599,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_283082485",
+      "mask_path": "../../mask/hdr_left_01599.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01600.png",
+      "transform_matrix": [
+        [
+          0.7253803610801697,
+          -0.2697923481464386,
+          -0.6332736015319824,
+          -11.37945556640625
+        ],
+        [
+          0.5756615996360779,
+          -0.26664891839027405,
+          0.77298903465271,
+          8.788666725158691
+        ],
+        [
+          -0.3774082362651825,
+          -0.925262451171875,
+          -0.03811279684305191,
+          -8.180184364318848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1600,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_383081674",
+      "mask_path": "../../mask/hdr_left_01600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01602.png",
+      "transform_matrix": [
+        [
+          0.7296395301818848,
+          -0.29386216402053833,
+          -0.6174716353416443,
+          -11.349567413330078
+        ],
+        [
+          0.5507782101631165,
+          -0.2826361060142517,
+          0.7853407859802246,
+          8.841987609863281
+        ],
+        [
+          -0.40530169010162354,
+          -0.9131056666374207,
+          -0.044369567185640335,
+          -8.187664985656738
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1602,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_583081960",
+      "mask_path": "../../mask/hdr_left_01602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01603.png",
+      "transform_matrix": [
+        [
+          0.7345057129859924,
+          -0.2773881256580353,
+          -0.6193199753761292,
+          -11.304275512695312
+        ],
+        [
+          0.5522663593292236,
+          -0.28599581122398376,
+          0.7830761075019836,
+          8.897507667541504
+        ],
+        [
+          -0.3943389058113098,
+          -0.9172035455703735,
+          -0.05687336623668671,
+          -8.223396301269531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1603,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_683083295",
+      "mask_path": "../../mask/hdr_left_01603.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01604.png",
+      "transform_matrix": [
+        [
+          0.7393444776535034,
+          -0.2640117406845093,
+          -0.6194090843200684,
+          -11.254844665527344
+        ],
+        [
+          0.549512505531311,
+          -0.2950245141983032,
+          0.7816627025604248,
+          8.952617645263672
+        ],
+        [
+          -0.38910895586013794,
+          -0.9182910323143005,
+          -0.07304695248603821,
+          -8.25479507446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1604,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_783082246",
+      "mask_path": "../../mask/hdr_left_01604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01606.png",
+      "transform_matrix": [
+        [
+          0.7437730431556702,
+          -0.2612797021865845,
+          -0.6152516007423401,
+          -11.203143119812012
+        ],
+        [
+          0.5456564426422119,
+          -0.2943134307861328,
+          0.7846264839172363,
+          9.009459495544434
+        ],
+        [
+          -0.386083722114563,
+          -0.9193000793457031,
+          -0.07633344829082489,
+          -8.305749893188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1606,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_983082294",
+      "mask_path": "../../mask/hdr_left_01606.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01607.png",
+      "transform_matrix": [
+        [
+          0.7462970614433289,
+          -0.254219114780426,
+          -0.6151531338691711,
+          -11.160367965698242
+        ],
+        [
+          0.5479483008384705,
+          -0.2900317907333374,
+          0.7846236228942871,
+          9.043556213378906
+        ],
+        [
+          -0.3778802752494812,
+          -0.922634482383728,
+          -0.07715097069740295,
+          -8.332098960876465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1607,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_83082437",
+      "mask_path": "../../mask/hdr_left_01607.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01608.png",
+      "transform_matrix": [
+        [
+          0.7485465407371521,
+          -0.24356262385845184,
+          -0.6167295575141907,
+          -11.089092254638672
+        ],
+        [
+          0.5509966015815735,
+          -0.28896060585975647,
+          0.7828822135925293,
+          9.090084075927734
+        ],
+        [
+          -0.3688913881778717,
+          -0.9258396625518799,
+          -0.08209829032421112,
+          -8.357881546020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1608,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_183082342",
+      "mask_path": "../../mask/hdr_left_01608.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01611.png",
+      "transform_matrix": [
+        [
+          0.7627400755882263,
+          -0.21185335516929626,
+          -0.6110201478004456,
+          -10.97153377532959
+        ],
+        [
+          0.5492045879364014,
+          -0.28668513894081116,
+          0.7849750518798828,
+          9.161605834960938
+        ],
+        [
+          -0.34147003293037415,
+          -0.9343071579933167,
+          -0.10231539607048035,
+          -8.382405281066895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1611,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_483081579",
+      "mask_path": "../../mask/hdr_left_01611.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01612.png",
+      "transform_matrix": [
+        [
+          0.7621927261352539,
+          -0.20386920869350433,
+          -0.6144099235534668,
+          -10.931727409362793
+        ],
+        [
+          0.5501238703727722,
+          -0.29628506302833557,
+          0.7807554006576538,
+          9.219687461853027
+        ],
+        [
+          -0.3412124216556549,
+          -0.9330876469612122,
+          -0.11367300152778625,
+          -8.437904357910156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1612,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_583081960",
+      "mask_path": "../../mask/hdr_left_01612.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01613.png",
+      "transform_matrix": [
+        [
+          0.7575492858886719,
+          -0.20316778123378754,
+          -0.6203562021255493,
+          -10.902092933654785
+        ],
+        [
+          0.5470161437988281,
+          -0.32101836800575256,
+          0.7731239199638367,
+          9.266695022583008
+        ],
+        [
+          -0.3562195897102356,
+          -0.9250244498252869,
+          -0.13205119967460632,
+          -8.461796760559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1613,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_683081388",
+      "mask_path": "../../mask/hdr_left_01613.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01615.png",
+      "transform_matrix": [
+        [
+          0.7517972588539124,
+          -0.21426261961460114,
+          -0.6236124038696289,
+          -10.867591857910156
+        ],
+        [
+          0.5473339557647705,
+          -0.3246455490589142,
+          0.7713823914527893,
+          9.316195487976074
+        ],
+        [
+          -0.36773139238357544,
+          -0.9212474822998047,
+          -0.12679441273212433,
+          -8.476981163024902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1615,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_883080720",
+      "mask_path": "../../mask/hdr_left_01615.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01616.png",
+      "transform_matrix": [
+        [
+          0.7486427426338196,
+          -0.2280157059431076,
+          -0.6225293874740601,
+          -10.841208457946777
+        ],
+        [
+          0.5470088720321655,
+          -0.3181000351905823,
+          0.7743344306945801,
+          9.360956192016602
+        ],
+        [
+          -0.3745869994163513,
+          -0.920228898525238,
+          -0.11341670155525208,
+          -8.51784610748291
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1616,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_983081102",
+      "mask_path": "../../mask/hdr_left_01616.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01620.png",
+      "transform_matrix": [
+        [
+          0.7571892738342285,
+          -0.24458420276641846,
+          -0.6056757569313049,
+          -10.728934288024902
+        ],
+        [
+          0.5389449000358582,
+          -0.28996551036834717,
+          0.7908592820167542,
+          9.520320892333984
+        ],
+        [
+          -0.36905673146247864,
+          -0.9252559542655945,
+          -0.08774132281541824,
+          -8.61850643157959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1620,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323424_383081674",
+      "mask_path": "../../mask/hdr_left_01620.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01628.png",
+      "transform_matrix": [
+        [
+          0.7025583982467651,
+          -0.19136853516101837,
+          -0.6854121088981628,
+          -10.554823875427246
+        ],
+        [
+          0.6310796141624451,
+          -0.2775583267211914,
+          0.7243617177009583,
+          9.839346885681152
+        ],
+        [
+          -0.3288618326187134,
+          -0.941456139087677,
+          -0.07423214614391327,
+          -8.732288360595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1628,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_183082103",
+      "mask_path": "../../mask/hdr_left_01628.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01633.png",
+      "transform_matrix": [
+        [
+          0.6178082823753357,
+          -0.14139524102210999,
+          -0.7735117077827454,
+          -10.461871147155762
+        ],
+        [
+          0.7258449792861938,
+          -0.2757895886898041,
+          0.6301500201225281,
+          10.03022575378418
+        ],
+        [
+          -0.30242666602134705,
+          -0.950761616230011,
+          -0.06775406002998352,
+          -8.777705192565918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1633,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_683081388",
+      "mask_path": "../../mask/hdr_left_01633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01635.png",
+      "transform_matrix": [
+        [
+          0.6168972849845886,
+          -0.1365661770105362,
+          -0.7751047015190125,
+          -10.44460678100586
+        ],
+        [
+          0.7309244871139526,
+          -0.26580584049224854,
+          0.6285671591758728,
+          10.096641540527344
+        ],
+        [
+          -0.2918683588504791,
+          -0.9543044567108154,
+          -0.06415534764528275,
+          -8.816105842590332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1635,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_883081197",
+      "mask_path": "../../mask/hdr_left_01635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01640.png",
+      "transform_matrix": [
+        [
+          0.5727732181549072,
+          -0.10192952305078506,
+          -0.8133519291877747,
+          -10.390563011169434
+        ],
+        [
+          0.7644879817962646,
+          -0.29161426424980164,
+          0.5749078989028931,
+          10.252228736877441
+        ],
+        [
+          -0.2957850396633148,
+          -0.9510896801948547,
+          -0.08910491317510605,
+          -8.897451400756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1640,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_383081197",
+      "mask_path": "../../mask/hdr_left_01640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01642.png",
+      "transform_matrix": [
+        [
+          0.5552135109901428,
+          -0.06929146498441696,
+          -0.8288163542747498,
+          -10.346658706665039
+        ],
+        [
+          0.7857441306114197,
+          -0.282992959022522,
+          0.5500190854072571,
+          10.321049690246582
+        ],
+        [
+          -0.2726607918739319,
+          -0.9566158056259155,
+          -0.10267613083124161,
+          -8.89929485321045
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1642,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_583081960",
+      "mask_path": "../../mask/hdr_left_01642.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01644.png",
+      "transform_matrix": [
+        [
+          0.5199214816093445,
+          -0.06955758482217789,
+          -0.8513772487640381,
+          -10.307842254638672
+        ],
+        [
+          0.802149772644043,
+          -0.3028824031352997,
+          0.5146046876907349,
+          10.390142440795898
+        ],
+        [
+          -0.29366183280944824,
+          -0.9504861831665039,
+          -0.10167946666479111,
+          -8.961167335510254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1644,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_783081054",
+      "mask_path": "../../mask/hdr_left_01644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01646.png",
+      "transform_matrix": [
+        [
+          0.47206053137779236,
+          -0.09204933047294617,
+          -0.876747190952301,
+          -10.314321517944336
+        ],
+        [
+          0.8238085508346558,
+          -0.3080005943775177,
+          0.4758940041065216,
+          10.449094772338867
+        ],
+        [
+          -0.31384438276290894,
+          -0.9469227194786072,
+          -0.06956389546394348,
+          -9.020589828491211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1646,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_983080625",
+      "mask_path": "../../mask/hdr_left_01646.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01647.png",
+      "transform_matrix": [
+        [
+          0.4419686794281006,
+          -0.10243943333625793,
+          -0.891162097454071,
+          -10.317156791687012
+        ],
+        [
+          0.838260293006897,
+          -0.3065117597579956,
+          0.45096585154533386,
+          10.506418228149414
+        ],
+        [
+          -0.31934836506843567,
+          -0.9463386535644531,
+          -0.04959768429398537,
+          -9.024003028869629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1647,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_83081007",
+      "mask_path": "../../mask/hdr_left_01647.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01649.png",
+      "transform_matrix": [
+        [
+          0.3957144618034363,
+          -0.10487383604049683,
+          -0.9123658537864685,
+          -10.311549186706543
+        ],
+        [
+          0.8639830350875854,
+          -0.29430097341537476,
+          0.40855878591537476,
+          10.590669631958008
+        ],
+        [
+          -0.3113572895526886,
+          -0.9499413371086121,
+          -0.025849943980574608,
+          -9.017328262329102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1649,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_283080577",
+      "mask_path": "../../mask/hdr_left_01649.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01651.png",
+      "transform_matrix": [
+        [
+          0.34055596590042114,
+          -0.08049029856920242,
+          -0.9367726445198059,
+          -10.32767105102539
+        ],
+        [
+          0.8839241862297058,
+          -0.31218212842941284,
+          0.3481670022010803,
+          10.718564987182617
+        ],
+        [
+          -0.3204677104949951,
+          -0.946606457233429,
+          -0.03516817465424538,
+          -9.079042434692383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1651,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_483080863",
+      "mask_path": "../../mask/hdr_left_01651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01655.png",
+      "transform_matrix": [
+        [
+          0.22088153660297394,
+          -0.013605242595076561,
+          -0.9752057790756226,
+          -10.285033226013184
+        ],
+        [
+          0.8981584310531616,
+          -0.38691359758377075,
+          0.2088284194469452,
+          10.861167907714844
+        ],
+        [
+          -0.3801615238189697,
+          -0.9220156669616699,
+          -0.07324240356683731,
+          -9.128128051757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1655,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_883079051",
+      "mask_path": "../../mask/hdr_left_01655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01659.png",
+      "transform_matrix": [
+        [
+          0.11029522120952606,
+          0.07633055746555328,
+          -0.9909634590148926,
+          -10.316912651062012
+        ],
+        [
+          0.9172859787940979,
+          -0.39167991280555725,
+          0.07192506641149521,
+          11.01484203338623
+        ],
+        [
+          -0.38265037536621094,
+          -0.9169300198554993,
+          -0.11321736127138138,
+          -9.225081443786621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1659,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323428_283077955",
+      "mask_path": "../../mask/hdr_left_01659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01662.png",
+      "transform_matrix": [
+        [
+          -0.001574201975017786,
+          0.09820574522018433,
+          -0.9951649308204651,
+          -10.330673217773438
+        ],
+        [
+          0.9233053922653198,
+          -0.38206467032432556,
+          -0.03916377201676369,
+          11.087505340576172
+        ],
+        [
+          -0.38406339287757874,
+          -0.9189026951789856,
+          -0.09007243812084198,
+          -9.259799003601074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1662,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323428_583078384",
+      "mask_path": "../../mask/hdr_left_01662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01666.png",
+      "transform_matrix": [
+        [
+          -0.2123192399740219,
+          0.08326122164726257,
+          -0.9736468195915222,
+          -10.455610275268555
+        ],
+        [
+          0.9163801074028015,
+          -0.3290547728538513,
+          -0.22797039151191711,
+          11.141554832458496
+        ],
+        [
+          -0.339364230632782,
+          -0.9406330585479736,
+          -0.006434254813939333,
+          -9.261246681213379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1666,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323428_983080863",
+      "mask_path": "../../mask/hdr_left_01666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01670.png",
+      "transform_matrix": [
+        [
+          -0.406218022108078,
+          0.1202176958322525,
+          -0.9058336615562439,
+          -10.544490814208984
+        ],
+        [
+          0.8440319895744324,
+          -0.3304832875728607,
+          -0.4223633110523224,
+          11.131075859069824
+        ],
+        [
+          -0.350138396024704,
+          -0.9361242055892944,
+          0.0327807255089283,
+          -9.30909538269043
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1670,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_383081197",
+      "mask_path": "../../mask/hdr_left_01670.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01673.png",
+      "transform_matrix": [
+        [
+          -0.5197274684906006,
+          0.12379366159439087,
+          -0.8453156352043152,
+          -10.632424354553223
+        ],
+        [
+          0.770930826663971,
+          -0.3584390878677368,
+          -0.5264855623245239,
+          11.101699829101562
+        ],
+        [
+          -0.3681696951389313,
+          -0.9253089427947998,
+          0.09085426479578018,
+          -9.337650299072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1673,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_683081388",
+      "mask_path": "../../mask/hdr_left_01673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01675.png",
+      "transform_matrix": [
+        [
+          -0.5296028256416321,
+          0.16016998887062073,
+          -0.8329865336418152,
+          -10.676398277282715
+        ],
+        [
+          0.7554991841316223,
+          -0.35742130875587463,
+          -0.5490637421607971,
+          11.15029239654541
+        ],
+        [
+          -0.38567063212394714,
+          -0.9201062917709351,
+          0.06828305870294571,
+          -9.394637107849121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1675,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_883080005",
+      "mask_path": "../../mask/hdr_left_01675.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01677.png",
+      "transform_matrix": [
+        [
+          -0.5139985084533691,
+          0.26374420523643494,
+          -0.8162379860877991,
+          -10.604320526123047
+        ],
+        [
+          0.7272297143936157,
+          -0.3706521689891815,
+          -0.5777142643928528,
+          11.153959274291992
+        ],
+        [
+          -0.45490920543670654,
+          -0.8905369639396667,
+          -0.0012879233108833432,
+          -9.429193496704102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1677,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_83082914",
+      "mask_path": "../../mask/hdr_left_01677.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01679.png",
+      "transform_matrix": [
+        [
+          -0.5202885270118713,
+          0.2728736996650696,
+          -0.809221625328064,
+          -10.663087844848633
+        ],
+        [
+          0.7284303307533264,
+          -0.3527897894382477,
+          -0.5873062610626221,
+          11.214461326599121
+        ],
+        [
+          -0.4457454979419708,
+          -0.8950304388999939,
+          -0.015217014588415623,
+          -9.497326850891113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1679,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_283081769",
+      "mask_path": "../../mask/hdr_left_01679.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01680.png",
+      "transform_matrix": [
+        [
+          -0.5319579839706421,
+          0.26858288049697876,
+          -0.803046703338623,
+          -10.699459075927734
+        ],
+        [
+          0.737945556640625,
+          -0.31805914640426636,
+          -0.5952097773551941,
+          11.293545722961426
+        ],
+        [
+          -0.41527944803237915,
+          -0.9092313647270203,
+          -0.02900543622672558,
+          -9.479702949523926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1680,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_383080959",
+      "mask_path": "../../mask/hdr_left_01680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01682.png",
+      "transform_matrix": [
+        [
+          -0.5323297381401062,
+          0.26753875613212585,
+          -0.8031488060951233,
+          -10.734061241149902
+        ],
+        [
+          0.7465423345565796,
+          -0.2989481985569,
+          -0.5943941473960876,
+          11.353296279907227
+        ],
+        [
+          -0.39912331104278564,
+          -0.9159984588623047,
+          -0.04058995097875595,
+          -9.518223762512207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1682,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_583084344",
+      "mask_path": "../../mask/hdr_left_01682.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01683.png",
+      "transform_matrix": [
+        [
+          -0.5345986485481262,
+          0.2754736542701721,
+          -0.7989484071731567,
+          -10.77655029296875
+        ],
+        [
+          0.746837317943573,
+          -0.28845691680908203,
+          -0.5991883873939514,
+          11.376869201660156
+        ],
+        [
+          -0.39552271366119385,
+          -0.9170097708702087,
+          -0.0515253022313118,
+          -9.563386917114258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1683,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_683082103",
+      "mask_path": "../../mask/hdr_left_01683.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01684.png",
+      "transform_matrix": [
+        [
+          -0.5277977585792542,
+          0.3295297920703888,
+          -0.7828407287597656,
+          -10.809377670288086
+        ],
+        [
+          0.7318754196166992,
+          -0.2912790775299072,
+          -0.6160477995872498,
+          11.408061027526855
+        ],
+        [
+          -0.4310312271118164,
+          -0.8980906009674072,
+          -0.08743831515312195,
+          -9.589764595031738
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1684,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_783081531",
+      "mask_path": "../../mask/hdr_left_01684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01687.png",
+      "transform_matrix": [
+        [
+          -0.5714538097381592,
+          0.3584460914134979,
+          -0.7382119297981262,
+          -10.87787914276123
+        ],
+        [
+          0.6740597486495972,
+          -0.30805864930152893,
+          -0.6713742017745972,
+          11.425873756408691
+        ],
+        [
+          -0.4680640399456024,
+          -0.8812583684921265,
+          -0.06557279825210571,
+          -9.640754699707031
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1687,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_83083152",
+      "mask_path": "../../mask/hdr_left_01687.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01691.png",
+      "transform_matrix": [
+        [
+          -0.7215943336486816,
+          0.3029780983924866,
+          -0.6224997639656067,
+          -11.035158157348633
+        ],
+        [
+          0.5744014978408813,
+          -0.23993684351444244,
+          -0.7826194763183594,
+          11.454289436340332
+        ],
+        [
+          -0.38647720217704773,
+          -0.9222986102104187,
+          -0.0008940304396674037,
+          -9.637861251831055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1691,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_483082056",
+      "mask_path": "../../mask/hdr_left_01691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01692.png",
+      "transform_matrix": [
+        [
+          -0.7321031093597412,
+          0.30120739340782166,
+          -0.6109821200370789,
+          -11.085282325744629
+        ],
+        [
+          0.565660297870636,
+          -0.23093140125274658,
+          -0.7916432619094849,
+          11.452317237854004
+        ],
+        [
+          -0.3795437514781952,
+          -0.9251728653907776,
+          -0.001315426197834313,
+          -9.664929389953613
+        ],
+        [
+          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": "1731323431_583081245",
+      "mask_path": "../../mask/hdr_left_01692.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01695.png",
+      "transform_matrix": [
+        [
+          -0.731137216091156,
+          0.3449820280075073,
+          -0.5885795950889587,
+          -11.13882064819336
+        ],
+        [
+          0.5443977117538452,
+          -0.22494834661483765,
+          -0.8081022500991821,
+          11.458166122436523
+        ],
+        [
+          -0.4111807942390442,
+          -0.9112550020217896,
+          -0.02333933860063553,
+          -9.689123153686523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1695,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_883080959",
+      "mask_path": "../../mask/hdr_left_01695.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01697.png",
+      "transform_matrix": [
+        [
+          -0.7480015158653259,
+          0.3266206681728363,
+          -0.5777653455734253,
+          -11.21014404296875
+        ],
+        [
+          0.5319945216178894,
+          -0.22543494403362274,
+          -0.8161869049072266,
+          11.473997116088867
+        ],
+        [
+          -0.3968319296836853,
+          -0.9178769588470459,
+          -0.005134743172675371,
+          -9.730697631835938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1697,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_83080768",
+      "mask_path": "../../mask/hdr_left_01697.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01699.png",
+      "transform_matrix": [
+        [
+          -0.7906153202056885,
+          0.30451497435569763,
+          -0.5312231183052063,
+          -11.302188873291016
+        ],
+        [
+          0.49443864822387695,
+          -0.19426162540912628,
+          -0.8472265601158142,
+          11.503902435302734
+        ],
+        [
+          -0.36118942499160767,
+          -0.9324876070022583,
+          0.003022226272150874,
+          -9.738393783569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1699,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_283080816",
+      "mask_path": "../../mask/hdr_left_01699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01701.png",
+      "transform_matrix": [
+        [
+          -0.837620735168457,
+          0.27525052428245544,
+          -0.4718354046344757,
+          -11.398305892944336
+        ],
+        [
+          0.43532171845436096,
+          -0.18542802333831787,
+          -0.8809719085693359,
+          11.494511604309082
+        ],
+        [
+          -0.32997944951057434,
+          -0.9433205723762512,
+          0.03549579530954361,
+          -9.769320487976074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1701,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_483081102",
+      "mask_path": "../../mask/hdr_left_01701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01702.png",
+      "transform_matrix": [
+        [
+          -0.8560560941696167,
+          0.2866409420967102,
+          -0.430122047662735,
+          -11.455513954162598
+        ],
+        [
+          0.3980885148048401,
+          -0.16514869034290314,
+          -0.9023588299751282,
+          11.482941627502441
+        ],
+        [
+          -0.32968705892562866,
+          -0.9436964392662048,
+          0.027268076315522194,
+          -9.773037910461426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1702,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_583081245",
+      "mask_path": "../../mask/hdr_left_01702.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01707.png",
+      "transform_matrix": [
+        [
+          -0.9124008417129517,
+          0.28506195545196533,
+          -0.2937079966068268,
+          -11.58715534210205
+        ],
+        [
+          0.26329413056373596,
+          -0.14062988758087158,
+          -0.9544104933738708,
+          11.41230583190918
+        ],
+        [
+          -0.3133702576160431,
+          -0.948136568069458,
+          0.053255677223205566,
+          -9.756893157958984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1707,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_83081245",
+      "mask_path": "../../mask/hdr_left_01707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01710.png",
+      "transform_matrix": [
+        [
+          -0.9216994643211365,
+          0.24838151037693024,
+          -0.29795417189598083,
+          -11.684310913085938
+        ],
+        [
+          0.2715751826763153,
+          -0.13527138531208038,
+          -0.952863335609436,
+          11.401487350463867
+        ],
+        [
+          -0.2769783139228821,
+          -0.9591706991195679,
+          0.0572253055870533,
+          -9.765019416809082
+        ],
+        [
+          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": "1731323433_383080959",
+      "mask_path": "../../mask/hdr_left_01710.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01712.png",
+      "transform_matrix": [
+        [
+          -0.9280714392662048,
+          0.2273213118314743,
+          -0.29497185349464417,
+          -11.765637397766113
+        ],
+        [
+          0.2667989134788513,
+          -0.14673882722854614,
+          -0.9525156617164612,
+          11.375068664550781
+        ],
+        [
+          -0.2598108947277069,
+          -0.9627007842063904,
+          0.07553505152463913,
+          -9.795361518859863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1712,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_583081007",
+      "mask_path": "../../mask/hdr_left_01712.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01714.png",
+      "transform_matrix": [
+        [
+          -0.9327680468559265,
+          0.2180367112159729,
+          -0.28706037998199463,
+          -11.855972290039062
+        ],
+        [
+          0.2637478709220886,
+          -0.1300368756055832,
+          -0.9557862877845764,
+          11.348172187805176
+        ],
+        [
+          -0.24572494626045227,
+          -0.9672386050224304,
+          0.06378751993179321,
+          -9.812272071838379
+        ],
+        [
+          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": "1731323433_783081054",
+      "mask_path": "../../mask/hdr_left_01714.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01715.png",
+      "transform_matrix": [
+        [
+          -0.9359484910964966,
+          0.20863236486911774,
+          -0.28367751836776733,
+          -11.910828590393066
+        ],
+        [
+          0.26505905389785767,
+          -0.11295498162508011,
+          -0.9575933218002319,
+          11.359274864196777
+        ],
+        [
+          -0.2318277209997177,
+          -0.9714493155479431,
+          0.05042015016078949,
+          -9.80810260772705
+        ],
+        [
+          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": "1731323433_883080959",
+      "mask_path": "../../mask/hdr_left_01715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01716.png",
+      "transform_matrix": [
+        [
+          -0.9409512281417847,
+          0.1907900720834732,
+          -0.27966004610061646,
+          -11.965248107910156
+        ],
+        [
+          0.2656406760215759,
+          -0.09600743651390076,
+          -0.9592797160148621,
+          11.373086929321289
+        ],
+        [
+          -0.20987048745155334,
+          -0.9769246578216553,
+          0.03965672105550766,
+          -9.809109687805176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1716,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_983082056",
+      "mask_path": "../../mask/hdr_left_01716.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01717.png",
+      "transform_matrix": [
+        [
+          -0.946057140827179,
+          0.16809722781181335,
+          -0.2769821882247925,
+          -12.034708023071289
+        ],
+        [
+          0.26607608795166016,
+          -0.08471978455781937,
+          -0.9602218866348267,
+          11.381789207458496
+        ],
+        [
+          -0.18487650156021118,
+          -0.9821231961250305,
+          0.03542311489582062,
+          -9.829816818237305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1717,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323434_83081245",
+      "mask_path": "../../mask/hdr_left_01717.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01718.png",
+      "transform_matrix": [
+        [
+          -0.9487325549125671,
+          0.15886449813842773,
+          -0.2732555866241455,
+          -12.106078147888184
+        ],
+        [
+          0.2636639177799225,
+          -0.07902222126722336,
+          -0.9613723754882812,
+          11.386266708374023
+        ],
+        [
+          -0.17432118952274323,
+          -0.9841329455375671,
+          0.033084116876125336,
+          -9.849867820739746
+        ],
+        [
+          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": "1731323434_183081865",
+      "mask_path": "../../mask/hdr_left_01718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01720.png",
+      "transform_matrix": [
+        [
+          -0.9526793360710144,
+          0.14809811115264893,
+          -0.2654598653316498,
+          -12.184591293334961
+        ],
+        [
+          0.255757212638855,
+          -0.08145738393068314,
+          -0.9633030891418457,
+          11.38064956665039
+        ],
+        [
+          -0.1642870306968689,
+          -0.9856123924255371,
+          0.03972560539841652,
+          -9.872615814208984
+        ],
+        [
+          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": "1731323434_383082151",
+      "mask_path": "../../mask/hdr_left_01720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01724.png",
+      "transform_matrix": [
+        [
+          -0.9542144536972046,
+          0.11834094673395157,
+          -0.27471858263015747,
+          -12.239514350891113
+        ],
+        [
+          0.2708587050437927,
+          -0.04786919057369232,
+          -0.961428165435791,
+          11.394326210021973
+        ],
+        [
+          -0.12692686915397644,
+          -0.9918185472488403,
+          0.01362379640340805,
+          -9.849328994750977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1724,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323434_783081531",
+      "mask_path": "../../mask/hdr_left_01724.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01726.png",
+      "transform_matrix": [
+        [
+          -0.9541684985160828,
+          0.10140735656023026,
+          -0.28156524896621704,
+          -12.29859447479248
+        ],
+        [
+          0.2799198031425476,
+          -0.030402187258005142,
+          -0.9595418572425842,
+          11.433961868286133
+        ],
+        [
+          -0.10586479306221008,
+          -0.9943803548812866,
+          0.000622888095676899,
+          -9.834320068359375
+        ],
+        [
+          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": "1731323434_983082294",
+      "mask_path": "../../mask/hdr_left_01726.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01729.png",
+      "transform_matrix": [
+        [
+          -0.9557815790176392,
+          0.08672190457582474,
+          -0.28099969029426575,
+          -12.290986061096191
+        ],
+        [
+          0.28042933344841003,
+          -0.018942929804325104,
+          -0.9596877098083496,
+          11.49381160736084
+        ],
+        [
+          -0.08854889124631882,
+          -0.9960525631904602,
+          -0.006214058957993984,
+          -9.848811149597168
+        ],
+        [
+          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": "1731323435_283082008",
+      "mask_path": "../../mask/hdr_left_01729.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01731.png",
+      "transform_matrix": [
+        [
+          -0.9518652558326721,
+          0.08301451802253723,
+          -0.2950611710548401,
+          -12.303776741027832
+        ],
+        [
+          0.29555943608283997,
+          -0.006503120064735413,
+          -0.9553022384643555,
+          11.568788528442383
+        ],
+        [
+          -0.081222765147686,
+          -0.9965271353721619,
+          -0.018345627933740616,
+          -9.832435607910156
+        ],
+        [
+          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": "1731323435_483082294",
+      "mask_path": "../../mask/hdr_left_01731.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01733.png",
+      "transform_matrix": [
+        [
+          -0.948354959487915,
+          0.06914468854665756,
+          -0.30958354473114014,
+          -12.2754545211792
+        ],
+        [
+          0.3112007975578308,
+          0.013717991299927235,
+          -0.9502452611923218,
+          11.628020286560059
+        ],
+        [
+          -0.06145753711462021,
+          -0.9975123405456543,
+          -0.03452740237116814,
+          -9.80966567993164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1733,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323435_683081388",
+      "mask_path": "../../mask/hdr_left_01733.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01741.png",
+      "transform_matrix": [
+        [
+          -0.9429448843002319,
+          0.04054495692253113,
+          -0.3304707705974579,
+          -12.315784454345703
+        ],
+        [
+          0.3294021785259247,
+          -0.03088129498064518,
+          -0.9436845779418945,
+          11.65372371673584
+        ],
+        [
+          -0.048467006534338,
+          -0.9987003803253174,
+          0.015763767063617706,
+          -9.829696655273438
+        ],
+        [
+          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": "1731323436_483081102",
+      "mask_path": "../../mask/hdr_left_01741.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01793.png",
+      "transform_matrix": [
+        [
+          -0.948825478553772,
+          0.0027728239074349403,
+          -0.31578871607780457,
+          -12.573188781738281
+        ],
+        [
+          0.3154236972332001,
+          -0.040540389716625214,
+          -0.9480845928192139,
+          11.710253715515137
+        ],
+        [
+          -0.015431069768965244,
+          -0.9991741180419922,
+          0.03759114071726799,
+          -9.816957473754883
+        ],
+        [
+          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": "1731323441_683081865",
+      "mask_path": "../../mask/hdr_left_01793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01795.png",
+      "transform_matrix": [
+        [
+          -0.9532031416893005,
+          0.011438358575105667,
+          -0.30211392045021057,
+          -12.657879829406738
+        ],
+        [
+          0.30162060260772705,
+          -0.03245363011956215,
+          -0.952875554561615,
+          11.702610969543457
+        ],
+        [
+          -0.02070402167737484,
+          -0.9994078278541565,
+          0.02748485840857029,
+          -9.828140258789062
+        ],
+        [
+          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": "1731323441_883082151",
+      "mask_path": "../../mask/hdr_left_01795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01797.png",
+      "transform_matrix": [
+        [
+          -0.9550220370292664,
+          0.025902042165398598,
+          -0.29540112614631653,
+          -12.727858543395996
+        ],
+        [
+          0.2942618727684021,
+          -0.040316030383110046,
+          -0.9548740983009338,
+          11.692960739135742
+        ],
+        [
+          -0.036642588675022125,
+          -0.9988512396812439,
+          0.03088071569800377,
+          -9.841937065124512
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1797,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323442_83080053",
+      "mask_path": "../../mask/hdr_left_01797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01799.png",
+      "transform_matrix": [
+        [
+          -0.9503175616264343,
+          0.043875500559806824,
+          -0.3081742823123932,
+          -12.781942367553711
+        ],
+        [
+          0.3068360388278961,
+          -0.03469197452068329,
+          -0.9511299133300781,
+          11.705096244812012
+        ],
+        [
+          -0.05242247134447098,
+          -0.9984344840049744,
+          0.019505811855196953,
+          -9.851284980773926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1799,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323442_283080816",
+      "mask_path": "../../mask/hdr_left_01799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01802.png",
+      "transform_matrix": [
+        [
+          -0.9447008967399597,
+          0.07886304706335068,
+          -0.31830912828445435,
+          -12.840044021606445
+        ],
+        [
+          0.3174434006214142,
+          -0.023617306724190712,
+          -0.9479830265045166,
+          11.714256286621094
+        ],
+        [
+          -0.08227843046188354,
+          -0.9966056942939758,
+          -0.00272326054982841,
+          -9.880609512329102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1802,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323442_583077907",
+      "mask_path": "../../mask/hdr_left_01802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01805.png",
+      "transform_matrix": [
+        [
+          -0.9447838664054871,
+          0.1037779375910759,
+          -0.3108271658420563,
+          -12.886125564575195
+        ],
+        [
+          0.3110531270503998,
+          -0.01441381685435772,
+          -0.9502832293510437,
+          11.740876197814941
+        ],
+        [
+          -0.10309863090515137,
+          -0.9944961071014404,
+          -0.018662508577108383,
+          -9.91468334197998
+        ],
+        [
+          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": "1731323442_883080720",
+      "mask_path": "../../mask/hdr_left_01805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01808.png",
+      "transform_matrix": [
+        [
+          -0.9382885098457336,
+          0.13263948261737823,
+          -0.3194078207015991,
+          -12.935626029968262
+        ],
+        [
+          0.3176867663860321,
+          -0.03451840206980705,
+          -0.9475672245025635,
+          11.749046325683594
+        ],
+        [
+          -0.1367102712392807,
+          -0.990563154220581,
+          -0.009749585762619972,
+          -9.931051254272461
+        ],
+        [
+          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": "1731323443_183081150",
+      "mask_path": "../../mask/hdr_left_01808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01815.png",
+      "transform_matrix": [
+        [
+          -0.9364607930183411,
+          0.14432917535305023,
+          -0.3197033107280731,
+          -12.982198715209961
+        ],
+        [
+          0.3195883631706238,
+          -0.024615410715341568,
+          -0.9472366571426392,
+          11.76794147491455
+        ],
+        [
+          -0.14458350837230682,
+          -0.9892235994338989,
+          -0.023074550554156303,
+          -9.952038764953613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1815,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323443_883082389",
+      "mask_path": "../../mask/hdr_left_01815.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01817.png",
+      "transform_matrix": [
+        [
+          -0.9365772008895874,
+          0.15882310271263123,
+          -0.3124070167541504,
+          -13.060050964355469
+        ],
+        [
+          0.31079885363578796,
+          -0.03551606088876724,
+          -0.9498118758201599,
+          11.78796672821045
+        ],
+        [
+          -0.16194753348827362,
+          -0.986668050289154,
+          -0.016098493710160255,
+          -9.988917350769043
+        ],
+        [
+          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": "1731323444_83082199",
+      "mask_path": "../../mask/hdr_left_01817.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01819.png",
+      "transform_matrix": [
+        [
+          -0.9257650375366211,
+          0.19977696239948273,
+          -0.3210112750530243,
+          -13.120847702026367
+        ],
+        [
+          0.31758949160575867,
+          -0.049845024943351746,
+          -0.9469173550605774,
+          11.796252250671387
+        ],
+        [
+          -0.205173060297966,
+          -0.9785728454589844,
+          -0.01730227656662464,
+          -10.026651382446289
+        ],
+        [
+          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": "1731323444_283080101",
+      "mask_path": "../../mask/hdr_left_01819.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01821.png",
+      "transform_matrix": [
+        [
+          -0.9165647625923157,
+          0.22609677910804749,
+          -0.3298320174217224,
+          -13.201619148254395
+        ],
+        [
+          0.3267057240009308,
+          -0.0522320419549942,
+          -0.9436817765235901,
+          11.79688549041748
+        ],
+        [
+          -0.23059116303920746,
+          -0.9727035164833069,
+          -0.025993051007390022,
+          -10.069063186645508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1821,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323444_483082532",
+      "mask_path": "../../mask/hdr_left_01821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01829.png",
+      "transform_matrix": [
+        [
+          -0.8895354270935059,
+          0.3236679136753082,
+          -0.3224371671676636,
+          -13.519373893737793
+        ],
+        [
+          0.3147887587547302,
+          -0.07728038728237152,
+          -0.9460104703903198,
+          11.754497528076172
+        ],
+        [
+          -0.33111125230789185,
+          -0.9430094957351685,
+          -0.03314336761832237,
+          -10.197525024414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1829,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323445_283081531",
+      "mask_path": "../../mask/hdr_left_01829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01832.png",
+      "transform_matrix": [
+        [
+          -0.887674868106842,
+          0.37421491742134094,
+          -0.26832184195518494,
+          -13.58812427520752
+        ],
+        [
+          0.27260345220565796,
+          -0.042552266269922256,
+          -0.961185097694397,
+          11.747693061828613
+        ],
+        [
+          -0.37110742926597595,
+          -0.9263651967048645,
+          -0.06423970311880112,
+          -10.219647407531738
+        ],
+        [
+          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": "1731323445_583081722",
+      "mask_path": "../../mask/hdr_left_01832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01833.png",
+      "transform_matrix": [
+        [
+          -0.8905710577964783,
+          0.3803415596485138,
+          -0.24944640696048737,
+          -13.634964942932129
+        ],
+        [
+          0.250867635011673,
+          -0.04672776907682419,
+          -0.9668929576873779,
+          11.745644569396973
+        ],
+        [
+          -0.37940558791160583,
+          -0.923664927482605,
+          -0.053800977766513824,
+          -10.255788803100586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1833,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323445_683081626",
+      "mask_path": "../../mask/hdr_left_01833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01835.png",
+      "transform_matrix": [
+        [
+          -0.8975154161453247,
+          0.3834938704967499,
+          -0.21771177649497986,
+          -13.715238571166992
+        ],
+        [
+          0.21311825513839722,
+          -0.055009543895721436,
+          -0.9754766225814819,
+          11.726521492004395
+        ],
+        [
+          -0.38606542348861694,
+          -0.9219037294387817,
+          -0.03235761821269989,
+          -10.306414604187012
+        ],
+        [
+          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": "1731323445_883081912",
+      "mask_path": "../../mask/hdr_left_01835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01836.png",
+      "transform_matrix": [
+        [
+          -0.9023289680480957,
+          0.3725801706314087,
+          -0.2167636752128601,
+          -13.768548965454102
+        ],
+        [
+          0.21037648618221283,
+          -0.05826171115040779,
+          -0.975882887840271,
+          11.719018936157227
+        ],
+        [
+          -0.376223623752594,
+          -0.9261693954467773,
+          -0.025810880586504936,
+          -10.3363618850708
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1836,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323445_983081340",
+      "mask_path": "../../mask/hdr_left_01836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01837.png",
+      "transform_matrix": [
+        [
+          -0.9048666954040527,
+          0.36437511444091797,
+          -0.2201068252325058,
+          -13.854153633117676
+        ],
+        [
+          0.21380071341991425,
+          -0.05811426043510437,
+          -0.9751471281051636,
+          11.705619812011719
+        ],
+        [
+          -0.36811065673828125,
+          -0.9294372200965881,
+          -0.025317993015050888,
+          -10.358798027038574
+        ],
+        [
+          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": "1731323446_83081960",
+      "mask_path": "../../mask/hdr_left_01837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01840.png",
+      "transform_matrix": [
+        [
+          -0.9058994054794312,
+          0.3625609278678894,
+          -0.21885108947753906,
+          -13.999030113220215
+        ],
+        [
+          0.2068568915128708,
+          -0.07210846245288849,
+          -0.9757102131843567,
+          11.670746803283691
+        ],
+        [
+          -0.3695353865623474,
+          -0.9291662573814392,
+          -0.009675207547843456,
+          -10.428431510925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1840,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_383082389",
+      "mask_path": "../../mask/hdr_left_01840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01841.png",
+      "transform_matrix": [
+        [
+          -0.9007853865623474,
+          0.3699495494365692,
+          -0.22742708027362823,
+          -14.055087089538574
+        ],
+        [
+          0.21304872632026672,
+          -0.07987769693136215,
+          -0.9737709164619446,
+          11.660619735717773
+        ],
+        [
+          -0.3784124553203583,
+          -0.9256116151809692,
+          -0.006864618975669146,
+          -10.460233688354492
+        ],
+        [
+          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": "1731323446_483082056",
+      "mask_path": "../../mask/hdr_left_01841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01842.png",
+      "transform_matrix": [
+        [
+          -0.8978573679924011,
+          0.372575581073761,
+          -0.23460525274276733,
+          -14.120539665222168
+        ],
+        [
+          0.2228972315788269,
+          -0.07487738877534866,
+          -0.971962034702301,
+          11.653461456298828
+        ],
+        [
+          -0.3796958923339844,
+          -0.9249762296676636,
+          -0.015816833823919296,
+          -10.475442886352539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1842,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_583082437",
+      "mask_path": "../../mask/hdr_left_01842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01844.png",
+      "transform_matrix": [
+        [
+          -0.8999146819114685,
+          0.3712247610092163,
+          -0.2287919968366623,
+          -14.239967346191406
+        ],
+        [
+          0.2299170345067978,
+          -0.04189012944698334,
+          -0.9723082780838013,
+          11.645137786865234
+        ],
+        [
+          -0.37052902579307556,
+          -0.92759770154953,
+          -0.04765333980321884,
+          -10.532548904418945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1844,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_783082962",
+      "mask_path": "../../mask/hdr_left_01844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01845.png",
+      "transform_matrix": [
+        [
+          -0.8984904885292053,
+          0.3761610686779022,
+          -0.22631314396858215,
+          -14.319236755371094
+        ],
+        [
+          0.23512159287929535,
+          -0.023002224043011665,
+          -0.971693754196167,
+          11.647984504699707
+        ],
+        [
+          -0.3707190454006195,
+          -0.9262687563896179,
+          -0.06777630001306534,
+          -10.57127857208252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1845,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_883081674",
+      "mask_path": "../../mask/hdr_left_01845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01846.png",
+      "transform_matrix": [
+        [
+          -0.8974911570549011,
+          0.3771441876888275,
+          -0.22863009572029114,
+          -14.367758750915527
+        ],
+        [
+          0.23890039324760437,
+          -0.020023375749588013,
+          -0.9708376526832581,
+          11.651155471801758
+        ],
+        [
+          -0.370723694562912,
+          -0.9259381294250488,
+          -0.07212908565998077,
+          -10.602424621582031
+        ],
+        [
+          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": "1731323446_983082532",
+      "mask_path": "../../mask/hdr_left_01846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01847.png",
+      "transform_matrix": [
+        [
+          -0.9007529020309448,
+          0.36852505803108215,
+          -0.22985512018203735,
+          -14.42455005645752
+        ],
+        [
+          0.24052666127681732,
+          -0.0174103956669569,
+          -0.9704864025115967,
+          11.660927772521973
+        ],
+        [
+          -0.36165034770965576,
+          -0.9294548630714417,
+          -0.07295762002468109,
+          -10.631413459777832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1847,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_83081483",
+      "mask_path": "../../mask/hdr_left_01847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01848.png",
+      "transform_matrix": [
+        [
+          -0.9065675735473633,
+          0.35714685916900635,
+          -0.22490274906158447,
+          -14.512189865112305
+        ],
+        [
+          0.24042360484600067,
+          -0.0009675627225078642,
+          -0.9706676006317139,
+          11.690671920776367
+        ],
+        [
+          -0.3468884527683258,
+          -0.9340478181838989,
+          -0.08498936146497726,
+          -10.656103134155273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1848,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_183082103",
+      "mask_path": "../../mask/hdr_left_01848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01849.png",
+      "transform_matrix": [
+        [
+          -0.9108399152755737,
+          0.3479359745979309,
+          -0.2220614105463028,
+          -14.577613830566406
+        ],
+        [
+          0.24291843175888062,
+          0.016907047480344772,
+          -0.9698993563652039,
+          11.713598251342773
+        ],
+        [
+          -0.33370843529701233,
+          -0.9373658895492554,
+          -0.09991966187953949,
+          -10.666963577270508
+        ],
+        [
+          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": "1731323447_283081769",
+      "mask_path": "../../mask/hdr_left_01849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01851.png",
+      "transform_matrix": [
+        [
+          -0.9166615605354309,
+          0.327742338180542,
+          -0.22872835397720337,
+          -14.667713165283203
+        ],
+        [
+          0.25305941700935364,
+          0.03299904987215996,
+          -0.9668877720832825,
+          11.744050979614258
+        ],
+        [
+          -0.30934226512908936,
+          -0.9441907405853271,
+          -0.11318724602460861,
+          -10.684593200683594
+        ],
+        [
+          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": "1731323447_483082771",
+      "mask_path": "../../mask/hdr_left_01851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01852.png",
+      "transform_matrix": [
+        [
+          -0.9204224348068237,
+          0.3158501088619232,
+          -0.23035000264644623,
+          -14.72489070892334
+        ],
+        [
+          0.25571855902671814,
+          0.04076628014445305,
+          -0.9658913016319275,
+          11.753965377807617
+        ],
+        [
+          -0.2956863343715668,
+          -0.9479329586029053,
+          -0.11829092353582382,
+          -10.702823638916016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1852,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_583083391",
+      "mask_path": "../../mask/hdr_left_01852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01853.png",
+      "transform_matrix": [
+        [
+          -0.9244028329849243,
+          0.3040769398212433,
+          -0.23025307059288025,
+          -14.7886381149292
+        ],
+        [
+          0.25452640652656555,
+          0.04218354448676109,
+          -0.9661452770233154,
+          11.761831283569336
+        ],
+        [
+          -0.28406962752342224,
+          -0.9517131447792053,
+          -0.11639020591974258,
+          -10.698186874389648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1853,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_683081865",
+      "mask_path": "../../mask/hdr_left_01853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01855.png",
+      "transform_matrix": [
+        [
+          -0.9320021271705627,
+          0.2767488956451416,
+          -0.2340560257434845,
+          -14.897674560546875
+        ],
+        [
+          0.2510470449924469,
+          0.027118224650621414,
+          -0.9675949215888977,
+          11.759767532348633
+        ],
+        [
+          -0.26143360137939453,
+          -0.960559606552124,
+          -0.09475122392177582,
+          -10.712370872497559
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1855,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_883081912",
+      "mask_path": "../../mask/hdr_left_01855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01856.png",
+      "transform_matrix": [
+        [
+          -0.9349303841590881,
+          0.265367329120636,
+          -0.2355533093214035,
+          -14.964142799377441
+        ],
+        [
+          0.24980942904949188,
+          0.020808948203921318,
+          -0.9680714011192322,
+          11.759461402893066
+        ],
+        [
+          -0.2519928812980652,
+          -0.9639227986335754,
+          -0.085746169090271,
+          -10.731868743896484
+        ],
+        [
+          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": "1731323447_983082056",
+      "mask_path": "../../mask/hdr_left_01856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01857.png",
+      "transform_matrix": [
+        [
+          -0.9367780685424805,
+          0.25527486205101013,
+          -0.23933544754981995,
+          -15.039899826049805
+        ],
+        [
+          0.2521505057811737,
+          0.01820782944560051,
+          -0.9675167798995972,
+          11.761248588562012
+        ],
+        [
+          -0.24262495338916779,
+          -0.9666971564292908,
+          -0.08142438530921936,
+          -10.739950180053711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1857,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_83082437",
+      "mask_path": "../../mask/hdr_left_01857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_01858.png",
+      "transform_matrix": [
+        [
+          -0.9386534690856934,
+          0.24143756926059723,
+          -0.2462468147277832,
+          -15.111570358276367
+        ],
+        [
+          0.25782448053359985,
+          0.017078470438718796,
+          -0.966040849685669,
+          11.764544486999512
+        ],
+        [
+          -0.22903302311897278,
+          -0.9702661037445068,
+          -0.0782792717218399,
+          -10.74030876159668
+        ],
+        [
+          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": "1731323448_183081626",
+      "mask_path": "../../mask/hdr_left_01858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07756.png",
+      "transform_matrix": [
+        [
+          0.9623820781707764,
+          0.032551418989896774,
+          0.26974260807037354,
+          -14.78333854675293
+        ],
+        [
+          -0.2695472538471222,
+          -0.010330259799957275,
+          0.962931752204895,
+          11.71336555480957
+        ],
+        [
+          0.03413130342960358,
+          -0.999416708946228,
+          -0.0011675070272758603,
+          -10.700526237487793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7756,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_983080148",
+      "mask_path": "../../mask/hdr_left_07756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07758.png",
+      "transform_matrix": [
+        [
+          0.9625183343887329,
+          0.036315277218818665,
+          0.2687741816043854,
+          -14.695425033569336
+        ],
+        [
+          -0.26809805631637573,
+          -0.02244807966053486,
+          0.9631301164627075,
+          11.709498405456543
+        ],
+        [
+          0.041009802371263504,
+          -0.9990882873535156,
+          -0.011870631948113441,
+          -10.70595932006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7758,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_183082818",
+      "mask_path": "../../mask/hdr_left_07758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07759.png",
+      "transform_matrix": [
+        [
+          0.9616392254829407,
+          0.037262216210365295,
+          0.27177438139915466,
+          -14.617419242858887
+        ],
+        [
+          -0.27131208777427673,
+          -0.01704533025622368,
+          0.9623404145240784,
+          11.701042175292969
+        ],
+        [
+          0.04049142077565193,
+          -0.9991601705551147,
+          -0.006281765643507242,
+          -10.692265510559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7759,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_283081769",
+      "mask_path": "../../mask/hdr_left_07759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07760.png",
+      "transform_matrix": [
+        [
+          0.9589737057685852,
+          0.04034286364912987,
+          0.2806098759174347,
+          -14.549225807189941
+        ],
+        [
+          -0.2805943191051483,
+          -0.006164382211863995,
+          0.9598067402839661,
+          11.693782806396484
+        ],
+        [
+          0.04045112803578377,
+          -0.9991669058799744,
+          0.005408497992902994,
+          -10.681391716003418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7760,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_383080959",
+      "mask_path": "../../mask/hdr_left_07760.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07762.png",
+      "transform_matrix": [
+        [
+          0.9515836238861084,
+          0.07625645399093628,
+          0.2977809011936188,
+          -14.40408706665039
+        ],
+        [
+          -0.299569308757782,
+          0.012932617217302322,
+          0.9539868235588074,
+          11.689737319946289
+        ],
+        [
+          0.06889656186103821,
+          -0.9970044493675232,
+          0.03515056148171425,
+          -10.654778480529785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7762,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_583081483",
+      "mask_path": "../../mask/hdr_left_07762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07763.png",
+      "transform_matrix": [
+        [
+          0.9501684308052063,
+          0.09789802879095078,
+          0.29596593976020813,
+          -14.298904418945312
+        ],
+        [
+          -0.29809457063674927,
+          0.00754499202594161,
+          0.954506516456604,
+          11.696420669555664
+        ],
+        [
+          0.09121123701334,
+          -0.9951678514480591,
+          0.03635188192129135,
+          -10.637458801269531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7763,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_683082342",
+      "mask_path": "../../mask/hdr_left_07763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07764.png",
+      "transform_matrix": [
+        [
+          0.9505986571311951,
+          0.10593900084495544,
+          0.291786253452301,
+          -14.23771858215332
+        ],
+        [
+          -0.2929369807243347,
+          -0.0048800306394696236,
+          0.9561192989349365,
+          11.694622993469238
+        ],
+        [
+          0.10271424055099487,
+          -0.9943606853485107,
+          0.026394501328468323,
+          -10.619370460510254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7764,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_783082246",
+      "mask_path": "../../mask/hdr_left_07764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07765.png",
+      "transform_matrix": [
+        [
+          0.9495345950126648,
+          0.11617705225944519,
+          0.2913532257080078,
+          -14.183006286621094
+        ],
+        [
+          -0.29176485538482666,
+          -0.013828149065375328,
+          0.9563900828361511,
+          11.694693565368652
+        ],
+        [
+          0.11513945460319519,
+          -0.9931322336196899,
+          0.02076607756316662,
+          -10.599958419799805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7765,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_883083581",
+      "mask_path": "../../mask/hdr_left_07765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07766.png",
+      "transform_matrix": [
+        [
+          0.94362872838974,
+          0.14160791039466858,
+          0.2991853654384613,
+          -14.101363182067871
+        ],
+        [
+          -0.29891911149024963,
+          -0.02365502342581749,
+          0.9539852142333984,
+          11.673943519592285
+        ],
+        [
+          0.14216908812522888,
+          -0.9896402359008789,
+          0.020007750019431114,
+          -10.550092697143555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7766,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_983082294",
+      "mask_path": "../../mask/hdr_left_07766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07767.png",
+      "transform_matrix": [
+        [
+          0.9344566464424133,
+          0.16652201116085052,
+          0.3147397041320801,
+          -14.022265434265137
+        ],
+        [
+          -0.31466665863990784,
+          -0.027525708079338074,
+          0.9488030672073364,
+          11.645926475524902
+        ],
+        [
+          0.16665999591350555,
+          -0.9856535196304321,
+          0.026677338406443596,
+          -10.506229400634766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7767,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_83082199",
+      "mask_path": "../../mask/hdr_left_07767.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07768.png",
+      "transform_matrix": [
+        [
+          0.9285368919372559,
+          0.17718949913978577,
+          0.3262255787849426,
+          -13.9706449508667
+        ],
+        [
+          -0.3268158733844757,
+          -0.026685452088713646,
+          0.9447111487388611,
+          11.631021499633789
+        ],
+        [
+          0.17609836161136627,
+          -0.9838148951530457,
+          0.03312991186976433,
+          -10.478432655334473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7768,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_183084011",
+      "mask_path": "../../mask/hdr_left_07768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07769.png",
+      "transform_matrix": [
+        [
+          0.920619547367096,
+          0.21432939171791077,
+          0.3263779580593109,
+          -13.892101287841797
+        ],
+        [
+          -0.33207669854164124,
+          -0.009907676838338375,
+          0.943200409412384,
+          11.63402271270752
+        ],
+        [
+          0.20538920164108276,
+          -0.9767112731933594,
+          0.06205259636044502,
+          -10.466153144836426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7769,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_283081769",
+      "mask_path": "../../mask/hdr_left_07769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07770.png",
+      "transform_matrix": [
+        [
+          0.9130000472068787,
+          0.2517566978931427,
+          0.3210131525993347,
+          -13.788223266601562
+        ],
+        [
+          -0.3293658494949341,
+          -0.009434530511498451,
+          0.9441552758216858,
+          11.636344909667969
+        ],
+        [
+          0.24072597920894623,
+          -0.9677446484565735,
+          0.07430632412433624,
+          -10.418523788452148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7770,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_383082151",
+      "mask_path": "../../mask/hdr_left_07770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07772.png",
+      "transform_matrix": [
+        [
+          0.9095534682273865,
+          0.2543773651123047,
+          0.32864055037498474,
+          -13.67713737487793
+        ],
+        [
+          -0.3335237205028534,
+          -0.024988966062664986,
+          0.9424105286598206,
+          11.606557846069336
+        ],
+        [
+          0.2479402720928192,
+          -0.9667822122573853,
+          0.062112078070640564,
+          -10.36161994934082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7772,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_583083391",
+      "mask_path": "../../mask/hdr_left_07772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07773.png",
+      "transform_matrix": [
+        [
+          0.9054654836654663,
+          0.2572214901447296,
+          0.33759334683418274,
+          -13.598675727844238
+        ],
+        [
+          -0.3441540598869324,
+          -0.020509788766503334,
+          0.938689112663269,
+          11.578736305236816
+        ],
+        [
+          0.24837496876716614,
+          -0.9661348462104797,
+          0.06995292007923126,
+          -10.327101707458496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7773,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_683081150",
+      "mask_path": "../../mask/hdr_left_07773.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07774.png",
+      "transform_matrix": [
+        [
+          0.9010335803031921,
+          0.26560288667678833,
+          0.3429189920425415,
+          -13.539889335632324
+        ],
+        [
+          -0.35036689043045044,
+          -0.020383013412356377,
+          0.9363906383514404,
+          11.56229019165039
+        ],
+        [
+          0.2556977868080139,
+          -0.9638670682907104,
+          0.07469268888235092,
+          -10.29936695098877
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7774,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_783081531",
+      "mask_path": "../../mask/hdr_left_07774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07775.png",
+      "transform_matrix": [
+        [
+          0.8971332311630249,
+          0.2746093273162842,
+          0.3460371792316437,
+          -13.47804069519043
+        ],
+        [
+          -0.3563882112503052,
+          -0.01295243576169014,
+          0.934248149394989,
+          11.552059173583984
+        ],
+        [
+          0.2610352635383606,
+          -0.9614686369895935,
+          0.08624748140573502,
+          -10.269025802612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7775,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_883080244",
+      "mask_path": "../../mask/hdr_left_07775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07776.png",
+      "transform_matrix": [
+        [
+          0.8934657573699951,
+          0.28342294692993164,
+          0.3484112024307251,
+          -13.395418167114258
+        ],
+        [
+          -0.3594066798686981,
+          -0.014029952697455883,
+          0.933075487613678,
+          11.54970645904541
+        ],
+        [
+          0.26934319734573364,
+          -0.9588924050331116,
+          0.0893288105726242,
+          -10.23272705078125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7776,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_983081579",
+      "mask_path": "../../mask/hdr_left_07776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07777.png",
+      "transform_matrix": [
+        [
+          0.8906272053718567,
+          0.28911641240119934,
+          0.3509911298751831,
+          -13.33037281036377
+        ],
+        [
+          -0.35888153314590454,
+          -0.027121184393763542,
+          0.9329890012741089,
+          11.549243927001953
+        ],
+        [
+          0.2792617082595825,
+          -0.9569097757339478,
+          0.07960367947816849,
+          -10.20384693145752
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7777,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_83081245",
+      "mask_path": "../../mask/hdr_left_07777.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07779.png",
+      "transform_matrix": [
+        [
+          0.8848692178726196,
+          0.2922675609588623,
+          0.3627479374408722,
+          -13.241358757019043
+        ],
+        [
+          -0.35945361852645874,
+          -0.06693063676357269,
+          0.9307594895362854,
+          11.551349639892578
+        ],
+        [
+          0.2963097393512726,
+          -0.9539915919303894,
+          0.04583176225423813,
+          -10.168296813964844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7779,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_283077955",
+      "mask_path": "../../mask/hdr_left_07779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07780.png",
+      "transform_matrix": [
+        [
+          0.8703442215919495,
+          0.3201752305030823,
+          0.37415075302124023,
+          -13.152942657470703
+        ],
+        [
+          -0.36768221855163574,
+          -0.08291184157133102,
+          0.9262481331825256,
+          11.515682220458984
+        ],
+        [
+          0.3275831937789917,
+          -0.943723201751709,
+          0.045560888946056366,
+          -10.074034690856934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7780,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_383081197",
+      "mask_path": "../../mask/hdr_left_07780.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07781.png",
+      "transform_matrix": [
+        [
+          0.8599427938461304,
+          0.3423733115196228,
+          0.3785218298435211,
+          -13.084471702575684
+        ],
+        [
+          -0.37719810009002686,
+          -0.07329174131155014,
+          0.9232280254364014,
+          11.489461898803711
+        ],
+        [
+          0.3438311517238617,
+          -0.9367010593414307,
+          0.0661158636212349,
+          -10.016255378723145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7781,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_483080625",
+      "mask_path": "../../mask/hdr_left_07781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07783.png",
+      "transform_matrix": [
+        [
+          0.8604351878166199,
+          0.3397919833660126,
+          0.3797270953655243,
+          -12.977960586547852
+        ],
+        [
+          -0.3788500428199768,
+          -0.07177098840475082,
+          0.9226709008216858,
+          11.486536979675293
+        ],
+        [
+          0.34076955914497375,
+          -0.9377581477165222,
+          0.0669759213924408,
+          -9.98625659942627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7783,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_683081388",
+      "mask_path": "../../mask/hdr_left_07783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07785.png",
+      "transform_matrix": [
+        [
+          0.8591499924659729,
+          0.33925384283065796,
+          0.38310304284095764,
+          -12.879247665405273
+        ],
+        [
+          -0.38133877515792847,
+          -0.07477125525474548,
+          0.9214065074920654,
+          11.477447509765625
+        ],
+        [
+          0.34123578667640686,
+          -0.9377186298370361,
+          0.06513091176748276,
+          -9.946433067321777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7785,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_883079528",
+      "mask_path": "../../mask/hdr_left_07785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07786.png",
+      "transform_matrix": [
+        [
+          0.8533719182014465,
+          0.3463645577430725,
+          0.3895997405052185,
+          -12.82176399230957
+        ],
+        [
+          -0.38463300466537476,
+          -0.08610731363296509,
+          0.919044554233551,
+          11.456029891967773
+        ],
+        [
+          0.3518717885017395,
+          -0.9341398477554321,
+          0.05974165350198746,
+          -9.895483016967773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7786,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_983078956",
+      "mask_path": "../../mask/hdr_left_07786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07787.png",
+      "transform_matrix": [
+        [
+          0.8496145606040955,
+          0.3501191735267639,
+          0.3944258689880371,
+          -12.772844314575195
+        ],
+        [
+          -0.3890976309776306,
+          -0.08874356746673584,
+          0.9169120192527771,
+          11.427254676818848
+        ],
+        [
+          0.35603123903274536,
+          -0.9324918985366821,
+          0.06083273887634277,
+          -9.860843658447266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7787,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_83081483",
+      "mask_path": "../../mask/hdr_left_07787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07789.png",
+      "transform_matrix": [
+        [
+          0.8542219400405884,
+          0.3370286226272583,
+          0.3958742320537567,
+          -12.690844535827637
+        ],
+        [
+          -0.396699458360672,
+          -0.06965313851833344,
+          0.9153020977973938,
+          11.432685852050781
+        ],
+        [
+          0.3360568881034851,
+          -0.93891441822052,
+          0.07419983297586441,
+          -9.865291595458984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7789,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_283081293",
+      "mask_path": "../../mask/hdr_left_07789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07790.png",
+      "transform_matrix": [
+        [
+          0.855634868144989,
+          0.3271515369415283,
+          0.40107452869415283,
+          -12.6417236328125
+        ],
+        [
+          -0.40065798163414,
+          -0.0719088762998581,
+          0.9134015440940857,
+          11.43007755279541
+        ],
+        [
+          0.3276614844799042,
+          -0.9422320127487183,
+          0.0695481225848198,
+          -9.851120948791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7790,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_383082628",
+      "mask_path": "../../mask/hdr_left_07790.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07792.png",
+      "transform_matrix": [
+        [
+          0.8616644144058228,
+          0.30408018827438354,
+          0.4062874913215637,
+          -12.578293800354004
+        ],
+        [
+          -0.40962380170822144,
+          -0.05585361644625664,
+          0.9105430841445923,
+          11.419792175292969
+        ],
+        [
+          0.2995707392692566,
+          -0.9510076642036438,
+          0.07643141597509384,
+          -9.850324630737305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7792,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_583081960",
+      "mask_path": "../../mask/hdr_left_07792.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07794.png",
+      "transform_matrix": [
+        [
+          0.8637762069702148,
+          0.28653064370155334,
+          0.4144763946533203,
+          -12.503117561340332
+        ],
+        [
+          -0.4195720851421356,
+          -0.04648463428020477,
+          0.906531035900116,
+          11.39440631866455
+        ],
+        [
+          0.2790156602859497,
+          -0.9569427371025085,
+          0.080067940056324,
+          -9.829833984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7794,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_783082008",
+      "mask_path": "../../mask/hdr_left_07794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07796.png",
+      "transform_matrix": [
+        [
+          0.870630145072937,
+          0.2632124125957489,
+          0.4155988097190857,
+          -12.414709091186523
+        ],
+        [
+          -0.4221643805503845,
+          -0.03394613042473793,
+          0.9058834910392761,
+          11.380321502685547
+        ],
+        [
+          0.2525477409362793,
+          -0.9641405940055847,
+          0.08156438171863556,
+          -9.816802978515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7796,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_983082056",
+      "mask_path": "../../mask/hdr_left_07796.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07798.png",
+      "transform_matrix": [
+        [
+          0.8771213293075562,
+          0.24023444950580597,
+          0.4158671200275421,
+          -12.325965881347656
+        ],
+        [
+          -0.42020854353904724,
+          -0.035415057092905045,
+          0.9067361950874329,
+          11.36669921875
+        ],
+        [
+          0.23255719244480133,
+          -0.9700686931610107,
+          0.0698852613568306,
+          -9.807584762573242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7798,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_183081626",
+      "mask_path": "../../mask/hdr_left_07798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07800.png",
+      "transform_matrix": [
+        [
+          0.884471595287323,
+          0.2121860384941101,
+          0.4155564606189728,
+          -12.24415397644043
+        ],
+        [
+          -0.41956278681755066,
+          -0.027997439727187157,
+          0.9072943329811096,
+          11.344429016113281
+        ],
+        [
+          0.20414970815181732,
+          -0.9768282175064087,
+          0.06426242738962173,
+          -9.790237426757812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7800,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_383082389",
+      "mask_path": "../../mask/hdr_left_07800.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07802.png",
+      "transform_matrix": [
+        [
+          0.8904392719268799,
+          0.194680854678154,
+          0.4113602340221405,
+          -12.152974128723145
+        ],
+        [
+          -0.41789159178733826,
+          -0.008203927427530289,
+          0.9084599018096924,
+          11.33292007446289
+        ],
+        [
+          0.18023449182510376,
+          -0.9808323383331299,
+          0.0740504041314125,
+          -9.790141105651855
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7802,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_583082437",
+      "mask_path": "../../mask/hdr_left_07802.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07804.png",
+      "transform_matrix": [
+        [
+          0.9084237217903137,
+          0.16523447632789612,
+          0.3840101957321167,
+          -12.07127857208252
+        ],
+        [
+          -0.3865310251712799,
+          -0.017929932102560997,
+          0.9221020936965942,
+          11.329208374023438
+        ],
+        [
+          0.15924830734729767,
+          -0.9860913157463074,
+          0.04758027568459511,
+          -9.788660049438477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7804,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_783081531",
+      "mask_path": "../../mask/hdr_left_07804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07806.png",
+      "transform_matrix": [
+        [
+          0.9319532513618469,
+          0.13486945629119873,
+          0.3365609049797058,
+          -11.977538108825684
+        ],
+        [
+          -0.3391723930835724,
+          -0.003822910599410534,
+          0.9407164454460144,
+          11.332151412963867
+        ],
+        [
+          0.1281605362892151,
+          -0.9908560514450073,
+          0.04218121990561485,
+          -9.789514541625977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7806,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_983081579",
+      "mask_path": "../../mask/hdr_left_07806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07808.png",
+      "transform_matrix": [
+        [
+          0.9431467652320862,
+          0.11816617101430893,
+          0.3106619417667389,
+          -11.918233871459961
+        ],
+        [
+          -0.3161728084087372,
+          0.030686236917972565,
+          0.9482052326202393,
+          11.338818550109863
+        ],
+        [
+          0.10251272469758987,
+          -0.9925196170806885,
+          0.06630256026983261,
+          -9.792218208312988
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7808,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_183082580",
+      "mask_path": "../../mask/hdr_left_07808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07809.png",
+      "transform_matrix": [
+        [
+          0.9449601769447327,
+          0.10538838803768158,
+          0.3097473680973053,
+          -11.854674339294434
+        ],
+        [
+          -0.3150061368942261,
+          0.037154003977775574,
+          0.9483621120452881,
+          11.337562561035156
+        ],
+        [
+          0.08843798190355301,
+          -0.9937368631362915,
+          0.0683070495724678,
+          -9.797011375427246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7809,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_283082962",
+      "mask_path": "../../mask/hdr_left_07809.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07810.png",
+      "transform_matrix": [
+        [
+          0.9480934143066406,
+          0.08883460611104965,
+          0.3053313195705414,
+          -11.800509452819824
+        ],
+        [
+          -0.3090231120586395,
+          0.030954837799072266,
+          0.9505507349967957,
+          11.334110260009766
+        ],
+        [
+          0.07499030977487564,
+          -0.9955652952194214,
+          0.05680001899600029,
+          -9.800297737121582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7810,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_383081436",
+      "mask_path": "../../mask/hdr_left_07810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07812.png",
+      "transform_matrix": [
+        [
+          0.9521878957748413,
+          0.06436072289943695,
+          0.2986569404602051,
+          -11.735471725463867
+        ],
+        [
+          -0.301052451133728,
+          0.031225411221385002,
+          0.9530961513519287,
+          11.320694923400879
+        ],
+        [
+          0.05201626569032669,
+          -0.9974380731582642,
+          0.049108412116765976,
+          -9.79208755493164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7812,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_583082199",
+      "mask_path": "../../mask/hdr_left_07812.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07814.png",
+      "transform_matrix": [
+        [
+          0.949999213218689,
+          0.05331708490848541,
+          0.30766648054122925,
+          -11.659812927246094
+        ],
+        [
+          -0.31010496616363525,
+          0.0457465797662735,
+          0.9496010541915894,
+          11.307413101196289
+        ],
+        [
+          0.03655526787042618,
+          -0.9975292086601257,
+          0.05999310314655304,
+          -9.780210494995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7814,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_783081769",
+      "mask_path": "../../mask/hdr_left_07814.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07816.png",
+      "transform_matrix": [
+        [
+          0.9482294321060181,
+          0.0462249293923378,
+          0.31420397758483887,
+          -11.567410469055176
+        ],
+        [
+          -0.3164615035057068,
+          0.05434272065758705,
+          0.9470475316047668,
+          11.299921035766602
+        ],
+        [
+          0.02670249342918396,
+          -0.997451901435852,
+          0.06615778058767319,
+          -9.78817081451416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7816,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_983080863",
+      "mask_path": "../../mask/hdr_left_07816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07824.png",
+      "transform_matrix": [
+        [
+          0.9398148059844971,
+          0.059652138501405716,
+          0.33643680810928345,
+          -11.2402925491333
+        ],
+        [
+          -0.33919331431388855,
+          0.04420168697834015,
+          0.9396777153015137,
+          11.279254913330078
+        ],
+        [
+          0.041182707995176315,
+          -0.9972401857376099,
+          0.06177500635385513,
+          -9.752198219299316
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7824,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324044_783081531",
+      "mask_path": "../../mask/hdr_left_07824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07827.png",
+      "transform_matrix": [
+        [
+          0.9252310395240784,
+          0.07298765331506729,
+          0.37231728434562683,
+          -11.18774700164795
+        ],
+        [
+          -0.37317103147506714,
+          -0.0020789150148630142,
+          0.9277602434158325,
+          11.240621566772461
+        ],
+        [
+          0.06848905235528946,
+          -0.9973307847976685,
+          0.025313403457403183,
+          -9.713812828063965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7827,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324045_83083391",
+      "mask_path": "../../mask/hdr_left_07827.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07832.png",
+      "transform_matrix": [
+        [
+          0.8254724144935608,
+          0.0989072173833847,
+          0.5557090640068054,
+          -11.172428131103516
+        ],
+        [
+          -0.5561184883117676,
+          -0.02594275027513504,
+          0.8306980729103088,
+          11.171673774719238
+        ],
+        [
+          0.09657865017652512,
+          -0.9947584867477417,
+          0.033589109778404236,
+          -9.673683166503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7832,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324045_583081960",
+      "mask_path": "../../mask/hdr_left_07832.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07839.png",
+      "transform_matrix": [
+        [
+          0.8048018217086792,
+          0.13953110575675964,
+          0.5769098401069641,
+          -10.963409423828125
+        ],
+        [
+          -0.5785318613052368,
+          -0.032808516174554825,
+          0.8149996995925903,
+          11.074153900146484
+        ],
+        [
+          0.1326453536748886,
+          -0.9896740317344666,
+          0.05431882664561272,
+          -9.622495651245117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7839,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_283082246",
+      "mask_path": "../../mask/hdr_left_07839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07840.png",
+      "transform_matrix": [
+        [
+          0.8038226366043091,
+          0.15075817704200745,
+          0.5754486322402954,
+          -10.910887718200684
+        ],
+        [
+          -0.5765929222106934,
+          -0.04048612341284752,
+          0.8160278797149658,
+          11.049373626708984
+        ],
+        [
+          0.14632053673267365,
+          -0.9877413511276245,
+          0.054382432252168655,
+          -9.598422050476074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7840,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_383082389",
+      "mask_path": "../../mask/hdr_left_07840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07842.png",
+      "transform_matrix": [
+        [
+          0.8036625981330872,
+          0.16217643022537231,
+          0.5725601315498352,
+          -10.834818840026855
+        ],
+        [
+          -0.5711467862129211,
+          -0.059940073639154434,
+          0.8186566233634949,
+          11.03106689453125
+        ],
+        [
+          0.16708609461784363,
+          -0.9849396347999573,
+          0.044454943388700485,
+          -9.584508895874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7842,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_583081483",
+      "mask_path": "../../mask/hdr_left_07842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07847.png",
+      "transform_matrix": [
+        [
+          0.7831771373748779,
+          0.21633893251419067,
+          0.5829501152038574,
+          -10.650338172912598
+        ],
+        [
+          -0.5819761157035828,
+          -0.07508184760808945,
+          0.8097323179244995,
+          10.95202922821045
+        ],
+        [
+          0.21894560754299164,
+          -0.9734270572662354,
+          0.06710170954465866,
+          -9.483919143676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7847,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_83084821",
+      "mask_path": "../../mask/hdr_left_07847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07849.png",
+      "transform_matrix": [
+        [
+          0.7757769227027893,
+          0.22587965428829193,
+          0.5891931653022766,
+          -10.57968807220459
+        ],
+        [
+          -0.5837443470954895,
+          -0.09766052663326263,
+          0.8060427904129028,
+          10.944602966308594
+        ],
+        [
+          0.23960953950881958,
+          -0.969247579574585,
+          0.05609319359064102,
+          -9.466294288635254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7849,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_283083200",
+      "mask_path": "../../mask/hdr_left_07849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07851.png",
+      "transform_matrix": [
+        [
+          0.7470961809158325,
+          0.22181759774684906,
+          0.6266133785247803,
+          -10.533329010009766
+        ],
+        [
+          -0.5978425145149231,
+          -0.1878524124622345,
+          0.7792918682098389,
+          10.904129028320312
+        ],
+        [
+          0.29057151079177856,
+          -0.9568220973014832,
+          -0.007731810677796602,
+          -9.391523361206055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7851,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_483081579",
+      "mask_path": "../../mask/hdr_left_07851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07852.png",
+      "transform_matrix": [
+        [
+          0.7156695127487183,
+          0.2422790825366974,
+          0.655070960521698,
+          -10.501239776611328
+        ],
+        [
+          -0.6136462688446045,
+          -0.22979404032230377,
+          0.7554024457931519,
+          10.84428596496582
+        ],
+        [
+          0.3335495889186859,
+          -0.9426004886627197,
+          -0.015782922506332397,
+          -9.282180786132812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7852,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_583082437",
+      "mask_path": "../../mask/hdr_left_07852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07854.png",
+      "transform_matrix": [
+        [
+          0.6649810671806335,
+          0.26606154441833496,
+          0.697861909866333,
+          -10.44613265991211
+        ],
+        [
+          -0.6710370182991028,
+          -0.19737429916858673,
+          0.7146696448326111,
+          10.815091133117676
+        ],
+        [
+          0.32788604497909546,
+          -0.9435331225395203,
+          0.04728694260120392,
+          -9.286839485168457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7854,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_783082723",
+      "mask_path": "../../mask/hdr_left_07854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07855.png",
+      "transform_matrix": [
+        [
+          0.6419074535369873,
+          0.2650964856147766,
+          0.7194989323616028,
+          -10.41428279876709
+        ],
+        [
+          -0.6944271922111511,
+          -0.1969195455312729,
+          0.6920936107635498,
+          10.787161827087402
+        ],
+        [
+          0.32515496015548706,
+          -0.9438996315002441,
+          0.05768611282110214,
+          -9.259050369262695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7855,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_883081674",
+      "mask_path": "../../mask/hdr_left_07855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07858.png",
+      "transform_matrix": [
+        [
+          0.578182578086853,
+          0.22057640552520752,
+          0.7855258584022522,
+          -10.381114959716797
+        ],
+        [
+          -0.7597397565841675,
+          -0.20548734068870544,
+          0.6169039607048035,
+          10.749551773071289
+        ],
+        [
+          0.29749006032943726,
+          -0.9534784555435181,
+          0.0487714447081089,
+          -9.254125595092773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7858,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_183081626",
+      "mask_path": "../../mask/hdr_left_07858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07860.png",
+      "transform_matrix": [
+        [
+          0.5139384269714355,
+          0.20524011552333832,
+          0.8329128623008728,
+          -10.350128173828125
+        ],
+        [
+          -0.8121500015258789,
+          -0.1961957961320877,
+          0.5494720935821533,
+          10.710118293762207
+        ],
+        [
+          0.2761877179145813,
+          -0.9588450789451599,
+          0.06585317105054855,
+          -9.24246597290039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7860,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_383080720",
+      "mask_path": "../../mask/hdr_left_07860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07862.png",
+      "transform_matrix": [
+        [
+          0.43709811568260193,
+          0.19287802278995514,
+          0.8784891366958618,
+          -10.343465805053711
+        ],
+        [
+          -0.8592174053192139,
+          -0.1991884410381317,
+          0.4712424576282501,
+          10.655357360839844
+        ],
+        [
+          0.26587721705436707,
+          -0.9607924222946167,
+          0.07865923643112183,
+          -9.22845458984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7862,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_583084583",
+      "mask_path": "../../mask/hdr_left_07862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07864.png",
+      "transform_matrix": [
+        [
+          0.35831236839294434,
+          0.23116213083267212,
+          0.904530942440033,
+          -10.311380386352539
+        ],
+        [
+          -0.8864163756370544,
+          -0.2198825627565384,
+          0.407329797744751,
+          10.607098579406738
+        ],
+        [
+          0.29304978251457214,
+          -0.9477425217628479,
+          0.12611927092075348,
+          -9.143566131591797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7864,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_783082485",
+      "mask_path": "../../mask/hdr_left_07864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07868.png",
+      "transform_matrix": [
+        [
+          0.20563003420829773,
+          0.13264751434326172,
+          0.9695983529090881,
+          -10.332843780517578
+        ],
+        [
+          -0.9464302659034729,
+          -0.22510413825511932,
+          0.2315124124288559,
+          10.545053482055664
+        ],
+        [
+          0.2489701360464096,
+          -0.9652631282806396,
+          0.0792534351348877,
+          -9.118435859680176
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7868,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_183081865",
+      "mask_path": "../../mask/hdr_left_07868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07871.png",
+      "transform_matrix": [
+        [
+          0.06825440376996994,
+          0.11410252004861832,
+          0.9911214709281921,
+          -10.352744102478027
+        ],
+        [
+          -0.9671419858932495,
+          -0.23629774153232574,
+          0.09380672127008438,
+          10.487788200378418
+        ],
+        [
+          0.2449033260345459,
+          -0.9649580717086792,
+          0.09422498196363449,
+          -9.111448287963867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7871,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_483081579",
+      "mask_path": "../../mask/hdr_left_07871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07874.png",
+      "transform_matrix": [
+        [
+          -0.040542781352996826,
+          0.0783444494009018,
+          0.9961016774177551,
+          -10.372926712036133
+        ],
+        [
+          -0.9653581976890564,
+          -0.2602485120296478,
+          -0.018822666257619858,
+          10.422204971313477
+        ],
+        [
+          0.25775930285453796,
+          -0.9623579978942871,
+          0.0861816555261612,
+          -9.091062545776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7874,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_783079862",
+      "mask_path": "../../mask/hdr_left_07874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07876.png",
+      "transform_matrix": [
+        [
+          -0.08011291921138763,
+          0.07352346926927567,
+          0.9940705299377441,
+          -10.375494003295898
+        ],
+        [
+          -0.9653401374816895,
+          -0.2542403042316437,
+          -0.0589933805167675,
+          10.37204360961914
+        ],
+        [
+          0.2483953833580017,
+          -0.9643423557281494,
+          0.09134309738874435,
+          -9.068947792053223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7876,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_983080625",
+      "mask_path": "../../mask/hdr_left_07876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07878.png",
+      "transform_matrix": [
+        [
+          -0.10087092965841293,
+          0.08194394409656525,
+          0.9915190935134888,
+          -10.378623962402344
+        ],
+        [
+          -0.9615337252616882,
+          -0.2639622688293457,
+          -0.07600528746843338,
+          10.303285598754883
+        ],
+        [
+          0.25549542903900146,
+          -0.9610458612442017,
+          0.10541798174381256,
+          -9.04802417755127
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7878,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_183081150",
+      "mask_path": "../../mask/hdr_left_07878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07879.png",
+      "transform_matrix": [
+        [
+          -0.10360226780176163,
+          0.07826682180166245,
+          0.9915345311164856,
+          -10.377187728881836
+        ],
+        [
+          -0.9609440565109253,
+          -0.2650832533836365,
+          -0.07948160916566849,
+          10.260045051574707
+        ],
+        [
+          0.2566184401512146,
+          -0.9610438346862793,
+          0.10267326980829239,
+          -9.0217866897583
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7879,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_283080577",
+      "mask_path": "../../mask/hdr_left_07879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07882.png",
+      "transform_matrix": [
+        [
+          -0.12037040293216705,
+          0.027097176760435104,
+          0.9923591613769531,
+          -10.37724494934082
+        ],
+        [
+          -0.9579256772994995,
+          -0.26553672552108765,
+          -0.10894300788640976,
+          10.142732620239258
+        ],
+        [
+          0.2605557143688202,
+          -0.9637199640274048,
+          0.05791984498500824,
+          -8.95314884185791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7882,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_583081722",
+      "mask_path": "../../mask/hdr_left_07882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07883.png",
+      "transform_matrix": [
+        [
+          -0.14766867458820343,
+          -0.01197435986250639,
+          0.9889643788337708,
+          -10.390998840332031
+        ],
+        [
+          -0.9440421462059021,
+          -0.2964617908000946,
+          -0.14455057680606842,
+          10.100157737731934
+        ],
+        [
+          0.29492104053497314,
+          -0.9549697041511536,
+          0.032473817467689514,
+          -8.875155448913574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7883,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_683082342",
+      "mask_path": "../../mask/hdr_left_07883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07885.png",
+      "transform_matrix": [
+        [
+          -0.2151448279619217,
+          -0.04537495598196983,
+          0.9755274653434753,
+          -10.427273750305176
+        ],
+        [
+          -0.9189955592155457,
+          -0.32854387164115906,
+          -0.21795879304409027,
+          10.040781021118164
+        ],
+        [
+          0.33039337396621704,
+          -0.9433982372283936,
+          0.02898513711988926,
+          -8.846389770507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7885,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_883082389",
+      "mask_path": "../../mask/hdr_left_07885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07887.png",
+      "transform_matrix": [
+        [
+          -0.2898378074169159,
+          -0.032762154936790466,
+          0.956514835357666,
+          -10.454618453979492
+        ],
+        [
+          -0.9077742695808411,
+          -0.3072187602519989,
+          -0.2855914235115051,
+          9.996356010437012
+        ],
+        [
+          0.303215891122818,
+          -0.9510748386383057,
+          0.05930296331644058,
+          -8.860150337219238
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7887,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_83081960",
+      "mask_path": "../../mask/hdr_left_07887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07889.png",
+      "transform_matrix": [
+        [
+          -0.3626708984375,
+          -0.03480306640267372,
+          0.9312672019004822,
+          -10.477066993713379
+        ],
+        [
+          -0.8864356875419617,
+          -0.29548996686935425,
+          -0.35625478625297546,
+          9.948314666748047
+        ],
+        [
+          0.287578821182251,
+          -0.9547117352485657,
+          0.07631492614746094,
+          -8.818663597106934
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7889,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_283083677",
+      "mask_path": "../../mask/hdr_left_07889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07891.png",
+      "transform_matrix": [
+        [
+          -0.4326668381690979,
+          -0.053148556500673294,
+          0.8999858498573303,
+          -10.509157180786133
+        ],
+        [
+          -0.8607814908027649,
+          -0.2724573612213135,
+          -0.4299093782901764,
+          9.907633781433105
+        ],
+        [
+          0.2680567800998688,
+          -0.9606988430023193,
+          0.07213396579027176,
+          -8.83024787902832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7891,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_483081340",
+      "mask_path": "../../mask/hdr_left_07891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07893.png",
+      "transform_matrix": [
+        [
+          -0.49662652611732483,
+          -0.04572338983416557,
+          0.866759181022644,
+          -10.54918384552002
+        ],
+        [
+          -0.8324561715126038,
+          -0.257615864276886,
+          -0.49056172370910645,
+          9.857108116149902
+        ],
+        [
+          0.2457210272550583,
+          -0.9651650190353394,
+          0.08987615257501602,
+          -8.792924880981445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7893,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_683082818",
+      "mask_path": "../../mask/hdr_left_07893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07895.png",
+      "transform_matrix": [
+        [
+          -0.5610895156860352,
+          -0.042233217507600784,
+          0.8266770243644714,
+          -10.594742774963379
+        ],
+        [
+          -0.7926452159881592,
+          -0.2603650391101837,
+          -0.5512926578521729,
+          9.813528060913086
+        ],
+        [
+          0.23852065205574036,
+          -0.9645861983299255,
+          0.11261212825775146,
+          -8.771093368530273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7895,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_883082389",
+      "mask_path": "../../mask/hdr_left_07895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07897.png",
+      "transform_matrix": [
+        [
+          -0.6226009130477905,
+          -0.07095244526863098,
+          0.779316246509552,
+          -10.644264221191406
+        ],
+        [
+          -0.7508655190467834,
+          -0.22630047798156738,
+          -0.6204748749732971,
+          9.782477378845215
+        ],
+        [
+          0.22038382291793823,
+          -0.9714699983596802,
+          0.0876191258430481,
+          -8.759652137756348
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7897,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_83082675",
+      "mask_path": "../../mask/hdr_left_07897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07899.png",
+      "transform_matrix": [
+        [
+          -0.6836657524108887,
+          -0.08695448935031891,
+          0.724596381187439,
+          -10.69431209564209
+        ],
+        [
+          -0.6996069550514221,
+          -0.20452316105365753,
+          -0.6846315264701843,
+          9.75119686126709
+        ],
+        [
+          0.2077285200357437,
+          -0.9749919772148132,
+          0.07899152487516403,
+          -8.762308120727539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7899,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_283082008",
+      "mask_path": "../../mask/hdr_left_07899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07901.png",
+      "transform_matrix": [
+        [
+          -0.7443200349807739,
+          -0.07986435294151306,
+          0.6630303859710693,
+          -10.75381088256836
+        ],
+        [
+          -0.6410128474235535,
+          -0.19304677844047546,
+          -0.7428563237190247,
+          9.73437786102295
+        ],
+        [
+          0.18732361495494843,
+          -0.977933943271637,
+          0.09249453246593475,
+          -8.729941368103027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7901,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_483081817",
+      "mask_path": "../../mask/hdr_left_07901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07903.png",
+      "transform_matrix": [
+        [
+          -0.7700007557868958,
+          -0.0841544046998024,
+          0.6324687600135803,
+          -10.814814567565918
+        ],
+        [
+          -0.6098524928092957,
+          -0.19432087242603302,
+          -0.7683224081993103,
+          9.695357322692871
+        ],
+        [
+          0.187559574842453,
+          -0.9773215651512146,
+          0.09830544888973236,
+          -8.7164888381958
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7903,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_683082103",
+      "mask_path": "../../mask/hdr_left_07903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07905.png",
+      "transform_matrix": [
+        [
+          -0.7736924290657043,
+          -0.0843496099114418,
+          0.6279212832450867,
+          -10.880834579467773
+        ],
+        [
+          -0.605408251285553,
+          -0.19373121857643127,
+          -0.7719773054122925,
+          9.630450248718262
+        ],
+        [
+          0.1867639422416687,
+          -0.9774218797683716,
+          0.09882242977619171,
+          -8.679708480834961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7905,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_883082628",
+      "mask_path": "../../mask/hdr_left_07905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07907.png",
+      "transform_matrix": [
+        [
+          -0.7710468769073486,
+          -0.1083466038107872,
+          0.627493143081665,
+          -10.941991806030273
+        ],
+        [
+          -0.6061578392982483,
+          -0.17701669037342072,
+          -0.7753952741622925,
+          9.558245658874512
+        ],
+        [
+          0.195088192820549,
+          -0.9782261252403259,
+          0.07081303745508194,
+          -8.659704208374023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7907,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_83081483",
+      "mask_path": "../../mask/hdr_left_07907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07908.png",
+      "transform_matrix": [
+        [
+          -0.7699753046035767,
+          -0.11633928120136261,
+          0.6273781061172485,
+          -10.982141494750977
+        ],
+        [
+          -0.6059321165084839,
+          -0.17481200397014618,
+          -0.7760714292526245,
+          9.515161514282227
+        ],
+        [
+          0.19996079802513123,
+          -0.9777045249938965,
+          0.06410720944404602,
+          -8.64189338684082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7908,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_183082103",
+      "mask_path": "../../mask/hdr_left_07908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07909.png",
+      "transform_matrix": [
+        [
+          -0.7739656567573547,
+          -0.11348684877157211,
+          0.6229750514030457,
+          -11.027591705322266
+        ],
+        [
+          -0.6009725332260132,
+          -0.17834177613258362,
+          -0.7791188955307007,
+          9.46743106842041
+        ],
+        [
+          0.1995222121477127,
+          -0.9774021506309509,
+          0.06982792913913727,
+          -8.619765281677246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7909,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_283082485",
+      "mask_path": "../../mask/hdr_left_07909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07910.png",
+      "transform_matrix": [
+        [
+          -0.7786031365394592,
+          -0.11022180318832397,
+          0.6177607178688049,
+          -11.066008567810059
+        ],
+        [
+          -0.594822347164154,
+          -0.18398398160934448,
+          -0.7825191020965576,
+          9.426289558410645
+        ],
+        [
+          0.19990874826908112,
+          -0.9767298698425293,
+          0.07768812030553818,
+          -8.596646308898926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7910,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_383082389",
+      "mask_path": "../../mask/hdr_left_07910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07911.png",
+      "transform_matrix": [
+        [
+          -0.7809705138206482,
+          -0.10836255550384521,
+          0.6150956153869629,
+          -11.098780632019043
+        ],
+        [
+          -0.5900635719299316,
+          -0.19479359686374664,
+          -0.7835052013397217,
+          9.386432647705078
+        ],
+        [
+          0.20471929013729095,
+          -0.9748400449752808,
+          0.08818725496530533,
+          -8.576560974121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7911,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_483082056",
+      "mask_path": "../../mask/hdr_left_07911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07912.png",
+      "transform_matrix": [
+        [
+          -0.7801738381385803,
+          -0.11513350903987885,
+          0.6148763298988342,
+          -11.136547088623047
+        ],
+        [
+          -0.5877726674079895,
+          -0.20153817534446716,
+          -0.783521294593811,
+          9.326398849487305
+        ],
+        [
+          0.21413061022758484,
+          -0.9726904630661011,
+          0.08956249803304672,
+          -8.538270950317383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7912,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_583081483",
+      "mask_path": "../../mask/hdr_left_07912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07913.png",
+      "transform_matrix": [
+        [
+          -0.7760930061340332,
+          -0.129046231508255,
+          0.6172736883163452,
+          -11.169610023498535
+        ],
+        [
+          -0.588983416557312,
+          -0.20144037902355194,
+          -0.7826367616653442,
+          9.26924991607666
+        ],
+        [
+          0.22534014284610748,
+          -0.9709628820419312,
+          0.08033034950494766,
+          -8.506539344787598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7913,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_683081388",
+      "mask_path": "../../mask/hdr_left_07913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07915.png",
+      "transform_matrix": [
+        [
+          -0.7730213403701782,
+          -0.14390118420124054,
+          0.6178433299064636,
+          -11.2086820602417
+        ],
+        [
+          -0.5913176536560059,
+          -0.18926413357257843,
+          -0.7839148044586182,
+          9.197675704956055
+        ],
+        [
+          0.22974182665348053,
+          -0.9713246822357178,
+          0.061213888227939606,
+          -8.505840301513672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7915,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_883080720",
+      "mask_path": "../../mask/hdr_left_07915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07916.png",
+      "transform_matrix": [
+        [
+          -0.7662236094474792,
+          -0.18743981420993805,
+          0.6146280765533447,
+          -11.240299224853516
+        ],
+        [
+          -0.587381899356842,
+          -0.18352630734443665,
+          -0.7882262468338013,
+          9.156091690063477
+        ],
+        [
+          0.2605453431606293,
+          -0.9649789929389954,
+          0.030523447319865227,
+          -8.451896667480469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7916,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_983079195",
+      "mask_path": "../../mask/hdr_left_07916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07917.png",
+      "transform_matrix": [
+        [
+          -0.7652956247329712,
+          -0.21562670171260834,
+          0.6064879298210144,
+          -11.284340858459473
+        ],
+        [
+          -0.572996199131012,
+          -0.20105165243148804,
+          -0.7945147156715393,
+          9.119848251342773
+        ],
+        [
+          0.29325395822525024,
+          -0.9555540084838867,
+          0.030310669913887978,
+          -8.3397798538208
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7917,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_83080768",
+      "mask_path": "../../mask/hdr_left_07917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07919.png",
+      "transform_matrix": [
+        [
+          -0.7732547521591187,
+          -0.21261247992515564,
+          0.597388505935669,
+          -11.335062980651855
+        ],
+        [
+          -0.5591321587562561,
+          -0.21573728322982788,
+          -0.8005176782608032,
+          9.048043251037598
+        ],
+        [
+          0.2990790009498596,
+          -0.9530232548713684,
+          0.04794139042496681,
+          -8.32714557647705
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7919,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_283080816",
+      "mask_path": "../../mask/hdr_left_07919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07922.png",
+      "transform_matrix": [
+        [
+          -0.7831150889396667,
+          -0.21863007545471191,
+          0.5821784138679504,
+          -11.41907787322998
+        ],
+        [
+          -0.5471968650817871,
+          -0.20255202054977417,
+          -0.8121256828308105,
+          8.930584907531738
+        ],
+        [
+          0.2954765260219574,
+          -0.9545541405677795,
+          0.03898785635828972,
+          -8.30263900756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7922,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_583079814",
+      "mask_path": "../../mask/hdr_left_07922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07923.png",
+      "transform_matrix": [
+        [
+          -0.7815321683883667,
+          -0.23980706930160522,
+          0.575934112071991,
+          -11.456714630126953
+        ],
+        [
+          -0.5396606922149658,
+          -0.2033112794160843,
+          -0.8169643878936768,
+          8.894678115844727
+        ],
+        [
+          0.3130077123641968,
+          -0.9492930173873901,
+          0.029479864984750748,
+          -8.248733520507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7923,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_683080673",
+      "mask_path": "../../mask/hdr_left_07923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07924.png",
+      "transform_matrix": [
+        [
+          -0.7811363935470581,
+          -0.25497883558273315,
+          0.5699226260185242,
+          -11.501130104064941
+        ],
+        [
+          -0.528976321220398,
+          -0.21464093029499054,
+          -0.8210440278053284,
+          8.869308471679688
+        ],
+        [
+          0.33167752623558044,
+          -0.9428229331970215,
+          0.032786108553409576,
+          -8.187433242797852
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7924,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_783081293",
+      "mask_path": "../../mask/hdr_left_07924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07925.png",
+      "transform_matrix": [
+        [
+          -0.7837338447570801,
+          -0.25012829899787903,
+          0.5685042142868042,
+          -11.541862487792969
+        ],
+        [
+          -0.5245380997657776,
+          -0.2235986888408661,
+          -0.8215007185935974,
+          8.843853950500488
+        ],
+        [
+          0.3325973153114319,
+          -0.9420400857925415,
+          0.044040046632289886,
+          -8.168088912963867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7925,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_883079767",
+      "mask_path": "../../mask/hdr_left_07925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07927.png",
+      "transform_matrix": [
+        [
+          -0.7904906272888184,
+          -0.24377596378326416,
+          0.5618699789047241,
+          -11.604928016662598
+        ],
+        [
+          -0.5226792097091675,
+          -0.20970258116722107,
+          -0.8263360261917114,
+          8.791890144348145
+        ],
+        [
+          0.3192664086818695,
+          -0.9468886852264404,
+          0.03835132345557213,
+          -8.149821281433105
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7927,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_83082199",
+      "mask_path": "../../mask/hdr_left_07927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07929.png",
+      "transform_matrix": [
+        [
+          -0.7949078679084778,
+          -0.2435498833656311,
+          0.5557022094726562,
+          -11.665834426879883
+        ],
+        [
+          -0.5161470174789429,
+          -0.209989994764328,
+          -0.8303592801094055,
+          8.720630645751953
+        ],
+        [
+          0.31892579793930054,
+          -0.9468831419944763,
+          0.04121515154838562,
+          -8.126091003417969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7929,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_283081769",
+      "mask_path": "../../mask/hdr_left_07929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07930.png",
+      "transform_matrix": [
+        [
+          -0.7923588752746582,
+          -0.2591324746608734,
+          0.5522841215133667,
+          -11.705636978149414
+        ],
+        [
+          -0.5117613077163696,
+          -0.21043428778648376,
+          -0.8329571485519409,
+          8.686809539794922
+        ],
+        [
+          0.33206576108932495,
+          -0.9426387548446655,
+          0.03412550315260887,
+          -8.077893257141113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7930,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_383082389",
+      "mask_path": "../../mask/hdr_left_07930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07931.png",
+      "transform_matrix": [
+        [
+          -0.7910128831863403,
+          -0.2699626088142395,
+          0.5490161776542664,
+          -11.749306678771973
+        ],
+        [
+          -0.5048704743385315,
+          -0.21881003677845,
+          -0.8350018858909607,
+          8.658267974853516
+        ],
+        [
+          0.3455495238304138,
+          -0.9376792907714844,
+          0.03678542375564575,
+          -8.029322624206543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7931,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_483082294",
+      "mask_path": "../../mask/hdr_left_07931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07933.png",
+      "transform_matrix": [
+        [
+          -0.7958512902259827,
+          -0.2547079920768738,
+          0.5493128299713135,
+          -11.813488006591797
+        ],
+        [
+          -0.5036152601242065,
+          -0.2251920849084854,
+          -0.8340623378753662,
+          8.597241401672363
+        ],
+        [
+          0.33614322543144226,
+          -0.940432071685791,
+          0.05094458535313606,
+          -7.999270439147949
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7933,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_683082342",
+      "mask_path": "../../mask/hdr_left_07933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07935.png",
+      "transform_matrix": [
+        [
+          -0.7985952496528625,
+          -0.24713675677776337,
+          0.5487886071205139,
+          -11.861536979675293
+        ],
+        [
+          -0.5044278502464294,
+          -0.2225746214389801,
+          -0.8342739343643188,
+          8.535050392150879
+        ],
+        [
+          0.32832613587379456,
+          -0.9430716037750244,
+          0.053084373474121094,
+          -7.981218338012695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7935,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_883081674",
+      "mask_path": "../../mask/hdr_left_07935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07937.png",
+      "transform_matrix": [
+        [
+          -0.7979662418365479,
+          -0.25136566162109375,
+          0.5477819442749023,
+          -11.922365188598633
+        ],
+        [
+          -0.5033326148986816,
+          -0.22200140357017517,
+          -0.8350878357887268,
+          8.453819274902344
+        ],
+        [
+          0.33152076601982117,
+          -0.9420884847640991,
+          0.05062907934188843,
+          -7.928206443786621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7937,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_83081483",
+      "mask_path": "../../mask/hdr_left_07937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07938.png",
+      "transform_matrix": [
+        [
+          -0.7952889800071716,
+          -0.2605935037136078,
+          0.5473631024360657,
+          -11.97153091430664
+        ],
+        [
+          -0.497685968875885,
+          -0.2348993718624115,
+          -0.8349435925483704,
+          8.424266815185547
+        ],
+        [
+          0.34615612030029297,
+          -0.9364365339279175,
+          0.057119179517030716,
+          -7.874713897705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7938,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_183082342",
+      "mask_path": "../../mask/hdr_left_07938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07944.png",
+      "transform_matrix": [
+        [
+          -0.794228196144104,
+          -0.2646254003047943,
+          0.5469687581062317,
+          -12.16360092163086
+        ],
+        [
+          -0.4961095452308655,
+          -0.23732419312000275,
+          -0.8351961374282837,
+          8.226749420166016
+        ],
+        [
+          0.35082298517227173,
+          -0.9346928000450134,
+          0.05720638856291771,
+          -7.75607967376709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7944,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_783082723",
+      "mask_path": "../../mask/hdr_left_07944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07945.png",
+      "transform_matrix": [
+        [
+          -0.7886478304862976,
+          -0.275127112865448,
+          0.5498540997505188,
+          -12.203536033630371
+        ],
+        [
+          -0.49338865280151367,
+          -0.2504445016384125,
+          -0.8329736590385437,
+          8.198817253112793
+        ],
+        [
+          0.3668815493583679,
+          -0.9282147884368896,
+          0.061767932027578354,
+          -7.699321269989014
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7945,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_883082389",
+      "mask_path": "../../mask/hdr_left_07945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07947.png",
+      "transform_matrix": [
+        [
+          -0.792573094367981,
+          -0.2544533610343933,
+          0.554149329662323,
+          -12.247978210449219
+        ],
+        [
+          -0.4987300932407379,
+          -0.25238367915153503,
+          -0.8291988372802734,
+          8.118989944458008
+        ],
+        [
+          0.35085058212280273,
+          -0.9335716962814331,
+          0.07312895357608795,
+          -7.68577241897583
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7947,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_83081960",
+      "mask_path": "../../mask/hdr_left_07947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07949.png",
+      "transform_matrix": [
+        [
+          -0.7931426763534546,
+          -0.24876537919044495,
+          0.555914044380188,
+          -12.283455848693848
+        ],
+        [
+          -0.5050472617149353,
+          -0.2414708137512207,
+          -0.8286247849464417,
+          8.065536499023438
+        ],
+        [
+          0.34037014842033386,
+          -0.9379807114601135,
+          0.06588251888751984,
+          -7.674612998962402
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7949,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_283081769",
+      "mask_path": "../../mask/hdr_left_07949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07951.png",
+      "transform_matrix": [
+        [
+          -0.8016821146011353,
+          -0.22775112092494965,
+          0.5526618361473083,
+          -12.333545684814453
+        ],
+        [
+          -0.502824068069458,
+          -0.2430015206336975,
+          -0.8295288681983948,
+          8.009054183959961
+        ],
+        [
+          0.32322371006011963,
+          -0.9429102540016174,
+          0.08029122650623322,
+          -7.65211296081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7951,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_483081817",
+      "mask_path": "../../mask/hdr_left_07951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07953.png",
+      "transform_matrix": [
+        [
+          -0.8025553822517395,
+          -0.21934939920902252,
+          0.5547888875007629,
+          -12.387845993041992
+        ],
+        [
+          -0.4983823597431183,
+          -0.26462459564208984,
+          -0.8255838751792908,
+          7.944338798522949
+        ],
+        [
+          0.32790207862854004,
+          -0.9390738606452942,
+          0.10305602103471756,
+          -7.607946395874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7953,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_683081865",
+      "mask_path": "../../mask/hdr_left_07953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07961.png",
+      "transform_matrix": [
+        [
+          -0.8025345206260681,
+          -0.22081272304058075,
+          0.5542383193969727,
+          -12.578404426574707
+        ],
+        [
+          -0.4949720799922943,
+          -0.27221187949180603,
+          -0.8251686692237854,
+          7.7153167724609375
+        ],
+        [
+          0.33307796716690063,
+          -0.9365588426589966,
+          0.10916329175233841,
+          -7.444220542907715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7961,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_483081579",
+      "mask_path": "../../mask/hdr_left_07961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07963.png",
+      "transform_matrix": [
+        [
+          -0.7993083596229553,
+          -0.2312677502632141,
+          0.5546362400054932,
+          -12.62940788269043
+        ],
+        [
+          -0.49998363852500916,
+          -0.2560580372810364,
+          -0.8273153305053711,
+          7.663475036621094
+        ],
+        [
+          0.33335039019584656,
+          -0.9385890960693359,
+          0.08903922140598297,
+          -7.4241743087768555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7963,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_683081626",
+      "mask_path": "../../mask/hdr_left_07963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07965.png",
+      "transform_matrix": [
+        [
+          -0.8092010617256165,
+          -0.21281614899635315,
+          0.547633945941925,
+          -12.685996055603027
+        ],
+        [
+          -0.4981335699558258,
+          -0.24573202431201935,
+          -0.8315520286560059,
+          7.617304801940918
+        ],
+        [
+          0.31153884530067444,
+          -0.9456876516342163,
+          0.09283572435379028,
+          -7.395262241363525
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7965,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_883081436",
+      "mask_path": "../../mask/hdr_left_07965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07967.png",
+      "transform_matrix": [
+        [
+          -0.8091162443161011,
+          -0.20769654214382172,
+          0.5497210025787354,
+          -12.731413841247559
+        ],
+        [
+          -0.4992721378803253,
+          -0.25040754675865173,
+          -0.8294717073440552,
+          7.579583644866943
+        ],
+        [
+          0.309932678937912,
+          -0.9455994367599487,
+          0.09891168773174286,
+          -7.362437725067139
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7967,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_83082914",
+      "mask_path": "../../mask/hdr_left_07967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07969.png",
+      "transform_matrix": [
+        [
+          -0.8014910817146301,
+          -0.21304374933242798,
+          0.558770477771759,
+          -12.788349151611328
+        ],
+        [
+          -0.5030259490013123,
+          -0.2651035785675049,
+          -0.8226087093353271,
+          7.521225452423096
+        ],
+        [
+          0.3233836889266968,
+          -0.9403895735740662,
+          0.10531158745288849,
+          -7.304445266723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7969,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_283082008",
+      "mask_path": "../../mask/hdr_left_07969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07971.png",
+      "transform_matrix": [
+        [
+          -0.7928268313407898,
+          -0.2227330207824707,
+          0.5672879219055176,
+          -12.831632614135742
+        ],
+        [
+          -0.5152994394302368,
+          -0.25201648473739624,
+          -0.8191180229187012,
+          7.463216304779053
+        ],
+        [
+          0.32541048526763916,
+          -0.9417418837547302,
+          0.08503121137619019,
+          -7.283999443054199
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7971,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_483080387",
+      "mask_path": "../../mask/hdr_left_07971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07973.png",
+      "transform_matrix": [
+        [
+          -0.7831443548202515,
+          -0.22731637954711914,
+          0.5788022875785828,
+          -12.88298225402832
+        ],
+        [
+          -0.5279786586761475,
+          -0.2486642301082611,
+          -0.8120372295379639,
+          7.416689395904541
+        ],
+        [
+          0.32851678133010864,
+          -0.9415377974510193,
+          0.0747218057513237,
+          -7.256370544433594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7973,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_683082103",
+      "mask_path": "../../mask/hdr_left_07973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07975.png",
+      "transform_matrix": [
+        [
+          -0.7683184742927551,
+          -0.2270066887140274,
+          0.59846031665802,
+          -12.927207946777344
+        ],
+        [
+          -0.545437753200531,
+          -0.257065087556839,
+          -0.7977563142776489,
+          7.365438938140869
+        ],
+        [
+          0.33493924140930176,
+          -0.9393538236618042,
+          0.07368981838226318,
+          -7.222480297088623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7975,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_883082151",
+      "mask_path": "../../mask/hdr_left_07975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07977.png",
+      "transform_matrix": [
+        [
+          -0.7530779242515564,
+          -0.22358942031860352,
+          0.6187741160392761,
+          -12.963445663452148
+        ],
+        [
+          -0.5701125860214233,
+          -0.24766689538955688,
+          -0.7833471298217773,
+          7.317508697509766
+        ],
+        [
+          0.3283979594707489,
+          -0.9426923990249634,
+          0.05904132127761841,
+          -7.203861236572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7977,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_83081722",
+      "mask_path": "../../mask/hdr_left_07977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07979.png",
+      "transform_matrix": [
+        [
+          -0.7369308471679688,
+          -0.2276289463043213,
+          0.6364887952804565,
+          -13.009834289550781
+        ],
+        [
+          -0.5932834148406982,
+          -0.2334548383951187,
+          -0.7703984379768372,
+          7.260278224945068
+        ],
+        [
+          0.32395631074905396,
+          -0.9453486800193787,
+          0.03699161857366562,
+          -7.183584690093994
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7979,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_283081769",
+      "mask_path": "../../mask/hdr_left_07979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07980.png",
+      "transform_matrix": [
+        [
+          -0.7341387271881104,
+          -0.2351904809474945,
+          0.6369659900665283,
+          -13.045454978942871
+        ],
+        [
+          -0.5892058610916138,
+          -0.24556273221969604,
+          -0.7697631120681763,
+          7.2349772453308105
+        ],
+        [
+          0.337456077337265,
+          -0.9404171705245972,
+          0.041701484471559525,
+          -7.1331939697265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7980,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_383082628",
+      "mask_path": "../../mask/hdr_left_07980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07982.png",
+      "transform_matrix": [
+        [
+          -0.7409790754318237,
+          -0.21932563185691833,
+          0.6347017288208008,
+          -13.09624195098877
+        ],
+        [
+          -0.5807571411132812,
+          -0.2652367055416107,
+          -0.7696561217308044,
+          7.17842960357666
+        ],
+        [
+          0.3371514678001404,
+          -0.9389066696166992,
+          0.0691598653793335,
+          -7.102728843688965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7982,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_583082437",
+      "mask_path": "../../mask/hdr_left_07982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07984.png",
+      "transform_matrix": [
+        [
+          -0.7436330318450928,
+          -0.21330709755420685,
+          0.6336480975151062,
+          -13.142082214355469
+        ],
+        [
+          -0.5809264183044434,
+          -0.26300114393234253,
+          -0.7702953219413757,
+          7.120029926300049
+        ],
+        [
+          0.33095961809158325,
+          -0.9409200549125671,
+          0.071660615503788,
+          -7.085921287536621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7984,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_783082008",
+      "mask_path": "../../mask/hdr_left_07984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07986.png",
+      "transform_matrix": [
+        [
+          -0.7508085370063782,
+          -0.20163105428218842,
+          0.6289923787117004,
+          -13.199905395507812
+        ],
+        [
+          -0.5770381689071655,
+          -0.26317012310028076,
+          -0.7731548547744751,
+          7.057486057281494
+        ],
+        [
+          0.3214240074157715,
+          -0.9434439539909363,
+          0.08124157041311264,
+          -7.067724227905273
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7986,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_983082056",
+      "mask_path": "../../mask/hdr_left_07986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07988.png",
+      "transform_matrix": [
+        [
+          -0.7598739862442017,
+          -0.18553166091442108,
+          0.6230323910713196,
+          -13.245723724365234
+        ],
+        [
+          -0.5673238635063171,
+          -0.2786644399166107,
+          -0.7749126553535461,
+          7.009603977203369
+        ],
+        [
+          0.31738778948783875,
+          -0.9422972798347473,
+          0.10649332404136658,
+          -7.0306806564331055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7988,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_183081865",
+      "mask_path": "../../mask/hdr_left_07988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07989.png",
+      "transform_matrix": [
+        [
+          -0.7591001391410828,
+          -0.18236958980560303,
+          0.6249066591262817,
+          -13.268449783325195
+        ],
+        [
+          -0.5674201250076294,
+          -0.28513985872268677,
+          -0.7724827527999878,
+          6.968734264373779
+        ],
+        [
+          0.31906306743621826,
+          -0.9409764409065247,
+          0.11296951770782471,
+          -7.004670143127441
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7989,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_283082008",
+      "mask_path": "../../mask/hdr_left_07989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07996.png",
+      "transform_matrix": [
+        [
+          -0.7638722658157349,
+          -0.15797458589076996,
+          0.6257341504096985,
+          -13.425578117370605
+        ],
+        [
+          -0.5652267932891846,
+          -0.30418872833251953,
+          -0.7668036818504333,
+          6.761258125305176
+        ],
+        [
+          0.3114767372608185,
+          -0.9394217729568481,
+          0.14306983351707458,
+          -6.883575916290283
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7996,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_983081102",
+      "mask_path": "../../mask/hdr_left_07996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07997.png",
+      "transform_matrix": [
+        [
+          -0.7614876627922058,
+          -0.16465595364570618,
+          0.6269170641899109,
+          -13.455275535583496
+        ],
+        [
+          -0.5658197402954102,
+          -0.30297017097473145,
+          -0.7668488025665283,
+          6.727159023284912
+        ],
+        [
+          0.3162033259868622,
+          -0.9386680126190186,
+          0.13754241168498993,
+          -6.849510669708252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7997,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_83081722",
+      "mask_path": "../../mask/hdr_left_07997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07999.png",
+      "transform_matrix": [
+        [
+          -0.7590398788452148,
+          -0.17038391530513763,
+          0.6283531785011292,
+          -13.500910758972168
+        ],
+        [
+          -0.5711932182312012,
+          -0.2888447344303131,
+          -0.7683144211769104,
+          6.668688774108887
+        ],
+        [
+          0.31240490078926086,
+          -0.9420924782752991,
+          0.121922567486763,
+          -6.8348259925842285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7999,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_283080577",
+      "mask_path": "../../mask/hdr_left_07999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08000.png",
+      "transform_matrix": [
+        [
+          -0.7578515410423279,
+          -0.17546533048152924,
+          0.6283891797065735,
+          -13.53493595123291
+        ],
+        [
+          -0.570321261882782,
+          -0.2895881235599518,
+          -0.7686822414398193,
+          6.638236999511719
+        ],
+        [
+          0.31685107946395874,
+          -0.9409307241439819,
+          0.11939320713281631,
+          -6.812067031860352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8000,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_383082628",
+      "mask_path": "../../mask/hdr_left_08000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08001.png",
+      "transform_matrix": [
+        [
+          -0.7585756778717041,
+          -0.17792998254299164,
+          0.6268203854560852,
+          -13.571052551269531
+        ],
+        [
+          -0.5662403106689453,
+          -0.2959578037261963,
+          -0.7692729234695435,
+          6.608991622924805
+        ],
+        [
+          0.3223890960216522,
+          -0.9384827613830566,
+          0.12375525385141373,
+          -6.782359600067139
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8001,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_483082532",
+      "mask_path": "../../mask/hdr_left_08001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08003.png",
+      "transform_matrix": [
+        [
+          -0.764096736907959,
+          -0.162687286734581,
+          0.6242507100105286,
+          -13.628653526306152
+        ],
+        [
+          -0.5634040236473083,
+          -0.3030445873737335,
+          -0.7685959935188293,
+          6.535617351531982
+        ],
+        [
+          0.31421661376953125,
+          -0.938987135887146,
+          0.1398966908454895,
+          -6.724915981292725
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8003,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_683082103",
+      "mask_path": "../../mask/hdr_left_08003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08004.png",
+      "transform_matrix": [
+        [
+          -0.7612746953964233,
+          -0.16950097680091858,
+          0.6258834600448608,
+          -13.661009788513184
+        ],
+        [
+          -0.5637071132659912,
+          -0.3040286600589752,
+          -0.767984926700592,
+          6.496255397796631
+        ],
+        [
+          0.320460706949234,
+          -0.937462568283081,
+          0.13590043783187866,
+          -6.685158729553223
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8004,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_783081293",
+      "mask_path": "../../mask/hdr_left_08004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08006.png",
+      "transform_matrix": [
+        [
+          -0.7571219205856323,
+          -0.17918334901332855,
+          0.6282194256782532,
+          -13.733181953430176
+        ],
+        [
+          -0.5674272775650024,
+          -0.29614803194999695,
+          -0.7683244943618774,
+          6.432438850402832
+        ],
+        [
+          0.3237169086933136,
+          -0.9381843209266663,
+          0.12254663556814194,
+          -6.67406702041626
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8006,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_983081102",
+      "mask_path": "../../mask/hdr_left_08006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08007.png",
+      "transform_matrix": [
+        [
+          -0.7588186264038086,
+          -0.1812535971403122,
+          0.625572919845581,
+          -13.775036811828613
+        ],
+        [
+          -0.5626403093338013,
+          -0.30138829350471497,
+          -0.7698058485984802,
+          6.403355598449707
+        ],
+        [
+          0.32807040214538574,
+          -0.9361155033111572,
+          0.1267184615135193,
+          -6.644523620605469
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8007,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_83081483",
+      "mask_path": "../../mask/hdr_left_08007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08009.png",
+      "transform_matrix": [
+        [
+          -0.7635746598243713,
+          -0.17763210833072662,
+          0.6208063364028931,
+          -13.8350830078125
+        ],
+        [
+          -0.5544528365135193,
+          -0.3124086260795593,
+          -0.7713513374328613,
+          6.340810298919678
+        ],
+        [
+          0.33096206188201904,
+          -0.933192253112793,
+          0.14005868136882782,
+          -6.598913192749023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8009,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_283080577",
+      "mask_path": "../../mask/hdr_left_08009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08010.png",
+      "transform_matrix": [
+        [
+          -0.7617404460906982,
+          -0.18419472873210907,
+          0.6211472153663635,
+          -13.865031242370605
+        ],
+        [
+          -0.5563422441482544,
+          -0.3053506016731262,
+          -0.7728158235549927,
+          6.302189826965332
+        ],
+        [
+          0.3320162892341614,
+          -0.9342555403709412,
+          0.1301226168870926,
+          -6.552929401397705
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8010,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_383080244",
+      "mask_path": "../../mask/hdr_left_08010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08012.png",
+      "transform_matrix": [
+        [
+          -0.7615166306495667,
+          -0.19750167429447174,
+          0.6173211932182312,
+          -13.938250541687012
+        ],
+        [
+          -0.5597100853919983,
+          -0.27988487482070923,
+          -0.7799929976463318,
+          6.247528553009033
+        ],
+        [
+          0.3268287777900696,
+          -0.9394986033439636,
+          0.10259329527616501,
+          -6.538653373718262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8012,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_583081007",
+      "mask_path": "../../mask/hdr_left_08012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08013.png",
+      "transform_matrix": [
+        [
+          -0.7632005214691162,
+          -0.19944925606250763,
+          0.6146095991134644,
+          -13.983073234558105
+        ],
+        [
+          -0.5569469928741455,
+          -0.2792172431945801,
+          -0.7822069525718689,
+          6.220118522644043
+        ],
+        [
+          0.32762011885643005,
+          -0.9392857551574707,
+          0.10201607644557953,
+          -6.511214733123779
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8013,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_683078765",
+      "mask_path": "../../mask/hdr_left_08013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08015.png",
+      "transform_matrix": [
+        [
+          -0.7652514576911926,
+          -0.1947733610868454,
+          0.6135580539703369,
+          -14.044769287109375
+        ],
+        [
+          -0.5534027218818665,
+          -0.2878379821777344,
+          -0.7815974950790405,
+          6.163819313049316
+        ],
+        [
+          0.32883962988853455,
+          -0.9376634955406189,
+          0.11248032748699188,
+          -6.475454330444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8015,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_883080244",
+      "mask_path": "../../mask/hdr_left_08015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08017.png",
+      "transform_matrix": [
+        [
+          -0.765412449836731,
+          -0.18638740479946136,
+          0.6159572601318359,
+          -14.092986106872559
+        ],
+        [
+          -0.5693564414978027,
+          -0.2500033378601074,
+          -0.7831548452377319,
+          6.113823413848877
+        ],
+        [
+          0.29996156692504883,
+          -0.9501358270645142,
+          0.08523480594158173,
+          -6.471877098083496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8017,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_83082675",
+      "mask_path": "../../mask/hdr_left_08017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08019.png",
+      "transform_matrix": [
+        [
+          -0.7623623013496399,
+          -0.17781485617160797,
+          0.6222423315048218,
+          -14.154346466064453
+        ],
+        [
+          -0.5811000466346741,
+          -0.23509301245212555,
+          -0.7791367173194885,
+          6.056663990020752
+        ],
+        [
+          0.2848269045352936,
+          -0.9555695652961731,
+          0.07589782774448395,
+          -6.459860801696777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8019,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_283083200",
+      "mask_path": "../../mask/hdr_left_08019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08021.png",
+      "transform_matrix": [
+        [
+          -0.7721044421195984,
+          -0.15654931962490082,
+          0.6159114837646484,
+          -14.217201232910156
+        ],
+        [
+          -0.572851300239563,
+          -0.24814201891422272,
+          -0.7811958193778992,
+          5.998897552490234
+        ],
+        [
+          0.27512913942337036,
+          -0.9559905529022217,
+          0.10191208869218826,
+          -6.431864261627197
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8021,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_483081817",
+      "mask_path": "../../mask/hdr_left_08021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08026.png",
+      "transform_matrix": [
+        [
+          -0.782149612903595,
+          -0.16187028586864471,
+          0.6016975045204163,
+          -14.359129905700684
+        ],
+        [
+          -0.5787761807441711,
+          -0.16892436146736145,
+          -0.7977985143661499,
+          5.88900089263916
+        ],
+        [
+          0.23078124225139618,
+          -0.9722462296485901,
+          0.03843744471669197,
+          -6.402887344360352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8026,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_983082294",
+      "mask_path": "../../mask/hdr_left_08026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08038.png",
+      "transform_matrix": [
+        [
+          -0.75833660364151,
+          -0.10937002301216125,
+          0.6426225304603577,
+          -14.558568954467773
+        ],
+        [
+          -0.6129828691482544,
+          -0.21572616696357727,
+          -0.7600752115249634,
+          5.712196350097656
+        ],
+        [
+          0.22175991535186768,
+          -0.9703096151351929,
+          0.0965510904788971,
+          -6.308914661407471
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8038,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_183081865",
+      "mask_path": "../../mask/hdr_left_08038.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08039.png",
+      "transform_matrix": [
+        [
+          -0.7578824758529663,
+          -0.10986623167991638,
+          0.643073558807373,
+          -14.587864875793457
+        ],
+        [
+          -0.6143873929977417,
+          -0.21132197976112366,
+          -0.7601783275604248,
+          5.673725605010986
+        ],
+        [
+          0.21941348910331726,
+          -0.9712222218513489,
+          0.09265676885843277,
+          -6.270897388458252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8039,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_283082008",
+      "mask_path": "../../mask/hdr_left_08039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08041.png",
+      "transform_matrix": [
+        [
+          -0.7581862211227417,
+          -0.11328033357858658,
+          0.6421224474906921,
+          -14.649821281433105
+        ],
+        [
+          -0.615452229976654,
+          -0.20090658962726593,
+          -0.7621384263038635,
+          5.605510711669922
+        ],
+        [
+          0.21534192562103271,
+          -0.9730386734008789,
+          0.08260596543550491,
+          -6.267972946166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8041,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_483081579",
+      "mask_path": "../../mask/hdr_left_08041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08042.png",
+      "transform_matrix": [
+        [
+          -0.7607579231262207,
+          -0.1119559109210968,
+          0.6393070220947266,
+          -14.689416885375977
+        ],
+        [
+          -0.6128086447715759,
+          -0.20058032870292664,
+          -0.7643513679504395,
+          5.57113790512085
+        ],
+        [
+          0.21380601823329926,
+          -0.9732592105865479,
+          0.08398550748825073,
+          -6.257474899291992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8042,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_583081245",
+      "mask_path": "../../mask/hdr_left_08042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08043.png",
+      "transform_matrix": [
+        [
+          -0.7647972106933594,
+          -0.10877397656440735,
+          0.6350223422050476,
+          -14.727370262145996
+        ],
+        [
+          -0.6066204309463501,
+          -0.21043024957180023,
+          -0.7666358947753906,
+          5.538340091705322
+        ],
+        [
+          0.21701794862747192,
+          -0.971538782119751,
+          0.09495197236537933,
+          -6.23423957824707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8043,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_683081150",
+      "mask_path": "../../mask/hdr_left_08043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08045.png",
+      "transform_matrix": [
+        [
+          -0.7701661586761475,
+          -0.10340622067451477,
+          0.6294053792953491,
+          -14.774264335632324
+        ],
+        [
+          -0.5974532961845398,
+          -0.2286091297864914,
+          -0.7686269879341125,
+          5.485466957092285
+        ],
+        [
+          0.2233685851097107,
+          -0.9680109024047852,
+          0.1142866387963295,
+          -6.216277599334717
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8045,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_883083820",
+      "mask_path": "../../mask/hdr_left_08045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08046.png",
+      "transform_matrix": [
+        [
+          -0.7693740129470825,
+          -0.10468163341283798,
+          0.6301629543304443,
+          -14.797890663146973
+        ],
+        [
+          -0.5926146507263184,
+          -0.25131070613861084,
+          -0.7652782201766968,
+          5.442809581756592
+        ],
+        [
+          0.23847725987434387,
+          -0.9622290730476379,
+          0.13131606578826904,
+          -6.166352272033691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8046,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_983080387",
+      "mask_path": "../../mask/hdr_left_08046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08056.png",
+      "transform_matrix": [
+        [
+          -0.726561427116394,
+          -0.14090675115585327,
+          0.6724981665611267,
+          -15.013458251953125
+        ],
+        [
+          -0.6403351426124573,
+          -0.21605634689331055,
+          -0.7370824813842773,
+          5.193319320678711
+        ],
+        [
+          0.2491573691368103,
+          -0.9661599397659302,
+          0.066750667989254,
+          -6.047713756561279
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8056,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324067_983082532",
+      "mask_path": "../../mask/hdr_left_08056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08057.png",
+      "transform_matrix": [
+        [
+          -0.7222524285316467,
+          -0.163292795419693,
+          0.6720766425132751,
+          -15.065357208251953
+        ],
+        [
+          -0.6384928822517395,
+          -0.21609893441200256,
+          -0.7386664152145386,
+          5.142919063568115
+        ],
+        [
+          0.2658539414405823,
+          -0.9626197814941406,
+          0.051816679537296295,
+          -6.015847682952881
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8057,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_83081007",
+      "mask_path": "../../mask/hdr_left_08057.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08058.png",
+      "transform_matrix": [
+        [
+          -0.7224936485290527,
+          -0.17326754331588745,
+          0.6693139672279358,
+          -15.117753982543945
+        ],
+        [
+          -0.631151556968689,
+          -0.22988612949848175,
+          -0.7408104538917542,
+          5.091493129730225
+        ],
+        [
+          0.2822243869304657,
+          -0.9576694369316101,
+          0.05673321336507797,
+          -5.95893669128418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8058,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_183080911",
+      "mask_path": "../../mask/hdr_left_08058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08059.png",
+      "transform_matrix": [
+        [
+          -0.7253507375717163,
+          -0.16907069087028503,
+          0.6672939658164978,
+          -15.157151222229004
+        ],
+        [
+          -0.6243196129798889,
+          -0.2467811107635498,
+          -0.741163969039917,
+          5.046538829803467
+        ],
+        [
+          0.28998464345932007,
+          -0.9542087316513062,
+          0.07344871759414673,
+          -5.9235734939575195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8059,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_283081293",
+      "mask_path": "../../mask/hdr_left_08059.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08060.png",
+      "transform_matrix": [
+        [
+          -0.7256106734275818,
+          -0.16790536046028137,
+          0.6673057675361633,
+          -15.202720642089844
+        ],
+        [
+          -0.6261155009269714,
+          -0.24115632474422455,
+          -0.7415004968643188,
+          4.996833324432373
+        ],
+        [
+          0.2854268550872803,
+          -0.955851137638092,
+          0.06985746324062347,
+          -5.9207353591918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8060,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_383080720",
+      "mask_path": "../../mask/hdr_left_08060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08061.png",
+      "transform_matrix": [
+        [
+          -0.7267690896987915,
+          -0.1617681235074997,
+          0.6675610542297363,
+          -15.240860939025879
+        ],
+        [
+          -0.6325822472572327,
+          -0.2210935801267624,
+          -0.7422648668289185,
+          4.956527233123779
+        ],
+        [
+          0.2676682770252228,
+          -0.961742639541626,
+          0.05835232511162758,
+          -5.9122185707092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8061,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_483081102",
+      "mask_path": "../../mask/hdr_left_08061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_08062.png",
+      "transform_matrix": [
+        [
+          -0.7296338677406311,
+          -0.15365462005138397,
+          0.6663517951965332,
+          -15.271729469299316
+        ],
+        [
+          -0.6331415176391602,
+          -0.21640250086784363,
+          -0.7431701421737671,
+          4.91431999206543
+        ],
+        [
+          0.25839170813560486,
+          -0.964137077331543,
+          0.060609474778175354,
+          -5.903397560119629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8062,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_583081007",
+      "mask_path": "../../mask/hdr_left_08062.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01501.png",
+      "transform_matrix": [
+        [
+          -0.6156342029571533,
+          -0.23648805916309357,
+          0.7517099976539612,
+          -15.037801742553711
+        ],
+        [
+          -0.6810742616653442,
+          -0.3201632499694824,
+          -0.6585083603858948,
+          5.147334098815918
+        ],
+        [
+          0.3963993191719055,
+          -0.917370617389679,
+          0.036037515848875046,
+          -5.952649116516113
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1501,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_583081245",
+      "mask_path": "../../mask/hdr_right_01501.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01502.png",
+      "transform_matrix": [
+        [
+          -0.6181983947753906,
+          -0.23006665706634521,
+          0.7515982985496521,
+          -14.980581283569336
+        ],
+        [
+          -0.6831197738647461,
+          -0.31574302911758423,
+          -0.6585239171981812,
+          5.196759223937988
+        ],
+        [
+          0.38881635665893555,
+          -0.9205301403999329,
+          0.03802879527211189,
+          -5.994552135467529
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1502,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_683080911",
+      "mask_path": "../../mask/hdr_right_01502.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01503.png",
+      "transform_matrix": [
+        [
+          -0.6209709048271179,
+          -0.2214052826166153,
+          0.7519140839576721,
+          -14.918322563171387
+        ],
+        [
+          -0.6845117211341858,
+          -0.314189612865448,
+          -0.6578212976455688,
+          5.248569488525391
+        ],
+        [
+          0.3818887174129486,
+          -0.9231817722320557,
+          0.04354812204837799,
+          -6.028600215911865
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1503,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_783078908",
+      "mask_path": "../../mask/hdr_right_01503.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01504.png",
+      "transform_matrix": [
+        [
+          -0.6203577518463135,
+          -0.22102069854736328,
+          0.7525330781936646,
+          -14.884814262390137
+        ],
+        [
+          -0.6863358616828918,
+          -0.31140029430389404,
+          -0.6572465300559998,
+          5.285297870635986
+        ],
+        [
+          0.3796041011810303,
+          -0.9242184162139893,
+          0.04148516058921814,
+          -6.059071063995361
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1504,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_883078575",
+      "mask_path": "../../mask/hdr_right_01504.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01505.png",
+      "transform_matrix": [
+        [
+          -0.6204118132591248,
+          -0.22489650547504425,
+          0.7513393759727478,
+          -14.85469913482666
+        ],
+        [
+          -0.6894033551216125,
+          -0.30035555362701416,
+          -0.6591733694076538,
+          5.319974422454834
+        ],
+        [
+          0.37391477823257446,
+          -0.9269347786903381,
+          0.03129972517490387,
+          -6.089364051818848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1505,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323413_983081340",
+      "mask_path": "../../mask/hdr_right_01505.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01506.png",
+      "transform_matrix": [
+        [
+          -0.6208771467208862,
+          -0.2227788269519806,
+          0.751585841178894,
+          -14.809407234191895
+        ],
+        [
+          -0.69355309009552,
+          -0.29076144099235535,
+          -0.6591220498085022,
+          5.35975980758667
+        ],
+        [
+          0.36537060141563416,
+          -0.9304985404014587,
+          0.0260181725025177,
+          -6.116988658905029
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1506,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_83081007",
+      "mask_path": "../../mask/hdr_right_01506.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01507.png",
+      "transform_matrix": [
+        [
+          -0.6189121007919312,
+          -0.22556647658348083,
+          0.7523745894432068,
+          -14.749555587768555
+        ],
+        [
+          -0.6956004500389099,
+          -0.2874883711338043,
+          -0.6583999395370483,
+          5.40389347076416
+        ],
+        [
+          0.3648119270801544,
+          -0.9308437705039978,
+          0.021025903522968292,
+          -6.144937515258789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1507,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_183080196",
+      "mask_path": "../../mask/hdr_right_01507.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01508.png",
+      "transform_matrix": [
+        [
+          -0.6194095611572266,
+          -0.22416839003562927,
+          0.7523832321166992,
+          -14.689048767089844
+        ],
+        [
+          -0.6945062875747681,
+          -0.29038986563682556,
+          -0.6582818031311035,
+          5.444382190704346
+        ],
+        [
+          0.3660503923892975,
+          -0.9302806854248047,
+          0.02418389357626438,
+          -6.162154674530029
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1508,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_283081054",
+      "mask_path": "../../mask/hdr_right_01508.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01509.png",
+      "transform_matrix": [
+        [
+          -0.623315155506134,
+          -0.21373455226421356,
+          0.7521940469741821,
+          -14.641793251037598
+        ],
+        [
+          -0.69280606508255,
+          -0.2951325476169586,
+          -0.6579639315605164,
+          5.473690509796143
+        ],
+        [
+          0.3626265525817871,
+          -0.931243360042572,
+          0.035884007811546326,
+          -6.181214332580566
+        ],
+        [
+          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": "1731323414_383080959",
+      "mask_path": "../../mask/hdr_right_01509.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01510.png",
+      "transform_matrix": [
+        [
+          -0.6258820295333862,
+          -0.20339705049991608,
+          0.752928614616394,
+          -14.590363502502441
+        ],
+        [
+          -0.6936075091362,
+          -0.2962721586227417,
+          -0.6566059589385986,
+          5.505980491638184
+        ],
+        [
+          0.35662350058555603,
+          -0.9331946969032288,
+          0.044353682547807693,
+          -6.204500198364258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1510,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_483080863",
+      "mask_path": "../../mask/hdr_right_01510.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01511.png",
+      "transform_matrix": [
+        [
+          -0.6210488677024841,
+          -0.19894258677959442,
+          0.7581030130386353,
+          -14.527146339416504
+        ],
+        [
+          -0.6945030093193054,
+          -0.308623343706131,
+          -0.649936318397522,
+          5.564171314239502
+        ],
+        [
+          0.36326831579208374,
+          -0.9301469922065735,
+          0.05350394919514656,
+          -6.2548017501831055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1511,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_583080530",
+      "mask_path": "../../mask/hdr_right_01511.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01512.png",
+      "transform_matrix": [
+        [
+          -0.6166096925735474,
+          -0.18987096846103668,
+          0.7640297412872314,
+          -14.467242240905762
+        ],
+        [
+          -0.6938387155532837,
+          -0.32750171422958374,
+          -0.641350507736206,
+          5.609707832336426
+        ],
+        [
+          0.37199488282203674,
+          -0.9255763292312622,
+          0.07020092010498047,
+          -6.257966995239258
+        ],
+        [
+          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": "1731323414_683080434",
+      "mask_path": "../../mask/hdr_right_01512.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01513.png",
+      "transform_matrix": [
+        [
+          -0.6140232086181641,
+          -0.1860491782426834,
+          0.767047107219696,
+          -14.428924560546875
+        ],
+        [
+          -0.6964305639266968,
+          -0.3296195864677429,
+          -0.6374444961547852,
+          5.644312858581543
+        ],
+        [
+          0.3714297413825989,
+          -0.9256006479263306,
+          0.07282379269599915,
+          -6.2458953857421875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1513,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_783079147",
+      "mask_path": "../../mask/hdr_right_01513.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01514.png",
+      "transform_matrix": [
+        [
+          -0.6085996031761169,
+          -0.19390486180782318,
+          0.7694202065467834,
+          -14.408472061157227
+        ],
+        [
+          -0.7006986737251282,
+          -0.32367318868637085,
+          -0.6358121633529663,
+          5.68725061416626
+        ],
+        [
+          0.3723278045654297,
+          -0.9260867238044739,
+          0.06111852079629898,
+          -6.294243812561035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1514,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323414_883080005",
+      "mask_path": "../../mask/hdr_right_01514.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01515.png",
+      "transform_matrix": [
+        [
+          -0.600203275680542,
+          -0.22245444357395172,
+          0.7682903409004211,
+          -14.372882843017578
+        ],
+        [
+          -0.6990842223167419,
+          -0.32081663608551025,
+          -0.6390290260314941,
+          5.733950614929199
+        ],
+        [
+          0.3886350989341736,
+          -0.9206469058990479,
+          0.0370408296585083,
+          -6.346252918243408
+        ],
+        [
+          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": "1731323414_983078718",
+      "mask_path": "../../mask/hdr_right_01515.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01516.png",
+      "transform_matrix": [
+        [
+          -0.5965554714202881,
+          -0.24441216886043549,
+          0.764450192451477,
+          -14.331598281860352
+        ],
+        [
+          -0.6967685222625732,
+          -0.31497204303741455,
+          -0.6444424986839294,
+          5.783082962036133
+        ],
+        [
+          0.3982900381088257,
+          -0.917090654373169,
+          0.01759963668882847,
+          -6.3698296546936035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1516,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_83080530",
+      "mask_path": "../../mask/hdr_right_01516.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01517.png",
+      "transform_matrix": [
+        [
+          -0.5977581739425659,
+          -0.2465849071741104,
+          0.7628113031387329,
+          -14.297517776489258
+        ],
+        [
+          -0.6978366374969482,
+          -0.3083086907863617,
+          -0.6465057730674744,
+          5.82585334777832
+        ],
+        [
+          0.39459991455078125,
+          -0.9187718033790588,
+          0.012218061834573746,
+          -6.397490978240967
+        ],
+        [
+          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": "1731323415_183080673",
+      "mask_path": "../../mask/hdr_right_01517.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01518.png",
+      "transform_matrix": [
+        [
+          -0.6034094095230103,
+          -0.24074427783489227,
+          0.7602232694625854,
+          -14.243480682373047
+        ],
+        [
+          -0.7012754082679749,
+          -0.29363563656806946,
+          -0.649608314037323,
+          5.882096767425537
+        ],
+        [
+          0.3796181380748749,
+          -0.925105631351471,
+          0.008354507386684418,
+          -6.438206195831299
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1518,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_283079862",
+      "mask_path": "../../mask/hdr_right_01518.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01519.png",
+      "transform_matrix": [
+        [
+          -0.6089782118797302,
+          -0.22241774201393127,
+          0.7613644599914551,
+          -14.169370651245117
+        ],
+        [
+          -0.7087642550468445,
+          -0.27833372354507446,
+          -0.6482157111167908,
+          5.961232662200928
+        ],
+        [
+          0.3560880720615387,
+          -0.934377133846283,
+          0.011857458390295506,
+          -6.450877666473389
+        ],
+        [
+          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": "1731323415_383081197",
+      "mask_path": "../../mask/hdr_right_01519.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01520.png",
+      "transform_matrix": [
+        [
+          -0.610261082649231,
+          -0.2102048397064209,
+          0.7638031840324402,
+          -14.124076843261719
+        ],
+        [
+          -0.7172455787658691,
+          -0.2627660036087036,
+          -0.645378053188324,
+          6.017724514007568
+        ],
+        [
+          0.3363630771636963,
+          -0.9416835904121399,
+          0.009587385691702366,
+          -6.463778495788574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1520,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_483080625",
+      "mask_path": "../../mask/hdr_right_01520.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01521.png",
+      "transform_matrix": [
+        [
+          -0.6110072135925293,
+          -0.2067205011844635,
+          0.7641575932502747,
+          -14.092941284179688
+        ],
+        [
+          -0.7246604561805725,
+          -0.24250076711177826,
+          -0.6450275778770447,
+          6.058873653411865
+        ],
+        [
+          0.3186492323875427,
+          -0.9478713274002075,
+          -0.001632446190342307,
+          -6.483609199523926
+        ],
+        [
+          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": "1731323415_583079814",
+      "mask_path": "../../mask/hdr_right_01521.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01522.png",
+      "transform_matrix": [
+        [
+          -0.6118803024291992,
+          -0.200539693236351,
+          0.7651054263114929,
+          -14.048335075378418
+        ],
+        [
+          -0.7313724756240845,
+          -0.22486262023448944,
+          -0.6438409686088562,
+          6.107544422149658
+        ],
+        [
+          0.3011592924594879,
+          -0.9535306692123413,
+          -0.009080193936824799,
+          -6.48473596572876
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1522,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323415_683080673",
+      "mask_path": "../../mask/hdr_right_01522.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01523.png",
+      "transform_matrix": [
+        [
+          -0.6125911474227905,
+          -0.20791181921958923,
+          0.7625646591186523,
+          -13.994155883789062
+        ],
+        [
+          -0.7321312427520752,
+          -0.21430568397045135,
+          -0.6465732455253601,
+          6.162128925323486
+        ],
+        [
+          0.29785212874412537,
+          -0.9543824195861816,
+          -0.020936982706189156,
+          -6.5097198486328125
+        ],
+        [
+          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": "1731323415_783080577",
+      "mask_path": "../../mask/hdr_right_01523.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01524.png",
+      "transform_matrix": [
+        [
+          -0.6121689677238464,
+          -0.21709905564785004,
+          0.7603402733802795,
+          -13.946508407592773
+        ],
+        [
+          -0.7290650010108948,
+          -0.21729999780654907,
+          -0.6490339636802673,
+          6.205718517303467
+        ],
+        [
+          0.30612659454345703,
+          -0.9516557455062866,
+          -0.025255002081394196,
+          -6.545980453491211
+        ],
+        [
+          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": "1731323415_883082151",
+      "mask_path": "../../mask/hdr_right_01524.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01526.png",
+      "transform_matrix": [
+        [
+          -0.614514946937561,
+          -0.21161825954914093,
+          0.7599929571151733,
+          -13.863954544067383
+        ],
+        [
+          -0.7253502607345581,
+          -0.2272612601518631,
+          -0.6497840285301208,
+          6.273163795471191
+        ],
+        [
+          0.31022313237190247,
+          -0.9505630135536194,
+          -0.013841943815350533,
+          -6.591951370239258
+        ],
+        [
+          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": "1731323416_83081960",
+      "mask_path": "../../mask/hdr_right_01526.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01527.png",
+      "transform_matrix": [
+        [
+          -0.6196544766426086,
+          -0.20181438326835632,
+          0.7584848999977112,
+          -13.800548553466797
+        ],
+        [
+          -0.724905252456665,
+          -0.2233252227306366,
+          -0.6516427397727966,
+          6.325435161590576
+        ],
+        [
+          0.3008996546268463,
+          -0.9536229968070984,
+          -0.007911821827292442,
+          -6.63403844833374
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1527,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_183082342",
+      "mask_path": "../../mask/hdr_right_01527.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01528.png",
+      "transform_matrix": [
+        [
+          -0.6218664646148682,
+          -0.18801578879356384,
+          0.7602185010910034,
+          -13.72709846496582
+        ],
+        [
+          -0.7243707776069641,
+          -0.23080946505069733,
+          -0.6496260762214661,
+          6.383634567260742
+        ],
+        [
+          0.29760557413101196,
+          -0.9546607136726379,
+          0.007339539472013712,
+          -6.6704816818237305
+        ],
+        [
+          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": "1731323416_283082485",
+      "mask_path": "../../mask/hdr_right_01528.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01529.png",
+      "transform_matrix": [
+        [
+          -0.6218418478965759,
+          -0.18030405044555664,
+          0.7621045708656311,
+          -13.680925369262695
+        ],
+        [
+          -0.7248159646987915,
+          -0.23601597547531128,
+          -0.647254467010498,
+          6.425429344177246
+        ],
+        [
+          0.2965714633464813,
+          -0.9548753499984741,
+          0.016077358275651932,
+          -6.692162990570068
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1529,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_383082389",
+      "mask_path": "../../mask/hdr_right_01529.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01530.png",
+      "transform_matrix": [
+        [
+          -0.621106743812561,
+          -0.17787256836891174,
+          0.7632743716239929,
+          -13.646852493286133
+        ],
+        [
+          -0.728006899356842,
+          -0.22971183061599731,
+          -0.6459400057792664,
+          6.46237325668335
+        ],
+        [
+          0.2902281582355499,
+          -0.9568666815757751,
+          0.01318312156945467,
+          -6.716625690460205
+        ],
+        [
+          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": "1731323416_483082294",
+      "mask_path": "../../mask/hdr_right_01530.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01531.png",
+      "transform_matrix": [
+        [
+          -0.6193474531173706,
+          -0.17421990633010864,
+          0.7655430436134338,
+          -13.591733932495117
+        ],
+        [
+          -0.7318485379219055,
+          -0.22492952644824982,
+          -0.6432764530181885,
+          6.508488655090332
+        ],
+        [
+          0.28426477313041687,
+          -0.9586731195449829,
+          0.011806972324848175,
+          -6.751100540161133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1531,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_583082437",
+      "mask_path": "../../mask/hdr_right_01531.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01532.png",
+      "transform_matrix": [
+        [
+          -0.6191068887710571,
+          -0.18344809114933014,
+          0.7635793089866638,
+          -13.515617370605469
+        ],
+        [
+          -0.7300784587860107,
+          -0.22374068200588226,
+          -0.645697832107544,
+          6.557904243469238
+        ],
+        [
+          0.28929582238197327,
+          -0.9572287201881409,
+          0.004587902221828699,
+          -6.763131141662598
+        ],
+        [
+          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": "1731323416_683082342",
+      "mask_path": "../../mask/hdr_right_01532.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01533.png",
+      "transform_matrix": [
+        [
+          -0.6234503388404846,
+          -0.18923170864582062,
+          0.7586178779602051,
+          -13.45699691772461
+        ],
+        [
+          -0.7248700261116028,
+          -0.22376345098018646,
+          -0.6515316963195801,
+          6.58966588973999
+        ],
+        [
+          0.2930413782596588,
+          -0.956096887588501,
+          0.0023370180279016495,
+          -6.7597737312316895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1533,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_783082246",
+      "mask_path": "../../mask/hdr_right_01533.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01535.png",
+      "transform_matrix": [
+        [
+          -0.6348028182983398,
+          -0.18305373191833496,
+          0.7506774663925171,
+          -13.368205070495605
+        ],
+        [
+          -0.7169805765151978,
+          -0.22261404991149902,
+          -0.6605921387672424,
+          6.6734442710876465
+        ],
+        [
+          0.28803518414497375,
+          -0.9575668573379517,
+          0.010070090182125568,
+          -6.825960636138916
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1535,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323416_983080387",
+      "mask_path": "../../mask/hdr_right_01535.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01536.png",
+      "transform_matrix": [
+        [
+          -0.6265649199485779,
+          -0.18535423278808594,
+          0.7570074200630188,
+          -13.302506446838379
+        ],
+        [
+          -0.7090929746627808,
+          -0.26749926805496216,
+          -0.6524043679237366,
+          6.721109867095947
+        ],
+        [
+          0.3234248161315918,
+          -0.9455622434616089,
+          0.036172300577163696,
+          -6.84195613861084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1536,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_83081245",
+      "mask_path": "../../mask/hdr_right_01536.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01539.png",
+      "transform_matrix": [
+        [
+          -0.5888841152191162,
+          -0.20785991847515106,
+          0.7810312509536743,
+          -13.222082138061523
+        ],
+        [
+          -0.7246143817901611,
+          -0.2922416627407074,
+          -0.6241225600242615,
+          6.818746566772461
+        ],
+        [
+          0.357979953289032,
+          -0.9334822297096252,
+          0.02147822454571724,
+          -6.895022869110107
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1539,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_383082389",
+      "mask_path": "../../mask/hdr_right_01539.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01543.png",
+      "transform_matrix": [
+        [
+          -0.5333894491195679,
+          -0.23370186984539032,
+          0.8129448294639587,
+          -13.122733116149902
+        ],
+        [
+          -0.7601620554924011,
+          -0.289106547832489,
+          -0.5818687081336975,
+          6.956084251403809
+        ],
+        [
+          0.3710114657878876,
+          -0.9283322691917419,
+          -0.023444926366209984,
+          -6.988682746887207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1543,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_783082008",
+      "mask_path": "../../mask/hdr_right_01543.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01544.png",
+      "transform_matrix": [
+        [
+          -0.5261706113815308,
+          -0.23597151041030884,
+          0.8169834017753601,
+          -13.09598445892334
+        ],
+        [
+          -0.7710133194923401,
+          -0.27289384603500366,
+          -0.5753846168518066,
+          7.016743183135986
+        ],
+        [
+          0.3587241470813751,
+          -0.9326555728912354,
+          -0.03834844008088112,
+          -7.027148246765137
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1544,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323417_883082151",
+      "mask_path": "../../mask/hdr_right_01544.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01546.png",
+      "transform_matrix": [
+        [
+          -0.5110751986503601,
+          -0.23472799360752106,
+          0.8268645405769348,
+          -13.07402229309082
+        ],
+        [
+          -0.791437029838562,
+          -0.24676185846328735,
+          -0.5592280030250549,
+          7.0956807136535645
+        ],
+        [
+          0.3353051245212555,
+          -0.9402187466621399,
+          -0.05965855345129967,
+          -7.041553020477295
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1546,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_83082437",
+      "mask_path": "../../mask/hdr_right_01546.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01547.png",
+      "transform_matrix": [
+        [
+          -0.505329430103302,
+          -0.2455638349056244,
+          0.8272488117218018,
+          -13.06572151184082
+        ],
+        [
+          -0.7972751259803772,
+          -0.23390594124794006,
+          -0.5564534664154053,
+          7.145176410675049
+        ],
+        [
+          0.3301432728767395,
+          -0.9407371282577515,
+          -0.07758238166570663,
+          -7.062769889831543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1547,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_183080673",
+      "mask_path": "../../mask/hdr_right_01547.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01548.png",
+      "transform_matrix": [
+        [
+          -0.5043317675590515,
+          -0.25943130254745483,
+          0.8236169815063477,
+          -13.066109657287598
+        ],
+        [
+          -0.7930105328559875,
+          -0.23831963539123535,
+          -0.5606586933135986,
+          7.192145347595215
+        ],
+        [
+          0.34173649549484253,
+          -0.9358948469161987,
+          -0.0855395719408989,
+          -7.081931114196777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1548,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_283082008",
+      "mask_path": "../../mask/hdr_right_01548.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01550.png",
+      "transform_matrix": [
+        [
+          -0.508787214756012,
+          -0.2568572163581848,
+          0.8216812610626221,
+          -13.019658088684082
+        ],
+        [
+          -0.7847175598144531,
+          -0.2541612684726715,
+          -0.565349817276001,
+          7.256819248199463
+        ],
+        [
+          0.3540537655353546,
+          -0.9324303865432739,
+          -0.07224635779857635,
+          -7.116856575012207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1550,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_483082294",
+      "mask_path": "../../mask/hdr_right_01550.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01551.png",
+      "transform_matrix": [
+        [
+          -0.5121842622756958,
+          -0.24483157694339752,
+          0.8232404589653015,
+          -12.973854064941406
+        ],
+        [
+          -0.7816609144210815,
+          -0.2643224000930786,
+          -0.5649247169494629,
+          7.312118053436279
+        ],
+        [
+          0.3559122681617737,
+          -0.9328404068946838,
+          -0.05599350854754448,
+          -7.151095867156982
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1551,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_583081960",
+      "mask_path": "../../mask/hdr_right_01551.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01552.png",
+      "transform_matrix": [
+        [
+          -0.5161035656929016,
+          -0.23450815677642822,
+          0.8237980008125305,
+          -12.920451164245605
+        ],
+        [
+          -0.7765130996704102,
+          -0.27779528498649597,
+          -0.5655592083930969,
+          7.36321496963501
+        ],
+        [
+          0.3614754378795624,
+          -0.9315769672393799,
+          -0.038727521896362305,
+          -7.189847469329834
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1552,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_683082342",
+      "mask_path": "../../mask/hdr_right_01552.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01553.png",
+      "transform_matrix": [
+        [
+          -0.5178183317184448,
+          -0.23207339644432068,
+          0.8234112858772278,
+          -12.88662052154541
+        ],
+        [
+          -0.774135410785675,
+          -0.282546728849411,
+          -0.5664643049240112,
+          7.397709369659424
+        ],
+        [
+          0.3641134798526764,
+          -0.9307574033737183,
+          -0.033348340541124344,
+          -7.225987434387207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1553,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_783081531",
+      "mask_path": "../../mask/hdr_right_01553.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01554.png",
+      "transform_matrix": [
+        [
+          -0.5178467035293579,
+          -0.22642923891544342,
+          0.8249632716178894,
+          -12.84725284576416
+        ],
+        [
+          -0.7755604982376099,
+          -0.2827078700065613,
+          -0.5644309520721436,
+          7.436967372894287
+        ],
+        [
+          0.3610273003578186,
+          -0.9320976734161377,
+          -0.029210202395915985,
+          -7.251959800720215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1554,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_883080482",
+      "mask_path": "../../mask/hdr_right_01554.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01555.png",
+      "transform_matrix": [
+        [
+          -0.517005205154419,
+          -0.2135213315486908,
+          0.8289235830307007,
+          -12.772151947021484
+        ],
+        [
+          -0.7783834934234619,
+          -0.2856171131134033,
+          -0.5590547323226929,
+          7.494205951690674
+        ],
+        [
+          0.3561249077320099,
+          -0.9342545866966248,
+          -0.018535949289798737,
+          -7.2835845947265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1555,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323418_983079433",
+      "mask_path": "../../mask/hdr_right_01555.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01556.png",
+      "transform_matrix": [
+        [
+          -0.5174832940101624,
+          -0.20328858494758606,
+          0.8311948180198669,
+          -12.700485229492188
+        ],
+        [
+          -0.778614342212677,
+          -0.2910386621952057,
+          -0.5559284090995789,
+          7.548923492431641
+        ],
+        [
+          0.35492369532585144,
+          -0.934863805770874,
+          -0.007675692904740572,
+          -7.318792343139648
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1556,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_83081960",
+      "mask_path": "../../mask/hdr_right_01556.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01557.png",
+      "transform_matrix": [
+        [
+          -0.5223743915557861,
+          -0.19464218616485596,
+          0.8302044868469238,
+          -12.653968811035156
+        ],
+        [
+          -0.7758458852767944,
+          -0.29548922181129456,
+          -0.5574490427970886,
+          7.5864763259887695
+        ],
+        [
+          0.3538195490837097,
+          -0.9353077411651611,
+          0.003343679942190647,
+          -7.350572109222412
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1557,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_183083057",
+      "mask_path": "../../mask/hdr_right_01557.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01558.png",
+      "transform_matrix": [
+        [
+          -0.5300659537315369,
+          -0.18270114064216614,
+          0.8280401229858398,
+          -12.596260070800781
+        ],
+        [
+          -0.7724831104278564,
+          -0.2986902892589569,
+          -0.5604052543640137,
+          7.6240363121032715
+        ],
+        [
+          0.3497141897678375,
+          -0.9366986155509949,
+          0.01719202660024166,
+          -7.37714958190918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1558,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_283082246",
+      "mask_path": "../../mask/hdr_right_01558.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01559.png",
+      "transform_matrix": [
+        [
+          -0.534168541431427,
+          -0.17607295513153076,
+          0.8268387317657471,
+          -12.528037071228027
+        ],
+        [
+          -0.7697795033454895,
+          -0.3029745817184448,
+          -0.5618237853050232,
+          7.686493396759033
+        ],
+        [
+          0.3494330644607544,
+          -0.9365920424461365,
+          0.02630213089287281,
+          -7.426649570465088
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1559,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_383081912",
+      "mask_path": "../../mask/hdr_right_01559.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01560.png",
+      "transform_matrix": [
+        [
+          -0.5338180065155029,
+          -0.17671388387680054,
+          0.826928436756134,
+          -12.460601806640625
+        ],
+        [
+          -0.7675277590751648,
+          -0.30915379524230957,
+          -0.5615382194519043,
+          7.747507572174072
+        ],
+        [
+          0.35487961769104004,
+          -0.9344496130943298,
+          0.029399044811725616,
+          -7.476996898651123
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1560,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_483082532",
+      "mask_path": "../../mask/hdr_right_01560.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01561.png",
+      "transform_matrix": [
+        [
+          -0.533410370349884,
+          -0.1798880249261856,
+          0.826507031917572,
+          -12.424236297607422
+        ],
+        [
+          -0.7667525410652161,
+          -0.3097572326660156,
+          -0.5622642636299133,
+          7.783777713775635
+        ],
+        [
+          0.35716113448143005,
+          -0.9336438179016113,
+          0.027298137545585632,
+          -7.511142253875732
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1561,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_583081245",
+      "mask_path": "../../mask/hdr_right_01561.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01562.png",
+      "transform_matrix": [
+        [
+          -0.533126711845398,
+          -0.18088054656982422,
+          0.8264732956886292,
+          -12.390091896057129
+        ],
+        [
+          -0.7684261798858643,
+          -0.3051910102367401,
+          -0.5624763369560242,
+          7.820220470428467
+        ],
+        [
+          0.35397326946258545,
+          -0.9349548816680908,
+          0.023712150752544403,
+          -7.536438465118408
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1562,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_683081388",
+      "mask_path": "../../mask/hdr_right_01562.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01563.png",
+      "transform_matrix": [
+        [
+          -0.5291597247123718,
+          -0.1891537457704544,
+          0.8271703720092773,
+          -12.316936492919922
+        ],
+        [
+          -0.7717185020446777,
+          -0.29799067974090576,
+          -0.5618292093276978,
+          7.873386383056641
+        ],
+        [
+          0.3527611792087555,
+          -0.9356400966644287,
+          0.011711269617080688,
+          -7.580222129821777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1563,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323419_783082008",
+      "mask_path": "../../mask/hdr_right_01563.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01564.png",
+      "transform_matrix": [
+        [
+          -0.5264582633972168,
+          -0.23004038631916046,
+          0.8184882998466492,
+          -12.26376724243164
+        ],
+        [
+          -0.7640349268913269,
+          -0.29429152607917786,
+          -0.5741456151008606,
+          7.913635730743408
+        ],
+        [
+          0.37295085191726685,
+          -0.9276173114776611,
+          -0.020826654508709908,
+          -7.587173938751221
+        ],
+        [
+          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": "1731323419_883081912",
+      "mask_path": "../../mask/hdr_right_01564.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01566.png",
+      "transform_matrix": [
+        [
+          -0.5314743518829346,
+          -0.22031530737876892,
+          0.8179219365119934,
+          -12.200629234313965
+        ],
+        [
+          -0.7659203410148621,
+          -0.28743281960487366,
+          -0.5751073360443115,
+          7.960461139678955
+        ],
+        [
+          0.3618025481700897,
+          -0.932117760181427,
+          -0.01598081924021244,
+          -7.591744422912598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1566,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_83082914",
+      "mask_path": "../../mask/hdr_right_01566.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01567.png",
+      "transform_matrix": [
+        [
+          -0.5309963822364807,
+          -0.22530081868171692,
+          0.8168736100196838,
+          -12.164664268493652
+        ],
+        [
+          -0.7655404806137085,
+          -0.2857625186443329,
+          -0.5764439105987549,
+          8.0065336227417
+        ],
+        [
+          0.36330515146255493,
+          -0.9314393401145935,
+          -0.020738018676638603,
+          -7.6299238204956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1567,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_183082103",
+      "mask_path": "../../mask/hdr_right_01567.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01568.png",
+      "transform_matrix": [
+        [
+          -0.5328422784805298,
+          -0.23906192183494568,
+          0.8117440938949585,
+          -12.13170051574707
+        ],
+        [
+          -0.7613878846168518,
+          -0.28317171335220337,
+          -0.5831828713417053,
+          8.045307159423828
+        ],
+        [
+          0.3692798316478729,
+          -0.9287965893745422,
+          -0.031132981181144714,
+          -7.65498685836792
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1568,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_283082008",
+      "mask_path": "../../mask/hdr_right_01568.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01570.png",
+      "transform_matrix": [
+        [
+          -0.5329079627990723,
+          -0.2611820697784424,
+          0.8048559427261353,
+          -12.087876319885254
+        ],
+        [
+          -0.7615039348602295,
+          -0.2666969299316406,
+          -0.590749204158783,
+          8.120856285095215
+        ],
+        [
+          0.3689456880092621,
+          -0.9277158379554749,
+          -0.05676628649234772,
+          -7.701916217803955
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1570,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_483081579",
+      "mask_path": "../../mask/hdr_right_01570.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01571.png",
+      "transform_matrix": [
+        [
+          -0.525688111782074,
+          -0.25693434476852417,
+          0.8109481334686279,
+          -12.06364917755127
+        ],
+        [
+          -0.7694423794746399,
+          -0.2629309296607971,
+          -0.5820873975753784,
+          8.169219017028809
+        ],
+        [
+          0.3627815842628479,
+          -0.9299741983413696,
+          -0.05947652831673622,
+          -7.731855392456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1571,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_583082914",
+      "mask_path": "../../mask/hdr_right_01571.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01572.png",
+      "transform_matrix": [
+        [
+          -0.5154311656951904,
+          -0.24866455793380737,
+          0.8200588822364807,
+          -12.027714729309082
+        ],
+        [
+          -0.7795263528823853,
+          -0.26139822602272034,
+          -0.5692185163497925,
+          8.216477394104004
+        ],
+        [
+          0.3559064269065857,
+          -0.9326504468917847,
+          -0.05910777673125267,
+          -7.752212047576904
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1572,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_683082103",
+      "mask_path": "../../mask/hdr_right_01572.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01574.png",
+      "transform_matrix": [
+        [
+          -0.5041855573654175,
+          -0.22787684202194214,
+          0.8329879641532898,
+          -11.96174144744873
+        ],
+        [
+          -0.7946167588233948,
+          -0.2553287446498871,
+          -0.5508096814155579,
+          8.288919448852539
+        ],
+        [
+          0.338202565908432,
+          -0.9396165609359741,
+          -0.052341707050800323,
+          -7.783305644989014
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1574,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_883082389",
+      "mask_path": "../../mask/hdr_right_01574.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01575.png",
+      "transform_matrix": [
+        [
+          -0.49796783924102783,
+          -0.21816954016685486,
+          0.8393034338951111,
+          -11.922880172729492
+        ],
+        [
+          -0.8019629120826721,
+          -0.25241464376449585,
+          -0.5414263010025024,
+          8.35885238647461
+        ],
+        [
+          0.3299751579761505,
+          -0.9427029490470886,
+          -0.04926949366927147,
+          -7.8406171798706055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1575,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323420_983080625",
+      "mask_path": "../../mask/hdr_right_01575.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01576.png",
+      "transform_matrix": [
+        [
+          -0.48094630241394043,
+          -0.21408043801784515,
+          0.8502117991447449,
+          -11.882280349731445
+        ],
+        [
+          -0.8009225726127625,
+          -0.28721728920936584,
+          -0.5253848433494568,
+          8.414204597473145
+        ],
+        [
+          0.3566701412200928,
+          -0.9336357712745667,
+          -0.03332575783133507,
+          -7.871721267700195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1576,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323421_83081007",
+      "mask_path": "../../mask/hdr_right_01576.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01578.png",
+      "transform_matrix": [
+        [
+          -0.4594946801662445,
+          -0.21727360785007477,
+          0.8611950874328613,
+          -11.851140022277832
+        ],
+        [
+          -0.801777720451355,
+          -0.3156881630420685,
+          -0.5074383020401001,
+          8.454601287841797
+        ],
+        [
+          0.3821219801902771,
+          -0.9236520528793335,
+          -0.02914808690547943,
+          -7.890530586242676
+        ],
+        [
+          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": "1731323421_283086538",
+      "mask_path": "../../mask/hdr_right_01578.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01579.png",
+      "transform_matrix": [
+        [
+          -0.456448495388031,
+          -0.2175726592540741,
+          0.8627380132675171,
+          -11.832926750183105
+        ],
+        [
+          -0.8060611486434937,
+          -0.30943116545677185,
+          -0.5044975876808167,
+          8.494250297546387
+        ],
+        [
+          0.37672290205955505,
+          -0.925696849822998,
+          -0.03413746878504753,
+          -7.917135715484619
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1579,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323421_383081674",
+      "mask_path": "../../mask/hdr_right_01579.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01580.png",
+      "transform_matrix": [
+        [
+          -0.4512845575809479,
+          -0.22111232578754425,
+          0.8645528554916382,
+          -11.802217483520508
+        ],
+        [
+          -0.8052259087562561,
+          -0.3166963458061218,
+          -0.5013129711151123,
+          8.537924766540527
+        ],
+        [
+          0.3846472203731537,
+          -0.9223951101303101,
+          -0.03512520715594292,
+          -7.952209949493408
+        ],
+        [
+          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": "1731323421_483082771",
+      "mask_path": "../../mask/hdr_right_01580.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01582.png",
+      "transform_matrix": [
+        [
+          -0.456946462392807,
+          -0.22690683603286743,
+          0.8600658178329468,
+          -11.74604606628418
+        ],
+        [
+          -0.7988447546958923,
+          -0.32057711482048035,
+          -0.5089964866638184,
+          8.590048789978027
+        ],
+        [
+          0.39121219515800476,
+          -0.9196431636810303,
+          -0.034776777029037476,
+          -8.000190734863281
+        ],
+        [
+          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": "1731323421_683084487",
+      "mask_path": "../../mask/hdr_right_01582.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01583.png",
+      "transform_matrix": [
+        [
+          -0.462799608707428,
+          -0.2257118821144104,
+          0.8572459816932678,
+          -11.712298393249512
+        ],
+        [
+          -0.7994129061698914,
+          -0.31164202094078064,
+          -0.5136325359344482,
+          8.630867958068848
+        ],
+        [
+          0.38308680057525635,
+          -0.9230023622512817,
+          -0.03620916232466698,
+          -8.03531551361084
+        ],
+        [
+          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": "1731323421_783082008",
+      "mask_path": "../../mask/hdr_right_01583.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01584.png",
+      "transform_matrix": [
+        [
+          -0.4662826955318451,
+          -0.22230464220046997,
+          0.8562483191490173,
+          -11.665590286254883
+        ],
+        [
+          -0.8010284304618835,
+          -0.3046504855155945,
+          -0.5153072476387024,
+          8.697720527648926
+        ],
+        [
+          0.37541162967681885,
+          -0.92615807056427,
+          -0.03601907193660736,
+          -8.064207077026367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1584,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323421_883083105",
+      "mask_path": "../../mask/hdr_right_01584.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01587.png",
+      "transform_matrix": [
+        [
+          -0.4650554358959198,
+          -0.2252994030714035,
+          0.8561329245567322,
+          -11.602216720581055
+        ],
+        [
+          -0.8122081756591797,
+          -0.2761501669883728,
+          -0.5138667225837708,
+          8.831385612487793
+        ],
+        [
+          0.352195143699646,
+          -0.9343346357345581,
+          -0.05456486716866493,
+          -8.120408058166504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1587,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_183082342",
+      "mask_path": "../../mask/hdr_right_01587.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01588.png",
+      "transform_matrix": [
+        [
+          -0.46473950147628784,
+          -0.22398163378238678,
+          0.856650173664093,
+          -11.566444396972656
+        ],
+        [
+          -0.8156077861785889,
+          -0.26831960678100586,
+          -0.5126290321350098,
+          8.877201080322266
+        ],
+        [
+          0.34467554092407227,
+          -0.93692946434021,
+          -0.05798244848847389,
+          -8.150225639343262
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1588,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_283082485",
+      "mask_path": "../../mask/hdr_right_01588.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01589.png",
+      "transform_matrix": [
+        [
+          -0.4666323661804199,
+          -0.25967326760292053,
+          0.8454726934432983,
+          -11.53438949584961
+        ],
+        [
+          -0.805677592754364,
+          -0.2695683240890503,
+          -0.527462363243103,
+          8.926067352294922
+        ],
+        [
+          0.3648805618286133,
+          -0.9273093938827515,
+          -0.08342363685369492,
+          -8.175726890563965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1589,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_383081674",
+      "mask_path": "../../mask/hdr_right_01589.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01591.png",
+      "transform_matrix": [
+        [
+          -0.4761023223400116,
+          -0.2838499844074249,
+          0.8323195576667786,
+          -11.501448631286621
+        ],
+        [
+          -0.7865514159202576,
+          -0.28582072257995605,
+          -0.5473969578742981,
+          8.982762336730957
+        ],
+        [
+          0.3932727873325348,
+          -0.9152790307998657,
+          -0.08718274533748627,
+          -8.183496475219727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1591,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_583081960",
+      "mask_path": "../../mask/hdr_right_01591.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01592.png",
+      "transform_matrix": [
+        [
+          -0.4799945056438446,
+          -0.26732975244522095,
+          0.8355477452278137,
+          -11.456687927246094
+        ],
+        [
+          -0.7871881127357483,
+          -0.2891511917114258,
+          -0.5447261333465576,
+          9.037764549255371
+        ],
+        [
+          0.387221097946167,
+          -0.9191988110542297,
+          -0.07164784520864487,
+          -8.22216796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1592,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_683083295",
+      "mask_path": "../../mask/hdr_right_01592.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01593.png",
+      "transform_matrix": [
+        [
+          -0.4844709038734436,
+          -0.2539222538471222,
+          0.8371449112892151,
+          -11.407430648803711
+        ],
+        [
+          -0.7841453552246094,
+          -0.29818496108055115,
+          -0.5442443490028381,
+          9.092673301696777
+        ],
+        [
+          0.38781973719596863,
+          -0.9201136827468872,
+          -0.05465006083250046,
+          -8.25705337524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1593,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_783082246",
+      "mask_path": "../../mask/hdr_right_01593.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01595.png",
+      "transform_matrix": [
+        [
+          -0.490043580532074,
+          -0.25119757652282715,
+          0.8347197771072388,
+          -11.355031967163086
+        ],
+        [
+          -0.7815296053886414,
+          -0.2975241541862488,
+          -0.5483529567718506,
+          9.150256156921387
+        ],
+        [
+          0.38609421253204346,
+          -0.9210749864578247,
+          -0.05051852762699127,
+          -8.308785438537598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1595,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323422_983082294",
+      "mask_path": "../../mask/hdr_right_01595.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01596.png",
+      "transform_matrix": [
+        [
+          -0.4924277067184448,
+          -0.2441219985485077,
+          0.8354157209396362,
+          -11.312317848205566
+        ],
+        [
+          -0.783669650554657,
+          -0.29322800040245056,
+          -0.5476123690605164,
+          9.184276580810547
+        ],
+        [
+          0.37865149974823,
+          -0.9243494272232056,
+          -0.0469173789024353,
+          -8.335591316223145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1596,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_83082437",
+      "mask_path": "../../mask/hdr_right_01596.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01597.png",
+      "transform_matrix": [
+        [
+          -0.49397119879722595,
+          -0.23343811929225922,
+          0.8375555276870728,
+          -11.241432189941406
+        ],
+        [
+          -0.7859375476837158,
+          -0.29212233424186707,
+          -0.5449466109275818,
+          9.23034381866455
+        ],
+        [
+          0.3718799650669098,
+          -0.9274541139602661,
+          -0.039167772978544235,
+          -8.362702369689941
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1597,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_183082342",
+      "mask_path": "../../mask/hdr_right_01597.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01600.png",
+      "transform_matrix": [
+        [
+          -0.5091620683670044,
+          -0.20168842375278473,
+          0.8367052674293518,
+          -11.123170852661133
+        ],
+        [
+          -0.7849600911140442,
+          -0.28987646102905273,
+          -0.5475484132766724,
+          9.302356719970703
+        ],
+        [
+          0.35297536849975586,
+          -0.9355711936950684,
+          -0.010723236948251724,
+          -8.392321586608887
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1600,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_483081579",
+      "mask_path": "../../mask/hdr_right_01600.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01601.png",
+      "transform_matrix": [
+        [
+          -0.507466197013855,
+          -0.19367913901805878,
+          0.8396227955818176,
+          -11.084029197692871
+        ],
+        [
+          -0.7844144105911255,
+          -0.29943370819091797,
+          -0.5431699752807617,
+          9.359535217285156
+        ],
+        [
+          0.35661205649375916,
+          -0.9342525601387024,
+          2.7782563847722486e-05,
+          -8.450146675109863
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1601,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_583081960",
+      "mask_path": "../../mask/hdr_right_01601.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01602.png",
+      "transform_matrix": [
+        [
+          -0.501070499420166,
+          -0.1929565668106079,
+          0.8436208963394165,
+          -11.055445671081543
+        ],
+        [
+          -0.77896648645401,
+          -0.32412004470825195,
+          -0.5368030071258545,
+          9.405068397521973
+        ],
+        [
+          0.3770141005516052,
+          -0.9261285066604614,
+          0.012100301682949066,
+          -8.47725772857666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1602,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_683081388",
+      "mask_path": "../../mask/hdr_right_01602.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01604.png",
+      "transform_matrix": [
+        [
+          -0.494587242603302,
+          -0.20405980944633484,
+          0.8448331952095032,
+          -11.021419525146484
+        ],
+        [
+          -0.7786824703216553,
+          -0.3277300298213959,
+          -0.5350202918052673,
+          9.454197883605957
+        ],
+        [
+          0.38605332374572754,
+          -0.9224709868431091,
+          0.0031933055724948645,
+          -8.490962028503418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1604,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_883080720",
+      "mask_path": "../../mask/hdr_right_01604.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01605.png",
+      "transform_matrix": [
+        [
+          -0.492034375667572,
+          -0.21784166991710663,
+          0.8428803086280823,
+          -10.994719505310059
+        ],
+        [
+          -0.7793635725975037,
+          -0.3212123215198517,
+          -0.5379732251167297,
+          9.499579429626465
+        ],
+        [
+          0.387936532497406,
+          -0.9216114282608032,
+          -0.011730339378118515,
+          -8.528855323791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1605,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323423_983081102",
+      "mask_path": "../../mask/hdr_right_01605.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01609.png",
+      "transform_matrix": [
+        [
+          -0.5058698058128357,
+          -0.23449896275997162,
+          0.8301241993904114,
+          -10.879321098327637
+        ],
+        [
+          -0.7773339152336121,
+          -0.2932731807231903,
+          -0.556545615196228,
+          9.662629127502441
+        ],
+        [
+          0.37396249175071716,
+          -0.926823079586029,
+          -0.03392596170306206,
+          -8.624472618103027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1609,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323424_383081674",
+      "mask_path": "../../mask/hdr_right_01609.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01617.png",
+      "transform_matrix": [
+        [
+          -0.42714688181877136,
+          -0.18095308542251587,
+          0.8858902454376221,
+          -10.719522476196289
+        ],
+        [
+          -0.8412134647369385,
+          -0.2797030806541443,
+          -0.4627377688884735,
+          9.96487045288086
+        ],
+        [
+          0.33152005076408386,
+          -0.9428797364234924,
+          -0.03274586796760559,
+          -8.736919403076172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1617,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_183082103",
+      "mask_path": "../../mask/hdr_right_01617.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01622.png",
+      "transform_matrix": [
+        [
+          -0.3172687590122223,
+          -0.13077129423618317,
+          0.9392760992050171,
+          -10.641539573669434
+        ],
+        [
+          -0.898143470287323,
+          -0.276515930891037,
+          -0.3418731391429901,
+          10.13320255279541
+        ],
+        [
+          0.3044319450855255,
+          -0.9520702958106995,
+          -0.029721520841121674,
+          -8.781947135925293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1622,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_683081388",
+      "mask_path": "../../mask/hdr_right_01622.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01624.png",
+      "transform_matrix": [
+        [
+          -0.3158538341522217,
+          -0.1259346902370453,
+          0.9404130578041077,
+          -10.624564170837402
+        ],
+        [
+          -0.9023469090461731,
+          -0.2664864957332611,
+          -0.3387550115585327,
+          10.199128150939941
+        ],
+        [
+          0.2932683825492859,
+          -0.9555759429931641,
+          -0.029465990141034126,
+          -8.819986343383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1624,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323425_883081197",
+      "mask_path": "../../mask/hdr_right_01624.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01629.png",
+      "transform_matrix": [
+        [
+          -0.26122042536735535,
+          -0.09125542640686035,
+          0.9609560370445251,
+          -10.576749801635742
+        ],
+        [
+          -0.9156693816184998,
+          -0.2916167974472046,
+          -0.2766028642654419,
+          10.342559814453125
+        ],
+        [
+          0.3054724335670471,
+          -0.9521722793579102,
+          -0.0073835644870996475,
+          -8.90628433227539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1629,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_383081197",
+      "mask_path": "../../mask/hdr_right_01629.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01631.png",
+      "transform_matrix": [
+        [
+          -0.23933647572994232,
+          -0.058599404990673065,
+          0.9691667556762695,
+          -10.535354614257812
+        ],
+        [
+          -0.9271315932273865,
+          -0.2826455235481262,
+          -0.24604570865631104,
+          10.40556526184082
+        ],
+        [
+          0.2883487343788147,
+          -0.9574328064918518,
+          0.013318032957613468,
+          -8.911713600158691
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1631,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_583081960",
+      "mask_path": "../../mask/hdr_right_01631.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01633.png",
+      "transform_matrix": [
+        [
+          -0.1984657645225525,
+          -0.05889878794550896,
+          0.9783364534378052,
+          -10.499910354614258
+        ],
+        [
+          -0.9305320382118225,
+          -0.3021242320537567,
+          -0.20695695281028748,
+          10.46683406829834
+        ],
+        [
+          0.30776864290237427,
+          -0.9514472484588623,
+          0.005154113285243511,
+          -8.972641944885254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1633,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323426_783081054",
+      "mask_path": "../../mask/hdr_right_01633.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01635.png",
+      "transform_matrix": [
+        [
+          -0.1448911428451538,
+          -0.08147923648357391,
+          0.9860870242118835,
+          -10.509918212890625
+        ],
+        [
+          -0.9376996755599976,
+          -0.3067704141139984,
+          -0.16312943398952484,
+          10.517120361328125
+        ],
+        [
+          0.3157939910888672,
+          -0.9482895731925964,
+          -0.03195473551750183,
+          -9.024798393249512
+        ],
+        [
+          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": "1731323426_983080625",
+      "mask_path": "../../mask/hdr_right_01635.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01636.png",
+      "transform_matrix": [
+        [
+          -0.11171936243772507,
+          -0.09193851798772812,
+          0.9894776940345764,
+          -10.514654159545898
+        ],
+        [
+          -0.9427746534347534,
+          -0.30497464537620544,
+          -0.1347833275794983,
+          10.56885051727295
+        ],
+        [
+          0.3141574263572693,
+          -0.947912335395813,
+          -0.052605729550123215,
+          -9.023942947387695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1636,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_83081007",
+      "mask_path": "../../mask/hdr_right_01636.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01638.png",
+      "transform_matrix": [
+        [
+          -0.06101401150226593,
+          -0.094488225877285,
+          0.9936544299125671,
+          -10.511760711669922
+        ],
+        [
+          -0.952447235584259,
+          -0.29223498702049255,
+          -0.08627285063266754,
+          10.64355754852295
+        ],
+        [
+          0.2985323965549469,
+          -0.951667308807373,
+          -0.0721646249294281,
+          -9.012702941894531
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1638,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_283080577",
+      "mask_path": "../../mask/hdr_right_01638.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01640.png",
+      "transform_matrix": [
+        [
+          -0.0007623392157256603,
+          -0.07025130093097687,
+          0.9975290894508362,
+          -10.53091049194336
+        ],
+        [
+          -0.950643002986908,
+          -0.30946826934814453,
+          -0.022520942613482475,
+          10.758407592773438
+        ],
+        [
+          0.3102857172489166,
+          -0.9483112096786499,
+          -0.06654798239469528,
+          -9.075997352600098
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1640,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_483080863",
+      "mask_path": "../../mask/hdr_right_01640.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01644.png",
+      "transform_matrix": [
+        [
+          0.12505188584327698,
+          -0.003809841815382242,
+          0.992142915725708,
+          -10.491864204406738
+        ],
+        [
+          -0.9167163968086243,
+          -0.3829074203968048,
+          0.11407455056905746,
+          10.871988296508789
+        ],
+        [
+          0.3794642686843872,
+          -0.9237788915634155,
+          -0.05137583613395691,
+          -9.130742073059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1644,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323427_883079051",
+      "mask_path": "../../mask/hdr_right_01644.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01648.png",
+      "transform_matrix": [
+        [
+          0.23465873301029205,
+          0.08554477989673615,
+          0.9683064818382263,
+          -10.523000717163086
+        ],
+        [
+          -0.8880022764205933,
+          -0.3863748610019684,
+          0.24933204054832458,
+          10.997039794921875
+        ],
+        [
+          0.3954583406448364,
+          -0.9183663129806519,
+          -0.014702276326715946,
+          -9.235764503479004
+        ],
+        [
+          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": "1731323428_283077955",
+      "mask_path": "../../mask/hdr_right_01648.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01651.png",
+      "transform_matrix": [
+        [
+          0.3413167893886566,
+          0.1067352294921875,
+          0.9338686466217041,
+          -10.533682823181152
+        ],
+        [
+          -0.8557291030883789,
+          -0.3757675588130951,
+          0.3557056486606598,
+          11.046822547912598
+        ],
+        [
+          0.3888837993144989,
+          -0.9205467104911804,
+          -0.03691932186484337,
+          -9.26570987701416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1651,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323428_583078384",
+      "mask_path": "../../mask/hdr_right_01651.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01655.png",
+      "transform_matrix": [
+        [
+          0.5320274829864502,
+          0.09025124460458755,
+          0.841903567314148,
+          -10.646873474121094
+        ],
+        [
+          -0.7846370339393616,
+          -0.3211840093135834,
+          0.5302694439888,
+          11.062623977661133
+        ],
+        [
+          0.318263441324234,
+          -0.9427064657211304,
+          -0.1000642478466034,
+          -9.251667976379395
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1655,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323428_983080863",
+      "mask_path": "../../mask/hdr_right_01655.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01659.png",
+      "transform_matrix": [
+        [
+          0.69126957654953,
+          0.1253761202096939,
+          0.7116370797157288,
+          -10.715089797973633
+        ],
+        [
+          -0.6503116488456726,
+          -0.32140859961509705,
+          0.6883249282836914,
+          11.01498794555664
+        ],
+        [
+          0.31502577662467957,
+          -0.938603937625885,
+          -0.14064642786979675,
+          -9.291130065917969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1659,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_383081197",
+      "mask_path": "../../mask/hdr_right_01659.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01662.png",
+      "transform_matrix": [
+        [
+          0.7773310542106628,
+          0.12770211696624756,
+          0.6159939765930176,
+          -10.786694526672363
+        ],
+        [
+          -0.5461598038673401,
+          -0.348938912153244,
+          0.7615453004837036,
+          10.96688175201416
+        ],
+        [
+          0.31219521164894104,
+          -0.928403913974762,
+          -0.20149528980255127,
+          -9.307186126708984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1662,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_683081388",
+      "mask_path": "../../mask/hdr_right_01662.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01664.png",
+      "transform_matrix": [
+        [
+          0.7825208306312561,
+          0.16390696167945862,
+          0.600662887096405,
+          -10.827768325805664
+        ],
+        [
+          -0.5239477157592773,
+          -0.3478265702724457,
+          0.7774931192398071,
+          11.011405944824219
+        ],
+        [
+          0.3363630175590515,
+          -0.9231203198432922,
+          -0.18630284070968628,
+          -9.3681640625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1664,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323429_883080005",
+      "mask_path": "../../mask/hdr_right_01664.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01666.png",
+      "transform_matrix": [
+        [
+          0.7624614238739014,
+          0.26743176579475403,
+          0.5891797542572021,
+          -10.75270938873291
+        ],
+        [
+          -0.4876408576965332,
+          -0.3609924912452698,
+          0.7949155569076538,
+          11.010198593139648
+        ],
+        [
+          0.42527517676353455,
+          -0.8934006094932556,
+          -0.14483222365379333,
+          -9.414470672607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1666,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_83082914",
+      "mask_path": "../../mask/hdr_right_01666.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01668.png",
+      "transform_matrix": [
+        [
+          0.7660085558891296,
+          0.27646002173423767,
+          0.5803452730178833,
+          -10.809815406799316
+        ],
+        [
+          -0.4854411482810974,
+          -0.3430410325527191,
+          0.8041578531265259,
+          11.068718910217285
+        ],
+        [
+          0.42139968276023865,
+          -0.8977153301239014,
+          -0.12856727838516235,
+          -9.485773086547852
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1668,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_283081769",
+      "mask_path": "../../mask/hdr_right_01668.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01669.png",
+      "transform_matrix": [
+        [
+          0.7748576402664185,
+          0.272041380405426,
+          0.5706043243408203,
+          -10.844521522521973
+        ],
+        [
+          -0.49158066511154175,
+          -0.30818331241607666,
+          0.8144761919975281,
+          11.145893096923828
+        ],
+        [
+          0.3974219262599945,
+          -0.9116010665893555,
+          -0.10506792366504669,
+          -9.472044944763184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1669,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_383080959",
+      "mask_path": "../../mask/hdr_right_01669.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01671.png",
+      "transform_matrix": [
+        [
+          0.7752386927604675,
+          0.2709957957267761,
+          0.5705841779708862,
+          -10.879133224487305
+        ],
+        [
+          -0.49988025426864624,
+          -0.2890251874923706,
+          0.81644606590271,
+          11.20552921295166
+        ],
+        [
+          0.38616660237312317,
+          -0.9181643724441528,
+          -0.08859807997941971,
+          -9.513503074645996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1671,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_583084344",
+      "mask_path": "../../mask/hdr_right_01671.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01672.png",
+      "transform_matrix": [
+        [
+          0.7759630680084229,
+          0.2788795828819275,
+          0.565780520439148,
+          -10.920676231384277
+        ],
+        [
+          -0.498489111661911,
+          -0.27849143743515015,
+          0.8209453225135803,
+          11.228124618530273
+        ],
+        [
+          0.38650989532470703,
+          -0.919058620929718,
+          -0.077080637216568,
+          -9.56102466583252
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1672,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_683082103",
+      "mask_path": "../../mask/hdr_right_01672.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01673.png",
+      "transform_matrix": [
+        [
+          0.7642431855201721,
+          0.3328380286693573,
+          0.552405059337616,
+          -10.950397491455078
+        ],
+        [
+          -0.4786818027496338,
+          -0.28126493096351624,
+          0.8317174911499023,
+          11.256394386291504
+        ],
+        [
+          0.4321993589401245,
+          -0.9000604748725891,
+          -0.05563126876950264,
+          -9.593473434448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1673,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323430_783081531",
+      "mask_path": "../../mask/hdr_right_01673.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01676.png",
+      "transform_matrix": [
+        [
+          0.7901431322097778,
+          0.3610886335372925,
+          0.4952664077281952,
+          -11.008231163024902
+        ],
+        [
+          -0.4055114686489105,
+          -0.29794034361839294,
+          0.8641713261604309,
+          11.26491641998291
+        ],
+        [
+          0.4596022963523865,
+          -0.8836551904678345,
+          -0.08898991346359253,
+          -9.638686180114746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1676,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_83083152",
+      "mask_path": "../../mask/hdr_right_01676.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01680.png",
+      "transform_matrix": [
+        [
+          0.8916224837303162,
+          0.30366453528404236,
+          0.33585312962532043,
+          -11.136693954467773
+        ],
+        [
+          -0.2736663818359375,
+          -0.2295082062482834,
+          0.9340411424636841,
+          11.274177551269531
+        ],
+        [
+          0.36071619391441345,
+          -0.9247236847877502,
+          -0.1215318888425827,
+          -9.625484466552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1680,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_483082056",
+      "mask_path": "../../mask/hdr_right_01680.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01681.png",
+      "transform_matrix": [
+        [
+          0.8975655436515808,
+          0.30172741413116455,
+          0.3214602470397949,
+          -11.184101104736328
+        ],
+        [
+          -0.2623429000377655,
+          -0.2204820215702057,
+          0.9394487738609314,
+          11.27067756652832
+        ],
+        [
+          0.3543336093425751,
+          -0.9275495409965515,
+          -0.11874105036258698,
+          -9.652884483337402
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1681,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_583081245",
+      "mask_path": "../../mask/hdr_right_01681.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01684.png",
+      "transform_matrix": [
+        [
+          0.8891507387161255,
+          0.3453134000301361,
+          0.30028292536735535,
+          -11.233054161071777
+        ],
+        [
+          -0.23672205209732056,
+          -0.2144947648048401,
+          0.9476046562194824,
+          11.273916244506836
+        ],
+        [
+          0.39162972569465637,
+          -0.9136468768119812,
+          -0.10897485911846161,
+          -9.680453300476074
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1684,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323431_883080959",
+      "mask_path": "../../mask/hdr_right_01684.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01686.png",
+      "transform_matrix": [
+        [
+          0.9012562036514282,
+          0.3267517685890198,
+          0.28455349802970886,
+          -11.301599502563477
+        ],
+        [
+          -0.22230643033981323,
+          -0.21499168872833252,
+          0.9509777426719666,
+          11.288530349731445
+        ],
+        [
+          0.3719102442264557,
+          -0.9203324913978577,
+          -0.1211235523223877,
+          -9.718819618225098
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1686,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_83080768",
+      "mask_path": "../../mask/hdr_right_01686.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01688.png",
+      "transform_matrix": [
+        [
+          0.9253646731376648,
+          0.30397358536720276,
+          0.2264956384897232,
+          -11.382675170898438
+        ],
+        [
+          -0.17631687223911285,
+          -0.18379518389701843,
+          0.9670221209526062,
+          11.313443183898926
+        ],
+        [
+          0.3355780243873596,
+          -0.9347831010818481,
+          -0.11648190021514893,
+          -9.726113319396973
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1688,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_283080816",
+      "mask_path": "../../mask/hdr_right_01688.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01690.png",
+      "transform_matrix": [
+        [
+          0.9491963386535645,
+          0.27389854192733765,
+          0.15493889153003693,
+          -11.46505355834961
+        ],
+        [
+          -0.10920660942792892,
+          -0.17505258321762085,
+          0.9784837961196899,
+          11.299241065979004
+        ],
+        [
+          0.2951277494430542,
+          -0.9456934928894043,
+          -0.1362476944923401,
+          -9.75151252746582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1690,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_483081102",
+      "mask_path": "../../mask/hdr_right_01690.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01691.png",
+      "transform_matrix": [
+        [
+          0.9523290395736694,
+          0.28481152653694153,
+          0.10932423919439316,
+          -11.513089179992676
+        ],
+        [
+          -0.06684764474630356,
+          -0.15483026206493378,
+          0.9856769442558289,
+          11.284626960754395
+        ],
+        [
+          0.2976588308811188,
+          -0.9459968209266663,
+          -0.12841036915779114,
+          -9.75692081451416
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1691,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323432_583081245",
+      "mask_path": "../../mask/hdr_right_01691.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01696.png",
+      "transform_matrix": [
+        [
+          0.9587460160255432,
+          0.2816988527774811,
+          -0.03810422867536545,
+          -11.614912986755371
+        ],
+        [
+          0.07769352942705154,
+          -0.1307329386472702,
+          0.9883686304092407,
+          11.208104133605957
+        ],
+        [
+          0.2734408974647522,
+          -0.9505548477172852,
+          -0.14722585678100586,
+          -9.736044883728027
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1696,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_83081245",
+      "mask_path": "../../mask/hdr_right_01696.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01699.png",
+      "transform_matrix": [
+        [
+          0.9688209891319275,
+          0.24499718844890594,
+          -0.03690851479768753,
+          -11.712647438049316
+        ],
+        [
+          0.06939823180437088,
+          -0.1253347545862198,
+          0.9896843433380127,
+          11.197318077087402
+        ],
+        [
+          0.23784396052360535,
+          -0.961388349533081,
+          -0.13842931389808655,
+          -9.744645118713379
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1699,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_383080959",
+      "mask_path": "../../mask/hdr_right_01699.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01701.png",
+      "transform_matrix": [
+        [
+          0.9737274646759033,
+          0.22387158870697021,
+          -0.04166929051280022,
+          -11.793164253234863
+        ],
+        [
+          0.07373355329036713,
+          -0.1368352472782135,
+          0.9878459572792053,
+          11.171126365661621
+        ],
+        [
+          0.215448796749115,
+          -0.9649650454521179,
+          -0.1497470885515213,
+          -9.77185344696045
+        ],
+        [
+          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": "1731323433_583081007",
+      "mask_path": "../../mask/hdr_right_01701.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01703.png",
+      "transform_matrix": [
+        [
+          0.9754140377044678,
+          0.2144893854856491,
+          -0.05061255395412445,
+          -11.881729125976562
+        ],
+        [
+          0.07776940613985062,
+          -0.12012579292058945,
+          0.989707887172699,
+          11.143685340881348
+        ],
+        [
+          0.20620197057724,
+          -0.9693111777305603,
+          -0.13385310769081116,
+          -9.791659355163574
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1703,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_783081054",
+      "mask_path": "../../mask/hdr_right_01703.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01704.png",
+      "transform_matrix": [
+        [
+          0.9772201776504517,
+          0.20503607392311096,
+          -0.0547807477414608,
+          -11.93579387664795
+        ],
+        [
+          0.07720668613910675,
+          -0.10302093625068665,
+          0.9916783571243286,
+          11.154391288757324
+        ],
+        [
+          0.19768625497817993,
+          -0.9733174443244934,
+          -0.11650428920984268,
+          -9.790709495544434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1704,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323433_883080959",
+      "mask_path": "../../mask/hdr_right_01704.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01705.png",
+      "transform_matrix": [
+        [
+          0.9804965257644653,
+          0.18712814152240753,
+          -0.06008046492934227,
+          -11.989236831665039
+        ],
+        [
+          0.07728812843561172,
+          -0.08605615049600601,
+          0.9932879209518433,
+          11.167855262756348
+        ],
+        [
+          0.1807018220424652,
+          -0.9785588383674622,
+          -0.09884054213762283,
+          -9.79468822479248
+        ],
+        [
+          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": "1731323433_983082056",
+      "mask_path": "../../mask/hdr_right_01705.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01706.png",
+      "transform_matrix": [
+        [
+          0.984311580657959,
+          0.1643807590007782,
+          -0.06410636752843857,
+          -12.05799388885498
+        ],
+        [
+          0.07723548263311386,
+          -0.07475825399160385,
+          0.9942061901092529,
+          11.176362037658691
+        ],
+        [
+          0.15863588452339172,
+          -0.9835599064826965,
+          -0.08628144860267639,
+          -9.817138671875
+        ],
+        [
+          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": "1731323434_83081245",
+      "mask_path": "../../mask/hdr_right_01706.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01707.png",
+      "transform_matrix": [
+        [
+          0.9855262637138367,
+          0.15509936213493347,
+          -0.06842711567878723,
+          -12.128520011901855
+        ],
+        [
+          0.0799131914973259,
+          -0.06906665116548538,
+          0.9944062232971191,
+          11.180695533752441
+        ],
+        [
+          0.14950573444366455,
+          -0.9854815602302551,
+          -0.08046148717403412,
+          -9.838038444519043
+        ],
+        [
+          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": "1731323434_183081865",
+      "mask_path": "../../mask/hdr_right_01707.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01709.png",
+      "transform_matrix": [
+        [
+          0.9865429401397705,
+          0.14424125850200653,
+          -0.07699061185121536,
+          -12.205314636230469
+        ],
+        [
+          0.08799655735492706,
+          -0.07153595983982086,
+          0.9935487508773804,
+          11.174958229064941
+        ],
+        [
+          0.13780315220355988,
+          -0.9869534373283386,
+          -0.08326602727174759,
+          -9.859783172607422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1709,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323434_383082151",
+      "mask_path": "../../mask/hdr_right_01709.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01713.png",
+      "transform_matrix": [
+        [
+          0.9910520315170288,
+          0.11455544829368591,
+          -0.06850600987672806,
+          -12.262105941772461
+        ],
+        [
+          0.07326629012823105,
+          -0.03786866366863251,
+          0.9965932965278625,
+          11.18852424621582
+        ],
+        [
+          0.11157094687223434,
+          -0.9926947951316833,
+          -0.045922864228487015,
+          -9.843137741088867
+        ],
+        [
+          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": "1731323434_783081531",
+      "mask_path": "../../mask/hdr_right_01713.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01715.png",
+      "transform_matrix": [
+        [
+          0.9932920336723328,
+          0.0976819172501564,
+          -0.06188087537884712,
+          -12.322602272033691
+        ],
+        [
+          0.06415978074073792,
+          -0.02036057971417904,
+          0.9977319240570068,
+          11.228246688842773
+        ],
+        [
+          0.09620043635368347,
+          -0.9950093626976013,
+          -0.026491252705454826,
+          -9.831522941589355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1715,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323434_983082294",
+      "mask_path": "../../mask/hdr_right_01715.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01718.png",
+      "transform_matrix": [
+        [
+          0.9945695996284485,
+          0.08298207819461823,
+          -0.06281200051307678,
+          -12.314837455749512
+        ],
+        [
+          0.06376630067825317,
+          -0.008897451683878899,
+          0.9979252219200134,
+          11.288060188293457
+        ],
+        [
+          0.08225103467702866,
+          -0.9965113401412964,
+          -0.014140594750642776,
+          -9.848016738891602
+        ],
+        [
+          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": "1731323435_283082008",
+      "mask_path": "../../mask/hdr_right_01718.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01720.png",
+      "transform_matrix": [
+        [
+          0.995674192905426,
+          0.07942084223031998,
+          -0.04822075366973877,
+          -12.330638885498047
+        ],
+        [
+          0.04808666184544563,
+          0.0036013012286275625,
+          0.9988366961479187,
+          11.363415718078613
+        ],
+        [
+          0.07950212061405182,
+          -0.9968346357345581,
+          -0.00023335994046647102,
+          -9.834375381469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1720,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323435_483082294",
+      "mask_path": "../../mask/hdr_right_01720.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01722.png",
+      "transform_matrix": [
+        [
+          0.9972860217094421,
+          0.06569909304380417,
+          -0.03323044627904892,
+          -12.305418968200684
+        ],
+        [
+          0.0317215695977211,
+          0.0238784346729517,
+          0.9992115497589111,
+          11.4231538772583
+        ],
+        [
+          0.06644077599048615,
+          -0.9975537061691284,
+          0.02172955498099327,
+          -9.815601348876953
+        ],
+        [
+          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": "1731323435_683081388",
+      "mask_path": "../../mask/hdr_right_01722.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01730.png",
+      "transform_matrix": [
+        [
+          0.9992378950119019,
+          0.03731515631079674,
+          -0.011458142660558224,
+          -12.350232124328613
+        ],
+        [
+          0.012235014699399471,
+          -0.020657546818256378,
+          0.9997117519378662,
+          11.449514389038086
+        ],
+        [
+          0.03706770017743111,
+          -0.9990900158882141,
+          -0.02109835483133793,
+          -9.825819969177246
+        ],
+        [
+          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": "1731323436_483081102",
+      "mask_path": "../../mask/hdr_right_01730.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01782.png",
+      "transform_matrix": [
+        [
+          0.999638557434082,
+          -0.0006186972605064511,
+          -0.026876958087086678,
+          -12.604473114013672
+        ],
+        [
+          0.026845809072256088,
+          -0.03036821261048317,
+          0.9991782307624817,
+          11.505624771118164
+        ],
+        [
+          -0.001434394740499556,
+          -0.9995386004447937,
+          -0.030340632423758507,
+          -9.809781074523926
+        ],
+        [
+          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": "1731323441_683081865",
+      "mask_path": "../../mask/hdr_right_01782.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01784.png",
+      "transform_matrix": [
+        [
+          0.999114990234375,
+          0.00790075771510601,
+          -0.04131307080388069,
+          -12.686209678649902
+        ],
+        [
+          0.04148038104176521,
+          -0.022329561412334442,
+          0.9988898634910583,
+          11.497495651245117
+        ],
+        [
+          0.006969481706619263,
+          -0.9997194409370422,
+          -0.02263752743601799,
+          -9.82284164428711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1784,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323441_883082151",
+      "mask_path": "../../mask/hdr_right_01784.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01786.png",
+      "transform_matrix": [
+        [
+          0.9985796809196472,
+          0.022294268012046814,
+          -0.04839180037379265,
+          -12.754739761352539
+        ],
+        [
+          0.04905485734343529,
+          -0.03022168017923832,
+          0.9983387589454651,
+          11.487686157226562
+        ],
+        [
+          0.02079474925994873,
+          -0.9992945790290833,
+          -0.03127239644527435,
+          -9.83538818359375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1786,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323442_83080053",
+      "mask_path": "../../mask/hdr_right_01786.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01788.png",
+      "transform_matrix": [
+        [
+          0.9985713362693787,
+          0.04040662944316864,
+          -0.03496521711349487,
+          -12.811576843261719
+        ],
+        [
+          0.0359753742814064,
+          -0.024549221619963646,
+          0.9990511536598206,
+          11.500151634216309
+        ],
+        [
+          0.03950991854071617,
+          -0.9988816976547241,
+          -0.0259677954018116,
+          -9.846506118774414
+        ],
+        [
+          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": "1731323442_283080816",
+      "mask_path": "../../mask/hdr_right_01788.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01791.png",
+      "transform_matrix": [
+        [
+          0.9968586564064026,
+          0.07551531493663788,
+          -0.023882035166025162,
+          -12.871907234191895
+        ],
+        [
+          0.02496534399688244,
+          -0.013433986343443394,
+          0.9995980858802795,
+          11.509594917297363
+        ],
+        [
+          0.07516412436962128,
+          -0.9970541000366211,
+          -0.01527705043554306,
+          -9.87932300567627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1791,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323442_583077907",
+      "mask_path": "../../mask/hdr_right_01791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01794.png",
+      "transform_matrix": [
+        [
+          0.9944615364074707,
+          0.10036398470401764,
+          -0.031198835000395775,
+          -12.916433334350586
+        ],
+        [
+          0.03178562968969345,
+          -0.0042523788288235664,
+          0.9994856715202332,
+          11.535978317260742
+        ],
+        [
+          0.10017970204353333,
+          -0.9949417114257812,
+          -0.007418959401547909,
+          -9.91592025756836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1794,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323442_883080720",
+      "mask_path": "../../mask/hdr_right_01794.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01797.png",
+      "transform_matrix": [
+        [
+          0.9913734197616577,
+          0.129339337348938,
+          -0.021213866770267487,
+          -12.96788215637207
+        ],
+        [
+          0.024560758844017982,
+          -0.02433645911514759,
+          0.9994021058082581,
+          11.544449806213379
+        ],
+        [
+          0.12874574959278107,
+          -0.9913017749786377,
+          -0.027303192764520645,
+          -9.929287910461426
+        ],
+        [
+          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": "1731323443_183081150",
+      "mask_path": "../../mask/hdr_right_01797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01804.png",
+      "transform_matrix": [
+        [
+          0.9897926449775696,
+          0.14104264974594116,
+          -0.020432617515325546,
+          -13.014567375183105
+        ],
+        [
+          0.022691352292895317,
+          -0.014424645341932774,
+          0.9996384978294373,
+          11.563356399536133
+        ],
+        [
+          0.1406969130039215,
+          -0.9898984432220459,
+          -0.0174778550863266,
+          -9.952719688415527
+        ],
+        [
+          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": "1731323443_883082389",
+      "mask_path": "../../mask/hdr_right_01804.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01806.png",
+      "transform_matrix": [
+        [
+          0.9874579906463623,
+          0.15547233819961548,
+          -0.02747935988008976,
+          -13.090910911560059
+        ],
+        [
+          0.03179808706045151,
+          -0.02535909228026867,
+          0.999172568321228,
+          11.583152770996094
+        ],
+        [
+          0.1546468287706375,
+          -0.9875146746635437,
+          -0.029984761029481888,
+          -9.987564086914062
+        ],
+        [
+          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": "1731323444_83082199",
+      "mask_path": "../../mask/hdr_right_01806.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01808.png",
+      "transform_matrix": [
+        [
+          0.980357825756073,
+          0.19656726717948914,
+          -0.01612374372780323,
+          -13.153800010681152
+        ],
+        [
+          0.02438271790742874,
+          -0.039668403565883636,
+          0.998915433883667,
+          11.591776847839355
+        ],
+        [
+          0.19571447372436523,
+          -0.9796876311302185,
+          -0.04368206858634949,
+          -10.02402400970459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1808,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323444_283080101",
+      "mask_path": "../../mask/hdr_right_01808.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01810.png",
+      "transform_matrix": [
+        [
+          0.9748010635375977,
+          0.2230204939842224,
+          -0.004964267835021019,
+          -13.236666679382324
+        ],
+        [
+          0.014702163636684418,
+          -0.04202442988753319,
+          0.9990084171295166,
+          11.592748641967773
+        ],
+        [
+          0.22259071469306946,
+          -0.973907470703125,
+          -0.044244345277547836,
+          -10.067315101623535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1810,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323444_483082532",
+      "mask_path": "../../mask/hdr_right_01810.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01818.png",
+      "transform_matrix": [
+        [
+          0.9471749067306519,
+          0.3206963539123535,
+          -0.0036961708683520555,
+          -13.553755760192871
+        ],
+        [
+          0.026620475575327873,
+          -0.06712798774242401,
+          0.9973891973495483,
+          11.550275802612305
+        ],
+        [
+          0.31961098313331604,
+          -0.9448003172874451,
+          -0.07211901992559433,
+          -10.193690299987793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1818,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323445_283081531",
+      "mask_path": "../../mask/hdr_right_01818.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01821.png",
+      "transform_matrix": [
+        [
+          0.9271203279495239,
+          0.37078773975372314,
+          -0.05444654822349548,
+          -13.611470222473145
+        ],
+        [
+          0.071559838950634,
+          -0.03254291042685509,
+          0.9969053864479065,
+          11.541885375976562
+        ],
+        [
+          0.3678683936595917,
+          -0.9281472563743591,
+          -0.056704699993133545,
+          -10.220745086669922
+        ],
+        [
+          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": "1731323445_583081722",
+      "mask_path": "../../mask/hdr_right_01821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01822.png",
+      "transform_matrix": [
+        [
+          0.9234219193458557,
+          0.37673333287239075,
+          -0.07323954999446869,
+          -13.654350280761719
+        ],
+        [
+          0.09392575919628143,
+          -0.03680896759033203,
+          0.9948985576629639,
+          11.539426803588867
+        ],
+        [
+          0.37211552262306213,
+          -0.9255901575088501,
+          -0.0693751648068428,
+          -10.254462242126465
+        ],
+        [
+          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": "1731323445_683081626",
+      "mask_path": "../../mask/hdr_right_01822.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01824.png",
+      "transform_matrix": [
+        [
+          0.9191321730613708,
+          0.37956827878952026,
+          -0.10547012090682983,
+          -13.727898597717285
+        ],
+        [
+          0.13231265544891357,
+          -0.04525936394929886,
+          0.9901742339134216,
+          11.51986312866211
+        ],
+        [
+          0.3710651993751526,
+          -0.9240559935569763,
+          -0.09182102233171463,
+          -10.30047607421875
+        ],
+        [
+          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": "1731323445_883081912",
+      "mask_path": "../../mask/hdr_right_01824.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01825.png",
+      "transform_matrix": [
+        [
+          0.9232993721961975,
+          0.36861610412597656,
+          -0.10789131373167038,
+          -13.780858039855957
+        ],
+        [
+          0.13501837849617004,
+          -0.04852549359202385,
+          0.9896541833877563,
+          11.512370109558105
+        ],
+        [
+          0.3595670163631439,
+          -0.9283143281936646,
+          -0.0945735052227974,
+          -10.329435348510742
+        ],
+        [
+          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": "1731323445_983081340",
+      "mask_path": "../../mask/hdr_right_01825.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01826.png",
+      "transform_matrix": [
+        [
+          0.9267998933792114,
+          0.36042389273643494,
+          -0.10553038120269775,
+          -13.8670654296875
+        ],
+        [
+          0.13154907524585724,
+          -0.04836234822869301,
+          0.9901292324066162,
+          11.499001502990723
+        ],
+        [
+          0.3517625331878662,
+          -0.9315340518951416,
+          -0.09223563969135284,
+          -10.352057456970215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1826,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_83081960",
+      "mask_path": "../../mask/hdr_right_01826.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01829.png",
+      "transform_matrix": [
+        [
+          0.9273365139961243,
+          0.3585924208164215,
+          -0.10704438388347626,
+          -14.011651039123535
+        ],
+        [
+          0.1382247358560562,
+          -0.06239556893706322,
+          0.9884334206581116,
+          11.464241981506348
+        ],
+        [
+          0.34776559472084045,
+          -0.931406557559967,
+          -0.10742802917957306,
+          -10.418447494506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1829,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_383082389",
+      "mask_path": "../../mask/hdr_right_01829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01830.png",
+      "transform_matrix": [
+        [
+          0.9254783391952515,
+          0.3660871386528015,
+          -0.09731456637382507,
+          -14.06963062286377
+        ],
+        [
+          0.13171857595443726,
+          -0.07014118134975433,
+          0.9888025522232056,
+          11.454286575317383
+        ],
+        [
+          0.3551621437072754,
+          -0.927933394908905,
+          -0.11313461512327194,
+          -10.449360847473145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1830,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_483082056",
+      "mask_path": "../../mask/hdr_right_01830.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01831.png",
+      "transform_matrix": [
+        [
+          0.9251832365989685,
+          0.3687934875488281,
+          -0.08959551900625229,
+          -14.136648178100586
+        ],
+        [
+          0.12185949832201004,
+          -0.06509334594011307,
+          0.9904106259346008,
+          11.447157859802246
+        ],
+        [
+          0.359424889087677,
+          -0.9272294044494629,
+          -0.10516425967216492,
+          -10.466353416442871
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1831,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_583082437",
+      "mask_path": "../../mask/hdr_right_01831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01833.png",
+      "transform_matrix": [
+        [
+          0.9251295328140259,
+          0.3673795759677887,
+          -0.0957476794719696,
+          -14.254817962646484
+        ],
+        [
+          0.11548186838626862,
+          -0.032059863209724426,
+          0.9927921295166016,
+          11.438552856445312
+        ],
+        [
+          0.3616619110107422,
+          -0.9295183420181274,
+          -0.07208520174026489,
+          -10.530282020568848
+        ],
+        [
+          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": "1731323446_783082962",
+      "mask_path": "../../mask/hdr_right_01833.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01834.png",
+      "transform_matrix": [
+        [
+          0.9229604601860046,
+          0.3723035156726837,
+          -0.09764254838228226,
+          -14.333626747131348
+        ],
+        [
+          0.11043882369995117,
+          -0.013144845142960548,
+          0.9937960505485535,
+          11.441362380981445
+        ],
+        [
+          0.3687102496623993,
+          -0.9280179738998413,
+          -0.05324892699718475,
+          -10.573111534118652
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1834,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_883081674",
+      "mask_path": "../../mask/hdr_right_01834.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01835.png",
+      "transform_matrix": [
+        [
+          0.9228147268295288,
+          0.37331289052963257,
+          -0.09513390064239502,
+          -14.382655143737793
+        ],
+        [
+          0.1066039651632309,
+          -0.010149214416742325,
+          0.9942498207092285,
+          11.444579124450684
+        ],
+        [
+          0.3702007234096527,
+          -0.927649974822998,
+          -0.04916246980428696,
+          -10.605146408081055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1835,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323446_983082532",
+      "mask_path": "../../mask/hdr_right_01835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01836.png",
+      "transform_matrix": [
+        [
+          0.9262717962265015,
+          0.36468377709388733,
+          -0.09500663727521896,
+          -14.439592361450195
+        ],
+        [
+          0.10496359318494797,
+          -0.0075289406813681126,
+          0.994447648525238,
+          11.454368591308594
+        ],
+        [
+          0.3619435727596283,
+          -0.9311010241508484,
+          -0.04525235295295715,
+          -10.634625434875488
+        ],
+        [
+          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": "1731323447_83081483",
+      "mask_path": "../../mask/hdr_right_01836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01837.png",
+      "transform_matrix": [
+        [
+          0.9300124049186707,
+          0.35322630405426025,
+          -0.10152842104434967,
+          -14.526029586791992
+        ],
+        [
+          0.10517354309558868,
+          0.008913838304579258,
+          0.9944139719009399,
+          11.484097480773926
+        ],
+        [
+          0.35215815901756287,
+          -0.9354954361915588,
+          -0.028860073536634445,
+          -10.662291526794434
+        ],
+        [
+          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": "1731323447_183082103",
+      "mask_path": "../../mask/hdr_right_01837.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01838.png",
+      "transform_matrix": [
+        [
+          0.9330301880836487,
+          0.3439640700817108,
+          -0.10556202381849289,
+          -14.59073257446289
+        ],
+        [
+          0.10262203961610794,
+          0.026796871796250343,
+          0.9943594932556152,
+          11.507110595703125
+        ],
+        [
+          0.34485262632369995,
+          -0.9386003613471985,
+          -0.010295992717146873,
+          -10.676664352416992
+        ],
+        [
+          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": "1731323447_283081769",
+      "mask_path": "../../mask/hdr_right_01838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01840.png",
+      "transform_matrix": [
+        [
+          0.9407142400741577,
+          0.32379141449928284,
+          -0.10107404738664627,
+          -14.682010650634766
+        ],
+        [
+          0.092112235724926,
+          0.04292731359601021,
+          0.9948229789733887,
+          11.537840843200684
+        ],
+        [
+          0.32645395398139954,
+          -0.9451541900634766,
+          0.01055719144642353,
+          -10.69786262512207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1840,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_483082771",
+      "mask_path": "../../mask/hdr_right_01840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01841.png",
+      "transform_matrix": [
+        [
+          0.9447656869888306,
+          0.3118896186351776,
+          -0.1007106602191925,
+          -14.739399909973145
+        ],
+        [
+          0.08929689973592758,
+          0.050702646374702454,
+          0.9947136640548706,
+          11.547873497009277
+        ],
+        [
+          0.3153471350669861,
+          -0.9487645030021667,
+          0.02005135640501976,
+          -10.717616081237793
+        ],
+        [
+          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": "1731323447_583083391",
+      "mask_path": "../../mask/hdr_right_01841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01842.png",
+      "transform_matrix": [
+        [
+          0.948437511920929,
+          0.3000906705856323,
+          -0.10203874856233597,
+          -14.803001403808594
+        ],
+        [
+          0.09050855040550232,
+          0.052114337682724,
+          0.9945311546325684,
+          11.555730819702148
+        ],
+        [
+          0.30376723408699036,
+          -0.9524860978126526,
+          0.02226642705500126,
+          -10.71300220489502
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1842,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_683081865",
+      "mask_path": "../../mask/hdr_right_01842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01844.png",
+      "transform_matrix": [
+        [
+          0.9567930102348328,
+          0.2727479636669159,
+          -0.10077592730522156,
+          -14.912576675415039
+        ],
+        [
+          0.09422677755355835,
+          0.03703995421528816,
+          0.9948614835739136,
+          11.55347728729248
+        ],
+        [
+          0.2750791907310486,
+          -0.9613722562789917,
+          0.009739411063492298,
+          -10.723567962646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1844,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323447_883081912",
+      "mask_path": "../../mask/hdr_right_01844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01845.png",
+      "transform_matrix": [
+        [
+          0.9600209593772888,
+          0.26136109232902527,
+          -0.10025065392255783,
+          -14.979259490966797
+        ],
+        [
+          0.09553302824497223,
+          0.030727174133062363,
+          0.9949519634246826,
+          11.553110122680664
+        ],
+        [
+          0.2631221413612366,
+          -0.9647518992424011,
+          0.004530114587396383,
+          -10.741560935974121
+        ],
+        [
+          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": "1731323447_983082056",
+      "mask_path": "../../mask/hdr_right_01845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01846.png",
+      "transform_matrix": [
+        [
+          0.9630167484283447,
+          0.25128981471061707,
+          -0.09722229838371277,
+          -15.055734634399414
+        ],
+        [
+          0.09313511848449707,
+          0.02813650108873844,
+          0.9952558875083923,
+          11.554925918579102
+        ],
+        [
+          0.25283318758010864,
+          -0.9675028920173645,
+          0.003692020196467638,
+          -10.749091148376465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1846,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_83082437",
+      "mask_path": "../../mask/hdr_right_01846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_01847.png",
+      "transform_matrix": [
+        [
+          0.9670944809913635,
+          0.23750059306621552,
+          -0.09122362732887268,
+          -15.128765106201172
+        ],
+        [
+          0.08729451894760132,
+          0.027031026780605316,
+          0.9958158135414124,
+          11.558323860168457
+        ],
+        [
+          0.23897269368171692,
+          -0.971011221408844,
+          0.005409060046076775,
+          -10.749286651611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 1847,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323448_183081626",
+      "mask_path": "../../mask/hdr_right_01847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07745.png",
+      "transform_matrix": [
+        [
+          -0.9965615272521973,
+          0.036423489451408386,
+          0.07442037016153336,
+          -14.761892318725586
+        ],
+        [
+          -0.07519339770078659,
+          -0.020331911742687225,
+          -0.9969616532325745,
+          11.919368743896484
+        ],
+        [
+          -0.034799717366695404,
+          -0.9991295337677002,
+          0.0230008065700531,
+          -10.702995300292969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7745,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324037_983080148",
+      "mask_path": "../../mask/hdr_right_07745.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07747.png",
+      "transform_matrix": [
+        [
+          -0.9963474869728088,
+          0.04019632562994957,
+          0.07533851265907288,
+          -14.674177169799805
+        ],
+        [
+          -0.07666108757257462,
+          -0.03244141489267349,
+          -0.9965294003486633,
+          11.915477752685547
+        ],
+        [
+          -0.037612732499837875,
+          -0.9986649751663208,
+          0.03540441766381264,
+          -10.710853576660156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7747,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_183082818",
+      "mask_path": "../../mask/hdr_right_07747.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07748.png",
+      "transform_matrix": [
+        [
+          -0.9965417981147766,
+          0.041111793369054794,
+          0.07220884412527084,
+          -14.595527648925781
+        ],
+        [
+          -0.07335368543863297,
+          -0.0270528681576252,
+          -0.9969390034675598,
+          11.90697956085205
+        ],
+        [
+          -0.03903249651193619,
+          -0.9987882375717163,
+          0.02997501753270626,
+          -10.696001052856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7748,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_283081769",
+      "mask_path": "../../mask/hdr_right_07748.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07749.png",
+      "transform_matrix": [
+        [
+          -0.9970411658287048,
+          0.04409924894571304,
+          0.06296289712190628,
+          -14.525434494018555
+        ],
+        [
+          -0.06373007595539093,
+          -0.016210494562983513,
+          -0.9978355765342712,
+          11.899538040161133
+        ],
+        [
+          -0.04298313334584236,
+          -0.9988956451416016,
+          0.018972977995872498,
+          -10.6827392578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7749,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_383080959",
+      "mask_path": "../../mask/hdr_right_07749.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07751.png",
+      "transform_matrix": [
+        [
+          -0.9958410859107971,
+          0.07981579750776291,
+          0.043933168053627014,
+          -14.376493453979492
+        ],
+        [
+          -0.043848566710948944,
+          0.0028133278246968985,
+          -0.9990342855453491,
+          11.894988059997559
+        ],
+        [
+          -0.07986230403184891,
+          -0.996805727481842,
+          0.0006981781334616244,
+          -10.651045799255371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7751,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_583081483",
+      "mask_path": "../../mask/hdr_right_07751.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07752.png",
+      "transform_matrix": [
+        [
+          -0.9938240051269531,
+          0.10146260261535645,
+          0.04493418708443642,
+          -14.271610260009766
+        ],
+        [
+          -0.04542892426252365,
+          -0.0025689646136015654,
+          -0.9989643096923828,
+          11.90172004699707
+        ],
+        [
+          -0.10124208778142929,
+          -0.9948360323905945,
+          0.007162434048950672,
+          -10.634260177612305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7752,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_683082342",
+      "mask_path": "../../mask/hdr_right_07752.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07753.png",
+      "transform_matrix": [
+        [
+          -0.9927773475646973,
+          0.10954176634550095,
+          0.04892712086439133,
+          -14.211283683776855
+        ],
+        [
+          -0.05086597427725792,
+          -0.014973945915699005,
+          -0.998593270778656,
+          11.90005874633789
+        ],
+        [
+          -0.10865502804517746,
+          -0.9938693642616272,
+          0.020437737926840782,
+          -10.618606567382812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7753,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_783082246",
+      "mask_path": "../../mask/hdr_right_07753.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07754.png",
+      "transform_matrix": [
+        [
+          -0.9915975332260132,
+          0.11977610737085342,
+          0.048866115510463715,
+          -14.156612396240234
+        ],
+        [
+          -0.052088070660829544,
+          -0.0239163339138031,
+          -0.9983561038970947,
+          11.900134086608887
+        ],
+        [
+          -0.11841051280498505,
+          -0.9925127625465393,
+          0.029954280704259872,
+          -10.600775718688965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7754,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_883083581",
+      "mask_path": "../../mask/hdr_right_07754.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07755.png",
+      "transform_matrix": [
+        [
+          -0.9886389970779419,
+          0.14510026574134827,
+          0.03922845423221588,
+          -14.073137283325195
+        ],
+        [
+          -0.044573236256837845,
+          -0.03376800939440727,
+          -0.9984352588653564,
+          11.879133224487305
+        ],
+        [
+          -0.14354854822158813,
+          -0.9888405799865723,
+          0.03985195606946945,
+          -10.552006721496582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7755,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324038_983082294",
+      "mask_path": "../../mask/hdr_right_07755.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07756.png",
+      "transform_matrix": [
+        [
+          -0.985246479511261,
+          0.1698203682899475,
+          0.02122330106794834,
+          -13.990517616271973
+        ],
+        [
+          -0.02801463194191456,
+          -0.03769526258111,
+          -0.998896598815918,
+          11.850605010986328
+        ],
+        [
+          -0.168832927942276,
+          -0.9847537875175476,
+          0.04189658164978027,
+          -10.507635116577148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7756,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_83082199",
+      "mask_path": "../../mask/hdr_right_07756.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07757.png",
+      "transform_matrix": [
+        [
+          -0.9835673570632935,
+          0.18035054206848145,
+          0.008298126980662346,
+          -13.936334609985352
+        ],
+        [
+          -0.015195794403553009,
+          -0.036898065358400345,
+          -0.9992034435272217,
+          11.835290908813477
+        ],
+        [
+          -0.17990070581436157,
+          -0.9829100370407104,
+          0.039032306522130966,
+          -10.478848457336426
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7757,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_183084011",
+      "mask_path": "../../mask/hdr_right_07757.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07758.png",
+      "transform_matrix": [
+        [
+          -0.9760614037513733,
+          0.2174360603094101,
+          0.005072749685496092,
+          -13.857443809509277
+        ],
+        [
+          -0.009682918898761272,
+          -0.020142121240496635,
+          -0.9997503161430359,
+          11.838184356689453
+        ],
+        [
+          -0.2172795683145523,
+          -0.9758667349815369,
+          0.02176535688340664,
+          -10.461681365966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7758,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_283081769",
+      "mask_path": "../../mask/hdr_right_07758.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07759.png",
+      "transform_matrix": [
+        [
+          -0.9669521450996399,
+          0.2548582851886749,
+          0.007131922524422407,
+          -13.754355430603027
+        ],
+        [
+          -0.012555398046970367,
+          -0.01965976692736149,
+          -0.9997279644012451,
+          11.840606689453125
+        ],
+        [
+          -0.25464868545532227,
+          -0.966778576374054,
+          0.0222098920494318,
+          -10.412776947021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7759,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_383082151",
+      "mask_path": "../../mask/hdr_right_07759.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07761.png",
+      "transform_matrix": [
+        [
+          -0.9663065075874329,
+          0.257391095161438,
+          -0.0012401370331645012,
+          -13.641589164733887
+        ],
+        [
+          -0.008100242353975773,
+          -0.03522506728768349,
+          -0.9993466138839722,
+          11.810593605041504
+        ],
+        [
+          -0.2572666108608246,
+          -0.9656650424003601,
+          0.036123134195804596,
+          -10.358613967895508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7761,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_583083391",
+      "mask_path": "../../mask/hdr_right_07761.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07762.png",
+      "transform_matrix": [
+        [
+          -0.9655095338821411,
+          0.2601318955421448,
+          -0.011079142801463604,
+          -13.56115436553955
+        ],
+        [
+          0.0031758358236402273,
+          -0.030782567337155342,
+          -0.9995210766792297,
+          11.782388687133789
+        ],
+        [
+          -0.2603483200073242,
+          -0.9650822877883911,
+          0.028894715011119843,
+          -10.322509765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7762,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_683081150",
+      "mask_path": "../../mask/hdr_right_07762.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07763.png",
+      "transform_matrix": [
+        [
+          -0.9631344676017761,
+          0.26843857765197754,
+          -0.017682960256934166,
+          -13.501116752624512
+        ],
+        [
+          0.009800434112548828,
+          -0.03067602589726448,
+          -0.9994813203811646,
+          11.765690803527832
+        ],
+        [
+          -0.26884183287620544,
+          -0.9628082513809204,
+          0.02691432274878025,
+          -10.294060707092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7763,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_783081531",
+      "mask_path": "../../mask/hdr_right_07763.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07764.png",
+      "transform_matrix": [
+        [
+          -0.9605039358139038,
+          0.2773926258087158,
+          -0.022036943584680557,
+          -13.438485145568848
+        ],
+        [
+          0.016214579343795776,
+          -0.023266207426786423,
+          -0.9995978474617004,
+          11.755240440368652
+        ],
+        [
+          -0.2777937948703766,
+          -0.9604748487472534,
+          0.01784946583211422,
+          -10.261544227600098
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7764,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_883080244",
+      "mask_path": "../../mask/hdr_right_07764.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07765.png",
+      "transform_matrix": [
+        [
+          -0.9578390121459961,
+          0.28616178035736084,
+          -0.025609994307160378,
+          -13.355241775512695
+        ],
+        [
+          0.01944863237440586,
+          -0.024353010579943657,
+          -0.9995142221450806,
+          11.752752304077148
+        ],
+        [
+          -0.2866464853286743,
+          -0.9578717947006226,
+          0.017760809510946274,
+          -10.224905014038086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7765,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324039_983081579",
+      "mask_path": "../../mask/hdr_right_07765.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07766.png",
+      "transform_matrix": [
+        [
+          -0.9560333490371704,
+          0.29181450605392456,
+          -0.02906179428100586,
+          -13.28956413269043
+        ],
+        [
+          0.018943727016448975,
+          -0.03743936866521835,
+          -0.9991193413734436,
+          11.752241134643555
+        ],
+        [
+          -0.29264557361602783,
+          -0.9557419419288635,
+          0.03026522696018219,
+          -10.198354721069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7766,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_83081245",
+      "mask_path": "../../mask/hdr_right_07766.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07768.png",
+      "transform_matrix": [
+        [
+          -0.954622209072113,
+          0.29482749104499817,
+          -0.042109277099370956,
+          -13.197945594787598
+        ],
+        [
+          0.020118040964007378,
+          -0.07723106443881989,
+          -0.996810257434845,
+          11.753870010375977
+        ],
+        [
+          -0.2971391975879669,
+          -0.9524242877960205,
+          0.06779513508081436,
+          -10.170292854309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7768,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_283077955",
+      "mask_path": "../../mask/hdr_right_07768.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07769.png",
+      "transform_matrix": [
+        [
+          -0.9447721838951111,
+          0.3225422203540802,
+          -0.058068931102752686,
+          -13.106663703918457
+        ],
+        [
+          0.029342245310544968,
+          -0.09322553873062134,
+          -0.9952126145362854,
+          11.717552185058594
+        ],
+        [
+          -0.3264116048812866,
+          -0.9419530034065247,
+          0.0786127820611,
+          -10.077168464660645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7769,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_383081197",
+      "mask_path": "../../mask/hdr_right_07769.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07770.png",
+      "transform_matrix": [
+        [
+          -0.9364171624183655,
+          0.3446345925331116,
+          -0.06595375388860703,
+          -13.036913871765137
+        ],
+        [
+          0.03934751823544502,
+          -0.08364126831293106,
+          -0.9957188367843628,
+          11.691058158874512
+        ],
+        [
+          -0.3486756384372711,
+          -0.9350032806396484,
+          0.06476259976625443,
+          -10.015753746032715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7770,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_483080625",
+      "mask_path": "../../mask/hdr_right_07770.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07772.png",
+      "transform_matrix": [
+        [
+          -0.9372993111610413,
+          0.34204623103141785,
+          -0.06689217686653137,
+          -12.930176734924316
+        ],
+        [
+          0.04109514132142067,
+          -0.0821264460682869,
+          -0.9957743287086487,
+          11.688079833984375
+        ],
+        [
+          -0.3460944890975952,
+          -0.9360873699188232,
+          0.06292061507701874,
+          -9.9854736328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7772,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_683081388",
+      "mask_path": "../../mask/hdr_right_07772.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07774.png",
+      "transform_matrix": [
+        [
+          -0.937244713306427,
+          0.341470867395401,
+          -0.07049833983182907,
+          -12.830730438232422
+        ],
+        [
+          0.043856553733348846,
+          -0.0851316824555397,
+          -0.9954040050506592,
+          11.678815841674805
+        ],
+        [
+          -0.34590309858322144,
+          -0.9360290169715881,
+          0.06481348723173141,
+          -9.946043968200684
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7774,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_883079528",
+      "mask_path": "../../mask/hdr_right_07774.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07775.png",
+      "transform_matrix": [
+        [
+          -0.9340076446533203,
+          0.3484881818294525,
+          -0.07864907383918762,
+          -12.771710395812988
+        ],
+        [
+          0.04772362485527992,
+          -0.0964679941534996,
+          -0.9941913485527039,
+          11.65701961517334
+        ],
+        [
+          -0.35405099391937256,
+          -0.9323357343673706,
+          0.07347073405981064,
+          -9.896561622619629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7775,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324040_983078956",
+      "mask_path": "../../mask/hdr_right_07775.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07776.png",
+      "transform_matrix": [
+        [
+          -0.932110607624054,
+          0.3521769940853119,
+          -0.08450573682785034,
+          -12.721671104431152
+        ],
+        [
+          0.05263971537351608,
+          -0.09911449998617172,
+          -0.9936827421188354,
+          11.627962112426758
+        ],
+        [
+          -0.3583279252052307,
+          -0.9306705594062805,
+          0.07384715974330902,
+          -9.86184310913086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7776,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_83081483",
+      "mask_path": "../../mask/hdr_right_07776.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07778.png",
+      "transform_matrix": [
+        [
+          -0.9369765520095825,
+          0.33910441398620605,
+          -0.08416099101305008,
+          -12.63955020904541
+        ],
+        [
+          0.060394152998924255,
+          -0.08006024360656738,
+          -0.9949586987495422,
+          11.633350372314453
+        ],
+        [
+          -0.34413284063339233,
+          -0.9373359084129333,
+          0.054534655064344406,
+          -9.862870216369629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7778,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_283081293",
+      "mask_path": "../../mask/hdr_right_07778.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07779.png",
+      "transform_matrix": [
+        [
+          -0.9401097297668457,
+          0.32919231057167053,
+          -0.08846564590930939,
+          -12.58942699432373
+        ],
+        [
+          0.06475652009248734,
+          -0.08232499659061432,
+          -0.9944995045661926,
+          11.63049030303955
+        ],
+        [
+          -0.3346644937992096,
+          -0.9406673312187195,
+          0.056077174842357635,
+          -9.849359512329102
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7779,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_383082628",
+      "mask_path": "../../mask/hdr_right_07779.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07781.png",
+      "transform_matrix": [
+        [
+          -0.9476279616355896,
+          0.3061163127422333,
+          -0.09107189625501633,
+          -12.525167465209961
+        ],
+        [
+          0.07420963048934937,
+          -0.0663037896156311,
+          -0.9950360655784607,
+          11.619951248168945
+        ],
+        [
+          -0.31063520908355713,
+          -0.949682354927063,
+          0.04011453688144684,
+          -9.846184730529785
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7781,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_583081960",
+      "mask_path": "../../mask/hdr_right_07781.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07783.png",
+      "transform_matrix": [
+        [
+          -0.9524616003036499,
+          0.2885110378265381,
+          -0.09786856919527054,
+          -12.44841194152832
+        ],
+        [
+          0.084959015250206,
+          -0.05696488544344902,
+          -0.9947547912597656,
+          11.594103813171387
+        ],
+        [
+          -0.29257282614707947,
+          -0.9557805061340332,
+          0.02974524535238743,
+          -9.824238777160645
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7783,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_783082008",
+      "mask_path": "../../mask/hdr_right_07783.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07785.png",
+      "transform_matrix": [
+        [
+          -0.9593598246574402,
+          0.26522862911224365,
+          -0.09634608775377274,
+          -12.360037803649902
+        ],
+        [
+          0.08765570819377899,
+          -0.04443821683526039,
+          -0.9951592087745667,
+          11.57999038696289
+        ],
+        [
+          -0.26822614669799805,
+          -0.9631609916687012,
+          0.019383423030376434,
+          -9.80998420715332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7785,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324041_983082056",
+      "mask_path": "../../mask/hdr_right_07785.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07787.png",
+      "transform_matrix": [
+        [
+          -0.9656247496604919,
+          0.2422914057970047,
+          -0.09414803981781006,
+          -12.271491050720215
+        ],
+        [
+          0.08552177250385284,
+          -0.04590179771184921,
+          -0.9952784180641174,
+          11.566472053527832
+        ],
+        [
+          -0.24546894431114197,
+          -0.9691170454025269,
+          0.023602718487381935,
+          -9.802456855773926
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7787,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_183081626",
+      "mask_path": "../../mask/hdr_right_07787.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07789.png",
+      "transform_matrix": [
+        [
+          -0.9725152254104614,
+          0.21429456770420074,
+          -0.09106065332889557,
+          -12.190028190612793
+        ],
+        [
+          0.08474742621183395,
+          -0.038485247641801834,
+          -0.9956589341163635,
+          11.54430103302002
+        ],
+        [
+          -0.21686877310276031,
+          -0.9760106801986694,
+          0.019266577437520027,
+          -9.785271644592285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7789,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_383082389",
+      "mask_path": "../../mask/hdr_right_07789.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07791.png",
+      "transform_matrix": [
+        [
+          -0.9767477512359619,
+          0.19686481356620789,
+          -0.08490089327096939,
+          -12.099932670593262
+        ],
+        [
+          0.08284056186676025,
+          -0.0186921339482069,
+          -0.9963876008987427,
+          11.532992362976074
+        ],
+        [
+          -0.1977406144142151,
+          -0.9802524447441101,
+          0.0019491006387397647,
+          -9.782344818115234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7791,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_583082437",
+      "mask_path": "../../mask/hdr_right_07791.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07793.png",
+      "transform_matrix": [
+        [
+          -0.9844135046005249,
+          0.167770653963089,
+          -0.05275554582476616,
+          -12.024479866027832
+        ],
+        [
+          0.04867706075310707,
+          -0.02833300456404686,
+          -0.9984127283096313,
+          11.530959129333496
+        ],
+        [
+          -0.1689990609884262,
+          -0.9854187965393066,
+          0.019724799320101738,
+          -9.785538673400879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7793,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_783081531",
+      "mask_path": "../../mask/hdr_right_07793.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07795.png",
+      "transform_matrix": [
+        [
+          -0.990436851978302,
+          0.13796615600585938,
+          0.00018323057156521827,
+          -11.941280364990234
+        ],
+        [
+          -0.002146609127521515,
+          -0.014082017354667187,
+          -0.9998986124992371,
+          11.536060333251953
+        ],
+        [
+          -0.13794957101345062,
+          -0.9903368353843689,
+          0.014243502169847488,
+          -9.78641414642334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7795,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324042_983081579",
+      "mask_path": "../../mask/hdr_right_07795.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07797.png",
+      "transform_matrix": [
+        [
+          -0.9921745657920837,
+          0.12155822664499283,
+          0.02851717174053192,
+          -11.887672424316406
+        ],
+        [
+          -0.026213515549898148,
+          0.020508775487542152,
+          -0.9994460344314575,
+          11.543487548828125
+        ],
+        [
+          -0.12207572907209396,
+          -0.9923723936080933,
+          -0.01716182567179203,
+          -9.783297538757324
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7797,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_183082580",
+      "mask_path": "../../mask/hdr_right_07797.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07798.png",
+      "transform_matrix": [
+        [
+          -0.9936068654060364,
+          0.10880069434642792,
+          0.030126621946692467,
+          -11.824377059936523
+        ],
+        [
+          -0.027343522757291794,
+          0.026982326060533524,
+          -0.9992618560791016,
+          11.542229652404785
+        ],
+        [
+          -0.10953327268362045,
+          -0.9936973452568054,
+          -0.023834843188524246,
+          -9.787190437316895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7798,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_283082962",
+      "mask_path": "../../mask/hdr_right_07798.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07799.png",
+      "transform_matrix": [
+        [
+          -0.9950971007347107,
+          0.09230594336986542,
+          0.03551630675792694,
+          -11.771240234375
+        ],
+        [
+          -0.033733587712049484,
+          0.020803207531571388,
+          -0.9992144703865051,
+          11.539009094238281
+        ],
+        [
+          -0.0929722785949707,
+          -0.9955133199691772,
+          -0.01758740283548832,
+          -9.792357444763184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7799,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_383081436",
+      "mask_path": "../../mask/hdr_right_07799.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07801.png",
+      "transform_matrix": [
+        [
+          -0.9967449307441711,
+          0.0679171159863472,
+          0.04343797266483307,
+          -11.707733154296875
+        ],
+        [
+          -0.04209354519844055,
+          0.021103177219629288,
+          -0.99889075756073,
+          11.525834083557129
+        ],
+        [
+          -0.06875845789909363,
+          -0.9974676966667175,
+          -0.01817561686038971,
+          -9.784915924072266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7801,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_583082199",
+      "mask_path": "../../mask/hdr_right_07801.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07803.png",
+      "transform_matrix": [
+        [
+          -0.9977959394454956,
+          0.05678267031908035,
+          0.03433613479137421,
+          -11.630169868469238
+        ],
+        [
+          -0.032346516847610474,
+          0.03559529408812523,
+          -0.998842716217041,
+          11.512170791625977
+        ],
+        [
+          -0.057939156889915466,
+          -0.997751772403717,
+          -0.03368011862039566,
+          -9.77027702331543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7803,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_783081769",
+      "mask_path": "../../mask/hdr_right_07803.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07805.png",
+      "transform_matrix": [
+        [
+          -0.9983848929405212,
+          0.04962339997291565,
+          0.02766020968556404,
+          -11.536378860473633
+        ],
+        [
+          -0.025473417714238167,
+          0.044171977788209915,
+          -0.9986992478370667,
+          11.504388809204102
+        ],
+        [
+          -0.05078064650297165,
+          -0.9977907538414001,
+          -0.042836565524339676,
+          -9.776633262634277
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7805,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324043_983080863",
+      "mask_path": "../../mask/hdr_right_07805.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07813.png",
+      "transform_matrix": [
+        [
+          -0.9980188012123108,
+          0.06280481070280075,
+          0.0037539303302764893,
+          -11.204413414001465
+        ],
+        [
+          -0.0016228589229285717,
+          0.03394860029220581,
+          -0.9994223117828369,
+          11.483002662658691
+        ],
+        [
+          -0.06289596855640411,
+          -0.9974482655525208,
+          -0.03377941995859146,
+          -9.742061614990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7813,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324044_783081531",
+      "mask_path": "../../mask/hdr_right_07813.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07816.png",
+      "transform_matrix": [
+        [
+          -0.99651038646698,
+          0.07573765516281128,
+          -0.035084135830402374,
+          -11.144018173217773
+        ],
+        [
+          0.034237734973430634,
+          -0.01244555413722992,
+          -0.9993362426757812,
+          11.443077087402344
+        ],
+        [
+          -0.07612402737140656,
+          -0.9970501661300659,
+          0.009809033945202827,
+          -9.712075233459473
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7816,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324045_83083391",
+      "mask_path": "../../mask/hdr_right_07816.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07821.png",
+      "transform_matrix": [
+        [
+          -0.9652268886566162,
+          0.09943931549787521,
+          -0.24176202714443207,
+          -11.087743759155273
+        ],
+        [
+          0.2392483800649643,
+          -0.036651305854320526,
+          -0.9702665209770203,
+          11.360686302185059
+        ],
+        [
+          -0.1053435206413269,
+          -0.9943683743476868,
+          0.011586127802729607,
+          -9.671236038208008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7821,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324045_583081960",
+      "mask_path": "../../mask/hdr_right_07821.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07828.png",
+      "transform_matrix": [
+        [
+          -0.9529033899307251,
+          0.13974586129188538,
+          -0.26915836334228516,
+          -10.873632431030273
+        ],
+        [
+          0.2656513452529907,
+          -0.04352604225277901,
+          -0.9630861878395081,
+          11.260738372802734
+        ],
+        [
+          -0.1463027000427246,
+          -0.9892302751541138,
+          0.004352440591901541,
+          -9.617072105407715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7828,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_283082246",
+      "mask_path": "../../mask/hdr_right_07828.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07829.png",
+      "transform_matrix": [
+        [
+          -0.951449453830719,
+          0.15097853541374207,
+          -0.26823410391807556,
+          -10.82136344909668
+        ],
+        [
+          0.26345402002334595,
+          -0.05119956284761429,
+          -0.9633123278617859,
+          11.236091613769531
+        ],
+        [
+          -0.1591729372739792,
+          -0.9872102737426758,
+          0.008937886916100979,
+          -9.593461990356445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7829,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_383082389",
+      "mask_path": "../../mask/hdr_right_07829.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07831.png",
+      "transform_matrix": [
+        [
+          -0.9502778649330139,
+          0.16241991519927979,
+          -0.26569095253944397,
+          -10.745866775512695
+        ],
+        [
+          0.2573772072792053,
+          -0.07063993811607361,
+          -0.9637256264686584,
+          11.218111038208008
+        ],
+        [
+          -0.1752966046333313,
+          -0.9841898679733276,
+          0.025324393063783646,
+          -9.582298278808594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7831,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324046_583081483",
+      "mask_path": "../../mask/hdr_right_07831.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07836.png",
+      "transform_matrix": [
+        [
+          -0.9343977570533752,
+          0.21635830402374268,
+          -0.2830013930797577,
+          -10.558491706848145
+        ],
+        [
+          0.2705543339252472,
+          -0.08577386289834976,
+          -0.9588760137557983,
+          11.137615203857422
+        ],
+        [
+          -0.23173493146896362,
+          -0.9725388884544373,
+          0.021610232070088387,
+          -9.478886604309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7836,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_83084821",
+      "mask_path": "../../mask/hdr_right_07836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07838.png",
+      "transform_matrix": [
+        [
+          -0.9295418858528137,
+          0.22579726576805115,
+          -0.2914920747280121,
+          -10.486298561096191
+        ],
+        [
+          0.27340489625930786,
+          -0.10833093523979187,
+          -0.9557793736457825,
+          11.129473686218262
+        ],
+        [
+          -0.24738997220993042,
+          -0.9681322574615479,
+          0.038964059203863144,
+          -9.464228630065918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7838,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_283083200",
+      "mask_path": "../../mask/hdr_right_07838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07840.png",
+      "transform_matrix": [
+        [
+          -0.9153618812561035,
+          0.2212296575307846,
+          -0.33640778064727783,
+          -10.43130111694336
+        ],
+        [
+          0.29550275206565857,
+          -0.19837860763072968,
+          -0.9345180988311768,
+          11.083938598632812
+        ],
+        [
+          -0.27347925305366516,
+          -0.954831600189209,
+          0.11621422320604324,
+          -9.404256820678711
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7840,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_483081579",
+      "mask_path": "../../mask/hdr_right_07840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07841.png",
+      "transform_matrix": [
+        [
+          -0.8954665064811707,
+          0.24124345183372498,
+          -0.37408745288848877,
+          -10.392281532287598
+        ],
+        [
+          0.31837812066078186,
+          -0.24021433293819427,
+          -0.9170236587524414,
+          11.01972770690918
+        ],
+        [
+          -0.31108713150024414,
+          -0.9402652382850647,
+          0.13829723000526428,
+          -9.298046112060547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7841,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_583082437",
+      "mask_path": "../../mask/hdr_right_07841.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07843.png",
+      "transform_matrix": [
+        [
+          -0.8623450398445129,
+          0.26433107256889343,
+          -0.43184489011764526,
+          -10.326641082763672
+        ],
+        [
+          0.38632330298423767,
+          -0.20781584084033966,
+          -0.8986472487449646,
+          10.984256744384766
+        ],
+        [
+          -0.327284574508667,
+          -0.9417757987976074,
+          0.07709172368049622,
+          -9.289631843566895
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7843,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_783082723",
+      "mask_path": "../../mask/hdr_right_07843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07844.png",
+      "transform_matrix": [
+        [
+          -0.8480411171913147,
+          0.26303187012672424,
+          -0.46004411578178406,
+          -10.289567947387695
+        ],
+        [
+          0.41601377725601196,
+          -0.20731769502162933,
+          -0.8854106068611145,
+          10.952537536621094
+        ],
+        [
+          -0.32826653122901917,
+          -0.9422491788864136,
+          0.06638903170824051,
+          -9.259624481201172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7844,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324047_883081674",
+      "mask_path": "../../mask/hdr_right_07844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07847.png",
+      "transform_matrix": [
+        [
+          -0.8108060956001282,
+          0.2175375074148178,
+          -0.543388307094574,
+          -10.240737915039062
+        ],
+        [
+          0.5030336380004883,
+          -0.2156594693660736,
+          -0.8369278907775879,
+          10.901851654052734
+        ],
+        [
+          -0.2992500364780426,
+          -0.9519287943840027,
+          0.06542933732271194,
+          -9.255561828613281
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7847,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_183081626",
+      "mask_path": "../../mask/hdr_right_07847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07849.png",
+      "transform_matrix": [
+        [
+          -0.7666324377059937,
+          0.20138196647167206,
+          -0.6096885800361633,
+          -10.197846412658691
+        ],
+        [
+          0.5753343105316162,
+          -0.20612655580043793,
+          -0.7915189862251282,
+          10.850494384765625
+        ],
+        [
+          -0.28507065773010254,
+          -0.9575788378715515,
+          0.04216134920716286,
+          -9.239675521850586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7849,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_383080720",
+      "mask_path": "../../mask/hdr_right_07849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07851.png",
+      "transform_matrix": [
+        [
+          -0.7099913954734802,
+          0.18813499808311462,
+          -0.6786143779754639,
+          -10.179204940795898
+        ],
+        [
+          0.6462584137916565,
+          -0.20875002443790436,
+          -0.7340119481086731,
+          10.78140640258789
+        ],
+        [
+          -0.279754102230072,
+          -0.9597023725509644,
+          0.026626909151673317,
+          -9.222691535949707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7851,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_583084583",
+      "mask_path": "../../mask/hdr_right_07851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07853.png",
+      "transform_matrix": [
+        [
+          -0.644698977470398,
+          0.22568652033805847,
+          -0.7303621172904968,
+          -10.139007568359375
+        ],
+        [
+          0.6935665607452393,
+          -0.2290690839290619,
+          -0.683002769947052,
+          10.721028327941895
+        ],
+        [
+          -0.3214479088783264,
+          -0.9468859434127808,
+          -0.008848022669553757,
+          -9.129050254821777
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7853,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324048_783082485",
+      "mask_path": "../../mask/hdr_right_07853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07857.png",
+      "transform_matrix": [
+        [
+          -0.5236854553222656,
+          0.12563678622245789,
+          -0.8425965905189514,
+          -10.141949653625488
+        ],
+        [
+          0.8099482655525208,
+          -0.2331666797399521,
+          -0.5381608605384827,
+          10.62518310546875
+        ],
+        [
+          -0.2640782296657562,
+          -0.9642866253852844,
+          0.02034670300781727,
+          -9.11196517944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7857,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_183081865",
+      "mask_path": "../../mask/hdr_right_07857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07860.png",
+      "transform_matrix": [
+        [
+          -0.4019544720649719,
+          0.10602442920207977,
+          -0.9095005989074707,
+          -10.152671813964844
+        ],
+        [
+          0.8763648867607117,
+          -0.24331040680408478,
+          -0.4156738221645355,
+          10.54051685333252
+        ],
+        [
+          -0.26536256074905396,
+          -0.9641363620758057,
+          0.004883614834398031,
+          -9.101778030395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7860,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_483081579",
+      "mask_path": "../../mask/hdr_right_07860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07863.png",
+      "transform_matrix": [
+        [
+          -0.3014964759349823,
+          0.06952586024999619,
+          -0.9509291052818298,
+          -10.168068885803223
+        ],
+        [
+          0.9130403995513916,
+          -0.26628121733665466,
+          -0.3089524507522583,
+          10.45185375213623
+        ],
+        [
+          -0.2746947407722473,
+          -0.961384654045105,
+          0.016802925616502762,
+          -9.083481788635254
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7863,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_783079862",
+      "mask_path": "../../mask/hdr_right_07863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07865.png",
+      "transform_matrix": [
+        [
+          -0.26362287998199463,
+          0.06446807831525803,
+          -0.9624691605567932,
+          -10.169672012329102
+        ],
+        [
+          0.9267476201057434,
+          -0.25992831587791443,
+          -0.2712491750717163,
+          10.3934965133667
+        ],
+        [
+          -0.26765987277030945,
+          -0.9634734392166138,
+          0.008777406066656113,
+          -9.05998706817627
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7865,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324049_983080625",
+      "mask_path": "../../mask/hdr_right_07865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07867.png",
+      "transform_matrix": [
+        [
+          -0.24321378767490387,
+          0.07277645170688629,
+          -0.9672386646270752,
+          -10.172587394714355
+        ],
+        [
+          0.9289434552192688,
+          -0.2694791555404663,
+          -0.25386038422584534,
+          10.321122169494629
+        ],
+        [
+          -0.2791256904602051,
+          -0.9602523446083069,
+          -0.002064179629087448,
+          -9.0364351272583
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7867,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_183081150",
+      "mask_path": "../../mask/hdr_right_07867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07868.png",
+      "transform_matrix": [
+        [
+          -0.2406630665063858,
+          0.06908184289932251,
+          -0.9681471586227417,
+          -10.17105770111084
+        ],
+        [
+          0.9295717477798462,
+          -0.2705664038658142,
+          -0.25038009881973267,
+          10.27715015411377
+        ],
+        [
+          -0.2792448401451111,
+          -0.9602195024490356,
+          0.0008988172048702836,
+          -9.010797500610352
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7868,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_283080577",
+      "mask_path": "../../mask/hdr_right_07868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07871.png",
+      "transform_matrix": [
+        [
+          -0.22534197568893433,
+          0.017800208181142807,
+          -0.9741171598434448,
+          -10.170412063598633
+        ],
+        [
+          0.9367847442626953,
+          -0.27074745297431946,
+          -0.2216532975435257,
+          10.153717041015625
+        ],
+        [
+          -0.267685204744339,
+          -0.9624858498573303,
+          0.04433579742908478,
+          -8.951436996459961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7871,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_583081722",
+      "mask_path": "../../mask/hdr_right_07871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07872.png",
+      "transform_matrix": [
+        [
+          -0.19864533841609955,
+          -0.02141551487147808,
+          -0.9798374772071838,
+          -10.183945655822754
+        ],
+        [
+          0.9357865452766418,
+          -0.30127570033073425,
+          -0.18313002586364746,
+          10.103355407714844
+        ],
+        [
+          -0.2912794053554535,
+          -0.9532965421676636,
+          0.07988736033439636,
+          -8.879831314086914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7872,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_683082342",
+      "mask_path": "../../mask/hdr_right_07872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07874.png",
+      "transform_matrix": [
+        [
+          -0.13073793053627014,
+          -0.05513282120227814,
+          -0.9898828268051147,
+          -10.220638275146484
+        ],
+        [
+          0.9371883869171143,
+          -0.33256450295448303,
+          -0.10525572299957275,
+          10.028082847595215
+        ],
+        [
+          -0.32339683175086975,
+          -0.9414676427841187,
+          0.09514861553907394,
+          -8.853005409240723
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7874,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324050_883082389",
+      "mask_path": "../../mask/hdr_right_07874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07876.png",
+      "transform_matrix": [
+        [
+          -0.05400104820728302,
+          -0.042837925255298615,
+          -0.9976215958595276,
+          -10.249238967895508
+        ],
+        [
+          0.9497818350791931,
+          -0.31058767437934875,
+          -0.03807482495903969,
+          9.96947956085205
+        ],
+        [
+          -0.30821794271469116,
+          -0.9495789408683777,
+          0.05745874345302582,
+          -8.859634399414062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7876,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_83081960",
+      "mask_path": "../../mask/hdr_right_07876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07878.png",
+      "transform_matrix": [
+        [
+          0.023069210350513458,
+          -0.04513039439916611,
+          -0.9987147450447083,
+          -10.274297714233398
+        ],
+        [
+          0.9538692831993103,
+          -0.2981155216693878,
+          0.035504717379808426,
+          9.906277656555176
+        ],
+        [
+          -0.29933467507362366,
+          -0.9534623026847839,
+          0.03617120161652565,
+          -8.814131736755371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7878,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_283083677",
+      "mask_path": "../../mask/hdr_right_07878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07880.png",
+      "transform_matrix": [
+        [
+          0.0994802787899971,
+          -0.06365644931793213,
+          -0.9930013418197632,
+          -10.310344696044922
+        ],
+        [
+          0.9549558758735657,
+          -0.27428677678108215,
+          0.11325203627347946,
+          9.849686622619629
+        ],
+        [
+          -0.27957630157470703,
+          -0.9595387578010559,
+          0.033502958714962006,
+          -8.825892448425293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7880,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_483081340",
+      "mask_path": "../../mask/hdr_right_07880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07882.png",
+      "transform_matrix": [
+        [
+          0.17096133530139923,
+          -0.056357793509960175,
+          -0.9836646318435669,
+          -10.354910850524902
+        ],
+        [
+          0.9490698575973511,
+          -0.25874313712120056,
+          0.17977313697338104,
+          9.78580379486084
+        ],
+        [
+          -0.26464807987213135,
+          -0.9643006324768066,
+          0.009252396412193775,
+          -8.784171104431152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7882,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_683082818",
+      "mask_path": "../../mask/hdr_right_07882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07884.png",
+      "transform_matrix": [
+        [
+          0.2452421635389328,
+          -0.05293828248977661,
+          -0.9680154323577881,
+          -10.406394004821777
+        ],
+        [
+          0.932359516620636,
+          -0.2607146203517914,
+          0.2504667639732361,
+          9.728429794311523
+        ],
+        [
+          -0.26563507318496704,
+          -0.9639633893966675,
+          -0.014580706134438515,
+          -8.757445335388184
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7884,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324051_883082389",
+      "mask_path": "../../mask/hdr_right_07884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07886.png",
+      "transform_matrix": [
+        [
+          0.3191315829753876,
+          -0.08164482563734055,
+          -0.9441870450973511,
+          -10.46346378326416
+        ],
+        [
+          0.9167966842651367,
+          -0.22578923404216766,
+          0.3293980062007904,
+          9.681830406188965
+        ],
+        [
+          -0.24008087813854218,
+          -0.9707489013671875,
+          0.002795246196910739,
+          -8.750479698181152
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7886,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_83082675",
+      "mask_path": "../../mask/hdr_right_07886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07888.png",
+      "transform_matrix": [
+        [
+          0.3951515257358551,
+          -0.09756885468959808,
+          -0.9134197235107422,
+          -10.522562980651855
+        ],
+        [
+          0.8905709385871887,
+          -0.20313255488872528,
+          0.40696507692337036,
+          9.63568115234375
+        ],
+        [
+          -0.22525238990783691,
+          -0.9742779731750488,
+          0.006623831111937761,
+          -8.754457473754883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7888,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_283082008",
+      "mask_path": "../../mask/hdr_right_07888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07890.png",
+      "transform_matrix": [
+        [
+          0.47319334745407104,
+          -0.09034061431884766,
+          -0.8763142228126526,
+          -10.59250259399414
+        ],
+        [
+          0.8553938269615173,
+          -0.19077999889850616,
+          0.48156458139419556,
+          9.604937553405762
+        ],
+        [
+          -0.21068808436393738,
+          -0.9774669408798218,
+          -0.012999041937291622,
+          -8.718624114990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7890,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_483081817",
+      "mask_path": "../../mask/hdr_right_07890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07892.png",
+      "transform_matrix": [
+        [
+          0.507746696472168,
+          -0.09453317523002625,
+          -0.8563041090965271,
+          -10.658851623535156
+        ],
+        [
+          0.8347879648208618,
+          -0.1916349083185196,
+          0.5161446332931519,
+          9.559627532958984
+        ],
+        [
+          -0.21289055049419403,
+          -0.9769030213356018,
+          -0.018386853858828545,
+          -8.70399284362793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7892,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_683082103",
+      "mask_path": "../../mask/hdr_right_07892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07894.png",
+      "transform_matrix": [
+        [
+          0.5127677321434021,
+          -0.09471306204795837,
+          -0.8532870411872864,
+          -10.725671768188477
+        ],
+        [
+          0.8318592309951782,
+          -0.19098533689975739,
+          0.5210900902748108,
+          9.493819236755371
+        ],
+        [
+          -0.21231932938098907,
+          -0.9770128726959229,
+          -0.019143182784318924,
+          -8.667078971862793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7894,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324052_883082628",
+      "mask_path": "../../mask/hdr_right_07894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07896.png",
+      "transform_matrix": [
+        [
+          0.5103521943092346,
+          -0.11868797987699509,
+          -0.8517357110977173,
+          -10.787033081054688
+        ],
+        [
+          0.8337819576263428,
+          -0.17424723505973816,
+          0.5238755345344543,
+          9.420960426330566
+        ],
+        [
+          -0.21059031784534454,
+          -0.9775229692459106,
+          0.010032431222498417,
+          -8.653084754943848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7896,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_83081483",
+      "mask_path": "../../mask/hdr_right_07896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07897.png",
+      "transform_matrix": [
+        [
+          0.5093593001365662,
+          -0.12667231261730194,
+          -0.8511799573898315,
+          -10.827252388000488
+        ],
+        [
+          0.8338074684143066,
+          -0.17203541100025177,
+          0.5245654582977295,
+          9.377732276916504
+        ],
+        [
+          -0.21288101375102997,
+          -0.9769124984741211,
+          0.017992490902543068,
+          -8.63681411743164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7897,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_183082103",
+      "mask_path": "../../mask/hdr_right_07897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07898.png",
+      "transform_matrix": [
+        [
+          0.5146213173866272,
+          -0.12380791455507278,
+          -0.8484318852424622,
+          -10.873458862304688
+        ],
+        [
+          0.8301742076873779,
+          -0.17550691962242126,
+          0.5291581153869629,
+          9.329202651977539
+        ],
+        [
+          -0.21441961824893951,
+          -0.9766620993614197,
+          0.012462529353797436,
+          -8.61350154876709
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7898,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_283082485",
+      "mask_path": "../../mask/hdr_right_07898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07899.png",
+      "transform_matrix": [
+        [
+          0.5207697153091431,
+          -0.12052810937166214,
+          -0.845146119594574,
+          -10.912774085998535
+        ],
+        [
+          0.8255355358123779,
+          -0.18108004331588745,
+          0.5345101356506348,
+          9.28714656829834
+        ],
+        [
+          -0.21746259927749634,
+          -0.976054847240448,
+          0.0051992363296449184,
+          -8.588790893554688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7899,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_383082389",
+      "mask_path": "../../mask/hdr_right_07899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07900.png",
+      "transform_matrix": [
+        [
+          0.5239100456237793,
+          -0.1186613067984581,
+          -0.8434677124023438,
+          -10.946005821228027
+        ],
+        [
+          0.8213650584220886,
+          -0.1918499618768692,
+          0.5371713042259216,
+          9.246910095214844
+        ],
+        [
+          -0.22556069493293762,
+          -0.9742243885993958,
+          -0.0030478709377348423,
+          -8.566728591918945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7900,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_483082056",
+      "mask_path": "../../mask/hdr_right_07900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07901.png",
+      "transform_matrix": [
+        [
+          0.5232149362564087,
+          -0.12542486190795898,
+          -0.8429203033447266,
+          -10.98385238647461
+        ],
+        [
+          0.8191961050033569,
+          -0.19857928156852722,
+          0.5380372405052185,
+          9.186785697937012
+        ],
+        [
+          -0.23486974835395813,
+          -0.9720262289047241,
+          -0.0011520938714966178,
+          -8.528484344482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7901,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_583081483",
+      "mask_path": "../../mask/hdr_right_07901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07902.png",
+      "transform_matrix": [
+        [
+          0.5185176730155945,
+          -0.13933111727237701,
+          -0.8436387777328491,
+          -11.016582489013672
+        ],
+        [
+          0.8200327157974243,
+          -0.19849686324596405,
+          0.5367916822433472,
+          9.129859924316406
+        ],
+        [
+          -0.2422514110803604,
+          -0.9701473116874695,
+          0.011331954970955849,
+          -8.499028205871582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7902,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_683081388",
+      "mask_path": "../../mask/hdr_right_07902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07904.png",
+      "transform_matrix": [
+        [
+          0.5153896808624268,
+          -0.15417034924030304,
+          -0.8429738879203796,
+          -11.05566120147705
+        ],
+        [
+          0.8227009177207947,
+          -0.18632535636425018,
+          0.5370717644691467,
+          9.058119773864746
+        ],
+        [
+          -0.2398679256439209,
+          -0.9703166484832764,
+          0.0308059249073267,
+          -8.502385139465332
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7904,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_883080720",
+      "mask_path": "../../mask/hdr_right_07904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07905.png",
+      "transform_matrix": [
+        [
+          0.5099611878395081,
+          -0.19763514399528503,
+          -0.8371857404708862,
+          -11.088217735290527
+        ],
+        [
+          0.8204901814460754,
+          -0.1805255264043808,
+          0.5424081087112427,
+          9.015523910522461
+        ],
+        [
+          -0.2583322823047638,
+          -0.9635096192359924,
+          0.07009667158126831,
+          -8.455778121948242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7905,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324053_983079195",
+      "mask_path": "../../mask/hdr_right_07905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07906.png",
+      "transform_matrix": [
+        [
+          0.5117782950401306,
+          -0.22574454545974731,
+          -0.8289284706115723,
+          -11.13398265838623
+        ],
+        [
+          0.8090586066246033,
+          -0.1979033350944519,
+          0.553406298160553,
+          8.9774751663208
+        ],
+        [
+          -0.28897613286972046,
+          -0.9538729786872864,
+          0.0813579335808754,
+          -8.344839096069336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7906,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_83080768",
+      "mask_path": "../../mask/hdr_right_07906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07908.png",
+      "transform_matrix": [
+        [
+          0.5223737359046936,
+          -0.22270356118679047,
+          -0.8231213688850403,
+          -11.186281204223633
+        ],
+        [
+          0.7980287671089172,
+          -0.212447389960289,
+          0.5639290809631348,
+          8.90394401550293
+        ],
+        [
+          -0.30045902729034424,
+          -0.9514563083648682,
+          0.06674692779779434,
+          -8.32880687713623
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7908,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_283080816",
+      "mask_path": "../../mask/hdr_right_07908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07911.png",
+      "transform_matrix": [
+        [
+          0.5368130207061768,
+          -0.22865362465381622,
+          -0.8121265172958374,
+          -11.273063659667969
+        ],
+        [
+          0.79081130027771,
+          -0.19908645749092102,
+          0.5787764191627502,
+          8.783712387084961
+        ],
+        [
+          -0.29402270913124084,
+          -0.9529334306716919,
+          0.0739496573805809,
+          -8.30600357055664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7911,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_583079814",
+      "mask_path": "../../mask/hdr_right_07911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07912.png",
+      "transform_matrix": [
+        [
+          0.5373894572257996,
+          -0.24976558983325958,
+          -0.8054996728897095,
+          -11.312052726745605
+        ],
+        [
+          0.7853758335113525,
+          -0.19975565373897552,
+          0.5859032273292542,
+          8.746553421020508
+        ],
+        [
+          -0.3072415292263031,
+          -0.9474781155586243,
+          0.08881326019763947,
+          -8.254647254943848
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7912,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_683080673",
+      "mask_path": "../../mask/hdr_right_07912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07913.png",
+      "transform_matrix": [
+        [
+          0.5390212535858154,
+          -0.26488232612609863,
+          -0.7995584011077881,
+          -11.3577241897583
+        ],
+        [
+          0.7766891717910767,
+          -0.2109808772802353,
+          0.5934990048408508,
+          8.719965934753418
+        ],
+        [
+          -0.3258989155292511,
+          -0.9409167766571045,
+          0.09200801700353622,
+          -8.193317413330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7913,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_783081293",
+      "mask_path": "../../mask/hdr_right_07913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07914.png",
+      "transform_matrix": [
+        [
+          0.5419618487358093,
+          -0.2600365877151489,
+          -0.7991610169410706,
+          -11.398650169372559
+        ],
+        [
+          0.7726451754570007,
+          -0.21990565955638885,
+          0.5955342054367065,
+          8.694252967834473
+        ],
+        [
+          -0.33060070872306824,
+          -0.9402246475219727,
+          0.0817355141043663,
+          -8.171707153320312
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7914,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324054_883079767",
+      "mask_path": "../../mask/hdr_right_07914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07916.png",
+      "transform_matrix": [
+        [
+          0.5505964159965515,
+          -0.2536711096763611,
+          -0.7952952980995178,
+          -11.4628267288208
+        ],
+        [
+          0.7725908160209656,
+          -0.20595687627792358,
+          0.6005706787109375,
+          8.641251564025879
+        ],
+        [
+          -0.3161439597606659,
+          -0.9451098442077637,
+          0.08258482813835144,
+          -8.15414047241211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7916,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_83082199",
+      "mask_path": "../../mask/hdr_right_07916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07918.png",
+      "transform_matrix": [
+        [
+          0.5568536520004272,
+          -0.25342050194740295,
+          -0.7910070419311523,
+          -11.524837493896484
+        ],
+        [
+          0.7678224444389343,
+          -0.20616771280765533,
+          0.6065837144851685,
+          8.568942070007324
+        ],
+        [
+          -0.3168008327484131,
+          -0.9451311826705933,
+          0.07977668195962906,
+          -8.129813194274902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7918,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_283081769",
+      "mask_path": "../../mask/hdr_right_07918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07919.png",
+      "transform_matrix": [
+        [
+          0.5555752515792847,
+          -0.2689564526081085,
+          -0.7867646217346191,
+          -11.565443992614746
+        ],
+        [
+          0.7645848989486694,
+          -0.20656146109104156,
+          0.6105263233184814,
+          8.53443717956543
+        ],
+        [
+          -0.3267202377319336,
+          -0.9407415986061096,
+          0.09087958186864853,
+          -8.083517074584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7919,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_383082389",
+      "mask_path": "../../mask/hdr_right_07919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07920.png",
+      "transform_matrix": [
+        [
+          0.5553911924362183,
+          -0.2797492444515228,
+          -0.7831225395202637,
+          -11.60983943939209
+        ],
+        [
+          0.758778989315033,
+          -0.21487484872341156,
+          0.6148848533630371,
+          8.505228042602539
+        ],
+        [
+          -0.3402869403362274,
+          -0.9357184767723083,
+          0.09292823076248169,
+          -8.034870147705078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7920,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_483082294",
+      "mask_path": "../../mask/hdr_right_07920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07922.png",
+      "transform_matrix": [
+        [
+          0.5598856806755066,
+          -0.26452916860580444,
+          -0.7852085828781128,
+          -11.673774719238281
+        ],
+        [
+          0.7572587132453918,
+          -0.22125652432441711,
+          0.6144955158233643,
+          8.444343566894531
+        ],
+        [
+          -0.33628448843955994,
+          -0.9386532306671143,
+          0.07643865793943405,
+          -8.001601219177246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7922,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_683082342",
+      "mask_path": "../../mask/hdr_right_07922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07924.png",
+      "transform_matrix": [
+        [
+          0.5626673698425293,
+          -0.2569715082645416,
+          -0.7857296466827393,
+          -11.721826553344727
+        ],
+        [
+          0.7581029534339905,
+          -0.21864262223243713,
+          0.6143903136253357,
+          8.382140159606934
+        ],
+        [
+          -0.32967478036880493,
+          -0.9413612484931946,
+          0.0717877745628357,
+          -7.982841968536377
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7924,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324055_883081674",
+      "mask_path": "../../mask/hdr_right_07924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07926.png",
+      "transform_matrix": [
+        [
+          0.5624064207077026,
+          -0.26118749380111694,
+          -0.7845253944396973,
+          -11.782886505126953
+        ],
+        [
+          0.7573528289794922,
+          -0.21805541217327118,
+          0.615523099899292,
+          8.300704956054688
+        ],
+        [
+          -0.3318369388580322,
+          -0.9403365850448608,
+          0.07517533749341965,
+          -7.9304423332214355
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7926,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_83081483",
+      "mask_path": "../../mask/hdr_right_07926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07927.png",
+      "transform_matrix": [
+        [
+          0.560003936290741,
+          -0.270393967628479,
+          -0.7831237316131592,
+          -11.832242012023926
+        ],
+        [
+          0.7519556283950806,
+          -0.2309175431728363,
+          0.6174461841583252,
+          8.270971298217773
+        ],
+        [
+          -0.3477907180786133,
+          -0.9346465468406677,
+          0.07400951534509659,
+          -7.876130104064941
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7927,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_183082342",
+      "mask_path": "../../mask/hdr_right_07927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07933.png",
+      "transform_matrix": [
+        [
+          0.5591287612915039,
+          -0.27441543340682983,
+          -0.782349705696106,
+          -12.024433135986328
+        ],
+        [
+          0.7505523562431335,
+          -0.2333299219608307,
+          0.6182461977005005,
+          8.073345184326172
+        ],
+        [
+          -0.352201908826828,
+          -0.9328736662864685,
+          0.07550166547298431,
+          -7.7576398849487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7933,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_783082723",
+      "mask_path": "../../mask/hdr_right_07933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07934.png",
+      "transform_matrix": [
+        [
+          0.5528661012649536,
+          -0.28490540385246277,
+          -0.7830503582954407,
+          -12.063984870910645
+        ],
+        [
+          0.7471956610679626,
+          -0.24645105004310608,
+          0.6172201037406921,
+          8.045757293701172
+        ],
+        [
+          -0.36883294582366943,
+          -0.9263318777084351,
+          0.07662563025951385,
+          -7.700504779815674
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7934,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324056_883082389",
+      "mask_path": "../../mask/hdr_right_07934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07936.png",
+      "transform_matrix": [
+        [
+          0.5551548004150391,
+          -0.26429498195648193,
+          -0.7886389493942261,
+          -12.107391357421875
+        ],
+        [
+          0.7509225606918335,
+          -0.2484568953514099,
+          0.6118696928024292,
+          7.966886043548584
+        ],
+        [
+          -0.3576567769050598,
+          -0.9318891167640686,
+          0.06053301319479942,
+          -7.684081554412842
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7936,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_83081960",
+      "mask_path": "../../mask/hdr_right_07936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07938.png",
+      "transform_matrix": [
+        [
+          0.5551058053970337,
+          -0.25862616300582886,
+          -0.7905504703521729,
+          -12.142483711242676
+        ],
+        [
+          0.7566988468170166,
+          -0.2375902235507965,
+          0.6090630292892456,
+          7.913781642913818
+        ],
+        [
+          -0.34534668922424316,
+          -0.9363030791282654,
+          0.06381439417600632,
+          -7.674039840698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7938,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_283081769",
+      "mask_path": "../../mask/hdr_right_07938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07940.png",
+      "transform_matrix": [
+        [
+          0.5643079280853271,
+          -0.2376401126384735,
+          -0.790622353553772,
+          -12.192916870117188
+        ],
+        [
+          0.7549127340316772,
+          -0.23909877240657806,
+          0.6106869578361511,
+          7.8570356369018555
+        ],
+        [
+          -0.3341605067253113,
+          -0.9414663910865784,
+          0.044472187757492065,
+          -7.648003578186035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7940,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_483081817",
+      "mask_path": "../../mask/hdr_right_07940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07942.png",
+      "transform_matrix": [
+        [
+          0.5644292831420898,
+          -0.22926275432109833,
+          -0.7930058240890503,
+          -12.246743202209473
+        ],
+        [
+          0.7493242025375366,
+          -0.2607259154319763,
+          0.6087160706520081,
+          7.792947292327881
+        ],
+        [
+          -0.3463130593299866,
+          -0.9377955794334412,
+          0.02463078498840332,
+          -7.599349021911621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7942,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324057_683081865",
+      "mask_path": "../../mask/hdr_right_07942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07950.png",
+      "transform_matrix": [
+        [
+          0.5645930171012878,
+          -0.2307211309671402,
+          -0.7924661636352539,
+          -12.437416076660156
+        ],
+        [
+          0.7459532618522644,
+          -0.26829439401626587,
+          0.6095669865608215,
+          7.563882827758789
+        ],
+        [
+          -0.35325419902801514,
+          -0.9352998733520508,
+          0.020630042999982834,
+          -7.434554576873779
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7950,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_483081579",
+      "mask_path": "../../mask/hdr_right_07950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07952.png",
+      "transform_matrix": [
+        [
+          0.5613920092582703,
+          -0.24115821719169617,
+          -0.7916322946548462,
+          -12.488462448120117
+        ],
+        [
+          0.7514468431472778,
+          -0.25215527415275574,
+          0.6097093224525452,
+          7.5117950439453125
+        ],
+        [
+          -0.3466506898403168,
+          -0.9371554851531982,
+          0.03965963050723076,
+          -7.418628692626953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7952,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_683081626",
+      "mask_path": "../../mask/hdr_right_07952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07954.png",
+      "transform_matrix": [
+        [
+          0.573137640953064,
+          -0.22271119058132172,
+          -0.7886146306991577,
+          -12.546114921569824
+        ],
+        [
+          0.751185417175293,
+          -0.2417815774679184,
+          0.6142167448997498,
+          7.464705944061279
+        ],
+        [
+          -0.32746538519859314,
+          -0.9444264769554138,
+          0.028723279014229774,
+          -7.388185977935791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7954,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324058_883081436",
+      "mask_path": "../../mask/hdr_right_07954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07956.png",
+      "transform_matrix": [
+        [
+          0.5723617672920227,
+          -0.2176092565059662,
+          -0.7905999422073364,
+          -12.591104507446289
+        ],
+        [
+          0.7515313625335693,
+          -0.2464820146560669,
+          0.611920952796936,
+          7.427443981170654
+        ],
+        [
+          -0.3280283510684967,
+          -0.9444007277488708,
+          0.022463299334049225,
+          -7.35406494140625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7956,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_83082914",
+      "mask_path": "../../mask/hdr_right_07956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07958.png",
+      "transform_matrix": [
+        [
+          0.5620900392532349,
+          -0.22298480570316315,
+          -0.7964500188827515,
+          -12.646465301513672
+        ],
+        [
+          0.7526726126670837,
+          -0.2612602710723877,
+          0.6043403148651123,
+          7.370603561401367
+        ],
+        [
+          -0.34283944964408875,
+          -0.939159631729126,
+          0.02098277024924755,
+          -7.295231342315674
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7958,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_283082008",
+      "mask_path": "../../mask/hdr_right_07958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07960.png",
+      "transform_matrix": [
+        [
+          0.5510095357894897,
+          -0.2326909303665161,
+          -0.801400899887085,
+          -12.688322067260742
+        ],
+        [
+          0.7630594372749329,
+          -0.24828284978866577,
+          0.5967379212379456,
+          7.31374979019165
+        ],
+        [
+          -0.3378295600414276,
+          -0.9403247237205505,
+          0.04075077921152115,
+          -7.278997898101807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7960,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_483080387",
+      "mask_path": "../../mask/hdr_right_07960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07962.png",
+      "transform_matrix": [
+        [
+          0.5379653573036194,
+          -0.23731061816215515,
+          -0.8088738322257996,
+          -12.737665176391602
+        ],
+        [
+          0.77257239818573,
+          -0.24507315456867218,
+          0.5857225656509399,
+          7.269114971160889
+        ],
+        [
+          -0.33723145723342896,
+          -0.9400121569633484,
+          0.051498763263225555,
+          -7.253582000732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7962,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_683082103",
+      "mask_path": "../../mask/hdr_right_07962.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07964.png",
+      "transform_matrix": [
+        [
+          0.5173231363296509,
+          -0.23707439005374908,
+          -0.8222970962524414,
+          -12.77839469909668
+        ],
+        [
+          0.7840853333473206,
+          -0.25370845198631287,
+          0.5664294362068176,
+          7.221382141113281
+        ],
+        [
+          -0.3429096043109894,
+          -0.937778115272522,
+          0.05463728681206703,
+          -7.2201247215271
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7964,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324059_883082151",
+      "mask_path": "../../mask/hdr_right_07964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07966.png",
+      "transform_matrix": [
+        [
+          0.49607712030410767,
+          -0.23373371362686157,
+          -0.836227297782898,
+          -12.811015129089355
+        ],
+        [
+          0.8023925423622131,
+          -0.24459324777126312,
+          0.5443715453147888,
+          7.1772661209106445
+        ],
+        [
+          -0.3317734897136688,
+          -0.9410327672958374,
+          0.0662090852856636,
+          -7.204270839691162
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7966,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_83081722",
+      "mask_path": "../../mask/hdr_right_07966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07968.png",
+      "transform_matrix": [
+        [
+          0.47484248876571655,
+          -0.23782126605510712,
+          -0.8473285436630249,
+          -12.854355812072754
+        ],
+        [
+          0.8197994232177734,
+          -0.23064222931861877,
+          0.524150013923645,
+          7.123504161834717
+        ],
+        [
+          -0.32008373737335205,
+          -0.9435281157493591,
+          0.08544696867465973,
+          -7.188343048095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7968,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_283081769",
+      "mask_path": "../../mask/hdr_right_07968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07969.png",
+      "transform_matrix": [
+        [
+          0.47203150391578674,
+          -0.24536849558353424,
+          -0.8467470407485962,
+          -12.889985084533691
+        ],
+        [
+          0.8157121539115906,
+          -0.24272865056991577,
+          0.5250681638717651,
+          7.098177909851074
+        ],
+        [
+          -0.33436495065689087,
+          -0.9385505318641663,
+          0.08557449281215668,
+          -7.137457847595215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7969,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_383082628",
+      "mask_path": "../../mask/hdr_right_07969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07971.png",
+      "transform_matrix": [
+        [
+          0.47928333282470703,
+          -0.22952911257743835,
+          -0.8471150994300842,
+          -12.94097900390625
+        ],
+        [
+          0.8076725602149963,
+          -0.2623480558395386,
+          0.5280516147613525,
+          7.0413360595703125
+        ],
+        [
+          -0.3434422016143799,
+          -0.9372778534889221,
+          0.05964533984661102,
+          -7.101375102996826
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7971,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_583082437",
+      "mask_path": "../../mask/hdr_right_07971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07973.png",
+      "transform_matrix": [
+        [
+          0.48215630650520325,
+          -0.2235189527273178,
+          -0.8470918536186218,
+          -12.986934661865234
+        ],
+        [
+          0.8080567121505737,
+          -0.26010823249816895,
+          0.5285717844963074,
+          6.982814311981201
+        ],
+        [
+          -0.3384813666343689,
+          -0.9393524527549744,
+          0.0552031472325325,
+          -7.083842754364014
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7973,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_783082008",
+      "mask_path": "../../mask/hdr_right_07973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07975.png",
+      "transform_matrix": [
+        [
+          0.49052608013153076,
+          -0.21184974908828735,
+          -0.8452833294868469,
+          -13.045445442199707
+        ],
+        [
+          0.8053768277168274,
+          -0.26022762060165405,
+          0.5325878262519836,
+          6.91955041885376
+        ],
+        [
+          -0.3327946662902832,
+          -0.9420197606086731,
+          0.042970433831214905,
+          -7.063358783721924
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7975,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324060_983082056",
+      "mask_path": "../../mask/hdr_right_07975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07977.png",
+      "transform_matrix": [
+        [
+          0.5011311769485474,
+          -0.19575843214988708,
+          -0.8429390788078308,
+          -13.092146873474121
+        ],
+        [
+          0.7967969179153442,
+          -0.2756434679031372,
+          0.5377130508422852,
+          6.870953559875488
+        ],
+        [
+          -0.33761247992515564,
+          -0.9411159753799438,
+          0.01784616708755493,
+          -7.021017074584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7977,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_183081865",
+      "mask_path": "../../mask/hdr_right_07977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07978.png",
+      "transform_matrix": [
+        [
+          0.49977412819862366,
+          -0.19260764122009277,
+          -0.8444691896438599,
+          -13.114513397216797
+        ],
+        [
+          0.7960382103919983,
+          -0.28214001655578613,
+          0.5354626774787903,
+          6.8305768966674805
+        ],
+        [
+          -0.34139272570610046,
+          -0.9398400187492371,
+          0.012316764332354069,
+          -6.993741989135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7978,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_283082008",
+      "mask_path": "../../mask/hdr_right_07978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07985.png",
+      "transform_matrix": [
+        [
+          0.5040535926818848,
+          -0.1682518571615219,
+          -0.8471253514289856,
+          -13.271281242370605
+        ],
+        [
+          0.7919795513153076,
+          -0.30122244358062744,
+          0.5310682654380798,
+          6.624163627624512
+        ],
+        [
+          -0.34452635049819946,
+          -0.9385927319526672,
+          -0.018580228090286255,
+          -6.866235733032227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7985,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324061_983081102",
+      "mask_path": "../../mask/hdr_right_07985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07986.png",
+      "transform_matrix": [
+        [
+          0.5013876557350159,
+          -0.17492765188217163,
+          -0.8473551869392395,
+          -13.300827980041504
+        ],
+        [
+          0.7925561666488647,
+          -0.3000073730945587,
+          0.5308958888053894,
+          6.5900774002075195
+        ],
+        [
+          -0.34708118438720703,
+          -0.937761127948761,
+          -0.011779994703829288,
+          -6.833463191986084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7986,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_83081722",
+      "mask_path": "../../mask/hdr_right_07986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07988.png",
+      "transform_matrix": [
+        [
+          0.4985789358615875,
+          -0.18065187335014343,
+          -0.8478112816810608,
+          -13.346261024475098
+        ],
+        [
+          0.7981511354446411,
+          -0.28590473532676697,
+          0.5302954912185669,
+          6.531510353088379
+        ],
+        [
+          -0.3381921350955963,
+          -0.9410756826400757,
+          0.001641399459913373,
+          -6.821837902069092
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7988,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_283080577",
+      "mask_path": "../../mask/hdr_right_07988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07989.png",
+      "transform_matrix": [
+        [
+          0.4974338412284851,
+          -0.18572565913200378,
+          -0.8473876118659973,
+          -13.380325317382812
+        ],
+        [
+          0.7974547147750854,
+          -0.28663933277130127,
+          0.5309462547302246,
+          6.500952243804932
+        ],
+        [
+          -0.34150493144989014,
+          -0.9398637413978577,
+          0.005523696541786194,
+          -6.799749851226807
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7989,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_383082628",
+      "mask_path": "../../mask/hdr_right_07989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07990.png",
+      "transform_matrix": [
+        [
+          0.49864205718040466,
+          -0.18818135559558868,
+          -0.8461346626281738,
+          -13.416739463806152
+        ],
+        [
+          0.793800413608551,
+          -0.29297730326652527,
+          0.5329590439796448,
+          6.471436977386475
+        ],
+        [
+          -0.3481912314891815,
+          -0.93741774559021,
+          0.0032876161858439445,
+          -6.769343376159668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7990,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_483082532",
+      "mask_path": "../../mask/hdr_right_07990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07992.png",
+      "transform_matrix": [
+        [
+          0.504755973815918,
+          -0.17295299470424652,
+          -0.8457592129707336,
+          -13.47465705871582
+        ],
+        [
+          0.7908811569213867,
+          -0.3000512719154358,
+          0.5333631634712219,
+          6.398094177246094
+        ],
+        [
+          -0.34601786732673645,
+          -0.9381132125854492,
+          -0.014667387120425701,
+          -6.708318710327148
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7992,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_683082103",
+      "mask_path": "../../mask/hdr_right_07992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07993.png",
+      "transform_matrix": [
+        [
+          0.5015250444412231,
+          -0.17976215481758118,
+          -0.8462612628936768,
+          -13.50678539276123
+        ],
+        [
+          0.7909545302391052,
+          -0.30104246735572815,
+          0.5326954126358032,
+          6.3588666915893555
+        ],
+        [
+          -0.3505190908908844,
+          -0.9365142583847046,
+          -0.008796658366918564,
+          -6.6695942878723145
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7993,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_783081293",
+      "mask_path": "../../mask/hdr_right_07993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07995.png",
+      "transform_matrix": [
+        [
+          0.496794193983078,
+          -0.18943731486797333,
+          -0.8469409346580505,
+          -13.578635215759277
+        ],
+        [
+          0.7945919036865234,
+          -0.293183296918869,
+          0.5316646099090576,
+          6.295119285583496
+        ],
+        [
+          -0.349026083946228,
+          -0.937100350856781,
+          0.004873568657785654,
+          -6.661343097686768
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7995,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324062_983081102",
+      "mask_path": "../../mask/hdr_right_07995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07996.png",
+      "transform_matrix": [
+        [
+          0.49928566813468933,
+          -0.1914956271648407,
+          -0.8450108170509338,
+          -13.620973587036133
+        ],
+        [
+          0.7905812859535217,
+          -0.2983797490596771,
+          0.5347438454627991,
+          6.265560150146484
+        ],
+        [
+          -0.35453522205352783,
+          -0.9350395202636719,
+          0.002416113158687949,
+          -6.63109827041626
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7996,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_83081483",
+      "mask_path": "../../mask/hdr_right_07996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07998.png",
+      "transform_matrix": [
+        [
+          0.5053938031196594,
+          -0.1878640204668045,
+          -0.842190146446228,
+          -13.681822776794434
+        ],
+        [
+          0.783378005027771,
+          -0.30933353304862976,
+          0.5391026735305786,
+          6.202402114868164
+        ],
+        [
+          -0.36179566383361816,
+          -0.9322123527526855,
+          -0.009166703559458256,
+          -6.582862854003906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7998,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_283080577",
+      "mask_path": "../../mask/hdr_right_07998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07999.png",
+      "transform_matrix": [
+        [
+          0.503532886505127,
+          -0.19441738724708557,
+          -0.8418174386024475,
+          -13.711772918701172
+        ],
+        [
+          0.7856757640838623,
+          -0.30227547883987427,
+          0.5397622585296631,
+          6.16355562210083
+        ],
+        [
+          -0.3593999147415161,
+          -0.933183491230011,
+          0.0005433371989056468,
+          -6.538945198059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7999,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_383080244",
+      "mask_path": "../../mask/hdr_right_07999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08001.png",
+      "transform_matrix": [
+        [
+          0.504586398601532,
+          -0.20768927037715912,
+          -0.8380082249641418,
+          -13.785795211791992
+        ],
+        [
+          0.7913694977760315,
+          -0.2767712473869324,
+          0.5450981259346008,
+          6.107573509216309
+        ],
+        [
+          -0.34514760971069336,
+          -0.9382231831550598,
+          0.02470395341515541,
+          -6.530113220214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8001,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_583081007",
+      "mask_path": "../../mask/hdr_right_08001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08002.png",
+      "transform_matrix": [
+        [
+          0.5070883631706238,
+          -0.2096242904663086,
+          -0.8360137939453125,
+          -13.831113815307617
+        ],
+        [
+          0.7895296812057495,
+          -0.2760668694972992,
+          0.5481149554252625,
+          6.079615592956543
+        ],
+        [
+          -0.3456938862800598,
+          -0.9380003809928894,
+          0.025514284148812294,
+          -6.502820014953613
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8002,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_683078765",
+      "mask_path": "../../mask/hdr_right_08002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08004.png",
+      "transform_matrix": [
+        [
+          0.5093895196914673,
+          -0.20495282113552094,
+          -0.8357731103897095,
+          -13.892948150634766
+        ],
+        [
+          0.7859633564949036,
+          -0.28466954827308655,
+          0.5488396286964417,
+          6.023308277130127
+        ],
+        [
+          -0.35040536522865295,
+          -0.9364601969718933,
+          0.01607768051326275,
+          -6.464964389801025
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8004,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324063_883080244",
+      "mask_path": "../../mask/hdr_right_08004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08006.png",
+      "transform_matrix": [
+        [
+          0.508748471736908,
+          -0.19658899307250977,
+          -0.838169276714325,
+          -13.94066047668457
+        ],
+        [
+          0.8016089797019958,
+          -0.24692632257938385,
+          0.5444726347923279,
+          5.973591327667236
+        ],
+        [
+          -0.31400343775749207,
+          -0.948883593082428,
+          0.03196408972144127,
+          -6.465952396392822
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8006,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_83082675",
+      "mask_path": "../../mask/hdr_right_08006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08008.png",
+      "transform_matrix": [
+        [
+          0.5037637948989868,
+          -0.18805129826068878,
+          -0.8431243896484375,
+          -14.000835418701172
+        ],
+        [
+          0.8113234043121338,
+          -0.23212690651416779,
+          0.5365366339683533,
+          5.917678356170654
+        ],
+        [
+          -0.2966082692146301,
+          -0.9543341994285583,
+          0.035633284598588943,
+          -6.455318927764893
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8008,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_283083200",
+      "mask_path": "../../mask/hdr_right_08008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08010.png",
+      "transform_matrix": [
+        [
+          0.5151475071907043,
+          -0.1667952686548233,
+          -0.8407153487205505,
+          -14.064620018005371
+        ],
+        [
+          0.8042314648628235,
+          -0.24510441720485687,
+          0.5414199233055115,
+          5.859189510345459
+        ],
+        [
+          -0.296369343996048,
+          -0.9550409317016602,
+          0.007877053692936897,
+          -6.421672344207764
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8010,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_483081817",
+      "mask_path": "../../mask/hdr_right_08010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08015.png",
+      "transform_matrix": [
+        [
+          0.5294227600097656,
+          -0.17205849289894104,
+          -0.8307269215583801,
+          -14.209104537963867
+        ],
+        [
+          0.8157123327255249,
+          -0.16578687727451324,
+          0.5541914105415344,
+          5.746192932128906
+        ],
+        [
+          -0.23307698965072632,
+          -0.971035897731781,
+          0.0525788776576519,
+          -6.404120445251465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8015,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324064_983082294",
+      "mask_path": "../../mask/hdr_right_08015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08027.png",
+      "transform_matrix": [
+        [
+          0.4932395815849304,
+          -0.11975950002670288,
+          -0.8616103529930115,
+          -14.400967597961426
+        ],
+        [
+          0.834850013256073,
+          -0.2131299376487732,
+          0.5075443983078003,
+          5.578237056732178
+        ],
+        [
+          -0.2444181889295578,
+          -0.9696564078330994,
+          -0.0051429178565740585,
+          -6.297966003417969
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8027,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_183081865",
+      "mask_path": "../../mask/hdr_right_08027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08028.png",
+      "transform_matrix": [
+        [
+          0.49265724420547485,
+          -0.12025664001703262,
+          -0.8618742823600769,
+          -14.430187225341797
+        ],
+        [
+          0.8362191319465637,
+          -0.20873413980007172,
+          0.5071170926094055,
+          5.539799213409424
+        ],
+        [
+          -0.24088674783706665,
+          -0.9705505967140198,
+          -0.002273484133183956,
+          -6.260662078857422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8028,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_283082008",
+      "mask_path": "../../mask/hdr_right_08028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08030.png",
+      "transform_matrix": [
+        [
+          0.49325665831565857,
+          -0.12366432696580887,
+          -0.8610488176345825,
+          -14.492330551147461
+        ],
+        [
+          0.8379212617874146,
+          -0.19830937683582306,
+          0.5084892511367798,
+          5.4712324142456055
+        ],
+        [
+          -0.2336360365152359,
+          -0.9723068475723267,
+          0.005803550593554974,
+          -6.259649276733398
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8030,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_483081579",
+      "mask_path": "../../mask/hdr_right_08030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08031.png",
+      "transform_matrix": [
+        [
+          0.496638685464859,
+          -0.12233234941959381,
+          -0.8592932820320129,
+          -14.532410621643066
+        ],
+        [
+          0.8361923694610596,
+          -0.19794712960720062,
+          0.5114677548408508,
+          5.436316013336182
+        ],
+        [
+          -0.23266367614269257,
+          -0.9725490808486938,
+          0.003985156770795584,
+          -6.24881649017334
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8031,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_583081245",
+      "mask_path": "../../mask/hdr_right_08031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08032.png",
+      "transform_matrix": [
+        [
+          0.5019074082374573,
+          -0.11913978308439255,
+          -0.8566765189170837,
+          -14.571093559265137
+        ],
+        [
+          0.8311241865158081,
+          -0.2077370584011078,
+          0.5158273577690125,
+          5.402824401855469
+        ],
+        [
+          -0.23941901326179504,
+          -0.9709022641181946,
+          -0.005244826897978783,
+          -6.223452568054199
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8032,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_683081150",
+      "mask_path": "../../mask/hdr_right_08032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08034.png",
+      "transform_matrix": [
+        [
+          0.5088873505592346,
+          -0.1137586459517479,
+          -0.8532835245132446,
+          -14.618941307067871
+        ],
+        [
+          0.8231298327445984,
+          -0.2258388251066208,
+          0.5210126638412476,
+          5.349205493927002
+        ],
+        [
+          -0.2519741952419281,
+          -0.9674997925758362,
+          -0.02128840610384941,
+          -6.201761722564697
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8034,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_883083820",
+      "mask_path": "../../mask/hdr_right_08034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08035.png",
+      "transform_matrix": [
+        [
+          0.5078802704811096,
+          -0.11503539234399796,
+          -0.8537122011184692,
+          -14.64244270324707
+        ],
+        [
+          0.8173682689666748,
+          -0.24853673577308655,
+          0.5197486281394958,
+          5.307039260864258
+        ],
+        [
+          -0.2719683349132538,
+          -0.961767315864563,
+          -0.032200638204813004,
+          -6.1488823890686035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8035,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324066_983080387",
+      "mask_path": "../../mask/hdr_right_08035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08045.png",
+      "transform_matrix": [
+        [
+          0.45307984948158264,
+          -0.15134656429290771,
+          -0.8785288333892822,
+          -14.85090160369873
+        ],
+        [
+          0.8527151346206665,
+          -0.21383345127105713,
+          0.47660475969314575,
+          5.0650105476379395
+        ],
+        [
+          -0.2599913477897644,
+          -0.9650748372077942,
+          0.032171864062547684,
+          -6.043802738189697
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8045,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324067_983082532",
+      "mask_path": "../../mask/hdr_right_08045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08046.png",
+      "transform_matrix": [
+        [
+          0.4491034746170044,
+          -0.1736999750137329,
+          -0.8764328360557556,
+          -14.903059959411621
+        ],
+        [
+          0.851523756980896,
+          -0.21385058760643005,
+          0.47872254252433777,
+          5.014222145080566
+        ],
+        [
+          -0.2705797553062439,
+          -0.9612992405891418,
+          0.05186861380934715,
+          -6.015565395355225
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8046,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_83081007",
+      "mask_path": "../../mask/hdr_right_08046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08047.png",
+      "transform_matrix": [
+        [
+          0.45024171471595764,
+          -0.18365198373794556,
+          -0.8738159537315369,
+          -14.956023216247559
+        ],
+        [
+          0.8453114628791809,
+          -0.22757136821746826,
+          0.48338380455970764,
+          4.962087631225586
+        ],
+        [
+          -0.2876299023628235,
+          -0.9562861323356628,
+          0.052780985832214355,
+          -5.958218097686768
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8047,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_183080911",
+      "mask_path": "../../mask/hdr_right_08047.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08048.png",
+      "transform_matrix": [
+        [
+          0.4536297023296356,
+          -0.1794564127922058,
+          -0.8729349970817566,
+          -14.9957275390625
+        ],
+        [
+          0.8389574885368347,
+          -0.24441838264465332,
+          0.4862201511859894,
+          4.916804790496826
+        ],
+        [
+          -0.30061668157577515,
+          -0.9529192447662354,
+          0.039680857211351395,
+          -5.919710159301758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8048,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_283081293",
+      "mask_path": "../../mask/hdr_right_08048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08049.png",
+      "transform_matrix": [
+        [
+          0.45387354493141174,
+          -0.178292915225029,
+          -0.8730466365814209,
+          -15.041285514831543
+        ],
+        [
+          0.8407779335975647,
+          -0.23880259692668915,
+          0.4858660399913788,
+          4.867099285125732
+        ],
+        [
+          -0.295112282037735,
+          -0.9545600414276123,
+          0.041518550366163254,
+          -5.917447566986084
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8049,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_383080720",
+      "mask_path": "../../mask/hdr_right_08049.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08050.png",
+      "transform_matrix": [
+        [
+          0.454894483089447,
+          -0.1721656769514084,
+          -0.8737448453903198,
+          -15.079325675964355
+        ],
+        [
+          0.8471799492835999,
+          -0.21877603232860565,
+          0.4841725528240204,
+          4.8268842697143555
+        ],
+        [
+          -0.2745123505592346,
+          -0.9604666233062744,
+          0.046335313469171524,
+          -5.910665035247803
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8050,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_483081102",
+      "mask_path": "../../mask/hdr_right_08050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_08051.png",
+      "transform_matrix": [
+        [
+          0.4580253064632416,
+          -0.16406069695949554,
+          -0.8736687302589417,
+          -15.110333442687988
+        ],
+        [
+          0.8480290770530701,
+          -0.2140810489654541,
+          0.48478448390960693,
+          4.78451681137085
+        ],
+        [
+          -0.26656997203826904,
+          -0.962939977645874,
+          0.04107370227575302,
+          -5.901061058044434
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 8051,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731324068_583081007",
+      "mask_path": "../../mask/hdr_right_08051.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/fe84cb9d/mesh.ply b/2024-11-11-12-07-40/splats/fe84cb9d/mesh.ply
new file mode 100644
index 0000000000000000000000000000000000000000..84fa6ffe32c72eb363361afccf30915098bad984
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/fe84cb9d/mesh.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef63baa17a2120a9a7edb15755e03bc267f1538506d9c2430dccbb73e9c003ab
+size 118877698
diff --git a/2024-11-11-12-07-40/splats/fe84cb9d/mesh_filled_decimated.ply b/2024-11-11-12-07-40/splats/fe84cb9d/mesh_filled_decimated.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2543e6c00971c5f7ee5ddfbb50c064f276dfc6bd
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/fe84cb9d/mesh_filled_decimated.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73856a07666d043ff1112135f694b3aece00415b0963f35708947bedaf28b3ed
+size 1591885
diff --git a/2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/config.yml b/2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9bd0418d26017446bd18d61f63e093198a325eda
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/fe84cb9d/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
+- 2024-11-11-12-07-40_nerfstudio
+- slices
+- slice_fe84cb9d
+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
+      - 2024-11-11-12-07-40_nerfstudio
+      - slices
+      - slice_fe84cb9d
+      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/2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/dataparser_transforms.json b/2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..939466f4716c7b84e1e4ab0d3124dffc423ba328
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            -0.7283179759979248,
+            -0.6667002439498901,
+            0.1583152711391449,
+            26.355314254760742
+        ],
+        [
+            -0.6667002439498901,
+            0.7428197860717773,
+            0.06107025966048241,
+            -8.693843841552734
+        ],
+        [
+            -0.1583152711391449,
+            -0.06107025966048241,
+            -0.9854981899261475,
+            -13.89228630065918
+        ]
+    ],
+    "scale": 0.15647151201258963
+}
\ No newline at end of file
diff --git a/2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/splat.ply b/2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/splat.ply
new file mode 100644
index 0000000000000000000000000000000000000000..86ca1e249bf35b2964ddcf79d34fb4ceb5e02abe
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/fe84cb9d/splatfacto/splat.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45eb70620a9e3dc0544fa1b766d1281fefe26b6d6f95be9e3d82813b57475d02
+size 133973921
diff --git a/2024-11-11-12-07-40/splats/fe84cb9d/transforms.json b/2024-11-11-12-07-40/splats/fe84cb9d/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..7563815c96399c06ca4823793bf133f51c44f6de
--- /dev/null
+++ b/2024-11-11-12-07-40/splats/fe84cb9d/transforms.json
@@ -0,0 +1,41838 @@
+{
+  "camera_model": "OPENCV",
+  "frames": [
+    {
+      "file_path": "../../rgb/hdr_front_02835.png",
+      "transform_matrix": [
+        [
+          -0.2662595510482788,
+          -0.1379360556602478,
+          -0.9539809823036194,
+          5.278099060058594
+        ],
+        [
+          0.963780403137207,
+          -0.02242131158709526,
+          -0.26575276255607605,
+          21.413875579833984
+        ],
+        [
+          0.0152673851698637,
+          -0.9901873469352722,
+          0.1389099508523941,
+          -16.024850845336914
+        ],
+        [
+          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": "1731323547_983081817",
+      "mask_path": "../../mask/hdr_front_02835.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02836.png",
+      "transform_matrix": [
+        [
+          -0.26636892557144165,
+          -0.1364189088344574,
+          -0.954168438911438,
+          5.3372907638549805
+        ],
+        [
+          0.963726282119751,
+          -0.020532151684165,
+          -0.266101598739624,
+          21.42833709716797
+        ],
+        [
+          0.016710158437490463,
+          -0.9904384613037109,
+          0.13693960011005402,
+          -16.018585205078125
+        ],
+        [
+          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": "1731323548_83083391",
+      "mask_path": "../../mask/hdr_front_02836.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02838.png",
+      "transform_matrix": [
+        [
+          -0.2644514739513397,
+          -0.13168269395828247,
+          -0.9553664922714233,
+          5.4242777824401855
+        ],
+        [
+          0.9641584753990173,
+          -0.013982280157506466,
+          -0.2649579644203186,
+          21.45785903930664
+        ],
+        [
+          0.021532176062464714,
+          -0.9911932945251465,
+          0.13066063821315765,
+          -16.032514572143555
+        ],
+        [
+          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": "1731323548_283083438",
+      "mask_path": "../../mask/hdr_front_02838.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02839.png",
+      "transform_matrix": [
+        [
+          -0.267254501581192,
+          -0.13872137665748596,
+          -0.9535887241363525,
+          5.491545677185059
+        ],
+        [
+          0.9634994864463806,
+          -0.02243819460272789,
+          -0.2667679786682129,
+          21.47332191467285
+        ],
+        [
+          0.015609612688422203,
+          -0.9900772571563721,
+          0.13965469598770142,
+          -16.053747177124023
+        ],
+        [
+          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": "1731323548_383081436",
+      "mask_path": "../../mask/hdr_front_02839.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02840.png",
+      "transform_matrix": [
+        [
+          -0.27207085490226746,
+          -0.15162840485572815,
+          -0.9502559900283813,
+          5.558520793914795
+        ],
+        [
+          0.9622412323951721,
+          -0.03431866317987442,
+          -0.270026296377182,
+          21.489784240722656
+        ],
+        [
+          0.008332143537700176,
+          -0.9878416657447815,
+          0.15524017810821533,
+          -16.085750579833984
+        ],
+        [
+          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": "1731323548_483082056",
+      "mask_path": "../../mask/hdr_front_02840.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02842.png",
+      "transform_matrix": [
+        [
+          -0.2757135033607483,
+          -0.1611984670162201,
+          -0.9476271271705627,
+          5.650498867034912
+        ],
+        [
+          0.9611635208129883,
+          -0.033810943365097046,
+          -0.27390041947364807,
+          21.519771575927734
+        ],
+        [
+          0.012112165801227093,
+          -0.9863426685333252,
+          0.16426022350788116,
+          -16.140840530395508
+        ],
+        [
+          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": "1731323548_683081865",
+      "mask_path": "../../mask/hdr_front_02842.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02843.png",
+      "transform_matrix": [
+        [
+          -0.2773498594760895,
+          -0.167497918009758,
+          -0.9460558295249939,
+          5.71897554397583
+        ],
+        [
+          0.9606153964996338,
+          -0.030734974890947342,
+          -0.2761766016483307,
+          21.531129837036133
+        ],
+        [
+          0.0171820055693388,
+          -0.9853932857513428,
+          0.16942541301250458,
+          -16.138629913330078
+        ],
+        [
+          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": "1731323548_783081531",
+      "mask_path": "../../mask/hdr_front_02843.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02844.png",
+      "transform_matrix": [
+        [
+          -0.27668774127960205,
+          -0.17341765761375427,
+          -0.9451826214790344,
+          5.778210163116455
+        ],
+        [
+          0.9607710242271423,
+          -0.03042721375823021,
+          -0.2756684124469757,
+          21.54117774963379
+        ],
+        [
+          0.019046492874622345,
+          -0.9843782782554626,
+          0.17503350973129272,
+          -16.12902069091797
+        ],
+        [
+          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": "1731323548_883082628",
+      "mask_path": "../../mask/hdr_front_02844.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02845.png",
+      "transform_matrix": [
+        [
+          -0.2739796042442322,
+          -0.17412075400352478,
+          -0.9458420276641846,
+          5.839511871337891
+        ],
+        [
+          0.9615548849105835,
+          -0.03053470514714718,
+          -0.2729099988937378,
+          21.550485610961914
+        ],
+        [
+          0.018638281151652336,
+          -0.9842507839202881,
+          0.17579254508018494,
+          -16.14143180847168
+        ],
+        [
+          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": "1731323548_983081817",
+      "mask_path": "../../mask/hdr_front_02845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02846.png",
+      "transform_matrix": [
+        [
+          -0.27060604095458984,
+          -0.16666625440120697,
+          -0.9481533169746399,
+          5.90326452255249
+        ],
+        [
+          0.9625229239463806,
+          -0.028479348868131638,
+          -0.2697010934352875,
+          21.56831932067871
+        ],
+        [
+          0.017947284504771233,
+          -0.9856020212173462,
+          0.16812679171562195,
+          -16.172386169433594
+        ],
+        [
+          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": "1731323549_83083152",
+      "mask_path": "../../mask/hdr_front_02846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02847.png",
+      "transform_matrix": [
+        [
+          -0.27586978673934937,
+          -0.17264580726623535,
+          -0.945563018321991,
+          5.991537094116211
+        ],
+        [
+          0.9611684679985046,
+          -0.04224571958184242,
+          -0.27270933985710144,
+          21.591230392456055
+        ],
+        [
+          0.007136127445846796,
+          -0.9840776920318604,
+          0.17759601771831512,
+          -16.181427001953125
+        ],
+        [
+          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": "1731323549_183082103",
+      "mask_path": "../../mask/hdr_front_02847.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02848.png",
+      "transform_matrix": [
+        [
+          -0.2862241566181183,
+          -0.17902739346027374,
+          -0.9412890076637268,
+          6.067363739013672
+        ],
+        [
+          0.9581626653671265,
+          -0.05329577997326851,
+          -0.2812184989452362,
+          21.610116958618164
+        ],
+        [
+          0.00017908692825585604,
+          -0.9823995232582092,
+          0.18679191172122955,
+          -16.169445037841797
+        ],
+        [
+          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": "1731323549_283082008",
+      "mask_path": "../../mask/hdr_front_02848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02849.png",
+      "transform_matrix": [
+        [
+          -0.29992473125457764,
+          -0.17569252848625183,
+          -0.9376446604728699,
+          6.124636650085449
+        ],
+        [
+          0.9539619088172913,
+          -0.053891606628894806,
+          -0.2950461804866791,
+          21.637531280517578
+        ],
+        [
+          0.0013062336947768927,
+          -0.9829689264297485,
+          0.1837674081325531,
+          -16.174591064453125
+        ],
+        [
+          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": "1731323549_383081674",
+      "mask_path": "../../mask/hdr_front_02849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02850.png",
+      "transform_matrix": [
+        [
+          -0.3165682554244995,
+          -0.17219749093055725,
+          -0.9328089952468872,
+          6.19351863861084
+        ],
+        [
+          0.9485676288604736,
+          -0.05952661111950874,
+          -0.3109276592731476,
+          21.678516387939453
+        ],
+        [
+          -0.001985995564609766,
+          -0.9832622408866882,
+          0.18218521773815155,
+          -16.202566146850586
+        ],
+        [
+          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": "1731323549_483082056",
+      "mask_path": "../../mask/hdr_front_02850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02851.png",
+      "transform_matrix": [
+        [
+          -0.3241245448589325,
+          -0.20268256962299347,
+          -0.9240471124649048,
+          6.252869129180908
+        ],
+        [
+          0.945677638053894,
+          -0.04335695132613182,
+          -0.32220178842544556,
+          21.713531494140625
+        ],
+        [
+          0.02524082362651825,
+          -0.9782841801643372,
+          0.20572544634342194,
+          -16.204727172851562
+        ],
+        [
+          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": "1731323549_583081722",
+      "mask_path": "../../mask/hdr_front_02851.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02853.png",
+      "transform_matrix": [
+        [
+          -0.35978060960769653,
+          -0.19750183820724487,
+          -0.9118942022323608,
+          6.308511734008789
+        ],
+        [
+          0.9323394298553467,
+          -0.03831661492586136,
+          -0.3595483601093292,
+          21.75510025024414
+        ],
+        [
+          0.03607076406478882,
+          -0.9795534610748291,
+          0.19792433083057404,
+          -16.184152603149414
+        ],
+        [
+          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": "1731323549_783082246",
+      "mask_path": "../../mask/hdr_front_02853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02854.png",
+      "transform_matrix": [
+        [
+          -0.36604467034339905,
+          -0.19230420887470245,
+          -0.9105110168457031,
+          6.374672889709473
+        ],
+        [
+          0.9300309419631958,
+          -0.04146604984998703,
+          -0.36513423919677734,
+          21.791976928710938
+        ],
+        [
+          0.03246155008673668,
+          -0.9804589152336121,
+          0.19402727484703064,
+          -16.216835021972656
+        ],
+        [
+          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": "1731323549_883082866",
+      "mask_path": "../../mask/hdr_front_02854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02855.png",
+      "transform_matrix": [
+        [
+          -0.36544302105903625,
+          -0.19713683426380157,
+          -0.909718930721283,
+          6.433332920074463
+        ],
+        [
+          0.9298655986785889,
+          -0.03275356814265251,
+          -0.3664383888244629,
+          21.83270835876465
+        ],
+        [
+          0.042441967874765396,
+          -0.9798287153244019,
+          0.1952803134918213,
+          -16.242034912109375
+        ],
+        [
+          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": "1731323549_983082294",
+      "mask_path": "../../mask/hdr_front_02855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02857.png",
+      "transform_matrix": [
+        [
+          -0.3675249218940735,
+          -0.195814847946167,
+          -0.9091655611991882,
+          6.482975482940674
+        ],
+        [
+          0.9276378154754639,
+          -0.007354390807449818,
+          -0.37340834736824036,
+          21.912830352783203
+        ],
+        [
+          0.06643253564834595,
+          -0.9806133508682251,
+          0.1843481808900833,
+          -16.2603702545166
+        ],
+        [
+          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": "1731323550_183083057",
+      "mask_path": "../../mask/hdr_front_02857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02858.png",
+      "transform_matrix": [
+        [
+          -0.36891165375709534,
+          -0.1979268193244934,
+          -0.90814608335495,
+          6.536398410797119
+        ],
+        [
+          0.9271427392959595,
+          -0.009344552643597126,
+          -0.37459197640419006,
+          21.958736419677734
+        ],
+        [
+          0.06565556675195694,
+          -0.9801722764968872,
+          0.18695370852947235,
+          -16.284337997436523
+        ],
+        [
+          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": "1731323550_283082246",
+      "mask_path": "../../mask/hdr_front_02858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02859.png",
+      "transform_matrix": [
+        [
+          -0.36972254514694214,
+          -0.20213453471660614,
+          -0.9068886041641235,
+          6.601144313812256
+        ],
+        [
+          0.9271105527877808,
+          -0.01574534736573696,
+          -0.3744571805000305,
+          21.997108459472656
+        ],
+        [
+          0.06141146272420883,
+          -0.9792312383651733,
+          0.19322246313095093,
+          -16.307584762573242
+        ],
+        [
+          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": "1731323550_383081912",
+      "mask_path": "../../mask/hdr_front_02859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02860.png",
+      "transform_matrix": [
+        [
+          -0.3713514506816864,
+          -0.19840681552886963,
+          -0.9070461988449097,
+          6.6580986976623535
+        ],
+        [
+          0.9268016219139099,
+          -0.020280349999666214,
+          -0.3750033676624298,
+          22.021841049194336
+        ],
+        [
+          0.056008003652095795,
+          -0.9799099564552307,
+          0.19141489267349243,
+          -16.31854820251465
+        ],
+        [
+          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": "1731323550_483081340",
+      "mask_path": "../../mask/hdr_front_02860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02861.png",
+      "transform_matrix": [
+        [
+          -0.37081173062324524,
+          -0.18842270970344543,
+          -0.9093929529190063,
+          6.758691310882568
+        ],
+        [
+          0.9278860092163086,
+          -0.03397483378648758,
+          -0.3713129460811615,
+          22.07160758972168
+        ],
+        [
+          0.03906731680035591,
+          -0.9815002083778381,
+          0.18743306398391724,
+          -16.350811004638672
+        ],
+        [
+          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": "1731323550_583081722",
+      "mask_path": "../../mask/hdr_front_02861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02862.png",
+      "transform_matrix": [
+        [
+          -0.37084299325942993,
+          -0.1798148900270462,
+          -0.9111213684082031,
+          6.8586649894714355
+        ],
+        [
+          0.9284378290176392,
+          -0.04867233335971832,
+          -0.3682853877544403,
+          22.115447998046875
+        ],
+        [
+          0.021876797080039978,
+          -0.9824956059455872,
+          0.18499678373336792,
+          -16.369741439819336
+        ],
+        [
+          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": "1731323550_683081865",
+      "mask_path": "../../mask/hdr_front_02862.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02863.png",
+      "transform_matrix": [
+        [
+          -0.3726363480091095,
+          -0.17389431595802307,
+          -0.9115387797355652,
+          6.919571876525879
+        ],
+        [
+          0.9278497695922852,
+          -0.053530286997556686,
+          -0.36909234523773193,
+          22.142074584960938
+        ],
+        [
+          0.01538812555372715,
+          -0.9833083152770996,
+          0.18129514157772064,
+          -16.37958335876465
+        ],
+        [
+          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": "1731323550_783080816",
+      "mask_path": "../../mask/hdr_front_02863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02864.png",
+      "transform_matrix": [
+        [
+          -0.37458479404449463,
+          -0.16945333778858185,
+          -0.911576509475708,
+          6.998911380767822
+        ],
+        [
+          0.9271071553230286,
+          -0.05509773641824722,
+          -0.37072455883026123,
+          22.17434310913086
+        ],
+        [
+          0.012594707310199738,
+          -0.9839968681335449,
+          0.1777401864528656,
+          -16.40580177307129
+        ],
+        [
+          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": "1731323550_883080959",
+      "mask_path": "../../mask/hdr_front_02864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02865.png",
+      "transform_matrix": [
+        [
+          -0.37059491872787476,
+          -0.17997175455093384,
+          -0.9111912846565247,
+          7.0982208251953125
+        ],
+        [
+          0.9287223219871521,
+          -0.059561774134635925,
+          -0.36596083641052246,
+          22.207490921020508
+        ],
+        [
+          0.01159044448286295,
+          -0.9818668961524963,
+          0.18921707570552826,
+          -16.42098617553711
+        ],
+        [
+          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": "1731323550_983081817",
+      "mask_path": "../../mask/hdr_front_02865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02866.png",
+      "transform_matrix": [
+        [
+          -0.3612242341041565,
+          -0.18792398273944855,
+          -0.9133464097976685,
+          7.178351879119873
+        ],
+        [
+          0.9324599504470825,
+          -0.06653647124767303,
+          -0.35509347915649414,
+          22.226062774658203
+        ],
+        [
+          0.005959741305559874,
+          -0.9799273014068604,
+          0.19926618039608002,
+          -16.425649642944336
+        ],
+        [
+          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": "1731323551_83081245",
+      "mask_path": "../../mask/hdr_front_02866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02867.png",
+      "transform_matrix": [
+        [
+          -0.34811684489250183,
+          -0.18587128818035126,
+          -0.9188398122787476,
+          7.251375198364258
+        ],
+        [
+          0.937450647354126,
+          -0.07005982100963593,
+          -0.34099552035331726,
+          22.240989685058594
+        ],
+        [
+          -0.0009924767073243856,
+          -0.9800732731819153,
+          0.19863416254520416,
+          -16.435239791870117
+        ],
+        [
+          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": "1731323551_183081865",
+      "mask_path": "../../mask/hdr_front_02867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02868.png",
+      "transform_matrix": [
+        [
+          -0.3362634778022766,
+          -0.18659457564353943,
+          -0.9230976700782776,
+          7.340333938598633
+        ],
+        [
+          0.9416616559028625,
+          -0.08134050667285919,
+          -0.32658374309539795,
+          22.264659881591797
+        ],
+        [
+          -0.014146476052701473,
+          -0.9790639281272888,
+          0.2030608057975769,
+          -16.46510887145996
+        ],
+        [
+          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": "1731323551_283082246",
+      "mask_path": "../../mask/hdr_front_02868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02869.png",
+      "transform_matrix": [
+        [
+          -0.32676103711128235,
+          -0.19388389587402344,
+          -0.9250061511993408,
+          7.442963600158691
+        ],
+        [
+          0.9446474313735962,
+          -0.09751754254102707,
+          -0.31325945258140564,
+          22.289396286010742
+        ],
+        [
+          -0.029468359425663948,
+          -0.9761656522750854,
+          0.21501687169075012,
+          -16.507421493530273
+        ],
+        [
+          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": "1731323551_383081912",
+      "mask_path": "../../mask/hdr_front_02869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02870.png",
+      "transform_matrix": [
+        [
+          -0.3094575107097626,
+          -0.2028798609972,
+          -0.9290186762809753,
+          7.524759292602539
+        ],
+        [
+          0.9503190517425537,
+          -0.1005147323012352,
+          -0.2946022152900696,
+          22.30599021911621
+        ],
+        [
+          -0.033611200749874115,
+          -0.9740311503410339,
+          0.22390563786029816,
+          -16.551469802856445
+        ],
+        [
+          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": "1731323551_483082294",
+      "mask_path": "../../mask/hdr_front_02870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02871.png",
+      "transform_matrix": [
+        [
+          -0.2902948558330536,
+          -0.20448903739452362,
+          -0.9348332285881042,
+          7.602390289306641
+        ],
+        [
+          0.9563620090484619,
+          -0.09586280584335327,
+          -0.2760108411312103,
+          22.317138671875
+        ],
+        [
+          -0.0331745445728302,
+          -0.9741635322570801,
+          0.22339403629302979,
+          -16.59398651123047
+        ],
+        [
+          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": "1731323551_583082199",
+      "mask_path": "../../mask/hdr_front_02871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02872.png",
+      "transform_matrix": [
+        [
+          -0.27097752690315247,
+          -0.21238939464092255,
+          -0.9388620853424072,
+          7.732439041137695
+        ],
+        [
+          0.9621096849441528,
+          -0.09042865037918091,
+          -0.25723057985305786,
+          22.334075927734375
+        ],
+        [
+          -0.030266985297203064,
+          -0.9729920029640198,
+          0.22884601354599,
+          -16.61155891418457
+        ],
+        [
+          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": "1731323551_683081388",
+      "mask_path": "../../mask/hdr_front_02872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02873.png",
+      "transform_matrix": [
+        [
+          -0.24885275959968567,
+          -0.2174200415611267,
+          -0.94382244348526,
+          7.841818332672119
+        ],
+        [
+          0.9680905938148499,
+          -0.08556114137172699,
+          -0.2355414628982544,
+          22.346553802490234
+        ],
+        [
+          -0.029543094336986542,
+          -0.9723207950592041,
+          0.2317744344472885,
+          -16.61831283569336
+        ],
+        [
+          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": "1731323551_783081769",
+      "mask_path": "../../mask/hdr_front_02873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02874.png",
+      "transform_matrix": [
+        [
+          -0.22801074385643005,
+          -0.21374134719371796,
+          -0.9499082565307617,
+          7.922812461853027
+        ],
+        [
+          0.9729872345924377,
+          -0.08624093234539032,
+          -0.2141452133655548,
+          22.358699798583984
+        ],
+        [
+          -0.0361492857336998,
+          -0.9730761647224426,
+          0.22763147950172424,
+          -16.6215763092041
+        ],
+        [
+          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": "1731323551_883082866",
+      "mask_path": "../../mask/hdr_front_02874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02875.png",
+      "transform_matrix": [
+        [
+          -0.21896162629127502,
+          -0.2257630079984665,
+          -0.9492558836936951,
+          8.013278007507324
+        ],
+        [
+          0.9741525650024414,
+          -0.10593997687101364,
+          -0.19950854778289795,
+          22.38207244873047
+        ],
+        [
+          -0.05552250146865845,
+          -0.9684048295021057,
+          0.24312439560890198,
+          -16.6439151763916
+        ],
+        [
+          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": "1731323551_983082294",
+      "mask_path": "../../mask/hdr_front_02875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02876.png",
+      "transform_matrix": [
+        [
+          -0.21837428212165833,
+          -0.2465156763792038,
+          -0.9442153573036194,
+          8.10123348236084
+        ],
+        [
+          0.9733226895332336,
+          -0.1248180940747261,
+          -0.19251860678195953,
+          22.410537719726562
+        ],
+        [
+          -0.0703963115811348,
+          -0.9610673785209656,
+          0.267196387052536,
+          -16.68187713623047
+        ],
+        [
+          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": "1731323552_83082675",
+      "mask_path": "../../mask/hdr_front_02876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02877.png",
+      "transform_matrix": [
+        [
+          -0.21507243812084198,
+          -0.2535666525363922,
+          -0.9431054592132568,
+          8.17127799987793
+        ],
+        [
+          0.9739948511123657,
+          -0.12615865468978882,
+          -0.18819722533226013,
+          22.43844223022461
+        ],
+        [
+          -0.07126037031412125,
+          -0.9590558409690857,
+          0.2741057574748993,
+          -16.712120056152344
+        ],
+        [
+          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": "1731323552_183082342",
+      "mask_path": "../../mask/hdr_front_02877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02878.png",
+      "transform_matrix": [
+        [
+          -0.21082523465156555,
+          -0.2505997121334076,
+          -0.944855809211731,
+          8.23955249786377
+        ],
+        [
+          0.9751594066619873,
+          -0.12110300362110138,
+          -0.18546728789806366,
+          22.463239669799805
+        ],
+        [
+          -0.06794682890176773,
+          -0.9604862332344055,
+          0.26990625262260437,
+          -16.749433517456055
+        ],
+        [
+          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": "1731323552_283080816",
+      "mask_path": "../../mask/hdr_front_02878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02879.png",
+      "transform_matrix": [
+        [
+          -0.20869386196136475,
+          -0.24415777623653412,
+          -0.9470131993293762,
+          8.33743953704834
+        ],
+        [
+          0.9755069613456726,
+          -0.12080387771129608,
+          -0.18382756412029266,
+          22.486337661743164
+        ],
+        [
+          -0.06951992213726044,
+          -0.9621816277503967,
+          0.26338863372802734,
+          -16.778806686401367
+        ],
+        [
+          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": "1731323552_383081197",
+      "mask_path": "../../mask/hdr_front_02879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02880.png",
+      "transform_matrix": [
+        [
+          -0.20403903722763062,
+          -0.23417460918426514,
+          -0.950542151927948,
+          8.429365158081055
+        ],
+        [
+          0.9762772917747498,
+          -0.12054254114627838,
+          -0.17986652255058289,
+          22.501201629638672
+        ],
+        [
+          -0.0724605843424797,
+          -0.9646925926208496,
+          0.2532147765159607,
+          -16.792966842651367
+        ],
+        [
+          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": "1731323552_483081102",
+      "mask_path": "../../mask/hdr_front_02880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02881.png",
+      "transform_matrix": [
+        [
+          -0.19502508640289307,
+          -0.22109133005142212,
+          -0.9555543065071106,
+          8.503172874450684
+        ],
+        [
+          0.977887749671936,
+          -0.11883249878883362,
+          -0.1720883995294571,
+          22.505014419555664
+        ],
+        [
+          -0.0755036324262619,
+          -0.9679863452911377,
+          0.23937779664993286,
+          -16.803123474121094
+        ],
+        [
+          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": "1731323552_583082437",
+      "mask_path": "../../mask/hdr_front_02881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02882.png",
+      "transform_matrix": [
+        [
+          -0.18476302921772003,
+          -0.20344576239585876,
+          -0.9614949226379395,
+          8.616376876831055
+        ],
+        [
+          0.9799438714981079,
+          -0.11244937032461166,
+          -0.1645147055387497,
+          22.534318923950195
+        ],
+        [
+          -0.07464966177940369,
+          -0.9726073741912842,
+          0.2201419323682785,
+          -16.826955795288086
+        ],
+        [
+          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": "1731323552_683082103",
+      "mask_path": "../../mask/hdr_front_02882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02883.png",
+      "transform_matrix": [
+        [
+          -0.18346937000751495,
+          -0.1908775269985199,
+          -0.96431565284729,
+          8.718581199645996
+        ],
+        [
+          0.9800447225570679,
+          -0.111851766705513,
+          -0.1643218994140625,
+          22.561447143554688
+        ],
+        [
+          -0.07649504393339157,
+          -0.9752205014228821,
+          0.20758987963199615,
+          -16.837604522705078
+        ],
+        [
+          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": "1731323552_783081054",
+      "mask_path": "../../mask/hdr_front_02883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02884.png",
+      "transform_matrix": [
+        [
+          -0.1875164657831192,
+          -0.18076075613498688,
+          -0.9654859900474548,
+          8.785579681396484
+        ],
+        [
+          0.9789553284645081,
+          -0.11496847867965698,
+          -0.16860781610012054,
+          22.572265625
+        ],
+        [
+          -0.08052277565002441,
+          -0.9767844080924988,
+          0.19851519167423248,
+          -16.837846755981445
+        ],
+        [
+          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": "1731323552_883082389",
+      "mask_path": "../../mask/hdr_front_02884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02885.png",
+      "transform_matrix": [
+        [
+          -0.18770521879196167,
+          -0.1616685688495636,
+          -0.9688292741775513,
+          8.871516227722168
+        ],
+        [
+          0.9787952303886414,
+          -0.1131475493311882,
+          -0.17075519263744354,
+          22.586763381958008
+        ],
+        [
+          -0.08201491087675095,
+          -0.9803371429443359,
+          0.17947882413864136,
+          -16.85618782043457
+        ],
+        [
+          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": "1731323552_983082532",
+      "mask_path": "../../mask/hdr_front_02885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02886.png",
+      "transform_matrix": [
+        [
+          -0.1818227469921112,
+          -0.1427629441022873,
+          -0.9729127287864685,
+          8.9927978515625
+        ],
+        [
+          0.9800089597702026,
+          -0.10757157951593399,
+          -0.16736412048339844,
+          22.594482421875
+        ],
+        [
+          -0.08076436072587967,
+          -0.983893871307373,
+          0.1594679206609726,
+          -16.857955932617188
+        ],
+        [
+          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": "1731323553_83082437",
+      "mask_path": "../../mask/hdr_front_02886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02887.png",
+      "transform_matrix": [
+        [
+          -0.17331001162528992,
+          -0.1257573813199997,
+          -0.9768053889274597,
+          9.082511901855469
+        ],
+        [
+          0.9816159605979919,
+          -0.10258089005947113,
+          -0.16095690429210663,
+          22.598705291748047
+        ],
+        [
+          -0.07996003329753876,
+          -0.9867433309555054,
+          0.1412237584590912,
+          -16.845890045166016
+        ],
+        [
+          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": "1731323553_183082580",
+      "mask_path": "../../mask/hdr_front_02887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02888.png",
+      "transform_matrix": [
+        [
+          -0.16444042325019836,
+          -0.1088910922408104,
+          -0.9803581237792969,
+          9.145474433898926
+        ],
+        [
+          0.9828718304634094,
+          -0.1019207015633583,
+          -0.1535414755344391,
+          22.609359741210938
+        ],
+        [
+          -0.08319947868585587,
+          -0.9888149499893188,
+          0.12378588318824768,
+          -16.850679397583008
+        ],
+        [
+          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": "1731323553_283081054",
+      "mask_path": "../../mask/hdr_front_02888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02889.png",
+      "transform_matrix": [
+        [
+          -0.15952976047992706,
+          -0.09547702223062515,
+          -0.9825652241706848,
+          9.248372077941895
+        ],
+        [
+          0.9836174845695496,
+          -0.10000839829444885,
+          -0.14998269081115723,
+          22.62944221496582
+        ],
+        [
+          -0.08394487202167511,
+          -0.9903951287269592,
+          0.10986719280481339,
+          -16.857086181640625
+        ],
+        [
+          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": "1731323553_383081197",
+      "mask_path": "../../mask/hdr_front_02889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02890.png",
+      "transform_matrix": [
+        [
+          -0.1599268764257431,
+          -0.08376896381378174,
+          -0.9835680723190308,
+          9.350356101989746
+        ],
+        [
+          0.983529269695282,
+          -0.09853623062372208,
+          -0.15152840316295624,
+          22.651769638061523
+        ],
+        [
+          -0.08422370254993439,
+          -0.9916014075279236,
+          0.09814781695604324,
+          -16.862592697143555
+        ],
+        [
+          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": "1731323553_483081102",
+      "mask_path": "../../mask/hdr_front_02890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02891.png",
+      "transform_matrix": [
+        [
+          -0.16186340153217316,
+          -0.07224209606647491,
+          -0.9841653108596802,
+          9.433392524719238
+        ],
+        [
+          0.9831756949424744,
+          -0.09735743701457977,
+          -0.15455420315265656,
+          22.67060089111328
+        ],
+        [
+          -0.08465046435594559,
+          -0.9926241040229797,
+          0.08678527921438217,
+          -16.865703582763672
+        ],
+        [
+          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": "1731323553_583078861",
+      "mask_path": "../../mask/hdr_front_02891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02892.png",
+      "transform_matrix": [
+        [
+          -0.16547177731990814,
+          -0.06397101283073425,
+          -0.9841376543045044,
+          9.52144718170166
+        ],
+        [
+          0.9830341935157776,
+          -0.09077329188585281,
+          -0.1593858003616333,
+          22.69103240966797
+        ],
+        [
+          -0.07913733273744583,
+          -0.9938148856163025,
+          0.07790610939264297,
+          -16.867950439453125
+        ],
+        [
+          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": "1731323553_683082818",
+      "mask_path": "../../mask/hdr_front_02892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02893.png",
+      "transform_matrix": [
+        [
+          -0.16547399759292603,
+          -0.057453036308288574,
+          -0.984539270401001,
+          9.622384071350098
+        ],
+        [
+          0.9835641980171204,
+          -0.08274945616722107,
+          -0.16048122942447662,
+          22.70532989501953
+        ],
+        [
+          -0.07224996387958527,
+          -0.9949129223823547,
+          0.07020162791013718,
+          -16.86062240600586
+        ],
+        [
+          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": "1731323553_783082723",
+      "mask_path": "../../mask/hdr_front_02893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02894.png",
+      "transform_matrix": [
+        [
+          -0.16166448593139648,
+          -0.04966866597533226,
+          -0.985595166683197,
+          9.696554183959961
+        ],
+        [
+          0.98439621925354,
+          -0.07844121754169464,
+          -0.15751482546329498,
+          22.715871810913086
+        ],
+        [
+          -0.06948772072792053,
+          -0.9956806898117065,
+          0.06157480925321579,
+          -16.858556747436523
+        ],
+        [
+          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": "1731323553_883082151",
+      "mask_path": "../../mask/hdr_front_02894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02895.png",
+      "transform_matrix": [
+        [
+          -0.1580401510000229,
+          -0.043131664395332336,
+          -0.9864902496337891,
+          9.754947662353516
+        ],
+        [
+          0.984977126121521,
+          -0.07729965448379517,
+          -0.1544180065393448,
+          22.729225158691406
+        ],
+        [
+          -0.06959503889083862,
+          -0.9960745573043823,
+          0.05470014736056328,
+          -16.863828659057617
+        ],
+        [
+          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": "1731323553_983082294",
+      "mask_path": "../../mask/hdr_front_02895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02896.png",
+      "transform_matrix": [
+        [
+          -0.15839631855487823,
+          -0.042587760835886,
+          -0.9864567518234253,
+          9.841442108154297
+        ],
+        [
+          0.9845815896987915,
+          -0.0819200649857521,
+          -0.15455852448940277,
+          22.741779327392578
+        ],
+        [
+          -0.07422830164432526,
+          -0.9957285523414612,
+          0.05490695685148239,
+          -16.860450744628906
+        ],
+        [
+          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": "1731323554_83082437",
+      "mask_path": "../../mask/hdr_front_02896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02897.png",
+      "transform_matrix": [
+        [
+          -0.16327209770679474,
+          -0.04186754673719406,
+          -0.9856923222541809,
+          9.923347473144531
+        ],
+        [
+          0.9832425713539124,
+          -0.08902763575315475,
+          -0.15908485651016235,
+          22.75432777404785
+        ],
+        [
+          -0.08109335601329803,
+          -0.9951488375663757,
+          0.055701687932014465,
+          -16.86471176147461
+        ],
+        [
+          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": "1731323554_183085203",
+      "mask_path": "../../mask/hdr_front_02897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02898.png",
+      "transform_matrix": [
+        [
+          -0.17758077383041382,
+          -0.03807295486330986,
+          -0.9833695292472839,
+          9.983332633972168
+        ],
+        [
+          0.9806849360466003,
+          -0.0900966003537178,
+          -0.1736077219247818,
+          22.771608352661133
+        ],
+        [
+          -0.08198848366737366,
+          -0.9952050447463989,
+          0.05333700031042099,
+          -16.860265731811523
+        ],
+        [
+          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": "1731323554_283082723",
+      "mask_path": "../../mask/hdr_front_02898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02899.png",
+      "transform_matrix": [
+        [
+          -0.20067064464092255,
+          -0.04104505851864815,
+          -0.9787985682487488,
+          10.052935600280762
+        ],
+        [
+          0.977220356464386,
+          -0.07883691787719727,
+          -0.19704113900661469,
+          22.796018600463867
+        ],
+        [
+          -0.06907788664102554,
+          -0.9960421919822693,
+          0.05593032389879227,
+          -16.864395141601562
+        ],
+        [
+          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": "1731323554_383081674",
+      "mask_path": "../../mask/hdr_front_02899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02900.png",
+      "transform_matrix": [
+        [
+          -0.2151932269334793,
+          -0.04606642574071884,
+          -0.9754843711853027,
+          10.147735595703125
+        ],
+        [
+          0.9748205542564392,
+          -0.06992249190807343,
+          -0.2117447555065155,
+          22.821762084960938
+        ],
+        [
+          -0.05845397710800171,
+          -0.9964882731437683,
+          0.05995333567261696,
+          -16.86841583251953
+        ],
+        [
+          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": "1731323554_483080148",
+      "mask_path": "../../mask/hdr_front_02900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02901.png",
+      "transform_matrix": [
+        [
+          -0.21946512162685394,
+          -0.046426642686128616,
+          -0.9745150804519653,
+          10.23034381866455
+        ],
+        [
+          0.9741986989974976,
+          -0.0643332451581955,
+          -0.21632897853851318,
+          22.837444305419922
+        ],
+        [
+          -0.05265028402209282,
+          -0.9968479871749878,
+          0.05934767425060272,
+          -16.867704391479492
+        ],
+        [
+          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": "1731323554_583080291",
+      "mask_path": "../../mask/hdr_front_02901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02902.png",
+      "transform_matrix": [
+        [
+          -0.22204193472862244,
+          -0.043637532740831375,
+          -0.9740601181983948,
+          10.293898582458496
+        ],
+        [
+          0.9737301468849182,
+          -0.06163361668586731,
+          -0.21920552849769592,
+          22.848276138305664
+        ],
+        [
+          -0.05046926438808441,
+          -0.9971445202827454,
+          0.056176427751779556,
+          -16.879878997802734
+        ],
+        [
+          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": "1731323554_683080911",
+      "mask_path": "../../mask/hdr_front_02902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02903.png",
+      "transform_matrix": [
+        [
+          -0.23468908667564392,
+          -0.052253805100917816,
+          -0.9706650376319885,
+          10.386772155761719
+        ],
+        [
+          0.9705806374549866,
+          -0.06785820424556732,
+          -0.23101572692394257,
+          22.872838973999023
+        ],
+        [
+          -0.05379613861441612,
+          -0.9963257312774658,
+          0.06664212048053741,
+          -16.893503189086914
+        ],
+        [
+          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": "1731323554_783081531",
+      "mask_path": "../../mask/hdr_front_02903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02904.png",
+      "transform_matrix": [
+        [
+          -0.25479966402053833,
+          -0.062258318066596985,
+          -0.964987576007843,
+          10.480907440185547
+        ],
+        [
+          0.9652310609817505,
+          -0.07660319656133652,
+          -0.2499217540025711,
+          22.902009963989258
+        ],
+        [
+          -0.05836142599582672,
+          -0.9951160550117493,
+          0.0796121284365654,
+          -16.906496047973633
+        ],
+        [
+          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": "1731323554_883080959",
+      "mask_path": "../../mask/hdr_front_02904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02905.png",
+      "transform_matrix": [
+        [
+          -0.2757619023323059,
+          -0.06341779232025146,
+          -0.95913165807724,
+          10.534636497497559
+        ],
+        [
+          0.9594947099685669,
+          -0.07802189141511917,
+          -0.2707073986530304,
+          22.924821853637695
+        ],
+        [
+          -0.057665593922138214,
+          -0.9949325919151306,
+          0.08236449211835861,
+          -16.910350799560547
+        ],
+        [
+          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": "1731323554_983080625",
+      "mask_path": "../../mask/hdr_front_02905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02906.png",
+      "transform_matrix": [
+        [
+          -0.2995166778564453,
+          -0.07424797117710114,
+          -0.9511977434158325,
+          10.60130786895752
+        ],
+        [
+          0.95320725440979,
+          -0.06618832051753998,
+          -0.29498299956321716,
+          22.951854705810547
+        ],
+        [
+          -0.04105628654360771,
+          -0.9950408935546875,
+          0.0905982181429863,
+          -16.9209041595459
+        ],
+        [
+          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": "1731323555_83080768",
+      "mask_path": "../../mask/hdr_front_02906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02907.png",
+      "transform_matrix": [
+        [
+          -0.3220764100551605,
+          -0.09321624040603638,
+          -0.9421133399009705,
+          10.711426734924316
+        ],
+        [
+          0.9461724162101746,
+          -0.06533903628587723,
+          -0.316999226808548,
+          22.996200561523438
+        ],
+        [
+          -0.032007306814193726,
+          -0.9934996962547302,
+          0.10924279689788818,
+          -16.95440101623535
+        ],
+        [
+          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": "1731323555_183079719",
+      "mask_path": "../../mask/hdr_front_02907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02908.png",
+      "transform_matrix": [
+        [
+          -0.33232033252716064,
+          -0.10765788704156876,
+          -0.9370021224021912,
+          10.77634334564209
+        ],
+        [
+          0.9426671266555786,
+          -0.07024122029542923,
+          -0.326259046792984,
+          23.025117874145508
+        ],
+        [
+          -0.030691811814904213,
+          -0.9917035698890686,
+          0.12482812255620956,
+          -16.985092163085938
+        ],
+        [
+          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": "1731323555_283080101",
+      "mask_path": "../../mask/hdr_front_02908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02909.png",
+      "transform_matrix": [
+        [
+          -0.3325497508049011,
+          -0.11349891126155853,
+          -0.9362311363220215,
+          10.830848693847656
+        ],
+        [
+          0.9428278207778931,
+          -0.06322576105594635,
+          -0.3272280693054199,
+          23.05855941772461
+        ],
+        [
+          -0.02205389179289341,
+          -0.991524338722229,
+          0.12803564965724945,
+          -17.01568603515625
+        ],
+        [
+          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": "1731323555_383080005",
+      "mask_path": "../../mask/hdr_front_02909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02910.png",
+      "transform_matrix": [
+        [
+          -0.3334842920303345,
+          -0.12416238337755203,
+          -0.9345437288284302,
+          10.925246238708496
+        ],
+        [
+          0.94234699010849,
+          -0.07308690249919891,
+          -0.32655856013298035,
+          23.092851638793945
+        ],
+        [
+          -0.027756618335843086,
+          -0.9895666241645813,
+          0.14137737452983856,
+          -17.036584854125977
+        ],
+        [
+          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": "1731323555_483079910",
+      "mask_path": "../../mask/hdr_front_02910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02911.png",
+      "transform_matrix": [
+        [
+          -0.3358928859233856,
+          -0.13784371316432953,
+          -0.9317591190338135,
+          11.010095596313477
+        ],
+        [
+          0.9411401152610779,
+          -0.08884849399328232,
+          -0.3261304795742035,
+          23.117708206176758
+        ],
+        [
+          -0.037830352783203125,
+          -0.9864609241485596,
+          0.15957383811473846,
+          -17.053997039794922
+        ],
+        [
+          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": "1731323555_583080053",
+      "mask_path": "../../mask/hdr_front_02911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02913.png",
+      "transform_matrix": [
+        [
+          -0.3452383577823639,
+          -0.14839328825473785,
+          -0.9267091751098633,
+          11.119747161865234
+        ],
+        [
+          0.9376146793365479,
+          -0.09777618944644928,
+          -0.3336442708969116,
+          23.1722412109375
+        ],
+        [
+          -0.04109952598810196,
+          -0.9840829968452454,
+          0.17289181053638458,
+          -17.091917037963867
+        ],
+        [
+          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": "1731323555_783081054",
+      "mask_path": "../../mask/hdr_front_02913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02914.png",
+      "transform_matrix": [
+        [
+          -0.34624919295310974,
+          -0.17599768936634064,
+          -0.921485960483551,
+          11.205219268798828
+        ],
+        [
+          0.9374372363090515,
+          -0.10299120098352432,
+          -0.33257222175598145,
+          23.207441329956055
+        ],
+        [
+          -0.036372993141412735,
+          -0.9789881110191345,
+          0.20064741373062134,
+          -17.118335723876953
+        ],
+        [
+          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": "1731323555_883080482",
+      "mask_path": "../../mask/hdr_front_02914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02915.png",
+      "transform_matrix": [
+        [
+          -0.3428862690925598,
+          -0.20390038192272186,
+          -0.9169806838035583,
+          11.254837036132812
+        ],
+        [
+          0.9386717677116394,
+          -0.11218717694282532,
+          -0.32605114579200745,
+          23.23384666442871
+        ],
+        [
+          -0.03639152646064758,
+          -0.972542405128479,
+          0.22986294329166412,
+          -17.1435489654541
+        ],
+        [
+          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": "1731323555_983082294",
+      "mask_path": "../../mask/hdr_front_02915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02917.png",
+      "transform_matrix": [
+        [
+          -0.33037376403808594,
+          -0.22962059080600739,
+          -0.9154930710792542,
+          11.349302291870117
+        ],
+        [
+          0.9429970383644104,
+          -0.12153160572052002,
+          -0.30981701612472534,
+          23.248998641967773
+        ],
+        [
+          -0.04012099653482437,
+          -0.9656627178192139,
+          0.256682425737381,
+          -17.191539764404297
+        ],
+        [
+          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": "1731323556_183081865",
+      "mask_path": "../../mask/hdr_front_02917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02918.png",
+      "transform_matrix": [
+        [
+          -0.3253190219402313,
+          -0.23044398427009583,
+          -0.9170949459075928,
+          11.448683738708496
+        ],
+        [
+          0.9447218179702759,
+          -0.12109659612178802,
+          -0.304690420627594,
+          23.27698516845703
+        ],
+        [
+          -0.04084300249814987,
+          -0.9655212759971619,
+          0.2571004629135132,
+          -17.223865509033203
+        ],
+        [
+          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": "1731323556_283082008",
+      "mask_path": "../../mask/hdr_front_02918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02919.png",
+      "transform_matrix": [
+        [
+          -0.32343000173568726,
+          -0.22643116116523743,
+          -0.918761134147644,
+          11.539907455444336
+        ],
+        [
+          0.9453588724136353,
+          -0.11950009316205978,
+          -0.3033420145511627,
+          23.309432983398438
+        ],
+        [
+          -0.041105952113866806,
+          -0.9666689038276672,
+          0.25270864367485046,
+          -17.253028869628906
+        ],
+        [
+          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": "1731323556_383082151",
+      "mask_path": "../../mask/hdr_front_02919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02920.png",
+      "transform_matrix": [
+        [
+          -0.32319703698158264,
+          -0.22464479506015778,
+          -0.9192814826965332,
+          11.586485862731934
+        ],
+        [
+          0.945679783821106,
+          -0.11272229254245758,
+          -0.3049321472644806,
+          23.336915969848633
+        ],
+        [
+          -0.0351220965385437,
+          -0.967898964881897,
+          0.2488735169172287,
+          -17.275676727294922
+        ],
+        [
+          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": "1731323556_483082056",
+      "mask_path": "../../mask/hdr_front_02920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02921.png",
+      "transform_matrix": [
+        [
+          -0.32193121314048767,
+          -0.2226646989583969,
+          -0.9202069044113159,
+          11.651033401489258
+        ],
+        [
+          0.9464295506477356,
+          -0.10148274898529053,
+          -0.3065491318702698,
+          23.36346435546875
+        ],
+        [
+          -0.02512744814157486,
+          -0.9695987105369568,
+          0.24340693652629852,
+          -17.29339027404785
+        ],
+        [
+          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": "1731323556_583082437",
+      "mask_path": "../../mask/hdr_front_02921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02922.png",
+      "transform_matrix": [
+        [
+          -0.3180028796195984,
+          -0.22374136745929718,
+          -0.92131108045578,
+          11.732505798339844
+        ],
+        [
+          0.9478720426559448,
+          -0.09585380554199219,
+          -0.303892582654953,
+          23.390029907226562
+        ],
+        [
+          -0.02031782455742359,
+          -0.9699236750602722,
+          0.24255995452404022,
+          -17.329708099365234
+        ],
+        [
+          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": "1731323556_683081865",
+      "mask_path": "../../mask/hdr_front_02922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02923.png",
+      "transform_matrix": [
+        [
+          -0.3147298991680145,
+          -0.23606105148792267,
+          -0.9193586707115173,
+          11.81692886352539
+        ],
+        [
+          0.9488949775695801,
+          -0.1020372286438942,
+          -0.29864147305488586,
+          23.409971237182617
+        ],
+        [
+          -0.0233111884444952,
+          -0.966366171836853,
+          0.2561112940311432,
+          -17.36444854736328
+        ],
+        [
+          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": "1731323556_783082723",
+      "mask_path": "../../mask/hdr_front_02923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02924.png",
+      "transform_matrix": [
+        [
+          -0.31111156940460205,
+          -0.2494266778230667,
+          -0.9170583486557007,
+          11.883749008178711
+        ],
+        [
+          0.9500461220741272,
+          -0.10694751888513565,
+          -0.29321447014808655,
+          23.420635223388672
+        ],
+        [
+          -0.024941591545939445,
+          -0.9624700546264648,
+          0.2702394127845764,
+          -17.37928581237793
+        ],
+        [
+          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": "1731323556_883082389",
+      "mask_path": "../../mask/hdr_front_02924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02925.png",
+      "transform_matrix": [
+        [
+          -0.302908331155777,
+          -0.2577632963657379,
+          -0.9174991846084595,
+          11.93334674835205
+        ],
+        [
+          0.9527208805084229,
+          -0.1060122475028038,
+          -0.2847534120082855,
+          23.432090759277344
+        ],
+        [
+          -0.023867178708314896,
+          -0.960374653339386,
+          0.2776884138584137,
+          -17.396947860717773
+        ],
+        [
+          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": "1731323556_983082294",
+      "mask_path": "../../mask/hdr_front_02925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02926.png",
+      "transform_matrix": [
+        [
+          -0.29483604431152344,
+          -0.2537728548049927,
+          -0.9212335348129272,
+          12.01318073272705
+        ],
+        [
+          0.9551788568496704,
+          -0.10506155341863632,
+          -0.27675876021385193,
+          23.456777572631836
+        ],
+        [
+          -0.026552347466349602,
+          -0.9615412950515747,
+          0.27337443828582764,
+          -17.428438186645508
+        ],
+        [
+          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": "1731323557_83081007",
+      "mask_path": "../../mask/hdr_front_02926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02927.png",
+      "transform_matrix": [
+        [
+          -0.29313525557518005,
+          -0.24381707608699799,
+          -0.9244593381881714,
+          12.112180709838867
+        ],
+        [
+          0.955572247505188,
+          -0.10594706982374191,
+          -0.2750582993030548,
+          23.486265182495117
+        ],
+        [
+          -0.03087984398007393,
+          -0.964016854763031,
+          0.26404163241386414,
+          -17.457427978515625
+        ],
+        [
+          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": "1731323557_183081150",
+      "mask_path": "../../mask/hdr_front_02927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02928.png",
+      "transform_matrix": [
+        [
+          -0.2930641770362854,
+          -0.23807105422019958,
+          -0.9259782433509827,
+          12.193708419799805
+        ],
+        [
+          0.9557399749755859,
+          -0.0992540642619133,
+          -0.2769651412963867,
+          23.512985229492188
+        ],
+        [
+          -0.02596971206367016,
+          -0.9661629796028137,
+          0.2566218376159668,
+          -17.48188018798828
+        ],
+        [
+          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": "1731323557_283080816",
+      "mask_path": "../../mask/hdr_front_02928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02929.png",
+      "transform_matrix": [
+        [
+          -0.2915744483470917,
+          -0.23533987998962402,
+          -0.9271458387374878,
+          12.274205207824707
+        ],
+        [
+          0.9564759731292725,
+          -0.08363938331604004,
+          -0.2795679271221161,
+          23.539955139160156
+        ],
+        [
+          -0.011752422899007797,
+          -0.968307614326477,
+          0.24948403239250183,
+          -17.503206253051758
+        ],
+        [
+          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": "1731323557_383081674",
+      "mask_path": "../../mask/hdr_front_02929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02930.png",
+      "transform_matrix": [
+        [
+          -0.28808149695396423,
+          -0.23166008293628693,
+          -0.929162323474884,
+          12.374764442443848
+        ],
+        [
+          0.95759117603302,
+          -0.07508449256420135,
+          -0.2781755328178406,
+          23.56157684326172
+        ],
+        [
+          -0.005323515739291906,
+          -0.9698947668075562,
+          0.2434660792350769,
+          -17.523303985595703
+        ],
+        [
+          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": "1731323557_483079910",
+      "mask_path": "../../mask/hdr_front_02930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02931.png",
+      "transform_matrix": [
+        [
+          -0.2814856469631195,
+          -0.23040665686130524,
+          -0.9314926266670227,
+          12.464132308959961
+        ],
+        [
+          0.959553062915802,
+          -0.07251513004302979,
+          -0.2720284163951874,
+          23.574073791503906
+        ],
+        [
+          -0.004870161879807711,
+          -0.9703887701034546,
+          0.2414993792772293,
+          -17.539827346801758
+        ],
+        [
+          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": "1731323557_583080291",
+      "mask_path": "../../mask/hdr_front_02931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02932.png",
+      "transform_matrix": [
+        [
+          -0.27440544962882996,
+          -0.23069147765636444,
+          -0.93353271484375,
+          12.522414207458496
+        ],
+        [
+          0.9616131782531738,
+          -0.06714863330125809,
+          -0.2660659849643707,
+          23.591590881347656
+        ],
+        [
+          -0.0013062802609056234,
+          -0.9707072973251343,
+          0.24026191234588623,
+          -17.560325622558594
+        ],
+        [
+          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": "1731323557_683080434",
+      "mask_path": "../../mask/hdr_front_02932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02933.png",
+      "transform_matrix": [
+        [
+          -0.2672567367553711,
+          -0.22639191150665283,
+          -0.9366539120674133,
+          12.573477745056152
+        ],
+        [
+          0.9636074304580688,
+          -0.06872040033340454,
+          -0.25833749771118164,
+          23.604475021362305
+        ],
+        [
+          -0.005881709512323141,
+          -0.9716091156005859,
+          0.23651893436908722,
+          -17.58309555053711
+        ],
+        [
+          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": "1731323557_783081769",
+      "mask_path": "../../mask/hdr_front_02933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02934.png",
+      "transform_matrix": [
+        [
+          -0.26724013686180115,
+          -0.23080894351005554,
+          -0.9355800151824951,
+          12.662595748901367
+        ],
+        [
+          0.9635394811630249,
+          -0.0773087590932846,
+          -0.256154328584671,
+          23.632949829101562
+        ],
+        [
+          -0.01320581417530775,
+          -0.9699230194091797,
+          0.24305352568626404,
+          -17.61197853088379
+        ],
+        [
+          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": "1731323557_883081674",
+      "mask_path": "../../mask/hdr_front_02934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02935.png",
+      "transform_matrix": [
+        [
+          -0.2694700062274933,
+          -0.23822002112865448,
+          -0.9330794215202332,
+          12.735389709472656
+        ],
+        [
+          0.9629503488540649,
+          -0.07733003050088882,
+          -0.2583538591861725,
+          23.666259765625
+        ],
+        [
+          -0.01060999371111393,
+          -0.9681277275085449,
+          0.25023218989372253,
+          -17.65316390991211
+        ],
+        [
+          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": "1731323557_983081340",
+      "mask_path": "../../mask/hdr_front_02935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02936.png",
+      "transform_matrix": [
+        [
+          -0.2688754200935364,
+          -0.2397093027830124,
+          -0.9328694939613342,
+          12.777999877929688
+        ],
+        [
+          0.9631744027137756,
+          -0.06790830194950104,
+          -0.2601604163646698,
+          23.684885025024414
+        ],
+        [
+          -0.0009867120534181595,
+          -0.9684668183326721,
+          0.24914075434207916,
+          -17.681625366210938
+        ],
+        [
+          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": "1731323558_83080768",
+      "mask_path": "../../mask/hdr_front_02936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02937.png",
+      "transform_matrix": [
+        [
+          -0.2701454162597656,
+          -0.24251487851142883,
+          -0.9317768216133118,
+          12.834057807922363
+        ],
+        [
+          0.9628008604049683,
+          -0.06200893968343735,
+          -0.2630009055137634,
+          23.702260971069336
+        ],
+        [
+          0.006003135349601507,
+          -0.9681639671325684,
+          0.25024494528770447,
+          -17.70041275024414
+        ],
+        [
+          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": "1731323558_183082103",
+      "mask_path": "../../mask/hdr_front_02937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02938.png",
+      "transform_matrix": [
+        [
+          -0.2672944962978363,
+          -0.25418105721473694,
+          -0.9294868111610413,
+          12.902238845825195
+        ],
+        [
+          0.9635677337646484,
+          -0.06097015365958214,
+          -0.26042211055755615,
+          23.721406936645508
+        ],
+        [
+          0.009523425251245499,
+          -0.9652329683303833,
+          0.2612176835536957,
+          -17.73249626159668
+        ],
+        [
+          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": "1731323558_283080577",
+      "mask_path": "../../mask/hdr_front_02938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02939.png",
+      "transform_matrix": [
+        [
+          -0.259581595659256,
+          -0.2704847753047943,
+          -0.9270681738853455,
+          12.96562385559082
+        ],
+        [
+          0.9656853079795837,
+          -0.06442877650260925,
+          -0.251596599817276,
+          23.73583984375
+        ],
+        [
+          0.008323166519403458,
+          -0.960565984249115,
+          0.2779276669025421,
+          -17.756628036499023
+        ],
+        [
+          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": "1731323558_383082389",
+      "mask_path": "../../mask/hdr_front_02939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02940.png",
+      "transform_matrix": [
+        [
+          -0.25114014744758606,
+          -0.27745765447616577,
+          -0.9273326992988586,
+          13.030948638916016
+        ],
+        [
+          0.9679161906242371,
+          -0.06389918923377991,
+          -0.24301239848136902,
+          23.74793815612793
+        ],
+        [
+          0.008169837296009064,
+          -0.9586105346679688,
+          0.28460344672203064,
+          -17.778223037719727
+        ],
+        [
+          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": "1731323558_483079433",
+      "mask_path": "../../mask/hdr_front_02940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02942.png",
+      "transform_matrix": [
+        [
+          -0.24557404220104218,
+          -0.2834836542606354,
+          -0.9270008206367493,
+          13.154281616210938
+        ],
+        [
+          0.9692372679710388,
+          -0.0880870595574379,
+          -0.22982534766197205,
+          23.795103073120117
+        ],
+        [
+          -0.016505036503076553,
+          -0.9549229145050049,
+          0.29639482498168945,
+          -17.81733512878418
+        ],
+        [
+          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": "1731323558_683081150",
+      "mask_path": "../../mask/hdr_front_02942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02943.png",
+      "transform_matrix": [
+        [
+          -0.25244492292404175,
+          -0.3061016798019409,
+          -0.9179180264472961,
+          13.216123580932617
+        ],
+        [
+          0.9671362638473511,
+          -0.10954174399375916,
+          -0.22945158183574677,
+          23.815946578979492
+        ],
+        [
+          -0.03031483106315136,
+          -0.9456756711006165,
+          0.32369524240493774,
+          -17.83932876586914
+        ],
+        [
+          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": "1731323558_783080577",
+      "mask_path": "../../mask/hdr_front_02943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02944.png",
+      "transform_matrix": [
+        [
+          -0.2661114037036896,
+          -0.32131150364875793,
+          -0.9088144302368164,
+          13.254631996154785
+        ],
+        [
+          0.9636465311050415,
+          -0.11202763020992279,
+          -0.2425594925880432,
+          23.83854866027832
+        ],
+        [
+          -0.02387516014277935,
+          -0.9403237700462341,
+          0.33944255113601685,
+          -17.8607177734375
+        ],
+        [
+          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": "1731323558_883082628",
+      "mask_path": "../../mask/hdr_front_02944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02945.png",
+      "transform_matrix": [
+        [
+          -0.2867838144302368,
+          -0.32386520504951477,
+          -0.9015910625457764,
+          13.306612014770508
+        ],
+        [
+          0.9578410387039185,
+          -0.11382604390382767,
+          -0.263788104057312,
+          23.86652946472168
+        ],
+        [
+          -0.017192736268043518,
+          -0.9392310380935669,
+          0.3428548574447632,
+          -17.89179229736328
+        ],
+        [
+          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": "1731323558_983080863",
+      "mask_path": "../../mask/hdr_front_02945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02946.png",
+      "transform_matrix": [
+        [
+          -0.3083074390888214,
+          -0.3215157985687256,
+          -0.8953067064285278,
+          13.365970611572266
+        ],
+        [
+          0.9512211084365845,
+          -0.1152561604976654,
+          -0.28617218136787415,
+          23.890953063964844
+        ],
+        [
+          -0.011180737055838108,
+          -0.9398636221885681,
+          0.3413669168949127,
+          -17.926456451416016
+        ],
+        [
+          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": "1731323559_83081007",
+      "mask_path": "../../mask/hdr_front_02946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02947.png",
+      "transform_matrix": [
+        [
+          -0.3251853287220001,
+          -0.3176068663597107,
+          -0.8907190561294556,
+          13.417855262756348
+        ],
+        [
+          0.9456048011779785,
+          -0.11845145374536514,
+          -0.3029864430427551,
+          23.91136360168457
+        ],
+        [
+          -0.009276384487748146,
+          -0.9407950043678284,
+          0.338849276304245,
+          -17.94713020324707
+        ],
+        [
+          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": "1731323559_183081150",
+      "mask_path": "../../mask/hdr_front_02947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02948.png",
+      "transform_matrix": [
+        [
+          -0.3334294259548187,
+          -0.30938032269477844,
+          -0.8905664682388306,
+          13.463715553283691
+        ],
+        [
+          0.9427339434623718,
+          -0.11822551488876343,
+          -0.3118898868560791,
+          23.9322509765625
+        ],
+        [
+          -0.008795085363090038,
+          -0.9435606002807617,
+          0.3310832679271698,
+          -17.9661922454834
+        ],
+        [
+          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": "1731323559_283082008",
+      "mask_path": "../../mask/hdr_front_02948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02949.png",
+      "transform_matrix": [
+        [
+          -0.3326698839664459,
+          -0.2953606843948364,
+          -0.895596444606781,
+          13.519012451171875
+        ],
+        [
+          0.9429916739463806,
+          -0.11412091553211212,
+          -0.3126387596130371,
+          23.9713191986084
+        ],
+        [
+          -0.009865086525678635,
+          -0.948545515537262,
+          0.31648731231689453,
+          -18.008806228637695
+        ],
+        [
+          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": "1731323559_383080959",
+      "mask_path": "../../mask/hdr_front_02949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02950.png",
+      "transform_matrix": [
+        [
+          -0.3310834765434265,
+          -0.2974754273891449,
+          -0.8954842686653137,
+          13.61907958984375
+        ],
+        [
+          0.9433575868606567,
+          -0.12592217326164246,
+          -0.3069527745246887,
+          24.0023193359375
+        ],
+        [
+          -0.02145041897892952,
+          -0.9463889002799988,
+          0.3223164677619934,
+          -18.01871109008789
+        ],
+        [
+          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": "1731323559_483082056",
+      "mask_path": "../../mask/hdr_front_02950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02953.png",
+      "transform_matrix": [
+        [
+          -0.3031245768070221,
+          -0.26868173480033875,
+          -0.9142897129058838,
+          13.752509117126465
+        ],
+        [
+          0.9528574347496033,
+          -0.09889420866966248,
+          -0.28684940934181213,
+          24.047317504882812
+        ],
+        [
+          -0.01334675494581461,
+          -0.9581388235092163,
+          0.28599271178245544,
+          -18.038644790649414
+        ],
+        [
+          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": "1731323559_783082485",
+      "mask_path": "../../mask/hdr_front_02953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02954.png",
+      "transform_matrix": [
+        [
+          -0.302913099527359,
+          -0.25643888115882874,
+          -0.9178685545921326,
+          13.822959899902344
+        ],
+        [
+          0.9528014659881592,
+          -0.10202828794717789,
+          -0.2859363555908203,
+          24.063871383666992
+        ],
+        [
+          -0.020323365926742554,
+          -0.9611604809761047,
+          0.27524104714393616,
+          -18.051416397094727
+        ],
+        [
+          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": "1731323559_883081674",
+      "mask_path": "../../mask/hdr_front_02954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02956.png",
+      "transform_matrix": [
+        [
+          -0.2921990156173706,
+          -0.2293677181005478,
+          -0.9284451007843018,
+          13.941069602966309
+        ],
+        [
+          0.9559944272041321,
+          -0.09680604189634323,
+          -0.2769538164138794,
+          24.101715087890625
+        ],
+        [
+          -0.026354825124144554,
+          -0.9685138463973999,
+          0.24756085872650146,
+          -18.084457397460938
+        ],
+        [
+          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": "1731323560_83083152",
+      "mask_path": "../../mask/hdr_front_02956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02957.png",
+      "transform_matrix": [
+        [
+          -0.29307860136032104,
+          -0.22369028627872467,
+          -0.9295523762702942,
+          14.023951530456543
+        ],
+        [
+          0.9552047848701477,
+          -0.11029478907585144,
+          -0.27462491393089294,
+          24.12793731689453
+        ],
+        [
+          -0.041093867272138596,
+          -0.9683995842933655,
+          0.24599507451057434,
+          -18.093400955200195
+        ],
+        [
+          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": "1731323560_183081626",
+      "mask_path": "../../mask/hdr_front_02957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02959.png",
+      "transform_matrix": [
+        [
+          -0.2801089882850647,
+          -0.2238379865884781,
+          -0.9335071444511414,
+          14.076183319091797
+        ],
+        [
+          0.9595363140106201,
+          -0.09445272386074066,
+          -0.26527127623558044,
+          24.15094757080078
+        ],
+        [
+          -0.028794504702091217,
+          -0.9700387716293335,
+          0.24123772978782654,
+          -18.09652328491211
+        ],
+        [
+          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": "1731323560_383081674",
+      "mask_path": "../../mask/hdr_front_02959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02960.png",
+      "transform_matrix": [
+        [
+          -0.2828602194786072,
+          -0.20448452234268188,
+          -0.9371106624603271,
+          14.123066902160645
+        ],
+        [
+          0.9586853384971619,
+          -0.09104429185390472,
+          -0.26950588822364807,
+          24.171634674072266
+        ],
+        [
+          -0.030208777636289597,
+          -0.9746266603469849,
+          0.22178910672664642,
+          -18.117704391479492
+        ],
+        [
+          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": "1731323560_483080863",
+      "mask_path": "../../mask/hdr_front_02960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02961.png",
+      "transform_matrix": [
+        [
+          -0.2821364402770996,
+          -0.1891012042760849,
+          -0.9405529499053955,
+          14.19939136505127
+        ],
+        [
+          0.9588219523429871,
+          -0.08884423226118088,
+          -0.2697541415691376,
+          24.183547973632812
+        ],
+        [
+          -0.03255186602473259,
+          -0.9779301881790161,
+          0.20638056099414825,
+          -18.122589111328125
+        ],
+        [
+          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": "1731323560_583081007",
+      "mask_path": "../../mask/hdr_front_02961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02963.png",
+      "transform_matrix": [
+        [
+          -0.2765518128871918,
+          -0.17692625522613525,
+          -0.9445720314979553,
+          14.280874252319336
+        ],
+        [
+          0.9599901437759399,
+          -0.09588807821273804,
+          -0.2631053030490875,
+          24.204940795898438
+        ],
+        [
+          -0.04402296245098114,
+          -0.9795420169830322,
+          0.19636549055576324,
+          -18.151731491088867
+        ],
+        [
+          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": "1731323560_783082246",
+      "mask_path": "../../mask/hdr_front_02963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02964.png",
+      "transform_matrix": [
+        [
+          -0.27802130579948425,
+          -0.16810034215450287,
+          -0.9457517862319946,
+          14.34939956665039
+        ],
+        [
+          0.958906352519989,
+          -0.1065734326839447,
+          -0.2629457712173462,
+          24.230680465698242
+        ],
+        [
+          -0.0565907321870327,
+          -0.9799920320510864,
+          0.19082219898700714,
+          -18.183332443237305
+        ],
+        [
+          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": "1731323560_883080959",
+      "mask_path": "../../mask/hdr_front_02964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02965.png",
+      "transform_matrix": [
+        [
+          -0.2943401038646698,
+          -0.17208369076251984,
+          -0.9400804042816162,
+          14.432549476623535
+        ],
+        [
+          0.9537188410758972,
+          -0.11620618402957916,
+          -0.2773384749889374,
+          24.257740020751953
+        ],
+        [
+          -0.06151771545410156,
+          -0.9782041311264038,
+          0.198323592543602,
+          -18.206567764282227
+        ],
+        [
+          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": "1731323560_983079671",
+      "mask_path": "../../mask/hdr_front_02965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02966.png",
+      "transform_matrix": [
+        [
+          -0.31667250394821167,
+          -0.17654982209205627,
+          -0.9319596290588379,
+          14.492051124572754
+        ],
+        [
+          0.9465718269348145,
+          -0.12200099974870682,
+          -0.2985258400440216,
+          24.27848243713379
+        ],
+        [
+          -0.06099530681967735,
+          -0.976701557636261,
+          0.205751433968544,
+          -18.22532081604004
+        ],
+        [
+          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": "1731323561_83082914",
+      "mask_path": "../../mask/hdr_front_02966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02968.png",
+      "transform_matrix": [
+        [
+          -0.33524927496910095,
+          -0.17069126665592194,
+          -0.9265378713607788,
+          14.579828262329102
+        ],
+        [
+          0.9411630034446716,
+          -0.10521171241998672,
+          -0.3211584985256195,
+          24.321819305419922
+        ],
+        [
+          -0.042663685977458954,
+          -0.9796913266181946,
+          0.1959204375743866,
+          -18.265714645385742
+        ],
+        [
+          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": "1731323561_283081769",
+      "mask_path": "../../mask/hdr_front_02968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02969.png",
+      "transform_matrix": [
+        [
+          -0.32848188281059265,
+          -0.1887395679950714,
+          -0.9254603981971741,
+          14.642108917236328
+        ],
+        [
+          0.9442688226699829,
+          -0.08777329325675964,
+          -0.3172571361064911,
+          24.343761444091797
+        ],
+        [
+          -0.021351730450987816,
+          -0.9780967235565186,
+          0.20705284178256989,
+          -18.275545120239258
+        ],
+        [
+          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": "1731323561_383081674",
+      "mask_path": "../../mask/hdr_front_02969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02970.png",
+      "transform_matrix": [
+        [
+          -0.3168562054634094,
+          -0.1989365667104721,
+          -0.9273760914802551,
+          14.702386856079102
+        ],
+        [
+          0.9484231472015381,
+          -0.07654215395450592,
+          -0.3076278865337372,
+          24.3542423248291
+        ],
+        [
+          -0.009784931316971779,
+          -0.9770187735557556,
+          0.212928906083107,
+          -18.271533966064453
+        ],
+        [
+          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": "1731323561_483082294",
+      "mask_path": "../../mask/hdr_front_02970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02971.png",
+      "transform_matrix": [
+        [
+          -0.30810636281967163,
+          -0.19681011140346527,
+          -0.9307719469070435,
+          14.753876686096191
+        ],
+        [
+          0.9513004422187805,
+          -0.0739201158285141,
+          -0.29927146434783936,
+          24.36371421813965
+        ],
+        [
+          -0.009903118945658207,
+          -0.977651059627533,
+          0.21000078320503235,
+          -18.281627655029297
+        ],
+        [
+          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": "1731323561_583081483",
+      "mask_path": "../../mask/hdr_front_02971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02972.png",
+      "transform_matrix": [
+        [
+          -0.30202797055244446,
+          -0.1975707858800888,
+          -0.9326012134552002,
+          14.813339233398438
+        ],
+        [
+          0.9531223177909851,
+          -0.08142600208520889,
+          -0.2914237380027771,
+          24.378021240234375
+        ],
+        [
+          -0.01836116425693035,
+          -0.9769010543823242,
+          0.2129020392894745,
+          -18.30594253540039
+        ],
+        [
+          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": "1731323561_683082103",
+      "mask_path": "../../mask/hdr_front_02972.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02973.png",
+      "transform_matrix": [
+        [
+          -0.3014964163303375,
+          -0.2023179829120636,
+          -0.9317549467086792,
+          14.886198997497559
+        ],
+        [
+          0.9530575275421143,
+          -0.09259659051895142,
+          -0.2882833778858185,
+          24.406803131103516
+        ],
+        [
+          -0.02795242890715599,
+          -0.9749324321746826,
+          0.2207382172346115,
+          -18.347248077392578
+        ],
+        [
+          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": "1731323561_783081769",
+      "mask_path": "../../mask/hdr_front_02973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02974.png",
+      "transform_matrix": [
+        [
+          -0.3124842345714569,
+          -0.20898839831352234,
+          -0.9266486167907715,
+          14.967832565307617
+        ],
+        [
+          0.949134886264801,
+          -0.10841928422451019,
+          -0.29561513662338257,
+          24.428983688354492
+        ],
+        [
+          -0.03868643194437027,
+          -0.9718894362449646,
+          0.23223750293254852,
+          -18.33201789855957
+        ],
+        [
+          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": "1731323561_883082151",
+      "mask_path": "../../mask/hdr_front_02974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02976.png",
+      "transform_matrix": [
+        [
+          -0.30369052290916443,
+          -0.2104712575674057,
+          -0.9292329549789429,
+          15.066536903381348
+        ],
+        [
+          0.952470600605011,
+          -0.0915415957570076,
+          -0.2905508875846863,
+          24.466005325317383
+        ],
+        [
+          -0.02391086146235466,
+          -0.9733046889305115,
+          0.22826801240444183,
+          -18.3634033203125
+        ],
+        [
+          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": "1731323562_83082437",
+      "mask_path": "../../mask/hdr_front_02976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02977.png",
+      "transform_matrix": [
+        [
+          -0.28114020824432373,
+          -0.17989099025726318,
+          -0.942655622959137,
+          15.168583869934082
+        ],
+        [
+          0.9588289856910706,
+          -0.09368705004453659,
+          -0.2680851221084595,
+          24.479284286499023
+        ],
+        [
+          -0.04008851572871208,
+          -0.9792149662971497,
+          0.19882389903068542,
+          -18.363977432250977
+        ],
+        [
+          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": "1731323562_183083057",
+      "mask_path": "../../mask/hdr_front_02977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02978.png",
+      "transform_matrix": [
+        [
+          -0.24776026606559753,
+          -0.15254786610603333,
+          -0.9567360877990723,
+          15.285613059997559
+        ],
+        [
+          0.9674274921417236,
+          -0.09190869331359863,
+          -0.2358745038509369,
+          24.485300064086914
+        ],
+        [
+          -0.05195022374391556,
+          -0.9840131998062134,
+          0.1703503131866455,
+          -18.353269577026367
+        ],
+        [
+          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": "1731323562_283082008",
+      "mask_path": "../../mask/hdr_front_02978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02980.png",
+      "transform_matrix": [
+        [
+          -0.17928053438663483,
+          -0.12293118238449097,
+          -0.9760873913764954,
+          15.388028144836426
+        ],
+        [
+          0.9828433394432068,
+          -0.06607819348573685,
+          -0.17219935357570648,
+          24.515655517578125
+        ],
+        [
+          -0.04332941770553589,
+          -0.9902129769325256,
+          0.1326686292886734,
+          -18.338279724121094
+        ],
+        [
+          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": "1731323562_483081102",
+      "mask_path": "../../mask/hdr_front_02980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02981.png",
+      "transform_matrix": [
+        [
+          -0.14873164892196655,
+          -0.11038897186517715,
+          -0.9826969504356384,
+          15.51066780090332
+        ],
+        [
+          0.9885653257369995,
+          -0.04157247394323349,
+          -0.14494989812374115,
+          24.549558639526367
+        ],
+        [
+          -0.024852264672517776,
+          -0.9930186867713928,
+          0.11530984938144684,
+          -18.352277755737305
+        ],
+        [
+          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": "1731323562_583081960",
+      "mask_path": "../../mask/hdr_front_02981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02982.png",
+      "transform_matrix": [
+        [
+          -0.12774714827537537,
+          -0.10661362111568451,
+          -0.9860599637031555,
+          15.571253776550293
+        ],
+        [
+          0.991752028465271,
+          -0.024179546162486076,
+          -0.12587027251720428,
+          24.569929122924805
+        ],
+        [
+          -0.010422995314002037,
+          -0.9940065145492554,
+          0.10882313549518585,
+          -18.36640167236328
+        ],
+        [
+          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": "1731323562_683082103",
+      "mask_path": "../../mask/hdr_front_02982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02984.png",
+      "transform_matrix": [
+        [
+          -0.08942536264657974,
+          -0.078925721347332,
+          -0.9928615093231201,
+          15.678516387939453
+        ],
+        [
+          0.9959373474121094,
+          0.003502725390717387,
+          -0.0899808406829834,
+          24.588781356811523
+        ],
+        [
+          0.010579526424407959,
+          -0.9968743324279785,
+          0.07829184085130692,
+          -18.341938018798828
+        ],
+        [
+          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": "1731323562_883081436",
+      "mask_path": "../../mask/hdr_front_02984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02985.png",
+      "transform_matrix": [
+        [
+          -0.10543844848871231,
+          -0.06505417823791504,
+          -0.9922956824302673,
+          15.765910148620605
+        ],
+        [
+          0.9944161176681519,
+          -0.002488016849383712,
+          -0.10550066828727722,
+          24.596439361572266
+        ],
+        [
+          0.0043944125063717365,
+          -0.9978786110877991,
+          0.0649532601237297,
+          -18.322595596313477
+        ],
+        [
+          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": "1731323562_983082771",
+      "mask_path": "../../mask/hdr_front_02985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02987.png",
+      "transform_matrix": [
+        [
+          -0.1378122866153717,
+          -0.08504481613636017,
+          -0.9868003726005554,
+          15.802756309509277
+        ],
+        [
+          0.99029541015625,
+          -0.029904065653681755,
+          -0.13572314381599426,
+          24.64455795288086
+        ],
+        [
+          -0.01796679198741913,
+          -0.9959282875061035,
+          0.0883406400680542,
+          -18.36051368713379
+        ],
+        [
+          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": "1731323563_183081626",
+      "mask_path": "../../mask/hdr_front_02987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02989.png",
+      "transform_matrix": [
+        [
+          -0.15300555527210236,
+          -0.10678797960281372,
+          -0.9824386239051819,
+          15.872122764587402
+        ],
+        [
+          0.9878367781639099,
+          -0.04440300166606903,
+          -0.14901982247829437,
+          24.648252487182617
+        ],
+        [
+          -0.02770969457924366,
+          -0.9932898879051208,
+          0.11228299885988235,
+          -18.4054012298584
+        ],
+        [
+          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": "1731323563_383082151",
+      "mask_path": "../../mask/hdr_front_02989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02991.png",
+      "transform_matrix": [
+        [
+          -0.14885982871055603,
+          -0.11749938130378723,
+          -0.9818527102470398,
+          15.958395004272461
+        ],
+        [
+          0.9886361360549927,
+          -0.03873005509376526,
+          -0.14525340497493744,
+          24.635997772216797
+        ],
+        [
+          -0.020960019901394844,
+          -0.9923174977302551,
+          0.12192948907613754,
+          -18.4034423828125
+        ],
+        [
+          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": "1731323563_583080530",
+      "mask_path": "../../mask/hdr_front_02991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02993.png",
+      "transform_matrix": [
+        [
+          -0.1326088309288025,
+          -0.13500970602035522,
+          -0.9819304347038269,
+          16.018585205078125
+        ],
+        [
+          0.9909565448760986,
+          -0.03854230418801308,
+          -0.1285284459590912,
+          24.629501342773438
+        ],
+        [
+          -0.0204932764172554,
+          -0.9900943636894226,
+          0.1388998031616211,
+          -18.414291381835938
+        ],
+        [
+          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": "1731323563_783082008",
+      "mask_path": "../../mask/hdr_front_02993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02995.png",
+      "transform_matrix": [
+        [
+          -0.11758796125650406,
+          -0.14351169764995575,
+          -0.9826380610466003,
+          16.127307891845703
+        ],
+        [
+          0.9926747679710388,
+          -0.04463222622871399,
+          -0.11227061599493027,
+          24.628854751586914
+        ],
+        [
+          -0.027745172381401062,
+          -0.9886416792869568,
+          0.14770865440368652,
+          -18.4503116607666
+        ],
+        [
+          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": "1731323563_983082056",
+      "mask_path": "../../mask/hdr_front_02995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02996.png",
+      "transform_matrix": [
+        [
+          -0.12210289388895035,
+          -0.14607460796833038,
+          -0.9817093014717102,
+          16.209457397460938
+        ],
+        [
+          0.991886556148529,
+          -0.05322025343775749,
+          -0.11544976383447647,
+          24.634965896606445
+        ],
+        [
+          -0.035382531583309174,
+          -0.987841010093689,
+          0.1513877958059311,
+          -18.446369171142578
+        ],
+        [
+          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": "1731323564_83081245",
+      "mask_path": "../../mask/hdr_front_02996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02997.png",
+      "transform_matrix": [
+        [
+          -0.13275295495986938,
+          -0.14210295677185059,
+          -0.9809094667434692,
+          16.272348403930664
+        ],
+        [
+          0.9903615117073059,
+          -0.05846624821424484,
+          -0.12556226551532745,
+          24.643722534179688
+        ],
+        [
+          -0.03950732573866844,
+          -0.9881237149238586,
+          0.14849485456943512,
+          -18.450275421142578
+        ],
+        [
+          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": "1731323564_183082342",
+      "mask_path": "../../mask/hdr_front_02997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02998.png",
+      "transform_matrix": [
+        [
+          -0.14628589153289795,
+          -0.13882386684417725,
+          -0.9794531464576721,
+          16.328590393066406
+        ],
+        [
+          0.988682746887207,
+          -0.0538138709962368,
+          -0.14003702998161316,
+          24.65932846069336
+        ],
+        [
+          -0.033267680555582047,
+          -0.988853931427002,
+          0.14512497186660767,
+          -18.460094451904297
+        ],
+        [
+          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": "1731323564_283082723",
+      "mask_path": "../../mask/hdr_front_02998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_02999.png",
+      "transform_matrix": [
+        [
+          -0.1421787589788437,
+          -0.18242035806179047,
+          -0.9728865027427673,
+          16.41503143310547
+        ],
+        [
+          0.9898366928100586,
+          -0.029130103066563606,
+          -0.13919386267662048,
+          24.671049118041992
+        ],
+        [
+          -0.002948489272966981,
+          -0.9827890396118164,
+          0.18470801413059235,
+          -18.489490509033203
+        ],
+        [
+          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": "1731323564_383082628",
+      "mask_path": "../../mask/hdr_front_02999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03001.png",
+      "transform_matrix": [
+        [
+          -0.11382830888032913,
+          -0.24717046320438385,
+          -0.9622628688812256,
+          16.45801544189453
+        ],
+        [
+          0.9933003783226013,
+          -0.008874937891960144,
+          -0.11522014439105988,
+          24.687009811401367
+        ],
+        [
+          0.019938990473747253,
+          -0.9689314365386963,
+          0.24652475118637085,
+          -18.513452529907227
+        ],
+        [
+          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": "1731323564_583082437",
+      "mask_path": "../../mask/hdr_front_03001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03002.png",
+      "transform_matrix": [
+        [
+          -0.10847777873277664,
+          -0.24424046277999878,
+          -0.9636281728744507,
+          16.529483795166016
+        ],
+        [
+          0.9938992261886597,
+          -0.007218965794891119,
+          -0.11005575209856033,
+          24.691118240356445
+        ],
+        [
+          0.01992366835474968,
+          -0.9696878790855408,
+          0.24353350698947906,
+          -18.544994354248047
+        ],
+        [
+          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": "1731323564_683082818",
+      "mask_path": "../../mask/hdr_front_03002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03003.png",
+      "transform_matrix": [
+        [
+          -0.10698606073856354,
+          -0.24884133040905,
+          -0.9626172780990601,
+          16.629436492919922
+        ],
+        [
+          0.9941577315330505,
+          -0.012850075960159302,
+          -0.10716966539621353,
+          24.714025497436523
+        ],
+        [
+          0.014298535883426666,
+          -0.9684590101242065,
+          0.24876229465007782,
+          -18.57952308654785
+        ],
+        [
+          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": "1731323564_783082723",
+      "mask_path": "../../mask/hdr_front_03003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03004.png",
+      "transform_matrix": [
+        [
+          -0.10769350826740265,
+          -0.2593334913253784,
+          -0.9597647190093994,
+          16.69960594177246
+        ],
+        [
+          0.9941762089729309,
+          -0.024252617731690407,
+          -0.10500158369541168,
+          24.715526580810547
+        ],
+        [
+          0.0039536235854029655,
+          -0.9654832482337952,
+          0.2604350447654724,
+          -18.604530334472656
+        ],
+        [
+          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": "1731323564_883082628",
+      "mask_path": "../../mask/hdr_front_03004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03006.png",
+      "transform_matrix": [
+        [
+          -0.11613825708627701,
+          -0.2575487792491913,
+          -0.9592604637145996,
+          16.79461097717285
+        ],
+        [
+          0.9932254552841187,
+          -0.033906638622283936,
+          -0.1111469492316246,
+          24.725610733032227
+        ],
+        [
+          -0.003899540053680539,
+          -0.9656702280044556,
+          0.2597418427467346,
+          -18.65154457092285
+        ],
+        [
+          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": "1731323565_83082437",
+      "mask_path": "../../mask/hdr_front_03006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03007.png",
+      "transform_matrix": [
+        [
+          -0.12841790914535522,
+          -0.24902647733688354,
+          -0.9599451422691345,
+          16.881620407104492
+        ],
+        [
+          0.9917190670967102,
+          -0.03364378586411476,
+          -0.12394073605537415,
+          24.727869033813477
+        ],
+        [
+          -0.0014316649176180363,
+          -0.9679121971130371,
+          0.25128474831581116,
+          -18.676469802856445
+        ],
+        [
+          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": "1731323565_183081626",
+      "mask_path": "../../mask/hdr_front_03007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03008.png",
+      "transform_matrix": [
+        [
+          -0.13256779313087463,
+          -0.2622196674346924,
+          -0.9558591246604919,
+          16.95954132080078
+        ],
+        [
+          0.991115391254425,
+          -0.024582503363490105,
+          -0.13071376085281372,
+          24.739839553833008
+        ],
+        [
+          0.010778308846056461,
+          -0.9646950364112854,
+          0.26314881443977356,
+          -18.684696197509766
+        ],
+        [
+          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": "1731323565_283081293",
+      "mask_path": "../../mask/hdr_front_03008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03010.png",
+      "transform_matrix": [
+        [
+          -0.15231652557849884,
+          -0.2708342671394348,
+          -0.9504990577697754,
+          17.05821990966797
+        ],
+        [
+          0.9882609248161316,
+          -0.030224863439798355,
+          -0.149755597114563,
+          24.75531005859375
+        ],
+        [
+          0.011830235831439495,
+          -0.9621514081954956,
+          0.2722586691379547,
+          -18.693626403808594
+        ],
+        [
+          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": "1731323565_483083009",
+      "mask_path": "../../mask/hdr_front_03010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03011.png",
+      "transform_matrix": [
+        [
+          -0.16955824196338654,
+          -0.25221994519233704,
+          -0.952698826789856,
+          17.123626708984375
+        ],
+        [
+          0.9853059649467468,
+          -0.023225003853440285,
+          -0.16921287775039673,
+          24.773895263671875
+        ],
+        [
+          0.02055242285132408,
+          -0.9673911929130554,
+          0.2524517774581909,
+          -18.715991973876953
+        ],
+        [
+          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": "1731323565_583082199",
+      "mask_path": "../../mask/hdr_front_03011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03012.png",
+      "transform_matrix": [
+        [
+          -0.194867804646492,
+          -0.23061446845531464,
+          -0.9533329010009766,
+          17.197750091552734
+        ],
+        [
+          0.9802168011665344,
+          -0.01143956370651722,
+          -0.19759580492973328,
+          24.796335220336914
+        ],
+        [
+          0.03466273099184036,
+          -0.9729779958724976,
+          0.22828136384487152,
+          -18.727691650390625
+        ],
+        [
+          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": "1731323565_683080434",
+      "mask_path": "../../mask/hdr_front_03012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03013.png",
+      "transform_matrix": [
+        [
+          -0.22749869525432587,
+          -0.2177307903766632,
+          -0.9491246938705444,
+          17.260231018066406
+        ],
+        [
+          0.9724820852279663,
+          -0.0005248414818197489,
+          -0.23297691345214844,
+          24.827253341674805
+        ],
+        [
+          0.05022810772061348,
+          -0.9760087728500366,
+          0.21185871958732605,
+          -18.727008819580078
+        ],
+        [
+          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": "1731323565_783082008",
+      "mask_path": "../../mask/hdr_front_03013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03014.png",
+      "transform_matrix": [
+        [
+          -0.25810813903808594,
+          -0.2069835066795349,
+          -0.9436832666397095,
+          17.311023712158203
+        ],
+        [
+          0.9637882709503174,
+          0.012599258683621883,
+          -0.26637062430381775,
+          24.858625411987305
+        ],
+        [
+          0.06702402234077454,
+          -0.9782633185386658,
+          0.19623631238937378,
+          -18.732959747314453
+        ],
+        [
+          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": "1731323565_883080959",
+      "mask_path": "../../mask/hdr_front_03014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03015.png",
+      "transform_matrix": [
+        [
+          -0.27571770548820496,
+          -0.18360000848770142,
+          -0.9435415863990784,
+          17.385757446289062
+        ],
+        [
+          0.9591954946517944,
+          0.011415095999836922,
+          -0.28251323103904724,
+          24.878345489501953
+        ],
+        [
+          0.06264004856348038,
+          -0.9829347729682922,
+          0.17296093702316284,
+          -18.734529495239258
+        ],
+        [
+          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": "1731323565_983083009",
+      "mask_path": "../../mask/hdr_front_03015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03016.png",
+      "transform_matrix": [
+        [
+          -0.2761118412017822,
+          -0.17088010907173157,
+          -0.9458130598068237,
+          17.461645126342773
+        ],
+        [
+          0.9595020413398743,
+          0.00816525798290968,
+          -0.281583309173584,
+          24.892885208129883
+        ],
+        [
+          0.055839795619249344,
+          -0.9852579832077026,
+          0.16170528531074524,
+          -18.72725486755371
+        ],
+        [
+          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": "1731323566_83081245",
+      "mask_path": "../../mask/hdr_front_03016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03018.png",
+      "transform_matrix": [
+        [
+          -0.2622208893299103,
+          -0.1648237407207489,
+          -0.9508277773857117,
+          17.547119140625
+        ],
+        [
+          0.9640435576438904,
+          -0.0007054614252410829,
+          -0.26574328541755676,
+          24.912107467651367
+        ],
+        [
+          0.04313003644347191,
+          -0.986322820186615,
+          0.15908224880695343,
+          -18.730905532836914
+        ],
+        [
+          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": "1731323566_283082485",
+      "mask_path": "../../mask/hdr_front_03018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03019.png",
+      "transform_matrix": [
+        [
+          -0.25981172919273376,
+          -0.17169952392578125,
+          -0.9502722024917603,
+          17.63821029663086
+        ],
+        [
+          0.9654259085655212,
+          -0.024553008377552032,
+          -0.259518563747406,
+          24.943675994873047
+        ],
+        [
+          0.02122717723250389,
+          -0.9848434925079346,
+          0.17214232683181763,
+          -18.76725959777832
+        ],
+        [
+          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": "1731323566_383080959",
+      "mask_path": "../../mask/hdr_front_03019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03020.png",
+      "transform_matrix": [
+        [
+          -0.26342517137527466,
+          -0.18096289038658142,
+          -0.9475545883178711,
+          17.70091438293457
+        ],
+        [
+          0.9645469188690186,
+          -0.03310251235961914,
+          -0.2618272304534912,
+          24.972768783569336
+        ],
+        [
+          0.016014572232961655,
+          -0.9829326868057251,
+          0.18326720595359802,
+          -18.790508270263672
+        ],
+        [
+          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": "1731323566_483081340",
+      "mask_path": "../../mask/hdr_front_03020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03022.png",
+      "transform_matrix": [
+        [
+          -0.26444631814956665,
+          -0.17288455367088318,
+          -0.9487776756286621,
+          17.773040771484375
+        ],
+        [
+          0.9643195867538452,
+          -0.03467091917991638,
+          -0.2624605894088745,
+          25.01211929321289
+        ],
+        [
+          0.012480379082262516,
+          -0.9843317270278931,
+          0.17588455975055695,
+          -18.82418441772461
+        ],
+        [
+          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": "1731323566_683082103",
+      "mask_path": "../../mask/hdr_front_03022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03023.png",
+      "transform_matrix": [
+        [
+          -0.26296594738960266,
+          -0.15580251812934875,
+          -0.952142059803009,
+          17.870990753173828
+        ],
+        [
+          0.9647988677024841,
+          -0.04599909111857414,
+          -0.2589346468448639,
+          25.03074836730957
+        ],
+        [
+          -0.0034550128038972616,
+          -0.9867166876792908,
+          0.16241426765918732,
+          -18.813379287719727
+        ],
+        [
+          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": "1731323566_783083677",
+      "mask_path": "../../mask/hdr_front_03023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_03024.png",
+      "transform_matrix": [
+        [
+          -0.25332289934158325,
+          -0.14444556832313538,
+          -0.9565370082855225,
+          17.951553344726562
+        ],
+        [
+          0.9673792123794556,
+          -0.04009775072336197,
+          -0.25013917684555054,
+          25.041282653808594
+        ],
+        [
+          -0.002223487012088299,
+          -0.9886999726295471,
+          0.14989131689071655,
+          -18.802907943725586
+        ],
+        [
+          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": "1731323566_883081436",
+      "mask_path": "../../mask/hdr_front_03024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06973.png",
+      "transform_matrix": [
+        [
+          0.27839723229408264,
+          -0.06759621948003769,
+          0.9580844640731812,
+          16.78290557861328
+        ],
+        [
+          -0.9597526788711548,
+          -0.05801782384514809,
+          0.27478864789009094,
+          24.912317276000977
+        ],
+        [
+          0.03701129928231239,
+          -0.996024489402771,
+          -0.08102764189243317,
+          -18.65468978881836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6973,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_783081054",
+      "mask_path": "../../mask/hdr_front_06973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06974.png",
+      "transform_matrix": [
+        [
+          0.2962260842323303,
+          -0.08132051676511765,
+          0.9516497254371643,
+          16.729982376098633
+        ],
+        [
+          -0.9548348784446716,
+          -0.04946247488260269,
+          0.29299095273017883,
+          24.869068145751953
+        ],
+        [
+          0.023244773969054222,
+          -0.9954599738121033,
+          -0.09229974448680878,
+          -18.60969352722168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6974,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_883081197",
+      "mask_path": "../../mask/hdr_front_06974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06976.png",
+      "transform_matrix": [
+        [
+          0.3323284983634949,
+          -0.08664751052856445,
+          0.9391751885414124,
+          16.634632110595703
+        ],
+        [
+          -0.9429786205291748,
+          -0.05025090277194977,
+          0.32903826236724854,
+          24.85304832458496
+        ],
+        [
+          0.018684053793549538,
+          -0.9949709177017212,
+          -0.09840656071901321,
+          -18.626068115234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6976,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_83081960",
+      "mask_path": "../../mask/hdr_front_06976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06978.png",
+      "transform_matrix": [
+        [
+          0.34994402527809143,
+          -0.09431566298007965,
+          0.9320106506347656,
+          16.55331802368164
+        ],
+        [
+          -0.936631977558136,
+          -0.05234415829181671,
+          0.3463822305202484,
+          24.82033920288086
+        ],
+        [
+          0.016116037964820862,
+          -0.994165301322937,
+          -0.10665659606456757,
+          -18.5986328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6978,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_283082008",
+      "mask_path": "../../mask/hdr_front_06978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06980.png",
+      "transform_matrix": [
+        [
+          0.3502664268016815,
+          -0.09966836124658585,
+          0.9313321709632874,
+          16.46042251586914
+        ],
+        [
+          -0.9363886117935181,
+          -0.06075547635555267,
+          0.3456662893295288,
+          24.793598175048828
+        ],
+        [
+          0.0221315436065197,
+          -0.9931642413139343,
+          -0.11460891366004944,
+          -18.576160430908203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6980,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_483081340",
+      "mask_path": "../../mask/hdr_front_06980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06982.png",
+      "transform_matrix": [
+        [
+          0.36457115411758423,
+          -0.10640321671962738,
+          0.9250763058662415,
+          16.3983097076416
+        ],
+        [
+          -0.9311361908912659,
+          -0.050789762288331985,
+          0.361117422580719,
+          24.748273849487305
+        ],
+        [
+          0.008560351096093655,
+          -0.9930250644683838,
+          -0.11759237200021744,
+          -18.566181182861328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6982,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_683081865",
+      "mask_path": "../../mask/hdr_front_06982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06984.png",
+      "transform_matrix": [
+        [
+          0.37120699882507324,
+          -0.11040749400854111,
+          0.9219629168510437,
+          16.335529327392578
+        ],
+        [
+          -0.9285356998443604,
+          -0.04966391250491142,
+          0.36790603399276733,
+          24.71137046813965
+        ],
+        [
+          0.00516870291903615,
+          -0.9926447868347168,
+          -0.12095290422439575,
+          -18.54792594909668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6984,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_883080720",
+      "mask_path": "../../mask/hdr_front_06984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06986.png",
+      "transform_matrix": [
+        [
+          0.3705335855484009,
+          -0.11517038196325302,
+          0.9216510653495789,
+          16.276561737060547
+        ],
+        [
+          -0.9286097884178162,
+          -0.06699459999799728,
+          0.3649595081806183,
+          24.697467803955078
+        ],
+        [
+          0.01971311680972576,
+          -0.9910840392112732,
+          -0.13177208602428436,
+          -18.53274917602539
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6986,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_83082437",
+      "mask_path": "../../mask/hdr_front_06986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06988.png",
+      "transform_matrix": [
+        [
+          0.37354958057403564,
+          -0.11710994690656662,
+          0.9201880097389221,
+          16.205324172973633
+        ],
+        [
+          -0.9271494746208191,
+          -0.07839778810739517,
+          0.3663981854915619,
+          24.666505813598633
+        ],
+        [
+          0.029231837019324303,
+          -0.990019679069519,
+          -0.1378638744354248,
+          -18.502904891967773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6988,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_283081054",
+      "mask_path": "../../mask/hdr_front_06988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06990.png",
+      "transform_matrix": [
+        [
+          0.3815253973007202,
+          -0.12998391687870026,
+          0.9151734709739685,
+          16.15496826171875
+        ],
+        [
+          -0.9241138696670532,
+          -0.0764036551117897,
+          0.3744007349014282,
+          24.621448516845703
+        ],
+        [
+          0.021256521344184875,
+          -0.9885680079460144,
+          -0.14926986396312714,
+          -18.485977172851562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6990,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_483082056",
+      "mask_path": "../../mask/hdr_front_06990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06992.png",
+      "transform_matrix": [
+        [
+          0.392456978559494,
+          -0.12306655198335648,
+          0.9114999771118164,
+          16.114015579223633
+        ],
+        [
+          -0.9195443391799927,
+          -0.07446606457233429,
+          0.38586658239364624,
+          24.579566955566406
+        ],
+        [
+          0.02038855105638504,
+          -0.9896007180213928,
+          -0.14238987863063812,
+          -18.487712860107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6992,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_683081388",
+      "mask_path": "../../mask/hdr_front_06992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06994.png",
+      "transform_matrix": [
+        [
+          0.39887329936027527,
+          -0.12755084037780762,
+          0.9080919623374939,
+          16.045652389526367
+        ],
+        [
+          -0.9167155027389526,
+          -0.08038762211799622,
+          0.39136993885040283,
+          24.546266555786133
+        ],
+        [
+          0.023079777136445045,
+          -0.9885690212249756,
+          -0.14899231493473053,
+          -18.458023071289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6994,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_883082389",
+      "mask_path": "../../mask/hdr_front_06994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06996.png",
+      "transform_matrix": [
+        [
+          0.3964121639728546,
+          -0.12009872496128082,
+          0.910183310508728,
+          15.973243713378906
+        ],
+        [
+          -0.9177475571632385,
+          -0.07822117209434509,
+          0.3893853425979614,
+          24.506526947021484
+        ],
+        [
+          0.02443092130124569,
+          -0.9896756410598755,
+          -0.14122812449932098,
+          -18.44384002685547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6996,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_83081960",
+      "mask_path": "../../mask/hdr_front_06996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_06998.png",
+      "transform_matrix": [
+        [
+          0.3921491205692291,
+          -0.12127957493066788,
+          0.9118719100952148,
+          15.893600463867188
+        ],
+        [
+          -0.9198981523513794,
+          -0.04898553341627121,
+          0.3890857696533203,
+          24.485124588012695
+        ],
+        [
+          -0.00251962011680007,
+          -0.9914090037345886,
+          -0.13077451288700104,
+          -18.443574905395508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6998,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_283081531",
+      "mask_path": "../../mask/hdr_front_06998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07000.png",
+      "transform_matrix": [
+        [
+          0.3825533986091614,
+          -0.15112678706645966,
+          0.9114898443222046,
+          15.795164108276367
+        ],
+        [
+          -0.9234524369239807,
+          -0.030712470412254333,
+          0.3824819326400757,
+          24.43929100036621
+        ],
+        [
+          -0.02980916202068329,
+          -0.9880372285842896,
+          -0.15130755305290222,
+          -18.388813018798828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7000,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_483081102",
+      "mask_path": "../../mask/hdr_front_07000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07001.png",
+      "transform_matrix": [
+        [
+          0.36959952116012573,
+          -0.1705818474292755,
+          0.9133992195129395,
+          15.742212295532227
+        ],
+        [
+          -0.928489089012146,
+          -0.029593972489237785,
+          0.3701786994934082,
+          24.42865562438965
+        ],
+        [
+          -0.0361146479845047,
+          -0.9848989844322205,
+          -0.16932129859924316,
+          -18.353557586669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7001,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_583079814",
+      "mask_path": "../../mask/hdr_front_07001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07003.png",
+      "transform_matrix": [
+        [
+          0.3512524664402008,
+          -0.16730879247188568,
+          0.9212108850479126,
+          15.661273956298828
+        ],
+        [
+          -0.9362652897834778,
+          -0.057110495865345,
+          0.3466203808784485,
+          24.398038864135742
+        ],
+        [
+          -0.005381816532462835,
+          -0.9842490553855896,
+          -0.17670562863349915,
+          -18.34209442138672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7003,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_783081054",
+      "mask_path": "../../mask/hdr_front_07003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07004.png",
+      "transform_matrix": [
+        [
+          0.349788635969162,
+          -0.164711594581604,
+          0.9222353100776672,
+          15.611539840698242
+        ],
+        [
+          -0.9368273615837097,
+          -0.05989937111735344,
+          0.3446251451969147,
+          24.36111831665039
+        ],
+        [
+          -0.0015224381349980831,
+          -0.9845213294029236,
+          -0.17525845766067505,
+          -18.316280364990234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7004,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_883081197",
+      "mask_path": "../../mask/hdr_front_07004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07008.png",
+      "transform_matrix": [
+        [
+          0.3390714228153229,
+          -0.1446940004825592,
+          0.9295666813850403,
+          15.499153137207031
+        ],
+        [
+          -0.9406624436378479,
+          -0.06642710417509079,
+          0.33277881145477295,
+          24.278358459472656
+        ],
+        [
+          0.013597330078482628,
+          -0.9872443079948425,
+          -0.15863171219825745,
+          -18.302488327026367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7008,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_283081293",
+      "mask_path": "../../mask/hdr_front_07008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07010.png",
+      "transform_matrix": [
+        [
+          0.29118993878364563,
+          -0.13933365046977997,
+          0.9464642405509949,
+          15.403200149536133
+        ],
+        [
+          -0.9563299417495728,
+          -0.06858625262975693,
+          0.2841283082962036,
+          24.251020431518555
+        ],
+        [
+          0.025325795635581017,
+          -0.9878674149513245,
+          -0.15322056412696838,
+          -18.279802322387695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7010,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_483082294",
+      "mask_path": "../../mask/hdr_front_07010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07012.png",
+      "transform_matrix": [
+        [
+          0.22299301624298096,
+          -0.12894898653030396,
+          0.9662536978721619,
+          15.342731475830078
+        ],
+        [
+          -0.9743008017539978,
+          -0.06182892993092537,
+          0.21659891307353973,
+          24.254993438720703
+        ],
+        [
+          0.03181222081184387,
+          -0.9897218942642212,
+          -0.13942252099514008,
+          -18.275056838989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7012,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_683081388",
+      "mask_path": "../../mask/hdr_front_07012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07016.png",
+      "transform_matrix": [
+        [
+          0.1350942701101303,
+          -0.11825476586818695,
+          0.9837507009506226,
+          15.297107696533203
+        ],
+        [
+          -0.9906098246574402,
+          -0.037176162004470825,
+          0.1315673142671585,
+          24.315378189086914
+        ],
+        [
+          0.02101360820233822,
+          -0.9922870993614197,
+          -0.12216662615537643,
+          -18.272871017456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7016,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_83079814",
+      "mask_path": "../../mask/hdr_front_07016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07019.png",
+      "transform_matrix": [
+        [
+          0.12018215656280518,
+          -0.1045834943652153,
+          0.9872276782989502,
+          15.224337577819824
+        ],
+        [
+          -0.9927468299865723,
+          -0.01582213304936886,
+          0.11917790025472641,
+          24.347976684570312
+        ],
+        [
+          0.00315600773319602,
+          -0.9943903088569641,
+          -0.10572648048400879,
+          -18.264543533325195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7019,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_383081197",
+      "mask_path": "../../mask/hdr_front_07019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07021.png",
+      "transform_matrix": [
+        [
+          0.11925697326660156,
+          -0.09586123377084732,
+          0.9882249236106873,
+          15.15550422668457
+        ],
+        [
+          -0.992863118648529,
+          -0.01225382648408413,
+          0.11862806230783463,
+          24.336624145507812
+        ],
+        [
+          0.0007377061992883682,
+          -0.9953193068504333,
+          -0.09663844108581543,
+          -18.263715744018555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7021,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_583079814",
+      "mask_path": "../../mask/hdr_front_07021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07022.png",
+      "transform_matrix": [
+        [
+          0.11524486541748047,
+          -0.08922064304351807,
+          0.9893221259117126,
+          15.106222152709961
+        ],
+        [
+          -0.993269681930542,
+          -0.021952107548713684,
+          0.11372501403093338,
+          24.32911491394043
+        ],
+        [
+          0.011571088805794716,
+          -0.9957699775695801,
+          -0.09115003049373627,
+          -18.258731842041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7022,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_683079004",
+      "mask_path": "../../mask/hdr_front_07022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07023.png",
+      "transform_matrix": [
+        [
+          0.10950037091970444,
+          -0.0878458097577095,
+          0.9900974035263062,
+          15.05607795715332
+        ],
+        [
+          -0.9936288595199585,
+          -0.03640438988804817,
+          0.10666098445653915,
+          24.321809768676758
+        ],
+        [
+          0.02667417749762535,
+          -0.9954686760902405,
+          -0.09127240628004074,
+          -18.261837005615234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7023,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_783080816",
+      "mask_path": "../../mask/hdr_front_07023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07024.png",
+      "transform_matrix": [
+        [
+          0.10598188638687134,
+          -0.08447306603193283,
+          0.9907735586166382,
+          14.988174438476562
+        ],
+        [
+          -0.9939454793930054,
+          -0.038044802844524384,
+          0.10307751595973969,
+          24.303115844726562
+        ],
+        [
+          0.028986504301428795,
+          -0.9956992268562317,
+          -0.08799368888139725,
+          -18.26076316833496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7024,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_883080959",
+      "mask_path": "../../mask/hdr_front_07024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07025.png",
+      "transform_matrix": [
+        [
+          0.10766170173883438,
+          -0.06041301041841507,
+          0.9923503398895264,
+          14.932936668395996
+        ],
+        [
+          -0.994083821773529,
+          -0.02096143178641796,
+          0.1065736711025238,
+          24.289573669433594
+        ],
+        [
+          0.014362648129463196,
+          -0.9979534149169922,
+          -0.06231233477592468,
+          -18.259305953979492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7025,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_983080625",
+      "mask_path": "../../mask/hdr_front_07025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07027.png",
+      "transform_matrix": [
+        [
+          0.11708918958902359,
+          -0.043800875544548035,
+          0.9921550750732422,
+          14.854410171508789
+        ],
+        [
+          -0.9931039810180664,
+          -0.011093465611338615,
+          0.11671143025159836,
+          24.2642822265625
+        ],
+        [
+          0.005894376430660486,
+          -0.9989787936210632,
+          -0.04479774087667465,
+          -18.250816345214844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7027,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_183081150",
+      "mask_path": "../../mask/hdr_front_07027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07029.png",
+      "transform_matrix": [
+        [
+          0.10916692018508911,
+          -0.025634385645389557,
+          0.9936928153038025,
+          14.777600288391113
+        ],
+        [
+          -0.9937100410461426,
+          -0.027915099635720253,
+          0.10844867676496506,
+          24.223129272460938
+        ],
+        [
+          0.0249590165913105,
+          -0.9992815852165222,
+          -0.028520550578832626,
+          -18.246854782104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7029,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_383079767",
+      "mask_path": "../../mask/hdr_front_07029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07030.png",
+      "transform_matrix": [
+        [
+          0.09878350049257278,
+          -0.028251515701413155,
+          0.9947078824043274,
+          14.725459098815918
+        ],
+        [
+          -0.9946765899658203,
+          -0.03226420283317566,
+          0.0978640541434288,
+          24.215932846069336
+        ],
+        [
+          0.029328644275665283,
+          -0.9990800619125366,
+          -0.03128829598426819,
+          -18.247446060180664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7030,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_483080863",
+      "mask_path": "../../mask/hdr_front_07030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07031.png",
+      "transform_matrix": [
+        [
+          0.08826519548892975,
+          -0.029579579830169678,
+          0.9956578016281128,
+          14.675938606262207
+        ],
+        [
+          -0.9952985644340515,
+          -0.04263010621070862,
+          0.08696689456701279,
+          24.20778465270996
+        ],
+        [
+          0.03987255319952965,
+          -0.998652994632721,
+          -0.03320327028632164,
+          -18.248485565185547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7031,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_583079576",
+      "mask_path": "../../mask/hdr_front_07031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07032.png",
+      "transform_matrix": [
+        [
+          0.08352947980165482,
+          -0.026600664481520653,
+          0.9961501955986023,
+          14.610595703125
+        ],
+        [
+          -0.995667040348053,
+          -0.04322095215320587,
+          0.08233480900526047,
+          24.192909240722656
+        ],
+        [
+          0.04086440056562424,
+          -0.998711347579956,
+          -0.030095627531409264,
+          -18.238021850585938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7032,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_683080196",
+      "mask_path": "../../mask/hdr_front_07032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07034.png",
+      "transform_matrix": [
+        [
+          0.09388072788715363,
+          -0.03789433836936951,
+          0.9948620200157166,
+          14.541872024536133
+        ],
+        [
+          -0.9954208135604858,
+          -0.021632105112075806,
+          0.09310950338840485,
+          24.202138900756836
+        ],
+        [
+          0.01799263432621956,
+          -0.9990476369857788,
+          -0.03975165635347366,
+          -18.225528717041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7034,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_883079051",
+      "mask_path": "../../mask/hdr_front_07034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07035.png",
+      "transform_matrix": [
+        [
+          0.09154080599546432,
+          -0.03780396655201912,
+          0.9950834512710571,
+          14.491385459899902
+        ],
+        [
+          -0.9957079291343689,
+          -0.017162879928946495,
+          0.09094621241092682,
+          24.21813201904297
+        ],
+        [
+          0.013640370219945908,
+          -0.999137818813324,
+          -0.03921281173825264,
+          -18.211095809936523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7035,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_983081102",
+      "mask_path": "../../mask/hdr_front_07035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07051.png",
+      "transform_matrix": [
+        [
+          0.04354378208518028,
+          -0.07883991301059723,
+          0.9959359169006348,
+          14.42768383026123
+        ],
+        [
+          -0.9975441098213196,
+          -0.05817195773124695,
+          0.03900911659002304,
+          24.285400390625
+        ],
+        [
+          0.05486006289720535,
+          -0.9951885938644409,
+          -0.08117932081222534,
+          -18.178918838500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7051,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_583081007",
+      "mask_path": "../../mask/hdr_front_07051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07053.png",
+      "transform_matrix": [
+        [
+          0.03940555453300476,
+          -0.11920032650232315,
+          0.9920879602432251,
+          14.405231475830078
+        ],
+        [
+          -0.9973876476287842,
+          -0.06484758108854294,
+          0.03182455152273178,
+          24.317005157470703
+        ],
+        [
+          0.060541003942489624,
+          -0.990750253200531,
+          -0.12144427746534348,
+          -18.123764038085938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7053,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_783080816",
+      "mask_path": "../../mask/hdr_front_07053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07055.png",
+      "transform_matrix": [
+        [
+          0.04196606203913689,
+          -0.11210811138153076,
+          0.9928094744682312,
+          14.346528053283691
+        ],
+        [
+          -0.9976283311843872,
+          -0.05896271765232086,
+          0.03551168739795685,
+          24.352128982543945
+        ],
+        [
+          0.054557595402002335,
+          -0.9919451475143433,
+          -0.1143166646361351,
+          -18.132522583007812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7055,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_983081340",
+      "mask_path": "../../mask/hdr_front_07055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07058.png",
+      "transform_matrix": [
+        [
+          0.04404331371188164,
+          -0.09387831389904022,
+          0.994608998298645,
+          14.308210372924805
+        ],
+        [
+          -0.9962166547775269,
+          -0.07878601551055908,
+          0.03667811304330826,
+          24.37458038330078
+        ],
+        [
+          0.0749180018901825,
+          -0.9924614429473877,
+          -0.09699313342571259,
+          -18.1529541015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7058,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_283082485",
+      "mask_path": "../../mask/hdr_front_07058.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07060.png",
+      "transform_matrix": [
+        [
+          0.05576455965638161,
+          -0.08759607374668121,
+          0.9945940375328064,
+          14.242083549499512
+        ],
+        [
+          -0.994862973690033,
+          -0.08916601538658142,
+          0.04792659357190132,
+          24.373783111572266
+        ],
+        [
+          0.08448579907417297,
+          -0.9921574592590332,
+          -0.09211840480566025,
+          -18.16250991821289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7060,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_483083009",
+      "mask_path": "../../mask/hdr_front_07060.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07061.png",
+      "transform_matrix": [
+        [
+          0.07901204377412796,
+          -0.09032481908798218,
+          0.992773175239563,
+          14.19172477722168
+        ],
+        [
+          -0.9941797852516174,
+          -0.08030546456575394,
+          0.07181760668754578,
+          24.35601806640625
+        ],
+        [
+          0.07323818653821945,
+          -0.992669403553009,
+          -0.0961441919207573,
+          -18.14657974243164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7061,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_583081483",
+      "mask_path": "../../mask/hdr_front_07061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07063.png",
+      "transform_matrix": [
+        [
+          0.15908202528953552,
+          -0.10188142210245132,
+          0.9819944500923157,
+          14.121719360351562
+        ],
+        [
+          -0.9864107370376587,
+          -0.05778121575713158,
+          0.15380266308784485,
+          24.309724807739258
+        ],
+        [
+          0.041071195155382156,
+          -0.9931171536445618,
+          -0.10968887805938721,
+          -18.132789611816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7063,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_783082723",
+      "mask_path": "../../mask/hdr_front_07063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07065.png",
+      "transform_matrix": [
+        [
+          0.24178199470043182,
+          -0.10173477977514267,
+          0.9649826288223267,
+          14.030176162719727
+        ],
+        [
+          -0.9698522686958313,
+          -0.0565594844520092,
+          0.2370392382144928,
+          24.255535125732422
+        ],
+        [
+          0.03046378865838051,
+          -0.9932024478912354,
+          -0.11234277486801147,
+          -18.107404708862305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7065,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_983081340",
+      "mask_path": "../../mask/hdr_front_07065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07070.png",
+      "transform_matrix": [
+        [
+          0.3351914584636688,
+          -0.10229751467704773,
+          0.9365798830986023,
+          13.825515747070312
+        ],
+        [
+          -0.9417784810066223,
+          -0.0642964169383049,
+          0.3300292193889618,
+          24.163410186767578
+        ],
+        [
+          0.026457566767930984,
+          -0.9926738142967224,
+          -0.11789321899414062,
+          -18.073780059814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7070,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_483082056",
+      "mask_path": "../../mask/hdr_front_07070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07071.png",
+      "transform_matrix": [
+        [
+          0.34337639808654785,
+          -0.10117214918136597,
+          0.9337327480316162,
+          13.784546852111816
+        ],
+        [
+          -0.9388576149940491,
+          -0.06373342871665955,
+          0.3383554220199585,
+          24.128725051879883
+        ],
+        [
+          0.02527785301208496,
+          -0.9928253889083862,
+          -0.11687079071998596,
+          -18.06832504272461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7071,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_583082199",
+      "mask_path": "../../mask/hdr_front_07071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07072.png",
+      "transform_matrix": [
+        [
+          0.34995123744010925,
+          -0.10784041881561279,
+          0.9305399656295776,
+          13.724812507629395
+        ],
+        [
+          -0.9365856647491455,
+          -0.05987712740898132,
+          0.34528568387031555,
+          24.094898223876953
+        ],
+        [
+          0.018482305109500885,
+          -0.992363452911377,
+          -0.12195586413145065,
+          -18.0596981048584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7072,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_683082342",
+      "mask_path": "../../mask/hdr_front_07072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07073.png",
+      "transform_matrix": [
+        [
+          0.3539910912513733,
+          -0.11651471257209778,
+          0.927962601184845,
+          13.653343200683594
+        ],
+        [
+          -0.9350978136062622,
+          -0.06192188709974289,
+          0.34893810749053955,
+          24.06861114501953
+        ],
+        [
+          0.016804777085781097,
+          -0.9912568926811218,
+          -0.1308724582195282,
+          -18.039875030517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7073,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_783082962",
+      "mask_path": "../../mask/hdr_front_07073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07074.png",
+      "transform_matrix": [
+        [
+          0.36158403754234314,
+          -0.12143117189407349,
+          0.924397885799408,
+          13.595382690429688
+        ],
+        [
+          -0.9321433901786804,
+          -0.06742224842309952,
+          0.3557570278644562,
+          24.052349090576172
+        ],
+        [
+          0.019124992191791534,
+          -0.9903073906898499,
+          -0.1375700682401657,
+          -18.02903938293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7074,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_883081674",
+      "mask_path": "../../mask/hdr_front_07074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07075.png",
+      "transform_matrix": [
+        [
+          0.37539952993392944,
+          -0.11531886458396912,
+          0.9196611046791077,
+          13.519612312316895
+        ],
+        [
+          -0.9268208742141724,
+          -0.05616132542490959,
+          0.37127989530563354,
+          24.000913619995117
+        ],
+        [
+          0.008833820931613445,
+          -0.9917396903038025,
+          -0.1279628723859787,
+          -18.02292823791504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7075,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_983080863",
+      "mask_path": "../../mask/hdr_front_07075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07076.png",
+      "transform_matrix": [
+        [
+          0.3939440846443176,
+          -0.10762210935354233,
+          0.9128118753433228,
+          13.460784912109375
+        ],
+        [
+          -0.9191069602966309,
+          -0.03844577819108963,
+          0.39212802052497864,
+          23.954572677612305
+        ],
+        [
+          -0.007107886951416731,
+          -0.9934482574462891,
+          -0.11406171321868896,
+          -18.011037826538086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7076,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_83081722",
+      "mask_path": "../../mask/hdr_front_07076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07077.png",
+      "transform_matrix": [
+        [
+          0.4114032983779907,
+          -0.10508129745721817,
+          0.9053758382797241,
+          13.403020858764648
+        ],
+        [
+          -0.9112668633460999,
+          -0.027324935421347618,
+          0.4109088182449341,
+          23.926429748535156
+        ],
+        [
+          -0.01843949407339096,
+          -0.9940882325172424,
+          -0.10699866712093353,
+          -18.005615234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7077,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_183081388",
+      "mask_path": "../../mask/hdr_front_07077.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07078.png",
+      "transform_matrix": [
+        [
+          0.4265039563179016,
+          -0.10082197189331055,
+          0.8988488912582397,
+          13.335132598876953
+        ],
+        [
+          -0.9043031930923462,
+          -0.027568839490413666,
+          0.4259996712207794,
+          23.897815704345703
+        ],
+        [
+          -0.018169905990362167,
+          -0.9945224523544312,
+          -0.10293184220790863,
+          -17.999305725097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7078,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_283081293",
+      "mask_path": "../../mask/hdr_front_07078.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07079.png",
+      "transform_matrix": [
+        [
+          0.43786320090293884,
+          -0.09420417249202728,
+          0.8940925002098083,
+          13.268211364746094
+        ],
+        [
+          -0.8989869952201843,
+          -0.03491277992725372,
+          0.43658167123794556,
+          23.870771408081055
+        ],
+        [
+          -0.009912556037306786,
+          -0.9949405193328857,
+          -0.0999753475189209,
+          -17.996997833251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7079,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_383080959",
+      "mask_path": "../../mask/hdr_front_07079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07080.png",
+      "transform_matrix": [
+        [
+          0.4451530873775482,
+          -0.09118649363517761,
+          0.8907995820045471,
+          13.217447280883789
+        ],
+        [
+          -0.8954508900642395,
+          -0.042529795318841934,
+          0.4431239664554596,
+          23.83964729309082
+        ],
+        [
+          -0.0025213980115950108,
+          -0.9949252605438232,
+          -0.10058529675006866,
+          -17.99099349975586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7080,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_483080863",
+      "mask_path": "../../mask/hdr_front_07080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07081.png",
+      "transform_matrix": [
+        [
+          0.4508599042892456,
+          -0.08873385936021805,
+          0.8881732821464539,
+          13.174544334411621
+        ],
+        [
+          -0.8925528526306152,
+          -0.054465629160404205,
+          0.44764164090156555,
+          23.810577392578125
+        ],
+        [
+          0.008653942495584488,
+          -0.9945651292800903,
+          -0.10375601053237915,
+          -17.986574172973633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7081,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_583081245",
+      "mask_path": "../../mask/hdr_front_07081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07082.png",
+      "transform_matrix": [
+        [
+          0.4537242650985718,
+          -0.0938989594578743,
+          0.8861813545227051,
+          13.122038841247559
+        ],
+        [
+          -0.8907570242881775,
+          -0.077025406062603,
+          0.44790539145469666,
+          23.753332138061523
+        ],
+        [
+          0.02620062045753002,
+          -0.9925976991653442,
+          -0.11858943849802017,
+          -17.957517623901367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7082,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_683080196",
+      "mask_path": "../../mask/hdr_front_07082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07083.png",
+      "transform_matrix": [
+        [
+          0.4596480429172516,
+          -0.10577467083930969,
+          0.8817797303199768,
+          13.051582336425781
+        ],
+        [
+          -0.887870728969574,
+          -0.07735110074281693,
+          0.4535443186759949,
+          23.69525146484375
+        ],
+        [
+          0.02023313380777836,
+          -0.9913771152496338,
+          -0.12946848571300507,
+          -17.914125442504883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7083,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_783077955",
+      "mask_path": "../../mask/hdr_front_07083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07084.png",
+      "transform_matrix": [
+        [
+          0.46540364623069763,
+          -0.11248956620693207,
+          0.8779211640357971,
+          12.998434066772461
+        ],
+        [
+          -0.8850703835487366,
+          -0.067057766020298,
+          0.4606013894081116,
+          23.666208267211914
+        ],
+        [
+          0.007058578077703714,
+          -0.9913876056671143,
+          -0.13077011704444885,
+          -17.910606384277344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7084,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_883079051",
+      "mask_path": "../../mask/hdr_front_07084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07085.png",
+      "transform_matrix": [
+        [
+          0.46730324625968933,
+          -0.1135643869638443,
+          0.8767729997634888,
+          12.958773612976074
+        ],
+        [
+          -0.8840840458869934,
+          -0.06540922075510025,
+          0.46272778511047363,
+          23.633691787719727
+        ],
+        [
+          0.004799645394086838,
+          -0.991375207901001,
+          -0.1309663951396942,
+          -17.913972854614258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7085,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_983080148",
+      "mask_path": "../../mask/hdr_front_07085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07086.png",
+      "transform_matrix": [
+        [
+          0.46345221996307373,
+          -0.13382191956043243,
+          0.8759586811065674,
+          12.907984733581543
+        ],
+        [
+          -0.885992169380188,
+          -0.05306204780936241,
+          0.4606543183326721,
+          23.60304069519043
+        ],
+        [
+          -0.015165469609200954,
+          -0.9895838499069214,
+          -0.14315688610076904,
+          -17.895381927490234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7086,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_83081722",
+      "mask_path": "../../mask/hdr_front_07086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07087.png",
+      "transform_matrix": [
+        [
+          0.4427773952484131,
+          -0.17917107045650482,
+          0.8785476088523865,
+          12.829275131225586
+        ],
+        [
+          -0.8961153030395508,
+          -0.055184293538331985,
+          0.44037705659866333,
+          23.585918426513672
+        ],
+        [
+          -0.030420802533626556,
+          -0.9822690486907959,
+          -0.18499231338500977,
+          -17.803466796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7087,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_183084011",
+      "mask_path": "../../mask/hdr_front_07087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07089.png",
+      "transform_matrix": [
+        [
+          0.41378235816955566,
+          -0.21247218549251556,
+          0.8852342963218689,
+          12.726208686828613
+        ],
+        [
+          -0.9102739095687866,
+          -0.08201288431882858,
+          0.4058019816875458,
+          23.552322387695312
+        ],
+        [
+          -0.013621014542877674,
+          -0.9737194180488586,
+          -0.2273433655500412,
+          -17.748859405517578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7089,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_383082628",
+      "mask_path": "../../mask/hdr_front_07089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07090.png",
+      "transform_matrix": [
+        [
+          0.41124504804611206,
+          -0.21216340363025665,
+          0.8864898085594177,
+          12.67210578918457
+        ],
+        [
+          -0.9114260077476501,
+          -0.08139192312955856,
+          0.40333354473114014,
+          23.50558853149414
+        ],
+        [
+          -0.013419505208730698,
+          -0.9738388061523438,
+          -0.22684328258037567,
+          -17.731348037719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7090,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_483082771",
+      "mask_path": "../../mask/hdr_front_07090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07094.png",
+      "transform_matrix": [
+        [
+          0.3947637379169464,
+          -0.27371856570243835,
+          0.8770631551742554,
+          12.538721084594727
+        ],
+        [
+          -0.9169166684150696,
+          -0.05656056106090546,
+          0.395050048828125,
+          23.419618606567383
+        ],
+        [
+          -0.05852534621953964,
+          -0.9601453542709351,
+          -0.273305207490921,
+          -17.64778709411621
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7094,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_883083820",
+      "mask_path": "../../mask/hdr_front_07094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07095.png",
+      "transform_matrix": [
+        [
+          0.380851149559021,
+          -0.31104910373687744,
+          0.8707472681999207,
+          12.451460838317871
+        ],
+        [
+          -0.9216617941856384,
+          -0.052230335772037506,
+          0.3844626247882843,
+          23.41627311706543
+        ],
+        [
+          -0.07410731911659241,
+          -0.9489575624465942,
+          -0.3065740466117859,
+          -17.58778953552246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7095,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_983082532",
+      "mask_path": "../../mask/hdr_front_07095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07097.png",
+      "transform_matrix": [
+        [
+          0.380916953086853,
+          -0.29226458072662354,
+          0.8772022128105164,
+          12.375838279724121
+        ],
+        [
+          -0.9241944551467896,
+          -0.09193695336580276,
+          0.37069156765937805,
+          23.406585693359375
+        ],
+        [
+          -0.027692707255482674,
+          -0.9519081711769104,
+          -0.30512964725494385,
+          -17.59819221496582
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7097,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323974_183083534",
+      "mask_path": "../../mask/hdr_front_07097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07108.png",
+      "transform_matrix": [
+        [
+          0.293229341506958,
+          -0.22533151507377625,
+          0.9291082620620728,
+          12.009879112243652
+        ],
+        [
+          -0.9559998512268066,
+          -0.07825365662574768,
+          0.2827379107475281,
+          23.24220085144043
+        ],
+        [
+          0.008996358141303062,
+          -0.9711344838142395,
+          -0.2383631467819214,
+          -17.49825668334961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7108,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_283081531",
+      "mask_path": "../../mask/hdr_front_07108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07111.png",
+      "transform_matrix": [
+        [
+          0.2766900360584259,
+          -0.21576470136642456,
+          0.936423122882843,
+          11.855469703674316
+        ],
+        [
+          -0.9607886075973511,
+          -0.08047591894865036,
+          0.2653466761112213,
+          23.196670532226562
+        ],
+        [
+          0.018107056617736816,
+          -0.9731234312057495,
+          -0.2295711487531662,
+          -17.46080780029297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7111,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_583083152",
+      "mask_path": "../../mask/hdr_front_07111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07112.png",
+      "transform_matrix": [
+        [
+          0.2731054425239563,
+          -0.20975005626678467,
+          0.9388388395309448,
+          11.787515640258789
+        ],
+        [
+          -0.9612933993339539,
+          -0.0964818149805069,
+          0.25808200240135193,
+          23.17477798461914
+        ],
+        [
+          0.0364481620490551,
+          -0.9729831218719482,
+          -0.22798104584217072,
+          -17.462186813354492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7112,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_683081150",
+      "mask_path": "../../mask/hdr_front_07112.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07113.png",
+      "transform_matrix": [
+        [
+          0.27388039231300354,
+          -0.20936258137226105,
+          0.9386995434761047,
+          11.726377487182617
+        ],
+        [
+          -0.9609271287918091,
+          -0.10027214884757996,
+          0.25800150632858276,
+          23.140363693237305
+        ],
+        [
+          0.04010956361889839,
+          -0.9726833701133728,
+          -0.22864475846290588,
+          -17.395566940307617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7113,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_783081769",
+      "mask_path": "../../mask/hdr_front_07113.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07114.png",
+      "transform_matrix": [
+        [
+          0.2796717584133148,
+          -0.20595283806324005,
+          0.9377457499504089,
+          11.681955337524414
+        ],
+        [
+          -0.9597702026367188,
+          -0.08540229499340057,
+          0.26748380064964294,
+          23.112768173217773
+        ],
+        [
+          0.024996593594551086,
+          -0.9748282432556152,
+          -0.22155199944972992,
+          -17.350000381469727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7114,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_883080959",
+      "mask_path": "../../mask/hdr_front_07114.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07115.png",
+      "transform_matrix": [
+        [
+          0.2835877239704132,
+          -0.20018605887889862,
+          0.9378184676170349,
+          11.636255264282227
+        ],
+        [
+          -0.9588993191719055,
+          -0.06887555867433548,
+          0.27526023983955383,
+          23.091598510742188
+        ],
+        [
+          0.009489508345723152,
+          -0.9773340225219727,
+          -0.21149052679538727,
+          -17.354164123535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7115,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_983081817",
+      "mask_path": "../../mask/hdr_front_07115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07116.png",
+      "transform_matrix": [
+        [
+          0.28409257531166077,
+          -0.19729621708393097,
+          0.938278079032898,
+          11.58315658569336
+        ],
+        [
+          -0.9587963223457336,
+          -0.05938893184065819,
+          0.27781715989112854,
+          23.06366539001465
+        ],
+        [
+          0.0009110626997426152,
+          -0.9785434007644653,
+          -0.20603883266448975,
+          -17.3455810546875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7116,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_83081007",
+      "mask_path": "../../mask/hdr_front_07116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07117.png",
+      "transform_matrix": [
+        [
+          0.2810962498188019,
+          -0.1821504533290863,
+          0.9422346949577332,
+          11.53228759765625
+        ],
+        [
+          -0.9595644474029541,
+          -0.06855396926403046,
+          0.2730135917663574,
+          23.030569076538086
+        ],
+        [
+          0.01486437488347292,
+          -0.9808779954910278,
+          -0.19405537843704224,
+          -17.323558807373047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7117,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_183082342",
+      "mask_path": "../../mask/hdr_front_07117.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07118.png",
+      "transform_matrix": [
+        [
+          0.27725037932395935,
+          -0.17598940432071686,
+          0.9445422291755676,
+          11.486961364746094
+        ],
+        [
+          -0.9604064226150513,
+          -0.07881475985050201,
+          0.2672220766544342,
+          23.004716873168945
+        ],
+        [
+          0.02741561271250248,
+          -0.9812318682670593,
+          -0.19087277352809906,
+          -17.301626205444336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7118,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_283082246",
+      "mask_path": "../../mask/hdr_front_07118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07119.png",
+      "transform_matrix": [
+        [
+          0.27430710196495056,
+          -0.18165519833564758,
+          0.9443289041519165,
+          11.431449890136719
+        ],
+        [
+          -0.9610264301300049,
+          -0.0869191363453865,
+          0.26243722438812256,
+          22.98690414428711
+        ],
+        [
+          0.03440715745091438,
+          -0.97951340675354,
+          -0.19841796159744263,
+          -17.288785934448242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7119,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_383081674",
+      "mask_path": "../../mask/hdr_front_07119.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07121.png",
+      "transform_matrix": [
+        [
+          0.2780902087688446,
+          -0.2206086367368698,
+          0.9348785281181335,
+          11.376303672790527
+        ],
+        [
+          -0.9581234455108643,
+          -0.1329130381345749,
+          0.25364044308662415,
+          22.902252197265625
+        ],
+        [
+          0.06830226629972458,
+          -0.9662639498710632,
+          -0.2483321577310562,
+          -17.177946090698242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7121,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_583081245",
+      "mask_path": "../../mask/hdr_front_07121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07122.png",
+      "transform_matrix": [
+        [
+          0.28558382391929626,
+          -0.22879470884799957,
+          0.9306421875953674,
+          11.287993431091309
+        ],
+        [
+          -0.9567633867263794,
+          -0.12398726493120193,
+          0.26311782002449036,
+          22.886741638183594
+        ],
+        [
+          0.05518782511353493,
+          -0.9655465483665466,
+          -0.25431111454963684,
+          -17.154804229736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7122,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_683082103",
+      "mask_path": "../../mask/hdr_front_07122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07123.png",
+      "transform_matrix": [
+        [
+          0.2852649390697479,
+          -0.225613534450531,
+          0.9315162301063538,
+          11.221890449523926
+        ],
+        [
+          -0.9572103023529053,
+          -0.11645303666591644,
+          0.2649284899234772,
+          22.880544662475586
+        ],
+        [
+          0.04870643466711044,
+          -0.9672316908836365,
+          -0.24917955696582794,
+          -17.177989959716797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7123,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_783082485",
+      "mask_path": "../../mask/hdr_front_07123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07124.png",
+      "transform_matrix": [
+        [
+          0.27799421548843384,
+          -0.22148717939853668,
+          0.9346992373466492,
+          11.169703483581543
+        ],
+        [
+          -0.9593376517295837,
+          -0.11354192346334457,
+          0.2584170699119568,
+          22.87262725830078
+        ],
+        [
+          0.048891473561525345,
+          -0.9685306549072266,
+          -0.24404500424861908,
+          -17.167551040649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7124,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_883082866",
+      "mask_path": "../../mask/hdr_front_07124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07126.png",
+      "transform_matrix": [
+        [
+          0.26210278272628784,
+          -0.21988819539546967,
+          0.9396550059318542,
+          11.082785606384277
+        ],
+        [
+          -0.9627951979637146,
+          -0.1259555071592331,
+          0.23908264935016632,
+          22.85654640197754
+        ],
+        [
+          0.06578324735164642,
+          -0.9673595428466797,
+          -0.24472062289714813,
+          -17.146509170532227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7126,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_83083152",
+      "mask_path": "../../mask/hdr_front_07126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07128.png",
+      "transform_matrix": [
+        [
+          0.22622178494930267,
+          -0.18499328196048737,
+          0.9563478231430054,
+          11.016063690185547
+        ],
+        [
+          -0.9709268808364868,
+          -0.1217048242688179,
+          0.20612816512584686,
+          22.816709518432617
+        ],
+        [
+          0.07825982570648193,
+          -0.975174605846405,
+          -0.20714719593524933,
+          -17.086076736450195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7128,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_283082962",
+      "mask_path": "../../mask/hdr_front_07128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07131.png",
+      "transform_matrix": [
+        [
+          0.19884935021400452,
+          -0.1731729656457901,
+          0.9646087884902954,
+          10.863947868347168
+        ],
+        [
+          -0.9791030883789062,
+          -0.07790423184633255,
+          0.1878514140844345,
+          22.807945251464844
+        ],
+        [
+          0.042616311460733414,
+          -0.9818055033683777,
+          -0.18504540622234344,
+          -17.09137535095215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7131,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_583083391",
+      "mask_path": "../../mask/hdr_front_07131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07133.png",
+      "transform_matrix": [
+        [
+          0.17225229740142822,
+          -0.17179645597934723,
+          0.9699562788009644,
+          10.787559509277344
+        ],
+        [
+          -0.9836999773979187,
+          -0.08158866316080093,
+          0.1602422147989273,
+          22.80178451538086
+        ],
+        [
+          0.051608387380838394,
+          -0.9817480444908142,
+          -0.1830500364303589,
+          -17.05961036682129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7133,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_783082008",
+      "mask_path": "../../mask/hdr_front_07133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07136.png",
+      "transform_matrix": [
+        [
+          0.14955998957157135,
+          -0.20486973226070404,
+          0.9672952890396118,
+          10.696537971496582
+        ],
+        [
+          -0.9843447804450989,
+          -0.12312277406454086,
+          0.12611916661262512,
+          22.76249122619629
+        ],
+        [
+          0.0932580754160881,
+          -0.9710144996643066,
+          -0.22007670998573303,
+          -16.97081184387207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7136,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_83081483",
+      "mask_path": "../../mask/hdr_front_07136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07137.png",
+      "transform_matrix": [
+        [
+          0.15065599977970123,
+          -0.21373139321804047,
+          0.9652054905891418,
+          10.617352485656738
+        ],
+        [
+          -0.9857693314552307,
+          -0.1061304360628128,
+          0.13036464154720306,
+          22.753517150878906
+        ],
+        [
+          0.07457464188337326,
+          -0.9711102843284607,
+          -0.22667908668518066,
+          -16.94415283203125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7137,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_183080434",
+      "mask_path": "../../mask/hdr_front_07137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07139.png",
+      "transform_matrix": [
+        [
+          0.139324352145195,
+          -0.1999766081571579,
+          0.9698443412780762,
+          10.512944221496582
+        ],
+        [
+          -0.9883410930633545,
+          -0.08881297707557678,
+          0.12366879731416702,
+          22.736474990844727
+        ],
+        [
+          0.06140391156077385,
+          -0.9757672548294067,
+          -0.21001891791820526,
+          -16.938039779663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7139,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_383080244",
+      "mask_path": "../../mask/hdr_front_07139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07140.png",
+      "transform_matrix": [
+        [
+          0.1314815878868103,
+          -0.19120241701602936,
+          0.9727046489715576,
+          10.457551002502441
+        ],
+        [
+          -0.988719642162323,
+          -0.09629878401756287,
+          0.11471714079380035,
+          22.72490692138672
+        ],
+        [
+          0.07173607498407364,
+          -0.9768153429031372,
+          -0.20170710980892181,
+          -16.909801483154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7140,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_483078956",
+      "mask_path": "../../mask/hdr_front_07140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07142.png",
+      "transform_matrix": [
+        [
+          0.11664542555809021,
+          -0.19974654912948608,
+          0.9728798270225525,
+          10.373302459716797
+        ],
+        [
+          -0.9905575513839722,
+          -0.09444944560527802,
+          0.09937308728694916,
+          22.718183517456055
+        ],
+        [
+          0.07203853130340576,
+          -0.9752848744392395,
+          -0.2088775485754013,
+          -16.8916015625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7142,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_683080673",
+      "mask_path": "../../mask/hdr_front_07142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07144.png",
+      "transform_matrix": [
+        [
+          0.11219359189271927,
+          -0.2017964869737625,
+          0.9729804396629333,
+          10.268481254577637
+        ],
+        [
+          -0.9921358823776245,
+          -0.07742714881896973,
+          0.09834397584199905,
+          22.701417922973633
+        ],
+        [
+          0.05548962950706482,
+          -0.9763622283935547,
+          -0.20889635384082794,
+          -16.87013816833496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7144,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_883081436",
+      "mask_path": "../../mask/hdr_front_07144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07146.png",
+      "transform_matrix": [
+        [
+          0.1127113401889801,
+          -0.2053767591714859,
+          0.9721710681915283,
+          10.173020362854004
+        ],
+        [
+          -0.9932038187980652,
+          -0.05186500400304794,
+          0.1041930690407753,
+          22.673681259155273
+        ],
+        [
+          0.02902282029390335,
+          -0.9773077964782715,
+          -0.2098267376422882,
+          -16.855026245117188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7146,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_83080768",
+      "mask_path": "../../mask/hdr_front_07146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07147.png",
+      "transform_matrix": [
+        [
+          0.10780702531337738,
+          -0.2049873322248459,
+          0.9728092551231384,
+          10.104216575622559
+        ],
+        [
+          -0.9938479065895081,
+          -0.04719949886202812,
+          0.10019282251596451,
+          22.65871238708496
+        ],
+        [
+          0.025377852842211723,
+          -0.9776259064674377,
+          -0.20881468057632446,
+          -16.84023666381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7147,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_183082342",
+      "mask_path": "../../mask/hdr_front_07147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07148.png",
+      "transform_matrix": [
+        [
+          0.09726899862289429,
+          -0.20516878366470337,
+          0.973881185054779,
+          10.043586730957031
+        ],
+        [
+          -0.9948151111602783,
+          -0.04923764988780022,
+          0.08898687362670898,
+          22.64463996887207
+        ],
+        [
+          0.029694287106394768,
+          -0.9774873852729797,
+          -0.2088942974805832,
+          -16.817895889282227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7148,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_283082008",
+      "mask_path": "../../mask/hdr_front_07148.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07149.png",
+      "transform_matrix": [
+        [
+          0.08917569369077682,
+          -0.2038610726594925,
+          0.9749299883842468,
+          9.964641571044922
+        ],
+        [
+          -0.9954702854156494,
+          -0.050638120621442795,
+          0.0804658904671669,
+          22.62604331970215
+        ],
+        [
+          0.03296475112438202,
+          -0.9776893854141235,
+          -0.20745331048965454,
+          -16.798460006713867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7149,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_383081912",
+      "mask_path": "../../mask/hdr_front_07149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07150.png",
+      "transform_matrix": [
+        [
+          0.09026258438825607,
+          -0.19179892539978027,
+          0.9772746562957764,
+          9.85770320892334
+        ],
+        [
+          -0.9956343770027161,
+          -0.04079483821988106,
+          0.08395195752382278,
+          22.601850509643555
+        ],
+        [
+          0.023765863850712776,
+          -0.980586051940918,
+          -0.19464386999607086,
+          -16.792423248291016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7150,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_483082294",
+      "mask_path": "../../mask/hdr_front_07150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07151.png",
+      "transform_matrix": [
+        [
+          0.0991833359003067,
+          -0.1815616488456726,
+          0.9783650636672974,
+          9.767702102661133
+        ],
+        [
+          -0.9950106143951416,
+          -0.028773333877325058,
+          0.09553114324808121,
+          22.579627990722656
+        ],
+        [
+          0.01080603338778019,
+          -0.9829585552215576,
+          -0.18350958824157715,
+          -16.799354553222656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7151,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_583082199",
+      "mask_path": "../../mask/hdr_front_07151.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07152.png",
+      "transform_matrix": [
+        [
+          0.10878889262676239,
+          -0.17616546154022217,
+          0.9783306121826172,
+          9.69540786743164
+        ],
+        [
+          -0.9940499663352966,
+          -0.024668807163834572,
+          0.10609480738639832,
+          22.5590877532959
+        ],
+        [
+          0.005444009322673082,
+          -0.9840514063835144,
+          -0.1778009682893753,
+          -16.80035972595215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7152,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_683081150",
+      "mask_path": "../../mask/hdr_front_07152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07153.png",
+      "transform_matrix": [
+        [
+          0.11726607382297516,
+          -0.15040932595729828,
+          0.9816443920135498,
+          9.618510246276855
+        ],
+        [
+          -0.9930022358894348,
+          -0.03166894242167473,
+          0.113770492374897,
+          22.539518356323242
+        ],
+        [
+          0.013975498266518116,
+          -0.9881165027618408,
+          -0.15307047963142395,
+          -16.789806365966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7153,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_783081531",
+      "mask_path": "../../mask/hdr_front_07153.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07154.png",
+      "transform_matrix": [
+        [
+          0.12095814943313599,
+          -0.11772362887859344,
+          0.9856522679328918,
+          9.545052528381348
+        ],
+        [
+          -0.9923825860023499,
+          -0.03771507367491722,
+          0.11727949976921082,
+          22.520305633544922
+        ],
+        [
+          0.0233673807233572,
+          -0.9923299551010132,
+          -0.12138881534337997,
+          -16.78810691833496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7154,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_883080720",
+      "mask_path": "../../mask/hdr_front_07154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07155.png",
+      "transform_matrix": [
+        [
+          0.1260538101196289,
+          -0.10025401413440704,
+          0.9869446158409119,
+          9.490553855895996
+        ],
+        [
+          -0.9916371703147888,
+          -0.04049243777990341,
+          0.1225399449467659,
+          22.50676727294922
+        ],
+        [
+          0.027678662911057472,
+          -0.9941375851631165,
+          -0.10451984405517578,
+          -16.792522430419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7155,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_983080625",
+      "mask_path": "../../mask/hdr_front_07155.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07156.png",
+      "transform_matrix": [
+        [
+          0.131643608212471,
+          -0.09190481901168823,
+          0.9870275855064392,
+          9.429953575134277
+        ],
+        [
+          -0.9906278252601624,
+          -0.04877813160419464,
+          0.12758193910121918,
+          22.48461151123047
+        ],
+        [
+          0.03641996905207634,
+          -0.9945724606513977,
+          -0.09746479988098145,
+          -16.783960342407227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7156,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_83081483",
+      "mask_path": "../../mask/hdr_front_07156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07157.png",
+      "transform_matrix": [
+        [
+          0.14101727306842804,
+          -0.06920681893825531,
+          0.9875852465629578,
+          9.351330757141113
+        ],
+        [
+          -0.9897197484970093,
+          -0.033889420330524445,
+          0.13894721865653992,
+          22.465871810913086
+        ],
+        [
+          0.023852596059441566,
+          -0.9970265626907349,
+          -0.07327435910701752,
+          -16.781986236572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7157,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_183080196",
+      "mask_path": "../../mask/hdr_front_07157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07159.png",
+      "transform_matrix": [
+        [
+          0.17510206997394562,
+          -0.05033060908317566,
+          0.9832630753517151,
+          9.242780685424805
+        ],
+        [
+          -0.9845433235168457,
+          -0.012691503390669823,
+          0.1746804267168045,
+          22.44312286376953
+        ],
+        [
+          0.003687314223498106,
+          -0.9986519813537598,
+          -0.05177497863769531,
+          -16.797779083251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7159,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_383080482",
+      "mask_path": "../../mask/hdr_front_07159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07160.png",
+      "transform_matrix": [
+        [
+          0.19725649058818817,
+          -0.04724550247192383,
+          0.9792128801345825,
+          9.179757118225098
+        ],
+        [
+          -0.9803460836410522,
+          -0.012929442338645458,
+          0.19686099886894226,
+          22.413902282714844
+        ],
+        [
+          0.0033598807640373707,
+          -0.9987996220588684,
+          -0.0488673634827137,
+          -16.794536590576172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7160,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_483080863",
+      "mask_path": "../../mask/hdr_front_07160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07161.png",
+      "transform_matrix": [
+        [
+          0.21029287576675415,
+          -0.04094874486327171,
+          0.9767805337905884,
+          9.122817993164062
+        ],
+        [
+          -0.9776275157928467,
+          -0.013547971844673157,
+          0.20990724861621857,
+          22.388629913330078
+        ],
+        [
+          0.004637955687940121,
+          -0.9990694522857666,
+          -0.04288165643811226,
+          -16.79684066772461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7161,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_583080768",
+      "mask_path": "../../mask/hdr_front_07161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07162.png",
+      "transform_matrix": [
+        [
+          0.21785682439804077,
+          -0.03504905477166176,
+          0.9753512144088745,
+          9.060073852539062
+        ],
+        [
+          -0.9759582281112671,
+          -0.01460624672472477,
+          0.2174675464630127,
+          22.373016357421875
+        ],
+        [
+          0.006624188739806414,
+          -0.9992788434028625,
+          -0.03738849237561226,
+          -16.801090240478516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7162,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_683081150",
+      "mask_path": "../../mask/hdr_front_07162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07163.png",
+      "transform_matrix": [
+        [
+          0.21753165125846863,
+          -0.030841641128063202,
+          0.9755659103393555,
+          9.005083084106445
+        ],
+        [
+          -0.975955069065094,
+          -0.021051065996289253,
+          0.21695291996002197,
+          22.362125396728516
+        ],
+        [
+          0.013845519162714481,
+          -0.9993026852607727,
+          -0.03467932343482971,
+          -16.80253028869629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7163,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_783081054",
+      "mask_path": "../../mask/hdr_front_07163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07164.png",
+      "transform_matrix": [
+        [
+          0.21039725840091705,
+          -0.030249522998929024,
+          0.9771478772163391,
+          8.934894561767578
+        ],
+        [
+          -0.9775269627571106,
+          -0.020000578835606575,
+          0.2098597139120102,
+          22.342700958251953
+        ],
+        [
+          0.013195366598665714,
+          -0.9993423223495483,
+          -0.033777788281440735,
+          -16.796710968017578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7164,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_883080720",
+      "mask_path": "../../mask/hdr_front_07164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07165.png",
+      "transform_matrix": [
+        [
+          0.2110818475484848,
+          -0.0331306979060173,
+          0.9769068360328674,
+          8.85769271850586
+        ],
+        [
+          -0.9774637818336487,
+          -0.01023571752011776,
+          0.21085508167743683,
+          22.314659118652344
+        ],
+        [
+          0.003013565903529525,
+          -0.9993985891342163,
+          -0.03454463556408882,
+          -16.784873962402344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7165,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_983080863",
+      "mask_path": "../../mask/hdr_front_07165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07166.png",
+      "transform_matrix": [
+        [
+          0.21524862945079803,
+          -0.034839827567338943,
+          0.9759376645088196,
+          8.80199146270752
+        ],
+        [
+          -0.9765586853027344,
+          -0.006538866087794304,
+          0.21515215933322906,
+          22.299644470214844
+        ],
+        [
+          -0.0011143378214910626,
+          -0.9993715882301331,
+          -0.03543061017990112,
+          -16.789804458618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7166,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_83082437",
+      "mask_path": "../../mask/hdr_front_07166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07168.png",
+      "transform_matrix": [
+        [
+          0.21190646290779114,
+          -0.02527092956006527,
+          0.9769632816314697,
+          8.725118637084961
+        ],
+        [
+          -0.9772868752479553,
+          -0.007973585277795792,
+          0.2117704302072525,
+          22.276527404785156
+        ],
+        [
+          0.0024382639676332474,
+          -0.9996488690376282,
+          -0.026386603713035583,
+          -16.797609329223633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7168,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_283083200",
+      "mask_path": "../../mask/hdr_front_07168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07170.png",
+      "transform_matrix": [
+        [
+          0.19558003544807434,
+          -0.01711079105734825,
+          0.9805384278297424,
+          8.643654823303223
+        ],
+        [
+          -0.980474054813385,
+          -0.024281203746795654,
+          0.19514352083206177,
+          22.254772186279297
+        ],
+        [
+          0.02046959660947323,
+          -0.9995587468147278,
+          -0.021525606513023376,
+          -16.78611946105957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7170,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_483082294",
+      "mask_path": "../../mask/hdr_front_07170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07172.png",
+      "transform_matrix": [
+        [
+          0.1839185655117035,
+          -0.022812653332948685,
+          0.9826768040657043,
+          8.580500602722168
+        ],
+        [
+          -0.9826318621635437,
+          -0.029355119913816452,
+          0.18322871625423431,
+          22.221811294555664
+        ],
+        [
+          0.02466665953397751,
+          -0.999308705329895,
+          -0.02781539410352707,
+          -16.765392303466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7172,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_683081150",
+      "mask_path": "../../mask/hdr_front_07172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07174.png",
+      "transform_matrix": [
+        [
+          0.1860358864068985,
+          -0.020219461992383003,
+          0.9823349714279175,
+          8.515475273132324
+        ],
+        [
+          -0.982376754283905,
+          -0.02222251333296299,
+          0.18558640778064728,
+          22.199129104614258
+        ],
+        [
+          0.018077490851283073,
+          -0.9995485544204712,
+          -0.023997312411665916,
+          -16.77305030822754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7174,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_883080005",
+      "mask_path": "../../mask/hdr_front_07174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07176.png",
+      "transform_matrix": [
+        [
+          0.17719954252243042,
+          -0.003716249018907547,
+          0.9841679334640503,
+          8.454057693481445
+        ],
+        [
+          -0.9835377931594849,
+          -0.03664541617035866,
+          0.1769477277994156,
+          22.180143356323242
+        ],
+        [
+          0.0354076586663723,
+          -0.999321460723877,
+          -0.010148621164262295,
+          -16.77056884765625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7176,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_83083629",
+      "mask_path": "../../mask/hdr_front_07176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07178.png",
+      "transform_matrix": [
+        [
+          0.15395678579807281,
+          -0.005579806864261627,
+          0.9880618453025818,
+          8.394224166870117
+        ],
+        [
+          -0.9871416091918945,
+          -0.04438573867082596,
+          0.1535627543926239,
+          22.172922134399414
+        ],
+        [
+          0.04299900308251381,
+          -0.9989989399909973,
+          -0.012341544963419437,
+          -16.766721725463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7178,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_283081531",
+      "mask_path": "../../mask/hdr_front_07178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07180.png",
+      "transform_matrix": [
+        [
+          0.1450059413909912,
+          -0.02072112448513508,
+          0.9892138242721558,
+          8.315812110900879
+        ],
+        [
+          -0.9887722730636597,
+          -0.03950515761971474,
+          0.14411373436450958,
+          22.14729881286621
+        ],
+        [
+          0.0360928475856781,
+          -0.9990044832229614,
+          -0.026216959580779076,
+          -16.753244400024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7180,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_483081579",
+      "mask_path": "../../mask/hdr_front_07180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07182.png",
+      "transform_matrix": [
+        [
+          0.14834868907928467,
+          -0.029483504593372345,
+          0.9884955286979675,
+          8.243931770324707
+        ],
+        [
+          -0.9887363910675049,
+          -0.02446148917078972,
+          0.14765523374080658,
+          22.132434844970703
+        ],
+        [
+          0.019826680421829224,
+          -0.9992659091949463,
+          -0.0327802412211895,
+          -16.763042449951172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7182,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_683078289",
+      "mask_path": "../../mask/hdr_front_07182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07184.png",
+      "transform_matrix": [
+        [
+          0.1367437094449997,
+          -0.04907072335481644,
+          0.9893903732299805,
+          8.165360450744629
+        ],
+        [
+          -0.9905822277069092,
+          -0.013745639473199844,
+          0.13622669875621796,
+          22.11214828491211
+        ],
+        [
+          0.00691505940631032,
+          -0.998700737953186,
+          -0.050488218665122986,
+          -16.729469299316406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7184,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_883083105",
+      "mask_path": "../../mask/hdr_front_07184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07185.png",
+      "transform_matrix": [
+        [
+          0.1269361972808838,
+          -0.08630385249853134,
+          0.9881492257118225,
+          8.107901573181152
+        ],
+        [
+          -0.9918208718299866,
+          0.0023820020724087954,
+          0.12761589884757996,
+          22.11917495727539
+        ],
+        [
+          -0.013367515057325363,
+          -0.9962661266326904,
+          -0.08529558777809143,
+          -16.668210983276367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7185,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_983079195",
+      "mask_path": "../../mask/hdr_front_07185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07186.png",
+      "transform_matrix": [
+        [
+          0.11402524262666702,
+          -0.10102998465299606,
+          0.9883275628089905,
+          8.048624992370605
+        ],
+        [
+          -0.9934172034263611,
+          -0.0006020713481120765,
+          0.11455092579126358,
+          22.129192352294922
+        ],
+        [
+          -0.010978033766150475,
+          -0.9948832392692566,
+          -0.10043357312679291,
+          -16.647294998168945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7186,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_83080768",
+      "mask_path": "../../mask/hdr_front_07186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07188.png",
+      "transform_matrix": [
+        [
+          0.09636885672807693,
+          -0.11799556761980057,
+          0.988326907157898,
+          7.961974620819092
+        ],
+        [
+          -0.9951786994934082,
+          -0.029608678072690964,
+          0.0935019999742508,
+          22.11366081237793
+        ],
+        [
+          0.01823023520410061,
+          -0.9925726056098938,
+          -0.12028003484010696,
+          -16.638072967529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7188,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_283081054",
+      "mask_path": "../../mask/hdr_front_07188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07190.png",
+      "transform_matrix": [
+        [
+          0.09633185714483261,
+          -0.12698248028755188,
+          0.9872161149978638,
+          7.869012355804443
+        ],
+        [
+          -0.9952136278152466,
+          -0.028661711141467094,
+          0.09342558681964874,
+          22.092302322387695
+        ],
+        [
+          0.016431886702775955,
+          -0.9914907813072205,
+          -0.12913574278354645,
+          -16.622636795043945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7190,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_483082532",
+      "mask_path": "../../mask/hdr_front_07190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07192.png",
+      "transform_matrix": [
+        [
+          0.08822380751371384,
+          -0.12422408908605576,
+          0.9883243441581726,
+          7.776913642883301
+        ],
+        [
+          -0.9957927465438843,
+          -0.035672497004270554,
+          0.08440675586462021,
+          22.077064514160156
+        ],
+        [
+          0.024770641699433327,
+          -0.9916127920150757,
+          -0.12684859335422516,
+          -16.606199264526367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7192,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_683082818",
+      "mask_path": "../../mask/hdr_front_07192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07194.png",
+      "transform_matrix": [
+        [
+          0.07303285598754883,
+          -0.13306023180484772,
+          0.9884135127067566,
+          7.668868541717529
+        ],
+        [
+          -0.9967086911201477,
+          -0.04470278322696686,
+          0.06762789189815521,
+          22.071044921875
+        ],
+        [
+          0.03518625348806381,
+          -0.9900993704795837,
+          -0.1358870565891266,
+          -16.59298324584961
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7194,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_883082628",
+      "mask_path": "../../mask/hdr_front_07194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07195.png",
+      "transform_matrix": [
+        [
+          0.06608075648546219,
+          -0.1520143300294876,
+          0.9861668348312378,
+          7.5951080322265625
+        ],
+        [
+          -0.9963057041168213,
+          -0.06437832862138748,
+          0.056836433708667755,
+          22.06248664855957
+        ],
+        [
+          0.05484781786799431,
+          -0.9862794280052185,
+          -0.15570691227912903,
+          -16.576810836791992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7195,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_983082294",
+      "mask_path": "../../mask/hdr_front_07195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07196.png",
+      "transform_matrix": [
+        [
+          0.06222052872180939,
+          -0.1858525276184082,
+          0.9806056618690491,
+          7.540796756744385
+        ],
+        [
+          -0.9958720803260803,
+          -0.07661797106266022,
+          0.048667918890714645,
+          22.055532455444336
+        ],
+        [
+          0.06608695536851883,
+          -0.9795858860015869,
+          -0.1898525506258011,
+          -16.50897216796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7196,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_83082914",
+      "mask_path": "../../mask/hdr_front_07196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07197.png",
+      "transform_matrix": [
+        [
+          0.06361744552850723,
+          -0.2000868022441864,
+          0.9777106642723083,
+          7.4719343185424805
+        ],
+        [
+          -0.9958204627037048,
+          -0.077059805393219,
+          0.04902564361691475,
+          22.047855377197266
+        ],
+        [
+          0.06553280353546143,
+          -0.9767431616783142,
+          -0.20415286719799042,
+          -16.481332778930664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7197,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_183082342",
+      "mask_path": "../../mask/hdr_front_07197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07198.png",
+      "transform_matrix": [
+        [
+          0.06364478170871735,
+          -0.1979493796825409,
+          0.9781438112258911,
+          7.399060249328613
+        ],
+        [
+          -0.9958070516586304,
+          -0.0771310031414032,
+          0.0491848848760128,
+          22.042465209960938
+        ],
+        [
+          0.06570909172296524,
+          -0.9771729111671448,
+          -0.20202834904193878,
+          -16.503292083740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7198,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_283082962",
+      "mask_path": "../../mask/hdr_front_07198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07199.png",
+      "transform_matrix": [
+        [
+          0.05174734443426132,
+          -0.1794406920671463,
+          0.9824069738388062,
+          7.35378885269165
+        ],
+        [
+          -0.9960880875587463,
+          -0.07983130216598511,
+          0.037886470556259155,
+          22.050310134887695
+        ],
+        [
+          0.07162844389677048,
+          -0.9805244207382202,
+          -0.1828697770833969,
+          -16.493885040283203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7199,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_383082151",
+      "mask_path": "../../mask/hdr_front_07199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07200.png",
+      "transform_matrix": [
+        [
+          0.036557793617248535,
+          -0.16538967192173004,
+          0.9855505228042603,
+          7.3013763427734375
+        ],
+        [
+          -0.9965401291847229,
+          -0.07969357818365097,
+          0.02359170652925968,
+          22.063623428344727
+        ],
+        [
+          0.07464022189378738,
+          -0.9830031394958496,
+          -0.1677308827638626,
+          -16.474349975585938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7200,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_483082771",
+      "mask_path": "../../mask/hdr_front_07200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07201.png",
+      "transform_matrix": [
+        [
+          0.026651358231902122,
+          -0.16750682890415192,
+          0.9855105876922607,
+          7.243737697601318
+        ],
+        [
+          -0.9971071481704712,
+          -0.07465584576129913,
+          0.014275741763412952,
+          22.07143783569336
+        ],
+        [
+          0.07118283212184906,
+          -0.9830402135848999,
+          -0.1690119504928589,
+          -16.468135833740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7201,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_583082437",
+      "mask_path": "../../mask/hdr_front_07201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07203.png",
+      "transform_matrix": [
+        [
+          0.012134094722568989,
+          -0.1641138345003128,
+          0.9863667488098145,
+          7.127265453338623
+        ],
+        [
+          -0.9970346689224243,
+          -0.07695107161998749,
+          -0.000537953048478812,
+          22.07041358947754
+        ],
+        [
+          0.07599026709794998,
+          -0.9834353923797607,
+          -0.16456091403961182,
+          -16.445411682128906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7203,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_783082723",
+      "mask_path": "../../mask/hdr_front_07203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07204.png",
+      "transform_matrix": [
+        [
+          0.013046632520854473,
+          -0.16172613203525543,
+          0.9867494106292725,
+          7.050275802612305
+        ],
+        [
+          -0.9976012110710144,
+          -0.06919777393341064,
+          0.0018487453926354647,
+          22.06142234802246
+        ],
+        [
+          0.06798186898231506,
+          -0.984406590461731,
+          -0.16224098205566406,
+          -16.428516387939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7204,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_883082389",
+      "mask_path": "../../mask/hdr_front_07204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07205.png",
+      "transform_matrix": [
+        [
+          0.013225982896983624,
+          -0.1632457673549652,
+          0.9864968061447144,
+          6.991934776306152
+        ],
+        [
+          -0.998042643070221,
+          -0.06246238946914673,
+          0.0030444851145148277,
+          22.05706214904785
+        ],
+        [
+          0.061121948063373566,
+          -0.9846062064170837,
+          -0.16375237703323364,
+          -16.425758361816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7205,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_983083248",
+      "mask_path": "../../mask/hdr_front_07205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07207.png",
+      "transform_matrix": [
+        [
+          0.013811551965773106,
+          -0.16149456799030304,
+          0.9867770075798035,
+          6.9180145263671875
+        ],
+        [
+          -0.9987073540687561,
+          -0.05050719529390335,
+          0.0057125999592244625,
+          22.04421043395996
+        ],
+        [
+          0.0489167757332325,
+          -0.985580325126648,
+          -0.16198338568210602,
+          -16.403705596923828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7207,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_183081626",
+      "mask_path": "../../mask/hdr_front_07207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07208.png",
+      "transform_matrix": [
+        [
+          0.015879958868026733,
+          -0.16415570676326752,
+          0.9863066077232361,
+          6.859359264373779
+        ],
+        [
+          -0.998551070690155,
+          -0.053328730165958405,
+          0.007201345171779394,
+          22.038822174072266
+        ],
+        [
+          0.051416344940662384,
+          -0.9849919080734253,
+          -0.16476471722126007,
+          -16.386638641357422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7208,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_283081769",
+      "mask_path": "../../mask/hdr_front_07208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07209.png",
+      "transform_matrix": [
+        [
+          0.02146327868103981,
+          -0.16380012035369873,
+          0.9862600564956665,
+          6.802574634552002
+        ],
+        [
+          -0.9981460571289062,
+          -0.05970759689807892,
+          0.011805582791566849,
+          22.029277801513672
+        ],
+        [
+          0.05695347115397453,
+          -0.9846850037574768,
+          -0.1647779792547226,
+          -16.37566566467285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7209,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_383081197",
+      "mask_path": "../../mask/hdr_front_07209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07211.png",
+      "transform_matrix": [
+        [
+          0.05745410919189453,
+          -0.15605959296226501,
+          0.986075222492218,
+          6.716072082519531
+        ],
+        [
+          -0.9974940419197083,
+          -0.049820493906736374,
+          0.05023466423153877,
+          22.00338363647461
+        ],
+        [
+          0.04128715395927429,
+          -0.9864904284477234,
+          -0.15853090584278107,
+          -16.360197067260742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7211,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_583081007",
+      "mask_path": "../../mask/hdr_front_07211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07213.png",
+      "transform_matrix": [
+        [
+          0.09758433699607849,
+          -0.15059207379817963,
+          0.9837679862976074,
+          6.654580593109131
+        ],
+        [
+          -0.9948011636734009,
+          -0.04367907717823982,
+          0.09199254214763641,
+          21.969436645507812
+        ],
+        [
+          0.029116729274392128,
+          -0.9876306056976318,
+          -0.15407158434391022,
+          -16.3729248046875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7213,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_783082485",
+      "mask_path": "../../mask/hdr_front_07213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07215.png",
+      "transform_matrix": [
+        [
+          0.11713233590126038,
+          -0.19825275242328644,
+          0.9731268286705017,
+          6.576310157775879
+        ],
+        [
+          -0.9929782152175903,
+          -0.007040007971227169,
+          0.11808755248785019,
+          21.94565200805664
+        ],
+        [
+          -0.01656036078929901,
+          -0.9801257252693176,
+          -0.19768527150154114,
+          -16.245317459106445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7215,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_983082056",
+      "mask_path": "../../mask/hdr_front_07215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07217.png",
+      "transform_matrix": [
+        [
+          0.12892597913742065,
+          -0.19557198882102966,
+          0.9721778035163879,
+          6.496256351470947
+        ],
+        [
+          -0.9915047287940979,
+          -0.04244552180171013,
+          0.12295031547546387,
+          21.939617156982422
+        ],
+        [
+          0.01721896044909954,
+          -0.9797704219818115,
+          -0.19938287138938904,
+          -16.252599716186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7217,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_183081388",
+      "mask_path": "../../mask/hdr_front_07217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07218.png",
+      "transform_matrix": [
+        [
+          0.13596458733081818,
+          -0.1854943335056305,
+          0.9731934666633606,
+          6.446053981781006
+        ],
+        [
+          -0.9901111721992493,
+          -0.05969356745481491,
+          0.12695035338401794,
+          21.93524932861328
+        ],
+        [
+          0.034544818103313446,
+          -0.9808305501937866,
+          -0.19177624583244324,
+          -16.249052047729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7218,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_283081531",
+      "mask_path": "../../mask/hdr_front_07218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07219.png",
+      "transform_matrix": [
+        [
+          0.14382554590702057,
+          -0.1724988967180252,
+          0.9744528532028198,
+          6.389184474945068
+        ],
+        [
+          -0.9892268776893616,
+          -0.052207328379154205,
+          0.13676433265209198,
+          21.943918228149414
+        ],
+        [
+          0.02728188782930374,
+          -0.9836251735687256,
+          -0.1781492978334427,
+          -16.245620727539062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7219,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_383083820",
+      "mask_path": "../../mask/hdr_front_07219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07220.png",
+      "transform_matrix": [
+        [
+          0.1545378714799881,
+          -0.16629095375537872,
+          0.9738919138908386,
+          6.333889961242676
+        ],
+        [
+          -0.9879083633422852,
+          -0.03842709958553314,
+          0.15020066499710083,
+          21.942493438720703
+        ],
+        [
+          0.012446830049157143,
+          -0.9853277206420898,
+          -0.17021867632865906,
+          -16.234764099121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7220,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_483082056",
+      "mask_path": "../../mask/hdr_front_07220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07221.png",
+      "transform_matrix": [
+        [
+          0.17325207591056824,
+          -0.16507437825202942,
+          0.9709450006484985,
+          6.271810531616211
+        ],
+        [
+          -0.9848493933677673,
+          -0.03649188205599785,
+          0.1695290058851242,
+          21.923540115356445
+        ],
+        [
+          0.007446713279932737,
+          -0.9856058359146118,
+          -0.1688956916332245,
+          -16.224580764770508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7221,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_583081722",
+      "mask_path": "../../mask/hdr_front_07221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07222.png",
+      "transform_matrix": [
+        [
+          0.1968654990196228,
+          -0.15917320549488068,
+          0.9674233794212341,
+          6.209095478057861
+        ],
+        [
+          -0.9803841710090637,
+          -0.04156217351555824,
+          0.19266460835933685,
+          21.906578063964844
+        ],
+        [
+          0.009541177190840244,
+          -0.9863754510879517,
+          -0.1642330288887024,
+          -16.22322654724121
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7222,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_683082818",
+      "mask_path": "../../mask/hdr_front_07222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07223.png",
+      "transform_matrix": [
+        [
+          0.2150946706533432,
+          -0.15350429713726044,
+          0.9644536375999451,
+          6.15993070602417
+        ],
+        [
+          -0.9764806032180786,
+          -0.048803895711898804,
+          0.21000923216342926,
+          21.893312454223633
+        ],
+        [
+          0.01483177300542593,
+          -0.9869421124458313,
+          -0.1603914052248001,
+          -16.215595245361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7223,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_783082723",
+      "mask_path": "../../mask/hdr_front_07223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07224.png",
+      "transform_matrix": [
+        [
+          0.23187755048274994,
+          -0.14748166501522064,
+          0.9614998698234558,
+          6.113569259643555
+        ],
+        [
+          -0.9724715948104858,
+          -0.058580078184604645,
+          0.22553811967372894,
+          21.873554229736328
+        ],
+        [
+          0.023062001913785934,
+          -0.9873285293579102,
+          -0.15700511634349823,
+          -16.20585823059082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7224,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_883081912",
+      "mask_path": "../../mask/hdr_front_07224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07225.png",
+      "transform_matrix": [
+        [
+          0.251297265291214,
+          -0.13792118430137634,
+          0.9580331444740295,
+          6.05765438079834
+        ],
+        [
+          -0.9672887325286865,
+          -0.07124222069978714,
+          0.24346886575222015,
+          21.8445987701416
+        ],
+        [
+          0.03467289358377457,
+          -0.9878776669502258,
+          -0.15131257474422455,
+          -16.206722259521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7225,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_983080148",
+      "mask_path": "../../mask/hdr_front_07225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07226.png",
+      "transform_matrix": [
+        [
+          0.2687709629535675,
+          -0.12624892592430115,
+          0.954894483089447,
+          6.011829376220703
+        ],
+        [
+          -0.9625146985054016,
+          -0.0727066621184349,
+          0.2613031268119812,
+          21.811853408813477
+        ],
+        [
+          0.036437954753637314,
+          -0.989330530166626,
+          -0.14105787873268127,
+          -16.209245681762695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7226,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_83081722",
+      "mask_path": "../../mask/hdr_front_07226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07228.png",
+      "transform_matrix": [
+        [
+          0.28837186098098755,
+          -0.12864087522029877,
+          0.9488378763198853,
+          5.970098495483398
+        ],
+        [
+          -0.9571541547775269,
+          -0.06606319546699524,
+          0.2819426655769348,
+          21.752567291259766
+        ],
+        [
+          0.02641390636563301,
+          -0.989488422870636,
+          -0.14217989146709442,
+          -16.192707061767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7228,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_283082485",
+      "mask_path": "../../mask/hdr_front_07228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07230.png",
+      "transform_matrix": [
+        [
+          0.2888053059577942,
+          -0.11335507035255432,
+          0.9506535530090332,
+          5.905263423919678
+        ],
+        [
+          -0.9569026827812195,
+          -0.0657852292060852,
+          0.2828596532344818,
+          21.695589065551758
+        ],
+        [
+          0.030475391075015068,
+          -0.9913743138313293,
+          -0.12746891379356384,
+          -16.195884704589844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7230,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_483082294",
+      "mask_path": "../../mask/hdr_front_07230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07232.png",
+      "transform_matrix": [
+        [
+          0.276511013507843,
+          -0.11562541127204895,
+          0.9540295600891113,
+          5.812108993530273
+        ],
+        [
+          -0.9602850079536438,
+          -0.0718168392777443,
+          0.2696200907230377,
+          21.651142120361328
+        ],
+        [
+          0.03734045475721359,
+          -0.9906932711601257,
+          -0.13089150190353394,
+          -16.17072868347168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7232,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_683080434",
+      "mask_path": "../../mask/hdr_front_07232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07233.png",
+      "transform_matrix": [
+        [
+          0.27415695786476135,
+          -0.10239046812057495,
+          0.9562187790870667,
+          5.748868942260742
+        ],
+        [
+          -0.9615298509597778,
+          -0.04704183340072632,
+          0.27064257860183716,
+          21.631895065307617
+        ],
+        [
+          0.01727106422185898,
+          -0.9936313629150391,
+          -0.11134833842515945,
+          -16.16721534729004
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7233,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_783083200",
+      "mask_path": "../../mask/hdr_front_07233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07234.png",
+      "transform_matrix": [
+        [
+          0.2762114107608795,
+          -0.09508940577507019,
+          0.9563813209533691,
+          5.693902969360352
+        ],
+        [
+          -0.9610710740089417,
+          -0.02003604546189308,
+          0.2755737900733948,
+          21.620140075683594
+        ],
+        [
+          -0.007042041979730129,
+          -0.9952670931816101,
+          -0.09692186117172241,
+          -16.16971778869629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7234,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_883081197",
+      "mask_path": "../../mask/hdr_front_07234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07235.png",
+      "transform_matrix": [
+        [
+          0.2783316969871521,
+          -0.09737376123666763,
+          0.955536425113678,
+          5.62578821182251
+        ],
+        [
+          -0.9603173732757568,
+          -0.009626156650483608,
+          0.27874335646629333,
+          21.59809684753418
+        ],
+        [
+          -0.01794414408504963,
+          -0.9952014684677124,
+          -0.0961889773607254,
+          -16.168872833251953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7235,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_983082294",
+      "mask_path": "../../mask/hdr_front_07235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07236.png",
+      "transform_matrix": [
+        [
+          0.2785428464412689,
+          -0.10240800678730011,
+          0.9549484848976135,
+          5.530999660491943
+        ],
+        [
+          -0.9601701498031616,
+          -0.006840033456683159,
+          0.27933239936828613,
+          21.570674896240234
+        ],
+        [
+          -0.02207399159669876,
+          -0.9947189688682556,
+          -0.10023435205221176,
+          -16.17551040649414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7236,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_83082199",
+      "mask_path": "../../mask/hdr_front_07236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07237.png",
+      "transform_matrix": [
+        [
+          0.26715075969696045,
+          -0.1530228704214096,
+          0.951427698135376,
+          5.453218936920166
+        ],
+        [
+          -0.9619308710098267,
+          0.01668289676308632,
+          0.2727831304073334,
+          21.55172348022461
+        ],
+        [
+          -0.057614631950855255,
+          -0.9880818128585815,
+          -0.1427406221628189,
+          -16.121091842651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7237,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_183082103",
+      "mask_path": "../../mask/hdr_front_07237.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07238.png",
+      "transform_matrix": [
+        [
+          0.24340534210205078,
+          -0.18416914343833923,
+          0.9522791504859924,
+          5.3801703453063965
+        ],
+        [
+          -0.9679903388023376,
+          0.015849867835640907,
+          0.25048649311065674,
+          21.540138244628906
+        ],
+        [
+          -0.061225373297929764,
+          -0.9827668070793152,
+          -0.17441600561141968,
+          -16.009939193725586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7238,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_283082485",
+      "mask_path": "../../mask/hdr_front_07238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07239.png",
+      "transform_matrix": [
+        [
+          0.2286759316921234,
+          -0.17872337996959686,
+          0.9569562673568726,
+          5.302362442016602
+        ],
+        [
+          -0.9728216528892517,
+          -0.005193717777729034,
+          0.23149719834327698,
+          21.521352767944336
+        ],
+        [
+          -0.03640379384160042,
+          -0.9838857054710388,
+          -0.1750536561012268,
+          -15.988322257995605
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7239,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_383082628",
+      "mask_path": "../../mask/hdr_front_07239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07240.png",
+      "transform_matrix": [
+        [
+          0.22336672246456146,
+          -0.177249014377594,
+          0.9584832191467285,
+          5.2098612785339355
+        ],
+        [
+          -0.9744035601615906,
+          -0.014982462860643864,
+          0.22430618107318878,
+          21.489316940307617
+        ],
+        [
+          -0.025397608056664467,
+          -0.9840520620346069,
+          -0.17605863511562347,
+          -16.011474609375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7240,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_483082532",
+      "mask_path": "../../mask/hdr_front_07240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07241.png",
+      "transform_matrix": [
+        [
+          0.22442874312400818,
+          -0.17328080534934998,
+          0.9589607119560242,
+          5.123025894165039
+        ],
+        [
+          -0.9742292761802673,
+          -0.017113743349909782,
+          0.2249096930027008,
+          21.453243255615234
+        ],
+        [
+          -0.022561127319931984,
+          -0.9847238063812256,
+          -0.1726560741662979,
+          -15.998631477355957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7241,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_583081722",
+      "mask_path": "../../mask/hdr_front_07241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07242.png",
+      "transform_matrix": [
+        [
+          0.2272181212902069,
+          -0.17141282558441162,
+          0.9586395025253296,
+          5.054938793182373
+        ],
+        [
+          -0.973551869392395,
+          -0.01587873511016369,
+          0.22791346907615662,
+          21.422576904296875
+        ],
+        [
+          -0.023845303803682327,
+          -0.9850714206695557,
+          -0.17048722505569458,
+          -15.986305236816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7242,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_683081388",
+      "mask_path": "../../mask/hdr_front_07242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07243.png",
+      "transform_matrix": [
+        [
+          0.22707417607307434,
+          -0.1667119562625885,
+          0.9595022201538086,
+          4.987036228179932
+        ],
+        [
+          -0.9735880494117737,
+          -0.014841009862720966,
+          0.22782909870147705,
+          21.393144607543945
+        ],
+        [
+          -0.02374184876680374,
+          -0.985893964767456,
+          -0.16567876935005188,
+          -15.988234519958496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7243,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_783081769",
+      "mask_path": "../../mask/hdr_front_07243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07244.png",
+      "transform_matrix": [
+        [
+          0.22094520926475525,
+          -0.16227367520332336,
+          0.9616914987564087,
+          4.911478519439697
+        ],
+        [
+          -0.9750114679336548,
+          -0.013350807130336761,
+          0.22175267338752747,
+          21.372079849243164
+        ],
+        [
+          -0.02314526028931141,
+          -0.9866555333137512,
+          -0.16116851568222046,
+          -15.975516319274902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7244,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_883081436",
+      "mask_path": "../../mask/hdr_front_07244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07245.png",
+      "transform_matrix": [
+        [
+          0.2126864492893219,
+          -0.16098925471305847,
+          0.9637670516967773,
+          4.8364458084106445
+        ],
+        [
+          -0.9769928455352783,
+          -0.019090639427304268,
+          0.21241621673107147,
+          21.357200622558594
+        ],
+        [
+          -0.015797799453139305,
+          -0.9867715239524841,
+          -0.16134566068649292,
+          -15.952794075012207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7245,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_983082056",
+      "mask_path": "../../mask/hdr_front_07245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_front_07246.png",
+      "transform_matrix": [
+        [
+          0.205746129155159,
+          -0.1606004685163498,
+          0.965337336063385,
+          4.767220973968506
+        ],
+        [
+          -0.9785782098770142,
+          -0.026412323117256165,
+          0.20417410135269165,
+          21.34279441833496
+        ],
+        [
+          -0.007293649483472109,
+          -0.9866661429405212,
+          -0.16259430348873138,
+          -15.936677932739258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7246,
+      "fl_x": "555.8261391609695",
+      "fl_y": "555.4888612615605",
+      "cx": "946.9470551242445",
+      "cy": "638.6457946722393",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_83082437",
+      "mask_path": "../../mask/hdr_front_07246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02856.png",
+      "transform_matrix": [
+        [
+          0.9859002828598022,
+          -0.14273327589035034,
+          -0.08733750134706497,
+          5.229872226715088
+        ],
+        [
+          0.08679050952196121,
+          -0.010065661743283272,
+          0.9961756467819214,
+          21.293968200683594
+        ],
+        [
+          -0.14306651055812836,
+          -0.9897100329399109,
+          0.002464157762005925,
+          -16.016555786132812
+        ],
+        [
+          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": "1731323547_983081817",
+      "mask_path": "../../mask/hdr_left_02856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02857.png",
+      "transform_matrix": [
+        [
+          0.9861102104187012,
+          -0.14121796190738678,
+          -0.08743038028478622,
+          5.289062023162842
+        ],
+        [
+          0.08715041726827621,
+          -0.008177858777344227,
+          0.9961615800857544,
+          21.308408737182617
+        ],
+        [
+          -0.1413908749818802,
+          -0.9899447560310364,
+          0.004242941737174988,
+          -16.01059341430664
+        ],
+        [
+          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": "1731323548_83083391",
+      "mask_path": "../../mask/hdr_left_02857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02859.png",
+      "transform_matrix": [
+        [
+          0.9869589805603027,
+          -0.13645850121974945,
+          -0.08538813889026642,
+          5.375762939453125
+        ],
+        [
+          0.08597183227539062,
+          -0.0016213050112128258,
+          0.9962961673736572,
+          21.33798599243164
+        ],
+        [
+          -0.13609151542186737,
+          -0.9906444549560547,
+          0.010131427086889744,
+          -16.025514602661133
+        ],
+        [
+          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": "1731323548_283083438",
+      "mask_path": "../../mask/hdr_left_02859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02860.png",
+      "transform_matrix": [
+        [
+          0.9856917858123779,
+          -0.14353112876415253,
+          -0.08837691694498062,
+          5.443450450897217
+        ],
+        [
+          0.08783971518278122,
+          -0.010087629780173302,
+          0.9960834980010986,
+          21.353363037109375
+        ],
+        [
+          -0.14386048913002014,
+          -0.9895944595336914,
+          0.00266444543376565,
+          -16.045427322387695
+        ],
+        [
+          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": "1731323548_383081436",
+      "mask_path": "../../mask/hdr_left_02860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02861.png",
+      "transform_matrix": [
+        [
+          0.9832380414009094,
+          -0.15649601817131042,
+          -0.09355243295431137,
+          5.511168956756592
+        ],
+        [
+          0.09122772514820099,
+          -0.02198808081448078,
+          0.9955873489379883,
+          21.36968231201172
+        ],
+        [
+          -0.15786246955394745,
+          -0.9874338507652283,
+          -0.007342735771089792,
+          -16.075450897216797
+        ],
+        [
+          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": "1731323548_483082056",
+      "mask_path": "../../mask/hdr_left_02861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02863.png",
+      "transform_matrix": [
+        [
+          0.9812764525413513,
+          -0.16610974073410034,
+          -0.09748878329992294,
+          5.603717803955078
+        ],
+        [
+          0.09523480385541916,
+          -0.021499890834093094,
+          0.9952225685119629,
+          21.39947509765625
+        ],
+        [
+          -0.1674121767282486,
+          -0.9858728647232056,
+          -0.0052779060788452625,
+          -16.13021469116211
+        ],
+        [
+          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": "1731323548_683081865",
+      "mask_path": "../../mask/hdr_left_02863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02864.png",
+      "transform_matrix": [
+        [
+          0.980003833770752,
+          -0.17242808640003204,
+          -0.09930231422185898,
+          5.672479629516602
+        ],
+        [
+          0.09758404642343521,
+          -0.018434518948197365,
+          0.9950565099716187,
+          21.410715103149414
+        ],
+        [
+          -0.17340627312660217,
+          -0.9848496317863464,
+          -0.0012396646197885275,
+          -16.128114700317383
+        ],
+        [
+          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": "1731323548_783081531",
+      "mask_path": "../../mask/hdr_left_02864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02865.png",
+      "transform_matrix": [
+        [
+          0.9790032505989075,
+          -0.17833738029003143,
+          -0.09873394668102264,
+          5.731708526611328
+        ],
+        [
+          0.09705722332000732,
+          -0.018124040216207504,
+          0.995113730430603,
+          21.420787811279297
+        ],
+        [
+          -0.1792554408311844,
+          -0.9838024973869324,
+          -0.00043456588173285127,
+          -16.11825180053711
+        ],
+        [
+          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": "1731323548_883082628",
+      "mask_path": "../../mask/hdr_left_02865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02866.png",
+      "transform_matrix": [
+        [
+          0.9791587591171265,
+          -0.17900557816028595,
+          -0.09594246000051498,
+          5.792679309844971
+        ],
+        [
+          0.09420210123062134,
+          -0.018217433243989944,
+          0.9953864216804504,
+          21.430233001708984
+        ],
+        [
+          -0.1799275279045105,
+          -0.9836794137954712,
+          -0.0009750567842274904,
+          -16.13056182861328
+        ],
+        [
+          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": "1731323548_983081817",
+      "mask_path": "../../mask/hdr_left_02866.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02867.png",
+      "transform_matrix": [
+        [
+          0.9808488488197327,
+          -0.17151038348674774,
+          -0.09230132400989532,
+          5.855911731719971
+        ],
+        [
+          0.09087865054607391,
+          -0.016145123168826103,
+          0.9957311749458313,
+          21.44822120666504
+        ],
+        [
+          -0.17226843535900116,
+          -0.9850500822067261,
+          -0.0002492919738870114,
+          -16.162052154541016
+        ],
+        [
+          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": "1731323549_83083152",
+      "mask_path": "../../mask/hdr_left_02867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02868.png",
+      "transform_matrix": [
+        [
+          0.9792320728302002,
+          -0.17755532264709473,
+          -0.09787053614854813,
+          5.94492244720459
+        ],
+        [
+          0.09403105825185776,
+          -0.02993224374949932,
+          0.9951191544532776,
+          21.471017837524414
+        ],
+        [
+          -0.17961816489696503,
+          -0.983655571937561,
+          -0.012614892795681953,
+          -16.169233322143555
+        ],
+        [
+          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": "1731323549_183082103",
+      "mask_path": "../../mask/hdr_left_02868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02869.png",
+      "transform_matrix": [
+        [
+          0.9768795371055603,
+          -0.18406714498996735,
+          -0.10874558985233307,
+          6.022141933441162
+        ],
+        [
+          0.10290259122848511,
+          -0.04103255271911621,
+          0.993844747543335,
+          21.48952865600586
+        ],
+        [
+          -0.18739627301692963,
+          -0.9820568561553955,
+          -0.0211428701877594,
+          -16.15580940246582
+        ],
+        [
+          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": "1731323549_283082008",
+      "mask_path": "../../mask/hdr_left_02869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02870.png",
+      "transform_matrix": [
+        [
+          0.9757881760597229,
+          -0.18090836703777313,
+          -0.1229209303855896,
+          6.081111907958984
+        ],
+        [
+          0.11725994199514389,
+          -0.04170253872871399,
+          0.9922252297401428,
+          21.516281127929688
+        ],
+        [
+          -0.1846279352903366,
+          -0.9826154708862305,
+          -0.0194795373827219,
+          -16.16131019592285
+        ],
+        [
+          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": "1731323549_383081674",
+      "mask_path": "../../mask/hdr_left_02870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02871.png",
+      "transform_matrix": [
+        [
+          0.9740588068962097,
+          -0.1776266247034073,
+          -0.14020802080631256,
+          6.152087688446045
+        ],
+        [
+          0.13383449614048004,
+          -0.047429800033569336,
+          0.9898679852485657,
+          21.556556701660156
+        ],
+        [
+          -0.1824769675731659,
+          -0.9829543232917786,
+          -0.02242683619260788,
+          -16.18907356262207
+        ],
+        [
+          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": "1731323549_483082056",
+      "mask_path": "../../mask/hdr_left_02871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02872.png",
+      "transform_matrix": [
+        [
+          0.9666961431503296,
+          -0.20819681882858276,
+          -0.14883729815483093,
+          6.212871551513672
+        ],
+        [
+          0.14550566673278809,
+          -0.03131501376628876,
+          0.9888617396354675,
+          21.59099578857422
+        ],
+        [
+          -0.21053868532180786,
+          -0.9775855541229248,
+          2.1724046746385284e-05,
+          -16.192161560058594
+        ],
+        [
+          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": "1731323549_583081722",
+      "mask_path": "../../mask/hdr_left_02872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02874.png",
+      "transform_matrix": [
+        [
+          0.9612187147140503,
+          -0.20347042381763458,
+          -0.18616755306720734,
+          6.273138523101807
+        ],
+        [
+          0.1846684366464615,
+          -0.026501845568418503,
+          0.9824435114860535,
+          21.6309871673584
+        ],
+        [
+          -0.20483195781707764,
+          -0.9787223935127258,
+          0.012100485153496265,
+          -16.173316955566406
+        ],
+        [
+          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": "1731323549_783082246",
+      "mask_path": "../../mask/hdr_left_02874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02875.png",
+      "transform_matrix": [
+        [
+          0.9610118865966797,
+          -0.19835400581359863,
+          -0.1926441788673401,
+          6.340057373046875
+        ],
+        [
+          0.19056817889213562,
+          -0.029689054936170578,
+          0.9812249541282654,
+          21.66765785217285
+        ],
+        [
+          -0.20034930109977722,
+          -0.9796807169914246,
+          0.009268427267670631,
+          -16.2059383392334
+        ],
+        [
+          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": "1731323549_883082866",
+      "mask_path": "../../mask/hdr_left_02875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02876.png",
+      "transform_matrix": [
+        [
+          0.9601058959960938,
+          -0.20317719876766205,
+          -0.19213445484638214,
+          6.398712635040283
+        ],
+        [
+          0.1919131726026535,
+          -0.02098129317164421,
+          0.9811875820159912,
+          21.70831298828125
+        ],
+        [
+          -0.20338614284992218,
+          -0.9789171814918518,
+          0.01884811744093895,
+          -16.2320613861084
+        ],
+        [
+          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": "1731323549_983082294",
+      "mask_path": "../../mask/hdr_left_02876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02878.png",
+      "transform_matrix": [
+        [
+          0.9599434733390808,
+          -0.2018820345401764,
+          -0.19429877400398254,
+          6.448614597320557
+        ],
+        [
+          0.19926582276821136,
+          0.004376786295324564,
+          0.9799356460571289,
+          21.78813934326172
+        ],
+        [
+          -0.19698098301887512,
+          -0.979400098323822,
+          0.044429656118154526,
+          -16.25372314453125
+        ],
+        [
+          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": "1731323550_183083057",
+      "mask_path": "../../mask/hdr_left_02878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02879.png",
+      "transform_matrix": [
+        [
+          0.9591840505599976,
+          -0.2040107250213623,
+          -0.19582019746303558,
+          6.502257823944092
+        ],
+        [
+          0.20051209628582,
+          0.002378660487011075,
+          0.9796883463859558,
+          21.834001541137695
+        ],
+        [
+          -0.1994011253118515,
+          -0.9789658188819885,
+          0.0431881882250309,
+          -16.27740478515625
+        ],
+        [
+          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": "1731323550_283082246",
+      "mask_path": "../../mask/hdr_left_02879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02880.png",
+      "transform_matrix": [
+        [
+          0.9580785632133484,
+          -0.20822706818580627,
+          -0.19679175317287445,
+          6.56718111038208
+        ],
+        [
+          0.20036153495311737,
+          -0.004021814558655024,
+          0.9797137379646301,
+          21.872379302978516
+        ],
+        [
+          -0.20479436218738556,
+          -0.9780722856521606,
+          0.03786749392747879,
+          -16.299718856811523
+        ],
+        [
+          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": "1731323550_383081912",
+      "mask_path": "../../mask/hdr_left_02880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02881.png",
+      "transform_matrix": [
+        [
+          0.9585423469543457,
+          -0.20452137291431427,
+          -0.19841249287128448,
+          6.624294757843018
+        ],
+        [
+          0.2009376883506775,
+          -0.008561237715184689,
+          0.9795665740966797,
+          21.897096633911133
+        ],
+        [
+          -0.20204097032546997,
+          -0.9788246750831604,
+          0.032889749854803085,
+          -16.310272216796875
+        ],
+        [
+          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": "1731323550_483081340",
+      "mask_path": "../../mask/hdr_left_02881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02882.png",
+      "transform_matrix": [
+        [
+          0.9607897400856018,
+          -0.19453422725200653,
+          -0.1975838989019394,
+          6.7246575355529785
+        ],
+        [
+          0.1970609575510025,
+          -0.022235192358493805,
+          0.9801391363143921,
+          21.9470272064209
+        ],
+        [
+          -0.19506388902664185,
+          -0.9806437492370605,
+          0.016971757635474205,
+          -16.341114044189453
+        ],
+        [
+          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": "1731323550_583081722",
+      "mask_path": "../../mask/hdr_left_02882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02883.png",
+      "transform_matrix": [
+        [
+          0.9625272750854492,
+          -0.18592992424964905,
+          -0.1974112093448639,
+          6.824507713317871
+        ],
+        [
+          0.1939287781715393,
+          -0.03692000359296799,
+          0.9803205728530884,
+          21.99103546142578
+        ],
+        [
+          -0.18955935537815094,
+          -0.9818691611289978,
+          0.0005206548958085477,
+          -16.35847282409668
+        ],
+        [
+          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": "1731323550_683081865",
+      "mask_path": "../../mask/hdr_left_02883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02884.png",
+      "transform_matrix": [
+        [
+          0.9632844924926758,
+          -0.1800340861082077,
+          -0.19917456805706024,
+          6.88557243347168
+        ],
+        [
+          0.19481076300144196,
+          -0.04178638756275177,
+          0.9799503087997437,
+          22.01765251159668
+        ],
+        [
+          -0.18474723398685455,
+          -0.9827724099159241,
+          -0.005179604049772024,
+          -16.367942810058594
+        ],
+        [
+          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": "1731323550_783080816",
+      "mask_path": "../../mask/hdr_left_02884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02885.png",
+      "transform_matrix": [
+        [
+          0.9636910557746887,
+          -0.17561925947666168,
+          -0.20114034414291382,
+          6.965113639831543
+        ],
+        [
+          0.1965445727109909,
+          -0.0433657132089138,
+          0.9795355200767517,
+          22.04986572265625
+        ],
+        [
+          -0.1807478815317154,
+          -0.9835026264190674,
+          -0.007274129427969456,
+          -16.394155502319336
+        ],
+        [
+          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": "1731323550_883080959",
+      "mask_path": "../../mask/hdr_left_02885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02886.png",
+      "transform_matrix": [
+        [
+          0.9625505805015564,
+          -0.18608358502388,
+          -0.19715261459350586,
+          7.064032554626465
+        ],
+        [
+          0.19155056774616241,
+          -0.04780157655477524,
+          0.980318009853363,
+          22.083219528198242
+        ],
+        [
+          -0.19184528291225433,
+          -0.9813704490661621,
+          -0.010367010720074177,
+          -16.408329010009766
+        ],
+        [
+          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": "1731323550_983081817",
+      "mask_path": "../../mask/hdr_left_02886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02887.png",
+      "transform_matrix": [
+        [
+          0.962943971157074,
+          -0.19391441345214844,
+          -0.18744614720344543,
+          7.1430230140686035
+        ],
+        [
+          0.18016023933887482,
+          -0.05471157655119896,
+          0.9821145534515381,
+          22.102258682250977
+        ],
+        [
+          -0.20070163905620575,
+          -0.979491651058197,
+          -0.017748504877090454,
+          -16.411619186401367
+        ],
+        [
+          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": "1731323551_83081245",
+      "mask_path": "../../mask/hdr_left_02887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02888.png",
+      "transform_matrix": [
+        [
+          0.965981125831604,
+          -0.19169645011425018,
+          -0.17358790338039398,
+          7.214269638061523
+        ],
+        [
+          0.1653786450624466,
+          -0.058149613440036774,
+          0.9845144152641296,
+          22.11778450012207
+        ],
+        [
+          -0.19882196187973022,
+          -0.9797301888465881,
+          -0.0244689229875803,
+          -16.42054557800293
+        ],
+        [
+          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": "1731323551_183081865",
+      "mask_path": "../../mask/hdr_left_02888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02889.png",
+      "transform_matrix": [
+        [
+          0.9680200815200806,
+          -0.19226908683776855,
+          -0.16115128993988037,
+          7.301674842834473
+        ],
+        [
+          0.150400772690773,
+          -0.06935416907072067,
+          0.9861893653869629,
+          22.142147064208984
+        ],
+        [
+          -0.20079022645950317,
+          -0.9788885116577148,
+          -0.038218799978494644,
+          -16.448713302612305
+        ],
+        [
+          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": "1731323551_283082246",
+      "mask_path": "../../mask/hdr_left_02889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02890.png",
+      "transform_matrix": [
+        [
+          0.9681494235992432,
+          -0.19943499565124512,
+          -0.15136833488941193,
+          7.403170585632324
+        ],
+        [
+          0.13669592142105103,
+          -0.08547227829694748,
+          0.9869188070297241,
+          22.167612075805664
+        ],
+        [
+          -0.20976392924785614,
+          -0.9761763215065002,
+          -0.0554879754781723,
+          -16.488506317138672
+        ],
+        [
+          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": "1731323551_383081912",
+      "mask_path": "../../mask/hdr_left_02890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02891.png",
+      "transform_matrix": [
+        [
+          0.9689294099807739,
+          -0.20820733904838562,
+          -0.13351121544837952,
+          7.482863426208496
+        ],
+        [
+          0.11730915307998657,
+          -0.08836901932954788,
+          0.9891559481620789,
+          22.185096740722656
+        ],
+        [
+          -0.2177477777004242,
+          -0.9740845561027527,
+          -0.06119871139526367,
+          -16.53142547607422
+        ],
+        [
+          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": "1731323551_483082294",
+      "mask_path": "../../mask/hdr_left_02891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02892.png",
+      "transform_matrix": [
+        [
+          0.9711726307868958,
+          -0.2095714807510376,
+          -0.11359354108572006,
+          7.558067321777344
+        ],
+        [
+          0.09794840216636658,
+          -0.08361250907182693,
+          0.9916728138923645,
+          22.197099685668945
+        ],
+        [
+          -0.2173241674900055,
+          -0.9742118716239929,
+          -0.06067498400807381,
+          -16.574026107788086
+        ],
+        [
+          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": "1731323551_583082199",
+      "mask_path": "../../mask/hdr_left_02892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02893.png",
+      "transform_matrix": [
+        [
+          0.9716082215309143,
+          -0.21722175180912018,
+          -0.09376704692840576,
+          7.685807228088379
+        ],
+        [
+          0.07845833152532578,
+          -0.07807748019695282,
+          0.9938551783561707,
+          22.214935302734375
+        ],
+        [
+          -0.22320803999900818,
+          -0.9729946851730347,
+          -0.05881785601377487,
+          -16.59146499633789
+        ],
+        [
+          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": "1731323551_683081388",
+      "mask_path": "../../mask/hdr_left_02893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02894.png",
+      "transform_matrix": [
+        [
+          0.9724622964859009,
+          -0.22196681797504425,
+          -0.07104761898517609,
+          7.792518615722656
+        ],
+        [
+          0.05606308951973915,
+          -0.07310201227664948,
+          0.995747447013855,
+          22.2285213470459
+        ],
+        [
+          -0.22621659934520721,
+          -0.9723100662231445,
+          -0.058644797652959824,
+          -16.598060607910156
+        ],
+        [
+          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": "1731323551_783081769",
+      "mask_path": "../../mask/hdr_left_02894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02895.png",
+      "transform_matrix": [
+        [
+          0.974687933921814,
+          -0.21802176535129547,
+          -0.04949667304754257,
+          7.8708977699279785
+        ],
+        [
+          0.03413153067231178,
+          -0.07368806004524231,
+          0.9966970682144165,
+          22.241853713989258
+        ],
+        [
+          -0.2209489494562149,
+          -0.9731581211090088,
+          -0.064381442964077,
+          -16.600976943969727
+        ],
+        [
+          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": "1731323551_883082866",
+      "mask_path": "../../mask/hdr_left_02895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02896.png",
+      "transform_matrix": [
+        [
+          0.9723632335662842,
+          -0.2299221009016037,
+          -0.04056299850344658,
+          7.96047306060791
+        ],
+        [
+          0.019452480599284172,
+          -0.09335010498762131,
+          0.9954433441162109,
+          22.26624298095703
+        ],
+        [
+          -0.2326609343290329,
+          -0.9687216877937317,
+          -0.0862976610660553,
+          -16.620098114013672
+        ],
+        [
+          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": "1731323551_983082294",
+      "mask_path": "../../mask/hdr_left_02896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02897.png",
+      "transform_matrix": [
+        [
+          0.9672223925590515,
+          -0.2506583333015442,
+          -0.04063398391008377,
+          8.048742294311523
+        ],
+        [
+          0.0126580148935318,
+          -0.11222801357507706,
+          0.99360191822052,
+          22.29532241821289
+        ],
+        [
+          -0.2536148428916931,
+          -0.9615484476089478,
+          -0.10537662357091904,
+          -16.65462303161621
+        ],
+        [
+          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": "1731323552_83082675",
+      "mask_path": "../../mask/hdr_left_02897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02898.png",
+      "transform_matrix": [
+        [
+          0.9655068516731262,
+          -0.2576636075973511,
+          -0.037498220801353455,
+          8.118528366088867
+        ],
+        [
+          0.008281379006803036,
+          -0.11355371028184891,
+          0.9934974312782288,
+          22.323497772216797
+        ],
+        [
+          -0.2602460980415344,
+          -0.9595390558242798,
+          -0.10750304907560349,
+          -16.684228897094727
+        ],
+        [
+          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": "1731323552_183082342",
+      "mask_path": "../../mask/hdr_left_02898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02899.png",
+      "transform_matrix": [
+        [
+          0.9664703607559204,
+          -0.2546433210372925,
+          -0.03304239735007286,
+          8.186232566833496
+        ],
+        [
+          0.00540457246825099,
+          -0.10847943276166916,
+          0.9940840005874634,
+          22.348398208618164
+        ],
+        [
+          -0.25672125816345215,
+          -0.9609313607215881,
+          -0.10346592962741852,
+          -16.72221565246582
+        ],
+        [
+          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": "1731323552_283080816",
+      "mask_path": "../../mask/hdr_left_02899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02900.png",
+      "transform_matrix": [
+        [
+          0.9682301878929138,
+          -0.24817673861980438,
+          -0.03063778765499592,
+          8.283737182617188
+        ],
+        [
+          0.003730143653228879,
+          -0.10817351937294006,
+          0.9941250085830688,
+          22.37158966064453
+        ],
+        [
+          -0.25003287196159363,
+          -0.9626561999320984,
+          -0.103811115026474,
+          -16.751943588256836
+        ],
+        [
+          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": "1731323552_383081197",
+      "mask_path": "../../mask/hdr_left_02900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02901.png",
+      "transform_matrix": [
+        [
+          0.9708952903747559,
+          -0.2381378412246704,
+          -0.025548353791236877,
+          8.374917984008789
+        ],
+        [
+          -0.00030391840846277773,
+          -0.10789665579795837,
+          0.9941619634628296,
+          22.386688232421875
+        ],
+        [
+          -0.23950418829917908,
+          -0.9652194976806641,
+          -0.10482873022556305,
+          -16.766611099243164
+        ],
+        [
+          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": "1731323552_483081102",
+      "mask_path": "../../mask/hdr_left_02901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02902.png",
+      "transform_matrix": [
+        [
+          0.974241316318512,
+          -0.2249435931444168,
+          -0.01594310998916626,
+          8.447419166564941
+        ],
+        [
+          -0.008238643407821655,
+          -0.10615494847297668,
+          0.994315505027771,
+          22.390953063964844
+        ],
+        [
+          -0.2253573089838028,
+          -0.9685719609260559,
+          -0.10527374595403671,
+          -16.777551651000977
+        ],
+        [
+          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": "1731323552_583082437",
+      "mask_path": "../../mask/hdr_left_02902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02903.png",
+      "transform_matrix": [
+        [
+          0.9782916903495789,
+          -0.20717227458953857,
+          -0.005000429693609476,
+          8.559121131896973
+        ],
+        [
+          -0.01603558287024498,
+          -0.09973495453596115,
+          0.9948847889900208,
+          22.420652389526367
+        ],
+        [
+          -0.2066112756729126,
+          -0.9732074737548828,
+          -0.10089199244976044,
+          -16.802997589111328
+        ],
+        [
+          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": "1731323552_683082103",
+      "mask_path": "../../mask/hdr_left_02903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02904.png",
+      "transform_matrix": [
+        [
+          0.9808784127235413,
+          -0.19459190964698792,
+          -0.0033774718176573515,
+          8.66098403930664
+        ],
+        [
+          -0.016241228207945824,
+          -0.09913581609725952,
+          0.9949414730072021,
+          22.447784423828125
+        ],
+        [
+          -0.1939423680305481,
+          -0.9758617281913757,
+          -0.10040058195590973,
+          -16.814449310302734
+        ],
+        [
+          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": "1731323552_783081054",
+      "mask_path": "../../mask/hdr_left_02904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02905.png",
+      "transform_matrix": [
+        [
+          0.982799768447876,
+          -0.18453100323677063,
+          -0.007274201139807701,
+          8.728316307067871
+        ],
+        [
+          -0.01184056606143713,
+          -0.10227245092391968,
+          0.99468594789505,
+          22.4583740234375
+        ],
+        [
+          -0.18429434299468994,
+          -0.977491021156311,
+          -0.10269828885793686,
+          -16.814998626708984
+        ],
+        [
+          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": "1731323552_883082389",
+      "mask_path": "../../mask/hdr_left_02905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02906.png",
+      "transform_matrix": [
+        [
+          0.986193060874939,
+          -0.16544753313064575,
+          -0.007097440306097269,
+          8.814029693603516
+        ],
+        [
+          -0.009692924097180367,
+          -0.10045671463012695,
+          0.9948941469192505,
+          22.472719192504883
+        ],
+        [
+          -0.16531577706336975,
+          -0.9810889959335327,
+          -0.1006733849644661,
+          -16.834693908691406
+        ],
+        [
+          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": "1731323552_983082532",
+      "mask_path": "../../mask/hdr_left_02906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02907.png",
+      "transform_matrix": [
+        [
+          0.9892145395278931,
+          -0.1464715152978897,
+          -0.0008138968842104077,
+          8.934406280517578
+        ],
+        [
+          -0.013226896524429321,
+          -0.09486061334609985,
+          0.9954026937484741,
+          22.480588912963867
+        ],
+        [
+          -0.14587531983852386,
+          -0.9846560955047607,
+          -0.09577485173940659,
+          -16.838176727294922
+        ],
+        [
+          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": "1731323553_83082437",
+      "mask_path": "../../mask/hdr_left_02907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02908.png",
+      "transform_matrix": [
+        [
+          0.991564929485321,
+          -0.12936045229434967,
+          0.008045794442296028,
+          9.022957801818848
+        ],
+        [
+          -0.01980051025748253,
+          -0.08984044939279556,
+          0.9957593083381653,
+          22.485158920288086
+        ],
+        [
+          -0.1280890256166458,
+          -0.9875194430351257,
+          -0.0916440337896347,
+          -16.827638626098633
+        ],
+        [
+          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": "1731323553_183082580",
+      "mask_path": "../../mask/hdr_left_02908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02909.png",
+      "transform_matrix": [
+        [
+          0.9935160875320435,
+          -0.11238344758749008,
+          0.017196685075759888,
+          9.084749221801758
+        ],
+        [
+          -0.02731827087700367,
+          -0.08915366977453232,
+          0.9956430792808533,
+          22.49627113342285
+        ],
+        [
+          -0.11036065965890884,
+          -0.9896573424339294,
+          -0.09164571017026901,
+          -16.833477020263672
+        ],
+        [
+          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": "1731323553_283081054",
+      "mask_path": "../../mask/hdr_left_02909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02910.png",
+      "transform_matrix": [
+        [
+          0.9948476552963257,
+          -0.09890877455472946,
+          0.022254671901464462,
+          9.186984062194824
+        ],
+        [
+          -0.03094608709216118,
+          -0.08722686767578125,
+          0.9957075715065002,
+          22.516559600830078
+        ],
+        [
+          -0.09654301404953003,
+          -0.9912661910057068,
+          -0.08983827382326126,
+          -16.84090805053711
+        ],
+        [
+          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": "1731323553_383081197",
+      "mask_path": "../../mask/hdr_left_02910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02911.png",
+      "transform_matrix": [
+        [
+          0.995949387550354,
+          -0.0872083455324173,
+          0.021896719932556152,
+          9.288942337036133
+        ],
+        [
+          -0.02940448373556137,
+          -0.08575809001922607,
+          0.9958820343017578,
+          22.538776397705078
+        ],
+        [
+          -0.08497139066457748,
+          -0.9924919605255127,
+          -0.08797502517700195,
+          -16.847312927246094
+        ],
+        [
+          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": "1731323553_483081102",
+      "mask_path": "../../mask/hdr_left_02911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02912.png",
+      "transform_matrix": [
+        [
+          0.9969302415847778,
+          -0.07570885121822357,
+          0.01995379477739334,
+          9.372143745422363
+        ],
+        [
+          -0.026360297575592995,
+          -0.0845881775021553,
+          0.996067225933075,
+          22.557405471801758
+        ],
+        [
+          -0.07372324913740158,
+          -0.9935356378555298,
+          -0.08632420003414154,
+          -16.851280212402344
+        ],
+        [
+          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": "1731323553_583078861",
+      "mask_path": "../../mask/hdr_left_02912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02913.png",
+      "transform_matrix": [
+        [
+          0.9975870251655579,
+          -0.06748606264591217,
+          0.016295062378048897,
+          9.460579872131348
+        ],
+        [
+          -0.021558420732617378,
+          -0.07801304757595062,
+          0.9967191219329834,
+          22.577478408813477
+        ],
+        [
+          -0.06599342077970505,
+          -0.9946656227111816,
+          -0.07927969843149185,
+          -16.854793548583984
+        ],
+        [
+          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": "1731323553_683082818",
+      "mask_path": "../../mask/hdr_left_02913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02914.png",
+      "transform_matrix": [
+        [
+          0.9980067610740662,
+          -0.060969237238168716,
+          0.016282640397548676,
+          9.561492919921875
+        ],
+        [
+          -0.020547157153487206,
+          -0.06998441368341446,
+          0.9973365664482117,
+          22.591644287109375
+        ],
+        [
+          -0.05966730788350105,
+          -0.9956831932067871,
+          -0.07109767943620682,
+          -16.848785400390625
+        ],
+        [
+          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": "1731323553_783082723",
+      "mask_path": "../../mask/hdr_left_02914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02915.png",
+      "transform_matrix": [
+        [
+          0.9983845353126526,
+          -0.05313672497868538,
+          0.020120978355407715,
+          9.635196685791016
+        ],
+        [
+          -0.023599114269018173,
+          -0.06566154956817627,
+          0.9975627660751343,
+          22.602340698242188
+        ],
+        [
+          -0.05168604478240013,
+          -0.9964261651039124,
+          -0.06680943816900253,
+          -16.84768295288086
+        ],
+        [
+          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": "1731323553_883082151",
+      "mask_path": "../../mask/hdr_left_02915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02916.png",
+      "transform_matrix": [
+        [
+          0.9986330270767212,
+          -0.04655370116233826,
+          0.0237639881670475,
+          9.693155288696289
+        ],
+        [
+          -0.026745645329356194,
+          -0.06450820714235306,
+          0.9975587129592896,
+          22.61587905883789
+        ],
+        [
+          -0.04490707442164421,
+          -0.9968307614326477,
+          -0.06566513329744339,
+          -16.85348892211914
+        ],
+        [
+          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": "1731323553_983082294",
+      "mask_path": "../../mask/hdr_left_02916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02917.png",
+      "transform_matrix": [
+        [
+          0.9986665844917297,
+          -0.04601449891924858,
+          0.023400716483592987,
+          9.77968978881836
+        ],
+        [
+          -0.026553049683570862,
+          -0.06913362443447113,
+          0.9972540140151978,
+          22.62845802307129
+        ],
+        [
+          -0.044270358979701996,
+          -0.996545672416687,
+          -0.07026326656341553,
+          -16.849618911743164
+        ],
+        [
+          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": "1731323554_83082437",
+      "mask_path": "../../mask/hdr_left_02917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02918.png",
+      "transform_matrix": [
+        [
+          0.9988002181053162,
+          -0.045357637107372284,
+          0.018458370119333267,
+          9.86215591430664
+        ],
+        [
+          -0.021885614842176437,
+          -0.0762643814086914,
+          0.99684739112854,
+          22.640777587890625
+        ],
+        [
+          -0.04380692541599274,
+          -0.9960554838180542,
+          -0.07716555893421173,
+          -16.853113174438477
+        ],
+        [
+          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": "1731323554_183085203",
+      "mask_path": "../../mask/hdr_left_02918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02919.png",
+      "transform_matrix": [
+        [
+          0.9991204738616943,
+          -0.04174898937344551,
+          0.0039185103960335255,
+          9.923797607421875
+        ],
+        [
+          -0.007143798284232616,
+          -0.07738673686981201,
+          0.9969756007194519,
+          22.65717315673828
+        ],
+        [
+          -0.041319478303194046,
+          -0.9961267113685608,
+          -0.07761691510677338,
+          -16.8487606048584
+        ],
+        [
+          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": "1731323554_283082723",
+      "mask_path": "../../mask/hdr_left_02919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02920.png",
+      "transform_matrix": [
+        [
+          0.9987943172454834,
+          -0.0450192391872406,
+          -0.019577620550990105,
+          9.996127128601074
+        ],
+        [
+          0.016571423038840294,
+          -0.06620560586452484,
+          0.9976683855056763,
+          22.680097579956055
+        ],
+        [
+          -0.04621041566133499,
+          -0.9967898726463318,
+          -0.06537974625825882,
+          -16.85401153564453
+        ],
+        [
+          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": "1731323554_383081674",
+      "mask_path": "../../mask/hdr_left_02920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02921.png",
+      "transform_matrix": [
+        [
+          0.9981452822685242,
+          -0.05022725090384483,
+          -0.03439514338970184,
+          10.092673301696777
+        ],
+        [
+          0.031499627977609634,
+          -0.057343609631061554,
+          0.9978575110435486,
+          22.70493507385254
+        ],
+        [
+          -0.052091967314481735,
+          -0.9970903396606445,
+          -0.055655110627412796,
+          -16.85880470275879
+        ],
+        [
+          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": "1731323554_483080148",
+      "mask_path": "../../mask/hdr_left_02921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02922.png",
+      "transform_matrix": [
+        [
+          0.997964084148407,
+          -0.050642479211091995,
+          -0.038767009973526,
+          10.175796508789062
+        ],
+        [
+          0.036141496151685715,
+          -0.05176928639411926,
+          0.9980048537254333,
+          22.720325469970703
+        ],
+        [
+          -0.052548378705978394,
+          -0.9973742365837097,
+          -0.049833595752716064,
+          -16.858736038208008
+        ],
+        [
+          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": "1731323554_583080291",
+      "mask_path": "../../mask/hdr_left_02922.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02923.png",
+      "transform_matrix": [
+        [
+          0.9979935884475708,
+          -0.047886986285448074,
+          -0.0414188876748085,
+          10.239654541015625
+        ],
+        [
+          0.039065368473529816,
+          -0.04907998815178871,
+          0.9980306029319763,
+          22.730981826782227
+        ],
+        [
+          -0.0498255155980587,
+          -0.9976462721824646,
+          -0.04711079224944115,
+          -16.87138557434082
+        ],
+        [
+          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": "1731323554_683080911",
+      "mask_path": "../../mask/hdr_left_02923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02924.png",
+      "transform_matrix": [
+        [
+          0.9969122409820557,
+          -0.056664738804101944,
+          -0.054361019283533096,
+          10.334084510803223
+        ],
+        [
+          0.051227323710918427,
+          -0.05536162853240967,
+          0.9971513152122498,
+          22.754926681518555
+        ],
+        [
+          -0.05951283127069473,
+          -0.996857225894928,
+          -0.05228790268301964,
+          -16.883840560913086
+        ],
+        [
+          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": "1731323554_783081531",
+      "mask_path": "../../mask/hdr_left_02924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02925.png",
+      "transform_matrix": [
+        [
+          0.9949321746826172,
+          -0.06692596524953842,
+          -0.07503818720579147,
+          10.430719375610352
+        ],
+        [
+          0.070756696164608,
+          -0.06420212984085083,
+          0.995425283908844,
+          22.783143997192383
+        ],
+        [
+          -0.07143740355968475,
+          -0.9956902861595154,
+          -0.05914129316806793,
+          -16.89533805847168
+        ],
+        [
+          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": "1731323554_883080959",
+      "mask_path": "../../mask/hdr_left_02925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02926.png",
+      "transform_matrix": [
+        [
+          0.9929637908935547,
+          -0.06835393607616425,
+          -0.09669779986143112,
+          10.487061500549316
+        ],
+        [
+          0.09223198145627975,
+          -0.06572463363409042,
+          0.99356609582901,
+          22.804899215698242
+        ],
+        [
+          -0.07426956295967102,
+          -0.9954938888549805,
+          -0.058957744389772415,
+          -16.8990478515625
+        ],
+        [
+          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": "1731323554_983080625",
+      "mask_path": "../../mask/hdr_left_02926.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02927.png",
+      "transform_matrix": [
+        [
+          0.9894213080406189,
+          -0.07948576658964157,
+          -0.12135671824216843,
+          10.556784629821777
+        ],
+        [
+          0.11728862673044205,
+          -0.05400804430246353,
+          0.9916281700134277,
+          22.830673217773438
+        ],
+        [
+          -0.08537455648183823,
+          -0.9953718781471252,
+          -0.04411393031477928,
+          -16.910654067993164
+        ],
+        [
+          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": "1731323555_83080768",
+      "mask_path": "../../mask/hdr_left_02927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02928.png",
+      "transform_matrix": [
+        [
+          0.9845007658004761,
+          -0.09873764216899872,
+          -0.1449451893568039,
+          10.669915199279785
+        ],
+        [
+          0.14021767675876617,
+          -0.05328156799077988,
+          0.9886860251426697,
+          22.87400245666504
+        ],
+        [
+          -0.10534341633319855,
+          -0.9936860799789429,
+          -0.03861097991466522,
+          -16.943605422973633
+        ],
+        [
+          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": "1731323555_183079719",
+      "mask_path": "../../mask/hdr_left_02928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02929.png",
+      "transform_matrix": [
+        [
+          0.9812748432159424,
+          -0.11330621689558029,
+          -0.15576060116291046,
+          10.7362699508667
+        ],
+        [
+          0.14994074404239655,
+          -0.05824214592576027,
+          0.9869781136512756,
+          22.90254020690918
+        ],
+        [
+          -0.12090256810188293,
+          -0.9918516278266907,
+          -0.040162332355976105,
+          -16.973196029663086
+        ],
+        [
+          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": "1731323555_283080101",
+      "mask_path": "../../mask/hdr_left_02929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02930.png",
+      "transform_matrix": [
+        [
+          0.9805363416671753,
+          -0.11914870887994766,
+          -0.15605150163173676,
+          10.790852546691895
+        ],
+        [
+          0.1508907973766327,
+          -0.051226504147052765,
+          0.9872222542762756,
+          22.935897827148438
+        ],
+        [
+          -0.12562023103237152,
+          -0.9915540814399719,
+          -0.03225100040435791,
+          -17.004423141479492
+        ],
+        [
+          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": "1731323555_383080005",
+      "mask_path": "../../mask/hdr_left_02930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02931.png",
+      "transform_matrix": [
+        [
+          0.9790062308311462,
+          -0.1298212707042694,
+          -0.15714031457901,
+          10.885468482971191
+        ],
+        [
+          0.15028268098831177,
+          -0.061092209070920944,
+          0.9867537021636963,
+          22.970279693603516
+        ],
+        [
+          -0.13770164549350739,
+          -0.9896536469459534,
+          -0.04029976949095726,
+          -17.023681640625
+        ],
+        [
+          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": "1731323555_483079910",
+      "mask_path": "../../mask/hdr_left_02931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02932.png",
+      "transform_matrix": [
+        [
+          0.9766528606414795,
+          -0.14352938532829285,
+          -0.1598389595746994,
+          10.970768928527832
+        ],
+        [
+          0.15002143383026123,
+          -0.07686775177717209,
+          0.9856899976730347,
+          22.995277404785156
+        ],
+        [
+          -0.15376195311546326,
+          -0.9866563677787781,
+          -0.05354062095284462,
+          -17.038618087768555
+        ],
+        [
+          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": "1731323555_583080053",
+      "mask_path": "../../mask/hdr_left_02932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02934.png",
+      "transform_matrix": [
+        [
+          0.9733390212059021,
+          -0.15419445931911469,
+          -0.16980934143066406,
+          11.081767082214355
+        ],
+        [
+          0.15801601111888885,
+          -0.08585139364004135,
+          0.9836972951889038,
+          23.04956817626953
+        ],
+        [
+          -0.1662590354681015,
+          -0.9843036532402039,
+          -0.059197306632995605,
+          -17.075145721435547
+        ],
+        [
+          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": "1731323555_783081054",
+      "mask_path": "../../mask/hdr_left_02934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02935.png",
+      "transform_matrix": [
+        [
+          0.9682822823524475,
+          -0.1818026900291443,
+          -0.1713978350162506,
+          11.167724609375
+        ],
+        [
+          0.1569744199514389,
+          -0.09106682240962982,
+          0.9833950996398926,
+          23.08486557006836
+        ],
+        [
+          -0.19439250230789185,
+          -0.9791091680526733,
+          -0.05964001640677452,
+          -17.099851608276367
+        ],
+        [
+          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": "1731323555_883080482",
+      "mask_path": "../../mask/hdr_left_02935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02936.png",
+      "transform_matrix": [
+        [
+          0.9631386995315552,
+          -0.20965242385864258,
+          -0.16855140030384064,
+          11.217321395874023
+        ],
+        [
+          0.15030333399772644,
+          -0.10023684799671173,
+          0.9835453033447266,
+          23.111650466918945
+        ],
+        [
+          -0.22309769690036774,
+          -0.9726245403289795,
+          -0.06503051519393921,
+          -17.122745513916016
+        ],
+        [
+          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": "1731323555_983082294",
+      "mask_path": "../../mask/hdr_left_02936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02938.png",
+      "transform_matrix": [
+        [
+          0.9593145251274109,
+          -0.23520326614379883,
+          -0.1561887264251709,
+          11.310590744018555
+        ],
+        [
+          0.13351969420909882,
+          -0.10950132459402084,
+          0.9849781394004822,
+          23.127628326416016
+        ],
+        [
+          -0.24877294898033142,
+          -0.965758204460144,
+          -0.07364195585250854,
+          -17.168228149414062
+        ],
+        [
+          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": "1731323556_183081865",
+      "mask_path": "../../mask/hdr_left_02938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02939.png",
+      "transform_matrix": [
+        [
+          0.9599716663360596,
+          -0.23596209287643433,
+          -0.15091747045516968,
+          11.409326553344727
+        ],
+        [
+          0.12816722691059113,
+          -0.1090366318821907,
+          0.9857403635978699,
+          23.15584373474121
+        ],
+        [
+          -0.24905289709568024,
+          -0.9656257629394531,
+          -0.0744294673204422,
+          -17.2004451751709
+        ],
+        [
+          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": "1731323556_283082008",
+      "mask_path": "../../mask/hdr_left_02939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02940.png",
+      "transform_matrix": [
+        [
+          0.961283266544342,
+          -0.23192696273326874,
+          -0.14880916476249695,
+          11.500229835510254
+        ],
+        [
+          0.1267317533493042,
+          -0.10743003338575363,
+          0.9861023426055908,
+          23.188335418701172
+        ],
+        [
+          -0.24469029903411865,
+          -0.9667826890945435,
+          -0.07387818396091461,
+          -17.229930877685547
+        ],
+        [
+          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": "1731323556_383082151",
+      "mask_path": "../../mask/hdr_left_02940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02941.png",
+      "transform_matrix": [
+        [
+          0.9617595672607422,
+          -0.2301383912563324,
+          -0.14850860834121704,
+          11.546745300292969
+        ],
+        [
+          0.1282627135515213,
+          -0.10065075755119324,
+          0.9866196513175964,
+          23.215667724609375
+        ],
+        [
+          -0.24200649559497833,
+          -0.9679389595985413,
+          -0.06728363782167435,
+          -17.253496170043945
+        ],
+        [
+          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": "1731323556_483082056",
+      "mask_path": "../../mask/hdr_left_02941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02942.png",
+      "transform_matrix": [
+        [
+          0.9624478816986084,
+          -0.22814302146434784,
+          -0.14712142944335938,
+          11.611091613769531
+        ],
+        [
+          0.12975911796092987,
+          -0.08940450102090836,
+          0.9875066876411438,
+          23.242023468017578
+        ],
+        [
+          -0.23844607174396515,
+          -0.9695140719413757,
+          -0.05644352734088898,
+          -17.27267074584961
+        ],
+        [
+          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": "1731323556_583082437",
+      "mask_path": "../../mask/hdr_left_02942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02943.png",
+      "transform_matrix": [
+        [
+          0.9628185629844666,
+          -0.22916926443576813,
+          -0.14304475486278534,
+          11.692072868347168
+        ],
+        [
+          0.12690633535385132,
+          -0.08375341445207596,
+          0.9883724451065063,
+          23.268657684326172
+        ],
+        [
+          -0.23848506808280945,
+          -0.9697767496109009,
+          -0.0515563003718853,
+          -17.309547424316406
+        ],
+        [
+          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": "1731323556_683081865",
+      "mask_path": "../../mask/hdr_left_02943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02944.png",
+      "transform_matrix": [
+        [
+          0.9602600336074829,
+          -0.24144203960895538,
+          -0.14002281427383423,
+          11.776300430297852
+        ],
+        [
+          0.12153376638889313,
+          -0.08991565555334091,
+          0.9885063171386719,
+          23.288902282714844
+        ],
+        [
+          -0.2512572109699249,
+          -0.966240644454956,
+          -0.05699904263019562,
+          -17.342906951904297
+        ],
+        [
+          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": "1731323556_783082723",
+      "mask_path": "../../mask/hdr_left_02944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02945.png",
+      "transform_matrix": [
+        [
+          0.9572928547859192,
+          -0.2547556161880493,
+          -0.13671104609966278,
+          11.842916488647461
+        ],
+        [
+          0.11596979200839996,
+          -0.09480295330286026,
+          0.9887181520462036,
+          23.29987144470215
+        ],
+        [
+          -0.26484206318855286,
+          -0.962347149848938,
+          -0.06121021509170532,
+          -17.356456756591797
+        ],
+        [
+          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": "1731323556_883082389",
+      "mask_path": "../../mask/hdr_left_02945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02946.png",
+      "transform_matrix": [
+        [
+          0.956210196018219,
+          -0.26298388838768005,
+          -0.1284581422805786,
+          11.891627311706543
+        ],
+        [
+          0.10716787725687027,
+          -0.0938209816813469,
+          0.9898044466972351,
+          23.311721801757812
+        ],
+        [
+          -0.2723546326160431,
+          -0.9602276682853699,
+          -0.06152915209531784,
+          -17.373638153076172
+        ],
+        [
+          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": "1731323556_983082294",
+      "mask_path": "../../mask/hdr_left_02946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02947.png",
+      "transform_matrix": [
+        [
+          0.9584362506866455,
+          -0.25889235734939575,
+          -0.11989456415176392,
+          11.970343589782715
+        ],
+        [
+          0.09886390715837479,
+          -0.09282707422971725,
+          0.9907618165016174,
+          23.336788177490234
+        ],
+        [
+          -0.2676301896572113,
+          -0.9614354372024536,
+          -0.06337370723485947,
+          -17.405195236206055
+        ],
+        [
+          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": "1731323557_83081007",
+      "mask_path": "../../mask/hdr_left_02947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02948.png",
+      "transform_matrix": [
+        [
+          0.9613378643989563,
+          -0.24891942739486694,
+          -0.11776465177536011,
+          12.068923950195312
+        ],
+        [
+          0.09711705893278122,
+          -0.09370501339435577,
+          0.9908520579338074,
+          23.366371154785156
+        ],
+        [
+          -0.2576774060726166,
+          -0.9639806151390076,
+          -0.06590785086154938,
+          -17.434480667114258
+        ],
+        [
+          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": "1731323557_183081150",
+      "mask_path": "../../mask/hdr_left_02948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02949.png",
+      "transform_matrix": [
+        [
+          0.9628402590751648,
+          -0.24317502975463867,
+          -0.11749285459518433,
+          12.150331497192383
+        ],
+        [
+          0.0989869087934494,
+          -0.08701297640800476,
+          0.9912771582603455,
+          23.39293098449707
+        ],
+        [
+          -0.25127720832824707,
+          -0.9660717844963074,
+          -0.059708431363105774,
+          -17.460023880004883
+        ],
+        [
+          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": "1731323557_283080816",
+      "mask_path": "../../mask/hdr_left_02949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02950.png",
+      "transform_matrix": [
+        [
+          0.9637290239334106,
+          -0.24042603373527527,
+          -0.11585118621587753,
+          12.230586051940918
+        ],
+        [
+          0.10147163271903992,
+          -0.07139348983764648,
+          0.9922733902931213,
+          23.419635772705078
+        ],
+        [
+          -0.24683934450149536,
+          -0.9680383801460266,
+          -0.04440756142139435,
+          -17.483375549316406
+        ],
+        [
+          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": "1731323557_383081674",
+      "mask_path": "../../mask/hdr_left_02950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02951.png",
+      "transform_matrix": [
+        [
+          0.9650935530662537,
+          -0.23670321702957153,
+          -0.11209795624017715,
+          12.330631256103516
+        ],
+        [
+          0.09993220120668411,
+          -0.06282274425029755,
+          0.9930090308189392,
+          23.44126319885254
+        ],
+        [
+          -0.24209071695804596,
+          -0.9695488214492798,
+          -0.036975547671318054,
+          -17.504610061645508
+        ],
+        [
+          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": "1731323557_483079910",
+      "mask_path": "../../mask/hdr_left_02951.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02952.png",
+      "transform_matrix": [
+        [
+          0.9661959409713745,
+          -0.2353660613298416,
+          -0.10520567744970322,
+          12.419140815734863
+        ],
+        [
+          0.09354110062122345,
+          -0.060219377279281616,
+          0.9937925934791565,
+          23.45404815673828
+        ],
+        [
+          -0.2402404248714447,
+          -0.970039427280426,
+          -0.036167312413454056,
+          -17.521337509155273
+        ],
+        [
+          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": "1731323557_583080291",
+      "mask_path": "../../mask/hdr_left_02952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02953.png",
+      "transform_matrix": [
+        [
+          0.9669192433357239,
+          -0.23556020855903625,
+          -0.09787008911371231,
+          12.476533889770508
+        ],
+        [
+          0.08732428401708603,
+          -0.05481806769967079,
+          0.9946704506874084,
+          23.471830368041992
+        ],
+        [
+          -0.2396698147058487,
+          -0.9703125953674316,
+          -0.032434508204460144,
+          -17.542299270629883
+        ],
+        [
+          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": "1731323557_683080434",
+      "mask_path": "../../mask/hdr_left_02953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02954.png",
+      "transform_matrix": [
+        [
+          0.968710720539093,
+          -0.23117096722126007,
+          -0.09032968431711197,
+          12.526622772216797
+        ],
+        [
+          0.07935663312673569,
+          -0.0563528798520565,
+          0.9952521324157715,
+          23.485118865966797
+        ],
+        [
+          -0.23516371846199036,
+          -0.9712797999382019,
+          -0.03624468296766281,
+          -17.564897537231445
+        ],
+        [
+          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": "1731323557_783081769",
+      "mask_path": "../../mask/hdr_left_02954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02955.png",
+      "transform_matrix": [
+        [
+          0.9676350951194763,
+          -0.23558592796325684,
+          -0.09045158326625824,
+          12.615818977355957
+        ],
+        [
+          0.07718988507986069,
+          -0.06493841856718063,
+          0.994899332523346,
+          23.513763427734375
+        ],
+        [
+          -0.24025805294513702,
+          -0.9696816205978394,
+          -0.044651832431554794,
+          -17.59250831604004
+        ],
+        [
+          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": "1731323557_883081674",
+      "mask_path": "../../mask/hdr_left_02955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02956.png",
+      "transform_matrix": [
+        [
+          0.9655519127845764,
+          -0.2430223822593689,
+          -0.09300288558006287,
+          12.689030647277832
+        ],
+        [
+          0.07945962995290756,
+          -0.06497044861316681,
+          0.994718611240387,
+          23.546958923339844
+        ],
+        [
+          -0.24778129160404205,
+          -0.9678424596786499,
+          -0.04342186823487282,
+          -17.633392333984375
+        ],
+        [
+          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": "1731323557_983081340",
+      "mask_path": "../../mask/hdr_left_02956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02957.png",
+      "transform_matrix": [
+        [
+          0.9652323126792908,
+          -0.24450337886810303,
+          -0.09243723005056381,
+          12.731595039367676
+        ],
+        [
+          0.08123082667589188,
+          -0.05554904416203499,
+          0.9951460957527161,
+          23.5654296875
+        ],
+        [
+          -0.2484513819217682,
+          -0.9680560231208801,
+          -0.03375650942325592,
+          -17.662927627563477
+        ],
+        [
+          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": "1731323558_83080768",
+      "mask_path": "../../mask/hdr_left_02957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02958.png",
+      "transform_matrix": [
+        [
+          0.964377224445343,
+          -0.24732398986816406,
+          -0.09384825825691223,
+          12.78786563873291
+        ],
+        [
+          0.08411399275064468,
+          -0.04965899512171745,
+          0.9952179789543152,
+          23.582626342773438
+        ],
+        [
+          -0.250801682472229,
+          -0.9676594734191895,
+          -0.027086591348052025,
+          -17.682344436645508
+        ],
+        [
+          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": "1731323558_183082103",
+      "mask_path": "../../mask/hdr_left_02958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02959.png",
+      "transform_matrix": [
+        [
+          0.9615654349327087,
+          -0.258948415517807,
+          -0.09131089597940445,
+          12.85592269897461
+        ],
+        [
+          0.08144285529851913,
+          -0.04860667511820793,
+          0.9954919815063477,
+          23.601900100708008
+        ],
+        [
+          -0.2622193992137909,
+          -0.9646673798561096,
+          -0.02564898692071438,
+          -17.713918685913086
+        ],
+        [
+          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": "1731323558_283080577",
+      "mask_path": "../../mask/hdr_left_02959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02960.png",
+      "transform_matrix": [
+        [
+          0.9577295780181885,
+          -0.27514564990997314,
+          -0.08395657688379288,
+          12.918688774108887
+        ],
+        [
+          0.07236697524785995,
+          -0.05202505737543106,
+          0.9960203170776367,
+          23.616809844970703
+        ],
+        [
+          -0.2784184515476227,
+          -0.9599939584732056,
+          -0.029914477840065956,
+          -17.736600875854492
+        ],
+        [
+          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": "1731323558_383082389",
+      "mask_path": "../../mask/hdr_left_02960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02961.png",
+      "transform_matrix": [
+        [
+          0.9564356207847595,
+          -0.2820069193840027,
+          -0.07551869750022888,
+          12.983119010925293
+        ],
+        [
+          0.06352278590202332,
+          -0.05145442485809326,
+          0.9966530203819275,
+          23.629358291625977
+        ],
+        [
+          -0.28494882583618164,
+          -0.9580315947532654,
+          -0.03129897266626358,
+          -17.75765037536621
+        ],
+        [
+          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": "1731323558_483079433",
+      "mask_path": "../../mask/hdr_left_02961.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02963.png",
+      "transform_matrix": [
+        [
+          0.9550790190696716,
+          -0.2879585027694702,
+          -0.07002846151590347,
+          13.105899810791016
+        ],
+        [
+          0.05022447556257248,
+          -0.07560481131076813,
+          0.9958721399307251,
+          23.677400588989258
+        ],
+        [
+          -0.292064368724823,
+          -0.954653799533844,
+          -0.05774599313735962,
+          -17.79329490661621
+        ],
+        [
+          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": "1731323558_683081150",
+      "mask_path": "../../mask/hdr_left_02963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02964.png",
+      "transform_matrix": [
+        [
+          0.9473059773445129,
+          -0.31065282225608826,
+          -0.078141950070858,
+          13.169139862060547
+        ],
+        [
+          0.050157301127910614,
+          -0.09708482027053833,
+          0.9940115213394165,
+          23.69846534729004
+        ],
+        [
+          -0.3163788318634033,
+          -0.9455524682998657,
+          -0.07638751715421677,
+          -17.811704635620117
+        ],
+        [
+          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": "1731323558_783080577",
+      "mask_path": "../../mask/hdr_left_02964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02965.png",
+      "transform_matrix": [
+        [
+          0.9407705068588257,
+          -0.3260292410850525,
+          -0.0930362418293953,
+          13.209752082824707
+        ],
+        [
+          0.0636710599064827,
+          -0.09963434189558029,
+          0.9929848313331604,
+          23.720386505126953
+        ],
+        [
+          -0.3330117464065552,
+          -0.9400946497917175,
+          -0.07297441363334656,
+          -17.832502365112305
+        ],
+        [
+          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": "1731323558_883082628",
+      "mask_path": "../../mask/hdr_left_02965.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02966.png",
+      "transform_matrix": [
+        [
+          0.9373995661735535,
+          -0.32884564995765686,
+          -0.1146407201886177,
+          13.264421463012695
+        ],
+        [
+          0.0855930969119072,
+          -0.1015380471944809,
+          0.9911426305770874,
+          23.747282028198242
+        ],
+        [
+          -0.3375733494758606,
+          -0.9389092922210693,
+          -0.06703479588031769,
+          -17.86399269104004
+        ],
+        [
+          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": "1731323558_983080863",
+      "mask_path": "../../mask/hdr_left_02966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02967.png",
+      "transform_matrix": [
+        [
+          0.9351246356964111,
+          -0.3267718553543091,
+          -0.13697461783885956,
+          13.32648754119873
+        ],
+        [
+          0.1088002622127533,
+          -0.10308579355478287,
+          0.9887040853500366,
+          23.77061653137207
+        ],
+        [
+          -0.337200790643692,
+          -0.9394645094871521,
+          -0.06084519624710083,
+          -17.899391174316406
+        ],
+        [
+          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": "1731323559_83081007",
+      "mask_path": "../../mask/hdr_left_02967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02968.png",
+      "transform_matrix": [
+        [
+          0.9336830377578735,
+          -0.3230797052383423,
+          -0.15445253252983093,
+          13.380470275878906
+        ],
+        [
+          0.12634146213531494,
+          -0.1063777506351471,
+          0.9862664341926575,
+          23.79026985168457
+        ],
+        [
+          -0.33507299423217773,
+          -0.9403740763664246,
+          -0.05850473791360855,
+          -17.920459747314453
+        ],
+        [
+          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": "1731323559_183081150",
+      "mask_path": "../../mask/hdr_left_02968.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02969.png",
+      "transform_matrix": [
+        [
+          0.9350560903549194,
+          -0.3149624168872833,
+          -0.16269205510616302,
+          13.427197456359863
+        ],
+        [
+          0.13561828434467316,
+          -0.10620181262493134,
+          0.9850526452064514,
+          23.810749053955078
+        ],
+        [
+          -0.3275327980518341,
+          -0.9431436657905579,
+          -0.056589990854263306,
+          -17.940189361572266
+        ],
+        [
+          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": "1731323559_283082008",
+      "mask_path": "../../mask/hdr_left_02969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02970.png",
+      "transform_matrix": [
+        [
+          0.9399176239967346,
+          -0.3009408414363861,
+          -0.1612127274274826,
+          13.482035636901855
+        ],
+        [
+          0.13632339239120483,
+          -0.10209519416093826,
+          0.9853894710540771,
+          23.8497371673584
+        ],
+        [
+          -0.3130030035972595,
+          -0.9481620788574219,
+          -0.05493578687310219,
+          -17.98385238647461
+        ],
+        [
+          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": "1731323559_383080959",
+      "mask_path": "../../mask/hdr_left_02970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02971.png",
+      "transform_matrix": [
+        [
+          0.9395121932029724,
+          -0.30303430557250977,
+          -0.15964610874652863,
+          13.58194637298584
+        ],
+        [
+          0.13062122464179993,
+          -0.11388285458087921,
+          0.9848698973655701,
+          23.881134033203125
+        ],
+        [
+          -0.3166303336620331,
+          -0.9461506009101868,
+          -0.0674116238951683,
+          -17.99210548400879
+        ],
+        [
+          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": "1731323559_483082056",
+      "mask_path": "../../mask/hdr_left_02971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02974.png",
+      "transform_matrix": [
+        [
+          0.9530522227287292,
+          -0.2738998532295227,
+          -0.12911300361156464,
+          13.711053848266602
+        ],
+        [
+          0.10923101007938385,
+          -0.08670461177825928,
+          0.9902276992797852,
+          23.926776885986328
+        ],
+        [
+          -0.2824179530143738,
+          -0.9578419327735901,
+          -0.05271567776799202,
+          -18.01575469970703
+        ],
+        [
+          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": "1731323559_783082485",
+      "mask_path": "../../mask/hdr_left_02974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02975.png",
+      "transform_matrix": [
+        [
+          0.956579327583313,
+          -0.2616601586341858,
+          -0.12841279804706573,
+          13.781213760375977
+        ],
+        [
+          0.10833147168159485,
+          -0.08983791619539261,
+          0.9900472164154053,
+          23.943405151367188
+        ],
+        [
+          -0.27059224247932434,
+          -0.9609699845314026,
+          -0.05759105831384659,
+          -18.028663635253906
+        ],
+        [
+          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": "1731323559_883081674",
+      "mask_path": "../../mask/hdr_left_02975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02977.png",
+      "transform_matrix": [
+        [
+          0.9651421904563904,
+          -0.23446440696716309,
+          -0.1163061261177063,
+          13.897418022155762
+        ],
+        [
+          0.09893887490034103,
+          -0.0845617949962616,
+          0.9914940595626831,
+          23.98163604736328
+        ],
+        [
+          -0.24230508506298065,
+          -0.9684398770332336,
+          -0.05841650068759918,
+          -18.063282012939453
+        ],
+        [
+          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": "1731323560_83083152",
+      "mask_path": "../../mask/hdr_left_02977.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02978.png",
+      "transform_matrix": [
+        [
+          0.9664114713668823,
+          -0.22880057990550995,
+          -0.1170428916811943,
+          13.98030948638916
+        ],
+        [
+          0.09674114733934402,
+          -0.0980566143989563,
+          0.9904676079750061,
+          24.00811004638672
+        ],
+        [
+          -0.23809637129306793,
+          -0.9685221910476685,
+          -0.07262860983610153,
+          -18.070837020874023
+        ],
+        [
+          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": "1731323560_183081626",
+      "mask_path": "../../mask/hdr_left_02978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02980.png",
+      "transform_matrix": [
+        [
+          0.9679522514343262,
+          -0.2287825345993042,
+          -0.10357075184583664,
+          14.030899047851562
+        ],
+        [
+          0.08681699633598328,
+          -0.08214607834815979,
+          0.9928317070007324,
+          24.03143310546875
+        ],
+        [
+          -0.23565047979354858,
+          -0.970005452632904,
+          -0.059651270508766174,
+          -18.075597763061523
+        ],
+        [
+          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": "1731323560_383081674",
+      "mask_path": "../../mask/hdr_left_02980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02981.png",
+      "transform_matrix": [
+        [
+          0.972066342830658,
+          -0.20947197079658508,
+          -0.10587010532617569,
+          14.077801704406738
+        ],
+        [
+          0.09114836156368256,
+          -0.07875492423772812,
+          0.9927182793617249,
+          24.051876068115234
+        ],
+        [
+          -0.21628443896770477,
+          -0.9746379852294922,
+          -0.05746197700500488,
+          -18.098176956176758
+        ],
+        [
+          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": "1731323560_483080863",
+      "mask_path": "../../mask/hdr_left_02981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02982.png",
+      "transform_matrix": [
+        [
+          0.9753780364990234,
+          -0.19408513605594635,
+          -0.10473079979419708,
+          14.153797149658203
+        ],
+        [
+          0.09137595444917679,
+          -0.0765535980463028,
+          0.9928696155548096,
+          24.063758850097656
+        ],
+        [
+          -0.2007187306880951,
+          -0.9779930710792542,
+          -0.05693397298455238,
+          -18.104042053222656
+        ],
+        [
+          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": "1731323560_583081007",
+      "mask_path": "../../mask/hdr_left_02982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02984.png",
+      "transform_matrix": [
+        [
+          0.9783650040626526,
+          -0.18184304237365723,
+          -0.09866618365049362,
+          14.234402656555176
+        ],
+        [
+          0.08459929376840591,
+          -0.0835723802447319,
+          0.9929041266441345,
+          24.085548400878906
+        ],
+        [
+          -0.1887984722852707,
+          -0.979769766330719,
+          -0.06638048589229584,
+          -18.132801055908203
+        ],
+        [
+          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": "1731323560_783082246",
+      "mask_path": "../../mask/hdr_left_02984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02985.png",
+      "transform_matrix": [
+        [
+          0.9798242449760437,
+          -0.17303889989852905,
+          -0.100009985268116,
+          14.302995681762695
+        ],
+        [
+          0.08459878712892532,
+          -0.09427087008953094,
+          0.9919455051422119,
+          24.111398696899414
+        ],
+        [
+          -0.18107318878173828,
+          -0.9803930521011353,
+          -0.07772999256849289,
+          -18.163551330566406
+        ],
+        [
+          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": "1731323560_883080959",
+      "mask_path": "../../mask/hdr_left_02985.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02986.png",
+      "transform_matrix": [
+        [
+          0.9771861433982849,
+          -0.17722947895526886,
+          -0.11703391373157501,
+          14.388263702392578
+        ],
+        [
+          0.09965687245130539,
+          -0.10399077832698822,
+          0.9895728230476379,
+          24.137842178344727
+        ],
+        [
+          -0.18755193054676056,
+          -0.9786601662635803,
+          -0.08395620435476303,
+          -18.185686111450195
+        ],
+        [
+          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": "1731323560_983079671",
+      "mask_path": "../../mask/hdr_left_02986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02987.png",
+      "transform_matrix": [
+        [
+          0.9732260704040527,
+          -0.18197879195213318,
+          -0.1404089480638504,
+          14.450693130493164
+        ],
+        [
+          0.12176630645990372,
+          -0.10990817099809647,
+          0.9864548444747925,
+          24.157638549804688
+        ],
+        [
+          -0.19494594633579254,
+          -0.9771407246589661,
+          -0.08480659872293472,
+          -18.203903198242188
+        ],
+        [
+          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": "1731323561_83082914",
+      "mask_path": "../../mask/hdr_left_02987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02989.png",
+      "transform_matrix": [
+        [
+          0.9712790250778198,
+          -0.17635847628116608,
+          -0.15973342955112457,
+          14.540810585021973
+        ],
+        [
+          0.1450665444135666,
+          -0.093222476541996,
+          0.9850204586982727,
+          24.19976043701172
+        ],
+        [
+          -0.18860740959644318,
+          -0.9799017310142517,
+          -0.06496131420135498,
+          -18.246959686279297
+        ],
+        [
+          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": "1731323561_283081769",
+      "mask_path": "../../mask/hdr_left_02989.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02990.png",
+      "transform_matrix": [
+        [
+          0.9689269065856934,
+          -0.19431443512439728,
+          -0.15304379165172577,
+          14.602462768554688
+        ],
+        [
+          0.14073236286640167,
+          -0.0757393091917038,
+          0.9871463179588318,
+          24.221712112426758
+        ],
+        [
+          -0.20340821146965027,
+          -0.9780109524726868,
+          -0.04603952541947365,
+          -18.258094787597656
+        ],
+        [
+          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": "1731323561_383081674",
+      "mask_path": "../../mask/hdr_left_02990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02991.png",
+      "transform_matrix": [
+        [
+          0.9686682224273682,
+          -0.204359769821167,
+          -0.1411345899105072,
+          14.661384582519531
+        ],
+        [
+          0.13055205345153809,
+          -0.0644412636756897,
+          0.9893450140953064,
+          24.232540130615234
+        ],
+        [
+          -0.21127720177173615,
+          -0.9767724871635437,
+          -0.0357426218688488,
+          -18.254804611206055
+        ],
+        [
+          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": "1731323561_483082294",
+      "mask_path": "../../mask/hdr_left_02991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02992.png",
+      "transform_matrix": [
+        [
+          0.9704316854476929,
+          -0.20212267339229584,
+          -0.1319422423839569,
+          14.711710929870605
+        ],
+        [
+          0.12182261794805527,
+          -0.06177014485001564,
+          0.9906280040740967,
+          24.242380142211914
+        ],
+        [
+          -0.20837841928005219,
+          -0.9774103164672852,
+          -0.03532058000564575,
+          -18.265117645263672
+        ],
+        [
+          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": "1731323561_583081483",
+      "mask_path": "../../mask/hdr_left_02992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02993.png",
+      "transform_matrix": [
+        [
+          0.971127450466156,
+          -0.20280557870864868,
+          -0.1256239414215088,
+          14.770403861999512
+        ],
+        [
+          0.11374685168266296,
+          -0.06924066692590714,
+          0.9910940527915955,
+          24.257112503051758
+        ],
+        [
+          -0.2096976935863495,
+          -0.9767680168151855,
+          -0.04417300969362259,
+          -18.2883358001709
+        ],
+        [
+          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": "1731323561_683082103",
+      "mask_path": "../../mask/hdr_left_02993.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02994.png",
+      "transform_matrix": [
+        [
+          0.9701813459396362,
+          -0.20754419267177582,
+          -0.1251940280199051,
+          14.843271255493164
+        ],
+        [
+          0.11062850058078766,
+          -0.08040685206651688,
+          0.9906039237976074,
+          24.286134719848633
+        ],
+        [
+          -0.21566054224967957,
+          -0.9749154448509216,
+          -0.05504893139004707,
+          -18.328033447265625
+        ],
+        [
+          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": "1731323561_783081769",
+      "mask_path": "../../mask/hdr_left_02994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02995.png",
+      "transform_matrix": [
+        [
+          0.9671236872673035,
+          -0.2143520563840866,
+          -0.13683907687664032,
+          14.926427841186523
+        ],
+        [
+          0.11849026381969452,
+          -0.09628987312316895,
+          0.9882754683494568,
+          24.308120727539062
+        ],
+        [
+          -0.2250150591135025,
+          -0.9719986915588379,
+          -0.06772557646036148,
+          -18.310791015625
+        ],
+        [
+          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": "1731323561_883082151",
+      "mask_path": "../../mask/hdr_left_02995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02997.png",
+      "transform_matrix": [
+        [
+          0.9680678248405457,
+          -0.21572229266166687,
+          -0.12770459055900574,
+          15.02402400970459
+        ],
+        [
+          0.11296871304512024,
+          -0.07936278730630875,
+          0.9904239177703857,
+          24.3452205657959
+        ],
+        [
+          -0.2237914800643921,
+          -0.9732242822647095,
+          -0.05245869234204292,
+          -18.344009399414062
+        ],
+        [
+          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": "1731323562_83082437",
+      "mask_path": "../../mask/hdr_left_02997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02998.png",
+      "transform_matrix": [
+        [
+          0.9772998094558716,
+          -0.18486544489860535,
+          -0.10348764061927795,
+          15.122732162475586
+        ],
+        [
+          0.08971519023180008,
+          -0.08139362186193466,
+          0.99263596534729,
+          24.359619140625
+        ],
+        [
+          -0.19192732870578766,
+          -0.9793875217437744,
+          -0.06296072900295258,
+          -18.345256805419922
+        ],
+        [
+          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": "1731323562_183083057",
+      "mask_path": "../../mask/hdr_left_02998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_02999.png",
+      "transform_matrix": [
+        [
+          0.9852063655853271,
+          -0.15710347890853882,
+          -0.06846066564321518,
+          15.23525333404541
+        ],
+        [
+          0.05648702010512352,
+          -0.07945820689201355,
+          0.9952363967895508,
+          24.36730194091797
+        ],
+        [
+          -0.16179487109184265,
+          -0.9843804836273193,
+          -0.06940842419862747,
+          -18.335588455200195
+        ],
+        [
+          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": "1731323562_283082008",
+      "mask_path": "../../mask/hdr_left_02999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03001.png",
+      "transform_matrix": [
+        [
+          0.991950273513794,
+          -0.12661227583885193,
+          0.002008486306294799,
+          15.329147338867188
+        ],
+        [
+          -0.00883015338331461,
+          -0.05334005132317543,
+          0.9985373616218567,
+          24.40113639831543
+        ],
+        [
+          -0.12631994485855103,
+          -0.9905171990394592,
+          -0.05402868241071701,
+          -18.324464797973633
+        ],
+        [
+          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": "1731323562_483081102",
+      "mask_path": "../../mask/hdr_left_03001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03002.png",
+      "transform_matrix": [
+        [
+          0.9929666519165039,
+          -0.11367713660001755,
+          0.03308703005313873,
+          15.448144912719727
+        ],
+        [
+          -0.03657374531030655,
+          -0.02872396446764469,
+          0.9989181160926819,
+          24.43663215637207
+        ],
+        [
+          -0.11260375380516052,
+          -0.993102490901947,
+          -0.03267952799797058,
+          -18.34173583984375
+        ],
+        [
+          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": "1731323562_583081960",
+      "mask_path": "../../mask/hdr_left_03002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03003.png",
+      "transform_matrix": [
+        [
+          0.9924890995025635,
+          -0.10962983965873718,
+          0.05428382754325867,
+          15.506316184997559
+        ],
+        [
+          -0.0558500774204731,
+          -0.011264591477811337,
+          0.9983755946159363,
+          24.45820426940918
+        ],
+        [
+          -0.10884026437997818,
+          -0.993908703327179,
+          -0.01730281300842762,
+          -18.357852935791016
+        ],
+        [
+          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": "1731323562_683082103",
+      "mask_path": "../../mask/hdr_left_03003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03005.png",
+      "transform_matrix": [
+        [
+          0.9923434853553772,
+          -0.08144805580377579,
+          0.09284814447164536,
+          15.60914134979248
+        ],
+        [
+          -0.09180077910423279,
+          0.016519244760274887,
+          0.9956403374671936,
+          24.479494094848633
+        ],
+        [
+          -0.08262674510478973,
+          -0.9965406656265259,
+          0.00891577173024416,
+          -18.337961196899414
+        ],
+        [
+          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": "1731323562_883081436",
+      "mask_path": "../../mask/hdr_left_03005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03006.png",
+      "transform_matrix": [
+        [
+          0.9947376847267151,
+          -0.06778822094202042,
+          0.07682204991579056,
+          15.698237419128418
+        ],
+        [
+          -0.07628444582223892,
+          0.010487863793969154,
+          0.9970309734344482,
+          24.486074447631836
+        ],
+        [
+          -0.06839264929294586,
+          -0.9976446032524109,
+          0.005261490121483803,
+          -18.31903839111328
+        ],
+        [
+          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": "1731323562_983082771",
+      "mask_path": "../../mask/hdr_left_03006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03008.png",
+      "transform_matrix": [
+        [
+          0.9951198697090149,
+          -0.08819673210382462,
+          0.044245462864637375,
+          15.73881721496582
+        ],
+        [
+          -0.04591771960258484,
+          -0.017021214589476585,
+          0.9988002777099609,
+          24.532197952270508
+        ],
+        [
+          -0.08733779937028885,
+          -0.9959576725959778,
+          -0.020987937226891518,
+          -18.352811813354492
+        ],
+        [
+          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": "1731323563_183081626",
+      "mask_path": "../../mask/hdr_left_03008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03010.png",
+      "transform_matrix": [
+        [
+          0.9934998750686646,
+          -0.11013248562812805,
+          0.02879154123365879,
+          15.810062408447266
+        ],
+        [
+          -0.03244975954294205,
+          -0.031569384038448334,
+          0.9989746809005737,
+          24.535078048706055
+        ],
+        [
+          -0.10911063104867935,
+          -0.9934154748916626,
+          -0.03493794426321983,
+          -18.394805908203125
+        ],
+        [
+          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": "1731323563_383082151",
+      "mask_path": "../../mask/hdr_left_03010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03012.png",
+      "transform_matrix": [
+        [
+          0.9921330809593201,
+          -0.12078746408224106,
+          0.03289862722158432,
+          15.895943641662598
+        ],
+        [
+          -0.03627747297286987,
+          -0.025881273671984673,
+          0.9990065097808838,
+          24.52304458618164
+        ],
+        [
+          -0.11981599777936935,
+          -0.9923409819602966,
+          -0.030059529468417168,
+          -18.392776489257812
+        ],
+        [
+          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": "1731323563_583080530",
+      "mask_path": "../../mask/hdr_left_03012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03014.png",
+      "transform_matrix": [
+        [
+          0.9892021417617798,
+          -0.13808195292949677,
+          0.04911660775542259,
+          15.954440116882324
+        ],
+        [
+          -0.05314533784985542,
+          -0.02564019337296486,
+          0.9982575178146362,
+          24.51763153076172
+        ],
+        [
+          -0.13658198714256287,
+          -0.9900888800621033,
+          -0.03270174562931061,
+          -18.402328491210938
+        ],
+        [
+          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": "1731323563_783082008",
+      "mask_path": "../../mask/hdr_left_03014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03016.png",
+      "transform_matrix": [
+        [
+          0.9871469736099243,
+          -0.14638599753379822,
+          0.06412427872419357,
+          16.06155776977539
+        ],
+        [
+          -0.06946816295385361,
+          -0.031684812158346176,
+          0.9970808029174805,
+          24.518085479736328
+        ],
+        [
+          -0.14392690360546112,
+          -0.9887199997901917,
+          -0.04144672676920891,
+          -18.436906814575195
+        ],
+        [
+          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": "1731323563_983082056",
+      "mask_path": "../../mask/hdr_left_03016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03017.png",
+      "transform_matrix": [
+        [
+          0.9870414733886719,
+          -0.14900699257850647,
+          0.05954878777265549,
+          16.14423942565918
+        ],
+        [
+          -0.0662308782339096,
+          -0.040286801755428314,
+          0.9969907402992249,
+          24.524017333984375
+        ],
+        [
+          -0.14615954458713531,
+          -0.9880151748657227,
+          -0.04963359981775284,
+          -18.431888580322266
+        ],
+        [
+          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": "1731323564_83081245",
+      "mask_path": "../../mask/hdr_left_03017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03018.png",
+      "transform_matrix": [
+        [
+          0.9881978034973145,
+          -0.14517509937286377,
+          0.048880282789468765,
+          16.208290100097656
+        ],
+        [
+          -0.05602899193763733,
+          -0.04556620493531227,
+          0.9973888397216797,
+          24.53212547302246
+        ],
+        [
+          -0.14256872236728668,
+          -0.9883561730384827,
+          -0.053162429481744766,
+          -18.43560218811035
+        ],
+        [
+          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": "1731323564_183082342",
+      "mask_path": "../../mask/hdr_left_03018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03019.png",
+      "transform_matrix": [
+        [
+          0.9892277121543884,
+          -0.14207284152507782,
+          0.035266727209091187,
+          16.266040802001953
+        ],
+        [
+          -0.04147227108478546,
+          -0.040956057608127594,
+          0.9982998967170715,
+          24.54676628112793
+        ],
+        [
+          -0.1403869241476059,
+          -0.9890086054801941,
+          -0.04640694335103035,
+          -18.446327209472656
+        ],
+        [
+          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": "1731323564_283082723",
+      "mask_path": "../../mask/hdr_left_03019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03020.png",
+      "transform_matrix": [
+        [
+          0.9818636775016785,
+          -0.18560239672660828,
+          0.03867148235440254,
+          16.352529525756836
+        ],
+        [
+          -0.042418453842401505,
+          -0.016258088871836662,
+          0.998967707157135,
+          24.558462142944336
+        ],
+        [
+          -0.18478205800056458,
+          -0.9824904799461365,
+          -0.023836182430386543,
+          -18.475698471069336
+        ],
+        [
+          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": "1731323564_383082628",
+      "mask_path": "../../mask/hdr_left_03020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03022.png",
+      "transform_matrix": [
+        [
+          0.9660418629646301,
+          -0.2499583512544632,
+          0.06545145064592361,
+          16.39337158203125
+        ],
+        [
+          -0.06654743105173111,
+          0.004073573276400566,
+          0.9977749586105347,
+          24.575984954833984
+        ],
+        [
+          -0.24966879189014435,
+          -0.9682480692863464,
+          -0.012698842212557793,
+          -18.497108459472656
+        ],
+        [
+          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": "1731323564_583082437",
+      "mask_path": "../../mask/hdr_left_03022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03023.png",
+      "transform_matrix": [
+        [
+          0.9664267897605896,
+          -0.2469598650932312,
+          0.07092300057411194,
+          16.46418571472168
+        ],
+        [
+          -0.07172870635986328,
+          0.005744319409132004,
+          0.9974076747894287,
+          24.580440521240234
+        ],
+        [
+          -0.24672706425189972,
+          -0.96900874376297,
+          -0.012162643484771252,
+          -18.528886795043945
+        ],
+        [
+          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": "1731323564_683082818",
+      "mask_path": "../../mask/hdr_left_03023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03024.png",
+      "transform_matrix": [
+        [
+          0.9651454091072083,
+          -0.25153928995132446,
+          0.07226546853780746,
+          16.564062118530273
+        ],
+        [
+          -0.0746348649263382,
+          0.00012104000779800117,
+          0.9972109794616699,
+          24.603544235229492
+        ],
+        [
+          -0.2508464455604553,
+          -0.9678471088409424,
+          -0.0186567734926939,
+          -18.562423706054688
+        ],
+        [
+          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": "1731323564_783082723",
+      "mask_path": "../../mask/hdr_left_03024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03025.png",
+      "transform_matrix": [
+        [
+          0.9624289274215698,
+          -0.26203596591949463,
+          0.07118678092956543,
+          16.6345157623291
+        ],
+        [
+          -0.07681292295455933,
+          -0.011277309618890285,
+          0.996981680393219,
+          24.605201721191406
+        ],
+        [
+          -0.2604422867298126,
+          -0.9649922251701355,
+          -0.03098135255277157,
+          -18.5854434967041
+        ],
+        [
+          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": "1731323564_883082628",
+      "mask_path": "../../mask/hdr_left_03025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03027.png",
+      "transform_matrix": [
+        [
+          0.9634685516357422,
+          -0.2603621482849121,
+          0.06276830285787582,
+          16.730430603027344
+        ],
+        [
+          -0.07063298672437668,
+          -0.020951377227902412,
+          0.9972823858261108,
+          24.614887237548828
+        ],
+        [
+          -0.25833943486213684,
+          -0.9652836918830872,
+          -0.038576144725084305,
+          -18.63170623779297
+        ],
+        [
+          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": "1731323565_83082437",
+      "mask_path": "../../mask/hdr_left_03027.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03028.png",
+      "transform_matrix": [
+        [
+          0.9663968682289124,
+          -0.2520035207271576,
+          0.05070817098021507,
+          16.818655014038086
+        ],
+        [
+          -0.057777002453804016,
+          -0.020725812762975693,
+          0.998114287853241,
+          24.616289138793945
+        ],
+        [
+          -0.2504773437976837,
+          -0.9675044417381287,
+          -0.034589365124702454,
+          -18.657556533813477
+        ],
+        [
+          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": "1731323565_183081626",
+      "mask_path": "../../mask/hdr_left_03028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03029.png",
+      "transform_matrix": [
+        [
+          0.9630804657936096,
+          -0.2652447521686554,
+          0.04605526849627495,
+          16.897308349609375
+        ],
+        [
+          -0.050972890108823776,
+          -0.011682495474815369,
+          0.9986316561698914,
+          24.627796173095703
+        ],
+        [
+          -0.2643437683582306,
+          -0.9641103744506836,
+          -0.024771470576524734,
+          -18.666093826293945
+        ],
+        [
+          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": "1731323565_283081293",
+      "mask_path": "../../mask/hdr_left_03029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03031.png",
+      "transform_matrix": [
+        [
+          0.9613523483276367,
+          -0.27411186695098877,
+          0.025773702189326286,
+          16.998428344726562
+        ],
+        [
+          -0.03175012022256851,
+          -0.01738789863884449,
+          0.999344527721405,
+          24.642047882080078
+        ],
+        [
+          -0.2734840214252472,
+          -0.961540699005127,
+          -0.025418978184461594,
+          -18.674407958984375
+        ],
+        [
+          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": "1731323565_483083009",
+      "mask_path": "../../mask/hdr_left_03031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03032.png",
+      "transform_matrix": [
+        [
+          0.9667065739631653,
+          -0.255729615688324,
+          0.008979829959571362,
+          17.06545066833496
+        ],
+        [
+          -0.012053429149091244,
+          -0.010454086586833,
+          0.9998728036880493,
+          24.659408569335938
+        ],
+        [
+          -0.25560319423675537,
+          -0.9666918516159058,
+          -0.01318844873458147,
+          -18.69923973083496
+        ],
+        [
+          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": "1731323565_583082199",
+      "mask_path": "../../mask/hdr_left_03032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03033.png",
+      "transform_matrix": [
+        [
+          0.9719927310943604,
+          -0.23446080088615417,
+          -0.016069453209638596,
+          17.14214515686035
+        ],
+        [
+          0.016825523227453232,
+          0.0012245997786521912,
+          0.9998576641082764,
+          24.680139541625977
+        ],
+        [
+          -0.2344077229499817,
+          -0.9721248745918274,
+          0.005135234910994768,
+          -18.714303970336914
+        ],
+        [
+          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": "1731323565_683080434",
+      "mask_path": "../../mask/hdr_left_03033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03034.png",
+      "transform_matrix": [
+        [
+          0.9738097190856934,
+          -0.2220030426979065,
+          -0.049084242433309555,
+          17.20832061767578
+        ],
+        [
+          0.05306268855929375,
+          0.011988230049610138,
+          0.9985191822052002,
+          24.709068298339844
+        ],
+        [
+          -0.22108584642410278,
+          -0.9749723076820374,
+          0.023454340174794197,
+          -18.716520309448242
+        ],
+        [
+          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": "1731323565_783082008",
+      "mask_path": "../../mask/hdr_left_03034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03035.png",
+      "transform_matrix": [
+        [
+          0.9740399122238159,
+          -0.21165311336517334,
+          -0.08030729740858078,
+          17.2626953125
+        ],
+        [
+          0.08752718567848206,
+          0.024951092898845673,
+          0.9958495497703552,
+          24.73870849609375
+        ],
+        [
+          -0.20877090096473694,
+          -0.9770263433456421,
+          0.0428287535905838,
+          -18.72542953491211
+        ],
+        [
+          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": "1731323565_883080959",
+      "mask_path": "../../mask/hdr_left_03035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03036.png",
+      "transform_matrix": [
+        [
+          0.977175772190094,
+          -0.18850380182266235,
+          -0.09794756025075912,
+          17.339275360107422
+        ],
+        [
+          0.10423000156879425,
+          0.02368449978530407,
+          0.9942711591720581,
+          24.75762176513672
+        ],
+        [
+          -0.18510402739048004,
+          -0.981786847114563,
+          0.04279168322682381,
+          -18.728397369384766
+        ],
+        [
+          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": "1731323565_983083009",
+      "mask_path": "../../mask/hdr_left_03036.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03037.png",
+      "transform_matrix": [
+        [
+          0.9795284271240234,
+          -0.17579331994056702,
+          -0.09808575361967087,
+          17.415037155151367
+        ],
+        [
+          0.10324781388044357,
+          0.02044025808572769,
+          0.9944456219673157,
+          24.772199630737305
+        ],
+        [
+          -0.17281198501586914,
+          -0.9842148423194885,
+          0.038172099739313126,
+          -18.721315383911133
+        ],
+        [
+          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": "1731323566_83081245",
+      "mask_path": "../../mask/hdr_left_03037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03039.png",
+      "transform_matrix": [
+        [
+          0.9819678664207458,
+          -0.16956102848052979,
+          -0.08359463512897491,
+          17.49869728088379
+        ],
+        [
+          0.08681447058916092,
+          0.011651762761175632,
+          0.9961563348770142,
+          24.792198181152344
+        ],
+        [
+          -0.16793526709079742,
+          -0.9854508638381958,
+          0.026162011548876762,
+          -18.7238712310791
+        ],
+        [
+          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": "1731323566_283082485",
+      "mask_path": "../../mask/hdr_left_03039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03040.png",
+      "transform_matrix": [
+        [
+          0.9809597134590149,
+          -0.17640367150306702,
+          -0.08123859018087387,
+          17.589576721191406
+        ],
+        [
+          0.0803535133600235,
+          -0.012166990898549557,
+          0.9966921210289001,
+          24.82408905029297
+        ],
+        [
+          -0.17680858075618744,
+          -0.984242856502533,
+          0.0022393357940018177,
+          -18.75694465637207
+        ],
+        [
+          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": "1731323566_383080959",
+      "mask_path": "../../mask/hdr_left_03040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03041.png",
+      "transform_matrix": [
+        [
+          0.9789068102836609,
+          -0.18571019172668457,
+          -0.08516616374254227,
+          17.652856826782227
+        ],
+        [
+          0.08275129646062851,
+          -0.020730476826429367,
+          0.9963546395301819,
+          24.85308074951172
+        ],
+        [
+          -0.18679872155189514,
+          -0.9823858737945557,
+          -0.0049254377372562885,
+          -18.778776168823242
+        ],
+        [
+          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": "1731323566_483081340",
+      "mask_path": "../../mask/hdr_left_03041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03043.png",
+      "transform_matrix": [
+        [
+          0.9803245663642883,
+          -0.17764770984649658,
+          -0.08605170994997025,
+          17.725000381469727
+        ],
+        [
+          0.08340948820114136,
+          -0.02230260521173477,
+          0.996265709400177,
+          24.89240264892578
+        ],
+        [
+          -0.1789034754037857,
+          -0.9838414788246155,
+          -0.007046288810670376,
+          -18.81267547607422
+        ],
+        [
+          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": "1731323566_683082103",
+      "mask_path": "../../mask/hdr_left_03043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03044.png",
+      "transform_matrix": [
+        [
+          0.9834290146827698,
+          -0.1605522185564041,
+          -0.08420416712760925,
+          17.822551727294922
+        ],
+        [
+          0.07981283217668533,
+          -0.03361866623163223,
+          0.9962427020072937,
+          24.9112491607666
+        ],
+        [
+          -0.16277976334095,
+          -0.9864547252655029,
+          -0.02024744264781475,
+          -18.801301956176758
+        ],
+        [
+          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": "1731323566_783083677",
+      "mask_path": "../../mask/hdr_left_03044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_03045.png",
+      "transform_matrix": [
+        [
+          0.9860478043556213,
+          -0.14907501637935638,
+          -0.0740700364112854,
+          17.901790618896484
+        ],
+        [
+          0.07071763277053833,
+          -0.027671847492456436,
+          0.9971124529838562,
+          24.922218322753906
+        ],
+        [
+          -0.15069422125816345,
+          -0.9884386658668518,
+          -0.016743529587984085,
+          -18.791948318481445
+        ],
+        [
+          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": "1731323566_883081436",
+      "mask_path": "../../mask/hdr_left_03045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06994.png",
+      "transform_matrix": [
+        [
+          -0.9928991198539734,
+          -0.06261521577835083,
+          0.10114660114049911,
+          16.829980850219727
+        ],
+        [
+          -0.0967058539390564,
+          -0.07030098140239716,
+          -0.9928271174430847,
+          25.032434463500977
+        ],
+        [
+          0.06927677989006042,
+          -0.9955587983131409,
+          0.06374651938676834,
+          -18.666013717651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6994,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_783081054",
+      "mask_path": "../../mask/hdr_left_06994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06995.png",
+      "transform_matrix": [
+        [
+          -0.9898496866226196,
+          -0.07611184567213058,
+          0.12001912295818329,
+          16.774703979492188
+        ],
+        [
+          -0.11546570807695389,
+          -0.06165676191449165,
+          -0.9913960099220276,
+          24.990129470825195
+        ],
+        [
+          0.08285695314407349,
+          -0.995191216468811,
+          0.052242621779441833,
+          -18.620494842529297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6995,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_883081197",
+      "mask_path": "../../mask/hdr_left_06995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06997.png",
+      "transform_matrix": [
+        [
+          -0.9841372966766357,
+          -0.08097903430461884,
+          0.15784840285778046,
+          16.674657821655273
+        ],
+        [
+          -0.153066486120224,
+          -0.06223971024155617,
+          -0.9862539768218994,
+          24.975740432739258
+        ],
+        [
+          0.08969032019376755,
+          -0.9947706460952759,
+          0.04885723814368248,
+          -18.636882781982422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6997,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_83081960",
+      "mask_path": "../../mask/hdr_left_06997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_06999.png",
+      "transform_matrix": [
+        [
+          -0.9803088903427124,
+          -0.08842385560274124,
+          0.1765662133693695,
+          16.590959548950195
+        ],
+        [
+          -0.17128057777881622,
+          -0.06422547996044159,
+          -0.9831266403198242,
+          24.943748474121094
+        ],
+        [
+          0.09827189147472382,
+          -0.9940102100372314,
+          0.04781551659107208,
+          -18.609834671020508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6999,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_283082008",
+      "mask_path": "../../mask/hdr_left_06999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07001.png",
+      "transform_matrix": [
+        [
+          -0.9797199964523315,
+          -0.09377274662256241,
+          0.17707425355911255,
+          16.497974395751953
+        ],
+        [
+          -0.1706518679857254,
+          -0.07263381779193878,
+          -0.982650637626648,
+          24.916915893554688
+        ],
+        [
+          0.10500741750001907,
+          -0.9929406642913818,
+          0.05515831708908081,
+          -18.588607788085938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7001,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_483081340",
+      "mask_path": "../../mask/hdr_left_07001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07003.png",
+      "transform_matrix": [
+        [
+          -0.9761824011802673,
+          -0.10032679885625839,
+          0.1923598051071167,
+          16.433889389038086
+        ],
+        [
+          -0.18676134943962097,
+          -0.06257868558168411,
+          -0.9804101586341858,
+          24.872285842895508
+        ],
+        [
+          0.110399030148983,
+          -0.9929846525192261,
+          0.042351044714450836,
+          -18.577472686767578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7003,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_683081865",
+      "mask_path": "../../mask/hdr_left_07003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07005.png",
+      "transform_matrix": [
+        [
+          -0.9743367433547974,
+          -0.10424740612506866,
+          0.1995001584291458,
+          16.37017822265625
+        ],
+        [
+          -0.1939043253660202,
+          -0.061409398913383484,
+          -0.9790964722633362,
+          24.83565330505371
+        ],
+        [
+          0.11431945860385895,
+          -0.9926537275314331,
+          0.03961941599845886,
+          -18.559133529663086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7005,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_883080720",
+      "mask_path": "../../mask/hdr_left_07005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07007.png",
+      "transform_matrix": [
+        [
+          -0.9739259481430054,
+          -0.1090191900730133,
+          0.1989550143480301,
+          16.311250686645508
+        ],
+        [
+          -0.19105768203735352,
+          -0.07874354720115662,
+          -0.9784151911735535,
+          24.821504592895508
+        ],
+        [
+          0.12233243137598038,
+          -0.9909159541130066,
+          0.055861424654722214,
+          -18.546300888061523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7007,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_83082437",
+      "mask_path": "../../mask/hdr_left_07007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07009.png",
+      "transform_matrix": [
+        [
+          -0.9730403423309326,
+          -0.11092077940702438,
+          0.20221053063869476,
+          16.239585876464844
+        ],
+        [
+          -0.19277940690517426,
+          -0.09012451022863388,
+          -0.9770945310592651,
+          24.790494918823242
+        ],
+        [
+          0.12660419940948486,
+          -0.9897343516349792,
+          0.0663115382194519,
+          -18.517915725708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7009,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_283081054",
+      "mask_path": "../../mask/hdr_left_07009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07011.png",
+      "transform_matrix": [
+        [
+          -0.9696006774902344,
+          -0.12369520962238312,
+          0.2111257165670395,
+          16.18800163269043
+        ],
+        [
+          -0.20119185745716095,
+          -0.08807962387800217,
+          -0.9755837917327881,
+          24.74576187133789
+        ],
+        [
+          0.13927091658115387,
+          -0.9884034991264343,
+          0.06051559001207352,
+          -18.501068115234375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7011,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_483082056",
+      "mask_path": "../../mask/hdr_left_07011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07013.png",
+      "transform_matrix": [
+        [
+          -0.9679411053657532,
+          -0.11663922667503357,
+          0.2224528044462204,
+          16.145645141601562
+        ],
+        [
+          -0.21328817307949066,
+          -0.086066335439682,
+          -0.97319096326828,
+          24.70431900024414
+        ],
+        [
+          0.13265793025493622,
+          -0.9894382357597351,
+          0.05842938646674156,
+          -18.502172470092773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7013,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_683081388",
+      "mask_path": "../../mask/hdr_left_07013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07015.png",
+      "transform_matrix": [
+        [
+          -0.9657678008079529,
+          -0.12104310095310211,
+          0.2294367104768753,
+          16.07634925842285
+        ],
+        [
+          -0.21923474967479706,
+          -0.09194257110357285,
+          -0.9713304042816162,
+          24.67115592956543
+        ],
+        [
+          0.13866782188415527,
+          -0.9883800745010376,
+          0.06225831061601639,
+          -18.47327995300293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7015,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_883082389",
+      "mask_path": "../../mask/hdr_left_07015.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07017.png",
+      "transform_matrix": [
+        [
+          -0.9673512578010559,
+          -0.11362127214670181,
+          0.22654294967651367,
+          16.004365921020508
+        ],
+        [
+          -0.21708804368972778,
+          -0.08979262411594391,
+          -0.9720134139060974,
+          24.631366729736328
+        ],
+        [
+          0.13078327476978302,
+          -0.9894582629203796,
+          0.06219518557190895,
+          -18.458621978759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7017,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_83081960",
+      "mask_path": "../../mask/hdr_left_07017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07019.png",
+      "transform_matrix": [
+        [
+          -0.9682444930076599,
+          -0.11485596746206284,
+          0.22205999493598938,
+          15.925291061401367
+        ],
+        [
+          -0.21629518270492554,
+          -0.06058834120631218,
+          -0.9744461178779602,
+          24.61019515991211
+        ],
+        [
+          0.12537521123886108,
+          -0.9915328025817871,
+          0.03382154554128647,
+          -18.45476722717285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7019,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_283081531",
+      "mask_path": "../../mask/hdr_left_07019.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07021.png",
+      "transform_matrix": [
+        [
+          -0.9662427306175232,
+          -0.14482766389846802,
+          0.2130727469921112,
+          15.827775955200195
+        ],
+        [
+          -0.20908892154693604,
+          -0.042372751981019974,
+          -0.9769781827926636,
+          24.564224243164062
+        ],
+        [
+          0.15052194893360138,
+          -0.9885492324829102,
+          0.010660494677722454,
+          -18.398826599121094
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7021,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_483081102",
+      "mask_path": "../../mask/hdr_left_07021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07022.png",
+      "transform_matrix": [
+        [
+          -0.9658478498458862,
+          -0.1644493192434311,
+          0.200235977768898,
+          15.776281356811523
+        ],
+        [
+          -0.19607311487197876,
+          -0.0413375198841095,
+          -0.9797176122665405,
+          24.55313491821289
+        ],
+        [
+          0.16939114034175873,
+          -0.9855189919471741,
+          0.007681670598685741,
+          -18.364343643188477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7022,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_583079814",
+      "mask_path": "../../mask/hdr_left_07022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07024.png",
+      "transform_matrix": [
+        [
+          -0.970196545124054,
+          -0.1614079773426056,
+          0.18073758482933044,
+          15.697847366333008
+        ],
+        [
+          -0.1715988963842392,
+          -0.06898623704910278,
+          -0.9827485680580139,
+          24.521425247192383
+        ],
+        [
+          0.17109185457229614,
+          -0.9844736456871033,
+          0.039232783019542694,
+          -18.35661506652832
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7024,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_783081054",
+      "mask_path": "../../mask/hdr_left_07024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07025.png",
+      "transform_matrix": [
+        [
+          -0.9709293246269226,
+          -0.15882892906665802,
+          0.17907948791980743,
+          15.648346900939941
+        ],
+        [
+          -0.16954530775547028,
+          -0.07178499549627304,
+          -0.9829044938087463,
+          24.48440170288086
+        ],
+        [
+          0.16896888613700867,
+          -0.9846930503845215,
+          0.04276946187019348,
+          -18.331083297729492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7025,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_883081197",
+      "mask_path": "../../mask/hdr_left_07025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07029.png",
+      "transform_matrix": [
+        [
+          -0.9761247038841248,
+          -0.13894452154636383,
+          0.16695798933506012,
+          15.5376615524292
+        ],
+        [
+          -0.1572248339653015,
+          -0.07837884873151779,
+          -0.9844476580619812,
+          24.401090621948242
+        ],
+        [
+          0.14986956119537354,
+          -0.9871937036514282,
+          0.05466200038790703,
+          -18.31753158569336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7029,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_283081293",
+      "mask_path": "../../mask/hdr_left_07029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07031.png",
+      "transform_matrix": [
+        [
+          -0.9840542674064636,
+          -0.13419336080551147,
+          0.1167440190911293,
+          15.447962760925293
+        ],
+        [
+          -0.1065501719713211,
+          -0.08081063628196716,
+          -0.9910179972648621,
+          24.37151336669922
+        ],
+        [
+          0.14242218434810638,
+          -0.9876546859741211,
+          0.06522371619939804,
+          -18.295621871948242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7031,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_483082294",
+      "mask_path": "../../mask/hdr_left_07031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07033.png",
+      "transform_matrix": [
+        [
+          -0.9911314249038696,
+          -0.12468241900205612,
+          0.04596450924873352,
+          15.396066665649414
+        ],
+        [
+          -0.036858491599559784,
+          -0.07438277453184128,
+          -0.9965483546257019,
+          24.37200164794922
+        ],
+        [
+          0.127671018242836,
+          -0.9894046783447266,
+          0.06912750005722046,
+          -18.290454864501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7033,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_683081388",
+      "mask_path": "../../mask/hdr_left_07033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07037.png",
+      "transform_matrix": [
+        [
+          -0.9923858642578125,
+          -0.11512497812509537,
+          -0.043778371065855026,
+          15.360855102539062
+        ],
+        [
+          0.04981183633208275,
+          -0.050062909722328186,
+          -0.9975030422210693,
+          24.427366256713867
+        ],
+        [
+          0.11264584213495255,
+          -0.9920886754989624,
+          0.05541630834341049,
+          -18.28580093383789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7037,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_83079814",
+      "mask_path": "../../mask/hdr_left_07037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07040.png",
+      "transform_matrix": [
+        [
+          -0.9930546879768372,
+          -0.10164691507816315,
+          -0.05924636870622635,
+          15.289905548095703
+        ],
+        [
+          0.06246289238333702,
+          -0.0287557914853096,
+          -0.9976329207420349,
+          24.459230422973633
+        ],
+        [
+          0.0997026339173317,
+          -0.9944049119949341,
+          0.034905239939689636,
+          -18.274343490600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7040,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_383081197",
+      "mask_path": "../../mask/hdr_left_07040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07042.png",
+      "transform_matrix": [
+        [
+          -0.99383544921875,
+          -0.09293627738952637,
+          -0.06044776737689972,
+          15.2212553024292
+        ],
+        [
+          0.06303799152374268,
+          -0.02519007958471775,
+          -0.9976931810379028,
+          24.44784927368164
+        ],
+        [
+          0.09119919687509537,
+          -0.9953534007072449,
+          0.030893312767148018,
+          -18.272550582885742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7042,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_583079814",
+      "mask_path": "../../mask/hdr_left_07042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07043.png",
+      "transform_matrix": [
+        [
+          -0.994163453578949,
+          -0.08634770661592484,
+          -0.0646764263510704,
+          15.172479629516602
+        ],
+        [
+          0.06789746135473251,
+          -0.03489953652024269,
+          -0.9970816969871521,
+          24.439985275268555
+        ],
+        [
+          0.08383853733539581,
+          -0.9956536889076233,
+          0.04055863618850708,
+          -18.268245697021484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7043,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_683079004",
+      "mask_path": "../../mask/hdr_left_07043.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07044.png",
+      "transform_matrix": [
+        [
+          -0.9938807487487793,
+          -0.08504772186279297,
+          -0.07048337161540985,
+          15.122987747192383
+        ],
+        [
+          0.07485587894916534,
+          -0.04936488717794418,
+          -0.9959717988967896,
+          24.43214225769043
+        ],
+        [
+          0.08122571557760239,
+          -0.9951533079147339,
+          0.05542914196848869,
+          -18.272907257080078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7044,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_783080816",
+      "mask_path": "../../mask/hdr_left_07044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07045.png",
+      "transform_matrix": [
+        [
+          -0.9938961863517761,
+          -0.08172077685594559,
+          -0.07410875707864761,
+          15.055502891540527
+        ],
+        [
+          0.07843131572008133,
+          -0.05101420357823372,
+          -0.9956133961677551,
+          24.413192749023438
+        ],
+        [
+          0.07758169621229172,
+          -0.9953488707542419,
+          0.05711228400468826,
+          -18.271814346313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7045,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_883080959",
+      "mask_path": "../../mask/hdr_left_07045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07046.png",
+      "transform_matrix": [
+        [
+          -0.9956613779067993,
+          -0.05763852968811989,
+          -0.07304862886667252,
+          15.000244140625
+        ],
+        [
+          0.07508166134357452,
+          -0.033929407596588135,
+          -0.9966000318527222,
+          24.39996337890625
+        ],
+        [
+          0.05496405437588692,
+          -0.9977608323097229,
+          0.03810980170965195,
+          -18.266828536987305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7046,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_983080625",
+      "mask_path": "../../mask/hdr_left_07046.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07048.png",
+      "transform_matrix": [
+        [
+          -0.9971141815185547,
+          -0.04090374708175659,
+          -0.06395383179187775,
+          14.920753479003906
+        ],
+        [
+          0.06497086584568024,
+          -0.024035604670643806,
+          -0.9975977540016174,
+          24.375381469726562
+        ],
+        [
+          0.039268311113119125,
+          -0.9988740682601929,
+          0.026623794808983803,
+          -18.256086349487305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7048,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_183081150",
+      "mask_path": "../../mask/hdr_left_07048.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07050.png",
+      "transform_matrix": [
+        [
+          -0.9971246123313904,
+          -0.022841282188892365,
+          -0.07225418090820312,
+          14.84489917755127
+        ],
+        [
+          0.07314407080411911,
+          -0.04087498411536217,
+          -0.9964834451675415,
+          24.3336181640625
+        ],
+        [
+          0.019807565957307816,
+          -0.9989031553268433,
+          0.042428158223629,
+          -18.252796173095703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7050,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_383079767",
+      "mask_path": "../../mask/hdr_left_07050.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07051.png",
+      "transform_matrix": [
+        [
+          -0.9962527751922607,
+          -0.025593789294362068,
+          -0.08261558413505554,
+          14.793899536132812
+        ],
+        [
+          0.08371249586343765,
+          -0.045250844210386276,
+          -0.9954619407653809,
+          24.325679779052734
+        ],
+        [
+          0.02173921838402748,
+          -0.9986478090286255,
+          0.04722379893064499,
+          -18.254053115844727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7051,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_483080863",
+      "mask_path": "../../mask/hdr_left_07051.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07052.png",
+      "transform_matrix": [
+        [
+          -0.9952876567840576,
+          -0.02705921046435833,
+          -0.09311424195766449,
+          14.745532035827637
+        ],
+        [
+          0.0945034995675087,
+          -0.05563885346055031,
+          -0.9939684867858887,
+          24.31672477722168
+        ],
+        [
+          0.021715227514505386,
+          -0.998084306716919,
+          0.05793385952711105,
+          -18.256324768066406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7052,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_583079576",
+      "mask_path": "../../mask/hdr_left_07052.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07053.png",
+      "transform_matrix": [
+        [
+          -0.994903564453125,
+          -0.024142364040017128,
+          -0.09789839386940002,
+          14.680717468261719
+        ],
+        [
+          0.0991235002875328,
+          -0.05624080449342728,
+          -0.9934844374656677,
+          24.3015193939209
+        ],
+        [
+          0.018479175865650177,
+          -0.9981253147125244,
+          0.058347251266241074,
+          -18.24571990966797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7053,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_683080196",
+      "mask_path": "../../mask/hdr_left_07053.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07055.png",
+      "transform_matrix": [
+        [
+          -0.9955527186393738,
+          -0.03530023619532585,
+          -0.08734208345413208,
+          14.610816955566406
+        ],
+        [
+          0.08856279402971268,
+          -0.034635961055755615,
+          -0.9954681992530823,
+          24.311599731445312
+        ],
+        [
+          0.032115090638399124,
+          -0.9987764358520508,
+          0.03760821372270584,
+          -18.23164176940918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7055,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_883079051",
+      "mask_path": "../../mask/hdr_left_07055.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07056.png",
+      "transform_matrix": [
+        [
+          -0.9953464865684509,
+          -0.03524043783545494,
+          -0.0896843671798706,
+          14.560587882995605
+        ],
+        [
+          0.09075894951820374,
+          -0.030173856765031815,
+          -0.9954156875610352,
+          24.327457427978516
+        ],
+        [
+          0.03237276151776314,
+          -0.9989233016967773,
+          0.03323183208703995,
+          -18.216720581054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7056,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_983081102",
+      "mask_path": "../../mask/hdr_left_07056.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07072.png",
+      "transform_matrix": [
+        [
+          -0.9876482486724854,
+          -0.07690483331680298,
+          -0.1365160495042801,
+          14.501832008361816
+        ],
+        [
+          0.14201706647872925,
+          -0.07127414643764496,
+          -0.9872948527336121,
+          24.390764236450195
+        ],
+        [
+          0.06619767844676971,
+          -0.9944876432418823,
+          0.08131558448076248,
+          -18.19208526611328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7072,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_583081007",
+      "mask_path": "../../mask/hdr_left_07072.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07074.png",
+      "transform_matrix": [
+        [
+          -0.9832651019096375,
+          -0.11732151359319687,
+          -0.13937503099441528,
+          14.479454040527344
+        ],
+        [
+          0.1490296572446823,
+          -0.07795688509941101,
+          -0.9857549667358398,
+          24.421775817871094
+        ],
+        [
+          0.1047850176692009,
+          -0.990029513835907,
+          0.09413666278123856,
+          -18.140689849853516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7074,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_783080816",
+      "mask_path": "../../mask/hdr_left_07074.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07076.png",
+      "transform_matrix": [
+        [
+          -0.9844117760658264,
+          -0.11019516736268997,
+          -0.13707797229290009,
+          14.420553207397461
+        ],
+        [
+          0.14546899497509003,
+          -0.07207070291042328,
+          -0.9867342710494995,
+          24.457223892211914
+        ],
+        [
+          0.09885404258966446,
+          -0.9912935495376587,
+          0.08697722852230072,
+          -18.148271560668945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7076,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_983081340",
+      "mask_path": "../../mask/hdr_left_07076.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07079.png",
+      "transform_matrix": [
+        [
+          -0.9864897727966309,
+          -0.0919371247291565,
+          -0.13559313118457794,
+          14.382184982299805
+        ],
+        [
+          0.14399240911006927,
+          -0.09187205135822296,
+          -0.9853049516677856,
+          24.479598999023438
+        ],
+        [
+          0.0781288743019104,
+          -0.9915176033973694,
+          0.10386908799409866,
+          -18.169424057006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7079,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_283082485",
+      "mask_path": "../../mask/hdr_left_07079.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07081.png",
+      "transform_matrix": [
+        [
+          -0.9885736703872681,
+          -0.0855008214712143,
+          -0.12414386123418808,
+          14.314862251281738
+        ],
+        [
+          0.13264615833759308,
+          -0.10221798717975616,
+          -0.9858785271644592,
+          24.47953987121582
+        ],
+        [
+          0.0716036856174469,
+          -0.9910808205604553,
+          0.11239136755466461,
+          -18.179576873779297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7081,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_483083009",
+      "mask_path": "../../mask/hdr_left_07081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07082.png",
+      "transform_matrix": [
+        [
+          -0.9910018444061279,
+          -0.08792509883642197,
+          -0.10091814398765564,
+          14.261971473693848
+        ],
+        [
+          0.1090594232082367,
+          -0.09331672638654709,
+          -0.9896455407142639,
+          24.46360206604004
+        ],
+        [
+          0.07759731262922287,
+          -0.9917465448379517,
+          0.10206609219312668,
+          -18.162811279296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7082,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_583081483",
+      "mask_path": "../../mask/hdr_left_07082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07084.png",
+      "transform_matrix": [
+        [
+          -0.994940459728241,
+          -0.09843899309635162,
+          -0.020079538226127625,
+          14.18288516998291
+        ],
+        [
+          0.027107100933790207,
+          -0.07058052718639374,
+          -0.9971376657485962,
+          24.423017501831055
+        ],
+        [
+          0.0967400074005127,
+          -0.992637038230896,
+          0.07289182394742966,
+          -18.146791458129883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7084,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_783082723",
+      "mask_path": "../../mask/hdr_left_07084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07086.png",
+      "transform_matrix": [
+        [
+          -0.9931815266609192,
+          -0.09722445160150528,
+          0.06432509422302246,
+          14.081514358520508
+        ],
+        [
+          -0.05774664878845215,
+          -0.06902731955051422,
+          -0.9959420561790466,
+          24.373706817626953
+        ],
+        [
+          0.10127010941505432,
+          -0.9928659200668335,
+          0.06294228136539459,
+          -18.120527267456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7086,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_983081340",
+      "mask_path": "../../mask/hdr_left_07086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07091.png",
+      "transform_matrix": [
+        [
+          -0.9821615815162659,
+          -0.09659341722726822,
+          0.16133292019367218,
+          13.86502456665039
+        ],
+        [
+          -0.1543107032775879,
+          -0.076266810297966,
+          -0.9850744009017944,
+          24.286043167114258
+        ],
+        [
+          0.10745605081319809,
+          -0.9923977255821228,
+          0.060000933706760406,
+          -18.086929321289062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7091,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_483082056",
+      "mask_path": "../../mask/hdr_left_07091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07092.png",
+      "transform_matrix": [
+        [
+          -0.980839192867279,
+          -0.0953640416264534,
+          0.169883131980896,
+          13.822992324829102
+        ],
+        [
+          -0.16302596032619476,
+          -0.07565402239561081,
+          -0.9837169647216797,
+          24.25171661376953
+        ],
+        [
+          0.1066635474562645,
+          -0.9925634860992432,
+          0.05865761637687683,
+          -18.08127212524414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7092,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_583082199",
+      "mask_path": "../../mask/hdr_left_07092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07093.png",
+      "transform_matrix": [
+        [
+          -0.978914201259613,
+          -0.10194932669401169,
+          0.17701174318790436,
+          13.762324333190918
+        ],
+        [
+          -0.17023861408233643,
+          -0.07175866514444351,
+          -0.9827865958213806,
+          24.21820831298828
+        ],
+        [
+          0.11289655417203903,
+          -0.99219810962677,
+          0.0528898648917675,
+          -18.072351455688477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7093,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_683082342",
+      "mask_path": "../../mask/hdr_left_07093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07094.png",
+      "transform_matrix": [
+        [
+          -0.9771432280540466,
+          -0.11057306081056595,
+          0.18156160414218903,
+          13.690225601196289
+        ],
+        [
+          -0.1741075962781906,
+          -0.0737786516547203,
+          -0.9819588661193848,
+          24.192054748535156
+        ],
+        [
+          0.12197357416152954,
+          -0.9911258816719055,
+          0.0528407022356987,
+          -18.053058624267578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7094,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_783082962",
+      "mask_path": "../../mask/hdr_left_07094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07095.png",
+      "transform_matrix": [
+        [
+          -0.9750304222106934,
+          -0.1153937578201294,
+          0.189736470580101,
+          13.631199836730957
+        ],
+        [
+          -0.18136921525001526,
+          -0.07923028618097305,
+          -0.9802182912826538,
+          24.176021575927734
+        ],
+        [
+          0.12814393639564514,
+          -0.9901549816131592,
+          0.056323062628507614,
+          -18.04298973083496
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7095,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_883081674",
+      "mask_path": "../../mask/hdr_left_07095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07096.png",
+      "transform_matrix": [
+        [
+          -0.9728503227233887,
+          -0.1091061607003212,
+          0.2041023224592209,
+          13.553644180297852
+        ],
+        [
+          -0.19755707681179047,
+          -0.06787903606891632,
+          -0.9779383540153503,
+          24.12527847290039
+        ],
+        [
+          0.12055337429046631,
+          -0.9917098879814148,
+          0.04448146000504494,
+          -18.035064697265625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7096,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_983080863",
+      "mask_path": "../../mask/hdr_left_07096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07097.png",
+      "transform_matrix": [
+        [
+          -0.9694430828094482,
+          -0.1011747419834137,
+          0.22348105907440186,
+          13.492382049560547
+        ],
+        [
+          -0.2193911224603653,
+          -0.050034936517477036,
+          -0.9743531346321106,
+          24.079814910888672
+        ],
+        [
+          0.1097617819905281,
+          -0.9936096668243408,
+          0.0263091791421175,
+          -18.020442962646484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7097,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_83081722",
+      "mask_path": "../../mask/hdr_left_07097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07098.png",
+      "transform_matrix": [
+        [
+          -0.9652813076972961,
+          -0.09841392189264297,
+          0.2419644147157669,
+          13.432241439819336
+        ],
+        [
+          -0.23923936486244202,
+          -0.03878611698746681,
+          -0.9701856374740601,
+          24.052364349365234
+        ],
+        [
+          0.10486462712287903,
+          -0.9943894743919373,
+          0.013895025476813316,
+          -18.01329803466797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7098,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_183081388",
+      "mask_path": "../../mask/hdr_left_07098.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07099.png",
+      "transform_matrix": [
+        [
+          -0.9615802764892578,
+          -0.09396462887525558,
+          0.2579418122768402,
+          13.362293243408203
+        ],
+        [
+          -0.25534239411354065,
+          -0.03891761600971222,
+          -0.9660671353340149,
+          24.024227142333984
+        ],
+        [
+          0.10081461071968079,
+          -0.9948146343231201,
+          0.01342925988137722,
+          -18.006696701049805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7099,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_283081293",
+      "mask_path": "../../mask/hdr_left_07099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07100.png",
+      "transform_matrix": [
+        [
+          -0.9589343667030334,
+          -0.08720401674509048,
+          0.26988938450813293,
+          13.293837547302246
+        ],
+        [
+          -0.26673924922943115,
+          -0.04617639258503914,
+          -0.9626619219779968,
+          23.997467041015625
+        ],
+        [
+          0.09641049057245255,
+          -0.9951196908950806,
+          0.02101939730346203,
+          -18.005002975463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7100,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_383080959",
+      "mask_path": "../../mask/hdr_left_07100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07101.png",
+      "transform_matrix": [
+        [
+          -0.9570043683052063,
+          -0.08409490436315536,
+          0.27761605381965637,
+          13.24206829071045
+        ],
+        [
+          -0.2738419771194458,
+          -0.05373719707131386,
+          -0.9602722525596619,
+          23.966487884521484
+        ],
+        [
+          0.09567230194807053,
+          -0.9950077533721924,
+          0.028398018330335617,
+          -17.99980354309082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7101,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_483080863",
+      "mask_path": "../../mask/hdr_left_07101.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07102.png",
+      "transform_matrix": [
+        [
+          -0.9554455280303955,
+          -0.08157076686620712,
+          0.28367236256599426,
+          13.198375701904297
+        ],
+        [
+          -0.278854101896286,
+          -0.06562760472297668,
+          -0.9580884575843811,
+          23.937463760375977
+        ],
+        [
+          0.09676873683929443,
+          -0.9945045709609985,
+          0.039957258850336075,
+          -17.996782302856445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7102,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_583081245",
+      "mask_path": "../../mask/hdr_left_07102.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07103.png",
+      "transform_matrix": [
+        [
+          -0.9540243744850159,
+          -0.08670033514499664,
+          0.2869156002998352,
+          13.14541244506836
+        ],
+        [
+          -0.2795226275920868,
+          -0.08816134184598923,
+          -0.9560829997062683,
+          23.88003158569336
+        ],
+        [
+          0.10818757116794586,
+          -0.9923259615898132,
+          0.05987336114048958,
+          -17.97069549560547
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7103,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_683080196",
+      "mask_path": "../../mask/hdr_left_07103.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07104.png",
+      "transform_matrix": [
+        [
+          -0.9508122801780701,
+          -0.09850283712148666,
+          0.29368913173675537,
+          13.07398796081543
+        ],
+        [
+          -0.28559207916259766,
+          -0.08844127506017685,
+          -0.9542616605758667,
+          23.822099685668945
+        ],
+        [
+          0.11997168511152267,
+          -0.9911989569664001,
+          0.05595941096544266,
+          -17.927549362182617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7104,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_783077955",
+      "mask_path": "../../mask/hdr_left_07104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07105.png",
+      "transform_matrix": [
+        [
+          -0.9480844736099243,
+          -0.10514645278453827,
+          0.3001333177089691,
+          13.019936561584473
+        ],
+        [
+          -0.2930011451244354,
+          -0.07810230553150177,
+          -0.9529167413711548,
+          23.793336868286133
+        ],
+        [
+          0.12363690137863159,
+          -0.9913850426673889,
+          0.04323954880237579,
+          -17.92278289794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7105,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_883079051",
+      "mask_path": "../../mask/hdr_left_07105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07106.png",
+      "transform_matrix": [
+        [
+          -0.9473031759262085,
+          -0.10619767755270004,
+          0.3022229075431824,
+          12.979989051818848
+        ],
+        [
+          -0.2952647805213928,
+          -0.07643800973892212,
+          -0.9523528218269348,
+          23.76089096069336
+        ],
+        [
+          0.12423895299434662,
+          -0.9914026856422424,
+          0.04105352982878685,
+          -17.925931930541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7106,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_983080148",
+      "mask_path": "../../mask/hdr_left_07106.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07107.png",
+      "transform_matrix": [
+        [
+          -0.9458807110786438,
+          -0.12650533020496368,
+          0.2988411486148834,
+          12.929508209228516
+        ],
+        [
+          -0.2928341329097748,
+          -0.06411990523338318,
+          -0.9540109038352966,
+          23.73028564453125
+        ],
+        [
+          0.13984912633895874,
+          -0.9898914694786072,
+          0.023604705929756165,
+          -17.9062557220459
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7107,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_83081722",
+      "mask_path": "../../mask/hdr_left_07107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07108.png",
+      "transform_matrix": [
+        [
+          -0.9448527097702026,
+          -0.17211973667144775,
+          0.2786182463169098,
+          12.853074073791504
+        ],
+        [
+          -0.2710673213005066,
+          -0.06640307605266571,
+          -0.960267186164856,
+          23.712596893310547
+        ],
+        [
+          0.18378205597400665,
+          -0.9828354120254517,
+          0.01608508639037609,
+          -17.816072463989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7108,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_183084011",
+      "mask_path": "../../mask/hdr_left_07108.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07110.png",
+      "transform_matrix": [
+        [
+          -0.9463035464286804,
+          -0.20579136908054352,
+          0.24931800365447998,
+          12.753472328186035
+        ],
+        [
+          -0.2346004843711853,
+          -0.09346310049295425,
+          -0.9675883650779724,
+          23.677690505981445
+        ],
+        [
+          0.22242334485054016,
+          -0.9741225242614746,
+          0.04016570746898651,
+          -17.766525268554688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7110,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_383082628",
+      "mask_path": "../../mask/hdr_left_07110.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07111.png",
+      "transform_matrix": [
+        [
+          -0.9470778107643127,
+          -0.20551438629627228,
+          0.24659158289432526,
+          12.699729919433594
+        ],
+        [
+          -0.23196196556091309,
+          -0.09286074340343475,
+          -0.9682822227478027,
+          23.63088035583496
+        ],
+        [
+          0.22189457714557648,
+          -0.9742385149002075,
+          0.040274836122989655,
+          -17.748994827270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7111,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_483082771",
+      "mask_path": "../../mask/hdr_left_07111.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07115.png",
+      "transform_matrix": [
+        [
+          -0.9350524544715881,
+          -0.26729437708854675,
+          0.2328745275735855,
+          12.567221641540527
+        ],
+        [
+          -0.22272883355617523,
+          -0.06811526417732239,
+          -0.9724978804588318,
+          23.54484748840332
+        ],
+        [
+          0.2758055329322815,
+          -0.9612045288085938,
+          0.0041571855545043945,
+          -17.66446304321289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7115,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_883083820",
+      "mask_path": "../../mask/hdr_left_07115.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07116.png",
+      "transform_matrix": [
+        [
+          -0.926461398601532,
+          -0.3048137426376343,
+          0.2208118736743927,
+          12.480847358703613
+        ],
+        [
+          -0.2114412784576416,
+          -0.0638624057173729,
+          -0.9753020405769348,
+          23.541154861450195
+        ],
+        [
+          0.3113870322704315,
+          -0.9502685070037842,
+          -0.005284145940095186,
+          -17.605484008789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7116,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_983082532",
+      "mask_path": "../../mask/hdr_left_07116.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07118.png",
+      "transform_matrix": [
+        [
+          -0.932751476764679,
+          -0.28602123260498047,
+          0.21946865320205688,
+          12.405749320983887
+        ],
+        [
+          -0.1975872665643692,
+          -0.10361766815185547,
+          -0.9747936725616455,
+          23.530595779418945
+        ],
+        [
+          0.30155250430107117,
+          -0.9526045322418213,
+          0.04013538360595703,
+          -17.62053680419922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7118,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323974_183083534",
+      "mask_path": "../../mask/hdr_left_07118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07129.png",
+      "transform_matrix": [
+        [
+          -0.9676748514175415,
+          -0.22018034756183624,
+          0.12298691272735596,
+          12.052964210510254
+        ],
+        [
+          -0.10527851432561874,
+          -0.09047471731901169,
+          -0.9903185367584229,
+          23.362539291381836
+        ],
+        [
+          0.229175865650177,
+          -0.9712543487548828,
+          0.06436984241008759,
+          -17.51910972595215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7129,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_283081531",
+      "mask_path": "../../mask/hdr_left_07129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07132.png",
+      "transform_matrix": [
+        [
+          -0.9718388319015503,
+          -0.21082262694835663,
+          0.10527606308460236,
+          11.900839805603027
+        ],
+        [
+          -0.08731614053249359,
+          -0.0927836000919342,
+          -0.9918503165245056,
+          23.316123962402344
+        ],
+        [
+          0.21887236833572388,
+          -0.9731109738349915,
+          0.07176248729228973,
+          -17.481904983520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7132,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_583083152",
+      "mask_path": "../../mask/hdr_left_07132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07133.png",
+      "transform_matrix": [
+        [
+          -0.9735432267189026,
+          -0.20485252141952515,
+          0.10123703628778458,
+          11.833451271057129
+        ],
+        [
+          -0.08013976365327835,
+          -0.1088046208024025,
+          -0.9908275604248047,
+          23.293689727783203
+        ],
+        [
+          0.2139885574579239,
+          -0.972726583480835,
+          0.08950916677713394,
+          -17.48503875732422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7133,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_683081150",
+      "mask_path": "../../mask/hdr_left_07133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07134.png",
+      "transform_matrix": [
+        [
+          -0.9735451936721802,
+          -0.20445504784584045,
+          0.10201942175626755,
+          11.772223472595215
+        ],
+        [
+          -0.08014103025197983,
+          -0.11258989572525024,
+          -0.990404486656189,
+          23.259227752685547
+        ],
+        [
+          0.2139795422554016,
+          -0.9723794460296631,
+          0.0932261049747467,
+          -17.418848037719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7134,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_783081769",
+      "mask_path": "../../mask/hdr_left_07134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07135.png",
+      "transform_matrix": [
+        [
+          -0.9736428260803223,
+          -0.20097050070762634,
+          0.10784388333559036,
+          11.72713565826416
+        ],
+        [
+          -0.08962063491344452,
+          -0.09769320487976074,
+          -0.9911730885505676,
+          23.232280731201172
+        ],
+        [
+          0.20973213016986847,
+          -0.9747138619422913,
+          0.07710718363523483,
+          -17.371171951293945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7135,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_883080959",
+      "mask_path": "../../mask/hdr_left_07135.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07136.png",
+      "transform_matrix": [
+        [
+          -0.9744018316268921,
+          -0.19515246152877808,
+          0.11160817742347717,
+          11.681046485900879
+        ],
+        [
+          -0.09736461937427521,
+          -0.08114586770534515,
+          -0.9919351935386658,
+          23.211652755737305
+        ],
+        [
+          0.20263512432575226,
+          -0.9774103760719299,
+          0.06006773188710213,
+          -17.372953414916992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7136,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_983081817",
+      "mask_path": "../../mask/hdr_left_07136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07137.png",
+      "transform_matrix": [
+        [
+          -0.974934458732605,
+          -0.19225558638572693,
+          0.11198466271162033,
+          11.627935409545898
+        ],
+        [
+          -0.09986257553100586,
+          -0.07165523618459702,
+          -0.9924176931381226,
+          23.183921813964844
+        ],
+        [
+          0.19882211089134216,
+          -0.9787253737449646,
+          0.05066002532839775,
+          -17.363059997558594
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7137,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_83081007",
+      "mask_path": "../../mask/hdr_left_07137.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07138.png",
+      "transform_matrix": [
+        [
+          -0.9782268404960632,
+          -0.177145317196846,
+          0.10812889039516449,
+          11.577703475952148
+        ],
+        [
+          -0.09503345936536789,
+          -0.08083613216876984,
+          -0.9921865463256836,
+          23.150514602661133
+        ],
+        [
+          0.18450191617012024,
+          -0.9808593988418579,
+          0.062241330742836,
+          -17.341524124145508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7138,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_183082342",
+      "mask_path": "../../mask/hdr_left_07138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07139.png",
+      "transform_matrix": [
+        [
+          -0.979776918888092,
+          -0.1710323989391327,
+          0.10385068506002426,
+          11.532960891723633
+        ],
+        [
+          -0.08922351896762848,
+          -0.09111499786376953,
+          -0.9918352365493774,
+          23.124279022216797
+        ],
+        [
+          0.17909832298755646,
+          -0.9810433387756348,
+          0.07401226460933685,
+          -17.320629119873047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7139,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_283082246",
+      "mask_path": "../../mask/hdr_left_07139.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07140.png",
+      "transform_matrix": [
+        [
+          -0.9790554642677307,
+          -0.17673683166503906,
+          0.10106701403856277,
+          11.477727890014648
+        ],
+        [
+          -0.08443571627140045,
+          -0.09923334419727325,
+          -0.9914753437042236,
+          23.106143951416016
+        ],
+        [
+          0.1852594017982483,
+          -0.9792430400848389,
+          0.0822320356965065,
+          -17.309101104736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7140,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_383081674",
+      "mask_path": "../../mask/hdr_left_07140.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07142.png",
+      "transform_matrix": [
+        [
+          -0.9705912470817566,
+          -0.2156497687101364,
+          0.10699432343244553,
+          11.421402931213379
+        ],
+        [
+          -0.07648127526044846,
+          -0.1451968550682068,
+          -0.9864423274993896,
+          23.02044677734375
+        ],
+        [
+          0.2282613217830658,
+          -0.965615451335907,
+          0.12443363666534424,
+          -17.20566749572754
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7142,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_583081245",
+      "mask_path": "../../mask/hdr_left_07142.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07143.png",
+      "transform_matrix": [
+        [
+          -0.967812180519104,
+          -0.2237420231103897,
+          0.11523475497961044,
+          11.331979751586914
+        ],
+        [
+          -0.08601492643356323,
+          -0.13624104857444763,
+          -0.9869345426559448,
+          23.005556106567383
+        ],
+        [
+          0.23651838302612305,
+          -0.9650792479515076,
+          0.1126105934381485,
+          -17.181652069091797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7143,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_683082103",
+      "mask_path": "../../mask/hdr_left_07143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07144.png",
+      "transform_matrix": [
+        [
+          -0.968602180480957,
+          -0.22056414186954498,
+          0.11472240835428238,
+          11.265982627868652
+        ],
+        [
+          -0.08768671751022339,
+          -0.12871091067790985,
+          -0.9877978563308716,
+          22.999555587768555
+        ],
+        [
+          0.23263876140117645,
+          -0.966842770576477,
+          0.10532912611961365,
+          -17.203767776489258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7144,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_783082485",
+      "mask_path": "../../mask/hdr_left_07144.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07145.png",
+      "transform_matrix": [
+        [
+          -0.970400869846344,
+          -0.2165297418832779,
+          0.10694357007741928,
+          11.214797973632812
+        ],
+        [
+          -0.08088692277669907,
+          -0.12583696842193604,
+          -0.9887478351593018,
+          22.991344451904297
+        ],
+        [
+          0.22755074501037598,
+          -0.9681321978569031,
+          0.10459788143634796,
+          -17.19294548034668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7145,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_883082866",
+      "mask_path": "../../mask/hdr_left_07145.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07147.png",
+      "transform_matrix": [
+        [
+          -0.9723917245864868,
+          -0.21513383090496063,
+          0.09039843082427979,
+          11.129903793334961
+        ],
+        [
+          -0.061292409896850586,
+          -0.13832136988639832,
+          -0.9884889125823975,
+          22.974077224731445
+        ],
+        [
+          0.22516144812107086,
+          -0.9667392373085022,
+          0.12131645530462265,
+          -17.173688888549805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7147,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_83083152",
+      "mask_path": "../../mask/hdr_left_07147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07149.png",
+      "transform_matrix": [
+        [
+          -0.9821826219558716,
+          -0.1806926429271698,
+          0.051646701991558075,
+          11.068221092224121
+        ],
+        [
+          -0.027394728735089302,
+          -0.1342231184244156,
+          -0.9905723333358765,
+          22.932476043701172
+        ],
+        [
+          0.18592128157615662,
+          -0.9743379354476929,
+          0.12688158452510834,
+          -17.111576080322266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7149,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_283082962",
+      "mask_path": "../../mask/hdr_left_07149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07152.png",
+      "transform_matrix": [
+        [
+          -0.9853073954582214,
+          -0.16922326385974884,
+          0.023082701489329338,
+          10.919580459594727
+        ],
+        [
+          -0.007776716724038124,
+          -0.09055908769369125,
+          -0.9958606958389282,
+          22.923154830932617
+        ],
+        [
+          0.1706131547689438,
+          -0.9814084768295288,
+          0.08791252970695496,
+          -17.11147689819336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7152,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_583083391",
+      "mask_path": "../../mask/hdr_left_07152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07154.png",
+      "transform_matrix": [
+        [
+          -0.9857461452484131,
+          -0.16819049417972565,
+          -0.004058314021676779,
+          10.846344947814941
+        ],
+        [
+          0.02019457332789898,
+          -0.09434137493371964,
+          -0.995335042476654,
+          22.915281295776367
+        ],
+        [
+          0.16702301800251007,
+          -0.9812296628952026,
+          0.09639318287372589,
+          -17.08047866821289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7154,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_783082008",
+      "mask_path": "../../mask/hdr_left_07154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07157.png",
+      "transform_matrix": [
+        [
+          -0.9791440367698669,
+          -0.20156385004520416,
+          -0.02547081559896469,
+          10.757404327392578
+        ],
+        [
+          0.05371550843119621,
+          -0.1359267234802246,
+          -0.9892615675926208,
+          22.873310089111328
+        ],
+        [
+          0.19593720138072968,
+          -0.9699979424476624,
+          0.1439189463853836,
+          -16.998865127563477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7157,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_83081483",
+      "mask_path": "../../mask/hdr_left_07157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07158.png",
+      "transform_matrix": [
+        [
+          -0.9773202538490295,
+          -0.2104131132364273,
+          -0.023901816457509995,
+          10.67793083190918
+        ],
+        [
+          0.04986141622066498,
+          -0.11894889920949936,
+          -0.9916475415229797,
+          22.864835739135742
+        ],
+        [
+          0.20581257343292236,
+          -0.970349133014679,
+          0.1267426460981369,
+          -16.97081184387207
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7158,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_183080434",
+      "mask_path": "../../mask/hdr_left_07158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07160.png",
+      "transform_matrix": [
+        [
+          -0.9797797203063965,
+          -0.19680273532867432,
+          -0.03606025502085686,
+          10.575066566467285
+        ],
+        [
+          0.05697668716311455,
+          -0.10167599469423294,
+          -0.9931845664978027,
+          22.847549438476562
+        ],
+        [
+          0.1917949616909027,
+          -0.9751567840576172,
+          0.11083324998617172,
+          -16.9620361328125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7160,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_383080244",
+      "mask_path": "../../mask/hdr_left_07160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07161.png",
+      "transform_matrix": [
+        [
+          -0.9811400771141052,
+          -0.18812888860702515,
+          -0.04440232738852501,
+          10.52071475982666
+        ],
+        [
+          0.06582099199295044,
+          -0.10917829722166061,
+          -0.9918406009674072,
+          22.835304260253906
+        ],
+        [
+          0.18174609541893005,
+          -0.976057231426239,
+          0.11950203776359558,
+          -16.934202194213867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7161,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_483078956",
+      "mask_path": "../../mask/hdr_left_07161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07163.png",
+      "transform_matrix": [
+        [
+          -0.9786582589149475,
+          -0.19686774909496307,
+          -0.05891500040888786,
+          10.437992095947266
+        ],
+        [
+          0.08125101774930954,
+          -0.10737422853708267,
+          -0.9908930659294128,
+          22.827556610107422
+        ],
+        [
+          0.18874891102313995,
+          -0.9745326638221741,
+          0.12107838690280914,
+          -16.916597366333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7163,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_683080673",
+      "mask_path": "../../mask/hdr_left_07163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07165.png",
+      "transform_matrix": [
+        [
+          -0.9779588580131531,
+          -0.19897611439228058,
+          -0.0632849857211113,
+          10.333633422851562
+        ],
+        [
+          0.08261226862668991,
+          -0.09037564694881439,
+          -0.9924754500389099,
+          22.81089210510254
+        ],
+        [
+          0.19175948202610016,
+          -0.975828230381012,
+          0.10482152551412582,
+          -16.89344024658203
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7165,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_883081436",
+      "mask_path": "../../mask/hdr_left_07165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07167.png",
+      "transform_matrix": [
+        [
+          -0.9772699475288391,
+          -0.20255035161972046,
+          -0.06258371472358704,
+          10.238051414489746
+        ],
+        [
+          0.0771484524011612,
+          -0.06482189148664474,
+          -0.9949101805686951,
+          22.783756256103516
+        ],
+        [
+          0.1974625587463379,
+          -0.9771241545677185,
+          0.07897492498159409,
+          -16.875686645507812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7167,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_83080768",
+      "mask_path": "../../mask/hdr_left_07167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07168.png",
+      "transform_matrix": [
+        [
+          -0.9770082831382751,
+          -0.20222479104995728,
+          -0.06752707809209824,
+          10.169801712036133
+        ],
+        [
+          0.08121655881404877,
+          -0.060170728713274,
+          -0.9948785901069641,
+          22.768543243408203
+        ],
+        [
+          0.19712594151496887,
+          -0.9774889945983887,
+          0.075211301445961,
+          -16.860445022583008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7168,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_183082342",
+      "mask_path": "../../mask/hdr_left_07168.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07169.png",
+      "transform_matrix": [
+        [
+          -0.9761553406715393,
+          -0.20254378020763397,
+          -0.07808180898427963,
+          10.110337257385254
+        ],
+        [
+          0.09240474551916122,
+          -0.062236689031124115,
+          -0.9937745928764343,
+          22.753681182861328
+        ],
+        [
+          0.19642329216003418,
+          -0.9772936105728149,
+          0.07946867495775223,
+          -16.838552474975586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7169,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_283082008",
+      "mask_path": "../../mask/hdr_left_07169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07170.png",
+      "transform_matrix": [
+        [
+          -0.9757166504859924,
+          -0.20134153962135315,
+          -0.08624722063541412,
+          10.032307624816895
+        ],
+        [
+          0.10089826583862305,
+          -0.0636572614312172,
+          -0.9928581714630127,
+          22.73447608947754
+        ],
+        [
+          0.19441330432891846,
+          -0.9774504899978638,
+          0.08242646604776382,
+          -16.819337844848633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7170,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_383081912",
+      "mask_path": "../../mask/hdr_left_07170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07171.png",
+      "transform_matrix": [
+        [
+          -0.9781744480133057,
+          -0.18926292657852173,
+          -0.08575649559497833,
+          9.925456047058105
+        ],
+        [
+          0.09753621369600296,
+          -0.05381227657198906,
+          -0.9937760829925537,
+          22.710588455200195
+        ],
+        [
+          0.1834702044725418,
+          -0.9804508090019226,
+          0.07109778374433517,
+          -16.81134796142578
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7171,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_483082294",
+      "mask_path": "../../mask/hdr_left_07171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07172.png",
+      "transform_matrix": [
+        [
+          -0.9808236956596375,
+          -0.1789073795080185,
+          -0.0773116946220398,
+          9.834636688232422
+        ],
+        [
+          0.08608030527830124,
+          -0.04176785796880722,
+          -0.9954123497009277,
+          22.68922996520996
+        ],
+        [
+          0.17485745251178741,
+          -0.9829789400100708,
+          0.05636730417609215,
+          -16.816072463989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7172,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_583082199",
+      "mask_path": "../../mask/hdr_left_07172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07173.png",
+      "transform_matrix": [
+        [
+          -0.9825087189674377,
+          -0.17338497936725616,
+          -0.06792816519737244,
+          9.761361122131348
+        ],
+        [
+          0.07553266733884811,
+          -0.037636663764715195,
+          -0.9964327812194824,
+          22.669429779052734
+        ],
+        [
+          0.17020989954471588,
+          -0.9841347336769104,
+          0.05007457733154297,
+          -16.816078186035156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7173,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_683081150",
+      "mask_path": "../../mask/hdr_left_07173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07174.png",
+      "transform_matrix": [
+        [
+          -0.9872064590454102,
+          -0.14751477539539337,
+          -0.06051969900727272,
+          9.683884620666504
+        ],
+        [
+          0.06776810437440872,
+          -0.04461192712187767,
+          -0.9967032670974731,
+          22.650352478027344
+        ],
+        [
+          0.1443285346031189,
+          -0.9880532622337341,
+          0.05403798073530197,
+          -16.80445098876953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7174,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_783081531",
+      "mask_path": "../../mask/hdr_left_07174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07175.png",
+      "transform_matrix": [
+        [
+          -0.9916947484016418,
+          -0.11477779597043991,
+          -0.05803073197603226,
+          9.610401153564453
+        ],
+        [
+          0.06418239325284958,
+          -0.05064458027482033,
+          -0.9966523051261902,
+          22.631345748901367
+        ],
+        [
+          0.11145460605621338,
+          -0.992099404335022,
+          0.057590678334236145,
+          -16.80121612548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7175,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_883080720",
+      "mask_path": "../../mask/hdr_left_07175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07176.png",
+      "transform_matrix": [
+        [
+          -0.993823230266571,
+          -0.09724073857069016,
+          -0.05347609892487526,
+          9.555501937866211
+        ],
+        [
+          0.05886361747980118,
+          -0.05340471491217613,
+          -0.9968364834785461,
+          22.618144989013672
+        ],
+        [
+          0.09407724440097809,
+          -0.9938271045684814,
+          0.05879878252744675,
+          -16.80474281311035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7176,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_983080625",
+      "mask_path": "../../mask/hdr_left_07176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07177.png",
+      "transform_matrix": [
+        [
+          -0.9948857426643372,
+          -0.08881841599941254,
+          -0.04810046777129173,
+          9.494343757629395
+        ],
+        [
+          0.05369137227535248,
+          -0.06166951358318329,
+          -0.9966514110565186,
+          22.59627342224121
+        ],
+        [
+          0.08555467426776886,
+          -0.9941369891166687,
+          0.06612290441989899,
+          -16.796520233154297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7177,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_83081483",
+      "mask_path": "../../mask/hdr_left_07177.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07178.png",
+      "transform_matrix": [
+        [
+          -0.9970466494560242,
+          -0.06599799543619156,
+          -0.039272427558898926,
+          9.41482925415039
+        ],
+        [
+          0.042405057698488235,
+          -0.046754684299230576,
+          -0.9980059266090393,
+          22.57835578918457
+        ],
+        [
+          0.06403021514415741,
+          -0.9967238306999207,
+          0.04941524937748909,
+          -16.791349411010742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7178,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_183080196",
+      "mask_path": "../../mask/hdr_left_07178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07180.png",
+      "transform_matrix": [
+        [
+          -0.9988963007926941,
+          -0.04667964577674866,
+          -0.005211504176259041,
+          9.302461624145508
+        ],
+        [
+          0.006404392886906862,
+          -0.025441771373152733,
+          -0.9996557235717773,
+          22.557924270629883
+        ],
+        [
+          0.04653098061680794,
+          -0.9985858798027039,
+          0.025712646543979645,
+          -16.803373336791992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7180,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_383080482",
+      "mask_path": "../../mask/hdr_left_07180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07181.png",
+      "transform_matrix": [
+        [
+          -0.9989124536514282,
+          -0.043308041989803314,
+          0.01726899854838848,
+          9.236848831176758
+        ],
+        [
+          -0.016170231625437737,
+          -0.025594167411327362,
+          -0.9995415806770325,
+          22.530025482177734
+        ],
+        [
+          0.04373016953468323,
+          -0.9987338781356812,
+          0.02486603520810604,
+          -16.799869537353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7181,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_483080863",
+      "mask_path": "../../mask/hdr_left_07181.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07182.png",
+      "transform_matrix": [
+        [
+          -0.9988570809364319,
+          -0.036843154579401016,
+          0.03044908493757248,
+          9.178386688232422
+        ],
+        [
+          -0.029495317488908768,
+          -0.026159044355154037,
+          -0.9992226362228394,
+          22.505504608154297
+        ],
+        [
+          0.03761102259159088,
+          -0.9989786744117737,
+          0.025042444467544556,
+          -16.80183219909668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7182,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_583080768",
+      "mask_path": "../../mask/hdr_left_07182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07183.png",
+      "transform_matrix": [
+        [
+          -0.9987989068031311,
+          -0.030846139416098595,
+          0.03807106986641884,
+          9.114760398864746
+        ],
+        [
+          -0.0372367687523365,
+          -0.027184927836060524,
+          -0.998936653137207,
+          22.49031639099121
+        ],
+        [
+          0.031848300248384476,
+          -0.9991543889045715,
+          0.02600366622209549,
+          -16.805850982666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7183,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_683081150",
+      "mask_path": "../../mask/hdr_left_07183.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07184.png",
+      "transform_matrix": [
+        [
+          -0.998935341835022,
+          -0.026643093675374985,
+          0.03765888512134552,
+          9.05982494354248
+        ],
+        [
+          -0.036755241453647614,
+          -0.03362983837723732,
+          -0.9987582564353943,
+          22.4793758392334
+        ],
+        [
+          0.027876464650034904,
+          -0.9990792870521545,
+          0.03261476382613182,
+          -16.807817459106445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7184,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_783081054",
+      "mask_path": "../../mask/hdr_left_07184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07185.png",
+      "transform_matrix": [
+        [
+          -0.9991974234580994,
+          -0.026142997667193413,
+          0.03034902736544609,
+          8.990493774414062
+        ],
+        [
+          -0.029490789398550987,
+          -0.03260982036590576,
+          -0.9990329742431641,
+          22.459552764892578
+        ],
+        [
+          0.02710738778114319,
+          -0.9991262555122375,
+          0.031812671571969986,
+          -16.801860809326172
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7185,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_883080720",
+      "mask_path": "../../mask/hdr_left_07185.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07186.png",
+      "transform_matrix": [
+        [
+          -0.9990949630737305,
+          -0.02901521697640419,
+          0.031102582812309265,
+          8.913199424743652
+        ],
+        [
+          -0.030444782227277756,
+          -0.022843634709715843,
+          -0.9992754459381104,
+          22.431594848632812
+        ],
+        [
+          0.029704689979553223,
+          -0.9993179440498352,
+          0.02193959802389145,
+          -16.789039611816406
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7186,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_983080863",
+      "mask_path": "../../mask/hdr_left_07186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07187.png",
+      "transform_matrix": [
+        [
+          -0.9989025592803955,
+          -0.030670540407299995,
+          0.03539736568927765,
+          8.856992721557617
+        ],
+        [
+          -0.03482089936733246,
+          -0.019129324704408646,
+          -0.9992104768753052,
+          22.416831970214844
+        ],
+        [
+          0.03132344409823418,
+          -0.9993465542793274,
+          0.018040357157588005,
+          -16.793617248535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7187,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_83082437",
+      "mask_path": "../../mask/hdr_left_07187.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07189.png",
+      "transform_matrix": [
+        [
+          -0.9992704391479492,
+          -0.021145181730389595,
+          0.03180322423577309,
+          8.780553817749023
+        ],
+        [
+          -0.03136859089136124,
+          -0.02057812176644802,
+          -0.9992960095405579,
+          22.39352035522461
+        ],
+        [
+          0.021784747019410133,
+          -0.9995646476745605,
+          0.019899817183613777,
+          -16.801071166992188
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7189,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_283083200",
+      "mask_path": "../../mask/hdr_left_07189.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07191.png",
+      "transform_matrix": [
+        [
+          -0.999800443649292,
+          -0.013196292333304882,
+          0.014996778219938278,
+          8.701057434082031
+        ],
+        [
+          -0.01450026873499155,
+          -0.036948952823877335,
+          -0.9992119073867798,
+          22.370759963989258
+        ],
+        [
+          0.013740005902945995,
+          -0.9992300271987915,
+          0.03675023093819618,
+          -16.791046142578125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7191,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_483082294",
+      "mask_path": "../../mask/hdr_left_07191.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07193.png",
+      "transform_matrix": [
+        [
+          -0.9998133778572083,
+          -0.019048593938350677,
+          0.003214410040527582,
+          8.639262199401855
+        ],
+        [
+          -0.0024106870405375957,
+          -0.04206708446145058,
+          -0.9991118311882019,
+          22.337072372436523
+        ],
+        [
+          0.019166896119713783,
+          -0.9989332556724548,
+          0.042013317346572876,
+          -16.77124786376953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7193,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_683081150",
+      "mask_path": "../../mask/hdr_left_07193.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07195.png",
+      "transform_matrix": [
+        [
+          -0.999850869178772,
+          -0.016428161412477493,
+          0.00532546266913414,
+          8.573995590209961
+        ],
+        [
+          -0.004749039653688669,
+          -0.03492853417992592,
+          -0.9993785619735718,
+          22.314558029174805
+        ],
+        [
+          0.01660396158695221,
+          -0.9992547631263733,
+          0.03484530746936798,
+          -16.77792739868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7195,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_883080005",
+      "mask_path": "../../mask/hdr_left_07195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07197.png",
+      "transform_matrix": [
+        [
+          -0.999992311000824,
+          -4.0484301280230284e-05,
+          -0.0039060746785253286,
+          8.51364803314209
+        ],
+        [
+          0.003903308417648077,
+          -0.04937722906470299,
+          -0.9987725615501404,
+          22.294994354248047
+        ],
+        [
+          -0.00015243903908412904,
+          -0.9987802505493164,
+          0.04937700927257538,
+          -16.7761287689209
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7197,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_83083629",
+      "mask_path": "../../mask/hdr_left_07197.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07199.png",
+      "transform_matrix": [
+        [
+          -0.9996209144592285,
+          -0.002205220516771078,
+          -0.02744404785335064,
+          8.456504821777344
+        ],
+        [
+          0.027525275945663452,
+          -0.057196199893951416,
+          -0.997983455657959,
+          22.286285400390625
+        ],
+        [
+          0.0006310771568678319,
+          -0.9983606338500977,
+          0.05723521485924721,
+          -16.773235321044922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7199,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_283081531",
+      "mask_path": "../../mask/hdr_left_07199.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07201.png",
+      "transform_matrix": [
+        [
+          -0.9991897344589233,
+          -0.017461726441979408,
+          -0.03626205027103424,
+          8.379084587097168
+        ],
+        [
+          0.037131503224372864,
+          -0.05235040560364723,
+          -0.9979382157325745,
+          22.260087966918945
+        ],
+        [
+          0.015527394600212574,
+          -0.9984761476516724,
+          0.052956368774175644,
+          -16.76014518737793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7201,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_483081579",
+      "mask_path": "../../mask/hdr_left_07201.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07203.png",
+      "transform_matrix": [
+        [
+          -0.9991211295127869,
+          -0.026180213317275047,
+          -0.032733239233493805,
+          8.306795120239258
+        ],
+        [
+          0.03369808569550514,
+          -0.03730277344584465,
+          -0.9987357258796692,
+          22.24551773071289
+        ],
+        [
+          0.024926068261265755,
+          -0.9989610314369202,
+          0.038152214139699936,
+          -16.7687931060791
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7203,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_683078289",
+      "mask_path": "../../mask/hdr_left_07203.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07205.png",
+      "transform_matrix": [
+        [
+          -0.9979731440544128,
+          -0.04591759294271469,
+          -0.044058166444301605,
+          8.229462623596191
+        ],
+        [
+          0.045311786234378815,
+          -0.02662775106728077,
+          -0.9986178874969482,
+          22.22452735900879
+        ],
+        [
+          0.044680964201688766,
+          -0.9985902905464172,
+          0.028654389083385468,
+          -16.735294342041016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7205,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_883083105",
+      "mask_path": "../../mask/hdr_left_07205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07206.png",
+      "transform_matrix": [
+        [
+          -0.9951156377792358,
+          -0.08327852189540863,
+          -0.053004056215286255,
+          8.172870635986328
+        ],
+        [
+          0.054064564406871796,
+          -0.010529572144150734,
+          -0.9984819293022156,
+          22.231019973754883
+        ],
+        [
+          0.08259397000074387,
+          -0.9964708089828491,
+          0.01498055923730135,
+          -16.67470359802246
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7206,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_983079195",
+      "mask_path": "../../mask/hdr_left_07206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07207.png",
+      "transform_matrix": [
+        [
+          -0.9930084943771362,
+          -0.09817344695329666,
+          -0.06554537266492844,
+          8.114914894104004
+        ],
+        [
+          0.06719145178794861,
+          -0.013552200980484486,
+          -0.9976480603218079,
+          22.24016571044922
+        ],
+        [
+          0.09705425798892975,
+          -0.9950770735740662,
+          0.020053865388035774,
+          -16.65522575378418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7207,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_83080768",
+      "mask_path": "../../mask/hdr_left_07207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07209.png",
+      "transform_matrix": [
+        [
+          -0.989874541759491,
+          -0.11537047475576401,
+          -0.08269236236810684,
+          8.030057907104492
+        ],
+        [
+          0.08810322731733322,
+          -0.0426081046462059,
+          -0.9951996207237244,
+          22.22311782836914
+        ],
+        [
+          0.11129328608512878,
+          -0.9924083352088928,
+          0.052341192960739136,
+          -16.65056610107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7209,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_283081054",
+      "mask_path": "../../mask/hdr_left_07209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07211.png",
+      "transform_matrix": [
+        [
+          -0.9888088703155518,
+          -0.12435860186815262,
+          -0.08241323381662369,
+          7.9370012283325195
+        ],
+        [
+          0.08818823844194412,
+          -0.041661787778139114,
+          -0.9952322244644165,
+          22.201759338378906
+        ],
+        [
+          0.12033218890428543,
+          -0.9913623332977295,
+          0.05216250568628311,
+          -16.635644912719727
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7211,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_483082532",
+      "mask_path": "../../mask/hdr_left_07211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07213.png",
+      "transform_matrix": [
+        [
+          -0.9884205460548401,
+          -0.12170591205358505,
+          -0.09062235057353973,
+          7.8458251953125
+        ],
+        [
+          0.09713669121265411,
+          -0.04869185388088226,
+          -0.9940793514251709,
+          22.18585968017578
+        ],
+        [
+          0.11657273769378662,
+          -0.991371214389801,
+          0.05995013192296028,
+          -16.619882583618164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7213,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_683082818",
+      "mask_path": "../../mask/hdr_left_07213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07215.png",
+      "transform_matrix": [
+        [
+          -0.9857909083366394,
+          -0.13074156641960144,
+          -0.10546460747718811,
+          7.739335536956787
+        ],
+        [
+          0.11377034336328506,
+          -0.05775623768568039,
+          -0.9918268322944641,
+          22.17859649658203
+        ],
+        [
+          0.12358173727989197,
+          -0.9897328019142151,
+          0.07181008905172348,
+          -16.608448028564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7215,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_883082628",
+      "mask_path": "../../mask/hdr_left_07215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07216.png",
+      "transform_matrix": [
+        [
+          -0.9823934435844421,
+          -0.1497887670993805,
+          -0.11165312677621841,
+          7.6660895347595215
+        ],
+        [
+          0.12423714995384216,
+          -0.07743940502405167,
+          -0.9892261028289795,
+          22.169124603271484
+        ],
+        [
+          0.13952860236167908,
+          -0.9856807589530945,
+          0.09468528628349304,
+          -16.595853805541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7216,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_983082294",
+      "mask_path": "../../mask/hdr_left_07216.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07217.png",
+      "transform_matrix": [
+        [
+          -0.9763513803482056,
+          -0.18368247151374817,
+          -0.11401153355836868,
+          7.611696720123291
+        ],
+        [
+          0.13214652240276337,
+          -0.08968335390090942,
+          -0.9871647953987122,
+          22.161466598510742
+        ],
+        [
+          0.17109991610050201,
+          -0.9788859486579895,
+          0.11183545738458633,
+          -16.5318603515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7217,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_83082914",
+      "mask_path": "../../mask/hdr_left_07217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07218.png",
+      "transform_matrix": [
+        [
+          -0.9738101959228516,
+          -0.19790101051330566,
+          -0.1119324192404747,
+          7.542445659637451
+        ],
+        [
+          0.13178370893001556,
+          -0.0901239812374115,
+          -0.9871731400489807,
+          22.153810501098633
+        ],
+        [
+          0.18527473509311676,
+          -0.9760701656341553,
+          0.11384376883506775,
+          -16.505290985107422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7218,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_183082342",
+      "mask_path": "../../mask/hdr_left_07218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07219.png",
+      "transform_matrix": [
+        [
+          -0.9742331504821777,
+          -0.19576281309127808,
+          -0.11201119422912598,
+          7.469605922698975
+        ],
+        [
+          0.13162440061569214,
+          -0.09019477665424347,
+          -0.9871878623962402,
+          22.148433685302734
+        ],
+        [
+          0.18315182626247406,
+          -0.9764946699142456,
+          0.11363790929317474,
+          -16.527101516723633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7219,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_283082962",
+      "mask_path": "../../mask/hdr_left_07219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07220.png",
+      "transform_matrix": [
+        [
+          -0.9762028455734253,
+          -0.1774069219827652,
+          -0.12471849471330643,
+          7.425912380218506
+        ],
+        [
+          0.14277687668800354,
+          -0.0929139107465744,
+          -0.9853839874267578,
+          22.155410766601562
+        ],
+        [
+          0.16322584450244904,
+          -0.9797417521476746,
+          0.1160324290394783,
+          -16.51679039001465
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7220,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_383082151",
+      "mask_path": "../../mask/hdr_left_07220.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07221.png",
+      "transform_matrix": [
+        [
+          -0.9764922857284546,
+          -0.16355326771736145,
+          -0.14040379226207733,
+          7.3753228187561035
+        ],
+        [
+          0.15691766142845154,
+          -0.09280158579349518,
+          -0.983241856098175,
+          22.167640686035156
+        ],
+        [
+          0.14778272807598114,
+          -0.9821599721908569,
+          0.11628442257642746,
+          -16.49637222290039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7221,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_483082771",
+      "mask_path": "../../mask/hdr_left_07221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07222.png",
+      "transform_matrix": [
+        [
+          -0.9746673703193665,
+          -0.16580097377300262,
+          -0.15011146664619446,
+          7.318695068359375
+        ],
+        [
+          0.16620104014873505,
+          -0.08778443932533264,
+          -0.9821767210960388,
+          22.174781799316406
+        ],
+        [
+          0.14966841042041779,
+          -0.9822443723678589,
+          0.11311691999435425,
+          -16.48990249633789
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7222,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_583082437",
+      "mask_path": "../../mask/hdr_left_07222.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07224.png",
+      "transform_matrix": [
+        [
+          -0.9728685021400452,
+          -0.1625986397266388,
+          -0.16458575427532196,
+          7.2037835121154785
+        ],
+        [
+          0.18074816465377808,
+          -0.09009864181280136,
+          -0.9793937802314758,
+          22.172576904296875
+        ],
+        [
+          0.1444191336631775,
+          -0.9825700521469116,
+          0.11704353988170624,
+          -16.467321395874023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7224,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_783082723",
+      "mask_path": "../../mask/hdr_left_07224.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07225.png",
+      "transform_matrix": [
+        [
+          -0.9734011292457581,
+          -0.16019858419895172,
+          -0.1637880653142929,
+          7.126733303070068
+        ],
+        [
+          0.17853237688541412,
+          -0.08235026150941849,
+          -0.980481743812561,
+          22.163841247558594
+        ],
+        [
+          0.14358380436897278,
+          -0.983643651008606,
+          0.10876046866178513,
+          -16.449420928955078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7225,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_883082389",
+      "mask_path": "../../mask/hdr_left_07225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07226.png",
+      "transform_matrix": [
+        [
+          -0.9731908440589905,
+          -0.1617160588502884,
+          -0.163546621799469,
+          7.068352222442627
+        ],
+        [
+          0.1774614304304123,
+          -0.0756196603178978,
+          -0.981218159198761,
+          22.15962791442871
+        ],
+        [
+          0.14631138741970062,
+          -0.9839358329772949,
+          0.10229072719812393,
+          -16.446081161499023
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7226,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_983083248",
+      "mask_path": "../../mask/hdr_left_07226.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07228.png",
+      "transform_matrix": [
+        [
+          -0.9735658764839172,
+          -0.1599569171667099,
+          -0.1630437970161438,
+          6.994396209716797
+        ],
+        [
+          0.1750022917985916,
+          -0.06367065757513046,
+          -0.9825071692466736,
+          22.147069931030273
+        ],
+        [
+          0.1467776745557785,
+          -0.9850685000419617,
+          0.08998040109872818,
+          -16.422636032104492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7228,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_183081626",
+      "mask_path": "../../mask/hdr_left_07228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07229.png",
+      "transform_matrix": [
+        [
+          -0.9734876751899719,
+          -0.16259117424488068,
+          -0.16089071333408356,
+          6.935488700866699
+        ],
+        [
+          0.17349933087825775,
+          -0.0664878636598587,
+          -0.9825870990753174,
+          22.14177894592285
+        ],
+        [
+          0.14906269311904907,
+          -0.9844508767127991,
+          0.09293457865715027,
+          -16.406044006347656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7229,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_283081769",
+      "mask_path": "../../mask/hdr_left_07229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07230.png",
+      "transform_matrix": [
+        [
+          -0.9744513630867004,
+          -0.16216202080249786,
+          -0.1553962379693985,
+          6.8781280517578125
+        ],
+        [
+          0.16887414455413818,
+          -0.07285457104444504,
+          -0.9829413294792175,
+          22.132551193237305
+        ],
+        [
+          0.1480744183063507,
+          -0.9840710163116455,
+          0.09837821871042252,
+          -16.395641326904297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7230,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_383081197",
+      "mask_path": "../../mask/hdr_left_07230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07232.png",
+      "transform_matrix": [
+        [
+          -0.9807566404342651,
+          -0.1539476066827774,
+          -0.12006839364767075,
+          6.78792667388916
+        ],
+        [
+          0.1309991478919983,
+          -0.06290750205516815,
+          -0.9893845915794373,
+          22.109636306762695
+        ],
+        [
+          0.1447601616382599,
+          -0.9860745072364807,
+          0.08186395466327667,
+          -16.37807273864746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7232,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_583081007",
+      "mask_path": "../../mask/hdr_left_07232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07234.png",
+      "transform_matrix": [
+        [
+          -0.9857324361801147,
+          -0.14795427024364471,
+          -0.08025665581226349,
+          6.722141742706299
+        ],
+        [
+          0.08946696668863297,
+          -0.05667433887720108,
+          -0.9943759441375732,
+          22.078720092773438
+        ],
+        [
+          0.14257368445396423,
+          -0.9873690605163574,
+          0.06910275667905807,
+          -16.389202117919922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7234,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_783082485",
+      "mask_path": "../../mask/hdr_left_07234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07236.png",
+      "transform_matrix": [
+        [
+          -0.9789838194847107,
+          -0.19536733627319336,
+          -0.05849991366267204,
+          6.6409711837768555
+        ],
+        [
+          0.06360982358455658,
+          -0.019978972151875496,
+          -0.9977747797966003,
+          22.056852340698242
+        ],
+        [
+          0.19376380741596222,
+          -0.9805266857147217,
+          0.03198637068271637,
+          -16.260345458984375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7236,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_983082056",
+      "mask_path": "../../mask/hdr_left_07236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07238.png",
+      "transform_matrix": [
+        [
+          -0.9801756143569946,
+          -0.1925325095653534,
+          -0.04676446318626404,
+          6.559635639190674
+        ],
+        [
+          0.05842878296971321,
+          -0.05535532534122467,
+          -0.9967557191848755,
+          22.051010131835938
+        ],
+        [
+          0.1893191933631897,
+          -0.979728102684021,
+          0.06550738215446472,
+          -16.27122688293457
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7238,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_183081388",
+      "mask_path": "../../mask/hdr_left_07238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07239.png",
+      "transform_matrix": [
+        [
+          -0.98241126537323,
+          -0.18236149847507477,
+          -0.040154989808797836,
+          6.50880241394043
+        ],
+        [
+          0.05417833849787712,
+          -0.07257802784442902,
+          -0.9958900213241577,
+          22.046796798706055
+        ],
+        [
+          0.1786976456642151,
+          -0.9805492162704468,
+          0.08118151873350143,
+          -16.268856048583984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7239,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_283081531",
+      "mask_path": "../../mask/hdr_left_07239.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07240.png",
+      "transform_matrix": [
+        [
+          -0.9850245118141174,
+          -0.16926178336143494,
+          -0.032818086445331573,
+          6.451240539550781
+        ],
+        [
+          0.04439438506960869,
+          -0.06506744772195816,
+          -0.9968928098678589,
+          22.0561580657959
+        ],
+        [
+          0.16660046577453613,
+          -0.9834209084510803,
+          0.071607306599617,
+          -16.263607025146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7240,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_383083820",
+      "mask_path": "../../mask/hdr_left_07240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07241.png",
+      "transform_matrix": [
+        [
+          -0.9863891005516052,
+          -0.16291382908821106,
+          -0.02226117067039013,
+          6.394809722900391
+        ],
+        [
+          0.03099280782043934,
+          -0.05125277489423752,
+          -0.9982045888900757,
+          22.055675506591797
+        ],
+        [
+          0.1614803820848465,
+          -0.9853082299232483,
+          0.05560433492064476,
+          -16.25060272216797
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7241,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_483082056",
+      "mask_path": "../../mask/hdr_left_07241.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07242.png",
+      "transform_matrix": [
+        [
+          -0.9868744611740112,
+          -0.1614544838666916,
+          -0.00333972810767591,
+          6.330578804016113
+        ],
+        [
+          0.011437381617724895,
+          -0.049251094460487366,
+          -0.9987209439277649,
+          22.037939071655273
+        ],
+        [
+          0.16108347475528717,
+          -0.9856504797935486,
+          0.050451263785362244,
+          -16.239803314208984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7242,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_583081722",
+      "mask_path": "../../mask/hdr_left_07242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07243.png",
+      "transform_matrix": [
+        [
+          -0.9876641035079956,
+          -0.15524707734584808,
+          0.020443951711058617,
+          6.265169143676758
+        ],
+        [
+          -0.012142998166382313,
+          -0.05423058569431305,
+          -0.998454749584198,
+          22.022342681884766
+        ],
+        [
+          0.1561158448457718,
+          -0.9863860607147217,
+          0.0516764335334301,
+          -16.238296508789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7243,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_683082818",
+      "mask_path": "../../mask/hdr_left_07243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07244.png",
+      "transform_matrix": [
+        [
+          -0.9880226254463196,
+          -0.14934222400188446,
+          0.03883586451411247,
+          6.213906288146973
+        ],
+        [
+          -0.029934583231806755,
+          -0.06139659881591797,
+          -0.9976645112037659,
+          22.01003646850586
+        ],
+        [
+          0.15137779712677002,
+          -0.9868776202201843,
+          0.056190721690654755,
+          -16.23090362548828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7244,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_783082723",
+      "mask_path": "../../mask/hdr_left_07244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07245.png",
+      "transform_matrix": [
+        [
+          -0.9881336688995361,
+          -0.1431027203798294,
+          0.05579813942313194,
+          6.165596008300781
+        ],
+        [
+          -0.04596896469593048,
+          -0.07109792530536652,
+          -0.9964095950126648,
+          21.9910831451416
+        ],
+        [
+          0.1465560346841812,
+          -0.9871508479118347,
+          0.06367596983909607,
+          -16.221744537353516
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7245,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_883081912",
+      "mask_path": "../../mask/hdr_left_07245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07246.png",
+      "transform_matrix": [
+        [
+          -0.9882044196128845,
+          -0.1332915872335434,
+          0.07540127635002136,
+          6.107425689697266
+        ],
+        [
+          -0.0645887702703476,
+          -0.08366620540618896,
+          -0.9943984150886536,
+          21.96299934387207
+        ],
+        [
+          0.13885346055030823,
+          -0.9875389933586121,
+          0.07407017052173615,
+          -16.223350524902344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7246,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_983080148",
+      "mask_path": "../../mask/hdr_left_07246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07247.png",
+      "transform_matrix": [
+        [
+          -0.9882376194000244,
+          -0.1213940978050232,
+          0.09300444275140762,
+          6.059572696685791
+        ],
+        [
+          -0.08299797773361206,
+          -0.0850432962179184,
+          -0.9929144382476807,
+          21.931171417236328
+        ],
+        [
+          0.12844333052635193,
+          -0.9889545440673828,
+          0.07396751642227173,
+          -16.22524642944336
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7247,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_83081722",
+      "mask_path": "../../mask/hdr_left_07247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07249.png",
+      "transform_matrix": [
+        [
+          -0.9858385920524597,
+          -0.12353547662496567,
+          0.11340685188770294,
+          6.015349864959717
+        ],
+        [
+          -0.10424201935529709,
+          -0.07830164581537247,
+          -0.9914648532867432,
+          21.872974395751953
+        ],
+        [
+          0.1313610076904297,
+          -0.9892461895942688,
+          0.06431518495082855,
+          -16.207767486572266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7249,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_283082485",
+      "mask_path": "../../mask/hdr_left_07249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07251.png",
+      "transform_matrix": [
+        [
+          -0.9876458644866943,
+          -0.10824283212423325,
+          0.11330974847078323,
+          5.950631141662598
+        ],
+        [
+          -0.10518833994865417,
+          -0.07801913470029831,
+          -0.991387128829956,
+          21.816043853759766
+        ],
+        [
+          0.1161508783698082,
+          -0.9910582900047302,
+          0.06566939502954483,
+          -16.210203170776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7251,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_483082294",
+      "mask_path": "../../mask/hdr_left_07251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07253.png",
+      "transform_matrix": [
+        [
+          -0.9887487292289734,
+          -0.11067058145999908,
+          0.10063730925321579,
+          5.859002113342285
+        ],
+        [
+          -0.09157782047986984,
+          -0.08411283046007156,
+          -0.9922390580177307,
+          21.770891189575195
+        ],
+        [
+          0.11827655881643295,
+          -0.99029141664505,
+          0.073031485080719,
+          -16.186019897460938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7253,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_683080434",
+      "mask_path": "../../mask/hdr_left_07253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07254.png",
+      "transform_matrix": [
+        [
+          -0.990426242351532,
+          -0.09746488183736801,
+          0.09775746613740921,
+          5.796191692352295
+        ],
+        [
+          -0.09226571023464203,
+          -0.05935503914952278,
+          -0.9939638376235962,
+          21.751880645751953
+        ],
+        [
+          0.10267895460128784,
+          -0.9934675097465515,
+          0.04979412257671356,
+          -16.17890739440918
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7254,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_783083200",
+      "mask_path": "../../mask/hdr_left_07254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07255.png",
+      "transform_matrix": [
+        [
+          -0.9909309148788452,
+          -0.09013713151216507,
+          0.09965541213750839,
+          5.7410359382629395
+        ],
+        [
+          -0.09709781408309937,
+          -0.03233886882662773,
+          -0.9947493076324463,
+          21.740497589111328
+        ],
+        [
+          0.09288658946752548,
+          -0.9954042434692383,
+          0.023293467238545418,
+          -16.177776336669922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7255,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_883081197",
+      "mask_path": "../../mask/hdr_left_07255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07256.png",
+      "transform_matrix": [
+        [
+          -0.9904922842979431,
+          -0.09239447116851807,
+          0.10192255675792694,
+          5.672634601593018
+        ],
+        [
+          -0.10031268745660782,
+          -0.02191564254462719,
+          -0.9947144985198975,
+          21.718639373779297
+        ],
+        [
+          0.09413982182741165,
+          -0.9954813718795776,
+          0.01243894174695015,
+          -16.17575454711914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7256,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_983082294",
+      "mask_path": "../../mask/hdr_left_07256.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07257.png",
+      "transform_matrix": [
+        [
+          -0.9899709820747375,
+          -0.09742628037929535,
+          0.10230075567960739,
+          5.5777716636657715
+        ],
+        [
+          -0.10090827196836472,
+          -0.019127022475004196,
+          -0.9947119355201721,
+          21.691251754760742
+        ],
+        [
+          0.09886778146028519,
+          -0.9950589537620544,
+          0.009104081429541111,
+          -16.182287216186523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7257,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_83082199",
+      "mask_path": "../../mask/hdr_left_07257.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07258.png",
+      "transform_matrix": [
+        [
+          -0.984634518623352,
+          -0.14819177985191345,
+          0.09237969666719437,
+          5.500824928283691
+        ],
+        [
+          -0.09406086802482605,
+          0.004361709114164114,
+          -0.9955568909645081,
+          21.67198944091797
+        ],
+        [
+          0.14713042974472046,
+          -0.9889490604400635,
+          -0.018233733251690865,
+          -16.127574920654297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7258,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_183082103",
+      "mask_path": "../../mask/hdr_left_07258.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07259.png",
+      "transform_matrix": [
+        [
+          -0.9812890291213989,
+          -0.17964741587638855,
+          0.0692710429430008,
+          5.4302449226379395
+        ],
+        [
+          -0.07103892415761948,
+          0.003418504726141691,
+          -0.9974676966667175,
+          21.659263610839844
+        ],
+        [
+          0.17895567417144775,
+          -0.9837251901626587,
+          -0.016116498038172722,
+          -16.0185489654541
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7259,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_283082485",
+      "mask_path": "../../mask/hdr_left_07259.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07260.png",
+      "transform_matrix": [
+        [
+          -0.9832019209861755,
+          -0.17439010739326477,
+          0.05387008562684059,
+          5.354323387145996
+        ],
+        [
+          -0.05156727135181427,
+          -0.017712777480483055,
+          -0.9985123872756958,
+          21.639450073242188
+        ],
+        [
+          0.17508482933044434,
+          -0.9845173954963684,
+          0.008422419428825378,
+          -15.999530792236328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7260,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_383082628",
+      "mask_path": "../../mask/hdr_left_07260.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07261.png",
+      "transform_matrix": [
+        [
+          -0.9837369918823242,
+          -0.1729838252067566,
+          0.04835384339094162,
+          5.262489318847656
+        ],
+        [
+          -0.044245216995477676,
+          -0.027531303465366364,
+          -0.9986412525177002,
+          21.606996536254883
+        ],
+        [
+          0.1740799993276596,
+          -0.9845398664474487,
+          0.019429856911301613,
+          -16.02389144897461
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7261,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_483082532",
+      "mask_path": "../../mask/hdr_left_07261.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07262.png",
+      "transform_matrix": [
+        [
+          -0.9843840599060059,
+          -0.16900131106376648,
+          0.049261242151260376,
+          5.175587177276611
+        ],
+        [
+          -0.044878244400024414,
+          -0.02965928055346012,
+          -0.9985520839691162,
+          21.57094955444336
+        ],
+        [
+          0.17021767795085907,
+          -0.985169529914856,
+          0.021611638367176056,
+          -16.011072158813477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7262,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_583081722",
+      "mask_path": "../../mask/hdr_left_07262.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07263.png",
+      "transform_matrix": [
+        [
+          -0.9845661520957947,
+          -0.16709713637828827,
+          0.052038680762052536,
+          5.1071906089782715
+        ],
+        [
+          -0.047950390726327896,
+          -0.02841136045753956,
+          -0.9984455108642578,
+          21.540454864501953
+        ],
+        [
+          0.1683158576488495,
+          -0.9855310916900635,
+          0.019960496574640274,
+          -15.998442649841309
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7263,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_683081388",
+      "mask_path": "../../mask/hdr_left_07263.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07264.png",
+      "transform_matrix": [
+        [
+          -0.9853711128234863,
+          -0.16239739954471588,
+          0.05168105661869049,
+          5.039376258850098
+        ],
+        [
+          -0.04785701632499695,
+          -0.02737431786954403,
+          -0.9984790682792664,
+          21.511018753051758
+        ],
+        [
+          0.16356511414051056,
+          -0.9863457083702087,
+          0.019202008843421936,
+          -16.000001907348633
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7264,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_783081769",
+      "mask_path": "../../mask/hdr_left_07264.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07265.png",
+      "transform_matrix": [
+        [
+          -0.9863979816436768,
+          -0.15803739428520203,
+          0.04520098865032196,
+          4.964625358581543
+        ],
+        [
+          -0.04161776229739189,
+          -0.02591128647327423,
+          -0.9987975358963013,
+          21.489622116088867
+        ],
+        [
+          0.1590185910463333,
+          -0.9870931506156921,
+          0.018981682136654854,
+          -15.986990928649902
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7265,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_883081436",
+      "mask_path": "../../mask/hdr_left_07265.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07266.png",
+      "transform_matrix": [
+        [
+          -0.9869393110275269,
+          -0.15685921907424927,
+          0.036687251180410385,
+          4.890605926513672
+        ],
+        [
+          -0.032098349183797836,
+          -0.031689442694187164,
+          -0.9989822506904602,
+          21.474201202392578
+        ],
+        [
+          0.15786215662956238,
+          -0.9871124625205994,
+          0.026240631937980652,
+          -15.965035438537598
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7266,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_983082056",
+      "mask_path": "../../mask/hdr_left_07266.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_left_07267.png",
+      "transform_matrix": [
+        [
+          -0.9872256517410278,
+          -0.15655988454818726,
+          0.02957296557724476,
+          4.8222174644470215
+        ],
+        [
+          -0.023732729256153107,
+          -0.039042599499225616,
+          -0.9989556670188904,
+          21.45929718017578
+        ],
+        [
+          0.15755094587802887,
+          -0.9868965744972229,
+          0.03482825681567192,
+          -15.949891090393066
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7267,
+      "fl_x": "555.7031751427915",
+      "fl_y": "555.6703858729365",
+      "cx": "929.0481591956092",
+      "cy": "638.5822769126742",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_83082437",
+      "mask_path": "../../mask/hdr_left_07267.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02845.png",
+      "transform_matrix": [
+        [
+          -0.8973860144615173,
+          -0.1356336772441864,
+          0.41988328099250793,
+          5.1774139404296875
+        ],
+        [
+          -0.4214896261692047,
+          -0.018060777336359024,
+          -0.9066534042358398,
+          21.494295120239258
+        ],
+        [
+          0.130556121468544,
+          -0.9905944466590881,
+          -0.04096069931983948,
+          -16.01207733154297
+        ],
+        [
+          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": "1731323547_983081817",
+      "mask_path": "../../mask/hdr_right_02845.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02846.png",
+      "transform_matrix": [
+        [
+          -0.8975468873977661,
+          -0.1341162919998169,
+          0.42002660036087036,
+          5.236579418182373
+        ],
+        [
+          -0.42181727290153503,
+          -0.016170645132660866,
+          -0.9065366983413696,
+          21.508724212646484
+        ],
+        [
+          0.1283734142780304,
+          -0.9908336400985718,
+          -0.04205865040421486,
+          -16.005809783935547
+        ],
+        [
+          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": "1731323548_83083391",
+      "mask_path": "../../mask/hdr_right_02846.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02848.png",
+      "transform_matrix": [
+        [
+          -0.89902663230896,
+          -0.12936916947364807,
+          0.41834765672683716,
+          5.323672294616699
+        ],
+        [
+          -0.42073488235473633,
+          -0.009623205289244652,
+          -0.9071325659751892,
+          21.538375854492188
+        ],
+        [
+          0.12138084322214127,
+          -0.9915497899055481,
+          -0.045778609812259674,
+          -16.01971435546875
+        ],
+        [
+          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": "1731323548_283083438",
+      "mask_path": "../../mask/hdr_right_02848.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02849.png",
+      "transform_matrix": [
+        [
+          -0.8968379497528076,
+          -0.13642388582229614,
+          0.42079731822013855,
+          5.390787124633789
+        ],
+        [
+          -0.42244452238082886,
+          -0.01807520166039467,
+          -0.9062085747718811,
+          21.55363655090332
+        ],
+        [
+          0.13123448193073273,
+          -0.990485668182373,
+          -0.04142099618911743,
+          -16.04088020324707
+        ],
+        [
+          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": "1731323548_383081436",
+      "mask_path": "../../mask/hdr_right_02849.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02850.png",
+      "transform_matrix": [
+        [
+          -0.8928059339523315,
+          -0.14935937523841858,
+          0.42495813965797424,
+          5.457521438598633
+        ],
+        [
+          -0.42549702525138855,
+          -0.029948916286230087,
+          -0.9044641852378845,
+          21.56972312927246
+        ],
+        [
+          0.1478172242641449,
+          -0.9883293509483337,
+          -0.036813393235206604,
+          -16.07245445251465
+        ],
+        [
+          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": "1731323548_483082056",
+      "mask_path": "../../mask/hdr_right_02850.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02852.png",
+      "transform_matrix": [
+        [
+          -0.8896490931510925,
+          -0.15895135700702667,
+          0.42808768153190613,
+          5.5493245124816895
+        ],
+        [
+          -0.4291377067565918,
+          -0.029431847855448723,
+          -0.9027594327926636,
+          21.599300384521484
+        ],
+        [
+          0.1560942530632019,
+          -0.9868475794792175,
+          -0.04202800244092941,
+          -16.126461029052734
+        ],
+        [
+          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": "1731323548_683081865",
+      "mask_path": "../../mask/hdr_right_02852.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02853.png",
+      "transform_matrix": [
+        [
+          -0.8878538012504578,
+          -0.16526195406913757,
+          0.429423063993454,
+          5.6177544593811035
+        ],
+        [
+          -0.4312797486782074,
+          -0.02635011449456215,
+          -0.9018334746360779,
+          21.610427856445312
+        ],
+        [
+          0.1603541076183319,
+          -0.9858976602554321,
+          -0.04787908494472504,
+          -16.12332534790039
+        ],
+        [
+          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": "1731323548_783081531",
+      "mask_path": "../../mask/hdr_right_02853.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02854.png",
+      "transform_matrix": [
+        [
+          -0.8871254920959473,
+          -0.17118221521377563,
+          0.42860814929008484,
+          5.677128314971924
+        ],
+        [
+          -0.4308030605316162,
+          -0.02604353427886963,
+          -0.9020701050758362,
+          21.62053108215332
+        ],
+        [
+          0.1655808389186859,
+          -0.9848951101303101,
+          -0.05064194276928902,
+          -16.11309242248535
+        ],
+        [
+          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": "1731323548_883082628",
+      "mask_path": "../../mask/hdr_right_02854.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02855.png",
+      "transform_matrix": [
+        [
+          -0.8882262706756592,
+          -0.17187334597110748,
+          0.42604416608810425,
+          5.7386627197265625
+        ],
+        [
+          -0.42821261286735535,
+          -0.026157626882195473,
+          -0.9032994508743286,
+          21.630130767822266
+        ],
+        [
+          0.16639737784862518,
+          -0.9847716689109802,
+          -0.05036443844437599,
+          -16.12548828125
+        ],
+        [
+          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": "1731323548_983081817",
+      "mask_path": "../../mask/hdr_right_02855.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02856.png",
+      "transform_matrix": [
+        [
+          -0.8910338878631592,
+          -0.16439898312091827,
+          0.42312124371528625,
+          5.802587032318115
+        ],
+        [
+          -0.4251997470855713,
+          -0.024109775200486183,
+          -0.9047785401344299,
+          21.6483097076416
+        ],
+        [
+          0.15894600749015808,
+          -0.9860992431640625,
+          -0.0484197773039341,
+          -16.157100677490234
+        ],
+        [
+          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": "1731323549_83083152",
+      "mask_path": "../../mask/hdr_right_02856.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02857.png",
+      "transform_matrix": [
+        [
+          -0.8876328468322754,
+          -0.17040614783763885,
+          0.4278666079044342,
+          5.8905110359191895
+        ],
+        [
+          -0.4279971718788147,
+          -0.03787056729197502,
+          -0.9029863476753235,
+          21.670856475830078
+        ],
+        [
+          0.17007794976234436,
+          -0.9846459627151489,
+          -0.039318185299634933,
+          -16.166547775268555
+        ],
+        [
+          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": "1731323549_183082103",
+      "mask_path": "../../mask/hdr_right_02857.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02858.png",
+      "transform_matrix": [
+        [
+          -0.881731390953064,
+          -0.17683935165405273,
+          0.4373530149459839,
+          5.965585708618164
+        ],
+        [
+          -0.4359361231327057,
+          -0.0489022321999073,
+          -0.8986480832099915,
+          21.688785552978516
+        ],
+        [
+          0.1803038865327835,
+          -0.9830241203308105,
+          -0.03397202864289284,
+          -16.154592514038086
+        ],
+        [
+          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": "1731323549_283082008",
+      "mask_path": "../../mask/hdr_right_02858.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02859.png",
+      "transform_matrix": [
+        [
+          -0.8758593201637268,
+          -0.1735660582780838,
+          0.4502725303173065,
+          6.021703720092773
+        ],
+        [
+          -0.44888147711753845,
+          -0.049465928226709366,
+          -0.8922211527824402,
+          21.714704513549805
+        ],
+        [
+          0.17713242769241333,
+          -0.983579158782959,
+          -0.03458539396524429,
+          -16.159849166870117
+        ],
+        [
+          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": "1731323549_383081674",
+      "mask_path": "../../mask/hdr_right_02859.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02860.png",
+      "transform_matrix": [
+        [
+          -0.868325412273407,
+          -0.17014719545841217,
+          0.4658980369567871,
+          6.089213848114014
+        ],
+        [
+          -0.46367505192756653,
+          -0.055066004395484924,
+          -0.8842925429344177,
+          21.75391387939453
+        ],
+        [
+          0.1761150360107422,
+          -0.9838788509368896,
+          -0.0310777947306633,
+          -16.188289642333984
+        ],
+        [
+          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": "1731323549_483082056",
+      "mask_path": "../../mask/hdr_right_02860.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02861.png",
+      "transform_matrix": [
+        [
+          -0.8585557341575623,
+          -0.20068886876106262,
+          0.4718113839626312,
+          6.148461818695068
+        ],
+        [
+          -0.474252313375473,
+          -0.038868434727191925,
+          -0.8795306086540222,
+          21.787755966186523
+        ],
+        [
+          0.1948505938053131,
+          -0.9788836240768433,
+          -0.06180644780397415,
+          -16.185808181762695
+        ],
+        [
+          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": "1731323549_583081722",
+      "mask_path": "../../mask/hdr_right_02861.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02863.png",
+      "transform_matrix": [
+        [
+          -0.8406559228897095,
+          -0.19567742943763733,
+          0.5049832463264465,
+          6.201303958892822
+        ],
+        [
+          -0.5088602900505066,
+          -0.03374853730201721,
+          -0.8601874709129333,
+          21.825071334838867
+        ],
+        [
+          0.18536171317100525,
+          -0.9800874590873718,
+          -0.07120155543088913,
+          -16.164697647094727
+        ],
+        [
+          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": "1731323549_783082246",
+      "mask_path": "../../mask/hdr_right_02863.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02864.png",
+      "transform_matrix": [
+        [
+          -0.8382358551025391,
+          -0.19050703942775726,
+          0.5109478831291199,
+          6.266913414001465
+        ],
+        [
+          -0.5140001773834229,
+          -0.03688715025782585,
+          -0.8569966554641724,
+          21.861284255981445
+        ],
+        [
+          0.18211129307746887,
+          -0.9809925556182861,
+          -0.06700050085783005,
+          -16.198055267333984
+        ],
+        [
+          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": "1731323549_883082866",
+      "mask_path": "../../mask/hdr_right_02864.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02865.png",
+      "transform_matrix": [
+        [
+          -0.8375731706619263,
+          -0.1953401416540146,
+          0.5102092027664185,
+          6.325699329376221
+        ],
+        [
+          -0.5152245163917542,
+          -0.028170917183160782,
+          -0.8565921783447266,
+          21.901893615722656
+        ],
+        [
+          0.18169988691806793,
+          -0.9803308844566345,
+          -0.07704882323741913,
+          -16.222116470336914
+        ],
+        [
+          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": "1731323549_983082294",
+      "mask_path": "../../mask/hdr_right_02865.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02867.png",
+      "transform_matrix": [
+        [
+          -0.8366780877113342,
+          -0.19402752816677094,
+          0.5121749043464661,
+          6.375166416168213
+        ],
+        [
+          -0.521629810333252,
+          -0.0027562531176954508,
+          -0.8531674742698669,
+          21.981233596801758
+        ],
+        [
+          0.16694964468479156,
+          -0.9809921979904175,
+          -0.09890443086624146,
+          -16.238780975341797
+        ],
+        [
+          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": "1731323550_183083057",
+      "mask_path": "../../mask/hdr_right_02867.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02868.png",
+      "transform_matrix": [
+        [
+          -0.8354517221450806,
+          -0.19614790380001068,
+          0.5133677124977112,
+          6.428523063659668
+        ],
+        [
+          -0.5227231979370117,
+          -0.004744125995784998,
+          -0.8524894118309021,
+          22.02699851989746
+        ],
+        [
+          0.16964946687221527,
+          -0.9805628061294556,
+          -0.09856756031513214,
+          -16.262630462646484
+        ],
+        [
+          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": "1731323550_283082246",
+      "mask_path": "../../mask/hdr_right_02868.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02869.png",
+      "transform_matrix": [
+        [
+          -0.834094226360321,
+          -0.20036277174949646,
+          0.5139471292495728,
+          6.493282794952393
+        ],
+        [
+          -0.5226102471351624,
+          -0.01114541757851839,
+          -0.8524989485740662,
+          22.06538200378418
+        ],
+        [
+          0.1765371859073639,
+          -0.9796583652496338,
+          -0.09541531652212143,
+          -16.28584098815918
+        ],
+        [
+          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": "1731323550_383081912",
+      "mask_path": "../../mask/hdr_right_02869.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02870.png",
+      "transform_matrix": [
+        [
+          -0.8339657187461853,
+          -0.19664040207862854,
+          0.5155907273292542,
+          6.550053119659424
+        ],
+        [
+          -0.5231158137321472,
+          -0.015679609030485153,
+          -0.8521174192428589,
+          22.090042114257812
+        ],
+        [
+          0.17564497888088226,
+          -0.9803502559661865,
+          -0.08978944271802902,
+          -16.297508239746094
+        ],
+        [
+          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": "1731323550_483081340",
+      "mask_path": "../../mask/hdr_right_02870.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02871.png",
+      "transform_matrix": [
+        [
+          -0.8363297581672668,
+          -0.1866464763879776,
+          0.5154760479927063,
+          6.650516986846924
+        ],
+        [
+          -0.519709587097168,
+          -0.029382629320025444,
+          -0.8538376688957214,
+          22.140213012695312
+        ],
+        [
+          0.17451182007789612,
+          -0.9819876551628113,
+          -0.072428397834301,
+          -16.331844329833984
+        ],
+        [
+          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": "1731323550_583081722",
+      "mask_path": "../../mask/hdr_right_02871.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02872.png",
+      "transform_matrix": [
+        [
+          -0.8379952311515808,
+          -0.1780329793691635,
+          0.515818178653717,
+          6.750350475311279
+        ],
+        [
+          -0.5168730616569519,
+          -0.044088300317525864,
+          -0.8549259305000305,
+          22.184350967407227
+        ],
+        [
+          0.17494657635688782,
+          -0.9830363392829895,
+          -0.055074676871299744,
+          -16.35275650024414
+        ],
+        [
+          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": "1731323550_683081865",
+      "mask_path": "../../mask/hdr_right_02872.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02873.png",
+      "transform_matrix": [
+        [
+          -0.8380869626998901,
+          -0.1721174716949463,
+          0.5176733732223511,
+          6.811034679412842
+        ],
+        [
+          -0.5175909996032715,
+          -0.04894554987549782,
+          -0.8542270660400391,
+          22.210857391357422
+        ],
+        [
+          0.172365203499794,
+          -0.983859658241272,
+          -0.04806582257151604,
+          -16.36355972290039
+        ],
+        [
+          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": "1731323550_783080816",
+      "mask_path": "../../mask/hdr_right_02873.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02874.png",
+      "transform_matrix": [
+        [
+          -0.8377846479415894,
+          -0.167683407664299,
+          0.5196144580841064,
+          6.890164852142334
+        ],
+        [
+          -0.5190841555595398,
+          -0.05051007121801376,
+          -0.8532295227050781,
+          22.242923736572266
+        ],
+        [
+          0.16931818425655365,
+          -0.9845460653305054,
+          -0.04472523555159569,
+          -16.39034080505371
+        ],
+        [
+          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": "1731323550_883080959",
+      "mask_path": "../../mask/hdr_right_02874.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02875.png",
+      "transform_matrix": [
+        [
+          -0.8381057977676392,
+          -0.17818871140480042,
+          0.5155845880508423,
+          6.989926815032959
+        ],
+        [
+          -0.5146706104278564,
+          -0.05498451739549637,
+          -0.8556231260299683,
+          22.276607513427734
+        ],
+        [
+          0.1808115541934967,
+          -0.9824588894844055,
+          -0.045625653117895126,
+          -16.404754638671875
+        ],
+        [
+          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": "1731323550_983081817",
+      "mask_path": "../../mask/hdr_right_02875.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02876.png",
+      "transform_matrix": [
+        [
+          -0.8418115973472595,
+          -0.18609990179538727,
+          0.5066754817962646,
+          7.0708770751953125
+        ],
+        [
+          -0.5045982599258423,
+          -0.061982810497283936,
+          -0.8611264824867249,
+          22.296405792236328
+        ],
+        [
+          0.19166073203086853,
+          -0.9805737733840942,
+          -0.04172784462571144,
+          -16.409238815307617
+        ],
+        [
+          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": "1731323551_83081245",
+      "mask_path": "../../mask/hdr_right_02876.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02877.png",
+      "transform_matrix": [
+        [
+          -0.8493878245353699,
+          -0.1839815378189087,
+          0.49466264247894287,
+          7.1448493003845215
+        ],
+        [
+          -0.49153316020965576,
+          -0.06553633511066437,
+          -0.8683894276618958,
+          22.31293296813965
+        ],
+        [
+          0.19218599796295166,
+          -0.9807424545288086,
+          -0.034767258912324905,
+          -16.41960334777832
+        ],
+        [
+          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": "1731323551_183081865",
+      "mask_path": "../../mask/hdr_right_02877.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02878.png",
+      "transform_matrix": [
+        [
+          -0.8555493354797363,
+          -0.184647798538208,
+          0.48367413878440857,
+          7.2347211837768555
+        ],
+        [
+          -0.47806045413017273,
+          -0.07685096561908722,
+          -0.874958336353302,
+          22.338150024414062
+        ],
+        [
+          0.1987299770116806,
+          -0.9797954559326172,
+          -0.022523032501339912,
+          -16.450510025024414
+        ],
+        [
+          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": "1731323551_283082246",
+      "mask_path": "../../mask/hdr_right_02878.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02879.png",
+      "transform_matrix": [
+        [
+          -0.8590309619903564,
+          -0.1918964684009552,
+          0.4745962619781494,
+          7.338201999664307
+        ],
+        [
+          -0.4654770791530609,
+          -0.09306256473064423,
+          -0.8801536560058594,
+          22.364227294921875
+        ],
+        [
+          0.21306554973125458,
+          -0.9769929051399231,
+          -0.009379793889820576,
+          -16.493511199951172
+        ],
+        [
+          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": "1731323551_383081912",
+      "mask_path": "../../mask/hdr_right_02879.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02880.png",
+      "transform_matrix": [
+        [
+          -0.865884006023407,
+          -0.20081663131713867,
+          0.45816749334335327,
+          7.421504974365234
+        ],
+        [
+          -0.44802600145339966,
+          -0.09610304236412048,
+          -0.8888402581214905,
+          22.382843017578125
+        ],
+        [
+          0.2225251942873001,
+          -0.9749035239219666,
+          -0.006756979506462812,
+          -16.53731346130371
+        ],
+        [
+          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": "1731323551_483082294",
+      "mask_path": "../../mask/hdr_right_02880.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02881.png",
+      "transform_matrix": [
+        [
+          -0.8747923374176025,
+          -0.20233729481697083,
+          0.44022491574287415,
+          7.500694751739502
+        ],
+        [
+          -0.43067091703414917,
+          -0.09149295091629028,
+          -0.8978594541549683,
+          22.396041870117188
+        ],
+        [
+          0.22194793820381165,
+          -0.97503262758255,
+          -0.007103452458977699,
+          -16.579824447631836
+        ],
+        [
+          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": "1731323551_583082199",
+      "mask_path": "../../mask/hdr_right_02881.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02882.png",
+      "transform_matrix": [
+        [
+          -0.8819900751113892,
+          -0.21015457808971405,
+          0.4218159317970276,
+          7.6324591636657715
+        ],
+        [
+          -0.4130777418613434,
+          -0.08610234409570694,
+          -0.9066163301467896,
+          22.415010452270508
+        ],
+        [
+          0.22684890031814575,
+          -0.9738693237304688,
+          -0.010868754237890244,
+          -16.596677780151367
+        ],
+        [
+          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": "1731323551_683081388",
+      "mask_path": "../../mask/hdr_right_02882.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02883.png",
+      "transform_matrix": [
+        [
+          -0.8905590772628784,
+          -0.21508896350860596,
+          0.4008006751537323,
+          7.743773937225342
+        ],
+        [
+          -0.39265644550323486,
+          -0.08128746598958969,
+          -0.9160858392715454,
+          22.429771423339844
+        ],
+        [
+          0.22962002456188202,
+          -0.9732055068016052,
+          -0.01206477265805006,
+          -16.603130340576172
+        ],
+        [
+          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": "1731323551_783081769",
+      "mask_path": "../../mask/hdr_right_02883.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02884.png",
+      "transform_matrix": [
+        [
+          -0.8999916315078735,
+          -0.211314857006073,
+          0.3812624514102936,
+          7.826479434967041
+        ],
+        [
+          -0.3723667562007904,
+          -0.08202269673347473,
+          -0.9244540333747864,
+          22.444063186645508
+        ],
+        [
+          0.2266230434179306,
+          -0.9739704132080078,
+          -0.004866883158683777,
+          -16.607402801513672
+        ],
+        [
+          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": "1731323551_883082866",
+      "mask_path": "../../mask/hdr_right_02884.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02885.png",
+      "transform_matrix": [
+        [
+          -0.9008916020393372,
+          -0.22330617904663086,
+          0.3721943199634552,
+          7.917947292327881
+        ],
+        [
+          -0.35820209980010986,
+          -0.10176726430654526,
+          -0.9280812740325928,
+          22.46868896484375
+        ],
+        [
+          0.2451234757900238,
+          -0.96942138671875,
+          0.011692539788782597,
+          -16.630584716796875
+        ],
+        [
+          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": "1731323551_983082294",
+      "mask_path": "../../mask/hdr_right_02885.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02886.png",
+      "transform_matrix": [
+        [
+          -0.8960996866226196,
+          -0.24407368898391724,
+          0.37072017788887024,
+          8.006360054016113
+        ],
+        [
+          -0.3512459099292755,
+          -0.12067197263240814,
+          -0.9284744262695312,
+          22.49761199951172
+        ],
+        [
+          0.27135169506073,
+          -0.9622194766998291,
+          0.022404242306947708,
+          -16.668264389038086
+        ],
+        [
+          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": "1731323552_83082675",
+      "mask_path": "../../mask/hdr_right_02886.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02887.png",
+      "transform_matrix": [
+        [
+          -0.8955786228179932,
+          -0.2511165142059326,
+          0.36725935339927673,
+          8.076839447021484
+        ],
+        [
+          -0.3471004366874695,
+          -0.12202484905719757,
+          -0.9298556447029114,
+          22.525917053222656
+        ],
+        [
+          0.27831679582595825,
+          -0.9602345824241638,
+          0.022120216861367226,
+          -16.698070526123047
+        ],
+        [
+          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": "1731323552_183082342",
+      "mask_path": "../../mask/hdr_right_02887.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02888.png",
+      "transform_matrix": [
+        [
+          -0.8979952335357666,
+          -0.24812844395637512,
+          0.36336877942085266,
+          8.145421981811523
+        ],
+        [
+          -0.3445805311203003,
+          -0.11697440594434738,
+          -0.9314404129981995,
+          22.551042556762695
+        ],
+        [
+          0.27362173795700073,
+          -0.9616388082504272,
+          0.019542228430509567,
+          -16.7353572845459
+        ],
+        [
+          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": "1731323552_283080816",
+      "mask_path": "../../mask/hdr_right_02888.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02889.png",
+      "transform_matrix": [
+        [
+          -0.9004497528076172,
+          -0.2416715770959854,
+          0.361642450094223,
+          8.243363380432129
+        ],
+        [
+          -0.34301966428756714,
+          -0.11667963117361069,
+          -0.9320533275604248,
+          22.574302673339844
+        ],
+        [
+          0.2674471139907837,
+          -0.9633175730705261,
+          0.022166036069393158,
+          -16.765392303466797
+        ],
+        [
+          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": "1731323552_383081197",
+      "mask_path": "../../mask/hdr_right_02889.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02890.png",
+      "transform_matrix": [
+        [
+          -0.9046599864959717,
+          -0.23165981471538544,
+          0.35766470432281494,
+          8.335500717163086
+        ],
+        [
+          -0.3392394185066223,
+          -0.11642904579639435,
+          -0.9334670901298523,
+          22.589550018310547
+        ],
+        [
+          0.25788941979408264,
+          -0.9658042788505554,
+          0.026740558445453644,
+          -16.780637741088867
+        ],
+        [
+          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": "1731323552_483081102",
+      "mask_path": "../../mask/hdr_right_02890.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02891.png",
+      "transform_matrix": [
+        [
+          -0.911041259765625,
+          -0.21852728724479675,
+          0.34964218735694885,
+          8.409859657287598
+        ],
+        [
+          -0.3318277597427368,
+          -0.1147397980093956,
+          -0.9363360404968262,
+          22.594125747680664
+        ],
+        [
+          0.2447328418493271,
+          -0.9690617322921753,
+          0.03201926127076149,
+          -16.79216766357422
+        ],
+        [
+          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": "1731323552_583082437",
+      "mask_path": "../../mask/hdr_right_02891.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02892.png",
+      "transform_matrix": [
+        [
+          -0.9185266494750977,
+          -0.20082491636276245,
+          0.3405557870864868,
+          8.523672103881836
+        ],
+        [
+          -0.3246729373931885,
+          -0.10837521404027939,
+          -0.9395968914031982,
+          22.624217987060547
+        ],
+        [
+          0.22560226917266846,
+          -0.973613977432251,
+          0.03434310108423233,
+          -16.817378997802734
+        ],
+        [
+          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": "1731323552_683082103",
+      "mask_path": "../../mask/hdr_right_02892.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02893.png",
+      "transform_matrix": [
+        [
+          -0.9214726686477661,
+          -0.18824255466461182,
+          0.33978354930877686,
+          8.625788688659668
+        ],
+        [
+          -0.3244970738887787,
+          -0.1077779158949852,
+          -0.9397264719009399,
+          22.651371002197266
+        ],
+        [
+          0.2135176658630371,
+          -0.9761908650398254,
+          0.03823024407029152,
+          -16.829177856445312
+        ],
+        [
+          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": "1731323552_783081054",
+      "mask_path": "../../mask/hdr_right_02893.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02894.png",
+      "transform_matrix": [
+        [
+          -0.9219177961349487,
+          -0.1781364232301712,
+          0.3439984619617462,
+          8.692268371582031
+        ],
+        [
+          -0.32855626940727234,
+          -0.11088386923074722,
+          -0.9379528164863586,
+          22.66175079345703
+        ],
+        [
+          0.20522744953632355,
+          -0.9777382612228394,
+          0.043697986751794815,
+          -16.830533981323242
+        ],
+        [
+          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": "1731323552_883082389",
+      "mask_path": "../../mask/hdr_right_02894.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02895.png",
+      "transform_matrix": [
+        [
+          -0.9251083135604858,
+          -0.15903373062610626,
+          0.3447939455509186,
+          8.77791976928711
+        ],
+        [
+          -0.33064040541648865,
+          -0.10905621200799942,
+          -0.9374346137046814,
+          22.676067352294922
+        ],
+        [
+          0.18668565154075623,
+          -0.9812313914299011,
+          0.04830583184957504,
+          -16.850482940673828
+        ],
+        [
+          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": "1731323552_983082532",
+      "mask_path": "../../mask/hdr_right_02895.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02896.png",
+      "transform_matrix": [
+        [
+          -0.9300332069396973,
+          -0.14009332656860352,
+          0.3397236168384552,
+          8.899492263793945
+        ],
+        [
+          -0.32747459411621094,
+          -0.103487528860569,
+          -0.9391756057739258,
+          22.684167861938477
+        ],
+        [
+          0.1667293906211853,
+          -0.9847152829170227,
+          0.05036983639001846,
+          -16.853649139404297
+        ],
+        [
+          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": "1731323553_83082437",
+      "mask_path": "../../mask/hdr_right_02896.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02897.png",
+      "transform_matrix": [
+        [
+          -0.9352119565010071,
+          -0.1230442076921463,
+          0.3320220410823822,
+          8.989789009094238
+        ],
+        [
+          -0.3214014172554016,
+          -0.09851299971342087,
+          -0.941804826259613,
+          22.68904685974121
+        ],
+        [
+          0.14859212934970856,
+          -0.9874995350837708,
+          0.052583951503038406,
+          -16.842893600463867
+        ],
+        [
+          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": "1731323553_183082580",
+      "mask_path": "../../mask/hdr_right_02897.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02898.png",
+      "transform_matrix": [
+        [
+          -0.940115213394165,
+          -0.10613421350717545,
+          0.3239118754863739,
+          9.053397178649902
+        ],
+        [
+          -0.3142930269241333,
+          -0.09787362068891525,
+          -0.944267213344574,
+          22.700397491455078
+        ],
+        [
+          0.13192149996757507,
+          -0.9895232915878296,
+          0.058655232191085815,
+          -16.849353790283203
+        ],
+        [
+          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": "1731323553_283081054",
+      "mask_path": "../../mask/hdr_right_02898.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02899.png",
+      "transform_matrix": [
+        [
+          -0.9430505633354187,
+          -0.09269518405199051,
+          0.3194735050201416,
+          9.156632423400879
+        ],
+        [
+          -0.31089890003204346,
+          -0.09597081691026688,
+          -0.9455852508544922,
+          22.720829010009766
+        ],
+        [
+          0.1183113306760788,
+          -0.9910586476325989,
+          0.061686500906944275,
+          -16.856901168823242
+        ],
+        [
+          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": "1731323553_383081197",
+      "mask_path": "../../mask/hdr_right_02899.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02900.png",
+      "transform_matrix": [
+        [
+          -0.9439275860786438,
+          -0.08098527044057846,
+          0.3200656771659851,
+          9.258491516113281
+        ],
+        [
+          -0.3124029338359833,
+          -0.09449370950460434,
+          -0.9452383518218994,
+          22.74302864074707
+        ],
+        [
+          0.1067945584654808,
+          -0.9922259449958801,
+          0.06389518827199936,
+          -16.863330841064453
+        ],
+        [
+          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": "1731323553_483081102",
+      "mask_path": "../../mask/hdr_right_02900.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02901.png",
+      "transform_matrix": [
+        [
+          -0.9441509246826172,
+          -0.06946343928575516,
+          0.32210850715637207,
+          9.341273307800293
+        ],
+        [
+          -0.31532397866249084,
+          -0.09330586344003677,
+          -0.9443860054016113,
+          22.7615909576416
+        ],
+        [
+          0.0956549197435379,
+          -0.9932113885879517,
+          0.06619131565093994,
+          -16.867355346679688
+        ],
+        [
+          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": "1731323553_583078861",
+      "mask_path": "../../mask/hdr_right_02901.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02902.png",
+      "transform_matrix": [
+        [
+          -0.943494439125061,
+          -0.061205487698316574,
+          0.3256871998310089,
+          9.428948402404785
+        ],
+        [
+          -0.32003965973854065,
+          -0.08670583367347717,
+          -0.9434281587600708,
+          22.781635284423828
+        ],
+        [
+          0.08598196506500244,
+          -0.9943520426750183,
+          0.06221828982234001,
+          -16.86970329284668
+        ],
+        [
+          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": "1731323553_683082818",
+      "mask_path": "../../mask/hdr_right_02902.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02903.png",
+      "transform_matrix": [
+        [
+          -0.9438643455505371,
+          -0.054686229676008224,
+          0.325775146484375,
+          9.529850959777832
+        ],
+        [
+          -0.32117584347724915,
+          -0.07867645472288132,
+          -0.9437459111213684,
+          22.795900344848633
+        ],
+        [
+          0.07724074274301529,
+          -0.9953991174697876,
+          0.056696027517318726,
+          -16.862245559692383
+        ],
+        [
+          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": "1731323553_783082723",
+      "mask_path": "../../mask/hdr_right_02903.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02904.png",
+      "transform_matrix": [
+        [
+          -0.9455046057701111,
+          -0.046884696930646896,
+          0.3222157061100006,
+          9.60433292388916
+        ],
+        [
+          -0.3183707594871521,
+          -0.07437540590763092,
+          -0.9450441002845764,
+          22.80675506591797
+        ],
+        [
+          0.06827303767204285,
+          -0.9961275458335876,
+          0.05539557710289955,
+          -16.860549926757812
+        ],
+        [
+          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": "1731323553_883082151",
+      "mask_path": "../../mask/hdr_right_02904.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02905.png",
+      "transform_matrix": [
+        [
+          -0.9469606876373291,
+          -0.04033173620700836,
+          0.3188086748123169,
+          9.663033485412598
+        ],
+        [
+          -0.31540805101394653,
+          -0.07324233651161194,
+          -0.9461255669593811,
+          22.820402145385742
+        ],
+        [
+          0.06150917336344719,
+          -0.9964983463287354,
+          0.05663665756583214,
+          -16.866357803344727
+        ],
+        [
+          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": "1731323553_983082294",
+      "mask_path": "../../mask/hdr_right_02905.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02906.png",
+      "transform_matrix": [
+        [
+          -0.946866512298584,
+          -0.03978922963142395,
+          0.3191559910774231,
+          9.749493598937988
+        ],
+        [
+          -0.31549951434135437,
+          -0.07786363363265991,
+          -0.9457258582115173,
+          22.832908630371094
+        ],
+        [
+          0.06248034909367561,
+          -0.9961696863174438,
+          0.06117299944162369,
+          -16.863449096679688
+        ],
+        [
+          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": "1731323554_83082437",
+      "mask_path": "../../mask/hdr_right_02906.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02907.png",
+      "transform_matrix": [
+        [
+          -0.9453038573265076,
+          -0.039089106023311615,
+          0.3238404393196106,
+          9.830946922302246
+        ],
+        [
+          -0.3197703957557678,
+          -0.0849604681134224,
+          -0.9436782598495483,
+          22.844974517822266
+        ],
+        [
+          0.06440117955207825,
+          -0.9956172704696655,
+          0.0678139254450798,
+          -16.86836814880371
+        ],
+        [
+          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": "1731323554_183085203",
+      "mask_path": "../../mask/hdr_right_02907.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02908.png",
+      "transform_matrix": [
+        [
+          -0.9406329393386841,
+          -0.035353757441043854,
+          0.33757951855659485,
+          9.889612197875977
+        ],
+        [
+          -0.333674818277359,
+          -0.08598904311656952,
+          -0.9387583136558533,
+          22.86087989807129
+        ],
+        [
+          0.06221676990389824,
+          -0.9956686496734619,
+          0.06908746808767319,
+          -16.864194869995117
+        ],
+        [
+          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": "1731323554_283082723",
+      "mask_path": "../../mask/hdr_right_02908.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02909.png",
+      "transform_matrix": [
+        [
+          -0.9323200583457947,
+          -0.038424160331487656,
+          0.3595872223377228,
+          9.9571533203125
+        ],
+        [
+          -0.3561684787273407,
+          -0.07466196268796921,
+          -0.9314342141151428,
+          22.883129119873047
+        ],
+        [
+          0.06263706833124161,
+          -0.9964683055877686,
+          0.05592336505651474,
+          -16.866777420043945
+        ],
+        [
+          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": "1731323554_383081674",
+      "mask_path": "../../mask/hdr_right_02909.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02910.png",
+      "transform_matrix": [
+        [
+          -0.9266707897186279,
+          -0.04350881278514862,
+          0.3733471632003784,
+          10.050691604614258
+        ],
+        [
+          -0.370237797498703,
+          -0.06570608168840408,
+          -0.9266104698181152,
+          22.90749168395996
+        ],
+        [
+          0.06484688073396683,
+          -0.9968900680541992,
+          0.04477930814027786,
+          -16.8693790435791
+        ],
+        [
+          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": "1731323554_483080148",
+      "mask_path": "../../mask/hdr_right_02910.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02911.png",
+      "transform_matrix": [
+        [
+          -0.9250102043151855,
+          -0.04388764128088951,
+          0.3773989677429199,
+          10.132927894592285
+        ],
+        [
+          -0.3746340274810791,
+          -0.060103487223386765,
+          -0.9252226948738098,
+          22.922754287719727
+        ],
+        [
+          0.06328883022069931,
+          -0.997226893901825,
+          0.0391545370221138,
+          -16.868106842041016
+        ],
+        [
+          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": "1731323554_583080291",
+      "mask_path": "../../mask/hdr_right_02911.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02912.png",
+      "transform_matrix": [
+        [
+          -0.9241245985031128,
+          -0.041109349578619,
+          0.3798733949661255,
+          10.196246147155762
+        ],
+        [
+          -0.3773828446865082,
+          -0.05739575996994972,
+          -0.9242770671844482,
+          22.933317184448242
+        ],
+        [
+          0.05979955568909645,
+          -0.9975047707557678,
+          0.037526872009038925,
+          -16.88029670715332
+        ],
+        [
+          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": "1731323554_683080911",
+      "mask_path": "../../mask/hdr_right_02912.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02913.png",
+      "transform_matrix": [
+        [
+          -0.9187198281288147,
+          -0.049782417714595795,
+          0.3917596936225891,
+          10.288063049316406
+        ],
+        [
+          -0.3885345160961151,
+          -0.06359125673770905,
+          -0.9192371964454651,
+          22.95665168762207
+        ],
+        [
+          0.0706743448972702,
+          -0.9967336058616638,
+          0.039080362766981125,
+          -16.893468856811523
+        ],
+        [
+          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": "1731323554_783081531",
+      "mask_path": "../../mask/hdr_right_02913.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02914.png",
+      "transform_matrix": [
+        [
+          -0.909835934638977,
+          -0.05987824127078056,
+          0.41062524914741516,
+          10.380535125732422
+        ],
+        [
+          -0.4063306748867035,
+          -0.0722908154129982,
+          -0.9108619689941406,
+          22.983823776245117
+        ],
+        [
+          0.08422523736953735,
+          -0.9955846071243286,
+          0.04144241288304329,
+          -16.905946731567383
+        ],
+        [
+          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": "1731323554_883080959",
+      "mask_path": "../../mask/hdr_right_02914.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02915.png",
+      "transform_matrix": [
+        [
+          -0.900600254535675,
+          -0.061132799834012985,
+          0.4303275942802429,
+          10.432522773742676
+        ],
+        [
+          -0.42588773369789124,
+          -0.07365912944078445,
+          -0.9017727971076965,
+          23.00444793701172
+        ],
+        [
+          0.08682544529438019,
+          -0.9954079985618591,
+          0.04030172526836395,
+          -16.90951919555664
+        ],
+        [
+          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": "1731323554_983080625",
+      "mask_path": "../../mask/hdr_right_02915.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02916.png",
+      "transform_matrix": [
+        [
+          -0.8888919353485107,
+          -0.07207503914833069,
+          0.4524117708206177,
+          10.497323989868164
+        ],
+        [
+          -0.4487430453300476,
+          -0.061765410006046295,
+          -0.8915237784385681,
+          23.028961181640625
+        ],
+        [
+          0.09220001101493835,
+          -0.9954848885536194,
+          0.022559599950909615,
+          -16.917707443237305
+        ],
+        [
+          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": "1731323555_83080768",
+      "mask_path": "../../mask/hdr_right_02916.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02917.png",
+      "transform_matrix": [
+        [
+          -0.8762786984443665,
+          -0.09115490317344666,
+          0.47310298681259155,
+          10.605790138244629
+        ],
+        [
+          -0.469290167093277,
+          -0.060866229236125946,
+          -0.8809438347816467,
+          23.070886611938477
+        ],
+        [
+          0.10909834504127502,
+          -0.9939749240875244,
+          0.010557688772678375,
+          -16.948833465576172
+        ],
+        [
+          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": "1731323555_183079719",
+      "mask_path": "../../mask/hdr_right_02917.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02918.png",
+      "transform_matrix": [
+        [
+          -0.8696017265319824,
+          -0.10565052181482315,
+          0.48231813311576843,
+          10.670035362243652
+        ],
+        [
+          -0.47786250710487366,
+          -0.06574931740760803,
+          -0.875970721244812,
+          23.098731994628906
+        ],
+        [
+          0.12425883114337921,
+          -0.9922272562980652,
+          0.006689304951578379,
+          -16.97819709777832
+        ],
+        [
+          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": "1731323555_283080101",
+      "mask_path": "../../mask/hdr_right_02918.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02919.png",
+      "transform_matrix": [
+        [
+          -0.8688265681266785,
+          -0.11149492114782333,
+          0.4823996126651764,
+          10.724578857421875
+        ],
+        [
+          -0.47881701588630676,
+          -0.05873006582260132,
+          -0.8759481906890869,
+          23.13211441040039
+        ],
+        [
+          0.12599512934684753,
+          -0.992027997970581,
+          -0.002359428908675909,
+          -17.007644653320312
+        ],
+        [
+          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": "1731323555_383080005",
+      "mask_path": "../../mask/hdr_right_02919.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02920.png",
+      "transform_matrix": [
+        [
+          -0.867050051689148,
+          -0.12216737121343613,
+          0.4830106496810913,
+          10.819014549255371
+        ],
+        [
+          -0.4781162440776825,
+          -0.06859508901834488,
+          -0.8756138682365417,
+          23.166410446166992
+        ],
+        [
+          0.14010359346866608,
+          -0.9901362657546997,
+          0.0010651808697730303,
+          -17.028120040893555
+        ],
+        [
+          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": "1731323555_483079910",
+      "mask_path": "../../mask/hdr_right_02920.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02921.png",
+      "transform_matrix": [
+        [
+          -0.8639598488807678,
+          -0.1358666568994522,
+          0.48488518595695496,
+          10.90383243560791
+        ],
+        [
+          -0.4775569438934326,
+          -0.08436227589845657,
+          -0.8745412826538086,
+          23.19118309020996
+        ],
+        [
+          0.15972702205181122,
+          -0.9871287941932678,
+          0.008001543581485748,
+          -17.045194625854492
+        ],
+        [
+          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": "1731323555_583080053",
+      "mask_path": "../../mask/hdr_right_02921.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02923.png",
+      "transform_matrix": [
+        [
+          -0.8574763536453247,
+          -0.14646682143211365,
+          0.4932359457015991,
+          11.012899398803711
+        ],
+        [
+          -0.48441988229751587,
+          -0.09327685832977295,
+          -0.8698487281799316,
+          23.244779586791992
+        ],
+        [
+          0.17341148853302002,
+          -0.984808087348938,
+          0.009031263180077076,
+          -17.082439422607422
+        ],
+        [
+          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": "1731323555_783081054",
+      "mask_path": "../../mask/hdr_right_02923.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02924.png",
+      "transform_matrix": [
+        [
+          -0.8522672057151794,
+          -0.1740923374891281,
+          0.49328744411468506,
+          11.09868049621582
+        ],
+        [
+          -0.48335397243499756,
+          -0.09849610179662704,
+          -0.8698664307594299,
+          23.280046463012695
+        ],
+        [
+          0.20002394914627075,
+          -0.979790985584259,
+          -0.00020322136697359383,
+          -17.106245040893555
+        ],
+        [
+          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": "1731323555_883080482",
+      "mask_path": "../../mask/hdr_right_02924.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02925.png",
+      "transform_matrix": [
+        [
+          -0.848490297794342,
+          -0.20199799537658691,
+          0.4891431927680969,
+          11.149009704589844
+        ],
+        [
+          -0.47716307640075684,
+          -0.10770978778600693,
+          -0.8721892237663269,
+          23.307085037231445
+        ],
+        [
+          0.22886596620082855,
+          -0.9734451174736023,
+          -0.004995266441255808,
+          -17.129230499267578
+        ],
+        [
+          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": "1731323555_983082294",
+      "mask_path": "../../mask/hdr_right_02925.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02927.png",
+      "transform_matrix": [
+        [
+          -0.8491930961608887,
+          -0.22767813503742218,
+          0.4764805734157562,
+          11.24491024017334
+        ],
+        [
+          -0.46190425753593445,
+          -0.1170939952135086,
+          -0.8791663646697998,
+          23.323932647705078
+        ],
+        [
+          0.25595998764038086,
+          -0.9666703939437866,
+          -0.005730078089982271,
+          -17.17556381225586
+        ],
+        [
+          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": "1731323556_183081865",
+      "mask_path": "../../mask/hdr_right_02927.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02928.png",
+      "transform_matrix": [
+        [
+          -0.8516116738319397,
+          -0.22847793996334076,
+          0.47175776958465576,
+          11.344698905944824
+        ],
+        [
+          -0.45713162422180176,
+          -0.11667029559612274,
+          -0.8817135095596313,
+          23.35249137878418
+        ],
+        [
+          0.2564921975135803,
+          -0.9665329456329346,
+          -0.005086695775389671,
+          -17.20793342590332
+        ],
+        [
+          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": "1731323556_283082008",
+      "mask_path": "../../mask/hdr_right_02928.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02929.png",
+      "transform_matrix": [
+        [
+          -0.8535513281822205,
+          -0.22445270419120789,
+          0.47018206119537354,
+          11.435990333557129
+        ],
+        [
+          -0.45590078830718994,
+          -0.11507613211870193,
+          -0.8825600147247314,
+          23.385108947753906
+        ],
+        [
+          0.2521997094154358,
+          -0.967666506767273,
+          -0.00410477863624692,
+          -17.237459182739258
+        ],
+        [
+          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": "1731323556_383082151",
+      "mask_path": "../../mask/hdr_right_02929.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02930.png",
+      "transform_matrix": [
+        [
+          -0.8540959358215332,
+          -0.2226637601852417,
+          0.4700436294078827,
+          11.482552528381348
+        ],
+        [
+          -0.45749521255493164,
+          -0.10829184204339981,
+          -0.8825934529304504,
+          23.412500381469727
+        ],
+        [
+          0.2474234402179718,
+          -0.9688620567321777,
+          -0.009375973604619503,
+          -17.25977325439453
+        ],
+        [
+          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": "1731323556_483082056",
+      "mask_path": "../../mask/hdr_right_02930.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02931.png",
+      "transform_matrix": [
+        [
+          -0.8552100658416748,
+          -0.220675989985466,
+          0.46895408630371094,
+          11.547160148620605
+        ],
+        [
+          -0.4591694176197052,
+          -0.09704422950744629,
+          -0.8830322623252869,
+          23.438997268676758
+        ],
+        [
+          0.24037331342697144,
+          -0.9705072641372681,
+          -0.01833447441458702,
+          -17.2768611907959
+        ],
+        [
+          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": "1731323556_583082437",
+      "mask_path": "../../mask/hdr_right_02931.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02932.png",
+      "transform_matrix": [
+        [
+          -0.8569524884223938,
+          -0.22173479199409485,
+          0.4652591347694397,
+          11.628959655761719
+        ],
+        [
+          -0.4567655920982361,
+          -0.09141924977302551,
+          -0.8848772644996643,
+          23.465911865234375
+        ],
+        [
+          0.2387417107820511,
+          -0.9708121418952942,
+          -0.022938864305615425,
+          -17.312740325927734
+        ],
+        [
+          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": "1731323556_683081865",
+      "mask_path": "../../mask/hdr_right_02932.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02933.png",
+      "transform_matrix": [
+        [
+          -0.8556168079376221,
+          -0.23404927551746368,
+          0.4616718590259552,
+          11.713881492614746
+        ],
+        [
+          -0.4517802894115448,
+          -0.09761684387922287,
+          -0.8867725729942322,
+          23.48636817932129
+        ],
+        [
+          0.25261542201042175,
+          -0.967311680316925,
+          -0.022216230630874634,
+          -17.346759796142578
+        ],
+        [
+          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": "1731323556_783082723",
+      "mask_path": "../../mask/hdr_right_02933.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02934.png",
+      "transform_matrix": [
+        [
+          -0.8539990782737732,
+          -0.2474096119403839,
+          0.45768338441848755,
+          11.781262397766113
+        ],
+        [
+          -0.44663769006729126,
+          -0.1025414690375328,
+          -0.8888195753097534,
+          23.497568130493164
+        ],
+        [
+          0.26683399081230164,
+          -0.9634696245193481,
+          -0.022932138293981552,
+          -17.360689163208008
+        ],
+        [
+          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": "1731323556_883082389",
+      "mask_path": "../../mask/hdr_right_02934.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02935.png",
+      "transform_matrix": [
+        [
+          -0.855822741985321,
+          -0.2557152211666107,
+          0.4496411383152008,
+          11.831687927246094
+        ],
+        [
+          -0.43873152136802673,
+          -0.10162549465894699,
+          -0.8928533792495728,
+          23.509950637817383
+        ],
+        [
+          0.27401113510131836,
+          -0.961395800113678,
+          -0.02521689608693123,
+          -17.377670288085938
+        ],
+        [
+          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": "1731323556_983082294",
+      "mask_path": "../../mask/hdr_right_02935.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02936.png",
+      "transform_matrix": [
+        [
+          -0.8608242273330688,
+          -0.25168317556381226,
+          0.44230911135673523,
+          11.912078857421875
+        ],
+        [
+          -0.4312494099140167,
+          -0.10069327801465988,
+          -0.8965963125228882,
+          23.535503387451172
+        ],
+        [
+          0.27019578218460083,
+          -0.962557315826416,
+          -0.021859019994735718,
+          -17.409770965576172
+        ],
+        [
+          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": "1731323557_83081007",
+      "mask_path": "../../mask/hdr_right_02936.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02937.png",
+      "transform_matrix": [
+        [
+          -0.8642473220825195,
+          -0.24171040952205658,
+          0.4411945641040802,
+          12.011003494262695
+        ],
+        [
+          -0.42964088916778564,
+          -0.10158316791057587,
+          -0.8972679376602173,
+          23.56516456604004
+        ],
+        [
+          0.2616969347000122,
+          -0.9650165438652039,
+          -0.016055675223469734,
+          -17.439924240112305
+        ],
+        [
+          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": "1731323557_183081150",
+      "mask_path": "../../mask/hdr_right_02937.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02938.png",
+      "transform_matrix": [
+        [
+          -0.865734338760376,
+          -0.2359590232372284,
+          0.4413926303386688,
+          12.092419624328613
+        ],
+        [
+          -0.4315226972103119,
+          -0.09488314390182495,
+          -0.8970983624458313,
+          23.591753005981445
+        ],
+        [
+          0.2535591423511505,
+          -0.9671196937561035,
+          -0.019678082317113876,
+          -17.464427947998047
+        ],
+        [
+          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": "1731323557_283080816",
+      "mask_path": "../../mask/hdr_right_02938.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02939.png",
+      "transform_matrix": [
+        [
+          -0.8671213388442993,
+          -0.23321856558322906,
+          0.4401244819164276,
+          12.172981262207031
+        ],
+        [
+          -0.43414953351020813,
+          -0.07925713807344437,
+          -0.8973475694656372,
+          23.618589401245117
+        ],
+        [
+          0.24416109919548035,
+          -0.9691890478134155,
+          -0.0325261726975441,
+          -17.484813690185547
+        ],
+        [
+          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": "1731323557_383081674",
+      "mask_path": "../../mask/hdr_right_02939.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02940.png",
+      "transform_matrix": [
+        [
+          -0.869672954082489,
+          -0.22951941192150116,
+          0.4370238780975342,
+          12.273748397827148
+        ],
+        [
+          -0.4329267740249634,
+          -0.07070310413837433,
+          -0.8986521363258362,
+          23.640430450439453
+        ],
+        [
+          0.23715704679489136,
+          -0.9707326292991638,
+          -0.03787652775645256,
+          -17.50469970703125
+        ],
+        [
+          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": "1731323557_483079910",
+      "mask_path": "../../mask/hdr_right_02940.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02941.png",
+      "transform_matrix": [
+        [
+          -0.8730564713478088,
+          -0.2282344251871109,
+          0.4309077560901642,
+          12.363627433776855
+        ],
+        [
+          -0.42717838287353516,
+          -0.06814771890640259,
+          -0.9015955924987793,
+          23.653602600097656
+        ],
+        [
+          0.23514053225517273,
+          -0.9712182879447937,
+          -0.03800000250339508,
+          -17.521326065063477
+        ],
+        [
+          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": "1731323557_583080291",
+      "mask_path": "../../mask/hdr_right_02941.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02942.png",
+      "transform_matrix": [
+        [
+          -0.8762397170066833,
+          -0.22848691046237946,
+          0.42426133155822754,
+          12.422493934631348
+        ],
+        [
+          -0.421617329120636,
+          -0.06279424577951431,
+          -0.9045969843864441,
+          23.671785354614258
+        ],
+        [
+          0.23332972824573517,
+          -0.9715197682380676,
+          -0.041311223059892654,
+          -17.541545867919922
+        ],
+        [
+          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": "1731323557_683080434",
+      "mask_path": "../../mask/hdr_right_02942.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02943.png",
+      "transform_matrix": [
+        [
+          -0.8804826736450195,
+          -0.2241511344909668,
+          0.41773971915245056,
+          12.474063873291016
+        ],
+        [
+          -0.4143310487270355,
+          -0.06438521295785904,
+          -0.9078460335731506,
+          23.685468673706055
+        ],
+        [
+          0.23039096593856812,
+          -0.9724252223968506,
+          -0.0361827053129673,
+          -17.565080642700195
+        ],
+        [
+          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": "1731323557_783081769",
+      "mask_path": "../../mask/hdr_right_02943.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02944.png",
+      "transform_matrix": [
+        [
+          -0.8794437646865845,
+          -0.22857171297073364,
+          0.41753271222114563,
+          12.563267707824707
+        ],
+        [
+          -0.4122007191181183,
+          -0.07298116385936737,
+          -0.908165454864502,
+          23.714109420776367
+        ],
+        [
+          0.23805294930934906,
+          -0.9707877039909363,
+          -0.030034588649868965,
+          -17.594228744506836
+        ],
+        [
+          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": "1731323557_883081674",
+      "mask_path": "../../mask/hdr_right_02944.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02945.png",
+      "transform_matrix": [
+        [
+          -0.8766383528709412,
+          -0.2359992265701294,
+          0.4192965030670166,
+          12.63602352142334
+        ],
+        [
+          -0.414272665977478,
+          -0.07299704104661942,
+          -0.9072208404541016,
+          23.747188568115234
+        ],
+        [
+          0.24471081793308258,
+          -0.9690076112747192,
+          -0.033776018768548965,
+          -17.63459587097168
+        ],
+        [
+          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": "1731323557_983081340",
+      "mask_path": "../../mask/hdr_right_02945.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02946.png",
+      "transform_matrix": [
+        [
+          -0.8765355348587036,
+          -0.2374870628118515,
+          0.41867101192474365,
+          12.678712844848633
+        ],
+        [
+          -0.4160540997982025,
+          -0.06356845796108246,
+          -0.9071152806282043,
+          23.76569366455078
+        ],
+        [
+          0.2420424222946167,
+          -0.9693084955215454,
+          -0.04308745265007019,
+          -17.66213607788086
+        ],
+        [
+          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": "1731323558_83080768",
+      "mask_path": "../../mask/hdr_right_02946.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02947.png",
+      "transform_matrix": [
+        [
+          -0.8752591013908386,
+          -0.24030087888240814,
+          0.41973456740379333,
+          12.734723091125488
+        ],
+        [
+          -0.4187704026699066,
+          -0.057660818099975586,
+          -0.9062597751617432,
+          23.782812118530273
+        ],
+        [
+          0.241977259516716,
+          -0.9689843654632568,
+          -0.05016273632645607,
+          -17.68010711669922
+        ],
+        [
+          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": "1731323558_183082103",
+      "mask_path": "../../mask/hdr_right_02947.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02948.png",
+      "transform_matrix": [
+        [
+          -0.8735179305076599,
+          -0.2519645094871521,
+          0.4165096879005432,
+          12.803384780883789
+        ],
+        [
+          -0.41634976863861084,
+          -0.056628093123435974,
+          -0.9074392914772034,
+          23.802234649658203
+        ],
+        [
+          0.25222867727279663,
+          -0.9660782217979431,
+          -0.055439721792936325,
+          -17.710987091064453
+        ],
+        [
+          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": "1731323558_283080577",
+      "mask_path": "../../mask/hdr_right_02948.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02949.png",
+      "transform_matrix": [
+        [
+          -0.8724719882011414,
+          -0.26824864745140076,
+          0.40845468640327454,
+          12.867769241333008
+        ],
+        [
+          -0.4080093801021576,
+          -0.06010919809341431,
+          -0.9109968543052673,
+          23.81756591796875
+        ],
+        [
+          0.2689255177974701,
+          -0.9614726305007935,
+          -0.05700435861945152,
+          -17.733966827392578
+        ],
+        [
+          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": "1731323558_383082389",
+      "mask_path": "../../mask/hdr_right_02949.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02950.png",
+      "transform_matrix": [
+        [
+          -0.8741557598114014,
+          -0.2751902937889099,
+          0.40015244483947754,
+          12.9339599609375
+        ],
+        [
+          -0.399910032749176,
+          -0.059600912034511566,
+          -0.9146145582199097,
+          23.83055305480957
+        ],
+        [
+          0.2755424976348877,
+          -0.9595404863357544,
+          -0.05795086547732353,
+          -17.755067825317383
+        ],
+        [
+          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": "1731323558_483079433",
+      "mask_path": "../../mask/hdr_right_02950.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02952.png",
+      "transform_matrix": [
+        [
+          -0.874772310256958,
+          -0.2811973989009857,
+          0.3945901393890381,
+          13.057903289794922
+        ],
+        [
+          -0.38721856474876404,
+          -0.08382873982191086,
+          -0.9181691408157349,
+          23.878877639770508
+        ],
+        [
+          0.2912648022174835,
+          -0.9559815526008606,
+          -0.035553790628910065,
+          -17.795860290527344
+        ],
+        [
+          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": "1731323558_683081150",
+      "mask_path": "../../mask/hdr_right_02952.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02953.png",
+      "transform_matrix": [
+        [
+          -0.8647683262825012,
+          -0.3038707673549652,
+          0.39979782700538635,
+          13.119734764099121
+        ],
+        [
+          -0.38658756017684937,
+          -0.10529197007417679,
+          -0.9162225723266602,
+          23.89954376220703
+        ],
+        [
+          0.3205086886882782,
+          -0.9468770623207092,
+          -0.026419468224048615,
+          -17.817216873168945
+        ],
+        [
+          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": "1731323558_783080577",
+      "mask_path": "../../mask/hdr_right_02953.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02954.png",
+      "transform_matrix": [
+        [
+          -0.8535913228988647,
+          -0.31916043162345886,
+          0.4117262363433838,
+          13.157519340515137
+        ],
+        [
+          -0.3989480435848236,
+          -0.10774560272693634,
+          -0.9106214046478271,
+          23.920778274536133
+        ],
+        [
+          0.3349960446357727,
+          -0.9415558576583862,
+          -0.035357728600502014,
+          -17.83673095703125
+        ],
+        [
+          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": "1731323558_883082628",
+      "mask_path": "../../mask/hdr_right_02954.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02955.png",
+      "transform_matrix": [
+        [
+          -0.8430604338645935,
+          -0.32181283831596375,
+          0.4309125244617462,
+          13.207892417907715
+        ],
+        [
+          -0.4189320206642151,
+          -0.10949237644672394,
+          -0.9013919234275818,
+          23.946529388427734
+        ],
+        [
+          0.3372611403465271,
+          -0.94045090675354,
+          -0.042509011924266815,
+          -17.866846084594727
+        ],
+        [
+          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": "1731323558_983080863",
+      "mask_path": "../../mask/hdr_right_02955.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02956.png",
+      "transform_matrix": [
+        [
+          -0.8332955837249756,
+          -0.31956201791763306,
+          0.45110809803009033,
+          13.265480041503906
+        ],
+        [
+          -0.4399194121360779,
+          -0.11086982488632202,
+          -0.891167163848877,
+          23.968551635742188
+        ],
+        [
+          0.3347974419593811,
+          -0.9410568475723267,
+          -0.048194192349910736,
+          -17.9009952545166
+        ],
+        [
+          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": "1731323559_83081007",
+      "mask_path": "../../mask/hdr_right_02956.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02957.png",
+      "transform_matrix": [
+        [
+          -0.8259658813476562,
+          -0.3157292604446411,
+          0.4670069217681885,
+          13.315949440002441
+        ],
+        [
+          -0.45558658242225647,
+          -0.11402783542871475,
+          -0.882858157157898,
+          23.987091064453125
+        ],
+        [
+          0.33199599385261536,
+          -0.9419727325439453,
+          -0.04965892434120178,
+          -17.921661376953125
+        ],
+        [
+          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": "1731323559_183081150",
+      "mask_path": "../../mask/hdr_right_02957.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02958.png",
+      "transform_matrix": [
+        [
+          -0.824420154094696,
+          -0.3075328767299652,
+          0.47513681650161743,
+          13.360955238342285
+        ],
+        [
+          -0.46389204263687134,
+          -0.11378180980682373,
+          -0.8785544037818909,
+          24.00699806213379
+        ],
+        [
+          0.3242463171482086,
+          -0.9447101354598999,
+          -0.048858050256967545,
+          -17.941267013549805
+        ],
+        [
+          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": "1731323559_283082008",
+      "mask_path": "../../mask/hdr_right_02958.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02959.png",
+      "transform_matrix": [
+        [
+          -0.8294509053230286,
+          -0.2934935390949249,
+          0.47526079416275024,
+          13.415939331054688
+        ],
+        [
+          -0.4646569788455963,
+          -0.10967378318309784,
+          -0.8786725997924805,
+          24.046035766601562
+        ],
+        [
+          0.3100084066390991,
+          -0.9496489763259888,
+          -0.04540480300784111,
+          -17.985105514526367
+        ],
+        [
+          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": "1731323559_383080959",
+      "mask_path": "../../mask/hdr_right_02959.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02960.png",
+      "transform_matrix": [
+        [
+          -0.8296108841896057,
+          -0.295602947473526,
+          0.47367143630981445,
+          13.516182899475098
+        ],
+        [
+          -0.45915645360946655,
+          -0.12149298191070557,
+          -0.8800084590911865,
+          24.077512741088867
+        ],
+        [
+          0.31768086552619934,
+          -0.9475538730621338,
+          -0.0349360890686512,
+          -17.99577522277832
+        ],
+        [
+          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": "1731323559_483082056",
+      "mask_path": "../../mask/hdr_right_02960.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02963.png",
+      "transform_matrix": [
+        [
+          -0.8526648879051208,
+          -0.26664525270462036,
+          0.449291467666626,
+          13.651080131530762
+        ],
+        [
+          -0.44079306721687317,
+          -0.09449990093708038,
+          -0.8926204442977905,
+          24.12502670288086
+        ],
+        [
+          0.2804710268974304,
+          -0.9591506719589233,
+          -0.03695863112807274,
+          -18.017635345458984
+        ],
+        [
+          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": "1731323559_783082485",
+      "mask_path": "../../mask/hdr_right_02963.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02964.png",
+      "transform_matrix": [
+        [
+          -0.8561810851097107,
+          -0.25438961386680603,
+          0.4497108459472656,
+          13.721272468566895
+        ],
+        [
+          -0.4398956894874573,
+          -0.09763725847005844,
+          -0.8927254676818848,
+          24.141647338867188
+        ],
+        [
+          0.27100861072540283,
+          -0.962160587310791,
+          -0.028309710323810577,
+          -18.03195571899414
+        ],
+        [
+          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": "1731323559_883081674",
+      "mask_path": "../../mask/hdr_right_02964.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02966.png",
+      "transform_matrix": [
+        [
+          -0.8682758212089539,
+          -0.2272442728281021,
+          0.4409729540348053,
+          13.839676856994629
+        ],
+        [
+          -0.4315439462661743,
+          -0.09243427962064743,
+          -0.8973438739776611,
+          24.18050765991211
+        ],
+        [
+          0.24467724561691284,
+          -0.9694409966468811,
+          -0.017807429656386375,
+          -18.067737579345703
+        ],
+        [
+          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": "1731323560_83083152",
+      "mask_path": "../../mask/hdr_right_02966.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02967.png",
+      "transform_matrix": [
+        [
+          -0.8692000508308411,
+          -0.22156628966331482,
+          0.4420403838157654,
+          13.922379493713379
+        ],
+        [
+          -0.4291699528694153,
+          -0.10593363642692566,
+          -0.8969901204109192,
+          24.206832885742188
+        ],
+        [
+          0.24556972086429596,
+          -0.9693742394447327,
+          -0.0030120504088699818,
+          -18.07834243774414
+        ],
+        [
+          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": "1731323560_183081626",
+      "mask_path": "../../mask/hdr_right_02967.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02969.png",
+      "transform_matrix": [
+        [
+          -0.8752447366714478,
+          -0.2216540277004242,
+          0.4299025535583496,
+          13.975665092468262
+        ],
+        [
+          -0.4205983281135559,
+          -0.09010815620422363,
+          -0.9027611613273621,
+          24.231002807617188
+        ],
+        [
+          0.2388383448123932,
+          -0.970953106880188,
+          -0.014360609464347363,
+          -18.080541610717773
+        ],
+        [
+          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": "1731323560_383081674",
+      "mask_path": "../../mask/hdr_right_02969.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02970.png",
+      "transform_matrix": [
+        [
+          -0.8782672882080078,
+          -0.2022983580827713,
+          0.43326905369758606,
+          14.021974563598633
+        ],
+        [
+          -0.42462050914764404,
+          -0.08668836206197739,
+          -0.9012117981910706,
+          24.25127410888672
+        ],
+        [
+          0.21987304091453552,
+          -0.9754796028137207,
+          -0.009764478541910648,
+          -18.103355407714844
+        ],
+        [
+          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": "1731323560_483080863",
+      "mask_path": "../../mask/hdr_right_02970.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02971.png",
+      "transform_matrix": [
+        [
+          -0.8817209601402283,
+          -0.18690089881420135,
+          0.4331699311733246,
+          14.098102569580078
+        ],
+        [
+          -0.42487919330596924,
+          -0.08448699861764908,
+          -0.9012989401817322,
+          24.263181686401367
+        ],
+        [
+          0.20505079627037048,
+          -0.9787389636039734,
+          -0.004916339181363583,
+          -18.109661102294922
+        ],
+        [
+          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": "1731323560_583081007",
+      "mask_path": "../../mask/hdr_right_02971.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02973.png",
+      "transform_matrix": [
+        [
+          -0.8865596055984497,
+          -0.17469236254692078,
+          0.4283626973628998,
+          14.179855346679688
+        ],
+        [
+          -0.4185428321361542,
+          -0.09154926240444183,
+          -0.9035711288452148,
+          24.285207748413086
+        ],
+        [
+          0.19706326723098755,
+          -0.9803577065467834,
+          0.008047644980251789,
+          -18.140766143798828
+        ],
+        [
+          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": "1731323560_783082246",
+      "mask_path": "../../mask/hdr_right_02973.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02974.png",
+      "transform_matrix": [
+        [
+          -0.8874453902244568,
+          -0.16586782038211823,
+          0.43003320693969727,
+          14.24813175201416
+        ],
+        [
+          -0.41824865341186523,
+          -0.10223890841007233,
+          -0.9025603532791138,
+          24.31085205078125
+        ],
+        [
+          0.19367185235023499,
+          -0.9808338284492493,
+          0.0213574580848217,
+          -18.174104690551758
+        ],
+        [
+          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": "1731323560_883080959",
+      "mask_path": "../../mask/hdr_right_02974.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02975.png",
+      "transform_matrix": [
+        [
+          -0.8791704177856445,
+          -0.16992893815040588,
+          0.4451781213283539,
+          14.330011367797852
+        ],
+        [
+          -0.4316239356994629,
+          -0.11184103041887283,
+          -0.8950936198234558,
+          24.336275100708008
+        ],
+        [
+          0.2018914669752121,
+          -0.9790892004966736,
+          0.02498192898929119,
+          -18.197282791137695
+        ],
+        [
+          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": "1731323560_983079671",
+      "mask_path": "../../mask/hdr_right_02975.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02976.png",
+      "transform_matrix": [
+        [
+          -0.8674877285957336,
+          -0.17450273036956787,
+          0.4658474922180176,
+          14.387802124023438
+        ],
+        [
+          -0.4513612389564514,
+          -0.11758909374475479,
+          -0.8845597505569458,
+          24.354656219482422
+        ],
+        [
+          0.20913667976856232,
+          -0.9776101112365723,
+          0.023243311792612076,
+          -18.21541404724121
+        ],
+        [
+          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": "1731323561_83082914",
+      "mask_path": "../../mask/hdr_right_02976.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02978.png",
+      "transform_matrix": [
+        [
+          -0.8590468764305115,
+          -0.16872932016849518,
+          0.48328980803489685,
+          14.47404956817627
+        ],
+        [
+          -0.4727219343185425,
+          -0.10074217617511749,
+          -0.8754342794418335,
+          24.395687103271484
+        ],
+        [
+          0.19639907777309418,
+          -0.9805006384849548,
+          0.006780201103538275,
+          -18.254642486572266
+        ],
+        [
+          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": "1731323561_283081769",
+      "mask_path": "../../mask/hdr_right_02978.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02979.png",
+      "transform_matrix": [
+        [
+          -0.8591742515563965,
+          -0.18675683438777924,
+          0.4763838052749634,
+          14.537130355834961
+        ],
+        [
+          -0.4693186283111572,
+          -0.08330614864826202,
+          -0.8790904879570007,
+          24.418241500854492
+        ],
+        [
+          0.20386184751987457,
+          -0.9788676500320435,
+          -0.016073964536190033,
+          -18.261394500732422
+        ],
+        [
+          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": "1731323561_383081674",
+      "mask_path": "../../mask/hdr_right_02979.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02980.png",
+      "transform_matrix": [
+        [
+          -0.8630255460739136,
+          -0.19690550863742828,
+          0.46520450711250305,
+          14.598482131958008
+        ],
+        [
+          -0.46046411991119385,
+          -0.07209311425685883,
+          -0.8847460150718689,
+          24.429885864257812
+        ],
+        [
+          0.2077493965625763,
+          -0.9777683019638062,
+          -0.02844972163438797,
+          -18.255725860595703
+        ],
+        [
+          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": "1731323561_483082294",
+      "mask_path": "../../mask/hdr_right_02980.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02981.png",
+      "transform_matrix": [
+        [
+          -0.86781245470047,
+          -0.19473613798618317,
+          0.45714271068573,
+          14.650626182556152
+        ],
+        [
+          -0.45268794894218445,
+          -0.06948931515216827,
+          -0.8889572620391846,
+          24.440296173095703
+        ],
+        [
+          0.20487861335277557,
+          -0.9783910512924194,
+          -0.027851004153490067,
+          -18.266056060791016
+        ],
+        [
+          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": "1731323561_583081483",
+      "mask_path": "../../mask/hdr_right_02981.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02982.png",
+      "transform_matrix": [
+        [
+          -0.8706242442131042,
+          -0.19546878337860107,
+          0.45144808292388916,
+          14.71058464050293
+        ],
+        [
+          -0.4452790915966034,
+          -0.07701534777879715,
+          -0.8920736312866211,
+          24.455398559570312
+        ],
+        [
+          0.20914097130298615,
+          -0.9776812195777893,
+          -0.019986726343631744,
+          -18.291034698486328
+        ],
+        [
+          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": "1731323561_683082103",
+      "mask_path": "../../mask/hdr_right_02982.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02983.png",
+      "transform_matrix": [
+        [
+          -0.869896411895752,
+          -0.20021690428256989,
+          0.45076990127563477,
+          14.783567428588867
+        ],
+        [
+          -0.4422154128551483,
+          -0.08819674700498581,
+          -0.8925620317459106,
+          24.484418869018555
+        ],
+        [
+          0.21846245229244232,
+          -0.9757737517356873,
+          -0.011816960759460926,
+          -18.33274269104004
+        ],
+        [
+          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": "1731323561_783081769",
+      "mask_path": "../../mask/hdr_right_02983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02984.png",
+      "transform_matrix": [
+        [
+          -0.8630704283714294,
+          -0.2069440335035324,
+          0.4607425928115845,
+          14.864446640014648
+        ],
+        [
+          -0.4488604962825775,
+          -0.10400828719139099,
+          -0.8875284194946289,
+          24.505638122558594
+        ],
+        [
+          0.23158974945545197,
+          -0.9728085398674011,
+          -0.0031225329730659723,
+          -18.31775665283203
+        ],
+        [
+          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": "1731323561_883082151",
+      "mask_path": "../../mask/hdr_right_02984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02986.png",
+      "transform_matrix": [
+        [
+          -0.8670786023139954,
+          -0.20838655531406403,
+          0.45249271392822266,
+          14.963872909545898
+        ],
+        [
+          -0.44435057044029236,
+          -0.08713613450527191,
+          -0.8916052579879761,
+          24.543386459350586
+        ],
+        [
+          0.2252269983291626,
+          -0.9741572141647339,
+          -0.01704278588294983,
+          -18.347902297973633
+        ],
+        [
+          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": "1731323562_83082437",
+      "mask_path": "../../mask/hdr_right_02986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02987.png",
+      "transform_matrix": [
+        [
+          -0.8839228749275208,
+          -0.17768004536628723,
+          0.43256235122680664,
+          15.06723403930664
+        ],
+        [
+          -0.42325347661972046,
+          -0.08933541923761368,
+          -0.901596188545227,
+          24.55904769897461
+        ],
+        [
+          0.19883880019187927,
+          -0.9800249338150024,
+          0.0037619268987327814,
+          -18.352415084838867
+        ],
+        [
+          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": "1731323562_183083057",
+      "mask_path": "../../mask/hdr_right_02987.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02988.png",
+      "transform_matrix": [
+        [
+          -0.9032188057899475,
+          -0.15016959607601166,
+          0.40205058455467224,
+          15.18665885925293
+        ],
+        [
+          -0.39290040731430054,
+          -0.08763617277145386,
+          -0.9153956770896912,
+          24.568424224853516
+        ],
+        [
+          0.17269878089427948,
+          -0.9847685098648071,
+          0.02015296369791031,
+          -18.345121383666992
+        ],
+        [
+          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": "1731323562_283082008",
+      "mask_path": "../../mask/hdr_right_02988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02990.png",
+      "transform_matrix": [
+        [
+          -0.9335057735443115,
+          -0.12024188041687012,
+          0.3378000855445862,
+          15.294734001159668
+        ],
+        [
+          -0.3325475752353668,
+          -0.06196799874305725,
+          -0.9410484433174133,
+          24.60524559020996
+        ],
+        [
+          0.1340862214565277,
+          -0.9908087253570557,
+          0.017861345782876015,
+          -18.33210563659668
+        ],
+        [
+          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": "1731323562_483081102",
+      "mask_path": "../../mask/hdr_right_02990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02991.png",
+      "transform_matrix": [
+        [
+          -0.945024311542511,
+          -0.10756780952215195,
+          0.30880144238471985,
+          15.420055389404297
+        ],
+        [
+          -0.3065219819545746,
+          -0.03753504529595375,
+          -0.9511233568191528,
+          24.641815185546875
+        ],
+        [
+          0.11390112340450287,
+          -0.9934889674186707,
+          0.002499631606042385,
+          -18.34549903869629
+        ],
+        [
+          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": "1731323562_583081960",
+      "mask_path": "../../mask/hdr_right_02991.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02992.png",
+      "transform_matrix": [
+        [
+          -0.9517946243286133,
+          -0.10370583087205887,
+          0.28867289423942566,
+          15.482575416564941
+        ],
+        [
+          -0.28816285729408264,
+          -0.020196009427309036,
+          -0.9573684334754944,
+          24.663969039916992
+        ],
+        [
+          0.10511472821235657,
+          -0.9944029450416565,
+          -0.010661713778972626,
+          -18.358610153198242
+        ],
+        [
+          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": "1731323562_683082103",
+      "mask_path": "../../mask/hdr_right_02992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02994.png",
+      "transform_matrix": [
+        [
+          -0.9647273421287537,
+          -0.0758577436208725,
+          0.25208503007888794,
+          15.593306541442871
+        ],
+        [
+          -0.2533496618270874,
+          0.00737847201526165,
+          -0.9673466682434082,
+          24.685985565185547
+        ],
+        [
+          0.07152073085308075,
+          -0.9970912933349609,
+          -0.026336750015616417,
+          -18.33428382873535
+        ],
+        [
+          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": "1731323562_883081436",
+      "mask_path": "../../mask/hdr_right_02994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02995.png",
+      "transform_matrix": [
+        [
+          -0.9614675641059875,
+          -0.062045685946941376,
+          0.2678254246711731,
+          15.679061889648438
+        ],
+        [
+          -0.26842814683914185,
+          0.0014353026635944843,
+          -0.9632986783981323,
+          24.69230079650879
+        ],
+        [
+          0.059384118765592575,
+          -0.9980722069740295,
+          -0.018034806475043297,
+          -18.316606521606445
+        ],
+        [
+          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": "1731323562_983082771",
+      "mask_path": "../../mask/hdr_right_02995.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02997.png",
+      "transform_matrix": [
+        [
+          -0.9507759809494019,
+          -0.08217083662748337,
+          0.2987859547138214,
+          15.712956428527832
+        ],
+        [
+          -0.29766201972961426,
+          -0.025892062112689018,
+          -0.9543202519416809,
+          24.737695693969727
+        ],
+        [
+          0.08615346997976303,
+          -0.9962818622589111,
+          0.00015841354615986347,
+          -18.35507583618164
+        ],
+        [
+          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": "1731323563_183081626",
+      "mask_path": "../../mask/hdr_right_02997.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_02999.png",
+      "transform_matrix": [
+        [
+          -0.9440488815307617,
+          -0.10398305207490921,
+          0.31298455595970154,
+          15.78108024597168
+        ],
+        [
+          -0.31042665243148804,
+          -0.04035426303744316,
+          -0.949740469455719,
+          24.74012565612793
+        ],
+        [
+          0.11138716340065002,
+          -0.9937601089477539,
+          0.0058172838762402534,
+          -18.399152755737305
+        ],
+        [
+          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": "1731323563_383082151",
+      "mask_path": "../../mask/hdr_right_02999.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03001.png",
+      "transform_matrix": [
+        [
+          -0.9441986083984375,
+          -0.11468146741390228,
+          0.3087671995162964,
+          15.867836952209473
+        ],
+        [
+          -0.3068217635154724,
+          -0.034691374748945236,
+          -0.9511345624923706,
+          24.72823715209961
+        ],
+        [
+          0.11978906393051147,
+          -0.9927964210510254,
+          -0.0024312245659530163,
+          -18.395751953125
+        ],
+        [
+          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": "1731323563_583080530",
+      "mask_path": "../../mask/hdr_right_03001.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03003.png",
+      "transform_matrix": [
+        [
+          -0.9470306634902954,
+          -0.13213308155536652,
+          0.2927006781101227,
+          15.929729461669922
+        ],
+        [
+          -0.29070979356765747,
+          -0.03455237299203873,
+          -0.9561872482299805,
+          24.723262786865234
+        ],
+        [
+          0.13645745813846588,
+          -0.9906295537948608,
+          -0.005690217949450016,
+          -18.405256271362305
+        ],
+        [
+          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": "1731323563_783082008",
+      "mask_path": "../../mask/hdr_right_03003.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03005.png",
+      "transform_matrix": [
+        [
+          -0.9502450823783875,
+          -0.1405787169933319,
+          0.27797824144363403,
+          16.039974212646484
+        ],
+        [
+          -0.27498382329940796,
+          -0.04069152846932411,
+          -0.9605873823165894,
+          24.724040985107422
+        ],
+        [
+          0.14634950459003448,
+          -0.9892329573631287,
+          1.0049905540654436e-05,
+          -18.441360473632812
+        ],
+        [
+          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": "1731323563_983082056",
+      "mask_path": "../../mask/hdr_right_03005.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03006.png",
+      "transform_matrix": [
+        [
+          -0.948593020439148,
+          -0.14316095411777496,
+          0.2822698950767517,
+          16.121723175048828
+        ],
+        [
+          -0.2780229151248932,
+          -0.04927142709493637,
+          -0.959309995174408,
+          24.72983169555664
+        ],
+        [
+          0.15124359726905823,
+          -0.9884721636772156,
+          0.006936502642929554,
+          -18.43793487548828
+        ],
+        [
+          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": "1731323564_83081245",
+      "mask_path": "../../mask/hdr_right_03006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03007.png",
+      "transform_matrix": [
+        [
+          -0.9460281133651733,
+          -0.13923025131225586,
+          0.29265299439430237,
+          16.18355941772461
+        ],
+        [
+          -0.28776493668556213,
+          -0.054488323628902435,
+          -0.9561498165130615,
+          24.737659454345703
+        ],
+        [
+          0.1490711271762848,
+          -0.9887597560882568,
+          0.011481909081339836,
+          -18.442493438720703
+        ],
+        [
+          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": "1731323564_183082342",
+      "mask_path": "../../mask/hdr_right_03007.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03008.png",
+      "transform_matrix": [
+        [
+          -0.9423419237136841,
+          -0.13600464165210724,
+          0.3057686686515808,
+          16.238496780395508
+        ],
+        [
+          -0.30174461007118225,
+          -0.04979263246059418,
+          -0.9520877003669739,
+          24.751981735229492
+        ],
+        [
+          0.1447133868932724,
+          -0.9894561171531677,
+          0.005883017089217901,
+          -18.45191764831543
+        ],
+        [
+          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": "1731323564_283082723",
+      "mask_path": "../../mask/hdr_right_03008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03009.png",
+      "transform_matrix": [
+        [
+          -0.9367170333862305,
+          -0.1796083003282547,
+          0.30050310492515564,
+          16.32589340209961
+        ],
+        [
+          -0.3010060787200928,
+          -0.025107910856604576,
+          -0.9532917737960815,
+          24.763872146606445
+        ],
+        [
+          0.17876408994197845,
+          -0.9834177494049072,
+          -0.03054417297244072,
+          -18.475122451782227
+        ],
+        [
+          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": "1731323564_383082628",
+      "mask_path": "../../mask/hdr_right_03009.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03011.png",
+      "transform_matrix": [
+        [
+          -0.9311820864677429,
+          -0.2442922741174698,
+          0.2705943286418915,
+          16.372690200805664
+        ],
+        [
+          -0.27785468101501465,
+          -0.004922377876937389,
+          -0.9606105089187622,
+          24.78201675415039
+        ],
+        [
+          0.23600171506404877,
+          -0.9696891903877258,
+          -0.06329412013292313,
+          -18.491973876953125
+        ],
+        [
+          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": "1731323564_583082437",
+      "mask_path": "../../mask/hdr_right_03011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03012.png",
+      "transform_matrix": [
+        [
+          -0.9334012866020203,
+          -0.24133846163749695,
+          0.2655518352985382,
+          16.444610595703125
+        ],
+        [
+          -0.2728537917137146,
+          -0.0032818997278809547,
+          -0.9620499610900879,
+          24.78658103942871
+        ],
+        [
+          0.23305118083953857,
+          -0.9704355001449585,
+          -0.06278678774833679,
+          -18.523746490478516
+        ],
+        [
+          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": "1731323564_683082818",
+      "mask_path": "../../mask/hdr_right_03012.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03013.png",
+      "transform_matrix": [
+        [
+          -0.9326691031455994,
+          -0.24593737721443176,
+          0.26389989256858826,
+          16.5447998046875
+        ],
+        [
+          -0.27007246017456055,
+          -0.008921860717236996,
+          -0.9627987146377563,
+          24.80974006652832
+        ],
+        [
+          0.23914267122745514,
+          -0.969244658946991,
+          -0.058099765330553055,
+          -18.55846405029297
+        ],
+        [
+          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": "1731323564_783082723",
+      "mask_path": "../../mask/hdr_right_03013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03014.png",
+      "transform_matrix": [
+        [
+          -0.9297804236412048,
+          -0.2564416825771332,
+          0.26409488916397095,
+          16.6151180267334
+        ],
+        [
+          -0.2679823935031891,
+          -0.020331593230366707,
+          -0.9632092118263245,
+          24.81141471862793
+        ],
+        [
+          0.2523764669895172,
+          -0.9663457870483398,
+          -0.04981793835759163,
+          -18.583662033081055
+        ],
+        [
+          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": "1731323564_883082628",
+      "mask_path": "../../mask/hdr_right_03014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03016.png",
+      "transform_matrix": [
+        [
+          -0.9278801083564758,
+          -0.25468897819519043,
+          0.2723453640937805,
+          16.709278106689453
+        ],
+        [
+          -0.27392423152923584,
+          -0.029967935755848885,
+          -0.961284339427948,
+          24.820934295654297
+        ],
+        [
+          0.25299012660980225,
+          -0.9665585160255432,
+          -0.04195881634950638,
+          -18.631547927856445
+        ],
+        [
+          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": "1731323565_83082437",
+      "mask_path": "../../mask/hdr_right_03016.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03017.png",
+      "transform_matrix": [
+        [
+          -0.9264919757843018,
+          -0.24620842933654785,
+          0.28459450602531433,
+          16.79494857788086
+        ],
+        [
+          -0.28629186749458313,
+          -0.029666835442185402,
+          -0.9576830267906189,
+          24.822057723999023
+        ],
+        [
+          0.2442326694726944,
+          -0.9687627553939819,
+          -0.04300139099359512,
+          -18.656862258911133
+        ],
+        [
+          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": "1731323565_183081626",
+      "mask_path": "../../mask/hdr_right_03017.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03018.png",
+      "transform_matrix": [
+        [
+          -0.9218284487724304,
+          -0.25943025946617126,
+          0.28797265887260437,
+          16.87275505065918
+        ],
+        [
+          -0.2928360402584076,
+          -0.020584717392921448,
+          -0.9559411406517029,
+          24.83344268798828
+        ],
+        [
+          0.25392788648605347,
+          -0.9655424356460571,
+          -0.056994955986738205,
+          -18.662906646728516
+        ],
+        [
+          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": "1731323565_283081293",
+      "mask_path": "../../mask/hdr_right_03018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03020.png",
+      "transform_matrix": [
+        [
+          -0.9133119583129883,
+          -0.26813381910324097,
+          0.30653801560401917,
+          16.969785690307617
+        ],
+        [
+          -0.31116631627082825,
+          -0.026172269135713577,
+          -0.9499951004981995,
+          24.8471622467041
+        ],
+        [
+          0.2627486288547516,
+          -0.9630261063575745,
+          -0.05953076109290123,
+          -18.671031951904297
+        ],
+        [
+          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": "1731323565_483083009",
+      "mask_path": "../../mask/hdr_right_03020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03021.png",
+      "transform_matrix": [
+        [
+          -0.91255784034729,
+          -0.24957400560379028,
+          0.32396137714385986,
+          17.03321075439453
+        ],
+        [
+          -0.32983967661857605,
+          -0.019116701558232307,
+          -0.9438435435295105,
+          24.86394691467285
+        ],
+        [
+          0.24175184965133667,
+          -0.9681670069694519,
+          -0.06487429887056351,
+          -18.69399642944336
+        ],
+        [
+          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": "1731323565_583082199",
+      "mask_path": "../../mask/hdr_right_03021.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03022.png",
+      "transform_matrix": [
+        [
+          -0.9089142084121704,
+          -0.22805733978748322,
+          0.3490915894508362,
+          17.104629516601562
+        ],
+        [
+          -0.35694408416748047,
+          -0.007252804934978485,
+          -0.9340975880622864,
+          24.883678436279297
+        ],
+        [
+          0.21555966138839722,
+          -0.9736207127571106,
+          -0.07481153309345245,
+          -18.706066131591797
+        ],
+        [
+          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": "1731323565_683080434",
+      "mask_path": "../../mask/hdr_right_03022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03023.png",
+      "transform_matrix": [
+        [
+          -0.8993192911148071,
+          -0.21530510485172272,
+          0.38061603903770447,
+          17.164012908935547
+        ],
+        [
+          -0.39051657915115356,
+          0.003754780627787113,
+          -0.9205882549285889,
+          24.91107749938965
+        ],
+        [
+          0.19677822291851044,
+          -0.9765396118164062,
+          -0.08745696395635605,
+          -18.70501136779785
+        ],
+        [
+          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": "1731323565_783082008",
+      "mask_path": "../../mask/hdr_right_03023.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03024.png",
+      "transform_matrix": [
+        [
+          -0.888850748538971,
+          -0.20468619465827942,
+          0.40993669629096985,
+          17.212017059326172
+        ],
+        [
+          -0.4219617247581482,
+          0.01696150004863739,
+          -0.9064549803733826,
+          24.938980102539062
+        ],
+        [
+          0.1785856932401657,
+          -0.9786806702613831,
+          -0.10144597291946411,
+          -18.710399627685547
+        ],
+        [
+          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": "1731323565_883080959",
+      "mask_path": "../../mask/hdr_right_03024.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03025.png",
+      "transform_matrix": [
+        [
+          -0.8857077360153198,
+          -0.18136656284332275,
+          0.42734992504119873,
+          17.284908294677734
+        ],
+        [
+          -0.4371276795864105,
+          0.015815969556570053,
+          -0.899260401725769,
+          24.956985473632812
+        ],
+        [
+          0.15633682906627655,
+          -0.9832883477210999,
+          -0.09328868240118027,
+          -18.71420669555664
+        ],
+        [
+          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": "1731323565_983083009",
+      "mask_path": "../../mask/hdr_right_03025.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03026.png",
+      "transform_matrix": [
+        [
+          -0.8878324627876282,
+          -0.16864049434661865,
+          0.4281519055366516,
+          17.36057472229004
+        ],
+        [
+          -0.43627405166625977,
+          0.01256409753113985,
+          -0.8997262120246887,
+          24.97163200378418
+        ],
+        [
+          0.1463509202003479,
+          -0.9855974912643433,
+          -0.08472829312086105,
+          -18.708499908447266
+        ],
+        [
+          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": "1731323566_83081245",
+      "mask_path": "../../mask/hdr_right_03026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03028.png",
+      "transform_matrix": [
+        [
+          -0.8950501680374146,
+          -0.16251730918884277,
+          0.41529905796051025,
+          17.447113037109375
+        ],
+        [
+          -0.4214378595352173,
+          0.0036557179410010576,
+          -0.9068499803543091,
+          24.992542266845703
+        ],
+        [
+          0.14586061239242554,
+          -0.9866989254951477,
+          -0.07176300883293152,
+          -18.713680267333984
+        ],
+        [
+          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": "1731323566_283082485",
+      "mask_path": "../../mask/hdr_right_03028.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03029.png",
+      "transform_matrix": [
+        [
+          -0.8949276804924011,
+          -0.16938626766204834,
+          0.4128108024597168,
+          17.538501739501953
+        ],
+        [
+          -0.41562169790267944,
+          -0.02020782232284546,
+          -0.9093131422996521,
+          25.02474594116211
+        ],
+        [
+          0.16236716508865356,
+          -0.9853426218032837,
+          -0.05231607332825661,
+          -18.751325607299805
+        ],
+        [
+          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": "1731323566_383080959",
+      "mask_path": "../../mask/hdr_right_03029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03030.png",
+      "transform_matrix": [
+        [
+          -0.8916869163513184,
+          -0.178671732544899,
+          0.41589778661727905,
+          17.601041793823242
+        ],
+        [
+          -0.417787104845047,
+          -0.028752492740750313,
+          -0.9080899953842163,
+          25.05357551574707
+        ],
+        [
+          0.17420808970928192,
+          -0.9834885001182556,
+          -0.04900852218270302,
+          -18.774267196655273
+        ],
+        [
+          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": "1731323566_483081340",
+      "mask_path": "../../mask/hdr_right_03030.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03032.png",
+      "transform_matrix": [
+        [
+          -0.8926923274993896,
+          -0.1705929934978485,
+          0.4171310067176819,
+          17.672964096069336
+        ],
+        [
+          -0.41838034987449646,
+          -0.030319534242153168,
+          -0.9077656865119934,
+          25.09285545349121
+        ],
+        [
+          0.16750569641590118,
+          -0.9848750233650208,
+          -0.044306736439466476,
+          -18.80887794494629
+        ],
+        [
+          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": "1731323566_683082103",
+      "mask_path": "../../mask/hdr_right_03032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03033.png",
+      "transform_matrix": [
+        [
+          -0.8961876034736633,
+          -0.15349437296390533,
+          0.4162779152393341,
+          17.770801544189453
+        ],
+        [
+          -0.4150269627571106,
+          -0.04165787994861603,
+          -0.9088549017906189,
+          25.1118106842041
+        ],
+        [
+          0.1568453460931778,
+          -0.9872710704803467,
+          -0.026371022686362267,
+          -18.800765991210938
+        ],
+        [
+          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": "1731323566_783083677",
+      "mask_path": "../../mask/hdr_right_03033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_03034.png",
+      "transform_matrix": [
+        [
+          -0.9020710587501526,
+          -0.14208801090717316,
+          0.4075278341770172,
+          17.85202980041504
+        ],
+        [
+          -0.4067557454109192,
+          -0.03577737510204315,
+          -0.9128361344337463,
+          25.123281478881836
+        ],
+        [
+          0.14428335428237915,
+          -0.9892072081565857,
+          -0.02552139014005661,
+          -18.791122436523438
+        ],
+        [
+          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": "1731323566_883081436",
+      "mask_path": "../../mask/hdr_right_03034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06983.png",
+      "transform_matrix": [
+        [
+          0.898613452911377,
+          -0.0698665902018547,
+          -0.43314269185066223,
+          16.885290145874023
+        ],
+        [
+          0.42941707372665405,
+          -0.06239376962184906,
+          0.9009484648704529,
+          24.833053588867188
+        ],
+        [
+          -0.08997159451246262,
+          -0.9956032037734985,
+          -0.026065977290272713,
+          -18.65645408630371
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6983,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_783081054",
+      "mask_path": "../../mask/hdr_right_06983.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06984.png",
+      "transform_matrix": [
+        [
+          0.8892660140991211,
+          -0.08350487798452377,
+          -0.44970324635505676,
+          16.833744049072266
+        ],
+        [
+          0.446589857339859,
+          -0.05388300493359566,
+          0.8931149244308472,
+          24.791706085205078
+        ],
+        [
+          -0.09881079941987991,
+          -0.9950495362281799,
+          -0.01062389649450779,
+          -18.613759994506836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6984,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323961_883081197",
+      "mask_path": "../../mask/hdr_right_06984.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06986.png",
+      "transform_matrix": [
+        [
+          0.870974600315094,
+          -0.08865988254547119,
+          -0.4832625389099121,
+          16.7412166595459
+        ],
+        [
+          0.4801781475543976,
+          -0.0547519251704216,
+          0.8754606246948242,
+          24.779680252075195
+        ],
+        [
+          -0.1040777787566185,
+          -0.9945560097694397,
+          -0.0051150014623999596,
+          -18.63107681274414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6986,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_83081960",
+      "mask_path": "../../mask/hdr_right_06986.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06988.png",
+      "transform_matrix": [
+        [
+          0.8609666228294373,
+          -0.09624037146568298,
+          -0.49947404861450195,
+          16.66119956970215
+        ],
+        [
+          0.49622607231140137,
+          -0.056881584227085114,
+          0.8663280606269836,
+          24.74896240234375
+        ],
+        [
+          -0.1117866039276123,
+          -0.9937314391136169,
+          -0.0012161623453721404,
+          -18.604541778564453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6988,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_283082008",
+      "mask_path": "../../mask/hdr_right_06988.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06990.png",
+      "transform_matrix": [
+        [
+          0.8602230548858643,
+          -0.10158953070640564,
+          -0.4996957778930664,
+          16.56829071044922
+        ],
+        [
+          0.49544647336006165,
+          -0.06528948247432709,
+          0.8661813735961914,
+          24.722196578979492
+        ],
+        [
+          -0.12061984091997147,
+          -0.9926816821098328,
+          -0.0058313533663749695,
+          -18.582048416137695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6990,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_483081340",
+      "mask_path": "../../mask/hdr_right_06990.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06992.png",
+      "transform_matrix": [
+        [
+          0.8516621589660645,
+          -0.10825170576572418,
+          -0.5127894878387451,
+          16.5071964263916
+        ],
+        [
+          0.5098562240600586,
+          -0.055357787758111954,
+          0.8584766387939453,
+          24.67859649658203
+        ],
+        [
+          -0.12131845951080322,
+          -0.9925810098648071,
+          0.008046667091548443,
+          -18.57371711730957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6992,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_683081865",
+      "mask_path": "../../mask/hdr_right_06992.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06994.png",
+      "transform_matrix": [
+        [
+          0.8474788665771484,
+          -0.11222153156995773,
+          -0.5188313126564026,
+          16.444875717163086
+        ],
+        [
+          0.5161260366439819,
+          -0.05424579232931137,
+          0.854793131351471,
+          24.642484664916992
+        ],
+        [
+          -0.12407062202692032,
+          -0.9922013878822327,
+          0.011948279105126858,
+          -18.556074142456055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6994,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323962_883080720",
+      "mask_path": "../../mask/hdr_right_06994.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06996.png",
+      "transform_matrix": [
+        [
+          0.8472638130187988,
+          -0.11698570847511292,
+          -0.5181297063827515,
+          16.38581657409668
+        ],
+        [
+          0.513163685798645,
+          -0.07156648486852646,
+          0.8553018569946289,
+          24.62835693359375
+        ],
+        [
+          -0.13713881373405457,
+          -0.9905516505241394,
+          -0.0006028760690242052,
+          -18.540203094482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6996,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_83082437",
+      "mask_path": "../../mask/hdr_right_06996.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_06998.png",
+      "transform_matrix": [
+        [
+          0.8453146815299988,
+          -0.11890944838523865,
+          -0.5208681225776672,
+          16.314781188964844
+        ],
+        [
+          0.5142960548400879,
+          -0.08296920359134674,
+          0.8535899519920349,
+          24.597665786743164
+        ],
+        [
+          -0.14471592009067535,
+          -0.9894324541091919,
+          -0.008980436250567436,
+          -18.50983238220215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 6998,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_283081054",
+      "mask_path": "../../mask/hdr_right_06998.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07000.png",
+      "transform_matrix": [
+        [
+          0.8389999270439148,
+          -0.1317375749349594,
+          -0.52794349193573,
+          16.26488494873047
+        ],
+        [
+          0.5216946601867676,
+          -0.08099152147769928,
+          0.8492792248725891,
+          24.55353546142578
+        ],
+        [
+          -0.15464092791080475,
+          -0.9879704117774963,
+          0.0007748996722511947,
+          -18.494609832763672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7000,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_483082056",
+      "mask_path": "../../mask/hdr_right_07000.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07002.png",
+      "transform_matrix": [
+        [
+          0.8335974216461182,
+          -0.12476858496665955,
+          -0.5380969047546387,
+          16.224790573120117
+        ],
+        [
+          0.5322549343109131,
+          -0.07907669991254807,
+          0.8428828716278076,
+          24.51300811767578
+        ],
+        [
+          -0.147716224193573,
+          -0.9890297055244446,
+          0.0004905603709630668,
+          -18.49591064453125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7002,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_683081388",
+      "mask_path": "../../mask/hdr_right_07002.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07004.png",
+      "transform_matrix": [
+        [
+          0.8291580080986023,
+          -0.1292182058095932,
+          -0.5438748002052307,
+          16.15683937072754
+        ],
+        [
+          0.5371915698051453,
+          -0.08500682562589645,
+          0.8391657471656799,
+          24.480426788330078
+        ],
+        [
+          -0.15466853976249695,
+          -0.9879658222198486,
+          -0.001069153193384409,
+          -18.46644401550293
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7004,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323963_883082389",
+      "mask_path": "../../mask/hdr_right_07004.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07006.png",
+      "transform_matrix": [
+        [
+          0.8316567540168762,
+          -0.12178213149309158,
+          -0.5417711138725281,
+          16.084327697753906
+        ],
+        [
+          0.5354134440422058,
+          -0.08283732831478119,
+          0.840518057346344,
+          24.440425872802734
+        ],
+        [
+          -0.14723894000053406,
+          -0.989094078540802,
+          -0.0036884434521198273,
+          -18.45152473449707
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7006,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_83081960",
+      "mask_path": "../../mask/hdr_right_07006.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07008.png",
+      "transform_matrix": [
+        [
+          0.8340222239494324,
+          -0.12298400700092316,
+          -0.5378494262695312,
+          16.004369735717773
+        ],
+        [
+          0.5355891585350037,
+          -0.053608737885951996,
+          0.8427753448486328,
+          24.418760299682617
+        ],
+        [
+          -0.13248133659362793,
+          -0.990959644317627,
+          0.021158024668693542,
+          -18.453275680541992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7008,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_283081531",
+      "mask_path": "../../mask/hdr_right_07008.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07010.png",
+      "transform_matrix": [
+        [
+          0.8351133465766907,
+          -0.15286393463611603,
+          -0.5284112095832825,
+          15.90491771697998
+        ],
+        [
+          0.5297359824180603,
+          -0.03532610088586807,
+          0.8474265933036804,
+          24.372039794921875
+        ],
+        [
+          -0.1482076793909073,
+          -0.987615704536438,
+          0.051476236432790756,
+          -18.402938842773438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7010,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_483081102",
+      "mask_path": "../../mask/hdr_right_07010.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07011.png",
+      "transform_matrix": [
+        [
+          0.8390606045722961,
+          -0.17237168550491333,
+          -0.5160089731216431,
+          15.850768089294434
+        ],
+        [
+          0.5184391140937805,
+          -0.03418368846178055,
+          0.8544310927391052,
+          24.359935760498047
+        ],
+        [
+          -0.16491882503032684,
+          -0.9844386577606201,
+          0.0606820285320282,
+          -18.369722366333008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7011,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_583079814",
+      "mask_path": "../../mask/hdr_right_07011.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07013.png",
+      "transform_matrix": [
+        [
+          0.8498103022575378,
+          -0.16919106245040894,
+          -0.49919605255126953,
+          15.768508911132812
+        ],
+        [
+          0.4963814616203308,
+          -0.061647363007068634,
+          0.865912914276123,
+          24.32672119140625
+        ],
+        [
+          -0.17727886140346527,
+          -0.9836533665657043,
+          0.03159473463892937,
+          -18.35561180114746
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7013,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_783081054",
+      "mask_path": "../../mask/hdr_right_07013.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07014.png",
+      "transform_matrix": [
+        [
+          0.8510729670524597,
+          -0.16660264134407043,
+          -0.49791398644447327,
+          15.718698501586914
+        ],
+        [
+          0.49449554085731506,
+          -0.06443140655755997,
+          0.8667887449264526,
+          24.28959083557129
+        ],
+        [
+          -0.17649060487747192,
+          -0.9839167594909668,
+          0.02754843235015869,
+          -18.32928466796875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7014,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323964_883081197",
+      "mask_path": "../../mask/hdr_right_07014.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07018.png",
+      "transform_matrix": [
+        [
+          0.8601541519165039,
+          -0.14664871990680695,
+          -0.48849672079086304,
+          15.60573959350586
+        ],
+        [
+          0.48342037200927734,
+          -0.07093238830566406,
+          0.8725098967552185,
+          24.205528259277344
+        ],
+        [
+          -0.16260269284248352,
+          -0.9866422414779663,
+          0.00988017674535513,
+          -18.312637329101562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7018,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_283081293",
+      "mask_path": "../../mask/hdr_right_07018.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07020.png",
+      "transform_matrix": [
+        [
+          0.8847547769546509,
+          -0.14151765406131744,
+          -0.44405150413513184,
+          15.506072044372559
+        ],
+        [
+          0.43802064657211304,
+          -0.07298167049884796,
+          0.8959975838661194,
+          24.172834396362305
+        ],
+        [
+          -0.15920709073543549,
+          -0.987241804599762,
+          -0.0025832222308963537,
+          -18.288312911987305
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7020,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_483082294",
+      "mask_path": "../../mask/hdr_right_07020.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07022.png",
+      "transform_matrix": [
+        [
+          0.9155853986740112,
+          -0.1314450055360794,
+          -0.38003355264663696,
+          15.439983367919922
+        ],
+        [
+          0.37441787123680115,
+          -0.06605842709541321,
+          0.9249041080474854,
+          24.169763565063477
+        ],
+        [
+          -0.14667844772338867,
+          -0.9891200661659241,
+          -0.011266776360571384,
+          -18.28183364868164
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7022,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323965_683081388",
+      "mask_path": "../../mask/hdr_right_07022.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07026.png",
+      "transform_matrix": [
+        [
+          0.94741290807724,
+          -0.12112559378147125,
+          -0.2962050139904022,
+          15.386504173278809
+        ],
+        [
+          0.2933499217033386,
+          -0.04117428883910179,
+          0.9551180005073547,
+          24.221927642822266
+        ],
+        [
+          -0.12788526713848114,
+          -0.9917827844619751,
+          -0.00347687304019928,
+          -18.279457092285156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7026,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_83079814",
+      "mask_path": "../../mask/hdr_right_07026.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07029.png",
+      "transform_matrix": [
+        [
+          0.9533610343933105,
+          -0.10751978307962418,
+          -0.282032310962677,
+          15.312435150146484
+        ],
+        [
+          0.2815687358379364,
+          -0.019785910844802856,
+          0.959337055683136,
+          24.253345489501953
+        ],
+        [
+          -0.10872798413038254,
+          -0.9940060973167419,
+          0.01141109224408865,
+          -18.27173614501953
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7029,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_383081197",
+      "mask_path": "../../mask/hdr_right_07029.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07031.png",
+      "transform_matrix": [
+        [
+          0.9545319676399231,
+          -0.09880434721708298,
+          -0.28125879168510437,
+          15.243575096130371
+        ],
+        [
+          0.2810598313808441,
+          -0.016216188669204712,
+          0.9595533013343811,
+          24.24193572998047
+        ],
+        [
+          -0.09936898201704025,
+          -0.9949747323989868,
+          0.012291057966649532,
+          -18.270465850830078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7031,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_583079814",
+      "mask_path": "../../mask/hdr_right_07031.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07032.png",
+      "transform_matrix": [
+        [
+          0.9563034772872925,
+          -0.09218195825815201,
+          -0.27746355533599854,
+          15.193954467773438
+        ],
+        [
+          0.2762530744075775,
+          -0.02589908055961132,
+          0.9607359170913696,
+          24.2340145111084
+        ],
+        [
+          -0.09574858099222183,
+          -0.9954053163528442,
+          0.0006981653277762234,
+          -18.26392936706543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7032,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_683079004",
+      "mask_path": "../../mask/hdr_right_07032.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07033.png",
+      "transform_matrix": [
+        [
+          0.9580230712890625,
+          -0.09083037078380585,
+          -0.27192217111587524,
+          15.143268585205078
+        ],
+        [
+          0.26928842067718506,
+          -0.04032837226986885,
+          0.9622148871421814,
+          24.22614097595215
+        ],
+        [
+          -0.09836450219154358,
+          -0.9950494766235352,
+          -0.014175955206155777,
+          -18.265464782714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7033,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_783080816",
+      "mask_path": "../../mask/hdr_right_07033.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07034.png",
+      "transform_matrix": [
+        [
+          0.9592849016189575,
+          -0.0874725878238678,
+          -0.26855388283729553,
+          15.075047492980957
+        ],
+        [
+          0.2658001482486725,
+          -0.04195767268538475,
+          0.9631147384643555,
+          24.207138061523438
+        ],
+        [
+          -0.09551402181386948,
+          -0.9952829480171204,
+          -0.016999131068587303,
+          -18.263900756835938
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7034,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_883080959",
+      "mask_path": "../../mask/hdr_right_07034.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07035.png",
+      "transform_matrix": [
+        [
+          0.96065753698349,
+          -0.06341218203306198,
+          -0.2703997492790222,
+          15.020092010498047
+        ],
+        [
+          0.2693386673927307,
+          -0.024886934086680412,
+          0.9627239108085632,
+          24.1938419342041
+        ],
+        [
+          -0.0677778422832489,
+          -0.9976770877838135,
+          -0.006828471552580595,
+          -18.262006759643555
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7035,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323966_983080625",
+      "mask_path": "../../mask/hdr_right_07035.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07037.png",
+      "transform_matrix": [
+        [
+          0.9589723348617554,
+          -0.046765804290771484,
+          -0.2796158790588379,
+          14.942525863647461
+        ],
+        [
+          0.27921396493911743,
+          -0.015050165355205536,
+          0.9601110816001892,
+          24.16942024230957
+        ],
+        [
+          -0.04910862818360329,
+          -0.9987925291061401,
+          -0.0013750302605330944,
+          -18.253061294555664
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7037,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_183081150",
+      "mask_path": "../../mask/hdr_right_07037.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07039.png",
+      "transform_matrix": [
+        [
+          0.9618703126907349,
+          -0.028633171692490578,
+          -0.2720029056072235,
+          14.864995956420898
+        ],
+        [
+          0.2710985541343689,
+          -0.031845573335886,
+          0.9620246887207031,
+          24.127582550048828
+        ],
+        [
+          -0.036207906901836395,
+          -0.9990825653076172,
+          -0.02286890335381031,
+          -18.24586296081543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7039,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_383079767",
+      "mask_path": "../../mask/hdr_right_07039.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07040.png",
+      "transform_matrix": [
+        [
+          0.964577317237854,
+          -0.031290940940380096,
+          -0.2619379162788391,
+          14.811848640441895
+        ],
+        [
+          0.26080217957496643,
+          -0.03616197779774666,
+          0.9647147059440613,
+          24.119478225708008
+        ],
+        [
+          -0.03965902701020241,
+          -0.9988559484481812,
+          -0.026720276102423668,
+          -18.2462100982666
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7040,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_483080863",
+      "mask_path": "../../mask/hdr_right_07040.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07041.png",
+      "transform_matrix": [
+        [
+          0.967247486114502,
+          -0.032659921795129776,
+          -0.25172534584999084,
+          14.76130199432373
+        ],
+        [
+          0.250116765499115,
+          -0.046492800116539,
+          0.9670987129211426,
+          24.110437393188477
+        ],
+        [
+          -0.04328878968954086,
+          -0.9983845949172974,
+          -0.036801259964704514,
+          -18.246292114257812
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7041,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_583079576",
+      "mask_path": "../../mask/hdr_right_07041.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07042.png",
+      "transform_matrix": [
+        [
+          0.9685277938842773,
+          -0.029699692502617836,
+          -0.24712735414505005,
+          14.695500373840332
+        ],
+        [
+          0.24560701847076416,
+          -0.04706915467977524,
+          0.9682260155677795,
+          24.095170974731445
+        ],
+        [
+          -0.040388092398643494,
+          -0.998449981212616,
+          -0.03829333186149597,
+          -18.235488891601562
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7042,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_683080196",
+      "mask_path": "../../mask/hdr_right_07042.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07044.png",
+      "transform_matrix": [
+        [
+          0.965501606464386,
+          -0.04095173999667168,
+          -0.25715675950050354,
+          14.627765655517578
+        ],
+        [
+          0.2562781274318695,
+          -0.025516454130411148,
+          0.9662662148475647,
+          24.10523796081543
+        ],
+        [
+          -0.04613201692700386,
+          -0.9988352656364441,
+          -0.014141139574348927,
+          -18.226123809814453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7044,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_883079051",
+      "mask_path": "../../mask/hdr_right_07044.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07045.png",
+      "transform_matrix": [
+        [
+          0.9661070704460144,
+          -0.040870510041713715,
+          -0.25488537549972534,
+          14.577052116394043
+        ],
+        [
+          0.2542097568511963,
+          -0.021040931344032288,
+          0.9669202566146851,
+          24.12103271484375
+        ],
+        [
+          -0.04488154873251915,
+          -0.9989429116249084,
+          -0.009938113391399384,
+          -18.21210479736328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7045,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323967_983081102",
+      "mask_path": "../../mask/hdr_right_07045.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07061.png",
+      "transform_matrix": [
+        [
+          0.9747189879417419,
+          -0.08208085596561432,
+          -0.20781166851520538,
+          14.5084228515625
+        ],
+        [
+          0.20312872529029846,
+          -0.061878882348537445,
+          0.9771948456764221,
+          24.184162139892578
+        ],
+        [
+          -0.09306814521551132,
+          -0.9947028160095215,
+          -0.04364154860377312,
+          -18.178831100463867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7061,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_583081007",
+      "mask_path": "../../mask/hdr_right_07061.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07063.png",
+      "transform_matrix": [
+        [
+          0.9714483618736267,
+          -0.12244246900081635,
+          -0.20321418344974518,
+          14.485265731811523
+        ],
+        [
+          0.19599075615406036,
+          -0.06852935254573822,
+          0.9782083034515381,
+          24.21523666381836
+        ],
+        [
+          -0.13370037078857422,
+          -0.9901068210601807,
+          -0.04257513955235481,
+          -18.126163482666016
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7063,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_783080816",
+      "mask_path": "../../mask/hdr_right_07063.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07065.png",
+      "transform_matrix": [
+        [
+          0.9717647433280945,
+          -0.11534363031387329,
+          -0.20583763718605042,
+          14.426880836486816
+        ],
+        [
+          0.19969022274017334,
+          -0.06265800446271896,
+          0.9778537154197693,
+          24.250614166259766
+        ],
+        [
+          -0.12568657100200653,
+          -0.9913474917411804,
+          -0.0378558523952961,
+          -18.13500213623047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7065,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323969_983081340",
+      "mask_path": "../../mask/hdr_right_07065.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07068.png",
+      "transform_matrix": [
+        [
+          0.9732683300971985,
+          -0.0971127524971962,
+          -0.2081296443939209,
+          14.388908386230469
+        ],
+        [
+          0.2005288004875183,
+          -0.08247998356819153,
+          0.9762097001075745,
+          24.273313522338867
+        ],
+        [
+          -0.11196894198656082,
+          -0.9918498992919922,
+          -0.06080125644803047,
+          -18.151981353759766
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7068,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_283082485",
+      "mask_path": "../../mask/hdr_right_07068.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07070.png",
+      "transform_matrix": [
+        [
+          0.9713409543037415,
+          -0.09078853577375412,
+          -0.219668447971344,
+          14.32400131225586
+        ],
+        [
+          0.21135763823986053,
+          -0.09289338439702988,
+          0.9729844331741333,
+          24.273523330688477
+        ],
+        [
+          -0.10874158889055252,
+          -0.9915282130241394,
+          -0.07104229927062988,
+          -18.16016387939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7070,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_483083009",
+      "mask_path": "../../mask/hdr_right_07070.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07071.png",
+      "transform_matrix": [
+        [
+          0.9656917452812195,
+          -0.09342772513628006,
+          -0.24230311810970306,
+          14.275935173034668
+        ],
+        [
+          0.234841987490654,
+          -0.0841120034456253,
+          0.9683877229690552,
+          24.25765037536621
+        ],
+        [
+          -0.11085484176874161,
+          -0.9920667409896851,
+          -0.05928551033139229,
+          -18.145715713500977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7071,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_583081483",
+      "mask_path": "../../mask/hdr_right_07071.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07073.png",
+      "transform_matrix": [
+        [
+          0.941780686378479,
+          -0.10466049611568451,
+          -0.31952372193336487,
+          14.213479995727539
+        ],
+        [
+          0.31450361013412476,
+          -0.06183990463614464,
+          0.947239875793457,
+          24.218425750732422
+        ],
+        [
+          -0.11889791488647461,
+          -0.9925835132598877,
+          -0.025323528796434402,
+          -18.136323928833008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7073,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_783082723",
+      "mask_path": "../../mask/hdr_right_07073.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07075.png",
+      "transform_matrix": [
+        [
+          0.9113337993621826,
+          -0.10415947437286377,
+          -0.3982730209827423,
+          14.129279136657715
+        ],
+        [
+          0.39386239647865295,
+          -0.0608428455889225,
+          0.917153537273407,
+          24.17232894897461
+        ],
+        [
+          -0.11976230144500732,
+          -0.9926977753639221,
+          -0.01442364789545536,
+          -18.11224937438965
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7075,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323970_983081340",
+      "mask_path": "../../mask/hdr_right_07075.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07080.png",
+      "transform_matrix": [
+        [
+          0.8678799271583557,
+          -0.10429057478904724,
+          -0.48570355772972107,
+          13.932209968566895
+        ],
+        [
+          0.48090147972106934,
+          -0.06879634410142899,
+          0.8740714192390442,
+          24.090253829956055
+        ],
+        [
+          -0.12457205355167389,
+          -0.9921646118164062,
+          -0.009553475305438042,
+          -18.0794677734375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7080,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_483082056",
+      "mask_path": "../../mask/hdr_right_07080.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07081.png",
+      "transform_matrix": [
+        [
+          0.8637235164642334,
+          -0.10312618315219879,
+          -0.4933018684387207,
+          13.891878128051758
+        ],
+        [
+          0.48863255977630615,
+          -0.06825130432844162,
+          0.8698161244392395,
+          24.056509017944336
+        ],
+        [
+          -0.12336930632591248,
+          -0.9923238754272461,
+          -0.008559457026422024,
+          -18.074058532714844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7081,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_583082199",
+      "mask_path": "../../mask/hdr_right_07081.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07082.png",
+      "transform_matrix": [
+        [
+          0.8594614267349243,
+          -0.10975991934537888,
+          -0.4992782175540924,
+          13.83259105682373
+        ],
+        [
+          0.49510714411735535,
+          -0.06441055238246918,
+          0.8664411902427673,
+          24.023447036743164
+        ],
+        [
+          -0.12725929915905,
+          -0.9918689727783203,
+          -0.0010154739720746875,
+          -18.066530227661133
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7082,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_683082342",
+      "mask_path": "../../mask/hdr_right_07082.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07083.png",
+      "transform_matrix": [
+        [
+          0.8562175035476685,
+          -0.11841083317995071,
+          -0.5028622150421143,
+          13.761350631713867
+        ],
+        [
+          0.4984552562236786,
+          -0.06646241992712021,
+          0.8643640279769897,
+          23.997596740722656
+        ],
+        [
+          -0.1357715129852295,
+          -0.9907379746437073,
+          0.002116213785484433,
+          -18.047565460205078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7083,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_783082962",
+      "mask_path": "../../mask/hdr_right_07083.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07084.png",
+      "transform_matrix": [
+        [
+          0.8514273762702942,
+          -0.1232878640294075,
+          -0.5097760558128357,
+          13.703914642333984
+        ],
+        [
+          0.504670262336731,
+          -0.07197538763284683,
+          0.8603067398071289,
+          23.982166290283203
+        ],
+        [
+          -0.14275670051574707,
+          -0.9897573590278625,
+          0.0009378938120789826,
+          -18.03700065612793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7084,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_883081674",
+      "mask_path": "../../mask/hdr_right_07084.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07085.png",
+      "transform_matrix": [
+        [
+          0.8444963693618774,
+          -0.11710996180772781,
+          -0.5226001739501953,
+          13.62922191619873
+        ],
+        [
+          0.5191442370414734,
+          -0.060748495161533356,
+          0.852524995803833,
+          23.932466506958008
+        ],
+        [
+          -0.13158634305000305,
+          -0.9912592768669128,
+          0.009495072066783905,
+          -18.03122901916504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7085,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323971_983080863",
+      "mask_path": "../../mask/hdr_right_07085.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07086.png",
+      "transform_matrix": [
+        [
+          0.8347064852714539,
+          -0.10932348668575287,
+          -0.539734423160553,
+          13.571805953979492
+        ],
+        [
+          0.5385004878044128,
+          -0.04307665303349495,
+          0.8415234684944153,
+          23.888517379760742
+        ],
+        [
+          -0.11524822562932968,
+          -0.9930723905563354,
+          0.02291438728570938,
+          -18.019941329956055
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7086,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_83081722",
+      "mask_path": "../../mask/hdr_right_07086.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07087.png",
+      "transform_matrix": [
+        [
+          0.8244969844818115,
+          -0.1066947653889656,
+          -0.5557166934013367,
+          13.51529598236084
+        ],
+        [
+          0.5557709336280823,
+          -0.031991928815841675,
+          0.8307198286056519,
+          23.86262321472168
+        ],
+        [
+          -0.1064119040966034,
+          -0.9937770366668701,
+          0.03292059525847435,
+          -18.015161514282227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7087,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_183081388",
+      "mask_path": "../../mask/hdr_right_07087.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07088.png",
+      "transform_matrix": [
+        [
+          0.8155807852745056,
+          -0.1023591160774231,
+          -0.5695179104804993,
+          13.448484420776367
+        ],
+        [
+          0.569502055644989,
+          -0.03226236626505852,
+          0.8213566541671753,
+          23.83588981628418
+        ],
+        [
+          -0.10244733095169067,
+          -0.9942241907119751,
+          0.03198115900158882,
+          -18.008514404296875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7088,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_283081293",
+      "mask_path": "../../mask/hdr_right_07088.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07089.png",
+      "transform_matrix": [
+        [
+          0.8090384006500244,
+          -0.0956844612956047,
+          -0.579914927482605,
+          13.3823823928833
+        ],
+        [
+          0.5790306329727173,
+          -0.03962326794862747,
+          0.8143424987792969,
+          23.81021499633789
+        ],
+        [
+          -0.10089804232120514,
+          -0.9946227669715881,
+          0.023347482085227966,
+          -18.005117416381836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7089,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_383080959",
+      "mask_path": "../../mask/hdr_right_07089.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07090.png",
+      "transform_matrix": [
+        [
+          0.8045977354049683,
+          -0.09262946993112564,
+          -0.5865511894226074,
+          13.33212661743164
+        ],
+        [
+          0.5848681926727295,
+          -0.047249842435121536,
+          0.8097509741783142,
+          23.779966354370117
+        ],
+        [
+          -0.10272124409675598,
+          -0.9945788979530334,
+          0.01615891419351101,
+          -17.998384475708008
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7090,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_483080863",
+      "mask_path": "../../mask/hdr_right_07090.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07091.png",
+      "transform_matrix": [
+        [
+          0.8010739684104919,
+          -0.09014745056629181,
+          -0.5917380452156067,
+          13.289618492126465
+        ],
+        [
+          0.5887974500656128,
+          -0.05919055640697479,
+          0.8061105608940125,
+          23.751550674438477
+        ],
+        [
+          -0.1076941043138504,
+          -0.9941679239273071,
+          0.0056625716388225555,
+          -17.993040084838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7091,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_583081245",
+      "mask_path": "../../mask/hdr_right_07091.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07092.png",
+      "transform_matrix": [
+        [
+          0.7986156344413757,
+          -0.09529542922973633,
+          -0.5942490696907043,
+          13.237262725830078
+        ],
+        [
+          0.5886714458465576,
+          -0.08174452185630798,
+          0.8042288422584534,
+          23.69452667236328
+        ],
+        [
+          -0.12521591782569885,
+          -0.9920870065689087,
+          -0.009184751659631729,
+          -17.963285446166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7092,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_683080196",
+      "mask_path": "../../mask/hdr_right_07092.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07093.png",
+      "transform_matrix": [
+        [
+          0.7932484745979309,
+          -0.10713475197553635,
+          -0.5993989109992981,
+          13.167096138000488
+        ],
+        [
+          0.5937544107437134,
+          -0.08207911252975464,
+          0.8004491329193115,
+          23.637178421020508
+        ],
+        [
+          -0.134954035282135,
+          -0.9908506870269775,
+          -0.0014974031364545226,
+          -17.921350479125977
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7093,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_783077955",
+      "mask_path": "../../mask/hdr_right_07093.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07094.png",
+      "transform_matrix": [
+        [
+          0.7884650230407715,
+          -0.1138157770037651,
+          -0.604457437992096,
+          13.1142578125
+        ],
+        [
+          0.6002922058105469,
+          -0.07179994136095047,
+          0.7965513467788696,
+          23.60896110534668
+        ],
+        [
+          -0.1340601146221161,
+          -0.9909039735794067,
+          0.011710979044437408,
+          -17.919307708740234
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7094,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_883079051",
+      "mask_path": "../../mask/hdr_right_07094.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07095.png",
+      "transform_matrix": [
+        [
+          0.7870144248008728,
+          -0.11487985402345657,
+          -0.6061443090438843,
+          13.074708938598633
+        ],
+        [
+          0.602232813835144,
+          -0.07015514373779297,
+          0.7952319979667664,
+          23.576709747314453
+        ],
+        [
+          -0.13388025760650635,
+          -0.9908990263938904,
+          0.013971307314932346,
+          -17.922924041748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7095,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323972_983080148",
+      "mask_path": "../../mask/hdr_right_07095.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07096.png",
+      "transform_matrix": [
+        [
+          0.7867677807807922,
+          -0.13514815270900726,
+          -0.6022719144821167,
+          13.023466110229492
+        ],
+        [
+          0.6005520820617676,
+          -0.05780788138508797,
+          0.7974932789802551,
+          23.54569435119629
+        ],
+        [
+          -0.1425957977771759,
+          -0.989137589931488,
+          0.035682130604982376,
+          -17.9073543548584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7096,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_83081722",
+      "mask_path": "../../mask/hdr_right_07096.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07097.png",
+      "transform_matrix": [
+        [
+          0.792559027671814,
+          -0.18057967722415924,
+          -0.5824441909790039,
+          12.94282054901123
+        ],
+        [
+          0.5822188854217529,
+          -0.05989719182252884,
+          0.8108227849006653,
+          23.525964736938477
+        ],
+        [
+          -0.18130488693714142,
+          -0.9817348122596741,
+          0.05766484886407852,
+          -17.820236206054688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7097,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_183084011",
+      "mask_path": "../../mask/hdr_right_07097.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07099.png",
+      "transform_matrix": [
+        [
+          0.8038144707679749,
+          -0.21400709450244904,
+          -0.5550524592399597,
+          12.83725357055664
+        ],
+        [
+          0.5503538250923157,
+          -0.08665823191404343,
+          0.8304222226142883,
+          23.48826026916504
+        ],
+        [
+          -0.22581610083580017,
+          -0.9729806184768677,
+          0.048122476786375046,
+          -17.767114639282227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7099,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_383082628",
+      "mask_path": "../../mask/hdr_right_07099.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07100.png",
+      "transform_matrix": [
+        [
+          0.8054733276367188,
+          -0.2137116938829422,
+          -0.552756667137146,
+          12.782980918884277
+        ],
+        [
+          0.5481122732162476,
+          -0.08603297919034958,
+          0.831968367099762,
+          23.44121742248535
+        ],
+        [
+          -0.22535666823387146,
+          -0.973101019859314,
+          0.047840721905231476,
+          -17.749544143676758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7100,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_483082771",
+      "mask_path": "../../mask/hdr_right_07100.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07104.png",
+      "transform_matrix": [
+        [
+          0.7986571192741394,
+          -0.2752929925918579,
+          -0.5351267457008362,
+          12.647187232971191
+        ],
+        [
+          0.5409486293792725,
+          -0.06119333580136299,
+          0.8388265371322632,
+          23.354026794433594
+        ],
+        [
+          -0.26366928219795227,
+          -0.9594108462333679,
+          0.10004687309265137,
+          -17.674257278442383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7104,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_883083820",
+      "mask_path": "../../mask/hdr_right_07104.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07105.png",
+      "transform_matrix": [
+        [
+          0.7945801019668579,
+          -0.3126513659954071,
+          -0.5204724669456482,
+          12.558011054992676
+        ],
+        [
+          0.5313083529472351,
+          -0.05684404447674751,
+          0.8452693223953247,
+          23.34937286376953
+        ],
+        [
+          -0.2938603460788727,
+          -0.9481655359268188,
+          0.12094712257385254,
+          -17.618438720703125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7105,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323973_983082532",
+      "mask_path": "../../mask/hdr_right_07105.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07107.png",
+      "transform_matrix": [
+        [
+          0.8010095953941345,
+          -0.2938888669013977,
+          -0.5215485692024231,
+          12.482878684997559
+        ],
+        [
+          0.517988383769989,
+          -0.09651226550340652,
+          0.849925696849823,
+          23.338388442993164
+        ],
+        [
+          -0.3001195192337036,
+          -0.9509546756744385,
+          0.07492373883724213,
+          -17.623878479003906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7107,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323974_183083534",
+      "mask_path": "../../mask/hdr_right_07107.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07118.png",
+      "transform_matrix": [
+        [
+          0.8669602870941162,
+          -0.22744794189929962,
+          -0.4434492290019989,
+          12.111685752868652
+        ],
+        [
+          0.43655654788017273,
+          -0.08264302462339401,
+          0.8958731293678284,
+          23.163949966430664
+        ],
+        [
+          -0.24041245877742767,
+          -0.9702770709991455,
+          0.027645666152238846,
+          -17.514991760253906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7118,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_283081531",
+      "mask_path": "../../mask/hdr_right_07118.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07121.png",
+      "transform_matrix": [
+        [
+          0.8769460916519165,
+          -0.21796546876430511,
+          -0.4283182919025421,
+          11.956101417541504
+        ],
+        [
+          0.42018744349479675,
+          -0.08482308685779572,
+          0.9034641981124878,
+          23.11659049987793
+        ],
+        [
+          -0.2332552671432495,
+          -0.9722633361816406,
+          0.017201077193021774,
+          -17.475919723510742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7121,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_583083152",
+      "mask_path": "../../mask/hdr_right_07121.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07122.png",
+      "transform_matrix": [
+        [
+          0.879944920539856,
+          -0.21197198331356049,
+          -0.42516449093818665,
+          11.887954711914062
+        ],
+        [
+          0.413042813539505,
+          -0.10080581158399582,
+          0.9051154255867004,
+          23.094099044799805
+        ],
+        [
+          -0.23471815884113312,
+          -0.9720627069473267,
+          -0.0011500545078888535,
+          -17.475257873535156
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7122,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_683081150",
+      "mask_path": "../../mask/hdr_right_07122.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07123.png",
+      "transform_matrix": [
+        [
+          0.8796809911727905,
+          -0.2115812599658966,
+          -0.42590463161468506,
+          11.826886177062988
+        ],
+        [
+          0.4128878712654114,
+          -0.10459450632333755,
+          0.9047561883926392,
+          23.059717178344727
+        ],
+        [
+          -0.23597672581672668,
+          -0.9717475771903992,
+          -0.004650461953133345,
+          -17.408308029174805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7123,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_783081769",
+      "mask_path": "../../mask/hdr_right_07123.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07124.png",
+      "transform_matrix": [
+        [
+          0.8777965307235718,
+          -0.2081475555896759,
+          -0.4314485192298889,
+          11.782994270324707
+        ],
+        [
+          0.4221073389053345,
+          -0.08975303918123245,
+          0.902091920375824,
+          23.032960891723633
+        ],
+        [
+          -0.2264920324087143,
+          -0.9739708304405212,
+          0.00907568447291851,
+          -17.3637752532959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7124,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_883080959",
+      "mask_path": "../../mask/hdr_right_07124.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07125.png",
+      "transform_matrix": [
+        [
+          0.8772437572479248,
+          -0.20236705243587494,
+          -0.4353054463863373,
+          11.737706184387207
+        ],
+        [
+          0.4296981990337372,
+          -0.0732499212026596,
+          0.8999966382980347,
+          23.012466430664062
+        ],
+        [
+          -0.21401573717594147,
+          -0.9765664935112,
+          0.02269870974123478,
+          -17.368791580200195
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7125,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323975_983081817",
+      "mask_path": "../../mask/hdr_right_07125.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07126.png",
+      "transform_matrix": [
+        [
+          0.877625048160553,
+          -0.19947701692581177,
+          -0.4358707368373871,
+          11.684693336486816
+        ],
+        [
+          0.43224045634269714,
+          -0.06377176195383072,
+          0.8995006084442139,
+          22.98473358154297
+        ],
+        [
+          -0.20722593367099762,
+          -0.9778251647949219,
+          0.030254323035478592,
+          -17.360687255859375
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7126,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_83081007",
+      "mask_path": "../../mask/hdr_right_07126.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07127.png",
+      "transform_matrix": [
+        [
+          0.8820824027061462,
+          -0.18435567617416382,
+          -0.4335247278213501,
+          11.633805274963379
+        ],
+        [
+          0.4275936186313629,
+          -0.07292305678129196,
+          0.9010249972343445,
+          22.951196670532227
+        ],
+        [
+          -0.19772301614284515,
+          -0.9801506400108337,
+          0.0145051758736372,
+          -17.336288452148438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7127,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_183082342",
+      "mask_path": "../../mask/hdr_right_07127.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07128.png",
+      "transform_matrix": [
+        [
+          0.8850182294845581,
+          -0.178216353058815,
+          -0.4300949275493622,
+          11.588250160217285
+        ],
+        [
+          0.42198044061660767,
+          -0.08316697180271149,
+          0.9027822613716125,
+          22.92481803894043
+        ],
+        [
+          -0.19666026532649994,
+          -0.9804703593254089,
+          0.0015995188150554895,
+          -17.312801361083984
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7128,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_283082246",
+      "mask_path": "../../mask/hdr_right_07128.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07129.png",
+      "transform_matrix": [
+        [
+          0.8852719664573669,
+          -0.1838918924331665,
+          -0.4271737337112427,
+          11.532418251037598
+        ],
+        [
+          0.4173318147659302,
+          -0.09125714749097824,
+          0.9041606187820435,
+          22.906579971313477
+        ],
+        [
+          -0.20525044202804565,
+          -0.978701114654541,
+          -0.00404345104470849,
+          -17.299808502197266
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7129,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_383081674",
+      "mask_path": "../../mask/hdr_right_07129.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07131.png",
+      "transform_matrix": [
+        [
+          0.8751721382141113,
+          -0.22279906272888184,
+          -0.42945823073387146,
+          11.476966857910156
+        ],
+        [
+          0.4079943001270294,
+          -0.13721007108688354,
+          0.9026151299476624,
+          22.821584701538086
+        ],
+        [
+          -0.26002779603004456,
+          -0.965160071849823,
+          -0.029181694611907005,
+          -17.18924903869629
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7131,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_583081245",
+      "mask_path": "../../mask/hdr_right_07131.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07132.png",
+      "transform_matrix": [
+        [
+          0.8697230815887451,
+          -0.2309437245130539,
+          -0.43617281317710876,
+          11.389120101928711
+        ],
+        [
+          0.41715171933174133,
+          -0.1283118724822998,
+          0.8997336626052856,
+          22.806936264038086
+        ],
+        [
+          -0.2637539505958557,
+          -0.964469313621521,
+          -0.015257243998348713,
+          -17.167936325073242
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7132,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_683082103",
+      "mask_path": "../../mask/hdr_right_07132.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07133.png",
+      "transform_matrix": [
+        [
+          0.8706504106521606,
+          -0.2277667075395584,
+          -0.43599334359169006,
+          11.32304859161377
+        ],
+        [
+          0.4190411865711212,
+          -0.12078551203012466,
+          0.8998975157737732,
+          22.800827026367188
+        ],
+        [
+          -0.25762835144996643,
+          -0.9661951661109924,
+          -0.009718331508338451,
+          -17.191404342651367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7133,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_783082485",
+      "mask_path": "../../mask/hdr_right_07133.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07134.png",
+      "transform_matrix": [
+        [
+          0.8750077486038208,
+          -0.22367732226848602,
+          -0.4293365776538849,
+          11.270343780517578
+        ],
+        [
+          0.4129825234413147,
+          -0.1178598403930664,
+          0.9030805826187134,
+          22.792186737060547
+        ],
+        [
+          -0.25260019302368164,
+          -0.9675109386444092,
+          -0.010753452777862549,
+          -17.180553436279297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7134,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323976_883082866",
+      "mask_path": "../../mask/hdr_right_07134.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07136.png",
+      "transform_matrix": [
+        [
+          0.8825283646583557,
+          -0.2221522182226181,
+          -0.4144783020019531,
+          11.18214225769043
+        ],
+        [
+          0.3944365978240967,
+          -0.1302196979522705,
+          0.9096497297286987,
+          22.774272918701172
+        ],
+        [
+          -0.2560539245605469,
+          -0.966277003288269,
+          -0.027297601103782654,
+          -17.157798767089844
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7136,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_83083152",
+      "mask_path": "../../mask/hdr_right_07136.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07138.png",
+      "transform_matrix": [
+        [
+          0.9050604104995728,
+          -0.18744324147701263,
+          -0.3817468583583832,
+          11.112926483154297
+        ],
+        [
+          0.36329662799835205,
+          -0.1258857697248459,
+          0.923129677772522,
+          22.73106575012207
+        ],
+        [
+          -0.2210908979177475,
+          -0.9741754531860352,
+          -0.04583675414323807,
+          -17.093185424804688
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7138,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_283082962",
+      "mask_path": "../../mask/hdr_right_07138.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07141.png",
+      "transform_matrix": [
+        [
+          0.9177789092063904,
+          -0.17574934661388397,
+          -0.35608160495758057,
+          10.958576202392578
+        ],
+        [
+          0.3467961847782135,
+          -0.08205265551805496,
+          0.9343445897102356,
+          22.72002410888672
+        ],
+        [
+          -0.1934279203414917,
+          -0.9810094237327576,
+          -0.014356989413499832,
+          -17.100515365600586
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7141,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_583083391",
+      "mask_path": "../../mask/hdr_right_07141.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07143.png",
+      "transform_matrix": [
+        [
+          0.9274544715881348,
+          -0.1744864135980606,
+          -0.3307304084300995,
+          10.879816055297852
+        ],
+        [
+          0.3203122317790985,
+          -0.08565931767225266,
+          0.9434313178062439,
+          22.711275100708008
+        ],
+        [
+          -0.19294609129428864,
+          -0.9809265732765198,
+          -0.02355499565601349,
+          -17.067659378051758
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7143,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323977_783082008",
+      "mask_path": "../../mask/hdr_right_07143.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07146.png",
+      "transform_matrix": [
+        [
+          0.9284501075744629,
+          -0.20763151347637177,
+          -0.30800876021385193,
+          10.786237716674805
+        ],
+        [
+          0.28660109639167786,
+          -0.1270788162946701,
+          0.9495845437049866,
+          22.669328689575195
+        ],
+        [
+          -0.23630507290363312,
+          -0.9699175953865051,
+          -0.0584789402782917,
+          -16.97734260559082
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7146,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_83081483",
+      "mask_path": "../../mask/hdr_right_07146.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07147.png",
+      "transform_matrix": [
+        [
+          0.9261729121208191,
+          -0.216482013463974,
+          -0.3087705671787262,
+          10.707012176513672
+        ],
+        [
+          0.29109081625938416,
+          -0.11010626703500748,
+          0.9503381848335266,
+          22.660520553588867
+        ],
+        [
+          -0.23972871899604797,
+          -0.9700577855110168,
+          -0.0389614999294281,
+          -16.953140258789062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7147,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_183080434",
+      "mask_path": "../../mask/hdr_right_07147.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07149.png",
+      "transform_matrix": [
+        [
+          0.9326753616333008,
+          -0.20278382301330566,
+          -0.29832085967063904,
+          10.601766586303711
+        ],
+        [
+          0.28498074412345886,
+          -0.09277539700269699,
+          0.954032838344574,
+          22.64268684387207
+        ],
+        [
+          -0.22113926708698273,
+          -0.9748186469078064,
+          -0.02873986028134823,
+          -16.947128295898438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7149,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_383080244",
+      "mask_path": "../../mask/hdr_right_07149.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07150.png",
+      "transform_matrix": [
+        [
+          0.9368273615837097,
+          -0.19404760003089905,
+          -0.2910327613353729,
+          10.545766830444336
+        ],
+        [
+          0.2761852443218231,
+          -0.10023192316293716,
+          0.9558637142181396,
+          22.630399703979492
+        ],
+        [
+          -0.2146538347005844,
+          -0.9758580923080444,
+          -0.040306925773620605,
+          -16.917173385620117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7150,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_483078956",
+      "mask_path": "../../mask/hdr_right_07150.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07152.png",
+      "transform_matrix": [
+        [
+          0.939418613910675,
+          -0.20264539122581482,
+          -0.2764551043510437,
+          10.459985733032227
+        ],
+        [
+          0.26136350631713867,
+          -0.0983368456363678,
+          0.9602183103561401,
+          22.6223087310791
+        ],
+        [
+          -0.2217695116996765,
+          -0.9743021130561829,
+          -0.039415374398231506,
+          -16.899492263793945
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7152,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_683080673",
+      "mask_path": "../../mask/hdr_right_07152.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07154.png",
+      "transform_matrix": [
+        [
+          0.9402456283569336,
+          -0.20471160113811493,
+          -0.2720872461795807,
+          10.35470962524414
+        ],
+        [
+          0.2606768012046814,
+          -0.08131690323352814,
+          0.9619954228401184,
+          22.60529136657715
+        ],
+        [
+          -0.21905691921710968,
+          -0.97543865442276,
+          -0.0230942964553833,
+          -16.879758834838867
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7154,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323978_883081436",
+      "mask_path": "../../mask/hdr_right_07154.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07156.png",
+      "transform_matrix": [
+        [
+          0.9393476247787476,
+          -0.20828720927238464,
+          -0.2724747359752655,
+          10.259242057800293
+        ],
+        [
+          0.26672306656837463,
+          -0.055778853595256805,
+          0.9621578454971313,
+          22.5778751373291
+        ],
+        [
+          -0.21560347080230713,
+          -0.9764759540557861,
+          0.003159264801070094,
+          -16.86748504638672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7156,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_83080768",
+      "mask_path": "../../mask/hdr_right_07156.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07157.png",
+      "transform_matrix": [
+        [
+          0.9407892823219299,
+          -0.20791754126548767,
+          -0.2677422761917114,
+          10.189974784851074
+        ],
+        [
+          0.26290279626846313,
+          -0.05110206454992294,
+          0.9634681344032288,
+          22.562530517578125
+        ],
+        [
+          -0.21400411427021027,
+          -0.9768105745315552,
+          0.0065858252346515656,
+          -16.852998733520508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7157,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_183082342",
+      "mask_path": "../../mask/hdr_right_07157.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07158.png",
+      "transform_matrix": [
+        [
+          0.9435874819755554,
+          -0.20814040303230286,
+          -0.2575269639492035,
+          10.128325462341309
+        ],
+        [
+          0.25200286507606506,
+          -0.053105421364307404,
+          0.9662683606147766,
+          22.547502517700195
+        ],
+        [
+          -0.2147955596446991,
+          -0.9766562581062317,
+          0.0023423642851412296,
+          -16.830211639404297
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7158,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_283082008",
+      "mask_path": "../../mask/hdr_right_07158.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07159.png",
+      "transform_matrix": [
+        [
+          0.9459648728370667,
+          -0.20686529576778412,
+          -0.24971452355384827,
+          10.048614501953125
+        ],
+        [
+          0.24370193481445312,
+          -0.05447915196418762,
+          0.9683188796043396,
+          22.52818489074707
+        ],
+        [
+          -0.21391580998897552,
+          -0.9768514633178711,
+          -0.0011218913132324815,
+          -16.81032371520996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7159,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_383081912",
+      "mask_path": "../../mask/hdr_right_07159.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07160.png",
+      "transform_matrix": [
+        [
+          0.94814532995224,
+          -0.19480739533901215,
+          -0.25113824009895325,
+          9.941961288452148
+        ],
+        [
+          0.24720609188079834,
+          -0.04464847221970558,
+          0.967933714389801,
+          22.50423812866211
+        ],
+        [
+          -0.19977359473705292,
+          -0.9798247814178467,
+          0.0058243307285010815,
+          -16.80426597595215
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7160,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_483082294",
+      "mask_path": "../../mask/hdr_right_07160.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07161.png",
+      "transform_matrix": [
+        [
+          0.9477866888046265,
+          -0.1845420002937317,
+          -0.2600860595703125,
+          9.852970123291016
+        ],
+        [
+          0.2585703730583191,
+          -0.03266438469290733,
+          0.9654401540756226,
+          22.48295783996582
+        ],
+        [
+          -0.1866597831249237,
+          -0.9822816848754883,
+          0.016758214682340622,
+          -16.81170082092285
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7161,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_583082199",
+      "mask_path": "../../mask/hdr_right_07161.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07162.png",
+      "transform_matrix": [
+        [
+          0.946186363697052,
+          -0.1791113317012787,
+          -0.26953768730163574,
+          9.7816743850708
+        ],
+        [
+          0.2688460946083069,
+          -0.028592508286237717,
+          0.9627587199211121,
+          22.46332359313965
+        ],
+        [
+          -0.18014776706695557,
+          -0.9834132194519043,
+          0.021099543198943138,
+          -16.812829971313477
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7162,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_683081150",
+      "mask_path": "../../mask/hdr_right_07162.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07163.png",
+      "transform_matrix": [
+        [
+          0.9481552243232727,
+          -0.15333645045757294,
+          -0.2783695161342621,
+          9.705901145935059
+        ],
+        [
+          0.27621525526046753,
+          -0.035614993423223495,
+          0.9604357481002808,
+          22.444454193115234
+        ],
+        [
+          -0.1571839451789856,
+          -0.9875320196151733,
+          0.00858532264828682,
+          -16.79949188232422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7163,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_783081531",
+      "mask_path": "../../mask/hdr_right_07163.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07164.png",
+      "transform_matrix": [
+        [
+          0.9516270160675049,
+          -0.12065160274505615,
+          -0.28257620334625244,
+          9.63311767578125
+        ],
+        [
+          0.27954962849617004,
+          -0.04167080298066139,
+          0.9592266082763672,
+          22.42557716369629
+        ],
+        [
+          -0.12750740349292755,
+          -0.9918198585510254,
+          -0.005926954559981823,
+          -16.79438591003418
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7164,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_883080720",
+      "mask_path": "../../mask/hdr_right_07164.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07165.png",
+      "transform_matrix": [
+        [
+          0.9521284103393555,
+          -0.10316835343837738,
+          -0.2877635061740875,
+          9.579240798950195
+        ],
+        [
+          0.284603476524353,
+          -0.04446340352296829,
+          0.9576136469841003,
+          22.412521362304688
+        ],
+        [
+          -0.11159037798643112,
+          -0.9936696290969849,
+          -0.012972797267138958,
+          -16.797060012817383
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7165,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323979_983080625",
+      "mask_path": "../../mask/hdr_right_07165.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07166.png",
+      "transform_matrix": [
+        [
+          0.9513193368911743,
+          -0.09479951113462448,
+          -0.29326531291007996,
+          9.519225120544434
+        ],
+        [
+          0.289376437664032,
+          -0.05276258662343025,
+          0.95576012134552,
+          22.39086151123047
+        ],
+        [
+          -0.10607903450727463,
+          -0.9940972328186035,
+          -0.022761328145861626,
+          -16.787044525146484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7166,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_83081483",
+      "mask_path": "../../mask/hdr_right_07166.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07167.png",
+      "transform_matrix": [
+        [
+          0.9504097700119019,
+          -0.07207009941339493,
+          -0.30253472924232483,
+          9.441612243652344
+        ],
+        [
+          0.30049407482147217,
+          -0.037909578531980515,
+          0.9530300498008728,
+          22.373077392578125
+        ],
+        [
+          -0.0801539346575737,
+          -0.99667888879776,
+          -0.01437299232929945,
+          -16.784534454345703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7167,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_183080196",
+      "mask_path": "../../mask/hdr_right_07167.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07169.png",
+      "transform_matrix": [
+        [
+          0.9405877590179443,
+          -0.0530572384595871,
+          -0.3353798985481262,
+          9.336283683776855
+        ],
+        [
+          0.3349637985229492,
+          -0.016815287992358208,
+          0.9420809745788574,
+          22.35359001159668
+        ],
+        [
+          -0.055623721331357956,
+          -0.9984498620033264,
+          0.0019559981301426888,
+          -16.80078887939453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7169,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_383080482",
+      "mask_path": "../../mask/hdr_right_07169.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07170.png",
+      "transform_matrix": [
+        [
+          0.9329435229301453,
+          -0.04987896606326103,
+          -0.3565507233142853,
+          9.275263786315918
+        ],
+        [
+          0.35614433884620667,
+          -0.017113858833909035,
+          0.9342742562294006,
+          22.32650375366211
+        ],
+        [
+          -0.05270259082317352,
+          -0.9986085891723633,
+          0.0017978453543037176,
+          -16.797359466552734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7170,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_483080863",
+      "mask_path": "../../mask/hdr_right_07170.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07171.png",
+      "transform_matrix": [
+        [
+          0.9284147620201111,
+          -0.0435272715985775,
+          -0.36898696422576904,
+          9.219497680664062
+        ],
+        [
+          0.36855924129486084,
+          -0.017767149955034256,
+          0.929434597492218,
+          22.302513122558594
+        ],
+        [
+          -0.0470115952193737,
+          -0.9988942742347717,
+          -0.0004529085417743772,
+          -16.799070358276367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7171,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_583080768",
+      "mask_path": "../../mask/hdr_right_07171.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07172.png",
+      "transform_matrix": [
+        [
+          0.9257782697677612,
+          -0.03759567439556122,
+          -0.37619301676750183,
+          9.157431602478027
+        ],
+        [
+          0.3757353723049164,
+          -0.018845224753022194,
+          0.926535427570343,
+          22.28765296936035
+        ],
+        [
+          -0.041923172771930695,
+          -0.9991152882575989,
+          -0.003320475574582815,
+          -16.802692413330078
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7172,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_683081150",
+      "mask_path": "../../mask/hdr_right_07172.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07173.png",
+      "transform_matrix": [
+        [
+          0.9260603785514832,
+          -0.03339020907878876,
+          -0.37589532136917114,
+          9.102420806884766
+        ],
+        [
+          0.3752017915248871,
+          -0.02528819814324379,
+          0.9265981316566467,
+          22.27672576904297
+        ],
+        [
+          -0.04044501855969429,
+          -0.9991225004196167,
+          -0.010890335775911808,
+          -16.803171157836914
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7173,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_783081054",
+      "mask_path": "../../mask/hdr_right_07173.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07174.png",
+      "transform_matrix": [
+        [
+          0.9288021922111511,
+          -0.03282906115055084,
+          -0.3691188395023346,
+          9.031606674194336
+        ],
+        [
+          0.3684701919555664,
+          -0.024219155311584473,
+          0.9293241500854492,
+          22.256593704223633
+        ],
+        [
+          -0.0394485779106617,
+          -0.9991675019264221,
+          -0.010398277081549168,
+          -16.79734992980957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7174,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_883080720",
+      "mask_path": "../../mask/hdr_right_07174.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07175.png",
+      "transform_matrix": [
+        [
+          0.9284398555755615,
+          -0.03570692613720894,
+          -0.36976268887519836,
+          8.954460144042969
+        ],
+        [
+          0.36948007345199585,
+          -0.014457584358751774,
+          0.9291262626647949,
+          22.22863006591797
+        ],
+        [
+          -0.03852212056517601,
+          -0.9992576837539673,
+          -0.00023000028159003705,
+          -16.786636352539062
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7175,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323980_983080863",
+      "mask_path": "../../mask/hdr_right_07175.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07176.png",
+      "transform_matrix": [
+        [
+          0.9267885684967041,
+          -0.03739779442548752,
+          -0.3737170100212097,
+          8.899121284484863
+        ],
+        [
+          0.37358301877975464,
+          -0.01077219471335411,
+          0.927534282207489,
+          22.214035034179688
+        ],
+        [
+          -0.0387134850025177,
+          -0.9992424249649048,
+          0.003987631760537624,
+          -16.79206657409668
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7176,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_83082437",
+      "mask_path": "../../mask/hdr_right_07176.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07178.png",
+      "transform_matrix": [
+        [
+          0.9283902645111084,
+          -0.027844490483403206,
+          -0.37056195735931396,
+          8.821971893310547
+        ],
+        [
+          0.3703625202178955,
+          -0.012197967618703842,
+          0.928807258605957,
+          22.19058609008789
+        ],
+        [
+          -0.030382268130779266,
+          -0.9995378255844116,
+          -0.0010119207436218858,
+          -16.79880714416504
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7178,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_283083200",
+      "mask_path": "../../mask/hdr_right_07178.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07180.png",
+      "transform_matrix": [
+        [
+          0.934647262096405,
+          -0.019755152985453606,
+          -0.3550269901752472,
+          8.739070892333984
+        ],
+        [
+          0.35442671179771423,
+          -0.028460079804062843,
+          0.9346505999565125,
+          22.167234420776367
+        ],
+        [
+          -0.028568262234330177,
+          -0.9993996620178223,
+          -0.01959838531911373,
+          -16.78506088256836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7180,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_483082294",
+      "mask_path": "../../mask/hdr_right_07180.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07182.png",
+      "transform_matrix": [
+        [
+          0.9386611580848694,
+          -0.025506028905510902,
+          -0.34389641880989075,
+          8.674864768981934
+        ],
+        [
+          0.3430125117301941,
+          -0.03350101411342621,
+          0.9387332797050476,
+          22.133140563964844
+        ],
+        [
+          -0.03546423837542534,
+          -0.9991132020950317,
+          -0.022697215899825096,
+          -16.76437759399414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7182,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_683081150",
+      "mask_path": "../../mask/hdr_right_07182.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07184.png",
+      "transform_matrix": [
+        [
+          0.9379843473434448,
+          -0.02290411666035652,
+          -0.3459203839302063,
+          8.61003303527832
+        ],
+        [
+          0.3453238308429718,
+          -0.026375625282526016,
+          0.9381130337715149,
+          22.110660552978516
+        ],
+        [
+          -0.03061051480472088,
+          -0.9993896484375,
+          -0.01683058589696884,
+          -16.772432327270508
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7184,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323981_883080005",
+      "mask_path": "../../mask/hdr_right_07184.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07186.png",
+      "transform_matrix": [
+        [
+          0.9413179755210876,
+          -0.006439023185521364,
+          -0.33745962381362915,
+          8.547822952270508
+        ],
+        [
+          0.33693888783454895,
+          -0.04077303782105446,
+          0.940643310546875,
+          22.09090232849121
+        ],
+        [
+          -0.0198160782456398,
+          -0.9991477131843567,
+          -0.036210838705301285,
+          -16.767080307006836
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7186,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_83083629",
+      "mask_path": "../../mask/hdr_right_07186.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07188.png",
+      "transform_matrix": [
+        [
+          0.9489927291870117,
+          -0.00839912984520197,
+          -0.3151859641075134,
+          8.485858917236328
+        ],
+        [
+          0.3144407868385315,
+          -0.04844639450311661,
+          0.9480401277542114,
+          22.081520080566406
+        ],
+        [
+          -0.023232337087392807,
+          -0.9987905025482178,
+          -0.043334249407052994,
+          -16.76260757446289
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7188,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_283081531",
+      "mask_path": "../../mask/hdr_right_07188.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07190.png",
+      "transform_matrix": [
+        [
+          0.9515484571456909,
+          -0.023576267063617706,
+          -0.3065936863422394,
+          8.406607627868652
+        ],
+        [
+          0.3054106831550598,
+          -0.04353947564959526,
+          0.9512248635292053,
+          22.05500030517578
+        ],
+        [
+          -0.035775262862443924,
+          -0.998773455619812,
+          -0.03422948345541954,
+          -16.750913619995117
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7190,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_483081579",
+      "mask_path": "../../mask/hdr_right_07190.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07192.png",
+      "transform_matrix": [
+        [
+          0.9502528309822083,
+          -0.032324109226465225,
+          -0.3097977042198181,
+          8.335026741027832
+        ],
+        [
+          0.3089570701122284,
+          -0.02850794978439808,
+          0.9506487846374512,
+          22.040403366088867
+        ],
+        [
+          -0.03956057131290436,
+          -0.9990707635879517,
+          -0.017103003337979317,
+          -16.76291275024414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7192,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_683078289",
+      "mask_path": "../../mask/hdr_right_07192.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07194.png",
+      "transform_matrix": [
+        [
+          0.9529761075973511,
+          -0.051955725997686386,
+          -0.2985585629940033,
+          8.255322456359863
+        ],
+        [
+          0.29803335666656494,
+          -0.01775985397398472,
+          0.9543902277946472,
+          22.01904296875
+        ],
+        [
+          -0.054888393729925156,
+          -0.9984914064407349,
+          -0.00144017837010324,
+          -16.732044219970703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7194,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_883083105",
+      "mask_path": "../../mask/hdr_right_07194.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07195.png",
+      "transform_matrix": [
+        [
+          0.9532257914543152,
+          -0.08921930938959122,
+          -0.2887914478778839,
+          8.196764945983887
+        ],
+        [
+          0.28980958461761475,
+          -0.0016074697487056255,
+          0.9570831060409546,
+          22.0252742767334
+        ],
+        [
+          -0.08585450053215027,
+          -0.9960107803344727,
+          0.0243243258446455,
+          -16.675567626953125
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7195,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323982_983079195",
+      "mask_path": "../../mask/hdr_right_07195.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07196.png",
+      "transform_matrix": [
+        [
+          0.9554774761199951,
+          -0.10399213433265686,
+          -0.27613136172294617,
+          8.136159896850586
+        ],
+        [
+          0.27717649936676025,
+          -0.004552651196718216,
+          0.9608083367347717,
+          22.034128189086914
+        ],
+        [
+          -0.10117363184690475,
+          -0.9945676922798157,
+          0.024474218487739563,
+          -16.655559539794922
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7196,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_83080768",
+      "mask_path": "../../mask/hdr_right_07196.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07198.png",
+      "transform_matrix": [
+        [
+          0.9583281874656677,
+          -0.12102077156305313,
+          -0.2587682604789734,
+          8.047674179077148
+        ],
+        [
+          0.25659364461898804,
+          -0.03349339962005615,
+          0.9659388661384583,
+          22.01681900024414
+        ],
+        [
+          -0.12556569278240204,
+          -0.9920847415924072,
+          -0.0010445130756124854,
+          -16.644804000854492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7198,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_283081054",
+      "mask_path": "../../mask/hdr_right_07198.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07200.png",
+      "transform_matrix": [
+        [
+          0.9572032690048218,
+          -0.1300039291381836,
+          -0.25857484340667725,
+          7.954627990722656
+        ],
+        [
+          0.2565278112888336,
+          -0.032546307891607285,
+          0.96598881483078,
+          21.995450973510742
+        ],
+        [
+          -0.13399799168109894,
+          -0.9909791946411133,
+          0.0021961876191198826,
+          -16.630233764648438
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7200,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_483082532",
+      "mask_path": "../../mask/hdr_right_07200.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07202.png",
+      "transform_matrix": [
+        [
+          0.9596472978591919,
+          -0.1272784024477005,
+          -0.25075337290763855,
+          7.861765384674072
+        ],
+        [
+          0.24770107865333557,
+          -0.039528314024209976,
+          0.9680299162864685,
+          21.979467391967773
+        ],
+        [
+          -0.13312113285064697,
+          -0.9910790920257568,
+          -0.006406247615814209,
+          -16.612749099731445
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7202,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_683082818",
+      "mask_path": "../../mask/hdr_right_07202.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07204.png",
+      "transform_matrix": [
+        [
+          0.9622112512588501,
+          -0.1361691802740097,
+          -0.2358124554157257,
+          7.7521443367004395
+        ],
+        [
+          0.23126880824565887,
+          -0.04850452393293381,
+          0.9716800451278687,
+          21.97207260131836
+        ],
+        [
+          -0.1437508463859558,
+          -0.9894974827766418,
+          -0.015179927460849285,
+          -16.599138259887695
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7204,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_883082628",
+      "mask_path": "../../mask/hdr_right_07204.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07205.png",
+      "transform_matrix": [
+        [
+          0.961069643497467,
+          -0.15514028072357178,
+          -0.22864094376564026,
+          7.677496433258057
+        ],
+        [
+          0.22048142552375793,
+          -0.06814156472682953,
+          0.9730080962181091,
+          21.962743759155273
+        ],
+        [
+          -0.1665326952934265,
+          -0.9855395555496216,
+          -0.03128324821591377,
+          -16.582426071166992
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7205,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323983_983082294",
+      "mask_path": "../../mask/hdr_right_07205.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07206.png",
+      "transform_matrix": [
+        [
+          0.9560891389846802,
+          -0.18897292017936707,
+          -0.22401505708694458,
+          7.62237548828125
+        ],
+        [
+          0.2123052179813385,
+          -0.08035163581371307,
+          0.9738944172859192,
+          21.955217361450195
+        ],
+        [
+          -0.20203962922096252,
+          -0.9786893129348755,
+          -0.03670340031385422,
+          -16.516027450561523
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7206,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_83082914",
+      "mask_path": "../../mask/hdr_right_07206.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07207.png",
+      "transform_matrix": [
+        [
+          0.9529467821121216,
+          -0.20319214463233948,
+          -0.2249564677476883,
+          7.553445816040039
+        ],
+        [
+          0.21264773607254028,
+          -0.08079449832439423,
+          0.973783016204834,
+          21.947572708129883
+        ],
+        [
+          -0.21604028344154358,
+          -0.9757997989654541,
+          -0.03378451615571976,
+          -16.489540100097656
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7207,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_183082342",
+      "mask_path": "../../mask/hdr_right_07207.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07208.png",
+      "transform_matrix": [
+        [
+          0.953377902507782,
+          -0.2010561227798462,
+          -0.22504869103431702,
+          7.480606555938721
+        ],
+        [
+          0.21280229091644287,
+          -0.08086619526147842,
+          0.9737432599067688,
+          21.942197799682617
+        ],
+        [
+          -0.21397586166858673,
+          -0.9762361645698547,
+          -0.03431084752082825,
+          -16.511320114135742
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7208,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_283082962",
+      "mask_path": "../../mask/hdr_right_07208.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07209.png",
+      "transform_matrix": [
+        [
+          0.9596222043037415,
+          -0.1826048344373703,
+          -0.21396471560001373,
+          7.4344072341918945
+        ],
+        [
+          0.20169515907764435,
+          -0.08352892100811005,
+          0.9758800864219666,
+          21.94915008544922
+        ],
+        [
+          -0.19607266783714294,
+          -0.979631781578064,
+          -0.043325696140527725,
+          -16.499826431274414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7209,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_383082151",
+      "mask_path": "../../mask/hdr_right_07209.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07210.png",
+      "transform_matrix": [
+        [
+          0.9652888178825378,
+          -0.16861915588378906,
+          -0.1994621306657791,
+          7.380639553070068
+        ],
+        [
+          0.18767239153385162,
+          -0.08334404230117798,
+          0.9786893725395203,
+          21.961322784423828
+        ],
+        [
+          -0.18164975941181183,
+          -0.9821513891220093,
+          -0.04880591109395027,
+          -16.478818893432617
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7210,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_483082771",
+      "mask_path": "../../mask/hdr_right_07210.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07211.png",
+      "transform_matrix": [
+        [
+          0.9668784737586975,
+          -0.17077164351940155,
+          -0.1896917074918747,
+          7.321963787078857
+        ],
+        [
+          0.1785982996225357,
+          -0.0782766193151474,
+          0.9808034896850586,
+          21.96836280822754
+        ],
+        [
+          -0.18234185874462128,
+          -0.9821964502334595,
+          -0.045184455811977386,
+          -16.47306251525879
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7211,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_583082437",
+      "mask_path": "../../mask/hdr_right_07211.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07213.png",
+      "transform_matrix": [
+        [
+          0.9701359272003174,
+          -0.16743363440036774,
+          -0.17550568282604218,
+          7.204037666320801
+        ],
+        [
+          0.16396743059158325,
+          -0.08052101731300354,
+          0.9831739664077759,
+          21.966215133666992
+        ],
+        [
+          -0.1787482649087906,
+          -0.982589602470398,
+          -0.050662677735090256,
+          -16.44949722290039
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7213,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_783082723",
+      "mask_path": "../../mask/hdr_right_07213.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07214.png",
+      "transform_matrix": [
+        [
+          0.9703719019889832,
+          -0.16504399478435516,
+          -0.1764618158340454,
+          7.127171516418457
+        ],
+        [
+          0.16644561290740967,
+          -0.07277798652648926,
+          0.9833611845970154,
+          21.95734405517578
+        ],
+        [
+          -0.1751403957605362,
+          -0.9835973381996155,
+          -0.0431508794426918,
+          -16.433259963989258
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7214,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_883082389",
+      "mask_path": "../../mask/hdr_right_07214.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07215.png",
+      "transform_matrix": [
+        [
+          0.9700871109962463,
+          -0.16656209528446198,
+          -0.17660146951675415,
+          7.068830966949463
+        ],
+        [
+          0.16772451996803284,
+          -0.06604834645986557,
+          0.9836189150810242,
+          21.95302391052246
+        ],
+        [
+          -0.1754978597164154,
+          -0.983816385269165,
+          -0.03613611310720444,
+          -16.43133544921875
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7215,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323984_983083248",
+      "mask_path": "../../mask/hdr_right_07215.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07217.png",
+      "transform_matrix": [
+        [
+          0.9702736139297485,
+          -0.16480979323387146,
+          -0.17722009122371674,
+          6.994992256164551
+        ],
+        [
+          0.1705130785703659,
+          -0.05410478264093399,
+          0.9838689565658569,
+          21.94029998779297
+        ],
+        [
+          -0.17173966765403748,
+          -0.9848402738571167,
+          -0.024394217878580093,
+          -16.41042137145996
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7217,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_183081626",
+      "mask_path": "../../mask/hdr_right_07217.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07218.png",
+      "transform_matrix": [
+        [
+          0.9694572687149048,
+          -0.16746187210083008,
+          -0.17919017374515533,
+          6.936518669128418
+        ],
+        [
+          0.17194433510303497,
+          -0.05693080648779869,
+          0.9834603071212769,
+          21.935043334960938
+        ],
+        [
+          -0.17489352822303772,
+          -0.9842334389686584,
+          -0.02639787457883358,
+          -16.393306732177734
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7218,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_283081769",
+      "mask_path": "../../mask/hdr_right_07218.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07219.png",
+      "transform_matrix": [
+        [
+          0.9684898853302002,
+          -0.16708612442016602,
+          -0.18468791246414185,
+          6.880313873291016
+        ],
+        [
+          0.17639301717281342,
+          -0.06332384794950485,
+          0.9822807908058167,
+          21.9258975982666
+        ],
+        [
+          -0.17582066357135773,
+          -0.983906626701355,
+          -0.03185569494962692,
+          -16.381755828857422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7219,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_383081197",
+      "mask_path": "../../mask/hdr_right_07219.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07221.png",
+      "transform_matrix": [
+        [
+          0.9623892307281494,
+          -0.15921609103679657,
+          -0.22012987732887268,
+          6.797554016113281
+        ],
+        [
+          0.21422454714775085,
+          -0.05356564372777939,
+          0.9753146171569824,
+          21.90300178527832
+        ],
+        [
+          -0.1670771688222885,
+          -0.9857895374298096,
+          -0.017443010583519936,
+          -16.36744499206543
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7221,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_583081007",
+      "mask_path": "../../mask/hdr_right_07221.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07223.png",
+      "transform_matrix": [
+        [
+          0.9535020589828491,
+          -0.15359696745872498,
+          -0.25931021571159363,
+          6.740077018737793
+        ],
+        [
+          0.25498688220977783,
+          -0.04755712300539017,
+          0.9657742977142334,
+          21.872526168823242
+        ],
+        [
+          -0.16067206859588623,
+          -0.9869884848594666,
+          -0.006180607248097658,
+          -16.381103515625
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7223,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_783082485",
+      "mask_path": "../../mask/hdr_right_07223.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07225.png",
+      "transform_matrix": [
+        [
+          0.9395876526832581,
+          -0.20115071535110474,
+          -0.276971697807312,
+          6.663063049316406
+        ],
+        [
+          0.28056639432907104,
+          -0.011001002043485641,
+          0.9597715735435486,
+          21.850906372070312
+        ],
+        [
+          -0.1961056888103485,
+          -0.979498565196991,
+          0.046099718660116196,
+          -16.26161003112793
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7225,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323985_983082056",
+      "mask_path": "../../mask/hdr_right_07225.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07227.png",
+      "transform_matrix": [
+        [
+          0.9367128610610962,
+          -0.19842448830604553,
+          -0.28843820095062256,
+          6.584167957305908
+        ],
+        [
+          0.28497856855392456,
+          -0.046417392790317535,
+          0.9574094414710999,
+          21.845417022705078
+        ],
+        [
+          -0.20336198806762695,
+          -0.9790164232254028,
+          0.013066944666206837,
+          -16.265491485595703
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7227,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_183081388",
+      "mask_path": "../../mask/hdr_right_07227.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07228.png",
+      "transform_matrix": [
+        [
+          0.9365910887718201,
+          -0.1883251965045929,
+          -0.2955179214477539,
+          6.534772872924805
+        ],
+        [
+          0.28862494230270386,
+          -0.06367387622594833,
+          0.9553225636482239,
+          21.841510772705078
+        ],
+        [
+          -0.19872809946537018,
+          -0.980040431022644,
+          -0.005281033460050821,
+          -16.259550094604492
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7228,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_283081531",
+      "mask_path": "../../mask/hdr_right_07228.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07229.png",
+      "transform_matrix": [
+        [
+          0.9365851283073425,
+          -0.175306037068367,
+          -0.30344027280807495,
+          6.478813648223877
+        ],
+        [
+          0.2981873154640198,
+          -0.05621804669499397,
+          0.9528504014015198,
+          21.85101890563965
+        ],
+        [
+          -0.1840992420911789,
+          -0.9829075336456299,
+          -0.00037896071444265544,
+          -16.255834579467773
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7229,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_383083820",
+      "mask_path": "../../mask/hdr_right_07229.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07230.png",
+      "transform_matrix": [
+        [
+          0.9342858195304871,
+          -0.16905787587165833,
+          -0.31389403343200684,
+          6.4245924949646
+        ],
+        [
+          0.31127530336380005,
+          -0.04247910901904106,
+          0.9493699073791504,
+          21.850751876831055
+        ],
+        [
+          -0.17383240163326263,
+          -0.984690248966217,
+          0.012935913167893887,
+          -16.245920181274414
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7230,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_483082056",
+      "mask_path": "../../mask/hdr_right_07230.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07231.png",
+      "transform_matrix": [
+        [
+          0.9282910227775574,
+          -0.16776421666145325,
+          -0.3318599462509155,
+          6.364243030548096
+        ],
+        [
+          0.32983964681625366,
+          -0.04059889540076256,
+          0.9431636333465576,
+          21.833595275878906
+        ],
+        [
+          -0.17170223593711853,
+          -0.9849908351898193,
+          0.017647696658968925,
+          -16.23615837097168
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7231,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_583081722",
+      "mask_path": "../../mask/hdr_right_07231.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07232.png",
+      "transform_matrix": [
+        [
+          0.9209380745887756,
+          -0.16176646947860718,
+          -0.35454869270324707,
+          6.303723335266113
+        ],
+        [
+          0.3518986999988556,
+          -0.045732058584690094,
+          0.9349203705787659,
+          21.818870544433594
+        ],
+        [
+          -0.16745300590991974,
+          -0.9857687950134277,
+          0.014809014275670052,
+          -16.234230041503906
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7232,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_683082818",
+      "mask_path": "../../mask/hdr_right_07232.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07233.png",
+      "transform_matrix": [
+        [
+          0.9150184988975525,
+          -0.15602217614650726,
+          -0.3720192611217499,
+          6.2562336921691895
+        ],
+        [
+          0.368330717086792,
+          -0.053018879145383835,
+          0.9281818866729736,
+          21.807342529296875
+        ],
+        [
+          -0.16454099118709564,
+          -0.9863296151161194,
+          0.008954505436122417,
+          -16.225749969482422
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7233,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_783082723",
+      "mask_path": "../../mask/hdr_right_07233.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07234.png",
+      "transform_matrix": [
+        [
+          0.909355103969574,
+          -0.14992940425872803,
+          -0.38806506991386414,
+          6.21139669418335
+        ],
+        [
+          0.3829445242881775,
+          -0.06283355504274368,
+          0.9216320514678955,
+          21.789196014404297
+        ],
+        [
+          -0.1625632345676422,
+          -0.9866980910301208,
+          0.0002766210527624935,
+          -16.214895248413086
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7234,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_883081912",
+      "mask_path": "../../mask/hdr_right_07234.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07235.png",
+      "transform_matrix": [
+        [
+          0.9027639627456665,
+          -0.1402876228094101,
+          -0.4066160321235657,
+          6.157240867614746
+        ],
+        [
+          0.3997217118740082,
+          -0.07553815096616745,
+          0.9135188460350037,
+          21.762161254882812
+        ],
+        [
+          -0.1588703989982605,
+          -0.9872250556945801,
+          -0.012117119506001472,
+          -16.214109420776367
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7235,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323986_983080148",
+      "mask_path": "../../mask/hdr_right_07235.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07236.png",
+      "transform_matrix": [
+        [
+          0.896826446056366,
+          -0.12854218482971191,
+          -0.4232957363128662,
+          6.112995624542236
+        ],
+        [
+          0.416515588760376,
+          -0.07704631239175797,
+          0.9058580994606018,
+          21.731279373168945
+        ],
+        [
+          -0.14905434846878052,
+          -0.9887065887451172,
+          -0.015557355247437954,
+          -16.21566390991211
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7236,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_83081722",
+      "mask_path": "../../mask/hdr_right_07236.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07238.png",
+      "transform_matrix": [
+        [
+          0.887603759765625,
+          -0.13084320724010468,
+          -0.44163283705711365,
+          6.072851181030273
+        ],
+        [
+          0.43601128458976746,
+          -0.07045414298772812,
+          0.8971791863441467,
+          21.67412757873535
+        ],
+        [
+          -0.14850462973117828,
+          -0.9888965487480164,
+          -0.005486251320689917,
+          -16.200258255004883
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7238,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_283082485",
+      "mask_path": "../../mask/hdr_right_07238.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07240.png",
+      "transform_matrix": [
+        [
+          0.8893834352493286,
+          -0.11556223034858704,
+          -0.4423150420188904,
+          6.00819206237793
+        ],
+        [
+          0.4368751645088196,
+          -0.07017840445041656,
+          0.8967804908752441,
+          21.617244720458984
+        ],
+        [
+          -0.13467492163181305,
+          -0.9908180236816406,
+          -0.011929241009056568,
+          -16.201885223388672
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7240,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_483082294",
+      "mask_path": "../../mask/hdr_right_07240.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07242.png",
+      "transform_matrix": [
+        [
+          0.8947361707687378,
+          -0.11788811534643173,
+          -0.43075478076934814,
+          5.9140119552612305
+        ],
+        [
+          0.42435306310653687,
+          -0.07617688179016113,
+          0.9022868275642395,
+          21.571435928344727
+        ],
+        [
+          -0.139182448387146,
+          -0.9901007413864136,
+          -0.018132032826542854,
+          -16.1762752532959
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7242,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_683080434",
+      "mask_path": "../../mask/hdr_right_07242.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07243.png",
+      "transform_matrix": [
+        [
+          0.8973366022109985,
+          -0.1046692430973053,
+          -0.42875567078590393,
+          5.850686073303223
+        ],
+        [
+          0.4256652891635895,
+          -0.05141013488173485,
+          0.9034191370010376,
+          21.5521240234375
+        ],
+        [
+          -0.1166025921702385,
+          -0.9931774139404297,
+          -0.001578139839693904,
+          -16.173364639282227
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7243,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_783083200",
+      "mask_path": "../../mask/hdr_right_07243.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07244.png",
+      "transform_matrix": [
+        [
+          0.8971863389015198,
+          -0.09736146032810211,
+          -0.43078702688217163,
+          5.795943260192871
+        ],
+        [
+          0.4305596649646759,
+          -0.024419859051704407,
+          0.902231752872467,
+          21.5407772064209
+        ],
+        [
+          -0.09836236387491226,
+          -0.994949460029602,
+          0.020010747015476227,
+          -16.17730140686035
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7244,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_883081197",
+      "mask_path": "../../mask/hdr_right_07244.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07245.png",
+      "transform_matrix": [
+        [
+          0.8959934115409851,
+          -0.09963531047105789,
+          -0.4327452480792999,
+          5.7279863357543945
+        ],
+        [
+          0.4336021840572357,
+          -0.014018210582435131,
+          0.9009953141212463,
+          21.51905059814453
+        ],
+        [
+          -0.09583727270364761,
+          -0.9949253797531128,
+          0.030641864985227585,
+          -16.177539825439453
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7245,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323987_983082294",
+      "mask_path": "../../mask/hdr_right_07245.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07246.png",
+      "transform_matrix": [
+        [
+          0.8953588604927063,
+          -0.10466672480106354,
+          -0.4328712821006775,
+          5.633177757263184
+        ],
+        [
+          0.43416985869407654,
+          -0.011233603581786156,
+          0.9007611274719238,
+          21.491687774658203
+        ],
+        [
+          -0.0991424098610878,
+          -0.9944438934326172,
+          0.03538502752780914,
+          -16.184919357299805
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7246,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_83082199",
+      "mask_path": "../../mask/hdr_right_07246.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07247.png",
+      "transform_matrix": [
+        [
+          0.8935692310333252,
+          -0.1553097814321518,
+          -0.4212042987346649,
+          5.553966045379639
+        ],
+        [
+          0.4280948340892792,
+          0.012305074371397495,
+          0.9036500453948975,
+          21.472036361694336
+        ],
+        [
+          -0.13516277074813843,
+          -0.9877891540527344,
+          0.07748275995254517,
+          -16.137470245361328
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7247,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_183082103",
+      "mask_path": "../../mask/hdr_right_07247.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07248.png",
+      "transform_matrix": [
+        [
+          0.8982106447219849,
+          -0.18654367327690125,
+          -0.3980189263820648,
+          5.478518486022949
+        ],
+        [
+          0.40710338950157166,
+          0.011526413261890411,
+          0.9133093953132629,
+          21.458114624023438
+        ],
+        [
+          -0.1657843440771103,
+          -0.9823790192604065,
+          0.0862957015633583,
+          -16.02911949157715
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7248,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_283082485",
+      "mask_path": "../../mask/hdr_right_07248.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07249.png",
+      "transform_matrix": [
+        [
+          0.9052796363830566,
+          -0.18116670846939087,
+          -0.38424918055534363,
+          5.3995256423950195
+        ],
+        [
+          0.38909074664115906,
+          -0.009469438344240189,
+          0.9211507439613342,
+          21.4373836517334
+        ],
+        [
+          -0.17052046954631805,
+          -0.9834068417549133,
+          0.06191778555512428,
+          -16.004955291748047
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7249,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_383082628",
+      "mask_path": "../../mask/hdr_right_07249.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07250.png",
+      "transform_matrix": [
+        [
+          0.907668948173523,
+          -0.1797165870666504,
+          -0.3792610764503479,
+          5.306585311889648
+        ],
+        [
+          0.38222140073776245,
+          -0.019239196553826332,
+          0.9238705635070801,
+          21.404638290405273
+        ],
+        [
+          -0.17333151400089264,
+          -0.9835302829742432,
+          0.05122870206832886,
+          -16.027034759521484
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7250,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_483082532",
+      "mask_path": "../../mask/hdr_right_07250.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07251.png",
+      "transform_matrix": [
+        [
+          0.9079799652099609,
+          -0.17574626207351685,
+          -0.38037562370300293,
+          5.219895362854004
+        ],
+        [
+          0.38277938961982727,
+          -0.021371887996792793,
+          0.9235925674438477,
+          21.368629455566406
+        ],
+        [
+          -0.17044728994369507,
+          -0.9842035174369812,
+          0.04786680266261101,
+          -16.013633728027344
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7251,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_583081722",
+      "mask_path": "../../mask/hdr_right_07251.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07252.png",
+      "transform_matrix": [
+        [
+          0.907209575176239,
+          -0.17386721074581146,
+          -0.3830679655075073,
+          5.152073860168457
+        ],
+        [
+          0.38563475012779236,
+          -0.020144714042544365,
+          0.9224315881729126,
+          21.33826446533203
+        ],
+        [
+          -0.16809740662574768,
+          -0.9845631122589111,
+          0.04877375066280365,
+          -16.00127601623535
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7252,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_683081388",
+      "mask_path": "../../mask/hdr_right_07252.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07253.png",
+      "transform_matrix": [
+        [
+          0.9081027507781982,
+          -0.1691698580980301,
+          -0.3830546438694,
+          5.084219455718994
+        ],
+        [
+          0.38556158542633057,
+          -0.019106844440102577,
+          0.922484278678894,
+          21.308820724487305
+        ],
+        [
+          -0.16337549686431885,
+          -0.9854016900062561,
+          0.047874417155981064,
+          -16.002826690673828
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7253,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_783081769",
+      "mask_path": "../../mask/hdr_right_07253.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07254.png",
+      "transform_matrix": [
+        [
+          0.9112926125526428,
+          -0.16476106643676758,
+          -0.3773587644100189,
+          5.008186340332031
+        ],
+        [
+          0.37981000542640686,
+          -0.017601028084754944,
+          0.9248970746994019,
+          21.287141799926758
+        ],
+        [
+          -0.15902894735336304,
+          -0.9861764907836914,
+          0.046538207679986954,
+          -15.989701271057129
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7254,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_883081436",
+      "mask_path": "../../mask/hdr_right_07254.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07255.png",
+      "transform_matrix": [
+        [
+          0.9147098064422607,
+          -0.16351333260536194,
+          -0.36955294013023376,
+          4.932448387145996
+        ],
+        [
+          0.3709068298339844,
+          -0.0233160350471735,
+          0.9283773899078369,
+          21.271345138549805
+        ],
+        [
+          -0.1604185849428177,
+          -0.9862655401229858,
+          0.03932080790400505,
+          -15.96622371673584
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7255,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323988_983082056",
+      "mask_path": "../../mask/hdr_right_07255.png"
+    },
+    {
+      "file_path": "../../rgb/hdr_right_07256.png",
+      "transform_matrix": [
+        [
+          0.9174071550369263,
+          -0.16315478086471558,
+          -0.36296653747558594,
+          4.862618446350098
+        ],
+        [
+          0.3630112409591675,
+          -0.03061519004404545,
+          0.9312817454338074,
+          21.256145477294922
+        ],
+        [
+          -0.16305531561374664,
+          -0.9861254096031189,
+          0.031140409409999847,
+          -15.949315071105957
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "camera_frame_id": 7256,
+      "fl_x": "552.9865796454186",
+      "fl_y": "552.7825133928087",
+      "cx": "937.367572513537",
+      "cy": "636.9984716795761",
+      "w": "1920",
+      "h": "1280",
+      "k1": "0",
+      "k2": "0",
+      "p1": "0",
+      "p2": "0",
+      "timestamp": "1731323989_83082437",
+      "mask_path": "../../mask/hdr_right_07256.png"
+    }
+  ],
+  "ply_file_path": "./pcd.ply"
+}
\ No newline at end of file